Giúp dùm em lỗi LCD này với!

[hayater244]

Tình hình là Motor chạy được ngon lành rồi nhưng mà cái LCD nó không hiện lên gì cả! mặc dù mô phỏng trên Proteus thì được. Mấy bác xem giúp em thử cái code với, em cám ơn

#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include <math.h>
#include <stdio.h>
#include "myLCD.h"

#ifndef cbi
#define cbi(port, bit) (port) &= ~(1 << (bit))
#endif
#ifndef sbi
#define sbi(port, bit) (port) |= (1 << (bit))
#endif

//Dinh nghia cac duong dieu khien motor
#define MOTOR_DDR DDRD
#define MOTOR_PORT PORTD
#define MOTOR_DIR 6
#define MOTOR_EN 7

#define Sampling_time 25 //thoi gian lay mau (ms)
#define inv_Sampling_time 40 // 1/Sampling_time
#define PWM_Period 8000 //8000 cycles = 1ms, f=8MHz

volatile long int Pulse, pre_Pulse;
volatile long int rSpeed, Err, pre_Err, Kp=13, Kd=9, Ki=3; //for speed control
volatile long int pPart=0, iPart=0, dPart=0; //PID gains
volatile long int Ctrl_Speed=0; //van toc can dieu khien (desired speed)
volatile long int Output;
volatile unsigned char sample_count=0;

//dieu khien van toc bang PID
void Motor_Speed_PID(long int des_Speed){
rSpeed=Pulse-pre_Pulse; //tinh van toc (trong sampling time)
pre_Pulse=Pulse; //luu lai gia tri Pulse: so xung
Err=des_Speed-rSpeed; //tinh error (loi)
//cac thanh phan cua PID
pPart=Kp*Err;

Output +=pPart; //cong thuc duoc bien doi vi la dieu khien van toc
//saturation
if (Output >=PWM_Period) Output=PWM_Period-1;
if (Output <=0) Output=1;

OCR1A=Output; //gan duty cycle cho OCR1A: update PWM
pre_Err=Err; //luu lai gia tri error
}


int main(void){
unsigned char dis[5]; //bien tam, hien thi LCD
Pulse=0;
//Encoder va cac chan nhap toc do
DDRB=0x00; //set PORTB as a input port to use the T0 input pin and INT2
PORTB=0xFF; //dien tro keo len (nhat la encoder)
PORTD|=(1<<7);
//Motor
MOTOR_DDR=0xF0;
sbi(MOTOR_PORT, MOTOR_DIR);

//ngat ngoai, cho encoder--------------------------------------------------------------
MCUCSR|=(0<<ISC2); //ngat INT2 la ngat canh xuong - Falling Edge
GICR |=(1<<INT2); //Enable INT2
//---------------------------------------------------------------------------------

//dung timer 2 lam bo dinh thi 25ms, sampling time--------------------------------
TCCR2=(1<<CS22)|(1<<CS21)|(1<<CS20); //CS22=1, CS21=1, CS20=1: chon Prescaler=1024 (trang 125 datasheet)
TCNT2=60; //gan gia tri khoi tao cho T/C2 de duoc 25ms (truong hop f=8MHz)
TIMSK=(1<<TOIE2); // cho phep ngat khi co tran o T/C2
//--------------------------------------------------------------------------------

//dung timer1 lam PWM generator, Fast PWM mode 14: ICR1 chua time period
TCCR1A=(1<<COM1A1)|(1<<COM1B1)|(1<<WGM11);
TCCR1B=(1<<WGM13) |(1<<WGM12) |(1<<CS10) ;
//--------------------------------------------------------------------------------

//**********LCD*************************
init_LCD();
clr_LCD();
move_LCD(2,1);
print_LCD("DC Servo Motor");
_delay_ms(1000);
clr_LCD();
print_LCD("Actual : /25ms");
move_LCD(2,1);
print_LCD("Desired: /25ms");
//**********LCD*************************

//---khoi dong gia tri PWM----------
OCR1A=1;
ICR1=PWM_Period;
sbi(MOTOR_PORT, MOTOR_EN); //khoi dong motor
sei();
//----------------------------------

while (1){
if (sample_count>=10){ //hien thi moi 250ms
Ctrl_Speed=(PINB>>4) & 0x0F; //doc switches


//------in van toc hien tai (tinh tren 25ms)
sprintf(dis,"%i", rSpeed);
move_LCD(1,9);
print_LCD(" ");
move_LCD(1,9);
print_LCD(dis);


//------in van toc mong muon (tinh tren 25ms)
sprintf(dis,"%i", Ctrl_Speed);
move_LCD(2,9);
print_LCD(" ");
move_LCD(2,9);
print_LCD(dis);

sample_count=0;
}
}
}

ISR (TIMER2_OVF_vect ){ //update sampling time---------------
TCNT2=60; //gan gia tri khoi tao cho T/C2
sample_count++;
Motor_Speed_PID(Ctrl_Speed);
}

ISR(INT2_vect){
if (bit_is_set(PINB,0)) Pulse++;
else Pulse--;
}