1 files changed, 4 insertions, 5 deletions
diff --git a/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c b/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
index 09dbac7f0..d0a25fb77 100644
--- a/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
+++ b/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
@@ -162,14 +162,13 @@ static void can_lld_set_filters(CANDriver* canp,
 #endif
     canp->can->FM1R = 0;
     canp->can->FFA1R = 0;
+    canp->can->FS1R = 1;
+    canp->can->FA1R = 1;
 #if STM32_CAN_USE_CAN2
     if(canp == &CAND1) {
-      canp->can->FS1R = 1 | (1 << can2sb);
-      canp->can->FA1R = 1 | (1 << can2sb);
+      canp->can->FS1R |= 1 << can2sb;
+      canp->can->FA1R |= 1 << can2sb;
     }
-#else
-    canp->can->FS1R = 1;
-    canp->can->FA1R = 1;
 #endif
   }
   canp->can->FMR &= ~CAN_FMR_FINIT;