diff --git a/src/CAN.c b/src/CAN.c
index 826f9db..121b722 100644
--- a/src/CAN.c
+++ b/src/CAN.c
@@ -276,6 +276,20 @@ int CAN_write_frame(const CAN_frame_t *p_frame) {
 	return 0;
 }
 
+int CAN_write_frame_timeout(const CAN_frame_t *p_frame, int waitTicks) {
+    if (sem_tx_complete == NULL) {
+        return -1;
+    }
+
+    // Write the frame to the controller
+    CAN_write_frame_phy(p_frame);
+
+    // wait for the frame tx to complete
+    xSemaphoreTake(sem_tx_complete, waitTicks);
+
+    return 0;
+}
+
 int CAN_stop() {
 	// enter reset mode
 	MODULE_CAN->MOD.B.RM = 1;
diff --git a/src/CAN.h b/src/CAN.h
index aebde46..bc4531a 100644
--- a/src/CAN.h
+++ b/src/CAN.h
@@ -108,6 +108,15 @@ int CAN_init(void);
  */
 int CAN_write_frame(const CAN_frame_t *p_frame);
 
+/**
+ * \brief Send a can frame
+ *
+ * \param	p_frame	Pointer to the frame to be send, see #CAN_frame_t
+ * \param	waitTicks Wait for write completion ticks
+ * \return  0 Frame has been written to the module
+ */
+int CAN_write_frame_timeout(const CAN_frame_t *p_frame, int waitTicks);
+
 /**
  * \brief Stops the CAN Module
  *
diff --git a/src/ESP32CAN.cpp b/src/ESP32CAN.cpp
index 1412b4a..c9a39e1 100644
--- a/src/ESP32CAN.cpp
+++ b/src/ESP32CAN.cpp
@@ -8,6 +8,11 @@ int ESP32CAN::CANWriteFrame(const CAN_frame_t* p_frame)
 {
     return CAN_write_frame(p_frame);
 }
+
+int ESP32CAN::CANWriteFrame(const CAN_frame_t *p_frame, int waitMs) {
+    return CAN_write_frame_timeout(p_frame, waitMs * portTICK_PERIOD_MS);
+}
+
 int ESP32CAN::CANStop()
 {
     return CAN_stop();
diff --git a/src/ESP32CAN.h b/src/ESP32CAN.h
index 0cbe156..dab75fa 100644
--- a/src/ESP32CAN.h
+++ b/src/ESP32CAN.h
@@ -10,6 +10,7 @@ class ESP32CAN
         int CANInit();
 		int CANConfigFilter(const CAN_filter_t* p_filter);
         int CANWriteFrame(const CAN_frame_t* p_frame);
+        int CANWriteFrame(const CAN_frame_t* p_frame, int waitMs);
         int CANStop();
 };