altos: Move micropeak sources around

This sticks the micropeak sources in appropriate directories, rather
than in the micropeak product directory so that they can be shared
with future micropeak-style products.

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

10 files changed, 3 insertions, 705 deletions

diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
index 44e0b873..e51b2847 100644
--- a/src/micropeak/Makefile
+++ b/src/micropeak/Makefile
@@ -2,7 +2,7 @@
 # Tiny AltOS build
 #
 #
-vpath % ../attiny:../drivers:../core:..
+vpath % ../attiny:../drivers:../core:../product:..
 vpath ao-make-product.5c ../util
 vpath make-altitude-pa ../util
 
@@ -30,7 +30,7 @@ ALTOS_SRC = \
 	ao_ms5607.c \
 	ao_exti.c \
 	ao_convert_pa.c \
-	ao_report_tiny.c \
+	ao_report_micro.c \
 	ao_notask.c \
 	ao_eeprom_tiny.c \
 	ao_panic.c \
@@ -53,7 +53,7 @@ INC=\
 IDPRODUCT=0
 PRODUCT=MicroPeak-v0.1
 PRODUCT_DEF=-DMICROPEAK
-CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product
 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
 
 NICKLE=nickle
diff --git a/src/micropeak/ao_async.c b/src/micropeak/ao_async.c
deleted file mode 100644
index 3556f54c..00000000
--- a/src/micropeak/ao_async.c
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
- * 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_async.h>
-
-#define AO_ASYNC_BAUD	38400l
-#define AO_ASYNC_DELAY	(uint8_t) (1000000l / AO_ASYNC_BAUD)
-
-#define LED_PORT	PORTB
-
-void
-ao_async_start(void)
-{
-	LED_PORT |= (1 << AO_LED_SERIAL);
-}
-
-void
-ao_async_stop(void)
-{
-	LED_PORT &= ~(1 << AO_LED_SERIAL);
-}
-
-void
-ao_async_byte(uint8_t byte)
-{
-	uint8_t		b;
-	uint16_t	w;
-
-	/*    start           data           stop */
-	w = (0x000 << 0) | (byte << 1) | (0x001 << 9);
-
-	ao_arch_block_interrupts();
-	for (b = 0; b < 10; b++) {
-		uint8_t	v = LED_PORT & ~(1 << AO_LED_SERIAL);
-		v |= (w & 1) << AO_LED_SERIAL;
-		LED_PORT = v;
-		w >>= 1;
-
-		/* Carefully timed to hit around 9600 baud */
-		asm volatile ("nop");
-		asm volatile ("nop");
-
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-	}
-	ao_arch_release_interrupts();
-}
diff --git a/src/micropeak/ao_async.h b/src/micropeak/ao_async.h
deleted file mode 100644
index 1b239712..00000000
--- a/src/micropeak/ao_async.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * 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_ASYNC_H_
-#define _AO_ASYNC_H_
-
-void
-ao_async_start(void);
-
-void
-ao_async_stop(void);
-
-void
-ao_async_byte(uint8_t byte);
-
-#endif /* _AO_ASYNC_H_ */
diff --git a/src/micropeak/ao_log_micro.c b/src/micropeak/ao_log_micro.c
deleted file mode 100644
index d665efb5..00000000
--- a/src/micropeak/ao_log_micro.c
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * 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_micropeak.h>
-#include <ao_log_micro.h>
-#include <ao_async.h>
-
-static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
-
-void
-ao_log_micro_save(void)
-{
-	uint16_t	n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
-	ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
-	ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
-	ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
-}
-
-void
-ao_log_micro_restore(void)
-{
-	ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
-	ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
-}
-
-void
-ao_log_micro_data(void)
-{
-	uint16_t	low_bits = pa;
-
-	if (ao_log_offset < MAX_LOG_OFFSET) {
-		ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
-		ao_log_offset += sizeof (low_bits);
-	}
-}
-
-#define POLY 0x8408
-
-static uint16_t
-ao_log_micro_crc(uint16_t crc, uint8_t byte)
-{
-	uint8_t	i;
-
-	for (i = 0; i < 8; i++) {
-		if ((crc & 0x0001) ^ (byte & 0x0001))
-			crc = (crc >> 1) ^ POLY;
-		else
-			crc = crc >> 1;
-		byte >>= 1;
-	}
-	return crc;
-}
-
-static void
-ao_log_hex_nibble(uint8_t b)
-{
-	if (b < 10)
-		ao_async_byte('0' + b);
-	else
-		ao_async_byte('a' - 10 + b);
-}
-
-static void
-ao_log_hex(uint8_t b)
-{
-	ao_log_hex_nibble(b>>4);
-	ao_log_hex_nibble(b&0xf);
-}
-
-static void
-ao_log_newline(void)
-{
-	ao_async_byte('\r');
-	ao_async_byte('\n');
-}
-
-void
-ao_log_micro_dump(void)
-{
-	uint16_t	n_samples;
-	uint16_t	nbytes;
-	uint8_t		byte;
-	uint16_t	b;
-	uint16_t	crc = 0xffff;
-
-	ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
-	if (n_samples == 0xffff)
-		n_samples = 0;
-	nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
-	ao_async_start();
-	ao_async_byte('M');
-	ao_async_byte('P');
-	for (b = 0; b < nbytes; b++) {
-		if ((b & 0xf) == 0)
-			ao_log_newline();
-		ao_eeprom_read(b, &byte, 1);
-		ao_log_hex(byte);
-		crc = ao_log_micro_crc(crc, byte);
-	}
-	ao_log_newline();
-	crc = ~crc;
-	ao_log_hex(crc >> 8);
-	ao_log_hex(crc);
-	ao_log_newline();
-	ao_async_stop();
-}
diff --git a/src/micropeak/ao_log_micro.h b/src/micropeak/ao_log_micro.h
deleted file mode 100644
index 976852ee..00000000
--- a/src/micropeak/ao_log_micro.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- * 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_LOG_MICRO_H_
-#define _AO_LOG_MICRO_H_
-
-#define PA_GROUND_OFFSET	0
-#define PA_MIN_OFFSET		4
-#define N_SAMPLES_OFFSET	8
-#define STARTING_LOG_OFFSET	10
-#define MAX_LOG_OFFSET		512
-
-void
-ao_log_micro_save(void);
-
-void
-ao_log_micro_restore(void);
-
-void
-ao_log_micro_data(void);
-
-void
-ao_log_micro_dump(void);
-
-#endif /* _AO_LOG_MICRO_H_ */
diff --git a/src/micropeak/ao_microflight.c b/src/micropeak/ao_microflight.c
deleted file mode 100644
index 714bb90a..00000000
--- a/src/micropeak/ao_microflight.c
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; 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_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-
-uint32_t	pa;
-uint32_t	pa_ground;
-uint32_t	pa_min;
-
-static void
-ao_microsample(void)
-{
-	ao_pa_get();
-	ao_microkalman_predict();
-	ao_microkalman_correct();
-}
-
-#define NUM_PA_HIST	16
-
-#define SKIP_PA_HIST(i,j)	(((i) + (j)) & (NUM_PA_HIST - 1))
-
-static uint32_t	pa_hist[NUM_PA_HIST];
-
-void
-ao_microflight(void)
-{
-	int16_t		sample_count;
-	uint16_t	time;
-	uint32_t	pa_interval_min, pa_interval_max;
-	int32_t		pa_diff;
-	uint8_t		h, i;
-	uint8_t		accel_lock = 0;
-	uint32_t	pa_sum = 0;
-
-	/* Wait for motion, averaging values to get ground pressure */
-
-	time = ao_time();
-	ao_pa_get();
-	ao_microkalman_init();
-	pa_ground = pa;
-	sample_count = 0;
-	h = 0;
-	for (;;) {
-		time += SAMPLE_SLEEP;
-		if (sample_count == 0)
-			ao_led_on(AO_LED_REPORT);
-		ao_delay_until(time);
-		ao_microsample();
-		if (sample_count == 0)
-			ao_led_off(AO_LED_REPORT);
-		pa_hist[h] = pa;
-		h = SKIP_PA_HIST(h,1);
-		pa_diff = pa_ground - ao_pa;
-
-		/* Check for a significant pressure change */
-		if (pa_diff > BOOST_DETECT)
-			break;
-
-		if (sample_count < GROUND_AVG * 2) {
-			if (sample_count < GROUND_AVG)
-				pa_sum += pa;
-			++sample_count;
-		} else {
-			pa_ground = pa_sum >> GROUND_AVG_SHIFT;
-			pa_sum = 0;
-			sample_count = 0;
-		}
-	}
-
-	/* Go back and find the first sample a decent interval above the ground */
-	pa_min = pa_ground - LAND_DETECT;
-	for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
-		if (pa_hist[i] < pa_min)
-			break;
-	}
-
-	/* Log the remaining samples so we get a complete history since leaving the ground */
-	for (; i != h; i = SKIP_PA_HIST(i,2)) {
-		pa = pa_hist[i];
-		ao_log_micro_data();
-	}
-
-	/* Now sit around until the pressure is stable again and record the max */
-
-	sample_count = 0;
-	pa_min = ao_pa;
-	pa_interval_min = ao_pa;
-	pa_interval_max = ao_pa;
-	for (;;) {
-		time += SAMPLE_SLEEP;
-		ao_delay_until(time);
-		if ((sample_count & 3) == 0)
-			ao_led_on(AO_LED_REPORT);
-		ao_microsample();
-		if ((sample_count & 3) == 0)
-			ao_led_off(AO_LED_REPORT);
-		if (sample_count & 1)
-			ao_log_micro_data();
-
-		/* If accelerating upwards, don't look for min pressure */
-		if (ao_pa_accel < ACCEL_LOCK_PA)
-			accel_lock = ACCEL_LOCK_TIME;
-		else if (accel_lock)
-			--accel_lock;
-		else if (ao_pa < pa_min)
-			pa_min = ao_pa;
-
-		if (sample_count == (GROUND_AVG - 1)) {
-			pa_diff = pa_interval_max - pa_interval_min;
-
-			/* Check to see if the pressure is now stable */
-			if (pa_diff < LAND_DETECT)
-				break;
-			sample_count = 0;
-			pa_interval_min = ao_pa;
-			pa_interval_max = ao_pa;
-		} else {
-			if (ao_pa < pa_interval_min)
-				pa_interval_min = ao_pa;
-			if (ao_pa > pa_interval_max)
-				pa_interval_max = ao_pa;
-			++sample_count;
-		}
-	}
-}
diff --git a/src/micropeak/ao_microkalman.c b/src/micropeak/ao_microkalman.c
deleted file mode 100644
index 0684ea2b..00000000
--- a/src/micropeak/ao_microkalman.c
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; 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_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-
-#define FIX_BITS	16
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix8(x)	((x) >> 8)
-#define from_fix(x)	((x) >> 16)
-#define fix8_to_fix16(x)	((x) << 8)
-#define fix16_to_fix8(x)	((x) >> 8)
-
-#include <ao_kalman.h>
-
-/* Basic time step (96ms) */
-#define AO_MK_STEP	to_fix16(0.096)
-/* step ** 2 / 2 */
-#define AO_MK_STEP_2_2	to_fix16(0.004608)
-
-uint32_t	ao_k_pa;		/* 24.8 fixed point */
-int32_t		ao_k_pa_speed;		/* 16.16 fixed point */
-int32_t		ao_k_pa_accel;		/* 16.16 fixed point */
-
-uint32_t	ao_pa;			/* integer portion */
-int16_t		ao_pa_speed;		/* integer portion */
-int16_t		ao_pa_accel;		/* integer portion */
-
-void
-ao_microkalman_init(void)
-{
-	ao_pa = pa;
-	ao_k_pa = pa << 8;
-}	
-
-void
-ao_microkalman_predict(void)
-{
-	ao_k_pa       += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
-	ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
-}
-
-void
-ao_microkalman_correct(void)
-{
-	int16_t	e;	/* Height error in Pa */
-
-	e = pa - from_fix8(ao_k_pa);
-
-	ao_k_pa       += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
-	ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
-	ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
-	ao_pa = from_fix8(ao_k_pa);
-	ao_pa_speed = from_fix(ao_k_pa_speed);
-	ao_pa_accel = from_fix(ao_k_pa_accel);
-}
diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
deleted file mode 100644
index 10f0d192..00000000
--- a/src/micropeak/ao_micropeak.c
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * 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_micropeak.h>
-#include <ao_ms5607.h>
-#include <ao_log_micro.h>
-#include <ao_async.h>
-
-static struct ao_ms5607_sample	sample;
-static struct ao_ms5607_value	value;
-
-alt_t		ground_alt, max_alt;
-alt_t		ao_max_height;
-
-void
-ao_pa_get(void)
-{
-	ao_ms5607_sample(&sample);
-	ao_ms5607_convert(&sample, &value);
-	pa = value.pres;
-}
-
-static void
-ao_compute_height(void)
-{
-	ground_alt = ao_pa_to_altitude(pa_ground);
-	max_alt = ao_pa_to_altitude(pa_min);
-	ao_max_height = max_alt - ground_alt;
-}
-
-static void
-ao_pips(void)
-{
-	uint8_t	i;
-	for (i = 0; i < 10; i++) {
-		ao_led_toggle(AO_LED_REPORT);
-		ao_delay(AO_MS_TO_TICKS(80));
-	}
-	ao_delay(AO_MS_TO_TICKS(200));
-}
-
-int
-main(void)
-{
-	ao_led_init(LEDS_AVAILABLE);
-	ao_timer_init();
-
-	/* Init external hardware */
-	ao_spi_init();
-	ao_ms5607_init();
-	ao_ms5607_setup();
-
-	/* Give the person a second to get their finger out of the way */
-	ao_delay(AO_MS_TO_TICKS(1000));
-
-	ao_log_micro_restore();
-	ao_compute_height();
-	ao_report_altitude();
-	ao_pips();
-	ao_log_micro_dump();
-	
-	ao_delay(BOOST_DELAY);
-
-	ao_microflight();
-
-	ao_log_micro_save();
-	ao_compute_height();
-	ao_report_altitude();
-	for (;;) {
-		cli();
-		set_sleep_mode(SLEEP_MODE_PWR_DOWN);
-		sleep_mode();
-	}
-}
diff --git a/src/micropeak/ao_micropeak.h b/src/micropeak/ao_micropeak.h
deleted file mode 100644
index 382b98d9..00000000
--- a/src/micropeak/ao_micropeak.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- * 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_MICROPEAK_H_
-#define _AO_MICROPEAK_H_
-
-#define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
-
-/* 16 sample, or about two seconds worth */
-#define GROUND_AVG_SHIFT	4
-#define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
-
-/* Pressure change (in Pa) to detect boost */
-#define BOOST_DETECT		120	/* 10m at sea level, 12m at 2000m */
-
-/* Wait after power on before doing anything to give the user time to assemble the rocket */
-#define BOOST_DELAY		AO_SEC_TO_TICKS(30)
-
-/* Pressure change (in Pa) to detect landing */
-#define LAND_DETECT		24	/* 2m at sea level, 2.4m at 2000m */
-
-/* Current sensor pressure value */
-extern uint32_t	pa;
-
-/* Average pressure value on ground */
-extern uint32_t	pa_ground;
-
-/* Minimum recorded filtered pressure value */
-extern uint32_t	pa_min;
-
-/* Pressure values converted to altitudes */
-extern alt_t	ground_alt, max_alt;
-
-/* max_alt - ground_alt */
-extern alt_t	ao_max_height;
-
-void
-ao_pa_get(void);
-
-void
-ao_microflight(void);
-
-#define ACCEL_LOCK_PA		-20
-#define ACCEL_LOCK_TIME		10
-
-extern uint32_t	ao_k_pa;		/* 24.8 fixed point */
-extern int32_t	ao_k_pa_speed;		/* 16.16 fixed point */
-extern int32_t	ao_k_pa_accel;		/* 16.16 fixed point */
-
-extern uint32_t	ao_pa;			/* integer portion */
-extern int16_t	ao_pa_speed;		/* integer portion */
-extern int16_t	ao_pa_accel;		/* integer portion */
-
-void
-ao_microkalman_init(void);
-
-void
-ao_microkalman_predict(void);
-
-void
-ao_microkalman_correct(void);
-	
-#endif
-
diff --git a/src/micropeak/ao_report_tiny.c b/src/micropeak/ao_report_tiny.c
deleted file mode 100644
index 0e8e287f..00000000
--- a/src/micropeak/ao_report_tiny.c
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * 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>
-
-#define mid(time)	ao_led_for(AO_LED_REPORT, time)
-#define pause(time)	ao_delay(time)
-
-static void
-ao_report_digit(uint8_t digit) __reentrant
-{
-	if (!digit) {
-		mid(AO_MS_TO_TICKS(1000));
-		pause(AO_MS_TO_TICKS(300));
-	} else {
-		while (digit--) {
-			mid(AO_MS_TO_TICKS(300));
-			pause(AO_MS_TO_TICKS(300));
-		}
-	}
-	pause(AO_MS_TO_TICKS(1000));
-}
-
-void
-ao_report_altitude(void)
-{
-	__pdata alt_t	agl = ao_max_height;
-	static __xdata uint8_t	digits[11];
-	__pdata uint8_t ndigits, i;
-
-	if (agl < 0)
-		agl = 0;
-	ndigits = 0;
-	do {
-		digits[ndigits++] = agl % 10;
-		agl /= 10;
-	} while (agl);
-
-	i = ndigits;
-	do
-		ao_report_digit(digits[--i]);
-	while (i != 0);
-}