STM32: Added notes on thread safety and driver usage.

libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp

@@ -28,7 +28,8 @@
 namespace uavcan_stm32
 {
 /**
- * RX queue item
+ * RX queue item.
+ * The application shall not use this directly.
  */
 struct CanRxItem
 {
@@ -43,6 +44,7 @@ struct CanRxItem
 
 /**
  * Single CAN iface.
+ * The application shall not use this directly.
  */
 class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
 {
@@ -167,6 +169,7 @@ public:
 
 /**
  * CAN driver, incorporates all available CAN ifaces.
+ * Please avoid direct usage, prefer @ref CanInitHelper instead.
  */
 class CanDriver : public uavcan::ICanDriver, uavcan::Noncopyable
 {

libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp

@@ -18,45 +18,57 @@ namespace clock
 void init();
 
 /**
- * For general usage.
+ * Returns current monotonic time passed since the moment when clock::init() was called.
+ * This function is thread safe.
  */
 uavcan::MonotonicTime getMonotonic();
+
+/**
+ * Returns UTC time if it has been set, otherwise returns zero time.
+ * This function is thread safe.
+ */
 uavcan::UtcTime getUtc();
 
 /**
  * Performs UTC time adjustment.
  * The UTC time will be zero until first adjustment has been performed.
+ * This function is thread safe.
  */
 void adjustUtc(uavcan::UtcDuration adjustment);
 
 /**
  * Clock speed error.
- * Positive if the hardware timer is slower than reference time
+ * Positive if the hardware timer is slower than reference time.
+ * This function is thread safe.
  */
 uavcan::int32_t getUtcSpeedCorrectionPPM();
 
 /**
  * Number of non-gradual adjustments performed so far.
  * Ideally should be zero.
+ * This function is thread safe.
  */
 uavcan::uint32_t getUtcAjdustmentJumpCount();
 
 }
 
 /**
- * Trivial system clock implementation; can be redefined by the application.
- * Uses a simple 16-bit hardware timer for both UTC and monotonic clocks.
+ * Adapter for uavcan::ISystemClock.
  */
 class SystemClock : public uavcan::ISystemClock, uavcan::Noncopyable
 {
     SystemClock() { }
 
-public:
-    static SystemClock& instance();
-
     virtual uavcan::MonotonicTime getMonotonic()     const { return clock::getMonotonic(); }
     virtual uavcan::UtcTime getUtc()                 const { return clock::getUtc(); }
     virtual void adjustUtc(uavcan::UtcDuration adjustment) { clock::adjustUtc(adjustment); }
+
+public:
+    /**
+     * Calls clock::init() as needed.
+     * This function is thread safe.
+     */
+    static SystemClock& instance();
 };
 
 }