/*
 * UAVCAN data structure definition for libcanard.
 *
 * Autogenerated, do not edit.
 *
 * Source file: E:\000_MyProjects\UAVCAN\libcanard_zrzk\dsdl_compiler\pyuavcan\uavcan\dsdl_files\uavcan\CoarseOrientation.uavcan
 */

#ifndef __UAVCAN_COARSEORIENTATION
#define __UAVCAN_COARSEORIENTATION

#include <stdint.h>
#include "canard.h"

#ifdef __cplusplus
extern "C"
{
#endif

/******************************* Source text **********************************
#
# Nested type.
# Coarse, low-resolution 3D orientation represented as fixed axes in 16 bit.
#
# Roll, pitch, yaw angles in radians should be multiplied by
# ANGLE_MULTIPLIER in order to convert them to the coarse representation.
#
# ANGLE_MULTIPLIER = NORM / PI
#
# Where NORM is 12, because it:
#  - Fits the maximum range of a signed 5 bit integer
#  - Allows to exactly represent the following angles:
#    0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, and negatives
#

float32 ANGLE_MULTIPLIER = 4.7746482927568605

int5[3] fixed_axis_roll_pitch_yaw

bool orientation_defined    # False if the orientation is actually not defined
******************************************************************************/

/********************* DSDL signature source definition ***********************
uavcan.CoarseOrientation
saturated int5[3] fixed_axis_roll_pitch_yaw
saturated bool orientation_defined
******************************************************************************/

#define UAVCAN_COARSEORIENTATION_NAME                      "uavcan.CoarseOrientation"
#define UAVCAN_COARSEORIENTATION_SIGNATURE                 (0x271BA10B0DAC9E52ULL)

#define UAVCAN_COARSEORIENTATION_MAX_SIZE                  ((16 + 7)/8)

// Constants
#define UAVCAN_COARSEORIENTATION_ANGLE_MULTIPLIER                    4.7746482927568605 // 4.7746482927568605

#define UAVCAN_COARSEORIENTATION_FIXED_AXIS_ROLL_PITCH_YAW_LENGTH                        3

typedef struct
{
    // FieldTypes
    int8_t     fixed_axis_roll_pitch_yaw[3];  // Static Array 5bit[3] max items
    bool       orientation_defined;           // bit len 1
} uavcan_coarse_orientation_t;

extern
uint32_t uavcan_CoarseOrientation_encode(uavcan_coarse_orientation_t* source, void* msg_buf);

extern
int32_t uavcan_CoarseOrientation_decode(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_coarse_orientation_t* dest, uint8_t** dyn_arr_buf);

extern
uint32_t uavcan_CoarseOrientation_encode_internal(uavcan_coarse_orientation_t* source, void* msg_buf, uint32_t offset, uint8_t root_item);

extern
int32_t uavcan_CoarseOrientation_decode_internal(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_coarse_orientation_t* dest, uint8_t** dyn_arr_buf, int32_t offset);

#ifdef __cplusplus
} // extern "C"
#endif
#endif // __UAVCAN_COARSEORIENTATION