diff --git a/Software/src/can.cpp b/Software/src/can.cpp
index 6e6ebe2..57d3db1 100644
--- a/Software/src/can.cpp
+++ b/Software/src/can.cpp
@@ -3,6 +3,7 @@
 
 MCP_CAN CAN0(GPIO_CS_CAN);
 #ifdef CAN_DEBUG_MESSAGE
+#define MAX_DEBUG_RETRIES 100
 void sendCANDebugMessage();
 #endif
 
@@ -90,6 +91,7 @@ uint32_t Process_CAN_WheelSpeed()
 void sendCANDebugMessage()
 {
 #define MAX_DEBUG_MULTIPLEXER 6
+    static uint16_t DebugSendFailTimeout = 0;
     static uint8_t debugMultiplexer = 0;
     byte data[8] = {debugMultiplexer, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
     uint32_t millisValue = millis();
@@ -131,9 +133,20 @@ void sendCANDebugMessage()
     debugMultiplexer++;
     debugMultiplexer = debugMultiplexer > MAX_DEBUG_MULTIPLEXER ? 0 : debugMultiplexer;
 
-    byte sndStat = CAN0.sendMsgBuf(0x7FF, 0, 8, data);
-    if (sndStat != CAN_OK)
-        Debug_pushMessage("failed sending CAN-DbgMsg: %d\n", sndStat);
+    if (DebugSendFailTimeout < MAX_DEBUG_RETRIES)
+    {
+        byte sndStat = CAN0.sendMsgBuf(0x7FF, 0, 8, data);
+        if (sndStat != CAN_OK)
+        {
+            Debug_pushMessage("failed sending CAN-DbgMsg: %d, %d\n", sndStat, DebugSendFailTimeout);
+            DebugSendFailTimeout++;
+        }
+    }
+    else if (DebugSendFailTimeout == MAX_DEBUG_RETRIES)
+    {
+        Debug_pushMessage("disable CAN-DbgMsg due to timeout");
+        DebugSendFailTimeout++;
+    }
 }
 #endif
 #endif
\ No newline at end of file