Project 2 - Measuring distance of an object using ultrasonic sensor (HC-SR04)
#define F_CPU 8000000UL
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.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); /* High to Low transition on EN (Enable) */
_delay_us(1);
LCD_Command_Port &= ~(1<<EN);
_delay_ms(3);
}
void LCD_Char (char char_data)
{
LCD_Data_Port = char_data;
LCD_Command_Port &= ~(1<<RW); /* Make RW LOW (Write) */
LCD_Command_Port |= (1<<EN)|(1<<RS); /* Make RS HIGH (data reg.) and High to Low transition on EN (Enable) */
_delay_us(1);
LCD_Command_Port &= ~(1<<EN);
_delay_ms(1);
}
void LCD_Init (void)
{
LCD_Command_Dir |= (1<<RS)|(1<<RW)|(1<<EN); /* Make LCD command port direction as o/p */
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++; /* Increment Timer Overflow count */
}
int main(void)
{
char string[10];
long count;
double distance;
DDRA = 0x01; /* Make trigger pin as output */
PORTB = 0xFF; /* Turn on Pull-up */
LCD_Init();
LCD_String_xy(1, 0, "Ultrasonic");
sei(); /* Enable global interrupt */
TIMSK = (1 << TOIE1); /* Enable Timer1 overflow interrupts */
TCCR1A = 0; /* Set all bit to zero Normal operation */
while(1)
{
/* Give 10us trigger pulse on trig. pin to HC-SR04 */
PORTA |= (1 << Trigger_pin);
_delay_us(10);
PORTA &= (~(1 << Trigger_pin));
TCNT1 = 0; /* Clear Timer counter */
TCCR1B = 0x41; /* Capture on rising edge, No prescaler*/
TIFR = 1<<ICF1; /* Clear ICP flag (Input Capture flag) */
TIFR = 1<<TOV1; /* Clear Timer Overflow flag */
/*Calculate width of Echo by Input Capture (ICP) */
while ((TIFR & (1 << ICF1)) == 0);/* Wait for rising edge */
TCNT1 = 0; /* Clear Timer counter */
TCCR1B = 0x01; /* Capture on falling edge, No prescaler */
TIFR = 1<<ICF1; /* Clear ICP flag (Input Capture flag) */
TIFR = 1<<TOV1; /* Clear Timer Overflow flag */
TimerOverflow = 0;/* Clear Timer overflow count */
while ((TIFR & (1 << ICF1)) == 0);/* Wait for falling edge */
count = ICR1 + (65535 * TimerOverflow); /* Take count */
/* 8MHz Timer freq, sound speed =343 m/s */
distance = (double)count / 466.47;
dtostrf(distance, 2, 2, string);/* distance to string */
strcat(string, " cm "); /* Concat unit i.e.cm */
LCD_String_xy(2, 0, "Dist = ");
LCD_String_xy(2, 7, string); /* Print distance */
_delay_ms(200);
}
}
