STM32H743 FDCAN Communication problem in classic mode

Hey guys,

I have this project with STM32H743 MCUs one board uses ZI and second VI version. Sources for both boards were generated in CubeMX.

After many unsuccessful attempts to get these two boards talking to each other via classic CAN I replaced one of the boards with Nucleo F767 board, generated basic code in CubeMX and bam works like champ, can send frame gets ACK from H743 so the baud rate seems to be ok. On the other and, H743VI is in chill and doesnt react to anything except generating the ACK bit.

Both MCUs (H743s) use crystal oscillators (25MHz) as clock source and are running at max 400MHz. Clock source for FDCAN is divided by 2 and set to 200MHz.

My handle config for H743ZI is below, and is same for the VI version.

 hfdcan1.Instance = FDCAN1;
 hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
 hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
 hfdcan1.Init.AutoRetransmission = DISABLE;
 hfdcan1.Init.TransmitPause = DISABLE;
 hfdcan1.Init.NominalPrescaler = 20;
 hfdcan1.Init.NominalSyncJumpWidth = 1;
 hfdcan1.Init.NominalTimeSeg1 = 16;
 hfdcan1.Init.NominalTimeSeg2 = 3;
 hfdcan1.Init.DataPrescaler = 20;
 hfdcan1.Init.DataSyncJumpWidth = 1;
 hfdcan1.Init.DataTimeSeg1 = 16;
 hfdcan1.Init.DataTimeSeg2 = 3;
 hfdcan1.Init.MessageRAMOffset = 0;
 hfdcan1.Init.StdFiltersNbr = 2;
 hfdcan1.Init.ExtFiltersNbr = 0;
 hfdcan1.Init.RxFifo0ElmtsNbr = 32;
 hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
 hfdcan1.Init.RxFifo1ElmtsNbr = 32;
 hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
 hfdcan1.Init.RxBuffersNbr = 0;
 hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
 hfdcan1.Init.TxEventsNbr = 0;
 hfdcan1.Init.TxBuffersNbr = 0;
 hfdcan1.Init.TxFifoQueueElmtsNbr = 32;
 hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
 hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
 hfdcan1.msgRam.StandardFilterSA = 0;
 hfdcan1.msgRam.ExtendedFilterSA = 0;
 hfdcan1.msgRam.RxFIFO0SA = 0;
 hfdcan1.msgRam.RxFIFO1SA = 0;
 hfdcan1.msgRam.RxBufferSA = 0;
 hfdcan1.msgRam.TxEventFIFOSA = 0;
 hfdcan1.msgRam.TxBufferSA = 0;
 hfdcan1.msgRam.TxFIFOQSA = 0;
 hfdcan1.msgRam.TTMemorySA = 0;
 hfdcan1.msgRam.EndAddress = 0;
 hfdcan1.ErrorCode = 0;
 if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
 {
 _Error_Handler(__FILE__, __LINE__);
 }