Worked on stabilizing CAN timestamping within the zephyrproject-rtos/zephyr repository by addressing a bug in the STM32 BXCAN driver. Focused on fully initializing the TDTxR registers to prevent undefined resets that could lead to incorrect 16-bit timestamps when RX_TIMESTAMP is enabled. This fix eliminated inadvertent TGT bit settings and improved the integrity of timestamp data in the CAN RX path. Utilized C programming and embedded systems expertise to enhance the reliability and maintainability of the CAN subsystem. The work demonstrated a methodical approach to driver development, ensuring accurate data handling and observability in real-time operating system environments.