main.c

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#include <stdint.h>
 
#include "ra8_board_ek_ra8d2.h"
#include "ra8_boot_entry.h"
#include "ra8_cgc.h"
#include "ra8_err.h"
#include "ra8_gpio_constants.h"
#include "ra8_isr.h"
#include "ra8_port_constants.h"
#include "ra8_port_utils.h"
#include "ra8_sci_lin.h"
#include "ra8_time.h"

typedef enum : uint32_t {
  k_lin_hil_console_baud = 115200U,   
  k_lin_hil_lin_baud     = 19200U,    
  k_lin_hil_pclk_hz      = 60000000U, 
  k_lin_hil_period_ms    = 500U,      
} lin_hil_config_t;

typedef enum : uint8_t {
  k_lin_hil_channel  = 2U, 
  k_lin_hil_id_count = 4U, 
  k_lin_hil_data_len = 2U, 
} lin_hil_frame_t;

typedef enum : uint16_t {
  k_lin_hil_break_len = 0x00A0U, 
} lin_hil_break_t;

typedef enum : uint8_t {
  k_lin_hil_id_0 = 0x01U, 
  k_lin_hil_id_1 = 0x02U, 
  k_lin_hil_id_2 = 0x11U, 
  k_lin_hil_id_3 = 0x3CU, 
} lin_hil_id_t;

typedef enum : uint8_t {
  k_lin_hil_pay_0 = 0xA5U, 
  k_lin_hil_pay_1 = 0x5AU, 
} lin_hil_payload_byte_t;

static const uint8_t k_lin_hil_ids[k_lin_hil_id_count] = {
  (uint8_t)k_lin_hil_id_0,
  (uint8_t)k_lin_hil_id_1,
  (uint8_t)k_lin_hil_id_2,
  (uint8_t)k_lin_hil_id_3,
};

static const uint8_t k_lin_hil_payload[k_lin_hil_data_len] = {
  (uint8_t)k_lin_hil_pay_0,
  (uint8_t)k_lin_hil_pay_1,
};

static const uint8_t k_lin_hil_banner[]    = "lin_commander_hil: SCI2 LIN commander up\r\n";
static const uint8_t k_lin_hil_frame_msg[] = "lin_commander_hil: frame sent\r\n";
static const uint8_t k_lin_hil_fault_msg[] = "lin_commander_hil: LIN TX error\r\n";

static void lin_hil_panic_halt(void)
{
  while (1) {
    __asm__ volatile("wfi");
  }
}

static void lin_hil_setup_or_halt(void)
{
  uint32_t cpuclk0_hz = 0U;
 
  if (ra8_cgc_init() != k_ra8_ok) {
    lin_hil_panic_halt();
  }
  if (ra8_cgc_get_clock_hz(k_ra8_clock_id_cpuclk0, &cpuclk0_hz) != k_ra8_ok) {
    lin_hil_panic_halt();
  }
  if (ra8_time_init(cpuclk0_hz) != k_ra8_ok) {
    lin_hil_panic_halt();
  }
  if (ra8_board_uart_console_init((uint32_t)k_lin_hil_console_baud) != k_ra8_ok) {
    lin_hil_panic_halt();
  }
  if (ra8_board_led_init(k_ra8_board_led1) != k_ra8_ok) {
    lin_hil_panic_halt();
  }
 
  /* Route the Pmod1 UART pins to SCI async so the LIN signals reach P801/P802. */
  if (ra8_pfs_route_peripheral((ra8_port_pin_t)k_ra8_board_pmod1_uart_txd,
                               k_ra8_psel_sci_async,
                               "lin.txd2") != k_ra8_ok) {
    lin_hil_panic_halt();
  }
  if (ra8_pfs_route_peripheral((ra8_port_pin_t)k_ra8_board_pmod1_uart_rxd,
                               k_ra8_psel_sci_async,
                               "lin.rxd2") != k_ra8_ok) {
    lin_hil_panic_halt();
  }
 
  const ra8_sci_lin_cfg_t lin_cfg = {
    .uart =
      {
        .baud      = (uint32_t)k_lin_hil_lin_baud,
        .data_bits = k_ra8_sci_data_8,
        .parity    = k_ra8_sci_parity_none,
        .stop_bits = k_ra8_sci_stop_1,
        .pclk_hz   = (uint32_t)k_lin_hil_pclk_hz,
      },
    .role            = k_ra8_sci_lin_role_commander,
    .timer_clk       = k_ra8_sci_lin_clk_div16,
    .break_field_len = (uint16_t)k_lin_hil_break_len,
  };
  if (ra8_sci_lin_init((uint8_t)k_lin_hil_channel, &lin_cfg) != k_ra8_ok) {
    lin_hil_panic_halt();
  }
}

static ra8_err_t lin_hil_send_frame(uint8_t id)
{
  const ra8_err_t herr = ra8_sci_lin_send_header((uint8_t)k_lin_hil_channel, id);
  if (herr != k_ra8_ok) {
    return herr;
  }
  const uint8_t pid = ra8_sci_lin_pid(id);
  return ra8_sci_lin_send_response((uint8_t)k_lin_hil_channel,
                                   k_ra8_sci_lin_checksum_enhanced,
                                   pid,
                                   k_lin_hil_payload,
                                   (uint8_t)k_lin_hil_data_len);
}

void main(void)
{
  lin_hil_setup_or_halt();
  ra8_isr_globals_enable();
  (void)ra8_board_uart_console_write(k_lin_hil_banner, (size_t)(sizeof(k_lin_hil_banner) - 1U));
 
  uint8_t idx = 0U;
  while (1) {
    const uint8_t   id  = k_lin_hil_ids[idx];
    const ra8_err_t err = lin_hil_send_frame(id);
    if (err == k_ra8_ok) {
      (void)ra8_board_uart_console_write(k_lin_hil_frame_msg,
                                         (size_t)(sizeof(k_lin_hil_frame_msg) - 1U));
    } else {
      (void)ra8_board_uart_console_write(k_lin_hil_fault_msg,
                                         (size_t)(sizeof(k_lin_hil_fault_msg) - 1U));
    }
 
    if (ra8_board_led_toggle(k_ra8_board_led1) != k_ra8_ok) {
      break;
    }
    idx = (uint8_t)((idx + 1U) % (uint8_t)k_lin_hil_id_count);
    ra8_delay_ms((uint32_t)k_lin_hil_period_ms);
  }
 
  lin_hil_panic_halt();
}