diff --git a/drivers/can/can.c b/drivers/can/can.c
index 1683e54867..c2076ea4c0 100644
--- a/drivers/can/can.c
+++ b/drivers/can/can.c
@@ -96,12 +96,6 @@
  * Private Function Prototypes
  ****************************************************************************/
 
-/* CAN helpers */
-
-static uint8_t        can_dlc2bytes(uint8_t dlc);
-#if 0 /* Not used */
-static uint8_t        can_bytes2dlc(uint8_t nbytes);
-#endif
 #ifdef CONFIG_CAN_TXREADY
 static void           can_txready_work(FAR void *arg);
 #endif
@@ -144,124 +138,6 @@ static const struct file_operations g_canops =
  * Private Functions
  ****************************************************************************/
 
-/****************************************************************************
- * Name: can_dlc2bytes
- *
- * Description:
- *   In the CAN FD format, the coding of the DLC differs from the standard
- *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
- *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
- *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
- *   in the range 12 to 64.
- *
- * Input Parameters:
- *   dlc    - the DLC value to convert to a byte count
- *
- * Returned Value:
- *   The number of bytes corresponding to the DLC value.
- *
- ****************************************************************************/
-
-static uint8_t can_dlc2bytes(uint8_t dlc)
-{
-  if (dlc > 8)
-    {
-#ifdef CONFIG_CAN_FD
-      switch (dlc)
-        {
-          case 9:
-            return 12;
-
-          case 10:
-            return 16;
-
-          case 11:
-            return 20;
-
-          case 12:
-            return 24;
-
-          case 13:
-            return 32;
-
-          case 14:
-            return 48;
-
-          default:
-          case 15:
-            return 64;
-        }
-#else
-      return 8;
-#endif
-    }
-
-  return dlc;
-}
-
-/****************************************************************************
- * Name: can_bytes2dlc
- *
- * Description:
- *   In the CAN FD format, the coding of the DLC differs from the standard
- *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
- *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
- *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
- *   in the range 12 to 64.
- *
- * Input Parameters:
- *   nbytes - the byte count to convert to a DLC value
- *
- * Returned Value:
- *   The encoded DLC value corresponding to at least that number of bytes.
- *
- ****************************************************************************/
-
-#if 0 /* Not used */
-static uint8_t can_bytes2dlc(FAR struct sam_can_s *priv, uint8_t nbytes)
-{
-  if (nbytes <= 8)
-    {
-      return nbytes;
-    }
-#ifdef CONFIG_CAN_FD
-  else if (nbytes <= 12)
-    {
-      return 9;
-    }
-  else if (nbytes <= 16)
-    {
-      return 10;
-    }
-  else if (nbytes <= 20)
-    {
-      return 11;
-    }
-  else if (nbytes <= 24)
-    {
-      return 12;
-    }
-  else if (nbytes <= 32)
-    {
-      return 13;
-    }
-  else if (nbytes <= 48)
-    {
-      return 14;
-    }
-  else /* if (nbytes <= 64) */
-    {
-      return 15;
-    }
-#else
-  else
-    {
-      return 8;
-    }
-#endif
-}
-#endif
-
 /****************************************************************************
  * Name: can_txready_work
  *
@@ -1694,4 +1570,121 @@ int can_txready(FAR struct can_dev_s *dev)
   return ret;
 }
 #endif /* CONFIG_CAN_TXREADY */
+
+/****************************************************************************
+ * Name: can_bytes2dlc
+ *
+ * Description:
+ *   In the CAN FD format, the coding of the DLC differs from the standard
+ *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
+ *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
+ *   in the range 12 to 64.
+ *
+ * Input Parameters:
+ *   nbytes - the byte count to convert to a DLC value
+ *
+ * Returned Value:
+ *   The encoded DLC value corresponding to at least that number of bytes.
+ *
+ ****************************************************************************/
+
+uint8_t can_bytes2dlc(uint8_t nbytes)
+{
+  if (nbytes <= 8)
+    {
+      return nbytes;
+    }
+#ifdef CONFIG_CAN_FD
+  else if (nbytes <= 12)
+    {
+      return 9;
+    }
+  else if (nbytes <= 16)
+    {
+      return 10;
+    }
+  else if (nbytes <= 20)
+    {
+      return 11;
+    }
+  else if (nbytes <= 24)
+    {
+      return 12;
+    }
+  else if (nbytes <= 32)
+    {
+      return 13;
+    }
+  else if (nbytes <= 48)
+    {
+      return 14;
+    }
+  else /* if (nbytes <= 64) */
+    {
+      return 15;
+    }
+#else
+  else
+    {
+      return 8;
+    }
+#endif
+}
+
+/****************************************************************************
+ * Name: can_dlc2bytes
+ *
+ * Description:
+ *   In the CAN FD format, the coding of the DLC differs from the standard
+ *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
+ *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
+ *   in the range 12 to 64.
+ *
+ * Input Parameters:
+ *   dlc    - the DLC value to convert to a byte count
+ *
+ * Returned Value:
+ *   The number of bytes corresponding to the DLC value.
+ *
+ ****************************************************************************/
+
+uint8_t can_dlc2bytes(uint8_t dlc)
+{
+  if (dlc > 8)
+    {
+#ifdef CONFIG_CAN_FD
+      switch (dlc)
+        {
+          case 9:
+            return 12;
+
+          case 10:
+            return 16;
+
+          case 11:
+            return 20;
+
+          case 12:
+            return 24;
+
+          case 13:
+            return 32;
+
+          case 14:
+            return 48;
+
+          default:
+          case 15:
+            return 64;
+        }
+#else
+      return 8;
+#endif
+    }
+
+  return dlc;
+}
+
 #endif /* CONFIG_CAN */
diff --git a/include/nuttx/can/can.h b/include/nuttx/can/can.h
index d26c503e46..59646b54a1 100644
--- a/include/nuttx/can/can.h
+++ b/include/nuttx/can/can.h
@@ -936,6 +936,46 @@ int can_txdone(FAR struct can_dev_s *dev);
 int can_txready(FAR struct can_dev_s *dev);
 #endif
 
+/****************************************************************************
+ * Name: can_bytes2dlc
+ *
+ * Description:
+ *   In the CAN FD format, the coding of the DLC differs from the standard
+ *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
+ *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
+ *   in the range 12 to 64.
+ *
+ * Input Parameters:
+ *   nbytes - the byte count to convert to a DLC value
+ *
+ * Returned Value:
+ *   The encoded DLC value corresponding to at least that number of bytes.
+ *
+ ****************************************************************************/
+
+uint8_t can_bytes2dlc(uint8_t nbytes);
+
+/****************************************************************************
+ * Name: can_dlc2bytes
+ *
+ * Description:
+ *   In the CAN FD format, the coding of the DLC differs from the standard
+ *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
+ *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
+ *   in the range 12 to 64.
+ *
+ * Input Parameters:
+ *   dlc    - the DLC value to convert to a byte count
+ *
+ * Returned Value:
+ *   The number of bytes corresponding to the DLC value.
+ *
+ ****************************************************************************/
+
+uint8_t can_dlc2bytes(uint8_t dlc);
+
 #undef EXTERN
 #if defined(__cplusplus)
 }