//Código lcd.

#include "lcd.h"

void Lcd_Port(char a)

(a & 1) ? (D4 = 1) : (D4 = 0);

(a & 2) ? (D5 = 1) : (D5 = 0);

(a & 4) ? (D6 = 1) : (D6 = 0);

(a & 8) ? (D7 = 1) : (D7 = 0);

void Lcd_Cmd(char a)

RS = 0;

Lcd_Port(a);

EN = 1;

__delay_ms(4);

EN = 0;

void Lcd_Clear(void)

Lcd_Cmd(0);

Lcd_Cmd(1);

void Lcd_Set_Cursor(char a, char b)

char temp, z, y;
if (a == 1)

temp = 0x80 + b - 1;

z = temp >> 4;

y = temp & 0x0F;

Lcd_Cmd(z);

Lcd_Cmd(y);

else if (a == 2)

temp = 0xC0 + b - 1;

z = temp >> 4;

y = temp & 0x0F;

Lcd_Cmd(z);

Lcd_Cmd(y);

else if (a == 3)

temp = 0x94 + b - 1;

z = temp >> 4;

y = temp & 0x0F;

Lcd_Cmd(z);

Lcd_Cmd(y);

else if (a == 4)

temp = 0xD4 + b - 1;

z = temp >> 4;

y = temp & 0x0F;

Lcd_Cmd(y);

void Lcd_Init(void)

RS_DIR = 0;

EN_DIR = 0;

D4_DIR = 0;

D5_DIR = 0;

D6_DIR = 0;

D7_DIR = 0;

Lcd_Port(0x00);

__delay_ms(20);

Lcd_Cmd(0x03);

__delay_ms(5);

Lcd_Cmd(0x03);

__delay_ms(11);

Lcd_Cmd(0x03);

Lcd_Cmd(0x02);

Lcd_Cmd(0x02);

Lcd_Cmd(0x08);

Lcd_Cmd(0x00);

Lcd_Cmd(0x0C);

Lcd_Cmd(0x00);

Lcd_Cmd(0x06);

Lcd_Clear();

}
void Lcd_Write_Char(char a)

char temp, y;

temp = a & 0x0F;

y = a & 0xF0;

RS = 1;

Lcd_Port(y >> 4);

EN = 1;

__delay_us(40);

EN = 0;

Lcd_Port(temp);

EN = 1;

__delay_us(40);

EN = 0;

void Lcd_Write_String(const char *a)

int i;

for (i = 0; a[i] != '\0'; i++)

Lcd_Write_Char(a[i]);

void Lcd_Shift_Right(void)

Lcd_Cmd(0x01);

Lcd_Cmd(0x0C);

}
void Lcd_Shift_Left(void)

Lcd_Cmd(0x01);

Lcd_Cmd(0x08);

void Lcd_Blink(void)

Lcd_Cmd(0x00);

Lcd_Cmd(0x0F);

void Lcd_NoBlink(void)

Lcd_Cmd(0x00);

Lcd_Cmd(0x0C);

#ifdef USE_CGRAM_LCD

void Lcd_CGRAM_CreateChar(char add, const char* chardata)

switch (add)

case 0:

for (char i = 0; i <= 7; i++)

Lcd_Write_Char(chardata[i]);

break;

case 1:
 for (char i = 8; i <= 15; i++)

Lcd_Write_Char(chardata[i - 8]);

break;

case 2:

for (char i = 16; i <= 23; i++)

Lcd_Write_Char(chardata[i - 16]);

break;

case 3:

for (char i = 24; i <= 31; i++)

Lcd_Write_Char(chardata[i - 24]);

break;

case 4:

for (char i = 32; i <= 39; i++)

Lcd_Write_Char(chardata[i - 32]);

break;

case 5:

for (char i = 40; i <= 47; i++)

Lcd_Write_Char(chardata[i - 40]);

break;

case 6:

for (char i = 48; i <= 55; i++)

Lcd_Write_Char(chardata[i - 48]);

break;

case 7:

for (char i = 56; i <= 63; i++)

Lcd_Write_Char(chardata[i - 56]);

break;

}
void Lcd_CGRAM_Init(void)

Lcd_Cmd(0x04);

Lcd_Cmd(0x00);

void Lcd_CGRAM_Close(void)

Lcd_Cmd(0x00);

Lcd_Cmd(0x02);

#endif

//Código lcd.h

#include <xc.h>

#define _XTAL_FREQ 20000000

//#define USE_CGRAM_LCD

#define RS LATDbits.LATD2

#define EN LATDbits.LATD3

#define D4 LATDbits.LATD4

#define D5 LATDbits.LATD5

#define D6 LATDbits.LATD6

#define D7 LATDbits.LATD7

#define RS_DIR TRISDbits.TRISD2

#define EN_DIR TRISDbits.TRISD3

#define D4_DIR TRISDbits.TRISD4

#define D6_DIR TRISDbits.TRISD6

#define D7_DIR TRISDbits.TRISD7

void Lcd_Port(char a);

void Lcd_Cmd(char a);

void Lcd_Clear(void);

void Lcd_Set_Cursor(char a, char b);

void Lcd_Init(void);

void Lcd_Write_Char(char a);

void Lcd_Write_String(const char *a);

void Lcd_Shift_Right(void);

void Lcd_Shift_Left(void);

void Lcd_Blink(void);

void Lcd_NoBlink(void);

#ifdef USE_CGRAM_LCD

void Lcd_CGRAM_CreateChar(char add, const char* chardata);

void Lcd_CGRAM_Init(void);

void Lcd_CGRAM_Close(void);

#endif

//código hc-sr04.h

#ifndef HC_SR04_H

#define HC_SR04_H

#include <xc.h>

#define _XTAL_FREQ 48000000

#define ECHO_DIR TRISBbits.TRISB3

#define TRIG_PIN LATBbits.LATB2

#define ECHO_PIN PORTBbits.RB3

void HCSR04_Init(void);

float HCSR04_Get_Distance(void);

#endif // HC_SR04_H

//código hc-sr04.c

#include "hc-sr04.h"

void HCSR04_Init(void)

TRIG_DIR = 0; // TRIG_PIN como salida

ECHO_DIR = 1; // ECHO_PIN como entrada

TRIG_PIN = 0; // TRIG_PIN inicial en 0

T1CON = 0x30; // Configuración del Timer1: prescaler 1:8, FOSC/4

T1CONbits.TMR1ON = 1; // Encender Timer1

float HCSR04_Get_Distance(void)

unsigned int timer_high;

unsigned int timer_low;

// Generar pulso en TRIG_PIN

TRIG_PIN = 1;
 __delay_us(10); // Pulso de al menos 10 us

TRIG_PIN = 0;

// Esperar que ECHO_PIN se ponga en alto

while(ECHO_PIN == 0);

// Reiniciar Timer1

TMR1H = 0x00;

TMR1L = 0x00;

// Esperar que ECHO_PIN se ponga en bajo

while(ECHO_PIN == 1);

// Leer valores del temporizador

timer_low = TMR1L;

timer_high = TMR1H;

// Calcular la distancia

float time = ((timer_high << 8) + timer_low) * 0.5; // Tiempo en us

float distance = (time / 58.82); // Distancia en cm

return distance;

//Código float_str.h

#ifndef FLOAT_STR_H

#define FLOAT_STR_H

void floattostr(float numero, unsigned char *cadena, char decimales);

#endif // FLOAT_STR_H
//Código float_str.c

#include "float_str.h"

void floattostr(float numero, unsigned char *cadena, char decimales)

int largo_entera = 0, largo_n = decimales + 1, cont_for, tempo_int;

double tempo_float;

if (numero < 0)

*cadena++ = '-';

numero = -numero;

if (numero > 0.0)

while (numero < 1.0)

numero *= 10.0;

largo_entera--;

while (numero >= 10.0)

numero /= 10.0;

largo_entera++;

}
largo_n += largo_entera;

for (tempo_float = 1, cont_for = 1; cont_for < largo_n; cont_for++)

tempo_float /= 10.0;

numero += tempo_float / 2.0;

if (numero >= 10.0)

numero = 1.0;

largo_entera++;

if (largo_entera < 0)

*cadena++ = '0';

*cadena++ = '.';

if (largo_n < 0)

largo_entera -= largo_n;

for (cont_for = -1; cont_for > largo_entera; cont_for--)

*cadena++ = '0';
 }

for (cont_for = 0; cont_for < largo_n; cont_for++)

tempo_int = numero;

*cadena++ = tempo_int + '0';

if (cont_for == largo_entera)

*cadena++ = '.';

numero -= tempo_int;

numero *= 10.0;

*cadena = '\0';

//Código main.c

#pragma config OSC = HS, OSCS = OFF // Configuración del oscilador

#pragma config PWRT = OFF, BOR = OFF, BORV = 20

#pragma config WDT = OFF, WDTPS = 32768

#pragma config CCP2MX = PORTC // CCP2 MUX bit: CCP2 input/output is multiplexed with
RC1

#pragma config PBADEN = OFF // PORTB A/D Enable bit: PORTB<4:0> pins are configured
as digital I/O on Reset

#pragma config LVP = OFF // Single-Supply ICSP Disable bit: Single-Supply ICSP disabled
#pragma config DEBUG = OFF // Background Debugger Enable bit: Background debugger
disabled, RB6 and RB7 are general purpose I/O pins

#define _XTAL_FREQ 20000000 // Frecuencia del oscilador de 20MHz

#include <xc.h>

#include "lcd.h" // Librería para el control de la pantalla LCD

#include "hc_sr04.h" // Librería del sensor ultrasónico HC-SR04

#include "float_str.h" // Librería para convertir float a string

char buffer[20];

void main()

ADCON1bits.PCFG = 0x0F; // Coloca todos los pines como digitales

TRISBbits.RB0 = 0;

TRISBbits.RB1 = 0;

LATBbits.LB0 = 0;

LATBbits.LB1 = 0;

HCSR04_Init(); // Inicializa el sensor ultrasónico HC-SR04

Lcd_Init(); // Inicializa la pantalla LCD

while(1)

float distancia = HCSR04_Get_Distance(); // Obtiene la distancia

Lcd_Clear();

Lcd_Set_Cursor(1,2);

Lcd_Write_String("Sensor HC-SR04");

Lcd_Set_Cursor(2,1);
 floattostr(distancia, buffer, 2); // Convierte la variable float a string

Lcd_Write_String("Dist: ");

Lcd_Write_String(buffer); // Imprime el valor de la distancia

Lcd_Write_String(" cm");

if(distancia < 10)

LATBbits.LB0 = 0;

LATBbits.LB1 = 1;

else

LATBbits.LB0 = 1;

LATBbits.LB1 = 0;

__delay_ms(200);