diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c
index 7cb244f..52c2b91 100644
--- a/RBcore/drv_interface.c
+++ b/RBcore/drv_interface.c
@@ -118,12 +118,12 @@ int RS485_4_Send(char *_pBuffer, uint32_t _iSize)
 
 int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
 {
-    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer[0], &_pBuffer[1], _iSize);
+    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer[0], &_pBuffer[4], _iSize);
 }
 
 int FDCAN2_Send(char *_pBuffer, uint32_t _iSize)
 {
-    return CAN_TX_FIFOQ(g_ptFDCAN2, _pBuffer[0], &_pBuffer[1], _iSize);
+    return CAN_TX_FIFOQ(g_ptFDCAN2, _pBuffer[0], &_pBuffer[4], _iSize);
 }
 
 #ifndef CONFIG_UART_IT_IDLEDMA
diff --git a/peripheral/com.c b/peripheral/com.c
index 9cbb126..e9ed1ad 100644
--- a/peripheral/com.c
+++ b/peripheral/com.c
@@ -387,3 +387,34 @@ int rd_ComRead(TComCtrl *_ptComCtrl, char *_pBuffer, uint32_t _iSize)
     return 0; 
 }
 
+int rd_ComIDWrite(TComCtrl *_ptComCtrl, uint32_t _iFrameID, char *_pBuffer, uint32_t _iSize)
+{
+    uint32_t totalSize = sizeof(uint32_t) + _iSize;
+
+    char sendBuf[totalSize];
+
+    sendBuf[0] = (char)( _iFrameID        & 0xFF);
+    sendBuf[1] = (char)((_iFrameID >>  8) & 0xFF);
+    sendBuf[2] = (char)((_iFrameID >> 16) & 0xFF);
+    sendBuf[3] = (char)((_iFrameID >> 24) & 0xFF);
+
+    RD_MEMCPY(&sendBuf[sizeof(uint32_t)], _pBuffer, _iSize);
+
+    return rd_ComWrite(_ptComCtrl, sendBuf, _iSize);
+}
+
+int rd_ComIDSend(TComCtrl *_ptComCtrl, uint32_t _iFrameID, char *_pBuffer, uint32_t _iSize)
+{
+    uint32_t totalSize = sizeof(uint32_t) + _iSize;
+
+    char sendBuf[totalSize];
+
+    sendBuf[0] = (char)( _iFrameID        & 0xFF);
+    sendBuf[1] = (char)((_iFrameID >>  8) & 0xFF);
+    sendBuf[2] = (char)((_iFrameID >> 16) & 0xFF);
+    sendBuf[3] = (char)((_iFrameID >> 24) & 0xFF);
+
+    RD_MEMCPY(&sendBuf[sizeof(uint32_t)], _pBuffer, _iSize);
+
+    return rd_ComSend(_ptComCtrl, sendBuf, _iSize);
+}
\ No newline at end of file
diff --git a/peripheral/include/com.h b/peripheral/include/com.h
index 4aa6aa9..bd1b230 100644
--- a/peripheral/include/com.h
+++ b/peripheral/include/com.h
@@ -119,6 +119,8 @@ void rd_ComSendProc(TComCtrl *_ptComCtrl);
 void rd_ComRecvProc(TComCtrl *_ptComCtrl, const char *_pBuffer, uint32_t _iSize);
 int rd_ComWrite(TComCtrl *_ptComCtrl, char *_pBuffer, uint32_t _iSize);
 int rd_ComRead(TComCtrl *_ptComCtrl, char *_pBuffer, uint32_t _iSize);
+int rd_ComIDWrite(TComCtrl *_ptComCtrl, uint32_t _iFrameID, char *_pBuffer, uint32_t _iSize);
+int rd_ComIDSend(TComCtrl *_ptComCtrl, uint32_t _iFrameID, char *_pBuffer, uint32_t _iSize);
 
 #ifdef __cplusplus
 #if __cplusplus