diff --git a/include/libopencm3/stm32/can.h b/include/libopencm3/stm32/can.h
index 0a015402..0370a7ec 100644
--- a/include/libopencm3/stm32/can.h
+++ b/include/libopencm3/stm32/can.h
@@ -670,7 +670,7 @@ int can_transmit(uint32_t canport, uint32_t id, bool ext, bool rtr,
 		 uint8_t length, uint8_t *data);
 void can_receive(uint32_t canport, uint8_t fifo, bool release, uint32_t *id,
 		 bool *ext, bool *rtr, uint32_t *fmi, uint8_t *length,
-		 uint8_t *data);
+		 uint8_t *data, uint16_t *timestamp);
 
 void can_fifo_release(uint32_t canport, uint8_t fifo);
 bool can_available_mailbox(uint32_t canport);
diff --git a/lib/stm32/can.c b/lib/stm32/can.c
index 307eedfa..c4d7f0c9 100644
--- a/lib/stm32/can.c
+++ b/lib/stm32/can.c
@@ -469,10 +469,12 @@ void can_fifo_release(uint32_t canport, uint8_t fifo)
 @param[out] fmi Unsigned int32 pointer. ID of the matched filter.
 @param[out] length Unsigned int8 pointer. Length of message payload.
 @param[out] data Unsigned int8[]. Message payload data.
+@param[out] timestamp. Pointer to store the message timestamp.
+			Only valid on time triggered CAN. Use NULL to ignore.
  */
 void can_receive(uint32_t canport, uint8_t fifo, bool release, uint32_t *id,
 		 bool *ext, bool *rtr, uint32_t *fmi, uint8_t *length,
-		 uint8_t *data)
+		 uint8_t *data, uint16_t *timestamp)
 {
 	uint32_t fifo_id = 0;
 	union {
@@ -513,6 +515,11 @@ void can_receive(uint32_t canport, uint8_t fifo, bool release, uint32_t *id,
 	 * memory to the fast internal RAM
 	 */
 
+	if (timestamp) {
+		*timestamp = (CAN_RDTxR(canport, fifo_id) &
+			CAN_RDTxR_TIME_MASK) >> CAN_RDTxR_TIME_SHIFT;
+	}
+
 	rdlxr.data32 = CAN_RDLxR(canport, fifo_id);
 	rdhxr.data32 = CAN_RDHxR(canport, fifo_id);
 	/* */