diff --git a/cpu/esp32/esp-eth/esp_eth_netdev.c b/cpu/esp32/esp-eth/esp_eth_netdev.c
index f874652f50..5b74bca9cb 100644
--- a/cpu/esp32/esp-eth/esp_eth_netdev.c
+++ b/cpu/esp32/esp-eth/esp_eth_netdev.c
@@ -93,7 +93,7 @@ static esp_err_t IRAM_ATTR _eth_input_callback(esp_eth_handle_t hdl,
                                                uint8_t *buffer, uint32_t len,
                                                void *priv)
 {
-    DEBUG("%s: buf=%p len=%d priv=%p\n", __func__, buffer, len, priv);
+    DEBUG("%s: buf=%p len=%"PRIu32" priv=%p\n", __func__, buffer, len, priv);
 
     assert(buffer != NULL);
     assert(len <= ETHERNET_MAX_LEN);
@@ -145,7 +145,7 @@ static void _esp_eth_event_handler(void *arg, esp_event_base_t event_base,
             }
             break;
         default:
-            DEBUG("%s: event=%d\n", __func__, event_id);
+            DEBUG("%s: event=%"PRIi32"\n", __func__, event_id);
             break;
     }
 }
diff --git a/cpu/esp32/periph/can.c b/cpu/esp32/periph/can.c
index 74e85b5372..cdb55201ac 100644
--- a/cpu/esp32/periph/can.c
+++ b/cpu/esp32/periph/can.c
@@ -104,7 +104,7 @@ static void _esp_can_power_down(can_t *dev);
 static int  _esp_can_set_mode(can_t *dev, canopt_state_t state);
 static void _esp_can_init_pins(void);
 static void _esp_can_deinit_pins(void);
-static void IRAM_ATTR _esp_can_intr_handler(void *arg);
+static void _esp_can_intr_handler(void *arg);
 
 /** ESP32 CAN low level device driver data */
 static const candev_driver_t _esp_can_driver = {
@@ -925,7 +925,7 @@ void can_init(can_t *dev, const can_conf_t *conf)
     can_device_calc_bittiming(ESP_CAN_CLOCK, &timing_const, &dev->candev.bittiming);
 
     /* initialize other members */
-    dev->state = CAN_STATE_SLEEPING;
+    dev->state = CANOPT_STATE_SLEEP;
     dev->tx_frame = NULL;
     dev->rx_frames_wptr = 0;
     dev->rx_frames_rptr = 0;
diff --git a/cpu/esp32/periph/timer.c b/cpu/esp32/periph/timer.c
index 0d1e4e248a..579138f1c7 100644
--- a/cpu/esp32/periph/timer.c
+++ b/cpu/esp32/periph/timer.c
@@ -369,6 +369,8 @@ void IRAM_ATTR timer_stop(tim_t dev)
 
 #else /* MODULE_ESP_HW_COUNTER */
 
+#include "xtensa/config/core-isa.h"
+
 /* hardware counter used as timer */
 
 /**
@@ -482,7 +484,7 @@ void IRAM hw_timer_handler(void* arg)
 
 int timer_init (tim_t dev, uint32_t freq, timer_cb_t cb, void *arg)
 {
-    DEBUG("%s dev=%u freq=%u cb=%p arg=%p\n", __func__, dev, freq, cb, arg);
+    DEBUG("%s dev=%u freq=%"PRIu32" cb=%p arg=%p\n", __func__, dev, freq, cb, arg);
 
     assert(dev  <  HW_TIMER_NUMOF);
     assert(freq == HW_TIMER_FREQUENCY);
@@ -568,7 +570,7 @@ unsigned int IRAM timer_read(tim_t dev)
 
 void IRAM timer_start(tim_t dev)
 {
-    DEBUG("%s dev=%u @%u\n", __func__, dev, system_get_time());
+    DEBUG("%s dev=%u @%"PRIu32"\n", __func__, dev, system_get_time());
 
     assert(dev < HW_TIMER_NUMOF);
     assert(!_timers[dev].started);
@@ -619,7 +621,7 @@ static void IRAM __timer_channel_start (struct _hw_timer_t* timer, struct hw_cha
     channel->cycles     = channel->delta_time >> HW_TIMER_DELTA_RSHIFT;
     channel->remainder  = channel->delta_time &  HW_TIMER_DELTA_MASK;
 
-    DEBUG("%s cycles=%u remainder=%u @%u\n",
+    DEBUG("%s cycles=%"PRIu32" remainder=%"PRIu32" @%"PRIu32"\n",
           __func__, channel->cycles, channel->remainder, system_get_time());
 
     /* start timer either with full cycles, remaining or minimum time */