diff --git a/targets/TARGET_NUVOTON/TARGET_M451/can_api.c b/targets/TARGET_NUVOTON/TARGET_M451/can_api.c
index f836768e485..ece4ede7b6f 100644
--- a/targets/TARGET_NUVOTON/TARGET_M451/can_api.c
+++ b/targets/TARGET_NUVOTON/TARGET_M451/can_api.c
@@ -285,7 +285,18 @@ int can_mode(can_t *obj, CanMode mode)
 
 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
 {
-    return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle , (uint32_t)format, id);
+    uint32_t numask = mask;
+
+    if (numask == 0x0000) {
+      return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id);
+    }
+
+    if (format == CANStandard) {
+      numask = (mask << 18);
+    }
+
+    numask = (numask | CAN_IF_MASK2_MDIR_Msk | CAN_IF_MASK2_MXTD_Msk);
+    return CAN_SetRxMsgAndMsk((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id, numask);
 }
 
 
diff --git a/targets/TARGET_NUVOTON/TARGET_M480/can_api.c b/targets/TARGET_NUVOTON/TARGET_M480/can_api.c
index 0d3e27a45d8..88d44fca82d 100644
--- a/targets/TARGET_NUVOTON/TARGET_M480/can_api.c
+++ b/targets/TARGET_NUVOTON/TARGET_M480/can_api.c
@@ -329,9 +329,19 @@ int can_mode(can_t *obj, CanMode mode)
 
 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
 {
-    return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id);
-}
+    uint32_t numask = mask;
+
+    if (numask == 0x0000) {
+      return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id);
+    }
 
+    if (format == CANStandard) {
+      numask = (mask << 18);
+    }
+
+    numask = (numask | CAN_IF_MASK2_MDIR_Msk | CAN_IF_MASK2_MXTD_Msk);
+    return CAN_SetRxMsgAndMsk((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id, numask);
+}
 
 void can_reset(can_t *obj)
 {