diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
index 259acb159bd86c2042e8fca0c832f6afb9b290b8..644a0c7ed3fb3231e3298e2b3b7259fc0aa9e59f 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
@@ -35,7 +35,7 @@
 #define HAL_MODULE_ENABLED  
   /*#define HAL_ADC_MODULE_ENABLED   */
 /*#define HAL_CRYP_MODULE_ENABLED   */
-/*#define HAL_CAN_MODULE_ENABLED   */
+#define HAL_CAN_MODULE_ENABLED   
 /*#define HAL_CAN_LEGACY_MODULE_ENABLED   */
 /*#define HAL_CEC_MODULE_ENABLED   */
 /*#define HAL_CORTEX_MODULE_ENABLED   */
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
index ac85b3192ff4e8436d4853c3c4039822b08d704b..f586b838454bf8731669777e84473bb0c4df7ba5 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
@@ -213,6 +213,73 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
   }
 
 }
+/**
+* @brief CAN MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspInit 0 */
+
+  /* USER CODE END CAN1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_CAN1_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**CAN GPIO Configuration    
+    PA11     ------> CAN_RX
+    PA12     ------> CAN_TX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN CAN1_MspInit 1 */
+
+  /* USER CODE END CAN1_MspInit 1 */
+  }
+
+}
+/**
+* @brief CAN MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
+{
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspDeInit 0 */
+
+  /* USER CODE END CAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_CAN1_CLK_DISABLE();
+  
+    /**CAN GPIO Configuration    
+    PA11     ------> CAN_RX
+    PA12     ------> CAN_TX 
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
+
+  /* USER CODE BEGIN CAN1_MspDeInit 1 */
+
+  /* USER CODE END CAN1_MspDeInit 1 */
+  }
+
+}
+
 
 /* USER CODE BEGIN 1 */
 
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
index aca91d47fc43dfe64e39997ef688262557a4855e..c424c79d0a442bbadb689b6feaf0ad90ba08fa9d 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
@@ -175,7 +175,18 @@ menu "On-chip Peripheral Drivers"
                 bool "Enable ADC1"
                 default n
         endif
-
+    menuconfig BSP_USING_CAN
+        bool "Enable CAN"
+        default n
+        select RT_USING_CAN
+        if BSP_USING_CAN
+            config BSP_USING_CAN1
+                bool "Enable CAN1"
+                default n
+            config BSP_USING_CAN2
+                bool "Enable CAN2"
+                default n
+        endif
     config BSP_USING_ON_CHIP_FLASH
         bool "Enable on-chip FLASH"
         default n