diff --git a/drivers/mcp2515/candev_mcp2515.c b/drivers/mcp2515/candev_mcp2515.c
index 7189297369..beb0bd05d3 100644
--- a/drivers/mcp2515/candev_mcp2515.c
+++ b/drivers/mcp2515/candev_mcp2515.c
@@ -421,7 +421,6 @@ static int _get(candev_t *candev, canopt_t opt, void *value, size_t max_len)
 static int _set_filter(candev_t *dev, const struct can_filter *filter)
 {
     DEBUG("inside _set_filter of MCP2515\n");
-    bool filter_added = true;
     struct can_filter f = *filter;
     int res = -1;
     enum mcp2515_mode mode;
@@ -453,7 +452,7 @@ static int _set_filter(candev_t *dev, const struct can_filter *filter)
     /* Browse on each mailbox to find an empty space */
     int mailbox_index = 0;
 
-    while (mailbox_index < MCP2515_RX_MAILBOXES && !filter_added) {
+    while (mailbox_index < MCP2515_RX_MAILBOXES) {
         /* mask unused */
         if (dev_mcp->masks[mailbox_index] == 0) {
             /* set mask */
@@ -467,7 +466,7 @@ static int _set_filter(candev_t *dev, const struct can_filter *filter)
             dev_mcp->filter_ids[mailbox_index][0] = f.can_id;
 
             /* function succeeded */
-            filter_added = true;
+            break;
         }
 
         /* mask existed and same mask */
@@ -498,7 +497,7 @@ static int _set_filter(candev_t *dev, const struct can_filter *filter)
                 dev_mcp->filter_ids[mailbox_index][filter_pos] = f.can_id;
 
                 /* function succeeded */
-                filter_added = true;
+                break;
             }
         }
         mailbox_index++;
@@ -513,7 +512,8 @@ static int _set_filter(candev_t *dev, const struct can_filter *filter)
         return -1;
     }
 
-    return filter_added;
+    /* Filter added */
+    return 0;
 }
 
 static int _remove_filter(candev_t *dev, const struct can_filter *filter)
diff --git a/drivers/mcp2515/mcp2515.c b/drivers/mcp2515/mcp2515.c
index ae7cec0a8d..158537fa99 100644
--- a/drivers/mcp2515/mcp2515.c
+++ b/drivers/mcp2515/mcp2515.c
@@ -108,7 +108,15 @@ int mcp2515_init(candev_mcp2515_t *dev, void (*irq_handler_cb)(void *))
         return -1;
     }
 
-    uint8_t cmd = MCP2515_RXB0CTRL_MODE_RECV_ALL;
+    uint8_t cmd;
+    if (IS_ACTIVE(MCP2515_RECV_FILTER_EN)) {
+        DEBUG_PUTS("filtering enabled");
+        cmd = MCP2515_RXB0CTRL_MODE_RECV_FILTER;
+    }
+    else {
+        DEBUG_PUTS("filtering disabled");
+        cmd = MCP2515_RXB0CTRL_MODE_RECV_ALL;
+    }
 
     res = mcp2515_spi_write(dev, MCP2515_RXB0CTRL, &cmd, 1);
     if (res < 0) {
diff --git a/drivers/mcp2515/mcp2515.h b/drivers/mcp2515/mcp2515.h
index 62cc31137d..65f1126396 100644
--- a/drivers/mcp2515/mcp2515.h
+++ b/drivers/mcp2515/mcp2515.h
@@ -71,6 +71,11 @@ enum mcp2515_error {
 /** Wake up source */
 #define MCP2515_WKUP_SRC_INTERNAL 1
 
+/** Acceptance mode (enable/disable filtering) */
+#ifndef MCP2515_RECV_FILTER_EN
+#define MCP2515_RECV_FILTER_EN  0
+#endif
+
 /**
  * @brief Initialize pins and SPI interface
  *
diff --git a/drivers/mcp2515/mcp2515_defines.h b/drivers/mcp2515/mcp2515_defines.h
index bf9cb641c8..bcc8d8baea 100644
--- a/drivers/mcp2515/mcp2515_defines.h
+++ b/drivers/mcp2515/mcp2515_defines.h
@@ -300,6 +300,7 @@ extern "C" {
 #define MCP2515_RXB0CTRL_BUKT1                  0x02
 #define MCP2515_RXB0CTRL_BUKT                   0x04
 #define MCP2515_RXB0CTRL_RXRTR                  0x08
+#define MCP2515_RXB0CTRL_MODE_RECV_FILTER       0x00
 #define MCP2515_RXB0CTRL_RXM0                   0x20
 #define MCP2515_RXB0CTRL_RXM1                   0x40
 #define MCP2515_RXB0CTRL_MODE_RECV_STD_OR_EXT   0x00
@@ -312,6 +313,7 @@ extern "C" {
 #define MCP2515_RXB1CTRL_FILHIT1                0x02
 #define MCP2515_RXB1CTRL_FILHIT2                0x04
 #define MCP2515_RXB1CTRL_RXRTR                  0x08
+#define MCP2515_RXB1CTRL_MODE_RECV_FILTER       0x00
 #define MCP2515_RXB1CTRL_RXM0                   0x20
 #define MCP2515_RXB1CTRL_RXM1                   0x40
 #define MCP2515_RXB1CTRL_MODE_RECV_STD_OR_EXT   0x00