Bring the RA8D2 + ThreadX esp-hosted port up against the ESP32-C6. More...

#include <stdint.h>
#include "c6_hosted.h"
#include "ra8_board_ek_ra8d2.h"
#include "ra8_boot_entry.h"
#include "ra8_cgc.h"
#include "ra8_err.h"
#include "ra8_esp_hosted_port.h"
#include "ra8_isr.h"
#include "ra8_mstp.h"
#include "ra8_time.h"
#include "tx_api.h"

Include dependency graph for main.c:

Functions
static void	c6_hosted_panic_halt (void)
	Park the CPU forever after an unrecoverable bring-up failure.
static void	c6_hosted_setup_or_halt (void)
	Bring clocks, module-stop state, SysTick and the console up.
static void	c6_hosted_heartbeat (void)
	Print heartbeat lines forever, never returning.
static void	c6_hosted_worker_entry (ULONG thread_input)
	Worker thread: report the init, exercise the link, then heartbeat.
void	tx_application_define (void *first_unused_memory)
	ThreadX define hook: bring the port up and start the worker.
void	main (void)
	Application entry: clocks, console, banner, then ThreadX.

Variables
static uint32_t	s_c6_hosted_cpuclk_hz
	Cached CPUCLK0 rate, used to programme SysTick.
static uint32_t	s_c6_hosted_pclka_hz
	Cached PCLKA rate, the SCI baud-clock source the port divides.
static ra8_err_t	s_c6_hosted_init_err = k_ra8_err_not_initialized
	Exact result of ra8_esp_hosted_port_init.
static TX_THREAD	s_c6_hosted_worker
	Control block of the single application thread.
static CHAR	s_c6_hosted_worker_name [] = "c6_hosted_init"
	Thread name handed to ThreadX.
static UCHAR	s_c6_hosted_worker_stack [k_c6_hosted_worker_stack]
	Stack backing s_c6_hosted_worker.

Detailed Description

Bring the RA8D2 + ThreadX esp-hosted port up against the ESP32-C6.

Tag: [Ring 6 / APP] {World: S}

First application to consume port/esp-hosted/ – the first-party RA8D2 + ThreadX port of the vendored esp-hosted host driver. It is the port's buildable consumer and its bring-up harness: it initialises the port, states the pin map and interrupt routing the port resolved, reads both side-band lines through the OS-abstraction vtable, clocks exactly one full-duplex transaction, decodes the frame the co-processor returned and prints one PASS/FAIL verdict line.

This file holds the bring-up sequence only; the reporting, the console formatters and the frame work live in src/ behind c6_hosted.h.

Flow

ra8_cgc_init – CPUCLK0 and PCLKA – then ra8_mstp_init, SysTick and the board console. Any failure panic-halts.
Banner: port identity, clocks, SPI parameters, the resolved pin map, and which side-band pin takes the ICU edge path versus the port's software edge detector.
tx_kernel_enter. The port creates ThreadX byte pools, mutexes and timers, so ra8_esp_hosted_port_init runs from tx_application_define – the context where ThreadX permits object creation – and the worker thread reports what it returned.
Worker: sample both side-band lines, run one transaction, dump pool occupancy, then heartbeat forever.

Runtime status – proven on silicon 2026-07-28: This application is the first thing built on port/esp-hosted/ to have run on the board. The port comes up, the vtable samples both side-band lines, and a 5 MHz transaction returns the co-processor's idle filler frame with the transfer reporting RET_OK. just hil::c6 re-runs it against the app's own hil.conf.

The pin map comes from the probe examples/ek_ra8d2/hw_validated/c6/c6_spi_probe, which scope-qualified every J26 hole on 2026-07-27 at SPI mode 3 / 1 MHz with zero bad checksums.

That first run also found a defect in this application rather than in the port: its verdict demanded a payload-header offset of twelve from a frame that legitimately carries zero, so it reported FAIL at a healthy link. The idle filler is now a pass in its own right – see src/c6_hosted_frame.c.

Copyright: Copyright (c) 2026 Brighton Sikarskie SPDX-License-Identifier: MIT

Since: 0.1.0

Definition in file main.c.

Function Documentation

◆ c6_hosted_heartbeat()

void c6_hosted_heartbeat ( void )

static

Print heartbeat lines forever, never returning.

Returns: Never returns.

Precondition: The console is up and ThreadX is scheduling.; The caller has finished every one-shot bring-up step.

Postcondition: A line is emitted every k_c6_hosted_heartbeat_ms milliseconds.; No application state is modified beyond the local beat counter.

Note: This is the one deliberately unbounded loop in the application. It exists so a bench with no scope can still see whether the co-processor ever raises a side-band line.

Since: 0.1.0

Definition at line 200 of file main.c.

References c6_hosted_event_count(), c6_hosted_put_u32(), c6_hosted_puts(), c6_hosted_report_sideband(), k_c6_hosted_heartbeat_ms, ra8_esp_hosted_port_is_ready(), and tx_thread_sleep.

Referenced by c6_hosted_worker_entry().

◆ c6_hosted_panic_halt()

void c6_hosted_panic_halt ( void )

static

Park the CPU forever after an unrecoverable bring-up failure.

Returns: Never returns.

Precondition: A bring-up step has failed and the application cannot proceed.; The failure was already reported if the console was up.

Postcondition: The CPU is parked in a wait-for-interrupt loop.; No further application state changes.

Note: Never returns; not callable from interrupt context.

Since: 0.1.0

Definition at line 146 of file main.c.

Referenced by c6_hosted_setup_or_halt(), and main().

◆ c6_hosted_setup_or_halt()

void c6_hosted_setup_or_halt ( void )

static

Bring clocks, module-stop state, SysTick and the console up.

Returns: Nothing; panic-halts instead of returning on any failure.

Precondition: Reset_Handler has copied .data and zeroed .bss.; SystemInit has completed and the console SCI is unclaimed.

Postcondition: s_c6_hosted_cpuclk_hz and s_c6_hosted_pclka_hz are non-zero and the console transmits at k_c6_hosted_uart_baud, 8N1.; SysTick runs and every peripheral this app uses is out of module-stop.

Note: Never returns on error; a clock failure happens before the console exists, so it is visible only to a debugger.

Since: 0.1.0

Definition at line 166 of file main.c.

References c6_hosted_panic_halt(), k_c6_hosted_uart_baud, k_ra8_clock_id_cpuclk0, k_ra8_clock_id_pclka, k_ra8_ok, ra8_board_uart_console_init(), ra8_cgc_get_clock_hz(), ra8_cgc_init(), ra8_mstp_init(), ra8_time_init(), s_c6_hosted_cpuclk_hz, and s_c6_hosted_pclka_hz.

Referenced by main().

◆ c6_hosted_worker_entry()

void c6_hosted_worker_entry ( ULONG thread_input )

static

Worker thread: report the init, exercise the link, then heartbeat.

Parameters

[in] thread_input ThreadX entry argument; unused.

Returns: Never returns.

Precondition: tx_application_define has recorded s_c6_hosted_init_err.; The console is up.

Postcondition: On a successful init exactly one transaction ran and one verdict was printed.; On a failed init no transaction ran and the error was named.

Note: The failure path deliberately does not continue: a port that did not come up has an unpopulated vtable, and calling through it would fault rather than report.

Since: 0.1.0

Definition at line 233 of file main.c.

References c6_hosted_heartbeat(), c6_hosted_puts(), c6_hosted_report_sideband(), c6_hosted_run_transaction(), k_c6_hosted_boot_wait_ms, k_ra8_ok, ra8_delay_ms(), ra8_err_to_str(), ra8_esp_hosted_mem_dump(), and s_c6_hosted_init_err.

Referenced by tx_application_define().

◆ main()

void main ( void )

Application entry: clocks, console, banner, then ThreadX.

The application entry point Reset_Handler hands control to.

Precondition: Reset_Handler has copied .data and zeroed .bss.; SystemInit has set VTOR, the FPU and the priority grouping.

Postcondition: The banner and the resolved pin map were printed exactly once.; Control passed to ThreadX and never came back.

Note: Everything after tx_kernel_enter happens on ThreadX; the panic-halt below is reached only if the kernel refuses to start.

Since: 0.1.0

Definition at line 308 of file main.c.

References c6_hosted_panic_halt(), c6_hosted_print_banner(), c6_hosted_print_pin_map(), c6_hosted_puts(), c6_hosted_setup_or_halt(), ra8_isr_globals_enable(), s_c6_hosted_cpuclk_hz, and s_c6_hosted_pclka_hz.

◆ tx_application_define()

void tx_application_define ( void * first_unused_memory )

ThreadX define hook: bring the port up and start the worker.

Parameters

[in] first_unused_memory Free RAM handed over by the ThreadX port; unused, every object here is static.

Returns: Nothing.

Precondition: tx_kernel_enter has been called and the clock cache is valid.; No vendored esp-hosted entry point has been called yet.

Postcondition: s_c6_hosted_init_err holds the exact port-init result.; Exactly one worker thread was created.

Note: The port creates ThreadX byte pools, mutexes and timers, so its init must run where ThreadX permits object creation – here, not from main.

Since: 0.1.0

Definition at line 268 of file main.c.

References c6_hosted_on_event(), c6_hosted_puts(), c6_hosted_worker_entry(), k_c6_hosted_edge_poll_ms, k_c6_hosted_sck_hz, k_c6_hosted_worker_prio, k_ra8_board_pmod1_sci_channel, k_ra8_ok, ra8_esp_hosted_port_init(), ra8_esp_hosted_port_set_event_cb(), s_c6_hosted_init_err, s_c6_hosted_pclka_hz, s_c6_hosted_worker, s_c6_hosted_worker_name, s_c6_hosted_worker_stack, TX_AUTO_START, TX_NO_TIME_SLICE, TX_SUCCESS, and tx_thread_create.

Variable Documentation

◆ s_c6_hosted_cpuclk_hz

uint32_t s_c6_hosted_cpuclk_hz

static

Cached CPUCLK0 rate, used to programme SysTick.

Read once during bring-up, before ThreadX starts.

Note: Single-threaded; written once from main.

Warning: Zero until c6_hosted_setup_or_halt has run.

Since: 0.1.0

Definition at line 76 of file main.c.

Referenced by c6_hosted_setup_or_halt(), and main().

◆ s_c6_hosted_init_err

ra8_err_t s_c6_hosted_init_err = k_ra8_err_not_initialized

static

Exact result of ra8_esp_hosted_port_init.

Recorded in tx_application_define and reported verbatim by the worker, which is the first context that can print after the init.

Note: Written once before the scheduler starts, read afterwards.

Warning: A non-k_ra8_ok value stops the transaction; the application never continues as though the port had come up.

Since: 0.1.0

Definition at line 100 of file main.c.

Referenced by c6_hosted_worker_entry(), and tx_application_define().

◆ s_c6_hosted_pclka_hz

uint32_t s_c6_hosted_pclka_hz

static

Cached PCLKA rate, the SCI baud-clock source the port divides.

Handed to the port as ra8_esp_hosted_port_cfg_t::pclk_hz; a stale value silently mis-programs the SPI bit rate, so it is read from the CGC rather than assumed.

Note: Single-threaded; written once from main.

Warning: Zero until c6_hosted_setup_or_halt has run.

Since: 0.1.0

Definition at line 88 of file main.c.

Referenced by c6_hosted_setup_or_halt(), main(), and tx_application_define().

◆ s_c6_hosted_worker

TX_THREAD s_c6_hosted_worker

static

Control block of the single application thread.

ThreadX requires statically allocated control blocks, as does NASA Power of 10 Rule 3.

Note: Owned by ThreadX once tx_thread_create succeeds.

Warning: Never reused for a second thread.

Since: 0.1.0

Definition at line 111 of file main.c.

Referenced by tx_application_define().

◆ s_c6_hosted_worker_name

CHAR s_c6_hosted_worker_name[] = "c6_hosted_init"

static

Thread name handed to ThreadX.

A mutable array rather than a string literal: ThreadX takes a non-const CHAR*, and casting the qualifier away would trip the project's -Wcast-qual.

Note: Read by ThreadX for as long as the thread exists.

Warning: Never modified after creation; ThreadX keeps the pointer.

Since: 0.1.0

Definition at line 123 of file main.c.

Referenced by tx_application_define().

◆ s_c6_hosted_worker_stack

UCHAR s_c6_hosted_worker_stack[k_c6_hosted_worker_stack]

static

Stack backing s_c6_hosted_worker.

Sized by k_c6_hosted_worker_stack; the deepest call the worker makes is a formatter with a small on-stack digit array.

Note: Written only by ThreadX and the worker itself.

Warning: Shrinking this without re-measuring risks a silent overflow.

Since: 0.1.0

Definition at line 134 of file main.c.

Referenced by tx_application_define().

Functions

Variables

Detailed Description

Function Documentation

◆ c6_hosted_heartbeat()

◆ c6_hosted_panic_halt()

◆ c6_hosted_setup_or_halt()

◆ c6_hosted_worker_entry()

◆ main()

◆ tx_application_define()

Variable Documentation

◆ s_c6_hosted_cpuclk_hz

◆ s_c6_hosted_init_err

◆ s_c6_hosted_pclka_hz

◆ s_c6_hosted_worker

◆ s_c6_hosted_worker_name

◆ s_c6_hosted_worker_stack