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Receiving CAN Message from the wrong CAN-ID sometimes

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Hello,

I am using XMC4500 and have a problem, which occurs sometimes.
In general my CAN-Communication works fine.
Sometimes the received data and ID are mixed up with another message. For Example:
Receveid data:

Message 1) CAN ID: 0x181; Message: 0x19 00 1A 00 05 00 36 FF
Message 2) CAN ID: 0x141; Message: 0x67 8E 7B 8E 02 20 36 DD

My progamm process the message: CAN ID: 0x181 and Message 0x67 8E 7B 8E 02 20 36 DD
Therefore the data are not plausible.

To receive CAN-Mgs i use XMC_CAN_MO_Receive from XMClib v2.1.20.


When i increase the load on the bus the failure rate is increased as well.

Do you have any idea, how i can reduce this failure?
i tried to use a fifo-Receive Buffer, without any change.

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