can_msg.h

#pragma once
 
/************************************************************************************************
 * @file   can_msg.h
 *
 * @brief  CAN message definitions
 *
 * @date   2024-11-02
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>
 
/* Inter-component Headers */
 
/* Intra-component Headers */
 
#define CAN_MSG_MAX_STD_IDS (1 << 11)
 
typedef uint32_t CanMessageId;
 
typedef union CanId {
  CanMessageId raw;
  struct {
    uint32_t source_id : 4;
    uint32_t msg_id    : 6;
    uint32_t priority  : 22;
  };
} CanId;
 
typedef struct CanMessage {
  CanId id;                 
  bool extended;            
  uint8_t dlc;              
  union {
    uint64_t data;          
    uint32_t data_u32[2];   
    uint16_t data_u16[4];   
    uint8_t data_u8[8];     
  };
} CanMessage;