Since V4.x release of esp-idf, the can bus peripheral is now called the TWAI (Two-Wire Automotive Interface) by Espressif. It’s still the same peripheral.
The can.c etc files were left for backwards compatibility in V4.x esp-idf, and have been removed from V5.x of esp-idf. Various old documentation still exists for CAN, buts it’s the TWAI docs you want to be looking at now.
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