/*
 * UAVCAN data structure definition for libcanard.
 *
 * Autogenerated, do not edit.
 *
 * Source file: /home/benjamin/Nextcloud/Dokument/ARM/STM_Eclipse/BLDC_4_ChibiOS/libcanard/dsdl/definitions/vesc/20601.RTData.uavcan
 */
#include "vesc/RTData.h"
#include "canard.h"

#ifndef CANARD_INTERNAL_SATURATE
#define CANARD_INTERNAL_SATURATE(x, max) ( ((x) > max) ? max : ( (-(x) > max) ? (-max) : (x) ) );
#endif

#ifndef CANARD_INTERNAL_SATURATE_UNSIGNED
#define CANARD_INTERNAL_SATURATE_UNSIGNED(x, max) ( ((x) >= max) ? max : (x) );
#endif

#if defined(__GNUC__)
# define CANARD_MAYBE_UNUSED(x) x __attribute__((unused))
#else
# define CANARD_MAYBE_UNUSED(x) x
#endif

/**
  * @brief vesc_RTData_encode_internal
  * @param source : pointer to source data struct
  * @param msg_buf: pointer to msg storage
  * @param offset: bit offset to msg storage
  * @param root_item: for detecting if TAO should be used
  * @retval returns offset
  */
uint32_t vesc_RTData_encode_internal(vesc_RTData* source,
  void* msg_buf,
  uint32_t offset,
  uint8_t CANARD_MAYBE_UNUSED(root_item),
  bool tao_enabled)
{
    (void)tao_enabled;
#ifndef CANARD_USE_FLOAT16_CAST
    uint16_t tmp_float = 0;
#else
    CANARD_USE_FLOAT16_CAST tmp_float = 0;
#endif

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->volt_in);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->volt_in;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->volt_d);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->volt_d;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->volt_q);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->volt_q;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->temp_mos_max);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_mos_max;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->temp_mos_1);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_mos_1;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->temp_mos_2);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_mos_2;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->temp_mos_3);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_mos_3;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->temp_motor_max);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_motor_max;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->temp_motor_1);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_motor_1;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->temp_motor_2);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_motor_2;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->curr_motor);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->curr_motor;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->curr_in);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->curr_in;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->curr_d);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->curr_d;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->curr_q);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->curr_q;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->roll);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->roll;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->pitch);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->pitch;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->yaw);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->yaw;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->acc_x);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->acc_x;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->acc_y);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->acc_y;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->acc_z);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->acc_z;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->gyro_x);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->gyro_x;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->gyro_y);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->gyro_y;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->gyro_z);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->gyro_z;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->erpm);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->erpm;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->rpm);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->rpm;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->duty);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->duty;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->ah_used);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->ah_used;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->ah_charged);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->ah_charged;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->wh_used);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->wh_used;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->wh_charged);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->wh_charged;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->encoder_pos);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->encoder_pos;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->battery_level);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->battery_level;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;

    // float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
    tmp_float = canardConvertNativeFloatToFloat16(source->battery_wh_tot);
#else
    tmp_float = (CANARD_USE_FLOAT16_CAST)source->battery_wh_tot;
#endif
    canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
    offset += 16;
    canardEncodeScalar(msg_buf, offset, 8, (void*)&source->fault_code); // 255
    offset += 8;

    canardEncodeScalar(msg_buf, offset, 8, (void*)&source->vesc_id); // 255
    offset += 8;

    return offset;
}

/**
  * @brief vesc_RTData_encode
  * @param source : Pointer to source data struct
  * @param msg_buf: Pointer to msg storage
  * @retval returns message length as bytes
  */
uint32_t vesc_RTData_encode(vesc_RTData* source, void* msg_buf, bool tao_enabled)
{
    uint32_t offset = 0;

    offset = vesc_RTData_encode_internal(source, msg_buf, offset, 1, tao_enabled);

    return (offset + 7 ) / 8;
}

/**
  * @brief vesc_RTData_decode_internal
  * @param transfer: Pointer to CanardRxTransfer transfer
  * @param payload_len: Payload message length
  * @param dest: Pointer to destination struct
  * @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
  *                     vesc_RTData dyn memory will point to dyn_arr_buf memory.
  *                     NULL will ignore dynamic arrays decoding.
  * @param offset: Call with 0, bit offset to msg storage
  * @retval offset or ERROR value if < 0
  */
int32_t vesc_RTData_decode_internal(
  const CanardRxTransfer* transfer,
  uint16_t CANARD_MAYBE_UNUSED(payload_len),
  vesc_RTData* dest,
  uint8_t** CANARD_MAYBE_UNUSED(dyn_arr_buf),
  int32_t offset,
  bool tao_enabled)
{
	(void)tao_enabled;
    int32_t ret = 0;
#ifndef CANARD_USE_FLOAT16_CAST
    uint16_t tmp_float = 0;
#else
    CANARD_USE_FLOAT16_CAST tmp_float = 0;
#endif

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->volt_in = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->volt_in = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->volt_d = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->volt_d = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->volt_q = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->volt_q = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->temp_mos_max = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->temp_mos_max = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->temp_mos_1 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->temp_mos_1 = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->temp_mos_2 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->temp_mos_2 = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->temp_mos_3 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->temp_mos_3 = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->temp_motor_max = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->temp_motor_max = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->temp_motor_1 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->temp_motor_1 = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->temp_motor_2 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->temp_motor_2 = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->curr_motor = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->curr_motor = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->curr_in = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->curr_in = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->curr_d = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->curr_d = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->curr_q = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->curr_q = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->roll = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->roll = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->pitch = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->pitch = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->yaw = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->yaw = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->acc_x = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->acc_x = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->acc_y = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->acc_y = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->acc_z = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->acc_z = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->gyro_x = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->gyro_x = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->gyro_y = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->gyro_y = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->gyro_z = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->gyro_z = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->erpm = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->erpm = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->rpm = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->rpm = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->duty = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->duty = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->ah_used = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->ah_used = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->ah_charged = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->ah_charged = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->wh_used = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->wh_used = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->wh_charged = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->wh_charged = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->encoder_pos = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->encoder_pos = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->battery_level = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->battery_level = (float)tmp_float;
#endif
    offset += 16;

    // float16 special handling
    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);

    if (ret != 16)
    {
        goto vesc_RTData_error_exit;
    }
#ifndef CANARD_USE_FLOAT16_CAST
    dest->battery_wh_tot = canardConvertFloat16ToNativeFloat(tmp_float);
#else
    dest->battery_wh_tot = (float)tmp_float;
#endif
    offset += 16;

    ret = canardDecodeScalar(transfer, (uint32_t)offset, 8, false, (void*)&dest->fault_code);
    if (ret != 8)
    {
        goto vesc_RTData_error_exit;
    }
    offset += 8;

    ret = canardDecodeScalar(transfer, (uint32_t)offset, 8, false, (void*)&dest->vesc_id);
    if (ret != 8)
    {
        goto vesc_RTData_error_exit;
    }
    offset += 8;
    return offset;

vesc_RTData_error_exit:
    if (ret < 0)
    {
        return ret;
    }
    else
    {
        return -CANARD_ERROR_INTERNAL;
    }
}

/**
  * @brief vesc_RTData_decode
  * @param transfer: Pointer to CanardRxTransfer transfer
  * @param payload_len: Payload message length
  * @param dest: Pointer to destination struct
  * @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
  *                     vesc_RTData dyn memory will point to dyn_arr_buf memory.
  *                     NULL will ignore dynamic arrays decoding.
  * @retval offset or ERROR value if < 0
  */
int32_t vesc_RTData_decode(const CanardRxTransfer* transfer,
  uint16_t payload_len,
  vesc_RTData* dest,
  uint8_t** dyn_arr_buf,
  bool tao_enabled)
{
    const int32_t offset = 0;
    int32_t ret = 0;

    // Clear the destination struct
    for (uint32_t c = 0; c < sizeof(vesc_RTData); c++)
    {
        ((uint8_t*)dest)[c] = 0x00;
    }

    ret = vesc_RTData_decode_internal(transfer, payload_len, dest, dyn_arr_buf, offset, tao_enabled);

    return ret;
}