درخواست ترجمه ی برنامه کنترل دور موتور DC

[ali_zapata43]

دوستان عزیز کسی میتونه این برنامه زبان C رو واسم ترجمه کنه ؟

هر خط چکار میکنه؟ خیلی بش نیاز دارم

Chip type      : ATmega16
Data Stack size   : 256
*****************************************************/

#include <mega16.h>

// Alphanumeric LCD Module functions
#asm
  .equ __lcd_port=0x1B ;PORTA
#endasm
#include <lcd.h>
#include<delay.h>
#include<math.h>

void display_no(int no); 
void direction(char dir);
void lcd_direction(char lcd_dir);

int x=0,speed=0;
char lcd_dir;

// External Interrupt 0 service routine
interrupt [EXT_INT0] void ext_int0_isr(void)
{
    speed++;
    if(PIND.3==0)
        lcd_dir=2;
    if(PIND.3==1)
        lcd_dir=1;
    

}

// External Interrupt 1 service routine
interrupt [EXT_INT1] void ext_int1_isr(void)
{
     speed++;
}

// Timer 2 overflow interrupt service routine
interrupt [TIM2_OVF] void timer2_ovf_isr(void)
{
    x++; 
    if (x==391) 
    {    
        lcd_clear();
        lcd_putsf("Speed = ");
        display_no(speed);
        lcd_putsf("rpm");
        lcd_direction(lcd_dir); 
        speed=0;       
        x=0; 
    }  
       
}


void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=Out Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=0 State2=T State1=T State0=T 
PORTB=0x00;
DDRB=0x08;

// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTC=0x00;
DDRC=0x00;

// Port D initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out 
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0 
PORTD=0x00;
DDRD=0x03;

// Timer/counter 0 initialization
// Clock source: System Clock
// Clock value: 125.000 kHz
// Mode: Fast PWM top=FFh
// OC0 output: Non-Inverted PWM
TCCR0=0x6A;
TCNT0=0x00;
OCR0=0xFF;

// Timer/counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/counter 2 initialization
// Clock source: System Clock
// Clock value: 1000.000 kHz
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x01;
TCNT2=0x00;
OCR2=0x00;
 
// External Interrupt(s) initialization
// INT0: On
// INT0 Mode: Falling Edge
// INT1: On
// INT1 Mode: Falling Edge
// INT2: Off
GICR|=0xC0;
MCUCR=0x0A;
MCUCSR=0x00;
GIFR=0xC0;

// Timer(s)/speeder(s) Interrupt(s) initialization
TIMSK=0x40;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/counter 1: Off
ACSR=0x80;
SFIOR=0x00;

// LCD module initialization
lcd_init(16);

// Global enable interrupts
#asm("sei")

PORTC=255;
direction(1); 
while (1)
   {
   if (PINC.2==0 || PINC.3==0 || PINC.4==0 ) 
   {  
     delay_ms(10); 
     if (PINC.2==0) 
         direction(1);
     if (PINC.3==0) 
         direction(2);
     if (PINC.4==0) 
         direction(3);
         
    } 
    
   //lcd_gotoxy(0,1);
   //lcd_putsf("      ");
   //lcd_gotoxy(0,1);
   //lcd_putsf("OCR0: ");
   //display_no(OCR0);
     
   if (PINC.0==0 || PINC.1==0 ) 
   {  
     delay_ms(10);
     
     if (PINC.0==0) 
     {   
       
       if (OCR0> 250)
         OCR0=255; 
       else
         OCR0=OCR0+5;
     }  
     else if (PINC.1==0) 
     {   
          
          if(OCR0<5)
           OCR0=0;
          else   
           OCR0=OCR0-5;
     }     
    }
    else
    {
     
       
    }  
      
  }
}
 
///////////////////////// 
void direction(char dir)
{
  switch(dir)
  {
         
     case 1:
     PORTD.0=1;
     PORTD.1=0; 
     //lcd_clear();
     //lcd_putsf("Direction: Right ");
     break; 
     
     case 2:
     PORTD.0=0;
     PORTD.1=1;
     //lcd_clear();
     //lcd_putsf("Direction: Left ");
     break;
     
     case 3:
     PORTD.0=0;
     PORTD.1=0;
     //lcd_clear();
     //lcd_putsf("Direction: Brake ");
     break;
  }
}
/////////////////////////
///////////////////////// 
void lcd_direction(char lcd_dir)
{
  switch(lcd_dir)
  {
     case 1:
     lcd_gotoxy(0,1);
     lcd_putsf("Direction: Left ");
     break;
     
     case 2:
     lcd_gotoxy(0,1);
     lcd_putsf("Direction: Right ");
     break;
     
     case 3:
     lcd_gotoxy(0,1);
     lcd_putsf("Direction: Brake ");
     break;
  }
}
void display_no(int no)
{  
  int array[5];
  int i=0,j;
  /*if( no < 0)
  {
   lcd_putchar('-');
   no=-1*no;
  }
  else
   lcd_putchar('+');*/
  while(no > 9)
  {
    array[i++]=no % 10;
    no/=10;
  }
  array[i]=no;
  for(j=i;j >=0 ;j--)  
  {
    lcd_putchar(48+array[j]);
    delay_us(100);
    }
    
}

/////////////////////////
/////////////////////////