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 f56f7f137..4d4e76aff 100644
--- a/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
+++ b/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
@@ -657,11 +657,13 @@ void can_lld_init(void) {
 #endif
 
   /* Filters initialization.*/
+#if STM32_CAN_USE_CAN1
 #if STM32_HAS_CAN2
   can_lld_set_filters(&CAND1, STM32_CAN_MAX_FILTERS / 2, 0, NULL);
 #else
   can_lld_set_filters(&CAND1, STM32_CAN_MAX_FILTERS, 0, NULL);
 #endif
+#endif
 
 #if STM32_HAS_CAN3
 #if STM32_CAN_USE_CAN3
diff --git a/readme.txt b/readme.txt
index f465d2ef7..d3b7ce8be 100644
--- a/readme.txt
+++ b/readme.txt
@@ -132,6 +132,8 @@
 - HAL: Added a new interface for range-finder devices (used by EX).
 - HAL: Added mcuconf.h updater tool for STM32F407 (backported to 19.1.1).
 - NIL: Integrated NIL 4.0.
+- FIX: Fixed STM32 CANv1 compile fails if CAN3 is used alone (bug #1052)
+       (backported to 19.1.4)(backported to 18.2.3).
 - FIX: Fixed palIsLineEventEnabledX() compile fail on STM32L4 (bug #1051)
        (backported to 19.1.4).
 - FIX: Fixed wrong clock disable check in STM32 DACv1 driver (bug #1050)