diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 7a9970c30..3c8a17b84 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -59,6 +59,8 @@ CH_IRQ_HANDLER(Vector8C) {
 
   /* No more events until a message is transmitted.*/
   CAN1->TSR = CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2;
+  while (chSemGetCounterI(&CAND1.cd_txsem) < 0)
+    chSemSignalI(&CAND1.cd_txsem);
   chEvtBroadcastI(&CAND1.cd_txempty_event);
 
   CH_IRQ_EPILOGUE();
@@ -77,6 +79,8 @@ CH_IRQ_HANDLER(Vector90) {
   if ((rf0r & CAN_RF0R_FMP0) > 0) {
     /* No more receive events until the queue 0 has been emptied.*/
     CAN1->IER &= ~CAN_IER_FMPIE0;
+    while (chSemGetCounterI(&CAND1.cd_rxsem) < 0)
+      chSemSignalI(&CAND1.cd_rxsem);
     chEvtBroadcastI(&CAND1.cd_rxfull_event);
   }
   if ((rf0r & CAN_RF0R_FOVR0) > 0) {
diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index 3cd10126d..7359e57b7 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -98,6 +98,9 @@ void canStop(CANDriver *canp) {
               "canStop(), #1",
               "invalid state");
   can_lld_stop(canp);
+  chSemResetI(&canp->cd_rxsem, 0);
+  chSemResetI(&canp->cd_txsem, 0);
+  chSchRescheduleS();
   canp->cd_state  = CAN_STOP;
   canp->cd_status = 0;
   chSysUnlock();
@@ -129,7 +132,7 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
   chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
               "canTransmit(), #1",
               "invalid state");
-  if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
+  while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
     msg_t msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout);
     if (msg != RDY_OK) {
       chSysUnlock();
@@ -169,7 +172,7 @@ msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout) {
   chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
               "canReceive(), #1",
               "invalid state");
-  if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
+  while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
     msg_t msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout);
     if (msg != RDY_OK) {
       chSysUnlock();