更新 SJA1000_CAN.cs

修改缓冲区为队列

SJA1000_CAN.cs

@@ -1,5 +1,5 @@
 //
-// SJA1000 CAN 控制器外设实现（简化版）
+// SJA1000 CAN 控制器外设实现（简化版，支持发送/接收队列，提高速率）
 // 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。
@@ -32,6 +32,8 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
 
             txBuffer = new byte[11];
             rxBuffer = new byte[11];
+            txFrameQueue = new Queue<byte[]>();  // 新增：发送队列
+            rxFrameQueue = new Queue<byte[]>();  // 新增：接收队列
 
             Reset();
         }
@@ -54,6 +56,8 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
 
             Array.Clear(txBuffer, 0, txBuffer.Length);
             Array.Clear(rxBuffer, 0, rxBuffer.Length);
+            txFrameQueue.Clear();   // 清空发送队列
+            rxFrameQueue.Clear();   // 清空接收队列
 
             UpdateInterrupts();
 
@@ -183,9 +187,17 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
                         // 发送请求
                         if (sr_tbs == 1)
                         {
-                            sr_tbs = 0;  // 锁定发送缓冲区                            
+                            // 将当前 txBuffer 复制一份加入发送队列
-                            /*** 测试 ***/
+                            var frame = new byte[11];
-                            GetTxBufferDataString();
+                            Array.Copy(txBuffer, frame, 11);
+                            lock (lockObject)
+                            {
+                                txFrameQueue.Enqueue(frame);
+                            }
+                            // 清空发送缓冲区，并立即释放 TBS，允许 CPU 继续写入下一帧
+                            Array.Clear(txBuffer, 0, txBuffer.Length);
+                            sr_tbs = 1;
+                            this.Log(LogLevel.Info, "Frame enqueued for transmission, queue size: {0}", txFrameQueue.Count);
                         }
                         else
                         {
@@ -194,10 +206,11 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
                     }
                     if ((value & CMR_RRB) != 0)
                     {
-                        // 释放接收缓冲器
+                        // 释放接收缓冲器：尝试从接收队列中加载下一帧
-                        sr_rbs = 0;
+                        lock (lockObject)
-                        UpdateIrFromRbs();
+                        {
-                        UpdateInterrupts();
+                            LoadNextRxFrame();
+                        }
                         this.Log(LogLevel.Info, "Receive buffer released");
                     }
                     if ((value & CMR_CDO) != 0)
@@ -299,15 +312,11 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
 
         // ================ 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); 
         }
 
@@ -330,81 +339,99 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
         }
         private readonly object lockObject = new object(); // 用于线程安全的锁对象
 
+        /// <summary>
+        /// 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。
+        /// </summary>
         public string GetTxBufferDataString()
         {
-            if(sr_tbs ==1)
-            {
-                Console.WriteLine("sr_tbs=1");
-                return null;
-            }
             lock (lockObject)
             {
-                var sb = new StringBuilder();
+                if (txFrameQueue.Count == 0)
-                for (int i = 0; i < txBuffer.Length; i++)
                 {
-                    if (i > 0) sb.Append(" ");
+                    Console.WriteLine("GetTxBufferDataString: no frames in TX queue");
-                    sb.Append(txBuffer[i].ToString("X2"));
+                    return null;
                 }
-                string result = sb.ToString();
+                var sb = new StringBuilder();
+                while (txFrameQueue.Count > 0)
+                {
+                    var frame = txFrameQueue.Dequeue();
+                    for (int i = 0; i < frame.Length; i++)
+                    {
+                        if (i > 0) sb.Append(" ");
+                        sb.Append(frame[i].ToString("X2"));
+                    }
+                    sb.AppendLine(); // 帧间换行
+                }
+                string result = sb.ToString().TrimEnd();
                 Console.WriteLine("GetTxBufferDataString returning: " + result);
-                Array.Clear(txBuffer, 0, txBuffer.Length);
-                sr_tbs = 1;
                 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）
+        /// 可多次调用以注入多帧，帧将存入接收队列。
+        /// </summary>
         public void SendRxBufferDataString(string frameString)
         {
             lock (lockObject)
             {
-                
-
                 if (string.IsNullOrWhiteSpace(frameString))
                 {
-                    Console.WriteLine("ReceiveFrame: empty string, ignored");
+                    Console.WriteLine("SendRxBufferDataString: 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);
+                if (parts.Length != 11)
-
+                {
-                for (int i = 0; i < count; i++)
+                    Console.WriteLine($"SendRxBufferDataString: expected 11 bytes, got {parts.Length}, ignored");
+                    return;
+                }
+                byte[] frame = new byte[11];
+                for (int i = 0; i < 11; i++)
                 {
                     string part = parts[i].Trim();
-                    if (byte.TryParse(part, System.Globalization.NumberStyles.HexNumber,
+                    if (!byte.TryParse(part, System.Globalization.NumberStyles.HexNumber,
                         System.Globalization.CultureInfo.InvariantCulture, out byte b))
                     {
-                        rxBuffer[i] = b;
+                        Console.WriteLine($"SendRxBufferDataString: invalid hex byte '{part}' at index {i}, set to 0");
-                    }
+                        b = 0;
-                    else
-                    {
-                        Console.WriteLine($"ReceiveFrame: invalid hex byte '{part}' at index {i}, set to 0");
-                        rxBuffer[i] = 0;
                     }
+                    frame[i] = b;
                 }
+                rxFrameQueue.Enqueue(frame);
+                Console.WriteLine($"Frame enqueued to RX queue, size: {rxFrameQueue.Count}");
 
+                // 如果当前接收缓冲区空闲，立即加载第一帧
+                if (sr_rbs == 0)
+                {
+                    LoadNextRxFrame();
+                }
+            }
+        }
+
+        // 从接收队列中加载下一帧到 rxBuffer，并更新状态
+        private void LoadNextRxFrame()
+        {
+            if (rxFrameQueue.Count > 0)
+            {
+                var frame = rxFrameQueue.Dequeue();
+                Array.Copy(frame, rxBuffer, 11);
                 sr_rbs = 1;
                 UpdateIrFromRbs();
                 UpdateInterrupts();
-
+                Console.WriteLine("Loaded next RX frame into buffer, queue remaining: {0}", rxFrameQueue.Count);
-                // 打印 rxBuffer 内容
+            }
-                var sb = new StringBuilder();
+            else
-                sb.Append("RX Buffer after receive: ");
+            {
-                for (int i = 0; i < rxBuffer.Length; i++)
+                sr_rbs = 0;
-                {
+                UpdateIrFromRbs();
-                    if (i > 0) sb.Append(" ");
+                UpdateInterrupts();
-                    sb.Append(rxBuffer[i].ToString("X2"));
+                Console.WriteLine("RX queue empty, buffer cleared");
-                }
-                Console.WriteLine(sb.ToString());
-
-                Console.WriteLine($"Frame received from string: {frameString}");
             }
         }
+
         // ================ 属性 ================
 
         public long Size => 0x80; // 地址范围 0-31
@@ -474,7 +501,10 @@ namespace Antmicro.Renode.Peripherals.CustomPeripherals
 
         private byte ir;     // 仅 bit0 有效
 
-        private readonly byte[] txBuffer; // 地址16-26
+        private readonly byte[] txBuffer; // 临时发送缓冲区（单帧）
-        private readonly byte[] rxBuffer; // 当前接收帧
+        private readonly byte[] rxBuffer; // 当前接收帧（单帧）
+
+        private readonly Queue<byte[]> txFrameQueue; // 发送队列
+        private readonly Queue<byte[]> rxFrameQueue; // 接收队列
     }
 }