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motohawk.h
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motohawk.h
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/**
* The MIT License (MIT)
*
* Copyright (c) 2018-2019 Erik Moqvist
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
/**
*/
#ifndef MOTOHAWK_H
#define MOTOHAWK_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#ifndef EINVAL
# define EINVAL 22
#endif
/* Frame ids. */
#define MOTOHAWK_EXAMPLE_MESSAGE_FRAME_ID (0x1f0u)
/* Frame lengths in bytes. */
#define MOTOHAWK_EXAMPLE_MESSAGE_LENGTH (8u)
/* Extended or standard frame types. */
#define MOTOHAWK_EXAMPLE_MESSAGE_IS_EXTENDED (0)
/* Frame cycle times in milliseconds. */
/* Signal choices. */
#define MOTOHAWK_EXAMPLE_MESSAGE_ENABLE_DISABLED_CHOICE (0u)
#define MOTOHAWK_EXAMPLE_MESSAGE_ENABLE_ENABLED_CHOICE (1u)
/* Frame Names. */
#define MOTOHAWK_EXAMPLE_MESSAGE_NAME "ExampleMessage"
/* Signal Names. */
#define MOTOHAWK_EXAMPLE_MESSAGE_ENABLE_NAME "Enable"
#define MOTOHAWK_EXAMPLE_MESSAGE_AVERAGE_RADIUS_NAME "AverageRadius"
#define MOTOHAWK_EXAMPLE_MESSAGE_TEMPERATURE_NAME "Temperature"
/**
* Signals in message ExampleMessage.
*
* Example message used as template in MotoHawk models.
*
* All signal values are as on the CAN bus.
*/
struct motohawk_example_message_t {
/**
* Range: -
* Scale: 1
* Offset: 0
*/
uint8_t enable;
/**
* Range: 0..50 (0..5 m)
* Scale: 0.1
* Offset: 0
*/
uint8_t average_radius;
/**
* Range: -2048..2047 (229.52..270.47 degK)
* Scale: 0.01
* Offset: 250
*/
int16_t temperature;
};
/**
* Pack message ExampleMessage.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
* @param[in] size Size of dst_p.
*
* @return Size of packed data, or negative error code.
*/
int motohawk_example_message_pack(
uint8_t *dst_p,
const struct motohawk_example_message_t *src_p,
size_t size);
/**
* Unpack message ExampleMessage.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
* @param[in] size Size of src_p.
*
* @return zero(0) or negative error code.
*/
int motohawk_example_message_unpack(
struct motohawk_example_message_t *dst_p,
const uint8_t *src_p,
size_t size);
/**
* Init message fields to default values from ExampleMessage.
*
* @param[in] msg_p Message to init.
*
* @return zero(0) on success or (-1) in case of nullptr argument.
*/
int motohawk_example_message_init(struct motohawk_example_message_t *msg_p);
/**
* Encode given signal by applying scaling and offset.
*
* @param[in] value Signal to encode.
*
* @return Encoded signal.
*/
uint8_t motohawk_example_message_enable_encode(double value);
/**
* Decode given signal by applying scaling and offset.
*
* @param[in] value Signal to decode.
*
* @return Decoded signal.
*/
double motohawk_example_message_enable_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
*
* @param[in] value Signal to check.
*
* @return true if in range, false otherwise.
*/
bool motohawk_example_message_enable_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
*
* @param[in] value Signal to encode.
*
* @return Encoded signal.
*/
uint8_t motohawk_example_message_average_radius_encode(double value);
/**
* Decode given signal by applying scaling and offset.
*
* @param[in] value Signal to decode.
*
* @return Decoded signal.
*/
double motohawk_example_message_average_radius_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
*
* @param[in] value Signal to check.
*
* @return true if in range, false otherwise.
*/
bool motohawk_example_message_average_radius_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
*
* @param[in] value Signal to encode.
*
* @return Encoded signal.
*/
int16_t motohawk_example_message_temperature_encode(double value);
/**
* Decode given signal by applying scaling and offset.
*
* @param[in] value Signal to decode.
*
* @return Decoded signal.
*/
double motohawk_example_message_temperature_decode(int16_t value);
/**
* Check that given signal is in allowed range.
*
* @param[in] value Signal to check.
*
* @return true if in range, false otherwise.
*/
bool motohawk_example_message_temperature_is_in_range(int16_t value);
#ifdef __cplusplus
}
#endif
#endif