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// Check if the FIFO buffer is full
int IRAM_ATTR twai_fifo_full() {
    return twai_fifo.count == FIFO_SIZE;
}

// Add a message to the FIFO buffer
int IRAM_ATTR twai_fifo_push(twai_message_t *message) {
    if (twai_fifo_full())
        return -1; // Buffer overflow

    twai_fifo.messages[twai_fifo.head] = *message;
    twai_fifo.head = (twai_fifo.head + 1) % FIFO_SIZE;
    twai_fifo.count++;

    return 0;
}

int64_t time_prev = 0;

// Function to receive a message and store it in the FIFO buffer
void IRAM_ATTR twai_msg_cache(void* pvParameters) {
  while(1)
  {
    twai_message_t message;
    int err;

    int64_t diff = esp_timer_get_time()-time_prev;
    if(diff > 2500)
    {
      printf("diff %lld\n", diff);
    }

    time_prev = esp_timer_get_time();

    if(CAN_TWAI_STATE_RUNNING == CAN1_getCanState()) // also marked with IRAM_ATTR 
    {
        err = twai_receive(&message, 0);

        if (err == 0) {

             //printf("%02X\n",message.data[0]);

            twai_fifo_push(&message);
        }
    }

    vTaskDelay(2/portTICK_PERIOD_MS);
  }
}

// Function to read a message from the FIFO buffer
int twai_msg_read(twai_message_t *message) {
    return twai_fifo_pop(message);
}

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TaskHandle_t taskCanFifo_handle = xTaskCreateStaticPinnedToCore(twai_msg_cache, "CanFifo", 4096u, NULL, 21, taskFifoStack, &Task_FIFO, 1);

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 if( (NULL_PTR != data) && (size <= MAX_DATA_LENGTH_IN_BLOCK) )
  {
    if(0 == head_dr % MAX_DATA_RECORDS_IN_SPI_FLASH_SEC)
    {
      printf("er\n");
      /* Erase the block before start writing the data */
      opStatus |= esp_partition_erase_range(partition,(head_dr * DATA_BLOCK_SIZE),partition->erase_size);
    }

    printf("wr\n");
    /* Step 2: write data record begin pattern */
    opStatus |= esp_partition_write(partition,(head_dr * DATA_BLOCK_SIZE),&dr_begin_pattern,DATA_RECORD_PATTERN_SIZE);

    /* Step 3: write data record data size */
    opStatus |= esp_partition_write(partition,(head_dr * DATA_BLOCK_SIZE) + DATA_RECORD_PATTERN_SIZE,&size,DATA_RECORD_DATA_SIZE);

    /* Step 4: write data record payload */
    opStatus |= esp_partition_write(partition,( (head_dr * DATA_BLOCK_SIZE) + DATA_RECORD_PATTERN_SIZE + DATA_RECORD_DATA_SIZE ),data,size);

    /* Step 5: We should write end pattern on the data record stored in
     * the previous data block to make sure we would find the correct head position at startup after SW RST */
    if(0 != head_dr)
    {
      opStatus |= esp_partition_write(partition,( ((head_dr * DATA_BLOCK_SIZE) - DATA_BLOCK_SIZE) + DATA_RECORD_PATTERN_SIZE + DATA_RECORD_DATA_SIZE + MAX_DATA_LENGTH_IN_BLOCK),&dr_end_pattern,DATA_RECORD_PATTERN_SIZE);
    }
    else
    {
      if( (DATA_RECORD_BEGIN_PATTERN == pointerToData[last_block_in_partition].begin_pattern) && (DATA_RECORD_END_PATTERN != pointerToData[last_block_in_partition].end_pattern) )
      {
        opStatus |= esp_partition_write(partition,( ((last_block_in_partition * DATA_BLOCK_SIZE) - DATA_BLOCK_SIZE) + DATA_RECORD_PATTERN_SIZE + DATA_RECORD_DATA_SIZE + MAX_DATA_LENGTH_IN_BLOCK),&dr_end_pattern,DATA_RECORD_PATTERN_SIZE);
      }
    }

    printf("done\n");

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size 250
wr
done
diff 2583
size 250
er
diff 24767
wr
done
diff 2509
diff 2561

size 250
er
diff 24216
wr
diff 2640
done
diff 2509

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  err = twai_receive(&message, 0);
  ...
  vTaskDelay(2/portTICK_PERIOD_MS);

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  err = twai_receive(&message, 1000/portTICK_PERIOD_MS);