Merge branch 'branch-1.6' into debian

17 files changed, 473 insertions, 51 deletions

diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am
index 6a170cbd..66d2560e 100644
--- a/ao-tools/Makefile.am
+++ b/ao-tools/Makefile.am
@@ -2,7 +2,8 @@ SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list \
 	ao-load ao-telem ao-send-telem ao-sky-flash \
 	ao-dumpflash ao-edit-telem ao-dump-up ao-elftohex \
 	ao-flash ao-usbload ao-test-igniter ao-test-baro \
-	ao-test-flash ao-cal-accel ao-test-gps ao-usbtrng
+	ao-test-flash ao-cal-accel ao-test-gps ao-usbtrng \
+	ao-cal-freq
 if LIBSTLINK
 SUBDIRS += ao-stmload
 endif
diff --git a/ao-tools/ao-cal-freq/.gitignore b/ao-tools/ao-cal-freq/.gitignore
new file mode 100644
index 00000000..4fe14865
--- /dev/null
+++ b/ao-tools/ao-cal-freq/.gitignore
@@ -0,0 +1 @@
+ao-cal-freq
diff --git a/ao-tools/ao-cal-freq/Makefile.am b/ao-tools/ao-cal-freq/Makefile.am
new file mode 100644
index 00000000..e11c2b0a
--- /dev/null
+++ b/ao-tools/ao-cal-freq/Makefile.am
@@ -0,0 +1,11 @@
+bin_PROGRAMS=ao-cal-freq
+
+AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+
+ao_cal_freq_DEPENDENCIES = $(top_builddir)/ao-tools/lib/libao-tools.a
+
+ao_cal_freq_LDADD=$(top_builddir)/ao-tools/lib/libao-tools.a $(LIBUSB_LIBS) -lm
+
+ao_cal_freq_SOURCES=ao-cal-freq.c
+
+man_MANS = ao-cal-freq.1
diff --git a/ao-tools/ao-cal-freq/ao-cal-freq.1 b/ao-tools/ao-cal-freq/ao-cal-freq.1
new file mode 100644
index 00000000..bfc3101c
--- /dev/null
+++ b/ao-tools/ao-cal-freq/ao-cal-freq.1
@@ -0,0 +1,58 @@
+.\"
+.\" 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-LOAD 1 "ao-cal-freq" ""
+.SH NAME
+ao-cal-freq \- Calibrate AltOS flight computer frequency
+.SH SYNOPSIS
+.B "ao-cal-freq"
+[\-T \fItty-device\fP]
+[\--tty \fItty-device\fP]
+[\-D \fIaltos-device\fP]
+[\--device \fIaltos-device\fP]
+.SH DESCRIPTION
+.I ao-cal-freq
+drives the frequency calibration process and saves the result.
+.SH OPTIONS
+.TP
+\-T tty-device | --tty tty-device
+This selects which tty device the debugger uses to communicate with
+the target device. The special name 'BITBANG' directs ao-dbg to use
+the cp2103 connection, otherwise this should be a usb serial port
+connected to a suitable cc1111 debug node.
+.TP
+\-D AltOS-device | --device AltOS-device
+Search for a connected device. This requires an argument of one of the
+following forms:
+.IP
+TeleMega:2
+.br
+TeleMega
+.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.
+.SH USAGE
+.I ao-cal-freq
+opens the target device, interactively calibrates the frequency, then
+shows the resulting calibration values and saves them to configuration
+memory.
+.SH AUTHOR
+Keith Packard
diff --git a/ao-tools/ao-cal-freq/ao-cal-freq.c b/ao-tools/ao-cal-freq/ao-cal-freq.c
new file mode 100644
index 00000000..464faf0f
--- /dev/null
+++ b/ao-tools/ao-cal-freq/ao-cal-freq.c
@@ -0,0 +1,280 @@
+/*
+ * Copyright © 2014 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 <err.h>
+#include <fcntl.h>
+#include <gelf.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <sysexits.h>
+#include <unistd.h>
+#include <getopt.h>
+#include <string.h>
+#include <stdbool.h>
+#include <termios.h>
+#include <math.h>
+#include "ao-elf.h"
+#include "ccdbg.h"
+#include "cc-usb.h"
+#include "cc.h"
+#include "ao-verbose.h"
+
+static const struct option options[] = {
+	{ .name = "tty", .has_arg = 1, .val = 'T' },
+	{ .name = "device", .has_arg = 1, .val = 'D' },
+	{ .name = "raw", .has_arg = 0, .val = 'r' },
+	{ .name = "verbose", .has_arg = 1, .val = 'v' },
+	{ 0, 0, 0, 0},
+};
+
+static void usage(char *program)
+{
+	fprintf(stderr, "usage: %s [--verbose=<verbose>] [--device=<device>] [-tty=<tty>]\n", program);
+	exit(1);
+}
+
+void
+done(struct cc_usb *cc, int code)
+{
+	cc_usb_close(cc);
+	exit (code);
+}
+
+static int
+ends_with(char *whole, char *suffix)
+{
+	int whole_len = strlen(whole);
+	int suffix_len = strlen(suffix);
+
+	if (suffix_len > whole_len)
+		return 0;
+	return strcmp(whole + whole_len - suffix_len, suffix) == 0;
+}
+
+static int
+starts_with(char *whole, char *prefix)
+{
+	int whole_len = strlen(whole);
+	int prefix_len = strlen(prefix);
+
+	if (prefix_len > whole_len)
+		return 0;
+	return strncmp(whole, prefix, prefix_len) == 0;
+}
+
+static char **
+tok(char *line) {
+	char	**strs = malloc (sizeof (char *)), *str;
+	int	n = 0;
+
+	while ((str = strtok(line, " \t"))) {
+		line = NULL;
+		strs = realloc(strs, (n + 2) * sizeof (char *));
+		strs[n] = strdup(str);
+		n++;
+	}
+	strs[n] = '\0';
+	return strs;
+}
+
+static void
+free_strs(char **strs) {
+	char	*str;
+	int	i;
+
+	for (i = 0; (str = strs[i]) != NULL; i++)
+		free(str);
+	free(strs);
+}
+
+struct flash {
+	struct flash	*next;
+	char		line[512];
+	char		**strs;
+};
+
+static struct flash *
+flash(struct cc_usb *usb)
+{
+	struct flash	*head = NULL, **tail = &head;
+	cc_usb_printf(usb, "c s\nv\n");
+	for (;;) {
+		char	line[512];
+		struct flash	*b;
+
+		cc_usb_getline(usb, line, sizeof (line));
+		b = malloc (sizeof (struct flash));
+		strcpy(b->line, line);
+		b->strs = tok(line);
+		b->next = NULL;
+		*tail = b;
+		tail = &b->next;
+		if (strstr(line, "software-version"))
+			break;
+	}
+	return head;
+}
+
+static void
+free_flash(struct flash *b) {
+	struct flash *n;
+
+	while (b) {
+		n = b->next;
+		free_strs(b->strs);
+		free(b);
+		b = n;
+	}
+}
+
+char **
+find_flash(struct flash *b, char *word0) {
+	int i;
+	for (;b; b = b->next) {
+		if (strstr(b->line, word0))
+			return b->strs;
+	}
+	return NULL;
+}
+
+void
+await_key(void)
+{
+	struct termios	termios, termios_save;
+	char	buf[512];
+
+	tcgetattr(0, &termios);
+	termios_save = termios;
+	cfmakeraw(&termios);
+	tcsetattr(0, TCSAFLUSH, &termios);
+	read(0, buf, sizeof (buf));
+	tcsetattr(0, TCSAFLUSH, &termios_save);
+}
+
+int
+do_cal(struct cc_usb *usb) {
+	struct flash	*b;
+	char	line[1024];
+	double	measured_freq;
+	char	**cur_freq_words;
+	char	**cur_cal_words;
+	char	*line_end;
+	int	cur_freq;
+	int	cur_cal;
+	int	new_cal;
+
+	cc_usb_printf(usb, "E 0\n");
+
+	for(;;) {
+		cc_usb_printf(usb, "C 1\n");
+		cc_usb_sync(usb);
+
+		printf("Generating RF carrier. Please enter measured frequency [enter for done]: ");
+		fflush(stdout);
+		fgets(line, sizeof (line) - 1, stdin);
+		cc_usb_printf(usb, "C 0\n");
+		cc_usb_sync(usb);
+
+		measured_freq = strtod(line, &line_end);
+		if (line_end == line)
+			break;
+
+		b = flash(usb);
+
+		cur_cal_words = find_flash(b, "Radio cal:");
+		cur_freq_words = find_flash(b, "Frequency:");
+
+		if (!cur_cal_words || !cur_freq_words) {
+			printf("no response\n");
+			return 0;
+		}
+
+		cur_cal = atoi(cur_cal_words[2]);
+		cur_freq = atoi(cur_freq_words[1]);
+
+		printf ("Current radio calibration %d\n", cur_cal);
+		printf ("Current radio frequency: %d\n", cur_freq);
+
+
+		new_cal = floor ((((double) cur_freq / 1000.0) / measured_freq) * cur_cal + 0.5);
+
+		printf ("Programming flash with cal value %d\n", new_cal);
+
+		cc_usb_printf (usb, "c f %d\nc w\n", new_cal);
+		cc_usb_sync(usb);
+	}
+	return 1;
+}
+
+int
+main (int argc, char **argv)
+{
+	char			*device = NULL;
+	char			*filename;
+	Elf			*e;
+	unsigned int		s;
+	int			i;
+	int			c;
+	int			tries;
+	struct cc_usb		*cc = NULL;
+	char			*tty = NULL;
+	int			success;
+	int			verbose = 0;
+	int			ret = 0;
+	int			expected_size;
+
+	while ((c = getopt_long(argc, argv, "rT:D:c:s:v:", options, NULL)) != -1) {
+		switch (c) {
+		case 'T':
+			tty = optarg;
+			break;
+		case 'D':
+			device = optarg;
+			break;
+		case 'v':
+			verbose++;
+			break;
+		default:
+			usage(argv[0]);
+			break;
+		}
+	}
+
+	ao_verbose = verbose;
+
+	if (verbose > 1)
+		ccdbg_add_debug(CC_DEBUG_BITBANG);
+
+	if (!tty)
+		tty = cc_usbdevs_find_by_arg(device, "AltosFlash");
+	if (!tty)
+		tty = cc_usbdevs_find_by_arg(device, "TeleMega");
+	if (!tty)
+		tty = getenv("ALTOS_TTY");
+	if (!tty)
+		tty="/dev/ttyACM0";
+
+	cc = cc_usb_open(tty);
+
+	if (!cc)
+		exit(1);
+
+	if (!do_cal(cc))
+		ret = 1;
+	done(cc, ret);
+}
diff --git a/ao-tools/ao-dump-up/ao-dump-up.c b/ao-tools/ao-dump-up/ao-dump-up.c
index 6268dc8b..b1f85af6 100644
--- a/ao-tools/ao-dump-up/ao-dump-up.c
+++ b/ao-tools/ao-dump-up/ao-dump-up.c
@@ -29,12 +29,13 @@
 static const struct option options[] = {
 	{ .name = "tty", .has_arg = 1, .val = 'T' },
 	{ .name = "device", .has_arg = 1, .val = 'D' },
+	{ .name = "wait", .has_arg = 0, .val = 'w' },
 	{ 0, 0, 0, 0},
 };
 
 static void usage(char *program)
 {
-	fprintf(stderr, "usage: %s [--tty <tty-name>] [--device <device-name>]\n", program);
+	fprintf(stderr, "usage: %s [--tty <tty-name>] [--device <device-name>] [--wait]\n", program);
 	exit(1);
 }
 
@@ -134,7 +135,7 @@ static int swap16(int i)
 static int find_header(struct cc_usb *cc)
 {
 	for (;;) {
-		if (get_nonwhite(cc, 0) == 'M' && get_nonwhite(cc, 1000) == 'P')
+		if (get_nonwhite(cc, -1) == 'M' && get_nonwhite(cc, 1000) == 'P')
 			return 1;
 	}
 }
@@ -165,9 +166,13 @@ main (int argc, char **argv)
 	int		i;
 	int		crc;
 	int		current_crc;
+	int		wait = 0;
 
-	while ((c = getopt_long(argc, argv, "T:D:", options, NULL)) != -1) {
+	while ((c = getopt_long(argc, argv, "wT:D:", options, NULL)) != -1) {
 		switch (c) {
+		case 'w':
+			wait = 1;
+			break;
 		case 'T':
 			tty = optarg;
 			break;
@@ -179,8 +184,21 @@ main (int argc, char **argv)
 			break;
 		}
 	}
-	if (!tty)
-		tty = cc_usbdevs_find_by_arg(device, "FT230X Basic UART");
+	if (!tty) {
+		for (;;) {
+			tty = cc_usbdevs_find_by_arg(device, "FT230X Basic UART");
+			if (tty) {
+				if (wait) {
+					printf("tty is %s\n", tty);
+					sleep(1);
+				}
+				break;
+			}
+			if (!wait)
+				break;
+			sleep(1);
+		}
+	}
 	if (!tty)
 		tty = getenv("ALTOS_TTY");
 	if (!tty)
diff --git a/ao-tools/ao-flash/Makefile.am b/ao-tools/ao-flash/Makefile.am
index 6b7ea6bb..4231dc21 100644
--- a/ao-tools/ao-flash/Makefile.am
+++ b/ao-tools/ao-flash/Makefile.am
@@ -1,3 +1,3 @@
-bin_SCRIPTS=ao-flash-stm ao-flash-lpc
+bin_SCRIPTS=ao-flash-stm ao-flash-lpc ao-flash-stm32f0x
 
-man_MANS = ao-flash-stm.1 ao-flash-lpc.1
\ No newline at end of file
+man_MANS = ao-flash-stm.1 ao-flash-lpc.1 ao-flash-stm32f0x.1
diff --git a/ao-tools/ao-flash/ao-flash-stm b/ao-tools/ao-flash/ao-flash-stm
index 9eebf5d2..9eebf5d2 100644..100755
--- a/ao-tools/ao-flash/ao-flash-stm
+++ b/ao-tools/ao-flash/ao-flash-stm
diff --git a/ao-tools/ao-flash/ao-flash-stm32f0x b/ao-tools/ao-flash/ao-flash-stm32f0x
new file mode 100755
index 00000000..45643a4f
--- /dev/null
+++ b/ao-tools/ao-flash/ao-flash-stm32f0x
@@ -0,0 +1,16 @@
+#!/bin/sh
+case "$#" in
+0)
+	echo "usage: $0 <filename> ..."
+	exit 1
+	;;
+esac
+cmds=/tmp/flash$$
+trap "rm $cmds" 0 1 15
+file="$1"
+echo "program $file verify reset" > $cmds
+openocd \
+	-f interface/stlink-v2.cfg \
+	-f target/stm32f0x_stlink.cfg \
+	-f $cmds \
+	-c shutdown
diff --git a/ao-tools/ao-flash/ao-flash-stm32f0x.1 b/ao-tools/ao-flash/ao-flash-stm32f0x.1
new file mode 100644
index 00000000..07ff5b59
--- /dev/null
+++ b/ao-tools/ao-flash/ao-flash-stm32f0x.1
@@ -0,0 +1,36 @@
+.\"
+.\" Copyright © 2013 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-FLASH-LPC 1 "ao-flash-stm32f0x" ""
+.SH NAME
+ao-flash-stm32f0x \- flash a program to a STM32F0x-based AltOS device using openocd
+.SH SYNOPSIS
+.B "ao-flash-stm32f0x"
+\fIfile.elf\fP
+.SH DESCRIPTION
+.I ao-flash-stm32f0x
+loads the specified .elf file into the target device flash memory.
+.SH USAGE
+.I ao-flash-stm32f0x
+is a simple script that passes the correct arguments to openocd to
+load a file into the target device via a connected STlink
+debugging dongle.
+.SH "SEE ALSO"
+openocd(1)
+.SH AUTHOR
+Keith Packard
diff --git a/ao-tools/ao-list/ao-list.c b/ao-tools/ao-list/ao-list.c
index c4b43d8f..4c065e79 100644
--- a/ao-tools/ao-list/ao-list.c
+++ b/ao-tools/ao-list/ao-list.c
@@ -28,12 +28,12 @@ main (int argc, char **argv)
 	struct cc_usbdev	*dev;
 	int			i;
 
-	devs = cc_usbdevs_scan();
+	devs = cc_usbdevs_scan(TRUE);
 	if (devs) {
 		for (i = 0; i < devs->ndev; i++) {
 			dev = devs->dev[i];
 			printf ("%-20.20s %6d %s\n",
-				dev->product, dev->serial, dev->tty);
+				dev->product, dev->serial, dev->tty ? dev->tty : "(none)");
 		}
 		cc_usbdevs_free(devs);
 	}
diff --git a/ao-tools/ao-mega/ao-mega.c b/ao-tools/ao-mega/ao-mega.c
index 523229e6..cfb58bb4 100644
--- a/ao-tools/ao-mega/ao-mega.c
+++ b/ao-tools/ao-mega/ao-mega.c
@@ -85,7 +85,7 @@ main (int argc, char **argv)
 
 			if (cc_mega_parse(line, &log)) {
 				if (log.is_config) {
-					printf ("kind %d\n", log.u.config_int.kind);
+					printf ("config %2d %s", log.u.config_int.kind, line);
 				} else {
 					printf ("tick %5d ", log.tick);
 					switch (log.type) {
@@ -126,8 +126,7 @@ main (int argc, char **argv)
 							printf (" s%d %6d",
 								j, log.u.volt.sense[j]);
 						}
-						printf ("pyro %04x\n", log.u.volt.pyro);
-						printf ("\n");
+						printf (" pyro %04x\n", log.u.volt.pyro);
 						break;
 					default:
 						printf ("type %c\n", log.type, log.tick);
diff --git a/ao-tools/ao-usbtrng/ao-usbtrng.1 b/ao-tools/ao-usbtrng/ao-usbtrng.1
index 7a1311b9..eabdd8a1 100644
--- a/ao-tools/ao-usbtrng/ao-usbtrng.1
+++ b/ao-tools/ao-usbtrng/ao-usbtrng.1
@@ -16,28 +16,28 @@
 .\" 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
 .\"
 .\"
-.TH AO-LOAD 1 "ao-usbtrng" ""
+.TH AO-USBTRNG 1 "ao-usbtrng" ""
 .SH NAME
 ao-usbtrng \- dump random numbers from USBtrng
 .SH SYNOPSIS
-.B "ao-usbtrng"
-[\-T \fItty-device\fP]
-[\--tty \fItty-device\fP]
-[\-D \fIaltos-device\fP]
-[\--device \fIaltos-device\fP]
-\fIkbytes\fP
+.B "ao-usbtrng" [OPTION...] [KBYTES]
 .SH DESCRIPTION
 .I ao-usbtrng
-dumps random numbers from a USBtrng device
+dumps random numbers from a USBtrng device. If provided KBYTES specifies the number of 1024 byte blocks to produce on standard output. Without KBYTES
+.I ao-usbtrng
+produces random bytes continuously until killed.
 .SH OPTIONS
 .TP
-\-T tty-device | --tty tty-device
+\-v, --verbose
+increase verbosity
+.TP
+\-T, -tty=TTYDEVICE
 This selects which tty device the debugger uses to communicate with
 the target device. The special name 'BITBANG' directs ao-dbg to use
 the cp2103 connection, otherwise this should be a usb serial port
 connected to a suitable cc1111 debug node.
 .TP
-\-D AltOS-device | --device AltOS-device
+\-D, --device=ALTOSDEVICE
 Search for a connected device. This requires an argument of one of the
 following forms:
 .IP
@@ -52,7 +52,7 @@ product, leaving out the serial number will cause the tool to match
 one of the available devices.
 .SH USAGE
 .I ao-usbtrng
-opens the target device and reads the specified number of kbytes of
+opens the target device and reads the specified number of KBYTES of
 random data.
 .SH AUTHOR
 Keith Packard
diff --git a/ao-tools/ao-usbtrng/ao-usbtrng.c b/ao-tools/ao-usbtrng/ao-usbtrng.c
index 232f4e3e..456885d9 100644
--- a/ao-tools/ao-usbtrng/ao-usbtrng.c
+++ b/ao-tools/ao-usbtrng/ao-usbtrng.c
@@ -35,14 +35,13 @@
 static const struct option options[] = {
 	{ .name = "tty", .has_arg = 1, .val = 'T' },
 	{ .name = "device", .has_arg = 1, .val = 'D' },
-	{ .name = "raw", .has_arg = 0, .val = 'r' },
-	{ .name = "verbose", .has_arg = 1, .val = 'v' },
+	{ .name = "verbose", .has_arg = 0, .val = 'v' },
 	{ 0, 0, 0, 0},
 };
 
 static void usage(char *program)
 {
-	fprintf(stderr, "usage: %s [--verbose=<verbose>] [--device=<device>] [-tty=<tty>] <kbytes>\n", program);
+	fprintf(stderr, "usage: %s [--verbose] [--device=<AltOS-device>] [-tty=<tty>] [<kbytes>]\n", program);
 	exit(1);
 }
 
@@ -58,21 +57,17 @@ main (int argc, char **argv)
 {
 	char			*device = NULL;
 	char			*filename;
-	Elf			*e;
-	unsigned int		s;
 	int			i;
 	int			c;
-	int			tries;
 	struct cc_usb		*cc = NULL;
 	char			*tty = NULL;
-	int			success;
 	int			verbose = 0;
 	int			ret = 0;
-	int			expected_size;
-	int			kbytes;
+	int			kbytes = 0; /* 0 == continuous */
+	int			written;
 	uint8_t			bits[1024];
 
-	while ((c = getopt_long(argc, argv, "rT:D:c:s:v:", options, NULL)) != -1) {
+	while ((c = getopt_long(argc, argv, "vT:D:", options, NULL)) != -1) {
 		switch (c) {
 		case 'T':
 			tty = optarg;
@@ -89,12 +84,8 @@ main (int argc, char **argv)
 		}
 	}
 
-	if (!argv[optind])
-		usage(argv[0]);
-
-	kbytes = atoi(argv[optind]);
-	if (kbytes < 1)
-		kbytes = 1;
+	if (optind < argc)
+		kbytes = atoi(argv[optind]);
 
 	ao_verbose = verbose;
 
@@ -113,13 +104,22 @@ main (int argc, char **argv)
 	if (!cc)
 		exit(1);
 
-	cc_usb_printf(cc, "f %d\n", kbytes);
+	if (kbytes) {
+		cc_usb_printf(cc, "f %d\n", kbytes);
 
-	while (kbytes--) {
-		int	i;
-		for (i = 0; i < 1024; i++)
-			bits[i] = cc_usb_getchar(cc);
-		write(1, bits, 1024);
+		while (kbytes--) {
+			for (i = 0; i < 1024; i++)
+				bits[i] = cc_usb_getchar(cc);
+			write(1, bits, 1024);
+		}
+	} else { /* 0 == continuous */
+		written = 0;
+		while (written >= 0) {
+			cc_usb_printf(cc, "f 1\n");
+			for (i = 0; i < 1024; i++)
+				bits[i] = cc_usb_getchar(cc);
+			written = write(1, bits, 1024);
+		}
 	}
 
 	done(cc, ret);
diff --git a/ao-tools/lib/cc-usb.c b/ao-tools/lib/cc-usb.c
index 1a4dc7a1..1e023c7e 100644
--- a/ao-tools/lib/cc-usb.c
+++ b/ao-tools/lib/cc-usb.c
@@ -207,8 +207,10 @@ _cc_usb_sync(struct cc_usb *cc, int wait_for_input, int write_timeout)
 					write(2, cc->in_buf, cc->in_count);
 					cc->in_count = 0;
 				}
-			} else if (ret < 0)
+			} else if (ret <= 0) {
 				perror("read");
+				return -1;
+			}
 		}
 		if (fds.revents & POLLOUT) {
 			ret = write(cc->fd, cc->out_buf,
diff --git a/ao-tools/lib/cc-usbdev.c b/ao-tools/lib/cc-usbdev.c
index 95bfa244..6c3ba591 100644
--- a/ao-tools/lib/cc-usbdev.c
+++ b/ao-tools/lib/cc-usbdev.c
@@ -219,7 +219,7 @@ is_am(int idVendor, int idProduct) {
 }
 
 struct cc_usbdevs *
-cc_usbdevs_scan(void)
+cc_usbdevs_scan(int non_tty)
 {
 	int			e;
 	struct dirent		**ents;
@@ -241,7 +241,7 @@ cc_usbdevs_scan(void)
 		dir = cc_fullname(USB_DEVICES, ents[e]->d_name);
 		dev = usb_scan_device(dir);
 		free(dir);
-		if (is_am(dev->idVendor, dev->idProduct) && dev->tty) {
+		if (is_am(dev->idVendor, dev->idProduct) && (non_tty || dev->tty)) {
 			if (devs->dev)
 				devs->dev = realloc(devs->dev,
 						    (devs->ndev + 1) * sizeof (struct usbdev *));
@@ -274,7 +274,7 @@ match_dev(char *product, int serial)
 	int			i;
 	char			*tty = NULL;
 
-	devs = cc_usbdevs_scan();
+	devs = cc_usbdevs_scan(FALSE);
 	if (!devs)
 		return NULL;
 	for (i = 0; i < devs->ndev; i++) {
diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h
index bff4b2c9..ff95e4fc 100644
--- a/ao-tools/lib/cc.h
+++ b/ao-tools/lib/cc.h
@@ -50,7 +50,7 @@ void
 cc_usbdevs_free(struct cc_usbdevs *usbdevs);
 
 struct cc_usbdevs *
-cc_usbdevs_scan(void);
+cc_usbdevs_scan(int non_tty);
 
 char *
 cc_usbdevs_find_by_arg(char *arg, char *default_product);