This is an automated email from Gerrit.
Jean-Christian de Rivaz (j...@eclis.ch) just uploaded a new patch set to
Gerrit, which you can find at http://openocd.zylin.com/2433
-- gerrit
commit ade15597be41c1305242db1f360579ef212de6f0
Author: Jean-Christian de Rivaz <j...@eclis.ch>
Date: Wed Nov 19 02:53:59 2014 +0100
Add SWD transport to sysfsgpio interface.
Replay the last operation in case of WAIT response after
using the swd_clear_sticky_errors().
Change-Id: I2fea7af1416276c0f2565f44bcac3ad416a22393
Signed-off-by: Jean-Christian de Rivaz <j...@eclis.ch>
diff --git a/src/jtag/drivers/bitbang.c b/src/jtag/drivers/bitbang.c
index 795764a..c403f5d 100644
--- a/src/jtag/drivers/bitbang.c
+++ b/src/jtag/drivers/bitbang.c
@@ -29,6 +29,9 @@
#include <jtag/interface.h>
#include <jtag/commands.h>
+/* YUK! - but this is currently a global.... */
+extern struct jtag_interface *jtag_interface;
+
/**
* Function bitbang_stableclocks
* issues a number of clock cycles while staying in a stable state.
@@ -337,3 +340,207 @@ int bitbang_execute_queue(void)
return retval;
}
+
+
+bool swd_mode;
+static int queued_retval;
+
+static int bitbang_swd_init(void)
+{
+ LOG_DEBUG("bitbang_swd_init");
+ swd_mode = true;
+ return ERROR_OK;
+}
+
+static void bitbang_exchange(bool rnw, uint8_t buf[], unsigned int offset,
unsigned int bit_cnt)
+{
+ LOG_DEBUG("bitbang_exchange");
+ int tdi;
+
+ for (unsigned int i = offset; i < bit_cnt + offset; i++) {
+ int bytec = i/8;
+ int bcval = 1 << (i % 8);
+ tdi = !rnw && (buf[bytec] & bcval);
+
+ bitbang_interface->write(0, 0, tdi);
+
+ if (rnw && buf) {
+ if (bitbang_interface->swdio_read())
+ buf[bytec] |= bcval;
+ else
+ buf[bytec] &= ~bcval;
+ }
+
+ bitbang_interface->write(1, 0, tdi);
+ }
+}
+
+int bitbang_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
+{
+ LOG_DEBUG("bitbang_swd_switch_seq");
+
+ switch (seq) {
+ case LINE_RESET:
+ LOG_DEBUG("SWD line reset");
+ bitbang_exchange(false, (uint8_t *)swd_seq_line_reset, 0,
swd_seq_line_reset_len);
+ break;
+ case JTAG_TO_SWD:
+ LOG_DEBUG("JTAG-to-SWD");
+ bitbang_exchange(false, (uint8_t *)swd_seq_jtag_to_swd, 0,
swd_seq_jtag_to_swd_len);
+ break;
+ case SWD_TO_JTAG:
+ LOG_DEBUG("SWD-to-JTAG");
+ bitbang_exchange(false, (uint8_t *)swd_seq_swd_to_jtag, 0,
swd_seq_swd_to_jtag_len);
+ break;
+ default:
+ LOG_ERROR("Sequence %d not supported", seq);
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+void bitbang_switch_to_swd(void)
+{
+ LOG_DEBUG("bitbang_switch_to_swd");
+ bitbang_exchange(false, (uint8_t *)swd_seq_jtag_to_swd, 0,
swd_seq_jtag_to_swd_len);
+}
+
+static void swd_clear_sticky_errors(struct adiv5_dap *dap)
+{
+ const struct swd_driver *swd = jtag_interface->swd;
+ assert(swd);
+
+ swd->write_reg(dap, swd_cmd(false, false, DP_ABORT),
+ STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR);
+}
+
+static void bitbang_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t
*value)
+{
+ LOG_DEBUG("bitbang_swd_read_reg");
+ assert(cmd & SWD_CMD_RnW);
+
+ if (queued_retval != ERROR_OK) {
+ LOG_DEBUG("Skip bitbang_swd_read_reg because queued_retval=%d",
queued_retval);
+ return;
+ }
+
+ for (;;) {
+ uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 +
4, 8)];
+
+ cmd |= SWD_CMD_START | (1 << 7);
+ bitbang_exchange(false, &cmd, 0, 8);
+
+ bitbang_interface->swdio_drive(false);
+ bitbang_exchange(true, trn_ack_data_parity_trn, 0, 1 + 3 + 32 +
1 + 1);
+ bitbang_interface->swdio_drive(true);
+
+ int ack = buf_get_u32(trn_ack_data_parity_trn, 1, 3);
+ uint32_t data = buf_get_u32(trn_ack_data_parity_trn, 1 + 3, 32);
+ int parity = buf_get_u32(trn_ack_data_parity_trn, 1 + 3 + 32,
1);
+
+ LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
+ ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ?
"WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
+ cmd & SWD_CMD_APnDP ? "AP" : "DP",
+ cmd & SWD_CMD_RnW ? "read" : "write",
+ (cmd & SWD_CMD_A32) >> 1,
+ data);
+
+ if (ack == SWD_ACK_WAIT) {
+ LOG_DEBUG("SWD_ACK_WAIT");
+ swd_clear_sticky_errors(dap);
+ continue;
+ }
+
+ if (ack != SWD_ACK_OK) {
+ LOG_DEBUG("No acknowledge detected");
+ queued_retval = ack;
+ return;
+ }
+
+ if (parity != parity_u32(data)) {
+ LOG_DEBUG("Wrong parity detected");
+ queued_retval = ERROR_FAIL;
+ return;
+ }
+
+ if (value)
+ *value = data;
+ break;
+ }
+
+ if (cmd & SWD_CMD_APnDP)
+ bitbang_exchange(true, NULL, 0, dap->memaccess_tck);
+}
+
+static void bitbang_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t
value)
+{
+ LOG_DEBUG("bitbang_swd_write_reg");
+ assert(!(cmd & SWD_CMD_RnW));
+
+ if (queued_retval != ERROR_OK) {
+ LOG_DEBUG("Skip bitbang_swd_write_reg because
queued_retval=%d", queued_retval);
+ return;
+ }
+
+ for (;;) {
+ uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 +
4, 8)];
+ buf_set_u32(trn_ack_data_parity_trn, 1 + 3 + 1, 32, value);
+ buf_set_u32(trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1,
parity_u32(value));
+
+ cmd |= SWD_CMD_START | (1 << 7);
+ bitbang_exchange(false, &cmd, 0, 8);
+
+ bitbang_interface->swdio_drive(false);
+ bitbang_exchange(true, trn_ack_data_parity_trn, 0, 1 + 3 + 1);
+ bitbang_interface->swdio_drive(true);
+
+ int ack = buf_get_u32(trn_ack_data_parity_trn, 1, 3);
+ LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
+ ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ?
"WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
+ cmd & SWD_CMD_APnDP ? "AP" : "DP",
+ cmd & SWD_CMD_RnW ? "read" : "write",
+ (cmd & SWD_CMD_A32) >> 1,
+ buf_get_u32(trn_ack_data_parity_trn, 1 + 3 + 1, 32));
+
+ if (ack == SWD_ACK_WAIT) {
+ bitbang_exchange(false, trn_ack_data_parity_trn, 1 + 3
+ 1, 32 + 1);
+ LOG_DEBUG("SWD_ACK_WAIT");
+ swd_clear_sticky_errors(dap);
+ continue;
+ }
+
+ if (ack != SWD_ACK_OK) {
+ LOG_DEBUG("No acknowledge detected");
+ queued_retval = ack;
+ return;
+ }
+
+ bitbang_exchange(false, trn_ack_data_parity_trn, 1 + 3 + 1, 32
+ 1);
+ break;
+ }
+
+ if (cmd & SWD_CMD_APnDP)
+ bitbang_exchange(true, NULL, 0, dap->memaccess_tck);
+}
+
+static int bitbang_swd_run_queue(struct adiv5_dap *dap)
+{
+ LOG_DEBUG("bitbang_swd_run_queue");
+ /* A transaction must be followed by another transaction or at least 8
idle cycles to
+ * ensure that data is clocked through the AP. */
+ bitbang_exchange(true, NULL, 0, 8);
+
+ int retval = queued_retval;
+ queued_retval = ERROR_OK;
+ LOG_DEBUG("SWD queue return value: %02x", retval);
+ return retval;
+}
+
+const struct swd_driver bitbang_swd = {
+ .init = bitbang_swd_init,
+ .switch_seq = bitbang_swd_switch_seq,
+ .read_reg = bitbang_swd_read_reg,
+ .write_reg = bitbang_swd_write_reg,
+ .run = bitbang_swd_run_queue,
+};
diff --git a/src/jtag/drivers/bitbang.h b/src/jtag/drivers/bitbang.h
index 6b7d63a..52e113d 100644
--- a/src/jtag/drivers/bitbang.h
+++ b/src/jtag/drivers/bitbang.h
@@ -24,6 +24,8 @@
#ifndef BITBANG_H
#define BITBANG_H
+#include <jtag/swd.h>
+
struct bitbang_interface {
/* low level callbacks (for bitbang)
*/
@@ -31,10 +33,18 @@ struct bitbang_interface {
void (*write)(int tck, int tms, int tdi);
void (*reset)(int trst, int srst);
void (*blink)(int on);
+ int (*swdio_read)(void);
+ void (*swdio_drive)(bool on);
};
+const struct swd_driver bitbang_swd;
+
+extern bool swd_mode;
+
int bitbang_execute_queue(void);
extern struct bitbang_interface *bitbang_interface;
+void bitbang_switch_to_swd(void);
+int bitbang_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq);
#endif /* BITBANG_H */
diff --git a/src/jtag/drivers/sysfsgpio.c b/src/jtag/drivers/sysfsgpio.c
index dfb4dcb..1a8bd3e 100644
--- a/src/jtag/drivers/sysfsgpio.c
+++ b/src/jtag/drivers/sysfsgpio.c
@@ -139,17 +139,26 @@ static int setup_sysfs_gpio(int gpio, int is_output, int
init_high)
}
snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/value", gpio);
- if (is_output)
- ret = open(buf, O_WRONLY | O_NONBLOCK | O_SYNC);
- else
- ret = open(buf, O_RDONLY | O_NONBLOCK | O_SYNC);
-
- if (ret < 0)
+ ret = open(buf, O_RDWR | O_NONBLOCK | O_SYNC);
+ if (ret < 0) {
+ LOG_ERROR("Couldn't open value for gpio %d", gpio);
+ perror("sysfsgpio: ");
unexport_sysfs_gpio(gpio);
+ }
return ret;
}
+/* gpio numbers for each gpio. Negative values are invalid */
+static int tck_gpio = -1;
+static int tms_gpio = -1;
+static int tdi_gpio = -1;
+static int tdo_gpio = -1;
+static int trst_gpio = -1;
+static int srst_gpio = -1;
+static int swclk_gpio = -1;
+static int swdio_gpio = -1;
+
/*
* file descriptors for /sys/class/gpio/gpioXX/value
* Set up during init.
@@ -160,6 +169,72 @@ static int tdi_fd = -1;
static int tdo_fd = -1;
static int trst_fd = -1;
static int srst_fd = -1;
+static int swclk_fd = -1;
+static int swdio_fd = -1;
+
+static int last_swclk;
+static int last_swdio;
+static bool last_stored;
+static bool swdio_input;
+
+static void sysfsgpio_swdio_drive(bool is_output)
+{
+ char buf[40];
+ int ret;
+
+ snprintf(buf, sizeof(buf), "/sys/class/gpio/gpio%d/direction",
swdio_gpio);
+ ret = open_write_close(buf, is_output ? "high" : "in");
+ if (ret < 0) {
+ LOG_ERROR("Couldn't set direction for gpio %d", swdio_gpio);
+ perror("sysfsgpio: ");
+ }
+
+ last_stored = false;
+ swdio_input = !is_output;
+}
+
+static int sysfsgpio_swdio_read(void)
+{
+ char buf[1];
+
+ /* important to seek to signal sysfs of new read */
+ lseek(swdio_fd, 0, SEEK_SET);
+ int ret = read(swdio_fd, &buf, sizeof(buf));
+
+ if (ret < 0) {
+ LOG_WARNING("reading swdio failed");
+ return 0;
+ }
+
+ return buf[0] == '1';
+}
+
+static void sysfsgpio_swdio_write(int swclk, int swdio)
+{
+ const char one[] = "1";
+ const char zero[] = "0";
+
+ size_t bytes_written;
+
+ if (!swdio_input) {
+ if (!last_stored || (swdio != last_swdio)) {
+ bytes_written = write(swdio_fd, swdio ? &one : &zero,
1);
+ if (bytes_written != 1)
+ LOG_WARNING("writing swdio failed");
+ }
+ }
+
+ /* write swclk last */
+ if (!last_stored || (swclk != last_swclk)) {
+ bytes_written = write(swclk_fd, swclk ? &one : &zero, 1);
+ if (bytes_written != 1)
+ LOG_WARNING("writing swclk failed");
+ }
+
+ last_swdio = swdio;
+ last_swclk = swclk;
+ last_stored = true;
+}
/*
* Bitbang interface read of TDO
@@ -191,6 +266,11 @@ static int sysfsgpio_read(void)
*/
static void sysfsgpio_write(int tck, int tms, int tdi)
{
+ if (swd_mode) {
+ sysfsgpio_swdio_write(tck, tdi);
+ return;
+ }
+
const char one[] = "1";
const char zero[] = "0";
@@ -239,6 +319,7 @@ static void sysfsgpio_write(int tck, int tms, int tdi)
*/
static void sysfsgpio_reset(int trst, int srst)
{
+ LOG_DEBUG("sysfsgpio_reset");
const char one[] = "1";
const char zero[] = "0";
size_t bytes_written;
@@ -258,14 +339,6 @@ static void sysfsgpio_reset(int trst, int srst)
}
}
-/* gpio numbers for each gpio. Negative values are invalid */
-static int tck_gpio = -1;
-static int tms_gpio = -1;
-static int tdi_gpio = -1;
-static int tdo_gpio = -1;
-static int trst_gpio = -1;
-static int srst_gpio = -1;
-
COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionums)
{
if (CMD_ARGC == 4) {
@@ -338,6 +411,40 @@ COMMAND_HANDLER(sysfsgpio_handle_jtag_gpionum_trst)
return ERROR_OK;
}
+COMMAND_HANDLER(sysfsgpio_handle_swd_gpionums)
+{
+ if (CMD_ARGC == 2) {
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
+ } else if (CMD_ARGC != 0) {
+ return ERROR_COMMAND_SYNTAX_ERROR;
+ }
+
+ command_print(CMD_CTX,
+ "SysfsGPIO nums: swclk = %d, swdio = %d",
+ swclk_gpio, swdio_gpio);
+
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(sysfsgpio_handle_swd_gpionum_swclk)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
+
+ command_print(CMD_CTX, "SysfsGPIO num: swclk = %d", swclk_gpio);
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(sysfsgpio_handle_swd_gpionum_swdio)
+{
+ if (CMD_ARGC == 1)
+ COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
+
+ command_print(CMD_CTX, "SysfsGPIO num: swdio = %d", swdio_gpio);
+ return ERROR_OK;
+}
+
static const struct command_registration sysfsgpio_command_handlers[] = {
{
.name = "sysfsgpio_jtag_nums",
@@ -382,17 +489,39 @@ static const struct command_registration
sysfsgpio_command_handlers[] = {
.mode = COMMAND_CONFIG,
.help = "gpio number for trst.",
},
+ {
+ .name = "sysfsgpio_swd_nums",
+ .handler = &sysfsgpio_handle_swd_gpionums,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio numbers for swclk, swdio. (in that order)",
+ .usage = "(swclk swdio)* ",
+ },
+ {
+ .name = "sysfsgpio_swclk_num",
+ .handler = &sysfsgpio_handle_swd_gpionum_swclk,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for swclk.",
+ },
+ {
+ .name = "sysfsgpio_swdio_num",
+ .handler = &sysfsgpio_handle_swd_gpionum_swdio,
+ .mode = COMMAND_CONFIG,
+ .help = "gpio number for swdio.",
+ },
COMMAND_REGISTRATION_DONE
};
static int sysfsgpio_init(void);
static int sysfsgpio_quit(void);
+static const char * const sysfsgpio_transports[] = { "jtag", "swd", NULL };
+
struct jtag_interface sysfsgpio_interface = {
.name = "sysfsgpio",
.supported = DEBUG_CAP_TMS_SEQ,
.execute_queue = bitbang_execute_queue,
- .transports = jtag_only,
+ .transports = sysfsgpio_transports,
+ .swd = &bitbang_swd,
.commands = sysfsgpio_command_handlers,
.init = sysfsgpio_init,
.quit = sysfsgpio_quit,
@@ -402,6 +531,8 @@ static struct bitbang_interface sysfsgpio_bitbang = {
.read = sysfsgpio_read,
.write = sysfsgpio_write,
.reset = sysfsgpio_reset,
+ .swdio_read = sysfsgpio_swdio_read,
+ .swdio_drive = sysfsgpio_swdio_drive,
.blink = 0
};
@@ -426,68 +557,113 @@ static void cleanup_all_fds(void)
cleanup_fd(srst_fd, srst_gpio);
}
+static bool sysfsgpio_jtag_mode_possible(void)
+{
+ if (!is_gpio_valid(tck_gpio))
+ return 0;
+ if (!is_gpio_valid(tms_gpio))
+ return 0;
+ if (!is_gpio_valid(tdi_gpio))
+ return 0;
+ if (!is_gpio_valid(tdo_gpio))
+ return 0;
+ return 1;
+}
+
+static bool sysfsgpio_swd_mode_possible(void)
+{
+ if (!is_gpio_valid(swclk_gpio))
+ return 0;
+ if (!is_gpio_valid(swdio_gpio))
+ return 0;
+ return 1;
+}
+
static int sysfsgpio_init(void)
{
bitbang_interface = &sysfsgpio_bitbang;
- LOG_INFO("SysfsGPIO JTAG bitbang driver");
-
- if (!(is_gpio_valid(tck_gpio)
- && is_gpio_valid(tms_gpio)
- && is_gpio_valid(tdi_gpio)
- && is_gpio_valid(tdo_gpio))) {
- if (!is_gpio_valid(tck_gpio))
- LOG_ERROR("gpio num for tck is invalid");
- if (!is_gpio_valid(tms_gpio))
- LOG_ERROR("gpio num for tms is invalid");
- if (!is_gpio_valid(tdo_gpio))
- LOG_ERROR("gpio num for tdo is invalid");
- if (!is_gpio_valid(tdi_gpio))
- LOG_ERROR("gpio num for tdi is invalid");
-
- LOG_ERROR("Require tck, tms, tdi and tdo gpios to all be
specified");
- return ERROR_JTAG_INIT_FAILED;
- }
+ LOG_INFO("SysfsGPIO JTAG/SWD bitbang driver");
- if (!is_gpio_valid(trst_gpio) && !is_gpio_valid(srst_gpio)) {
- LOG_ERROR("Require at least one of trst or srst gpios to be
specified");
+ if (sysfsgpio_jtag_mode_possible()) {
+ if (sysfsgpio_swd_mode_possible())
+ LOG_INFO("JTAG and SWD modes enabled");
+ else
+ LOG_INFO("JTAG only mode enabled (specify swclk and
swdio gpio to add SWD mode)");
+ if (!is_gpio_valid(trst_gpio) && !is_gpio_valid(srst_gpio)) {
+ LOG_ERROR("Require at least one of trst or srst gpios
to be specified");
+ return ERROR_JTAG_INIT_FAILED;
+ }
+ } else if (sysfsgpio_swd_mode_possible()) {
+ LOG_INFO("SWD only mode enabled (specify tck, tms, tdi and tdo
gpios to add JTAG mode)");
+ } else {
+ LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode
and/or swclk and swdio gpio for SWD mode");
return ERROR_JTAG_INIT_FAILED;
}
+
/*
* Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
* as outputs. Drive TDI and TCK low, and TMS/TRST/SRST high.
+ * For SWD, SWCLK and SWDIO are configures as output high.
*/
- tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0);
- if (tck_fd < 0)
- goto out_error;
+ if (tck_gpio >= 0) {
+ tck_fd = setup_sysfs_gpio(tck_gpio, 1, 0);
+ if (tck_fd < 0)
+ goto out_error;
+ }
- tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1);
- if (tms_fd < 0)
- goto out_error;
+ if (tms_gpio >= 0) {
+ tms_fd = setup_sysfs_gpio(tms_gpio, 1, 1);
+ if (tms_fd < 0)
+ goto out_error;
+ }
- tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0);
- if (tdi_fd < 0)
- goto out_error;
+ if (tdi_gpio >= 0) {
+ tdi_fd = setup_sysfs_gpio(tdi_gpio, 1, 0);
+ if (tdi_fd < 0)
+ goto out_error;
+ }
- tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0);
- if (tdo_fd < 0)
- goto out_error;
+ if (tdo_gpio >= 0) {
+ tdo_fd = setup_sysfs_gpio(tdo_gpio, 0, 0);
+ if (tdo_fd < 0)
+ goto out_error;
+ }
/* assume active low*/
- if (trst_gpio > 0) {
+ if (trst_gpio >= 0) {
trst_fd = setup_sysfs_gpio(trst_gpio, 1, 1);
if (trst_fd < 0)
goto out_error;
}
/* assume active low*/
- if (srst_gpio > 0) {
+ if (srst_gpio >= 0) {
srst_fd = setup_sysfs_gpio(srst_gpio, 1, 1);
if (srst_fd < 0)
goto out_error;
}
+ if (swclk_gpio >= 0) {
+ swclk_fd = setup_sysfs_gpio(swclk_gpio, 1, 0);
+ if (swclk_fd < 0)
+ goto out_error;
+ }
+
+ if (swdio_gpio >= 0) {
+ swdio_fd = setup_sysfs_gpio(swdio_gpio, 1, 0);
+ if (swdio_fd < 0)
+ goto out_error;
+ }
+
+ if (sysfsgpio_swd_mode_possible()) {
+ if (swd_mode)
+ bitbang_swd_switch_seq(NULL, JTAG_TO_SWD);
+ else
+ bitbang_swd_switch_seq(NULL, SWD_TO_JTAG);
+ }
+
return ERROR_OK;
out_error:
--
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