// Lcd pinout settings
sbit LCD_RS at RB2_bit;
sbit LCD_EN at RB3_bit;
sbit LCD_D7 at RB7_bit;
sbit LCD_D6 at RB6_bit;
sbit LCD_D5 at RB5_bit;
sbit LCD_D4 at RB4_bit;

// Pin direction
sbit LCD_RS_Direction at TRISB2_bit;
sbit LCD_EN_Direction at TRISB3_bit;
sbit LCD_D7_Direction at TRISB7_bit;
sbit LCD_D6_Direction at TRISB6_bit;
sbit LCD_D5_Direction at TRISB5_bit;
sbit LCD_D4_Direction at TRISB4_bit;

sbit measuring_switch     at RB6_bit;
sbit measuring_switch_dir at TRISB6_bit;

 sbit HCSR04_Trigger at RC7_bit;
 sbit HCSR04_Echo at RC6_bit;
 sbit HCSR04_Trigger_Direction  at TRISC7_bit;
 sbit HCSR04_Echo_Direction   at TRISC6_bit;

/ Lcd pinout settings
sbit LCD_RS at RB4_bit;
sbit LCD_EN at RB5_bit;
sbit LCD_D7 at RB3_bit;
sbit LCD_D6 at RB2_bit;
sbit LCD_D5 at RB1_bit;
sbit LCD_D4 at RB0_bit;

// Pin direction
sbit LCD_RS_Direction at TRISB4_bit;
sbit LCD_EN_Direction at TRISB5_bit;
sbit LCD_D7_Direction at TRISB3_bit;
sbit LCD_D6_Direction at TRISB2_bit;
sbit LCD_D5_Direction at TRISB1_bit;
sbit LCD_D4_Direction at TRISB0_bit;

init_micro();

void init_micro()
{
  adcon1=0x0F;
  cmcon=7 ;
  OSCCON=0x72;
  HCSR04_Init(8,2);
  measuring_switch_dir=1;// measuring_switch is input
  Lcd_Init();
  lcd_cmd(_lcd_cursor_off);
  lcd_out(1,1,"Welcome");
  delay_ms(2000);
  lcd_cmd(1);

}

  HCSR04_Init(8,2);

Lcd_Init();

  lcd_cmd(_lcd_cursor_off);

  lcd_out(1,1,"Welcome");

delay_ms(2000);
  lcd_cmd(1);

if(only_display_one==1)// this mean display message only one
                       {
                        lcd_out(1,1,"Press Button" );
                        only_display_one=0;
                       }

if(measuring_switch==0 )//Now press switch but must be srart=0 ;
                      {
                       LCD_cmd(1);
                       lcd_out(1,1,"WAIT PLEASE");
                       delay_ms(20);// to remove debounce
                       while(measuring_switch==0);
                       delay_ms(20); //to remove debounce
                       if(distance !=0xFFFF){
                                             distance= HCSR04_Read() *10 ;// using 10   //For the purpose of the display values accurately
                                             // note function  HCSR04_Read() return distance measuring in mm unit
                                             // this mean if using real value for distance must be divide by 100 the result in cm
                                             distance_display(2);

                                            }
                         else distance_display(1);
                       }

LCD_cmd(1);
                       lcd_out(1,1,"WAIT PLEASE");

delay_ms(20);// to remove debounce
                       while(measuring_switch==0);
                       delay_ms(20); //to remove debounce

while(measuring_switch==0)

distance= HCSR04_Read();

if( distance !=0xFFFF){
                                                distance=distance*10;
                                                // using 10   //For the purpose of the display values accurately
                                             // note function  HCSR04_Read() return distance measuring in mm unit
                                             // this mean if using real value for distance must be divide by 100 the result in cm
                                             distance_display(2);

                                            }

distance_display(2);

 else distance_display(1);

void distance_display(char state)
{
 lcd_cmd(1);
 if(state==1)lcd_out(1,1,"NOT OBJECT DETE.");
 else if(state==2)
      {
       lcd_out(1,1,"DIST=");
       // eample distance =123.45 now cancel . then distance=12345
       txt[0]=(distance/10000 )+48; // 12345/10000=1.2345    =1
       txt[1]=(distance/1000)%10 +48;//12.345   =12       %10=2
       txt[2]=(distance/100)%10 +48;//123.45  =123        %10=3
       txt[4]=(distance/10 )%10 +48;//1234.5  =1234       %10=4
       txt[5]=distance%10 +48;//           %10 from distance =5
       lcd_out_cp(txt);
      }
 only_display_one=1;
 delay_ms(1000);// wait for see distance in display
}

if(state==1)lcd_out(1,1,"NOT OBJECT DETE.");

char *txt="000.00cm";

lcd_out(1,1,"DIST=");
       // eample distance =123.45 now cancel . then distance=12345
       txt[0]=(distance/10000 )+48; // 12345/10000=1.2345    =1
       txt[1]=(distance/1000)%10 +48;//12.345   =12       %10=2
       txt[2]=(distance/100)%10 +48;//123.45  =123        %10=3
       txt[4]=(distance/10 )%10 +48;//1234.5  =1234       %10=4
       txt[5]=distance%10 +48;//           %10 from distance =5
       lcd_out_cp(txt);

delay_ms(1000);