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

22 files changed, 305 insertions, 186 deletions

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 0afdf012..914e0c1b 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -201,11 +201,13 @@ __xdata struct ao_ms5607_sample	ao_ms5607_current;
 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();
diff --git a/src/drivers/ao_rn4678.c b/src/drivers/ao_rn4678.c
index 4e3d12cb..98dc35b5 100644
--- a/src/drivers/ao_rn4678.c
+++ b/src/drivers/ao_rn4678.c
@@ -39,7 +39,7 @@ static void
 ao_rn_log_char(char c, char dir)
 {
 	if (dir != ao_rn_dir) {
-		putchar(dir);
+		putchar(dir); putchar('\n');
 		ao_rn_dir = dir;
 	}
 	switch (c) {
@@ -100,84 +100,81 @@ 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)
 {
-	static char	buffer[64];
-	static int	buf_cnt, buf_ptr;
-	static int	draining;
 	int		c = AO_READ_AGAIN;
 	unsigned	i;
 	int		done = 0;
 
-	while (!done && !draining) {
+	while (!done && !ao_rn_draining) {
 		c = _ao_serial_rn_pollchar();
 
-		if (c == AO_READ_AGAIN)
+		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 (buf_cnt) {
+		if (ao_rn_buf_cnt) {
 			/* buffering chars */
 
 			if (c == STATUS_CHAR) {
 				/* End of status string, drop it and carry on */
-				buffer[buf_cnt] = '\0';
-				ao_rn_dbg("discard %s\n", buffer);
-				buf_cnt = 0;
-			} else if (buf_cnt == sizeof(buffer)) {
+				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 */
-				draining = 1;
+				ao_rn_draining = 1;
 			} else {
-				buffer[buf_cnt++] = c;
+				ao_rn_buffer[ao_rn_buf_cnt++] = c;
 				for (i = 0; i < NUM_STATUS_STRING; i++) {
 					int cmp = strlen(status_strings[i]);
-					if (cmp >= buf_cnt)
-						cmp = buf_cnt-1;
-					if (memcmp(buffer+1, status_strings[i], cmp) == 0)
+					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)
-					draining = 1;
+					ao_rn_draining = 1;
 			}
 		} else if (c == STATUS_CHAR) {
-			buffer[0] = c;
-			buf_cnt = 1;
-			buf_ptr = 0;
+			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 (draining) {
-		c = buffer[buf_ptr++] & 0xff;
-		if (buf_ptr == buf_cnt) {
-			buf_ptr = buf_cnt = 0;
-			draining = 0;
+	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;
 		}
 	}
-#if AO_RN_DEBUG
-	ao_arch_release_interrupts();
-	ao_usb_putchar(c); ao_usb_flush();
-	ao_arch_block_interrupts();
-#endif
 	return c;
 }
 
-#if AO_RN_DEBUG
-static void
-ao_wrap_rn_putchar(char c)
-{
-	ao_usb_putchar(c); ao_usb_flush();
-	ao_serial_rn_putchar(c);
-}
-#else
-#define ao_wrap_rn_putchar ao_serial_rn_putchar
-#endif
-
 static void
 ao_rn_puts(char *s)
 {
@@ -192,7 +189,7 @@ ao_rn_drain(void)
 {
 	int	timeout = 0;
 
-	ao_rn_dbg("drain...\n");
+//	ao_rn_dbg("drain...\n");
 	ao_serial_rn_drain();
 	while (!timeout) {
 		ao_arch_block_interrupts();
@@ -204,13 +201,13 @@ ao_rn_drain(void)
 		}
 		ao_arch_release_interrupts();
 	}
-	ao_rn_dbg("drain done\n");
+//	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_dbg("send_cmd %s%s\n", cmd, param ? param : "");
 	ao_rn_drain();
 	ao_rn_puts(cmd);
 	if (param)
@@ -244,20 +241,20 @@ ao_rn_wait_for(int timeout, char *match)
 	AO_TICK_TYPE	giveup_time = ao_time() + timeout;
 	int		c;
 
-	ao_rn_dbg("wait for %d, \"%s\"\n", timeout, match);
+//	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");
+//			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("\tmatch now \"%s\"\n", reply);
 	}
-	ao_rn_dbg("\twait for ok\n");
+//	ao_rn_dbg("\twait for ok\n");
 	return AO_RN_OK;
 }
 
@@ -266,20 +263,20 @@ ao_rn_wait_line(AO_TICK_TYPE giveup_time, char *line, int len)
 {
 	char *l = line;
 
-	ao_rn_dbg("wait line\n");
+//	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");
+//			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);
+//			ao_rn_dbg("\twait line \"%s\"\n", line);
 			return AO_RN_OK;
 		}
 
@@ -302,7 +299,7 @@ ao_rn_wait_status(void)
 	AO_TICK_TYPE	giveup_time = ao_time() + AO_RN_CMD_TIMEOUT;
 	int		status;
 
-	ao_rn_dbg("wait status\n");
+//	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)
@@ -317,7 +314,7 @@ ao_rn_set_name(void)
 	char	*s = sn + 8;
 	int	n;
 
-	ao_rn_dbg("set name...\n");
+//	ao_rn_dbg("set name...\n");
 	*--s = '\0';
 	n = ao_serial_number;
 	do {
@@ -330,7 +327,7 @@ ao_rn_set_name(void)
 static int
 ao_rn_get_name(char *name, int len)
 {
-	ao_rn_dbg("get name...\n");
+//	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);
 }
@@ -404,12 +401,18 @@ ao_rn(void)
 			continue;
 		}
 
-		ao_rn_puts("$$$");
-
 		/* After it reboots, it can take a moment before it responds
 		 * to commands
 		 */
-		(void) ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> ");
+		status = ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> ");
+
+		if (status == AO_RN_TIMEOUT) {
+			ao_rn_puts("$$$");
+			(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
@@ -417,7 +420,9 @@ ao_rn(void)
 		status = ao_rn_get_name(name, sizeof (name));
 		if (status != AO_RN_OK) {
 			ao_rn_dbg("get name failed\n");
-			continue;
+			status = ao_rn_get_name(name, sizeof (name));
+			if (status != AO_RN_OK)
+				continue;
 		}
 
 		if (strncmp(name, "TeleBT-", 7) == 0) {
@@ -433,6 +438,12 @@ ao_rn(void)
 			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) {
@@ -465,17 +476,27 @@ ao_rn(void)
 
 	ao_exti_enable(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN);
 
-#if 1
+#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_wrap_rn_putchar,
+				   ao_serial_rn_putchar,
 				   NULL);
 
 	ao_rn_echo(0);
-
 	ao_rn_check_link();
-
-	ao_rn_dbg("RN running\n");
-
 	/*
 	 * Now just hang around and flash the blue LED when we've got
 	 * a connection
@@ -487,27 +508,11 @@ ao_rn(void)
 		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));
 		}
 	}
-#else
-
-	/*
-	 * Separate debug code when things aren't working. Just dump
-	 * inbound bluetooth characters to stdout
-	 */
-	for (;;) {
-		int	c;
-
-		while (rn_cmd_running)
-			ao_delay(AO_MS_TO_TICKS(1000));
-
-		ao_arch_block_interrupts();
-		while ((c = _ao_wrap_rn_pollchar()) == AO_READ_AGAIN)
-			ao_sleep(&ao_serial_rn_rx_fifo);
-		ao_arch_release_interrupts();
-		putchar(c); flush();
-	}
 #endif
 }
 
@@ -539,19 +544,39 @@ ao_rn_factory(void)
 	/* Right after power on, poke P3_1 five times to force a
 	 * factory reset
 	 */
-	for (i = 0; i < 10; i++) {
+	for (i = 0; i < 20; i++) {
 		v = 1-v;
-		ao_delay(AO_MS_TO_TICKS(100));
+		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 },
 };
 
diff --git a/src/drivers/ao_rn4678.h b/src/drivers/ao_rn4678.h
index d6fea23a..a4dcea38 100644
--- a/src/drivers/ao_rn4678.h
+++ b/src/drivers/ao_rn4678.h
@@ -56,7 +56,7 @@
 
 */
 
-#define AO_RN_REBOOT_MSG	"%REBOOT%"
+#define AO_RN_REBOOT_MSG	"REBOOT"
 
 #define AO_RN_CMD_TIMEOUT	AO_MS_TO_TICKS(200)
 
@@ -67,11 +67,14 @@
 #define AO_RN_SET_NAME_CMD		"SN,"
 #define AO_RN_GET_NAME_CMD		"GN"
 
-#define AO_RN_SET_STATUS_STRING	"SO,"
+#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
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/ao_pins.h b/src/easymini-v2.0/ao_pins.h
index c141d1a6..2ec0e90b 100644
--- a/src/easymini-v2.0/ao_pins.h
+++ b/src/easymini-v2.0/ao_pins.h
@@ -44,7 +44,7 @@
 #define AO_PA11_PA12_RMP	1
 #define AO_USB_FORCE_IDLE	1
 
-#define AO_LOG_FORMAT		AO_LOG_FORMAT_EASYMINI
+#define AO_LOG_FORMAT		AO_LOG_FORMAT_EASYMINI2
 
 #define HAS_BOOT_RADIO		0
 
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 5c568c99..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 */
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_telemetry.c b/src/kernel/ao_telemetry.c
index a4c73a86..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();
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/micropeak-v2.0/ao_pins.h b/src/micropeak-v2.0/ao_pins.h
index 13a4fd10..fa2ed804 100644
--- a/src/micropeak-v2.0/ao_pins.h
+++ b/src/micropeak-v2.0/ao_pins.h
@@ -53,7 +53,8 @@ extern uint8_t ao_on_battery;
 #define HAS_SERIAL_1		0
 #define HAS_SERIAL_2		1
 #define USE_SERIAL_2_STDIN	0
-#define HAS_SERIAL_SW_FLOW	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
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/stmf0/ao_serial_stm.c b/src/stmf0/ao_serial_stm.c
index e20b5755..59cfde2e 100644
--- a/src/stmf0/ao_serial_stm.c
+++ b/src/stmf0/ao_serial_stm.c
@@ -180,7 +180,7 @@ 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_M1) |
 			   (0 << STM_USART_CR1_EOBIE) |
@@ -223,44 +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;
@@ -391,13 +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);
@@ -409,7 +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);
@@ -428,8 +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
@@ -447,8 +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
@@ -472,10 +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/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/Makefile b/src/telebt-v4.0/Makefile
index 31651120..38ac7513 100644
--- a/src/telebt-v4.0/Makefile
+++ b/src/telebt-v4.0/Makefile
@@ -14,6 +14,7 @@ INC = \
 	ao_product.h \
 	ao_cc1200_CC1200.h \
 	ao_task.h \
+	ao_rn4678.h \
 	stm32f0.h \
 	Makefile
 
diff --git a/src/telebt-v4.0/ao_pins.h b/src/telebt-v4.0/ao_pins.h
index baf3db69..f3d70d1a 100644
--- a/src/telebt-v4.0/ao_pins.h
+++ b/src/telebt-v4.0/ao_pins.h
@@ -54,7 +54,7 @@
 #define USE_SERIAL_2_STDIN	1
 #define DELAY_SERIAL_2_STDIN	1
 #define USE_SERIAL_2_FLOW	1
-#define USE_SERIAL_2_SW_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)
@@ -75,7 +75,6 @@
 #define HAS_APRS		0
 #define HAS_ACCEL		0
 #define HAS_AES			0
-#define HAS_POLLCHAR		1
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* CC1200 */
diff --git a/src/telefireone-v1.0/ao_pins.h b/src/telefireone-v1.0/ao_pins.h
index b2f5a5ab..d36d9d82 100644
--- a/src/telefireone-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/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_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