/ - Diff - AMiRo-OS - Research for Cognitive Interaction

Revision 3ed0cc4d

     /*
     AMiRo-LLD is a compilation of low-level hardware drivers 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 Lesser 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 Lesser General Public License for more details.
     You should have received a copy of the GNU Lesser General Public License
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
     */
     /**
      * @file    alld_VL53L1X.c
      * @brief   ToF sensor function implementations.
+     *
      * @addtogroup lld_vl53l1x
      * @{
      */
     #include <alld_VL53L1X.h>
     //#include "vl53l1_platform.h"
     #include <vl53l1_api.h>
     // #include "vl53l1_platform_log.h"
     #include <string.h>
     /******************************************************************************/
     /* LOCAL DEFINITIONS                                                          */
     /******************************************************************************/
     // #include "stm32xxx_hal.h"
     #include <string.h>
     /**
      * @brief   I2C communication timeout (in microseconds).
      * @details Cutsom values can be set via alldconf.h file.
      */
     #if !defined(VL53L1X_LLD_I2C_TIMEOUT) || defined(__DOXYGEN__)
     # define VL53L1X_LLD_I2C_TIMEOUT               ((apalTime_t)1000)
     #endif
     /******************************************************************************/
     /* EXPORTED VARIABLES                                                         */
     /******************************************************************************/
     /******************************************************************************/
     /* LOCAL TYPES                                                                */
     /******************************************************************************/
     /******************************************************************************/
     /* LOCAL VARIABLES                                                            */
     /******************************************************************************/
     /******************************************************************************/
     /* LOCAL FUNCTIONS                                                            */
     /******************************************************************************/
     /******************************************************************************/
     /* EXPORTED FUNCTIONS                                                         */
     /******************************************************************************/
     /* interface functions for ST API *********************************************/
     apalExitStatus_t hello_world(void){
         return APAL_STATUS_OK;
     /**
      * @brief   Initialization of communication interface (I2C).
      * @details Function not supported.
      *          Initialization must be done by OS or application instead.
+     *
      * @param[in] pdev              VL53L1X device handle.
      * @param[in] comms_type        I2C speed class (?).
      * @param[in] comms_speed_khz   I2C transmission frequency.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_CommsInitialise(VL53L1_Dev_t *pdev, uint8_t comms_type, uint16_t comms_speed_khz)
+    {
       apalDbgAssert(pdev != NULL);
       (void)pdev;
       (void)comms_type;
       (void)comms_speed_khz;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     /**
      * @brief Set the GPIO1 to a specific state.
      * @param[in]   ledp        The LED driver object.
      * @param[in]   led_state   The state to set the LED to.
      * @return                  An indicator whether the call was successful.
      * @brief   Deinitialization of communication interface (I2C).
      * @details Function not supported.
      *          Deinitialization must be done by OS or application instead.
+     *
      * @param[in] pdev  VL53L1X device handle.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     apalExitStatus_t vl53l1x_GPIO1_set(const VL53L1XDriver* const vlx, const gpio_lld_state_t state)
     VL53L1_Error VL53L1_CommsClose(VL53L1_Dev_t *pdev)
+    {
       apalDbgAssert(vlx != NULL);
       return apalControlGpioSet(vlx->xshut, (state == GPIO_LLD_STATE_ON) ? APAL_GPIO_ON : APAL_GPIO_OFF);
       apalDbgAssert(pdev != NULL);
       (void)pdev;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     /**
      * @brief   Transmit multiple bytes of data via I2C.
+     *
      * @param[in] pdev    Device handle.
      * @param[in] index   Register address to write to.
      * @param[in] pdata   Data buffer to be transmitted.
      * @param[in] count   Number of bytes to transmit.
+     *
      * @return  Status indicating whether the call was successful.
      * @retval  VL53L1_ERROR_NONE       Transmission was successful.
      * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.
      * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.
      */
     VL53L1_Error VL53L1_WriteMulti(VL53L1_Dev_t *pdev, uint16_t index, uint8_t *pdata, uint32_t count)
+    {
       apalDbgAssert(pdev != NULL);
       // prepare transmit buffer with prepended address bytes.
       uint8_t txbuf[sizeof(uint16_t) + count];
       txbuf[0] = index >> 8;
       txbuf[1] = index & 0xFF;
       memcpy(&txbuf[2], pdata, count);
       // transmit address and data
       apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT);
       return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :
              (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;
+    }
     /**
      * @brief   Read multiple bytes of data via I2C.
+     *
      * @param[in]   pdev    Device handle.
      * @param[in]   index   Register address to read from.
      * @param[out]  pdata   Data buffer to store read data to.
      * @param[in]   count   Number of bytes to read.
+     *
      * @return  Status indicating whether the call was successful.
      * @retval  VL53L1_ERROR_NONE       Transmission was successful.
      * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.
      * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.
      */
     VL53L1_Error VL53L1_ReadMulti(VL53L1_Dev_t *pdev, uint16_t index, uint8_t *pdata, uint32_t count)
+    {
       apalDbgAssert(pdev != NULL);
       // prepare address buffer
       uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
     // #define I2C_TIME_OUT_BASE   10
     // #define I2C_TIME_OUT_BYTE   1
       // transmit address and recieve data
       apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), pdata, count, VL53L1X_LLD_I2C_TIMEOUT);
     // #ifdef VL53L1_LOG_ENABLE
     // #define trace_print(level, ...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_PLATFORM, level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
     // #define trace_i2c(...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_NONE, VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__)
     // #endif
       return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :
              (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;
+    }
     // #ifndef HAL_I2C_MODULE_ENABLED
     // #warning "HAL I2C module must be enable "
     // #endif
     /**
      * @brief   Transmit a single byte via I2C.
+     *
      * @param[in] pdev              Device handle.
      * @param[in] index             Register address to write to.
      * @param[in] VL53L1_PRM_00005  Byte to transmit.
+     *
      * @return  Status indicating whether the call was successful.
      * @retval  VL53L1_ERROR_NONE       Transmission was successful.
      * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.
      * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.
      */
     VL53L1_Error VL53L1_WrByte(VL53L1_Dev_t *pdev, uint16_t index, uint8_t VL53L1_PRM_00005)
+    {
       apalDbgAssert(pdev != NULL);
       // prepare transmit buffer with prepended address bytes.
       uint8_t txbuf[sizeof(uint16_t) + sizeof(uint8_t)] = {index >> 8, index & 0xFF,
                                                            VL53L1_PRM_00005};
     //extern I2C_HandleTypeDef hi2c1;
     //#define VL53L0X_pI2cHandle    (&hi2c1)
       // transmit address and data
       apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT);
     /* when not customized by application define dummy one */
     // #ifndef VL53L1_GetI2cBus
     /** This macro can be overloaded by user to enforce i2c sharing in RTOS context
       return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :
              (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;
+    }
     /**
      * @brief   Transmit a 16-bit data word via I2C.
+     *
      * @param[in] pdev              Device handle.
      * @param[in] index             Register address to write to.
      * @param[in] VL53L1_PRM_00005  16-bit data word to transmit.
+     *
      * @return  Status indicating whether the call was successful.
      * @retval  VL53L1_ERROR_NONE       Transmission was successful.
      * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.
      * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.
      */
     // #   define VL53L1_GetI2cBus(...) (void)0
     // #endif
     VL53L1_Error VL53L1_WrWord(VL53L1_Dev_t *pdev, uint16_t index, uint16_t VL53L1_PRM_00005)
+    {
       apalDbgAssert(pdev != NULL);
       // prepare transmit buffer with prepended address bytes.
       uint8_t txbuf[sizeof(uint16_t) + sizeof(uint16_t)] = {index >> 8, index & 0xFF,
                                                             (VL53L1_PRM_00005 >> 8) & 0xFF,
                                                             (VL53L1_PRM_00005 >> 0) & 0xFF};
     // #ifndef VL53L1_PutI2cBus
     /** This macro can be overloaded by user to enforce i2c sharing in RTOS context
       // transmit address and data
       apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT);
       return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :
              (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;
+    }
     /**
      * @brief   Transmit a 32-bit data word via I2C.
+     *
      * @param[in] pdev              Device handle.
      * @param[in] index             Register address to write to.
      * @param[in] VL53L1_PRM_00005  32-bit data word to transmit.
+     *
      * @return  Status indicating whether the call was successful.
      * @retval  VL53L1_ERROR_NONE       Transmission was successful.
      * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.
      * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.
      */
     // #   define VL53L1_PutI2cBus(...) (void)0
     // #endif
     VL53L1_Error VL53L1_WrDWord(VL53L1_Dev_t *pdev,uint16_t index, uint32_t VL53L1_PRM_00005)
+    {
       apalDbgAssert(pdev != NULL);
       // prepare transmit buffer with prepended address bytes.
       uint8_t txbuf[sizeof(uint16_t) + sizeof(uint32_t)] = {index >> 8, index & 0xFF,
                                                             (VL53L1_PRM_00005 >> 24) & 0xFF,
                                                             (VL53L1_PRM_00005 >> 16) & 0xFF,
                                                             (VL53L1_PRM_00005 >> 8) & 0xFF,
                                                             (VL53L1_PRM_00005 >> 0) & 0xFF};
     #define I2C_TIME_OUT_BASE   10
     #define I2C_TIME_OUT_BYTE   1
       // transmit address and data
       apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), NULL, 0, VL53L1X_LLD_I2C_TIMEOUT);
     uint8_t _I2CBuffer[256] = { 0 };
     uint8_t rx_buf[256];
     uint8_t tx_buf[256];
       return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :
              (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;
+    }
     int _I2CWrite(VL53L1_DEV Dev, uint8_t *pdata, uint32_t count) {
         int status = 0;
         int i2c_time_out = 1000 * (I2C_TIME_OUT_BASE + count * I2C_TIME_OUT_BYTE);
     /**
      * @brief   Read a single byte via I2C.
+     *
      * @param[in]   pdev    Device handle.
      * @param[in]   index   Register address to read from.
      * @param[out]  pdata   Single byte buffer to store the read data to.
+     *
      * @return  Status indicating whether the call was successful.
      * @retval  VL53L1_ERROR_NONE       Transmission was successful.
      * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.
      * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.
      */
     VL53L1_Error VL53L1_RdByte(VL53L1_Dev_t *pdev, uint16_t index, uint8_t *pdata)
+    {
       apalDbgAssert(pdev != NULL);
         apalExitStatus_t status2 = apalI2CMasterTransmit(Dev->vl53l1x.i2cd, Dev->vl53l1x.addr, pdata, count, rx_buf, 0, 100);
         return status;
       // prepare address buffer
       uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
       // transmit address and recieve data
       apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), pdata, 1, VL53L1X_LLD_I2C_TIMEOUT);
       return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :
              (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;
+    }
     int _I2CRead(VL53L1_DEV Dev, uint8_t *pdata, uint32_t count) {
        int status = 0;
     //   apalI2CMasterReceive(Dev->vl53l1x->i2cd, Dev->vl53l1x->addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout)
     /**
      * @brief   Read a 16-bit data word via I2C.
+     *
      * @param[in]   pdev    Device handle.
      * @param[in]   index   Register address to read from.
      * @param[out]  pdata   16-bit buffer to store the read data to.
+     *
      * @return  Status indicating whether the call was successful.
      * @retval  VL53L1_ERROR_NONE       Transmission was successful.
      * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.
      * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.
      */
     VL53L1_Error VL53L1_RdWord(VL53L1_Dev_t *pdev,uint16_t index, uint16_t *pdata)
+    {
       apalDbgAssert(pdev != NULL);
       // prepare address buffer
       uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
       // prepare receive buffer
       uint8_t rxbuf[sizeof(uint16_t)];
       // transmit address and recieve data
       apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), rxbuf, sizeof(rxbuf), VL53L1X_LLD_I2C_TIMEOUT);
       // fill return value
       *pdata = (((uint16_t)rxbuf[0]) << 8) &
                (((uint16_t)rxbuf[1]) << 0);
        return status;
       return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :
              (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;
+    }
     // TODO: Needs to be defined
     /**
      * @brief   Read a 32-bit data word via I2C.
+     *
      * @param[in]   pdev    Device handle.
      * @param[in]   index   Register address to read from.
      * @param[out]  pdata   32-bit buffer to store the read data to.
+     *
      * @return  Status indicating whether the call was successful.
      * @retval  VL53L1_ERROR_NONE       Transmission was successful.
      * @retval  VL53L1_ERROR_TIME_OUT   Transmission timed out.
      * @retval  VL53L1_ERROR_UNDEFINED  Transmission failed for some other reason.
      */
     VL53L1_Error VL53L1_RdDWord(VL53L1_Dev_t *pdev,uint16_t index, uint32_t *pdata)
+    {
       apalDbgAssert(pdev != NULL);
       // prepare address buffer
       uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
       // prepare receive buffer
       uint8_t rxbuf[sizeof(uint32_t)];
     VL53L1_Error VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
       apalExitStatus_t status = apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), rxbuf, sizeof(rxbuf), VL53L1X_LLD_I2C_TIMEOUT);
         return Status;
       // fill return value
       *pdata = (((uint32_t)rxbuf[0]) << 24) &
                (((uint32_t)rxbuf[1]) << 16) &
                (((uint32_t)rxbuf[2]) << 8) &
                (((uint32_t)rxbuf[3]) << 0);
       return (status == APAL_STATUS_OK || status > 0) ? VL53L1_ERROR_NONE :
              (status == APAL_STATUS_TIMEOUT) ? VL53L1_ERROR_TIME_OUT : VL53L1_ERROR_UNDEFINED;
+    }
     // the ranging_sensor_comms.dll will take care of the page selection
     VL53L1_Error VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
         return Status;
     /**
      * @brief   Wait for a specified amount of microseconds.
+     *
      * @param[in] pdev      Device handle.
      * @param[in] wait_us   Time to wait in microsecnonds.
+     *
      * @return  Always returns VL53L1_ERROR_NONE.
      */
     VL53L1_Error VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us)
+    {
       (void)pdev;
       apalSleep(wait_us);
       return VL53L1_ERROR_NONE;
+    }
     VL53L1_Error VL53L1_WrByte(VL53L1_DEV Dev, uint16_t index, uint8_t data) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
         // printf("Starting to write byte: %X\n", data);
          int32_t status_int;
     /**
      * @brief   Wait for a specified amount of milliseconds.
+     *
      * @param[in] pdev      Device handle.
      * @param[in] wait_ms   Time to wait in milliseconds.
+     *
      * @return  Always returns VL53L1_ERROR_NONE.
      */
     VL53L1_Error VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms)
+    {
       (void)pdev;
         _I2CBuffer[0] = index>>8;
         _I2CBuffer[1] = index&0xFF;
         _I2CBuffer[2] = data;
       apalSleep(wait_ms * 1000);
         _I2CWrite(Dev, _I2CBuffer, 3);
       return VL53L1_ERROR_NONE;
+    }
         return Status;
     /**
      * @brief   Retrieve the frequency of a timer?
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @param[out]  ptimer_freq_hz  Buffer to store the timer frequency to.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GetTimerFrequency(int32_t *ptimer_freq_hz)
+    {
       apalDbgAssert(ptimer_freq_hz != NULL);
       (void)ptimer_freq_hz;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     VL53L1_Error VL53L1_WrWord(VL53L1_DEV Dev, uint16_t index, uint16_t data) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
         return Status;
     /**
      * @brief   Retrieve the current value of a timer?
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @param[out]  ptimer_count  Buffer to store the current timer value to.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GetTimerValue(int32_t *ptimer_count)
+    {
       apalDbgAssert(ptimer_count != NULL);
       (void)ptimer_count;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     VL53L1_Error VL53L1_WrDWord(VL53L1_DEV Dev, uint16_t index, uint32_t data) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
         return Status;
     /**
      * @brief   Set the mode for a GPIO.
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @param[in] pin   GPIO pin to modify.
      * @param[in] mode  Mode to set for the GPIO.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GpioSetMode(uint8_t pin, uint8_t mode)
+    {
       (void)pin;
       (void)mode;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     VL53L1_Error VL53L1_UpdateByte(VL53L1_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
         return Status;
     /**
      * @brief   Set the output value for a GPIO.
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @param[in] pin     GPIO pin to set.
      * @param[in] value   Value to set for the GPIO.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GpioSetValue(uint8_t pin, uint8_t value)
+    {
       (void)pin;
       (void)value;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     VL53L1_Error VL53L1_RdByte(VL53L1_DEV Dev, uint16_t index, uint8_t *data) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
         uint8_t indx[2] = { index >> 8, index & 0xFF };
         apalExitStatus_t status2 = apalI2CMasterTransmit(Dev->vl53l1x.i2cd, Dev->vl53l1x.addr, indx, 2, data, 1, 0);
     /**
      * @brief   Read the input value of a GPIO.
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @param[in]   pin     GPIO pin to read.
      * @param[out]  pvalue  Buffer to write the read value to.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GpioGetValue(uint8_t pin, uint8_t *pvalue)
+    {
       (void)pin;
       (void)pvalue;
         return Status;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     VL53L1_Error VL53L1_RdWord(VL53L1_DEV Dev, uint16_t index, uint16_t *data) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
         return Status;
     /**
      * @brief   Set to XSHUT GPIO.
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @param[in] value   Value to set the XSHUT GPIO to.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GpioXshutdown(uint8_t value)
+    {
       (void)value;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     VL53L1_Error VL53L1_RdDWord(VL53L1_DEV Dev, uint16_t index, uint32_t *data) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
         return Status;
     /**
      * @brief   Select a GPIO communication interface?
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @param[in] value   Identifier of the interface to select?
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GpioCommsSelect(uint8_t value)
+    {
       (void)value;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     VL53L1_Error VL53L1_GetTickCount(
     	uint32_t *ptick_count_ms)
     /**
      * @brief   Enable power?
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @param[in] value   ?
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GpioPowerEnable(uint8_t value)
+    {
     	VL53L1_Error status  = VL53L1_ERROR_NONE;
     	return status;
       (void)value;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     //#define trace_print(level, ...) \
     //	_LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_PLATFORM, \
     //	level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
     /**
      * @brief   Enable GPIO interrupt.
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @param[in] fucntion    Callback function to be executed on interrupt.
      * @param[in] edge_type   Signal edge to trigger an interrupts.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GpioInterruptEnable(void (*function)(void), uint8_t edge_type)
+    {
       (void)function;
       (void)edge_type;
     //#define trace_i2c(...) \
     //	_LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_NONE, \
     //	VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__)
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     VL53L1_Error VL53L1_GetTimerFrequency(int32_t *ptimer_freq_hz)
     /**
      * @brief   Disable GPIO interrupt.
      * @details Function not supported since it is not used by the ST API.
      * @note    Intention of this function is unknown as it is neither documented nor used by the ST API.
+     *
      * @return  Always returns VL53L1_ERROR_NOT_SUPPORTED.
      */
     VL53L1_Error VL53L1_GpioInterruptDisable(void)
+    {
     	VL53L1_Error status  = VL53L1_ERROR_NONE;
     	return status;
       return VL53L1_ERROR_NOT_SUPPORTED;
+    }
     VL53L1_Error VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms){
     	VL53L1_Error status  = VL53L1_ERROR_NONE;
     	return status;
     /**
      * @brief   Retrieve the current system tick count.
+     *
      * @param[out]  ptime_ms  Buffer to store the current system tick count to.
+     *
      * @return  Always returns VL53L1_ERROR_NONE.
      */
     VL53L1_Error VL53L1_GetTickCount(uint32_t *ptime_ms)
+    {
       *ptime_ms = apalGetTime() / 1000;
       return VL53L1_ERROR_NONE;
+    }
     VL53L1_Error VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us){
     	VL53L1_Error status  = VL53L1_ERROR_NONE;
     	return status;
     /**
      * @brief   Wait for a specific register to match a (masked) value.
+     *
      * @param[in] pdev            Device handle.
      * @param[in] timeout_ms      Timeout value in milliseconds.
      * @param[in] index           Register address to check.
      * @param[in] value           Value to be matched.
      * @param[in] mask            Mask to apply to the register value.
      *                            Must not be 0x00.
      * @param[in] poll_delay_ms   Poll delay in milliseconds.
+     *
      * @return  Status indicating whether the call was successful.
      * @retval  VL53L1_ERROR_NONE       Value matched before timeout.
      * @retval  VL53L1_ERROR_TIME_OUT   Value did not match before timeout occurred.
      * @retval  VL53L1_ERROR_UNDEFINED  I2C communication failed.
      */
     VL53L1_Error VL53L1_WaitValueMaskEx(VL53L1_Dev_t *pdev, uint32_t timeout_ms, uint16_t index, uint8_t value, uint8_t mask, uint32_t poll_delay_ms)
+    {
       apalDbgAssert(pdev != NULL);
       apalDbgAssert(mask != 0x00);
       // local variables
       const apalTime_t starttime = apalGetTime();
       apalTime_t transmissionstartoffset, transmissionendoffset;
       apalTime_t remaintime = timeout_ms * 1000;
       uint8_t txbuf[sizeof(uint16_t)] = {index >> 8, index & 0xFF};
       uint8_t rxbuf[sizeof(uint8_t)];
       // infinite loop will return from within
       for(;;) {
         // measure time before transmission
         transmissionstartoffset = apalGetTime() - starttime;
         // try transmission
         if (apalI2CMasterTransmit(pdev->Interface.i2cd, pdev->Interface.addr, txbuf, sizeof(txbuf), rxbuf, sizeof(rxbuf), (remaintime < VL53L1X_LLD_I2C_TIMEOUT) ? remaintime : VL53L1X_LLD_I2C_TIMEOUT) < 0) {
           return VL53L1_ERROR_UNDEFINED;
+        }
         // check returned data
         if ((rxbuf[0] & mask) == value) {
           return VL53L1_ERROR_NONE;
+        }
         // measure time after transmission
         transmissionendoffset = apalGetTime() - starttime;
         // check for timeout and recalculate remaining time
         if (transmissionendoffset < timeout_ms * 1000) {
           remaintime = (timeout_ms * 1000) - transmissionendoffset;
         } else {
           return VL53L1_ERROR_TIME_OUT;
+        }
         // sleep one poll delay, or the remaining time
         if (remaintime > (poll_delay_ms * 1000) - (transmissionendoffset - transmissionstartoffset)) {
           apalSleep((poll_delay_ms * 1000) - (transmissionendoffset - transmissionstartoffset));
         } else {
           apalSleep(remaintime);
           return VL53L1_ERROR_TIME_OUT;
+        }
         // recalculate remaining time
         remaintime = apalGetTime() - starttime;
         if (remaintime < timeout_ms * 1000) {
           remaintime = (timeout_ms * 1000) - remaintime;
         } else {
           return VL53L1_ERROR_TIME_OUT;
+        }
+      }
+    }
     VL53L1_Error VL53L1_WaitValueMaskEx(
     	VL53L1_Dev_t *pdev,
     	uint32_t      timeout_ms,
     	uint16_t      index,
     	uint8_t       value,
     	uint8_t       mask,
     	uint32_t      poll_delay_ms)
     /* driver functions ***********************************************************/
     /**
      * @brief   Read the current activation state of the device.
+     *
      * @param[in]   vl53l1x   Driver object to check.
      * @param[out]  state     State of the device.
+     *
      * @return  Indicator whether the call was successful.
      */
     apalExitStatus_t vl53l1x_lld_getState(VL53L1XDriver* vl53l1x, vl53l1x_lld_state_t* state)
+    {
     	VL53L1_Error status  = VL53L1_ERROR_NONE;
     	return status;
       apalDbgAssert(vl53l1x != NULL);
       apalDbgAssert(state != NULL);
       apalControlGpioState_t gpio_state;
       apalExitStatus_t status = apalControlGpioGet(vl53l1x->Interface.xshut, &gpio_state);
       *state = gpio_state == APAL_GPIO_ON ? VL53L1X_LLD_STATE_ON : VL53L1X_LLD_STATE_OFF;
       return status;
+    }
     /**
      * @brief   Performs initialization procedure according to manual after device
      *          brought out of reset.
+     *
      * @param[in,out] vl53l1x   Device to be initialized.
+     *
      * @return  Indicator whether the call was successful.
      */
     apalExitStatus_t vl53l1x_lld_init(VL53L1XDriver* vl53l1x)
+    {
       apalDbgAssert(vl53l1x != NULL);
       // local variables
       apalExitStatus_t status;
       VL53L1_Error errval;
       // check whether the device is already active
+      {
         vl53l1x_lld_state_t xshut_state;
         status = vl53l1x_lld_getState(vl53l1x, &xshut_state);
         if (status != APAL_STATUS_OK) {
           return APAL_STATUS_ERROR;
+        }
         // return warning if the device is already active
         if (xshut_state == VL53L1X_LLD_STATE_ON) {
           return APAL_STATUS_WARNING;
+        }
+      }
       // activate the device
       apalDbgPrintf("apalControlGpioSet()\n");
       status |= apalControlGpioSet(vl53l1x->Interface.xshut, APAL_GPIO_ON);
       apalDbgPrintf("\tstatus: %d\n", status);
       // initialize device as described in manual
       apalDbgPrintf("VL53L1_WaitDeviceBooted()\n");
       errval = VL53L1_WaitDeviceBooted(vl53l1x);
       status |= (errval == VL53L1_ERROR_NONE) ? APAL_STATUS_SUCCESS : APAL_STATUS_ERROR;
       apalDbgPrintf("\tstatus: %d\terrval: %d\n", status, errval);
       apalDbgPrintf("VL53L1_DataInit()\n");
       errval = VL53L1_DataInit(vl53l1x);
       status |= (errval == VL53L1_ERROR_NONE) ? APAL_STATUS_SUCCESS : APAL_STATUS_ERROR;
       apalDbgPrintf("\tstatus: %d\terrval: %d\n", status, errval);
       apalDbgPrintf("VL53L1_StaticInit()\n");
       errval = VL53L1_StaticInit(vl53l1x);
       status |= (errval == VL53L1_ERROR_NONE) ? APAL_STATUS_SUCCESS : APAL_STATUS_ERROR;
       apalDbgPrintf("\tstatus: %d\terrval: %d\n", status, errval);
       return status;
+    }
     /**
      * @brief   Reset a device by deactivating the XSHUT signal.
+     *
      * @param[in] vl53l1x   Device to reset.
+     *
      * @return  Indicator whether the call was successful.
      */
     apalExitStatus_t vl53l1x_lld_reset(VL53L1XDriver* vl53l1x)
+    {
       return apalControlGpioSet(vl53l1x->Interface.xshut, APAL_GPIO_OFF);
+    }
     /** @} */

     /*
     AMiRo-LLD is a compilation of low-level hardware drivers 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 Lesser 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 Lesser General Public License for more details.
     You should have received a copy of the GNU Lesser General Public License
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
     */
     /**
      * @file    alld_VL53L1X.h
      * @brief   Touch sensor macros and structures.
      * @brief   ToF sensor macros and structures.
+     *
      * @addtogroup lld_touch
      * @addtogroup lld_vl53l1x
      * @{
      */
-...
     #define AMIROLLD_VL53L1X_H
     #include <amiro-lld.h>
     #include <alld_VL53L1X_types.h>
     #include <vl53l1_api.h>
     /******************************************************************************/
     /* CONSTANTS                                                                  */
     /******************************************************************************/
     // 400kHz
     #define VL53L1X_LLD_I2C_MAXFREQUENCY 400000
     /* Default I2C address */
     /* #define VL53L1X_LLD_I2C_ADDR_DEFAULT      0x52 */
     #define VL53L1X_LLD_I2C_ADDR_DEFAULT           0x29
     /**
      * @brief   Maximum I2C frequency (in Hz).
      */
     #define VL53L1X_LLD_I2C_MAXFREQUENCY            1000000
     #define VL53L1X_LLD_BOOTDURATION     1200
     /**
      * @brief   Default I2C address.
      */
     #define VL53L1X_LLD_I2C_ADDR_DEFAULT            0x29
     /******************************************************************************/
     /* SETTINGS                                                                   */
-...
     /* DATA STRUCTURES AND TYPES                                                  */
     /******************************************************************************/
     /*
      * Structures and types are declared in a separate file, because ST API requires
      * this information, too.
      */
     #include <vl53l1_platform_user_data.h>
     /**
      * @brief The state of the GPIOs.
      * @brief   The state of the VL53L1X device.
      * @details Represents the state of the XSHUT signal.
      */
     typedef enum {
       GPIO_LLD_STATE_OFF = 0x00,   /**< 'on' state of the LED */
       GPIO_LLD_STATE_ON  = 0x01,   /**< 'off' state of the LED */
     } gpio_lld_state_t;
       VL53L1X_LLD_STATE_OFF = 0x00, /**< Device is deactivated via XSHUT signal. */
       VL53L1X_LLD_STATE_ON  = 0x01, /**< Device is active according to XSHUT signal. */
     } vl53l1x_lld_state_t;
     /******************************************************************************/
     /* MACROS                                                                     */
-...
     #ifdef __cplusplus
     extern "C" {
     #endif
       apalExitStatus_t hello_world(void);
       apalExitStatus_t vl53l1x_GPIO1_set(const VL53L1XDriver* const vlx, const gpio_lld_state_t state);
       apalExitStatus_t vl53l1x_lld_getState(VL53L1XDriver* vl53l1x, vl53l1x_lld_state_t* state);
       apalExitStatus_t vl53l1x_lld_init(VL53L1XDriver* vl53l1x);
       apalExitStatus_t vl53l1x_lld_reset(VL53L1XDriver* vl53l1x);
     #ifdef __cplusplus
+    }
     #endif
     /******************************************************************************/
     /* INLINE FUNCTIONS                                                           */
     /******************************************************************************/
     #endif /* AMIROLLD_VL53L1X_H */
     /** @} */

     # include paths
     AMIROLLD_INC += $(AMIROLLD_ST_VL53L1X) \
     				$(AMIROLLD_ST_VL53L1X)/api/core \
     				$(AMIROLLD_ST_VL53L1X)/api/platform \
     # $(info    AMIROLLD_INC is $(AMIROLLD_INC))
                     $(AMIROLLD_ST_VL53L1X)/api/core \
                     $(AMIROLLD_ST_VL53L1X)/api/platform
     # C source files
     AMIROLLD_CSRC += $(AMIROLLD_ST_VL53L1X)alld_VL53L1X.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_calibration.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_core.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_debug.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_preset_modes.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_strings.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_core_support.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_core.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_error_strings.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_register_funcs.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_silicon_core.c \
     				 $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_wait.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_calibration.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_core.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_debug.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_preset_modes.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_api_strings.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_core.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_core_support.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_error_strings.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_register_funcs.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_silicon_core.c \
                      $(AMIROLLD_ST_VL53L1X)api/core/vl53l1_wait.c
     # $(info    AMIROLLD_CSRC is $(AMIROLLD_CSRC))

     #ifndef AMIROLLD_VL53L1X_TYPES_H
     #define AMIROLLD_VL53L1X_TYPES_H
     #include <amiro-lld.h>
     /**
      * @brief The VL53L1X driver struct
      */
     typedef struct {
       apalI2CDriver_t* i2cd;
       apalI2Caddr_t addr;       /**< @brief The I2C Driver.     */
       const apalControlGpio_t* gpio1;
       const apalControlGpio_t* xshut;
     } VL53L1XDriver;
     #endif

     	uint32_t      timeout_ms)
+    {
     	/**
     	 * Polls the bit 0 of the FIRMWARE_SYSTEM_STATUS register to see if
     	 * Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if
     	 * the firmware is ready.
     	 */

     // int _I2CWrite(VL53L1_DEV Dev, uint8_t *pdata, uint32_t count) {
     //     int status = 0;
     //    apalExitStatus_t status = apalI2CMasterTransmit(Dev.vl53l1x->i2cd, (apalI2Caddr_t)VL53L1X_LLD_I2C_ADDR_FIXED, txbuf, 1, rxbuf, 2, timeout);
     //     return status;
     // }
     // int _I2CRead(VL53L1_DEV Dev, uint8_t *pdata, uint32_t count) {
     //    int status = 0;
     //    return status;
     //    return Status;
     // }
     // TODO: Needs to be defined
     VL53L1_Error VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) {
         VL53L1_Error Status = VL53L1_ERROR_NONE;
         return Status;
+    }

+    *
     ********************************************************************************
+    *
     * Modified for use within AMiRo-LLD.
+    *
     * AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous
     * Mini Robot (AMiRo) platform.
     * Copyright (C) 2016..2019  Thomas Schöpping et al.
+    *
     ********************************************************************************
+    *
     */
     #ifndef _VL53L1_PLATFORM_USER_DATA_H_
     #define _VL53L1_PLATFORM_USER_DATA_H_
     // #include "stm32xxx_hal.h"
     #include "vl53l1_def.h"
     #include <alld_VL53L1X_types.h>
     #include <periphAL.h>
     #ifdef __cplusplus
     extern "C"
+    {
     #endif
     /**
      * @brief VL53L1X interface related data structure.
      */
     typedef struct {
       /**
        * @brief   Pointer to the associated I2C driver.
        */
       apalI2CDriver_t* i2cd;
       /**
        * @brief   Currently set I2C device address.
        */
       apalI2Caddr_t addr;
     // typedef struct {
     //     uint32_t dummy;
     // } I2C_HandleTypeDef;
       /**
        * @brief   Pointer to the GPIO driver for the GPIO1 signal.
        */
       const apalControlGpio_t* gpio1;
     typedef struct {
       /**
        * @brief   Pointer to the GPIO driver for the XSHUT signal.
        */
       const apalControlGpio_t* xshut;
     } VL53L1_IfData_t;
     	VL53L1_DevData_t   Data;
     /**
      * @brief   VL53L1X device driver structure as to be used by the ST API.
      */
     typedef struct {
       /**
        * @brief   Device data as specified by the ST API.
        */
       VL53L1_DevData_t   Data;
     	// uint8_t   I2cDevAddr;
     	// uint8_t   comms_type;
     	// uint16_t  comms_speed_khz;
     	// uint32_t  new_data_ready_poll_duration_ms;
     	// I2C_HandleTypeDef *I2cHandle;
     	VL53L1XDriver vl53l1x;
       /**
        * @brief   Interface data.
        */
       VL53L1_IfData_t     Interface;
     } VL53L1_Dev_t;
     /**
      * @brief   Typedef as it is used by the ST API.
      */
     typedef VL53L1_Dev_t *VL53L1_DEV;
     /**
      * @brief   Typedef matching the PeriphAL conventions.
      */
     typedef VL53L1_Dev_t VL53L1XDriver;
     #define VL53L1DevDataGet(Dev, field) (Dev->Data.field)
     #define VL53L1DevDataSet(Dev, field, VL53L1_PRM_00005) ((Dev->Data.field) = (VL53L1_PRM_00005))
     #define VL53L1DevStructGetLLDriverHandle(Dev) (&Dev->Data.LLData)
     #define VL53L1DevStructGetLLResultsHandle(Dev) (&Dev->Data.llresults)
     #ifdef __cplusplus
+    }
     #endif
     #endif
     #endif /* _VL53L1_PLATFORM_USER_DATA_H_ */

+    *
     ********************************************************************************
+    *
     * Modified for use within AMiRo-LLD.
+    *
     * AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous
     * Mini Robot (AMiRo) platform.
     * Copyright (C) 2016..2019  Thomas Schöpping et al.
+    *
     ********************************************************************************
+    *
     */
     #ifndef _VL53L1_PLATFORM_USER_DEFINES_H_
     #define _VL53L1_PLATFORM_USER_DEFINES_H_
     #include <amiro-lld.h>
     #ifdef __cplusplus
     extern "C"
+    {
-...
      * @brief  All end user OS/platform/application definitions
      */
     /**
      * @brief   Flag to set I2C signal level to 2.8V instead of 1.8V.
      */
     #if (defined(VL53L1X_LLD_I2C_2V8) && (VL53L1X_LLD_I2C_2V8 == true)) || defined(__DOXYGEN__)
     # define USE_I2C_2V8
     #endif
     /**
      * @def do_division_u
-...
+    }
     #endif
     #endif // _VL53L1_PLATFORM_USER_DEFINES_H_
     #endif /* _VL53L1_PLATFORM_USER_DEFINES_H_ */

      */
     #define apalDbgAssert(c) apalDbgAssertMsg(c, "%s(%u): apalDbgAssert failed", __FILE__, __LINE__)
     #else /* (AMIROLLD_CFG_DBG == true) */
     #define apalDbgAssertMsg(c, fmt, ...)
     #define apalDbgPrintf(fmt, ...)                 0
     #define apalDbgAssert(c)
     #endif /* (AMIROLLD_CFG_DBG == true) */
     /*============================================================================*/
-...
       void apalSleep(apalTime_t us);
     #endif
     #if !defined(apalGetTime) || defined(__DOXYGEN__)
       /**
        * @brief Retrieve current system time in microseconds.
        * @details Return value may differ from true system time due to overflows.
+       *
        * @return  Current system time.
        */
       apalTime_t apalGetTime(void);
     #endif
     #ifdef __cplusplus
+    }
     #endif

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