diff --git a/automotive/can/1.0/default/CanBus.cpp b/automotive/can/1.0/default/CanBus.cpp
index 42d2e3c..86df5dc 100644
--- a/automotive/can/1.0/default/CanBus.cpp
+++ b/automotive/can/1.0/default/CanBus.cpp
@@ -22,6 +22,8 @@
 #include <libnetdevice/can.h>
 #include <libnetdevice/libnetdevice.h>
 #include <linux/can.h>
+#include <linux/can/error.h>
+#include <linux/can/raw.h>
 
 namespace android {
 namespace hardware {
@@ -220,6 +222,21 @@
 }
 
 /**
+ * Helper function to determine if a flag meets the requirements of a
+ * FilterFlag. See definition of FilterFlag in types.hal
+ *
+ * \param filterFlag FilterFlag object to match flag against
+ * \param flag bool object from CanMessage object
+ */
+static bool satisfiesFilterFlag(FilterFlag filterFlag, bool flag) {
+    // TODO(b/144458917) add testing for this to VTS tests
+    if (filterFlag == FilterFlag::DONT_CARE) return true;
+    if (filterFlag == FilterFlag::REQUIRE) return flag;
+    if (filterFlag == FilterFlag::EXCLUDE) return !flag;
+    return false;
+}
+
+/**
  * Match the filter set against message id.
  *
  * For details on the filters syntax, please see CanMessageFilter at
@@ -229,13 +246,16 @@
  * \param id Message id to filter
  * \return true if the message id matches the filter, false otherwise
  */
-static bool match(const hidl_vec<CanMessageFilter>& filter, CanMessageId id) {
+static bool match(const hidl_vec<CanMessageFilter>& filter, CanMessageId id, bool isExtendedId,
+                  bool isRtr) {
     if (filter.size() == 0) return true;
 
     bool anyNonInvertedPresent = false;
     bool anyNonInvertedSatisfied = false;
     for (auto& rule : filter) {
-        const bool satisfied = ((id & rule.mask) == rule.id) == !rule.inverted;
+        const bool satisfied = ((id & rule.mask) == rule.id) == !rule.inverted &&
+                               satisfiesFilterFlag(rule.rtr, isRtr) &&
+                               satisfiesFilterFlag(rule.extendedFormat, isExtendedId);
         if (rule.inverted) {
             // Any inverted (blacklist) rule not being satisfied invalidates the whole filter set.
             if (!satisfied) return false;
@@ -247,11 +267,54 @@
     return !anyNonInvertedPresent || anyNonInvertedSatisfied;
 }
 
+void CanBus::notifyErrorListeners(ErrorEvent err, bool isFatal) {
+    std::lock_guard<std::mutex> lck(mErrListenersGuard);
+    for (auto& listener : mErrListeners) {
+        if (!listener->onError(err, isFatal).isOk()) {
+            LOG(WARNING) << "Failed to notify listener about error";
+        }
+    }
+}
+
+static ErrorEvent parseErrorFrame(const struct canfd_frame& frame) {
+    // decode error frame (to a degree)
+    if ((frame.can_id & (CAN_ERR_BUSERROR | CAN_ERR_BUSOFF)) != 0) {
+        return ErrorEvent::BUS_ERROR;
+    }
+    if ((frame.data[1] & CAN_ERR_CRTL_TX_OVERFLOW) != 0) {
+        return ErrorEvent::TX_OVERFLOW;
+    }
+    if ((frame.data[1] & CAN_ERR_CRTL_RX_OVERFLOW) != 0) {
+        return ErrorEvent::RX_OVERFLOW;
+    }
+    if ((frame.data[2] & CAN_ERR_PROT_OVERLOAD) != 0) {
+        return ErrorEvent::BUS_OVERLOAD;
+    }
+    if ((frame.can_id & CAN_ERR_PROT) != 0) {
+        return ErrorEvent::MALFORMED_INPUT;
+    }
+    if ((frame.can_id & (CAN_ERR_CRTL | CAN_ERR_TRX | CAN_ERR_RESTARTED)) != 0) {
+        // "controller restarted" constitutes a HARDWARE_ERROR imo
+        return ErrorEvent::HARDWARE_ERROR;
+    }
+    return ErrorEvent::UNKNOWN_ERROR;
+}
+
 void CanBus::onRead(const struct canfd_frame& frame, std::chrono::nanoseconds timestamp) {
+    if ((frame.can_id & CAN_ERR_FLAG) != 0) {
+        // error bit is set
+        LOG(WARNING) << "CAN Error frame received";
+        // TODO(b/144458917) consider providing different values for isFatal, depending on error
+        notifyErrorListeners(parseErrorFrame(frame), false);
+        return;
+    }
+
     CanMessage message = {};
-    message.id = frame.can_id;
+    message.id = frame.can_id & CAN_EFF_MASK;  // mask out eff/rtr/err flags
     message.payload = hidl_vec<uint8_t>(frame.data, frame.data + frame.len);
     message.timestamp = timestamp.count();
+    message.isExtendedId = (frame.can_id & CAN_EFF_FLAG) != 0;
+    message.remoteTransmissionRequest = (frame.can_id & CAN_RTR_FLAG) != 0;
 
     if (UNLIKELY(kSuperVerbose)) {
         LOG(VERBOSE) << "Got message " << toString(message);
@@ -259,7 +322,9 @@
 
     std::lock_guard<std::mutex> lck(mMsgListenersGuard);
     for (auto& listener : mMsgListeners) {
-        if (!match(listener.filter, message.id)) continue;
+        if (!match(listener.filter, message.id, message.remoteTransmissionRequest,
+                   message.isExtendedId))
+            continue;
         if (!listener.callback->onReceive(message).isOk() && !listener.failedOnce) {
             listener.failedOnce = true;
             LOG(WARNING) << "Failed to notify listener about message";
@@ -274,15 +339,7 @@
         mDownAfterUse = false;
         eventType = ErrorEvent::INTERFACE_DOWN;
     }
-
-    {
-        std::lock_guard<std::mutex> lck(mErrListenersGuard);
-        for (auto& listener : mErrListeners) {
-            if (!listener->onError(eventType, true).isOk()) {
-                LOG(WARNING) << "Failed to notify listener about error";
-            }
-        }
-    }
+    notifyErrorListeners(eventType, true);
 
     const auto errcb = mErrCb;
     if (errcb != nullptr) errcb();
diff --git a/automotive/can/1.0/default/CanBus.h b/automotive/can/1.0/default/CanBus.h
index 365e90c..da3fc5a 100644
--- a/automotive/can/1.0/default/CanBus.h
+++ b/automotive/can/1.0/default/CanBus.h
@@ -89,6 +89,8 @@
     void clearMsgListeners();
     void clearErrListeners();
 
+    void notifyErrorListeners(ErrorEvent err, bool isFatal);
+
     void onRead(const struct canfd_frame& frame, std::chrono::nanoseconds timestamp);
     void onError(int errnoVal);
 
diff --git a/automotive/can/1.0/default/libnetdevice/can.cpp b/automotive/can/1.0/default/libnetdevice/can.cpp
index 87617dd..6452d9b 100644
--- a/automotive/can/1.0/default/libnetdevice/can.cpp
+++ b/automotive/can/1.0/default/libnetdevice/can.cpp
@@ -24,12 +24,16 @@
 #include <android-base/unique_fd.h>
 
 #include <linux/can.h>
+#include <linux/can/error.h>
 #include <linux/can/netlink.h>
+#include <linux/can/raw.h>
 
 namespace android {
 namespace netdevice {
 namespace can {
 
+static constexpr can_err_mask_t kErrMask = CAN_ERR_MASK;
+
 base::unique_fd socket(const std::string& ifname) {
     struct sockaddr_can addr = {};
     addr.can_family = AF_CAN;
@@ -45,6 +49,11 @@
         return {};
     }
 
+    if (setsockopt(sock.get(), SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &kErrMask, sizeof(kErrMask)) < 0) {
+        LOG(ERROR) << "Can't receive error frames, CAN setsockpt failed: " << strerror(errno);
+        return {};
+    }
+
     if (0 != fcntl(sock.get(), F_SETFL, O_RDWR | O_NONBLOCK)) {
         LOG(ERROR) << "Couldn't put CAN socket in non-blocking mode";
         return {};
diff --git a/automotive/can/1.0/tools/canhaldump.cpp b/automotive/can/1.0/tools/canhaldump.cpp
index 99fd14a..55b2a34 100644
--- a/automotive/can/1.0/tools/canhaldump.cpp
+++ b/automotive/can/1.0/tools/canhaldump.cpp
@@ -20,6 +20,7 @@
 #include <android/hidl/manager/1.2/IServiceManager.h>
 #include <hidl-utils/hidl-utils.h>
 
+#include <linux/can.h>
 #include <chrono>
 #include <iomanip>
 #include <iostream>
@@ -42,12 +43,14 @@
     CanMessageListener(std::string name) : name(name) {}
 
     virtual Return<void> onReceive(const V1_0::CanMessage& message) {
-        std::cout << "  " << name << "  " << std::hex << std::uppercase << std::setw(3)
+        int msgIdWidth = 3;
+        if (message.isExtendedId) msgIdWidth = 8;
+        std::cout << "  " << name << "  " << std::hex << std::uppercase << std::setw(msgIdWidth)
                   << std::setfill('0') << message.id << std::setw(0);
+        std::cout << "   [" << message.payload.size() << "] ";
         if (message.remoteTransmissionRequest) {
-            std::cout << " RTR";
+            std::cout << "remote request";
         } else {
-            std::cout << "   [" << message.payload.size() << "] ";
             for (const auto byte : message.payload) {
                 std::cout << " " << std::setfill('0') << std::setw(2) << unsigned(byte);
             }
diff --git a/automotive/can/1.0/types.hal b/automotive/can/1.0/types.hal
index 6f690f7..f09c940 100644
--- a/automotive/can/1.0/types.hal
+++ b/automotive/can/1.0/types.hal
@@ -58,6 +58,15 @@
      * If this flag is set, payload must be empty.
      */
     bool remoteTransmissionRequest;
+
+    /**
+     * Flag indicating if the message has an extended ID.
+     *
+     * Extended ID's are 29 bits long, as opposed to the standard 11 bit ID.
+     * It can not simply be inferred from the length of the ID itself, as the
+     * message ID 0x00000123 !=  message ID 0x123.
+     */
+    bool isExtendedId;
 };
 
 /**
@@ -70,11 +79,30 @@
  * one) and all inverted filters must match. In other words:
  *  - a single matching non-inverted filter makes the whole set matching;
  *  - a single non-matching inverted filter makes the whole set non-matching.
+ *
+ * Additional less common options for filtering include:
+ * rtr - Remote Transmission Request; another ECU requests DLC bytes of data on this message ID
+ * extendedFormat - 29 bit message ID is used instead of 11 bits
  */
 struct CanMessageFilter {
     CanMessageId id;
     uint32_t mask;
     bool inverted;
+    FilterFlag rtr;
+    FilterFlag extendedFormat;
+};
+
+
+/**
+ * Types of filter that can be applied to a CanMessageFilter
+ */
+enum FilterFlag : uint8_t {
+    /** Default, FilterFlag doesn't effect what messages filtered */
+    DONT_CARE = 0,
+    /** This FilterFlag MUST be present in received messages to pass though the filter */
+    REQUIRE,
+    /** This FilterFlag must NOT be present in received messages to pass though the filter */
+    EXCLUDE,
 };
 
 enum Result : uint8_t {
diff --git a/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp b/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp
index 1a05716..250caf2 100644
--- a/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp
+++ b/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp
@@ -123,9 +123,9 @@
 
 TEST_F(CanBusHalTest, ListenSomeFilter) {
     hidl_vec<CanMessageFilter> filters = {
-            {0x123, 0x1FF, false},
-            {0x001, 0x00F, true},
-            {0x200, 0x100, false},
+            {0x123, 0x1FF, false, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
+            {0x001, 0x00F, true, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
+            {0x200, 0x100, false, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
     };
 
     const auto [result, closeHandle] = listen(filters, new CanMessageListener());
diff --git a/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp b/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp
index 225984d..695b9fb 100644
--- a/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp
+++ b/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp
@@ -244,14 +244,14 @@
     auto bus2 = makeBus();
 
     hidl_vec<CanMessageFilter> filterPositive = {
-            {0x101, 0x100, false},
-            {0x010, 0x0F0, false},
+            {0x101, 0x100, false, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
+            {0x010, 0x0F0, false, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
     };
     auto listenerPositive = bus2.listen(filterPositive);
 
     hidl_vec<CanMessageFilter> filterNegative = {
-            {0x123, 0x0FF, true},
-            {0x004, 0x00F, true},
+            {0x123, 0x0FF, true, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
+            {0x004, 0x00F, true, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
     };
     auto listenerNegative = bus2.listen(filterNegative);