diff --git a/libraries/SrcWrapper/src/HardwareTimer.cpp b/libraries/SrcWrapper/src/HardwareTimer.cpp
index 4ccfd02f47..2aca499a72 100644
--- a/libraries/SrcWrapper/src/HardwareTimer.cpp
+++ b/libraries/SrcWrapper/src/HardwareTimer.cpp
@@ -37,6 +37,18 @@
/* Private Variables */
timerObj_t *HardwareTimer_Handle[TIMER_NUM] = {NULL};
+#if defined(HAL_FDCAN_MODULE_ENABLED) && defined(STM32G0xx) && defined(FDCAN1_BASE)
+ /* Pointer to a FDCAN_HandleTypeDef structure that contains
+ * the configuration information for the specified FDCAN.
+ * Application have to declare them properly to be able to call
+ * the HAL_FDCAN_IRQHandler().
+ */
+ extern FDCAN_HandleTypeDef *phfdcan1;
+ #if defined(FDCAN2_BASE)
+ extern FDCAN_HandleTypeDef *phfdcan2;
+ #endif
+#endif
+
/**
* @brief HardwareTimer constructor: make uninitialized timer
* Before calling any methods, call setup to select and setup
@@ -1761,6 +1773,17 @@ extern "C" {
if (HardwareTimer_Handle[TIMER16_INDEX]) {
HAL_TIM_IRQHandler(&HardwareTimer_Handle[TIMER16_INDEX]->handle);
}
+#if defined(HAL_FDCAN_MODULE_ENABLED) && defined(STM32G0xx) && defined(FDCAN1_BASE)
+ /* FDCAN1_IT0 and FDCAN2_IT0 Interrupt */
+ if ((phfdcan1) && (__HAL_GET_PENDING_IT(HAL_ITLINE_FDCAN1_IT0) != RESET)) {
+ HAL_FDCAN_IRQHandler(phfdcan1);
+ }
+#if defined(FDCAN2_BASE)
+ if ((phfdcan2) && (__HAL_GET_PENDING_IT(HAL_ITLINE_FDCAN2_IT0) != RESET)) {
+ HAL_FDCAN_IRQHandler(phfdcan2);
+ }
+#endif
+#endif
}
#endif
#endif //TIM16_BASE
@@ -1776,6 +1799,17 @@ extern "C" {
if (HardwareTimer_Handle[TIMER17_INDEX]) {
HAL_TIM_IRQHandler(&HardwareTimer_Handle[TIMER17_INDEX]->handle);
}
+#if defined(HAL_FDCAN_MODULE_ENABLED) && defined(STM32G0xx) && defined(FDCAN1_BASE)
+ /* FDCAN1_IT1 and FDCAN2_IT1 Interrupt */
+ if ((phfdcan1) && (__HAL_GET_PENDING_IT(HAL_ITLINE_FDCAN1_IT1) != RESET)) {
+ HAL_FDCAN_IRQHandler(phfdcan1);
+ }
+#if defined(FDCAN2_BASE)
+ if ((phfdcan2) && (__HAL_GET_PENDING_IT(HAL_ITLINE_FDCAN2_IT1) != RESET)) {
+ HAL_FDCAN_IRQHandler(phfdcan2);
+ }
+#endif
+#endif
}
#endif //TIM17_BASE
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