diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py
index 52f0550f2..173727789 100644
--- a/can/broadcastmanager.py
+++ b/can/broadcastmanager.py
@@ -5,7 +5,7 @@
 :meth:`can.BusABC.send_periodic`.
 """
 
-from typing import Optional, Sequence, Tuple, Union, TYPE_CHECKING
+from typing import Optional, Sequence, Tuple, Union, Callable, TYPE_CHECKING
 
 from can import typechecking
 
@@ -198,7 +198,7 @@ def __init__(
 class ThreadBasedCyclicSendTask(
     ModifiableCyclicTaskABC, LimitedDurationCyclicSendTaskABC, RestartableCyclicTaskABC
 ):
-    """Fallback cyclic send task using thread."""
+    """Fallback cyclic send task using daemon thread."""
 
     def __init__(
         self,
@@ -207,13 +207,28 @@ def __init__(
         messages: Union[Sequence[Message], Message],
         period: float,
         duration: Optional[float] = None,
+        on_error: Optional[Callable[[Exception], bool]] = None,
     ):
+        """Transmits `messages` with a `period` seconds for `duration` seconds on a `bus`.
+
+        The `on_error` is called if any error happens on `bus` while sending `messages`.
+        If `on_error` present, and returns ``False`` when invoked, thread is
+        stopped immediately, otherwise, thread continuiously tries to send `messages`
+        ignoring errors on a `bus`. Absence of `on_error` means that thread exits immediately
+        on error.
+
+        :param on_error: The callable that accepts an exception if any
+                         error happened on a `bus` while sending `messages`,
+                         it shall return either ``True`` or ``False`` depending
+                         on desired behaviour of `ThreadBasedCyclicSendTask`.
+        """
         super().__init__(messages, period, duration)
         self.bus = bus
         self.send_lock = lock
         self.stopped = True
         self.thread = None
         self.end_time = time.perf_counter() + duration if duration else None
+        self.on_error = on_error
 
         if HAS_EVENTS:
             self.period_ms: int = int(round(period * 1000, 0))
@@ -250,7 +265,11 @@ def _run(self):
                     self.bus.send(self.messages[msg_index])
                 except Exception as exc:
                     log.exception(exc)
-                    break
+                    if self.on_error:
+                        if not self.on_error(exc):
+                            break
+                    else:
+                        break
             if self.end_time is not None and time.perf_counter() >= self.end_time:
                 break
             msg_index = (msg_index + 1) % len(self.messages)
diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py
index 95bbd0a99..4e41e5e03 100644
--- a/test/simplecyclic_test.py
+++ b/test/simplecyclic_test.py
@@ -7,6 +7,7 @@
 
 from time import sleep
 import unittest
+from unittest.mock import MagicMock
 import gc
 
 import can
@@ -151,6 +152,43 @@ def test_stopping_perodic_tasks(self):
 
         bus.shutdown()
 
+    def test_thread_based_cyclic_send_task(self):
+        bus = can.ThreadSafeBus(bustype="virtual")
+        msg = can.Message(
+            is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7]
+        )
+
+        # good case, bus is up
+        on_error_mock = MagicMock(return_value=False)
+        task = can.broadcastmanager.ThreadBasedCyclicSendTask(
+            bus, bus._lock_send_periodic, msg, 0.1, 3, on_error_mock
+        )
+        task.start()
+        sleep(1)
+        on_error_mock.assert_not_called()
+        task.stop()
+        bus.shutdown()
+
+        # bus has been shutted down
+        on_error_mock.reset_mock()
+        task = can.broadcastmanager.ThreadBasedCyclicSendTask(
+            bus, bus._lock_send_periodic, msg, 0.1, 3, on_error_mock
+        )
+        task.start()
+        sleep(1)
+        self.assertTrue(on_error_mock.call_count is 1)
+        task.stop()
+
+        # bus is still shutted down, but on_error returns True
+        on_error_mock = MagicMock(return_value=True)
+        task = can.broadcastmanager.ThreadBasedCyclicSendTask(
+            bus, bus._lock_send_periodic, msg, 0.1, 3, on_error_mock
+        )
+        task.start()
+        sleep(1)
+        self.assertTrue(on_error_mock.call_count > 1)
+        task.stop()
+
 
 if __name__ == "__main__":
     unittest.main()