diff --git a/drivers/net/can/m_can/m_can.c b/drivers/net/can/m_can/m_can.c
index 8922ca0f8e94..fbd32b48d265 100644
--- a/drivers/net/can/m_can/m_can.c
+++ b/drivers/net/can/m_can/m_can.c
@@ -309,6 +309,15 @@ enum m_can_reg {
 #define TX_EVENT_MM_MASK	GENMASK(31, 24)
 #define TX_EVENT_TXTS_MASK	GENMASK(15, 0)
 
+/* The ID and DLC registers are adjacent in M_CAN FIFO memory,
+ * and we can save a (potentially slow) bus round trip by combining
+ * reads and writes to them.
+ */
+struct id_and_dlc {
+	u32 id;
+	u32 dlc;
+};
+
 static inline u32 m_can_read(struct m_can_classdev *cdev, enum m_can_reg reg)
 {
 	return cdev->ops->read_reg(cdev, reg);
@@ -464,17 +473,18 @@ static int m_can_read_fifo(struct net_device *dev, u32 rxfs)
 	struct m_can_classdev *cdev = netdev_priv(dev);
 	struct canfd_frame *cf;
 	struct sk_buff *skb;
-	u32 id, fgi, dlc;
+	struct id_and_dlc fifo_header;
+	u32 fgi;
 	u32 timestamp = 0;
-	int i, err;
+	int err;
 
 	/* calculate the fifo get index for where to read data */
 	fgi = FIELD_GET(RXFS_FGI_MASK, rxfs);
-	err = m_can_fifo_read(cdev, fgi, M_CAN_FIFO_DLC, &dlc, 1);
+	err = m_can_fifo_read(cdev, fgi, M_CAN_FIFO_ID, &fifo_header, 2);
 	if (err)
 		goto out_fail;
 
-	if (dlc & RX_BUF_FDF)
+	if (fifo_header.dlc & RX_BUF_FDF)
 		skb = alloc_canfd_skb(dev, &cf);
 	else
 		skb = alloc_can_skb(dev, (struct can_frame **)&cf);
@@ -483,36 +493,31 @@ static int m_can_read_fifo(struct net_device *dev, u32 rxfs)
 		return 0;
 	}
 
-	if (dlc & RX_BUF_FDF)
-		cf->len = can_fd_dlc2len((dlc >> 16) & 0x0F);
+	if (fifo_header.dlc & RX_BUF_FDF)
+		cf->len = can_fd_dlc2len((fifo_header.dlc >> 16) & 0x0F);
 	else
-		cf->len = can_cc_dlc2len((dlc >> 16) & 0x0F);
+		cf->len = can_cc_dlc2len((fifo_header.dlc >> 16) & 0x0F);
 
-	err = m_can_fifo_read(cdev, fgi, M_CAN_FIFO_ID, &id, 1);
-	if (err)
-		goto out_fail;
-
-	if (id & RX_BUF_XTD)
-		cf->can_id = (id & CAN_EFF_MASK) | CAN_EFF_FLAG;
+	if (fifo_header.id & RX_BUF_XTD)
+		cf->can_id = (fifo_header.id & CAN_EFF_MASK) | CAN_EFF_FLAG;
 	else
-		cf->can_id = (id >> 18) & CAN_SFF_MASK;
+		cf->can_id = (fifo_header.id >> 18) & CAN_SFF_MASK;
 
-	if (id & RX_BUF_ESI) {
+	if (fifo_header.id & RX_BUF_ESI) {
 		cf->flags |= CANFD_ESI;
 		netdev_dbg(dev, "ESI Error\n");
 	}
 
-	if (!(dlc & RX_BUF_FDF) && (id & RX_BUF_RTR)) {
+	if (!(fifo_header.dlc & RX_BUF_FDF) && (fifo_header.id & RX_BUF_RTR)) {
 		cf->can_id |= CAN_RTR_FLAG;
 	} else {
-		if (dlc & RX_BUF_BRS)
+		if (fifo_header.dlc & RX_BUF_BRS)
 			cf->flags |= CANFD_BRS;
 
-		for (i = 0; i < cf->len; i += 4) {
-			err = m_can_fifo_read(cdev, fgi, M_CAN_FIFO_DATA(i / 4), cf->data + i, 1);
-			if (err)
-				goto out_fail;
-		}
+		err = m_can_fifo_read(cdev, fgi, M_CAN_FIFO_DATA(0),
+				      cf->data, DIV_ROUND_UP(cf->len, 4));
+		if (err)
+			goto out_fail;
 	}
 
 	/* acknowledge rx fifo 0 */
@@ -521,7 +526,7 @@ static int m_can_read_fifo(struct net_device *dev, u32 rxfs)
 	stats->rx_packets++;
 	stats->rx_bytes += cf->len;
 
-	timestamp = FIELD_GET(RX_BUF_RXTS_MASK, dlc);
+	timestamp = FIELD_GET(RX_BUF_RXTS_MASK, fifo_header.dlc);
 
 	m_can_receive_skb(cdev, skb, timestamp);