마이크로프로세서 HOT모터제어 (고슈님들 도와주세요)

사용 장비 : avr28
공학하는 여자입니당.. C언어도 겨우겨우 했는뎅 avr은 너무 어렵네영
빨간색 부분만 해석좀요 부탁드려요 ㅠ 보기 쉽게 줄로 쳐놨어용 부탁점영
학생이라서 돈이 별루 없습니다.
원하시다면 소정의 돈은 드릴수 있어요 ㅠ

  키버튼과 LCD, 모터를 이용하였구요
 모니터에는 문자 출력되구..
키버튼을 누르면 모터큰거(이름이 서브말구.. 뭐였더라 ; 오늘배워서 잘..)왼쪽 오른쪽 돌기도하고 그러거든요 ㅠㅠ
몰라서 혼나기만 하구...

#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdio.h>
-----------------------------------------------------------------------------------------------------------------------
#define MOTOR_CW  (PORTE &= 0xFB)
#define MOTOR_CCW  (PORTE |= 0x04)

#define MOTOR_STOP  (PORTE &= 0xFD)
#define MOTOR_ENABLE (PORTE |= 0x02)

#define FREQ_CLK10  160000 // clock 10 16Mhz/100
#define PRESCALE  64
#define FREQ_REFER  1000 // 1Khz(1msec)
------------------------------------------------------------------------------------------------------------------------

#define LCD_RS_1  (PORTG |= 0x01)
#define LCD_RS_0  (PORTG &= 0xFE)

#define LCD_RW_1  (PORTG |= 0x02)
#define LCD_RW_0  (PORTG &= 0xFD)

#define EN_1     (PORTG |= 0x04)
#define EN_0      (PORTG &= 0xFB)

#define NoKey 0xff

unsigned char KeyValue = 0xff;

void us_delay(unsigned int us_time)
{
 unsigned int i;

 for(i=0; i<us_time; i++) // 4 cycle +
 {
 asm("PUSH R0");  // 2 cycle +
 asm("POP R0");   // 2 cycle +
 asm("PUSH R0");  // 2 cycle +
 asm("POP R0");   // 2 cycle + =12 cycle for 11.0592MHZ
 asm("PUSH R0");  // 2 cycle +
 asm("POP R0");   // 2 cycle = 16 cycle = 1us for 16MHz
 }
}

void ms_delay(unsigned int ms_time)
 {
 unsigned int i;
 
 for(i=0; i<ms_time;i++)
 us_delay(1000);
}
void E_Pulse(void)
{
 EN_1;

 us_delay(100);

 EN_0;
}

void LCD_init(void)
{
 ms_delay(40);

 PORTC = 0x38; // Function Set
 E_Pulse();
 us_delay(40);

 PORTC = 0x0c; // DisPlay ON/OFF Control
 us_delay(40);
 E_Pulse();
 
 PORTC = 0x01; // Display Clear
 ms_delay(2);
 E_Pulse();

 PORTC = 0x06; // Entry Mode Set
 E_Pulse();
}

void Write_Char(unsigned char buf)
{
 LCD_RS_1;
 LCD_RW_0;
 PORTC=buf;
 E_Pulse();
}

void LCD_Disp(char x,char y)
{
 LCD_RS_0;
 LCD_RW_0;

 if(y == 0)
  PORTC = x + 0x80;
 else if(y==1)
  PORTC = x + 0xc0;
 E_Pulse();
}

/*
void LCD_Write1(char x, char y,char *str1)
{
 LCD_Disp(x,y);
 //while(*str1)
 Write_Char(*str1);
}*/

void LCD_Write(char x, char y,char *str)
{
 LCD_Disp(x,y);
 while(*str)
 Write_Char(*str++);
}

void LCD_Write_char(char x, char y, unsigned char ch)
{
 LCD_Disp(x,y);
 Write_Char(ch);
}

void KeyOut(char ot)
 {
  PORTA=ot;
 }

char KeyIn(void)
 {
  unsigned char Nibble;

  Nibble=(PINA & 0xf0)>>4;
  Nibble=Nibble & 0x0f;

  return Nibble;
 }

void KeyScan(void)
 {
  unsigned char key=0, key_cnt;
  unsigned char OTkey=0xfe, KeyBuff;

  KeyBuff=NoKey;

  for (key_cnt=0;key_cnt<4;key_cnt++)
  {
   KeyOut(OTkey);
   key=KeyIn();
 
   if(key==0x0e)
    KeyBuff=0+key_cnt;
   else if(key==0x0d)
    KeyBuff=4+key_cnt;
   else if(key==0x0b)
    KeyBuff=8+key_cnt;
   else if(key==0x07)
    KeyBuff=12+key_cnt;
  OTkey=(OTkey<<1)+1;
  }

  if(KeyBuff != NoKey)
   KeyValue = KeyBuff;
 }

-----------------------------------------------------------------------------------------------------------------------------
// motor control
void initStepMotor(void)
{
 TCCR3A = 0xAA; // COM3A[1:0] = 10. 비교일치시 클리어
     // TOP 셋
     // WGM3[3:0] = 1010, Phase correct PWM mode
     // TOP값은 ICR 레지스터가 결정
 TCCR3B = 0x13;

 ICR3 = 249; // 최고값 250(2msec)
 OCR3A = 90; // 최저값 (duty rate 결정, 클수록 커짐)
    // OC3A를 출력을 설정(PE3)
}

void CtrlStepMotor(unsigned int speed)
{
 if(speed >= 150)
  speed = 150;

 ICR3 = (FREQ_CLK10 / (2*PRESCALE*2*speed))*60;
  // 200Hz/100 // RPM 단위로 환산
}

void initPort()
{
 DDRA = 0x0f; // keypad 제어
 DDRC = 0xff; // LCD 데이터
 DDRG = 0xff; // LCD 제어
 DDRE = 0xff; // 모터펄스, 방향 인에이블
}

int main(void)
{
 char strBuff[20]={0};
 int speed = 0;

 initPort();
 LCD_init();

 initStepMotor();
-----------------------------------------------------------------------------------------------------------------------------

 sprintf(strBuff,"Welcome");
 LCD_Write(0,0,strBuff);

 ms_delay(500);

 sprintf(strBuff,"Step Motor");
 LCD_Write(0,0,strBuff);
 sprintf(strBuff,"          ");
 LCD_Write(0,1,strBuff);

 -----------------------------------------------------------------------------------------------------------------------------
 while(1)
  {
  KeyScan();

  if(KeyValue == 0)
  {
   MOTOR_STOP;
  }
  else if(KeyValue == 1)
  {
   MOTOR_ENABLE;
  }
  else if(KeyValue == 2)
  {
   MOTOR_CCW;
  }
    else if(KeyValue == 3)
    {
   MOTOR_CW;
  }
    else if(KeyValue == 4)
  {
   speed =40;
   CtrlStepMotor(speed);
  }
    else if(KeyValue == 5)
  {
   speed =60;
   CtrlStepMotor(speed);
  }
    else if(KeyValue == 6)
  {
   speed =80;
   CtrlStepMotor(speed);
  }
   else if(KeyValue == 7)
  {
   speed =100;
   CtrlStepMotor(speed);
  }

    if(PORTE & 0x04)
   sprintf(strBuff,"Dir = CCW:%3drpm", speed);
    else
   sprintf(strBuff,"DIr = CW : %3drpm", speed);

  LCD_Write(0,1,strBuff);
  }

  return 0;
}
-----------------------------------------------------------------------------------------------------------------------------