STM32F107 CAN software driver does not work

Question

I am using ST drivers to use CAN bus on an STM22F107 according to the code below. It does not work. The code is as below and is available here.

    #include <stdio.h>
    #include <string.h>
    #include "cmsis_os.h"
 
    #include "Driver_CAN.h"
 
    // CAN Driver Controller selector
    #define  CAN_CONTROLLER         1       // CAN Controller number
 
    #define _CAN_Driver_(n)         Driver_CAN##n
    #define  CAN_Driver_(n)        _CAN_Driver_(n)
    extern   ARM_DRIVER_CAN         CAN_Driver_(CAN_CONTROLLER);
    #define  ptrCAN               (&CAN_Driver_(CAN_CONTROLLER))
 
    uint32_t                        rx_obj_idx  = 0xFFFFFFFFU;
    uint8_t                         rx_data[8];
    ARM_CAN_MSG_INFO                rx_msg_info;
    uint32_t                        tx_obj_idx  = 0xFFFFFFFFU;
    uint8_t                         tx_data[8];
    ARM_CAN_MSG_INFO                tx_msg_info;
 
    static void Error_Handler (void) { while (1); }
 
    void CAN_SignalUnitEvent (uint32_t event) {}
 
    void CAN_SignalObjectEvent (uint32_t obj_idx, uint32_t event) {
 
      if (obj_idx == rx_obj_idx) {                  // If receive object event
    if (event == ARM_CAN_EVENT_RECEIVE) {       // If message was received successfully
      if (ptrCAN->MessageRead(rx_obj_idx, &rx_msg_info, rx_data, 8U) > 0U) {
                                                // Read received message
        // process received message ...
      }
    }
  }
    if (obj_idx == tx_obj_idx) {                  // If transmit object 
         event
            if (event == ARM_CAN_EVENT_SEND_COMPLETE) { // If message was sent 
    successfully
          // acknowledge sent message ...
        }
      }
    }
 
int main (void) {
  ARM_CAN_CAPABILITIES     can_cap;
  ARM_CAN_OBJ_CAPABILITIES can_obj_cap;
  int32_t                  status;
  uint32_t                 i, num_objects;
 
  can_cap = ptrCAN->GetCapabilities (); // Get CAN driver capabilities
  num_objects = can_cap.num_objects;    // Number of receive/transmit objects
 
  status = ptrCAN->Initialize    (CAN_SignalUnitEvent, CAN_SignalObjectEvent);  // Initialize CAN driver
  if (status != ARM_DRIVER_OK ) { Error_Handler(); }
 
  status = ptrCAN->PowerControl  (ARM_POWER_FULL);                              // Power-up CAN controller
  if (status != ARM_DRIVER_OK ) { Error_Handler(); }
 
  status = ptrCAN->SetMode       (ARM_CAN_MODE_INITIALIZATION);                 // Activate initialization mode
  if (status != ARM_DRIVER_OK ) { Error_Handler(); }
 
  status = ptrCAN->SetBitrate    (ARM_CAN_BITRATE_NOMINAL,              // Set nominal bitrate
                                  100000U,                              // Set bitrate to 100 kbit/s
                                  ARM_CAN_BIT_PROP_SEG(5U)   |          // Set propagation segment to 5 time quanta
                                  ARM_CAN_BIT_PHASE_SEG1(1U) |          // Set phase segment 1 to 1 time quantum (sample point at 87.5% of bit time)
                                  ARM_CAN_BIT_PHASE_SEG2(1U) |          // Set phase segment 2 to 1 time quantum (total bit is 8 time quanta long)
                                  ARM_CAN_BIT_SJW(1U));                 // Resynchronization jump width is same as phase segment 2
  if (status != ARM_DRIVER_OK ) { Error_Handler(); }
 
  for (i = 0U; i < num_objects; i++) {                                          // Find first available object for receive and transmit
    can_obj_cap = ptrCAN->ObjectGetCapabilities (i);                            // Get object capabilities
    if      ((rx_obj_idx == 0xFFFFFFFFU) && (can_obj_cap.rx == 1U)) { rx_obj_idx = i; }
    else if ((tx_obj_idx == 0xFFFFFFFFU) && (can_obj_cap.tx == 1U)) { tx_obj_idx = i; break; }
  }
  if ((rx_obj_idx == 0xFFFFFFFFU) || (tx_obj_idx == 0xFFFFFFFFU)) { Error_Handler(); }
 
  // Set filter to receive messages with extended ID 0x12345678 to receive object
  status = ptrCAN->ObjectSetFilter(rx_obj_idx, ARM_CAN_FILTER_ID_EXACT_ADD, ARM_CAN_EXTENDED_ID(0x12345678U), 0U);
  if (status != ARM_DRIVER_OK ) { Error_Handler(); }
 
  status = ptrCAN->ObjectConfigure(tx_obj_idx, ARM_CAN_OBJ_TX);                 // Configure transmit object
  if (status != ARM_DRIVER_OK ) { Error_Handler(); }
 
  status = ptrCAN->ObjectConfigure(rx_obj_idx, ARM_CAN_OBJ_RX);                 // Configure receive object
  if (status != ARM_DRIVER_OK ) { Error_Handler(); }
  
  status = ptrCAN->SetMode (ARM_CAN_MODE_NORMAL);                               // Activate normal operation mode
  if (status != ARM_DRIVER_OK ) { Error_Handler(); }
  
  memset(&tx_msg_info, 0U, sizeof(ARM_CAN_MSG_INFO));                           // Clear message info structure
  tx_msg_info.id = ARM_CAN_EXTENDED_ID(0x12345678U);                            // Set extended ID for transmit message
  tx_data[0]     = 0xFFU;                                                       // Initialize transmit data
  while (1) {
    tx_data[0]++;                                                               // Increment transmit data
    status = ptrCAN->MessageSend(tx_obj_idx, &tx_msg_info, tx_data, 1U);        // Send data message with 1 data byte
    if (status != 1U) { Error_Handler(); }
    for (i = 0U; i < 1000000U; i++) { __nop(); }                                // Wait a little while
  }
}

Register settings in debug are as follows:

Edit: It seems that the error is "Bit dominant Error". I do not the root cause of it. Can you could help me to find the problem?