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

AIM: Implement a system on the simulator for controlling a DC motor using L293 motor driver, monitor its status and print the running status of motor on the LCD Display.

PROGRAM:

include <avr/io.h> //preprocessor directive
#define F_CPU 16000000ul
#include "avr/interrupt.h"//Preprocessor directive of an avr interrupt
#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); //Masking 4 bits for 4 bit LCD mode//
RS_low;//reset
EN_low;//enable
_delay_ms(1);
EN_high;//enable high
lcd_port=((cmd<<4)&(0xf0));
RS_low;
EN_low;
_delay_ms(1);
EN_high;

}
void lcd_data(char data)//void of lcd delay
{
lcd_port=(data &0xf0); //masking 4 bits for bit LCD mode//
RS_high;//reset high
EN_low;//enable 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 1st line //
lcd_cmd(0x28);_delay_ms(5); //used for 4 bits lcd mode //

}
void lcd_out(char x, char y, char *str)
{
cursorpos(x,y);//cursor pay of x,y
while (*str)//while string pointer
{
lcd_data(*str);
str++;
}
}
void cursorpos (char x, char y)
{
if ((x<1||x>2)||(y>16)||(y<1))//execution of if loop
{
x=1;//initialising x=1
y=1;//initialising y=1
}
if (x==1)
{
lcd_cmd(0x7f+y);
}
else
{
lcd_cmd(0xBF+y);
}
}
int main()//execution of main function
{
DDRB=0xFF;//datadirective register Bb is enabled
DDRA|=((1<<0)|(1<<1));//port 0 and 1 is enabled
DDRD&=~(1<<1);//port D1 is reest
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(2,3,"clockwise");
}
else
{
PORTA=0b00000010;
lcd_out(1,1,"Motor is Running");
lcd_out(2,3,"anticlockwise");
}
OCR0=i;
}
PORTA=0X00;//port a is enabled
lcd_out(1,1," Motor is OFF");
lcd_out(2,3,"CAUTION !!!");
}
}
ISR(INT0_vect)//interupt service routine 0
{
i=i+20;
}