diff --git a/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java b/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
index 8d805e09e7..029cc6d5e9 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
@@ -18,6 +18,8 @@ public class CANAPIJNI extends JNIWrapper {
   public static native void writeCANPacketRepeating(int handle, byte[] data, int apiId,
                                                     int repeatMs);
 
+  public static native void writeCANRTRFrame(int handle, int length, int apiId);
+
   public static native void stopCANPacketRepeating(int handle, int apiId);
 
   public static native boolean readCANPacketNew(int handle, int apiId, CANData data);
diff --git a/hal/src/main/native/athena/CANAPI.cpp b/hal/src/main/native/athena/CANAPI.cpp
index e2d351e5b2..44cdb58aa9 100644
--- a/hal/src/main/native/athena/CANAPI.cpp
+++ b/hal/src/main/native/athena/CANAPI.cpp
@@ -140,6 +140,27 @@ void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
   can->periodicSends[apiId] = repeatMs;
 }
 
+void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
+                          int32_t* status) {
+  auto can = canHandles->Get(handle);
+  if (!can) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  auto id = CreateCANId(can.get(), apiId);
+  id |= HAL_CAN_IS_FRAME_REMOTE;
+  uint8_t data[8];
+  std::memset(data, 0, sizeof(data));
+
+  HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
+
+  if (*status != 0) {
+    return;
+  }
+  std::scoped_lock lock(can->mapMutex);
+  can->periodicSends[apiId] = -1;
+}
+
 void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
                                 int32_t* status) {
   auto can = canHandles->Get(handle);
diff --git a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
index eb958c5e77..7ac7cf66ad 100644
--- a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
@@ -92,6 +92,21 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacketRepeating
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_CANAPIJNI
+ * Method:    writeCANRTRFrame
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CANAPIJNI_writeCANRTRFrame
+  (JNIEnv* env, jclass, jint handle, jint length, jint apiId)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  int32_t status = 0;
+  HAL_WriteCANRTRFrame(halHandle, static_cast<int32_t>(length), apiId, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_CANAPIJNI
  * Method:    stopCANPacketRepeating
diff --git a/hal/src/main/native/include/hal/CANAPI.h b/hal/src/main/native/include/hal/CANAPI.h
index 2ddd6c69d6..7a6bd88c4b 100644
--- a/hal/src/main/native/include/hal/CANAPI.h
+++ b/hal/src/main/native/include/hal/CANAPI.h
@@ -73,6 +73,20 @@ void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
                                  int32_t length, int32_t apiId,
                                  int32_t repeatMs, int32_t* status);
 
+/**
+ * Writes an RTR frame of the specified length to the CAN device with the
+ * specific ID.
+ *
+ * By spec, the length must be equal to the length sent by the other device,
+ * otherwise behavior is unspecified.
+ *
+ * @param handle   the CAN handle
+ * @param length   the length of data to request (0-8)
+ * @param apiId    the ID to write (0-1023)
+ */
+void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
+                          int32_t* status);
+
 /**
  * Stops a repeating packet with a specific ID.
  *
diff --git a/hal/src/main/native/sim/CANAPI.cpp b/hal/src/main/native/sim/CANAPI.cpp
index 76d5f1493d..08b0989668 100644
--- a/hal/src/main/native/sim/CANAPI.cpp
+++ b/hal/src/main/native/sim/CANAPI.cpp
@@ -147,6 +147,27 @@ void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
   can->periodicSends[apiId] = repeatMs;
 }
 
+void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
+                          int32_t* status) {
+  auto can = canHandles->Get(handle);
+  if (!can) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  auto id = CreateCANId(can.get(), apiId);
+  id |= HAL_CAN_IS_FRAME_REMOTE;
+  uint8_t data[8];
+  std::memset(data, 0, sizeof(data));
+
+  HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
+
+  if (*status != 0) {
+    return;
+  }
+  std::scoped_lock lock(can->mapMutex);
+  can->periodicSends[apiId] = -1;
+}
+
 void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
                                 int32_t* status) {
   auto can = canHandles->Get(handle);
diff --git a/wpilibc/src/main/native/cpp/CAN.cpp b/wpilibc/src/main/native/cpp/CAN.cpp
index 9c81ba6f16..35a926a3af 100644
--- a/wpilibc/src/main/native/cpp/CAN.cpp
+++ b/wpilibc/src/main/native/cpp/CAN.cpp
@@ -65,6 +65,12 @@ void CAN::WritePacketRepeating(const uint8_t* data, int length, int apiId,
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
+void CAN::WriteRTRFrame(int length, int apiId) {
+  int32_t status = 0;
+  HAL_WriteCANRTRFrame(m_handle, length, apiId, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
 void CAN::StopPacketRepeating(int apiId) {
   int32_t status = 0;
   HAL_StopCANPacketRepeating(m_handle, apiId, &status);
diff --git a/wpilibc/src/main/native/include/frc/CAN.h b/wpilibc/src/main/native/include/frc/CAN.h
index 8c383be63b..ed861fb4a7 100644
--- a/wpilibc/src/main/native/include/frc/CAN.h
+++ b/wpilibc/src/main/native/include/frc/CAN.h
@@ -83,6 +83,16 @@ class CAN : public ErrorBase {
   void WritePacketRepeating(const uint8_t* data, int length, int apiId,
                             int repeatMs);
 
+  /**
+   * Write an RTR frame to the CAN device with a specific ID. This ID is 10
+   * bits. The length by spec must match what is returned by the responding
+   * device
+   *
+   * @param length The length to request (0 to 8)
+   * @param apiId The API ID to write.
+   */
+  void WriteRTRFrame(int length, int apiId);
+
   /**
    * Stop a repeating packet with a specific ID. This ID is 10 bits.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
index 67d4c1cc2a..759056f872 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
@@ -89,6 +89,17 @@ public class CAN implements Closeable {
     CANAPIJNI.writeCANPacketRepeating(m_handle, data, apiId, repeatMs);
   }
 
+  /**
+   * Write an RTR frame to the CAN device with a specific ID. This ID is 10 bits.
+   * The length by spec must match what is returned by the responding device
+   *
+   * @param length The length to request (0 to 8)
+   * @param apiId The API ID to write.
+   */
+  public void writeRTRFrame(int length, int apiId) {
+    CANAPIJNI.writeCANRTRFrame(m_handle, length, apiId);
+  }
+
   /**
    * Stop a repeating packet with a specific ID. This ID is 10 bits.
    *