diff --git a/embassy-stm32/src/can/frame.rs b/embassy-stm32/src/can/frame.rs
index d2d1f7aa6..f1bc81ec3 100644
--- a/embassy-stm32/src/can/frame.rs
+++ b/embassy-stm32/src/can/frame.rs
@@ -128,6 +128,11 @@ impl ClassicData {
     pub fn raw(&self) -> &[u8] {
         &self.bytes
     }
+    
+    /// Raw mutable read access to data.
+    pub fn raw_mut(&mut self) -> &mut [u8] {
+        &mut self.bytes
+    }
 
     /// Checks if the length can be encoded in FDCAN DLC field.
     pub const fn is_valid_len(len: usize) -> bool {
@@ -208,6 +213,11 @@ impl Frame {
     pub fn data(&self) -> &[u8] {
         &self.data.raw()
     }
+    
+    /// Get mutable reference to data
+    pub fn data_mut(&mut self) -> &mut [u8] {
+        self.data.raw_mut()
+    }
 
     /// Get priority of frame
     pub fn priority(&self) -> u32 {
@@ -313,6 +323,11 @@ impl FdData {
     pub fn raw(&self) -> &[u8] {
         &self.bytes
     }
+    
+    /// Raw mutable read access to data.
+    pub fn raw_mut(&mut self) -> &mut [u8] {
+        &mut self.bytes
+    }
 
     /// Checks if the length can be encoded in FDCAN DLC field.
     pub const fn is_valid_len(len: usize) -> bool {
@@ -392,6 +407,11 @@ impl FdFrame {
     pub fn data(&self) -> &[u8] {
         &self.data.raw()
     }
+    
+    /// Get mutable reference to data
+    pub fn data_mut(&mut self) -> &mut [u8] {
+        self.data.raw_mut()
+    }
 }
 
 impl embedded_can::Frame for FdFrame {