I think Noam has probably already said all that there is to say about the RAW API. It is single thread only, and that includes your frame reception. All function calls to lwip must be on the same thread. The ping response is immediate as a consequence of ping reception at packet processing, so the delay you see is the ability of your task to process the incoming frames in due time. Frame extraction is your business, lwIP is event driven, you give it your frame and it unwraps protocol by protocol until it delivers the payload to a callback function or answers back to the sender (if applicable). Some people (read vendors) forget to extract ALL frames from the ethernet controller. Others have a priority issue. Others simply think that polling every 100ms is enough. Search the list for tips on your OS or search your OS forums for tips on lwIP. Check your driver, check your port.

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