src-avr: Add telescience build target

No serial output, just USB

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

12 files changed, 354 insertions, 55 deletions

diff --git a/src-avr/ao_cmd.c b/src-avr/ao_cmd.c
index ee70589f..131c3d89 100644
--- a/src-avr/ao_cmd.c
+++ b/src-avr/ao_cmd.c
@@ -45,7 +45,6 @@ readline(void)
 	cmd_len = 0;
 	for (;;) {
 		flush();
-		printf ("readline sleeping...\n");
 		c = getchar();
 		/* backspace/delete */
 		if (c == '\010' || c == '\177') {
@@ -88,7 +87,6 @@ readline(void)
 	}
 	cmd_line[cmd_len++] = '\n';
 	cmd_line[cmd_len++] = '\0';
-	printf("cmd_len %d\n", cmd_len);
 	cmd_i = 0;
 }
 
@@ -280,7 +278,6 @@ ao_cmd(void)
 	__code struct ao_cmds * __xdata cs;
 	void (*__xdata func)(void);
 
-	printf ("ao_cmd\n");
 	for (;;) {
 		readline();
 		ao_cmd_lex();
diff --git a/src-avr/ao_m25.c b/src-avr/ao_m25.c
index afd5df76..9073e3bb 100644
--- a/src-avr/ao_m25.c
+++ b/src-avr/ao_m25.c
@@ -376,5 +376,7 @@ ao_storage_device_init(void)
 	/* Set up chip select wires */
 	SPI_CS_PORT |= M25_CS_MASK;	/* raise all CS pins */
 	SPI_CS_DIR |= M25_CS_MASK;	/* set CS pins as outputs */
+#ifdef SPI_CS_SEL
 	SPI_CS_SEL &= ~M25_CS_MASK;	/* set CS pins as GPIO */
+#endif
 }
diff --git a/src-avr/ao_pins.h b/src-avr/ao_pins.h
index f08af074..aec8994b 100644
--- a/src-avr/ao_pins.h
+++ b/src-avr/ao_pins.h
@@ -257,13 +257,22 @@
 #endif
 
 #ifdef TELESCIENCE
-	#define AO_LED_RED		(1<<7)
-	#define LEDS_AVAILABLE		(AO_LED_RED)
+	#define LEDS_AVAILABLE		0
 	#define HAS_USB			1
 	#define TEENSY			0
+	#define USE_SERIAL_STDIN	1
+	#define HAS_SERIAL_1		1
+	#define HAS_USB			1
+	#define PACKET_HAS_SLAVE	0
+
 	#define AVR_VCC_5V	       	0
 	#define AVR_VCC_3V3		1
 	#define AVR_CLOCK		8000000UL
+
+	#define SPI_CS_PORT		PORTE
+	#define SPI_CS_DIR		DDRE
+	#define M25_CS_MASK		(1 << PORTE6)
+	#define M25_MAX_CHIPS		1
 #endif
 
 #ifndef AVR
diff --git a/src-avr/ao_serial_avr.c b/src-avr/ao_serial_avr.c
index 5c098f0b..2fe39755 100644
--- a/src-avr/ao_serial_avr.c
+++ b/src-avr/ao_serial_avr.c
@@ -20,6 +20,15 @@
 __xdata struct ao_fifo	ao_usart1_rx_fifo;
 __xdata struct ao_fifo	ao_usart1_tx_fifo;
 
+void
+ao_debug_out(char c)
+{
+	if (c == '\n')
+		ao_debug_out('\r');
+	loop_until_bit_is_set(UCSR1A, UDRE1);
+	UDR1 = c;
+}
+
 ISR(USART1_RX_vect)
 {
 	if (!ao_fifo_full(ao_usart1_rx_fifo))
@@ -145,6 +154,7 @@ ao_serial_init(void)
 		  (1 << TXEN1) |	/* Enable transmitter */
 		  (1 << RXCIE1) |	/* Enable receive interrupts */
 		  (1 << UDRIE1));	/* Enable transmit empty interrupts */
+#if 0
 #if USE_SERIAL_STDIN
 	int8_t	i;
 	i = ao_add_stdio(ao_serial_pollchar,
@@ -152,4 +162,5 @@ ao_serial_init(void)
 			 NULL);
 	printf("Register serial stdio as %d\n", i);
 #endif
+#endif
 }
diff --git a/src-avr/ao_spi_usart.c b/src-avr/ao_spi_usart.c
new file mode 100644
index 00000000..6ed708ff
--- /dev/null
+++ b/src-avr/ao_spi_usart.c
@@ -0,0 +1,112 @@
+/*
+ * Copyright © 2011 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"
+
+/*
+ * Atmega32u4 USART in MSPIM (master SPI mode)
+ */
+
+__xdata uint8_t	ao_spi_mutex;
+
+/* Send bytes over SPI.
+ *
+ * This just polls; the SPI is set to go as fast as possible,
+ * so using interrupts would take way too long
+ */
+void
+ao_spi_send(void __xdata *block, uint16_t len) __reentrant
+{
+	uint8_t	*d = block;
+
+	ao_mutex_get(&ao_spi_mutex);
+	while (len--) {
+		while (!(UCSR1A & (1 << UDRE1)));
+		UDR1 = *d++;
+		while (!(UCSR1A & (1 << RXC1)));
+		(void) UDR1;
+	}
+	ao_mutex_put(&ao_spi_mutex);
+}
+
+/* Receive bytes over SPI.
+ *
+ * This sets up tow DMA engines, one reading the data and another
+ * writing constant values to the SPI transmitter as that is what
+ * clocks the data coming in.
+ */
+void
+ao_spi_recv(void __xdata *block, uint16_t len) __reentrant
+{
+	uint8_t	*d = block;
+
+	ao_mutex_get(&ao_spi_mutex);
+	while (len--) {
+		while (!(UCSR1A & (1 << UDRE1)));
+		UDR1 = 0;
+		while (!(UCSR1A & (1 << RXC1)));
+		*d++ = UDR1;
+	}
+	ao_mutex_put(&ao_spi_mutex);
+}
+
+/*
+ * Initialize USART0 for SPI using config alt 2
+ *
+ * 	MO	P1_5
+ * 	MI	P1_4
+ * 	CLK	P1_3
+ *
+ * Chip select is the responsibility of the caller
+ */
+
+#define XCK1_DDR	DDRD
+#define XCK1_PORT	PORTD
+#define XCK1		PORTD5
+#define XMS1_DDR	DDRE
+#define XMS1_PORT	PORTE
+#define XMS1		PORTE6
+
+void
+ao_spi_init(void)
+{
+	/* Ensure the USART is powered */
+	PRR1 &= ~(1 << PRUSART1);
+
+	/*
+	 * Set pin directions
+	 */
+	XCK1_DDR |= (1 << XCK1);
+
+	/* Clear chip select (which is negated) */
+	XMS1_PORT |= (1 < XMS1);
+	XMS1_DDR |= (1 << XMS1);
+
+	/* Set baud register to zero (required before turning transmitter on) */
+	UBRR1 = 0;
+
+	UCSR1C = ((0x3 << UMSEL10) |	/* Master SPI mode */
+		  (0 << UCSZ10) |	/* SPI mode 0 */
+		  (0 << UCPOL1));	/* SPI mode 0 */
+
+	/* Enable transmitter and receiver */
+	UCSR1B = ((1 << RXEN1) |
+		  (1 << TXEN1));
+
+	/* It says that 0 is a legal value; we'll see... */
+	UBRR1 = 0;
+}
diff --git a/src-avr/ao_stdio.c b/src-avr/ao_stdio.c
index 6702fab0..0ec0fc2e 100644
--- a/src-avr/ao_stdio.c
+++ b/src-avr/ao_stdio.c
@@ -37,6 +37,8 @@ __data int8_t ao_num_stdios;
 void
 putchar(char c)
 {
+	if (ao_cur_stdio >= ao_num_stdios || !ao_stdios[ao_cur_stdio].putchar)
+		return;
 	if (c == '\n')
 		(*ao_stdios[ao_cur_stdio].putchar)('\r');
 	(*ao_stdios[ao_cur_stdio].putchar)(c);
@@ -58,10 +60,12 @@ ao_getchar(void) __reentrant __critical
 	int8_t stdio = ao_cur_stdio;
 
 	for (;;) {
-		c = ao_stdios[stdio].pollchar();
-		if (c != AO_READ_AGAIN)
-			break;
-		if (++stdio == ao_num_stdios)
+		if (stdio < ao_num_stdios) {
+			c = ao_stdios[stdio].pollchar();
+			if (c != AO_READ_AGAIN)
+				break;
+		}
+		if (++stdio >= ao_num_stdios)
 			stdio = 0;
 		if (stdio == ao_cur_stdio)
 			ao_sleep(&ao_stdin_ready);
@@ -87,6 +91,7 @@ ao_add_stdio(char (*pollchar)(void),
 	ao_stdios[ao_num_stdios].putchar = putchar;
 	ao_stdios[ao_num_stdios].flush = flush;
 	ao_stdios[ao_num_stdios].echo = 1;
+	ao_wakeup(&ao_stdin_ready);
 	return ao_num_stdios++;
 }
 
@@ -94,7 +99,7 @@ ao_add_stdio(char (*pollchar)(void),
 int
 stdio_put(char c, FILE *stream)
 {
-#if 0
+#if 1
 	if (ao_cur_task && ao_num_stdios)
 		putchar(c);
 	else
@@ -124,6 +129,5 @@ ao_stdio_init(void)
 {
 	stdout = &mystdout;
 	stdin = &mystdin;
-	printf("%d stdios registered\n", ao_num_stdios);
 }
 #endif
diff --git a/src-avr/ao_task.c b/src-avr/ao_task.c
index b3bee6c9..83f12e2b 100644
--- a/src-avr/ao_task.c
+++ b/src-avr/ao_task.c
@@ -105,14 +105,14 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 void
 ao_show_task_from(void)
 {
-	if (ao_cur_task)
-		printf("switching from %s\n", ao_cur_task->name);
+//	if (ao_cur_task)
+//		printf("switching from %s\n", ao_cur_task->name);
 }
 
 void
 ao_show_task_to(void)
 {
-	printf("switching to %s\n", ao_cur_task->name);
+//	printf("switching to %s\n", ao_cur_task->name);
 }
 
 /* Task switching function. This must not use any stack variables */
diff --git a/src-avr/ao_telescience.c b/src-avr/ao_telescience.c
new file mode 100644
index 00000000..4bbe14cc
--- /dev/null
+++ b/src-avr/ao_telescience.c
@@ -0,0 +1,38 @@
+/*
+ * Copyright © 2011 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"
+
+int
+main(void)
+{
+	ao_clock_init();
+
+	PORTE |= (1 << 6);
+	DDRE |= (1 << 6);
+
+	ao_stdio_init();
+	ao_timer_init();
+	ao_cmd_init();
+//	ao_spi_init();
+//	ao_storage_init();
+	ao_usb_init();
+
+	/* Turn on the LED until the system is stable */
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src-avr/ao_timer.c b/src-avr/ao_timer.c
index 9142a497..cc48dd2a 100644
--- a/src-avr/ao_timer.c
+++ b/src-avr/ao_timer.c
@@ -41,6 +41,9 @@ volatile __data uint8_t	ao_adc_interval = 1;
 volatile __data uint8_t	ao_adc_count;
 #endif
 
+void
+ao_debug_out(char c);
+
 #ifdef AVR
 ISR(TIMER1_COMPA_vect)
 #else
diff --git a/src-avr/ao_usb_avr.c b/src-avr/ao_usb_avr.c
index fbae08ba..bc6d1d38 100644
--- a/src-avr/ao_usb_avr.c
+++ b/src-avr/ao_usb_avr.c
@@ -18,7 +18,13 @@
 #include "ao.h"
 #include "ao_usb.h"
 
-//#define printf(format, args...)
+#define USB_DEBUG 0
+
+#if USB_DEBUG
+#define debug(format, args...)	printf(format, ## args)
+#else
+#define debug(format, args...)
+#endif
 
 struct ao_task __xdata ao_usb_task;
 
@@ -47,7 +53,6 @@ void
 ao_usb_set_address(uint8_t address)
 {
 	UDADDR = (0 << ADDEN) | address;
-	ao_usb_running = 1;
 	ao_usb_addr_pending = 1;
 }
 
@@ -60,14 +65,14 @@ static void
 ao_usb_dump_ep(uint8_t ep)
 {
 	UENUM = ep;
-	printf ("EP %d: UECONX %02x UECFG0X %02x UECFG1X %02x UEIENX %02x UESTA0X %02x UESTA1X %02X\n",
+	debug ("EP %d: UECONX %02x UECFG0X %02x UECFG1X %02x UEIENX %02x UESTA0X %02x UESTA1X %02X\n",
 		ep, UECONX, UECFG0X, UECFG1X, UEIENX, UESTA0X, UESTA1X);
 }
 
 static void
 ao_usb_set_ep0(void)
 {
-	printf ("set_ep0\n");
+	debug ("set_ep0\n");
 	/* Set the CONTROL max packet size, single buffered */
 	UENUM = 0;
 	UECONX = (1 << EPEN);					/* Enable */
@@ -118,6 +123,7 @@ ao_usb_set_configuration(void)
 	UEIENX = ((1 << RXOUTE));				/* Enable OUT complete interrupt */
 
 	ao_usb_dump_ep(AO_USB_OUT_EP);
+	ao_usb_running = 1;
 }
 
 ISR(USB_GEN_vect)
@@ -171,7 +177,7 @@ ao_usb_ep0_flush(void)
 	cli();
 	UENUM = 0;
 	if (!(UEINTX & (1 << TXINI))) {
-		printf("EP0 not accepting IN data\n");
+		debug("EP0 not accepting IN data\n");
 		ao_usb_ep0_set_in_pending(1);
 	} else {
 		this_len = ao_usb_ep0_in_len;
@@ -186,13 +192,13 @@ ao_usb_ep0_flush(void)
 		else
 			ao_usb_ep0_set_in_pending(1);
 
-		printf ("Flush EP0 len %d:", this_len);
+		debug ("Flush EP0 len %d:", this_len);
 		while (this_len--) {
 			uint8_t	c = *ao_usb_ep0_in_data++;
-			printf(" %02x", c);
+			debug(" %02x", c);
 			UEDATX = c;
 		}
-		printf ("\n");
+		debug ("\n");
 
 		/* Clear the TXINI bit to send the packet */
 		UEINTX &= ~(1 << TXINI);
@@ -208,17 +214,17 @@ ao_usb_ep0_fill(uint8_t len, uint8_t ack)
 		len = ao_usb_ep0_out_len;
 	ao_usb_ep0_out_len -= len;
 
-//	printf ("EP0 UEINTX %02x UEBCLX %d UEBCHX %d\n",
+//	debug ("EP0 UEINTX %02x UEBCLX %d UEBCHX %d\n",
 //		UEINTX, UEBCLX, UEBCHX);
 	/* Pull all of the data out of the packet */
-	printf ("Fill EP0 len %d:", len);
+	debug ("Fill EP0 len %d:", len);
 	UENUM = 0;
 	while (len--) {
 		uint8_t	c = UEDATX;
 		*ao_usb_ep0_out_data++ = c;
-		printf (" %02x", c);
+		debug (" %02x", c);
 	}
-	printf ("\n");
+	debug ("\n");
 
 	/* ACK the packet */
 	UEINTX &= ~ack;
@@ -238,7 +244,7 @@ ao_usb_ep0_setup(void)
 	ao_usb_ep0_out_len = 8;
 	ao_usb_ep0_fill(8, (1 << RXSTPI) | (1 << RXOUTI) | (1 << TXINI));
 	if (ao_usb_ep0_out_len != 0) {
-		printf ("invalid setup packet length\n");
+		debug ("invalid setup packet length\n");
 		return;
 	}
 
@@ -266,31 +272,31 @@ ao_usb_ep0_setup(void)
 	ao_usb_ep0_in_len = 0;
 	switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_TYPE_MASK) {
 	case AO_USB_TYPE_STANDARD:
-		printf ("Standard setup packet\n");
+		debug ("Standard setup packet\n");
 		switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_RECIP_MASK) {
 		case AO_USB_RECIP_DEVICE:
-			printf ("Device setup packet\n");
+			debug ("Device setup packet\n");
 			switch(ao_usb_setup.request) {
 			case AO_USB_REQ_GET_STATUS:
-				printf ("get status\n");
+				debug ("get status\n");
 				ao_usb_ep0_queue_byte(0);
 				ao_usb_ep0_queue_byte(0);
 				break;
 			case AO_USB_REQ_SET_ADDRESS:
-				printf ("set address %d\n", ao_usb_setup.value);
+				debug ("set address %d\n", ao_usb_setup.value);
 				ao_usb_set_address(ao_usb_setup.value);
 				break;
 			case AO_USB_REQ_GET_DESCRIPTOR:
-				printf ("get descriptor %d\n", ao_usb_setup.value);
+				debug ("get descriptor %d\n", ao_usb_setup.value);
 				ao_usb_get_descriptor(ao_usb_setup.value);
 				break;
 			case AO_USB_REQ_GET_CONFIGURATION:
-				printf ("get configuration %d\n", ao_usb_configuration);
+				debug ("get configuration %d\n", ao_usb_configuration);
 				ao_usb_ep0_queue_byte(ao_usb_configuration);
 				break;
 			case AO_USB_REQ_SET_CONFIGURATION:
 				ao_usb_configuration = ao_usb_setup.value;
-				printf ("set configuration %d\n", ao_usb_configuration);
+				debug ("set configuration %d\n", ao_usb_configuration);
 				ao_usb_set_configuration();
 				break;
 			}
@@ -299,7 +305,7 @@ ao_usb_ep0_setup(void)
 #ifndef AVR
 			#pragma disable_warning 110
 #endif
-			printf ("Interface setup packet\n");
+			debug ("Interface setup packet\n");
 			switch(ao_usb_setup.request) {
 			case AO_USB_REQ_GET_STATUS:
 				ao_usb_ep0_queue_byte(0);
@@ -313,7 +319,7 @@ ao_usb_ep0_setup(void)
 			}
 			break;
 		case AO_USB_RECIP_ENDPOINT:
-			printf ("Endpoint setup packet\n");
+			debug ("Endpoint setup packet\n");
 			switch(ao_usb_setup.request) {
 			case AO_USB_REQ_GET_STATUS:
 				ao_usb_ep0_queue_byte(0);
@@ -324,15 +330,15 @@ ao_usb_ep0_setup(void)
 		}
 		break;
 	case AO_USB_TYPE_CLASS:
-		printf ("Class setup packet\n");
+		debug ("Class setup packet\n");
 		switch (ao_usb_setup.request) {
 		case SET_LINE_CODING:
-			printf ("set line coding\n");
+			debug ("set line coding\n");
 			ao_usb_ep0_out_len = 7;
 			ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_line_coding;
 			break;
 		case GET_LINE_CODING:
-			printf ("get line coding\n");
+			debug ("get line coding\n");
 			ao_usb_ep0_in_len = 7;
 			ao_usb_ep0_in_data = (uint8_t *) &ao_usb_line_coding;
 			break;
@@ -344,7 +350,7 @@ ao_usb_ep0_setup(void)
 	if (ao_usb_ep0_state != AO_USB_EP0_DATA_OUT) {
 		if (ao_usb_setup.length < ao_usb_ep0_in_len)
 			ao_usb_ep0_in_len = ao_usb_setup.length;
-		printf ("Start ep0 in delivery %d\n", ao_usb_ep0_in_len);
+		debug ("Start ep0 in delivery %d\n", ao_usb_ep0_in_len);
 		ao_usb_ep0_set_in_pending(1);
 	}
 }
@@ -355,21 +361,21 @@ ao_usb_ep0(void)
 {
 	uint8_t	intx, udint;
 
-	printf ("usb task started\n");
+	debug ("usb task started\n");
 	ao_usb_ep0_state = AO_USB_EP0_IDLE;
 	for (;;) {
 		cli();
 		for (;;) {
 			udint = UDINT;
 			UDINT = 0;
-//			printf ("UDINT %02x\n", udint);
+//			debug ("UDINT %02x\n", udint);
 			if (udint & (1 << EORSTI)) {
 				ao_usb_configuration = 0;
 				ao_usb_set_ep0();
 			}
 			UENUM = 0;
 			intx = UEINTX;
-//			printf ("UEINTX %02x\n", intx);
+//			debug ("UEINTX %02x\n", intx);
 			if (intx & ((1 << RXSTPI) | (1 << RXOUTI)))
 				break;
 			if ((intx & (1 << TXINI))) {
@@ -384,11 +390,11 @@ ao_usb_ep0(void)
 					UEIENX = ((1 << RXSTPE) | (1 << RXOUTE));	/* Disable IN interrupt */
 				}
 			}
-//			printf ("usb task sleeping...\n");
+//			debug ("usb task sleeping...\n");
 			ao_sleep(&ao_usb_task);
 		}
 		sei();
-//		printf ("UEINTX for ep0 is %02x\n", intx);
+//		debug ("UEINTX for ep0 is %02x\n", intx);
 		if (intx & (1 << RXSTPI)) {
 			ao_usb_ep0_setup();
 		}
@@ -397,7 +403,7 @@ ao_usb_ep0(void)
 			ao_usb_ep0_set_in_pending(1);
 		}
 		if (intx & (1 << TXINI) && ao_usb_ep0_in_pending) {
-			printf ("continue sending ep0 IN data\n");
+			debug ("continue sending ep0 IN data\n");
 			ao_usb_ep0_flush();
 		}
 	}
@@ -459,8 +465,6 @@ ao_usb_putchar(char c) __critical __reentrant
 	if (!ao_usb_running)
 		return;
 
-	ao_usb_in_flushed = 0;
-
 	ao_usb_in_wait();
 
 	/* Queue a byte */
@@ -470,6 +474,7 @@ ao_usb_putchar(char c) __critical __reentrant
 	/* Send the packet when full */
 	if ((UEINTX & (1 << RWAL)) == 0)
 		ao_usb_in_send();
+	ao_usb_in_flushed = 0;
 }
 
 static char
@@ -478,10 +483,13 @@ _ao_usb_pollchar(void)
 	char c;
 	uint8_t	intx;
 
+	if (!ao_usb_running)
+		return AO_READ_AGAIN;
+
 	for (;;) {
 		UENUM = AO_USB_OUT_EP;
 		intx = UEINTX;
-		printf("usb_pollchar UEINTX %02d\n", intx);
+		debug("usb_pollchar UEINTX %02d\n", intx);
 		if (intx & (1 << RWAL))
 			break;
 
@@ -530,7 +538,9 @@ ISR(USB_COM_vect)
 {
 	uint8_t	i = UEINT;
 
+#ifdef AO_LED_RED
 	ao_led_toggle(AO_LED_RED);
+#endif
 	UEINT = 0;
 	if (i & (1 << 0))
 		ao_wakeup(&ao_usb_task);
@@ -544,7 +554,10 @@ ISR(USB_COM_vect)
 #define AO_PAD_REGULATOR_INIT	(1 << UVREGE)	/* Turn on pad regulator */
 #endif
 #if AVR_VCC_3V3
-#define AO_PAD_REGULATOR_INIT	0		/* Turn off pad regulator */
+/* TeleScience V0.1 has a hardware bug -- UVcc is hooked up, but UCap is not
+ * Make this work by running power through UVcc to the USB system
+ */
+#define AO_PAD_REGULATOR_INIT	(1 << UVREGE)	/* Turn off pad regulator */
 #endif
 
 #if AVR_CLOCK == 16000000UL
@@ -598,11 +611,14 @@ ao_usb_enable(void)
 
 	ao_usb_configuration = 0;
 
-	printf ("ao_usb_enable\n");
+	debug ("ao_usb_enable\n");
 
+	debug ("UHWCON %02x USBCON %02x PLLCSR %02x UDIEN %02x\n",
+	       UHWCON, USBCON, PLLCSR, UDIEN);
 	UDCON = (0 << DETACH);	/* Clear the DETACH bit to plug into the bus */
 }
 
+#if USB_DEBUG
 struct ao_task __xdata ao_usb_echo_task;
 
 static void
@@ -616,14 +632,15 @@ ao_usb_echo(void)
 		ao_usb_flush();
 	}
 }
+#endif
 
 void
 ao_usb_init(void)
 {
 	ao_usb_enable();
 
-	printf ("ao_usb_init\n");
+	debug ("ao_usb_init\n");
 	ao_add_task(&ao_usb_task, ao_usb_ep0, "usb");
-	ao_add_task(&ao_usb_echo_task, ao_usb_echo, "usb echo");
-//	ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
+//	ao_add_task(&ao_usb_echo_task, ao_usb_echo, "usb echo");
+	ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
 }
diff --git a/src-avr/avr.h b/src-avr/avr.h
index 0f46da08..8c9c7bd7 100644
--- a/src-avr/avr.h
+++ b/src-avr/avr.h
@@ -22,7 +22,6 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
 
-#define TEENSY 1
 #if TEENSY
 #define F_CPU 16000000UL	// 16 MHz
 #else
diff --git a/src-avr/telescience/Makefile b/src-avr/telescience/Makefile
new file mode 100644
index 00000000..a5bea67a
--- /dev/null
+++ b/src-avr/telescience/Makefile
@@ -0,0 +1,107 @@
+#
+# AltOS build
+#
+#
+vpath %.c ..
+vpath %.h ..
+vpath make-altitude ..
+vpath make-kalman ..
+vpath kalman.5c ../kalman
+vpath kalman_filter.5c ../kalman
+vpath load_csv.5c ../kalman
+vpath matrix.5c ../kalman
+vpath ao-make-product.5c ..
+
+MCU=atmega32u4
+DUDECPUTYPE=m32u4
+#PROGRAMMER=stk500v2 -P usb
+PROGRAMMER=usbtiny
+LOADCMD=avrdude
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_usb.h \
+	ao_pins.h \
+	altitude.h \
+	ao_kalman.h
+
+#
+# Common AltOS sources
+#
+TELESCIENCE_STORAGE= \
+	ao_m25.c \
+	ao_spi_usart.c \
+	ao_storage.c \
+
+ALTOS_SRC = \
+	ao_cmd.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_product.c \
+	ao_stdio.c \
+	ao_task.c \
+	ao_timer.c \
+	ao_led.c \
+	ao_usb_avr.c
+
+PRODUCT=TeleScience-v0.1
+MCU=atmega32u4
+PRODUCT_DEF=-DTELESCIENCE
+IDPRODUCT=0x000a
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -Os -mcall-prologues $(PRODUCT_DEF) -I. -DAVR
+
+NICKLE=nickle
+
+PROG=telescience-v0.1
+
+SRC=$(ALTOS_SRC) ao_telescience.c
+OBJ=$(SRC:.c=.o)
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: $(PROG)
+
+$(PROG): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+
+$(PROG).hex: $(PROG)
+	avr-size $(PROG)
+	$(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(PROG).hex
+	$(LOADCMD) $(LOADARG)$(PROG).hex
+
+../altitude.h: make-altitude
+	nickle $< > $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.rel: ao_product.c ao_product.h
+	$(call quiet,CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"ao_product.h\"' -o$@ $<
+
+distclean:	clean
+
+clean:
+	rm -f $(OBJ)
+	rm -f ao_product.h
+
+install:
+
+uninstall:
+
+$(OBJ): ao.h ao_product.h
\ No newline at end of file