Diff: CAN.cpp

Revision:

10:227a455d0f9f

Parent:

9:e9224f2c6d37

Child:

11:439f3a34c42e

--- a/CAN.cpp	Sat Oct 31 18:40:03 2015 +0000
+++ b/CAN.cpp	Sat Dec 05 10:18:24 2015 +0000
@@ -17,7 +17,6 @@
  *
  */
 #include "CAN.h"
-//#if DEVICE_CAN
 #include "cmsis.h"
 
 namespace   mbed
@@ -163,12 +162,15 @@
  * IDE  - Identifier Extension bit
  * RTR  - Remote Transmission Request bit
  *
- * 1 : bit is considered
- * 0 : bit is disregarded
+ * 1 -> bit is considered
+ * 0 -> bit is disregarded
  *
- * Example of filter set-up and filtering:
- *
- * Let's assume we would like to receive only messages with standard identifier STID = 0x0207  (STID[15:0] = 00000010 00000111)
+ * ----------------------------------------
+ * Example of filter set up and filtering:
+ * ----------------------------------------
+*
+ * Let's assume we would like to receive only messages 
+ * with standard identifier STID = 0x0207  (STID[15:0] = 00000010 00000111)
  *
  * We map the STID to filter ID by shifting the bits appropriately:
  * Filter id = STID << (16 + (15 - 10)) = STID << 21 = 01000000 11100000 00000000 00000000 = 0x40E00000
@@ -185,24 +187,20 @@
  *
  *             Only these bits of filter id are compared with the corresponding 
  *             bits of received message (the others are disregarded)
- *                                |
- *                 ---------------------------------
- *                 |||||||| |||                    |
+ *                                │
+ *                 ┌┬┬┬┬┬┬┬─┬┬┬───┴────────────────┐
  *   Filter mask = 11111111 11100000 00000000 00000100 (= 0xFFE00004)
  *   Filter id   = 01000000 11100000 00000000 00000000 (= 0x40E00000)
- *                 |||||||| |||                    |
- *                 ---------------------------------
- *                                |
+ *                 └┴┴┴┴┴┴┴─┴┴┴───┬────────────────┘
+ *                                │
  *            To receive the message the values of these bits must match. 
  *            Otherwise the message is passed to the next filter or 
  *            discarded if this was the last active filter.
- *                                |
- *                 ---------------------------------
- *                 |||||||| |||                    |
+ *                                │
+ *                 ┌┬┬┬┬┬┬┬─┬┬┬───┴────────────────┐
  *   Received id = 01000000 11100000 00000000 00000010 (= 0x40E00002)
- *                             ||||| |||||||| ||||| ||
- *                             -----------------------
- *                                         |
+ *                             └┴┴┴┴─┴┴┴┴┴┴┼┴─┴┴┴┴┴─┴┘
+ *                                         │
  *                          These bits are disregarded (masked).
  *                          They can have arbitrary values.
  *