Add configuration support

Current config variables:
Main deploy altitude above launch (in meters)
Acceleration zero g calibration (manual or automatic)
Radio channel (freq = 435.550MHz + channel * 100kHz)
Callsign (max 8 characters)

Supporting this involved shuffling code around so that the
non-telemetrum builds could include only the stuff they needed.

18 files changed, 524 insertions, 93 deletions

diff --git a/Makefile b/Makefile
index 8ef86be5..a7cca869 100644
--- a/Makefile
+++ b/Makefile
@@ -33,6 +33,7 @@ ALTOS_SRC = \
 #
 ALTOS_DRIVER_SRC = \
 	ao_beep.c \
+	ao_config.c \
 	ao_led.c \
 	ao_radio.c \
 	ao_stdio.c \
@@ -56,12 +57,20 @@ TELE_DRIVER_SRC = \
 	ao_gps.c \
 	ao_serial.c
 
+#
+# Drivers for partially-flled boards (TT, TD and TI)
+#
+TELE_FAKE_SRC = \
+	ao_adc_fake.c \
+	ao_ee_fake.c
+
 # 
 # Drivers only on TeleMetrum
 #
 TM_DRIVER_SRC = \
 	ao_adc.c \
 	ao_ee.c \
+	ao_gps_report.c \
 	ao_ignite.c
 
 #
@@ -97,6 +106,7 @@ TI_SRC = \
 	$(ALTOS_DRIVER_SRC) \
 	$(TELE_RECEIVER_SRC) \
 	$(TELE_COMMON_SRC) \
+	$(TELE_FAKE_SRC) \
 	$(TI_TASK_SRC)
 	
 TT_TASK_SRC = \
@@ -110,6 +120,7 @@ TT_SRC = \
 	$(TELE_RECEIVER_SRC) \
 	$(TELE_DRIVER_SRC) \
 	$(TELE_COMMON_SRC) \
+	$(TELE_FAKE_SRC) \
 	$(TT_TASK_SRC)
 	
 	
@@ -125,6 +136,7 @@ TD_SRC = \
 	$(ALTOS_DRIVER_SRC) \
 	$(TELE_RECEIVER_SRC) \
 	$(TELE_COMMON_SRC) \
+	$(TELE_FAKE_SRC) \
 	$(TD_TASK_SRC)
 
 SRC = \
@@ -133,6 +145,7 @@ SRC = \
 	$(TELE_DRIVER_SRC) \
 	$(TELE_RECEIVER_SRC) \
 	$(TELE_COMMON_SRC) \
+	$(TELE_FAKE_SRC) \
 	$(TM_DRIVER_SRC) \
 	$(TM_TASK_SRC) \
 	$(TI_TASK_SRC) \
diff --git a/ao.h b/ao.h
index 338a40b0..13497095 100644
--- a/ao.h
+++ b/ao.h
@@ -314,6 +314,9 @@ ao_cmd_white(void);
 void
 ao_cmd_hex(void);
 
+void
+ao_cmd_decimal(void);
+
 struct ao_cmds {
 	uint8_t		cmd;
 	void		(*func)(void);
@@ -593,10 +596,10 @@ int16_t
 ao_pres_to_altitude(int16_t pres) __reentrant;
 
 int16_t
-ao_temp_to_dC(int16_t temp) __reentrant;
+ao_altitude_to_pres(int16_t alt) __reentrant;
 
 int16_t
-ao_accel_to_cm_per_s2(int16_t accel) __reentrant;
+ao_temp_to_dC(int16_t temp) __reentrant;
 
 /*
  * ao_dbg.c
@@ -699,6 +702,16 @@ void
 ao_gps_init(void);
 
 /*
+ * ao_gps_report.c
+ */
+
+void
+ao_gps_report(void);
+
+void
+ao_gps_report_init(void);
+
+/*
  * ao_telemetry.c
  */
 
@@ -795,5 +808,28 @@ ao_igniter_status(enum ao_igniter igniter);
 void
 ao_igniter_init(void);
 
-#endif /* _AO_H_ */
+/*
+ * ao_config.c
+ */
+
+#define AO_CONFIG_MAJOR	1
+#define AO_CONFIG_MINOR	0
+
+struct ao_config {
+	uint8_t		major;
+	uint8_t		minor;
+	uint16_t	main_deploy;
+	int16_t		accel_zero_g;
+	uint8_t		radio_channel;
+	char		callsign[AO_MAX_CALLSIGN + 1];
+};
+
+extern __xdata struct ao_config ao_config;
 
+void
+ao_config_get(void);
+
+void
+ao_config_init(void);
+
+#endif /* _AO_H_ */
diff --git a/ao_adc_fake.c b/ao_adc_fake.c
new file mode 100644
index 00000000..6ca88d4e
--- /dev/null
+++ b/ao_adc_fake.c
@@ -0,0 +1,27 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+volatile __xdata struct ao_adc	ao_adc_ring[AO_ADC_RING];
+volatile __data uint8_t		ao_adc_head;
+
+/* Stub for systems which have no ADC */
+void
+ao_adc_poll(void)
+{
+}
diff --git a/ao_cmd.c b/ao_cmd.c
index 7f786536..91abe7f0 100644
--- a/ao_cmd.c
+++ b/ao_cmd.c
@@ -152,9 +152,8 @@ ao_cmd_hex(void)
 		ao_cmd_status = r;
 }
 
-#if 0
-static void
-decimal(void)
+void
+ao_cmd_decimal(void)
 {
 	__xdata uint8_t	r = ao_cmd_lex_error;
 	
@@ -162,7 +161,7 @@ decimal(void)
 	ao_cmd_white();
 	for(;;) {
 		if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
-			ao_cmd_lex_i = (ao_cmd_lex_i * 10 ) | (ao_cmd_lex_c - '0');
+			ao_cmd_lex_i = (ao_cmd_lex_i * 10) + (ao_cmd_lex_c - '0');
 		else
 			break;
 		r = ao_cmd_success;
@@ -171,7 +170,6 @@ decimal(void)
 	if (r != ao_cmd_success)
 		ao_cmd_status = r;
 }
-#endif
 
 static void
 eol(void)
diff --git a/ao_config.c b/ao_config.c
new file mode 100644
index 00000000..e32dca45
--- /dev/null
+++ b/ao_config.c
@@ -0,0 +1,285 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+__xdata struct ao_config ao_config;
+__xdata uint8_t ao_config_loaded;
+__xdata uint8_t ao_config_dirty;
+__xdata uint8_t ao_config_mutex;
+
+#define AO_CONFIG_DEFAULT_MAIN_DEPLOY	250
+#define AO_CONFIG_DEFAULT_RADIO_CHANNEL	0
+#define AO_CONFIG_DEFAULT_CALLSIGN	"KD7SGQ"
+#define AO_CONFIG_DEFAULT_ACCEL_ZERO_G	16000
+
+static void
+_ao_config_put(void)
+{
+	ao_ee_write_config((uint8_t *) &ao_config, sizeof (ao_config));
+}
+
+static void
+_ao_config_get(void)
+{
+	if (ao_config_loaded)
+		return;
+	ao_ee_read_config((uint8_t *) &ao_config, sizeof (ao_config));
+	if (ao_config.major != AO_CONFIG_MAJOR) {
+		ao_config.major = AO_CONFIG_MAJOR;
+		ao_config.minor = AO_CONFIG_MINOR;
+		ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
+		ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
+		ao_config.accel_zero_g = AO_CONFIG_DEFAULT_ACCEL_ZERO_G;
+		memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
+		memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
+		       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+		ao_config_dirty = 1;
+	}
+	/* deal with minor version issues here, at 0 we haven't any */
+	ao_config_loaded = 1;
+}
+
+void
+ao_config_get(void)
+{
+	ao_mutex_get(&ao_config_mutex);
+	_ao_config_get();
+	ao_mutex_put(&ao_config_mutex);
+}
+
+void
+ao_config_callsign_show(void)
+{
+	printf ("Callsign: \"%s\"\n", ao_config.callsign);
+}
+
+void
+ao_config_callsign_set(void) __reentrant
+{
+	uint8_t	c;
+	char callsign[AO_MAX_CALLSIGN + 1];
+
+	ao_cmd_white();
+	c = 0;
+	while (ao_cmd_lex_c != '\n') {
+		if (c < AO_MAX_CALLSIGN)
+			callsign[c++] = ao_cmd_lex_c;
+		else
+			ao_cmd_status = ao_cmd_lex_error;
+		ao_cmd_lex();
+	}
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	ao_mutex_get(&ao_config_mutex);
+	_ao_config_get();
+	memcpy(&ao_config.callsign, &callsign,
+	       AO_MAX_CALLSIGN + 1);
+	ao_config_dirty = 1;
+	ao_mutex_put(&ao_config_mutex);
+	ao_config_callsign_show();
+}
+
+void
+ao_config_radio_channel_show(void) __reentrant
+{
+	uint32_t	freq = 435550L + ao_config.radio_channel * 100L;
+	uint16_t	mhz = freq / 1000L;
+	uint16_t	khz = freq % 1000L;
+
+	printf("Radio channel: %d (%d.%03dMHz)\n",
+	       ao_config.radio_channel, mhz, khz);
+}
+
+void
+ao_config_radio_channel_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	ao_mutex_get(&ao_config_mutex);
+	_ao_config_get();
+	ao_config.radio_channel = ao_cmd_lex_i;
+	ao_config_dirty = 1;
+	ao_mutex_put(&ao_config_mutex);
+	ao_config_radio_channel_show();
+}
+
+void
+ao_config_main_deploy_show(void) __reentrant
+{
+	printf("Main deploy set to %d meters (%d feet)\n",
+	       ao_config.main_deploy,
+	       (int16_t) ((int32_t) ao_config.main_deploy * 328 / 100));
+}
+
+void
+ao_config_main_deploy_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	ao_mutex_get(&ao_config_mutex);
+	_ao_config_get();
+	ao_config.main_deploy = ao_cmd_lex_i;
+	ao_config_dirty = 1;
+	ao_mutex_put(&ao_config_mutex);
+	ao_config_main_deploy_show();
+}
+
+void
+ao_config_accel_zero_g_show(void) __reentrant
+{
+	printf("Accel zero g point set to %d\n",
+	       ao_config.accel_zero_g);
+}
+
+#define ZERO_G_SAMPLES	1000
+
+static int16_t
+ao_config_accel_zero_g_auto(void) __reentrant
+{
+	uint16_t	i;
+	int32_t		accel_total;
+	uint8_t		cal_adc_ring;
+
+	puts("Calibrating accelerometer..."); flush();
+	i = ZERO_G_SAMPLES;
+	accel_total = 0;
+	cal_adc_ring = ao_adc_head;
+	while (i) {
+		ao_sleep(&ao_adc_ring);
+		while (i && cal_adc_ring != ao_adc_head) {
+			accel_total += (int32_t) ao_adc_ring[cal_adc_ring].accel;
+			cal_adc_ring = ao_adc_ring_next(cal_adc_ring);
+			i--;
+		}
+	}
+	return (int16_t) (accel_total / ZERO_G_SAMPLES);
+}
+void
+ao_config_accel_zero_g_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	if (ao_cmd_lex_i == 0)
+		ao_cmd_lex_i = ao_config_accel_zero_g_auto();
+	ao_mutex_get(&ao_config_mutex);
+	_ao_config_get();
+	ao_config.accel_zero_g = ao_cmd_lex_i;
+	ao_config_dirty = 1;
+	ao_mutex_put(&ao_config_mutex);
+	ao_config_accel_zero_g_show();
+}
+
+struct ao_config_var {
+	uint8_t		cmd;
+	void		(*set)(void) __reentrant;
+	void		(*show)(void) __reentrant;
+	const char	*help;
+};
+
+void
+ao_config_help(void) __reentrant;
+
+void
+ao_config_show(void) __reentrant;
+
+void
+ao_config_write(void) __reentrant;
+
+__code struct ao_config_var ao_config_vars[] = {
+	{ 'm',	ao_config_main_deploy_set,	ao_config_main_deploy_show,
+		"m <meters>  Set height above launch for main deploy (in meters)" },
+	{ 'a',	ao_config_accel_zero_g_set,	ao_config_accel_zero_g_show,
+		"a <value>   Set accelerometer zero g point (0 for auto)" },
+	{ 'r',	ao_config_radio_channel_set,	ao_config_radio_channel_show,
+		"r <channel> Set radio channel (freq = 434.550 + channel * .1)" },
+	{ 'c',	ao_config_callsign_set,		ao_config_callsign_show,
+		"c <call>    Set callsign broadcast in each packet (8 char max)" },
+	{ 's',	ao_config_show,			ao_config_show,
+		"s           Show current config values" },
+	{ 'w',	ao_config_write,		ao_config_write,
+		"w           Write current values to eeprom" },
+	{ '?',	ao_config_help,			ao_config_help,
+		"?           Show available config variables" },
+	{ 0,	ao_config_main_deploy_set,	ao_config_main_deploy_show,
+		NULL },
+};
+
+void
+ao_config_set(void)
+{
+	uint8_t	c;
+	uint8_t cmd;
+	void (*__xdata func)(void) __reentrant;
+
+	ao_cmd_white();
+	c = ao_cmd_lex_c;
+	ao_cmd_lex();
+	func = 0;
+	for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
+		if (ao_config_vars[cmd].cmd == c) {
+			func = ao_config_vars[cmd].set;
+			break;
+		}
+	if (func)
+		(*func)();
+	else
+		ao_cmd_status = ao_cmd_syntax_error;
+}
+
+void
+ao_config_help(void) __reentrant
+{
+	uint8_t cmd;
+	for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
+		puts (ao_config_vars[cmd].help);
+}
+
+void
+ao_config_show(void) __reentrant
+{
+	uint8_t cmd;
+	for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
+		if (ao_config_vars[cmd].show != ao_config_vars[cmd].set)
+			(*ao_config_vars[cmd].show)();
+}
+
+void
+ao_config_write(void) __reentrant
+{
+	ao_mutex_get(&ao_config_mutex);
+	if (ao_config_dirty) {
+		_ao_config_put();
+		ao_config_dirty = 0;
+		printf("Saved\n");
+	}
+	ao_mutex_put(&ao_config_mutex);
+}
+
+__code struct ao_cmds ao_config_cmds[] = {
+	{ 'c',	ao_config_set,	"c <var> <value>                    Set config variable (? for help, s to show)" },
+	{ '\0', ao_config_set, NULL },
+};
+
+void
+ao_config_init(void)
+{
+	ao_cmd_register(&ao_config_cmds[0]);
+}
diff --git a/ao_convert.c b/ao_convert.c
index 2585db54..57ed7370 100644
--- a/ao_convert.c
+++ b/ao_convert.c
@@ -30,6 +30,17 @@ ao_pres_to_altitude(int16_t pres) __reentrant
 	return altitude_table[pres];
 }
 
+int16_t
+ao_altitude_to_pres(int16_t alt) __reentrant
+{
+	int16_t pres;
+
+	for (pres = 0; pres < 2047; pres++)
+		if (altitude_table[pres] <= alt)
+			break;
+	return pres << 4;
+}
+
 static __xdata uint8_t	ao_temp_mutex;
 
 int16_t
@@ -42,10 +53,3 @@ ao_temp_to_dC(int16_t temp) __reentrant
 	ao_mutex_put(&ao_temp_mutex);
 	return ret;
 }
-
-int16_t
-ao_accel_to_cm_per_s2(int16_t accel) __reentrant
-{
-	/* this is wrong */
-	return (998 - (accel >> 4)) * 3300 / 2047;
-}
diff --git a/ao_ee.c b/ao_ee.c
index bce293cd..a0f2e23a 100644
--- a/ao_ee.c
+++ b/ao_ee.c
@@ -331,6 +331,7 @@ ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant
 		ao_ee_fill(AO_EE_CONFIG_BLOCK);
 		memcpy(ao_ee_data, buf, len);
 		ao_ee_block_dirty = 1;
+		ao_ee_flush_internal();
 	} ao_mutex_put(&ao_ee_mutex);
 	return 1;
 }
diff --git a/ao_ee_fake.c b/ao_ee_fake.c
new file mode 100644
index 00000000..b0c1d61e
--- /dev/null
+++ b/ao_ee_fake.c
@@ -0,0 +1,37 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+/*
+ * For hardware without eeprom, the config code still
+ * wants to call these functions
+ */
+uint8_t
+ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant
+{
+	(void) buf;
+	(void) len;
+	return 1;
+}
+
+uint8_t
+ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant
+{
+	memset(buf, '\0', len);
+	return 1;
+}
diff --git a/ao_flight.c b/ao_flight.c
index 1f56dab6..01bbcce9 100644
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -76,7 +76,7 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
 
 #define ACCEL_G		265
 #define ACCEL_ZERO_G	16000
-#define ACCEL_NOSE_UP	(ACCEL_ZERO_G - ACCEL_G * 2 /3)
+#define ACCEL_NOSE_UP	(ACCEL_G * 2 /3)
 #define ACCEL_BOOST	ACCEL_G * 2
 #define ACCEL_INT_LAND	(ACCEL_G / 10)
 #define ACCEL_VEL_LAND	VEL_MPS_TO_COUNT(10)
@@ -229,14 +229,16 @@ ao_flight(void)
 			ao_ground_accel = (ao_raw_accel_sum / nsamples);
 			ao_ground_pres = (ao_raw_pres_sum / nsamples);
 			ao_min_pres = ao_ground_pres;
-			ao_main_pres = ao_ground_pres - BARO_MAIN;
+			ao_config_get();
+			ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
 			ao_flight_vel = 0;
 			ao_min_vel = 0;
 
 			ao_interval_end = ao_flight_tick;
 
 			/* Go to launchpad state if the nose is pointing up */
-			if (ao_flight_accel < ACCEL_NOSE_UP) {
+			ao_config_get();
+			if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) {
 
 				/* Disable the USB controller in flight mode
 				 * to save power
@@ -256,7 +258,6 @@ ao_flight(void)
 				/* Turn on the Green LED in idle mode
 				 */
 				ao_led_on(AO_LED_GREEN);
-				ao_timer_set_adc_interval(100);
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
 			/* signal successful initialization by turning off the LED */
@@ -362,6 +363,9 @@ ao_flight(void)
 				/* slow down the telemetry system */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 
+				/* slow down the ADC sample rate */
+				ao_timer_set_adc_interval(10);
+
 				/* Enable RDF beacon */
 				ao_rdf_set(1);
 
@@ -422,11 +426,12 @@ ao_flight(void)
 static void
 ao_flight_status(void)
 {
-	printf("STATE: %7s accel: %d speed: %d altitude: %d\n",
+	printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
 	       ao_state_names[ao_flight_state],
 	       AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel),
 	       AO_VEL_COUNT_TO_MS(ao_flight_vel),
-	       ao_pres_to_altitude(ao_flight_pres));
+	       ao_pres_to_altitude(ao_flight_pres),
+	       ao_pres_to_altitude(ao_main_pres));
 }
 
 static __xdata struct ao_task	flight_task;
diff --git a/ao_flight_test.c b/ao_flight_test.c
index 0b18969e..aefe3da7 100644
--- a/ao_flight_test.c
+++ b/ao_flight_test.c
@@ -127,6 +127,26 @@ ao_pres_to_altitude(int16_t pres) __reentrant
 	return altitude_table[pres];
 }
 
+int16_t
+ao_altitude_to_pres(int16_t alt) __reentrant
+{
+	int16_t pres;
+
+	for (pres = 0; pres < 2047; pres++)
+		if (altitude_table[pres] <= alt)
+			break;
+	return pres << 4;
+}
+
+struct ao_config {
+	uint16_t	main_deploy;
+	int16_t		accel_zero_g;
+};
+
+#define ao_config_get()
+
+struct ao_config ao_config = { 250, 16000 };
+
 #include "ao_flight.c"
 
 void
@@ -204,11 +224,12 @@ ao_dump_state(void)
 {
 	if (ao_flight_state == ao_flight_startup)
 		return;
-	printf ("\t\t\t\t\t%s accel %g vel %g alt %d\n",
+	printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
 		ao_state_names[ao_flight_state],
 		(ao_flight_accel - ao_ground_accel) / COUNTS_PER_G * GRAVITY,
 		(double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
-		altitude_table[ao_flight_pres >> 4]);
+		ao_pres_to_altitude(ao_flight_pres),
+		ao_pres_to_altitude(ao_main_pres));
 	if (ao_flight_state == ao_flight_landed)
 		exit(0);
 }
diff --git a/ao_gps.c b/ao_gps.c
index 651a59e5..353272f1 100644
--- a/ao_gps.c
+++ b/ao_gps.c
@@ -253,45 +253,7 @@ ao_gps(void) __reentrant
 	}
 }
 
-void
-ao_gps_report(void)
-{
-	static __xdata struct ao_log_record	gps_log;
-	static __xdata struct ao_gps_data	gps_data;
-
-	for (;;) {
-		ao_sleep(&ao_gps_data);
-		ao_mutex_get(&ao_gps_mutex);
-		memcpy(&gps_data, &ao_gps_data, sizeof (struct ao_gps_data));
-		ao_mutex_put(&ao_gps_mutex);
-
-		gps_log.tick = ao_time();
-		gps_log.type = AO_LOG_GPS_TIME;
-		gps_log.u.gps_time.hour = gps_data.hour;
-		gps_log.u.gps_time.minute = gps_data.minute;
-		gps_log.u.gps_time.second = gps_data.second;
-		gps_log.u.gps_time.flags = gps_data.flags;
-		ao_log_data(&gps_log);
-		gps_log.type = AO_LOG_GPS_LAT;
-		gps_log.u.gps_latitude.degrees = gps_data.latitude.degrees;
-		gps_log.u.gps_latitude.minutes = gps_data.latitude.minutes;
-		gps_log.u.gps_latitude.minutes_fraction = gps_data.latitude.minutes_fraction;
-		ao_log_data(&gps_log);
-		gps_log.type = AO_LOG_GPS_LON;
-		gps_log.u.gps_longitude.degrees = gps_data.longitude.degrees;
-		gps_log.u.gps_longitude.minutes = gps_data.longitude.minutes;
-		gps_log.u.gps_longitude.minutes_fraction = gps_data.longitude.minutes_fraction;
-		ao_log_data(&gps_log);
-		gps_log.type = AO_LOG_GPS_ALT;
-		gps_log.u.gps_altitude.altitude = gps_data.altitude;
-		gps_log.u.gps_altitude.unused = 0xffff;
-		ao_log_data(&gps_log);
-	}
-		
-}
-
 __xdata struct ao_task ao_gps_task;
-__xdata struct ao_task ao_gps_report_task;
 
 static void
 gps_dump(void) __reentrant
@@ -310,6 +272,5 @@ void
 ao_gps_init(void)
 {
 	ao_add_task(&ao_gps_task, ao_gps, "gps");
-	ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
 	ao_cmd_register(&ao_gps_cmds[0]);
 }
diff --git a/ao_gps_report.c b/ao_gps_report.c
new file mode 100644
index 00000000..494714b6
--- /dev/null
+++ b/ao_gps_report.c
@@ -0,0 +1,62 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+void
+ao_gps_report(void)
+{
+	static __xdata struct ao_log_record	gps_log;
+	static __xdata struct ao_gps_data	gps_data;
+
+	for (;;) {
+		ao_sleep(&ao_gps_data);
+		ao_mutex_get(&ao_gps_mutex);
+		memcpy(&gps_data, &ao_gps_data, sizeof (struct ao_gps_data));
+		ao_mutex_put(&ao_gps_mutex);
+
+		gps_log.tick = ao_time();
+		gps_log.type = AO_LOG_GPS_TIME;
+		gps_log.u.gps_time.hour = gps_data.hour;
+		gps_log.u.gps_time.minute = gps_data.minute;
+		gps_log.u.gps_time.second = gps_data.second;
+		gps_log.u.gps_time.flags = gps_data.flags;
+		ao_log_data(&gps_log);
+		gps_log.type = AO_LOG_GPS_LAT;
+		gps_log.u.gps_latitude.degrees = gps_data.latitude.degrees;
+		gps_log.u.gps_latitude.minutes = gps_data.latitude.minutes;
+		gps_log.u.gps_latitude.minutes_fraction = gps_data.latitude.minutes_fraction;
+		ao_log_data(&gps_log);
+		gps_log.type = AO_LOG_GPS_LON;
+		gps_log.u.gps_longitude.degrees = gps_data.longitude.degrees;
+		gps_log.u.gps_longitude.minutes = gps_data.longitude.minutes;
+		gps_log.u.gps_longitude.minutes_fraction = gps_data.longitude.minutes_fraction;
+		ao_log_data(&gps_log);
+		gps_log.type = AO_LOG_GPS_ALT;
+		gps_log.u.gps_altitude.altitude = gps_data.altitude;
+		gps_log.u.gps_altitude.unused = 0xffff;
+		ao_log_data(&gps_log);
+	}
+}
+
+__xdata struct ao_task ao_gps_report_task;
+
+void
+ao_gps_report_init(void)
+{
+	ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
+}
diff --git a/ao_radio.c b/ao_radio.c
index 1b943ea8..dbef6a18 100644
--- a/ao_radio.c
+++ b/ao_radio.c
@@ -275,8 +275,10 @@ ao_radio_idle(void)
 void
 ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant
 {
+	ao_config_get();
 	ao_mutex_get(&ao_radio_mutex);
 	ao_radio_idle();
+	RF_CHANNR = ao_config.radio_channel;
 	ao_dma_set_transfer(ao_radio_dma,
 			    telemetry,
 			    &RFDXADDR,
@@ -297,8 +299,10 @@ ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant
 void
 ao_radio_recv(__xdata struct ao_radio_recv *radio) __reentrant
 {
+	ao_config_get();
 	ao_mutex_get(&ao_radio_mutex);
 	ao_radio_idle();
+	RF_CHANNR = ao_config.radio_channel;
 	ao_dma_set_transfer(ao_radio_dma,
 			    &RFDXADDR,
 			    radio,
diff --git a/ao_teledongle.c b/ao_teledongle.c
index 7473d810..af14472b 100644
--- a/ao_teledongle.c
+++ b/ao_teledongle.c
@@ -35,11 +35,6 @@ main(void)
 	ao_monitor_init(AO_LED_GREEN);
 	ao_radio_init();
 	ao_dbg_init();
+	ao_config_init();
 	ao_start_scheduler();
 }
-
-/* Stub for systems which have no ADC */
-void
-ao_adc_poll(void)
-{
-}
diff --git a/ao_telemetrum.c b/ao_telemetrum.c
index 87469521..d5d01f16 100644
--- a/ao_telemetrum.c
+++ b/ao_telemetrum.c
@@ -39,10 +39,12 @@ main(void)
 	ao_usb_init();
 	ao_serial_init();
 	ao_gps_init();
+	ao_gps_report_init();
 	ao_telemetry_init();
 	ao_radio_init();
 	ao_monitor_init(AO_LED_GREEN);
 	ao_igniter_init();
 	ao_dbg_init();
+	ao_config_init();
 	ao_start_scheduler();
 }
diff --git a/ao_telemetry.c b/ao_telemetry.c
index ffee9bee..db2cfda0 100644
--- a/ao_telemetry.c
+++ b/ao_telemetry.c
@@ -18,12 +18,8 @@
 #include "ao.h"
 
 /* XXX make serial numbers real */
-
 __xdata uint8_t	ao_serial_number = 2;
 
-/* XXX make callsigns real */
-__xdata char ao_callsign[AO_MAX_CALLSIGN] = "KD7SQG";
-
 __xdata uint16_t ao_telemetry_interval = 0;
 __xdata uint8_t ao_rdf = 0;
 __xdata uint16_t ao_rdf_time;
@@ -35,8 +31,9 @@ ao_telemetry(void)
 {
 	static __xdata struct ao_telemetry telemetry;
 
+	ao_config_get();
+	memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
 	telemetry.addr = ao_serial_number;
-	memcpy(telemetry.callsign, ao_callsign, AO_MAX_CALLSIGN);
 	ao_rdf_time = ao_time();
 	for (;;) {
 		while (ao_telemetry_interval == 0)
@@ -53,6 +50,7 @@ ao_telemetry(void)
 		{
 			ao_rdf_time = ao_time() + AO_RDF_INTERVAL;
 			ao_radio_rdf();
+			ao_delay(ao_telemetry_interval);
 		}
 	}
 }
diff --git a/ao_teleterra.c b/ao_teleterra.c
index 41ab7bf0..b5ab4857 100644
--- a/ao_teleterra.c
+++ b/ao_teleterra.c
@@ -37,19 +37,6 @@ main(void)
 	ao_monitor_init(AO_LED_GREEN);
 	ao_radio_init();
 	ao_dbg_init();
+	ao_config_init();
 	ao_start_scheduler();
 }
-
-/* Stub for systems which have no ADC */
-void
-ao_adc_poll(void)
-{
-}
-
-/* Stub to not log GPS data */
-void
-ao_log_data(struct ao_log_record *log)
-{
-	(void) log;
-}
-
diff --git a/ao_tidongle.c b/ao_tidongle.c
index 4ef86971..c8e165c2 100644
--- a/ao_tidongle.c
+++ b/ao_tidongle.c
@@ -35,14 +35,9 @@ main(void)
 	ao_monitor_init(AO_LED_RED);
 	ao_radio_init();
 	ao_dbg_init();
+	ao_config_init();
 	/* Bring up the USB link */
 	P1DIR |= 1;
 	P1 |= 1;
 	ao_start_scheduler();
 }
-
-/* Stub for systems which have no ADC */
-void
-ao_adc_poll(void)
-{
-}