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

/*
* PROJECT-1.c
*
* Created: 11-04-2023 13:33:38
* Author : User
*/

#include <avr/io.h>
#define F_CPU 16000000L
#include "avr/interrupt.h"
#include <util/delay.h>

#define sw_d (PIND&(1<<1))
#define sw_speed (PIND&(1<<2))
#define power (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);
RS_low;
EN_low;
_delay_ms(1);
EN_high;
lcd_port=((cmd<<4))&(0xf0);
RS_low;
EN_low;
_delay_ms(1);
EN_high;
}
void lcd_data(char data)
{
lcd_port =(data &0xf0);
RS_high;
EN_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(0x28);
_delay_ms(5);
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);
}

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 adc_read(char channel)
{
unsigned int a, result;
ADMUX=channel;
ADCSRA =0X80;
ADCH=0X00;
ADCL=0X00;
ADCSRA|=(1<<6);
while((ADCSRA & 0X40)!=0);
a=ADCL;
result=ADCH;
result=result<<8;
result=result|a;
return result;
}

int main(void)
{
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(sw_d==0)
{
PORTA=0b00000001;
lcd_out(1,1,"MOTOR ON CLOCK");

}
else
{
PORTA=0b00000010;
lcd_out(1,1,"MOTOR ON A CLOCK");

}
OCR0=i;
}
PORTA=0X00;
lcd_out(1,1,"MOTOR IS OFF");
}
}
ISR(INTO_vect)
{
i=+20;
}