510 lines
18 KiB
C#
510 lines
18 KiB
C#
//
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// SJA1000 CAN 控制器外设实现（简化版，支持发送/接收队列，提高速率）
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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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// 接收为单帧，无 FIFO，无数据溢出处理。
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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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// author: Generated based on UART16550 template
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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 Antmicro.Renode.Core;
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using Antmicro.Renode.Logging;
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using Antmicro.Renode.Peripherals.Bus;
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using Antmicro.Renode.Utilities;
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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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/// </summary>
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public class SJA1000_CAN : IDoubleWordPeripheral, IBytePeripheral, IKnownSize
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{
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public SJA1000_CAN(IMachine machine)
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{
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this.machine = machine;
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IRQ = new GPIO();
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txBuffer = new byte[11];
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rxBuffer = new byte[11];
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txFrameQueue = new Queue<byte[]>(); // 新增：发送队列
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rxFrameQueue = new Queue<byte[]>(); // 新增：接收队列
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Reset();
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}
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public void Reset()
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{
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mod = 0;
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ier = 0;
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btr0 = 0;
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btr1 = 0;
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ocr = 0;
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rxerr = 0;
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txerr = 0;
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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_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(); // 清空发送队列
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rxFrameQueue.Clear(); // 清空接收队列
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UpdateInterrupts();
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this.Log(LogLevel.Info, "SJA1000 CAN controller reset (simplified)");
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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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{
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return ReadByte(offset);
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}
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public void WriteDoubleWord(long offset, uint value)
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{
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WriteByte(offset, (byte)value);
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}
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public byte ReadByte(long offset)
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{
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byte value = 0;
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switch ((Registers)offset)
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{
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case Registers.MOD:
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value = mod;
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this.Log(LogLevel.Info, "Read MOD: 0x{0:X2}", value);
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break;
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case Registers.CMR:
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// 命令寄存器只写，读返回0
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this.Log(LogLevel.Info, "Read CMR (always 0)");
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value = 0;
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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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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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case Registers.IR:
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value = ir;
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// 读 IR 后清零，但需要根据当前 RBS 重新评估 RI（电平触发）
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ir = 0;
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UpdateIrFromRbs();
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UpdateInterrupts();
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this.Log(LogLevel.Info, "Read IR: 0x{0:X2}, cleared", value);
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break;
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case Registers.IER:
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value = ier;
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this.Log(LogLevel.Info, "Read IER: 0x{0:X2}", value);
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break;
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case Registers.BTR0:
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value = btr0;
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break;
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case Registers.BTR1:
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value = btr1;
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break;
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case Registers.OCR:
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value = ocr;
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break;
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case Registers.RXERR:
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value = rxerr;
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break;
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case Registers.TXERR:
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value = txerr;
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break;
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case Registers.RBSA:
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value = rbsa;
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break;
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case Registers.CDR:
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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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case Registers.TX_DATA1:
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case Registers.TX_DATA2:
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case Registers.TX_DATA3:
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case Registers.TX_DATA4:
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case Registers.TX_DATA5:
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case Registers.TX_DATA6:
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case Registers.TX_DATA7:
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case Registers.TX_DATA8:
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int bufIndex = (int)(offset - (long)Registers.TX_FRAME_INFO);
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if (sr_rbs == 1)
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{
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// 接收缓冲区有数据时，读返回接收帧的内容
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value = rxBuffer[bufIndex/4];
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this.Log(LogLevel.Info, "Read RX buffer[{0}]: 0x{1:X2}", bufIndex/4, value);
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}
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else
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{
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//否则返回发送缓冲区的内容（通常无意义）
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value = txBuffer[bufIndex/4];
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this.Log(LogLevel.Info, "Read TX buffer[{0}]: 0x{1:X2}", bufIndex/4, value);
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}
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break;
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default:
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// 未实现的寄存器返回0
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this.Log(LogLevel.Info, "Read from unimplemented offset 0x{0:X}", offset);
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value = 0;
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break;
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}
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return value;
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}
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public void WriteByte(long offset, byte value)
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{
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switch ((Registers)offset)
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{
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case Registers.MOD:
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mod = value;
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this.Log(LogLevel.Info, "Write MOD: 0x{0:X2}", value);
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break;
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case Registers.CMR:
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// 命令寄存器只写，处理命令
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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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if (sr_tbs == 1)
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{
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// 将当前 txBuffer 复制一份加入发送队列
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var frame = new byte[11];
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Array.Copy(txBuffer, frame, 11);
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lock (lockObject)
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{
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txFrameQueue.Enqueue(frame);
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}
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// 清空发送缓冲区，并立即释放 TBS，允许 CPU 继续写入下一帧
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Array.Clear(txBuffer, 0, txBuffer.Length);
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sr_tbs = 1;
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this.Log(LogLevel.Info, "Frame enqueued for transmission, queue size: {0}", txFrameQueue.Count);
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}
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else
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{
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this.Log(LogLevel.Warning, "Send request while TBS=0 ignored");
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}
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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：尝试从接收队列中加载下一帧
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lock (lockObject)
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{
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LoadNextRxFrame();
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}
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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）
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this.Log(LogLevel.Info, "Clear data overflow (no effect)");
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}
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break;
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case Registers.SR:
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if (sr_tbs == 1)
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{
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sr_tbs = 0;
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}
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else
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{
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sr_tbs = 1;
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}
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if (sr_rbs == 1)
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{
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sr_rbs = 0;
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}
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else
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{
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sr_rbs = 1;
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}
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break;
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case Registers.IR:
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// 只读，忽略写
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this.Log(LogLevel.Warning, "Attempted write to read-only IR");
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break;
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case Registers.IER:
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ier = (byte)(value & 0x01); // 只使用 bit0 (RIE)
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UpdateIrFromRbs();
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UpdateInterrupts();
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this.Log(LogLevel.Info, "Write IER: 0x{0:X2}", ier);
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break;
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case Registers.BTR0:
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btr0 = value;
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this.Log(LogLevel.Info, "Write BTR0: 0x{0:X2}", value);
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break;
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case Registers.BTR1:
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btr1 = value;
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this.Log(LogLevel.Info, "Write BTR1: 0x{0:X2}", value);
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break;
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case Registers.OCR:
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ocr = value;
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this.Log(LogLevel.Info, "Write OCR: 0x{0:X2}", value);
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break;
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case Registers.RXERR:
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rxerr = value;
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this.Log(LogLevel.Info, "Write RXERR: 0x{0:X2}", value);
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break;
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case Registers.TXERR:
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txerr = value;
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this.Log(LogLevel.Info, "Write TXERR: 0x{0:X2}", value);
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break;
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case Registers.RBSA:
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rbsa = value;
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this.Log(LogLevel.Info, "Write RBSA: 0x{0:X2}", value);
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break;
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case Registers.CDR:
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cdr = value;
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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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case Registers.TX_DATA1:
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case Registers.TX_DATA2:
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case Registers.TX_DATA3:
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case Registers.TX_DATA4:
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case Registers.TX_DATA5:
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case Registers.TX_DATA6:
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case Registers.TX_DATA7:
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case Registers.TX_DATA8:
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int bufIndex = (int)(offset - (long)Registers.TX_FRAME_INFO);
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if (sr_tbs == 1)
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{
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txBuffer[bufIndex/4] = value;
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this.Log(LogLevel.Info, "Write TX buffer[{0}]: 0x{1:X2}", bufIndex/4, value);
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}
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else
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{
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this.Log(LogLevel.Warning, "Write to TX buffer while TBS=0 ignored");
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}
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break;
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default:
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// 未实现的寄存器忽略写
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this.Log(LogLevel.Info, "Write to unimplemented offset 0x{0:X} = 0x{1:X2}", offset, value);
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break;
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}
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}
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// ================ 公共方法与事件 ================
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private void UpdateIrFromRbs()
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{
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if (sr_rbs == 1)
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ir |= IR_RI;
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else
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ir = (byte)(ir & ~IR_RI);
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}
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private void UpdateInterrupts()
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{
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bool interrupt = ((ir & IR_RI) != 0) && ((ier & IER_RIE) != 0);
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IRQ.Set(interrupt);
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if (interrupt)
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{
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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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this.Log(LogLevel.Info, "Interrupt asserted (RI)");
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}
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else
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{
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this.Log(LogLevel.Info, "Interrupt deasserted");
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}
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}
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private readonly object lockObject = new object(); // 用于线程安全的锁对象
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/// <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）
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/// 调用后清空发送队列。
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/// </summary>
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public string GetTxBufferDataString()
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{
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lock (lockObject)
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{
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if (txFrameQueue.Count == 0)
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{
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Console.WriteLine("GetTxBufferDataString: no frames in TX queue");
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return null;
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}
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var sb = new StringBuilder();
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while (txFrameQueue.Count > 0)
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{
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var frame = txFrameQueue.Dequeue();
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for (int i = 0; i < frame.Length; i++)
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{
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if (i > 0) sb.Append(" ");
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sb.Append(frame[i].ToString("X2"));
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}
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sb.AppendLine(); // 帧间换行
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}
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string result = sb.ToString().TrimEnd();
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Console.WriteLine("GetTxBufferDataString returning: " + result);
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return result;
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}
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}
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/// <summary>
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/// 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）
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/// 可多次调用以注入多帧，帧将存入接收队列。
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/// </summary>
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public void SendRxBufferDataString(string frameString)
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{
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lock (lockObject)
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{
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if (string.IsNullOrWhiteSpace(frameString))
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{
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Console.WriteLine("SendRxBufferDataString: empty string, ignored");
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return;
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}
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string[] parts = frameString.Split(new[] { ' ', '\t' }, StringSplitOptions.RemoveEmptyEntries);
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if (parts.Length != 11)
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{
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Console.WriteLine($"SendRxBufferDataString: expected 11 bytes, got {parts.Length}, ignored");
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return;
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}
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byte[] frame = new byte[11];
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for (int i = 0; i < 11; i++)
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{
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string part = parts[i].Trim();
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if (!byte.TryParse(part, System.Globalization.NumberStyles.HexNumber,
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System.Globalization.CultureInfo.InvariantCulture, out byte b))
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{
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Console.WriteLine($"SendRxBufferDataString: invalid hex byte '{part}' at index {i}, set to 0");
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b = 0;
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}
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frame[i] = b;
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}
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rxFrameQueue.Enqueue(frame);
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Console.WriteLine($"Frame enqueued to RX queue, size: {rxFrameQueue.Count}");
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// 如果当前接收缓冲区空闲，立即加载第一帧
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if (sr_rbs == 0)
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{
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LoadNextRxFrame();
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}
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}
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}
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// 从接收队列中加载下一帧到 rxBuffer，并更新状态
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private void LoadNextRxFrame()
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{
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if (rxFrameQueue.Count > 0)
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{
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var frame = rxFrameQueue.Dequeue();
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Array.Copy(frame, rxBuffer, 11);
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sr_rbs = 1;
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UpdateIrFromRbs();
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UpdateInterrupts();
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Console.WriteLine("Loaded next RX frame into buffer, queue remaining: {0}", rxFrameQueue.Count);
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}
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else
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{
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sr_rbs = 0;
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UpdateIrFromRbs();
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UpdateInterrupts();
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Console.WriteLine("RX queue empty, buffer cleared");
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}
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}
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// ================ 属性 ================
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public long Size => 0x80; // 地址范围 0-31
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public GPIO IRQ { get; }
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// ================ 寄存器枚举 ================
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private enum Registers : long
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{
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MOD = 0x00,
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CMR = 0x04,
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SR = 0x08,
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IR = 0x0C,
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IER = 0x10,
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BTR0 = 0x18,
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BTR1 = 0x1C,
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OCR = 0x20,
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RXERR = 0x38, // 14
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TXERR = 0x3C, // 15
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TX_FRAME_INFO = 0x40, // 16
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TX_ID1 = 0x44,
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TX_ID2 = 0x48,
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TX_DATA1 = 0x4C,
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TX_DATA2 = 0x50,
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TX_DATA3 = 0x54,
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TX_DATA4 = 0x58,
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TX_DATA5 = 0x5C,
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TX_DATA6 = 0x60,
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TX_DATA7 = 0x64,
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TX_DATA8 = 0x68, // 26
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RBSA = 0x78, // 30
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CDR = 0x7C, // 31
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}
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// ================ 常量位定义 ================
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private const byte CMR_TR = 0x01; // 发送请求 (bit0)
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private const byte CMR_RRB = 0x04; // 释放接收缓冲器 (bit2)
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private const byte CMR_CDO = 0x08; // 清除数据溢出 (bit3)
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private const byte SR_BS = 0x80; // 总线状态 (bit7) - 本模拟中恒0
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private const byte SR_TBS = 0x04; // 发送缓冲器状态 (bit2)
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private const byte SR_RBS = 0x01; // 接收缓冲器状态 (bit0)
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private const byte IR_RI = 0x01; // 接收中断 (bit0)
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private const byte IER_RIE = 0x01; // 接收中断使能 (bit0)
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// ================ 私有字段 ================
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private readonly IMachine machine;
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// 寄存器存储
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private byte mod;
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private byte ier;
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private byte btr0, btr1;
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private byte ocr;
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private byte rxerr, txerr;
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private byte rbsa;
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private byte cdr;
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// 状态位
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private byte sr_tbs; // 1=空闲
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private byte sr_rbs; // 1=有数据
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private byte ir; // 仅 bit0 有效
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private readonly byte[] txBuffer; // 临时发送缓冲区（单帧）
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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
|
||
}
|
||
} |