diff --git a/firmware/can_helper.cpp b/firmware/can_helper.cpp
index eeaabba..0a95382 100644
--- a/firmware/can_helper.cpp
+++ b/firmware/can_helper.cpp
@@ -2,6 +2,9 @@
 
 #include <cstring>
 
+// manualy rotate mailboxes on GD32
+static int can1_mailbox = 1;
+
 CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
     m_frame.IDE = isExtended ? CAN_IDE_EXT : CAN_IDE_STD;
     m_frame.EID = eid;
@@ -12,7 +15,14 @@ CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
 
 CanTxMessage::~CanTxMessage() {
     // 100 ms timeout
-    canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &m_frame, TIME_IMMEDIATE);
+    canTransmitTimeout(&CAND1, can1_mailbox, &m_frame, TIME_MS2I(100));
+
+    // GD32 workaround: rotate mailboxes
+    // Does not affect STM32 devices
+    can1_mailbox++;
+    if (can1_mailbox == CAN_TX_MAILBOXES) {
+        can1_mailbox = 1;
+    }
 }
 
 uint8_t& CanTxMessage::operator[](size_t index) {