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MSPM0G3507: MCAN lost some transmission data and do not auto resend

Part Number: MSPM0G3507

Tool/software:

Customer send some data through MCAN, each frame designed to be send by 10ms regular. however actually found sometime the frame interleave is 20ms, it look missing one frame and do not auto re-send; sometime even missing more frame as below data timeslot capture.

below is the customer code for MCAN transmission,  appreciate expert review if the sequence is correct? And we also check the DAR bit is 0 which should enable Automatic Retransmission, is it correct?