diff --git a/include/zephyr/drivers/can.h b/include/zephyr/drivers/can.h
index dabdde2..4396fa6 100644
--- a/include/zephyr/drivers/can.h
+++ b/include/zephyr/drivers/can.h
@@ -323,6 +323,23 @@
  */
 
 /**
+ * @brief Calculate Transmitter Delay Compensation Offset from data phase timing parameters.
+ *
+ * Calculates the TDC Offset in minimum time quanta (mtq) using the sample point and CAN core clock
+ * prescaler specified by a set of data phase timing parameters.
+ *
+ * The result is clamped to the minimum/maximum supported TDC Offset values provided.
+ *
+ * @param _timing_data Pointer to data phase timing parameters.
+ * @param _tdco_min    Minimum supported TDC Offset value in mtq.
+ * @param _tdco_max    Maximum supported TDC Offset value in mtq.
+ * @return             Calculated TDC Offset value in mtq.
+ */
+#define CAN_CALC_TDCO(_timing_data, _tdco_min, _tdco_max)                                          \
+	CLAMP((1U + _timing_data->prop_seg + _timing_data->phase_seg1) * _timing_data->prescaler,  \
+	      _tdco_min, _tdco_max)
+
+/**
  * @brief Common CAN controller driver configuration.
  *
  * This structure is common to all CAN controller drivers and is expected to be the first element in