diff --git a/tasmota/tasmota_xdrv_driver/xdrv_91_esp32_twai.ino b/tasmota/tasmota_xdrv_driver/xdrv_91_esp32_twai.ino
new file mode 100644
index 000000000..8bd808b23
--- /dev/null
+++ b/tasmota/tasmota_xdrv_driver/xdrv_91_esp32_twai.ino
@@ -0,0 +1,331 @@
+/*
+  xdrv_91_esp32_twai.ino - ESP32 TWAI support for Tasmota
+
+  SPDX-FileCopyrightText: 2024 Theo Arends
+
+  SPDX-License-Identifier: GPL-3.0-only
+*/
+
+#ifdef ESP32
+#ifdef USE_ESP32_TWAI
+/*********************************************************************************************\
+ * ESP32 Two-Wire Automotive Interface (TWAI) or Controller Area Network (CAN) - needs external tranceiver
+ * 
+ * The TWAI controller is not compatible with ISO11898-1 FD Format frames, and will interpret such frames as errors.
+ * 
+ * CAN bus message format is 32-bit identifier and up to 8 bytes of data
+ * 
+ * For versalitlity decoding CAN-bus needs a berry script with class "can_bus" and function "decode"
+\*********************************************************************************************/
+
+#define XDRV_91               91
+
+#define TWAI_POLLING_RATE_MS  100
+
+enum TwaiSpeeds { TWAI_SPEED_25KBITS = 0,
+                  TWAI_SPEED_50KBITS,
+                  TWAI_SPEED_100KBITS,
+                  TWAI_SPEED_125KBITS,
+                  TWAI_SPEED_250KBITS,
+                  TWAI_SPEED_500KBITS,
+                  TWAI_SPEED_800KBITS,
+                  TWAI_SPEED_1MBITS,
+                  TWAI_SPEED_MAX };
+
+#include "driver/twai.h"
+
+struct TWAIs {
+  uint8_t speed;
+  bool supported;
+  bool installed;
+} Twai;
+
+/*********************************************************************************************\
+ * Low level
+\*********************************************************************************************/
+
+bool TWAIStart(void) {
+  twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)Pin(GPIO_TWAI_TX), (gpio_num_t)Pin(GPIO_TWAI_RX), TWAI_MODE_NORMAL);
+  g_config.rx_queue_len = 32;
+
+  twai_timing_config_t t_config;
+  switch (Twai.speed) {
+    case 0:
+      t_config = TWAI_TIMING_CONFIG_25KBITS();
+      break;
+    case 1:
+      t_config = TWAI_TIMING_CONFIG_50KBITS();
+      break;
+    case 2:
+      t_config = TWAI_TIMING_CONFIG_100KBITS();
+      break;
+    case 3:
+      t_config = TWAI_TIMING_CONFIG_125KBITS();
+      break;
+    case 4:
+      t_config = TWAI_TIMING_CONFIG_250KBITS();
+      break;
+    case 5:
+      t_config = TWAI_TIMING_CONFIG_500KBITS();
+      break;
+    case 6:
+      t_config = TWAI_TIMING_CONFIG_800KBITS();
+      break;
+    case 7:
+      t_config = TWAI_TIMING_CONFIG_1MBITS();
+      break;
+    default:
+      t_config = TWAI_TIMING_CONFIG_125KBITS();
+      break;
+  }
+
+  twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
+
+  if (twai_driver_install(&g_config, &t_config, &f_config) != ESP_OK) {
+    AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Not installed"));
+    return false;
+  }
+  if (twai_start() != ESP_OK) {
+    AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Not started"));
+    return false;
+  }
+  // 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_RX_QUEUE_FULL | TWAI_ALERT_TX_IDLE | TWAI_ALERT_TX_SUCCESS | TWAI_ALERT_TX_FAILED | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_ERROR;
+  if (twai_reconfigure_alerts(alerts_to_enable, NULL) != ESP_OK) {
+    AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Failed to reconfigure CAN alerts"));
+    return false;
+  } 
+
+  Twai.installed = true;
+  return true;
+}
+
+/*********************************************************************************************/
+
+void TWAIStop(void) {
+  if (Twai.installed) {
+    twai_stop();
+    twai_driver_uninstall();
+    Twai.installed = false;
+  }
+}
+
+/*********************************************************************************************/
+
+uint32_t TWAICheckAlerts(void) {
+  uint32_t alerts_triggered;
+  twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(TWAI_POLLING_RATE_MS));
+  twai_status_info_t twaistatus;
+  twai_get_status_info(&twaistatus);
+
+  // Handle alerts
+  if (alerts_triggered & TWAI_ALERT_ERR_PASS) {
+    AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - Controller has become error passive"));
+  }
+  if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
+    AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus. Errors %d"), twaistatus.bus_error_count);
+  }
+  if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) {
+    AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - The RX queue is full causing a received frame to be lost. Buffered %d, Missed %d, Overrun %d"),
+      twaistatus.msgs_to_rx, twaistatus.rx_missed_count, twaistatus.rx_overrun_count);
+  }
+  if (alerts_triggered & TWAI_ALERT_TX_FAILED) {
+    AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - The Transmission failed. Buffered %d, Error %d, Failed %d"),
+      twaistatus.msgs_to_tx, twaistatus.tx_error_counter, twaistatus.tx_failed_count);
+  }
+  if (alerts_triggered & TWAI_ALERT_TX_SUCCESS) {
+    AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - The Transmission was successful. Buffered %d"), twaistatus.msgs_to_tx);
+  }
+
+  return alerts_triggered;
+}
+
+/*********************************************************************************************/
+
+void TWAIRead(void) {
+  uint32_t alerts_triggered = TWAICheckAlerts();
+  // 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) {
+      TWAIDecode(message.identifier, message.data_length_code, message.data);
+    }
+  }
+}
+
+/*********************************************************************************************\
+ * Decoding
+\*********************************************************************************************/
+
+void TWAIDecode(uint32_t identifier, uint32_t data_length_code, uint8_t *data) {
+
+#ifdef USE_BERRY
+  bvm *vm = berry.vm;
+  if (nullptr != vm) { 
+    if (be_getglobal(vm, "can_bus")) {      // Look for class can_bus
+      if (be_getmember(vm, 1, "decode")) {  //  and function decode
+        be_pushvalue(vm, -2);
+
+        uint32_t ident = identifier | data_length_code << 28;
+        uint32_t data1 = data[3] << 24 | data[2] << 16 | data[1] << 8 | data[0];
+        uint32_t data2 = data[7] << 24 | data[6] << 16 | data[5] << 8 | data[4];
+        AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("CAN: ident %08X, data1 %08X, data2 %08X"), ident, data1, data2);
+
+        be_pushint(vm, ident);
+        be_pushint(vm, data1);
+        be_pushint(vm, data2);
+        BrTimeoutStart();
+        int32_t ret = be_pcall(vm, 4);      // number of arguments
+        BrTimeoutReset();
+        if (ret != 0) {
+          be_error_pop_all(vm);             // clear Berry stack
+        }
+        be_pop(vm, be_top(vm));             // clean
+        return;
+      }
+    }
+    be_pop(vm, be_top(vm));                 // clean
+  }
+
+/*
+file can_bus.be contents:
+
+class can_bus_cls
+  var am012_status
+  var am014_substatus
+  var am024_power
+  var pressure
+  var setpoint
+  var flow_temp
+
+  def init()
+    self.am012_status = 0
+    self.am014_substatus = 0
+    self.am024_power = 0
+    self.pressure = 0
+    self.setpoint = 0
+    self.flow_temp = 0
+  end
+
+  def decode(ident, data1, data2)
+    var id = ident & 0xfff
+    if id == 0x076
+#      tasmota.log(f"RMH: 0x{id:03x} Count {data1}", 3)
+    elif id == 0x100
+      var time = 441763200 + (data2 * 24 * 60 * 60) + (data1 / 1000)
+#      tasmota.log(f"RMH: 0x{id:03x} Time {tasmota.time_str(time)}", 3)
+    elif id == 0x1C1
+      if data1 & 0x3ff == 0x300
+        self.pressure = (data2 & 0xff00) / 2560.0
+      end
+    elif id == 0x382
+      self.am024_power = data1 & 0xff                    # Relative power
+      self.setpoint = (data1 & 0xffff00)/25600.0   # Setpoint
+#      tasmota.log(f"RMH: 0x{id:03x} Busy {self.am024_power}%, Setpoint {self.setpoint}", 3)
+    elif id == 0x282
+      self.flow_temp = (data1 & 0xffff00)/25600.0
+#      tasmota.log(f"RMH: 0x{id:03x} DHW temp {self.flow_temp}", 3)
+    elif id == 0x481
+      self.am012_status = data1 & 0xff
+      self.am014_substatus = (data1 & 0xff00)/256
+    end
+  end
+
+  #- add sensor value to teleperiod -#
+  def json_append()
+    import string
+    var msg = string.format(",\"Calenta\":{\"AM012\":%i,\"AM014\":%i,\"Pressure\":%.1f,\"Setpoint\":%.1f,\"Flow\":%.1f}",
+                             self.am012_status, self.am014_substatus, self.pressure, self.setpoint, self.flow_temp)
+    tasmota.response_append(msg)
+  end
+
+  #- display sensor value in the web UI -#
+  def web_sensor()
+    import string
+    var msg = string.format("{s}AM012/AM014 State{m}%i/%i{e}"..
+                            "{s}AM024 Relative Power{m}%i %%{e}"..
+                            "{s}Pressure{m}%.1f{e}"..
+                            "{s}Setpoint Temperature{m}%.1f{e}"..
+                            "{s}Flow Temperature{m}%.1f{e}",
+                            self.am012_status, self.am014_substatus, self.am024_power, self.pressure, self.setpoint, self.flow_temp)
+    tasmota.web_send_decimal(msg)
+  end
+end
+can_bus = can_bus_cls()
+tasmota.add_driver(can_bus)
+
+// ****
+
+file autoexec.be contents:
+
+load('can_bus.be')
+*/
+#endif  // USE_BERRY
+
+  // Show log if no berry found (Messages come too fast for supporting MQTT at this time)
+  AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("TWA: Id 0x%08X, Rcvd '%*_H'"), identifier, data_length_code, data);
+}
+
+/*********************************************************************************************\
+ * Initialization
+\*********************************************************************************************/
+
+void TWAIInit(void) {
+  if (!(PinUsed(GPIO_TWAI_TX) && PinUsed(GPIO_TWAI_RX))) { return; }
+
+  Twai.speed = TWAI_SPEED_1MBITS;
+  if (!TWAIStart()) { return; }
+
+  Twai.supported = true;
+  AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Started"));
+}
+
+/*********************************************************************************************\
+ * Commands
+\*********************************************************************************************/
+
+const char kTwaiCommands[] PROGMEM = "TWAI|"  // Prefix
+  "Speed";
+
+void (* const TwaiCommand[])(void) PROGMEM = {
+  &CmndTWAISpeed };
+
+void CmndTWAISpeed(void) {
+  if ((XdrvMailbox.payload >= 0) && (XdrvMailbox.payload < TWAI_SPEED_MAX)) {
+    if (XdrvMailbox.payload != Twai.speed) {
+      Twai.speed = XdrvMailbox.payload;
+      TWAIStop();
+      TWAIStart();
+    }
+  }
+  ResponseCmndNumber(Twai.speed);
+}
+
+/*********************************************************************************************\
+ * Interface
+\*********************************************************************************************/
+
+bool Xdrv91(uint32_t function) {
+  bool result = false;
+
+  if (FUNC_INIT == function) {
+    TWAIInit();
+  }
+  else if (Twai.supported) {
+    switch (function) {
+      case FUNC_LOOP:
+        if (Twai.installed) {
+          TWAIRead();
+        }
+        break;
+      case FUNC_COMMAND:
+        result = DecodeCommand(kTwaiCommands, TwaiCommand);
+        break;
+    }
+  }
+  return result;
+}
+
+#endif  // USE_ESP32_TWAI
+#endif  // ESP32
\ No newline at end of file