remove debug code

lib/helius_microrl/microrl.c:476:22: error: comparison between signed and unsigned integer expressions [-Werror=sign-compare]

Makefile

@@ -8,6 +8,7 @@ CC = avr-gcc
 OBJCOPY = avr-objcopy
 AVRDUDE = avrdude
 CODE_FORMATTER = tooling/format-code.sh
+AVRSIZE = avr-size
 
 BOARD = atmega2560
 
@@ -22,7 +23,8 @@ ELF = $(BINDIR)/$(BOARD)-user-code.elf
 
 # Source files. wildard "uses" all .c files in src directory
 SRCDIR = src
-SRC = $(wildcard $(SRCDIR)/*.c)
+BUILD_LIBS_DIR = lib
+SRC = $(wildcard $(SRCDIR)/*.c $(BUILD_LIBS_DIR)/*/*.c)
 
 # Define object files from .c files defined above
 OBJ=$(SRC:.c=.o)
@@ -41,13 +43,19 @@ CFLAGS =	-Wall \
 			-Werror \
 			-Wfatal-errors \
 			-Os \
+			-flto \
+			-fdata-sections \
+			-ffunction-sections \
 			-mmcu=$(BOARD) \
 			-DF_CPU=16000000UL \
 			-DGIT_DESCR=\"$(shell git describe --abbrev=6 --dirty --always --tags --long)\" \
+			-ffreestanding \
 			-std=c11
 
 # Linker flags
-LDFLAGS = -mmcu=$(BOARD)
+LDFLAGS =	-mmcu=$(BOARD) \
+			-flto \
+			-Wl,-gc-sections
 
 OBJCOPYARGS =	-O ihex \
 				-R .eeprom
@@ -61,6 +69,9 @@ AVRDUDEARGS =	-p $(BOARD) \
 				-V \
 				-D
 
+AVRSIZEARGS =	-C \
+				--mcu=$(BOARD)
+
 all: $(ELF) $(TARGET)
 
 %.o : %.c
@@ -76,11 +87,22 @@ clean:
 #Do not remove .placeholder in BINDIR
 	find $(BINDIR) -type f -not -name '.placeholder' -print0 | xargs -0 rm -f --
 	rm -f $(SRCDIR)/*.o
+	rm -fr $(BUILD_LIBS_DIR)/*/*.o
 
 install:
+	@if [ ! -c "$(ARDUINO)" ]; then \
+		echo -e "\n\nEnvironment variable ARDUINO is \"$(ARDUINO)\" and that is invalid."\
+				"\nDid you do \"export ARDUINO=/dev/ttyACM0\" before running make install?"\
+				"\nAlso make sure that ARDUINO env var points to a valid tty device\n\n"; \
+		exit 1;\
+	fi
+	
 	$(AVRDUDE) $(AVRDUDEARGS) -U flash:w:$(TARGET)
 
 format:
-	$(CODE_FORMATTER) $(SRC)
+	$(CODE_FORMATTER) $(SRCDIR)/*.c
 
-.PHONY: clean install format
+size:
+	$(AVRSIZE) $(AVRSIZEARGS) $(ELF)
+
+.PHONY: clean install format size

README.md

@@ -0,0 +1,41 @@
+# I237 Hardware Programming
+
+This here is my repository for hardware programming course at
+Estonian IT College that is based around a
+[Arduino Mega 2560](https://www.arduino.cc/en/Main/ArduinoBoardMega2560).
+
+This code us usualy updated once every two weeks when a new excersice is put up
+by Silver Kits.
+
+# How to install
+
+Currently to test this code you have to clone the repository
+
+```bash
+git clone https://git.wut.ee/arti/i237.git hardware
+cd hardware
+```
+
+And export a enviroment variable that points to a Arduino Mega board. The
+real path will depend on the OS and Computer that you are using. For me it is
+usualy `/dev/ttyACM0`.
+
+```bash
+export ARDUINO=/dev/ttyACM0
+```
+
+After that you can `make` the project.
+
+```bash
+make clean
+make
+make install
+```
+
+You can also chekcout previous labs using `git checkout <lab name>`. For example
+
+```bash
+git checkout lab02
+```
+
+Don't forget to `make clean` after each checkout!

build.sh

@@ -1,4 +0,0 @@
-avr-gcc -Os -DF_CPU=16000000UL -Wall -Wextra -Wpedantic -Wformat -pedantic-errors -Werror -Wfatal-errors -mmcu=atmega2560 -c -o src/main.o src/main.c
-avr-gcc -mmcu=atmega2560 src/main.o -o bin/atmega2560-user-code.elf
-avr-objcopy -O ihex -R .eeprom bin/atmega2560-user-code.elf bin/atmega2560-user-code.ihx
-avrdude -v -F -V -c stk500v2 -p m2560 -P /dev/ttyACM0 -b 115200 -U flash:w:bin/atmega2560-user-code.ihx

doc/arduino-mega-lcd1602-keypad-shield-wiring.markdown

@@ -0,0 +1,53 @@
+# Arduino Mega Arduino LCD1602 Keypad shield wiring
+
+## Introduction
+
+This shield consists of three logical parts:
+
+- 1602LCD with HD4780 Dot Matrix Liquid Crystal Display Controller/Driver.
+- 6 button keypad.
+- Analog pins, 5V and GND pass through.
+
+<div class=pagebreak></div>
+
+## Connection to Arduino Mega
+
+Following illustration shows how shield is connected to Arduino mega board.
+
+![arduino-mega-lcd1602-keypad-shield-placement.png](arduino-mega-lcd1602-keypad-shield-placement.png)
+
+Image source: [sainsmart.com](http://www.sainsmart.com/media/catalog/product/2/_/2_16_6.jpg)
+
+Additional installation details and tutorials can be found with help of keywords [Arduino 1602 lcd keypad shield tutorial](https://www.google.ee/webhp?q=Arduino+1602+lcd+keypad+shield+tutorial).
+
+<div class=pagebreak></div>
+
+## Wiring illustration
+
+![arduino-mega-lcd1602-keypad-shield-wiring.png](arduino-mega-lcd1602-keypad-shield-wiring.png)
+
+Author: [Lauri Võsandi](http://lauri.võsandi.com/arduino/lcd1602-key-shield.html#hd44780)
+
+<div class=pagebreak></div>
+
+## Wiring table
+
+| Signal | ATMega2560 port and pin | Arduino Mega 2560 pin | LCD 1602 Keypad shield | 1602 LCD pin | HD44780 pin |
+| --- | --- | --- | --- | --- | --- |
+| **LCD** | | | | |
+| Data bus DB4 | PORTG pin 5 | Digital pin 4 | 4 | 11 | DB4 |
+| Data bus DB5 | PORTE pin 3 | Digital pin 5 | 5 | 12 | DB5 |
+| Data bus DB6 | PORTH pin 3 | Digital pin 6 | 6 | 13 | DB6 |
+| Data bus DB7 | PORTH pin 4 | Digital pin 7 | 7 | 14 | DB7 |
+| Select register RS | PORTH pin 5 | Digital pin 8 | 8 | 4 | RS |
+| Start read/write E | PORTH pin 6 | Digital pin 9 | 9 | 6 | E |
+| Backlight control | PORTB pin 4 | Digital pin 10 | 10 | 16 | - |
+| Backlight 5V (via variable resistor ) | - |  - | - | 3 | - |
+| **Keypad** | | | | |
+| Buttons (select, up, right, down and left) | | Analog pin 0 | 0 | - |
+| Reset button | - | RESET | RESET | - |
+| **Pass through** | | | | |
+| Analog A1 .. A5 | | Analog pin 1 .. 5 | Analog pin 1 .. 5 | - |
+| **Common** | | | | |
+| 5V | - | 5V | VCC | 2 and 15 | Vcc |
+| Ground (GND) | GND | GND | pin 1 | GND | GND |

doc/arduino-mega-usb-uart-wiring.markdown

@@ -6,12 +6,12 @@ This wiring schema uses only Tx from Arduino and is suitable to be used as stand
 
 ## Wiring illustration
 
-![Arduino Mega USB UART wiring.png](Arduino-Mega-USB-UART-wiring.png)
+![arduino-mega-usb-uart-wiring.png](arduino-mega-usb-uart-wiring.png)
 
 ## Wiring table
 
 | Signal | ATMega2560 port and pin | Arduino Mega 2560 pin | USB UART converter pin |
 | --- | --- | --- | --- |
-| Ground (GND) | - | GND | GND |
-| Transmit data  from Arduino (TxD) | PORTJ 1 (TXD3) | 14 (TX3) | TxD |
+| Ground (GND) | GND | GND | GND |
+| Transmit data  from Arduino (TxD) | PORTJ pin 1 (TXD3) | Digital pin 14 (TX3) | RxD |
 

lib/andygock_avr-uart/LICENSE.txt

@@ -0,0 +1,11 @@
+Copyright (C) 2012 Andy Gock
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.

lib/andygock_avr-uart/README.md

@@ -0,0 +1,56 @@
+avr-uart
+========
+
+An interrupt driven UART Library for 8-bit AVR microcontrollers
+
+Maintained by Andy Gock
+
+https://github.com/andygock/avr-uart
+
+Derived from original library by Peter Fleury
+
+Interrupt UART library using the built-in UART with transmit and receive circular buffers.
+
+An interrupt is generated when the UART has finished transmitting or
+receiving a byte. The interrupt handling routines use circular buffers
+for buffering received and transmitted data.
+
+## Setting up
+
+The `UART_RXn_BUFFER_SIZE` and `UART_TXn_BUFFER_SIZE` constants define
+the size of the circular buffers in bytes. Note that these constants must be a power of 2.
+You may need to adapt this constants to your target and your application by adding to your
+compiler options:
+
+	-DUART_RXn_BUFFER_SIZE=nn -DUART_TXn_BUFFER_SIZE=nn
+ 
+`RXn` and `TXn` refer to UART number, for UART3 with 128 byte buffers, add:
+
+	-DUART_RX3_BUFFER_SIZE=128 -DUART_TX3_BUFFER_SIZE=128
+
+UART0 is always enabled by default, to enable the other available UARTs, add the following
+to your compiler options (or symbol options), for the relevant USART number:
+
+	-DUSART1_ENABLED -DUSART2_ENABLED -DUSART3_ENABLED
+ 
+To enable large buffer support (over 256 bytes, up to 2^16 bytes) use:
+
+	-DUSARTn_LARGE_BUFFER
+	
+Where n = USART number.
+
+Supports AVR devices with up to 4 hardware USARTs.
+
+## Documentation
+
+Doxygen based documentation will be coming soon.
+
+## Notes
+
+### Buffer overflow behaviour
+
+When the RX circular buffer is full, and it receives further data from the UART, a buffer overflow condition occurs. Any new data is dropped. The RX buffer must be read before any more incoming data from the UART is placed into the RX buffer.
+
+If the TX buffer is full, and new data is sent to it using one of the `uartN_put*()` functions, this function will loop and wait until the buffer is not full any more. It is important to make sure you have not disabled your UART transmit interrupts (`TXEN*`) elsewhere in your application (e.g with `cli()`) before calling the `uartN_put*()` functions, as the application will lock up. The UART interrupts are automatically enabled when you use the `uartN_init()` functions. This is probably not the idea behaviour, I'll probably fix this some time.
+
+For now, make sure `TXEN*` interrupts are enabled when calling `uartN_put*()` functions. This should not be an issue unless you have code elsewhere purposely turning it off.

lib/andygock_avr-uart/uart.h

@@ -0,0 +1,415 @@
+#ifndef UART_H
+#define UART_H
+
+
+/************************************************************************
+Title:    Interrupt UART library with receive/transmit circular buffers
+Author:   Andy Gock
+Software: AVR-GCC 4.1, AVR Libc 1.4
+Hardware: any AVR with built-in UART, tested on AT90S8515 & ATmega8 at 4 Mhz
+License:  GNU General Public License 
+Usage:    see Doxygen manual
+
+Based on original library by Peter Fluery, Tim Sharpe, Nicholas Zambetti.
+
+https://github.com/andygock/avr-uart
+
+LICENSE:
+	Copyright (C) 2012 Andy Gock
+
+	This program is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	any later version.
+
+	This program is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+	GNU General Public License for more details.
+
+LICENSE:
+    Copyright (C) 2006 Peter Fleury
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    
+************************************************************************/
+
+/************************************************************************
+uart_available, uart_flush, uart1_available, and uart1_flush functions
+were adapted from the Arduino HardwareSerial.h library by Tim Sharpe on 
+11 Jan 2009.  The license info for HardwareSerial.h is as follows:
+
+  HardwareSerial.h - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+************************************************************************/
+
+/************************************************************************
+Changelog for modifications made by Tim Sharpe, starting with the current
+  library version on his Web site as of 05/01/2009. 
+
+Date        Description
+=========================================================================
+05/12/2009  Added Arduino-style available() and flush() functions for both
+			supported UARTs.  Really wanted to keep them out of the library, so
+			that it would be as close as possible to Peter Fleury's original
+			library, but has scoping issues accessing internal variables from
+			another program.  Go C!
+
+************************************************************************/
+
+/** 
+ *  @defgroup avr-uart UART Library
+ *  @code #include <uart.h> @endcode
+ * 
+ *  @brief Interrupt UART library using the built-in UART with transmit and receive circular buffers. 
+ *
+ *  This library can be used to transmit and receive data through the built in UART. 
+ *
+ *  An interrupt is generated when the UART has finished transmitting or
+ *  receiving a byte. The interrupt handling routines use circular buffers
+ *  for buffering received and transmitted data.
+ *
+ *  The UART_RXn_BUFFER_SIZE and UART_TXn_BUFFER_SIZE constants define
+ *  the size of the circular buffers in bytes. Note that these constants must be a power of 2.
+ *
+ *  You need to define these buffer sizes in uart.h
+ *
+ *  @note Based on Atmel Application Note AVR306
+ *  @author Andy Gock <andy@gock.net>
+ *  @note Based on original library by Peter Fleury and Tim Sharpe.
+ */
+ 
+/**@{*/
+#include <stdint.h>
+#include <avr/io.h>
+
+#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
+#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
+#endif
+
+/*
+ * constants and macros
+ */
+
+/* Enable USART 1, 2, 3 as required */
+#define USART0_ENABLED
+//#define USART1_ENABLED
+//#define USART2_ENABLED 
+#define USART3_ENABLED
+
+/* Set size of receive and transmit buffers */
+
+#ifndef UART_RX0_BUFFER_SIZE
+	#define UART_RX0_BUFFER_SIZE 128 /**< Size of the circular receive buffer, must be power of 2 */
+#endif
+#ifndef UART_RX1_BUFFER_SIZE
+	#define UART_RX1_BUFFER_SIZE 128 /**< Size of the circular receive buffer, must be power of 2 */
+#endif
+#ifndef UART_RX2_BUFFER_SIZE
+	#define UART_RX2_BUFFER_SIZE 128 /**< Size of the circular receive buffer, must be power of 2 */
+#endif
+#ifndef UART_RX3_BUFFER_SIZE
+	#define UART_RX3_BUFFER_SIZE 128 /**< Size of the circular receive buffer, must be power of 2 */
+#endif
+
+#ifndef UART_TX0_BUFFER_SIZE
+	#define UART_TX0_BUFFER_SIZE 128 /**< Size of the circular transmit buffer, must be power of 2 */
+#endif
+#ifndef UART_TX1_BUFFER_SIZE
+	#define UART_TX1_BUFFER_SIZE 128 /**< Size of the circular transmit buffer, must be power of 2 */
+#endif
+#ifndef UART_TX2_BUFFER_SIZE
+	#define UART_TX2_BUFFER_SIZE 128 /**< Size of the circular transmit buffer, must be power of 2 */
+#endif
+#ifndef UART_TX3_BUFFER_SIZE
+	#define UART_TX3_BUFFER_SIZE 128 /**< Size of the circular transmit buffer, must be power of 2 */
+#endif
+
+/* Check buffer sizes are not too large for 8-bit positioning */
+
+#if (UART_RX0_BUFFER_SIZE > 256 & !defined(USART0_LARGE_BUFFER))
+	#error "Buffer too large, please use -DUSART0_LARGE_BUFFER switch in compiler options"
+#endif
+
+#if (UART_RX1_BUFFER_SIZE > 256 & !defined(USART1_LARGE_BUFFER))
+	#error "Buffer too large, please use -DUSART1_LARGE_BUFFER switch in compiler options"
+#endif
+
+#if (UART_RX2_BUFFER_SIZE > 256 & !defined(USART2_LARGE_BUFFER))
+	#error "Buffer too large, please use -DUSART2_LARGE_BUFFER switch in compiler options"
+#endif
+
+#if (UART_RX3_BUFFER_SIZE > 256 & !defined(USART3_LARGE_BUFFER))
+	#error "Buffer too large, please use -DUSART3_LARGE_BUFFER switch in compiler options"
+#endif
+
+/* Check buffer sizes are not too large for *_LARGE_BUFFER operation (16-bit positioning) */
+
+#if (UART_RX0_BUFFER_SIZE > 65536)
+	#error "Buffer too large, maximum allowed is 65536 bytes"
+#endif
+
+#if (UART_RX1_BUFFER_SIZE > 65536)
+	#error "Buffer too large, maximum allowed is 65536 bytes"
+#endif
+
+#if (UART_RX2_BUFFER_SIZE > 65536)
+	#error "Buffer too large, maximum allowed is 65536 bytes"
+#endif
+
+#if (UART_RX3_BUFFER_SIZE > 65536)
+	#error "Buffer too large, maximum allowed is 65536 bytes"
+#endif
+
+/** @brief  UART Baudrate Expression
+ *  @param  xtalCpu  system clock in Mhz, e.g. 4000000L for 4Mhz          
+ *  @param  baudRate baudrate in bps, e.g. 1200, 2400, 9600     
+ */
+#define UART_BAUD_SELECT(baudRate,xtalCpu) (((xtalCpu)+8UL*(baudRate))/(16UL*(baudRate))-1UL)
+
+/** @brief  UART Baudrate Expression for ATmega double speed mode
+ *  @param  xtalCpu  system clock in Mhz, e.g. 4000000L for 4Mhz           
+ *  @param  baudRate baudrate in bps, e.g. 1200, 2400, 9600     
+ */
+#define UART_BAUD_SELECT_DOUBLE_SPEED(baudRate,xtalCpu) ((((xtalCpu)+4UL*(baudRate))/(8UL*(baudRate))-1)|0x8000)
+
+/* test if the size of the circular buffers fits into SRAM */
+
+#if defined(USART0_ENABLED) && ( (UART_RX0_BUFFER_SIZE+UART_TX0_BUFFER_SIZE) >= (RAMEND-0x60 ) )
+#error "size of UART_RX0_BUFFER_SIZE + UART_TX0_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+#if defined(USART1_ENABLED) && ( (UART_RX1_BUFFER_SIZE+UART_TX1_BUFFER_SIZE) >= (RAMEND-0x60 ) )
+#error "size of UART_RX1_BUFFER_SIZE + UART_TX1_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+#if defined(USART2_ENABLED) && ( (UART_RX2_BUFFER_SIZE+UART_RX2_BUFFER_SIZE) >= (RAMEND-0x60 ) )
+#error "size of UART_RX2_BUFFER_SIZE + UART_TX2_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+#if defined(USART3_ENABLED) && ( (UART_RX3_BUFFER_SIZE+UART_RX3_BUFFER_SIZE) >= (RAMEND-0x60 ) )
+#error "size of UART_RX3_BUFFER_SIZE + UART_TX3_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+/* 
+** high byte error return code of uart_getc()
+*/
+#define UART_FRAME_ERROR      0x0800              /**< Framing Error by UART       */
+#define UART_OVERRUN_ERROR    0x0400              /**< Overrun condition by UART   */
+#define UART_BUFFER_OVERFLOW  0x0200              /**< receive ringbuffer overflow */
+#define UART_NO_DATA          0x0100              /**< no receive data available   */
+
+/* Macros, to allow use of legacy names */
+
+#define uart_init(b)      uart0_init(b)
+#define uart_getc()       uart0_getc()
+#define uart_putc(d)      uart0_putc(d)
+#define uart_puts(s)      uart0_puts(s)
+#define uart_puts_p(s)    uart0_puts_p(s)
+#define uart_available()  uart0_available()
+#define uart_flush()      uart0_flush()
+
+/*
+** function prototypes
+*/
+
+/**
+   @brief   Initialize UART and set baudrate 
+   @param   baudrate Specify baudrate using macro UART_BAUD_SELECT()
+   @return  none
+*/
+extern void uart0_init(uint16_t baudrate);
+
+
+/**
+ *  @brief   Get received byte from ringbuffer
+ *
+ * Returns in the lower byte the received character and in the 
+ * higher byte the last receive error.
+ * UART_NO_DATA is returned when no data is available.
+ *
+ *  @return  lower byte:  received byte from ringbuffer
+ *  @return  higher byte: last receive status
+ *           - \b 0 successfully received data from UART
+ *           - \b UART_NO_DATA           
+ *             <br>no receive data available
+ *           - \b UART_BUFFER_OVERFLOW   
+ *             <br>Receive ringbuffer overflow.
+ *             We are not reading the receive buffer fast enough, 
+ *             one or more received character have been dropped 
+ *           - \b UART_OVERRUN_ERROR     
+ *             <br>Overrun condition by UART.
+ *             A character already present in the UART UDR register was 
+ *             not read by the interrupt handler before the next character arrived,
+ *             one or more received characters have been dropped.
+ *           - \b UART_FRAME_ERROR       
+ *             <br>Framing Error by UART
+ */
+extern uint16_t uart0_getc(void);
+
+/**
+ *  @brief   Peek at next byte in ringbuffer
+ *
+ * Returns the next byte (character) of incoming UART data without removing it from the
+ * internal ring buffer. That is, successive calls to uartN_peek() will return the same
+ * character, as will the next call to uartN_getc().
+ *
+ * UART_NO_DATA is returned when no data is available.
+ *
+ *  @return  lower byte:  next byte in ringbuffer
+ *  @return  higher byte: last receive status
+ *           - \b 0 successfully received data from UART
+ *           - \b UART_NO_DATA           
+ *             <br>no receive data available
+ *           - \b UART_BUFFER_OVERFLOW   
+ *             <br>Receive ringbuffer overflow.
+ *             We are not reading the receive buffer fast enough, 
+ *             one or more received character have been dropped 
+ *           - \b UART_OVERRUN_ERROR     
+ *             <br>Overrun condition by UART.
+ *             A character already present in the UART UDR register was 
+ *             not read by the interrupt handler before the next character arrived,
+ *             one or more received characters have been dropped.
+ *           - \b UART_FRAME_ERROR       
+ *             <br>Framing Error by UART
+ */
+extern uint16_t uart0_peek(void);
+
+/**
+ *  @brief   Put byte to ringbuffer for transmitting via UART
+ *  @param   data byte to be transmitted
+ *  @return  none
+ */
+extern void uart0_putc(uint8_t data);
+
+
+/**
+ *  @brief   Put string to ringbuffer for transmitting via UART
+ *
+ *  The string is buffered by the uart library in a circular buffer
+ *  and one character at a time is transmitted to the UART using interrupts.
+ *  Blocks if it can not write the whole string into the circular buffer.
+ * 
+ *  @param   s string to be transmitted
+ *  @return  none
+ */
+extern void uart0_puts(const char *s );
+
+
+/**
+ * @brief    Put string from program memory to ringbuffer for transmitting via UART.
+ *
+ * The string is buffered by the uart library in a circular buffer
+ * and one character at a time is transmitted to the UART using interrupts.
+ * Blocks if it can not write the whole string into the circular buffer.
+ *
+ * @param    s program memory string to be transmitted
+ * @return   none
+ * @see      uart0_puts_P
+ */
+extern void uart0_puts_p(const char *s );
+
+/**
+ * @brief    Macro to automatically put a string constant into program memory
+ * \param    __s string in program memory
+ */
+#define uart_puts_P(__s)       uart0_puts_p(PSTR(__s))
+#define uart0_puts_P(__s)      uart0_puts_p(PSTR(__s))
+
+/**
+ *  @brief   Return number of bytes waiting in the receive buffer
+ *  @return  bytes waiting in the receive buffer
+ */
+extern uint16_t uart0_available(void);
+
+/**
+ *  @brief   Flush bytes waiting in receive buffer
+ */
+extern void uart0_flush(void);
+
+
+/** @brief  Initialize USART1 (only available on selected ATmegas) @see uart_init */
+extern void uart1_init(uint16_t baudrate);
+/** @brief  Get received byte of USART1 from ringbuffer. (only available on selected ATmega) @see uart_getc */
+extern uint16_t uart1_getc(void);
+/** @brief  Peek at next byte in USART1 ringbuffer */
+extern uint16_t uart1_peek(void);
+/** @brief  Put byte to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_putc */
+extern void uart1_putc(uint8_t data);
+/** @brief  Put string to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts */
+extern void uart1_puts(const char *s );
+/** @brief  Put string from program memory to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts_p */
+extern void uart1_puts_p(const char *s );
+/** @brief  Macro to automatically put a string constant into program memory */
+#define uart1_puts_P(__s)       uart1_puts_p(PSTR(__s))
+/** @brief   Return number of bytes waiting in the receive buffer */
+extern uint16_t uart1_available(void);
+/** @brief   Flush bytes waiting in receive buffer */
+extern void uart1_flush(void);
+
+
+/** @brief  Initialize USART2 (only available on selected ATmegas) @see uart_init */
+extern void uart2_init(uint16_t baudrate);
+/** @brief  Get received byte of USART2 from ringbuffer. (only available on selected ATmega) @see uart_getc */
+extern uint16_t uart2_getc(void);
+/** @brief  Peek at next byte in USART2 ringbuffer */
+extern uint16_t uart2_peek(void);
+/** @brief  Put byte to ringbuffer for transmitting via USART2 (only available on selected ATmega) @see uart_putc */
+extern void uart2_putc(uint8_t data);
+/** @brief  Put string to ringbuffer for transmitting via USART2 (only available on selected ATmega) @see uart_puts */
+extern void uart2_puts(const char *s );
+/** @brief  Put string from program memory to ringbuffer for transmitting via USART2 (only available on selected ATmega) @see uart_puts_p */
+extern void uart2_puts_p(const char *s );
+/** @brief  Macro to automatically put a string constant into program memory */
+#define uart2_puts_P(__s)       uart2_puts_p(PSTR(__s))
+/** @brief   Return number of bytes waiting in the receive buffer */
+extern uint16_t uart2_available(void);
+/** @brief   Flush bytes waiting in receive buffer */
+extern void uart2_flush(void);
+
+
+/** @brief  Initialize USART3 (only available on selected ATmegas) @see uart_init */
+extern void uart3_init(uint16_t baudrate);
+/** @brief  Get received byte of USART3 from ringbuffer. (only available on selected ATmega) @see uart_getc */
+extern uint16_t uart3_getc(void);
+/** @brief  Peek at next byte in USART3 ringbuffer */
+extern uint16_t uart3_peek(void);
+/** @brief  Put byte to ringbuffer for transmitting via USART3 (only available on selected ATmega) @see uart_putc */
+extern void uart3_putc(uint8_t data);
+/** @brief  Put string to ringbuffer for transmitting via USART3 (only available on selected ATmega) @see uart_puts */
+extern void uart3_puts(const char *s );
+/** @brief  Put string from program memory to ringbuffer for transmitting via USART3 (only available on selected ATmega) @see uart_puts_p */
+extern void uart3_puts_p(const char *s );
+/** @brief  Macro to automatically put a string constant into program memory */
+#define uart3_puts_P(__s)       uart3_puts_p(PSTR(__s))
+/** @brief   Return number of bytes waiting in the receive buffer */
+extern uint16_t uart3_available(void);
+/** @brief   Flush bytes waiting in receive buffer */
+extern void uart3_flush(void);
+
+/**@}*/
+
+#endif // UART_H 
+

lib/hd44780_111/hd44780.c

@@ -0,0 +1,772 @@
+/*****************************************************************************
+Title  :   HD44780 Library
+Author :   SA Development
+Version:   1.11
+Modifications for: Arduino Mega 2560
+                    Itead Studio Arduino 1602 LED Keypad Shield
+Modified by: Silver Kits <silver.kits@eesti.ee> October 2016
+*****************************************************************************/
+#include <avr/pgmspace.h>
+#include <avr/sfr_defs.h>
+#include <inttypes.h>
+#define __ASSERT_USE_STDERR
+#include <assert.h>
+#include "hd44780.h"
+#include "hd44780_settings.h"
+
+
+#if (USE_ADELAY_LIBRARY==1)
+#include "adelay.h"
+#else
+#define Delay_ns(__ns) \
+    if((unsigned long) (F_CPU/1000000000.0 * __ns) != F_CPU/1000000000.0 * __ns)\
+          __builtin_avr_delay_cycles((unsigned long) ( F_CPU/1000000000.0 * __ns)+1);\
+    else __builtin_avr_delay_cycles((unsigned long) ( F_CPU/1000000000.0 * __ns))
+#define Delay_us(__us) \
+    if((unsigned long) (F_CPU/1000000.0 * __us) != F_CPU/1000000.0 * __us)\
+          __builtin_avr_delay_cycles((unsigned long) ( F_CPU/1000000.0 * __us)+1);\
+    else __builtin_avr_delay_cycles((unsigned long) ( F_CPU/1000000.0 * __us))
+#define Delay_ms(__ms) \
+    if((unsigned long) (F_CPU/1000.0 * __ms) != F_CPU/1000.0 * __ms)\
+          __builtin_avr_delay_cycles((unsigned long) ( F_CPU/1000.0 * __ms)+1);\
+    else __builtin_avr_delay_cycles((unsigned long) ( F_CPU/1000.0 * __ms))
+#define Delay_s(__s) \
+    if((unsigned long) (F_CPU/1.0 * __s) != F_CPU/1.0 * __s)\
+          __builtin_avr_delay_cycles((unsigned long) ( F_CPU/1.0 * __s)+1);\
+    else __builtin_avr_delay_cycles((unsigned long) ( F_CPU/1.0 * __s))
+#endif
+
+#if !defined(LCD_BITS) || (LCD_BITS!=4 && LCD_BITS!=8)
+#error LCD_BITS is not defined or not valid.
+#endif
+
+#if !defined(WAIT_MODE) || (WAIT_MODE!=0 && WAIT_MODE!=1)
+#error WAIT_MODE is not defined or not valid.
+#endif
+
+#if !defined(RW_LINE_IMPLEMENTED) || (RW_LINE_IMPLEMENTED!=0 && RW_LINE_IMPLEMENTED!=1)
+#error RW_LINE_IMPLEMENTED is not defined or not valid.
+#endif
+
+#if (WAIT_MODE==1 && RW_LINE_IMPLEMENTED!=1)
+#error WAIT_MODE=1 requires RW_LINE_IMPLEMENTED=1.
+#endif
+
+#if !defined(LCD_DISPLAYS) || (LCD_DISPLAYS<1) || (LCD_DISPLAYS>4)
+#error LCD_DISPLAYS is not defined or not valid.
+#endif
+
+// Constants/Macros
+#define PIN(x) (*(&x - 2))           // Address of Data Direction Register of Port X
+#define DDR(x) (*(&x - 1))           // Address of Input Register of Port X
+
+//PORT defines
+#define lcd_rs_port_low() LCD_RS_PORT&=~_BV(LCD_RS_PIN)
+#if RW_LINE_IMPLEMENTED==1
+#define lcd_rw_port_low() LCD_RW_PORT&=~_BV(LCD_RW_PIN)
+#endif
+#define lcd_db0_port_low() LCD_DB0_PORT&=~_BV(LCD_DB0_PIN)
+#define lcd_db1_port_low() LCD_DB1_PORT&=~_BV(LCD_DB1_PIN)
+#define lcd_db2_port_low() LCD_DB2_PORT&=~_BV(LCD_DB2_PIN)
+#define lcd_db3_port_low() LCD_DB3_PORT&=~_BV(LCD_DB3_PIN)
+#define lcd_db4_port_low() LCD_DB4_PORT&=~_BV(LCD_DB4_PIN)
+#define lcd_db5_port_low() LCD_DB5_PORT&=~_BV(LCD_DB5_PIN)
+#define lcd_db6_port_low() LCD_DB6_PORT&=~_BV(LCD_DB6_PIN)
+#define lcd_db7_port_low() LCD_DB7_PORT&=~_BV(LCD_DB7_PIN)
+
+#define lcd_rs_port_high() LCD_RS_PORT|=_BV(LCD_RS_PIN)
+#if RW_LINE_IMPLEMENTED==1
+#define lcd_rw_port_high() LCD_RW_PORT|=_BV(LCD_RW_PIN)
+#endif
+#define lcd_db0_port_high() LCD_DB0_PORT|=_BV(LCD_DB0_PIN)
+#define lcd_db1_port_high() LCD_DB1_PORT|=_BV(LCD_DB1_PIN)
+#define lcd_db2_port_high() LCD_DB2_PORT|=_BV(LCD_DB2_PIN)
+#define lcd_db3_port_high() LCD_DB3_PORT|=_BV(LCD_DB3_PIN)
+#define lcd_db4_port_high() LCD_DB4_PORT|=_BV(LCD_DB4_PIN)
+#define lcd_db5_port_high() LCD_DB5_PORT|=_BV(LCD_DB5_PIN)
+#define lcd_db6_port_high() LCD_DB6_PORT|=_BV(LCD_DB6_PIN)
+#define lcd_db7_port_high() LCD_DB7_PORT|=_BV(LCD_DB7_PIN)
+
+#define lcd_rs_port_set(value) if (value) lcd_rs_port_high(); else lcd_rs_port_low();
+#if RW_LINE_IMPLEMENTED==1
+#define lcd_rw_port_set(value) if (value) lcd_rw_port_high(); else lcd_rw_port_low();
+#endif
+#define lcd_db0_port_set(value) if (value) lcd_db0_port_high(); else lcd_db0_port_low();
+#define lcd_db1_port_set(value) if (value) lcd_db1_port_high(); else lcd_db1_port_low();
+#define lcd_db2_port_set(value) if (value) lcd_db2_port_high(); else lcd_db2_port_low();
+#define lcd_db3_port_set(value) if (value) lcd_db3_port_high(); else lcd_db3_port_low();
+#define lcd_db4_port_set(value) if (value) lcd_db4_port_high(); else lcd_db4_port_low();
+#define lcd_db5_port_set(value) if (value) lcd_db5_port_high(); else lcd_db5_port_low();
+#define lcd_db6_port_set(value) if (value) lcd_db6_port_high(); else lcd_db6_port_low();
+#define lcd_db7_port_set(value) if (value) lcd_db7_port_high(); else lcd_db7_port_low();
+
+//PIN defines
+#define lcd_db0_pin_get() (((PIN(LCD_DB0_PORT) & _BV(LCD_DB0_PIN))==0)?0:1)
+#define lcd_db1_pin_get() (((PIN(LCD_DB1_PORT) & _BV(LCD_DB1_PIN))==0)?0:1)
+#define lcd_db2_pin_get() (((PIN(LCD_DB2_PORT) & _BV(LCD_DB2_PIN))==0)?0:1)
+#define lcd_db3_pin_get() (((PIN(LCD_DB3_PORT) & _BV(LCD_DB3_PIN))==0)?0:1)
+#define lcd_db4_pin_get() (((PIN(LCD_DB4_PORT) & _BV(LCD_DB4_PIN))==0)?0:1)
+#define lcd_db5_pin_get() (((PIN(LCD_DB5_PORT) & _BV(LCD_DB5_PIN))==0)?0:1)
+#define lcd_db6_pin_get() (((PIN(LCD_DB6_PORT) & _BV(LCD_DB6_PIN))==0)?0:1)
+#define lcd_db7_pin_get() (((PIN(LCD_DB7_PORT) & _BV(LCD_DB7_PIN))==0)?0:1)
+
+//DDR defines
+#define lcd_rs_ddr_low() DDR(LCD_RS_PORT)&=~_BV(LCD_RS_PIN)
+#if RW_LINE_IMPLEMENTED==1
+#define lcd_rw_ddr_low() DDR(LCD_RW_PORT)&=~_BV(LCD_RW_PIN)
+#endif
+#define lcd_db0_ddr_low() DDR(LCD_DB0_PORT)&=~_BV(LCD_DB0_PIN)
+#define lcd_db1_ddr_low() DDR(LCD_DB1_PORT)&=~_BV(LCD_DB1_PIN)
+#define lcd_db2_ddr_low() DDR(LCD_DB2_PORT)&=~_BV(LCD_DB2_PIN)
+#define lcd_db3_ddr_low() DDR(LCD_DB3_PORT)&=~_BV(LCD_DB3_PIN)
+#define lcd_db4_ddr_low() DDR(LCD_DB4_PORT)&=~_BV(LCD_DB4_PIN)
+#define lcd_db5_ddr_low() DDR(LCD_DB5_PORT)&=~_BV(LCD_DB5_PIN)
+#define lcd_db6_ddr_low() DDR(LCD_DB6_PORT)&=~_BV(LCD_DB6_PIN)
+#define lcd_db7_ddr_low() DDR(LCD_DB7_PORT)&=~_BV(LCD_DB7_PIN)
+
+#define lcd_rs_ddr_high() DDR(LCD_RS_PORT)|=_BV(LCD_RS_PIN)
+#if RW_LINE_IMPLEMENTED==1
+#define lcd_rw_ddr_high() DDR(LCD_RW_PORT)|=_BV(LCD_RW_PIN)
+#endif
+#define lcd_db0_ddr_high() DDR(LCD_DB0_PORT)|=_BV(LCD_DB0_PIN)
+#define lcd_db1_ddr_high() DDR(LCD_DB1_PORT)|=_BV(LCD_DB1_PIN)
+#define lcd_db2_ddr_high() DDR(LCD_DB2_PORT)|=_BV(LCD_DB2_PIN)
+#define lcd_db3_ddr_high() DDR(LCD_DB3_PORT)|=_BV(LCD_DB3_PIN)
+#define lcd_db4_ddr_high() DDR(LCD_DB4_PORT)|=_BV(LCD_DB4_PIN)
+#define lcd_db5_ddr_high() DDR(LCD_DB5_PORT)|=_BV(LCD_DB5_PIN)
+#define lcd_db6_ddr_high() DDR(LCD_DB6_PORT)|=_BV(LCD_DB6_PIN)
+#define lcd_db7_ddr_high() DDR(LCD_DB7_PORT)|=_BV(LCD_DB7_PIN)
+
+#define lcd_rs_ddr_set(value) if (value) lcd_rs_ddr_high(); else lcd_rs_ddr_low();
+#if RW_LINE_IMPLEMENTED==1
+#define lcd_rw_ddr_set(value) if (value) lcd_rw_ddr_high(); else lcd_rw_ddr_low();
+#endif
+#define lcd_db0_ddr_set(value) if (value) lcd_db0_ddr_high(); else lcd_db0_ddr_low();
+#define lcd_db1_ddr_set(value) if (value) lcd_db1_ddr_high(); else lcd_db1_ddr_low();
+#define lcd_db2_ddr_set(value) if (value) lcd_db2_ddr_high(); else lcd_db2_ddr_low();
+#define lcd_db3_ddr_set(value) if (value) lcd_db3_ddr_high(); else lcd_db3_ddr_low();
+#define lcd_db4_ddr_set(value) if (value) lcd_db4_ddr_high(); else lcd_db4_ddr_low();
+#define lcd_db5_ddr_set(value) if (value) lcd_db5_ddr_high(); else lcd_db5_ddr_low();
+#define lcd_db6_ddr_set(value) if (value) lcd_db6_ddr_high(); else lcd_db6_ddr_low();
+#define lcd_db7_ddr_set(value) if (value) lcd_db7_ddr_high(); else lcd_db7_ddr_low();
+
+#if (WAIT_MODE==1 && RW_LINE_IMPLEMENTED==1)
+static unsigned char PrevCmdInvolvedAddressCounter = 0;
+#endif
+
+#if (LCD_DISPLAYS>1)
+static unsigned char ActiveDisplay = 1;
+#endif
+
+static inline void lcd_e_port_low()
+{
+#if (LCD_DISPLAYS>1)
+
+    switch (ActiveDisplay) {
+    case 2 :
+        LCD_E2_PORT &= ~_BV(LCD_E2_PIN);
+        break;
+#if (LCD_DISPLAYS>=3)
+
+    case 3 :
+        LCD_E3_PORT &= ~_BV(LCD_E3_PIN);
+        break;
+#endif
+#if (LCD_DISPLAYS==4)
+
+    case 4 :
+        LCD_E4_PORT &= ~_BV(LCD_E4_PIN);
+        break;
+#endif
+
+    default :
+#endif
+        LCD_E_PORT &= ~_BV(LCD_E_PIN);
+#if (LCD_DISPLAYS>1)
+    }
+
+#endif
+}
+
+static inline void lcd_e_port_high()
+{
+#if (LCD_DISPLAYS>1)
+
+    switch (ActiveDisplay) {
+    case 2 :
+        LCD_E2_PORT |= _BV(LCD_E2_PIN);
+        break;
+#if (LCD_DISPLAYS>=3)
+
+    case 3 :
+        LCD_E3_PORT |= _BV(LCD_E3_PIN);
+        break;
+#endif
+#if (LCD_DISPLAYS==4)
+
+    case 4 :
+        LCD_E4_PORT |= _BV(LCD_E4_PIN);
+        break;
+#endif
+
+    default :
+#endif
+        LCD_E_PORT |= _BV(LCD_E_PIN);
+#if (LCD_DISPLAYS>1)
+    }
+
+#endif
+}
+
+static inline void lcd_e_ddr_low()
+{
+#if (LCD_DISPLAYS>1)
+
+    switch (ActiveDisplay) {
+    case 2 :
+        DDR(LCD_E2_PORT) &= ~_BV(LCD_E2_PIN);
+        break;
+#if (LCD_DISPLAYS>=3)
+
+    case 3 :
+        DDR(LCD_E3_PORT) &= ~_BV(LCD_E3_PIN);
+        break;
+#endif
+#if (LCD_DISPLAYS==4)
+
+    case 4 :
+        DDR(LCD_E4_PORT) &= ~_BV(LCD_E4_PIN);
+        break;
+#endif
+
+    default :
+#endif
+        DDR(LCD_E_PORT) &= ~_BV(LCD_E_PIN);
+#if (LCD_DISPLAYS>1)
+    }
+
+#endif
+}
+
+static inline void lcd_e_ddr_high()
+{
+#if (LCD_DISPLAYS>1)
+
+    switch (ActiveDisplay) {
+    case 2 :
+        DDR(LCD_E2_PORT) |= _BV(LCD_E2_PIN);
+        break;
+#if (LCD_DISPLAYS>=3)
+
+    case 3 :
+        DDR(LCD_E3_PORT) |= _BV(LCD_E3_PIN);
+        break;
+#endif
+#if (LCD_DISPLAYS==4)
+
+    case 4 :
+        DDR(LCD_E4_PORT) |= _BV(LCD_E4_PIN);
+        break;
+#endif
+
+    default :
+#endif
+        DDR(LCD_E_PORT) |= _BV(LCD_E_PIN);
+#if (LCD_DISPLAYS>1)
+    }
+
+#endif
+}
+
+
+/*************************************************************************
+loops while lcd is busy, returns address counter
+*************************************************************************/
+#if (WAIT_MODE==1 && RW_LINE_IMPLEMENTED==1)
+static uint8_t lcd_read(uint8_t rs);
+
+static void lcd_waitbusy(void)
+{
+    register uint8_t c;
+    unsigned int ul1 = 0;
+
+    while ( ((c = lcd_read(0)) & (1 << LCD_BUSY)) &&
+            ul1 < ((F_CPU / 16384 >= 16) ? F_CPU / 16384 :
+                   16)) { // Wait Until Busy Flag is Cleared
+        ul1++;
+    }
+}
+#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 RW_LINE_IMPLEMENTED==1
+static uint8_t lcd_read(uint8_t rs)
+{
+    uint8_t data;
+#if (WAIT_MODE==1 && RW_LINE_IMPLEMENTED==1)
+
+    if (rs) {
+        lcd_waitbusy();
+    }
+
+    if (PrevCmdInvolvedAddressCounter) {
+        Delay_us(5);
+        PrevCmdInvolvedAddressCounter = 0;
+    }
+
+#endif
+
+    if (rs) {
+        lcd_rs_port_high();                             // RS=1: Read Data
+#if (WAIT_MODE==1 && RW_LINE_IMPLEMENTED==1)
+        PrevCmdInvolvedAddressCounter = 1;
+#endif
+    } else {
+        lcd_rs_port_low();    // RS=0: Read Busy Flag
+    }
+
+    lcd_rw_port_high();                               // RW=1: Read Mode
+#if LCD_BITS==4
+    lcd_db7_ddr_low();                              // Configure Data Pins as Input
+    lcd_db6_ddr_low();
+    lcd_db5_ddr_low();
+    lcd_db4_ddr_low();
+    lcd_e_port_high();                              // Read High Nibble First
+    Delay_ns(500);
+    data = lcd_db4_pin_get() << 4 | lcd_db5_pin_get() << 5 |
+           lcd_db6_pin_get() << 6 | lcd_db7_pin_get() << 7;
+    lcd_e_port_low();
+    Delay_ns(500);
+    lcd_e_port_high();                              // Read Low Nibble
+    Delay_ns(500);
+    data |= lcd_db4_pin_get() << 0 | lcd_db5_pin_get() << 1 |
+            lcd_db6_pin_get() << 2 | lcd_db7_pin_get() << 3;
+    lcd_e_port_low();
+    lcd_db7_ddr_high();                             // Configure Data Pins as Output
+    lcd_db6_ddr_high();
+    lcd_db5_ddr_high();
+    lcd_db4_ddr_high();
+    lcd_db7_port_high();                            // Pins High (Inactive)
+    lcd_db6_port_high();
+    lcd_db5_port_high();
+    lcd_db4_port_high();
+#else //using 8-Bit-Mode
+    lcd_db7_ddr_low();                              // Configure Data Pins as Input
+    lcd_db6_ddr_low();
+    lcd_db5_ddr_low();
+    lcd_db4_ddr_low();
+    lcd_db3_ddr_low();
+    lcd_db2_ddr_low();
+    lcd_db1_ddr_low();
+    lcd_db0_ddr_low();
+    lcd_e_port_high();
+    Delay_ns(500);
+    data = lcd_db7_pin_get() << 7 | lcd_db6_pin_get() << 6 |
+           lcd_db5_pin_get() << 5 | lcd_db4_pin_get() << 4 |
+           lcd_db3_pin_get() << 3 | lcd_db2_pin_get() << 2 |
+           lcd_db1_pin_get() << 1 | lcd_db0_pin_get();
+    lcd_e_port_low();
+    lcd_db7_ddr_high();                             // Configure Data Pins as Output
+    lcd_db6_ddr_high();
+    lcd_db5_ddr_high();
+    lcd_db4_ddr_high();
+    lcd_db3_ddr_high();
+    lcd_db2_ddr_high();
+    lcd_db1_ddr_high();
+    lcd_db0_ddr_high();
+    lcd_db7_port_high();                            // Pins High (Inactive)
+    lcd_db6_port_high();
+    lcd_db5_port_high();
+    lcd_db4_port_high();
+    lcd_db3_port_high();
+    lcd_db2_port_high();
+    lcd_db1_port_high();
+    lcd_db0_port_high();
+#endif
+    lcd_rw_port_low();
+#if (WAIT_MODE==0 || RW_LINE_IMPLEMENTED==0)
+
+    if (rs) {
+        Delay_us(40);
+    } else {
+        Delay_us(1);
+    }
+
+#endif
+    return data;
+}
+
+uint8_t lcd_getc()
+{
+    return lcd_read(1);
+}
+
+#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
+*************************************************************************/
+static void lcd_write(uint8_t data, uint8_t rs)
+{
+#if (WAIT_MODE==1 && RW_LINE_IMPLEMENTED==1)
+    lcd_waitbusy();
+
+    if (PrevCmdInvolvedAddressCounter) {
+        Delay_us(5);
+        PrevCmdInvolvedAddressCounter = 0;
+    }
+
+#endif
+
+    if (rs) {
+        lcd_rs_port_high();                            // RS=1: Write Character
+#if (WAIT_MODE==1 && RW_LINE_IMPLEMENTED==1)
+        PrevCmdInvolvedAddressCounter = 1;
+#endif
+    } else {
+        lcd_rs_port_low();                          // RS=0: Write Command
+#if (WAIT_MODE==1 && RW_LINE_IMPLEMENTED==1)
+        PrevCmdInvolvedAddressCounter = 0;
+#endif
+    }
+
+#if LCD_BITS==4
+    lcd_db7_port_set(data & _BV(7));                //Output High Nibble
+    lcd_db6_port_set(data & _BV(6));
+    lcd_db5_port_set(data & _BV(5));
+    lcd_db4_port_set(data & _BV(4));
+    Delay_ns(100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    lcd_db7_port_set(data & _BV(3));                //Output High Nibble
+    lcd_db6_port_set(data & _BV(2));
+    lcd_db5_port_set(data & _BV(1));
+    lcd_db4_port_set(data & _BV(0));
+    Delay_ns(100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    lcd_db7_port_high();                            // All Data Pins High (Inactive)
+    lcd_db6_port_high();
+    lcd_db5_port_high();
+    lcd_db4_port_high();
+#else //using 8-Bit_Mode
+    lcd_db7_port_set(data & _BV(7));                //Output High Nibble
+    lcd_db6_port_set(data & _BV(6));
+    lcd_db5_port_set(data & _BV(5));
+    lcd_db4_port_set(data & _BV(4));
+    lcd_db3_port_set(data & _BV(3));                //Output High Nibble
+    lcd_db2_port_set(data & _BV(2));
+    lcd_db1_port_set(data & _BV(1));
+    lcd_db0_port_set(data & _BV(0));
+    Delay_ns(100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    lcd_db7_port_high();                            // All Data Pins High (Inactive)
+    lcd_db6_port_high();
+    lcd_db5_port_high();
+    lcd_db4_port_high();
+    lcd_db3_port_high();
+    lcd_db2_port_high();
+    lcd_db1_port_high();
+    lcd_db0_port_high();
+#endif
+#if (WAIT_MODE==0 || RW_LINE_IMPLEMENTED==0)
+
+    if (!rs &&
+            data <= ((1 << LCD_CLR) | (1 << LCD_HOME))) { // Is command clrscr or home?
+        Delay_us(1640);
+    } else {
+        Delay_us(40);
+    }
+
+#endif
+}
+
+/*************************************************************************
+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_write(cmd, 0);
+}
+
+/*************************************************************************
+Set cursor to specified position
+Input:    pos position
+Returns:  none
+*************************************************************************/
+void lcd_goto(uint8_t pos)
+{
+    //Do not go outside of screen limits
+    assert(pos < LCD_COLS_MAX);
+    lcd_command((1 << LCD_DDRAM) + pos);
+}
+
+
+/*************************************************************************
+Clear screen
+Input:    none
+Returns:  none
+*************************************************************************/
+void lcd_clrscr()
+{
+    lcd_command(1 << LCD_CLR);
+}
+
+
+/*************************************************************************
+Return home
+Input:    none
+Returns:  none
+*************************************************************************/
+void lcd_home()
+{
+    lcd_command(1 << LCD_HOME);
+}
+
+
+/*************************************************************************
+Display character
+Input:    character to be displayed
+Returns:  none
+*************************************************************************/
+void lcd_putc(char c)
+{
+    lcd_write(c, 1);
+}
+
+
+/*************************************************************************
+Display string
+Input:    string to be displayed
+Returns:  none
+*************************************************************************/
+void lcd_puts(const char *s)
+{
+    register char c;
+
+    while ((c = *s++)) {
+        lcd_putc(c);
+    }
+}
+
+
+/*************************************************************************
+Display string from flash
+Input:    string to be displayed
+Returns:  none
+*************************************************************************/
+void lcd_puts_P(const char *progmem_s)
+{
+    register char c;
+
+    while ((c = pgm_read_byte(progmem_s++))) {
+        lcd_putc(c);
+    }
+}
+
+/*************************************************************************
+Initialize display
+Input:    none
+Returns:  none
+*************************************************************************/
+void lcd_init()
+{
+    //Set All Pins as Output
+    lcd_e_ddr_high();
+    lcd_rs_ddr_high();
+#if RW_LINE_IMPLEMENTED==1
+    lcd_rw_ddr_high();
+#endif
+    lcd_db7_ddr_high();
+    lcd_db6_ddr_high();
+    lcd_db5_ddr_high();
+    lcd_db4_ddr_high();
+#if LCD_BITS==8
+    lcd_db3_ddr_high();
+    lcd_db2_ddr_high();
+    lcd_db1_ddr_high();
+    lcd_db0_ddr_high();
+#endif
+    //Set All Control Lines Low
+    lcd_e_port_low();
+    lcd_rs_port_low();
+#if RW_LINE_IMPLEMENTED==1
+    lcd_rw_port_low();
+#endif
+    //Set All Data Lines High
+    lcd_db7_port_high();
+    lcd_db6_port_high();
+    lcd_db5_port_high();
+    lcd_db4_port_high();
+#if LCD_BITS==8
+    lcd_db3_port_high();
+    lcd_db2_port_high();
+    lcd_db1_port_high();
+    lcd_db0_port_high();
+#endif
+    //Startup Delay
+    Delay_ms(DELAY_RESET);
+    //Initialize Display
+    lcd_db7_port_low();
+    lcd_db6_port_low();
+    Delay_ns(100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    Delay_us(4100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    Delay_us(100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    Delay_us(40);
+    //Init differs between 4-bit and 8-bit from here
+#if (LCD_BITS==4)
+    lcd_db4_port_low();
+    Delay_ns(100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    Delay_us(40);
+    lcd_db4_port_low();
+    Delay_ns(100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    Delay_ns(500);
+#if (LCD_DISPLAYS==1)
+
+    if (LCD_DISPLAY_LINES > 1) {
+        lcd_db7_port_high();
+    }
+
+#else
+    unsigned char c;
+
+    switch (ActiveDisplay) {
+    case 1 :
+        c = LCD_DISPLAY_LINES;
+        break;
+
+    case 2 :
+        c = LCD_DISPLAY2_LINES;
+        break;
+#if (LCD_DISPLAYS>=3)
+
+    case 3 :
+        c = LCD_DISPLAY3_LINES;
+        break;
+#endif
+#if (LCD_DISPLAYS==4)
+
+    case 4 :
+        c = LCD_DISPLAY4_LINES;
+        break;
+#endif
+    }
+
+    if (c > 1) {
+        lcd_db7_port_high();
+    }
+
+#endif
+    Delay_ns(100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    Delay_us(40);
+#else
+#if (LCD_DISPLAYS==1)
+
+    if (LCD_DISPLAY_LINES < 2) {
+        lcd_db3_port_low();
+    }
+
+#else
+    unsigned char c;
+
+    switch (ActiveDisplay) {
+    case 1 :
+        c = LCD_DISPLAY_LINES;
+        break;
+
+    case 2 :
+        c = LCD_DISPLAY2_LINES;
+        break;
+#if (LCD_DISPLAYS>=3)
+
+    case 3 :
+        c = LCD_DISPLAY3_LINES;
+        break;
+#endif
+#if (LCD_DISPLAYS==4)
+
+    case 4 :
+        c = LCD_DISPLAY4_LINES;
+        break;
+#endif
+    }
+
+    if (c < 2) {
+        lcd_db3_port_low();
+    }
+
+#endif
+    lcd_db2_port_low();
+    Delay_ns(100);
+    lcd_e_port_high();
+    Delay_ns(500);
+    lcd_e_port_low();
+    Delay_us(40);
+#endif
+    //Display Off
+    lcd_command(_BV(LCD_DISPLAYMODE));
+    //Display Clear
+    lcd_clrscr();
+    //Entry Mode Set
+    lcd_command(_BV(LCD_ENTRY_MODE) | _BV(LCD_ENTRY_INC));
+    //Display On
+    lcd_command(_BV(LCD_DISPLAYMODE) | _BV(LCD_DISPLAYMODE_ON));
+}
+
+#if (LCD_DISPLAYS>1)
+void lcd_use_display(int ADisplay)
+{
+    if (ADisplay >= 1 && ADisplay <= LCD_DISPLAYS) {
+        ActiveDisplay = ADisplay;
+    }
+}
+#endif
+
+
+/*************************************************************************
+Clear characters at position until length
+Input:    start position and lentgh
+Returns:  none
+*************************************************************************/
+void lcd_clr(uint8_t pos, uint8_t len)
+{
+    for (int i = 0; i < len; i++) {
+        lcd_goto(pos + i);
+        lcd_putc(' ');
+    }
+}
+

lib/hd44780_111/hd44780.h

@@ -0,0 +1,75 @@
+/*****************************************************************************
+Title  :   HD44780 Library
+Author :   SA Development
+Version:   1.11
+Modifications for: Arduino Mega 2560
+                    Itead Studio Arduino 1602 LED Keypad Shield
+Modified by: Silver Kits <silver.kits@eesti.ee> October 2016
+*****************************************************************************/
+#ifndef HD44780_H
+#define HD44780_H
+
+
+//LCD Commands for HD44780
+#define LCD_CLR                 0    // DB0: clear display
+
+#define LCD_HOME                1    // DB1: return to home position
+
+#define LCD_ENTRY_MODE          2    // DB2: set entry mode
+#define LCD_ENTRY_INC           1    // DB1: 1=increment, 0=decrement
+#define LCD_ENTRY_SHIFT         0    // DB0: 1=display shift on
+
+#define LCD_DISPLAYMODE         3    // DB3: turn lcd/cursor on
+#define LCD_DISPLAYMODE_ON      2    // DB2: turn display on
+#define LCD_DISPLAYMODE_CURSOR  1    // DB1: turn cursor on
+#define LCD_DISPLAYMODE_BLINK   0    // DB0: blinking cursor
+
+#define LCD_MOVE                4    // DB4: move cursor/display
+#define LCD_MOVE_DISP           3    // DB3: move display (0-> cursor)
+#define LCD_MOVE_RIGHT          2    // DB2: move right (0-> left)
+
+#define LCD_FUNCTION            5    // DB5: function set
+#define LCD_FUNCTION_8BIT       4    // DB4: set 8BIT mode (0->4BIT mode)
+#define LCD_FUNCTION_2LINES     3    // DB3: two lines (0->one line)
+#define LCD_FUNCTION_10DOTS     2    // DB2: 5x10 font (0->5x7 font)
+
+#define LCD_CGRAM               6    // DB6: set CG RAM address
+#define LCD_DDRAM               7    // DB7: set DD RAM address
+
+#define LCD_BUSY                7    // DB7: LCD is busy
+
+// LCD columns and rows definitions
+#define LCD_ROW_1_START             0
+#define LCD_ROW_2_START             64
+#define LCD_ROW_1_LAST_VISIBLE_COL  15
+#define LCD_ROW_1_LAST_COL          39
+#define LCD_ROW_2_LAST_VISIBLE_COL  79
+#define LCD_ROW_2_LAST_COL          103
+#define LCD_COLS_MAX                103
+#define LCD_VISIBLE_COLS            16
+
+// Maximum character what can be displayed with 1 byte
+#define LCD_MAX_CARACTER            255
+
+
+void lcd_init();
+void lcd_command(uint8_t cmd);
+
+void lcd_clrscr();
+void lcd_clr(uint8_t pos, uint8_t len);
+void lcd_home();
+void lcd_goto(uint8_t pos);
+
+#if RW_LINE_IMPLEMENTED==1
+uint8_t lcd_getc();
+#endif
+
+void lcd_putc(char c);
+void lcd_puts(const char *s);
+void lcd_puts_P(const char *progmem_s);
+#if (LCD_DISPLAYS>1)
+void lcd_use_display(int ADisplay);
+#endif
+
+#endif
+

lib/hd44780_111/hd44780.txt

@@ -0,0 +1,155 @@
+Title  :   HD44780 Library
+Author :   SA Development
+Version:   1.11
+
+Parts of this code have been created or modified by Peter Fleury, Martin Thomas, and Andreas Heinzen as well.  I went through it line by line and modified or improved it as necessary.  This library has been cut down to only what was necessary to communicate with the LCD and does not include scrolling or wrapping features.  See the libraries for the mentioned authors to get those features if you need them.
+
+
+INSTALLATION:
+-------------
+
+Three files are provided:
+
+hd44780.c - Main code file, you must add this to your project under "Source Files".
+
+hd44780.h - Main include file, you must include this in any files you wish to use the library.
+
+hd44780_settings_example.h - This is an example of the hd44780_settings.h file that the library requires (and will try to include).  The settings that are intended to be customized for each project are located in this file.
+
+The advantage to this is that the main C/H files are unmodified and can be updated to a new version without losing custom per project settings.  Another advantage is that since they are unmodified, you can put them in a shared or library directory and use them in multiple separate projects.  Then you only have one place to update them instead of multiple project directories.
+
+Two ways you can implement this:
+
+Non-shared method:
+
+1.  Copy these files into your project directory.
+2.  Rename "hd44780_settings_example.h" to "hd44780_settings.h".
+3.  Set the values appropriate to your project in "hd44780_settings.h".
+4.  Add the hd44780.c to your project.
+5.  Put "#include "hd44780.h" in any of your C files that need to use the functions.
+
+
+Shared method:
+
+1.  Create a shared directory.
+2.  Copy these files into this directory.
+
+To use it with a project:
+
+1.  Copy "hd44780_settings_example.h" to your project directory as "hd44780_settings.h".  NOTE THE "_example" was dropped from the filename.
+2.  Set the values appropriate to your project in "hd44780_settings.h".
+3.  Add the hd44780.c to your project.
+4.  Put "#include "..\shared\hd44780.h" in any of your C files that need to use the functions.  You may have to modify this to point to your shared directory.
+5.  Project -> Configuration Options -> Include Directories -> New -> Add your project directory.  It should put a ".\" in the list.  This step is necessary because when the library tries to include "hd44780_settings.h", it will look in your project directory and grab the one customized for that particular project.  This is why it is important NOT to have a hd44780_settings.h in your shared directory and why I have this file named hd44780_settings_example.h instead.  You can leave the example file in the shared directory as a file to copy and rename when starting a new project.
+
+This library will work with my Advanced Delay Library as well by changing the USE_ADELAY_LIBRARY value from 0 to 1.  By default it will use the __builtin_avr_delay_cycles function.  My only gripe about this built in function is that if you are debugging at the assembly level it does not match C code lines to the assembly lines properly.  Other than this it is exceptional.  My Advanced Delay Library accomplishes the same thing while also adding additional delay functions that can expect a variable instead of a constant to be supplied and they don't suffer the C to assembly alignment bug that the built in ones do.
+
+
+HOW TO USE:
+-----------
+
+Supports LCD communications on as few as 6 pins or as many as 11 pins depending on configuration.
+
+The first choice you must make is whether you want to use 4 bit or 8 bit mode.  Honestly this isn't a hard choice as I've tested both on my scope to see how the performance differed and both were very close to the same under all clock speeds I tested (16khz to 16mhz).  I don't see the point in wasting 4 uC pins for 8 bit mode as it seems to have no advantage.  Use the LCD_BITS parameter to set this:
+
+LCD_BITS=4     // 4 for 4 Bit I/O Mode 
+LCD_BITS=8     // 8 for 8 Bit I/O Mode
+
+The next choice is whether to implement a RW signal or not.  If you don't need to read anything back from the LCD, then you can skip implementing it and simply connect the RW signal to ground.  This is nice because it doesn't take up a uC pin this way.  If however, you need to read something back from the LCD, you will need to implement RW.  Use the RW_LINE_IMPLEMENTED parameter to set this:
+
+RW_LINE_IMPLEMENTED=0     //0 for no RW line (RW on LCD tied to ground)
+RW_LINE_IMPLEMENTED=1     //1 for RW line present
+
+The last big decision is which WAIT_MODE to use.  You can select between Delay Mode or Check Busy Mode.  Delay Mode will delay after each LCD command to make sure that there is time for the LCD to execute the command before the next one can be issued.  Check Busy Mode will read the check busy flag from the LCD to see if the LCD is still busy or ready for the next command.  Check Busy Mode requires the RW line to be implemented, however you can implement an RW line (RW_LINE_IMPLEMENTED=1) and use Delay Mode (WAIT_MODE=0).  You might think that the Check Busy Mode technique would be faster, but it is actually slower when running a clock below 10Mhz.  This is because the extra code is takes to check it takes up more time that the Delay Mode would have.  At 10Mhz or above, Check Busy Mode will be faster.  At 16Mhz, it was 20% faster than Delay Mode, but at 8Mhz Delay Mode was 10% faster.  Use the WAIT_MODE parameter to set this:
+
+WAIT_MODE=0     // 0=Use Delay Method (Faster if running <10Mhz)
+WAIT_MODE=1     // 1=Use Check Busy Flag (Faster if running >10Mhz) ***Requires RW Line***
+
+
+This version implements multiple LCD display support for up to 4 devices.  All devices will share their data/RS/RW(if implemented) pins.  Each device will have its own E(enable) pin.  You can use the command lcd_use_display(x) to choose which display commands will execute on.  You will need to lcd_init() each one individually.  This not only allows you to run 4 independent LCD display, but some displays like the 40 character x 4 line display are actually implemented with 2 lcd controllers.  They will have an E and E2 pin so you will need this multiple display functionallity to use a display like this.
+
+
+To init the display, clear the screen, and output "Hello World...":
+  lcd_init();
+  lcd_clrscr();
+  lcd_puts("Hello World...");
+
+To put a character:
+  lcd_putc('A');
+
+To turn off the display:
+  lcd_command(_BV(LCD_DISPLAYMODE));
+
+To turn on the display:
+  lcd_command(_BV(LCD_DISPLAYMODE) | _BV(LCD_DISPLAYMODE_ON));
+
+To turn on the display AND display an underline cursor:
+  lcd_command(_BV(LCD_DISPLAYMODE) | _BV(LCD_DISPLAYMODE_ON) | _BV(LCD_DISPLAYMODE_CURSOR));
+
+To turn on the display AND display a blinking cursor:
+  lcd_command(_BV(LCD_DISPLAYMODE) | _BV(LCD_DISPLAYMODE_ON) | _BV(LCD_DISPLAYMODE_BLINK));
+
+To move the cursor to the left:
+  lcd_command(_BV(LCD_MOVE));
+
+To move the cursor to the right:
+  lcd_command(_BV(LCD_MOVE) | _BV(LCD_MOVE_RIGHT));
+
+To move the cursor to a specific location:
+  lcd_goto(0x40); //0x40 is often the beginning of the second line
+                  //each LCD display will have its memory mapped
+                  //differently
+
+To create a custom character:
+  lcd_command(_BV(LCD_CGRAM)+0*8);    //The 0 on this line may be 0-7
+  lcd_putc(0b00000); //5x8 bitmap of character, in this example a backslash
+  lcd_putc(0b10000);
+  lcd_putc(0b01000);
+  lcd_putc(0b00100);
+  lcd_putc(0b00010);
+  lcd_putc(0b00001);
+  lcd_putc(0b00000);
+  lcd_putc(0b00000);
+  lcd_goto(0);       //DO NOT FORGET to issue a GOTO command to go back to writing to the LCD
+                     //ddram OR you will spend hours like me thinking the LCD is locked up 
+                     //when it working just fine and you are outputting to cgram instead of 
+                     //ddram!
+
+To display this custom character:
+  lcd_putc(0);                        //Displays custom character 0
+
+To shift the display so that the characters on screen are pushed to the left:
+  lcd_command(_BV(LCD_MOVE) | _BV(LCD_MOVE_DISP));
+
+To shift the display so that the characters on screen are pushed to the left:
+  lcd_command(_BV(LCD_MOVE) | _BV(LCD_MOVE_DISP) | _BV(LCD_MOVE_RIGHT));     
+
+
+VERSION HISTORY:
+----------------
+
+1.00 - Initial version.
+
+1.02 - Delay_ns, Delay_us, and Delay_ms added via a new included file "delay.h". All of these functions support values from 1-65535 so you can delay 65.535 seconds using Delay_ms, or Delay_ns(1) to delay 1ns. Realize that a delay of 1ns would only be possible if you were running at 1ghz, but asking for 1ns delay will get you a single clock delay. At 8mhz this is 125ns. The delays will get you "at least" what you ask for with as little more as possible.  The reason the delay functions were added is because the LCD library I based this on "assumed" that 2 clocks were enough for a 500ns wait. This is TRUE if you are running at less than 2mhz, but not true if you are running faster. I modified these functions to use the new Delay_ns function above so it will ALWAYS wait 500ns on the enable line now.
+
+1.03 - No longer includes my delay functions, but instead uses the internal builtin_avr_delay_cycles instead.  You can still use it with my Advanced Delay Library, check the C file for info.  This version also adds a clrscr in the init function. I was experiencing issues where a reset would corrupt part of the screen so this was necessary to make sure it starts clear.
+
+1.05 - Reorganized all code to follow the standard C and H file techniques.
+
+1.10 - Multiple LCD display support (Up to 4) added.
+
+       Bugs in the read command and 8 bit modes fixed and tested.
+       
+       You are now able to put any pins on any pin and port.  The data pins are no longer required to be on 0-3 or 0-7.  This gives you full freedom to put these pins anywhere.
+
+       All pin changes are now done through SBI CBI instructions meaning there will be zero problems with interrupts of other things occuring on pins of the same port as the LCD pins.
+
+       Checkbusy used to end up in an infinite loop if the LCD didn't response with "not busy".  I have put a 3ms maximum time on it (or 16 attempts minimum).  Since all LCD commands should run with 1.64ms, this should be more than enough and will allow the processor to continue on instead of being permanently stuck.  The delay however at 3ms everytime a call is made to the LCD will probably slow things down too much anyway, but I figured having this limit was better than nothing.
+
+1.11 - A big issue in the LCD init code has been corrected which will now allow 4-bit mode to work properly below 2mhz.  I've tested both 4-bit and 8-bit modes from 16khz to 16mhz with no issues.
+
+       Many commands have been marked as static if you don't need to access them, the only change is that lcd_read(x) is no longer available.  You must use lcd_getc() instead.
+
+       RW_LINE_IMPLEMENTED has been added which allows you to indicate whether you are implementing the RW line or not.  This used to be part of the WAIT_MODE, but having this option now allows you to implement the RW line so you can read from the LCD, but still use WAIT_MODE=0 for delays instead of using the check busy flag.
+
+       Check Busy has had an additional 6us delay added to it when the previous command involved a read or write that changes the address pointer.  This is due to the check busy flag going low before this pointer is updated and is to ensure the LCD is ready for another command.

lib/hd44780_111/hd44780_settings.h

@@ -0,0 +1,38 @@
+/*****************************************************************************
+Title  :   HD44780 Library
+Author :   SA Development
+Version:   1.11
+Modifications for: Arduino Mega 2560
+                    Itead Studio Arduino 1602 LED Keypad Shield
+Modified by: Silver Kits <silver.kits@eesti.ee> October 2016
+*****************************************************************************/
+#ifndef HD44780_SETTINGS_H
+#define HD44780_SETTINGS_H
+
+#define USE_ADELAY_LIBRARY       0
+#define LCD_BITS                 4
+#define RW_LINE_IMPLEMENTED      0
+#define WAIT_MODE                0
+#define DELAY_RESET              15
+
+// Pin and port definitions for Arduino Mega 2560
+#define LCD_DB4_PORT             PORTG
+#define LCD_DB4_PIN              5
+#define LCD_DB5_PORT             PORTE
+#define LCD_DB5_PIN              3
+#define LCD_DB6_PORT             PORTH
+#define LCD_DB6_PIN              3
+#define LCD_DB7_PORT             PORTH
+#define LCD_DB7_PIN              4
+
+#define LCD_RS_PORT              PORTH
+#define LCD_RS_PIN               5
+
+#define LCD_DISPLAYS             1
+
+#define LCD_DISPLAY_LINES        2
+
+#define LCD_E_PORT               PORTH
+#define LCD_E_PIN                6
+
+#endif /* HD44780_SETTINGS_H */

lib/hd44780_111/hd44780_settings_example.h

@@ -0,0 +1,66 @@
+#ifndef HD44780_SETTINGS_H
+#define HD44780_SETTINGS_H
+
+#define F_CPU                    8000000     // Set Clock Frequency
+
+#define USE_ADELAY_LIBRARY       0           // Set to 1 to use my ADELAY library, 0 to use internal delay functions
+#define LCD_BITS                 4           // 4 for 4 Bit I/O Mode, 8 for 8 Bit I/O Mode
+#define RW_LINE_IMPLEMENTED      0           // 0 for no RW line (RW on LCD tied to ground), 1 for RW line present
+#define WAIT_MODE                0           // 0=Use Delay Method (Faster if running <10Mhz)
+                                             // 1=Use Check Busy Flag (Faster if running >10Mhz) ***Requires RW Line***
+#define DELAY_RESET              15          // in mS
+
+#if (LCD_BITS==8)                            // If using 8 bit mode, you must configure DB0-DB7
+  #define LCD_DB0_PORT           PORTC
+  #define LCD_DB0_PIN            0
+  #define LCD_DB1_PORT           PORTC
+  #define LCD_DB1_PIN            1
+  #define LCD_DB2_PORT           PORTC
+  #define LCD_DB2_PIN            2
+  #define LCD_DB3_PORT           PORTC
+  #define LCD_DB3_PIN            3
+#endif
+#define LCD_DB4_PORT             PORTC       // If using 4 bit omde, yo umust configure DB4-DB7
+#define LCD_DB4_PIN              4
+#define LCD_DB5_PORT             PORTC
+#define LCD_DB5_PIN              5
+#define LCD_DB6_PORT             PORTC
+#define LCD_DB6_PIN              6
+#define LCD_DB7_PORT             PORTC
+#define LCD_DB7_PIN              7
+
+#define LCD_RS_PORT              PORTC       // Port for RS line
+#define LCD_RS_PIN               4           // Pin for RS line
+
+#define LCD_RW_PORT              PORTC       // Port for RW line (ONLY used if RW_LINE_IMPLEMENTED=1)
+#define LCD_RW_PIN               6           // Pin for RW line (ONLY used if RW_LINE_IMPLEMENTED=1)
+
+#define LCD_DISPLAYS             1           // Up to 4 LCD displays can be used at one time
+                                             // All pins are shared between displays except for the E
+                                             // pin which each display will have its own
+
+                                             // Display 1 Settings - if you only have 1 display, YOU MUST SET THESE
+#define LCD_DISPLAY_LINES        2           // Number of Lines, Only Used for Set I/O Mode Command
+#define LCD_E_PORT               PORTC       // Port for E line
+#define LCD_E_PIN                5           // Pin for E line
+
+#if (LCD_DISPLAYS>=2)                        // If you have 2 displays, set these and change LCD_DISPLAYS=2
+  #define LCD_DISPLAY2_LINES     2           // Number of Lines, Only Used for Set I/O Mode Command
+  #define LCD_E2_PORT            PORTC       // Port for E line
+  #define LCD_E2_PIN             5           // Pin for E line
+#endif
+
+#if (LCD_DISPLAYS>=3)                        // If you have 3 displays, set these and change LCD_DISPLAYS=3
+  #define LCD_DISPLAY3_LINES     2           // Number of Lines, Only Used for Set I/O Mode Command
+  #define LCD_E3_PORT            PORTC       // Port for E line
+  #define LCD_E3_PIN             5           // Pin for E line
+#endif
+
+#if (LCD_DISPLAYS>=4)                        // If you have 4 displays, set these and change LCD_DISPLAYS=4
+  #define LCD_DISPLAY4_LINES     2           // Number of Lines, Only Used for Set I/O Mode Command
+  #define LCD_E4_PORT            PORTC       // Port for E line
+  #define LCD_E4_PIN             5           // Pin for E line
+#endif
+
+#endif
+

lib/helius_microrl/LICENSE

@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
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+
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+
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+
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+
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+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
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+
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+   Information in the manner specified by section 6 of the GNU GPL
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+  5. Combined Libraries.
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+  You may place library facilities that are a work based on the
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+facilities that are not Applications and are not covered by this
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+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
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+   is a work based on the Library, and explaining where to find the
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+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
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+
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+permanent authorization for you to choose that version for the
+Library.

lib/helius_microrl/README

@@ -0,0 +1,103 @@
+microrl - micro read line library for small and embedded devices with basic VT100 support.
+
+1. DESCRIPTION
+
+Microrl library is designed to help implement command line interface in small and embedded devices. Main goal is to write compact, small memory consuming but powerful interfaces, with support navigation through command line with cursor, HOME, END keys, hot key like Ctrl+U and other, history and completion feature.
+
+
+2. FEATURE
+
+	** config.h file
+	 - Turn on/off feature for add functional/decrease memory via config files.
+
+	** hot keys support
+	 - backspace, cursor arrow, HOME, END keys
+	 - Ctrl+U (cut line from cursor to begin) 
+	 - Ctrl+K (cut line from cursor to end) 
+	 - Ctrl+A (like HOME) 
+	 - Ctrl+E (like END)
+	 - Ctrl+H (like backspace)
+	 - Ctrl+B (like cursor arrow left) 
+	 - Ctrl+F (like cursor arrow right)
+	 - Ctrl+P (like cursor arrow up)
+	 - Ctrl+N (like cursor arrow down)
+	 - Ctrl+C (call 'sigint' callback, only for embedded system)
+
+	** history
+	 - Static ring buffer history for memory saving. Number of commands saved to history depends from commands length and buffer size (defined in config)
+
+	** completion
+	 - via completion callback
+
+
+3. SRC STRUCTURE
+
+src/             - library source
+  microrl.c      - microrl routines
+  microrl.h      - lib interface and data type
+  config.h       - customisation config-file
+examples/        - library usage examples
+  avr_misc/      - avr specific routines for avr example
+  unix_misc/     - unix specific routines for desktop example
+  example.c      - common part of example, for build  demonstrating example for various platform
+  example_misc.h - interface to platform specific routines for example build (avr, unix)
+  Makefile       - unix example build (gcc)
+  Makefile.avr   - avr example build (avr-gcc)
+
+
+4. INSTALL
+
+Requirements: C compiler with support for C99 standard (GNU GCC, Keil, IAR) with standard C library (libc, uClibc or other compatible). Also you have to implement several routines in your own code for library to work. 
+NOTE: need add -std=gnu99 arg for gcc
+
+For embed lib to you project, you need to do few simple steps:
+
+a) Include microrl.h file to you project.
+
+b) Create 'microrl_t' object, and call 'microrl_init' func, with print callback pointer. Print callback pointer is pointer to function that call by library if it's need to put text to terminal. Text string always is null terminated.
+For example on linux PC print callback may be:
+	// print callback for microrl library
+	void print (char * str)
+	{
+		fprintf (stdout, "%s", str);
+	}
+
+c) Call 'microrl_set_execute_callback' with pointer to you routine, what will be called if user press enter in terminal. Execute callback give a 'argc', 'argv' parametrs, like 'main' func in application. All token in 'argv' is null terminated. So you can simply walk through argv and handle commands.
+
+d) If you want completion support if user press TAB key, call 'microrl_set_complete_callback' and set you callback. It also give 'argc' and 'argv' arguments, so iterate through it and return set of complete variants. 
+
+e) Look at 'config.h' file, for tune library for you requiring. 
+
+f) Now you just call 'microrl_insert_char' on each char received from input stream (usart, network, etc).
+
+Example of code:
+
+	//*****************************************************************************
+	int main (int argc, char ** argv)
+	{
+		// create microrl object and pointer on it
+		microrl_t rl;
+		microrl_t * prl = &rl;
+		// call init with ptr to microrl instance and print callback
+		microrl_init (prl, print);
+		// set callback for execute
+		microrl_set_execute_callback (prl, execute);
+		// set callback for completion (optionally)
+		microrl_set_complete_callback (prl, complet);
+		// set callback for ctrl+c handling (optionally)
+		microrl_set_sigint_callback (prl, sigint);
+		
+		while (1) {
+			// put received char from stdin to microrl lib
+			char ch = get_char ();
+			microrl_insert_char (prl, ch);
+		}
+		return 0;
+	}
+
+See examples library usage.
+
+
+
+Author: Eugene Samoylov aka Helius (ghelius@gmail.com) 
+01.09.2011

lib/helius_microrl/config.h

@@ -0,0 +1,104 @@
+/*
+Microrl library config files
+Autor: Eugene Samoylov aka Helius (ghelius@gmail.com)
+*/
+#ifndef _MICRORL_CONFIG_H_
+#define _MICRORL_CONFIG_H_
+
+#define MICRORL_LIB_VER "1.5.1"
+
+/*********** CONFIG SECTION **************/
+/*
+Command line length, define cmdline buffer size. Set max number of chars + 1,
+because last byte of buffer need to contain '\0' - NULL terminator, and 
+not use for storing inputed char.
+If user input chars more then it parametrs-1, chars not added to command line.*/
+#define _COMMAND_LINE_LEN (1+100)									// for 32 chars
+
+/*
+Command token number, define max token it command line, if number of token 
+typed in command line exceed this value, then prints message about it and
+command line not to be parced and 'execute' callback will not calls.
+Token is word separate by white space, for example 3 token line:
+"IRin> set mode test" */
+#define _COMMAND_TOKEN_NMB 8
+
+/*
+Define you prompt string here. You can use colors escape code, for highlight you prompt,
+for example this prompt will green color (if you terminal supports color)*/
+//#define _PROMPT_DEFAULT "\033[32mIRin >\033[0m "	// green color
+//#define _PROMPT_DEFAULT "IRin > "
+#define _PROMPT_DEFAULT ">"
+
+/*
+Define prompt text (without ESC sequence, only text) prompt length, it needs because if you use
+ESC sequence, it's not possible detect only text length*/
+#define _PROMPT_LEN       1
+
+/*Define it, if you wanna use completion functional, also set completion callback in you code,
+now if user press TAB calls 'copmlitetion' callback. If you no need it, you can just set 
+NULL to callback ptr and do not use it, but for memory saving tune, 
+if you are not going to use it - disable this define.*/
+//#define _USE_COMPLETE
+
+/*Define it, if you wanna use history. It s work's like bash history, and
+set stored value to cmdline, if UP and DOWN key pressed. Using history add
+memory consuming, depends from _RING_HISTORY_LEN parametr */
+//#define _USE_HISTORY
+
+/*
+History ring buffer length, define static buffer size.
+For saving memory, each entered cmdline store to history in ring buffer,
+so we can not say, how many line we can store, it depends from cmdline len,
+but memory using more effective. We not prefer dinamic memory allocation for
+small and embedded devices. Overhead is 2 char on each saved line*/
+//#define _RING_HISTORY_LEN 64
+
+/*
+Enable Handling terminal ESC sequence. If disabling, then cursor arrow, HOME, END will not work,
+use Ctrl+A(B,F,P,N,A,E,H,K,U,C) see README, but decrease code memory.*/
+//#define _USE_ESC_SEQ
+
+/*
+Use snprintf from you standard complier library, but it gives some overhead.
+If not defined, use my own u16int_to_str variant, it's save about 800 byte of code size
+on AVR (avr-gcc build).
+Try to build with and without, and compare total code size for tune library.
+*/
+#define _USE_LIBC_STDIO
+
+/*
+Enable 'interrupt signal' callback, if user press Ctrl+C */
+//#define _USE_CTLR_C
+
+/*
+Print prompt at 'microrl_init', if enable, prompt will print at startup, 
+otherwise first prompt will print after first press Enter in terminal
+NOTE!: Enable it, if you call 'microrl_init' after your communication subsystem 
+already initialize and ready to print message */
+#define _ENABLE_INIT_PROMPT
+
+/*
+New line symbol */
+#define _ENDL_CR
+
+#if defined(_ENDL_CR)
+#define ENDL "\r"
+#elif defined(_ENDL_CRLF)
+#define ENDL "\r\n"
+#elif defined(_ENDL_LF)
+#define ENDL "\n"
+#elif defined(_ENDL_LFCR)
+#define ENDL "\n\r"
+#else
+#error "You must define new line symbol."
+#endif
+
+/********** END CONFIG SECTION ************/
+
+
+#if _RING_HISTORY_LEN > 256
+#error "This history implementation (ring buffer with 1 byte iterator) allow 256 byte buffer size maximum"
+#endif
+
+#endif

lib/helius_microrl/microrl.c

@@ -0,0 +1,684 @@
+/*
+Author: Samoylov Eugene aka Helius (ghelius@gmail.com)
+BUGS and TODO:
+-- add echo_off feature
+-- rewrite history for use more than 256 byte buffer
+*/
+
+#include <string.h>
+#include <ctype.h>
+#include <stdlib.h>
+#include "microrl.h"
+#ifdef _USE_LIBC_STDIO
+#include <stdio.h>
+#endif
+
+//#define DBG(...) fprintf(stderr, "\033[33m");fprintf(stderr,__VA_ARGS__);fprintf(stderr,"\033[0m");
+
+char * prompt_default = _PROMPT_DEFAULT;
+
+#ifdef _USE_HISTORY
+
+#ifdef _HISTORY_DEBUG
+//*****************************************************************************
+// print buffer content on screen
+static void print_hist (ring_history_t * pThis)
+{
+	printf ("\n");
+	for (int i = 0; i < _RING_HISTORY_LEN; i++) {
+		if (i == pThis->begin)
+			printf ("b");
+		else 
+			printf (" ");
+	}
+	printf ("\n");
+	for (int i = 0; i < _RING_HISTORY_LEN; i++) {
+		if (isalpha(pThis->ring_buf[i]))
+			printf ("%c", pThis->ring_buf[i]);
+		else 
+			printf ("%d", pThis->ring_buf[i]);
+	}
+	printf ("\n");
+	for (int i = 0; i < _RING_HISTORY_LEN; i++) {
+		if (i == pThis->end)
+			printf ("e");
+		else 
+			printf (" ");
+	}
+	printf ("\n");
+}
+#endif
+
+//*****************************************************************************
+// remove older message from ring buffer
+static void hist_erase_older (ring_history_t * pThis)
+{
+	int new_pos = pThis->begin + pThis->ring_buf [pThis->begin] + 1;
+	if (new_pos >= _RING_HISTORY_LEN)
+		new_pos = new_pos - _RING_HISTORY_LEN;
+	
+	pThis->begin = new_pos;
+}
+
+//*****************************************************************************
+// check space for new line, remove older while not space
+static int hist_is_space_for_new (ring_history_t * pThis, int len)
+{
+	if (pThis->ring_buf [pThis->begin] == 0)
+		return true;
+	if (pThis->end >= pThis->begin) {
+		if (_RING_HISTORY_LEN - pThis->end + pThis->begin - 1 > len)
+			return true;
+	}	else {
+		if (pThis->begin - pThis->end - 1> len)
+			return true;
+	}
+	return false;
+}
+
+//*****************************************************************************
+// put line to ring buffer
+static void hist_save_line (ring_history_t * pThis, char * line, int len)
+{
+	if (len > _RING_HISTORY_LEN - 2)
+		return;
+	while (!hist_is_space_for_new (pThis, len)) {
+		hist_erase_older (pThis);
+	}
+	// if it's first line
+	if (pThis->ring_buf [pThis->begin] == 0) 
+		pThis->ring_buf [pThis->begin] = len;
+	
+	// store line
+	if (len < _RING_HISTORY_LEN-pThis->end-1)
+		memcpy (pThis->ring_buf + pThis->end + 1, line, len);
+	else {
+		int part_len = _RING_HISTORY_LEN-pThis->end-1;
+		memcpy (pThis->ring_buf + pThis->end + 1, line, part_len);
+		memcpy (pThis->ring_buf, line + part_len, len - part_len);
+	}
+	pThis->ring_buf [pThis->end] = len;
+	pThis->end = pThis->end + len + 1;
+	if (pThis->end >= _RING_HISTORY_LEN)
+		pThis->end -= _RING_HISTORY_LEN;
+	pThis->ring_buf [pThis->end] = 0;
+	pThis->cur = 0;
+#ifdef _HISTORY_DEBUG
+	print_hist (pThis);
+#endif
+}
+
+//*****************************************************************************
+// copy saved line to 'line' and return size of line
+static int hist_restore_line (ring_history_t * pThis, char * line, int dir)
+{
+	int cnt = 0;
+	// count history record	
+	int header = pThis->begin;
+	while (pThis->ring_buf [header] != 0) {
+		header += pThis->ring_buf [header] + 1;
+		if (header >= _RING_HISTORY_LEN)
+			header -= _RING_HISTORY_LEN; 
+		cnt++;
+	}
+
+	if (dir == _HIST_UP) {
+		if (cnt >= pThis->cur) {
+			int header = pThis->begin;
+			int j = 0;
+			// found record for 'pThis->cur' index
+			while ((pThis->ring_buf [header] != 0) && (cnt - j -1 != pThis->cur)) {
+				header += pThis->ring_buf [header] + 1;
+				if (header >= _RING_HISTORY_LEN)
+					header -= _RING_HISTORY_LEN;
+				j++;
+			}
+			if (pThis->ring_buf[header]) {
+					pThis->cur++;
+				// obtain saved line
+				if (pThis->ring_buf [header] + header < _RING_HISTORY_LEN) {
+					memset (line, 0, _COMMAND_LINE_LEN);
+					memcpy (line, pThis->ring_buf + header + 1, pThis->ring_buf[header]);
+				} else {
+					int part0 = _RING_HISTORY_LEN - header - 1;
+					memset (line, 0, _COMMAND_LINE_LEN);
+					memcpy (line, pThis->ring_buf + header + 1, part0);
+					memcpy (line + part0, pThis->ring_buf, pThis->ring_buf[header] - part0);
+				}
+				return pThis->ring_buf[header];
+			}
+		}
+	} else {
+		if (pThis->cur > 0) {
+				pThis->cur--;
+			int header = pThis->begin;
+			int j = 0;
+
+			while ((pThis->ring_buf [header] != 0) && (cnt - j != pThis->cur)) {
+				header += pThis->ring_buf [header] + 1;
+				if (header >= _RING_HISTORY_LEN)
+					header -= _RING_HISTORY_LEN;
+				j++;
+			}
+			if (pThis->ring_buf [header] + header < _RING_HISTORY_LEN) {
+				memcpy (line, pThis->ring_buf + header + 1, pThis->ring_buf[header]);
+			} else {
+				int part0 = _RING_HISTORY_LEN - header - 1;
+				memcpy (line, pThis->ring_buf + header + 1, part0);
+				memcpy (line + part0, pThis->ring_buf, pThis->ring_buf[header] - part0);
+			}
+			return pThis->ring_buf[header];
+		} else {
+			/* empty line */
+			return 0;
+		}
+	}
+	return -1;
+}
+#endif
+
+
+
+
+
+
+
+
+//*****************************************************************************
+// split cmdline to tkn array and return nmb of token
+static int split (microrl_t * pThis, int limit, char const ** tkn_arr)
+{
+	int i = 0;
+	int ind = 0;
+	while (1) {
+		// go to the first whitespace (zerro for us)
+		while ((pThis->cmdline [ind] == '\0') && (ind < limit)) {
+			ind++;
+		}
+		if (!(ind < limit)) return i;
+		tkn_arr[i++] = pThis->cmdline + ind;
+		if (i >= _COMMAND_TOKEN_NMB) {
+			return -1;
+		}
+		// go to the first NOT whitespace (not zerro for us)
+		while ((pThis->cmdline [ind] != '\0') && (ind < limit)) {
+			ind++;
+		}
+		if (!(ind < limit)) return i;
+	}
+	return i;
+}
+
+
+//*****************************************************************************
+inline static void print_prompt (microrl_t * pThis)
+{
+	pThis->print (pThis->prompt_str);
+}
+
+//*****************************************************************************
+inline static void terminal_backspace (microrl_t * pThis)
+{
+		pThis->print ("\033[D \033[D");
+}
+
+//*****************************************************************************
+inline static void terminal_newline (microrl_t * pThis)
+{
+	pThis->print (ENDL);
+}
+
+#ifndef _USE_LIBC_STDIO
+//*****************************************************************************
+// convert 16 bit value to string
+// 0 value not supported!!! just make empty string
+// Returns pointer to a buffer tail
+static char *u16bit_to_str (unsigned int nmb, char * buf)
+{
+	char tmp_str [6] = {0,};
+	int i = 0, j;
+	if (nmb <= 0xFFFF) {
+		while (nmb > 0) {
+			tmp_str[i++] = (nmb % 10) + '0';
+			nmb /=10;
+		}
+		for (j = 0; j < i; ++j)
+			*(buf++) = tmp_str [i-j-1];
+	}
+	*buf = '\0';
+	return buf;
+}
+#endif
+
+
+//*****************************************************************************
+// set cursor at position from begin cmdline (after prompt) + offset
+static void terminal_move_cursor (microrl_t * pThis, int offset)
+{
+	char str[16] = {0,};
+#ifdef _USE_LIBC_STDIO 
+	if (offset > 0) {
+		snprintf (str, 16, "\033[%dC", offset);
+	} else if (offset < 0) {
+		snprintf (str, 16, "\033[%dD", -(offset));
+	}
+#else 
+	char *endstr;
+	strcpy (str, "\033[");
+	if (offset > 0) {
+		endstr = u16bit_to_str (offset, str+2);
+		strcpy (endstr, "C");
+	} else if (offset < 0) {
+		endstr = u16bit_to_str (-(offset), str+2);
+		strcpy (endstr, "D");
+	} else
+		return;
+#endif	
+	pThis->print (str);
+}
+
+//*****************************************************************************
+static void terminal_reset_cursor (microrl_t * pThis)
+{
+	char str[16];
+#ifdef _USE_LIBC_STDIO
+	snprintf (str, 16, "\033[%dD\033[%dC", \
+						_COMMAND_LINE_LEN + _PROMPT_LEN + 2, _PROMPT_LEN);
+
+#else
+	char *endstr;
+	strcpy (str, "\033[");
+	endstr = u16bit_to_str ( _COMMAND_LINE_LEN + _PROMPT_LEN + 2,str+2);
+	strcpy (endstr, "D\033["); endstr += 3;
+	endstr = u16bit_to_str (_PROMPT_LEN, endstr);
+	strcpy (endstr, "C");
+#endif
+	pThis->print (str);
+}
+
+//*****************************************************************************
+// print cmdline to screen, replace '\0' to wihitespace 
+static void terminal_print_line (microrl_t * pThis, int pos, int cursor)
+{
+	pThis->print ("\033[K");    // delete all from cursor to end
+
+	char nch [] = {0,0};
+	int i;
+	for (i = pos; i < pThis->cmdlen; i++) {
+		nch [0] = pThis->cmdline [i];
+		if (nch[0] == '\0')
+			nch[0] = ' ';
+		pThis->print (nch);
+	}
+	
+	terminal_reset_cursor (pThis);
+	terminal_move_cursor (pThis, cursor);
+}
+
+//*****************************************************************************
+void microrl_init (microrl_t * pThis, void (*print) (const char *)) 
+{
+	memset(pThis->cmdline, 0, _COMMAND_LINE_LEN);
+#ifdef _USE_HISTORY
+	memset(pThis->ring_hist.ring_buf, 0, _RING_HISTORY_LEN);
+	pThis->ring_hist.begin = 0;
+	pThis->ring_hist.end = 0;
+	pThis->ring_hist.cur = 0;
+#endif
+	pThis->cmdlen =0;
+	pThis->cursor = 0;
+	pThis->execute = NULL;
+	pThis->get_completion = NULL;
+#ifdef _USE_CTLR_C
+	pThis->sigint = NULL;
+#endif
+	pThis->prompt_str = prompt_default;
+	pThis->print = print;
+#ifdef _ENABLE_INIT_PROMPT
+	print_prompt (pThis);
+#endif
+}
+
+//*****************************************************************************
+void microrl_set_complete_callback (microrl_t * pThis, char ** (*get_completion)(int, const char* const*))
+{
+	pThis->get_completion = get_completion;
+}
+
+//*****************************************************************************
+void microrl_set_execute_callback (microrl_t * pThis, int (*execute)(int, const char* const*))
+{
+	pThis->execute = execute;
+}
+#ifdef _USE_CTLR_C
+//*****************************************************************************
+void microrl_set_sigint_callback (microrl_t * pThis, void (*sigintf)(void))
+{
+	pThis->sigint = sigintf;
+}
+#endif
+
+#ifdef _USE_ESC_SEQ
+static void hist_search (microrl_t * pThis, int dir)
+{
+	int len = hist_restore_line (&pThis->ring_hist, pThis->cmdline, dir);
+	if (len >= 0) {
+		pThis->cursor = pThis->cmdlen = len;
+		terminal_reset_cursor (pThis);
+		terminal_print_line (pThis, 0, pThis->cursor);
+	}
+}
+
+//*****************************************************************************
+// handling escape sequences
+static int escape_process (microrl_t * pThis, char ch)
+{
+	if (ch == '[') {
+		pThis->escape_seq = _ESC_BRACKET;
+		return 0;
+	} else if (pThis->escape_seq == _ESC_BRACKET) {
+		if (ch == 'A') {
+#ifdef _USE_HISTORY
+			hist_search (pThis, _HIST_UP);
+#endif
+			return 1;
+		} else if (ch == 'B') {
+#ifdef _USE_HISTORY
+			hist_search (pThis, _HIST_DOWN);
+#endif
+			return 1;
+		} else if (ch == 'C') {
+			if (pThis->cursor < pThis->cmdlen) {
+				terminal_move_cursor (pThis, 1);
+				pThis->cursor++;
+			}
+			return 1;
+		} else if (ch == 'D') {
+			if (pThis->cursor > 0) {
+				terminal_move_cursor (pThis, -1);
+				pThis->cursor--;
+			}
+			return 1;
+		} else if (ch == '7') {
+			pThis->escape_seq = _ESC_HOME;
+			return 0;
+		} else if (ch == '8') {
+			pThis->escape_seq = _ESC_END;
+			return 0;
+		} 
+	} else if (ch == '~') {
+		if (pThis->escape_seq == _ESC_HOME) {
+			terminal_reset_cursor (pThis);
+			pThis->cursor = 0;
+			return 1;
+		} else if (pThis->escape_seq == _ESC_END) {
+			terminal_move_cursor (pThis, pThis->cmdlen-pThis->cursor);
+			pThis->cursor = pThis->cmdlen;
+			return 1;
+		}
+	}
+
+	/* unknown escape sequence, stop */
+	return 1;
+}
+#endif
+
+//*****************************************************************************
+// insert len char of text at cursor position
+static int microrl_insert_text (microrl_t * pThis, char * text, int len)
+{
+	int i;
+	if (pThis->cmdlen + len < _COMMAND_LINE_LEN) {
+		memmove (pThis->cmdline + pThis->cursor + len,
+						 pThis->cmdline + pThis->cursor,
+						 pThis->cmdlen - pThis->cursor);
+		for (i = 0; i < len; i++) {
+			pThis->cmdline [pThis->cursor + i] = text [i];
+			if (pThis->cmdline [pThis->cursor + i] == ' ') {
+				pThis->cmdline [pThis->cursor + i] = 0;
+			}
+		}
+		pThis->cursor += len;
+		pThis->cmdlen += len;
+		pThis->cmdline [pThis->cmdlen] = '\0';
+		return true;
+	}
+	return false;
+}
+
+//*****************************************************************************
+// remove one char at cursor
+static void microrl_backspace (microrl_t * pThis)
+{
+	if (pThis->cursor > 0) {
+		terminal_backspace (pThis);
+		memmove (pThis->cmdline + pThis->cursor-1,
+						 pThis->cmdline + pThis->cursor,
+						 pThis->cmdlen-pThis->cursor+1);
+		pThis->cursor--;
+		pThis->cmdline [pThis->cmdlen] = '\0';
+		pThis->cmdlen--;
+	}
+}
+
+
+#ifdef _USE_COMPLETE
+
+//*****************************************************************************
+static int common_len (char ** arr)
+{
+	unsigned int i;
+	unsigned int j;
+	char *shortest = arr[0];
+	unsigned int shortlen = strlen(shortest);
+
+	for (i = 0; arr[i] != NULL; ++i)
+		if (strlen(arr[i]) < shortlen) {
+			shortest = arr[i];
+			shortlen = strlen(shortest);
+		}
+
+	for (i = 0; i < shortlen; ++i)
+		for (j = 0; arr[j] != 0; ++j)
+			if (shortest[i] != arr[j][i])
+				return i;
+
+	return i;
+}
+
+//*****************************************************************************
+static void microrl_get_complite (microrl_t * pThis) 
+{
+	char const * tkn_arr[_COMMAND_TOKEN_NMB];
+	char ** compl_token; 
+	
+	if (pThis->get_completion == NULL) // callback was not set
+		return;
+	
+	int status = split (pThis, pThis->cursor, tkn_arr);
+	if (pThis->cmdline[pThis->cursor-1] == '\0')
+		tkn_arr[status++] = "";
+	compl_token = pThis->get_completion (status, tkn_arr);
+	if (compl_token[0] != NULL) {
+		int i = 0;
+		int len;
+
+		if (compl_token[1] == NULL) {
+			len = strlen (compl_token[0]);
+		} else {
+			len = common_len (compl_token);
+			terminal_newline (pThis);
+			while (compl_token [i] != NULL) {
+				pThis->print (compl_token[i]);
+				pThis->print (" ");
+				i++;
+			}
+			terminal_newline (pThis);
+			print_prompt (pThis);
+		}
+		
+		if (len) {
+			microrl_insert_text (pThis, compl_token[0] + strlen(tkn_arr[status-1]), 
+																	len - strlen(tkn_arr[status-1]));
+			if (compl_token[1] == NULL) 
+				microrl_insert_text (pThis, " ", 1);
+		}
+		terminal_reset_cursor (pThis);
+		terminal_print_line (pThis, 0, pThis->cursor);
+	} 
+}
+#endif
+
+//*****************************************************************************
+void new_line_handler(microrl_t * pThis){
+	char const * tkn_arr [_COMMAND_TOKEN_NMB];
+	int status;
+
+	terminal_newline (pThis);
+#ifdef _USE_HISTORY
+	if (pThis->cmdlen > 0)
+		hist_save_line (&pThis->ring_hist, pThis->cmdline, pThis->cmdlen);
+#endif
+	status = split (pThis, pThis->cmdlen, tkn_arr);
+	if (status == -1){
+		//          pThis->print ("ERROR: Max token amount exseed\n");
+		pThis->print ("ERROR:too many tokens");
+		pThis->print (ENDL);
+	}
+	if ((status > 0) && (pThis->execute != NULL))
+		pThis->execute (status, tkn_arr);
+	print_prompt (pThis);
+	pThis->cmdlen = 0;
+	pThis->cursor = 0;
+	memset(pThis->cmdline, 0, _COMMAND_LINE_LEN);
+#ifdef _USE_HISTORY
+	pThis->ring_hist.cur = 0;
+#endif
+}
+
+//*****************************************************************************
+
+void microrl_insert_char (microrl_t * pThis, int ch)
+{
+#ifdef _USE_ESC_SEQ
+	if (pThis->escape) {
+		if (escape_process(pThis, ch))
+			pThis->escape = 0;
+	} else {
+#endif
+		switch (ch) {
+			//-----------------------------------------------------
+#ifdef _ENDL_CR
+			case KEY_CR:
+				new_line_handler(pThis);
+			break;
+			case KEY_LF:
+			break;
+#elif defined(_ENDL_CRLF)
+			case KEY_CR:
+				pThis->tmpch = KEY_CR;
+			break;
+			case KEY_LF:
+			if (pThis->tmpch == KEY_CR)
+				new_line_handler(pThis);
+			break;
+#elif defined(_ENDL_LFCR)
+			case KEY_LF:
+				pThis->tmpch = KEY_LF;
+			break;
+			case KEY_CR:
+			if (pThis->tmpch == KEY_LF)
+				new_line_handler(pThis);
+			break;
+#else
+			case KEY_CR:
+			break;
+			case KEY_LF:
+				new_line_handler(pThis);
+			break;
+#endif
+			//-----------------------------------------------------
+#ifdef _USE_COMPLETE
+			case KEY_HT:
+				microrl_get_complite (pThis);
+			break;
+#endif
+			//-----------------------------------------------------
+			case KEY_ESC:
+#ifdef _USE_ESC_SEQ
+				pThis->escape = 1;
+#endif
+			break;
+			//-----------------------------------------------------
+			case KEY_NAK: // ^U
+					while (pThis->cursor > 0) {
+					microrl_backspace (pThis);
+				}
+				terminal_print_line (pThis, 0, pThis->cursor);
+			break;
+			//-----------------------------------------------------
+			case KEY_VT:  // ^K
+				pThis->print ("\033[K");
+				pThis->cmdlen = pThis->cursor;
+			break;
+			//-----------------------------------------------------
+			case KEY_ENQ: // ^E
+				terminal_move_cursor (pThis, pThis->cmdlen-pThis->cursor);
+				pThis->cursor = pThis->cmdlen;
+			break;
+			//-----------------------------------------------------
+			case KEY_SOH: // ^A
+				terminal_reset_cursor (pThis);
+				pThis->cursor = 0;
+			break;
+			//-----------------------------------------------------
+			case KEY_ACK: // ^F
+			if (pThis->cursor < pThis->cmdlen) {
+				terminal_move_cursor (pThis, 1);
+				pThis->cursor++;
+			}
+			break;
+			//-----------------------------------------------------
+			case KEY_STX: // ^B
+			if (pThis->cursor) {
+				terminal_move_cursor (pThis, -1);
+				pThis->cursor--;
+			}
+			break;
+			//-----------------------------------------------------
+			case KEY_DLE: //^P
+#ifdef _USE_HISTORY
+			hist_search (pThis, _HIST_UP);
+#endif
+			break;
+			//-----------------------------------------------------
+			case KEY_SO: //^N
+#ifdef _USE_HISTORY
+			hist_search (pThis, _HIST_DOWN);
+#endif
+			break;
+			//-----------------------------------------------------
+			case KEY_DEL: // Backspace
+			case KEY_BS: // ^U
+				microrl_backspace (pThis);
+				terminal_print_line (pThis, pThis->cursor, pThis->cursor);
+			break;
+#ifdef _USE_CTLR_C
+			case KEY_ETX:
+			if (pThis->sigint != NULL)
+				pThis->sigint();
+			break;
+#endif
+			//-----------------------------------------------------
+			default:
+			if (((ch == ' ') && (pThis->cmdlen == 0)) || IS_CONTROL_CHAR(ch))
+				break;
+			if (microrl_insert_text (pThis, (char*)&ch, 1))
+				terminal_print_line (pThis, pThis->cursor-1, pThis->cursor);
+			
+			break;
+		}
+#ifdef _USE_ESC_SEQ
+	}
+#endif
+}

lib/helius_microrl/microrl.h

@@ -0,0 +1,117 @@
+#ifndef _MICRORL_H_
+#define _MICRORL_H_
+
+#include "config.h"
+
+#define true  1
+#define false 0
+
+ /* define the Key codes */
+#define KEY_NUL 0 /**< ^@ Null character */
+#define KEY_SOH 1 /**< ^A Start of heading, = console interrupt */
+#define KEY_STX 2 /**< ^B Start of text, maintenance mode on HP console */
+#define KEY_ETX 3 /**< ^C End of text */
+#define KEY_EOT 4 /**< ^D End of transmission, not the same as ETB */
+#define KEY_ENQ 5 /**< ^E Enquiry, goes with ACK; old HP flow control */
+#define KEY_ACK 6 /**< ^F Acknowledge, clears ENQ logon hand */
+#define KEY_BEL 7 /**< ^G Bell, rings the bell... */
+#define KEY_BS  8 /**< ^H Backspace, works on HP terminals/computers */
+#define KEY_HT  9 /**< ^I Horizontal tab, move to next tab stop */
+#define KEY_LF  10  /**< ^J Line Feed */
+#define KEY_VT  11  /**< ^K Vertical tab */
+#define KEY_FF  12  /**< ^L Form Feed, page eject */
+#define KEY_CR  13  /**< ^M Carriage Return*/
+#define KEY_SO  14  /**< ^N Shift Out, alternate character set */
+#define KEY_SI  15  /**< ^O Shift In, resume defaultn character set */
+#define KEY_DLE 16  /**< ^P Data link escape */
+#define KEY_DC1 17  /**< ^Q XON, with XOFF to pause listings; "okay to send". */
+#define KEY_DC2 18  /**< ^R Device control 2, block-mode flow control */
+#define KEY_DC3 19  /**< ^S XOFF, with XON is TERM=18 flow control */
+#define KEY_DC4 20  /**< ^T Device control 4 */
+#define KEY_NAK 21  /**< ^U Negative acknowledge */
+#define KEY_SYN 22  /**< ^V Synchronous idle */
+#define KEY_ETB 23  /**< ^W End transmission block, not the same as EOT */
+#define KEY_CAN 24  /**< ^X Cancel line, MPE echoes !!! */
+#define KEY_EM  25  /**< ^Y End of medium, Control-Y interrupt */
+#define KEY_SUB 26  /**< ^Z Substitute */
+#define KEY_ESC 27  /**< ^[ Escape, next character is not echoed */
+#define KEY_FS  28  /**< ^\ File separator */
+#define KEY_GS  29  /**< ^] Group separator */
+#define KEY_RS  30  /**< ^^ Record separator, block-mode terminator */
+#define KEY_US  31  /**< ^_ Unit separator */
+
+#define KEY_DEL 127 /**< Delete (not a real control character...) */
+
+#define IS_CONTROL_CHAR(x) ((x)<=31)
+
+// direction of history navigation
+#define _HIST_UP   0
+#define _HIST_DOWN 1
+// esc seq internal codes
+#define _ESC_BRACKET  1
+#define _ESC_HOME     2
+#define _ESC_END      3
+
+#ifdef _USE_HISTORY
+// history struct, contain internal variable
+// history store in static ring buffer for memory saving
+typedef struct {
+	char ring_buf [_RING_HISTORY_LEN];
+	int begin;
+	int end;
+	int cur;
+} ring_history_t;
+#endif
+
+// microrl struct, contain internal library data
+typedef struct {
+#ifdef _USE_ESC_SEQ
+	char escape_seq;
+	char escape;
+#endif
+#if (defined(_ENDL_CRLF) || defined(_ENDL_LFCR))
+	char tmpch;
+#endif
+#ifdef _USE_HISTORY
+	ring_history_t ring_hist;          // history object
+#endif
+	char * prompt_str;                 // pointer to prompt string
+	char cmdline [_COMMAND_LINE_LEN];  // cmdline buffer
+	int cmdlen;                        // last position in command line
+	int cursor;                        // input cursor
+	int (*execute) (int argc, const char * const * argv );            // ptr to 'execute' callback
+	char ** (*get_completion) (int argc, const char * const * argv ); // ptr to 'completion' callback
+	void (*print) (const char *);                                     // ptr to 'print' callback
+#ifdef _USE_CTLR_C
+	void (*sigint) (void);
+#endif
+} microrl_t;
+
+// init internal data, calls once at start up
+void microrl_init (microrl_t * pThis, void (*print)(const char*));
+
+// set echo mode (true/false), using for disabling echo for password input
+// echo mode will enabled after user press Enter.
+void microrl_set_echo (int);
+
+// set pointer to callback complition func, that called when user press 'Tab'
+// callback func description:
+//   param: argc - argument count, argv - pointer array to token string
+//   must return NULL-terminated string, contain complite variant splitted by 'Whitespace'
+//   If complite token found, it's must contain only one token to be complitted
+//   Empty string if complite not found, and multiple string if there are some token
+void microrl_set_complete_callback (microrl_t * pThis, char ** (*get_completion)(int, const char* const*));
+
+// pointer to callback func, that called when user press 'Enter'
+// execute func param: argc - argument count, argv - pointer array to token string
+void microrl_set_execute_callback (microrl_t * pThis, int (*execute)(int, const char* const*));
+
+// set callback for Ctrl+C terminal signal
+#ifdef _USE_CTLR_C
+void microrl_set_sigint_callback (microrl_t * pThis, void (*sigintf)(void));
+#endif
+
+// insert char to cmdline (for example call in usart RX interrupt)
+void microrl_insert_char (microrl_t * pThis, int ch);
+
+#endif

src/cli_microrl.c

@@ -0,0 +1,148 @@
+#include <stdio.h>
+#include <string.h>
+#include <avr/pgmspace.h>
+#include "../lib/hd44780_111/hd44780.h"
+#include "../lib/andygock_avr-uart/uart.h"
+#include "hmi_msg.h"
+#include "print_helper.h"
+#include "cli_microrl.h"
+
+typedef struct cli_cmd {
+    PGM_P cmd;
+    PGM_P help;
+    void (*func_p)();
+    const uint8_t func_argc;
+} cli_cmd_t;
+
+
+const cli_cmd_t cli_cmds[] = {
+    {help_cmd, help_help, cli_print_help, 0},
+    {ver_cmd, ver_help, cli_print_ver, 0},
+    {ascii_cmd, ascii_help, cli_print_ascii_tbls, 0},
+    {month_cmd, month_help, cli_handle_month, 1}
+};
+
+
+void cli_print(const char *str)
+{
+    printf("%s", str);
+}
+
+
+char cli_get_char(void)
+{
+    if (uart0_peek() != UART_NO_DATA) {
+        return uart0_getc() & UART_STATUS_MASK;
+    } else {
+        return 0x00;
+    }
+}
+
+
+void cli_print_help(const char *const *argv)
+{
+    (void) argv;
+    putc('\n', stdout);
+    printf_P(PSTR(CLI_HELP_MSG "\n"));
+
+    for (uint8_t i = 0; i < NUM_ELEMS(cli_cmds); i++) {
+        printf_P(cli_cmds[i].cmd);
+        printf_P(PSTR(" : "));
+        printf_P(cli_cmds[i].help);
+        putc('\n', stdout);
+    }
+}
+
+
+void print_version(FILE *stream)
+{
+    // Print program and libc versions
+    fprintf_P(stream, PSTR(PROG_VERSION "\n"),
+              PSTR(GIT_DESCR), PSTR(__DATE__), PSTR(__TIME__));
+    fprintf_P(stream, PSTR(LIBC_VERSION "\n"),
+              PSTR(__AVR_LIBC_VERSION_STRING__),
+              PSTR(__VERSION__));
+}
+
+
+void cli_print_ver(const char *const *argv)
+{
+    (void) argv;
+    putc('\n', stdout);
+    print_version(stdout);
+}
+
+
+void cli_print_ascii_tbls(const char *const *argv)
+{
+    (void) argv;
+    putc('\n', stdout);
+    // ASCII table print
+    print_ascii_tbl(stdout);
+    unsigned char ascii[128];
+    for (unsigned char i = 0; i < sizeof(ascii); i++) {
+        ascii[i] = i;
+    }
+    print_for_human(stdout, ascii, sizeof(ascii));
+}
+
+
+void cli_handle_month(const char *const *argv)
+{
+    putc('\n', stdout);
+    lcd_goto(0x40); // Got to the beginning of the next line
+    char spaces_to_print = 16;
+    for (int i = 0; i < 6; i++) {
+        if (!strncmp_P(argv[1],
+                       (PGM_P)pgm_read_word(&months[i]),
+                       strlen(argv[1]))) {
+            char printed_count;
+            printed_count = fprintf_P(stdout, (PGM_P)pgm_read_word(&months[i]));
+            fputc('\n', stdout);
+            lcd_puts_P((PGM_P)pgm_read_word(&months[i]));
+            lcd_putc(' ');
+            spaces_to_print -= (printed_count + 1);
+        }
+    }
+    // Clear the end of the line
+    for (; spaces_to_print > -1; spaces_to_print--) {
+        lcd_putc(' ');
+    }
+}
+
+
+void cli_print_cmd_error(void)
+{
+    putc('\n', stdout);
+    printf_P(PSTR(CLI_NO_CMD "\n"));
+}
+
+
+void cli_print_cmd_arg_error(void)
+{
+    putc('\n', stdout);
+    printf_P(PSTR(CLI_ARGS_MSG "\n"));
+}
+
+
+int cli_execute(int argc, const char *const *argv)
+{
+    for (uint8_t i = 0; i < NUM_ELEMS(cli_cmds); i++) {
+        if (!strcmp_P(argv[0], cli_cmds[i].cmd)) {
+            // Test do we have correct arguments to run command
+            // Function arguments count shall be defined in struct
+            if ((argc - 1) != cli_cmds[i].func_argc) {
+                cli_print_cmd_arg_error();
+                return 0;
+            }
+
+            // Hand argv over to function pointer,
+            // cross fingers and hope that funcion handles it properly
+            cli_cmds[i].func_p (argv);
+            return 0;
+        }
+    }
+
+    cli_print_cmd_error();
+    return 0;
+}

src/cli_microrl.h

@@ -0,0 +1,19 @@
+#ifndef _CLI_MICRORL_H_
+#define _CLI_MICRORL_H_
+
+#define NUM_ELEMS(x)        (sizeof(x) / sizeof((x)[0]))
+#define UART_STATUS_MASK    0x00FF
+
+void cli_print(const char * str);
+char cli_get_char(void);
+void cli_print_help(const char *const *argv);
+void print_version(FILE *stream);
+void cli_print_ver(const char *const *argv);
+void cli_print_ascii_tbls(const char *const *argv);
+void cli_handle_month(const char *const *argv);
+void cli_print_cmd_error(void);
+void cli_print_cmd_arg_error(void);
+int cli_execute(int argc, const char *const *argv);
+
+
+#endif /* _CLI_MICRORL_H_ */

src/hmi_msg.c

@@ -0,0 +1,20 @@
+#include <avr/pgmspace.h>
+#include "hmi_msg.h"
+
+static const char m1[] PROGMEM = "January";
+static const char m2[] PROGMEM = "February";
+static const char m3[] PROGMEM = "March";
+static const char m4[] PROGMEM = "April";
+static const char m5[] PROGMEM = "May";
+static const char m6[] PROGMEM = "June";
+
+PGM_P const months[] PROGMEM = {m1, m2, m3, m4, m5, m6};
+
+const char help_cmd[] PROGMEM = HELP_CMD;
+const char help_help[] PROGMEM = HELP_HELP;
+const char ver_cmd[] PROGMEM = VER_CMD;
+const char ver_help[] PROGMEM = VER_HELP;
+const char ascii_cmd[] PROGMEM = ASCII_CMD;
+const char ascii_help[] PROGMEM = ASCII_HELP;
+const char month_cmd[] PROGMEM = MONTH_CMD;
+const char month_help[] PROGMEM = MONTH_HELP;

src/hmi_msg.h

@@ -0,0 +1,33 @@
+#ifndef _HMI_MSG_H_
+#define _HMI_MSG_H_
+
+#define PROG_VERSION "Version: %S built on: %S %S"
+#define LIBC_VERSION "avr-libc version: %S avr-gcc version: %S"
+#define STUD_NAME "Arti Zirk"
+#define GET_MONTH_MSG "Enter Month name first letter >"
+#define UPTIME_MSG "Uptime: %lu s"
+
+#define HELP_CMD "help"
+#define HELP_HELP "Get help"
+#define VER_CMD "version"
+#define VER_HELP "Print FW version"
+#define ASCII_CMD "ascii"
+#define ASCII_HELP "print ASCII tables"
+#define MONTH_CMD "month"
+#define MONTH_HELP "Find matching month from lookup list. Usage: month <string>"
+#define CLI_HELP_MSG "Implemented commands:"
+#define CLI_NO_CMD "Command not implemented.\n Use <help> to get help."
+#define CLI_ARGS_MSG "To few or to many arguments for this command\nUse <help>"
+
+extern PGM_P const months[];
+
+extern const char help_cmd[];
+extern const char help_help[];
+extern const char ver_cmd[];
+extern const char ver_help[];
+extern const char ascii_cmd[];
+extern const char ascii_help[];
+extern const char month_cmd[];
+extern const char month_help[];
+
+#endif /* _HMI_MSG_H_ */

src/main.c

@@ -1,47 +1,110 @@
 #include <stdio.h>
+#include <string.h>
+#include <time.h>
 #include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
 #include <util/delay.h>
-#define __ASSERT_USE_STDERR
-#include <assert.h>
-#include "uart.h"
+#include "hmi_msg.h"
+#include "../lib/andygock_avr-uart/uart.h"
+#include "uart_wrap.h"
+#include "print_helper.h"
+#include "../lib/hd44780_111/hd44780.h"
+#include "../lib/helius_microrl/microrl.h"
+#include "cli_microrl.h"
+
+
+#define BAUDRATE 9600
+
+// For configuring arduino mega pin 25
+#define LED_INIT DDRA |= _BV(DDA3);
+#define LED_TOGGLE PORTA ^= _BV(PORTA3)
+#define UART_STATUS_MASK    0x00FF
+
+// Create microrl object and pointer on it
+static microrl_t rl;
+static microrl_t *prl = &rl;
+
+static inline void init_system_clock(void)
+{
+    TCCR5A = 0; // Clear control register A
+    TCCR5B = 0; // Clear control register B
+    TCCR5B |= _BV(WGM52) | _BV(CS52); // CTC and fCPU/256
+    OCR5A = 62549; // 1 s
+    TIMSK5 |= _BV(OCIE5A); // Output Compare A Match Interrupt Enable
+}
+
+
+static inline void init_hw (void)
+{
+    // IO init
+    /// Set arduino pin 25 as output
+    LED_INIT;
+
+    // System clock
+    init_system_clock();
+
+    // UART init
+    uart0_init(UART_BAUD_SELECT(BAUDRATE, F_CPU));
+    uart3_init(UART_BAUD_SELECT(BAUDRATE, F_CPU));
+    stdout = stdin = &uart0_io;
+    stderr = &uart3_out;
+
+    // LCD init
+    lcd_init();
+    lcd_clrscr();
+
+    // Enable interupts
+    sei();
+}
+
+static inline void start_ui (void)
+{
+    print_version(stderr);
+
+    // print student name
+    fprintf_P(stdout, PSTR(STUD_NAME));
+    fputc('\n', stdout); // Add a new line to the uart printout
+    lcd_puts_P(PSTR(STUD_NAME));
+}
+
+static inline void start_cli(void)
+{
+    // Call init with ptr to microrl instance and print callback
+    microrl_init (prl, cli_print);
+    // Set callback for execute
+    microrl_set_execute_callback (prl, cli_execute);
+}
+
+static inline void heartbeat (void)
+{
+    static time_t time_prev;
+    time_t time_cur = time(NULL);
+    if (time_cur <= time_prev) {
+        return;
+    }
+    time_prev = time_cur;
+    fprintf_P(stderr, PSTR(UPTIME_MSG "\n"), time_cur);
+    LED_TOGGLE;
+}
 
-#define BLINK_DELAY_MS 100
 
 int main (void)
 {
-    /* set pin 3 of PORTA for output*/
-    DDRA |= _BV(DDA3);
-    /* Init error console as stderr in UART3 and print user code info */
-    uart3_init();
-    stderr = &uart3_out;
-    fprintf(stderr, "Version: %s built on: %s %s\n",
-            GIT_DESCR, __DATE__, __TIME__);
-    fprintf(stderr, "avr-libc version: %s\n", __AVR_LIBC_VERSION_STRING__);
-    /*End UART3 init and info print */
-    /* Test assert - REMOVE IN FUTURE LABS */
-    char *array;
-    uint32_t i = 1;
-    extern int __heap_start, *__brkval;
-    int v;
-    array = malloc( i * sizeof(char));
-    assert(array);
-    /* End test assert */
+    init_hw();
+    start_ui();
+    start_cli();
 
     while (1) {
-        /* set pin 3 high to turn led on */
-        PORTA |= _BV(PORTA3);
-        _delay_ms(BLINK_DELAY_MS);
-        /* Test assert - REMOVE IN FUTURE LABS */
-        /* Increase memory allocated for array by 100 chars
-         * until we have eaten it all and print space between Stack and Heap.
-         * Thats how assert works in run-time */
-        array = realloc( array, (i++ * 100) * sizeof(char));
-        fprintf(stderr, "%d ",
-                (int) &v - (__brkval == 0 ? (int) &__heap_start : (int) __brkval));
-        assert(array);
-        /* End test assert */
-        /* set pin 3 low to turn led off */
-        PORTA &= ~_BV(PORTA3);
-        _delay_ms(BLINK_DELAY_MS);
+        heartbeat();
+        // CLI commands are handled in cli_execute()
+        microrl_insert_char (prl, cli_get_char());
     }
 }
+
+
+// System clock
+ISR(TIMER5_COMPA_vect)
+{
+    system_tick();
+}

src/print_helper.c

@@ -0,0 +1,33 @@
+#include <stdio.h>
+#include <avr/pgmspace.h>
+#include "print_helper.h"
+
+int print_ascii_tbl (FILE *stream)
+{
+    for (char c = ' '; c <= '~'; c++) {
+        if (!fprintf(stream, "%c ", c)) {
+            return 0;
+        }
+    }
+
+    return fprintf(stream, "\n");
+}
+
+
+int print_for_human (FILE *stream, const unsigned char *array, const int len)
+{
+    for (int i = 0; i < len; i++) {
+        unsigned char c = array[i];
+        if (c >= ' ' && c <= '~') {
+            if (!fprintf(stream, "%c", c)) {
+                return 0;
+            }
+        } else {
+            if (!fprintf(stream, "\"0x%02x\"", c)) {
+                return 0;
+            }
+        }
+    }
+
+    return fprintf(stream, "\n");
+}

src/print_helper.h

@@ -0,0 +1,7 @@
+#ifndef _PRINT_HELPER_H_
+#define _PRINT_HELPER_H_
+
+int print_ascii_tbl (FILE *stream);
+int print_for_human (FILE *stream, const unsigned char *array, const int len);
+
+#endif /* _PRINT_HELPER_H_ */

src/uart.c

@@ -1,72 +0,0 @@
-#include <avr/io.h>
-#include <stdio.h>
-
-#ifndef F_CPU
-#define F_CPU 16000000UL
-#endif
-
-#ifndef BAUD
-#define BAUD 9600
-#endif
-#include <util/setbaud.h>
-
-/* http://www.cs.mun.ca/~rod/Winter2007/4723/notes/serial/serial.html */
-
-void uart0_init(void)
-{
-    UBRR0H = UBRRH_VALUE;
-    UBRR0L = UBRRL_VALUE;
-#if USE_2X
-    UCSR0A |= _BV(U2X0);
-#else
-    UCSR0A &= ~(_BV(U2X0));
-#endif
-    UCSR0C = _BV(UCSZ01) | _BV(UCSZ00); /* 8-bit data */
-    UCSR0B = _BV(RXEN0) | _BV(TXEN0);   /* Enable RX and TX */
-}
-
-void uart3_init(void)
-{
-    UBRR3H = UBRRH_VALUE;
-    UBRR3L = UBRRL_VALUE;
-#if USE_2X
-    UCSR3A |= _BV(U2X3);
-#else
-    UCSR3A &= ~(_BV(U2X3));
-#endif
-    UCSR3C = _BV(UCSZ31) | _BV(UCSZ30); /* 8-bit data */
-    UCSR3B = _BV(TXEN3);   /* Enable TX */
-}
-
-int uart0_putchar(char c, FILE *stream)
-{
-    (void) stream;
-
-    if (c == '\n') {
-        uart0_putchar('\r', stream);
-    }
-
-    loop_until_bit_is_set(UCSR0A, UDRE0);
-    UDR0 = c;
-    return 0;
-}
-
-int uart3_putchar(char c, FILE *stream)
-{
-    (void) stream;
-
-    if (c == '\n') {
-        uart3_putchar('\r', stream);
-    }
-
-    loop_until_bit_is_set(UCSR3A, UDRE3);
-    UDR3 = c;
-    return 0;
-}
-
-int uart0_getchar(FILE *stream)
-{
-    (void) stream;
-    loop_until_bit_is_set(UCSR0A, RXC0);
-    return UDR0;
-}

src/uart.h

@@ -1,12 +0,0 @@
-int uart0_putchar(char c, FILE *stream);
-int uart0_getchar(FILE *stream);
-
-int uart3_putchar(char c, FILE *stream);
-
-void uart0_init(void);
-void uart3_init(void);
-
-/* http://www.ermicro.com/blog/?p=325 */
-
-FILE uart0_io = FDEV_SETUP_STREAM(uart0_putchar, uart0_getchar, _FDEV_SETUP_RW);
-FILE uart3_out = FDEV_SETUP_STREAM(uart3_putchar, NULL, _FDEV_SETUP_WRITE);

src/uart_wrap.c

@@ -0,0 +1,39 @@
+#include <avr/io.h>
+#include <stdio.h>
+#include "../lib/andygock_avr-uart/uart.h"
+
+#define UART_STATUS_MASK    0x00FF
+
+int uart0_putc_wrap(char c, FILE *stream)
+{
+    (void) stream;
+
+    if (c == '\n') {
+        uart0_putc_wrap('\r', stream);
+    }
+
+    uart0_putc(c);
+    return 0;
+}
+
+int uart0_getc_wrap(FILE *stream)
+{
+    (void) stream;
+    // Probabbly should add some error checking in here but because
+    // this function is only called out when there is at least one character
+    // available in the input buffer (see main.c line 114) then error checking
+    // is not currently necessary.
+    return uart0_getc() & UART_STATUS_MASK;
+}
+
+int uart3_putc_wrap(char c, FILE *stream)
+{
+    (void) stream;
+
+    if (c == '\n') {
+        uart3_putc_wrap('\r', stream);
+    }
+
+    uart3_putc(c);
+    return 0;
+}

src/uart_wrap.h

@@ -0,0 +1,15 @@
+#ifndef _UART_WRAP_H_
+#define _UART_WRAP_H_
+
+int uart0_putc_wrap(char c, FILE *stream);
+int uart0_getc_wrap(FILE *stream);
+
+int uart3_putc_wrap(char c, FILE *stream);
+
+
+/* http://www.ermicro.com/blog/?p=325 */
+
+FILE uart0_io = FDEV_SETUP_STREAM(uart0_putc_wrap, uart0_getc_wrap, _FDEV_SETUP_RW);
+FILE uart3_out = FDEV_SETUP_STREAM(uart3_putc_wrap, NULL, _FDEV_SETUP_WRITE);
+
+#endif /* _UART_WRAP_H_ */

tooling/format-code.sh

@@ -18,10 +18,8 @@ for FILE in "$@"
 do
     RESULT="$(astyle    --style=1tbs \
                         --indent-col1-comments \
-                        --break-blocks \
                         --pad-oper \
                         --pad-header \
-                        --delete-empty-lines \
                         --add-brackets \
                         --convert-tabs \
                         --max-code-length=80 \