main.c

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#include <stdint.h>
 
#include "ra8_attributes.h"
#include "ra8_board_ek_ra8d2.h"
#include "ra8_boot_entry.h"
#include "ra8_canfd.h"
#include "ra8_canfd_regs.h"
#include "ra8_cgc.h"
#include "ra8_err.h"
#include "ra8_isr.h"
#include "ra8_time.h"

typedef enum : uint32_t {
  k_can_demo_period_ms = 1000U,   
  k_can_demo_bitrate   = 250000U, 
  k_can_demo_id        = 0x456U,  
} can_demo_const_t;

typedef enum : uint8_t {
  k_can_demo_channel = 0U, 
  k_can_demo_dlc     = 8U, 
} can_demo_layout_t;

typedef enum : uint8_t {
  k_can_demo_byte_marker_a = 0xC1U, 
  k_can_demo_byte_marker_b = 0xA5U, 
  k_can_demo_byte_marker_c = 0x5CU, 
  k_can_demo_byte_marker_d = 0x10U, 
  k_can_demo_byte_marker_e = 0x20U, 
  k_can_demo_byte_marker_f = 0x30U, 
  k_can_demo_byte_marker_g = 0x40U, 
} can_demo_byte_t;
 
/* CFDC[0].CTR test-mode bits live in ra8_canfd_set_test_mode() now.
 * Bit positions (CTME = bit 24, CTMS = bits [26:25]) and the
 * Self-test 1 / internal-loopback selector (CTMS = 11b) come from
 * HUM Ch 41 "CFDCnCTR" p 2710. */

volatile uint32_t g_can_match = 0U;

volatile uint32_t g_can_mismatch = 0U;

RA8_INTERNAL static void internal_can_demo_panic_halt(void)
{
  while (1) {
    __asm__ volatile("wfi");
  }
}

[[nodiscard]] RA8_INTERNAL static ra8_err_t
internal_can_demo_enable_internal_loopback(uint8_t channel)
{
  return ra8_canfd_set_test_mode(channel, k_ra8_ctms_self_test_1);
}

RA8_INTERNAL static void internal_can_demo_setup_or_halt(void)
{
  uint32_t cpuclk0_hz = 0U;
  if (ra8_cgc_init() != k_ra8_ok) {
    internal_can_demo_panic_halt();
  }
  if (ra8_cgc_get_clock_hz(k_ra8_clock_id_cpuclk0, &cpuclk0_hz) != k_ra8_ok) {
    internal_can_demo_panic_halt();
  }
  if (ra8_time_init(cpuclk0_hz) != k_ra8_ok) {
    internal_can_demo_panic_halt();
  }
  if (ra8_board_led_init(k_ra8_board_led1) != k_ra8_ok) {
    internal_can_demo_panic_halt();
  }
  if (ra8_board_led_init(k_ra8_board_led2) != k_ra8_ok) {
    internal_can_demo_panic_halt();
  }
  if (ra8_canfd_init((uint8_t)k_can_demo_channel) != k_ra8_ok) {
    internal_can_demo_panic_halt();
  }
  /* Classic CAN: data_bitrate_bps == 0. */
  if (ra8_canfd_set_bitrate((uint8_t)k_can_demo_channel, (uint32_t)k_can_demo_bitrate, 0U) !=
      k_ra8_ok) {
    internal_can_demo_panic_halt();
  }
  if (internal_can_demo_enable_internal_loopback((uint8_t)k_can_demo_channel) != k_ra8_ok) {
    internal_can_demo_panic_halt();
  }
}

[[nodiscard]] RA8_INTERNAL static ra8_err_t internal_can_demo_one_round_trip(uint8_t seq)
{
  ra8_canfd_frame_t tx = {
    .id          = (uint32_t)k_can_demo_id,
    .dlc         = (uint8_t)k_can_demo_dlc,
    .is_extended = 0U,
    .is_fd       = 0U, /* classic */
    .is_brs      = 0U,
    .data        = {seq,
                    (uint8_t)k_can_demo_byte_marker_a,
                    (uint8_t)k_can_demo_byte_marker_b,
                    (uint8_t)k_can_demo_byte_marker_c,
                    (uint8_t)k_can_demo_byte_marker_d,
                    (uint8_t)k_can_demo_byte_marker_e,
                    (uint8_t)k_can_demo_byte_marker_f,
                    (uint8_t)k_can_demo_byte_marker_g},
  };
  if (ra8_canfd_transmit((uint8_t)k_can_demo_channel, &tx) != k_ra8_ok) {
    return k_ra8_err_hw_error;
  }
  ra8_canfd_frame_t rx = {};
  if (ra8_canfd_receive((uint8_t)k_can_demo_channel, &rx) != k_ra8_ok) {
    return k_ra8_err_no_data;
  }
  return k_ra8_ok;
}
 
void main(void)
{
  internal_can_demo_setup_or_halt();
  ra8_isr_globals_enable();
 
  uint8_t seq = 0U;
  while (1) {
    if (internal_can_demo_one_round_trip(seq) == k_ra8_ok) {
      (void)ra8_board_led_toggle(k_ra8_board_led1);
      g_can_match += 1U;
    } else {
      (void)ra8_board_led_toggle(k_ra8_board_led2);
      g_can_mismatch += 1U;
    }
    seq++;
    ra8_delay_ms((uint32_t)k_can_demo_period_ms);
  }
  internal_can_demo_panic_halt();
}