Support CAN FD Error State Indicator

communication/message/neomessage.cpp

@@ -30,6 +30,7 @@ neomessage_t icsneo::CreateNeoMessage(const std::shared_ptr<Message> message) {
 			can.status.canfdRTR = canmsg->isRemote;
 			can.status.canfdFDF = canmsg->isCANFD;
 			can.status.canfdBRS = canmsg->baudrateSwitch;
+			can.status.canfdESI = canmsg->errorStateIndicator;
 			break;
 		}
 		case Network::Type::Ethernet: {
@@ -66,6 +67,7 @@ std::shared_ptr<Message> icsneo::CreateMessageFromNeoMessage(const neomessage_t*
 			canmsg->isRemote = can.status.remoteFrame | can.status.canfdRTR;
 			canmsg->isCANFD = can.status.canfdFDF;
 			canmsg->baudrateSwitch = can.status.canfdBRS;
+			canmsg->errorStateIndicator = can.status.canfdESI;
 			return canmsg;
 		}
 		default:

communication/packet/canpacket.cpp

@@ -27,6 +27,7 @@ std::shared_ptr<CANMessage> HardwareCANPacket::DecodeToMessage(const std::vector
 	if(data->header.EDL && data->timestamp.IsExtended) { // CAN FD
 		msg->isCANFD = true;
 		msg->baudrateSwitch = data->header.BRS; // CAN FD Baudrate Switch
+		msg->errorStateIndicator = data->header.ESI;
 		if(length > 8) {
 			switch(length) { // CAN FD Length Decoding
 				case 0x9:
@@ -200,6 +201,7 @@ bool HardwareCANPacket::EncodeFromMessage(const CANMessage& message, std::vector
 		uint8_t fdStatusByte = lengthNibble;
 		if(message.baudrateSwitch)
 			fdStatusByte |= 0x80; // BRS status bit
+		// The firmware does not yet support transmitting ESI
 		result.push_back(fdStatusByte);
 	} else {
 		// TODO Support high voltage wakeup, bitwise-or in 0x8 here to enable

include/icsneo/communication/message/canmessage.h

@@ -9,10 +9,11 @@ class CANMessage : public Message {
 public:
 	uint32_t arbid;
 	uint8_t dlcOnWire;
-	bool isRemote = false;
+	bool isRemote = false; // Not allowed if CAN FD
 	bool isExtended = false;
 	bool isCANFD = false;
 	bool baudrateSwitch = false; // CAN FD only
+	bool errorStateIndicator = false; // CAN FD only
 };
 
 }