更新 SJA1000_CAN.cs
This commit is contained in:
296
SJA1000_CAN.cs
296
SJA1000_CAN.cs
@@ -1,20 +1,26 @@
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//
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// 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）
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// SJA1000 CAN 控制器外设实现（简化版，支持接收队列，可配置长度）
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// 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。
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// 寄存器地址映射基于 PeliCAN 模式，包含 MOD, CMR, SR, IR, IER, BTR0, BTR1, OCR, RXERR, TXERR,
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// 发送缓冲区（地址 16-26）、RBSA 和 CDR。命令寄存器位2=RRB，位3=CDO。
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// 所有寄存器可随时读写，无复位模式限制。
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//
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// 队列长度可通过修改静态字段 MaxTxQueueSize 和 MaxRxQueueSize 调整。
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// 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）；
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// 接收队列长度可通过修改静态字段 MaxRxQueueSize 调整。
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// 接收队列满时，外部注入的新帧被丢弃。
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//
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// 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。
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// 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。
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// 日志开关：EnableVerboseLog = false 可关闭所有日志输出。
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// 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。
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//
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using System;
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using System.Text;
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using System.Collections.Generic;
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using System.Net;
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using System.Net.Sockets;
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using System.Threading;
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using System.Threading.Tasks;
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using Antmicro.Renode.Core;
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using Antmicro.Renode.Logging;
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using Antmicro.Renode.Peripherals.Bus;
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@@ -24,17 +30,28 @@ using Antmicro.Renode.Time;
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namespace Antmicro.Renode.Peripherals.CustomPeripherals
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{
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/// <summary>
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/// 简化版 SJA1000 CAN 控制器（PeliCAN 模式，仅标准帧）
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/// 简化版 SJA1000 CAN 控制器（PeliCAN 模式，仅标准帧，立即发送，TCP 转发）
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/// </summary>
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public class SJA1000_CAN : IDoubleWordPeripheral, IBytePeripheral, IKnownSize
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public class SJA1000_CAN : IDoubleWordPeripheral, IBytePeripheral, IKnownSize, IDisposable
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{
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// 日志开关（设置为 false 可屏蔽所有日志）
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public static bool EnableVerboseLog = false;
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// 队列长度配置（可修改）
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public static int MaxTxQueueSize = 64; // 发送队列最大帧数
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// 接收队列长度配置（可修改）
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public static int MaxRxQueueSize = 64; // 接收队列最大帧数
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// 发送事件：当一帧数据被发送时触发
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public event Action<byte[]> FrameTransmitted;
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// ================ 静态 TCP Server 共享资源 ================
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private static TcpListener sharedTcpListener;
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private static readonly List<NetworkStream> sharedTcpClients = new List<NetworkStream>();
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private static readonly object sharedTcpLock = new object();
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private static CancellationTokenSource sharedTcpCts;
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private static Task sharedTcpServerTask;
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private static int sharedTcpRefCount = 0; // 引用计数
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private bool disposed = false;
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public SJA1000_CAN(IMachine machine)
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{
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this.machine = machine;
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@@ -42,8 +59,10 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
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txBuffer = new byte[11];
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rxBuffer = new byte[11];
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txFrameQueue = new Queue<byte[]>(); // 发送队列
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rxFrameQueue = new Queue<byte[]>(); // 接收队列
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rxFrameQueue = new Queue<byte[]>();
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// 启动共享 TCP Server（增加引用计数）
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StartSharedTcpServer();
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Reset();
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}
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@@ -60,33 +79,153 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
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rbsa = 0;
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cdr = 0;
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sr_tbs = 1; // 发送缓冲区初始为空闲
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sr_tbs = 1; // 发送缓冲区始终空闲（立即发送模式）
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sr_rbs = 0; // 接收缓冲区初始为空
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ir = 0;
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Array.Clear(txBuffer, 0, txBuffer.Length);
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Array.Clear(rxBuffer, 0, rxBuffer.Length);
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txFrameQueue.Clear();
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rxFrameQueue.Clear();
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lastInterruptState = false; // 重置中断边沿状态
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lastInterruptState = false;
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UpdateInterrupts();
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if (EnableVerboseLog)
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this.Log(LogLevel.Info, $"SJA1000 CAN controller reset (txQueueMax={MaxTxQueueSize}, rxQueueMax={MaxRxQueueSize})");
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this.Log(LogLevel.Info, $"SJA1000 CAN controller reset (rxQueueMax={MaxRxQueueSize})");
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}
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// ================ IBusPeripheral 接口实现 ================
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public uint ReadDoubleWord(long offset)
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// ================ 共享 TCP Server 管理 ================
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private void StartSharedTcpServer()
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{
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return ReadByte(offset);
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lock (sharedTcpLock)
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{
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sharedTcpRefCount++;
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if (sharedTcpRefCount > 1)
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{
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if (EnableVerboseLog)
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Console.WriteLine("TCP Server already running, using existing instance.");
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return;
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}
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// 确保之前的已停止（安全）
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StopSharedTcpServerInternal();
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sharedTcpCts = new CancellationTokenSource();
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sharedTcpServerTask = Task.Run(() => TcpServerLoop(sharedTcpCts.Token), sharedTcpCts.Token);
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if (EnableVerboseLog)
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Console.WriteLine("TCP Server started on port 10000 (shared)");
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}
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}
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public void WriteDoubleWord(long offset, uint value)
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private void StopSharedTcpServer()
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{
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WriteByte(offset, (byte)value);
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lock (sharedTcpLock)
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{
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if (sharedTcpRefCount > 0)
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sharedTcpRefCount--;
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if (sharedTcpRefCount > 0)
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{
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if (EnableVerboseLog)
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Console.WriteLine("TCP Server still in use, not stopping.");
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return;
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}
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StopSharedTcpServerInternal();
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}
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}
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private static void StopSharedTcpServerInternal()
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{
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if (sharedTcpCts != null)
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{
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sharedTcpCts.Cancel();
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try { sharedTcpServerTask?.Wait(1000); } catch { }
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sharedTcpCts.Dispose();
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sharedTcpCts = null;
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sharedTcpServerTask = null;
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}
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if (sharedTcpListener != null)
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{
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try { sharedTcpListener.Stop(); } catch { }
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sharedTcpListener = null;
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}
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lock (sharedTcpLock)
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{
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foreach (var s in sharedTcpClients)
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s?.Close();
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sharedTcpClients.Clear();
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}
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if (EnableVerboseLog)
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Console.WriteLine("TCP Server stopped.");
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}
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private static void TcpServerLoop(CancellationToken token)
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{
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try
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{
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sharedTcpListener = new TcpListener(IPAddress.Any, 10000);
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sharedTcpListener.Server.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
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sharedTcpListener.Start();
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while (!token.IsCancellationRequested)
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{
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var clientTask = sharedTcpListener.AcceptTcpClientAsync();
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clientTask.Wait(token);
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if (clientTask.IsCompleted && !token.IsCancellationRequested)
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{
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var client = clientTask.Result;
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var stream = client.GetStream();
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lock (sharedTcpLock)
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{
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sharedTcpClients.Add(stream);
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}
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if (EnableVerboseLog)
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Console.WriteLine($"TCP client connected from {client.Client.RemoteEndPoint}");
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}
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}
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}
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catch (OperationCanceledException) { }
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catch (Exception ex)
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{
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if (EnableVerboseLog)
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Console.WriteLine($"TCP Server error: {ex.Message}");
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}
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finally
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{
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sharedTcpListener?.Stop();
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lock (sharedTcpLock)
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{
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foreach (var s in sharedTcpClients)
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s?.Close();
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sharedTcpClients.Clear();
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}
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}
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}
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private void BroadcastFrame(byte[] frame)
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{
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if (frame == null || frame.Length != 11) return;
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lock (sharedTcpLock)
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{
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var clients = sharedTcpClients.ToArray();
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foreach (var stream in clients)
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{
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try
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{
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stream.Write(frame, 0, frame.Length);
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stream.Flush();
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}
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catch (Exception ex)
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{
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if (EnableVerboseLog)
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Console.WriteLine($"Failed to send frame to client: {ex.Message}");
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sharedTcpClients.Remove(stream);
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stream.Close();
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}
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}
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}
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}
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// ================ IBusPeripheral 接口实现（完全不变） ================
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public uint ReadDoubleWord(long offset) => ReadByte(offset);
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public void WriteDoubleWord(long offset, uint value) => WriteByte(offset, (byte)value);
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public byte ReadByte(long offset)
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{
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@@ -106,7 +245,7 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
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break;
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case Registers.SR:
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value = (byte)((sr_tbs << 2) | sr_rbs); // BS 恒为0
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value = (byte)((sr_tbs << 2) | sr_rbs);
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Read SR: TBS={0}, RBS={1} -> 0x{2:X2}", sr_tbs, sr_rbs, value);
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break;
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@@ -114,7 +253,6 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
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value = ir;
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ir = 0;
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UpdateIrFromRbs();
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// 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
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lastInterruptState = false;
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UpdateInterrupts();
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Read IR: 0x{0:X2}, cleared", value);
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@@ -147,7 +285,6 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
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value = cdr;
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break;
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// 发送/接收缓冲区地址 16-26
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case Registers.TX_FRAME_INFO:
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case Registers.TX_ID1:
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case Registers.TX_ID2:
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@@ -196,32 +333,23 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Write CMR: 0x{0:X2}", value);
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if ((value & CMR_TR) != 0)
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{
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// 发送请求
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// 发送请求（立即发送模式）
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if (sr_tbs == 1)
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{
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var frame = new byte[11];
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// 复制当前帧
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byte[] frame = new byte[11];
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Array.Copy(txBuffer, frame, 11);
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// 清空发送缓冲区（准备下一帧）
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Array.Clear(txBuffer, 0, txBuffer.Length);
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if (txFrameQueue.Count < (MaxTxQueueSize - 1))
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{
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Array.Copy(txBuffer, frame, 11);
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txFrameQueue.Enqueue(frame);
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Array.Clear(txBuffer, 0, txBuffer.Length);
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// 立即发送帧数据
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FrameTransmitted?.Invoke(frame);
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BroadcastFrame(frame);
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// 保持发送缓冲区空闲（始终允许写入）
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sr_tbs = 1;
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Frame enqueued for transmission, queue size: {0}", txFrameQueue.Count);
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}
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else if (txFrameQueue.Count == (MaxTxQueueSize - 1))
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{
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Array.Copy(txBuffer, frame, 11);
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txFrameQueue.Enqueue(frame);
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Array.Clear(txBuffer, 0, txBuffer.Length);
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sr_tbs = 0;
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Frame enqueued, TX queue now full, TBS cleared");
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}
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else
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{
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sr_tbs = 0;
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if (EnableVerboseLog) this.Log(LogLevel.Warning, "Send request while TBS=0 ignored");
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}
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Frame transmitted immediately");
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}
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else
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{
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@@ -230,12 +358,16 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
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}
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if ((value & CMR_RRB) != 0)
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{
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// 释放接收缓冲器
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sr_rbs = 0;
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UpdateIrFromRbs();
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UpdateInterrupts();
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LoadNextRxFrame();
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UpdateInterrupts();
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Receive buffer released");
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}
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if ((value & CMR_CDO) != 0)
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{
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// 清除数据溢出（无操作，但保留接口）
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Clear data overflow (no effect)");
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}
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break;
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@@ -284,7 +416,6 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
|
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Write CDR: 0x{0:X2}", value);
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break;
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// 发送缓冲区写入
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case Registers.TX_FRAME_INFO:
|
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case Registers.TX_ID1:
|
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case Registers.TX_ID2:
|
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@@ -315,8 +446,7 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
|
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}
|
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}
|
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|
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// ================ 内部辅助方法 ================
|
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|
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// ================ 接收与中断管理 ================
|
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private void UpdateIrFromRbs()
|
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{
|
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if (sr_rbs == 1)
|
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@@ -331,35 +461,32 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
|
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if (currentInterrupt && !lastInterruptState)
|
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{
|
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IRQ.Set(true);
|
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machine.ScheduleAction(TimeInterval.FromMicroseconds(1), _ =>
|
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{
|
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IRQ.Set(false);
|
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});
|
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machine.ScheduleAction(TimeInterval.FromMicroseconds(1), _ => IRQ.Set(false));
|
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Interrupt pulse generated (RI)");
|
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}
|
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lastInterruptState = currentInterrupt;
|
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}
|
||||
|
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private readonly object lockObject = new object();
|
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private bool lastInterruptState;
|
||||
|
||||
/// <summary>
|
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/// 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。
|
||||
/// </summary>
|
||||
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");
|
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if (sr_tbs == 0) sr_tbs = 1;
|
||||
if (EnableVerboseLog) Console.WriteLine("GetRxBufferDataString: no frames in RX queue");
|
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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();
|
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}
|
||||
string result = sb.ToString().TrimEnd();
|
||||
sr_tbs = 1;
|
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if (EnableVerboseLog) Console.WriteLine("GetTxBufferDataString returning: " + result);
|
||||
if (EnableVerboseLog) Console.WriteLine("GetRxBufferDataString returning: " + result);
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 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。
|
||||
/// </summary>
|
||||
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<byte[]> txFrameQueue;
|
||||
private readonly Queue<byte[]> rxFrameQueue;
|
||||
private readonly Queue<byte[]> rxFrameQueue; // 仅接收队列
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user