CAN Controller-Problem

Hi,
I am doing control area network project... where i have to sense the temperature value in one node and i have to transmit it to the other node using CAN Bus..The problem is that the lcd just display "Temp= _ ". I will attach the code ...can anyone help me to solve the problem...

MicrocontrollerIC 18F458
Oscillator:20 Mhz
Compiler:MikroC
CAN Tranceiver:MCP2551


Display.C
/*The LCD is connected to the microcontroller as follows:
Microcontroller LCD
RC0 D4
RC1 D5
RC2 D6
RC3 D7
RC4 RS
RC5 EN
CAN speed parameters are:
Microcontroller clock: 8MHz
CAN Bus bit rate: 100Kb/s
Sync_Seg: 1
Prop_Seg: 6
Phase_Seg1: 6
Phase_Seg2: 7
SJW: 1
BRP: 1
Sample point: 65%

File: DISPLAY.C
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void main()
{
unsigned char temperature, data[8];
unsigned short init_flag, send_flag, dt, len, read_flag;
char SJW, BRP, Phase_Seg1, Phase_Seg2, Prop_Seg, txt[4];
long id, mask;
TRISC = 0; // PORTC are outputs (LCD)
TRISB = 0x08; // RB2 is output, RB3 is input
//
// 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;
//
// Initialize CAN module
//
CANInitialize(SJW, BRP, Phase_Seg1, Phase_Seg2, Prop_Seg, init_flag);
//
// Set CAN CONFIG mode
//
CANSetOperationMode(CAN_MODE_CONFIG, 0xFF);
mask = -1;
//
// Set all MASK1 bits to 1's
//
CANSetMask(CAN_MASK_B1, mask, CAN_CONFIG_XTD_MSG);
//
// Set all MASK2 bits to 1's
//
CANSetMask(CAN_MASK_B2, mask, CAN_CONFIG_XTD_MSG);
//
// Set id of filter B2_F3 to 3
//
CANSetFilter(CAN_FILTER_B2_F3,3,CAN_CONFIG_XTD_MSG);
//
// Set CAN module to NORMAL mode
//
CANSetOperationMode(CAN_MODE_NORMAL, 0xFF);
//
// Configure LCD
//
Lcd_Config(&PORTC,4,5,0,3,2,1,0); // LCD is connected to PORTC
Lcd_Cmd(LCD_CLEAR); // Clear LCD
Lcd_Out(1,1,"CAN BUS"); // Display heading on LCD
Delay_ms(1000); // Wait for 2 seconds
//
// Program loop. Read the temperature from Node:COLLECTOR and display
// on the LCD continuously
//
for(; // Endless loop
{
Lcd_Cmd(LCD_CLEAR); // Clear LCD
Lcd_Out(1,1,"Temp = "); // Display "Temp = "
//
// Send a message to Node:COLLECTOR and ask for data
//
data[0] = 'T'; // Data to be sent
id = 500; // Identifier
CANWrite(id, data, 1, send_flag); // send 'T'
//
// Get temperature from node:COLLECT
//
dt = 0;
while(!dt)dt = CANRead(&id, data, &len, &read_flag);
if(id == 3)
{
temperature = data[0];
ByteToStr(temperature,txt); // Convert to string
Lcd_Out(1,8,txt); // Output to LCD
Delay_ms(1000); // Wait 1 second
}
}
}




Collector.C

CAN speed parameters are:
Microcontroller clock: 8MHz
CAN Bus bit rate: 100Kb/s
Sync_Seg: 1
Prop_Seg: 6
Phase_Seg1: 6
Phase_Seg2: 7
SJW: 1
BRP: 1
Sample point: 65%

File: COLLECTOR.C
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void main()
{
unsigned char temperature, data[8];
unsigned short init_flag, send_flag, dt, len, read_flag;
char SJW, BRP, Phase_Seg1, Phase_Seg2, Prop_Seg, txt[4];
unsigned int temp;
unsigned long mV;
long id, mask;
TRISA = 0xFF; // PORTA are inputs
TRISB = 0x08; // RB2 is output, RB3 is input
//
// Configure A/D converter
//
ADCON1 = 0x80;
//
// CAN BUS Timing Parameters
//
SJW = 1;
BRP = 1;
Phase_Seg1 = 6;
Phase_Seg2 = 7;
BRP = 1;
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;
//
// Initialise CAN module
//
CANInitialize(SJW, BRP, Phase_Seg1, Phase_Seg2, Prop_Seg, init_flag);
//
// Set CAN CONFIG mode
//
CANSetOperationMode(CAN_MODE_CONFIG, 0xFF);
mask = -1;
//
// Set all MASK1 bits to 1's
//
CANSetMask(CAN_MASK_B1, mask, CAN_CONFIG_XTD_MSG);
//
// Set all MASK2 bits to 1's
//
CANSetMask(CAN_MASK_B2, mask, CAN_CONFIG_XTD_MSG);
//
// Set id of filter B1_F1 to 3
//
CANSetFilter(CAN_FILTER_B2_F3,500,CAN_CONFIG_XTD_MSG);
//
// Set CAN module to NORMAL mode
//
CANSetOperationMode(CAN_MODE_NORMAL, 0xFF);
//
// Program loop. Read the temperature from analog temperature
// sensor
//
for(; // Endless loop
{
//
// Wait until a request is received
//
dt = 0;
while(!dt) dt = CANRead(&id, data, &len, &read_flag);
if(id == 500 && data[0] == 'T')
{
//
// Now read the temperature
//
temp = Adc_Read(0); // Read temp
mV = (unsigned long)temp ∗ 5000 / 1024; // in mV
temperature = mV/10; // in degrees C
//
// send the temperature to Nodeisplay
//
data[0] = temperature;
id = 3; // Identifier
CANWrite(id, data, 1, send_flag); // send temperature
}
}
}