void lcdInitHW(void)
{
// initialize LCD control lines
LCD_CTRL_PORT &= ~(1<<LCD_CTRL_RS);
LCD_CTRL_PORT &= ~(1<<LCD_CTRL_RW);
LCD_CTRL_PORT &= ~(1<<LCD_CTRL_E);
// initialize LCD control lines to output
LCD_CTRL_DDR |= 1<<LCD_CTRL_RS;
LCD_CTRL_DDR |= 1<<LCD_CTRL_RW;
LCD_CTRL_DDR |= 1<<LCD_CTRL_E;

__delay_cycles(60000); // wait 60ms

LCD_DATA_POUT_4 |= 1<<LCD_DATA_POUT_4_BIT; // set pull-ups to on (4bit)
LCD_DATA_POUT_5 |= 1<<LCD_DATA_POUT_5_BIT;

LCD_DATA_DDR_4 |= 1<<LCD_DATA_DDR_4_BIT; // set data I/O lines to output (4bit)
LCD_DATA_DDR_5 |= 1<<LCD_DATA_DDR_5_BIT;

LCD_CTRL_PORT |= 1<<LCD_CTRL_E; // set "E" line
LCD_DELAY; // wait
LCD_DELAY; // wait
LCD_CTRL_PORT &= ~(1<<LCD_CTRL_E); // clear "E" line
LCD_DELAY; // wait
LCD_DELAY; // wait
__delay_cycles(5000); // wait 5ms

LCD_CTRL_PORT |= 1<<LCD_CTRL_E; // set "E" line
LCD_DELAY; // wait
LCD_DELAY; // wait
LCD_CTRL_PORT &= ~(1<<LCD_CTRL_E); // clear "E" line
LCD_DELAY; // wait
LCD_DELAY; // wait
__delay_cycles(200); // wait 200us

LCD_CTRL_PORT |= 1<<LCD_CTRL_E; // set "E" line
LCD_DELAY; // wait
LCD_DELAY; // wait
LCD_CTRL_PORT &= ~(1<<LCD_CTRL_E); // clear "E" line
LCD_DELAY; // wait
LCD_DELAY; // wait
}