diff --git a/include/sta/devices/stm32/can.hpp b/include/sta/devices/stm32/can.hpp
index cd75304..598b2bd 100644
--- a/include/sta/devices/stm32/can.hpp
+++ b/include/sta/devices/stm32/can.hpp
@@ -80,7 +80,7 @@ namespace sta
         void disableFilter(uint8_t idx) override;
         void clearFilters() override;
 
-        // TODO
+        // Return pending RX FIFOs as iterable container
         CanPendingRxFifos getPendingRxFifos() override;
 
         // Const getters
diff --git a/src/devices/stm32/can.cpp b/src/devices/stm32/can.cpp
index 66b07ac..7a5cd59 100644
--- a/src/devices/stm32/can.cpp
+++ b/src/devices/stm32/can.cpp
@@ -170,13 +170,22 @@ namespace sta
     }
 
     CanPendingRxFifos STM32CanController::getPendingRxFifos(){
-    	CanPendingRxFifos pendingFifos(42, 3);
 
-        // Example implementation:
-        //pendingFifos.fifo0Pending = HAL_CAN_GetRxFifoFillLevel(handle_, CAN_RX_FIFO0) != 0;
-        //pendingFifos.fifo1Pending = HAL_CAN_GetRxFifoFillLevel(handle_, CAN_RX_FIFO1) != 0;
 
-        return pendingFifos;
+    	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{