diff --git a/mcp2515.c b/mcp2515.c
index 7d3086a..166af5d 100644
--- a/mcp2515.c
+++ b/mcp2515.c
@@ -90,7 +90,7 @@ void MCP2515_Read_Rx(MCP2515_HandleTypeDef* hcan, REGISTER reg, uint8_t values[]
     HAL_GPIO_WritePin(hcan->cs_port, hcan->cs_pin, GPIO_PIN_SET);
 }
 
-CAN_Error MCP2515_Set_Mode(MCP2515_HandleTypeDef* hcan, CANCTRL_REQOP_MODE mode) {
+CAN_Error MCP2515_Set_Mode(MCP2515_HandleTypeDef* hcan, MCP2515_Mode_t mode) {
     unsigned long endTime = HAL_GetTick() + 10;
     uint8_t modeMatch = 0;
     while (HAL_GetTick() < endTime) {
@@ -251,26 +251,6 @@ CAN_Error MCP2515_Reset(MCP2515_HandleTypeDef* hcan) {
     return ERROR_OK;
 }
 
-CAN_Error MCP2515_Set_Mode(MCP2515_HandleTypeDef* hcan, MCP2515_Mode_t mode) {
-    switch (mode) {
-        case MODE_LISTEN_ONLY:
-            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_LISTENONLY);
-        break;
-        case MODE_LOOPBACK: 
-            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_LOOPBACK);
-        break;
-        case MODE_SLEEP: 
-            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_SLEEP);
-        break;
-        case MODE_NORMAL: 
-            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_NORMAL);
-        break;
-        default: 
-            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_NORMAL);
-        break;
-    }
-}
-
 CAN_Error MCP2515_Set_Pin_Control(MCP2515_HandleTypeDef* hcan, bool B1BFS, bool B0BFS, bool B1BFE, bool B0BFE, bool B1BFM, bool B0BFM) {
     CAN_Error error = MCP2515_Set_Config_Mode(hcan);
     if (error != ERROR_OK) {
@@ -571,6 +551,13 @@ CAN_Error MCP2515_Set_Bitrate_Clock(MCP2515_HandleTypeDef* hcan, CAN_SPEED canSp
     return ERROR_FAIL;
 }
 
+CAN_Error MCP2515_Set_Transmit_Priority(MCP2515_HandleTypeDef* hcan, MCP2515_Priority_t txb0, MCP2515_Priority_t txb1, MCP2515_Priority_t txb2)
+{
+    MCP2515_Set_Register(hcan, MCP_TXB0CTRL, txb0);
+    MCP2515_Set_Register(hcan, MCP_TXB1CTRL, txb1);
+    MCP2515_Set_Register(hcan, MCP_TXB2CTRL, txb2);
+}
+
 void MCP2515_Request_To_Send(MCP2515_HandleTypeDef* hcan, uint8_t instruction) {
     HAL_GPIO_WritePin(hcan->cs_port, hcan->cs_pin, GPIO_PIN_RESET);
     MCP2515_SPI_transfer(hcan, instruction);
diff --git a/mcp2515.h b/mcp2515.h
index 976b130..ab12b0f 100644
--- a/mcp2515.h
+++ b/mcp2515.h
@@ -2,6 +2,7 @@
 #define APPLICATION_USER_INC_MCP2515_H_
 
 #include <stdint.h>
+#include <stdbool.h>
 #include <stm32f0xx_hal.h>
 
 typedef enum {
@@ -51,12 +52,19 @@ typedef enum { TXB0 = 0, TXB1 = 1, TXB2 = 2 } TXBn;
 typedef enum { RXB0 = 0, RXB1 = 1 } RXBn;
 
 typedef enum {
-    MODE_LISTEN_ONLY,
+    MODE_NORMAL,
     MODE_SLEEP,
     MODE_LOOPBACK,
-    MODE_NORMAL
+    MODE_LISTEN_ONLY
 } MCP2515_Mode_t;
 
+typedef enum {
+    PRIORITY_LOW,
+    PRIORITY_NORMAL,
+    PRIORITY_HIGH,
+    PRIORITY_HIGHEST,
+} MCP2515_Priority_t;
+
 typedef struct {
     SPI_HandleTypeDef* hspi;
     GPIO_TypeDef* cs_port;
@@ -74,8 +82,11 @@ CAN_Error MCP2515_Reset(MCP2515_HandleTypeDef* hcan);
 uint8_t MCP2515_Get_Status(MCP2515_HandleTypeDef* hcan);
 
 CAN_Error MCP2515_Set_Mode(MCP2515_HandleTypeDef* hcan, MCP2515_Mode_t mode);
+CAN_Error MCP2515_Set_Pin_Control(MCP2515_HandleTypeDef* hcan, bool B1BFS, bool B0BFS, bool B1BFE, bool B0BFE, bool B1BFM, bool B0BFM);
+CAN_Error MCP2515_Set_Interrupt(MCP2515_HandleTypeDef* hcan, bool MERRIE, bool WAKIE, bool ERRIE, bool TX2IE, bool TX1IE, bool TX0IE, bool RX1IE, bool RX0IE);
 
 CAN_Error MCP2515_Set_Bitrate_Clock(MCP2515_HandleTypeDef* hcan, CAN_SPEED canSpeed, CAN_CLOCK canClock);
+CAN_Error MCP2515_Set_Transmit_Priority(MCP2515_HandleTypeDef* hcan, MCP2515_Priority_t txb0, MCP2515_Priority_t txb1, MCP2515_Priority_t txb2);
 
 CAN_Error MCP2515_Set_Filter_Mask(MCP2515_HandleTypeDef* hcan, MASK mask, uint8_t ext, uint32_t ulData);
 CAN_Error MCP2515_Set_Filter(MCP2515_HandleTypeDef* hcan, RXF num, uint8_t ext, uint32_t ulData);
diff --git a/mcp2515_consts.h b/mcp2515_consts.h
index 2be2920..284cb5e 100644
--- a/mcp2515_consts.h
+++ b/mcp2515_consts.h
@@ -210,6 +210,7 @@ typedef enum {
             MCP_RXF2EID8 = 0x0A,
             MCP_RXF2EID0 = 0x0B,
             MCP_BFPCTRL  = 0x0C,
+            MCP_TXRTSCTR = 0x0D,
             MCP_CANSTAT  = 0x0E,
             MCP_CANCTRL  = 0x0F,
             MCP_RXF3SIDH = 0x10,