diff --git a/tools/CAN/CAN_interface.cpp b/tools/CAN/CAN_interface.cpp
index 47f2702..d194da4 100644
--- a/tools/CAN/CAN_interface.cpp
+++ b/tools/CAN/CAN_interface.cpp
@@ -16,7 +16,10 @@ CAN_Interface::CAN_Interface(QString dev, QObject *parent)
 
     m_canDevice->connectDevice();
     connect(m_canDevice, &QCanBusDevice::framesReceived, this, [this] {
-        emit frames_received();
+        for (const QCanBusFrame &frame : m_canDevice->readAllFrames())
+        {
+            emit frame_received(frame);
+        }
     });
 }
 
@@ -30,8 +33,3 @@ void CAN_Interface::send_frame(const QCanBusFrame &frame)
 {
     m_canDevice->writeFrame(frame);
 }
-
-QCanBusFrame CAN_Interface::read_frame()
-{
-    return m_canDevice->readFrame();
-}
\ No newline at end of file
diff --git a/tools/CAN/CAN_interface.hpp b/tools/CAN/CAN_interface.hpp
index 3445ae9..3a9b0dc 100644
--- a/tools/CAN/CAN_interface.hpp
+++ b/tools/CAN/CAN_interface.hpp
@@ -14,9 +14,9 @@ class CAN_Interface : public QObject
     ~CAN_Interface();
 
     void send_frame(const QCanBusFrame &frame);
-    QCanBusFrame read_frame();
   signals:
-    void frames_received();
+    void frame_received(const QCanBusFrame frame);
+
   private:
     QCanBusDevice *m_canDevice;
 };