Capturing message definitions (data structures)

Is there a natural way to capture message definitions (data structure of messages) that are going to be used in a system that communicates through a CAN bus (or, any bus.) I suppose Physical Architecture is the stage to do this in, and maybe Class definitions, but I can’t find a natural way to do this.

Right now I have them as Notes, but I feel that they could be incorporated somehow.

Would something like that help?

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I will try this and see, thank you so much!