diff --git a/main/can.c b/main/can.c
index d49cd1e..8f0af17 100644
--- a/main/can.c
+++ b/main/can.c
@@ -71,10 +71,24 @@ void can_bus_off_check() {
     }
 }
 
+void can_msg_to_str(twai_message_t *can_msg, char *out_str) {
+    char byte_str[3];
+    out_str[0] = '\0';
+    sprintf(out_str, "can frame: ID: %08X dlc: %d ", (int) can_msg->identifier, can_msg->data_length_code);
+    if (can_msg->data_length_code == 0) {
+        strcat(out_str, "(no data)");
+    } else {
+        strcat(out_str, "data: ");
+        for (int i = 0; i < can_msg->data_length_code; i++) {
+            sprintf(byte_str, "%02X", can_msg->data[i]);
+            strcat(out_str, byte_str);
+        }
+    }
+}
+
 void can_task(void* arg) {
     twai_message_t rx_msg;
-    char byte_str[3];
-    char data_bytes_str[20];
+    char data_bytes_str[50];
     // ESP_ERROR_CHECK(esp_task_wdt_add(NULL));
     for (;;) { // A Task shall never return or exit.
         // esp_task_wdt_reset();
@@ -83,12 +97,7 @@ void can_task(void* arg) {
         // 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);
-        data_bytes_str[0] = '\0';
-        for (int i = 0; i < rx_msg.data_length_code; i++) {
-            sprintf(byte_str, "%02X", rx_msg.data[i]);
-            strcat(data_bytes_str, byte_str);
-        }
-        xprintf("received can frame: ID: %" PRIu32 " dlc: %d data: %s\n", rx_msg.identifier, rx_msg.data_length_code, data_bytes_str);
+        can_msg_to_str(&rx_msg, data_bytes_str); 
+        xprintf(LOG_COLOR(LOG_COLOR_BLUE) "recv %s\n" LOG_RESET_COLOR, data_bytes_str);
     }
 }
-
diff --git a/main/can.h b/main/can.h
index f88dd29..a32c7df 100644
--- a/main/can.h
+++ b/main/can.h
@@ -15,5 +15,6 @@ void can_stop();
 void calculate_hw_can_filter(uint32_t device_id, twai_filter_config_t* filter, bool ota_mode);
 void can_bus_off_check();
 void can_task(void* arg);
+void can_msg_to_str(twai_message_t *can_msg, char *out_str);
 
 #endif // MAIN_CAN_H
diff --git a/main/cmd_can.c b/main/cmd_can.c
index 50370b2..d98d046 100644
--- a/main/cmd_can.c
+++ b/main/cmd_can.c
@@ -1,7 +1,36 @@
 #include "cmd_can.h"
 #include "driver/twai.h"
+#include "freertos/projdefs.h"
 #include "hal/twai_types.h"
+#include "string.h"
+#include "esp_console.h"
+#include "xvprintf.h"
+#include "can.h"
+
+static void register_send_can_frame(void);
 
 void register_can_commands(void) {
+    register_send_can_frame();
     
 }
+
+static int send_can_frame(int argc, char **argv) {
+    char data_bytes_str[30];
+    twai_message_t msg = {.extd = 1};
+    msg.data_length_code = 0;
+    msg.identifier = 0xFF << 8; 
+    twai_transmit(&msg, pdMS_TO_TICKS(1000));
+    can_msg_to_str(&msg, data_bytes_str);
+    printf("sent %s\n", data_bytes_str);
+    return 0;
+}
+
+static void register_send_can_frame(void) {
+    const esp_console_cmd_t cmd = {
+        .command = "cansend",
+        .help = "Send a can message to the bus",
+        .hint = NULL,
+        .func = &send_can_frame,
+    };
+    ESP_ERROR_CHECK( esp_console_cmd_register(&cmd) );
+}