Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

Conflicts:
	debian/control

27 files changed, 2295 insertions, 59 deletions

diff --git a/src/drivers/ao_74hc497.c b/src/drivers/ao_74hc497.c
new file mode 100644
index 00000000..4c13ee71
--- /dev/null
+++ b/src/drivers/ao_74hc497.c
@@ -0,0 +1,55 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * 74HC597 driver.
+ * Reads a single byte from the shift register
+ */
+
+#include <ao.h>
+#include <ao_74hc497.h>
+
+uint8_t
+ao_74hc497_read(void)
+{
+	static __xdata state;
+	ao_spi_get_bit(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, AO_74HC497_SPI_BUS, AO_SPI_SPEED_FAST);
+	ao_spi_recv(&state, 1, AO_74HC497_SPI_BUS);
+	ao_spi_put_bit(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, AO_74HC497_SPI_BUS);
+	return state;
+}
+
+static void
+ao_74hc497_cmd(void)
+{
+	uint8_t	v;
+
+	v = ao_74hc497_read();
+	printf ("Switches: 0x%02x\n", v);
+}
+
+static const struct ao_cmds ao_74hc497_cmds[] = {
+	{ ao_74hc497_cmd, "L\0Show 74hc497" },
+	{ 0, NULL }
+};
+
+void
+ao_74hc497_init(void)
+{
+	ao_enable_output(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, 1);
+	ao_cmd_register(&ao_74hc497_cmds[0]);
+}
diff --git a/src/drivers/ao_74hc497.h b/src/drivers/ao_74hc497.h
new file mode 100644
index 00000000..6df7bcae
--- /dev/null
+++ b/src/drivers/ao_74hc497.h
@@ -0,0 +1,27 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_74HC497_H_
+#define _AO_74HC497_H_
+
+uint8_t
+ao_74hc497_read(void);
+
+void
+ao_74hc497_init(void);
+
+#endif /* _AO_74HC497_H_ */
diff --git a/src/drivers/ao_button.c b/src/drivers/ao_button.c
new file mode 100644
index 00000000..a507c909
--- /dev/null
+++ b/src/drivers/ao_button.c
@@ -0,0 +1,94 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_button.h>
+#include <ao_exti.h>
+#if AO_EVENT
+#include <ao_event.h>
+#define ao_button_queue(b,v)	ao_event_put_isr(AO_EVENT_BUTTON, b, v)
+#else
+#define ao_button_queue(b,v)
+#endif
+
+static uint8_t		ao_button[AO_BUTTON_COUNT];
+static AO_TICK_TYPE	ao_button_time[AO_BUTTON_COUNT];
+
+#define AO_DEBOUNCE	AO_MS_TO_TICKS(20)
+
+#define port(q)	AO_BUTTON_ ## q ## _PORT
+#define bit(q) AO_BUTTON_ ## q
+#define pin(q) AO_BUTTON_ ## q ## _PIN
+
+static void
+ao_button_do(uint8_t b, uint8_t v)
+{
+	/* Debounce */
+	if ((AO_TICK_SIGNED) (ao_tick_count - ao_button_time[b]) < AO_DEBOUNCE)
+		return;
+
+	/* pins are inverted */
+	v = !v;
+	if (ao_button[b] != v) {
+		ao_button[b] = v;
+		ao_button_time[b] = ao_tick_count;
+		ao_button_queue(b, v);
+		ao_wakeup(&ao_button[b]);
+	}
+}
+
+#define ao_button_update(b)	ao_button_do(b, ao_gpio_get(port(b), bit(b), pin(b)))
+
+static void
+ao_button_isr(void)
+{
+#if AO_BUTTON_COUNT > 0
+	ao_button_update(0);
+#endif
+#if AO_BUTTON_COUNT > 1
+	ao_button_update(1);
+#endif
+#if AO_BUTTON_COUNT > 2
+	ao_button_update(2);
+#endif
+#if AO_BUTTON_COUNT > 3
+	ao_button_update(3);
+#endif
+#if AO_BUTTON_COUNT > 4
+	ao_button_update(4);
+#endif
+}
+
+#define init(b) do {							\
+		ao_enable_port(port(b));				\
+									\
+		ao_exti_setup(port(b), bit(b),				\
+			      AO_BUTTON_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \
+			      ao_button_isr);			\
+		ao_exti_enable(port(b), bit(b));			\
+	} while (0)
+
+void
+ao_button_init(void)
+{
+#if AO_BUTTON_COUNT > 0
+	init(0);
+#endif
+#if AO_BUTTON_COUNT > 1
+	init(1);
+#endif
+}
diff --git a/src/drivers/ao_button.h b/src/drivers/ao_button.h
new file mode 100644
index 00000000..ce349d65
--- /dev/null
+++ b/src/drivers/ao_button.h
@@ -0,0 +1,24 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_BUTTON_H_
+#define _AO_BUTTON_H_
+
+void
+ao_button_init(void);
+
+#endif /* _AO_BUTTON_H_ */
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 97a434d8..4df931b5 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -515,7 +515,7 @@ ao_radio_rdf_abort(void)
 }
 
 static void
-ao_radio_test(void)
+ao_radio_test_cmd(void)
 {
 	uint8_t	mode = 2;
 	uint8_t radio_on;
@@ -1008,7 +1008,7 @@ ao_radio_test_recv()
 #endif
 
 static const struct ao_cmds ao_radio_cmds[] = {
-	{ ao_radio_test,	"C <1 start, 0 stop, none both>\0Radio carrier test" },
+	{ ao_radio_test_cmd,	"C <1 start, 0 stop, none both>\0Radio carrier test" },
 #if CC1120_DEBUG
 	{ ao_radio_show,	"R\0Show CC1120 status" },
 	{ ao_radio_beep,	"b\0Emit an RDF beacon" },
diff --git a/src/drivers/ao_event.c b/src/drivers/ao_event.c
new file mode 100644
index 00000000..440ef2de
--- /dev/null
+++ b/src/drivers/ao_event.c
@@ -0,0 +1,77 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_event.h>
+
+#define AO_EVENT_QUEUE	64
+
+#define ao_event_queue_next(n)	(((n) + 1) & (AO_EVENT_QUEUE - 1))
+#define ao_event_queue_prev(n)	(((n) - 1) & (AO_EVENT_QUEUE - 1))
+#define ao_event_queue_empty()	(ao_event_queue_insert == ao_event_queue_remove)
+#define ao_event_queue_full()	(ao_event_queue_next(ao_event_queue_insert) == ao_event_queue_remove)
+
+/*
+ * Whether a sequence of events from the same device should be collapsed
+ */
+#define ao_event_can_collapse(type)	((type) == AO_EVENT_QUADRATURE)
+
+struct ao_event ao_event_queue[AO_EVENT_QUEUE];
+uint8_t		ao_event_queue_insert;
+uint8_t		ao_event_queue_remove;
+
+
+uint8_t
+ao_event_get(struct ao_event *ev)
+{
+	ao_arch_critical(
+		while (ao_event_queue_empty())
+			ao_sleep(&ao_event_queue);
+		*ev = ao_event_queue[ao_event_queue_remove];
+		ao_event_queue_remove = ao_event_queue_next(ao_event_queue_remove);
+		);
+}
+
+/* called with interrupts disabled */
+void
+ao_event_put_isr(uint8_t type, uint8_t unit, uint32_t value)
+{
+	if (!ao_event_queue_full()) {
+
+		if (ao_event_can_collapse(type) && !ao_event_queue_empty()) {
+			uint8_t	prev = ao_event_queue_prev(ao_event_queue_insert);
+
+			if (ao_event_queue[prev].type == type &&
+			    ao_event_queue[prev].unit == unit)
+				ao_event_queue_insert = prev;
+		}
+		ao_event_queue[ao_event_queue_insert] = (struct ao_event) {
+			.type = type,
+			.unit = unit,
+			.tick = ao_tick_count,
+			.value = value
+		};
+		ao_event_queue_insert = ao_event_queue_next(ao_event_queue_insert);
+		ao_wakeup(&ao_event_queue);
+	}
+}
+
+void
+ao_event_put(uint8_t type, uint8_t unit, uint32_t value)
+{
+	ao_arch_critical(ao_event_put_isr(type, unit, value););
+}
diff --git a/src/drivers/ao_event.h b/src/drivers/ao_event.h
new file mode 100644
index 00000000..25c49c35
--- /dev/null
+++ b/src/drivers/ao_event.h
@@ -0,0 +1,41 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_EVENT_H_
+#define _AO_EVENT_H_
+
+#define AO_EVENT_NONE		0
+#define AO_EVENT_QUADRATURE	1
+#define AO_EVENT_BUTTON		2
+
+struct ao_event {
+	uint8_t		type;
+	uint8_t		unit;
+	uint16_t	tick;
+	uint32_t	value;
+};
+
+uint8_t
+ao_event_get(struct ao_event *ev);
+
+void
+ao_event_put_isr(uint8_t type, uint8_t unit, uint32_t value);
+
+void
+ao_event_put(uint8_t type, uint8_t unit, uint32_t value);
+
+#endif /* _AO_EVENT_H_ */
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index dbeb66b8..ade6c263 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -19,7 +19,7 @@
 #include <ao_hmc5883.h>
 #include <ao_exti.h>
 
-uint8_t	ao_hmc5883_valid;
+#if HAS_HMC5883
 
 static uint8_t	ao_hmc5883_configured;
 
@@ -123,21 +123,16 @@ ao_hmc5883_setup(void)
 	return 1;
 }
 
-struct ao_hmc5883_sample ao_hmc5883_current;
-
 static void
 ao_hmc5883(void)
 {
 	ao_hmc5883_setup();
 	for (;;) {
-		struct ao_hmc5883_sample ao_hmc5883_next;
-
-		ao_hmc5883_sample(&ao_hmc5883_next);
+		ao_hmc5883_sample((struct ao_hmc5883_sample *) &ao_data_ring[ao_data_head].hmc5883);
 		ao_arch_critical(
-			ao_hmc5883_current = ao_hmc5883_next;
-			ao_hmc5883_valid = 1;
+			AO_DATA_PRESENT(AO_DATA_HMC5883);
+			AO_DATA_WAIT();
 			);
-		ao_delay(0);
 	}
 }
 
@@ -146,11 +141,10 @@ static struct ao_task ao_hmc5883_task;
 static void
 ao_hmc5883_show(void)
 {
-	struct ao_hmc5883_sample	sample;
-
-	sample = ao_hmc5883_current;
+	struct ao_data	sample;
+	ao_data_get(&sample);
 	printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
-		sample.x, sample.y, sample.z, ao_hmc5883_missed_irq);
+		sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq);
 }
 
 static const struct ao_cmds ao_hmc5883_cmds[] = {
@@ -162,7 +156,6 @@ void
 ao_hmc5883_init(void)
 {
 	ao_hmc5883_configured = 0;
-	ao_hmc5883_valid = 0;
 
 	ao_enable_port(AO_HMC5883_INT_PORT);
 	ao_exti_setup(AO_HMC5883_INT_PORT,
@@ -173,3 +166,5 @@ ao_hmc5883_init(void)
 	ao_add_task(&ao_hmc5883_task, ao_hmc5883, "hmc5883");
 	ao_cmd_register(&ao_hmc5883_cmds[0]);
 }
+
+#endif
diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h
index 8d726510..55690978 100644
--- a/src/drivers/ao_hmc5883.h
+++ b/src/drivers/ao_hmc5883.h
@@ -75,14 +75,10 @@
 #define HMC5883_ID_B		11
 #define HMC5883_ID_C		12
 
-extern uint8_t	ao_hmc5883_valid;
-
 struct ao_hmc5883_sample {
 	int16_t		x, y, z;
 };
 
-extern struct ao_hmc5883_sample ao_hmc5883_current;
-
 void
 ao_hmc5883_init(void);
 
diff --git a/src/drivers/ao_lco_cmd.c b/src/drivers/ao_lco_cmd.c
new file mode 100644
index 00000000..3fe0d9cc
--- /dev/null
+++ b/src/drivers/ao_lco_cmd.c
@@ -0,0 +1,266 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_lco_cmd.h>
+#include <ao_radio_cmac.h>
+
+static __xdata struct ao_launch_command	command;
+static __xdata struct ao_launch_query	query;
+static __pdata uint16_t	launch_serial;
+static __pdata uint8_t	launch_channel;
+static __pdata uint16_t	tick_offset;
+
+static void
+launch_args(void) __reentrant
+{
+	ao_cmd_decimal();
+	launch_serial = ao_cmd_lex_i;
+	ao_cmd_decimal();
+	launch_channel = ao_cmd_lex_i;
+}
+
+static int8_t
+launch_query(void)
+{
+	uint8_t	i;
+	int8_t	r = AO_RADIO_CMAC_OK;
+
+	tick_offset = ao_time();
+	for (i = 0; i < 10; i++) {
+		printf ("."); flush();
+		command.tick = ao_time();
+		command.serial = launch_serial;
+		command.cmd = AO_LAUNCH_QUERY;
+		command.channel = launch_channel;
+		ao_radio_cmac_send(&command, sizeof (command));
+		r = ao_radio_cmac_recv(&query, sizeof (query), AO_MS_TO_TICKS(500));
+		if (r == AO_RADIO_CMAC_OK)
+			break;
+	}
+	tick_offset -= query.tick;
+	printf("\n"); flush();
+	return r;
+}
+
+static void
+launch_report_cmd(void) __reentrant
+{
+	int8_t		r;
+
+	launch_args();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	r = launch_query();
+	switch (r) {
+	case AO_RADIO_CMAC_OK:
+		if (query.valid) {
+			switch (query.arm_status) {
+			case ao_igniter_ready:
+			case ao_igniter_active:
+				printf ("Armed: ");
+				break;
+			default:
+				printf("Disarmed: ");
+			}
+			switch (query.igniter_status) {
+			default:
+				printf("unknown\n");
+				break;
+			case ao_igniter_ready:
+				printf("igniter good\n");
+				break;
+			case ao_igniter_open:
+				printf("igniter bad\n");
+				break;
+			}
+		} else {
+			printf("Invalid channel %d\n", launch_channel);
+		}
+		printf("Rssi: %d\n", ao_radio_cmac_rssi);
+		break;
+	default:
+		printf("Error %d\n", r);
+		break;
+	}
+}
+
+static void
+launch_arm(void) __reentrant
+{
+	command.tick = ao_time() - tick_offset;
+	command.serial = launch_serial;
+	command.cmd = AO_LAUNCH_ARM;
+	command.channel = launch_channel;
+	ao_radio_cmac_send(&command, sizeof (command));
+}
+
+static void
+launch_ignite(void) __reentrant
+{
+	command.tick = ao_time() - tick_offset;
+	command.serial = launch_serial;
+	command.cmd = AO_LAUNCH_FIRE;
+	command.channel = 0;
+	ao_radio_cmac_send(&command, sizeof (command));
+}
+
+static void
+launch_fire_cmd(void) __reentrant
+{
+	static __xdata struct ao_launch_command	command;
+	uint8_t		secs;
+	uint8_t		i;
+	int8_t		r;
+
+	launch_args();
+	ao_cmd_decimal();
+	secs = ao_cmd_lex_i;
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	r = launch_query();
+	if (r != AO_RADIO_CMAC_OK) {
+		printf("query failed %d\n", r);
+		return;
+	}
+
+	for (i = 0; i < 4; i++) {
+		printf("arm %d\n", i); flush();
+		launch_arm();
+	}
+
+	secs = secs * 10 - 5;
+	if (secs > 100)
+		secs = 100;
+	for (i = 0; i < secs; i++) {
+		printf("fire %d\n", i); flush();
+		launch_ignite();
+		ao_delay(AO_MS_TO_TICKS(100));
+	}
+}
+
+static void
+launch_arm_cmd(void) __reentrant
+{
+	uint8_t	i;
+	int8_t  r;
+	launch_args();
+	r = launch_query();
+	if (r != AO_RADIO_CMAC_OK) {
+		printf("query failed %d\n", r);
+		return;
+	}
+	for (i = 0; i < 4; i++)
+		launch_arm();
+}
+
+static void
+launch_ignite_cmd(void) __reentrant
+{
+	uint8_t i;
+	launch_args();
+	for (i = 0; i < 4; i++)
+		launch_ignite();
+}
+
+static uint8_t
+getnibble(void)
+{
+	int8_t	b;
+
+	b = ao_cmd_hexchar(getchar());
+	if (b < 0) {
+		ao_cmd_status = ao_cmd_lex_error;
+		return 0;
+	}
+	return (uint8_t) b;
+}
+
+static uint8_t
+getbyte(void)
+{
+	uint8_t	b;
+	b = getnibble() << 4;
+	b |= getnibble();
+	return b;
+}
+	
+static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN];
+
+static void
+radio_cmac_send_cmd(void) __reentrant
+{
+	uint8_t	i;
+	uint8_t	len;
+
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	len = ao_cmd_lex_i;
+	if (len > AO_CMAC_MAX_LEN) {
+		ao_cmd_status = ao_cmd_syntax_error;
+		return;
+	}
+	flush();
+	len = ao_cmd_lex_i;
+	for (i = 0; i < len; i++) {
+		cmac_data[i] = getbyte();
+		if (ao_cmd_status != ao_cmd_success)
+			return;
+	}
+	ao_radio_cmac_send(cmac_data, len);
+}
+
+static void
+radio_cmac_recv_cmd(void) __reentrant
+{
+	uint8_t		len, i;
+	uint16_t	timeout;
+
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	len = ao_cmd_lex_i;
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	timeout = AO_MS_TO_TICKS(ao_cmd_lex_i);
+	i = ao_radio_cmac_recv(cmac_data, len, timeout);
+	if (i == AO_RADIO_CMAC_OK) {
+		printf ("PACKET ");
+		for (i = 0; i < len; i++)
+			printf("%02x", cmac_data[i]);
+		printf (" %d\n", ao_radio_cmac_rssi);
+	} else
+		printf ("ERROR %d %d\n", i, ao_radio_cmac_rssi);
+}
+
+static __code struct ao_cmds ao_lco_cmds[] = {
+	{ radio_cmac_send_cmd,	"s <length>\0Send AES-CMAC packet. Bytes to send follow on next line" },
+	{ radio_cmac_recv_cmd,	"S <length> <timeout>\0Receive AES-CMAC packet. Timeout in ms" },
+	{ launch_report_cmd,    "l <serial> <channel>\0Get remote launch status" },
+	{ launch_fire_cmd,	"f <serial> <channel> <secs>\0Fire remote igniter" },
+	{ launch_arm_cmd,	"a <serial> <channel>\0Arm remote igniter" },
+	{ launch_ignite_cmd,	"i <serial> <channel>\0Pulse remote igniter" },
+	{ 0, NULL },
+};
+
+void
+ao_lco_cmd_init(void)
+{
+	ao_cmd_register(&ao_lco_cmds[0]);
+}
diff --git a/src/drivers/ao_lco_cmd.h b/src/drivers/ao_lco_cmd.h
new file mode 100644
index 00000000..c55448cd
--- /dev/null
+++ b/src/drivers/ao_lco_cmd.h
@@ -0,0 +1,24 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_LCO_CMD_H_
+#define _AO_LCO_CMD_H_
+
+void
+ao_lco_cmd_init(void);
+
+#endif /* _AO_LCO_CMD_H_ */
diff --git a/src/drivers/ao_mma655x.c b/src/drivers/ao_mma655x.c
new file mode 100644
index 00000000..cd304d80
--- /dev/null
+++ b/src/drivers/ao_mma655x.c
@@ -0,0 +1,227 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_mma655x.h>
+
+#if HAS_MMA655X
+
+static uint8_t	mma655x_configured;
+
+static void
+ao_mma655x_start(void) {
+	ao_spi_get_bit(AO_MMA655X_CS_GPIO,
+		       AO_MMA655X_CS,
+		       AO_MMA655X_CS_PIN,
+		       AO_MMA655X_SPI_INDEX,
+		       AO_SPI_SPEED_FAST);
+}
+
+static void
+ao_mma655x_stop(void) {
+	ao_spi_put_bit(AO_MMA655X_CS_GPIO,
+		       AO_MMA655X_CS,
+		       AO_MMA655X_CS_PIN,
+		       AO_MMA655X_SPI_INDEX);
+}
+
+static uint8_t
+ao_parity(uint8_t v)
+{
+	/* down to four bits */
+	v = (v ^ (v >> 4)) & 0xf;
+
+	/* Cute lookup hack -- 0x6996 encodes the sixteen
+	 * even parity values in order.
+	 */
+	return (~0x6996 >> v) & 1;
+}
+
+static void
+ao_mma655x_cmd(uint8_t d[2])
+{
+	ao_mma655x_start();
+	ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
+	ao_spi_recv(d, 2, AO_MMA655X_SPI_INDEX);
+	ao_mma655x_stop();
+}
+
+static uint8_t
+ao_mma655x_reg_write(uint8_t addr, uint8_t value)
+{
+	uint8_t	d[2];
+
+	addr |= (1 << 6);	/* write mode */
+	d[0] = addr | (ao_parity(addr^value) << 7);
+	d[1] = value;
+	ao_mma655x_cmd(d);
+	return d[1];
+}
+
+static uint8_t
+ao_mma655x_reg_read(uint8_t addr)
+{
+	uint8_t	d[2];
+
+	d[0] = addr | (ao_parity(addr) << 7);
+	d[1] = 0;
+	ao_mma655x_cmd(d);
+	return d[1];
+}
+
+static uint16_t
+ao_mma655x_value(void)
+{
+	uint8_t		d[2];
+	uint16_t	v;
+
+	d[0] = ((0 << 7) |	/* Axis selection (X) */
+		(1 << 6) |	/* Acceleration operation */
+		(1 << 5));	/* Raw data */
+	d[1] = ((1 << 3) |	/* must be one */
+		(1 << 2) |	/* Unsigned data */
+		(0 << 1) |	/* Arm disabled */
+		(1 << 0));	/* Odd parity */
+	ao_mma655x_cmd(d);
+	v = (uint16_t) d[1] << 2;
+	v |= d[0] >> 6;
+	v |= (uint16_t) (d[0] & 3) << 10;
+	return v;
+}
+
+static void
+ao_mma655x_reset(void) {
+	ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
+			     (0 << AO_MMA655X_DEVCTL_RES_1) |
+			     (0 << AO_MMA655X_DEVCTL_RES_1));
+	ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
+			     (1 << AO_MMA655X_DEVCTL_RES_1) |
+			     (1 << AO_MMA655X_DEVCTL_RES_1));
+	ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
+			     (0 << AO_MMA655X_DEVCTL_RES_1) |
+			     (1 << AO_MMA655X_DEVCTL_RES_1));
+}
+
+#define DEVCFG_VALUE	(\
+	(1 << AO_MMA655X_DEVCFG_OC) |		/* Disable offset cancelation */ \
+	(1 << AO_MMA655X_DEVCFG_SD) |		/* Receive unsigned data */ \
+	(0 << AO_MMA655X_DEVCFG_OFMON) |	/* Disable offset monitor */ \
+	(AO_MMA655X_DEVCFG_A_CFG_DISABLE << AO_MMA655X_DEVCFG_A_CFG))
+
+#define AXISCFG_VALUE	(\
+		(0 << AO_MMA655X_AXISCFG_LPF))	/* 100Hz 4-pole filter */
+
+
+static void
+ao_mma655x_setup(void)
+{
+	uint8_t		v;
+	uint16_t	a, a_st;
+	uint8_t		stdefl;
+
+	if (mma655x_configured)
+		return;
+	mma655x_configured = 1;
+	ao_delay(AO_MS_TO_TICKS(10));	/* Top */
+	ao_mma655x_reset();
+	ao_delay(AO_MS_TO_TICKS(10));	/* Top */
+	(void) ao_mma655x_reg_read(AO_MMA655X_DEVSTAT);
+	v = ao_mma655x_reg_read(AO_MMA655X_DEVSTAT);
+
+	/* Configure R/W register values.
+	 * Most of them relate to the arming feature, which
+	 * we don't use, so the only registers we need to
+	 * write are DEVCFG and AXISCFG
+	 */
+
+	ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
+			     DEVCFG_VALUE | (0 << AO_MMA655X_DEVCFG_ENDINIT));
+
+	/* Test X axis
+	 */
+	
+	ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
+			     AXISCFG_VALUE |
+			     (1 << AO_MMA655X_AXISCFG_ST));
+	a_st = ao_mma655x_value();
+
+	stdefl = ao_mma655x_reg_read(AO_MMA655X_STDEFL);
+
+	ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
+			     AXISCFG_VALUE |
+			     (0 << AO_MMA655X_AXISCFG_ST));
+	a = ao_mma655x_value();
+	printf ("normal: %u self_test: %u stdefl: %u\n",
+		a, a_st, stdefl);
+
+	ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
+			     DEVCFG_VALUE | (1 << AO_MMA655X_DEVCFG_ENDINIT));
+}
+
+static void
+ao_mma655x_dump(void)
+{
+	uint8_t	s0, s1, s2, s3;
+	uint32_t	lot;
+	uint16_t	serial;
+
+	ao_mma655x_setup();
+
+	s0 = ao_mma655x_reg_read(AO_MMA655X_SN0);
+	s1 = ao_mma655x_reg_read(AO_MMA655X_SN1);
+	s2 = ao_mma655x_reg_read(AO_MMA655X_SN2);
+	s3 = ao_mma655x_reg_read(AO_MMA655X_SN3);
+	lot = ((uint32_t) s3 << 24) | ((uint32_t) s2 << 16) |
+		((uint32_t) s1 << 8) | ((uint32_t) s0);
+	serial = lot & 0x1fff;
+	lot >>= 12;
+	printf ("MMA655X lot %d serial %d\n", lot, serial);
+	mma655x_configured = 0;
+}
+
+__code struct ao_cmds ao_mma655x_cmds[] = {
+	{ ao_mma655x_dump,	"A\0Display MMA655X data" },
+	{ 0, NULL },
+};
+
+static void
+ao_mma655x(void)
+{
+	ao_mma655x_setup();
+	for (;;) {
+		ao_data_ring[ao_data_head].mma655x = ao_mma655x_value();
+		ao_arch_critical(
+			AO_DATA_PRESENT(AO_DATA_MMA655X);
+			AO_DATA_WAIT();
+			);
+	}
+}
+
+static __xdata struct ao_task ao_mma655x_task;
+
+void
+ao_mma655x_init(void)
+{
+	mma655x_configured = 0;
+
+	ao_cmd_register(&ao_mma655x_cmds[0]);
+	ao_spi_init_cs(AO_MMA655X_CS_GPIO, (1 << AO_MMA655X_CS));
+
+	ao_add_task(&ao_mma655x_task, ao_mma655x, "mma655x");
+}
+
+#endif
diff --git a/src/drivers/ao_mma655x.h b/src/drivers/ao_mma655x.h
new file mode 100644
index 00000000..9c0c59dc
--- /dev/null
+++ b/src/drivers/ao_mma655x.h
@@ -0,0 +1,85 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_MMA655X_H_
+#define _AO_MMA655X_H_
+
+
+#define AO_MMA655X_SN0		0x00
+#define AO_MMA655X_SN1		0x01
+#define AO_MMA655X_SN2		0x02
+#define AO_MMA655X_SN3		0x03
+#define AO_MMA655X_SN3		0x03
+#define AO_MMA655X_STDEFL	0x04
+#define AO_MMA655X_FCTCFG	0x06
+# define AO_MMA655X_FCTCFG_STMAG	7
+
+#define AO_MMA655X_PN		0x08
+#define AO_MMA655X_DEVCTL	0x0a
+#define AO_MMA655X_DEVCTL_RES_1		7
+#define AO_MMA655X_DEVCTL_RES_0		6
+#define AO_MMA655X_DEVCTL_OCPHASE	4
+#define AO_MMA655X_DEVCTL_OCPHASE_MASK	3
+#define AO_MMA655X_DEVCTL_OFFCFG_EN	3
+
+#define AO_MMA655X_DEVCFG	0x0b
+#define AO_MMA655X_DEVCFG_OC		7
+#define AO_MMA655X_DEVCFG_ENDINIT	5
+#define AO_MMA655X_DEVCFG_SD		4
+#define AO_MMA655X_DEVCFG_OFMON		3
+#define AO_MMA655X_DEVCFG_A_CFG		0
+#define AO_MMA655X_DEVCFG_A_CFG_DISABLE		0
+#define AO_MMA655X_DEVCFG_A_CFG_PCM		1
+#define AO_MMA655X_DEVCFG_A_CFG_MOVING_AVG_HIGH	2
+#define AO_MMA655X_DEVCFG_A_CFG_MOVING_AVG_LOW	3
+#define AO_MMA655X_DEVCFG_A_CFG_COUNT_HIGH	4
+#define AO_MMA655X_DEVCFG_A_CFG_COUNT_LOW	5
+#define AO_MMA655X_DEVCFG_A_CFG_UNFILTERED_HIGH	6
+#define AO_MMA655X_DEVCFG_A_CFG_UNFILTERED_LOW	7
+#define AO_MMA655X_DEVCFG_A_CFG_MASK		7
+
+#define AO_MMA655X_AXISCFG	0x0c
+#define AO_MMA655X_AXISCFG_ST		7
+#define AO_MMA655X_AXISCFG_LPF		0
+#define AO_MMA655X_AXISCFG_LPF_MASK	0xf
+
+#define AO_MMA655X_ARMCFG	0x0e
+#define AO_MMA655X_ARMCFG_APS		4
+#define AO_MMA655X_ARMCFG_APS_MASK	3
+#define AO_MMA655X_ARMCFG_AWS_N		2
+#define AO_MMA655X_ARMCFG_AWS_N_MASK	3
+#define AO_MMA655X_ARMCFG_AWS_P		0
+#define AO_MMA655X_ARMCFG_AWS_P_MASK	3
+
+#define AO_MMA655X_ARMT_P	0x10
+#define AO_MMA655X_ARMT_N	0x12
+
+#define AO_MMA655X_DEVSTAT	0x14
+#define AO_MMA655X_DEVSTAT_IDE		6
+#define AO_MMA655X_DEVSTAT_DEVINIT	4
+#define AO_MMA655X_DEVSTAT_MISOERR	3
+#define AO_MMA655X_DEVSTAT_OFFSET	1
+#define AO_MMA655X_DEVSTAT_DEVRES	0
+
+#define AO_MMA655X_COUNT	0x15
+#define AO_MMA655X_OFFCORR	0x16
+
+
+void
+ao_mma655x_init(void);
+
+#endif /* _AO_MMA655X_H_ */
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index a1c32d4d..e8c80f12 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -240,22 +240,17 @@ ao_mpu6000_setup(void)
 	ao_mpu6000_configured = 1;
 }
 
-struct ao_mpu6000_sample ao_mpu6000_current;
-uint8_t ao_mpu6000_valid;
-
 static void
 ao_mpu6000(void)
 {
 	ao_mpu6000_setup();
 	for (;;)
 	{
-		struct ao_mpu6000_sample ao_mpu6000_next;
-		ao_mpu6000_sample(&ao_mpu6000_next);
+		ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000);
 		ao_arch_critical(
-			ao_mpu6000_current = ao_mpu6000_next;
-			ao_mpu6000_valid = 1;
+			AO_DATA_PRESENT(AO_DATA_MPU6000);
+			AO_DATA_WAIT();
 			);
-		ao_delay(0);
 	}
 }
 
@@ -264,18 +259,16 @@ static struct ao_task ao_mpu6000_task;
 static void
 ao_mpu6000_show(void)
 {
-	struct ao_mpu6000_sample	sample;
+	struct ao_data	sample;
 
-	ao_arch_critical(
-		sample = ao_mpu6000_current;
-		);
+	ao_data_get(&sample);
 	printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
-		sample.accel_x,
-		sample.accel_y,
-		sample.accel_z,
-		sample.gyro_x,
-		sample.gyro_y,
-		sample.gyro_z);
+		sample.mpu6000.accel_x,
+		sample.mpu6000.accel_y,
+		sample.mpu6000.accel_z,
+		sample.mpu6000.gyro_x,
+		sample.mpu6000.gyro_y,
+		sample.mpu6000.gyro_z);
 }
 
 static const struct ao_cmds ao_mpu6000_cmds[] = {
@@ -287,7 +280,6 @@ void
 ao_mpu6000_init(void)
 {
 	ao_mpu6000_configured = 0;
-	ao_mpu6000_valid = 0;
 
 	ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
 	ao_cmd_register(&ao_mpu6000_cmds[0]);
diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index fc7af1e0..ca76b081 100644
--- a/src/drivers/ao_mpu6000.h
+++ b/src/drivers/ao_mpu6000.h
@@ -155,9 +155,6 @@ struct ao_mpu6000_sample {
 	int16_t		gyro_z;
 };
 
-extern struct ao_mpu6000_sample ao_mpu6000_current;
-extern uint8_t ao_mpu6000_valid;
-
 void
 ao_mpu6000_init(void);
 
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 17fe853b..ec0d2202 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -19,6 +19,8 @@
 #include <ao_exti.h>
 #include "ao_ms5607.h"
 
+#if HAS_MS5607
+
 static struct ao_ms5607_prom	ms5607_prom;
 static uint8_t	  		ms5607_configured;
 
@@ -134,11 +136,18 @@ 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);
+#if AO_MS5607_PRIVATE_PINS
+	ao_spi_put(AO_MS5607_SPI_INDEX);
+#endif
 	cli();
 	while (!ao_ms5607_done)
 		ao_sleep(&ao_ms5607_done);
 	sei();
+#if AO_MS5607_PRIVATE_PINS
+	stm_gpio_set(AO_MS5607_CS_GPIO, AO_MS5607_CS, 1);
+#else
 	ao_ms5607_stop();
+#endif
 
 	ao_ms5607_start();
 	read = AO_MS5607_ADC_READ;
@@ -194,22 +203,17 @@ ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value
 	value->temp = TEMP;
 }
 
-struct ao_ms5607_sample	ao_ms5607_current;
-uint8_t ao_ms5607_valid;
-
 static void
 ao_ms5607(void)
 {
 	ao_ms5607_setup();
 	for (;;)
 	{
-		static struct ao_ms5607_sample	ao_ms5607_next;
-		ao_ms5607_sample(&ao_ms5607_next);
+		ao_ms5607_sample((struct ao_ms5607_sample *) &ao_data_ring[ao_data_head].ms5607_raw);
 		ao_arch_critical(
-			ao_ms5607_current = ao_ms5607_next;
-			ao_ms5607_valid = 1;
+			AO_DATA_PRESENT(AO_DATA_MS5607);
+			AO_DATA_WAIT();
 			);
-		ao_delay(0);
 	}
 }
 
@@ -231,13 +235,13 @@ ao_ms5607_info(void)
 static void
 ao_ms5607_dump(void)
 {
-	struct ao_ms5607_sample	sample;
+	struct ao_data	sample;
 	struct ao_ms5607_value value;
 
-	sample = ao_ms5607_current;
-	ao_ms5607_convert(&sample, &value);
-	printf ("Pressure:    %8u %8d\n", sample.pres, value.pres);
-	printf ("Temperature: %8u %8d\n", sample.temp, value.temp);
+	ao_data_get(&sample);
+	ao_ms5607_convert(&sample.ms5607_raw, &value);
+	printf ("Pressure:    %8u %8d\n", sample.ms5607_raw.pres, value.pres);
+	printf ("Temperature: %8u %8d\n", sample.ms5607_raw.temp, value.temp);
 	printf ("Altitude: %ld\n", ao_pa_to_altitude(value.pres));
 }
 
@@ -250,7 +254,6 @@ void
 ao_ms5607_init(void)
 {
 	ms5607_configured = 0;
-	ao_ms5607_valid = 0;
 	ao_cmd_register(&ao_ms5607_cmds[0]);
 	ao_spi_init_cs(AO_MS5607_CS_GPIO, (1 << AO_MS5607_CS));
 
@@ -272,3 +275,5 @@ ao_ms5607_init(void)
 		      AO_MS5607_MISO,
 		      STM_MODER_ALTERNATE);
 }
+
+#endif
diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h
index fa3b1c5b..e9c364d9 100644
--- a/src/drivers/ao_ms5607.h
+++ b/src/drivers/ao_ms5607.h
@@ -51,9 +51,6 @@ struct ao_ms5607_sample {
 	uint32_t	temp;	/* raw 24 bit sensor */
 };
 
-extern uint8_t ao_ms5607_valid;
-extern struct ao_ms5607_sample ao_ms5607_current;
-
 struct ao_ms5607_value {
 	int32_t		pres;	/* in Pa * 10 */
 	int32_t		temp;	/* in °C * 100 */
diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
new file mode 100644
index 00000000..b33a5ffd
--- /dev/null
+++ b/src/drivers/ao_pad.c
@@ -0,0 +1,308 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_pad.h>
+#include <ao_74hc497.h>
+#include <ao_radio_cmac.h>
+
+static __xdata uint8_t ao_pad_ignite;
+static __xdata struct ao_pad_command	command;
+static __xdata struct ao_pad_query	query;
+
+#if 0
+#define PRINTD(...) printf(__VA_ARGS__)
+#define FLUSHD()    flush()
+#else
+#define PRINTD(...) 
+#define FLUSHD()    
+#endif
+
+static void
+ao_pad_run(void)
+{
+	for (;;) {
+		while (!ao_pad_ignite)
+			ao_sleep(&ao_pad_ignite);
+		/*
+		 * Actually set the pad bits
+		 */
+		AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | ao_pad_ignite;
+		while (ao_pad_ignite) {
+			ao_pad_ignite = 0;
+			ao_delay(AO_PAD_FIRE_TIME);
+		}
+		AO_PAD_PORT &= ~(AO_PAD_ALL_PINS);
+	}
+}
+
+static void
+ao_pad_monitor(void)
+{
+	uint8_t			c;
+	uint8_t			sample;
+	__pdata uint8_t		prev = 0, cur = 0;
+	__pdata uint8_t		beeping = 0;
+	__xdata struct ao_data	*packet;
+
+	sample = ao_data_head;
+	for (;;) {
+		__pdata int16_t			pyro;
+		ao_arch_critical(
+			while (sample == ao_data_head)
+				ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
+			);
+
+		packet = &ao_data_ring[sample];
+		sample = ao_data_ring_next(sample);
+
+		pyro = packet->adc.pyro;
+
+#define VOLTS_TO_PYRO(x) ((int16_t) ((x) * 27.0 / 127.0 / 3.3 * 32767.0))
+
+		cur = 0;
+		if (pyro > VOLTS_TO_PYRO(4))
+			query.arm_status = AO_PAD_ARM_STATUS_ARMED;
+		else if (pyro < VOLTS_TO_PYRO(1))
+			query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
+		else
+			query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
+
+		for (c = 0; c < AO_PAD_NUM; c++) {
+			int16_t		sense = packet->adc.sense[c];
+			uint8_t	status = AO_PAD_IGNITER_STATUS_UNKNOWN;
+
+			if (query.arm_status == AO_PAD_ARM_STATUS_ARMED) {
+				/*
+				 *	pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
+				 *	v_pyro = pyro * 127 / 27
+				 *
+				 *		v_pyro \
+				 *	100k		igniter
+				 *		output /	
+				 *	100k           \
+				 *		sense   relay
+				 *	27k            / 
+				 *		gnd ---   
+				 *
+				 *	If the relay is closed, then sense will be 0
+				 *	If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
+				 *	If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
+				 */
+
+				if (sense <= pyro / 8)
+					status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
+				else if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
+					status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+				else if (pyro / 8 * 7 <= sense) {
+					status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
+					cur |= AO_LED_CONTINUITY(c);
+				}
+			}
+			query.igniter_status[c] = status;
+		}
+		if (cur != prev) {
+			ao_led_set_mask(cur, AO_LED_CONTINUITY_MASK);
+			prev = cur;
+		}
+
+		if (pyro > VOLTS_TO_PYRO(9) && sample == 0) {
+			beeping = 1;
+			ao_beep(AO_BEEP_HIGH);
+		} else if (beeping) {
+			beeping = 0;
+			ao_beep(0);
+		}
+	}
+}
+
+static __pdata uint8_t	ao_pad_armed;
+static __pdata uint16_t	ao_pad_arm_time;
+static __pdata uint8_t	ao_pad_box;
+static __xdata uint8_t	ao_pad_disabled;
+
+void
+ao_pad_disable(void)
+{
+	if (!ao_pad_disabled) {
+		ao_pad_disabled = 1;
+		ao_radio_recv_abort();
+	}
+}
+
+void
+ao_pad_enable(void)
+{
+	ao_pad_disabled = 0;
+	ao_wakeup (&ao_pad_disabled);
+}
+
+static void
+ao_pad(void)
+{
+	int16_t	time_difference;
+
+	ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+	ao_pad_box = ao_74hc497_read();
+	ao_led_set(0);
+	ao_led_on(AO_LED_POWER);
+	for (;;) {
+		FLUSHD();
+		while (ao_pad_disabled)
+			ao_sleep(&ao_pad_disabled);
+		if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
+			continue;
+		
+		PRINTD ("tick %d serial %d cmd %d channel %d\n",
+			command.tick, command.serial, command.cmd, command.channel);
+
+		switch (command.cmd) {
+		case AO_LAUNCH_ARM:
+			if (command.box != ao_pad_box) {
+				PRINTD ("box number mismatch\n");
+				break;
+			}
+
+			if (command.channels & ~(AO_PAD_ALL_PINS))
+				break;
+
+			time_difference = command.tick - ao_time();
+			PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
+			if (time_difference < 0)
+				time_difference = -time_difference;
+			if (time_difference > 10) {
+				PRINTD ("time difference too large %d\n", time_difference);
+				break;
+			}
+			PRINTD ("armed\n");
+			ao_pad_armed = command.channels;
+			ao_pad_arm_time = ao_time();
+
+			/* fall through ... */
+
+		case AO_LAUNCH_QUERY:
+			if (command.box != ao_pad_box) {
+				PRINTD ("box number mismatch\n");
+				break;
+			}
+
+			query.tick = ao_time();
+			query.box = ao_pad_box;
+			query.channels = AO_PAD_ALL_PINS;
+			query.armed = ao_pad_armed;
+			PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
+				query.tick, query.serial, query.channel, query.valid, query.arm_status,
+				query.igniter_status);
+			ao_radio_cmac_send(&query, sizeof (query));
+			break;
+		case AO_LAUNCH_FIRE:
+			if (!ao_pad_armed) {
+				PRINTD ("not armed\n");
+				break;
+			}
+			if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
+				PRINTD ("late pad arm_time %d time %d\n",
+					ao_pad_arm_time, ao_time());
+				break;
+			}
+			time_difference = command.tick - ao_time();
+			if (time_difference < 0)
+				time_difference = -time_difference;
+			if (time_difference > 10) {
+				PRINTD ("time different too large %d\n", time_difference);
+				break;
+			}
+			PRINTD ("ignite\n");
+			ao_pad_ignite = ao_pad_armed;
+			ao_wakeup(&ao_pad_ignite);
+			break;
+		}
+	}
+}
+
+void
+ao_pad_test(void)
+{
+	uint8_t	c;
+
+	printf ("Arm switch: ");
+	switch (query.arm_status) {
+	case AO_PAD_ARM_STATUS_ARMED:
+		printf ("Armed\n");
+		break;
+	case AO_PAD_ARM_STATUS_DISARMED:
+		printf ("Disarmed\n");
+		break;
+	case AO_PAD_ARM_STATUS_UNKNOWN:
+		printf ("Unknown\n");
+		break;
+	}
+
+	for (c = 0; c < AO_PAD_NUM; c++) {
+		printf ("Pad %d: ");
+		switch (query.igniter_status[c]) {
+		case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:	printf ("No igniter. Relay closed\n"); break;
+		case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:	printf ("No igniter. Relay open\n"); break;
+		case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:	printf ("Good igniter. Relay open\n"); break;
+		case AO_PAD_IGNITER_STATUS_UNKNOWN:			printf ("Unknown\n"); break;
+		}
+	}
+}
+
+void
+ao_pad_manual(void)
+{
+	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);
+}
+
+static __xdata struct ao_task ao_pad_task;
+static __xdata struct ao_task ao_pad_ignite_task;
+static __xdata struct ao_task ao_pad_monitor_task;
+
+__code struct ao_cmds ao_pad_cmds[] = {
+	{ ao_pad_test,	"t\0Test pad continuity" },
+	{ ao_pad_manual,	"i <key> <n>\0Fire igniter. <key> is doit with D&I" },
+	{ 0, NULL }
+};
+
+void
+ao_pad_init(void)
+{
+#if AO_PAD_NUM > 0
+	ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
+#endif
+#if AO_PAD_NUM > 1
+	ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
+#endif
+#if AO_PAD_NUM > 2
+	ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
+#endif
+#if AO_PAD_NUM > 3
+	ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
+#endif
+	ao_cmd_register(&ao_pad_cmds[0]);
+	ao_add_task(&ao_pad_task, ao_pad, "pad listener");
+	ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
+	ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
+}
diff --git a/src/drivers/ao_pad.h b/src/drivers/ao_pad.h
new file mode 100644
index 00000000..3b0cf1fe
--- /dev/null
+++ b/src/drivers/ao_pad.h
@@ -0,0 +1,73 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PAD_H_
+#define _AO_PAD_H_
+
+#define AO_PAD_MAX_CHANNELS	8
+
+struct ao_pad_command {
+	uint16_t	tick;
+	uint16_t	box;
+	uint8_t		cmd;
+	uint8_t		channels;
+};
+
+/* Report current telefire status.
+ */
+
+#define AO_PAD_QUERY		1
+
+struct ao_pad_query {
+	uint16_t	tick;		/* telefire tick */
+	uint16_t	box;		/* telefire box number */
+	uint8_t		channels;	/* which chanels are present */
+	uint8_t		armed;		/* which channels are armed */
+	uint8_t		arm_status;	/* status of arming switch */
+	uint8_t		igniter_status[AO_PAD_MAX_CHANNELS];	/* status for each igniter */
+};
+
+/* Set current armed pads, report back status
+ */
+  
+#define AO_PAD_ARM		2
+
+/* Fire current armed pads for 200ms, no report
+ */
+#define AO_PAD_FIRE		3
+
+#define AO_PAD_FIRE_TIME	AO_MS_TO_TICKS(1000)
+
+#define AO_PAD_ARM_STATUS_DISARMED	0
+#define AO_PAD_ARM_STATUS_ARMED		1
+#define AO_PAD_ARM_STATUS_UNKNOWN	2
+
+#define AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN	0
+#define AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN	1
+#define AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED	2
+#define AO_PAD_IGNITER_STATUS_UNKNOWN			3
+
+void
+ao_pad_init(void);
+
+void
+ao_pad_disable(void);
+
+void
+ao_pad_enable(void);
+
+#endif /* _AO_PAD_H_ */
diff --git a/src/drivers/ao_pca9922.c b/src/drivers/ao_pca9922.c
new file mode 100644
index 00000000..6d8d18d8
--- /dev/null
+++ b/src/drivers/ao_pca9922.c
@@ -0,0 +1,86 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * PCA9922 LED driver. This uses SPI to send a single byte to the device to
+ * set the current state of the LEDs using the existing LED interface
+ */
+
+#include <ao.h>
+
+static __xdata uint8_t	ao_led_state;
+
+static void
+ao_led_apply(void)
+{
+	/* Don't try the SPI bus during initialization */
+	if (!ao_cur_task)
+		return;
+	ao_spi_get_bit(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, AO_PCA9922_SPI_BUS, AO_SPI_SPEED_FAST);
+	ao_spi_send(&ao_led_state, 1, AO_PCA9922_SPI_BUS);
+	ao_spi_put_bit(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, AO_PCA9922_SPI_BUS);
+}
+
+void
+ao_led_on(uint8_t colors)
+{
+	ao_led_state |= colors;
+	ao_led_apply();
+}
+
+void
+ao_led_off(uint8_t colors)
+{
+	ao_led_state &= ~colors;
+	ao_led_apply();
+}
+
+void
+ao_led_set(uint8_t colors)
+{
+	ao_led_state = colors;
+	ao_led_apply();
+}
+
+void
+ao_led_set_mask(uint8_t colors, uint8_t mask)
+{
+	ao_led_state = (ao_led_state & ~mask) | (colors & mask);
+	ao_led_apply();
+}
+
+void
+ao_led_toggle(uint8_t colors)
+{
+	ao_led_state ^= colors;
+	ao_led_apply();
+}
+
+void
+ao_led_for(uint8_t colors, uint16_t ticks) __reentrant
+{
+	ao_led_on(colors);
+	ao_delay(ticks);
+	ao_led_off(colors);
+}
+
+void
+ao_led_init(uint8_t enable)
+{
+	(void) enable;
+	ao_enable_output(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, 1);
+}
diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
new file mode 100644
index 00000000..6cc2467a
--- /dev/null
+++ b/src/drivers/ao_quadrature.c
@@ -0,0 +1,134 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_quadrature.h>
+#include <ao_exti.h>
+#if AO_EVENT
+#include <ao_event.h>
+#define ao_quadrature_queue(q)	ao_event_put_isr(AO_EVENT_QUADRATURE, q, ao_quadrature_count[q])
+#else
+#define ao_quadrature_queue(q)
+#endif
+
+__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
+
+static uint8_t	ao_quadrature_state[AO_QUADRATURE_COUNT];
+
+#define BIT(a,b)	((a) | ((b) << 1))
+#define STATE(old_a, old_b, new_a, new_b)	(((BIT(old_a, old_b) << 2) | BIT(new_a, new_b)))
+
+#define port(q)	AO_QUADRATURE_ ## q ## _PORT
+#define bita(q) AO_QUADRATURE_ ## q ## _A
+#define bitb(q) AO_QUADRATURE_ ## q ## _B
+
+#define ao_quadrature_update(q) do {					\
+		ao_quadrature_state[q] = ((ao_quadrature_state[q] & 3) << 2); \
+		ao_quadrature_state[q] |= ao_gpio_get(port(q), bita(q), 0); \
+		ao_quadrature_state[q] |= ao_gpio_get(port(q), bitb(q), 0) << 1; \
+	} while (0)
+	
+
+static void
+ao_quadrature_isr(void)
+{
+	uint8_t	q;
+#if AO_QUADRATURE_COUNT > 0
+	ao_quadrature_update(0);
+#endif
+#if AO_QUADRATURE_COUNT > 1
+	ao_quadrature_update(1);
+#endif
+
+	for (q = 0; q < AO_QUADRATURE_COUNT; q++) {
+		switch (ao_quadrature_state[q]) {
+		case STATE(0, 1, 0, 0):
+			ao_quadrature_count[q]++;
+			break;
+		case STATE(1, 0, 0, 0):
+			ao_quadrature_count[q]--;
+			break;
+		default:
+			continue;
+		}
+		ao_quadrature_queue(q);
+		ao_wakeup(&ao_quadrature_count[q]);
+	}
+}
+
+int32_t
+ao_quadrature_poll(uint8_t q)
+{
+	int32_t	ret;
+	ao_arch_critical(ret = ao_quadrature_count[q];);
+	return ret;
+}
+
+int32_t
+ao_quadrature_wait(uint8_t q)
+{
+	ao_sleep(&ao_quadrature_count[q]);
+	return ao_quadrature_poll(q);
+}
+
+static void
+ao_quadrature_test(void)
+{
+	uint8_t	q;
+
+	ao_cmd_decimal();
+	q = ao_cmd_lex_i;
+	for (;;) {
+		int32_t	c;
+		flush();
+		c = ao_quadrature_wait(q);
+		printf ("new count %6d\n", c);
+		if (c == 100)
+			break;
+	}
+}
+
+static const struct ao_cmds ao_quadrature_cmds[] = {
+	{ ao_quadrature_test,	"q <unit>\0Test quadrature" },
+	{ 0, NULL }
+};
+
+#define init(q) do {							\
+		ao_enable_port(port(q));				\
+									\
+		ao_exti_setup(port(q), bita(q),				\
+			      AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \
+			      ao_quadrature_isr);			\
+		ao_exti_enable(port(q), bita(q));			\
+									\
+		ao_exti_setup(port(q), bitb(q),				\
+			      AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \
+			      ao_quadrature_isr);			\
+		ao_exti_enable(port(q), bitb(q));			\
+	} while (0)
+
+void
+ao_quadrature_init(void)
+{
+#if AO_QUADRATURE_COUNT > 0
+	init(0);
+#endif
+#if AO_QUADRATURE_COUNT > 1
+	init(1);
+#endif
+	ao_cmd_register(&ao_quadrature_cmds[0]);
+}
diff --git a/src/drivers/ao_quadrature.h b/src/drivers/ao_quadrature.h
new file mode 100644
index 00000000..d7dda682
--- /dev/null
+++ b/src/drivers/ao_quadrature.h
@@ -0,0 +1,32 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_QUADRATURE_H_
+#define _AO_QUADRATURE_H_
+
+extern __xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
+
+int32_t
+ao_quadrature_wait(uint8_t q);
+
+int32_t
+ao_quadrature_poll(uint8_t q);
+
+void
+ao_quadrature_init(void);
+
+#endif /* _AO_QUADRATURE_H_ */
diff --git a/src/drivers/ao_radio_master.c b/src/drivers/ao_radio_master.c
new file mode 100644
index 00000000..6edea66d
--- /dev/null
+++ b/src/drivers/ao_radio_master.c
@@ -0,0 +1,266 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_radio_spi.h>
+#include <ao_exti.h>
+#include <ao_radio_cmac.h>
+
+static __xdata struct ao_radio_spi_reply	ao_radio_spi_reply;
+static __xdata struct ao_radio_spi_request	ao_radio_spi_request;
+static __xdata uint8_t				ao_radio_done;
+static __xdata uint8_t				ao_radio_mutex;
+
+__xdata int8_t					ao_radio_cmac_rssi;
+
+static void
+ao_radio_isr(void)
+{
+	ao_exti_disable(AO_RADIO_INT_PORT, AO_RADIO_INT_PIN);
+	ao_radio_done = 1;
+	ao_wakeup(&ao_radio_done);
+}
+
+static void
+ao_radio_master_start(void)
+{
+	ao_spi_get_bit(AO_RADIO_CS_PORT, AO_RADIO_CS_PIN, AO_RADIO_CS,
+		       AO_RADIO_SPI_BUS,
+		       AO_SPI_SPEED_1MHz);
+}
+
+static void
+ao_radio_master_stop(void)
+{
+	ao_spi_put_bit(AO_RADIO_CS_PORT, AO_RADIO_CS_PIN, AO_RADIO_CS,
+		       AO_RADIO_SPI_BUS);
+}
+
+
+static uint8_t
+ao_radio_master_send(void)
+{
+	ao_radio_done = 0;
+	ao_exti_enable(AO_RADIO_INT_PORT, AO_RADIO_INT_PIN);
+	ao_radio_master_start();
+	ao_spi_send(&ao_radio_spi_request,
+		    ao_radio_spi_request.len,
+		    AO_RADIO_SPI_BUS);
+	ao_radio_master_stop();
+	cli();
+	while (!ao_radio_done)
+		if (ao_sleep(&ao_radio_done))
+			break;
+	sei();
+	return ao_radio_done;
+}
+
+static void
+ao_radio_master_recv(uint16_t len)
+{
+	ao_radio_master_start();
+	ao_spi_recv(&ao_radio_spi_reply,
+		    len,
+		    AO_RADIO_SPI_BUS);
+	ao_radio_master_stop();
+}
+
+static void
+ao_radio_get(uint8_t req, uint8_t len)
+{
+	ao_config_get();
+	ao_mutex_get(&ao_radio_mutex);
+	ao_radio_spi_request.len = AO_RADIO_SPI_REQUEST_HEADER_LEN + len;
+	ao_radio_spi_request.request = req;
+	ao_radio_spi_request.setting = ao_config.radio_setting;
+}
+
+static void
+ao_radio_put(void)
+{
+	ao_mutex_put(&ao_radio_mutex);
+}
+
+static void
+ao_radio_get_data(__xdata void *d, uint8_t size)
+{
+	ao_radio_master_start();
+	ao_spi_recv(&ao_radio_spi_reply,
+		    AO_RADIO_SPI_REPLY_HEADER_LEN + size,
+		    AO_RADIO_SPI_BUS);
+	ao_radio_master_stop();
+	ao_xmemcpy(d, ao_radio_spi_reply.payload, size);
+}
+
+void
+ao_radio_recv_abort(void)
+{
+	ao_radio_get(AO_RADIO_SPI_RECV_ABORT, 0);
+	ao_radio_master_send();
+	ao_radio_put();
+}
+
+void
+ao_radio_send(const void *d, uint8_t size)
+{
+	ao_radio_get(AO_RADIO_SPI_SEND, size);
+	ao_xmemcpy(&ao_radio_spi_request.payload, d, size);
+	ao_radio_master_send();
+	ao_radio_put();
+}
+
+
+uint8_t
+ao_radio_recv(__xdata void *d, uint8_t size)
+{
+	int8_t	ret;
+	uint8_t	recv;
+
+	/* Recv the data
+	 */
+	
+	ao_radio_get(AO_RADIO_SPI_RECV, 0);
+	ao_radio_spi_request.recv_len = size;
+	recv = ao_radio_master_send();
+	if (!recv) {
+		ao_radio_put();
+		ao_radio_recv_abort();
+		return 0;
+	}
+	ao_radio_get_data(d, size);
+	recv = ao_radio_spi_reply.status;
+	ao_radio_put();
+	return recv;
+}
+
+int8_t
+ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant
+{
+	if (len > AO_CMAC_MAX_LEN)
+		return AO_RADIO_CMAC_LEN_ERROR;
+
+	/* Set the key.
+	 */
+	ao_radio_get(AO_RADIO_SPI_CMAC_KEY, AO_AES_LEN);
+	ao_xmemcpy(&ao_radio_spi_request.payload, &ao_config.aes_key, AO_AES_LEN);
+	ao_radio_master_send();
+	ao_radio_put();
+
+	/* Send the data
+	 */
+	
+	ao_radio_get(AO_RADIO_SPI_CMAC_SEND, len);
+	ao_xmemcpy(&ao_radio_spi_request.payload, packet, len);
+	ao_radio_master_send();
+	ao_radio_put();
+	return AO_RADIO_CMAC_OK;
+}
+
+int8_t
+ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant
+{
+	int8_t	ret;
+	uint8_t	recv;
+
+	if (len > AO_CMAC_MAX_LEN)
+		return AO_RADIO_CMAC_LEN_ERROR;
+
+	/* Set the key.
+	 */
+	ao_radio_get(AO_RADIO_SPI_CMAC_KEY, AO_AES_LEN);
+	ao_radio_spi_request.timeout = timeout;
+	ao_xmemcpy(&ao_radio_spi_request.payload, &ao_config.aes_key, AO_AES_LEN);
+	ao_radio_master_send();
+	ao_radio_put();
+
+	/* Recv the data
+	 */
+	
+	ao_radio_get(AO_RADIO_SPI_CMAC_RECV, 0);
+	ao_radio_spi_request.recv_len = len;
+	recv = ao_radio_master_send();
+	if (!recv) {
+		ao_radio_put();
+		ao_radio_recv_abort();
+		return AO_RADIO_CMAC_TIMEOUT;
+	}
+	ao_radio_get_data(packet, len);
+	recv = ao_radio_spi_reply.status;
+	ao_radio_put();
+	return recv;
+}
+
+static uint8_t	ao_radio_test_on;
+
+void
+ao_radio_test(uint8_t on)
+{
+	if (on) {
+		if (!ao_radio_test_on) {
+			ao_radio_get(AO_RADIO_SPI_TEST_ON, 0);
+			ao_radio_test_on = 1;
+			ao_radio_master_send();
+		}
+	} else {
+		if (ao_radio_test_on) {
+			ao_radio_spi_request.len = AO_RADIO_SPI_REQUEST_HEADER_LEN;
+			ao_radio_spi_request.request = AO_RADIO_SPI_TEST_OFF;
+			ao_radio_master_send();
+			ao_radio_test_on = 0;
+			ao_radio_put();
+		}
+	}
+}
+
+static void
+ao_radio_test_cmd(void)
+{
+	uint8_t	mode = 2;
+	ao_cmd_white();
+	if (ao_cmd_lex_c != '\n') {
+		ao_cmd_decimal();
+		mode = (uint8_t) ao_cmd_lex_u32;
+	}
+	mode++;
+	if ((mode & 2))
+		ao_radio_test(1);
+	if (mode == 3) {
+		printf ("Hit a character to stop..."); flush();
+		getchar();
+		putchar('\n');
+	}
+	if ((mode & 1))
+		ao_radio_test(0);
+}
+
+__code struct ao_cmds ao_radio_cmds[] = {
+	{ ao_radio_test_cmd,	"C <1 start, 0 stop, none both>\0Radio carrier test" },
+	{ 0,	NULL },
+};
+
+void
+ao_radio_init(void)
+{
+	ao_spi_init_cs(AO_RADIO_CS_PORT, (1 << AO_RADIO_CS_PIN));
+
+	ao_enable_port(AO_RADIO_INT_PORT);
+	ao_exti_setup(AO_RADIO_INT_PORT,
+		      AO_RADIO_INT_PIN,
+		      AO_EXTI_MODE_FALLING,
+		      ao_radio_isr);
+	ao_cmd_register(&ao_radio_cmds[0]);
+}
diff --git a/src/drivers/ao_radio_slave.c b/src/drivers/ao_radio_slave.c
new file mode 100644
index 00000000..9dff511b
--- /dev/null
+++ b/src/drivers/ao_radio_slave.c
@@ -0,0 +1,127 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_radio_spi.h>
+#include <ao_radio_cmac.h>
+
+static __xdata struct ao_radio_spi_reply ao_radio_spi_reply;
+
+static __xdata struct ao_radio_spi_request ao_radio_spi_request;
+
+static __xdata uint8_t	ao_radio_spi_recv_request;
+static __xdata uint8_t	ao_radio_spi_recv_len;
+static __xdata uint16_t	ao_radio_spi_recv_timeout;
+
+static void
+ao_radio_slave_signal(void)
+{
+	ao_gpio_set(AO_RADIO_SLAVE_INT_PORT, AO_RADIO_SLAVE_INT_BIT, AO_RADIO_SLAVE_INT_PIN, 0);
+	ao_arch_nop();
+	ao_arch_nop();
+	ao_arch_nop();
+	ao_gpio_set(AO_RADIO_SLAVE_INT_PORT, AO_RADIO_SLAVE_INT_BIT, AO_RADIO_SLAVE_INT_PIN, 0);
+}
+
+static void
+ao_radio_slave_spi(void)
+{
+	for (;;) {
+		ao_spi_get_slave(AO_RADIO_SLAVE_BUS);
+		ao_spi_recv(&ao_radio_spi_request, (2 << 13) | sizeof (ao_radio_spi_request), AO_RADIO_SLAVE_BUS);
+		ao_spi_put_slave(AO_RADIO_SLAVE_BUS);
+		ao_led_for(AO_LED_RED, AO_MS_TO_TICKS(1000));
+		switch (ao_radio_spi_request.request) {
+		case AO_RADIO_SPI_RECV:
+		case AO_RADIO_SPI_CMAC_RECV:
+			ao_config.radio_setting = ao_radio_spi_request.setting;
+			ao_radio_spi_recv_request = ao_radio_spi_request.request;
+			ao_radio_spi_recv_len = ao_radio_spi_request.recv_len;
+			ao_radio_spi_recv_timeout = ao_radio_spi_request.timeout;
+			ao_wakeup(&ao_radio_spi_recv_len);
+			break;
+		case AO_RADIO_SPI_RECV_FETCH:
+			ao_spi_get_slave(AO_RADIO_SLAVE_BUS);
+			ao_spi_send(&ao_radio_spi_reply,
+				    ao_radio_spi_request.recv_len + AO_RADIO_SPI_REPLY_HEADER_LEN,
+				    AO_RADIO_SLAVE_BUS);
+			ao_spi_put_slave(AO_RADIO_SLAVE_BUS);
+			break;
+		case AO_RADIO_SPI_RECV_ABORT:
+			ao_radio_recv_abort();
+			break;
+		case AO_RADIO_SPI_SEND:
+			ao_config.radio_setting = ao_radio_spi_request.setting;
+			ao_radio_send(&ao_radio_spi_request.payload, ao_radio_spi_request.len - AO_RADIO_SPI_REQUEST_HEADER_LEN);
+			ao_radio_slave_signal();
+			break;
+
+		case AO_RADIO_SPI_CMAC_SEND:
+			ao_config.radio_setting = ao_radio_spi_request.setting;
+			ao_radio_cmac_send(&ao_radio_spi_request.payload, ao_radio_spi_request.len - AO_RADIO_SPI_REQUEST_HEADER_LEN);
+			ao_radio_slave_signal();
+			break;
+			
+		case AO_RADIO_SPI_CMAC_KEY:
+			ao_xmemcpy(&ao_config.aes_key, ao_radio_spi_request.payload, AO_AES_LEN);
+			ao_radio_slave_signal();
+			break;
+
+		case AO_RADIO_SPI_TEST_ON:
+			ao_radio_test(1);
+			ao_radio_slave_signal();
+			break;
+
+		case AO_RADIO_SPI_TEST_OFF:
+			ao_radio_test(0);
+			ao_radio_slave_signal();
+			break;
+		}
+	}
+}
+
+static void
+ao_radio_slave_recv(void)
+{
+	uint8_t	len;
+	for (;;) {
+		while (!ao_radio_spi_recv_len)
+			ao_sleep(&ao_radio_spi_recv_len);
+		len = ao_radio_spi_recv_len;
+		ao_radio_spi_recv_len = 0;
+		if (ao_radio_spi_recv_request == AO_RADIO_SPI_RECV) {
+			ao_radio_spi_reply.status = ao_radio_recv(&ao_radio_spi_reply.payload, len);
+			ao_radio_spi_reply.rssi = 0;
+		} else {
+			ao_radio_spi_reply.status = ao_radio_cmac_recv(&ao_radio_spi_reply.payload, len,
+								       ao_radio_spi_recv_timeout);
+			ao_radio_spi_reply.rssi = ao_radio_cmac_rssi;
+		}
+		ao_radio_slave_signal();
+	}
+}
+
+static __xdata struct ao_task ao_radio_slave_spi_task;
+static __xdata struct ao_task ao_radio_slave_recv_task;
+
+void
+ao_radio_slave_init(void)
+{
+	ao_add_task(&ao_radio_slave_spi_task, ao_radio_slave_spi, "radio_spi");
+	ao_add_task(&ao_radio_slave_recv_task, ao_radio_slave_recv, "radio_recv");
+	ao_enable_output(AO_RADIO_SLAVE_INT_PORT, AO_RADIO_SLAVE_INT_BIT, AO_RADIO_SLAVE_INT_PIN, 1);
+}
diff --git a/src/drivers/ao_radio_spi.h b/src/drivers/ao_radio_spi.h
new file mode 100644
index 00000000..2957f70d
--- /dev/null
+++ b/src/drivers/ao_radio_spi.h
@@ -0,0 +1,58 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_RADIO_SPI_H_
+#define _AO_RADIO_SPI_H_
+
+#define AO_RADIO_SPI_RECV	0
+#define AO_RADIO_SPI_RECV_ABORT	1
+#define AO_RADIO_SPI_RECV_FETCH	2
+#define AO_RADIO_SPI_SEND	3
+
+#define AO_RADIO_SPI_CMAC_KEY	4
+#define AO_RADIO_SPI_CMAC_RECV	5
+#define AO_RADIO_SPI_CMAC_SEND	6
+
+#define AO_RADIO_SPI_TEST_ON	7
+#define AO_RADIO_SPI_TEST_OFF	8
+
+#define AO_RADIO_SPI_MAX_PAYLOAD	128
+
+struct ao_radio_spi_request {
+	uint8_t		len;		/* required to be first by cc1111 DMA engine */
+	uint8_t		request;
+	uint8_t		recv_len;
+	uint8_t		pad;
+	uint32_t	setting;
+	uint16_t	timeout;
+	uint8_t		payload[AO_RADIO_SPI_MAX_PAYLOAD];
+};
+
+#define AO_RADIO_SPI_REQUEST_HEADER_LEN	(sizeof (struct ao_radio_spi_request) - AO_RADIO_SPI_MAX_PAYLOAD)
+
+struct ao_radio_spi_reply {
+	uint8_t		status;
+	int8_t		rssi;
+	uint8_t		payload[AO_RADIO_SPI_MAX_PAYLOAD];
+};
+
+#define AO_RADIO_SPI_REPLY_HEADER_LEN	(sizeof (struct ao_radio_spi_reply) - AO_RADIO_SPI_MAX_PAYLOAD)
+
+void
+ao_radio_slave_init(void);
+
+#endif /* _AO_RADIO_SPI_H_ */
diff --git a/src/drivers/ao_seven_segment.c b/src/drivers/ao_seven_segment.c
new file mode 100644
index 00000000..1a643eff
--- /dev/null
+++ b/src/drivers/ao_seven_segment.c
@@ -0,0 +1,216 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_seven_segment.h>
+#include <ao_lcd_stm.h>
+
+/*
+ *         0
+ *	-------
+ *     |       |  
+ *   1 |       | 2
+ *     |   3   |
+ *      -------
+ *     |       |
+ *   4 |       | 5
+ *     |   6   |
+ *      -------
+ *              [] 7
+ *
+ */
+
+static const uint8_t ao_segments[] = {
+	(1 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(0 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* 0 */
+
+	(0 << AO_SEGMENT_0) |
+	(0 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(0 << AO_SEGMENT_3) |
+	(0 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(0 << AO_SEGMENT_6),		/* 1 */
+
+	(1 << AO_SEGMENT_0) |
+	(0 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(0 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* 2 */
+
+	(1 << AO_SEGMENT_0) |
+	(0 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(0 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* 3 */
+
+	(0 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(0 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(0 << AO_SEGMENT_6),		/* 4 */
+
+	(1 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(0 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(0 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* 5 */
+
+	(1 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(0 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* 6 */
+
+	(1 << AO_SEGMENT_0) |
+	(0 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(0 << AO_SEGMENT_3) |
+	(0 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(0 << AO_SEGMENT_6),		/* 7 */
+
+	(1 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* 8 */
+
+	(1 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(0 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* 9 */
+
+	(1 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(0 << AO_SEGMENT_6),		/* A */
+
+	(0 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(0 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* b */
+
+	(1 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(0 << AO_SEGMENT_2) |
+	(0 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(0 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* c */
+
+	(0 << AO_SEGMENT_0) |
+	(0 << AO_SEGMENT_1) |
+	(1 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(1 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* d */
+
+	(1 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(0 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(0 << AO_SEGMENT_5) |
+	(1 << AO_SEGMENT_6),		/* E */
+
+	(1 << AO_SEGMENT_0) |
+	(1 << AO_SEGMENT_1) |
+	(0 << AO_SEGMENT_2) |
+	(1 << AO_SEGMENT_3) |
+	(1 << AO_SEGMENT_4) |
+	(0 << AO_SEGMENT_5) |
+	(0 << AO_SEGMENT_6),		/* F */
+};
+
+void
+ao_seven_segment_set(uint8_t digit, uint8_t value)
+{
+	uint8_t	s;
+	uint8_t	segments;
+
+	if (value == AO_SEVEN_SEGMENT_CLEAR)
+		segments = 0;
+	else {
+		segments = ao_segments[value & 0xf];
+
+		/* Check for decimal point */
+		if (value & 0x10)
+			segments |= (1 << AO_SEGMENT_7);
+	}
+
+	for (s = 0; s <= 7; s++)
+		ao_lcd_set(digit, s, !!(segments & (1 << s)));
+	ao_lcd_flush();
+}
+
+void
+ao_seven_segment_clear(void)
+{
+	ao_lcd_clear();
+}
+
+
+static void
+ao_seven_segment_show(void)
+{
+	uint8_t	digit, value;
+	ao_cmd_decimal();
+	digit = ao_cmd_lex_i;
+	ao_cmd_decimal();
+	value = ao_cmd_lex_i;
+	ao_seven_segment_set(digit, value);
+}
+
+
+static const struct ao_cmds ao_seven_segment_cmds[] = {
+	{ ao_seven_segment_show,	"S <digit> <value>\0Set LCD digit" },
+	{ 0, NULL },
+};
+
+void
+ao_seven_segment_init(void)
+{
+	ao_cmd_register(ao_seven_segment_cmds);
+}
diff --git a/src/drivers/ao_seven_segment.h b/src/drivers/ao_seven_segment.h
new file mode 100644
index 00000000..5b29deaf
--- /dev/null
+++ b/src/drivers/ao_seven_segment.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_SEVEN_SEGMENT_H_
+#define _AO_SEVEN_SEGMENT_H_
+
+#define AO_SEVEN_SEGMENT_DECIMAL	0x10
+
+#define AO_SEVEN_SEGMENT_CLEAR		0xff
+
+void
+ao_seven_segment_set(uint8_t digit, uint8_t value);
+
+void
+ao_seven_segment_clear(void);
+
+void
+ao_seven_segment_init(void);
+
+#endif /* _AO_SEVEN_SEGMENT_H_ */