<commit_before>#ifndef __INTERFACE_CAN_HPP
#define __INTERFACE_CAN_HPP

#include <cmsis_os.h>
#include <stm32f4xx_hal.h>
#include "fibre/protocol.hpp"

#define CAN_CLK_HZ (42000000)
#define CAN_CLK_MHZ (42)

typedef struct {
    uint32_t id;
    bool isExt;
    uint8_t len;
    uint8_t buf[8];
} CAN_message_t;

// Anonymous enum for defining the most common CAN baud rates
   
    enum {
        CAN_BAUD_125K = 125000,
        CAN_BAUD_250K = 250000,<commit_msg>Messages should have clean default parameters<commit_after>#ifndef __INTERFACE_CAN_HPP
#define __INTERFACE_CAN_HPP

#include <cmsis_os.h>
#include <stm32f4xx_hal.h>
#include "fibre/protocol.hpp"

#define CAN_CLK_HZ (42000000)
#define CAN_CLK_MHZ (42)

typedef struct {
    uint32_t id = 0x000;  // 11-bit max is 0x7ff, 29-bit max is 0x1FFFFFFF
    bool isExt = false;
    uint8_t len = 8;
    uint8_t buf[8] = {0, 0, 0, 0, 0, 0, 0, 0};
} CAN_message_t;

// Anonymous enum for defining the most common CAN baud rates
   
    enum {
        CAN_BAUD_125K = 125000,
        CAN_BAUD_250K = 250000,
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