File content as of revision 4:58c8081de776:

#ifndef _FUNCTION_CAN_H_
#define _FUNCTION_CAN_H_

#include "mbed.h"

// CID_RX_CMD - RX CMD type
#define             CRX_ASK_INFO                    0
#define             CRX_ASK_BNO                     1
#define             CRX_SET_BNO                     101
#define             CRX_ASK_OPERATING_MODE          2
#define             CRX_SET_OPERATING_MODE          102
#define             CRX_SET_ENC_ZERO                103
#define             CRX_SET_FET_ON                  104
#define             CRX_SET_REF_UPDATE_ENABLE       105
#define             CRX_ASK_CAN_FREQ                6
#define             CRX_SET_CAN_FREQ                106
#define             CRX_ASK_CONTROL_MODE            7
#define             CRX_SET_CONTROL_MODE            107
#define             CRX_SET_DATA_REQUEST            108
#define             CRX_ASK_JOINT_ENC_DIR           9
#define             CRX_SET_JOINT_ENC_DIR           109
#define             CRX_ASK_VALVE_DIR               10
#define             CRX_SET_VALVE_DIR               110
#define             CRX_ASK_VALVE_ENC_DIR           11
#define             CRX_SET_VALVE_ENC_DIR           111
#define             CRX_ASK_VOLTAGE_SUPPLY          12
#define             CRX_SET_VOLTAGE_SUPPLY          112
#define             CRX_ASK_VOLTAGE_VALVE           13
#define             CRX_SET_VOLTAGE_VALVE           113
#define             CRX_SET_HOMEPOS                 114      
#define             CRX_ASK_PID_GAIN                20
#define             CRX_SET_PID_GAIN                120
#define             CRX_ASK_VALVE_DEADZONE          21
#define             CRX_SET_VALVE_DEADZONE          121
#define             CRX_ASK_VELOCITY_COMP_GAIN      22
#define             CRX_SET_VELOCITY_COMP_GAIN      122
#define             CRX_ASK_COMPLIANCE_GAIN         23
#define             CRX_SET_COMPLIANCE_GAIN         123
#define             CRX_ASK_VALVE_FF                25
#define             CRX_SET_VALVE_FF                125
#define             CRX_ASK_BULK_MODULUS            26
#define             CRX_SET_BULK_MODULUS            126
#define             CRX_ASK_CHAMBER_VOLUME          27
#define             CRX_SET_CHAMBER_VOLUME          127
#define             CRX_ASK_PISTON_AREA             28
#define             CRX_SET_PISTON_AREA             128
#define             CRX_ASK_PRES                    29
#define             CRX_SET_PRES                    129
#define             CRX_ASK_ENC_LIMIT               30
#define             CRX_SET_ENC_LIMIT               130
#define             CRX_ASK_STROKE                  31
#define             CRX_SET_STROKE                  131
#define             CRX_ASK_VALVE_LIMIT             32
#define             CRX_SET_VALVE_LIMIT             132
#define             CRX_ASK_ENC_PULSE_PER_POSITION     33
#define             CRX_SET_ENC_PULSE_PER_POSITION     133
#define             CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE     34
#define             CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE     134
#define             CRX_ASK_PRES_SENSOR_PULSE_PER_PRES      35
#define             CRX_SET_PRES_SENSOR_PULSE_PER_PRES      135
#define             CRX_ASK_FRICTION                36
#define             CRX_SET_FRICTION                136
#define             CRX_ASK_VALVE_GAIN_PLUS         37
#define             CRX_SET_VALVE_GAIN_PLUS         137
#define             CRX_ASK_VALVE_GAIN_MINUS        38
#define             CRX_SET_VALVE_GAIN_MINUS        138
#define             CRX_LOW_REF                     139
#define             CRX_ASK_HOMEPOS_OFFSET          40
#define             CRX_SET_HOMEPOS_OFFSET          140
#define             CRX_ASK_HOMEPOS_VALVE_OPENING   41
#define             CRX_SET_HOMEPOS_VALVE_OPENING   141
#define             CRX_SET_ERR_CLEAR               150
#define             CRX_JUMP_STATUS                 255

// Information Transmission
//inline void CAN_TX_INFO(void);
//inline void CAN_TX_BNO(void);
//inline void CAN_TX_OPERATING_MODE(void);
//inline void CAN_TX_CAN_FREQ(void);
//inline void CAN_TX_CONTROL_MODE(void);
//inline void CAN_TX_JOINT_ENC_DIR(void);
//inline void CAN_TX_VALVE_DIR(void);
//inline void CAN_TX_VALVE_ENC_DIR(void);
//inline void CAN_TX_VOLTAGE_SUPPLY(void);
//inline void CAN_TX_VOLTAGE_VALVE(void);
//inline void CAN_TX_PID_GAIN(int t_type);
//inline void CAN_TX_VALVE_DEADZONE(void);
//inline void CAN_TX_ENC_PULSE_PER_POSITION(void);
//inline void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void);
//inline void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void);
//inline void CAN_TX_HOMEPOS_OFFSET(void);

// Sensor & State Transmission
inline void CAN_TX_POSITION(long t_pos, long t_vel);
inline void CAN_TX_TORQUE(int16_t t_torque);
inline void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b);
inline void CAN_TX_PWM(int16_t t_pwm);
inline void CAN_TX_VALVE_POSITION(int16_t t_valve_pos);

// CAN Receive Functions
void ReadCMD();
void CAN_RX_HANDLER();

#endif