msg.h

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#ifndef LELY_CAN_MSG_H_
#define LELY_CAN_MSG_H_

#include <lely/can/can.h>

#include <stddef.h>
#include <stdint.h>

#define CAN_MASK_BID UINT32_C(0x000007ff)

#define CAN_MASK_EID UINT32_C(0x1fffffff)

#define CAN_FLAG_IDE 0x01

#define CAN_FLAG_RTR 0x02

#if !LELY_NO_CANFD

#define CAN_FLAG_EDL 0x04

#define CAN_FLAG_BRS 0x08

#define CAN_FLAG_ESI 0x10

#endif // !LELY_NO_CANFD

#define CAN_MAX_LEN 8

#ifndef LELY_NO_CANFD
#define CANFD_MAX_LEN 64
#endif

#if LELY_NO_CANFD
#define CAN_MSG_MAX_LEN CAN_MAX_LEN
#else
#define CAN_MSG_MAX_LEN CANFD_MAX_LEN
#endif

struct can_msg {
        uint_least32_t id;
        uint_least8_t flags;
        uint_least8_t len;
        uint_least8_t data[CAN_MSG_MAX_LEN];
};

#if LELY_NO_CANFD
#define CAN_MSG_INIT \
        { \
                0, 0, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } \
        }
#else
// clang-format off
#define CAN_MSG_INIT \
        { \
                0, 0, 0, \
                { \
                        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, \
                        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \
                } \
        }
// clang-format on
#endif

enum can_msg_bits_mode {
        CAN_MSG_BITS_MODE_NO_STUFF,
        CAN_MSG_BITS_MODE_WORST,
        CAN_MSG_BITS_MODE_EXACT
};

#ifdef __cplusplus
extern "C" {
#endif

int can_msg_bits(const struct can_msg *msg, enum can_msg_bits_mode mode);

int snprintf_can_msg(char *s, size_t n, const struct can_msg *msg);

int asprintf_can_msg(char **ps, const struct can_msg *msg);

#ifdef __cplusplus
}
#endif

#endif // !LELY_CAN_MSG_H_