void DisplayLCD(char string[], char string1[], char string2[]){
int number = 0;
for(;;){
LCD_display(*string);
string += 0x01;
if(number == 16){
LCD_instruction(0xC0);
}
if( *string == 0 ){
break;
}
}
for(;;){
LCD_display(*string);
string1 += 0x01;
if(number == 16){
LCD_instruction(0xC0);
}
if( *string1 == 0 ){
break;
}
}
for(;;){
LCD_display(*string);
string2 += 0x01;
if(number == 16){
LCD_instruction(0xC0);
}
if( *string2 == 0 ){
break;
}
}
}
void main( void ) {
int i;//initialize loop counter
char next;//store value of keypressed
SPI1CR1=0x00;
//Display initial value of speed and temperature into LCD
Lcd2PP_Init();
LCD_instruction(0x01);
Lcd2PP_Init();
printString(speed,temperature);
//initialize KISR
key = 0xFF;//refresh value of Key into 0xFF
DDRP |= 0x0f; // bitset PP0-3 as outputs (rows)
DDRH &= 0x0f; // bitclear PH4..7 as inputs (columns)
PTP =0x0f;
PIFH = 0xFF; // Clear previous interrupt flags
PPSH = 0xF0; // Rising Edge
PERH = 0x00; // Disable pulldowns
PIEH |= 0xF0; // Local enable on columns inputs
DDRM=0x00;
asm("cli");
for (;;){
}//end for loop
}//end main
void clearScreen(void){
LCD_instruction(0x00);
DisplayLCD(" "," "," ");
LCD_instruction(0xC0);
DisplayLCD(" "," "," ");
}
void RTI()
{
int temp;//temporary storage
//4 tick approximately 1 second
counter++;//do clock ticking
SetOptCount++;//do clock ticking
//obstacle when user press '5'
if(obstacle==1)
{
RTIcounter++; //start count the RTI
//Initialize 3 second delay
if(RTIcounter==1)
{
duty=0;
printf("DC motor off, Delay 3 second\n");
}
//After 3 second Rotate the stepper motor to the right
//(12 RTI counter= 3 second)
if(RTIcounter==12)
{
printf("Rotate 90 degree right\n");
clockwise(1);//assume its rotate 90 degree right
printf("wait 2 second\n");
}
//After 5 second reset RTI counter and collision value to 0, then continue straight
//(20 RTI counter = 5 second)
if(RTIcounter==20)//
{
duty=20;
printf("Continue straight\n");
PWMDTY7 = duty;
RTIcounter=0;//reset RTI timer set to 0
obstacle=0;//reset collision to 0
// clear RTI flag
}
}//end obstacle
//when heater is on, first LED from top is on and turn heater on
if(heaterOn==1)
{
//heater on
DDRM=0xff;
PTM=0x81;//heater on
delay(100);//delay 100ms allow heater to operate
//LED on
DDRK=0xff;
PORTK=0x01;
}
else
{
//heater off
DDRM=0xff;
PTM=0x00;//heater off
//first LED from top off
DDRK=0xff;
PORTK=0x00;
}
//for RTI, 4 tick is equal to 1 second
if(SetOptCount==4)
{
optCount=0;
}
//refresh LCD every 3 second
if(SetOptCount==12)
{
//refresh LCD, then print motor speed and temperature
LCD_instruction(0x00);
Lcd2PP_Init();
printString(optCount,temperature);
SetOptCount=0;//reset RPS counter to 0
}
//get temperature every 5 second
if(counter==20)
{
//initialize interrupt for temperature sensor
runTemperature();
//if temperature over 85, buzzer on, overheat LED on & turn off heater
if(temperature>=85)
{ //turn on buzzer
DDRK=0xff;
PORTK=0x22;
delay(100);//give time to buzzer to operate
heaterOn=0;
//turn off buzzer
PORTK=0x00;
DDRK=0x00;
//heater off automatically
DDRM=0xff;
PTM=0x00;
}
counter=0;//reset counter for RTI
}
DDRM=0x00;//set DDRM on, to read from keypad
CRGFLG=CRGFLG;//Acknowledge interrupt
}
//print array of character
//all character that will be printed into LCD will call this function
void printString(int speedValue, int temp){
//All words below will be printed into LCD
char *speed="Speed: ";
char *temperature="Temp: ";
char *kmperhour="RPS";
char *celsius="'F";
int i=0;//intitialize for loop
//store digit of speed
char stringSpeed[4];
//store digit of temperature
char stringTemp[3];
//fill stringSpeed[4] with value of speed
convertSpeedToChar(stringSpeed,speedValue);
//fill stringTemp[2] with value of temperature
convertTempToChar(stringTemp,temp);
//Start display into LCD
//Initialize LCD
Lcd2PP_Init();
//print "Speed: ****RPS"
for(i=0;i<7;i++)
{
LCD_display(speed[i]);
}
for(i=0;i<4;i++)
{
LCD_display(stringSpeed[i]);
}
for(i=0;i<3;i++)
{
LCD_display(kmperhour[i]);
}
//moves next line of LCD
LCD_instruction(0xc0);
//print "Temp: ***'F"
for(i=0;i<6;i++)
{
LCD_display(temperature[i]);
}
for(i=0;i<3;i++)
{
LCD_display(stringTemp[i]);
}
for(i=0;i<2;i++)
{
LCD_display(celsius[i]);
}
}
//keypad interrupt
void KISR(void) {
PIEH = 0x00; // Local disable
//get button pressed from line 1(key 1-A)
PTM |= 0x08; //U7_EN enable
PTP = 0x01; //PP0 writting
PTM &= ~0x08; //U7_EN disable
//option for 1 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x11)
{
printf("1\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for 2 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x21)
{
printf("2\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for 3 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x41)
{
//localDelay();
printf("3\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for A is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x81)
{
//localDelay();
printf("A\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//get button pressed from line 2(key 4-B)
PTM |= 0x08; //U7_EN enable
PTP = 0x02; //PP1 writting
PTM &= ~0x08; //U7_EN disable
//option for 4 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x12)
{
printf("4\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for 5 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x22)
{
printf("5\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for 6 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x42)
{
printf("6\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for B is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x82)
{
printf("B\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//get button pressed from line 3(key 7-C)
PTM |= 0x08; //U7_EN enable
PTP = 0x04; //PP2 writting
PTM &= ~0x08; //U7_EN disable
//option for 7 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x14)
{
printf("7\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for 8 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x24)
{
printf("8\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for 9 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x44)
{
printf("9\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for C is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x84)
{
printf("C\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//get button pressed from line 4(key E-D)
PTM |= 0x08; //U7_EN enable
PTP = 0x08; //PP3 writting
PTM &= ~0x08; //U7_EN disable
//option for C is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x18)
{
printf("E\n");
speed = speed+1;//increase speed everytime E is pressed
//print new value of speed into LCD
Lcd2PP_Init();
LCD_instruction(0x01);
printString(speed,temperature);
//reinitialize port M for U7_EN
DDRM=0x00;
}
//option for 0 is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x28)
{
printf("0\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
//exit
printf("Exit\n");
while(1)
{
PTP=0x00;//disable keypad
}
}
//option for F is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x48)
{
printf("F\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
}
//option for D is pressed,port P is writting ,Port H reading the button pressed
if(PTH==0x88)
{
printf("D\n");
PTM |= 0x08; //U7_EN enable
PTP = 0x0f; //Write into all line(PP0-PP3)
PTM &= ~0x08; //U7 disable
if(speed==0)
{
printf("Minimum speed limit is 0");
}
else
{
speed=speed-1;//decrease speed
//print new value of speed into LCD
Lcd2PP_Init();
LCD_instruction(0x01);
printString(speed,temperature);
//reinitialize DDRM for keypad
DDRM=0x00;
}
}
//reinitialize interrupt for KISR
DDRP |= 0x0f; // bitset PP0-3 as outputs (rows)
DDRH &= 0x0f; // bitclear PH4..7 as inputs (columns)
PTP =0x0f;//write into all lines PP0-PP3
PIFH = 0xFF; // Clear previous interrupt flags
PPSH = 0xF0; // Rising Edge
PERH = 0x00; // Disable pulldowns
PIEH |= 0xF0; // Local enable on columns inputs
}//end KISR
