5423e4966c
@Jerryneedell noticed that this problem affected strips short enough to not use the DMA peripheral, thanks for the hot tip! Instead of checking for background tasks after every byte transfer, try up to 32 transfers before attending to background tasks. This fixes the problem I was seeing on my 5-pixel circuit. Closes #4135.
594 lines
23 KiB
C
594 lines
23 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2021 Scott Shawcroft for Adafruit Industries
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "bindings/rp2pio/StateMachine.h"
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#include "common-hal/microcontroller/__init__.h"
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#include "shared-bindings/microcontroller/Pin.h"
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#include "src/rp2040/hardware_regs/include/hardware/platform_defs.h"
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#include "src/rp2_common/hardware_clocks/include/hardware/clocks.h"
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#include "src/rp2_common/hardware_dma/include/hardware/dma.h"
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#include "src/rp2_common/hardware_pio/include/hardware/pio_instructions.h"
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#include "src/rp2040/hardware_structs/include/hardware/structs/iobank0.h"
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#include "lib/utils/interrupt_char.h"
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#include "py/obj.h"
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#include "py/objproperty.h"
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#include "py/runtime.h"
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// Count how many state machines are using each pin.
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STATIC uint8_t _pin_reference_count[TOTAL_GPIO_COUNT];
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STATIC uint32_t _current_program_id[NUM_PIOS][NUM_PIO_STATE_MACHINES];
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STATIC uint8_t _current_program_offset[NUM_PIOS][NUM_PIO_STATE_MACHINES];
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STATIC uint8_t _current_program_len[NUM_PIOS][NUM_PIO_STATE_MACHINES];
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STATIC bool _never_reset[NUM_PIOS][NUM_PIO_STATE_MACHINES];
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STATIC uint32_t _current_pins[NUM_PIOS];
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STATIC uint32_t _current_sm_pins[NUM_PIOS][NUM_PIO_STATE_MACHINES];
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STATIC PIO pio_instances[2] = {pio0, pio1};
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void _reset_statemachine(PIO pio, uint8_t sm, bool leave_pins) {
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uint8_t pio_index = pio_get_index(pio);
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pio_sm_unclaim(pio, sm);
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uint32_t program_id = _current_program_id[pio_index][sm];
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if (program_id == 0) {
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return;
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}
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_current_program_id[pio_index][sm] = 0;
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bool program_in_use = false;
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for (size_t i = 0; i < NUM_PIO_STATE_MACHINES; i++) {
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if (_current_program_id[pio_index][i] == program_id) {
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program_in_use = true;
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break;
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}
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}
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if (!program_in_use) {
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uint8_t offset = _current_program_offset[pio_index][sm];
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pio_program_t program_struct = {
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.length = _current_program_len[pio_index][sm]
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};
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pio_remove_program(pio, &program_struct, offset);
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}
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uint32_t pins = _current_sm_pins[pio_index][sm];
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for (size_t pin_number = 0; pin_number < TOTAL_GPIO_COUNT; pin_number++) {
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if ((pins & (1 << pin_number)) == 0) {
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continue;
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}
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_pin_reference_count[pin_number]--;
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if (_pin_reference_count[pin_number] == 0) {
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if (!leave_pins) {
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reset_pin_number(pin_number);
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}
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_current_pins[pio_index] &= ~(1 << pin_number);
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}
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}
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_current_sm_pins[pio_index][sm] = 0;
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}
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void reset_rp2pio_statemachine(void) {
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for (size_t i = 0; i < NUM_PIOS; i++) {
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PIO pio = pio_instances[i];
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for (size_t j = 0; j < NUM_PIO_STATE_MACHINES; j++) {
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if (_never_reset[i][j]) {
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continue;
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}
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_reset_statemachine(pio, j, false);
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}
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}
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}
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STATIC uint32_t _check_pins_free(const mcu_pin_obj_t * first_pin, uint8_t pin_count, bool exclusive_pin_use) {
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uint32_t pins_we_use = 0;
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if (first_pin != NULL) {
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for (size_t i = 0; i < pin_count; i++) {
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uint8_t pin_number = first_pin->number + i;
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if (pin_number >= TOTAL_GPIO_COUNT) {
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mp_raise_ValueError(translate("Pin count too large"));
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}
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const mcu_pin_obj_t * pin = mcu_pin_global_dict_table[pin_number].value;
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if (exclusive_pin_use || _pin_reference_count[pin_number] == 0) {
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assert_pin_free(pin);
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}
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pins_we_use |= 1 << pin_number;
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}
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}
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return pins_we_use;
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}
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bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
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const uint16_t* program, size_t program_len,
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size_t frequency,
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const uint16_t* init, size_t init_len,
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const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count,
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const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
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const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count,
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const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count,
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uint32_t pins_we_use, bool tx_fifo, bool rx_fifo,
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bool auto_pull, uint8_t pull_threshold, bool out_shift_right,
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bool auto_push, uint8_t push_threshold, bool in_shift_right,
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bool claim_pins) {
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// Create a program id that isn't the pointer so we can store it without storing the original object.
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uint32_t program_id = ~((uint32_t) program);
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// Next, find a PIO and state machine to use.
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size_t pio_index = NUM_PIOS;
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uint8_t program_offset = 32;
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pio_program_t program_struct = {
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.instructions = (uint16_t*) program,
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.length = program_len,
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.origin = 0
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};
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for (size_t i = 0; i < NUM_PIOS; i++) {
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PIO pio = pio_instances[i];
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uint8_t free_count = 0;
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for (size_t j = 0; j < NUM_PIO_STATE_MACHINES; j++) {
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if (_current_program_id[i][j] == program_id &&
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_current_program_len[i][j] == program_len) {
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program_offset = _current_program_offset[i][j];
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}
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int temp_claim = pio_claim_unused_sm(pio, false);
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if (temp_claim >= 0) {
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pio_sm_unclaim(pio, temp_claim);
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free_count++;
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}
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}
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if (free_count > 0 && (program_offset < 32 || pio_can_add_program(pio, &program_struct))) {
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pio_index = i;
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if (program_offset < 32) {
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break;
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}
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}
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// Reset program offset if we weren't able to find a free state machine
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// on that PIO. (We would have broken the loop otherwise.)
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program_offset = 32;
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}
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int state_machine = -1;
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if (pio_index < NUM_PIOS) {
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PIO pio = pio_instances[pio_index];
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for (size_t i = 0; i < NUM_PIOS; i++) {
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if (i == pio_index) {
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continue;
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}
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if ((_current_pins[i] & pins_we_use) != 0) {
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// Pin in use by another PIO already.
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return false;
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}
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}
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state_machine = pio_claim_unused_sm(pio, false);
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}
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if (pio_index == NUM_PIOS || state_machine < 0 || state_machine >= NUM_PIO_STATE_MACHINES) {
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return false;
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}
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self->pio = pio_instances[pio_index];
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self->state_machine = state_machine;
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if (program_offset == 32) {
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program_offset = pio_add_program(self->pio, &program_struct);
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}
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_current_program_id[pio_index][state_machine] = program_id;
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_current_program_len[pio_index][state_machine] = program_len;
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_current_program_offset[pio_index][state_machine] = program_offset;
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_current_sm_pins[pio_index][state_machine] = pins_we_use;
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_current_pins[pio_index] |= pins_we_use;
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for (size_t pin_number = 0; pin_number < TOTAL_GPIO_COUNT; pin_number++) {
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if ((pins_we_use & (1 << pin_number)) == 0) {
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continue;
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}
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_pin_reference_count[pin_number]++;
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const mcu_pin_obj_t * pin = mcu_pin_global_dict_table[pin_number].value;
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// Also claim the pin at the top level when we're the first to grab it.
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if (_pin_reference_count[pin_number] == 1) {
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if (claim_pins) {
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claim_pin(pin);
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}
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pio_gpio_init(self->pio, pin_number);
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}
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}
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pio_sm_config c = {0, 0, 0};
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if (frequency == 0) {
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frequency = clock_get_hz(clk_sys);
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}
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uint64_t frequency256 = ((uint64_t) clock_get_hz(clk_sys)) * 256;
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uint64_t div256 = frequency256 / frequency;
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if (frequency256 % div256 > 0) {
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div256 += 1;
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}
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self->actual_frequency = frequency256 / div256;
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sm_config_set_clkdiv_int_frac(&c, div256 / 256, div256 % 256);
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if (first_out_pin != NULL) {
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sm_config_set_out_pins(&c, first_out_pin->number, out_pin_count);
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}
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if (first_in_pin != NULL) {
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sm_config_set_in_pins(&c, first_in_pin->number);
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}
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if (first_set_pin != NULL) {
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sm_config_set_set_pins(&c, first_set_pin->number, set_pin_count);
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}
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if (first_sideset_pin != NULL) {
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sm_config_set_sideset(&c, sideset_pin_count, false /* optional */, false /* pin direction */);
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sm_config_set_sideset_pins(&c, first_sideset_pin->number);
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}
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sm_config_set_wrap(&c, program_offset, program_offset + program_len - 1);
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sm_config_set_in_shift(&c, in_shift_right, auto_push, push_threshold);
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sm_config_set_out_shift(&c, out_shift_right, auto_pull, pull_threshold);
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enum pio_fifo_join join = PIO_FIFO_JOIN_NONE;
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if (!rx_fifo) {
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join = PIO_FIFO_JOIN_TX;
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} else if (!tx_fifo) {
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join = PIO_FIFO_JOIN_RX;
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}
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if (rx_fifo) {
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self->rx_dreq = pio_get_dreq(self->pio, self->state_machine, false);
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}
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if (tx_fifo) {
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self->tx_dreq = pio_get_dreq(self->pio, self->state_machine, true);
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}
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self->in = rx_fifo;
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self->out = tx_fifo;
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self->out_shift_right = out_shift_right;
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self->in_shift_right = in_shift_right;
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sm_config_set_fifo_join(&c, join);
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pio_sm_init(self->pio, self->state_machine, program_offset, &c);
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pio_sm_set_enabled(self->pio, self->state_machine, true);
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for (size_t i = 0; i < init_len; i++) {
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pio_sm_exec(self->pio, self->state_machine, init[i]);
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}
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return true;
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}
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void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
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const uint16_t* program, size_t program_len,
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size_t frequency,
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const uint16_t* init, size_t init_len,
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const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count,
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const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
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const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count,
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const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count,
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bool exclusive_pin_use,
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bool auto_pull, uint8_t pull_threshold, bool out_shift_right,
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bool auto_push, uint8_t push_threshold, bool in_shift_right) {
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// First, check that all pins are free OR already in use by any PIO if exclusive_pin_use is false.
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uint32_t pins_we_use = 0;
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pins_we_use |= _check_pins_free(first_out_pin, out_pin_count, exclusive_pin_use);
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pins_we_use |= _check_pins_free(first_in_pin, in_pin_count, exclusive_pin_use);
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pins_we_use |= _check_pins_free(first_set_pin, set_pin_count, exclusive_pin_use);
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pins_we_use |= _check_pins_free(first_sideset_pin, sideset_pin_count, exclusive_pin_use);
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// Look through the program to see what we reference and make sure it was provided.
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bool tx_fifo = false;
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bool rx_fifo = false;
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bool in_loaded = false; // can be loaded in other ways besides the fifo
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bool out_loaded = false;
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bool in_used = false;
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bool out_used = false;
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for (size_t i = 0; i < program_len; i++) {
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uint16_t full_instruction = program[i];
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uint16_t instruction = full_instruction & 0xe000;
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if (instruction == 0x8000) {
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if ((full_instruction & 0xe080) == pio_instr_bits_push) {
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rx_fifo = true;
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in_loaded = true;
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} else { // pull otherwise.
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tx_fifo = true;
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out_loaded = true;
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}
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}
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if (instruction == pio_instr_bits_jmp) {
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uint16_t condition = (full_instruction & 0x00e0) >> 5;
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if (condition == 0x6) { // GPIO
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mp_raise_NotImplementedError_varg(translate("Instruction %d jumps on pin"), i);
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}
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}
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if (instruction == pio_instr_bits_wait) {
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uint16_t wait_source = (full_instruction & 0x0060) >> 5;
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uint16_t wait_index = full_instruction & 0x001f;
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if (wait_source == 0 && (pins_we_use & (1 << wait_index)) == 0) { // GPIO
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mp_raise_ValueError_varg(translate("Instruction %d uses extra pin"), i);
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}
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if (wait_source == 1) { // Input pin
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if (first_in_pin == NULL) {
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mp_raise_ValueError_varg(translate("Missing first_in_pin. Instruction %d waits based on pin"), i);
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}
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if (wait_index > in_pin_count) {
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mp_raise_ValueError_varg(translate("Instruction %d waits on input outside of count"), i);
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}
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}
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}
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if (instruction == pio_instr_bits_in) {
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uint16_t source = (full_instruction & 0x00e0) >> 5;
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uint16_t bit_count = full_instruction & 0x001f;
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if (source == 0) {
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if (first_in_pin == NULL) {
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mp_raise_ValueError_varg(translate("Missing first_in_pin. Instruction %d shifts in from pin(s)"), i);
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}
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if (bit_count > in_pin_count) {
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mp_raise_ValueError_varg(translate("Instruction %d shifts in more bits than pin count"), i);
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}
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}
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if (auto_push) {
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in_loaded = true;
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rx_fifo = true;
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}
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in_used = true;
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}
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if (instruction == pio_instr_bits_out) {
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uint16_t bit_count = full_instruction & 0x001f;
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uint16_t destination = (full_instruction & 0x00e0) >> 5;
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// Check for pins or pindirs destination.
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if (destination == 0x0 || destination == 0x4) {
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if (first_out_pin == NULL) {
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mp_raise_ValueError_varg(translate("Missing first_out_pin. Instruction %d shifts out to pin(s)"), i);
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}
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if (bit_count > out_pin_count) {
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mp_raise_ValueError_varg(translate("Instruction %d shifts out more bits than pin count"), i);
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}
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}
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if (auto_pull) {
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out_loaded = true;
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tx_fifo = true;
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}
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out_used = true;
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}
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if (instruction == pio_instr_bits_set) {
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uint16_t destination = (full_instruction & 0x00e0) >> 5;
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// Check for pins or pindirs destination.
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if ((destination == 0x00 || destination == 0x4) && first_set_pin == NULL) {
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mp_raise_ValueError_varg(translate("Missing first_set_pin. Instruction %d sets pin(s)"), i);
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}
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}
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if (instruction == pio_instr_bits_mov) {
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uint16_t source = full_instruction & 0x0007;
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uint16_t destination = (full_instruction & 0x00e0) >> 5;
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// Check for pins or pindirs destination.
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if (destination == 0x0 && first_out_pin == NULL) {
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mp_raise_ValueError_varg(translate("Missing first_out_pin. Instruction %d writes pin(s)"), i);
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}
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if (source == 0x0 && first_in_pin == NULL) {
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mp_raise_ValueError_varg(translate("Missing first_in_pin. Instruction %d reads pin(s)"), i);
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}
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if (destination == 0x6) {
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in_loaded = true;
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} else if (destination == 0x7) {
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out_loaded = true;
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}
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}
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}
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if (!in_loaded && in_used) {
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mp_raise_ValueError_varg(translate("Program does IN without loading ISR"));
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}
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if (!out_loaded && out_used) {
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mp_raise_ValueError_varg(translate("Program does OUT without loading OSR"));
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}
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if (in_pin_count > 8 || out_pin_count > 8) {
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mp_raise_NotImplementedError(translate("Only IN/OUT of up to 8 supported"));
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}
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bool ok = rp2pio_statemachine_construct(self,
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program, program_len,
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frequency,
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init, init_len,
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first_out_pin, out_pin_count,
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first_in_pin, in_pin_count,
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first_set_pin, set_pin_count,
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first_sideset_pin, sideset_pin_count,
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pins_we_use, tx_fifo, rx_fifo,
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auto_pull, pull_threshold, out_shift_right,
|
|
auto_push, push_threshold, in_shift_right,
|
|
true /* claim pins */);
|
|
if (!ok) {
|
|
mp_raise_RuntimeError(translate("All state machines in use"));
|
|
}
|
|
}
|
|
|
|
uint32_t common_hal_rp2pio_statemachine_get_frequency(rp2pio_statemachine_obj_t* self) {
|
|
return self->actual_frequency;
|
|
}
|
|
|
|
void rp2pio_statemachine_deinit(rp2pio_statemachine_obj_t *self, bool leave_pins) {
|
|
uint8_t sm = self->state_machine;
|
|
uint8_t pio_index = pio_get_index(self->pio);
|
|
_never_reset[pio_index][sm] = false;
|
|
_reset_statemachine(self->pio, sm, leave_pins);
|
|
self->state_machine = NUM_PIO_STATE_MACHINES;
|
|
}
|
|
|
|
void common_hal_rp2pio_statemachine_deinit(rp2pio_statemachine_obj_t *self) {
|
|
rp2pio_statemachine_deinit(self, false);
|
|
}
|
|
|
|
void common_hal_rp2pio_statemachine_never_reset(rp2pio_statemachine_obj_t *self) {
|
|
uint8_t sm = self->state_machine;
|
|
uint8_t pio_index = pio_get_index(self->pio);
|
|
_never_reset[pio_index][sm] = true;
|
|
// TODO: never reset all the pins
|
|
}
|
|
|
|
bool common_hal_rp2pio_statemachine_deinited(rp2pio_statemachine_obj_t *self) {
|
|
return self->state_machine == NUM_PIO_STATE_MACHINES;
|
|
}
|
|
|
|
static bool _transfer(rp2pio_statemachine_obj_t *self,
|
|
const uint8_t *data_out, size_t out_len,
|
|
uint8_t *data_in, size_t in_len) {
|
|
// This implementation is based on SPI but varies because the tx and rx buffers
|
|
// may be different lengths and occur at different times or speeds.
|
|
|
|
// Use DMA for large transfers if channels are available
|
|
const size_t dma_min_size_threshold = 32;
|
|
int chan_tx = -1;
|
|
int chan_rx = -1;
|
|
size_t len = MAX(out_len, in_len);
|
|
bool tx = data_out != NULL;
|
|
bool rx = data_in != NULL;
|
|
if (len >= dma_min_size_threshold) {
|
|
// Use DMA channels to service the two FIFOs
|
|
if (tx) {
|
|
chan_tx = dma_claim_unused_channel(false);
|
|
}
|
|
if (rx) {
|
|
chan_rx = dma_claim_unused_channel(false);
|
|
}
|
|
}
|
|
volatile uint8_t* tx_destination = NULL;
|
|
const volatile uint8_t* rx_source = NULL;
|
|
if (tx) {
|
|
tx_destination = (volatile uint8_t*) &self->pio->txf[self->state_machine];
|
|
if (!self->out_shift_right) {
|
|
tx_destination += 3;
|
|
}
|
|
}
|
|
if (rx) {
|
|
rx_source = (const volatile uint8_t*) &self->pio->rxf[self->state_machine];
|
|
if (!self->in_shift_right) {
|
|
rx_source += 3;
|
|
}
|
|
}
|
|
bool use_dma = (!rx || chan_rx >= 0) && (!tx || chan_tx >= 0);
|
|
if (use_dma) {
|
|
dma_channel_config c;
|
|
uint32_t channel_mask = 0;
|
|
if (tx) {
|
|
c = dma_channel_get_default_config(chan_tx);
|
|
channel_config_set_transfer_data_size(&c, DMA_SIZE_8);
|
|
channel_config_set_dreq(&c, self->tx_dreq);
|
|
channel_config_set_read_increment(&c, true);
|
|
channel_config_set_write_increment(&c, false);
|
|
dma_channel_configure(chan_tx, &c,
|
|
tx_destination,
|
|
data_out,
|
|
len,
|
|
false);
|
|
channel_mask |= 1u << chan_tx;
|
|
}
|
|
if (rx) {
|
|
c = dma_channel_get_default_config(chan_rx);
|
|
channel_config_set_transfer_data_size(&c, DMA_SIZE_8);
|
|
channel_config_set_dreq(&c, self->rx_dreq);
|
|
channel_config_set_read_increment(&c, false);
|
|
channel_config_set_write_increment(&c, true);
|
|
dma_channel_configure(chan_rx, &c,
|
|
data_in,
|
|
rx_source,
|
|
len,
|
|
false);
|
|
channel_mask |= 1u << chan_rx;
|
|
}
|
|
|
|
dma_start_channel_mask(channel_mask);
|
|
while ((rx && dma_channel_is_busy(chan_rx)) ||
|
|
(tx && dma_channel_is_busy(chan_tx))) {
|
|
// TODO: We should idle here until we get a DMA interrupt or something else.
|
|
RUN_BACKGROUND_TASKS;
|
|
if (mp_hal_is_interrupted()) {
|
|
if (rx && dma_channel_is_busy(chan_rx)) {
|
|
dma_channel_abort(chan_rx);
|
|
}
|
|
if (tx && dma_channel_is_busy(chan_tx)) {
|
|
dma_channel_abort(chan_tx);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
// Clear the stall bit so we can detect when the state machine is done transmitting.
|
|
self->pio->fdebug = PIO_FDEBUG_TXSTALL_BITS;
|
|
}
|
|
|
|
// If we have claimed only one channel successfully, we should release immediately. This also
|
|
// releases the DMA after use_dma has been done.
|
|
if (chan_rx >= 0) {
|
|
dma_channel_unclaim(chan_rx);
|
|
}
|
|
if (chan_tx >= 0) {
|
|
dma_channel_unclaim(chan_tx);
|
|
}
|
|
|
|
if (!use_dma && !mp_hal_is_interrupted()) {
|
|
// Use software for small transfers, or if couldn't claim two DMA channels
|
|
size_t rx_remaining = in_len;
|
|
size_t tx_remaining = out_len;
|
|
|
|
while (rx_remaining || tx_remaining) {
|
|
for (int i=0; i<32; i++) {
|
|
bool did_transfer = false;
|
|
if (tx_remaining && !pio_sm_is_tx_fifo_full(self->pio, self->state_machine)) {
|
|
*tx_destination = *data_out;
|
|
data_out++;
|
|
--tx_remaining;
|
|
did_transfer = true;
|
|
}
|
|
if (rx_remaining && !pio_sm_is_rx_fifo_empty(self->pio, self->state_machine)) {
|
|
*data_in = (uint8_t) *rx_source;
|
|
data_in++;
|
|
--rx_remaining;
|
|
did_transfer = true;
|
|
}
|
|
if (!did_transfer) {
|
|
break;
|
|
}
|
|
}
|
|
RUN_BACKGROUND_TASKS;
|
|
if (mp_hal_is_interrupted()) {
|
|
break;
|
|
}
|
|
}
|
|
// Clear the stall bit so we can detect when the state machine is done transmitting.
|
|
self->pio->fdebug = PIO_FDEBUG_TXSTALL_BITS;
|
|
}
|
|
// Wait for the state machine to finish transmitting the data we've queued
|
|
// up.
|
|
if (tx) {
|
|
while (!pio_sm_is_tx_fifo_empty(self->pio, self->state_machine) ||
|
|
(self->pio->fdebug & PIO_FDEBUG_TXSTALL_BITS) == 0) {
|
|
RUN_BACKGROUND_TASKS;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
// Writes out the given data.
|
|
bool common_hal_rp2pio_statemachine_write(rp2pio_statemachine_obj_t *self,
|
|
const uint8_t *data, size_t len) {
|
|
if (!self->out) {
|
|
mp_raise_RuntimeError(translate("No out in program"));
|
|
}
|
|
return _transfer(self, data, len, NULL, 0);
|
|
}
|