Good C-coding style for multiple lines if conditions

I am proramming on a project and I got the problem, that i´ve got a lot of if conditions and it might get really hard for other people to read. Here is the C - Code.

I couldn´t find a similiar question on the internet yet. Do you have an idea or example how to make it more readable?

if( ((g_cycle_cnt == uartTxSecondaryMsg[3][msgPos[3]].sliceNo) ||   //correct slicenumber...
                        (uartTxSecondaryMsg[3][msgPos[3]].sliceNo == -1) ||             // or as fast as possible...                                            

                        ( (uartTxSecondaryMsg[3][msgPos[3]].sliceNo == -2) &&
                         ((uartTxSecondaryMsg[3][msgPos[3]].timeFrameBegin>=g_uptime_cnt) && 
                          (uartTxSecondaryMsg[3][msgPos[3]].timeFrameEnd<=g_uptime_cnt)))) &&

                        ((dataProcessingFlag & SECONDARY_MSG_ANNOUNCED_CH4) == SECONDARY_MSG_ANNOUNCED_CH4) )