ask for the help - When can we use "do" or "did" ?

I think the teacher may have been referring to the "whom/who" rule. The correct way should have been "Whom did you call yesterday?" I may be wrong, so don't hate me. The Who/Whom thing has always confused me. The rest of your sentence is correct.

When speaking the past tense of questioning who called you yesterday...you change the "call" to past tense. Did is past tense but the word "call" can be changed to past tense instead. So the question would be...Who called you yesterday? However...it would be a completely different meaning to ask this question... Who did YOU call yesterday? This would imply that you called someone and not someone called you. But putting "you" behind did separates the two words of Did and Call to make the question more understandable. If you are doing an exercise of Did and Do....Try starting the question with one of those words to make it less confusing. :) Hope this helped.

Your teacher is right. I can't remember the grammar rules now. I've gotten to the point where I don't need to think about the rules and the words just comes out naturally. you should have said " who did you call yesterday?"

Your teacher is wrong. I can't remember the grammar rules now. I've gotten to the point where I don't need to think about the rules and the words just comes out naturally. If your teacher said its wrong, did she tell you what was the right answer?