diff --git a/arch b/arch
index fba93b8a0f..e81d1ea960 160000
--- a/arch
+++ b/arch
@@ -1 +1 @@
-Subproject commit fba93b8a0fa0176c2df08835677e6f85adf75f4f
+Subproject commit e81d1ea960b2da0d93dfb672bfd4d217fe688f52
diff --git a/configs b/configs
index e140ddc5f4..ba676894cf 160000
--- a/configs
+++ b/configs
@@ -1 +1 @@
-Subproject commit e140ddc5f4568a55f2f2410bf0c5e61e9abe897e
+Subproject commit ba676894cfcff35cd578cd02ca93b60e6ae9a945
diff --git a/include/nuttx/board.h b/include/nuttx/board.h
index f29b68cf10..d482591584 100644
--- a/include/nuttx/board.h
+++ b/include/nuttx/board.h
@@ -205,8 +205,8 @@ int board_reset(int status);
  *   application-level touchscreen testing logic (perhaps by
  *   apps/examples/touchscreen).  If CONFIG_LIB_BOARDCTL=y and
  *   CONFIG_BOARDCTL_TSCTEST=y, then this functions will be invoked via the
- *   (non-standard) boardctl() interface using the commands
- *   BOARDIOC_TSCTEST_SETUP command.
+ *   (non-standard) boardctl() interface using the BOARDIOC_TSCTEST_SETUP
+ *   command.
  *
  * Input Parameters:
  *   minor   - The input device minor number
@@ -231,8 +231,8 @@ int board_tsc_setup(int minor);
  *   application-level touchscreen testing logic (perhaps by
  *   apps/examples/touchscreen).  If CONFIG_LIB_BOARDCTL=y and
  *   CONFIG_BOARDCTL_TSCTEST=y, then this functions will be invoked via the
- *   (non-standard) boardctl() interface using the commands
- *   BOARDIOC_TSCTEST_TEARDOWN command.
+ *   (non-standard) boardctl() interface using the BOARDIOC_TSCTEST_TEARDOWN
+ *   command.
  *
  * Input Parameters:
  *   None
@@ -254,8 +254,8 @@ void board_tsc_teardown(void);
  *   This is an internal OS interface but may be invoked indirectly from
  *   application-level graphics logic.  If CONFIG_LIB_BOARDCTL=y and
  *   CONFIG_BOARDCTL_ADCTEST=y, then this functions will be invoked via the
- *   (non-standard) boardctl() interface using the commands
- *   BOARDIOC_ADCTEST_SETUP command.
+ *   (non-standard) boardctl() interface using the BOARDIOC_ADCTEST_SETUP
+ *   command.
  *
  ****************************************************************************/
 
@@ -288,8 +288,8 @@ int board_pwm_setup(void);
  *   This is an internal OS interface but may be invoked indirectly from
  *   application-level graphics logic.  If CONFIG_LIB_BOARDCTL=y and
  *   CONFIG_BOARDCTL_GRAPHICS=y, then this functions will be invoked via the
- *   (non-standard) boardctl() interface using the commands
- *   BOARDIOC_GRAPHICS_SETUP command.
+ *   (non-standard) boardctl() interface using the BOARDIOC_GRAPHICS_SETUP
+ *   command.
  *
  ****************************************************************************/
 
@@ -301,6 +301,25 @@ struct fb_vtable_s;
 FAR struct fb_vtable_s *board_graphics_setup(unsigned int devno);
 #endif
 
+/*****************************************************************************
+ * Name: board_can_initialize
+ *
+ * Description:
+ *   Perform one-time CAN initialization.  This is currently only needed for
+ *   apps/examples/can.
+ *
+ *   This is an internal OS interface but may be invoked indirectly from
+ *   application-level graphics logic.  If CONFIG_LIB_BOARDCTL=y and
+ *   CONFIG_BOARDCTL_CANINIT=y, then this functions will be invoked via the
+ *   (non-standard) boardctl() interface using the BOARDIOC_CAN_INITIALIZE
+ *   command.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BOARDCTL_CANINIT
+int board_can_initialize(void);
+#endif
+
 /****************************************************************************
  * Name: board_ioctl
  *
diff --git a/include/sys/boardctl.h b/include/sys/boardctl.h
index 5e8adaf6d8..172f0b69f5 100644
--- a/include/sys/boardctl.h
+++ b/include/sys/boardctl.h
@@ -94,6 +94,12 @@
  * CONFIGURATION: CONFIG_LIB_BOARDCTL && CONFIG_BOARDCTL_PWMTEST
  * DEPENDENCIES:  Board logic must provide board_pwm_setup()
  *
+ * CMD:           BOARDIOC_CAN_INITIALIZE
+ * DESCRIPTION:   CAN device initialization
+ * ARG:           None
+ * CONFIGURATION: CONFIG_LIB_BOARDCTL && CONFIG_BOARDCTL_CANINIT
+ * DEPENDENCIES:  Board logic must provide board_can_initialize()
+ *
  * CMD:           BOARDIOC_GRAPHICS_SETUP
  * DESCRIPTION:   Configure graphics that require special initialization
  *                procedures
@@ -109,7 +115,8 @@
 #define BOARDIOC_TSCTEST_TEARDOWN  _BOARDIOC(0x0005)
 #define BOARDIOC_ADCTEST_SETUP     _BOARDIOC(0x0006)
 #define BOARDIOC_PWMTEST_SETUP     _BOARDIOC(0x0007)
-#define BOARDIOC_GRAPHICS_SETUP    _BOARDIOC(0x0008)
+#define BOARDIOC_CAN_INITIALIZE    _BOARDIOC(0x0008)
+#define BOARDIOC_GRAPHICS_SETUP    _BOARDIOC(0x0009)
 
 /* If CONFIG_BOARDCTL_IOCTL=y, then boad-specific commands will be support.
  * In this case, all commands not recognized by boardctl() will be forwarded
@@ -118,7 +125,7 @@
  * User defined board commands may begin with this value:
  */
 
-#define BOARDIOC_USER              _BOARDIOC(0x0009)
+#define BOARDIOC_USER              _BOARDIOC(0x000a)
 
 /****************************************************************************
  * Public Type Definitions