timestamped_frame.h

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#ifndef TIMESTAMPED_FRAME_H
#define TIMESTAMPED_FRAME_H
 
#include <stdint.h>
 
typedef struct {
    uint32_t ticks_ms; // ms timestamp of reception
    uint32_t identity; // [1 bit bus ID] [1 bit isExtID] [1 bit reserved] [29 bits CAN ID]
    uint64_t payload;  // message data
} timestamped_frame_t;
 
static_assert(
    sizeof(timestamped_frame_t) == 16,
    "timestamped_frame_t should be 16 bytes for optimal access patterns"
);
 
// helper functions
[[gnu::always_inline]]
static inline void set_bus_id(timestamped_frame_t *frame, uint8_t bus_id) {
    static constexpr uint32_t BUS_ID_MASK = (1u << 31u);
 
    if (bus_id == 0) {
        frame->identity &= ~BUS_ID_MASK;
    } else {
        frame->identity |= BUS_ID_MASK;
    }
}
 
[[gnu::always_inline]]
static inline void set_xid(timestamped_frame_t *frame, bool is_xid) {
    static constexpr uint32_t IS_XID_MASK = (1u << 30u);
 
    if (is_xid) {
        frame->identity |= IS_XID_MASK;
    } else {
        frame->identity &= ~IS_XID_MASK;
    }
}
 
[[gnu::always_inline]]
static inline void set_can_id(timestamped_frame_t *frame, uint32_t can_id) {
    static constexpr uint32_t CAN_ID_MASK = 0x1FFFFFFFu; // 29 bits for CAN ID
 
    frame->identity &= ~CAN_ID_MASK; // Clear existing CAN ID bits
    frame->identity |= (can_id & CAN_ID_MASK); // Set new CAN ID bits
}
 
#endif // TIMESTAMPED_FRAME_H