2019-03-12 17:34:21

by Ali Saidi

[permalink] [raw]
Subject: [PATCH 0/2] handle worst-case heap randomization in mmap_base

Increase mmap_base by the worst-case brk randomization so that the stack and
heap remain apart.

In Linux 4.13 a change was committed that special cased the kernel ELF
loader when the loader is invoked directly (eab09532d400; binfmt_elf: use
ELF_ET_DYN_BASE only for PIE). Generally, the loader isn’t invoked
directly and this issue is limited to cases where it is, (e.g to set a
non-inheritable LD_LIBRARY_PATH, testing new versions of the loader). In
those rare cases, the loader doesn't take into account the amount of brk
randomization that will be applied by arch_randomize_brk(). This can
lead to the stack and heap being arbitrarily close to each other.

Ali Saidi (2):
arm64/mmap: handle worst-case heap randomization in mmap_base
x86/mmap: handle worst-case heap randomization in mmap_base

arch/arm64/mm/mmap.c | 8 ++++++++
arch/x86/mm/mmap.c | 4 ++++
2 files changed, 12 insertions(+)

--
2.15.3.AMZN



2019-03-12 17:34:17

by Ali Saidi

[permalink] [raw]
Subject: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base

Increase mmap_base by the worst-case brk randomization so that
the stack and heap remain apart.

In Linux 4.13 a change was committed that special cased the kernel ELF
loader when the loader is invoked directly (eab09532d400; binfmt_elf: use
ELF_ET_DYN_BASE only for PIE). Generally, the loader isn’t invoked
directly and this issue is limited to cases where it is, (e.g to set a
non-inheritable LD_LIBRARY_PATH, testing new versions of the loader). In
those rare cases, the loader doesn't take into account the amount of brk
randomization that will be applied by arch_randomize_brk(). This can
lead to the stack and heap being arbitrarily close to each other.

Signed-off-by: Ali Saidi <[email protected]>
---
arch/x86/mm/mmap.c | 4 ++++
1 file changed, 4 insertions(+)

diff --git a/arch/x86/mm/mmap.c b/arch/x86/mm/mmap.c
index db3165714521..98a2875c37e3 100644
--- a/arch/x86/mm/mmap.c
+++ b/arch/x86/mm/mmap.c
@@ -31,6 +31,7 @@
#include <linux/sched/signal.h>
#include <linux/sched/mm.h>
#include <linux/compat.h>
+#include <linux/sizes.h>
#include <asm/elf.h>

#include "physaddr.h"
@@ -97,6 +98,9 @@ static unsigned long mmap_base(unsigned long rnd, unsigned long task_size,
unsigned long pad = stack_maxrandom_size(task_size) + stack_guard_gap;
unsigned long gap_min, gap_max;

+ /* Provide space for brk randomization */
+ pad += SZ_32M;
+
/* Values close to RLIM_INFINITY can overflow. */
if (gap + pad > gap)
gap += pad;
--
2.15.3.AMZN


2019-03-12 17:35:56

by Ali Saidi

[permalink] [raw]
Subject: [PATCH 1/2] arm64/mmap: handle worst-case heap randomization in mmap_base

Increase mmap_base by the worst-case brk randomization so that
the stack and heap remain apart.

In Linux 4.13 a change was committed that special cased the kernel ELF
loader when the loader is invoked directly (eab09532d400; binfmt_elf: use
ELF_ET_DYN_BASE only for PIE). Generally, the loader isn’t invoked
directly and this issue is limited to cases where it is, (e.g to set a
non-inheritable LD_LIBRARY_PATH, testing new versions of the loader). In
those rare cases, the loader doesn't take into account the amount of brk
randomization that will be applied by arch_randomize_brk(). This can
lead to the stack and heap being arbitrarily close to each other.

Signed-off-by: Ali Saidi <[email protected]>

---
arch/arm64/mm/mmap.c | 8 ++++++++
1 file changed, 8 insertions(+)

diff --git a/arch/arm64/mm/mmap.c b/arch/arm64/mm/mmap.c
index 842c8a5fcd53..0778f7ba8306 100644
--- a/arch/arm64/mm/mmap.c
+++ b/arch/arm64/mm/mmap.c
@@ -67,6 +67,14 @@ static unsigned long mmap_base(unsigned long rnd, struct rlimit *rlim_stack)
unsigned long gap = rlim_stack->rlim_cur;
unsigned long pad = (STACK_RND_MASK << PAGE_SHIFT) + stack_guard_gap;

+ /* Provide space for randomization when randomize_va_space == 2 and
+ * ld-linux.so is called directly. Values from arch_randomize_brk()
+ */
+ if (test_thread_flag(TIF_32BIT))
+ pad += SZ_32M;
+ else
+ pad += SZ_1G;
+
/* Values close to RLIM_INFINITY can overflow. */
if (gap + pad > gap)
gap += pad;
--
2.15.3.AMZN


2019-03-13 16:26:53

by Dave Hansen

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base

On 3/12/19 10:32 AM, Ali Saidi wrote:
> + /* Provide space for brk randomization */
> + pad += SZ_32M;

Just curious: Why is the padding in your other patch conditional on the
32-bit vs. 64-bit apps, but here it's always 32M?

Also, did you hit this problem in practice somehow?

2019-03-13 23:00:52

by Kees Cook

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base

On Tue, Mar 12, 2019 at 10:33 AM Ali Saidi <[email protected]> wrote:
>
> Increase mmap_base by the worst-case brk randomization so that
> the stack and heap remain apart.
>
> In Linux 4.13 a change was committed that special cased the kernel ELF
> loader when the loader is invoked directly (eab09532d400; binfmt_elf: use
> ELF_ET_DYN_BASE only for PIE). Generally, the loader isn’t invoked
> directly and this issue is limited to cases where it is, (e.g to set a
> non-inheritable LD_LIBRARY_PATH, testing new versions of the loader). In
> those rare cases, the loader doesn't take into account the amount of brk
> randomization that will be applied by arch_randomize_brk(). This can
> lead to the stack and heap being arbitrarily close to each other.

In the case of using the loader directly, brk (so helpfully identified
as "[heap]") is allocated with the _loader_ not the binary. For
example, with ASLR entirely disabled, you can see this more clearly:

$ /bin/cat /proc/self/maps
555555554000-55555555c000 r-xp 00000000 fd:02 34603015
/bin/cat
55555575b000-55555575c000 r--p 00007000 fd:02 34603015
/bin/cat
55555575c000-55555575d000 rw-p 00008000 fd:02 34603015
/bin/cat
55555575d000-55555577e000 rw-p 00000000 00:00 0 [heap]
...
7ffff7ff7000-7ffff7ffa000 r--p 00000000 00:00 0 [vvar]
7ffff7ffa000-7ffff7ffc000 r-xp 00000000 00:00 0 [vdso]
7ffff7ffc000-7ffff7ffd000 r--p 00027000 fd:02 49287483
/lib/x86_64-linux-gnu/ld-2.27.so
7ffff7ffd000-7ffff7ffe000 rw-p 00028000 fd:02 49287483
/lib/x86_64-linux-gnu/ld-2.27.so
7ffff7ffe000-7ffff7fff000 rw-p 00000000 00:00 0
7ffffffde000-7ffffffff000 rw-p 00000000 00:00 0 [stack]

$ /lib/x86_64-linux-gnu/ld-2.27.so /bin/cat /proc/self/maps
...
7ffff7bcc000-7ffff7bd4000 r-xp 00000000 fd:02 34603015
/bin/cat
7ffff7bd4000-7ffff7dd3000 ---p 00008000 fd:02 34603015
/bin/cat
7ffff7dd3000-7ffff7dd4000 r--p 00007000 fd:02 34603015
/bin/cat
7ffff7dd4000-7ffff7dd5000 rw-p 00008000 fd:02 34603015
/bin/cat
7ffff7dd5000-7ffff7dfc000 r-xp 00000000 fd:02 49287483
/lib/x86_64-linux-gnu/ld-2.27.so
7ffff7fb2000-7ffff7fd6000 rw-p 00000000 00:00 0
7ffff7ff7000-7ffff7ffa000 r--p 00000000 00:00 0 [vvar]
7ffff7ffa000-7ffff7ffc000 r-xp 00000000 00:00 0 [vdso]
7ffff7ffc000-7ffff7ffd000 r--p 00027000 fd:02 49287483
/lib/x86_64-linux-gnu/ld-2.27.so
7ffff7ffd000-7ffff7ffe000 rw-p 00028000 fd:02 49287483
/lib/x86_64-linux-gnu/ld-2.27.so
7ffff7ffe000-7ffff8020000 rw-p 00000000 00:00 0 [heap]
7ffffffde000-7ffffffff000 rw-p 00000000 00:00 0 [stack]

So I think changing this globally isn't the right solution (normally
brk is between text and mmap). Adjusting the mmap base padding means
we lose even more memory space. Perhaps it would be better if brk
allocation would be placed before the mmap region (i.e. use
ELF_ET_DYN_BASE). This seems to work for me:

diff --git a/fs/binfmt_elf.c b/fs/binfmt_elf.c
index 7d09d125f148..cdaa33f4a3ef 100644
--- a/fs/binfmt_elf.c
+++ b/fs/binfmt_elf.c
@@ -1131,6 +1131,15 @@ static int load_elf_binary(struct linux_binprm *bprm)
current->mm->end_data = end_data;
current->mm->start_stack = bprm->p;

+ /*
+ * When executing a loader directly (ET_DYN without Interp), move
+ * the brk area out of the mmap region (since it grows up, and may
+ * collide early with the stack growing down), and into the unused
+ * ELF_ET_DYN_BASE region.
+ */
+ if (!elf_interpreter)
+ current->mm->brk = current->mm->start_brk = ELF_ET_DYN_BASE;
+
if ((current->flags & PF_RANDOMIZE) && (randomize_va_space > 1)) {
current->mm->brk = current->mm->start_brk =
arch_randomize_brk(current->mm);

$ /lib/x86_64-linux-gnu/ld-2.27.so /bin/cat /proc/self/maps
555556de3000-555556e04000 rw-p 00000000 00:00 0 [heap]
7f8467da9000-7f8467f90000 r-xp 00000000 fd:01 399295
/lib/x86_64-linux-gnu/libc-2.27.so
...
7f846819a000-7f84681a2000 r-xp 00000000 fd:01 263229
/bin/cat
...
7f84685cb000-7f84685cc000 rw-p 00028000 fd:01 399286
/lib/x86_64-linux-gnu/ld-2.27.so
7f84685cc000-7f84685cd000 rw-p 00000000 00:00 0
7ffce68f8000-7ffce6919000 rw-p 00000000 00:00 0 [stack]
7ffce69f0000-7ffce69f3000 r--p 00000000 00:00 0 [vvar]
7ffce69f3000-7ffce69f4000 r-xp 00000000 00:00 0 [vdso]

Does anyone see problems with this? (Note that ET_EXEC base is
0x400000, so no collision there...)

--
Kees Cook

2019-03-17 15:54:13

by Ali Saidi

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base



> On Mar 13, 2019, at 11:26 AM, Dave Hansen <[email protected]> wrote:
>
>> On 3/12/19 10:32 AM, Ali Saidi wrote:
>> + /* Provide space for brk randomization */
>> + pad += SZ_32M;
>
> Just curious: Why is the padding in your other patch conditional on the
> 32-bit vs. 64-bit apps, but here it's always 32M?
Arm changes the amount of brk based on the process being 32 vs 64 bit. X86 doesn’t appear to do this.
>
> Also, did you hit this problem in practice somehow?

Just debugging a crash when testing a version of a library I compiled.

Ali

2019-03-21 14:11:16

by Thomas Gleixner

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base

On Tue, 12 Mar 2019, Ali Saidi wrote:

> Increase mmap_base by the worst-case brk randomization so that
> the stack and heap remain apart.
>
> In Linux 4.13 a change was committed that special cased the kernel ELF
> loader when the loader is invoked directly (eab09532d400; binfmt_elf: use
> ELF_ET_DYN_BASE only for PIE). Generally, the loader isn’t invoked
> directly and this issue is limited to cases where it is, (e.g to set a
> non-inheritable LD_LIBRARY_PATH, testing new versions of the loader). In
> those rare cases, the loader doesn't take into account the amount of brk
> randomization that will be applied by arch_randomize_brk(). This can
> lead to the stack and heap being arbitrarily close to each other.

That explains not why you need this change. What's the consequence of them
being close to each other?

Thanks,

tglx

2019-03-26 02:14:39

by Ali Saidi

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base



On 3/21/19, 9:11 AM, "linux-arm-kernel on behalf of Thomas Gleixner" <[email protected] on behalf of [email protected]> wrote:

On Tue, 12 Mar 2019, Ali Saidi wrote:

> Increase mmap_base by the worst-case brk randomization so that
> the stack and heap remain apart.
>
> In Linux 4.13 a change was committed that special cased the kernel ELF
> loader when the loader is invoked directly (eab09532d400; binfmt_elf: use
> ELF_ET_DYN_BASE only for PIE). Generally, the loader isn’t invoked
> directly and this issue is limited to cases where it is, (e.g to set a
> non-inheritable LD_LIBRARY_PATH, testing new versions of the loader). In
> those rare cases, the loader doesn't take into account the amount of brk
> randomization that will be applied by arch_randomize_brk(). This can
> lead to the stack and heap being arbitrarily close to each other.

That explains not why you need this change. What's the consequence of them
being close to each other?

The process doesn't get it's requested stack size and stack allocations could end up scribbling on the heap.

Thanks,
Ali


2019-03-26 08:44:50

by Thomas Gleixner

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base

On Tue, 26 Mar 2019, Saidi, Ali wrote:
> On 3/21/19, 9:11 AM, "linux-arm-kernel on behalf of Thomas Gleixner" <[email protected] on behalf of [email protected]> wrote:
>
> On Tue, 12 Mar 2019, Ali Saidi wrote:
>
> > Increase mmap_base by the worst-case brk randomization so that
> > the stack and heap remain apart.
> >
> > In Linux 4.13 a change was committed that special cased the kernel ELF
> > loader when the loader is invoked directly (eab09532d400; binfmt_elf: use
> > ELF_ET_DYN_BASE only for PIE). Generally, the loader isn’t invoked
> > directly and this issue is limited to cases where it is, (e.g to set a
> > non-inheritable LD_LIBRARY_PATH, testing new versions of the loader). In
> > those rare cases, the loader doesn't take into account the amount of brk
> > randomization that will be applied by arch_randomize_brk(). This can
> > lead to the stack and heap being arbitrarily close to each other.
>
> That explains not why you need this change. What's the consequence of them
> being close to each other?
>
> The process doesn't get it's requested stack size and stack allocations
> could end up scribbling on the heap.

And exactly that information wants to be in the changelog.

Thanks,

tglx

2019-03-27 19:54:45

by Kees Cook

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base

On Wed, Mar 13, 2019 at 3:58 PM Kees Cook <[email protected]> wrote:
>
> On Tue, Mar 12, 2019 at 10:33 AM Ali Saidi <[email protected]> wrote:
> >
> > Increase mmap_base by the worst-case brk randomization so that
> > the stack and heap remain apart.
> >
> > In Linux 4.13 a change was committed that special cased the kernel ELF
> > loader when the loader is invoked directly (eab09532d400; binfmt_elf: use
> > ELF_ET_DYN_BASE only for PIE). Generally, the loader isn’t invoked
> > directly and this issue is limited to cases where it is, (e.g to set a
> > non-inheritable LD_LIBRARY_PATH, testing new versions of the loader). In
> > those rare cases, the loader doesn't take into account the amount of brk
> > randomization that will be applied by arch_randomize_brk(). This can
> > lead to the stack and heap being arbitrarily close to each other.
>
> In the case of using the loader directly, brk (so helpfully identified
> as "[heap]") is allocated with the _loader_ not the binary. For
> example, with ASLR entirely disabled, you can see this more clearly:
>
> $ /bin/cat /proc/self/maps
> 555555554000-55555555c000 r-xp 00000000 fd:02 34603015
> /bin/cat
> 55555575b000-55555575c000 r--p 00007000 fd:02 34603015
> /bin/cat
> 55555575c000-55555575d000 rw-p 00008000 fd:02 34603015
> /bin/cat
> 55555575d000-55555577e000 rw-p 00000000 00:00 0 [heap]
> ...
> 7ffff7ff7000-7ffff7ffa000 r--p 00000000 00:00 0 [vvar]
> 7ffff7ffa000-7ffff7ffc000 r-xp 00000000 00:00 0 [vdso]
> 7ffff7ffc000-7ffff7ffd000 r--p 00027000 fd:02 49287483
> /lib/x86_64-linux-gnu/ld-2.27.so
> 7ffff7ffd000-7ffff7ffe000 rw-p 00028000 fd:02 49287483
> /lib/x86_64-linux-gnu/ld-2.27.so
> 7ffff7ffe000-7ffff7fff000 rw-p 00000000 00:00 0
> 7ffffffde000-7ffffffff000 rw-p 00000000 00:00 0 [stack]
>
> $ /lib/x86_64-linux-gnu/ld-2.27.so /bin/cat /proc/self/maps
> ...
> 7ffff7bcc000-7ffff7bd4000 r-xp 00000000 fd:02 34603015
> /bin/cat
> 7ffff7bd4000-7ffff7dd3000 ---p 00008000 fd:02 34603015
> /bin/cat
> 7ffff7dd3000-7ffff7dd4000 r--p 00007000 fd:02 34603015
> /bin/cat
> 7ffff7dd4000-7ffff7dd5000 rw-p 00008000 fd:02 34603015
> /bin/cat
> 7ffff7dd5000-7ffff7dfc000 r-xp 00000000 fd:02 49287483
> /lib/x86_64-linux-gnu/ld-2.27.so
> 7ffff7fb2000-7ffff7fd6000 rw-p 00000000 00:00 0
> 7ffff7ff7000-7ffff7ffa000 r--p 00000000 00:00 0 [vvar]
> 7ffff7ffa000-7ffff7ffc000 r-xp 00000000 00:00 0 [vdso]
> 7ffff7ffc000-7ffff7ffd000 r--p 00027000 fd:02 49287483
> /lib/x86_64-linux-gnu/ld-2.27.so
> 7ffff7ffd000-7ffff7ffe000 rw-p 00028000 fd:02 49287483
> /lib/x86_64-linux-gnu/ld-2.27.so
> 7ffff7ffe000-7ffff8020000 rw-p 00000000 00:00 0 [heap]
> 7ffffffde000-7ffffffff000 rw-p 00000000 00:00 0 [stack]
>
> So I think changing this globally isn't the right solution (normally
> brk is between text and mmap). Adjusting the mmap base padding means
> we lose even more memory space. Perhaps it would be better if brk
> allocation would be placed before the mmap region (i.e. use
> ELF_ET_DYN_BASE). This seems to work for me:
>
> diff --git a/fs/binfmt_elf.c b/fs/binfmt_elf.c
> index 7d09d125f148..cdaa33f4a3ef 100644
> --- a/fs/binfmt_elf.c
> +++ b/fs/binfmt_elf.c
> @@ -1131,6 +1131,15 @@ static int load_elf_binary(struct linux_binprm *bprm)
> current->mm->end_data = end_data;
> current->mm->start_stack = bprm->p;
>
> + /*
> + * When executing a loader directly (ET_DYN without Interp), move
> + * the brk area out of the mmap region (since it grows up, and may
> + * collide early with the stack growing down), and into the unused
> + * ELF_ET_DYN_BASE region.
> + */
> + if (!elf_interpreter)
> + current->mm->brk = current->mm->start_brk = ELF_ET_DYN_BASE;
> +
> if ((current->flags & PF_RANDOMIZE) && (randomize_va_space > 1)) {
> current->mm->brk = current->mm->start_brk =
> arch_randomize_brk(current->mm);
>
> $ /lib/x86_64-linux-gnu/ld-2.27.so /bin/cat /proc/self/maps
> 555556de3000-555556e04000 rw-p 00000000 00:00 0 [heap]
> 7f8467da9000-7f8467f90000 r-xp 00000000 fd:01 399295
> /lib/x86_64-linux-gnu/libc-2.27.so
> ...
> 7f846819a000-7f84681a2000 r-xp 00000000 fd:01 263229
> /bin/cat
> ...
> 7f84685cb000-7f84685cc000 rw-p 00028000 fd:01 399286
> /lib/x86_64-linux-gnu/ld-2.27.so
> 7f84685cc000-7f84685cd000 rw-p 00000000 00:00 0
> 7ffce68f8000-7ffce6919000 rw-p 00000000 00:00 0 [stack]
> 7ffce69f0000-7ffce69f3000 r--p 00000000 00:00 0 [vvar]
> 7ffce69f3000-7ffce69f4000 r-xp 00000000 00:00 0 [vdso]
>
> Does anyone see problems with this? (Note that ET_EXEC base is
> 0x400000, so no collision there...)

Adding some more people to CC... what do people think about this
moving of the brk to ELF_ET_DYN_BASE in this corner-case? Anything
that worked before should still work (i.e. the ultimately-launched
binary already had the brk very far from its text, so this should be
no different from a COMPAT_BRK standpoint). The only risk I see here
is that if someone started to suddenly depend on the entire memory
space above the mmap region being available when launching binaries
via a direct loader execs... which seems highly unlikely, I'd hope:
this would mean a binary would not work when execed normally.

--
Kees Cook

2019-04-15 16:11:45

by Ali Saidi

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base



On 3/27/19, 2:52 PM, "linux-arm-kernel on behalf of Kees Cook" <[email protected] on behalf of [email protected]> wrote:

Adding some more people to CC... what do people think about this
moving of the brk to ELF_ET_DYN_BASE in this corner-case? Anything
that worked before should still work (i.e. the ultimately-launched
binary already had the brk very far from its text, so this should be
no different from a COMPAT_BRK standpoint). The only risk I see here
is that if someone started to suddenly depend on the entire memory
space above the mmap region being available when launching binaries
via a direct loader execs... which seems highly unlikely, I'd hope:
this would mean a binary would not work when execed normally.

Kees' proposal addresses the issue for me. Anyone have concerns on this proposed solution?

Ali


2019-04-19 19:05:02

by Kees Cook

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base

On Fri, Apr 19, 2019 at 3:51 AM Ingo Molnar <[email protected]> wrote:
> I'd suggest incorporating all feedback and sending a v2 series - it's
> much easier to get people's attention via code submitted. ;-)

I sent my patch out, akpm added it to -mm and then xtensa broke, and
it got removed. Soooo... I'm looking at it again now. I think I might
combine the ideas and in the interpreter case bump the entire mmap
base by the brk randomization size. That should make things less
strange and solve the corner case without reducing available address
space in the general case.

--
Kees Cook

2019-04-19 19:41:54

by Ingo Molnar

[permalink] [raw]
Subject: Re: [PATCH 2/2] x86/mmap: handle worst-case heap randomization in mmap_base


* Saidi, Ali <[email protected]> wrote:

> On 3/27/19, 2:52 PM, "linux-arm-kernel on behalf of Kees Cook" <[email protected] on behalf of [email protected]> wrote:
>
> Adding some more people to CC... what do people think about this
> moving of the brk to ELF_ET_DYN_BASE in this corner-case? Anything
> that worked before should still work (i.e. the ultimately-launched
> binary already had the brk very far from its text, so this should be
> no different from a COMPAT_BRK standpoint). The only risk I see here
> is that if someone started to suddenly depend on the entire memory
> space above the mmap region being available when launching binaries
> via a direct loader execs... which seems highly unlikely, I'd hope:
> this would mean a binary would not work when execed normally.
>
> Kees' proposal addresses the issue for me. Anyone have concerns on this proposed solution?

I'd suggest incorporating all feedback and sending a v2 series - it's
much easier to get people's attention via code submitted. ;-)

Thanks,

Ingo