diff --git a/Documentation/NuttxPortingGuide.html b/Documentation/NuttxPortingGuide.html
index e6d3134dee2..c1db0c7eebb 100644
--- a/Documentation/NuttxPortingGuide.html
+++ b/Documentation/NuttxPortingGuide.html
@@ -4545,7 +4545,7 @@ void board_autoled_off(int led);
 </p>
 <ul>
   <li><b>Interface Definition</b>.
-    The header file for the NuttX CAN driver resides at <code>include/nuttx/drivers/can.h</code>.
+    The header file for the NuttX CAN driver resides at <code>include/nuttx/can/can.h</code>.
     This header file includes both the application level interface to the CAN driver as well as the interface between the &quot;upper half&quot; and &quot;lower half&quot; drivers.
     The CAN module uses a standard character driver framework.
   </li>
diff --git a/arch/arm/src/lpc17xx/lpc17_can.c b/arch/arm/src/lpc17xx/lpc17_can.c
index 11ac88cc04d..94f1987280c 100644
--- a/arch/arm/src/lpc17xx/lpc17_can.c
+++ b/arch/arm/src/lpc17xx/lpc17_can.c
@@ -57,7 +57,7 @@
 #include <arch/board/board.h>
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #include "up_internal.h"
 #include "up_arch.h"
diff --git a/arch/arm/src/sama5/sam_can.c b/arch/arm/src/sama5/sam_can.c
index 4020055e89a..029a4df1c6b 100644
--- a/arch/arm/src/sama5/sam_can.c
+++ b/arch/arm/src/sama5/sam_can.c
@@ -60,7 +60,7 @@
 
 #include <arch/board/board.h>
 #include <nuttx/arch.h>
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #include "up_internal.h"
 #include "up_arch.h"
diff --git a/arch/arm/src/sama5/sam_can.h b/arch/arm/src/sama5/sam_can.h
index 5a26fe83143..83a08f756bb 100644
--- a/arch/arm/src/sama5/sam_can.h
+++ b/arch/arm/src/sama5/sam_can.h
@@ -45,7 +45,7 @@
 #include "chip.h"
 #include "chip/sam_can.h"
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #if defined(CONFIG_CAN) && (defined(CONFIG_SAMA5_CAN0) || defined(CONFIG_SAMA5_CAN1))
 
diff --git a/arch/arm/src/samv7/sam_mcan.c b/arch/arm/src/samv7/sam_mcan.c
index 7d16f0898df..d4807941a4c 100644
--- a/arch/arm/src/samv7/sam_mcan.c
+++ b/arch/arm/src/samv7/sam_mcan.c
@@ -56,7 +56,7 @@
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
 #include <nuttx/semaphore.h>
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #include "cache.h"
 #include "up_internal.h"
diff --git a/arch/arm/src/samv7/sam_mcan.h b/arch/arm/src/samv7/sam_mcan.h
index 07ecdd71ad3..3672547788a 100644
--- a/arch/arm/src/samv7/sam_mcan.h
+++ b/arch/arm/src/samv7/sam_mcan.h
@@ -45,7 +45,7 @@
 #include "chip.h"
 #include "chip/sam_mcan.h"
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #if defined(CONFIG_CAN) && (defined(CONFIG_SAMV7_MCAN0) || \
     defined(CONFIG_SAMV7_MCAN1))
diff --git a/arch/arm/src/stm32/stm32_can.c b/arch/arm/src/stm32/stm32_can.c
index d90e5cd06da..4497dd97662 100644
--- a/arch/arm/src/stm32/stm32_can.c
+++ b/arch/arm/src/stm32/stm32_can.c
@@ -53,7 +53,7 @@
 #include <arch/board/board.h>
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #include "up_internal.h"
 #include "up_arch.h"
diff --git a/arch/arm/src/stm32/stm32_can.h b/arch/arm/src/stm32/stm32_can.h
index 765dc95c0ca..f06231ab60a 100644
--- a/arch/arm/src/stm32/stm32_can.h
+++ b/arch/arm/src/stm32/stm32_can.h
@@ -45,7 +45,7 @@
 #include "chip.h"
 #include "chip/stm32_can.h"
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 /************************************************************************************
  * Pre-processor Definitions
diff --git a/arch/arm/src/stm32l4/stm32l4_can.c b/arch/arm/src/stm32l4/stm32l4_can.c
index ed14ca43609..7667481c6cd 100644
--- a/arch/arm/src/stm32l4/stm32l4_can.c
+++ b/arch/arm/src/stm32l4/stm32l4_can.c
@@ -57,7 +57,7 @@
 #include <arch/board/board.h>
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #include "up_internal.h"
 #include "up_arch.h"
diff --git a/arch/arm/src/stm32l4/stm32l4_can.h b/arch/arm/src/stm32l4/stm32l4_can.h
index 86eb26fb659..b5db2c42865 100644
--- a/arch/arm/src/stm32l4/stm32l4_can.h
+++ b/arch/arm/src/stm32l4/stm32l4_can.h
@@ -49,7 +49,7 @@
 #include "chip.h"
 #include "chip/stm32l4_can.h"
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 /************************************************************************************
  * Pre-processor Definitions
diff --git a/configs/clicker2-stm32/src/stm32_can.c b/configs/clicker2-stm32/src/stm32_can.c
index 2c3b98ea6f1..003c0fd3909 100644
--- a/configs/clicker2-stm32/src/stm32_can.c
+++ b/configs/clicker2-stm32/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "stm32.h"
diff --git a/configs/nucleo-f303re/src/stm32_can.c b/configs/nucleo-f303re/src/stm32_can.c
index e1f1a2d7135..1541c8b2acc 100644
--- a/configs/nucleo-f303re/src/stm32_can.c
+++ b/configs/nucleo-f303re/src/stm32_can.c
@@ -45,7 +45,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #include "stm32.h"
 
diff --git a/configs/olimex-lpc1766stk/src/lpc17_can.c b/configs/olimex-lpc1766stk/src/lpc17_can.c
index a9e1b68c883..fcc99e54dd4 100644
--- a/configs/olimex-lpc1766stk/src/lpc17_can.c
+++ b/configs/olimex-lpc1766stk/src/lpc17_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/olimex-stm32-e407/src/stm32_can.c b/configs/olimex-stm32-e407/src/stm32_can.c
index b5c7bce8bcb..f4e941bf5a1 100644
--- a/configs/olimex-stm32-e407/src/stm32_can.c
+++ b/configs/olimex-stm32-e407/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "stm32.h"
diff --git a/configs/olimex-stm32-h405/src/stm32_can.c b/configs/olimex-stm32-h405/src/stm32_can.c
index 6f361af9406..42164d8959a 100644
--- a/configs/olimex-stm32-h405/src/stm32_can.c
+++ b/configs/olimex-stm32-h405/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #include <arch/board/board.h>
 
diff --git a/configs/olimex-stm32-h407/src/stm32_can.c b/configs/olimex-stm32-h407/src/stm32_can.c
index b482342e617..a14d0f3f50a 100644
--- a/configs/olimex-stm32-h407/src/stm32_can.c
+++ b/configs/olimex-stm32-h407/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "stm32.h"
diff --git a/configs/olimex-stm32-p107/src/stm32_can.c b/configs/olimex-stm32-p107/src/stm32_can.c
index 9889f836b22..85d36cf5156 100644
--- a/configs/olimex-stm32-p107/src/stm32_can.c
+++ b/configs/olimex-stm32-p107/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/olimex-stm32-p207/src/stm32_can.c b/configs/olimex-stm32-p207/src/stm32_can.c
index ab20e9fcb90..0f9e2dffe2e 100644
--- a/configs/olimex-stm32-p207/src/stm32_can.c
+++ b/configs/olimex-stm32-p207/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "stm32.h"
diff --git a/configs/olimex-stm32-p407/src/stm32_can.c b/configs/olimex-stm32-p407/src/stm32_can.c
index 763df54e78a..373d15e9694 100644
--- a/configs/olimex-stm32-p407/src/stm32_can.c
+++ b/configs/olimex-stm32-p407/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "stm32.h"
diff --git a/configs/olimexino-stm32/src/stm32_can.c b/configs/olimexino-stm32/src/stm32_can.c
index 862def8094d..5e942ea6fca 100644
--- a/configs/olimexino-stm32/src/stm32_can.c
+++ b/configs/olimexino-stm32/src/stm32_can.c
@@ -43,7 +43,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/sama5d3-xplained/src/sam_can.c b/configs/sama5d3-xplained/src/sam_can.c
index cbd76837d8b..f9e39e86126 100644
--- a/configs/sama5d3-xplained/src/sam_can.c
+++ b/configs/sama5d3-xplained/src/sam_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/sama5d3x-ek/src/sam_can.c b/configs/sama5d3x-ek/src/sam_can.c
index 4fc441f1101..3c083a9ff15 100644
--- a/configs/sama5d3x-ek/src/sam_can.c
+++ b/configs/sama5d3x-ek/src/sam_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/same70-xplained/src/sam_mcan.c b/configs/same70-xplained/src/sam_mcan.c
index 5a96930a639..f09f8504c7f 100644
--- a/configs/same70-xplained/src/sam_mcan.c
+++ b/configs/same70-xplained/src/sam_mcan.c
@@ -43,7 +43,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "sam_mcan.h"
diff --git a/configs/samv71-xult/src/sam_mcan.c b/configs/samv71-xult/src/sam_mcan.c
index f17d9ccb20e..d977e8f16df 100644
--- a/configs/samv71-xult/src/sam_mcan.c
+++ b/configs/samv71-xult/src/sam_mcan.c
@@ -43,7 +43,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "sam_mcan.h"
diff --git a/configs/shenzhou/src/stm32_can.c b/configs/shenzhou/src/stm32_can.c
index 6a08cc1fc0f..34b1c9e7c3f 100644
--- a/configs/shenzhou/src/stm32_can.c
+++ b/configs/shenzhou/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/stm3210e-eval/src/stm32_can.c b/configs/stm3210e-eval/src/stm32_can.c
index 06e24930ea6..6da4ee58d6f 100644
--- a/configs/stm3210e-eval/src/stm32_can.c
+++ b/configs/stm3210e-eval/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/stm3220g-eval/src/stm32_can.c b/configs/stm3220g-eval/src/stm32_can.c
index e362ad95c5b..e1264c9e524 100644
--- a/configs/stm3220g-eval/src/stm32_can.c
+++ b/configs/stm3220g-eval/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/stm3240g-eval/src/stm32_can.c b/configs/stm3240g-eval/src/stm32_can.c
index 3ebae0dfa34..82697c7ed57 100644
--- a/configs/stm3240g-eval/src/stm32_can.c
+++ b/configs/stm3240g-eval/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/stm32f4discovery/src/stm32_can.c b/configs/stm32f4discovery/src/stm32_can.c
index 702dff902f3..5464205b66b 100644
--- a/configs/stm32f4discovery/src/stm32_can.c
+++ b/configs/stm32f4discovery/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/viewtool-stm32f107/src/stm32_can.c b/configs/viewtool-stm32f107/src/stm32_can.c
index 462e5a72ba8..0ddfaa074d4 100644
--- a/configs/viewtool-stm32f107/src/stm32_can.c
+++ b/configs/viewtool-stm32f107/src/stm32_can.c
@@ -42,7 +42,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/configs/zkit-arm-1769/src/lpc17_can.c b/configs/zkit-arm-1769/src/lpc17_can.c
index 6b4a1021f8c..3815c7f1ef8 100644
--- a/configs/zkit-arm-1769/src/lpc17_can.c
+++ b/configs/zkit-arm-1769/src/lpc17_can.c
@@ -47,7 +47,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/drivers/Kconfig b/drivers/Kconfig
index d7bc2653746..937a5e13fea 100644
--- a/drivers/Kconfig
+++ b/drivers/Kconfig
@@ -157,130 +157,11 @@ menuconfig CAN
 	default n
 	---help---
 		This selection enables building of the "upper-half" CAN driver.
-		See include/nuttx/drivers/can.h for further CAN driver information.
+		See include/nuttx/can/can.h for further CAN driver information.
 
 if CAN
-
-config CAN_EXTID
-	bool "CAN extended IDs"
-	default n
-	---help---
-		Enables support for the 28-bit extended ID.  Default Standard 11-bit
-		IDs.
-
-config ARCH_HAVE_CAN_ERRORS
-	bool
-	default n
-
-config CAN_ERRORS
-	bool "CAN error reporting"
-	default n
-	depends on ARCH_HAVE_CAN_ERRORS
-	---help---
-		Support CAN error reporting.  If this option is selected then CAN
-		error reporting is enabled.  In the event of an error, the ch_error
-		bit will be set in the CAN message and the following message payload
-		will include a more detailed description of certain errors.
-
-config CAN_FD
-	bool "CAN FD"
-	default n
-	---help---
-		Enables support for the CAN_FD mode.
-
-config CAN_FIFOSIZE
-	int "CAN driver I/O buffer size"
-	default 8
-	---help---
-		The size of the circular buffer of CAN messages. Default: 8
-
-config CAN_NPENDINGRTR
-	int "Number of pending RTRs"
-	default 4
-	---help---
-		The size of the list of pending RTR requests. Default: 4
-
-config CAN_TXREADY
-	bool "can_txready interface"
-	default n
-	select SCHED_WORKQUEUE
-	---help---
-		This selection enables the can_txready() interface.  This interface
-		is needed only for CAN hardware that supports queing of outgoing
-		messages in a H/W FIFO.
-
-		The CAN upper half driver also supports a queue of output messages
-		in a S/W FIFO.  Messages are added to that queue when when
-		can_write() is called and removed from the queue in can_txdone()
-		when each TX message is complete.
-
-		After each message is added to the S/W FIFO, the CAN upper half
-		driver will attempt to send the message by calling into the lower
-		half driver.  That send will not be performed if the lower half
-		driver is busy, i.e., if dev_txready() returns false.  In that
-		case, the number of messages in the S/W FIFO can grow.  If the
-		S/W FIFO becomes full, then can_write() will wait for space in
-		the S/W FIFO.
-
-		If the CAN hardware does not support a H/W FIFO then busy means
-		that the hardware is actively sending the message and is
-		guaranteed to become non busy (i.e, dev_txready()) when the
-		send transfer completes and can_txdone() is called.  So the call
-		to can_txdone() means that the transfer has completed and also
-		that the hardware is ready to accept another transfer.
-
-		If the CAN hardware supports a H/W FIFO, can_txdone() is not
-		called when the tranfer is complete, but rather when the
-		transfer is queued in the H/W FIFO.  When the H/W FIFO becomes
-		full, then dev_txready() will report false and the number of
-		queued messages in the S/W FIFO will grow.
-
-		There is no mechanism in this case to inform the upper half
-		driver when the hardware is again available, when there is
-		again space in the H/W FIFO.  can_txdone() will not be called
-		again.  If the S/W FIFO becomes full, then the upper half
-		driver will wait for space to become available, but there is
-		no event to awaken it and the driver will hang.
-
-		Enabling this feature adds support for the can_txready()
-		interface.  This function is called from the lower half
-		driver's CAN interrupt handler each time a TX transfer
-		completes.  This is a sure indication that the H/W FIFO is
-		no longer full.  can_txready() will then awaken the
-		can_write() logic and the hang condition is avoided.
-
-choice
-	prompt "TX Ready Work Queue"
-	default CAN_TXREADY_HIPRI
-	depends on CAN_TXREADY
-
-config CAN_TXREADY_LOPRI
-	bool "Low-priority work queue"
-	select SCHED_LPWORK
-
-config CAN_TXREADY_HIPRI
-	bool "High-priority work queue"
-	select SCHED_HPWORK
-
-endchoice # TX Ready Work Queue
-
-config CAN_LOOPBACK
-	bool "CAN loopback mode"
-	default n
-	---help---
-		A CAN driver may or may not support a loopback mode for testing. If the
-		driver does support loopback mode, the setting will enable it. (If the
-		driver does not, this setting will have no effect).
-
-config CAN_NPOLLWAITERS
-	int "Number of poll waiters"
-	default 2
-	depends on !DISABLE_POLL
-	---help---
-		The maximum number of threads that may be waiting on the
-		poll method.
-
-endif # CAN
+source drivers/can/Kconfig
+endif
 
 config ARCH_HAVE_PWM_PULSECOUNT
 	bool
diff --git a/drivers/Makefile b/drivers/Makefile
index 5946cc123a7..83d830c8abb 100644
--- a/drivers/Makefile
+++ b/drivers/Makefile
@@ -52,6 +52,7 @@ VPATH = .
 include analog$(DELIM)Make.defs
 include audio$(DELIM)Make.defs
 include bch$(DELIM)Make.defs
+include can$(DELIM)Make.defs
 include i2c$(DELIM)Make.defs
 include input$(DELIM)Make.defs
 include ioexpander$(DELIM)Make.defs
diff --git a/drivers/README.txt b/drivers/README.txt
index f9f23af06f2..ec65ccbe8eb 100644
--- a/drivers/README.txt
+++ b/drivers/README.txt
@@ -12,10 +12,6 @@ Contents:
 Files in this directory
 ^^^^^^^^^^^^^^^^^^^^^^^
 
-can.c
-  This is a CAN driver.  See include/nuttx/drivers/can.h for usage
-  information.
-
 dev_null.c and dev_zero.c
   These files provide the standard /dev/null and /dev/zero devices.
   See include/nuttx/fs/fs.h for functions that should be called if you
@@ -55,6 +51,10 @@ bch/
   performed by loop.c.  See include/nuttx/fs/fs.h for registration
   information.
 
+can/
+  This is the CAN drivers and logic support.  See include/nuttx/can/can.h
+  for usage information.
+
 contactless/
   Contactless devices are related to wireless devices.  They are not
   communication devices with other similar peers, but couplers/interfaces
diff --git a/drivers/can/Kconfig b/drivers/can/Kconfig
new file mode 100644
index 00000000000..577dbea8d15
--- /dev/null
+++ b/drivers/can/Kconfig
@@ -0,0 +1,127 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if CAN
+
+config CAN_EXTID
+	bool "CAN extended IDs"
+	default n
+	---help---
+		Enables support for the 29-bit extended ID.  Default Standard 11-bit
+		IDs.
+
+config ARCH_HAVE_CAN_ERRORS
+	bool
+	default n
+
+config CAN_ERRORS
+	bool "CAN error reporting"
+	default n
+	depends on ARCH_HAVE_CAN_ERRORS
+	---help---
+		Support CAN error reporting.  If this option is selected then CAN
+		error reporting is enabled.  In the event of an error, the ch_error
+		bit will be set in the CAN message and the following message payload
+		will include a more detailed description of certain errors.
+
+config CAN_FD
+	bool "CAN FD"
+	default n
+	---help---
+		Enables support for the CAN_FD mode.
+
+config CAN_FIFOSIZE
+	int "CAN driver I/O buffer size"
+	default 8
+	---help---
+		The size of the circular buffer of CAN messages. Default: 8
+
+config CAN_NPENDINGRTR
+	int "Number of pending RTRs"
+	default 4
+	---help---
+		The size of the list of pending RTR requests. Default: 4
+
+config CAN_TXREADY
+	bool "can_txready interface"
+	default n
+	select SCHED_WORKQUEUE
+	---help---
+		This selection enables the can_txready() interface.  This interface
+		is needed only for CAN hardware that supports queing of outgoing
+		messages in a H/W FIFO.
+
+		The CAN upper half driver also supports a queue of output messages
+		in a S/W FIFO.  Messages are added to that queue when when
+		can_write() is called and removed from the queue in can_txdone()
+		when each TX message is complete.
+
+		After each message is added to the S/W FIFO, the CAN upper half
+		driver will attempt to send the message by calling into the lower
+		half driver.  That send will not be performed if the lower half
+		driver is busy, i.e., if dev_txready() returns false.  In that
+		case, the number of messages in the S/W FIFO can grow.  If the
+		S/W FIFO becomes full, then can_write() will wait for space in
+		the S/W FIFO.
+
+		If the CAN hardware does not support a H/W FIFO then busy means
+		that the hardware is actively sending the message and is
+		guaranteed to become non busy (i.e, dev_txready()) when the
+		send transfer completes and can_txdone() is called.  So the call
+		to can_txdone() means that the transfer has completed and also
+		that the hardware is ready to accept another transfer.
+
+		If the CAN hardware supports a H/W FIFO, can_txdone() is not
+		called when the tranfer is complete, but rather when the
+		transfer is queued in the H/W FIFO.  When the H/W FIFO becomes
+		full, then dev_txready() will report false and the number of
+		queued messages in the S/W FIFO will grow.
+
+		There is no mechanism in this case to inform the upper half
+		driver when the hardware is again available, when there is
+		again space in the H/W FIFO.  can_txdone() will not be called
+		again.  If the S/W FIFO becomes full, then the upper half
+		driver will wait for space to become available, but there is
+		no event to awaken it and the driver will hang.
+
+		Enabling this feature adds support for the can_txready()
+		interface.  This function is called from the lower half
+		driver's CAN interrupt handler each time a TX transfer
+		completes.  This is a sure indication that the H/W FIFO is
+		no longer full.  can_txready() will then awaken the
+		can_write() logic and the hang condition is avoided.
+
+choice
+	prompt "TX Ready Work Queue"
+	default CAN_TXREADY_HIPRI
+	depends on CAN_TXREADY
+
+config CAN_TXREADY_LOPRI
+	bool "Low-priority work queue"
+	select SCHED_LPWORK
+
+config CAN_TXREADY_HIPRI
+	bool "High-priority work queue"
+	select SCHED_HPWORK
+
+endchoice # TX Ready Work Queue
+
+config CAN_LOOPBACK
+	bool "CAN loopback mode"
+	default n
+	---help---
+		A CAN driver may or may not support a loopback mode for testing. If the
+		driver does support loopback mode, the setting will enable it. (If the
+		driver does not, this setting will have no effect).
+
+config CAN_NPOLLWAITERS
+	int "Number of poll waiters"
+	default 2
+	depends on !DISABLE_POLL
+	---help---
+		The maximum number of threads that may be waiting on the
+		poll method.
+
+endif # CAN
diff --git a/drivers/can/Make.defs b/drivers/can/Make.defs
new file mode 100644
index 00000000000..9a1504664cd
--- /dev/null
+++ b/drivers/can/Make.defs
@@ -0,0 +1,52 @@
+############################################################################
+# drivers/can/Make.defs
+#
+#   Copyright (C) 2017 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+# Don't build anything if there is no CAN support
+
+ifeq ($(CONFIG_CAN),y)
+
+CSRCS += can.c
+
+ifeq ($(CONFIG_CAN_MCP2515),y)
+CSRCS += mcp2515.c
+endif
+
+# Include CAN device driver build support
+
+DEPPATH += --dep-path can
+VPATH += :can
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)can}
+endif
+
diff --git a/drivers/can.c b/drivers/can/can.c
similarity index 99%
rename from drivers/can.c
rename to drivers/can/can.c
index dd810ebcd18..730d7e84b55 100644
--- a/drivers/can.c
+++ b/drivers/can/can.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * drivers/can.c
+ * drivers/can/can.c
  *
  *   Copyright (C) 2008-2009, 2011-2012, 2014-2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -57,7 +57,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/semaphore.h>
 #include <nuttx/fs/fs.h>
-#include <nuttx/drivers/can.h>
+#include <nuttx/can/can.h>
 
 #ifdef CONFIG_CAN_TXREADY
 #  include <nuttx/wqueue.h>
diff --git a/include/nuttx/analog/adc.h b/include/nuttx/analog/adc.h
index 214143357a6..73d839b0038 100644
--- a/include/nuttx/analog/adc.h
+++ b/include/nuttx/analog/adc.h
@@ -6,7 +6,7 @@
  *   Author: Li Zhuoyi <lzyy.cn@gmail.com>
  *           Gregory Nutt <gnutt@nuttx.org>
  *
- * Derived from include/nuttx/drivers/can.h
+ * Derived from include/nuttx/can/can.h
  *
  *   Copyright (C) 2008, 2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/include/nuttx/analog/dac.h b/include/nuttx/analog/dac.h
index 249100d89b4..93f1282ef57 100644
--- a/include/nuttx/analog/dac.h
+++ b/include/nuttx/analog/dac.h
@@ -6,7 +6,7 @@
  *   Author: Li Zhuoyi <lzyy.cn@gmail.com>
  *   History: 0.1 2011-08-04 initial version
  *
- * Derived from include/nuttx/drivers/can.h
+ * Derived from include/nuttx/can/can.h
  *
  *   Copyright (C) 2008, 2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/include/nuttx/drivers/can.h b/include/nuttx/can/can.h
similarity index 99%
rename from include/nuttx/drivers/can.h
rename to include/nuttx/can/can.h
index 68df58dd791..e85a9fa54dc 100644
--- a/include/nuttx/drivers/can.h
+++ b/include/nuttx/can/can.h
@@ -1,5 +1,5 @@
 /************************************************************************************
- * include/nuttx/drivers/can.h
+ * include/nuttx/can/can.h
  *
  *   Copyright (C) 2008, 2009, 2011-2012, 2015-2017 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -33,8 +33,8 @@
  *
  ************************************************************************************/
 
-#ifndef __INCLUDE_NUTTX_DRVERS_CAN_H
-#define __INCLUDE_NUTTX_DRVERS_CAN_H
+#ifndef __INCLUDE_NUTTX_CAN_CAN_H
+#define __INCLUDE_NUTTX_CAN_CAN_H
 
 /************************************************************************************
  * Included Files
@@ -819,4 +819,4 @@ int can_txready(FAR struct can_dev_s *dev);
 #endif
 
 #endif /* CONFIG_CAN */
-#endif /* __INCLUDE_NUTTX_DRVERS_CAN_H */
+#endif /* __INCLUDE_NUTTX_CAN_CAN_H */
diff --git a/include/nuttx/fs/ioctl.h b/include/nuttx/fs/ioctl.h
index cfcc4507d60..ccd829f9187 100644
--- a/include/nuttx/fs/ioctl.h
+++ b/include/nuttx/fs/ioctl.h
@@ -357,7 +357,7 @@
 #define _RELAYIOC(nr)     _IOC(_RELAYBASE,nr)
 
 /* CAN driver ioctl definitions *********************************************/
-/* (see nuttx/drivers/can.h */
+/* (see nuttx/can/can.h */
 
 #define _CANIOCVALID(c)   (_IOC_TYPE(c)==_CANBASE)
 #define _CANIOC(nr)       _IOC(_CANBASE,nr)