[SOLVED] Little help on canbus display lcd micro c

// LCD module connections
sbit LCD_RS at RC4_bit;
sbit LCD_EN at RC5_bit;
sbit LCD_D4 at RC0_bit;
sbit LCD_D5 at RC1_bit;
sbit LCD_D6 at RC2_bit;
sbit LCD_D7 at RC3_bit;

sbit LCD_RS_Direction at TRISC4_bit;
sbit LCD_EN_Direction at TRISC5_bit;
sbit LCD_D4_Direction at TRISC0_bit;
sbit LCD_D5_Direction at TRISC1_bit;
sbit LCD_D6_Direction at TRISC2_bit;
sbit LCD_D7_Direction at TRISC3_bit;
// End LCD module connections



void main()
{

/*-----------prog variable----------------------------*/

unsigned char temperature;                 // temperature variable
unsigned char voltage;                         // voltage variable
unsigned char Data[8];                            // data variable
unsigned short init_flag, send_flag, dt, len, read_flag; // canbus
char SJW, BRP, Phase_Seg1, Phase_Seg2, Prop_Seg, txt[4]; // canbus
unsigned long id, mask;                               // id variable canbus

/*-----------port definition------------------------*/

TRISC = 0x00; // PORTC are outputs (LCD)
TRISB = 0x08; // RB2 is output, RB3 is input

/*----------------lcd------------------------------*/

Lcd_Init(); // init LCD
Lcd_Cmd(_LCD_CLEAR); // Clear LCD
Lcd_Cmd(_LCD_CURSOR_OFF); // no flashing cursor
Lcd_Out(1,1,"CANBUS TEST"); // Display TEST on LCD
Delay_ms(3000); // Wait for 3 seconds
Lcd_Cmd(_LCD_CLEAR); // Clear LCD

/*----------------CAN BUS Parameters----------------------*/

SJW = 1;
BRP = 1;
Phase_Seg1 = 6;
Phase_Seg2 = 7;
Prop_Seg = 6;


init_flag = _CAN_CONFIG_SAMPLE_THRICE &
            _CAN_CONFIG_PHSEG2_PRG_ON &
            _CAN_CONFIG_STD_MSG &
            _CAN_CONFIG_DBL_BUFFER_ON &
            _CAN_CONFIG_VALID_XTD_MSG &
            _CAN_CONFIG_LINE_FILTER_OFF;
send_flag = _CAN_TX_PRIORITY_0 &
            _CAN_TX_XTD_FRAME &
            _CAN_TX_NO_RTR_FRAME;
            read_flag = 0;

CANInitialize(SJW, BRP, Phase_Seg1, Phase_Seg2, Prop_Seg, init_flag);
CANSetOperationMode(_CAN_MODE_CONFIG, 0xFF);
mask = -1;
CANSetMask(_CAN_MASK_B1, mask, _CAN_CONFIG_XTD_MSG);
CANSetMask(_CAN_MASK_B2, mask, _CAN_CONFIG_XTD_MSG);
CANSetFilter(_CAN_FILTER_B2_F3,3,_CAN_CONFIG_XTD_MSG);
CANSetOperationMode(_CAN_MODE_NORMAL, 0xFF);

/*-----------------END CAN BUS Parameters----------------------------*/


/*----------------------loop-----------------------------------*/


for(;;) // loop Endless loop

  {

//Lcd_Cmd(_LCD_CLEAR); // Clear LCD
Lcd_Cmd(_LCD_CURSOR_OFF); // 


/*--------request Node:TEMP-COLLECTOR & display data----------------*/

Data[0] = 'T'; // temperature Data to be sent
id = 500; // Identifier address temperature collector
CANWrite(id, Data, 1, send_flag); // send 'T' ---canbus send data----
//Delay_ms(500);

// fin send data TEMP + debut get temperature data

dt = 0;
while(!dt)
dt = CANRead(&id, Data, &len, &read_flag); // ---read canbus---

if((id == 3) && (Data[1] == 'A')) // address #3 is node display address
// data 'A' received temp data from temp collector from address 500

      {
temperature = Data[0];
Lcd_Out(1,1,"Temperature=");
ByteToStr(temperature,txt); // Convert to string
Lcd_Out(1,13,txt); // Output to LCD
ByteToStr(temperature,txt); // Convert to string
 }


/*---------------fin get & display data TEMP------------------------*/

Delay_ms(500);

/*--------request Node:VOLT-COLLECTOR & display data----------------*/

Data[0] = 'T'; // voltage Data to be sent
id = 501; // Identifier address voltage collector
CANWrite(id, Data, 1, send_flag); // send 'T' ---canbus send data----
//Delay_ms(500);

// fin send data VOLT + debut get voltage data


dt = 0;
while(!dt)
dt = CANRead(&id, Data, &len, &read_flag); // ---read canbus---


if((id == 3) && (Data[1] == 'B')) // address #3 is node display address

// data 'B' received volt data from volt collector from address 501

      {
voltage = Data[0];
Lcd_Out(2,1,"Voltage    =");
ByteToStr(voltage,txt); // Convert to string
Lcd_Out(2,13,txt); // Output to LCD
ByteToStr(voltage,txt); // Convert to string
}

/*----------------fin get & display data VOLT-------------------------*/


//Delay_ms(2000); // Wait 2 second


}
       
}