diff --git a/src/state_raw.c b/src/state_raw.c
index 8b40611..b4cc755 100644
--- a/src/state_raw.c
+++ b/src/state_raw.c
@@ -27,11 +27,44 @@ static int raw_socket;
 static struct ifreq ifr;
 static struct sockaddr_can addr;
 static struct msghdr msg;
-static struct can_frame frame;
+static struct canfd_frame frame;
 static struct iovec iov;
 static char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
 static struct timeval tv;
-static struct cmsghdr *cmsg;
+static struct cmsghdr *cmsg;  
+
+
+/* CAN DLC to real data length conversion helpers */
+
+static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
+					8, 12, 16, 20, 24, 32, 48, 64};
+
+/* get data length from raw data length code (DLC) */
+unsigned char can_fd_dlc2len(unsigned char dlc)
+{
+	return dlc2len[dlc & 0x0F];
+}
+
+static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8,		/* 0 - 8 */
+					9, 9, 9, 9,				/* 9 - 12 */
+					10, 10, 10, 10,				/* 13 - 16 */
+					11, 11, 11, 11,				/* 17 - 20 */
+					12, 12, 12, 12,				/* 21 - 24 */
+					13, 13, 13, 13, 13, 13, 13, 13,		/* 25 - 32 */
+					14, 14, 14, 14, 14, 14, 14, 14,		/* 33 - 40 */
+					14, 14, 14, 14, 14, 14, 14, 14,		/* 41 - 48 */
+					15, 15, 15, 15, 15, 15, 15, 15,		/* 49 - 56 */
+					15, 15, 15, 15, 15, 15, 15, 15};	/* 57 - 64 */
+
+/* map the sanitized data length to an appropriate data length code */
+unsigned char can_fd_len2dlc(unsigned char len)
+{
+	if (len > 64)
+		return 0xF;
+
+	return len2dlc[len];
+}
+
 
 void state_raw(void)
 {
@@ -62,7 +95,14 @@ void state_raw(void)
 			state = STATE_SHUTDOWN;
 			return;
 		}
-
+		
+		int enable = 1;
+		if (setsockopt(raw_socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable, sizeof(enable)) < 0) {
+			PRINT_ERROR("Could not enable CAN FD\n");
+			state = STATE_SHUTDOWN;
+			return;
+		}
+        
 		if (error_mask != 0) {
 			can_err_mask_t err_mask = (error_mask & CAN_ERR_MASK);
 			if (setsockopt(raw_socket, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &err_mask, sizeof(err_mask)) < 0) {
@@ -142,7 +182,7 @@ void state_raw(void)
 					ret = sprintf(buf, "< frame %03X %lld.%06lld ", frame.can_id & CAN_SFF_MASK,
 						      (signed long long) tv.tv_sec, (signed long long) tv.tv_usec);
 				}
-				for (i = 0; i < frame.can_dlc; i++) {
+				for (i = 0; i < frame.len; i++) {
 					ret += sprintf(buf + ret, "%02X", frame.data[i]);
 				}
 				sprintf(buf + ret, " >");
@@ -171,37 +211,50 @@ void state_raw(void)
 			}
 
 			/* Send a single frame */
-			if (!strncmp("< send ", buf, 7)) {
-				items = sscanf(buf, "< %*s %x %hhu "
-					       "%hhx %hhx %hhx %hhx %hhx %hhx "
-					       "%hhx %hhx >",
-					       &frame.can_id,
-					       &frame.can_dlc,
-					       &frame.data[0],
-					       &frame.data[1],
-					       &frame.data[2],
-					       &frame.data[3],
-					       &frame.data[4],
-					       &frame.data[5],
-					       &frame.data[6],
-					       &frame.data[7]);
+			if (!strncmp("< send ", buf, 7)) { 
+				//int id_len = element_length(buf, 2);
+				frame.can_id = 0;
+				frame.flags = CANFD_FDF;
+				long long unsigned int header_id = 0;
+				items = sscanf(buf, "< %*s %llx %hhu"
+							"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
+							"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
+							"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
+							"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
+							"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
+							"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
+							"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
+							"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx >",
+					       &header_id,
+					       &frame.len,
+					        &frame.data[0],&frame.data[1],&frame.data[2],&frame.data[3],&frame.data[4],&frame.data[5],&frame.data[6],&frame.data[7],
+						    &frame.data[8],&frame.data[9],&frame.data[10],&frame.data[11],&frame.data[12],&frame.data[13],&frame.data[14],&frame.data[15],
+						    &frame.data[16],&frame.data[17],&frame.data[18],&frame.data[19],&frame.data[20],&frame.data[21],&frame.data[22],&frame.data[23],
+							&frame.data[24],&frame.data[25],&frame.data[26],&frame.data[27],&frame.data[28],&frame.data[29],&frame.data[30],&frame.data[31],
+							&frame.data[32],&frame.data[33],&frame.data[34],&frame.data[35],&frame.data[36],&frame.data[37],&frame.data[38],&frame.data[39],
+							&frame.data[40],&frame.data[41],&frame.data[42],&frame.data[43],&frame.data[44],&frame.data[45],&frame.data[46],&frame.data[47],
+							&frame.data[48],&frame.data[49],&frame.data[50],&frame.data[51],&frame.data[52],&frame.data[53],&frame.data[54],&frame.data[55],
+							&frame.data[56],&frame.data[57],&frame.data[58],&frame.data[59],&frame.data[60],&frame.data[61],&frame.data[62],&frame.data[63]);
 
 				if ((items < 2) ||
-				    (frame.can_dlc > 8) ||
-				    (items != 2 + frame.can_dlc)) {
-					PRINT_ERROR("Syntax error in send command\n");
+				    (frame.len > CANFD_MAX_DLEN) || 
+				    (items != 2 + frame.len)) {
+						strcpy(buf, "< Syntax error in send command >");
+						send(client_socket, buf, strlen(buf), 0);
+						tcp_quickack(client_socket);
+						PRINT_ERROR("Syntax error in send command\n");
 					return;
 				}
-
+				frame.can_id |= (header_id&0xFFFFFFFF);
 				/* < send XXXXXXXX ... > check for extended identifier */
-				if (element_length(buf, 2) == 8)
+				if (frame.can_id > 0x7FF)
 					frame.can_id |= CAN_EFF_FLAG;
-
-				ret = send(raw_socket, &frame, sizeof(struct can_frame), 0);
+				frame.len = can_fd_dlc2len(can_fd_len2dlc(frame.len));
+				ret = send(raw_socket, &frame, sizeof(frame), 0);
 				if (ret == -1) {
 					state = STATE_SHUTDOWN;
 					return;
-				}
+				} 
 
 			} else {
 				PRINT_ERROR("unknown command '%s'\n", buf);