Diff: CANadapter.cpp

Revision:

1:6b831d0c058c

Parent:

0:ea85c59ec672

--- a/CANadapter.cpp	Mon Apr 11 11:32:05 2011 +0000
+++ b/CANadapter.cpp	Mon Apr 11 11:42:08 2011 +0000
@@ -34,7 +34,7 @@
 
 //Ticker ticker;          // for automated sending of messages during development
 
-//Timer timestamp;
+// Services for each of the two CAN channels
 CAN can1(p9, p10);      // bind CAN1 to the hardware
 CAN can2(p30, p29);     // bind CAN2 to the hardware
 Timeout t1;             // create a timeout mechanism for can1
@@ -42,6 +42,7 @@
 void c1off();           // extinquish the can1 activity indicator
 void c2off();           // extinquish the can2 activity indicator
 
+/// binding the services together for a simpler interface
 struct {
     CAN *can;
     Timeout *flash;
@@ -56,10 +57,15 @@
     {&can2, &t2, LED2, c2off, false, 250000, 0, 0}
 };
 
+// Support up to this many inbound CAN messages from the attached callbacks
 CANQueue inQueue(10);
 
+// A method to transmit a CAN message of the derived type
 bool CANTransmitMsg(CANmsg msg);
 
+
+// The included command processor supports interactive sessions, with these
+// and the built-in commands.
 RUNRESULT_T CANconfig(char *p);
 const CMD_T CANconfigCmd = {"CANconfig", "Configure [channel mode speed], ? for more", CANconfig, visible};
 RUNRESULT_T CANmessage(char *p);
@@ -75,6 +81,8 @@
 RUNRESULT_T Reboot(char *p);
 const CMD_T RebootCmd = {"Reboot", "Causes a near immediate reboot", Reboot, visible};
 
+// Implementation of Command Processor accessed commands
+
 RUNRESULT_T Reboot(char *p) {
     (void)p;
     pc.printf(" now...\r\n");
@@ -103,7 +111,6 @@
     return runok;
 }
 
-
 RUNRESULT_T CANconfig(char *p) {
     int ch, mode, bitrate;
     char *token;
@@ -148,7 +155,6 @@
     return runok;
 }
 
-
 RUNRESULT_T CANmessage(char *p) {
     pc.printf( "\r\n// CAN Message Format\r\n"
                "//\r\n"
@@ -173,7 +179,7 @@
 RUNRESULT_T CANtransmit(char *p) {
     if (*p) {
         CANmsg msg(p);
-        if (msg.dir == xmt)
+        if (msg.dir == xmt)         // silent failure if they try to transmit a receive msg
             CANTransmitMsg(msg);
         pc.printf("\r\n");
     } else {
@@ -199,7 +205,7 @@
 
 
 
-
+// Helper functions provided to the command processor as a means of I/O
 int mReadable() {
     return pc.readable();
 }
@@ -213,6 +219,8 @@
     return pc.printf("%s\r\n", s);
 }
 
+
+// LED activity indicators need to extinguish on timeout
 void c1off() {
     can[CH1].led = false;
 }
@@ -220,6 +228,7 @@
     can[CH2].led = false;
 }
 
+// When a CAN message is received, it is placed in queue
 void canreceive(CANCHANNEL_T ch) {
     CANMessage msg;
 
@@ -233,7 +242,7 @@
     }
 }
 
-
+// received bound to each CAN channel
 void can1rcv() {
     canreceive(CH1);
 }
@@ -241,6 +250,7 @@
     canreceive(CH2);
 }
 
+// method to transmit a CAN message of type CANmsg
 bool CANTransmitMsg(CANmsg msg) {
     if (msg.dir == xmt) {
         if (can[msg.ch].can->write(CANMessage(msg.id, (char *)&msg.data, msg.len, CANData, msg.format)))
@@ -249,6 +259,7 @@
     return false;
 }
 
+// quick transmitter for testing only
 void cantransmit(int ch) {
     char byte = (char)can[ch].txCounter;
 
@@ -275,7 +286,7 @@
         pc.printf("Watchdog caused reset. WD is now rearmed\r\n");
     wd.Configure(2.0);  // sets the timeout interval pretty short
 
-    // Set up the Command Processor interface
+    // Set up the Command Processor interface and commands.
     cp->Init(
         0xFFFF,     // Everything is enabled
         TRUE,       // Case Insensitive
@@ -301,7 +312,7 @@
     // This just sends a message every now and again
     //ticker.attach(&can1send, 1);
 
-    // Do nothing to waste time in here...
+    // Do nothing to waste time in here... (e.g. do not "wait(1.2);")
     do {
         myled = !myled;         // activity indicator