The SLCD driver is now fully functional for Sure PIC32MX board

9 files changed, 346 insertions, 98 deletions

diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index 26c71b541..b2a656731 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -4814,3 +4814,6 @@
 	* include/nuttx/lcd/slcd_ioctl.h and all SLCD drivers:  Rename geometry
 	  structure to attributes;  Move MAX contrast to attributes.  Add
 	  attribute and ioctl commands to get and set LCD brightness (2013-5-27).
+	* configs/sure-pic32mx/pic32mx_lcd1602.c:  This driver appears to
+	  fully functional (at least to the extent that it has been tested)
+	  (2013-5-27).
diff --git a/nuttx/configs/pcblogic-pic32mx/README.txt b/nuttx/configs/pcblogic-pic32mx/README.txt
index 847f355fd..2db8aa5c8 100644
--- a/nuttx/configs/pcblogic-pic32mx/README.txt
+++ b/nuttx/configs/pcblogic-pic32mx/README.txt
@@ -161,7 +161,7 @@ MAX3232 Connection
   GND -- POWER POINT: GND
   Vcc -- POWER POINT: Vdd (3.3V) -- Or P32_VBUS (+5V)
          Or +5V from a USB PC port.
- 
+
 Toolchains
 ==========
 
@@ -252,7 +252,7 @@ Toolchains
 
   Windows Native Toolchains
   -------------------------
-  
+
   NOTE:  There are several limitations to using a Windows based toolchain in a
   Cygwin environment.  The three biggest are:
 
@@ -478,7 +478,7 @@ PIC32MX Configuration Options
       CONFIG_PIC32MX_CODEWP - Default 1 (disabled)
     DEVCFG1: (All settings determined by selections in board.h)
     DEVCFG2: (All settings determined by selections in board.h)
-    DEVCFG3: 
+    DEVCFG3:
       CONFIG_PIC32MX_USBIDO - USB USBID Selection.  Default 1 if USB enabled
         (USBID pin is controlled by the USB module), but 0 (GPIO) otherwise.
       CONFIG_PIC32MX_VBUSIO - USB VBUSON Selection (Default 1 if USB enabled
@@ -670,7 +670,10 @@ Configuration sub-directories
        NOTES:
        a. I do not have the LCD1602 working.  I may just be getting lost in the
           tangle of wires or perhaps there is something fundamentally wrong with
-          the code.
+          the code.  If you decide to work on this, you might want to consider
+          the working, big-bang version of this driver at configs/sure-pic32mx/src/pic32mx_lcd1602.c.
+          A bit-bang driver is probably more appropriate for such a low performance
+          device (and a LOT easier to debug).
        b. At this point in time, testing of the SLCD is very limited because
           there is not much in apps/examples/slcd.  Basically  driver with a working
           test setup and ready to be tested and debugged.
diff --git a/nuttx/configs/sure-pic32mx/README.txt b/nuttx/configs/sure-pic32mx/README.txt
index 36abc7997..02aa44ec9 100644
--- a/nuttx/configs/sure-pic32mx/README.txt
+++ b/nuttx/configs/sure-pic32mx/README.txt
@@ -318,7 +318,7 @@ Toolchains
 
   Windows Native Toolchains
   -------------------------
-  
+
   NOTE:  There are several limitations to using a Windows based toolchain in a
   Cygwin environment.  The three biggest are:
 
@@ -423,6 +423,8 @@ LCD1602
      46 INT0/RD0          16. K      Transistor circuit driven by PWM1
     --------------------- ---------- ----------------------------------
 
+    Vbus power also requires Vbuson/AN5/RB5
+
 PIC32MX Configuration Options
 =============================
 
@@ -455,7 +457,7 @@ PIC32MX Configuration Options
 
        CONFIG_ARCH_BOARD=sure-pic32mx
 
-    CONFIG_ARCH_DBDP11215 Distinguishes the DB_DP11215 PIC32 Storage 
+    CONFIG_ARCH_DBDP11215 Distinguishes the DB_DP11215 PIC32 Storage
       Demo Board
 
     CONFIG_ARCH_DBDP11212 Distingustes the DB-DP11212 PIC32 General
@@ -551,7 +553,7 @@ PIC32MX Configuration Options
       CONFIG_PIC32MX_CODEWP - Default 1 (disabled)
     DEVCFG1: (All settings determined by selections in board.h)
     DEVCFG2: (All settings determined by selections in board.h)
-    DEVCFG3: 
+    DEVCFG3:
       CONFIG_PIC32MX_USBIDO - USB USBID Selection.  Default 1 if USB enabled
         (USBID pin is controlled by the USB module), but 0 (GPIO) otherwise.
       CONFIG_PIC32MX_VBUSIO - USB VBUSON Selection (Default 1 if USB enabled
@@ -698,7 +700,7 @@ Where <subdir> is one of the following:
       Several USB device configurations can be enabled and included
       as NSH built-in built in functions.  All require the following
       basic setup in your .config to enable USB device support:
- 
+
         Drivers:
           CONFIG_USBDEV=y           : Enable basic USB device support
 
@@ -717,9 +719,9 @@ Where <subdir> is one of the following:
           CONFIG_PL2303=y           : Enable the Prolifics PL2303 emulation
           CONFIG_CDCACM=y           : or the CDC/ACM serial driver (not both)
 
-      examples/cdcacm -  The examples/cdcacm program can be included as an 
+      examples/cdcacm -  The examples/cdcacm program can be included as an
       function by uncommenting the following line in the appconfig file:
-    
+
         Application Configuration->Examples:
           CONFIG_EXAMPLES_CDCACM=y  : Select apps/examples/cdcacm
 
@@ -766,28 +768,34 @@ Where <subdir> is one of the following:
 
     4. To enable LCD1602 support:
 
-       Device Drivers:
+       Device Drivers ->LCD Driver Support:
          CONFIG_LCD=y               : Enable LCD menus
          CONFIG_LCD_LCD1602=y       : Select LCD1602
+         CONFIG_LCD_MAXCONTRAST=255 : (Or any large-ish value that you prefer)
+         CONFIG_LCD_MAXPOWER=255    : (Or any large-ish value that you prefer)
 
        Library Routines:
          CONFIG_LIB_SLCDCODEC=y     : Enable the SLCD CODEC
 
-       System Type -> PIC32MX Peripheral Support:
-         CONFIG_PIC32MX_PMP=y       : Enable PMP support
+       NOTE that is is not necessary to select the PMP peripheral; this LCD
+       driver is a bit-bang driver that just happens to use the PMP pins as
+       GPIOS.
 
        To enable apps/examples/slcd to test the LCD:
 
-       Application Configuration:
+       Application Configuration -> NSH Library:
          CONFIG_NSH_ARCHINIT=y      : Needed to initialize the SLCD
+
+       Application Configuration -> Examples:
          CONFIG_EXAMPLES_SLCD=y     : Enable apps/examples/slcd use /dev/lcd1602
          CONFIG_EXAMPLES_SLCD_DEVNAME="/dev/lcd1602"
 
        To enable LCD debug output:
 
-       Build Setup:
+       Build Setup -> Debug Options:
          CONFIG_DEBUG=y             : Enable debug features
-         CONFIG_DEBUG_VERBOSE=y     : Enable LCD debug
+         CONFIG_DEBUG_VERBOSE=y     : Enable verbose debug output
+         CONFIG_DEBUG_LCD=y         : Enable LCD debug output
 
        NOTES:
        a. I do not have the LCD1602 working.  I may just be getting lost in the
diff --git a/nuttx/configs/sure-pic32mx/src/pic32mx_autoleds.c b/nuttx/configs/sure-pic32mx/src/pic32mx_autoleds.c
index 61ddfe71a..dabbf679f 100644
--- a/nuttx/configs/sure-pic32mx/src/pic32mx_autoleds.c
+++ b/nuttx/configs/sure-pic32mx/src/pic32mx_autoleds.c
@@ -79,11 +79,6 @@
  * LED_PANIC              5  N/C N/C N/C   ON    N/C N/C N/C   OFF
  */
 
-#define GPIO_USB_LED   (GPIO_OUTPUT|GPIO_VALUE_ONE|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SD_LED    (GPIO_OUTPUT|GPIO_VALUE_ONE|GPIO_PORTD|GPIO_PIN6)
-#define GPIO_FLASH_LED (GPIO_OUTPUT|GPIO_VALUE_ONE|GPIO_PORTF|GPIO_PIN0)
-#define GPIO_ERROR_LED (GPIO_OUTPUT|GPIO_VALUE_ONE|GPIO_PORTF|GPIO_PIN1)
-
 /* LED Management Definitions ***********************************************/
 
 #define LED_OFF 0
diff --git a/nuttx/configs/sure-pic32mx/src/pic32mx_lcd1602.c b/nuttx/configs/sure-pic32mx/src/pic32mx_lcd1602.c
index 9d48452b5..d12838b7d 100644
--- a/nuttx/configs/sure-pic32mx/src/pic32mx_lcd1602.c
+++ b/nuttx/configs/sure-pic32mx/src/pic32mx_lcd1602.c
@@ -37,7 +37,7 @@
  *
  ****************************************************************************/
 
- /* LCD pin mapping (see configs/pcblogic-pic32mx/README.txt)
+ /* LCD pin mapping (see configs/sure-pic32mx/README.txt)
  *
  *  --------------------- ---------- ----------------------------------
  *  PIC32                  Sure JP1   Sure Signal Description
@@ -61,6 +61,8 @@
  *                        15. A      +5V_DUSB
  *   46 INT0/RD0          16. K      Transistor circuit driven by PWM1
  *  --------------------- ---------- ----------------------------------
+ *
+ *  Vbus power also requires Vbuson/AN5/RB5
  */
 
 /****************************************************************************
@@ -87,7 +89,7 @@
 #include <nuttx/lcd/slcd_codec.h>
 
 #include "up_arch.h"
-#include "pic32mx-pmp.h"
+#include "pic32mx-ioport.h"
 #include "pic32mx-int.h"
 #include "pic32mx-internal.h"
 #include "sure-pic32mx.h"
@@ -99,10 +101,6 @@
  ****************************************************************************/
 /* Configuration ************************************************************/
 
-#ifndef CONFIG_PIC32MX_PMP
-#  error "CONFIG_PIC32MX_PMP is required to use the LCD"
-#endif
-
 #ifndef CONFIG_LCD_MAXCONTRAST
 #  define CONFIG_LCD_MAXCONTRAST 100
 #endif
@@ -135,17 +133,14 @@
 #  define MAX(a,b) (a > b ? a : b)
 #endif
 
-/* Pin configuration ********************************************************/
-/* RB15, RS -- High values selects data */
-
-#define GPIO_LCD_RS   (GPIO_OUTPUT|GPIO_VALUE_ZERO|GPIO_PORTB|GPIO_PIN15)
-
 /* LCD **********************************************************************/
 
 #define LCD_NROWS        2
 #define LCD_NCOLUMNS     16
 #define LCD_NCHARS       (LCD_NROWS * LCD_NCOLUMNS)
 
+#define NOP              __asm__ __volatile__ ("nop");
+
 /* Debug ********************************************************************/
 
 #ifdef CONFIG_DEBUG_LCD
@@ -173,9 +168,10 @@ struct lcd_instream_s
 
 struct lcd1602_2
 {
-  bool initialized; /* True: Completed initialization sequence */
-  uint8_t currow;   /* Current row */
-  uint8_t curcol;   /* Current column */
+  bool initialized;   /* True: Completed initialization sequence */
+  uint8_t currow;     /* Current row */
+  uint8_t curcol;     /* Current column */
+  uint8_t brightness; /* Current brightness */
 };
 
 /****************************************************************************
@@ -195,9 +191,13 @@ static void lcd_dumpstream(FAR const char *msg,
 /* Internal functions */
 
 static int lcd_getstream(FAR struct lib_instream_s *instream);
+static void lcd_brightness(uint8_t brightness);
+static void lcd_shortdelay(int delay);
 static void lcd_wrcommand(uint8_t cmd);
 static void lcd_wrdata(uint8_t data);
 static uint8_t lcd_rddata(void);
+static uint8_t lcd_readstatus(void);
+static void lcd_waitbusy(void);
 static uint8_t lcd_readch(uint8_t row, uint8_t column);
 static void lcd_writech(uint8_t ch, uint8_t row, uint8_t column);
 static void lcd_appendch(uint8_t ch);
@@ -313,6 +313,66 @@ static int lcd_getstream(FAR struct lib_instream_s *instream)
 }
 
 /****************************************************************************
+ * Name: lcd_brightness
+ *
+ * Description:
+ *   Enable for disable LCD lighting.
+ *
+ ****************************************************************************/
+
+static void lcd_brightness(uint8_t brightness)
+{
+  /* The LIGHT and COMP pins are label PWM1 and PWM2 and so are obviously
+   * intended to support modulated outputs.  However, here for simplicity,
+   * they are just treated as on/off discretes outputs.
+   */
+
+  if (brightness > 0)
+    {
+      /* Turn the LCD light on */
+
+      pic32mx_gpiowrite(GPIO_LCD_LIGHT, true);
+      NOP;NOP;NOP;
+      pic32mx_gpiowrite(GPIO_LCD_COMP, true);
+      NOP;NOP;
+      pic32mx_gpiowrite(GPIO_LCD_PWR, true);
+    }
+  else
+    {
+      /* Turn the LCD light off */
+
+      pic32mx_gpiowrite(GPIO_LCD_PWR, false);
+      pic32mx_gpiowrite(GPIO_LCD_COMP, false);
+      pic32mx_gpiowrite(GPIO_LCD_LIGHT, false);
+    }
+
+  g_lcd1602.brightness = brightness;
+}
+
+/****************************************************************************
+ * Name: lcd_shortdelay
+ *
+ * Description:
+ *   Small delays are needed to make some of the LCD operations work.
+ *
+ ****************************************************************************/
+
+static void lcd_shortdelay(int delay)
+{
+  volatile int loop;
+
+  /* On a 32MHz MCU, this should amount to about 300NS per loop */
+
+  while (delay-- > 0)
+    {
+      for (loop = 0; loop < 1; loop++)
+        {
+          NOP;
+        }
+    }
+}
+
+/****************************************************************************
  * Name: lcd_wrcommand
  *
  * Description:
@@ -322,13 +382,28 @@ static int lcd_getstream(FAR struct lib_instream_s *instream)
 
 static void lcd_wrcommand(uint8_t cmd)
 {
-  /* Address bit A0 is RS.  Set the address latch to A0=0 */
+  /* Make sure that the LCD is available */
+
+  lcd_waitbusy();
+
+  /* Select DB0-15 as outputs (only DB-0-7 are actually used) */
+
+  putreg16(0, PIC32MX_IOPORTE_TRIS);
 
-  putreg32(1, PIC32MX_PMP_ADDRCLR);
+  /* Set up to write the commond */
 
-  /* And write the command to the data out register */
+  pic32mx_gpiowrite(GPIO_LCD_RS, false); /* Select command */
+  pic32mx_gpiowrite(GPIO_LCD_RW, false); /* Select write */
+  lcd_shortdelay(2);
 
-  putreg32((uint32_t)cmd, PIC32MX_PMP_DOUT);
+  pic32mx_gpiowrite(GPIO_LCD_E, true);   /* Enable transfer */
+  lcd_shortdelay(1);
+
+  /* Write the command to the LCD */
+
+  putreg16(cmd, PIC32MX_IOPORTE_PORT);
+  lcd_shortdelay(1);
+  pic32mx_gpiowrite(GPIO_LCD_E, false);
 }
 
 /****************************************************************************
@@ -341,13 +416,28 @@ static void lcd_wrcommand(uint8_t cmd)
 
 static void lcd_wrdata(uint8_t data)
 {
-  /* Address bit A0 is RS.  Set the address latch to A0=1 */
+  /* Make sure that the LCD is available */
+
+  lcd_waitbusy();
+
+  /* Select DB0-15 as outputs (only DB-0-7 are actually used) */
+
+  putreg16(0, PIC32MX_IOPORTE_TRIS);
+
+  /* Set up to write the data */
+
+  pic32mx_gpiowrite(GPIO_LCD_RS, true);    /* Select data */
+  pic32mx_gpiowrite(GPIO_LCD_RW, false);   /* Select write */
+  lcd_shortdelay(2);
 
-  putreg32(1, PIC32MX_PMP_ADDRSET);
+  pic32mx_gpiowrite(GPIO_LCD_E, true);     /* Enable transfer */
+  lcd_shortdelay(1);
 
-  /* And write the data to the data out register */
+  /* Write the data to the LCD */
 
-  putreg32((uint32_t)data, PIC32MX_PMP_DOUT);
+  putreg16(data, PIC32MX_IOPORTE_PORT);    /* Write the data */
+  lcd_shortdelay(1);
+  pic32mx_gpiowrite(GPIO_LCD_E, false);
 }
 
 /****************************************************************************
@@ -360,13 +450,69 @@ static void lcd_wrdata(uint8_t data)
 
 static uint8_t lcd_rddata(void)
 {
-  /* Address bit A0 is RS.  Set the address latch to A0=1 */
+  /* Make sure that the LCD is available */
+
+  lcd_waitbusy();
+
+  /* Setup to read data */
+
+  pic32mx_gpiowrite(GPIO_LCD_RS, true);    /* Select data */
+  pic32mx_gpiowrite(GPIO_LCD_RW, true);    /* Select read */
+  lcd_shortdelay(2);
+
+  pic32mx_gpiowrite(GPIO_LCD_E, true);     /* Enable transfer */
+  lcd_shortdelay(1);
+
+  putreg16(0xff, PIC32MX_IOPORTE_TRISSET); /* Set DB0-7 as inputs */
+  pic32mx_gpiowrite(GPIO_LCD_E, false);    /* Disable transfer */
+
+  /* Read the data from the LCD */
+
+  return (uint8_t)getreg16(PIC32MX_IOPORTE_PORT);
+}
+
+/****************************************************************************
+ * Name: lcd_readstatus
+ *
+ * Description:
+ *   Read the DDRAM address and busy bit.
+ *
+ ****************************************************************************/
+
+static uint8_t lcd_readstatus(void)
+{
+  uint8_t status;
+
+  /* Set up to read BUSY/AD information */
+
+  putreg16(0xff, PIC32MX_IOPORTE_TRISSET); /* Set DB0-7 as inputs */
+  pic32mx_gpiowrite(GPIO_LCD_RS, false);   /* Select command */
+  pic32mx_gpiowrite(GPIO_LCD_RW, true);    /* Select read */
+  lcd_shortdelay(2);
+
+  pic32mx_gpiowrite(GPIO_LCD_E, true);     /* Enable transfer */
+  lcd_shortdelay(1);
+
+  /* Read the status from the LCD */
+
+  status = (uint8_t)getreg16(PIC32MX_IOPORTE_PORT);
+  lcd_shortdelay(1);
+  pic32mx_gpiowrite(GPIO_LCD_E, false);
 
-  putreg32(1, PIC32MX_PMP_ADDRSET);
+  return status;
+}
 
-  /* And read the data to the data in register */
+/****************************************************************************
+ * Name: lcd_waitbusy
+ *
+ * Description:
+ *   Check LCD status and wait until the BUSY flag is no long set.
+ *
+ ****************************************************************************/
 
-  return (uint8_t)getreg32(PIC32MX_PMP_DIN);
+static void lcd_waitbusy(void)
+{
+  while ((lcd_readstatus() & HD4478OU_BF) != 0);
 }
 
 /****************************************************************************
@@ -843,11 +989,46 @@ static int lcd_ioctl(FAR struct file *filp, int cmd, unsigned long arg)
         }
         break;
 
+      /* SLCDIOC_GETBRIGHTNESS: Get the current brightness setting
+       *
+       * argument:  Pointer type int that will receive the current brightness
+       *            setting
+       */
+
+      case SLCDIOC_GETBRIGHTNESS:
+        {
+          FAR int *brightness = (FAR int *)((uintptr_t)arg);
+          if (!brightness)
+            {
+              return -EINVAL;
+            }
+
+          *brightness = (int)g_lcd1602.brightness;
+          lcdvdbg("SLCDIOC_GETCONTRAST: brightness=%d\n", *brightness);
+        }
+        break;
+
+      /* SLCDIOC_SETBRIGHTNESS: Set the brightness to a new value
+       *
+       * argument:  The new brightness value
+       */
+
+      case SLCDIOC_SETBRIGHTNESS:
+        {
+          lcdvdbg("SLCDIOC_SETCONTRAST: arg=%ld\n", arg);
+
+          if (arg > CONFIG_LCD_MAXPOWER)
+            {
+              return -ERANGE;
+            }
+
+          lcd_brightness((uint8_t)arg);
+        }
+        break;
+
       case SLCDIOC_SETBAR:         /* SLCDIOC_SETBAR: Set bars on a bar display */
       case SLCDIOC_GETCONTRAST:    /* SLCDIOC_GETCONTRAST: Get the current contrast setting */
       case SLCDIOC_SETCONTRAST:    /* SLCDIOC_SETCONTRAST: Set the contrast to a new value */
-      case SLCDIOC_GETBRIGHTNESS:  /* Get the current brightness setting */
-      case SLCDIOC_SETBRIGHTNESS:  /* Set the brightness to a new value */
       default:
         return -ENOTTY;
     }
@@ -892,7 +1073,6 @@ static int lcd_poll(FAR struct file *filp, FAR struct pollfd *fds,
 
 int up_lcd1602_initialize(void)
 {
-  uint32_t regval;
   int ret = OK;
 
   /* Only initialize the driver once. */
@@ -901,64 +1081,69 @@ int up_lcd1602_initialize(void)
     {
       lcdvdbg("Initializing\n");
 
-      /* PMP Master mode configuration */
-      /* Make sure that interrupts are disabled */
-
-      putreg32(INT_PMP, PIC32MX_INT_IEC1CLR);
+      /* Configure GPIO pins */
 
-      /* Stop and reset the PMP module and clear the mode and control registers. */
+      putreg16(0, PIC32MX_IOPORTE_TRIS);       /* Set DB0-15 as outputs */
+      pic32mx_configgpio(GPIO_LCD_RS);         /* RS: Selects commnand or data */
+      pic32mx_configgpio(GPIO_LCD_RW);         /* RW: Selects read or write */
+      pic32mx_configgpio(GPIO_LCD_E);          /* E:  Starts transfer */
 
-      putreg32(0, PIC32MX_PMP_MODE);
-      putreg32(0, PIC32MX_PMP_AEN);
-      putreg32(0, PIC32MX_PMP_CON);
-      putreg32(0, PIC32MX_PMP_ADDR);
+      /* Configure LCD power in the OFF state */
 
-      /* Set LCD timing values, PMP master mode 3, 8-bit mode, no address
-       * increment, and no interrupts.
-       */
+      pic32mx_configgpio(GPIO_LCD_LIGHT);       /* K */
+      pic32mx_configgpio(GPIO_LCD_COMP);        /* Vo */
+      pic32mx_configgpio(GPIO_LCD_PWR);         /* Vbuson/AN5/RB5 controls +5V USB */
+      g_lcd1602.brightness = 0;                 /* Remember tht the light is off */
 
-      regval = (PMP_MODE_WAITE_RD(0) | PMP_MODE_WAITM(3) | PMP_MODE_WAITB_1TPB |
-                PMP_MODE_MODE_MODE1 | PMP_MODE_MODE8 | PMP_MODE_INCM_NONE |
-                PMP_MODE_IRQM_NONE);
-      putreg32(regval, PIC32MX_PMP_MODE);
-
-      /* Enable the PMP for reading and writing
-       *   PMRD/PMWR is active high (1=RD; 0=WR)
-       *   PMENB is active high.
-       *   No chip selects
-       *   Address latch is active high
-       *   Enable PMRD/PMWR, PMENB, and the PMP.
+      /* A small delay is necessary between when GPIO_LCD_E was set up as an
+       * output with initial value of 0 and this operation.  That delay should
+       * be well covered by the intervening GPIO configurations.
        */
 
-
-      regval = (PMP_CON_RDSP | PMP_CON_WRSP | PMP_CON_ALP |
-                PMP_CON_CSF_ADDR1415 | PMP_CON_PTRDEN | PMP_CON_PTWREN |
-                PMP_CON_ADRMUX_NONE | PMP_CON_ON);
-      putreg32(regval, PIC32MX_PMP_CON);
+      pic32mx_gpiowrite(GPIO_LCD_E, true);     /* Enable transfer */
 
       /* Configure and enable the LCD */
-      /* Wait > 15 milliseconds afer Vdd > 4.5V */
+      /* Delay for 4.1MS or more */
 
-      up_mdelay(100);
+      up_mdelay(5);
 
       /* Select the 8-bit interface. BF cannot be checked before this command.
        * This needs to be done a few times with some magic delays.
+       *
+       * Function set: 5x7 Style | N=2R | DL=8D
        */
 
-      lcd_wrcommand(HD4478OU_FUNC | HD4478OU_FUNC_DL8D | HD4478OU_FUNC_N1);
-      up_mdelay(50);
-      lcd_wrcommand(HD4478OU_FUNC | HD4478OU_FUNC_DL8D | HD4478OU_FUNC_N1);
-      up_udelay(50);
-      lcd_wrcommand(HD4478OU_FUNC | HD4478OU_FUNC_DL8D | HD4478OU_FUNC_N1);
-      lcd_wrcommand(HD4478OU_FUNC | HD4478OU_FUNC_DL8D | HD4478OU_FUNC_N1);
+      lcd_wrcommand(HD4478OU_FUNC | HD4478OU_FUNC_F5x7 | HD4478OU_FUNC_N1 | HD4478OU_FUNC_DL8D);
+      up_udelay(100);            /* Delay more than 100uS */
+
+      lcd_wrcommand(HD4478OU_FUNC | HD4478OU_FUNC_F5x7 | HD4478OU_FUNC_N1 | HD4478OU_FUNC_DL8D);
+      up_udelay(40);             /* Delay more than 40uS */
+      lcd_wrcommand(HD4478OU_FUNC | HD4478OU_FUNC_F5x7 | HD4478OU_FUNC_N1 | HD4478OU_FUNC_DL8D);
+      lcd_waitbusy();
+
+      lcd_wrcommand(HD4478OU_FUNC | HD4478OU_FUNC_F5x7 | HD4478OU_FUNC_N1 | HD4478OU_FUNC_DL8D);
+      lcd_waitbusy();
 
-      /* Configure the display */
+      /* Display ON, cursor OFF, blink OFF */
+
+      lcd_wrcommand(HD4478OU_DISPLAY | HD4478OU_DISPLAY_ON);
+      lcd_waitbusy();
+
+      /* Clear the display and home the cursor */
+
+      lcd_wrcommand(HD4478OU_CLEAR); /* Clear display */
+      lcd_waitbusy();
+
+      lcd_wrcommand(HD4478OU_RETURN); /* Return home: AC=0 */
+      lcd_waitbusy();
+
+      /* Entry Mode Set:
+       *
+       * - Increment address by one,
+       * - Shift cursor to right (display is not shifted)
+       */
 
-      lcd_wrcommand(HD4478OU_DISPLAY);                       /* Display, cursor, and blink off */
-      lcd_wrcommand(HD4478OU_CLEAR);                         /* Clear the display */
-      lcd_wrcommand(HD4478OU_INPUT | HD4478OU_INPUT_INCR);   /* Increment mode */
-      lcd_wrcommand(HD4478OU_DISPLAY | HD4478OU_DISPLAY_ON); /* Display on, cursor and blink off */
-      lcd_wrcommand(HD4478OU_DDRAM_AD(0));                   /* Select DDRAM RAM AD=0 */
+      lcd_wrcommand(HD4478OU_INPUT | HD4478OU_INPUT_INCR);
 
       /* Register the LCD device driver */
 
diff --git a/nuttx/configs/sure-pic32mx/src/sure-pic32mx.h b/nuttx/configs/sure-pic32mx/src/sure-pic32mx.h
index 1d2be66eb..f33b6e926 100644
--- a/nuttx/configs/sure-pic32mx/src/sure-pic32mx.h
+++ b/nuttx/configs/sure-pic32mx/src/sure-pic32mx.h
@@ -47,6 +47,7 @@
  ****************************************************************************/
 /* Configuration ************************************************************/
 
+/* GPIO Pin Configurations **************************************************/
 /* The Sure PIC32MX board has five LEDs.  One (D4, lablel "Power") is not
  * controllable by software.  Four are controllable by software:
  *
@@ -54,8 +55,58 @@
  * D8  "SD"     Yellow  RD6 Low illuminates
  * D9  "Flash"  Yellow  RF0 Low illuminates
  * D10 "Error"  Red     RF1 Low illuminates
+ *
+ */
+
+#define GPIO_USB_LED   (GPIO_OUTPUT | GPIO_VALUE_ONE | GPIO_PORTD | GPIO_PIN7)
+#define GPIO_SD_LED    (GPIO_OUTPUT | GPIO_VALUE_ONE | GPIO_PORTD | GPIO_PIN6)
+#define GPIO_FLASH_LED (GPIO_OUTPUT | GPIO_VALUE_ONE | GPIO_PORTF | GPIO_PIN0)
+#define GPIO_ERROR_LED (GPIO_OUTPUT | GPIO_VALUE_ONE | GPIO_PORTF | GPIO_PIN1)
+
+ /* LCD pin mapping (see configs/sure-pic32mx/README.txt)
+ *
+ *  --------------------- ---------- ----------------------------------
+ *  PIC32                  Sure JP1   Sure Signal Description
+ *  PIN  SIGNAL NAME      PIN NAME(s)
+ *  --------------------- ---------- ----------------------------------
+ *   34  Vbus             1.  +5V    +5V VBUS device mode
+ *                                    To GND via capacitor
+ *                        2.  GND    GND
+ *   49  RD1              3.  Vo     Transistor circuit driven by PWM2
+ *   44  PMA0/AN15/RB15   4.  RS     PMA0, Selects registers
+ *   53  PMRD/RD5         5.  RW     PMRD/PMWR, Selects read or write
+ *   45  PMPCS1/RD11      6.  E      Starts data read/write
+ *   60  PMD0/RE0         7.  DB0    PMD0
+ *   61  PMD1/RE1         8.  DB1    PMD1
+ *   62  PMD2/RE2         9.  DB2    PMD2
+ *   63  PMD3/RE3         10. DB3    PMD3
+ *   64  PMD4/RE4         11. DB4    PMD4
+ *    1  PMD5/RE5         12. DB5    PMD5
+ *    2  PMD6/RE6         13. DB6    PMD6
+ *    3  PMD7/RE7         14. DB7    PMD7
+ *                        15. A      +5V_DUSB
+ *   46 INT0/RD0          16. K      Transistor circuit driven by PWM1
+ *  --------------------- ---------- ----------------------------------
+ *
+ *  Vbus power also requires Vbuson/AN5/RB5
  */
 
+#define GPIO_LCD_RS    (GPIO_OUTPUT | GPIO_VALUE_ZERO | GPIO_PORTB | GPIO_PIN15)
+#define GPIO_LCD_RW    (GPIO_OUTPUT | GPIO_VALUE_ZERO | GPIO_PORTD | GPIO_PIN5)
+#define GPIO_LCD_E     (GPIO_OUTPUT | GPIO_VALUE_ZERO | GPIO_PORTD | GPIO_PIN11)
+
+/* This pin drives the +5V needed by the LCD */
+
+#define GPIO_LCD_PWR   (GPIO_OUTPUT | GPIO_VALUE_ZERO | GPIO_PORTB | GPIO_PIN5)
+
+/* These pins are label PWM1 and PWM2 and so are obviously intended to
+ * support modulated outputs.  However, here for simplicity, they are
+ * just treated as on/off discretes outputs.
+ */
+
+#define GPIO_LCD_LIGHT (GPIO_OUTPUT | GPIO_VALUE_ZERO | GPIO_PORTD | GPIO_PIN0)
+#define GPIO_LCD_COMP  (GPIO_OUTPUT | GPIO_VALUE_ZERO | GPIO_PORTD | GPIO_PIN1)
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
diff --git a/nuttx/configs/sure-pic32mx/usbnsh/Make.defs b/nuttx/configs/sure-pic32mx/usbnsh/Make.defs
index 79c47842e..04224901f 100644
--- a/nuttx/configs/sure-pic32mx/usbnsh/Make.defs
+++ b/nuttx/configs/sure-pic32mx/usbnsh/Make.defs
@@ -46,7 +46,7 @@ ifeq ($(WINTOOL),y)
   ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
   ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/ld.script}"
 else
-  # Linux/Cygwin-native toolchain 
+  # Linux/Cygwin-native toolchain
   MKDEP = $(TOPDIR)/tools/mkdeps.sh
   ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
   ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
diff --git a/nuttx/drivers/lcd/Kconfig b/nuttx/drivers/lcd/Kconfig
index 7673ed5d1..7f0871201 100644
--- a/nuttx/drivers/lcd/Kconfig
+++ b/nuttx/drivers/lcd/Kconfig
@@ -32,6 +32,7 @@ config LCD_MAXCONTRAST
 
 config LCD_MAXPOWER
 	int "LCD maximum power"
+	default 255 if LCD_LCD1602
 	default 1
 	range 1 255
 	---help---
@@ -91,7 +92,7 @@ config P14201_FRAMEBUFFER
 endif
 
 config LCD_NOKIA6100
-	bool "Nokia 6100 display support" 
+	bool "Nokia 6100 display support"
 	default n
 	---help---
 		nokia6100.c.  Supports the Nokia 6100 display with either the Philips
@@ -307,7 +308,7 @@ config LCD_UG2864AMBAG01
 	bool "UG-2864AMBAG01 OLED Display Module"
 	default n
 	---help---
-		OLED Display Module, UG-2864AMBAG01, Univision Technology Inc. 
+		OLED Display Module, UG-2864AMBAG01, Univision Technology Inc.
 
 		Required LCD driver settings:
 		LCD_MAXCONTRAST should be 255, but any value >0 and <=255 will be accepted.
diff --git a/nuttx/include/nuttx/lcd/hd4478ou.h b/nuttx/include/nuttx/lcd/hd4478ou.h
index 7f969379d..38fa38e7c 100644
--- a/nuttx/include/nuttx/lcd/hd4478ou.h
+++ b/nuttx/include/nuttx/lcd/hd4478ou.h
@@ -51,7 +51,7 @@
  */
 
 #define HD4478OU_CLEAR            (0x01)     /* Screen Clear, Set AC to 0 */
-#define HD4478OU_RETURN           (0x02)     /* DDRAM AD=0, return */
+#define HD4478OU_RETURN           (0x03)     /* DDRAM AD=0, return */
 #define HD4478OU_INPUT            (0x04)     /* Set moving direction of cursor */
 #  define HD4478OU_INPUT_SHIFT    (1 << 0)   /*   Shift */
 #  define HD4478OU_INPUT_INCR     (1 << 1)   /*   Increment mode */
@@ -65,7 +65,7 @@
 #  define HD4478OU_SHIFT_LEFT     (0x00)     /*   Shift right */
 #  define HD4478OU_SHIFT_DISPLAY  (1 << 3)   /*   Display shift */
 #  define HD4478OU_SHIFT_CURSOR   (0x00)     /*   Cursor shift */
-#define HD4478OU_FUNC             (0x20)     /* Set DL, display line, font */
+#define HD4478OU_FUNC             (0x23)     /* Set DL, display line, font */
 #  define HD4478OU_FUNC_F5x10     (1 << 2)   /*   5x10 Style */
 #  define HD4478OU_FUNC_F5x7      (0x00)     /*   5x7 Style */
 #  define HD4478OU_FUNC_N1        (1 << 3)   /*   N=2R */
@@ -77,7 +77,9 @@
 
 /* RS=0 R/W=1 : Execute internal function, read AD of CT */
 
-#define HD4478OU_BUSY(bf,ac)      ((bf) << 7 | (ac))
+#define HD4478OU_BF               (1 << 7)   /* Busy flag */
+#define HD4478OU_AC_SHIFT         (0)        /* AD of CT */
+#define HD4478OU_AC_MASK          (0x7f << HD4478OU_BUSY_AC_SHIFT)
 
 /* DDRAM Addressing.
  *