diff --git a/main/can.c b/main/can.c
index d033fc7..744f37a 100644
--- a/main/can.c
+++ b/main/can.c
@@ -1,7 +1,3 @@
-//
-// Created by okhsunrog on 8/17/23.
-//
-
 #include "can.h"
 #include "esp_log.h"
 #include "freertos/projdefs.h"
diff --git a/main/can.h b/main/can.h
index a32c7df..7404b96 100644
--- a/main/can.h
+++ b/main/can.h
@@ -1,7 +1,3 @@
-//
-// Created by okhsunrog on 8/17/23.
-//
-
 #ifndef MAIN_CAN_H
 #define MAIN_CAN_H
 
diff --git a/main/cmd_can.c b/main/cmd_can.c
index 6b7cf25..bbec2a4 100644
--- a/main/cmd_can.c
+++ b/main/cmd_can.c
@@ -7,7 +7,9 @@
 #include "argtable3/argtable3.h"
 #include "xvprintf.h"
 #include "can.h"
-
+#include <stddef.h>
+#include <stdio.h>
+#include <ctype.h>
 
 static void register_send_can_frame(void);
 
@@ -22,25 +24,45 @@ static struct {
 } cansend_args;
 
 static int send_can_frame(int argc, char **argv) {
+    twai_message_t msg = {.extd = 1};
     char printf_str[50];
-    char can_msg_str_buf[50];
     int nerrors = arg_parse(argc, argv, (void **) &cansend_args);
     if (nerrors != 0) {
         arg_print_errors(stderr, cansend_args.end, argv[0]);
         return 1;
     }
-
     const char *can_msg_ptr = cansend_args.message->sval[0];
-    strlcpy(can_msg_str_buf, can_msg_ptr, sizeof(can_msg_str_buf));
-    printf("%s\n", can_msg_str_buf);
-
-    twai_message_t msg = {.extd = 1};
-    msg.data_length_code = 0;
-    msg.identifier = 0xFF << 8; 
+    char *can_msg_str_buf = strdup(can_msg_ptr);
+    char *id_substr = strtok(can_msg_str_buf, "#");
+    char *data_substr = strtok(NULL, "#");
+    if ((id_substr == NULL) || (strtok(NULL, "#") != NULL)) goto invalid_args;
+    int id_l = strlen(id_substr);
+    int dt_l = data_substr == NULL ? 0 : strlen(data_substr);
+    if ((id_l > 8) || (dt_l > 16) || (id_l % 2) || (dt_l % 2)) goto invalid_args;
+    for (int i = 0; i < id_l; i++) if(!isxdigit((int) id_substr[i])) goto invalid_args;
+    for (int i = 0; i < dt_l; i++) if(!isxdigit((int) data_substr[i])) goto invalid_args;
+    int msg_id;
+    if (sscanf(id_substr, "%X", &msg_id) < 1) goto invalid_args;
+    for (int i = 0; i < (dt_l / 2); i++) {
+        char *byte_to_parse = malloc(3);
+        strncpy(byte_to_parse, data_substr + i * 2, 2);
+        int num;
+        int res = sscanf(byte_to_parse, "%X", &num);
+        free(byte_to_parse);
+        if (res < 1) goto invalid_args;
+        msg.data[i] = num;
+    }
+    msg.data_length_code = dt_l / 2;
+    msg.identifier = msg_id;
     twai_transmit(&msg, pdMS_TO_TICKS(1000));
     can_msg_to_str(&msg, printf_str);
     printf("sent %s\n", printf_str);
+    // free(can_msg_str_buf);
     return 0;
+invalid_args:
+    printf("Invalid arguments!");
+    free(can_msg_str_buf);
+    return 1;
 }
 
 static void register_send_can_frame(void) {