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Setup CAN For STM32H523CEU6 #350

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@dchansen06

The SAMM (Sensor Array Mini Module) runs on the STM32H523CEU6 and requires CAN support

Support for the SAMM inside the monorepo was merged in with #343

As part of #347 we also need to add lower CAN support

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2 PRIORITYImportant and a priority, but less than URGENTBig FrySomething that is complex and/or largeBoardsRelated to or involving any physical boardsDocumentationImprovements or additions to documentationEnhancementNew feature or requestPeripheralRelated to or involving a peripheral including abstractionsSensorsSomething involved with or related to sensors

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