求帮忙！！！我的STM32f103的CAN通讯进不了中断函数

我的CAN1的配置如下，不论怎么试都进不了中断函数。求大家帮忙看看
void My_CAN1_Init(uint32_t _baudRate)
{
//´´½¨ÉèÖýṹÌå
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

#ifdef VECT_TAB_RAM
/* Set the Vector Table base location at 0x20000000 /
NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else / VECT_TAB_FLASH /
/ Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif

// RCC_ClocksTypeDef rcc_clocks;
// RCC_GetClocksFreq(&rcc_clocks);
// SystemInit();

	//¿ªÆôGPIOºÍCAN1µÄʱÖÓ
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);	                   											 
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;				//RX
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;			//ÉÏÀ­ÊäÈë
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//100MHz
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;				//TX
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;		//ÍÆÍìÊä³ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//100MHz
GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	CAN_DeInit(CAN1); 
	CAN_StructInit(&CAN_InitStructure); 
CAN_InitStructure.CAN_TTCM=DISABLE;					//ʱ¼ä´¥·¢Ä£Ê½
CAN_InitStructure.CAN_ABOM=ENABLE;					//×Ô¶¯ÀëÏß¹ÜÀí
CAN_InitStructure.CAN_AWUM=DISABLE;					//×Ô¶¯»½ÐÑģʽ
CAN_InitStructure.CAN_NART=DISABLE;					//·Ç×Ô¶¯ÖØ´«Ä£Ê½
CAN_InitStructure.CAN_RFLM=DISABLE;					//½ÓÊÜFIFOËø¶¨Ä£Ê½
CAN_InitStructure.CAN_TXFP=ENABLE;					//·¢ËÍFIFOģʽ
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;	//Õý³£Ä£Ê½
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= 6000000 / _baudRate;		//²¨ÌØÂʹ«Ê½=72M/(2*(SJW+BS1+BS2)*Prescale)
CAN_Init(CAN1, &CAN_InitStructure);
	
	//ÅäÖùýÂËÆ÷
	CAN_FilterInitStructure.CAN_FilterNumber= 0;			//Â˲¨Æ÷Ñ¡Ôñ0~13
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //Ö¸¶¨¹ýÂËÆ÷Ϊ±êʶ·ûÆÁ±Îģʽ
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //¹ýÂËÆ÷λ¿íΪ32λ
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;			//Òª¹ýÂ˵ÄID¸ßλ
CAN_FilterInitStructure.CAN_FilterIdLow= 0x0000;			//Òª¹ýÂ˵ÄIDµÍλ
CAN_FilterInitStructure.CAN_FilterMaskIdHigh= 0x0000; //¹ýÂËÆ÷ÆÁ±Î±êʶ·ûµÄ¸ß16λ
CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0x0000;	//¹ýÂËÆ÷ÆÁ±Î±êʶ·ûµÄµÍ16λ
CAN_FilterInitStructure.CAN_FilterFIFOAssignment= CAN_FilterFIFO0;//É趨ÁËÖ¸Ïò¹ýÂËÆ÷µÄFIFOΪ0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;	//¹ýÂËÆ÷ʹÄÜ
CAN_FilterInit(&CAN_FilterInitStructure);
	
	//CAN1ÖжÏÅäÖÃ
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;	
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;     
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;           
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);    
	//CAN1 FIFOʹÄÜ
	CAN_ClearITPendingBit(CAN1,CAN_IT_FF0);
	CAN_ClearITPendingBit(CAN1,CAN_IT_FOV0);
	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);

}

#define Get_Gryo_Data USB_LP_CAN1_RX0_IRQHandler

void Get_Gryo_Data(void)
{
static int16_t x_angle_data, y_angle_data, z_angle_data, z_anglespeed_data;
static float x_origin_angle, y_origin_angle, z_origin_angle, z_origin_anglespeed;
CanRxMsg rx_message;

if (CAN_GetITStatus(GRYO_CAN, CAN_IT_FMP0) != RESET)
{
	CAN_Receive(GRYO_CAN, CAN_FIFO0, &rx_message);

	if ((rx_message.IDE == CAN_ID_STD) && (rx_message.RTR == CAN_RTR_DATA)) //标准帧、数据帧、数据长度为8
	{
		if (rx_message.StdId == 0x401)
		{
			z_angle_data = ((rx_message.Data[1] << 8) | rx_message.Data[0]);
			x_angle_data = ((rx_message.Data[3] << 8) | rx_message.Data[2]);
			y_angle_data = ((rx_message.Data[5] << 8) | rx_message.Data[4]);
			z_origin_angle = z_angle_data / 10000.0 * RAD2DEG;
			x_origin_angle = x_angle_data / 10000.0 * RAD2DEG;
			y_origin_angle = y_angle_data / 10000.0 * RAD2DEG;
			gps_z_angle = z_origin_angle - gps_z_angle_offset;
			gps_x_angle = x_origin_angle;
			gps_y_angle = y_origin_angle;
			int_gps_z_angle = (uint16_t)gps_z_angle;
			int_gps_x_angle = (uint16_t)gps_x_angle;
			int_gps_y_angle = (uint16_t)gps_y_angle;
		}
		if (rx_message.StdId == 0x402)
		{
			z_anglespeed_data = ((rx_message.Data[5] << 8) | rx_message.Data[4]);
			z_origin_anglespeed = z_anglespeed_data / 32768.0 * GRYO_RANGE;
			gps_z_anglespeed = z_origin_anglespeed - gps_z_anglespeed_offset;
			int_gps_z_anglespeed = (uint16_t)gps_z_anglespeed;
		}
	}
	CAN_FIFORelease(GRYO_CAN, CAN_FIFO0);
}