Project 2 - Measuring distance of an object using ultrasonic sensor (HC-SR04)

In this project, the implementation of code for “Measuring distance of an object using ultrasonic distance sensor (HC-SR04)

* project2.c
 *
 * Created: 25-10-2022 19:59:12
 * Author : ANAND VARGAONKAR
 */ 

#include <avr/io.h>
#define F_CPU 16000000ul
#include <util/delay.h>
#include <avr/interrupt.h>
#include <string.h>
#include <stdlib.h>


#define lcd_data_dir DDRD
#define lcd_command_dir DDRC
#define lcd_data_port PORTD
#define lcd_command_port PORTC
#define EN PC2
#define RW PC3
#define RS PC4

void lcd_command(char);
void lcd_char(char);
void lcd_init(void);
void lcd_string(char*);
void lcd_string_xy (char,char,char*);

void lcd_command (char cmd)
{
	lcd_data_port = cmd;
	lcd_command_port&=~((1<<RS)|(1<<RW));
	lcd_command_port|= (1<<EN);
	_delay_ms(1);
	lcd_command_port&=~(1<<EN);
	_delay_ms(2);
	
}
void lcd_char(char char_data)
{
	lcd_data_port= char_data;
	lcd_command_port&=~(1<<RW);
	lcd_command_port|=((1<<EN)|(1<<RS));
	_delay_ms(1);
	lcd_command_port&=~(1<<EN);
	_delay_ms(1);
}
void lcd_init(void)
{
	lcd_command_dir|= (1<<RS)|(1<<RW)|(1<<EN);
	lcd_data_dir = 0xff;
	
	_delay_ms(20);
	lcd_command(0x38);
	lcd_command(0x0C);
	lcd_command(0x06);
	lcd_command(0x01);
	lcd_command(0x80);
}
void lcd_string (char *str)
{
	

int i;
for(i=0; str[i]!=0; i++)
{
	lcd_char (str[i]);
}

}
void lcd_string_xy(char row,char pos,char *str)
{
	if (row == 1)
	lcd_command((pos & 0x0f)|0x80);
	else if (row == 2)
	lcd_command((pos & 0x0f)|(0xC0));
	lcd_string(str);
}
#define trigger_pin PA0
int TimerOverFlow = 0;
ISR(TIMER1_OVF_vect)
{
	TimerOverFlow++;
}


int main(void)
{
	char string[10];
	long count;
	double distance;
	
	DDRA = 0x01;
	PORTB = 0xff;
	
	lcd_init();
	lcd_string_xy(1,0,"ultrasonic");
	
	sei();
	TIMSK = (1<< TOIE1);
	TCCR1A = 0;
    /* Replace with your application code */
    while (1) 
    {
		PORTA |= (1<< trigger_pin);
		_delay_ms(10);
		PORTA &=(~(1<< trigger_pin));
		
		TCNT1 = 0;
		TCCR1B = 0x41;
		TIFR = 1<<ICF1;
		TIFR = 1<<TOV1;
		
		
		while ((TIFR & (1<<ICF1)) == 0);
		TCNT1 = 0;
		TCCR1B = 0x01;
		TIFR = 1<<ICF1;
		TIFR = 1<<TOV1;
		TimerOverFlow = 0;
		
		while ((TIFR & (1<< ICF1))== 0);
		count = ICR1 +(65535 * TimerOverFlow);
		distance = (double)count/466.47;
		
		dtostrf(distance,2,2,string);
		strcat(string,"cm");
		lcd_string_xy(2,0,"dist= ");
		lcd_string_xy(2,7,string);
		_delay_ms(200);
	}
}
		

output -

Arrange the arranment as above fig.

The program is load in avr microcontroller.

simulation is run .

output sohws in above images.