altos: Initial TeleMetrum v2.0 bits

Adds new telemetry and logging formats along with code for TeleMetrum
v2.0 design.

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

12 files changed, 1004 insertions, 5 deletions

diff --git a/src/core/ao_gps_report_metrum.c b/src/core/ao_gps_report_metrum.c
new file mode 100644
index 00000000..4fefe223
--- /dev/null
+++ b/src/core/ao_gps_report_metrum.c
@@ -0,0 +1,110 @@
+/*
+ * 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"
+#include "ao_log.h"
+
+void
+ao_gps_report_metrum(void)
+{
+	static __xdata struct ao_log_metrum		gps_log;
+	static __xdata struct ao_telemetry_location	gps_data;
+	uint8_t	date_reported = 0;
+
+	for (;;) {
+		ao_sleep(&ao_gps_data);
+		ao_mutex_get(&ao_gps_mutex);
+		ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+		ao_mutex_put(&ao_gps_mutex);
+
+		if (!(gps_data.flags & AO_GPS_VALID))
+			continue;
+
+		gps_log.tick = ao_gps_tick;
+		gps_log.type = AO_LOG_GPS_POS;
+		gps_log.u.gps.latitude = gps_data.latitude;
+		gps_log.u.gps.longitude = gps_data.longitude;
+		gps_log.u.gps.altitude = gps_data.altitude;
+		ao_log_metrum(&gps_log);
+
+		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;
+		gps_log.u.gps_time.year = gps_data.year;
+		gps_log.u.gps_time.month = gps_data.month;
+		gps_log.u.gps_time.day = gps_data.day;
+		ao_log_metrum(&gps_log);
+	}
+}
+
+void
+ao_gps_tracking_report_metrum(void)
+{
+	static __xdata struct ao_log_metrum		gps_log;
+	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
+	uint8_t	c, n, i, p, valid, packets;
+	uint8_t svid;
+
+	for (;;) {
+		ao_sleep(&ao_gps_tracking_data);
+		ao_mutex_get(&ao_gps_mutex);
+		ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+		ao_mutex_put(&ao_gps_mutex);
+
+		if (!(n = gps_tracking_data.channels))
+			continue;
+
+		gps_log.type = AO_LOG_GPS_SAT;
+		gps_log.tick = ao_gps_tick;
+		i = 0;
+		for (c = 0; c < n; c++) {
+			svid = gps_tracking_data.sats[c].svid;
+			if (svid != 0) {
+				if (i == 4) {
+					gps_log.u.gps_sat.channels = i;
+					gps_log.u.gps_sat.more = 1;
+					ao_log_metrum(&gps_log);
+					i = 0;
+				}
+				gps_log.u.gps_sat.sats[i].svid = svid;
+				gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
+				i++;
+			}
+		}
+		if (i) {
+			gps_log.u.gps_sat.channels = i;
+			gps_log.u.gps_sat.more = 0;
+			ao_log_metrum(&gps_log);
+		}
+	}
+}
+
+__xdata struct ao_task ao_gps_report_metrum_task;
+__xdata struct ao_task ao_gps_tracking_report_metrum_task;
+
+void
+ao_gps_report_metrum_init(void)
+{
+	ao_add_task(&ao_gps_report_metrum_task,
+		    ao_gps_report_metrum,
+		    "gps_report");
+	ao_add_task(&ao_gps_tracking_report_metrum_task,
+		    ao_gps_tracking_report_metrum,
+		    "gps_tracking_report");
+}
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index dce12f02..f6ab4520 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -45,6 +45,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TELESCIENCE	4	/* 32 byte typed telescience records */
 #define AO_LOG_FORMAT_TELEMEGA		5	/* 32 byte typed telemega records */
 #define AO_LOG_FORMAT_MINI		6	/* 16-byte MS5607 baro only */
+#define AO_LOG_FORMAT_TELEMETRUM	7	/* 16-byte typed telemetrum records */
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 extern __code uint8_t ao_log_format;
@@ -135,6 +136,7 @@ ao_log_full(void);
 #define AO_LOG_GPS_ALT		'H'
 #define AO_LOG_GPS_SAT		'V'
 #define AO_LOG_GPS_DATE		'Y'
+#define AO_LOG_GPS_POS		'P'
 
 #define AO_LOG_POS_NONE		(~0UL)
 
@@ -263,6 +265,64 @@ struct ao_log_mega {
 	} u;
 };
 
+struct ao_log_metrum {
+	char			type;			/* 0 */
+	uint8_t			csum;			/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;		/* 4 */
+			int16_t		ground_accel;	/* 6 */
+			uint32_t	ground_pres;	/* 8 */
+		} flight;	/* 12 */
+		/* AO_LOG_STATE */
+		struct {
+			uint16_t	state;		/* 4 */
+			uint16_t	reason;		/* 6 */
+		} state;	/* 8 */
+		/* AO_LOG_SENSOR */
+		struct {
+			uint32_t	pres;		/* 4 */
+			uint32_t	temp;		/* 8 */
+			int16_t		accel;		/* 12 */
+		} sensor;	/* 14 */
+		/* AO_LOG_TEMP_VOLT */
+		struct {
+			int16_t		v_batt;		/* 4 */
+			int16_t		sense_a;	/* 6 */
+			int16_t		sense_m;	/* 8 */
+		} volt;		/* 10 */
+		/* AO_LOG_GPS_POS */
+		struct {
+			int32_t		latitude;	/* 4 */
+			int32_t		longitude;	/* 8 */
+			int16_t		altitude;	/* 12 */
+		} gps;		/* 14 */
+		/* AO_LOG_GPS_TIME */
+		struct {
+			uint8_t		hour;		/* 4 */
+			uint8_t		minute;		/* 5 */
+			uint8_t		second;		/* 6 */
+			uint8_t		flags;		/* 7 */
+			uint8_t		year;		/* 8 */
+			uint8_t		month;		/* 9 */
+			uint8_t		day;		/* 10 */
+			uint8_t		pad;		/* 11 */
+		} gps_time;	/* 12 */
+		/* AO_LOG_GPS_SAT (up to three packets) */
+		struct {
+			uint8_t	channels;		/* 4 */
+			uint8_t	more;			/* 5 */
+			struct {
+				uint8_t	svid;
+				uint8_t c_n;
+			} sats[4];			/* 6 */
+		} gps_sat;				/* 14 */
+		uint8_t		raw[12];		/* 4 */
+	} u;	/* 16 */
+};
+
 struct ao_log_mini {
 	char		type;				/* 0 */
 	uint8_t		csum;				/* 1 */
@@ -304,9 +364,15 @@ uint8_t
 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 
 uint8_t
+ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
+
+uint8_t
 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 
 void
 ao_log_flush(void);
 
+void
+ao_gps_report_metrum_init(void);
+
 #endif /* _AO_LOG_H_ */
diff --git a/src/core/ao_log_metrum.c b/src/core/ao_log_metrum.c
new file mode 100644
index 00000000..9c17eeed
--- /dev/null
+++ b/src/core/ao_log_metrum.c
@@ -0,0 +1,175 @@
+/*
+ * 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 "ao.h"
+#include <ao_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata uint8_t	ao_log_mutex;
+static __xdata struct ao_log_metrum log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRUM;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+	uint8_t	sum = 0x5a;
+	uint8_t	i;
+
+	for (i = 0; i < sizeof (struct ao_log_metrum); i++)
+		sum += *b++;
+	return -sum;
+}
+
+uint8_t
+ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant
+{
+	uint8_t wrote = 0;
+	/* set checksum */
+	log->csum = 0;
+	log->csum = ao_log_csum((__xdata uint8_t *) log);
+	ao_mutex_get(&ao_log_mutex); {
+		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+			ao_log_stop();
+		if (ao_log_running) {
+			wrote = 1;
+			ao_storage_write(ao_log_current_pos,
+					 log,
+					 sizeof (struct ao_log_metrum));
+			ao_log_current_pos += sizeof (struct ao_log_metrum);
+		}
+	} ao_mutex_put(&ao_log_mutex);
+	return wrote;
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+	if (ao_log_csum((uint8_t *) &log) != 0)
+		return 0;
+	return 1;
+}
+
+#if HAS_ADC
+static __data uint8_t	ao_log_data_pos;
+
+/* a hack to make sure that ao_log_metrums fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_metrum))] ;
+
+#ifndef AO_SENSOR_INTERVAL_ASCENT
+#define AO_SENSOR_INTERVAL_ASCENT	1
+#define AO_SENSOR_INTERVAL_DESCENT	10
+#define AO_OTHER_INTERVAL		32
+#endif
+
+void
+ao_log(void)
+{
+	__pdata uint16_t	next_sensor, next_other;
+	uint8_t			i;
+
+	ao_storage_setup();
+
+	ao_log_scan();
+
+	while (!ao_log_running)
+		ao_sleep(&ao_log_running);
+
+#if HAS_FLIGHT
+	log.type = AO_LOG_FLIGHT;
+	log.tick = ao_sample_tick;
+#if HAS_ACCEL
+	log.u.flight.ground_accel = ao_ground_accel;
+#endif
+	log.u.flight.ground_pres = ao_ground_pres;
+	log.u.flight.flight = ao_flight_number;
+	ao_log_metrum(&log);
+#endif
+
+	/* Write the whole contents of the ring to the log
+	 * when starting up.
+	 */
+	ao_log_data_pos = ao_data_ring_next(ao_data_head);
+	next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
+	ao_log_state = ao_flight_startup;
+	for (;;) {
+		/* Write samples to EEPROM */
+		while (ao_log_data_pos != ao_data_head) {
+			log.tick = ao_data_ring[ao_log_data_pos].tick;
+			if ((int16_t) (log.tick - next_sensor) >= 0) {
+				log.type = AO_LOG_SENSOR;
+#if HAS_MS5607
+				log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
+				log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
+#endif
+				log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
+				ao_log_metrum(&log);
+				if (ao_log_state <= ao_flight_coast)
+					next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
+				else
+					next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
+			}
+			if ((int16_t) (log.tick - next_other) >= 0) {
+				log.type = AO_LOG_TEMP_VOLT;
+				log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
+				log.u.volt.sense_a = ao_data_ring[ao_log_data_pos].adc.sense[0];
+				log.u.volt.sense_m = ao_data_ring[ao_log_data_pos].adc.sense[1];
+				ao_log_metrum(&log);
+				next_other = log.tick + AO_OTHER_INTERVAL;
+			}
+			ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+		}
+#if HAS_FLIGHT
+		/* Write state change to EEPROM */
+		if (ao_flight_state != ao_log_state) {
+			ao_log_state = ao_flight_state;
+			log.type = AO_LOG_STATE;
+			log.tick = ao_time();
+			log.u.state.state = ao_log_state;
+			log.u.state.reason = 0;
+			ao_log_metrum(&log);
+
+			if (ao_log_state == ao_flight_landed)
+				ao_log_stop();
+		}
+#endif
+
+		ao_log_flush();
+
+		/* Wait for a while */
+		ao_delay(AO_MS_TO_TICKS(100));
+
+		/* Stop logging when told to */
+		while (!ao_log_running)
+			ao_sleep(&ao_log_running);
+	}
+}
+#endif
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+	if (!ao_storage_read(ao_log_pos(slot),
+			     &log,
+			     sizeof (struct ao_log_metrum)))
+		return 0;
+
+	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+		return log.u.flight.flight;
+	return 0;
+}
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 03a8a273..fb40451c 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -40,6 +40,10 @@ static __pdata uint16_t ao_aprs_time;
 #define AO_SEND_MEGA	1
 #endif
 
+#if defined (TELEMETRUM_V_2_0)
+#define AO_SEND_METRUM	1
+#endif
+
 #if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
 #define AO_TELEMETRY_SENSOR	AO_TELEMETRY_SENSOR_TELEMETRUM
 #endif
@@ -171,6 +175,57 @@ ao_send_mega_data(void)
 }
 #endif /* AO_SEND_MEGA */
 
+#ifdef AO_SEND_METRUM
+/* Send telemetrum sensor packet */
+static void
+ao_send_metrum_sensor(void)
+{
+	__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+			
+	telemetry.generic.tick = packet->tick;
+	telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
+
+	telemetry.metrum_sensor.state = ao_flight_state;
+	telemetry.metrum_sensor.accel = ao_data_accel(packet);
+	telemetry.metrum_sensor.pres = ao_data_pres(packet);
+	telemetry.metrum_sensor.temp = ao_data_temp(packet);
+
+	telemetry.metrum_sensor.acceleration = ao_accel;
+	telemetry.metrum_sensor.speed = ao_speed;
+	telemetry.metrum_sensor.height = ao_height;
+
+	telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
+	telemetry.metrum_sensor.sense_a = packet->adc.sense[0];
+	telemetry.metrum_sensor.sense_m = packet->adc.sense[1];
+
+	ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+static __pdata int8_t ao_telemetry_metrum_data_max;
+static __pdata int8_t ao_telemetry_metrum_data_cur;
+
+/* Send telemetrum data packet */
+static void
+ao_send_metrum_data(void)
+{
+	if (--ao_telemetry_metrum_data_cur <= 0) {
+		__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+		uint8_t	i;
+
+		telemetry.generic.tick = packet->tick;
+		telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
+
+		telemetry.metrum_data.ground_pres = ao_ground_pres;
+		telemetry.metrum_data.ground_accel = ao_ground_accel;
+		telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
+		telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
+
+		ao_radio_send(&telemetry, sizeof (telemetry));
+		ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
+	}
+}
+#endif /* AO_SEND_MEGA */
+
 #ifdef AO_SEND_ALL_BARO
 static uint8_t		ao_baro_sample;
 
@@ -327,9 +382,14 @@ ao_telemetry(void)
 				ao_send_mega_sensor();
 				ao_send_mega_data();
 #else
+#ifdef AO_SEND_METRUM
+				ao_send_metrum_sensor();
+				ao_send_metrum_data();
+#else
 				ao_send_sensor();
 #endif
 #endif
+#endif
 
 #if HAS_COMPANION
 				if (ao_companion_running)
@@ -399,6 +459,12 @@ ao_telemetry_set_interval(uint16_t interval)
 		cur++;
 	ao_telemetry_mega_data_cur = cur;
 #endif
+#if AO_SEND_METRUM
+	ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
+	if (ao_telemetry_metrum_data_max > cur)
+		cur++;
+	ao_telemetry_metrum_data_cur = cur;
+#endif
 
 #if HAS_COMPANION
 	if (!ao_companion_setup.update_period)
diff --git a/src/core/ao_telemetry.h b/src/core/ao_telemetry.h
index f2d201de..17dc3e93 100644
--- a/src/core/ao_telemetry.h
+++ b/src/core/ao_telemetry.h
@@ -207,6 +207,48 @@ struct ao_telemetry_mega_data {
 };
 
 
+#define AO_TELEMETRY_METRUM_SENSOR	0x0A
+
+struct ao_telemetry_metrum_sensor {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	uint8_t         state;          /*  5 flight state */
+	int16_t		accel;		/*  6 Z axis */
+
+	int32_t		pres;		/*  8 Pa * 10 */
+	int16_t		temp;		/* 12 °C * 100 */
+
+	int16_t         acceleration;   /* 14 m/s² * 16 */
+	int16_t         speed;          /* 16 m/s * 16 */
+	int16_t         height;         /* 18 m */
+
+	int16_t		v_batt;		/* 20 battery voltage */
+	int16_t		sense_a;	/* 22 apogee continuity sense */
+	int16_t		sense_m;	/* 24 main continuity sense */
+
+	uint8_t		pad[6];		/* 26 */
+	/* 32 */
+};
+	
+#define AO_TELEMETRY_METRUM_DATA	0x0B
+
+struct ao_telemetry_metrum_data {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	int32_t		ground_pres;	/* 8 average pres on pad */
+	int16_t		ground_accel;	/* 12 average accel on pad */
+	int16_t		accel_plus_g;	/* 14 accel calibration at +1g */
+	int16_t		accel_minus_g;	/* 16 accel calibration at -1g */
+
+	uint8_t		pad[14];	/* 18 */
+	/* 32 */
+};
+
+
 /* #define AO_SEND_ALL_BARO */
 
 #define AO_TELEMETRY_BARO		0x80
@@ -240,6 +282,8 @@ union ao_telemetry_all {
 	struct ao_telemetry_companion		companion;
 	struct ao_telemetry_mega_sensor		mega_sensor;
 	struct ao_telemetry_mega_data		mega_data;
+	struct ao_telemetry_metrum_sensor	metrum_sensor;
+	struct ao_telemetry_metrum_data		metrum_data;
 	struct ao_telemetry_baro		baro;
 };
 
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index adc288c3..42fe727a 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -34,6 +34,8 @@
 #define AO_TICK_SIGNED	int16_t
 #endif
 
+#define AO_PORT_TYPE	uint16_t
+
 /* Various definitions to make GCC look more like SDCC */
 
 #define ao_arch_naked_declare	__attribute__((naked))
diff --git a/src/stm/ao_beep_stm.c b/src/stm/ao_beep_stm.c
index 4761fbfc..a95d869b 100644
--- a/src/stm/ao_beep_stm.c
+++ b/src/stm/ao_beep_stm.c
@@ -17,6 +17,10 @@
 
 #include "ao.h"
 
+#ifndef BEEPER_CHANNEL
+#define BEEPER_CHANNEL	1
+#endif
+
 void
 ao_beep(uint8_t beep)
 {
@@ -56,6 +60,7 @@ ao_beep(uint8_t beep)
 		 *  is enabled and active high.
 		 */
 
+#if BEEPER_CHANNEL == 1
 		stm_tim3.ccmr1 = ((0 << STM_TIM234_CCMR1_OC2CE) |
 				  (STM_TIM234_CCMR1_OC2M_FROZEN << STM_TIM234_CCMR1_OC2M) |
 				  (0 << STM_TIM234_CCMR1_OC2PE) |
@@ -68,7 +73,6 @@ ao_beep(uint8_t beep)
 				  (0 << STM_TIM234_CCMR1_OC1FE) |
 				  (STM_TIM234_CCMR1_CC1S_OUTPUT << STM_TIM234_CCMR1_CC1S));
 
-
 		stm_tim3.ccer = ((0 << STM_TIM234_CCER_CC4NP) |
 				 (0 << STM_TIM234_CCER_CC4P) |
 				 (0 << STM_TIM234_CCER_CC4E) |
@@ -81,6 +85,33 @@ ao_beep(uint8_t beep)
 				 (0 << STM_TIM234_CCER_CC1NP) |
 				 (0 << STM_TIM234_CCER_CC1P) |
 				 (1 << STM_TIM234_CCER_CC1E));
+#endif
+#if BEEPER_CHANNEL == 4
+		stm_tim3.ccmr2 = ((0 << STM_TIM234_CCMR2_OC4CE) |
+				  (STM_TIM234_CCMR2_OC4M_TOGGLE << STM_TIM234_CCMR2_OC4M) |
+				  (0 << STM_TIM234_CCMR2_OC4PE) |
+				  (0 << STM_TIM234_CCMR2_OC4FE) |
+				  (STM_TIM234_CCMR2_CC4S_OUTPUT << STM_TIM234_CCMR2_CC4S) |
+
+				  (0 << STM_TIM234_CCMR2_OC3CE) |
+				  (STM_TIM234_CCMR2_OC3M_FROZEN << STM_TIM234_CCMR2_OC3M) |
+				  (0 << STM_TIM234_CCMR2_OC3PE) |
+				  (0 << STM_TIM234_CCMR2_OC3FE) |
+				  (STM_TIM234_CCMR2_CC3S_OUTPUT << STM_TIM234_CCMR2_CC3S));
+
+		stm_tim3.ccer = ((0 << STM_TIM234_CCER_CC4NP) |
+				 (0 << STM_TIM234_CCER_CC4P) |
+				 (1 << STM_TIM234_CCER_CC4E) |
+				 (0 << STM_TIM234_CCER_CC3NP) |
+				 (0 << STM_TIM234_CCER_CC3P) |
+				 (0 << STM_TIM234_CCER_CC3E) |
+				 (0 << STM_TIM234_CCER_CC2NP) |
+				 (0 << STM_TIM234_CCER_CC2P) |
+				 (0 << STM_TIM234_CCER_CC2E) |
+				 (0 << STM_TIM234_CCER_CC1NP) |
+				 (0 << STM_TIM234_CCER_CC1P) |
+				 (0 << STM_TIM234_CCER_CC1E));
+#endif
 
 
 		/* 5. Enable the counter by setting the CEN bit in the TIMx_CR1 register. */
@@ -110,13 +141,22 @@ ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant
 void
 ao_beep_init(void)
 {
-	/* Our beeper is on PC6, which is hooked to TIM3_CH1,
-	 * which is on PC6
-	 */
+#if BEEPER_CHANNEL == 1
 
+	/* Our beeper is on PC6, which is hooked to TIM3_CH1.
+	 */
 	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOCEN);
 
 	stm_afr_set(&stm_gpioc, 6, STM_AFR_AF2);
+#endif
+#if BEEPER_CHANNEL == 4
+
+	/* Our beeper is on PB1, which is hooked to TIM3_CH4.
+	 */
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN);
+
+	stm_afr_set(&stm_gpiob, 1, STM_AFR_AF2);
+#endif
 
 	/* Leave the timer off until requested */
 	
diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h
index 1868468f..ff3f5336 100644
--- a/src/stm/stm32l.h
+++ b/src/stm/stm32l.h
@@ -1739,7 +1739,7 @@ extern struct stm_tim234 stm_tim2, stm_tim3, stm_tim4;
 #define  STM_TIM234_CCMR1_CC1S_INPUT_TRC		3
 #define  STM_TIM234_CCMR1_CC1S_MASK			3
 
-#define STM_TIM234_CCMR2_OC2CE	15
+#define STM_TIM234_CCMR2_OC4CE	15
 #define STM_TIM234_CCMR2_OC4M	12
 #define  STM_TIM234_CCMR2_OC4M_FROZEN			0
 #define  STM_TIM234_CCMR2_OC4M_SET_HIGH_ON_MATCH	1
diff --git a/src/telemetrum-v2.0/.gitignore b/src/telemetrum-v2.0/.gitignore
new file mode 100644
index 00000000..35ce24d4
--- /dev/null
+++ b/src/telemetrum-v2.0/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+telemetrum-*.elf
diff --git a/src/telemetrum-v2.0/Makefile b/src/telemetrum-v2.0/Makefile
new file mode 100644
index 00000000..c03a5539
--- /dev/null
+++ b/src/telemetrum-v2.0/Makefile
@@ -0,0 +1,122 @@
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_companion.h \
+	ao_data.h \
+	ao_sample.h \
+	ao_pins.h \
+	altitude-pa.h \
+	ao_kalman.h \
+	ao_product.h \
+	ao_ms5607.h \
+	ao_mma655x.h \
+	ao_cc1120_CC1120.h \
+	ao_profile.h \
+	ao_task.h \
+	ao_whiten.h \
+	ao_sample_profile.h \
+	ao_mpu.h \
+	stm32l.h \
+	Makefile
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+#	ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+ALTOS_SRC = \
+	ao_boot_chain.c \
+	ao_interrupt.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_task.c \
+	ao_led.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_serial_stm.c \
+	ao_gps_ublox.c \
+	ao_gps_show.c \
+	ao_gps_report_metrum.c \
+	ao_ignite.c \
+	ao_freq.c \
+	ao_dma_stm.c \
+	ao_spi_stm.c \
+	ao_cc1120.c \
+	ao_fec_tx.c \
+	ao_fec_rx.c \
+	ao_data.c \
+	ao_ms5607.c \
+	ao_mma655x.c \
+	ao_adc_stm.c \
+	ao_beep_stm.c \
+	ao_storage.c \
+	ao_m25.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_report.c \
+	ao_convert_pa.c \
+	ao_log.c \
+	ao_log_metrum.c \
+	ao_sample.c \
+	ao_kalman.c \
+	ao_flight.c \
+	ao_telemetry.c \
+	ao_packet_slave.c \
+	ao_packet.c \
+	ao_companion.c \
+	ao_aprs.c \
+	$(PROFILE) \
+	$(SAMPLE_PROFILE) \
+	$(STACK_GUARD)
+
+PRODUCT=TeleMetrum-v2.0
+PRODUCT_DEF=-DTELEMETRUM_V_2_0
+IDPRODUCT=0x000b
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=telemetrum-v2.0
+PROG=$(PROGNAME)-$(VERSION).elf
+
+SRC=$(ALTOS_SRC) ao_telemetrum.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG)
+
+$(PROG): Makefile $(OBJ) altos.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc
+
+../altitude-pa.h: make-altitude-pa
+	nickle $< > $@
+
+$(OBJ): $(INC)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/telemetrum-v2.0/ao_pins.h b/src/telemetrum-v2.0/ao_pins.h
new file mode 100644
index 00000000..36cfc7e0
--- /dev/null
+++ b/src/telemetrum-v2.0/ao_pins.h
@@ -0,0 +1,282 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE		1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE			8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL		12
+#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV		3
+#define AO_RCC_CFGR_PLLDIV	(STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER	1
+#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER	2
+#define AO_RCC_CFGR_PPRE1_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER	2
+#define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1		0
+#define USE_SERIAL_1_STDIN	0
+#define SERIAL_1_PB6_PB7	0
+#define SERIAL_1_PA9_PA10	1
+
+#define HAS_SERIAL_2		0
+#define USE_SERIAL_2_STDIN	0
+#define SERIAL_2_PA2_PA3	0
+#define SERIAL_2_PD5_PD6	0
+
+#define HAS_SERIAL_3		1
+#define USE_SERIAL_3_STDIN	0
+#define SERIAL_3_PB10_PB11	1
+#define SERIAL_3_PC10_PC11	0
+#define SERIAL_3_PD8_PD9	0
+
+#define ao_gps_getchar		ao_serial3_getchar
+#define ao_gps_putchar		ao_serial3_putchar
+#define ao_gps_set_speed	ao_serial3_set_speed
+#define ao_gps_fifo		(ao_stm_usart3.rx_fifo)
+
+#define HAS_EEPROM		1
+#define USE_INTERNAL_FLASH	0
+#define HAS_USB			1
+#define HAS_BEEP		1
+#define BEEPER_CHANNEL		4
+#define HAS_RADIO		1
+#define HAS_TELEMETRY		1
+#define HAS_APRS		1
+
+#define HAS_SPI_1		1
+#define SPI_1_PA5_PA6_PA7	1	/* Barometer */
+#define SPI_1_PB3_PB4_PB5	1	/* Accelerometer */
+#define SPI_1_PE13_PE14_PE15	0
+#define SPI_1_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2		1
+#define SPI_2_PB13_PB14_PB15	1	/* Flash, Companion, Radio */
+#define SPI_2_PD1_PD3_PD4	0
+#define SPI_2_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define SPI_2_PORT		(&stm_gpiob)
+#define SPI_2_SCK_PIN		13
+#define SPI_2_MISO_PIN		14
+#define SPI_2_MOSI_PIN		15
+
+#define HAS_I2C_1		0
+#define I2C_1_PB8_PB9		0
+
+#define HAS_I2C_2		0
+#define I2C_2_PB10_PB11		0
+
+#define PACKET_HAS_SLAVE	1
+#define PACKET_HAS_MASTER	0
+
+#define LOW_LEVEL_DEBUG		0
+
+#define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT		(&stm_gpioc)
+#define LED_PIN_RED		14
+#define LED_PIN_GREEN		15
+#define AO_LED_RED		(1 << LED_PIN_RED)
+#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE		(AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS			1
+#define HAS_FLIGHT		1
+#define HAS_ADC			1
+#define HAS_ADC_TEMP		1
+#define HAS_LOG			1
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE		1
+#define HAS_IGNITE_REPORT	1
+
+#define AO_SENSE_DROGUE(p)	((p)->adc.sense[0])
+#define AO_SENSE_MAIN(p)	((p)->adc.sense[1])
+#define AO_IGNITER_CLOSED	400
+#define AO_IGNITER_OPEN		60
+
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT	(&stm_gpioa)
+#define AO_IGNITER_DROGUE_PIN	8
+
+/* Main */
+#define AO_IGNITER_MAIN_PORT	(&stm_gpioa)
+#define AO_IGNITER_MAIN_PIN	9
+
+#define AO_IGNITER_SET_DROGUE(v)	stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
+#define AO_IGNITER_SET_MAIN(v)		stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING		32
+#define AO_ADC_NUM_SENSE	2
+
+struct ao_adc {
+	int16_t			sense[AO_ADC_NUM_SENSE];
+	int16_t			v_batt;
+	int16_t			temp;
+};
+
+#define AO_ADC_DUMP(p) \
+	printf("tick: %5u drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+	       (p)->tick, \
+	       (p)->adc.sense[0], (p)->adc.sense[1], \
+	       (p)->adc.v_batt, (p)->adc.temp)
+
+#define AO_ADC_SENSE_DROGUE	0
+#define AO_ADC_SENSE_DROGUE_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_DROGUE_PIN	0
+
+#define AO_ADC_SENSE_MAIN	1
+#define AO_ADC_SENSE_MAIN_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_MAIN_PIN	1
+
+#define AO_ADC_V_BATT		8
+#define AO_ADC_V_BATT_PORT	(&stm_gpiob)
+#define AO_ADC_V_BATT_PIN	0
+
+#define AO_ADC_TEMP		16
+
+#define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_GPIOAEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOEEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN		3
+
+#define AO_ADC_PIN0_PORT	AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN0_PIN		AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN1_PORT	AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN1_PIN		AO_ADC_SENSE_MAIN_PIN
+#define AO_ADC_PIN2_PORT	AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN2_PIN		AO_ADC_V_BATT_PIN
+
+#define AO_NUM_ADC	       	(AO_NUM_ADC_PIN + 1)
+
+#define AO_ADC_SQ1		AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ2		AO_ADC_SENSE_MAIN
+#define AO_ADC_SQ3		AO_ADC_V_BATT
+#define AO_ADC_SQ4		AO_ADC_TEMP
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define AO_MS5607_PRIVATE_PINS	1
+#define AO_MS5607_CS_PORT	(&stm_gpiob)
+#define AO_MS5607_CS_PIN	12
+#define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS)
+#define AO_MS5607_MISO_PORT	(&stm_gpioa)
+#define AO_MS5607_MISO_PIN	6
+#define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO)
+#define AO_MS5607_SPI_INDEX	AO_SPI_1_PA5_PA6_PA7
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS		1
+#define AO_M25_SPI_CS_PORT	(&stm_gpiob)
+#define AO_M25_SPI_CS_MASK	(1 << 8)
+#define AO_M25_SPI_BUS		AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Radio (cc1120)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 	0x6ca333
+
+#define AO_FEC_DEBUG		0
+#define AO_CC1120_SPI_CS_PORT	(&stm_gpioa)
+#define AO_CC1120_SPI_CS_PIN	2
+#define AO_CC1120_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+#define AO_CC1120_SPI		stm_spi2
+
+#define AO_CC1120_INT_PORT		(&stm_gpioa)
+#define AO_CC1120_INT_PIN		(3)
+#define AO_CC1120_MCU_WAKEUP_PORT	(&stm_gpioa)
+#define AO_CC1120_MCU_WAKEUP_PIN	(4)
+
+#define AO_CC1120_INT_GPIO	2
+#define AO_CC1120_INT_GPIO_IOCFG	CC1120_IOCFG2
+
+#define AO_CC1120_MARC_GPIO	3
+#define AO_CC1120_MARC_GPIO_IOCFG	CC1120_IOCFG3
+
+#define HAS_BOOT_RADIO		0
+
+#define HAS_HIGHG_ACCEL		1
+
+/*
+ * mma655x
+ */
+
+#define HAS_MMA655X		1
+#define AO_MMA655X_SPI_INDEX	AO_SPI_1_PE13_PE14_PE15
+#define AO_MMA655X_CS_PORT	(&stm_gpiod)
+#define AO_MMA655X_CS_PIN	4
+
+#define NUM_CMDS		16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT	(&stm_gpiob)
+#define AO_COMPANION_CS_PIN	(6)
+#define AO_COMPANION_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR		0
+#define LEGACY_MONITOR		0
+#define HAS_MONITOR_PUT		1
+#define AO_MONITOR_LED		0
+#define HAS_RSSI		0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE	       	0
+#endif
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telemetrum-v2.0/ao_telemetrum.c b/src/telemetrum-v2.0/ao_telemetrum.c
new file mode 100644
index 00000000..e365417d
--- /dev/null
+++ b/src/telemetrum-v2.0/ao_telemetrum.c
@@ -0,0 +1,90 @@
+/*
+ * 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>
+#include <ao_ms5607.h>
+#include <ao_mma655x.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_packet.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+
+int
+main(void)
+{
+	ao_clock_init();
+	
+#if HAS_STACK_GUARD
+	ao_mpu_init();
+#endif
+
+	ao_task_init();
+	ao_serial_init();
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_GREEN);
+	ao_timer_init();
+
+	ao_spi_init();
+	ao_dma_init();
+	ao_exti_init();
+
+	ao_adc_init();
+#if HAS_BEEP
+	ao_beep_init();
+#endif
+	ao_cmd_init();
+
+#if HAS_MS5607
+	ao_ms5607_init();
+#endif
+#if HAS_MMA655X
+	ao_mma655x_init();
+#endif
+
+	ao_storage_init();
+	
+	ao_flight_init();
+	ao_log_init();
+	ao_report_init();
+
+	ao_usb_init();
+	ao_gps_init();
+	ao_gps_report_metrum_init();
+	ao_telemetry_init();
+	ao_radio_init();
+	ao_packet_slave_init(FALSE);
+	ao_igniter_init();
+	ao_companion_init();
+
+	ao_config_init();
+#if AO_PROFILE
+	ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+	ao_sample_profile_init();
+#endif
+	
+	ao_start_scheduler();
+	return 0;
+}