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If it is not, it will be ignored. Denali message must be multiple of 8 bytes

Space between arithmetic signs.

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Can blood flow rate variable be negative by accident? If so, that case needs to be handled.

Behrouz 0x20 is a channel ID that is from UI to HD. This identifier does not reflect that. Please reconsider renaming.

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How is the message Timeout!!!! related to received_message being equal to None?

Extra line

Done!

I'm a little confused!
Regarding our structure the length of the data in a header should not be more than 3 (without CRC).
Or you are getting CRC as part of the data and then take it out maybe?
I can't find the section CRC took out.

MsgId : 2bytes

And please make these values defined in one place(class) and use variables instead of the values.
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If it is set to 1 as default, shouldn't it be = 1?

This code is for test to be able to enable or disable CanInterface , MessageDispatcher console out to be able to debug without rebuild even on target.
And I mentioned at top of the code that it's a Test code for debuging

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The .gitignore for the DG firmware must be like the .gitignore for the HD firmware.

All references to "cargo" should be changed to "payload".

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I probably had that as "==" at one point and had to flip it later. When "==" I always put the constant first so that if I accidentally use "=" the compiler will flag it for me. I addressed this in my branch of code.

Add a "NUM_OF_..." to end of all enums - this will help with unit testing in VectorCAST.

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Add descriptive comments to right of variables.

In general, please consider using "txBuffer" and not "&txBuffer[0]" .