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

1. Code:

#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 push 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 push 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 adc_read(char channel) // we r configuring the adc value
{
	unsigned int a, result;
	ADMUX = channel; // here we r going to use which channel we need to select in mux here using 2 bit
	ADCSRA = 0X80; //control & status register to enable the adc conversion ,enable the interrupt flag, adc interrupt. ADEN=1
	ADCH = 0X00; // showing the value 0 or clearing the adc register
	ADCL = 0x00; // showing the value 0
	ADCSRA |= (1<<6); // to start the conversion 6 bit ADSC high
	while((ADCSRA & 0x40) != 0); // when the conversion become zero means conversion of adc (0x40 means interrupted pin )
	a= ADCL; //dummy data type a and ais stored the ADCL register (ADC0-ADC7)
	result = ADCH; // Store the high value (ADC8-ADC9)
	result = result<<8; //to get proper result or alined value we need to do left shift
	result = result | a ; // we r adding the ADCL + ADCH to get the 16 bits
	return result;
}

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) //continue till the 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 ON- CL "); //Running clock wise direction

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

			}
			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//
}

Output screenshot:

When power is off:

when power on:

dc motor is run.

when speed control is on:

its speed is increase.

When direction button is on:

it rotate anti clock wise.