diff --git a/targets/TARGET_STM/TARGET_STM32F0/can_device.h b/targets/TARGET_STM/TARGET_STM32F0/can_device.h
index c0ab4bf66d..cff47d6a4c 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/can_device.h
+++ b/targets/TARGET_STM/TARGET_STM32F0/can_device.h
@@ -17,6 +17,7 @@
 #define MBED_CAN_DEVICE_H
 
 #include "cmsis.h"
+#include "stm32f0xx_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/targets/TARGET_STM/TARGET_STM32F1/can_device.h b/targets/TARGET_STM/TARGET_STM32F1/can_device.h
index d0e3ad0ce7..3792d0743e 100644
--- a/targets/TARGET_STM/TARGET_STM32F1/can_device.h
+++ b/targets/TARGET_STM/TARGET_STM32F1/can_device.h
@@ -17,6 +17,7 @@
 #define MBED_CAN_DEVICE_H
 
 #include "cmsis.h"
+#include "stm32f1xx_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/targets/TARGET_STM/TARGET_STM32F2/can_device.h b/targets/TARGET_STM/TARGET_STM32F2/can_device.h
index 8689988944..97a54210a0 100644
--- a/targets/TARGET_STM/TARGET_STM32F2/can_device.h
+++ b/targets/TARGET_STM/TARGET_STM32F2/can_device.h
@@ -17,6 +17,7 @@
 #define MBED_CAN_DEVICE_H
 
 #include "cmsis.h"
+#include "stm32f2xx_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/targets/TARGET_STM/TARGET_STM32F3/can_device.h b/targets/TARGET_STM/TARGET_STM32F3/can_device.h
index 3337c51dc7..1d77768200 100644
--- a/targets/TARGET_STM/TARGET_STM32F3/can_device.h
+++ b/targets/TARGET_STM/TARGET_STM32F3/can_device.h
@@ -17,6 +17,7 @@
 #define MBED_CAN_DEVICE_H
 
 #include "cmsis.h"
+#include "stm32f3xx_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/targets/TARGET_STM/TARGET_STM32F4/can_device.h b/targets/TARGET_STM/TARGET_STM32F4/can_device.h
index 8689988944..ffc85b663c 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/can_device.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/can_device.h
@@ -17,6 +17,7 @@
 #define MBED_CAN_DEVICE_H
 
 #include "cmsis.h"
+#include "stm32f4xx_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/targets/TARGET_STM/TARGET_STM32F7/can_device.h b/targets/TARGET_STM/TARGET_STM32F7/can_device.h
index 8689988944..7f4f6bf253 100644
--- a/targets/TARGET_STM/TARGET_STM32F7/can_device.h
+++ b/targets/TARGET_STM/TARGET_STM32F7/can_device.h
@@ -17,6 +17,7 @@
 #define MBED_CAN_DEVICE_H
 
 #include "cmsis.h"
+#include "stm32f7xx_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/targets/TARGET_STM/TARGET_STM32L4/can_device.h b/targets/TARGET_STM/TARGET_STM32L4/can_device.h
index d0e3ad0ce7..3cb1c1b6c1 100644
--- a/targets/TARGET_STM/TARGET_STM32L4/can_device.h
+++ b/targets/TARGET_STM/TARGET_STM32L4/can_device.h
@@ -17,6 +17,7 @@
 #define MBED_CAN_DEVICE_H
 
 #include "cmsis.h"
+#include "stm32l4xx_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/targets/TARGET_STM/can_api.c b/targets/TARGET_STM/can_api.c
index 202a860bfb..332211e04a 100644
--- a/targets/TARGET_STM/can_api.c
+++ b/targets/TARGET_STM/can_api.c
@@ -85,8 +85,10 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
         error("Cannot initialize CAN");
     }
 
-    // Set initial CAN frequency to requested kb/s
-    can_frequency(obj, hz);
+    // Set initial CAN frequency to 100 kb/s
+    if (can_frequency(obj, 100000) != 1) {
+        error("Can frequency could not be set\n");
+    }
 
     uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
     can_filter(obj, 0, 0, CANStandard, filter_number);
@@ -195,19 +197,40 @@ int can_frequency(can_t *obj, int f)
     int pclk = HAL_RCC_GetPCLK1Freq();
     int btr = can_speed(pclk, (unsigned int)f, 1);
     CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    uint32_t tickstart = 0;
+    int status = 1;
 
     if (btr > 0) {
         can->MCR |= CAN_MCR_INRQ ;
+        /* Get tick */
+        tickstart = HAL_GetTick();
         while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
+            if ((HAL_GetTick() - tickstart) > 2) {
+                status = 0;
+                break;
+            }
         }
-        can->BTR = btr;
-        can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
-        while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
+        if (status != 0) {
+            can->BTR = btr;
+            can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
+            /* Get tick */
+            tickstart = HAL_GetTick();
+            while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
+                if ((HAL_GetTick() - tickstart) > 2) {
+                    status = 0;
+                    break;
+                }
+            }
+            if (status == 0) {
+                error("can ESR  0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
+            }
+        } else {
+            error("can init request timeout\n");
         }
-        return 1;
     } else {
-        return 0;
+        status = 0;
     }
+    return status;
 }
 
 int can_write(can_t *obj, CAN_Message msg, int cc)
@@ -243,8 +266,8 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
                                             ((uint32_t)msg.data[1] << 8) |
                                             ((uint32_t)msg.data[0]));
     can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
-					     ((uint32_t)msg.data[6] << 16) |
-					     ((uint32_t)msg.data[5] << 8) |
+                                            ((uint32_t)msg.data[6] << 16) |
+                                            ((uint32_t)msg.data[5] << 8) |
                                                 ((uint32_t)msg.data[4]));
     /* Request transmission */
     can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;