int parse_can_frame(int can_identifier, array can_data){
        shifted_id = can_identifier >> 8;
        pgn = shifted_id & pgn_mask;
		// FMS Standard 3.0:
		// PGN 0x00FEF1 --> Cruise Control / Vehicle Speed: CCVS

        if(pgn == 0x00FEF1){
                /* Get Wheel based speed (DATA BYTES 2 &3) from Cruise Control/Vehicle Speed: CCVS
		   SPN: 84 */
                speed = ((can_data[2] << 8) + can_data[1])/256;
		/* Log the parsed message */		
		now = localtime(time());
		timestamp = strftime("%Y-%m-%d %H:%M:%S", now);
		fwrite(fp, sprintf("%s -- Wheel based speed: %f\n",timestamp, speed));
		return 0;
       	} else{
		return -1;
	}
}