altos: Rename 'core' to 'kernel'

core remains a bad name to use -- dirvish skips files (and
directories, it seems) with that name.

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

1 files changed, 805 insertions, 0 deletions

diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
new file mode 100644
index 00000000..4482f673
--- /dev/null
+++ b/src/kernel/ao_config.c
@@ -0,0 +1,805 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include "ao_log.h"
+#include <ao_config.h>
+#if HAS_FLIGHT
+#include <ao_sample.h>
+#include <ao_data.h>
+#endif
+
+__xdata struct ao_config ao_config;
+__pdata uint8_t ao_config_loaded;
+__pdata uint8_t ao_config_dirty;
+__xdata uint8_t ao_config_mutex;
+
+#ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL
+#define AO_CONFIG_DEFAULT_APRS_INTERVAL	0
+#endif
+#define AO_CONFIG_DEFAULT_MAIN_DEPLOY	250
+#define AO_CONFIG_DEFAULT_RADIO_CHANNEL	0
+#define AO_CONFIG_DEFAULT_CALLSIGN	"N0CALL"
+#define AO_CONFIG_DEFAULT_ACCEL_ZERO_G	16000
+#define AO_CONFIG_DEFAULT_APOGEE_DELAY	0
+#define AO_CONFIG_DEFAULT_IGNITE_MODE	AO_IGNITE_MODE_DUAL
+#define AO_CONFIG_DEFAULT_PAD_ORIENTATION	AO_PAD_ORIENTATION_ANTENNA_UP
+#if HAS_EEPROM
+#ifndef USE_INTERNAL_FLASH
+#error Please define USE_INTERNAL_FLASH
+#endif
+#endif
+#ifndef AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX
+#if USE_INTERNAL_FLASH
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	ao_storage_config
+#else
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	((uint32_t) 192 * (uint32_t) 1024)
+#endif
+#endif
+#ifndef AO_CONFIG_DEFAULT_RADIO_POWER
+#define AO_CONFIG_DEFAULT_RADIO_POWER		0x60
+#endif
+#define AO_CONFIG_DEFAULT_RADIO_AMP		0
+
+#if HAS_EEPROM
+static void
+_ao_config_put(void)
+{
+	ao_config_setup();
+	ao_config_erase();
+	ao_config_write(0, &ao_config, sizeof (ao_config));
+#if HAS_FLIGHT
+	ao_log_write_erase(0);
+#endif
+	ao_config_flush();
+}
+
+void
+ao_config_put(void)
+{
+	ao_mutex_get(&ao_config_mutex);
+	_ao_config_put();
+	ao_mutex_put(&ao_config_mutex);
+}
+#endif
+
+#if HAS_RADIO
+void
+ao_config_set_radio(void)
+{
+	ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal);
+}
+#endif /* HAS_RADIO */
+
+static void
+_ao_config_get(void)
+{
+	uint8_t	minor;
+
+	if (ao_config_loaded)
+		return;
+#if HAS_EEPROM
+	/* Yes, I know ao_storage_read calls ao_storage_setup,
+	 * but ao_storage_setup *also* sets ao_storage_config, which we
+	 * need before calling ao_storage_read here
+	 */
+	ao_config_setup();
+	ao_config_read(0, &ao_config, sizeof (ao_config));
+#endif
+	if (ao_config.major != AO_CONFIG_MAJOR) {
+		ao_config.major = AO_CONFIG_MAJOR;
+		ao_config.minor = 0;
+
+		/* Version 0 stuff */
+		ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
+		ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
+		ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
+		       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+		ao_config._legacy_radio_channel = 0;
+	}
+	minor = ao_config.minor;
+	if (minor != AO_CONFIG_MINOR) {
+		/* Fixups for minor version 1 */
+		if (minor < 1)
+			ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+		/* Fixups for minor version 2 */
+		if (minor < 2) {
+			ao_config.accel_plus_g = 0;
+			ao_config.accel_minus_g = 0;
+		}
+		/* Fixups for minor version 3 */
+#if HAS_RADIO
+		if (minor < 3)
+			ao_config.radio_cal = ao_radio_cal;
+#endif
+		/* Fixups for minor version 4 */
+#if HAS_FLIGHT
+		if (minor < 4)
+			ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
+#endif
+		/* Fixupes for minor version 5 */
+		if (minor < 5)
+			ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
+		if (minor < 6)
+			ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
+		if (minor < 8)
+			ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
+		if (minor < 9)
+			ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
+		if (minor < 10)
+			ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
+		if (minor < 11)
+			ao_config.apogee_lockout = 0;
+#if AO_PYRO_NUM
+		if (minor < 12)
+			memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro));
+#endif
+		if (minor < 13)
+			ao_config.aprs_interval = AO_CONFIG_DEFAULT_APRS_INTERVAL;
+#if HAS_RADIO_POWER
+		if (minor < 14)
+			ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER;
+		#endif
+#if HAS_RADIO_AMP
+		if (minor  < 14)
+			ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
+#endif
+#if HAS_GYRO
+		if (minor < 15) {
+			ao_config.accel_zero_along = 0;
+			ao_config.accel_zero_across = 0;
+			ao_config.accel_zero_through = 0;
+
+			/* Reset the main accel offsets to force
+			 * re-calibration
+			 */
+			ao_config.accel_plus_g = 0;
+			ao_config.accel_minus_g = 0;
+		}
+#endif
+		ao_config.minor = AO_CONFIG_MINOR;
+		ao_config_dirty = 1;
+	}
+#if HAS_RADIO
+#if HAS_FORCE_FREQ
+	if (ao_force_freq) {
+		ao_config.frequency = 434550;
+		ao_config.radio_cal = ao_radio_cal;
+		ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
+		       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+	}
+#endif
+	ao_config_set_radio();
+#endif
+	ao_config_loaded = 1;
+}
+
+void
+_ao_config_edit_start(void)
+{
+	ao_mutex_get(&ao_config_mutex);
+	_ao_config_get();
+}
+
+void
+_ao_config_edit_finish(void)
+{
+	ao_config_dirty = 1;
+	ao_mutex_put(&ao_config_mutex);
+}
+
+void
+ao_config_get(void)
+{
+	_ao_config_edit_start();
+	ao_mutex_put(&ao_config_mutex);
+}
+
+void
+ao_config_callsign_show(void)
+{
+	printf ("Callsign: \"%s\"\n", ao_config.callsign);
+}
+
+void
+ao_config_callsign_set(void) __reentrant
+{
+	uint8_t	c;
+	static __xdata char callsign[AO_MAX_CALLSIGN + 1];
+
+	ao_xmemset(callsign, '\0', sizeof callsign);
+	ao_cmd_white();
+	c = 0;
+	while (ao_cmd_lex_c != '\n') {
+		if (c < AO_MAX_CALLSIGN)
+			callsign[c++] = ao_cmd_lex_c;
+		else
+			ao_cmd_status = ao_cmd_lex_error;
+		ao_cmd_lex();
+	}
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_xmemcpy(&ao_config.callsign, &callsign,
+	       AO_MAX_CALLSIGN + 1);
+	_ao_config_edit_finish();
+}
+
+#if HAS_RADIO
+
+void
+ao_config_frequency_show(void) __reentrant
+{
+	printf("Frequency: %ld\n",
+	       ao_config.frequency);
+}
+
+void
+ao_config_frequency_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.frequency = ao_cmd_lex_u32;
+	ao_config_set_radio();
+	_ao_config_edit_finish();
+#if HAS_RADIO_RECV
+	ao_radio_recv_abort();
+#endif
+}
+#endif
+
+#if HAS_FLIGHT
+
+void
+ao_config_main_deploy_show(void) __reentrant
+{
+	printf("Main deploy: %d meters\n",
+	       ao_config.main_deploy);
+}
+
+void
+ao_config_main_deploy_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.main_deploy = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+#if HAS_ACCEL
+void
+ao_config_accel_calibrate_show(void) __reentrant
+{
+	printf("Accel cal +1g: %d -1g: %d\n",
+	       ao_config.accel_plus_g, ao_config.accel_minus_g);
+#if HAS_GYRO
+	printf ("IMU cal along %d across %d through %d\n",
+		ao_config.accel_zero_along,
+		ao_config.accel_zero_across,
+		ao_config.accel_zero_through);
+#endif
+}
+
+#define ACCEL_CALIBRATE_SAMPLES	1024
+#define ACCEL_CALIBRATE_SHIFT	10
+
+#if HAS_GYRO
+static int16_t accel_cal_along;
+static int16_t accel_cal_across;
+static int16_t accel_cal_through;
+#endif
+
+static int16_t
+ao_config_accel_calibrate_auto(char *orientation) __reentrant
+{
+	uint16_t	i;
+	int32_t		accel_total;
+	uint8_t		cal_data_ring;
+#if HAS_GYRO
+	int32_t		accel_along_total = 0;
+	int32_t		accel_across_total = 0;
+	int32_t		accel_through_total = 0;
+#endif
+
+	printf("Orient antenna %s and press a key...", orientation);
+	flush();
+	(void) getchar();
+	puts("\r\n"); flush();
+	puts("Calibrating..."); flush();
+	i = ACCEL_CALIBRATE_SAMPLES;
+	accel_total = 0;
+	cal_data_ring = ao_sample_data;
+	while (i) {
+		ao_sleep(DATA_TO_XDATA(&ao_sample_data));
+		while (i && cal_data_ring != ao_sample_data) {
+			accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]);
+#if HAS_GYRO
+			accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]);
+			accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]);
+			accel_through_total += (int32_t) ao_data_through(&ao_data_ring[cal_data_ring]);
+#endif
+			cal_data_ring = ao_data_ring_next(cal_data_ring);
+			i--;
+		}
+	}
+#if HAS_GYRO
+	accel_cal_along = accel_along_total >> ACCEL_CALIBRATE_SHIFT;
+	accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT;
+	accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT;
+#endif
+	return accel_total >> ACCEL_CALIBRATE_SHIFT;
+}
+
+void
+ao_config_accel_calibrate_set(void) __reentrant
+{
+	int16_t	up, down;
+#if HAS_GYRO
+	int16_t	accel_along_up = 0, accel_along_down = 0;
+	int16_t	accel_across_up = 0, accel_across_down = 0;
+	int16_t	accel_through_up = 0, accel_through_down = 0;
+#endif
+	
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	if (ao_cmd_lex_i == 0) {
+		up = ao_config_accel_calibrate_auto("up");
+#if HAS_GYRO
+		accel_along_up = accel_cal_along;
+		accel_across_up = accel_cal_across;
+		accel_through_up = accel_cal_through;
+#endif
+		down = ao_config_accel_calibrate_auto("down");
+#if HAS_GYRO
+		accel_along_down = accel_cal_along;
+		accel_across_down = accel_cal_across;
+		accel_through_down = accel_cal_through;
+#endif
+	} else {
+		up = ao_cmd_lex_i;
+		ao_cmd_decimal();
+		if (ao_cmd_status != ao_cmd_success)
+			return;
+		down = ao_cmd_lex_i;
+	}
+	if (up >= down) {
+		printf("Invalid accel: up (%d) down (%d)\n",
+		       up, down);
+		return;
+	}
+	_ao_config_edit_start();
+	ao_config.accel_plus_g = up;
+	ao_config.accel_minus_g = down;
+#if HAS_GYRO
+	if (ao_cmd_lex_i == 0) {
+		ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
+		ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
+		ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
+	}
+#endif
+	_ao_config_edit_finish();
+}
+#endif /* HAS_ACCEL */
+
+void
+ao_config_apogee_delay_show(void) __reentrant
+{
+	printf("Apogee delay: %d seconds\n",
+	       ao_config.apogee_delay);
+}
+
+void
+ao_config_apogee_delay_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.apogee_delay = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+void
+ao_config_apogee_lockout_show(void) __reentrant
+{
+	printf ("Apogee lockout: %d seconds\n",
+		ao_config.apogee_lockout);
+}
+
+void
+ao_config_apogee_lockout_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.apogee_lockout = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+#endif /* HAS_FLIGHT */
+
+#if HAS_RADIO
+void
+ao_config_radio_cal_show(void) __reentrant
+{
+	printf("Radio cal: %ld\n", ao_config.radio_cal);
+}
+
+void
+ao_config_radio_cal_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.radio_cal = ao_cmd_lex_u32;
+	ao_config_set_radio();
+	_ao_config_edit_finish();
+}
+#endif
+
+#if HAS_LOG
+void
+ao_config_log_show(void) __reentrant
+{
+	printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10));
+}
+
+void
+ao_config_log_set(void) __reentrant
+{
+	uint16_t	block = (uint16_t) (ao_storage_block >> 10);
+	uint16_t	log_max = (uint16_t) (ao_storage_log_max >> 10);
+
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	if (ao_log_present())
+		printf("Storage must be empty before changing log size\n");
+	else if (block > 1024 && (ao_cmd_lex_i & (block - 1)))
+		printf("Flight log size must be multiple of %d kB\n", block);
+	else if (ao_cmd_lex_i > log_max)
+		printf("Flight log max %d kB\n", log_max);
+	else {
+		_ao_config_edit_start();
+		ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
+		_ao_config_edit_finish();
+	}
+}
+#endif /* HAS_LOG */
+
+#if HAS_IGNITE
+void
+ao_config_ignite_mode_show(void) __reentrant
+{
+	printf("Ignite mode: %d\n", ao_config.ignite_mode);
+}
+
+void
+ao_config_ignite_mode_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.ignite_mode = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+#endif
+
+#if HAS_ACCEL
+void
+ao_config_pad_orientation_show(void) __reentrant
+{
+	printf("Pad orientation: %d\n", ao_config.pad_orientation);
+}
+
+#ifndef AO_ACCEL_INVERT
+#define AO_ACCEL_INVERT	0x7fff
+#endif
+
+void
+ao_config_pad_orientation_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_cmd_lex_i &= 1;
+	if (ao_config.pad_orientation != ao_cmd_lex_i) {
+		int16_t t;
+		t = ao_config.accel_plus_g;
+		ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g;
+		ao_config.accel_minus_g = AO_ACCEL_INVERT - t;
+	}
+	ao_config.pad_orientation = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+#endif
+
+#if HAS_RADIO
+void
+ao_config_radio_enable_show(void) __reentrant
+{
+	printf("Radio enable: %d\n", ao_config.radio_enable);
+}
+
+void
+ao_config_radio_enable_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.radio_enable = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+#endif /* HAS_RADIO */
+	
+#if HAS_AES
+
+__xdata uint8_t	ao_config_aes_seq = 1;
+
+void
+ao_config_key_show(void) __reentrant
+{
+	uint8_t	i;
+	printf("AES key: ");
+	for (i = 0; i < AO_AES_LEN; i++)
+		printf ("%02x", ao_config.aes_key[i]);
+	printf("\n");
+}
+
+void
+ao_config_key_set(void) __reentrant
+{
+	uint8_t i;
+
+	_ao_config_edit_start();
+	for (i = 0; i < AO_AES_LEN; i++) {
+		ao_cmd_hexbyte();
+		if (ao_cmd_status != ao_cmd_success)
+			break;
+		ao_config.aes_key[i] = ao_cmd_lex_i;
+	}
+	++ao_config_aes_seq;
+	_ao_config_edit_finish();
+}
+#endif
+
+#if HAS_APRS
+
+void
+ao_config_aprs_show(void)
+{
+	printf ("APRS interval: %d\n", ao_config.aprs_interval);
+}
+
+void
+ao_config_aprs_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.aprs_interval = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+#endif /* HAS_APRS */
+
+#if HAS_RADIO_AMP
+
+void
+ao_config_radio_amp_show(void)
+{
+	printf ("Radio amp setting: %d\n", ao_config.radio_amp);
+}
+
+void
+ao_config_radio_amp_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.radio_amp = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+#endif
+
+#if HAS_RADIO_POWER
+
+void
+ao_config_radio_power_show(void)
+{
+	printf ("Radio power setting: %d\n", ao_config.radio_power);
+}
+
+void
+ao_config_radio_power_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.radio_power = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+#endif
+
+struct ao_config_var {
+	__code char	*str;
+	void		(*set)(void) __reentrant;
+	void		(*show)(void) __reentrant;
+};
+
+static void
+ao_config_help(void) __reentrant;
+
+static void
+ao_config_show(void) __reentrant;
+
+#if HAS_EEPROM
+static void
+ao_config_save(void) __reentrant;
+#endif
+
+__code struct ao_config_var ao_config_vars[] = {
+#if HAS_FLIGHT
+	{ "m <meters>\0Main deploy (m)",
+	  ao_config_main_deploy_set,	ao_config_main_deploy_show, },
+	{ "d <delay>\0Apogee delay (s)",
+	  ao_config_apogee_delay_set,	ao_config_apogee_delay_show },
+	{ "L <seconds>\0Apogee detect lockout (s)",
+	  ao_config_apogee_lockout_set, ao_config_apogee_lockout_show, },
+#endif /* HAS_FLIGHT */
+#if HAS_RADIO
+	{ "F <freq>\0Frequency (kHz)",
+	  ao_config_frequency_set, ao_config_frequency_show },
+	{ "c <call>\0Callsign (8 char max)",
+	  ao_config_callsign_set,	ao_config_callsign_show },
+	{ "e <0 disable, 1 enable>\0Enable telemetry and RDF",
+	  ao_config_radio_enable_set, ao_config_radio_enable_show },
+	{ "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
+	  ao_config_radio_cal_set,  	ao_config_radio_cal_show },
+#if HAS_RADIO_POWER
+	{ "p <setting>\0Radio power setting (0-255)",
+	  ao_config_radio_power_set,	ao_config_radio_power_show },
+#endif
+#if HAS_RADIO_AMP
+	{ "d <setting>\0Radio amplifier setting (0-3)",
+	  ao_config_radio_amp_set,	ao_config_radio_amp_show },
+#endif
+#endif /* HAS_RADIO */
+#if HAS_ACCEL
+	{ "a <+g> <-g>\0Accel calib (0 for auto)",
+	  ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
+	{ "o <0 antenna up, 1 antenna down>\0Set pad orientation",
+	  ao_config_pad_orientation_set,ao_config_pad_orientation_show },
+#endif /* HAS_ACCEL */
+#if HAS_LOG
+	{ "l <size>\0Flight log size (kB)",
+	  ao_config_log_set,		ao_config_log_show },
+#endif
+#if HAS_IGNITE
+	{ "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
+	  ao_config_ignite_mode_set,	ao_config_ignite_mode_show },
+#endif
+#if HAS_AES
+	{ "k <32 hex digits>\0Set AES encryption key",
+	  ao_config_key_set, ao_config_key_show },
+#endif
+#if AO_PYRO_NUM
+	{ "P <n,?>\0Configure pyro channels",
+	  ao_pyro_set, ao_pyro_show },
+#endif
+#if HAS_APRS
+	{ "A <secs>\0APRS packet interval (0 disable)",
+	  ao_config_aprs_set, ao_config_aprs_show },
+#endif
+	{ "s\0Show",
+	  ao_config_show,		0 },
+#if HAS_EEPROM
+	{ "w\0Write to eeprom",
+	  ao_config_save,		0 },
+#endif
+	{ "?\0Help",
+	  ao_config_help,		0 },
+	{ 0, 0, 0 }
+};
+
+void
+ao_config_set(void)
+{
+	char	c;
+	uint8_t cmd;
+
+	ao_cmd_white();
+	c = ao_cmd_lex_c;
+	ao_cmd_lex();
+	for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
+		if (ao_config_vars[cmd].str[0] == c) {
+			(*ao_config_vars[cmd].set)();
+			return;
+		}
+	ao_cmd_status = ao_cmd_syntax_error;
+}
+
+static void
+ao_config_help(void) __reentrant
+{
+	uint8_t cmd;
+	for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
+		printf("%-20s %s\n",
+		       ao_config_vars[cmd].str,
+		       ao_config_vars[cmd].str+1+
+		       strlen(ao_config_vars[cmd].str));
+}
+
+static void
+ao_config_show(void) __reentrant
+{
+	uint8_t cmd;
+	ao_config_get();
+	printf("Config version: %d.%d\n",
+	       ao_config.major, ao_config.minor);
+	for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
+		if (ao_config_vars[cmd].show)
+			(*ao_config_vars[cmd].show)();
+#if HAS_MS5607
+	ao_ms5607_info();
+#endif
+}
+
+#if HAS_EEPROM
+static void
+ao_config_save(void) __reentrant
+{
+	uint8_t saved = 0;
+	ao_mutex_get(&ao_config_mutex);
+	if (ao_config_dirty) {
+		_ao_config_put();
+		ao_config_dirty = 0;
+		saved = 1;
+	}
+	ao_mutex_put(&ao_config_mutex);
+	if (saved)
+		puts("Saved");
+	else
+		puts("Nothing to save");
+}
+#endif
+
+__code struct ao_cmds ao_config_cmds[] = {
+	{ ao_config_set,	"c <var> <value>\0Set config (? for help, s to show)" },
+	{ 0, NULL },
+};
+
+void
+ao_config_init(void)
+{
+	ao_cmd_register(&ao_config_cmds[0]);
+}