Project 1 - Controlling a DC motor using PWM and monitoring its Running status
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#define sw_dir (PIND & (1 << 1))
#define sw_spd (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(0x02);
_delay_ms(5);
lcd_cmd(0x28);
_delay_ms(5);
lcd_cmd(0x0C);
_delay_ms(5);
lcd_cmd(0x06);
_delay_ms(5);
lcd_cmd(0x01);
_delay_ms(5);
}
void lcd_out(char x, char y, char *str)
{
cursorpos(x, y);
while (*str)
{
lcd_data(*str);
str++;
}
}
void cursorpos(char x, char y)
{
if ((x < 1 || x > 2) || (y > 16) || (y < 1))
{
x = 1;
y = 1;
}
if (x == 1)
{
lcd_cmd(0x80 + y - 1);
}
else
{
lcd_cmd(0xC0 + y - 1);
}
}
int main()
{
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 << INT0);
MCUCR = 0x02;
sei();
lcd_init();
while (1)
{
while (pw == 0)
{
if (sw_dir == 0)
{
PORTA = 0b00000001;
lcd_out(1, 1, "Motor is Running");
lcd_out(2, 1, "Clockwise");
}
else
{
PORTA = 0b00000010;
lcd_out(1, 1, "Motor is Running");
lcd_out(2, 1, "Anticlockwise");
}
OCR0 = i;
}
}
}
ISR(INT0_vect) //interrupt service routine 0
{
i = i + 20;
}