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

/*
* project1.c
*/
#include
#define F_CPU 16000000L // define the crystal frequency
#include "avr/interrupt.h" // we are using external interrupt pin
#include // delay function purpose
#define sw_dir (PIND & (1<<1))
#define sw_dspd (PIND & (1<<2))
#define pw (PINC & (1<<3))
#define lcd_port PORTB //PORTB pins are for LCD data
#define RS_high PORTD |= (1<<5) // d5 pin as Register Select(RS)
#define RS_low PORTD &=~ (1<<5) // d5 pin as RS
#define EN_high PORTD |= (1<<6) // d6 pin as Enable
#define EN_low PORTD &=~ (1<<6) // d6 pin as En.
unsigned char i;

void lcd_cmd(char cmd) //command for lCD display
{
lcd_port = (cmd & 0xf0); //4 bits 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 1ms disable the LCD
EN_high; //enable the LCD
}

void lcd_data (char data) //send the data to LCD
{
lcd_port = (data & 0xf0); //4 bits for 4 bit LCD mode
RS_high; //access data register
EN_low;
_delay_ms(1);
EN_high;
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 1st 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 we r using the 7F+y means we need to dtart from that column}
}
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 position we want to print
{
cursorpos(x,y);
while(*str)
{
lcd_data(*str);
str++;
}
}

int adc_read(char channel)
{
unsigned int a, result;
ADMUX = channel;
ADCSRA = 0X80;
ADCH = 0X00;
ADCL = 0x00; // showing the value 0
ADCSRA |= (1<<6); // to start the conversion 6 bit ADSC high
while((ADCSRA & 0x40) != 0);
a= ADCL;
result = ADCH;
result = result<<8;
result = result | a ; // we are 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 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;
GICR = (1< MCUCR=0X02; //make interrupt negative edge triggered
sei(); //Enable global interrupt
lcd_init(); //Initialize LCD

while (1)
{
while(pw==0) //continue till the push button is released.
{
if(sw_dir == 0) //if the direction control push button is released.
{
// 1 0 to respective 1A 2A pins to rotate in clockwise direction.
lcd_out(1,1,"Motor ON- CL "); //Running clock wise direction

}
else
{
lcd_out(1,1,"Motor ON- ACL");

}

}

lcd_out(1,1,"Motor is TURNOFF");
}
}
ISR(INT0_vect) //interrupt service routine
{
i=i+20; // as i increases the duty cycle also increases. i increases by 20 in each push//
// and the corresponding value is to be loaded into OCR0 in while loop//
}