amiro-os / core / inc / aos_sssp.h @ c53ef0b1
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file aos_sssp.h
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* @brief SSSP related macros, structures and functions.
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*
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* @addtogroup aos_sssp
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* @{
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*/
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#ifndef AMIROOS_SSSP_H
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#define AMIROOS_SSSP_H
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#include <amiroos.h> |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/******************************************************************************/
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/* CONSTANTS */
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/******************************************************************************/
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/**
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* @brief Major version of the implemented SSSP.
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*/
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#define AOS_SSSP_VERSION_MAJOR 1 |
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/**
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* @brief Minor version of the implemented SSSP.
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*/
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#define AOS_SSSP_VERSION_MINOR 4 |
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/**
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* @brief Time of delays in microseconds.
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*/
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#define AOS_SSSP_DELAY AMIROOS_CFG_SSSP_SIGNALDELAY
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/**
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* @brief Timeout delay in microseconds according to SSSP.
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* @details SSSP 1.x defines timeouts to be ten times longer than the signal delay time.
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*/
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#define AOS_SSSP_TIMEOUT (10 * AOS_SSSP_DELAY) |
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/**
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* @brief Value to indicate an invalid module ID.
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*/
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#define AOS_SSSP_MODULEID_INVALID ((aos_ssspmoduleid_t)0) |
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/**
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* @brief Value for broadcasting, adressing all modules.
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* @note This value is identical to @p AOS_SSSP_MODULEID_INVALID since in the case that no module IDs were applied, addressing of specific modules is not possible, thus every communication would be a broadcast.
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*/
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#define AOS_SSSP_MODULEID_BROADCAST ((aos_ssspmoduleid_t)0) |
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/******************************************************************************/
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/* SETTINGS */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS */
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/******************************************************************************/
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#if (!(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 8) && \ |
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!(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 16) && \
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!(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 32) && \
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!(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 64))
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#error "AMIROOS_CFG_SSSP_MODULEIDWIDTH set to an invalid value." |
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#endif
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/******************************************************************************/
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/* DATA STRUCTURES AND TYPES */
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/******************************************************************************/
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/**
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* @brief Enumeration of the several stages of SSSP.
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*/
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typedef enum { |
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AOS_SSSP_STAGE_UNDEFINED = 0x00000000, /**< Identifier of yet undefined stage variable. */ |
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AOS_SSSP_STAGE_STARTUP = 0x10000000, /**< Identifier of SSSP startup phase. */ |
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AOS_SSSP_STAGE_STARTUP_1 = 0x11000000, /**< Identifier of SSSP startup phase stage 1. */ |
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AOS_SSSP_STAGE_STARTUP_1_1 = 0x11100000, /**< Identifier of SSSP startup phase stage 1-1. */ |
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AOS_SSSP_STAGE_STARTUP_1_2 = 0x11200000, /**< Identifier of SSSP startup phase stage 1-2. */ |
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AOS_SSSP_STAGE_STARTUP_1_3 = 0x11300000, /**< Identifier of SSSP startup phase stage 1-3. */ |
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AOS_SSSP_STAGE_STARTUP_2 = 0x12000000, /**< Identifier of SSSP startup phase stage 2. */ |
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AOS_SSSP_STAGE_STARTUP_2_1 = 0x12100000, /**< Identifier of SSSP startup phase stage 2-1. */ |
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AOS_SSSP_STAGE_STARTUP_2_2 = 0x12200000, /**< Identifier of SSSP startup phase stage 2-2. */ |
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AOS_SSSP_STAGE_STARTUP_3 = 0x13000000, /**< Identifier of SSSP startup phase stage 3. */ |
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AOS_SSSP_STAGE_STARTUP_3_1 = 0x13100000, /**< Identifier of SSSP startup phase stage 3-1. */ |
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AOS_SSSP_STAGE_STARTUP_3_1_BROADCASTINIT = 0x13110001, /**< Identifier of SSSP startup phase stage 3-1 broadcast initialization (master only). */ |
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AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT = 0x13110002, /**< Identifier of SSSP startup phase stage 3-1 waiting for broadcast (non-master only). */ |
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AOS_SSSP_STAGE_STARTUP_3_2 = 0x13200000, /**< Identifier of SSSP startup phase stage 3-2. */ |
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AOS_SSSP_STAGE_STARTUP_3_3 = 0x13300000, /**< Identifier of SSSP startup phase stage 3-3. */ |
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AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT = 0x13310000, /**< Identifier of SSSP startup phase stage 3-3 waiting for an event to occurr. */ |
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AOS_SSSP_STAGE_STARTUP_3_3_BROADCASTID = 0x13320000, /**< Identifier of SSSP startup phase stage 3-3 broadcasting identifier. */ |
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AOS_SSSP_STAGE_STARTUP_3_4 = 0x13400000, /**< Identifier of SSSP startup phase stage 3-4. */ |
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AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION = 0x13410000, /**< Identifier of SSSP startup phase stage 3-4 completion. */ |
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AOS_SSSP_STAGE_STARTUP_3_4_ABORTION = 0x13420000, /**< Identifier of SSSP startup phase stage 3-4 abortion. */ |
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AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT = 0x13421000, /**< Identifier of SSSP startup phase stage 3-4 abortion initialization. */ |
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AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC = 0x13422000, /**< Identifier of SSSP startup phase stage 3-4 abortion synchronization. */ |
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AOS_SSSP_STAGE_OPERATION = 0x20000000, /**< Identifier of SSSP operation phase. */ |
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AOS_SSSP_STAGE_SHUTDOWN = 0x30000000, /**< Identifier of SSSP shutdown phase. */ |
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AOS_SSSP_STAGE_SHUTDOWN_1 = 0x31000000, /**< Identifier of SSSP shutdown phase stage 1. */ |
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AOS_SSSP_STAGE_SHUTDOWN_1_1 = 0x31100000, /**< Identifier of SSSP shutdown phase stage 1-1. */ |
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AOS_SSSP_STAGE_SHUTDOWN_1_2 = 0x31200000, /**< Identifier of SSSP shutdown phase stage 1-2. */ |
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AOS_SSSP_STAGE_SHUTDOWN_1_3 = 0x31300000, /**< Identifier of SSSP shutdown phase stage 1-3. */ |
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AOS_SSSP_STAGE_SHUTDOWN_2 = 0x32000000, /**< Identifier of SSSP shutdown phase stage 2. */ |
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AOS_SSSP_STAGE_SHUTDOWN_2_1 = 0x32100000, /**< Identifier of SSSP shutdown phase stage 2-1. */ |
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AOS_SSSP_STAGE_SHUTDOWN_2_2 = 0x32200000, /**< Identifier of SSSP shutdown phase stage 2-2. */ |
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AOS_SSSP_STAGE_SHUTDOWN_2_3 = 0x32300000, /**< Identifier of SSSP shutdown phase stage 2-3. */ |
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} aos_ssspstage_t; |
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/**
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* @brief Type to represent module IDs.
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*/
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#if (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 8) |
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typedef uint8_t aos_ssspmoduleid_t;
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#elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 16) || defined(__DOXYGEN__) |
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typedef uint16_t aos_ssspmoduleid_t;
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#elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 32) |
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typedef uint32_t aos_ssspmoduleid_t;
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#elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 64) |
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typedef uint64_t aos_ssspmoduleid_t;
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#endif
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/**
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* @brief Data structure holding module-wide SSSP information.
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*/
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typedef struct { |
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/**
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* @brief Current execution stage of SSSP.
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*/
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aos_ssspstage_t stage; |
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/**
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* @brief Module identifier.
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* @details A value of @p AOS_SSSP_MODULEID_INVALID indicates an uninitialized ID.
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*/
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aos_ssspmoduleid_t moduleId; |
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} aos_ssspdata_t; |
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#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
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/**
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* @brief Type to qualify attempts to transmitt/receive mesages via BCB.
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*/
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typedef enum { |
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AOS_SSSP_BCB_SUCCESS, /**< BCB access was sucessfull. */
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AOS_SSSP_BCB_ERROR, /**< BCB access failed or no message was available. */
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AOS_SSSP_BCB_INVALIDMSG, /**< Invalid BCB message detected. */
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} aos_ssspbcbstatus_t; |
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/**
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* @brief Data structure to be transmitted via BCB during module stack initialization (MSI).
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*/
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typedef struct { |
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/**
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* @brief Type of the message.
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*/
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uint8_t type; |
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/**
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* @brief Message payload.
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* @details Payload depends on message type.
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*/
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union {
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/**
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* @brief Transmitted ID.
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* @details This field is only used for @p SSSP_MSI_ID type messages.
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*/
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aos_ssspmoduleid_t id; |
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} payload PACKED_VAR; |
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} aos_ssspbcbmessage_t; |
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/*
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* Available BCB messages:
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*/
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#define AOS_SSSP_BCBMESSAGE_INVALID 0 /**< Invalid BCB message. */ |
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#define AOS_SSSP_BCBMESSAGE_MSIINIT 1 /**< MSI initialization message. */ |
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#define AOS_SSSP_BCBMESSAGE_MSIID 2 /**< MSI identifier message. */ |
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#define AOS_SSSP_BCBMESSAGE_MSIABORT 3 /**< MSI abort message. */ |
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/**
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* @brief Data structure required for the module stack initialization (MSI) phase.
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*/
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typedef struct { |
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/**
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* @brief Timout related data.
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*/
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struct {
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/**
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* @brief Timer to trigger potential timeouts.
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* @details This timer must not be an AMiRo-OS timer, since delays occurr before system is initialized.
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*/
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virtual_timer_t timer; |
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/**
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* @brief Event source to be triggered on timeout.
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*/
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event_source_t eventsource; |
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/**
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* @brief Event listener to inform the MSI thread about timeout events.
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*/
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event_listener_t eventlistener; |
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} timeout; |
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/**
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* @brief Signal related data.
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*/
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struct {
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/**
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* @brief Pointer to an existing event listener, which informs about GPIO signal events.
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*/
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event_listener_t* eventlistener; |
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} signals; |
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/**
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* @brief BCB related data.
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*/
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struct {
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/**
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* @brief Message object.
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*/
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aos_ssspbcbmessage_t message; |
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/**
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* @brief Buffer for (de)serialization BCB messages.
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*/
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uint8_t buffer[sizeof(aos_ssspbcbmessage_t)];
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/**
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* @brief Return status of last BCB access.
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*/
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aos_ssspbcbstatus_t status; |
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/**
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* @brief The most recently received identifier.
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*/
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aos_ssspmoduleid_t lastid; |
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} bcb; |
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} aos_ssspmsidata_t; |
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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/******************************************************************************/
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/* MACROS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS */
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/******************************************************************************/
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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/*
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* module specific interface functions
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*/
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#if !defined(moduleSsspSignalPD) || defined(__DOXYGEN__)
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/**
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* @brief Retreive the control GPIO object for the PD signal.
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* @return Pounter to the control GPIO object.
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*/
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apalControlGpio_t* moduleSsspSignalPD(void);
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#endif /* !defined(moduleSsspSignalPD) */ |
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#if !defined(moduleSsspEventflagPD) || defined(__DOXYGEN__)
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/**
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* @brief Retreive the GPIO event flag set by a PD signal edge.
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* @return Eventflag set on PD events.
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*/
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eventflags_t moduleSsspEventflagPD(void);
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#endif /* !defined(moduleSsspEventflagPD) */ |
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#if !defined(moduleSsspSignalS) || defined(__DOXYGEN__)
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/**
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* @brief Retreive the control GPIO object for the S signal.
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* @return Pounter to the control GPIO object.
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*/
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apalControlGpio_t* moduleSsspSignalS(void);
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#endif /* !defined(moduleSsspSignalS) */ |
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#if !defined(moduleSsspEventflagS) || defined(__DOXYGEN__)
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/**
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* @brief Retreive the GPIO event flag set by a S signal edge.
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* @return Eventflag set on S events.
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*/
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eventflags_t moduleSsspEventflagS(void);
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#endif /* !defined(moduleSsspEventflagS) */ |
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#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
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#if (AMIROOS_CFG_SSSP_STACK_START != true) || defined(__DOXYGEN__) |
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#if !defined(moduleSsspSignalDN) || defined(__DOXYGEN__)
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/**
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* @brief Retreive the control GPIO object for the DN signal.
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* @return Pounter to the control GPIO object.
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*/
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apalControlGpio_t* moduleSsspSignalDN(void);
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#endif /* !defined(moduleSsspSignalDN) */ |
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#if !defined(moduleSsspEventflagDN) || defined(__DOXYGEN__)
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/**
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* @brief Retreive the GPIO event flag set by a DN signal edge.
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* @return Eventflag set on DN events.
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*/
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eventflags_t moduleSsspEventflagDN(void);
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#endif /* !defined(moduleSsspEventflagDN) */ |
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#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
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#if (AMIROOS_CFG_SSSP_STACK_END != true) || defined(__DOXYGEN__) |
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#if !defined(moduleSsspSignalUP) || defined(__DOXYGEN__)
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/**
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* @brief Retreive the control GPIO object for the UP signal.
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* @return Pounter to the control GPIO object.
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*/
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apalControlGpio_t* moduleSsspSignalUP(void);
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#endif /* !defined(moduleSsspSignalUP) */ |
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#if !defined(moduleSsspEventflagUP) || defined(__DOXYGEN__)
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/**
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* @brief Retreive the GPIO event flag set by a UP signal edge.
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* @return Eventflag set on UP events.
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*/
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eventflags_t moduleSsspEventflagUP(void);
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#endif /* !defined(moduleSsspEventflagUP) */ |
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#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
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#if !defined(moduleSsspBcbTransmit) || defined(__DOXYGEN__)
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/**
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* @brief Transmit data via BCB.
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*
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* @param[in] buffer Pointer to a buffer, that holds the data to be sent.
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* @param[in] length Length of the buffer in bytes.
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*
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* @return Status value, indicating whether the operation was successful.
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*/
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aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length);
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/**
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* @brief Receive a message from BCB.
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* @note If a message is received, which is not defined by SSSP, the data may be irreversibly discarded by this function.
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*
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* @param[out] buffer Pointer to a buffer to store the received data to.
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* @param[in] length Number of expected bytes to receive.
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* Obviously, the buffer must be large enough.
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*
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* @return Status value, indicating whether the operation was successful.
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*/
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aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length); |
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#endif /* !defined(moduleSsspBcbTransmit) */ |
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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/*
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* API functions
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*/
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void aosSsspInit(aos_timestamp_t* system_uptime);
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aos_status_t aosSsspProceed(event_listener_t* listener, eventmask_t mask, eventmask_t* received); |
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#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
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void aosSsspMsiInit(aos_ssspmsidata_t* msidata, eventmask_t delayMask, eventmask_t timeoutMask, event_listener_t* gpioListener);
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void aosSsspMsi(aos_ssspmsidata_t* msidata, eventmask_t* received);
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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float aosSsspGetSyncSkew(void); |
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#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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void aosSsspShutdownInit(bool active); |
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#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) || defined(__DOXYGEN__) |
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void aosSsspShutdownBroadcastIdentifier(unsigned int identifier); |
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eventmask_t aosSsspShutdownWaitForIdentifierPulse(event_listener_t* gpiolistener, eventflags_t sflags, eventmask_t timermask, unsigned int* identifier); |
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#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/******************************************************************************/
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/* INLINE FUNCTIONS */
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/******************************************************************************/
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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#endif /* AMIROOS_SSSP_H */ |
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/** @} */
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