mil1553_rt_rt.c

/*****************************************************************************
//
##    File:
##       mil1553_rt_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 usage of simple aperiodic transmission 
//      to transmit a command of type RT-RT and record using BC.
//      First RT is RT #5 and second RT is RT #7 for example. (RT5 SA1 -> RT7 SA1)
//      Then we do an acquisition to be able to read the status of each RT and also
//      the timetags between records.
//      We enabled the RT for test purposes but if you have your RTs connected, you
//      obviously don't need to.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti or 500 series carrier with IPM-1553-MRT
//
*****************************************************************************/

#include "example.h"

#define NUM_REC_TX  10

#define LOCAL
//#define LOOPBACK

int main(void)
{
   uint32 rc;
   HMXF_SERVER server;
   HMXF_CHANNEL bc=0, rt5=0, rt7=0, bm = 0;
   HMXF_BUFFER bcBufferTx=0;
   HMXF_BUFFER bmBufferRx=0;
   HMXF_BUFFER rt5Buffer=0, rt7Buffer=0;

   uint32 txBufferSize;
   MXF_MIL1553_DATAREC* txBuffer=NULL;
   MXF_MIL1553_DATAREC* txRec1553;
   MXF_MIL1553_MSGINFO msgInfo;

   uint32 rxBufferSize=0;
   MXF_MIL1553_DATAREC* rxBuffer=NULL;
   MXF_MIL1553_DATAREC* rxRec1553;
   uint64   cmd;
   uint64   rxAcqStatus;
   uint64   msgCount;
   uint64   byteCount;
   uint64   rxRec;
   uint64   address1, subAddress1, dir1, wordCount1;
   uint64   address2=0, subAddress2=0, dir2, wordCount2;

   char     errorString[200];

   // Connects to services and initialize environment
#ifdef LOCAL
   rc = mxfServerConnect("0.0.0.0", "", "", FALSE, &server);
#else
   rc = mxfServerConnect("192.168.0.1", "admin", "admin", FALSE, &server);
#endif

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

   //Gets handle of the first BM
   if(!rc)
      rc = mxfChannelGet(server, MXF_CLASS_MIL1553, MXF_SCLASS_BM_CHANNEL, MXF_MODULE_ALL, 0, &bm);

   //Gets handle of the first BC
   if(!rc)
      rc = mxfChannelGet(server, MXF_CLASS_MIL1553, MXF_SCLASS_BC_CHANNEL, MXF_MODULE_ALL, 0, &bc);

   // Gets handle of MIL1553 remote terminal 5 channel
   if(!rc)
      rc = mxfChannelGet(server, MXF_CLASS_MIL1553, MXF_SCLASS_RT_CHANNEL, MXF_MODULE_ALL, 5, &rt5);

   // Gets handle of MIL1553 remote terminal 7 channel
   if(!rc)
      rc = mxfChannelGet(server, MXF_CLASS_MIL1553, MXF_SCLASS_RT_CHANNEL, MXF_MODULE_ALL, 7, &rt7);

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

   // Allocate enough buffer for at least NUM_REC_TX tx data
   if(!rc)
   {
      txBufferSize = NUM_REC_TX * sizeof(MXF_MIL1553_DATAREC);

      // Device allocation
      rc = mxfTxAperiodicBufferAlloc(bc, MXF_TXAPERIODIC_PRIORITY_LOW, txBufferSize, &bcBufferTx, NULL);

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

      // Necessary to enable the RTs
      if(!rc)
         rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt5, 0, txBufferSize, &rt5Buffer, NULL); // RT buffer for RT5 SA1 TX
      if(!rc)
         rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt7, 0, 0, &rt7Buffer, NULL); // RT buffer for RT7 SA1 RX
   }

   // Enables the different RTs
   if(!rc)
      rc = mxfMIL1553RtSubsystemEnableSet(rt5, MXF_MIL1553_MSGTYPE_TX, 1, MXF_MIL1553_BUS_A|MXF_MIL1553_BUS_B, rt5Buffer);
   if(!rc)
      rc = mxfMIL1553RtEnableSet(rt5, TRUE);
   if(!rc)
      rc = mxfMIL1553RtSubsystemEnableSet(rt7, MXF_MIL1553_MSGTYPE_RX, 1, MXF_MIL1553_BUS_A|MXF_MIL1553_BUS_B, rt7Buffer);
   if(!rc)
      rc = mxfMIL1553RtEnableSet(rt7, TRUE);

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

      // Device allocation
      rc = mxfRxAcqBufferAlloc(bm, rxBufferSize, &bmBufferRx, NULL);

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

   // Sets timebase to RTC nsec
   if(!rc)
      rc = mxfSystemTimeBaseSet(server, MXF_TIMEBASE_DEVICE_NSEC);

   // Starts BM acquisition
   if(!rc)
      rc = mxfRxAcqStart(bmBufferRx, MXF_RXACQ_FLAG_DEFAULT, 0, 0);

   // Sends NUM_REC_TX commands
   txRec1553 = txBuffer;

   for(cmd=0; cmd<NUM_REC_TX; cmd++)   //we send 10 times the same command
   {
      memset(txRec1553, 0, sizeof(MXF_MIL1553_DATAREC));

      //Command #0
      txRec1553->timeTag = 0;
      txRec1553->repeatCount = 1;
      txRec1553->control = MXF_MIL1553_TXAPERIODIC_REC_CTRL_RT_RT;
      txRec1553->dataSize    = 4; //4 bytes (2 commands)
      mxfMIL1553CommandCompose(7, 1, MXF_MIL1553_MSGTYPE_RX, 0, &txRec1553->data[0]);    //RT7 SA1

      //Command #1
      mxfMIL1553CommandCompose(5, 1, MXF_MIL1553_MSGTYPE_TX, 0, &txRec1553->data[1]);    //RT5 SA1

      mxfMIL1553NextDataRecordPtrGet(txRec1553, &txRec1553);
   }

   // Sends commands
   printf("Transmitting...\n");
   rc = mxfMIL1553TxAperiodicWrite(bcBufferTx, MXF_TXAPERIODIC_FLAG_DEFAULT, 0, cmd, txBuffer);

   // Reads and displays received messages for 5 seconds
   if(!rc)
   {
      // Waits a little for commands to be transmitted
      mxfSleep(1000);
      printf("Reading...\n");
      rc = mxfMIL1553RxAcqRead(bmBufferRx, 0, rxBufferSize, &rxAcqStatus, &msgCount, &byteCount, rxBuffer);

      rxRec1553 = rxBuffer;

      for(rxRec=0; rxRec<msgCount && !rc; rxRec++)
      {
         rc = mxfMIL1553DataRecordDecompose(bm, 1, rxRec1553, &msgInfo);
         if(!rc)
         {
            rc = mxfMIL1553CommandDecompose(rxRec1553->data[1], &address1, &subAddress1, &dir1, &wordCount1);
            if(!rc)
               rc = mxfMIL1553CommandDecompose(rxRec1553->data[0], &address2, &subAddress2, &dir2, &wordCount2);

            if(!rc)
            {
               printf("\n\r%llu:\t", rxRec1553->timeTag);
               switch(msgInfo.msgType)
               {
               case MXF_MIL1553_MSGINFO_TYPE_RTRT:
                  printf("RT%llu SA%llu to RT%llu SA%llu WC%llu (0x%04x)\n\r", address1, subAddress1, address2, subAddress2, wordCount1, rxRec1553->data[0]);
                  if(msgInfo.statusIndex[0] != 0xffff)
                     printf("\t\tRT%llu SA%llu status: 0x%04x\n\r", address1, subAddress1, rxRec1553->data[msgInfo.statusIndex[0]]);
                  if(msgInfo.statusIndex[1] != 0xffff)
                     printf("\t\tRT%llu SA%llu status: 0x%04x\n\r", address2, subAddress2, rxRec1553->data[msgInfo.statusIndex[1]]);
                  break;
               }
            }
         }
         // Gets next msg
         rc = mxfMIL1553NextDataRecordPtrGet(rxRec1553, &rxRec1553);
      }
   }

   // Clears aperiodic buffer
   if(!rc)
      rc = mxfTxAperiodicClear(bcBufferTx, 0);

   // Stops RTs
   if(!rc)
      rc = mxfMIL1553RtEnableSet(rt5, FALSE);
   if(!rc)
      rc = mxfMIL1553RtEnableSet(rt7, FALSE);

   // Stops acquisition
   if(!rc)
      rc = mxfRxAcqStop(bmBufferRx);

   // Clears acquisition
   if(!rc)
      rc = mxfRxAcqClear(bmBufferRx);

   // Frees 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);
   }

   // Frees all buffers and terminate
   if(bcBufferTx)
      mxfTxAperiodicBufferFree(bcBufferTx);
   if(bmBufferRx)
      mxfRxAcqBufferFree(bmBufferRx);
   if(rt5Buffer)
      mxfTxPeriodicUpdateMsgBufferFree(rt5Buffer);
   if(rt7Buffer)
      mxfTxPeriodicUpdateMsgBufferFree(rt7Buffer);

   // Unloads MX Foundation library
   mxfSystemTerminate(server);

   mxfServerDisconnect(server);

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

   return 0;
}