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Interrupt handler for timer 4 doesn't return

I don't know if the title is correct. This is the first time I use interrupt handlers. My problem is that I am trying to configure capture for one axis (axis 1) using PB8, TIM4, Channel3.

This is my code:

void TIM4_Config()
{
          GPIO_InitTypeDef GPIO_InitStructure;

          RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

          RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

          /* TIM4 channel 3 pin (PB8) configuration */
          GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_8;
          GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
          GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
          GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
          GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
          GPIO_Init(GPIOB, &GPIO_InitStructure);

          GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_TIM4);

          TIM_ICInitTypeDef  TIM_ICInitStructure;
          TIM_ICInitStructure.TIM_Channel = TIM_Channel_3;
          TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
          TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
          TIM_ICInitStructure.TIM_ICPrescaler = 84 - 1;
          TIM_ICInitStructure.TIM_ICFilter = 0x0;
          TIM_ICInit(TIM4, &TIM_ICInitStructure);

          irq_attach(STM32_IRQ_TIM4, handlerTimer4);
          up_prioritize_irq(STM32_IRQ_TIM4, 1);
          up_enable_irq(STM32_IRQ_TIM4);

          TIM_ITConfig(TIM4, TIM_IT_CC3, ENABLE);

          /* TIM enable counter */
          TIM_Cmd(TIM4, ENABLE);
}

int handlerTimer4(int i, void* c)
{
        if (TIM_GetITStatus(TIM4, TIM_IT_CC3) != RESET)
        {
                 TIM_ClearITPendingBit(TIM4, TIM_IT_CC3);

                ++count;
                 value = TIM_GetCapture3(TIM4);
                 device_->GetCurrentPosition(OfaAxisEnum::OFA_Z, currentPosition);
        }
        else
        {
                TIM_ClearITPendingBit(TIM4, TIM_IT_CC3);
        }


        TIM_ClearFlag(TIM4, TIM_FLAG_CC3) ;
}

The thing is that the handler gets called (I put a breakpoint inside the handler), but I am doing the capture setup inside a motion command. So the handler gets called while doing the motion, but I thing it will get stuck inside the handler because the motion doesnt happend.

I did the same thing(same code, except I changed timer, channel, and GPIO) for another axis (axis 0) using PI0, TIM5, Channel4, and it worked well.

Anyone has an idea what my problem could be ? I can't figure it out, the setup I guess should be ok if the handler its called.