diff --git a/pkg/socketcan/frame.go b/pkg/socketcan/frame.go
index 327d44e..0b2a3f5 100644
--- a/pkg/socketcan/frame.go
+++ b/pkg/socketcan/frame.go
@@ -60,7 +60,7 @@ const (
 // The interceptor is called if and only if the frame transmission/receival is a success.
 type FrameInterceptor func(fr can.Frame)
 
-// frame represents a SocketCAN frame.
+// Frame represents a SocketCAN frame.
 //
 // The format specified in the Linux SocketCAN kernel module:
 //
@@ -72,7 +72,7 @@ type FrameInterceptor func(fr can.Frame)
 //	        __u8    __res1;  /* reserved / padding */
 //	        __u8    data[8] __attribute__((aligned(8)));
 //	};
-type frame struct {
+type Frame struct {
 	// idAndFlags is the combined CAN ID and flags.
 	idAndFlags uint32
 	// dataLengthCode is the frame payload length in bytes.
@@ -83,21 +83,21 @@ type frame struct {
 	data [8]byte
 }
 
-func (f *frame) unmarshalBinary(b []byte) {
+func (f *Frame) UnmarshalBinary(b []byte) {
 	_ = b[lengthOfFrame-1] // bounds check
 	f.idAndFlags = binary.LittleEndian.Uint32(b[indexOfID : indexOfID+lengthOfID])
 	f.dataLengthCode = b[indexOfDataLengthCode]
 	copy(f.data[:], b[indexOfData:lengthOfFrame])
 }
 
-func (f *frame) marshalBinary(b []byte) {
+func (f *Frame) MarshalBinary(b []byte) {
 	_ = b[lengthOfFrame-1] // bounds check
 	binary.LittleEndian.PutUint32(b[indexOfID:indexOfID+lengthOfID], f.idAndFlags)
 	b[indexOfDataLengthCode] = f.dataLengthCode
 	copy(b[indexOfData:], f.data[:])
 }
 
-func (f *frame) decodeFrame() can.Frame {
+func (f *Frame) DecodeFrame() can.Frame {
 	return can.Frame{
 		ID:         f.id(),
 		Length:     f.dataLengthCode,
@@ -107,7 +107,7 @@ func (f *frame) decodeFrame() can.Frame {
 	}
 }
 
-func (f *frame) encodeFrame(cf can.Frame) {
+func (f *Frame) EncodeFrame(cf can.Frame) {
 	f.idAndFlags = cf.ID
 	if cf.IsRemote {
 		f.idAndFlags |= idFlagRemote
@@ -119,26 +119,26 @@ func (f *frame) encodeFrame(cf can.Frame) {
 	f.data = cf.Data
 }
 
-func (f *frame) isExtended() bool {
+func (f *Frame) isExtended() bool {
 	return f.idAndFlags&idFlagExtended > 0
 }
 
-func (f *frame) isRemote() bool {
+func (f *Frame) isRemote() bool {
 	return f.idAndFlags&idFlagRemote > 0
 }
 
-func (f *frame) isError() bool {
+func (f *Frame) IsError() bool {
 	return f.idAndFlags&idFlagError > 0
 }
 
-func (f *frame) id() uint32 {
+func (f *Frame) id() uint32 {
 	if f.isExtended() {
 		return f.idAndFlags & idMaskExtended
 	}
 	return f.idAndFlags & idMaskStandard
 }
 
-func (f *frame) decodeErrorFrame() ErrorFrame {
+func (f *Frame) DecodeErrorFrame() ErrorFrame {
 	return ErrorFrame{
 		ErrorClass:                     f.errorClass(),
 		LostArbitrationBit:             f.lostArbitrationBit(),
@@ -150,31 +150,31 @@ func (f *frame) decodeErrorFrame() ErrorFrame {
 	}
 }
 
-func (f *frame) errorClass() ErrorClass {
+func (f *Frame) errorClass() ErrorClass {
 	return ErrorClass(f.idAndFlags &^ idFlagError)
 }
 
-func (f *frame) lostArbitrationBit() uint8 {
+func (f *Frame) lostArbitrationBit() uint8 {
 	return f.data[indexOfLostArbitrationBit]
 }
 
-func (f *frame) controllerError() ControllerError {
+func (f *Frame) controllerError() ControllerError {
 	return ControllerError(f.data[indexOfControllerError])
 }
 
-func (f *frame) protocolError() ProtocolViolationError {
+func (f *Frame) protocolError() ProtocolViolationError {
 	return ProtocolViolationError(f.data[indexOfProtocolError])
 }
 
-func (f *frame) protocolErrorLocation() ProtocolViolationErrorLocation {
+func (f *Frame) protocolErrorLocation() ProtocolViolationErrorLocation {
 	return ProtocolViolationErrorLocation(f.data[indexOfProtocolViolationErrorLocation])
 }
 
-func (f *frame) transceiverError() TransceiverError {
+func (f *Frame) transceiverError() TransceiverError {
 	return TransceiverError(f.data[indexOfTransceiverError])
 }
 
-func (f *frame) controllerSpecificInformation() [LengthOfControllerSpecificInformation]byte {
+func (f *Frame) controllerSpecificInformation() [LengthOfControllerSpecificInformation]byte {
 	var ret [LengthOfControllerSpecificInformation]byte
 	start := indexOfControllerSpecificInformation
 	end := start + LengthOfControllerSpecificInformation
diff --git a/pkg/socketcan/frame_test.go b/pkg/socketcan/frame_test.go
index c85d3da..4a213cd 100644
--- a/pkg/socketcan/frame_test.go
+++ b/pkg/socketcan/frame_test.go
@@ -14,10 +14,10 @@ func TestFrame_MarshalUnmarshalBinary_Property_Idempotent(t *testing.T) {
 		return data
 	}
 	g := func(data [lengthOfFrame]byte) [lengthOfFrame]byte {
-		var f frame
-		f.unmarshalBinary(data[:])
+		var f Frame
+		f.UnmarshalBinary(data[:])
 		var newData [lengthOfFrame]byte
-		f.marshalBinary(newData[:])
+		f.MarshalBinary(newData[:])
 		return newData
 	}
 	assert.NilError(t, quick.CheckEqual(f, g, nil))
@@ -27,7 +27,7 @@ func TestFrame_EncodeDecode(t *testing.T) {
 	for _, tt := range []struct {
 		msg            string
 		frame          can.Frame
-		socketCANFrame frame
+		socketCANFrame Frame
 	}{
 		{
 			msg: "data",
@@ -36,7 +36,7 @@ func TestFrame_EncodeDecode(t *testing.T) {
 				Length: 8,
 				Data:   can.Data{1, 2, 3, 4, 5, 6, 7, 8},
 			},
-			socketCANFrame: frame{
+			socketCANFrame: Frame{
 				idAndFlags:     0x00000001,
 				dataLengthCode: 8,
 				data:           [8]byte{1, 2, 3, 4, 5, 6, 7, 8},
@@ -48,7 +48,7 @@ func TestFrame_EncodeDecode(t *testing.T) {
 				ID:         0x00000001,
 				IsExtended: true,
 			},
-			socketCANFrame: frame{
+			socketCANFrame: Frame{
 				idAndFlags: 0x80000001,
 			},
 		},
@@ -58,7 +58,7 @@ func TestFrame_EncodeDecode(t *testing.T) {
 				ID:       0x00000001,
 				IsRemote: true,
 			},
-			socketCANFrame: frame{
+			socketCANFrame: Frame{
 				idAndFlags: 0x40000001,
 			},
 		},
@@ -69,38 +69,38 @@ func TestFrame_EncodeDecode(t *testing.T) {
 				IsExtended: true,
 				IsRemote:   true,
 			},
-			socketCANFrame: frame{
+			socketCANFrame: Frame{
 				idAndFlags: 0xc0000001,
 			},
 		},
 	} {
 		t.Run(tt.msg, func(t *testing.T) {
 			t.Run("encode", func(t *testing.T) {
-				var actual frame
-				actual.encodeFrame(tt.frame)
+				var actual Frame
+				actual.EncodeFrame(tt.frame)
 				assert.Equal(t, tt.socketCANFrame, actual)
 			})
 			t.Run("decode", func(t *testing.T) {
-				assert.Equal(t, tt.frame, tt.socketCANFrame.decodeFrame())
+				assert.Equal(t, tt.frame, tt.socketCANFrame.DecodeFrame())
 			})
 		})
 	}
 }
 
 func TestFrame_IsError(t *testing.T) {
-	assert.Assert(t, (&frame{idAndFlags: 0x20000001}).isError())
-	assert.Assert(t, !(&frame{idAndFlags: 0x00000001}).isError())
+	assert.Assert(t, (&Frame{idAndFlags: 0x20000001}).IsError())
+	assert.Assert(t, !(&Frame{idAndFlags: 0x00000001}).IsError())
 }
 
 func TestFrame_DecodeErrorFrame(t *testing.T) {
 	for _, tt := range []struct {
 		msg      string
-		f        frame
+		f        Frame
 		expected ErrorFrame
 	}{
 		{
 			msg: "lost arbitration",
-			f: frame{
+			f: Frame{
 				idAndFlags:     0x20000002,
 				dataLengthCode: 8,
 				data: [8]byte{
@@ -114,7 +114,7 @@ func TestFrame_DecodeErrorFrame(t *testing.T) {
 		},
 		{
 			msg: "controller",
-			f: frame{
+			f: Frame{
 				idAndFlags:     0x20000004,
 				dataLengthCode: 8,
 				data: [8]byte{
@@ -129,7 +129,7 @@ func TestFrame_DecodeErrorFrame(t *testing.T) {
 		},
 		{
 			msg: "protocol violation",
-			f: frame{
+			f: Frame{
 				idAndFlags:     0x20000008,
 				dataLengthCode: 8,
 				data: [8]byte{
@@ -147,7 +147,7 @@ func TestFrame_DecodeErrorFrame(t *testing.T) {
 		},
 		{
 			msg: "transceiver",
-			f: frame{
+			f: Frame{
 				idAndFlags:     0x20000010,
 				dataLengthCode: 8,
 				data: [8]byte{
@@ -165,7 +165,7 @@ func TestFrame_DecodeErrorFrame(t *testing.T) {
 		},
 		{
 			msg: "controller-specific information",
-			f: frame{
+			f: Frame{
 				idAndFlags:     0x20000001,
 				dataLengthCode: 8,
 				data: [8]byte{
@@ -186,7 +186,7 @@ func TestFrame_DecodeErrorFrame(t *testing.T) {
 		},
 	} {
 		t.Run(tt.msg, func(t *testing.T) {
-			assert.Equal(t, tt.expected, tt.f.decodeErrorFrame())
+			assert.Equal(t, tt.expected, tt.f.DecodeErrorFrame())
 		})
 	}
 }
diff --git a/pkg/socketcan/receiver.go b/pkg/socketcan/receiver.go
index aa5d52c..24c268c 100644
--- a/pkg/socketcan/receiver.go
+++ b/pkg/socketcan/receiver.go
@@ -17,7 +17,7 @@ type Receiver struct {
 	opts  receiverOpts
 	rc    io.ReadCloser
 	sc    *bufio.Scanner
-	frame frame
+	frame Frame
 }
 
 func NewReceiver(rc io.ReadCloser, opt ...ReceiverOption) *Receiver {
@@ -44,26 +44,26 @@ func scanFrames(data []byte, _ bool) (int, []byte, error) {
 
 func (r *Receiver) Receive() bool {
 	ok := r.sc.Scan()
-	r.frame = frame{}
+	r.frame = Frame{}
 	if ok {
-		r.frame.unmarshalBinary(r.sc.Bytes())
+		r.frame.UnmarshalBinary(r.sc.Bytes())
 		if r.opts.frameInterceptor != nil {
-			r.opts.frameInterceptor(r.frame.decodeFrame())
+			r.opts.frameInterceptor(r.frame.DecodeFrame())
 		}
 	}
 	return ok
 }
 
 func (r *Receiver) HasErrorFrame() bool {
-	return r.frame.isError()
+	return r.frame.IsError()
 }
 
 func (r *Receiver) Frame() can.Frame {
-	return r.frame.decodeFrame()
+	return r.frame.DecodeFrame()
 }
 
 func (r *Receiver) ErrorFrame() ErrorFrame {
-	return r.frame.decodeErrorFrame()
+	return r.frame.DecodeErrorFrame()
 }
 
 func (r *Receiver) Err() error {
diff --git a/pkg/socketcan/transmitter.go b/pkg/socketcan/transmitter.go
index 2d61e1b..6efc002 100644
--- a/pkg/socketcan/transmitter.go
+++ b/pkg/socketcan/transmitter.go
@@ -43,10 +43,10 @@ func (t *Transmitter) TransmitMessage(ctx context.Context, m can.Message) error
 
 // TransmitFrame transmits a CAN frame.
 func (t *Transmitter) TransmitFrame(ctx context.Context, f can.Frame) error {
-	var scf frame
-	scf.encodeFrame(f)
+	var scf Frame
+	scf.EncodeFrame(f)
 	data := make([]byte, lengthOfFrame)
-	scf.marshalBinary(data)
+	scf.MarshalBinary(data)
 	if deadline, ok := ctx.Deadline(); ok {
 		if err := t.conn.SetWriteDeadline(deadline); err != nil {
 			return fmt.Errorf("transmit frame: %w", err)