diff --git a/arch b/arch
index 52f459de149..393a1dcf68b 160000
--- a/arch
+++ b/arch
@@ -1 +1 @@
-Subproject commit 52f459de149c45a4cd7a7758b350167a400375f3
+Subproject commit 393a1dcf68b3571f39a28f9b9e87843eedb77df8
diff --git a/configs b/configs
index bba0b5c9b5e..86d7dde23be 160000
--- a/configs
+++ b/configs
@@ -1 +1 @@
-Subproject commit bba0b5c9b5e62c8d1f8d69cdd96c960e042bf82c
+Subproject commit 86d7dde23be4b04331c58cc12c13ce381151ab9e
diff --git a/drivers/can.c b/drivers/can.c
index 4f2e5f95440..f52ccae555c 100644
--- a/drivers/can.c
+++ b/drivers/can.c
@@ -811,7 +811,15 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
 
   if (nexttail != fifo->rx_head)
     {
-      /* Add the new, decoded CAN message at the tail of the FIFO */
+      /* Add the new, decoded CAN message at the tail of the FIFO.
+       *
+       * REVISIT:  In the CAN FD format, the coding of the DLC differs from
+       * the standard CAN format. The DLC codes 0 to 8 have the same coding
+       * as in standard CAN, the codes 9 to 15, which in standard CAN all
+       * code a data field of 8 bytes, are encoded:
+       *
+       *   9->12, 10->16, 11->20, 12->24, 13->32, 14->48, 15->64
+       */
 
       memcpy(&fifo->rx_buffer[fifo->rx_tail].cm_hdr, hdr, sizeof(struct can_hdr_s));
       for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < hdr->ch_dlc; i++)
diff --git a/include/nuttx/can.h b/include/nuttx/can.h
index 98ce0e416cd..d22a2b8bc30 100644
--- a/include/nuttx/can.h
+++ b/include/nuttx/can.h
@@ -167,7 +167,7 @@ struct can_hdr_s
 #else
 struct can_hdr_s
 {
-  uint16_t      ch_dlc   : 4;  /* 4-bit DLC */
+  uint16_t      ch_dlc   : 4;  /* 4-bit DLC.  May be encoded in CAN_FD mode. */
   uint16_t      ch_rtr   : 1;  /* RTR indication */
   uint16_t      ch_id    : 11; /* 11-bit standard ID */
 } packed_struct;