Some bugs:

• Arrays in C start at index zero. You write to index 1 to 8, instead of 0 to 7:

    i++;
    Rx_buf_F0[i] = ...
  

• You should declare all variables shared between main and and ISR volatile to protect against incorrect compiler optimizations. Also, it would seem that you have no semaphores to protect rx_fifo_F0. Accesses to that variable will not be atomic, so if you have no semaphores you will get intermittent bugs where random garbage suddenly appears in that variable.

• data is 4 bytes large yet you write to index 3 to 7.

    for(int k=3;k<7;k++)
    data[k]=Rx_buf_F0[k];
  

Some bugs:

• Arrays in C start at index zero. You write to index 1 to 8, instead of 0 to 7:

    i++;
    Rx_buf_F0[i] = ...
  

• You should declare all variables shared between main and and ISR volatile to protect against incorrect compiler optimizations. Also, it would seem that you have no semaphores to protect rx_fifo_F0. Accesses to that variable will not be atomic, so if you have no semaphores you will get intermittent bugs where random garbage suddenly appears in that variable.

• data is 4 bytes large yet you write to index 3 to 7.

    for(int k=3;k<7;k++)
    data[k]=Rx_buf_F0[k];
  

Might be more, but these are all severe bugs.