diff --git a/Inc/mmr_can.h b/Inc/mmr_can.h
index a9c5c91..057c48f 100644
--- a/Inc/mmr_can.h
+++ b/Inc/mmr_can.h
@@ -11,6 +11,12 @@
 #define MMR_CAN_RX_FIFO CAN_RX_FIFO0
 #endif
 
+#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
+#define MMR_CAN_FILTER_FIFO CAN_FILTER_FIFO0
+#else
+#define MMR_CAN_FILTER_FIFO CAN_FILTER_FIFO1
+#endif
+
 #if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
 #define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO0_MSG_PENDING
 #else
diff --git a/Inc/mmr_can_events.h b/Inc/mmr_can_events.h
new file mode 100644
index 0000000..5fb1b28
--- /dev/null
+++ b/Inc/mmr_can_events.h
@@ -0,0 +1,22 @@
+#ifndef INC_MMR_CAN_EVENTS_H_
+#define INC_MMR_CAN_EVENTS_H_
+
+#include "mmr_can.h"
+
+typedef struct {
+  CanId senderId;
+  uint8_t *message;
+} MmrCanEvent;
+
+typedef void (*MmrCanEventHandler)(MmrCanEvent *event);
+
+typedef struct {
+  const MmrCanEventHandler *handlers;
+  const size_t count;
+} MmrCanEventList;
+
+
+void MMR_CAN_InitRxHandlers(const MmrCanEventList *rxEvents);
+
+
+#endif /* INC_MMR_CAN_EVENTS_H_ */
diff --git a/Inc/mmr_can_types.h b/Inc/mmr_can_types.h
index c3386cb..580e2b3 100644
--- a/Inc/mmr_can_types.h
+++ b/Inc/mmr_can_types.h
@@ -33,7 +33,7 @@ typedef uint8_t CanFilterBank;
 
 typedef HAL_StatusTypeDef HalStatus;
 typedef CAN_HandleTypeDef CanHandle;
-typedef CAN_TxHeaderTypeDef CanTxHeader;
 typedef CAN_RxHeaderTypeDef CanRxHeader;
+typedef CAN_TxHeaderTypeDef CanTxHeader;
 
 #endif /* INC_MMR_CAN_TYPES_H_ */
diff --git a/Inc/mmr_can_util.h b/Inc/mmr_can_util.h
index a0f8efe..62cf522 100644
--- a/Inc/mmr_can_util.h
+++ b/Inc/mmr_can_util.h
@@ -4,6 +4,9 @@
 #include <stdint.h>
 #include <string.h>
 
+#define arrayLength(array) \
+  (sizeof(array) / sizeof(*(array)))
+
 #define stringArrayLength(array) \
   stringBufferLength((array), sizeof(array))
 
diff --git a/Src/mmr_can.c b/Src/mmr_can.c
index 4733370..443fafe 100644
--- a/Src/mmr_can.c
+++ b/Src/mmr_can.c
@@ -27,7 +27,7 @@ CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask) {
 MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings() {
   return (MmrCanFilterSettings) {
     .enabled = true,
-    .fifo = MMR_CAN_RX_FIFO,
+    .fifo = MMR_CAN_FILTER_FIFO,
     .idMask = 0,
     .bank = 0,
     .slaveBankStart = 14,
@@ -46,21 +46,3 @@ HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
 
   return HAL_CAN_AddTxMessage(hcan, &header, packet.data, packet.mailbox);
 }
-
-
-static void __handleCanRxInterrupt(CAN_HandleTypeDef *hcan) {
-  static CanRxHeader rxHeader = {};
-  static CanRxBuffer rxData = {};
-
-  HAL_CAN_GetRxMessage(hcan, MMR_CAN_RX_FIFO, &rxHeader, rxData);
-}
-
-#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
-void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
-  __handleCanRxInterrupt(hcan);
-}
-#elif MMR_CAN_RX_FIFO == CAN_RX_FIFO1
-void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
-  __handleCanRxInterrupt(hcan);
-}
-#endif
diff --git a/Src/mmr_can_events.c b/Src/mmr_can_events.c
new file mode 100644
index 0000000..2b530b7
--- /dev/null
+++ b/Src/mmr_can_events.c
@@ -0,0 +1,58 @@
+#include "mmr_can.h"
+#include "mmr_can_events.h"
+
+
+static const MmrCanEventList *_rxEvents = NULL;
+
+
+static void __handleCanRxInterrupt(CanHandle *hcan);
+static void __invokeAll(const MmrCanEventList *events, MmrCanEvent *event);
+static void __maybeInvoke(const MmrCanEventHandler handler, MmrCanEvent *event);
+
+
+void MMR_CAN_InitRxHandlers(const MmrCanEventList *rxEvents) {
+  _rxEvents = rxEvents;
+}
+
+
+static void __handleCanRxInterrupt(CanHandle *hcan) {
+  static CanRxHeader rxHeader = {};
+  static CanRxBuffer rxData = {};
+
+  HAL_CAN_GetRxMessage(hcan, MMR_CAN_RX_FIFO, &rxHeader, rxData);
+
+  MmrCanEvent event = {
+    .senderId = rxHeader.StdId,
+    .message = rxData,
+  };
+
+  __invokeAll(_rxEvents, &event);
+}
+
+static void __invokeAll(const MmrCanEventList *events, MmrCanEvent *event) {
+  if (!events) {
+    return;
+  }
+
+  short i;
+  for (i = 0; i < events->count; i++) {
+    __maybeInvoke(events->handlers[i], event);
+  }
+}
+
+static always_inline void __maybeInvoke(const MmrCanEventHandler handler, MmrCanEvent *event) {
+  if (handler) {
+    handler(event);
+  }
+}
+
+
+#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
+void HAL_CAN_RxFifo0MsgPendingCallback(CanHandle *hcan) {
+  __handleCanRxInterrupt(hcan);
+}
+#elif MMR_CAN_RX_FIFO == CAN_RX_FIFO1
+void HAL_CAN_RxFifo1MsgPendingCallback(CanHandle *hcan) {
+  __handleCanRxInterrupt(hcan);
+}
+#endif