Merge branch 'branch-1.8' into debian

86 files changed, 3087 insertions, 217 deletions

diff --git a/src/Makefile b/src/Makefile
index 5bc0a7a0..25e43a0e 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -41,13 +41,17 @@ ARMM3DIRS=\
 	teledongle-v3.0 teledongle-v3.0/flash-loader \
 	teleballoon-v2.0 \
 	telebt-v3.0 telebt-v3.0/flash-loader \
+	telebt-v4.0 telebt-v4.0/flash-loader \
 	telelcotwo-v0.1 telelcotwo-v0.1/flash-loader \
 	telefiretwo-v0.1 telefiretwo-v0.1/flash-loader \
 
 ARMM0DIRS=\
 	easymini-v1.0 easymini-v1.0/flash-loader \
 	chaoskey-v0.1 chaoskey-v0.1/flash-loader \
-	chaoskey-v1.0 chaoskey-v1.0/flash-loader
+	chaoskey-v1.0 chaoskey-v1.0/flash-loader \
+	telemini-v3.0 telemini-v3.0/flash-loader \
+	easymini-v2.0 easymini-v2.0/flash-loader \
+	micropeak-v2.0 micropeak-v2.0/flash-loader
 
 AVRDIRS=\
 	telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1 microkite
diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c
index 08950a97..41d3c1be 100644
--- a/src/avr/ao_usb_avr.c
+++ b/src/avr/ao_usb_avr.c
@@ -136,7 +136,7 @@ ISR(USB_GEN_vect)
 }
 
 
-__xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
+struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
 
 /* Walk through the list of descriptors and find a match
  */
diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c
index 7d363c08..259f6512 100644
--- a/src/cc1111/ao_usb.c
+++ b/src/cc1111/ao_usb.c
@@ -112,7 +112,7 @@ ao_usb_ep0_flush(void)
 	USBCS0 = cs0;
 }
 
-__xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
+__xdata struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
 
 /* Walk through the list of descriptors and find a match
  */
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index f668fb66..c33aa536 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -126,13 +126,15 @@ struct ao_hmc5883_sample ao_hmc5883_current;
 static void
 ao_hmc5883(void)
 {
+	struct ao_hmc5883_sample	sample;
 	ao_hmc5883_setup();
 	for (;;) {
-		ao_hmc5883_sample(&ao_hmc5883_current);
-		ao_arch_critical(
-			AO_DATA_PRESENT(AO_DATA_HMC5883);
-			AO_DATA_WAIT();
-			);
+		ao_hmc5883_sample(&sample);
+		ao_arch_block_interrupts();
+		ao_hmc5883_current = sample;
+		AO_DATA_PRESENT(AO_DATA_HMC5883);
+		AO_DATA_WAIT();
+		ao_arch_release_interrupts();
 	}
 }
 
@@ -141,10 +143,8 @@ static struct ao_task ao_hmc5883_task;
 static void
 ao_hmc5883_show(void)
 {
-	struct ao_data	sample;
-	ao_data_get(&sample);
-	printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
-		sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq);
+	printf ("X: %d Z: %d Y: %d missed irq: %lu\n",
+		ao_hmc5883_current.x, ao_hmc5883_current.z, ao_hmc5883_current.y, ao_hmc5883_missed_irq);
 }
 
 static const struct ao_cmds ao_hmc5883_cmds[] = {
diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h
index 78637b02..b90733df 100644
--- a/src/drivers/ao_hmc5883.h
+++ b/src/drivers/ao_hmc5883.h
@@ -77,7 +77,7 @@
 #define HMC5883_ID_C		12
 
 struct ao_hmc5883_sample {
-	int16_t		x, y, z;
+	int16_t		x, z, y;
 };
 
 extern struct ao_hmc5883_sample	ao_hmc5883_current;
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 650407ad..81d3c16c 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -192,7 +192,7 @@ _ao_mpu6000_setup(void)
 	_ao_mpu6000_wait_alive();
 
 	/* Reset the whole chip */
-	
+
 	_ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
 			      (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
 
@@ -292,7 +292,7 @@ _ao_mpu6000_setup(void)
 
 		ao_delay(AO_MS_TO_TICKS(200));
 		_ao_mpu6000_sample(&normal_mode);
-	
+
 		errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x);
 		errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y);
 		errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z);
@@ -315,7 +315,7 @@ _ao_mpu6000_setup(void)
 	/* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
 	_ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
 			      1000 / 200 - 1);
-	
+
 	ao_delay(AO_MS_TO_TICKS(100));
 	ao_mpu6000_configured = 1;
 }
@@ -325,6 +325,7 @@ struct ao_mpu6000_sample	ao_mpu6000_current;
 static void
 ao_mpu6000(void)
 {
+	struct ao_mpu6000_sample	sample;
 	/* ao_mpu6000_init already grabbed the SPI bus and mutex */
 	_ao_mpu6000_setup();
 #if AO_MPU6000_SPI
@@ -335,14 +336,15 @@ ao_mpu6000(void)
 #if AO_MPU6000_SPI
 		ao_mpu6000_spi_get();
 #endif
-		_ao_mpu6000_sample(&ao_mpu6000_current);
+		_ao_mpu6000_sample(&sample);
 #if AO_MPU6000_SPI
 		ao_mpu6000_spi_put();
-#endif	
-		ao_arch_critical(
-			AO_DATA_PRESENT(AO_DATA_MPU6000);
-			AO_DATA_WAIT();
-			);
+#endif
+		ao_arch_block_interrupts();
+		ao_mpu6000_current = sample;
+		AO_DATA_PRESENT(AO_DATA_MPU6000);
+		AO_DATA_WAIT();
+		ao_arch_release_interrupts();
 	}
 }
 
@@ -351,16 +353,13 @@ static struct ao_task ao_mpu6000_task;
 static void
 ao_mpu6000_show(void)
 {
-	struct ao_data	sample;
-
-	ao_data_get(&sample);
 	printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
-		sample.mpu6000.accel_x,
-		sample.mpu6000.accel_y,
-		sample.mpu6000.accel_z,
-		sample.mpu6000.gyro_x,
-		sample.mpu6000.gyro_y,
-		sample.mpu6000.gyro_z);
+		ao_mpu6000_current.accel_x,
+		ao_mpu6000_current.accel_y,
+		ao_mpu6000_current.accel_z,
+		ao_mpu6000_current.gyro_x,
+		ao_mpu6000_current.gyro_y,
+		ao_mpu6000_current.gyro_z);
 }
 
 static const struct ao_cmds ao_mpu6000_cmds[] = {
@@ -374,7 +373,7 @@ ao_mpu6000_init(void)
 	ao_mpu6000_configured = 0;
 
 	ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
-	
+
 #if AO_MPU6000_SPI
 	ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN));
 
@@ -386,7 +385,7 @@ ao_mpu6000_init(void)
 	ao_cur_task = &ao_mpu6000_task;
 	ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
 	ao_cur_task = NULL;
-#endif	
+#endif
 
 	ao_cmd_register(&ao_mpu6000_cmds[0]);
 }
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 261df67f..914e0c1b 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -191,17 +191,23 @@ ao_ms5607_sample(__xdata struct ao_ms5607_sample *sample)
 #include "ao_ms5607_convert.c"
 #endif
 
-#if HAS_TASK
+#ifndef HAS_MS5607_TASK
+#define HAS_MS5607_TASK HAS_TASK
+#endif
+
 __xdata struct ao_ms5607_sample	ao_ms5607_current;
 
+#if HAS_MS5607_TASK
 static void
 ao_ms5607(void)
 {
+	struct ao_ms5607_sample	sample;
 	ao_ms5607_setup();
 	for (;;)
 	{
-		ao_ms5607_sample(&ao_ms5607_current);
+		ao_ms5607_sample(&sample);
 		ao_arch_block_interrupts();
+		ao_ms5607_current = sample;
 		AO_DATA_PRESENT(AO_DATA_MS5607);
 		AO_DATA_WAIT();
 		ao_arch_release_interrupts();
@@ -209,7 +215,9 @@ ao_ms5607(void)
 }
 
 __xdata struct ao_task ao_ms5607_task;
+#endif
 
+#if HAS_TASK
 void
 ao_ms5607_info(void)
 {
@@ -248,6 +256,8 @@ ao_ms5607_init(void)
 
 #if HAS_TASK
 	ao_cmd_register(&ao_ms5607_cmds[0]);
+#endif
+#if HAS_MS5607_TASK
 	ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
 #endif
 
diff --git a/src/drivers/ao_rn4678.c b/src/drivers/ao_rn4678.c
new file mode 100644
index 00000000..98dc35b5
--- /dev/null
+++ b/src/drivers/ao_rn4678.c
@@ -0,0 +1,606 @@
+/*
+ * Copyright © 2017 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, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+#include <ao.h>
+#include <ao_rn4678.h>
+#include <ao_exti.h>
+#include <stdarg.h>
+
+static uint8_t	ao_rn_connected;
+
+#define AO_RN_DEBUG 0
+
+#if AO_RN_DEBUG
+static void ao_rn_dbg(char *format, ...) {
+	va_list a;
+	uint32_t	irq = ao_arch_irqsave();
+	ao_arch_release_interrupts();
+	va_start(a, format);
+	vprintf(format, a);
+	va_end(a);
+	flush();
+	ao_arch_irqrestore(irq);
+}
+
+static char	ao_rn_dir;
+
+static void
+ao_rn_log_char(char c, char dir)
+{
+	if (dir != ao_rn_dir) {
+		putchar(dir); putchar('\n');
+		ao_rn_dir = dir;
+	}
+	switch (c) {
+	case '\r':
+		putchar('\\'); putchar('r');
+		break;
+	case '\n':
+		putchar('\\'); putchar('n');
+		break;
+	default:
+		putchar(c);
+	}
+	flush();
+}
+
+static void
+ao_rn_log_out_char(char c)
+{
+	ao_rn_log_char(c, '}');
+}
+
+static void
+ao_rn_log_in_char(char c)
+{
+	ao_rn_log_char(c, '{');
+}
+
+static inline void
+ao_rn_putchar(char c)
+{
+	ao_rn_log_out_char(c);
+	ao_serial_rn_putchar(c);
+}
+
+static inline int
+_ao_rn_pollchar(void)
+{
+	int	c = _ao_serial_rn_pollchar();
+
+	if (c != AO_READ_AGAIN) {
+		ao_arch_release_interrupts();
+		ao_rn_log_in_char((char) c);
+		ao_arch_block_interrupts();
+	}
+	return c;
+}
+#else
+#define ao_rn_dbg(fmt, ...)
+#define ao_rn_putchar(c)	ao_serial_rn_putchar(c)
+#define _ao_rn_pollchar()	_ao_serial_rn_pollchar()
+#endif
+
+/* For stdio, this skips all status messages *sigh* */
+
+#define STATUS_CHAR	'%'
+
+static const char *status_strings[] = {
+	"RFCOMM_CLOSE",
+	"RFCOMM_OPEN",
+	"CONNECT",
+	"LCONNECT",
+	"DISCONN",
+	"BONDED",
+};
+
+#define NUM_STATUS_STRING	(sizeof status_strings/sizeof status_strings[0])
+
+static char		ao_rn_buffer[64];
+static int		ao_rn_buf_cnt, ao_rn_buf_ptr;
+static int		ao_rn_draining;
+static AO_TICK_TYPE	ao_rn_buf_time;
+
+/* Well, this is annoying. The status strings from the RN4678 can't be
+ * disabled due to a firmware bug. So, this code finds those in the
+ * input and strips them out.
+ */
+int
+_ao_wrap_rn_pollchar(void)
+{
+	int		c = AO_READ_AGAIN;
+	unsigned	i;
+	int		done = 0;
+
+	while (!done && !ao_rn_draining) {
+		c = _ao_serial_rn_pollchar();
+
+		if (c == AO_READ_AGAIN) {
+			if (ao_rn_buf_cnt && (ao_time() - ao_rn_buf_time) > AO_MS_TO_TICKS(1000)) {
+				ao_rn_draining = 1;
+				continue;
+			}
+			return AO_READ_AGAIN;
+		}
+
+		if (ao_rn_buf_cnt) {
+			/* buffering chars */
+
+			if (c == STATUS_CHAR) {
+				/* End of status string, drop it and carry on */
+				ao_rn_buffer[ao_rn_buf_cnt] = '\0';
+//				ao_rn_dbg("discard %s\n", ao_rn_buffer);
+				ao_rn_buf_cnt = 0;
+			} else if (ao_rn_buf_cnt == sizeof(ao_rn_buffer)) {
+				/* If we filled the buffer, just give up */
+				ao_rn_draining = 1;
+			} else {
+				ao_rn_buffer[ao_rn_buf_cnt++] = c;
+				for (i = 0; i < NUM_STATUS_STRING; i++) {
+					int cmp = strlen(status_strings[i]);
+					if (cmp >= ao_rn_buf_cnt)
+						cmp = ao_rn_buf_cnt-1;
+					if (memcmp(ao_rn_buffer+1, status_strings[i], cmp) == 0)
+						break;
+				}
+				if (i == NUM_STATUS_STRING)
+					ao_rn_draining = 1;
+			}
+		} else if (c == STATUS_CHAR) {
+			ao_rn_buffer[0] = c;
+			ao_rn_buf_cnt = 1;
+			ao_rn_buf_ptr = 0;
+			ao_rn_buf_time = ao_time();
+		} else
+			done = 1;
+	}
+	if (ao_rn_draining) {
+		c = ao_rn_buffer[ao_rn_buf_ptr++] & 0xff;
+		if (ao_rn_buf_ptr == ao_rn_buf_cnt) {
+			ao_rn_buf_ptr = ao_rn_buf_cnt = 0;
+			ao_rn_draining = 0;
+		}
+	}
+	return c;
+}
+
+static void
+ao_rn_puts(char *s)
+{
+	char c;
+
+	while ((c = *s++))
+		ao_rn_putchar(c);
+}
+
+static void
+ao_rn_drain(void)
+{
+	int	timeout = 0;
+
+//	ao_rn_dbg("drain...\n");
+	ao_serial_rn_drain();
+	while (!timeout) {
+		ao_arch_block_interrupts();
+		while (_ao_rn_pollchar() == AO_READ_AGAIN) {
+			if (_ao_serial_rn_sleep_for(AO_MS_TO_TICKS(10))) {
+				timeout = 1;
+				break;
+			}
+		}
+		ao_arch_release_interrupts();
+	}
+//	ao_rn_dbg("drain done\n");
+}
+
+static void
+ao_rn_send_cmd(char *cmd, char *param)
+{
+//	ao_rn_dbg("send_cmd %s%s\n", cmd, param ? param : "");
+	ao_rn_drain();
+	ao_rn_puts(cmd);
+	if (param)
+		ao_rn_puts(param);
+	ao_rn_putchar('\r');
+}
+
+static int
+ao_rn_wait_char(AO_TICK_TYPE giveup_time)
+{
+	int c;
+
+	ao_arch_block_interrupts();
+	while ((c = _ao_rn_pollchar()) == AO_READ_AGAIN) {
+		AO_TICK_SIGNED	delay = (AO_TICK_SIGNED) (giveup_time - ao_time());
+		if (delay < 0) {
+			ao_arch_release_interrupts();
+			return AO_READ_AGAIN;
+		}
+		_ao_serial_rn_sleep_for(delay);
+	}
+	ao_arch_release_interrupts();
+	return c;
+}
+
+static int
+ao_rn_wait_for(int timeout, char *match)
+{
+	char		reply[AO_RN_MAX_REPLY_LEN + 1];
+	int		match_len = strlen(match);
+	AO_TICK_TYPE	giveup_time = ao_time() + timeout;
+	int		c;
+
+//	ao_rn_dbg("wait for %d, \"%s\"\n", timeout, match);
+	memset(reply, ' ', sizeof(reply));
+	while (memcmp(reply, match, match_len) != 0) {
+		c = ao_rn_wait_char(giveup_time);
+		if (c == AO_READ_AGAIN) {
+//			ao_rn_dbg("\twait for timeout\n");
+			return AO_RN_TIMEOUT;
+		}
+		reply[match_len] = (char) c;
+		memmove(reply, reply+1, match_len);
+		reply[match_len] = '\0';
+//		ao_rn_dbg("\tmatch now \"%s\"\n", reply);
+	}
+//	ao_rn_dbg("\twait for ok\n");
+	return AO_RN_OK;
+}
+
+static int
+ao_rn_wait_line(AO_TICK_TYPE giveup_time, char *line, int len)
+{
+	char *l = line;
+
+//	ao_rn_dbg("wait line\n");
+	for (;;) {
+		int c = ao_rn_wait_char(giveup_time);
+
+		/* timeout */
+		if (c == AO_READ_AGAIN) {
+//			ao_rn_dbg("\twait line timeout\n");
+			return AO_RN_TIMEOUT;
+		}
+
+		/* done */
+		if (c == '\r') {
+			*l = '\0';
+//			ao_rn_dbg("\twait line \"%s\"\n", line);
+			return AO_RN_OK;
+		}
+
+		if (c == '\n')
+			continue;
+
+		/* buffer overrun */
+		if (len <= 1)
+			return AO_RN_ERROR;
+
+		*l++ = (char) c;
+		len--;
+	}
+}
+
+static int
+ao_rn_wait_status(void)
+{
+	char		message[AO_RN_MAX_REPLY_LEN];
+	AO_TICK_TYPE	giveup_time = ao_time() + AO_RN_CMD_TIMEOUT;
+	int		status;
+
+//	ao_rn_dbg("wait status\n");
+	status = ao_rn_wait_line(giveup_time, message, sizeof (message));
+	if (status == AO_RN_OK)
+		if (strncmp(message, "AOK", 3) != 0)
+			status = AO_RN_ERROR;
+	return status;
+}
+
+static int
+ao_rn_set_name(void)
+{
+	char	sn[8];
+	char	*s = sn + 8;
+	int	n;
+
+//	ao_rn_dbg("set name...\n");
+	*--s = '\0';
+	n = ao_serial_number;
+	do {
+		*--s = '0' + n % 10;
+	} while (n /= 10);
+	ao_rn_send_cmd(AO_RN_SET_NAME_CMD "TeleBT-", s);
+	return ao_rn_wait_status();
+}
+
+static int
+ao_rn_get_name(char *name, int len)
+{
+//	ao_rn_dbg("get name...\n");
+	ao_rn_send_cmd(AO_RN_GET_NAME_CMD, NULL);
+	return ao_rn_wait_line(ao_time() + AO_RN_CMD_TIMEOUT, name, len);
+}
+
+static void
+ao_rn_check_link(void)
+{
+	ao_rn_connected = 1 - ao_gpio_get(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN, foo);
+}
+
+static void
+ao_rn_isr(void)
+{
+	ao_rn_check_link();
+	ao_wakeup(&ao_rn_connected);
+}
+
+static void
+ao_bt_panic(int where)
+{
+	int i;
+	for (;;) {
+		for (i = 0; i < 50; i++) {
+			ao_led_toggle(AO_BT_LED);
+			ao_delay(AO_MS_TO_TICKS(10));
+		}
+		ao_led_off(AO_BT_LED);
+		ao_delay(AO_MS_TO_TICKS(500));
+		for (i = 0; i < where; i++) {
+			ao_led_for(AO_BT_LED, AO_MS_TO_TICKS(200));
+			ao_delay(AO_MS_TO_TICKS(200));
+		}
+	}
+}
+
+static uint8_t	ao_rn_stdio;
+
+/*
+ * Set the stdio echo for the bluetooth link
+ */
+void
+ao_rn_echo(uint8_t echo)
+{
+	ao_stdios[ao_rn_stdio].echo = echo;
+}
+
+static void
+ao_rn(void)
+{
+	int	status = AO_RN_ERROR;
+	char	name[17];
+	int	i;
+
+	ao_rn_dbg("ao_rn top\n");
+
+	/* Select CMD mode after the device gets out of reset */
+	ao_gpio_set(AO_RN_CMD_PORT, AO_RN_CMD_PIN, foo, AO_RN_CMD_CMD);
+
+	for (i = 0; i < 3; i++) {
+		ao_rn_dbg("reset device\n");
+
+		ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 0);
+		ao_delay(AO_MS_TO_TICKS(100));
+
+		/* Reboot the RN4678 and wait for it to start talking */
+		ao_rn_drain();
+		ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 1);
+		status = ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, AO_RN_REBOOT_MSG);
+		if (status != AO_RN_OK) {
+			ao_rn_dbg("reboot failed\n");
+			continue;
+		}
+
+		/* After it reboots, it can take a moment before it responds
+		 * to commands
+		 */
+		status = ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> ");
+
+		if (status == AO_RN_TIMEOUT) {
+			ao_rn_puts("$$$");
+			(void) ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> ");
+		}
+
+		ao_rn_send_cmd(AO_RN_VERSION_CMD, NULL);
+		(void) ao_rn_wait_status();
+
+		/* Check to see if the name is already set and assume
+		 * that the device is ready to go
+		 */
+		status = ao_rn_get_name(name, sizeof (name));
+		if (status != AO_RN_OK) {
+			ao_rn_dbg("get name failed\n");
+			status = ao_rn_get_name(name, sizeof (name));
+			if (status != AO_RN_OK)
+				continue;
+		}
+
+		if (strncmp(name, "TeleBT-", 7) == 0) {
+			ao_rn_dbg("name is set\n");
+			status = AO_RN_OK;
+			break;
+		}
+
+		/* Make the command pin control command/data mode */
+		ao_rn_send_cmd(AO_RN_SET_COMMAND_PIN, NULL);
+		if (ao_rn_wait_status() != AO_RN_OK) {
+			ao_rn_dbg("set command pin failed\n");
+			continue;
+		}
+
+		ao_rn_send_cmd(AO_RN_SET_STATUS_STRING, AO_RN_STATUS_STRING_ENABLE);
+		if (ao_rn_wait_status() != AO_RN_OK) {
+			ao_rn_dbg("set status string\n");
+			continue;
+		}
+
+		/* Select 'fast' mode to ignore command sequence (more or less) */
+		ao_rn_send_cmd(AO_RN_SET_FAST_MODE, NULL);
+		if (ao_rn_wait_status() != AO_RN_OK) {
+			ao_rn_dbg("set fast mode failed\n");
+			continue;
+		}
+
+		/* Finally, set the name. Doing this last makes it possible to check
+		 * if the whole sequence has been done
+		 */
+		if (ao_rn_set_name() != AO_RN_OK) {
+			ao_rn_dbg("set name failed\n");
+			continue;
+		}
+
+		/* After we've configured the device, go back around and reboot it
+		 * as that's how we get the new configuration to take effect
+		 */
+	}
+	ao_rn_dbg("ao_rn status %d\n", status);
+
+	if (status != AO_RN_OK)
+		ao_bt_panic(4);
+
+	ao_gpio_set(AO_RN_CMD_PORT, AO_RN_CMD_PIN, foo, AO_RN_CMD_DATA);
+
+	/* Wait for the hardware to finish sending messages, then clear the queue */
+	ao_delay(AO_MS_TO_TICKS(200));
+	ao_rn_drain();
+
+	ao_exti_enable(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN);
+
+#if AO_RN_DEBUG
+
+	/*
+	 * Separate debug code when things aren't working. Just dump
+	 * inbound bluetooth characters to stdout
+	 */
+	for (;;) {
+		int	c;
+
+		ao_arch_block_interrupts();
+		while ((c = _ao_rn_pollchar()) == AO_READ_AGAIN)
+			ao_sleep(&ao_serial_rn_rx_fifo);
+		ao_arch_release_interrupts();
+	}
+#else
+	ao_rn_stdio = ao_add_stdio(_ao_wrap_rn_pollchar,
+				   ao_serial_rn_putchar,
+				   NULL);
+
+	ao_rn_echo(0);
+	ao_rn_check_link();
+	/*
+	 * Now just hang around and flash the blue LED when we've got
+	 * a connection
+	 */
+	for (;;) {
+		ao_arch_block_interrupts();
+		while (!ao_rn_connected)
+			ao_sleep(&ao_rn_connected);
+		ao_arch_release_interrupts();
+		while (ao_rn_connected) {
+			ao_led_for(AO_BT_LED, AO_MS_TO_TICKS(20));
+			if (ao_rn_buf_cnt != 0)
+				ao_wakeup(&ao_stdin_ready);
+			ao_delay(AO_SEC_TO_TICKS(3));
+		}
+	}
+#endif
+}
+
+static struct ao_task ao_rn_task;
+
+static void
+ao_rn_factory(void)
+{
+	int	i;
+	int	v = 0;
+
+	/*
+	 * Factory reset. Flip pin P3_1 5 times within the first five
+	 * seconds of power-on
+	 */
+
+	/* Select our target output pin */
+	ao_enable_output(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, foo, v);
+
+	/* Turn off the BT device using the SW_BTN pin */
+	printf("Power down BT\n"); flush();
+	ao_gpio_set(AO_RN_SW_BTN_PORT, AO_RN_SW_BTN_PIN, foo, 0);
+	ao_delay(AO_MS_TO_TICKS(1000));
+
+	/* And turn it back on */
+	printf("Power up BT\n"); flush();
+	ao_gpio_set(AO_RN_SW_BTN_PORT, AO_RN_SW_BTN_PIN, foo, 1);
+
+	/* Right after power on, poke P3_1 five times to force a
+	 * factory reset
+	 */
+	for (i = 0; i < 20; i++) {
+		v = 1-v;
+		ao_delay(AO_MS_TO_TICKS(50));
+		ao_gpio_set(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, foo, v);
+		ao_led_toggle(AO_BT_LED);
+	}
+
+	/* And let P3_1 float again */
+	ao_enable_input(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, AO_EXTI_MODE_PULL_NONE);
+
+	printf("Reboot BT\n"); flush();
+	ao_delay(AO_MS_TO_TICKS(100));
+	ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 0);
+	ao_delay(AO_MS_TO_TICKS(100));
+	ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 1);
+}
+
+#if AO_RN_DEBUG
+static void
+ao_rn_send(void)
+{
+	int	c;
+
+	while ((c = getchar()) != '~')
+		ao_rn_putchar(c);
+}
+#endif
+
+static const struct ao_cmds rn_cmds[] = {
+	{ ao_rn_factory, "F\0Factory reset rn4678" },
+#if AO_RN_DEBUG
+	{ ao_rn_send, "B\0Send data to rn4678. End with ~" },
+#endif
+	{ 0 },
+};
+
+void
+ao_rn4678_init(void)
+{
+	(void) ao_rn_set_name;
+
+	ao_serial_rn_set_speed(AO_SERIAL_SPEED_115200);
+
+	/* Reset line */
+	ao_enable_output(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 0);
+
+	/* SW_BTN */
+	ao_enable_output(AO_RN_SW_BTN_PORT, AO_RN_SW_BTN_PIN, foo, 1);
+
+	/* P3_7 command/data selector */
+	ao_enable_output(AO_RN_CMD_PORT, AO_RN_CMD_PIN, foo, AO_RN_CMD_CMD);
+
+	ao_enable_input(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN, AO_EXTI_MODE_PULL_NONE);
+	ao_exti_setup(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN,
+		      AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_LOW,
+		      ao_rn_isr);
+
+	ao_cmd_register(rn_cmds);
+	ao_add_task(&ao_rn_task, ao_rn, "bluetooth");
+}
diff --git a/src/drivers/ao_rn4678.h b/src/drivers/ao_rn4678.h
new file mode 100644
index 00000000..a4dcea38
--- /dev/null
+++ b/src/drivers/ao_rn4678.h
@@ -0,0 +1,101 @@
+/*
+ * Copyright © 2017 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, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+#ifndef _AO_RN4678_H_
+#define _AO_RN4678_H_
+
+/* From the rn4678 pictail board
+
+    1	SW_BTN	0-off/1-on	 2	P2_0	1-app/0-test (boot time)
+    3	P2_4	1-app/0-WF	 4	EAN	0-app/1-WF (reboots)
+    5				 6	RTS	0
+    7				 8	P3_2	1 (NC)
+    9	TXD			10	P3_3	1 (NC)
+   11	RXD			12	P3_4	1 (NC)
+   13				14
+   15				16	P3_7	1 (NC)
+   17	P0_5	1 (NC)		18	RST_N	1 run/0 reset
+   19	WAKE_UP	1 run/0 btn	20
+   21	P0_4	0 (NC)		22
+   23	P1_5	1 (NC)		24	P3_1	1 (NC)
+   25	CTS	0		26	3.3V
+   27				28	GND
+
+
+   Interesting pins:
+
+   Not connected to microcontroller:
+
+   SW_BTN	0-off		1-on
+   P2_4		0 write-flash	1-app
+   WAKE_UP	0-stop		1-run
+   P2_0		0 test		1-run
+   EAN		1-WF (reboots)	0-run
+   RST_N	0 reset		1 run
+
+   Connected to microcontroller:
+
+   CTS		mostly 0
+   RTS		mostly 1
+
+   TXD
+   RXD
+
+   Other connections -- LDO33_O to VDD_IO
+
+*/
+
+#define AO_RN_REBOOT_MSG	"REBOOT"
+
+#define AO_RN_CMD_TIMEOUT	AO_MS_TO_TICKS(200)
+
+#define AO_RN_REBOOT_TIMEOUT	AO_MS_TO_TICKS(2000)
+
+#define AO_RN_MAX_REPLY_LEN	10
+
+#define AO_RN_SET_NAME_CMD		"SN,"
+#define AO_RN_GET_NAME_CMD		"GN"
+
+#define AO_RN_SET_STATUS_STRING	"so,"
+#define AO_RN_STATUS_STRING_DISABLE	" "
+#define AO_RN_STATUS_STRING_ENABLE	"%,%"
+
+#define AO_RN_REBOOT_CMD		"R,1"
+
+#define AO_RN_VERSION_CMD		"V"
+
+#define AO_RN_TIMEOUT	-1
+#define AO_RN_ERROR	0
+#define AO_RN_OK	1
+
+#define AO_RN_SET_COMMAND_PIN	"SX,07,0B"
+
+#define AO_RN_SET_AUTH_JUST_WORKS	"SA,2"
+#define AO_RN_SET_FAST_MODE		"SQ,9000"
+
+/* This pin is configured to control cmd/data mode */
+#define AO_RN_CMD_PORT	AO_RN_P3_7_PORT
+#define AO_RN_CMD_PIN	AO_RN_P3_7_PIN
+
+#define AO_RN_CMD_CMD	0
+#define AO_RN_CMD_DATA	1
+
+/* This pin indicates BT connection status */
+#define AO_RN_CONNECTED_PORT	AO_RN_P1_5_PORT
+#define AO_RN_CONNECTED_PIN	AO_RN_P1_5_PIN
+
+void
+ao_rn4678_init(void);
+
+#endif /* _AO_RN_H_ */
diff --git a/src/easymini-v1.0/ao_pins.h b/src/easymini-v1.0/ao_pins.h
index 5983bb9e..45c6891d 100644
--- a/src/easymini-v1.0/ao_pins.h
+++ b/src/easymini-v1.0/ao_pins.h
@@ -42,7 +42,7 @@
 
 #define PACKET_HAS_SLAVE	0
 
-#define AO_LOG_FORMAT		AO_LOG_FORMAT_EASYMINI
+#define AO_LOG_FORMAT		AO_LOG_FORMAT_EASYMINI1
 
 /* USART */
 
diff --git a/src/easymini-v2.0/.gitignore b/src/easymini-v2.0/.gitignore
new file mode 100644
index 00000000..e5f7d586
--- /dev/null
+++ b/src/easymini-v2.0/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+*.elf
diff --git a/src/easymini-v2.0/Makefile b/src/easymini-v2.0/Makefile
new file mode 100644
index 00000000..9b4cc6d7
--- /dev/null
+++ b/src/easymini-v2.0/Makefile
@@ -0,0 +1,83 @@
+#
+# AltOS build
+#
+#
+
+include ../stmf0/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_pins.h \
+	ao_product.h \
+	stm32f0.h
+
+#
+# Common AltOS sources
+#
+
+ALTOS_SRC = \
+	ao_interrupt.c \
+	ao_boot_chain.c \
+	ao_romconfig.c \
+	ao_product.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_stdio.c \
+	ao_storage.c \
+	ao_report.c \
+	ao_ignite.c \
+	ao_flight.c \
+	ao_kalman.c \
+	ao_sample.c \
+	ao_data.c \
+	ao_convert_pa.c \
+	ao_convert_volt.c \
+	ao_task.c \
+	ao_log.c \
+	ao_log_mini.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_dma_stm.c \
+	ao_timer.c \
+	ao_exti_stm.c \
+	ao_spi_stm.c \
+	ao_adc_stm.c \
+	ao_usb_stm.c \
+	ao_m25.c \
+	ao_ms5607.c \
+	ao_beep_stm.c
+
+PRODUCT=EasyMini-v2.0
+PRODUCT_DEF=-DEASYMINI_V_2_0
+IDPRODUCT=0x0026
+
+CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -g -Os
+
+PROGNAME=easymini-v2.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_easymini.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+$(OBJ): $(INC)
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/easymini-v2.0/ao_easymini.c b/src/easymini-v2.0/ao_easymini.c
new file mode 100644
index 00000000..7246cae2
--- /dev/null
+++ b/src/easymini-v2.0/ao_easymini.c
@@ -0,0 +1,53 @@
+/*
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_exti.h>
+
+void
+main(void)
+{
+	ao_clock_init();
+	ao_task_init();
+	ao_timer_init();
+
+	ao_dma_init();
+	ao_spi_init();
+	ao_exti_init();
+
+	ao_adc_init();
+
+#if HAS_BEEP
+	ao_beep_init();
+#endif
+#if HAS_USB
+	ao_usb_init();
+#endif
+	ao_cmd_init();
+
+	ao_ms5607_init();
+
+	ao_storage_init();
+	ao_flight_init();
+	ao_log_init();
+	ao_report_init();
+	ao_igniter_init();
+	ao_config_init();
+
+	ao_start_scheduler();
+}
diff --git a/src/easymini-v2.0/ao_pins.h b/src/easymini-v2.0/ao_pins.h
new file mode 100644
index 00000000..2ec0e90b
--- /dev/null
+++ b/src/easymini-v2.0/ao_pins.h
@@ -0,0 +1,163 @@
+/*
+ * Copyright © 2017 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+#define HAS_BEEP		1
+#define HAS_BATTERY_REPORT	1
+
+#define AO_STACK_SIZE	448
+
+#define IS_FLASH_LOADER	0
+
+/* 48MHz clock based on 16MHz reference */
+//#define AO_HSI48	1
+#define AO_HSE			16000000
+#define AO_RCC_CFGR_PLLMUL	STM_RCC_CFGR_PLLMUL_3
+#define AO_RCC_CFGR2_PLLDIV	STM_RCC_CFGR2_PREDIV_1
+#define AO_PLLMUL		3
+#define AO_PLLDIV		1
+
+/* HCLK = 48MHz */
+#define AO_AHB_PRESCALER	1
+#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
+
+/* APB = 40MHz */
+#define AO_APB_PRESCALER	1
+#define AO_RCC_CFGR_PPRE_DIV	STM_RCC_CFGR_PPRE_DIV_1
+
+#define HAS_USB			1
+#define AO_USB_DIRECTIO		0
+#define AO_PA11_PA12_RMP	1
+#define AO_USB_FORCE_IDLE	1
+
+#define AO_LOG_FORMAT		AO_LOG_FORMAT_EASYMINI2
+
+#define HAS_BOOT_RADIO		0
+
+#define HAS_ACCEL		0
+#define HAS_GPS			0
+#define HAS_RADIO		0
+#define HAS_FLIGHT		1
+#define HAS_EEPROM		1
+#define HAS_TELEMETRY		0
+#define HAS_APRS		0
+#define HAS_LOG			1
+#define USE_INTERNAL_FLASH	0
+#define HAS_IGNITE		1
+#define HAS_IGNITE_REPORT	1
+
+/* Beeper is on Tim3 CH3 */
+#define BEEPER_TIMER		3
+#define BEEPER_CHANNEL		3
+#define BEEPER_PORT		(&stm_gpiob)
+#define BEEPER_PIN		0
+#define BEEPER_AFR		STM_AFR_AF1
+
+/* SPI */
+
+#define HAS_SPI_1		1
+#define SPI_1_PA5_PA6_PA7	1
+#define SPI_1_PB3_PB4_PB5	1
+#define SPI_1_OSPEEDR		STM_OSPEEDR_MEDIUM
+
+/* M25 */
+
+#define M25_MAX_CHIPS		1
+#define AO_M25_SPI_CS_PORT	(&stm_gpioa)
+#define AO_M25_SPI_CS_MASK	(1 << 15)
+#define AO_M25_SPI_BUS		AO_SPI_1_PB3_PB4_PB5
+
+/* MS5607 */
+
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define AO_MS5607_PRIVATE_PINS	1
+#define AO_MS5607_CS_PORT	(&stm_gpioa)
+#define AO_MS5607_CS_PIN	4
+#define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS_PIN)
+#define AO_MS5607_MISO_PORT	(&stm_gpioa)
+#define AO_MS5607_MISO_PIN	6
+#define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO_PIN)
+#define AO_MS5607_SPI_INDEX	AO_SPI_1_PA5_PA6_PA7
+#define AO_MS5607_SPI_SPEED	AO_SPI_SPEED_12MHz
+
+#define AO_DATA_RING		64
+
+/*
+ * ADC
+ */
+
+#define HAS_ADC			1
+
+#define AO_ADC_PIN0_PORT	(&stm_gpioa)	/* sense_m */
+#define AO_ADC_PIN0_PIN		0
+#define AO_ADC_PIN0_CH		0
+#define AO_ADC_PIN1_PORT	(&stm_gpioa)	/* sense_a */
+#define AO_ADC_PIN1_PIN		1
+#define AO_ADC_PIN1_CH		1
+#define AO_ADC_PIN2_PORT	(&stm_gpioa)	/* v_batt */
+#define AO_ADC_PIN2_PIN		2
+#define AO_ADC_PIN2_CH		2
+
+#define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_IOPAEN))
+
+#define AO_NUM_ADC		3
+
+struct ao_adc {
+	int16_t		sense_m;
+	int16_t		sense_a;
+	int16_t		v_batt;
+};
+
+/*
+ * Igniter
+ */
+
+#define AO_IGNITER_CLOSED	400
+#define AO_IGNITER_OPEN		60
+
+#define AO_IGNITER_DROGUE_PORT	(&stm_gpiob)
+#define AO_IGNITER_DROGUE_PIN	6
+#define AO_IGNITER_SET_DROGUE(v)	ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, v)
+
+#define AO_IGNITER_MAIN_PORT	(&stm_gpiob)
+#define AO_IGNITER_MAIN_PIN	7
+#define AO_IGNITER_SET_MAIN(v)	ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, v)
+
+#define AO_SENSE_DROGUE(p)	((p)->adc.sense_a)
+#define AO_SENSE_MAIN(p)	((p)->adc.sense_m)
+
+#define AO_ADC_DUMP(p) \
+	printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \
+	       (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt)
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	100	/* 100k */
+#define AO_BATTERY_DIV_MINUS	27	/* 27k */
+
+/*
+ * 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
diff --git a/src/easymini-v2.0/flash-loader/.gitignore b/src/easymini-v2.0/flash-loader/.gitignore
new file mode 100644
index 00000000..a8a0dcec
--- /dev/null
+++ b/src/easymini-v2.0/flash-loader/.gitignore
@@ -0,0 +1 @@
+*.bin
diff --git a/src/easymini-v2.0/flash-loader/Makefile b/src/easymini-v2.0/flash-loader/Makefile
new file mode 100644
index 00000000..8a611751
--- /dev/null
+++ b/src/easymini-v2.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=easymini-v2.0
+include $(TOPDIR)/stmf0/Makefile-flash.defs
diff --git a/src/easymini-v2.0/flash-loader/ao_pins.h b/src/easymini-v2.0/flash-loader/ao_pins.h
new file mode 100644
index 00000000..3098fc22
--- /dev/null
+++ b/src/easymini-v2.0/flash-loader/ao_pins.h
@@ -0,0 +1,37 @@
+/*
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_
+
+#include <ao_flash_stm_pins.h>
+
+/* pin 5 (PB1) on debug header to gnd for boot mode */
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpiob
+#define AO_BOOT_APPLICATION_PIN		1
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
+
+/* USB */
+#define HAS_USB			1
+#define AO_USB_DIRECTIO		0
+#define AO_PA11_PA12_RMP	1
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 5dda1c85..25634ffc 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -35,6 +35,10 @@ __pdata uint8_t ao_config_loaded;
 __pdata uint8_t ao_config_dirty;
 __xdata uint8_t ao_config_mutex;
 
+#if HAS_FORCE_FREQ
+__xdata uint8_t ao_force_freq;
+#endif
+
 #ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL	0
 #endif
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index a2f2c6ca..aca669db 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -45,7 +45,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TELEMETRY		3	/* 32 byte ao_telemetry records */
 #define AO_LOG_FORMAT_TELESCIENCE	4	/* 32 byte typed telescience records */
 #define AO_LOG_FORMAT_TELEMEGA_OLD	5	/* 32 byte typed telemega records */
-#define AO_LOG_FORMAT_EASYMINI		6	/* 16-byte MS5607 baro only, 3.0V supply */
+#define AO_LOG_FORMAT_EASYMINI1		6	/* 16-byte MS5607 baro only, 3.0V supply */
 #define AO_LOG_FORMAT_TELEMETRUM	7	/* 16-byte typed telemetrum records */
 #define AO_LOG_FORMAT_TELEMINI2		8	/* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
 #define AO_LOG_FORMAT_TELEGPS		9	/* 32 byte telegps records */
@@ -53,6 +53,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_DETHERM		11	/* 16-byte MS5607 baro only, no ADC */
 #define AO_LOG_FORMAT_TELEMINI3		12	/* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
 #define AO_LOG_FORMAT_TELEFIRETWO	13	/* 32-byte test stand data */
+#define AO_LOG_FORMAT_EASYMINI2		14	/* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 extern __code uint8_t ao_log_format;
@@ -252,8 +253,8 @@ struct ao_log_mega {
 			int16_t		gyro_y;		/* 20 */
 			int16_t		gyro_z;		/* 22 */
 			int16_t		mag_x;		/* 24 */
-			int16_t		mag_y;		/* 26 */
-			int16_t		mag_z;		/* 28 */
+			int16_t		mag_z;		/* 26 */
+			int16_t		mag_y;		/* 28 */
 			int16_t		accel;		/* 30 */
 		} sensor;	/* 32 */
 		/* AO_LOG_TEMP_VOLT */
@@ -309,9 +310,7 @@ struct ao_log_firetwo {
 		/* AO_LOG_FLIGHT */
 		struct {
 			uint16_t	flight;		/* 4 */
-			uint16_t	idle_pressure;	/* 6 */
-			uint16_t	idle_thrust;	/* 8 */
-		} flight;	/* 16 */
+		} flight;	/* 6 */
 		/* AO_LOG_STATE */
 		struct {
 			uint16_t	state;		/* 4 */
diff --git a/src/kernel/ao_log_firetwo.c b/src/kernel/ao_log_fireone.c
index 4b42abe4..1a82673d 100644
--- a/src/kernel/ao_log_firetwo.c
+++ b/src/kernel/ao_log_fireone.c
@@ -75,8 +75,6 @@ typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_firetwo))] ;
 void
 ao_log(void)
 {
-	uint16_t ao_idle_pressure = 0;		// write code to capture pre-test values someday
-	uint16_t ao_idle_thrust = 0;
 	uint16_t ao_flight_state = ao_flight_startup;
 
 	ao_storage_setup();
@@ -89,8 +87,6 @@ ao_log(void)
 	
 		log.type = AO_LOG_FLIGHT;
 		log.tick = ao_time();
-		log.u.flight.idle_pressure = ao_idle_pressure;
-		log.u.flight.idle_thrust = ao_idle_thrust;
 		log.u.flight.flight = ao_flight_number;
 		ao_log_firetwo(&log);
 
diff --git a/src/kernel/ao_log_mega.c b/src/kernel/ao_log_mega.c
index a0212198..b86abe7a 100644
--- a/src/kernel/ao_log_mega.c
+++ b/src/kernel/ao_log_mega.c
@@ -135,8 +135,8 @@ ao_log(void)
 #endif
 #if HAS_HMC5883
 				log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
-				log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
 				log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
+				log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
 #endif
 				log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
 				ao_log_mega(&log);
diff --git a/src/kernel/ao_log_micro.c b/src/kernel/ao_log_micro.c
index aa0f5c76..d6f9c5a8 100644
--- a/src/kernel/ao_log_micro.c
+++ b/src/kernel/ao_log_micro.c
@@ -19,7 +19,12 @@
 #include <ao.h>
 #include <ao_micropeak.h>
 #include <ao_log_micro.h>
+#ifndef ao_async_byte
 #include <ao_async.h>
+#else
+#include <ao_serial.h>
+#endif
+#include <ao_storage.h>
 
 static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
 
diff --git a/src/kernel/ao_log_micro.h b/src/kernel/ao_log_micro.h
index ec5cf3ed..f0243028 100644
--- a/src/kernel/ao_log_micro.h
+++ b/src/kernel/ao_log_micro.h
@@ -23,7 +23,9 @@
 #define PA_MIN_OFFSET		4
 #define N_SAMPLES_OFFSET	8
 #define STARTING_LOG_OFFSET	10
+#ifndef MAX_LOG_OFFSET
 #define MAX_LOG_OFFSET		512
+#endif
 
 void
 ao_log_micro_save(void);
diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c
index ff543cc4..3cfb87cc 100644
--- a/src/kernel/ao_microkalman.c
+++ b/src/kernel/ao_microkalman.c
@@ -32,10 +32,32 @@
 
 #include <ao_kalman.h>
 
+#ifndef AO_MK_STEP_96MS
+#define AO_MK_STEP_96MS	1
+
+#endif
+
+#if AO_MK_STEP_100MS
+#define AO_MK_TIME_STEP	0.1
+
+#define AO_K0_10	AO_MK2_BARO_K0_10
+#define AO_K1_10	AO_MK2_BARO_K1_10
+#define AO_K2_10	AO_MK2_BARO_K2_10
+#endif
+
+#if AO_MK_STEP_96MS
+#define AO_MK_TIME_STEP	0.096
+
+#define AO_K0_10	AO_MK_BARO_K0_10
+#define AO_K1_10	AO_MK_BARO_K1_10
+#define AO_K2_10	AO_MK_BARO_K2_10
+#endif
+
 /* Basic time step (96ms) */
-#define AO_MK_STEP	to_fix_v(0.096)
+#define AO_MK_STEP	to_fix_v(AO_MK_TIME_STEP)
+
 /* step ** 2 / 2 */
-#define AO_MK_STEP_2_2	to_fix_v(0.004608)
+#define AO_MK_STEP_2_2	to_fix_v(AO_MK_TIME_STEP * AO_MK_TIME_STEP / 2.0)
 
 uint32_t	ao_k_pa;		/* 24.8 fixed point */
 int32_t		ao_k_pa_speed;		/* 16.16 fixed point */
@@ -66,9 +88,9 @@ ao_microkalman_correct(void)
 
 	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_k_pa       += fix16_to_fix8((int32_t) e * AO_K0_10);
+	ao_k_pa_speed += (int32_t) e * AO_K1_10;
+	ao_k_pa_accel += (int32_t) e * AO_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/kernel/ao_report_micro.c b/src/kernel/ao_report_micro.c
index af68457d..9c7afdc5 100644
--- a/src/kernel/ao_report_micro.c
+++ b/src/kernel/ao_report_micro.c
@@ -17,6 +17,7 @@
  */
 
 #include <ao.h>
+#include <ao_report_micro.h>
 
 #define mid(time)	ao_led_for(AO_LED_REPORT, time)
 #define pause(time)	ao_delay(time)
diff --git a/src/kernel/ao_report_micro.h b/src/kernel/ao_report_micro.h
new file mode 100644
index 00000000..bd6c0622
--- /dev/null
+++ b/src/kernel/ao_report_micro.h
@@ -0,0 +1,21 @@
+/*
+ * Copyright © 2017 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, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+#ifndef _AO_REPORT_MICRO_H_
+#define _AO_REPORT_MICRO_H_
+
+void
+ao_report_altitude(void);
+
+#endif /* _AO_REPORT_MICRO_H_ */
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index fa817824..2ae1e41b 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -160,8 +160,8 @@ ao_send_mega_sensor(void)
 
 #if HAS_HMC5883
 	telemetry.mega_sensor.mag_x = packet->hmc5883.x;
-	telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 	telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+	telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 #endif
 
 	ao_telemetry_send();
@@ -296,6 +296,10 @@ static __pdata int8_t ao_telemetry_config_max;
 static __pdata int8_t ao_telemetry_config_cur;
 static __pdata uint16_t ao_telemetry_flight_number;
 
+#ifndef ao_telemetry_battery_convert
+#define ao_telemetry_battery_convert(a) (a)
+#endif
+
 static void
 ao_send_configuration(void)
 {
@@ -308,7 +312,7 @@ ao_send_configuration(void)
 		telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 #if AO_idProduct_NUMBER == 0x25 && HAS_ADC
 		/* TeleGPS gets battery voltage instead of apogee delay */
-		telemetry.configuration.apogee_delay = ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt;
+		telemetry.configuration.apogee_delay = ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
 #else
 		telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 		telemetry.configuration.main_deploy = ao_config.main_deploy;
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index 45aaeb07..23e3ed7d 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -198,8 +198,8 @@ struct ao_telemetry_mega_sensor {
 	int16_t		gyro_z;		/* 24 */
 
 	int16_t		mag_x;		/* 26 */
-	int16_t		mag_y;		/* 28 */
-	int16_t		mag_z;		/* 30 */
+	int16_t		mag_z;		/* 28 */
+	int16_t		mag_y;		/* 30 */
 	/* 32 */
 };
 
diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 4abd309a..46278530 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -164,6 +164,25 @@ ao_tracker(void)
 	}
 }
 
+#ifdef AO_LED_GPS_LOCK
+
+static struct ao_task ao_gps_lock_task;
+
+static void
+ao_gps_lock(void)
+{
+	for (;;) {
+		if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+		    (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+		{
+			ao_led_for(AO_LED_GPS_LOCK, AO_MS_TO_TICKS(20));
+		}
+		ao_delay(AO_SEC_TO_TICKS(3));
+	}
+}
+#endif
+
+
 static uint8_t erasing_current;
 
 void
@@ -222,4 +241,7 @@ ao_tracker_init(void)
 #endif
 	ao_cmd_register(&ao_tracker_cmds[0]);
 	ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+#ifdef AO_LED_GPS_LOCK
+	ao_add_task(&ao_gps_lock_task, ao_gps_lock, "gps lock");
+#endif
 }
diff --git a/src/kernel/ao_usb.h b/src/kernel/ao_usb.h
index cdea5178..936d939b 100644
--- a/src/kernel/ao_usb.h
+++ b/src/kernel/ao_usb.h
@@ -155,6 +155,8 @@ struct ao_usb_line_coding {
 	uint8_t		data_bits;
 } ;
 
+extern __xdata struct ao_usb_line_coding ao_usb_line_coding;
+
 extern __pdata uint8_t ao_usb_running;
 
 #endif /* _AO_USB_H_ */
diff --git a/src/lpc/ao_usb_lpc.c b/src/lpc/ao_usb_lpc.c
index 5c13eb4b..c50e7528 100644
--- a/src/lpc/ao_usb_lpc.c
+++ b/src/lpc/ao_usb_lpc.c
@@ -477,7 +477,7 @@ ao_usb_ep0_in_start(uint16_t max)
 	ao_usb_ep0_flush();
 }
 
-static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
+struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
 
 /* Walk through the list of descriptors and find a match
  */
diff --git a/src/micropeak-v2.0/.gitignore b/src/micropeak-v2.0/.gitignore
new file mode 100644
index 00000000..c2062c34
--- /dev/null
+++ b/src/micropeak-v2.0/.gitignore
@@ -0,0 +1,3 @@
+ao_product.h
+microsplash-v*
+microsplash-load
diff --git a/src/micropeak-v2.0/Makefile b/src/micropeak-v2.0/Makefile
new file mode 100644
index 00000000..32154fa6
--- /dev/null
+++ b/src/micropeak-v2.0/Makefile
@@ -0,0 +1,100 @@
+#
+# Tiny AltOS build
+#
+#
+
+include ../stmf0/Makefile.defs
+
+PUBLISH_DIR=$(HOME)/altusmetrumllc/Binaries
+PUBLISH_HEX=$(PUBLISH_DIR)/$(HEX)
+
+MICRO_SRC=\
+	ao_report_micro.c \
+	ao_log_micro.c \
+	ao_microflight.c \
+	ao_microkalman.c
+
+ALTOS_SRC = \
+	ao_micropeak.c \
+	ao_spi_stm.c \
+	ao_dma_stm.c \
+	ao_led.c \
+	ao_timer.c \
+	ao_ms5607.c \
+	ao_exti_stm.c \
+	ao_convert_pa.c \
+	ao_romconfig.c \
+	ao_product.c \
+	ao_panic.c \
+	ao_stdio.c \
+	ao_serial_stm.c \
+	ao_usb_stm.c \
+	ao_mutex.c \
+	ao_interrupt.c \
+	ao_cmd.c \
+	ao_task.c \
+	ao_data.c \
+	ao_boot_chain.c \
+	ao_microflight.c \
+	ao_report_micro.c \
+	ao_storage_stm.c \
+	ao_storage.c \
+	ao_log_micro.c \
+	ao_microkalman.c
+
+INC=\
+	ao.h \
+	ao_pins.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_exti.h \
+	ao_ms5607.h \
+	ao_log_micro.h \
+	ao_micropeak.h \
+	altitude-pa.h \
+	stm32f0.h
+
+IDPRODUCT=0x14
+PRODUCT=MicroPeak-v2.0
+PRODUCT_DEF=-DMICROPEAK
+
+CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -g -Os
+
+PROGNAME=micropeak-v2.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC)
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tmicropeak.ld -n
+
+$(PROG): Makefile $(OBJ) micropeak.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.o: ao_product.c ao_product.h
+
+distclean:	clean
+
+clean:
+	rm -f *.o *.elf *.ihx
+	rm -f ao_product.h
+
+publish: $(PUBLISH_HEX)
+
+$(PUBLISH_HEX): $(HEX)
+	cp -a $(HEX) $@
+
+../altitude-pa.h: make-altitude-pa
+	nickle $< > $@
+
+install:
+
+uninstall:
+
+$(OBJ): ao_product.h $(INC)
diff --git a/src/micropeak-v2.0/ao_micropeak.c b/src/micropeak-v2.0/ao_micropeak.c
new file mode 100644
index 00000000..1cfa1209
--- /dev/null
+++ b/src/micropeak-v2.0/ao_micropeak.c
@@ -0,0 +1,278 @@
+/*
+ * Copyright © 2017 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_exti.h>
+#include <ao_micropeak.h>
+#include <ao_report_micro.h>
+#include <ao_log_micro.h>
+#include <ao_storage.h>
+
+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(&ao_ms5607_current);
+	ao_ms5607_convert(&ao_ms5607_current, &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));
+}
+
+void
+ao_delay_until(uint16_t target) {
+	int16_t	delay = target - ao_time();
+	if (delay > 0) {
+		ao_sleep_for(ao_delay_until, delay);
+	}
+}
+
+static struct ao_task mp_task;
+
+static void
+ao_battery_disable(void)
+{
+	/* Disable */
+	if (stm_adc.cr & (1 << STM_ADC_CR_ADEN)) {
+		stm_adc.cr |= (1 << STM_ADC_CR_ADDIS);
+		while (stm_adc.cr & (1 << STM_ADC_CR_ADDIS))
+			;
+	}
+
+	/* Turn off everything */
+	stm_adc.cr &= ~((1 << STM_ADC_CR_ADCAL) |
+			(1 << STM_ADC_CR_ADSTP) |
+			(1 << STM_ADC_CR_ADSTART) |
+			(1 << STM_ADC_CR_ADEN));
+}
+
+static void
+ao_battery_init(void)
+{
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADCEN);
+
+	ao_battery_disable();
+
+	/* Configure */
+	stm_adc.cfgr1 = ((0 << STM_ADC_CFGR1_AWDCH) |				  /* analog watchdog channel 0 */
+			 (0 << STM_ADC_CFGR1_AWDEN) |				  /* Disable analog watchdog */
+			 (0 << STM_ADC_CFGR1_AWDSGL) |				  /* analog watchdog on all channels */
+			 (0 << STM_ADC_CFGR1_DISCEN) |				  /* Not discontinuous mode. All channels converted with one trigger */
+			 (0 << STM_ADC_CFGR1_AUTOOFF) |				  /* Leave ADC running */
+			 (1 << STM_ADC_CFGR1_WAIT) |				  /* Wait for data to be read before next conversion */
+			 (0 << STM_ADC_CFGR1_CONT) |				  /* only one set of conversions per trigger */
+			 (1 << STM_ADC_CFGR1_OVRMOD) |				  /* overwrite on overrun */
+			 (STM_ADC_CFGR1_EXTEN_DISABLE << STM_ADC_CFGR1_EXTEN) |	  /* SW trigger */
+			 (0 << STM_ADC_CFGR1_ALIGN) |				  /* Align to LSB */
+			 (STM_ADC_CFGR1_RES_12 << STM_ADC_CFGR1_RES) |		  /* 12 bit resolution */
+			 (STM_ADC_CFGR1_SCANDIR_UP << STM_ADC_CFGR1_SCANDIR) |	  /* scan 0 .. n */
+			 (STM_ADC_CFGR1_DMACFG_ONESHOT << STM_ADC_CFGR1_DMACFG) | /* one set of conversions then stop */
+			 (1 << STM_ADC_CFGR1_DMAEN));				  /* enable DMA */
+
+	/* Set the clock */
+	stm_adc.cfgr2 = STM_ADC_CFGR2_CKMODE_PCLK_2 << STM_ADC_CFGR2_CKMODE;
+
+	/* Shortest sample time */
+	stm_adc.smpr = STM_ADC_SMPR_SMP_71_5 << STM_ADC_SMPR_SMP;
+
+	/* Select Vref */
+	stm_adc.chselr = 1 << 17;
+
+	stm_adc.ccr = ((0 << STM_ADC_CCR_VBATEN) |
+		       (0 << STM_ADC_CCR_TSEN) |
+		       (1 << STM_ADC_CCR_VREFEN));
+
+	/* Calibrate */
+	stm_adc.cr |= (1 << STM_ADC_CR_ADCAL);
+	while ((stm_adc.cr & (1 << STM_ADC_CR_ADCAL)) != 0)
+		;
+
+	/* Enable */
+	stm_adc.cr |= (1 << STM_ADC_CR_ADEN);
+	while ((stm_adc.isr & (1 << STM_ADC_ISR_ADRDY)) == 0)
+		;
+
+	/* Clear any stale status bits */
+	stm_adc.isr = 0;
+
+	/* Turn on syscfg */
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGCOMPEN);
+}
+
+static void
+ao_battery_fini(void)
+{
+	/* Disable */
+	ao_battery_disable();
+
+	/* Power down */
+	stm_rcc.apb2enr &= ~(1 << STM_RCC_APB2ENR_ADCEN);
+}
+
+static uint16_t
+ao_battery_voltage(void)
+{
+	uint16_t	vrefint;
+
+	ao_battery_init();
+
+	stm_adc.cr |= (1 << STM_ADC_CR_ADSTART);
+
+	while ((stm_adc.isr & (1 << STM_ADC_ISR_EOC)) == 0)
+		ao_arch_nop();
+
+	vrefint = stm_adc.dr;
+
+	ao_battery_fini();
+
+	return 330 * stm_cal.vrefint_cal / vrefint;
+}
+
+
+uint8_t	ao_on_battery;
+
+static void
+ao_micropeak(void)
+{
+	ao_ms5607_setup();
+	ao_storage_setup();
+
+	/* Give the person a second to get their finger out of the way */
+	ao_delay(AO_MS_TO_TICKS(1000));
+
+	ao_pips();
+
+	ao_log_micro_restore();
+	ao_compute_height();
+	ao_report_altitude();
+	ao_log_micro_dump();
+
+#if BOOST_DELAY
+	ao_delay(BOOST_DELAY);
+#endif
+
+	ao_microflight();
+
+	ao_log_micro_save();
+	ao_compute_height();
+	ao_report_altitude();
+
+	ao_sleep(&ao_on_battery);
+}
+
+static void
+ao_show_bat(void)
+{
+	printf("battery: %u\n", ao_battery_voltage());
+}
+
+static struct ao_cmds mp_cmd[] = {
+	{ ao_show_bat, "b\0Show battery voltage" },
+	{ 0 }
+};
+
+static void
+ao_hsi_init(void)
+{
+	uint32_t	cfgr;
+
+	/* Disable all interrupts */
+	stm_rcc.cir = 0;
+
+	/* Enable prefetch */
+	stm_flash.acr |= (1 << STM_FLASH_ACR_PRFTBE);
+
+	/* Enable power interface clock */
+	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
+
+	/* HCLK to 48MHz -> AHB prescaler = /1 */
+	cfgr = stm_rcc.cfgr;
+	cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE);
+	cfgr |= (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE);
+	stm_rcc.cfgr = cfgr;
+	while ((stm_rcc.cfgr & (STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE)) !=
+	       (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE))
+		ao_arch_nop();
+
+	/* APB Prescaler = AO_APB_PRESCALER */
+	cfgr = stm_rcc.cfgr;
+	cfgr &= ~(STM_RCC_CFGR_PPRE_MASK << STM_RCC_CFGR_PPRE);
+	cfgr |= (AO_RCC_CFGR_PPRE_DIV << STM_RCC_CFGR_PPRE);
+	stm_rcc.cfgr = cfgr;
+
+	/* Clear reset flags */
+	stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF);
+}
+
+void
+main(void)
+{
+	if (ao_battery_voltage() < 320)
+		ao_on_battery = 1;
+
+	/* Leave the system running on the HSI if we're on battery */
+	if (!ao_on_battery)
+		ao_clock_init();
+	else
+		ao_hsi_init();
+
+	ao_led_init(LEDS_AVAILABLE);
+	ao_task_init();
+	ao_timer_init();
+	ao_serial_init();
+	stm_moder_set(&stm_gpioa, 2, STM_MODER_OUTPUT);
+
+	ao_dma_init();
+	ao_spi_init();
+	ao_exti_init();
+
+	/* Leave USB disabled on battery */
+	if (!ao_on_battery) {
+		ao_usb_init();
+		ao_cmd_init();
+	}
+
+	ao_ms5607_init();
+
+	ao_storage_init();
+
+	ao_add_task(&mp_task, ao_micropeak, "micropeak");
+	ao_cmd_register(mp_cmd);
+	ao_start_scheduler();
+}
diff --git a/src/micropeak-v2.0/ao_pins.h b/src/micropeak-v2.0/ao_pins.h
new file mode 100644
index 00000000..fa2ed804
--- /dev/null
+++ b/src/micropeak-v2.0/ao_pins.h
@@ -0,0 +1,145 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+extern uint8_t ao_on_battery;
+
+#define AO_SYSCLK	(ao_on_battery ? STM_HSI_FREQ : 48000000)
+
+#define LED_PORT_ENABLE	STM_RCC_AHBENR_IOPAEN
+#define LED_PORT	(&stm_gpioa)
+#define LED_PIN_ORANGE	2
+#define AO_LED_ORANGE	(1 << LED_PIN_ORANGE)
+#define AO_LED_REPORT	AO_LED_ORANGE
+#define AO_LED_PANIC	AO_LED_ORANGE
+
+#define LEDS_AVAILABLE	(AO_LED_ORANGE)
+
+#define AO_POWER_MANAGEMENT	0
+
+/* 48MHz clock based on USB */
+#define AO_HSI48	1
+/* Need HSI running to flash */
+#define AO_NEED_HSI	1
+
+/* HCLK = 12MHz usb / 2MHz battery */
+#define AO_AHB_PRESCALER	(ao_on_battery ? 16 : 1)
+#define AO_RCC_CFGR_HPRE_DIV	(ao_on_battery ? STM_RCC_CFGR_HPRE_DIV_16 : STM_RCC_CFGR_HPRE_DIV_1)
+
+/* APB = 12MHz usb / 2MHz battery */
+#define AO_APB_PRESCALER	1
+#define AO_RCC_CFGR_PPRE_DIV	STM_RCC_CFGR_PPRE_DIV_1
+
+#define HAS_USB			1
+#define AO_PA11_PA12_RMP	1
+
+#define PACKET_HAS_SLAVE	0
+#define HAS_SERIAL_1		0
+#define HAS_SERIAL_2		1
+#define USE_SERIAL_2_STDIN	0
+#define USE_SERIAL_2_FLOW	0
+#define USE_SERIAL_2_SW_FLOW	0
+#define SERIAL_2_PA2_PA3	1
+#define SERIAL_2_PA14_PA15	0
+#define USE_SERIAL2_FLOW	0
+#define USE_SERIAL2_SW_FLOW	0
+
+#define IS_FLASH_LOADER		0
+
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define HAS_MS5607_TASK		0
+#define HAS_EEPROM		0
+#define HAS_BEEP		0
+
+/* Logging */
+#define LOG_INTERVAL		1
+#define SAMPLE_SLEEP		AO_MS_TO_TICKS(100)
+#define BOOST_DELAY		AO_SEC_TO_TICKS(60)
+#define AO_LOG_ID		AO_LOG_ID_MICRO_PEAK2
+
+/* Kalman filter */
+
+#define AO_MK_STEP_100MS	1
+#define AO_MK_STEP_96MS		0
+
+/* SPI */
+#define HAS_SPI_1		1
+#define SPI_1_PA5_PA6_PA7	1
+#define SPI_1_PB3_PB4_PB5	0
+#define SPI_1_OSPEEDR		STM_OSPEEDR_MEDIUM
+
+#define HAS_SPI_2		0
+
+/* MS5607 */
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define AO_MS5607_PRIVATE_PINS	0
+#define AO_MS5607_CS_PORT	(&stm_gpioa)
+#define AO_MS5607_CS_PIN	4
+#define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS_PIN)
+#define AO_MS5607_MISO_PORT	(&stm_gpioa)
+#define AO_MS5607_MISO_PIN	6
+#define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO_PIN)
+#define AO_MS5607_SPI_INDEX	AO_SPI_1_PA5_PA6_PA7
+
+typedef int32_t alt_t;
+
+#define AO_ALT_VALUE(x)		((x) * (alt_t) 10)
+
+#define AO_DATA_RING		32
+
+#define HAS_ADC			0
+
+static inline void
+ao_power_off(void) __attribute((noreturn));
+
+static inline void
+ao_power_off(void) {
+	for (;;) {
+	}
+}
+
+extern alt_t ao_max_height;
+
+void ao_delay_until(uint16_t target);
+
+#define ao_async_stop() do {					\
+		ao_serial2_drain();				\
+		stm_moder_set(&stm_gpioa, 2, STM_MODER_OUTPUT); \
+	} while (0)
+
+#define ao_async_start() do {						\
+		stm_moder_set(&stm_gpioa, 2, STM_MODER_ALTERNATE);	\
+		ao_delay(AO_MS_TO_TICKS(100));				\
+	} while (0)
+
+#define ao_async_byte(b) ao_serial2_putchar((char) (b))
+
+#define ao_eeprom_read(pos, ptr, size) ao_storage_read(pos, ptr, size)
+#define ao_eeprom_write(pos, ptr, size) ao_storage_write(pos, ptr, size)
+#define MAX_LOG_OFFSET	ao_storage_total
+
+extern uint32_t __flash__[];
+extern uint32_t __flash_end__[];
+
+#define AO_BOOT_APPLICATION_BOUND	((uint32_t *) __flash__)
+#define USE_STORAGE_CONFIG	0
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/micropeak-v2.0/flash-loader/.gitignore b/src/micropeak-v2.0/flash-loader/.gitignore
new file mode 100644
index 00000000..43f0aa8d
--- /dev/null
+++ b/src/micropeak-v2.0/flash-loader/.gitignore
@@ -0,0 +1,2 @@
+*.bin
+*.elf
diff --git a/src/micropeak-v2.0/flash-loader/Makefile b/src/micropeak-v2.0/flash-loader/Makefile
new file mode 100644
index 00000000..4e30c1c6
--- /dev/null
+++ b/src/micropeak-v2.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=micropeak-v2.0
+include $(TOPDIR)/stmf0/Makefile-flash.defs
diff --git a/src/micropeak-v2.0/flash-loader/ao_pins.h b/src/micropeak-v2.0/flash-loader/ao_pins.h
new file mode 100644
index 00000000..196a8b1d
--- /dev/null
+++ b/src/micropeak-v2.0/flash-loader/ao_pins.h
@@ -0,0 +1,37 @@
+/*
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_
+
+#include <ao_flash_stm_pins.h>
+
+/* LED anode (PA2) to 3.3 for boot mode */
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpioa
+#define AO_BOOT_APPLICATION_PIN		2
+#define AO_BOOT_APPLICATION_VALUE	0
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_DOWN
+
+/* USB */
+#define HAS_USB			1
+#define AO_USB_DIRECTIO		0
+#define AO_PA11_PA12_RMP	1
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/micropeak-v2.0/micropeak.ld b/src/micropeak-v2.0/micropeak.ld
new file mode 100644
index 00000000..77717e16
--- /dev/null
+++ b/src/micropeak-v2.0/micropeak.ld
@@ -0,0 +1,123 @@
+/*
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+MEMORY {
+	rom (rx) :   ORIGIN = 0x08001000, LENGTH = 20K
+	flash(rx) :  ORIGIN = 0x08006000, LENGTH = 8K
+	ram (!w) :   ORIGIN = 0x20000000, LENGTH = 6k - 128
+	stack (!w) : ORIGIN = 0x20000000 + 6k - 128, LENGTH = 128
+}
+
+INCLUDE registers.ld
+
+EXTERN (stm_interrupt_vector)
+
+SECTIONS {
+	/*
+	 * Rom contents
+	 */
+
+	.interrupt ORIGIN(ram) : AT (ORIGIN(rom)) {
+		__interrupt_start__ = .;
+		__interrupt_rom__ = ORIGIN(rom);
+		*(.interrupt)	/* Interrupt vectors */
+		__interrupt_end__ = .;
+	} > ram
+
+	.text ORIGIN(rom) + 0x100 : {
+		__text_start__ = .;
+
+		/* Ick. What I want is to specify the
+		 * addresses of some global constants so
+		 * that I can find them across versions
+		 * of the application. I can't figure out
+		 * how to make gnu ld do that, so instead
+		 * we just load the two files that include
+		 * these defines in the right order here and
+		 * expect things to 'just work'. Don't change
+		 * the contents of those files, ok?
+		 */
+		ao_romconfig.o(.romconfig*)
+		ao_product.o(.romconfig*)
+
+		*(.text*)	/* Executable code */
+	} > rom
+
+	.ARM.exidx : {
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+	} > rom
+
+	.rodata : {
+		*(.rodata*)	/* Constants */
+	} > rom
+
+	__text_end__ = .;
+
+	/* Boot data which must live at the start of ram so that
+	 * the application and bootloader share the same addresses.
+	 * This must be all uninitialized data
+	 */
+	.boot (NOLOAD) : {
+		__boot_start__ = .;
+		*(.boot)
+		. = ALIGN(4);
+		__boot_end__ = .;
+	} >ram
+
+	/* Functions placed in RAM (required for flashing)
+	 *
+	 * Align to 8 bytes as that's what the ARM likes text
+	 * segment alignments to be, and if we don't, then
+	 * we end up with a mismatch between the location in
+	 * ROM and the desired location in RAM. I don't
+	 * entirely understand this, but at least this appears
+	 * to work...
+	 */
+
+	.textram BLOCK(8): {
+		__data_start__ = .;
+		*(.ramtext)
+	} >ram AT>rom
+
+	/* Data -- relocated to RAM, but written to ROM
+	 */
+	.data : {
+		*(.data)	/* initialized data */
+		. = ALIGN(4);
+		__data_end__ = .;
+	} >ram AT>rom
+
+	.bss : {
+		__bss_start__ = .;
+		*(.bss)
+		*(COMMON)
+		. = ALIGN(4);
+		__bss_end__ = .;
+	} >ram
+
+	PROVIDE(end = .);
+
+	PROVIDE(__flash__ = ORIGIN(flash));
+	PROVIDE(__flash_end__ = ORIGIN(flash) + LENGTH(flash));
+
+	PROVIDE(__stack__ = ORIGIN(stack) + LENGTH(stack));
+}
+
+ENTRY(start);
+
+
diff --git a/src/nucleao-32/Makefile b/src/nucleao-32/Makefile
index 69049982..2b9fe14f 100644
--- a/src/nucleao-32/Makefile
+++ b/src/nucleao-32/Makefile
@@ -60,7 +60,7 @@ IDPRODUCT=0x000a
 
 CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -Os -g
 
-LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tload.ld
+LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tload.ld -n
 
 PROGNAME=nucleo-32
 PROG=$(PROGNAME)-$(VERSION).elf
diff --git a/src/nucleao-32/ao_lisp_os.h b/src/nucleao-32/ao_lisp_os.h
new file mode 100644
index 00000000..1993ac44
--- /dev/null
+++ b/src/nucleao-32/ao_lisp_os.h
@@ -0,0 +1,62 @@
+/*
+ * Copyright © 2016 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_LISP_OS_H_
+#define _AO_LISP_OS_H_
+
+#include "ao.h"
+
+static inline int
+ao_lisp_getc() {
+	static uint8_t	at_eol;
+	int c;
+
+	if (at_eol) {
+		ao_cmd_readline();
+		at_eol = 0;
+	}
+	c = ao_cmd_lex();
+	if (c == '\n')
+		at_eol = 1;
+	return c;
+}
+
+static inline void
+ao_lisp_os_flush(void)
+{
+	flush();
+}
+
+static inline void
+ao_lisp_abort(void)
+{
+	ao_panic(1);
+}
+
+static inline void
+ao_lisp_os_led(int led)
+{
+	ao_led_set(led);
+}
+
+static inline void
+ao_lisp_os_delay(int delay)
+{
+	ao_delay(AO_MS_TO_TICKS(delay));
+}
+
+#endif
diff --git a/src/nucleao-32/ao_lisp_os_save.c b/src/nucleao-32/ao_lisp_os_save.c
new file mode 100644
index 00000000..cd740ccd
--- /dev/null
+++ b/src/nucleao-32/ao_lisp_os_save.c
@@ -0,0 +1,53 @@
+/*
+ * Copyright © 2016 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, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+#include <ao.h>
+#include <ao_lisp.h>
+#include <ao_flash.h>
+
+extern uint8_t	__flash__[] __attribute__((aligned(4)));
+
+/* saved variables to rebuild the heap
+
+   ao_lisp_atoms
+   ao_lisp_frame_global
+ */
+
+int
+ao_lisp_os_save(void)
+{
+	int i;
+
+	for (i = 0; i < AO_LISP_POOL_TOTAL; i += 256) {
+		uint32_t	*dst = (uint32_t *) (void *) &__flash__[i];
+		uint32_t	*src = (uint32_t *) (void *) &ao_lisp_pool[i];
+
+		ao_flash_page(dst, src);
+	}
+	return 1;
+}
+
+int
+ao_lisp_os_restore_save(struct ao_lisp_os_save *save, int offset)
+{
+	memcpy(save, &__flash__[offset], sizeof (struct ao_lisp_os_save));
+	return 1;
+}
+
+int
+ao_lisp_os_restore(void)
+{
+	memcpy(ao_lisp_pool, __flash__, AO_LISP_POOL_TOTAL);
+	return 1;
+}
diff --git a/src/nucleao-32/load.ld b/src/nucleao-32/load.ld
new file mode 100644
index 00000000..02a23a95
--- /dev/null
+++ b/src/nucleao-32/load.ld
@@ -0,0 +1,108 @@
+/*
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+MEMORY {
+	rom (rx) :   ORIGIN = 0x08001000, LENGTH = 27K
+	flash (rx) : ORIGIN = 0x08007c00, LENGTH = 1K
+	ram (!w) :   ORIGIN = 0x20000000, LENGTH = 6k - 128
+	stack (!w) : ORIGIN = 0x20000000 + 6k - 128, LENGTH = 128
+}
+
+INCLUDE registers.ld
+
+EXTERN (stm_interrupt_vector)
+
+SECTIONS {
+	/*
+	 * Rom contents
+	 */
+
+	.interrupt ORIGIN(ram) : AT (ORIGIN(rom)) {
+		__interrupt_start__ = .;
+		__interrupt_rom__ = ORIGIN(rom);
+		*(.interrupt)	/* Interrupt vectors */
+		__interrupt_end__ = .;
+	} > ram
+
+	.text ORIGIN(rom) + 0x100 : {
+		__text_start__ = .;
+
+		/* Ick. What I want is to specify the
+		 * addresses of some global constants so
+		 * that I can find them across versions
+		 * of the application. I can't figure out
+		 * how to make gnu ld do that, so instead
+		 * we just load the two files that include
+		 * these defines in the right order here and
+		 * expect things to 'just work'. Don't change
+		 * the contents of those files, ok?
+		 */
+		ao_romconfig.o(.romconfig*)
+		ao_product.o(.romconfig*)
+
+		*(.text*)	/* Executable code */
+	} > rom
+
+	.ARM.exidx : {
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+	} > rom
+
+	.rodata : {
+		*(.rodata*)	/* Constants */
+	} > rom
+
+	__text_end__ = .;
+
+	/* Boot data which must live at the start of ram so that
+	 * the application and bootloader share the same addresses.
+	 * This must be all uninitialized data
+	 */
+	.boot (NOLOAD) : {
+		__boot_start__ = .;
+		*(.boot)
+		. = ALIGN(4);
+		__boot_end__ = .;
+	} >ram
+
+	/* Data -- relocated to RAM, but written to ROM
+	 */
+	.data : {
+		__data_start__ = .;
+		*(.data)	/* initialized data */
+		. = ALIGN(4);
+		__data_end__ = .;
+	} >ram AT>rom
+
+	.bss : {
+		__bss_start__ = .;
+		*(.bss)
+		*(COMMON)
+		. = ALIGN(4);
+		__bss_end__ = .;
+	} >ram
+
+	PROVIDE(end = .);
+
+	PROVIDE(__stack__ = ORIGIN(stack) + LENGTH(stack));
+
+	__flash__ = ORIGIN(flash);
+}
+
+ENTRY(start);
+
+
diff --git a/src/product/ao_micropeak.c b/src/product/ao_micropeak.c
index f9960eb8..8aac79cd 100644
--- a/src/product/ao_micropeak.c
+++ b/src/product/ao_micropeak.c
@@ -22,7 +22,6 @@
 #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;
@@ -31,8 +30,8 @@ alt_t		ao_max_height;
 void
 ao_pa_get(void)
 {
-	ao_ms5607_sample(&sample);
-	ao_ms5607_convert(&sample, &value);
+	ao_ms5607_sample(&ao_ms5607_current);
+	ao_ms5607_convert(&ao_ms5607_current, &value);
 	pa = value.pres;
 }
 
diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h
index 6dc7a465..240eed59 100644
--- a/src/product/ao_micropeak.h
+++ b/src/product/ao_micropeak.h
@@ -19,7 +19,9 @@
 #ifndef _AO_MICROPEAK_H_
 #define _AO_MICROPEAK_H_
 
+#ifndef SAMPLE_SLEEP
 #define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
+#endif
 
 /* 64 sample, or about six seconds worth */
 #define GROUND_AVG_SHIFT	6
@@ -36,6 +38,7 @@
 
 #define AO_LOG_ID_MICROPEAK	0
 #define AO_LOG_ID_MICROKITE	1
+#define AO_LOG_ID_MICROPEAK2	2
 
 #ifndef AO_LOG_ID
 #define AO_LOG_ID		AO_LOG_ID_MICROPEAK
diff --git a/src/product/ao_telemini.c b/src/product/ao_telemini.c
index b192763d..14414a48 100644
--- a/src/product/ao_telemini.c
+++ b/src/product/ao_telemini.c
@@ -19,8 +19,6 @@
 #include "ao.h"
 #include "ao_pins.h"
 
-__xdata uint8_t ao_force_freq;
-
 void
 main(void)
 {
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index c625471e..ef562313 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -195,7 +195,7 @@ ao_usart_set_speed(struct ao_stm_usart *usart, uint8_t speed)
 }
 
 static void
-ao_usart_init(struct ao_stm_usart *usart)
+ao_usart_init(struct ao_stm_usart *usart, int hw_flow)
 {
 	usart->reg->cr1 = ((0 << STM_USART_CR1_OVER8) |
 			  (1 << STM_USART_CR1_UE) |
@@ -236,6 +236,10 @@ ao_usart_init(struct ao_stm_usart *usart)
 			  (0 << STM_USART_CR3_IREN) |
 			  (0 << STM_USART_CR3_EIE));
 
+	if (hw_flow)
+		usart->reg->cr3 |= ((1 << STM_USART_CR3_CTSE) |
+				    (1 << STM_USART_CR3_RTSE));
+
 	/* Pick a 9600 baud rate */
 	ao_usart_set_speed(usart, AO_SERIAL_SPEED_9600);
 }
@@ -244,8 +248,6 @@ ao_usart_init(struct ao_stm_usart *usart)
 static void
 ao_usart_set_flow(struct ao_stm_usart *usart)
 {
-	usart->reg->cr3 |= ((1 << STM_USART_CR3_CTSE) |
-			    (1 << STM_USART_CR3_RTSE));
 }
 #endif
 
@@ -441,7 +443,7 @@ ao_serial_init(void)
 	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_USART1EN);
 
 	ao_stm_usart1.reg = &stm_usart1;
-	ao_usart_init(&ao_stm_usart1);
+	ao_usart_init(&ao_stm_usart1, 0);
 
 	stm_nvic_set_enable(STM_ISR_USART1_POS);
 	stm_nvic_set_priority(STM_ISR_USART1_POS, AO_STM_NVIC_MED_PRIORITY);
@@ -494,10 +496,7 @@ ao_serial_init(void)
 	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_USART2EN);
 
 	ao_stm_usart2.reg = &stm_usart2;
-	ao_usart_init(&ao_stm_usart2);
-#if USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW
-	ao_usart_set_flow(&ao_stm_usart2);
-#endif
+	ao_usart_init(&ao_stm_usart2, USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW);
 
 	stm_nvic_set_enable(STM_ISR_USART2_POS);
 	stm_nvic_set_priority(STM_ISR_USART2_POS, AO_STM_NVIC_MED_PRIORITY);
@@ -541,7 +540,7 @@ ao_serial_init(void)
 	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_USART3EN);
 
 	ao_stm_usart3.reg = &stm_usart3;
-	ao_usart_init(&ao_stm_usart3);
+	ao_usart_init(&ao_stm_usart3, 0);
 
 	stm_nvic_set_enable(STM_ISR_USART3_POS);
 	stm_nvic_set_priority(STM_ISR_USART3_POS, AO_STM_NVIC_MED_PRIORITY);
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index 33e0617c..595bddac 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -598,7 +598,7 @@ ao_usb_ep0_in_start(uint16_t max)
 	ao_usb_ep0_flush();
 }
 
-static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
+struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
 
 /* Walk through the list of descriptors and find a match
  */
diff --git a/src/stmf0/ao_arch.h b/src/stmf0/ao_arch.h
index c5f451f5..5c5085d9 100644
--- a/src/stmf0/ao_arch.h
+++ b/src/stmf0/ao_arch.h
@@ -94,12 +94,17 @@ extern const uint32_t ao_radio_cal;
  * For the stm32f042, we want to use the USB-based HSI48 clock
  */
 
-#if AO_HSI48
+#ifndef AO_SYSCLK
+#if AO_HSI
+#define AO_SYSCLK	STM_HSI_FREQ
+#endif
 
+#if AO_HSI48
 #define AO_SYSCLK	48000000
-#define AO_HCLK		(AO_SYSCLK / AO_AHB_PRESCALER)
-
 #endif
+#endif
+
+#define AO_HCLK		(AO_SYSCLK / AO_AHB_PRESCALER)
 
 #if AO_HSE || AO_HSI
 
@@ -150,7 +155,9 @@ ao_adc_init();
 
 #if HAS_BOOT_LOADER
 #define AO_BOOT_APPLICATION_BASE	((uint32_t *) 0x08001000)
+#ifndef AO_BOOT_APPLICATION_BOUND
 #define AO_BOOT_APPLICATION_BOUND	((uint32_t *) (0x08000000 + stm_flash_size()))
+#endif
 #define AO_BOOT_LOADER_BASE		((uint32_t *) 0x08000000)
 #endif
 
diff --git a/src/stmf0/ao_arch_funcs.h b/src/stmf0/ao_arch_funcs.h
index c38ce41a..01d51f90 100644
--- a/src/stmf0/ao_arch_funcs.h
+++ b/src/stmf0/ao_arch_funcs.h
@@ -310,6 +310,27 @@ void
 ao_i2c_init(void);
 
 /* ao_serial_stm.c */
+
+#if USE_SERIAL_1_FLOW && USE_SERIAL_1_SW_FLOW || USE_SERIAL_2_FLOW && USE_SERIAL_2_SW_FLOW
+#define HAS_SERIAL_SW_FLOW	1
+#else
+#define HAS_SERIAL_SW_FLOW	0
+#endif
+
+#if USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW
+#define USE_SERIAL_2_HW_FLOW	1
+#endif
+
+#if USE_SERIAL_1_FLOW && !USE_SERIAL_1_SW_FLOW
+#define USE_SERIAL_1_HW_FLOW	1
+#endif
+
+#if USE_SERIAL_1_HW_FLOW || USE_SERIAL_2_HW_FLOW
+#define HAS_SERIAL_HW_FLOW	1
+#else
+#define HAS_SERIAL_HW_FLOW	0
+#endif
+
 struct ao_stm_usart {
 	struct ao_fifo		rx_fifo;
 	struct ao_fifo		tx_fifo;
diff --git a/src/stmf0/ao_beep_stm.c b/src/stmf0/ao_beep_stm.c
index 610f4a31..15137230 100644
--- a/src/stmf0/ao_beep_stm.c
+++ b/src/stmf0/ao_beep_stm.c
@@ -25,6 +25,10 @@
 #define BEEPER_TIMER	1
 #endif
 
+#ifndef BEEPER_AFR
+#define BEEPER_AFR	STM_AFR_AF2
+#endif
+
 #if BEEPER_TIMER == 1
 #define timer stm_tim1
 #define STM_RCC_TIMER STM_RCC_APB2ENR_TIM1EN
@@ -366,7 +370,7 @@ ao_beep(uint8_t beep)
 		timer.egr = (1 << STM_TIM23_EGR_UG);
 
 		/* Hook the timer up to the beeper pin */
-		stm_afr_set(BEEPER_PORT, BEEPER_PIN, STM_AFR_AF2);
+		stm_afr_set(BEEPER_PORT, BEEPER_PIN, BEEPER_AFR);
 #endif
 	}
 }
diff --git a/src/stmf0/ao_exti.h b/src/stmf0/ao_exti.h
index 7452af8e..36c3f7ca 100644
--- a/src/stmf0/ao_exti.h
+++ b/src/stmf0/ao_exti.h
@@ -21,6 +21,7 @@
 
 #define AO_EXTI_MODE_RISING	1
 #define AO_EXTI_MODE_FALLING	2
+#define AO_EXTI_MODE_PULL_NONE	0
 #define AO_EXTI_MODE_PULL_UP	4
 #define AO_EXTI_MODE_PULL_DOWN	8
 #define AO_EXTI_PRIORITY_LOW	16
diff --git a/src/stmf0/ao_serial_stm.c b/src/stmf0/ao_serial_stm.c
index 30b0dbd2..59cfde2e 100644
--- a/src/stmf0/ao_serial_stm.c
+++ b/src/stmf0/ao_serial_stm.c
@@ -163,24 +163,12 @@ ao_usart_drain(struct ao_stm_usart *usart)
 	ao_arch_release_interrupts();
 }
 
-static const struct {
-	uint32_t brr;
-} ao_usart_speeds[] = {
-	[AO_SERIAL_SPEED_4800] = {
-		AO_PCLK / 4800
-	},
-	[AO_SERIAL_SPEED_9600] = {
-		AO_PCLK / 9600
-	},
-	[AO_SERIAL_SPEED_19200] = {
-		AO_PCLK / 19200
-	},
-	[AO_SERIAL_SPEED_57600] = {
-		AO_PCLK / 57600
-	},
-	[AO_SERIAL_SPEED_115200] = {
-		AO_PCLK / 115200
-	},
+static const uint32_t ao_usart_speeds[] = {
+	[AO_SERIAL_SPEED_4800] = 4800,
+	[AO_SERIAL_SPEED_9600] = 9600,
+	[AO_SERIAL_SPEED_19200] = 19200,
+	[AO_SERIAL_SPEED_57600] = 57600,
+	[AO_SERIAL_SPEED_115200] = 115200,
 };
 
 static void
@@ -188,11 +176,11 @@ ao_usart_set_speed(struct ao_stm_usart *usart, uint8_t speed)
 {
 	if (speed > AO_SERIAL_SPEED_115200)
 		return;
-	usart->reg->brr = ao_usart_speeds[speed].brr;
+	usart->reg->brr = AO_PCLK / ao_usart_speeds[speed];
 }
 
 static void
-ao_usart_init(struct ao_stm_usart *usart)
+ao_usart_init(struct ao_stm_usart *usart, int hw_flow)
 {
 	usart->reg->cr1 = ((0 << STM_USART_CR1_M1) |
 			   (0 << STM_USART_CR1_EOBIE) |
@@ -235,44 +223,39 @@ ao_usart_init(struct ao_stm_usart *usart)
 			   (0 << STM_USART_CR2_LBDL) |
 			   (0 << STM_USART_CR2_ADDM7));
 
-	usart->reg->cr3 = ((0 << STM_USART_CR3_WUFIE) |
-			   (0 << STM_USART_CR3_WUS) |
-			   (0 << STM_USART_CR3_SCARCNT) |
-			   (0 << STM_USART_CR3_DEP) |
-			   (0 << STM_USART_CR3_DEM) |
-			   (0 << STM_USART_CR3_DDRE) |
-			   (0 << STM_USART_CR3_OVRDIS) |
-			   (0 << STM_USART_CR3_ONEBIT) |
-			   (0 << STM_USART_CR3_CTIIE) |
-			   (0 << STM_USART_CR3_CTSE) |
-			   (0 << STM_USART_CR3_RTSE) |
-			   (0 << STM_USART_CR3_DMAT) |
-			   (0 << STM_USART_CR3_DMAR) |
-			   (0 << STM_USART_CR3_SCEN) |
-			   (0 << STM_USART_CR3_NACK) |
-			   (0 << STM_USART_CR3_HDSEL) |
-			   (0 << STM_USART_CR3_IRLP) |
-			   (0 << STM_USART_CR3_IREN) |
-			   (0 << STM_USART_CR3_EIE));
-
+	uint32_t cr3 = ((0 << STM_USART_CR3_WUFIE) |
+			(0 << STM_USART_CR3_WUS) |
+			(0 << STM_USART_CR3_SCARCNT) |
+			(0 << STM_USART_CR3_DEP) |
+			(0 << STM_USART_CR3_DEM) |
+			(0 << STM_USART_CR3_DDRE) |
+			(0 << STM_USART_CR3_OVRDIS) |
+			(0 << STM_USART_CR3_ONEBIT) |
+			(0 << STM_USART_CR3_CTIIE) |
+			(0 << STM_USART_CR3_CTSE) |
+			(0 << STM_USART_CR3_RTSE) |
+			(0 << STM_USART_CR3_DMAT) |
+			(0 << STM_USART_CR3_DMAR) |
+			(0 << STM_USART_CR3_SCEN) |
+			(0 << STM_USART_CR3_NACK) |
+			(0 << STM_USART_CR3_HDSEL) |
+			(0 << STM_USART_CR3_IRLP) |
+			(0 << STM_USART_CR3_IREN) |
+			(0 << STM_USART_CR3_EIE));
+
+	if (hw_flow)
+		cr3 |= ((1 << STM_USART_CR3_CTSE) |
+			(1 << STM_USART_CR3_RTSE));
+
+	usart->reg->cr3 = cr3;
 
 	/* Pick a 9600 baud rate */
 	ao_usart_set_speed(usart, AO_SERIAL_SPEED_9600);
 
 	/* Enable the usart */
 	usart->reg->cr1 |= (1 << STM_USART_CR1_UE);
-
 }
 
-#if HAS_SERIAL_HW_FLOW
-static void
-ao_usart_set_flow(struct ao_stm_usart *usart)
-{
-	usart->reg->cr3 |= ((1 << STM_USART_CR3_CTSE) |
-			    (1 << STM_USART_CR3_RTSE));
-}
-#endif
-
 #if HAS_SERIAL_1
 
 struct ao_stm_usart ao_stm_usart1;
@@ -360,7 +343,7 @@ ao_serial2_set_speed(uint8_t speed)
 	ao_usart_set_speed(&ao_stm_usart2, speed);
 }
 
-#if HAS_SERIAL_SW_FLOW
+#if USE_SERIAL_2_FLOW && USE_SERIAL_2_SW_FLOW
 void
 ao_serial2_cts(void)
 {
@@ -403,13 +386,13 @@ ao_serial_init(void)
 	 */
 
 #if SERIAL_1_PA9_PA10
-	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
+	ao_enable_port(&stm_gpioa);
 
 	stm_afr_set(&stm_gpioa, 9, STM_AFR_AF1);
 	stm_afr_set(&stm_gpioa, 10, STM_AFR_AF1);
 #else
 #if SERIAL_1_PB6_PB7
-	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPBEN);
+	ao_enable_port(&stm_gpiob);
 
 	stm_afr_set(&stm_gpiob, 6, STM_AFR_AF0);
 	stm_afr_set(&stm_gpiob, 7, STM_AFR_AF0);
@@ -421,7 +404,7 @@ ao_serial_init(void)
 	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_USART1EN);
 
 	ao_stm_usart1.reg = &stm_usart1;
-	ao_usart_init(&ao_stm_usart1);
+	ao_usart_init(&ao_stm_usart1, 0);
 
 	stm_nvic_set_enable(STM_ISR_USART1_POS);
 	stm_nvic_set_priority(STM_ISR_USART1_POS, 4);
@@ -440,8 +423,7 @@ ao_serial_init(void)
 	 */
 
 # if SERIAL_2_PA2_PA3
-	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
-
+	ao_enable_port(&stm_gpioa);
 	stm_afr_set(&stm_gpioa, 2, STM_AFR_AF1);
 	stm_afr_set(&stm_gpioa, 3, STM_AFR_AF1);
 #  if USE_SERIAL_2_FLOW
@@ -459,8 +441,7 @@ ao_serial_init(void)
 #  endif
 # else
 #  if SERIAL_2_PA14_PA15
-	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
-
+	ao_enable_port(&stm_gpioa);
 	stm_afr_set(&stm_gpioa, 14, STM_AFR_AF1);
 	stm_afr_set(&stm_gpioa, 15, STM_AFR_AF1);
 #   if USE_SERIAL_2_FLOW
@@ -484,10 +465,7 @@ ao_serial_init(void)
 	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_USART2EN);
 
 	ao_stm_usart2.reg = &stm_usart2;
-	ao_usart_init(&ao_stm_usart2);
-# if USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW
-	ao_usart_set_flow(&ao_stm_usart2);
-# endif
+	ao_usart_init(&ao_stm_usart2, USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW);
 
 	stm_nvic_set_enable(STM_ISR_USART2_POS);
 	stm_nvic_set_priority(STM_ISR_USART2_POS, 4);
diff --git a/src/stmf0/ao_storage_stm.c b/src/stmf0/ao_storage_stm.c
new file mode 100644
index 00000000..1a6198a7
--- /dev/null
+++ b/src/stmf0/ao_storage_stm.c
@@ -0,0 +1,191 @@
+/*
+ * Copyright © 2017 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, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+#include <ao.h>
+#include <ao_storage.h>
+
+uint32_t	ao_storage_block;
+ao_pos_t	ao_storage_total;
+uint16_t	ao_storage_unit;
+
+/* Note that the HSI clock must be running for this code to work.
+ * Also, special care must be taken with the linker to ensure that the
+ * functions marked 'ramtext' land in ram and not rom. An example of that
+ * can be found in altos-loader.ld
+ */
+
+static uint8_t
+ao_flash_is_locked(void)
+{
+	return (stm_flash.cr & (1 << STM_FLASH_CR_LOCK)) != 0;
+}
+
+static void
+ao_flash_unlock(void)
+{
+	if (!ao_flash_is_locked())
+		return;
+
+	/* Unlock FLASH_CR register */
+	stm_flash.keyr = STM_FLASH_KEYR_KEY1;
+	stm_flash.keyr = STM_FLASH_KEYR_KEY2;
+	if (ao_flash_is_locked())
+		ao_panic(AO_PANIC_FLASH);
+}
+
+static void
+ao_flash_lock(void)
+{
+	stm_flash.cr |= (1 << STM_FLASH_CR_LOCK);
+}
+
+static uint32_t
+stm_flash_page_size(void)
+{
+	uint16_t	dev_id = stm_dev_id();
+
+	switch (dev_id) {
+	case 0x440:	/* stm32f05x */
+	case 0x444:	/* stm32f03x */
+	case 0x445:	/* stm32f04x */
+		return 1024;
+	case 0x442:	/* stm32f09x */
+	case 0x448:	/* stm32f07x */
+		return 2048;
+	}
+	ao_panic(AO_PANIC_FLASH);
+	return 0;
+}
+
+#define ao_flash_wait_bsy() do { while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)); } while (0)
+
+static void __attribute__ ((section(".ramtext"),noinline))
+_ao_flash_erase_page(uint16_t *page)
+{
+	stm_flash.cr |= (1 << STM_FLASH_CR_PER);
+
+	stm_flash.ar = (uintptr_t) page;
+
+	stm_flash.cr |= (1 << STM_FLASH_CR_STRT);
+
+	ao_flash_wait_bsy();
+
+	stm_flash.cr &= ~(1 << STM_FLASH_CR_PER);
+}
+
+#define _ao_flash_addr(pos)	((uint16_t *) (void *) ((uint8_t *) __flash__ + (pos)))
+
+static void __attribute ((section(".ramtext"), noinline)) _ao_flash_byte(uint32_t pos, uint8_t b)
+{
+	uint16_t	v;
+	uint16_t	*a = _ao_flash_addr(pos & ~1);
+
+	if (pos & 1)
+		v = (*a & 0xff) | (b << 8);
+	else
+		v = (*a & 0xff00) | b;
+	*a = v;
+	ao_flash_wait_bsy();
+}
+
+static void __attribute__ ((section(".ramtext"), noinline))
+_ao_flash_write(uint32_t pos, void *sv, uint16_t len)
+{
+	uint8_t		*s = sv;
+	uint16_t	*f16;
+	uint16_t	v;
+
+	stm_flash.cr |= (1 << STM_FLASH_CR_PG);
+
+	if (pos & 1) {
+		_ao_flash_byte(pos++, *s++);
+		len--;
+	}
+	f16 = _ao_flash_addr(pos);
+	while(len > 1) {
+		v = s[0] | (s[1] << 8);
+		s += 2;
+		*f16++ = v;
+		ao_flash_wait_bsy();
+		len -= 2;
+		pos += 2;
+	}
+	if (len)
+		_ao_flash_byte(pos, *s++);
+
+	stm_flash.cr &= ~(1 << STM_FLASH_CR_PG);
+}
+
+uint8_t
+ao_storage_erase(uint32_t pos)
+{
+	ao_arch_block_interrupts();
+	ao_flash_unlock();
+
+	_ao_flash_erase_page(_ao_flash_addr(pos));
+
+	ao_flash_lock();
+	ao_arch_release_interrupts();
+	return 1;
+}
+
+uint8_t
+ao_storage_device_write(uint32_t pos, void *v, uint16_t len)
+{
+	if (len == 0)
+		return 1;
+
+	ao_arch_block_interrupts();
+	ao_flash_unlock();
+
+	_ao_flash_write(pos, v, len);
+
+	ao_flash_lock();
+	ao_arch_release_interrupts();
+	return 1;
+}
+
+uint8_t
+ao_storage_device_read(uint32_t pos, __xdata void *d, uint16_t len) __reentrant
+{
+	if (pos >= ao_storage_total || pos + len > ao_storage_total)
+		return 0;
+	memcpy(d, _ao_flash_addr(pos), len);
+	return 1;
+}
+
+void
+ao_storage_flush(void) __reentrant
+{
+}
+
+void
+ao_storage_setup(void)
+{
+	ao_storage_block = stm_flash_page_size();
+	ao_storage_total = ((uint8_t *) __flash_end__) - ((uint8_t *) __flash__);
+	ao_storage_unit = ao_storage_total;
+}
+
+void
+ao_storage_device_info(void) __reentrant
+{
+	printf ("Using internal flash, page %d bytes, total %d bytes\n",
+		ao_storage_block, ao_storage_total);
+}
+
+void
+ao_storage_device_init(void)
+{
+}
diff --git a/src/stmf0/ao_timer.c b/src/stmf0/ao_timer.c
index 5c05e4f1..50fd67b8 100644
--- a/src/stmf0/ao_timer.c
+++ b/src/stmf0/ao_timer.c
@@ -86,6 +86,7 @@ ao_timer_set_adc_interval(uint8_t interval)
 void
 ao_timer_init(void)
 {
+	stm_systick.csr = 0;
 	stm_systick.rvr = SYSTICK_RELOAD;
 	stm_systick.cvr = 0;
 	stm_systick.csr = ((1 << STM_SYSTICK_CSR_ENABLE) |
diff --git a/src/stmf0/ao_usb_stm.c b/src/stmf0/ao_usb_stm.c
index 652b3b6c..59aed3aa 100644
--- a/src/stmf0/ao_usb_stm.c
+++ b/src/stmf0/ao_usb_stm.c
@@ -655,7 +655,7 @@ ao_usb_ep0_in_start(uint16_t max)
 	ao_usb_ep0_flush();
 }
 
-static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
+struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
 
 #if AO_USB_DEVICE_ID_SERIAL
 static uint8_t ao_usb_serial[2 + 48];
diff --git a/src/stmf0/stm32f0.h b/src/stmf0/stm32f0.h
index e53a5dfd..61faf2e4 100644
--- a/src/stmf0/stm32f0.h
+++ b/src/stmf0/stm32f0.h
@@ -282,8 +282,8 @@ struct stm_rcc {
 
 extern struct stm_rcc stm_rcc;
 
-/* Nominal high speed internal oscillator frequency is 16MHz */
-#define STM_HSI_FREQ		16000000
+/* Nominal high speed internal oscillator frequency is 8MHz */
+#define STM_HSI_FREQ		8000000
 
 #define STM_RCC_CR_PLLRDY	(25)
 #define STM_RCC_CR_PLLON	(24)
diff --git a/src/telebt-v3.0/Makefile b/src/telebt-v3.0/Makefile
index 40d1f6e4..4636c046 100644
--- a/src/telebt-v3.0/Makefile
+++ b/src/telebt-v3.0/Makefile
@@ -55,6 +55,7 @@ ALTOS_SRC = \
 	ao_convert_volt.c \
 	ao_packet_master.c \
 	ao_packet.c \
+	ao_send_packet.c \
 	ao_monitor.c \
 	$(PROFILE) \
 	$(SAMPLE_PROFILE) \
diff --git a/src/telebt-v3.0/ao_telebt.c b/src/telebt-v3.0/ao_telebt.c
index 8775d993..63633c90 100644
--- a/src/telebt-v3.0/ao_telebt.c
+++ b/src/telebt-v3.0/ao_telebt.c
@@ -23,6 +23,7 @@
 #include <ao_profile.h>
 #include <ao_btm.h>
 #include <ao_lco_cmd.h>
+#include <ao_send_packet.h>
 #if HAS_SAMPLE_PROFILE
 #include <ao_sample_profile.h>
 #endif
@@ -53,6 +54,7 @@ main(void)
 	ao_radio_init();
 	ao_packet_master_init();
 	ao_monitor_init();
+	ao_send_packet_init();
 
 	ao_config_init();
 
diff --git a/src/telebt-v4.0/.gitignore b/src/telebt-v4.0/.gitignore
new file mode 100644
index 00000000..d1cf2326
--- /dev/null
+++ b/src/telebt-v4.0/.gitignore
@@ -0,0 +1,4 @@
+ao_product.h
+*.bin
+*.ihx
+*.elf
diff --git a/src/telebt-v4.0/Makefile b/src/telebt-v4.0/Makefile
new file mode 100644
index 00000000..38ac7513
--- /dev/null
+++ b/src/telebt-v4.0/Makefile
@@ -0,0 +1,81 @@
+#
+# AltOS build
+#
+#
+
+include ../stmf0/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_boot.h \
+	ao_pins.h \
+	ao_product.h \
+	ao_cc1200_CC1200.h \
+	ao_task.h \
+	ao_rn4678.h \
+	stm32f0.h \
+	Makefile
+
+ALTOS_SRC = \
+	ao_boot_chain.c \
+	ao_interrupt.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_data.c \
+	ao_task.c \
+	ao_led.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_serial_stm.c \
+	ao_rn4678.c \
+	ao_freq.c \
+	ao_dma_stm.c \
+	ao_spi_stm.c \
+	ao_cc1200.c \
+	ao_adc_stm.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_convert_volt.c \
+	ao_packet_master.c \
+	ao_packet.c \
+	ao_monitor.c \
+	ao_send_packet.c
+
+PRODUCT=TeleBT-v4.0
+PRODUCT_DEF=-DTELEBT_V_4_0
+IDPRODUCT=0x000e
+
+CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -Os -g
+
+PROGNAME=telebt-v4.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_telebt.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+$(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/telebt-v4.0/ao_pins.h b/src/telebt-v4.0/ao_pins.h
new file mode 100644
index 00000000..f3d70d1a
--- /dev/null
+++ b/src/telebt-v4.0/ao_pins.h
@@ -0,0 +1,290 @@
+/*
+ * Copyright © 2017 Bdale Garbee <bdale@gag.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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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 AO_STACK_SIZE		512
+
+#define AO_HSE                  32000000
+#define AO_RCC_CFGR_PLLMUL	STM_RCC_CFGR_PLLMUL_3
+#define AO_RCC_CFGR2_PLLDIV	STM_RCC_CFGR2_PREDIV_2
+#define AO_PLLMUL		3
+#define AO_PLLDIV		2
+
+/* HCLK = 48MHz */
+#define AO_AHB_PRESCALER        1
+#define AO_RCC_CFGR_HPRE_DIV    STM_RCC_CFGR_HPRE_DIV_1
+
+/* APB = 48MHz */
+#define AO_APB_PRESCALER        1
+#define AO_RCC_CFGR_PPRE_DIV    STM_RCC_CFGR_PPRE_DIV_1
+
+#define HAS_USB			1
+#define AO_USB_DIRECTIO		0
+#define AO_PA11_PA12_RMP	0
+
+#define IS_FLASH_LOADER 	0
+#define HAS_TASK_QUEUE		1
+
+/*
+ * Serial ports
+ */
+#define HAS_SERIAL_1		0
+#define USE_SERIAL_1_STDIN	0
+#define SERIAL_1_PB6_PB7	0
+#define SERIAL_1_PA9_PA10	0
+
+#define HAS_SERIAL_2		1
+#define USE_SERIAL_2_STDIN	1
+#define DELAY_SERIAL_2_STDIN	1
+#define USE_SERIAL_2_FLOW	1
+#define USE_SERIAL_2_SW_FLOW	0
+#define SERIAL_2_PA2_PA3	1
+#define SERIAL_2_PD5_PD6	0
+#define SERIAL_2_PORT_RTS	(&stm_gpioa)
+#define SERIAL_2_PIN_RTS	1
+#define SERIAL_2_PORT_CTS	(&stm_gpioa)
+#define SERIAL_2_PIN_CTS	0
+
+#define AO_CONFIG_MAX_SIZE	1024
+
+#define HAS_EEPROM		0
+#define USE_INTERNAL_FLASH	0
+#define USE_EEPROM_CONFIG	0
+#define USE_STORAGE_CONFIG	0
+#define HAS_BEEP		0
+#define HAS_BATTERY_REPORT	0
+#define HAS_RADIO		1
+#define HAS_TELEMETRY		0
+#define HAS_APRS		0
+#define HAS_ACCEL		0
+#define HAS_AES			0
+
+#define HAS_SPI_1		1
+#define SPI_1_PA5_PA6_PA7	1	/* CC1200 */
+#define SPI_1_PB3_PB4_PB5	0
+#define SPI_1_PE13_PE14_PE15	0
+#define SPI_1_OSPEEDR		STM_OSPEEDR_HIGH
+
+#define HAS_SPI_2		0
+#define SPI_2_PB13_PB14_PB15	0
+#define SPI_2_PD1_PD3_PD4	0
+#define SPI_2_OSPEEDR		STM_OSPEEDR_HIGH
+
+#define HAS_I2C_1		0
+#define I2C_1_PB8_PB9		0
+
+#define HAS_I2C_2		0
+#define I2C_2_PB10_PB11		0
+
+#define PACKET_HAS_SLAVE	0
+#define PACKET_HAS_MASTER	1
+
+#define LOW_LEVEL_DEBUG		0
+
+#define LED_PORT_0_ENABLE	STM_RCC_AHBENR_IOPBEN
+#define LED_PORT_1_ENABLE	STM_RCC_AHBENR_IOPCEN
+#define LED_PORT_0		(&stm_gpiob)
+#define LED_PORT_1		(&stm_gpioc)
+#define LED_PORT_0_SHIFT	0
+#define LED_PORT_1_SHIFT	0
+#define LED_PIN_RED		(0 + LED_PORT_0_SHIFT)
+#define LED_PIN_BLUE		(15 + LED_PORT_1_SHIFT)
+#define AO_LED_RED		(1 << LED_PIN_RED)
+#define AO_LED_BLUE		(1 << LED_PIN_BLUE)
+#define LED_PORT_0_MASK		(AO_LED_RED)
+#define LED_PORT_1_MASK		(AO_LED_BLUE)
+#define AO_BT_LED		AO_LED_BLUE
+
+#define LEDS_AVAILABLE		(AO_LED_RED | AO_LED_BLUE)
+
+#define HAS_GPS			0
+#define HAS_FLIGHT		0
+#define HAS_ADC			1
+#define HAS_ADC_TEMP		0
+#define HAS_LOG			0
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING		32
+#define AO_ADC_NUM_SENSE	2
+
+struct ao_adc {
+	int16_t			v_batt;
+};
+
+#define AO_ADC_DUMP(p) \
+	printf("tick: %5u batt %5d\n", \
+	       (p)->tick, \
+	       (p)->adc.v_batt);
+
+#define AO_ADC_V_BATT		4
+#define AO_ADC_V_BATT_PORT	(&stm_gpioa)
+#define AO_ADC_V_BATT_PIN	4
+
+#define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_IOPAEN))
+
+#define AO_NUM_ADC_PIN		1
+
+#define AO_ADC_PIN0_PORT	AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN0_PIN		AO_ADC_V_BATT_PIN
+#define AO_ADC_PIN0_CH		AO_ADC_V_BATT_PIN
+
+#define AO_NUM_ADC	       	(AO_NUM_ADC_PIN)
+
+#define AO_ADC_SQ1		AO_ADC_V_BATT
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	51	/* 5.1k */
+#define AO_BATTERY_DIV_MINUS	100	/* 10k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
+
+/*
+ * RN4678
+ */
+#define HAS_RN			1
+
+#define ao_serial_rn_getchar	ao_serial2_getchar
+#define ao_serial_rn_putchar	ao_serial2_putchar
+#define _ao_serial_rn_pollchar	_ao_serial2_pollchar
+#define _ao_serial_rn_sleep_for	_ao_serial2_sleep_for
+#define ao_serial_rn_set_speed ao_serial2_set_speed
+#define ao_serial_rn_drain	ao_serial2_drain
+#define ao_serial_rn_rx_fifo	(ao_stm_usart2.rx_fifo)
+
+/* Pin 5. BM70 P2_2 */
+#define AO_RN_SW_BTN_PORT	(&stm_gpioc)
+#define AO_RN_SW_BTN_PIN	14
+
+/* Pin 9. BM70 P2_3 */
+#define AO_RN_WAKEUP_PORT	(&stm_gpiob)
+#define AO_RN_WAKEUP_PIN	9
+
+/* Pin 11. BM70 P2_7/tx_ind. Status indication along with P1_5 */
+#define AO_RN_P0_4_PORT		(&stm_gpioc)
+#define AO_RN_P0_4_PIN		13
+
+/* Pin 12. BM70 P1_1. Status indication along with P0_4 */
+#define AO_RN_P1_5_PORT		(&stm_gpiob)
+#define AO_RN_P1_5_PIN		6
+
+/* Pin 13. BM70 P1_2. Also I2C SCL */
+#define AO_RN_P1_2_PORT		(&stm_gpiob)
+#define AO_RN_P1_2_PIN		7
+
+/* Pin 14. BM70 P1_3. Also I2C SDA */
+#define AO_RN_P1_3_PORT		(&stm_gpiob)
+#define AO_RN_P1_3_PIN		8
+
+/* Pin 15. BM70 P0_0/cts. */
+#define AO_RN_CTS_PORT		(&stm_gpioa)
+#define AO_RN_CTS_PIN		1
+
+/* Pin 16. BM70 P1_0. */
+#define AO_RN_P0_5_PORT		(&stm_gpiob)
+#define AO_RN_P0_5_PIN		5
+
+/* Pin 17. BM70 P3_6. */
+#define AO_RN_RTS_PORT		(&stm_gpioa)
+#define AO_RN_RTS_PIN		0
+
+/* Pin 18. BM70 P2_0. */
+#define AO_RN_P2_0_PORT		(&stm_gpiob)
+#define AO_RN_P2_0_PIN		3
+
+/* Pin 19. BM70 P2_4. */
+#define AO_RN_P2_4_PORT		(&stm_gpioa)
+#define AO_RN_P2_4_PIN		10
+
+/* Pin 20. BM70 NC. */
+#define AO_RN_EAN_PORT
+#define AO_RN_EAN_PIN
+
+/* Pin 21. BM70 RST_N. */
+#define AO_RN_RST_N_PORT	(&stm_gpioa)
+#define AO_RN_RST_N_PIN		15
+
+/* Pin 22. BM70 RXD. */
+#define AO_RN_RXD_PORT		(&stm_gpioa)
+#define AO_RN_RXD_PIN		2
+
+/* Pin 23. BM70 TXD. */
+#define AO_RN_TXD_PORT		(&stm_gpioa)
+#define AO_RN_TXD_PIN		3
+
+/* Pin 24. BM70 P3_1/RSSI_IND. */
+#define AO_RN_P3_1_PORT		(&stm_gpiob)
+#define AO_RN_P3_1_PIN		2
+
+/* Pin 25. BM70 P3_2/LINK_DROP. */
+#define AO_RN_P3_2_PORT		(&stm_gpioa)
+#define AO_RN_P3_2_PIN		8
+
+/* Pin 26. BM70 P3_3/UART_RX_IND. */
+#define AO_RN_P3_3_PORT		(&stm_gpiob)
+#define AO_RN_P3_3_PIN		15
+
+/* Pin 27. BM70 P3_4/PAIRING_KEY. */
+#define AO_RN_P3_4_PORT		(&stm_gpiob)
+#define AO_RN_P3_4_PIN		14
+
+/* Pin 28. BM70 P3_5. */
+#define AO_RN_P3_6_PORT		(&stm_gpiob)
+#define AO_RN_P3_6_PIN		13
+
+/* Pin 29. BM70 P0_7. */
+#define AO_RN_P3_7_PORT		(&stm_gpiob)
+#define AO_RN_P3_7_PIN		12
+
+/*
+ * Radio (cc1200)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 	5695485
+
+#define AO_FEC_DEBUG		0
+#define AO_CC1200_SPI_CS_PORT	(&stm_gpiob)
+#define AO_CC1200_SPI_CS_PIN	11
+#define AO_CC1200_SPI_BUS	AO_SPI_1_PA5_PA6_PA7
+#define AO_CC1200_SPI		stm_spi1
+#define AO_CC1200_SPI_SPEED	AO_SPI_SPEED_6MHz
+
+#define AO_CC1200_INT_PORT		(&stm_gpiob)
+#define AO_CC1200_INT_PIN		(10)
+
+#define AO_CC1200_INT_GPIO	2
+#define AO_CC1200_INT_GPIO_IOCFG	CC1200_IOCFG2
+
+#define HAS_BOOT_RADIO		0
+
+/* Monitor bits */
+#define HAS_MONITOR		1
+#define LEGACY_MONITOR		0
+#define AO_MONITOR_LED		AO_LED_RED
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telebt-v4.0/ao_telebt.c b/src/telebt-v4.0/ao_telebt.c
new file mode 100644
index 00000000..953ec4bc
--- /dev/null
+++ b/src/telebt-v4.0/ao_telebt.c
@@ -0,0 +1,58 @@
+/*
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_exti.h>
+#include <ao_packet.h>
+#include <ao_send_packet.h>
+#include <ao_usb.h>
+#include <ao_rn4678.h>
+
+int
+main(void)
+{
+	ao_clock_init();
+
+	ao_task_init();
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(LEDS_AVAILABLE);
+	ao_timer_init();
+
+	ao_spi_init();
+	ao_dma_init();
+	ao_exti_init();
+
+	ao_adc_init();
+	ao_cmd_init();
+	ao_send_packet_init();
+
+	ao_usb_init();
+	ao_serial_init();
+
+	ao_radio_init();
+	ao_packet_master_init();
+	ao_monitor_init();
+	ao_rn4678_init();
+
+	ao_config_init();
+
+	ao_led_off(LEDS_AVAILABLE);
+
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/telebt-v4.0/flash-loader/Makefile b/src/telebt-v4.0/flash-loader/Makefile
new file mode 100644
index 00000000..1a3c8c49
--- /dev/null
+++ b/src/telebt-v4.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telebt-v4.0
+include $(TOPDIR)/stmf0/Makefile-flash.defs
diff --git a/src/telebt-v4.0/flash-loader/ao_pins.h b/src/telebt-v4.0/flash-loader/ao_pins.h
new file mode 100644
index 00000000..8f4d6f81
--- /dev/null
+++ b/src/telebt-v4.0/flash-loader/ao_pins.h
@@ -0,0 +1,37 @@
+/*
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_
+
+#include <ao_flash_stm_pins.h>
+
+/* ground U7 pin 30 to force bootload */
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpioa
+#define AO_BOOT_APPLICATION_PIN		9
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
+
+/* USB */
+#define HAS_USB			1
+#define AO_USB_DIRECTIO		0
+#define AO_PA11_PA12_RMP	0
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telefiretwo-v1.0/Makefile b/src/telefireone-v1.0/Makefile
index 87d5d477..53f088cb 100644
--- a/src/telefiretwo-v1.0/Makefile
+++ b/src/telefireone-v1.0/Makefile
@@ -55,18 +55,18 @@ ALTOS_SRC = \
 	ao_pad.c \
 	ao_radio_cmac_cmd.c \
 	ao_log.c \
-	ao_log_firetwo.c
+	ao_log_fireone.c
 
 PRODUCT_SRC = \
-	ao_telefiretwo.c
+	ao_telefireone.c
 
-PRODUCT=TeleFireTwo-v1.0
-PRODUCT_DEF=-DTELEFIRETWO_V_1_0
+PRODUCT=TeleFireOne-v1.0
+PRODUCT_DEF=-DTELEFIREONE_V_1_0
 IDPRODUCT=0x000f
 
 CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g
 
-PROGNAME = telefiretwo-v1.0
+PROGNAME = telefireone-v1.0
 PROG = $(PROGNAME)-$(VERSION).elf
 HEX = $(PROGNAME)-$(VERSION).ihx
 
diff --git a/src/telefiretwo-v1.0/ao_pins.h b/src/telefireone-v1.0/ao_pins.h
index b2f5a5ab..d36d9d82 100644
--- a/src/telefiretwo-v1.0/ao_pins.h
+++ b/src/telefireone-v1.0/ao_pins.h
@@ -34,7 +34,7 @@
 #define HAS_EEPROM		1
 #define HAS_LOG			1
 #define HAS_PAD			1
-#define USE_INTERNAL_FLASH	0
+#define USE_INTERNAL_FLASH	1
 #define IGNITE_ON_P0		0
 #define PACKET_HAS_MASTER	0
 #define PACKET_HAS_SLAVE	0
diff --git a/src/telefiretwo-v1.0/ao_telefiretwo.c b/src/telefireone-v1.0/ao_telefireone.c
index 115b3e91..115b3e91 100644
--- a/src/telefiretwo-v1.0/ao_telefiretwo.c
+++ b/src/telefireone-v1.0/ao_telefireone.c
diff --git a/src/telefiretwo-v1.0/flash-loader/.gitignore b/src/telefireone-v1.0/flash-loader/.gitignore
index 65fe7eab..65fe7eab 100644
--- a/src/telefiretwo-v1.0/flash-loader/.gitignore
+++ b/src/telefireone-v1.0/flash-loader/.gitignore
diff --git a/src/telefiretwo-v1.0/flash-loader/Makefile b/src/telefireone-v1.0/flash-loader/Makefile
index d429dcc4..d429dcc4 100644
--- a/src/telefiretwo-v1.0/flash-loader/Makefile
+++ b/src/telefireone-v1.0/flash-loader/Makefile
diff --git a/src/telefiretwo-v1.0/flash-loader/ao_pins.h b/src/telefireone-v1.0/flash-loader/ao_pins.h
index ded45a40..ded45a40 100644
--- a/src/telefiretwo-v1.0/flash-loader/ao_pins.h
+++ b/src/telefireone-v1.0/flash-loader/ao_pins.h
diff --git a/src/telegps-v2.0/.gitignore b/src/telegps-v2.0/.gitignore
new file mode 100644
index 00000000..892c3acc
--- /dev/null
+++ b/src/telegps-v2.0/.gitignore
@@ -0,0 +1,3 @@
+ao_product.h
+ao_serial_lpc.h
+*.elf
diff --git a/src/telegps-v2.0/ao_pins.h b/src/telegps-v2.0/ao_pins.h
index c51f0afb..f92564d6 100644
--- a/src/telegps-v2.0/ao_pins.h
+++ b/src/telegps-v2.0/ao_pins.h
@@ -21,18 +21,23 @@
 
 #define LED_PORT_ENABLE STM_RCC_AHBENR_IOPBEN
 #define LED_PORT        (&stm_gpiob)
-#define LED_PIN_RED     5
-#define AO_LED_RED      (1 << LED_PIN_RED)
+#define LED_PIN_GREEN   5
+#define AO_LED_GREEN    (1 << LED_PIN_GREEN)
+#define AO_LED_PANIC	AO_LED_GREEN
+#define AO_LED_GPS_LOCK	AO_LED_GREEN
 
-#define LEDS_AVAILABLE  (AO_LED_RED)
+#define LEDS_AVAILABLE  (AO_LED_GREEN)
+
+#define AO_STACK_SIZE		512
 
 #define IS_FLASH_LOADER		0
 #define HAS_BEEP 	       0
 
 #define AO_HSE                  32000000
 #define AO_RCC_CFGR_PLLMUL      STM_RCC_CFGR_PLLMUL_3
+#define AO_RCC_CFGR2_PLLDIV	STM_RCC_CFGR2_PREDIV_2
 #define AO_PLLMUL               3
-#define AO_PLLDIV               1
+#define AO_PLLDIV               2
 
 /* HCLK = 48MHz */
 #define AO_AHB_PRESCALER        1
@@ -42,8 +47,6 @@
 #define AO_APB_PRESCALER        1
 #define AO_RCC_CFGR_PPRE_DIV    STM_RCC_CFGR_PPRE_DIV_1
 
-#define AO_RCC_CFGR2_PLLDIV	STM_RCC_CFGR2_PREDIV_1
-
 #define HAS_USB                         1
 #define AO_USB_DIRECTIO                 0
 #define AO_PA11_PA12_RMP                1
@@ -53,11 +56,13 @@
 /* ADC */
 
 #define HAS_ADC			1
-#define AO_ADC_PIN0_PORT        (&stm_gpioa)
-#define AO_ADC_PIN0_PIN         0
-#define AO_ADC_PIN0_CH          0
+#define AO_ADC_PIN0_PORT        (&stm_gpiob)
+#define AO_ADC_PIN0_PIN         1
+#define AO_ADC_PIN0_CH          9
+
+#define AO_ADC_RCC_AHBENR       ((1 << STM_RCC_AHBENR_IOPBEN))
 
-#define AO_ADC_RCC_AHBENR       ((1 << STM_RCC_AHBENR_IOPAEN))
+#define ao_telemetry_battery_convert(a)	((a) << 3)
 
 #define AO_NUM_ADC              1
 
@@ -90,8 +95,6 @@ struct ao_adc {
 #define SPI_1_PB3_PB4_PB5       0
 #define SPI_1_OSPEEDR           STM_OSPEEDR_HIGH
 
-#define HAS_MS5607              0
-
 /* Flash */
 
 #define M25_MAX_CHIPS           1
@@ -99,14 +102,18 @@ struct ao_adc {
 #define AO_M25_SPI_CS_MASK      (1 << 0)
 #define AO_M25_SPI_BUS          AO_SPI_1_PA5_PA6_PA7
 
-#define HAS_SERIAL_1		1
+/* Serial */
+#define HAS_SERIAL_1		0
 #define SERIAL_1_PB6_PB7	1
 #define USE_SERIAL_1_STDIN	0
 
-#define ao_gps_getchar		ao_serial1_getchar
-#define ao_gps_putchar		ao_serial1_putchar
-#define ao_gps_set_speed	ao_serial1_set_speed
-#define ao_gps_fifo		(ao_usart_rx_fifo)
+#define HAS_SERIAL_2	       	1
+#define SERIAL_2_PA2_PA3	1
+#define USE_SERIAL_2_STDIN	0
+
+#define ao_gps_getchar		ao_serial2_getchar
+#define ao_gps_putchar		ao_serial2_putchar
+#define ao_gps_set_speed	ao_serial2_set_speed
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
@@ -114,7 +121,6 @@ struct ao_adc {
 #define HAS_TELEMETRY		1
 #define HAS_RDF			1
 #define HAS_APRS		1
-#define HAS_RADIO_RECV		0
 
 #define HAS_GPS			1
 #define HAS_FLIGHT		0
@@ -143,22 +149,17 @@ struct ao_adc {
 
 #define AO_FEC_DEBUG            0
 #define AO_CC1200_SPI_CS_PORT   (&stm_gpioa)
-#define AO_CC1200_SPI_CS_PIN    5
+#define AO_CC1200_SPI_CS_PIN    1
 #define AO_CC1200_SPI_BUS       AO_SPI_1_PA5_PA6_PA7
 #define AO_CC1200_SPI           stm_spi1
-#define AO_CC1200_SPI_SPEED     AO_SPI_SPEED_FAST
+#define AO_CC1200_SPI_SPEED     AO_SPI_SPEED_6MHz
 
 #define AO_CC1200_INT_PORT              (&stm_gpioa)
 #define AO_CC1200_INT_PIN               4
-#define AO_CC1200_MCU_WAKEUP_PORT       (&stm_gpioa)
-#define AO_CC1200_MCU_WAKEUP_PIN        (0)
 
 #define AO_CC1200_INT_GPIO      2
 #define AO_CC1200_INT_GPIO_IOCFG        CC1200_IOCFG2
 
-#define AO_CC1200_MARC_GPIO     3
-#define AO_CC1200_MARC_GPIO_IOCFG       CC1200_IOCFG3
-
 #define HAS_BOOT_RADIO          0
 
 #endif /* _AO_PINS_H_ */
diff --git a/src/telegps-v2.0/ao_telegps.c b/src/telegps-v2.0/ao_telegps.c
index 7a923d11..998c2008 100644
--- a/src/telegps-v2.0/ao_telegps.c
+++ b/src/telegps-v2.0/ao_telegps.c
@@ -25,43 +25,35 @@ int
 main(void)
 {
 	ao_clock_init();
+	ao_task_init();
+	ao_cmd_init();
+	ao_config_init();
 
-#if HAS_STACK_GUARD
-	ao_mpu_init();
-#endif
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_GREEN);
 
-	ao_task_init();
+	/* internal systems */
 	ao_timer_init();
-
-	ao_spi_init();
+	ao_dma_init();
 	ao_exti_init();
 
-	ao_storage_init();
-
+	/* SoC hardware */
+	ao_adc_init();
 	ao_serial_init();
-
-	ao_cmd_init();
-
+	ao_spi_init();
 	ao_usb_init();
-	ao_radio_init();
-
-#if HAS_ADC
-	ao_adc_init();
-#endif
 
+	/* External hardware */
+	ao_storage_init();
+	ao_radio_init();
 	ao_gps_init();
-#if HAS_LOG
-	ao_log_init();
-#endif
-
-	ao_tracker_init();
 
+	/* Services */
+	ao_log_init();
 	ao_telemetry_init();
+	ao_tracker_init();
 
-#if HAS_SAMPLE_PROFILE
-	ao_sample_profile_init();
-#endif
-	ao_config_init();
+	ao_led_off(AO_LED_GREEN);
 
 	ao_start_scheduler();
 	return 0;
diff --git a/src/telegps-v2.0/flash-loader/.gitignore b/src/telegps-v2.0/flash-loader/.gitignore
new file mode 100644
index 00000000..7bbed045
--- /dev/null
+++ b/src/telegps-v2.0/flash-loader/.gitignore
@@ -0,0 +1,2 @@
+*.elf
+*.bin
diff --git a/src/telemini-v2.0/ao_telemini.c b/src/telemini-v2.0/ao_telemini.c
index 68bc3dfe..a9ee423c 100644
--- a/src/telemini-v2.0/ao_telemini.c
+++ b/src/telemini-v2.0/ao_telemini.c
@@ -20,8 +20,6 @@
 #include "ao_pins.h"
 #include <ao_exti.h>
 
-__xdata uint8_t ao_force_freq;
-
 void
 main(void)
 {
diff --git a/src/telemini-v3.0/.gitignore b/src/telemini-v3.0/.gitignore
new file mode 100644
index 00000000..57946eb5
--- /dev/null
+++ b/src/telemini-v3.0/.gitignore
@@ -0,0 +1,3 @@
+ao_product.h
+*.bin
+*.elf
diff --git a/src/telemini-v3.0/ao_pins.h b/src/telemini-v3.0/ao_pins.h
index 351d28d8..17cff2ae 100644
--- a/src/telemini-v3.0/ao_pins.h
+++ b/src/telemini-v3.0/ao_pins.h
@@ -1,9 +1,10 @@
 /*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ * Copyright © 2017 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -66,6 +67,13 @@
 #define HAS_IGNITE_REPORT	1
 #define AO_SMALL_ALTITUDE_TABLE	1
 
+/* Use debug connector clock for recovery mode */
+#define HAS_FORCE_FREQ		1
+#define AO_RECOVERY_PORT	(&stm_gpioa)
+#define AO_RECOVERY_PIN		14
+#define AO_RECOVERY_VALUE	0
+#define AO_RECOVERY_MODE	AO_EXTI_MODE_PULL_UP
+
 /* Beeper is on Tim1 CH3 */
 #define BEEPER_CHANNEL		4
 #define BEEPER_TIMER		2
diff --git a/src/telemini-v3.0/ao_telemini.c b/src/telemini-v3.0/ao_telemini.c
index 82c1acd4..a50268b9 100644
--- a/src/telemini-v3.0/ao_telemini.c
+++ b/src/telemini-v3.0/ao_telemini.c
@@ -1,9 +1,10 @@
 /*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ * Copyright © 2017 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -18,9 +19,26 @@
 #include <ao.h>
 #include <ao_exti.h>
 
+static void
+ao_check_recovery(void)
+{
+	int	i;
+	ao_enable_input(AO_RECOVERY_PORT, AO_RECOVERY_PIN, AO_RECOVERY_MODE);
+	for (i = 0; i < 100; i++)
+		ao_arch_nop();
+	if (ao_gpio_get(AO_RECOVERY_PORT, AO_RECOVERY_PIN, AO_RECOVERY) == AO_RECOVERY_VALUE) {
+		ao_flight_force_idle = 1;
+		ao_force_freq = 1;
+	}
+	ao_gpio_set_mode(AO_RECOVERY_PORT, AO_RECOVERY_PIN, 0);
+	ao_disable_port(AO_RECOVERY_PORT);
+}
+
 void
 main(void)
 {
+	ao_check_recovery();
+
 	ao_clock_init();
 	ao_task_init();
 	ao_timer_init();
diff --git a/src/telemini-v3.0/flash-loader/ao_pins.h b/src/telemini-v3.0/flash-loader/ao_pins.h
index fea9a645..c523d413 100644
--- a/src/telemini-v3.0/flash-loader/ao_pins.h
+++ b/src/telemini-v3.0/flash-loader/ao_pins.h
@@ -21,13 +21,13 @@
 
 #include <ao_flash_stm_pins.h>
 
-/* beeper to 3.3V for boot loader mode */
+/* SWDIO to gnd for boot loader mode */
 
 #define AO_BOOT_PIN			1
 #define AO_BOOT_APPLICATION_GPIO	stm_gpioa
-#define AO_BOOT_APPLICATION_PIN		3
-#define AO_BOOT_APPLICATION_VALUE	0
-#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_DOWN
+#define AO_BOOT_APPLICATION_PIN		13
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
 
 /* USB */
 #define HAS_USB			1
diff --git a/src/test/.gitignore b/src/test/.gitignore
index 9237780b..56f532ef 100644
--- a/src/test/.gitignore
+++ b/src/test/.gitignore
@@ -18,3 +18,4 @@ ao_flight_test_noisy_accel
 ao_flight_test_metrum
 ao_micropeak_test
 ao_aes_test
+ao_lisp_test
diff --git a/src/test/Makefile b/src/test/Makefile
index a22abe46..a0c2d5fe 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,7 +1,7 @@
 vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
-	ao_flight_test_metrum \
+	ao_flight_test_metrum ao_flight_test_mini \
 	ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
 	ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \
 	ao_ms5607_convert_test ao_quaternion_test ao_lisp_test
@@ -37,6 +37,9 @@ ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.
 ao_flight_test_metrum: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
 	cc -DTELEMETRUM_V2=1 $(CFLAGS) -o $@ $< -lm
 
+ao_flight_test_mini: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
+	cc -DEASYMINI=1 -DHAS_ACCEL=0 $(CFLAGS) -o $@ $< -lm
+
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
 	cc $(CFLAGS) -o $@ $<
 
diff --git a/src/test/ao_aes_test.c b/src/test/ao_aes_test.c
index 4b65df8d..135c6f1a 100644
--- a/src/test/ao_aes_test.c
+++ b/src/test/ao_aes_test.c
@@ -30,7 +30,7 @@
 #include "../aes/ao_aes_tables.c"
 #include "../aes/ao_aes.c"
 
-static uint8_t key[16];
+static uint8_t my_key[64];
 static uint8_t text[16];
 static uint8_t cbc[16];
 
@@ -41,7 +41,7 @@ main (int argc, char **argv)
 
 	ao_aes_init();
 	ao_aes_set_mode(ao_aes_mode_cbc_mac);
-	ao_aes_set_key(key);
+	ao_aes_set_key(my_key);
 	ao_aes_zero_iv();
 	ao_aes_run(text, cbc);
 
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 25ddb48f..d3d39f2a 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -46,7 +46,7 @@
 
 int ao_gps_new;
 
-#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2)
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
 #define TELEMETRUM_V1 1
 #endif
 
@@ -84,6 +84,18 @@ struct ao_adc {
 };
 #endif
 
+#if EASYMINI
+#define AO_ADC_NUM_SENSE	2
+#define HAS_MS5607		1
+#define HAS_BEEP		1
+#define AO_CONFIG_MAX_SIZE	1024
+
+struct ao_adc {
+	int16_t			sense_a;
+	int16_t			sense_m;
+	int16_t			v_batt;
+};
+#endif
 
 #if TELEMETRUM_V1
 /*
@@ -323,7 +335,7 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
 struct ao_ms5607_prom	ao_ms5607_prom;
@@ -475,7 +487,7 @@ ao_insert(void)
 #else
 		double	accel = 0.0;
 #endif
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 		double	height;
 
 		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -670,6 +682,19 @@ int32(uint8_t *bytes, int off)
 	return (int32_t) uint32(bytes, off);
 }
 
+uint32_t
+uint24(uint8_t *bytes, int off)
+{
+	return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
+		(((uint32_t) bytes[off+2]) << 16);
+}
+
+int32_t
+int24(uint8_t *bytes, int off)
+{
+	return (int32_t) uint24(bytes, off);
+}
+
 static int log_format;
 
 void
@@ -694,12 +719,14 @@ ao_sleep(void *wchan)
 		for (;;) {
 			if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 			{
+
 #if TELEMEGA
 				ao_data_static.mpu6000 = ao_ground_mpu6000;
 #endif
 #if TELEMETRUM_V1
 				ao_data_static.adc.accel = ao_flight_ground_accel;
 #endif
+
 				ao_insert();
 				return;
 			}
@@ -829,6 +856,72 @@ ao_sleep(void *wchan)
 				}
 			}
 #endif
+#if EASYMINI
+			if ((log_format == AO_LOG_FORMAT_EASYMINI1 || log_format == AO_LOG_FORMAT_EASYMINI2) && nword == 14 && strlen(words[0]) == 1) {
+				int	i;
+				struct ao_ms5607_value	value;
+
+				type = words[0][0];
+				tick = strtoul(words[1], NULL, 16);
+//				printf ("%c %04x", type, tick);
+				for (i = 2; i < nword; i++) {
+					bytes[i - 2] = strtoul(words[i], NULL, 16);
+//					printf(" %02x", bytes[i-2]);
+				}
+//				printf ("\n");
+				switch (type) {
+				case 'F':
+					ao_flight_started = 1;
+					ao_ground_pres = uint32(bytes, 4);
+					ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+#if 0
+					printf("ground pres %d height %d\n", ao_ground_pres, ao_ground_height);
+					printf("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d\n",
+					       ao_ms5607_prom.sens,
+					       ao_ms5607_prom.off,
+					       ao_ms5607_prom.tcs,
+					       ao_ms5607_prom.tco,
+					       ao_ms5607_prom.tref,
+					       ao_ms5607_prom.tempsens,
+					       ao_ms5607_prom.crc);
+#endif
+					break;
+				case 'A':
+					ao_data_static.tick = tick;
+					ao_data_static.ms5607_raw.pres = int24(bytes, 0);
+					ao_data_static.ms5607_raw.temp = int24(bytes, 3);
+#if 0
+					printf("raw pres %d temp %d\n",
+					       ao_data_static.ms5607_raw.pres,
+					       ao_data_static.ms5607_raw.temp);
+#endif
+					ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
+//					printf("pres %d height %d\n", value.pres, ao_pa_to_altitude(value.pres));
+					ao_records_read++;
+					ao_insert();
+					return;
+				}
+				continue;
+			} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
+				if (strcmp(words[1], "reserved:") == 0)
+					ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "sens:") == 0)
+					ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "off:") == 0)
+					ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "tcs:") == 0)
+					ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "tco:") == 0)
+					ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "tref:") == 0)
+					ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "tempsens:") == 0)
+					ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "crc:") == 0)
+					ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
+				continue;
+			}
+#endif
 #if TELEMETRUM_V2
 			if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) {
 				int	i;
@@ -1007,7 +1100,7 @@ ao_sleep(void *wchan)
 			if (type != 'F' && !ao_flight_started)
 				continue;
 
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 			(void) a;
 			(void) b;
 #else
diff --git a/src/test/ao_int64_test.c b/src/test/ao_int64_test.c
index 07538ee0..d329f67b 100644
--- a/src/test/ao_int64_test.c
+++ b/src/test/ao_int64_test.c
@@ -34,7 +34,7 @@ int	errors;
 		c = ao_cast64(&ao_r);					\
 		if (c != r) {						\
 			printf ("trial %4d: %lld " #func mod " %lld = %lld (should be %lld)\n", \
-				trial, (int64_t) (a), (int64_t) b, c, r); \
+				trial, (long long) (a), (long long) b, (long long) c, (long long) r); \
 			++errors;					\
 		}							\
 	} while (0)
diff --git a/src/util/make-kalman b/src/util/make-kalman
index 580a4515..c630e9cb 100644
--- a/src/util/make-kalman
+++ b/src/util/make-kalman
@@ -40,4 +40,5 @@ nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO
 nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO
 nickle kalman.5c -p AO_BARO -c baro -t 1 $SIGMA_BARO
 
-nickle kalman_micro.5c -p AO_MK_BARO -c baro -t 0.096 $SIGMA_MICRO
\ No newline at end of file
+nickle kalman_micro.5c -p AO_MK_BARO -c baro -t 0.096 $SIGMA_MICRO
+nickle kalman_micro.5c -p AO_MK2_BARO -c baro -t 0.1 $SIGMA_MICRO