diff --git a/src/CANController.cpp b/src/CANController.cpp
index 0890eec..257fb5b 100644
--- a/src/CANController.cpp
+++ b/src/CANController.cpp
@@ -28,7 +28,7 @@ CANControllerClass::~CANControllerClass()
 {
 }
 
-int CANControllerClass::begin(long /*baudRate*/)
+int CANControllerClass::begin(long baudRate)
 {
   _packetBegun = false;
   _txId = -1;
@@ -41,6 +41,7 @@ int CANControllerClass::begin(long /*baudRate*/)
   _rxDlc = 0;
   _rxLength = 0;
   _rxIndex = 0;
+  _baudrate = baudRate;
 
   return 1;
 }
diff --git a/src/CANController.h b/src/CANController.h
index cdaeb94..dc0455e 100644
--- a/src/CANController.h
+++ b/src/CANController.h
@@ -65,6 +65,7 @@ class CANControllerClass : public Stream {
   int _rxDlc;
   int _rxLength;
   int _rxIndex;
+  long _baudrate;
   uint8_t _rxData[8];
 };
 
diff --git a/src/ESP32SJA1000.cpp b/src/ESP32SJA1000.cpp
index 309e030..b855846 100644
--- a/src/ESP32SJA1000.cpp
+++ b/src/ESP32SJA1000.cpp
@@ -167,11 +167,21 @@ int ESP32SJA1000Class::endPacket()
   if (!CANControllerClass::endPacket()) {
     return 0;
   }
+  const uint16_t TIMEOUTVALUE = 2500;
+  uint16_t uiTimeOut = 0;
 
   // wait for TX buffer to free
-  while ((readRegister(REG_SR) & 0x04) != 0x04) {
+  while (((readRegister(REG_SR) & 0x04) != 0x04) && (uiTimeOut < TIMEOUTVALUE)) {
     yield();
+    uiTimeOut++;
   }
+  if(uiTimeOut == TIMEOUTVALUE) {
+    // the lines below seem to do something in the CAN controller, allowing it to resume without reset 
+    sleep();
+    wakeup();
+    return -1; /* get tx buff time out */
+  }
+  uiTimeOut = 0;
 
   int dataReg;
 
@@ -204,12 +214,19 @@ int ESP32SJA1000Class::endPacket()
   }
 
   // wait for TX complete
-  while ((readRegister(REG_SR) & 0x08) != 0x08) {
+  while (((readRegister(REG_SR) & 0x08) != 0x08) && (uiTimeOut < TIMEOUTVALUE)) {
     if (readRegister(REG_ECC) == 0xd9) {
       modifyRegister(REG_CMR, 0x1f, 0x02); // error, abort
       return 0;
     }
     yield();
+    uiTimeOut++;
+  }
+  if(uiTimeOut == TIMEOUTVALUE) {  
+    // the lines below seem to do something in the CAN controller, allowing it to resume without reset
+    sleep();
+    wakeup();
+    return -2; /* send msg time out */
   }
 
   return 1;