#include <mega16.h>
#include <delay.h>
#include <stdio.h>
#include <alcd.h>
char text[32];
unsigned int cnt;    
int dis;
void main(void)
{
PORTA=0x00;
DDRA=0x00;

PORTB=0x00;
DDRB=0xFF;

PORTC=0x00;
DDRC=0x00;

PORTD=0x00;
DDRD=0x00;

TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;

TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

ASSR=0x00;
TCCR2=0x02;
TCNT2=0x00;
OCR2=0x00;

MCUCR=0x00;
MCUCSR=0x00;

TIMSK=0x00;

UCSRB=0x00;

ACSR=0x80;
SFIOR=0x00;

ADCSRA=0x00;

SPCR=0x00;

TWCR=0x00;

// RS - PORTB Bit 0
// RD - PORTB Bit 1
// EN - PORTB Bit 2
// D4 - PORTB Bit 4
// D5 - PORTB Bit 5
// D6 - PORTB Bit 6
// D7 - PORTB Bit 7
lcd_init(16);

while (1)
      {
        DDRC.0=1;
        PORTC.0=1;
        delay_us(20);
        PORTC.0=0;
        DDRC.0=0;
        while (PINC.0==0);
        TCNT2=0;
        cnt=0;
        while (PINC.0==1)
                {
                if (TCNT2>250)
                    {
                    TCNT2=0;
                    cnt++;
                    }
                }
        dis=( cnt*255 + TCNT2 ) /58 ;
        lcd_gotoxy(0,0);
        sprintf(text,"distance=%3d",dis);
        lcd_puts(text);

        delay_ms(30);
      }
}