diff --git a/components/zcancmder/zcanreceiver.cpp b/components/zcancmder/zcanreceiver.cpp
index 44afaa5..f52d485 100644
--- a/components/zcancmder/zcanreceiver.cpp
+++ b/components/zcancmder/zcanreceiver.cpp
@@ -321,6 +321,11 @@ void ZCanCmder::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle)
       rxbuf->m_canPacketNum = 0;
     }
 
+    if (rxbuf->m_canPacketNum != frameId) {
+      rxbuf->m_canPacketNum = 0;
+      continue;
+    }
+
     if (rxbuf->m_canPacketNum < ZARRAY_SIZE(rxbuf->m_canPacket)) {
       rxbuf->m_canPacket[rxbuf->m_canPacketNum].dlc = pHeader.DLC;
       memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8);