CODE.

#include <xc.h>

#include <htc.h>

#include "CONFIG.h"

#include "LCD_HEADER.h"

#define delay for(i=0;i<1000;i++)

int i;

#define IR RD0 //IR Output is connected at PORTD.0

#define MP RB0 // WATERPumt

#define CN RB7 // coinsensor

#define CS RB6//CAPACITIVE SENSOR

void main()

TRISD = 0xff;

TRISB=TRISC0=TRISC1=TRISC2=0;

PORTB= 0x00;

//Port D act as Input

I2C_Master_Init();

LCD_Init(0x4E);

while(1) {

if(IR == 1 && CN == 0 && CS == 0 ) {

LCD_Clear();

LCD_Set_Cursor (1,4);
 LCD_Write_String("APPROACHING:");

LCD_Set_Cursor (2,6);

LCD_Write_String("TAO");

MP = 1;

__delay_ms(7000);

} else {

LCD_Clear();

LCD_Set_Cursor (1, 5);

LCD_Write_String("NO SIGNS OF TAO");

MP = 0;

while(2) {

if(IR == 0 && CN == 1 && CS == 0) {

LCD_Clear();

LCD_Set_Cursor (1,4);

LCD_Write_String("APPROACHING:");

LCD_Set_Cursor (2,6);

LCD_Write_String("TAO");

MP = 1;

__delay_ms(7000);

} else {

LCD_Clear();

LCD_Set_Cursor (1, 5);

LCD_Write_String("NO SIGNS OF TAO");

MP = 0;

}
}

}
 LCD.HEADER.H

#define _XTAL_FREQ 16000000

#define I2C_BaudRate 100000

#define SCL_D TRISC3

#define SDA_D TRISC4

#define LCD_BACKLIGHT 0x08

#define LCD_NOBACKLIGHT 0x00

#define LCD_FIRST_ROW 0x80

#define LCD_SECOND_ROW 0xC0

#define LCD_THIRD_ROW 0x94

#define LCD_FOURTH_ROW 0xD4

#define LCD_CLEAR 0x01

#define LCD_RETURN_HOME 0x02

#define LCD_ENTRY_MODE_SET 0x04

#define LCD_CURSOR_OFF 0x0C

#define LCD_UNDERLINE_ON 0x0E

#define LCD_BLINK_CURSOR_ON 0x0F

#define LCD_MOVE_CURSOR_LEFT 0x10

#define LCD_MOVE_CURSOR_RIGHT 0x14

#define LCD_TURN_ON 0x0C

#define LCD_TURN_OFF 0x08

#define LCD_SHIFT_LEFT 0x18

#define LCD_SHIFT_RIGHT 0x1E

#define LCD_TYPE 2 // 0 -> 5x7 | 1 -> 5x10 | 2 -> 2 lines

//-----------[ Functions' Prototypes ]--------------

void I2C_Master_Init();

void I2C_Master_Wait();

void I2C_Master_Start();

void I2C_Master_RepeatedStart();

void I2C_Master_Stop();

void I2C_ACK();

void I2C_NACK();

unsigned char I2C_Master_Write(unsigned char data);

unsigned char I2C_Read_Byte(void);

//---[ LCD Routines ]---

void LCD_Init(unsigned char I2C_Add);

void IO_Expander_Write(unsigned char Data);

void LCD_Write_4Bit(unsigned char Nibble);

void LCD_CMD(unsigned char CMD);

void LCD_Set_Cursor(unsigned char ROW, unsigned char COL);

void LCD_Write_Char(char);

void LCD_Write_String(char*);

void Backlight();

void noBacklight();

void LCD_SR();

void LCD_SL();

void LCD_Clear();

unsigned char RS, i2c_add, BackLight_State = LCD_BACKLIGHT;

//--------------------------------------------------

void I2C_Master_Init()

SSPCON = 0x28;

SSPCON2 = 0x00;

SSPSTAT = 0x00;

SSPADD = ((_XTAL_FREQ/4)/I2C_BaudRate) - 1;

SCL_D = 1;

SDA_D = 1;

void I2C_Master_Wait()

while ((SSPSTAT & 0x04) || (SSPCON2 & 0x1F));

void I2C_Master_Start()

I2C_Master_Wait();

SEN = 1;

void I2C_Master_RepeatedStart()

I2C_Master_Wait();

RSEN = 1;

}
void I2C_Master_Stop()

I2C_Master_Wait();

PEN = 1;

void I2C_ACK(void)

ACKDT = 0; // 0 -> ACK

I2C_Master_Wait();

ACKEN = 1; // Send ACK

void I2C_NACK(void)

ACKDT = 1; // 1 -> NACK

I2C_Master_Wait();

ACKEN = 1; // Send NACK

unsigned char I2C_Master_Write(unsigned char data)

I2C_Master_Wait();

SSPBUF = data;

while(!SSPIF); // Wait Until Completion

SSPIF = 0;

return ACKSTAT;

}
unsigned char I2C_Read_Byte(void)

//---[ Receive & Return A Byte ]---

I2C_Master_Wait();

RCEN = 1; // Enable & Start Reception

while(!SSPIF); // Wait Until Completion

SSPIF = 0; // Clear The Interrupt Flag Bit

I2C_Master_Wait();

return SSPBUF; // Return The Received Byte

//======================================================

//---------------[ LCD Routines ]----------------

//-----------------------------------------------

void LCD_Init(unsigned char I2C_Add)

i2c_add = I2C_Add;

IO_Expander_Write(0x00);

__delay_ms(30);

LCD_CMD(0x03);

__delay_ms(5);

LCD_CMD(0x03);

__delay_ms(5);

LCD_CMD(0x03);

__delay_ms(5);

LCD_CMD(LCD_RETURN_HOME);

__delay_ms(5);
 LCD_CMD(0x20 | (LCD_TYPE << 2));

__delay_ms(50);

LCD_CMD(LCD_TURN_ON);

__delay_ms(50);

LCD_CMD(LCD_CLEAR);

__delay_ms(50);

LCD_CMD(LCD_ENTRY_MODE_SET | LCD_RETURN_HOME);

__delay_ms(50);

void IO_Expander_Write(unsigned char Data)

I2C_Master_Start();

I2C_Master_Write(i2c_add);

I2C_Master_Write(Data | BackLight_State);

I2C_Master_Stop();

void LCD_Write_4Bit(unsigned char Nibble)

// Get The RS Value To LSB OF Data

Nibble |= RS;

IO_Expander_Write(Nibble | 0x04);

IO_Expander_Write(Nibble & 0xFB);

__delay_us(50);

void LCD_CMD(unsigned char CMD)

{
 RS = 0; // Command Register Select

LCD_Write_4Bit(CMD & 0xF0);

LCD_Write_4Bit((CMD << 4) & 0xF0);

void LCD_Write_Char(char Data)

RS = 1; // Data Register Select

LCD_Write_4Bit(Data & 0xF0);

LCD_Write_4Bit((Data << 4) & 0xF0);

void LCD_Write_String(char* Str)

for(int i=0; Str[i]!='\0'; i++)

LCD_Write_Char(Str[i]);

void LCD_Set_Cursor(unsigned char ROW, unsigned char COL)

switch(ROW)

case 2:

LCD_CMD(0xC0 + COL-1);

break;

case 3:

LCD_CMD(0x94 + COL-1);

break;

case 4:
 LCD_CMD(0xD4 + COL-1);

break;

// Case 1

default:

LCD_CMD(0x80 + COL-1);

void Backlight()

BackLight_State = LCD_BACKLIGHT;

IO_Expander_Write(0);

void noBacklight()

BackLight_State = LCD_NOBACKLIGHT;

IO_Expander_Write(0);

void LCD_SL()

LCD_CMD(0x18);

__delay_us(40);

void LCD_SR()

LCD_CMD(0x1C);
 __delay_us(40);

void LCD_Clear()

LCD_CMD(0x01);

__delay_us(40);

}
 CONFIG.H

// PIC16F877A Configuration Bit Settings

// 'C' source line config statements

// CONFIG

#pragma config FOSC = HS // Oscillator Selection bits (HS oscillator)

#pragma config WDTE = OFF // Watchdog Timer Enable bit (WDT disabled)

#pragma config PWRTE = ON // Power-up Timer Enable bit (PWRT enabled)

#pragma config BOREN = ON // Brown-out Reset Enable bit (BOR enabled)

#pragma config LVP = OFF // Low-Voltage (Single-Supply) In-Circuit Serial Programming Enable bit
(RB3 is digital I/O, HV on MCLR must be used for programming)

#pragma config CPD = OFF // Data EEPROM Memory Code Protection bit (Data EEPROM code
protection off)

#pragma config WRT = OFF // Flash Program Memory Write Enable bits (Write protection off; all
program memory may be written to by EECON control)

#pragma config CP = OFF // Flash Program Memory Code Protection bit (Code protection off)

// #pragma config statements should precede project file includes.

// Use project enums instead of #define for ON and OFF.

#include <xc.h>