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

#include <avr/io.h>
#define F_CPU 16000000L //
#include "avr/interrupt.h"
#include <util/delay.h>
#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) //commands 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 )) // checks the 2 rows and 16 columns
{
x=1; //x= row
y=1; //y= column
}
if(x==1)
{
lcd_cmd(0x7F + y); // for starting the 1st line
}
else //(x==2)
{

lcd_cmd(0xBF + y); // for starting the 2nd line, 2nd row.
}
}

void lcd_out(char x, char y, char *str) // checking which position to print
{
cursorpos(x,y);
while(*str)
{
lcd_data(*str);
str++;
}
}

int adc_read(char channel) // configuring the adc value
{
unsigned int a, result;
ADMUX = channel; // channel selection in mux
ADCSRA = 0X80;
ADCH = 0X00;
ADCL = 0x00;
ADCSRA |= (1<<6);
while((ADCSRA & 0x40) != 0); //
a= ADCL; //dummy data type a and is stored the ADCL register (ADC0-ADC7)
result = ADCH; // Store the high value (ADC8-ADC9)
result = result<<8; //to align value we need to do left shift
result = result | a ;
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) //power supply on
{
if(sw_dir == 0) //if the direction control push button is released.
{
PORTA = 0b00000001; // to rotate in clockwise direction.
lcd_out(1,1,"Motor ON- CL ");
}
else
{
PORTA = 0b00000010; // to rotate in Anti-Clockwise direction.
lcd_out(1,1,"Motor ON- ACL");

}
OCR0 = i; //assigning duty cycle
}

PORTA = 0x00; // Stop rotation.
lcd_out(1,1,"Motor is OFF");
}
}
ISR(INT0_vect) //interrupt service routine
{
i=i+20; // duty cycle is increased
}