NAK in CAN bus for STM32F3 uC
I found a solution some time ago, I forgot to describe it. 
The problem was really on the hardware side but it's quite unusual. The instrument panel cluster from the car I'm connecting to has already 2 resistors built in and is like a separate CAN network. After removing ALL terminations (I soldered out a 120 ohm resistor from the transciver) everything suddenly started to work. To sum up: check the transciver / STM / Arduino documentation to see if you have a 120 ohm resistor and remove it if necessary. The same may apply to other elements taken out of the car :)