diff --git a/Documentation/NuttxPortingGuide.html b/Documentation/NuttxPortingGuide.html
index d36ca6f2104..96973ec865e 100644
--- a/Documentation/NuttxPortingGuide.html
+++ b/Documentation/NuttxPortingGuide.html
@@ -4472,7 +4472,7 @@ void board_autoled_off(int led);
 </p>
 <ul>
   <li><b>Interface Definition</b>.
-    The header file for the NuttX CAN driver reside at <code>include/nuttx/can.h</code>.
+    The header file for the NuttX CAN driver resides at <code>include/nuttx/drivers/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 f25de325b9f..f961bef5493 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/can.h>
+#include <nuttx/drivers/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 3e1b3d116a1..f801e6e8341 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/can.h>
+#include <nuttx/drivers/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 c18361533f2..5a26fe83143 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/can.h>
+#include <nuttx/drivers/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 748b01b10b3..49e05f306b9 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/can.h>
+#include <nuttx/drivers/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 540800b37d3..07ecdd71ad3 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/can.h>
+#include <nuttx/drivers/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 334c7337d62..ed973d57bd0 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/can.h>
+#include <nuttx/drivers/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 e78b3af34f7..765dc95c0ca 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/can.h>
+#include <nuttx/drivers/can.h>
 
 /************************************************************************************
  * Pre-processor Definitions
diff --git a/arch/arm/src/stm32l4/stm32l4_can.c b/arch/arm/src/stm32l4/stm32l4_can.c
index 7891319e8f1..18b49a86e74 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/can.h>
+#include <nuttx/drivers/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 453b031bda2..86eb26fb659 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/can.h>
+#include <nuttx/drivers/can.h>
 
 /************************************************************************************
  * Pre-processor Definitions
diff --git a/configs/nucleo-f303re/src/stm32_can.c b/configs/nucleo-f303re/src/stm32_can.c
index 41eae2ff92b..ec689b3e917 100644
--- a/configs/nucleo-f303re/src/stm32_can.c
+++ b/configs/nucleo-f303re/src/stm32_can.c
@@ -46,7 +46,7 @@
 #include <debug.h>
 
 #include <nuttx/board.h>
-#include <nuttx/can.h>
+#include <nuttx/drivers/can.h>
 
 #include "stm32.h"
 
diff --git a/configs/olimex-lpc1766stk/src/lpc17_can.c b/configs/olimex-lpc1766stk/src/lpc17_can.c
index 3282587dd42..afb1ff47a0c 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/can.h>
+#include <nuttx/drivers/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 d4fa00aa4c9..42def42a81b 100644
--- a/configs/olimex-stm32-e407/src/stm32_can.c
+++ b/configs/olimex-stm32-e407/src/stm32_can.c
@@ -41,7 +41,7 @@
 
 #include <errno.h>
 #include <debug.h>
-#include <nuttx/can.h>
+#include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/configs/olimex-stm32-h405/src/stm32_can.c b/configs/olimex-stm32-h405/src/stm32_can.c
index ed2ee4a069d..62c94a0b19b 100644
--- a/configs/olimex-stm32-h405/src/stm32_can.c
+++ b/configs/olimex-stm32-h405/src/stm32_can.c
@@ -41,7 +41,7 @@
 
 #include <errno.h>
 #include <debug.h>
-#include <nuttx/can.h>
+#include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/configs/olimex-stm32-h407/src/stm32_can.c b/configs/olimex-stm32-h407/src/stm32_can.c
index c401e0c4111..ec7f2d39ab3 100644
--- a/configs/olimex-stm32-h407/src/stm32_can.c
+++ b/configs/olimex-stm32-h407/src/stm32_can.c
@@ -41,7 +41,7 @@
 
 #include <errno.h>
 #include <debug.h>
-#include <nuttx/can.h>
+#include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/configs/olimex-stm32-p107/src/stm32_can.c b/configs/olimex-stm32-p107/src/stm32_can.c
index b292036f14f..2687c08f9c3 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/can.h>
+#include <nuttx/drivers/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 16c71ae43e7..b05dcb24461 100644
--- a/configs/olimex-stm32-p207/src/stm32_can.c
+++ b/configs/olimex-stm32-p207/src/stm32_can.c
@@ -41,7 +41,7 @@
 
 #include <errno.h>
 #include <debug.h>
-#include <nuttx/can.h>
+#include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/configs/olimexino-stm32/src/stm32_can.c b/configs/olimexino-stm32/src/stm32_can.c
index 483d561f9f1..c03a1c8d266 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/can.h>
+#include <nuttx/drivers/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 7befbcee65f..76b12f3b145 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/can.h>
+#include <nuttx/drivers/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 dae9f4e61e7..f483e30dd0c 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/can.h>
+#include <nuttx/drivers/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 722e83c3613..2c5301c3a1c 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/can.h>
+#include <nuttx/drivers/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 e692eb40133..bb28cbb9b01 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/can.h>
+#include <nuttx/drivers/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 8bfe95ac098..bc6472bef78 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/can.h>
+#include <nuttx/drivers/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 1d296be81c6..284e6098c0c 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/can.h>
+#include <nuttx/drivers/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 a7a7bf2e177..5115a7b7d9a 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/can.h>
+#include <nuttx/drivers/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 e5350615d23..75e138fd206 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/can.h>
+#include <nuttx/drivers/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 bbc0f3e093e..beafd449d9c 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/can.h>
+#include <nuttx/drivers/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 2aad6dfdf21..ce2b5912f5d 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/can.h>
+#include <nuttx/drivers/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 0bdba844465..03176894a9a 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/can.h>
+#include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
diff --git a/drivers/Kconfig b/drivers/Kconfig
index 5418cd82892..090fbf5168b 100644
--- a/drivers/Kconfig
+++ b/drivers/Kconfig
@@ -148,7 +148,7 @@ menuconfig CAN
 	default n
 	---help---
 		This selection enables building of the "upper-half" CAN driver.
-		See include/nuttx/can.h for further CAN driver information.
+		See include/nuttx/drivers/can.h for further CAN driver information.
 
 if CAN
 
diff --git a/drivers/README.txt b/drivers/README.txt
index 420988ccd48..7137db2aa0b 100644
--- a/drivers/README.txt
+++ b/drivers/README.txt
@@ -13,7 +13,8 @@ Files in this directory
 ^^^^^^^^^^^^^^^^^^^^^^^
 
 can.c
-  This is a CAN driver.  See include/nuttx/can.h for usage information.
+  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.
diff --git a/drivers/can.c b/drivers/can.c
index 8dc67601a7e..483769d7db5 100644
--- a/drivers/can.c
+++ b/drivers/can.c
@@ -56,7 +56,7 @@
 
 #include <nuttx/fs/fs.h>
 #include <nuttx/arch.h>
-#include <nuttx/can.h>
+#include <nuttx/drivers/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 a566f2a0ded..639eddc5cf8 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/can.h
+ * Derived from include/nuttx/drivers/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 5648b51a9a8..db2cf5a7368 100644
--- a/include/nuttx/analog/dac.h
+++ b/include/nuttx/analog/dac.h
@@ -5,7 +5,7 @@
  *   Author: Li Zhuoyi <lzyy.cn@gmail.com>
  *   History: 0.1 2011-08-04 initial version
  *
- * Derived from include/nuttx/can.h
+ * Derived from include/nuttx/drivers/can.h
  *
  *   Copyright (C) 2008, 2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/include/nuttx/can.h b/include/nuttx/drivers/can.h
similarity index 98%
rename from include/nuttx/can.h
rename to include/nuttx/drivers/can.h
index 27ef01d77c4..ed570097fc4 100644
--- a/include/nuttx/can.h
+++ b/include/nuttx/drivers/can.h
@@ -1,7 +1,7 @@
 /************************************************************************************
- * include/nuttx/can.h
+ * include/nuttx/drivers/can.h
  *
- *   Copyright (C) 2008, 2009, 2011-2012, 2015 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2008, 2009, 2011-2012, 2015-2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -33,8 +33,8 @@
  *
  ************************************************************************************/
 
-#ifndef _INCLUDE_NUTTX_CAN_H
-#define _INCLUDE_NUTTX_CAN_H
+#ifndef _INCLUDE_NUTTX_DRVERS_CAN_H
+#define _INCLUDE_NUTTX_DRVERS_CAN_H
 
 /************************************************************************************
  * Included Files
@@ -60,9 +60,11 @@
 /************************************************************************************
  * Pre-processor Definitions
  ************************************************************************************/
+
 /* Configuration ********************************************************************/
-/* CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
- *   CONFIG_STM32_CAN2 must also be defined)
+/* CONFIG_CAN - Enables CAN support (MCU-specific selections are also required.  For
+ *   STM32, as an example, one or both of CONFIG_STM32_CAN1 or CONFIG_STM32_CAN2
+ *   must also be defined)
  * CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
  *   Standard 11-bit IDs.
  * CONFIG_CAN_FD - Enable support for CAN FD mode.  For the upper half driver, this
@@ -794,4 +796,4 @@ int can_txready(FAR struct can_dev_s *dev);
 #endif
 
 #endif /* CONFIG_CAN */
-#endif /* _INCLUDE_NUTTX_CAN_H */
+#endif /* _INCLUDE_NUTTX_DRVERS_CAN_H */
diff --git a/include/nuttx/fs/ioctl.h b/include/nuttx/fs/ioctl.h
index b79c783923f..adfa0446cd9 100644
--- a/include/nuttx/fs/ioctl.h
+++ b/include/nuttx/fs/ioctl.h
@@ -341,7 +341,7 @@
 #define _RELAYIOC(nr)     _IOC(_RELAYBASE,nr)
 
 /* CAN driver ioctl definitions *********************************************/
-/* (see nuttx/can.h */
+/* (see nuttx/drivers/can.h */
 
 #define _CANIOCVALID(c)   (_IOC_TYPE(c)==_CANBASE)
 #define _CANIOC(nr)       _IOC(_CANBASE,nr)