Index: dialin/protocols/CAN.py
===================================================================
diff -u -re10534f3df259e137e0ba14d897ecef42a767737 -r3338499f8613c3e0156b21c5535109c464cc5438
--- dialin/protocols/CAN.py	(.../CAN.py)	(revision e10534f3df259e137e0ba14d897ecef42a767737)
+++ dialin/protocols/CAN.py	(.../CAN.py)	(revision 3338499f8613c3e0156b21c5535109c464cc5438)
@@ -418,6 +418,8 @@
                     channel_id = message.arbitration_id
                     if not DenaliMessage.PAYLOAD_LENGTH_INDEX < len(can_data):
                         self.logger.error("Invalid denali message received: {0}".format(message))
+                        self.messages = None  # Can't process this message, get the next one
+                        continue
                     else:
                         message_length = can_data[DenaliMessage.PAYLOAD_LENGTH_INDEX]
 
@@ -460,7 +462,7 @@
                             self.long_msg_channel_id_set.remove(dialin_ch_id)
 
                         # Need to verify CRC at this point
-                        if DenaliMessage.verify_crc(complete_dialin_message) is False:
+                        if not DenaliMessage.verify_crc(complete_dialin_message):
                             # if verify is False, let's drop (ignore) this message
                             message_valid = False
                             dialin_ch_id = None
@@ -489,7 +491,7 @@
 
             else:  # no new packets in receive buffer
                 # We have received nothing, let's sleep 1 msec and let's check again
-                sleep(0.01)
+                sleep(0.001)
 
     def register_receiving_publication_function(self, channel_id, message_id, function):
         """
Index: tests/send_malformed_message.sh
===================================================================
diff -u
--- tests/send_malformed_message.sh	(revision 0)
+++ tests/send_malformed_message.sh	(revision 3338499f8613c3e0156b21c5535109c464cc5438)
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+#cansend can0 100#A5.33.03.07.00.04.00.00
+#cansend can0 100#00.00.28.00.00.00.00.00
+
+cansend can0 100#A5.33.03.07.01.04.00.00
+cansend can0 100#00.00.00.00.00.00.00.00
+#cansend can0 100#00.00.01.00.00.00.00.00