diff --git a/include/sta/devices/stm32/adc.hpp b/include/sta/devices/stm32/adc.hpp
index 62b2985..e9b6292 100644
--- a/include/sta/devices/stm32/adc.hpp
+++ b/include/sta/devices/stm32/adc.hpp
@@ -31,6 +31,14 @@ namespace sta
          */
         void start();
 
+        /**
+		 * @brief Starts conversion of the incoming analog signal in DMA mode.
+		 *
+		 * @param buffer The buffer to write the converted values to.
+		 * @param length The length of the buffer to write the converted values to.
+		 */
+		void startDMA(uint32_t * buffer, size_t length);
+
         /**
          * @brief Polls for the converted analog signal.
          * 
diff --git a/include/sta/devices/stm32/can.hpp b/include/sta/devices/stm32/can.hpp
index e935cf5..598b2bd 100644
--- a/include/sta/devices/stm32/can.hpp
+++ b/include/sta/devices/stm32/can.hpp
@@ -80,6 +80,14 @@ namespace sta
         void disableFilter(uint8_t idx) override;
         void clearFilters() override;
 
+        // Return pending RX FIFOs as iterable container
+        CanPendingRxFifos getPendingRxFifos() override;
+
+        // Const getters
+        uint8_t maxFilterCount() const override;
+        uint8_t maxFifoCount() const override;
+        uint8_t maxPayloadSize() const override;
+
     private:
         /**
          * @brief Initialize filter settings.
diff --git a/include/sta/devices/stm32/mcu/STM32F407xx.hpp b/include/sta/devices/stm32/mcu/STM32F407xx.hpp
index 48db885..f390ad0 100644
--- a/include/sta/devices/stm32/mcu/STM32F407xx.hpp
+++ b/include/sta/devices/stm32/mcu/STM32F407xx.hpp
@@ -14,9 +14,10 @@
 
 #include <sta/devices/stm32/mcu/common.hpp>
 
-// uart setup
+// uart/CAN setup
 #ifdef STA_STM32_ASEAG
 #    define STA_STM32_USART_HANDLE huart1
+#    define STA_STM32_CAN_HANDLE hcan1
 #else
 #    ifdef STA_STM32_SWD_USART_IDX
 #        define STA_STM32_USART_HANDLE CONCAT(huart, STA_STM32_SWD_USART_IDX)
@@ -100,4 +101,4 @@
 
 /** @} */
 
-#endif // STA_CORE_STM32_MCU_STM32F407xx_HPP
\ No newline at end of file
+#endif // STA_CORE_STM32_MCU_STM32F407xx_HPP
diff --git a/src/debug/printing/printable_uart.cpp b/src/debug/printing/printable_uart.cpp
index 76a63f8..f3f7453 100644
--- a/src/debug/printing/printable_uart.cpp
+++ b/src/debug/printing/printable_uart.cpp
@@ -19,7 +19,9 @@ namespace sta
 
     void PrintableUART::print(const char * str, size_t length)
     {
+    	intf_->acquire();
         intf_->transfer(reinterpret_cast<const uint8_t *>(str), length);
+        intf_->release();
     }
 
 } // namespace sta
diff --git a/src/devices/stm32/adc.cpp b/src/devices/stm32/adc.cpp
index 5c5d663..fa57930 100644
--- a/src/devices/stm32/adc.cpp
+++ b/src/devices/stm32/adc.cpp
@@ -17,6 +17,17 @@ namespace sta
         HAL_ADC_Start(handle_);
     }
 
+    void STM32ADC::startDMA(uint32_t * buffer, size_t length)
+	{
+		STA_ASSERT(buffer != nullptr);
+		STA_ASSERT(length != 0);
+		STA_ASSERT(handle_->DMA_Handle != nullptr);
+
+		HAL_StatusTypeDef res = HAL_ADC_Start_DMA(handle_, buffer, length);
+
+		STA_ASSERT(res == HAL_OK);
+	}
+
     void STM32ADC::poll(uint32_t timeout)
     {
         HAL_StatusTypeDef res = HAL_ADC_PollForConversion(handle_, timeout);
diff --git a/src/devices/stm32/can.cpp b/src/devices/stm32/can.cpp
index 0c485ea..7a5cd59 100644
--- a/src/devices/stm32/can.cpp
+++ b/src/devices/stm32/can.cpp
@@ -168,6 +168,38 @@ namespace sta
             config->SlaveStartFilterBank = MAX_FILTER_COUNT;
         }
     }
+
+    CanPendingRxFifos STM32CanController::getPendingRxFifos(){
+
+
+    	uint32_t rxFlags = 0;
+
+        // Conditions to set the least significant bits
+        if (HAL_CAN_GetRxFifoFillLevel(handle_, CAN_RX_FIFO0) != 0) {
+        	// Set the first least significant bit
+        	rxFlags |= 0x01; // 0x01 is 00000001 in binary (LSB set, others cleared)
+        }
+
+        if (HAL_CAN_GetRxFifoFillLevel(handle_, CAN_RX_FIFO1) != 0) {
+        	// Set the second least significant bit
+        	rxFlags |= 0x02; // 0x02 is 00000010 in binary (2nd LSB set, others cleared)
+        }
+
+        return CanPendingRxFifos(rxFlags, MAX_FIFO_COUNT);;
+    }
+
+    uint8_t STM32CanController::maxFilterCount() const{
+        return MAX_FILTER_COUNT;
+    }
+
+    uint8_t STM32CanController::maxFifoCount() const {
+        return MAX_FIFO_COUNT;
+    }
+
+    uint8_t STM32CanController::maxPayloadSize() const {
+        return MAX_PAYLOAD_SIZE;
+    }
+
 } // namespace sta