diff --git a/src/interrupt.rs b/src/interrupt.rs
index 17aacf8..f02a8cf 100644
--- a/src/interrupt.rs
+++ b/src/interrupt.rs
@@ -64,6 +64,47 @@ pub enum Interrupt {
     /// Behavior is otherwise identical to [`Self::Fifo0Overrun`].
     Fifo1Overrun = 1 << 6,
 
+    /// Fires the **SCE** interrupt when the error warning limit (receive or transmit error counter
+    /// >= 96) has been reached.
+    ///
+    /// [`Interrupt::Error`] must also be enabled for the interrupt to fire.
+    ///
+    /// The interrupt handler must clear the interrupt condition by calling
+    /// [`Can::clear_error_interrupt`].
+    ErrorWarning = 1 << 8,
+
+    /// Fires the **SCE** interrupt when the peripheral enters the error passive state.
+    ///
+    /// [`Interrupt::Error`] must also be enabled for the interrupt to fire.
+    ///
+    /// The interrupt handler must clear the interrupt condition by calling
+    /// [`Can::clear_error_interrupt`].
+    ErrorPassive = 1 << 9,
+
+    /// Fires the **SCE** interrupt when the peripheral has entered bus-off.
+    ///
+    /// [`Interrupt::Error`] must also be enabled for the interrupt to fire.
+    ///
+    /// The interrupt handler must clear the interrupt condition by calling
+    /// [`Can::clear_error_interrupt`].
+    BusOff = 1 << 10,
+
+    /// Fires the **SCE** interrupt when the peripheral updates the last error code.
+    ///
+    /// [`Interrupt::Error`] must also be enabled for the interrupt to fire.
+    ///
+    /// The interrupt handler must clear the interrupt condition by calling
+    /// [`Can::clear_error_interrupt`].
+    LastErrorCode = 1 << 11,
+
+    /// Fires the **SCE** interrupt when the peripheral enters an error state.
+    ///
+    /// The error states that will cause the interrupt to fire are determined by the subset of
+    /// [`Interrupt::ErrorWarning`], [`Interrupt::ErrorPassive`], [`Interrupt::BusOff`], and
+    /// [`Interrupt::LastErrorCode`] that are enabled along with this flag.
+    ///
+    /// The interrupt handler must clear the interrupt condition by calling
+    /// [`Can::clear_error_interrupt`].
     Error = 1 << 15,
 
     /// Fires the **SCE** interrupt when an incoming CAN frame is detected while the peripheral is
@@ -90,6 +131,10 @@ bitflags::bitflags! {
         const FIFO1_MESSAGE_PENDING = 1 << 4;
         const FIFO1_FULL = 1 << 5;
         const FIFO1_OVERRUN = 1 << 6;
+        const ERROR_WARNING = 1 << 8;
+        const ERROR_PASSIVE = 1 << 9;
+        const BUS_OFF = 1 << 10;
+        const LAST_ERROR_CODE = 1 << 11;
         const ERROR = 1 << 15;
         const WAKEUP = 1 << 16;
         const SLEEP = 1 << 17;
diff --git a/src/lib.rs b/src/lib.rs
index 255a097..080fd5c 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -15,10 +15,6 @@
 //! - Implements the [`embedded-hal`] traits for interoperability.
 //! - Support for both RX FIFOs (as [`Rx0`] and [`Rx1`]).
 //!
-//! # Limitations
-//!
-//! - Support for querying error states and handling error interrupts is incomplete.
-//!
 //! # Cargo Features
 //!
 //! | Feature | Description |
@@ -109,10 +105,11 @@ pub unsafe trait FilterOwner: Instance {
 /// This trait must only be implemented when there is actually an associated slave instance.
 pub unsafe trait MasterInstance: FilterOwner {}
 
-// TODO: what to do with these?
-/*
-#[derive(Debug, Copy, Clone, Eq, PartialEq, Format)]
+/// Enum of error status codes from the error status register.
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+#[cfg_attr(feature = "unstable-defmt", derive(defmt::Format))]
 pub enum Error {
+    None,
     Stuff,
     Form,
     Acknowledgement,
@@ -120,7 +117,63 @@ pub enum Error {
     BitDominant,
     Crc,
     Software,
-}*/
+}
+
+/// The peripheral's current error status.
+#[derive(Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "unstable-defmt", derive(defmt::Format))]
+pub struct ErrorStatus {
+    pub(crate) recv_count: u8,
+    pub(crate) txmt_count: u8,
+    pub(crate) code: Error,
+    pub(crate) bus_off: bool,
+    pub(crate) err_passive: bool,
+    pub(crate) err_warning: bool,
+}
+
+impl ErrorStatus {
+    /// The receive error counter.
+    #[inline]
+    pub fn receive_counter(&self) -> u8 {
+        self.recv_count
+    }
+
+    /// The transmit error counter.
+    #[inline]
+    pub fn transmit_counter(&self) -> u8 {
+        self.recv_count
+    }
+
+    /// The last error code.
+    #[inline]
+    pub fn last_error(&self) -> Error {
+        self.code
+    }
+
+    /// Returns true if the peripheral is currently in bus-off.
+    ///
+    /// This occurs when the transmit error counter overflows past 255.
+    #[inline]
+    pub fn bus_off(&self) -> bool {
+        self.bus_off
+    }
+
+    /// Returns true if the error passive limit has been reached.
+    ///
+    /// This occurs when the receive or transmit error counters exceed 127.
+    #[inline]
+    pub fn error_passive(&self) -> bool {
+        self.err_passive
+    }
+
+    /// Returns true if the error warning limit has been reached.
+    ///
+    /// This occurs when the receive or transmit error counters are greater than or equal 96.
+    #[inline]
+    pub fn error_warning(&self) -> bool {
+        self.err_warning
+    }
+}
 
 /// Error that indicates that an incoming message has been lost due to buffer overrun.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
@@ -650,6 +703,42 @@ where
         while self.clear_request_completed_flag().is_some() {}
     }
 
+    /// Clears the error interrupt flag ([`Interrupt::Error`]).
+    ///
+    /// To read the error status, use [`Can::error_status`] to get the [`ErrorStatus`] before
+    /// clearing the interrupt flag.
+    pub fn clear_error_interrupt(&mut self) {
+        let can = self.registers();
+        can.msr.write(|w| w.erri().set_bit());
+    }
+
+    /// Reads the error status register's data.
+    ///
+    /// This does not clear the error interrupt flag.
+    pub fn error_status(&self) -> ErrorStatus {
+        let can = self.registers();
+        let esr = can.esr.read();
+
+        ErrorStatus {
+            recv_count: esr.rec().bits,
+            txmt_count: esr.tec().bits,
+            code: (match esr.lec().bits {
+                0b000 => Error::None,
+                0b001 => Error::Stuff,
+                0b010 => Error::Form,
+                0b011 => Error::Acknowledgement,
+                0b100 => Error::BitRecessive,
+                0b101 => Error::BitDominant,
+                0b110 => Error::Crc,
+                0b111 => Error::Software,
+                _ => unreachable!(),
+            }),
+            bus_off: esr.boff().bits,
+            err_passive: esr.epvf().bits,
+            err_warning: esr.ewgf().bits,
+        }
+    }
+
     /// Puts a CAN frame in a free transmit mailbox for transmission on the bus.
     ///
     /// Frames are transmitted to the bus based on their priority (see [`FramePriority`]).