mil1553_errors.cs

/*****************************************************************************
//
##    File:
##       mil1553_errors.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 usage usage of error injection,
//      retry functionality and statistics counter with MIL-STD-1553 channel.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti.
//
*****************************************************************************/


#define LOOPBACK
//#define LOCAL

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

using static MAXT.MXFoundation.mxf;


namespace mil1553_example
{
   public class mil1553_errors
   {
      const UInt64 BUF_SA3_RX = 0;
      const UInt64 RT_ADRS = 20;
      const UInt64 RT_SUBADRS = 3;
      const UInt64 RT_ADRS_ERROR = 5;

      static void Main(string[] args)
      {
         UInt64 server;
         var device = new UInt64[1];
         var module = new UInt64[1];
         var bc = new UInt64[1];
         var rt = new UInt64[1];
         var bcBufferTx = new UInt64[1];
         UInt64 bcBufferRx = 0;
         var rtBuffer = new UInt64[1];

         IntPtr txBuffer = IntPtr.Zero;
         UInt32 txBufferSize = 20 * 1024;
         var txRec1553 = new MXF_MIL1553_DATAREC();

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

         var minorFrame = new MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG[1];
         var msgInfo = new MXF_MIL1553_MSGINFO[1];
         var err = new MXF_MIL1553_ERROR_INJ();
         err.errors = new UInt16[34];

         var transGlobal = new MXF_MIL1553_STAT_TRANSACTION_GLOBAL();
         var errorGlobal = new MXF_MIL1553_STAT_ERROR_GLOBAL();

         var errorString = new StringBuilder(200);

         UInt64 bus = MXF_MIL1553_BUS_A | MXF_MIL1553_BUS_B;
         UInt64 rxAcqStatus;
         UInt64 msgCount = 0;
         UInt64 byteCount, indexBuffer;
         UInt64 rxRec;
         UInt32 loop = 0;
         UInt64 address, subAddress, dir, wordCount;
         UInt32 msg;

         UInt64 deviceCount = 0;
         UInt64 moduleCount = 0;
         UInt64 channelCount = 0;
         UInt32 rc;


#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)
         {
            Console.Write("Starting ...\n\r");
            rc = mxfSystemInit(server);
         }


         // 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 && deviceCount > 0)
            rc = mxfDeviceModuleAllGet(device[0], MXF_MODULE_MIL1553MRT_EH, 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 (rc == MAXT_SUCCESS && moduleCount == 0)
            rc = MAXT_ERROR_NOT_FOUND;

         // Get handle of MIL-STD-1553 remote terminal channel
         if (rc == MAXT_SUCCESS)
            rc = mxfModuleChannelGet(module[0], 2 + RT_ADRS_ERROR, out rt[0]);

#if LOOPBACK
         // Enable internal loopback
         if (rc == MAXT_SUCCESS)
            rc = mxfAttributeUint64Set(bc[0], KMXF_MIL1553_TX_RX_TEST_LB, VMXF_ENABLE);
#endif

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

            // Allocate buffers and enable bus
            for (msg = 0; msg < 1 && rc == MAXT_SUCCESS; msg++)
            {
               rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc[0], msg, txBufferSize, out bcBufferTx[msg], IntPtr.Zero);

               if (rc == MAXT_SUCCESS)
                  rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt[0], msg, txBufferSize, out rtBuffer[msg], IntPtr.Zero);
               if (rc == MAXT_SUCCESS)
                  rc = mxfMIL1553RtSubsystemEnableSet(rt[0], MXF_MIL1553_MSGTYPE_RX, 3, bus, rtBuffer[msg]);
            }
            // Host allocation
            if (rc == MAXT_SUCCESS)
            {
               try
               {
                  txBuffer = Marshal.AllocHGlobal((int)txBufferSize);
               }
               catch (OutOfMemoryException)
               {
                  rc = MAXT_ERROR_MEM;
               }
            }
         }


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

            // Device allocation
            rc = mxfRxAcqBufferAlloc(bc[0], rxBufferSize, out bcBufferRx, IntPtr.Zero);
            if (rc == MAXT_SUCCESS)
               rc = mxfRxAcqBufferStatusGet(bcBufferRx, out UInt64 status, out UInt64 realMsgCount, out UInt64 pendingBytes, out msgCount);

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


         // Enable statistics counter
         if (rc == MAXT_SUCCESS)
            rc = mxfChannelStatisticEnableSet(bc[0], VMXF_ENABLE);

         // Enable discrete output pulse on bus error from bus A on discrete output pin #0
         if (rc == MAXT_SUCCESS)
            rc = mxfChannelDiscreteOutputTriggerEnableSet(bc[0], MXF_MIL1553_DISCRETE_OUTPUT_TRIG_ON_BUSA_ERROR, VMXF_ENABLE, 0);

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


         // Configure injection #0, override address
         if (rc == MAXT_SUCCESS)
         {
            rc = mxfMIL1553ErrorInjectionCompose(MXF_MIL1553_ERRORID_ADDRESS, RT_ADRS_ERROR, out err.errors[0]);
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553ErrorInjectionSet(bc[0], 0, ref err);
         }

         // Configure injection #1, parity error
         if (rc == MAXT_SUCCESS)
         {
            err.errors[0] = MXF_MIL1553_ERRORID_PAR;
            rc = mxfMIL1553ErrorInjectionSet(bc[0], 1, ref err);
         }

         // Set the minor frame #0 using 1 Command
         if (rc == MAXT_SUCCESS)
         {
            // Command #0 : Address 20, Subaddress 3, RX, 3 words. Retry on alternate bus when bus error detected
            rc = mxfMIL1553CommandCompose(RT_ADRS, RT_SUBADRS, MXF_MIL1553_MSGTYPE_RX, 3, out minorFrame[0].command);
            if (rc == MAXT_SUCCESS)
            {
               minorFrame[0].modulo = 1;
               minorFrame[0].buffer = bcBufferTx[BUF_SA3_RX];
               minorFrame[0].retryHaltOptions = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_RETRY_ERROR_ENABLE | MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_RETRY_ALT_BUS;
               rc = mxfMIL1553TxPeriodicMajorFrameSet(bc[0], 0, 0, 1, minorFrame, IntPtr.Zero);
            }
         }

         //Set BC data for address 20, subaddress 3, RX
         if (rc == MAXT_SUCCESS)
         {
            txRec1553.data = new UInt16[36];

            txRec1553.repeatCount = 1;
            txRec1553.control = MXF_MIL1553_TXPERIODIC_REC_CTRL_ERROR_INJ;
            txRec1553.service.txPeriodicUpdateMsg.errorIndex = 0; // override address
            txRec1553.dataSize = 8; //8 bytes (command + 3 words)
            txRec1553.data[0] = 0x0000; //Not used
            txRec1553.data[1] = 0x0000;
            txRec1553.data[2] = 0x1111;
            txRec1553.data[3] = 0x2222;

            Marshal.StructureToPtr(txRec1553, txBuffer, true);

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

         // Set RT data for address 5, subaddress 3, RX
         if (rc == MAXT_SUCCESS)
         {
            txRec1553.data = new UInt16[36];

            txRec1553.repeatCount = 1;
            txRec1553.control = MXF_MIL1553_TXPERIODIC_REC_CTRL_ERROR_INJ;
            txRec1553.service.txPeriodicUpdateMsg.errorIndex = 1; // parity error
            txRec1553.dataSize = 8; //8 bytes (command + 3 words)
            txRec1553.data[0] = 0x0000; //Not used
            txRec1553.data[1] = 0x0000;
            txRec1553.data[2] = 0x1111;
            txRec1553.data[3] = 0x2222;

            Marshal.StructureToPtr(txRec1553, txBuffer, true);

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

         // Start messages queues
         if (rc == MAXT_SUCCESS)
         {
            Console.Write("Starting BC - RT\n\r");
            rc = mxfMIL1553RtEnableSet(rt[0], VMXF_ENABLE);
         }

         // Start BC acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqStart(bcBufferRx, 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(bcBufferRx, 0, rxBufferSize, out rxAcqStatus, out msgCount, out byteCount, rxBuffer);
               if (rc > MAXT_SUCCESS)
                  Console.Write("mxfMIL1553RxAcqRead() error; rc=0x{0:x8}\n\r", rc);

               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} Bus{3} (0x{4:x4})\n\r", address, subAddress, wordCount, (rxRec1553[0].control & MXF_MIL1553_RX_REC_CTRL_MSG_BUS_B) > 0 ? "B" : "A", rxRec1553[0].data[0]);
                              Console.Write("\t\tRT status: 0x{0:x4}\n\r", rxRec1553[0].data[msgInfo[0].statusIndex[0]]);
                              Console.Write("\t\tParity {0}\n\r", (rxRec1553[0].control & MXF_MIL1553_RX_REC_CTRL_MSG_PARITY_ERROR) > 0 ? "Error" : "OK");
                              break;
                        }
                     }
                  }
                  // Get next msg
                  if (rc == MAXT_SUCCESS)
                     rc = mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);
               }
               mxfSleep(500);
               loop++;
            } while (loop < 10 && rc == MAXT_SUCCESS);
         }

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

         // Stop the major frame
         if (rc == MAXT_SUCCESS)
         {
            Console.Write("Stopping BC - RT\n\r");
            rc = mxfTxPeriodicMajorFrameStop(bc[0], 0, 0);
         }

         if (rc == MAXT_SUCCESS)
            rc = mxfMIL1553RtEnableSet(rt[0], VMXF_DISABLE);

         // Get total number of transactions
         if (rc == MAXT_SUCCESS)
         {
            rc = mxfMIL1553StatisticTransactionGlobalGet(bc[0], out transGlobal);
            if (rc == MAXT_SUCCESS)
               Console.Write("Total number of transactions: {0}\n\r", transGlobal.totalCount);
         }

         // Get total number of errors
         if (rc == MAXT_SUCCESS)
         {
            rc = mxfMIL1553StatisticErrorGlobalGet(bc[0], out errorGlobal);
            if (rc == MAXT_SUCCESS)
               Console.Write("Total number of errors: {0}\n\r", errorGlobal.totalError);
         }

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

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

         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 all buffers and terminate
         for (indexBuffer = 0; indexBuffer < 1; indexBuffer++)
         {
            if (bcBufferTx[0] > 0)
            {
                rc = mxfTxPeriodicUpdateMsgBufferFree(bcBufferTx[indexBuffer]);
               if (rc != MAXT_SUCCESS)
                  Console.Write("Free buffer failed !\n\r");
            }
         }

         for (indexBuffer = 0; indexBuffer < 1; indexBuffer++)
         {
            if (rtBuffer[0] > 0)
            {
                rc = mxfTxPeriodicUpdateMsgBufferFree(rtBuffer[indexBuffer]);
               if (rc != MAXT_SUCCESS)
                  Console.Write("Free buffer failed !\n\r");
            }
         }

         if (bcBufferRx > 0)
         {
            rc = mxfRxAcqBufferFree(bcBufferRx);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }

         // Unload MX Foundation library
         mxfSystemTerminate(server);
         mxfServerDisconnect(server);

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

         return;

      }
   }
}