diff --git a/include/sta/gpio_pin.hpp b/include/sta/gpio_pin.hpp
index 9a26f4c..3ab32be 100644
--- a/include/sta/gpio_pin.hpp
+++ b/include/sta/gpio_pin.hpp
@@ -38,6 +38,24 @@ namespace sta
          */
         virtual void setState(GpioPinState state) = 0;
 
+        /**
+         * @brief Set the GPIO pin to high.
+         * 
+         */
+        void setHigh();
+
+        /**
+         * @brief Set the GPIO pin to low.
+         * 
+         */
+        void setLow();
+
+        /**
+         * @brief Set the GPIO pin to the opposite of the current state.
+         * 
+         */
+        void toggle();
+
         /**
          * @brief Get pin input state.
          *
diff --git a/src/devices/stm32/can.cpp b/src/devices/stm32/can.cpp
index 7a5cd59..47e9c97 100644
--- a/src/devices/stm32/can.cpp
+++ b/src/devices/stm32/can.cpp
@@ -166,6 +166,7 @@ namespace sta
             config->FilterScale          = CAN_FILTERSCALE_32BIT;
             config->FilterActivation     = CAN_FILTER_DISABLE;
             config->SlaveStartFilterBank = MAX_FILTER_COUNT;
+            HAL_CAN_ConfigFilter(handle_, config);
         }
     }
 
@@ -203,16 +204,16 @@ namespace sta
 } // namespace sta
 
 
-#ifdef STA_STM32_CAN_GLOBAL
+#ifdef STA_STM32_CAN_HANDLE
 
 #include <can.h>
 
 namespace sta
 {
-    STM32CanController CanBus(&STA_STM32_CAN_GLOBAL);
+    STM32CanController CanBus(&STA_STM32_CAN_HANDLE);
 
     STA_WEAK
-    void CanBus_RxPendingCallback()
+    void CanBus_RxPendingCallback(uint32_t fifo)
     {}
 } // namespace sta
 
@@ -221,17 +222,17 @@ extern "C"
 {
     void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     {
-        if (hcan == &STA_STM32_CAN_GLOBAL)
+        if (hcan == &STA_STM32_CAN_HANDLE)
         {
-            sta::CanBus_RxPendingCallback();
+            sta::CanBus_RxPendingCallback(CAN_RX_FIFO0);
         }
     }
 
     void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
     {
-        if (hcan == &STA_STM32_CAN_GLOBAL)
+        if (hcan == &STA_STM32_CAN_HANDLE)
         {
-            sta::CanBus_RxPendingCallback();
+            sta::CanBus_RxPendingCallback(CAN_RX_FIFO1);
         }
     }
 }
diff --git a/src/gpio_pin.cpp b/src/gpio_pin.cpp
new file mode 100644
index 0000000..aafd52e
--- /dev/null
+++ b/src/gpio_pin.cpp
@@ -0,0 +1,20 @@
+#include <sta/gpio_pin.hpp>
+
+
+namespace sta
+{
+    void GpioPin::setHigh()
+    {
+        setState(GpioPinState::GPIO_HIGH);
+    }
+
+    void GpioPin::setLow()
+    {
+        setState(GpioPinState::GPIO_LOW);
+    }
+
+    void GpioPin::toggle()
+    {
+        setState(getState() == GpioPinState::GPIO_HIGH ? GpioPinState::GPIO_LOW : GpioPinState::GPIO_HIGH);
+    }
+} // namespace sta