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samples: drivers: lin: add new sample for LIN responder mode
Add new sample for LIN act as responder (slave) node Signed-off-by: The Nguyen <[email protected]>
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‎samples/drivers/lin/counter/CMakeLists.txt‎

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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(lin_counter)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/drivers/lin/counter/Kconfig‎

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# Copyright (c) 2025 Renesas Electronics Corporation
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# SPDX-License-Identifier: Apache-2.0
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mainmenu "LIN Counter Sample"
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source "Kconfig.zephyr"
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choice LIN_BUS_BAUDRATE
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prompt "Select LIN bus baudrate used in this sample"
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default LIN_BUS_BAUDRATE_19200
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config LIN_BUS_BAUDRATE_2400
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bool "2400 bps"
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help
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Configure LIN node baudrate to 2400 bps.
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config LIN_BUS_BAUDRATE_9600
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bool "9600 bps"
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help
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Configure LIN node baudrate to 9600 bps.
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config LIN_BUS_BAUDRATE_10400
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bool "10400 bps"
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help
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Configure LIN node baudrate to 10400 bps.
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config LIN_BUS_BAUDRATE_19200
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bool "19200 bps"
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help
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Configure LIN node baudrate to 19200 bps.
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endchoice
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choice LIN_BUS_CHECKSUM_TYPE
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prompt "Select LIN bus checksum type used in this sample"
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default LIN_BUS_CLASSIC_CHECKSUM
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config LIN_BUS_CLASSIC_CHECKSUM
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bool "Classic Checksum"
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help
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Configure LIN node to use Classic Checksum.
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config LIN_BUS_ENHANCED_CHECKSUM
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bool "Enhanced Checksum"
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help
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Configure LIN node to use Enhanced Checksum.
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endchoice
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config COUNTER_UPDATE_ID
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hex "LIN Frame ID to poll counter value"
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default 0x20
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help
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This configuration option selects the LIN frame ID used by the
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controller to poll the current counter value.
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config COUNTER_UPDATE_PERIOD_MS
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int "Counter update period (ms)"
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range 500 5000
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default 1000
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help
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This configuration option selects the period at which the counter
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value increments by 1.

‎samples/drivers/lin/counter/README.rst‎

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.. zephyr:code-sample:: lin-counter
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:name: Local Interconnect Network (LIN) counter
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:relevant-api: lin_controller
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Responses to LIN messages in slave mode.
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Overview
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********
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This sample demonstrates how to use the Local Interconnect Network (LIN) API.
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The LIN controller acts as a LIN slave node that responds to LIN master requests.
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The LIN master sends a request for a counter value, and the LIN slave responds
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with the current counter value. The counter value is incremented periodically with duration could
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be configured in Kconfig.
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Responses are indicated by blinking the LED (if present) and output of the current counter value
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to the console.
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Requirements
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************
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* A board with LIN controller support (e.g., ek_ra8m1/r7fa8m1ahecbd).
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* A LIN transceiver connected to the LIN controller pins (e.g., `mikroe LIN Click`_).
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* A host PC with LIN adapter and LIN master software (e.g., `PCAN-USB Pro FD`_).
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Building and Running
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********************
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Building and Running for EK-RA8M1
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=================================
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The :zephyr:board:`ek_ra8m1` board does not come with an onboard LIN transceiver. In order to use
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the LIN bus on the EK-RA8M1 board, an external LIN bus transceiver `mikroe LIN Click`_ must be
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connected to this board:
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- P609 EK-RA8M1 (TXD) <-> RXD mikroe LIN Click
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- P610 EK-RA8M1 (RXD) <-> TXD mikroe LIN Click
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- GND EK-RA8M1 <--------> GND mikroe LIN Click
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- 3.3V EK-RA8M1 <-------> 3V3 mikroe LIN Click
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- P601 EK-RA8M1 <--------> EN mikroe LIN Click
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- P602 EK-RA8M1 <--------> WK mikroe LIN Click
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.. note::
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An additional pull-up resistor (10k Ohm) is required between EK-RA8M1 P609 (TXD) and 3.3V to
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ensure proper idle state on the LIN bus.
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The sample can be built and executed for the EK-RA8M1 as follows:
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.. zephyr-app-commands::
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:zephyr-app: samples/drivers/lin/counter
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:board: ek_ra8m1
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:goals: build flash
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:compact:
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Testing LIN Communication
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=========================
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To test the LIN communication, connect the LIN transceiver to a host PC with LIN adapter and LIN
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master software. Configure the LIN master to send a request for the counter value with the same
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identifier as defined in the sample (default is ``0x20``). Start the LIN master software and observe
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the console output of the Zephyr application. The counter value should be printed each time the LIN
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master sends a request. The LED (if present) should blink each time a response is sent.
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For examples, to use the `PCAN-USB Pro FD`_ adapter:
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1. Download and install the `PLIN-View Pro`_ tool from the PEAK-System website.
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2. Connect the PCAN-USB Pro FD adapter to your computer, then configure the LIN bus settings
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(such as channel, baud rate, and master mode) in PLIN-View Pro.
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3. Set up a LIN schedule table that includes a frame to request the counter value from the slave
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device. Ensure the frame ID matches the counter ID specified in this sample.
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4. Run the LIN master schedule in PLIN-View Pro. Monitor the Zephyr application's console for
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counter updates and LED activity.
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Sample output
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=============
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.. code-block:: console
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LIN DUT started in RESPONDER mode
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Counter ID: 0x20
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Counter: 0
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Counter: 1
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Counter Update Frame has been transmitted
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.. _mikroe LIN Click:
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https://www.mikroe.com/lin-click
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.. _PCAN-USB Pro FD:
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https://www.peak-system.com/PCAN-USB-Pro-FD.366.0.html?&L=1
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.. _PLIN-View Pro:
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https://www.peak-system.com/PLIN-View-Pro.243.0.html?&L=1

‎samples/drivers/lin/counter/boards/ek_ra8m1.overlay‎

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/*
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* Copyright (c) 2025 Renesas Electronics Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/ {
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lin_click0: tle72593ge {
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compatible = "infineon,tle72593ge", "lin-transceiver-gpio";
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wakeup-gpios = <&ioport6 1 GPIO_ACTIVE_HIGH>;
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enable-gpios = <&ioport6 2 GPIO_ACTIVE_HIGH>;
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max-bitrate = <20000>;
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#phy-cells = <0>;
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};
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};
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&ioport6 {
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status = "okay";
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};
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&pinctrl {
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sci0_default: sci0_default {
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group1 {
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/* TXD */
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psels = <RA_PSEL(RA_PSEL_SCI_0, 6, 9)>;
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drive-strength = "high";
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};
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group2 {
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/* RXD */
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psels = <RA_PSEL(RA_PSEL_SCI_0, 6, 10)>;
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};
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};
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};
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&sci0 {
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pinctrl-0 = <&sci0_default>;
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pinctrl-names = "default";
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interrupts = <95 1>, <94 1>, <93 1>, <92 1>, <91 1>, <90 1>;
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interrupt-names = "rxi", "txi", "tei", "eri", "aed", "bfd";
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status = "okay";
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uart {
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status = "disabled";
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};
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i2c {
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status = "disabled";
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};
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dut: lin {
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phys = <&lin_click0>;
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status = "okay";
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};
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};

‎samples/drivers/lin/counter/prj.conf‎

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CONFIG_LIN=y

‎samples/drivers/lin/counter/samples.yaml‎

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sample:
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name: LIN driver counter sample
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tests:
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sample.drivers.lin.counter:
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tags: lin
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depends_on: lin
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integration_platforms:
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- ek_ra8m1/r7fa8m1ahecbd
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harness: console
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harness_config:
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type: one_line
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regex:
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- "LIN DUT started in RESPONDER mode"

‎samples/drivers/lin/counter/src/main.c‎

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/*
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* Copyright (c) 2025 Renesas Electronics Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/sys/printk.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/lin.h>
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#include <zephyr/drivers/gpio.h>
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#if defined(CONFIG_LIN_BUS_BAUDRATE_2400)
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#define LIN_BUS_BAUDRATE 2400
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#elif defined(CONFIG_LIN_BUS_BAUDRATE_9600)
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#define LIN_BUS_BAUDRATE 9600
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#elif defined(CONFIG_LIN_BUS_BAUDRATE_10400)
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#define LIN_BUS_BAUDRATE 10400
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#elif defined(CONFIG_LIN_BUS_BAUDRATE_19200)
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#define LIN_BUS_BAUDRATE 19200
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#else
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#error "Invalid baudrate setting"
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#endif
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#if defined(CONFIG_LIN_BUS_CLASSIC_CHECKSUM)
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#define LIN_CHECKSUM_TYPE LIN_CHECKSUM_CLASSIC
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#elif defined(CONFIG_LIN_BUS_ENHANCED_CHECKSUM)
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#define LIN_CHECKSUM_TYPE LIN_CHECKSUM_ENHANCED
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#else
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#error "Invalid checksum type setting"
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#endif
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/* Test configuration */
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#define COUNTER_UPDATE_FRAME_ID CONFIG_COUNTER_UPDATE_ID
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#define COUNTER_UPDATE_INTERVAL_MS CONFIG_COUNTER_UPDATE_PERIOD_MS
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/* LED blink duration */
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#define LED_BLINK_DURATION_MS 100
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/* Recommended slave node framing configuration as mentioned in the LIN 2.1 specification */
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#define LIN_BUS_BREAK_LEN 11
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#define LIN_BUS_BREAK_DELIMITER_LEN 1
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static const struct device *lin_dut = DEVICE_DT_GET_OR_NULL(DT_NODELABEL(dut));
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static struct gpio_dt_spec led = GPIO_DT_SPEC_GET_OR(DT_ALIAS(led0), gpios, {0});
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/* LIN DUT configuration */
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static const struct lin_config dut_config = {
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.mode = LIN_MODE_RESPONDER,
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.baudrate = LIN_BUS_BAUDRATE,
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.break_len = LIN_BUS_BREAK_LEN,
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.break_delimiter_len = LIN_BUS_BREAK_DELIMITER_LEN,
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.flags = 0,
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};
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static uint32_t counter;
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static void led_blink_work_handler(struct k_work *work)
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{
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gpio_pin_set_dt(&led, 0);
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}
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K_WORK_DELAYABLE_DEFINE(led_blink_work, led_blink_work_handler);
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void lin_dut_event_handler(const struct device *dev, const struct lin_event *event, void *user_data)
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{
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int ret;
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if (event->type == LIN_EVT_RX_HEADER) {
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struct lin_msg msg = {
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.data_len = sizeof(uint32_t),
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.checksum_type = LIN_CHECKSUM_TYPE,
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.id = lin_get_frame_id(event->header.pid),
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.data = &counter,
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.flags = 0,
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};
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if (msg.id == COUNTER_UPDATE_FRAME_ID) {
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/* Send response with the current counter value */
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printk("Counter Update Frame has been transmitted\n");
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ret = lin_response(dev, &msg, K_FOREVER);
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if (ret < 0) {
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printk("Error: Failed to send Counter Update response\n");
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return;
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}
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} else {
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/* Do nothing for other IDs */
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return;
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}
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if (led.port != NULL) {
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/* Blink LED to indicate activity */
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gpio_pin_set_dt(&led, 1);
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/* Schedule work to toggle LED off after duration */
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k_work_schedule(&led_blink_work, K_MSEC(LED_BLINK_DURATION_MS));
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}
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}
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}
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int main(void)
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{
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int ret;
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if (!device_is_ready(lin_dut)) {
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printk("LIN DUT device not found\n");
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return 0;
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}
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if (led.port != NULL) {
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if (!device_is_ready(led.port)) {
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printk("LED device not found\n");
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return 0;
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}
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ret = gpio_pin_configure_dt(&led, GPIO_OUTPUT_INACTIVE);
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if (ret < 0) {
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printk("Failed to configure LED GPIO pin\n");
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return 0;
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}
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}
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ret = lin_configure(lin_dut, &dut_config);
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if (ret < 0) {
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printk("Error configuring LIN DUT [%d]", ret);
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return 0;
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}
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ret = lin_set_callback(lin_dut, lin_dut_event_handler, NULL);
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if (ret < 0) {
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printk("Error setting LIN DUT event handler [%d]", ret);
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return 0;
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}
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ret = lin_start(lin_dut);
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if (ret) {
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printk("LIN start failed: %d\n", ret);
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return 0;
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}
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printk("LIN DUT started in RESPONDER mode\n");
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printk("Counter ID: 0x%02X\n", COUNTER_UPDATE_FRAME_ID);
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counter = 0;
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while (true) {
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printk("Counter: %u\n", counter++);
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k_msleep(COUNTER_UPDATE_INTERVAL_MS);
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}
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return 0;
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}

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