diff options
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/CMakeLists.txt | 4 | ||||
| -rw-r--r-- | apps/lorenzo_ipedma_test.c | 658 |
2 files changed, 0 insertions, 662 deletions
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt index aa9f8bb..4524db4 100644 --- a/apps/CMakeLists.txt +++ b/apps/CMakeLists.txt @@ -10,10 +10,6 @@ link_directories( add_executable(xilinx xilinx.c) target_link_libraries(xilinx pcilib rt) -add_executable(lorenzo_ipedma_test lorenzo_ipedma_test.c) -target_link_libraries(lorenzo_ipedma_test pcilib rt) -set_target_properties(lorenzo_ipedma_test PROPERTIES COMPILE_FLAGS -Wno-array-bounds) - add_executable(pio_test pio_test.c) target_link_libraries(pio_test pcilib rt) diff --git a/apps/lorenzo_ipedma_test.c b/apps/lorenzo_ipedma_test.c deleted file mode 100644 index 2b97057..0000000 --- a/apps/lorenzo_ipedma_test.c +++ /dev/null @@ -1,658 +0,0 @@ -#define _POSIX_C_SOURCE 200809L -#define _BSD_SOURCE -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <unistd.h> -#include <stdarg.h> -#include <time.h> -#include <sched.h> -#include <sys/time.h> -#include <sys/types.h> -#include <arpa/inet.h> -#include <sched.h> -#include <errno.h> - -#include <pcilib.h> -#include <pcilib/irq.h> -#include <pcilib/kmem.h> - -//#include <sys/ipc.h> -//#include <sys/shm.h> - - -#define DEVICE "/dev/fpga0" - -#define BAR PCILIB_BAR0 -#define USE_RING PCILIB_KMEM_USE(PCILIB_KMEM_USE_USER, 1) -#define USE PCILIB_KMEM_USE(PCILIB_KMEM_USE_USER, 2) -//#define STATIC_REGION 0x80000000 // to reserve 512 MB at the specified address, add "memmap=512M$2G" to kernel parameters - -#define BUFFERS 128 -#define ITERATIONS 1000 -#define DESC_THRESHOLD BUFFERS/8 // Lorenzo: after how many desc the FPGA must update the "written descriptor counter" in PC mem - // if set to 0, the update only happens when INT is received - -#define HUGE_PAGE 1 // number of pages per huge page -#define TLP_SIZE 32 // TLP SIZE = 64 for 256B payload, 32 for 128B payload -#define PAGE_SIZE 4096 // other values are not supported in the kernel - -#define USE_64 // Lorenzo: use 64bit addressing - -//#define DUAL_CORE // Lorenzo: DUAL Core - -//#define SHARED_MEMORY // Lorenzo: Test for fast GUI - -#define CHECK_READY // Lorenzo: Check if PCI-Express is ready by reading 0x0 -#define MEM_COPY // Lorenzo: CPY data -//#define CHECK_RESULTS // Lorenzo: Check if data received is ok (only for counter!) -//#define CHECK_RESULTS_LOG // Lorenzo: Check if data received is ok (only for counter!) -#define PRINT_RESULTS // Lorenzo: Save the received data in "data.out" -//#define EXIT_ON_EMPTY // Lorenzo: Exit if an "empty_detected" signal is received - -#define TIMEOUT 1000000 - - - -/* IRQs are slow for some reason. REALTIME mode is slower. Adding delays does not really help, - otherall we have only 3 checks in average. Check ready seems to be not needed and adds quite - much extra time */ - -//#define USE_IRQ -//#define REALTIME -//#define ADD_DELAYS - - -#define FPGA_CLOCK 250 // Lorenzo: in MHz ! - -//#define WR(addr, value) { val = value; pcilib_write(pci, BAR, addr, sizeof(val), &val); } -//#define RD(addr, value) { pcilib_read(pci, BAR, addr, sizeof(val), &val); value = val; } -#define WR(addr, value) { *(uint32_t*)(bar + addr + offset) = value; } -#define RD(addr, value) { value = *(uint32_t*)(bar + addr + offset); } - -// ************************************************************************************** -// Progress BAR -// Process has done x out of n rounds, -// and we want a bar of width w and resolution r. - static inline void loadBar(int x, int n, int r, int w) - { - // Only update r times. - if ( x % (n/r +1) != 0 ) return; - - // Calculuate the ratio of complete-to-incomplete. - float ratio = x/(float)n; - int c = ratio * w; - - // Show the percentage complete. - printf("%3d%% [", (int)(ratio*100) ); - - // Show the load bar. - for (x=0; x<c; x++) - printf("="); - - for (x=c; x<w; x++) - printf(" "); - - // ANSI Control codes to go back to the - // previous line and clear it. - printf("]\n\033[F\033[J"); - } -// ************************************************************************************** - - - static void fail(const char *msg, ...) { - va_list va; - - va_start(va, msg); - vprintf(msg, va); - va_end(va); - printf("\n"); - - exit(-1); -} - -void hpsleep(size_t ns) { - struct timespec wait, tv; - - clock_gettime(CLOCK_REALTIME, &wait); - - wait.tv_nsec += ns; - if (wait.tv_nsec > 999999999) { - wait.tv_sec += 1; - wait.tv_nsec = 1000000000 - wait.tv_nsec; - } - - do { - clock_gettime(CLOCK_REALTIME, &tv); - } while ((wait.tv_sec > tv.tv_sec)||((wait.tv_sec == tv.tv_sec)&&(wait.tv_nsec > tv.tv_nsec))); -} - - -// ************************************************************************************** -int main() { - - - - int err; - long i, j; - pcilib_t *pci; - pcilib_kmem_handle_t *kdesc; - pcilib_kmem_handle_t *kbuf; - struct timeval start, end; - size_t run_time; - long long int size_mb; - void* volatile bar; - uintptr_t bus_addr[BUFFERS]; - uintptr_t kdesc_bus; - volatile uint32_t *desc; - typedef volatile uint32_t *Tbuf; - Tbuf ptr[BUFFERS]; - -#ifdef SWITCH_GENERATOR - int switch_generator = 0; -#endif /* SWITCH_GENERATOR */ -#if defined(CHECK_RESULTS)||defined(CHECK_RESULTS_LOG) - long k; - int mem_diff; -#endif /* CHECK_RESULTS */ - - - float performance, perf_counter; - pcilib_bar_t bar_tmp = BAR; - uintptr_t offset = 0; - - unsigned int temp; - int iterations_completed, buffers_filled; - - -// int shmid; - - - printf("\n\n**** **** **** KIT-DMA TEST **** **** ****\n\n"); - - //size = ITERATIONS * BUFFERS * HUGE_PAGE * PAGE_SIZE; - size_mb = ITERATIONS * BUFFERS * HUGE_PAGE * 4 / 1024; - printf("Total size of memory buffer: \t %.3lf GBytes\n", (float)size_mb/1024 ); - printf("Using %d Buffers with %d iterations\n\n", BUFFERS, ITERATIONS ); - -#ifdef ADD_DELAYS - long rpt = 0, rpt2 = 0; - size_t best_time; - best_time = 1000000000L * HUGE_PAGE * PAGE_SIZE / (4L * 1024 * 1024 * 1024); -#endif /* ADD_DELAYS */ - - - pcilib_kmem_flags_t flags = PCILIB_KMEM_FLAG_HARDWARE|PCILIB_KMEM_FLAG_PERSISTENT|PCILIB_KMEM_FLAG_EXCLUSIVE/*|PCILIB_KMEM_FLAG_REUSE*/; // Lorenzo: if REUSE = 1, the re-allocation fails! - pcilib_kmem_flags_t free_flags = PCILIB_KMEM_FLAG_HARDWARE/*|PCILIB_KMEM_FLAG_EXCLUSIVE|PCILIB_KMEM_FLAG_REUSE*/; - pcilib_kmem_flags_t clean_flags = PCILIB_KMEM_FLAG_HARDWARE|PCILIB_KMEM_FLAG_PERSISTENT|PCILIB_KMEM_FLAG_EXCLUSIVE; - - pci = pcilib_open(DEVICE, "pci"); - if (!pci) fail("pcilib_open"); - - bar = pcilib_map_bar(pci, BAR); - if (!bar) { - pcilib_close(pci); - fail("map bar"); - } - - pcilib_detect_address(pci, &bar_tmp, &offset, 1); - - pcilib_enable_irq(pci, PCILIB_IRQ_TYPE_ALL, 0); - pcilib_clear_irq(pci, PCILIB_IRQ_SOURCE_DEFAULT); - - pcilib_clean_kernel_memory(pci, USE, clean_flags); - pcilib_clean_kernel_memory(pci, USE_RING, clean_flags); - - kdesc = pcilib_alloc_kernel_memory(pci, PCILIB_KMEM_TYPE_CONSISTENT, 1, 128, 4096, USE_RING, flags); - kdesc_bus = pcilib_kmem_get_block_ba(pci, kdesc, 0); - desc = (uint32_t*)pcilib_kmem_get_block_ua(pci, kdesc, 0); - memset((void*)desc, 0, 5*sizeof(uint32_t)); - -#ifdef REALTIME - pid_t pid; - struct sched_param sched = {0}; - - pid = getpid(); - sched.sched_priority = sched_get_priority_min(SCHED_FIFO); - if (sched_setscheduler(pid, SCHED_FIFO, &sched)) - printf("Warning: not able to get real-time priority\n"); -#endif /* REALTIME */ - - // ****************************************************************** - // **** MEM: check 4k boundary ***** - // ****************************************************************** - - do { - printf("* Allocating KMem, "); -#ifdef STATIC_REGION - kbuf = pcilib_alloc_kernel_memory(pci, PCILIB_KMEM_TYPE_REGION_C2S, BUFFERS, HUGE_PAGE * PAGE_SIZE, STATIC_REGION, USE, flags); -#else - kbuf = pcilib_alloc_kernel_memory(pci, PCILIB_KMEM_TYPE_DMA_C2S_PAGE, BUFFERS, HUGE_PAGE * PAGE_SIZE, 4096, USE, flags); -#endif - - if (!kbuf) { - printf("KMem allocation failed\n"); - exit(0); - } - - // Pointers for Virtualized Mem - for (j = 0; j < BUFFERS; j++) { - ptr[j] = (volatile uint32_t*)pcilib_kmem_get_block_ua(pci, kbuf, j); - memset((void*)(ptr[j]), 0, HUGE_PAGE * PAGE_SIZE); - } - - err = 0; - - // Check if HW addresses satisfy 4k boundary condition, if not -> free (!!) and reallocate memory - printf("4k boundary test: "); - for (j = 0; j < BUFFERS; j++) { - temp = (((unsigned int)pcilib_kmem_get_block_ba(pci, kbuf, j)) % 4096); - //printf("%u", temp); - if (temp != 0) { - err = 1; - } - } - if (err == 1) { - pcilib_clean_kernel_memory(pci, USE, clean_flags); - pcilib_clean_kernel_memory(pci, USE_RING, clean_flags); - pcilib_free_kernel_memory(pci, kbuf, free_flags); - printf("failed \xE2\x9C\x98\n"); - } - else printf("passed \xE2\x9C\x93\n"); - - } while (err == 1); - - - // ****************************************************************** - // **** Allocate RAM buffer Memory ***** - // ****************************************************************** - - FILE * Output; - FILE * error_log; - -#ifdef MEM_COPY - - uint32_t *temp_data[ITERATIONS][BUFFERS]; - - for (j=0; j < ITERATIONS; j++) { - for (i=0; i < BUFFERS; i++) { - temp_data[j][i] = (uint32_t *)malloc(HUGE_PAGE*PAGE_SIZE); - if (temp_data[j][i] == 0) { - printf("******* Error: could not allocate memory! ********\n"); - exit(0); - } - memset((void*)(temp_data[j][i]), 0, HUGE_PAGE * PAGE_SIZE); - } - } -#endif - -#ifdef SHARED_MEMORY - // give your shared memory an id, anything will do - key_t key = 123456; - char *shared_memory; - - // Setup shared memory, 11 is the size -/* if ((shmid = shmget(key, HUGE_PAGE*PAGE_SIZE, IPC_CREAT | 0666)) < 0) - { - printf("Error getting shared memory id"); - exit(1); - } - - // Attached shared memory - if ((shared_memory = shmat(shmid, NULL, 0)) == (char *) -1) - { - printf("Error attaching shared memory id"); - exit(1); - } - printf("* Shared memory created... Id:\t %d\n", key); - //////////////// SHARED MEMORY TEST */ -#endif - - Output = fopen ("data.out", "w"); - fclose(Output); - - error_log = fopen ("error_log.txt", "w"); - fclose(error_log); - - // ****************************************************************** - // **** PCIe TEST ***** - // ****************************************************************** - - // Reset DMA - printf("* DMA: Reset...\n"); - WR(0x00, 0x1); - usleep(100000); - WR(0x00, 0x0); - usleep(100000); - -#ifdef CHECK_READY - printf("* PCIe: Testing..."); - RD(0x0, err); - if (err == 335746816 || err == 335681280) { - printf("\xE2\x9C\x93 \n"); - } else { - printf("\xE2\x9C\x98\n PCIe not ready!\n"); - exit(0); - } -#endif - - - // ****************************************************************** - // **** DMA CONFIGURATION ***** - // ****************************************************************** - - printf("* DMA: Send Data Amount\n"); -#ifdef DUAL_CORE - WR(0x10, (HUGE_PAGE * (PAGE_SIZE / (4 * TLP_SIZE)))/2); -#else - WR(0x10, (HUGE_PAGE * (PAGE_SIZE / (4 * TLP_SIZE)))); -#endif - - printf("* DMA: Running mode: "); - -#ifdef USE_64 - if (TLP_SIZE == 64) - { - WR(0x0C, 0x80040); - printf ("64bit - 256B Payload\n"); - } - else if (TLP_SIZE == 32) - { - WR(0x0C, 0x80020); - printf ("64bit - 128B Payload\n"); - } -#else - if (TLP_SIZE == 64) - { - WR(0x0C, 0x0040); - printf ("32bit - 256B Payload\n"); - } - else if (TLP_SIZE == 32) - { - WR(0x0C, 0x0020); - printf ("32bit - 128B Payload\n"); - } -#endif - - printf("* DMA: Reset Desc Memory...\n"); - WR(0x5C, 0x00); // RST Desc Memory - - printf("Writing SW Read Descriptor\n"); - WR(0x58, BUFFERS-1); - //WR(0x58, 0x01); - - printf("Writing the Descriptor Threshold\n"); - WR(0x60, DESC_THRESHOLD); - - printf("Writing HW write Descriptor Address: %lx\n", kdesc_bus); - WR(0x54, kdesc_bus); - usleep(100000); - - printf("* DMA: Writing Descriptors\n"); - for (j = 0; j < BUFFERS; j++ ) { - bus_addr[j] = pcilib_kmem_get_block_ba(pci, kbuf, j); - // LEAVE THIS DELAY???!?!?!?! - usleep(1000); - //printf("Writing descriptor num. %ld: \t %08lx \n", j, bus_addr[j]); - WR(0x50, bus_addr[j]); - } - - // ****************************************************************** - // **** START DMA ***** - // ****************************************************************** - - //printf ("\n ---- Press ENTER to start DMA ---- \n"); - //getchar(); - - printf("* DMA: Start \n"); - WR(0x04, 0x1); - gettimeofday(&start, NULL); - - // ****************************************************************** - // **** Handshaking DMA ***** - // ****************************************************************** - - uint32_t curptr = 0, hwptr; - uint32_t curbuf = 0; - int empty = 0; - i = 0; - - - while (i < ITERATIONS) { - j = 0; - //printf("\ndesc0: %lx", desc[0]); - //printf("\ndesc1: %lx", desc[1]); - //printf("\ndesc2: %lx", desc[2]); - //printf("\ndesc3: %lx", desc[3]); - //printf("\ndesc4: %lx", desc[4]); - // printf("\ndesc5: %lx", htonl(desc[5])); - //printf("Iteration: %li of %li \r", i+1, ITERATIONS); - //getchar(); - //loadBar(i+1, ITERATIONS, ITERATIONS, 30); - // printf("\nhwptr: %zu", hwptr); - // printf("\ncurptr: %zu", curptr); - - do { -#ifdef USE_64 - hwptr = desc[3]; -#else // 32-bit - hwptr = desc[4]; -#endif - j++; - //printf("\rcurptr: %lx \t \t hwptr: %lx", curptr, hwptr); - } while (hwptr == curptr); - - do { - pcilib_kmem_sync_block(pci, kbuf, PCILIB_KMEM_SYNC_FROMDEVICE, curbuf); -#ifdef MEM_COPY - memcpy(temp_data[i][curbuf], (void*)ptr[curbuf], 4096); -#endif -#ifdef CHECK_RESULTS -for (k = 0; k < 1024 ; k++) - { - mem_diff = (ptr[curbuf][k] - ptr[curbuf][k]); - //if ((mem_diff == 1) || (mem_diff == (-7)) || (k == 1023) ) - if (mem_diff == -1) - {;} - else { - //fprintf(error_log, "Error in: \t IT %li \t BUF : %li \t OFFSET: %li \t | %08x --> %08x - DIFF: %d \n", i, j, k, temp_data[i][j][k], temp_data[i][j][k+1], mem_diff); - err++; - } - } -#endif -#ifdef SHARED_MEMORY - memcpy(shared_memory, ptr[curbuf], 4096); -#endif - //printf("\ncurbuf: %08x", curbuf); - //printf("\nbus_addr[curbuf]\n: %08x",bus_addr[curbuf]); - // for (k = 0; k < 63; k++){ - // if (k%16 == 0) printf("\n# %d # :", k); - // printf(" %08x", ptr[curbuf][k]); - // } - //pcilib_kmem_sync_block(pci, kbuf, PCILIB_KMEM_SYNC_TODEVICE, curbuf); - curbuf++; - if (curbuf == BUFFERS) { - i++; - curbuf = 0; -#ifdef SWITCH_GENERATOR - if (switch_generator == 1) { - switch_generator = 0; - WR(0x9040, 0x100007F0); - } else { - WR(0x9040, 0x180007F0); - switch_generator = 1; - } -#endif - if (i >= ITERATIONS) break; - //if (i >= (ITERATIONS - 4) ) WR(0x04, 0x0f); - } - } while (bus_addr[curbuf] != hwptr); - -#ifdef EXIT_ON_EMPTY -#ifdef USE_64 - if (desc[1] != 0) -#else // 32bit - if (desc[2] != 0) -#endif - { - if (bus_addr[curbuf] == hwptr) { - empty = 1; - break; - } - } -#endif - - WR(0x58, curbuf + 1); - //printf("WR %d\n", curbuf + 1); - //printf("%u (%lu)\n", curbuf, j); - curptr = hwptr; - } - - - // ****************************************************************** - // **** Read performance and stop DMA ******* - // ****************************************************************** - - gettimeofday(&end, NULL); - WR(0x04, 0x00); - usleep(100); - RD(0x28, perf_counter); - usleep(100); - WR(0x00, 0x01); - - - - - iterations_completed = i; - buffers_filled = curbuf; - if (empty) printf("* DMA: Empty FIFO! Last iteration: %li of %i\n", i+1, ITERATIONS); - printf ("* DMA: Stop\n\n"); - -#ifdef MEM_COPY - printf ("First value:\t %08x\n", temp_data[0][0][0]); - printf ("Last value:\t %08x\n\n", temp_data[ITERATIONS-1][BUFFERS-1][(PAGE_SIZE/4)-4]); -#endif - - // ****************************************************************** - // **** Performance ******* - // ****************************************************************** - printf("Iterations done: %d\n", iterations_completed); - printf("Buffers filled on last iteration: %d\n", buffers_filled); - - - run_time = (end.tv_sec - start.tv_sec) * 1000000 + (end.tv_usec - start.tv_usec); - //size = (long long int) (( BUFFERS * (iterations_completed) + buffers_filled) * HUGE_PAGE * PAGE_SIZE); - size_mb = (long long int) (( BUFFERS * (iterations_completed) + buffers_filled) * HUGE_PAGE * 4 / 1024); - printf("Performance: transfered %llu Mbytes in %zu us using %d buffers\n", (size_mb), run_time, BUFFERS); - //printf("Buffers: \t %d \n", BUFFERS); - //printf("Buf_Size: \t %d \n", PAGE_SIZE); - //printf("Perf_counter: \t %f \n", perf_counter); - performance = ((size_mb * FPGA_CLOCK * 1000000)/(perf_counter*256)); - printf("DMA perf counter:\t%d\n", (int)perf_counter); - printf("DMA side:\t\t%.3lf MB/s\n", performance); - printf("PC side:\t\t%.3lf MB/s\n\n", 1000000. * size_mb / run_time ); - - // ****************************************************************** - // **** Read Data ******* - // ****************************************************************** - - - #ifdef PRINT_RESULTS - printf("Writing Data to HDD... \n"); - for (i=0; i < iterations_completed; i++) { - for (j=0; j < BUFFERS; j++) - { - Output = fopen("data.out", "a"); - fwrite(temp_data[i][j], 4096, 1, Output); - fclose(Output); - } - loadBar(i+1, ITERATIONS, ITERATIONS, 30); - } - // Save last partially filled iteration - for (j=0; j < buffers_filled; j++) - { - Output = fopen("data.out", "a"); - fwrite(temp_data[iterations_completed][j], 4096, 1, Output); - fclose(Output); - } - printf("Data saved in data.out. \n"); - #endif - - #ifdef CHECK_RESULTS_LOG - err = 0; - error_log = fopen ("error_log.txt", "a"); - printf("\nChecking data ...\n"); - for (i=0; i < iterations_completed; i++) { - for (j = 0; j < BUFFERS; j++) { - for (k = 0; k < 1024 ; k++) - { - mem_diff = ((uint32_t)temp_data[i][j][k] - (uint32_t)temp_data[i][j][k+1]); - //if ((mem_diff == 1) || (mem_diff == (-7)) || (k == 1023) ) - if ((mem_diff == -1) || (k == 1023) ) - {;} - else { - fprintf(error_log, "Error in: \t IT %li \t BUF : %li \t OFFSET: %li \t | %08x --> %08x - DIFF: %d \n", i, j, k, temp_data[i][j][k], temp_data[i][j][k+1], mem_diff); - err++; - } - } - if (j != BUFFERS-1) { - // Check first and Last - mem_diff = (uint32_t)(temp_data[i][j+1][0] - temp_data[i][j][1023]); - if (mem_diff == (1)) - {;} - else { - fprintf(error_log, "Error_2 in: \t IT %li \t BUF : %li \t OFFSET: %li \t | %08x --> %08x - DIFF: %d \n", i, j, k, temp_data[i][j+1][0], temp_data[i][j][1023], mem_diff); - err++; - } - } - - } - loadBar(i+1, ITERATIONS, ITERATIONS, 30); - } - for (j = 0; j < buffers_filled; j++) { - for (k = 0; k < 1024 ; k++) - { - mem_diff = ((uint32_t)temp_data[iterations_completed][j][k] - (uint32_t)temp_data[iterations_completed][j][k+1]); - if ((mem_diff == -1) || (k == 1023) ) - {;} - else { - fprintf(error_log, "Error in: \t IT %li \t BUF : %li \t OFFSET: %li \t | %08x --> %08x - DIFF: %d \n", iterations_completed, j, k, temp_data[iterations_completed][j][k], temp_data[iterations_completed][j][k+1], mem_diff); - err++; - } - } - if (j != buffers_filled-1) { - // Check first and Last - mem_diff = (uint32_t)(temp_data[i][j+1][0] - temp_data[i][j][1023]); - if (mem_diff == (1)) - {;} - else { - fprintf(error_log, "Error_2 in: \t IT %li \t BUF : %li \t OFFSET: %li \t | %08x --> %08x - DIFF: %d \n", iterations_completed, j, k, temp_data[iterations_completed][j+1][0], temp_data[iterations_completed][j][1023], mem_diff); - err++; - } - } - } - if (err != 0) printf("\rChecking data: \xE2\x9C\x98 %d errors found \n See \"error_log.txt\" for details \n\n", err); - else printf("\rChecking data: \xE2\x9C\x93 no errors found \n\n"); - fclose(error_log); - #endif - - // *********** Free Memory -#ifdef MEM_COPY - for (i=0; i < ITERATIONS; i++) { - for (j=0; j < BUFFERS; j++) - { - free(temp_data[i][j]); - } - } -#endif - - pcilib_free_kernel_memory(pci, kbuf, free_flags); - pcilib_free_kernel_memory(pci, kdesc, free_flags); - pcilib_disable_irq(pci, 0); - pcilib_unmap_bar(pci, BAR, bar); - pcilib_close(pci); - -// shmdt(shmid); -// shmctl(shmid, IPC_RMID, NULL); - -} |