diff --git a/.gitignore b/.gitignore
index c2291bb..fb2edb5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,6 +32,7 @@ GNUmakefile.in
 /canlogserver
 /canplayer
 /cansend
+/cansequence
 /cansniffer
 /isotpdump
 /isotpperf
diff --git a/Android.mk b/Android.mk
index ee9fa5c..fbdf2ae 100644
--- a/Android.mk
+++ b/Android.mk
@@ -146,6 +146,35 @@ LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
+#
+# cansequence
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := cansequence.c
+LOCAL_MODULE := cansequence
+LOCAL_MODULE_TAGS := optional
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+
+include $(BUILD_EXECUTABLE)
+
+#
+# cansequence
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := cansequence.c
+LOCAL_MODULE := cansequence
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libcan
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+
+include $(BUILD_EXECUTABLE)
+
 #
 # bcmserver
 #
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6c619df..33e0b0b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,6 +33,7 @@ set(PROGRAMS_CANLIB
     canlogserver
     canplayer
     cansend
+    cansequence
     log2asc
     log2long
 )
diff --git a/GNUmakefile.am b/GNUmakefile.am
index f47ddd3..10f8584 100644
--- a/GNUmakefile.am
+++ b/GNUmakefile.am
@@ -50,6 +50,7 @@ bin_PROGRAMS = \
 	canlogserver \
 	canplayer \
 	cansend \
+	cansequence \
 	cansniffer \
 	isotpdump \
 	isotpperf \
diff --git a/Makefile b/Makefile
index 4712471..2810d9e 100644
--- a/Makefile
+++ b/Makefile
@@ -89,6 +89,7 @@ PROGRAMS := \
 	candump \
 	canfdtest \
 	cangen \
+	cansequence \
 	canlogserver \
 	canplayer \
 	cansend \
@@ -116,6 +117,7 @@ cangen.o:	lib.h
 canlogserver.o:	lib.h
 canplayer.o:	lib.h
 cansend.o:	lib.h
+cansequence.o:	lib.h
 log2asc.o:	lib.h
 log2long.o:	lib.h
 j1939acd.o:	libj1939.h
@@ -131,6 +133,7 @@ cangen:		cangen.o	lib.o
 canlogserver:	canlogserver.o	lib.o
 canplayer:	canplayer.o	lib.o
 cansend:	cansend.o	lib.o
+cansequence:	cansequence.o	lib.o
 log2asc:	log2asc.o	lib.o
 log2long:	log2long.o	lib.o
 j1939acd:	j1939acd.o	libj1939.o
diff --git a/README.md b/README.md
index af18ea2..4b3037b 100644
--- a/README.md
+++ b/README.md
@@ -13,6 +13,7 @@ subsystem (aka SocketCAN):
 * canplayer : replay CAN logfiles
 * cansend : send a single frame
 * cangen : generate (random) CAN traffic
+* cansequence : send and check sequence of CAN frames with incrementing payload
 * cansniffer : display CAN data content differences
 
 #### CAN access via IP sockets
diff --git a/cansequence.c b/cansequence.c
new file mode 100644
index 0000000..3f72aae
--- /dev/null
+++ b/cansequence.c
@@ -0,0 +1,367 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+// Copyright (c) 2007, 2008, 2009, 2010, 2014, 2015, 2019 Pengutronix,
+//		 Marc Kleine-Budde <kernel@pengutronix.de>
+// Copyright (c) 2005 Pengutronix,
+//		 Sascha Hauer <kernel@pengutronix.de>
+
+#include <errno.h>
+#include <getopt.h>
+#include <libgen.h>
+#include <limits.h>
+#include <poll.h>
+#include <signal.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <net/if.h>
+
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <sys/uio.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define CAN_ID_DEFAULT	(2)
+
+extern int optind, opterr, optopt;
+
+static int s = -1;
+static bool running = true;
+static bool infinite = true;
+static unsigned int drop_until_quit;
+static unsigned int drop_count;
+static bool use_poll = false;
+
+static unsigned int loopcount = 1;
+static int verbose;
+
+static struct can_frame frame = {
+	.can_dlc = 1,
+};
+static struct can_filter filter[] = {
+	{ .can_id = CAN_ID_DEFAULT, },
+};
+
+static void print_usage(char *prg)
+{
+	fprintf(stderr, "Usage: %s [<can-interface>] [Options]\n"
+		"\n"
+		"cansequence sends CAN messages with a rising sequence number as payload.\n"
+		"When the -r option is given, cansequence expects to receive these messages\n"
+		"and prints an error message if a wrong sequence number is encountered.\n"
+		"The main purpose of this program is to test the reliability of CAN links.\n"
+		"\n"
+		"Options:\n"
+		" -e, --extended		send extended frame\n"
+		" -i, --identifier=ID	CAN Identifier (default = %u)\n"
+		"     --loop=COUNT	send message COUNT times\n"
+		" -p, --poll		use poll(2) to wait for buffer space while sending\n"
+		" -q, --quit <num>	quit if <num> wrong sequences are encountered\n"
+		" -r, --receive		work as receiver\n"
+		" -v, --verbose		be verbose (twice to be even more verbose\n"
+		" -h, --help		this help\n"
+		"     --version		print version information and exit\n",
+		prg, CAN_ID_DEFAULT);
+}
+
+static void sig_handler(int signo)
+{
+	running = false;
+}
+
+
+static void do_receive()
+{
+	uint8_t ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
+	struct iovec iov = {
+		.iov_base = &frame,
+	};
+	struct msghdr msg = {
+		.msg_iov = &iov,
+		.msg_iovlen = 1,
+		.msg_control = &ctrlmsg,
+	};
+	const int dropmonitor_on = 1;
+	bool sequence_init = true;
+	unsigned int sequence_wrap = 0;
+	uint32_t sequence_mask = 0xff;
+	uint32_t sequence_rx = 0;
+	uint32_t sequence_delta = 0;
+	uint32_t sequence = 0;
+	unsigned int overflow_old = 0;
+	can_err_mask_t err_mask = CAN_ERR_MASK;
+
+	if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL,
+		       &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
+		perror("setsockopt() SO_RXQ_OVFL not supported by your Linux Kernel");
+	}
+
+	/* enable recv. of error messages */
+	if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &err_mask, sizeof(err_mask))) {
+		perror("setsockopt()");
+		exit(EXIT_FAILURE);
+	}
+
+	/* enable recv. now */
+	if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, filter, sizeof(filter))) {
+		perror("setsockopt()");
+		exit(EXIT_FAILURE);
+	}
+
+	while ((infinite || loopcount--) && running) {
+		ssize_t nbytes;
+
+		msg.msg_iov[0].iov_len = sizeof(frame);
+		msg.msg_controllen = sizeof(ctrlmsg);
+		msg.msg_flags = 0;
+
+		nbytes = recvmsg(s, &msg, 0);
+		if (nbytes < 0) {
+			perror("read()");
+			exit(EXIT_FAILURE);
+		}
+
+		if (frame.can_id & CAN_ERR_FLAG) {
+			fprintf(stderr,
+				"sequence CNT: %6u, ERRORFRAME %7x   %02x %02x %02x %02x %02x %02x %02x %02x\n",
+				sequence, frame.can_id,
+				frame.data[0], frame.data[1], frame.data[2], frame.data[3],
+				frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
+			continue;
+		}
+
+		sequence_rx = frame.data[0];
+
+		if (sequence_init) {
+			sequence_init = false;
+			sequence = sequence_rx;
+		}
+
+		sequence_delta = (sequence_rx - sequence) & sequence_mask;
+		if (sequence_delta) {
+			struct cmsghdr *cmsg;
+			uint32_t overflow = 0;
+			uint32_t overflow_delta;
+
+			drop_count++;
+
+			for (cmsg = CMSG_FIRSTHDR(&msg);
+			     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
+			     cmsg = CMSG_NXTHDR(&msg,cmsg)) {
+				if (cmsg->cmsg_type == SO_RXQ_OVFL) {
+					memcpy(&overflow, CMSG_DATA(cmsg), sizeof(overflow));
+					break;
+				}
+			}
+
+			overflow_delta = overflow - overflow_old;
+
+			fprintf(stderr,
+				"sequence CNT: %6u, RX: %6u    expected: %3u    missing: %4u    skt overfl d: %4u a: %4u    delta: %3u    incident: %u\n",
+				sequence, sequence_rx,
+				sequence & sequence_mask, sequence_delta,
+				overflow_delta, overflow,
+				sequence_delta - overflow_delta,
+				drop_count);
+
+			if (drop_count == drop_until_quit)
+				exit(EXIT_FAILURE);
+
+			sequence = sequence_rx;
+			overflow_old = overflow;
+		} else 	if (verbose > 1) {
+			printf("sequence CNT: %6u, RX: %6u\n", sequence, sequence_rx);
+		}
+
+		sequence++;
+		if (verbose && !(sequence & sequence_mask))
+			printf("sequence wrap around (%d)\n", sequence_wrap++);
+
+	}
+}
+
+static void do_send()
+{
+	unsigned int seq_wrap = 0;
+	uint8_t sequence = 0;
+
+	while ((infinite || loopcount--) && running) {
+		ssize_t len;
+
+		if (verbose > 1)
+			printf("sending frame. sequence number: %d\n", sequence);
+
+	again:
+		len = write(s, &frame, sizeof(frame));
+		if (len == -1) {
+			switch (errno) {
+			case ENOBUFS: {
+				int err;
+				struct pollfd fds[] = {
+					{
+						.fd	= s,
+						.events	= POLLOUT,
+					},
+				};
+
+				if (!use_poll) {
+					perror("write");
+					exit(EXIT_FAILURE);
+				}
+
+				err = poll(fds, 1, 1000);
+				if (err == -1 && errno != -EINTR) {
+					perror("poll()");
+					exit(EXIT_FAILURE);
+				}
+			}
+			case EINTR:	/* fallthrough */
+				goto again;
+			default:
+				perror("write");
+				exit(EXIT_FAILURE);
+			}
+		}
+
+		(unsigned char)frame.data[0]++;
+		sequence++;
+
+		if (verbose && !sequence)
+			printf("sequence wrap around (%d)\n", seq_wrap++);
+	}
+}
+
+int main(int argc, char **argv)
+{
+	struct sigaction act = {
+		.sa_handler = sig_handler,
+	};
+	struct ifreq ifr;
+	struct sockaddr_can addr;
+	char *interface = "can0";
+	int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW;
+	int extended = 0;
+	int receive = 0;
+	int opt;
+
+	sigaction(SIGINT, &act, NULL);
+	sigaction(SIGTERM, &act, NULL);
+	sigaction(SIGHUP, &act, NULL);
+
+	struct option long_options[] = {
+		{ "extended",	no_argument,		0, 'e' },
+		{ "identifier",	required_argument,	0, 'i' },
+		{ "loop",	required_argument,	0, 'l' },
+		{ "poll",	no_argument,		0, 'p' },
+		{ "quit",	optional_argument,	0, 'q' },
+		{ "receive",	no_argument,		0, 'r' },
+		{ "verbose",	no_argument,		0, 'v' },
+		{ "help",	no_argument,		0, 'h' },
+		{ 0,		0,			0, 0},
+	};
+
+	while ((opt = getopt_long(argc, argv, "ei:pq::rvh", long_options, NULL)) != -1) {
+		switch (opt) {
+		case 'e':
+			extended = true;
+			break;
+
+		case 'i':
+			filter->can_id = strtoul(optarg, NULL, 0);
+			break;
+
+		case 'r':
+			receive = true;
+			break;
+
+		case 'l':
+			if (optarg) {
+				loopcount = strtoul(optarg, NULL, 0);
+				infinite = false;
+			} else {
+				infinite = true;
+			}
+			break;
+
+		case 'p':
+			use_poll = true;
+			break;
+
+		case 'q':
+			if (optarg)
+				drop_until_quit = strtoul(optarg, NULL, 0);
+			else
+				drop_until_quit = 1;
+			break;
+
+		case 'v':
+			verbose++;
+			break;
+
+		case 'h':
+			print_usage(basename(argv[0]));
+			exit(EXIT_SUCCESS);
+			break;
+
+		default:
+			print_usage(basename(argv[0]));
+			exit(EXIT_FAILURE);
+			break;
+		}
+	}
+
+	if (argv[optind] != NULL)
+		interface = argv[optind];
+
+	if (extended) {
+		filter->can_mask = CAN_EFF_MASK;
+		filter->can_id  &= CAN_EFF_MASK;
+		filter->can_id  |= CAN_EFF_FLAG;
+	} else {
+		filter->can_mask = CAN_SFF_MASK;
+		filter->can_id  &= CAN_SFF_MASK;
+	}
+	frame.can_id = filter->can_id;
+	filter->can_mask |= CAN_EFF_FLAG;
+
+	printf("interface = %s, family = %d, type = %d, proto = %d\n",
+	       interface, family, type, proto);
+
+	s = socket(family, type, proto);
+	if (s < 0) {
+		perror("socket()");
+		exit(EXIT_FAILURE);
+	}
+
+	addr.can_family = family;
+	strncpy(ifr.ifr_name, interface, sizeof(ifr.ifr_name));
+	if (ioctl(s, SIOCGIFINDEX, &ifr)) {
+		perror("ioctl()");
+		exit(EXIT_FAILURE);
+	}
+	addr.can_ifindex = ifr.ifr_ifindex;
+
+	/* first don't recv. any msgs */
+	if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0)) {
+		perror("setsockopt()");
+		exit(EXIT_FAILURE);
+	}
+
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		perror("bind()");
+		exit(EXIT_FAILURE);
+	}
+
+	if (receive)
+		do_receive();
+	else
+		do_send();
+
+	exit(EXIT_SUCCESS);
+}