Relocate platform specific drivers (#13894)

* Relocate platform specific drivers

* Move stm eeprom

* Tidy up slightly

1 files changed, 536 insertions, 0 deletions

diff --git a/platforms/avr/drivers/hd44780.c b/platforms/avr/drivers/hd44780.c
new file mode 100644
index 0000000000..f71069dece
--- /dev/null
+++ b/platforms/avr/drivers/hd44780.c
@@ -0,0 +1,536 @@
+/****************************************************************************
+ Title:     HD44780U LCD library
+ Author:    Peter Fleury <pfleury@gmx.ch>  http://tinyurl.com/peterfleury
+ License:   GNU General Public License Version 3
+ File:	    $Id: lcd.c,v 1.15.2.2 2015/01/17 12:16:05 peter Exp $
+ Software:  AVR-GCC 3.3
+ Target:    any AVR device, memory mapped mode only for AT90S4414/8515/Mega
+
+ DESCRIPTION
+       Basic routines for interfacing a HD44780U-based text lcd display
+
+       Originally based on Volker Oth's lcd library,
+       changed lcd_init(), added additional constants for lcd_command(),
+       added 4-bit I/O mode, improved and optimized code.
+
+       Library can be operated in memory mapped mode (LCD_IO_MODE=0) or in
+       4-bit IO port mode (LCD_IO_MODE=1). 8-bit IO port mode not supported.
+
+       Memory mapped mode compatible with Kanda STK200, but supports also
+       generation of R/W signal through A8 address line.
+
+ USAGE
+       See the C include lcd.h file for a description of each function
+
+*****************************************************************************/
+#include <inttypes.h>
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+#include <util/delay.h>
+#include "hd44780.h"
+
+/*
+** constants/macros
+*/
+#define DDR(x) (*(&x - 1)) /* address of data direction register of port x */
+#if defined(__AVR_ATmega64__) || defined(__AVR_ATmega128__)
+/* on ATmega64/128 PINF is on port 0x00 and not 0x60 */
+#    define PIN(x) (&PORTF == &(x) ? _SFR_IO8(0x00) : (*(&x - 2)))
+#else
+#    define PIN(x) (*(&x - 2)) /* address of input register of port x          */
+#endif
+
+#if LCD_IO_MODE
+#    define lcd_e_delay() _delay_us(LCD_DELAY_ENABLE_PULSE)
+#    define lcd_e_high() LCD_E_PORT |= _BV(LCD_E_PIN);
+#    define lcd_e_low() LCD_E_PORT &= ~_BV(LCD_E_PIN);
+#    define lcd_e_toggle() toggle_e()
+#    define lcd_rw_high() LCD_RW_PORT |= _BV(LCD_RW_PIN)
+#    define lcd_rw_low() LCD_RW_PORT &= ~_BV(LCD_RW_PIN)
+#    define lcd_rs_high() LCD_RS_PORT |= _BV(LCD_RS_PIN)
+#    define lcd_rs_low() LCD_RS_PORT &= ~_BV(LCD_RS_PIN)
+#endif
+
+#if LCD_IO_MODE
+#    if LCD_LINES == 1
+#        define LCD_FUNCTION_DEFAULT LCD_FUNCTION_4BIT_1LINE
+#    else
+#        define LCD_FUNCTION_DEFAULT LCD_FUNCTION_4BIT_2LINES
+#    endif
+#else
+#    if LCD_LINES == 1
+#        define LCD_FUNCTION_DEFAULT LCD_FUNCTION_8BIT_1LINE
+#    else
+#        define LCD_FUNCTION_DEFAULT LCD_FUNCTION_8BIT_2LINES
+#    endif
+#endif
+
+#if LCD_CONTROLLER_KS0073
+#    if LCD_LINES == 4
+
+#        define KS0073_EXTENDED_FUNCTION_REGISTER_ON 0x2C  /* |0|010|1100 4-bit mode, extension-bit RE = 1 */
+#        define KS0073_EXTENDED_FUNCTION_REGISTER_OFF 0x28 /* |0|010|1000 4-bit mode, extension-bit RE = 0 */
+#        define KS0073_4LINES_MODE 0x09                    /* |0|000|1001 4 lines mode */
+
+#    endif
+#endif
+
+/*
+** function prototypes
+*/
+#if LCD_IO_MODE
+static void toggle_e(void);
+#endif
+
+/*
+** local functions
+*/
+
+/*************************************************************************
+delay for a minimum of <us> microseconds
+the number of loops is calculated at compile-time from MCU clock frequency
+*************************************************************************/
+#define delay(us) _delay_us(us)
+
+#if LCD_IO_MODE
+/* toggle Enable Pin to initiate write */
+static void toggle_e(void) {
+    lcd_e_high();
+    lcd_e_delay();
+    lcd_e_low();
+}
+#endif
+
+/*************************************************************************
+Low-level function to write byte to LCD controller
+Input:    data   byte to write to LCD
+          rs     1: write data
+                 0: write instruction
+Returns:  none
+*************************************************************************/
+#if LCD_IO_MODE
+static void lcd_write(uint8_t data, uint8_t rs) {
+    unsigned char dataBits;
+
+    if (rs) { /* write data        (RS=1, RW=0) */
+        lcd_rs_high();
+    } else { /* write instruction (RS=0, RW=0) */
+        lcd_rs_low();
+    }
+    lcd_rw_low(); /* RW=0  write mode      */
+
+    if ((&LCD_DATA0_PORT == &LCD_DATA1_PORT) && (&LCD_DATA1_PORT == &LCD_DATA2_PORT) && (&LCD_DATA2_PORT == &LCD_DATA3_PORT) && (LCD_DATA0_PIN == 0) && (LCD_DATA1_PIN == 1) && (LCD_DATA2_PIN == 2) && (LCD_DATA3_PIN == 3)) {
+        /* configure data pins as output */
+        DDR(LCD_DATA0_PORT) |= 0x0F;
+
+        /* output high nibble first */
+        dataBits       = LCD_DATA0_PORT & 0xF0;
+        LCD_DATA0_PORT = dataBits | ((data >> 4) & 0x0F);
+        lcd_e_toggle();
+
+        /* output low nibble */
+        LCD_DATA0_PORT = dataBits | (data & 0x0F);
+        lcd_e_toggle();
+
+        /* all data pins high (inactive) */
+        LCD_DATA0_PORT = dataBits | 0x0F;
+    } else {
+        /* configure data pins as output */
+        DDR(LCD_DATA0_PORT) |= _BV(LCD_DATA0_PIN);
+        DDR(LCD_DATA1_PORT) |= _BV(LCD_DATA1_PIN);
+        DDR(LCD_DATA2_PORT) |= _BV(LCD_DATA2_PIN);
+        DDR(LCD_DATA3_PORT) |= _BV(LCD_DATA3_PIN);
+
+        /* output high nibble first */
+        LCD_DATA3_PORT &= ~_BV(LCD_DATA3_PIN);
+        LCD_DATA2_PORT &= ~_BV(LCD_DATA2_PIN);
+        LCD_DATA1_PORT &= ~_BV(LCD_DATA1_PIN);
+        LCD_DATA0_PORT &= ~_BV(LCD_DATA0_PIN);
+        if (data & 0x80) LCD_DATA3_PORT |= _BV(LCD_DATA3_PIN);
+        if (data & 0x40) LCD_DATA2_PORT |= _BV(LCD_DATA2_PIN);
+        if (data & 0x20) LCD_DATA1_PORT |= _BV(LCD_DATA1_PIN);
+        if (data & 0x10) LCD_DATA0_PORT |= _BV(LCD_DATA0_PIN);
+        lcd_e_toggle();
+
+        /* output low nibble */
+        LCD_DATA3_PORT &= ~_BV(LCD_DATA3_PIN);
+        LCD_DATA2_PORT &= ~_BV(LCD_DATA2_PIN);
+        LCD_DATA1_PORT &= ~_BV(LCD_DATA1_PIN);
+        LCD_DATA0_PORT &= ~_BV(LCD_DATA0_PIN);
+        if (data & 0x08) LCD_DATA3_PORT |= _BV(LCD_DATA3_PIN);
+        if (data & 0x04) LCD_DATA2_PORT |= _BV(LCD_DATA2_PIN);
+        if (data & 0x02) LCD_DATA1_PORT |= _BV(LCD_DATA1_PIN);
+        if (data & 0x01) LCD_DATA0_PORT |= _BV(LCD_DATA0_PIN);
+        lcd_e_toggle();
+
+        /* all data pins high (inactive) */
+        LCD_DATA0_PORT |= _BV(LCD_DATA0_PIN);
+        LCD_DATA1_PORT |= _BV(LCD_DATA1_PIN);
+        LCD_DATA2_PORT |= _BV(LCD_DATA2_PIN);
+        LCD_DATA3_PORT |= _BV(LCD_DATA3_PIN);
+    }
+}
+#else
+#    define lcd_write(d, rs)                        \
+        if (rs)                                     \
+            *(volatile uint8_t *)(LCD_IO_DATA) = d; \
+        else                                        \
+            *(volatile uint8_t *)(LCD_IO_FUNCTION) = d;
+/* rs==0 -> write instruction to LCD_IO_FUNCTION */
+/* rs==1 -> write data to LCD_IO_DATA */
+#endif
+
+/*************************************************************************
+Low-level function to read byte from LCD controller
+Input:    rs     1: read data
+                 0: read busy flag / address counter
+Returns:  byte read from LCD controller
+*************************************************************************/
+#if LCD_IO_MODE
+static uint8_t lcd_read(uint8_t rs) {
+    uint8_t data;
+
+    if (rs)
+        lcd_rs_high(); /* RS=1: read data      */
+    else
+        lcd_rs_low(); /* RS=0: read busy flag */
+    lcd_rw_high();    /* RW=1  read mode      */
+
+    if ((&LCD_DATA0_PORT == &LCD_DATA1_PORT) && (&LCD_DATA1_PORT == &LCD_DATA2_PORT) && (&LCD_DATA2_PORT == &LCD_DATA3_PORT) && (LCD_DATA0_PIN == 0) && (LCD_DATA1_PIN == 1) && (LCD_DATA2_PIN == 2) && (LCD_DATA3_PIN == 3)) {
+        DDR(LCD_DATA0_PORT) &= 0xF0; /* configure data pins as input */
+
+        lcd_e_high();
+        lcd_e_delay();
+        data = PIN(LCD_DATA0_PORT) << 4; /* read high nibble first */
+        lcd_e_low();
+
+        lcd_e_delay(); /* Enable 500ns low       */
+
+        lcd_e_high();
+        lcd_e_delay();
+        data |= PIN(LCD_DATA0_PORT) & 0x0F; /* read low nibble        */
+        lcd_e_low();
+    } else {
+        /* configure data pins as input */
+        DDR(LCD_DATA0_PORT) &= ~_BV(LCD_DATA0_PIN);
+        DDR(LCD_DATA1_PORT) &= ~_BV(LCD_DATA1_PIN);
+        DDR(LCD_DATA2_PORT) &= ~_BV(LCD_DATA2_PIN);
+        DDR(LCD_DATA3_PORT) &= ~_BV(LCD_DATA3_PIN);
+
+        /* read high nibble first */
+        lcd_e_high();
+        lcd_e_delay();
+        data = 0;
+        if (PIN(LCD_DATA0_PORT) & _BV(LCD_DATA0_PIN)) data |= 0x10;
+        if (PIN(LCD_DATA1_PORT) & _BV(LCD_DATA1_PIN)) data |= 0x20;
+        if (PIN(LCD_DATA2_PORT) & _BV(LCD_DATA2_PIN)) data |= 0x40;
+        if (PIN(LCD_DATA3_PORT) & _BV(LCD_DATA3_PIN)) data |= 0x80;
+        lcd_e_low();
+
+        lcd_e_delay(); /* Enable 500ns low       */
+
+        /* read low nibble */
+        lcd_e_high();
+        lcd_e_delay();
+        if (PIN(LCD_DATA0_PORT) & _BV(LCD_DATA0_PIN)) data |= 0x01;
+        if (PIN(LCD_DATA1_PORT) & _BV(LCD_DATA1_PIN)) data |= 0x02;
+        if (PIN(LCD_DATA2_PORT) & _BV(LCD_DATA2_PIN)) data |= 0x04;
+        if (PIN(LCD_DATA3_PORT) & _BV(LCD_DATA3_PIN)) data |= 0x08;
+        lcd_e_low();
+    }
+    return data;
+}
+#else
+#    define lcd_read(rs) (rs) ? *(volatile uint8_t *)(LCD_IO_DATA + LCD_IO_READ) : *(volatile uint8_t *)(LCD_IO_FUNCTION + LCD_IO_READ)
+/* rs==0 -> read instruction from LCD_IO_FUNCTION */
+/* rs==1 -> read data from LCD_IO_DATA */
+#endif
+
+/*************************************************************************
+loops while lcd is busy, returns address counter
+*************************************************************************/
+static uint8_t lcd_waitbusy(void)
+
+{
+    register uint8_t c;
+
+    /* wait until busy flag is cleared */
+    while ((c = lcd_read(0)) & (1 << LCD_BUSY)) {
+    }
+
+    /* the address counter is updated 4us after the busy flag is cleared */
+    delay(LCD_DELAY_BUSY_FLAG);
+
+    /* now read the address counter */
+    return (lcd_read(0));  // return address counter
+
+} /* lcd_waitbusy */
+
+/*************************************************************************
+Move cursor to the start of next line or to the first line if the cursor
+is already on the last line.
+*************************************************************************/
+static inline void lcd_newline(uint8_t pos) {
+    register uint8_t addressCounter;
+
+#if LCD_LINES == 1
+    addressCounter = 0;
+#endif
+#if LCD_LINES == 2
+    if (pos < (LCD_START_LINE2))
+        addressCounter = LCD_START_LINE2;
+    else
+        addressCounter = LCD_START_LINE1;
+#endif
+#if LCD_LINES == 4
+#    if KS0073_4LINES_MODE
+    if (pos < LCD_START_LINE2)
+        addressCounter = LCD_START_LINE2;
+    else if ((pos >= LCD_START_LINE2) && (pos < LCD_START_LINE3))
+        addressCounter = LCD_START_LINE3;
+    else if ((pos >= LCD_START_LINE3) && (pos < LCD_START_LINE4))
+        addressCounter = LCD_START_LINE4;
+    else
+        addressCounter = LCD_START_LINE1;
+#    else
+    if (pos < LCD_START_LINE3)
+        addressCounter = LCD_START_LINE2;
+    else if ((pos >= LCD_START_LINE2) && (pos < LCD_START_LINE4))
+        addressCounter = LCD_START_LINE3;
+    else if ((pos >= LCD_START_LINE3) && (pos < LCD_START_LINE2))
+        addressCounter = LCD_START_LINE4;
+    else
+        addressCounter = LCD_START_LINE1;
+#    endif
+#endif
+    lcd_command((1 << LCD_DDRAM) + addressCounter);
+
+} /* lcd_newline */
+
+/*
+** PUBLIC FUNCTIONS
+*/
+
+/*************************************************************************
+Send LCD controller instruction command
+Input:   instruction to send to LCD controller, see HD44780 data sheet
+Returns: none
+*************************************************************************/
+void lcd_command(uint8_t cmd) {
+    lcd_waitbusy();
+    lcd_write(cmd, 0);
+}
+
+/*************************************************************************
+Send data byte to LCD controller
+Input:   data to send to LCD controller, see HD44780 data sheet
+Returns: none
+*************************************************************************/
+void lcd_data(uint8_t data) {
+    lcd_waitbusy();
+    lcd_write(data, 1);
+}
+
+/*************************************************************************
+Set cursor to specified position
+Input:    x  horizontal position  (0: left most position)
+          y  vertical position    (0: first line)
+Returns:  none
+*************************************************************************/
+void lcd_gotoxy(uint8_t x, uint8_t y) {
+#if LCD_LINES == 1
+    lcd_command((1 << LCD_DDRAM) + LCD_START_LINE1 + x);
+#endif
+#if LCD_LINES == 2
+    if (y == 0)
+        lcd_command((1 << LCD_DDRAM) + LCD_START_LINE1 + x);
+    else
+        lcd_command((1 << LCD_DDRAM) + LCD_START_LINE2 + x);
+#endif
+#if LCD_LINES == 4
+    if (y == 0)
+        lcd_command((1 << LCD_DDRAM) + LCD_START_LINE1 + x);
+    else if (y == 1)
+        lcd_command((1 << LCD_DDRAM) + LCD_START_LINE2 + x);
+    else if (y == 2)
+        lcd_command((1 << LCD_DDRAM) + LCD_START_LINE3 + x);
+    else /* y==3 */
+        lcd_command((1 << LCD_DDRAM) + LCD_START_LINE4 + x);
+#endif
+
+} /* lcd_gotoxy */
+
+/*************************************************************************
+*************************************************************************/
+int lcd_getxy(void) { return lcd_waitbusy(); }
+
+/*************************************************************************
+Clear display and set cursor to home position
+*************************************************************************/
+void lcd_clrscr(void) { lcd_command(1 << LCD_CLR); }
+
+/*************************************************************************
+Set cursor to home position
+*************************************************************************/
+void lcd_home(void) { lcd_command(1 << LCD_HOME); }
+
+/*************************************************************************
+Display character at current cursor position
+Input:    character to be displayed
+Returns:  none
+*************************************************************************/
+void lcd_putc(char c) {
+    uint8_t pos;
+
+    pos = lcd_waitbusy();  // read busy-flag and address counter
+    if (c == '\n') {
+        lcd_newline(pos);
+    } else {
+#if LCD_WRAP_LINES == 1
+#    if LCD_LINES == 1
+        if (pos == LCD_START_LINE1 + LCD_DISP_LENGTH) {
+            lcd_write((1 << LCD_DDRAM) + LCD_START_LINE1, 0);
+        }
+#    elif LCD_LINES == 2
+        if (pos == LCD_START_LINE1 + LCD_DISP_LENGTH) {
+            lcd_write((1 << LCD_DDRAM) + LCD_START_LINE2, 0);
+        } else if (pos == LCD_START_LINE2 + LCD_DISP_LENGTH) {
+            lcd_write((1 << LCD_DDRAM) + LCD_START_LINE1, 0);
+        }
+#    elif LCD_LINES == 4
+        if (pos == LCD_START_LINE1 + LCD_DISP_LENGTH) {
+            lcd_write((1 << LCD_DDRAM) + LCD_START_LINE2, 0);
+        } else if (pos == LCD_START_LINE2 + LCD_DISP_LENGTH) {
+            lcd_write((1 << LCD_DDRAM) + LCD_START_LINE3, 0);
+        } else if (pos == LCD_START_LINE3 + LCD_DISP_LENGTH) {
+            lcd_write((1 << LCD_DDRAM) + LCD_START_LINE4, 0);
+        } else if (pos == LCD_START_LINE4 + LCD_DISP_LENGTH) {
+            lcd_write((1 << LCD_DDRAM) + LCD_START_LINE1, 0);
+        }
+#    endif
+        lcd_waitbusy();
+#endif
+        lcd_write(c, 1);
+    }
+
+} /* lcd_putc */
+
+/*************************************************************************
+Display string without auto linefeed
+Input:    string to be displayed
+Returns:  none
+*************************************************************************/
+void lcd_puts(const char *s)
+/* print string on lcd (no auto linefeed) */
+{
+    register char c;
+
+    while ((c = *s++)) {
+        lcd_putc(c);
+    }
+
+} /* lcd_puts */
+
+/*************************************************************************
+Display string from program memory without auto linefeed
+Input:     string from program memory be be displayed
+Returns:   none
+*************************************************************************/
+void lcd_puts_p(const char *progmem_s)
+/* print string from program memory on lcd (no auto linefeed) */
+{
+    register char c;
+
+    while ((c = pgm_read_byte(progmem_s++))) {
+        lcd_putc(c);
+    }
+
+} /* lcd_puts_p */
+
+/*************************************************************************
+Initialize display and select type of cursor
+Input:    dispAttr LCD_DISP_OFF            display off
+                   LCD_DISP_ON             display on, cursor off
+                   LCD_DISP_ON_CURSOR      display on, cursor on
+                   LCD_DISP_CURSOR_BLINK   display on, cursor on flashing
+Returns:  none
+*************************************************************************/
+void lcd_init(uint8_t dispAttr) {
+#if LCD_IO_MODE
+    /*
+     *  Initialize LCD to 4 bit I/O mode
+     */
+
+    if ((&LCD_DATA0_PORT == &LCD_DATA1_PORT) && (&LCD_DATA1_PORT == &LCD_DATA2_PORT) && (&LCD_DATA2_PORT == &LCD_DATA3_PORT) && (&LCD_RS_PORT == &LCD_DATA0_PORT) && (&LCD_RW_PORT == &LCD_DATA0_PORT) && (&LCD_E_PORT == &LCD_DATA0_PORT) && (LCD_DATA0_PIN == 0) && (LCD_DATA1_PIN == 1) && (LCD_DATA2_PIN == 2) && (LCD_DATA3_PIN == 3) && (LCD_RS_PIN == 4) && (LCD_RW_PIN == 5) && (LCD_E_PIN == 6)) {
+        /* configure all port bits as output (all LCD lines on same port) */
+        DDR(LCD_DATA0_PORT) |= 0x7F;
+    } else if ((&LCD_DATA0_PORT == &LCD_DATA1_PORT) && (&LCD_DATA1_PORT == &LCD_DATA2_PORT) && (&LCD_DATA2_PORT == &LCD_DATA3_PORT) && (LCD_DATA0_PIN == 0) && (LCD_DATA1_PIN == 1) && (LCD_DATA2_PIN == 2) && (LCD_DATA3_PIN == 3)) {
+        /* configure all port bits as output (all LCD data lines on same port, but control lines on different ports) */
+        DDR(LCD_DATA0_PORT) |= 0x0F;
+        DDR(LCD_RS_PORT) |= _BV(LCD_RS_PIN);
+        DDR(LCD_RW_PORT) |= _BV(LCD_RW_PIN);
+        DDR(LCD_E_PORT) |= _BV(LCD_E_PIN);
+    } else {
+        /* configure all port bits as output (LCD data and control lines on different ports */
+        DDR(LCD_RS_PORT) |= _BV(LCD_RS_PIN);
+        DDR(LCD_RW_PORT) |= _BV(LCD_RW_PIN);
+        DDR(LCD_E_PORT) |= _BV(LCD_E_PIN);
+        DDR(LCD_DATA0_PORT) |= _BV(LCD_DATA0_PIN);
+        DDR(LCD_DATA1_PORT) |= _BV(LCD_DATA1_PIN);
+        DDR(LCD_DATA2_PORT) |= _BV(LCD_DATA2_PIN);
+        DDR(LCD_DATA3_PORT) |= _BV(LCD_DATA3_PIN);
+    }
+    delay(LCD_DELAY_BOOTUP); /* wait 16ms or more after power-on       */
+
+    /* initial write to lcd is 8bit */
+    LCD_DATA1_PORT |= _BV(LCD_DATA1_PIN);  // LCD_FUNCTION>>4;
+    LCD_DATA0_PORT |= _BV(LCD_DATA0_PIN);  // LCD_FUNCTION_8BIT>>4;
+    lcd_e_toggle();
+    delay(LCD_DELAY_INIT); /* delay, busy flag can't be checked here */
+
+    /* repeat last command */
+    lcd_e_toggle();
+    delay(LCD_DELAY_INIT_REP); /* delay, busy flag can't be checked here */
+
+    /* repeat last command a third time */
+    lcd_e_toggle();
+    delay(LCD_DELAY_INIT_REP); /* delay, busy flag can't be checked here */
+
+    /* now configure for 4bit mode */
+    LCD_DATA0_PORT &= ~_BV(LCD_DATA0_PIN);  // LCD_FUNCTION_4BIT_1LINE>>4
+    lcd_e_toggle();
+    delay(LCD_DELAY_INIT_4BIT); /* some displays need this additional delay */
+
+    /* from now the LCD only accepts 4 bit I/O, we can use lcd_command() */
+#else
+    /*
+     * Initialize LCD to 8 bit memory mapped mode
+     */
+
+    /* enable external SRAM (memory mapped lcd) and one wait state */
+    MCUCR = _BV(SRE) | _BV(SRW);
+
+    /* reset LCD */
+    delay(LCD_DELAY_BOOTUP);               /* wait 16ms after power-on     */
+    lcd_write(LCD_FUNCTION_8BIT_1LINE, 0); /* function set: 8bit interface */
+    delay(LCD_DELAY_INIT);                 /* wait 5ms                     */
+    lcd_write(LCD_FUNCTION_8BIT_1LINE, 0); /* function set: 8bit interface */
+    delay(LCD_DELAY_INIT_REP);             /* wait 64us                    */
+    lcd_write(LCD_FUNCTION_8BIT_1LINE, 0); /* function set: 8bit interface */
+    delay(LCD_DELAY_INIT_REP);             /* wait 64us                    */
+#endif
+
+#if KS0073_4LINES_MODE
+    /* Display with KS0073 controller requires special commands for enabling 4 line mode */
+    lcd_command(KS0073_EXTENDED_FUNCTION_REGISTER_ON);
+    lcd_command(KS0073_4LINES_MODE);
+    lcd_command(KS0073_EXTENDED_FUNCTION_REGISTER_OFF);
+#else
+    lcd_command(LCD_FUNCTION_DEFAULT);     /* function set: display lines  */
+#endif
+    lcd_command(LCD_DISP_OFF);     /* display off                  */
+    lcd_clrscr();                  /* display clear                */
+    lcd_command(LCD_MODE_DEFAULT); /* set entry mode               */
+    lcd_command(dispAttr);         /* display/cursor control       */
+
+} /* lcd_init */