Nominal example updated: 2nd HW block added; Runtime reconfigurator added; See...

Nominal example updated: 2nd HW block added; Runtime reconfigurator added; See README; Execution log and images of the 2 Simulink diagrams included.

Demo_CoRAMBAD_Brave_GR740_GNC/DeploymentView.aadl

@@ -24,6 +24,8 @@ PUBLIC
 
 WITH interfaceview::IV::Calling;
 WITH interfaceview::IV::Gnc;
+WITH interfaceview::IV::fpga_reconfiguration_engine;
+WITH interfaceview::IV::Gnc2;
 WITH ocarina_processors_leon;
 WITH deploymentview::DV::Node1;
 WITH Taste;
@@ -41,6 +43,12 @@ SUBCOMPONENTS
   IV_Gnc : SYSTEM interfaceview::IV::Gnc::Gnc.others {
     Taste::FunctionName => "Gnc";
   };
+  IV_fpga_reconfiguration_engine : SYSTEM interfaceview::IV::fpga_reconfiguration_engine::fpga_reconfiguration_engine.others {
+    Taste::FunctionName => "fpga_reconfiguration_engine";
+  };
+  IV_Gnc2 : SYSTEM interfaceview::IV::Gnc2::Gnc2.others {
+    Taste::FunctionName => "Gnc2";
+  };
   gr740_partition : PROCESS deploymentview::DV::Node1::gr740_partition.others {
     Taste::coordinates => "90703 54292 127086 70804";
     Deployment::Port_Number => 0;
@@ -51,6 +59,8 @@ SUBCOMPONENTS
 PROPERTIES
   Taste::APLC_Binding => (reference (gr740_partition)) APPLIES TO IV_Calling;
   Taste::APLC_Binding => (reference (gr740_partition)) APPLIES TO IV_Gnc;
+  Taste::APLC_Binding => (reference (gr740_partition)) APPLIES TO IV_fpga_reconfiguration_engine;
+  Taste::APLC_Binding => (reference (gr740_partition)) APPLIES TO IV_Gnc2;
   Actual_Processor_Binding => (reference (gr740_rcc13rc5_posix)) APPLIES TO gr740_partition;
 END Node1.others;
 

Demo_CoRAMBAD_Brave_GR740_GNC/InterfaceView.aadl

@@ -9,6 +9,8 @@ PACKAGE interfaceview::IV::Calling
 PUBLIC
 
 WITH interfaceview::IV::Gnc;
+WITH interfaceview::IV::fpga_reconfiguration_engine;
+WITH interfaceview::IV::Gnc2;
 WITH Taste;
 WITH DataView;
 WITH TASTE_IV_Properties;
@@ -22,6 +24,16 @@ PROPERTIES
   Compute_Execution_Time => 0 ms .. 0 ms;
 END PI_pulse.others;
 
+SUBPROGRAM PI_changeMode
+PROPERTIES
+  Taste::Associated_Queue_Size => 1;
+END PI_changeMode;
+
+SUBPROGRAM IMPLEMENTATION PI_changeMode.others
+PROPERTIES
+  Compute_Execution_Time => 0 ms .. 0 ms;
+END PI_changeMode.others;
+
 SUBPROGRAM RI_do_something
 FEATURES
   inp1 : IN PARAMETER DataView::Seq3 {
@@ -47,6 +59,60 @@ END RI_do_something;
 SUBPROGRAM IMPLEMENTATION RI_do_something.others
 END RI_do_something.others;
 
+SUBPROGRAM RI_init
+END RI_init;
+
+SUBPROGRAM IMPLEMENTATION RI_init.others
+END RI_init.others;
+
+SUBPROGRAM RI_run
+FEATURES
+  spi_address : IN PARAMETER DataView::MyInteger {
+    Taste::encoding => NATIVE;
+  };
+  size : IN PARAMETER DataView::MyInteger {
+    Taste::encoding => NATIVE;
+  };
+END RI_run;
+
+SUBPROGRAM IMPLEMENTATION RI_run.others
+END RI_run.others;
+
+SUBPROGRAM RI_status
+FEATURES
+  fpga_status : OUT PARAMETER DataView::MyInteger {
+    Taste::encoding => NATIVE;
+  };
+END RI_status;
+
+SUBPROGRAM IMPLEMENTATION RI_status.others
+END RI_status.others;
+
+SUBPROGRAM RI_do_something2
+FEATURES
+  inp1 : IN PARAMETER DataView::Seq3 {
+    Taste::encoding => NATIVE;
+  };
+  inp2 : IN PARAMETER DataView::Seq3 {
+    Taste::encoding => NATIVE;
+  };
+  inp3 : IN PARAMETER DataView::Seq4 {
+    Taste::encoding => NATIVE;
+  };
+  outpu : OUT PARAMETER DataView::Seqout {
+    Taste::encoding => NATIVE;
+  };
+  innested : IN PARAMETER DataView::In_Nested {
+    Taste::encoding => NATIVE;
+  };
+  outnested : OUT PARAMETER DataView::Out_Nested {
+    Taste::encoding => NATIVE;
+  };
+END RI_do_something2;
+
+SUBPROGRAM IMPLEMENTATION RI_do_something2.others
+END RI_do_something2.others;
+
 SYSTEM Calling
 FEATURES
   PI_pulse : PROVIDES SUBPROGRAM ACCESS interfaceview::IV::Calling::PI_pulse.others {
@@ -56,12 +122,43 @@ FEATURES
     Taste::Deadline => 0 ms;
     Taste::InterfaceName => "pulse";
   };
+  PI_changeMode : PROVIDES SUBPROGRAM ACCESS interfaceview::IV::Calling::PI_changeMode.others {
+    Taste::coordinates => "111658 56233";
+    Taste::RCMoperationKind => cyclic;
+    Taste::RCMperiod => 3000 ms;
+    Taste::Deadline => 0 ms;
+    Taste::InterfaceName => "changeMode";
+  };
   RI_do_something : REQUIRES SUBPROGRAM ACCESS interfaceview::IV::Gnc::PI_do_something.others {
     Taste::coordinates => "134118 68838";
     Taste::RCMoperationKind => any;
     Taste::InterfaceName => "do_something";
     Taste::labelInheritance => "true";
   };
+  RI_init : REQUIRES SUBPROGRAM ACCESS interfaceview::IV::fpga_reconfiguration_engine::PI_init.others {
+    Taste::coordinates => "108721 94530";
+    Taste::RCMoperationKind => any;
+    Taste::InterfaceName => "init";
+    Taste::labelInheritance => "true";
+  };
+  RI_run : REQUIRES SUBPROGRAM ACCESS interfaceview::IV::fpga_reconfiguration_engine::PI_run.others {
+    Taste::coordinates => "125534 94530";
+    Taste::RCMoperationKind => any;
+    Taste::InterfaceName => "run";
+    Taste::labelInheritance => "true";
+  };
+  RI_status : REQUIRES SUBPROGRAM ACCESS interfaceview::IV::fpga_reconfiguration_engine::PI_status.others {
+    Taste::coordinates => "97597 94530";
+    Taste::RCMoperationKind => any;
+    Taste::InterfaceName => "status";
+    Taste::labelInheritance => "true";
+  };
+  RI_do_something2 : REQUIRES SUBPROGRAM ACCESS interfaceview::IV::Gnc2::PI_do_something2.others {
+    Taste::coordinates => "134118 75133";
+    Taste::RCMoperationKind => any;
+    Taste::InterfaceName => "do_something2";
+    Taste::labelInheritance => "true";
+  };
 PROPERTIES
   Source_Language => (C);
   Taste::Active_Interfaces => any;
@@ -110,7 +207,7 @@ END PI_do_something.others;
 SYSTEM Gnc
 FEATURES
   PI_do_something : PROVIDES SUBPROGRAM ACCESS interfaceview::IV::Gnc::PI_do_something.others {
-    Taste::coordinates => "185019 83379";
+    Taste::coordinates => "174484 81134";
     Taste::RCMoperationKind => protected;
     Taste::RCMperiod => 0 ms;
     Taste::Deadline => 0 ms;
@@ -126,11 +223,151 @@ END Gnc.others;
 
 END interfaceview::IV::Gnc;
 
+PACKAGE interfaceview::IV::fpga_reconfiguration_engine
+PUBLIC
+
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+SUBPROGRAM PI_init
+PROPERTIES
+  Taste::Associated_Queue_Size => 1;
+END PI_init;
+
+SUBPROGRAM IMPLEMENTATION PI_init.others
+PROPERTIES
+  Compute_Execution_Time => 0 ms .. 0 ms;
+END PI_init.others;
+
+SUBPROGRAM PI_run
+FEATURES
+  spi_address : IN PARAMETER DataView::MyInteger {
+    Taste::encoding => NATIVE;
+  };
+  size : IN PARAMETER DataView::MyInteger {
+    Taste::encoding => NATIVE;
+  };
+PROPERTIES
+  Taste::Associated_Queue_Size => 1;
+END PI_run;
+
+SUBPROGRAM IMPLEMENTATION PI_run.others
+PROPERTIES
+  Compute_Execution_Time => 0 ms .. 0 ms;
+END PI_run.others;
+
+SUBPROGRAM PI_status
+FEATURES
+  fpga_status : OUT PARAMETER DataView::MyInteger {
+    Taste::encoding => NATIVE;
+  };
+PROPERTIES
+  Taste::Associated_Queue_Size => 1;
+END PI_status;
+
+SUBPROGRAM IMPLEMENTATION PI_status.others
+PROPERTIES
+  Compute_Execution_Time => 0 ms .. 0 ms;
+END PI_status.others;
+
+SYSTEM fpga_reconfiguration_engine
+FEATURES
+  PI_init : PROVIDES SUBPROGRAM ACCESS interfaceview::IV::fpga_reconfiguration_engine::PI_init.others {
+    Taste::coordinates => "120167 113227";
+    Taste::RCMoperationKind => unprotected;
+    Taste::RCMperiod => 0 ms;
+    Taste::Deadline => 0 ms;
+    Taste::InterfaceName => "init";
+  };
+  PI_run : PROVIDES SUBPROGRAM ACCESS interfaceview::IV::fpga_reconfiguration_engine::PI_run.others {
+    Taste::coordinates => "135308 113227";
+    Taste::RCMoperationKind => unprotected;
+    Taste::RCMperiod => 0 ms;
+    Taste::Deadline => 0 ms;
+    Taste::InterfaceName => "run";
+  };
+  PI_status : PROVIDES SUBPROGRAM ACCESS interfaceview::IV::fpga_reconfiguration_engine::PI_status.others {
+    Taste::coordinates => "99407 113227";
+    Taste::RCMoperationKind => unprotected;
+    Taste::RCMperiod => 0 ms;
+    Taste::Deadline => 0 ms;
+    Taste::InterfaceName => "status";
+  };
+PROPERTIES
+  Source_Language => (C);
+  Taste::Active_Interfaces => any;
+END fpga_reconfiguration_engine;
+
+SYSTEM IMPLEMENTATION fpga_reconfiguration_engine.others
+SUBCOMPONENTS
+  flagToLinkWith : DATA DataView::Taste_directive {
+    Taste::FS_Default_Value => "linker-option:""-L$PRJ_FOLDER/external_libs/lib -lmdw""";
+  };
+  flagsToCompileWith : DATA DataView::Taste_directive {
+    Taste::FS_Default_Value => "compiler-option:""-I$PRJ_FOLDER/external_libs/inc""";
+  };
+END fpga_reconfiguration_engine.others;
+
+END interfaceview::IV::fpga_reconfiguration_engine;
+
+PACKAGE interfaceview::IV::Gnc2
+PUBLIC
+
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+SUBPROGRAM PI_do_something2
+FEATURES
+  inp1 : IN PARAMETER DataView::Seq3 {
+    Taste::encoding => NATIVE;
+  };
+  inp2 : IN PARAMETER DataView::Seq3 {
+    Taste::encoding => NATIVE;
+  };
+  inp3 : IN PARAMETER DataView::Seq4 {
+    Taste::encoding => NATIVE;
+  };
+  outpu : OUT PARAMETER DataView::Seqout {
+    Taste::encoding => NATIVE;
+  };
+  innested : IN PARAMETER DataView::In_Nested {
+    Taste::encoding => NATIVE;
+  };
+  outnested : OUT PARAMETER DataView::Out_Nested {
+    Taste::encoding => NATIVE;
+  };
+END PI_do_something2;
+
+SUBPROGRAM IMPLEMENTATION PI_do_something2.others
+PROPERTIES
+  Compute_Execution_Time => 0 ms .. 0 ms;
+END PI_do_something2.others;
+
+SYSTEM Gnc2
+FEATURES
+  PI_do_something2 : PROVIDES SUBPROGRAM ACCESS interfaceview::IV::Gnc2::PI_do_something2.others {
+    Taste::coordinates => "172121 115903";
+    Taste::RCMoperationKind => protected;
+    Taste::Deadline => 0 ms;
+    Taste::InterfaceName => "do_something2";
+  };
+PROPERTIES
+  Source_Language => (Simulink);
+  Taste::Active_Interfaces => any;
+END Gnc2;
+
+SYSTEM IMPLEMENTATION Gnc2.others
+END Gnc2.others;
+
+END interfaceview::IV::Gnc2;
+
 PACKAGE interfaceview::IV
 PUBLIC
 
 WITH interfaceview::IV::Calling;
 WITH interfaceview::IV::Gnc;
+WITH interfaceview::IV::fpga_reconfiguration_engine;
+WITH interfaceview::IV::Gnc2;
 WITH Taste;
 WITH DataView;
 WITH TASTE_IV_Properties;
@@ -146,12 +383,31 @@ SUBCOMPONENTS
     Taste::coordinates => "84026 56233 134118 94530";
   };
   Gnc : SYSTEM interfaceview::IV::Gnc::Gnc.others {
-    Taste::coordinates => "185019 63827 246584 104386";
+    Taste::coordinates => "174484 61582 236049 102141";
     TASTE_IV_Properties::FPGA_Configurations => "modeA,modeB";
   };
+  fpga_reconfiguration_engine : SYSTEM interfaceview::IV::fpga_reconfiguration_engine::fpga_reconfiguration_engine.others {
+    Taste::coordinates => "90205 113227 140857 136625";
+  };
+  Gnc2 : SYSTEM interfaceview::IV::Gnc2::Gnc2.others {
+    Taste::coordinates => "172121 106297 232592 141099";
+    TASTE_IV_Properties::FPGA_Configurations => "modeC";
+  };
 CONNECTIONS
   Gnc_PI_do_something_Calling_RI_do_something : SUBPROGRAM ACCESS Gnc.PI_do_something -> Calling.RI_do_something {
-    Taste::coordinates => "134118 68838 156256 68838 156256 83379 185019 83379";
+    Taste::coordinates => "134118 68838 156256 68838 156256 81134 174484 81134";
+  };
+  fpga_reconfiguration_engine_PI_init_Calling_RI_init : SUBPROGRAM ACCESS fpga_reconfiguration_engine.PI_init -> Calling.RI_init {
+    Taste::coordinates => "108721 94530 108721 103878 120167 103878 120167 113227";
+  };
+  fpga_reconfiguration_engine_PI_run_Calling_RI_run : SUBPROGRAM ACCESS fpga_reconfiguration_engine.PI_run -> Calling.RI_run {
+    Taste::coordinates => "125534 94530 125534 103878 135308 103878 135308 113227";
+  };
+  fpga_reconfiguration_engine_PI_status_Calling_RI_status : SUBPROGRAM ACCESS fpga_reconfiguration_engine.PI_status -> Calling.RI_status {
+    Taste::coordinates => "97597 94530 97597 103878 99407 103878 99407 113227";
+  };
+  Gnc2_PI_do_something2_Calling_RI_do_something2 : SUBPROGRAM ACCESS Gnc2.PI_do_something2 -> Calling.RI_do_something2 {
+    Taste::coordinates => "134118 75133 153119 75133 153119 115903 172121 115903";
   };
 END interfaceview.others;
 

Demo_CoRAMBAD_Brave_GR740_GNC/README.txt

+1. "bravebitfiles.h" is not auto generated when using the "--no-bitfiles" option.
+The one generated for this project is for convenience included in the project's root.
+It should be copied under "binary.c/auto-src" after the first build attempt (which should fail). The second build attempt should work.
+
+2. This project as a dependency on the reconfiguration drivers (directory <project's root>/"external_libs/"). This directory is not public and should be requested by other means.

Demo_CoRAMBAD_Brave_GR740_GNC/bravebitfiles.h

+
+struct config_bitfile {
+    char *config;
+    char *global_status_var;
+    int offset;
+    int size;
+};
+
+
+extern char globalFpgaStatus_gnc[20];
+extern char globalFpgaStatus_gnc2[20];
+
+
+struct config_bitfile bitfiles[] = {
+    "modeA", globalFpgaStatus_gnc, 0, 211460,
+    "modeB", globalFpgaStatus_gnc, 0, 211460,
+    "modeC", globalFpgaStatus_gnc2, 1526250, 177088
+};

Demo_CoRAMBAD_Brave_GR740_GNC/build-script.sh

@@ -69,6 +69,10 @@ cd "$SKELS" && rm -f calling.zip && zip -r calling calling/* && cd $OLDPWD || ex
 
 cd "$SKELS" && rm -f gnc.zip && zip -r gnc gnc/* && cd $OLDPWD || exit -1
 
+cd "$SKELS" && rm -f fpga_reconfiguration_engine.zip && zip -r fpga_reconfiguration_engine fpga_reconfiguration_engine/* && cd $OLDPWD || exit -1
+
+cd "$SKELS" && rm -f gnc2.zip && zip -r gnc2 gnc2/* && cd $OLDPWD || exit -1
+
 [ ! -z "$CLEANUP" ] && rm -rf binary*
 
 if [ -f ConcurrencyView.pro ]
@@ -121,6 +125,8 @@ cd "$CWD" && assert-builder-ocarina.py \
 	-o "$OUTPUTDIR" \
 	--subC calling:"$SKELS"/calling.zip \
 	--subSIMULINK gnc:"$SKELS"/gnc.zip \
+	--subC fpga_reconfiguration_engine:"$SKELS"/fpga_reconfiguration_engine.zip \
+	--subSIMULINK gnc2:"$SKELS"/gnc2.zip \
 	$ORCHESTRATOR_OPTIONS
 
 if [ -f user_init_last.sh ]

Demo_CoRAMBAD_Brave_GR740_GNC/calling/calling.c

@@ -4,7 +4,9 @@
 #include <string.h>
 #include <stdio.h>
 
-char p_szGlobalState[] = "modeX";
+#include "bravebitfiles.h"
+
+char p_szGlobalState[10] = "modeX";
 
 #define FPGA_READY              "ready"
 #define FPGA_RECONFIGURING      "reconfiguring"
@@ -16,37 +18,116 @@ char p_szGlobalState[] = "modeX";
 // This status shall be updated by the HW reconfiguration manager commanding of the FPGA and FPGA status check,
 // and can be one of: FPGA_READY, FPGA_RECONFIGURING, FPGA_ERROR, FPGA_DISABLED.
 // Status is kept per Function Block and not for the full FPGA, to accommodate for future work on partial reconfiguration of the HW accelerator.
-char globalFpgaStatus_gnc[20] = FPGA_READY;
+char globalFpgaStatus_gnc[20] = FPGA_DISABLED;
+char globalFpgaStatus_gnc2[20] = FPGA_DISABLED;
 
-// Print any output only at the end of the test run (using sprintf to array), to avoid the usual real time degradation of console prints.
-#define NR_MODE_SWITCHES   40
-char testLog[40 * NR_MODE_SWITCHES][100];
-int line = 0;
+int get_bitfile_info(char *config, char **global_status_var, asn1SccMyInteger *offset, asn1SccMyInteger *size)
+{
+    int headerfile_entries = 0;
+    headerfile_entries = sizeof(bitfiles)/sizeof(struct config_bitfile);
+    printf("[get_bitfile_info] There are %d headerfile entries.\n", headerfile_entries);
+    for(int i = 0; i < headerfile_entries; i++){
+        printf("[get_bitfile_info] Mode index %d is %s\n", i, bitfiles[i].config);
+        if (strcmp(config, bitfiles[i].config) == 0) {
+            printf("[get_bitfile_info] Mode found in index %d which is %s\n", i, bitfiles[i].config);
+            *global_status_var = bitfiles[i].global_status_var;
+            *offset = bitfiles[i].offset;
+            *size = bitfiles[i].size;
+            return 0;
+        }
+    }
+    return 1;
+}
 
 void calling_startup()
 {
     /* Write your initialization code here,
        but do not make any call to a required interface. */
-    sprintf(testLog[line++], "\n[calling_startup] Starting up ...\n");
+    printf("\n[calling_startup] Starting up ...\n");
+
+    /* ## FPGA reconfiguration engine init */
+    calling_RI_init();
 }
 
-void calling_PI_pulse()
+void calling_PI_changeMode()
 {
     /* Write your code here! */
-    static int ite = 0;
-    if(ite == (3 * NR_MODE_SWITCHES)) { // at ~ (3 * NR_MODE_SWITCHES) sec print log
-        for(int i = 0; i <= line; i++){
-            printf(testLog[i]);
+    printf("\n[calling_PI_changeMode] Current mode is %s\n", p_szGlobalState);
+
+    /* FPGA reconfiguration engine part */
+    static asn1SccMyInteger fpga_status = 1;
+    static asn1SccMyInteger offset = -1;
+    static asn1SccMyInteger size = -1;
+    char new_config[10] = "";
+    
+    if (strcmp(p_szGlobalState, "modeX") == 0) {
+        strcpy(new_config, "modeA");
+    }else{
+        if (strcmp(p_szGlobalState, "modeA") == 0) {
+            strcpy(new_config, "modeC");
+        }else{
+            strcpy(new_config, "modeX");
         }
-	ite++;
-	return;
-    }
-    if(ite > (3 * NR_MODE_SWITCHES)) { // do noth
-        return;
     }
+    printf("[calling_PI_changeMode] Initiating mode change %s => %s ... \n", p_szGlobalState, new_config);
     
-    sprintf(testLog[line++], "\n[calling_PI_pulse] Current mode is %s\n", p_szGlobalState);
+        /* ! header file is under binary.c/auto-src
+         use it to map mode to bit stream offset and size that engine needs */
+        // update global variables to value FPGA_RECONFIGURING
+        // see calling.c where global variable is defined (and its values): here is globalFpgaStatus_gnc
+        // do not hardcode: rule here is the variables will always be named 'globalFpgaStatus_' + hw funcion block name (in this case 'gnc')
+        // the hw funcion block name (in this case 'gnc') which corresponds to the mode can also be retrieved from the header file
+        // this variable should be updated so that applications know if function is still operational in the FPGA
+        char *global_status_var;
+        offset = -1;
+        size = -1;
+        if (!get_bitfile_info(new_config, &global_status_var, &offset, &size)){
+            printf("[calling_PI_changeMode] bitfile info is: global_status_var prev - %s, offset - %lld, size - %lld\n", global_status_var, offset, size);
+            // DISABLE ALL
+            strcpy(globalFpgaStatus_gnc, FPGA_DISABLED);
+            strcpy(globalFpgaStatus_gnc2, FPGA_DISABLED);
+            // SET NEXT AS RECONFIGURING
+            strcpy(global_status_var, FPGA_RECONFIGURING);
+            printf("[calling_PI_changeMode] global_status_var now is - %s\n", global_status_var);
+            printf("[calling_PI_changeMode] cross check: globalFpgaStatus_gnc now is - %s\n", globalFpgaStatus_gnc);
+            printf("[calling_PI_changeMode] cross check: globalFpgaStatus_gnc2 now is - %s\n", globalFpgaStatus_gnc2);
+            
+            
+            // CALL engine
+            /* ## FPGA reconfiguration engine status */
+            calling_RI_status(&fpga_status);
+            printf("[calling_PI_changeMode] FPGA STATUS before reconf = %lld\n", fpga_status);
     
+            /* ## FPGA reconfiguration engine configuration */
+            calling_RI_run(&offset, &size);
+        
+            /* ## FPGA reconfiguration engine status */
+            calling_RI_status(&fpga_status);
+            printf("[calling_PI_changeMode] FPGA STATUS after reconf = %lld\n", fpga_status);
+            
+            
+            // update again global variables to new value depending on the FPGA state: FPGA_READY? FPGA_ERROR?
+            if (fpga_status){
+                strcpy(global_status_var, FPGA_READY);
+                printf("[calling_PI_changeMode] New config loaded with success.\n");
+                strcpy(p_szGlobalState, new_config);
+                printf("[calling_PI_changeMode] NEW mode is %s\n", p_szGlobalState);                
+            }else{
+                strcpy(global_status_var, FPGA_ERROR);
+                printf("[calling_PI_changeMode] New config could not be loaded!\n");
+                printf("[calling_PI_changeMode] STAY in mode %s\n", p_szGlobalState);
+            }            
+        }else{
+            printf("[calling_PI_changeMode] New (HW) config not found... SW mode applies.\n");
+            strcpy(p_szGlobalState, new_config);
+            printf("[calling_PI_changeMode] NEW mode is %s\n", p_szGlobalState);
+        }
+}
+
+void calling_PI_pulse()
+{
+    printf("\n[calling_PI_pulse] Current mode is %s\n", p_szGlobalState);
+
     static asn1SccSeq3 in1 = {0,0,0};
     static asn1SccSeq3 in2 = {1,1,1};
     static asn1SccSeq4 in3 = {2,2,2,2};
@@ -55,29 +136,25 @@ void calling_PI_pulse()
     asn1SccSeqout out1 = {0,0,0,0,0,0,0,0};
     asn1SccOut_Nested outn = {{0,0,0,0,0,0,0}};
     
-    sprintf(testLog[line++], "[calling_PI_pulse] Calling 'do_something'\n");
-    calling_RI_do_something(&in1, &in2, &in3, &inn, &out1, &outn);
-    sprintf(testLog[line++], "[calling_PI_pulse] Sent: %lld %lld %lld\n", in1.arr[0], in1.arr[1], in1.arr[2]);
-    sprintf(testLog[line++], "[calling_PI_pulse] Sent: %lld %lld %lld\n", in2.arr[0], in2.arr[1], in2.arr[2]);
-    sprintf(testLog[line++], "[calling_PI_pulse] Sent: %lld %lld %lld %lld\n", in3.arr[0], in3.arr[1], in3.arr[2], in3.arr[3]);
-    sprintf(testLog[line++], "[calling_PI_pulse] Sent: {%lld %lld %lld %lld - %lld %lld %lld}\n\n", inn.inest_a.arr[0], inn.inest_a.arr[1], inn.inest_a.arr[2], inn.inest_a.arr[3],  inn.inest_b.arr[0], inn.inest_b.arr[1], inn.inest_b.arr[2]);
+    if (strcmp(p_szGlobalState, "modeC") == 0) {
+        printf("[calling_PI_pulse] Calling 'do_something2'\n");
+        calling_RI_do_something2(&in1, &in2, &in3, &inn, &out1, &outn);            
+    }else{
+        printf("[calling_PI_pulse] Calling 'do_something'\n");
+        calling_RI_do_something(&in1, &in2, &in3, &inn, &out1, &outn);
+    }
+    
+    printf("[calling_PI_pulse] Sent: %lld %lld %lld\n", in1.arr[0], in1.arr[1], in1.arr[2]);
+    printf("[calling_PI_pulse] Sent: %lld %lld %lld\n", in2.arr[0], in2.arr[1], in2.arr[2]);
+    printf("[calling_PI_pulse] Sent: %lld %lld %lld %lld\n", in3.arr[0], in3.arr[1], in3.arr[2], in3.arr[3]);
+    printf("[calling_PI_pulse] Sent: {%lld %lld %lld %lld - %lld %lld %lld}\n\n", inn.inest_a.arr[0], inn.inest_a.arr[1], inn.inest_a.arr[2], inn.inest_a.arr[3],  inn.inest_b.arr[0], inn.inest_b.arr[1], inn.inest_b.arr[2]);
 
-    sprintf(testLog[line++], "[calling_PI_pulse] Received: %lld %lld %lld %lld %lld %lld %lld %lld\n", out1.arr[0], out1.arr[1], out1.arr[2], out1.arr[3], out1.arr[4], out1.arr[5], out1.arr[6], out1.arr[7]);
-    sprintf(testLog[line++], "[calling_PI_pulse] Received: {%lld %lld %lld %lld %lld %lld %lld}\n", outn.onest_a.arr[0], outn.onest_a.arr[1], outn.onest_a.arr[2], outn.onest_a.arr[3], outn.onest_a.arr[4], outn.onest_a.arr[5], outn.onest_a.arr[6]);
+    printf("[calling_PI_pulse] Received: %lld %lld %lld %lld %lld %lld %lld %lld\n", out1.arr[0], out1.arr[1], out1.arr[2], out1.arr[3], out1.arr[4], out1.arr[5], out1.arr[6], out1.arr[7]);
+    printf("[calling_PI_pulse] Received: {%lld %lld %lld %lld %lld %lld %lld}\n", outn.onest_a.arr[0], outn.onest_a.arr[1], outn.onest_a.arr[2], outn.onest_a.arr[3], outn.onest_a.arr[4], outn.onest_a.arr[5], outn.onest_a.arr[6]);
 
-    
     in1.arr[0]++; in1.arr[1]++; in1.arr[2]++;
     in2.arr[0]++; in2.arr[1]++; in2.arr[2]++;
     in3.arr[0]++; in3.arr[1]++; in3.arr[2]++; in3.arr[3]++;
     inn.inest_a.arr[0]++; inn.inest_a.arr[1]++; inn.inest_a.arr[2]++; inn.inest_a.arr[3]++; inn.inest_b.arr[0]++; inn.inest_b.arr[1]++; inn.inest_b.arr[2]++;
-    
-    ite++;
-    if((ite % 3) == 0) { // each 3 sec
-        sprintf(testLog[line++], "\n[calling_PI_pulse] ************** Switching Configuration (SW <> HW) **************");
-        if (!strcmp(p_szGlobalState, "modeA")) {
-            strcpy(p_szGlobalState, "modeX");
-        } else {
-            strcpy(p_szGlobalState, "modeA");
-        }        
-    };
 }
+

Demo_CoRAMBAD_Brave_GR740_GNC/calling/calling.h

@@ -15,6 +15,8 @@ void calling_startup();
 
 void calling_PI_pulse();
 
+void calling_PI_changeMode();
+
 extern void calling_RI_do_something(const asn1SccSeq3 *,
                                     const asn1SccSeq3 *,
                                     const asn1SccSeq4 *,
@@ -22,6 +24,20 @@ extern void calling_RI_do_something(const asn1SccSeq3 *,
                                     asn1SccSeqout *,
                                     asn1SccOut_Nested *);