diff --git a/drivers/net/can/spi/mcp251xfd/mcp251xfd-ring.c b/drivers/net/can/spi/mcp251xfd/mcp251xfd-ring.c
index 5f92aed62ff9..f72582d4d3e8 100644
--- a/drivers/net/can/spi/mcp251xfd/mcp251xfd-ring.c
+++ b/drivers/net/can/spi/mcp251xfd/mcp251xfd-ring.c
@@ -206,6 +206,7 @@ mcp251xfd_ring_init_rx(struct mcp251xfd_priv *priv, u16 *base, u8 *fifo_nr)
 	int i, j;
 
 	mcp251xfd_for_each_rx_ring(priv, rx_ring, i) {
+		rx_ring->last_valid = timecounter_read(&priv->tc);
 		rx_ring->head = 0;
 		rx_ring->tail = 0;
 		rx_ring->base = *base;
diff --git a/drivers/net/can/spi/mcp251xfd/mcp251xfd-rx.c b/drivers/net/can/spi/mcp251xfd/mcp251xfd-rx.c
index a79e6c661ecc..fe897f3e4c12 100644
--- a/drivers/net/can/spi/mcp251xfd/mcp251xfd-rx.c
+++ b/drivers/net/can/spi/mcp251xfd/mcp251xfd-rx.c
@@ -159,8 +159,6 @@ mcp251xfd_hw_rx_obj_to_skb(const struct mcp251xfd_priv *priv,
 
 	if (!(hw_rx_obj->flags & MCP251XFD_OBJ_FLAGS_RTR))
 		memcpy(cfd->data, hw_rx_obj->data, cfd->len);
-
-	mcp251xfd_skb_set_timestamp_raw(priv, skb, hw_rx_obj->ts);
 }
 
 static int
@@ -171,8 +169,26 @@ mcp251xfd_handle_rxif_one(struct mcp251xfd_priv *priv,
 	struct net_device_stats *stats = &priv->ndev->stats;
 	struct sk_buff *skb;
 	struct canfd_frame *cfd;
+	u64 timestamp;
 	int err;
 
+	/* According to mcp2518fd erratum DS80000789E 6. the FIFOCI
+	 * bits of a FIFOSTA register, here the RX FIFO head index
+	 * might be corrupted and we might process past the RX FIFO's
+	 * head into old CAN frames.
+	 *
+	 * Compare the timestamp of currently processed CAN frame with
+	 * last valid frame received. Abort with -EBADMSG if an old
+	 * CAN frame is detected.
+	 */
+	timestamp = timecounter_cyc2time(&priv->tc, hw_rx_obj->ts);
+	if (timestamp <= ring->last_valid) {
+		stats->rx_fifo_errors++;
+
+		return -EBADMSG;
+	}
+	ring->last_valid = timestamp;
+
 	if (hw_rx_obj->flags & MCP251XFD_OBJ_FLAGS_FDF)
 		skb = alloc_canfd_skb(priv->ndev, &cfd);
 	else
@@ -183,6 +199,7 @@ mcp251xfd_handle_rxif_one(struct mcp251xfd_priv *priv,
 		return 0;
 	}
 
+	mcp251xfd_skb_set_timestamp(skb, timestamp);
 	mcp251xfd_hw_rx_obj_to_skb(priv, hw_rx_obj, skb);
 	err = can_rx_offload_queue_timestamp(&priv->offload, skb, hw_rx_obj->ts);
 	if (err)
@@ -265,7 +282,16 @@ mcp251xfd_handle_rxif_ring(struct mcp251xfd_priv *priv,
 			err = mcp251xfd_handle_rxif_one(priv, ring,
 							(void *)hw_rx_obj +
 							i * ring->obj_size);
-			if (err)
+
+			/* -EBADMSG means we're affected by mcp2518fd
+			 * erratum DS80000789E 6., i.e. the timestamp
+			 * in the RX object is older that the last
+			 * valid received CAN frame. Don't process any
+			 * further and mark processed frames as good.
+			 */
+			if (err == -EBADMSG)
+				return mcp251xfd_handle_rxif_ring_uinc(priv, ring, i);
+			else if (err)
 				return err;
 		}
 
diff --git a/drivers/net/can/spi/mcp251xfd/mcp251xfd.h b/drivers/net/can/spi/mcp251xfd/mcp251xfd.h
index ae35845d4ce1..991662fbba42 100644
--- a/drivers/net/can/spi/mcp251xfd/mcp251xfd.h
+++ b/drivers/net/can/spi/mcp251xfd/mcp251xfd.h
@@ -554,6 +554,9 @@ struct mcp251xfd_rx_ring {
 	unsigned int head;
 	unsigned int tail;
 
+	/* timestamp of the last valid received CAN frame */
+	u64 last_valid;
+
 	u16 base;
 	u8 nr;
 	u8 fifo_nr;