diff --git a/libraries/Arduino_CAN/examples/CANReadFilter/CANReadFilter.ino b/libraries/Arduino_CAN/examples/CANReadFilter/CANReadFilter.ino
new file mode 100644
index 00000000..23f9c868
--- /dev/null
+++ b/libraries/Arduino_CAN/examples/CANReadFilter/CANReadFilter.ino
@@ -0,0 +1,69 @@
+/*
+  CANRead
+
+  Receive and read CAN Bus messages
+  Read ID 0x100 EXTENDED and ID 0x10 STANDARD
+  
+  
+  Mailbox Groups 0-3 (Mailbox  0-15) -> TRANSMIT
+  Mailbox Groups 4-5 (Mailbox 16-23) -> RECEIVE EXTENDED
+  Mailbox Groups 6-7 (Mailbox 24-31) -> RECEIVE STANDARD
+
+  Mailbox Mask 5,7 are preset with 0x1FFFFFFF
+  Mailbox Mask 4,6 are preset with 0x00
+
+
+  See the full documentation here:
+  https://docs.arduino.cc/tutorials/uno-r4-wifi/can
+*/
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Arduino_CAN.h>
+
+/**************************************************************************************
+ * CONST
+ **************************************************************************************/
+
+static uint32_t const CAN_FILTER_MASK_STANDARD = 0x1FFC0000;
+static uint32_t const CAN_FILTER_MASK_EXTENDED = 0x1FFFFFFF;
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial) { }
+
+  CAN.setFilterMask_Extended(CAN_FILTER_MASK_EXTENDED);
+  CAN.setFilterMask_Standard(CAN_FILTER_MASK_STANDARD);
+
+  for (int mailbox = 0; mailbox < R7FA4M1_CAN::CAN_MAX_NO_EXTENDED_MAILBOXES; mailbox++)
+  {
+    CAN.setFilterId_Extended(mailbox, 0x0100);
+  }
+
+  for (int mailbox = 0; mailbox < R7FA4M1_CAN::CAN_MAX_NO_STANDARD_MAILBOXES; mailbox++)
+  {
+    CAN.setFilterId_Standard(mailbox, 0x10);
+  }
+
+  if (!CAN.begin(CanBitRate::BR_250k))
+  {
+    Serial.println("CAN.begin(...) failed.");
+    for (;;) {}
+  }
+}
+
+void loop()
+{
+  if (CAN.available())
+  {
+    CanMsg const msg = CAN.read();
+    Serial.println(msg);
+  }
+}
diff --git a/libraries/Arduino_CAN/keywords.txt b/libraries/Arduino_CAN/keywords.txt
index 18ddb001..fd410d9c 100644
--- a/libraries/Arduino_CAN/keywords.txt
+++ b/libraries/Arduino_CAN/keywords.txt
@@ -26,6 +26,10 @@ available	KEYWORD2
 read	KEYWORD2
 isError	KEYWORD2
 clearError	KEYWORD2
+setFilterMask_Standard
+setFilterMask_Extended
+setFilterId_Standard
+setFilterId_Extended
 
 getStandardId	KEYWORD2
 getExtendedId	KEYWORD2
@@ -41,3 +45,5 @@ BR_125k	LITERAL1
 BR_250k	LITERAL1
 BR_500k	LITERAL1
 BR_1000k	LITERAL1
+CAN_MAX_NO_STANDARD_MAILBOXES	LITERAL1
+CAN_MAX_NO_EXTENDED_MAILBOXES	LITERAL1
diff --git a/libraries/Arduino_CAN/src/R7FA4M1_CAN.cpp b/libraries/Arduino_CAN/src/R7FA4M1_CAN.cpp
index 37e2f6fd..95938e80 100644
--- a/libraries/Arduino_CAN/src/R7FA4M1_CAN.cpp
+++ b/libraries/Arduino_CAN/src/R7FA4M1_CAN.cpp
@@ -187,6 +187,37 @@ void R7FA4M1_CAN::end()
   R_CAN_Close(&_can_ctrl);
 }
 
+
+void R7FA4M1_CAN::setFilterMask_Standard(uint32_t const mask)
+{
+  _can_mailbox_mask[6] = mask;
+  _can_mailbox_mask[7] = mask;
+}
+
+void R7FA4M1_CAN::setFilterMask_Extended(uint32_t const mask)
+{
+  _can_mailbox_mask[4] = mask;
+  _can_mailbox_mask[5] = mask;
+}
+
+void R7FA4M1_CAN::setFilterId_Standard(size_t const mailbox, uint32_t const id)
+{
+  if (mailbox > CAN_MAX_NO_STANDARD_MAILBOXES)
+    return;
+
+  size_t const mailbox_idx = CAN_MAX_STANDARD_MAILBOX_OFFSET + mailbox;
+  _can_mailbox[mailbox_idx].mailbox_id = id;
+}
+
+void R7FA4M1_CAN::setFilterId_Extended(size_t const mailbox, uint32_t const id)
+{
+  if (mailbox > CAN_MAX_NO_EXTENDED_MAILBOXES)
+    return;
+
+  size_t const mailbox_idx = CAN_MAX_EXTENDED_MAILBOX_OFFSET + mailbox;
+  _can_mailbox[mailbox_idx].mailbox_id = id;
+}
+
 int R7FA4M1_CAN::enableInternalLoopback()
 {
   if(fsp_err_t const rc = R_CAN_ModeTransition(&_can_ctrl, CAN_OPERATION_MODE_NORMAL, CAN_TEST_MODE_LOOPBACK_EXTERNAL); rc != FSP_SUCCESS)
diff --git a/libraries/Arduino_CAN/src/R7FA4M1_CAN.h b/libraries/Arduino_CAN/src/R7FA4M1_CAN.h
index d1ac3517..f60252f6 100644
--- a/libraries/Arduino_CAN/src/R7FA4M1_CAN.h
+++ b/libraries/Arduino_CAN/src/R7FA4M1_CAN.h
@@ -54,6 +54,10 @@ class R7FA4M1_CAN final : public HardwareCAN
   bool begin(CanBitRate const can_bitrate) override;
   void end() override;
 
+  void setFilterMask_Standard(uint32_t const mask);
+  void setFilterMask_Extended(uint32_t const mask);
+  void setFilterId_Standard(size_t const mailbox, uint32_t const id);
+  void setFilterId_Extended(size_t const mailbox, uint32_t const id);
 
   int enableInternalLoopback();
   int disableInternalLoopback();
@@ -70,9 +74,13 @@ class R7FA4M1_CAN final : public HardwareCAN
   /* This function is used by the library and should NOT be called by the user. */
   void onCanCallback(can_callback_args_t * p_args);
 
+  static size_t constexpr CAN_MAX_NO_STANDARD_MAILBOXES = 8U;
+  static size_t constexpr CAN_MAX_NO_EXTENDED_MAILBOXES = 8U;
 
 private:
   static size_t constexpr CAN_MAX_NO_MAILBOXES = 32U;
+  static size_t constexpr CAN_MAX_STANDARD_MAILBOX_OFFSET = 24U;
+  static size_t constexpr CAN_MAX_EXTENDED_MAILBOX_OFFSET = 16U;
 
   int const _can_tx_pin;
   int const _can_rx_pin;