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

OFFLINE BATCH

#include <avr/io.h> //we are using I/O registers of Avr
#define F_CPU 16000000ul // define cpu frequency
#include "avr/interrupt.h" // we are using external interrupt pin
#include <util/delay.h> // delay function
#define sw_dir (PIND&(1<<1)) // d1 pin is declared as push button for direction control
#define sw_spd (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 dedicated for lcd data
#define RS_high PORTD|=(1<<5) // d5 pin is used for RS
#define RS_low PORTD&=~(1<<5)
#define EN_high PORTD|=(1<<6) //d6 pin is used for EN
#define EN_low PORTD&=~(1<<6)
unsigned char i; // variable declared to increase the duty cycle in PWM

void lcd_cmd(char cmd)
{

lcd_port=(cmd&0xf0); // Masking 4 bits for 4bit LCD mode
RS_low;
EN_low;
_delay_ms(1);
EN_high;
lcd_port=((cmd<<4)&(0xf0));
RS_low;
EN_low;
_delay_ms(1);
EN_high;

}

void lcd_data(char data)
{
lcd_port=(data &0xf0); // // Masking 4 bits for 4bit LCD mode
RS_high;
EN_low;
_delay_ms(1);
EN_high;
lcd_port=((data<<4)&(0xf0));
RS_high;
EN_low;
_delay_ms(1);
EN_high;
}

void lcd_init()

{

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

void cursorpos(char x, char y)
{

if( (x < 1 || x > 2) || (y > 16 || y < 1) )
{
x = 1;
y = 1;
}

if(x == 1)
{
lcd_cmd(0x7F+y);
}
else
{
lcd_cmd(0xBF+y);
}
}

void lcd_out(char x,char y,char *str)
{
cursorpos(x,y);
while(*str)
{
lcd_data(*str);
str++;
}
}

int main()
{
DDRB=0xFF; // Declaring all B pins as outputs
DDRA|=((1<<0)|(1<<1)); // Declaring A0 A1 pin as outputs
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 output
DDRC&=~(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 with 25% duty cycle
TCCR0=0X61; // non inverting mode,PWM phase correct mode,NO prescaler
GICR=(1<<INT0); // using INT0 for interrupt
MCUCR=0x02; //make interrupt negative edge triggered
sei(); //Enable global interrupt
lcd_init();

while(1)
{
while(pw==0)
{
if (sw_dir==0)
{
PORTA=0b0000001;
lcd_out(1,1,"Motor is Running");
lcd_out(2,3, "clockwise");
}
else
{

PORTA=0b00000010;
lcd_out(1,1,"Motor is Running");
lcd_out(2,3, "anticlockwise");
}
OCR0=i;
}
PORTA=0X00;
lcd_out(1,1,"Motor is OFF");
lcd_out(2,3, "CAUTION !!!!");
}
}
ISR(INT0_vect)

{
i=i+20;
}