diff --git a/embassy-stm32/src/can/bxcan.rs b/embassy-stm32/src/can/bxcan.rs
index 8b8244d4f..d4ec23816 100644
--- a/embassy-stm32/src/can/bxcan.rs
+++ b/embassy-stm32/src/can/bxcan.rs
@@ -77,6 +77,7 @@ pub struct Can<'d, T: Instance> {
 }
 
 #[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum BusError {
     Stuff,
     Form,
@@ -90,6 +91,22 @@ pub enum BusError {
     BusWarning,
 }
 
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum TryReadError {
+    /// Bus error
+    BusError(BusError),
+    /// Receive buffer is empty
+    Empty,
+}
+
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum TryWriteError {
+    /// All transmit mailboxes are full
+    Full,
+}
+
 impl<'d, T: Instance> Can<'d, T> {
     /// Creates a new Bxcan instance, keeping the peripheral in sleep mode.
     /// You must call [Can::enable_non_blocking] to use the peripheral.
@@ -175,56 +192,46 @@ impl<'d, T: Instance> Can<'d, T> {
 
     /// Queues the message to be sent but exerts backpressure
     pub async fn write(&mut self, frame: &Frame) -> bxcan::TransmitStatus {
-        poll_fn(|cx| {
-            T::state().tx_waker.register(cx.waker());
-            if let Ok(status) = self.can.borrow_mut().transmit(frame) {
-                return Poll::Ready(status);
-            }
-
-            Poll::Pending
-        })
-        .await
+        CanTx { can: &self.can }.write(frame).await
     }
 
-    pub async fn flush(&self, mb: bxcan::Mailbox) {
-        poll_fn(|cx| {
-            T::state().tx_waker.register(cx.waker());
-            if T::regs().tsr().read().tme(mb.index()) {
-                return Poll::Ready(());
-            }
+    /// Attempts to transmit a frame without blocking.
+    ///
+    /// Returns [Err(TryWriteError::Full)] if all transmit mailboxes are full.
+    pub fn try_write(&mut self, frame: &Frame) -> Result<bxcan::TransmitStatus, TryWriteError> {
+        CanTx { can: &self.can }.try_write(frame)
+    }
 
-            Poll::Pending
-        })
-        .await;
+    /// Waits for a specific transmit mailbox to become empty
+    pub async fn flush(&self, mb: bxcan::Mailbox) {
+        CanTx { can: &self.can }.flush(mb).await
+    }
+
+    /// Waits until any of the transmit mailboxes become empty
+    pub async fn flush_any(&self) {
+        CanTx { can: &self.can }.flush_any().await
+    }
+
+    /// Waits until all of the transmit mailboxes become empty
+    pub async fn flush_all(&self) {
+        CanTx { can: &self.can }.flush_all().await
     }
 
     /// Returns a tuple of the time the message was received and the message frame
     pub async fn read(&mut self) -> Result<(u16, bxcan::Frame), BusError> {
-        poll_fn(|cx| {
-            T::state().err_waker.register(cx.waker());
-            if let Poll::Ready((time, frame)) = T::state().rx_queue.recv().poll_unpin(cx) {
-                return Poll::Ready(Ok((time, frame)));
-            } else if let Some(err) = self.curr_error() {
-                return Poll::Ready(Err(err));
-            }
-
-            Poll::Pending
-        })
-        .await
+        CanRx { can: &self.can }.read().await
     }
 
-    fn curr_error(&self) -> Option<BusError> {
-        let err = { T::regs().esr().read() };
-        if err.boff() {
-            return Some(BusError::BusOff);
-        } else if err.epvf() {
-            return Some(BusError::BusPassive);
-        } else if err.ewgf() {
-            return Some(BusError::BusWarning);
-        } else if let Some(err) = err.lec().into_bus_err() {
-            return Some(err);
-        }
-        None
+    /// Attempts to read a can frame without blocking.
+    ///
+    /// Returns [Err(TryReadError::Empty)] if there are no frames in the rx queue.
+    pub fn try_read(&mut self) -> Result<(u16, bxcan::Frame), TryReadError> {
+        CanRx { can: &self.can }.try_read()
+    }
+
+    /// Waits while receive queue is empty.
+    pub async fn wait_not_empty(&mut self) {
+        CanRx { can: &self.can }.wait_not_empty().await
     }
 
     unsafe fn receive_fifo(fifo: RxFifo) {
@@ -386,6 +393,14 @@ impl<'c, 'd, T: Instance> CanTx<'c, 'd, T> {
         .await
     }
 
+    /// Attempts to transmit a frame without blocking.
+    ///
+    /// Returns [Err(TryWriteError::Full)] if all transmit mailboxes are full.
+    pub fn try_write(&mut self, frame: &Frame) -> Result<bxcan::TransmitStatus, TryWriteError> {
+        self.can.borrow_mut().transmit(frame).map_err(|_| TryWriteError::Full)
+    }
+
+    /// Waits for a specific transmit mailbox to become empty
     pub async fn flush(&self, mb: bxcan::Mailbox) {
         poll_fn(|cx| {
             T::state().tx_waker.register(cx.waker());
@@ -397,6 +412,42 @@ impl<'c, 'd, T: Instance> CanTx<'c, 'd, T> {
         })
         .await;
     }
+
+    /// Waits until any of the transmit mailboxes become empty
+    pub async fn flush_any(&self) {
+        poll_fn(|cx| {
+            T::state().tx_waker.register(cx.waker());
+
+            let tsr = T::regs().tsr().read();
+            if tsr.tme(bxcan::Mailbox::Mailbox0.index())
+                || tsr.tme(bxcan::Mailbox::Mailbox1.index())
+                || tsr.tme(bxcan::Mailbox::Mailbox2.index())
+            {
+                return Poll::Ready(());
+            }
+
+            Poll::Pending
+        })
+        .await;
+    }
+
+    /// Waits until all of the transmit mailboxes become empty
+    pub async fn flush_all(&self) {
+        poll_fn(|cx| {
+            T::state().tx_waker.register(cx.waker());
+
+            let tsr = T::regs().tsr().read();
+            if tsr.tme(bxcan::Mailbox::Mailbox0.index())
+                && tsr.tme(bxcan::Mailbox::Mailbox1.index())
+                && tsr.tme(bxcan::Mailbox::Mailbox2.index())
+            {
+                return Poll::Ready(());
+            }
+
+            Poll::Pending
+        })
+        .await;
+    }
 }
 
 #[allow(dead_code)]
@@ -419,6 +470,33 @@ impl<'c, 'd, T: Instance> CanRx<'c, 'd, T> {
         .await
     }
 
+    /// Attempts to read a CAN frame without blocking.
+    ///
+    /// Returns [Err(TryReadError::Empty)] if there are no frames in the rx queue.
+    pub fn try_read(&mut self) -> Result<(u16, bxcan::Frame), TryReadError> {
+        if let Ok(envelope) = T::state().rx_queue.try_recv() {
+            return Ok(envelope);
+        }
+
+        if let Some(err) = self.curr_error() {
+            return Err(TryReadError::BusError(err));
+        }
+
+        Err(TryReadError::Empty)
+    }
+
+    /// Waits while receive queue is empty.
+    pub async fn wait_not_empty(&mut self) {
+        poll_fn(|cx| {
+            if T::state().rx_queue.poll_ready_to_receive(cx) {
+                Poll::Ready(())
+            } else {
+                Poll::Pending
+            }
+        })
+        .await
+    }
+
     fn curr_error(&self) -> Option<BusError> {
         let err = { T::regs().esr().read() };
         if err.boff() {