can_frame.h

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#ifndef _nmranet_can_h_
#define _nmranet_can_h_
 
#if defined (__linux__)
    #include <sys/socket.h>
    #include <linux/can.h>
    #include <linux/can/raw.h>
    #include <linux/can/error.h>
 
    #define SET_CAN_FRAME_EFF(_frame) (_frame).can_id |= CAN_EFF_FLAG
    #define SET_CAN_FRAME_RTR(_frame) (_frame).can_id |= CAN_RTR_FLAG
    #define SET_CAN_FRAME_ERR(_frame) (_frame).can_id |= CAN_ERR_FLAG
    #define CLR_CAN_FRAME_EFF(_frame) (_frame).can_id &= ~CAN_EFF_FLAG
    #define CLR_CAN_FRAME_RTR(_frame) (_frame).can_id &= ~CAN_RTR_FLAG
    #define CLR_CAN_FRAME_ERR(_frame) (_frame).can_id &= ~CAN_ERR_FLAG
    #define IS_CAN_FRAME_EFF(_frame) ((_frame).can_id & CAN_EFF_FLAG)
    #define IS_CAN_FRAME_RTR(_frame) ((_frame).can_id & CAN_RTR_FLAG)
    #define IS_CAN_FRAME_ERR(_frame) ((_frame).can_id & CAN_ERR_FLAG)
 
    #define GET_CAN_FRAME_ID_EFF(_frame) ((_frame).can_id & CAN_EFF_MASK)
    #define GET_CAN_FRAME_ID(_frame)     ((_frame).can_id & CAN_SFF_MASK)
    #define SET_CAN_FRAME_ID_EFF(_frame, _value) \
    {                                            \
        (_frame).can_id &= ~CAN_EFF_MASK;        \
        (_frame).can_id += ((_value) & CAN_EFF_MASK);   \
    }
    #define SET_CAN_FRAME_ID(_frame, _value) \
    {                                        \
        (_frame).can_id &= ~CAN_SFF_MASK;    \
        (_frame).can_id += ((_value) & CAN_SFF_MASK);   \
    }
 
#elif defined (__nuttx__) || defined (__FreeRTOS__) || defined (__MACH__) || \
      defined (__WIN32__) || defined (__EMSCRIPTEN__) || defined (ESP_NONOS) || \
      defined (ARDUINO) || defined (ESP_PLATFORM)
    #include <stdint.h>
 
    struct can_frame
    {
        union
        {
            uint32_t raw[4];
            struct
            {
                uint32_t can_id;      
                uint8_t  can_dlc : 4; 
                uint8_t  can_rtr : 1; 
                uint8_t  can_eff : 1; 
                uint8_t  can_err : 1; 
                uint8_t  can_res : 1; 
                uint8_t  pad;  
                uint8_t  res0; 
                uint8_t  res1; 
                union
                {
                    uint64_t data64 __attribute__((aligned(8)));
                    uint8_t  data[8] __attribute__((aligned(8)));
                };
            };
        };
    };
 
    #define SET_CAN_FRAME_EFF(_frame) (_frame).can_eff = 1
    #define SET_CAN_FRAME_RTR(_frame) (_frame).can_rtr = 1
    #define SET_CAN_FRAME_ERR(_frame) (_frame).can_err = 1
    #define CLR_CAN_FRAME_EFF(_frame) (_frame).can_eff = 0
    #define CLR_CAN_FRAME_RTR(_frame) (_frame).can_rtr = 0
    #define CLR_CAN_FRAME_ERR(_frame) (_frame).can_err = 0
    #define IS_CAN_FRAME_EFF(_frame) ((_frame).can_eff)
    #define IS_CAN_FRAME_RTR(_frame) ((_frame).can_rtr)
    #define IS_CAN_FRAME_ERR(_frame) ((0))
 
    #define GET_CAN_FRAME_ID_EFF(_frame)  (_frame).can_id
    #define GET_CAN_FRAME_ID(_frame)      (_frame).can_id
    #define SET_CAN_FRAME_ID_EFF(_frame, _value)  (_frame).can_id = ((_value) & 0x1FFFFFFFU)
    #define SET_CAN_FRAME_ID(_frame, _value)     (_frame).can_id = ((_value) & 0x7ffU)
 
#else
#error No CAN frame representation for your OS
#endif
 
#endif /* _nmranet_can_h_ */