mil1553_bc.cs

/*****************************************************************************
//
##    File:
##       mil1553_bc.cs
//
//       Copyright (c) MAX Technologies Inc. 1988-2019, 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
//
*****************************************************************************/

#define LOCAL

using System;
using System.Text;
using System.Runtime.InteropServices;

using static MAXT.MXFoundation.mxf;



namespace mil1553_example
{
   public class mil1553_bc
   {
      static void Main(string[] args)
      {
         const UInt32 M_ADDRESS = 5;
         const UInt32 M_SUBADDRESS = 3;

         UInt32 rc;
         UInt64 deviceCount = 0;
         UInt64 moduleCount = 0;
         UInt64 channelCount = 0;
         UInt64 server;
         var device = new UInt64[1];
         var module = new UInt64[1];
         var bc = new UInt64[1];
         UInt64 tx = 0;
         UInt64 tx2 = 0;
         UInt64 rx = 0;

         UInt32 txBufferSize;
         IntPtr txBuffer = IntPtr.Zero;
         var txRec1553 = new MXF_MIL1553_DATAREC();
         txRec1553.data = new UInt16[36];

         UInt32 rxBufferSize = 20 * 1024;
         IntPtr rxBuffer = IntPtr.Zero;
         var rxRec1553 = new MXF_MIL1553_DATAREC[1];

         var minorFrame = new MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG[3];

         UInt64 rxAcqStatus;
         UInt64 msgCount;
         UInt64 byteCount;
         UInt64 rxRec;
         UInt64 loop = 0;
         UInt64 address, subAddress, dir, wordCount;
         UInt64 card, mod, port;
         UInt32 data;

         var msgInfo = new MXF_MIL1553_MSGINFO[1];

         var errorString = new StringBuilder(200);



#if (LOCAL)
            rc = mxfServerConnect("0.0.0.0", "", "", Convert.ToUInt64(false), out server);
#else
         rc = mxfServerConnect("192.168.0.1", "admin", "admin", Convert.ToUInt64(false), out server);
#endif

         // Initialize MX Foundation library
         if (rc == MAXT_SUCCESS)
         {
            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 == MAXT_SUCCESS)
            rc = mxfSystemDeviceAllGet(server, MXF_DEVICE_ALL, 1, out deviceCount, device);

         if (rc == MAXT_SUCCESS)
         {
            rc = mxfDeviceModuleAllGet(device[0], MXF_MODULE_MIL1553MRT_EH, 1, out moduleCount, module);
            if (rc == MAXT_SUCCESS && moduleCount == 0)
               rc = mxfDeviceModuleAllGet(device[0], MXF_MODULE_MIL1553MRT, 1, out moduleCount, module);
         }

         if (rc == MAXT_SUCCESS && moduleCount > 0)
            rc = mxfModuleChannelAllGet(module[0], MXF_CLASS_MIL1553, MXF_SCLASS_BC_CHANNEL, 1, out channelCount, bc);

         // If not found, return an error
         if (rc == MAXT_SUCCESS && moduleCount == 0)
            rc = MAXT_ERROR_NOT_FOUND;

         // Display BC channel location
         if (rc == MAXT_SUCCESS)
            rc = mxfChannelLocationGet(bc[0], out card, out mod, out port);

         if (rc == MAXT_SUCCESS)
            System.Console.Write("BC location is Device:{0} Module:{1} Port:{2}\n", card, mod, port);



         // Allocate 1KB buffer for tx data
         if (rc == MAXT_SUCCESS)
         {
            txBufferSize = 1024;

            // Device allocation
            rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc[0], 0, txBufferSize, out tx, IntPtr.Zero);

            if (rc == MAXT_SUCCESS)
               rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc[0], 1, 0, out tx2, IntPtr.Zero);

            // Host allocation
            if (rc == MAXT_SUCCESS)
            {
               try
               {
                  txBuffer = Marshal.AllocHGlobal((int)txBufferSize);
               }
               catch (OutOfMemoryException)
               {
                  rc = MAXT_ERROR_MEM;
               }
            }
         }

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

            // Device allocation
            rc = mxfRxAcqBufferAlloc(bc[0], rxBufferSize, out rx, IntPtr.Zero);

            // Host allocation
            if (rc == MAXT_SUCCESS)
            {
               try
               {
                  rxBuffer = Marshal.AllocHGlobal((int)rxBufferSize);
               }
               catch (OutOfMemoryException)
               {
                  rc = MAXT_ERROR_MEM;
               }
            }
         }

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

         // Clear the major frame
         if (rc == MAXT_SUCCESS)
            rc = mxfTxPeriodicMajorFrameClear(bc[0], 0);

         // Set the minor frame #0 using 3 Commands
         if (rc == MAXT_SUCCESS)
         {
            // Command #0 : Address 5, Subaddress 3, RX, 16 words
            rc = mxfMIL1553CommandCompose(M_ADDRESS, M_SUBADDRESS, MXF_MIL1553_COMMAND_DIR_RX, 16, out minorFrame[0].command);
            minorFrame[0].modulo = 1;
            minorFrame[0].buffer = tx;

            // Command #1 : Address 5, Subaddress 3, TX, 16 words
            if (rc == MAXT_SUCCESS)
            {
               rc = mxfMIL1553CommandCompose(M_ADDRESS, M_SUBADDRESS, MXF_MIL1553_COMMAND_DIR_TX, 16, out minorFrame[1].command);
               minorFrame[1].modulo = 1;
               minorFrame[1].buffer = tx2;
            }
            // Command #2 : Address 5, Mode Command 16, TX
            if (rc == MAXT_SUCCESS)
            {
               rc = mxfMIL1553CommandCompose(M_ADDRESS, 0, MXF_MIL1553_COMMAND_DIR_TX, 16, out minorFrame[2].command);
               minorFrame[2].modulo = 1;
               minorFrame[2].buffer = tx2;
            }
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553TxPeriodicMajorFrameSet(bc[0], 0, 0, 3, minorFrame, IntPtr.Zero);


         }

         // Set default data for address 5, subaddress 3
         if (rc == MAXT_SUCCESS)
         {
            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;

            Marshal.StructureToPtr(txRec1553, txBuffer, false);

            rc = mxfMIL1553TxPeriodicUpdateMsgWrite(tx, 1, txBuffer);
         }

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

         // Start the major frame with 250 msec rate
         if (rc == MAXT_SUCCESS)
            rc = mxfMIL1553TxPeriodicMajorFrameStart(bc[0], 0, 250000000, IntPtr.Zero);

         // Read and display received messages
         if (rc == MAXT_SUCCESS)
         {
            IntPtr recPtr = IntPtr.Zero;

            do
            {
               rc = mxfMIL1553RxAcqRead(rx, 0, rxBufferSize, out rxAcqStatus, out msgCount, out byteCount, rxBuffer);
               if (rc != MAXT_SUCCESS)
               {
                  Console.Write("mxfMIL1553RxAcqRead() failed; rc=0x{0:x8}\n\r", rc);
                  break;
               }

               recPtr = rxBuffer;
               for (rxRec = 0; rxRec < msgCount && rc == MAXT_SUCCESS; rxRec++)
               {
                  rxRec1553[0] = (MXF_MIL1553_DATAREC)Marshal.PtrToStructure(recPtr, typeof(MXF_MIL1553_DATAREC));

                  rc = mxfMIL1553DataRecordDecompose(bc[0], 1, rxRec1553, msgInfo);

                  if (rc == MAXT_SUCCESS)
                  {
                     rc = mxfMIL1553CommandDecompose(rxRec1553[0].data[0], out address, out subAddress, out dir, out wordCount);
                     if (rc == MAXT_SUCCESS)
                     {
                        Console.Write("\n\r{0}:\t", rxRec1553[0].timeTag);
                        switch (msgInfo[0].msgType)
                        {
                           case MXF_MIL1553_MSGINFO_TYPE_BCRT:
                              Console.Write("BC to RT{0} SA{1}  WC{2} (0x{3:x4})\n\r", address, subAddress, wordCount, rxRec1553[0].data[0]);

                              Console.Write("\t\tRT status: 0x{0:x4} \n\r", rxRec1553[0].data[msgInfo[0].statusIndex[0]]);
                              break;
                           case MXF_MIL1553_MSGINFO_TYPE_RTBC:
                              Console.Write("RT{0}  SA{1} WC{2}  to BC (0x{3:x4})\n\r", address, subAddress, wordCount, rxRec1553[0].data[0]);
                              Console.Write("\t\tRT status: 0x{0:x4} \n\r", rxRec1553[0].data[msgInfo[0].statusIndex[0]]);
                              Console.Write("\t\tRT data:");
                              for (data = 0; data < msgInfo[0].dataWordCount; data++)
                              {
                                 if (data > 1 && (data % 4) == 0)
                                    Console.Write("\n\r\t\t\t");
                                 Console.Write(" 0x{0:x4} ", rxRec1553[0].data[msgInfo[0].dataIndex + data]);
                              }
                              Console.Write("\n\r");
                              break;
                           case MXF_MIL1553_MSGINFO_TYPE_MODECODE_TXDATA:
                              Console.Write("BC Mode Command {0}  to RT{1}  SA{2}  (0x{3:x4})\n\r", wordCount, address, subAddress, rxRec1553[0].data[0]);
                              if ((msgInfo[0].statusIndex[0] != 0xffff) && (msgInfo[0].dataIndex != 0xffff))
                              {
                                 Console.Write("\t\tRT status: 0x{0:x4}\n\r", rxRec1553[0].data[msgInfo[0].statusIndex[0]]);
                                 Console.Write("\t\tRT data: 0x{0:x4}\n\r", rxRec1553[0].data[msgInfo[0].dataIndex]);
                              }
                              break;
                        }
                     }
                  }
                  // Get next msg
                  rc = mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);
               }
               mxfSleep(500);
               loop++;
            } while (loop < 300);
         }

         // Stop the major frame
         if (rc == MAXT_SUCCESS)
            rc = mxfTxPeriodicMajorFrameStop(bc[0], 0, 0);

         if (rc == MAXT_SUCCESS)
            rc = mxfTxPeriodicMajorFrameClear(bc[0], 0);

         // Stop acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqStop(rx);

         if (rc != MAXT_SUCCESS)
         {
            if (mxfSystemErrorStringGet(server, rc, (UInt32)errorString.Capacity, errorString) != MAXT_SUCCESS)
            {
               errorString.Clear();
               errorString.Append(string.Format("ERROR # 0x{0:x8}", rc));
            }
            Console.Write(errorString + "\n\r");
         }

         // Free buffers
         if (txBuffer != IntPtr.Zero)
            Marshal.FreeHGlobal(txBuffer);

         if (rxBuffer != IntPtr.Zero)
            Marshal.FreeHGlobal(rxBuffer);

        // Free all buffers and terminate
        if (tx > 0)
        {
            rc = mxfTxPeriodicUpdateMsgBufferFree(tx);
            if (rc != MAXT_SUCCESS)
                Console.Write("Free buffer failed !\n\r");
        }
        if (tx2 > 0)
        {
            rc = mxfTxPeriodicUpdateMsgBufferFree(tx2);
            if (rc != MAXT_SUCCESS)
                Console.Write("Free buffer failed !\n\r");
        }
        if (rx > 0)
        {
            rc = mxfRxAcqBufferFree(rx);
            if (rc != MAXT_SUCCESS)
                Console.Write("Free buffer failed !\n\r");
        }

        // Unload MX Foundation library
        rc = mxfSystemTerminate(server);
         if (rc == MAXT_ERROR_ANOTHER_PROCESS_RUNNING)
         {
            mxfSystemResourcesRelease(server, 0);
         }
         mxfServerDisconnect(server);

         Console.Write("\n\rPress enter to terminate\n\r");
         Console.ReadKey();

         return;
      }
   }
}