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source: trunk/kernel/kern/kernel_init.c @ 188

Last change on this file since 188 was 188, checked in by alain, 7 years ago
Redefine the PIC device API.
File size: 50.2 KB

Line
1	/*
2	* kernel_init.c - kernel parallel initialization
3	*
4	* Authors : Mohamed Lamine Karaoui (2015)
5	* Alain Greiner (2016,2017)
6	*
7	* Copyright (c) Sorbonne Universites
8	*
9	* This file is part of ALMOS-MKH.
10	*
11	* ALMOS-MKH is free software; you can redistribute it and/or modify it
12	* under the terms of the GNU General Public License as published by
13	* the Free Software Foundation; version 2.0 of the License.
14	*
15	* ALMOS-MKH is distributed in the hope that it will be useful, but
16	* WITHOUT ANY WARRANTY; without even the implied warranty of
17	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18	* General Public License for more details.
19	*
20	* You should have received a copy of the GNU General Public License
21	* along with ALMOS-MKH; if not, write to the Free Software Foundation,
22	* Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
23	*/
24
25	#include <kernel_config.h>
26	#include <errno.h>
27	#include <hal_types.h>
28	#include <hal_special.h>
29	#include <hal_context.h>
30	#include <barrier.h>
31	#include <remote_barrier.h>
32	#include <core.h>
33	#include <list.h>
34	#include <xlist.h>
35	#include <thread.h>
36	#include <scheduler.h>
37	#include <kmem.h>
38	#include <cluster.h>
39	#include <string.h>
40	#include <memcpy.h>
41	#include <ppm.h>
42	#include <page.h>
43	#include <chdev.h>
44	#include <boot_info.h>
45	#include <dqdt.h>
46	#include <dev_icu.h>
47	#include <dev_mmc.h>
48	#include <dev_dma.h>
49	#include <dev_iob.h>
50	#include <dev_ioc.h>
51	#include <dev_txt.h>
52	#include <dev_pic.h>
53	#include <printk.h>
54	#include <vfs.h>
55	#include <hal_drivers.h>
56	#include <devfs.h>
57	#include <mapper.h>
58	#include <soclib_tty.h>
59
60	#define KERNEL_INIT_SYNCHRO 0xA5A5B5B5
61
62	///////////////////////////////////////////////////////////////////////////////////////////
63	// All these global variables are replicated in all clusters.
64	// They are initialised by the kernel_init() function.
65	//
66	// WARNING : The section names have been defined to control the base addresses of the
67	// boot_info structure and the idle thread descriptors, through the kernel.ld script:
68	// - the boot_info structure is built by the bootloader, and used by kernel_init.
69	// it must be the first object in the kdata segment.
70	// - the array of idle threads descriptors must be placed on the first page boundary after
71	// the boot_info structure in the kdata segment.
72	///////////////////////////////////////////////////////////////////////////////////////////
73
74	// This variable defines the local boot_info structure
75	__attribute__((section(".kinfo")))
76	boot_info_t boot_info;
77
78	// This variable defines the "idle" threads descriptors array
79	__attribute__((section(".kidle")))
80	char idle_threads[CONFIG_THREAD_DESC_SIZE *
81	CONFIG_MAX_LOCAL_CORES] CONFIG_PPM_PAGE_ALIGNED;
82
83	// This variable defines the local cluster manager
84	__attribute__((section(".kdata")))
85	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
86
87	// This variable defines the TXT0 kernel terminal
88	__attribute__((section(".kdata")))
89	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
90
91	// This variables define the kernel process0 descriptor
92	__attribute__((section(".kdata")))
93	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
94
95	// This variable defines extended pointers on the distributed chdevs
96	__attribute__((section(".kdata")))
97	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
98
99	// This variable contains the input IRQ indexes for the IOPIC controller
100	__attribute__((section(".kdata")))
101	iopic_input_t iopic_input CONFIG_CACHE_LINE_ALIGNED;
102
103	// This variable contains the input IRQ indexes for the LAPIC controller
104	__attribute__((section(".kdata")))
105	lapic_input_t lapic_input CONFIG_CACHE_LINE_ALIGNED;
106
107	// This variable defines the local cluster identifier
108	__attribute__((section(".kdata")))
109	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
110
111	// This variable is used for CP0 cores synchronisation in kernel_init()
112	__attribute__((section(".kdata")))
113	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
114
115	// This variable is used for local cores synchronisation in kernel_init()
116	__attribute__((section(".kdata")))
117	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
118
119	// This variable defines the array of supported File System contexts
120	__attribute__((section(".kdata")))
121	vfs_ctx_t fs_context[FS_TYPES_NR] CONFIG_CACHE_LINE_ALIGNED;
122
123
124	///////////////////////////////////////////////////////////////////////////////////////////
125	// This function displays the ALMOS_MKH banner.
126	///////////////////////////////////////////////////////////////////////////////////////////
127	static void print_banner( uint32_t nclusters , uint32_t ncores )
128	{
129	printk("\n"
130	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
131	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
132	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
133	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
134	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
135	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
136	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
137	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
138	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
139	"\n\n\t\t\t Version 0.0 : %d clusters / %d cores per cluster\n\n", nclusters , ncores );
140	}
141
142
143	///////////////////////////////////////////////////////////////////////////////////////////
144	// This function initializes the TXT0 chdev descriptor, that is the "kernel terminal",
145	// shared by all kernel instances for debug messages.
146	// It is a global variable (replicated in all clusters), because this terminal is used
147	// before the kmem allocator initialisation, but only the instance in cluster containing
148	// the calling core is registered in the "chdev_dir" directory.
149	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
150	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
151	///////////////////////////////////////////////////////////////////////////////////////////
152	// @ info : pointer on the local boot-info structure.
153	///////////////////////////////////////////////////////////////////////////////////////////
154	static void txt0_device_init( boot_info_t * info )
155	{
156	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
157	uint32_t dev_nr; // actual number of devices in this cluster
158	xptr_t base; // remote pointer on segment base
159	uint32_t func; // device functional index
160	uint32_t impl; // device implementation index
161	uint32_t i; // device index in dev_tbl
162	uint32_t x; // X cluster coordinate
163	uint32_t y; // Y cluster coordinate
164	uint32_t channels; // number of channels
165
166	// get number of peripherals and base of devices array from boot_info
167	dev_nr = info->ext_dev_nr;
168	dev_tbl = info->ext_dev;
169
170	// loop on external peripherals to find TXT device
171	for( i = 0 ; i < dev_nr ; i++ )
172	{
173	base = dev_tbl[i].base;
174	func = FUNC_FROM_TYPE( dev_tbl[i].type );
175	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
176	channels = dev_tbl[i].channels;
177
178	if (func == DEV_FUNC_TXT )
179	{
180	assert( (channels > 0) , __FUNCTION__ ,
181	"numner of TXT channels cannot be 0\n");
182
183	// initializes TXT0 basic fields
184	txt0_chdev.func = func;
185	txt0_chdev.impl = impl;
186	txt0_chdev.channel = 0;
187	txt0_chdev.base = base;
188	txt0_chdev.is_rx = false;
189
190	// initializes lock
191	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
192
193	// TXT specific initialisation:
194	// no server thread & no IRQ routing for channel 0
195	dev_txt_init( &txt0_chdev );
196
197	// register the TXT0 in all chdev_dir[x][y] structures
198	for( x = 0 ; x < info->x_size ; x++ )
199	{
200	for( y = 0 ; y < info->y_size ; y++ )
201	{
202	cxy_t cxy = (x<<info->y_width) + y;
203	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
204	XPTR( local_cxy , &txt0_chdev ) );
205	}
206	}
207
208	kinit_dmsg("\n[INFO] %s created TXT0 chdev in cluster %x at cycle %d\n",
209	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
210	}
211	} // end loop on devices
212	} // end txt0_device_init()
213
214	///////////////////////////////////////////////////////////////////////////////////////////
215	// This function allocates memory and initializes the chdev descriptors for the internal
216	// peripherals contained in the local cluster, other than the LAPIC, as specified by
217	// the boot_info, including the linking with the driver for the specified implementation.
218	// The relevant entries in all copies of the devices directory are initialised.
219	///////////////////////////////////////////////////////////////////////////////////////////
220	// @ info : pointer on the local boot-info structure.
221	///////////////////////////////////////////////////////////////////////////////////////////
222	static void internal_devices_init( boot_info_t * info )
223	{
224	boot_device_t * dev_tbl; // pointer on array of internaldevices in boot_info
225	uint32_t dev_nr; // actual number of devices in this cluster
226	xptr_t base; // remote pointer on segment base
227	uint32_t func; // device functionnal index
228	uint32_t impl; // device implementation index
229	uint32_t i; // device index in dev_tbl
230	uint32_t x; // X cluster coordinate
231	uint32_t y; // Y cluster coordinate
232	uint32_t channels; // number of channels
233	uint32_t channel; // channel index
234	chdev_t * chdev_ptr; // local pointer on created chdev
235
236	// get number of internal peripherals and base from boot_info
237	dev_nr = info->int_dev_nr;
238	dev_tbl = info->int_dev;
239
240	// loop on internal peripherals
241	for( i = 0 ; i < dev_nr ; i++ )
242	{
243	base = dev_tbl[i].base;
244	channels = dev_tbl[i].channels;
245	func = FUNC_FROM_TYPE( dev_tbl[i].type );
246	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
247
248	//////////////////////////
249	if( func == DEV_FUNC_MMC )
250	{
251	assert( (channels == 1) , __FUNCTION__ ,
252	"MMC device must be single channel\n" );
253
254	// create chdev in local cluster
255	chdev_ptr = chdev_create( func,
256	impl,
257	0, // channel
258	false, // direction
259	base );
260
261	assert( (chdev_ptr != NULL) , __FUNCTION__ ,
262	"cannot allocate memory for MMC chdev\n" );
263
264	// make MMC specific initialisation
265	dev_mmc_init( chdev_ptr );
266
267	// set the MMC field in all chdev_dir[x][y] structures
268	for( x = 0 ; x < info->x_size ; x++ )
269	{
270	for( y = 0 ; y < info->y_size ; y++ )
271	{
272	cxy_t cxy = (x<<info->y_width) + y;
273	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ),
274	XPTR( local_cxy , chdev_ptr ) );
275	}
276	}
277
278	if( local_cxy == 0 )
279	kinit_dmsg("\n[INFO] %s created MMC chdev in cluster 0 at cycle %d\n",
280	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
281	}
282	///////////////////////////////
283	else if( func == DEV_FUNC_DMA )
284	{
285	// create one chdev per channel in local cluster
286	for( channel = 0 ; channel < channels ; channel++ )
287	{
288	// create chdev[channel] in local cluster
289	chdev_ptr = chdev_create( func,
290	impl,
291	channel,
292	false, // direction
293	base );
294
295	assert( (chdev_ptr != NULL) , __FUNCTION__ ,
296	"cannot allocate memory for DMA chdev" );
297
298	// make DMA specific initialisation
299	dev_dma_init( chdev_ptr );
300
301	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
302	// structure because the DMA device is not remotely accessible.
303	chdev_dir.dma[channel] = XPTR( local_cxy , chdev_ptr );
304
305	kinit_dmsg("\n[INFO] %s created DMA[%d] chdev in cluster 0 at cycle %d\n",
306	__FUNCTION__ , channel , (uint32_t)hal_time_stamp() );
307	}
308	}
309	}
310	} // end internal_devices_init()
311
312	///////////////////////////////////////////////////////////////////////////////////////////
313	// This function allocates memory and initializes the chdev descriptors for the
314	// external (shared) peripherals other than the IOPIC, as specified by the boot_info,
315	// including the dynamic linking with the driver for the specified implementation.
316	// These chdev descriptors are distributed on all clusters, using a modulo on a global
317	// index, identically computed in all clusters: In each cluster, the local CP0 core
318	// computes the global index for all external chdevs, and creates only the chdevs that
319	// must be placed in the local cluster.
320	// The relevant entries in all copies of the devices directory are initialised.
321	///////////////////////////////////////////////////////////////////////////////////////////
322	// @ info : pointer on the local boot-info structure.
323	///////////////////////////////////////////////////////////////////////////////////////////
324	static void external_devices_init( boot_info_t * info )
325	{
326	boot_device_t * dev_tbl; // pointer on array of external devices in boot_info
327	uint32_t dev_nr; // actual number of external devices
328	xptr_t base; // remote pointer on segment base
329	uint32_t func; // device functionnal index
330	uint32_t impl; // device implementation index
331	uint32_t i; // device index in dev_tbl
332	uint32_t x; // X cluster coordinate
333	uint32_t y; // Y cluster coordinate
334	uint32_t channels; // number of channels
335	uint32_t channel; // channel index
336	uint32_t directions; // number of directions (1 or 2)
337	uint32_t rx; // direction index (0 or 1)
338	uint32_t first_channel; // used in loop on channels for TXT
339	chdev_t * chdev; // local pointer on one channel_device descriptor
340	uint32_t ext_chdev_gid; // global index of external chdev
341
342	// get number of peripherals and base of devices array from boot_info
343	dev_nr = info->ext_dev_nr;
344	dev_tbl = info->ext_dev;
345
346	// initializes global index (PIC is already placed in cluster 0
347	ext_chdev_gid = 1;
348
349	// loop on external peripherals
350	for( i = 0 ; i < dev_nr ; i++ )
351	{
352	base = dev_tbl[i].base;
353	channels = dev_tbl[i].channels;
354	func = FUNC_FROM_TYPE( dev_tbl[i].type );
355	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
356
357	// There is one chdev per direction for NIC
358	if (func == DEV_FUNC_NIC) directions = 2;
359	else directions = 1;
360
361	// The TXT0 chdev has already been created
362	if (func == DEV_FUNC_TXT) first_channel = 1;
363	else first_channel = 0;
364
365	// do nothing for RO, that does not require a device descriptor.
366	if( func == DEV_FUNC_ROM ) continue;
367
368	// do nothing for PIC, that is already initialized
369	if( func == DEV_FUNC_PIC ) continue;
370
371	// check PIC device initialized
372	assert( (chdev_dir.pic != XPTR_NULL ) , __FUNCTION__ ,
373	"PIC device must be initialized before other devices\n" );
374
375	// check external device functionnal type
376	assert( ( (func == DEV_FUNC_IOB) \|\|
377	(func == DEV_FUNC_IOC) \|\|
378	(func == DEV_FUNC_TXT) \|\|
379	(func == DEV_FUNC_NIC) \|\|
380	(func == DEV_FUNC_FBF) ) , __FUNCTION__ ,
381	"undefined external peripheral type\n" );
382
383	// loops on channels
384	for( channel = first_channel ; channel < channels ; channel++ )
385	{
386	// loop on directions
387	for( rx = 0 ; rx < directions ; rx++ )
388	{
389	// compute target cluster for chdev[func,channel,direction]
390	uint32_t offset = ext_chdev_gid % ( info->x_size * info->y_size );
391	uint32_t cx = offset / info->y_size;
392	uint32_t cy = offset % info->y_size;
393	uint32_t target_cxy = (cx<<info->y_width) + cy;
394
395	// allocate and initialize a local chdev
396	// if local cluster matches target cluster
397	if( target_cxy == local_cxy )
398	{
399	chdev = chdev_create( func,
400	impl,
401	channel,
402	rx, // direction
403	base );
404
405	assert( (chdev != NULL), __FUNCTION__ ,
406	"cannot allocate external device" );
407
408	// make device type specific initialisation
409	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
410	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
411	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
412	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
413	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev );
414
415	// all external (shared) devices are remotely accessible
416	// initialize the replicated chdev_dir[x][y] structures
417	// defining the extended pointers on chdev descriptors
418	xptr_t * entry;
419
420	if(func==DEV_FUNC_IOB ) entry = &chdev_dir.iob;
421	if(func==DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
422	if(func==DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
423	if(func==DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
424	if((func==DEV_FUNC_NIC) && (rx==0)) entry = &chdev_dir.nic_tx[channel];
425	if((func==DEV_FUNC_NIC) && (rx==1)) entry = &chdev_dir.nic_rx[channel];
426
427	for( x = 0 ; x < info->x_size ; x++ )
428	{
429	for( y = 0 ; y < info->y_size ; y++ )
430	{
431	cxy_t cxy = (x<<info->y_width) + y;
432	hal_remote_swd( XPTR( cxy , entry ),
433	XPTR( local_cxy , chdev ) );
434	}
435	}
436
437	kinit_dmsg("\n[INFO] %s create chdev %s[%d] in cluster %x at cycle %d\n",
438	__FUNCTION__ , chdev_func_str( func ), channel,
439	local_cxy , (uint32_t)hal_time_stamp() );
440
441	} // end if match
442
443	// increment chdev global index (matching or not)
444	ext_chdev_gid++;
445
446	} // end loop on directions
447	} // end loop on channels
448	} // end loop on devices
449	} // end external_devices_init()
450
451	///////////////////////////////////////////////////////////////////////////////////////////
452	// This function is called by CP0 in cluster 0 to allocate memory and initialize the PIC
453	// device, namely the informations attached to the external IOPIC controller.
454	// This initialisation must be done before other devices initialisation because the IRQ
455	// routing infrastructure is required for internal and external devices initialisation.
456	///////////////////////////////////////////////////////////////////////////////////////////
457	// @ info : pointer on the local boot-info structure.
458	///////////////////////////////////////////////////////////////////////////////////////////
459	static void iopic_init( boot_info_t * info )
460	{
461	boot_device_t * dev_tbl; // pointer on boot_info external devices array
462	uint32_t dev_nr; // actual number of external devices
463	xptr_t base; // remote pointer on segment base
464	uint32_t func; // device functionnal index
465	uint32_t impl; // device implementation index
466	uint32_t i; // device index in dev_tbl
467	uint32_t x; // cluster X coordinate
468	uint32_t y; // cluster Y coordinate
469	bool_t found; // IOPIC found
470	chdev_t * chdev; // pointer on PIC chdev descriptor
471
472	// get number of external peripherals and base of array from boot_info
473	dev_nr = info->ext_dev_nr;
474	dev_tbl = info->ext_dev;
475
476	// loop on external peripherals to get the IOPIC
477	for( i = 0 , found = false ; i < dev_nr ; i++ )
478	{
479	func = FUNC_FROM_TYPE( dev_tbl[i].type );
480
481	if( func == DEV_FUNC_PIC )
482	{
483	base = dev_tbl[i].base;
484	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
485	found = true;
486	break;
487	}
488	}
489
490	assert( found , __FUNCTION__ , "PIC device not found\n" );
491
492	// allocate and initialize the PIC chdev in local cluster
493	chdev = chdev_create( func,
494	impl,
495	0, // channel
496	0, // direction,
497	base );
498
499	assert( (chdev != NULL), __FUNCTION__ , "no memory for PIC chdev\n" );
500
501	// make PIC device type specific initialisation
502	dev_pic_init( chdev );
503
504	// register extended pointer on PIC chdev in "chdev_dir" array in all clusters
505	xptr_t * entry = &chdev_dir.pic;
506
507	for( x = 0 ; x < info->x_size ; x++ )
508	{
509	for( y = 0 ; y < info->y_size ; y++ )
510	{
511	cxy_t cxy = (x<<info->y_width) + y;
512	hal_remote_swd( XPTR( cxy , entry ) ,
513	XPTR( local_cxy , chdev ) );
514	}
515	}
516
517	// initialize the "iopic_input" structure
518	// defining how external IRQs are connected to IOPIC
519	uint32_t id;
520	uint8_t valid;
521	uint32_t type;
522	uint8_t channel;
523	uint8_t is_rx;
524
525	for( id = 0 ; id < CONFIG_MAX_EXTERNAL_IRQS ; id++ )
526	{
527	valid = dev_tbl[i].irq[id].valid;
528	type = dev_tbl[i].irq[id].dev_type;
529	channel = dev_tbl[i].irq[id].channel;
530	is_rx = dev_tbl[i].irq[id].is_rx;
531
532	if( valid ) // only valid inputs are registered
533	{
534	uint32_t * index; // local pointer on one entry
535	uint16_t func = FUNC_FROM_TYPE( type );
536
537	if ( func == DEV_FUNC_TXT )
538	index = &iopic_input.txt[channel];
539	else if( func == DEV_FUNC_IOC )
540	index = &iopic_input.ioc[channel];
541	else if( (func == DEV_FUNC_NIC) && (is_rx == 0) )
542	index = &iopic_input.nic_tx[channel];
543	else if( (func == DEV_FUNC_NIC) && (is_rx != 0) )
544	index = &iopic_input.nic_rx[channel];
545	else if( func == DEV_FUNC_IOB )
546	index = &iopic_input.iob;
547	else
548	assert( false , __FUNCTION__ , "illegal source device for IOPIC input" );
549
550	// set entry in local structure
551	*index = id;
552	}
553	}
554
555	kinit_dmsg("\n[INFO] %s created IOPIC chdev in cluster %x at cycle %d\n",
556	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
557
558	} // end iopic_init()
559
560	///////////////////////////////////////////////////////////////////////////////////////////
561	// This function is called by all CP0s in all cluster to complete the PIC device
562	// initialisation, namely the informations attached to the LAPIC controller.
563	// This initialisation must be done after the IOPIC initialisation, but before other
564	// devices initialisation because the IRQ routing infrastructure is required for both
565	// internal and external devices initialisation.
566	///////////////////////////////////////////////////////////////////////////////////////////
567	// @ info : pointer on the local boot-info structure.
568	///////////////////////////////////////////////////////////////////////////////////////////
569	static void lapic_init( boot_info_t * info )
570	{
571	boot_device_t * dev_tbl; // pointer on boot_info internal devices array
572	uint32_t dev_nr; // number of internal devices
573	uint32_t i; // device index in dev_tbl
574	xptr_t base; // remote pointer on segment base
575	uint32_t func; // device functionnal type in boot_info
576	bool_t found; // LAPIC found
577
578	// get number of internal peripherals and base
579	dev_nr = info->int_dev_nr;
580	dev_tbl = info->int_dev;
581
582	// loop on internal peripherals to get the lapic device
583	for( i = 0 , found = false ; i < dev_nr ; i++ )
584	{
585	func = FUNC_FROM_TYPE( dev_tbl[i].type );
586
587	if( func == DEV_FUNC_ICU )
588	{
589	base = dev_tbl[i].base;
590	found = true;
591	break;
592	}
593	}
594
595	// if the LAPIC controller is not defined in the boot_info,
596	// we simply don't initialize the PIC extensions in the kernel,
597	// making the assumption that the LAPIC related informations
598	// are hidden in the hardware specific PIC driver.
599	if( found )
600	{
601	// initialise the PIC extensions for
602	// the core descriptor and core manager extensions
603	dev_pic_extend_init( (uint32_t *)GET_PTR( base ) );
604
605	// initialize the "lapic_input" structure
606	// defining how internal IRQs are connected to LAPIC
607	uint32_t id;
608	uint8_t valid;
609	uint8_t channel;
610	uint32_t func;
611
612	for( id = 0 ; id < CONFIG_MAX_INTERNAL_IRQS ; id++ )
613	{
614	valid = dev_tbl[i].irq[id].valid;
615	func = FUNC_FROM_TYPE( dev_tbl[i].irq[id].dev_type );
616	channel = dev_tbl[i].irq[id].channel;
617
618	if( valid ) // only valid local IRQs are registered
619	{
620	if ( func == DEV_FUNC_MMC ) lapic_input.mmc = id;
621	else if( func == DEV_FUNC_DMA ) lapic_input.dma[channel] = id;
622	else assert( false , __FUNCTION__ , "illegal source device for LAPIC input" );
623	}
624	}
625	}
626	} // end lapic_init()
627
628	///////////////////////////////////////////////////////////////////////////////////////////
629	// This static function returns the identifiers of the calling core.
630	///////////////////////////////////////////////////////////////////////////////////////////
631	// @ info : pointer on boot_info structure.
632	// @ lid : [out] core local index in cluster.
633	// @ cxy : [out] cluster identifier.
634	// @ lid : [out] core global identifier (hardware).
635	// @ return 0 if success / return EINVAL if not found.
636	///////////////////////////////////////////////////////////////////////////////////////////
637	static error_t get_core_identifiers( boot_info_t * info,
638	lid_t * lid,
639	cxy_t * cxy,
640	gid_t * gid )
641	{
642	uint32_t i;
643	gid_t global_id;
644
645	// get global identifier from hardware register
646	global_id = hal_get_gid();
647
648	// makes an associative search in boot_info to get (cxy,lid) from global_id
649	for( i = 0 ; i < info->cores_nr ; i++ )
650	{
651	if( global_id == info->core[i].gid )
652	{
653	*lid = info->core[i].lid;
654	*cxy = info->core[i].cxy;
655	*gid = global_id;
656	return 0;
657	}
658	}
659	return EINVAL;
660	}
661
662	///////////////////////////////////////////////////////////////////////////////////////////
663	// This function is the entry point for the kernel initialisation.
664	// It is executed by all cores in all clusters, but only core[0], called CP0,
665	// initializes the shared resources such as the cluster manager, or the local peripherals.
666	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
667	// only information contained in the local boot_info_t structure, set by the bootloader.
668	// Only CP0 in cluster 0 print the log messages.
669	///////////////////////////////////////////////////////////////////////////////////////////
670	// @ info : pointer on the local boot-info structure.
671	///////////////////////////////////////////////////////////////////////////////////////////
672	void kernel_init( boot_info_t * info )
673	{
674	lid_t core_lid = -1; // running core local index
675	cxy_t core_cxy = -1; // running core cluster identifier
676	gid_t core_gid; // running core hardware identifier
677	cluster_t * cluster; // pointer on local cluster manager
678	core_t * core; // pointer on running core descriptor
679	thread_t * thread; // pointer on idle thread descriptor
680	xptr_t vfs_root_inode_xp; // extended pointer on VFS root inode
681	// xptr_t devfs_root_inode_xp; // extended pointer on DEVFS root inode
682	error_t error;
683
684	cxy_t io_cxy = info->io_cxy;
685
686	/////////////////////////////////////////////////////////////////////////////////
687	// STEP 0 : Each core get its core identifier from boot_info, and makes
688	// a partial initialisation of its private idle thread descriptor.
689	// CP0 initializes the "local_cxy" global variable.
690	// CP0 in cluster IO initializes the TXT0 chdev to print log messages.
691	/////////////////////////////////////////////////////////////////////////////////
692
693	error = get_core_identifiers( info,
694	&core_lid,
695	&core_cxy,
696	&core_gid );
697
698	// CP0 initializes cluster identifier
699	if( core_lid == 0 ) local_cxy = info->cxy;
700
701	// each core gets a pointer on its private idle thread descriptor
702	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
703
704	// each core registers this thread pointer in hardware register
705	hal_set_current_thread( thread );
706
707	// each core initializes the idle thread "locks_root" and "xlocks_root" fields
708	list_root_init( &thread->locks_root );
709	xlist_root_init( XPTR( local_cxy , &thread->xlocks_root ) );
710
711	// CP0 in I/O cluster initialises TXT0 chdev descriptor
712	if( (core_lid == 0) && (core_cxy == io_cxy) ) txt0_device_init( info );
713
714	/////////////////////////////////////////////////////////////////////////////////
715	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
716	(info->x_size * info->y_size) );
717	barrier_wait( &local_barrier , info->cores_nr );
718
719	if( (core_lid == 0) && (local_cxy == 0) )
720	kinit_dmsg("\n[INFO] %s exit barrier 0 at cycle %d : TXT0 initialized\n",
721	__FUNCTION__, (uint32_t)hal_time_stamp());
722
723	/////////////////////////////////////////////////////////////////////////////
724	// STEP 1 : all cores check its core identifier.
725	// CP0 initializes the local cluster manager.
726	// This includes the memory allocators.
727	/////////////////////////////////////////////////////////////////////////////
728
729	// all cores check identifiers
730	if( error )
731	{
732	nolock_printk("\n[PANIC] in %s : illegal core identifiers"
733	" gid = %x / cxy = %x / lid = %d\n",
734	__FUNCTION__ , core_lid , core_cxy , core_lid );
735	hal_core_sleep();
736	}
737
738	// CP0 initializes cluster manager
739	if( core_lid == 0 )
740	{
741	error = cluster_init( info );
742
743	if( error )
744	{
745	nolock_printk("\n[PANIC] in %s : cannot initialise cluster %x",
746	__FUNCTION__ , local_cxy );
747	hal_core_sleep();
748	}
749	}
750
751	/////////////////////////////////////////////////////////////////////////////////
752	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
753	(info->x_size * info->y_size) );
754	barrier_wait( &local_barrier , info->cores_nr );
755	/////////////////////////////////////////////////////////////////////////////////
756
757	if( (core_lid == 0) && (local_cxy == 0) )
758	kinit_dmsg("\n[INFO] %s exit barrier 1 at cycle %d : clusters initialised\n",
759	__FUNCTION__, (uint32_t)hal_time_stamp());
760
761	/////////////////////////////////////////////////////////////////////////////////
762	// STEP 2 : all CP0s initialize the process_zero descriptor.
763	// CP0 in cluster 0 initialises the IOPIC device.
764	// all CP0s complete the distibuted LAPIC initialization.
765	/////////////////////////////////////////////////////////////////////////////////
766
767	// all cores get pointer on local cluster manager & core descriptor
768	cluster = &cluster_manager;
769	core = &cluster->core_tbl[core_lid];
770
771	// all CP0s initialize the process_zero descriptor
772	if( core_lid == 0 ) process_reference_init( &process_zero , 0 , XPTR_NULL );
773
774	// CP0 in cluster 0 initializes the PIC chdev,
775	if( (core_lid == 0) && (local_cxy == 0) ) iopic_init( info );
776
777	// all CP0s initialize their local LAPIC extension,
778	if( core_lid == 0 ) lapic_init( info );
779
780	////////////////////////////////////////////////////////////////////////////////
781	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
782	(info->x_size * info->y_size) );
783	barrier_wait( &local_barrier , info->cores_nr );
784	////////////////////////////////////////////////////////////////////////////////
785
786	if( (core_lid == 0) && (local_cxy == 0) )
787	kinit_dmsg("\n[INFO] %s exit barrier 2 at cycle %d : PIC initialised\n",
788	__FUNCTION__, (uint32_t)hal_time_stamp());
789
790	////////////////////////////////////////////////////////////////////////////////
791	// STEP 3 : all CP0s initialize their local chdev descriptors
792	// (both internal devices and external devices).
793	////////////////////////////////////////////////////////////////////////////////
794
795	// CP0 scan the internal (private) peripherals,
796	// and allocates memory for the corresponding chdev descriptors.
797	if( core_lid == 0 ) internal_devices_init( info );
798
799
800	// All CP0s contribute to initialise external peripheral chdev descriptors.
801	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
802	// and allocates memory for the chdev descriptors that must be placed
803	// on the (cxy) cluster according to the global index value.
804
805	if( core_lid == 0 ) external_devices_init( info );
806
807	/////////////////////////////////////////////////////////////////////////////////
808	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
809	(info->x_size * info->y_size) );
810	barrier_wait( &local_barrier , info->cores_nr );
811	/////////////////////////////////////////////////////////////////////////////////
812
813	if( (core_lid == 0) && (local_cxy == 0) )
814	kinit_dmsg("\n[INFO] %s exit barrier 3 at cycle %d : all chdev initialised\n",
815	__FUNCTION__, (uint32_t)hal_time_stamp());
816
817	/////////////////////////////////////////////////////////////////////////////////
818	// STEP 4 : Alls cores initialize their private IDLE thread.
819	// Only CP0 in cluster 0 creates the VFS root inode.
820	// It access the boot device to initialize the file system context.
821	/////////////////////////////////////////////////////////////////////////////////
822
823	// all cores create idle thread descriptor
824	error = thread_kernel_init( thread,
825	THREAD_IDLE,
826	&thread_idle_func,
827	NULL,
828	core_lid );
829	if( error )
830	{
831	nolock_printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
832	__FUNCTION__ , local_cxy , core_lid );
833	hal_core_sleep();
834	}
835
836	// all cores register idle thread in scheduler
837	core->scheduler.idle = thread;
838
839	// all core activate the idle thread
840	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
841
842	if( (core_lid == 0) && (local_cxy == 0) )
843	{
844	kinit_dmsg("\n[INFO] %s : created idle thread %x at cycle %d\n",
845	__FUNCTION__ , thread , (uint32_t)hal_time_stamp());
846	}
847
848	// CPO in cluster 0 creates the VFS root
849	if( (core_lid == 0) && (local_cxy == 0 ) )
850	{
851	vfs_root_inode_xp = XPTR_NULL;
852
853	// File System must be FATFS in this implementation,
854	// but other File System can be introduced here
855	if( CONFIG_VFS_ROOT_IS_FATFS )
856	{
857	// 1. create FATFS context in cluster 0
858	fatfs_ctx_t * fatfs_ctx = fatfs_ctx_alloc();
859
860	nolock_assert( (fatfs_ctx != NULL) , __FUNCTION__ ,
861	"cannot create FATFS context in cluster 0\n" );
862
863	// 2. access boot device to initialize FATFS context
864	fatfs_ctx_init( fatfs_ctx );
865
866	// 3. get various informations from FATFS context
867	uint32_t root_dir_cluster = fatfs_ctx->root_dir_cluster;
868	uint32_t cluster_size = fatfs_ctx->bytes_per_sector *
869	fatfs_ctx->sectors_per_cluster;
870	uint32_t total_clusters = fatfs_ctx->fat_sectors_count << 7;
871
872	// 4. create VFS root inode in cluster 0
873	error = vfs_inode_create( XPTR_NULL, // dentry_xp
874	FS_TYPE_FATFS, // fs_type
875	INODE_TYPE_DIR, // inode_type
876	(void *)(intptr_t)root_dir_cluster, // extend
877	0, // attr
878	0, // rights
879	0, // uid
880	0, // gid
881	&vfs_root_inode_xp ); // return
882
883	nolock_assert( (error == 0) , __FUNCTION__ ,
884	"cannot create VFS root inode\n" );
885
886	// 5. initialize VFS context for FAT in cluster 0
887	vfs_ctx_init( FS_TYPE_FATFS, // file system type
888	0, // attributes
889	total_clusters,
890	cluster_size,
891	vfs_root_inode_xp, // VFS root
892	fatfs_ctx ); // extend
893	}
894	else
895	{
896	nolock_printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
897	hal_core_sleep();
898	}
899
900	// register VFS root inode in process_zero
901	process_zero.vfs_root_xp = vfs_root_inode_xp;
902	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
903	}
904
905	/////////////////////////////////////////////////////////////////////////////////
906	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
907	(info->x_size * info->y_size) );
908	barrier_wait( &local_barrier , info->cores_nr );
909	/////////////////////////////////////////////////////////////////////////////////
910
911	if( (core_lid == 0) && (local_cxy == 0) )
912	kinit_dmsg("\n[INFO] %s exit barrier 4 at cycle %d : VFS OK in cluster 0\n",
913	__FUNCTION__, (uint32_t)hal_time_stamp());
914
915	/////////////////////////////////////////////////////////////////////////////////
916	// STEP 5 : Other CP0s allocate memory for the selected FS context,
917	// and initialise both the local FS context and the local VFS context
918	// from values stored in cluster 0.
919	// They get the VFS root inode extended pointer from cluster 0.
920	/////////////////////////////////////////////////////////////////////////////////
921
922	if( (core_lid == 0) && (local_cxy != 0) )
923	{
924	// File System must be FATFS in this implementation,
925	// but other File System can be introduced here
926	if( CONFIG_VFS_ROOT_IS_FATFS )
927	{
928	// allocate memory for FATFS context
929	fatfs_ctx_t * fatfs_ctx = fatfs_ctx_alloc();
930
931	nolock_assert( (fatfs_ctx != NULL) , __FUNCTION__ ,
932	"cannot create FATFS context\n" );
933
934	// get local pointer on VFS context for FATFS
935	vfs_ctx_t * vfs_ctx = &fs_context[FS_TYPE_FATFS];
936
937	// copy VFS context from cluster 0 to local cluster
938	hal_remote_memcpy( XPTR( local_cxy , vfs_ctx ),
939	XPTR( 0 , vfs_ctx ),
940	sizeof(vfs_ctx_t) );
941
942	// copy FATFS context from cluster 0 to local cluster
943	hal_remote_memcpy( XPTR( local_cxy , fatfs_ctx ),
944	XPTR( 0 , fatfs_ctx ),
945	sizeof(fatfs_ctx_t) );
946
947	// update extend field in local copy of VFS context
948	vfs_ctx->extend = fatfs_ctx;
949	}
950
951	// get extended pointer on VFS root inode from cluster 0
952	vfs_root_inode_xp = hal_remote_lwd( XPTR( 0 , process_zero.vfs_root_xp ) );
953
954	// update local process_zero descriptor
955	process_zero.vfs_root_xp = vfs_root_inode_xp;
956	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
957	}
958
959	/////////////////////////////////////////////////////////////////////////////////
960	// global &local synchro to protect File System initialisation
961	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
962	(info->x_size * info->y_size) );
963	barrier_wait( &local_barrier , info->cores_nr );
964
965	if( (core_lid == 0) && (local_cxy == 0) )
966	kinit_dmsg("\n[INFO] %s exit barrier 5 at cycle %d : VFS OK in all clusters\n",
967	__FUNCTION__, (uint32_t)hal_time_stamp());
968
969
970	/////////////////////////////////////////////////////////////////////////////////
971	// STEP 6 : CP0 in cluster IO makes the global DEVFS tree initialisation:
972	// It creates the DEVFS root directory and the DEVFS "external"
973	// diretory in cluster IO and mount these inodes into VFS.
974	/////////////////////////////////////////////////////////////////////////////////
975
976	if( (core_lid == 0) && (local_cxy == io_cxy) )
977	{
978	xptr_t devfs_root_inode_xp; // extended pointer on DEVFS root directory
979	xptr_t devfs_external_inode_xp; // extended pointer on DEVFS external directory
980
981	// create "dev" and "external" directories.
982	devfs_global_init( process_zero.vfs_root_xp,
983	&devfs_root_inode_xp,
984	&devfs_external_inode_xp );
985
986	// creates the DEVFS context in cluster IO
987	devfs_ctx_t * devfs_ctx = devfs_ctx_alloc();
988
989	nolock_assert( (devfs_ctx != NULL) , __FUNCTION__ ,
990	"cannot create DEVFS context in cluster IO\n");
991
992	// register DEVFS root and external directories
993	devfs_ctx_init( devfs_ctx, devfs_root_inode_xp, devfs_external_inode_xp );
994	}
995
996	/////////////////////////////////////////////////////////////////////////////////
997	// global &local synchro to protect File System initialisation
998	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
999	(info->x_size * info->y_size) );
1000	barrier_wait( &local_barrier , info->cores_nr );
1001
1002	if( (core_lid == 0) && (local_cxy == 0) )
1003	kinit_dmsg("\n[INFO] %s exit barrier 6 at cycle %d : DEVFS OK in cluster IO\n",
1004	__FUNCTION__, (uint32_t)hal_time_stamp());
1005
1006	/////////////////////////////////////////////////////////////////////////////////
1007	// STEP 7 : All CP0s complete in parallel the DEVFS tree initialization.
1008	// Each CP0 get the "dev" and "external" extended pointers from
1009	// values storred in cluster IO. Then CP0 in cluster(i) creates the
1010	// DEVFS "internal directory, and creates the pseudo-files for all
1011	// chdevs contained in cluster (i).
1012	/////////////////////////////////////////////////////////////////////////////////
1013
1014	if( core_lid == 0 )
1015	{
1016	xptr_t root_inode_xp; // extended pointer on DEVFS root directory
1017	xptr_t external_inode_xp; // extended pointer on DEVFS external directory
1018
1019	// get extended pointer on "extend" field of VFS context for DEVFS in cluster IO
1020	xptr_t extend_xp = XPTR( io_cxy , &fs_context[FS_TYPE_DEVFS].extend );
1021
1022	// get pointer on DEVFS context in cluster IO
1023	devfs_ctx_t * devfs_ctx = hal_remote_lpt( extend_xp );
1024
1025	root_inode_xp = hal_remote_lwd( XPTR( io_cxy , &devfs_ctx->root_inode_xp ) );
1026	external_inode_xp = hal_remote_lwd( XPTR( io_cxy , &devfs_ctx->external_inode_xp ) );
1027
1028	devfs_local_init( root_inode_xp,
1029	external_inode_xp );
1030	}
1031
1032	/////////////////////////////////////////////////////////////////////////////////
1033	// global &local synchro to protect File System initialisation
1034	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
1035	(info->x_size * info->y_size) );
1036	barrier_wait( &local_barrier , info->cores_nr );
1037
1038	if( (core_lid == 0) && (local_cxy == 0) )
1039	kinit_dmsg("\n[INFO] %s exit barrier 7 at cycle %d : DEVFS OK in all clusters\n",
1040	__FUNCTION__, (uint32_t)hal_time_stamp());
1041
1042	/////////////////////////////////////////////////////////////////////////////////
1043	// STEP 8 : CP0 in I/O cluster creates the process_init and print banner.
1044	/////////////////////////////////////////////////////////////////////////////////
1045
1046	if( (core_lid == 0) && (local_cxy == io_cxy) )
1047	{
1048	process_init_create();
1049	}
1050
1051	/////////////////////////////////////////////////////////////////////////////////
1052	// global syncho to protect access to File System
1053	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
1054	(info->x_size * info->y_size) );
1055	barrier_wait( &local_barrier , info->cores_nr );
1056
1057	if( (core_lid == 0) && (local_cxy == 0) )
1058	kinit_dmsg("\n[INFO] %s exit barrier 8 at cycle %d : process init created\n",
1059	__FUNCTION__ , (uint32_t)hal_time_stamp() );
1060
1061	/////////////////////////////////////////////////////////////////////////////////
1062	// STEP 9 : CP0 in cluster 0 print banner
1063	/////////////////////////////////////////////////////////////////////////////////
1064
1065	if( (core_lid == 0) && (local_cxy == io_cxy) )
1066	{
1067	print_banner( (info->x_size * info->y_size) , info->cores_nr );
1068
1069	kinit_dmsg("\n\n* memory fooprint of main kernet objects *\n"
1070	" - thread descriptor : %d bytes\n"
1071	" - process descriptor : %d bytes\n"
1072	" - cluster manager : %d bytes\n"
1073	" - chdev descriptor : %d bytes\n"
1074	" - core descriptor : %d bytes\n"
1075	" - scheduler : %d bytes\n"
1076	" - rpc fifo : %d bytes\n"
1077	" - page descriptor : %d bytes\n"
1078	" - mapper root : %d bytes\n"
1079	" - ppm manager : %d bytes\n"
1080	" - kcm manager : %d bytes\n"
1081	" - khm manager : %d bytes\n"
1082	" - vmm manager : %d bytes\n"
1083	" - gpt root : %d bytes\n"
1084	" - list item : %d bytes\n"
1085	" - xlist item : %d bytes\n"
1086	" - spinlock : %d bytes\n"
1087	" - remote spinlock : %d bytes\n"
1088	" - rwlock : %d bytes\n"
1089	" - remote rwlock : %d bytes\n",
1090	sizeof( thread_t ),
1091	sizeof( process_t ),
1092	sizeof( cluster_t ),
1093	sizeof( chdev_t ),
1094	sizeof( core_t ),
1095	sizeof( scheduler_t ),
1096	sizeof( rpc_fifo_t ),
1097	sizeof( page_t ),
1098	sizeof( mapper_t ),
1099	sizeof( ppm_t ),
1100	sizeof( kcm_t ),
1101	sizeof( khm_t ),
1102	sizeof( vmm_t ),
1103	sizeof( gpt_t ),
1104	sizeof( list_entry_t ),
1105	sizeof( xlist_entry_t ),
1106	sizeof( spinlock_t ),
1107	sizeof( remote_spinlock_t ),
1108	sizeof( rwlock_t ),
1109	sizeof( remote_rwlock_t ));
1110	}
1111
1112	// each core activates its private PTI IRQ
1113	dev_pic_enable_timer( CONFIG_SCHED_TICK_PERIOD );
1114
1115	if( (core_lid == 0) && (local_cxy == io_cxy) )
1116	thread_dmsg("\n[INFO] %s complete kernel init in cluster 0 at cycle %d\n"
1117	__FUNCTION__ , (uint32_t)hal_time_stamp() )
1118
1119	// each core jump to idle thread
1120	thread_idle_func();
1121	}
1122

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