diff --git a/main/can.c b/main/can.c
index 8f0af17..d033fc7 100644
--- a/main/can.c
+++ b/main/can.c
@@ -93,7 +93,7 @@ void can_task(void* arg) {
     for (;;) { // A Task shall never return or exit.
         // esp_task_wdt_reset();
         can_bus_off_check();
-        if (twai_receive(&rx_msg, pdMS_TO_TICKS(10)) != ESP_OK) continue;
+        if (twai_receive(&rx_msg, pdMS_TO_TICKS(1000)) != ESP_OK) continue;
         // TODO: add software filtering
         // if ((((rx_msg.identifier >> 8) & 0xFF) != CONFIG_DEVICE_ID) && (((rx_msg.identifier >> 8) & 0xFF) != 0xFF)) continue;
         // ESP_LOGI(LOG_TAG, "received can frame: %" PRIu32, rx_msg.identifier);
diff --git a/main/cmd_can.c b/main/cmd_can.c
index d98d046..d20c032 100644
--- a/main/cmd_can.c
+++ b/main/cmd_can.c
@@ -4,6 +4,7 @@
 #include "hal/twai_types.h"
 #include "string.h"
 #include "esp_console.h"
+#include "argtable3/argtable3.h"
 #include "xvprintf.h"
 #include "can.h"
 
@@ -14,7 +15,19 @@ void register_can_commands(void) {
     
 }
 
+static struct {
+    struct arg_str *message;
+    struct arg_end *end;
+} cansend_args;
+
 static int send_can_frame(int argc, char **argv) {
+    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_str = cansend_args.message->sval[0];
+
     char data_bytes_str[30];
     twai_message_t msg = {.extd = 1};
     msg.data_length_code = 0;
@@ -26,11 +39,16 @@ static int send_can_frame(int argc, char **argv) {
 }
 
 static void register_send_can_frame(void) {
+    
+    cansend_args.message = arg_str1(NULL, NULL, "ID#data", "Message to send, ID and data bytes, all in hex. # is the delimiter.");
+    cansend_args.end = arg_end(2);
+
     const esp_console_cmd_t cmd = {
         .command = "cansend",
-        .help = "Send a can message to the bus",
+        .help = "Send a can message to the bus, example: cansend 00008C03#02",
         .hint = NULL,
         .func = &send_can_frame,
+        .argtable = &cansend_args,
     };
     ESP_ERROR_CHECK( esp_console_cmd_register(&cmd) );
 }