diff --git a/cpu/stm32_common/can/candev_stm32.c b/cpu/stm32_common/can/candev_stm32.c
index b1f9564debdd..01c67b1bc009 100644
--- a/cpu/stm32_common/can/candev_stm32.c
+++ b/cpu/stm32_common/can/candev_stm32.c
@@ -171,6 +171,9 @@ int candev_stm32_init(candev_stm32_t *dev, const candev_stm32_conf_t *conf)
     memcpy(&dev->candev.bittiming, &timing, sizeof(timing));
     dev->conf = conf;
 
+    dev->rx_pin = GPIO_UNDEF;
+    dev->tx_pin = GPIO_UNDEF;
+
     return 0;
 }
 
@@ -224,6 +227,26 @@ static inline void unset_filter(CAN_TypeDef *can, uint8_t filter)
     can->FA1R &= ~(1 << filter);
 }
 
+void candev_stm32_set_pins(candev_stm32_t *dev, gpio_t tx_pin, gpio_t rx_pin,
+                           gpio_af_t af)
+{
+    if (dev->tx_pin != GPIO_UNDEF) {
+        gpio_init(dev->tx_pin, GPIO_OUT);
+    }
+    if (dev->rx_pin != GPIO_UNDEF) {
+        gpio_init(dev->rx_pin, GPIO_OUT);
+    }
+    dev->tx_pin = tx_pin;
+    dev->rx_pin = rx_pin;
+    dev->af = af;
+    /* configure pins */
+    gpio_init(rx_pin, GPIO_IN);
+    gpio_init(tx_pin, GPIO_OUT);
+    /* TODO: fix gpio init on STM32F3 */
+    gpio_init_af(rx_pin, af);
+    gpio_init_af(tx_pin, af);
+}
+
 static int _init(candev_t *candev)
 {
     candev_stm32_t *dev = (candev_stm32_t *)candev;
@@ -245,11 +268,7 @@ static int _init(candev_t *candev)
     RCC->APB1ENR |= dev->conf->rcc_mask;
 
     /* configure pins */
-    gpio_init(dev->conf->rx_pin, GPIO_IN);
-    gpio_init(dev->conf->tx_pin, GPIO_OUT);
-    /* TODO: fix gpio init on STM32F3 */
-    gpio_init_af(dev->conf->rx_pin, dev->conf->af);
-    gpio_init_af(dev->conf->tx_pin, dev->conf->af);
+    candev_stm32_set_pins(dev, dev->conf->tx_pin, dev->conf->rx_pin, dev->conf->af);
 
     set_mode(dev->conf->can, MODE_INIT);
 
diff --git a/cpu/stm32_common/include/candev_stm32.h b/cpu/stm32_common/include/candev_stm32.h
index 424ee6c87421..a1b27de572da 100644
--- a/cpu/stm32_common/include/candev_stm32.h
+++ b/cpu/stm32_common/include/candev_stm32.h
@@ -134,6 +134,9 @@ typedef struct candev_stm32_isr {
 struct candev_stm32 {
     candev_t candev;                  /**< Common candev struct */
     const candev_stm32_conf_t *conf;  /**< Configuration */
+    gpio_t rx_pin;                    /**< RX pin */
+    gpio_t tx_pin;                    /**< TX pin */
+    gpio_af_t af;                     /**< Alternate pin function to use */
     /** Tx mailboxes */
     const struct can_frame *tx_mailbox[CAN_STM32_TX_MAILBOXES];
     candev_stm32_rx_fifo_t rx_fifo;   /**< Rx FIFOs */
@@ -150,6 +153,18 @@ struct candev_stm32 {
  */
 int candev_stm32_init(candev_stm32_t *dev, const candev_stm32_conf_t *conf);
 
+/**
+ * @brief Set the pins of an stm32 CAN device
+ *
+ * @param[in] dev
+ * @param[in] tx_pin
+ * @param[in] rx_pin
+ * @param[in] tx_af
+ * @param[in] rx_af
+ */
+void candev_stm32_set_pins(candev_stm32_t *dev, gpio_t tx_pin, gpio_t rx_pin,
+                           gpio_af_t af);
+
 #ifdef __cplusplus
 }
 #endif