mil1553_bc_extclock.c

/*****************************************************************************
//
//     File:
//        mil1553_bc_extclock.c
//
//       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 MIL-STD-1553 bus controller
//      using external clock. The discrete input #4 [rising edge] is used to start
//      transmission of each minor frame.
//
//      Can be run with mil1553_rt and mil1553_bm at the same time.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti with module 1553 and Discrete.
//
*****************************************************************************/

#include "example.h"

#define M_ADDRESS      5
#define M_SUBADDR      3

//#define LOCAL
//#define LOOPBACK

int main(void)
{
HMXF_SERVER             server;
HMXF_DEVICE             device=0;
HMXF_MODULE             mil1553Module=0;
HMXF_MODULE             discreteModule=0;
HMXF_CHANNEL            bc=0;
HMXF_CHANNEL            discreteOut=0;
#ifdef LOOPBACK
HMXF_CHANNEL            discreteIn=0;
#endif
HMXF_BUFFER             acq1553Buffer=0;
HMXF_BUFFER             txDiscreteBuffer=0;
HMXF_BUFFER             txMsg1553Buffer=0;
HMXF_BUFFER             txMsg1553Buffer2=0;

MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG minorFrame[3];
MXF_MIL1553_DATAREC*    txRec1553;
MXF_MIL1553_DATAREC*    rxRec1553;
MXF_MIL1553_MSGINFO     msgInfo;
    
uint32                  rc;
uint64                  appCount;
uint64                  moduleCount=0;
uint32                  txBufferSize=0;
MXF_MIL1553_DATAREC*    txBuffer=NULL;
uint32                  rxBufferSize=0;
MXF_MIL1553_DATAREC*    rxBuffer=NULL;
uint64                  rxAcqStatus;
uint64                  msgCount;
uint64                  byteCount;
uint64                  rxRec;
uint64                  loop=0;
uint64                  address, subAddress, dir, wordCount;
uint32                  data;
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

   printf("Starting ...\n\r");

   // Initialize MX Foundation library
   if(!rc)
     rc = mxfSystemInit(server);

   //Get handle of first device
   if(!rc)
     rc = mxfSystemDeviceGet(server, 0, &device);

   //Get handle of first 1553 module
    if(!rc)
    {
        rc = mxfDeviceModuleAllGet(device, MXF_MODULE_MIL1553MRT_EH, 1, &moduleCount, &mil1553Module);
        if(!rc && !moduleCount)
            rc = MAXT_ERROR_NOT_FOUND;
    }

   //Get handle of Discrete module
   if(!rc)
   {
      rc = mxfDeviceModuleAllGet(device, MXF_MODULE_DIOFIFO_EH, 1, &moduleCount, &discreteModule);
      if(!rc && !moduleCount)
         rc = MAXT_ERROR_NOT_FOUND;
   }

   // Get handle of first MIL1553 Bus controller channel
   if(!rc)
     rc = mxfModuleChannelGet(mil1553Module, 1, &bc);

   // Get handle of discrete output channel
   if(!rc)
     rc = mxfModuleChannelGet(discreteModule, 0, &discreteOut);

#ifdef LOOPBACK
   // Get handle of discrete input channel
   if(!rc)
     rc = mxfModuleChannelGet(discreteModule, 1, &discreteIn);

   // Enable internal loopback
   if(!rc)
      rc = mxfAttributeUint64Set(bc, KMXF_MIL1553_TX_RX_TEST_LB, VMXF_ENABLE);

   if(!rc)
      rc = mxfAttributeUint64Set(discreteIn, KMXF_DISCRETE_TX_RX_TEST_LB, VMXF_ENABLE);
#endif

   // Allocate 1KB buffer for tx data
   if(!rc)
   {
      txBufferSize = 64*1024;

      // Device allocation
      rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc, 0, txBufferSize, &txMsg1553Buffer, NULL);
      if(!rc)
         rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc, 1, 0, &txMsg1553Buffer2, NULL);

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

   // Allocate 10KB buffer for rx data
   if(!rc)
   {
      rxBufferSize = 10*1024;

      // Device allocation
      rc = mxfRxAcqBufferAlloc(bc, rxBufferSize, &acq1553Buffer, 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_SUBADDR, MXF_MIL1553_COMMAND_DIR_RX, 16, &minorFrame[0].command);
      minorFrame[0].modulo = 1;
      minorFrame[0].buffer = txMsg1553Buffer;

      // Command #1 : Address 5, Subaddress 3, TX, 16 words
      if(!rc)
      {
         rc = mxfMIL1553CommandCompose(M_ADDRESS, M_SUBADDR, MXF_MIL1553_COMMAND_DIR_TX, 16, &minorFrame[1].command);
         minorFrame[1].modulo = 1;
         minorFrame[1].buffer = txMsg1553Buffer2;
      }

      // 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 = txMsg1553Buffer2;
      }

      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(txMsg1553Buffer, 1, txBuffer);
   }

   // Start BC acquisition
   if(!rc)
      rc = mxfRxAcqStart(acq1553Buffer, MXF_RXACQ_FLAG_DEFAULT, 0, 0);

   // Start the major frame with the clock mode (on rising edge)
   if(!rc)
   {
   MXF_MIL1553_TXPERIODIC_MJRFRAME_PROPERTIES majorProperties;

      memset(&majorProperties, 0, sizeof(majorProperties));
      majorProperties.options = MXF_MIL1553_TXPERIODIC_MJRFRAME_PROPERTIES_OPT_EXTCLOCK_MODE_RISING;
      rc = mxfTxPeriodicMajorFrameStart(bc, 0, 0, &majorProperties);
   }

   if(!rc)
   {
   MXF_DISCRETE_DATAREC dioRec[2];
   uint32 pulseCount;
   uint64 timer=0;
   uint64 c50ms = 50000000;

      memset(dioRec, 0, sizeof(dioRec));

      // Allocate 1KB buffer for discrete tx data
      rc = mxfTxAperiodicBufferAlloc(discreteOut, MXF_TXAPERIODIC_PRIORITY_NORMAL, txBufferSize, &txDiscreteBuffer, NULL);

      if(!rc)
         rc = mxfDeviceTimerGet(device, &timer);
      
      if(!rc)
      {
         // Simulate 100 pulse on discrete output at each 100 msec
         for (pulseCount=0; !rc && pulseCount<100; pulseCount++)
         {
            timer+=c50ms;
            dioRec[0].timeTag = timer;
            dioRec[0].repeatCount = 1;
            dioRec[0].control= 0;
            dioRec[0].edge = 0x0010;
            dioRec[0].data = 0x0010; //BC #0 = DISCRETE OUTPUT #4
            dioRec[0].highDuration = 0;
            dioRec[0].lowDuration = 0;

            timer+=c50ms;
            dioRec[1].timeTag = timer;
            dioRec[1].repeatCount= 1;
            dioRec[1].control= 0;
            dioRec[1].edge = 0x0010;
            dioRec[1].data = 0x0000;
            dioRec[1].highDuration = 0;
            dioRec[1].lowDuration = 0;

            rc = mxfDiscreteTxAperiodicWrite(txDiscreteBuffer, MXF_TXAPERIODIC_FLAG_USE_RECORD_ABSOLUTE_TIME, 0, 2, dioRec);
            if (rc)
               printf("mxfDiscreteTxAperiodicWrite() error; rc=0x%08x (count=%d)\n\r", rc, pulseCount);
         }
      }
   }
 
   // Read and display received messages
   if(!rc)
   {
      do
      {
         rc = mxfMIL1553RxAcqRead(acq1553Buffer, 0, rxBufferSize, &rxAcqStatus, &msgCount, &byteCount, rxBuffer);
         if (rc)
            printf("mxfMIL1553RxAcqRead() error; rc=0x%08x\n\r", rc);
      
         for (rxRec=0, rxRec1553 = (MXF_MIL1553_DATAREC*)rxBuffer; 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%lld SA%lld WC%lld (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%lld SA%lld WC%lld 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 %lld to RT%lld SA%lld (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(500);
         loop++;
      } while(loop < 25);
   }

   printf("Stopping\n\r");

   // Stop acquisition
   if(!rc)
      rc = mxfRxAcqStop(acq1553Buffer);

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

   // free buffers
   if(txBuffer)
      free(txBuffer);
    
   if(rxBuffer)
      free(rxBuffer);

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

      printf("%s\n\r", errorString);
   }

   // Unload MX Foundation library
   rc = mxfSystemApplicationCountGet(server, &appCount);
   if(!rc)
   {
      // if an other application running, only release the resource, otherwise reset everything
      if(appCount > 1)
         mxfSystemResourcesRelease(server, 0);
      else
      {
         // Free all buffers and terminate
        if(txMsg1553Buffer)
        {
           rc = mxfTxPeriodicUpdateMsgBufferFree(txMsg1553Buffer);
           if (rc)
              printf("Free buffer failed !\n\r");
        }
        if(txMsg1553Buffer2)
        {
           rc = mxfTxPeriodicUpdateMsgBufferFree(txMsg1553Buffer2);
           if (rc)
              printf("Free buffer failed !\n\r");
        }
        if(acq1553Buffer)
        {
           rc = mxfRxAcqBufferFree(acq1553Buffer);
           if (rc)
              printf("Free buffer failed !\n\r");
        }
        if(txDiscreteBuffer)
        {
           rc = mxfTxAperiodicBufferFree(txDiscreteBuffer);
           if (rc)
              printf("Free buffer failed !\n\r");
        }

         mxfSystemTerminate(server);
      }
   }

   mxfServerDisconnect(server);

   printf("\nPress enter to terminate\n\r");
   getchar();
   
   return 0;
}