diff --git a/drivers/net/can/c_can/c_can_main.c b/drivers/net/can/c_can/c_can_main.c
index ed4db4cf87163..de38d8f7b5f7a 100644
--- a/drivers/net/can/c_can/c_can_main.c
+++ b/drivers/net/can/c_can/c_can_main.c
@@ -952,14 +952,14 @@ static int c_can_handle_state_change(struct net_device *dev,
 
 	switch (error_type) {
 	case C_CAN_NO_ERROR:
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		cf->data[1] = CAN_ERR_CRTL_ACTIVE;
 		cf->data[6] = bec.txerr;
 		cf->data[7] = bec.rxerr;
 		break;
 	case C_CAN_ERROR_WARNING:
 		/* error warning state */
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		cf->data[1] = (bec.txerr > bec.rxerr) ?
 			CAN_ERR_CRTL_TX_WARNING :
 			CAN_ERR_CRTL_RX_WARNING;
@@ -969,7 +969,7 @@ static int c_can_handle_state_change(struct net_device *dev,
 		break;
 	case C_CAN_ERROR_PASSIVE:
 		/* error passive state */
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		if (rx_err_passive)
 			cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
 		if (bec.txerr > 127)
diff --git a/drivers/net/can/cc770/cc770.c b/drivers/net/can/cc770/cc770.c
index bb7224cfc6ab5..797a954bb1a0c 100644
--- a/drivers/net/can/cc770/cc770.c
+++ b/drivers/net/can/cc770/cc770.c
@@ -512,6 +512,7 @@ static int cc770_err(struct net_device *dev, u8 status)
 
 	/* Use extended functions of the CC770 */
 	if (priv->control_normal_mode & CTRL_EAF) {
+		cf->can_id |= CAN_ERR_CNT;
 		cf->data[6] = cc770_read_reg(priv, tx_error_counter);
 		cf->data[7] = cc770_read_reg(priv, rx_error_counter);
 	}
diff --git a/drivers/net/can/ctucanfd/ctucanfd_base.c b/drivers/net/can/ctucanfd/ctucanfd_base.c
index 14ac7c0ee04ce..6b281f6eb9b41 100644
--- a/drivers/net/can/ctucanfd/ctucanfd_base.c
+++ b/drivers/net/can/ctucanfd/ctucanfd_base.c
@@ -847,7 +847,7 @@ static void ctucan_err_interrupt(struct net_device *ndev, u32 isr)
 		case CAN_STATE_ERROR_PASSIVE:
 			priv->can.can_stats.error_passive++;
 			if (skb) {
-				cf->can_id |= CAN_ERR_CRTL;
+				cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 				cf->data[1] = (bec.rxerr > 127) ?
 						CAN_ERR_CRTL_RX_PASSIVE :
 						CAN_ERR_CRTL_TX_PASSIVE;
@@ -858,7 +858,7 @@ static void ctucan_err_interrupt(struct net_device *ndev, u32 isr)
 		case CAN_STATE_ERROR_WARNING:
 			priv->can.can_stats.error_warning++;
 			if (skb) {
-				cf->can_id |= CAN_ERR_CRTL;
+				cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 				cf->data[1] |= (bec.txerr > bec.rxerr) ?
 					CAN_ERR_CRTL_TX_WARNING :
 					CAN_ERR_CRTL_RX_WARNING;
@@ -867,6 +867,7 @@ static void ctucan_err_interrupt(struct net_device *ndev, u32 isr)
 			}
 			break;
 		case CAN_STATE_ERROR_ACTIVE:
+			cf->can_id |= CAN_ERR_CNT;
 			cf->data[1] = CAN_ERR_CRTL_ACTIVE;
 			cf->data[6] = bec.txerr;
 			cf->data[7] = bec.rxerr;
diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c
index 4c47c1055eff9..24035a6187c98 100644
--- a/drivers/net/can/grcan.c
+++ b/drivers/net/can/grcan.c
@@ -671,6 +671,7 @@ static void grcan_err(struct net_device *dev, u32 sources, u32 status)
 				/* There are no others at this point */
 				break;
 			}
+			cf.can_id |= CAN_ERR_CNT;
 			cf.data[6] = txerr;
 			cf.data[7] = rxerr;
 			priv->can.state = state;
diff --git a/drivers/net/can/ifi_canfd/ifi_canfd.c b/drivers/net/can/ifi_canfd/ifi_canfd.c
index 968ed6d7316bb..64e3be8b73af5 100644
--- a/drivers/net/can/ifi_canfd/ifi_canfd.c
+++ b/drivers/net/can/ifi_canfd/ifi_canfd.c
@@ -492,7 +492,7 @@ static int ifi_canfd_handle_state_change(struct net_device *ndev,
 	switch (new_state) {
 	case CAN_STATE_ERROR_WARNING:
 		/* error warning state */
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		cf->data[1] = (bec.txerr > bec.rxerr) ?
 			CAN_ERR_CRTL_TX_WARNING :
 			CAN_ERR_CRTL_RX_WARNING;
@@ -501,7 +501,7 @@ static int ifi_canfd_handle_state_change(struct net_device *ndev,
 		break;
 	case CAN_STATE_ERROR_PASSIVE:
 		/* error passive state */
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
 		if (bec.txerr > 127)
 			cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
diff --git a/drivers/net/can/janz-ican3.c b/drivers/net/can/janz-ican3.c
index 35bfb82d69299..ccb5c5405224e 100644
--- a/drivers/net/can/janz-ican3.c
+++ b/drivers/net/can/janz-ican3.c
@@ -1127,7 +1127,7 @@ static int ican3_handle_cevtind(struct ican3_dev *mod, struct ican3_msg *msg)
 	/* bus error interrupt */
 	if (isrc == CEVTIND_BEI) {
 		mod->can.can_stats.bus_error++;
-		cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
+		cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR | CAN_ERR_CNT;
 
 		switch (ecc & ECC_MASK) {
 		case ECC_BIT:
@@ -1153,7 +1153,7 @@ static int ican3_handle_cevtind(struct ican3_dev *mod, struct ican3_msg *msg)
 
 	if (state != mod->can.state && (state == CAN_STATE_ERROR_WARNING ||
 					state == CAN_STATE_ERROR_PASSIVE)) {
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		if (state == CAN_STATE_ERROR_WARNING) {
 			mod->can.can_stats.error_warning++;
 			cf->data[1] = (txerr > rxerr) ?
diff --git a/drivers/net/can/kvaser_pciefd.c b/drivers/net/can/kvaser_pciefd.c
index 017f2d36ffc38..dcd2c9d50d5e2 100644
--- a/drivers/net/can/kvaser_pciefd.c
+++ b/drivers/net/can/kvaser_pciefd.c
@@ -1306,7 +1306,7 @@ static int kvaser_pciefd_rx_error_frame(struct kvaser_pciefd_can *can,
 	shhwtstamps->hwtstamp =
 		ns_to_ktime(div_u64(p->timestamp * 1000,
 				    can->kv_pcie->freq_to_ticks_div));
-	cf->can_id |= CAN_ERR_BUSERROR;
+	cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_CNT;
 
 	cf->data[6] = bec.txerr;
 	cf->data[7] = bec.rxerr;
diff --git a/drivers/net/can/m_can/m_can.c b/drivers/net/can/m_can/m_can.c
index afaaeb610c005..713a4b0edf860 100644
--- a/drivers/net/can/m_can/m_can.c
+++ b/drivers/net/can/m_can/m_can.c
@@ -741,7 +741,7 @@ static int m_can_handle_state_change(struct net_device *dev,
 	switch (new_state) {
 	case CAN_STATE_ERROR_WARNING:
 		/* error warning state */
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		cf->data[1] = (bec.txerr > bec.rxerr) ?
 			CAN_ERR_CRTL_TX_WARNING :
 			CAN_ERR_CRTL_RX_WARNING;
@@ -750,7 +750,7 @@ static int m_can_handle_state_change(struct net_device *dev,
 		break;
 	case CAN_STATE_ERROR_PASSIVE:
 		/* error passive state */
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		ecr = m_can_read(cdev, M_CAN_ECR);
 		if (ecr & ECR_RP)
 			cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
diff --git a/drivers/net/can/pch_can.c b/drivers/net/can/pch_can.c
index fde3ac516d264..50f6719b3aa44 100644
--- a/drivers/net/can/pch_can.c
+++ b/drivers/net/can/pch_can.c
@@ -496,6 +496,10 @@ static void pch_can_error(struct net_device *ndev, u32 status)
 		cf->can_id |= CAN_ERR_BUSOFF;
 		priv->can.can_stats.bus_off++;
 		can_bus_off(ndev);
+	} else {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = errc & PCH_TEC;
+		cf->data[7] = (errc & PCH_REC) >> 8;
 	}
 
 	errc = ioread32(&priv->regs->errc);
@@ -556,9 +560,6 @@ static void pch_can_error(struct net_device *ndev, u32 status)
 		break;
 	}
 
-	cf->data[6] = errc & PCH_TEC;
-	cf->data[7] = (errc & PCH_REC) >> 8;
-
 	priv->can.state = state;
 	netif_receive_skb(skb);
 }
diff --git a/drivers/net/can/peak_canfd/peak_canfd.c b/drivers/net/can/peak_canfd/peak_canfd.c
index b2dea360813d2..afb9adb3d5c29 100644
--- a/drivers/net/can/peak_canfd/peak_canfd.c
+++ b/drivers/net/can/peak_canfd/peak_canfd.c
@@ -373,7 +373,7 @@ static int pucan_handle_status(struct peak_canfd_priv *priv,
 		priv->can.state = CAN_STATE_ERROR_PASSIVE;
 		priv->can.can_stats.error_passive++;
 		if (skb) {
-			cf->can_id |= CAN_ERR_CRTL;
+			cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 			cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ?
 					CAN_ERR_CRTL_TX_PASSIVE :
 					CAN_ERR_CRTL_RX_PASSIVE;
@@ -386,7 +386,7 @@ static int pucan_handle_status(struct peak_canfd_priv *priv,
 		priv->can.state = CAN_STATE_ERROR_WARNING;
 		priv->can.can_stats.error_warning++;
 		if (skb) {
-			cf->can_id |= CAN_ERR_CRTL;
+			cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 			cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ?
 					CAN_ERR_CRTL_TX_WARNING :
 					CAN_ERR_CRTL_RX_WARNING;
@@ -430,7 +430,7 @@ static int pucan_handle_cache_critical(struct peak_canfd_priv *priv)
 		return -ENOMEM;
 	}
 
-	cf->can_id |= CAN_ERR_CRTL;
+	cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 	cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
 
 	cf->data[6] = priv->bec.txerr;
diff --git a/drivers/net/can/rcar/rcar_can.c b/drivers/net/can/rcar/rcar_can.c
index d45762f1cf6bc..d11db2112a4a7 100644
--- a/drivers/net/can/rcar/rcar_can.c
+++ b/drivers/net/can/rcar/rcar_can.c
@@ -232,11 +232,8 @@ static void rcar_can_error(struct net_device *ndev)
 	if (eifr & (RCAR_CAN_EIFR_EWIF | RCAR_CAN_EIFR_EPIF)) {
 		txerr = readb(&priv->regs->tecr);
 		rxerr = readb(&priv->regs->recr);
-		if (skb) {
+		if (skb)
 			cf->can_id |= CAN_ERR_CRTL;
-			cf->data[6] = txerr;
-			cf->data[7] = rxerr;
-		}
 	}
 	if (eifr & RCAR_CAN_EIFR_BEIF) {
 		int rx_errors = 0, tx_errors = 0;
@@ -336,6 +333,10 @@ static void rcar_can_error(struct net_device *ndev)
 		can_bus_off(ndev);
 		if (skb)
 			cf->can_id |= CAN_ERR_BUSOFF;
+	} else if (skb) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = txerr;
+		cf->data[7] = rxerr;
 	}
 	if (eifr & RCAR_CAN_EIFR_ORIF) {
 		netdev_dbg(priv->ndev, "Receive overrun error interrupt\n");
diff --git a/drivers/net/can/rcar/rcar_canfd.c b/drivers/net/can/rcar/rcar_canfd.c
index ba42cef10a532..e3382284e172e 100644
--- a/drivers/net/can/rcar/rcar_canfd.c
+++ b/drivers/net/can/rcar/rcar_canfd.c
@@ -1052,7 +1052,7 @@ static void rcar_canfd_error(struct net_device *ndev, u32 cerfl,
 		netdev_dbg(ndev, "Error warning interrupt\n");
 		priv->can.state = CAN_STATE_ERROR_WARNING;
 		priv->can.can_stats.error_warning++;
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_WARNING :
 			CAN_ERR_CRTL_RX_WARNING;
 		cf->data[6] = txerr;
@@ -1062,7 +1062,7 @@ static void rcar_canfd_error(struct net_device *ndev, u32 cerfl,
 		netdev_dbg(ndev, "Error passive interrupt\n");
 		priv->can.state = CAN_STATE_ERROR_PASSIVE;
 		priv->can.can_stats.error_passive++;
-		cf->can_id |= CAN_ERR_CRTL;
+		cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 		cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_PASSIVE :
 			CAN_ERR_CRTL_RX_PASSIVE;
 		cf->data[6] = txerr;
diff --git a/drivers/net/can/sja1000/sja1000.c b/drivers/net/can/sja1000/sja1000.c
index d9da471f1bb91..75a2f9bf8c16b 100644
--- a/drivers/net/can/sja1000/sja1000.c
+++ b/drivers/net/can/sja1000/sja1000.c
@@ -404,9 +404,6 @@ static int sja1000_err(struct net_device *dev, uint8_t isrc, uint8_t status)
 	txerr = priv->read_reg(priv, SJA1000_TXERR);
 	rxerr = priv->read_reg(priv, SJA1000_RXERR);
 
-	cf->data[6] = txerr;
-	cf->data[7] = rxerr;
-
 	if (isrc & IRQ_DOI) {
 		/* data overrun interrupt */
 		netdev_dbg(dev, "data overrun interrupt\n");
@@ -428,6 +425,11 @@ static int sja1000_err(struct net_device *dev, uint8_t isrc, uint8_t status)
 		else
 			state = CAN_STATE_ERROR_ACTIVE;
 	}
+	if (state != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = txerr;
+		cf->data[7] = rxerr;
+	}
 	if (isrc & IRQ_BEI) {
 		/* bus error interrupt */
 		priv->can.can_stats.bus_error++;
diff --git a/drivers/net/can/slcan/slcan-core.c b/drivers/net/can/slcan/slcan-core.c
index 057b211f3e7f4..dc28e715bbe17 100644
--- a/drivers/net/can/slcan/slcan-core.c
+++ b/drivers/net/can/slcan/slcan-core.c
@@ -306,19 +306,18 @@ static void slc_bump_state(struct slcan *sl)
 		return;
 
 	skb = alloc_can_err_skb(dev, &cf);
-	if (skb) {
-		cf->data[6] = txerr;
-		cf->data[7] = rxerr;
-	} else {
-		cf = NULL;
-	}
 
 	tx_state = txerr >= rxerr ? state : 0;
 	rx_state = txerr <= rxerr ? state : 0;
 	can_change_state(dev, cf, tx_state, rx_state);
 
-	if (state == CAN_STATE_BUS_OFF)
+	if (state == CAN_STATE_BUS_OFF) {
 		can_bus_off(dev);
+	} else if (skb) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = txerr;
+		cf->data[7] = rxerr;
+	}
 
 	if (skb)
 		netif_rx(skb);
diff --git a/drivers/net/can/spi/hi311x.c b/drivers/net/can/spi/hi311x.c
index ebc4ebb44c980..167114aae6dd1 100644
--- a/drivers/net/can/spi/hi311x.c
+++ b/drivers/net/can/spi/hi311x.c
@@ -667,8 +667,6 @@ static irqreturn_t hi3110_can_ist(int irq, void *dev_id)
 
 			txerr = hi3110_read(spi, HI3110_READ_TEC);
 			rxerr = hi3110_read(spi, HI3110_READ_REC);
-			cf->data[6] = txerr;
-			cf->data[7] = rxerr;
 			tx_state = txerr >= rxerr ? new_state : 0;
 			rx_state = txerr <= rxerr ? new_state : 0;
 			can_change_state(net, cf, tx_state, rx_state);
@@ -681,6 +679,10 @@ static irqreturn_t hi3110_can_ist(int irq, void *dev_id)
 					hi3110_hw_sleep(spi);
 					break;
 				}
+			} else {
+				cf->can_id |= CAN_ERR_CNT;
+				cf->data[6] = txerr;
+				cf->data[7] = rxerr;
 			}
 		}
 
diff --git a/drivers/net/can/spi/mcp251xfd/mcp251xfd-core.c b/drivers/net/can/spi/mcp251xfd/mcp251xfd-core.c
index 9b47b07162fe5..f4e174cadd4ef 100644
--- a/drivers/net/can/spi/mcp251xfd/mcp251xfd-core.c
+++ b/drivers/net/can/spi/mcp251xfd/mcp251xfd-core.c
@@ -1099,6 +1099,7 @@ static int mcp251xfd_handle_cerrif(struct mcp251xfd_priv *priv)
 		err = mcp251xfd_get_berr_counter(priv->ndev, &bec);
 		if (err)
 			return err;
+		cf->can_id |= CAN_ERR_CNT;
 		cf->data[6] = bec.txerr;
 		cf->data[7] = bec.rxerr;
 	}
diff --git a/drivers/net/can/sun4i_can.c b/drivers/net/can/sun4i_can.c
index 155b90f6c767c..b90dfb429ccdc 100644
--- a/drivers/net/can/sun4i_can.c
+++ b/drivers/net/can/sun4i_can.c
@@ -535,11 +535,6 @@ static int sun4i_can_err(struct net_device *dev, u8 isrc, u8 status)
 	rxerr = (errc >> 16) & 0xFF;
 	txerr = errc & 0xFF;
 
-	if (skb) {
-		cf->data[6] = txerr;
-		cf->data[7] = rxerr;
-	}
-
 	if (isrc & SUN4I_INT_DATA_OR) {
 		/* data overrun interrupt */
 		netdev_dbg(dev, "data overrun interrupt\n");
@@ -570,6 +565,11 @@ static int sun4i_can_err(struct net_device *dev, u8 isrc, u8 status)
 		else
 			state = CAN_STATE_ERROR_ACTIVE;
 	}
+	if (skb && state != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = txerr;
+		cf->data[7] = rxerr;
+	}
 	if (isrc & SUN4I_INT_BUS_ERR) {
 		/* bus error interrupt */
 		netdev_dbg(dev, "bus error interrupt\n");
diff --git a/drivers/net/can/ti_hecc.c b/drivers/net/can/ti_hecc.c
index debe17bfd0f0e..afa38771520eb 100644
--- a/drivers/net/can/ti_hecc.c
+++ b/drivers/net/can/ti_hecc.c
@@ -662,6 +662,7 @@ static void ti_hecc_change_state(struct net_device *ndev,
 	can_change_state(priv->ndev, cf, tx_state, rx_state);
 
 	if (max(tx_state, rx_state) != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
 		cf->data[6] = hecc_read(priv, HECC_CANTEC);
 		cf->data[7] = hecc_read(priv, HECC_CANREC);
 	}
diff --git a/drivers/net/can/usb/esd_usb.c b/drivers/net/can/usb/esd_usb.c
index 8a4bf2961f3d8..177ed33e08d9e 100644
--- a/drivers/net/can/usb/esd_usb.c
+++ b/drivers/net/can/usb/esd_usb.c
@@ -265,7 +265,8 @@ static void esd_usb_rx_event(struct esd_usb_net_priv *priv,
 			priv->can.can_stats.bus_error++;
 			stats->rx_errors++;
 
-			cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
+			cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR |
+				      CAN_ERR_CNT;
 
 			switch (ecc & SJA1000_ECC_MASK) {
 			case SJA1000_ECC_BIT:
diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c b/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
index 5d70844ac0300..dd65c101bfb8e 100644
--- a/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
@@ -917,8 +917,11 @@ static void kvaser_usb_hydra_update_state(struct kvaser_usb_net_priv *priv,
 	    new_state < CAN_STATE_BUS_OFF)
 		priv->can.can_stats.restarts++;
 
-	cf->data[6] = bec->txerr;
-	cf->data[7] = bec->rxerr;
+	if (new_state != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = bec->txerr;
+		cf->data[7] = bec->rxerr;
+	}
 
 	netif_rx(skb);
 }
@@ -1069,8 +1072,11 @@ kvaser_usb_hydra_error_frame(struct kvaser_usb_net_priv *priv,
 	shhwtstamps->hwtstamp = hwtstamp;
 
 	cf->can_id |= CAN_ERR_BUSERROR;
-	cf->data[6] = bec.txerr;
-	cf->data[7] = bec.rxerr;
+	if (new_state != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = bec.txerr;
+		cf->data[7] = bec.rxerr;
+	}
 
 	netif_rx(skb);
 
diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb_leaf.c b/drivers/net/can/usb/kvaser_usb/kvaser_usb_leaf.c
index cc809ecd1e622..07f687f29b341 100644
--- a/drivers/net/can/usb/kvaser_usb/kvaser_usb_leaf.c
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb_leaf.c
@@ -853,8 +853,11 @@ static void kvaser_usb_leaf_rx_error(const struct kvaser_usb *dev,
 		break;
 	}
 
-	cf->data[6] = es->txerr;
-	cf->data[7] = es->rxerr;
+	if (new_state != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = es->txerr;
+		cf->data[7] = es->rxerr;
+	}
 
 	netif_rx(skb);
 }
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb.c b/drivers/net/can/usb/peak_usb/pcan_usb.c
index 091c631ebe235..d07b7ee79e3e4 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb.c
@@ -506,6 +506,7 @@ static int pcan_usb_decode_error(struct pcan_usb_msg_context *mc, u8 n,
 			/* Supply TX/RX error counters in case of
 			 * controller error.
 			 */
+			cf->can_id = CAN_ERR_CNT;
 			cf->data[6] = mc->pdev->bec.txerr;
 			cf->data[7] = mc->pdev->bec.rxerr;
 		}
diff --git a/drivers/net/can/usb/usb_8dev.c b/drivers/net/can/usb/usb_8dev.c
index f3363575bf32c..8b7cd69e20b04 100644
--- a/drivers/net/can/usb/usb_8dev.c
+++ b/drivers/net/can/usb/usb_8dev.c
@@ -438,9 +438,11 @@ static void usb_8dev_rx_err_msg(struct usb_8dev_priv *priv,
 
 	if (rx_errors)
 		stats->rx_errors++;
-
-	cf->data[6] = txerr;
-	cf->data[7] = rxerr;
+	if (priv->can.state != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = txerr;
+		cf->data[7] = rxerr;
+	}
 
 	priv->bec.txerr = txerr;
 	priv->bec.rxerr = rxerr;
diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c
index 0de2f97d9f62f..caa6b4cee63f2 100644
--- a/drivers/net/can/xilinx_can.c
+++ b/drivers/net/can/xilinx_can.c
@@ -965,6 +965,7 @@ static void xcan_set_error_state(struct net_device *ndev,
 	can_change_state(ndev, cf, tx_state, rx_state);
 
 	if (cf) {
+		cf->can_id |= CAN_ERR_CNT;
 		cf->data[6] = txerr;
 		cf->data[7] = rxerr;
 	}
diff --git a/include/uapi/linux/can/error.h b/include/uapi/linux/can/error.h
index 34633283de641..acc1ac393d2a1 100644
--- a/include/uapi/linux/can/error.h
+++ b/include/uapi/linux/can/error.h
@@ -57,6 +57,8 @@
 #define CAN_ERR_BUSOFF       0x00000040U /* bus off */
 #define CAN_ERR_BUSERROR     0x00000080U /* bus error (may flood!) */
 #define CAN_ERR_RESTARTED    0x00000100U /* controller restarted */
+#define CAN_ERR_CNT          0x00000200U /* TX error counter / data[6] */
+					 /* RX error counter / data[7] */
 
 /* arbitration lost in bit ... / data[0] */
 #define CAN_ERR_LOSTARB_UNSPEC   0x00 /* unspecified */
@@ -120,6 +122,22 @@
 #define CAN_ERR_TRX_CANL_SHORT_TO_GND  0x70 /* 0111 0000 */
 #define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /* 1000 0000 */
 
-/* controller specific additional information / data[5..7] */
+/* data[5] is reserved (do not use) */
+
+/* TX error counter / data[6] */
+/* RX error counter / data[7] */
+
+/* CAN state thresholds
+ *
+ * Error counter	Error state
+ * -----------------------------------
+ * 0 -  95		Error-active
+ * 96 - 127		Error-warning
+ * 128 - 255		Error-passive
+ * 256 and greater	Bus-off
+ */
+#define CAN_ERROR_WARNING_THRESHOLD 96
+#define CAN_ERROR_PASSIVE_THRESHOLD 128
+#define CAN_BUS_OFF_THRESHOLD 256
 
 #endif /* _UAPI_CAN_ERROR_H */