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Hello,
You didn't mention if you have connected another node on the bus that will acknowledge STM32F103 frames. If not, and in Normal mode you can't neither transmit nor receive messages. CAN is not an SPI nor an UART to use it in stand alone except in Loopback mode.
MCP2551 transceiver needs to be supplied by 5V and tie Rs pin to the ground or at least over a resistor (refer to its datasheet)
Hope it helps.
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