altos: Clean up usage of port parameters

Make stm port parameters always be pointers; this avoids the confusion
where some macros took '&port' and others took a bare 'port', and also
unifies code to run on other processors in a consistent fashion.

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

12 files changed, 230 insertions, 103 deletions

diff --git a/src/cc1111/ao_arch_funcs.h b/src/cc1111/ao_arch_funcs.h
index d9f5955a..728f1f76 100644
--- a/src/cc1111/ao_arch_funcs.h
+++ b/src/cc1111/ao_arch_funcs.h
@@ -31,14 +31,14 @@ extern __xdata uint8_t	ao_spi_mutex;
 	ao_mutex_put(&ao_spi_mutex); \
 	} while (0)
 
-#define ao_spi_get_bit(bit,bus) do {    \
-	ao_mutex_get(&ao_spi_mutex); \
-	(bit) = 0; \
+#define ao_spi_get_bit(reg,bit,pin,bus) do {	\
+		ao_mutex_get(&ao_spi_mutex);	\
+		pin = 0;			\
 	} while (0)
 
-#define ao_spi_put_bit(bit,bus) do {		\
-	(bit) = 1; \
-	ao_mutex_put(&ao_spi_mutex); \
+#define ao_spi_put_bit(reg,bit,pin,bus) do {	\
+		pin = 1;			\
+		ao_mutex_put(&ao_spi_mutex);	\
 	} while (0)
 
 
@@ -65,3 +65,15 @@ ao_spi_init(void);
 		SPI_CS_DIR |= mask;		\
 		SPI_CS_SEL &= ~mask;		\
 	} while (0)
+
+#define cc1111_enable_output(port,dir,sel,mask,v) do { \
+	port = port & ~(mask) | v; \
+	dir |= mask; \
+	sel &= ~mask; \
+} while (0)
+
+#define disable_unreachable	_Pragma("disable_warning 126")
+
+#define token_paster(x,y)	x ## y
+#define token_evaluator(x,y)	token_paster(x,y)
+#define ao_enable_output(port,pin,v) cc1111_enable_output(port,token_evaluator(port,DIR), token_evaluator(port,SEL), 1 << pin, 1 << v)
diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h
index 0923e75d..e28a7b65 100644
--- a/src/cc1111/ao_pins.h
+++ b/src/cc1111/ao_pins.h
@@ -41,8 +41,9 @@
 
 	#define HAS_COMPANION		1
 	#define COMPANION_CS_ON_P1	1
-	#define COMPANION_CS_MASK	0x4	/* CS1 is P1_2 */
-	#define COMPANION_CS		P1_2
+	#define AO_COMPANION_CS_PORT	P1
+	#define AO_COMPANION_CS_PIN	2
+	#define AO_COMPANION_CS		P1_2
 
 	#define AO_LED_RED		1
 	#define LEDS_AVAILABLE		(AO_LED_RED)
@@ -72,9 +73,9 @@
 	#define PACKET_HAS_SLAVE	1
 
 	#define HAS_COMPANION		1
-	#define COMPANION_CS_ON_P1	1
-	#define COMPANION_CS_MASK	0x4	/* CS1 is P1_2 */
-	#define COMPANION_CS		P1_2
+	#define AO_COMPANION_CS_PORT	P1
+	#define AO_COMPANION_CS_PIN	2
+	#define AO_COMPANION_CS		P1_2
 
 	#define AO_LED_RED		1
 	#define LEDS_AVAILABLE		(AO_LED_RED)
@@ -108,9 +109,9 @@
 	#define PACKET_HAS_SLAVE	1
 
 	#define HAS_COMPANION		1
-	#define COMPANION_CS_ON_P1	1
-	#define COMPANION_CS_MASK	0x4	/* CS1 is P1_2 */
-	#define COMPANION_CS		P1_2
+	#define AO_COMPANION_CS_PORT	P1
+	#define AO_COMPANION_CS_PIN	2
+	#define AO_COMPANION_CS		P1_2
 
 	#define AO_LED_RED		1
 	#define LEDS_AVAILABLE		(AO_LED_RED)
@@ -527,21 +528,31 @@
 #endif /* HAS_ADC */
 
 #if IGNITE_ON_P2
+#define AO_IGNITER_PORT		P2
+#define AO_IGNITER_DROGUE_PORT	AO_IGNITER_PORT
 #define AO_IGNITER_DROGUE	P2_3
 #define AO_IGNITER_MAIN		P2_4
 #define AO_IGNITER_DIR		P2DIR
 #define AO_IGNITER_DROGUE_BIT	(1 << 3)
 #define AO_IGNITER_MAIN_BIT	(1 << 4)
+#define AO_IGNITER_DROGUE_PIN	3
+#define AO_IGNITER_MAIN_PIN	4
 #endif
 
 #if IGNITE_ON_P0
+#define AO_IGNITER_PORT		P0
 #define AO_IGNITER_DROGUE	P0_5
 #define AO_IGNITER_MAIN		P0_4
 #define AO_IGNITER_DIR		P0DIR
 #define AO_IGNITER_DROGUE_BIT	(1 << 5)
 #define AO_IGNITER_MAIN_BIT	(1 << 4)
+#define AO_IGNITER_DROGUE_PIN	5
+#define AO_IGNITER_MAIN_PIN	4
 #endif
 
+#define AO_IGNITER_DROGUE_PORT	AO_IGNITER_PORT
+#define AO_IGNITER_MAIN_PORT	AO_IGNITER_PORT
+
 /* test these values with real igniters */
 #define AO_IGNITER_OPEN		1000
 #define AO_IGNITER_CLOSED	7000
diff --git a/src/drivers/ao_25lc1024.c b/src/drivers/ao_25lc1024.c
index f0fb13c9..b25d52c4 100644
--- a/src/drivers/ao_25lc1024.c
+++ b/src/drivers/ao_25lc1024.c
@@ -38,8 +38,9 @@ __pdata uint16_t	ao_storage_unit;
  * Using SPI on USART 0, with P1_2 as the chip select
  */
 
+#define EE_CS_PORT	P1
 #define EE_CS		P1_2
-#define EE_CS_INDEX	2
+#define EE_CS_PIN	2
 
 static __xdata uint8_t ao_ee_mutex;
 
@@ -49,9 +50,9 @@ static __xdata uint8_t ao_ee_mutex;
 	_asm nop _endasm; \
 } while(0)
 
-#define ao_ee_cs_low()	ao_spi_get_bit(EE_CS, AO_EE_SPI_BUS)
+#define ao_ee_cs_low()	ao_spi_get_bit(EE_CS_PORT, EE_CS_PIN, EE_CS, AO_EE_SPI_BUS)
 
-#define ao_ee_cs_high()	ao_spi_put_bit(EE_CS, AO_EE_SPI_BUS)
+#define ao_ee_cs_high()	ao_spi_put_bit(EE_CS_PORT, EE_CS_PIN, EE_CS, AO_EE_SPI_BUS)
 
 struct ao_ee_instruction {
 	uint8_t	instruction;
@@ -235,7 +236,5 @@ void
 ao_storage_device_init(void)
 {
 	/* set up CS */
-	EE_CS = 1;
-	P1DIR |= (1 << EE_CS_INDEX);
-	P1SEL &= ~(1 << EE_CS_INDEX);
+	ao_enable_output(EE_CS_PORT, EE_CS_PIN,1);
 }
diff --git a/src/drivers/ao_at45db161d.c b/src/drivers/ao_at45db161d.c
index afe0080b..5eb25acf 100644
--- a/src/drivers/ao_at45db161d.c
+++ b/src/drivers/ao_at45db161d.c
@@ -43,9 +43,9 @@ __xdata uint8_t ao_flash_mutex;
 	_asm nop _endasm; \
 } while(0)
 
-#define ao_flash_cs_low()	ao_spi_get_bit(FLASH_CS, AO_FLASH_SPI_BUS)
+#define ao_flash_cs_low()	ao_spi_get_bit(FLASH_CS_PORT, FLASH_CS_PIN, FLASH_CS, AO_FLASH_SPI_BUS)
 
-#define ao_flash_cs_high()	ao_spi_put_bit(FLASH_CS, AO_FLASH_SPI_BUS)
+#define ao_flash_cs_high()	ao_spi_put_bit(FLASH_CS_PORT, FLASH_CS_PIN, FLASH_CS, AO_FLASH_SPI_BUS)
 
 struct ao_flash_instruction {
 	uint8_t	instruction;
diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index fe88e998..a31cc2ea 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -15,20 +15,36 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-#include "ao.h"
-
-#define ao_spi_slow() (U0GCR = (UxGCR_CPOL_NEGATIVE | 		\
-				UxGCR_CPHA_FIRST_EDGE |		\
-				UxGCR_ORDER_MSB |		\
-				(13 << UxGCR_BAUD_E_SHIFT)))
-
-#define ao_spi_fast() (U0GCR = (UxGCR_CPOL_NEGATIVE | 		\
-				UxGCR_CPHA_FIRST_EDGE |		\
-				UxGCR_ORDER_MSB |		\
-				(17 << UxGCR_BAUD_E_SHIFT)))
-
-#define COMPANION_SELECT()	do { ao_spi_get_bit(COMPANION_CS, AO_COMPANION_BUS); ao_spi_slow(); } while (0)
-#define COMPANION_DESELECT()	do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS, AO_COMPANION_BUS); } while (0)
+#include <ao.h>
+#include <ao_companion.h>
+
+#ifndef ao_spi_slow
+#define ao_spi_slow(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE |	\
+				   UxGCR_CPHA_FIRST_EDGE |	\
+				   UxGCR_ORDER_MSB |		\
+				   (13 << UxGCR_BAUD_E_SHIFT)))
+
+#define ao_spi_fast(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE |	\
+				   UxGCR_CPHA_FIRST_EDGE |	\
+				   UxGCR_ORDER_MSB |		\
+				   (17 << UxGCR_BAUD_E_SHIFT)))
+#endif
+
+#define COMPANION_SELECT()	do {			\
+		ao_spi_get_bit(AO_COMPANION_CS_PORT,	\
+			       AO_COMPANION_CS_PIN,	\
+			       AO_COMPANION_CS,		\
+			       AO_COMPANION_SPI_BUS);	\
+		ao_spi_slow(AO_COMPANION_SPI_BUS);	\
+	} while (0)
+
+#define COMPANION_DESELECT()	do {			\
+		ao_spi_fast(AO_COMPANION_SPI_BUS);	\
+		ao_spi_put_bit(AO_COMPANION_CS_PORT,	\
+			       AO_COMPANION_CS_PIN,	\
+			       AO_COMPANION_CS,		\
+			       AO_COMPANION_SPI_BUS);	\
+	} while (0)
 
 __xdata struct ao_companion_command		ao_companion_command;
 __xdata struct ao_companion_setup		ao_companion_setup;
@@ -123,10 +139,7 @@ static __xdata struct ao_task ao_companion_task;
 void
 ao_companion_init(void)
 {
-	COMPANION_CS_PORT |= COMPANION_CS_MASK;	/* raise all CS pins */
-	COMPANION_CS_DIR |= COMPANION_CS_MASK;	/* set CS pins as outputs */
-	COMPANION_CS_SEL &= ~COMPANION_CS_MASK;	/* set CS pins as GPIO */
-
+	ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
 	ao_cmd_register(&ao_companion_cmds[0]);
 	ao_add_task(&ao_companion_task, ao_companion, "companion");
 }
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index 1bc914e6..64663ea6 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -58,7 +58,7 @@ static uint8_t ao_hmc5883_done;
 static void
 ao_hmc5883_isr(void)
 {
-	ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
+	ao_exti_disable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
 	ao_hmc5883_done = 1;
 	ao_wakeup(&ao_hmc5883_done);
 }
@@ -71,7 +71,7 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 	uint8_t		single = HMC5883_MODE_SINGLE;
 
 	ao_hmc5883_done = 0;
-	ao_exti_enable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
+	ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
 	ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
 
 	cli();
@@ -159,7 +159,7 @@ ao_hmc5883_init(void)
 	ao_hmc5883_valid = 0;
 
 	ao_enable_port(AO_HMC5883_INT_PORT);
-	ao_exti_setup(&AO_HMC5883_INT_PORT,
+	ao_exti_setup(AO_HMC5883_INT_PORT,
 		      AO_HMC5883_INT_PIN,
 		      AO_EXTI_MODE_FALLING | AO_EXTI_MODE_PULL_UP,
 		      ao_hmc5883_isr);
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 0f0625d0..e08f4d40 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -25,12 +25,12 @@ static uint8_t	  		ms5607_configured;
 static void
 ao_ms5607_start(void) {
 	ao_spi_get(AO_MS5607_SPI_INDEX);
-	stm_gpio_set(&AO_MS5607_CS_GPIO, AO_MS5607_CS, 0);
+	stm_gpio_set(AO_MS5607_CS_GPIO, AO_MS5607_CS, 0);
 }
 
 static void
 ao_ms5607_stop(void) {
-	stm_gpio_set(&AO_MS5607_CS_GPIO, AO_MS5607_CS, 1);
+	stm_gpio_set(AO_MS5607_CS_GPIO, AO_MS5607_CS, 1);
 	ao_spi_put(AO_MS5607_SPI_INDEX);
 }
 
@@ -132,12 +132,12 @@ ao_ms5607_get_sample(uint8_t cmd) {
 
 	ao_ms5607_start();
 	ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
-	ao_exti_enable(&AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
+	ao_exti_enable(AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
 	cli();
 	while (!ao_ms5607_done)
 		ao_sleep(&ao_ms5607_done);
 	sei();
-	ao_exti_disable(&AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
+	ao_exti_disable(AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
 	ao_ms5607_stop();
 
 	ao_ms5607_start();
@@ -203,7 +203,7 @@ ao_ms5607(void)
 	ao_ms5607_setup();
 	for (;;)
 	{
-		struct ao_ms5607_sample	ao_ms5607_next;
+		static struct ao_ms5607_sample	ao_ms5607_next;
 		ao_ms5607_sample(&ao_ms5607_next);
 		ao_arch_critical(
 			ao_ms5607_current = ao_ms5607_next;
@@ -260,7 +260,7 @@ ao_ms5607_init(void)
 	 * conversion is complete, the MS5607 will raise this
 	 * pin as a signal
 	 */
-	ao_exti_setup(&AO_MS5607_MISO_GPIO,
+	ao_exti_setup(AO_MS5607_MISO_GPIO,
 		      AO_MS5607_MISO,
 		      AO_EXTI_MODE_RISING,
 		      ao_ms5607_isr);
@@ -268,7 +268,7 @@ ao_ms5607_init(void)
 	/* Reset the pin from INPUT to ALTERNATE so that SPI works
 	 * This needs an abstraction at some point...
 	 */
-	stm_moder_set(&AO_MS5607_MISO_GPIO,
+	stm_moder_set(AO_MS5607_MISO_GPIO,
 		      AO_MS5607_MISO,
 		      STM_MODER_ALTERNATE);
 }
diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
index 9d9113c8..f5bd3e0d 100644
--- a/src/megametrum-v0.1/ao_pins.h
+++ b/src/megametrum-v0.1/ao_pins.h
@@ -76,7 +76,7 @@
 #define HAS_SPI_2		1
 #define SPI_2_PB13_PB14_PB15	1
 #define SPI_2_PD1_PD3_PD4	0
-#define SPI_2_GPIO		stm_gpiob
+#define SPI_2_GPIO		(&stm_gpiob)
 #define SPI_2_SCK		13
 #define SPI_2_MISO		14
 #define SPI_2_MOSI		15
@@ -87,12 +87,13 @@
 #define HAS_I2C_2		1
 #define I2C_2_PB10_PB11		1
 
-#define PACKET_HAS_SLAVE	0
+#define PACKET_HAS_SLAVE	1
+#define PACKET_HAS_MASTER	0
 
-#define LOW_LEVEL_DEBUG		1
+#define LOW_LEVEL_DEBUG		0
 
 #define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOCEN
-#define LED_PORT		stm_gpioc
+#define LED_PORT		(&stm_gpioc)
 #define LED_PIN_RED		8
 #define LED_PIN_GREEN		9
 #define AO_LED_RED		(1 << LED_PIN_RED)
@@ -107,6 +108,48 @@
 #define HAS_ACCEL_REF		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
+
+#define AO_IGNITER_PORT_A	(&stm_gpiod)
+#define AO_IGNITER_PIN_A	6
+
+#define AO_IGNITER_PORT_B	(&stm_gpiod)
+#define AO_IGNITER_PIN_B	7
+
+#define AO_IGNITER_PORT_C	(&stm_gpiob)
+#define AO_IGNITER_PIN_C	5
+
+#define AO_IGNITER_PORT_D	(&stm_gpioe)
+#define AO_IGNITER_PIN_D	4
+
+#define AO_IGNITER_PORT_E	(&stm_gpioe)
+#define AO_IGNITER_PIN_E	6
+
+#define AO_IGNITER_PORT_F	(&stm_gpioe)
+#define AO_IGNITER_PIN_F	5
+
+#define AO_IGNITER_DROGUE_PORT	AO_IGNITER_PORT_A
+#define AO_IGNITER_DROGUE_PIN	AO_IGNITER_PIN_A
+
+#define AO_IGNITER_MAIN_PORT	AO_IGNITER_PORT_B
+#define AO_IGNITER_MAIN_PIN	AO_IGNITER_PIN_B
+
+#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	6
 
@@ -120,43 +163,43 @@ struct ao_adc {
 };
 
 #define AO_ADC_SENSE_A		0
-#define AO_ADC_SENSE_A_PORT	stm_gpioa
+#define AO_ADC_SENSE_A_PORT	(&stm_gpioa)
 #define AO_ADC_SENSE_A_PIN	0
 
 #define AO_ADC_SENSE_B		1
-#define AO_ADC_SENSE_B_PORT	stm_gpioa
+#define AO_ADC_SENSE_B_PORT	(&stm_gpioa)
 #define AO_ADC_SENSE_B_PIN	1
 
 #define AO_ADC_SENSE_C		2
-#define AO_ADC_SENSE_C_PORT	stm_gpioa
+#define AO_ADC_SENSE_C_PORT	(&stm_gpioa)
 #define AO_ADC_SENSE_C_PIN	2
 
 #define AO_ADC_SENSE_D		3
-#define AO_ADC_SENSE_D_PORT	stm_gpioa
+#define AO_ADC_SENSE_D_PORT	(&stm_gpioa)
 #define AO_ADC_SENSE_D_PIN	3
 
 #define AO_ADC_SENSE_E		4
-#define AO_ADC_SENSE_E_PORT	stm_gpioa
+#define AO_ADC_SENSE_E_PORT	(&stm_gpioa)
 #define AO_ADC_SENSE_E_PIN	4
 
 #define AO_ADC_SENSE_F		22
-#define AO_ADC_SENSE_F_PORT	stm_gpioe
+#define AO_ADC_SENSE_F_PORT	(&stm_gpioe)
 #define AO_ADC_SENSE_F_PIN	7
 
 #define AO_ADC_V_BATT		8
-#define AO_ADC_V_BATT_PORT	stm_gpiob
+#define AO_ADC_V_BATT_PORT	(&stm_gpiob)
 #define AO_ADC_V_BATT_PIN	0
 
 #define AO_ADC_V_PBATT		9
-#define AO_ADC_V_PBATT_PORT	stm_gpiob
+#define AO_ADC_V_PBATT_PORT	(&stm_gpiob)
 #define AO_ADC_V_PBATT_PIN	1
 
 #define AO_ADC_ACCEL_REF	10
-#define AO_ADC_ACCEL_REF_PORT	stm_gpioc
+#define AO_ADC_ACCEL_REF_PORT	(&stm_gpioc)
 #define AO_ADC_ACCEL_REF_PIN	0
 
 #define AO_ADC_ACCEL		11
-#define AO_ADC_ACCEL_PORT	stm_gpioc
+#define AO_ADC_ACCEL_PORT	(&stm_gpioc)
 #define AO_ADC_ACCEL_PIN	1
 
 #define AO_ADC_TEMP		16
@@ -207,10 +250,10 @@ struct ao_adc {
  * Pressure sensor settings
  */
 #define HAS_MS5607		1
-#define AO_MS5607_CS_GPIO	stm_gpioc
+#define AO_MS5607_CS_GPIO	(&stm_gpioc)
 #define AO_MS5607_CS		4
 #define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS)
-#define AO_MS5607_MISO_GPIO	stm_gpioa
+#define AO_MS5607_MISO_GPIO	(&stm_gpioa)
 #define AO_MS5607_MISO		6
 #define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO)
 #define AO_MS5607_SPI_INDEX	(STM_SPI_INDEX(1))
@@ -220,7 +263,7 @@ struct ao_adc {
  */
 
 #define M25_MAX_CHIPS		1
-#define AO_M25_SPI_CS_PORT	stm_gpiod
+#define AO_M25_SPI_CS_PORT	(&stm_gpiod)
 #define AO_M25_SPI_CS_MASK	(1 << 3)
 #define AO_M25_SPI_BUS		STM_SPI_INDEX(2)
 
@@ -228,21 +271,23 @@ struct ao_adc {
  * Radio (cc1120)
  */
 
-#define AO_CC1120_SPI_CS_PORT	stm_gpioc
+#define AO_FEC_DEBUG		1
+#define AO_CC1120_SPI_CS_PORT	(&stm_gpioc)
 #define AO_CC1120_SPI_CS_PIN	5
 #define AO_CC1120_SPI_BUS	STM_SPI_INDEX(2)
 
-#define AO_CC1120_INT_PORT	stm_gpioc
+#define AO_CC1120_INT_PORT	(&stm_gpioc)
 #define AO_CC1120_INT_PIN	14
 
 #define AO_CC1120_INT_GPIO	2
+#define HAS_BOOT_RADIO		1
 
 /*
  * Mag sensor (hmc5883)
  */
 
 #define HAS_HMC5883		1
-#define AO_HMC5883_INT_PORT	stm_gpioc
+#define AO_HMC5883_INT_PORT	(&stm_gpioc)
 #define AO_HMC5883_INT_PIN	12
 #define AO_HMC5883_I2C_INDEX	STM_I2C_INDEX(1)
 
@@ -251,7 +296,7 @@ struct ao_adc {
  */
 
 #define HAS_MPU6000		1	
-#define AO_MPU6000_INT_PORT	stm_gpioc
+#define AO_MPU6000_INT_PORT	(&stm_gpioc)
 #define AO_MPU6000_INT_PIN	13
 #define AO_MPU6000_I2C_INDEX	STM_I2C_INDEX(1)
 
@@ -259,4 +304,28 @@ struct ao_adc {
 
 #define NUM_CMDS		16
 
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT	(&stm_gpiod)
+#define AO_COMPANION_CS_PIN	(0)
+#define AO_COMPANION_SPI_BUS	STM_SPI_INDEX(2)
+
+/*
+ * 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
+ */
+
+#define AO_PROFILE	       	0
+
 #endif /* _AO_PINS_H_ */
diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h
index d02c071c..7e222122 100644
--- a/src/stm-demo/ao_pins.h
+++ b/src/stm-demo/ao_pins.h
@@ -70,7 +70,7 @@
 #define LOW_LEVEL_DEBUG		1
 
 #define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOBEN
-#define LED_PORT		stm_gpiob
+#define LED_PORT		(&stm_gpiob)
 #define LED_PIN_GREEN		7
 #define LED_PIN_BLUE		6
 #define AO_LED_GREEN		(1 << LED_PIN_GREEN)
@@ -147,7 +147,7 @@ struct ao_adc {
 };
 
 #define AO_ADC_IDD		4
-#define AO_ADC_PIN0_PORT	stm_gpioa
+#define AO_ADC_PIN0_PORT	(&stm_gpioa)
 #define AO_ADC_PIN0_PIN		4
 
 #define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_GPIOAEN))
diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index ed1d20c9..7564c7fa 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -156,43 +156,43 @@ ao_adc_init(void)
 #endif
 
 #ifdef AO_ADC_PIN0_PORT
-	stm_moder_set(&AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN1_PORT
-	stm_moder_set(&AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN2_PORT
-	stm_moder_set(&AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN3_PORT
-	stm_moder_set(&AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN4_PORT
-	stm_moder_set(&AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN5_PORT
-	stm_moder_set(&AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN6_PORT
-	stm_moder_set(&AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN7_PORT
-	stm_moder_set(&AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN8_PORT
-	stm_moder_set(&AO_ADC_PIN8_PORT, AO_ADC_PIN8_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN8_PORT, AO_ADC_PIN8_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN9_PORT
-	stm_moder_set(&AO_ADC_PIN9_PORT, AO_ADC_PIN9_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN9_PORT, AO_ADC_PIN9_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN10_PORT
-	stm_moder_set(&AO_ADC_PIN10_PORT, AO_ADC_PIN10_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN10_PORT, AO_ADC_PIN10_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN11_PORT
-	stm_moder_set(&AO_ADC_PIN11_PORT, AO_ADC_PIN11_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN11_PORT, AO_ADC_PIN11_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN12_PORT
-	stm_moder_set(&AO_ADC_PIN12_PORT, AO_ADC_PIN12_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN12_PORT, AO_ADC_PIN12_PIN, STM_MODER_ANALOG);
 #endif
 
 	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADC1EN);
@@ -281,8 +281,10 @@ ao_adc_init(void)
 #endif
 	/* Clear any stale status bits */
 	stm_adc.sr = 0;
-	ao_adc_ready = 1;
 
 	ao_dma_alloc(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
+
 	ao_cmd_register(&ao_adc_cmds[0]);
+
+	ao_adc_ready = 1;
 }
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index 447042dd..62b10063 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -40,36 +40,54 @@ ao_spi_recv(void *block, uint16_t len, uint8_t spi_index);
 void
 ao_spi_duplex(void *out, void *in, uint16_t len, uint8_t spi_index);
 
+#define AO_SPI_SPEED_FAST	STM_SPI_CR1_BR_PCLK_16
+#define AO_SPI_SPEED_200kHz	STM_SPI_CR1_BR_PCLK_256
+
+extern uint16_t	ao_spi_speed[STM_NUM_SPI];
+
+#define ao_spi_slow(bus)	(ao_spi_speed[bus] = AO_SPI_SPEED_200kHz)
+
+#define ao_spi_fast(bus)	(ao_spi_speed[bus] = AO_SPI_SPEED_FAST)
+
 void
 ao_spi_init(void);
 
 #define ao_spi_get_mask(reg,mask,bus) do {		\
 		ao_spi_get(bus);			\
-		(reg).bsrr = ((uint32_t) mask) << 16;	\
+		(reg)->bsrr = ((uint32_t) mask) << 16;	\
 	} while (0)
 
 #define ao_spi_put_mask(reg,mask,bus) do {	\
-		(reg).bsrr = mask;		\
+		(reg)->bsrr = mask;		\
 		ao_spi_put(bus);		\
 	} while (0)
 
+#define ao_spi_get_bit(reg,bit,pin,bus) ao_spi_get_mask(reg,(1<<bit),bus)
+#define ao_spi_put_bit(reg,bit,pin,bus) ao_spi_put_mask(reg,(1<<bit),bus)
+
 #define ao_enable_port(port) do {					\
-		if (&(port) == &stm_gpioa)				\
+		if ((port) == &stm_gpioa)				\
 			stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN); \
-		else if (&(port) == &stm_gpiob)				\
+		else if ((port) == &stm_gpiob)				\
 			stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); \
-		else if (&(port) == &stm_gpioc)				\
+		else if ((port) == &stm_gpioc)				\
 			stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOCEN); \
-		else if (&(port) == &stm_gpiod)				\
+		else if ((port) == &stm_gpiod)				\
 			stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIODEN); \
-		else if (&(port) == &stm_gpioe)				\
+		else if ((port) == &stm_gpioe)				\
 			stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN); \
 	} while (0)
 
 
+#define ao_enable_output(port,pin,v) do {			\
+		ao_enable_port(port);				\
+		stm_gpio_set(port, pin, v);			\
+		stm_moder_set(port, pin, STM_MODER_OUTPUT);	\
+	} while (0)
+
 #define ao_enable_cs(port,bit) do {				\
-		stm_gpio_set(&(port), bit, 1);			\
-		stm_moder_set(&(port), bit, STM_MODER_OUTPUT);	\
+		stm_gpio_set((port), bit, 1);			\
+		stm_moder_set((port), bit, STM_MODER_OUTPUT);	\
 	} while (0)
 
 #define ao_spi_init_cs(port, mask) do {				\
diff --git a/src/stm/ao_led.c b/src/stm/ao_led.c
index d649f3d7..ee313b6f 100644
--- a/src/stm/ao_led.c
+++ b/src/stm/ao_led.c
@@ -22,25 +22,28 @@ __pdata uint16_t ao_led_enable;
 void
 ao_led_on(uint16_t colors)
 {
-	LED_PORT.odr |= (colors & ao_led_enable);
+	LED_PORT->bsrr = (colors & ao_led_enable);
 }
 
 void
 ao_led_off(uint16_t colors)
 {
-	LED_PORT.odr &= ~(colors & ao_led_enable);
+	LED_PORT->bsrr = (uint32_t) (colors & ao_led_enable) << 16;
 }
 
 void
 ao_led_set(uint16_t colors)
 {
-	LED_PORT.odr = (LED_PORT.odr & ~(ao_led_enable)) | (colors & ao_led_enable);
+	uint16_t	on = colors & ao_led_enable;
+	uint16_t	off = ~colors & ao_led_enable;
+
+	LED_PORT->bsrr = off << 16 | on;
 }
 
 void
 ao_led_toggle(uint16_t colors)
 {
-	LED_PORT.odr ^= (colors & ao_led_enable);
+	LED_PORT->odr ^= (colors & ao_led_enable);
 }
 
 void
@@ -58,11 +61,11 @@ ao_led_init(uint16_t enable)
 
 	stm_rcc.ahbenr |= (1 << LED_PORT_ENABLE);
 	ao_led_enable = enable;
-	LED_PORT.odr &= ~enable;
+	LED_PORT->odr &= ~enable;
 	for (bit = 0; bit < 16; bit++) {
 		if (enable & (1 << bit)) {
-			stm_moder_set(&LED_PORT, bit, STM_MODER_OUTPUT);
-			stm_otyper_set(&LED_PORT, bit, STM_OTYPER_PUSH_PULL);
+			stm_moder_set(LED_PORT, bit, STM_MODER_OUTPUT);
+			stm_otyper_set(LED_PORT, bit, STM_OTYPER_PUSH_PULL);
 		}
 	}
 }