diff --git a/libuavcan/include/uavcan/internal/transport/can_io.hpp b/libuavcan/include/uavcan/internal/transport/can_io.hpp
index bfdfcf4ef7..98efa5431a 100644
--- a/libuavcan/include/uavcan/internal/transport/can_io.hpp
+++ b/libuavcan/include/uavcan/internal/transport/can_io.hpp
@@ -15,9 +15,8 @@
 namespace uavcan
 {
 
-struct CanRxFrame
+struct CanRxFrame : public CanFrame
 {
-    CanFrame frame;
     uint64_t timestamp;
     uint8_t iface_index;
 
diff --git a/libuavcan/include/uavcan/internal/transport/transfer.hpp b/libuavcan/include/uavcan/internal/transport/transfer.hpp
index b7c553ce8f..509ecb1659 100644
--- a/libuavcan/include/uavcan/internal/transport/transfer.hpp
+++ b/libuavcan/include/uavcan/internal/transport/transfer.hpp
@@ -137,7 +137,7 @@ struct RxFrame
 
     bool parse(const CanRxFrame& can_frame)
     {
-        if (!frame.parse(can_frame.frame))
+        if (!frame.parse(can_frame))
             return false;
         timestamp = can_frame.timestamp;
         iface_index = can_frame.iface_index;
diff --git a/libuavcan/src/transport/can_io.cpp b/libuavcan/src/transport/can_io.cpp
index 1cf4f7aa5d..4141a7aea0 100644
--- a/libuavcan/src/transport/can_io.cpp
+++ b/libuavcan/src/transport/can_io.cpp
@@ -347,7 +347,7 @@ int CanIOManager::receive(CanRxFrame& frame, uint64_t monotonic_deadline)
                     assert(0);   // Nonexistent interface
                     continue;
                 }
-                const int res = iface->receive(frame.frame, frame.timestamp);
+                const int res = iface->receive(frame, frame.timestamp);
                 if (res == 0)
                 {
                     assert(0);   // select() reported that iface has pending RX frames, but receive() returned none
diff --git a/libuavcan/test/transport/can/io.cpp b/libuavcan/test/transport/can/io.cpp
index 4d337f9259..c51845b108 100644
--- a/libuavcan/test/transport/can/io.cpp
+++ b/libuavcan/test/transport/can/io.cpp
@@ -196,13 +196,14 @@ TEST(CanIOManager, CanDriverMock)
 static bool rxFrameEquals(const uavcan::CanRxFrame& rxframe, const uavcan::CanFrame& frame,
                           uint64_t timestamp, int iface_index)
 {
-    if (rxframe.frame != frame)
+    if (static_cast<const uavcan::CanFrame&>(rxframe) != frame)
     {
         std::cout << "Frame mismatch:\n"
-                  << "    " << rxframe.frame.toString(uavcan::CanFrame::STR_ALIGNED) << "\n"
+                  << "    " << rxframe.toString(uavcan::CanFrame::STR_ALIGNED) << "\n"
                   << "    " << frame.toString(uavcan::CanFrame::STR_ALIGNED) << std::endl;
     }
-    return (rxframe.frame == frame) && (rxframe.timestamp == timestamp) && (rxframe.iface_index == iface_index);
+    return (static_cast<const uavcan::CanFrame&>(rxframe) == frame) &&
+        (rxframe.timestamp == timestamp) && (rxframe.iface_index == iface_index);
 }
 
 TEST(CanIOManager, Reception)
diff --git a/libuavcan/test/transport/transfer.cpp b/libuavcan/test/transport/transfer.cpp
index 86ec044e2a..1109b52982 100644
--- a/libuavcan/test/transport/transfer.cpp
+++ b/libuavcan/test/transport/transfer.cpp
@@ -145,7 +145,7 @@ TEST(Transfer, RxFrameParseCompile)
     ASSERT_FALSE(rx_frame.parse(can_rx_frame));
 
     // Default
-    can_rx_frame.frame.id = CanFrame::FLAG_EFF;
+    can_rx_frame.id = CanFrame::FLAG_EFF;
     ASSERT_TRUE(rx_frame.parse(can_rx_frame));
     ASSERT_EQ(0, rx_frame.timestamp);
     ASSERT_EQ(0, rx_frame.iface_index);