diff --git a/tools/testing/selftests/bpf/prog_tests/verifier.c b/tools/testing/selftests/bpf/prog_tests/verifier.c
index 531621adef42..070a13833c3f 100644
--- a/tools/testing/selftests/bpf/prog_tests/verifier.c
+++ b/tools/testing/selftests/bpf/prog_tests/verifier.c
@@ -50,6 +50,7 @@
 #include "verifier_regalloc.skel.h"
 #include "verifier_ringbuf.skel.h"
 #include "verifier_runtime_jit.skel.h"
+#include "verifier_scalar_ids.skel.h"
 #include "verifier_search_pruning.skel.h"
 #include "verifier_sock.skel.h"
 #include "verifier_spill_fill.skel.h"
@@ -150,6 +151,7 @@ void test_verifier_ref_tracking(void)         { RUN(verifier_ref_tracking); }
 void test_verifier_regalloc(void)             { RUN(verifier_regalloc); }
 void test_verifier_ringbuf(void)              { RUN(verifier_ringbuf); }
 void test_verifier_runtime_jit(void)          { RUN(verifier_runtime_jit); }
+void test_verifier_scalar_ids(void)           { RUN(verifier_scalar_ids); }
 void test_verifier_search_pruning(void)       { RUN(verifier_search_pruning); }
 void test_verifier_sock(void)                 { RUN(verifier_sock); }
 void test_verifier_spill_fill(void)           { RUN(verifier_spill_fill); }
diff --git a/tools/testing/selftests/bpf/progs/verifier_scalar_ids.c b/tools/testing/selftests/bpf/progs/verifier_scalar_ids.c
new file mode 100644
index 000000000000..0f1071847490
--- /dev/null
+++ b/tools/testing/selftests/bpf/progs/verifier_scalar_ids.c
@@ -0,0 +1,324 @@
+// SPDX-License-Identifier: GPL-2.0
+
+#include <linux/bpf.h>
+#include <bpf/bpf_helpers.h>
+#include "bpf_misc.h"
+
+/* Check that precision marks propagate through scalar IDs.
+ * Registers r{0,1,2} have the same scalar ID at the moment when r0 is
+ * marked to be precise, this mark is immediately propagated to r{1,2}.
+ */
+SEC("socket")
+__success __log_level(2)
+__msg("frame0: regs=r0,r1,r2 stack= before 4: (bf) r3 = r10")
+__msg("frame0: regs=r0,r1,r2 stack= before 3: (bf) r2 = r0")
+__msg("frame0: regs=r0,r1 stack= before 2: (bf) r1 = r0")
+__msg("frame0: regs=r0 stack= before 1: (57) r0 &= 255")
+__msg("frame0: regs=r0 stack= before 0: (85) call bpf_ktime_get_ns")
+__flag(BPF_F_TEST_STATE_FREQ)
+__naked void precision_same_state(void)
+{
+	asm volatile (
+	/* r0 = random number up to 0xff */
+	"call %[bpf_ktime_get_ns];"
+	"r0 &= 0xff;"
+	/* tie r0.id == r1.id == r2.id */
+	"r1 = r0;"
+	"r2 = r0;"
+	/* force r0 to be precise, this immediately marks r1 and r2 as
+	 * precise as well because of shared IDs
+	 */
+	"r3 = r10;"
+	"r3 += r0;"
+	"r0 = 0;"
+	"exit;"
+	:
+	: __imm(bpf_ktime_get_ns)
+	: __clobber_all);
+}
+
+/* Same as precision_same_state, but mark propagates through state /
+ * parent state boundary.
+ */
+SEC("socket")
+__success __log_level(2)
+__msg("frame0: last_idx 6 first_idx 5 subseq_idx -1")
+__msg("frame0: regs=r0,r1,r2 stack= before 5: (bf) r3 = r10")
+__msg("frame0: parent state regs=r0,r1,r2 stack=:")
+__msg("frame0: regs=r0,r1,r2 stack= before 4: (05) goto pc+0")
+__msg("frame0: regs=r0,r1,r2 stack= before 3: (bf) r2 = r0")
+__msg("frame0: regs=r0,r1 stack= before 2: (bf) r1 = r0")
+__msg("frame0: regs=r0 stack= before 1: (57) r0 &= 255")
+__msg("frame0: parent state regs=r0 stack=:")
+__msg("frame0: regs=r0 stack= before 0: (85) call bpf_ktime_get_ns")
+__flag(BPF_F_TEST_STATE_FREQ)
+__naked void precision_cross_state(void)
+{
+	asm volatile (
+	/* r0 = random number up to 0xff */
+	"call %[bpf_ktime_get_ns];"
+	"r0 &= 0xff;"
+	/* tie r0.id == r1.id == r2.id */
+	"r1 = r0;"
+	"r2 = r0;"
+	/* force checkpoint */
+	"goto +0;"
+	/* force r0 to be precise, this immediately marks r1 and r2 as
+	 * precise as well because of shared IDs
+	 */
+	"r3 = r10;"
+	"r3 += r0;"
+	"r0 = 0;"
+	"exit;"
+	:
+	: __imm(bpf_ktime_get_ns)
+	: __clobber_all);
+}
+
+/* Same as precision_same_state, but break one of the
+ * links, note that r1 is absent from regs=... in __msg below.
+ */
+SEC("socket")
+__success __log_level(2)
+__msg("frame0: regs=r0,r2 stack= before 5: (bf) r3 = r10")
+__msg("frame0: regs=r0,r2 stack= before 4: (b7) r1 = 0")
+__msg("frame0: regs=r0,r2 stack= before 3: (bf) r2 = r0")
+__msg("frame0: regs=r0 stack= before 2: (bf) r1 = r0")
+__msg("frame0: regs=r0 stack= before 1: (57) r0 &= 255")
+__msg("frame0: regs=r0 stack= before 0: (85) call bpf_ktime_get_ns")
+__flag(BPF_F_TEST_STATE_FREQ)
+__naked void precision_same_state_broken_link(void)
+{
+	asm volatile (
+	/* r0 = random number up to 0xff */
+	"call %[bpf_ktime_get_ns];"
+	"r0 &= 0xff;"
+	/* tie r0.id == r1.id == r2.id */
+	"r1 = r0;"
+	"r2 = r0;"
+	/* break link for r1, this is the only line that differs
+	 * compared to the previous test
+	 */
+	"r1 = 0;"
+	/* force r0 to be precise, this immediately marks r1 and r2 as
+	 * precise as well because of shared IDs
+	 */
+	"r3 = r10;"
+	"r3 += r0;"
+	"r0 = 0;"
+	"exit;"
+	:
+	: __imm(bpf_ktime_get_ns)
+	: __clobber_all);
+}
+
+/* Same as precision_same_state_broken_link, but with state /
+ * parent state boundary.
+ */
+SEC("socket")
+__success __log_level(2)
+__msg("frame0: regs=r0,r2 stack= before 6: (bf) r3 = r10")
+__msg("frame0: regs=r0,r2 stack= before 5: (b7) r1 = 0")
+__msg("frame0: parent state regs=r0,r2 stack=:")
+__msg("frame0: regs=r0,r1,r2 stack= before 4: (05) goto pc+0")
+__msg("frame0: regs=r0,r1,r2 stack= before 3: (bf) r2 = r0")
+__msg("frame0: regs=r0,r1 stack= before 2: (bf) r1 = r0")
+__msg("frame0: regs=r0 stack= before 1: (57) r0 &= 255")
+__msg("frame0: parent state regs=r0 stack=:")
+__msg("frame0: regs=r0 stack= before 0: (85) call bpf_ktime_get_ns")
+__flag(BPF_F_TEST_STATE_FREQ)
+__naked void precision_cross_state_broken_link(void)
+{
+	asm volatile (
+	/* r0 = random number up to 0xff */
+	"call %[bpf_ktime_get_ns];"
+	"r0 &= 0xff;"
+	/* tie r0.id == r1.id == r2.id */
+	"r1 = r0;"
+	"r2 = r0;"
+	/* force checkpoint, although link between r1 and r{0,2} is
+	 * broken by the next statement current precision tracking
+	 * algorithm can't react to it and propagates mark for r1 to
+	 * the parent state.
+	 */
+	"goto +0;"
+	/* break link for r1, this is the only line that differs
+	 * compared to the previous test
+	 */
+	"r1 = 0;"
+	/* force r0 to be precise, this immediately marks r1 and r2 as
+	 * precise as well because of shared IDs
+	 */
+	"r3 = r10;"
+	"r3 += r0;"
+	"r0 = 0;"
+	"exit;"
+	:
+	: __imm(bpf_ktime_get_ns)
+	: __clobber_all);
+}
+
+/* Check that precision marks propagate through scalar IDs.
+ * Use the same scalar ID in multiple stack frames, check that
+ * precision information is propagated up the call stack.
+ */
+SEC("socket")
+__success __log_level(2)
+/* bar frame */
+__msg("frame2: regs=r1 stack= before 10: (bf) r2 = r10")
+__msg("frame2: regs=r1 stack= before 8: (85) call pc+1")
+/* foo frame */
+__msg("frame1: regs=r1,r6,r7 stack= before 7: (bf) r7 = r1")
+__msg("frame1: regs=r1,r6 stack= before 6: (bf) r6 = r1")
+__msg("frame1: regs=r1 stack= before 4: (85) call pc+1")
+/* main frame */
+__msg("frame0: regs=r0,r1,r6 stack= before 3: (bf) r6 = r0")
+__msg("frame0: regs=r0,r1 stack= before 2: (bf) r1 = r0")
+__msg("frame0: regs=r0 stack= before 1: (57) r0 &= 255")
+__flag(BPF_F_TEST_STATE_FREQ)
+__naked void precision_many_frames(void)
+{
+	asm volatile (
+	/* r0 = random number up to 0xff */
+	"call %[bpf_ktime_get_ns];"
+	"r0 &= 0xff;"
+	/* tie r0.id == r1.id == r6.id */
+	"r1 = r0;"
+	"r6 = r0;"
+	"call precision_many_frames__foo;"
+	"exit;"
+	:
+	: __imm(bpf_ktime_get_ns)
+	: __clobber_all);
+}
+
+static __naked __noinline __attribute__((used))
+void precision_many_frames__foo(void)
+{
+	asm volatile (
+	/* conflate one of the register numbers (r6) with outer frame,
+	 * to verify that those are tracked independently
+	 */
+	"r6 = r1;"
+	"r7 = r1;"
+	"call precision_many_frames__bar;"
+	"exit"
+	::: __clobber_all);
+}
+
+static __naked __noinline __attribute__((used))
+void precision_many_frames__bar(void)
+{
+	asm volatile (
+	/* force r1 to be precise, this immediately marks:
+	 * - bar frame r1
+	 * - foo frame r{1,6,7}
+	 * - main frame r{1,6}
+	 */
+	"r2 = r10;"
+	"r2 += r1;"
+	"r0 = 0;"
+	"exit;"
+	::: __clobber_all);
+}
+
+/* Check that scalars with the same IDs are marked precise on stack as
+ * well as in registers.
+ */
+SEC("socket")
+__success __log_level(2)
+/* foo frame */
+__msg("frame1: regs=r1 stack=-8,-16 before 9: (bf) r2 = r10")
+__msg("frame1: regs=r1 stack=-8,-16 before 8: (7b) *(u64 *)(r10 -16) = r1")
+__msg("frame1: regs=r1 stack=-8 before 7: (7b) *(u64 *)(r10 -8) = r1")
+__msg("frame1: regs=r1 stack= before 4: (85) call pc+2")
+/* main frame */
+__msg("frame0: regs=r0,r1 stack=-8 before 3: (7b) *(u64 *)(r10 -8) = r1")
+__msg("frame0: regs=r0,r1 stack= before 2: (bf) r1 = r0")
+__msg("frame0: regs=r0 stack= before 1: (57) r0 &= 255")
+__flag(BPF_F_TEST_STATE_FREQ)
+__naked void precision_stack(void)
+{
+	asm volatile (
+	/* r0 = random number up to 0xff */
+	"call %[bpf_ktime_get_ns];"
+	"r0 &= 0xff;"
+	/* tie r0.id == r1.id == fp[-8].id */
+	"r1 = r0;"
+	"*(u64*)(r10 - 8) = r1;"
+	"call precision_stack__foo;"
+	"r0 = 0;"
+	"exit;"
+	:
+	: __imm(bpf_ktime_get_ns)
+	: __clobber_all);
+}
+
+static __naked __noinline __attribute__((used))
+void precision_stack__foo(void)
+{
+	asm volatile (
+	/* conflate one of the register numbers (r6) with outer frame,
+	 * to verify that those are tracked independently
+	 */
+	"*(u64*)(r10 - 8) = r1;"
+	"*(u64*)(r10 - 16) = r1;"
+	/* force r1 to be precise, this immediately marks:
+	 * - foo frame r1,fp{-8,-16}
+	 * - main frame r1,fp{-8}
+	 */
+	"r2 = r10;"
+	"r2 += r1;"
+	"exit"
+	::: __clobber_all);
+}
+
+/* Use two separate scalar IDs to check that these are propagated
+ * independently.
+ */
+SEC("socket")
+__success __log_level(2)
+/* r{6,7} */
+__msg("11: (0f) r3 += r7")
+__msg("frame0: regs=r6,r7 stack= before 10: (bf) r3 = r10")
+/* ... skip some insns ... */
+__msg("frame0: regs=r6,r7 stack= before 3: (bf) r7 = r0")
+__msg("frame0: regs=r0,r6 stack= before 2: (bf) r6 = r0")
+/* r{8,9} */
+__msg("12: (0f) r3 += r9")
+__msg("frame0: regs=r8,r9 stack= before 11: (0f) r3 += r7")
+/* ... skip some insns ... */
+__msg("frame0: regs=r8,r9 stack= before 7: (bf) r9 = r0")
+__msg("frame0: regs=r0,r8 stack= before 6: (bf) r8 = r0")
+__flag(BPF_F_TEST_STATE_FREQ)
+__naked void precision_two_ids(void)
+{
+	asm volatile (
+	/* r6 = random number up to 0xff
+	 * r6.id == r7.id
+	 */
+	"call %[bpf_ktime_get_ns];"
+	"r0 &= 0xff;"
+	"r6 = r0;"
+	"r7 = r0;"
+	/* same, but for r{8,9} */
+	"call %[bpf_ktime_get_ns];"
+	"r0 &= 0xff;"
+	"r8 = r0;"
+	"r9 = r0;"
+	/* clear r0 id */
+	"r0 = 0;"
+	/* force checkpoint */
+	"goto +0;"
+	"r3 = r10;"
+	/* force r7 to be precise, this also marks r6 */
+	"r3 += r7;"
+	/* force r9 to be precise, this also marks r8 */
+	"r3 += r9;"
+	"exit;"
+	:
+	: __imm(bpf_ktime_get_ns)
+	: __clobber_all);
+}
+
+char _license[] SEC("license") = "GPL";
