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CCS/AWR1642: Is there a way to receive multiple ID data on a CAN module ?

Part Number: AWR1642

Tool/software: Code Composer Studio

 The deivers directory is ti\mmwave_sdk_01_00_00_05\packages\ti\drivers\canfd . As shown in the fingure, each time I want to receive data, I can only set an ID . I want to be able to receive multiple ID data ,how to do it?