Diff: MX12.h

Revision:

10:ca9afe156ee1

Parent:

9:b4a5187fdec6

Child:

11:9bc7f5e2ccee

--- a/MX12.h	Sat Nov 06 16:15:34 2021 +0000
+++ b/MX12.h	Sat Nov 06 16:56:46 2021 +0000
@@ -85,16 +85,21 @@
  *
  * @warning
  *
- *   Error field of status packet if decoded by GetStatus(() function which
- *   returns an enumation type "Status". As several errors can be reported 
- *   simultaneously the type enum is not suitable (B. Denis 11/2021)
+ *   Warning 1: 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).
+ *
+ * \bug
  *
- * @bug
+ *   Bug : _frame_pointer variable is used by private _ReadCallback() ISR 
+ *   to store the current size for message (status packet) received from 
+ *   servomotor. This variable is NOT initialised and NEVER reset to zero 
+ *   at each new message.
  *
- *   _frame_pointer variable is used by _ReadCallback() ISR to store the
- *   current size for message (status packet) received from servomotor.
- *   This variable is NOT initialised and NEVER reset to zero at each new
- *   message.
+ *   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 _ReadCallback()  
  *    
  */
 class MX12 
@@ -196,7 +201,10 @@
      */
     void SetSpeed(unsigned char mot_id, float speed);
     
-    /**
+    /** Informs about the availability of the bus for a new transmission 
+     *  of instruction packet (Method Access Control) 
+     *
+     * @returns true if bus ready for a new transmission, otherwise false
      */
     char IsAvailable(void);
     
@@ -248,13 +256,15 @@
      *    servomotor.
      * 
      * @warning 
-     *    If a combination of several errors is reported the function
-     *    returns 'Unknown' (B. Denis 11/2021)
+     *
+     *    Warning: if a combination of several errors is reported the function
+     *    returns 'Unknown' (B. Denis 11/2021).
      *
      * @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 _ReadCallback()  
+     *
+     *    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 _ReadCallback()  
      */
     MX12::Status GetStatus(void);
 
@@ -264,7 +274,7 @@
     // void ReadPosition(unsigned char mot_id);
     // float GetPosition(unsigned char mot_id);
                 
-    private:
+    protected:
     
     /*
      */
@@ -273,7 +283,6 @@
     MX12::SerialState _sstate;
     
     /** Structure used only by ISR (Interrupt Service Routine) ReadCallback() 
-     *
      */
     MX12::StateContext _scontext;
     MX12::Frame _current_frame;