Bring the ESP32-C6's Wi-Fi station up through the ra8_c6link facade. More...

#include <stdint.h>
#include "c6_wifi.h"
#include "esp_hosted_host_fw_ver.h"
#include "esp_hosted_transport.h"
#include "ra8_board_ek_ra8d2.h"
#include "ra8_boot_entry.h"
#include "ra8_c6link.h"
#include "ra8_c6link_wifi.h"
#include "ra8_cgc.h"
#include "ra8_err.h"
#include "ra8_esp_hosted_c6link.h"
#include "ra8_esp_hosted_port.h"
#include "ra8_isr.h"
#include "ra8_mstp.h"
#include "ra8_time.h"
#include "transport_drv.h"
#include "tx_api.h"

Include dependency graph for main.c:

Enumerations
enum	c6_wifi_expect_t : uint32_t { k_c6_wifi_expect_chip = (uint32_t)ESP_PRIV_FIRMWARE_CHIP_ESP32C6 , k_c6_wifi_drain_polls = 8U }
	What a passing run must observe from the co-processor. More...

Functions
static void	c6_wifi_panic_halt (void)
	Park the CPU forever after an unrecoverable bring-up failure.
static void	c6_wifi_setup_or_halt (void)
	Bring clocks, module-stop state, SysTick and the console up.
static void	c6_wifi_on_event (void ctx, const ra8_c6link_event_t ev)
	Narrate one announcement the co-processor volunteered.
static void	c6_wifi_report_fault (const char *what, ra8_err_t err)
	Print the co-processor's own error code for the last failed request.
static bool	c6_wifi_phase_identity (const ra8_c6link_fw_version_t *fw_in)
	Check the identity the readiness probe already brought back.
static bool	c6_wifi_phase_station (void)
	Start the station, read its address, then stop it again.
static ra8_err_t	c6_wifi_open_link (void)
	Open the link over the port's transport seam.
static void	c6_wifi_heartbeat (bool passed)
	Print a liveness line forever, never returning.
static bool	c6_wifi_phase_ready (ra8_c6link_fw_version_t *out)
	Open the link and prove the co-processor is answering.
static void	c6_wifi_worker_entry (ULONG thread_input)
	Worker thread: open the link, run both phases, judge, 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_wifi_cpuclk_hz
	Cached CPUCLK0 rate, used to programme SysTick.
static uint32_t	s_c6_wifi_pclka_hz
	Cached PCLKA rate, the SCI baud-clock source the port divides.
static ra8_err_t	s_c6_wifi_init_err = k_ra8_err_not_initialized
	Exact result of ra8_esp_hosted_port_init.
static TX_THREAD	s_c6_wifi_worker
	Control block of the single application thread.
static CHAR	s_c6_wifi_worker_name [] = "c6_wifi_link"
	Thread name handed to ThreadX.
static UCHAR	s_c6_wifi_worker_stack [k_c6_wifi_worker_stack]
	Stack backing s_c6_wifi_worker.
static uint8_t	s_c6_wifi_arena [k_c6_wifi_arena_bytes]
	Decode arena the facade hands to the generated protobuf codec.
static ra8_c6link_t	s_c6_wifi_link
	The one link this application drives.
static uint32_t	s_c6_wifi_events
	Count of announcements the co-processor volunteered.

Detailed Description

Bring the ESP32-C6's Wi-Fi station up through the ra8_c6link facade.

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

The third application on port/esp-hosted/, and the first that uses libs/ra8_c6link rather than hand-building the protocol. c6_spi_probe established the physical link, c6_hosted_init established the framed transaction and c6_fw_version established one RPC round-trip. This one establishes the facade – and, with it, the only part of the control plane a host test cannot settle:

bring the port up under ThreadX and bind its transport seam;
announce this host and prove the co-processor is answering, by asking who it is rather than by waiting for a boot event the co-processor emits only when IT boots;
check that answer against the vendored host driver's own version and against the ESP32-C6 chip id;
start the Wi-Fi station – Req_WifiInit, Req_SetWifiMode, Req_WifiStart – and read the station's MAC address back;
stop the station and print one PASS or FAIL line.

What only silicon can answer: Req_WifiInit carries twenty scalars that the co-processor's own esp_wifi_init() validates: a magic word, buffer counts, aggregation flags. A host test can prove this firmware encodes them; only the co-processor can say whether it accepts them. That is why this application exists and why it reports the co-processor's own esp_err_t on failure rather than a local verdict – the number in that field is what a fix would be based on.

No network is joined here. Association needs an AP in range and belongs to #492; this stops at "the radio is up and has an address", which is exactly the state an IP driver starts from.

Bench requirements: SW4 1=OFF 2=OFF 3=ON 4=OFF, the C6 harness on J26, and the C6 powered from its own USB. SW4-3 ON is what connects J26-1..J26-4 to the MCU at all; with it wrong the board and the co-processor both look healthy and the link simply does not exist.

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

Since: 0.1.0

Definition in file main.c.

Enumeration Type Documentation

◆ c6_wifi_expect_t

enum c6_wifi_expect_t : uint32_t

What a passing run must observe from the co-processor.

The chip id is upstream's own enumerator, so a board carrying some other Espressif part fails here by name rather than by silence.

Invariant: k_c6_wifi_expect_chip is the ESP32-C6's firmware chip id.; k_c6_wifi_drain_polls is non-zero, so the post-start drain always clocks at least one transaction.

Example:: if (fw.chip_id != (uint32_t)k_c6_wifi_expect_chip) { fail(); }

k_c6_wifi_expect_chip
@ k_c6_wifi_expect_chip
Firmware chip id the answering co-processor must report.
Definition main.c:84

See also: c6_wifi_phase_identity

Since: 0.1.0

Enumerator
k_c6_wifi_expect_chip	Firmware chip id the answering co-processor must report.
k_c6_wifi_drain_polls	Transactions clocked after the station starts, so the Wi-Fi events the co-processor raises on its own are drained and reported rather than left queued behind the next request.

Definition at line 83 of file main.c.

Function Documentation

◆ c6_wifi_heartbeat()

void c6_wifi_heartbeat ( bool passed )

static

Print a liveness line forever, never returning.

Parameters

[in] passed Verdict the run reached, echoed on every beat.

Returns: Never returns.

Precondition: The console is up and ThreadX is scheduling.; The verdict has already been printed once.

Postcondition: A line is emitted every k_c6_wifi_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 console attached after the run still learns the verdict.

Since: 0.1.0

Definition at line 398 of file main.c.

References c6_wifi_put_u32(), c6_wifi_puts(), k_c6_wifi_heartbeat_ms, and tx_thread_sleep.

Referenced by c6_wifi_worker_entry().

◆ c6_wifi_on_event()

void c6_wifi_on_event	(	void *	ctx,
		const ra8_c6link_event_t *	ev )

static

Narrate one announcement the co-processor volunteered.

Parameters

[in]	ctx	Unused; this application has one link.
[in]	ev	The decoded announcement; never null.

Returns: Nothing.

Precondition: The console is up.; ev is valid only for the duration of this call.

Postcondition: One line was emitted and the run's event count advanced.; Nothing was called back into the link.

Note: Runs inside ra8_c6link_poll, on the worker thread, with the transport in use – so it prints and returns and does nothing else.

Since: 0.1.0

Definition at line 211 of file main.c.

References c6_wifi_put_i32(), c6_wifi_put_text(), c6_wifi_put_u32(), c6_wifi_puts(), ra8_c6link_event::kind, ra8_c6link_event::reason, s_c6_wifi_events, ra8_c6link_event::ssid, ra8_c6link_event::ssid_len, and ra8_c6link_event::wifi_event_id.

Referenced by c6_wifi_open_link().

◆ c6_wifi_open_link()

ra8_err_t c6_wifi_open_link ( void )

static

Open the link over the port's transport seam.

Returns: ra8_err_t Error code.

Return values

k_ra8_ok	The link is open and ready to pump.
k_ra8_err_not_initialized	The port did not come up.
k_ra8_err_null_ptr	The seam came back incomplete.
k_ra8_err_invalid_size	The arena is smaller than the facade accepts.

Precondition: ra8_esp_hosted_port_init has succeeded.; The console is up, so a failure is reportable.

Postcondition: On success s_c6_wifi_link is open with both callbacks registered.; On failure the link is untouched.

Note: Split out of the worker so that function stays inside NASA Rule 4.

Since: 0.1.0

Definition at line 372 of file main.c.

References ra8_c6link_cfg::arena, ra8_c6link_cfg::arena_bytes, c6_wifi_on_event(), ra8_c6link_cfg::cb_ctx, ra8_c6link_cfg::event_cb, k_ra8_ok, ra8_c6link_open(), ra8_esp_hosted_c6link_bind(), s_c6_wifi_arena, s_c6_wifi_link, and ra8_c6link_cfg::transport.

Referenced by c6_wifi_phase_ready().

◆ c6_wifi_panic_halt()

void c6_wifi_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 157 of file main.c.

Referenced by c6_wifi_setup_or_halt(), and main().

◆ c6_wifi_phase_identity()

bool c6_wifi_phase_identity ( const ra8_c6link_fw_version_t * fw_in )

static

Check the identity the readiness probe already brought back.

Parameters

[in] fw_in Identity ra8_c6link_await_ready answered with; must be non-null. Copied to a local before use so the printing below reads the same whether the caller's record moves or not.

Returns: true when the version and chip id are the expected ones.

Return values

true	The host/co-processor version lock holds.
false	A field did not match what this host was built against.

Precondition: The link is ready, so fw was populated by a real answer.; The console is up.

Postcondition: The identity, and any mismatch in it, is on the console.; No link state is modified; this phase clocks no transaction.

Note: The expectation is the vendored host driver's own version, so this is the version lock rather than a literal written twice.; Readiness already cost one identity exchange, so re-asking here would be a second round trip for an answer this host is holding.

Since: 0.1.0

Definition at line 273 of file main.c.

References c6_wifi_put_hex(), c6_wifi_put_text(), c6_wifi_put_u32(), c6_wifi_puts(), ra8_c6link_fw_version::chip_id, k_c6_wifi_expect_chip, k_c6_wifi_hex_byte, ra8_c6link_fw_version::major, ra8_c6link_fw_version::minor, ra8_c6link_fw_version::patch, ra8_c6link_fw_version::target, and ra8_c6link_fw_version::target_len.

Referenced by c6_wifi_worker_entry().

◆ c6_wifi_phase_ready()

bool c6_wifi_phase_ready ( ra8_c6link_fw_version_t * out )

static

Open the link and prove the co-processor is answering.

Opening the handle only binds a transport; it clocks nothing and therefore says nothing about the far side. This phase follows it with ra8_c6link_await_ready, which announces this host and then asks the co-processor who it is. Deliberately not a wait for the boot event: that fires once when the CO-PROCESSOR boots, and the C6 has its own supply, so it does not reboot when this board is reset.

Parameters

[out] out Receives the identity the readiness probe answered with; must be non-null.

Returns: true when the link is open and the co-processor answered.

Return values

true	`out` holds a real answer; every later phase may proceed.
false	The link would not open, or nothing answered. Fatal: nothing below this can work if the far side is silent.

Precondition: The port is up, so the transport seam can bind.; The console is up, so a failure is reportable.

Postcondition: Each outcome is on the console, with the fault detail on failure.; On success the link is open and usable.

Note: Not thread-safe; it pumps.

Since: 0.1.0

Definition at line 431 of file main.c.

References c6_wifi_open_link(), c6_wifi_puts(), c6_wifi_report_fault(), k_ra8_c6link_announce_transfers, k_ra8_ok, ra8_c6link_await_ready(), ra8_err_to_str(), and s_c6_wifi_link.

Referenced by c6_wifi_worker_entry().

◆ c6_wifi_phase_station()

bool c6_wifi_phase_station ( void )

static

Start the station, read its address, then stop it again.

Returns: true when the radio started and reported a non-zero address.

Return values

true	The co-processor accepted the whole start sequence.
false	A step was refused; the co-processor's own code is on the console.

Precondition: The link is open and the identity phase has passed.; The console is up.

Postcondition: The station was stopped whether or not the run succeeded, so the co-processor is not left with a radio nobody owns.; The address, or the reason there was none, is on the console.

Note: This is the phase no host test can stand in for: the twenty scalars Req_WifiInit carries are validated by the co-processor's own esp_wifi_init(), not by this side.

Since: 0.1.0

Definition at line 325 of file main.c.

References c6_wifi_print_stats(), c6_wifi_put_mac(), c6_wifi_puts(), c6_wifi_report_fault(), k_c6_wifi_drain_polls, k_ra8_ok, ra8_c6link_poll(), ra8_c6link_wifi_mac(), ra8_c6link_wifi_start(), ra8_c6link_wifi_stop(), and s_c6_wifi_link.

Referenced by c6_wifi_worker_entry().

◆ c6_wifi_report_fault()

void c6_wifi_report_fault	(	const char *	what,
		ra8_err_t	err )

static

Print the co-processor's own error code for the last failed request.

Parameters

[in]	what	Short name of the step that failed; must be non-null.
[in]	err	What the facade returned.

Returns: Nothing.

Precondition: The console is up.; A request has just failed on s_c6_wifi_link.

Postcondition: Exactly one line was emitted.; No application state is modified.

Note: The co-processor's esp_err_t is the actionable number here: an ESP_ERR_INVALID_ARG against Req_WifiInit names the transmitted configuration, not the link.

Since: 0.1.0

Definition at line 240 of file main.c.

References c6_wifi_put_i32(), c6_wifi_put_u32(), c6_wifi_puts(), ra8_c6link_last_fault(), ra8_err_to_str(), ra8_c6link_fault::resp, ra8_c6link_fault::rpc_id, and s_c6_wifi_link.

Referenced by c6_wifi_phase_ready(), and c6_wifi_phase_station().

◆ c6_wifi_setup_or_halt()

void c6_wifi_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_wifi_cpuclk_hz and s_c6_wifi_pclka_hz are non-zero and the console transmits at k_c6_wifi_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 176 of file main.c.

References c6_wifi_panic_halt(), k_c6_wifi_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_wifi_cpuclk_hz, and s_c6_wifi_pclka_hz.

Referenced by main().

◆ c6_wifi_worker_entry()

void c6_wifi_worker_entry ( ULONG thread_input )

static

Worker thread: open the link, run both phases, judge, heartbeat.

Parameters

[in] thread_input ThreadX entry argument; unused.

Returns: Never returns.

Precondition: tx_application_define has recorded s_c6_wifi_init_err.; The console is up.

Postcondition: On a successful init both phases ran and exactly one verdict line was printed.; On a failed init no transaction was attempted 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 474 of file main.c.

References c6_wifi_heartbeat(), c6_wifi_phase_identity(), c6_wifi_phase_ready(), c6_wifi_phase_station(), c6_wifi_put_u32(), c6_wifi_puts(), k_c6_wifi_boot_wait_ms, k_ra8_ok, ra8_delay_ms(), ra8_err_to_str(), ra8_esp_hosted_mem_dump(), s_c6_wifi_events, and s_c6_wifi_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 was 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 561 of file main.c.

References c6_wifi_panic_halt(), c6_wifi_print_banner(), c6_wifi_puts(), c6_wifi_setup_or_halt(), ra8_isr_globals_enable(), s_c6_wifi_cpuclk_hz, and s_c6_wifi_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_wifi_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 525 of file main.c.

References c6_wifi_puts(), c6_wifi_worker_entry(), k_c6_wifi_edge_poll_ms, k_c6_wifi_sck_hz, k_c6_wifi_worker_prio, k_ra8_board_pmod1_sci_channel, ra8_esp_hosted_port_init(), s_c6_wifi_init_err, s_c6_wifi_pclka_hz, s_c6_wifi_worker, s_c6_wifi_worker_name, s_c6_wifi_worker_stack, TX_AUTO_START, TX_NO_TIME_SLICE, TX_SUCCESS, and tx_thread_create.

Variable Documentation

◆ s_c6_wifi_arena

uint8_t s_c6_wifi_arena[k_c6_wifi_arena_bytes]

static

Decode arena the facade hands to the generated protobuf codec.

Static because this image has no heap; the facade bump-allocates from it and empties it after every message, which is what keeps the whole control plane inside NASA Power of 10 Rule 3.

Note: Written only through the facade, from the worker thread.

Warning: Shrinking it below k_ra8_c6link_arena_min makes ra8_c6link_open refuse rather than fail later.

Since: 0.1.0

Definition at line 130 of file main.c.

Referenced by c6_wifi_open_link().

◆ s_c6_wifi_cpuclk_hz

uint32_t s_c6_wifi_cpuclk_hz

static

Cached CPUCLK0 rate, used to programme SysTick.

Definition at line 93 of file main.c.

Referenced by c6_wifi_setup_or_halt(), and main().

◆ s_c6_wifi_events

uint32_t s_c6_wifi_events

static

Count of announcements the co-processor volunteered.

Printed with the verdict. A station that starts and says nothing is a different situation from one that starts and raises WIFI_EVENT_STA_START, and the difference matters to whoever debugs #492.

Note: Written only from the event callback, on the worker thread.

Warning: Not reset between phases; it is a run total.

Since: 0.1.0

Definition at line 145 of file main.c.

Referenced by c6_wifi_on_event(), and c6_wifi_worker_entry().

◆ s_c6_wifi_init_err

ra8_err_t s_c6_wifi_init_err = k_ra8_err_not_initialized

static

Exact result of ra8_esp_hosted_port_init.

Definition at line 99 of file main.c.

Referenced by c6_wifi_worker_entry(), and tx_application_define().

◆ s_c6_wifi_link

ra8_c6link_t s_c6_wifi_link

static

The one link this application drives.

Definition at line 133 of file main.c.

Referenced by c6_wifi_open_link(), c6_wifi_phase_ready(), c6_wifi_phase_station(), and c6_wifi_report_fault().

◆ s_c6_wifi_pclka_hz

uint32_t s_c6_wifi_pclka_hz

static

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

Definition at line 96 of file main.c.

Referenced by c6_wifi_setup_or_halt(), main(), and tx_application_define().

◆ s_c6_wifi_worker

TX_THREAD s_c6_wifi_worker

static

Control block of the single application thread.

Definition at line 102 of file main.c.

Referenced by tx_application_define().

◆ s_c6_wifi_worker_name

CHAR s_c6_wifi_worker_name[] = "c6_wifi_link"

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 114 of file main.c.

Referenced by tx_application_define().

◆ s_c6_wifi_worker_stack

UCHAR s_c6_wifi_worker_stack[k_c6_wifi_worker_stack]

static

Stack backing s_c6_wifi_worker.

Definition at line 117 of file main.c.

Referenced by tx_application_define().

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ c6_wifi_expect_t

Function Documentation

◆ c6_wifi_heartbeat()

◆ c6_wifi_on_event()

◆ c6_wifi_open_link()

◆ c6_wifi_panic_halt()

◆ c6_wifi_phase_identity()

◆ c6_wifi_phase_ready()

◆ c6_wifi_phase_station()

◆ c6_wifi_report_fault()

◆ c6_wifi_setup_or_halt()

◆ c6_wifi_worker_entry()

◆ main()

◆ tx_application_define()

Variable Documentation

◆ s_c6_wifi_arena

◆ s_c6_wifi_cpuclk_hz

◆ s_c6_wifi_events

◆ s_c6_wifi_init_err

◆ s_c6_wifi_link

◆ s_c6_wifi_pclka_hz

◆ s_c6_wifi_worker

◆ s_c6_wifi_worker_name

◆ s_c6_wifi_worker_stack