Acts 10:9-23 says:
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9About noon the following day as they were on their journey and approaching the city, Peter went up on the roof to pray.
10He became hungry and wanted something to eat, and while the meal was being prepared, he fell into a trance.
11He saw heaven opened and something like a large sheet being let down to earth by its four corners.
12It contained all kinds of four-footed animals, as well as reptiles of the earth and birds of the air.
13Then a voice told him, "Get up, Peter. Kill and eat."
14"Surely not, Lord!" Peter replied. "I have never eaten anything impure or unclean."
15The voice spoke to him a second time, "Do not call anything impure that God has made clean."
16This happened three times, and immediately the sheet was taken back to heaven.
17While Peter was wondering about the meaning of the vision, the men sent by Cornelius found out where Simon's house was and stopped at the gate.
18They called out, asking if Simon who was known as Peter was staying there.
19While Peter was still thinking about the vision, the Spirit said to him, "Simon, three
[a] men are looking for you.
20So get up and go downstairs. Do not hesitate to go with them, for I have sent them."
21Peter went down and said to the men, "I'm the one you're looking for. Why have you come?"
22The men replied, "We have come from Cornelius the centurion. He is a righteous and God-fearing man, who is respected by all the Jewish people. A holy angel told him to have you come to his house so that he could hear what you have to say."
23Then Peter invited the men into the house to be his guests.
I think that this must be what the Qur'an refers to as the table from heaven. Peter had this vision to show him that he was not to view non-Jews as in any way "unclean". Although it had been considered wrong for a Jew to eat and associate with uncircumcised men (Acts 11:2), Peter was shown that God was now extending a welcome to the Gentiles to become believers also.