diff --git a/bsp/at32/libraries/rt_drivers/drv_can.c b/bsp/at32/libraries/rt_drivers/drv_can.c
index 6b60187aab..f9f4a3024a 100644
--- a/bsp/at32/libraries/rt_drivers/drv_can.c
+++ b/bsp/at32/libraries/rt_drivers/drv_can.c
@@ -368,13 +368,13 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
             /* get default filter */
             for (int i = 0; i < filter_cfg->count; i++)
             {
-                if (filter_cfg->items[i].hdr == -1)
+                if (filter_cfg->items[i].hdr_bank == -1)
                 {
                     can_instance->config.filter_init_struct.filter_number = i;
                 }
                 else
                 {
-                    can_instance->config.filter_init_struct.filter_number = filter_cfg->items[i].hdr;
+                    can_instance->config.filter_init_struct.filter_number = filter_cfg->items[i].hdr_bank;
                 }
                  /**
                  * ID     | CAN_FxR1[31:24] | CAN_FxR1[23:16] | CAN_FxR1[15:8] | CAN_FxR1[7:0]       |
@@ -597,7 +597,7 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
         pmsg->ide = rx_message.extended_id;
 
     pmsg->rtr = rx_message.frame_type;
-    pmsg->hdr = rx_message.filter_index;
+    pmsg->hdr_index = rx_message.filter_index;
 
     return RT_EOK;
 }
diff --git a/bsp/essemi/es32f0654/drivers/drv_can.c b/bsp/essemi/es32f0654/drivers/drv_can.c
index 76a8ddd662..9ac6b8e4bf 100644
--- a/bsp/essemi/es32f0654/drivers/drv_can.c
+++ b/bsp/essemi/es32f0654/drivers/drv_can.c
@@ -232,8 +232,8 @@ static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *ar
             {
 
                 /*默认过滤表判断*/
-                if(filter_cfg->items[i].hdr < drv_can->device.config.maxhdr)
-                    drv_can->FilterConfig.number = filter_cfg->items[i].hdr;
+                if(filter_cfg->items[i].hdr_bank < drv_can->device.config.maxhdr)
+                    drv_can->FilterConfig.number = filter_cfg->items[i].hdr_bank;
                 else
                     drv_can->FilterConfig.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;
 
@@ -499,8 +499,8 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
     }
     /* get len */
     pmsg->len = rxheader.len;
-    /* get hdr */
-    pmsg->hdr = (rxheader.fmi + 1) >> 1;
+    /* get hdr_index */
+    pmsg->hdr_index = (rxheader.fmi + 1) >> 1;
 
     return RT_EOK;
 }
diff --git a/bsp/essemi/es32f369x/drivers/drv_can.c b/bsp/essemi/es32f369x/drivers/drv_can.c
index c95fb780ce..3303feff7e 100644
--- a/bsp/essemi/es32f369x/drivers/drv_can.c
+++ b/bsp/essemi/es32f369x/drivers/drv_can.c
@@ -225,8 +225,8 @@ static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *ar
             {
 
                 /*默认过滤表判断*/
-                if(filter_cfg->items[i].hdr < drv_can->device.config.maxhdr)
-                    drv_can->FilterConfig.number = filter_cfg->items[i].hdr;
+                if(filter_cfg->items[i].hdr_bank < drv_can->device.config.maxhdr)
+                    drv_can->FilterConfig.number = filter_cfg->items[i].hdr_bank;
                 else
                     drv_can->FilterConfig.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;
 
@@ -496,8 +496,8 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
     }
     /* get len */
     pmsg->len = rxheader.len;
-    /* get hdr */
-    pmsg->hdr = (rxheader.fmi + 1) >> 1;
+    /* get hdr_index */
+    pmsg->hdr_index = (rxheader.fmi + 1) >> 1;
 
     return RT_EOK;
 }
diff --git a/bsp/hc32/libraries/hc32_drivers/drv_can.c b/bsp/hc32/libraries/hc32_drivers/drv_can.c
index 726eab12d5..d2770144ec 100644
--- a/bsp/hc32/libraries/hc32_drivers/drv_can.c
+++ b/bsp/hc32/libraries/hc32_drivers/drv_can.c
@@ -172,22 +172,22 @@ static uint16_t _get_filter_idx(struct rt_can_filter_config *filter_cfg)
 
     for (int i = 0; i < filter_cfg->count; i++)
     {
-        if (filter_cfg->items[i].hdr != -1)
+        if (filter_cfg->items[i].hdr_bank != -1)
         {
-            u16FilterSelected |= 1 << filter_cfg->items[i].hdr;
+            u16FilterSelected |= 1 << filter_cfg->items[i].hdr_bank;
         }
     }
 
     for (int i = 0; i < filter_cfg->count; i++)
     {
-        if (filter_cfg->items[i].hdr == -1)
+        if (filter_cfg->items[i].hdr_bank == -1)
         {
             for (int j = 0; j < FILTER_COUNT; j++)
             {
                 if ((u16FilterSelected & 1 << j) == 0)
                 {
-                    filter_cfg->items[i].hdr = j;
-                    u16FilterSelected |= 1 << filter_cfg->items[i].hdr;
+                    filter_cfg->items[i].hdr_bank = j;
+                    u16FilterSelected |= 1 << filter_cfg->items[i].hdr_bank;
                     break;
                 }
             }
@@ -435,8 +435,8 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
     }
     /* get len */
     pmsg->len = ll_rx_frame.DLC;
-    /* get hdr */
-    pmsg->hdr = 0;
+    /* get hdr_index */
+    pmsg->hdr_index = 0;
     rt_memcpy(pmsg->data, &ll_rx_frame.au8Data, ll_rx_frame.DLC);
 
     return RT_EOK;
diff --git a/bsp/hpmicro/libraries/drivers/drv_can.c b/bsp/hpmicro/libraries/drivers/drv_can.c
index b520ce9010..52a8bd0d85 100644
--- a/bsp/hpmicro/libraries/drivers/drv_can.c
+++ b/bsp/hpmicro/libraries/drivers/drv_can.c
@@ -398,7 +398,7 @@ static rt_err_t hpm_can_control(struct rt_can_device *can, int cmd, void *arg)
                 RT_ASSERT(filter->count <= CAN_FILTER_NUM_MAX);
                 for (uint32_t i=0; i<filter->count; i++)
                 {
-                    drv_can->filter_list[i].index = (filter->items[i].hdr == -1) ? i : filter->items[i].hdr;
+                    drv_can->filter_list[i].index = (filter->items[i].hdr_bank == -1) ? i : filter->items[i].hdr_bank;
                     drv_can->filter_list[i].enable = (filter->actived != 0U) ? true : false;
                     drv_can->filter_list[i].code = filter->items[i].id;
                     drv_can->filter_list[i].id_mode = (filter->items[i].ide != 0U) ? can_filter_id_mode_extended_frames : can_filter_id_mode_standard_frames;
diff --git a/bsp/imxrt/libraries/drivers/drv_can.c b/bsp/imxrt/libraries/drivers/drv_can.c
index 2296f1ecfe..4502de374b 100644
--- a/bsp/imxrt/libraries/drivers/drv_can.c
+++ b/bsp/imxrt/libraries/drivers/drv_can.c
@@ -299,8 +299,8 @@ static rt_err_t can_control(struct rt_can_device *can_dev, int cmd, void *arg)
                 mbConfig.type = kFLEXCAN_FrameTypeData;
             }
 
-            /* user does not specify hdr index,set hdr from RX MB 1 */
-            if (item->hdr == -1)
+            /* user does not specify hdr index,set hdr_bank from RX MB 1 */
+            if (item->hdr_bank == -1)
             {
 
                 for (i = 0; i < 32; i++)
@@ -312,17 +312,17 @@ static rt_err_t can_control(struct rt_can_device *can_dev, int cmd, void *arg)
                     }
                 }
             }
-            else    /* use user specified hdr */
+            else    /* use user specified hdr_bank */
             {
-                if (filter_mask & (1 << item->hdr))
+                if (filter_mask & (1 << item->hdr_bank))
                 {
                     res = RT_ERROR;
-                    LOG_E("%s hdr%d filter already set!\n", can->name, item->hdr);
+                    LOG_E("%s hdr%d filter already set!\n", can->name, item->hdr_bank);
                     break;
                 }
                 else
                 {
-                    index = item->hdr;
+                    index = item->hdr_bank;
                 }
             }
 
@@ -463,7 +463,7 @@ static int can_recv(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
     {
         pmsg->rtr = RT_CAN_RTR;
     }
-    pmsg->hdr = index;      /* one hdr filter per MB */
+    pmsg->hdr_index = index;      /* one hdr filter per MB */
     pmsg->len = frame[index].length;
     pmsg->data[0] = frame[index].dataByte0;
     pmsg->data[1] = frame[index].dataByte1;
diff --git a/bsp/loongson/ls1cdev/drivers/drv_can.c b/bsp/loongson/ls1cdev/drivers/drv_can.c
index 78fc021ecb..10b19c4cee 100644
--- a/bsp/loongson/ls1cdev/drivers/drv_can.c
+++ b/bsp/loongson/ls1cdev/drivers/drv_can.c
@@ -50,7 +50,7 @@ static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_i
         {
             return RT_EOK;
         }
-        else if (pitem->hdr == -1)
+        else if (pitem->hdr_bank == -1)
         {
             res = -1;
             if (res != RT_EOK)
@@ -58,7 +58,7 @@ static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_i
                 return res;
             }
         }
-        else if (pitem->hdr >= 0)
+        else if (pitem->hdr_bank >= 0)
         {
             rt_enter_critical();
             res = RT_EOK;
@@ -66,7 +66,7 @@ static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_i
             {
                 return res;
             }
-            hdr = pitem->hdr;
+            hdr = pitem->hdr_bank;
             rt_exit_critical();
         }
     }
@@ -387,7 +387,7 @@ static int recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno)
         pmsg->id = RxMessage.StdId;
     pmsg->len = RxMessage.DLC;
     pmsg->rtr = RxMessage.RTR;
-    pmsg->hdr = 0;
+    pmsg->hdr_index = 0;
     for(i= 0;i< RxMessage.DLC; i++)
     {
       pmsg->data[i] = RxMessage.Data[i];
diff --git a/bsp/n32/libraries/n32_drivers/drv_can.c b/bsp/n32/libraries/n32_drivers/drv_can.c
index 6c63c02ae7..138aa69f02 100644
--- a/bsp/n32/libraries/n32_drivers/drv_can.c
+++ b/bsp/n32/libraries/n32_drivers/drv_can.c
@@ -510,7 +510,7 @@ static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
                 /* Get default filter */
                 for(int i = 0; i < filter_cfg->count; i++)
                 {
-                    if (filter_cfg->items[i].hdr == -1)
+                    if (filter_cfg->items[i].hdr_bank == -1)
                     {
                         /* Can banks 0~13 */
                         drv_can->FilterConfig.Filter_Num = i;
@@ -518,7 +518,7 @@ static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
                     else
                     {
                         /* Use user-defined filter bank settings */
-                        drv_can->FilterConfig.Filter_Num = filter_cfg->items[i].hdr;
+                        drv_can->FilterConfig.Filter_Num = filter_cfg->items[i].hdr_bank;
                     }
 
                     /* Filter groups work in identifier masking bit mode */
@@ -826,22 +826,22 @@ static int can_recvmsg_rtmsg(CAN_Module *CANx, struct rt_can_msg *pmsg, uint32_t
         pmsg->rtr = RT_CAN_RTR;
     }
 
-    /* get hdr */
+    /* get hdr_index */
 #if defined(SOC_N32G45X) || defined(SOC_N32WB452)
     if (CANx == CAN1)
     {
-        pmsg->hdr = (RxMessage->FMI + 1) >> 1;
+        pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
     }
 #ifdef CAN2
     else if (CANx == CAN2)
     {
-        pmsg->hdr = (RxMessage->FMI + 1) >> 1;
+        pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
     }
 #endif
 #elif defined(SOC_N32L43X) || defined(SOC_N32L40X) || defined(SOC_N32G43X)
     if (CANx == CAN)
     {
-        pmsg->hdr = (RxMessage->FMI + 1) >> 1;
+        pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
     }
 #endif
 
diff --git a/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c
index df964925fe..bc52daf367 100644
--- a/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c
+++ b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c
@@ -361,13 +361,13 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
             /* get default filter */
             for (int i = 0; i < filter_cfg->count; i++)
             {
-                if (filter_cfg->items[i].hdr == -1)
+                if (filter_cfg->items[i].hdr_bank == -1)
                 {
                     drv_can->can_filter_init.Filter_Num = i;
                 }
                 else
                 {
-                    drv_can->can_filter_init.Filter_Num = filter_cfg->items[i].hdr;
+                    drv_can->can_filter_init.Filter_Num = filter_cfg->items[i].hdr_bank;
                 }
 
                 if (filter_cfg->items[i].mode == 0x00)
@@ -667,14 +667,14 @@ static int _can_recvmsg_rtmsg(CAN_Module* can_base, struct rt_can_msg *pmsg, uin
         pmsg->rtr = RT_CAN_RTR;
     }
 
-    /* get hdr */
+    /* get hdr_index */
     if (can_base == CAN1)
     {
-        pmsg->hdr = (RxMessage->FMI + 1) >> 1;
+        pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
     }
     else if (can_base == CAN2)
     {
-       pmsg->hdr = (RxMessage->FMI >> 1) + 14;
+       pmsg->hdr_index = (RxMessage->FMI >> 1) + 14;
     }
     /* Release the DATFIFO */
     /* Release FIFO0 */
diff --git a/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c b/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c
index 3327901cd1..89236c329d 100644
--- a/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c
+++ b/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c
@@ -309,7 +309,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
             /*set the filter message object*/
             if (filter_cfg->items[i].mode == 1)
             {
-                if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
+                if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
                 {
                     return -(RT_ERROR);
                 }
@@ -317,7 +317,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
             else
             {
                 /*set the filter message object*/
-                if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
+                if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
                 {
                     return -(RT_ERROR);
                 }
@@ -507,8 +507,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn
 
 #ifdef RT_CAN_USING_HDR
     /* Hardware filter messages are valid */
-    pmsg->hdr = boxno - RX_MSG_ID_INDEX;
-    can->hdr[pmsg->hdr].connected = 1;
+    pmsg->hdr_index = boxno - RX_MSG_ID_INDEX;
+    can->hdr[pmsg->hdr_index].connected = 1;
 #endif
 
     pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID;
diff --git a/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c b/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c
index c9915aee95..c35c4eb701 100644
--- a/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c
+++ b/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c
@@ -360,7 +360,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
             /*set the filter message object*/
             if (filter_cfg->items[i].mode == 1)
             {
-                if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
+                if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
                 {
                     return -(RT_ERROR);
                 }
@@ -368,7 +368,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
             else
             {
                 /*set the filter message object*/
-                if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
+                if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
                 {
                     return -(RT_ERROR);
                 }
@@ -558,8 +558,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn
 
 #ifdef RT_CAN_USING_HDR
     /* Hardware filter messages are valid */
-    pmsg->hdr = boxno - RX_MSG_ID_INDEX;
-    can->hdr[pmsg->hdr].connected = 1;
+    pmsg->hdr_index = boxno - RX_MSG_ID_INDEX;
+    can->hdr[pmsg->hdr_index].connected = 1;
 #endif
 
     pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID;
diff --git a/bsp/nuvoton/libraries/ma35/rtt_port/drv_canfd.c b/bsp/nuvoton/libraries/ma35/rtt_port/drv_canfd.c
index a8a2914b77..a17d829e0d 100644
--- a/bsp/nuvoton/libraries/ma35/rtt_port/drv_canfd.c
+++ b/bsp/nuvoton/libraries/ma35/rtt_port/drv_canfd.c
@@ -611,8 +611,8 @@ static int nu_canfd_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t bo
 
 #ifdef RT_CAN_USING_HDR
     /* Hardware filter messages are valid */
-    pmsg->hdr = boxno;
-    can->hdr[pmsg->hdr].connected = 1;
+    pmsg->hdr_index = boxno;
+    can->hdr[pmsg->hdr_index].connected = 1;
 #endif
 
     pmsg->ide = (sRxMsg.eIdType == eCANFD_SID) ? RT_CAN_STDID : RT_CAN_EXTID;
diff --git a/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c b/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c
index ebbda12689..77281e482b 100644
--- a/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c
+++ b/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c
@@ -309,7 +309,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
             /*set the filter message object*/
             if (filter_cfg->items[i].mode == 1)
             {
-                if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
+                if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
                 {
                     return -(RT_ERROR);
                 }
@@ -317,7 +317,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
             else
             {
                 /*set the filter message object*/
-                if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
+                if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
                 {
                     return -(RT_ERROR);
                 }
@@ -507,8 +507,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn
 
 #ifdef RT_CAN_USING_HDR
     /* Hardware filter messages are valid */
-    pmsg->hdr = boxno - RX_MSG_ID_INDEX;
-    can->hdr[pmsg->hdr].connected = 1;
+    pmsg->hdr_index = boxno - RX_MSG_ID_INDEX;
+    can->hdr[pmsg->hdr_index].connected = 1;
 #endif
 
     pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID;
diff --git a/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c b/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c
index 385f9e4123..159e3df348 100644
--- a/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c
+++ b/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c
@@ -333,7 +333,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
             /*set the filter message object*/
             if (filter_cfg->items[i].mode == 1)
             {
-                if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
+                if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
                 {
                     return -(RT_ERROR);
                 }
@@ -341,7 +341,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
             else
             {
                 /*set the filter message object*/
-                if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
+                if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
                 {
                     return -(RT_ERROR);
                 }
@@ -531,8 +531,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn
 
 #ifdef RT_CAN_USING_HDR
     /* Hardware filter messages are valid */
-    pmsg->hdr = boxno - RX_MSG_ID_INDEX;
-    can->hdr[pmsg->hdr].connected = 1;
+    pmsg->hdr_index = boxno - RX_MSG_ID_INDEX;
+    can->hdr[pmsg->hdr_index].connected = 1;
 #endif
 
     pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID;
diff --git a/bsp/renesas/libraries/HAL_Drivers/drv_can.c b/bsp/renesas/libraries/HAL_Drivers/drv_can.c
index 60b64565b3..db4476dc44 100644
--- a/bsp/renesas/libraries/HAL_Drivers/drv_can.c
+++ b/bsp/renesas/libraries/HAL_Drivers/drv_can.c
@@ -212,7 +212,7 @@ int ra_can_recvmsg(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
     msg_rt->rsv = RT_NULL;
     msg_rt->len = msg_ra->data_length_code;
     msg_rt->priv = boxno;
-    msg_rt->hdr = RT_NULL;
+    msg_rt->hdr_index = RT_NULL;
     memcpy(msg_rt->data, msg_ra->data, msg_ra->data_length_code);
     return sizeof(struct rt_can_msg);
 }
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
index fd26514963..f1be891dfd 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_can.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
@@ -42,14 +42,14 @@ static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 {
     {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 3)},
-    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_5TQ | 4)},
-    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 6)},
-    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 12)},
-    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 24)},
-    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 30)},
-    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 60)},
-    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 150)},
-    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 300)}
+    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_4TQ | 4)},
+    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 6)},
+    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 12)},
+    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 24)},
+    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 30)},
+    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 60)},
+    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 150)},
+    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 300)}
 };
 #else  /* APB1 45MHz(max) */
 static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
@@ -333,7 +333,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
             /* get default filter */
             for (int i = 0; i < filter_cfg->count; i++)
             {
-                if (filter_cfg->items[i].hdr == -1)
+                if (filter_cfg->items[i].hdr_bank == -1)
                 {
                     /* use default filter bank settings */
                     if (rt_strcmp(drv_can->name, "can1") == 0)
@@ -350,7 +350,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
                 else
                 {
                     /* use user-defined filter bank settings */
-                    drv_can->FilterConfig.FilterBank = filter_cfg->items[i].hdr;
+                    drv_can->FilterConfig.FilterBank = filter_cfg->items[i].hdr_bank;
                 }
                  /**
                  * ID     | CAN_FxR1[31:24] | CAN_FxR1[23:16] | CAN_FxR1[15:8] | CAN_FxR1[7:0]       |
@@ -401,6 +401,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
                 drv_can->FilterConfig.FilterMaskIdLow = mask_l;
 
                 drv_can->FilterConfig.FilterMode = filter_cfg->items[i].mode;
+                drv_can->FilterConfig.FilterFIFOAssignment = filter_cfg->items[i].rxfifo;/*rxfifo = CAN_RX_FIFO0/CAN_RX_FIFO1*/
                 /* Filter conf */
                 HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
             }
@@ -610,17 +611,20 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
     {
         pmsg->rtr = RT_CAN_RTR;
     }
+    /*get rxfifo = CAN_RX_FIFO0/CAN_RX_FIFO1*/
+    pmsg->rxfifo = fifo;
+
     /* get len */
     pmsg->len = rxheader.DLC;
-    /* get hdr */
+    /* get hdr_index */
     if (hcan->Instance == CAN1)
     {
-        pmsg->hdr = (rxheader.FilterMatchIndex + 1) >> 1;
+        pmsg->hdr_index = rxheader.FilterMatchIndex;
     }
 #ifdef CAN2
     else if (hcan->Instance == CAN2)
     {
-       pmsg->hdr = (rxheader.FilterMatchIndex >> 1) + 14;
+       pmsg->hdr_index = rxheader.FilterMatchIndex;
     }
 #endif
 
diff --git a/bsp/synwit/swm341/applications/main.c b/bsp/synwit/swm341/applications/main.c
index 259011ef3c..331e23ed0b 100644
--- a/bsp/synwit/swm341/applications/main.c
+++ b/bsp/synwit/swm341/applications/main.c
@@ -169,7 +169,7 @@ static void can_rx_thread(void *parameter)
     while (1)
     {
         /* hdr 值为 - 1，表示直接从 uselist 链表读取数据 */
-        rxmsg.hdr = -1;
+        v .hdr = -1;
         /* 阻塞等待接收信号量 */
         rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
         /* 从 CAN 读取一帧数据 */
diff --git a/bsp/synwit/swm341/drivers/drv_can.c b/bsp/synwit/swm341/drivers/drv_can.c
index a9c82f76e7..7bc7bdee62 100644
--- a/bsp/synwit/swm341/drivers/drv_can.c
+++ b/bsp/synwit/swm341/drivers/drv_can.c
@@ -226,13 +226,13 @@ static rt_err_t swm_can_control(struct rt_can_device *can_device, int cmd, void
             /* get default filter */
             for (int i = 0; i < filter_cfg->count; i++)
             {
-                if (filter_cfg->items[i].hdr == -1)
+                if (filter_cfg->items[i].hdr_bank == -1)
                 {
                     filter_idx = i;
                 }
                 else
                 {
-                    filter_idx = filter_cfg->items[i].hdr;
+                    filter_idx = filter_cfg->items[i].hdr_bank;
                 }
 
                 if (filter_cfg->items[i].ide == RT_CAN_STDID)
diff --git a/bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c b/bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c
index ab27607080..5fdb561d46 100644
--- a/bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c
+++ b/bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c
@@ -441,14 +441,14 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
             /* get default filter */
             for (int i = 0; i < filter_cfg->count; i++)
             {
-                if (filter_cfg->items[i].hdr == -1)
+                if (filter_cfg->items[i].hdr_bank == -1)
                 {
                     drv_can_obj->can_filter_init.CAN_FilterNumber = i;
                 }
                 else
                 {
                     /* use user-defined filter bank settings */
-                    drv_can_obj->can_filter_init.CAN_FilterNumber = filter_cfg->items[i].hdr;
+                    drv_can_obj->can_filter_init.CAN_FilterNumber = filter_cfg->items[i].hdr_bank;
                 }
 
                 if (filter_cfg->items[i].mode == 0x00)  //CAN_FILTERMODE_IDMASK
@@ -725,14 +725,14 @@ static int _can_recv_rtmsg(CAN_TypeDef *can_base, struct rt_can_msg *pmsg, uint3
         pmsg->rtr = RT_CAN_RTR;
     }
 
-    /* get hdr */
+    /* get hdr_index */
     if (can_base == CAN1)
     {
-        pmsg->hdr = (RxMessage->FMI + 1) >> 1;
+        pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
     }
     else if (can_base == CAN2)
     {
-        pmsg->hdr = (RxMessage->FMI >> 1) + 14;
+        pmsg->hdr_index = (RxMessage->FMI >> 1) + 14;
     }
     /* Release FIFO */
     CAN_FIFORelease(can_base,FIFONum);
diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c
index eee78da9ec..a3d81f6081 100644
--- a/components/drivers/can/can.c
+++ b/components/drivers/can/can.c
@@ -65,7 +65,7 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
         /* disable interrupt */
         level = rt_hw_interrupt_disable();
 #ifdef RT_CAN_USING_HDR
-        hdr = data->hdr;
+        hdr = data->hdr_index;
 
         if (hdr >= 0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
         {
@@ -581,7 +581,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
         {
             while (count)
             {
-                if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
+                if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
                 {
                     count--;
                     pitem++;
@@ -589,15 +589,15 @@ static rt_err_t rt_can_control(struct rt_device *dev,
                 }
 
                 level = rt_hw_interrupt_disable();
-                if (!can->hdr[pitem->hdr].connected)
+                if (!can->hdr[pitem->hdr_bank].connected)
                 {
                     rt_hw_interrupt_enable(level);
-                    rt_memcpy(&can->hdr[pitem->hdr].filter, pitem,
+                    rt_memcpy(&can->hdr[pitem->hdr_bank].filter, pitem,
                               sizeof(struct rt_can_filter_item));
                     level = rt_hw_interrupt_disable();
-                    can->hdr[pitem->hdr].connected = 1;
-                    can->hdr[pitem->hdr].msgs = 0;
-                    rt_list_init(&can->hdr[pitem->hdr].list);
+                    can->hdr[pitem->hdr_bank].connected = 1;
+                    can->hdr[pitem->hdr_bank].msgs = 0;
+                    rt_list_init(&can->hdr[pitem->hdr_bank].list);
                 }
                 rt_hw_interrupt_enable(level);
 
@@ -609,7 +609,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
         {
             while (count)
             {
-                if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
+                if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
                 {
                     count--;
                     pitem++;
@@ -617,16 +617,16 @@ static rt_err_t rt_can_control(struct rt_device *dev,
                 }
                 level = rt_hw_interrupt_disable();
 
-                if (can->hdr[pitem->hdr].connected)
+                if (can->hdr[pitem->hdr_bank].connected)
                 {
-                    can->hdr[pitem->hdr].connected = 0;
-                    can->hdr[pitem->hdr].msgs = 0;
-                    if (!rt_list_isempty(&can->hdr[pitem->hdr].list))
+                    can->hdr[pitem->hdr_bank].connected = 0;
+                    can->hdr[pitem->hdr_bank].msgs = 0;
+                    if (!rt_list_isempty(&can->hdr[pitem->hdr_bank].list))
                     {
-                        rt_list_remove(can->hdr[pitem->hdr].list.next);
+                        rt_list_remove(can->hdr[pitem->hdr_bank].list.next);
                     }
                     rt_hw_interrupt_enable(level);
-                    rt_memset(&can->hdr[pitem->hdr].filter, 0,
+                    rt_memset(&can->hdr[pitem->hdr_bank].filter, 0,
                               sizeof(struct rt_can_filter_item));
                 }
                 else
@@ -829,7 +829,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
             level = rt_hw_interrupt_disable();
             rt_list_insert_before(&rx_fifo->uselist, &listmsg->list);
 #ifdef RT_CAN_USING_HDR
-            hdr = tmpmsg.hdr;
+            hdr = tmpmsg.hdr_index;
             if (can->hdr != RT_NULL)
             {
                 RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
diff --git a/components/drivers/include/drivers/can.h b/components/drivers/include/drivers/can.h
index 553e145e92..4bae9fcb16 100644
--- a/components/drivers/include/drivers/can.h
+++ b/components/drivers/include/drivers/can.h
@@ -63,6 +63,12 @@ enum CANBAUD
 #define RT_CAN_MODE_PRIV                0x01
 #define RT_CAN_MODE_NOPRIV              0x00
 
+/** @defgroup CAN_receive_FIFO_number CAN Receive FIFO Number
+  * @{
+  */
+#define CAN_RX_FIFO0                (0x00000000U)  /*!< CAN receive FIFO 0 */
+#define CAN_RX_FIFO1                (0x00000001U)  /*!< CAN receive FIFO 1 */
+
 struct rt_can_filter_item
 {
     rt_uint32_t id  : 29;
@@ -70,16 +76,18 @@ struct rt_can_filter_item
     rt_uint32_t rtr : 1;
     rt_uint32_t mode : 1;
     rt_uint32_t mask;
-    rt_int32_t hdr;
+    rt_int32_t  hdr_bank;/*Should be defined as:rx.FilterBank,which should be changed to rt_int32_t hdr_bank*/
+    rt_uint32_t rxfifo;/*Add a configuration item that CAN_RX_FIFO0/CAN_RX_FIFO1*/
 #ifdef RT_CAN_USING_HDR
     rt_err_t (*ind)(rt_device_t dev, void *args , rt_int32_t hdr, rt_size_t size);
     void *args;
 #endif /*RT_CAN_USING_HDR*/
 };
 
+
 #ifdef RT_CAN_USING_HDR
 #define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
-     {(id), (ide), (rtr), (mode), (mask), -1, (ind), (args)}
+      {(id), (ide), (rtr), (mode),(mask), -1, CAN_RX_FIFO0,(ind), (args)}/*0:CAN_RX_FIFO0*/
 #define RT_CAN_FILTER_STD_INIT(id,ind,args) \
      RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
 #define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
@@ -95,7 +103,7 @@ struct rt_can_filter_item
 #else
 
 #define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask) \
-     {(id), (ide), (rtr), (mode), (mask), -1, }
+      {(id), (ide), (rtr), (mode), (mask), -1, CAN_RX_FIFO0 }/*0:CAN_RX_FIFO0*/
 #define RT_CAN_FILTER_STD_INIT(id) \
      RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF)
 #define RT_CAN_FILTER_EXT_INIT(id) \
@@ -269,6 +277,7 @@ typedef struct rt_can_device *rt_can_t;
 #define RT_CAN_RTR   1
 
 typedef struct rt_can_status *rt_can_status_t;
+
 struct rt_can_msg
 {
     rt_uint32_t id  : 29;
@@ -277,12 +286,14 @@ struct rt_can_msg
     rt_uint32_t rsv : 1;
     rt_uint32_t len : 8;
     rt_uint32_t priv : 8;
-    rt_int32_t hdr : 8;
+    rt_int32_t hdr_index : 8;/*Should be defined as:rx.FilterMatchIndex,which should be changed to rt_int32_t hdr_index : 8*/
 #ifdef RT_CAN_USING_CANFD
     rt_uint32_t fd_frame : 1;
-    rt_uint32_t reserved : 7;
+    rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/
+    rt_uint32_t reserved : 5;
 #else
-    rt_uint32_t reserved : 8;
+    rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/
+    rt_uint32_t reserved : 6;
 #endif
 #ifdef RT_CAN_USING_CANFD
     rt_uint8_t data[64];