Worked on the apache/nuttx repository to deliver targeted improvements in CAN driver functionality and system compatibility. Developed CAN message alignment support, enabling configurable alignment for CAN read and write operations through new ioctl commands, which enhanced both performance and compatibility with socketCAN. Introduced BSD rounding macros to sys/param.h, improving code clarity and aligning driver and user space behavior with BSD standards. Addressed documentation inconsistencies to prevent API breakage and updated CAN driver error handling to report EIO on empty FIFO, matching glibc semantics. All work was implemented in C, focusing on embedded systems, driver development, and robust system programming practices.