Is it permissible to eat food, part of which was burnt during cooking, and what is the guidance of the Prophet, peace and blessings be upon him, in such cases?

Scholars have differed regarding the ruling on burnt food. Some have deemed it forbidden, some disliked (makruh), and some permissible to eat as long as it does not cause harm. The more accurate opinion is that it is permissible to eat burnt food as long as no harm to the eater is feared from it. However, if harm is feared from it, then it becomes forbidden, due to the Prophet's (peace be upon him) saying: "There shall be no harm or reciprocating harm." Nothing has been reported from the Prophet (peace be upon him) indicating a specific ruling on it, except that he liked the dregs (thuffal) of food, which is what remains at the bottom of the pot or in the tharid.