BOOSTXL-DRV8305EVM: question about the Instaspin-foc add the CAN receive program

Part Number: BOOSTXL-DRV8305EVM

Now I am using the BOOSTXL-DRV8305EVM and the Launchpad-28069M,I want to communicate  with another device via CAN bus.

the 28069M receives message from the device.

I want to add the CAN receive program to the while(1) forever loop in the motorware program.

now the CAN bus can work well in low speed mode .

Once I increase the CAN transmit speed ,it can not work.

I doubt that the CAN transmit time perhaps is less than the while(1) .

if I use the CAN receive interrupt ,whether the foc  program can work well.

Thanks~