diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 47a9ece1..88c0f42f 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -58,7 +58,7 @@ bare-metal = "1.0.0"
 atomic-polyfill = "0.1.5"
 stm32-metapac = { version = "0.1.0", path = "../stm32-metapac", features = ["rt"] }
 vcell = "0.1.3"
-bxcan = "0.6.2"
+bxcan = "0.7.0"
 nb = "1.0.0"
 stm32-fmc = "0.2.4"
 seq-macro = "0.3.0"
@@ -71,7 +71,7 @@ quote = "1.0.15"
 stm32-metapac = { version = "0.1.0", path = "../stm32-metapac", default-features = false, features = ["metadata"]}
 
 [features]
-defmt = ["dep:defmt", "embassy/defmt", "embedded-io?/defmt", "embassy-usb?/defmt"]
+defmt = ["dep:defmt", "bxcan/unstable-defmt", "embassy/defmt", "embedded-io?/defmt", "embassy-usb?/defmt"]
 sdmmc-rs = ["embedded-sdmmc"]
 net = ["embassy-net" ]
 memory-x = ["stm32-metapac/memory-x"]
diff --git a/examples/stm32f4/src/bin/can.rs b/examples/stm32f4/src/bin/can.rs
index 8abce87a..e8377b9a 100644
--- a/examples/stm32f4/src/bin/can.rs
+++ b/examples/stm32f4/src/bin/can.rs
@@ -5,7 +5,7 @@
 use cortex_m_rt::entry;
 use defmt::*;
 use embassy_stm32::can::bxcan::filter::Mask32;
-use embassy_stm32::can::bxcan::{Frame, StandardId};
+use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId};
 use embassy_stm32::can::Can;
 use embassy_stm32::gpio::{Input, Pull};
 use {defmt_rtt as _, panic_probe as _};
@@ -25,7 +25,7 @@ fn main() -> ! {
 
     let mut can = Can::new(p.CAN1, p.PA11, p.PA12);
 
-    can.modify_filters().enable_bank(0, Mask32::accept_all());
+    can.modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
 
     can.modify_config()
         .set_bit_timing(0x001c0003) // http://www.bittiming.can-wiki.info/