diff --git a/Core/Src/canlog.c b/Core/Src/canlog.c
index 930a3ba..64a1370 100644
--- a/Core/Src/canlog.c
+++ b/Core/Src/canlog.c
@@ -49,19 +49,11 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
     filter.FilterActivation = ENABLE;
     filter.SlaveStartFilterBank = 14;
 
-    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 6, 0);
-    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
-
-    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 6, 0);
-    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
-
     filter.FilterBank = 0;
     if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
-    if (HAL_CAN_Start(hcan1) != HAL_OK) Error_Handler();
 
     filter.FilterBank = 14;
     if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
-    if (HAL_CAN_Start(hcan2) != HAL_OK) Error_Handler();
 }
 /* END CAN_Logger_Init */
 
@@ -120,8 +112,13 @@ void vCANListener(void *argument)
   osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
   CanMessage_t message;
 
+  if (HAL_CAN_Start(hcan) != HAL_OK) Error_Handler();
   HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 
+  uint32_t irqn = (hcan->Instance == CAN1) ? CAN1_RX0_IRQn : CAN2_RX0_IRQn;
+  HAL_NVIC_SetPriority(irqn, 6, 0);
+  HAL_NVIC_EnableIRQ(irqn);
+
   for (;;)
   {
     if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)