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

Implement a system on the simulator for controlling a DC motor using L293 motor driver, monitor its status and print the running status of motor on the LCD Display.

/*
 * halflcd.c
 *
 * Created: 1/4/2023 2:06:05 PM
 * Author : kaiba
 */ 
 #include <avr/io.h> //we are using I/O registers of AVR
 #define F_CPU 16000000L // define the crystal frequency
 #include "avr/interrupt.h" // we are using external interrupt pin
 #include <util/delay.h> // delay function purpose
 #define sw_dir (PIND & (1<<1)) // d1 pin is declared as switch button for direction control.
 #define sw_dspd (PIND & (1<<2)) // d2 pin is declared as push button for speed control.
 #define pw (PINC & (1<<3)) // c3 is declared as switch 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<<6) // d6 pin is used for Enable
 #define EN_low PORTD &=~ (1<<6) // d6 pin is used for 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 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 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; //initializing i=64 because we are running the motor with 25% duty cycle.
	 TCCR0=0X61; //Non-Inverting mode, PWM phase correct mode,NO prescalar.
	 GICR=(1<<INT0); //using INT0 for interrupt
	 MCUCR=0X02; //make interrupt negative edge triggered
	 sei(); //Enable global interrupt
	 lcd_init(); //Initialize lcd

	 while (1)
	 {
		 while(pw==0)  //if switch is off
		 {
			 if(sw_dir == 0)  //if switch is off
			 {
				 PORTA = 0b00000001; // 1 0 to respective 1A 2A pins to rotate in clockwise direction.
				 lcd_out(1,1,"Motor Clock-wise "); //Running clock wise direction

			 }
			 else
			 {
				 PORTA = 0b00000010; // 1 0 to respective 1A 2A pins to rotate in Anti-Clockwise direction.
				 lcd_out(1,1,"Anti clock-wise ");

			 }
			 OCR0 = i; //i increases in ISR, the corresponding value is to be loaded into OCR0.

		 }

		 PORTA = 0x00; // 0 0 to 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 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//
 }