Added I2C support for raspi & first rework of debugging

include/sta/bus/can/headers.hpp

@@ -0,0 +1,48 @@
+/**
+ * @file
+ * @brief CAN frame headers.
+ */
+#ifndef STA_CORE_CAN_HEADERS_HPP
+#define STA_CORE_CAN_HEADERS_HPP
+
+#include <sta/bus/can/id.hpp>
+
+#include <cstdint>
+
+
+namespace sta
+{
+    /**
+     * @defgroup sta_core_can_headers Frame headers
+     * @ingroup sta_core_can
+     * @brief CAN header types for transmitted / received frames.
+     * @{
+     */
+
+
+    /**
+     * @brief CAN TX frame header.
+     */
+    struct CanTxHeader
+    {
+        CanFrameId id;              /**< Frame ID */
+        uint8_t    payloadLength;   /**< Size of data to send */
+    };
+
+    /**
+     * @brief CAN RX frame header.
+     */
+    struct CanRxHeader
+    {
+        CanFrameId  id;             /**< Frame ID */
+        uint8_t     payloadLength;  /**< Size of received data */
+        uint32_t    timestamp;      /**< RX timestamp */
+        uint8_t     filter;         /**< RX filter match */
+    };
+
+
+    /** @} */
+} // namespace sta
+
+
+#endif // STA_CORE_CAN_HEADERS_HPP