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

Circuit:

Program:

#include
#define F_CPU 16000000L
#include
#include "avr/interrupt.h"
#define lcdport PORTC //PORTC AS LCD, MACRO
#define rs_high() PORTD |= (1<<6); //D6 logical high
#define rs_low() PORTD &= ~(1<<6); //D6 logical low
#define en_high() PORTD |= (1<<5); //D5 logical high
#define en_low() PORTD &= ~(1<<5); //D5 logical low
#define direction (PIND & (1<<1))
#define power_button (PIND & (1<<4))
#define speed (PIND & (1<<2))
unsigned char var;

void lcd_cmd (unsigned char cmd)
{
lcdport=cmd;
rs_low(); //command register selected
en_high();
_delay_ms(1);
en_low();
}
void lcd_data (unsigned char data)
{
lcdport=data;
rs_high(); //data register selected
en_high();
_delay_ms(1);
en_low();
}
void lcd_init()
{
lcd_cmd(0x38); //5*7 matrix
_delay_ms(5);
lcd_cmd(0x02); //return home
_delay_ms(5);
lcd_cmd(0x01);//clear screen
_delay_ms(5);
lcd_cmd(0x0c);
_delay_ms(5);
lcd_cmd(0x06);
_delay_ms(5);
lcd_cmd(0x80);//first line
_delay_ms(5);
}
void cursor_pos(char x, char y)//x-row,y-col
{
if((x<1||x>2)||(y<1||y>16))//any typo mistakes
{
x=1;
y=1;
}
if (x==1) //0x80 -1,1 1,2-0x81 1,3-0x82.....
{
lcd_cmd(0x7F+y);//7F+2
}
else //0xC0
{
lcd_cmd(0xBF+y);//BF+5=C4
}
}

void lcd_out(char x, char y, char *str)
{
cursor_pos(x,y);//2,5
while(*str)
{
lcd_data(*str);
str++;
}
}

int main(void)
{
/* Replace with your application code */
DDRC = 0xFF;
DDRB = 0xFF;
PORTB = 0xFF;
DDRA |= (1<<0) | (1<<1);
DDRD &=~ (1<<4);
DDRD &=~ (1<<1);
DDRD |= (1<<5)|(1<<6);
PORTD |= (1<<1);// to enable pull up for direction button
PORTD |= (1<<4);// to enable pull up for power button
PORTD |= (1<<3); // to enable pull up for interrupt
sei();
GICR |= (1<<7);
var = 64;
TCCR0 = 0x64;
MCUCR = 0x80;
lcd_init(); //6 commands for lcd initialisation

while(1)
{
while(power_button == 0)
{
if(direction == 0)
{
PORTA = 0x01;
lcd_out(1,1,"Motor running");
_delay_ms(5);
lcd_out(2,1,"in Clockwise");
}
else
{
PORTA = 0x02;
lcd_out(1,1,"Motor running in");
_delay_ms(5);
lcd_out(2,1,"Anti-clockwise");
}
OCR0 = var;
}
PORTA = 0x00;
lcd_out(1,1,"Motor is OFF");
}
}

ISR(INT1_vect)
{
var = var + 25;
}

Output: