// 500kbps
      hfdcan1.Instance = FDCAN1;
      hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
      hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
      hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
      hfdcan1.Init.AutoRetransmission = ENABLE;
      hfdcan1.Init.TransmitPause = DISABLE;
      hfdcan1.Init.ProtocolException = DISABLE;
      hfdcan1.Init.NominalPrescaler = 16;
      hfdcan1.Init.NominalSyncJumpWidth = 1;
      hfdcan1.Init.NominalTimeSeg1 = 3;
      hfdcan1.Init.NominalTimeSeg2 = 4;
      hfdcan1.Init.DataPrescaler = 1;
      hfdcan1.Init.DataSyncJumpWidth = 1;
      hfdcan1.Init.DataTimeSeg1 = 1;
      hfdcan1.Init.DataTimeSeg2 = 1;
      hfdcan1.Init.StdFiltersNbr = 0;
      hfdcan1.Init.ExtFiltersNbr = 0;
      hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
      if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
      {
        Error_Handler();
      }

        // 667kbps
      hfdcan2.Instance = FDCAN2;
      hfdcan2.Init.ClockDivider = FDCAN_CLOCK_DIV1;
      hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
      hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
      hfdcan2.Init.AutoRetransmission = ENABLE;
      hfdcan2.Init.TransmitPause = DISABLE;
      hfdcan2.Init.ProtocolException = DISABLE;
      hfdcan2.Init.NominalPrescaler = 8;
      hfdcan2.Init.NominalSyncJumpWidth = 1;
      hfdcan2.Init.NominalTimeSeg1 = 5;
      hfdcan2.Init.NominalTimeSeg2 = 6;
      hfdcan2.Init.DataPrescaler = 1;
      hfdcan2.Init.DataSyncJumpWidth = 1;
      hfdcan2.Init.DataTimeSeg1 = 1;
      hfdcan2.Init.DataTimeSeg2 = 1;
      hfdcan2.Init.StdFiltersNbr = 0;
      hfdcan2.Init.ExtFiltersNbr = 0;
      hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
      if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
      {
        Error_Handler();
      }

      // pass anything from any can instance to fifo0
        // it also doeant work if i use values like 0x18FA0000 / 0x1FFF0000
      FDCAN_FilterTypeDef sFilterConfig;
      sFilterConfig.IdType = FDCAN_EXTENDED_ID;
      sFilterConfig.FilterIndex = 1;
      sFilterConfig.FilterType = FDCAN_FILTER_MASK;
      sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
      sFilterConfig.FilterID1 = 0x0000000;
      sFilterConfig.FilterID2 = 0x0000000;



      if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
      {
        /* Filter configuration Error */
        Error_Handler();
      }
      if (HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig) != HAL_OK)
      {
        /* Filter configuration Error */
        Error_Handler();
      }

      // this works
//    HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
//    HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);


      // this doesn't work
      HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
      HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);

       // STart FDCAN1
      if(HAL_FDCAN_Start(&hfdcan1)!= HAL_OK)
      {
       Error_Handler();
      }

      // STart FDCAN2
      if(HAL_FDCAN_Start(&hfdcan2)!= HAL_OK)
      {
       Error_Handler();
      }

      // Activate the notification for new data in FIFO0 for FDCAN1
      if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
      {
        /* Notification Error */
        Error_Handler();
      }


      // Activate the notification for new data in FIFO0 for FDCAN2
      if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
      {
        /* Notification Error */
        Error_Handler();
      }