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

/*
* Project1.c
*
* Author: Shreyas Johare
*/

#include <avr/io.h>
#define F_CPU 16000000ul //CPU Frequency
#include "avr/interrupt.h"
#include <util/delay.h>
#define direction (PIND & (1<<1))
#define speed (PIND & (1<<2))
#define power (PINC & (1<<3))
#define lcd_port PORTB
#define Reset_high PORTD|=(1<<5)
#define Reset_low PORTD&=~(1<<5)
#define Enable_high PORTD|=(1<<6)
#define Enable_low PORTD&=~(1<<6)
unsigned char i;
void lcd_cmd(char cmd)
{
lcd_port=(cmd & 0xf0);
Reset_low;
Enable_low;
_delay_ms(1);
Enable_high;
lcd_port=((cmd<<4) & (0xf0));
Reset_low;
Enable_low;
_delay_ms(1);
Enable_high;

}

void lcd_data(char data)
{

lcd_port=(data & 0xf0); // Masking 4 bits for 4 bit LCD mode//
Reset_high;
Enable_low;
_delay_ms(1);
Enable_high;
lcd_port=((data<<4) & (0xf0));
Reset_high;
Enable_low;
_delay_ms(1);
Enable_high;
}

void lcd_init()
{
lcd_cmd(0x02);_delay_ms(5);
lcd_cmd(0x01);_delay_ms(5);
lcd_cmd(0x0C);_delay_ms(5);
lcd_cmd(0x06);_delay_ms(5);
lcd_cmd(0x80);_delay_ms(5);
lcd_cmd(0x28);_delay_ms(5);

}

void cursorpos(char x, char y)
{
if ((x<1||x>2)||(y>16||y<1))
{
x=1;
y=1;
}
if (x==1)
{
lcd_cmd(0x7f+y);
}
else
{
lcd_cmd(0xBF+y);
}
}

void lcd_out(char x, char y, char *str)
{
cursorpos(x,y);
while (*str)
{
lcd_data(*str);
str++;
}
}

int main()
{
DDRB=0xFF;
DDRA|=((1<<0)|(1<<1));
DDRD&=~(1<<1);
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(power==0)
{
if (direction==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;
lcd_out(1,1," Motor is OFF ");
lcd_out(2,3,"CAUTION !!!! ");
}
}
ISR(INT0_vect)
{
i=i+20;
}