Diff: MX12.h

Revision:

16:8fcf79e02dd4

Parent:

14:5a0c7b30f8c0

Child:

24:2ab26ed08c83

--- a/MX12.h	Sun Nov 07 11:18:01 2021 +0000
+++ b/MX12.h	Sun Nov 07 11:23:09 2021 +0000
@@ -66,13 +66,13 @@
  *
  * @details
  *
- *  The servomotors are daisy chained to a serial link of the target 
- *  microcontroller. The class ensures the initialization of serial link 
- *  and the management of communications mainly to control rotational
- *  speed of servomotors. 
+ *   The servomotors are daisy chained to a serial link of the target 
+ *   microcontroller. The class ensures the initialization of serial link 
+ *   and the management of communications mainly to control rotational
+ *   speed of servomotors. 
  *
- *  Transmission of messages to the servomotors is blocking while 
- *  reception is non-blocking thanks to the use of an interrupt routine. 
+ *   Transmission of messages to the servomotors is blocking while 
+ *   reception is non-blocking thanks to the use of an interrupt routine. 
  * 
  * @author Titouan Soulard (creator and maintainer until April 2021)
  * @author Bruno Denis (Doxygen documentation and code rearrangement)
@@ -122,14 +122,15 @@
  * @endcode
  *
  * @warning
+ *   Warning: receipt of packets from servomotors has not been tested 
+ *   (hardwre problem). However, sending move speed instruction is operational.
  *
- *   Error field of status packet if decoded by GetStatus() 
- *   Doxygen Release 1.7.2 returns an enumation type "Status". As several 
- *   errors can be reported simultaneously the type enum is not suitable 
- *   (B. Denis 11/2021).
+ * @warning
+ *   Warning: Error field of status packet if decoded by GetStatus() returns
+ *   an enumation type "Status". As several errors can be reported
+ *   simultaneously the type enum is not suitable (B. Denis 11/2021).
  *
  * @bug
- *
  *   Bug: GetStatus() method has a hazardous behavior because it provides 
  *   a result by reading the content of the variable _current_frame 
  *   which can be modified at any time by the private ISR _Rx_interrupt().
@@ -231,7 +232,7 @@
         unsigned char param_index; ///< index of parameter already parsed
     };
 
-    /** Create MX12 instance
+    /** Create an instance of MX12 and attach it to a serial link
      *
      * @param tx board pin used for transmission in UART daisy chain link 
      *           to servomotors 
@@ -319,12 +320,10 @@
      *    servomotor.
      * 
      * @warning 
-     *
      *    Warning: if a combination of several errors is reported the function
      *    returns "Unknown".
      *
-     * @warning
-     *
+     * @bug
      *    Bug: this method has a hazardous behavior because it provides 
      *    a result by reading the content of the variable _current_frame 
      *    which can be modified at any time by the private ISR _Rx_interrupt()  
@@ -366,7 +365,6 @@
      *    Interupt service routine (ISR) to read and parse received message
      *
      * @detail
-     *
      *    This interupt routine is attached to reception event on servomoteur 
      *    bus and is called for each character received on bus. 
      *