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diff --git a/lib/chibios/os/hal/dox/hal_can.dox b/lib/chibios/os/hal/dox/hal_can.dox
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+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup CAN CAN Driver
+ * @brief Generic CAN Driver.
+ * @details This module implements a generic CAN (Controller Area Network)
+ *          driver allowing the exchange of information at frame level.
+ * @pre     In order to use the CAN driver the @p HAL_USE_CAN option
+ *          must be enabled in @p halconf.h.
+ *
+ * @section can_1 Driver State Machine
+ * The driver implements a state machine internally, not all the driver
+ * functionalities can be used in any moment, any transition not explicitly
+ * shown in the following diagram has to be considered an error and shall
+ * be captured by an assertion (if enabled).
+ * @if LATEX_PDF
+ * @dot
+  digraph example {
+    size="5, 7";
+    rankdir="LR";
+    node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
+    edge [fontname=Helvetica, fontsize=8];
+
+    stop  [label="CAN_STOP\nLow Power"];
+    uninit [label="CAN_UNINIT", style="bold"];
+    starting [label="CAN_STARTING\nInitializing"];
+    ready [label="CAN_READY\nClock Enabled"];
+    sleep [label="CAN_SLEEP\nLow Power"];
+
+    uninit -> stop [label=" canInit()", constraint=false];
+    stop -> stop [label="\ncanStop()"];
+    stop -> ready [label="\ncanStart()\n(fast implementation)"];
+    stop -> starting [label="\ncanStart()\n(slow implementation)"];
+    starting -> ready [label="\ninitialization complete\n(all threads)"];
+    ready -> stop [label="\ncanStop()"];
+    ready -> ready [label="\ncanReceive()\ncanTransmit()"];
+    ready -> sleep [label="\ncanSleep()"];
+    sleep -> sleep [label="\ncanSleep()"];
+    sleep -> ready [label="\ncanWakeup()"];
+    sleep -> ready [label="\nhardware\nwakeup event"];
+  }
+ * @enddot
+ * @else
+ * @dot
+  digraph example {
+    rankdir="LR";
+    node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
+    edge [fontname=Helvetica, fontsize=8];
+
+    stop  [label="CAN_STOP\nLow Power"];
+    uninit [label="CAN_UNINIT", style="bold"];
+    starting [label="CAN_STARTING\nInitializing"];
+    ready [label="CAN_READY\nClock Enabled"];
+    sleep [label="CAN_SLEEP\nLow Power"];
+
+    uninit -> stop [label=" canInit()", constraint=false];
+    stop -> stop [label="\ncanStop()"];
+    stop -> ready [label="\ncanStart()\n(fast implementation)"];
+    stop -> starting [label="\ncanStart()\n(slow implementation)"];
+    starting -> starting [label="\ncanStart()\n(other thread)"];
+    starting -> ready [label="\ninitialization complete\n(all threads)"];
+    ready -> stop [label="\ncanStop()"];
+    ready -> ready [label="\ncanStart()\ncanReceive()\ncanTransmit()"];
+    ready -> sleep [label="\ncanSleep()"];
+    sleep -> sleep [label="\ncanSleep()"];
+    sleep -> ready [label="\ncanWakeup()"];
+    sleep -> ready [label="\nhardware\nwakeup event"];
+  }
+ * @enddot
+ * @endif
+ *
+ * @ingroup HAL_NORMAL_DRIVERS
+ */