porklib: Simple library for programming Arduino in C
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avr-lib/examples/sonar_to_lcd.c

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//
// Basic Sonar example
//
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <stdint.h>
#include <stdbool.h>
#include "lib/arduino_pins.h"
#include "lib/sonar.h"
#include "lib/stream.h"
#include "lib/lcd.h"
// Sonar interrupts
ISR(PCINT0_vect)
{
if (sonar_handle_pci()) return;
}
ISR(PCINT1_vect, ISR_ALIASOF(PCINT0_vect));
ISR(PCINT2_vect, ISR_ALIASOF(PCINT0_vect));
ISR(TIMER1_OVF_vect)
{
if (sonar_handle_t1ovf()) return;
}
void main()
{
lcd_init();
// Init sonar
sonar_t so;
sonar_init(&so, A0, A1);
sei();
while(1) {
// Measure
sonar_start(&so);
while(sonar_busy);
int16_t res = sonar_result;
// Print
lcd_clear();
if (sonar_result < 0) {
put_str(lcd, "---");
} else {
put_i16f(lcd, res, 1); // one decimal place
put_str(lcd, " cm");
}
// a delay...
_delay_ms(200);
}
}