mil1553_bc.c

/*****************************************************************************
//
##    File:
##       mil1553_bc.c
//
//       Copyright (c) MAX Technologies Inc. 1988-2016, All Rights Reserved.
//             CONFIDENTIAL AND PROPRIETARY INFORMATION WHICH IS THE 
//                         PROPERTY OF MAX TECHNOLOGIES INC. 
//
//      This example demonstrates the basic usage of a MIL-STD-1553 bus controller.
//      It can be run with mil1553_rt and mil1553_bm at the same time.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti or 500 series carrier with IPM-1553-MRT
//
*****************************************************************************/

#include "example.h"

#define M_ADDRESS        5
#define M_SUBADDRESS     3

#define LOCAL

int main(void)
{
uint32 rc;
uint64 deviceCount=0;
uint64 moduleCount=0;
uint64 channelCount=0;
HMXF_SERVER server;
HMXF_DEVICE device=0;
HMXF_MODULE module=0;
HMXF_CHANNEL bc=0;
HMXF_BUFFER tx=0;
HMXF_BUFFER tx2=0;
HMXF_BUFFER rx=0;

size_t txBufferSize=0;
MXF_MIL1553_DATAREC* txBuffer=NULL;
MXF_MIL1553_DATAREC* txRec1553;

size_t rxBufferSize=0;
MXF_MIL1553_DATAREC* rxBuffer=NULL;
MXF_MIL1553_DATAREC* rxRec1553;

MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG minorFrame[3];

uint64   rxAcqStatus;
uint64   msgCount;
uint64   byteCount;
uint64   rxRec;
uint64   loop=0;
uint64   address, subAddress, dir, wordCount;
uint64   card=0, mod=0, port=0;
uint32   data;
MXF_MIL1553_MSGINFO msgInfo;
char     errorString[200];

#ifdef LOCAL
   rc = mxfServerConnect("0.0.0.0", "", "", FALSE, &server);
#else
   rc = mxfServerConnect("192.168.0.1", "admin", "admin", FALSE, &server);
#endif

   // Initialize MX Foundation library
   if(!rc)
   {
      rc = mxfSystemInit(server);
      if(rc == MAXT_ERROR_ANOTHER_PROCESS_RUNNING)
      {
         // if another MX Foundation application is running, only load MX-Foundation library, otherwise reset cards first
         rc = mxfSystemResourcesInit(server, 0);
      }
   }

   // Get handle of first MIL-STD-1553 Bus controller channel
   if(!rc)
      rc = mxfSystemDeviceAllGet(server, MXF_DEVICE_ALL, 1, &deviceCount, &device);

   if(!rc && deviceCount)
   {
      rc = mxfDeviceModuleAllGet(device, MXF_MODULE_MIL1553MRT_EH, 1, &moduleCount, &module);
      if (!rc && !moduleCount)
         rc = mxfDeviceModuleAllGet(device, MXF_MODULE_MIL1553MRT, 1, &moduleCount, &module);
   }
   if(!rc && moduleCount)
      rc = mxfModuleChannelAllGet(module, MXF_CLASS_MIL1553, MXF_SCLASS_BC_CHANNEL, 1, &channelCount, &bc);

   // If not found, return an error
   if(!rc && !channelCount)
      rc = MAXT_ERROR_NOT_FOUND;

   // Display BC channel location
   if(!rc)
      rc = mxfChannelLocationGet(bc, &card, &mod, &port);
   if (!rc)
        printf("BC location is Device:%llu Module:%llu Port:%llu\n\r", card, mod, port);
    
   // Allocate 1KB buffer for tx data
   if(!rc)
   {
      txBufferSize = 1024;

      // Device allocation
      rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc, 0, txBufferSize, &tx, NULL);
      if(!rc)
         rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc, 1, 0, &tx2, NULL);

      // Host allocation
      if(!rc)
      {
         txBuffer = (MXF_MIL1553_DATAREC*)malloc(txBufferSize);
         if(!txBuffer)
            rc = MAXT_ERROR_MEM;
      }
   }

   // Allocate 20KB buffer for rx data
   if(!rc)
   {
      rxBufferSize = 20*1024;

      // Device allocation
      rc = mxfRxAcqBufferAlloc(bc, rxBufferSize, &rx, NULL);

      // Host allocation
      if(!rc)
      {
         rxBuffer = (MXF_MIL1553_DATAREC*)malloc(rxBufferSize);
         if(!rxBuffer)
            rc = MAXT_ERROR_MEM;
      }
   }

   // Set timebase to RTC nsec
   if(!rc)
      rc = mxfSystemTimeBaseSet(server, MXF_TIMEBASE_DEVICE_NSEC);

   // Clear the major frame
   if(!rc)
      rc = mxfTxPeriodicMajorFrameClear(bc, 0);

   // Set the minor frame #0 using 3 Commands
   if(!rc)
   {
      memset(minorFrame, 0, sizeof(minorFrame));

      // Command #0 : Address 5, Subaddress 3, RX, 16 words
      rc = mxfMIL1553CommandCompose(M_ADDRESS, M_SUBADDRESS, MXF_MIL1553_COMMAND_DIR_RX, 16, &minorFrame[0].command);
      minorFrame[0].modulo = 1;
      minorFrame[0].buffer = tx;

      // Command #1 : Address 5, Subaddress 3, TX, 16 words
      if(!rc)
      {
         rc = mxfMIL1553CommandCompose(M_ADDRESS, M_SUBADDRESS, MXF_MIL1553_COMMAND_DIR_TX, 16, &minorFrame[1].command);
         minorFrame[1].modulo = 1;
         minorFrame[1].buffer = tx2;
      }

      // Command #2 : Address 5, Mode Command 16, TX
      if(!rc)
      {
         rc = mxfMIL1553CommandCompose(M_ADDRESS, 0, MXF_MIL1553_COMMAND_DIR_TX, 16, &minorFrame[2].command);
         minorFrame[2].modulo = 1;
         minorFrame[2].buffer = tx2;
      }

      if(!rc)
         rc = mxfMIL1553TxPeriodicMajorFrameSet(bc, 0, 0, 3, minorFrame, NULL);
   }

   // Set default data for address 5, subaddress 3
   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 1;
      txRec1553->dataSize    = 34; //34 bytes (command + 16 words)
      txRec1553->data[0]  = 0x0000; //Not used
      txRec1553->data[1]  = 0x0000;
      txRec1553->data[2]  = 0x1111;
      txRec1553->data[3]  = 0x2222;
      txRec1553->data[4]  = 0x3333;
      txRec1553->data[5]  = 0x4444;
      txRec1553->data[6]  = 0x5555;
      txRec1553->data[7]  = 0x6666;
      txRec1553->data[8]  = 0x7777;
      txRec1553->data[9]  = 0x8888;
      txRec1553->data[10] = 0x9999;
      txRec1553->data[11] = 0xAAAA;
      txRec1553->data[12] = 0xBBBB;
      txRec1553->data[13] = 0xCCCC;
      txRec1553->data[14] = 0xDDDD;
      txRec1553->data[15] = 0xEEEE;
      txRec1553->data[16] = 0xFFFF;
      
      rc = mxfMIL1553TxPeriodicUpdateMsgWrite(tx, 1, txBuffer);
   }

   // Start BC acquisition
   if(!rc)
      rc = mxfRxAcqStart(rx, MXF_RXACQ_FLAG_DEFAULT, 0, 0);

   // Start the major frame with 250 msec rate
   if(!rc)
      rc = mxfMIL1553TxPeriodicMajorFrameStart(bc, 0, 250000000, NULL);

   // Read and display received messages
   if(!rc)
   {
      do
      {
         rc = mxfMIL1553RxAcqRead(rx, 0, rxBufferSize, &rxAcqStatus, &msgCount, &byteCount, rxBuffer);
         if (rc)
         {
            printf("mxfMIL1553RxAcqRead() failed; rc=0x%08x\n\r", rc);
            break;
         }
      
         rxRec1553 = (MXF_MIL1553_DATAREC*)rxBuffer;
         for(rxRec=0; rxRec<msgCount && !rc; rxRec++)
         {
            rc = mxfMIL1553DataRecordDecompose(bc, 1, rxRec1553, &msgInfo);
            if(!rc)
            {
               rc = mxfMIL1553CommandDecompose(rxRec1553->data[0], &address, &subAddress, &dir, &wordCount);
               if(!rc)
               {
                  printf("\n\r%llu:\t", rxRec1553->timeTag);
                  switch(msgInfo.msgType)
                  {               
                  case MXF_MIL1553_MSGINFO_TYPE_BCRT:
                     printf("BC to RT%llu SA%llu WC%llu (0x%04x)\n\r", address, subAddress, wordCount, rxRec1553->data[0]);
                     printf("\t\tRT status: 0x%04x\n\r", rxRec1553->data[msgInfo.statusIndex[0]]);
                     break;

                  case MXF_MIL1553_MSGINFO_TYPE_RTBC:
                     printf("RT%llu SA%llu WC%llu to BC (0x%04x)\n\r", address, subAddress, wordCount, rxRec1553->data[0]);
                     printf("\t\tRT status: 0x%04x\n\r", rxRec1553->data[msgInfo.statusIndex[0]]);
                     printf("\t\tRT data:");
                     for(data=0; data<msgInfo.dataWordCount; data++)
                     {
                        if(data && !(data%4))
                           printf("\n\r\t\t\t");

                        printf(" 0x%04x", rxRec1553->data[msgInfo.dataIndex + data]);
                     }
                     printf("\n\r");
                     break;

                  case MXF_MIL1553_MSGINFO_TYPE_MODECODE_TXDATA:
                     printf("BC Mode Command %llu to RT%llu SA%llu (0x%04x)\n\r", wordCount, address, subAddress, rxRec1553->data[0]);
                     if((msgInfo.statusIndex[0] != 0xffff) && (msgInfo.dataIndex != 0xffff))
                     {
                        printf("\t\tRT status: 0x%04x\n\r", rxRec1553->data[msgInfo.statusIndex[0]]);
                        printf("\t\tRT data: 0x%04x\n\r", rxRec1553->data[msgInfo.dataIndex]);
                     }
                     break;
                  }
               }
            }
            // Get next msg
            rc = mxfMIL1553NextDataRecordPtrGet(rxRec1553, &rxRec1553);
         }
         mxfSleep(50);
         loop++;
      } while(loop < 300);
   }

   // Stop the major frame
   if(!rc)
      rc = mxfTxPeriodicMajorFrameStop(bc, 0, 0);
   
   if(!rc)
      rc = mxfTxPeriodicMajorFrameClear(bc, 0);
   
   // Stop acquisition
   if(!rc)
      rc = mxfRxAcqStop(rx);

   if(rc)
   {
      if(mxfSystemErrorStringGet(server, rc, sizeof(errorString), errorString))
         sprintf (errorString,"ERROR # 0x%08X", rc);

      printf("%s\n\r", errorString);
   }
   
   // Free buffers
   if(txBuffer)
      free(txBuffer);
   
   if(rxBuffer)
      free(rxBuffer);

   mxfTxPeriodicUpdateMsgBufferFree(tx);
   mxfTxPeriodicUpdateMsgBufferFree(tx2);
   mxfRxAcqBufferFree(rx);

   // Unload MX Foundation library
   rc = mxfSystemTerminate(server);
   if (rc == MAXT_ERROR_ANOTHER_PROCESS_RUNNING)
   {
      // if another MX Foundation application is running, only release the resource, otherwise reset everything
      rc = mxfSystemResourcesRelease(server, 0);
   }
   
   mxfServerDisconnect(server);

   printf("\n\rPress enter to terminate\n\r");
   getchar();

   return 0;
}