dispatch.h

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#ifndef _DATASPEED_PDS_CAN_DISPATCH_H
#define _DATASPEED_PDS_CAN_DISPATCH_H
#include <stdint.h>

namespace dataspeed_pds_can
{

typedef struct {
  // Master and slave status messages have the same structure.
  // 4 Reserved/Unused bits.
  uint8_t :4;
  // Inverter Last Request (bool)
  uint8_t inverter_request :1;
  // Inverter Status (bool)
  uint8_t inverter_status :1;
  // Inverter Overloading (bool)
  uint8_t inverter_overload :1;
  // Inverter Over Temperature (bool)
  uint8_t inverter_overtemp :1;
  // Mode (enum)
  //   The current mode of the PDS.
  uint8_t mode :4;
  // Script (enum)
  //   The currently running script on the PDS, if any.
  uint8_t script :4;
  // Channel Status X (enum)
  //   The current status of channel X on the PDS.
  // Union for master channels 1-12 and slave channels 13-24
  union { struct {uint8_t status_01 :4; uint8_t status_02 :4;}; struct {uint8_t status_13 :4; uint8_t status_14 :4;}; };
  union { struct {uint8_t status_03 :4; uint8_t status_04 :4;}; struct {uint8_t status_15 :4; uint8_t status_16 :4;}; };
  union { struct {uint8_t status_05 :4; uint8_t status_06 :4;}; struct {uint8_t status_17 :4; uint8_t status_18 :4;}; };
  union { struct {uint8_t status_07 :4; uint8_t status_08 :4;}; struct {uint8_t status_19 :4; uint8_t status_20 :4;}; };
  union { struct {uint8_t status_09 :4; uint8_t status_10 :4;}; struct {uint8_t status_21 :4; uint8_t status_22 :4;}; };
  union { struct {uint8_t status_11 :4; uint8_t status_12 :4;}; struct {uint8_t status_23 :4; uint8_t status_24 :4;}; };
} MsgStatus1;

typedef struct {
  // Master and slave status messages have the same structure.
  // Board Temperature (float32)
  //   Internal board temperature, in Celsius.
  int8_t board_temp;
  // Thermocouple Temperature (float32)
  //   Thermocouple temperature, in Celsius.
  int8_t thermocouple_temp;
  // Voltage (float32)
  //   Voltage, in V.
  uint16_t voltage :12;
  // 4 Reserved/Unused bits.
  uint8_t :4;
} MsgStatus2;

typedef struct {
  // Union for multiple messages with the same structure: Current1Master, Current2Master, Current3Master, Current1Slave, Current2Slave, Current3Slave
  union { int16_t current_01; int16_t current_05; int16_t current_09; int16_t current_13; int16_t current_17; int16_t current_21; };
  union { int16_t current_02; int16_t current_06; int16_t current_10; int16_t current_14; int16_t current_18; int16_t current_22; };
  union { int16_t current_03; int16_t current_07; int16_t current_11; int16_t current_15; int16_t current_19; int16_t current_23; };
  union { int16_t current_04; int16_t current_08; int16_t current_12; int16_t current_16; int16_t current_20; int16_t current_24; };
} MsgCurrent;

typedef struct {
  uint8_t channel;
  uint8_t request;
} MsgRelay;

typedef struct {
  uint8_t mode;
} MsgMode;

typedef struct {
  uint8_t script;
} MsgScript;

#define BUILD_ASSERT(cond) do { (void) sizeof(char [1 - 2*!(cond)]); } while(0)
static void dispatchAssertSizes() {
  BUILD_ASSERT(8 == sizeof(MsgCurrent));
  BUILD_ASSERT(8 == sizeof(MsgStatus1));
  BUILD_ASSERT(4 == sizeof(MsgStatus2));
  BUILD_ASSERT(2 == sizeof(MsgRelay));
  BUILD_ASSERT(1 == sizeof(MsgMode));
  BUILD_ASSERT(1 == sizeof(MsgScript));
}
#undef BUILD_ASSERT

enum {
  ID_REQUEST   = 0x410,
  ID_MODE      = 0x411,
  ID_SCRIPT    = 0x412,
  ID_RESERVED1 = 0x413,
  ID_RESERVED2 = 0x430,
  ID_RESERVED3 = 0x431,
  ID_RESERVED4 = 0x432,
  ID_STATUS1_MASTER  = 0x420,
  ID_STATUS1_SLAVE1  = 0x421,
  ID_STATUS1_SLAVE2  = 0x422,
  ID_STATUS1_SLAVE3  = 0x423,
  ID_CURRENT1_MASTER = 0x424,
  ID_CURRENT1_SLAVE1 = 0x425,
  ID_CURRENT1_SLAVE2 = 0x426,
  ID_CURRENT1_SLAVE3 = 0x427,
  ID_CURRENT2_MASTER = 0x428,
  ID_CURRENT2_SLAVE1 = 0x429,
  ID_CURRENT2_SLAVE2 = 0x42A,
  ID_CURRENT2_SLAVE3 = 0x42B,
  ID_CURRENT3_MASTER = 0x42C,
  ID_CURRENT3_SLAVE1 = 0x42D,
  ID_CURRENT3_SLAVE2 = 0x42E,
  ID_CURRENT3_SLAVE3 = 0x42F,
  ID_STATUS2_MASTER  = 0x43C,
  ID_STATUS2_SLAVE1  = 0x43D,
  ID_STATUS2_SLAVE2  = 0x43E,
  ID_STATUS2_SLAVE3  = 0x43F,
};

} //namespace dataspeed_pds_can

#endif // _DATASPEED_PDS_CAN_DISPATCH_H