TMS320F28388D :CM_MCAN (Classic CAN Mode Operation) ID Read Data Value incorrect

Below is the MCAN Config setting.

static void MCANConfig(void)
{
uint32_t fdoe;
MCAN_RevisionId revId;
MCAN_InitParams initParams;
MCAN_ConfigParams configParams;
MCAN_MsgRAMConfigParams msgRAMConfigParams;
MCAN_StdMsgIDFilterElement stdFiltelem;
MCAN_ExtMsgIDFilterElement extFiltelem;
MCAN_BitTimingParams bitTimes;

//
// Initialize MCAN Init parameters.
//
initParams.fdMode = 0x0U; // FD operation disabled.
initParams.brsEnable = 0x0U; // Bit rate switching for
// transmissions enabled.
initParams.txpEnable = 0x1U; // Transmit pause enabled.
initParams.efbi = 0x0U; // Edge filtering disabled.
initParams.pxhddisable = 0x0U; // Protocol exception handling enabled.
initParams.darEnable = 0x1U; // Automatic retransmission of messages
// not transmitted successfully enabled.
initParams.wkupReqEnable = 0x1U; // Wakeup request is enabled.
initParams.autoWkupEnable = 0x1U; // Auto-Wakeup is enabled.
initParams.emulationEnable = 0x1U; // Emulation/Debug Suspend is enabled.
initParams.tdcEnable = 0x1U; // Transmitter Delay Compensation is
// enabled.
initParams.wdcPreload = 0xFFU; // Start value of the Message RAM
// Watchdog Counter preload.
//
// Transmitter Delay Compensation parameters.
//
initParams.tdcConfig.tdcf = 0xAU;
initParams.tdcConfig.tdco = 0x6U;

//
// Initialize MCAN Config parameters.
//
configParams.monEnable = 0x0U; // Bus Monitoring Mode is disabled.
configParams.asmEnable = 0x0U; // Normal CAN operation.
configParams.tsPrescalar = 0x2U; // Prescaler Value.
configParams.tsSelect = 0x2U; // Timestamp counter value.
configParams.timeoutSelect = MCAN_TIMEOUT_SELECT_CONT;
// Time-out counter source select.
configParams.timeoutPreload = 0xFFFFU;// Start value of the Timeout
// Counter.
configParams.timeoutCntEnable = 0x0U; // Time-out Counter is disabled.
configParams.filterConfig.rrfs = 0x1U; // Reject all remote frames with
// 29-bit extended IDs.
configParams.filterConfig.rrfe = 0x1U; // Reject all remote frames with
// 11-bit standard IDs.
configParams.filterConfig.anfe = 0x1U; // Accept in Rx FIFO 1.
configParams.filterConfig.anfs = 0x1U; // Accept in Rx FIFO 1.

//
// Initialize Message RAM Sections Configuration Parameters
//
msgRAMConfigParams.flssa = MCAN_STD_ID_FILT_START_ADDR;
// Standard ID Filter List Start Address.
msgRAMConfigParams.lss = MCAN_STD_ID_FILTER_NUM;
// List Size: Standard ID.
msgRAMConfigParams.flesa = MCAN_EXT_ID_FILT_START_ADDR;
// Extended ID Filter List Start Address.
msgRAMConfigParams.lse = MCAN_EXT_ID_FILTER_NUM;
// List Size: Extended ID.
msgRAMConfigParams.txStartAddr = MCAN_TX_BUFF_START_ADDR;
// Tx Buffers Start Address.
msgRAMConfigParams.txBufNum = MCAN_TX_BUFF_SIZE;
// Number of Dedicated Transmit Buffers.
msgRAMConfigParams.txFIFOSize = MCAN_TX_FIFO_SIZE;
// Tx FIFO/Queue.
msgRAMConfigParams.txBufMode = 0U;
// msgRAMConfigParams.txBufElemSize = MCAN_ELEM_SIZE_64BYTES;
msgRAMConfigParams.txBufElemSize = MCAN_ELEM_SIZE_8BYTES;
// Tx Buffer Element Size.
msgRAMConfigParams.txEventFIFOStartAddr = MCAN_TX_EVENT_START_ADDR;
// Tx Event FIFO Start Address.
msgRAMConfigParams.txEventFIFOSize = MCAN_TX_BUFF_SIZE;
// Event FIFO Size.
msgRAMConfigParams.txEventFIFOWaterMark = MCAN_TX_EVENT_WATERMARK;
// Level for Tx Event FIFO watermark interrupt.
msgRAMConfigParams.rxFIFO0startAddr = MCAN_FIFO_0_START_ADDR;
// Rx FIFO0 Start Address.
msgRAMConfigParams.rxFIFO0size = MCAN_FIFO_0_NUM;
// Number of Rx FIFO elements.
msgRAMConfigParams.rxFIFO0waterMark = MCAN_FIFO_0_WATERMARK;
msgRAMConfigParams.rxFIFO0OpMode = 0U;
msgRAMConfigParams.rxFIFO1startAddr = MCAN_FIFO_1_START_ADDR;
// Rx FIFO1 Start Address.
msgRAMConfigParams.rxFIFO1size = MCAN_FIFO_1_NUM;
// Number of Rx FIFO elements.
msgRAMConfigParams.rxFIFO1waterMark = MCAN_FIFO_1_WATERMARK;
// Level for Rx FIFO 1 watermark interrupt.
msgRAMConfigParams.rxFIFO1OpMode = 0U; // FIFO blocking mode.
msgRAMConfigParams.rxBufStartAddr = MCAN_RX_BUFF_START_ADDR;
// Rx Buffer Start Address.

// msgRAMConfigParams.rxBufElemSize = MCAN_ELEM_SIZE_64BYTES;
// // Rx Buffer Element Size.
// msgRAMConfigParams.rxFIFO0ElemSize = MCAN_ELEM_SIZE_64BYTES;
// // Rx FIFO0 Element Size.
// msgRAMConfigParams.rxFIFO1ElemSize = MCAN_ELEM_SIZE_64BYTES;
// // Rx FIFO1 Element Size.

msgRAMConfigParams.rxBufElemSize = MCAN_ELEM_SIZE_8BYTES;
// Rx Buffer Element Size.
msgRAMConfigParams.rxFIFO0ElemSize = MCAN_ELEM_SIZE_8BYTES;
// Rx FIFO0 Element Size.
msgRAMConfigParams.rxFIFO1ElemSize = MCAN_ELEM_SIZE_8BYTES;
// Rx FIFO1 Element Size.

//
// Initialize Tx Buffer Configuration parameters.
//
stdFiltelem.sfid2 = 0x7FFU; // Standard Filter ID 2.
stdFiltelem.sfid1 = 0x0U; // Standard Filter ID 1.
stdFiltelem.sfec = 0x7U; // Store into Rx Buffer or as
// debug message, configuration of SFT[1:0] ignored.
stdFiltelem.sft = 0x0U; // Range filter from SFID1 to SFID2.

// //
// // Initialize Tx Buffer Configuration parameters.
// //
// extFiltelem.efid2 = (0x9U << 4U);
// extFiltelem.efid2 |= 0xFU;
// extFiltelem.efid1 = (0x0U << 4U);
// extFiltelem.efid1 |= 0xFU;
// extFiltelem.efec = 0x6U;
// extFiltelem.eft = 0x0U;

//
// Initialize bit timings.
//
bitTimes.nomRatePrescalar = 0x9U; // Nominal Baud Rate Pre-scaler.
bitTimes.nomTimeSeg1 = 0x1U; // Nominal Time segment before sample point.
bitTimes.nomTimeSeg2 = 0x1U; // Nominal Time segment after sample point.
bitTimes.nomSynchJumpWidth = 0x0U; // Nominal (Re)Synchronization Jump Width Range.
// bitTimes.dataRatePrescalar = 0x3U; // Data Baud Rate Pre-scaler.
// bitTimes.dataTimeSeg1 = 0x0U; // Data Time segment before sample point.
// bitTimes.dataTimeSeg2 = 0x0U; // Data Time segment after sample point.
// bitTimes.dataSynchJumpWidth = 0x0U; // Data (Re)Synchronization Jump Width.