diff --git a/embassy-stm32/src/can/fdcan.rs b/embassy-stm32/src/can/fdcan.rs
index 4b76cc34d..744d756f5 100644
--- a/embassy-stm32/src/can/fdcan.rs
+++ b/embassy-stm32/src/can/fdcan.rs
@@ -3,12 +3,9 @@ use core::future::poll_fn;
 use core::marker::PhantomData;
 use core::task::Poll;
 
-pub mod fd;
 use embassy_hal_internal::{into_ref, PeripheralRef};
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::channel::Channel;
-use fd::config::*;
-use fd::filter::*;
 
 use crate::can::fd::peripheral::Registers;
 use crate::gpio::sealed::AFType;
@@ -17,10 +14,14 @@ use crate::rcc::RccPeripheral;
 use crate::{interrupt, peripherals, Peripheral};
 
 pub mod enums;
-use enums::*;
+pub(crate) mod fd;
+pub mod frame;
 mod util;
 
-pub mod frame;
+use enums::*;
+use fd::config::*;
+use fd::filter::*;
+pub use fd::{config, filter};
 use frame::*;
 
 /// Timestamp for incoming packets. Use Embassy time when enabled.
diff --git a/examples/stm32g4/src/bin/can.rs b/examples/stm32g4/src/bin/can.rs
index affa97039..a41f765c1 100644
--- a/examples/stm32g4/src/bin/can.rs
+++ b/examples/stm32g4/src/bin/can.rs
@@ -22,8 +22,8 @@ async fn main(_spawner: Spawner) {
     let mut can = can::FdcanConfigurator::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
 
     can.set_extended_filter(
-        can::fd::filter::ExtendedFilterSlot::_0,
-        can::fd::filter::ExtendedFilter::accept_all_into_fifo1(),
+        can::filter::ExtendedFilterSlot::_0,
+        can::filter::ExtendedFilter::accept_all_into_fifo1(),
     );
 
     // 250k bps
diff --git a/tests/stm32/src/bin/fdcan.rs b/tests/stm32/src/bin/fdcan.rs
index 398e31ffc..f21aa797c 100644
--- a/tests/stm32/src/bin/fdcan.rs
+++ b/tests/stm32/src/bin/fdcan.rs
@@ -81,8 +81,8 @@ async fn main(_spawner: Spawner) {
     can.set_bitrate(250_000);
 
     can.set_extended_filter(
-        can::fd::filter::ExtendedFilterSlot::_0,
-        can::fd::filter::ExtendedFilter::accept_all_into_fifo1(),
+        can::filter::ExtendedFilterSlot::_0,
+        can::filter::ExtendedFilter::accept_all_into_fifo1(),
     );
 
     let mut can = can.into_internal_loopback_mode();