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

#include

#define F_CPU 16000000L

#include "avr/interrupt.h"

#include

#define sw_dir (PIND & (1<<1))

#define sw_dspd (PIND & (1<<2))

#define pw (PINC & (1<<3))

#define lcd_port PORTB

#define RS_high PORTD |= (1<<5)

#define RS_low PORTD &=~ (1<<5)

#define EN_high PORTD |= (1<<6)

#define EN_low PORTD &=~ (1<<6)

unsigned char i;

void lcd_cmd(char cmd)

{

lcd_port = (cmd & 0xf0);

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);

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(0x28);

_delay_ms(5);

lcd_cmd(0x02);

_delay_ms(5);

lcd_cmd(0x01);

_delay_ms(5);

lcd_cmd(0x0C);

_delay_ms(5);

lcd_cmd(0x06);

_delay_ms(5);

lcd_cmd(0x80);

_delay_ms(5);

}

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 //(x==2)

{

lcd_cmd(0xBF + y);
}

}

void lcd_out(char x, char y, char *str)

{

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;

ADCSRA |= (1<<6);

while((ADCSRA & 0x40) != 0);

a= ADCL;

result = ADCH;

result = result<<8;

result = result | a ;

return result;

}

int main(void)

{

DDRB = 0XFF;

DDRA |= ((1<<0)| (1<<1));

DDRD &=~ (1<<1);

DDRD &=~ (1<<2);
DDRD |= (1<<5);

DDRD |= (1<<6);

DDRC &=~ (1<<3);

PORTD |= (1<<2);

PORTC |= (1<<3);

i=64;

TCCR0=0X61;

GICR=(1<

MCUCR=0X02;

sei();

lcd_init();

while (1)

{

while(pw==0)

{

if(sw_dir == 0)

{

PORTA = 0b00000001;

lcd_out(1,1,"Motor ON- CL ");

}

else

{

PORTA = 0b00000010;

lcd_out(1,1,"Motor ON- ACL");

}

OCR0 = i;

}

PORTA = 0x00;

lcd_out(1,1,"Motor is TURNOFF");

}

}

ISR(INT0_vect)

{

i=i+20;

}