diff --git a/libuavcan/include/uavcan/driver/can.hpp b/libuavcan/include/uavcan/driver/can.hpp
index d29d10d436..1ba93d5be2 100644
--- a/libuavcan/include/uavcan/driver/can.hpp
+++ b/libuavcan/include/uavcan/driver/can.hpp
@@ -24,6 +24,7 @@ struct CanFrame
     static const uint32_t MaskExtID = 0x1FFFFFFF;
     static const uint32_t FlagEFF = 1 << 31;                  ///< Extended frame format
     static const uint32_t FlagRTR = 1 << 30;                  ///< Remote transmission request
+    static const uint32_t FlagERR = 1 << 29;                  ///< Error frame
 
     uint32_t id;        ///< CAN ID with flags (above)
     uint8_t data[8];
@@ -50,8 +51,9 @@ struct CanFrame
         return (id == rhs.id) && (dlc == rhs.dlc) && std::equal(data, data + dlc, rhs.data);
     }
 
-    bool isExtended() const { return id & FlagEFF; }
+    bool isExtended()                  const { return id & FlagEFF; }
     bool isRemoteTransmissionRequest() const { return id & FlagRTR; }
+    bool isErrorFrame()                const { return id & FlagERR; }
 
     enum StringRepresentation { StrTight, StrAligned };
     std::string toString(StringRepresentation mode = StrTight) const;
diff --git a/libuavcan/src/driver/can.cpp b/libuavcan/src/driver/can.cpp
index caab7a2090..0113a6dfd5 100644
--- a/libuavcan/src/driver/can.cpp
+++ b/libuavcan/src/driver/can.cpp
@@ -14,6 +14,7 @@ const uint32_t CanFrame::MaskStdID;
 const uint32_t CanFrame::MaskExtID;
 const uint32_t CanFrame::FlagEFF;
 const uint32_t CanFrame::FlagRTR;
+const uint32_t CanFrame::FlagERR;
 
 
 std::string CanFrame::toString(StringRepresentation mode) const
@@ -42,6 +43,11 @@ std::string CanFrame::toString(StringRepresentation mode) const
     {
         wpos += snprintf(wpos, epos - wpos, " RTR");
     }
+    else if (id & FlagERR)
+    {
+        // TODO: print error flags
+        wpos += snprintf(wpos, epos - wpos, " ERR");
+    }
     else
     {
         for (int dlen = 0; dlen < dlc; dlen++)                                 // hex bytes
diff --git a/libuavcan/src/transport/frame.cpp b/libuavcan/src/transport/frame.cpp
index db97f4ce0c..3c3483ee67 100644
--- a/libuavcan/src/transport/frame.cpp
+++ b/libuavcan/src/transport/frame.cpp
@@ -52,7 +52,7 @@ inline static uint32_t bitunpack(uint32_t val)
 
 bool Frame::parse(const CanFrame& can_frame)
 {
-    if ((can_frame.id & CanFrame::FlagRTR) || !(can_frame.id & CanFrame::FlagEFF))
+    if (can_frame.isErrorFrame() || can_frame.isRemoteTransmissionRequest() || !can_frame.isExtended())
         return false;
 
     if (can_frame.dlc > sizeof(CanFrame::data))
diff --git a/libuavcan/test/transport/can/can_driver.cpp b/libuavcan/test/transport/can/can_driver.cpp
index 1970a997cb..9e730adec0 100644
--- a/libuavcan/test/transport/can/can_driver.cpp
+++ b/libuavcan/test/transport/can/can_driver.cpp
@@ -16,6 +16,9 @@ TEST(CanFrame, FrameProperties)
     uavcan::CanFrame frame = makeCanFrame(123, "", STD);
     frame.id |= uavcan::CanFrame::FlagRTR;
     EXPECT_TRUE(frame.isRemoteTransmissionRequest());
+    EXPECT_FALSE(frame.isErrorFrame());
+    frame.id |= uavcan::CanFrame::FlagERR;
+    EXPECT_TRUE(frame.isErrorFrame());
 }
 
 TEST(CanFrame, ToString)