diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index 8c7351ac..290172c7 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -10,7 +10,7 @@
 #include <communication/interface_can.hpp>
 
 BoardConfig_t board_config;
-CANConfig_t can_config;
+ODriveCAN::Config_t can_config;
 Encoder::Config_t encoder_configs[AXIS_COUNT];
 SensorlessEstimator::Config_t sensorless_configs[AXIS_COUNT];
 Controller::Config_t controller_configs[AXIS_COUNT];
@@ -26,7 +26,7 @@ ODriveCAN *odCAN;
 
 typedef Config<
     BoardConfig_t,
-    CANConfig_t,
+    ODriveCAN::Config_t,
     Encoder::Config_t[AXIS_COUNT],
     SensorlessEstimator::Config_t[AXIS_COUNT],
     Controller::Config_t[AXIS_COUNT],
@@ -64,7 +64,7 @@ void load_configuration(void) {
                 &axis_configs)) {
         //If loading failed, restore defaults
         board_config = BoardConfig_t();
-        can_config = CANConfig_t();
+        can_config = ODriveCAN::Config_t();
         for (size_t i = 0; i < AXIS_COUNT; ++i) {
             encoder_configs[i] = Encoder::Config_t();
             sensorless_configs[i] = SensorlessEstimator::Config_t();
diff --git a/Firmware/communication/interface_can.cpp b/Firmware/communication/interface_can.cpp
index 4902ca2f..f9a9ff6f 100644
--- a/Firmware/communication/interface_can.cpp
+++ b/Firmware/communication/interface_can.cpp
@@ -41,7 +41,7 @@
 
 static uint32_t counter = 0;
 // Constructor is called by communication.cpp and the handle is assigned appropriately
-ODriveCAN::ODriveCAN(CAN_HandleTypeDef *handle, CANConfig_t &config)
+ODriveCAN::ODriveCAN(CAN_HandleTypeDef *handle, ODriveCAN::Config_t &config)
     : handle_{handle},
       config_{config} {
 }
diff --git a/Firmware/communication/interface_can.hpp b/Firmware/communication/interface_can.hpp
index 0959d7c1..dceb8120 100644
--- a/Firmware/communication/interface_can.hpp
+++ b/Firmware/communication/interface_can.hpp
@@ -16,27 +16,29 @@ typedef struct {
 } CAN_message_t;
 
 // Anonymous enum for defining the most common CAN baud rates
-enum {
-    CAN_BAUD_125K = 125000,
-    CAN_BAUD_250K = 250000,
-    CAN_BAUD_500K = 500000,
-    CAN_BAUD_1000K = 1000000,
-    CAN_BAUD_1M = 1000000
-};
-struct CANConfig_t {
-    uint8_t node_id = 0;
-    uint32_t baud = CAN_BAUD_250K;
-};
+   
+    enum {
+        CAN_BAUD_125K = 125000,
+        CAN_BAUD_250K = 250000,
+        CAN_BAUD_500K = 500000,
+        CAN_BAUD_1000K = 1000000,
+        CAN_BAUD_1M = 1000000
+    };
 
 class ODriveCAN {
    public:
-    ODriveCAN(CAN_HandleTypeDef *handle, CANConfig_t &config);
+    struct Config_t {
+        uint8_t node_id = 0;
+        uint32_t baud = CAN_BAUD_250K;
+    };
+
+    ODriveCAN(CAN_HandleTypeDef *handle, ODriveCAN::Config_t &config);
 
     bool start_can_server();
     void can_server_thread();
 
-    uint32_t write(CAN_message_t& txmsg);
-    int read(CAN_message_t& rxmsg);
+    uint32_t write(CAN_message_t &txmsg);
+    int read(CAN_message_t &rxmsg);
 
     osThreadId thread_id_;
     volatile bool thread_id_valid_ = false;
@@ -45,16 +47,14 @@ class ODriveCAN {
         return make_protocol_member_list(
             make_protocol_object("config",
                                  make_protocol_ro_property("node_id", &config_.node_id),
-                                 make_protocol_ro_property("baud_rate", &config_.baud)
-                                ),
+                                 make_protocol_ro_property("baud_rate", &config_.baud)),
             make_protocol_function("set_node_id", *this, &ODriveCAN::set_node_id, "nodeID"),
-            make_protocol_function("set_baud_rate", *this, &ODriveCAN::set_baud_rate, "baudRate")
-        );
+            make_protocol_function("set_baud_rate", *this, &ODriveCAN::set_baud_rate, "baudRate"));
     }
 
    private:
     CAN_HandleTypeDef *handle_ = nullptr;
-    CANConfig_t &config_;
+    ODriveCAN::Config_t &config_;
 
     void set_node_id(uint8_t nodeID);
     void set_baud_rate(uint32_t baudRate);