I'm using example code to transmit CAN data through User button press and receive through Interrupt handler. Program compiled successful and flashed. I connected my board to PCAN bus analyzer as another node.

[HKuma.1]

 It is configures as same baud rate as my embedded board and PCAN GUI is running. When I run program I see Tx error counter is incremented and no frames are sent out. When refereed to LEC it is bit dominant error.

Bits 6:4 LEC[2:0]: Last error code

101: Bit dominant Error

[YS.K]

STM32F103VET with STM32CubeMX design code works well with CAN Tx Rx operation. (Tested at 256 kbps, 125 kbps)

The STM32L476 model has not succeeded yet with STM32CubeMX.

I'm curious about the MCU model that you use.

(1) If the baudrate does not match when there is only two PC & STM32 on the network node, on the receiving side the CAN Ack bit output is not possible, therefore the sending side the Tx error count increased.

​Please also check if the Tx Rx error count increased in PCAN PC Software.

and also check MCU's Tx Rx pin with an oscilloscope.