rp2040: Initial support for CANbus
Add support for CANbus on the rp2040 using the can2040 "software canbus" implementation. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -83,6 +83,19 @@ choice
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config RP2040_SERIAL_UART0
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config RP2040_SERIAL_UART0
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bool "Serial (on UART0 GPIO1/GPIO0)"
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bool "Serial (on UART0 GPIO1/GPIO0)"
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select SERIAL
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select SERIAL
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config RP2040_CANBUS
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bool "CAN bus"
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select CANSERIAL
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endchoice
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endchoice
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config RP2040_CANBUS_GPIO_RX
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int "CAN RX gpio number" if CANBUS
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default 4
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range 0 29
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config RP2040_CANBUS_GPIO_TX
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int "CAN TX gpio number" if CANBUS
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default 5
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range 0 29
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endif
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endif
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@ -3,10 +3,10 @@
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# Setup the toolchain
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# Setup the toolchain
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CROSS_PREFIX=arm-none-eabi-
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CROSS_PREFIX=arm-none-eabi-
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dirs-y += src/rp2040 src/generic lib/rp2040/elf2uf2
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dirs-y += src/rp2040 src/generic lib/rp2040/elf2uf2 lib/fast-hash lib/can2040
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CFLAGS += -mcpu=cortex-m0plus -mthumb -Ilib/cmsis-core
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CFLAGS += -mcpu=cortex-m0plus -mthumb -Ilib/cmsis-core
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CFLAGS += -Ilib/rp2040 -Ilib/rp2040/cmsis_include
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CFLAGS += -Ilib/rp2040 -Ilib/rp2040/cmsis_include -Ilib/fast-hash -Ilib/can2040
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CFLAGS_klipper.elf += --specs=nano.specs --specs=nosys.specs
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CFLAGS_klipper.elf += --specs=nano.specs --specs=nosys.specs
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CFLAGS_klipper.elf += -T $(OUT)src/rp2040/rp2040_link.ld
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CFLAGS_klipper.elf += -T $(OUT)src/rp2040/rp2040_link.ld
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@ -19,6 +19,9 @@ src-y += generic/timer_irq.c rp2040/timer.c rp2040/bootrom.c
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src-$(CONFIG_USBSERIAL) += rp2040/usbserial.c generic/usb_cdc.c
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src-$(CONFIG_USBSERIAL) += rp2040/usbserial.c generic/usb_cdc.c
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src-$(CONFIG_USBSERIAL) += rp2040/chipid.c
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src-$(CONFIG_USBSERIAL) += rp2040/chipid.c
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src-$(CONFIG_SERIAL) += rp2040/serial.c generic/serial_irq.c
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src-$(CONFIG_SERIAL) += rp2040/serial.c generic/serial_irq.c
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src-$(CONFIG_CANSERIAL) += rp2040/can.c rp2040/chipid.c ../lib/can2040/can2040.c
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src-$(CONFIG_CANSERIAL) += generic/canserial.c generic/canbus.c
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src-$(CONFIG_CANSERIAL) += ../lib/fast-hash/fasthash.c
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src-$(CONFIG_HAVE_GPIO_HARD_PWM) += rp2040/hard_pwm.c
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src-$(CONFIG_HAVE_GPIO_HARD_PWM) += rp2040/hard_pwm.c
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src-$(CONFIG_HAVE_GPIO_SPI) += rp2040/spi.c
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src-$(CONFIG_HAVE_GPIO_SPI) += rp2040/spi.c
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src-$(CONFIG_HAVE_GPIO_I2C) += rp2040/i2c.c
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src-$(CONFIG_HAVE_GPIO_I2C) += rp2040/i2c.c
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@ -0,0 +1,78 @@
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// Serial over CAN emulation for rp2040 using can2040 software canbus
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//
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// Copyright (C) 2022 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <stdint.h> // uint32_t
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#include <string.h> // memcpy
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#include "autoconf.h" // CONFIG_CANBUS_FREQUENCY
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#include "board/armcm_boot.h" // armcm_enable_irq
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#include "board/io.h" // readl
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#include "can2040.h" // can2040_setup
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#include "command.h" // DECL_CONSTANT_STR
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#include "fasthash.h" // fasthash64
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#include "generic/canbus.h" // canbus_notify_tx
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#include "generic/canserial.h" // CANBUS_ID_ADMIN
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#include "hardware/structs/resets.h" // RESETS_RESET_PIO0_BITS
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#include "internal.h" // DMA_IRQ_0_IRQn
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#include "sched.h" // DECL_INIT
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#define GPIO_STR_CAN_RX "gpio" __stringify(CONFIG_RP2040_CANBUS_GPIO_RX)
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#define GPIO_STR_CAN_TX "gpio" __stringify(CONFIG_RP2040_CANBUS_GPIO_TX)
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DECL_CONSTANT_STR("RESERVE_PINS_CAN", GPIO_STR_CAN_RX "," GPIO_STR_CAN_TX);
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static struct can2040 cbus;
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// Transmit a packet
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int
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canbus_send(struct canbus_msg *msg)
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{
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int ret = can2040_transmit(&cbus, (void*)msg);
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if (ret < 0)
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return -1;
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return CANMSG_DATA_LEN(msg);
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}
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// Setup the receive packet filter
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void
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canbus_set_filter(uint32_t id)
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{
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// Filter not implemented (and not necessary)
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}
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// can2040 callback function - handle rx and tx notifications
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static void
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can2040_cb(struct can2040 *cd, uint32_t notify, struct can2040_msg *msg)
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{
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if (notify & CAN2040_NOTIFY_TX) {
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canbus_notify_tx();
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return;
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}
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if (notify & CAN2040_NOTIFY_RX)
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canbus_process_data((void*)msg);
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}
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// Main PIO irq handler
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void
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PIOx_IRQHandler(void)
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{
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can2040_pio_irq_handler(&cbus);
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}
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void
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can_init(void)
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{
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// Setup canbus
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can2040_setup(&cbus, 0);
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can2040_callback_config(&cbus, can2040_cb);
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// Enable irqs
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armcm_enable_irq(PIOx_IRQHandler, PIO0_IRQ_0_IRQn, 1);
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// Start canbus
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uint32_t pclk = get_pclock_frequency(RESETS_RESET_PIO0_RESET);
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can2040_start(&cbus, pclk, CONFIG_CANBUS_FREQUENCY
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, CONFIG_RP2040_CANBUS_GPIO_RX, CONFIG_RP2040_CANBUS_GPIO_TX);
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}
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DECL_INIT(can_init);
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@ -4,11 +4,10 @@
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//
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#define CHIP_UID_LEN 8
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#include <string.h> // memcpy
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#include <string.h> // memcpy
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#include "autoconf.h" // CONFIG_USB_SERIAL_NUMBER_CHIPID
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#include "autoconf.h" // CONFIG_USB_SERIAL_NUMBER_CHIPID
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#include "board/irq.h" // irq_disable, irq_enable
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#include "board/irq.h" // irq_disable, irq_enable
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#include "board/canserial.h" // canserial_set_uuid
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#include "generic/usb_cdc.h" // usb_fill_serial
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#include "generic/usb_cdc.h" // usb_fill_serial
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#include "generic/usbstd.h" // usb_string_descriptor
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#include "generic/usbstd.h" // usb_string_descriptor
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#include "sched.h" // DECL_INIT
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#include "sched.h" // DECL_INIT
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@ -16,6 +15,8 @@
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#include "hardware/structs/ssi.h" // ssi_hw
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#include "hardware/structs/ssi.h" // ssi_hw
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#include "internal.h"
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#include "internal.h"
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#define CHIP_UID_LEN 8
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static struct {
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static struct {
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struct usb_string_descriptor desc;
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struct usb_string_descriptor desc;
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uint16_t data[CHIP_UID_LEN * 2];
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uint16_t data[CHIP_UID_LEN * 2];
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@ -120,13 +121,15 @@ read_unique_id(uint8_t *out)
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void
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void
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chipid_init(void)
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chipid_init(void)
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{
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{
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if (!CONFIG_USB_SERIAL_NUMBER_CHIPID)
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if (!(CONFIG_USB_SERIAL_NUMBER_CHIPID || CONFIG_CANBUS))
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return;
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return;
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uint8_t data[8] = {0};
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uint8_t data[8] = {0};
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read_unique_id(data);
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read_unique_id(data);
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usb_fill_serial(&cdc_chipid.desc, ARRAY_SIZE(cdc_chipid.data)
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if (CONFIG_USB_SERIAL_NUMBER_CHIPID)
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, data);
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usb_fill_serial(&cdc_chipid.desc, ARRAY_SIZE(cdc_chipid.data), data);
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if (CONFIG_CANBUS)
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canserial_set_uuid(data, CHIP_UID_LEN);
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}
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}
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DECL_INIT(chipid_init);
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DECL_INIT(chipid_init);
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