diff --git a/drivers/net/can/rockchip/rockchip_canfd.c b/drivers/net/can/rockchip/rockchip_canfd.c
index abdcdb580eff..f616f3b98803 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.c
+++ b/drivers/net/can/rockchip/rockchip_canfd.c
@@ -214,6 +214,7 @@ enum {
 #define CAN_RXFRD_OFFSET(n)	(CAN_RXFRD + CAN_RF_SIZE * (n))
 
 #define CAN_RX_FILTER_MASK	0x1fffffff
+#define NOACK_ERR_FLAG		0xc200800
 
 #define DRV_NAME	"rockchip_canfd"
 
@@ -234,6 +235,7 @@ struct rockchip_canfd {
 	bool txtorx;
 	u32 tx_invalid[4];
 	struct delayed_work tx_err_work;
+	u32 delay_time_ms;
 };
 
 static inline u32 rockchip_canfd_read(const struct rockchip_canfd *priv,
@@ -357,6 +359,12 @@ static int rockchip_canfd_set_bittiming(struct net_device *ndev)
 
 		rockchip_canfd_write(rcan, CAN_DBTP, reg_btp);
 	}
+	if (bt->bitrate > 200000)
+		rcan->delay_time_ms = 1;
+	else if (bt->bitrate > 50000)
+		rcan->delay_time_ms = 5;
+	else
+		rcan->delay_time_ms = 20;
 
 	netdev_dbg(ndev, "%s NBTP=0x%08x, DBTP=0x%08x, TDCR=0x%08x\n", __func__,
 		   rockchip_canfd_read(rcan, CAN_NBTP),
@@ -487,13 +495,27 @@ static void rockchip_canfd_tx_err_delay_work(struct work_struct *work)
 {
 	struct rockchip_canfd *rcan =
 		container_of(work, struct rockchip_canfd, tx_err_work.work);
-	u32 mode;
+	u32 mode, err_code;
 
 	mode = rockchip_canfd_read(rcan, CAN_MODE);
-	rockchip_canfd_write(rcan, CAN_MODE, 0);
-	rockchip_canfd_write(rcan, CAN_MODE, mode);
-	rockchip_canfd_write(rcan, CAN_CMD, CAN_TX0_REQ);
-	schedule_delayed_work(&rcan->tx_err_work, 1);
+	err_code = rockchip_canfd_read(rcan, CAN_ERR_CODE);
+	if ((err_code & NOACK_ERR_FLAG) == NOACK_ERR_FLAG) {
+		rockchip_canfd_write(rcan, CAN_MODE,
+				     rockchip_canfd_read(rcan, CAN_MODE) | MODE_SPACE_RX);
+		rockchip_canfd_write(rcan, CAN_CMD, CAN_TX0_REQ);
+		rockchip_canfd_write(rcan, CAN_MODE,
+				     rockchip_canfd_read(rcan, CAN_MODE) & (~MODE_SPACE_RX));
+		schedule_delayed_work(&rcan->tx_err_work, msecs_to_jiffies(rcan->delay_time_ms));
+	} else {
+		rockchip_canfd_write(rcan, CAN_MODE, 0);
+		rockchip_canfd_write(rcan, CAN_MODE, mode);
+		rockchip_canfd_write(rcan, CAN_MODE,
+				     rockchip_canfd_read(rcan, CAN_MODE) | MODE_SPACE_RX);
+		rockchip_canfd_write(rcan, CAN_CMD, CAN_TX0_REQ);
+		rockchip_canfd_write(rcan, CAN_MODE,
+				     rockchip_canfd_read(rcan, CAN_MODE) & (~MODE_SPACE_RX));
+		schedule_delayed_work(&rcan->tx_err_work, msecs_to_jiffies(rcan->delay_time_ms));
+	}
 }
 
 /* transmit a CAN message
@@ -569,10 +591,9 @@ static int rockchip_canfd_start_xmit(struct sk_buff *skb,
 		for (i = 0; i < cf->len; i += 4)
 			rockchip_canfd_write(rcan, CAN_TXDAT0 + i,
 					     *(u32 *)(cf->data + i));
+		can_put_echo_skb(skb, ndev, 0);
 		rockchip_canfd_write(rcan, CAN_CMD, CAN_TX1_REQ);
 		local_irq_restore(flags);
-		can_put_echo_skb(skb, ndev, 0);
-
 		return NETDEV_TX_OK;
 	}
 
@@ -583,12 +604,13 @@ static int rockchip_canfd_start_xmit(struct sk_buff *skb,
 		rockchip_canfd_write(rcan, CAN_TXDAT0 + i,
 				     *(u32 *)(cf->data + i));
 
-	rockchip_canfd_write(rcan, CAN_CMD, cmd);
-
-	schedule_delayed_work(&rcan->tx_err_work, 1);
-
 	can_put_echo_skb(skb, ndev, 0);
-
+	rockchip_canfd_write(rcan, CAN_MODE,
+			     rockchip_canfd_read(rcan, CAN_MODE) | MODE_SPACE_RX);
+	rockchip_canfd_write(rcan, CAN_CMD, cmd);
+	rockchip_canfd_write(rcan, CAN_MODE,
+			     rockchip_canfd_read(rcan, CAN_MODE) & (~MODE_SPACE_RX));
+	schedule_delayed_work(&rcan->tx_err_work, msecs_to_jiffies(rcan->delay_time_ms));
 	return NETDEV_TX_OK;
 }
 
@@ -740,9 +762,6 @@ static int rockchip_canfd_err(struct net_device *ndev, u32 isr)
 		cf->data[7] = rxerr;
 	}
 
-	if (isr & TX_LOSTARB_INT)
-		schedule_delayed_work(&rcan->tx_err_work, 1);
-
 	if (isr & BUS_OFF_INT) {
 		rcan->can.state = CAN_STATE_BUS_OFF;
 		rcan->can.can_stats.bus_off++;
@@ -788,13 +807,14 @@ static irqreturn_t rockchip_canfd_interrupt(int irq, void *dev_id)
 	struct rockchip_canfd *rcan = netdev_priv(ndev);
 	struct net_device_stats *stats = &ndev->stats;
 	u32 err_int = ERR_WARN_INT | RX_BUF_OV_INT | PASSIVE_ERR_INT |
-		      TX_LOSTARB_INT | BUS_ERR_INT | BUS_OFF_INT;
+		      BUS_ERR_INT | BUS_OFF_INT;
 	u32 isr;
 	u32 dlc = 0;
 	u32 quota, work_done = 0;
 
 	isr = rockchip_canfd_read(rcan, CAN_INT);
 	if (isr & TX_FINISH_INT) {
+		cancel_delayed_work(&rcan->tx_err_work);
 		dlc = rockchip_canfd_read(rcan, CAN_TXFIC);
 		/* transmission complete interrupt */
 		if (dlc & FDF_MASK)
@@ -802,7 +822,6 @@ static irqreturn_t rockchip_canfd_interrupt(int irq, void *dev_id)
 		else
 			stats->tx_bytes += (dlc & DLC_MASK);
 		stats->tx_packets++;
-		cancel_delayed_work(&rcan->tx_err_work);
 		if (rcan->txtorx && rcan->mode <= ROCKCHIP_RK3568_CAN_MODE && dlc & FORMAT_MASK) {
 			rockchip_canfd_write(rcan, CAN_TX_CHECK_FIC, FORMAT_MASK);
 			quota = rockchip_canfd_get_rx_fifo_cnt(ndev);
@@ -814,6 +833,10 @@ static irqreturn_t rockchip_canfd_interrupt(int irq, void *dev_id)
 				rockchip_canfd_write(rcan, CAN_CMD, CAN_TX1_REQ);
 			rockchip_canfd_write(rcan, CAN_TX_CHECK_FIC, 0);
 		}
+		if (read_poll_timeout_atomic(rockchip_canfd_read, quota,
+					     !(quota & 0x3),
+					     0, 5000000, false, rcan, CAN_CMD))
+			netdev_err(ndev, "Warning: wait tx req timeout!\n");
 		rockchip_canfd_write(rcan, CAN_CMD, 0);
 		can_get_echo_skb(ndev, 0);
 		netif_wake_queue(ndev);