Separation Generator to a dedicated repo

Change-Id: Id94831651c3266861435272a6e36c7884bef2c45
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

21 files changed, 1634 insertions, 0 deletions

diff --git a/libs/bitfield-c/.gitignore b/libs/bitfield-c/.gitignore
new file mode 100644
index 00000000..834a305d
--- /dev/null
+++ b/libs/bitfield-c/.gitignore
@@ -0,0 +1,5 @@
+*.o
+.DS_Store
+*~
+*.bin
+build
diff --git a/libs/bitfield-c/.travis.yml b/libs/bitfield-c/.travis.yml
new file mode 100644
index 00000000..7654abaa
--- /dev/null
+++ b/libs/bitfield-c/.travis.yml
@@ -0,0 +1,7 @@
+language: c
+compiler:
+  - gcc
+script: make test
+before_install:
+    - sudo apt-get update -qq
+    - sudo apt-get install check
diff --git a/libs/bitfield-c/CHANGELOG.mkd b/libs/bitfield-c/CHANGELOG.mkd
new file mode 100644
index 00000000..eea48c06
--- /dev/null
+++ b/libs/bitfield-c/CHANGELOG.mkd
@@ -0,0 +1,5 @@
+# Bitfield Utilities in C
+
+## v0.1
+
+* Initial release
diff --git a/libs/bitfield-c/CMakeLists.txt b/libs/bitfield-c/CMakeLists.txt
new file mode 100644
index 00000000..d4c91128
--- /dev/null
+++ b/libs/bitfield-c/CMakeLists.txt
@@ -0,0 +1,43 @@
+###########################################################################
+# Copyright 2015, 2016, 2017 IoT.bzh
+#
+# author: Fulup Ar Foll <fulup@iot.bzh>
+# contrib: Romain Forlot <romain.forlot@iot.bzh>
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###########################################################################
+
+# Add target to project dependency list
+PROJECT_TARGET_ADD(bitfield-c)
+
+	# Define project Target
+	add_library(${TARGET_NAME} STATIC
+		src/bitfield/8byte.c
+		src/bitfield/bitarray.c 
+		src/bitfield/bitfield.c
+		src/canutil/read.c
+		src/canutil/write.c)
+
+	# Binder exposes a unique public entry point
+	SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES
+		OUTPUT_NAME ${TARGET_NAME}
+	)
+
+	# Define target includes
+	TARGET_INCLUDE_DIRECTORIES(${TARGET_NAME}
+		PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src
+	)
+
+	# Library dependencies (include updates automatically)
+	TARGET_LINK_LIBRARIES(${TARGET_NAME}
+		${link_libraries})
\ No newline at end of file
diff --git a/libs/bitfield-c/LICENSE b/libs/bitfield-c/LICENSE
new file mode 100644
index 00000000..330d61f4
--- /dev/null
+++ b/libs/bitfield-c/LICENSE
@@ -0,0 +1,24 @@
+Copyright (c) 2013 Ford Motor Company
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the <organization> nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/libs/bitfield-c/Makefile b/libs/bitfield-c/Makefile
new file mode 100644
index 00000000..e93efb47
--- /dev/null
+++ b/libs/bitfield-c/Makefile
@@ -0,0 +1,53 @@
+CC = gcc
+INCLUDES = -Isrc
+CFLAGS = $(INCLUDES) -c -Wall -Werror -g -ggdb -coverage
+LDFLAGS = -coverage -lm
+LDLIBS = -lcheck
+
+TEST_DIR = tests
+TEST_OBJDIR = build
+
+# Guard against \r\n line endings only in Cygwin
+OSTYPE := $(shell uname)
+ifneq ($(OSTYPE),Darwin)
+	OSTYPE := $(shell uname -o)
+	ifeq ($(OSTYPE),Cygwin)
+		TEST_SET_OPTS = igncr
+	endif
+endif
+
+SRC = $(wildcard src/**/*.c)
+OBJS = $(SRC:.c=.o)
+OBJS = $(patsubst %,$(TEST_OBJDIR)/%,$(SRC:.c=.o))
+TEST_SRC = $(wildcard $(TEST_DIR)/*_tests.c)
+TESTS=$(patsubst %.c,$(TEST_OBJDIR)/%.bin,$(TEST_SRC))
+
+all: $(OBJS)
+
+test: $(TESTS)
+	@set -o $(TEST_SET_OPTS) >/dev/null 2>&1
+	@export SHELLOPTS
+	@sh runtests.sh $(TEST_OBJDIR)/$(TEST_DIR)
+
+COVERAGE_INFO_FILENAME = coverage.info
+COVERAGE_INFO_PATH = $(TEST_OBJDIR)/$(COVERAGE_INFO_FILENAME)
+coverage:
+	@lcov --base-directory . --directory $(TEST_OBJDIR) --zerocounters -q
+	@make clean
+	@make test
+	@lcov --base-directory . --directory $(TEST_OBJDIR) -c -o $(TEST_OBJDIR)/coverage.info
+	@lcov --remove $(COVERAGE_INFO_PATH) "/usr/*" -o $(COVERAGE_INFO_PATH)
+	@genhtml -o $(TEST_OBJDIR)/coverage -t "isotp-c test coverage" --num-spaces 4 $(COVERAGE_INFO_PATH)
+	@$(BROWSER) $(TEST_OBJDIR)/coverage/index.html
+	@echo "$(GREEN)Coverage information generated in $(TEST_OBJDIR)/coverage/index.html.$(COLOR_RESET)"
+
+$(TEST_OBJDIR)/%.o: %.c
+	@mkdir -p $(dir $@)
+	$(CC) $(CFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $<
+
+$(TEST_OBJDIR)/%.bin: $(TEST_OBJDIR)/%.o $(OBJS) $(TEST_SUPPORT_OBJS)
+	@mkdir -p $(dir $@)
+	$(CC) $(LDFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $^ $(LDLIBS)
+
+clean:
+	rm -rf $(TEST_OBJDIR)
diff --git a/libs/bitfield-c/README.mkd b/libs/bitfield-c/README.mkd
new file mode 100644
index 00000000..439b3dd0
--- /dev/null
+++ b/libs/bitfield-c/README.mkd
@@ -0,0 +1,107 @@
+Bitfield Utilities in C
+===========================
+
+This is a C library with functions to help encode and decode Controller Area
+Network (CAN) message payloads or other bitfields.
+
+The header files contain complete function documentation, but to get you
+started, here are examples using the API:
+
+## Bitfield Manipulation
+
+The bitfields are stored in `uint8_t[]`.
+
+    uint8_t data[4] = {0x12, 0x34, 0x56, 0x78};
+    uint8_t result = get_byte(data, sizeof(data), 0);
+    // result = 0x12;
+    result = get_nibble(data, sizeof(data), 0);
+    // result = 0x1;
+    bool success = copy_bits_right_aligned(data, 4, 4, 12, result, 4)
+    // success == true
+    // result[0] == 0x2
+    // result[1] == 0x34
+
+## 8 Byte Helpers
+
+If you are dealing with 8 byte CAN messages as `uint64_t`, there are some
+additional functions prefixed with `eightbyte_` that may be faster or more
+useful.
+
+### 8 Byte Decoding
+
+    uint64_t data = 0x8000000000000000;
+    uint64_t result = eightbyte_get_bitfield(data, 0, 1, false);
+    // result == 0x1
+
+    data = 0x0402574d555a0401;
+    result = eightbyte_get_bitfield(data, 16, 32, false);
+    // result = 0x574d555a;
+
+    data = 0x00000000F34DFCFF;
+    result = eightbyte_get_byte(data, 0, false);
+    //result = 0x0
+
+    result = eightbyte_get_byte(data, 4, false);
+    //result = 0xF3
+
+    result = eightbyte_get_nibble(data, 10, false);
+    //result = 0x4;
+
+### 8 Byte Encoding
+
+    uint64_t data = 0;
+    fail_unless(8byte_set_bitfield(1, 0, 1, &data));
+    uint64_t result = eightbyte_get_bitfield(data, 0, 1, false);
+    ck_assert_int_eq(result, 0x1);
+
+### CAN Signal Encoding
+
+The library supports encoding floating point CAN signals as well as booleans
+into a uint64_t payload.
+
+    uint64_t payload = eightbyte_encode_float(1, 1, 3, 1, 0)
+    // payload == 0x1000000000000000
+
+    payload = eightbyte_encode_bool(true, 1, 3);
+    // payload == 0x1000000000000000
+
+### CAN Signal Decoding
+
+The library supports parsing floating point CAN signals as well as booleans.
+
+    uint64_t payload = 0xeb00000000000000;
+    float float_result = eightbyte_parse_float(payload,
+            2, // starting bit
+            4, // width of the signal's field
+            1001.0, // transformation factor for the signal value
+            -30000.0); // transformation offset for the signal value
+    // float_result == -19990.0
+
+    bool bool_result = eightbyte_parse_bool(payload,
+            0, // starting bit
+            1, // width of the signal's field
+            1.0, // transformation factor for the signal value
+            0); // transformation offset for the signal value
+    // bool_result == true
+
+## Testing
+
+The library includes a test suite that uses the `check` C unit test library. It
+requires the unit testing library `check`.
+
+    $ make test
+
+You can also see the test coverage if you have `lcov` installed and the
+`BROWSER` environment variable set to your choice of web browsers:
+
+    $ BROWSER=google-chrome-stable make coverage
+
+## Authors
+
+Chris Peplin cpeplin@ford.com
+
+## License
+
+Copyright (c) 2013 Ford Motor Company
+
+Licensed under the BSD license.
diff --git a/libs/bitfield-c/runtests.sh b/libs/bitfield-c/runtests.sh
new file mode 100644
index 00000000..4781636b
--- /dev/null
+++ b/libs/bitfield-c/runtests.sh
@@ -0,0 +1,17 @@
+echo "Running unit tests:"
+
+for i in $1/*.bin
+do
+    if test -f $i
+    then
+        if ./$i
+        then
+            echo $i PASS
+        else
+            echo "ERROR in test $i:"
+            exit 1
+        fi
+    fi
+done
+
+echo "${txtbld}$(tput setaf 2)All unit tests passed.$(tput sgr0)"
diff --git a/libs/bitfield-c/src/bitfield/8byte.c b/libs/bitfield-c/src/bitfield/8byte.c
new file mode 100644
index 00000000..9325ed1b
--- /dev/null
+++ b/libs/bitfield-c/src/bitfield/8byte.c
@@ -0,0 +1,61 @@
+#include <bitfield/bitfield.h>
+#include <bitfield/8byte.h>
+#include <stddef.h>
+#include <limits.h>
+#include <string.h>
+
+#define EIGHTBYTE_BIT (8 * sizeof(uint64_t))
+
+uint8_t eightbyte_get_nibble(const uint64_t source, const uint8_t nibble_index,
+        const bool data_is_big_endian) {
+    return (uint8_t) eightbyte_get_bitfield(source, NIBBLE_SIZE * nibble_index,
+            NIBBLE_SIZE, data_is_big_endian);
+}
+
+uint8_t eightbyte_get_byte(uint64_t source, const uint8_t byte_index,
+        const bool data_is_big_endian) {
+    if(data_is_big_endian) {
+        source = __builtin_bswap64(source);
+    }
+    return (source >> (EIGHTBYTE_BIT - ((byte_index + 1) * CHAR_BIT))) & 0xFF;
+}
+
+// TODO is this funciton necessary anymore? is it any faster for uint64_t than
+// get_bitfield(data[], ...)? is the performance better on a 32 bit platform
+// like the PIC32?
+uint64_t eightbyte_get_bitfield(uint64_t source, const uint16_t offset,
+        const uint16_t bit_count, const bool data_is_big_endian) {
+    int startByte = offset / CHAR_BIT;
+    int endByte = (offset + bit_count - 1) / CHAR_BIT;
+
+    if(!data_is_big_endian) {
+        source = __builtin_bswap64(source);
+    }
+
+    uint8_t* bytes = (uint8_t*)&source;
+    uint64_t ret = bytes[startByte];
+    if(startByte != endByte) {
+        // The lowest byte address contains the most significant bit.
+        uint8_t i;
+        for(i = startByte + 1; i <= endByte; i++) {
+            ret = ret << 8;
+            ret = ret | bytes[i];
+        }
+    }
+
+    ret >>= 8 - find_end_bit(offset + bit_count);
+    return ret & bitmask(bit_count);
+}
+
+bool eightbyte_set_bitfield(uint64_t value, const uint16_t offset,
+        const uint16_t bit_count, uint64_t* destination) {
+    if(value > bitmask(bit_count)) {
+        return false;
+    }
+
+    int shiftDistance = EIGHTBYTE_BIT - offset - bit_count;
+    value <<= shiftDistance;
+    *destination &= ~(bitmask(bit_count) << shiftDistance);
+    *destination |= value;
+    return true;
+}
diff --git a/libs/bitfield-c/src/bitfield/8byte.h b/libs/bitfield-c/src/bitfield/8byte.h
new file mode 100644
index 00000000..04512690
--- /dev/null
+++ b/libs/bitfield-c/src/bitfield/8byte.h
@@ -0,0 +1,88 @@
+#ifndef __8BYTE_H__
+#define __8BYTE_H__
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Public: Reads a subset of bits into a uint64_t.
+ *
+ * source - the bytes in question.
+ * offset - the starting index of the bit field (beginning from 0).
+ * bit_count - the width of the bit field to extract.
+ * data_is_big_endian - if the data passed in is little endian, set this to false and it
+ *      will be flipped before grabbing the bit field.
+ *
+ * Bit fields are positioned according to big-endian bit layout.
+ *
+ * For example, the bit layout of the value "42" (i.e. 00101010 set at position
+ * 14 with length 6 is:
+ *
+ *     000000000000001010100000000000000000000000000000000000000000000
+ *
+ * and the same value and position but with length 8 is:
+ *
+ *     000000000000000010101000000000000000000000000000000000000000000
+ *
+ * If the architecture where is code is running is little-endian, the input data
+ * will be swapped before grabbing the bit field.
+ *
+ * Examples
+ *
+ *  uint64_t value = get_bitfield(data, 2, 4);
+ *
+ * Returns the value of the requested bit field, right aligned in a uint64_t.
+ */
+uint64_t eightbyte_get_bitfield(uint64_t source, const uint16_t offset,
+        const uint16_t bit_count, const bool data_is_big_endian);
+
+/* Public: Return a single nibble from the payload, with range checking.
+ *
+ * source - the source payload.
+ * nibble_index - the index of the nibble to retreive. The leftmost nibble is
+ *      index 0.
+ * data_is_big_endian - if the data passed in is little endian, set this to false and it
+ *      will be flipped before grabbing the bit field.
+ *
+ * Returns the retreived nibble, right aligned in a uint8_t.
+ */
+uint8_t eightbyte_get_nibble(const uint64_t source, const uint8_t nibble_index,
+        const bool data_is_big_endian);
+
+/* Public: Return a single byte from the payload, with range checking.
+ *
+ * source - the source byte array.
+ * byte_index - the index of the byte to retreive. The leftmost byte is index 0.
+ * data_is_big_endian - if the data passed in is little endian, set this to false and it
+ *      will be flipped before grabbing the bit field.
+ *
+ * Returns the retreived byte.
+ */
+uint8_t eightbyte_get_byte(const uint64_t source, const uint8_t byte_index,
+        const bool data_is_big_endian);
+
+/* Public: Set the bit field in the given data array to the new value.
+ *
+ * destination - a byte array with size at least offset + bit_count.
+ * value - the value to set in the bit field.
+ * offset - the starting index of the bit field (beginning from 0).
+ * bit_count - the number of bits to set in the data.
+ *
+ * Returns true if the bit_count is enough to fully represent the value, and
+ *      false if it will not fit.
+ */
+bool eightbyte_set_bitfield(uint64_t value,
+        const uint16_t offset, const uint16_t bit_count, uint64_t* destination);
+
+/* Private: Determine the index of the last bit used.
+ */
+uint8_t find_end_bit(const uint16_t num_bits);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __8BYTE_H__
diff --git a/libs/bitfield-c/src/bitfield/bitarray.c b/libs/bitfield-c/src/bitfield/bitarray.c
new file mode 100644
index 00000000..dcb9a08f
--- /dev/null
+++ b/libs/bitfield-c/src/bitfield/bitarray.c
@@ -0,0 +1,145 @@
+#include <bitfield/bitfield.h>
+#include <stddef.h>
+#include <limits.h>
+#include <string.h>
+
+#define PREPARE_FIRST_COPY()                                      \
+    do {                                                          \
+    if (bit_count >= (CHAR_BIT - destination_offset_modulo)) {              \
+        *destination &= reverse_mask[destination_offset_modulo];              \
+        bit_count -= CHAR_BIT - destination_offset_modulo;                  \
+    } else {                                                      \
+        *destination &= reverse_mask[destination_offset_modulo]               \
+              | reverse_mask_xor[destination_offset_modulo + bit_count + 1];\
+         c &= reverse_mask[destination_offset_modulo + bit_count    ];\
+        bit_count = 0;                                              \
+    } } while (0)
+
+static const uint8_t reverse_mask[] =
+    { 0x55, 0x80, 0xc0, 0xe0, 0xf0, 0xf8, 0xfc, 0xfe, 0xff };
+static const uint8_t reverse_mask_xor[] =
+    { 0xff, 0x7f, 0x3f, 0x1f, 0x0f, 0x07, 0x03, 0x01, 0x00 };
+
+bool copy_bits(const uint8_t* source_origin, const uint16_t source_length,
+        const uint16_t source_offset, uint16_t bit_count,
+        uint8_t* destination_origin, const uint16_t destination_length,
+        const uint16_t destination_offset) {
+    if(bit_count < 1) {
+        return false;
+    }
+
+    if(source_offset + bit_count > source_length * CHAR_BIT ||
+            destination_offset + bit_count > destination_length * CHAR_BIT ) {
+        return false;
+    }
+
+    const uint8_t* source = source_origin + (source_offset / CHAR_BIT);
+    uint8_t* destination = destination_origin + (destination_offset / CHAR_BIT);
+    int source_offset_modulo = source_offset % CHAR_BIT;
+    int destination_offset_modulo = destination_offset % CHAR_BIT;
+
+    if(source_offset_modulo == destination_offset_modulo) {
+        if(source_offset_modulo > 0) {
+            uint8_t c = reverse_mask_xor[destination_offset_modulo] & *source++;
+            PREPARE_FIRST_COPY();
+            *destination++ |= c;
+        }
+
+        int byte_len = bit_count / CHAR_BIT;
+        int bit_count_modulo = bit_count % CHAR_BIT;
+
+        if(byte_len > 0) {
+            memcpy(destination, source, byte_len);
+            source += byte_len;
+            destination += byte_len;
+        }
+
+        if(bit_count_modulo > 0) {
+            *destination &= reverse_mask_xor[bit_count_modulo];
+            *destination |= reverse_mask[bit_count_modulo] & *source;
+        }
+    } else {
+        int bit_diff_left_shift;
+        int bit_diff_right_shift;
+        uint8_t c;
+        /*
+         * Begin: Line things up on destination.
+         */
+        if(source_offset_modulo > destination_offset_modulo) {
+            bit_diff_left_shift = source_offset_modulo - destination_offset_modulo;
+            bit_diff_right_shift = CHAR_BIT - bit_diff_left_shift;
+
+            c = *source++ << bit_diff_left_shift;
+            c |= *source >> bit_diff_right_shift;
+            c &= reverse_mask_xor[destination_offset_modulo];
+        } else {
+            bit_diff_right_shift = destination_offset_modulo - source_offset_modulo;
+            bit_diff_left_shift = CHAR_BIT - bit_diff_right_shift;
+
+            c = *source >> bit_diff_right_shift &
+                    reverse_mask_xor[destination_offset_modulo];
+        }
+        PREPARE_FIRST_COPY();
+        *destination++ |= c;
+
+        /*
+         * Middle: copy with only shifting the source.
+         */
+        int byte_len = bit_count / CHAR_BIT;
+        while(--byte_len >= 0) {
+            c = *source++ << bit_diff_left_shift;
+            c |= *source >> bit_diff_right_shift;
+            *destination++ = c;
+        }
+
+        /*
+         * End: copy the remaing bits;
+         */
+        int bit_count_modulo = bit_count % CHAR_BIT;
+        if(bit_count_modulo > 0) {
+            c = *source++ << bit_diff_left_shift;
+            c |= *source >> bit_diff_right_shift;
+            c &= reverse_mask[bit_count_modulo];
+
+            *destination &= reverse_mask_xor[bit_count_modulo];
+            *destination |= c;
+        }
+    }
+    return true;
+}
+
+uint16_t bits_to_bytes(uint32_t bits) {
+    uint8_t byte_count = bits / CHAR_BIT;
+    if(bits % CHAR_BIT != 0) {
+        ++byte_count;
+    }
+    return byte_count;
+}
+
+/**
+ * Find the ending bit of a bitfield within the final byte.
+ *
+ * Returns: a bit position from 0 to 7.
+ */
+uint8_t find_end_bit(const uint16_t numBits) {
+    int endBit = numBits % CHAR_BIT;
+    return endBit == 0 ? CHAR_BIT : endBit;
+}
+
+bool copy_bits_right_aligned(const uint8_t source[], const uint16_t source_length,
+                const uint16_t offset, const uint16_t bit_count,
+                uint8_t* destination, const uint16_t destination_length) {
+    return copy_bits(source, source_length, offset, bit_count, destination,
+            destination_length,
+            // provide a proper destination offset so the result is right
+            // aligned
+            (destination_length - bits_to_bytes(bit_count)) * CHAR_BIT +
+                 CHAR_BIT - find_end_bit(bit_count));
+}
+
+bool copy_bytes_right_aligned(const uint8_t source[], const uint16_t source_length,
+                const uint16_t offset, const uint16_t byte_count,
+                uint8_t* destination, const uint16_t destination_length) {
+    return copy_bits_right_aligned(source, source_length, offset * CHAR_BIT,
+            byte_count * CHAR_BIT, destination, destination_length);
+}
diff --git a/libs/bitfield-c/src/bitfield/bitfield.c b/libs/bitfield-c/src/bitfield/bitfield.c
new file mode 100644
index 00000000..795f0208
--- /dev/null
+++ b/libs/bitfield-c/src/bitfield/bitfield.c
@@ -0,0 +1,74 @@
+#include <bitfield/bitfield.h>
+#include <limits.h>
+#include <string.h>
+#include <stddef.h>
+#include <sys/param.h>
+
+uint64_t bitmask(const uint8_t bit_count) {
+    return (((uint64_t)0x1) << bit_count) - 1;
+}
+
+uint8_t get_nibble(const uint8_t source[], const uint8_t source_length,
+                const uint8_t nibble_index) {
+    uint8_t byte_index = nibble_index / 2;
+    uint8_t result = get_byte(source, source_length, byte_index);
+    if(nibble_index % 2 == 0) {
+        result >>= NIBBLE_SIZE;
+    }
+    result &= bitmask(NIBBLE_SIZE);
+    return result;
+}
+
+uint8_t get_byte(const uint8_t source[], const uint8_t source_length,
+        const uint8_t byte_index) {
+    if(byte_index < source_length) {
+        return source[byte_index];
+    }
+    return 0;
+}
+
+uint64_t get_bitfield(const uint8_t source[], const uint8_t source_length,
+                const uint16_t offset, const uint16_t bit_count) {
+    if(bit_count > 64 || bit_count < 1) {
+        // TODO error reporting?
+        return 0;
+    }
+
+    ArrayOrBytes combined;
+    memset(combined.bytes, 0, sizeof(combined.bytes));
+    if(copy_bits_right_aligned(source, source_length, offset, bit_count,
+            combined.bytes, sizeof(combined.bytes))) {
+        if(BYTE_ORDER == LITTLE_ENDIAN) {
+            combined.whole = __builtin_bswap64(combined.whole);
+        }
+    } else {
+        // debug("couldn't copy enough bits from source")
+    }
+    return combined.whole;
+}
+
+bool set_nibble(const uint16_t nibble_index, const uint8_t value,
+        uint8_t* destination, const uint16_t destination_length) {
+    return copy_bits(&value, CHAR_BIT, NIBBLE_SIZE, NIBBLE_SIZE, destination,
+            destination_length, nibble_index * NIBBLE_SIZE);
+}
+
+bool set_bitfield(const uint64_t value, const uint16_t offset,
+        const uint16_t bit_count, uint8_t destination[],
+        uint16_t destination_length) {
+    if(value > bitmask(bit_count)) {
+        return false;
+    }
+
+    ArrayOrBytes combined = {
+        whole: value
+    };
+
+    if(BYTE_ORDER == LITTLE_ENDIAN) {
+        combined.whole = __builtin_bswap64(combined.whole);
+    }
+
+    return copy_bits(combined.bytes, sizeof(combined.bytes),
+            sizeof(combined.bytes) * CHAR_BIT - bit_count, bit_count,
+            destination, destination_length, offset);
+}
diff --git a/libs/bitfield-c/src/bitfield/bitfield.h b/libs/bitfield-c/src/bitfield/bitfield.h
new file mode 100644
index 00000000..df92639a
--- /dev/null
+++ b/libs/bitfield-c/src/bitfield/bitfield.h
@@ -0,0 +1,220 @@
+#ifndef __BITFIELD_H__
+#define __BITFIELD_H__
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define NIBBLE_SIZE (CHAR_BIT / 2)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Public: Reads a subset of bits into a uint64_t, right aligned so they may be
+ * interpreted as a number.
+ *
+ * source - the bytes in question.
+ * source_size - the number of bytes in the source.
+ * offset - the starting index of the bit field (beginning from 0).
+ * bit_count - the width of the bit field to extract. This must be less than or
+ *      equal to 64.
+ *
+ * Bit fields are positioned according to big-endian bit layout and the data is
+ * swapped automatically as necessary depending on the compiled architecture.
+ *
+ * For example, the bit layout of the value "42" (i.e. 00101010 set at position
+ * 14 with length 6 is:
+ *
+ *     000000000000001010100000000000000000000000000000000000000000000
+ *
+ * and the same value and position but with length 8 is:
+ *
+ *     000000000000000010101000000000000000000000000000000000000000000
+ *
+ * Examples
+ *
+ *  uint64_t value = get_bitfield(data, data_size, 2, 4);
+ *
+ * Returns the value of the requested bit field, right aligned in a uint64_t.
+ */
+uint64_t get_bitfield(const uint8_t source[], const uint8_t source_length,
+                const uint16_t offset, const uint16_t bit_count);
+
+/* Public: Return a single nibble from the byte array, with range checking.
+ *
+ * source - the source byte array.
+ * source_length - the total length of the source array.
+ * nibble_index - the index of the nibble to retreive. The leftmost nibble is
+ *      index 0.
+ *
+ * Returns the retreived nibble, right aligned in a uint8_t.
+ */
+uint8_t get_nibble(const uint8_t source[], const uint8_t source_length,
+                const uint8_t nibble_index);
+
+/* Public: Return a single byte from the byte array, with range checking.
+ *
+ * source - the source byte array.
+ * source_length - the total length of the source array.
+ * byte_index - the index of the byte to retreive. The leftmost byte is index 0.
+ *
+ * Returns the retreived byte.
+ */
+uint8_t get_byte(const uint8_t source[], const uint8_t source_length,
+        const uint8_t byte_index);
+
+/* Public: Copy a range of bits from one bit array to another.
+ *
+ * The range does not need to be byte aligned, and the source and destination do
+ * not have to be the same size (as long as the desitnation has enough room to
+ * fit the range).
+ *
+ * A bit array with regards to this function always has the leftmost bit in byte
+ * 0, i.e. bit index is the leftmost bit of byte 0. Endianness does not matter.
+ *
+ * For example:
+ *
+ *      uint8_t source[4] = {0x11, 0x22, 0x33, 0x44};
+ *      uint8_t destination[4] = {0};
+ *      copy_bits(source, sizeof(source), 8, 8, destination,
+ *              sizeof(destination), 0);
+ *      // destination[0] == 0x22
+ *      // destination[1] == 0x0
+ *      // destination[2] == 0x0
+ *      // destination[3] == 0x0
+ *
+ * Thanks to
+ * http://stackoverflow.com/questions/3534535/whats-a-time-efficient-algorithm-to-copy-unaligned-bit-arrays
+ * for the implementation of the algorithm.
+ *
+ * source_origin - the source array.
+ * source_length - the total length of the source array in bytes,
+ *      for range checking.
+ * source_offset - an offset in bits to start the copy from the source array.
+ *      Specify 0 to start from source_origin.
+ * bit_count - the number of bits to copy.
+ * destination_origin - the destination array.
+ * desitnation_length - the total length of the destination array in bytes,
+ *      for range checking.
+ * destination_offset - an offset in bits to start placing the copied range into
+ *      the destination array. Specify 0 to start from the beginning of the
+ *      destination. If you are copying a range not aligned on a byte, you
+ *      probably want to set this to a positive offset to right the resulting
+ *      bits in the destination.
+ *
+ * Returns true if the copy was successful and false if the range exceeded the
+ * size of the source or destination, or if the range size negative or 0.
+ */
+bool copy_bits(const uint8_t* source_origin, const uint16_t source_length,
+        const uint16_t source_offset, uint16_t bit_count,
+        uint8_t* destination_origin, const uint16_t destination_length,
+        const uint16_t destination_offset);
+
+/* Public: Copy a range of bits from one array to another, right aligning the
+ * result.
+ *
+ * This is mostly useful if you want to cast the result to an integer type
+ * instead of a byte array.
+ *
+ * For example:
+ *
+ *      uint8_t source[4] = {0x11, 0x22, 0x33, 0x44};
+ *      uint8_t destination[4] = {0};
+ *      copy_bits_right_aligned(source, sizeof(source), 8, 8, destination,
+ *              sizeof(destination));
+ *      // destination[0] == 0x0
+ *      // destination[1] == 0x0
+ *      // destination[2] == 0x0
+ *      // destination[3] == 0x22
+ *
+ *      int value = (int)destination;
+ *      // value == 0x22 == 32
+ *
+ * The arguments are the same as copy_bits, but without the destination_offset
+ * option - that's set automatically to right align the result.
+ *
+ * Returns true if the copy was successful and false if the range exceeded the
+ * size of the source or destination, or if the range size negative or 0.
+ */
+bool copy_bits_right_aligned(const uint8_t source[], const uint16_t source_length,
+                const uint16_t offset, const uint16_t bit_count,
+                uint8_t* destination, const uint16_t destination_length);
+
+/* Public: Copy a range of bytes from one byte array to another.
+ *
+ * The source and destination do not have to be the same size (as long as the
+ * desitnation has enough room to fit the range).
+ *
+ * source_origin - the source array.
+ * source_length - the total length of the source array in bytes,
+ *      for range checking.
+ * source_offset - a byte offset to start the copy from the source array.
+ *      Specify 0 to start from source_origin.
+ * byte_count - the number of bytes to copy.
+ * destination_origin - the destination array.
+ * desitnation_length - the total length of the destination array in bytes,
+ *      for range checking.
+ * destination_offset - an offset in bytes to start placing the copied range into
+ *      the destination array. Specify 0 to start from the beginning of the
+ *      destination.
+ *
+ * Returns true if the copy was successful and false if the range exceeded the
+ * size of the source or destination, or if the range size negative or 0.
+ */
+bool copy_bytes_right_aligned(const uint8_t source[], const uint16_t source_length,
+                const uint16_t offset, const uint16_t byte_count,
+                uint8_t* destination, const uint16_t destination_length);
+
+/* Public: Set the a nibble in the given data array to the new value.
+ *
+ * nibble_index - the index of the nibble to retreive. The leftmost nibble is
+ *      index 0.
+ * value - the value to set in the bit field.
+ * destination - the destination array.
+ * destination_length - the total length of the destination array in bytes,
+ *      for range checking.
+ *
+ * Returns true if the bit_count is enough to fully represent the value, and
+ *      false if it will not fit.
+ */
+bool set_nibble(const uint16_t nibble_index, const uint8_t value,
+                uint8_t* destination, const uint16_t destination_length);
+
+/* Public: Set the bit field in the given data array to the new value.
+ *
+ * value - the value to set in the bit field.
+ * offset - the starting index of the bit field (beginning from 0).
+ * bit_count - the number of bits to set in the data.
+ * destination - the destination array.
+ * destination_length - the total length of the destination array in bytes,
+ *      for range checking.
+ *
+ * Returns true if the bit_count is enough to fully represent the value, and
+ *      false if it will not fit.
+ */
+bool set_bitfield(const uint64_t value, const uint16_t offset,
+        const uint16_t bit_count, uint8_t destination[],
+        uint16_t destination_length);
+
+/* Public: Return a right aligned bitmask for a uint64_t.
+ *
+ * bit_count - the number of bits to mask, right aligned.
+ */
+uint64_t bitmask(const uint8_t bit_count);
+
+/* Private:
+ */
+uint16_t bits_to_bytes(uint32_t bits);
+
+/* Private: A union to assist swapping between uint64_t and a uint8_t array.
+ */
+typedef union {
+    uint64_t whole;
+    uint8_t bytes[sizeof(uint64_t)];
+} ArrayOrBytes;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __BITFIELD_H__
diff --git a/libs/bitfield-c/src/canutil/read.c b/libs/bitfield-c/src/canutil/read.c
new file mode 100644
index 00000000..d0cbb71a
--- /dev/null
+++ b/libs/bitfield-c/src/canutil/read.c
@@ -0,0 +1,34 @@
+#include <canutil/read.h>
+#include <bitfield/bitfield.h>
+#include <bitfield/8byte.h>
+
+static float decode_float(uint64_t raw, float factor, float offset) {
+    return raw * factor + offset;
+}
+
+float eightbyte_parse_float(uint64_t data, uint8_t bit_offset, uint8_t bit_size,
+        float factor, float offset) {
+    return decode_float(eightbyte_get_bitfield(data, bit_offset, bit_size,
+                true), factor, offset);
+}
+
+bool eightbyte_parse_bool(uint64_t data, uint8_t bit_offset, uint8_t bit_size,
+        float factor, float offset) {
+    float value = eightbyte_parse_float(data, bit_offset, bit_size, factor, offset);
+    return value == 0.0 ? false : true;
+}
+
+float bitfield_parse_float(const uint8_t source[], const uint16_t source_length,
+        const uint8_t bit_offset, const uint8_t bit_size, const float factor,
+        const float offset) {
+    return decode_float(get_bitfield(source, source_length, bit_offset, bit_size),
+            factor, offset);
+}
+
+bool bitfield_parse_bool(const uint8_t source[], const uint16_t source_length,
+        const uint8_t bit_offset, const uint8_t bit_size, const float factor,
+        const float offset) {
+    float value = bitfield_parse_float(source, source_length, bit_offset,
+            bit_size, factor, offset);
+    return value == 0.0 ? false : true;
+}
diff --git a/libs/bitfield-c/src/canutil/read.h b/libs/bitfield-c/src/canutil/read.h
new file mode 100644
index 00000000..86fea785
--- /dev/null
+++ b/libs/bitfield-c/src/canutil/read.h
@@ -0,0 +1,81 @@
+#ifndef __READ_H__
+#define __READ_H__
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Public: Parse a CAN signal from a message and apply required transformation.
+ *
+ * source - the payload containing the signal.
+ * bit_offset - the starting bit for the signal.
+ * bit_size - the width of the signal.
+ * factor - the transformation factor for the signal value, applied after
+ *      pulling out the bit field. Use 1.0 for no factor.
+ * offset - the transformation offset for the signal value, applied after
+ *      pulling out the bit field. Use 0 for no offset.
+ *
+ * Returns the decoded and transformed value of the signal.
+ */
+float eightbyte_parse_float(const uint64_t source, const uint8_t bit_offset,
+        const uint8_t bit_size, const float factor, const float offset);
+
+/* Public: Parse a CAN signal from a message storage as a byte array and apply
+ * required transformation.
+ *
+ * source - the payload containing the signal.
+ * source_size - the size of the payload in bytes.
+ * bit_offset - the starting bit for the signal.
+ * bit_size - the width of the signal.
+ * factor - the transformation factor for the signal value, applied after
+ *      pulling out the bit field. Use 1.0 for no factor.
+ * offset - the transformation offset for the signal value, applied after
+ *      pulling out the bit field. Use 0 for no offset.
+ *
+ * Returns the decoded and transformed value of the signal.
+ */
+float bitfield_parse_float(const uint8_t source[], const uint16_t source_size,
+        const uint8_t bit_offset, const uint8_t bit_size, const float factor,
+        const float offset);
+
+/* Public: Parse a CAN signal from a message and interpret it as a boolean.
+ *
+ * source - the payload containing the signal.
+ * bit_offset - the starting bit for the signal.
+ * bit_size - the width of the signal.
+ * factor - the transformation factor for the signal value, applied after
+ *      pulling out the bit field. Use 1.0 for no factor.
+ * offset - the transformation offset for the signal value, applied after
+ *      pulling out the bit field. Use 0 for no offset.
+ *
+ * Returns false if the value was 0, otherwise true.
+ */
+bool eightbyte_parse_bool(uint64_t source, uint8_t bit_offset, uint8_t bit_size,
+        float factor, float offset);
+
+/* Public: Parse a CAN signal from a message storage as a byte array and
+ * interpret it as a boolean.
+ *
+ * source - the payload containing the signal.
+ * source_size - the size of the payload in bytes.
+ * bit_offset - the starting bit for the signal.
+ * bit_size - the width of the signal.
+ * factor - the transformation factor for the signal value, applied after
+ *      pulling out the bit field. Use 1.0 for no factor.
+ * offset - the transformation offset for the signal value, applied after
+ *      pulling out the bit field. Use 0 for no offset.
+ *
+ * Returns false if the value was 0, otherwise true.
+ */
+bool bitfield_parse_bool(const uint8_t source[], const uint16_t source_size,
+        const uint8_t bit_offset, const uint8_t bit_size, const float factor,
+        const float offset);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __READ_H__
diff --git a/libs/bitfield-c/src/canutil/write.c b/libs/bitfield-c/src/canutil/write.c
new file mode 100644
index 00000000..7f3a3e04
--- /dev/null
+++ b/libs/bitfield-c/src/canutil/write.c
@@ -0,0 +1,48 @@
+#include <canutil/write.h>
+#include <bitfield/bitfield.h>
+#include <bitfield/8byte.h>
+
+uint64_t float_to_fixed_point(const float value, const float factor,
+        const float offset) {
+    float raw = (value - offset) / factor;
+    if(raw > 0) {
+        // round up to avoid losing precision when we cast to an int
+        // TODO do we need a way to encode an int back to a signal without any
+        // rounding?
+        raw += 0.5;
+    }
+    return (uint64_t)raw;
+}
+
+uint64_t eightbyte_encode_float(float value, uint8_t bit_offset, uint8_t bit_size,
+        float factor, float offset) {
+    uint64_t result = 0;
+    if(!eightbyte_set_bitfield(float_to_fixed_point(value, factor, offset),
+                bit_offset, bit_size, &result)) {
+        // debug("%f will not fit in a %d bit field", value, bit_size);
+    }
+    return result;
+}
+
+uint64_t eightbyte_encode_bool(const bool value, const uint8_t bit_offset,
+        const uint8_t bit_size) {
+    return eightbyte_encode_float(value, bit_offset, bit_size, 1.0, 0);
+}
+
+bool bitfield_encode_float(const float value, const uint8_t bit_offset,
+        const uint8_t bit_size, const float factor, const float offset,
+        uint8_t destination[], const uint8_t destination_length) {
+    if(!set_bitfield(float_to_fixed_point(value, factor, offset), bit_offset,
+                bit_size, destination, destination_length)) {
+        // debug("%f will not fit in a %d bit field", value, bit_size);
+        return false;
+    }
+    return true;
+}
+
+bool bitfield_encode_bool(const bool value, const uint8_t bit_offset,
+        const uint8_t bit_size, uint8_t destination[],
+        const uint16_t destination_length) {
+    return bitfield_encode_float(value, bit_offset, bit_size, 1.0, 0,
+            destination, destination_length);
+}
diff --git a/libs/bitfield-c/src/canutil/write.h b/libs/bitfield-c/src/canutil/write.h
new file mode 100644
index 00000000..c2bef20e
--- /dev/null
+++ b/libs/bitfield-c/src/canutil/write.h
@@ -0,0 +1,57 @@
+#ifndef __WRITE_H__
+#define __WRITE_H__
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Public: Encode a floating point number into a fixed point, fixed bit width
+ *      field in a bit array.
+ *
+ * value - the floating point value to encode.
+ * bit_offset - the starting point for the encoded bits in the returned value.
+ * bit_size - The max width of the field in the resulting bit array. If bit_size
+ *      isn't big enough to store the fixed point version of the value, the
+ *      bitfeld will *not* be set. TODO some error reporting would be nice.
+ * factor - a factor used to transform from floating to fixed point before
+ *      encoding. Use 1.0 for no factor.
+ * offset - an offset used to transform from floating to fixed point before
+ *      encoding. Use 0 for no offset.
+ *
+ * Returns a big-endian uint64_t with the value encoded as a bitfield.
+ */
+uint64_t eightbyte_encode_float(float value, uint8_t bit_offset,
+        uint8_t bit_size, float factor, float offset);
+
+uint64_t float_to_fixed_point(const float value, const float factor,
+        const float offset);
+
+bool bitfield_encode_float(const float value, const uint8_t bit_offset,
+        const uint8_t bit_size, const float factor, const float offset,
+        uint8_t destination[], const uint8_t destination_length);
+
+/* Public: Encode a boolean into fixed bit width field in a bit array.
+ *
+ * value - the boolean value to encode - true will be 1, false will be 0.
+ * bit_offset - the starting point for the encoded bits in the returned value.
+ * bit_size - The max width of the field in the resulting bit array. If bit_size
+ *      isn't big enough to store the fixed point version of the value, the
+ *      bitfeld will *not* be set. TODO some error reporting would be nice.
+ *
+ * Returns a big-endian uint64_t with the value encoded as a bitfield.
+ */
+uint64_t eightbyte_encode_bool(const bool value, const uint8_t bit_offset,
+        const uint8_t bit_size);
+
+bool bitfield_encode_bool(const bool value, const uint8_t bit_offset, const
+        uint8_t bit_size, uint8_t destination[],
+        const uint16_t destination_length);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __WRITE_H__
diff --git a/libs/bitfield-c/tests/8byte_tests.c b/libs/bitfield-c/tests/8byte_tests.c
new file mode 100644
index 00000000..64554acc
--- /dev/null
+++ b/libs/bitfield-c/tests/8byte_tests.c
@@ -0,0 +1,261 @@
+#include <check.h>
+#include <stdint.h>
+#include <bitfield/bitfield.h>
+#include <bitfield/8byte.h>
+
+START_TEST (test_large_bitmask)
+{
+    uint64_t result = bitmask(32);
+    fail_if(result != 0xffffffff);
+}
+END_TEST
+
+START_TEST (test_one_bit_not_swapped)
+{
+    uint64_t data = 0x80;
+    uint64_t result = eightbyte_get_bitfield(data, 0, 1, false);
+    fail_if(result == 1);
+}
+END_TEST
+
+START_TEST (test_one_bit)
+{
+    uint64_t data = 0x8000000000000000;
+    uint64_t result = eightbyte_get_bitfield(data, 0, 1, false);
+    fail_unless(result == 0x1,
+            "First bit in 0x%llx was 0x%llx instead of 0x1", data, result);
+}
+END_TEST
+
+START_TEST (test_32_bit_parse)
+{
+    uint64_t data = 0x0402574d555a0401;
+    uint64_t result = eightbyte_get_bitfield(data, 16, 32, false);
+    uint64_t expectedValue = 0x574d555a;
+    fail_unless(result == expectedValue,
+            "Field retrieved in 0x%llx was 0x%llx instead of 0x%llx", data,
+            result, expectedValue);
+}
+END_TEST
+
+START_TEST (test_16_bit_parse)
+{
+    uint64_t data = 0xF34DFCFF00000000;
+    uint64_t result = eightbyte_get_bitfield(data, 16, 16, false);
+    uint64_t expectedValue = 0xFCFF;
+    fail_unless(result == expectedValue,
+            "Field retrieved in 0x%llx was 0x%llx instead of 0x%llx", data,
+            result, expectedValue);
+}
+END_TEST
+
+START_TEST (test_one_byte)
+{
+    uint64_t data = 0xFA00000000000000;
+    uint64_t result = eightbyte_get_bitfield(data, 0, 4, false);
+    fail_unless(result == 0xF,
+            "First nibble in 0x%llx was 0x%llx instead of 0xF", data, result);
+    result = eightbyte_get_bitfield(data, 4, 4, false);
+    fail_unless(result == 0xA,
+            "Second nibble in 0x%llx was 0x%llx instead of 0xA", data, result);
+    result = eightbyte_get_bitfield(data, 0, 8, false);
+    fail_unless(result == 0xFA,
+            "All bits in 0x%llx were 0x%llx instead of 0x%llx", data, result, data);
+}
+END_TEST
+
+START_TEST (test_multi_byte)
+{
+    uint64_t data = 0x12FA000000000000;
+    uint64_t result = eightbyte_get_bitfield(data, 0, 4, false);
+    fail_unless(result == 0x1,
+            "First 4 bits in 0x%llx was 0x%llx instead of 0xF", (data >> 60) & 0xF,
+            result);
+    result = eightbyte_get_bitfield(data, 4, 4, false);
+    fail_unless(result == 0x2,
+            "Second 4 bits in 0x%llx was 0x%llx instead of 0xA", (data >> 56) & 0xF,
+            result);
+    result = eightbyte_get_bitfield(data, 8, 4, false);
+    fail_unless(result == 0xF,
+            "First 4 bits in 0x%llx was 0x%llx instead of 0x1", (data >> 52) & 0xF,
+            result);
+    result = eightbyte_get_bitfield(data, 12, 4, false);
+    fail_unless(result == 0xA,
+            "Second 4 bits in 0x%llx was 0x%llx instead of 0x2", (data >> 48) % 0xF,
+            result);
+}
+END_TEST
+
+START_TEST (test_get_multi_byte)
+{
+    uint64_t data = 0x12FA000000000000;
+    uint64_t result = eightbyte_get_bitfield(data, 0, 9, false);
+    ck_assert_int_eq(result, 0x25);
+}
+END_TEST
+
+START_TEST (test_get_off_byte_boundary)
+{
+    uint64_t data = 0x000012FA00000000;
+    uint64_t result = eightbyte_get_bitfield(data, 12, 8, false);
+    ck_assert_int_eq(result, 0x01);
+} END_TEST
+
+START_TEST (test_set_wont_fit)
+{
+    uint64_t data = 0;
+    fail_if(eightbyte_set_bitfield(100, 0, 1, &data));
+}
+END_TEST
+
+START_TEST (test_set_field)
+{
+    uint64_t data = 0;
+    fail_unless(eightbyte_set_bitfield(1, 0, 1, &data));
+    uint64_t result = eightbyte_get_bitfield(data, 0, 1, false);
+    ck_assert_int_eq(result, 0x1);
+    data = 0;
+    fail_unless(eightbyte_set_bitfield(1, 1, 1, &data));
+    result = eightbyte_get_bitfield(data, 1, 1, false);
+    ck_assert_int_eq(result, 0x1);
+
+    data = 0;
+    fail_unless(eightbyte_set_bitfield(0xf, 3, 4, &data));
+    result = eightbyte_get_bitfield(data, 3, 4, false);
+    ck_assert_int_eq(result, 0xf);
+}
+END_TEST
+
+START_TEST (test_set_doesnt_clobber_existing_data)
+{
+    uint64_t data = 0xFFFC4DF300000000;
+    fail_unless(eightbyte_set_bitfield(0x4fc8, 16, 16, &data));
+    uint64_t result = eightbyte_get_bitfield(data, 16, 16, false);
+    fail_unless(result == 0x4fc8,
+            "Field retrieved in 0x%llx was 0x%llx instead of 0x%x", data, result,
+            0xc84f);
+
+    data = 0x8000000000000000;
+    fail_unless(eightbyte_set_bitfield(1, 21, 1, &data));
+    fail_unless(data == 0x8000040000000000LLU,
+            "Expected combined value 0x8000040000000000 but got 0x%llx%llx",
+            data >> 32, data);
+}
+END_TEST
+
+START_TEST (test_set_off_byte_boundary)
+{
+    uint64_t data = 0xFFFC4DF300000000;
+    fail_unless(eightbyte_set_bitfield(0x12, 12, 8, &data));
+    uint64_t result = eightbyte_get_bitfield(data, 12, 12, false);
+    ck_assert_int_eq(result,0x12d);
+}
+END_TEST
+
+START_TEST (test_set_odd_number_of_bits)
+{
+    uint64_t data = 0xFFFC4DF300000000LLU;
+    fail_unless(eightbyte_set_bitfield(0x12, 11, 5, &data));
+    uint64_t result = eightbyte_get_bitfield(data, 11, 5, false);
+    fail_unless(result == 0x12,
+            "Field set in 0x%llx%llx%llx%llx was 0x%llx instead of 0x%llx", data, result,
+            0x12);
+
+    data = 0xFFFC4DF300000000LLU;
+    fail_unless(eightbyte_set_bitfield(0x2, 11, 5, &data));
+    result = eightbyte_get_bitfield(data, 11, 5, false);
+    fail_unless(result == 0x2,
+            "Field set in 0x%llx%llx%llx%llx was 0x%llx instead of 0x%llx", data, result,
+            0x2);
+}
+END_TEST
+
+START_TEST(test_eightbyte_get_byte)
+{
+    uint64_t data = 0x00000000F34DFCFF;
+    uint8_t result = eightbyte_get_byte(data, 0, false);
+    uint8_t expected = 0x0;
+    ck_assert_int_eq(result, expected);
+
+    result = eightbyte_get_byte(data, 4, false);
+    expected = 0xF3;
+    ck_assert_int_eq(result, expected);
+
+    result = eightbyte_get_byte(data, 5, false);
+    expected = 0x4D;
+    ck_assert_int_eq(result, expected);
+
+    result = eightbyte_get_byte(data, 6, false);
+    expected = 0xFC;
+    ck_assert_int_eq(result, expected);
+
+    result = eightbyte_get_byte(data, 7, false);
+    expected = 0xFF;
+    ck_assert_int_eq(result, expected);
+}
+END_TEST
+
+START_TEST(test_eightbyte_get_nibble)
+{
+    uint64_t data = 0x00000000F34DFCFF;
+    uint8_t result = eightbyte_get_nibble(data, 0, false);
+    uint8_t expected = 0x0;
+    ck_assert_int_eq(result, expected);
+
+    result = eightbyte_get_nibble(data, 2, false);
+    expected = 0x0;
+    ck_assert_int_eq(result, expected);
+
+    result = eightbyte_get_nibble(data, 8, false);
+    expected = 0xF;
+    ck_assert_int_eq(result, expected);
+
+    result = eightbyte_get_nibble(data, 9, false);
+    expected = 0x3;
+    ck_assert_int_eq(result, expected);
+
+    result = eightbyte_get_nibble(data, 10, false);
+    expected = 0x4;
+    ck_assert_int_eq(result, expected);
+
+    result = eightbyte_get_nibble(data, 13, false);
+    expected = 0xC;
+    ck_assert_int_eq(result, expected);
+}
+END_TEST
+
+Suite* bitfieldSuite(void) {
+    Suite* s = suite_create("bitfield");
+    TCase *tc_core = tcase_create("core");
+    tcase_add_test(tc_core, test_large_bitmask);
+    tcase_add_test(tc_core, test_one_bit);
+    tcase_add_test(tc_core, test_one_bit_not_swapped);
+    tcase_add_test(tc_core, test_one_byte);
+    tcase_add_test(tc_core, test_16_bit_parse);
+    tcase_add_test(tc_core, test_32_bit_parse);
+    tcase_add_test(tc_core, test_multi_byte);
+    tcase_add_test(tc_core, test_get_multi_byte);
+    tcase_add_test(tc_core, test_get_off_byte_boundary);
+    tcase_add_test(tc_core, test_set_wont_fit);
+    tcase_add_test(tc_core, test_set_field);
+    tcase_add_test(tc_core, test_set_doesnt_clobber_existing_data);
+    tcase_add_test(tc_core, test_set_off_byte_boundary);
+    tcase_add_test(tc_core, test_set_odd_number_of_bits);
+    tcase_add_test(tc_core, test_eightbyte_get_nibble);
+    tcase_add_test(tc_core, test_eightbyte_get_byte);
+    suite_add_tcase(s, tc_core);
+
+    return s;
+}
+
+int main(void) {
+    int numberFailed;
+    Suite* s = bitfieldSuite();
+    SRunner *sr = srunner_create(s);
+    // Don't fork so we can actually use gdb
+    srunner_set_fork_status(sr, CK_NOFORK);
+    srunner_run_all(sr, CK_NORMAL);
+    numberFailed = srunner_ntests_failed(sr);
+    srunner_free(sr);
+    return (numberFailed == 0) ? 0 : 1;
+}
diff --git a/libs/bitfield-c/tests/bitfield_tests.c b/libs/bitfield-c/tests/bitfield_tests.c
new file mode 100644
index 00000000..b8c83b59
--- /dev/null
+++ b/libs/bitfield-c/tests/bitfield_tests.c
@@ -0,0 +1,132 @@
+#include <check.h>
+#include <stdint.h>
+#include <bitfield/bitfield.h>
+
+START_TEST (test_get_byte)
+{
+    uint8_t data[4] = {0x12, 0x34, 0x56, 0x78};
+    uint8_t result = get_byte(data, sizeof(data), 0);
+    ck_assert_int_eq(result, 0x12);
+    result = get_byte(data, sizeof(data), 3);
+    ck_assert_int_eq(result, 0x78);
+}
+END_TEST
+
+START_TEST (test_set_nibble)
+{
+    uint8_t data[4] = {0};
+    fail_unless(set_nibble(0, 0x1, data, sizeof(data)));
+    fail_unless(set_nibble(1, 0x2, data, sizeof(data)));
+    fail_unless(set_nibble(2, 0x3, data, sizeof(data)));
+    fail_unless(set_nibble(3, 0x4, data, sizeof(data)));
+    fail_unless(set_nibble(4, 0x5, data, sizeof(data)));
+    ck_assert_int_eq(data[0], 0x12);
+    ck_assert_int_eq(data[1], 0x34);
+    ck_assert_int_eq(data[2], 0x50);
+}
+END_TEST
+
+START_TEST (test_set_bitfield)
+{
+    uint8_t data[4] = {0};
+    fail_unless(set_bitfield(0x12, 0, 8, data, sizeof(data)));
+    fail_unless(set_bitfield(bitmask(3), 10, 3, data, sizeof(data)));
+    ck_assert_int_eq(data[0], 0x12);
+    ck_assert_int_eq(data[1], 0x38);
+}
+END_TEST
+
+START_TEST (test_set_bitfield_doesnt_fit)
+{
+    uint8_t data[4] = {0};
+    fail_if(set_bitfield(0xffff, 0, 8, data, sizeof(data)));
+    ck_assert_int_eq(data[0], 0);
+    ck_assert_int_eq(data[1], 0);
+    ck_assert_int_eq(data[2], 0);
+    ck_assert_int_eq(data[3], 0);
+}
+END_TEST
+
+START_TEST (test_get_nibble)
+{
+    uint8_t data[4] = {0x12, 0x34, 0x56, 0x78};
+    uint8_t result = get_nibble(data, sizeof(data), 0);
+    ck_assert_int_eq(result, 0x1);
+    result = get_nibble(data, sizeof(data), 1);
+    ck_assert_int_eq(result, 0x2);
+    result = get_nibble(data, sizeof(data), 2);
+    ck_assert_int_eq(result, 0x3);
+}
+END_TEST
+
+START_TEST (test_get_bits_out_of_range)
+{
+    uint8_t data[4] = {0x12, 0x34, 0x56, 0x78};
+    uint8_t result[4];
+    fail_if(copy_bits_right_aligned(data, sizeof(data), 25, 16, result,
+                sizeof(result)));
+}
+END_TEST
+
+START_TEST (test_get_bits)
+{
+    uint8_t data[4] = {0x12, 0x34, 0x56, 0x78};
+    uint8_t result[4] = {0};
+    fail_unless(copy_bits_right_aligned(data, sizeof(data), 0, 16, result,
+                sizeof(result)));
+    ck_assert_int_eq(result[2], 0x12);
+    ck_assert_int_eq(result[3], 0x34);
+}
+END_TEST
+
+START_TEST (test_copy_bytes)
+{
+    uint8_t data[4] = {0x12, 0x34, 0x56, 0x78};
+    uint8_t result[4] = {0};
+    fail_unless(copy_bytes_right_aligned(data, sizeof(data), 1, 3, result,
+                sizeof(result)));
+    ck_assert_int_eq(result[1], 0x34);
+    ck_assert_int_eq(result[2], 0x56);
+    ck_assert_int_eq(result[3], 0x78);
+}
+END_TEST
+
+START_TEST (test_get_uneven_bits)
+{
+    uint8_t data[4] = {0x12, 0x34, 0x56, 0x78};
+    uint8_t result[4] = {0};
+    fail_unless(copy_bits_right_aligned(data, sizeof(data), 4, 12, result,
+                sizeof(result)));
+    ck_assert_int_eq(result[2], 0x2);
+    ck_assert_int_eq(result[3], 0x34);
+}
+END_TEST
+
+Suite* bitfieldSuite(void) {
+    Suite* s = suite_create("bitfield");
+    TCase *tc_core = tcase_create("core");
+    tcase_add_test(tc_core, test_get_byte);
+    tcase_add_test(tc_core, test_get_nibble);
+    tcase_add_test(tc_core, test_set_nibble);
+    tcase_add_test(tc_core, test_set_bitfield);
+    tcase_add_test(tc_core, test_set_bitfield_doesnt_fit);
+    tcase_add_test(tc_core, test_get_bits);
+    tcase_add_test(tc_core, test_copy_bytes);
+    tcase_add_test(tc_core, test_get_bits_out_of_range);
+    tcase_add_test(tc_core, test_get_uneven_bits);
+    suite_add_tcase(s, tc_core);
+
+    return s;
+}
+
+int main(void) {
+    int numberFailed;
+    Suite* s = bitfieldSuite();
+    SRunner *sr = srunner_create(s);
+    // Don't fork so we can actually use gdb
+    srunner_set_fork_status(sr, CK_NOFORK);
+    srunner_run_all(sr, CK_NORMAL);
+    numberFailed = srunner_ntests_failed(sr);
+    srunner_free(sr);
+    return (numberFailed == 0) ? 0 : 1;
+}
diff --git a/libs/bitfield-c/tests/read_tests.c b/libs/bitfield-c/tests/read_tests.c
new file mode 100644
index 00000000..5008cc52
--- /dev/null
+++ b/libs/bitfield-c/tests/read_tests.c
@@ -0,0 +1,67 @@
+#include <check.h>
+#include <stdint.h>
+#include <canutil/read.h>
+
+const uint64_t BIG_ENDIAN_TEST_DATA = __builtin_bswap64(0xEB00000000000000);
+const uint8_t ARRAY_TEST_DATA[] = {0xEB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0};
+
+START_TEST (test_eightbyte_parse_float)
+{
+    float result = eightbyte_parse_float(BIG_ENDIAN_TEST_DATA, 2, 4, 1001.0,
+            -30000.0);
+    float correctResult = 0xA * 1001.0 - 30000.0;
+    fail_unless(result == correctResult,
+            "parse is incorrect: %f but should be %f", result, correctResult);
+}
+END_TEST
+
+START_TEST (test_eightbyte_parse_bool)
+{
+    bool result = eightbyte_parse_bool(BIG_ENDIAN_TEST_DATA, 0, 1, 1.0, 0);
+    bool correctResult = true;
+    fail_unless(result == correctResult,
+            "parse is incorrect: %d but should be %d", result, correctResult);
+}
+END_TEST
+
+START_TEST (test_bitfield_parse_float)
+{
+    float result = bitfield_parse_float(ARRAY_TEST_DATA,
+            sizeof(ARRAY_TEST_DATA), 2, 4, 1001.0, -30000.0);
+    float correctResult = 0xA * 1001.0 - 30000.0;
+    fail_unless(result == correctResult,
+            "parse is incorrect: %f but should be %f", result, correctResult);
+}
+END_TEST
+
+START_TEST (test_bitfield_parse_bool)
+{
+    fail_unless(bitfield_parse_bool(ARRAY_TEST_DATA, sizeof(ARRAY_TEST_DATA),
+            0, 1, 1.0, 0));
+}
+END_TEST
+
+Suite* canreadSuite(void) {
+    Suite* s = suite_create("read");
+    TCase *tc_core = tcase_create("core");
+    tcase_add_checked_fixture(tc_core, NULL, NULL);
+    tcase_add_test(tc_core, test_eightbyte_parse_float);
+    tcase_add_test(tc_core, test_eightbyte_parse_bool);
+    tcase_add_test(tc_core, test_bitfield_parse_float);
+    tcase_add_test(tc_core, test_bitfield_parse_bool);
+    suite_add_tcase(s, tc_core);
+
+    return s;
+}
+
+int main(void) {
+    int numberFailed;
+    Suite* s = canreadSuite();
+    SRunner *sr = srunner_create(s);
+    // Don't fork so we can actually use gdb
+    srunner_set_fork_status(sr, CK_NOFORK);
+    srunner_run_all(sr, CK_NORMAL);
+    numberFailed = srunner_ntests_failed(sr);
+    srunner_free(sr);
+    return (numberFailed == 0) ? 0 : 1;
+}
diff --git a/libs/bitfield-c/tests/write_tests.c b/libs/bitfield-c/tests/write_tests.c
new file mode 100644
index 00000000..4d5d8fc3
--- /dev/null
+++ b/libs/bitfield-c/tests/write_tests.c
@@ -0,0 +1,105 @@
+#include <canutil/write.h>
+#include <check.h>
+#include <stdint.h>
+
+START_TEST (test_eightbyte_encode_float_precision)
+{
+    uint64_t value = eightbyte_encode_float(50, 2, 19, 0.001, 0);
+    ck_assert_int_eq(value, 0x061a800000000000LLU);
+}
+END_TEST
+
+START_TEST (test_eightbyte_encode_float)
+{
+    uint64_t value = eightbyte_encode_float(0, 1, 3, 1, 0);
+    ck_assert_int_eq(value, 0);
+
+    value = eightbyte_encode_float(1, 1, 3, 1, 0);
+    ck_assert_int_eq(value, 0x1000000000000000LLU);
+}
+END_TEST
+
+START_TEST (test_eightbyte_encode_bool)
+{
+    uint64_t value = eightbyte_encode_bool(true, 1, 3);
+    ck_assert_int_eq(value, 0x1000000000000000LLU);
+    value = eightbyte_encode_bool(false, 1, 3);
+    ck_assert_int_eq(value, 0x0000000000000000LLU);
+}
+END_TEST
+
+START_TEST (test_bitfield_encode_float)
+{
+    uint8_t data[8] = {0};
+    bitfield_encode_float(0, 1, 3, 1, 0, data, sizeof(data));
+    ck_assert_int_eq(data[0], 0);
+    ck_assert_int_eq(data[1], 0);
+    ck_assert_int_eq(data[2], 0);
+    ck_assert_int_eq(data[3], 0);
+    ck_assert_int_eq(data[4], 0);
+    ck_assert_int_eq(data[5], 0);
+    ck_assert_int_eq(data[6], 0);
+    ck_assert_int_eq(data[7], 0);
+
+    bitfield_encode_float(1, 1, 3, 1, 0, data, sizeof(data));
+    ck_assert_int_eq(data[0], 0x10);
+    ck_assert_int_eq(data[1], 0);
+    ck_assert_int_eq(data[2], 0);
+    ck_assert_int_eq(data[3], 0);
+    ck_assert_int_eq(data[4], 0);
+    ck_assert_int_eq(data[5], 0);
+    ck_assert_int_eq(data[6], 0);
+    ck_assert_int_eq(data[7], 0);
+}
+END_TEST
+
+START_TEST (test_bitfield_encode_bool)
+{
+    uint8_t data[8] = {0};
+    bitfield_encode_bool(true, 1, 3, data, sizeof(data));
+    ck_assert_int_eq(data[0], 0x10);
+    ck_assert_int_eq(data[1], 0);
+    ck_assert_int_eq(data[2], 0);
+    ck_assert_int_eq(data[3], 0);
+    ck_assert_int_eq(data[4], 0);
+    ck_assert_int_eq(data[5], 0);
+    ck_assert_int_eq(data[6], 0);
+    ck_assert_int_eq(data[7], 0);
+
+    bitfield_encode_bool(false, 1, 3, data, sizeof(data));
+    ck_assert_int_eq(data[0], 0);
+    ck_assert_int_eq(data[1], 0);
+    ck_assert_int_eq(data[2], 0);
+    ck_assert_int_eq(data[3], 0);
+    ck_assert_int_eq(data[4], 0);
+    ck_assert_int_eq(data[5], 0);
+    ck_assert_int_eq(data[6], 0);
+    ck_assert_int_eq(data[7], 0);
+}
+END_TEST
+
+Suite* canwriteSuite(void) {
+    Suite* s = suite_create("write");
+    TCase *tc_core = tcase_create("core");
+    tcase_add_checked_fixture(tc_core, NULL, NULL);
+    tcase_add_test(tc_core, test_eightbyte_encode_float);
+    tcase_add_test(tc_core, test_eightbyte_encode_bool);
+    tcase_add_test(tc_core, test_eightbyte_encode_float_precision);
+    tcase_add_test(tc_core, test_bitfield_encode_float);
+    tcase_add_test(tc_core, test_bitfield_encode_bool);
+    suite_add_tcase(s, tc_core);
+
+    return s;
+}
+
+int main(void) {
+    int numberFailed;
+    Suite* s = canwriteSuite();
+    SRunner *sr = srunner_create(s);
+    // Don't fork so we can actually use gdb
+    srunner_set_fork_status(sr, CK_NOFORK);
+    srunner_run_all(sr, CK_NORMAL);
+    numberFailed = srunner_ntests_failed(sr);
+    srunner_free(sr);
+    return (numberFailed == 0) ? 0 : 1;
+}