211 lines
5.5 KiB
C
211 lines
5.5 KiB
C
#include <linux/interrupt.h>
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#include <linux/mutex.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/bitops.h>
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#include <linux/export.h>
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#include "../iio.h"
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#include "../ring_sw.h"
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#include "../trigger_consumer.h"
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#include "adis16400.h"
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/**
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* adis16400_spi_read_burst() - read all data registers
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @rx: somewhere to pass back the value read (min size is 24 bytes)
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**/
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static int adis16400_spi_read_burst(struct device *dev, u8 *rx)
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{
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struct spi_message msg;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16400_state *st = iio_priv(indio_dev);
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u32 old_speed_hz = st->us->max_speed_hz;
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int ret;
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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}, {
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.rx_buf = rx,
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.bits_per_word = 8,
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.len = 24,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD);
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st->tx[1] = 0;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
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spi_setup(st->us);
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ret = spi_sync(st->us, &msg);
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if (ret)
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dev_err(&st->us->dev, "problem when burst reading");
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st->us->max_speed_hz = old_speed_hz;
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spi_setup(st->us);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static const u16 read_all_tx_array[] = {
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cpu_to_be16(ADIS16400_READ_REG(ADIS16400_SUPPLY_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XGYRO_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YGYRO_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZGYRO_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XACCL_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YACCL_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZACCL_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16350_XTEMP_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16350_YTEMP_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16350_ZTEMP_OUT)),
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cpu_to_be16(ADIS16400_READ_REG(ADIS16400_AUX_ADC)),
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};
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static int adis16350_spi_read_all(struct device *dev, u8 *rx)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16400_state *st = iio_priv(indio_dev);
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struct spi_message msg;
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int i, j = 0, ret;
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struct spi_transfer *xfers;
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int scan_count = bitmap_weight(indio_dev->active_scan_mask,
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indio_dev->masklength);
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xfers = kzalloc(sizeof(*xfers)*(scan_count + 1),
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GFP_KERNEL);
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if (xfers == NULL)
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return -ENOMEM;
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for (i = 0; i < ARRAY_SIZE(read_all_tx_array); i++)
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if (test_bit(i, indio_dev->active_scan_mask)) {
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xfers[j].tx_buf = &read_all_tx_array[i];
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xfers[j].bits_per_word = 16;
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xfers[j].len = 2;
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xfers[j + 1].rx_buf = rx + j*2;
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j++;
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}
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xfers[j].bits_per_word = 16;
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xfers[j].len = 2;
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spi_message_init(&msg);
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for (j = 0; j < scan_count + 1; j++)
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spi_message_add_tail(&xfers[j], &msg);
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ret = spi_sync(st->us, &msg);
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kfree(xfers);
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return ret;
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}
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/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
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* specific to be rolled into the core.
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*/
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static irqreturn_t adis16400_trigger_handler(int irq, void *p)
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{
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struct iio_poll_func *pf = p;
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struct iio_dev *indio_dev = pf->indio_dev;
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struct adis16400_state *st = iio_priv(indio_dev);
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struct iio_buffer *ring = indio_dev->buffer;
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int i = 0, j, ret = 0;
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s16 *data;
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size_t datasize = ring->access->get_bytes_per_datum(ring);
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/* Asumption that long is enough for maximum channels */
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unsigned long mask = *indio_dev->active_scan_mask;
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int scan_count = bitmap_weight(indio_dev->active_scan_mask,
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indio_dev->masklength);
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data = kmalloc(datasize , GFP_KERNEL);
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if (data == NULL) {
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dev_err(&st->us->dev, "memory alloc failed in ring bh");
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return -ENOMEM;
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}
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if (scan_count) {
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if (st->variant->flags & ADIS16400_NO_BURST) {
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ret = adis16350_spi_read_all(&indio_dev->dev, st->rx);
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if (ret < 0)
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goto err;
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for (; i < scan_count; i++)
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data[i] = *(s16 *)(st->rx + i*2);
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} else {
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ret = adis16400_spi_read_burst(&indio_dev->dev, st->rx);
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if (ret < 0)
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goto err;
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for (; i < scan_count; i++) {
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j = __ffs(mask);
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mask &= ~(1 << j);
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data[i] = be16_to_cpup(
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(__be16 *)&(st->rx[j*2]));
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}
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}
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}
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/* Guaranteed to be aligned with 8 byte boundary */
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if (ring->scan_timestamp)
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*((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp;
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ring->access->store_to(indio_dev->buffer, (u8 *) data, pf->timestamp);
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iio_trigger_notify_done(indio_dev->trig);
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kfree(data);
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return IRQ_HANDLED;
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err:
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kfree(data);
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return ret;
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}
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void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
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{
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iio_dealloc_pollfunc(indio_dev->pollfunc);
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iio_sw_rb_free(indio_dev->buffer);
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}
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static const struct iio_buffer_setup_ops adis16400_ring_setup_ops = {
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.preenable = &iio_sw_buffer_preenable,
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.postenable = &iio_triggered_buffer_postenable,
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.predisable = &iio_triggered_buffer_predisable,
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};
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int adis16400_configure_ring(struct iio_dev *indio_dev)
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{
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int ret = 0;
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struct iio_buffer *ring;
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ring = iio_sw_rb_allocate(indio_dev);
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if (!ring) {
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ret = -ENOMEM;
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return ret;
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}
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indio_dev->buffer = ring;
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ring->scan_timestamp = true;
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indio_dev->setup_ops = &adis16400_ring_setup_ops;
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indio_dev->pollfunc = iio_alloc_pollfunc(&iio_pollfunc_store_time,
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&adis16400_trigger_handler,
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IRQF_ONESHOT,
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indio_dev,
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"%s_consumer%d",
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indio_dev->name,
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indio_dev->id);
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if (indio_dev->pollfunc == NULL) {
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ret = -ENOMEM;
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goto error_iio_sw_rb_free;
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}
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indio_dev->modes |= INDIO_BUFFER_TRIGGERED;
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return 0;
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error_iio_sw_rb_free:
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iio_sw_rb_free(indio_dev->buffer);
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return ret;
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}
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