I.MX6Q学习笔记——新版BSP之kernel移植

freewing · 发表于 2015-5-22 09:28:01

　　本文由博主girlkoo编写，关于E9与TQIMX6Q开发平台kernel移植的文章。
　　前篇文章已经在tqimx6q上成功跑起了新版BSP的uboot，本文来配置下新版BSP的kernel，使kernel能在tqimx6q上正常启动。

　　准备工作
　　每次移植kernel的时候都会做的工作就是找到与当前开发板接近的config，其实uboot移植的时候也是一样的。由于tqimx6q的芯片是imx6q的，所以，还是以mx6q_sabresd为例。另外，自己动手移植BSP时应该充分使用官方文档，本人以为，以下文档是非常有用的：
　　(1) i.MX 6 BSP Porting Guide：该文档详细的记载了BSP移植的流程。
　　(2) i.MX 6 SABRE-SD Linux User's Guide：该文档详细的记载了各种启动介质的制作方法。
　　在第二份文章中搜索defconfig，就可以找到imx6q使用的config文件是：imx_v7_defconfig，如果直接在arch/arm/configs目录下grep搜索MX6Q的话，可以搜到三个文件，其实也是可以确认使用哪个配置文件比较合适的。

　　内核移植
　　确定好了配置文件，接下看就开始内核移植。本文的目前不是移植好所有的驱动，而是先让内核能够在tqimx6q开发板上跑起来，接下来再去慢慢各个击破驱动。
　　Step1. 定制DTS

cp imx6q-sabresd.dts imx6q-tqimx6q.dts
cp imx6qdl-sabresd.dtsi tqimx6q.dtsi

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　　Step2. 修改include文件
　　用自己熟悉的文本编辑器打开文件mx6q-tqimx6q.dts，然后将imx6qdl-sabresd.dtsi改为tqimx6q.dtsi。
　　Step3. 定制pinctrl
　　移植uboot的时候就知道，sabresd开发板的系统uart端子与tqimx6q的是不一致的，而且SD3的端子与tqimx6q的uart端子冲突，因此配置这几个端子的pinctrl即可。其实，我认为freescale维护这个版本的DTB结构不是太好，imx6qdl.dtsi应该是imx6qdl共通的配置，不应该将uart这些pinctrl添加在这里，如果添加在这里的话应该将各种配置情况都罗列出来。本文没有尝试改变这种结构，在现有结构的基础上，尽可能少的修改了DTS文件，具体步骤如下：
　　打开imx6qdl.dtsi，然后做如下修改：

　　(1) 打开imx6qdl.dtsi，添加tqimx6q的uart pinctrl配置。

uart1 {
...
pinctrl_uart1_2: uart1grp-2 {
fsl,pins = <
MX6QDL_PAD_SD3_DAT7__UART1_TX_DATA 0x1b0b1
MX6QDL_PAD_SD3_DAT6__UART1_RX_DATA 0x1b0b1
>;
};
};

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　　实际上就是在原有uart pinctrl配置的基础上又添加了另外一种配置方式。

　　(2) 打开tqimx6q.dtsi，将uart1的pinctrl指定为pinctrl_uart1_2。

&uart1 {
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_uart1_2>;
status = "okay";
};

　　(3) 板载SD卡配置修改

&usdhc2 {
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_usdhc2_2>;
cd-gpios = <&gpio1 4 0>;
wp-gpios = <&gpio1 2 0>;
no-1-8-v;
keep-power-in-suspend;
enable-sdio-wakeup;
status = "okay";
};

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　　重新指定了pinctrl、cd(card detect)和wp(write protection)端子。
　　(4) 板载SD WIFI接口赞改

　　由于tqimx6q的SD3用户SDIO WIFI，且SD3_DAT7和SD3_DAT6端子用作uart，故需要修改其pinctrl，不至于与uart冲突。我们将SD3的pinctrl暂作如下修改：

&usdhc3 {
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_usdhc3_2>;
cd-gpios = <&gpio2 0 0>;
wp-gpios = <&gpio2 1 0>;
no-1-8-v;
keep-power-in-suspend;
enable-sdio-wakeup;
status = "okay";
};

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　　Step4. 设置环境变量

export ARCH=arm
export CROSS_COMPILE=arm-linux-gnueabi-

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　　Step5. 配置内核

make imx_v7_defconfig

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　　由于官方默认方式是使用传统的ATAGS方式传递内核参数的，但为了提高开发效率，本文还是使用了新的DTB方式传递内核参数。为此，需要配置内核，关闭老式ATAGS方式内核参数传递的支持：

make menuconfig

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　　然后将如下配置项取消：

Boot options --->
Support for the traditional ATAGS boot data passing (NEW)

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　　Step6. 编译内核及DTB

　　修改并保存内核配置项之后就可以尝试编译内核了：

make uImage LOADADDR=0x12000000

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　　内核编译时间比较长，需耐心等待。内核编译完成后编译DTB：

make imx6q-tqimx6q.dtb

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　　烧写镜像
　　内核编译完成后可以得到内核镜像zImage和DTB文件tqimx6q.dtb，接下来我们将这两个文件烧写到SD卡并尝试启动开发板。

　　(1) 烧写内核镜像

sudo dd if=uImage of=/dev/sdb bs=512 seek=2048 conv=fsync

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　　(2) 烧写DTB文件

sudo dd if=tqimx6q.dtb of=/dev/sdb bs=512 seek=20480 conv=fsync

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通过以上指令，将zImage烧写到SD卡偏移1M的位置上，讲tqimx6q.dtb烧写到了SD卡偏移10M的位置上。

启动内核
将SD卡插到开发板后给开发板上电，按任意键打断uboot启动，并按如下内容配置uboot环境变量。

setenv bootargs 'noinitrd console=ttymxc0,115200 root=/dev/mmcblk0p1 rw init=/linuxrc'
setenv bootcmd 'mmc dev 0; mmc read 0x11ffffc0 0x800 0x3000; mmc read 0x18000000 0x5000 0x800; bootm 0x11ffffc0 - 0x18000000'
saveenv

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　　然后重启开发板即成功启动内核。

　　效果展示

　　内核启动Log如下：

U-Boot 2013.04-04987-g98fdbdc-dirty (May 03 2015 - 11:46:24)
CPU: Freescale i.MX6Q rev1.2 at 792 MHz
CPU: Temperature 39 C, calibration data: 0x54e4bb69
Reset cause: POR
Board: MX6Q/SDL-SabreSD
I2C: ready
DRAM: 1 GiB
MMC: FSL_SDHC: 0, FSL_SDHC: 1, FSL_SDHC: 2
No panel detected: default to Hannstar-XGA
Display: Hannstar-XGA (1024x768)
In: serial
Out: serial
Err: serial
mmc0 is current device
Net: Phy not found
PHY reset timed out
FEC [PRIME]
Warning: failed to set MAC address
Normal Boot
Hit any key to stop autoboot: 0
mmc0 is current device
MMC read: dev # 0, block # 2048, count 12288 ... 12288 blocks read: OK
MMC read: dev # 0, block # 20480, count 2048 ... 2048 blocks read: OK
## Booting kernel from Legacy Image at 11ffffc0 ...
Image Name: Linux-3.10.17-80739-g33597e3-dir
Image Type: ARM Linux Kernel Image (uncompressed)
Data Size: 5289224 Bytes = 5 MiB
Load Address: 12000000
Entry Point: 12000000
Verifying Checksum ... OK
## Flattened Device Tree blob at 18000000
Booting using the fdt blob at 0x18000000
XIP Kernel Image ... OK
OK
Read SW1AB error!
Using Device Tree in place at 18000000, end 1800e8e7
Starting kernel ...
Booting Linux on physical CPU 0x0
Linux version 3.10.17-80739-g33597e3-dirty (lilianrong@lenovo) (gcc version 4.7.3 (Ubuntu/Linaro 4.7.3-12ubuntu1) ) #1 SMP PREEMPT Sun May 3 11:31:37 CST 2015
CPU: ARMv7 Processor [412fc09a] revision 10 (ARMv7), cr=10c53c7d
CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
Machine: Freescale i.MX6 Quad/DualLite (Device Tree), model: Freescale i.MX6 Quad SABRE Smart Device Board
cma: CMA: reserved 320 MiB at 3c000000
Memory policy: ECC disabled, Data cache writealloc
PERCPU: Embedded 8 pages/cpu @814fd000 s8896 r8192 d15680 u32768
Built 1 zonelists in Zone order, mobility grouping on. Total pages: 260096
Kernel command line: console=ttymxc0,115200 root=/dev/mmcblk1p1 rootwait rw
PID hash table entries: 4096 (order: 2, 16384 bytes)
Dentry cache hash table entries: 131072 (order: 7, 524288 bytes)
Inode-cache hash table entries: 65536 (order: 6, 262144 bytes)
Memory: 1024MB = 1024MB total
Memory: 697768k/697768k available, 350808k reserved, 0K highmem
Virtual kernel memory layout:
vector : 0xffff0000 - 0xffff1000 ( 4 kB)
fixmap : 0xfff00000 - 0xfffe0000 ( 896 kB)
vmalloc : 0xc0800000 - 0xff000000 (1000 MB)
lowmem : 0x80000000 - 0xc0000000 (1024 MB)
pkmap : 0x7fe00000 - 0x80000000 ( 2 MB)
modules : 0x7f000000 - 0x7fe00000 ( 14 MB)
.text : 0x80008000 - 0x80be704c (12157 kB)
.init : 0x80be8000 - 0x80c2a2c0 ( 265 kB)
.data : 0x80c2c000 - 0x80c7c260 ( 321 kB)
.bss : 0x80c7c260 - 0x80ce5434 ( 421 kB)
SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=4, Nodes=1
Preemptible hierarchical RCU implementation.
NR_IRQS:16 nr_irqs:16 16
L310 cache controller enabled
l2x0: 16 ways, CACHE_ID 0x410000c7, AUX_CTRL 0x32070000, Cache size: 1048576 B
sched_clock: 32 bits at 3000kHz, resolution 333ns, wraps every 1431655ms
CPU identified as i.MX6Q, silicon rev 1.2
Console: colour dummy device 80x30
Calibrating delay loop... 1581.05 BogoMIPS (lpj=7905280)
pid_max: default: 32768 minimum: 301
Mount-cache hash table entries: 512
CPU: Testing write buffer coherency: ok
CPU0: thread -1, cpu 0, socket 0, mpidr 80000000
Setting up static identity map for 0x80610608 - 0x80610660
CPU1: Booted secondary processor
CPU1: thread -1, cpu 1, socket 0, mpidr 80000001
CPU2: Booted secondary processor
CPU2: thread -1, cpu 2, socket 0, mpidr 80000002
CPU3: Booted secondary processor
CPU3: thread -1, cpu 3, socket 0, mpidr 80000003
Brought up 4 CPUs
SMP: Total of 4 processors activated (6324.22 BogoMIPS).
CPU: All CPU(s) started in SVC mode.
devtmpfs: initialized
pinctrl core: initialized pinctrl subsystem
regulator-dummy: no parameters
NET: Registered protocol family 16
DMA: preallocated 256 KiB pool for atomic coherent allocations
Use WDOG2 as reset source
syscon 20c8000.anatop: regmap [mem 0x020c8000-0x020c8fff] registered
vdd1p1: 800 <--> 1375 mV at 1125 mV
vdd3p0: 2800 <--> 3150 mV at 3000 mV
vdd2p5: 2000 <--> 2750 mV at 2425 mV
cpu: 725 <--> 1450 mV at 1150 mV
vddpu: 725 <--> 1450 mV
vddsoc: 725 <--> 1450 mV at 1200 mV
syscon 20e0000.iomuxc-gpr: regmap [mem 0x020e0000-0x020e0037] registered
syscon 21bc000.ocotp-ctrl: regmap [mem 0x021bc000-0x021bffff] registered
hw-breakpoint: found 5 (+1 reserved) breakpoint and 1 watchpoint registers.
hw-breakpoint: maximum watchpoint size is 4 bytes.
imx6q-pinctrl 20e0000.iomuxc: initialized IMX pinctrl driver
bio: create slab <bio-0> at 0
mxs-dma 110000.dma-apbh: initialized
usb_otg_vbus: 5000 mV
usb_h1_vbus: 5000 mV
wm8962-supply: no parameters
mipi_dsi_pwr_on: no parameters
sensor-supply: 3300 mV
i2c-core: driver [max17135] using legacy suspend method
i2c-core: driver [max17135] using legacy resume method
SCSI subsystem initialized
usbcore: registered new interface driver usbfs
usbcore: registered new interface driver hub
usbcore: registered new device driver usb
i2c i2c-0: IMX I2C adapter registered
i2c i2c-1: IMX I2C adapter registered
i2c i2c-2: IMX I2C adapter registered
Linux video capture interface: v2.00
pps_core: LinuxPPS API ver. 1 registered
pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
PTP clock support registered
imx-ipuv3 2400000.ipu: IPU DMFC NORMAL mode: 1(0~1), 5B(4,5), 5F(6,7)
imx-ipuv3 2800000.ipu: IPU DMFC NORMAL mode: 1(0~1), 5B(4,5), 5F(6,7)
mxc_mipi_csi2 21dc000.mipi_csi: i.MX MIPI CSI2 driver probed
mxc_mipi_csi2 21dc000.mipi_csi: i.MX MIPI CSI2 dphy version is 0x3130302a
MIPI CSI2 driver module loaded
Advanced Linux Sound Architecture Driver Initialized.
cfg80211: Calling CRDA to update world regulatory domain
Switching to clocksource mxc_timer1
NET: Registered protocol family 2
TCP established hash table entries: 8192 (order: 4, 65536 bytes)
TCP bind hash table entries: 8192 (order: 4, 65536 bytes)
TCP: Hash tables configured (established 8192 bind 8192)
TCP: reno registered
UDP hash table entries: 512 (order: 2, 16384 bytes)
UDP-Lite hash table entries: 512 (order: 2, 16384 bytes)
NET: Registered protocol family 1
RPC: Registered named UNIX socket transport module.
RPC: Registered udp transport module.
RPC: Registered tcp transport module.
RPC: Registered tcp NFSv4.1 backchannel transport module.
hw perfevents: enabled with ARMv7 Cortex-A9 PMU driver, 7 counters available
pureg-dummy: no parameters
imx6_busfreq busfreq.15: DDR medium rate not supported.
Bus freq driver module loaded
VFS: Disk quotas dquot_6.5.2
Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
NFS: Registering the id_resolver key type
Key type id_resolver registered
Key type id_legacy registered
jffs2: version 2.2. (NAND) 漏 2001-2006 Red Hat, Inc.
fuse init (API version 7.22)
msgmni has been set to 2002
io scheduler noop registered
io scheduler deadline registered
io scheduler cfq registered (default)
imx-weim 21b8000.weim: WEIM driver registered.
mxc_mipi_dsi 21e0000.mipi: i.MX MIPI DSI driver probed
MIPI DSI driver module loaded
mxc_sdc_fb fb.30: register mxc display driver ldb
imx-ipuv3 2800000.ipu: IPU DMFC DP HIGH RESOLUTION: 1(0,1), 5B(2~5), 5F(6,7)
Console: switching to colour frame buffer device 128x48
mxc_sdc_fb fb.31: register mxc display driver hdmi
mxc_hdmi 20e0000.hdmi_video: Detected HDMI controller 0x13:0xa:0xa0:0xc1
fbcvt: 1920x1080@60: CVT Name - 2.073M9
mxc_sdc_fb fb.32: register mxc display driver lcd
mxc_sdc_fb fb.32: ipu0-di0 already in use
mxc_sdc_fb: probe of fb.32 failed with error -16
mxc_sdc_fb fb.33: register mxc display driver ldb
imx-sdma 20ec000.sdma: no iram assigned, using external mem
imx-sdma 20ec000.sdma: loaded firmware 1.1
imx-sdma 20ec000.sdma: initialized
pfuze100-regulator 1-0008: unrecognized pfuze chip ID!
pfuze100-regulator: probe of 1-0008 failed with error -5
Serial: IMX driver
2020000.serial: ttymxc0 at MMIO 0x2020000 (irq = 58) is a IMX
console [ttymxc0] enabled
serial: Freescale lpuart driver
[drm] Initialized drm 1.1.0 20060810
[drm] Initialized vivante 1.0.0 20120216 on minor 0
brd: module loaded
loop: module loaded
Wait for CR ACK error!
sata phy RX_PLL is stable!
ahci: SSS flag set, parallel bus scan disabled
ahci ahci: AHCI 0001.0300 32 slots 1 ports 3 Gbps 0x1 impl platform mode
ahci ahci: flags: ncq sntf stag pm led clo only pmp pio slum part ccc apst
scsi0 : ahci_platform
ata1: SATA max UDMA/133 mmio [mem 0x02200000-0x02203fff] port 0x100 irq 71
m25p80 spi32766.0: found mr25h256, expected m25p32
m25p80 spi32766.0: mr25h256 (32 Kbytes)
spi_imx 2008000.ecspi: probed
CAN device driver interface
fec 2188000.ethernet (unregistered net_device): Invalid MAC address: 00:00:00:00:00:00
fec 2188000.ethernet (unregistered net_device): Using random MAC address: 1a:54:2d:73:ce:bf
libphy: fec_enet_mii_bus: probed
fec 2188000.ethernet eth0: registered PHC device 0
ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
usbcore: registered new interface driver usb-storage
ci_hdrc ci_hdrc.1: doesn't support gadget
ci_hdrc ci_hdrc.1: EHCI Host Controller
ci_hdrc ci_hdrc.1: new USB bus registered, assigned bus number 1
ci_hdrc ci_hdrc.1: USB 2.0 started, EHCI 1.00
hub 1-0:1.0: USB hub found
hub 1-0:1.0: 1 port detected
mousedev: PS/2 mouse device common for all mice
elan-touch 2-0010: elan - Read Hello Packet Failed
elan-touch: probe of 2-0010 failed with error -22
egalax_ts 1-0004: Failed to read firmware version
egalax_ts: probe of 1-0004 failed with error -5
egalax_ts 2-0004: Failed to read firmware version
egalax_ts: probe of 2-0004 failed with error -5
input: max11801_ts as /devices/soc0/soc.1/2100000.aips-bus/21a4000.i2c/i2c-1/1-0048/input/input0
i2c-core: driver [isl29023] using legacy suspend method
i2c-core: driver [isl29023] using legacy resume method
snvs_rtc 20cc034.snvs-rtc-lp: rtc core: registered 20cc034.snvs-rtc-lp as rtc0
i2c /dev entries driver
mxc_v4l2_output v4l2_out.38: V4L2 device registered as video16
mxc_v4l2_output v4l2_out.38: V4L2 device registered as video17
mxc_v4l2_output v4l2_out.38: V4L2 device registered as video18
mxc_v4l2_output v4l2_out.38: V4L2 device registered as video19
mxc_v4l2_output v4l2_out.38: V4L2 device registered as video20
ata1: SATA link down (SStatus 0 SControl 300)
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
max11801_ts 1-0048: FIFO_RD_AUX_MSB read fails
usb 1-1: new high-speed USB device number 2 using ci_hdrc
mag3110 2-000e: check mag3110 chip ID
mag3110 2-000e: read chip ID 0xfffffffb is not equal to 0xc4!
mag3110: probe of 2-000e failed with error -22
i2c-core: driver [mag3110] using legacy suspend method
i2c-core: driver [mag3110] using legacy resume method
mma8451 0-001c: read chip ID 0x1 is not equal to 0x1a or 0x2a!
mma8451: probe of 0-001c failed with error -22
imx2-wdt 20bc000.wdog: IMX2+ Watchdog Timer enabled. timeout=60s (nowayout=0)
cpuidle: using governor ladder
cpuidle: using governor menu
sdhci: Secure Digital Host Controller Interface driver
sdhci: Copyright(c) Pierre Ossman
sdhci-pltfm: SDHCI platform and OF driver helper
mmc0: no vqmmc regulator found
mmc0: no vmmc regulator found
mmc0: SDHCI controller on 2194000.usdhc [2194000.usdhc] using ADMA
mmc1: no vqmmc regulator found
mmc1: no vmmc regulator found
hub 1-1:1.0: USB hub found
hub 1-1:1.0: 4 ports detected
mmc1: SDHCI controller on 2198000.usdhc [2198000.usdhc] using ADMA
mmc2: no vqmmc regulator found
mmc2: no vmmc regulator found
mmc0: new high speed SDHC card at address e624
mmcblk0: mmc0:e624 SS08G 7.40 GiB
mmcblk0: unknown partition table
mmc2: SDHCI controller on 219c000.usdhc [219c000.usdhc] using ADMA
mmc2: BKOPS_EN bit is not set
mmc2: new high speed DDR MMC card at address 0001
mmcblk1: mmc2:0001 008G92 7.28 GiB
mmcblk1boot0: mmc2:0001 008G92 partition 1 4.00 MiB
mmcblk1boot1: mmc2:0001 008G92 partition 2 4.00 MiB
mmcblk1rpmb: mmc2:0001 008G92 partition 3 512 KiB
mmcblk1: p1 p2 p3 < p5 p6 p7 > p4
mmcblk1boot1: unknown partition table
mmcblk1boot0: unknown partition table
Galcore version 4.6.9.9754

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　　总结

　　通过以上修改，内核已经可以在开发板上成功启动了。从Log上可以清楚的看到，kernel已经识别到了SD卡，但是不识别分区，后面的文章将讲述如何挂载根文件系统。如有错误，请帮忙指出;有疑问可以留言讨论。

e_donkey · 发表于 2018-12-12 16:28:56

没人回帖？？现在e9v1版本天嵌移植好的最新内核是哪个版本？

toxggo · 发表于 2019-4-8 21:22:59

围观大佬围观大佬围观大佬围观大佬围观大佬围观大佬

hbyiwen · 发表于 2019-5-11 11:16:44

群主，请教一下，如果从linux kernel官网上下载的内核源码，要移植到IMX6怎么做？谢谢

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I.MX6Q学习笔记——新版BSP之kernel移植

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