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#include <inttypes.h>#include <avr/io.h>#include <avr/interrupt.h>#include "lcd.h"volatile uint8_t pcount;volatile uint16_t paverage;volatile uint16_t period;volatile uint8_t stat; ISR (INT0_vect){TCNT0 = 0;   // CLEAR TIMERstat = 1;   // rising edge detected int0 //}ISR (INT1_vect){if (stat == 1)  {  pcount++;   // count +1 //  paverage += TCNT0;   // counter total + counter //  stat = 0;   // falling edge detetected int1 //  if (pcount == 16)    {    period = paverage/16;   // average //    paverage = 0;   // reset @ 16 readings//    pcount = 0;   }  }} int main(void){uint8_t dtemp;DDRD = (1 << DDD7);   // Set PD7 as output //PORTD = 0X00;DDRB = 0xFF;   // Set Port B as output //PORTB = 0X00;TCCR2 = (1 << WGM20)|(1 << WGM21)|(1 << COM21)|(1 << CS20)|(1 << CS22);   // fast pwm, clk/128 //OCR2 = 2; // 2/255 duty cycle //MCUCR = (1 << ISC00)|(1 << ISC01)|(0 << ISC10)|(1 << ISC11);   // INT0 RISING EDGE + INT1 FALLING EDGE//GICR = (1 << INT0)|(1 << INT1);   // INT0/INT1 ACTIVATED //TCCR0 = (1 << CS00)|(1 << CS01);   // NORMAL COUNT & START & CLOCK/64 //lcd_init();   // LCD INIT //lcd_control(1,0,0);   // LCD INIT //sei();   // ENABLE INTERRUPTS //while (1)  {  lcd_goto(0x40);  print5 (pcount);   // PRINT COUNTER VALUE TO LCD //  dtemp = period * 0.436608;   // distance measure (inches) //  lcd_goto(0x00);                   print3 (period);   // PERIOD VALUE TO LCD //  lcd_goto(0x06);                   print3 (dtemp);   // DISTANCE VALUE TO LCD //  }}