diff --git a/bsp/stm32f4xx-HAL/drivers/drv_can.c b/bsp/stm32f4xx-HAL/drivers/drv_can.c
index 603a2a745b..c19ce2584e 100644
--- a/bsp/stm32f4xx-HAL/drivers/drv_can.c
+++ b/bsp/stm32f4xx-HAL/drivers/drv_can.c
@@ -362,12 +362,16 @@ void CAN2_SCE_IRQHandler(void)
  */
 void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
 {
-    /* TODO Error Callback */
-    /* Prevent unused argument(s) compilation warning */
-    UNUSED(hcan);
-    /* NOTE : This function Should not be modified, when the callback is needed,
-       the HAL_CAN_ErrorCallback could be implemented in the user file
-    */
+    __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG |
+                               CAN_IT_EPV |
+                               CAN_IT_BOF |
+                               CAN_IT_LEC |
+                               CAN_IT_ERR |
+                               CAN_IT_FMP0|
+                               CAN_IT_FOV0|
+                               CAN_IT_FMP1|
+                               CAN_IT_FOV1|
+                               CAN_IT_TME);
 }
 
 /**
diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c
index e20fcddcff..81fdf25a1e 100644
--- a/components/drivers/can/can.c
+++ b/components/drivers/can/can.c
@@ -405,6 +405,7 @@ static rt_err_t rt_can_close(struct rt_device *dev)
 
         rt_free(rx_fifo);
         dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX;
+        can->can_rx = RT_NULL;
         /* configure low level device */
         can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_RX);
     }
@@ -418,6 +419,7 @@ static rt_err_t rt_can_close(struct rt_device *dev)
 
         rt_free(tx_fifo);
         dev->open_flag &= ~RT_DEVICE_FLAG_INT_TX;
+        can->can_tx = RT_NULL;
         /* configure low level device */
         can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_TX);
     }