diff --git a/canbaudrate.go b/canbaudrate.go
index 68dca4d..402889d 100644
--- a/canbaudrate.go
+++ b/canbaudrate.go
@@ -1,21 +1,57 @@
 package xsens
 
-//go:generate stringer -type CANBaudRate -trimprefix CANBaudRate
+//go:generate stringer -type CANBaudRateID -trimprefix CANBaudRateID
 
-type CANBaudRate int8
+type (
+	CANBaudRateID int8
+	CANBaudRate   int
+)
 
 const (
-	CANBaudRate1M   CANBaudRate = 0x0C
-	CANBaudRate800k CANBaudRate = 0x0B
-	CANBaudRate500k CANBaudRate = 0x0A
-	CANBaudRate250k CANBaudRate = 0x00
-	CANBaudRate125k CANBaudRate = 0x01
-	CANBaudRate100k CANBaudRate = 0x02
-	CANBaudRate83k3 CANBaudRate = 0x03
-	CANBaudRate62k5 CANBaudRate = 0x04
-	CANBaudRate50k  CANBaudRate = 0x05
-	CANBaudRate33k3 CANBaudRate = 0x06
-	CANBaudRate20k  CANBaudRate = 0x07
-	CANBaudRate10k  CANBaudRate = 0x08
-	CANBaudRate5k   CANBaudRate = 0x09
+	CANBaudRate1M   CANBaudRateID = 0x0C
+	CANBaudRate800k CANBaudRateID = 0x0B
+	CANBaudRate500k CANBaudRateID = 0x0A
+	CANBaudRate250k CANBaudRateID = 0x00
+	CANBaudRate125k CANBaudRateID = 0x01
+	CANBaudRate100k CANBaudRateID = 0x02
+	CANBaudRate83k3 CANBaudRateID = 0x03
+	CANBaudRate62k5 CANBaudRateID = 0x04
+	CANBaudRate50k  CANBaudRateID = 0x05
+	CANBaudRate33k3 CANBaudRateID = 0x06
+	CANBaudRate20k  CANBaudRateID = 0x07
+	CANBaudRate10k  CANBaudRateID = 0x08
+	CANBaudRate5k   CANBaudRateID = 0x09
 )
+
+func (c CANBaudRate) ID() (CANBaudRateID, error) {
+	switch c {
+	case 5000:
+		return CANBaudRate5k, nil
+	case 10000:
+		return CANBaudRate10k, nil
+	case 20000:
+		return CANBaudRate20k, nil
+	case 33300:
+		return CANBaudRate33k3, nil
+	case 50000:
+		return CANBaudRate50k, nil
+	case 62500:
+		return CANBaudRate62k5, nil
+	case 83300:
+		return CANBaudRate83k3, nil
+	case 100000:
+		return CANBaudRate100k, nil
+	case 125000:
+		return CANBaudRate125k, nil
+	case 250000:
+		return CANBaudRate250k, nil
+	case 500000:
+		return CANBaudRate500k, nil
+	case 800000:
+		return CANBaudRate800k, nil
+	case 1000000:
+		return CANBaudRate1M, nil
+	default:
+		return -1, nil
+	}
+}
diff --git a/canbaudrate_string.go b/canbaudrate_string.go
deleted file mode 100644
index f100a0a..0000000
--- a/canbaudrate_string.go
+++ /dev/null
@@ -1,35 +0,0 @@
-// Code generated by "stringer -type CANBaudRate -trimprefix CANBaudRate"; DO NOT EDIT.
-
-package xsens
-
-import "strconv"
-
-func _() {
-	// An "invalid array index" compiler error signifies that the constant values have changed.
-	// Re-run the stringer command to generate them again.
-	var x [1]struct{}
-	_ = x[CANBaudRate1M-12]
-	_ = x[CANBaudRate800k-11]
-	_ = x[CANBaudRate500k-10]
-	_ = x[CANBaudRate250k-0]
-	_ = x[CANBaudRate125k-1]
-	_ = x[CANBaudRate100k-2]
-	_ = x[CANBaudRate83k3-3]
-	_ = x[CANBaudRate62k5-4]
-	_ = x[CANBaudRate50k-5]
-	_ = x[CANBaudRate33k3-6]
-	_ = x[CANBaudRate20k-7]
-	_ = x[CANBaudRate10k-8]
-	_ = x[CANBaudRate5k-9]
-}
-
-const _CANBaudRate_name = "250k125k100k83k362k550k33k320k10k5k500k800k1M"
-
-var _CANBaudRate_index = [...]uint8{0, 4, 8, 12, 16, 20, 23, 27, 30, 33, 35, 39, 43, 45}
-
-func (i CANBaudRate) String() string {
-	if i < 0 || i >= CANBaudRate(len(_CANBaudRate_index)-1) {
-		return "CANBaudRate(" + strconv.FormatInt(int64(i), 10) + ")"
-	}
-	return _CANBaudRate_name[_CANBaudRate_index[i]:_CANBaudRate_index[i+1]]
-}
diff --git a/canbaudrateid_string.go b/canbaudrateid_string.go
new file mode 100644
index 0000000..adcfdf8
--- /dev/null
+++ b/canbaudrateid_string.go
@@ -0,0 +1,35 @@
+// Code generated by "stringer -type CANBaudRateID -trimprefix CANBaudRateID"; DO NOT EDIT.
+
+package xsens
+
+import "strconv"
+
+func _() {
+	// An "invalid array index" compiler error signifies that the constant values have changed.
+	// Re-run the stringer command to generate them again.
+	var x [1]struct{}
+	_ = x[CANBaudRate1M-12]
+	_ = x[CANBaudRate800k-11]
+	_ = x[CANBaudRate500k-10]
+	_ = x[CANBaudRate250k-0]
+	_ = x[CANBaudRate125k-1]
+	_ = x[CANBaudRate100k-2]
+	_ = x[CANBaudRate83k3-3]
+	_ = x[CANBaudRate62k5-4]
+	_ = x[CANBaudRate50k-5]
+	_ = x[CANBaudRate33k3-6]
+	_ = x[CANBaudRate20k-7]
+	_ = x[CANBaudRate10k-8]
+	_ = x[CANBaudRate5k-9]
+}
+
+const _CANBaudRateID_name = "CANBaudRate250kCANBaudRate125kCANBaudRate100kCANBaudRate83k3CANBaudRate62k5CANBaudRate50kCANBaudRate33k3CANBaudRate20kCANBaudRate10kCANBaudRate5kCANBaudRate500kCANBaudRate800kCANBaudRate1M"
+
+var _CANBaudRateID_index = [...]uint8{0, 15, 30, 45, 60, 75, 89, 104, 118, 132, 145, 160, 175, 188}
+
+func (i CANBaudRateID) String() string {
+	if i < 0 || i >= CANBaudRateID(len(_CANBaudRateID_index)-1) {
+		return "CANBaudRateID(" + strconv.FormatInt(int64(i), 10) + ")"
+	}
+	return _CANBaudRateID_name[_CANBaudRateID_index[i]:_CANBaudRateID_index[i+1]]
+}
diff --git a/canconfig.go b/canconfig.go
index 17d9e1e..145a832 100644
--- a/canconfig.go
+++ b/canconfig.go
@@ -6,7 +6,7 @@ import (
 
 type CANConfig struct {
 	Enable   bool
-	BaudRate CANBaudRate
+	BaudRate CANBaudRateID
 }
 
 const (
@@ -38,6 +38,6 @@ func (o *CANConfig) UnmarshalBinary(data []byte) error {
 		return fmt.Errorf("cannot unmarshal to a nil pointer")
 	}
 	o.Enable = (data[canCfgEnableOffset] & canCfgEnableMask) == 1
-	o.BaudRate = CANBaudRate(data[canCfgBaudrateOffset] & canCfgBaudrateMask)
+	o.BaudRate = CANBaudRateID(data[canCfgBaudrateOffset] & canCfgBaudrateMask)
 	return nil
 }