Lab 8 code to be tested

// Hadi Elnemr 46-6804 T-54 Mechatronics Lab Evaluation 8
#define F_CPU 16000000
#define __AVR_ATmega328P__
#include <avr/io.h>
#include <util/delay.h>
void init_adc(void) { // AREF 0, channel 0.
	ADMUX &= ~(1 << REFS0 | 1 << REFS1 | 1 << ADLAR | 1 << MUX0 | 1 << MUX1
			| 1 << MUX2 | 1 << MUX3);
	ADCSRA |= 1 << ADEN;
	DIDR0 |= 0xFF;
}
long adc_conv(void) { // Get pot. value
	ADCSRA |= 1 << ADSC;
	while (ADCSRA & (1 << ADSC))
		;
	return ADC;
}
void enable_pwm(void) { // phase correct PWM
	TCCR0A |= ((1 << WGM00) | (1 << COM0A1));
	TCCR0A &= ~(1 << WGM01) & ~(1 << COM0A0);
	TCCR0B &= (~(1 << CS02)) & (~(1 << CS00)) & ~(1 << WGM02);
	TCCR0B |= 1 << CS01;
}
void i2c_init() {
	TWSR &= ~(1 << TWPS1) & ~(1 << TWPS0);
	TWBR = 0x0C;
	TWCR |= 1 << TWEN | 1 << TWINT | 1 << TWSTA;
	while (TWCR & 1 << TWINT)
		;
	TWDR = 0x68 << 1; // send slave (mpu) address with write bit = 0
	TWCR |= 1 << TWINT;
	while (TWCR & 1 << TWINT)
		;
}
void mpu_init() {
	TWDR = 0x6B; // Point to PWR_MGMT register
	TWCR |= 1 << TWINT;
	while (TWCR & 1 << TWINT)
		;
	TWCR |= 1 << TWINT;
	TWDR = 0; // Write 0 to PWR_MGMT register
	while (TWCR & 1 << TWINT)
		;
}
signed long read_mpu() {
	TWCR |= 1 << TWINT | 1 << TWSTA;
	while (TWCR & 1 << TWINT)
		;
	TWDR = 0x68 << 1; // send slave (mpu) address with write bit = 0
	TWCR |= 1 << TWINT;
	while (TWCR & 1 << TWINT)
		;
	TWDR = 0x43; // send gyro register address
	TWCR |= 1 << TWINT | 1 << TWSTA; // start again
	while (TWCR & 1 << TWINT)
		;
	TWDR = 0x68 << 1 | 1; // send slave (mpu) address with read bit = 1
	TWCR |= 1 << TWINT;
	while (TWCR & 1 << TWINT)
		;
	TWCR |= 1 << TWINT;      // wait for data to be read
	while (TWCR & 1 << TWINT)
		;
	signed long ret = TWDR << 8; // store gyro_1
	TWCR |= 1 << TWINT;
	while (TWCR & 1 << TWINT)
		; // wait for data (Part 2) to be read
	return ret | TWDR;
}
void lab8_eval(void) {
	DDRD |= 1 << DDD2 | 1 << DDD3 | 1 << DDD6; // D2, D3, D6 output
	DDRC &= ~(1 << DDC0) & ~(1 << DDC1) & ~(1 << DDC4) & ~(1 << DDC5); // Pin C4,5 in
	init_adc();
	enable_pwm();
	i2c_init();
	mpu_init();
	enable_pwm();
	signed long gyrodata;
	while (1) {
		gyrodata = read_mpu();
		if(gyrodata > 0)
			PORTD |= 1<<PORTD3 & ~(1<<PORTD2);
		else
			PORTD |= 1<<PORTD2 & ~(1<<PORTD3);
		OCR0A = gyrodata;
	}
}
int main(void) {
	lab8_eval();
}