stm32f756 CAN Communication

[Dlak]

I am trying to communicate with CAN, but it seems that I am not receiving Rx. I would like to know the reason for this

static void MX_CAN2_Init(void)
{

  /* USER CODE BEGIN CAN2_Init 0 */

  /* USER CODE END CAN2_Init 0 */

  /* USER CODE BEGIN CAN2_Init 1 */

  /* USER CODE END CAN2_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 5;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_8TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_1TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = ENABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN2_Init 2 */
  CAN_FilterTypeDef FilterConfig;

 FilterConfig.FilterBank = 14;
 FilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 FilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 FilterConfig.FilterIdHigh = 0x0000;
 FilterConfig.FilterIdLow = 0x0000;
 FilterConfig.FilterMaskIdHigh = 0x0000;
 FilterConfig.FilterMaskIdLow = 0x0000;
 FilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 FilterConfig.FilterActivation = ENABLE;
 FilterConfig.SlaveStartFilterBank = 14;

 if (HAL_CAN_ConfigFilter(&hcan2, &FilterConfig) != HAL_OK)
 {
   /* Filter configuration Error */
   Error_Handler();
 }
   if (HAL_CAN_Start(&hcan2) != HAL_OK)
    {
        // Start Error
        Error_Handler();
    }

    if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
    {
        // Notification Error
        Error_Handler();
    }
	if(HAL_CAN_GetRxFifoFillLevel(&hcan2, CAN_RX_FIFO0) != HAL_OK)
  {
    /* Reception Missing */
    Error_Handler();
  }

//  HAL_CAN_ConfigFilter(&hcan2, &FilterConfig);
//  HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);

  /* USER CODE END CAN2_Init 2 */

}

 initiail Code and i use Can2 port

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	
	if ( HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &Can2RxHeader, canRxBuffer) != HAL_OK)
	{
		// Error_Handler();
		printf( "faild read message.. \r\n");
	}
	else
	{
		printf(" Data : %d, %d, %d, %d",canRxBuffer[0],canRxBuffer[1],canRxBuffer[2],canRxBuffer[3]);
	}


void Can2Task(void const * argument)
{
	// CAN_TxHeaderTypeDef Can2TxHeader;

	uint32_t PreviousWakeTime = osKernelSysTick();
	uint32_t Tx2MailBox;
	
	uint32_t id, rtr;

	CAN_TxHeaderTypeDef Tx2Header;
	
	// CAN_RxHeaderTypeDef Can2RxHeader;
	// canTxBuffer[] = 

	Can2TxHeader.StdId = 0x321;
	Can2TxHeader.ExtId = 0x01;
	Can2TxHeader.RTR = CAN_RTR_DATA;
	Can2TxHeader.IDE = CAN_ID_STD;
	Can2TxHeader.DLC = 8;
	Can2TxHeader.TransmitGlobalTime = DISABLE;
	

	CanFilter2.FilterBank = 15;
	CanFilter2.FilterMode = CAN_FILTERMODE_IDMASK;
	CanFilter2.FilterScale = CAN_FILTERSCALE_16BIT;
	CanFilter2.FilterIdHigh = 0x106 << 5;
	CanFilter2.FilterIdLow = 0x106 << 5;
	CanFilter2.FilterMaskIdHigh = 0x7f3 << 5;
	CanFilter2.FilterMaskIdLow = 0x7f3 << 5;
	CanFilter2.FilterFIFOAssignment = CAN_RX_FIFO0;
	CanFilter2.FilterActivation = ENABLE;
	CanFilter2.SlaveStartFilterBank = 14;


	HAL_CAN_Start(&hcan2);
	// if( HAL_CAN_Start(&hcan2) != HAL_OK )
	// {
	// 	Error_Handler();
	// }

	for(;;)
	{
		osDelayUntil(&PreviousWakeTime, 500UL);
		
		#if 0 // Tx..
		if ( HAL_CAN_AddTxMessage(&hcan2 , &Can2TxHeader , canTxBuffer, &Tx2MailBox) != HAL_OK)
		{
			printf("can send fail..\r\n");
		}
		else
		{
			printf(" can send success !! \r\n");
		}
		#else  // Rx..
			HAL_CAN_RxFifo0MsgPendingCallback(&hcan2);
		#endif
	}
}