diff --git a/cpu/esp32/include/can_esp.h b/cpu/esp32/include/can_esp.h
new file mode 100644
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+++ b/cpu/esp32/include/can_esp.h
@@ -0,0 +1,118 @@
+/*
+ * Copyright (C) 2019 Gunar Schorcht
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @defgroup    cpu_esp32_esp_can ESP32 CAN controller
+ * @ingroup     cpu_esp32
+ * @ingroup     drivers_can
+ * @brief       CAN controller driver for ESP32 (esp_can)
+ *
+ * The ESP32 intregates a CAN controller which is compatible with the
+ * NXP SJA1000 CAN controller. Thus, it is CAN 2.0B specification compliant
+ * and supports two message formats:
+ *
+ * - Base frame format (11-bit ID)
+ * - Extended frame format (29-bit ID)
+ *
+ * @note
+ * - ESP32 CAN does not support CAN-FD and is not CAN-FD tolerant.
+ * - ESP32 CAN does not support SJA1000's sleep mode and wake-up functionality.
+ *
+ * As with the SJA1000, the ESP32 CAN controller provides only the data link
+ * layer and the physical layer signaling sublayer. Therefore, depending on
+ * the physical layer requirements, an external transceiver module is required
+ * which converts the `CAN-RX` and `CAN-TX` signals of the ESP32 into `CAN_H`
+ * and `CAN_L` bus signals, e.g., the MCP2551 or SN65HVD23X transceiver for
+ * compatibility with ISO 11898-2.
+ *
+ * The driver realizes a low-level CAN driver interface for the ESP32 CAN
+ * controller and provides a CAN DLL device that can be used in RIOT's CAN
+ * protocol stack.
+ * It uses the ESP32 CAN controller in SJA1000 PeliCAN mode. Please refer the
+ * [SJA1000 Datasheet](https://www.nxp.com/documents/data_sheet/SJA1000.pdf)
+ * for detailed information about the CAN controller and its programming.
+ *
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ * @{
+ * @file
+ */
+
+#ifndef CAN_ESP_H
+#define CAN_ESP_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "can/candev.h"
+#include "periph/gpio.h"
+
+/** Number of receiver acceptance filters */
+#define ESP_CAN_MAX_RX_FILTERS  (16)
+
+/** Number of frames in receiver buffer, must be a power of two */
+#define ESP_CAN_MAX_RX_FRAMES   (8)
+
+/**
+ * Low level device structure for ESP32 CAN (extension of candev_t)
+ */
+typedef struct can {
+    candev_t          candev;       /**< candev base structure */
+    canopt_state_t    state;        /**< current state of device */
+
+    struct can_frame *tx_frame;                           /**< frame in transmission  */
+    struct can_frame  rx_frames[ESP_CAN_MAX_RX_FRAMES];   /**< frames received        */
+    struct can_filter rx_filters[ESP_CAN_MAX_RX_FILTERS]; /**< acceptance filter list */
+
+    uint32_t rx_frames_wptr;    /**< pointer to ring buffer for write */
+    uint32_t rx_frames_rptr;    /**< pointer to ring buffer for read  */
+    uint32_t rx_frames_num;     /**< number of frames in ring buffer  */
+    uint32_t rx_filter_num;     /**< number of acceptance filters     */
+
+    bool   powered_up;          /**< device is powered up    */
+
+    gpio_t tx_pin;              /**< CAN transceiver TX pin */
+    gpio_t rx_pin;              /**< CAN transceiver RX pin */
+#ifdef ESP_CAN_CLK_OUT
+    gpio_t clk_out_pin;         /**< optional CLK_OUT pin    */
+#endif
+#ifdef ESP_CAN_BUS_ON_OFF
+    gpio_t bus_on_off_pin;      /**< optional BUS_ON_OFF pin */
+#endif
+
+    uint32_t events;            /**< events triggered by the last interrupt */
+
+} can_t;
+
+/** CAN device type can_t is redefined by ESP CAN */
+#define HAVE_CAN_T
+
+/**
+ * ESP CAN device configuration
+ */
+typedef struct {
+    uint32_t bitrate;           /**< Bitrate */
+    gpio_t tx_pin;              /**< CAN transceiver TX pin */
+    gpio_t rx_pin;              /**< CAN transceiver RX pin */
+#ifdef ESP_CAN_CLK_OUT
+    gpio_t clk_out_pin;         /**< optional CLK_OUT pin    */
+#endif
+#ifdef ESP_CAN_BUS_ON_OFF
+    gpio_t bus_on_off_pin;      /**< optional BUS_ON_OFF pin */
+#endif
+} can_conf_t;
+
+/** CAN device configuration type can_conf_t is redefined by ESP CAN */
+#define HAVE_CAN_CONF_T
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CAN_ESP_H */
+/** @} */