CAN LoopBack

    gpio_output(CAN1_STB_GPIO_IDX, TRUE);
    gpio_output(CAN1_EN_GPIO_IDX, TRUE);

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CANx, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;
    CAN_InitTypeDef CAN_InitStructure;
    CAN_FilterInitTypeDef CAN_FilterInitStructure;

    cangpio_init();
    CAN_DeInit(CANx);
    CAN_StructInit(&CAN_InitStructure);

    //CAN cell init
    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = DISABLE;
    CAN_InitStructure.CAN_AWUM = DISABLE;
    CAN_InitStructure.CAN_NART = DISABLE;
    CAN_InitStructure.CAN_RFLM = DISABLE;
    CAN_InitStructure.CAN_TXFP = DISABLE;
    CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;

    //Baudrate = 500kbps
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
    CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
    CAN_InitStructure.CAN_Prescaler = 12;

    CAN_Init(CANx, &CAN_InitStructure);

void can_send_msg(CAN_TypeDef* CANx, CanTxMsg *pTxMessage){
    u8 TransmitMailBox;
    u32 ntry;;
    u8 idx = 0;
    u8 nret;

    TransmitMailBox = CAN_Transmit(CANx, pTxMessage);

    ntry = 0;
    while(((nret = CAN_TransmitStatus(CANx, TransmitMailBox)) != CANTXOK) && (ntry != 0xFFFF)){
        ntry++;
    }
    if(ntry >= 0xFFFF){
#ifdef __DEBUG_VERSION__
        printf("\n CAN<%d> Trans falied<%d, %d>!", idx, TransmitMailBox, nret);
#endif
    }
}

Nvic.c

void CanNvicInit(u8 idx){
    NVIC_InitTypeDef NVIC_InitStructure;

    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = CAN_PREEMPRTION_PRIORITY;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = CAN_SUB_PRIORITY;

    NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;

    NVIC_Init(&NVIC_InitStructure);

    CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);

    printf("can nvic init over \r\n");
}

stm32f10x_it.c

void CAN1_RX0_IRQHandler(void){
    CAN_Receive(CANx, CAN_FIFO0, &(g_can_recv_buf[g_can_recvtail]));
    g_can_recvtail = (g_can_recvtail + 1) % CAN_RECVBUF_MAX;
}