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

code:

#include
#define F_CPU 16000000ul
#include
#include
#include
#include

#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< lcd_command_port|= (1< _delay_ms(1);
lcd_command_port&=~(1< _delay_ms(2);

}
void lcd_char(char char_data)
{
lcd_data_port= char_data;
lcd_command_port&=~(1< lcd_command_port|=((1< _delay_ms(1);
lcd_command_port&=~(1< _delay_ms(1);
}
void lcd_init(void)
{
lcd_command_dir|= (1< 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;

while(1)
{
PORTA |= (1<< trigger_pin);
_delay_ms(10);
PORTA &=(~(1<< trigger_pin));

TCNT1 = 0;
TCCR1B = 0x41;
TIFR = 1< TIFR = 1<

while ((TIFR & (1< TCNT1 = 0;
TCCR1B = 0x01;
TIFR = 1< TIFR = 1< 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);
}

}

code output:

circuit output: