654 lines
25 KiB
C#
654 lines
25 KiB
C#
//
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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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// 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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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，立即发送，TCP 转发）
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/// </summary>
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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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// 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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IRQ = new GPIO();
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txBuffer = new byte[11];
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rxBuffer = new byte[11];
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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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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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rxFrameQueue.Clear();
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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 (rxQueueMax={MaxRxQueueSize})");
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}
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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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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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private void StopSharedTcpServer()
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{
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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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byte value = 0;
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lock (lockObject)
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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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value = mod;
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if (EnableVerboseLog) 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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if (EnableVerboseLog) 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);
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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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case Registers.IR:
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value = ir;
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ir = 0;
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UpdateIrFromRbs();
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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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break;
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case Registers.IER:
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value = ier;
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if (EnableVerboseLog) 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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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) / 4;
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if (sr_rbs == 1)
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{
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value = rxBuffer[bufIndex];
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Read RX buffer[{0}]: 0x{1:X2}", bufIndex, value);
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}
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else
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{
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value = txBuffer[bufIndex];
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Read TX buffer[{0}]: 0x{1:X2}", bufIndex, value);
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}
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break;
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default:
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if (EnableVerboseLog) 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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}
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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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lock (lockObject)
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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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if (EnableVerboseLog) 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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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（立即发送模式）
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if (sr_tbs == 1)
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{
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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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// 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 transmitted immediately");
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}
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else
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{
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if (EnableVerboseLog) 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
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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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if (EnableVerboseLog) 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 (EnableVerboseLog) this.Log(LogLevel.Warning, "Attempted write to read-only SR");
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break;
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case Registers.IR:
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if (EnableVerboseLog) 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);
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UpdateIrFromRbs();
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UpdateInterrupts();
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if (EnableVerboseLog) 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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if (EnableVerboseLog) 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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if (EnableVerboseLog) 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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if (EnableVerboseLog) 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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if (EnableVerboseLog) 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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if (EnableVerboseLog) 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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if (EnableVerboseLog) 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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if (EnableVerboseLog) this.Log(LogLevel.Info, "Write CDR: 0x{0:X2}", value);
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break;
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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) / 4;
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if (sr_tbs == 1)
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{
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txBuffer[bufIndex] = value;
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if (EnableVerboseLog) this.Log(LogLevel.Info, "Write TX buffer[{0}]: 0x{1:X2}", bufIndex, value);
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}
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else
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{
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if (EnableVerboseLog) 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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if (EnableVerboseLog) 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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}
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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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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 currentInterrupt = ((ir & IR_RI) != 0) && ((ier & IER_RIE) != 0);
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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), _ => 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;
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/// <summary>
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/// 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）
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/// 注意：此方法仅用于调试，会影响接收队列。
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/// </summary>
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public string GetRxBufferDataString()
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{
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lock (lockObject)
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{
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if (rxFrameQueue.Count == 0)
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{
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if (EnableVerboseLog) Console.WriteLine("GetRxBufferDataString: no frames in RX queue");
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return null;
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}
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var sb = new StringBuilder();
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while (rxFrameQueue.Count > 0)
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{
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var frame = rxFrameQueue.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();
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}
|
||
string result = sb.ToString().TrimEnd();
|
||
if (EnableVerboseLog) Console.WriteLine("GetRxBufferDataString returning: " + result);
|
||
return result;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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)
|
||
{
|
||
lock (lockObject)
|
||
{
|
||
if (string.IsNullOrWhiteSpace(frameString))
|
||
{
|
||
if (EnableVerboseLog) Console.WriteLine("SendRxBufferDataString: empty string, ignored");
|
||
return;
|
||
}
|
||
string[] parts = frameString.Split(new[] { ' ', '\t' }, StringSplitOptions.RemoveEmptyEntries);
|
||
int length = parts.Length;
|
||
if (length > 11)
|
||
{
|
||
if (EnableVerboseLog) Console.WriteLine($"SendRxBufferDataString: input has {length} bytes, truncating to 11");
|
||
length = 11;
|
||
}
|
||
|
||
byte[] frame = new byte[11];
|
||
for (int i = 0; i < length; i++)
|
||
{
|
||
string part = parts[i].Trim();
|
||
if (!byte.TryParse(part, System.Globalization.NumberStyles.HexNumber,
|
||
System.Globalization.CultureInfo.InvariantCulture, out byte b))
|
||
{
|
||
if (EnableVerboseLog) Console.WriteLine($"SendRxBufferDataString: invalid hex byte '{part}' at index {i}, set to 0");
|
||
b = 0;
|
||
}
|
||
frame[i] = b;
|
||
}
|
||
|
||
if (rxFrameQueue.Count >= MaxRxQueueSize)
|
||
{
|
||
if (EnableVerboseLog) Console.WriteLine($"SendRxBufferDataString: RX queue full, frame dropped");
|
||
return;
|
||
}
|
||
|
||
rxFrameQueue.Enqueue(frame);
|
||
if (EnableVerboseLog) Console.WriteLine($"Frame enqueued to RX queue, size: {rxFrameQueue.Count}");
|
||
|
||
if (sr_rbs == 0)
|
||
{
|
||
LoadNextRxFrame();
|
||
UpdateInterrupts();
|
||
}
|
||
}
|
||
}
|
||
|
||
private void LoadNextRxFrame()
|
||
{
|
||
if (rxFrameQueue.Count > 0)
|
||
{
|
||
var frame = rxFrameQueue.Dequeue();
|
||
Array.Copy(frame, rxBuffer, 11);
|
||
sr_rbs = 1;
|
||
UpdateIrFromRbs();
|
||
if (EnableVerboseLog) Console.WriteLine("Loaded next RX frame, remaining: {0}", rxFrameQueue.Count);
|
||
}
|
||
else
|
||
{
|
||
sr_rbs = 0;
|
||
UpdateIrFromRbs();
|
||
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,
|
||
CMR = 0x04,
|
||
SR = 0x08,
|
||
IR = 0x0C,
|
||
IER = 0x10,
|
||
BTR0 = 0x18,
|
||
BTR1 = 0x1C,
|
||
OCR = 0x20,
|
||
RXERR = 0x38,
|
||
TXERR = 0x3C,
|
||
TX_FRAME_INFO = 0x40,
|
||
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,
|
||
RBSA = 0x78,
|
||
CDR = 0x7C,
|
||
}
|
||
|
||
// ================ 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_TBS = 0x04;
|
||
private const byte SR_RBS = 0x01;
|
||
|
||
private const byte IR_RI = 0x01;
|
||
private const byte IER_RIE = 0x01;
|
||
|
||
// ================ 私有字段 ================
|
||
private readonly IMachine machine;
|
||
|
||
private byte mod;
|
||
private byte ier;
|
||
private byte btr0, btr1;
|
||
private byte ocr;
|
||
private byte rxerr, txerr;
|
||
private byte rbsa;
|
||
private byte cdr;
|
||
|
||
private byte sr_tbs;
|
||
private byte sr_rbs;
|
||
private byte ir;
|
||
|
||
private readonly byte[] txBuffer;
|
||
private readonly byte[] rxBuffer;
|
||
|
||
private readonly Queue<byte[]> rxFrameQueue; // 仅接收队列
|
||
}
|
||
} |