diff --git a/MAINTAINERS b/MAINTAINERS
index 241ca9e260a2..55749b492ebb 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -5155,6 +5155,7 @@ F:	include/uapi/linux/can/isotp.h
 F:	include/uapi/linux/can/raw.h
 F:	net/can/
 F:	net/sched/em_canid.c
+F:	tools/testing/selftests/net/can/
 
 CAN-J1939 NETWORK LAYER
 M:	Robin van der Gracht <robin@protonic.nl>
@@ -16577,6 +16578,7 @@ X:	net/ceph/
 X:	net/mac80211/
 X:	net/rfkill/
 X:	net/wireless/
+X:	tools/testing/selftests/net/can/
 
 NETWORKING [IPSEC]
 M:	Steffen Klassert <steffen.klassert@secunet.com>
diff --git a/tools/testing/selftests/Makefile b/tools/testing/selftests/Makefile
index 8daac70c2f9d..e5c9ecd52b73 100644
--- a/tools/testing/selftests/Makefile
+++ b/tools/testing/selftests/Makefile
@@ -64,6 +64,7 @@ TARGETS += mqueue
 TARGETS += nci
 TARGETS += net
 TARGETS += net/af_unix
+TARGETS += net/can
 TARGETS += net/forwarding
 TARGETS += net/hsr
 TARGETS += net/mptcp
diff --git a/tools/testing/selftests/net/can/.gitignore b/tools/testing/selftests/net/can/.gitignore
new file mode 100644
index 000000000000..764a53fc837f
--- /dev/null
+++ b/tools/testing/selftests/net/can/.gitignore
@@ -0,0 +1,2 @@
+# SPDX-License-Identifier: GPL-2.0-only
+test_raw_filter
diff --git a/tools/testing/selftests/net/can/Makefile b/tools/testing/selftests/net/can/Makefile
new file mode 100644
index 000000000000..44ef37f064ad
--- /dev/null
+++ b/tools/testing/selftests/net/can/Makefile
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: GPL-2.0
+
+top_srcdir = ../../../../..
+
+TEST_PROGS := test_raw_filter.sh
+
+TEST_GEN_FILES := test_raw_filter
+
+include ../../lib.mk
diff --git a/tools/testing/selftests/net/can/test_raw_filter.c b/tools/testing/selftests/net/can/test_raw_filter.c
new file mode 100644
index 000000000000..c84260f36565
--- /dev/null
+++ b/tools/testing/selftests/net/can/test_raw_filter.c
@@ -0,0 +1,204 @@
+// SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause)
+/*
+ * Copyright (c) 2011 Volkswagen Group Electronic Research
+ * All rights reserved.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <sys/time.h>
+#include <net/if.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define ID 0x123
+#define TC 18 /* # of testcases */
+
+const int rx_res[TC] = {4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1};
+const int rxbits_res[TC] = {4369, 4369, 4369, 4369, 17, 4352, 17, 4352, 257, 257, 4112, 4112, 1, 256, 16, 4096, 1, 256};
+
+#define VCANIF "vcan0"
+
+canid_t calc_id(int testcase)
+{
+	canid_t id = ID;
+
+	if (testcase & 1)
+		id |= CAN_EFF_FLAG;
+	if (testcase & 2)
+		id |= CAN_RTR_FLAG;
+
+	return id;
+}
+
+canid_t calc_mask(int testcase)
+{
+	canid_t mask = CAN_SFF_MASK;
+
+	if (testcase > 15)
+		return (CAN_EFF_MASK | CAN_EFF_FLAG | CAN_RTR_FLAG);
+
+	if (testcase & 4)
+		mask |= CAN_EFF_FLAG;
+	if (testcase & 8)
+		mask |= CAN_RTR_FLAG;
+
+	return mask;
+}
+
+int main(int argc, char **argv)
+{
+	fd_set rdfs;
+	struct timeval tv;
+	int s;
+	struct sockaddr_can addr;
+	struct can_filter rfilter;
+	struct can_frame frame;
+	int testcase;
+	int have_rx;
+	int rx;
+	int rxbits, rxbitval;
+	int ret;
+	int recv_own_msgs = 1;
+	int err = 0;
+	struct ifreq ifr;
+
+	if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+		perror("socket");
+		err = 1;
+		goto out;
+	}
+
+	strcpy(ifr.ifr_name, VCANIF);
+	if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
+		perror("SIOCGIFINDEX");
+		err = 1;
+		goto out_socket;
+	}
+	addr.can_family = AF_CAN;
+	addr.can_ifindex = ifr.ifr_ifindex;
+
+	setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
+		   &recv_own_msgs, sizeof(recv_own_msgs));
+
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		perror("bind");
+		err = 1;
+		goto out_socket;
+	}
+
+	printf("---\n");
+
+	for (testcase = 0; testcase < TC; testcase++) {
+
+		rfilter.can_id   = calc_id(testcase);
+		rfilter.can_mask = calc_mask(testcase);
+		setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER,
+			   &rfilter, sizeof(rfilter));
+
+		printf("testcase %2d filters : can_id = 0x%08X can_mask = 0x%08X\n",
+		       testcase, rfilter.can_id, rfilter.can_mask);
+
+		printf("testcase %2d sending patterns ... ", testcase);
+
+		frame.can_dlc = 1;
+		frame.data[0] = testcase;
+
+		frame.can_id = ID;
+		if (write(s, &frame, sizeof(frame)) < 0) {
+			perror("write");
+			exit(1);
+		}
+		frame.can_id = (ID | CAN_RTR_FLAG);
+		if (write(s, &frame, sizeof(frame)) < 0) {
+			perror("write");
+			exit(1);
+		}
+		frame.can_id = (ID | CAN_EFF_FLAG);
+		if (write(s, &frame, sizeof(frame)) < 0) {
+			perror("write");
+			exit(1);
+		}
+		frame.can_id = (ID | CAN_EFF_FLAG | CAN_RTR_FLAG);
+		if (write(s, &frame, sizeof(frame)) < 0) {
+			perror("write");
+			exit(1);
+		}
+
+		printf("ok\n");
+
+		have_rx = 1;
+		rx = 0;
+		rxbits = 0;
+
+		while (have_rx) {
+
+			have_rx = 0;
+			FD_ZERO(&rdfs);
+			FD_SET(s, &rdfs);
+			tv.tv_sec = 0;
+			tv.tv_usec = 50000; /* 50ms timeout */
+
+			ret = select(s+1, &rdfs, NULL, NULL, &tv);
+			if (ret < 0) {
+				perror("select");
+				exit(1);
+			}
+
+			if (FD_ISSET(s, &rdfs)) {
+				have_rx = 1;
+				ret = read(s, &frame, sizeof(struct can_frame));
+				if (ret < 0) {
+					perror("read");
+					exit(1);
+				}
+				if ((frame.can_id & CAN_SFF_MASK) != ID) {
+					fprintf(stderr, "received wrong can_id!\n");
+					exit(1);
+				}
+				if (frame.data[0] != testcase) {
+					fprintf(stderr, "received wrong testcase!\n");
+					exit(1);
+				}
+
+				/* test & calc rxbits */
+				rxbitval = 1 << ((frame.can_id & (CAN_EFF_FLAG|CAN_RTR_FLAG|CAN_ERR_FLAG)) >> 28);
+
+				/* only receive a rxbitval once */
+				if ((rxbits & rxbitval) == rxbitval) {
+					fprintf(stderr, "received rxbitval %d twice!\n", rxbitval);
+					exit(1);
+				}
+				rxbits |= rxbitval;
+				rx++;
+
+				printf("testcase %2d rx : can_id = 0x%08X rx = %d rxbits = %d\n",
+				       testcase, frame.can_id, rx, rxbits);
+			}
+		}
+		/* rx timed out -> check the received results */
+		if (rx_res[testcase] != rx) {
+			fprintf(stderr, "wrong rx value in testcase %d : %d (expected %d)\n",
+				testcase, rx, rx_res[testcase]);
+			exit(1);
+		}
+		if (rxbits_res[testcase] != rxbits) {
+			fprintf(stderr, "wrong rxbits value in testcase %d : %d (expected %d)\n",
+				testcase, rxbits, rxbits_res[testcase]);
+			exit(1);
+		}
+		printf("testcase %2d ok\n---\n", testcase);
+	}
+
+out_socket:
+	close(s);
+out:
+	return err;
+}
diff --git a/tools/testing/selftests/net/can/test_raw_filter.sh b/tools/testing/selftests/net/can/test_raw_filter.sh
new file mode 100755
index 000000000000..e5f175c8b27b
--- /dev/null
+++ b/tools/testing/selftests/net/can/test_raw_filter.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+# SPDX-License-Identifier: GPL-2.0
+
+#set -x
+
+ALL_TESTS="
+	test_raw_filter
+"
+
+net_dir=$(dirname $0)/..
+source $net_dir/lib.sh
+
+VCANIF="vcan0"
+
+setup()
+{
+	ip link add name $VCANIF type vcan || exit $ksft_skip
+	ip link set dev $VCANIF up
+	pwd
+}
+
+cleanup()
+{
+	ip link delete $VCANIF
+}
+
+test_raw_filter()
+{
+	./test_raw_filter
+}
+
+trap cleanup EXIT
+setup
+
+tests_run
+
+exit $EXIT_STATUS
