mil1553_manyErrorInjections.c

/*****************************************************************************
//
##    File:
##       mil1553_manyErrorInjections.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 how to inject the following errors :
//     - bit count error
//     - override error
//     - superseding error
//
//     The minor frame for this example is built as follows :
//     BC -> RT20 SA3    bit count error injection
//     RT20 SA3 -> BC    override error injection
//     RT10 SA3 -> BC    superseding error injection
//     BC -> RT10 SA3
//
//     The main thing in this example is that we followed the SAE specification for simulating a bus switching
//     with an override command followed by a superseding command.
//     As you will notice when receiving the data (console display), the 3rd command is then received on bus B.
//
//     Important to notice : the override error is on the bc side and we applied it on a RT-> BC command, so the 
//     BM will receive the 32 words because the data are sent by the RT and not the BC. If you setup an override
//     error on a BC-> RT command, you will receive only the number of words decided by your override (if you 
//     override after 8 words, you will only read 8 words of course).
//
//     We check the control to see if the errors are well simulated and display the information on the console 
//     after each command.
//
//     We setup the superseding command to be sent with a GAP of 4 bits after the override command. In 1553, 4
//     bits take 4 usec to be transmitted. That is why we check the timetags at the end of the program between
//     the 2 commands to see if there is actually a 4 usec difference.
//
//     When injecting an error on a RT-> BC command like we do in this example, you have to be careful with the
//     buffer handling. The RT data will be set with mxfMIL1553TxPeriodicUpdateMsgWrite() using a rt buffer
//     allocated before and the RT error injection will be set with mxfMIL1553TxPeriodicUpdateMsgWrite() using a
//     bc buffer also allocated at the beginning.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti or 500 series carrier with IPM-1553-MRT
//
*****************************************************************************/

#include "example.h"

#define BITCNT_SHIFT    18  //bit count error of +2 bits

#define RT_ADRS         20
#define RT_SUBADRS      3

#define NB_BC_BUFFERS   4
#define NB_RT_BUFFERS   2

#define LOCAL
#define LOOPBACK

int main(void)
{
HMXF_SERVER server;
HMXF_DEVICE device=0;
HMXF_MODULE module=0;
HMXF_CHANNEL bc=0;
HMXF_CHANNEL bm=0;
HMXF_CHANNEL rt[NB_RT_BUFFERS];
HMXF_BUFFER bcBufferTx[NB_BC_BUFFERS]={0};
HMXF_BUFFER bmBufferRx=0;
HMXF_BUFFER rtBuffer[NB_RT_BUFFERS]={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[NB_BC_BUFFERS];
MXF_MIL1553_MSGINFO msgInfo;
MXF_MIL1553_ERROR_INJ err;

char     errorString[256];
    
uint64   bus=MXF_MIL1553_BUS_A|MXF_MIL1553_BUS_B;
uint64   rxAcqStatus;
uint64   msgCount;
uint64   byteCount, indexBuffer;
uint64   rxRec;
uint32   loop=0;
uint64   address, subAddress, dir, wordCount;

uint64 deviceCount=0;
uint64 moduleCount=0;
uint64 channelCount=0;
uint32 rc;

uint64 timetagArray[NB_BC_BUFFERS], index=0;

   memset(timetagArray, 0, sizeof(timetagArray));

// Connect to MX Foundation library
#ifdef LOCAL
   rc = mxfServerConnect("0.0.0.0", "", "", FALSE, &server);
#else
   rc = mxfServerConnect("192.168.0.1", "admin", "admin", TRUE, &server);
#endif

   // Initialize MX Foundation library
   if(!rc)
   {
      printf("Starting ...\n\r");
      rc = mxfSystemInit(server);
   }

   // 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(!rc && channelCount)
      rc = mxfModuleChannelAllGet(module, MXF_CLASS_MIL1553, MXF_SCLASS_BM_CHANNEL, 1, &channelCount, &bm);

   if(!rc && !channelCount)
      rc = MAXT_ERROR_NOT_FOUND;

   // Get handle of MIL-STD-1553 remote terminal channels
   if(!rc)
      rc = mxfModuleChannelGet(module, 2+RT_ADRS, &rt[0]);
   if(!rc)
      rc = mxfModuleChannelGet(module, 2+(RT_ADRS-10), &rt[1]);

#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;
       
      // Allocate buffers and enable bus
      for (index = 0; index < NB_BC_BUFFERS && !rc; index++)
      {
         rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc, index, txBufferSize, &bcBufferTx[index], NULL);
      }

      for (index = 0; index < NB_RT_BUFFERS && !rc; index++)
      {
         rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt[index], index, txBufferSize, &rtBuffer[index], NULL);
         if(!rc)
            rc = mxfMIL1553RtSubsystemEnableSet(rt[index], MXF_MIL1553_MSGTYPE_RX, 3, bus, rtBuffer[index]);
         if(!rc)
            rc = mxfMIL1553RtSubsystemEnableSet(rt[index], MXF_MIL1553_MSGTYPE_TX, 3, bus, rtBuffer[index]);
      }

      // 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(bm, rxBufferSize, &bmBufferRx, NULL);
      if(!rc)
         rc = mxfRxAcqBufferStatusGet(bmBufferRx, NULL, NULL, NULL, &msgCount);

      // 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 error
   if(!rc)
   {
      memset(&err, 0, sizeof(err));
      rc = mxfMIL1553ErrorInjectionCompose(MXF_MIL1553_ERRORID_OVERRIDE, 0x00, &err.errors[0]);
      if (!rc)
         rc = mxfMIL1553ErrorInjectionSet(bc, 0, &err);
   }

   // Configure injection #1, bit count error
   if(!rc)
   {
      memset(&err, 0, sizeof(err));
      rc = mxfMIL1553ErrorInjectionCompose(MXF_MIL1553_ERRORID_BITCNT, BITCNT_SHIFT, &err.errors[0]);
      if (!rc)
         rc = mxfMIL1553ErrorInjectionSet(bc, 1, &err);
   }

   // Configure injection #2, superseding error
   if(!rc)
   {
      memset(&err, 0, sizeof(err));
      rc = mxfMIL1553ErrorInjectionCompose(MXF_MIL1553_ERRORID_SUPERSEDING, 0, &err.errors[0]);
      if (!rc)
      {
         err.errors[33] = 32; // 1/8 bits so it is equivalent to a 4 bits delay
         rc = mxfMIL1553ErrorInjectionSet(bc, 2, &err);
      }
   }

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

      // Command #0 : Address 20, Subaddress 3, RX, 32 words. 
      rc = mxfMIL1553CommandCompose(RT_ADRS, RT_SUBADRS, MXF_MIL1553_MSGTYPE_RX, 0, &minorFrame[0].command); // specification : 0 means 32 words
      minorFrame[0].modulo = 1;
      minorFrame[0].buffer = bcBufferTx[0];
      minorFrame[0].retryHaltOptions = 0;

      // Command #1 : Address 20, Subaddress 3, TX, 32 words. 
      if (!rc)
         rc = mxfMIL1553CommandCompose(RT_ADRS, RT_SUBADRS, MXF_MIL1553_MSGTYPE_TX, 0, &minorFrame[1].command); // specification : 0 means 32 words
      minorFrame[1].modulo = 1;
      minorFrame[1].buffer = bcBufferTx[1];
      minorFrame[1].retryHaltOptions = 0;

      // Command #2 : Address 10, Subaddress 3, TX, 32 words. 
      if (!rc)
         rc = mxfMIL1553CommandCompose(RT_ADRS-10, RT_SUBADRS, MXF_MIL1553_MSGTYPE_TX, 0, &minorFrame[2].command); // specification : 0 means 32 words
      minorFrame[2].modulo = 1;
      minorFrame[2].buffer = bcBufferTx[3];
      minorFrame[2].retryHaltOptions = 0;
      minorFrame[2].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_BUS_B;

      // Command #3 : Address 10, Subaddress 3, RX, 32 words. 
      if (!rc)
         rc = mxfMIL1553CommandCompose(RT_ADRS-10, RT_SUBADRS, MXF_MIL1553_MSGTYPE_RX, 0, &minorFrame[3].command); // specification : 0 means 32 words
      minorFrame[3].modulo = 1;
      minorFrame[3].buffer = bcBufferTx[2];
      minorFrame[3].retryHaltOptions = 0;

      if (!rc)
      {
         MXF_MIL1553_TXPERIODIC_MJRFRAME_MINOR_PROPERTIES propertiesMinorFrame;
         memset( &propertiesMinorFrame, 0, sizeof(propertiesMinorFrame));
         propertiesMinorFrame.repeatCount = 1;
         propertiesMinorFrame.modulo = 1;
         propertiesMinorFrame.options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MINOR_PROPERTIES_OPT_BRANCH_END;
         rc = mxfMIL1553TxPeriodicMajorFrameSet(bc, 0, 0, 4, minorFrame, &propertiesMinorFrame);
      }
   }

   // Set BC data for address 20, subaddress 3, RX
   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 1;
      txRec1553->control = MXF_MIL1553_TXPERIODIC_REC_CTRL_ERROR_INJ;
      txRec1553->service.txPeriodicUpdateMsg.errorIndex = 1; // bit count error
      txRec1553->dataSize    = 66; //66 bytes (command + 32 words)
      txRec1553->data[0]  = 0x0000; //Not used
      for(index = 1; index < txRec1553->dataSize/2; index++)
         txRec1553->data[index] = 0x0101*(uint16)index;

      rc = mxfMIL1553TxPeriodicUpdateMsgWrite(bcBufferTx[0], 1, txBuffer);
   }

   // Set RT data for address 20, subaddress 3, TX
   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 1;
      txRec1553->control = 0;
      txRec1553->dataSize    = 66; //66 bytes (command + 32 words)
      txRec1553->data[0]  = 0x0000; //Not used
      for(index = 1; index < txRec1553->dataSize/2; index++)
         txRec1553->data[index] = 0x0101*(uint16)index;

      rc = mxfMIL1553TxPeriodicUpdateMsgWrite(rtBuffer[0], 1, txBuffer);
   }

   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 1;
      txRec1553->control = MXF_MIL1553_TXPERIODIC_REC_CTRL_ERROR_INJ;
      txRec1553->service.txPeriodicUpdateMsg.errorIndex = 0; // override error
      txRec1553->dataSize    = 0; 

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

   // Set RT data for address 10, subaddress 3, TX
   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 1;
      txRec1553->control = 0;
      txRec1553->dataSize    = 66; //66 bytes (command + 32 words)
      txRec1553->data[0]  = 0x0000; //Not used
      for(index = 1; index < txRec1553->dataSize/2; index++)
         txRec1553->data[index] = 0x0101*(uint16)index;

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

   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 1;
      txRec1553->control = MXF_MIL1553_TXPERIODIC_REC_CTRL_ERROR_INJ;
      txRec1553->service.txPeriodicUpdateMsg.errorIndex = 2; // superseding error
      txRec1553->dataSize    = 0;

      rc = mxfMIL1553TxPeriodicUpdateMsgWrite(bcBufferTx[3], 1, txBuffer);
   }

   // Set BC data for address 10, subaddress 3, RX
   if(!rc)
   {
      txRec1553 = (MXF_MIL1553_DATAREC *)txBuffer;
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));
      txRec1553->repeatCount = 1;
      txRec1553->control = 0;
      txRec1553->dataSize    = 66; //66 bytes (command + 32 words)
      txRec1553->data[0]  = 0x0000; //Not used
      for(index = 1; index < txRec1553->dataSize/2; index++)
         txRec1553->data[index] = 0x0101*(uint16)index;

      rc = mxfMIL1553TxPeriodicUpdateMsgWrite(bcBufferTx[2], 1, txBuffer);
   }

   // Start messages queues
   if(!rc)
   {
      printf("Starting BC - RT\n\r");
      rc = mxfMIL1553RtEnableSet(rt[0], TRUE);
      if(!rc)
         rc = mxfMIL1553RtEnableSet(rt[1], TRUE);
   }

   // Start BM acquisition
   if(!rc)
      rc = mxfRxAcqStart(bmBufferRx, 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(bmBufferRx, 0, rxBufferSize, &rxAcqStatus, &msgCount, &byteCount, rxBuffer);
         if (rc)
            printf("mxfMIL1553RxAcqRead() error; rc=0x%08x\n\r", rc);
      
         rxRec1553 = (MXF_MIL1553_DATAREC*)rxBuffer;
         for(rxRec=0; rxRec<msgCount && !rc; rxRec++)
         {         
            rc = mxfMIL1553DataRecordDecompose(bm, 1, rxRec1553, &msgInfo);
            
            if(!rc)
            {
               rc = mxfMIL1553CommandDecompose(rxRec1553->data[0], &address, &subAddress, &dir, &wordCount);
               if(!rc)
               {
                  printf("\n\r%llu:\t", rxRec1553->timeTag);
                  timetagArray[rxRec] = rxRec1553->timeTag;
                  switch(msgInfo.msgType)
                  {
                  case MXF_MIL1553_MSGINFO_TYPE_BCRT:
                     printf("BC to RT%llu SA%llu WC%llu DataSize : %u Bus%s (0x%04x) Control : 0x%08x\n\r", address, subAddress, wordCount, (rxRec1553->dataSize/2)-2, rxRec1553->control & MXF_MIL1553_RX_REC_CTRL_MSG_BUS_B?"B":"A", rxRec1553->data[0], rxRec1553->control);
                     printf("\t\tParity %s\n\r",  rxRec1553->control&MXF_MIL1553_RX_REC_CTRL_MSG_PARITY_ERROR?"Error":"OK");
                     printf("\t\tData length %s\n\r", rxRec1553->control&MXF_MIL1553_RX_REC_CTRL_MSG_DATA_LENGTH_ERROR?"Error":"OK");
                     printf("\t\tBit Count %s\n\r", rxRec1553->control & MXF_MIL1553_RX_REC_CTRL_MSG_EXTRA_BIT_ERROR ? "Error" : "OK");
                     break;

                  case MXF_MIL1553_MSGINFO_TYPE_RTBC:
                     printf("RT%llu SA%llu to BC WC%llu DataSize : %u Bus%s (0x%04x) Control : 0x%08x\n\r", address, subAddress, wordCount, (rxRec1553->dataSize/2)-2, rxRec1553->control & MXF_MIL1553_RX_REC_CTRL_MSG_BUS_B?"B":"A", rxRec1553->data[0], rxRec1553->control);
                     printf("\t\tParity %s\n\r",  rxRec1553->control&MXF_MIL1553_RX_REC_CTRL_MSG_PARITY_ERROR?"Error":"OK");
                     printf("\t\tData length %s\n\r", rxRec1553->control&MXF_MIL1553_RX_REC_CTRL_MSG_DATA_LENGTH_ERROR?"Error":"OK");
                     printf("\t\tBit Count %s\n\r", rxRec1553->control & MXF_MIL1553_RX_REC_CTRL_MSG_EXTRA_BIT_ERROR ? "Error" : "OK");
                     break;
                  }
               }
            }
            // Get next msg
            rc = mxfMIL1553NextDataRecordPtrGet(rxRec1553, &rxRec1553);
         }
         mxfSleep(500);
         loop++;
      } while(loop < 10);
   }

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

   // Stop the major frame
   if(!rc)
   {
      printf("\nStopping BC - RT\n\r");
      rc = mxfTxPeriodicMajorFrameStop(bc, 0, 0);
   }

   if(!rc)
      rc = mxfMIL1553RtEnableSet(rt[0], FALSE);
   if(!rc)
      rc = mxfMIL1553RtEnableSet(rt[1], FALSE);

   //Displays if we have the wanted gap of 4 microseconds between the command with the override and the command with the superseding error
   printf("Timetag Diff between RT20 SA3 -> BC and RT10 SA3 -> BC : %llu usec\n", (timetagArray[2]-timetagArray[1])/1000);

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

   // Display any previous errors
   if(rc)
   {
      if(mxfSystemErrorStringGet(server, rc, sizeof(errorString), errorString))
         sprintf (errorString,"ERROR # 0x%08x", rc);

      printf("%s\n\r", errorString); 
   }
   
   // Free all buffers and terminate

   for(indexBuffer = 0; indexBuffer < 1; indexBuffer++)
   {
      if (bcBufferTx[indexBuffer])
      {
         rc = mxfTxPeriodicUpdateMsgBufferFree(bcBufferTx[indexBuffer]);
         if (rc)
            printf("Free buffer failed !\n\r");
      }
   }

   for(indexBuffer = 0; indexBuffer < 1; indexBuffer++)
   {
      if (rtBuffer[indexBuffer])
      {
         rc = mxfTxPeriodicUpdateMsgBufferFree(rtBuffer[indexBuffer]);
         if (rc)
            printf("Free buffer failed !\n\r");
      }
   }
   if(bmBufferRx)
   {
      rc = mxfRxAcqBufferFree(bmBufferRx);
      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;
}