diff --git a/include/uapi/linux/can/j1939.h b/include/uapi/linux/can/j1939.h
index df6e821075c1..dc2a8e15c0b7 100644
--- a/include/uapi/linux/can/j1939.h
+++ b/include/uapi/linux/can/j1939.h
@@ -78,11 +78,20 @@ enum {
 enum {
 	J1939_NLA_PAD,
 	J1939_NLA_BYTES_ACKED,
+	J1939_NLA_TOTAL_SIZE,
+	J1939_NLA_DEST_ADDR,
+	J1939_NLA_DEST_NAME,
+	J1939_NLA_SRC_ADDR,
+	J1939_NLA_SRC_NAME,
+	J1939_NLA_PGN,
 };
 
 enum {
 	J1939_EE_INFO_NONE,
 	J1939_EE_INFO_TX_ABORT,
+	J1939_EE_INFO_RX_RTS,
+	J1939_EE_INFO_RX_DPO,
+	J1939_EE_INFO_RX_ABORT,
 };
 
 struct j1939_filter {
diff --git a/net/can/j1939/j1939-priv.h b/net/can/j1939/j1939-priv.h
index 93b8ad7f7d04..f6df20808f5e 100644
--- a/net/can/j1939/j1939-priv.h
+++ b/net/can/j1939/j1939-priv.h
@@ -23,6 +23,9 @@ enum j1939_sk_errqueue_type {
 	J1939_ERRQUEUE_TX_ACK,
 	J1939_ERRQUEUE_TX_SCHED,
 	J1939_ERRQUEUE_TX_ABORT,
+	J1939_ERRQUEUE_RX_RTS,
+	J1939_ERRQUEUE_RX_DPO,
+	J1939_ERRQUEUE_RX_ABORT,
 };
 
 /* j1939 devices */
@@ -87,6 +90,7 @@ struct j1939_priv {
 	struct list_head j1939_socks;
 
 	struct kref rx_kref;
+	u32 rx_tskey;
 };
 
 void j1939_ecu_put(struct j1939_ecu *ecu);
diff --git a/net/can/j1939/socket.c b/net/can/j1939/socket.c
index c2bf1c02597e..30b99897c473 100644
--- a/net/can/j1939/socket.c
+++ b/net/can/j1939/socket.c
@@ -902,20 +902,33 @@ static struct sk_buff *j1939_sk_alloc_skb(struct net_device *ndev,
 	return NULL;
 }
 
-static size_t j1939_sk_opt_stats_get_size(void)
+static size_t j1939_sk_opt_stats_get_size(enum j1939_sk_errqueue_type type)
 {
-	return
-		nla_total_size(sizeof(u32)) + /* J1939_NLA_BYTES_ACKED */
-		0;
+	switch (type) {
+	case J1939_ERRQUEUE_RX_RTS:
+		return
+			nla_total_size(sizeof(u32)) + /* J1939_NLA_BYTES_ALL */
+			nla_total_size(sizeof(u64)) + /* J1939_NLA_DEST_ADDR */
+			nla_total_size(sizeof(u64)) + /* J1939_NLA_SRC_ADDR */
+			nla_total_size(sizeof(u64)) + /* J1939_NLA_DEST_NAME */
+			nla_total_size(sizeof(u64)) + /* J1939_NLA_SRC_NAME */
+			nla_total_size(sizeof(u32)) + /* J1939_NLA_PGN */
+			0;
+	default:
+		return
+			nla_total_size(sizeof(u32)) + /* J1939_NLA_BYTES_ACKED */
+			0;
+	}
 }
 
 static struct sk_buff *
-j1939_sk_get_timestamping_opt_stats(struct j1939_session *session)
+j1939_sk_get_timestamping_opt_stats(struct j1939_session *session,
+				    enum j1939_sk_errqueue_type type)
 {
 	struct sk_buff *stats;
 	u32 size;
 
-	stats = alloc_skb(j1939_sk_opt_stats_get_size(), GFP_ATOMIC);
+	stats = alloc_skb(j1939_sk_opt_stats_get_size(type), GFP_ATOMIC);
 	if (!stats)
 		return NULL;
 
@@ -925,32 +938,67 @@ j1939_sk_get_timestamping_opt_stats(struct j1939_session *session)
 		size = min(session->pkt.tx_acked * 7,
 			   session->total_message_size);
 
-	nla_put_u32(stats, J1939_NLA_BYTES_ACKED, size);
+	switch (type) {
+	case J1939_ERRQUEUE_RX_RTS:
+		nla_put_u32(stats, J1939_NLA_TOTAL_SIZE,
+			    session->total_message_size);
+		nla_put_u32(stats, J1939_NLA_PGN,
+			    session->skcb.addr.pgn);
+		nla_put_u64_64bit(stats, J1939_NLA_SRC_NAME,
+				  session->skcb.addr.src_name, J1939_NLA_PAD);
+		nla_put_u64_64bit(stats, J1939_NLA_DEST_NAME,
+				  session->skcb.addr.dst_name, J1939_NLA_PAD);
+		nla_put_u8(stats, J1939_NLA_SRC_ADDR,
+			   session->skcb.addr.sa);
+		nla_put_u8(stats, J1939_NLA_DEST_ADDR,
+			   session->skcb.addr.da);
+		break;
+	default:
+		nla_put_u32(stats, J1939_NLA_BYTES_ACKED, size);
+	}
 
 	return stats;
 }
 
-void j1939_sk_errqueue(struct j1939_session *session,
-		       enum j1939_sk_errqueue_type type)
+static void __j1939_sk_errqueue(struct j1939_session *session, struct sock *sk,
+				enum j1939_sk_errqueue_type type)
 {
 	struct j1939_priv *priv = session->priv;
-	struct sock *sk = session->sk;
 	struct j1939_sock *jsk;
 	struct sock_exterr_skb *serr;
 	struct sk_buff *skb;
 	char *state = "UNK";
 	int err;
 
-	/* currently we have no sk for the RX session */
-	if (!sk)
-		return;
-
 	jsk = j1939_sk(sk);
 
 	if (!(jsk->state & J1939_SOCK_ERRQUEUE))
 		return;
 
-	skb = j1939_sk_get_timestamping_opt_stats(session);
+	switch (type) {
+	case J1939_ERRQUEUE_TX_ACK:
+		if (!(sk->sk_tsflags & SOF_TIMESTAMPING_TX_ACK))
+			return;
+		break;
+	case J1939_ERRQUEUE_TX_SCHED:
+		if (!(sk->sk_tsflags & SOF_TIMESTAMPING_TX_SCHED))
+			return;
+		break;
+	case J1939_ERRQUEUE_TX_ABORT:
+		break;
+	case J1939_ERRQUEUE_RX_RTS:
+		fallthrough;
+	case J1939_ERRQUEUE_RX_DPO:
+		fallthrough;
+	case J1939_ERRQUEUE_RX_ABORT:
+		if (!(sk->sk_tsflags & SOF_TIMESTAMPING_RX_SOFTWARE))
+			return;
+		break;
+	default:
+		netdev_err(priv->ndev, "Unknown errqueue type %i\n", type);
+	}
+
+	skb = j1939_sk_get_timestamping_opt_stats(session, type);
 	if (!skb)
 		return;
 
@@ -962,35 +1010,41 @@ void j1939_sk_errqueue(struct j1939_session *session,
 	memset(serr, 0, sizeof(*serr));
 	switch (type) {
 	case J1939_ERRQUEUE_TX_ACK:
-		if (!(sk->sk_tsflags & SOF_TIMESTAMPING_TX_ACK)) {
-			kfree_skb(skb);
-			return;
-		}
-
 		serr->ee.ee_errno = ENOMSG;
 		serr->ee.ee_origin = SO_EE_ORIGIN_TIMESTAMPING;
 		serr->ee.ee_info = SCM_TSTAMP_ACK;
-		state = "ACK";
+		state = "TX ACK";
 		break;
 	case J1939_ERRQUEUE_TX_SCHED:
-		if (!(sk->sk_tsflags & SOF_TIMESTAMPING_TX_SCHED)) {
-			kfree_skb(skb);
-			return;
-		}
-
 		serr->ee.ee_errno = ENOMSG;
 		serr->ee.ee_origin = SO_EE_ORIGIN_TIMESTAMPING;
 		serr->ee.ee_info = SCM_TSTAMP_SCHED;
-		state = "SCH";
+		state = "TX SCH";
 		break;
 	case J1939_ERRQUEUE_TX_ABORT:
 		serr->ee.ee_errno = session->err;
 		serr->ee.ee_origin = SO_EE_ORIGIN_LOCAL;
 		serr->ee.ee_info = J1939_EE_INFO_TX_ABORT;
-		state = "ABT";
+		state = "TX ABT";
+		break;
+	case J1939_ERRQUEUE_RX_RTS:
+		serr->ee.ee_errno = ENOMSG;
+		serr->ee.ee_origin = SO_EE_ORIGIN_LOCAL;
+		serr->ee.ee_info = J1939_EE_INFO_RX_RTS;
+		state = "RX RTS";
+		break;
+	case J1939_ERRQUEUE_RX_DPO:
+		serr->ee.ee_errno = ENOMSG;
+		serr->ee.ee_origin = SO_EE_ORIGIN_LOCAL;
+		serr->ee.ee_info = J1939_EE_INFO_RX_DPO;
+		state = "RX DPO";
+		break;
+	case J1939_ERRQUEUE_RX_ABORT:
+		serr->ee.ee_errno = session->err;
+		serr->ee.ee_origin = SO_EE_ORIGIN_LOCAL;
+		serr->ee.ee_info = J1939_EE_INFO_RX_ABORT;
+		state = "RX ABT";
 		break;
-	default:
-		netdev_err(priv->ndev, "Unknown errqueue type %i\n", type);
 	}
 
 	serr->opt_stats = true;
@@ -1005,6 +1059,27 @@ void j1939_sk_errqueue(struct j1939_session *session,
 		kfree_skb(skb);
 };
 
+void j1939_sk_errqueue(struct j1939_session *session,
+		       enum j1939_sk_errqueue_type type)
+{
+	struct j1939_priv *priv = session->priv;
+	struct j1939_sock *jsk;
+
+	if (session->sk) {
+		/* send TX notifications to the socket of origin  */
+		__j1939_sk_errqueue(session, session->sk, type);
+		return;
+	}
+
+	/* spread RX notifications to all sockets subscribed to this session */
+	spin_lock_bh(&priv->j1939_socks_lock);
+	list_for_each_entry(jsk, &priv->j1939_socks, list) {
+		if (j1939_sk_recv_match_one(jsk, &session->skcb))
+			__j1939_sk_errqueue(session, &jsk->sk, type);
+	}
+	spin_unlock_bh(&priv->j1939_socks_lock);
+};
+
 void j1939_sk_send_loop_abort(struct sock *sk, int err)
 {
 	sk->sk_err = err;
diff --git a/net/can/j1939/transport.c b/net/can/j1939/transport.c
index 362cf38cacca..cb358646e382 100644
--- a/net/can/j1939/transport.c
+++ b/net/can/j1939/transport.c
@@ -260,10 +260,14 @@ static void __j1939_session_drop(struct j1939_session *session)
 
 static void j1939_session_destroy(struct j1939_session *session)
 {
-	if (session->err)
-		j1939_sk_errqueue(session, J1939_ERRQUEUE_TX_ABORT);
-	else
-		j1939_sk_errqueue(session, J1939_ERRQUEUE_TX_ACK);
+	if (session->transmission) {
+		if (session->err)
+			j1939_sk_errqueue(session, J1939_ERRQUEUE_TX_ABORT);
+		else
+			j1939_sk_errqueue(session, J1939_ERRQUEUE_TX_ACK);
+	} else if (session->err) {
+			j1939_sk_errqueue(session, J1939_ERRQUEUE_RX_ABORT);
+	}
 
 	netdev_dbg(session->priv->ndev, "%s: 0x%p\n", __func__, session);
 
@@ -1087,6 +1091,8 @@ static void __j1939_session_cancel(struct j1939_session *session,
 
 	if (session->sk)
 		j1939_sk_send_loop_abort(session->sk, session->err);
+	else
+		j1939_sk_errqueue(session, J1939_ERRQUEUE_RX_ABORT);
 }
 
 static void j1939_session_cancel(struct j1939_session *session,
@@ -1297,6 +1303,8 @@ static void j1939_xtp_rx_abort_one(struct j1939_priv *priv, struct sk_buff *skb,
 	session->err = j1939_xtp_abort_to_errno(priv, abort);
 	if (session->sk)
 		j1939_sk_send_loop_abort(session->sk, session->err);
+	else
+		j1939_sk_errqueue(session, J1939_ERRQUEUE_RX_ABORT);
 	j1939_session_deactivate_activate_next(session);
 
 abort_put:
@@ -1597,6 +1605,9 @@ j1939_session *j1939_xtp_rx_rts_session_new(struct j1939_priv *priv,
 	session->pkt.rx = 0;
 	session->pkt.tx = 0;
 
+	session->tskey = priv->rx_tskey++;
+	j1939_sk_errqueue(session, J1939_ERRQUEUE_RX_RTS);
+
 	WARN_ON_ONCE(j1939_session_activate(session));
 
 	return session;
@@ -1719,6 +1730,9 @@ static void j1939_xtp_rx_dpo_one(struct j1939_session *session,
 	session->pkt.dpo = j1939_etp_ctl_to_packet(skb->data);
 	session->last_cmd = dat[0];
 	j1939_tp_set_rxtimeout(session, 750);
+
+	if (!session->transmission)
+		j1939_sk_errqueue(session, J1939_ERRQUEUE_RX_DPO);
 }
 
 static void j1939_xtp_rx_dpo(struct j1939_priv *priv, struct sk_buff *skb,
