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-            cda14729
+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2019  Thomas Schöpping et al.
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 /**
  * @file    aos_sssp.h
  * @brief   SSSP related macros, structures and functions.
+ *
  * @addtogroup aos_sssp
  * @{
  */
 #ifndef AMIROOS_SSSP_H
 #define AMIROOS_SSSP_H
 #include <amiroos.h>
 #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
 /******************************************************************************/
 /* CONSTANTS                                                                  */
 /******************************************************************************/
 /**
  * @brief   Major version of the implemented SSSP.
  */
 #define AOS_SSSP_VERSION_MAJOR                  1
 /**
  * @brief   Minor version of the implemented SSSP.
  */
 #define AOS_SSSP_VERSION_MINOR                  4
 /**
  * @brief   Time of delays in microseconds.
  */
 #define AOS_SSSP_DELAY                          AMIROOS_CFG_SSSP_SIGNALDELAY
 /**
  * @brief   Timeout delay in microseconds according to SSSP.
  * @details SSSP 1.x defines timeouts to be ten times longer than the signal delay time.
  */
 #define AOS_SSSP_TIMEOUT                        (10 * AOS_SSSP_DELAY)
 /**
  * @brief   Value to indicate an invalid module ID.
  */
 #define AOS_SSSP_MODULEID_INVALID               ((aos_ssspmoduleid_t)0)
 /**
  * @brief   Value for broadcasting, adressing all modules.
  * @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.
  */
 #define AOS_SSSP_MODULEID_BROADCAST             ((aos_ssspmoduleid_t)0)
 /******************************************************************************/
 /* SETTINGS                                                                   */
 /******************************************************************************/
 /******************************************************************************/
 /* CHECKS                                                                     */
 /******************************************************************************/
-            c53ef0b1
+#if (!(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 8) &&                                \
    !(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 16)  &&                                \
    !(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 32)  &&                                \
    !(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 64))
   #error "AMIROOS_CFG_SSSP_MODULEIDWIDTH set to an invalid value."
-            cda14729
+#endif
 /******************************************************************************/
 /* DATA STRUCTURES AND TYPES                                                  */
 /******************************************************************************/
 /**
  * @brief   Enumeration of the several stages of SSSP.
  */
 typedef enum {
-            c53ef0b1
+  AOS_SSSP_STAGE_UNDEFINED                    = 0x00000000, /**< Identifier of yet undefined stage variable.                                          */
   AOS_SSSP_STAGE_STARTUP                      = 0x10000000, /**< Identifier of SSSP startup phase.                                                    */
   AOS_SSSP_STAGE_STARTUP_1                    = 0x11000000, /**< Identifier of SSSP startup phase stage 1.                                            */
   AOS_SSSP_STAGE_STARTUP_1_1                  = 0x11100000, /**< Identifier of SSSP startup phase stage 1-1.                                          */
   AOS_SSSP_STAGE_STARTUP_1_2                  = 0x11200000, /**< Identifier of SSSP startup phase stage 1-2.                                          */
   AOS_SSSP_STAGE_STARTUP_1_3                  = 0x11300000, /**< Identifier of SSSP startup phase stage 1-3.                                          */
   AOS_SSSP_STAGE_STARTUP_2                    = 0x12000000, /**< Identifier of SSSP startup phase stage 2.                                            */
   AOS_SSSP_STAGE_STARTUP_2_1                  = 0x12100000, /**< Identifier of SSSP startup phase stage 2-1.                                          */
   AOS_SSSP_STAGE_STARTUP_2_2                  = 0x12200000, /**< Identifier of SSSP startup phase stage 2-2.                                          */
   AOS_SSSP_STAGE_STARTUP_3                    = 0x13000000, /**< Identifier of SSSP startup phase stage 3.                                            */
   AOS_SSSP_STAGE_STARTUP_3_1                  = 0x13100000, /**< Identifier of SSSP startup phase stage 3-1.                                          */
   AOS_SSSP_STAGE_STARTUP_3_1_BROADCASTINIT    = 0x13110001, /**< Identifier of SSSP startup phase stage 3-1 broadcast initialization (master only).   */
   AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT      = 0x13110002, /**< Identifier of SSSP startup phase stage 3-1 waiting for broadcast (non-master only).  */
   AOS_SSSP_STAGE_STARTUP_3_2                  = 0x13200000, /**< Identifier of SSSP startup phase stage 3-2.                                          */
   AOS_SSSP_STAGE_STARTUP_3_3                  = 0x13300000, /**< Identifier of SSSP startup phase stage 3-3.                                          */
   AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT       = 0x13310000, /**< Identifier of SSSP startup phase stage 3-3 waiting for an event to occurr.           */
   AOS_SSSP_STAGE_STARTUP_3_3_BROADCASTID      = 0x13320000, /**< Identifier of SSSP startup phase stage 3-3 broadcasting identifier.                  */
   AOS_SSSP_STAGE_STARTUP_3_4                  = 0x13400000, /**< Identifier of SSSP startup phase stage 3-4.                                          */
   AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION       = 0x13410000, /**< Identifier of SSSP startup phase stage 3-4 completion.                               */
   AOS_SSSP_STAGE_STARTUP_3_4_ABORTION         = 0x13420000, /**< Identifier of SSSP startup phase stage 3-4 abortion.                                 */
   AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT    = 0x13421000, /**< Identifier of SSSP startup phase stage 3-4 abortion initialization.                  */
   AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC    = 0x13422000, /**< Identifier of SSSP startup phase stage 3-4 abortion synchronization.                 */
   AOS_SSSP_STAGE_OPERATION                    = 0x20000000, /**< Identifier of SSSP operation phase.                                                  */
   AOS_SSSP_STAGE_SHUTDOWN                     = 0x30000000, /**< Identifier of SSSP shutdown phase.                                                   */
   AOS_SSSP_STAGE_SHUTDOWN_1                   = 0x31000000, /**< Identifier of SSSP shutdown phase stage 1.                                           */
   AOS_SSSP_STAGE_SHUTDOWN_1_1                 = 0x31100000, /**< Identifier of SSSP shutdown phase stage 1-1.                                         */
   AOS_SSSP_STAGE_SHUTDOWN_1_2                 = 0x31200000, /**< Identifier of SSSP shutdown phase stage 1-2.                                         */
   AOS_SSSP_STAGE_SHUTDOWN_1_3                 = 0x31300000, /**< Identifier of SSSP shutdown phase stage 1-3.                                         */
   AOS_SSSP_STAGE_SHUTDOWN_2                   = 0x32000000, /**< Identifier of SSSP shutdown phase stage 2.                                           */
   AOS_SSSP_STAGE_SHUTDOWN_2_1                 = 0x32100000, /**< Identifier of SSSP shutdown phase stage 2-1.                                         */
   AOS_SSSP_STAGE_SHUTDOWN_2_2                 = 0x32200000, /**< Identifier of SSSP shutdown phase stage 2-2.                                         */
   AOS_SSSP_STAGE_SHUTDOWN_2_3                 = 0x32300000, /**< Identifier of SSSP shutdown phase stage 2-3.                                         */
-            cda14729
+} aos_ssspstage_t;
 /**
  * @brief   Type to represent module IDs.
  */
 #if (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 8)
 typedef uint8_t aos_ssspmoduleid_t;
 #elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 16) || defined(__DOXYGEN__)
 typedef uint16_t aos_ssspmoduleid_t;
 #elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 32)
 typedef uint32_t aos_ssspmoduleid_t;
-            c53ef0b1
+#elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 64)
 typedef uint64_t aos_ssspmoduleid_t;
-            cda14729
+#endif
 /**
  * @brief   Data structure holding module-wide SSSP information.
  */
 typedef struct {
   /**
    * @brief   Current execution stage of SSSP.
    */
   aos_ssspstage_t stage;
   /**
    * @brief   Module identifier.
    * @details A value of @p AOS_SSSP_MODULEID_INVALID indicates an uninitialized ID.
    */
   aos_ssspmoduleid_t moduleId;
 } aos_ssspdata_t;
-            c53ef0b1
+#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__)
 /**
  * @brief   Type to qualify attempts to transmitt/receive mesages via BCB.
  */
 typedef enum {
   AOS_SSSP_BCB_SUCCESS,     /**< BCB access was sucessfull. */
   AOS_SSSP_BCB_ERROR,       /**< BCB access failed or no message was available. */
   AOS_SSSP_BCB_INVALIDMSG,  /**< Invalid BCB message detected. */
 } aos_ssspbcbstatus_t;
 /**
  * @brief   Data structure to be transmitted via BCB during module stack initialization (MSI).
  */
 typedef struct {
   /**
    * @brief   Type of the message.
    */
   uint8_t type;
   /**
    * @brief   Message payload.
    * @details Payload depends on message type.
    */
   union {
     /**
      * @brief   Transmitted ID.
      * @details This field is only used for @p SSSP_MSI_ID type messages.
      */
     aos_ssspmoduleid_t id;
   } payload PACKED_VAR;
 } aos_ssspbcbmessage_t;
 /*
  * Available BCB messages:
  */
 #define AOS_SSSP_BCBMESSAGE_INVALID             0   /**< Invalid BCB message.         */
 #define AOS_SSSP_BCBMESSAGE_MSIINIT             1   /**< MSI initialization message.  */
 #define AOS_SSSP_BCBMESSAGE_MSIID               2   /**< MSI identifier message.      */
 #define AOS_SSSP_BCBMESSAGE_MSIABORT            3   /**< MSI abort message.           */
 /**
  * @brief   Data structure required for the module stack initialization (MSI) phase.
  */
 typedef struct {
   /**
    * @brief   Timout related data.
    */
   struct {
     /**
      * @brief   Timer to trigger potential timeouts.
      * @details This timer must not be an AMiRo-OS timer, since delays occurr before system is initialized.
      */
     virtual_timer_t timer;
     /**
      * @brief   Event source to be triggered on timeout.
      */
     event_source_t eventsource;
     /**
      * @brief   Event listener to inform the MSI thread about timeout events.
      */
     event_listener_t eventlistener;
   } timeout;
   /**
    * @brief   Signal related data.
    */
   struct {
     /**
      * @brief   Pointer to an existing event listener, which informs about GPIO signal events.
      */
     event_listener_t* eventlistener;
   } signals;
   /**
    * @brief   BCB related data.
    */
   struct {
     /**
      * @brief   Message object.
      */
     aos_ssspbcbmessage_t message;
     /**
      * @brief   Buffer for (de)serialization BCB messages.
      */
     uint8_t buffer[sizeof(aos_ssspbcbmessage_t)];
     /**
      * @brief   Return status of last BCB access.
      */
     aos_ssspbcbstatus_t status;
     /**
      * @brief   The most recently received identifier.
      */
     aos_ssspmoduleid_t lastid;
   } bcb;
 } aos_ssspmsidata_t;
 #endif /* (AMIROOS_CFG_SSSP_MSI == true) */
-            cda14729
+/******************************************************************************/
 /* MACROS                                                                     */
 /******************************************************************************/
 /******************************************************************************/
 /* EXTERN DECLARATIONS                                                        */
 /******************************************************************************/
 #if defined(__cplusplus)
 extern "C" {
 #endif /* defined(__cplusplus) */
-            c53ef0b1
+            Thomas Schöpping
   /*
    * module specific interface functions
    */
 #if !defined(moduleSsspSignalPD) || defined(__DOXYGEN__)
   /**
    * @brief   Retreive the control GPIO object for the PD signal.
    * @return  Pounter to the control GPIO object.
    */
   apalControlGpio_t* moduleSsspSignalPD(void);
 #endif /* !defined(moduleSsspSignalPD) */
 #if !defined(moduleSsspEventflagPD) || defined(__DOXYGEN__)
   /**
    * @brief   Retreive the GPIO event flag set by a PD signal edge.
    * @return  Eventflag set on PD events.
    */
   eventflags_t moduleSsspEventflagPD(void);
 #endif /* !defined(moduleSsspEventflagPD) */
 #if !defined(moduleSsspSignalS) || defined(__DOXYGEN__)
   /**
    * @brief   Retreive the control GPIO object for the S signal.
    * @return  Pounter to the control GPIO object.
    */
   apalControlGpio_t* moduleSsspSignalS(void);
 #endif /* !defined(moduleSsspSignalS) */
 #if !defined(moduleSsspEventflagS) || defined(__DOXYGEN__)
   /**
    * @brief   Retreive the GPIO event flag set by a S signal edge.
    * @return  Eventflag set on S events.
    */
   eventflags_t moduleSsspEventflagS(void);
 #endif /* !defined(moduleSsspEventflagS) */
 #if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__)
 #if (AMIROOS_CFG_SSSP_STACK_START != true) || defined(__DOXYGEN__)
 #if !defined(moduleSsspSignalDN) || defined(__DOXYGEN__)
   /**
    * @brief   Retreive the control GPIO object for the DN signal.
    * @return  Pounter to the control GPIO object.
    */
   apalControlGpio_t* moduleSsspSignalDN(void);
 #endif /* !defined(moduleSsspSignalDN) */
 #if !defined(moduleSsspEventflagDN) || defined(__DOXYGEN__)
   /**
    * @brief   Retreive the GPIO event flag set by a DN signal edge.
    * @return  Eventflag set on DN events.
    */
   eventflags_t moduleSsspEventflagDN(void);
 #endif /* !defined(moduleSsspEventflagDN) */
 #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */
 #if (AMIROOS_CFG_SSSP_STACK_END != true) || defined(__DOXYGEN__)
 #if !defined(moduleSsspSignalUP) || defined(__DOXYGEN__)
   /**
    * @brief   Retreive the control GPIO object for the UP signal.
    * @return  Pounter to the control GPIO object.
    */
   apalControlGpio_t* moduleSsspSignalUP(void);
 #endif /* !defined(moduleSsspSignalUP) */
 #if !defined(moduleSsspEventflagUP) || defined(__DOXYGEN__)
   /**
    * @brief   Retreive the GPIO event flag set by a UP signal edge.
    * @return  Eventflag set on UP events.
    */
   eventflags_t moduleSsspEventflagUP(void);
 #endif /* !defined(moduleSsspEventflagUP) */
 #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */
 #if !defined(moduleSsspBcbTransmit) || defined(__DOXYGEN__)
   /**
    * @brief   Transmit data via BCB.
+   *
    * @param[in] buffer    Pointer to a buffer, that holds the data to be sent.
    * @param[in] length    Length of the buffer in bytes.
+   *
    * @return  Status value, indicating whether the operation was successful.
    */
   aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length);
   /**
    * @brief   Receive a message from BCB.
    * @note    If a message is received, which is not defined by SSSP, the data may be irreversibly discarded by this function.
+   *
    * @param[out]    buffer  Pointer to a buffer to store the received data to.
    * @param[in]     length  Number of expected bytes to receive.
    *                        Obviously, the buffer must be large enough.
+   *
    * @return  Status value, indicating whether the operation was successful.
    */
   aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length);
 #endif /* !defined(moduleSsspBcbTransmit) */
 #endif /* (AMIROOS_CFG_SSSP_MSI == true) */
   /*
    * API functions
    */
-            c218345a
+  void aosSsspInit(aos_timestamp_t* system_uptime);
-            c53ef0b1
+  aos_status_t aosSsspProceed(event_listener_t* listener, eventmask_t mask, eventmask_t* received);
 #if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__)
   void aosSsspMsiInit(aos_ssspmsidata_t* msidata, eventmask_t delayMask, eventmask_t timeoutMask, event_listener_t* gpioListener);
   void aosSsspMsi(aos_ssspmsidata_t* msidata, eventmask_t* received);
 #endif /* (AMIROOS_CFG_SSSP_MSI == true) */
 #if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
   float aosSsspGetSyncSkew(void);
 #endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */
-            c218345a
+  void aosSsspShutdownInit(bool active);
-            cda14729
+#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) || defined(__DOXYGEN__)
   void aosSsspShutdownBroadcastIdentifier(unsigned int identifier);
   eventmask_t aosSsspShutdownWaitForIdentifierPulse(event_listener_t* gpiolistener, eventflags_t sflags, eventmask_t timermask, unsigned int* identifier);
 #endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */
-            c53ef0b1
+            Thomas Schöpping
-            cda14729
+#if defined(__cplusplus)
+}
 #endif /* defined(__cplusplus) */
 /******************************************************************************/
 /* INLINE FUNCTIONS                                                           */
 /******************************************************************************/
 #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
 #endif /* AMIROOS_SSSP_H */
 /** @} */