diff --git a/SJA1000_CAN.cs b/SJA1000_CAN.cs
index c9cfdc8..f1b1bf1 100644
--- a/SJA1000_CAN.cs
+++ b/SJA1000_CAN.cs
@@ -1,20 +1,26 @@
//
-// SJA1000 CAN 控制器外设实现（简化版，支持发送/接收队列，可配置长度）
+// SJA1000 CAN 控制器外设实现（简化版，支持接收队列，可配置长度）
// 仅支持 PeliCAN 模式的标准帧，不考虑 BasicCAN、扩展帧、错误处理、多帧、验收滤波和发送中断。
// 寄存器地址映射基于 PeliCAN 模式，包含 MOD, CMR, SR, IR, IER, BTR0, BTR1, OCR, RXERR, TXERR,
// 发送缓冲区（地址 16-26）、RBSA 和 CDR。命令寄存器位2=RRB，位3=CDO。
// 所有寄存器可随时读写，无复位模式限制。
//
-// 队列长度可通过修改静态字段 MaxTxQueueSize 和 MaxRxQueueSize 调整。
-// 发送队列满时，CPU 发送请求被忽略，并设置 TBS=0（发送缓冲区忙）；
+// 接收队列长度可通过修改静态字段 MaxRxQueueSize 调整。
// 接收队列满时，外部注入的新帧被丢弃。
//
+// 发送采用立即发送模式（无波特率延迟），每帧发送完成后触发 FrameTransmitted 事件并转发到 TCP 客户端。
+// TCP Server 为静态共享实例，监听端口 10000，将发送的帧数据转发给所有连接的客户端。
// 日志开关：EnableVerboseLog = false 可关闭所有日志输出。
+// 实现了 IDisposable 接口，TCP 服务器由所有实例共享，仅当最后一个实例销毁时停止服务器。
//
using System;
using System.Text;
using System.Collections.Generic;
+using System.Net;
+using System.Net.Sockets;
+using System.Threading;
+using System.Threading.Tasks;
using Antmicro.Renode.Core;
using Antmicro.Renode.Logging;
using Antmicro.Renode.Peripherals.Bus;
@@ -24,17 +30,28 @@ using Antmicro.Renode.Time;
namespace Antmicro.Renode.Peripherals.CustomPeripherals
{
///
- /// 简化版 SJA1000 CAN 控制器（PeliCAN 模式，仅标准帧）
+ /// 简化版 SJA1000 CAN 控制器（PeliCAN 模式，仅标准帧，立即发送，TCP 转发）
///
- public class SJA1000_CAN : IDoubleWordPeripheral, IBytePeripheral, IKnownSize
+ public class SJA1000_CAN : IDoubleWordPeripheral, IBytePeripheral, IKnownSize, IDisposable
{
// 日志开关（设置为 false 可屏蔽所有日志）
public static bool EnableVerboseLog = false;
- // 队列长度配置（可修改）
- public static int MaxTxQueueSize = 64; // 发送队列最大帧数
+ // 接收队列长度配置（可修改）
public static int MaxRxQueueSize = 64; // 接收队列最大帧数
+ // 发送事件：当一帧数据被发送时触发
+ public event Action FrameTransmitted;
+
+ // ================ 静态 TCP Server 共享资源 ================
+ private static TcpListener sharedTcpListener;
+ private static readonly List sharedTcpClients = new List();
+ private static readonly object sharedTcpLock = new object();
+ private static CancellationTokenSource sharedTcpCts;
+ private static Task sharedTcpServerTask;
+ private static int sharedTcpRefCount = 0; // 引用计数
+ private bool disposed = false;
+
public SJA1000_CAN(IMachine machine)
{
this.machine = machine;
@@ -42,8 +59,10 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
txBuffer = new byte[11];
rxBuffer = new byte[11];
- txFrameQueue = new Queue(); // 发送队列
- rxFrameQueue = new Queue(); // 接收队列
+ rxFrameQueue = new Queue();
+
+ // 启动共享 TCP Server（增加引用计数）
+ StartSharedTcpServer();
Reset();
}
@@ -60,34 +79,154 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
rbsa = 0;
cdr = 0;
- sr_tbs = 1; // 发送缓冲区初始为空闲
+ sr_tbs = 1; // 发送缓冲区始终空闲（立即发送模式）
sr_rbs = 0; // 接收缓冲区初始为空
ir = 0;
Array.Clear(txBuffer, 0, txBuffer.Length);
Array.Clear(rxBuffer, 0, rxBuffer.Length);
- txFrameQueue.Clear();
rxFrameQueue.Clear();
- lastInterruptState = false; // 重置中断边沿状态
+ lastInterruptState = false;
UpdateInterrupts();
if (EnableVerboseLog)
- this.Log(LogLevel.Info, $"SJA1000 CAN controller reset (txQueueMax={MaxTxQueueSize}, rxQueueMax={MaxRxQueueSize})");
+ this.Log(LogLevel.Info, $"SJA1000 CAN controller reset (rxQueueMax={MaxRxQueueSize})");
}
- // ================ IBusPeripheral 接口实现 ================
-
- public uint ReadDoubleWord(long offset)
+ // ================ 共享 TCP Server 管理 ================
+ private void StartSharedTcpServer()
{
- return ReadByte(offset);
+ lock (sharedTcpLock)
+ {
+ sharedTcpRefCount++;
+ if (sharedTcpRefCount > 1)
+ {
+ if (EnableVerboseLog)
+ Console.WriteLine("TCP Server already running, using existing instance.");
+ return;
+ }
+ // 确保之前的已停止（安全）
+ StopSharedTcpServerInternal();
+ sharedTcpCts = new CancellationTokenSource();
+ sharedTcpServerTask = Task.Run(() => TcpServerLoop(sharedTcpCts.Token), sharedTcpCts.Token);
+ if (EnableVerboseLog)
+ Console.WriteLine("TCP Server started on port 10000 (shared)");
+ }
}
- public void WriteDoubleWord(long offset, uint value)
+ private void StopSharedTcpServer()
{
- WriteByte(offset, (byte)value);
+ lock (sharedTcpLock)
+ {
+ if (sharedTcpRefCount > 0)
+ sharedTcpRefCount--;
+ if (sharedTcpRefCount > 0)
+ {
+ if (EnableVerboseLog)
+ Console.WriteLine("TCP Server still in use, not stopping.");
+ return;
+ }
+ StopSharedTcpServerInternal();
+ }
}
+ private static void StopSharedTcpServerInternal()
+ {
+ if (sharedTcpCts != null)
+ {
+ sharedTcpCts.Cancel();
+ try { sharedTcpServerTask?.Wait(1000); } catch { }
+ sharedTcpCts.Dispose();
+ sharedTcpCts = null;
+ sharedTcpServerTask = null;
+ }
+ if (sharedTcpListener != null)
+ {
+ try { sharedTcpListener.Stop(); } catch { }
+ sharedTcpListener = null;
+ }
+ lock (sharedTcpLock)
+ {
+ foreach (var s in sharedTcpClients)
+ s?.Close();
+ sharedTcpClients.Clear();
+ }
+ if (EnableVerboseLog)
+ Console.WriteLine("TCP Server stopped.");
+ }
+
+ private static void TcpServerLoop(CancellationToken token)
+ {
+ try
+ {
+ sharedTcpListener = new TcpListener(IPAddress.Any, 10000);
+ sharedTcpListener.Server.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
+ sharedTcpListener.Start();
+ while (!token.IsCancellationRequested)
+ {
+ var clientTask = sharedTcpListener.AcceptTcpClientAsync();
+ clientTask.Wait(token);
+ if (clientTask.IsCompleted && !token.IsCancellationRequested)
+ {
+ var client = clientTask.Result;
+ var stream = client.GetStream();
+ lock (sharedTcpLock)
+ {
+ sharedTcpClients.Add(stream);
+ }
+ if (EnableVerboseLog)
+ Console.WriteLine($"TCP client connected from {client.Client.RemoteEndPoint}");
+ }
+ }
+ }
+ catch (OperationCanceledException) { }
+ catch (Exception ex)
+ {
+ if (EnableVerboseLog)
+ Console.WriteLine($"TCP Server error: {ex.Message}");
+ }
+ finally
+ {
+ sharedTcpListener?.Stop();
+ lock (sharedTcpLock)
+ {
+ foreach (var s in sharedTcpClients)
+ s?.Close();
+ sharedTcpClients.Clear();
+ }
+ }
+ }
+
+ private void BroadcastFrame(byte[] frame)
+ {
+ if (frame == null || frame.Length != 11) return;
+ lock (sharedTcpLock)
+ {
+ var clients = sharedTcpClients.ToArray();
+ foreach (var stream in clients)
+ {
+ try
+ {
+ stream.Write(frame, 0, frame.Length);
+ stream.Flush();
+ }
+ catch (Exception ex)
+ {
+ if (EnableVerboseLog)
+ Console.WriteLine($"Failed to send frame to client: {ex.Message}");
+ sharedTcpClients.Remove(stream);
+ stream.Close();
+ }
+ }
+ }
+ }
+
+ // ================ IBusPeripheral 接口实现（完全不变） ================
+
+ public uint ReadDoubleWord(long offset) => ReadByte(offset);
+ public void WriteDoubleWord(long offset, uint value) => WriteByte(offset, (byte)value);
+
public byte ReadByte(long offset)
{
byte value = 0;
@@ -106,7 +245,7 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
break;
case Registers.SR:
- value = (byte)((sr_tbs << 2) | sr_rbs); // BS 恒为0
+ value = (byte)((sr_tbs << 2) | sr_rbs);
if (EnableVerboseLog) this.Log(LogLevel.Info, "Read SR: TBS={0}, RBS={1} -> 0x{2:X2}", sr_tbs, sr_rbs, value);
break;
@@ -114,7 +253,6 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
value = ir;
ir = 0;
UpdateIrFromRbs();
- // 中断被软件清除，重置边沿检测状态，允许下次条件满足时再次触发中断
lastInterruptState = false;
UpdateInterrupts();
if (EnableVerboseLog) this.Log(LogLevel.Info, "Read IR: 0x{0:X2}, cleared", value);
@@ -147,7 +285,6 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
value = cdr;
break;
- // 发送/接收缓冲区地址 16-26
case Registers.TX_FRAME_INFO:
case Registers.TX_ID1:
case Registers.TX_ID2:
@@ -196,32 +333,23 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
if (EnableVerboseLog) this.Log(LogLevel.Info, "Write CMR: 0x{0:X2}", value);
if ((value & CMR_TR) != 0)
{
- // 发送请求
+ // 发送请求（立即发送模式）
if (sr_tbs == 1)
{
- var frame = new byte[11];
-
- if (txFrameQueue.Count < (MaxTxQueueSize - 1))
- {
- Array.Copy(txBuffer, frame, 11);
- txFrameQueue.Enqueue(frame);
- Array.Clear(txBuffer, 0, txBuffer.Length);
- sr_tbs = 1;
- if (EnableVerboseLog) this.Log(LogLevel.Info, "Frame enqueued for transmission, queue size: {0}", txFrameQueue.Count);
- }
- else if (txFrameQueue.Count == (MaxTxQueueSize - 1))
- {
- Array.Copy(txBuffer, frame, 11);
- txFrameQueue.Enqueue(frame);
- Array.Clear(txBuffer, 0, txBuffer.Length);
- sr_tbs = 0;
- if (EnableVerboseLog) this.Log(LogLevel.Info, "Frame enqueued, TX queue now full, TBS cleared");
- }
- else
- {
- sr_tbs = 0;
- if (EnableVerboseLog) this.Log(LogLevel.Warning, "Send request while TBS=0 ignored");
- }
+ // 复制当前帧
+ byte[] frame = new byte[11];
+ Array.Copy(txBuffer, frame, 11);
+ // 清空发送缓冲区（准备下一帧）
+ Array.Clear(txBuffer, 0, txBuffer.Length);
+
+ // 立即发送帧数据
+ FrameTransmitted?.Invoke(frame);
+ BroadcastFrame(frame);
+
+ // 保持发送缓冲区空闲（始终允许写入）
+ sr_tbs = 1;
+
+ if (EnableVerboseLog) this.Log(LogLevel.Info, "Frame transmitted immediately");
}
else
{
@@ -230,12 +358,16 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
}
if ((value & CMR_RRB) != 0)
{
+ // 释放接收缓冲器
+ sr_rbs = 0;
+ UpdateIrFromRbs();
+ UpdateInterrupts();
LoadNextRxFrame();
+ UpdateInterrupts();
if (EnableVerboseLog) this.Log(LogLevel.Info, "Receive buffer released");
}
if ((value & CMR_CDO) != 0)
{
- // 清除数据溢出（无操作，但保留接口）
if (EnableVerboseLog) this.Log(LogLevel.Info, "Clear data overflow (no effect)");
}
break;
@@ -284,7 +416,6 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
if (EnableVerboseLog) this.Log(LogLevel.Info, "Write CDR: 0x{0:X2}", value);
break;
- // 发送缓冲区写入
case Registers.TX_FRAME_INFO:
case Registers.TX_ID1:
case Registers.TX_ID2:
@@ -315,8 +446,7 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
}
}
- // ================ 内部辅助方法 ================
-
+ // ================ 接收与中断管理 ================
private void UpdateIrFromRbs()
{
if (sr_rbs == 1)
@@ -331,35 +461,32 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
if (currentInterrupt && !lastInterruptState)
{
IRQ.Set(true);
- machine.ScheduleAction(TimeInterval.FromMicroseconds(1), _ =>
- {
- IRQ.Set(false);
- });
+ machine.ScheduleAction(TimeInterval.FromMicroseconds(1), _ => IRQ.Set(false));
if (EnableVerboseLog) this.Log(LogLevel.Info, "Interrupt pulse generated (RI)");
}
lastInterruptState = currentInterrupt;
}
private readonly object lockObject = new object();
+ private bool lastInterruptState;
///
- /// 获取发送队列中所有帧的字符串表示（每帧以空格分隔的十六进制字节，帧间用换行分隔）
- /// 调用后清空发送队列，并恢复发送缓冲区状态（如果之前因队列满被锁定）。
+ /// 获取接收队列中所有帧的字符串表示（每帧以空格分隔的十六进制字节，帧间用换行分隔）
+ /// 注意：此方法仅用于调试，会影响接收队列。
///
- public string GetTxBufferDataString()
+ public string GetRxBufferDataString()
{
lock (lockObject)
{
- if (txFrameQueue.Count == 0)
+ if (rxFrameQueue.Count == 0)
{
- if (EnableVerboseLog) Console.WriteLine("GetTxBufferDataString: no frames in TX queue");
- if (sr_tbs == 0) sr_tbs = 1;
+ if (EnableVerboseLog) Console.WriteLine("GetRxBufferDataString: no frames in RX queue");
return null;
}
var sb = new StringBuilder();
- while (txFrameQueue.Count > 0)
+ while (rxFrameQueue.Count > 0)
{
- var frame = txFrameQueue.Dequeue();
+ var frame = rxFrameQueue.Dequeue();
for (int i = 0; i < frame.Length; i++)
{
if (i > 0) sb.Append(" ");
@@ -368,16 +495,16 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
sb.AppendLine();
}
string result = sb.ToString().TrimEnd();
- sr_tbs = 1;
- if (EnableVerboseLog) Console.WriteLine("GetTxBufferDataString returning: " + result);
+ if (EnableVerboseLog) Console.WriteLine("GetRxBufferDataString returning: " + result);
return result;
}
}
///
- /// 外部接口注入一帧接收数据（11字节的十六进制字符串，空格分隔）
+ /// 外部接口注入一帧接收数据（可变长度的十六进制字符串，空格分隔）
/// 可多次调用以注入多帧，帧将存入接收队列。
/// 若接收队列已满，则新帧被丢弃。
+ /// 输入字符串长度可变（0~11 字节），不足 11 字节时自动补零，超出 11 字节时截断并警告。
///
public void SendRxBufferDataString(string frameString)
{
@@ -389,13 +516,15 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
return;
}
string[] parts = frameString.Split(new[] { ' ', '\t' }, StringSplitOptions.RemoveEmptyEntries);
- if (parts.Length != 11)
+ int length = parts.Length;
+ if (length > 11)
{
- if (EnableVerboseLog) Console.WriteLine($"SendRxBufferDataString: expected 11 bytes, got {parts.Length}, ignored");
- return;
+ if (EnableVerboseLog) Console.WriteLine($"SendRxBufferDataString: input has {length} bytes, truncating to 11");
+ length = 11;
}
+
byte[] frame = new byte[11];
- for (int i = 0; i < 11; i++)
+ for (int i = 0; i < length; i++)
{
string part = parts[i].Trim();
if (!byte.TryParse(part, System.Globalization.NumberStyles.HexNumber,
@@ -409,7 +538,7 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
if (rxFrameQueue.Count >= MaxRxQueueSize)
{
- if (EnableVerboseLog) Console.WriteLine($"SendRxBufferDataString: RX queue full (max={MaxRxQueueSize}), frame dropped");
+ if (EnableVerboseLog) Console.WriteLine($"SendRxBufferDataString: RX queue full, frame dropped");
return;
}
@@ -419,6 +548,7 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
if (sr_rbs == 0)
{
LoadNextRxFrame();
+ UpdateInterrupts();
}
}
}
@@ -431,26 +561,38 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
Array.Copy(frame, rxBuffer, 11);
sr_rbs = 1;
UpdateIrFromRbs();
- UpdateInterrupts();
- if (EnableVerboseLog) Console.WriteLine("Loaded next RX frame into buffer, queue remaining: {0}", rxFrameQueue.Count);
+ if (EnableVerboseLog) Console.WriteLine("Loaded next RX frame, remaining: {0}", rxFrameQueue.Count);
}
else
{
sr_rbs = 0;
UpdateIrFromRbs();
- UpdateInterrupts();
if (EnableVerboseLog) Console.WriteLine("RX queue empty, buffer cleared");
}
}
+ // ================ IDisposable 实现 ================
+ public void Dispose()
+ {
+ if (!disposed)
+ {
+ StopSharedTcpServer(); // 减少引用计数，可能停止服务器
+ disposed = true;
+ }
+ GC.SuppressFinalize(this);
+ }
+
+ ~SJA1000_CAN()
+ {
+ Dispose();
+ }
+
// ================ 属性 ================
public long Size => 0x80;
-
public GPIO IRQ { get; }
// ================ 寄存器枚举 ================
-
private enum Registers : long
{
MOD = 0x00,
@@ -479,12 +621,10 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
}
// ================ 常量位定义 ================
-
private const byte CMR_TR = 0x01;
private const byte CMR_RRB = 0x04;
private const byte CMR_CDO = 0x08;
- private const byte SR_BS = 0x80;
private const byte SR_TBS = 0x04;
private const byte SR_RBS = 0x01;
@@ -492,7 +632,6 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
private const byte IER_RIE = 0x01;
// ================ 私有字段 ================
-
private readonly IMachine machine;
private byte mod;
@@ -507,12 +646,9 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
private byte sr_rbs;
private byte ir;
- private bool lastInterruptState; // 用于中断边沿检测
-
private readonly byte[] txBuffer;
private readonly byte[] rxBuffer;
- private readonly Queue txFrameQueue;
- private readonly Queue rxFrameQueue;
+ private readonly Queue rxFrameQueue; // 仅接收队列
}
}
\ No newline at end of file