Tested this on two raspberry CM4 with two MCP1518 controllers each. CAN frames are sent (and received) by both sides "simultaneously". In 67 h of testing an average of about 100 fifo errors occurred for each CAN controller. No wrong messages we received by the application. Tested-by: Stefan Althöfer <Stefan.Althoefer@xxxxxxxxxxx> Just to make sure I'm correctly understanding the issues impact: The driver reads one complete timed-back message (76 bytes) and then re-syncs to the fifo to read the now hopefully correct pointers: Hence there is a spurious extra latency of about < 100 us (assuming *' 10 MHz SPI clock)? -- Stefan
