diff --git a/ports/esp32s2/common-hal/canio/Listener.c b/ports/esp32s2/common-hal/canio/Listener.c
index 5e968f2393..8100261743 100644
--- a/ports/esp32s2/common-hal/canio/Listener.c
+++ b/ports/esp32s2/common-hal/canio/Listener.c
@@ -151,6 +151,11 @@ mp_obj_t common_hal_canio_listener_receive(canio_listener_obj_t *self) {
             if (supervisor_ticks_ms64() > deadline) {
                 return NULL;
             }
+            RUN_BACKGROUND_TASKS;
+            // Allow user to break out of a timeout with a KeyboardInterrupt.
+            if (mp_hal_is_interrupted()) {
+                return NULL;
+            }
         } while (!common_hal_canio_listener_in_waiting(self));
     }