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

Live batch preeti mam,

#include <util/delay.h> //delay function//
#define F_CPU 16000000 // define cpu frequency//
#include "avr/interrupt.h" // we are using external interrupt pin//

#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 // port b pins 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 bit 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 4 bit 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 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 pins 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 prescalars//
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) // continue till the power push button is released //
{
if (sw_dir==0) // if the direction control push button is released//
{
PORTA=0b00000001; // 1,0 to respective 1A 2A pins to rotate in clockwise direction//
lcd_out(1,1,"Motor is Running");
lcd_out(2,2,"clockwise");
}
else
{
PORTA=0b000010; // 0,1 to respective 1A 2A pins to rotate in anti clockwise direction//
lcd_out(1,1,"Motor is Running");
lcd_out(2,3,"anticlockwise");
}
OCR0=i; // As, 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 OFF ");
lcd_out (2,2, " ");

}
}
ISR(INT0_vect) // interrupt service routine //{
i=i+20; // As i increases the duty cycle also increases. i increases by 20 in each push//
} //