mil1553_rtErrorInjections.c

/*****************************************************************************
//
##    File:
##       mil1553_rtErrorInjections.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 :
//      - override status error
//      - do not respond error
//      - respond on error error
//
//      The minor frame for this example is built as follows :
//      BC -> RT20 SA3    override status error injection (RT side)
//      BC -> RT10 SA3    do not respond error injection (RT side)
//      BC -> RT30 SA3    word count error injection (BC side) + respond on error injection (RT side)
//
//
//     As you can see in the minor frame described above, an override status error is injected on the first
//     command. This will rise a MXF_MIL1553_STATUS_MSGERR flag in the status index of the MXF_MIL1553_MSGINFO
//     structure obtained with the function mxfMIL1553DataRecordDecompose() in acquisition.
//
//     Then, the "do not respond error" is injected in the second command. It is more simple to check this error:
//     you just have to look at the record control to see if the MXF_MIL1553_RX_REC_CTRL_MSG_NO_RESPONSE flag is 
//     risen.
//
//     On the third command, it is a bit more tricky. We inject a word count error on the BC side so the RT will detect
//     an error and we also inject a "respond on error" error on the RT side. That is why we receive an unexpected message
//     after the third command, also displayed on the console screen.
//
//     We chose a word count error because this error will not affect the type of the command (will still be MXF_MIL1553_MSGINFO_TYPE_BCRT)
//     when for example if you choose a parity error, your command will be seen as MXF_MIL1553_MSGINFO_TYPE_UNEXPECTED.
//
//     When an error is injected in a command, in 1553, the RT will not respond and not transmit a status.
//     For example in the third command, we inject a word count error, so the RT will not respond. That is
//     why you should see on the console screen the message "RT response Error" for this command.
//
//     It is normal that the datasize for the third command is 15 instead of 32 words because, as previously said,
//     a word count error is injected on the BC side.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti or 500 series carrier with IPM-1553-MRT
//
*****************************************************************************/

#include "example.h"

#define RT_ADRS         20
#define RT_SUBADRS      3

#define NB_BC_BUFFERS   3
#define NB_RT_BUFFERS   3

#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];
HMXF_BUFFER bmBufferRx=0;
HMXF_BUFFER rtBuffer[NB_RT_BUFFERS];

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 index=0;

// 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]);
   if(!rc)
      rc = mxfModuleChannelGet(module, 2+(RT_ADRS+10), &rt[2]);

#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 status error on RT20
   if(!rc)
   {
      memset(&err, 0, sizeof(err));
      rc = mxfMIL1553ErrorInjectionCompose(MXF_MIL1553_ERRORID_STATUS_OV, 0, &err.errors[0]);
      if (!rc)
      {
         err.errors[33] = MXF_MIL1553_STATUS_MSGERR; //rises the message error bit
         rc = mxfMIL1553ErrorInjectionSet(rt[0], 0, &err);
      }
   }

   // Configure injection #1, do not respond error on RT10
   if(!rc)
   {
      memset(&err, 0, sizeof(err));
      rc = mxfMIL1553ErrorInjectionCompose(MXF_MIL1553_ERRORID_DONOTRESPOND, 0, &err.errors[0]);
      if (!rc)
         rc = mxfMIL1553ErrorInjectionSet(rt[1], 1, &err);
   }

   // Configure injection #2, respond on error error on RT30
   if(!rc)
   {
      memset(&err, 0, sizeof(err));
      rc = mxfMIL1553ErrorInjectionCompose(MXF_MIL1553_ERRORID_RESPONDONERROR, 0, &err.errors[0]);
      if (!rc)
         rc = mxfMIL1553ErrorInjectionSet(rt[2], 2, &err);
   }

   // Configure injection #3, word count error
   if(!rc)
   {
      memset(&err, 0, sizeof(err));
      rc = mxfMIL1553ErrorInjectionCompose(MXF_MIL1553_ERRORID_WORDCNT, 16, &err.errors[0]);
         rc = mxfMIL1553ErrorInjectionSet(bc, 3, &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 10, Subaddress 3, RX, 32 words. 
      if (!rc)
         rc = mxfMIL1553CommandCompose(RT_ADRS-10, RT_SUBADRS, MXF_MIL1553_MSGTYPE_RX, 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 30, Subaddress 3, RX, 32 words. 
      if (!rc)
         rc = mxfMIL1553CommandCompose(RT_ADRS+10, RT_SUBADRS, MXF_MIL1553_MSGTYPE_RX, 0, &minorFrame[2].command); // specification : 0 means 32 words
      minorFrame[2].modulo = 1;
      minorFrame[2].buffer = bcBufferTx[2];
      minorFrame[2].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, 3, 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 = 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[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 status error
      txRec1553->dataSize    = 0;

      rc = mxfMIL1553TxPeriodicUpdateMsgWrite(rtBuffer[0], 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[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 = 1; // do not respond error
      txRec1553->dataSize    = 0;

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

   // Set BC data for address 30, 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 = 3; // word 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[2], 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; // respond on error error
      txRec1553->dataSize    = 0;

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

   // Start messages queues
   printf("Starting BC - RT\n\r");
   for (index = 0; index < NB_RT_BUFFERS && !rc; index++)
   {
      rc = mxfMIL1553RtEnableSet(rt[index], 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);
                  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);

                     if (!(rxRec1553->control&MXF_MIL1553_RX_REC_CTRL_MSG_NO_RESPONSE))
                     {
                        printf("\t\tRT status: Override %s\n\r", (rxRec1553->data[msgInfo.statusIndex[0]]&MXF_MIL1553_STATUS_MSGERR)?"Injected":"Not injected");
                        printf("\t\tRT response OK\n\r");
                     }
                     else
                        printf("\t\tRT response Error\n\r");

                     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_UNEXPECTED:
                     printf("BC to RT%llu SA%llu (unexpected command) Bus%s (0x%04x) Control : 0x%08x\n\r", address, subAddress, rxRec1553->control & MXF_MIL1553_RX_REC_CTRL_MSG_BUS_B?"B":"A", rxRec1553->data[0], rxRec1553->control);
                     if (rxRec1553->control&MXF_MIL1553_RX_REC_CTRL_MSG_NO_RESPONSE)
                     {
                        printf("\t\tRT response Error\n\r");
                     }
                     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);
   }

   for (index = 0; index < NB_RT_BUFFERS && !rc; index++)
   {
      rc = mxfMIL1553RtEnableSet(rt[index], FALSE);
   }
   
   // 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 < NB_BC_BUFFERS; indexBuffer++)
   {
      if (bcBufferTx[indexBuffer])
      {
         rc = mxfTxPeriodicUpdateMsgBufferFree(bcBufferTx[indexBuffer]);
         if (rc)
            printf("Free buffer failed !\n\r");
      }
   }
   for(indexBuffer = 0; indexBuffer < NB_RT_BUFFERS; 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;
}