diff --git a/boards/nucleo-f722ze/Kconfig b/boards/nucleo-f722ze/Kconfig
index 8e5fcd5f5e..a6d9b19328 100644
--- a/boards/nucleo-f722ze/Kconfig
+++ b/boards/nucleo-f722ze/Kconfig
@@ -21,6 +21,7 @@ config BOARD_NUCLEO_F722ZE
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
     select HAS_PERIPH_USBDEV
+    select HAS_PERIPH_CAN
 
     # Put other features for this board (in alphabetical order)
     select HAS_RIOTBOOT
diff --git a/boards/nucleo-f722ze/Makefile.features b/boards/nucleo-f722ze/Makefile.features
index 346aa6ff29..87f80e5c15 100644
--- a/boards/nucleo-f722ze/Makefile.features
+++ b/boards/nucleo-f722ze/Makefile.features
@@ -8,6 +8,7 @@ FEATURES_PROVIDED += periph_rtt
 FEATURES_PROVIDED += periph_timer
 FEATURES_PROVIDED += periph_uart
 FEATURES_PROVIDED += periph_usbdev
+FEATURES_PROVIDED += periph_can
 
 # Put other features for this board (in alphabetical order)
 FEATURES_PROVIDED += riotboot
diff --git a/cpu/stm32/include/can_params.h b/cpu/stm32/include/can_params.h
index b6294e599a..d1c0e26912 100644
--- a/cpu/stm32/include/can_params.h
+++ b/cpu/stm32/include/can_params.h
@@ -43,11 +43,13 @@ static const can_conf_t candev_conf[] = {
         .rcc_mask = RCC_APB1ENR1_CAN1EN,
 #else
         .rcc_mask = RCC_APB1ENR_CAN1EN,
+#if CANDEV_STM32_CHAN_NUMOF > 1
         .can_master = CAN1,
         .master_rcc_mask = RCC_APB1ENR_CAN1EN,
         .first_filter = 0,
         .nb_filters = 14,
 #endif
+#endif
 #if  defined(CPU_FAM_STM32F1)
         .rx_pin = GPIO_PIN(PORT_A, 11),
         .tx_pin = GPIO_PIN(PORT_A, 12),
diff --git a/cpu/stm32/include/candev_stm32.h b/cpu/stm32/include/candev_stm32.h
index 9a8925d380..c87467ea9a 100644
--- a/cpu/stm32/include/candev_stm32.h
+++ b/cpu/stm32/include/candev_stm32.h
@@ -42,7 +42,7 @@ extern "C" {
 #elif defined(CPU_FAM_STM32F1) || defined(CPU_FAM_STM32F2) || defined(CPU_FAM_STM32F4)
 #define CANDEV_STM32_CHAN_NUMOF 2
 #elif defined(CPU_FAM_STM32F0) || defined(CPU_FAM_STM32F3) || \
-      defined(CPU_FAM_STM32L4) || DOXYGEN
+      defined(CPU_FAM_STM32L4) || defined(CPU_LINE_STM32F722xx) || DOXYGEN
 /** Number of channels in the device (up to 3) */
 #define CANDEV_STM32_CHAN_NUMOF 1
 #else
@@ -137,7 +137,6 @@ typedef struct {
 /** The number of receive FIFO */
 #define CAN_STM32_RX_MAILBOXES 2
 
-
 #ifndef CAN_STM32_RX_MAIL_FIFO
 /** This is the maximum number of frame the driver can receive simultaneously */
 #define CAN_STM32_RX_MAIL_FIFO 12
diff --git a/cpu/stm32/periph/can.c b/cpu/stm32/periph/can.c
index 9862cdb3c8..0376319f9d 100644
--- a/cpu/stm32/periph/can.c
+++ b/cpu/stm32/periph/can.c
@@ -805,6 +805,12 @@ static int _set(candev_t *candev, canopt_t opt, void *value, size_t value_len)
                         can->BTR |= CAN_BTR_SILM;
                         res += set_mode(can, mode);
                         break;
+                    case CANOPT_STATE_LOOPBACK:
+                        DEBUG("candev_stm32 %p: Loopback\n", (void *)dev);
+                        res = set_mode(can, MODE_INIT);
+                        can->BTR |= CAN_BTR_LBKM;
+                        res += set_mode(can, MODE_NORMAL);
+                        break;
                 }
             }
             break;
diff --git a/sys/include/can/common.h b/sys/include/can/common.h
index ea255c0802..80babfa4e0 100644
--- a/sys/include/can/common.h
+++ b/sys/include/can/common.h
@@ -63,9 +63,9 @@ typedef enum {
     CANOPT_STATE_SLEEP,           /**< sleep mode */
     CANOPT_STATE_LISTEN_ONLY,     /**< listen only mode */
     CANOPT_STATE_ON,              /**< power on, rx / tx mode */
+    CANOPT_STATE_LOOPBACK,        /**< loopback mode */
 } canopt_state_t;
 
-
 /**
  * @brief Structure to pass a CAN option
  */
diff --git a/tests/candev/main.c b/tests/candev/main.c
index 1a795b5962..42e796be00 100644
--- a/tests/candev/main.c
+++ b/tests/candev/main.c
@@ -48,6 +48,11 @@ static candev_mcp2515_t mcp2515_dev;
 /* add includes for other candev drivers here */
 #endif
 
+/* Default is not using loopback test mode */
+#ifndef CONFIG_USE_LOOPBACK_MODE
+#define CONFIG_USE_LOOPBACK_MODE        0
+#endif
+
 #define RX_RINGBUFFER_SIZE 128      /* Needs to be a power of 2! */
 static isrpipe_t rxbuf;
 static uint8_t rx_ringbuf[RX_RINGBUFFER_SIZE];
@@ -222,6 +227,18 @@ int main(void)
 
     candev->driver->init(candev);
 
+if (IS_ACTIVE(CONFIG_USE_LOOPBACK_MODE)) {
+    puts("Switching to loopback mode");
+    /* set to loopback test mode */
+    canopt_state_t mode = CANOPT_STATE_LOOPBACK;
+    candev->driver->set(candev, CANOPT_STATE, &mode, sizeof(mode));
+
+    /* do not care, receive all message id */
+    struct can_filter filter;
+    filter.can_mask = 0;
+    candev->driver->set_filter(candev, &filter);
+}
+
     char line_buf[SHELL_DEFAULT_BUFSIZE];
     shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);