mil1553_rt.c

/*****************************************************************************
//
##    File:
##       mil1553_rt.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 basic usage of MIL-STD-1553 remote terminal.
//      Can be run with mil1553_bc and mil1553_bm at the same time.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti or 500 series carrier with IPM-1553-MRT
//
*****************************************************************************/

#include "example.h"

#define CMD_TX 0
#define CMD_RX 1
#define CMD_MC 2

#define LOCAL

int main(void)
{
HMXF_SERVER server;
HMXF_DEVICE device=0;
HMXF_MODULE module=0;
HMXF_CHANNEL rt=0;
HMXF_BUFFER tx[3];
HMXF_BUFFER rx=0;

uint64 deviceCount=0;
uint64 moduleCount=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;

uint64   bus=0;
uint64   rxAcqStatus;
uint64   msgCount;
uint64   byteCount;
uint64   rxRec;
uint32   loop=0;
uint64   wordCount;
uint64   card, mod, port, indexBuffer;
uint32   data;

MXF_MIL1553_MSGINFO msgInfo;

char     errorString[200];
uint32   rc;

   // Connect to MX Foundation library
#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)
   {
      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 RT5 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 = MAXT_ERROR_NOT_FOUND;

   if(!rc)
      rc = mxfModuleChannelGet(module, 7, &rt);

   if (!rc)
   {
       // Show channel location for RT
       rc = mxfChannelLocationGet(rt, &card, &mod, &port);
       if (!rc)
           printf("RT location is Device:%llu Module:%llu Port:%llu\n", card, mod, port);
   }

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

      // RT 5: address=0, subaddress 3 TX
      rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt, CMD_TX, txBufferSize, &tx[CMD_TX], NULL);
      
      // RT 5: address=0, subaddress 3 RX
      if(!rc)
         rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt, CMD_RX, txBufferSize, &tx[CMD_RX], NULL);
          
      // RT 5: Mode Command 16
      if(!rc)
         rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt, CMD_MC, txBufferSize, &tx[CMD_MC], NULL);

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

   // Allocate buffer for Rx data
   if(!rc)
   {
      rxBufferSize = 64*4096;

      // Device allocation
      rc = mxfRxAcqBufferAlloc(rt, rxBufferSize, &rx, 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);

   // Enable the BUS A and B of RT 5 subaddress 3
   if(!rc)
   {
      bus = MXF_MIL1553_BUS_A | MXF_MIL1553_BUS_B;

      // TX
      rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_TX, 3, bus, tx[CMD_TX]);

      // RX
      if(!rc)
         rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_RX, 3, bus, tx[CMD_RX]);
   }

   // Enable the BUS A and B of RT 5 mode command 16
   if(!rc)
      rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_MODECODE, 16, bus, tx[CMD_MC]);

   // Set default data for address 5, subaddress 3
   if(!rc)
   {
      txRec1553 = 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]  = 0xFFFF;
      txRec1553->data[2]  = 0xEEEE;
      txRec1553->data[3]  = 0xDDDD;
      txRec1553->data[4]  = 0xCCCC;
      txRec1553->data[5]  = 0xBBBB;
      txRec1553->data[6]  = 0xAAAA;
      txRec1553->data[7]  = 0x9999;
      txRec1553->data[8]  = 0x8888;
      txRec1553->data[9]  = 0x7777;
      txRec1553->data[10] = 0x6666;
      txRec1553->data[11] = 0x5555;
      txRec1553->data[12] = 0x4444;
      txRec1553->data[13] = 0x3333;
      txRec1553->data[14] = 0x2222;
      txRec1553->data[15] = 0x1111;
      txRec1553->data[16] = 0x0000;

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

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

   // Start RT acquisition
   if(!rc)
      rc = mxfRxAcqStart(rx, MXF_RXACQ_FLAG_DEFAULT, 0, 0);

   // Read and display received messages
   if(!rc)
   {
      uint64 addr, subAddr, dir;
      do
      {  
         rc = mxfMIL1553RxAcqRead(rx, 0, rxBufferSize, &rxAcqStatus, &msgCount, &byteCount, rxBuffer);
         rxRec1553 = rxBuffer;
         for(rxRec=0; rxRec<msgCount && !rc; rxRec++)
         {
            rc = mxfMIL1553DataRecordDecompose(rt, 1, rxRec1553, &msgInfo);
            if(!rc)
            {
               rc = mxfMIL1553CommandDecompose(rxRec1553->data[0], &addr, &subAddr, &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", addr, subAddr, wordCount, rxRec1553->data[0]);
                     printf("\t\tBC 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_RTBC:
                     printf("RT%llu SA%llu WC%llu to BC (0x%04x)\n\r", addr, subAddr, wordCount, rxRec1553->data[0]);
                     break;

                  case MXF_MIL1553_MSGINFO_TYPE_MODECODE_TXDATA:
                     printf("BC Mode Command %llu to RT%llu SA%llu (0x%04x)\n\r", wordCount, addr, subAddr, rxRec1553->data[0]);
                     break;
                  }
               }
            }
            // Get next msg
            rc = mxfMIL1553NextDataRecordPtrGet(rxRec1553, &rxRec1553);
         }
         mxfSleep(50);
         loop++;
      } while(loop < 200);
   }

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

   if (!rc)
      rc = mxfRxAcqClear(rx);

   // Stop RT
   if(!rc)
      rc = mxfMIL1553RtEnableSet(rt, FALSE);
    
   printf("\nStopping RT\n\r");

   // Disable the BUS A and B of RT 5 subaddress 3
   if(!rc)
   {
      bus = 0;

      // TX
      rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_TX, 3, bus, tx[CMD_TX]);

      // RX
      if(!rc)
         rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_RX, 3, bus, tx[CMD_RX]);
   }

   // Disable the BUS A and B of RT 5 mode command 16
   if(!rc)
      rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_MODECODE, 16, bus, tx[CMD_MC]);

   // 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);
   }

   // Free all buffers and terminate 
   for (indexBuffer = 0; indexBuffer < 3; indexBuffer++)
   {
      if (tx[indexBuffer])
      {
         rc = mxfTxPeriodicUpdateMsgBufferFree(tx[indexBuffer]);
         if (rc)
            printf("Free buffer failed !\n\r");
      }
   }

   if (rx)
   {
      rc = mxfRxAcqBufferFree(rx);
      if (rc)
         printf("Free buffer failed !\n\r");
   }

   // Unload MX Foundation library
   rc = mxfSystemTerminate(server);
   if (rc == MAXT_ERROR_ANOTHER_PROCESS_RUNNING)
   {
      // If other MX Foundation application running, only unload MX-Foundation library, otherwise reset cards first
      mxfSystemResourcesRelease(server, 0);
   }

   mxfServerDisconnect(server);

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

   return 0;
}