altos: Add TeleMega v2.0, including PWM driver

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

9 files changed, 905 insertions, 0 deletions

diff --git a/src/Makefile b/src/Makefile
index dc74bf8c..ebe1df9c 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -29,6 +29,7 @@ ARMM3DIRS=\
 	easymega-v1.0 easymega-v1.0/flash-loader \
 	telemega-v0.1 telemega-v0.1/flash-loader \
 	telemega-v1.0 telemega-v1.0/flash-loader \
+	telemega-v2.0 telemega-v2.0/flash-loader \
 	telemetrum-v2.0 telemetrum-v2.0/flash-loader \
 	megadongle-v0.1 megadongle-v0.1/flash-loader \
 	telegps-v0.3 telegps-v0.3/flash-loader \
diff --git a/src/drivers/ao_pwm.h b/src/drivers/ao_pwm.h
new file mode 100644
index 00000000..2dd2ffd5
--- /dev/null
+++ b/src/drivers/ao_pwm.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright © 2015 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_PWM_H_
+#define _AO_PWM_H_
+
+#include <stdint.h>
+
+void
+ao_pwm_set(uint8_t pwm, uint16_t value);
+
+void
+ao_pwm_init(void);
+
+#endif /* _AO_PWM_H_ */
diff --git a/src/stm/ao_pwm_stm.c b/src/stm/ao_pwm_stm.c
new file mode 100644
index 00000000..cea21030
--- /dev/null
+++ b/src/stm/ao_pwm_stm.c
@@ -0,0 +1,174 @@
+/*
+ * Copyright © 2015 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_pwm.h"
+
+static uint8_t	pwm_running;
+
+static uint16_t	pwm_value[NUM_PWM];
+
+static void
+ao_pwm_up(void)
+{
+	if (pwm_running++ == 0) {
+		struct stm_tim234	*tim = &AO_PWM_TIMER;
+		tim->ccr1 = 0;
+		tim->ccr2 = 0;
+		tim->ccr3 = 0;
+		tim->ccr4 = 0;
+		tim->arr = PWM_MAX;	/* turn on the timer */
+	}
+}
+
+static void
+ao_pwm_down(void)
+{
+	if (--pwm_running == 0) {
+		struct stm_tim234	*tim = &AO_PWM_TIMER;
+		tim->arr = 0;	/* turn off the timer */
+	}
+}
+
+void
+ao_pwm_set(uint8_t pwm, uint16_t value)
+{
+	struct stm_tim234	*tim = &AO_PWM_TIMER;
+
+	if (value != 0) {
+		if (pwm_value[pwm] == 0)
+			ao_pwm_up();
+	} else {
+		if (pwm_value[pwm] != 0)
+			ao_pwm_down();
+	}
+	pwm_value[pwm] = value;
+	switch (pwm) {
+	case 0:
+		tim->ccr1 = value;
+		break;
+	case 1:
+		tim->ccr2 = value;
+		break;
+	case 2:
+		tim->ccr3 = value;
+		break;
+	case 3:
+		tim->ccr4 = value;
+		break;
+	}
+}
+
+static void
+ao_pwm_cmd(void)
+{
+	uint8_t	ch;
+	uint16_t val;
+
+	ao_cmd_decimal();
+	ch = ao_cmd_lex_u32;
+	ao_cmd_decimal();
+	val = ao_cmd_lex_u32;
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+
+	printf("Set channel %d to %d\n", ch, val);
+	ao_pwm_set(ch, val);
+}
+
+static const struct ao_cmds ao_pwm_cmds[] = {
+	{ ao_pwm_cmd,	"P <ch> <val>\0Set PWM ch to val" },
+	{ 0, NULL },
+};
+
+void
+ao_pwm_init(void)
+{
+	struct stm_tim234	*tim = &AO_PWM_TIMER;
+
+	stm_rcc.apb1enr |= AO_PWM_TIMER_ENABLE;
+	tim->ccr1 = 0;
+	tim->ccr2 = 0;
+	tim->ccr3 = 0;
+	tim->ccr4 = 0;
+	tim->arr = 0;	/* turn off the timer */
+	tim->psc = 0;
+	tim->cnt = 0;
+	tim->ccer = ((1 << STM_TIM234_CCER_CC1E) |
+		     (0 << STM_TIM234_CCER_CC1P) |
+		     (1 << STM_TIM234_CCER_CC2E) |
+		     (0 << STM_TIM234_CCER_CC2P) |
+		     (1 << STM_TIM234_CCER_CC3E) |
+		     (0 << STM_TIM234_CCER_CC3P) |
+		     (1 << STM_TIM234_CCER_CC4E) |
+		     (0 << STM_TIM234_CCER_CC4P));
+
+	tim->ccmr1 = ((0 << STM_TIM234_CCMR1_OC2CE) |
+		      (STM_TIM234_CCMR1_OC2M_PWM_MODE_1 << STM_TIM234_CCMR1_OC2M) |
+		      (1 << STM_TIM234_CCMR1_OC2PE) |
+		      (0 << STM_TIM234_CCMR1_OC2FE) |
+		      (STM_TIM234_CCMR1_CC2S_OUTPUT << STM_TIM234_CCMR1_CC2S) |
+
+		      (0 << STM_TIM234_CCMR1_OC1CE) |
+		      (STM_TIM234_CCMR1_OC1M_PWM_MODE_1 << STM_TIM234_CCMR1_OC1M) |
+		      (1 << STM_TIM234_CCMR1_OC1PE) |
+		      (0 << STM_TIM234_CCMR1_OC1FE) |
+		      (STM_TIM234_CCMR1_CC1S_OUTPUT << STM_TIM234_CCMR1_CC1S));
+
+
+	tim->ccmr2 = ((0 << STM_TIM234_CCMR2_OC4CE) |
+		      (STM_TIM234_CCMR2_OC4M_PWM_MODE_1 << STM_TIM234_CCMR2_OC4M) |
+		      (1 << STM_TIM234_CCMR2_OC4PE) |
+		      (0 << STM_TIM234_CCMR2_OC4FE) |
+		      (STM_TIM234_CCMR2_CC4S_OUTPUT << STM_TIM234_CCMR2_CC4S) |
+
+		      (0 << STM_TIM234_CCMR2_OC3CE) |
+		      (STM_TIM234_CCMR2_OC3M_PWM_MODE_1 << STM_TIM234_CCMR2_OC3M) |
+		      (1 << STM_TIM234_CCMR2_OC3PE) |
+		      (0 << STM_TIM234_CCMR2_OC3FE) |
+		      (STM_TIM234_CCMR2_CC3S_OUTPUT << STM_TIM234_CCMR2_CC3S));
+	tim->egr = 0;
+
+	tim->sr = 0;
+	tim->dier = 0;
+	tim->smcr = 0;
+	tim->cr2 = ((0 << STM_TIM234_CR2_TI1S) |
+		    (STM_TIM234_CR2_MMS_RESET<< STM_TIM234_CR2_MMS) |
+		    (0 << STM_TIM234_CR2_CCDS));
+
+	tim->cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) |
+		    (1 << STM_TIM234_CR1_ARPE) |
+		    (STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) |
+		    (STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) |
+		    (0 << STM_TIM234_CR1_OPM) |
+		    (0 << STM_TIM234_CR1_URS) |
+		    (0 << STM_TIM234_CR1_UDIS) |
+		    (1 << STM_TIM234_CR1_CEN));
+
+	stm_afr_set(&stm_gpiod, 12, STM_AFR_AF2);
+#if NUM_PWM > 1
+	stm_afr_set(&stm_gpiod, 13, STM_AFR_AF2);
+#endif
+#if NUM_PWM > 2
+	stm_afr_set(&stm_gpiod, 14, STM_AFR_AF2);
+#endif
+#if NUM_PWM > 3
+	stm_afr_set(&stm_gpiod, 15, STM_AFR_AF2);
+#endif
+
+	ao_cmd_register(&ao_pwm_cmds[0]);
+}
diff --git a/src/telemega-v2.0/.gitignore b/src/telemega-v2.0/.gitignore
new file mode 100644
index 00000000..e67759a2
--- /dev/null
+++ b/src/telemega-v2.0/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+telemega-*.elf
diff --git a/src/telemega-v2.0/Makefile b/src/telemega-v2.0/Makefile
new file mode 100644
index 00000000..2e0e8908
--- /dev/null
+++ b/src/telemega-v2.0/Makefile
@@ -0,0 +1,158 @@
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_boot.h \
+	ao_companion.h \
+	ao_data.h \
+	ao_sample.h \
+	ao_pins.h \
+	altitude-pa.h \
+	ao_kalman.h \
+	ao_product.h \
+	ao_ms5607.h \
+	ao_hmc5883.h \
+	ao_mpu6000.h \
+	ao_mma655x.h \
+	ao_cc1120_CC1120.h \
+	ao_profile.h \
+	ao_task.h \
+	ao_whiten.h \
+	ao_sample_profile.h \
+	ao_quaternion.h \
+	math.h \
+	ao_mpu.h \
+	stm32l.h \
+	math.h \
+	ao_ms5607_convert.c \
+	Makefile
+
+#
+# Common AltOS sources
+#
+#	ao_hmc5883.c
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+#	ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+MATH_SRC=\
+	ef_acos.c \
+	ef_sqrt.c \
+	ef_rem_pio2.c \
+	kf_cos.c \
+	kf_sin.c \
+	kf_rem_pio2.c \
+	sf_copysign.c \
+	sf_cos.c \
+	sf_fabs.c \
+	sf_floor.c \
+	sf_scalbn.c \
+	sf_sin.c \
+	ef_log.c
+
+ALTOS_SRC = \
+	ao_boot_chain.c \
+	ao_interrupt.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_task.c \
+	ao_led.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_serial_stm.c \
+	ao_gps_ublox.c \
+	ao_gps_show.c \
+	ao_gps_report_mega.c \
+	ao_ignite.c \
+	ao_freq.c \
+	ao_dma_stm.c \
+	ao_spi_stm.c \
+	ao_cc1120.c \
+	ao_fec_tx.c \
+	ao_fec_rx.c \
+	ao_data.c \
+	ao_ms5607.c \
+	ao_mma655x.c \
+	ao_hmc5883.c \
+	ao_adc_stm.c \
+	ao_beep_stm.c \
+	ao_eeprom_stm.c \
+	ao_storage.c \
+	ao_m25.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_report.c \
+	ao_i2c_stm.c \
+	ao_mpu6000.c \
+	ao_convert_pa.c \
+	ao_convert_volt.c \
+	ao_log.c \
+	ao_log_mega.c \
+	ao_sample.c \
+	ao_kalman.c \
+	ao_flight.c \
+	ao_telemetry.c \
+	ao_packet_slave.c \
+	ao_packet.c \
+	ao_companion.c \
+	ao_pyro.c \
+	ao_aprs.c \
+	ao_pwm_stm.c \
+	$(MATH_SRC) \
+	$(PROFILE) \
+	$(SAMPLE_PROFILE) \
+	$(STACK_GUARD)
+
+PRODUCT=TeleMega-v2.0
+PRODUCT_DEF=-DTELEMEGA
+IDPRODUCT=0x0023
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=telemega-v2.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_telemega.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+../altitude-pa.h: make-altitude-pa
+	nickle $< > $@
+
+$(OBJ): $(INC)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/telemega-v2.0/ao_pins.h b/src/telemega-v2.0/ao_pins.h
new file mode 100644
index 00000000..b88dd08c
--- /dev/null
+++ b/src/telemega-v2.0/ao_pins.h
@@ -0,0 +1,394 @@
+/*
+ * 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_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE		1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE			8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL		12
+#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV		3
+#define AO_RCC_CFGR_PLLDIV	(STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER	1
+#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER	2
+#define AO_RCC_CFGR_PPRE1_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER	2
+#define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1		0
+#define USE_SERIAL_1_STDIN	0
+#define SERIAL_1_PB6_PB7	0
+#define SERIAL_1_PA9_PA10	1
+
+#define HAS_SERIAL_2		0
+#define USE_SERIAL_2_STDIN	0
+#define SERIAL_2_PA2_PA3	0
+#define SERIAL_2_PD5_PD6	0
+
+#define HAS_SERIAL_3		1
+#define USE_SERIAL_3_STDIN	0
+#define SERIAL_3_PB10_PB11	0
+#define SERIAL_3_PC10_PC11	1
+#define SERIAL_3_PD8_PD9	0
+
+#define ao_gps_getchar		ao_serial3_getchar
+#define ao_gps_putchar		ao_serial3_putchar
+#define ao_gps_set_speed	ao_serial3_set_speed
+#define ao_gps_fifo		(ao_stm_usart3.rx_fifo)
+
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	(1024 * 1024)
+#define AO_CONFIG_MAX_SIZE			1024
+#define LOG_ERASE_MARK				0x55
+#define LOG_MAX_ERASE				128
+
+#define HAS_EEPROM		1
+#define USE_INTERNAL_FLASH	0
+#define USE_EEPROM_CONFIG	1
+#define USE_STORAGE_CONFIG	0
+#define HAS_USB			1
+#define HAS_BEEP		1
+#define HAS_BATTERY_REPORT	1
+#define HAS_RADIO		1
+#define HAS_TELEMETRY		1
+#define HAS_APRS		1
+#define HAS_COMPANION		1
+
+#define HAS_SPI_1		1
+#define SPI_1_PA5_PA6_PA7	1	/* Barometer */
+#define SPI_1_PB3_PB4_PB5	0
+#define SPI_1_PE13_PE14_PE15	1	/* Accelerometer, Gyro */
+#define SPI_1_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2		1
+#define SPI_2_PB13_PB14_PB15	1	/* Flash, Companion */
+#define SPI_2_PD1_PD3_PD4	0
+#define SPI_2_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define SPI_2_PORT		(&stm_gpiob)
+#define SPI_2_SCK_PIN		13
+#define SPI_2_MISO_PIN		14
+#define SPI_2_MOSI_PIN		15
+
+#define HAS_I2C_1		1
+#define I2C_1_PB8_PB9		1
+
+#define HAS_I2C_2		0
+#define I2C_2_PB10_PB11		0
+
+#define PACKET_HAS_SLAVE	1
+#define PACKET_HAS_MASTER	0
+
+#define LOW_LEVEL_DEBUG		0
+
+#define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT		(&stm_gpioc)
+#define LED_PIN_RED		8
+#define LED_PIN_GREEN		9
+#define AO_LED_RED		(1 << LED_PIN_RED)
+#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE		(AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS			1
+#define HAS_FLIGHT		1
+#define HAS_ADC			1
+#define HAS_ADC_TEMP		1
+#define HAS_LOG			1
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE		1
+#define HAS_IGNITE_REPORT	1
+
+#define AO_SENSE_PYRO(p,n)	((p)->adc.sense[n])
+#define AO_SENSE_DROGUE(p)	((p)->adc.sense[4])
+#define AO_SENSE_MAIN(p)	((p)->adc.sense[5])
+#define AO_IGNITER_CLOSED	400
+#define AO_IGNITER_OPEN		60
+
+/* Pyro A */
+#define AO_PYRO_PORT_0	(&stm_gpiod)
+#define AO_PYRO_PIN_0	6
+
+/* Pyro B */
+#define AO_PYRO_PORT_1	(&stm_gpiod)
+#define AO_PYRO_PIN_1	7
+
+/* Pyro C */
+#define AO_PYRO_PORT_2	(&stm_gpiob)
+#define AO_PYRO_PIN_2	5
+
+/* Pyro D */
+#define AO_PYRO_PORT_3	(&stm_gpioe)
+#define AO_PYRO_PIN_3	4
+
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT	(&stm_gpioe)
+#define AO_IGNITER_DROGUE_PIN	6
+
+/* Main */
+#define AO_IGNITER_MAIN_PORT	(&stm_gpioe)
+#define AO_IGNITER_MAIN_PIN	5
+
+/* Number of general purpose pyro channels available */
+#define AO_PYRO_NUM	4
+
+#define AO_IGNITER_SET_DROGUE(v)	stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
+#define AO_IGNITER_SET_MAIN(v)		stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING		32
+#define AO_ADC_NUM_SENSE	6
+
+struct ao_adc {
+	int16_t			sense[AO_ADC_NUM_SENSE];
+	int16_t			v_batt;
+	int16_t			v_pbatt;
+	int16_t			temp;
+};
+
+#define AO_ADC_DUMP(p) \
+	printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+	       (p)->tick, \
+	       (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
+	       (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
+	       (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp)
+
+#define AO_ADC_SENSE_A		0
+#define AO_ADC_SENSE_A_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_A_PIN	0
+
+#define AO_ADC_SENSE_B		1
+#define AO_ADC_SENSE_B_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_B_PIN	1
+
+#define AO_ADC_SENSE_C		2
+#define AO_ADC_SENSE_C_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_C_PIN	2
+
+#define AO_ADC_SENSE_D		3
+#define AO_ADC_SENSE_D_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_D_PIN	3
+
+#define AO_ADC_SENSE_DROGUE	4
+#define AO_ADC_SENSE_DROGUE_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_DROGUE_PIN	4
+
+#define AO_ADC_SENSE_MAIN	22
+#define AO_ADC_SENSE_MAIN_PORT	(&stm_gpioe)
+#define AO_ADC_SENSE_MAIN_PIN	7
+
+#define AO_ADC_V_BATT		8
+#define AO_ADC_V_BATT_PORT	(&stm_gpiob)
+#define AO_ADC_V_BATT_PIN	0
+
+#define AO_ADC_V_PBATT		9
+#define AO_ADC_V_PBATT_PORT	(&stm_gpiob)
+#define AO_ADC_V_PBATT_PIN	1
+
+#define AO_ADC_TEMP		16
+
+#define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_GPIOAEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOEEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN		(AO_ADC_NUM_SENSE + 2)
+
+#define AO_ADC_PIN0_PORT	AO_ADC_SENSE_A_PORT
+#define AO_ADC_PIN0_PIN		AO_ADC_SENSE_A_PIN
+#define AO_ADC_PIN1_PORT	AO_ADC_SENSE_B_PORT
+#define AO_ADC_PIN1_PIN		AO_ADC_SENSE_B_PIN
+#define AO_ADC_PIN2_PORT	AO_ADC_SENSE_C_PORT
+#define AO_ADC_PIN2_PIN		AO_ADC_SENSE_C_PIN
+#define AO_ADC_PIN3_PORT	AO_ADC_SENSE_D_PORT
+#define AO_ADC_PIN3_PIN		AO_ADC_SENSE_D_PIN
+#define AO_ADC_PIN4_PORT	AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN4_PIN		AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN5_PORT	AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN5_PIN		AO_ADC_SENSE_MAIN_PIN
+#define AO_ADC_PIN6_PORT	AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN6_PIN		AO_ADC_V_BATT_PIN
+#define AO_ADC_PIN7_PORT	AO_ADC_V_PBATT_PORT
+#define AO_ADC_PIN7_PIN		AO_ADC_V_PBATT_PIN
+
+#define AO_NUM_ADC	       	(AO_ADC_NUM_SENSE + 3)
+
+#define AO_ADC_SQ1		AO_ADC_SENSE_A
+#define AO_ADC_SQ2		AO_ADC_SENSE_B
+#define AO_ADC_SQ3		AO_ADC_SENSE_C
+#define AO_ADC_SQ4		AO_ADC_SENSE_D
+#define AO_ADC_SQ5		AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ6		AO_ADC_SENSE_MAIN
+#define AO_ADC_SQ7		AO_ADC_V_BATT
+#define AO_ADC_SQ8		AO_ADC_V_PBATT
+#define AO_ADC_SQ9		AO_ADC_TEMP
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	56	/* 5.6k */
+#define AO_BATTERY_DIV_MINUS	100	/* 10k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS	100	/* 100k */
+#define AO_IGNITE_DIV_MINUS	27	/* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define AO_MS5607_PRIVATE_PINS	1
+#define AO_MS5607_CS_PORT	(&stm_gpioc)
+#define AO_MS5607_CS_PIN	4
+#define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS)
+#define AO_MS5607_MISO_PORT	(&stm_gpioa)
+#define AO_MS5607_MISO_PIN	6
+#define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO)
+#define AO_MS5607_SPI_INDEX	AO_SPI_1_PA5_PA6_PA7
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS		1
+#define AO_M25_SPI_CS_PORT	(&stm_gpiod)
+#define AO_M25_SPI_CS_MASK	(1 << 3)
+#define AO_M25_SPI_BUS		AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Radio (cc1120)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 	0x6ca333
+
+#define AO_FEC_DEBUG		0
+#define AO_CC1120_SPI_CS_PORT	(&stm_gpioc)
+#define AO_CC1120_SPI_CS_PIN	5
+#define AO_CC1120_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+#define AO_CC1120_SPI		stm_spi2
+
+#define AO_CC1120_INT_PORT		(&stm_gpioe)
+#define AO_CC1120_INT_PIN		1
+#define AO_CC1120_MCU_WAKEUP_PORT	(&stm_gpioc)
+#define AO_CC1120_MCU_WAKEUP_PIN	(0)
+
+#define AO_CC1120_INT_GPIO	2
+#define AO_CC1120_INT_GPIO_IOCFG	CC1120_IOCFG2
+
+#define AO_CC1120_MARC_GPIO	3
+#define AO_CC1120_MARC_GPIO_IOCFG	CC1120_IOCFG3
+
+#define HAS_BOOT_RADIO		0
+
+/*
+ * Mag sensor (hmc5883)
+ */
+
+#define HAS_HMC5883		1
+#define AO_HMC5883_INT_PORT	(&stm_gpioc)
+#define AO_HMC5883_INT_PIN	12
+#define AO_HMC5883_I2C_INDEX	STM_I2C_INDEX(1)
+
+/*
+ * mpu6000
+ */
+
+#define HAS_MPU6000		1
+#define AO_MPU6000_INT_PORT	(&stm_gpioe)
+#define AO_MPU6000_INT_PIN	0
+#define AO_MPU6000_SPI_BUS	AO_SPI_1_PE13_PE14_PE15
+#define AO_MPU6000_SPI_CS_PORT	(&stm_gpiod)
+#define AO_MPU6000_SPI_CS_PIN	2
+#define HAS_IMU			1
+
+/*
+ * mma655x
+ */
+
+#define HAS_MMA655X		1
+#define AO_MMA655X_SPI_INDEX	AO_SPI_1_PE13_PE14_PE15
+#define AO_MMA655X_CS_PORT	(&stm_gpiod)
+#define AO_MMA655X_CS_PIN	4
+
+#define NUM_CMDS		16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT	(&stm_gpiob)
+#define AO_COMPANION_CS_PIN_0	(6)
+#define AO_COMPANION_CS_PIN	AO_COMPANION_CS_PIN_0
+#define AO_COMPANION_CS_PIN_1	(7)
+#define AO_COMPANION_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR		0
+#define LEGACY_MONITOR		0
+#define HAS_MONITOR_PUT		1
+#define AO_MONITOR_LED		0
+#define HAS_RSSI		0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE	       	0
+#endif
+
+/*
+ * PWM output
+ */
+
+#define NUM_PWM			4
+#define PWM_MAX			1024
+#define AO_PWM_TIMER		stm_tim4
+#define AO_PWM_TIMER_ENABLE	STM_RCC_APB1ENR_TIM4EN
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telemega-v2.0/ao_telemega.c b/src/telemega-v2.0/ao_telemega.c
new file mode 100644
index 00000000..86427107
--- /dev/null
+++ b/src/telemega-v2.0/ao_telemega.c
@@ -0,0 +1,105 @@
+/*
+ * Copyright © 2011 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_hmc5883.h>
+#include <ao_mpu6000.h>
+#include <ao_mma655x.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_packet.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#include <ao_eeprom.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#include <ao_pyro.h>
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+#include <ao_pwm.h>
+
+int
+main(void)
+{
+	ao_clock_init();
+	
+#if HAS_STACK_GUARD
+	ao_mpu_init();
+#endif
+
+	ao_task_init();
+	ao_serial_init();
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_GREEN);
+	ao_timer_init();
+
+	ao_i2c_init();
+	ao_spi_init();
+	ao_dma_init();
+	ao_exti_init();
+
+	ao_adc_init();
+#if HAS_BEEP
+	ao_beep_init();
+#endif
+	ao_cmd_init();
+
+#if HAS_MS5607
+	ao_ms5607_init();
+#endif
+#if HAS_HMC5883
+	ao_hmc5883_init();
+#endif
+#if HAS_MPU6000
+	ao_mpu6000_init();
+#endif
+#if HAS_MMA655X
+	ao_mma655x_init();
+#endif
+
+	ao_eeprom_init();
+	ao_storage_init();
+	
+	ao_flight_init();
+	ao_log_init();
+	ao_report_init();
+
+	ao_usb_init();
+	ao_gps_init();
+	ao_gps_report_mega_init();
+	ao_telemetry_init();
+	ao_radio_init();
+	ao_packet_slave_init(FALSE);
+	ao_igniter_init();
+	ao_companion_init();
+	ao_pyro_init();
+
+	ao_config_init();
+#if AO_PROFILE
+	ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+	ao_sample_profile_init();
+#endif
+	
+	ao_pwm_init();
+
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/telemega-v2.0/flash-loader/Makefile b/src/telemega-v2.0/flash-loader/Makefile
new file mode 100644
index 00000000..d667c18e
--- /dev/null
+++ b/src/telemega-v2.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telemega-v2.0
+include $(TOPDIR)/stm/Makefile-flash.defs
diff --git a/src/telemega-v2.0/flash-loader/ao_pins.h b/src/telemega-v2.0/flash-loader/ao_pins.h
new file mode 100644
index 00000000..304bb7c3
--- /dev/null
+++ b/src/telemega-v2.0/flash-loader/ao_pins.h
@@ -0,0 +1,34 @@
+/*
+ * 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_PINS_H_
+#define _AO_PINS_H_
+
+/* External crystal at 8MHz */
+#define AO_HSE		8000000
+
+#include <ao_flash_stm_pins.h>
+
+/* Companion port cs_companion0 PB6 */
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpiob
+#define AO_BOOT_APPLICATION_PIN		6
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
+
+#endif /* _AO_PINS_H_ */