FDCAN Protocol error in the data phase on STM32743ZI eval board

I am trying to use CAN on  STM32743ZI eval board. . I am able to transmit and receive data in loopback mode successfully without any error but in normal mode I am getting transmit errors. The FDCAN interrupt registers are 0x31800000. It means that protocol error in the data phase is detected. I have connected the CAN Transmit pin to the CAN receive pin and use the port D for the same.