if(!digitalRead(CAN_INTpin))                    // If pin 2 is low, read receive buffer
          {
            CAN0.readMsgBuf(&CANrxId, &CANlen, CANrxBuf); // Read data: len = data length, buf = data byte(s)
            Serial.print("ID: ");
            Serial.print(CANrxId, HEX);
            Serial.print(" Data: ");
             #if defined(HAS_LCD1602)
              lcd.setCursor(0,0); 
              lcd.print("ID: ");
              lcd.print(CANrxId, HEX);
              lcd.setCursor(0,1); 
              lcd.print(" Data: ");
             #endif
             #if defined(HAS_TFT_ILI9163C)
              display.setCursor(0,40); 
              display.print("ID: ");
              display.print(CANrxId, HEX);
              display.setCursor(0,50); 
              display.print(" Data: ");
             #endif
            for(int i = 0; i<CANlen; i++)           // Print each byte of the data
            {
              if(CANrxBuf[i] < 0x10)                // If data byte is less than 0x10, add a leading zero
              {
                Serial.print("0");
                 #if defined(HAS_LCD1602)
                    lcd.print("0");
                 #endif
                 #if defined(HAS_TFT_ILI9163C)
                    display.print("0");
                 #endif
              }
              Serial.print(CANrxBuf[i], HEX);
              Serial.print(" ");
               #if defined(HAS_LCD1602)
                  lcd.print(CANrxBuf[i], HEX);
                  lcd.print(" ");
               #endif
               #if defined(HAS_TFT_ILI9163C)
                  display.print(CANrxBuf[i], HEX);
                  display.print(" ");
               #endif

               if(_Slave_Ports_queue_task_type_LIST[i]) {
                   Serial.print(" [");  Serial.print(_Slave_Ports_queue_task_type_LIST[i]);   Serial.print("] "); 
               }
               
            }
            Serial.println();



         






            
          }
        //EOF CAN
          #if defined(HAS_LCD1602)
            delay(LCDtim);  
            //lcd.setCursor(0,1); 
            lcd.print(lcdPattern);
            //lcd.print(lcdPos % 10);
            if(lcdPos == 16) { 
              //lcd.print("N");
              lcd.setCursor(0,1); 
              lcdPos = 0;
              if(lcdPattern==".") lcdPattern = "-" ;
              else lcdPattern = "." ;
            }
            lcdPos ++;
          #endif
          /*
          #if defined(HAS_TFT_ILI9163C)
            delay(LCDtim);  
            display.setCursor(0,60); 
            display.print("#80 loop....");
          #endif
          */