383 lines
10 KiB
C
383 lines
10 KiB
C
/*
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* @copyright (c) 2023-2024, MR Development Team
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*
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* @license SPDX-License-Identifier: Apache-2.0
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*
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* @date 2023-11-22 MacRsh First version
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*/
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#include "include/device/mr_can.h"
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#ifdef MR_USING_CAN
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static int mr_can_bus_open(struct mr_dev *dev)
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{
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struct mr_can_bus *can_bus = (struct mr_can_bus *)dev;
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struct mr_can_bus_ops *ops = (struct mr_can_bus_ops *)dev->drv->ops;
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/* Reset the hold */
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can_bus->hold = MR_FALSE;
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return ops->configure(can_bus, &can_bus->config);
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}
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static int mr_can_bus_close(struct mr_dev *dev)
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{
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struct mr_can_bus *can_bus = (struct mr_can_bus *)dev;
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struct mr_can_bus_ops *ops = (struct mr_can_bus_ops *)dev->drv->ops;
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struct mr_can_config close_config = {0};
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return ops->configure(can_bus, &close_config);
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}
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static ssize_t mr_can_bus_read(struct mr_dev *dev, int off, void *buf, size_t size, int async)
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{
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return MR_EIO;
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}
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static ssize_t mr_can_bus_write(struct mr_dev *dev, int off, const void *buf, size_t size, int async)
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{
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return MR_EIO;
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}
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static ssize_t mr_can_bus_isr(struct mr_dev *dev, int event, void *args)
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{
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struct mr_can_bus *can_bus = (struct mr_can_bus *)dev;
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struct mr_can_bus_ops *ops = (struct mr_can_bus_ops *)dev->drv->ops;
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switch (event)
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{
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case MR_ISR_CAN_RD_INT:
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{
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struct mr_list *list = MR_NULL;
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uint8_t data[8] = {0};
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int id = ops->get_id(can_bus);
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ssize_t ret = ops->read(can_bus, data, sizeof(data));
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/* Search the matching device */
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for (list = dev->clist.next; list != &dev->clist; list = list->next)
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{
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struct mr_can_dev *can_dev = (struct mr_can_dev *)MR_CONTAINER_OF(list, struct mr_dev, list);
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/* Check id is valid */
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if (can_dev->id == (id & ((1 << 29) - 1)))
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{
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/* Read data to FIFO. if callback is set, call it */
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mr_ringbuf_write_force(&can_dev->rd_fifo, data, ret);
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if (can_dev->dev.rd_call.call != MR_NULL)
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{
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ssize_t size = (ssize_t)mr_ringbuf_get_data_size(&can_dev->rd_fifo);
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can_dev->dev.rd_call.call(can_dev->dev.rd_call.desc, &size);
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}
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break;
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}
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}
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return MR_EOK;
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}
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default:
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{
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return MR_ENOTSUP;
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}
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}
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}
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/**
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* @brief This function registers a can-bus.
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*
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* @param can_dev The can-device.
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* @param name The name of the can-bus.
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* @param drv The driver of the can-bus.
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*
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* @return MR_EOK on success, otherwise an error code.
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*/
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int mr_can_bus_register(struct mr_can_bus *can_bus, const char *name, struct mr_drv *drv)
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{
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static struct mr_dev_ops ops =
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{
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mr_can_bus_open,
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mr_can_bus_close,
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mr_can_bus_read,
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mr_can_bus_write,
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MR_NULL,
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mr_can_bus_isr
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};
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struct mr_can_config default_config = MR_CAN_CONFIG_DEFAULT;
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MR_ASSERT(can_bus != MR_NULL);
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MR_ASSERT(name != MR_NULL);
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MR_ASSERT(drv != MR_NULL);
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MR_ASSERT(drv->ops != MR_NULL);
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/* Initialize the fields */
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can_bus->config = default_config;
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can_bus->owner = MR_NULL;
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/* Register the can-bus */
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return mr_dev_register(&can_bus->dev, name, Mr_Dev_Type_CAN, MR_SFLAG_RDWR, &ops, drv);
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}
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static int can_dev_filter_configure(struct mr_can_dev *can_dev, int id, int ide, int state)
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{
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struct mr_can_bus *can_bus = (struct mr_can_bus *)can_dev->dev.parent;
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struct mr_can_bus_ops *ops = (struct mr_can_bus_ops *)can_bus->dev.drv->ops;
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return ops->filter_configure(can_bus, id, ide, state);
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}
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MR_INLINE int can_dev_take_bus(struct mr_can_dev *can_dev)
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{
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struct mr_can_bus *can_bus = (struct mr_can_bus *)can_dev->dev.parent;
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struct mr_can_bus_ops *ops = (struct mr_can_bus_ops *)can_bus->dev.drv->ops;
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if ((can_dev != can_bus->owner) && (can_bus->owner != MR_NULL))
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{
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return MR_EBUSY;
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}
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if (can_dev != can_bus->owner)
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{
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if (can_dev->config.baud_rate != can_bus->config.baud_rate)
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{
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int ret = ops->configure(can_bus, &can_dev->config);
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if (ret < 0)
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{
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return ret;
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}
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}
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can_bus->config = can_dev->config;
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can_bus->owner = can_dev;
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}
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return MR_EOK;
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}
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MR_INLINE int can_dev_release_bus(struct mr_can_dev *can_dev)
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{
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struct mr_can_bus *can_bus = (struct mr_can_bus *)can_dev->dev.parent;
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if (can_dev != can_bus->owner)
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{
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return MR_EINVAL;
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}
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can_bus->owner = MR_NULL;
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return MR_EOK;
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}
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MR_INLINE ssize_t can_dev_read(struct mr_can_dev *can_dev, uint8_t *buf, size_t size)
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{
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struct mr_can_bus *can_bus = (struct mr_can_bus *)can_dev->dev.parent;
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struct mr_can_bus_ops *ops = (struct mr_can_bus_ops *)can_bus->dev.drv->ops;
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ssize_t rd_size = 0;
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for (rd_size = 0; rd_size < size;)
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{
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/* Check id is valid */
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int id = ops->get_id(can_bus);
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if (can_dev->id != (id & ((1 << 29) - 1)))
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{
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break;
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}
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ssize_t ret = ops->read(can_bus, (buf + rd_size), (size - rd_size));
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if (ret <= 0)
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{
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break;
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}
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rd_size += ret;
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}
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return rd_size;
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}
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MR_INLINE ssize_t can_dev_write(struct mr_can_dev *can_dev, int id, int ide, int rtr, const uint8_t *buf, size_t size)
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{
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struct mr_can_bus *can_bus = (struct mr_can_bus *)can_dev->dev.parent;
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struct mr_can_bus_ops *ops = (struct mr_can_bus_ops *)can_bus->dev.drv->ops;
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return ops->write(can_bus, id, ide, rtr, buf, size);
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}
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static int mr_can_dev_open(struct mr_dev *dev)
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{
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struct mr_can_dev *can_dev = (struct mr_can_dev *)dev;
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/* Allocate FIFO buffers */
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int ret = mr_ringbuf_allocate(&can_dev->rd_fifo, can_dev->rd_bufsz);
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if (ret < 0)
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{
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return ret;
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}
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return can_dev_filter_configure(can_dev->dev.parent, can_dev->id, can_dev->ide, MR_ENABLE);
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}
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static int mr_can_dev_close(struct mr_dev *dev)
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{
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struct mr_can_dev *can_dev = (struct mr_can_dev *)dev;
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/* Free FIFO buffers */
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mr_ringbuf_free(&can_dev->rd_fifo);
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return can_dev_filter_configure(can_dev->dev.parent, can_dev->id, can_dev->ide, MR_DISABLE);
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}
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static ssize_t mr_can_dev_read(struct mr_dev *dev, int off, void *buf, size_t size, int async)
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{
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struct mr_can_dev *can_dev = (struct mr_can_dev *)dev;
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ssize_t ret = can_dev_take_bus(can_dev);
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if (ret < 0)
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{
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return ret;
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}
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if (mr_ringbuf_get_bufsz(&can_dev->rd_fifo) == 0)
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{
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ret = can_dev_read(can_dev, (uint8_t *)buf, size);
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} else
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{
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ret = (ssize_t)mr_ringbuf_read(&can_dev->rd_fifo, buf, size);
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}
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can_dev_release_bus(can_dev);
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return ret;
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}
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static ssize_t mr_can_dev_write(struct mr_dev *dev, int off, const void *buf, size_t size, int async)
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{
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struct mr_can_dev *can_dev = (struct mr_can_dev *)dev;
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/* Check offset is valid */
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if (off < 0)
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{
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return MR_EINVAL;
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}
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ssize_t ret = can_dev_take_bus(can_dev);
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if (ret < 0)
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{
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return ret;
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}
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ret = can_dev_write(can_dev,
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(off & ((1 << 29) - 1)),
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MR_BIT_IS_SET(off, MR_CAN_IDE_EXT),
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MR_BIT_IS_SET(off, MR_CAN_RTR_REMOTE),
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(uint8_t *)buf,
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size);
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can_dev_release_bus(can_dev);
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return ret;
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}
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static ssize_t mr_can_dev_ioctl(struct mr_dev *dev, int off, int cmd, void *args)
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{
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struct mr_can_dev *can_dev = (struct mr_can_dev *)dev;
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switch (cmd)
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{
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case MR_CTL_SET_CONFIG:
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{
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if (args != MR_NULL)
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{
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struct mr_can_bus *can_bus = (struct mr_can_bus *)dev->parent;
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struct mr_can_config config = *(struct mr_can_config *)args;
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/* If holding the bus, release it */
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if (can_dev == can_bus->owner)
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{
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can_bus->hold = MR_FALSE;
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can_bus->owner = MR_NULL;
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}
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can_dev->config = config;
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return sizeof(config);
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}
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return MR_EINVAL;
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}
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case MR_CTL_SET_RD_BUFSZ:
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{
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if (args != MR_NULL)
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{
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size_t bufsz = *(size_t *)args;
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int ret = mr_ringbuf_allocate(&can_dev->rd_fifo, bufsz);
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can_dev->rd_bufsz = 0;
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if (ret < 0)
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{
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return ret;
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}
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can_dev->rd_bufsz = bufsz;
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return sizeof(bufsz);
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}
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return MR_EINVAL;
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}
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case MR_CTL_GET_CONFIG:
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{
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if (args != MR_NULL)
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{
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struct mr_can_config *config = (struct mr_can_config *)args;
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*config = can_dev->config;
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return sizeof(*config);
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}
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return MR_EINVAL;
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}
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case MR_CTL_GET_RD_BUFSZ:
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{
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if (args != MR_NULL)
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{
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size_t *bufsz = (size_t *)args;
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*bufsz = can_dev->rd_bufsz;
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return sizeof(*bufsz);
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}
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return MR_EINVAL;
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}
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default:
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{
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return MR_ENOTSUP;
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}
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}
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}
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/**
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* @brief This function registers a can-device.
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*
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* @param can_dev The can-device.
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* @param name The name of the can-device.
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* @param id The id of the can-device.
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* @param ide The id identifier of the can-device.
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*
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* @return MR_EOK on success, otherwise an error code.
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*/
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int mr_can_dev_register(struct mr_can_dev *can_dev, const char *name, int id, int ide)
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{
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static struct mr_dev_ops ops =
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{
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mr_can_dev_open,
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mr_can_dev_close,
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mr_can_dev_read,
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mr_can_dev_write,
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mr_can_dev_ioctl,
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MR_NULL
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};
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struct mr_can_config default_config = MR_CAN_CONFIG_DEFAULT;
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MR_ASSERT(can_dev != MR_NULL);
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MR_ASSERT(name != MR_NULL);
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/* Initialize the fields */
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can_dev->config = default_config;
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mr_ringbuf_init(&can_dev->rd_fifo, MR_NULL, 0);
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#ifndef MR_CFG_CAN_RD_BUFSZ
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#define MR_CFG_CAN_RD_BUFSZ (0)
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#endif /* MR_CFG_CAN_RD_BUFSZ */
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can_dev->rd_bufsz = MR_CFG_CAN_RD_BUFSZ;
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can_dev->id = id;
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can_dev->ide = ide;
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/* Register the can-device */
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return mr_dev_register(&can_dev->dev, name, Mr_Dev_Type_CAN, MR_SFLAG_RDWR | MR_SFLAG_NONDRV, &ops, MR_NULL);
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}
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#endif /* MR_USING_CAN */
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