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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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/** @} */