From 8d994d82cb69af3c92989ff9a284f6d12dad8247 Mon Sep 17 00:00:00 2001 From: yaomingjun Date: Tue, 14 Apr 2026 09:05:32 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=96=87=E4=BB=B6=E8=87=B3?= =?UTF-8?q?=E3=80=8C/=E3=80=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- SJA1000_CAN.cs | 480 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 480 insertions(+) create mode 100644 SJA1000_CAN.cs diff --git a/SJA1000_CAN.cs b/SJA1000_CAN.cs new file mode 100644 index 0000000..150a4fd --- /dev/null +++ b/SJA1000_CAN.cs @@ -0,0 +1,480 @@ +// +// SJA1000 CAN 控制器外设实现（简化版） +// 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。 +// 接收为单帧，无 FIFO，无数据溢出处理。 +// 所有寄存器可随时读写，无复位模式限制。 +// +// author: Generated based on UART16550 template +// + +using System; +using System.Text; +using System.Collections.Generic; +using Antmicro.Renode.Core; +using Antmicro.Renode.Logging; +using Antmicro.Renode.Peripherals.Bus; +using Antmicro.Renode.Utilities; +using Antmicro.Renode.Time; + +namespace Antmicro.Renode.Peripherals.CustomPeripherals +{ + /// + /// 简化版 SJA1000 CAN 控制器（PeliCAN 模式，仅标准帧） + /// + public class SJA1000_CAN : IDoubleWordPeripheral, IBytePeripheral, IKnownSize + { + public SJA1000_CAN(IMachine machine) + { + this.machine = machine; + IRQ = new GPIO(); + + txBuffer = new byte[11]; + rxBuffer = new byte[11]; + + Reset(); + } + + public void Reset() + { + mod = 0; + ier = 0; + btr0 = 0; + btr1 = 0; + ocr = 0; + rxerr = 0; + txerr = 0; + rbsa = 0; + cdr = 0; + + sr_tbs = 1; // 发送缓冲区初始为空闲 + 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); + + UpdateInterrupts(); + + this.Log(LogLevel.Info, "SJA1000 CAN controller reset (simplified)"); + } + + // ================ IBusPeripheral 接口实现 ================ + + public uint ReadDoubleWord(long offset) + { + return ReadByte(offset); + } + + public void WriteDoubleWord(long offset, uint value) + { + WriteByte(offset, (byte)value); + } + + public byte ReadByte(long offset) + { + byte value = 0; + switch ((Registers)offset) + { + case Registers.MOD: + value = mod; + this.Log(LogLevel.Info, "Read MOD: 0x{0:X2}", value); + break; + + case Registers.CMR: + // 命令寄存器只写，读返回0 + this.Log(LogLevel.Info, "Read CMR (always 0)"); + value = 0; + break; + + case Registers.SR: + value = (byte)((sr_tbs << 2) | sr_rbs); // BS 恒为0 + this.Log(LogLevel.Info, "Read SR: TBS={0}, RBS={1} -> 0x{2:X2}", sr_tbs, sr_rbs, value); + break; + + case Registers.IR: + value = ir; + // 读 IR 后清零，但需要根据当前 RBS 重新评估 RI（电平触发） + ir = 0; + UpdateIrFromRbs(); + UpdateInterrupts(); + this.Log(LogLevel.Info, "Read IR: 0x{0:X2}, cleared", value); + break; + + case Registers.IER: + value = ier; + this.Log(LogLevel.Info, "Read IER: 0x{0:X2}", value); + break; + + case Registers.BTR0: + value = btr0; + break; + case Registers.BTR1: + value = btr1; + break; + case Registers.OCR: + value = ocr; + break; + case Registers.RXERR: + value = rxerr; + break; + case Registers.TXERR: + value = txerr; + break; + case Registers.RBSA: + value = rbsa; + break; + case Registers.CDR: + 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: + case Registers.TX_DATA1: + case Registers.TX_DATA2: + case Registers.TX_DATA3: + case Registers.TX_DATA4: + case Registers.TX_DATA5: + case Registers.TX_DATA6: + case Registers.TX_DATA7: + case Registers.TX_DATA8: + int bufIndex = (int)(offset - (long)Registers.TX_FRAME_INFO); + if (sr_rbs == 1) + { + // 接收缓冲区有数据时，读返回接收帧的内容 + value = rxBuffer[bufIndex/4]; + this.Log(LogLevel.Info, "Read RX buffer[{0}]: 0x{1:X2}", bufIndex/4, value); + } + else + { + //否则返回发送缓冲区的内容（通常无意义） + value = txBuffer[bufIndex/4]; + this.Log(LogLevel.Info, "Read TX buffer[{0}]: 0x{1:X2}", bufIndex/4, value); + + } + break; + + default: + // 未实现的寄存器返回0 + this.Log(LogLevel.Info, "Read from unimplemented offset 0x{0:X}", offset); + value = 0; + break; + } + return value; + } + + public void WriteByte(long offset, byte value) + { + switch ((Registers)offset) + { + case Registers.MOD: + mod = value; + this.Log(LogLevel.Info, "Write MOD: 0x{0:X2}", value); + break; + + case Registers.CMR: + // 命令寄存器只写，处理命令 + this.Log(LogLevel.Info, "Write CMR: 0x{0:X2}", value); + if ((value & CMR_TR) != 0) + { + // 发送请求 + if (sr_tbs == 1) + { + sr_tbs = 0; // 锁定发送缓冲区 + /*** 测试 ***/ + GetTxBufferDataString(); + } + else + { + this.Log(LogLevel.Warning, "Send request while TBS=0 ignored"); + } + } + if ((value & CMR_RRB) != 0) + { + // 释放接收缓冲器 + sr_rbs = 0; + UpdateIrFromRbs(); + UpdateInterrupts(); + this.Log(LogLevel.Info, "Receive buffer released"); + } + if ((value & CMR_CDO) != 0) + { + // 清除数据溢出（无操作） + this.Log(LogLevel.Info, "Clear data overflow (no effect)"); + } + break; + + case Registers.SR: + if (sr_tbs == 1) + { + sr_tbs = 0; + } + else + { + sr_tbs = 1; + } + if (sr_rbs == 1) + { + sr_rbs = 0; + } + else + { + sr_rbs = 1; + } + break; + case Registers.IR: + // 只读，忽略写 + this.Log(LogLevel.Warning, "Attempted write to read-only IR"); + break; + + case Registers.IER: + ier = (byte)(value & 0x01); // 只使用 bit0 (RIE) + UpdateIrFromRbs(); + UpdateInterrupts(); + this.Log(LogLevel.Info, "Write IER: 0x{0:X2}", ier); + break; + + case Registers.BTR0: + btr0 = value; + this.Log(LogLevel.Info, "Write BTR0: 0x{0:X2}", value); + break; + case Registers.BTR1: + btr1 = value; + this.Log(LogLevel.Info, "Write BTR1: 0x{0:X2}", value); + break; + case Registers.OCR: + ocr = value; + this.Log(LogLevel.Info, "Write OCR: 0x{0:X2}", value); + break; + case Registers.RXERR: + rxerr = value; + this.Log(LogLevel.Info, "Write RXERR: 0x{0:X2}", value); + break; + case Registers.TXERR: + txerr = value; + this.Log(LogLevel.Info, "Write TXERR: 0x{0:X2}", value); + break; + case Registers.RBSA: + rbsa = value; + this.Log(LogLevel.Info, "Write RBSA: 0x{0:X2}", value); + break; + case Registers.CDR: + cdr = value; + 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: + case Registers.TX_DATA1: + case Registers.TX_DATA2: + case Registers.TX_DATA3: + case Registers.TX_DATA4: + case Registers.TX_DATA5: + case Registers.TX_DATA6: + case Registers.TX_DATA7: + case Registers.TX_DATA8: + int bufIndex = (int)(offset - (long)Registers.TX_FRAME_INFO); + if (sr_tbs == 1) + { + txBuffer[bufIndex/4] = value; + this.Log(LogLevel.Info, "Write TX buffer[{0}]: 0x{1:X2}", bufIndex/4, value); + } + else + { + this.Log(LogLevel.Warning, "Write to TX buffer while TBS=0 ignored"); + } + break; + + default: + // 未实现的寄存器忽略写 + this.Log(LogLevel.Info, "Write to unimplemented offset 0x{0:X} = 0x{1:X2}", offset, value); + break; + } + } + + // ================ 公共方法与事件 ================ + + + + + private void UpdateIrFromRbs() + { + if (sr_rbs == 1) + ir |= IR_RI; + else + // ir &= (byte)~IR_RI; + ir = (byte)(ir & ~IR_RI); + } + + private void UpdateInterrupts() + { + bool interrupt = ((ir & IR_RI) != 0) && ((ier & IER_RIE) != 0); + IRQ.Set(interrupt); + if (interrupt) + { + machine.ScheduleAction(TimeInterval.FromMicroseconds(1), _ => + { + IRQ.Set(false); + }); + this.Log(LogLevel.Info, "Interrupt asserted (RI)"); + } + else + { + this.Log(LogLevel.Info, "Interrupt deasserted"); + } + } + private readonly object lockObject = new object(); // 用于线程安全的锁对象 + + public string GetTxBufferDataString() + { + if(sr_tbs ==1) + { + Console.WriteLine("sr_tbs=1"); + return null; + } + lock (lockObject) + { + var sb = new StringBuilder(); + for (int i = 0; i < txBuffer.Length; i++) + { + if (i > 0) sb.Append(" "); + sb.Append(txBuffer[i].ToString("X2")); + } + string result = sb.ToString(); + Console.WriteLine("GetTxBufferDataString returning: " + result); + Array.Clear(txBuffer, 0, txBuffer.Length); + sr_tbs = 1; + return result; + } + } + + public void SendRxBufferDataString(string frameString) + { + lock (lockObject) + { + + + if (string.IsNullOrWhiteSpace(frameString)) + { + Console.WriteLine("ReceiveFrame: empty string, ignored"); + return; + } + if (sr_rbs==1) + { + Console.WriteLine("rxBuffer is full"); + return; + } + Array.Clear(rxBuffer, 0, rxBuffer.Length); + string[] parts = frameString.Split(new[] { ' ', '\t' }, StringSplitOptions.RemoveEmptyEntries); + int count = Math.Min(parts.Length, rxBuffer.Length); + + for (int i = 0; i < count; i++) + { + string part = parts[i].Trim(); + if (byte.TryParse(part, System.Globalization.NumberStyles.HexNumber, + System.Globalization.CultureInfo.InvariantCulture, out byte b)) + { + rxBuffer[i] = b; + } + else + { + Console.WriteLine($"ReceiveFrame: invalid hex byte '{part}' at index {i}, set to 0"); + rxBuffer[i] = 0; + } + } + + sr_rbs = 1; + UpdateIrFromRbs(); + UpdateInterrupts(); + + // 打印 rxBuffer 内容 + var sb = new StringBuilder(); + sb.Append("RX Buffer after receive: "); + for (int i = 0; i < rxBuffer.Length; i++) + { + if (i > 0) sb.Append(" "); + sb.Append(rxBuffer[i].ToString("X2")); + } + Console.WriteLine(sb.ToString()); + + Console.WriteLine($"Frame received from string: {frameString}"); + } + } + // ================ 属性 ================ + + public long Size => 0x80; // 地址范围 0-31 + + public GPIO IRQ { get; } + + // ================ 寄存器枚举 ================ + + private enum Registers : long + { + MOD = 0x00, + CMR = 0x04, + SR = 0x08, + IR = 0x0C, + IER = 0x10, + BTR0 = 0x18, + BTR1 = 0x1C, + OCR = 0x20, + RXERR = 0x38, // 14 + TXERR = 0x3C, // 15 + TX_FRAME_INFO = 0x40, // 16 + TX_ID1 = 0x44, + TX_ID2 = 0x48, + TX_DATA1 = 0x4C, + TX_DATA2 = 0x50, + TX_DATA3 = 0x54, + TX_DATA4 = 0x58, + TX_DATA5 = 0x5C, + TX_DATA6 = 0x60, + TX_DATA7 = 0x64, + TX_DATA8 = 0x68, // 26 + RBSA = 0x78, // 30 + CDR = 0x7C, // 31 + + } + + // ================ 常量位定义 ================ + + private const byte CMR_TR = 0x01; // 发送请求 (bit0) + private const byte CMR_RRB = 0x04; // 释放接收缓冲器 (bit2) + private const byte CMR_CDO = 0x08; // 清除数据溢出 (bit3) + + private const byte SR_BS = 0x80; // 总线状态 (bit7) - 本模拟中恒0 + private const byte SR_TBS = 0x04; // 发送缓冲器状态 (bit2) + private const byte SR_RBS = 0x01; // 接收缓冲器状态 (bit0) + + private const byte IR_RI = 0x01; // 接收中断 (bit0) + + private const byte IER_RIE = 0x01; // 接收中断使能 (bit0) + + // ================ 私有字段 ================ + + private readonly IMachine machine; + + // 寄存器存储 + private byte mod; + private byte ier; + private byte btr0, btr1; + private byte ocr; + private byte rxerr, txerr; + private byte rbsa; + private byte cdr; + + // 状态位 + private byte sr_tbs; // 1=空闲 + private byte sr_rbs; // 1=有数据 + + private byte ir; // 仅 bit0 有效 + + private readonly byte[] txBuffer; // 地址16-26 + private readonly byte[] rxBuffer; // 当前接收帧 + } +}