My program can't go into CAN BUS receive interrupt to get the message from the gyroscope

[BWei.1]

I use a CAN BUS gyroscope in my project, I connect it via tja1050 with my MCU(stm32 f103RCT6).I believe that the hardware connection has nothing wrong, and I can see the signals on the BUS using oscilloscope . However, I can't go into the CAN BUS receive interruption, why?images are my codeI really appreciate your help, thank you!!

[Ozone]

Do the error counters go up ?

Check your wiring and the terminating resistance.

[BWei.1]

I used a tja1050 module like this , do I still need a terminating resistance?

and how to check the error counters in MDK5(I'm really a green hand, sorry)