diff --git a/Inc/stm32l5xx_hal_fdcan.h b/Inc/stm32l5xx_hal_fdcan.h
index 2464c3c..cc51078 100644
--- a/Inc/stm32l5xx_hal_fdcan.h
+++ b/Inc/stm32l5xx_hal_fdcan.h
@@ -1167,7 +1167,7 @@
   * @{
   */
 /* Configuration functions ****************************************************/
-HAL_StatusTypeDef HAL_FDCAN_ConfigFilter(FDCAN_HandleTypeDef *hfdcan, FDCAN_FilterTypeDef *sFilterConfig);
+HAL_StatusTypeDef HAL_FDCAN_ConfigFilter(FDCAN_HandleTypeDef *hfdcan, const FDCAN_FilterTypeDef *sFilterConfig);
 HAL_StatusTypeDef HAL_FDCAN_ConfigGlobalFilter(FDCAN_HandleTypeDef *hfdcan, uint32_t NonMatchingStd,
                                                uint32_t NonMatchingExt, uint32_t RejectRemoteStd,
                                                uint32_t RejectRemoteExt);
@@ -1177,13 +1177,13 @@
 HAL_StatusTypeDef HAL_FDCAN_ConfigTimestampCounter(FDCAN_HandleTypeDef *hfdcan, uint32_t TimestampPrescaler);
 HAL_StatusTypeDef HAL_FDCAN_EnableTimestampCounter(FDCAN_HandleTypeDef *hfdcan, uint32_t TimestampOperation);
 HAL_StatusTypeDef HAL_FDCAN_DisableTimestampCounter(FDCAN_HandleTypeDef *hfdcan);
-uint16_t          HAL_FDCAN_GetTimestampCounter(FDCAN_HandleTypeDef *hfdcan);
+uint16_t          HAL_FDCAN_GetTimestampCounter(const FDCAN_HandleTypeDef *hfdcan);
 HAL_StatusTypeDef HAL_FDCAN_ResetTimestampCounter(FDCAN_HandleTypeDef *hfdcan);
 HAL_StatusTypeDef HAL_FDCAN_ConfigTimeoutCounter(FDCAN_HandleTypeDef *hfdcan, uint32_t TimeoutOperation,
                                                  uint32_t TimeoutPeriod);
 HAL_StatusTypeDef HAL_FDCAN_EnableTimeoutCounter(FDCAN_HandleTypeDef *hfdcan);
 HAL_StatusTypeDef HAL_FDCAN_DisableTimeoutCounter(FDCAN_HandleTypeDef *hfdcan);
-uint16_t          HAL_FDCAN_GetTimeoutCounter(FDCAN_HandleTypeDef *hfdcan);
+uint16_t          HAL_FDCAN_GetTimeoutCounter(const FDCAN_HandleTypeDef *hfdcan);
 HAL_StatusTypeDef HAL_FDCAN_ResetTimeoutCounter(FDCAN_HandleTypeDef *hfdcan);
 HAL_StatusTypeDef HAL_FDCAN_ConfigTxDelayCompensation(FDCAN_HandleTypeDef *hfdcan, uint32_t TdcOffset,
                                                       uint32_t TdcFilter);
@@ -1203,21 +1203,23 @@
 /* Control functions **********************************************************/
 HAL_StatusTypeDef HAL_FDCAN_Start(FDCAN_HandleTypeDef *hfdcan);
 HAL_StatusTypeDef HAL_FDCAN_Stop(FDCAN_HandleTypeDef *hfdcan);
-HAL_StatusTypeDef HAL_FDCAN_AddMessageToTxFifoQ(FDCAN_HandleTypeDef *hfdcan, FDCAN_TxHeaderTypeDef *pTxHeader,
-                                                uint8_t *pTxData);
-uint32_t HAL_FDCAN_GetLatestTxFifoQRequestBuffer(FDCAN_HandleTypeDef *hfdcan);
+HAL_StatusTypeDef HAL_FDCAN_AddMessageToTxFifoQ(FDCAN_HandleTypeDef *hfdcan, const FDCAN_TxHeaderTypeDef *pTxHeader,
+                                                const uint8_t *pTxData);
+uint32_t HAL_FDCAN_GetLatestTxFifoQRequestBuffer(const FDCAN_HandleTypeDef *hfdcan);
 HAL_StatusTypeDef HAL_FDCAN_AbortTxRequest(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex);
 HAL_StatusTypeDef HAL_FDCAN_GetRxMessage(FDCAN_HandleTypeDef *hfdcan, uint32_t RxLocation,
                                          FDCAN_RxHeaderTypeDef *pRxHeader, uint8_t *pRxData);
 HAL_StatusTypeDef HAL_FDCAN_GetTxEvent(FDCAN_HandleTypeDef *hfdcan, FDCAN_TxEventFifoTypeDef *pTxEvent);
-HAL_StatusTypeDef HAL_FDCAN_GetHighPriorityMessageStatus(FDCAN_HandleTypeDef *hfdcan,
+HAL_StatusTypeDef HAL_FDCAN_GetHighPriorityMessageStatus(const FDCAN_HandleTypeDef *hfdcan,
                                                          FDCAN_HpMsgStatusTypeDef *HpMsgStatus);
-HAL_StatusTypeDef HAL_FDCAN_GetProtocolStatus(FDCAN_HandleTypeDef *hfdcan, FDCAN_ProtocolStatusTypeDef *ProtocolStatus);
-HAL_StatusTypeDef HAL_FDCAN_GetErrorCounters(FDCAN_HandleTypeDef *hfdcan, FDCAN_ErrorCountersTypeDef *ErrorCounters);
-uint32_t HAL_FDCAN_IsTxBufferMessagePending(FDCAN_HandleTypeDef *hfdcan, uint32_t TxBufferIndex);
-uint32_t HAL_FDCAN_GetRxFifoFillLevel(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo);
-uint32_t HAL_FDCAN_GetTxFifoFreeLevel(FDCAN_HandleTypeDef *hfdcan);
-uint32_t HAL_FDCAN_IsRestrictedOperationMode(FDCAN_HandleTypeDef *hfdcan);
+HAL_StatusTypeDef HAL_FDCAN_GetProtocolStatus(const FDCAN_HandleTypeDef *hfdcan,
+                                              FDCAN_ProtocolStatusTypeDef *ProtocolStatus);
+HAL_StatusTypeDef HAL_FDCAN_GetErrorCounters(const FDCAN_HandleTypeDef *hfdcan,
+                                             FDCAN_ErrorCountersTypeDef *ErrorCounters);
+uint32_t HAL_FDCAN_IsTxBufferMessagePending(const FDCAN_HandleTypeDef *hfdcan, uint32_t TxBufferIndex);
+uint32_t HAL_FDCAN_GetRxFifoFillLevel(const FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo);
+uint32_t HAL_FDCAN_GetTxFifoFreeLevel(const FDCAN_HandleTypeDef *hfdcan);
+uint32_t HAL_FDCAN_IsRestrictedOperationMode(const FDCAN_HandleTypeDef *hfdcan);
 HAL_StatusTypeDef HAL_FDCAN_ExitRestrictedOperationMode(FDCAN_HandleTypeDef *hfdcan);
 /**
   * @}
@@ -1259,8 +1261,8 @@
   * @{
   */
 /* Peripheral State functions *************************************************/
-uint32_t HAL_FDCAN_GetError(FDCAN_HandleTypeDef *hfdcan);
-HAL_FDCAN_StateTypeDef HAL_FDCAN_GetState(FDCAN_HandleTypeDef *hfdcan);
+uint32_t HAL_FDCAN_GetError(const FDCAN_HandleTypeDef *hfdcan);
+HAL_FDCAN_StateTypeDef HAL_FDCAN_GetState(const FDCAN_HandleTypeDef *hfdcan);
 /**
   * @}
   */
diff --git a/Src/stm32l5xx_hal_fdcan.c b/Src/stm32l5xx_hal_fdcan.c
index c2cdab0..47927c8 100644
--- a/Src/stm32l5xx_hal_fdcan.c
+++ b/Src/stm32l5xx_hal_fdcan.c
@@ -250,8 +250,8 @@
 
 /* Private function prototypes -----------------------------------------------*/
 static void FDCAN_CalcultateRamBlockAddresses(FDCAN_HandleTypeDef *hfdcan);
-static void FDCAN_CopyMessageToRAM(FDCAN_HandleTypeDef *hfdcan, FDCAN_TxHeaderTypeDef *pTxHeader, uint8_t *pTxData,
-                                   uint32_t BufferIndex);
+static void FDCAN_CopyMessageToRAM(FDCAN_HandleTypeDef *hfdcan, const FDCAN_TxHeaderTypeDef *pTxHeader,
+                                   const uint8_t *pTxData, uint32_t BufferIndex);
 
 /* Exported functions --------------------------------------------------------*/
 /** @defgroup FDCAN_Exported_Functions FDCAN Exported Functions
@@ -1285,7 +1285,7 @@
   *         contains the filter configuration information
   * @retval HAL status
   */
-HAL_StatusTypeDef HAL_FDCAN_ConfigFilter(FDCAN_HandleTypeDef *hfdcan, FDCAN_FilterTypeDef *sFilterConfig)
+HAL_StatusTypeDef HAL_FDCAN_ConfigFilter(FDCAN_HandleTypeDef *hfdcan, const FDCAN_FilterTypeDef *sFilterConfig)
 {
   uint32_t FilterElementW1;
   uint32_t FilterElementW2;
@@ -1600,7 +1600,7 @@
   *         the configuration information for the specified FDCAN.
   * @retval Timestamp counter value
   */
-uint16_t HAL_FDCAN_GetTimestampCounter(FDCAN_HandleTypeDef *hfdcan)
+uint16_t HAL_FDCAN_GetTimestampCounter(const FDCAN_HandleTypeDef *hfdcan)
 {
   return (uint16_t)(hfdcan->Instance->TSCV);
 }
@@ -1723,7 +1723,7 @@
   *         the configuration information for the specified FDCAN.
   * @retval Timeout counter value
   */
-uint16_t HAL_FDCAN_GetTimeoutCounter(FDCAN_HandleTypeDef *hfdcan)
+uint16_t HAL_FDCAN_GetTimeoutCounter(const FDCAN_HandleTypeDef *hfdcan)
 {
   return (uint16_t)(hfdcan->Instance->TOCV);
 }
@@ -2096,8 +2096,8 @@
   * @param  pTxData pointer to a buffer containing the payload of the Tx frame.
   * @retval HAL status
   */
-HAL_StatusTypeDef HAL_FDCAN_AddMessageToTxFifoQ(FDCAN_HandleTypeDef *hfdcan, FDCAN_TxHeaderTypeDef *pTxHeader,
-                                                uint8_t *pTxData)
+HAL_StatusTypeDef HAL_FDCAN_AddMessageToTxFifoQ(FDCAN_HandleTypeDef *hfdcan, const FDCAN_TxHeaderTypeDef *pTxHeader,
+                                                const uint8_t *pTxData)
 {
   uint32_t PutIndex;
 
@@ -2164,7 +2164,7 @@
   *          - Any value of @arg FDCAN_Tx_location if Tx request has been submitted.
   *          - 0 if no Tx FIFO/Queue request have been submitted.
   */
-uint32_t HAL_FDCAN_GetLatestTxFifoQRequestBuffer(FDCAN_HandleTypeDef *hfdcan)
+uint32_t HAL_FDCAN_GetLatestTxFifoQRequestBuffer(const FDCAN_HandleTypeDef *hfdcan)
 {
   /* Return Last Tx FIFO/Queue Request Buffer */
   return hfdcan->LatestTxFifoQRequest;
@@ -2422,7 +2422,7 @@
   * @param  HpMsgStatus pointer to an FDCAN_HpMsgStatusTypeDef structure.
   * @retval HAL status
   */
-HAL_StatusTypeDef HAL_FDCAN_GetHighPriorityMessageStatus(FDCAN_HandleTypeDef *hfdcan,
+HAL_StatusTypeDef HAL_FDCAN_GetHighPriorityMessageStatus(const FDCAN_HandleTypeDef *hfdcan,
                                                          FDCAN_HpMsgStatusTypeDef *HpMsgStatus)
 {
   HpMsgStatus->FilterList = ((hfdcan->Instance->HPMS & FDCAN_HPMS_FLST) >> FDCAN_HPMS_FLST_Pos);
@@ -2441,7 +2441,8 @@
   * @param  ProtocolStatus pointer to an FDCAN_ProtocolStatusTypeDef structure.
   * @retval HAL status
   */
-HAL_StatusTypeDef HAL_FDCAN_GetProtocolStatus(FDCAN_HandleTypeDef *hfdcan, FDCAN_ProtocolStatusTypeDef *ProtocolStatus)
+HAL_StatusTypeDef HAL_FDCAN_GetProtocolStatus(const FDCAN_HandleTypeDef *hfdcan,
+                                              FDCAN_ProtocolStatusTypeDef *ProtocolStatus)
 {
   uint32_t StatusReg;
 
@@ -2472,7 +2473,8 @@
   * @param  ErrorCounters pointer to an FDCAN_ErrorCountersTypeDef structure.
   * @retval HAL status
   */
-HAL_StatusTypeDef HAL_FDCAN_GetErrorCounters(FDCAN_HandleTypeDef *hfdcan, FDCAN_ErrorCountersTypeDef *ErrorCounters)
+HAL_StatusTypeDef HAL_FDCAN_GetErrorCounters(const FDCAN_HandleTypeDef *hfdcan,
+                                             FDCAN_ErrorCountersTypeDef *ErrorCounters)
 {
   uint32_t CountersReg;
 
@@ -2499,7 +2501,7 @@
   *          - 0 : No pending transmission request on TxBufferIndex list
   *          - 1 : Pending transmission request on TxBufferIndex.
   */
-uint32_t HAL_FDCAN_IsTxBufferMessagePending(FDCAN_HandleTypeDef *hfdcan, uint32_t TxBufferIndex)
+uint32_t HAL_FDCAN_IsTxBufferMessagePending(const FDCAN_HandleTypeDef *hfdcan, uint32_t TxBufferIndex)
 {
   /* Check function parameters */
   assert_param(IS_FDCAN_TX_LOCATION_LIST(TxBufferIndex));
@@ -2522,7 +2524,7 @@
   *           @arg FDCAN_RX_FIFO1: Rx FIFO 1
   * @retval Rx FIFO fill level.
   */
-uint32_t HAL_FDCAN_GetRxFifoFillLevel(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo)
+uint32_t HAL_FDCAN_GetRxFifoFillLevel(const FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo)
 {
   uint32_t FillLevel;
 
@@ -2549,7 +2551,7 @@
   *         the configuration information for the specified FDCAN.
   * @retval Tx FIFO free level.
   */
-uint32_t HAL_FDCAN_GetTxFifoFreeLevel(FDCAN_HandleTypeDef *hfdcan)
+uint32_t HAL_FDCAN_GetTxFifoFreeLevel(const FDCAN_HandleTypeDef *hfdcan)
 {
   uint32_t FreeLevel;
 
@@ -2567,7 +2569,7 @@
   *          - 0 : Normal FDCAN operation.
   *          - 1 : Restricted Operation Mode active.
   */
-uint32_t HAL_FDCAN_IsRestrictedOperationMode(FDCAN_HandleTypeDef *hfdcan)
+uint32_t HAL_FDCAN_IsRestrictedOperationMode(const FDCAN_HandleTypeDef *hfdcan)
 {
   uint32_t OperationMode;
 
@@ -3353,7 +3355,7 @@
   *         the configuration information for the specified FDCAN.
   * @retval HAL state
   */
-HAL_FDCAN_StateTypeDef HAL_FDCAN_GetState(FDCAN_HandleTypeDef *hfdcan)
+HAL_FDCAN_StateTypeDef HAL_FDCAN_GetState(const FDCAN_HandleTypeDef *hfdcan)
 {
   /* Return FDCAN state */
   return hfdcan->State;
@@ -3365,7 +3367,7 @@
   *         the configuration information for the specified FDCAN.
   * @retval FDCAN Error Code
   */
-uint32_t HAL_FDCAN_GetError(FDCAN_HandleTypeDef *hfdcan)
+uint32_t HAL_FDCAN_GetError(const FDCAN_HandleTypeDef *hfdcan)
 {
   /* Return FDCAN error code */
   return hfdcan->ErrorCode;
@@ -3434,8 +3436,8 @@
   * @param  BufferIndex index of the buffer to be configured.
   * @retval none
  */
-static void FDCAN_CopyMessageToRAM(FDCAN_HandleTypeDef *hfdcan, FDCAN_TxHeaderTypeDef *pTxHeader, uint8_t *pTxData,
-                                   uint32_t BufferIndex)
+static void FDCAN_CopyMessageToRAM(FDCAN_HandleTypeDef *hfdcan, const FDCAN_TxHeaderTypeDef *pTxHeader,
+                                   const uint8_t *pTxData, uint32_t BufferIndex)
 {
   uint32_t TxElementW1;
   uint32_t TxElementW2;