ao-tools: Add ao-sky-flash to update GPS firmware

This uses a new feature of AltOS to directly connect the GPS chip to
the USB link to reprogram the former.

Signed-off-by: Keith Packard <keithp@keithp.com>

14 files changed, 1628 insertions, 1 deletions

diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am
index 257fdaec..871b8205 100644
--- a/ao-tools/Makefile.am
+++ b/ao-tools/Makefile.am
@@ -1 +1 @@
-SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem ao-stmload ao-send-telem
+SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem ao-stmload ao-send-telem ao-sky-flash
diff --git a/ao-tools/ao-sky-flash/Makefile.am b/ao-tools/ao-sky-flash/Makefile.am
new file mode 100644
index 00000000..f6c5089a
--- /dev/null
+++ b/ao-tools/ao-sky-flash/Makefile.am
@@ -0,0 +1,18 @@
+bin_PROGRAMS=ao-sky-flash
+
+AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+AO_SKY_FLASH_LIBS=$(top_builddir)/ao-tools/lib/libao-tools.a
+
+ao_sky_flash_DEPENDENCIES = $(AO_SKY_FLASH_LIBS)
+
+ao_sky_flash_LDADD=$(AO_SKY_FLASH_LIBS) $(LIBUSB_LIBS)
+
+ao_sky_flash_SOURCES = \
+	sky_bin.c \
+	sky_debug.c \
+	sky_flash.c \
+	sky_flash.h \
+	sky_serial.c \
+	sky_srec.c
+
+man_MANS = ao-sky-flash.1
diff --git a/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin b/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin
new file mode 100644
index 00000000..c698add2
--- /dev/null
+++ b/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin
diff --git a/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin b/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin
new file mode 100644
index 00000000..9e256897
--- /dev/null
+++ b/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin
diff --git a/ao-tools/ao-sky-flash/ao-sky-flash.1 b/ao-tools/ao-sky-flash/ao-sky-flash.1
new file mode 100644
index 00000000..d61c9c9d
--- /dev/null
+++ b/ao-tools/ao-sky-flash/ao-sky-flash.1
@@ -0,0 +1,85 @@
+.\"
+.\" 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; either version 2 of the License, or
+.\" (at your option) 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.
+.\"
+.\" 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.
+.\"
+.\"
+.TH AO-SKY-FLASH 1 "ao-sky-flash" ""
+.SH NAME
+ao-sky-flash \- flash GPS firmware program to a SkyTraq GPS chip
+.SH SYNOPSIS
+.B "ao-sky-flash"
+[\-T \fItty-device\fP]
+[\--tty \fItty-device\fP]
+[\-D \fIaltos-device\fP]
+[\--device \fIaltos-device\fP]
+[\--loader \fIboot-loader\fP]
+[\--firmware \fIgps-firmware\fP]
+[\--query]
+[\--quiet]
+[\--raw]
+.SH DESCRIPTION
+.I ao-sky-flash
+loads the specified GPS firmware file into the target GPS chip flash
+memory using the specified boot loader.
+.SH OPTIONS
+.TP
+\-T tty-device | --tty tty-device
+This selects which tty device the debugger uses to communicate with
+the target device.
+.TP
+\-D AltOS-device | --device AltOS-device
+Search for a connected device. This requires an argument of one of the
+following forms:
+.IP
+TeleMetrum:2
+.br
+TeleMetrum
+.br
+2
+.IP
+Leaving out the product name will cause the tool to select a suitable
+product, leaving out the serial number will cause the tool to match
+one of the available devices.
+.TP
+\--loader boot-loader
+This specifies the desired boot loader to use for reflashing the
+device. You should use srec_115200.bin unless you have a good reason
+not to. This should be in S record format.
+.TP
+\--firmware gps-firmware
+This specifies the new GPS firmware image to load onto the target GPS
+chip. No checking is done on this device at all; flash garbage and the
+GPS chip will probably fail to boot.
+.TP
+\--query
+Instead of loading new firmware, query the current version of firmware
+running on the target device.
+.TP
+\--quiet
+Normally, ao-spy-flash is quite chatty. This shuts it up, except for
+error messages.
+.TP
+\--raw
+The expected target for reflashing is an Altus Metrum product with the
+GPS chip connected to the CPU on that board and not directly to the
+USB serial port. This option says that the target GPS chip is directly
+connected, which changes how things are initialized a bit.
+.SH USAGE
+.I ao-sky-flash
+loads the specified bootloader into device RAM and then uses that to
+load new firmware to flash.
+.SH AUTHOR
+Keith Packard
diff --git a/ao-tools/ao-sky-flash/sky_bin.c b/ao-tools/ao-sky-flash/sky_bin.c
new file mode 100644
index 00000000..e693c892
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_bin.c
@@ -0,0 +1,75 @@
+/*
+ * Copyright © 2012 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 "sky_flash.h"
+#include <stdio.h>
+#include <string.h>
+
+#define FLASHBYTES	8192
+
+int
+skytraq_send_bin(int fd, const char *filename)
+{
+	FILE		*file;
+	char		buf[FLASHBYTES];
+	int		count;
+	unsigned char	cksum;
+	int		c;
+	long		size;
+	long		pos;
+	char		message[1024];
+	int		ret;
+	
+	file = fopen(filename, "r");
+	if (!file) {
+		perror(filename);
+		return -1;
+	}
+
+	printf ("computing checksum...\n"); fflush(stdout);
+	/* Compute checksum, figure out how long the file */
+	cksum = 0;
+	while ((c = getc(file)) != EOF)
+		cksum += (unsigned char) c;
+	size = ftell(file);
+	rewind(file);
+	printf ("checksum: %d\n", cksum); fflush(stdout);
+
+	sprintf(message, "BINSIZE = %d Checksum = %d Loopnumber = %d ", size, cksum, 1);
+
+	ret = skytraq_cmd_wait(fd, message, strlen(message) + 1, "OK", 20000);
+	if (ret < 0)
+		printf ("waitstatus failed %d\n", ret);
+
+	pos = 0;
+	for (;;) {
+		count = fread(buf, 1, sizeof (buf), file);
+		if (count < 0) {
+			perror("fread");
+			fclose(file);
+			return -1;
+		}
+		if (count == 0)
+			break;
+		printf ("write %ld of %ld ", pos + count, size); fflush(stdout);
+		pos += count;
+		ret = skytraq_cmd_wait(fd, buf, count, "OK", 20000);
+		if (ret < 0)
+			return ret;
+	}
+	return skytraq_waitstatus(fd, "END", 30000);
+}
diff --git a/ao-tools/ao-sky-flash/sky_debug.c b/ao-tools/ao-sky-flash/sky_debug.c
new file mode 100644
index 00000000..32571f0e
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_debug.c
@@ -0,0 +1,111 @@
+/*
+ * Copyright © 2012 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 <stdint.h>
+#include <unistd.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <sys/time.h>
+#include "sky_flash.h"
+
+static int	dbg_input;
+static int	dbg_newline = 1;
+
+int
+skytraq_millis(void)
+{
+	struct timeval	tv;
+	gettimeofday(&tv, NULL);
+	return tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+static void
+skytraq_dbg_time(void)
+{
+	int	delta = skytraq_millis() - skytraq_open_time;
+
+	if (!skytraq_verbose)
+		return;
+	printf ("%4d.%03d ", delta / 1000, delta % 1000);
+}
+
+void
+skytraq_dbg_newline(void)
+{
+	if (!skytraq_verbose)
+		return;
+	if (!dbg_newline) {
+		putchar('\n');
+		dbg_newline = 1;
+	}
+}
+
+static void
+skytraq_dbg_set(int input)
+{
+	if (!skytraq_verbose)
+		return;
+	if (input != dbg_input) {
+		skytraq_dbg_newline();
+		if (input)
+			putchar('\t');
+		dbg_input = input;
+	}
+}
+
+void
+skytraq_dbg_char(int input, char c)
+{
+	if (!skytraq_verbose)
+		return;
+	skytraq_dbg_set(input);
+	if (dbg_newline)
+		skytraq_dbg_time();
+	if (c < ' '  || c > '~')
+		printf ("\\%02x", (unsigned char) c);
+	else
+		putchar(c);
+	dbg_newline = 0;
+	if (c == '\n')
+		dbg_input = 2;
+	fflush(stdout);
+}
+
+void
+skytraq_dbg_buf(int input, const char *buf, int len)
+{
+	if (!skytraq_verbose)
+		return;
+	while (len--)
+		skytraq_dbg_char(input, *buf++);
+}
+
+void
+skytraq_dbg_printf(int input, const char *fmt, ...)
+{
+	va_list ap;
+
+	if (!skytraq_verbose)
+		return;
+	skytraq_dbg_set(input);
+	if (dbg_newline)
+		skytraq_dbg_time();
+	va_start (ap, fmt);
+	vprintf(fmt, ap);
+	va_end(ap);
+	dbg_newline = 0;
+}
diff --git a/ao-tools/ao-sky-flash/sky_flash.c b/ao-tools/ao-sky-flash/sky_flash.c
new file mode 100644
index 00000000..55cb2cb6
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_flash.c
@@ -0,0 +1,259 @@
+/*
+ * Copyright © 2012 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 "sky_flash.h"
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdarg.h>
+#include <getopt.h>
+#include "cc.h"
+
+static const struct option options[] = {
+	{ .name = "tty", .has_arg = 1, .val = 'T' },
+	{ .name = "device", .has_arg = 1, .val = 'D' },
+	{ .name = "loader", .has_arg = 1, .val = 'l' },
+	{ .name = "firmware", .has_arg = 1, .val = 'f' },
+	{ .name = "query", .has_arg = 0, .val = 'q' },
+	{ .name = "raw", .has_arg = 0, .val = 'r' },
+	{ .name = "quiet", .has_arg = 0, .val = 'Q' },
+	{ 0, 0, 0, 0},
+};
+
+static uint8_t	query_version[] = {
+	0xa0, 0xa1, 0x00, 0x02, 0x02, 0x01, 0x03, 0x0d, 0x0a
+};
+
+static void
+usage(char *program)
+{
+	fprintf(stderr,
+		"usage: %s [--tty <tty-name>]\n"
+		"          [--device <device-name>]\n"
+		"          [--loader <srec bootloader file>]\n"
+		"          [--firmware <binary firmware file>]\n"
+		"          [--query]\n"
+		"          [--quiet]\n"
+		"          [--raw]\n", program);
+	exit(1);
+}
+
+int
+skytraq_expect(int fd, uint8_t want, int timeout) {
+	int	c;
+
+	c = skytraq_waitchar(fd, timeout);
+	if (c < 0)
+		return -1;
+	if (c == want)
+		return 1;
+	return 0;
+}
+
+int
+skytraq_wait_reply(int fd, uint8_t reply, uint8_t *buf, uint8_t reply_len) {
+
+	for(;;) {
+		uint8_t	a, b;
+		uint8_t	cksum_computed, cksum_read;
+		int	len;
+		switch (skytraq_expect(fd, 0xa0, 10000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		case 1:
+			break;
+		}
+		switch (skytraq_expect(fd, 0xa1, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		a = skytraq_waitchar(fd, 1000);
+		b = skytraq_waitchar(fd, 1000);
+		switch (skytraq_expect(fd, reply, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		len = (a << 16) | b;
+		if (len != reply_len)
+			continue;
+		*buf++ = reply;
+		len--;
+		cksum_computed = reply;
+		while (len--) {
+			a = skytraq_waitchar(fd, 1000);
+			if (a < 0)
+				return a;
+			cksum_computed ^= a;
+			*buf++ = a;
+		}
+		switch (skytraq_expect(fd, cksum_computed, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		switch (skytraq_expect(fd, 0x0d, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		switch (skytraq_expect(fd, 0x0a, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		break;
+	}
+	return 0;
+}
+
+int
+main(int argc, char **argv)
+{
+	int	fd;
+	char	buf[512];
+	int	ret;
+	FILE	*input;
+	long	size;
+	unsigned char	cksum;
+	int	c;
+	char	message[1024];
+	char	*tty = NULL;
+	char	*device = NULL;
+	char	*loader = "srec_115200.bin";
+	char	*file = NULL;
+	int	query = 0;
+	int	raw = 0;
+
+	while ((c = getopt_long(argc, argv, "T:D:l:f:qQr", options, NULL)) != -1) {
+		switch (c) {
+		case 'T':
+			tty = optarg;
+			break;
+		case 'D':
+			device = optarg;
+			break;
+		case 'l':
+			loader = optarg;
+			break;
+		case 'f':
+			file = optarg;
+			break;
+		case 'q':
+			query = 1;
+			break;
+		case 'Q':
+			skytraq_verbose = 0;
+			break;
+		case 'r':
+			raw = 1;
+			break;
+		default:
+			usage(argv[0]);
+			break;
+		}
+	}
+
+	if (!tty)
+		tty = cc_usbdevs_find_by_arg(device, "TeleMetrum");
+	if (!tty)
+		tty = getenv("ALTOS_TTY");
+	if (!tty)
+		tty="/dev/ttyACM0";
+	fd = skytraq_open(tty);
+	if (fd < 0)
+		exit(1);
+
+	if (raw) {
+		/* Set the baud rate to 115200 */
+		skytraq_setcomm(fd, 115200);
+		sleep(1);
+		skytraq_setspeed(fd, 115200);
+	} else {
+		/* Connect TM to the device */
+		skytraq_write(fd, "U\n", 2);
+	}
+
+	/* Wait for the device to stabilize after baud rate changes */
+	for (c = 0; c < 6; c++) {
+		skytraq_flush(fd);
+		sleep(1);
+	}
+
+	if (query) {
+		uint8_t	query_reply[14];
+
+		uint8_t		software_type;
+		uint32_t	kernel_version;
+		uint32_t	odm_version;
+		uint32_t	revision;
+
+		skytraq_write(fd, query_version, 9);
+		if (skytraq_wait_reply(fd, 0x80, query_reply, sizeof (query_reply)) != 0) {
+			fprintf(stderr, "query reply failed\n");
+			exit(1);
+		}
+
+#define i8(o)	query_reply[(o)-1]
+#define i32(o)	((i8(o) << 24) | (i8(o+1) << 16) | (i8(o+2) << 8) | (i8(o+3)))
+		software_type = i8(2);
+		kernel_version = i32(3);
+		odm_version = i32(7);
+		revision = i32(11);
+		skytraq_dbg_printf(0, "\n");
+		printf ("Software Type %d. Kernel Version %d.%d.%d. ODM Version %d.%d.%d. Revision %d.%d.%d.\n",
+			software_type,
+			kernel_version >> 16 & 0xff,
+			kernel_version >> 8 & 0xff,
+			kernel_version >> 0 & 0xff,
+			odm_version >> 16 & 0xff,
+			odm_version >> 8 & 0xff,
+			odm_version >> 0 & 0xff,
+			revision >> 16 & 0xff,
+			revision >> 8 & 0xff,
+			revision >> 0 & 0xff);
+		exit(0);
+	}
+
+	if (!file)
+		usage(argv[0]);
+
+	ret = skytraq_send_srec(fd, "srec_115200.bin");
+	skytraq_dbg_printf (0, "srec ret %d\n", ret);
+	if (ret < 0)
+		exit(1);
+
+	sleep(2);
+
+//	ret = skytraq_send_bin(fd, "STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin");
+	ret = skytraq_send_bin(fd, "STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin");
+
+	printf ("bin ret %d\n", ret);
+	if (ret < 0)
+		exit(1);
+
+	return 0;
+}
diff --git a/ao-tools/ao-sky-flash/sky_flash.h b/ao-tools/ao-sky-flash/sky_flash.h
new file mode 100644
index 00000000..77f4c742
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_flash.h
@@ -0,0 +1,67 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+/* sky_serial.c */
+
+extern int	skytraq_open_time;
+extern int	skytraq_verbose;
+
+int
+skytraq_open(const char *path);
+
+int
+skytraq_setspeed(int fd, int baud);
+
+int
+skytraq_setcomm(int fd, int baudrate);
+
+int
+skytraq_write(int fd, const char *data, int len);
+
+int
+skytraq_waitchar(int fd, int timeout);
+
+int
+skytraq_waitstatus(int fd, const char *status, int timeout);
+
+void
+skytraq_flush(int fd);
+
+int
+skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout);
+
+int
+skytraq_cmd_nowait(int fd, const char *message, int len);
+
+/* sky_debug.c */
+
+void
+skytraq_dbg_printf(int input, const char *fmt, ...);
+
+void
+skytraq_dbg_buf(int input, const char *buf, int len);
+
+void
+skytraq_dbg_char(int input, char c);
+
+/* sky_srec.c */
+int
+skytraq_send_srec(int fd, const char *file);
+
+/* sky_bin.c */
+int
+skytraq_send_bin(int fd, const char *filename);
diff --git a/ao-tools/ao-sky-flash/sky_serial.c b/ao-tools/ao-sky-flash/sky_serial.c
new file mode 100644
index 00000000..4aeb1458
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_serial.c
@@ -0,0 +1,259 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+#define _BSD_SOURCE
+#include <termios.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <poll.h>
+#include "sky_flash.h"
+#include <stdio.h>
+#include <sys/time.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <stdarg.h>
+
+int	skytraq_verbose = 1;
+
+int
+skytraq_setspeed(int fd, int baud)
+{
+	int	b;
+	int	ret;
+	struct termios	term;
+
+	switch (baud) {
+	case 9600:
+		b = B9600;
+		break;
+	case 38400:
+		b = B38400;
+		break;
+	case 115200:
+		b = B115200;
+		break;
+	default:
+		fprintf (stderr, "Invalid baudrate %d\n", baud);
+		return -1;
+	}
+	ret = tcgetattr(fd, &term);
+	cfmakeraw(&term);
+#ifdef USE_POLL
+	term.c_cc[VMIN] = 1;
+	term.c_cc[VTIME] = 0;
+#else
+	term.c_cc[VMIN] = 0;
+	term.c_cc[VTIME] = 1;
+#endif
+
+	cfsetspeed(&term, b);
+
+	ret = tcsetattr(fd, TCSAFLUSH, &term);
+	return ret;
+}
+
+int	skytraq_open_time;
+
+int
+skytraq_open(const char *path)
+{
+	int		fd;
+	int		ret;
+
+	fd = open(path, O_RDWR | O_NOCTTY);
+	if (fd < 0) {
+		perror (path);
+		return -1;
+	}
+
+	ret = skytraq_setspeed(fd, 9600);
+	if (ret < 0) {
+		close (fd);
+		return -1;
+	}
+	skytraq_open_time = skytraq_millis();
+	return fd;
+}
+
+
+#define BAUD		57600
+#define BPS		(BAUD/10 * 9/10)
+#define US_PER_CHAR	(1000000 / BPS)
+
+int
+skytraq_write(int fd, const char *data, int len)
+{
+	const char *d = data;
+	int		r;
+	int		us;
+
+	while (len) {
+		int	this_time = len;
+		if (this_time > 128)
+			this_time = 128;
+		if (this_time < 70) {
+			skytraq_dbg_printf (0, "%4d: ", this_time);
+			skytraq_dbg_buf(0, data, this_time);
+		} else {
+			skytraq_dbg_printf (0, "%d bytes (%d remain)", this_time, len);
+		}
+		fflush(stdout);
+		r = write(fd, data, this_time);
+		if (r <= 0)
+			return r;
+		us = r * US_PER_CHAR;
+		usleep(r * US_PER_CHAR);
+		data += r;
+		len -= r;
+	}
+	skytraq_dbg_newline();
+	return 1;
+}
+
+int
+skytraq_setcomm(int fd, int baudrate)
+{
+	uint8_t	msg[11];
+	int	i;
+	uint8_t	cksum;
+
+	int target_baudrate;
+	switch(baudrate)
+	{
+	case 4800:
+		target_baudrate=0;
+		break;
+	case 9600:
+		target_baudrate=1;
+		break;
+	case 19200:
+		target_baudrate=2;
+		break;
+	case 38400:
+		target_baudrate=3;
+		break;
+	case 57600:
+		target_baudrate=4;
+		break;
+	case 115200:
+		target_baudrate=5;
+		break;
+	case 230400:
+		target_baudrate=6;
+		break;
+	}
+	msg[0] = 0xa0;	/* header */
+	msg[1] = 0xa1;
+	msg[2] = 0x00;	/* length */
+	msg[3] = 0x04;
+	msg[4] = 0x05;	/* configure serial port */
+	msg[5] = 0x00;	/* COM 1 */
+	msg[6] = target_baudrate;
+	msg[7] = 0x00;	/* update to SRAM only */
+
+	cksum = 0;
+	for (i = 4; i < 8; i++)
+		cksum ^= msg[i];
+	msg[8] = cksum;
+	msg[9] = 0x0d;
+	msg[10] = 0x0a;
+	return skytraq_write(fd, msg, 11);
+}
+
+int
+skytraq_waitchar(int fd, int timeout)
+{
+	struct pollfd	fds[1];
+	int		ret;
+	unsigned char	c;
+
+	for (;;) {
+		fds[0].fd = fd;
+		fds[0].events = POLLIN;
+		ret = poll(fds, 1, timeout);
+		if (ret >= 1) {
+			if (fds[0].revents & POLLIN) {
+				ret = read(fd, &c, 1);
+				if (ret == 1) {
+					skytraq_dbg_char(1, c);
+					return c;
+				}
+			}
+		} else if (ret == 0)
+			return -2;
+		else {
+			perror("poll");
+			return -1;
+		}
+	}
+}
+
+int
+skytraq_waitstatus(int fd, const char *status, int timeout)
+{
+	const char	*s;
+	int		c;
+
+	for (;;) {
+		c = skytraq_waitchar(fd, timeout);
+		if (c < 0) {
+			skytraq_dbg_newline();
+			return c;
+		}
+		if ((char) c == *status) {
+			s = status + 1;
+			for (;;) {
+				c = skytraq_waitchar(fd, timeout);
+				if (c < 0) {
+					skytraq_dbg_newline();
+					return c;
+				}
+				if ((char) c != *s)
+					break;
+				if (!*s) {
+					skytraq_dbg_newline();
+					return 0;
+				}
+				s++;
+			}
+		}
+	}
+}
+
+void
+skytraq_flush(int fd)
+{
+	while (skytraq_waitchar(fd, 1) >= 0)
+		;
+}
+
+int
+skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout)
+{
+	skytraq_flush(fd);
+	skytraq_write(fd, message, len);
+	return skytraq_waitstatus(fd, status, timeout);
+}
+
+int
+skytraq_cmd_nowait(int fd, const char *message, int len)
+{
+	skytraq_flush(fd);
+	return skytraq_write(fd, message, len);
+}
diff --git a/ao-tools/ao-sky-flash/sky_srec.c b/ao-tools/ao-sky-flash/sky_srec.c
new file mode 100644
index 00000000..6d00f58c
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_srec.c
@@ -0,0 +1,60 @@
+/*
+ * Copyright © 2012 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 "sky_flash.h"
+#include <stdio.h>
+#include <string.h>
+
+static const char loader_start[] = "$LOADER DOWNLOAD";
+
+int
+skytraq_send_srec(int fd, const char *filename)
+{
+	FILE	*file;
+	int	ret;
+	char	line[1024];
+
+	file = fopen(filename, "r");
+	if (!file) {
+		perror(filename);
+		return -1;
+	}
+
+	ret = skytraq_cmd_wait(fd, loader_start, strlen(loader_start) + 1, "OK", 1000);
+	if (ret)
+		return ret;
+
+	for (;;) {
+		char	*s;
+		int	len;
+
+		s = fgets(line, sizeof(line), file);
+		if (!s)
+			break;
+		len = strlen(s);
+		if (len < 3)		/* Terminated with \r\n */
+			break;
+		s[len-2] = '\n';	/* Smash \r */
+		s[len-1] = '\0';	/* Smash \n */
+		skytraq_cmd_nowait(fd, s, len);
+	}
+	fclose(file);
+
+	ret = skytraq_waitstatus(fd, "END", 10000);
+	skytraq_dbg_newline();
+	return ret;
+}
diff --git a/ao-tools/ao-sky-flash/srec_115200.bin b/ao-tools/ao-sky-flash/srec_115200.bin
new file mode 100644
index 00000000..8ea8e7cd
--- /dev/null
+++ b/ao-tools/ao-sky-flash/srec_115200.bin
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diff --git a/ao-tools/ao-sky-flash/srec_9600.bin b/ao-tools/ao-sky-flash/srec_9600.bin
new file mode 100644
index 00000000..9a29ab1b
--- /dev/null
+++ b/ao-tools/ao-sky-flash/srec_9600.bin
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diff --git a/configure.ac b/configure.ac
index bee9480d..0fcd97e2 100644
--- a/configure.ac
+++ b/configure.ac
@@ -163,6 +163,7 @@ ao-tools/ao-load/Makefile
 ao-tools/ao-telem/Makefile
 ao-tools/ao-stmload/Makefile
 ao-tools/ao-send-telem/Makefile
+ao-tools/ao-sky-flash/Makefile
 ao-utils/Makefile
 src/Version
 ])