Receiving message from pc over PCAN-USB FD

[CEmir10]

I am trying to receive messages from pc on my sensor node which uses atmel chip. At the beginning, 2-3 seconds I see some strange values(not the one i am sending) and then i see bus off. This down below is my code:
#include <zephyr/kernel.h>
#include <zephyr/sys/printk.h>
#include <zephyr/device.h>
#include <zephyr/drivers/can.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/sys/byteorder.h>

CAN_MSGQ_DEFINE(my_can_msgq, 512);
void main(void)
{
const struct device *can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));

if (!device_is_ready(can_dev)) {
	printk("CAN: Device %s not ready.\n", can_dev->name);
	return;
}

#ifdef CONFIG_NORMAL_MODE
int ret = can_set_mode(can_dev, CAN_NORMAL_MODE);
if (ret != 0) {
printk("Error setting CAN mode [%d]", ret);
return;
}
#endif

const struct zcan_filter my_filter = {
.id_type = CAN_STANDARD_IDENTIFIER,
.rtr = CAN_DATAFRAME,
.id = 0x312,
.rtr_mask = 1,
.id_mask = CAN_STD_ID_MASK
};

struct zcan_frame rx_frame;
int filter_id;

filter_id = can_add_rx_filter_msgq(can_dev, &my_can_msgq, &my_filter);
if (filter_id < 0) {
printk("Unable to add rx msgq [%d]", filter_id);
return;
}

while (true) {

k_msgq_get(&my_can_msgq, &rx_frame, K_FOREVER);

printk("Counter received: %u\n",
sys_be16_to_cpu(UNALIGNED_GET((uint16_t *)&rx_frame.data)));

printk("length %u\n",&rx_frame.dlc);

}
}

[henrikbrixandersen]

@CEmir10 Please reformat the code to make it readable in the GitHub web view. Please include a dump of the CAN traffic and the expected traffic. I have no way of debugging what is going on with the information provided so far.