mil1553_cond_branch_1.c

/*****************************************************************************
//
##    File:
##       mil1553_cond_branch_1.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 usage of message conditional branch option
//       with MIL-STD-1553 BC channel.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti.
//
*****************************************************************************/

#include "example.h"

#define BUF_SA3_RX 0
#define BUF_SA3_TX 1
#define BUF_SA5_RX 2
#define BUF_SA5_TX 3

#define RT_ADRS 5

#define LOCAL
//#define LOOPBACK

int main(void)
{
uint32 rc;
uint64 deviceCount=0;
uint64 moduleCount=0;
uint64 channelCount=0;
HMXF_SERVER server=0;
HMXF_DEVICE device=0;
HMXF_MODULE module=0;
HMXF_CHANNEL bc=0;
HMXF_CHANNEL rt=0;
HMXF_BUFFER bcBufferTx[4];
HMXF_BUFFER bcBufferRx=0;
HMXF_BUFFER rtBuffer[4];
    
MXF_MSGID_MIL1553 bcMsgID[4]={{MXF_MIL1553_MSGTYPE_RX,RT_ADRS,3,0},{MXF_MIL1553_MSGTYPE_TX,RT_ADRS,3,0},{MXF_MIL1553_MSGTYPE_RX,RT_ADRS,5,0},{MXF_MIL1553_MSGTYPE_TX,RT_ADRS,5,0}};
    
MXF_MSGID_MIL1553 rtMsgID[4]={{MXF_MIL1553_MSGTYPE_RX,0,3,0},{MXF_MIL1553_MSGTYPE_TX,0,3,0},{MXF_MIL1553_MSGTYPE_RX,0,5,0},{MXF_MIL1553_MSGTYPE_TX,0,5,0}};

uint32 txBufferSize=0;
MXF_MIL1553_DATAREC* txBuffer=NULL;
MXF_MIL1553_DATAREC* txRec1553;

uint32 rxBufferSize=0;
MXF_MIL1553_DATAREC* rxBuffer=NULL;
MXF_MIL1553_DATAREC* rxRec1553;

MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG minorFrame[2];
MXF_MIL1553_TXPERIODIC_MJRFRAME_MINOR_PROPERTIES mfProp;

uint64   bus=MXF_MIL1553_BUS_A|MXF_MIL1553_BUS_B;
uint64   rxAcqStatus=0;
uint64   msgCount=0;
uint64   byteCount=0;
uint64   rxRec;
uint32   loop=0;
uint64   address, subAddress, dir, wordCount, indexBuffer;
uint32   data;
uint32   msg;
MXF_MIL1553_MSGINFO msgInfo;
MXF_MIL1553_ERROR_INJ err;
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)
   {
      printf("Starting ...\n\r");
      rc = mxfSystemInit(server);
   }

   // Get handle of first Flex 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 = 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;

   // Get handle of the 6th Flex MIL-STD-1553 remote terminal channel
   if(!rc)
      rc = mxfModuleChannelGet(module, 2+RT_ADRS, &rt);

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

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

      // Flex allocation
      for(msg=0; msg<4 && !rc; msg++)
      {
         rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc, msg, txBufferSize, &bcBufferTx[msg], NULL);
         if(!rc)
            rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt, msg, txBufferSize, &rtBuffer[msg], NULL);
         if(!rc)
            rc = mxfMIL1553RtSubsystemEnableSet(rt, rtMsgID[msg].type, rtMsgID[msg].subAddress, bus, rtBuffer[msg]);
      }

      // 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;

      // Flex allocation
      rc = mxfRxAcqBufferAlloc(bc, rxBufferSize, &bcBufferRx, 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);

   // Configure injection #0, override status
   if(!rc)
   {
      memset(&err, 0, sizeof(err));
      err.errors[33] = (RT_ADRS<<11)+1;
      rc = mxfMIL1553ErrorInjectionCompose(MXF_MIL1553_ERRORID_STATUS_OV, 0, &err.errors[0]);
      if(!rc)
         rc = mxfMIL1553ErrorInjectionSet(bc, 0, &err);
   }

   // Set the minor frame #0 using 2 Commands
   if(!rc)
   {
      memset(minorFrame, 0, sizeof(minorFrame));
      memset(&mfProp, 0, sizeof(mfProp));
      
      mfProp.modulo = 1;
      mfProp.repeatCount = 1;
      mfProp.options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MINOR_PROPERTIES_OPT_BRANCH_GOTO;
      mfProp.branchIndex = 0;

      // Command #0 : Address 5, Subaddress 3, RX, 2 words, Modulo 2
      rc = mxfMIL1553CommandCompose(bcMsgID[BUF_SA3_RX].address, bcMsgID[BUF_SA3_RX].subAddress, bcMsgID[BUF_SA3_RX].type, 2, &minorFrame[0].command);
      minorFrame[0].modulo = 2;
      minorFrame[0].buffer = bcBufferTx[BUF_SA3_RX];

      // Command #1 : Address 5, Subaddress 3, TX, 2 words, delay of 1 msec from preceding command or start of minor frame, conditional branch to minor frame 1 if status is not equal to 0x2800
      if(!rc)
      {
         rc = mxfMIL1553CommandCompose(bcMsgID[BUF_SA3_TX].address, bcMsgID[BUF_SA3_TX].subAddress, bcMsgID[BUF_SA3_TX].type, 2, &minorFrame[1].command);
         if(!rc)
         {
            minorFrame[1].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_DELAY;
            minorFrame[1].modulo = 1;
            minorFrame[1].buffer = bcBufferTx[BUF_SA3_TX];
            minorFrame[1].delay = 8000; // 1 msec in 1/8 of bit time
            minorFrame[1].branchMinorIndex = 1;
            minorFrame[1].branchMsgIndex = 0xFFFF;
            minorFrame[1].condMask = 0xFFFF;
            minorFrame[1].condData = (uint16)(bcMsgID[BUF_SA3_TX].address<<11);
            rc = mxfMIL1553ConditionalBranchCompose(MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_CONDBRANCH_OPT_NOTEQUAL, 0, &minorFrame[1].condBranch);
         }
         if(!rc)
            rc = mxfMIL1553TxPeriodicMajorFrameSet(bc, 0, 0, 2, minorFrame, &mfProp);
      }
   }

   // Set the minor frame #1 using 2 Commands
   if(!rc)
   {
      memset(minorFrame, 0, sizeof(minorFrame));

      // Command #0 : Address 5, Subaddress 5, RX, 3 words
      rc = mxfMIL1553CommandCompose(bcMsgID[BUF_SA5_RX].address, bcMsgID[BUF_SA5_RX].subAddress, bcMsgID[BUF_SA5_RX].type, 3, &minorFrame[0].command);
      minorFrame[0].modulo = 1;
      minorFrame[0].buffer = bcBufferTx[BUF_SA5_RX];

      // Command #1 : Address 5, Subaddress 5, TX, 3 words, delay of 1 msec after end of preceding command, conditional branch to message 1 of minor frame 0 if status is equal to 0x2800
      if(!rc)
      {
         rc = mxfMIL1553CommandCompose(bcMsgID[BUF_SA5_TX].address, bcMsgID[BUF_SA5_TX].subAddress, bcMsgID[BUF_SA5_TX].type, 3, &minorFrame[1].command);
         if(!rc)
         {
            minorFrame[1].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_GAP;
            minorFrame[1].modulo = 1;
            minorFrame[1].buffer = bcBufferTx[BUF_SA5_TX];
            minorFrame[1].delay = 8000; // 1 msec in 1/8 of bit time
            minorFrame[1].branchMinorIndex = 0;
            minorFrame[1].branchMsgIndex = 1;
            minorFrame[1].condMask = 0xFFFF;
            minorFrame[1].condData = (uint16)(bcMsgID[BUF_SA3_TX].address<<11);
            rc = mxfMIL1553ConditionalBranchCompose(MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_CONDBRANCH_OPT_EQUAL, 0, &minorFrame[1].condBranch);
         }
      }

      if(!rc)
         rc = mxfMIL1553TxPeriodicMajorFrameSet(bc, 0, 1, 2, minorFrame, NULL);
   }

   // Set BC data for address 5, subaddress 3, RX
   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 2; // repeat count of 2
      txRec1553->dataSize    = 6; //6 bytes (command + 2 words)
      txRec1553->data[0]  = 0x0000; //Not used
      txRec1553->data[1]  = 0x0000;
      txRec1553->data[2]  = 0x1111;

      rc = mxfMIL1553TxPeriodicUpdateMsgWrite(bcBufferTx[BUF_SA3_RX], 1, txBuffer);
   }

   // Set BC data for address 5, subaddress 5, RX
   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 1;
      txRec1553->dataSize    = 8; //8 bytes (command + 3 words)
      txRec1553->data[0]  = 0x0000; //Not used
      txRec1553->data[1]  = 0xFFFF;
      txRec1553->data[2]  = 0xEEEE;
      txRec1553->data[3]  = 0xDDDD;

      rc = mxfMIL1553TxPeriodicUpdateMsgWrite(bcBufferTx[BUF_SA5_RX], 1, txBuffer);
   }

   // Set RT data for address 5, subaddress 3, TX, Send 5 times first one, then 5 times second one that has an override status error
   // then send last one with no error
   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 5;
      txRec1553->dataSize = 6; //6 bytes (command + 2 words)
      txRec1553->data[0]  = 0x0000; //Not used
      txRec1553->data[1]  = 0x1234;
      txRec1553->data[2]  = 0x5678;
      
      rc = mxfMIL1553NextDataRecordPtrGet(txRec1553, &txRec1553);
      if(!rc)
      {
         memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
         txRec1553->dataSize = 6; //6 bytes (command + 2 words)
         txRec1553->repeatCount = 5;
         txRec1553->control = MXF_MIL1553_TXPERIODIC_REC_CTRL_ERROR_INJ;
         txRec1553->service.txPeriodicUpdateMsg.errorIndex = 0; // override status
         txRec1553->data[0]  = 0x0000; //Not used
         txRec1553->data[1]  = 0x9ABC;
         txRec1553->data[2]  = 0xDEF0;
      }

      if(!rc)
         rc = mxfMIL1553NextDataRecordPtrGet(txRec1553, &txRec1553);

      if(!rc)
      {
         memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
         txRec1553->dataSize = 6; //6 bytes (command + 2 words)
         txRec1553->repeatCount = 1;
         txRec1553->control = 0;
         txRec1553->data[0]  = 0x0000; //Not used
         txRec1553->data[1]  = 0x1234;
         txRec1553->data[2]  = 0x5678;
      }
      if(!rc)
         rc = mxfMIL1553TxPeriodicUpdateMsgWrite(rtBuffer[BUF_SA3_TX], 3, txBuffer);
   }

   // Set RT data for address 5, subaddress 5, TX
   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 1;
      txRec1553->dataSize    = 8; //8 bytes (command + 3 words)
      txRec1553->data[0]  = 0x0000; //Not used
      txRec1553->data[1]  = 0x4444;
      txRec1553->data[2]  = 0x5555;
      txRec1553->data[3]  = 0x6666;

      rc = mxfMIL1553TxPeriodicUpdateMsgWrite(rtBuffer[BUF_SA5_TX], 1, txBuffer);
   }

   // Start messages queues
   if(!rc)
   {
      printf("Starting BC and RT\n\r");
      rc = mxfMIL1553RtEnableSet(rt, TRUE);
   }

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

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

   // Read and display received messages
   if(!rc)
   {
      do
      {
         rc = mxfMIL1553RxAcqRead(bcBufferRx, 0, rxBufferSize, &rxAcqStatus, &msgCount, &byteCount, rxBuffer);
      
         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)
                     {
                        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 < 10);
   }

   // Stop acquisition
   if(!rc)
   {
      rc = mxfRxAcqStop(bcBufferRx);
      if (!rc)
         rc = mxfRxAcqClear(bcBufferRx);
   }

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

   // Stop and Clear message queues
   if(!rc)
   {
      printf("Stopping BC and RT\n\r");
      rc = mxfMIL1553RtEnableSet(rt, FALSE);
      
      for(msg=0; msg<4 && !rc; msg++)
      {
         rc = mxfTxPeriodicUpdateMsgClear(bcBufferTx[msg], MXF_TXPERIODIC_UPDATEMSG_CLEAR_OPT_DEFAULT);
         if(!rc)
            rc = mxfTxPeriodicUpdateMsgClear(rtBuffer[msg], MXF_TXPERIODIC_UPDATEMSG_CLEAR_OPT_DEFAULT);
      }
   }

   printf("Terminating\n");
   
   // 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);
   }
   
   // When all services are terminated, there is no pending Tx/Rx data, free.
   for (indexBuffer = 0; indexBuffer < 4; indexBuffer++)
   {
      if (bcBufferTx[indexBuffer])
      {
         rc = mxfTxPeriodicUpdateMsgBufferFree(bcBufferTx[indexBuffer]);
         if (rc)
            printf("Free buffer failed !\n\r");
      }
   }
   for (indexBuffer = 0; indexBuffer < 4; indexBuffer++)
   {
      if (rtBuffer[indexBuffer])
      {
         rc = mxfTxPeriodicUpdateMsgBufferFree(rtBuffer[indexBuffer]);
         if (rc)
            printf("Free buffer failed !\n\r");
      }
   }
   if(bcBufferRx)
   {
      rc = mxfRxAcqBufferFree(bcBufferRx);
      if (rc)
         printf("Free buffer failed !\n\r");
   }
   
   // Unload MX Foundation library
   mxfSystemTerminate(server);
   mxfServerDisconnect(server);

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