diff --git a/boards/nxp/ucans32k146/nuttx-config/include/board.h b/boards/nxp/ucans32k146/nuttx-config/include/board.h
index d4936a9eaf..5462c7ccb7 100644
--- a/boards/nxp/ucans32k146/nuttx-config/include/board.h
+++ b/boards/nxp/ucans32k146/nuttx-config/include/board.h
@@ -159,8 +159,12 @@
 #define PIN_CAN0_TX      PIN_CAN0_TX_4      /* PTE5 */
 #define PIN_CAN0_RX      PIN_CAN0_RX_4      /* PTE4 */
 #define PIN_CAN0_STB     (GPIO_OUTPUT | PIN_PORTE | PIN11 )
+#define PIN_CAN0_ERRN    (GPIO_INPUT  | PIN_PORTA | PIN11 )
+#define PIN_CAN0_EN      (GPIO_HIGHDRIVE  | PIN_PORTA | PIN10 )
 #define PIN_CAN1_TX      PIN_CAN1_TX_1      /* PTA13 */
 #define PIN_CAN1_RX      PIN_CAN1_RX_1      /* PTA12 */
 #define PIN_CAN1_STB     (GPIO_OUTPUT | PIN_PORTE | PIN10 )
+#define PIN_CAN1_ERRN    (GPIO_PULLDOWN  | PIN_PORTE | PIN6 )
+#define PIN_CAN1_EN      (GPIO_OUTPUT  | PIN_PORTE | PIN2 )
 
 #endif  /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */
diff --git a/boards/nxp/ucans32k146/src/can_boot.c b/boards/nxp/ucans32k146/src/can_boot.c
index 6e4a8f63a6..f6878bd71d 100644
--- a/boards/nxp/ucans32k146/src/can_boot.c
+++ b/boards/nxp/ucans32k146/src/can_boot.c
@@ -75,8 +75,32 @@ __EXPORT void s32k1xx_board_initialize(void)
 	s32k1xx_pinconfig(BOARD_REVISION_DETECT_PIN);
 
 	if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
-		/* STB high -> active CAN phy */
-		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ONE);
+		/* Config Pins to do CAN tranceiver HW selftest */
+		s32k1xx_pinconfig(PIN_CAN0_ERRN);
+		s32k1xx_pinconfig(PIN_CAN0_STB);
+		s32k1xx_pinconfig(PIN_CAN0_EN);
+
+		/* EN high & STB high -> normal mode */
+		s32k1xx_gpiowrite(PIN_CAN0_STB, 1);
+		s32k1xx_gpiowrite(PIN_CAN0_EN, 1);
+		up_udelay(3000); // Wait for startup to normal mode
+
+		/* EN low & STB high -> listen only mode */
+		s32k1xx_gpiowrite(PIN_CAN0_STB, 1);
+		s32k1xx_gpiowrite(PIN_CAN0_EN, 0);
+		up_udelay(100); // t moch ERRN_N
+
+		/* Check for HW err and wait untill ERR has been cleared */
+		while (!s32k1xx_gpioread(PIN_CAN0_ERRN)) {
+			board_indicate(hardware_failure);
+			s32k1xx_gpiowrite(PIN_CAN0_EN, 1);
+			up_udelay(50);
+			s32k1xx_gpiowrite(PIN_CAN0_EN, 0);
+			up_udelay(50);
+		}
+
+		/* Enter normal-mode */
+		s32k1xx_gpiowrite(PIN_CAN0_EN, 1);
 
 	} else {
 		/* STB low -> active CAN phy */
@@ -208,6 +232,7 @@ static const  led_t i2l[] = {
 	led(9, fw_update_timeout,              31,    0,    0,     2),
 	led(a, fw_update_invalid_crc,          31,    0,    0,     4),
 	led(b, jump_to_app,                     0,   63,    0,    10),
+	led(c, hardware_failure,               31,    0,    0,    10),
 
 };
 
diff --git a/platforms/nuttx/src/canbootloader/include/board.h b/platforms/nuttx/src/canbootloader/include/board.h
index 36365b7082..6d25ffd796 100644
--- a/platforms/nuttx/src/canbootloader/include/board.h
+++ b/platforms/nuttx/src/canbootloader/include/board.h
@@ -57,6 +57,7 @@ typedef enum {
 	fw_update_timeout,
 	fw_update_invalid_crc,
 	jump_to_app,
+	hardware_failure,
 } uiindication_t;
 
 #ifndef __ASSEMBLY__