Project 1 - Controlling a DC motor using PWM and monitoring its Running status

#include
#define F_CPU 16000000L //define the crystal frequency
#define "avr/interrupt.h" //we are using external interrupt pin
#include //delay function purpose
#define se_dir (PIND & (1<<1)) //d1 pin is declared as push button for direction control
#define sw_dsdp (PIND & (1<<2))// d2 pin is declared as push button for speed control
#define pw(PINC & (1<<3)) //c3 is declared as push button for power ON/OFF

#define lcd_port PORTB //PORTB pins are for LCD data
#define RS_high PORTD |= (1<<5)//d5 pin is used for Register Select (RS)
#define RS_low PORTD &=~ (1<<5) //d5 pin is used for RS
#define EN_high PORTD |= (1<<5) //d6 pin is used for Enable
#define EN_low PORTB &=~ (1<<6) //d6 pin is used for En.
unsigned char i;

void lcd_cmd(char cmd) //command for lcd display
{
lcd_port = (cmd & 0xf0); //4bit for 4 bit lcd mode
RS_low;
EN_low;
_delay_ms(1); //after 1ms disable lcd
EN_high; //enable the lcd
lcd_port= ((cmd<<4) & (0xf0)); //lcd port
RS_low;
EN_low;
_delay_ms(1); //after lms disable lcd
EN_high; // enable the lcd

}
void lcd_data(char data) //send the data to lcd
{
lcd_port = (data & 0xf0); //4bit for 4 bit lcd mode
RS_high; //acecess data register
EN_low;
_delay_ms(1);
EN_high; //enable the lcd
lcd_port= ((data<<4) & (0xf0)); // 4 bits for 4 bit lcd mode
RS_high; //access data register
EN_low;
_delay_ms(1);
EN_high;

}

void lcd_init()
{
lcd_cmd(0x28); //used for 4 bit lcd mode
_delay_ms(5);
lcd_cmd(0x02); //return home
_delay_ms(5);
lcd_cmd(0x01); //clear screen
_delay_ms(5);
lcd_cmd(0x0C); //display on cursor off
_delay_ms(5);
lcd_cmd(0x06); //increment the display cursor
_delay_ms(5);
lcd_cmd(0x80); //force cursor to begin from 1 st line
_delay_ms(5);
}

void cursorpos(char x,char y)
{
if ((x<1 || x>2 || (y>16 || y<1))) //condition will checks the 2 rows and 16 columns
{
x=1; //x= row
y=1; //y= column
}
if(x==1)
{
lcd_cmd(0x7F+y); //{80-1=7F} for starting the 1st line hex decimal value (80) { y wwe r using the 7F+Y means we need to start from that}
}
else //(x==2)
{
lcd_cmd(0xBF + y); //{0C-1 = 0B} for starting the 2nd line, 2nd row

}
}
void lcd_out(char x,char y, char *str) //here we are checking which positon we want to print
{
cursorpos(x,y);
while(*str)
{
lcd_data(*str);
str++;
}
}
int adc_read(char channel) //we r configuring the adc value
{
unsigned int a, result;
ADMUX = channel; //here we r going to use which channel we need to select in mu x here using 2 bit
ADCSRA =0x80; //control & status register to enable the ad c conversion ,enable the interrupt flag ,ad c interrupt . ADEN=1
ADCH = 0x00; //showing the value 0 or clearing the ad c register
ADCL =0x00; //showing the value
ADCSRA |= (1<<6);//to start the conversion 6 bit ADSC high
while(ADCSRA & 0x40) !=0) // when the conversion become zero means conversion of adc (0x40 means interrupt pin)
a= ADCL;// dummy data type a and a is stored the adcl register (ADC0-ADC7)
result =ADCH; //Store the high value(ADC8-ADC9)
result = result<<8; //to get proper result or aligned value we ned to do left shift
result = result | a; //wwe r adding the ADCL+ ADCH to get the 16 bits
return result;
}
int main(void)
{
DDRB =0xFF; //Declaring all 8-pins as output
DDRA |= ((1<<0) | (1<<1)); //Declaring A0 &A1 pins as output
DDRD &=~ (1<<1); //Declaring D1 pin as input
DDRD &=~(1<<2); //Declaring D2 pin as input
DDRD |= (1<<5); //Declaring D5 pin as output
DDRD|=(1<<6); //Declaring D6 pin as input
DDRD &=~ (1<<3); //Declaring C3 pin as input
PORTD|=(1<<2); //Enabling internal pull up resistor for D2
PORTC|=(1<<3); //Enabling internal pull up resistor for D3
i=64; //initializing i=64 because we are running the motor the with 25% duty cycle.
TCCR0 =0x61; //Non-inverting mode,PWM phase correct mode, NO pre scaler's
GICR=(1< MCUCR=0x02; //make interrupt negative edge triggered
sei(); //Enable global interrupt
lcd_init(); //Initialize lcd
/* Replace with your application code*/
while(1)
{
while(pw==0) //continue till the push button is released.
{
if(sw_dir ==0) //if the direction control push button is released.
{
PORTA= 0b00000001; //1 0 to respective 1A 2A pins to rotate in clockwise direction.
lcd_out(1,1,"Running Motor ACL");
}
OCR0 = i; // i increase in ISR,the corresponding value is to be loaded into OCR0.
}

PORTA =0x00; //0 0to respective 1A 2A pins to stop rotation
lcd_out(1,1,"Motor is TURNOFF");
}
}
ISR(INT0_vect) //interrupt service routine
{
i= i+20; //as i i crease the duty cycle also increases. i increases by 20 in each push//
// and the corresponding value is to be loaded intoOCR0 in while loop//
}