diff --git a/examples/esp32can_rtos/esp32can_rtos.ino b/examples/esp32can_rtos/esp32can_rtos.ino
new file mode 100644
index 0000000..9132b62
--- /dev/null
+++ b/examples/esp32can_rtos/esp32can_rtos.ino
@@ -0,0 +1,112 @@
+/* ESP32 Arduino CAN RTOS Example
+ *     This example will send and receive messages on the CAN bus using RTOS tasks
+ *
+ *     When controlling a device over CAN bus that device may expect a CAN message to be received at a specific frequency.
+ *     Using RTOS tasks simplifies sending dataframes and makes the timing more consistent.
+ *
+ *     An external transceiver is required and should be connected 
+ *     to the CAN_tx and CAN_rx gpio pins specified by CANInit. Be sure
+ *     to use a 3.3V compatable transceiver such as the SN65HVD23x
+ *
+ */
+
+#include <Arduino.h>
+#include <ESP32CAN.h>
+
+/* RTOS priorities, higher number is more important */
+#define CAN_TX_PRIORITY     3
+#define CAN_RX_PRIORITY     1
+
+#define CAN_TX_RATE_ms      500
+#define CAN_RX_RATE_ms      1000
+
+/* can frame to send */
+twai_message_t tx_frame;
+
+/* CAN RTOS callback functions */
+void canSend(void *pvParameters);
+void canReceive(void *pvParameters);
+
+/* CAN RTOS task handles */
+static TaskHandle_t canTxTask = NULL;
+static TaskHandle_t canRxTask = NULL;
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("ESP32-Arduino-CAN RTOS Example");
+
+  /* initialize and start, use pin 5 as CAN_tx and pin 4 as CAN_rx, CAN bus is set to 500kbps */
+  ESP32Can.CANInit(GPIO_NUM_5, GPIO_NUM_4, ESP32CAN_SPEED_500KBPS);
+
+  /* setup can send RTOS task */
+  xTaskCreatePinnedToCore(canSend,         /* callback function */
+                          "CAN TX",        /* name of task */
+                          1024,            /* stack size (bytes in ESP32, words in FreeRTOS */
+                          NULL,            /* parameter to pass to function */
+                          CAN_TX_PRIORITY, /* task priority (0 to configMAX_PRIORITES - 1 */
+                          &canTxTask,      /* task handle */
+                          1);              /* CPU core, Arduino runs on 1 */
+
+  /* setup can receive RTOS task */
+	xTaskCreatePinnedToCore(canReceive,      /* callback function */
+                          "CAN RX",        /* name of task */
+                          2048,            /* stack size (bytes in ESP32, words in FreeRTOS */
+                          NULL,            /* parameter to pass to function */
+                          CAN_RX_PRIORITY, /* task priority (0 to configMAX_PRIORITES - 1 */
+                          &canRxTask,      /* task handle */
+                          1);              /* CPU core, Arduino runs on 1 */
+
+
+  /* setup can send frame */
+  tx_frame.extd = 0;             /* standard 11bit ID */
+  tx_frame.identifier = 0x123;   /* CAN ID */
+  tx_frame.data_length_code = 8; /* 8 bytes of data */
+  for (int8_t i= 0; i<8; i++) {
+    tx_frame.data[i] = 0xFF;     /* pad frame with 0xFF */
+  }
+}
+
+void loop() {
+  /* place time in seconds into first two bytes of dataframe */
+  uint16_t time = millis()/1000;
+  tx_frame.data[0] = highByte(time);
+  tx_frame.data[1] = lowByte(time);
+
+  delay(500);
+}
+
+/* CAN Send function called by RTOS can send task */
+void canSend(void *pvParameters) {
+	TickType_t xLastWakeTime; /* keep track of last time can message was sent */
+	TickType_t xFrequency = CAN_TX_RATE_ms / portTICK_PERIOD_MS; /* set the transmit frequency */
+
+  /* this task will run forever at frequency set above 
+   * to stop this task from running call vTaskSuspend(canTxTask) in the main loop */
+	for (;;) {
+		ESP32Can.CANWriteFrame(&tx_frame);           /* send dataframe */
+
+		vTaskDelayUntil(&xLastWakeTime, xFrequency); /* do something else until it is time to send again */
+        /* the above delay function was used since it specifies an absolute wake time. 
+         * Make sure the code in the forever for loop can run faster then desired send frequency or this task will take all of the CPU time available */
+	}
+}
+
+void canReceive(void *pvParameters) {
+	const TickType_t xDelay = CAN_RX_RATE_ms / portTICK_PERIOD_MS;
+	twai_message_t rx_frame;
+
+	for (;;) {
+    if (ESP32CAN_OK == ESP32Can.CANReadFrame(&rx_frame)) {  /* only print when CAN message is received*/
+      Serial.print(rx_frame.identifier, HEX);               /* print the CAN ID*/
+      Serial.print(" ");
+      Serial.print(rx_frame.data_length_code);              /* print number of bytes in data frame*/
+      
+      for (int i=0; i<rx_frame.data_length_code; i++) {     /* print the data frame*/
+        Serial.print(rx_frame.data[i], HEX);
+      }
+
+      Serial.println();
+    }
+		vTaskDelay(xDelay); /* do something else until it is time to receive again. This is a simple delay task. */
+	}
+}