Merge branch 'branch-1.5' into debian

Conflicts:
	ChangeLog
	Releasing
	altosui/Instdrv/NSIS/Includes/java.nsh
	altosui/altos-windows.nsi.in
	configure.ac
	doc/Makefile
	doc/altusmetrum.xsl
	micropeak/micropeak-windows.nsi.in
	telegps/telegps-windows.nsi.in

10 files changed, 444 insertions, 201 deletions

diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index 8a1b6a4d..19beb78f 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -1,11 +1,11 @@
-/** 
+/**
  * http://ad7zj.net/kd7lmo/aprsbeacon_code.html
  *
  * @mainpage Pico Beacon
  *
  * @section overview_sec Overview
  *
- * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band.  The device utilizes a 
+ * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band.  The device utilizes a
  * Microchip PIC 18F2525 embedded controller, Motorola M12+ GPS engine, and Analog Devices AD9954 DDS.  The device is capable
  * of generating a 1200bps A-FSK and 9600 bps FSK AX.25 compliant APRS (Automatic Position Reporting System) message.
 
@@ -24,7 +24,7 @@
  *                                     (4) corrected size of LOG_COORD block when searching for end of log.
  *
  * @subsection v303 V3.03
- * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin, 
+ * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin,
  *                                     (2) additional comments and Doxygen tags,
  *                                     (3) integration and test code calculates DDS FTW,
  *                                     (4) swapped bus and reference analog input ports (hardware change),
@@ -38,7 +38,7 @@
  *                                    (2) Doxygen documentation clean up and additions, and
  *                                    (3) added integration and test code to baseline.
  *
- * 
+ *
  * @subsection v301 V3.01
  * 13 Jan 2005, Renamed project and files to Pico Beacon.
  *
@@ -54,28 +54,28 @@
  *                                     (8) added flight data recorder, and
  *                                     (9) added diagnostics terminal mode.
  *
- * 
+ *
  * @subsection v201 V2.01
- * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and 
+ * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and
  *                                     (2) changed temperature resolution to 0.1 degrees F.
  *
- * 
+ *
  * @subsection v200 V2.00
  * 26 Oct 2002, Change include; (1) Micro Beacon II hardware changes including PIC18F252 processor,
- *                                     (2) serial EEPROM, 
- *                                     (3) GPS power control, 
- *                                     (4) additional ADC input, and 
- *                                     (5) LM60 temperature sensor.                            
+ *                                     (2) serial EEPROM,
+ *                                     (3) GPS power control,
+ *                                     (4) additional ADC input, and
+ *                                     (5) LM60 temperature sensor.
  *
  *
  * @subsection v101 V1.01
- * 5 Dec 2001, Change include; (1) Changed startup message, and 
+ * 5 Dec 2001, Change include; (1) Changed startup message, and
  *                                    (2) applied SEPARATE pragma to several methods for memory usage.
  *
  *
  * @subsection v100 V1.00
  * 25 Sep 2001, Initial release.  Flew ANSR-3 and ANSR-4.
- * 
+ *
 
 
  *
@@ -102,11 +102,11 @@
  *  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
- *  
+ *
 
 
- * 
- * 
+ *
+ *
  * @section design Design Details
  *
  * Provides design details on a variety of the components that make up the Pico Beacon.
@@ -118,29 +118,33 @@
  *  @page power Power Consumption
  *
  *  Measured DC power consumption.
- * 
- *  3VDC prime power current 
+ *
+ *  3VDC prime power current
 
  *
- *    7mA Held in reset 
+ *    7mA Held in reset
 
- *   18mA Processor running, all I/O off 
+ *   18mA Processor running, all I/O off
 
- *  110mA GPS running 
+ *  110mA GPS running
 
- *  120mA GPS running w/antenna 
+ *  120mA GPS running w/antenna
 
- *  250mA DDS running and GPS w/antenna 
+ *  250mA DDS running and GPS w/antenna
 
- *  420mA DDS running, GPS w/antenna, and PA chain on with no RF 
+ *  420mA DDS running, GPS w/antenna, and PA chain on with no RF
 
- *  900mA Transmit 
+ *  900mA Transmit
 
  *
  */
 
 #ifndef AO_APRS_TEST
 #include <ao.h>
+
+#if !HAS_APRS
+#error HAS_APRS not set
+#endif
 #endif
 
 #include <ao_aprs.h>
@@ -176,11 +180,11 @@ static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc)
 {
     uint8_t i, bit, value;
 
-    for (i = 0; i < length; ++i) 
+    for (i = 0; i < length; ++i)
     {
         value = buffer[i];
 
-        for (bit = 0; bit < 8; ++bit) 
+        for (bit = 0; bit < 8; ++bit)
         {
             crc ^= (value & 0x01);
             crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 );
@@ -253,7 +257,7 @@ typedef enum
 
 /// AX.25 compliant packet header that contains destination, station call sign, and path.
 /// 0x76 for SSID-11, 0x78 for SSID-12
-static uint8_t TNC_AX25_HEADER[] = { 
+static uint8_t TNC_AX25_HEADER[] = {
     'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60,
     'N' << 1, '0' << 1, 'C' << 1, 'A' << 1, 'L' << 1, 'L' << 1, 0x78,
     'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65,
@@ -261,6 +265,7 @@ static uint8_t TNC_AX25_HEADER[] = {
 
 #define TNC_CALLSIGN_OFF	7
 #define TNC_CALLSIGN_LEN	6
+#define TNC_SSID_OFF		13
 
 static void
 tncSetCallsign(void)
@@ -275,6 +280,9 @@ tncSetCallsign(void)
 	}
 	for (; i < TNC_CALLSIGN_LEN; i++)
 		TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1;
+
+	/* Fill in the SSID with the low digit of the serial number */
+	TNC_AX25_HEADER[TNC_SSID_OFF] = 0x60 | ((ao_config.aprs_ssid & 0xf) << 1);
 #endif
 }
 
@@ -302,7 +310,7 @@ static uint8_t tncBitStuff;
 /// Buffer to hold the message portion of the AX.25 packet as we prepare it.
 static uint8_t tncBuffer[TNC_BUFFER_SIZE];
 
-/** 
+/**
  *   Initialize the TNC internal variables.
  */
 static void tncInit()
@@ -323,7 +331,7 @@ static void tnc1200TimerTick()
     else
         timeNCOFreq = 0x3aab;
 
-    switch (tncMode) 
+    switch (tncMode)
     {
         case TNC_TX_READY:
             // Generate a test signal alteranting between high and low tones.
@@ -339,16 +347,16 @@ static void tnc1200TimerTick()
                 else
                     tncTxBit = 0;
 	    }
-                    
+
             // When the flag is done, determine if we need to send more or data.
-            if (++tncBitCount == 8) 
+            if (++tncBitCount == 8)
             {
                 tncBitCount = 0;
                 tncShift = 0x7e;
 
                 // Once we transmit x mS of flags, send the data.
                 // txDelay bytes * 8 bits/byte * 833uS/bit = x mS
-                if (++tncIndex == TNC_TX_DELAY) 
+                if (++tncIndex == TNC_TX_DELAY)
                 {
                     tncIndex = 0;
                     tncShift = TNC_AX25_HEADER[0];
@@ -361,7 +369,7 @@ static void tnc1200TimerTick()
 
         case TNC_TX_HEADER:
             // Determine if we have sent 5 ones in a row, if we have send a zero.
-            if (tncBitStuff == 0x1f) 
+            if (tncBitStuff == 0x1f)
             {
                 if (tncTxBit == 0)
                     tncTxBit = 1;
@@ -381,17 +389,17 @@ static void tnc1200TimerTick()
                     tncTxBit = 0;
 	    }
 
-            // Save the data stream so we can determine if bit stuffing is 
+            // Save the data stream so we can determine if bit stuffing is
             // required on the next bit time.
             tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f;
 
             // If all the bits were shifted, get the next byte.
-            if (++tncBitCount == 8) 
+            if (++tncBitCount == 8)
             {
                 tncBitCount = 0;
 
                 // After the header is sent, then send the data.
-                if (++tncIndex == sizeof(TNC_AX25_HEADER)) 
+                if (++tncIndex == sizeof(TNC_AX25_HEADER))
                 {
                     tncIndex = 0;
                     tncShift = tncBuffer[0];
@@ -406,7 +414,7 @@ static void tnc1200TimerTick()
 
         case TNC_TX_DATA:
             // Determine if we have sent 5 ones in a row, if we have send a zero.
-            if (tncBitStuff == 0x1f) 
+            if (tncBitStuff == 0x1f)
             {
                 if (tncTxBit == 0)
                     tncTxBit = 1;
@@ -426,17 +434,17 @@ static void tnc1200TimerTick()
                     tncTxBit = 0;
 	    }
 
-            // Save the data stream so we can determine if bit stuffing is 
+            // Save the data stream so we can determine if bit stuffing is
             // required on the next bit time.
             tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f;
 
             // If all the bits were shifted, get the next byte.
-            if (++tncBitCount == 8) 
+            if (++tncBitCount == 8)
             {
                 tncBitCount = 0;
 
                 // If everything was sent, transmit closing flags.
-                if (++tncIndex == tncLength) 
+                if (++tncIndex == tncLength)
                 {
                     tncIndex = 0;
                     tncShift = 0x7e;
@@ -451,7 +459,7 @@ static void tnc1200TimerTick()
 
         case TNC_TX_END:
             // The variable tncShift contains the lastest data byte.
-            // NRZI enocde the data stream. 
+            // NRZI enocde the data stream.
             if ((tncShift & 0x01) == 0x00) {
                 if (tncTxBit == 0)
                     tncTxBit = 1;
@@ -460,13 +468,13 @@ static void tnc1200TimerTick()
 	    }
 
             // If all the bits were shifted, get the next one.
-            if (++tncBitCount == 8) 
+            if (++tncBitCount == 8)
             {
                 tncBitCount = 0;
                 tncShift = 0x7e;
-    
+
                 // Transmit two closing flags.
-                if (++tncIndex == 2) 
+                if (++tncIndex == 2)
                 {
                     tncMode = TNC_TX_READY;
 
@@ -530,6 +538,7 @@ static int tncComment(uint8_t *buf)
 #ifdef AO_SENSE_MAIN
 		       " M%d.%d"
 #endif
+		       " %d"
 		       , ao_gps_locked(),
 		       ao_num_sats(),
 		       battery/10,
@@ -542,6 +551,7 @@ static int tncComment(uint8_t *buf)
 		       , main/10,
 		       main%10
 #endif
+		       , ao_serial_number
 		);
 #else
 	return sprintf((char *) buf,
@@ -703,7 +713,7 @@ static int tncPositionPacket(void)
     if (ao_gps_data.flags & AO_GPS_VALID) {
 	latitude = ao_gps_data.latitude;
 	longitude = ao_gps_data.longitude;
-	altitude = ao_gps_data.altitude;
+	altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data);
 	if (altitude < 0)
 	    altitude = 0;
     }
@@ -759,7 +769,7 @@ tncFill(uint8_t *buf, int16_t len)
     return l;
 }
 
-/** 
+/**
  *    Prepare an AX.25 data packet.  Each time this method is called, it automatically
  *    rotates through 1 of 3 messages.
  *
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 31225939..3ea8b704 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -41,8 +41,10 @@ extern const uint32_t	ao_radio_cal;
 
 #define FOSC	32000000
 
+#define ao_radio_try_select(task_id)	ao_spi_try_get_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS,AO_SPI_SPEED_4MHz, task_id)
 #define ao_radio_select()	ao_spi_get_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS,AO_SPI_SPEED_4MHz)
 #define ao_radio_deselect()	ao_spi_put_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS)
+#define ao_radio_spi_send_sync(d,l)	ao_spi_send_sync((d), (l), AO_CC1120_SPI_BUS)
 #define ao_radio_spi_send(d,l)	ao_spi_send((d), (l), AO_CC1120_SPI_BUS)
 #define ao_radio_spi_send_fixed(d,l) ao_spi_send_fixed((d), (l), AO_CC1120_SPI_BUS)
 #define ao_radio_spi_recv(d,l)	ao_spi_recv((d), (l), AO_CC1120_SPI_BUS)
@@ -107,7 +109,7 @@ ao_radio_reg_write(uint16_t addr, uint8_t value)
 }
 
 static void
-ao_radio_burst_read_start (uint16_t addr)
+_ao_radio_burst_read_start (uint16_t addr)
 {
 	uint8_t data[2];
 	uint8_t d;
@@ -124,8 +126,8 @@ ao_radio_burst_read_start (uint16_t addr)
 			   addr);
 		d = 1;
 	}
-	ao_radio_select();
-	ao_radio_spi_send(data, d);
+
+	ao_radio_spi_send_sync(data, d);
 }
 
 static void
@@ -209,7 +211,7 @@ ao_radio_tx_fifo_space(void)
 	return CC1120_FIFO_SIZE - ao_radio_reg_read(CC1120_NUM_TXBYTES);
 }
 
-#if 0
+#if CC1120_DEBUG
 static uint8_t
 ao_radio_status(void)
 {
@@ -245,7 +247,7 @@ ao_radio_check_marc_status(void)
 {
 	ao_radio_mcu_wake = 0;
 	ao_radio_marc_status = ao_radio_get_marc_status();
-	
+
 	/* Anyt other than 'tx/rx finished' means an error occurred */
 	if (ao_radio_marc_status & ~(CC1120_MARC_STATUS1_TX_FINISHED|CC1120_MARC_STATUS1_RX_FINISHED))
 		ao_radio_abort = 1;
@@ -275,48 +277,102 @@ static void
 ao_radio_idle(void)
 {
 	for (;;) {
-		uint8_t	state = ao_radio_strobe(CC1120_SIDLE);
-		if ((state >> CC1120_STATUS_STATE) == CC1120_STATUS_STATE_IDLE)
+		uint8_t	state = (ao_radio_strobe(CC1120_SIDLE) >> CC1120_STATUS_STATE) & CC1120_STATUS_STATE_MASK;
+		if (state == CC1120_STATUS_STATE_IDLE)
 			break;
-		if ((state >> CC1120_STATUS_STATE) == CC1120_STATUS_STATE_TX_FIFO_ERROR)
+		if (state == CC1120_STATUS_STATE_TX_FIFO_ERROR)
 			ao_radio_strobe(CC1120_SFTX);
+		if (state == CC1120_STATUS_STATE_RX_FIFO_ERROR)
+			ao_radio_strobe(CC1120_SFRX);
 	}
 	/* Flush any pending TX bytes */
 	ao_radio_strobe(CC1120_SFTX);
 }
 
 /*
- * Packet deviation is 20.5kHz
+ * Packet deviation
  *
  *	fdev = fosc >> 24 * (256 + dev_m) << dev_e
  *
+ * Deviation for 38400 baud should be 20.5kHz:
+ *
  *     	32e6Hz / (2 ** 24) * (256 + 80) * (2 ** 5) = 20508Hz
+ *
+ * Deviation for 9600 baud should be 5.125kHz:
+ *
+ *     	32e6Hz / (2 ** 24) * (256 + 80) * (2 ** 3) = 5127Hz
+ *
+ * Deviation for 2400 baud should be 1.28125kHz, but cc1111 and
+ * cc115l can't do that, so we'll use 1.5kHz instead:
+ *
+ *     	32e6Hz / (2 ** 24) * (256 + 137) * (2 ** 1) = 1499Hz
  */
 
-#define PACKET_DEV_E	5
-#define PACKET_DEV_M	80
+#define PACKET_DEV_M_384	80
+#define PACKET_DEV_E_384	5
+
+#define PACKET_DEV_M_96		80
+#define PACKET_DEV_E_96		3
+
+#define PACKET_DEV_M_24		137
+#define PACKET_DEV_E_24		1
 
 /*
- * For our packet data, set the symbol rate to 38400 Baud
+ * For our packet data
  *
  *              (2**20 + DATARATE_M) * 2 ** DATARATE_E
  *	Rdata = -------------------------------------- * fosc
  *		             2 ** 39
  *
+ * Given the bit period of the baseband, T, the bandwidth of the
+ * baseband signal is B = 1/(2T).  The overall bandwidth of the
+ * modulated signal is then Channel bandwidth = 2Δf + 2B.
+ *
+ * 38400 -- 2 * 20500 + 38400 = 79.4 kHz
+ *  9600 -- 2 * 5.125 +  9600 = 19.9 kHz
+ *  2400 -- 2 * 1.5   +  2400 =  5.4 khz
+ *
+ * Symbol rate 38400 Baud:
  *
  *	DATARATE_M = 239914
  *	DATARATE_E = 9
+ *	CHANBW = 79.4 (round to 100)
+ *
+ * Symbol rate 9600 Baud:
+ *
+ *	DATARATE_M = 239914
+ *	DATARATE_E = 7
+ *	CHANBW = 19.9 (round to 20)
+ *
+ * Symbol rate 2400 Baud:
+ *
+ *	DATARATE_M = 239914
+ *	DATARATE_E = 5
+ *	CHANBW = 5.0 (round to 8.0)
  */
-#define PACKET_DRATE_E	9
+
 #define PACKET_DRATE_M	239914
 
+#define PACKET_DRATE_E_384	9
+
+/* 200 / 2 = 100 */
+#define PACKET_CHAN_BW_384	((0 << CC1120_CHAN_BW_CHFILT_BYPASS) | \
+				 (CC1120_CHAN_BW_ADC_CIC_DECFACT_20 << CC1120_CHAN_BW_ADC_CIC_DECFACT) | \
+				 (2 << CC1120_CHAN_BW_BB_CIC_DECFACT))
+
+#define PACKET_DRATE_E_96	7
+/* 200 / 10 = 20 */
+#define PACKET_CHAN_BW_96	((0 << CC1120_CHAN_BW_CHFILT_BYPASS) | \
+				 (CC1120_CHAN_BW_ADC_CIC_DECFACT_20 << CC1120_CHAN_BW_ADC_CIC_DECFACT) | \
+				 (10 << CC1120_CHAN_BW_BB_CIC_DECFACT))
+
+#define PACKET_DRATE_E_24	5
+/* 200 / 25 = 8 */
+#define PACKET_CHAN_BW_24	((0 << CC1120_CHAN_BW_CHFILT_BYPASS) | \
+				 (CC1120_CHAN_BW_ADC_CIC_DECFACT_20 << CC1120_CHAN_BW_ADC_CIC_DECFACT) | \
+				 (25 << CC1120_CHAN_BW_BB_CIC_DECFACT))
+
 static const uint16_t packet_setup[] = {
-	CC1120_DEVIATION_M,	PACKET_DEV_M,
-	CC1120_MODCFG_DEV_E,	((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) |
-				 (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) |
-				 (PACKET_DEV_E << CC1120_MODCFG_DEV_E_DEV_E)),
-	CC1120_DRATE2,		((PACKET_DRATE_E << CC1120_DRATE2_DATARATE_E) |
-				 (((PACKET_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)),
 	CC1120_DRATE1,		((PACKET_DRATE_M >> 8) & 0xff),
 	CC1120_DRATE0,		((PACKET_DRATE_M >> 0) & 0xff),
 	CC1120_PKT_CFG2,	((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) |
@@ -335,6 +391,39 @@ static const uint16_t packet_setup[] = {
 	AO_CC1120_MARC_GPIO_IOCFG,		CC1120_IOCFG_GPIO_CFG_MARC_MCU_WAKEUP,
 };
 
+static const uint16_t packet_setup_384[] = {
+	CC1120_DEVIATION_M,	PACKET_DEV_M_384,
+	CC1120_MODCFG_DEV_E,	((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) |
+				 (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) |
+				 (PACKET_DEV_E_384 << CC1120_MODCFG_DEV_E_DEV_E)),
+	CC1120_DRATE2,		((PACKET_DRATE_E_384 << CC1120_DRATE2_DATARATE_E) |
+				 (((PACKET_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)),
+	CC1120_CHAN_BW,		PACKET_CHAN_BW_384,
+	CC1120_PA_CFG0,		0x7b,
+};
+
+static const uint16_t packet_setup_96[] = {
+	CC1120_DEVIATION_M,	PACKET_DEV_M_96,
+	CC1120_MODCFG_DEV_E,	((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) |
+				 (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) |
+				 (PACKET_DEV_E_96 << CC1120_MODCFG_DEV_E_DEV_E)),
+	CC1120_DRATE2,		((PACKET_DRATE_E_96 << CC1120_DRATE2_DATARATE_E) |
+				 (((PACKET_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)),
+	CC1120_CHAN_BW,		PACKET_CHAN_BW_96,
+	CC1120_PA_CFG0,		0x7d,
+};
+
+static const uint16_t packet_setup_24[] = {
+	CC1120_DEVIATION_M,	PACKET_DEV_M_24,
+	CC1120_MODCFG_DEV_E,	((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) |
+				 (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) |
+				 (PACKET_DEV_E_24 << CC1120_MODCFG_DEV_E_DEV_E)),
+	CC1120_DRATE2,		((PACKET_DRATE_E_24 << CC1120_DRATE2_DATARATE_E) |
+				 (((PACKET_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)),
+	CC1120_CHAN_BW,		PACKET_CHAN_BW_24,
+	CC1120_PA_CFG0,		0x7e,
+};
+
 static const uint16_t packet_tx_setup[] = {
 	CC1120_PKT_CFG2,	((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) |
 				 (CC1120_PKT_CFG2_PKT_FORMAT_NORMAL << CC1120_PKT_CFG2_PKT_FORMAT)),
@@ -397,6 +486,7 @@ static const uint16_t rdf_setup[] = {
 				 (0 << CC1120_PKT_CFG0_UART_SWAP_EN)),
         CC1120_PREAMBLE_CFG1,	((CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_NONE << CC1120_PREAMBLE_CFG1_NUM_PREAMBLE) |
 				 (CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_AA << CC1120_PREAMBLE_CFG1_PREAMBLE_WORD)),
+	CC1120_PA_CFG0,		0x7e,
 };
 
 /*
@@ -443,6 +533,7 @@ static const uint16_t aprs_setup[] = {
 				 (0 << CC1120_PKT_CFG1_APPEND_STATUS)),
         CC1120_PREAMBLE_CFG1,	((CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_NONE << CC1120_PREAMBLE_CFG1_NUM_PREAMBLE) |
 				 (CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_AA << CC1120_PREAMBLE_CFG1_PREAMBLE_WORD)),
+	CC1120_PA_CFG0,		0x7d,
 };
 
 /*
@@ -506,23 +597,48 @@ static uint16_t ao_radio_mode;
 #define AO_RADIO_MODE_TEST		(AO_RADIO_MODE_BITS_TEST | AO_RADIO_MODE_BITS_INFINITE | AO_RADIO_MODE_BITS_TX_BUF)
 
 static void
+_ao_radio_set_regs(const uint16_t *regs, int nreg)
+{
+	int i;
+
+	for (i = 0; i < nreg; i++) {
+		ao_radio_reg_write(regs[0], regs[1]);
+		regs += 2;
+	}
+}
+
+#define ao_radio_set_regs(setup) _ao_radio_set_regs(setup, (sizeof (setup) / sizeof(setup[0])) >> 1)
+
+static void
 ao_radio_set_mode(uint16_t new_mode)
 {
 	uint16_t changes;
-	unsigned int i;
 
 	if (new_mode == ao_radio_mode)
 		return;
 
 	changes = new_mode & (~ao_radio_mode);
-	if (changes & AO_RADIO_MODE_BITS_PACKET)
-		for (i = 0; i < sizeof (packet_setup) / sizeof (packet_setup[0]); i += 2)
-			ao_radio_reg_write(packet_setup[i], packet_setup[i+1]);
+
+	if (changes & AO_RADIO_MODE_BITS_PACKET) {
+		ao_radio_set_regs(packet_setup);
+
+		switch (ao_config.radio_rate) {
+		default:
+		case AO_RADIO_RATE_38400:
+			ao_radio_set_regs(packet_setup_384);
+			break;
+		case AO_RADIO_RATE_9600:
+			ao_radio_set_regs(packet_setup_96);
+			break;
+		case AO_RADIO_RATE_2400:
+			ao_radio_set_regs(packet_setup_24);
+			break;
+		}
+	}
 
 	if (changes & AO_RADIO_MODE_BITS_PACKET_TX)
-		for (i = 0; i < sizeof (packet_tx_setup) / sizeof (packet_tx_setup[0]); i += 2)
-			ao_radio_reg_write(packet_tx_setup[i], packet_tx_setup[i+1]);
-		
+		ao_radio_set_regs(packet_tx_setup);
+
 	if (changes & AO_RADIO_MODE_BITS_TX_BUF)
 		ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_TXFIFO_THR);
 
@@ -530,20 +646,16 @@ ao_radio_set_mode(uint16_t new_mode)
 		ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG);
 
 	if (changes & AO_RADIO_MODE_BITS_PACKET_RX)
-		for (i = 0; i < sizeof (packet_rx_setup) / sizeof (packet_rx_setup[0]); i += 2)
-			ao_radio_reg_write(packet_rx_setup[i], packet_rx_setup[i+1]);
-		
+		ao_radio_set_regs(packet_rx_setup);
+
 	if (changes & AO_RADIO_MODE_BITS_RDF)
-		for (i = 0; i < sizeof (rdf_setup) / sizeof (rdf_setup[0]); i += 2)
-			ao_radio_reg_write(rdf_setup[i], rdf_setup[i+1]);
+		ao_radio_set_regs(rdf_setup);
 
 	if (changes & AO_RADIO_MODE_BITS_APRS)
-		for (i = 0; i < sizeof (aprs_setup) / sizeof (aprs_setup[0]); i += 2)
-			ao_radio_reg_write(aprs_setup[i], aprs_setup[i+1]);
+		ao_radio_set_regs(aprs_setup);
 
 	if (changes & AO_RADIO_MODE_BITS_TEST)
-		for (i = 0; i < sizeof (test_setup) / sizeof (test_setup[0]); i += 2)
-			ao_radio_reg_write(test_setup[i], test_setup[i+1]);
+		ao_radio_set_regs(test_setup);
 
 	if (changes & AO_RADIO_MODE_BITS_INFINITE)
 		ao_radio_reg_write(CC1120_PKT_CFG0, AO_PKT_CFG0_INFINITE);
@@ -563,12 +675,9 @@ static uint8_t	ao_radio_configured = 0;
 static void
 ao_radio_setup(void)
 {
-	unsigned int	i;
-
 	ao_radio_strobe(CC1120_SRES);
 
-	for (i = 0; i < sizeof (radio_setup) / sizeof (radio_setup[0]); i += 2)
-		ao_radio_reg_write(radio_setup[i], radio_setup[i+1]);
+	ao_radio_set_regs(radio_setup);
 
 	ao_radio_mode = 0;
 
@@ -592,6 +701,7 @@ static void
 ao_radio_get(uint8_t len)
 {
 	static uint32_t	last_radio_setting;
+	static uint8_t	last_radio_rate;
 
 	ao_mutex_get(&ao_radio_mutex);
 
@@ -603,6 +713,10 @@ ao_radio_get(uint8_t len)
 		ao_radio_reg_write(CC1120_FREQ0, ao_config.radio_setting);
 		last_radio_setting = ao_config.radio_setting;
 	}
+	if (ao_config.radio_rate != last_radio_rate) {
+		ao_radio_mode &= ~AO_RADIO_MODE_BITS_PACKET;
+		last_radio_rate = ao_config.radio_rate;
+	}
 	ao_radio_set_len(len);
 }
 
@@ -696,7 +810,7 @@ ao_radio_test_cmd(void)
 		ao_radio_set_mode(AO_RADIO_MODE_TEST);
 		ao_radio_strobe(CC1120_STX);
 #if CC1120_TRACE
-		{ int t; 
+		{ int t;
 			for (t = 0; t < 10; t++) {
 				printf ("status: %02x\n", ao_radio_status());
 				ao_delay(AO_MS_TO_TICKS(100));
@@ -793,7 +907,7 @@ ao_radio_send(const void *d, uint8_t size)
 		} else {
 			ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
 		}
-			
+
 		fifo_space = ao_radio_wait_tx(encode_len != 0);
 		if (ao_radio_abort) {
 			ao_radio_idle();
@@ -881,6 +995,11 @@ static uint16_t	rx_data_consumed;
 static uint16_t rx_data_cur;
 static uint8_t	rx_ignore;
 static uint8_t	rx_waiting;
+static uint8_t	rx_starting;
+static uint8_t	rx_task_id;
+static uint32_t	rx_fast_start;
+static uint32_t rx_slow_start;
+static uint32_t	rx_missed;
 
 #if AO_PROFILE
 static uint32_t	rx_start_tick, rx_packet_tick, rx_done_tick, rx_last_done_tick;
@@ -895,13 +1014,34 @@ ao_radio_rx_isr(void)
 {
 	uint8_t	d;
 
+	if (rx_task_id) {
+		if (ao_radio_try_select(rx_task_id)) {
+			++rx_fast_start;
+			rx_task_id = 0;
+			_ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT);
+		} else {
+			if (rx_ignore)
+				--rx_ignore;
+			else {
+				ao_radio_abort = 1;
+				rx_missed++;
+			}
+			return;
+		}
+	}
+	if (rx_starting) {
+		rx_starting = 0;
+		ao_wakeup(&ao_radio_wake);
+	}
 	d = AO_CC1120_SPI.dr;
 	AO_CC1120_SPI.dr = 0;
 	if (rx_ignore == 0) {
-		if (rx_data_cur >= rx_data_count)
-			ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
-		else
+		if (rx_data_cur < rx_data_count)
 			rx_data[rx_data_cur++] = d;
+		if (rx_data_cur >= rx_data_count) {
+			ao_spi_clr_cs(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN));
+			ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
+		}
 		if (rx_waiting && rx_data_cur - rx_data_consumed >= AO_FEC_DECODE_BLOCK) {
 #if AO_PROFILE
 			if (!rx_packet_tick)
@@ -920,24 +1060,20 @@ ao_radio_rx_isr(void)
 static uint16_t
 ao_radio_rx_wait(void)
 {
-	do {
-		if (ao_radio_mcu_wake)
-			ao_radio_check_marc_status();
-		ao_alarm(AO_MS_TO_TICKS(100));
-		ao_arch_block_interrupts();
-		rx_waiting = 1;
-		while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK &&
-		       !ao_radio_abort &&
-		       !ao_radio_mcu_wake)
-		{
-			if (ao_sleep(&ao_radio_wake))
-				ao_radio_abort = 1;
-		}
-		rx_waiting = 0;
-		ao_arch_release_interrupts();
-		ao_clear_alarm();
-	} while (ao_radio_mcu_wake);
-	if (ao_radio_abort)
+	ao_alarm(AO_MS_TO_TICKS(100));
+	ao_arch_block_interrupts();
+	rx_waiting = 1;
+	while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK &&
+	       !ao_radio_abort &&
+	       !ao_radio_mcu_wake)
+	{
+		if (ao_sleep(&ao_radio_wake))
+			ao_radio_abort = 1;
+	}
+	rx_waiting = 0;
+	ao_arch_release_interrupts();
+	ao_clear_alarm();
+	if (ao_radio_abort || ao_radio_mcu_wake)
 		return 0;
 	rx_data_consumed += AO_FEC_DECODE_BLOCK;
 #if AO_PROFILE
@@ -977,48 +1113,67 @@ ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout)
 	 */
 	ao_radio_abort = 0;
 
-	/* configure interrupt pin */
 	ao_radio_get(len);
-	ao_radio_set_mode(AO_RADIO_MODE_PACKET_RX);
 
 	ao_radio_wake = 0;
 	ao_radio_mcu_wake = 0;
 
-	AO_CC1120_SPI.cr2 = 0;
-
-	/* clear any RXNE */
-	(void) AO_CC1120_SPI.dr;
+	ao_radio_set_mode(AO_RADIO_MODE_PACKET_RX);
 
-	/* Have the radio signal when the preamble quality goes high */
-	ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_PQT_REACHED);
+	/* configure interrupt pin */
+	ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT);
 	ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN,
-			 AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_HIGH);
-	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_isr);
+			 AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH);
+
+	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr);
 	ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
-	ao_exti_enable(AO_CC1120_MCU_WAKEUP_PORT, AO_CC1120_MCU_WAKEUP_PIN);
+
+	rx_starting = 1;
+	rx_task_id = ao_cur_task->task_id;
 
 	ao_radio_strobe(CC1120_SRX);
 
-	/* Wait for the preamble to appear */
-	ao_radio_wait_isr(timeout);
+	if (timeout)
+		ao_alarm(timeout);
+	ao_arch_block_interrupts();
+	while (rx_starting && !ao_radio_abort) {
+		if (ao_sleep(&ao_radio_wake))
+			ao_radio_abort = 1;
+	}
+	uint8_t	rx_task_id_save = rx_task_id;
+	rx_task_id = 0;
+	rx_starting = 0;
+	ao_arch_release_interrupts();
+	if (timeout)
+		ao_clear_alarm();
+
 	if (ao_radio_abort) {
 		ret = 0;
+		rx_task_id = 0;
 		goto abort;
 	}
 
-	ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT);
-	ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN,
-			 AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH);
-
-	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr);
-	ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
-
-	ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT);
+	if (rx_task_id_save) {
+		++rx_slow_start;
+		ao_radio_select();
+		_ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT);
+		if (rx_ignore) {
+			uint8_t ignore = AO_CC1120_SPI.dr;
+			(void) ignore;
+			AO_CC1120_SPI.dr = 0;
+			--rx_ignore;
+		}
+	}
 
 	ret = ao_fec_decode(rx_data, rx_data_count, d, size + 2, ao_radio_rx_wait);
 
 	ao_radio_burst_read_stop();
 
+	if (ao_radio_mcu_wake)
+		ao_radio_check_marc_status();
+	if (ao_radio_abort)
+		ret = 0;
+
 abort:
 	/* Convert from 'real' rssi to cc1111-style values */
 
@@ -1033,7 +1188,7 @@ abort:
 		radio_rssi = AO_RADIO_FROM_RSSI (rssi);
 	}
 
-	ao_radio_strobe(CC1120_SIDLE);
+	ao_radio_idle();
 
 	ao_radio_put();
 
@@ -1072,7 +1227,7 @@ struct ao_cc1120_reg {
 	char		*name;
 };
 
-const static struct ao_cc1120_reg ao_cc1120_reg[] = {
+static const struct ao_cc1120_reg ao_cc1120_reg[] = {
 	{ .addr = CC1120_IOCFG3,	.name = "IOCFG3" },
 	{ .addr = CC1120_IOCFG2,	.name = "IOCFG2" },
 	{ .addr = CC1120_IOCFG1,	.name = "IOCFG1" },
@@ -1253,7 +1408,7 @@ const static struct ao_cc1120_reg ao_cc1120_reg[] = {
 
 static void ao_radio_show(void) {
 	uint8_t	status = ao_radio_status();
-	int	i;
+	unsigned int	i;
 
 	ao_radio_get(0xff);
 	status = ao_radio_status();
@@ -1264,6 +1419,10 @@ static void ao_radio_show(void) {
 
 	for (i = 0; i < AO_NUM_CC1120_REG; i++)
 		printf ("\t%02x %-20.20s\n", ao_radio_reg_read(ao_cc1120_reg[i].addr), ao_cc1120_reg[i].name);
+
+	printf("RX fast start: %u\n", rx_fast_start);
+	printf("RX slow start: %u\n", rx_slow_start);
+	printf("RX missed:     %u\n", rx_missed);
 	ao_radio_put();
 }
 
@@ -1287,12 +1446,12 @@ static void ao_radio_packet(void) {
 }
 
 void
-ao_radio_test_recv()
+ao_radio_test_recv(void)
 {
 	uint8_t	bytes[34];
 	uint8_t	b;
 
-	if (ao_radio_recv(bytes, 34)) {
+	if (ao_radio_recv(bytes, 34, 0)) {
 		if (bytes[33] & 0x80)
 			printf ("CRC OK");
 		else
@@ -1308,13 +1467,12 @@ ao_radio_test_recv()
 #include <ao_aprs.h>
 
 static void
-ao_radio_aprs()
+ao_radio_aprs(void)
 {
 	ao_packet_slave_stop();
 	ao_aprs_send();
 }
 #endif
-
 #endif
 
 static const struct ao_cmds ao_radio_cmds[] = {
diff --git a/src/drivers/ao_cc1120.h b/src/drivers/ao_cc1120.h
index a1d78c01..943f3449 100644
--- a/src/drivers/ao_cc1120.h
+++ b/src/drivers/ao_cc1120.h
@@ -189,6 +189,12 @@
 #define CC1120_FREQ_IF_CFG	0x0f
 #define CC1120_IQIC		0x10
 #define CC1120_CHAN_BW		0x11
+#define  CC1120_CHAN_BW_CHFILT_BYPASS		7
+#define  CC1120_CHAN_BW_ADC_CIC_DECFACT		6
+#define  CC1120_CHAN_BW_ADC_CIC_DECFACT_20		0
+#define  CC1120_CHAN_BW_ADC_CIC_DECFACT_32		1
+#define  CC1120_CHAN_BW_BB_CIC_DECFACT		0
+
 #define CC1120_MDMCFG1		0x12
 #define  CC1120_MDMCFG1_CARRIER_SENSE_GATE	7
 #define  CC1120_MDMCFG1_FIFO_EN			6
@@ -294,7 +300,7 @@
 #define  CC1120_SETTLING_CFG_FS_AUTOCAL_MASK		3
 #define  CC1120_SETTLING_CFG_LOCK_TIME		1
 #define  CC1120_SETTLING_CFG_LOCK_TIME_50_20		0
-#define  CC1120_SETTLING_CFG_LOCK_TIME_70_30		1
+#define  CC1120_SETTLING_CFG_LOCK_TIME_75_30		1
 #define  CC1120_SETTLING_CFG_LOCK_TIME_100_40		2
 #define  CC1120_SETTLING_CFG_LOCK_TIME_150_60		3
 #define  CC1120_SETTLING_CFG_LOCK_TIME_MASK		3
diff --git a/src/drivers/ao_cc1120_CC1120.h b/src/drivers/ao_cc1120_CC1120.h
index 399abc4d..21a31a89 100644
--- a/src/drivers/ao_cc1120_CC1120.h
+++ b/src/drivers/ao_cc1120_CC1120.h
@@ -31,20 +31,23 @@
         CC1120_SYNC0,                          0x91,       /* Sync Word Configuration [7:0] */

 

         CC1120_SYNC_CFG1,				   /* Sync Word Detection Configuration */

-		(CC1120_SYNC_CFG1_DEM_CFG_PQT_GATING_ENABLED << CC1120_SYNC_CFG1_DEM_CFG) |

-		(0x07 << CC1120_SYNC_CFG1_SYNC_THR),

+		(CC1120_SYNC_CFG1_DEM_CFG_PQT_GATING_DISABLED << CC1120_SYNC_CFG1_DEM_CFG) |

+		(0xc << CC1120_SYNC_CFG1_SYNC_THR),

         CC1120_SYNC_CFG0,

 		(CC1120_SYNC_CFG0_SYNC_MODE_16_BITS << CC1120_SYNC_CFG0_SYNC_MODE) |

-		(CC1120_SYNC_CFG0_SYNC_NUM_ERROR_2 << CC1120_SYNC_CFG0_SYNC_NUM_ERROR),

-        CC1120_DCFILT_CFG,                     0x1c,       /* Digital DC Removal Configuration */

+		(CC1120_SYNC_CFG0_SYNC_NUM_ERROR_DISABLED << CC1120_SYNC_CFG0_SYNC_NUM_ERROR),

+        CC1120_DCFILT_CFG,                     0x15,       /* Digital DC Removal Configuration */

         CC1120_PREAMBLE_CFG1,                         	   /* Preamble Length Configuration */

 		(CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_4_BYTES << CC1120_PREAMBLE_CFG1_NUM_PREAMBLE) |

 		(CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_AA << CC1120_PREAMBLE_CFG1_PREAMBLE_WORD),

         CC1120_PREAMBLE_CFG0,

-		(1 << CC1120_PREAMBLE_CFG0_PQT_EN) |

-		(0x6 << CC1120_PREAMBLE_CFG0_PQT),

-        CC1120_FREQ_IF_CFG,                    0x40,       /* RX Mixer Frequency Configuration */

-        CC1120_IQIC,                           0x46,       /* Digital Image Channel Compensation Configuration */

+		(0 << CC1120_PREAMBLE_CFG0_PQT_EN) |

+		(0xe << CC1120_PREAMBLE_CFG0_PQT),

+

+	/* Adjust PQT lower to accept fewer packets */

+

+        CC1120_FREQ_IF_CFG,                    0x3a,       /* RX Mixer Frequency Configuration */

+        CC1120_IQIC,                           0x00,       /* Digital Image Channel Compensation Configuration */

         CC1120_CHAN_BW,                        0x02,       /* Channel Filter Configuration */

 

         CC1120_MDMCFG1,                     		   /* General Modem Parameter Configuration */

@@ -53,12 +56,12 @@
 		(0 << CC1120_MDMCFG1_MANCHESTER_EN) |

 		(0 << CC1120_MDMCFG1_INVERT_DATA_EN) |

 		(0 << CC1120_MDMCFG1_COLLISION_DETECT_EN) |

-		(CC1120_MDMCFG1_DVGA_GAIN_9 << CC1120_MDMCFG1_DVGA_GAIN) |

+		(CC1120_MDMCFG1_DVGA_GAIN_0 << CC1120_MDMCFG1_DVGA_GAIN) |

 		(0 << CC1120_MDMCFG1_SINGLE_ADC_EN),

-        CC1120_MDMCFG0,                        0x05,       /* General Modem Parameter Configuration */

+        CC1120_MDMCFG0,                        0x0d,       /* General Modem Parameter Configuration */

 

 	/* AGC reference = 10 * log10(receive BW) - 4 = 10 * log10(100e3) - 4 = 46 */

-        CC1120_AGC_REF,                        46,         /* AGC Reference Level Configuration */

+        CC1120_AGC_REF,                        0x36,         /* AGC Reference Level Configuration */

 

 	/* Carrier sense threshold - 25dB above the noise */

         CC1120_AGC_CS_THR,                     25,         /* Carrier Sense Threshold Configuration */

@@ -93,7 +96,7 @@
 

         CC1120_SETTLING_CFG,                          	   /* Frequency Synthesizer Calibration and Settling Configuration */

 		(CC1120_SETTLING_CFG_FS_AUTOCAL_IDLE_TO_ON << CC1120_SETTLING_CFG_FS_AUTOCAL) |

-		(CC1120_SETTLING_CFG_LOCK_TIME_50_20 << CC1120_SETTLING_CFG_LOCK_TIME) |

+		(CC1120_SETTLING_CFG_LOCK_TIME_75_30 << CC1120_SETTLING_CFG_LOCK_TIME) |

 		(CC1120_SETTLING_CFG_FSREG_TIME_60 << CC1120_SETTLING_CFG_FSREG_TIME),

 

         CC1120_FS_CFG,                                	   /* Frequency Synthesizer Configuration */

@@ -109,7 +112,7 @@
         CC1120_PKT_CFG1,                       0x45,       /* Packet Configuration, Reg 1 */

         CC1120_PKT_CFG0,                       0x00,       /* Packet Configuration, Reg 0 */

 #endif

-        CC1120_RFEND_CFG1,                     0x0f,       /* RFEND Configuration, Reg 1 */

+        CC1120_RFEND_CFG1,                     0x0e,       /* RFEND Configuration, Reg 1 */

         CC1120_RFEND_CFG0,                     0x00,       /* RFEND Configuration, Reg 0 */

 	//        CC1120_PA_CFG2,                        0x3f,       /* Power Amplifier Configuration, Reg 2 */

 	CC1120_PA_CFG2,                        0x3f,       /* Power Amplifier Configuration, Reg 2 */

@@ -117,8 +120,8 @@
         CC1120_PA_CFG0,                        0x7b,       /* Power Amplifier Configuration, Reg 0 */

         CC1120_PKT_LEN,                        0xff,       /* Packet Length Configuration */

         CC1120_IF_MIX_CFG,                     0x00,       /* IF Mix Configuration */

-        CC1120_FREQOFF_CFG,                    0x22,       /* Frequency Offset Correction Configuration */

-        CC1120_TOC_CFG,                        0x0b,       /* Timing Offset Correction Configuration */

+        CC1120_FREQOFF_CFG,                    0x20,       /* Frequency Offset Correction Configuration */

+        CC1120_TOC_CFG,                        0x0a,       /* Timing Offset Correction Configuration */

         CC1120_MARC_SPARE,                     0x00,       /* MARC Spare */

         CC1120_ECG_CFG,                        0x00,       /* External Clock Frequency Configuration */

         CC1120_SOFT_TX_DATA_CFG,               0x00,       /* Soft TX Data Configuration */

@@ -167,7 +170,7 @@
         CC1120_XOSC4,                          0xa0,       /* Crystal Oscillator Configuration, Reg 4 */

         CC1120_XOSC3,                          0x03,       /* Crystal Oscillator Configuration, Reg 3 */

         CC1120_XOSC2,                          0x04,       /* Crystal Oscillator Configuration, Reg 2 */

-        CC1120_XOSC1,                          0x01,       /* Crystal Oscillator Configuration, Reg 1 */

+        CC1120_XOSC1,                          0x03,       /* Crystal Oscillator Configuration, Reg 1 */

         CC1120_XOSC0,                          0x00,       /* Crystal Oscillator Configuration, Reg 0 */

         CC1120_ANALOG_SPARE,                   0x00,       /*  */

         CC1120_PA_CFG3,                        0x00,       /* Power Amplifier Configuration, Reg 3 */

@@ -196,31 +199,10 @@
         CC1120_AGC_GAIN2,                      0xd1,       /* AGC Gain, Reg 2 */

         CC1120_AGC_GAIN1,                      0x00,       /* AGC Gain, Reg 1 */

         CC1120_AGC_GAIN0,                      0x3f,       /* AGC Gain, Reg 0 */

-        CC1120_SOFT_RX_DATA_OUT,               0x00,       /* Soft Decision Symbol Data */

-        CC1120_SOFT_TX_DATA_IN,                0x00,       /* Soft TX Data Input Register */

-        CC1120_ASK_SOFT_RX_DATA,               0x30,       /* AGC ASK Soft Decision Output */

         CC1120_RNDGEN,                         0x7f,       /* Random Number Value */

-        CC1120_MAGN2,                          0x00,       /* Signal Magnitude after CORDIC [16] */

-        CC1120_MAGN1,                          0x00,       /* Signal Magnitude after CORDIC [15:8] */

-        CC1120_MAGN0,                          0x00,       /* Signal Magnitude after CORDIC [7:0] */

-        CC1120_ANG1,                           0x00,       /* Signal Angular after CORDIC [9:8] */

-        CC1120_ANG0,                           0x00,       /* Signal Angular after CORDIC [7:0] */

-        CC1120_CHFILT_I2,                      0x08,       /* Channel Filter Data Real Part [18:16] */

-        CC1120_CHFILT_I1,                      0x00,       /* Channel Filter Data Real Part [15:8] */

-        CC1120_CHFILT_I0,                      0x00,       /* Channel Filter Data Real Part [7:0] */

-        CC1120_CHFILT_Q2,                      0x00,       /* Channel Filter Data Imaginary Part [18:16] */

-        CC1120_CHFILT_Q1,                      0x00,       /* Channel Filter Data Imaginary Part [15:8] */

-        CC1120_CHFILT_Q0,                      0x00,       /* Channel Filter Data Imaginary Part [7:0] */

-        CC1120_GPIO_STATUS,                    0x00,       /* GPIO Status */

         CC1120_FSCAL_CTRL,                     0x01,       /*  */

         CC1120_PHASE_ADJUST,                   0x00,       /*  */

-        CC1120_PARTNUMBER,                     0x00,       /* Part Number */

-        CC1120_PARTVERSION,                    0x00,       /* Part Revision */

         CC1120_SERIAL_STATUS,                  0x00,       /* Serial Status */

-        CC1120_RX_STATUS,                      0x01,       /* RX Status */

-        CC1120_TX_STATUS,                      0x00,       /* TX Status */

-        CC1120_MARC_STATUS1,                   0x00,       /* MARC Status, Reg 1 */

-        CC1120_MARC_STATUS0,                   0x00,       /* MARC Status, Reg 0 */

         CC1120_PA_IFAMP_TEST,                  0x00,       /*  */

         CC1120_FSRF_TEST,                      0x00,       /*  */

         CC1120_PRE_TEST,                       0x00,       /*  */

diff --git a/src/drivers/ao_cc115l.c b/src/drivers/ao_cc115l.c
index f250e714..cf61acfe 100644
--- a/src/drivers/ao_cc115l.c
+++ b/src/drivers/ao_cc115l.c
@@ -249,36 +249,81 @@ ao_radio_idle(void)
 }
 
 /*
- * Packet deviation is 20.5kHz
+ * Packet deviation
  *
  *	fdev = fosc >> 17 * (8 + dev_m) << dev_e
  *
+ * For 38400 baud, use 20.5kHz:
+ *
  *     	26e6 / (2 ** 17) * (8 + 5) * (2 ** 3) = 20630Hz
+ *
+ * For 9600 baud, use 5.125kHz:
+ *
+ *     	26e6 / (2 ** 17) * (8 + 5) * (2 ** 1) = 5157Hz
+ *
+ * For 2400 baud, use 1.5kHz:
+ *
+ *     	26e6 / (2 ** 17) * (8 + 0) * (2 ** 0) = 1587Hz
  */
 
-#define PACKET_DEV_E	3
-#define PACKET_DEV_M	5
+#define PACKET_DEV_E_384	3
+#define PACKET_DEV_M_384	5
+
+#define PACKET_DEV_E_96		1
+#define PACKET_DEV_M_96		5
+
+#define PACKET_DEV_E_24		0
+#define PACKET_DEV_M_24		0
 
 /*
- * For our packet data, set the symbol rate to 38400 Baud
+ * For our packet data:
  *
  *              (256 + DATARATE_M) * 2 ** DATARATE_E
  *	Rdata = -------------------------------------- * fosc
  *		             2 ** 28
  *
+ * For 38400 baud:
+ *
  *		(256 + 131) * (2 ** 10) / (2**28) * 26e6 = 38383
  *
  *	DATARATE_M = 131
- *	DATARATE_E = 10
+ *	DATARATE_E_384 = 10
+ *	DATARATE_E_96 = 8
+ *	DATARATE_E_24 = 6
  */
-#define PACKET_DRATE_E	10
-#define PACKET_DRATE_M	131
+#define PACKET_DRATE_M		131
+
+#define PACKET_DRATE_E_384	10
+#define PACKET_DRATE_E_96	8
+#define PACKET_DRATE_E_24	6
+
+static const struct {
+	uint8_t		mdmcfg4;
+	uint8_t		deviatn;
+} packet_rate_setup[] = {
+	[AO_RADIO_RATE_38400] = {
+		.mdmcfg4 = ((0xf << 4) |
+			    (PACKET_DRATE_E_384 << CC115L_MDMCFG4_DRATE_E)),
+		.deviatn = ((PACKET_DEV_E_384 << CC115L_DEVIATN_DEVIATION_E) |
+			    (PACKET_DEV_M_384 << CC115L_DEVIATN_DEVIATION_M)),
+	},
+
+	[AO_RADIO_RATE_9600] = {
+		.mdmcfg4 = ((0xf << 4) |
+			    (PACKET_DRATE_E_96 << CC115L_MDMCFG4_DRATE_E)),
+		.deviatn = ((PACKET_DEV_E_96 << CC115L_DEVIATN_DEVIATION_E) |
+			    (PACKET_DEV_M_96 << CC115L_DEVIATN_DEVIATION_M)),
+	},
+
+	[AO_RADIO_RATE_2400] = {
+		.mdmcfg4 = ((0xf << 4) |
+			    (PACKET_DRATE_E_24 << CC115L_MDMCFG4_DRATE_E)),
+		.deviatn = ((PACKET_DEV_E_24 << CC115L_DEVIATN_DEVIATION_E) |
+			    (PACKET_DEV_M_24 << CC115L_DEVIATN_DEVIATION_M)),
+	},
+};
 
 static const uint16_t packet_setup[] = {
-	CC115L_DEVIATN,		((PACKET_DEV_E << CC115L_DEVIATN_DEVIATION_E) |
-				 (PACKET_DEV_M << CC115L_DEVIATN_DEVIATION_M)),
-	CC115L_MDMCFG4,		((0xf << 4) |
-				 (PACKET_DRATE_E << CC115L_MDMCFG4_DRATE_E)),
 	CC115L_MDMCFG3,		(PACKET_DRATE_M),
 	CC115L_MDMCFG2,		(0x00 |
 				 (CC115L_MDMCFG2_MOD_FORMAT_GFSK << CC115L_MDMCFG2_MOD_FORMAT) |
@@ -403,9 +448,13 @@ ao_radio_set_mode(uint16_t new_mode)
 		return;
 
 	changes = new_mode & (~ao_radio_mode);
-	if (changes & AO_RADIO_MODE_BITS_PACKET_TX)
+	if (changes & AO_RADIO_MODE_BITS_PACKET_TX) {
+		ao_radio_reg_write(CC115L_MDMCFG4, packet_rate_setup[ao_config.radio_rate].mdmcfg4);
+		ao_radio_reg_write(CC115L_DEVIATN, packet_rate_setup[ao_config.radio_rate].deviatn);
+
 		for (i = 0; i < sizeof (packet_setup) / sizeof (packet_setup[0]); i += 2)
 			ao_radio_reg_write(packet_setup[i], packet_setup[i+1]);
+	}
 
 	if (changes & AO_RADIO_MODE_BITS_RDF)
 		for (i = 0; i < sizeof (rdf_setup) / sizeof (rdf_setup[0]); i += 2)
@@ -494,6 +543,7 @@ static void
 ao_radio_get(void)
 {
 	static uint32_t	last_radio_setting;
+	static uint8_t	last_radio_rate;
 
 	ao_mutex_get(&ao_radio_mutex);
 	if (!ao_radio_configured)
@@ -504,6 +554,10 @@ ao_radio_get(void)
 		ao_radio_reg_write(CC115L_FREQ0, ao_config.radio_setting);
 		last_radio_setting = ao_config.radio_setting;
 	}
+	if (ao_config.radio_rate != last_radio_rate) {
+		ao_radio_mode &= ~AO_RADIO_MODE_BITS_PACKET_TX;
+		last_radio_rate = ao_config.radio_rate;
+	}
 }
 
 static void
diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index 944a37f9..066df6ff 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -278,16 +278,17 @@ ao_nmea_gga(void)
 
 	ao_gps_lexchar();
 	i = ao_gps_decimal(0xff);
-	if (i <= 50) {
-		i = (uint8_t) 5 * i;
+	if (i <= 25) {
+		i = (uint8_t) 10 * i;
 		if (ao_gps_char == '.')
-			i = (i + ((uint8_t) ao_gps_decimal(1) >> 1));
+			i = (i + ((uint8_t) ao_gps_decimal(1)));
 	} else
 		i = 255;
 	ao_gps_next.hdop = i;
 	ao_gps_skip_field();
 
-	ao_gps_next.altitude = ao_gps_decimal(0xff);
+	AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_next, ao_gps_decimal(0xff));
+
 	ao_gps_skip_field();	/* skip any fractional portion */
 
 	ao_nmea_finish();
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 077698a9..74c29e0a 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -728,7 +728,7 @@ ao_gps(void) __reentrant
 				if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
 					ao_gps_data.flags |= AO_GPS_DATE_VALID;
 
-				ao_gps_data.altitude = nav_posllh.alt_msl / 1000;
+				AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_posllh.alt_msl / 1000);
 				ao_gps_data.latitude = nav_posllh.lat;
 				ao_gps_data.longitude = nav_posllh.lon;
 
@@ -740,11 +740,11 @@ ao_gps(void) __reentrant
 				ao_gps_data.minute = nav_timeutc.min;
 				ao_gps_data.second = nav_timeutc.sec;
 
-				ao_gps_data.pdop = nav_dop.pdop;
-				ao_gps_data.hdop = nav_dop.hdop;
-				ao_gps_data.vdop = nav_dop.vdop;
-
-				/* mode is not set */
+				/* we report dop scaled by 10, but ublox provides dop scaled by 100
+				 */
+				ao_gps_data.pdop = nav_dop.pdop / 10;
+				ao_gps_data.hdop = nav_dop.hdop / 10;
+				ao_gps_data.vdop = nav_dop.vdop / 10;
 
 				ao_gps_data.ground_speed = nav_velned.g_speed;
 				ao_gps_data.climb_rate = -nav_velned.vel_d;
diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c
index 9e642836..32c00068 100644
--- a/src/drivers/ao_lco_func.c
+++ b/src/drivers/ao_lco_func.c
@@ -28,7 +28,21 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
 {
 	int8_t		r;
 	uint16_t	sent_time;
+	uint16_t	timeout = AO_MS_TO_TICKS(10);
 
+#if HAS_RADIO_RATE
+	switch (ao_config.radio_rate) {
+	case AO_RADIO_RATE_38400:
+	default:
+		break;
+	case AO_RADIO_RATE_9600:
+		timeout = AO_MS_TO_TICKS(20);
+		break;
+	case AO_RADIO_RATE_2400:
+		timeout = AO_MS_TO_TICKS(80);
+		break;
+	}
+#endif
 	ao_mutex_get(&ao_lco_mutex);
 	command.tick = ao_time() - *tick_offset;
 	command.box = box;
@@ -36,7 +50,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
 	command.channels = 0;
 	ao_radio_cmac_send(&command, sizeof (command));
 	sent_time = ao_time();
-	r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(10));
+	r = ao_radio_cmac_recv(query, sizeof (*query), timeout);
 	if (r == AO_RADIO_CMAC_OK)
 		*tick_offset = sent_time - query->tick;
 	ao_mutex_put(&ao_lco_mutex);
diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index d6c99cbd..23545049 100644
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -57,6 +57,12 @@ static __xdata uint16_t		ao_packet_master_time;
 #define AO_PACKET_MASTER_DELAY_LONG	AO_MS_TO_TICKS(1000)
 #define AO_PACKET_MASTER_DELAY_TIMEOUT	AO_MS_TO_TICKS(2000)
 
+#if HAS_RADIO_RATE
+#define AO_PACKET_MASTER_RECV_DELAY	AO_MS_TO_TICKS(100) << (ao_config.radio_rate << 1)
+#else
+#define AO_PACKET_MASTER_RECV_DELAY	AO_MS_TO_TICKS(100)
+#endif
+
 static void
 ao_packet_master_busy(void)
 {
@@ -91,7 +97,7 @@ ao_packet_master(void)
 		if (ao_tx_packet.len)
 			ao_packet_master_busy();
 		ao_packet_master_check_busy();
-		ao_alarm(ao_packet_master_delay);
+		ao_alarm(AO_PACKET_MASTER_RECV_DELAY);
 		r = ao_packet_recv();
 		ao_clear_alarm();
 		if (r) {
diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index 144cbd70..dc2c83fe 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -362,14 +362,26 @@ ao_pad_test(void)
 void
 ao_pad_manual(void)
 {
+	uint8_t	ignite;
+	int	repeat;
 	ao_cmd_white();
 	if (!ao_match_word("DoIt"))
 		return;
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
 		return;
-	ao_pad_ignite = 1 << ao_cmd_lex_i;
-	ao_wakeup(&ao_pad_ignite);
+	ignite = 1 << ao_cmd_lex_i;
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success) {
+		repeat = 1;
+		ao_cmd_status = ao_cmd_success;
+	} else
+		repeat = ao_cmd_lex_i;
+	while (repeat-- > 0) {
+		ao_pad_ignite = ignite;
+		ao_wakeup(&ao_pad_ignite);
+		ao_delay(AO_PAD_FIRE_TIME>>1);
+	}
 }
 
 static __xdata struct ao_task ao_pad_task;