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about baude rate - it can change of couse depending on bus transfers and data trafic.
maximum rate will be below 0.6*bit rate (just do the masth).
crc is standard calculation CRC-15 - it not include the bit that come after crc.
you can look the internet for code.
bit timing is a bit of a fancy issue in can.
basicaly you can oversample the bus and decide where is the best point to
sample each bit. so the receiver can be a very smart hardware that can
check different sample point untill data is correct (verify it with crc for exampe).
this also explained and varied between different devices.