diff --git a/drivers/include/drivers/interfaces/InterfaceCAN.h b/drivers/include/drivers/interfaces/InterfaceCAN.h
index a73eceae42..6429b00ede 100644
--- a/drivers/include/drivers/interfaces/InterfaceCAN.h
+++ b/drivers/include/drivers/interfaces/InterfaceCAN.h
@@ -28,8 +28,10 @@
 
 namespace mbed {
 
+#ifndef FEATURE_EXPERIMENTAL_API
 // Forward declare CAN
 class CAN;
+#endif
 
 /** \defgroup drivers-public-api-can CAN
  * \ingroup drivers-public-api
@@ -171,6 +173,11 @@ using CAN = ::mbed::CAN;
 #endif
 
 } // namespace interface
+
+#if defined(FEATURE_EXPERIMENTAL_API) && !DEVICE_CAN
+using CAN = interface::CAN;
+#endif
+
 } // namespace mbed
 
 #endif /* MBED_INTERFACE_CAN_H_ */
diff --git a/hal/include/hal/can_helper.h b/hal/include/hal/can_helper.h
index 3f56f16c6f..c9a66981da 100644
--- a/hal/include/hal/can_helper.h
+++ b/hal/include/hal/can_helper.h
@@ -20,7 +20,7 @@
 #ifndef MBED_CAN_HELPER_H
 #define MBED_CAN_HELPER_H
 
-#if DEVICE_CAN
+#if DEVICE_CAN || FEATURE_EXPERIMENTAL_API
 
 #ifdef __cplusplus
 extern "C" {