xin mọi người giúp sửa lỗi (improper use of a function identifier)

[huyckc]

mình đang viết chương trình cho xe chạy, mà nó báo lỗi thế này chả biết làm sao,mong mọi người chỉ giùm,mình gà lắm.
thank all

#include <16f887.h>
#FUSES nowdt,noprotect,nolvp,xt
#use delay(clock=4000000)
#use fast_io(a)
#use fast_io(b)
#use fast_io(c)
#use fast_io(d)
#use fast_io(e)
#byte porta=0x5
#byte portc=0x7
#byte portd=0x8
#byte portb=0x6
#byte porte=0x9
#byte intcon=0x000B
#bit a0=porta.0
#bit a1=porta.1
#bit a2=porta.2
#bit a3=porta.3
#bit a4=porta.4
#bit a5=porta.5
#bit d0=portd.0
#bit d1=portd.1
#bit b0=portb.0
#bit b1=portb.1
#bit b2=portb.2
#bit b3=portb.3
#bit b4=portb.4
#bit b5=portb.5
#bit b6=portb.6
#bit b7=portb.7
#bit c0=portc.0
#bit c1=portc.1
#bit c2=portc.2
#bit dxungt=portc.3
#bit dxungp=portd.0
#bit tl=portc.4
#bit ll=portc.5
#bit tr=portc.6
#bit lr=portc.7
#bit d4=portd.4
#bit d5=portd.5
#bit d6=portd.6
#bit d7=portd.7
#bit e0=porte.0
#bit e1=porte.1
#bit e2=porte.2
#bit RBIF=intcon.0
#bit RBIE=intcon.3
#include <lcd.c>
float kc;
int16 k,kt,v,d,i,dem,star;
void hienthi();
void di_thang();
void queo_trai();
void queo_phai();
void lui_20();

void queo_trai()
{ lcd_gotoxy(1,1);
lcd_putc("dang queo trai");
lcd_gotoxy(14,1);
lcd_putc("ROBOT TU HANH");
delay_ms(30);
set_tris_c(0x00);//tat srf
dxungt=0;
dxungp=1;
tr=1;
ll=tl=lr=0;
set_pwm1_duty(150);
delay_ms(1000);
while(d<9)
{kt=d;
dxungt=1;
dxungp=0;
tl=ll=tr=0;
lr=1;
set_pwm1_duty(150);
while(d==kt)
{queo_phai();
}}
while((d>=9)&(d<=11))
{
di_thang();
}}

void queo_phai()
{
lcd_gotoxy(1,1); ///improper use of a function identifier
lcd_putc("dang queo phai");
lcd_gotoxy(14,1);
lcd_putc("ROBOT TU HANH");
delay_ms(30);
set_tris_c(0x00);
dxungt=1;
dxungp=0;
lr=ll=tr=0; //re phai goc d
tl=1;
set_pwm1_duty (150);
delay_ms(1000);
while(d<9)
{kt=d;
dxungt=0;
dxungp=1;
ll=1;
tl=tr=lr=0;
set_pwm1_duty (150);
while(d==kt);
{delay_ms(2000);
lui_20();}}
while((d>=9)&(d<=11))/
{di_thang();}}

void lui_20()
{ tl=tr=0;
ll=lr=1;
set_pwm1_duty (150);
while(d==6)
{delay_ms(2000);
queo_trai();}}

void main()
{
set_tris_c(0b00000100);
set_tris_b(0b11110001);
set_tris_d(0x00);
enable_interrupts(int_ccp1);
enable_interrupts(global);
setup_ccp1(CCP_CAPTURE_RE);
enable_interrupts(global);
setup_timer_1(T1_INTERNAL);
setup_ccp2(CCP_PWM);
enable_interrupts(int_RB);
ext_int_edge(H_to_L);
set_timer1(0);
LCD_init();
while(1)

{
If(kc>=35)
{di_thang();}
else if (kc<35)
{ delay_ms(1000);
queo_trai();}}}