diff --git a/libraries/ESP32/examples/TWAI/TWAIreceive/TWAIreceive.ino b/libraries/ESP32/examples/TWAI/TWAIreceive/TWAIreceive.ino
new file mode 100644
index 00000000000..ebbf2f5d1aa
--- /dev/null
+++ b/libraries/ESP32/examples/TWAI/TWAIreceive/TWAIreceive.ino
@@ -0,0 +1,117 @@
+/* ESP32 TWAI receive example.
+ Receive messages and sends them over serial.
+
+ Connect a CAN bus transceiver to the RX/TX pins.
+ For example: SN65HVD230
+
+ TWAI_MODE_LISTEN_ONLY is used so that the TWAI controller will not influence the bus.
+
+ The API gives other possible speeds and alerts:
+ https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/twai.html
+
+ Example output from a can bus message:
+ -> Message received
+ -> Message is in Standard Format
+ -> ID: 604
+ -> Byte: 0 = 00, 1 = 0f, 2 = 13, 3 = 02, 4 = 00, 5 = 00, 6 = 08, 7 = 00
+
+ Example output with alerts:
+ -> Alert: A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus.
+ -> Bus error count: 171
+ -> Alert: The RX queue is full causing a received frame to be lost.
+ -> RX buffered: 4 RX missed: 46 RX overrun 0
+
+ created 05-11-2022 by Stephan Martin (designer2k2)
+*/
+
+#include "driver/twai.h"
+
+// Pins used to connect to CAN bus transceiver:
+#define RX_PIN 21
+#define TX_PIN 22
+
+// Intervall:
+#define POLLING_RATE_MS 1000
+
+void setup() {
+ // Start Serial:
+ Serial.begin(115200);
+
+ // Initialize configuration structures using macro initializers
+ twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)TX_PIN, (gpio_num_t)RX_PIN, TWAI_MODE_LISTEN_ONLY);
+ twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS(); //Look in the api-reference for other speed sets.
+ twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
+
+ // Install TWAI driver
+ if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
+ Serial.println("Driver installed");
+ } else {
+ Serial.println("Failed to install driver");
+ return;
+ }
+
+ // Start TWAI driver
+ if (twai_start() == ESP_OK) {
+ Serial.println("Driver started");
+ } else {
+ Serial.println("Failed to start driver");
+ return;
+ }
+
+ // Reconfigure alerts to detect frame receive, Bus-Off error and RX queue full states
+ uint32_t alerts_to_enable = TWAI_ALERT_RX_DATA | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_ERROR | TWAI_ALERT_RX_QUEUE_FULL;
+ if (twai_reconfigure_alerts(alerts_to_enable, NULL) == ESP_OK) {
+ Serial.println("CAN Alerts reconfigured");
+ } else {
+ Serial.println("Failed to reconfigure alerts");
+ }
+
+}
+
+static void handle_rx_message(twai_message_t& message) {
+ // Process received message
+ if (message.extd) {
+ Serial.println("Message is in Extended Format");
+ } else {
+ Serial.println("Message is in Standard Format");
+ }
+ Serial.printf("ID: %x\nByte:", message.identifier);
+ if (!(message.rtr)) {
+ for (int i = 0; i < message.data_length_code; i++) {
+ Serial.printf(" %d = %02x,", i, message.data[i]);
+ }
+ Serial.println("");
+ }
+}
+
+void loop() {
+ // Check if alert happened
+ uint32_t alerts_triggered;
+ twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(POLLING_RATE_MS));
+ twai_status_info_t twaistatus;
+ twai_get_status_info(&twaistatus);
+
+ // Handle alerts
+ if (alerts_triggered & TWAI_ALERT_ERR_PASS) {
+ Serial.println("Alert: TWAI controller has become error passive.");
+ }
+ if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
+ Serial.println("Alert: A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus.");
+ Serial.printf("Bus error count: %d\n", twaistatus.bus_error_count);
+ }
+ if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) {
+ Serial.println("Alert: The RX queue is full causing a received frame to be lost.");
+ Serial.printf("RX buffered: %d\t", twaistatus.msgs_to_rx);
+ Serial.printf("RX missed: %d\t", twaistatus.rx_missed_count);
+ Serial.printf("RX overrun %d\n", twaistatus.rx_overrun_count);
+ }
+
+ // Check if message is received
+ if (alerts_triggered & TWAI_ALERT_RX_DATA) {
+ // One or more messages received. Handle all.
+ twai_message_t message;
+ while (twai_receive(&message, 0) == ESP_OK) {
+ handle_rx_message(message);
+ }
+ }
+}
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