diff --git a/Inc/CanSerialPortFrame.h b/Inc/CanSerialPortFrame.h
index 133724d..709c272 100644
--- a/Inc/CanSerialPortFrame.h
+++ b/Inc/CanSerialPortFrame.h
@@ -62,14 +62,14 @@ typedef struct {
 
     bool reInit;
 
-    uint8_t CountFilter_RX;
+    uint8_t CountSoftFilter_RX;
 
     FLEXCAN_BaudType canBaudRate;
 
     uint32_t g_u32RxDataIndex;
 
-    FLEXCAN_RxMbFilterType aRxFiltList[COUNT_QUEUE];
-    FLEXCAN_RxMbFilterType pRxFilterFifoList[COUNT_QUEUE];
+    FLEXCAN_RxMbFilterType pRxFilterList[32];
+    FLEXCAN_RxMbFilterType pRxFilterFifoList[32];
 
     osMessageQueueId_t rxDataQueue[COUNT_QUEUE];
     osMessageQueueId_t rxDataSnifferQueue[COUNT_QUEUE];
@@ -87,7 +87,9 @@ typedef struct {
     uint8_t DMA_BUF_LEN_RX;
     uint8_t pBufCounter;
 
-    FilterTo_FLEXCAN_RxMbFilterType *IdFilter_RX;
+    FilterTo_FLEXCAN_RxMbFilterType *IdSoftFilter_RX;
+
+    can_rx_message_type rx_message_struct;
 
 } tCanSerialPortFrameFlagchip;
 
@@ -102,8 +104,13 @@ void vCanSerialPortFrameDMAInit(
         DMA_RequestSourceType DMA_CHANNEL_REQ_RX, // DMA_REQ_FLEXCAN0
         const uint8_t *DMA_BUF_RX,
         uint8_t DMA_BUF_LEN_RX,
-        const FilterTo_FLEXCAN_RxMbFilterType *IdFilter_RX,
-        uint8_t CountFilter_RX,
+
+        const FilterTo_FLEXCAN_RxMbFilterType *IdSoftFilter_RX,
+        uint8_t CountSoftFilter_RX,
+
+        const FLEXCAN_RxMbFilterType *IdFilterFifo_RX,
+        uint8_t CountFilterFifo_RX,
+
         IRQn_Type IRQ_DMA_RX,
         uint8_t IRQ_DMA_PRIORITY_RX,
         uint8_t IRQ_DMA_CHANNEL_PRIORITY_RX,
diff --git a/Src/CanSerialPortFrame.c b/Src/CanSerialPortFrame.c
index fbee357..eb41bae 100644
--- a/Src/CanSerialPortFrame.c
+++ b/Src/CanSerialPortFrame.c
@@ -6,8 +6,8 @@
 #include "memory.h"
 
 
-#define CAN_USED_NUM                6U
-#define CAN_RECEIVE_MB_NUM       2
+#define CAN_USED_NUM                2U // Количество CAN
+#define CAN_RECEIVE_MB_NUM       32 //
 static FLEXCAN_RxMsgType s_aaRxDataBuf[CAN_USED_NUM][CAN_RECEIVE_MB_NUM];
 #define CAN_GET_BUFFER(index)    s_aaRxDataBuf[index/2]
 
@@ -82,8 +82,13 @@ void vCanSerialPortFrameDMAInit(
         DMA_RequestSourceType DMA_CHANNEL_REQ_RX, // DMA_REQ_FLEXCAN0
         const uint8_t *DMA_BUF_RX,
         uint8_t DMA_BUF_LEN_RX,
-        const FilterTo_FLEXCAN_RxMbFilterType *IdFilter_RX,
-        uint8_t CountFilter_RX,
+
+        const FilterTo_FLEXCAN_RxMbFilterType *IdSoftFilter_RX,
+        uint8_t CountSoftFilter_RX,
+
+        const FLEXCAN_RxMbFilterType *IdFilterFifo_RX,
+        uint8_t CountFilterFifo_RX,
+
         IRQn_Type IRQ_DMA_RX,
         uint8_t IRQ_DMA_PRIORITY_RX,
         uint8_t IRQ_DMA_CHANNEL_PRIORITY_RX,
@@ -102,10 +107,9 @@ void vCanSerialPortFrameDMAInit(
     env->g_u32RxDataIndex = 0;
     env->can = CANx;
     env->CAN_INDEX = CAN_INDEX;
-    env->CountFilter_RX = CountFilter_RX;
     env->DMA_BUF_LEN_RX = DMA_BUF_LEN_RX;
-    env->IdFilter_RX = (FilterTo_FLEXCAN_RxMbFilterType *)IdFilter_RX;
-
+    env->IdSoftFilter_RX = (FilterTo_FLEXCAN_RxMbFilterType *) IdSoftFilter_RX;
+    env->CountSoftFilter_RX = CountSoftFilter_RX;
     //начало-----------------------------------DMA-RX-------------------------------------------------------------------
     //начало-----------------------------------DMA-RX-------------------------------------------------------------------
     //начало-----------------------------------DMA-RX-------------------------------------------------------------------
@@ -192,16 +196,18 @@ void vCanSerialPortFrameDMAInit(
 
     if (tRetVal == FLEXCAN_ERROR_OK) {
 
-        for (uint8_t i = 0; i < CountFilter_RX; ++i) {
+        env->tMbCfg.pRxFilterMBList = NULL;
+        env->tMbCfg.u8RxFilterMBCnt = 0;
 
-            env->pRxFilterFifoList[i].eRxFrameType = IdFilter_RX[i].eRxFrameType;
-            env->pRxFilterFifoList[i].u32RxCanId = IdFilter_RX[i].u32RxCanId;
-            env->pRxFilterFifoList[i].u32RxCanIdMask = IdFilter_RX[i].u32RxCanIdMask;
+        for (uint8_t i = 0; i < CountFilterFifo_RX; ++i) {
 
+            env->pRxFilterFifoList[i].eRxFrameType = IdFilterFifo_RX[i].eRxFrameType;
+            env->pRxFilterFifoList[i].u32RxCanId = IdFilterFifo_RX[i].u32RxCanId;
+            env->pRxFilterFifoList[i].u32RxCanIdMask = IdFilterFifo_RX[i].u32RxCanIdMask;
         }
 
         env->tMbCfg.pRxFilterFifoList = env->pRxFilterFifoList;
-        env->tMbCfg.u8RxFilterFifoCnt = CountFilter_RX;
+        env->tMbCfg.u8RxFilterFifoCnt = CountFilterFifo_RX;
 
         env->tMbCfg.pRxBuf = CAN_GET_BUFFER(CAN_INDEX);
 
@@ -271,7 +277,7 @@ void vCanSerialPortFrameDMAInit(
 }
 
 static void CanSerialPortFrameAddDataQueue(tCanSerialPortFrameFlagchip *env, can_rx_message_type *rx_message_struct,
-                                    uint8_t filter) {
+                                           uint8_t filter) {
     osMessageQueuePut(env->rxDataQueue[filter], rx_message_struct, 0x0, 0U);
 
     if (env->rxDataSnifferQueue[filter]) {
@@ -280,59 +286,44 @@ static void CanSerialPortFrameAddDataQueue(tCanSerialPortFrameFlagchip *env, can
 }
 
 void CanSerialPortFrameIrqRxProcessing(tCanSerialPortFrameFlagchip *env, uint32_t *pBuf) {
-    can_rx_message_type rx_message_struct;
 
     // message buffer 1th word
     uint32_t u32TempAddr = (uint32_t) FLEXCAN_MB_WORDN_ADDR(&pBuf[env->pBufCounter << 2], 0U, 8U, 0U);
 
     uint32_t dlc = FLEXCAN_MB_DLC_GET(u32TempAddr);
-    rx_message_struct.dlc = FLEXCAN_DlcToDataLen(dlc);
+    env->rx_message_struct.dlc = FLEXCAN_DlcToDataLen(dlc);
 
-    rx_message_struct.id_type = FLEXCAN_MB_IDE_GET(u32TempAddr);
+    env->rx_message_struct.id_type = FLEXCAN_MB_IDE_GET(u32TempAddr);
 
     // message buffer 2th word
-    u32TempAddr = (uint32_t)FLEXCAN_MB_WORDN_ADDR(&pBuf[env->pBufCounter << 2], 0U, 8U, 4U);
+    u32TempAddr = (uint32_t) FLEXCAN_MB_WORDN_ADDR(&pBuf[env->pBufCounter << 2], 0U, 8U, 4U);
 
-    if (rx_message_struct.id_type == FLEXCAN_ID_STD) {
-        rx_message_struct.standard_id = FLEXCAN_MB_STDID_GET(u32TempAddr);
+    if (env->rx_message_struct.id_type == FLEXCAN_ID_STD) {
+        env->rx_message_struct.standard_id = FLEXCAN_MB_STDID_GET(u32TempAddr);
     } else {
-        rx_message_struct.extended_id = FLEXCAN_MB_EXTID_GET(u32TempAddr);
+        env->rx_message_struct.extended_id = FLEXCAN_MB_EXTID_GET(u32TempAddr);
     }
 
-    // message buffer 3th word
-    uint32_t *pSrc = (uint32_t *) FLEXCAN_MB_WORDN_ADDR(&pBuf[env->pBufCounter << 2], 0U, 8U, 8U);
-    uint32_t *pDest = (uint32_t *) &rx_message_struct.data[0];
+    uint8_t index = 0xFF;
 
-    uint32_t u32WordLen = rx_message_struct.dlc / 4U + (rx_message_struct.dlc % 4U > 0U ? 1U : 0U);
+    for (uint8_t i = 0; i < env->CountSoftFilter_RX; ++i) {
 
-    for (uint32_t u8Index = 0U; u8Index < u32WordLen; ++u8Index) {
-        REV_BYTES_32(pSrc[u8Index], pDest[u8Index]);
-    }
-
-    rx_message_struct.filter_index = 0;
-
-    for (uint8_t i = 0; i < env->CountFilter_RX; ++i) {
-
-        if ((rx_message_struct.id_type == FLEXCAN_ID_STD) &&
-            (env->IdFilter_RX[i].eRxFrameType == FLEXCAN_ID_STD)) {
-
-            if (rx_message_struct.standard_id == env->IdFilter_RX[i].u32RxCanId) {
-
-                rx_message_struct.filter_index = env->IdFilter_RX[i].filter;
-
-                CanSerialPortFrameAddDataQueue(env, &rx_message_struct, i);
+        if ((env->rx_message_struct.id_type == FLEXCAN_ID_STD) && (env->IdSoftFilter_RX[i].eRxFrameType == FLEXCAN_ID_STD)) {
 
+            if (env->rx_message_struct.standard_id == env->IdSoftFilter_RX[i].u32RxCanId) {
+                env->rx_message_struct.filter_index = env->IdSoftFilter_RX[i].filter;
+                index = i;
+                break;
             }
 
         } else {
 
-            if (rx_message_struct.extended_id == env->IdFilter_RX[i].u32RxCanId) {
+            if (env->rx_message_struct.extended_id == env->IdSoftFilter_RX[i].u32RxCanId) {
 
-                if (rx_message_struct.extended_id == env->IdFilter_RX[i].u32RxCanId) {
-
-                    rx_message_struct.filter_index = env->IdFilter_RX[i].filter;
-
-                    CanSerialPortFrameAddDataQueue(env, &rx_message_struct, i);
+                if (env->rx_message_struct.extended_id == env->IdSoftFilter_RX[i].u32RxCanId) {
+                    env->rx_message_struct.filter_index = env->IdSoftFilter_RX[i].filter;
+                    index = i;
+                    break;
                 }
 
             }
@@ -342,6 +333,22 @@ void CanSerialPortFrameIrqRxProcessing(tCanSerialPortFrameFlagchip *env, uint32_
 
     }
 
+    if (index != 0xFF) {
+
+        // message buffer 3th word
+        uint32_t *pSrc = (uint32_t *) FLEXCAN_MB_WORDN_ADDR(&pBuf[env->pBufCounter << 2], 0U, 8U, 8U);
+        uint32_t *pDest = (uint32_t *) &env->rx_message_struct.data[0];
+
+        uint32_t u32WordLen = env->rx_message_struct.dlc / 4U + (env->rx_message_struct.dlc % 4U > 0U ? 1U : 0U);
+
+        for (uint32_t u8Index = 0U; u8Index < u32WordLen; ++u8Index) {
+            REV_BYTES_32(pSrc[u8Index], pDest[u8Index]);
+        }
+
+        CanSerialPortFrameAddDataQueue(env, &env->rx_message_struct, index);
+
+    }
+
 
     ++env->pBufCounter;