Merge branch 'branch-1.7' into debian

186 files changed, 20030 insertions, 179 deletions

diff --git a/src/avr/ao_avr_stdio.c b/src/avr/ao_avr_stdio.c
index cca2a971..fde3c421 100644
--- a/src/avr/ao_avr_stdio.c
+++ b/src/avr/ao_avr_stdio.c
@@ -21,6 +21,7 @@
 int
 stdio_put(char c, FILE *stream)
 {
+	(void) stream;
 	putchar(c);
 	return 0;
 }
@@ -28,6 +29,7 @@ stdio_put(char c, FILE *stream)
 int
 stdio_get(FILE *stream)
 {
+	(void) stream;
 	return (int) getchar() & 0xff;
 }
 
diff --git a/src/cc1111/ao_launch.c b/src/cc1111/ao_launch.c
index 4f0a0c14..76d6d13b 100644
--- a/src/cc1111/ao_launch.c
+++ b/src/cc1111/ao_launch.c
@@ -17,6 +17,7 @@
  */
 
 #include <ao.h>
+#include <ao_launch.h>
 #include <ao_radio_cmac.h>
 
 __xdata uint16_t ao_launch_ignite;
diff --git a/src/cc1111/ao_launch.h b/src/cc1111/ao_launch.h
new file mode 100644
index 00000000..966b5cea
--- /dev/null
+++ b/src/cc1111/ao_launch.h
@@ -0,0 +1,44 @@
+/*
+ * 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_LAUNCH_H_
+#define _AO_LAUNCH_H_
+/* ao_launch.c */
+
+struct ao_launch_command {
+	uint16_t	tick;
+	uint16_t	serial;
+	uint8_t		cmd;
+	uint8_t		channel;
+	uint16_t	unused;
+};
+
+#define AO_LAUNCH_QUERY		1
+
+struct ao_launch_query {
+	uint16_t	tick;
+	uint16_t	serial;
+	uint8_t		channel;
+	uint8_t		valid;
+	uint8_t		arm_status;
+	uint8_t		igniter_status;
+};
+
+#define AO_LAUNCH_ARM		2
+#define AO_LAUNCH_FIRE		3
+
+void
+ao_launch_init(void);
+
+#endif /* _AO_LAUNCH_H_ */
diff --git a/src/cc1111/ao_timer.c b/src/cc1111/ao_timer.c
index 0acef562..a3d454da 100644
--- a/src/cc1111/ao_timer.c
+++ b/src/cc1111/ao_timer.c
@@ -62,7 +62,7 @@ ao_timer_init(void)
 	/* NOTE:  This uses a timer only present on cc1111 architecture. */
 
 	/* disable timer 1 */
-	T1CTL = 0;
+/*	T1CTL = 0; */
 
 	/* set the sample rate */
 	T1CC0H = T1_SAMPLE_TIME >> 8;
diff --git a/src/chaoskey-v1.0/.gitignore b/src/chaoskey-v1.0/.gitignore
index b0adba26..9fd59154 100644
--- a/src/chaoskey-v1.0/.gitignore
+++ b/src/chaoskey-v1.0/.gitignore
@@ -1,2 +1,3 @@
 ao_product.h
 chaoskey-*
+*.cab
diff --git a/src/chaoskey-v1.0/Makefile b/src/chaoskey-v1.0/Makefile
index d9944a12..f2c168ba 100644
--- a/src/chaoskey-v1.0/Makefile
+++ b/src/chaoskey-v1.0/Makefile
@@ -14,6 +14,7 @@ INC = \
 	ao_task.h \
 	ao_adc_fast.h \
 	ao_power.h \
+	ao_crc.h \
 	stm32f0.h
 
 #
@@ -38,6 +39,8 @@ ALTOS_SRC = \
 	ao_gpio.c \
 	ao_product.c
 
+VENDOR=AltusMetrum
+PROJECT_NAME=ChaosKey
 PRODUCT=ChaosKey-hw-1.0-sw-$(VERSION)
 PRODUCT_DEF=-DCHAOSKEY_V_1_0
 IDVENDOR=0x1d50
@@ -48,6 +51,7 @@ CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -g -Os
 PROGNAME=chaoskey-v1.0
 PROG=$(PROGNAME)-$(VERSION).elf
 HEX=$(PROGNAME)-$(VERSION).ihx
+METAINFO=org.altusmetrum.ChaosKey.metainfo.xml
 
 SRC=$(ALTOS_SRC) ao_chaoskey.c
 OBJ=$(SRC:.c=.o)
@@ -62,11 +66,20 @@ ao_product.h: ao-make-product.5c ../Version
 
 $(OBJ): $(INC)
 
+%.cab: $(PROG) $(HEX) $(METAINFO)
+	gcab --create --nopath $@ $(PROG) $(HEX) $(METAINFO)
+
+cab: $(VENDOR)-$(PROJECT_NAME)-$(VERSION).cab
+
+check: $(METAINFO)
+	appstream-util validate-relax $(METAINFO)
+
 distclean:	clean
 
 clean:
 	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
 	rm -f ao_product.h
+	rm -f *.cab
 
 install:
 
diff --git a/src/chaoskey-v1.0/chaoskey-connector.svg b/src/chaoskey-v1.0/chaoskey-connector.svg
new file mode 100644
index 00000000..671a46bd
--- /dev/null
+++ b/src/chaoskey-v1.0/chaoskey-connector.svg
@@ -0,0 +1,274 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
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+   xmlns:dc="http://purl.org/dc/elements/1.1/"
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+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
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+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   id="svg7384"
+   sodipodi:docname="chaoskey.svg"
+   version="1.1"
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+   width="400"
+   viewBox="0 0 400 225">
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+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title>Gnome Symbolic Icon Theme</dc:title>
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+  </metadata>
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diff --git a/src/chaoskey-v1.0/org.altusmetrum.ChaosKey.metainfo.xml.in b/src/chaoskey-v1.0/org.altusmetrum.ChaosKey.metainfo.xml.in
new file mode 100644
index 00000000..6e391878
--- /dev/null
+++ b/src/chaoskey-v1.0/org.altusmetrum.ChaosKey.metainfo.xml.in
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- Copyright 2017 Richard Hughes <richard@hughsie.com> -->
+<component type="firmware">
+  <id>org.altusmetrum.ChaosKey.firmware</id>
+  <name>ChaosKey</name>
+  <summary>Firmware for the Altus Metrum ChaosKey</summary>
+  <description>
+    <p>
+      Updating the firmware on your ChaosKey device improves performance and adds
+      new features.
+    </p>
+  </description>
+  <provides>
+    <!-- USB\VID_1D50&PID_60C6 -->
+    <firmware type="flashed">b62500d7-c981-595b-a798-eb6cf4d4942b</firmware>
+  </provides>
+  <url type="homepage">https://chaoskey.org/</url>
+  <metadata_license>CC-BY-4.0</metadata_license>
+  <project_license>GPL-2.0</project_license>
+  <developer_name>AltusMetrum</developer_name>
+  <releases>
+    <release urgency="medium" version="@VERSION@" date="@RELEASE_DATE@">
+      <checksum filename="chaoskey-v1.0-@VERSION@.ihx" target="content"/>
+      <description>
+        <p>
+          FIXME before release.
+        </p>
+      </description>
+    </release>
+    <release urgency="medium" version="1.6.7" date="2017-01-01">
+      <checksum filename="chaoskey-v1.0-1.6.7.ihx" target="content"/>
+      <description>
+        <p>
+          Change the ADC clock speed to eliminate sampling problems which
+          cleans up the chaoskey raw data.
+        </p>
+      </description>
+    </release>
+  </releases>
+  <screenshots>
+    <screenshot type="default">
+      <image type="source">https://chaoskey.org/chaoskey-connector.svg</image>
+      <caption>Remove the plastic cover, then connect pins 1 and 5 whilst inserting into a USB socket.</caption>
+    </screenshot>
+  </screenshots>
+</component>
diff --git a/src/cortexelf-v1/Makefile b/src/cortexelf-v1/Makefile
new file mode 100644
index 00000000..8cc6ce31
--- /dev/null
+++ b/src/cortexelf-v1/Makefile
@@ -0,0 +1,137 @@
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+LDFLAGS=-L../stm -Wl,-Tcortexelf.ld
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_boot.h \
+	ao_pins.h \
+	ao_kalman.h \
+	ao_product.h \
+	ao_profile.h \
+	ao_task.h \
+	math.h \
+	ao_mpu.h \
+	stm32l.h \
+	math.h \
+	ao_vga.h \
+	ao_draw.h \
+	ao_draw_int.h \
+	ao_font.h \
+	ao_ps2.h \
+	ao_lisp.h \
+	ao_lisp_const.h \
+	ao_lisp_os.h \
+	ao_flip_bits.h \
+	Makefile
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+
+ALTOS_SRC = \
+	ao_boot_chain.c \
+	ao_interrupt.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_task.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_serial_stm.c \
+	ao_dma_stm.c \
+	ao_spi_stm.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_i2c_stm.c \
+	ao_as1107.c \
+	ao_matrix.c \
+	ao_vga.c \
+	ao_blt.c \
+	ao_copy.c \
+	ao_rect.c \
+	ao_text.c \
+	ao_line.c \
+	ao_ps2.c \
+	ao_console.c \
+	ao_sdcard.c \
+	ao_bufio.c \
+	ao_fat.c \
+	ao_flash_stm.c \
+	ao_button.c \
+	ao_event.c \
+	ao_1802.c \
+	ao_hex.c \
+	ao_lisp_lex.c \
+	ao_lisp_mem.c \
+	ao_lisp_cons.c \
+	ao_lisp_eval.c \
+	ao_lisp_string.c \
+	ao_lisp_atom.c \
+	ao_lisp_int.c \
+	ao_lisp_poly.c \
+	ao_lisp_builtin.c \
+	ao_lisp_read.c \
+	ao_lisp_rep.c \
+	ao_lisp_frame.c \
+	ao_lisp_error.c \
+	ao_lisp_lambda.c \
+	ao_lisp_save.c \
+	ao_lisp_stack.c \
+	ao_lisp_os_save.c \
+	$(PROFILE) \
+	$(SAMPLE_PROFILE) \
+	$(STACK_GUARD)
+
+PRODUCT=CortexELF-v1
+PRODUCT_DEF=-DCORTEXELF
+IDPRODUCT=0x000a
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=cortexelf-v1
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_cortexelf.c
+OBJ=$(SRC:.c=.o)
+
+all:: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) cortexelf.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+../altitude-pa.h: make-altitude-pa
+	nickle $< > $@
+
+$(OBJ): $(INC)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean::
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h ao_flip_bits.h
+
+ao_flip_bits.h: ao_flip_bits.5c
+	nickle ao_flip_bits.5c > $@
+
+include ../lisp/Makefile-lisp
+
+install:
+
+uninstall:
diff --git a/src/cortexelf-v1/ao_1802.c b/src/cortexelf-v1/ao_1802.c
new file mode 100644
index 00000000..9fb36595
--- /dev/null
+++ b/src/cortexelf-v1/ao_1802.c
@@ -0,0 +1,328 @@
+/*
+ * 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_flip_bits.h>
+#include <ao_1802.h>
+#include <ao_exti.h>
+
+/* Decoded address driven by TPA/TPB signals */
+uint16_t	ADDRESS;
+
+/* Decoded data, driven by TPB signal */
+uint8_t		DATA;
+
+/* Mux control */
+#define _MUX_1802		0
+#define _MUX_STM		1
+
+uint8_t		MUX_CONTROL;
+
+/* Signals muxed between 1802 and STM */
+uint8_t
+MRD(void) {
+	return ao_gpio_get(MRD_PORT, MRD_BIT, MRD_PIN);
+}
+
+void
+MRD_set(uint8_t value) {
+	ao_gpio_set(MRD_PORT, MRD_BIT, MRD_PIN, value);
+}
+
+uint8_t
+MWR(void) {
+	return ao_gpio_get(MWR_PORT, MWR_BIT, MWR_PIN);
+}
+
+void
+MWR_set(uint8_t value) {
+	ao_gpio_set(MWR_PORT, MWR_BIT, MWR_PIN, value);
+}
+
+static void
+TPA_rising(void)
+{
+	ADDRESS = (ADDRESS & 0x00ff) | ((uint16_t) MA() << 8);
+	ao_wakeup(&ADDRESS);
+}
+
+uint8_t
+TPA(void) {
+	return ao_gpio_get(TPA_PORT, TPA_BIT, TPA_PIN);
+}
+
+void
+TPA_set(uint8_t tpa) {
+	ao_gpio_set(TPA_PORT, TPA_BIT, TPA_PIN, tpa);
+	if (tpa)
+		TPA_rising();
+}
+
+static void
+TPB_rising(void)
+{
+	ADDRESS = (ADDRESS & 0xff00) | MA();
+	if (MWR() == 0 || MRD() == 0)
+		DATA = BUS();
+	ao_wakeup(&ADDRESS);
+}
+
+static void
+TPB_falling(void)
+{
+}
+
+uint8_t
+TPB(void) {
+	return ao_gpio_get(TPB_PORT, TPB_BIT, TPB_PIN);
+}
+
+void
+TPB_set(uint8_t tpb) {
+	ao_gpio_set(TPB_PORT, TPB_BIT, TPB_PIN, tpb);
+	if (tpb)
+		TPB_rising();
+	else
+		TPB_falling();
+}
+
+uint8_t
+MA(void) {
+	return (ao_gpio_get_all(MA_PORT) >> MA_SHIFT) & MA_MASK;
+}
+
+void
+MA_set(uint8_t ma) {
+	ao_gpio_set_mask(MA_PORT, ((uint16_t) ma) << MA_SHIFT, MA_MASK << MA_SHIFT);
+}
+
+/* Tri-state data bus */
+
+uint8_t
+BUS(void) {
+	return ao_flip_bits_8[(ao_gpio_get_all(BUS_PORT) >> BUS_SHIFT) & BUS_MASK];
+}
+
+void
+BUS_set(uint8_t bus) {
+	ao_gpio_set_mask(BUS_PORT, ao_flip_bits_8[bus] << BUS_SHIFT, BUS_MASK << BUS_SHIFT);
+}
+
+void
+BUS_stm(void)
+{
+	ao_set_output_mask(BUS_PORT, BUS_MASK << BUS_SHIFT);
+}
+
+void
+BUS_1802(void)
+{
+	ao_set_input_mask(BUS_PORT, BUS_MASK << BUS_SHIFT);
+}
+
+/* Pins controlled by 1802 */
+uint8_t
+SC(void) {
+	return ao_flip_bits_2[(ao_gpio_get_all(SC_PORT) >> SC_SHIFT) & SC_MASK];
+}
+
+uint8_t
+Q(void) {
+	return ao_gpio_get(Q_PORT, Q_BIT, Q_PIN);
+}
+
+uint8_t
+N(void) {
+	return (ao_gpio_get_all(N_PORT) >> N_SHIFT) & N_MASK;
+}
+
+/* Pins controlled by STM */
+uint8_t
+EF(void) {
+	return (ao_gpio_get_all(EF_PORT) >> EF_SHIFT) & EF_MASK;
+}
+
+void
+EF_set(uint8_t ef) {
+	ao_gpio_set_mask(EF_PORT, ef << EF_SHIFT, EF_MASK << EF_SHIFT);
+}
+
+uint8_t
+DMA_IN(void) {
+	return ao_gpio_get(DMA_IN_PORT, DMA_IN_BIT, DMA_IN_PIN);
+}
+
+void
+DMA_IN_set(uint8_t dma_in) {
+	ao_gpio_set(DMA_IN_PORT, DMA_IN_BIT, DMA_IN_PIN, dma_in);
+}
+
+uint8_t
+DMA_OUT(void) {
+	return ao_gpio_get(DMA_OUT_PORT, DMA_OUT_BIT, DMA_OUT_PIN);
+}
+
+void
+DMA_OUT_set(uint8_t dma_out) {
+	ao_gpio_set(DMA_OUT_PORT, DMA_OUT_BIT, DMA_OUT_PIN, dma_out);
+}
+
+uint8_t
+INT(void) {
+	return ao_gpio_get(INT_PORT, INT_BIT, INT_PIN);
+}
+
+void
+INT_set(uint8_t dma_out) {
+	ao_gpio_set(INT_PORT, INT_BIT, INT_PIN, dma_out);
+}
+
+uint8_t
+CLEAR(void) {
+	return ao_gpio_get(CLEAR_PORT, CLEAR_BIT, CLEAR_PIN);
+}
+
+void
+CLEAR_set(uint8_t dma_out) {
+	ao_gpio_set(CLEAR_PORT, CLEAR_BIT, CLEAR_PIN, dma_out);
+}
+
+uint8_t
+WAIT(void) {
+	return ao_gpio_get(WAIT_PORT, WAIT_BIT, WAIT_PIN);
+}
+
+void
+WAIT_set(uint8_t dma_out) {
+	ao_gpio_set(WAIT_PORT, WAIT_BIT, WAIT_PIN, dma_out);
+}
+
+void
+tpb_isr(void) {
+	/* Latch low address and data on rising edge of TPB */
+	if (TPB())
+		TPB_rising();
+	else
+		TPB_falling();
+}
+
+void
+tpa_isr(void) {
+	/* Latch high address on rising edge of TPA */
+	if (TPA())
+		TPA_rising();
+}
+
+#define ao_1802_in(port, bit, mode) do {		\
+		ao_gpio_set_mode(port, bit, mode);	\
+		ao_set_input(port, bit);		\
+	} while (0)
+
+#define ao_1802_in_isr(port, bit, mode) do {		\
+		ao_gpio_set_mode(port, bit, mode);	\
+		ao_set_input(port, bit);		\
+		ao_exti_enable(port, bit);		\
+	} while (0)
+
+#define ao_1802_out_isr(port, bit) do { \
+		ao_exti_disable(port, bit); \
+		ao_set_output(port, bit); \
+	} while (0)
+
+void
+MUX_1802(void)
+{
+	if (MUX_CONTROL != _MUX_1802) {
+		/* Set pins to input, but pulled to idle value */
+		ao_1802_in(MRD_PORT, MRD_BIT, AO_EXTI_MODE_PULL_UP);
+		ao_1802_in(MWR_PORT, MWR_BIT, AO_EXTI_MODE_PULL_UP);
+		ao_1802_in_isr(TPB_PORT, TPB_BIT, AO_EXTI_MODE_PULL_DOWN);
+		ao_1802_in_isr(TPA_PORT, TPA_BIT, AO_EXTI_MODE_PULL_DOWN);
+		ao_set_input_mask(MA_PORT, MA_MASK << MA_SHIFT);
+
+		ao_gpio_set(MUX_PORT, MUX_BIT, MUX_PIN, 0);
+
+		/* Now change the pins to eliminate the pull up/down */
+		ao_gpio_set_mode(MRD_PORT, MRD_BIT, 0);
+		ao_gpio_set_mode(MWR_PORT, MWR_BIT, 0);
+		ao_gpio_set_mode(TPB_PORT, TPB_BIT, 0);
+		ao_gpio_set_mode(TPA_PORT, TPA_BIT, 0);
+
+		MUX_CONTROL = _MUX_1802;
+	}
+}
+
+void
+MUX_stm(void)
+{
+	if (MUX_CONTROL != _MUX_STM) {
+		/* Set the pins back to pull to the idle value */
+		ao_gpio_set_mode(MRD_PORT, MRD_BIT, AO_EXTI_MODE_PULL_UP);
+		ao_gpio_set_mode(MWR_PORT, MWR_BIT, AO_EXTI_MODE_PULL_UP);
+		ao_gpio_set_mode(TPB_PORT, TPB_BIT, AO_EXTI_MODE_PULL_DOWN);
+		ao_gpio_set_mode(TPA_PORT, TPA_BIT, AO_EXTI_MODE_PULL_DOWN);
+
+		ao_gpio_set(MUX_PORT, MUX_BIT, MUX_PIN, 1);
+
+		/* Now set the pins as output, driven to the idle value */
+		ao_set_output(MRD_PORT, MRD_BIT, MRD_PIN, 1);
+		ao_set_output(MWR_PORT, MWR_BIT, MWR_PIN, 1);
+		ao_set_output(TPB_PORT, TPB_BIT, TPB_PIN, 0);
+		ao_set_output(TPA_PORT, TPA_BIT, TPA_PIN, 0);
+		ao_set_output_mask(MA_PORT, MA_MASK << MA_SHIFT);
+		MUX_CONTROL = _MUX_STM;
+	}
+}
+
+void
+ao_1802_init(void)
+{
+	/* Multiplexed signals*/
+
+	/* active low signals */
+	ao_enable_input(MRD_PORT, MRD_BIT, AO_EXTI_MODE_PULL_UP);
+	ao_enable_input(MWR_PORT, MWR_BIT, AO_EXTI_MODE_PULL_UP);
+
+	/* active high signals with interrupts */
+	ao_exti_setup(TPA_PORT, TPA_BIT,
+		      AO_EXTI_MODE_PULL_DOWN | AO_EXTI_MODE_RISING | AO_EXTI_MODE_FALLING,
+		      tpa_isr);
+	ao_exti_setup(TPB_PORT, TPB_BIT,
+		      AO_EXTI_MODE_PULL_DOWN | AO_EXTI_MODE_RISING | AO_EXTI_MODE_FALLING,
+		      tpb_isr);
+
+	/* multiplexed address bus */
+	ao_enable_input_mask(MA_PORT, MA_MASK << MA_SHIFT, 0);
+
+	/* Data bus */
+
+	ao_enable_input_mask(BUS_PORT, BUS_MASK << BUS_SHIFT, 0);
+
+	/* Pins controlled by 1802 */
+	ao_enable_input_mask(SC_PORT, SC_MASK << SC_SHIFT, 0);
+	ao_enable_input(Q_PORT, Q_BIT, 0);
+	ao_enable_input_mask(N_PORT, N_MASK << N_SHIFT, 0);
+
+	/* Pins controlled by STM */
+	ao_enable_output_mask(EF_PORT, 0, EF_MASK << EF_SHIFT);
+	ao_enable_output(DMA_IN_PORT, DMA_IN_BIT, DMA_IN_PIN, 1);
+	ao_enable_output(DMA_OUT_PORT, DMA_OUT_BIT, DMA_OUT_PIN, 1);
+	ao_enable_output(INT_PORT, INT_BIT, INT_PIN, 1);
+	ao_enable_output(CLEAR_PORT, CLEAR_BIT, CLEAR_PIN, 1);
+	ao_enable_output(WAIT_PORT, WAIT_BIT, WAIT_PIN, 1);
+
+	/* Force configuration to STM so that MUX_1802 will do something */
+	MUX_CONTROL = _MUX_STM;
+	MUX_1802();
+}
diff --git a/src/cortexelf-v1/ao_1802.h b/src/cortexelf-v1/ao_1802.h
new file mode 100644
index 00000000..5ea89fee
--- /dev/null
+++ b/src/cortexelf-v1/ao_1802.h
@@ -0,0 +1,129 @@
+/*
+ * 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_1802_H_
+#define _AO_1802_H_
+
+/* Decoded address driven by TPA/TPB signals */
+extern uint16_t		ADDRESS;
+
+/* Decoded data, driven by TPB signal */
+extern uint8_t		DATA;
+
+uint8_t
+MRD(void);
+
+void
+MRD_set(uint8_t value);
+
+uint8_t
+MWR(void);
+
+void
+MWR_set(uint8_t value);
+
+uint8_t
+TPA(void);
+
+void
+TPA_set(uint8_t tpa);
+
+uint8_t
+TPB(void);
+
+void
+TPB_set(uint8_t tpb);
+
+uint8_t
+MA(void);
+
+void
+MA_set(uint8_t ma);
+
+/* Tri-state data bus */
+
+uint8_t
+BUS(void);
+
+void
+BUS_set(uint8_t bus);
+
+void
+BUS_stm(void);
+
+void
+BUS_1802(void);
+
+/* Pins controlled by 1802 */
+uint8_t
+SC(void);
+
+uint8_t
+Q(void);
+
+uint8_t
+N(void);
+
+/* Pins controlled by STM */
+uint8_t
+EF(void);
+
+void
+EF_set(uint8_t ef);
+
+uint8_t
+DMA_IN(void);
+
+void
+DMA_IN_set(uint8_t dma_in);
+
+uint8_t
+DMA_OUT(void);
+
+void
+DMA_OUT_set(uint8_t dma_out);
+
+uint8_t
+INT(void);
+
+void
+INT_set(uint8_t dma_out);
+
+uint8_t
+CLEAR(void);
+
+void
+CLEAR_set(uint8_t dma_out);
+
+uint8_t
+WAIT(void);
+
+void
+WAIT_set(uint8_t dma_out);
+
+#define SC_FETCH	0
+#define SC_EXECUTE	1
+#define SC_DMA		2
+#define SC_INTERRUPT	3
+
+void
+MUX_1802(void);
+
+void
+MUX_stm(void);
+
+void
+ao_1802_init(void);
+
+#endif /* _AO_1802_H_ */
diff --git a/src/cortexelf-v1/ao_cortexelf.c b/src/cortexelf-v1/ao_cortexelf.c
new file mode 100644
index 00000000..61a9d219
--- /dev/null
+++ b/src/cortexelf-v1/ao_cortexelf.c
@@ -0,0 +1,291 @@
+/*
+ * 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>
+#include <ao_profile.h>
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+#include <ao_ps2.h>
+#include <ao_vga.h>
+#include <ao_console.h>
+#include <ao_sdcard.h>
+#include <ao_fat.h>
+#include <ao_lisp.h>
+#include <ao_button.h>
+#include <ao_event.h>
+#include <ao_as1107.h>
+#include <ao_hex.h>
+#include <ao_1802.h>
+
+struct ao_task ball_task;
+
+#define BALL_WIDTH	5
+#define BALL_HEIGHT	5
+
+static int	ball_x;
+static int	ball_y;
+static int	ball_dx, ball_dy;
+
+uint8_t		ball_enable;
+
+void
+ao_ball(void)
+{
+	ball_dx = 1;
+	ball_dy = 1;
+	ball_x = 0;
+	ball_y = 0;
+	for (;;) {
+		while (!ball_enable)
+			ao_sleep(&ball_enable);
+		for (;;) {
+			ao_line(&ao_vga_bitmap,
+				-100, -100, ball_x*2, ball_y*2,
+				1, AO_XOR);
+			ao_text(&ao_vga_bitmap,
+				ball_x, ball_y - 10,
+				"Hello, Bdale!",
+				1, AO_XOR);
+			ao_rect(&ao_vga_bitmap,
+				ball_x, ball_y,
+				BALL_WIDTH,
+				BALL_HEIGHT,
+				1,
+				AO_XOR);
+			ao_delay(AO_MS_TO_TICKS(10));
+			ao_rect(&ao_vga_bitmap,
+				ball_x, ball_y,
+				BALL_WIDTH,
+				BALL_HEIGHT,
+				1,
+				AO_XOR);
+			ao_text(&ao_vga_bitmap,
+				ball_x, ball_y - 10,
+				"Hello, Bdale!",
+				1, AO_XOR);
+			ao_line(&ao_vga_bitmap,
+				-100, -100, ball_x*2, ball_y*2,
+				1, AO_XOR);
+			if (!ball_enable)
+				break;
+			ball_x += ball_dx;
+			ball_y += ball_dy;
+			if (ball_x + BALL_WIDTH > AO_VGA_WIDTH) {
+				ball_x = AO_VGA_WIDTH - BALL_WIDTH;
+				ball_dx = -ball_dx;
+			}
+			if (ball_x < 0) {
+				ball_x = -ball_x;
+				ball_dx = -ball_dx;
+			}
+			if (ball_y + BALL_HEIGHT > AO_VGA_HEIGHT) {
+				ball_y = AO_VGA_HEIGHT - BALL_HEIGHT;
+				ball_dy = -ball_dy;
+			}
+			if (ball_y < 0) {
+				ball_y = -ball_y;
+				ball_dy = -ball_dy;
+			}
+		}
+	}
+}
+
+static void
+ao_fb_init(void)
+{
+	ao_rect(&ao_vga_bitmap,
+		0, 0, AO_VGA_WIDTH, AO_VGA_HEIGHT,
+		1, AO_COPY);
+
+	ao_rect(&ao_vga_bitmap,
+		10, 10, 10, 10,
+		0, AO_COPY);
+
+	ao_rect(&ao_vga_bitmap,
+		AO_VGA_WIDTH - 20, 10, 10, 10,
+		0, AO_COPY);
+
+	ao_rect(&ao_vga_bitmap,
+		10, AO_VGA_HEIGHT - 20, 10, 10,
+		0, AO_COPY);
+
+	ao_rect(&ao_vga_bitmap,
+		AO_VGA_WIDTH - 20, AO_VGA_HEIGHT - 20, 10, 10,
+		0, AO_COPY);
+
+	ao_text(&ao_vga_bitmap,
+		20, 100,
+		"Hello, Bdale!",
+		0, AO_COPY);
+
+	ao_text(&ao_vga_bitmap,
+		1, ao_font.ascent,
+		"UL",
+		0, AO_COPY);
+
+	ao_text(&ao_vga_bitmap,
+		1, AO_VGA_HEIGHT - ao_font.descent,
+		"BL",
+		0, AO_COPY);
+}
+
+static void
+ao_video_toggle(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_lex_i)
+		ao_fb_init();
+	ao_vga_enable(ao_cmd_lex_i);
+}
+
+static void
+ao_ball_toggle(void)
+{
+	ao_cmd_decimal();
+	ball_enable = ao_cmd_lex_i;
+	ao_wakeup(&ball_enable);
+}
+
+static void
+ao_ps2_read_keys(void)
+{
+	char	c;
+
+	for (;;) {
+		c = ao_ps2_getchar();
+		printf("%02x %c\n", c, ' ' <= c && c < 0x7f ? c : '.');
+		flush();
+		if (c == ' ')
+			break;
+	}
+}
+
+static void
+ao_console_send(void)
+{
+	char	c;
+
+	while ((c = getchar()) != '~') {
+		ao_console_putchar(c);
+		flush();
+	}
+}
+
+static void lisp_cmd() {
+	ao_lisp_read_eval_print();
+}
+
+static void
+ao_serial_blather(void)
+{
+	char c;
+
+	while ((c = getchar()) != '~') {
+		ao_serial1_putchar(c);
+		ao_serial2_putchar(c);
+	}
+}
+
+static void
+led_cmd(void)
+{
+	uint8_t	start;
+	uint8_t value;
+	ao_cmd_decimal();
+
+	start = ao_cmd_lex_i;
+	ao_cmd_hex();
+	value = ao_cmd_lex_i;
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	ao_as1107_write_8(start, value);
+}
+
+__code struct ao_cmds ao_demo_cmds[] = {
+	{ ao_video_toggle, "V\0Toggle video" },
+	{ ao_ball_toggle, "B\0Toggle ball" },
+	{ ao_ps2_read_keys, "K\0Read keys from keyboard" },
+	{ ao_console_send, "C\0Send data to console, end with ~" },
+	{ ao_serial_blather, "S\0Blather on serial ports briefly" },
+	{ lisp_cmd, "l\0Run lisp interpreter" },
+	{ led_cmd, "L start value\0Show value (byte) at digit start" },
+	{ 0, NULL }
+};
+
+static struct ao_task event_task;
+
+static void
+ao_event_loop(void)
+{
+	for (;;) {
+		struct ao_event	ev;
+
+		ao_event_get(&ev);
+		printf("type %d uint %d tick %d value %d\n",
+		       ev.type, ev.unit, ev.tick, ev.value);
+		flush();
+	}
+}
+
+int
+main(void)
+{
+	ao_clock_init();
+
+#if HAS_STACK_GUARD
+	ao_mpu_init();
+#endif
+
+	ao_task_init();
+	ao_serial_init();
+	ao_timer_init();
+
+	ao_spi_init();
+	ao_dma_init();
+	ao_exti_init();
+
+	ao_sdcard_init();
+	ao_fat_init();
+
+	ao_ps2_init();
+	ao_vga_init();
+	ao_console_init();
+
+	ao_cmd_init();
+
+	ao_usb_init();
+
+	ao_button_init();
+
+	ao_as1107_init();
+	ao_matrix_init();
+	ao_1802_init();
+
+	ao_hex_init();
+
+	ao_config_init();
+
+	ao_add_task(&ball_task, ao_ball, "ball");
+	ao_add_task(&event_task, ao_event_loop, "events");
+	ao_cmd_register(&ao_demo_cmds[0]);
+
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/cortexelf-v1/ao_flip_bits.5c b/src/cortexelf-v1/ao_flip_bits.5c
new file mode 100644
index 00000000..cd5507cc
--- /dev/null
+++ b/src/cortexelf-v1/ao_flip_bits.5c
@@ -0,0 +1,24 @@
+#!/usr/bin/nickle
+
+int flip_bits(int a, int n)
+{
+	int result = 0;
+	for (int pos = 0; pos < n; pos++)
+		if ((a & (1 << pos)) != 0)
+			result |= (1 << (n - 1 - pos));
+	return result;
+}
+
+void print_flip_bits(string name, int n) {
+	printf ("static const uint8_t %s_%d[%d] = {\n", name, n, 1 << n);
+
+	for (int i = 0; i < 1 << n; i++) {
+		printf (" 0x%02x,", flip_bits(i, n));
+		if ((i & 0xf) == 0xf)
+			printf("\n");
+	}
+	printf("};\n");
+}
+
+print_flip_bits("ao_flip_bits", 8);
+print_flip_bits("ao_flip_bits", 2);
diff --git a/src/cortexelf-v1/ao_hex.c b/src/cortexelf-v1/ao_hex.c
new file mode 100644
index 00000000..1507407b
--- /dev/null
+++ b/src/cortexelf-v1/ao_hex.c
@@ -0,0 +1,36 @@
+/*
+ * 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_hex.h"
+#include "ao_as1107.h"
+#include "ao_1802.h"
+
+static struct ao_task	ao_hex_task;
+
+static void
+ao_hex(void)
+{
+	for (;;) {
+		ao_as1107_write_16(0, ADDRESS);
+		ao_as1107_write_8(6, DATA);
+		ao_sleep(&ADDRESS);
+	}
+}
+
+void
+ao_hex_init(void)
+{
+	ao_add_task(&ao_hex_task, ao_hex, "hex");
+}
diff --git a/src/cortexelf-v1/ao_hex.h b/src/cortexelf-v1/ao_hex.h
new file mode 100644
index 00000000..674c1eee
--- /dev/null
+++ b/src/cortexelf-v1/ao_hex.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_HEX_H_
+#define _AO_HEX_H_
+
+void
+ao_hex_init(void);
+
+#endif /* _AO_HEX_H_ */
diff --git a/src/cortexelf-v1/ao_lisp_os.h b/src/cortexelf-v1/ao_lisp_os.h
new file mode 100644
index 00000000..d0c1f7b7
--- /dev/null
+++ b/src/cortexelf-v1/ao_lisp_os.h
@@ -0,0 +1,65 @@
+/*
+ * 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"
+
+#define AO_LISP_POOL_TOTAL		16384
+#define AO_LISP_SAVE			1
+
+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)
+{
+	(void) led;
+}
+
+static inline void
+ao_lisp_os_delay(int delay)
+{
+	ao_delay(AO_MS_TO_TICKS(delay));
+}
+
+#endif
diff --git a/src/cortexelf-v1/ao_lisp_os_save.c b/src/cortexelf-v1/ao_lisp_os_save.c
new file mode 100644
index 00000000..7c853990
--- /dev/null
+++ b/src/cortexelf-v1/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__[];
+
+/* 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/cortexelf-v1/ao_pins.h b/src/cortexelf-v1/ao_pins.h
new file mode 100644
index 00000000..258ffe31
--- /dev/null
+++ b/src/cortexelf-v1/ao_pins.h
@@ -0,0 +1,265 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE		1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE			8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL		12
+#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 24MHz */
+#define AO_PLLDIV		4
+#define AO_RCC_CFGR_PLLDIV	(STM_RCC_CFGR_PLLDIV_4)
+
+/* HCLK = 24MHz (CPU clock) */
+#define AO_AHB_PRESCALER	1
+#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at HCLK/1 */
+#define AO_APB1_PRESCALER	1
+#define AO_RCC_CFGR_PPRE1_DIV	STM_RCC_CFGR_PPRE1_DIV_1
+
+/* Run APB2 at HCLK/1 */
+#define AO_APB2_PRESCALER	1
+#define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_1
+
+/* Allow for non-maskable interrupts at priority 0 */
+#define AO_NONMASK_INTERRUPT	1
+
+/* PS/2 keyboard connection */
+#define AO_PS2_CLOCK_PORT	(&stm_gpiod)
+#define AO_PS2_CLOCK_BIT	9
+#define AO_PS2_DATA_PORT	(&stm_gpiod)
+#define AO_PS2_DATA_BIT		8
+
+#define HAS_SERIAL_1		1
+#define USE_SERIAL_1_STDIN	1
+#define SERIAL_1_PB6_PB7	1
+#define SERIAL_1_PA9_PA10	0
+
+#define HAS_SERIAL_2		1
+#define USE_SERIAL_2_STDIN	1
+#define SERIAL_2_PA2_PA3	0
+#define SERIAL_2_PD5_PD6	1
+
+#define HAS_SERIAL_3		0
+#define USE_SERIAL_3_STDIN	0
+#define SERIAL_3_PB10_PB11	0
+#define SERIAL_3_PC10_PC11	0
+#define SERIAL_3_PD8_PD9	0
+
+#define HAS_EEPROM		0
+#define USE_INTERNAL_FLASH	0
+#define USE_EEPROM_CONFIG	0
+#define USE_STORAGE_CONFIG	0
+#define HAS_USB			1
+#define HAS_BEEP		0
+#define HAS_BATTERY_REPORT	0
+#define HAS_RADIO		0
+#define HAS_TELEMETRY		0
+#define HAS_APRS		0
+#define HAS_COMPANION		0
+
+#define HAS_SPI_1		0
+#define SPI_1_PA5_PA6_PA7	0
+#define SPI_1_PB3_PB4_PB5	0
+#define SPI_1_PE13_PE14_PE15	0
+#define SPI_1_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2		1
+#define SPI_2_PB13_PB14_PB15	0
+#define SPI_2_PD1_PD3_PD4	1	/* LED displays, microSD */
+#define SPI_2_OSPEEDR		STM_OSPEEDR_40MHz
+
+#define SPI_2_PORT		(&stm_gpiod)
+//#define SPI_2_SCK_PIN		1
+//#define SPI_2_MISO_PIN		3
+//#define SPI_2_MOSI_PIN		4
+
+#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	0
+
+#define LOW_LEVEL_DEBUG		0
+
+#define HAS_GPS			0
+#define HAS_FLIGHT		0
+#define HAS_ADC			0
+#define HAS_ADC_TEMP		0
+#define HAS_LOG			0
+
+#define NUM_CMDS		16
+
+/* SD card */
+#define AO_SDCARD_SPI_BUS	AO_SPI_2_PD1_PD3_PD4
+#define AO_SDCARD_SPI_CS_PORT	(&stm_gpiod)
+#define AO_SDCARD_SPI_CS_PIN	2
+#define AO_SDCARD_SPI_PORT	(&stm_gpiod)
+#define AO_SDCARD_SPI_SCK_PIN	1
+#define AO_SDCARD_SPI_MISO_PIN	3
+#define AO_SDCARD_SPI_MOSI_PIN	4
+
+/* VGA */
+#define STM_DMA1_3_STOLEN	1
+/* Buttons */
+
+#define AO_EVENT		1
+
+#define AO_BUTTON_COUNT		4
+#define AO_BUTTON_MODE		AO_EXTI_MODE_PULL_DOWN
+#define AO_BUTTON_INVERTED	0
+
+/* INPUT */
+#define AO_BUTTON_0_PORT	(&stm_gpioc)
+#define AO_BUTTON_0		8
+
+/* MP */
+#define AO_BUTTON_1_PORT	(&stm_gpioc)
+#define AO_BUTTON_1		9
+
+/* RUN */
+#define AO_BUTTON_2_PORT	(&stm_gpioc)
+#define AO_BUTTON_2		10
+
+/* LOAD */
+#define AO_BUTTON_3_PORT	(&stm_gpioc)
+#define AO_BUTTON_3		11
+
+/* AS1107 */
+#define AO_AS1107_NUM_DIGITS	8
+
+/* Set the hex digits up for decode, leave the extra leds alone */
+
+#define AO_AS1107_DECODE	((1 << 7) |	\
+				 (1 << 6) |	\
+				 (1 << 4) |	\
+				 (1 << 3) |	\
+				 (1 << 1) |	\
+				 (1 << 0))
+
+#define AO_AS1107_SPI_INDEX	AO_SPI_2_PD1_PD3_PD4
+#define AO_AS1107_SPI_SPEED	AO_SPI_SPEED_8MHz
+#define AO_AS1107_CS_PORT	(&stm_gpiod)
+#define AO_AS1107_CS_PIN	0
+
+/* Hex keypad */
+
+#define AO_MATRIX_ROWS	4
+#define AO_MATRIX_COLS	4
+
+#define AO_MATRIX_KEYCODES {			\
+		{ 0x0, 0x1, 0x2, 0x3 },		\
+		{ 0x4, 0x5, 0x6, 0x7 },		\
+		{ 0x8, 0x9, 0xa, 0xb },		\
+		{ 0xc, 0xd, 0xe, 0xf }		\
+	}
+
+#include <ao_matrix.h>
+
+#define AO_TIMER_HOOK	ao_matrix_poll()
+
+#define AO_MATRIX_ROW_0_PORT	(&stm_gpioc)
+#define AO_MATRIX_ROW_0_PIN	4
+
+#define AO_MATRIX_ROW_1_PORT	(&stm_gpioc)
+#define AO_MATRIX_ROW_1_PIN	1
+
+#define AO_MATRIX_ROW_2_PORT	(&stm_gpioc)
+#define AO_MATRIX_ROW_2_PIN	7
+
+#define AO_MATRIX_ROW_3_PORT	(&stm_gpioc)
+#define AO_MATRIX_ROW_3_PIN	0
+
+#define AO_MATRIX_COL_0_PORT	(&stm_gpioc)
+#define AO_MATRIX_COL_0_PIN	2
+
+#define AO_MATRIX_COL_1_PORT	(&stm_gpioc)
+#define AO_MATRIX_COL_1_PIN	3
+
+#define AO_MATRIX_COL_2_PORT	(&stm_gpioc)
+#define AO_MATRIX_COL_2_PIN	5
+
+#define AO_MATRIX_COL_3_PORT	(&stm_gpioc)
+#define AO_MATRIX_COL_3_PIN	6
+
+/* 1802 connections */
+#define MRD_PORT		(&stm_gpiob)
+#define MRD_BIT			15
+
+#define MWR_PORT		(&stm_gpioa)
+#define MWR_BIT			3
+
+#define TPB_PORT		(&stm_gpioa)
+#define TPB_BIT			7
+
+#define TPA_PORT		(&stm_gpioa)
+#define TPA_BIT			6
+
+#define MA_PORT			(&stm_gpioe)
+#define MA_SHIFT		0
+#define MA_MASK			0xff
+
+#define BUS_PORT		(&stm_gpioe)
+#define BUS_SHIFT		8
+#define BUS_MASK		0xff
+
+#define SC_PORT			(&stm_gpiob)
+#define SC_SHIFT		13
+#define SC_MASK			3
+
+#define Q_PORT			(&stm_gpiob)
+#define Q_BIT			12
+
+#define N_PORT			(&stm_gpiod)
+#define N_SHIFT			13
+#define N_MASK			7
+
+#define EF_PORT			(&stm_gpiob)
+#define EF_SHIFT		8
+#define EF_MASK			0xf
+
+#define DMA_IN_PORT		(&stm_gpioa)
+#define DMA_IN_BIT		0
+
+#define DMA_OUT_PORT		(&stm_gpioa)
+#define DMA_OUT_BIT		9
+
+#define INT_PORT		(&stm_gpioa)
+#define INT_BIT			2
+
+#define CLEAR_PORT		(&stm_gpioa)
+#define CLEAR_BIT		10
+
+#define WAIT_PORT		(&stm_gpioa)
+#define WAIT_BIT		4
+
+#define MUX_PORT		(&stm_gpiob)
+#define MUX_BIT			1
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/cortexelf-v1/cortexelf.ld b/src/cortexelf-v1/cortexelf.ld
new file mode 100644
index 00000000..6ad2a679
--- /dev/null
+++ b/src/cortexelf-v1/cortexelf.ld
@@ -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.
+ *
+ * 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 = 492K
+	flash (r) :	ORIGIN = 0x0807c000, LENGTH = 16K
+	ram (!w) :	ORIGIN = 0x20000000, LENGTH = 81408
+	stack (!w) :	ORIGIN = 0x20013e00, LENGTH = 512
+}
+
+INCLUDE registers.ld
+
+EXTERN (stm_interrupt_vector)
+
+SECTIONS {
+	/*
+	 * Rom contents
+	 */
+
+	.text ORIGIN(rom) : {
+		__text_start__ = .;
+		*(.interrupt)	/* Interrupt vectors */
+
+		. = ORIGIN(rom) + 0x100;
+
+
+		/* 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 */
+		*(.rodata*)	/* Constants */
+
+	} > rom
+
+	.ARM.exidx : {
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+	} > 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/cortexelf-v1/flash-loader/Makefile b/src/cortexelf-v1/flash-loader/Makefile
new file mode 100644
index 00000000..19cf84e4
--- /dev/null
+++ b/src/cortexelf-v1/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=cortexelf-v1
+include $(TOPDIR)/stm/Makefile-flash.defs
diff --git a/src/cortexelf-v1/flash-loader/ao_pins.h b/src/cortexelf-v1/flash-loader/ao_pins.h
new file mode 100644
index 00000000..5d63dc2c
--- /dev/null
+++ b/src/cortexelf-v1/flash-loader/ao_pins.h
@@ -0,0 +1,35 @@
+/*
+ * 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_
+
+/* External crystal at 8MHz */
+#define AO_HSE		8000000
+
+#include <ao_flash_stm_pins.h>
+
+/* MP switch, gpioc 9 */
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpioc
+#define AO_BOOT_APPLICATION_PIN		9
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	0
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/draw/5x7.bdf b/src/draw/5x7.bdf
new file mode 100644
index 00000000..b511f289
--- /dev/null
+++ b/src/draw/5x7.bdf
@@ -0,0 +1,3190 @@
+STARTFONT 2.1
+COMMENT  Copyright 1991 Massachusetts Institute of Technology
+COMMENT  
+COMMENT  Permission to use, copy, modify, and distribute this software
+COMMENT  and its documentation for any purpose and without fee is
+COMMENT  hereby granted, provided that the above copyright notice
+COMMENT  appear in all copies and that both that copyright notice and
+COMMENT  this permission notice appear in supporting documentation,
+COMMENT  and that the name of M.I.T. not be used in advertising or
+COMMENT  publicity pertaining to distribution of the software without
+COMMENT  specific, written prior permission.  M.I.T. makes no
+COMMENT  representations about the suitability of this software for
+COMMENT  any purpose.  It is provided "as is" without express or
+COMMENT  implied warranty.
+COMMENT  
+COMMENT  M.I.T. DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE,
+COMMENT  INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND
+COMMENT  FITNESS, IN NO EVENT SHALL M.I.T.  BE LIABLE FOR ANY SPECIAL,
+COMMENT  INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER
+COMMENT  RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+COMMENT  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,
+COMMENT  ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+COMMENT  OF THIS SOFTWARE.
+COMMENT  
+COMMENT  Author:  Stephen Gildea, MIT X Consortium, June 1991
+COMMENT  
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+SIZE 7 75 75
+FONTBOUNDINGBOX 5 7 0 -1
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+CHARSET_ENCODING "1"
+FONT_ASCENT 6
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diff --git a/src/draw/Makefile b/src/draw/Makefile
new file mode 100644
index 00000000..0a542a1f
--- /dev/null
+++ b/src/draw/Makefile
@@ -0,0 +1,4 @@
+BDF=5x7.bdf
+
+ao_font.h: font-convert $(BDF)
+	nickle font-convert $(BDF) > $@
diff --git a/src/draw/ao_blt.c b/src/draw/ao_blt.c
new file mode 100644
index 00000000..e3f45221
--- /dev/null
+++ b/src/draw/ao_blt.c
@@ -0,0 +1,294 @@
+/*
+ * 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_draw.h"
+#include "ao_draw_int.h"
+
+#define O 0
+#define I AO_ALLONES
+
+struct ao_merge_rop {
+	uint32_t	ca1, cx1, ca2, cx2;
+};
+
+const struct ao_merge_rop ao_merge_rop[16] = {
+    {O, O, O, O},               /* clear         0x0         0 */
+    {I, O, O, O},               /* and           0x1         src AND dst */
+    {I, O, I, O},               /* andReverse    0x2         src AND NOT dst */
+    {O, O, I, O},               /* copy          0x3         src */
+    {I, I, O, O},               /* andInverted   0x4         NOT src AND dst */
+    {O, I, O, O},               /* noop          0x5         dst */
+    {O, I, I, O},               /* xor           0x6         src XOR dst */
+    {I, I, I, O},               /* or            0x7         src OR dst */
+    {I, I, I, I},               /* nor           0x8         NOT src AND NOT dst */
+    {O, I, I, I},               /* equiv         0x9         NOT src XOR dst */
+    {O, I, O, I},               /* invert        0xa         NOT dst */
+    {I, I, O, I},               /* orReverse     0xb         src OR NOT dst */
+    {O, O, I, I},               /* copyInverted  0xc         NOT src */
+    {I, O, I, I},               /* orInverted    0xd         NOT src OR dst */
+    {I, O, O, I},               /* nand          0xe         NOT src OR NOT dst */
+    {O, O, O, I},               /* set           0xf         1 */
+};
+
+#define ao_do_merge_rop(src, dst) \
+    (((dst) & (((src) & _ca1) ^ _cx1)) ^ (((src) & _ca2) ^ _cx2))
+
+#define ao_do_dst_invarient_merge_rop(src)	(((src) & _ca2) ^ _cx2)
+
+#define ao_do_mask_merge_rop(src, dst, mask) \
+    (((dst) & ((((src) & _ca1) ^ _cx1) | ~(mask))) ^ ((((src) & _ca2) ^ _cx2) & (mask)))
+
+#define ao_dst_invarient_merge_rop()   (_ca1 == 0 && _cx1 == 0)
+
+void
+ao_blt(uint32_t		*src_line,
+       int16_t		src_stride,
+       int16_t		src_x,
+       uint32_t		*dst_line,
+       int16_t		dst_stride,
+       int16_t		dst_x,
+       int16_t		width,
+       int16_t		height,
+       uint8_t		rop,
+       uint8_t		reverse,
+       uint8_t		upsidedown)
+{
+	uint32_t	*src, *dst;
+	uint32_t	_ca1, _cx1, _ca2, _cx2;
+	uint8_t		dst_invarient;
+	uint32_t	startmask, endmask;
+	int16_t		nmiddle, n;
+	uint32_t	bits1, bits;
+	int16_t		left_shift, right_shift;
+
+	_ca1 = ao_merge_rop[rop].ca1;
+	_cx1 = ao_merge_rop[rop].cx1;
+	_ca2 = ao_merge_rop[rop].ca2;
+	_cx2 = ao_merge_rop[rop].cx2;
+	dst_invarient = ao_dst_invarient_merge_rop();
+
+	if (upsidedown) {
+		src_line += (height - 1) * src_stride;
+		dst_line += (height - 1) * dst_stride;
+		src_stride = -src_stride;
+		dst_stride = -dst_stride;
+	}
+
+	ao_mask_bits(dst_x, width, startmask, nmiddle, endmask);
+	if (reverse) {
+		src_line += ((src_x + width - 1) >> AO_SHIFT) + 1;
+		dst_line += ((dst_x + width - 1) >> AO_SHIFT) + 1;
+		src_x = (src_x + width - 1) & AO_MASK;
+		dst_x = (dst_x + width - 1) & AO_MASK;
+	} else {
+		src_line += src_x >> AO_SHIFT;
+		dst_line += dst_x >> AO_SHIFT;
+		src_x &= AO_MASK;
+		dst_x &= AO_MASK;
+	}
+	if (src_x == dst_x) {
+		while (height--) {
+			src = src_line;
+			src_line += src_stride;
+			dst = dst_line;
+			dst_line += dst_stride;
+			if (reverse) {
+				if (endmask) {
+					bits = *--src;
+					--dst;
+					*dst = ao_do_mask_merge_rop(bits, *dst, endmask);
+				}
+				n = nmiddle;
+				if (dst_invarient) {
+					while (n--)
+						*--dst = ao_do_dst_invarient_merge_rop(*--src);
+				}
+				else {
+					while (n--) {
+						bits = *--src;
+						--dst;
+						*dst = ao_do_merge_rop(bits, *dst);
+					}
+				}
+				if (startmask) {
+					bits = *--src;
+					--dst;
+					*dst = ao_do_mask_merge_rop(bits, *dst, startmask);
+				}
+			}
+			else {
+				if (startmask) {
+					bits = *src++;
+					*dst = ao_do_mask_merge_rop(bits, *dst, startmask);
+					dst++;
+				}
+				n = nmiddle;
+				if (dst_invarient) {
+					while (n--)
+						*dst++ = ao_do_dst_invarient_merge_rop(*src++);
+				}
+				else {
+					while (n--) {
+						bits = *src++;
+						*dst = ao_do_merge_rop(bits, *dst);
+						dst++;
+					}
+				}
+				if (endmask) {
+					bits = *src;
+					*dst = ao_do_mask_merge_rop(bits, *dst, endmask);
+				}
+			}
+		}
+	} else {
+		if (src_x > dst_x) {
+			left_shift = src_x - dst_x;
+			right_shift = AO_UNIT - left_shift;
+		} else {
+			right_shift = dst_x - src_x;
+			left_shift = AO_UNIT - right_shift;
+		}
+		while (height--) {
+			src = src_line;
+			src_line += src_stride;
+			dst = dst_line;
+			dst_line += dst_stride;
+
+			bits1 = 0;
+			if (reverse) {
+				if (src_x < dst_x)
+					bits1 = *--src;
+				if (endmask) {
+					bits = ao_right(bits1, right_shift);
+					if (ao_right(endmask, left_shift)) {
+						bits1 = *--src;
+						bits |= ao_left(bits1, left_shift);
+					}
+					--dst;
+					*dst = ao_do_mask_merge_rop(bits, *dst, endmask);
+				}
+				n = nmiddle;
+				if (dst_invarient) {
+					while (n--) {
+						bits = ao_right(bits1, right_shift);
+						bits1 = *--src;
+						bits |= ao_left(bits1, left_shift);
+						--dst;
+						*dst = ao_do_dst_invarient_merge_rop(bits);
+					}
+				} else {
+					while (n--) {
+						bits = ao_right(bits1, right_shift);
+						bits1 = *--src;
+						bits |= ao_left(bits1, left_shift);
+						--dst;
+						*dst = ao_do_merge_rop(bits, *dst);
+					}
+				}
+				if (startmask) {
+					bits = ao_right(bits1, right_shift);
+					if (ao_right(startmask, left_shift)) {
+						bits1 = *--src;
+						bits |= ao_left(bits1, left_shift);
+					}
+					--dst;
+					*dst = ao_do_mask_merge_rop(bits, *dst, startmask);
+				}
+			}
+			else {
+				if (src_x > dst_x)
+					bits1 = *src++;
+				if (startmask) {
+					bits = ao_left(bits1, left_shift);
+					if (ao_left(startmask, right_shift)) {
+						bits1 = *src++;
+						bits |= ao_right(bits1, right_shift);
+					}
+					*dst = ao_do_mask_merge_rop(bits, *dst, startmask);
+					dst++;
+				}
+				n = nmiddle;
+				if (dst_invarient) {
+					while (n--) {
+						bits = ao_left(bits1, left_shift);
+						bits1 = *src++;
+						bits |= ao_right(bits1, right_shift);
+						*dst = ao_do_dst_invarient_merge_rop(bits);
+						dst++;
+					}
+				}
+				else {
+					while (n--) {
+						bits = ao_left(bits1, left_shift);
+						bits1 = *src++;
+						bits |= ao_right(bits1, right_shift);
+						*dst = ao_do_merge_rop(bits, *dst);
+						dst++;
+					}
+				}
+				if (endmask) {
+					bits = ao_left(bits1, left_shift);
+					if (ao_left(endmask, right_shift)) {
+						bits1 = *src;
+						bits |= ao_right(bits1, right_shift);
+					}
+					*dst = ao_do_mask_merge_rop(bits, *dst, endmask);
+				}
+			}
+		}
+	}
+}
+
+void
+ao_solid(uint32_t	and,
+	 uint32_t	xor,
+	 uint32_t	*dst,
+	 int16_t	dst_stride,
+	 int16_t	dst_x,
+	 int16_t	width,
+	 int16_t	height)
+{
+	uint32_t	startmask, endmask;
+	int16_t		nmiddle;
+	int16_t		n;
+
+	dst += dst_x >> AO_SHIFT;
+	dst_x &= AO_MASK;
+
+	ao_mask_bits(dst_x, width, startmask, nmiddle, endmask);
+
+	if (startmask)
+		dst_stride--;
+
+	dst_stride -= nmiddle;
+	while (height--) {
+		if (startmask) {
+			*dst = ao_do_mask_rrop(*dst, and, xor, startmask);
+			dst++;
+		}
+		n = nmiddle;
+		if (!and)
+			while (n--)
+				*dst++ = xor;
+		else
+			while (n--) {
+				*dst = ao_do_rrop(*dst, and, xor);
+				dst++;
+			}
+		if (endmask)
+			*dst = ao_do_mask_rrop(*dst, and, xor, endmask);
+		dst += dst_stride;
+	}
+}
diff --git a/src/draw/ao_copy.c b/src/draw/ao_copy.c
new file mode 100644
index 00000000..47067bb8
--- /dev/null
+++ b/src/draw/ao_copy.c
@@ -0,0 +1,75 @@
+/*
+ * 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_draw.h"
+#include "ao_draw_int.h"
+
+#define bound(val,max,other) do {		\
+		if (val < 0) {			\
+			other -= val;		\
+			val = 0;		\
+		}				\
+		if (val > max) {		\
+			other -= (val - max);	\
+			val = max;		\
+		}				\
+	} while (0)
+
+#define bound2(a, max_a, b, max_b) do {		\
+		bound(a, max_a, b);		\
+		bound(b, max_b, a);		\
+	} while (0)
+
+void
+ao_copy(const struct ao_bitmap	*dst,
+	int16_t			dst_x,
+	int16_t			dst_y,
+	int16_t			width,
+	int16_t			height,
+	const struct ao_bitmap	*src,
+	int16_t			src_x,
+	int16_t			src_y,
+	uint8_t			rop)
+{
+	int16_t		dst_x2 = dst_x + width, dst_y2 = dst_y + height;
+	int16_t		src_x2 = src_x + width, src_y2 = src_y + height;
+	uint8_t		reverse = 0;
+	uint8_t		upsidedown = 0;
+
+	bound2(dst_x, dst->width, src_x, src->width);
+	bound2(dst_x2, dst->width, src_x2, src->width);
+	bound2(dst_y, dst->height, src_y, src->height);
+	bound2(dst_y2, dst->height, src_y2, src->height);
+
+	if (dst == src) {
+		reverse = (dst_x > src_x);
+		upsidedown = (dst_y > src_y);
+	}
+
+	if (dst_x < dst_x2 && dst_y < dst_y2) {
+		ao_blt(src->base + src_y * src->stride,
+		       src->stride,
+		       src_x,
+		       dst->base + dst_y * dst->stride,
+		       dst->stride,
+		       dst_x,
+		       dst_x2 - dst_x,
+		       dst_y2 - dst_y,
+		       rop,
+		       reverse,
+		       upsidedown);
+	}
+}
+
diff --git a/src/draw/ao_draw.h b/src/draw/ao_draw.h
new file mode 100644
index 00000000..92150fc1
--- /dev/null
+++ b/src/draw/ao_draw.h
@@ -0,0 +1,119 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_DRAW_H_
+#define _AO_DRAW_H_
+
+struct ao_bitmap {
+	uint32_t	*base;
+	int16_t		stride;	/* in units */
+	int16_t		width;	/* in pixels */
+	int16_t		height;	/* in pixels */
+};
+
+struct ao_pattern {
+	uint8_t		pattern[8];
+};
+
+void
+ao_copy(const struct ao_bitmap	*dst,
+	int16_t			dst_x,
+	int16_t			dst_y,
+	int16_t			width,
+	int16_t			height,
+	const struct ao_bitmap	*src,
+	int16_t			src_x,
+	int16_t			src_y,
+	uint8_t			rop);
+
+void
+ao_rect(const struct ao_bitmap	*dst,
+	int16_t			x,
+	int16_t			y,
+	int16_t			width,
+	int16_t			height,
+	uint32_t		fill,
+	uint8_t			rop);
+
+void
+ao_pattern(const struct ao_bitmap	*dst,
+	   int16_t			x,
+	   int16_t			y,
+	   int16_t			width,
+	   int16_t			height,
+	   const struct ao_pattern	*pattern,
+	   int16_t			pat_x,
+	   int16_t			pat_y,
+	   uint8_t			rop);
+
+void
+ao_line(const struct ao_bitmap	*dst,
+	int16_t			x1,
+	int16_t			y1,
+	int16_t			x2,
+	int16_t			y2,
+	uint32_t		fill,
+	uint8_t			rop);
+
+void
+ao_text(const struct ao_bitmap	*dst,
+	int16_t			x,
+	int16_t			y,
+	char			*string,
+	uint32_t		fill,
+	uint8_t			rop);
+
+struct ao_font {
+	int	width;
+	int	height;
+	int	ascent;
+	int	descent;
+};
+
+extern const struct ao_font ao_font;
+
+#define AO_SHIFT	5
+#define AO_UNIT		(1 << AO_SHIFT)
+#define AO_MASK		(AO_UNIT - 1)
+#define AO_ALLONES	((uint32_t) -1)
+
+/*
+ *	    dst
+ *	   0   1
+ *
+ *	0  a   b
+ *  src
+ *	1  c   d
+ *
+ *	ROP = abcd
+ */
+
+#define AO_CLEAR         0x0	/* 0 */
+#define AO_AND           0x1	/* src AND dst */
+#define AO_AND_REVERSE   0x2	/* src AND NOT dst */
+#define AO_COPY          0x3	/* src */
+#define AO_AND_INVERTED  0x4	/* NOT src AND dst */
+#define AO_NOOP          0x5	/* dst */
+#define AO_XOR           0x6	/* src XOR dst */
+#define AO_OR            0x7	/* src OR dst */
+#define AO_NOR           0x8	/* NOT src AND NOT dst */
+#define AO_EQUIV         0x9	/* NOT src XOR dst */
+#define AO_INVERT        0xa	/* NOT dst */
+#define AO_OR_REVERSE    0xb	/* src OR NOT dst */
+#define AO_COPY_INVERTED 0xc	/* NOT src */
+#define AO_OR_INVERTED   0xd	/* NOT src OR dst */
+#define AO_NAND          0xe	/* NOT src OR NOT dst */
+#define AO_SET           0xf	/* 1 */
+
+#endif /* _AO_DRAW_H_ */
diff --git a/src/draw/ao_draw_int.h b/src/draw/ao_draw_int.h
new file mode 100644
index 00000000..433aa409
--- /dev/null
+++ b/src/draw/ao_draw_int.h
@@ -0,0 +1,136 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_DRAW_INT_H_
+#define _AO_DRAW_INT_H_
+
+static inline uint32_t
+ao_expand(uint32_t bits)
+{
+	return ~((bits & 1)-1);
+}
+
+static inline uint32_t
+ao_xor(uint8_t rop, uint32_t fg)
+{
+	fg = ao_expand(fg);
+
+	return (fg & ao_expand(rop >> 1)) |
+		(~fg & ao_expand(rop >> 3));
+}
+
+static inline uint32_t
+ao_and(uint8_t rop, uint32_t fg)
+{
+	fg = ao_expand(fg);
+
+	return (fg & ao_expand(rop ^ (rop >> 1))) |
+		(~fg & ao_expand((rop>>2) ^ (rop>>3)));
+}
+
+static inline uint32_t
+ao_left(uint32_t bits, int16_t shift) {
+	return bits >> shift;
+}
+
+static inline uint32_t
+ao_right(uint32_t bits, int16_t shift) {
+	return bits << shift;
+}
+
+static inline uint32_t
+ao_right_mask(int16_t x) {
+	if ((AO_UNIT - x) & AO_MASK)
+		return ao_left(AO_ALLONES,(AO_UNIT - x) & AO_MASK);
+	else
+		return 0;
+}
+
+static inline uint32_t
+ao_left_mask(int16_t x) {
+	if (x & AO_MASK)
+		return ao_right(AO_ALLONES, x & AO_MASK);
+	else
+		return 0;
+}
+
+static inline uint32_t
+ao_bits_mask(int16_t x, int16_t w) {
+	return ao_right(AO_ALLONES, x & AO_MASK) &
+		ao_left(AO_ALLONES,(AO_UNIT - (x + w)) & AO_MASK);
+}
+
+#define ao_mask_bits(x,w,l,n,r) { \
+    n = (w); \
+    r = ao_right_mask((x)+n); \
+    l = ao_left_mask(x); \
+    if (l) { \
+	n -= AO_UNIT - ((x) & AO_MASK); \
+	if (n < 0) { \
+	    n = 0; \
+	    l &= r; \
+	    r = 0; \
+	} \
+    } \
+    n >>= AO_SHIFT; \
+}
+
+#define ao_clip(val,min,max) do {		\
+		if (val < min) {		\
+			val = min;		\
+		} else if (val > max) {		\
+			val = max;		\
+		}				\
+	} while (0)
+
+static inline uint32_t
+ao_do_mask_rrop(uint32_t dst, uint32_t and, uint32_t xor, uint32_t mask) {
+	return (dst & (and | ~mask)) ^ (xor & mask);
+}
+
+static inline uint32_t
+ao_do_rrop(uint32_t dst, uint32_t and, uint32_t xor) {
+	return (dst & and) ^ xor;
+}
+
+void
+ao_blt(uint32_t		*src_line,
+       int16_t		src_stride,
+       int16_t		src_x,
+       uint32_t		*dst_line,
+       int16_t		dst_stride,
+       int16_t		dst_x,
+       int16_t		width,
+       int16_t		height,
+       uint8_t		rop,
+       uint8_t		reverse,
+       uint8_t		upsidedown);
+
+void
+ao_solid(uint32_t	and,
+	 uint32_t	xor,
+	 uint32_t	*dst,
+	 int16_t	dst_stride,
+	 int16_t	dst_x,
+	 int16_t	width,
+	 int16_t	height);
+
+int16_t
+ao_glyph(const struct ao_bitmap	*dst,
+	 int16_t		x,
+	 int16_t		y,
+	 uint8_t		c,
+	 uint8_t		rop);
+
+#endif /* _AO_DRAW_INT_H_ */
diff --git a/src/draw/ao_font.h b/src/draw/ao_font.h
new file mode 100644
index 00000000..5e31dd11
--- /dev/null
+++ b/src/draw/ao_font.h
@@ -0,0 +1,139 @@
+static const uint8_t glyph_bytes[1568] = {
+	0x0f, 0x0f, 0x0f, 0x0f, 0x0f, 0x0f, 0x00, 0x00, 0x04, 0x0e, 0x1f, 0x0e, 0x04, 0x00, 0x0a, 0x05, 
+	0x0a, 0x05, 0x0a, 0x05, 0x00, 0x05, 0x07, 0x05, 0x05, 0x0e, 0x04, 0x04, 0x03, 0x01, 0x03, 0x0d, 
+	0x04, 0x0c, 0x04, 0x03, 0x01, 0x03, 0x06, 0x0a, 0x06, 0x0a, 0x01, 0x01, 0x03, 0x0c, 0x04, 0x0c, 
+	0x04, 0x04, 0x0a, 0x04, 0x00, 0x00, 0x00, 0x00, 0x04, 0x0e, 0x04, 0x00, 0x0e, 0x00, 0x00, 0x09, 
+	0x0b, 0x0d, 0x09, 0x04, 0x04, 0x0c, 0x05, 0x05, 0x05, 0x02, 0x0e, 0x04, 0x04, 0x04, 0x04, 0x04, 
+	0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x04, 0x04, 0x04, 0x00, 0x00, 0x00, 0x1c, 0x04, 
+	0x04, 0x04, 0x04, 0x04, 0x04, 0x1c, 0x00, 0x00, 0x00, 0x04, 0x04, 0x04, 0x1f, 0x04, 0x04, 0x04, 
+	0x00, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	0x00, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	0x00, 0x1f, 0x00, 0x04, 0x04, 0x04, 0x1c, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x07, 0x04, 0x04, 
+	0x04, 0x04, 0x04, 0x04, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0x04, 0x04, 0x04, 0x04, 
+	0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x08, 0x04, 0x02, 0x04, 0x08, 0x0e, 0x00, 0x02, 0x04, 0x08, 
+	0x04, 0x02, 0x0e, 0x00, 0x00, 0x00, 0x0e, 0x0a, 0x0a, 0x0a, 0x00, 0x00, 0x08, 0x0e, 0x04, 0x0e, 
+	0x02, 0x00, 0x00, 0x0c, 0x02, 0x07, 0x02, 0x0d, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x04, 0x04, 0x04, 0x00, 0x04, 0x00, 0x0a, 0x0a, 
+	0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a, 0x1f, 0x0a, 0x1f, 0x0a, 0x00, 0x00, 0x0e, 0x05, 0x0e, 
+	0x14, 0x0e, 0x00, 0x01, 0x09, 0x04, 0x02, 0x09, 0x08, 0x00, 0x00, 0x02, 0x05, 0x02, 0x05, 0x0a, 
+	0x00, 0x06, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x04, 0x02, 0x02, 0x02, 0x02, 0x04, 0x00, 0x02, 
+	0x04, 0x04, 0x04, 0x04, 0x02, 0x00, 0x00, 0x05, 0x02, 0x07, 0x02, 0x05, 0x00, 0x00, 0x04, 0x04, 
+	0x1f, 0x04, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x02, 0x01, 0x00, 0x00, 0x00, 0x0f, 0x00, 
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x06, 0x00, 0x00, 0x08, 0x04, 0x02, 0x01, 0x00, 0x00, 
+	0x02, 0x05, 0x05, 0x05, 0x05, 0x02, 0x00, 0x02, 0x03, 0x02, 0x02, 0x02, 0x07, 0x00, 0x06, 0x09, 
+	0x08, 0x04, 0x02, 0x0f, 0x00, 0x0f, 0x08, 0x06, 0x08, 0x09, 0x06, 0x00, 0x04, 0x06, 0x05, 0x0f, 
+	0x04, 0x04, 0x00, 0x0f, 0x01, 0x07, 0x08, 0x09, 0x06, 0x00, 0x06, 0x01, 0x07, 0x09, 0x09, 0x06, 
+	0x00, 0x0f, 0x08, 0x04, 0x04, 0x02, 0x02, 0x00, 0x06, 0x09, 0x06, 0x09, 0x09, 0x06, 0x00, 0x06, 
+	0x09, 0x09, 0x0e, 0x08, 0x06, 0x00, 0x00, 0x06, 0x06, 0x00, 0x06, 0x06, 0x00, 0x00, 0x06, 0x06, 
+	0x00, 0x06, 0x02, 0x01, 0x00, 0x04, 0x02, 0x01, 0x02, 0x04, 0x00, 0x00, 0x00, 0x0f, 0x00, 0x0f, 
+	0x00, 0x00, 0x00, 0x01, 0x02, 0x04, 0x02, 0x01, 0x00, 0x02, 0x05, 0x04, 0x02, 0x00, 0x02, 0x00, 
+	0x06, 0x09, 0x0d, 0x0d, 0x01, 0x06, 0x00, 0x06, 0x09, 0x09, 0x0f, 0x09, 0x09, 0x00, 0x07, 0x09, 
+	0x07, 0x09, 0x09, 0x07, 0x00, 0x06, 0x09, 0x01, 0x01, 0x09, 0x06, 0x00, 0x07, 0x09, 0x09, 0x09, 
+	0x09, 0x07, 0x00, 0x0f, 0x01, 0x07, 0x01, 0x01, 0x0f, 0x00, 0x0f, 0x01, 0x07, 0x01, 0x01, 0x01, 
+	0x00, 0x06, 0x09, 0x01, 0x0d, 0x09, 0x0e, 0x00, 0x09, 0x09, 0x0f, 0x09, 0x09, 0x09, 0x00, 0x07, 
+	0x02, 0x02, 0x02, 0x02, 0x07, 0x00, 0x08, 0x08, 0x08, 0x08, 0x09, 0x06, 0x00, 0x09, 0x05, 0x03, 
+	0x03, 0x05, 0x09, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x0f, 0x00, 0x09, 0x0f, 0x0f, 0x09, 0x09, 
+	0x09, 0x00, 0x09, 0x0b, 0x0b, 0x0d, 0x0d, 0x09, 0x00, 0x06, 0x09, 0x09, 0x09, 0x09, 0x06, 0x00, 
+	0x07, 0x09, 0x09, 0x07, 0x01, 0x01, 0x00, 0x06, 0x09, 0x09, 0x09, 0x0b, 0x06, 0x08, 0x07, 0x09, 
+	0x09, 0x07, 0x05, 0x09, 0x00, 0x06, 0x09, 0x02, 0x04, 0x09, 0x06, 0x00, 0x07, 0x02, 0x02, 0x02, 
+	0x02, 0x02, 0x00, 0x09, 0x09, 0x09, 0x09, 0x09, 0x06, 0x00, 0x09, 0x09, 0x09, 0x09, 0x06, 0x06, 
+	0x00, 0x09, 0x09, 0x09, 0x0f, 0x0f, 0x09, 0x00, 0x09, 0x09, 0x06, 0x06, 0x09, 0x09, 0x00, 0x05, 
+	0x05, 0x05, 0x02, 0x02, 0x02, 0x00, 0x0f, 0x08, 0x04, 0x02, 0x01, 0x0f, 0x00, 0x07, 0x01, 0x01, 
+	0x01, 0x01, 0x07, 0x00, 0x00, 0x01, 0x02, 0x04, 0x08, 0x00, 0x00, 0x07, 0x04, 0x04, 0x04, 0x04, 
+	0x07, 0x00, 0x02, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0x00, 
+	0x03, 0x02, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x09, 0x0d, 0x0a, 0x00, 0x01, 0x01, 
+	0x07, 0x09, 0x09, 0x07, 0x00, 0x00, 0x00, 0x06, 0x01, 0x01, 0x06, 0x00, 0x08, 0x08, 0x0e, 0x09, 
+	0x09, 0x0e, 0x00, 0x00, 0x00, 0x06, 0x0d, 0x03, 0x06, 0x00, 0x04, 0x0a, 0x02, 0x07, 0x02, 0x02, 
+	0x00, 0x00, 0x00, 0x0e, 0x09, 0x06, 0x01, 0x0e, 0x01, 0x01, 0x07, 0x09, 0x09, 0x09, 0x00, 0x02, 
+	0x00, 0x03, 0x02, 0x02, 0x07, 0x00, 0x04, 0x00, 0x04, 0x04, 0x04, 0x05, 0x02, 0x01, 0x01, 0x05, 
+	0x03, 0x05, 0x09, 0x00, 0x03, 0x02, 0x02, 0x02, 0x02, 0x07, 0x00, 0x00, 0x00, 0x05, 0x0f, 0x09, 
+	0x09, 0x00, 0x00, 0x00, 0x07, 0x09, 0x09, 0x09, 0x00, 0x00, 0x00, 0x06, 0x09, 0x09, 0x06, 0x00, 
+	0x00, 0x00, 0x07, 0x09, 0x09, 0x07, 0x01, 0x00, 0x00, 0x0e, 0x09, 0x09, 0x0e, 0x08, 0x00, 0x00, 
+	0x07, 0x09, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0e, 0x03, 0x0c, 0x07, 0x00, 0x02, 0x02, 0x07, 0x02, 
+	0x02, 0x0c, 0x00, 0x00, 0x00, 0x09, 0x09, 0x09, 0x0e, 0x00, 0x00, 0x00, 0x05, 0x05, 0x05, 0x02, 
+	0x00, 0x00, 0x00, 0x09, 0x09, 0x0f, 0x0f, 0x00, 0x00, 0x00, 0x09, 0x06, 0x06, 0x09, 0x00, 0x00, 
+	0x00, 0x09, 0x09, 0x0a, 0x04, 0x02, 0x00, 0x00, 0x0f, 0x04, 0x02, 0x0f, 0x00, 0x04, 0x02, 0x03, 
+	0x02, 0x02, 0x04, 0x00, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x00, 0x01, 0x02, 0x06, 0x02, 0x02, 
+	0x01, 0x00, 0x0a, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x04, 0x04, 0x04, 0x04, 0x00, 0x00, 0x04, 
+	0x0e, 0x05, 0x05, 0x0e, 0x04, 0x00, 0x0c, 0x02, 0x07, 0x02, 0x0d, 0x00, 0x00, 0x11, 0x0e, 0x0a, 
+	0x0e, 0x11, 0x00, 0x05, 0x05, 0x02, 0x07, 0x02, 0x02, 0x00, 0x00, 0x04, 0x04, 0x00, 0x04, 0x04, 
+	0x00, 0x0c, 0x02, 0x06, 0x0a, 0x0c, 0x08, 0x06, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 
+	0x11, 0x15, 0x13, 0x15, 0x11, 0x0e, 0x06, 0x05, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 
+	0x09, 0x12, 0x00, 0x00, 0x00, 0x00, 0x0f, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0x00, 
+	0x00, 0x00, 0x0e, 0x11, 0x17, 0x13, 0x13, 0x11, 0x0e, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	0x04, 0x0a, 0x04, 0x00, 0x00, 0x00, 0x00, 0x04, 0x04, 0x1f, 0x04, 0x04, 0x1f, 0x00, 0x06, 0x04, 
+	0x02, 0x06, 0x00, 0x00, 0x00, 0x06, 0x06, 0x04, 0x06, 0x00, 0x00, 0x00, 0x04, 0x02, 0x00, 0x00, 
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x09, 0x09, 0x09, 0x07, 0x01, 0x0e, 0x0b, 0x0b, 0x0a, 0x0a, 0x0a, 
+	0x00, 0x00, 0x06, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x02, 0x04, 
+	0x06, 0x04, 0x0e, 0x00, 0x00, 0x00, 0x02, 0x05, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x09, 
+	0x12, 0x09, 0x00, 0x00, 0x01, 0x01, 0x01, 0x09, 0x0c, 0x0e, 0x08, 0x01, 0x01, 0x01, 0x0d, 0x08, 
+	0x04, 0x0c, 0x03, 0x03, 0x02, 0x0b, 0x0c, 0x0e, 0x08, 0x02, 0x00, 0x02, 0x01, 0x05, 0x02, 0x00, 
+	0x06, 0x09, 0x09, 0x0f, 0x09, 0x09, 0x00, 0x06, 0x09, 0x09, 0x0f, 0x09, 0x09, 0x00, 0x06, 0x09, 
+	0x09, 0x0f, 0x09, 0x09, 0x00, 0x06, 0x09, 0x09, 0x0f, 0x09, 0x09, 0x00, 0x06, 0x09, 0x09, 0x0f, 
+	0x09, 0x09, 0x00, 0x06, 0x09, 0x09, 0x0f, 0x09, 0x09, 0x00, 0x0e, 0x05, 0x0d, 0x07, 0x05, 0x0d, 
+	0x00, 0x06, 0x09, 0x01, 0x01, 0x09, 0x06, 0x02, 0x0f, 0x01, 0x07, 0x01, 0x01, 0x0f, 0x00, 0x0f, 
+	0x01, 0x07, 0x01, 0x01, 0x0f, 0x00, 0x0f, 0x01, 0x07, 0x01, 0x01, 0x0f, 0x00, 0x0f, 0x01, 0x07, 
+	0x01, 0x01, 0x0f, 0x00, 0x07, 0x02, 0x02, 0x02, 0x02, 0x07, 0x00, 0x07, 0x02, 0x02, 0x02, 0x02, 
+	0x07, 0x00, 0x07, 0x02, 0x02, 0x02, 0x02, 0x07, 0x00, 0x07, 0x02, 0x02, 0x02, 0x02, 0x07, 0x00, 
+	0x07, 0x0a, 0x0b, 0x0a, 0x0a, 0x07, 0x00, 0x0d, 0x09, 0x0b, 0x0d, 0x0d, 0x09, 0x00, 0x06, 0x09, 
+	0x09, 0x09, 0x09, 0x06, 0x00, 0x06, 0x09, 0x09, 0x09, 0x09, 0x06, 0x00, 0x06, 0x09, 0x09, 0x09, 
+	0x09, 0x06, 0x00, 0x06, 0x09, 0x09, 0x09, 0x09, 0x06, 0x00, 0x06, 0x09, 0x09, 0x09, 0x09, 0x06, 
+	0x00, 0x00, 0x00, 0x09, 0x06, 0x06, 0x09, 0x00, 0x0e, 0x0d, 0x0d, 0x0b, 0x0b, 0x07, 0x00, 0x09, 
+	0x09, 0x09, 0x09, 0x09, 0x06, 0x00, 0x09, 0x09, 0x09, 0x09, 0x09, 0x06, 0x00, 0x09, 0x09, 0x09, 
+	0x09, 0x09, 0x06, 0x00, 0x09, 0x09, 0x09, 0x09, 0x09, 0x06, 0x00, 0x05, 0x05, 0x05, 0x02, 0x02, 
+	0x02, 0x00, 0x01, 0x07, 0x09, 0x07, 0x01, 0x01, 0x00, 0x06, 0x09, 0x07, 0x09, 0x0b, 0x05, 0x01, 
+	0x02, 0x04, 0x0e, 0x09, 0x0d, 0x0a, 0x00, 0x04, 0x02, 0x0e, 0x09, 0x0d, 0x0a, 0x00, 0x04, 0x0a, 
+	0x0e, 0x09, 0x0d, 0x0a, 0x00, 0x0a, 0x05, 0x0e, 0x09, 0x0d, 0x0a, 0x00, 0x0a, 0x00, 0x0e, 0x09, 
+	0x0d, 0x0a, 0x00, 0x06, 0x06, 0x0e, 0x09, 0x0d, 0x0a, 0x00, 0x00, 0x00, 0x0e, 0x0d, 0x05, 0x0e, 
+	0x00, 0x00, 0x00, 0x06, 0x01, 0x01, 0x06, 0x02, 0x02, 0x04, 0x06, 0x0d, 0x03, 0x06, 0x00, 0x04, 
+	0x02, 0x06, 0x0d, 0x03, 0x06, 0x00, 0x02, 0x05, 0x06, 0x0d, 0x03, 0x06, 0x00, 0x05, 0x00, 0x06, 
+	0x0d, 0x03, 0x06, 0x00, 0x01, 0x02, 0x03, 0x02, 0x02, 0x07, 0x00, 0x02, 0x01, 0x03, 0x02, 0x02, 
+	0x07, 0x00, 0x02, 0x05, 0x03, 0x02, 0x02, 0x07, 0x00, 0x05, 0x00, 0x03, 0x02, 0x02, 0x07, 0x00, 
+	0x02, 0x0c, 0x06, 0x09, 0x09, 0x06, 0x00, 0x0a, 0x05, 0x07, 0x09, 0x09, 0x09, 0x00, 0x02, 0x04, 
+	0x06, 0x09, 0x09, 0x06, 0x00, 0x04, 0x02, 0x06, 0x09, 0x09, 0x06, 0x00, 0x06, 0x00, 0x06, 0x09, 
+	0x09, 0x06, 0x00, 0x0a, 0x05, 0x06, 0x09, 0x09, 0x06, 0x00, 0x05, 0x00, 0x06, 0x09, 0x09, 0x06, 
+	0x00, 0x00, 0x06, 0x00, 0x0f, 0x00, 0x06, 0x00, 0x00, 0x00, 0x0e, 0x0d, 0x0b, 0x07, 0x00, 0x02, 
+	0x04, 0x09, 0x09, 0x09, 0x0e, 0x00, 0x04, 0x02, 0x09, 0x09, 0x09, 0x0e, 0x00, 0x06, 0x00, 0x09, 
+	0x09, 0x09, 0x0e, 0x00, 0x0a, 0x00, 0x09, 0x09, 0x09, 0x0e, 0x00, 0x04, 0x02, 0x09, 0x09, 0x0a, 
+	0x04, 0x02, 0x00, 0x01, 0x07, 0x09, 0x09, 0x07, 0x01, 0x0a, 0x00, 0x09, 0x09, 0x0a, 0x04, 0x02, 
+};
+
+static const uint16_t glyph_pos[256] = {
+	   0,    7,   14,   21,   28,   35,   42,   49, 
+	  56,   63,   70,   77,   84,   91,   98,  105, 
+	 112,  119,  126,  133,  140,  147,  154,  161, 
+	 168,  175,  182,  189,  196,  203,  210,  217, 
+	 224,  231,  238,  245,  252,  259,  266,  273, 
+	 280,  287,  294,  301,  308,  315,  322,  329, 
+	 336,  343,  350,  357,  364,  371,  378,  385, 
+	 392,  399,  406,  413,  420,  427,  434,  441, 
+	 448,  455,  462,  469,  476,  483,  490,  497, 
+	 504,  511,  518,  525,  532,  539,  546,  553, 
+	 560,  567,  574,  581,  588,  595,  602,  609, 
+	 616,  623,  630,  637,  644,  651,  658,  665, 
+	 672,  679,  686,  693,  700,  707,  714,  721, 
+	 728,  735,  742,  749,  756,  763,  770,  777, 
+	 784,  791,  798,  805,  812,  819,  826,  833, 
+	 840,  847,  854,  861,  868,  875,  882,  889, 
+	   0,    0,    0,    0,    0,    0,    0,    0, 
+	   0,    0,    0,    0,    0,    0,    0,    0, 
+	   0,    0,    0,    0,    0,    0,    0,    0, 
+	   0,    0,    0,    0,    0,    0,    0,    0, 
+	 896,  903,  910,  917,  924,  931,  938,  945, 
+	 952,  959,  966,  973,  980,  987,  994, 1001, 
+	1008, 1015, 1022, 1029, 1036, 1043, 1050, 1057, 
+	1064, 1071, 1078, 1085, 1092, 1099, 1106, 1113, 
+	1120, 1127, 1134, 1141, 1148, 1155, 1162, 1169, 
+	1176, 1183, 1190, 1197, 1204, 1211, 1218, 1225, 
+	1232, 1239, 1246, 1253, 1260, 1267, 1274, 1281, 
+	1288, 1295, 1302, 1309, 1316, 1323, 1330, 1337, 
+	1344, 1351, 1358, 1365, 1372, 1379, 1386, 1393, 
+	1400, 1407, 1414, 1421, 1428, 1435, 1442, 1449, 
+	1456, 1463, 1470, 1477, 1484, 1491, 1498, 1505, 
+	1512, 1519, 1526, 1533, 1540, 1547, 1554, 1561, 
+};
+
+#define GLYPH_WIDTH 5
+#define GLYPH_HEIGHT 7
+#define GLYPH_ASCENT 6
diff --git a/src/draw/ao_line.c b/src/draw/ao_line.c
new file mode 100644
index 00000000..ed1fc21c
--- /dev/null
+++ b/src/draw/ao_line.c
@@ -0,0 +1,314 @@
+/*
+ * 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_draw.h"
+#include "ao_draw_int.h"
+
+#define ao_mask(x,w)	(ao_right(AO_ALLONES,(x) & AO_MASK) & \
+			 ao_left(AO_ALLONES,(FB_UNIT - ((x)+(w))) & AO_MASK))
+
+
+/* out of clip region codes */
+#define OUT_LEFT 0x08
+#define OUT_RIGHT 0x04
+#define OUT_ABOVE 0x02
+#define OUT_BELOW 0x01
+
+/* major axis for bresenham's line */
+#define X_AXIS	0
+#define Y_AXIS	1
+
+/*
+ * Line clipping. Clip to the box, bringing the coordinates forward while
+ * preserving the actual slope and error
+ *
+ *
+ *	X major line, clip X:
+ *
+ *	adjust_x = -x;
+ *
+ *	e += adjust_x * e1;
+ *
+ *	adjust_y = (e + -e3-1) / -e3;
+ *
+ *	e -= adjust_y / -e3;
+ *
+ *	X major line, clip Y:
+ *
+ *	adjust_y = -y;
+
+ *
+ *	e -= adjust_y / -e3;
+ *
+ *	adjust_x = e / e1;
+ */
+
+
+
+
+static void
+ao_bres(const struct ao_bitmap	*dst_bitmap,
+	int16_t		signdx,
+	int16_t		signdy,
+	int16_t		axis,
+	int16_t		x1,
+	int16_t		y1,
+	int16_t		e,
+	int16_t		e1,
+	int16_t		e3,
+	int16_t		len,
+	uint32_t	and,
+	uint32_t	xor)
+{
+	int16_t		stride = dst_bitmap->stride;
+	uint32_t	*dst = dst_bitmap->base;
+	uint32_t	mask0, mask;
+
+	mask0 = 1;
+	if (signdx < 0)
+		mask0 = ao_right(1, AO_UNIT - 1);
+
+	if (signdy < 0)
+		stride = -stride;
+
+	dst = dst + y1 * stride + (x1 >> AO_SHIFT);
+	mask = ao_right(1, x1 & AO_MASK);
+
+	while (len--) {
+		/* clip each point */
+
+		*dst = ao_do_mask_rrop(*dst, and, xor, mask);
+
+		if (axis == X_AXIS) {
+			if (signdx < 0)
+				mask = ao_left(mask, 1);
+			else
+				mask = ao_right(mask, 1);
+			if (!mask) {
+				dst += signdx;
+				mask = mask0;
+			}
+			e += e1;
+			if (e >= 0) {
+				dst += stride;
+				e += e3;
+			}
+		} else {
+			dst += stride;
+			e += e1;
+			if (e >= 0) {
+				if (signdx < 0)
+					mask = ao_left(mask, 1);
+				else
+					mask = ao_right(mask, 1);
+				if (!mask) {
+					dst += signdx;
+					mask = mask0;
+				}
+				e += e3;
+			}
+		}
+	}
+}
+
+struct ao_cc {
+	int16_t	major;
+	int16_t	minor;
+	int16_t	sign_major;
+	int16_t	sign_minor;
+	int16_t	e;
+	int16_t	e1;
+	int16_t	e3;
+	int8_t	first;
+};
+
+/* line clipping box */
+struct ao_cbox {
+	int16_t	maj1, min1;
+	int16_t	maj2, min2;
+};
+
+/* -b <= a, so we need to make a bigger */
+static int16_t
+div_ceil(int32_t a, int16_t b) {
+	return (a + b + b - 1) / b - 1;
+}
+
+static int16_t
+div_floor_plus_one(int32_t a, int16_t b) {
+	return (a + b) / b;
+}
+
+static int8_t
+ao_clip_line(struct ao_cc *c, struct ao_cbox *b)
+{
+	int32_t	adjust_major = 0, adjust_minor = 0;
+
+	/* Clip major axis */
+	if (c->major < b->maj1) {
+		if (c->sign_major <= 0)
+			return FALSE;
+		adjust_major = b->maj1 - c->major;
+	} else if (c->major >= b->maj2) {
+		if (c->sign_major >= 0)
+			return FALSE;
+		adjust_major = c->major - (b->maj2-1);
+	}
+
+	/* Clip minor axis */
+	if (c->minor < b->min1) {
+		if (c->sign_minor <= 0)
+			return FALSE;
+		adjust_minor = b->min1 - c->minor;
+	} else if (c->minor >= b->min2) {
+		if (c->sign_minor >= 0)
+			return FALSE;
+		adjust_minor = c->minor - (b->min2-1);
+	}
+
+	/* If unclipped, we're done */
+	if (adjust_major == 0 && adjust_minor == 0)
+		return TRUE;
+
+	/* See how much minor adjustment would happen during
+	 * a major clip. This is a bit tricky because line drawing
+	 * isn't symmetrical when the line passes exactly between
+	 * two pixels, we have to pick which one gets drawn
+	 */
+	int32_t	adj_min;
+
+	if (!c->first)
+		adj_min = div_ceil(c->e + adjust_major * c->e1, -c->e3);
+	else
+		adj_min = div_floor_plus_one(c->e + adjust_major * c->e1, -c->e3);
+
+	if (adj_min < adjust_minor) {
+		if (c->first)
+			adjust_major = div_ceil(c->e - adjust_minor * c->e3, c->e1);
+		else
+			adjust_major = div_floor_plus_one(c->e - adjust_minor * c->e3, c->e1);
+	} else {
+		adjust_minor = adj_min;
+	}
+
+	c->e += adjust_major * c->e1 + adjust_minor * c->e3;
+
+	c->major += c->sign_major * adjust_major;
+	c->minor += c->sign_minor * adjust_minor;
+
+	return TRUE;
+}
+
+void
+ao_line(const struct ao_bitmap	*dst,
+	int16_t			x1,
+	int16_t			y1,
+	int16_t			x2,
+	int16_t			y2,
+	uint32_t		fill,
+	uint8_t			rop)
+{
+	int16_t	adx, ady;
+	int16_t	e, e1, e2, e3;
+	int16_t	signdx = 1, signdy = 1;
+	int16_t axis;
+	int16_t len;
+	struct ao_cc	clip_1, clip_2;
+	struct ao_cbox	cbox;
+
+	if ((adx = x2 - x1) < 0) {
+		adx = -adx;
+		signdx = -1;
+	}
+	if ((ady = y2 - y1) < 0) {
+		ady = -ady;
+		signdy = -1;
+	}
+
+	if (adx > ady) {
+		axis = X_AXIS;
+		e1 = ady << 1;
+		e2 = e1 - (adx << 1);
+		e = e1 - adx;
+
+		clip_1.major = x1;
+		clip_1.minor = y1;
+		clip_2.major = x2;
+		clip_2.minor = y2;
+		clip_1.sign_major = signdx;
+		clip_1.sign_minor = signdy;
+
+		cbox.maj1 = 0;
+		cbox.maj2 = dst->width;
+		cbox.min1 = 0;
+		cbox.min2 = dst->height;
+	} else {
+		axis = Y_AXIS;
+		e1 = adx << 1;
+		e2 = e1 - (ady << 1);
+		e = e1 - ady;
+
+		clip_1.major = y1;
+		clip_1.minor = x1;
+		clip_2.major = y2;
+		clip_2.minor = x2;
+		clip_1.sign_major = signdy;
+		clip_1.sign_minor = signdx;
+
+		cbox.maj1 = 0;
+		cbox.maj2 = dst->height;
+		cbox.min1 = 0;
+		cbox.min2 = dst->width;
+	}
+
+	e3 = e2 - e1;
+	e = e - e1;
+
+	clip_1.first = TRUE;
+	clip_2.first = FALSE;
+	clip_2.e = clip_1.e = e;
+	clip_2.e1 = clip_1.e1 = e1;
+	clip_2.e3 = clip_1.e3 = e3;
+	clip_2.sign_major = -clip_1.sign_major;
+	clip_2.sign_minor = -clip_1.sign_minor;
+
+	if (!ao_clip_line(&clip_1, &cbox))
+		return;
+
+	if (!ao_clip_line(&clip_2, &cbox))
+		return;
+
+	len = clip_1.sign_major * (clip_2.major - clip_1.major) + clip_2.first;
+
+	if (len <= 0)
+		return;
+
+	if (adx > ady) {
+		x1 = clip_1.major;
+		y1 = clip_1.minor;
+	} else {
+		x1 = clip_1.minor;
+		y1 = clip_1.major;
+	}
+	ao_bres(dst,
+		signdx,
+		signdy,
+		axis,
+		x1,
+		y1,
+		clip_1.e, e1, e3, len,
+		ao_and(rop, fill),
+		ao_xor(rop, fill));
+}
diff --git a/src/draw/ao_pattern.c b/src/draw/ao_pattern.c
new file mode 100644
index 00000000..0d1dc765
--- /dev/null
+++ b/src/draw/ao_pattern.c
@@ -0,0 +1,80 @@
+/*
+ * 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_draw.h"
+#include "ao_draw_int.h"
+
+static inline uint32_t
+ao_pattern_expand(uint8_t v, uint8_t rot)
+{
+	uint32_t	r;
+
+	if (rot)
+		v = ao_left(v, 8-rot) | ao_right(v, rot);
+	r = v;
+	return (r << 24) | (r << 16) | (r << 8) | (r);
+}
+
+static inline int
+min(int a, int b) {
+	return a < b ? a : b;
+}
+
+void
+ao_pattern(const struct ao_bitmap	*dst,
+	   int16_t			x,
+	   int16_t			y,
+	   int16_t			width,
+	   int16_t			height,
+	   const struct ao_pattern	*pattern,
+	   int16_t			pat_x,
+	   int16_t			pat_y,
+	   uint8_t			rop)
+{
+	uint32_t	pat[8];
+
+	int16_t	x2 = x + width;
+	int16_t y2 = y + height;
+
+	ao_clip(x, 0, dst->width);
+	ao_clip(x2, 0, dst->width);
+	ao_clip(y, 0, dst->height);
+	ao_clip(y2, 0, dst->height);
+
+	if (x < x2 && y < y2) {
+		int	xrot = (x - pat_x) & 7;
+		int	yrot = (y - pat_y) & 7;
+		int	i;
+		int16_t	dst_x, dst_y;
+
+		for (i = 0; i < 8; i++)
+			pat[(i + yrot) & 7] = ao_pattern_expand(pattern->pattern[i], xrot);
+		for (dst_y = y; dst_y < y2; dst_y += 8) {
+			int	h = min(y2 - dst_y, 8);
+			for (dst_x = x; dst_x < x2; dst_x += 8) {
+				int	w = min(x2 - dst_x, 8);
+
+				ao_blt(pat, 1, 0,
+				       dst->base + dst_y * dst->stride,
+				       dst->stride,
+				       dst_x,
+				       w, h,
+				       rop,
+				       0, 0);
+			}
+		}
+	}
+}
+
diff --git a/src/draw/ao_rect.c b/src/draw/ao_rect.c
new file mode 100644
index 00000000..71fa4aea
--- /dev/null
+++ b/src/draw/ao_rect.c
@@ -0,0 +1,46 @@
+/*
+ * 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_draw.h"
+#include "ao_draw_int.h"
+
+void
+ao_rect(const struct ao_bitmap	*dst,
+	int16_t			x,
+	int16_t			y,
+	int16_t			width,
+	int16_t			height,
+	uint32_t		fill,
+	uint8_t			rop)
+{
+	int16_t	x2 = x + width;
+	int16_t y2 = y + height;
+
+	ao_clip(x, 0, dst->width);
+	ao_clip(x2, 0, dst->width);
+	ao_clip(y, 0, dst->height);
+	ao_clip(y2, 0, dst->height);
+
+	if (x < x2 && y < y2) {
+		ao_solid(ao_and(rop, fill),
+			 ao_xor(rop, fill),
+			 dst->base + y * dst->stride,
+			 dst->stride,
+			 x,
+			 x2 - x,
+			 y2 - y);
+	}
+}
+
diff --git a/src/draw/ao_text.c b/src/draw/ao_text.c
new file mode 100644
index 00000000..7ce2a623
--- /dev/null
+++ b/src/draw/ao_text.c
@@ -0,0 +1,65 @@
+/*
+ * 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_draw.h"
+#include "ao_draw_int.h"
+#include "ao_font.h"
+
+const struct ao_font ao_font = {
+	.width = GLYPH_WIDTH,
+	.height = GLYPH_HEIGHT,
+	.ascent = GLYPH_ASCENT,
+	.descent = GLYPH_HEIGHT - GLYPH_ASCENT,
+};
+
+void
+ao_text(const struct ao_bitmap	*dst,
+	int16_t			x,
+	int16_t			y,
+	char			*string,
+	uint32_t		fill,
+	uint8_t			rop)
+{
+	uint32_t	src[GLYPH_HEIGHT];
+	char		c;
+	int		h;
+
+	struct ao_bitmap	src_bitmap = {
+		.base = src,
+		.stride = 1,
+		.width = GLYPH_WIDTH,
+		.height = GLYPH_HEIGHT
+	};
+
+	y -= GLYPH_ASCENT;
+
+	rop = (rop & 3) | 0x4;
+
+	if ((fill&1) == 0)
+		rop ^= 3;
+
+	while ((c = *string++)) {
+		const uint8_t	*bytes = &glyph_bytes[glyph_pos[(uint8_t) c]];
+
+		for (h = 0; h < GLYPH_HEIGHT; h++)
+			src[h] = bytes[h];
+
+		ao_copy(dst,
+			x, y, GLYPH_WIDTH, GLYPH_HEIGHT,
+			&src_bitmap,
+			0, 0, rop);
+		x += GLYPH_WIDTH;
+	}
+}
diff --git a/src/draw/font-convert b/src/draw/font-convert
new file mode 100755
index 00000000..1985e418
--- /dev/null
+++ b/src/draw/font-convert
@@ -0,0 +1,150 @@
+#!/usr/bin/nickle
+
+typedef struct {
+	int[]	bytes;
+	int	width;
+	int	height;
+	int	encoding;
+	int	location;
+} glyph_t;
+
+typedef struct {
+	glyph_t[...]	glyphs;
+	int		default_char;
+	int		ascent;
+} font_t;
+
+glyph_t
+read_glyph(file f)
+{
+	glyph_t	glyph = { .encoding = -1, .bytes = (int[...]){}, .width = 0 };
+
+	while (!File::end(f)) {
+		string	l = fgets(f);
+
+		string[*] tokens = String::split(l, " ");
+		if (dim(tokens) == 0)
+			continue;
+
+		switch (tokens[0]) {
+		case "ENCODING":
+			glyph.encoding = atoi(tokens[1]);
+			break;
+		case "DWIDTH":
+			glyph.width = atoi(tokens[1]);
+			break;
+		case "BBX":
+			glyph.height = atoi(tokens[2]);
+			break;
+		case "ENDCHAR":
+			return glyph;
+		case "BITMAP":
+			while (!File::end(f)) {
+				string l = fgets(f);
+				if (l == "ENDCHAR")
+					return glyph;
+				glyph.bytes[dim(glyph.bytes)] = atoi(l, 16);
+			}
+			break;
+		}
+	}
+	return glyph;
+}
+
+font_t read_font(file f) {
+	font_t	font = { .glyphs = {}, .default_char = -1 };
+	bool in_head = true;
+
+	while (in_head && !File::end(f)) {
+		string l = File::fgets(f);
+
+		string[*] tokens = String::split(l, " ");
+		switch (tokens[0]) {
+		case "DEFAULT_CHAR":
+			font.default_char = atoi(tokens[1]);
+			break;
+		case "FONT_ASCENT":
+			font.ascent = atoi(tokens[1]);
+			break;
+		case "CHARS":
+			in_head = false;
+			break;
+		}
+	}
+	while (!File::end(f)) {
+		glyph_t	glyph = read_glyph(f);
+		if (glyph.encoding == -1)
+			break;
+		font.glyphs[dim(font.glyphs)] = glyph;
+	}
+	return font;
+}
+
+int
+flip_byte(int x)
+{
+	int	dest = 0;
+
+	for (int i = 0; i < 8; i++)
+		dest |= ((x >> (7 - i)) & 1) << i;
+	return dest;
+}
+
+void print_font(font_t font) {
+	int	width = font.glyphs[0].width;
+	int	height = font.glyphs[0].height;
+	int[256] pos = { -1 ... };
+	int[...] bytes;
+
+	if (false) {
+	for (int i = 1; i < dim(font.glyphs); i++) {
+		if (font.glyphs[i].width != width ||
+		   font.glyphs[i].height != height)
+		{
+			File::fprintf(stderr, "font not constant size, glyph %d is %dx%d\n",
+				      font.glyphs[i].encoding, font.glyphs[i].width, font.glyphs[i].height);
+			exit(1);
+		}
+	}
+	}
+
+	if (font.default_char == -1)
+		font.default_char = font.glyphs[0].encoding;
+
+	/* build byte array */
+	for (int i = 0; i < dim(font.glyphs); i++) {
+		pos[font.glyphs[i].encoding] = dim(bytes);
+		for (int b = 0; b < dim(font.glyphs[i].bytes); b++)
+			bytes[dim(bytes)] = font.glyphs[i].bytes[b];
+	}
+
+	/* Fill in default glyph */
+	for (int i = 0; i < dim(pos); i++)
+		if (pos[i] == -1)
+			pos[i] = pos[font.default_char];
+
+	printf("static const uint8_t glyph_bytes[%d] = {", dim(bytes));
+	for (int b = 0; b < dim(bytes); b++) {
+		if ((b & 15) == 0)
+			printf("\n\t");
+		printf("0x%02x, ", flip_byte(bytes[b]));
+	}
+	printf("\n};\n\n");
+
+	printf("static const uint16_t glyph_pos[%d] = {", dim(pos));
+	for (int i = 0; i < dim(pos); i++) {
+		if ((i & 7) == 0)
+			printf("\n\t");
+		printf("%4d, ", pos[i]);
+	}
+	printf("\n};\n\n");
+
+	printf("#define GLYPH_WIDTH %d\n", width);
+	printf("#define GLYPH_HEIGHT %d\n", height);
+	printf("#define GLYPH_ASCENT %d\n", font.ascent);
+}
+
+twixt (file f = File::open(argv[1], "r"); File::close(f)) {
+       font_t font = read_font(f);
+       print_font(font);
+}
diff --git a/src/draw/line.5c b/src/draw/line.5c
new file mode 100644
index 00000000..747768b0
--- /dev/null
+++ b/src/draw/line.5c
@@ -0,0 +1,389 @@
+#!/usr/bin/nickle
+
+autoimport Cairo;
+autoload PRNG;
+
+int
+sign(int x)
+{
+	return x == 0 ? 0 : x < 0 ? -1 : 1;
+}
+
+int X_AXIS = 0;
+int Y_AXIS = 1;
+
+typedef struct {
+	int	major;
+	int	minor;
+	int	sign_major;
+	int	sign_minor;
+	int	e;
+	int	e1;
+	int	e3;
+	bool	first;
+} clip_context;
+
+typedef struct {
+	int	maj1, min1, maj2, min2;
+} clip_box;
+
+typedef struct {
+	int	x1, y1, x2, y2;
+} box;
+
+typedef struct {
+	int	x, y;
+} point;
+
+typedef struct {
+	int	x1, y1, x2, y2;
+	box	b;
+	point[]	clipped;
+	point[]	run;
+} test;
+
+box	bounds = { .x1 = 10, .x2 = 30, .y1 = 10, .y2 = 30 };
+
+int
+div_ceil(a, b) {
+	a += b;
+	assert(a >= 0 && b > 0, "bad divide args %d %d\n", a, b);
+	return (a + b - 1) // b - 1;
+}
+
+int
+div_floor_plus_one(a, b) {
+	a += b;
+	assert(a >= 0 && b > 0, "bad divide args %d %d\n", a, b);
+	return a // b;
+}
+
+bool
+clip(*clip_context c, *clip_box b)
+{
+	int	adjust_major = 0, adjust_minor = 0;
+
+	/* Clip major axis */
+	if (c->major < b->maj1) {
+		if (c->sign_major <= 0)
+			return false;
+		adjust_major = b->maj1 - c->major;
+	} else if (c->major >= b->maj2) {
+		if (c->sign_major >= 0)
+			return false;
+		adjust_major = c->major - (b->maj2-1);
+	}
+
+	/* Clip minor axis */
+	if (c->minor < b->min1) {
+		if (c->sign_minor <= 0)
+			return false;
+		adjust_minor = b->min1 - c->minor;
+	} else if (c->minor >= b->min2) {
+		if (c->sign_minor >= 0)
+			return false;
+		adjust_minor = c->minor - (b->min2-1);
+	}
+
+	/* If unclipped, we're done */
+	if (adjust_major == 0 && adjust_minor == 0)
+		return true;
+
+	/* See how much minor adjustment would happen during
+	 * a major clip. This is a bit tricky because line drawing
+	 * isn't symmetrical when the line passes exactly between
+	 * two pixels, we have to pick which one gets drawn
+	 */
+	int	adj_min;
+
+	if (!c->first)
+		adj_min = div_ceil(c->e + adjust_major * c->e1, -c->e3);
+	else
+		adj_min = div_floor_plus_one(c->e + adjust_major * c->e1, -c->e3);
+
+	/* Compare that to the minor clip and pick
+	 * the larger amount.
+	 */
+	printf ("\tinitial major %d minor %d error %d e1 %d e3 %d\n", c->major, c->minor, c->e, c->e1, c->e3);
+
+	if (adj_min < adjust_minor) {
+		printf("\tminor clip dominates %d < %d. adjust major %d -> ",
+		       adj_min, adjust_minor, adjust_major);
+		if (c->first)
+			adjust_major = div_ceil(c->e - adjust_minor * c->e3, c->e1);
+		else
+			adjust_major = div_floor_plus_one(c->e - adjust_minor * c->e3, c->e1);
+		printf("%d\n", adjust_major);
+	} else {
+		printf("\tminor clip dominates %d > %d. adjust minor %d -> ",
+		       adj_min, adjust_minor, adjust_minor);
+		adjust_minor = adj_min;
+		printf("%d\n", adjust_minor);
+	}
+
+	c->e += adjust_major * c->e1 + adjust_minor * c->e3;
+
+	c->major += c->sign_major * adjust_major;
+	c->minor += c->sign_minor * adjust_minor;
+
+	printf ("\tadjust major %d adjust minor %d e %d e1 %d e3 %e\n",
+		adjust_major, adjust_minor, c->e, c->e1, c->e3);
+
+	if (c->e >= 0)
+		printf ("error positive e %d e1 %d e3 %d\n",
+			c->e, c->e1, c->e3);
+	if (c->e < c->e3)
+		printf ("error magnitude too large e %d e1 %d e3 %d\n", c->e, c->e1, c->e3);
+
+	return true;
+}
+
+test
+line(int x1, int y1, int x2, int y2, *box b) {
+
+	int	dx = x2 - x1;
+	int	dy = y2 - y1;
+	int	signdx = sign(dx);
+	int	signdy = sign(dy);
+	int	adx = abs(dx);
+	int	ady = abs(dy);
+	int	axis;
+	int	e, e1, e2, e3;
+	int	len;
+	clip_context	clip_1, clip_2;
+	clip_box	c;
+	bool		clipped = false;
+	test		t = {
+		.x1 = x1,
+		.y1 = y1,
+		.x2 = x2,
+		.y2 = y2,
+		.b = *b,
+		.clipped = (point[...]) {},
+		.run = (point[...]) {}
+	};
+
+	if (adx >= ady) {
+		axis = X_AXIS;
+		e1 = ady << 1;
+		e2 = e1 - (adx << 1);
+		e = e1 - adx;
+		len = adx;
+
+		clip_1.major = x1;
+		clip_1.minor = y1;
+		clip_2.major = x2;
+		clip_2.minor = y2;
+		clip_1.sign_major = signdx;
+		clip_1.sign_minor = signdy;
+
+		c.maj1 = b->x1;
+		c.maj2 = b->x2;
+		c.min1 = b->y1;
+		c.min2 = b->y2;
+	} else {
+		axis = Y_AXIS;
+		e1 = adx << 1;
+		e2 = e1 - (ady << 1);
+		e = e1 - ady;
+		len = ady;
+
+		clip_1.major = y1;
+		clip_1.minor = x1;
+		clip_2.major = y2;
+		clip_2.minor = x2;
+		clip_1.sign_major = signdy;
+		clip_1.sign_minor = signdx;
+		c.maj1 = b->y1;
+		c.maj2 = b->y2;
+		c.min1 = b->x1;
+		c.min2 = b->x2;
+	}
+
+	e3 = e2 - e1;
+	e = e - e1;
+
+	clip_1.first = true;
+	clip_2.first = false;
+	clip_2.e = clip_1.e = e;
+	clip_2.e1 = clip_1.e1 = e1;
+	clip_2.e3 = clip_1.e3 = e3;
+	clip_2.sign_major = -clip_1.sign_major;
+	clip_2.sign_minor = -clip_1.sign_minor;
+
+	printf ("clip start:\n");
+	if (!clip(&clip_1, &c))
+		clipped = true;
+
+	printf("clip end:\n");
+	if (!clip(&clip_2, &c))
+		clipped = true;
+
+	int	clip_len;
+	int	clip_x, clip_y;
+	int	clip_e;
+	int	x_major, x_minor;
+	int	y_major, y_minor;
+
+	clip_len = clip_1.sign_major * (clip_2.major - clip_1.major);
+	if (clip_len < 0)
+		clipped = true;
+
+	int x, y;
+
+	if (axis == X_AXIS) {
+		x = clip_1.major;
+		y = clip_1.minor;
+		x_major = clip_1.sign_major;
+		x_minor = 0;
+		y_major = 0;
+		y_minor = clip_1.sign_minor;
+	} else {
+		x = clip_1.minor;
+		y = clip_1.major;
+		x_major = 0;
+		x_minor = clip_1.sign_minor;
+		y_major = clip_1.sign_major;
+		y_minor = 0;
+	}
+
+	clip_e = clip_1.e;
+
+	if (clipped)
+		clip_len = -1;
+
+	while (clip_len-- >= 0) {
+		t.clipped[dim(t.clipped)] = (point) { .x = x, .y = y };
+		x += x_major;
+		y += y_major;
+		clip_e += e1;
+		if (clip_e >= 0) {
+			x += x_minor;
+			y += y_minor;
+			clip_e += e3;
+		}
+	}
+
+	x = x1;
+	y = y1;
+
+	while (len-- >= 0) {
+		if (bounds.x1 <= x && x < bounds.x2 &&
+		    bounds.y1 <= y && y < bounds.y2) {
+			t.run[dim(t.run)] = (point) { .x = x, .y = y };
+		}
+		x += x_major;
+		y += y_major;
+		e += e1;
+		if (e >= 0) {
+			x += x_minor;
+			y += y_minor;
+			e += e3;
+		}
+	}
+	return t;
+}
+
+void read_events (Cairo::cairo_t cr)
+{
+	file	event = Cairo::open_event(cr);
+
+	while (!File::end(event)) {
+		string	event_line = File::fgets(event);
+		if (String::index(event_line, "delete") >= 0)
+			exit(0);
+	}
+}
+
+#for (int y = 0; y < 20; y++)
+
+void
+show(cairo_t cr, test t)
+{
+	rectangle(cr, 0, 0, 40, 40);
+	set_source_rgba(cr, 1, 1, 1, 1);
+	fill(cr);
+
+	set_source_rgba(cr, 0, 1, 0, .2);
+	set_line_width(cr, 0.1);
+	for (int x = 0; x < 40; x++) {
+		move_to(cr, 0, x);
+		line_to(cr, 40, x);
+		move_to(cr, x, 0);
+		line_to(cr, x, 40);
+	}
+	stroke(cr);
+
+	rectangle(cr, t.b.x1, t.b.y1, t.b.x2 - t.b.x1, t.b.y2 - t.b.y1);
+	set_line_width(cr, 0.1);
+	set_source_rgba(cr, 0, 0, 0, 1);
+	stroke(cr);
+
+	move_to(cr, t.x1+.5, t.y1+.5);
+	line_to(cr, t.x2+.5, t.y2+.5);
+	move_to(cr, t.x2, t.y2);
+	line_to(cr, t.x2+1, t.y2+1);
+	move_to(cr, t.x2+1, t.y2);
+	line_to(cr, t.x2, t.y2+1);
+	stroke(cr);
+
+	void pixels(point[] pt) {
+		for (int i = 0; i < dim(pt); i++) {
+			rectangle(cr, pt[i].x, pt[i].y, 1, 1);
+		}
+		fill(cr);
+	}
+
+	set_source_rgba(cr, 1, 0, 0, .5);
+	pixels(t.clipped);
+
+	set_source_rgba(cr, 0, 0, 1, .5);
+	pixels(t.run);
+}
+
+bool
+compare(test t)
+{
+	if (dim(t.clipped) != dim(t.run))
+		return false;
+
+	for (int i = 0; i < dim(t.clipped); i++)
+		if (t.clipped[i] != t.run[i])
+			return false;
+	return true;
+}
+
+void
+doit(int i)
+{
+	int	n;
+	*box	b = &bounds;
+
+	cairo_t cr = new(800, 800);
+
+	scale(cr, 20, 20);
+
+	for (;;) {
+		PRNG::srandom(i);
+		int	x1 = PRNG::randint(40);
+		int	x2 = PRNG::randint(40);
+		int	y1 = PRNG::randint(40);
+		int	y2 = PRNG::randint(40);
+
+		test t = line (x1, y1, x2, y2, &bounds);
+		show(cr, t);
+		if (!compare(t)) {
+			printf("line %d -- %d x %d - %d x %d\n", i, x1, y1, x2, y2);
+			gets();
+		}
+		i++;
+	}
+
+	read_events(cr);
+}
+
+int i = 0;
+if (dim(argv) > 1)
+	i = atoi(argv[1]);
+
+doit(i);
diff --git a/src/drivers/ao_as1107.c b/src/drivers/ao_as1107.c
new file mode 100644
index 00000000..e0172d95
--- /dev/null
+++ b/src/drivers/ao_as1107.c
@@ -0,0 +1,105 @@
+/*
+ * 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_as1107.h>
+
+static uint8_t	as1107_configured;
+static uint8_t	as1107_mutex;
+
+static void
+ao_as1107_start(void) {
+	ao_spi_get_bit(AO_AS1107_CS_PORT, AO_AS1107_CS_PIN, AO_AS1107_CS, AO_AS1107_SPI_INDEX, AO_AS1107_SPI_SPEED);
+}
+
+static void
+ao_as1107_stop(void) {
+	ao_spi_put_bit(AO_AS1107_CS_PORT, AO_AS1107_CS_PIN, AO_AS1107_CS, AO_AS1107_SPI_INDEX);
+}
+
+static void
+_ao_as1107_cmd(uint8_t addr, uint8_t value)
+{
+	uint8_t	packet[2] = { addr, value };
+
+	ao_as1107_start();
+	ao_spi_send(packet, 2, AO_AS1107_SPI_INDEX);
+	ao_as1107_stop();
+}
+
+static void
+_ao_as1107_setup(void)
+{
+	if (!as1107_configured) {
+		as1107_configured = 1;
+		_ao_as1107_cmd(AO_AS1107_SHUTDOWN, AO_AS1107_SHUTDOWN_SHUTDOWN_RESET);
+		_ao_as1107_cmd(AO_AS1107_SHUTDOWN, AO_AS1107_SHUTDOWN_SHUTDOWN_NOP);
+		_ao_as1107_cmd(AO_AS1107_DECODE_MODE, AO_AS1107_DECODE);
+		_ao_as1107_cmd(AO_AS1107_SCAN_LIMIT, AO_AS1107_NUM_DIGITS - 1);
+		_ao_as1107_cmd(AO_AS1107_INTENSITY, 0x0f);
+		_ao_as1107_cmd(AO_AS1107_FEATURE,
+			       (0 << AO_AS1107_FEATURE_CLK_EN) |
+			       (0 << AO_AS1107_FEATURE_REG_RES) |
+			       (1 << AO_AS1107_FEATURE_DECODE_SEL) |
+			       (1 << AO_AS1107_FEATURE_SPI_EN) |
+			       (0 << AO_AS1107_FEATURE_BLINK_EN) |
+			       (0 << AO_AS1107_FEATURE_BLINK_FREQ) |
+			       (0 << AO_AS1107_FEATURE_SYNC) |
+			       (0 << AO_AS1107_FEATURE_BLINK_START));
+		_ao_as1107_cmd(AO_AS1107_SHUTDOWN, AO_AS1107_SHUTDOWN_NORMAL_NOP);
+	}
+}
+
+void
+ao_as1107_write(uint8_t start, uint8_t count, uint8_t *values)
+{
+	uint8_t i;
+	ao_mutex_get(&as1107_mutex);
+	_ao_as1107_setup();
+	for (i = 0; i < count; i++)
+	{
+		_ao_as1107_cmd(AO_AS1107_DIGIT(start + i),
+			       values[i]);
+	}
+	ao_mutex_put(&as1107_mutex);
+}
+
+void
+ao_as1107_write_8(uint8_t start, uint8_t value)
+{
+	uint8_t	values[2];
+
+	values[0] = (value >> 4);
+	values[1] = value & 0xf;
+	ao_as1107_write(start, 2, values);
+}
+
+void
+ao_as1107_write_16(uint8_t start, uint16_t value)
+{
+	uint8_t	values[4];
+
+	values[0] = (value >> 12);
+	values[1] = (value >> 8) & 0xf;
+	values[2] = (value >> 4) & 0xf;
+	values[3] = (value) & 0xf;
+	ao_as1107_write(start, 4, values);
+}
+
+void
+ao_as1107_init(void)
+{
+	as1107_configured = 0;
+	ao_spi_init_cs(AO_AS1107_CS_PORT, (1 << AO_AS1107_CS_PIN));
+}
diff --git a/src/drivers/ao_as1107.h b/src/drivers/ao_as1107.h
new file mode 100644
index 00000000..a22b17db
--- /dev/null
+++ b/src/drivers/ao_as1107.h
@@ -0,0 +1,59 @@
+/*
+ * 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_AS1107_H_
+#define _AO_AS1107_H_
+
+#define AO_AS1107_NO_OP		0x00
+#define AO_AS1107_DIGIT(n)	(0x01 + (n))
+#define AO_AS1107_DECODE_MODE	0x09
+#define AO_AS1107_INTENSITY	0x0a
+#define AO_AS1107_SCAN_LIMIT	0x0b
+#define AO_AS1107_SHUTDOWN	0x0c
+#define  AO_AS1107_SHUTDOWN_SHUTDOWN_RESET	0x00
+#define  AO_AS1107_SHUTDOWN_SHUTDOWN_NOP	0x80
+#define  AO_AS1107_SHUTDOWN_NORMAL_RESET	0x01
+#define  AO_AS1107_SHUTDOWN_NORMAL_NOP		0x81
+
+#define AO_AS1107_FEATURE	0x0e
+#define  AO_AS1107_FEATURE_CLK_EN	0	/* external clock enable */
+#define  AO_AS1107_FEATURE_REG_RES	1
+#define  AO_AS1107_FEATURE_DECODE_SEL	2	/* select HEX decode */
+#define  AO_AS1107_FEATURE_SPI_EN	3
+#define  AO_AS1107_FEATURE_BLINK_EN	4
+#define  AO_AS1107_FEATURE_BLINK_FREQ	5
+#define  AO_AS1107_FEATURE_SYNC		6
+#define  AO_AS1107_FEATURE_BLINK_START	7
+#define AO_AS1107_DISPLAY_TEST	0x0f
+
+void ao_as1107_init(void);
+
+void
+ao_as1107_write(uint8_t start, uint8_t count, uint8_t *values);
+
+void
+ao_as1107_write_8(uint8_t start, uint8_t value);
+
+void
+ao_as1107_write_16(uint8_t start, uint16_t value);
+
+#ifndef AO_AS1107_DECODE
+#error "must define AO_AS1107_DECODE"
+#endif
+
+#ifndef AO_AS1107_NUM_DIGITS
+#error "must define AO_AS1107_NUM_DIGITS"
+#endif
+
+#endif /* _AO_AS1107_H_ */
diff --git a/src/drivers/ao_button.c b/src/drivers/ao_button.c
index 725ac45a..07e92c67 100644
--- a/src/drivers/ao_button.c
+++ b/src/drivers/ao_button.c
@@ -39,8 +39,16 @@ static struct ao_button_state	ao_button_state[AO_BUTTON_COUNT];
 #define bit(q) AO_BUTTON_ ## q
 #define pin(q) AO_BUTTON_ ## q ## _PIN
 
+#ifndef AO_BUTTON_INVERTED
+#define AO_BUTTON_INVERTED	1
+#endif
+
+#if AO_BUTTON_INVERTED
 /* pins are inverted */
 #define ao_button_value(b)	!ao_gpio_get(port(b), bit(b), pin(b))
+#else
+#define ao_button_value(b)	ao_gpio_get(port(b), bit(b), pin(b))
+#endif
 
 static uint8_t
 _ao_button_get(uint8_t b)
diff --git a/src/drivers/ao_cc115l.c b/src/drivers/ao_cc115l.c
index a67071d2..c1c21e0d 100644
--- a/src/drivers/ao_cc115l.c
+++ b/src/drivers/ao_cc115l.c
@@ -39,7 +39,7 @@ static uint8_t ao_radio_abort;		/* radio operation should abort */
 
 #define FOSC	26000000
 
-#define ao_radio_select()	ao_spi_get_mask(AO_CC115L_SPI_CS_PORT,(1 << AO_CC115L_SPI_CS_PIN),AO_CC115L_SPI_BUS,AO_SPI_SPEED_6MHz)
+#define ao_radio_select()	ao_spi_get_mask(AO_CC115L_SPI_CS_PORT,(1 << AO_CC115L_SPI_CS_PIN),AO_CC115L_SPI_BUS,AO_CC115L_SPI_SPEED)
 #define ao_radio_deselect()	ao_spi_put_mask(AO_CC115L_SPI_CS_PORT,(1 << AO_CC115L_SPI_CS_PIN),AO_CC115L_SPI_BUS)
 #define ao_radio_spi_send(d,l)	ao_spi_send((d), (l), AO_CC115L_SPI_BUS)
 #define ao_radio_spi_send_fixed(d,l) ao_spi_send_fixed((d), (l), AO_CC115L_SPI_BUS)
diff --git a/src/drivers/ao_cc1200.c b/src/drivers/ao_cc1200.c
index 2bc99734..de282000 100644
--- a/src/drivers/ao_cc1200.c
+++ b/src/drivers/ao_cc1200.c
@@ -51,7 +51,11 @@ extern const uint32_t	ao_radio_cal;
 #define FOSC	40000000
 #endif
 
-#define ao_radio_select()	ao_spi_get_mask(AO_CC1200_SPI_CS_PORT,(1 << AO_CC1200_SPI_CS_PIN),AO_CC1200_SPI_BUS,AO_SPI_SPEED_FAST)
+#ifndef AO_CC1200_SPI_SPEED
+#error AO_CC1200_SPI_SPEED undefined
+#endif
+
+#define ao_radio_select()	ao_spi_get_mask(AO_CC1200_SPI_CS_PORT,(1 << AO_CC1200_SPI_CS_PIN),AO_CC1200_SPI_BUS,AO_CC1200_SPI_SPEED)
 #define ao_radio_deselect()	ao_spi_put_mask(AO_CC1200_SPI_CS_PORT,(1 << AO_CC1200_SPI_CS_PIN),AO_CC1200_SPI_BUS)
 #define ao_radio_spi_send(d,l)	ao_spi_send((d), (l), AO_CC1200_SPI_BUS)
 #define ao_radio_spi_send_fixed(d,l) ao_spi_send_fixed((d), (l), AO_CC1200_SPI_BUS)
@@ -1323,7 +1327,7 @@ static void ao_radio_packet(void) {
 void
 ao_radio_test_recv(void)
 {
-	uint8_t	bytes[34];
+	static uint8_t	bytes[34];
 	uint8_t	b;
 
 	if (ao_radio_recv(bytes, 34, 0)) {
diff --git a/src/drivers/ao_console.c b/src/drivers/ao_console.c
new file mode 100644
index 00000000..cbde38c9
--- /dev/null
+++ b/src/drivers/ao_console.c
@@ -0,0 +1,151 @@
+/*
+ * 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_console.h"
+#include "ao_ps2.h"
+#include "ao_vga.h"
+
+static uint8_t	console_row, console_col;
+
+#define ao_console_bitmap	ao_vga_bitmap
+
+static uint8_t	console_rows, console_cols;
+
+static void
+ao_console_scroll(void)
+{
+	ao_copy(&ao_console_bitmap,
+		0, 0,
+		ao_console_bitmap.width,
+		ao_console_bitmap.height - ao_font.height,
+		&ao_console_bitmap,
+		0, ao_font.height,
+		AO_COPY);
+	ao_rect(&ao_console_bitmap,
+		0,
+		(console_rows - 1) * ao_font.height,
+		ao_console_bitmap.width,
+		ao_font.height,
+		1,
+		AO_COPY);
+}
+
+static void
+ao_console_cursor(void)
+{
+	ao_rect(&ao_console_bitmap,
+		console_col * ao_font.width,
+		console_row * ao_font.height,
+		ao_font.width,
+		ao_font.height,
+		1,
+		AO_XOR);
+}
+
+static void
+ao_console_clear(void)
+{
+	ao_rect(&ao_console_bitmap,
+		0, 0,
+		ao_console_bitmap.width,
+		ao_console_bitmap.height,
+		1,
+		AO_COPY);
+}
+
+static void
+ao_console_space(void)
+{
+	ao_rect(&ao_console_bitmap,
+		console_col * ao_font.width,
+		console_row * ao_font.height,
+		ao_font.width,
+		ao_font.height,
+		1,
+		AO_COPY);
+}
+
+static void
+ao_console_newline(void)
+{
+	if (++console_row == console_rows) {
+		ao_console_scroll();
+		console_row--;
+	}
+}
+
+void
+ao_console_putchar(char c)
+{
+	if (' ' <= c && c < 0x7f) {
+		char	text[2];
+		ao_console_space();
+		text[0] = c;
+		text[1] = '\0';
+		ao_text(&ao_console_bitmap,
+			console_col * ao_font.width,
+			console_row * ao_font.height + ao_font.ascent,
+			text,
+			0,
+			AO_COPY);
+		if (++console_col == console_cols) {
+			console_col = 0;
+			ao_console_newline();
+		}
+	} else {
+		ao_console_cursor();
+		switch (c) {
+		case '\r':
+			console_col = 0;
+			break;
+		case '\t':
+			console_col += 8 - (console_col & 7);
+			if (console_col >= console_cols) {
+				console_col = 0;
+				ao_console_newline();
+			}
+			break;
+		case '\n':
+			ao_console_newline();
+			break;
+		case '\f':
+			console_col = console_row = 0;
+			ao_console_clear();
+			break;
+		case '\177':
+		case '\010':
+			if (console_col)
+				console_col--;
+			break;
+		}
+	}
+	ao_console_cursor();
+}
+
+void
+ao_console_init(void)
+{
+	console_cols = ao_console_bitmap.width / ao_font.width;
+	console_rows = ao_console_bitmap.height / ao_font.height;
+#if CONSOLE_STDIN
+	ao_ps2_stdin = 1;
+	ao_add_stdio(_ao_ps2_pollchar,
+		     ao_console_putchar,
+		     NULL);
+#endif
+	ao_console_clear();
+	ao_console_cursor();
+	ao_vga_enable(1);
+}
diff --git a/src/drivers/ao_console.h b/src/drivers/ao_console.h
new file mode 100644
index 00000000..33d3658a
--- /dev/null
+++ b/src/drivers/ao_console.h
@@ -0,0 +1,24 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_CONSOLE_H_
+#define _AO_CONSOLE_H_
+
+void
+ao_console_putchar(char c);
+
+void
+ao_console_init(void);
+
+#endif /* _AO_CONSOLE_H_ */
diff --git a/src/drivers/ao_event.h b/src/drivers/ao_event.h
index d1c69d81..d1df6eac 100644
--- a/src/drivers/ao_event.h
+++ b/src/drivers/ao_event.h
@@ -22,6 +22,7 @@
 #define AO_EVENT_NONE		0
 #define AO_EVENT_QUADRATURE	1
 #define AO_EVENT_BUTTON		2
+#define AO_EVENT_KEY		3
 
 struct ao_event {
 	uint8_t		type;
diff --git a/src/drivers/ao_fat.c b/src/drivers/ao_fat.c
index fb8eecff..43e7df23 100644
--- a/src/drivers/ao_fat.c
+++ b/src/drivers/ao_fat.c
@@ -1615,7 +1615,7 @@ ao_fat_hexdump_cmd(void)
 		ao_cmd_status = ao_cmd_syntax_error;
 		return;
 	}
-		
+
 	fd = ao_fat_open(name, AO_FAT_OPEN_READ);
 	if (fd < 0) {
 		printf ("Open failed: %d\n", fd);
@@ -1649,5 +1649,7 @@ void
 ao_fat_init(void)
 {
 	ao_bufio_init();
+#if FAT_COMMANDS
 	ao_cmd_register(&ao_fat_cmds[0]);
+#endif
 }
diff --git a/src/drivers/ao_lco.c b/src/drivers/ao_lco.c
index 00f10ecc..e1806ca3 100644
--- a/src/drivers/ao_lco.c
+++ b/src/drivers/ao_lco.c
@@ -661,7 +661,7 @@ ao_lco_monitor(void)
 		       ao_lco_armed, ao_lco_firing);
 
 		if (ao_lco_armed && ao_lco_firing) {
-			ao_lco_ignite();
+			ao_lco_ignite(AO_PAD_FIRE);
 		} else {
 			ao_lco_update();
 			if (ao_lco_armed) {
diff --git a/src/drivers/ao_lco_cmd.c b/src/drivers/ao_lco_cmd.c
index dcc0c6d0..8de21fb6 100644
--- a/src/drivers/ao_lco_cmd.c
+++ b/src/drivers/ao_lco_cmd.c
@@ -61,9 +61,9 @@ lco_arm(void)
 }
 
 static void
-lco_ignite(void)
+lco_ignite(uint8_t cmd)
 {
-	ao_lco_ignite();
+	ao_lco_ignite(cmd);
 }
 
 static void
@@ -145,7 +145,40 @@ lco_fire_cmd(void) __reentrant
 		secs = 100;
 	for (i = 0; i < secs; i++) {
 		printf("fire %d\n", i); flush();
-		lco_ignite();
+		lco_ignite(AO_PAD_FIRE);
+		ao_delay(AO_MS_TO_TICKS(100));
+	}
+}
+
+static void
+lco_static_cmd(void) __reentrant
+{
+	uint8_t		secs;
+	uint8_t		i;
+	int8_t		r;
+
+	lco_args();
+	ao_cmd_decimal();
+	secs = ao_cmd_lex_i;
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	r = lco_query();
+	if (r != AO_RADIO_CMAC_OK) {
+		printf("query failed %d\n", r);
+		return;
+	}
+
+	for (i = 0; i < 4; i++) {
+		printf("arm %d\n", i); flush();
+		lco_arm();
+	}
+
+	secs = secs * 10 - 5;
+	if (secs > 100)
+		secs = 100;
+	for (i = 0; i < secs; i++) {
+		printf("fire %d\n", i); flush();
+		lco_ignite(AO_PAD_STATIC);
 		ao_delay(AO_MS_TO_TICKS(100));
 	}
 }
@@ -171,12 +204,22 @@ lco_ignite_cmd(void) __reentrant
 	uint8_t i;
 	lco_args();
 	for (i = 0; i < 4; i++)
-		lco_ignite();
+		lco_ignite(AO_PAD_FIRE);
+}
+
+
+static void
+lco_endstatic_cmd(void) __reentrant
+{
+	lco_ignite(AO_PAD_ENDSTATIC);
 }
 
 static __code struct ao_cmds ao_lco_cmds[] = {
 	{ lco_report_cmd,	"l <box> <channel>\0Get remote status" },
 	{ lco_fire_cmd,		"F <box> <channel> <secs>\0Fire remote igniters" },
+	{ lco_fire_cmd,		"F <box> <channel> <secs>\0Fire remote igniters" },
+	{ lco_static_cmd,	"S <box> <channel> <secs>\0Initiate static test" },
+	{ lco_endstatic_cmd,	"D\0End static test (and download someday)" },
 	{ lco_arm_cmd,		"a <box> <channel>\0Arm remote igniter" },
 	{ lco_ignite_cmd,	"i <box> <channel>\0Pulse remote igniter" },
 	{ 0, NULL },
diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c
index 862cb1be..92b344ed 100644
--- a/src/drivers/ao_lco_func.c
+++ b/src/drivers/ao_lco_func.c
@@ -47,7 +47,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
 	ao_mutex_get(&ao_lco_mutex);
 	command.tick = ao_time();
 	command.box = box;
-	command.cmd = AO_LAUNCH_QUERY;
+	command.cmd = AO_PAD_QUERY;
 	command.channels = 0;
 	ao_radio_cmac_send(&command, sizeof (command));
 	sent_time = ao_time();
@@ -64,19 +64,19 @@ ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset)
 	ao_mutex_get(&ao_lco_mutex);
 	command.tick = ao_time() - tick_offset;
 	command.box = box;
-	command.cmd = AO_LAUNCH_ARM;
+	command.cmd = AO_PAD_ARM;
 	command.channels = channels;
 	ao_radio_cmac_send(&command, sizeof (command));
 	ao_mutex_put(&ao_lco_mutex);
 }
 
 void
-ao_lco_ignite(void)
+ao_lco_ignite(uint8_t cmd)
 {
 	ao_mutex_get(&ao_lco_mutex);
 	command.tick = 0;
 	command.box = 0;
-	command.cmd = AO_LAUNCH_FIRE;
+	command.cmd = cmd;
 	command.channels = 0;
 	ao_radio_cmac_send(&command, sizeof (command));
 	ao_mutex_put(&ao_lco_mutex);
diff --git a/src/drivers/ao_lco_func.h b/src/drivers/ao_lco_func.h
index 6b06f928..9d4a27ba 100644
--- a/src/drivers/ao_lco_func.h
+++ b/src/drivers/ao_lco_func.h
@@ -28,6 +28,6 @@ void
 ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset);
 
 void
-ao_lco_ignite(void);
+ao_lco_ignite(uint8_t cmd);
 
 #endif /* _AO_LCO_FUNC_H_ */
diff --git a/src/drivers/ao_lco_two.c b/src/drivers/ao_lco_two.c
index 1cb0546c..e2f86745 100644
--- a/src/drivers/ao_lco_two.c
+++ b/src/drivers/ao_lco_two.c
@@ -287,7 +287,7 @@ ao_lco_monitor(void)
 		       ao_lco_armed, ao_lco_firing);
 
 		if (ao_lco_armed && ao_lco_firing) {
-			ao_lco_ignite();
+			ao_lco_ignite(AO_PAD_FIRE);
 		} else {
 			ao_lco_get_channels();
 			if (ao_lco_armed) {
diff --git a/src/drivers/ao_matrix.c b/src/drivers/ao_matrix.c
new file mode 100644
index 00000000..fa2d0c57
--- /dev/null
+++ b/src/drivers/ao_matrix.c
@@ -0,0 +1,201 @@
+/*
+ * 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_matrix.h>
+#include <ao_event.h>
+#include <ao_exti.h>
+
+#define row_port(q)	AO_MATRIX_ROW_ ## q ## _PORT
+#define row_bit(q) 	AO_MATRIX_ROW_ ## q ## _PIN
+#define row_pin(q) 	AO_MATRIX_ROW_ ## q ## _PIN
+
+#define col_port(q)	AO_MATRIX_COL_ ## q ## _PORT
+#define col_bit(q) 	AO_MATRIX_COL_ ## q ## _PIN
+#define col_pin(q) 	AO_MATRIX_COL_ ## q ## _PIN
+
+static void
+_ao_matrix_drive_row(uint8_t row, uint8_t val)
+{
+	switch (row) {
+#define drive(n) case n: ao_gpio_set(row_port(n), row_bit(n), row_pin(n), val); break
+		drive(0);
+#if AO_MATRIX_ROWS > 1
+		drive(1);
+#endif
+#if AO_MATRIX_ROWS > 2
+		drive(2);
+#endif
+#if AO_MATRIX_ROWS > 3
+		drive(3);
+#endif
+#if AO_MATRIX_ROWS > 4
+		drive(4);
+#endif
+#if AO_MATRIX_ROWS > 5
+		drive(5);
+#endif
+#if AO_MATRIX_ROWS > 6
+		drive(6);
+#endif
+#if AO_MATRIX_ROWS > 7
+		drive(7);
+#endif
+	}
+}
+
+static uint8_t
+_ao_matrix_read_cols(void)
+{
+	uint8_t	v = 0;
+#define read(n)	(v |= ao_gpio_get(col_port(n), col_bit(n), col_pin(n)) << n)
+
+	read(0);
+#if AO_MATRIX_ROWS > 1
+	read(1);
+#endif
+#if AO_MATRIX_ROWS > 2
+	read(2);
+#endif
+#if AO_MATRIX_ROWS > 3
+	read(3);
+#endif
+#if AO_MATRIX_ROWS > 4
+	read(4);
+#endif
+#if AO_MATRIX_ROWS > 5
+	read(5);
+#endif
+#if AO_MATRIX_ROWS > 6
+	read(6);
+#endif
+#if AO_MATRIX_ROWS > 7
+	read(7);
+#endif
+	return v;
+}
+
+static uint8_t
+_ao_matrix_read(uint8_t row) {
+	uint8_t	state;
+	_ao_matrix_drive_row(row, 0);
+	state = _ao_matrix_read_cols();
+	_ao_matrix_drive_row(row, 1);
+	return state;
+}
+
+#define AO_MATRIX_DEBOUNCE_INTERVAL	AO_MS_TO_TICKS(50)
+
+static uint8_t ao_matrix_keymap[AO_MATRIX_ROWS][AO_MATRIX_COLS] = AO_MATRIX_KEYCODES;
+
+static uint8_t		ao_matrix_state[AO_MATRIX_ROWS];
+static AO_TICK_TYPE	ao_matrix_tick[AO_MATRIX_ROWS];
+
+static void
+_ao_matrix_poll_one(uint8_t row) {
+	uint8_t	state = _ao_matrix_read(row);
+
+	if (state != ao_matrix_state[row]) {
+		AO_TICK_TYPE	now = ao_time();
+
+		if ((now - ao_matrix_tick[row]) >= AO_MATRIX_DEBOUNCE_INTERVAL) {
+			uint8_t col;
+			uint8_t changes = state ^ ao_matrix_state[row];
+
+			for (col = 0; col < AO_MATRIX_COLS; col++) {
+				if (changes & (1 << col)) {
+					ao_event_put_isr(AO_EVENT_KEY,
+							 ao_matrix_keymap[row][col],
+							 ((state >> col) & 1) == 0);
+				}
+			}
+			ao_matrix_state[row] = state;
+		}
+		ao_matrix_tick[row] = now;
+	}
+}
+
+void
+ao_matrix_poll(void)
+{
+	uint8_t	row;
+
+	for (row = 0; row < AO_MATRIX_ROWS; row++)
+		_ao_matrix_poll_one(row);
+}
+
+#define init_row(b) do {						\
+		ao_enable_output(row_port(b), row_bit(b), row_pin(v), 1); \
+		ao_gpio_set_output_mode(row_port(b), row_bit(b), row_pin(b), AO_OUTPUT_OPEN_DRAIN); \
+	} while (0)
+
+#define init_col(b) do { \
+		ao_enable_input(col_port(b), col_bit(b), AO_EXTI_MODE_PULL_UP); \
+	} while(0)
+
+void
+ao_matrix_init(void)
+{
+	uint8_t	row;
+
+	init_row(0);
+#if AO_MATRIX_ROWS > 1
+	init_row(1);
+#endif
+#if AO_MATRIX_ROWS > 2
+	init_row(2);
+#endif
+#if AO_MATRIX_ROWS > 3
+	init_row(3);
+#endif
+#if AO_MATRIX_ROWS > 4
+	init_row(4);
+#endif
+#if AO_MATRIX_ROWS > 5
+	init_row(5);
+#endif
+#if AO_MATRIX_ROWS > 6
+	init_row(6);
+#endif
+#if AO_MATRIX_ROWS > 7
+	init_row(7);
+#endif
+
+	init_col(0);
+#if AO_MATRIX_COLS > 1
+	init_col(1);
+#endif
+#if AO_MATRIX_COLS > 2
+	init_col(2);
+#endif
+#if AO_MATRIX_COLS > 3
+	init_col(3);
+#endif
+#if AO_MATRIX_COLS > 4
+	init_col(4);
+#endif
+#if AO_MATRIX_COLS > 5
+	init_col(5);
+#endif
+#if AO_MATRIX_COLS > 6
+	init_col(6);
+#endif
+#if AO_MATRIX_COLS > 7
+	init_col(7);
+#endif
+	for (row = 0; row < AO_MATRIX_ROWS; row++) {
+		ao_matrix_state[row] = _ao_matrix_read(row);
+		ao_matrix_tick[row] = ao_time();
+	}
+}
diff --git a/src/drivers/ao_matrix.h b/src/drivers/ao_matrix.h
new file mode 100644
index 00000000..ab5a1c51
--- /dev/null
+++ b/src/drivers/ao_matrix.h
@@ -0,0 +1,24 @@
+/*
+ * 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_MATRIX_H_
+#define _AO_MATRIX_H_
+
+void
+ao_matrix_poll(void);
+
+void
+ao_matrix_init(void);
+
+#endif /* _AO_MATRIX_H_ */
diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index ffa833fe..16b4ae60 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -316,7 +316,7 @@ ao_pad(void)
 			command.tick, command.box, ao_pad_box, command.cmd, command.channels);
 
 		switch (command.cmd) {
-		case AO_LAUNCH_ARM:
+		case AO_PAD_ARM:
 			if (command.box != ao_pad_box) {
 				PRINTD ("box number mismatch\n");
 				break;
@@ -338,7 +338,7 @@ ao_pad(void)
 			ao_pad_arm_time = ao_time();
 			break;
 
-		case AO_LAUNCH_QUERY:
+		case AO_PAD_QUERY:
 			if (command.box != ao_pad_box) {
 				PRINTD ("box number mismatch\n");
 				break;
@@ -357,7 +357,7 @@ ao_pad(void)
 				query.igniter_status[3]);
 			ao_radio_cmac_send(&query, sizeof (query));
 			break;
-		case AO_LAUNCH_FIRE:
+		case AO_PAD_FIRE:
 			if (!ao_pad_armed) {
 				PRINTD ("not armed\n");
 				break;
@@ -372,6 +372,29 @@ ao_pad(void)
 			ao_pad_arm_time = ao_time();
 			ao_wakeup(&ao_pad_ignite);
 			break;
+		case AO_PAD_STATIC:
+			if (!ao_pad_armed) {
+				PRINTD ("not armed\n");
+				break;
+			}
+#if HAS_LOG
+			if (!ao_log_running) ao_log_start();
+#endif
+			if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
+				PRINTD ("late pad arm_time %d time %d\n",
+					ao_pad_arm_time, ao_time());
+				break;
+			}
+			PRINTD ("ignite\n");
+			ao_pad_ignite = ao_pad_armed;
+			ao_pad_arm_time = ao_time();
+			ao_wakeup(&ao_pad_ignite);
+			break;
+		case AO_PAD_ENDSTATIC:
+#if HAS_LOG
+			ao_log_stop();
+#endif
+			break;
 		}
 	}
 }
diff --git a/src/drivers/ao_pad.h b/src/drivers/ao_pad.h
index 648d3005..e4115222 100644
--- a/src/drivers/ao_pad.h
+++ b/src/drivers/ao_pad.h
@@ -54,6 +54,11 @@ struct ao_pad_query {
  */
 #define AO_PAD_FIRE		3
 
+/* Fire current armed pads for 200ms, no report, logging test stand sensors
+ */
+#define AO_PAD_STATIC		4
+#define AO_PAD_ENDSTATIC	5
+
 #define AO_PAD_FIRE_TIME	AO_MS_TO_TICKS(200)
 
 #define AO_PAD_ARM_STATUS_DISARMED	0
diff --git a/src/drivers/ao_ps2.c b/src/drivers/ao_ps2.c
new file mode 100644
index 00000000..29eecea8
--- /dev/null
+++ b/src/drivers/ao_ps2.c
@@ -0,0 +1,419 @@
+/*
+ * 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_ps2.h"
+#include "ao_exti.h"
+
+static struct ao_fifo	ao_ps2_rx_fifo;
+
+static uint16_t		ao_ps2_tx;
+static uint8_t		ao_ps2_tx_count;
+
+static AO_TICK_TYPE	ao_ps2_tick;
+static uint16_t		ao_ps2_value;
+static uint8_t		ao_ps2_count;
+
+uint8_t			ao_ps2_stdin;
+
+uint8_t			ao_ps2_scancode_set;
+
+#define AO_PS2_CLOCK_MODE(pull) ((pull) | AO_EXTI_MODE_FALLING | AO_EXTI_PRIORITY_MED)
+
+static void
+ao_ps2_isr(void);
+
+static uint8_t
+_ao_ps2_parity(uint8_t value)
+{
+	uint8_t	parity = 1;
+	uint8_t	b;
+
+	for (b = 0; b < 8; b++) {
+		parity ^= (value & 1);
+		value >>= 1;
+	}
+	return parity;
+}
+
+static int
+_ao_ps2_poll(void)
+{
+	uint8_t	u;
+	if (ao_fifo_empty(ao_ps2_rx_fifo)) {
+		return AO_READ_AGAIN;
+	}
+	ao_fifo_remove(ao_ps2_rx_fifo, u);
+
+	return (int) u;
+}
+
+uint8_t
+ao_ps2_get(void)
+{
+	int c;
+	ao_arch_block_interrupts();
+	while ((c = _ao_ps2_poll()) == AO_READ_AGAIN)
+		ao_sleep(&ao_ps2_rx_fifo);
+	ao_arch_release_interrupts();
+	return (uint8_t) c;
+}
+
+
+int
+ao_ps2_poll(void)
+{
+	int	c;
+	ao_arch_block_interrupts();
+	c = _ao_ps2_poll();
+	ao_arch_release_interrupts();
+	return (uint8_t) c;
+}
+
+void
+ao_ps2_put(uint8_t c)
+{
+	ao_arch_block_interrupts();
+	ao_ps2_tx = ((uint16_t) c) | (_ao_ps2_parity(c) << 8) | (3 << 9);
+	ao_ps2_tx_count = 11;
+	ao_exti_disable(AO_PS2_CLOCK_PORT, AO_PS2_CLOCK_BIT);
+	ao_arch_release_interrupts();
+
+	/* pull the clock pin down */
+	ao_enable_output(AO_PS2_CLOCK_PORT, AO_PS2_CLOCK_BIT, AO_PS2_CLOCK_PIN, 0);
+	ao_delay(0);
+
+	/* pull the data pin down for the start bit */
+	ao_enable_output(AO_PS2_DATA_PORT, AO_PS2_DATA_BIT, AO_PS2_DATA_PIN, 0);
+	ao_delay(0);
+
+	/* switch back to input mode for the interrupt to work */
+	ao_exti_setup(AO_PS2_CLOCK_PORT, AO_PS2_CLOCK_BIT,
+		      AO_PS2_CLOCK_MODE(AO_EXTI_MODE_PULL_UP),
+		      ao_ps2_isr);
+	ao_exti_enable(AO_PS2_CLOCK_PORT, AO_PS2_CLOCK_BIT);
+
+	/* wait for the bits to drain */
+	while (ao_ps2_tx_count)
+		ao_sleep(&ao_ps2_tx_count);
+
+}
+
+static uint8_t	ao_ps2_down[128 / 8];
+
+static void
+ao_ps2_set_down(uint8_t code, uint8_t value)
+{
+	uint8_t shift = (code & 0x07);
+	uint8_t	byte = code >> 3;
+
+	ao_ps2_down[byte] = (ao_ps2_down[byte] & ~(1 << shift)) | (value << shift);
+}
+
+uint8_t
+ao_ps2_is_down(uint8_t code)
+{
+	uint8_t shift = (code & 0x07);
+	uint8_t	byte = code >> 3;
+
+	return (ao_ps2_down[byte] >> shift) & 1;
+}
+
+static void
+_ao_ps2_set_leds(void)
+{
+	uint8_t	led = 0;
+	if (ao_ps2_is_down(AO_PS2_CAPS_LOCK))
+		led |= AO_PS2_SET_LEDS_CAPS;
+	if (ao_ps2_is_down(AO_PS2_NUM_LOCK))
+		led |= AO_PS2_SET_LEDS_NUM;
+	if (ao_ps2_is_down(AO_PS2_SCROLL_LOCK))
+		led |= AO_PS2_SET_LEDS_SCROLL;
+	ao_arch_release_interrupts();
+	ao_ps2_put(AO_PS2_SET_LEDS);
+	while (ao_ps2_get() != 0xfa);
+	ao_ps2_put(led);
+	ao_arch_block_interrupts();
+}
+
+static uint8_t
+ao_ps2_is_lock(uint8_t code) {
+	switch (code) {
+	case AO_PS2_CAPS_LOCK:
+	case AO_PS2_NUM_LOCK:
+	case AO_PS2_SCROLL_LOCK:
+		return 1;
+	}
+	return 0;
+}
+
+static void
+_ao_ps2_set_scancode_set(uint8_t set)
+{
+	ao_ps2_scancode_set = set;
+	ao_arch_release_interrupts();
+	ao_ps2_put(AO_PS2_SET_SCAN_CODE_SET);
+	while (ao_ps2_get() != 0xfa);
+	ao_ps2_put(set);
+	ao_ps2_put(AO_PS2_SET_KEY_TYPEMATIC_MAKE_BREAK);
+	while (ao_ps2_get() != 0xfa);
+	ao_arch_block_interrupts();
+}
+
+static int
+_ao_ps2_poll_key(void)
+{
+	int	c;
+	uint8_t	set_led = 0;
+	static uint8_t	saw_break;
+
+	c = _ao_ps2_poll();
+	if (c < 0) {
+		if (ao_ps2_scancode_set != 3) {
+			_ao_ps2_set_scancode_set(3);
+		}
+		return c;
+	}
+
+	if (c == AO_PS2_BREAK) {
+		saw_break = 1;
+		return AO_READ_AGAIN;
+	}
+	if (c & 0x80)
+		return AO_READ_AGAIN;
+
+	if (ao_ps2_is_lock(c)) {
+		if (saw_break) {
+			saw_break = 0;
+			return AO_READ_AGAIN;
+		}
+		if (ao_ps2_is_down(c))
+			saw_break = 1;
+		set_led = 1;
+	}
+	if (saw_break) {
+		saw_break = 0;
+		ao_ps2_set_down(c, 0);
+		c |= 0x80;
+	} else
+		ao_ps2_set_down(c, 1);
+	if (set_led)
+		_ao_ps2_set_leds();
+
+	if (ao_ps2_scancode_set != 3)
+		_ao_ps2_set_scancode_set(3);
+
+	return c;
+}
+
+int
+ao_ps2_poll_key(void)
+{
+	int	c;
+	ao_arch_block_interrupts();
+	c = _ao_ps2_poll_key();
+	ao_arch_release_interrupts();
+	return c;
+}
+
+uint8_t
+ao_ps2_get_key(void)
+{
+	int	c;
+	ao_arch_block_interrupts();
+	while ((c = _ao_ps2_poll_key()) == AO_READ_AGAIN)
+		ao_sleep(&ao_ps2_rx_fifo);
+	ao_arch_release_interrupts();
+	return (uint8_t) c;
+}
+
+static const uint8_t	ao_ps2_asciimap[128][2] = {
+	[AO_PS2_A] = { 'a', 'A' },
+	[AO_PS2_B] = { 'b', 'B' },
+	[AO_PS2_C] = { 'c', 'C' },
+	[AO_PS2_D] = { 'd', 'D' },
+	[AO_PS2_E] = { 'e', 'E' },
+	[AO_PS2_F] = { 'f', 'F' },
+	[AO_PS2_G] = { 'g', 'G' },
+	[AO_PS2_H] = { 'h', 'H' },
+	[AO_PS2_I] = { 'i', 'I' },
+	[AO_PS2_J] = { 'j', 'J' },
+	[AO_PS2_K] = { 'k', 'K' },
+	[AO_PS2_L] = { 'l', 'L' },
+	[AO_PS2_M] = { 'm', 'M' },
+	[AO_PS2_N] = { 'n', 'N' },
+	[AO_PS2_O] = { 'o', 'O' },
+	[AO_PS2_P] = { 'p', 'P' },
+	[AO_PS2_Q] = { 'q', 'Q' },
+	[AO_PS2_R] = { 'r', 'R' },
+	[AO_PS2_S] = { 's', 'S' },
+	[AO_PS2_T] = { 't', 'T' },
+	[AO_PS2_U] = { 'u', 'U' },
+	[AO_PS2_V] = { 'v', 'V' },
+	[AO_PS2_W] = { 'w', 'W' },
+	[AO_PS2_X] = { 'x', 'X' },
+	[AO_PS2_Y] = { 'y', 'Y' },
+	[AO_PS2_Z] = { 'z', 'Z' },
+
+	[AO_PS2_0] = { '0', ')' },
+	[AO_PS2_1] = { '1', '!' },
+	[AO_PS2_2] = { '2', '@' },
+	[AO_PS2_3] = { '3', '#' },
+	[AO_PS2_4] = { '4', '$' },
+	[AO_PS2_5] = { '5', '%' },
+	[AO_PS2_6] = { '6', '^' },
+	[AO_PS2_7] = { '7', '&' },
+	[AO_PS2_8] = { '8', '*' },
+	[AO_PS2_9] = { '9', '(' },
+
+	[AO_PS2_GRAVE] = { '`', '~' },
+	[AO_PS2_HYPHEN] = { '-', '_' },
+	[AO_PS2_EQUAL] = { '=', '+' },
+	[AO_PS2_BACKSLASH] = { '\\', '|' },
+	[AO_PS2_BACKSPACE] = { '\010', '\010' },
+	[AO_PS2_SPACE] = { ' ', ' ' },
+	[AO_PS2_TAB] = { '\t', '\t' },
+
+	[AO_PS2_ENTER] = { '\r', '\r' },
+	[AO_PS2_ESC] = { '\033', '\033' },
+
+	[AO_PS2_OPEN_SQ] = { '[', '{' },
+	[AO_PS2_DELETE] = { '\177', '\177' },
+
+	[AO_PS2_KP_TIMES] = { '*', '*' },
+	[AO_PS2_KP_PLUS] = { '+', '+' },
+	[AO_PS2_KP_ENTER] = { '\r', '\r' },
+	[AO_PS2_KP_DECIMAL] = { '.', '.' },
+	[AO_PS2_KP_0] = { '0', '0' },
+	[AO_PS2_KP_1] = { '1', '1' },
+	[AO_PS2_KP_2] = { '2', '2' },
+	[AO_PS2_KP_3] = { '3', '3' },
+	[AO_PS2_KP_4] = { '4', '4' },
+	[AO_PS2_KP_5] = { '5', '5' },
+	[AO_PS2_KP_6] = { '6', '6' },
+	[AO_PS2_KP_7] = { '7', '7' },
+	[AO_PS2_KP_8] = { '8', '8' },
+	[AO_PS2_KP_9] = { '9', '9' },
+	[AO_PS2_CLOSE_SQ] = { ']', '}' },
+	[AO_PS2_SEMICOLON] = { ';', ':' },
+	[AO_PS2_ACUTE] = { '\'', '"' },
+	[AO_PS2_COMMA] = { ',', '<' },
+	[AO_PS2_PERIOD] = { '.', '>' },
+	[AO_PS2_SLASH] = { '/', '?' },
+};
+
+int
+ao_ps2_ascii(uint8_t key)
+{
+	uint8_t	col;
+	char a;
+
+	/* Skip key releases */
+	if (key & 0x80)
+		return AO_READ_AGAIN;
+
+	col = 0;
+	if (ao_ps2_is_down(AO_PS2_L_SHIFT) || ao_ps2_is_down(AO_PS2_R_SHIFT))
+		col = 1;
+
+	/* caps lock */
+	a = ao_ps2_asciimap[key][0];
+	if (!a)
+		return AO_READ_AGAIN;
+
+	if ('a' <= a && a <= 'z')
+		if (ao_ps2_is_down(AO_PS2_CAPS_LOCK))
+			col ^= 1;
+	a = ao_ps2_asciimap[key][col];
+	if ('@' <= a && a <= 0x7f && (ao_ps2_is_down(AO_PS2_L_CTRL) || ao_ps2_is_down(AO_PS2_R_CTRL)))
+		a &= 0x1f;
+	return a;
+}
+
+int
+_ao_ps2_pollchar(void)
+{
+	int	key;
+
+	key = _ao_ps2_poll_key();
+	if (key < 0)
+		return key;
+	return ao_ps2_ascii(key);
+}
+
+char
+ao_ps2_getchar(void)
+{
+	int	c;
+	ao_arch_block_interrupts();
+	while ((c = _ao_ps2_pollchar()) == AO_READ_AGAIN)
+		ao_sleep(&ao_ps2_rx_fifo);
+	ao_arch_release_interrupts();
+	return (char) c;
+}
+
+static void
+ao_ps2_isr(void)
+{
+	uint8_t	bit;
+
+	if (ao_ps2_tx_count) {
+		ao_gpio_set(AO_PS2_DATA_PORT, AO_PS2_DATA_BIT, AO_PS2_DATA_PIN, ao_ps2_tx&1);
+		ao_ps2_tx >>= 1;
+		ao_ps2_tx_count--;
+		if (!ao_ps2_tx_count) {
+			ao_enable_input(AO_PS2_DATA_PORT, AO_PS2_DATA_BIT, AO_EXTI_MODE_PULL_UP);
+			ao_wakeup(&ao_ps2_tx_count);
+		}
+		return;
+	}
+	/* reset if its been a while */
+	if ((ao_tick_count - ao_ps2_tick) > AO_MS_TO_TICKS(100))
+		ao_ps2_count = 0;
+	ao_ps2_tick = ao_tick_count;
+
+	bit = ao_gpio_get(AO_PS2_DATA_PORT, AO_PS2_DATA_BIT, AO_PS2_DATA_PIN);
+	if (ao_ps2_count == 0) {
+		/* check for start bit, ignore if not zero */
+		if (bit)
+			return;
+		ao_ps2_value = 0;
+	} else if (ao_ps2_count < 9) {
+		ao_ps2_value |= (bit << (ao_ps2_count - 1));
+	} else if (ao_ps2_count == 10) {
+		ao_fifo_insert(ao_ps2_rx_fifo, ao_ps2_value);
+		ao_wakeup(&ao_ps2_rx_fifo);
+		if (ao_ps2_stdin)
+			ao_wakeup(&ao_stdin_ready);
+		ao_ps2_count = 0;
+		return;
+	}
+	ao_ps2_count++;
+}
+
+void
+ao_ps2_init(void)
+{
+	ao_enable_input(AO_PS2_DATA_PORT, AO_PS2_DATA_BIT,
+			AO_EXTI_MODE_PULL_UP);
+
+	ao_enable_port(AO_PS2_CLOCK_PORT);
+
+	ao_exti_setup(AO_PS2_CLOCK_PORT, AO_PS2_CLOCK_BIT,
+		      AO_PS2_CLOCK_MODE(AO_EXTI_MODE_PULL_UP),
+		      ao_ps2_isr);
+	ao_exti_enable(AO_PS2_CLOCK_PORT, AO_PS2_CLOCK_BIT);
+
+	ao_ps2_scancode_set = 2;
+}
diff --git a/src/drivers/ao_ps2.h b/src/drivers/ao_ps2.h
new file mode 100644
index 00000000..f1f05ee5
--- /dev/null
+++ b/src/drivers/ao_ps2.h
@@ -0,0 +1,220 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_PS2_H_
+#define _AO_PS2_H_
+
+extern uint8_t			ao_ps2_stdin;
+
+int
+ao_ps2_poll(void);
+
+uint8_t
+ao_ps2_get(void);
+
+void
+ao_ps2_put(uint8_t b);
+
+uint8_t
+ao_ps2_is_down(uint8_t code);
+
+int
+ao_ps2_poll_key(void);
+
+uint8_t
+ao_ps2_get_key(void);
+
+int
+ao_ps2_ascii(uint8_t key);
+
+int
+_ao_ps2_pollchar(void);
+
+char
+ao_ps2_getchar(void);
+
+void
+ao_ps2_init(void);
+
+/* From http://computer-engineering.org/ps2keyboard/ */
+
+/* Device responds with ACK and then resets */
+#define AO_PS2_RESET				0xff
+
+/* Device retransmits last byte */
+#define AO_PS2_RESEND				0xfe
+
+/* Setting key report only works in mode 3 */
+
+/* Disable break and typematic for specified mode 3 keys. Terminate with invalid key */
+#define AO_PS2_SET_KEY_MAKE			0xfd
+
+/* Disable typematic for keys */
+#define AO_PS2_SET_KEY_MAKE_BREAK		0xfc
+
+/* Disable break code for keys */
+#define AO_PS2_SET_KEY_TYPEMATIC		0xfb
+
+/* Enable make, break and typematic */
+#define AO_PS2_SET_KEY_TYPEMATIC_MAKE_BREAK	0xfa
+
+/* Disable break and typematic for all */
+#define AO_PS2_SET_ALL_MAKE			0xf9
+
+/* Disable typematic for all */
+#define AO_PS2_SET_ALL_MAKE_BREAK		0xf8
+
+/* Disable break for all */
+#define AO_PS2_SET_ALL_TYPEMATIC		0xf7
+
+/* Set keyboard to default (repeat, report and scan code set 2) */
+#define AO_PS2_SET_DEFAULT			0xf6
+
+/* Disable and reset to default */
+#define AO_PS2_DISABLE				0xf5
+
+/* Enable */
+#define AO_PS2_ENABLE				0xf4
+
+/* Set repeat rate. Bytes 5-6 are the start delay, bits 0-4 are the rate */
+#define AO_PS2_SET_REPEAT_RATE			0xf3
+
+/* Read keyboard id. Returns two bytes */
+#define AO_PS2_GETID				0xf2
+
+/* Set scan code (1, 2, or 3) */
+#define AO_PS2_SET_SCAN_CODE_SET		0xf0
+
+/* Echo. Keyboard replies with Echo */
+#define AO_PS2_ECHO				0xee
+
+/* Set LEDs */
+#define AO_PS2_SET_LEDS				0xed
+# define AO_PS2_SET_LEDS_SCROLL			0x01
+# define AO_PS2_SET_LEDS_NUM			0x02
+# define AO_PS2_SET_LEDS_CAPS			0x04
+
+#define AO_PS2_BREAK				0xf0
+#define AO_PS2_ACK				0xfa
+#define AO_PS2_ERROR				0xfc
+#define AO_PS2_NAK				0xfe
+
+/* Scan code set 3 */
+
+#define AO_PS2_A		0x1c
+#define AO_PS2_B		0x32
+#define AO_PS2_C		0x21
+#define AO_PS2_D		0x23
+#define AO_PS2_E		0x24
+#define AO_PS2_F		0x2b
+#define AO_PS2_G		0x34
+#define AO_PS2_H		0x33
+#define AO_PS2_I		0x43
+#define AO_PS2_J		0x3b
+#define AO_PS2_K		0x42
+#define AO_PS2_L		0x4b
+#define AO_PS2_M		0x3a
+#define AO_PS2_N		0x31
+#define AO_PS2_O		0x44
+#define AO_PS2_P		0x4d
+#define AO_PS2_Q		0x15
+#define AO_PS2_R		0x2d
+#define AO_PS2_S		0x1b
+#define AO_PS2_T		0x2c
+#define AO_PS2_U		0x3c
+#define AO_PS2_V		0x2a
+#define AO_PS2_W		0x1d
+#define AO_PS2_X		0x22
+#define AO_PS2_Y		0x35
+#define AO_PS2_Z		0x1a
+#define AO_PS2_0		0x45
+#define AO_PS2_1		0x16
+#define AO_PS2_2		0x1e
+#define AO_PS2_3		0x26
+#define AO_PS2_4		0x25
+#define AO_PS2_5		0x2e
+#define AO_PS2_6		0x36
+#define AO_PS2_7		0x3d
+#define AO_PS2_8		0x3e
+#define AO_PS2_9		0x46
+#define AO_PS2_GRAVE		0x0e
+#define AO_PS2_HYPHEN		0x4e
+#define AO_PS2_EQUAL		0x55
+#define AO_PS2_BACKSLASH	0x5c
+#define AO_PS2_BACKSPACE	0x66
+#define AO_PS2_SPACE		0x29
+#define AO_PS2_TAB		0x0d
+#define AO_PS2_CAPS_LOCK	0x14
+#define AO_PS2_L_SHIFT		0x12
+#define AO_PS2_L_CTRL		0x11
+#define AO_PS2_L_WIN		0x8b
+#define AO_PS2_L_ALT		0x19
+#define AO_PS2_R_SHIFT		0x59
+#define AO_PS2_R_CTRL		0x58
+#define AO_PS2_R_WIN		0x8c
+#define AO_PS2_R_ALT		0x39
+#define AO_PS2_APPS		0x8d
+#define AO_PS2_ENTER		0x5a
+#define AO_PS2_ESC		0x08
+#define AO_PS2_F1		0x07
+#define AO_PS2_F2		0x0f
+#define AO_PS2_F3		0x17
+#define AO_PS2_F4		0x1f
+#define AO_PS2_F5		0x27
+#define AO_PS2_F6		0x2f
+#define AO_PS2_F7		0x37
+#define AO_PS2_F8		0x3f
+#define AO_PS2_F9		0x47
+#define AO_PS2_F10		0x4f
+#define AO_PS2_F11		0x56
+#define AO_PS2_F12		0x5e
+#define AO_PS2_PRNT_SCRN	0x57
+#define AO_PS2_SCROLL_LOCK	0x5f
+#define AO_PS2_PAUSE		0x62
+#define AO_PS2_OPEN_SQ		0x54
+#define AO_PS2_INSERT		0x67
+#define AO_PS2_HOME		0x6e
+#define AO_PS2_PG_UP		0x6f
+#define AO_PS2_DELETE		0x64
+#define AO_PS2_END		0x65
+#define AO_PS2_PG_DN		0x6d
+#define AO_PS2_UP		0x63
+#define AO_PS2_LEFT		0x61
+#define AO_PS2_DOWN		0x60
+#define AO_PS2_RIGHT		0x6a
+#define AO_PS2_NUM_LOCK		0x76
+#define AO_PS2_KP_TIMES		0x7e
+#define AO_PS2_KP_PLUS		0x7c
+#define AO_PS2_KP_ENTER		0x79
+#define AO_PS2_KP_DECIMAL	0x71
+#define AO_PS2_KP_0		0x70
+#define AO_PS2_KP_1		0x69
+#define AO_PS2_KP_2		0x72
+#define AO_PS2_KP_3		0x7a
+#define AO_PS2_KP_4		0x6b
+#define AO_PS2_KP_5		0x73
+#define AO_PS2_KP_6		0x74
+#define AO_PS2_KP_7		0x6c
+#define AO_PS2_KP_8		0x75
+#define AO_PS2_KP_9		0x7d
+#define AO_PS2_CLOSE_SQ		0x5b
+#define AO_PS2_SEMICOLON	0x4c
+#define AO_PS2_ACUTE		0x52
+#define AO_PS2_COMMA		0x41
+#define AO_PS2_PERIOD		0x49
+#define AO_PS2_SLASH		0x4a
+
+#define AO_PS2_RELEASE_FLAG	0x80
+
+#endif /* _AO_PS2_H_ */
diff --git a/src/drivers/ao_sdcard.c b/src/drivers/ao_sdcard.c
index 4b17c5e3..45454000 100644
--- a/src/drivers/ao_sdcard.c
+++ b/src/drivers/ao_sdcard.c
@@ -38,13 +38,19 @@ extern uint8_t ao_radio_mutex;
 #define ao_sdcard_deselect()		ao_gpio_set(AO_SDCARD_SPI_CS_PORT,AO_SDCARD_SPI_CS_PIN,AO_SDCARD_SPI_CS,1)
 
 /* Include SD card commands */
+#ifndef SDCARD_DEBUG
 #define SDCARD_DEBUG	0
+#endif
 
 /* Spew SD tracing */
+#ifndef SDCARD_TRACE
 #define SDCARD_TRACE	0
+#endif
 
 /* Emit error and warning messages */
+#ifndef SDCARD_WARN
 #define SDCARD_WARN	0
+#endif
 
 static uint8_t	initialized;
 static uint8_t	present;
diff --git a/src/drivers/ao_vga.c b/src/drivers/ao_vga.c
new file mode 100644
index 00000000..909e3109
--- /dev/null
+++ b/src/drivers/ao_vga.c
@@ -0,0 +1,366 @@
+/*
+ * 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_vga.h"
+
+/* VGA output from the SPI port
+ *
+ * Connections:
+ *
+ *			STM	VGA
+ *	GND			4,6,7,8,9,10
+ *	HSYNC		PA5	13
+ *	VSYNC		PB5	14
+ *	RGB		PB4	1,2,3
+ *
+ *	pixel clock	PA8 -> PB3
+ *	pixel enable	PA1 -> PA15
+ */
+
+/* GRF formula for 640x480 yields a pixel clock very close to 24MHz. Pad by
+ * three scanlines to hit exactly that value
+ */
+
+#define HACTIVE 	(640)
+#define HSYNC_START 	(656)
+#define HSYNC_END	(720)
+#define HTOTAL		(800)
+
+#define	VACTIVE		480
+#define VSYNC_START	481
+#define VSYNC_END	484
+#define VTOTAL		500
+
+/*
+ * The horizontal counter is set so that the end of hsync is reached
+ * at the maximum counter value. That means that the hblank interval
+ * is offset by HSYNC_END.
+ */
+
+#define HSYNC		(HSYNC_END - HSYNC_START)
+#define HBLANK_END	(HTOTAL - HSYNC_END)
+#define HBLANK_START	(HBLANK_END + HACTIVE)
+
+/*
+ * The vertical counter is set so that the end of vsync is reached at
+ * the maximum counter value.  That means that the vblank interval is
+ * offset by VSYNC_END. We send a blank line at the start of the
+ * frame, so each of these is off by one
+ */
+#define VSYNC		(VSYNC_END - VSYNC_START)
+#define VBLANK_END	(VTOTAL - VSYNC_END)
+#define VBLANK_START	(VBLANK_END + VACTIVE)
+
+#define WIDTH_BYTES	(AO_VGA_WIDTH >> 3)
+#define SCANOUT		((WIDTH_BYTES+2) >> 1)
+
+uint32_t	ao_vga_fb[AO_VGA_STRIDE * AO_VGA_HEIGHT];
+
+const struct ao_bitmap ao_vga_bitmap = {
+	.base = ao_vga_fb,
+	.stride = AO_VGA_STRIDE,
+	.width = AO_VGA_WIDTH,
+	.height = AO_VGA_HEIGHT
+};
+
+static uint32_t	*scanline;
+
+#define DMA_INDEX	STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_TX)
+
+#define DMA_CCR(en)	((0 << STM_DMA_CCR_MEM2MEM) |			\
+			 (STM_DMA_CCR_PL_VERY_HIGH << STM_DMA_CCR_PL) | \
+			 (STM_DMA_CCR_MSIZE_16 << STM_DMA_CCR_MSIZE) |	\
+			 (STM_DMA_CCR_PSIZE_16 << STM_DMA_CCR_PSIZE) |	\
+			 (1 << STM_DMA_CCR_MINC) |			\
+			 (0 << STM_DMA_CCR_PINC) |			\
+			 (0 << STM_DMA_CCR_CIRC) |			\
+			 (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR) | \
+			 (0 << STM_DMA_CCR_TCIE) |			\
+			 (en << STM_DMA_CCR_EN))
+
+
+void stm_tim2_isr(void)
+{
+	int16_t	line = stm_tim3.cnt;
+
+	if (VBLANK_END <= line && line < VBLANK_START) {
+		/* Disable */
+		stm_dma.channel[DMA_INDEX].ccr = DMA_CCR(0);
+		/* Reset DMA engine for the next scanline */
+		stm_dma.channel[DMA_INDEX].cmar = scanline;
+		stm_dma.channel[DMA_INDEX].cndtr = SCANOUT;
+
+		/* reset SPI */
+		(void) stm_spi1.dr;
+		(void) stm_spi1.sr;
+
+		/* Enable */
+		stm_dma.channel[DMA_INDEX].ccr = DMA_CCR(1);
+		if (((line - VBLANK_END) & 1))
+			scanline += AO_VGA_STRIDE;
+	} else {
+		scanline = ao_vga_fb;
+	}
+	stm_tim2.sr = 0;
+}
+
+
+void
+ao_vga_init(void)
+{
+	uint32_t	cfgr;
+
+	/* Initialize spi1 using MISO PB4 for output */
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN);
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN);
+
+	stm_ospeedr_set(&stm_gpiob, 4, STM_OSPEEDR_40MHz);
+	stm_afr_set(&stm_gpiob, 4, STM_AFR_AF5);
+	stm_afr_set(&stm_gpiob, 3, STM_AFR_AF5);
+	stm_afr_set(&stm_gpioa, 15, STM_AFR_AF5);
+
+	/* turn on SPI */
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SPI1EN);
+
+	stm_spi1.cr1 = ((1 << STM_SPI_CR1_BIDIMODE) |		/* Two wire mode */
+			(1 << STM_SPI_CR1_BIDIOE) |
+			(0 << STM_SPI_CR1_CRCEN) |		/* CRC disabled */
+			(0 << STM_SPI_CR1_CRCNEXT) |
+			(1 << STM_SPI_CR1_DFF) |
+			(0 << STM_SPI_CR1_RXONLY) |		/* transmit, not receive */
+			(0 << STM_SPI_CR1_SSM) |        	/* Software SS handling */
+			(1 << STM_SPI_CR1_SSI) |		/*  ... */
+			(1 << STM_SPI_CR1_LSBFIRST) |		/* Little endian */
+			(1 << STM_SPI_CR1_SPE) |		/* Enable SPI unit */
+			(0 << STM_SPI_CR1_BR) |			/* baud rate to pclk/2 */
+			(0 << STM_SPI_CR1_MSTR) |		/* slave */
+			(0 << STM_SPI_CR1_CPOL) |		/* Format 0 */
+			(0 << STM_SPI_CR1_CPHA));
+	stm_spi1.cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+			(0 << STM_SPI_CR2_RXNEIE) |
+			(0 << STM_SPI_CR2_ERRIE) |
+			(0 << STM_SPI_CR2_SSOE) |
+			(1 << STM_SPI_CR2_TXDMAEN) |
+			(0 << STM_SPI_CR2_RXDMAEN));
+
+	(void) stm_spi1.dr;
+	(void) stm_spi1.sr;
+
+	/* Grab the DMA channel for SPI1 MOSI */
+	stm_dma.channel[DMA_INDEX].cpar = &stm_spi1.dr;
+	stm_dma.channel[DMA_INDEX].cmar = ao_vga_fb;
+
+	/*
+	 * Hsync Configuration
+	 */
+	/* Turn on timer 2 */
+	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM2EN);
+
+	/* tim2 runs at full speed */
+	stm_tim2.psc = 0;
+
+	/* Disable channels while modifying */
+	stm_tim2.ccer = 0;
+
+	/* Channel 1 hsync PWM values */
+	stm_tim2.ccr1 = HSYNC;
+
+	/* Channel 2 trigger scanout */
+	/* wait for the time to start scanout */
+	stm_tim2.ccr2 = HBLANK_END;
+
+	stm_tim2.ccr3 = 32;
+
+	/* Configure channel 1 to output on the pin and
+	 * channel 2 to to set the trigger for the vsync timer
+	 */
+	stm_tim2.ccmr1 = ((0 << STM_TIM234_CCMR1_OC2CE) |
+			  (STM_TIM234_CCMR1_OC2M_PWM_MODE_1 << STM_TIM234_CCMR1_OC2M)  |
+			  (1 << STM_TIM234_CCMR1_OC2PE) |
+			  (0 << STM_TIM234_CCMR1_OC2FE) |
+			  (STM_TIM234_CCMR1_CC2S_OUTPUT << STM_TIM234_CCMR1_CC2S) |
+
+			  (0 << STM_TIM234_CCMR1_OC1CE) |
+			  (STM_TIM234_CCMR1_OC1M_PWM_MODE_1 << STM_TIM234_CCMR1_OC1M)  |
+			  (1 << STM_TIM234_CCMR1_OC1PE) |
+			  (0 << STM_TIM234_CCMR1_OC1FE) |
+			  (STM_TIM234_CCMR1_CC1S_OUTPUT << STM_TIM234_CCMR1_CC1S));
+
+	stm_tim2.ccmr2 = ((0 << STM_TIM234_CCMR2_OC4CE) |
+			  (0 << STM_TIM234_CCMR2_OC4M)  |
+			  (0 << STM_TIM234_CCMR2_OC4PE) |
+			  (0 << STM_TIM234_CCMR2_OC4FE) |
+			  (0 << STM_TIM234_CCMR2_CC4S) |
+
+			  (0 << STM_TIM234_CCMR2_OC3CE) |
+			  (STM_TIM234_CCMR2_OC3M_PWM_MODE_1 << STM_TIM234_CCMR2_OC3M)  |
+			  (1 << STM_TIM234_CCMR2_OC3PE) |
+			  (0 << STM_TIM234_CCMR2_OC3FE) |
+			  (0 << STM_TIM234_CCMR2_CC3S));
+
+	/* One scanline */
+	stm_tim2.arr = HTOTAL;
+
+	stm_tim2.cnt = 0;
+
+	/* Update the register contents */
+	stm_tim2.egr |= (1 << STM_TIM234_EGR_UG);
+
+	/* Enable the timer */
+
+	/* Enable the output */
+	stm_tim2.ccer = ((0 << STM_TIM234_CCER_CC2NP) |
+			 (STM_TIM234_CCER_CC2P_ACTIVE_HIGH << STM_TIM234_CCER_CC2P) |
+			 (1 << STM_TIM234_CCER_CC2E) |
+			 (0 << STM_TIM234_CCER_CC1NP) |
+			 (STM_TIM234_CCER_CC1P_ACTIVE_LOW << STM_TIM234_CCER_CC1P) |
+			 (1 << STM_TIM234_CCER_CC1E));
+
+	stm_tim2.cr2 = ((0 << STM_TIM234_CR2_TI1S) |
+			(STM_TIM234_CR2_MMS_UPDATE << STM_TIM234_CR2_MMS) |
+			(0 << STM_TIM234_CR2_CCDS));
+
+	/* hsync is not a slave timer */
+	stm_tim2.smcr = 0;
+
+	/* Send an interrupt on channel 3 */
+	stm_tim2.dier = ((1 << STM_TIM234_DIER_CC3IE));
+
+	stm_tim2.cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) |
+			(1 << STM_TIM234_CR1_ARPE) |
+			(STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) |
+			(STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) |
+			(0 << STM_TIM234_CR1_OPM) |
+			(1 << STM_TIM234_CR1_URS) |
+			(0 << STM_TIM234_CR1_UDIS) |
+			(0 << STM_TIM234_CR1_CEN));
+
+	/* Hsync is on PA5 which is Timer 2 CH1 output */
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN);
+	stm_ospeedr_set(&stm_gpioa, 5, STM_OSPEEDR_40MHz);
+	stm_afr_set(&stm_gpioa, 5, STM_AFR_AF1);
+
+	/* pixel transmit enable is on PA1 */
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN);
+	stm_ospeedr_set(&stm_gpioa, 1, STM_OSPEEDR_40MHz);
+	stm_afr_set(&stm_gpioa, 1, STM_AFR_AF1);
+
+	/*
+	 * Vsync configuration
+	 */
+
+	/* Turn on timer 3, slaved to timer 1 using ITR1 (table 61) */
+	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM3EN);
+
+	/* No prescale */
+	stm_tim3.psc = 0;
+
+	/* Channel 1 or 2 vsync PWM values */
+	stm_tim3.ccr1 = VSYNC;
+	stm_tim3.ccr2 = VSYNC;
+
+	stm_tim3.ccmr1 = ((0 << STM_TIM234_CCMR1_OC2CE) |
+			  (STM_TIM234_CCMR1_OC2M_PWM_MODE_1 << STM_TIM234_CCMR1_OC2M)  |
+			  (1 << STM_TIM234_CCMR1_OC2PE) |
+			  (0 << STM_TIM234_CCMR1_OC2FE) |
+			  (STM_TIM234_CCMR1_CC2S_OUTPUT << STM_TIM234_CCMR1_CC2S) |
+
+			  (0 << STM_TIM234_CCMR1_OC1CE) |
+			  (STM_TIM234_CCMR1_OC1M_PWM_MODE_1 << STM_TIM234_CCMR1_OC1M)  |
+			  (1 << STM_TIM234_CCMR1_OC1PE) |
+			  (0 << STM_TIM234_CCMR1_OC1FE) |
+			  (STM_TIM234_CCMR1_CC1S_OUTPUT << STM_TIM234_CCMR1_CC1S));
+
+	stm_tim3.arr = VTOTAL;
+	stm_tim3.cnt = 0;
+
+	/* Update the register contents */
+	stm_tim3.egr |= (1 << STM_TIM234_EGR_UG);
+
+	/* Enable the timer */
+
+	/* Enable the output */
+	stm_tim3.ccer = ((0 << STM_TIM234_CCER_CC1NP) |
+			 (STM_TIM234_CCER_CC2P_ACTIVE_LOW << STM_TIM234_CCER_CC2P) |
+			 (1 << STM_TIM234_CCER_CC2E) |
+			 (STM_TIM234_CCER_CC1P_ACTIVE_LOW << STM_TIM234_CCER_CC1P) |
+			 (1 << STM_TIM234_CCER_CC1E));
+
+	stm_tim3.cr2 = ((0 << STM_TIM234_CR2_TI1S) |
+			(STM_TIM234_CR2_MMS_UPDATE << STM_TIM234_CR2_MMS) |
+			(0 << STM_TIM234_CR2_CCDS));
+
+	stm_tim3.smcr = 0;
+	stm_tim3.smcr = ((0 << STM_TIM234_SMCR_ETP) |
+			 (0 << STM_TIM234_SMCR_ECE) |
+			 (STM_TIM234_SMCR_ETPS_OFF << STM_TIM234_SMCR_ETPS) |
+			 (STM_TIM234_SMCR_ETF_NONE << STM_TIM234_SMCR_ETF) |
+			 (0 << STM_TIM234_SMCR_MSM) |
+			 (STM_TIM234_SMCR_TS_ITR1 << STM_TIM234_SMCR_TS) |
+			 (0 << STM_TIM234_SMCR_OCCS) |
+			 (STM_TIM234_SMCR_SMS_EXTERNAL_CLOCK << STM_TIM234_SMCR_SMS));
+
+	stm_tim3.dier = 0;
+
+	stm_tim3.cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) |
+			(1 << STM_TIM234_CR1_ARPE) |
+			(STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) |
+			(STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) |
+			(0 << STM_TIM234_CR1_OPM) |
+			(1 << STM_TIM234_CR1_URS) |
+			(0 << STM_TIM234_CR1_UDIS) |
+			(1 << STM_TIM234_CR1_CEN));
+
+	/* Vsync is on PB5 which is is Timer 3 CH2 output */
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN);
+	stm_ospeedr_set(&stm_gpiob, 5, STM_OSPEEDR_40MHz);
+	stm_afr_set(&stm_gpiob, 5, STM_AFR_AF2);
+
+	/* Use MCO for the pixel clock, that appears on PA8 */
+	cfgr = stm_rcc.cfgr & ~((STM_RCC_CFGR_MCOPRE_MASK << STM_RCC_CFGR_MCOPRE) |
+				(STM_RCC_CFGR_MCOSEL_MASK << STM_RCC_CFGR_MCOSEL));
+
+	cfgr |= ((STM_RCC_CFGR_MCOPRE_DIV_2 << STM_RCC_CFGR_MCOPRE) |
+		 (STM_RCC_CFGR_MCOSEL_SYSCLK << STM_RCC_CFGR_MCOSEL));
+
+	stm_rcc.cfgr = cfgr;
+
+	stm_ospeedr_set(&stm_gpioa, 8, STM_OSPEEDR_40MHz);
+	stm_afr_set(&stm_gpioa, 8, STM_AFR_AF0);
+
+	/* Enable the scanline interrupt */
+	stm_nvic_set_priority(STM_ISR_TIM2_POS, AO_STM_NVIC_NONMASK_PRIORITY);
+	stm_nvic_set_enable(STM_ISR_TIM2_POS);
+}
+
+uint8_t	enabled;
+
+void
+ao_vga_enable(int enable)
+{
+	if (enable) {
+		if (!enabled) {
+			++ao_task_minimize_latency;
+			enabled = 1;
+		}
+		stm_tim2.cr1 |= (1 << STM_TIM234_CR1_CEN);
+	} else {
+		if (enabled) {
+			--ao_task_minimize_latency;
+			enabled = 0;
+		}
+		stm_tim2.cr1 &= ~(1 << STM_TIM234_CR1_CEN);
+	}
+}
diff --git a/src/drivers/ao_vga.h b/src/drivers/ao_vga.h
new file mode 100644
index 00000000..7d9d6b39
--- /dev/null
+++ b/src/drivers/ao_vga.h
@@ -0,0 +1,39 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_VGA_H_
+#define _AO_VGA_H_
+
+#include "ao_draw.h"
+
+void
+ao_vga_init(void);
+
+void
+ao_vga_enable(int active);
+
+/* Active frame buffer */
+#define AO_VGA_WIDTH		320
+#define AO_VGA_HEIGHT		240
+
+/* Pad on the right so that there are zeros on the output after the line */
+#define AO_VGA_HPAD		32
+
+#define AO_VGA_STRIDE		((AO_VGA_WIDTH + AO_VGA_HPAD) >> AO_SHIFT)
+
+extern uint32_t	ao_vga_fb[AO_VGA_STRIDE * AO_VGA_HEIGHT];
+
+extern const struct ao_bitmap ao_vga_bitmap;
+
+#endif /* _AO_VGA_H_ */
diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index fb41d7a9..e56fbb2e 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -170,6 +170,9 @@ void
 ao_put_string(__code char *s);
 
 void
+ao_cmd_readline(void);
+
+char
 ao_cmd_lex(void);
 
 void
@@ -853,33 +856,6 @@ struct ao_fifo {
 #include <ao_aes.h>
 #endif
 
-/* ao_launch.c */
-
-struct ao_launch_command {
-	uint16_t	tick;
-	uint16_t	serial;
-	uint8_t		cmd;
-	uint8_t		channel;
-	uint16_t	unused;
-};
-
-#define AO_LAUNCH_QUERY		1
-
-struct ao_launch_query {
-	uint16_t	tick;
-	uint16_t	serial;
-	uint8_t		channel;
-	uint8_t		valid;
-	uint8_t		arm_status;
-	uint8_t		igniter_status;
-};
-
-#define AO_LAUNCH_ARM		2
-#define AO_LAUNCH_FIRE		3
-
-void
-ao_launch_init(void);
-
 /*
  * ao_log_single.c
  */
diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c
index 10716afd..881f3500 100644
--- a/src/kernel/ao_cmd.c
+++ b/src/kernel/ao_cmd.c
@@ -24,13 +24,15 @@ __pdata uint32_t ao_cmd_lex_u32;
 __pdata char	ao_cmd_lex_c;
 __pdata enum ao_cmd_status ao_cmd_status;
 
+#ifndef AO_CMD_LEN
 #if AO_PYRO_NUM
-#define CMD_LEN 128
+#define AO_CMD_LEN 128
 #else
-#define CMD_LEN	48
+#define AO_CMD_LEN	48
+#endif
 #endif
 
-static __xdata char	cmd_line[CMD_LEN];
+static __xdata char	cmd_line[AO_CMD_LEN];
 static __pdata uint8_t	cmd_len;
 static __pdata uint8_t	cmd_i;
 
@@ -48,8 +50,8 @@ backspace(void)
 	ao_put_string ("\010 \010");
 }
 
-static void
-readline(void)
+void
+ao_cmd_readline(void)
 {
 	char c;
 	if (ao_echo())
@@ -88,7 +90,7 @@ readline(void)
 			break;
 		}
 
-		if (cmd_len >= CMD_LEN - 2)
+		if (cmd_len >= AO_CMD_LEN - 2)
 			continue;
 		cmd_line[cmd_len++] = c;
 		if (ao_echo())
@@ -99,12 +101,13 @@ readline(void)
 	cmd_i = 0;
 }
 
-void
+char
 ao_cmd_lex(void)
 {
 	ao_cmd_lex_c = '\n';
 	if (cmd_i < cmd_len)
 		ao_cmd_lex_c = cmd_line[cmd_i++];
+	return ao_cmd_lex_c;
 }
 
 static void
@@ -307,7 +310,7 @@ version(void)
 #endif
 #endif
 #if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND)
-	       , (uint32_t) AO_BOOT_APPLICATION_BOUND - (uint32_t) AO_BOOT_APPLICATION_BASE
+	       , (unsigned) ((uint32_t) AO_BOOT_APPLICATION_BOUND - (uint32_t) AO_BOOT_APPLICATION_BASE)
 #endif
 		);
 	printf("software-version %s\n", ao_version);
@@ -376,7 +379,7 @@ ao_cmd(void)
 	void (*__xdata func)(void);
 
 	for (;;) {
-		readline();
+		ao_cmd_readline();
 		ao_cmd_lex();
 		ao_cmd_white();
 		c = ao_cmd_lex_c;
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 13eb05bf..a2f2c6ca 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -47,10 +47,12 @@ extern __pdata enum ao_flight_state ao_log_state;
 #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_TELEMETRUM	7	/* 16-byte typed telemetrum records */
-#define AO_LOG_FORMAT_TELEMINI		8	/* 16-byte MS5607 baro only, 3.3V supply */
+#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 */
 #define AO_LOG_FORMAT_TELEMEGA		10	/* 32 byte typed telemega records with 32 bit gyro cal */
 #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_NONE		127	/* No log at all */
 
 extern __code uint8_t ao_log_format;
@@ -299,6 +301,32 @@ struct ao_log_mega {
 						 ((l)->u.gps.altitude_high = (a) >> 16), \
 						 (l)->u.gps.altitude_low = (a))
 
+struct ao_log_firetwo {
+	char			type;			/* 0 */
+	uint8_t			csum;			/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;		/* 4 */
+			uint16_t	idle_pressure;	/* 6 */
+			uint16_t	idle_thrust;	/* 8 */
+		} flight;	/* 16 */
+		/* AO_LOG_STATE */
+		struct {
+			uint16_t	state;		/* 4 */
+			uint16_t	reason;		/* 6 */
+		} state;	/* 8 */
+		/* AO_LOG_SENSOR */
+		struct {
+			uint16_t	pressure;	/* 4 */
+			uint16_t	thrust;		/* 6 */
+			uint16_t	thermistor[4];	/* 8 */
+		} sensor;	/* 24 */
+		uint8_t		align[28];		/* 4 */
+	} u;	/* 32 */
+};
+
 struct ao_log_metrum {
 	char			type;			/* 0 */
 	uint8_t			csum;			/* 1 */
diff --git a/src/kernel/ao_log_firetwo.c b/src/kernel/ao_log_firetwo.c
new file mode 100644
index 00000000..4b42abe4
--- /dev/null
+++ b/src/kernel/ao_log_firetwo.c
@@ -0,0 +1,149 @@
+/*
+ * 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.
+ */
+
+#include "ao.h"
+#include <ao_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata struct ao_log_firetwo log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEFIRETWO;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+	uint8_t	sum = 0x5a;
+	uint8_t	i;
+
+	for (i = 0; i < sizeof (struct ao_log_firetwo); i++)
+		sum += *b++;
+	return -sum;
+}
+
+uint8_t
+ao_log_firetwo(__xdata struct ao_log_firetwo *log) __reentrant
+{
+	uint8_t wrote = 0;
+	/* set checksum */
+	log->csum = 0;
+	log->csum = ao_log_csum((__xdata uint8_t *) log);
+	ao_mutex_get(&ao_log_mutex); {
+		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+			ao_log_stop();
+		if (ao_log_running) {
+			wrote = 1;
+			ao_storage_write(ao_log_current_pos,
+					 log,
+					 sizeof (struct ao_log_firetwo));
+			ao_log_current_pos += sizeof (struct ao_log_firetwo);
+		}
+	} ao_mutex_put(&ao_log_mutex);
+	return wrote;
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+	if (ao_log_csum((uint8_t *) &log) != 0)
+		return 0;
+	return 1;
+}
+
+#if HAS_ADC
+static __data uint8_t	ao_log_data_pos;
+
+/* a hack to make sure that ao_log_metrums fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_firetwo))] ;
+#endif
+
+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();
+
+	do {
+		ao_log_scan();
+	
+		while (!ao_log_running)
+			ao_sleep(&ao_log_running);
+	
+		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);
+
+		/* Write the whole contents of the ring to the log
+	 	* when starting up.
+	 	*/
+		ao_log_data_pos = ao_data_ring_next(ao_data_head);
+		ao_log_state = ao_flight_startup;
+		for (;;) {
+			/* Write samples to EEPROM */
+			while (ao_log_data_pos != ao_data_head) {
+				log.tick = ao_data_ring[ao_log_data_pos].tick;
+				log.type = AO_LOG_SENSOR;
+				log.u.sensor.pressure = ao_data_ring[ao_log_data_pos].adc.pressure;
+				log.u.sensor.thrust = ao_data_ring[ao_log_data_pos].adc.thrust;
+	//			for (i = 0; i < 4; i++) {
+	//				log.u.sensor.thermistor[i] = ao_data_ring[ao_log_data_pos].sensor.thermistor[i];
+	//			}
+				ao_log_firetwo(&log);
+				ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+			}
+			/* Write state change to EEPROM */
+			if (ao_flight_state != ao_log_state) {
+				ao_log_state = ao_flight_state;
+				log.type = AO_LOG_STATE;
+				log.tick = ao_time();
+				log.u.state.state = ao_log_state;
+				log.u.state.reason = 0;
+				ao_log_firetwo(&log);
+	
+				if (ao_log_state == ao_flight_landed)
+					ao_log_stop();
+			}
+	
+			ao_log_flush();
+
+			if (!ao_log_running) break;
+
+			/* Wait for a while */
+			ao_delay(AO_MS_TO_TICKS(100));
+		}
+	} while (ao_log_running);
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+	if (!ao_storage_read(ao_log_pos(slot),
+			     &log,
+			     sizeof (struct ao_log_firetwo)))
+		return 0;
+
+	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+		return log.u.flight.flight;
+	return 0;
+}
diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 813e866a..a0881f9e 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -75,7 +75,8 @@ uint16_t	ao_pyro_fired;
 #endif
 
 #if PYRO_DBG
-#define DBG(...)	do { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+int pyro_dbg;
+#define DBG(...)	do { if (pyro_dbg) printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
 #else
 #define DBG(...)
 #endif
diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c
index 6592d616..af48b390 100644
--- a/src/kernel/ao_report.c
+++ b/src/kernel/ao_report.c
@@ -45,9 +45,16 @@ static const uint8_t flight_reports[] = {
 #define mid(time)	ao_beep_for(AO_BEEP_MID, time)
 #define high(time)	ao_beep_for(AO_BEEP_HIGH, time)
 #else
-#define low(time)	ao_led_for(AO_LED_GREEN, time)
-#define mid(time)	ao_led_for(AO_LED_RED, time)
-#define high(time)	ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
+#ifndef AO_LED_LOW
+#define AO_LED_LOW	AO_LED_GREEN
+#endif
+#ifndef AO_LED_MID
+#define AO_LED_MID	AO_LED_RED
+#endif
+
+#define low(time)	ao_led_for(AO_LED_LOW, time)
+#define mid(time)	ao_led_for(AO_LED_MID, time)
+#define high(time)	ao_led_for(AO_LED_MID|AO_LED_LOW, time)
 #endif
 #define pause(time)	ao_delay(time)
 
diff --git a/src/kernel/ao_stdio.c b/src/kernel/ao_stdio.c
index b79d465a..f0ee0a14 100644
--- a/src/kernel/ao_stdio.c
+++ b/src/kernel/ao_stdio.c
@@ -55,6 +55,9 @@
 #ifndef PACKET_HAS_SLAVE
 #define PACKET_HAS_SLAVE	0
 #endif
+#ifndef CONSOLE_STDIN
+#define CONSOLE_STDIN		0
+#endif
 
 #define USE_SERIAL_STDIN (USE_SERIAL_0_STDIN +	\
 			  USE_SERIAL_1_STDIN +	\
@@ -67,7 +70,7 @@
 			  USE_SERIAL_8_STDIN +	\
 			  USE_SERIAL_9_STDIN)
 
-#define AO_NUM_STDIOS	(HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN)
+#define AO_NUM_STDIOS	(HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN + CONSOLE_STDIN)
 
 __xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS];
 
diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c
index e8a092aa..de23ea02 100644
--- a/src/kernel/ao_task.c
+++ b/src/kernel/ao_task.c
@@ -373,7 +373,11 @@ ao_yield(void) ao_arch_naked_define
 		if (!ao_list_is_empty(&run_queue))
 			break;
 		/* Wait for interrupts when there's nothing ready */
-		ao_arch_wait_interrupt();
+		if (ao_task_minimize_latency) {
+			ao_arch_release_interrupts();
+			ao_arch_block_interrupts();
+		} else
+			ao_arch_wait_interrupt();
 	}
 	ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
 #else
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 15085bf4..fa817824 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -270,7 +270,7 @@ ao_send_mini(void)
 	__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
 	telemetry.generic.tick = packet->tick;
-	telemetry.generic.type = AO_TELEMETRY_MINI;
+	telemetry.generic.type = AO_SEND_MINI;
 
 	telemetry.mini.state = ao_flight_state;
 
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index c0f5e3c5..45aaeb07 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -270,7 +270,8 @@ struct ao_telemetry_metrum_data {
 	/* 32 */
 };
 
-#define AO_TELEMETRY_MINI		0x10
+#define AO_TELEMETRY_MINI2		0x10	/* CC1111 based */
+#define AO_TELEMETRY_MINI3		0x11	/* STMF042 based */
 
 struct ao_telemetry_mini {
 	uint16_t	serial;		/*  0 */
diff --git a/src/lambdakey-v1.0/.gitignore b/src/lambdakey-v1.0/.gitignore
new file mode 100644
index 00000000..6462d930
--- /dev/null
+++ b/src/lambdakey-v1.0/.gitignore
@@ -0,0 +1,2 @@
+lambdakey-*
+ao_product.h
diff --git a/src/lambdakey-v1.0/Makefile b/src/lambdakey-v1.0/Makefile
new file mode 100644
index 00000000..2609bea3
--- /dev/null
+++ b/src/lambdakey-v1.0/Makefile
@@ -0,0 +1,92 @@
+#
+# 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_task.h \
+	ao_lisp.h \
+	ao_lisp_const.h \
+	ao_lisp_os.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_task.c \
+	ao_led.c \
+	ao_dma_stm.c \
+	ao_stdio.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_usb_stm.c \
+	ao_flash_stm.c \
+	ao_lisp_lex.c \
+	ao_lisp_mem.c \
+	ao_lisp_cons.c \
+	ao_lisp_eval.c \
+	ao_lisp_string.c \
+	ao_lisp_atom.c \
+	ao_lisp_int.c \
+	ao_lisp_poly.c \
+	ao_lisp_builtin.c \
+	ao_lisp_read.c \
+	ao_lisp_rep.c \
+	ao_lisp_frame.c \
+	ao_lisp_error.c \
+	ao_lisp_lambda.c \
+	ao_lisp_save.c \
+	ao_lisp_stack.c \
+	ao_lisp_os_save.c
+
+PRODUCT=LambdaKey-v1.0
+PRODUCT_DEF=-DLAMBDAKEY
+IDPRODUCT=0x000a
+
+CFLAGS = $(PRODUCT_DEF) -I. $(STMF0_CFLAGS) -Os -g
+
+LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tlambda.ld
+
+PROGNAME=lambdakey-v1.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_lambdakey.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) lambda.ld 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) > $@
+
+load: $(PROG)
+	stm-load $(PROG)
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/lambdakey-v1.0/ao_lambdakey.c b/src/lambdakey-v1.0/ao_lambdakey.c
new file mode 100644
index 00000000..8bd344cf
--- /dev/null
+++ b/src/lambdakey-v1.0/ao_lambdakey.c
@@ -0,0 +1,41 @@
+/*
+ * 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>
+
+static void lisp_cmd() {
+	ao_lisp_read_eval_print();
+}
+
+static const struct ao_cmds blink_cmds[] = {
+	{ lisp_cmd,	"l\0Run lisp interpreter" },
+	{ 0, 0 }
+};
+
+
+void main(void)
+{
+	ao_led_init(LEDS_AVAILABLE);
+	ao_clock_init();
+	ao_task_init();
+	ao_timer_init();
+	ao_dma_init();
+	ao_usb_init();
+	ao_cmd_init();
+	ao_cmd_register(blink_cmds);
+	ao_start_scheduler();
+}
+
+
diff --git a/src/lambdakey-v1.0/ao_lisp_os.h b/src/lambdakey-v1.0/ao_lisp_os.h
new file mode 100644
index 00000000..1993ac44
--- /dev/null
+++ b/src/lambdakey-v1.0/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/lambdakey-v1.0/ao_lisp_os_save.c b/src/lambdakey-v1.0/ao_lisp_os_save.c
new file mode 100644
index 00000000..44138398
--- /dev/null
+++ b/src/lambdakey-v1.0/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__[];
+
+/* 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 *) &__flash__[i];
+		uint32_t	*src = (uint32_t *) &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/lambdakey-v1.0/ao_pins.h b/src/lambdakey-v1.0/ao_pins.h
new file mode 100644
index 00000000..2ba79c01
--- /dev/null
+++ b/src/lambdakey-v1.0/ao_pins.h
@@ -0,0 +1,57 @@
+/*
+ * 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.
+ *
+ * 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 LED_PORT_ENABLE	STM_RCC_AHBENR_IOPBEN
+#define LED_PORT	(&stm_gpiob)
+#define LED_PIN_RED	4
+#define AO_LED_RED	(1 << LED_PIN_RED)
+#define AO_LED_PANIC	AO_LED_RED
+#define AO_CMD_LEN	128
+#define AO_LISP_POOL_TOTAL	3072
+#define AO_LISP_SAVE	1
+#define AO_STACK_SIZE	1024
+
+/* need HSI active to write to flash */
+#define AO_NEED_HSI	1
+
+#define LEDS_AVAILABLE	(AO_LED_RED)
+
+#define AO_POWER_MANAGEMENT	0
+
+/* 48MHz clock based on USB */
+#define AO_HSI48	1
+
+/* 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		1
+#define HAS_BEEP			0
+
+#define IS_FLASH_LOADER	0
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/lambdakey-v1.0/flash-loader/.gitignore b/src/lambdakey-v1.0/flash-loader/.gitignore
new file mode 100644
index 00000000..86ebb7f2
--- /dev/null
+++ b/src/lambdakey-v1.0/flash-loader/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+lambdakey*
diff --git a/src/lambdakey-v1.0/flash-loader/Makefile b/src/lambdakey-v1.0/flash-loader/Makefile
new file mode 100644
index 00000000..dbded719
--- /dev/null
+++ b/src/lambdakey-v1.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=lambdakey-v1.0
+include $(TOPDIR)/stmf0/Makefile-flash.defs
diff --git a/src/lambdakey-v1.0/flash-loader/ao_pins.h b/src/lambdakey-v1.0/flash-loader/ao_pins.h
new file mode 100644
index 00000000..4b788f67
--- /dev/null
+++ b/src/lambdakey-v1.0/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 on debug connector */
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpioa
+#define AO_BOOT_APPLICATION_PIN		15
+#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/lambdakey-v1.0/lambda.ld b/src/lambdakey-v1.0/lambda.ld
new file mode 100644
index 00000000..5de65eb5
--- /dev/null
+++ b/src/lambdakey-v1.0/lambda.ld
@@ -0,0 +1,117 @@
+/*
+ * 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 = 25K
+	flash (r):   ORIGIN = 0x08007400, LENGTH = 3k
+	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 */
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+		*(.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__ = .;
+		__text_ram_start__ = .;
+		*(.ramtext)
+		__text_ram_end = .;
+	} >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(__stack__ = ORIGIN(stack) + LENGTH(stack));
+
+	__flash__ = ORIGIN(flash);
+}
+
+ENTRY(start);
diff --git a/src/lisp/.gitignore b/src/lisp/.gitignore
new file mode 100644
index 00000000..76a555ea
--- /dev/null
+++ b/src/lisp/.gitignore
@@ -0,0 +1,2 @@
+ao_lisp_make_const
+ao_lisp_const.h
diff --git a/src/lisp/Makefile b/src/lisp/Makefile
new file mode 100644
index 00000000..25796ec5
--- /dev/null
+++ b/src/lisp/Makefile
@@ -0,0 +1,22 @@
+all: ao_lisp_const.h
+
+clean:
+	rm -f ao_lisp_const.h $(OBJS) ao_lisp_make_const
+
+ao_lisp_const.h: ao_lisp_const.lisp ao_lisp_make_const
+	./ao_lisp_make_const -o $@ ao_lisp_const.lisp
+
+include Makefile-inc
+SRCS=$(LISP_SRCS)
+
+HDRS=$(LISP_HDRS)
+
+OBJS=$(SRCS:.c=.o)
+
+CFLAGS=-DAO_LISP_MAKE_CONST -O0 -g -I. -Wall -Wextra -no-pie
+
+
+ao_lisp_make_const:  $(OBJS)
+	$(CC) $(CFLAGS) -o $@ $(OBJS)
+
+$(OBJS): $(HDRS)
diff --git a/src/lisp/Makefile-inc b/src/lisp/Makefile-inc
new file mode 100644
index 00000000..126deeb0
--- /dev/null
+++ b/src/lisp/Makefile-inc
@@ -0,0 +1,22 @@
+LISP_SRCS=\
+	ao_lisp_make_const.c\
+	ao_lisp_mem.c \
+	ao_lisp_cons.c \
+	ao_lisp_string.c \
+	ao_lisp_atom.c \
+	ao_lisp_int.c \
+	ao_lisp_poly.c \
+	ao_lisp_builtin.c \
+	ao_lisp_read.c \
+	ao_lisp_frame.c \
+	ao_lisp_lambda.c \
+	ao_lisp_eval.c \
+	ao_lisp_rep.c \
+	ao_lisp_save.c \
+	ao_lisp_stack.c \
+	ao_lisp_error.c 
+
+LISP_HDRS=\
+	ao_lisp.h \
+	ao_lisp_os.h \
+	ao_lisp_read.h
diff --git a/src/lisp/Makefile-lisp b/src/lisp/Makefile-lisp
new file mode 100644
index 00000000..998c7673
--- /dev/null
+++ b/src/lisp/Makefile-lisp
@@ -0,0 +1,4 @@
+include ../lisp/Makefile-inc
+
+ao_lisp_const.h: $(LISP_SRCS) $(LISP_HDRS)
+	+cd ../lisp && make $@
diff --git a/src/lisp/ao_lisp.h b/src/lisp/ao_lisp.h
new file mode 100644
index 00000000..980514cc
--- /dev/null
+++ b/src/lisp/ao_lisp.h
@@ -0,0 +1,793 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_LISP_H_
+#define _AO_LISP_H_
+
+#define DBG_MEM		0
+#define DBG_EVAL	0
+
+#include <stdint.h>
+#include <string.h>
+#include <ao_lisp_os.h>
+
+typedef uint16_t	ao_poly;
+typedef int16_t		ao_signed_poly;
+
+#ifdef AO_LISP_SAVE
+
+struct ao_lisp_os_save {
+	ao_poly		atoms;
+	ao_poly		globals;
+	uint16_t	const_checksum;
+	uint16_t	const_checksum_inv;
+};
+
+#define AO_LISP_POOL_EXTRA	(sizeof(struct ao_lisp_os_save))
+#define AO_LISP_POOL	((int) (AO_LISP_POOL_TOTAL - AO_LISP_POOL_EXTRA))
+
+int
+ao_lisp_os_save(void);
+
+int
+ao_lisp_os_restore_save(struct ao_lisp_os_save *save, int offset);
+
+int
+ao_lisp_os_restore(void);
+
+#endif
+
+#ifdef AO_LISP_MAKE_CONST
+#define AO_LISP_POOL_CONST	16384
+extern uint8_t ao_lisp_const[AO_LISP_POOL_CONST] __attribute__((aligned(4)));
+#define ao_lisp_pool ao_lisp_const
+#define AO_LISP_POOL AO_LISP_POOL_CONST
+
+#define _atom(n) ao_lisp_atom_poly(ao_lisp_atom_intern(n))
+
+#define _ao_lisp_atom_quote	_atom("quote")
+#define _ao_lisp_atom_set 	_atom("set")
+#define _ao_lisp_atom_setq 	_atom("setq")
+#define _ao_lisp_atom_t 	_atom("t")
+#define _ao_lisp_atom_car 	_atom("car")
+#define _ao_lisp_atom_cdr	_atom("cdr")
+#define _ao_lisp_atom_cons	_atom("cons")
+#define _ao_lisp_atom_last	_atom("last")
+#define _ao_lisp_atom_length	_atom("length")
+#define _ao_lisp_atom_cond	_atom("cond")
+#define _ao_lisp_atom_lambda	_atom("lambda")
+#define _ao_lisp_atom_led	_atom("led")
+#define _ao_lisp_atom_delay	_atom("delay")
+#define _ao_lisp_atom_pack	_atom("pack")
+#define _ao_lisp_atom_unpack	_atom("unpack")
+#define _ao_lisp_atom_flush	_atom("flush")
+#define _ao_lisp_atom_eval	_atom("eval")
+#define _ao_lisp_atom_read	_atom("read")
+#define _ao_lisp_atom_eof	_atom("eof")
+#define _ao_lisp_atom_save	_atom("save")
+#define _ao_lisp_atom_restore	_atom("restore")
+#define _ao_lisp_atom_call2fcc	_atom("call/cc")
+#define _ao_lisp_atom_collect	_atom("collect")
+#define _ao_lisp_atom_symbolp   _atom("symbol?")
+#define _ao_lisp_atom_builtin   _atom("builtin?")
+#define _ao_lisp_atom_symbolp   _atom("symbol?")
+#define _ao_lisp_atom_symbolp   _atom("symbol?")
+#else
+#include "ao_lisp_const.h"
+#ifndef AO_LISP_POOL
+#define AO_LISP_POOL	3072
+#endif
+extern uint8_t		ao_lisp_pool[AO_LISP_POOL + AO_LISP_POOL_EXTRA] __attribute__((aligned(4)));
+#endif
+
+/* Primitive types */
+#define AO_LISP_CONS		0
+#define AO_LISP_INT		1
+#define AO_LISP_STRING		2
+#define AO_LISP_OTHER		3
+
+#define AO_LISP_TYPE_MASK	0x0003
+#define AO_LISP_TYPE_SHIFT	2
+#define AO_LISP_REF_MASK	0x7ffc
+#define AO_LISP_CONST		0x8000
+
+/* These have a type value at the start of the struct */
+#define AO_LISP_ATOM		4
+#define AO_LISP_BUILTIN		5
+#define AO_LISP_FRAME		6
+#define AO_LISP_LAMBDA		7
+#define AO_LISP_STACK		8
+#define AO_LISP_NUM_TYPE	9
+
+/* Leave two bits for types to use as they please */
+#define AO_LISP_OTHER_TYPE_MASK	0x3f
+
+#define AO_LISP_NIL	0
+
+extern uint16_t		ao_lisp_top;
+
+#define AO_LISP_OOM		0x01
+#define AO_LISP_DIVIDE_BY_ZERO	0x02
+#define AO_LISP_INVALID		0x04
+#define AO_LISP_UNDEFINED	0x08
+#define AO_LISP_EOF		0x10
+
+extern uint8_t		ao_lisp_exception;
+
+static inline int
+ao_lisp_is_const(ao_poly poly) {
+	return poly & AO_LISP_CONST;
+}
+
+#define AO_LISP_IS_CONST(a)	(ao_lisp_const <= ((uint8_t *) (a)) && ((uint8_t *) (a)) < ao_lisp_const + AO_LISP_POOL_CONST)
+#define AO_LISP_IS_POOL(a)	(ao_lisp_pool <= ((uint8_t *) (a)) && ((uint8_t *) (a)) < ao_lisp_pool + AO_LISP_POOL)
+#define AO_LISP_IS_INT(p)	(ao_lisp_base_type(p) == AO_LISP_INT);
+
+void *
+ao_lisp_ref(ao_poly poly);
+
+ao_poly
+ao_lisp_poly(const void *addr, ao_poly type);
+
+struct ao_lisp_type {
+	int	(*size)(void *addr);
+	void	(*mark)(void *addr);
+	void	(*move)(void *addr);
+	char	name[];
+};
+
+struct ao_lisp_cons {
+	ao_poly		car;
+	ao_poly		cdr;
+};
+
+struct ao_lisp_atom {
+	uint8_t		type;
+	uint8_t		pad[1];
+	ao_poly		next;
+	char		name[];
+};
+
+struct ao_lisp_val {
+	ao_poly		atom;
+	ao_poly		val;
+};
+
+struct ao_lisp_frame {
+	uint8_t			type;
+	uint8_t			num;
+	ao_poly			prev;
+	struct ao_lisp_val	vals[];
+};
+
+/* Set on type when the frame escapes the lambda */
+#define AO_LISP_FRAME_MARK	0x80
+#define AO_LISP_FRAME_PRINT	0x40
+
+static inline int ao_lisp_frame_marked(struct ao_lisp_frame *f) {
+	return f->type & AO_LISP_FRAME_MARK;
+}
+
+static inline struct ao_lisp_frame *
+ao_lisp_poly_frame(ao_poly poly) {
+	return ao_lisp_ref(poly);
+}
+
+static inline ao_poly
+ao_lisp_frame_poly(struct ao_lisp_frame *frame) {
+	return ao_lisp_poly(frame, AO_LISP_OTHER);
+}
+
+enum eval_state {
+	eval_sexpr,		/* Evaluate an sexpr */
+	eval_val,		/* Value computed */
+	eval_formal,		/* Formal computed */
+	eval_exec,		/* Start a lambda evaluation */
+	eval_cond,		/* Start next cond clause */
+	eval_cond_test,		/* Check cond condition */
+	eval_progn,		/* Start next progn entry */
+	eval_while,		/* Start while condition */
+	eval_while_test,	/* Check while condition */
+	eval_macro,		/* Finished with macro generation */
+};
+
+struct ao_lisp_stack {
+	uint8_t			type;		/* AO_LISP_STACK */
+	uint8_t			state;		/* enum eval_state */
+	ao_poly			prev;		/* previous stack frame */
+	ao_poly			sexprs;		/* expressions to evaluate */
+	ao_poly			values;		/* values computed */
+	ao_poly			values_tail;	/* end of the values list for easy appending */
+	ao_poly			frame;		/* current lookup frame */
+	ao_poly			list;		/* most recent function call */
+};
+
+#define AO_LISP_STACK_MARK	0x80	/* set on type when a reference has been taken */
+#define AO_LISP_STACK_PRINT	0x40	/* stack is being printed */
+
+static inline int ao_lisp_stack_marked(struct ao_lisp_stack *s) {
+	return s->type & AO_LISP_STACK_MARK;
+}
+
+static inline void ao_lisp_stack_mark(struct ao_lisp_stack *s) {
+	s->type |= AO_LISP_STACK_MARK;
+}
+
+static inline struct ao_lisp_stack *
+ao_lisp_poly_stack(ao_poly p)
+{
+	return ao_lisp_ref(p);
+}
+
+static inline ao_poly
+ao_lisp_stack_poly(struct ao_lisp_stack *stack)
+{
+	return ao_lisp_poly(stack, AO_LISP_OTHER);
+}
+
+extern ao_poly			ao_lisp_v;
+
+#define AO_LISP_FUNC_LAMBDA	0
+#define AO_LISP_FUNC_NLAMBDA	1
+#define AO_LISP_FUNC_MACRO	2
+#define AO_LISP_FUNC_LEXPR	3
+
+#define AO_LISP_FUNC_FREE_ARGS	0x80
+#define AO_LISP_FUNC_MASK	0x7f
+
+#define AO_LISP_FUNC_F_LAMBDA	(AO_LISP_FUNC_FREE_ARGS | AO_LISP_FUNC_LAMBDA)
+#define AO_LISP_FUNC_F_NLAMBDA	(AO_LISP_FUNC_FREE_ARGS | AO_LISP_FUNC_NLAMBDA)
+#define AO_LISP_FUNC_F_MACRO	(AO_LISP_FUNC_FREE_ARGS | AO_LISP_FUNC_MACRO)
+#define AO_LISP_FUNC_F_LEXPR	(AO_LISP_FUNC_FREE_ARGS | AO_LISP_FUNC_LEXPR)
+
+struct ao_lisp_builtin {
+	uint8_t		type;
+	uint8_t		args;
+	uint16_t	func;
+};
+
+enum ao_lisp_builtin_id {
+	builtin_eval,
+	builtin_read,
+	builtin_lambda,
+	builtin_lexpr,
+	builtin_nlambda,
+	builtin_macro,
+	builtin_car,
+	builtin_cdr,
+	builtin_cons,
+	builtin_last,
+	builtin_length,
+	builtin_quote,
+	builtin_set,
+	builtin_setq,
+	builtin_cond,
+	builtin_progn,
+	builtin_while,
+	builtin_print,
+	builtin_patom,
+	builtin_plus,
+	builtin_minus,
+	builtin_times,
+	builtin_divide,
+	builtin_mod,
+	builtin_equal,
+	builtin_less,
+	builtin_greater,
+	builtin_less_equal,
+	builtin_greater_equal,
+	builtin_pack,
+	builtin_unpack,
+	builtin_flush,
+	builtin_delay,
+	builtin_led,
+	builtin_save,
+	builtin_restore,
+	builtin_call_cc,
+	builtin_collect,
+	_builtin_last
+};
+
+typedef ao_poly (*ao_lisp_func_t)(struct ao_lisp_cons *cons);
+
+extern const ao_lisp_func_t	ao_lisp_builtins[];
+
+static inline ao_lisp_func_t
+ao_lisp_func(struct ao_lisp_builtin *b)
+{
+	return ao_lisp_builtins[b->func];
+}
+
+struct ao_lisp_lambda {
+	uint8_t		type;
+	uint8_t		args;
+	ao_poly		code;
+	ao_poly		frame;
+};
+
+static inline struct ao_lisp_lambda *
+ao_lisp_poly_lambda(ao_poly poly)
+{
+	return ao_lisp_ref(poly);
+}
+
+static inline ao_poly
+ao_lisp_lambda_poly(struct ao_lisp_lambda *lambda)
+{
+	return ao_lisp_poly(lambda, AO_LISP_OTHER);
+}
+
+static inline void *
+ao_lisp_poly_other(ao_poly poly) {
+	return ao_lisp_ref(poly);
+}
+
+static inline uint8_t
+ao_lisp_other_type(void *other) {
+#if DBG_MEM
+	if ((*((uint8_t *) other) & AO_LISP_OTHER_TYPE_MASK) >= AO_LISP_NUM_TYPE)
+		ao_lisp_abort();
+#endif
+	return *((uint8_t *) other) & AO_LISP_OTHER_TYPE_MASK;
+}
+
+static inline ao_poly
+ao_lisp_other_poly(const void *other)
+{
+	return ao_lisp_poly(other, AO_LISP_OTHER);
+}
+
+static inline int
+ao_lisp_size_round(int size)
+{
+	return (size + 3) & ~3;
+}
+
+static inline int
+ao_lisp_size(const struct ao_lisp_type *type, void *addr)
+{
+	return ao_lisp_size_round(type->size(addr));
+}
+
+#define AO_LISP_OTHER_POLY(other) ((ao_poly)(other) + AO_LISP_OTHER)
+
+static inline int ao_lisp_poly_base_type(ao_poly poly) {
+	return poly & AO_LISP_TYPE_MASK;
+}
+
+static inline int ao_lisp_poly_type(ao_poly poly) {
+	int	type = poly & AO_LISP_TYPE_MASK;
+	if (type == AO_LISP_OTHER)
+		return ao_lisp_other_type(ao_lisp_poly_other(poly));
+	return type;
+}
+
+static inline struct ao_lisp_cons *
+ao_lisp_poly_cons(ao_poly poly)
+{
+	return ao_lisp_ref(poly);
+}
+
+static inline ao_poly
+ao_lisp_cons_poly(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_poly(cons, AO_LISP_CONS);
+}
+
+static inline int
+ao_lisp_poly_int(ao_poly poly)
+{
+	return (int) ((ao_signed_poly) poly >> AO_LISP_TYPE_SHIFT);
+}
+
+static inline ao_poly
+ao_lisp_int_poly(int i)
+{
+	return ((ao_poly) i << 2) | AO_LISP_INT;
+}
+
+static inline char *
+ao_lisp_poly_string(ao_poly poly)
+{
+	return ao_lisp_ref(poly);
+}
+
+static inline ao_poly
+ao_lisp_string_poly(char *s)
+{
+	return ao_lisp_poly(s, AO_LISP_STRING);
+}
+
+static inline struct ao_lisp_atom *
+ao_lisp_poly_atom(ao_poly poly)
+{
+	return ao_lisp_ref(poly);
+}
+
+static inline ao_poly
+ao_lisp_atom_poly(struct ao_lisp_atom *a)
+{
+	return ao_lisp_poly(a, AO_LISP_OTHER);
+}
+
+static inline struct ao_lisp_builtin *
+ao_lisp_poly_builtin(ao_poly poly)
+{
+	return ao_lisp_ref(poly);
+}
+
+static inline ao_poly
+ao_lisp_builtin_poly(struct ao_lisp_builtin *b)
+{
+	return ao_lisp_poly(b, AO_LISP_OTHER);
+}
+
+/* memory functions */
+
+extern int ao_lisp_collects[2];
+extern int ao_lisp_freed[2];
+extern int ao_lisp_loops[2];
+
+/* returns 1 if the object was already marked */
+int
+ao_lisp_mark(const struct ao_lisp_type *type, void *addr);
+
+/* returns 1 if the object was already marked */
+int
+ao_lisp_mark_memory(const struct ao_lisp_type *type, void *addr);
+
+void *
+ao_lisp_move_map(void *addr);
+
+/* returns 1 if the object was already moved */
+int
+ao_lisp_move(const struct ao_lisp_type *type, void **ref);
+
+/* returns 1 if the object was already moved */
+int
+ao_lisp_move_memory(const struct ao_lisp_type *type, void **ref);
+
+void *
+ao_lisp_alloc(int size);
+
+#define AO_LISP_COLLECT_FULL		1
+#define AO_LISP_COLLECT_INCREMENTAL	0
+
+int
+ao_lisp_collect(uint8_t style);
+
+void
+ao_lisp_cons_stash(int id, struct ao_lisp_cons *cons);
+
+struct ao_lisp_cons *
+ao_lisp_cons_fetch(int id);
+
+void
+ao_lisp_poly_stash(int id, ao_poly poly);
+
+ao_poly
+ao_lisp_poly_fetch(int id);
+
+void
+ao_lisp_string_stash(int id, char *string);
+
+char *
+ao_lisp_string_fetch(int id);
+
+static inline void
+ao_lisp_stack_stash(int id, struct ao_lisp_stack *stack) {
+	ao_lisp_poly_stash(id, ao_lisp_stack_poly(stack));
+}
+
+static inline struct ao_lisp_stack *
+ao_lisp_stack_fetch(int id) {
+	return ao_lisp_poly_stack(ao_lisp_poly_fetch(id));
+}
+
+/* cons */
+extern const struct ao_lisp_type ao_lisp_cons_type;
+
+struct ao_lisp_cons *
+ao_lisp_cons_cons(ao_poly car, struct ao_lisp_cons *cdr);
+
+extern struct ao_lisp_cons *ao_lisp_cons_free_list;
+
+void
+ao_lisp_cons_free(struct ao_lisp_cons *cons);
+
+void
+ao_lisp_cons_print(ao_poly);
+
+void
+ao_lisp_cons_patom(ao_poly);
+
+int
+ao_lisp_cons_length(struct ao_lisp_cons *cons);
+
+/* string */
+extern const struct ao_lisp_type ao_lisp_string_type;
+
+char *
+ao_lisp_string_copy(char *a);
+
+char *
+ao_lisp_string_cat(char *a, char *b);
+
+ao_poly
+ao_lisp_string_pack(struct ao_lisp_cons *cons);
+
+ao_poly
+ao_lisp_string_unpack(char *a);
+
+void
+ao_lisp_string_print(ao_poly s);
+
+void
+ao_lisp_string_patom(ao_poly s);
+
+/* atom */
+extern const struct ao_lisp_type ao_lisp_atom_type;
+
+extern struct ao_lisp_atom	*ao_lisp_atoms;
+extern struct ao_lisp_frame	*ao_lisp_frame_global;
+extern struct ao_lisp_frame	*ao_lisp_frame_current;
+
+void
+ao_lisp_atom_print(ao_poly a);
+
+struct ao_lisp_atom *
+ao_lisp_atom_intern(char *name);
+
+ao_poly *
+ao_lisp_atom_ref(struct ao_lisp_frame *frame, ao_poly atom);
+
+ao_poly
+ao_lisp_atom_get(ao_poly atom);
+
+ao_poly
+ao_lisp_atom_set(ao_poly atom, ao_poly val);
+
+/* int */
+void
+ao_lisp_int_print(ao_poly i);
+
+/* prim */
+void
+ao_lisp_poly_print(ao_poly p);
+
+void
+ao_lisp_poly_patom(ao_poly p);
+
+int
+ao_lisp_poly_mark(ao_poly p, uint8_t note_cons);
+
+/* returns 1 if the object has already been moved */
+int
+ao_lisp_poly_move(ao_poly *p, uint8_t note_cons);
+
+/* eval */
+
+void
+ao_lisp_eval_clear_globals(void);
+
+int
+ao_lisp_eval_restart(void);
+
+ao_poly
+ao_lisp_eval(ao_poly p);
+
+ao_poly
+ao_lisp_set_cond(struct ao_lisp_cons *cons);
+
+/* builtin */
+void
+ao_lisp_builtin_print(ao_poly b);
+
+extern const struct ao_lisp_type ao_lisp_builtin_type;
+
+/* Check argument count */
+ao_poly
+ao_lisp_check_argc(ao_poly name, struct ao_lisp_cons *cons, int min, int max);
+
+/* Check argument type */
+ao_poly
+ao_lisp_check_argt(ao_poly name, struct ao_lisp_cons *cons, int argc, int type, int nil_ok);
+
+/* Fetch an arg (nil if off the end) */
+ao_poly
+ao_lisp_arg(struct ao_lisp_cons *cons, int argc);
+
+char *
+ao_lisp_args_name(uint8_t args);
+
+/* read */
+extern struct ao_lisp_cons	*ao_lisp_read_cons;
+extern struct ao_lisp_cons	*ao_lisp_read_cons_tail;
+extern struct ao_lisp_cons	*ao_lisp_read_stack;
+
+ao_poly
+ao_lisp_read(void);
+
+/* rep */
+ao_poly
+ao_lisp_read_eval_print(void);
+
+/* frame */
+extern const struct ao_lisp_type ao_lisp_frame_type;
+
+#define AO_LISP_FRAME_FREE	6
+
+extern struct ao_lisp_frame	*ao_lisp_frame_free_list[AO_LISP_FRAME_FREE];
+
+ao_poly
+ao_lisp_frame_mark(struct ao_lisp_frame *frame);
+
+ao_poly *
+ao_lisp_frame_ref(struct ao_lisp_frame *frame, ao_poly atom);
+
+struct ao_lisp_frame *
+ao_lisp_frame_new(int num);
+
+void
+ao_lisp_frame_free(struct ao_lisp_frame *frame);
+
+void
+ao_lisp_frame_bind(struct ao_lisp_frame *frame, int num, ao_poly atom, ao_poly val);
+
+int
+ao_lisp_frame_add(struct ao_lisp_frame **frame, ao_poly atom, ao_poly val);
+
+void
+ao_lisp_frame_print(ao_poly p);
+
+/* lambda */
+extern const struct ao_lisp_type ao_lisp_lambda_type;
+
+extern const char *ao_lisp_state_names[];
+
+struct ao_lisp_lambda *
+ao_lisp_lambda_new(ao_poly cons);
+
+void
+ao_lisp_lambda_print(ao_poly lambda);
+
+ao_poly
+ao_lisp_lambda(struct ao_lisp_cons *cons);
+
+ao_poly
+ao_lisp_lexpr(struct ao_lisp_cons *cons);
+
+ao_poly
+ao_lisp_nlambda(struct ao_lisp_cons *cons);
+
+ao_poly
+ao_lisp_macro(struct ao_lisp_cons *cons);
+
+ao_poly
+ao_lisp_lambda_eval(void);
+
+/* save */
+
+ao_poly
+ao_lisp_save(struct ao_lisp_cons *cons);
+
+ao_poly
+ao_lisp_restore(struct ao_lisp_cons *cons);
+
+/* stack */
+
+extern const struct ao_lisp_type ao_lisp_stack_type;
+extern struct ao_lisp_stack	*ao_lisp_stack;
+extern struct ao_lisp_stack	*ao_lisp_stack_free_list;
+
+void
+ao_lisp_stack_reset(struct ao_lisp_stack *stack);
+
+int
+ao_lisp_stack_push(void);
+
+void
+ao_lisp_stack_pop(void);
+
+void
+ao_lisp_stack_clear(void);
+
+void
+ao_lisp_stack_print(ao_poly stack);
+
+ao_poly
+ao_lisp_stack_eval(void);
+
+ao_poly
+ao_lisp_call_cc(struct ao_lisp_cons *cons);
+
+/* error */
+
+void
+ao_lisp_error_poly(char *name, ao_poly poly, ao_poly last);
+
+void
+ao_lisp_error_frame(int indent, char *name, struct ao_lisp_frame *frame);
+
+ao_poly
+ao_lisp_error(int error, char *format, ...);
+
+/* debugging macros */
+
+#if DBG_EVAL
+#define DBG_CODE	1
+int ao_lisp_stack_depth;
+#define DBG_DO(a)	a
+#define DBG_INDENT()	do { int _s; for(_s = 0; _s < ao_lisp_stack_depth; _s++) printf("  "); } while(0)
+#define DBG_IN()	(++ao_lisp_stack_depth)
+#define DBG_OUT()	(--ao_lisp_stack_depth)
+#define DBG_RESET()	(ao_lisp_stack_depth = 0)
+#define DBG(...) 	printf(__VA_ARGS__)
+#define DBGI(...)	do { DBG("%4d: ", __LINE__); DBG_INDENT(); DBG(__VA_ARGS__); } while (0)
+#define DBG_CONS(a)	ao_lisp_cons_print(ao_lisp_cons_poly(a))
+#define DBG_POLY(a)	ao_lisp_poly_print(a)
+#define OFFSET(a)	((a) ? (int) ((uint8_t *) a - ao_lisp_pool) : -1)
+#define DBG_STACK()	ao_lisp_stack_print(ao_lisp_stack_poly(ao_lisp_stack))
+static inline void
+ao_lisp_frames_dump(void)
+{
+	struct ao_lisp_stack *s;
+	DBGI(".. current frame: "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+	for (s = ao_lisp_stack; s; s = ao_lisp_poly_stack(s->prev)) {
+		DBGI(".. stack frame: "); DBG_POLY(s->frame); DBG("\n");
+	}
+}
+#define DBG_FRAMES()	ao_lisp_frames_dump()
+#else
+#define DBG_DO(a)
+#define DBG_INDENT()
+#define DBG_IN()
+#define DBG_OUT()
+#define DBG(...)
+#define DBGI(...)
+#define DBG_CONS(a)
+#define DBG_POLY(a)
+#define DBG_RESET()
+#define DBG_STACK()
+#define DBG_FRAMES()
+#endif
+
+#define DBG_MEM_START	1
+
+#if DBG_MEM
+
+#include <assert.h>
+extern int dbg_move_depth;
+#define MDBG_DUMP 1
+#define MDBG_OFFSET(a)	((int) ((uint8_t *) (a) - ao_lisp_pool))
+
+extern int dbg_mem;
+
+#define MDBG_DO(a)	a
+#define MDBG_MOVE(...) do { if (dbg_mem) { int d; for (d = 0; d < dbg_move_depth; d++) printf ("  "); printf(__VA_ARGS__); } } while (0)
+#define MDBG_MORE(...) do { if (dbg_mem) printf(__VA_ARGS__); } while (0)
+#define MDBG_MOVE_IN()	(dbg_move_depth++)
+#define MDBG_MOVE_OUT()	(assert(--dbg_move_depth >= 0))
+
+#else
+
+#define MDBG_DO(a)
+#define MDBG_MOVE(...)
+#define MDBG_MORE(...)
+#define MDBG_MOVE_IN()
+#define MDBG_MOVE_OUT()
+
+#endif
+
+#endif /* _AO_LISP_H_ */
diff --git a/src/lisp/ao_lisp_atom.c b/src/lisp/ao_lisp_atom.c
new file mode 100644
index 00000000..8c9e8ed1
--- /dev/null
+++ b/src/lisp/ao_lisp_atom.c
@@ -0,0 +1,165 @@
+/*
+ * 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.
+ */
+
+#include "ao_lisp.h"
+
+static int name_size(char *name)
+{
+	return sizeof(struct ao_lisp_atom) + strlen(name) + 1;
+}
+
+static int atom_size(void *addr)
+{
+	struct ao_lisp_atom	*atom = addr;
+	if (!atom)
+		return 0;
+	return name_size(atom->name);
+}
+
+static void atom_mark(void *addr)
+{
+	struct ao_lisp_atom	*atom = addr;
+
+	for (;;) {
+		atom = ao_lisp_poly_atom(atom->next);
+		if (!atom)
+			break;
+		if (ao_lisp_mark_memory(&ao_lisp_atom_type, atom))
+			break;
+	}
+}
+
+static void atom_move(void *addr)
+{
+	struct ao_lisp_atom	*atom = addr;
+	int			ret;
+
+	for (;;) {
+		struct ao_lisp_atom *next = ao_lisp_poly_atom(atom->next);
+
+		if (!next)
+			break;
+		ret = ao_lisp_move_memory(&ao_lisp_atom_type, (void **) &next);
+		if (next != ao_lisp_poly_atom(atom->next))
+			atom->next = ao_lisp_atom_poly(next);
+		if (ret)
+			break;
+		atom = next;
+	}
+}
+
+const struct ao_lisp_type ao_lisp_atom_type = {
+	.mark = atom_mark,
+	.size = atom_size,
+	.move = atom_move,
+	.name = "atom"
+};
+
+struct ao_lisp_atom	*ao_lisp_atoms;
+
+struct ao_lisp_atom *
+ao_lisp_atom_intern(char *name)
+{
+	struct ao_lisp_atom	*atom;
+
+	for (atom = ao_lisp_atoms; atom; atom = ao_lisp_poly_atom(atom->next)) {
+		if (!strcmp(atom->name, name))
+			return atom;
+	}
+#ifdef ao_builtin_atoms
+	for (atom = ao_lisp_poly_atom(ao_builtin_atoms); atom; atom = ao_lisp_poly_atom(atom->next)) {
+		if (!strcmp(atom->name, name))
+			return atom;
+	}
+#endif
+	ao_lisp_string_stash(0, name);
+	atom = ao_lisp_alloc(name_size(name));
+	name = ao_lisp_string_fetch(0);
+	if (atom) {
+		atom->type = AO_LISP_ATOM;
+		atom->next = ao_lisp_atom_poly(ao_lisp_atoms);
+		ao_lisp_atoms = atom;
+		strcpy(atom->name, name);
+	}
+	return atom;
+}
+
+struct ao_lisp_frame	*ao_lisp_frame_global;
+struct ao_lisp_frame	*ao_lisp_frame_current;
+
+static void
+ao_lisp_atom_init(void)
+{
+	if (!ao_lisp_frame_global)
+		ao_lisp_frame_global = ao_lisp_frame_new(0);
+}
+
+ao_poly *
+ao_lisp_atom_ref(struct ao_lisp_frame *frame, ao_poly atom)
+{
+	ao_poly	*ref;
+	ao_lisp_atom_init();
+	while (frame) {
+		ref = ao_lisp_frame_ref(frame, atom);
+		if (ref)
+			return ref;
+		frame = ao_lisp_poly_frame(frame->prev);
+	}
+	if (ao_lisp_frame_global) {
+		ref = ao_lisp_frame_ref(ao_lisp_frame_global, atom);
+		if (ref)
+			return ref;
+	}
+	return NULL;
+}
+
+ao_poly
+ao_lisp_atom_get(ao_poly atom)
+{
+	ao_poly *ref = ao_lisp_atom_ref(ao_lisp_frame_current, atom);
+
+	if (!ref && ao_lisp_frame_global)
+		ref = ao_lisp_frame_ref(ao_lisp_frame_global, atom);
+#ifdef ao_builtin_frame
+	if (!ref)
+		ref = ao_lisp_frame_ref(ao_lisp_poly_frame(ao_builtin_frame), atom);
+#endif
+	if (ref)
+		return *ref;
+	return ao_lisp_error(AO_LISP_UNDEFINED, "undefined atom %s", ao_lisp_poly_atom(atom)->name);
+}
+
+ao_poly
+ao_lisp_atom_set(ao_poly atom, ao_poly val)
+{
+	ao_poly *ref = ao_lisp_atom_ref(ao_lisp_frame_current, atom);
+
+	if (!ref && ao_lisp_frame_global)
+		ref = ao_lisp_frame_ref(ao_lisp_frame_global, atom);
+	if (ref)
+		*ref = val;
+	else
+		ao_lisp_frame_add(&ao_lisp_frame_global, atom, val);
+	return val;
+}
+
+void
+ao_lisp_atom_print(ao_poly a)
+{
+	struct ao_lisp_atom *atom = ao_lisp_poly_atom(a);
+	printf("%s", atom->name);
+}
diff --git a/src/lisp/ao_lisp_builtin.c b/src/lisp/ao_lisp_builtin.c
new file mode 100644
index 00000000..902f60e2
--- /dev/null
+++ b/src/lisp/ao_lisp_builtin.c
@@ -0,0 +1,619 @@
+/*
+ * 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_lisp.h"
+
+static int
+builtin_size(void *addr)
+{
+	(void) addr;
+	return sizeof (struct ao_lisp_builtin);
+}
+
+static void
+builtin_mark(void *addr)
+{
+	(void) addr;
+}
+
+static void
+builtin_move(void *addr)
+{
+	(void) addr;
+}
+
+const struct ao_lisp_type ao_lisp_builtin_type = {
+	.size = builtin_size,
+	.mark = builtin_mark,
+	.move = builtin_move
+};
+
+#ifdef AO_LISP_MAKE_CONST
+char *ao_lisp_builtin_name(enum ao_lisp_builtin_id b) {
+	(void) b;
+	return "???";
+}
+char *ao_lisp_args_name(uint8_t args) {
+	(void) args;
+	return "???";
+}
+#else
+static const ao_poly builtin_names[] = {
+	[builtin_eval] = _ao_lisp_atom_eval,
+	[builtin_read] = _ao_lisp_atom_read,
+	[builtin_lambda] = _ao_lisp_atom_lambda,
+	[builtin_lexpr] = _ao_lisp_atom_lexpr,
+	[builtin_nlambda] = _ao_lisp_atom_nlambda,
+	[builtin_macro] = _ao_lisp_atom_macro,
+	[builtin_car] = _ao_lisp_atom_car,
+	[builtin_cdr] = _ao_lisp_atom_cdr,
+	[builtin_cons] = _ao_lisp_atom_cons,
+	[builtin_last] = _ao_lisp_atom_last,
+	[builtin_length] = _ao_lisp_atom_length,
+	[builtin_quote] = _ao_lisp_atom_quote,
+	[builtin_set] = _ao_lisp_atom_set,
+	[builtin_setq] = _ao_lisp_atom_setq,
+	[builtin_cond] = _ao_lisp_atom_cond,
+	[builtin_progn] = _ao_lisp_atom_progn,
+	[builtin_while] = _ao_lisp_atom_while,
+	[builtin_print] = _ao_lisp_atom_print,
+	[builtin_patom] = _ao_lisp_atom_patom,
+	[builtin_plus] = _ao_lisp_atom_2b,
+	[builtin_minus] = _ao_lisp_atom_2d,
+	[builtin_times] = _ao_lisp_atom_2a,
+	[builtin_divide] = _ao_lisp_atom_2f,
+	[builtin_mod] = _ao_lisp_atom_25,
+	[builtin_equal] = _ao_lisp_atom_3d,
+	[builtin_less] = _ao_lisp_atom_3c,
+	[builtin_greater] = _ao_lisp_atom_3e,
+	[builtin_less_equal] = _ao_lisp_atom_3c3d,
+	[builtin_greater_equal] = _ao_lisp_atom_3e3d,
+	[builtin_pack] = _ao_lisp_atom_pack,
+	[builtin_unpack] = _ao_lisp_atom_unpack,
+	[builtin_flush] = _ao_lisp_atom_flush,
+	[builtin_delay] = _ao_lisp_atom_delay,
+	[builtin_led] = _ao_lisp_atom_led,
+	[builtin_save] = _ao_lisp_atom_save,
+	[builtin_restore] = _ao_lisp_atom_restore,
+	[builtin_call_cc] = _ao_lisp_atom_call2fcc,
+	[builtin_collect] = _ao_lisp_atom_collect,
+#if 0
+	[builtin_symbolp] = _ao_lisp_atom_symbolp,
+	[builtin_listp] = _ao_lisp_atom_listp,
+	[builtin_stringp] = _ao_lisp_atom_stringp,
+	[builtin_numberp] = _ao_lisp_atom_numberp,
+#endif
+};
+
+static char *
+ao_lisp_builtin_name(enum ao_lisp_builtin_id b) {
+	if (b < _builtin_last)
+		return ao_lisp_poly_atom(builtin_names[b])->name;
+	return "???";
+}
+
+static const ao_poly ao_lisp_args_atoms[] = {
+	[AO_LISP_FUNC_LAMBDA] = _ao_lisp_atom_lambda,
+	[AO_LISP_FUNC_LEXPR] = _ao_lisp_atom_lexpr,
+	[AO_LISP_FUNC_NLAMBDA] = _ao_lisp_atom_nlambda,
+	[AO_LISP_FUNC_MACRO] = _ao_lisp_atom_macro,
+};
+
+char *
+ao_lisp_args_name(uint8_t args)
+{
+	args &= AO_LISP_FUNC_MASK;
+	if (args < sizeof ao_lisp_args_atoms / sizeof ao_lisp_args_atoms[0])
+		return ao_lisp_poly_atom(ao_lisp_args_atoms[args])->name;
+	return "(unknown)";
+}
+#endif
+
+void
+ao_lisp_builtin_print(ao_poly b)
+{
+	struct ao_lisp_builtin *builtin = ao_lisp_poly_builtin(b);
+	printf("%s", ao_lisp_builtin_name(builtin->func));
+}
+
+ao_poly
+ao_lisp_check_argc(ao_poly name, struct ao_lisp_cons *cons, int min, int max)
+{
+	int	argc = 0;
+
+	while (cons && argc <= max) {
+		argc++;
+		cons = ao_lisp_poly_cons(cons->cdr);
+	}
+	if (argc < min || argc > max)
+		return ao_lisp_error(AO_LISP_INVALID, "%s: invalid arg count", ao_lisp_poly_atom(name)->name);
+	return _ao_lisp_atom_t;
+}
+
+ao_poly
+ao_lisp_arg(struct ao_lisp_cons *cons, int argc)
+{
+	if (!cons)
+		return AO_LISP_NIL;
+	while (argc--) {
+		if (!cons)
+			return AO_LISP_NIL;
+		cons = ao_lisp_poly_cons(cons->cdr);
+	}
+	return cons->car;
+}
+
+ao_poly
+ao_lisp_check_argt(ao_poly name, struct ao_lisp_cons *cons, int argc, int type, int nil_ok)
+{
+	ao_poly car = ao_lisp_arg(cons, argc);
+
+	if ((!car && !nil_ok) || ao_lisp_poly_type(car) != type)
+		return ao_lisp_error(AO_LISP_INVALID, "%s: invalid type for arg %d", ao_lisp_poly_atom(name)->name, argc);
+	return _ao_lisp_atom_t;
+}
+
+ao_poly
+ao_lisp_car(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_car, cons, 1, 1))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_car, cons, 0, AO_LISP_CONS, 0))
+		return AO_LISP_NIL;
+	return ao_lisp_poly_cons(cons->car)->car;
+}
+
+ao_poly
+ao_lisp_cdr(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_cdr, cons, 1, 1))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_cdr, cons, 0, AO_LISP_CONS, 0))
+		return AO_LISP_NIL;
+	return ao_lisp_poly_cons(cons->car)->cdr;
+}
+
+ao_poly
+ao_lisp_cons(struct ao_lisp_cons *cons)
+{
+	ao_poly	car, cdr;
+	if(!ao_lisp_check_argc(_ao_lisp_atom_cons, cons, 2, 2))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_cons, cons, 1, AO_LISP_CONS, 1))
+		return AO_LISP_NIL;
+	car = ao_lisp_arg(cons, 0);
+	cdr = ao_lisp_arg(cons, 1);
+	return ao_lisp_cons_poly(ao_lisp_cons_cons(car, ao_lisp_poly_cons(cdr)));
+}
+
+ao_poly
+ao_lisp_last(struct ao_lisp_cons *cons)
+{
+	ao_poly	l;
+	if (!ao_lisp_check_argc(_ao_lisp_atom_last, cons, 1, 1))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_last, cons, 0, AO_LISP_CONS, 1))
+		return AO_LISP_NIL;
+	l = ao_lisp_arg(cons, 0);
+	while (l) {
+		struct ao_lisp_cons *list = ao_lisp_poly_cons(l);
+		if (!list->cdr)
+			return list->car;
+		l = list->cdr;
+	}
+	return AO_LISP_NIL;
+}
+
+ao_poly
+ao_lisp_length(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_length, cons, 1, 1))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_length, cons, 0, AO_LISP_CONS, 1))
+		return AO_LISP_NIL;
+	return ao_lisp_int_poly(ao_lisp_cons_length(ao_lisp_poly_cons(ao_lisp_arg(cons, 0))));
+}
+
+ao_poly
+ao_lisp_quote(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_quote, cons, 1, 1))
+		return AO_LISP_NIL;
+	return ao_lisp_arg(cons, 0);
+}
+
+ao_poly
+ao_lisp_set(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_set, cons, 2, 2))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_set, cons, 0, AO_LISP_ATOM, 0))
+		return AO_LISP_NIL;
+
+	return ao_lisp_atom_set(ao_lisp_arg(cons, 0), ao_lisp_arg(cons, 1));
+}
+
+ao_poly
+ao_lisp_setq(struct ao_lisp_cons *cons)
+{
+	struct ao_lisp_cons	*expand = 0;
+	if (!ao_lisp_check_argc(_ao_lisp_atom_setq, cons, 2, 2))
+		return AO_LISP_NIL;
+	expand = ao_lisp_cons_cons(_ao_lisp_atom_set,
+				   ao_lisp_cons_cons(ao_lisp_cons_poly(ao_lisp_cons_cons(_ao_lisp_atom_quote,
+								       ao_lisp_cons_cons(cons->car, NULL))),
+						     ao_lisp_poly_cons(cons->cdr)));
+	return ao_lisp_cons_poly(expand);
+}
+
+ao_poly
+ao_lisp_cond(struct ao_lisp_cons *cons)
+{
+	ao_lisp_set_cond(cons);
+	return AO_LISP_NIL;
+}
+
+ao_poly
+ao_lisp_progn(struct ao_lisp_cons *cons)
+{
+	ao_lisp_stack->state = eval_progn;
+	ao_lisp_stack->sexprs = ao_lisp_cons_poly(cons);
+	return AO_LISP_NIL;
+}
+
+ao_poly
+ao_lisp_while(struct ao_lisp_cons *cons)
+{
+	ao_lisp_stack->state = eval_while;
+	ao_lisp_stack->sexprs = ao_lisp_cons_poly(cons);
+	return AO_LISP_NIL;
+}
+
+ao_poly
+ao_lisp_print(struct ao_lisp_cons *cons)
+{
+	ao_poly	val = AO_LISP_NIL;
+	while (cons) {
+		val = cons->car;
+		ao_lisp_poly_print(val);
+		cons = ao_lisp_poly_cons(cons->cdr);
+		if (cons)
+			printf(" ");
+	}
+	printf("\n");
+	return val;
+}
+
+ao_poly
+ao_lisp_patom(struct ao_lisp_cons *cons)
+{
+	ao_poly	val = AO_LISP_NIL;
+	while (cons) {
+		val = cons->car;
+		ao_lisp_poly_patom(val);
+		cons = ao_lisp_poly_cons(cons->cdr);
+	}
+	return val;
+}
+
+ao_poly
+ao_lisp_math(struct ao_lisp_cons *cons, enum ao_lisp_builtin_id op)
+{
+	ao_poly	ret = AO_LISP_NIL;
+
+	while (cons) {
+		ao_poly		car = cons->car;
+		uint8_t		rt = ao_lisp_poly_type(ret);
+		uint8_t		ct = ao_lisp_poly_type(car);
+
+		cons = ao_lisp_poly_cons(cons->cdr);
+
+		if (rt == AO_LISP_NIL)
+			ret = car;
+
+		else if (rt == AO_LISP_INT && ct == AO_LISP_INT) {
+			int	r = ao_lisp_poly_int(ret);
+			int	c = ao_lisp_poly_int(car);
+
+			switch(op) {
+			case builtin_plus:
+				r += c;
+				break;
+			case builtin_minus:
+				r -= c;
+				break;
+			case builtin_times:
+				r *= c;
+				break;
+			case builtin_divide:
+				if (c == 0)
+					return ao_lisp_error(AO_LISP_DIVIDE_BY_ZERO, "divide by zero");
+				r /= c;
+				break;
+			case builtin_mod:
+				if (c == 0)
+					return ao_lisp_error(AO_LISP_DIVIDE_BY_ZERO, "mod by zero");
+				r %= c;
+				break;
+			default:
+				break;
+			}
+			ret = ao_lisp_int_poly(r);
+		}
+
+		else if (rt == AO_LISP_STRING && ct == AO_LISP_STRING && op == builtin_plus)
+			ret = ao_lisp_string_poly(ao_lisp_string_cat(ao_lisp_poly_string(ret),
+								     ao_lisp_poly_string(car)));
+		else
+			return ao_lisp_error(AO_LISP_INVALID, "invalid args");
+	}
+	return ret;
+}
+
+ao_poly
+ao_lisp_plus(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_math(cons, builtin_plus);
+}
+
+ao_poly
+ao_lisp_minus(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_math(cons, builtin_minus);
+}
+
+ao_poly
+ao_lisp_times(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_math(cons, builtin_times);
+}
+
+ao_poly
+ao_lisp_divide(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_math(cons, builtin_divide);
+}
+
+ao_poly
+ao_lisp_mod(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_math(cons, builtin_mod);
+}
+
+ao_poly
+ao_lisp_compare(struct ao_lisp_cons *cons, enum ao_lisp_builtin_id op)
+{
+	ao_poly	left;
+
+	if (!cons)
+		return _ao_lisp_atom_t;
+
+	left = cons->car;
+	cons = ao_lisp_poly_cons(cons->cdr);
+	while (cons) {
+		ao_poly	right = cons->car;
+
+		if (op == builtin_equal) {
+			if (left != right)
+				return AO_LISP_NIL;
+		} else {
+			uint8_t	lt = ao_lisp_poly_type(left);
+			uint8_t	rt = ao_lisp_poly_type(right);
+			if (lt == AO_LISP_INT && rt == AO_LISP_INT) {
+				int l = ao_lisp_poly_int(left);
+				int r = ao_lisp_poly_int(right);
+
+				switch (op) {
+				case builtin_less:
+					if (!(l < r))
+						return AO_LISP_NIL;
+					break;
+				case builtin_greater:
+					if (!(l > r))
+						return AO_LISP_NIL;
+					break;
+				case builtin_less_equal:
+					if (!(l <= r))
+						return AO_LISP_NIL;
+					break;
+				case builtin_greater_equal:
+					if (!(l >= r))
+						return AO_LISP_NIL;
+					break;
+				default:
+					break;
+				}
+			} else if (lt == AO_LISP_STRING && rt == AO_LISP_STRING) {
+				int c = strcmp(ao_lisp_poly_string(left),
+					       ao_lisp_poly_string(right));
+				switch (op) {
+				case builtin_less:
+					if (!(c < 0))
+						return AO_LISP_NIL;
+					break;
+				case builtin_greater:
+					if (!(c > 0))
+						return AO_LISP_NIL;
+					break;
+				case builtin_less_equal:
+					if (!(c <= 0))
+						return AO_LISP_NIL;
+					break;
+				case builtin_greater_equal:
+					if (!(c >= 0))
+						return AO_LISP_NIL;
+					break;
+				default:
+					break;
+				}
+			}
+		}
+		left = right;
+		cons = ao_lisp_poly_cons(cons->cdr);
+	}
+	return _ao_lisp_atom_t;
+}
+
+ao_poly
+ao_lisp_equal(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_compare(cons, builtin_equal);
+}
+
+ao_poly
+ao_lisp_less(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_compare(cons, builtin_less);
+}
+
+ao_poly
+ao_lisp_greater(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_compare(cons, builtin_greater);
+}
+
+ao_poly
+ao_lisp_less_equal(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_compare(cons, builtin_less_equal);
+}
+
+ao_poly
+ao_lisp_greater_equal(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_compare(cons, builtin_greater_equal);
+}
+
+ao_poly
+ao_lisp_pack(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_pack, cons, 1, 1))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_pack, cons, 0, AO_LISP_CONS, 1))
+		return AO_LISP_NIL;
+	return ao_lisp_string_pack(ao_lisp_poly_cons(ao_lisp_arg(cons, 0)));
+}
+
+ao_poly
+ao_lisp_unpack(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_unpack, cons, 1, 1))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_unpack, cons, 0, AO_LISP_STRING, 0))
+		return AO_LISP_NIL;
+	return ao_lisp_string_unpack(ao_lisp_poly_string(ao_lisp_arg(cons, 0)));
+}
+
+ao_poly
+ao_lisp_flush(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_flush, cons, 0, 0))
+		return AO_LISP_NIL;
+	ao_lisp_os_flush();
+	return _ao_lisp_atom_t;
+}
+
+ao_poly
+ao_lisp_led(struct ao_lisp_cons *cons)
+{
+	ao_poly led;
+	if (!ao_lisp_check_argc(_ao_lisp_atom_led, cons, 1, 1))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_led, cons, 0, AO_LISP_INT, 0))
+		return AO_LISP_NIL;
+	led = ao_lisp_arg(cons, 0);
+	ao_lisp_os_led(ao_lisp_poly_int(led));
+	return led;
+}
+
+ao_poly
+ao_lisp_delay(struct ao_lisp_cons *cons)
+{
+	ao_poly delay;
+	if (!ao_lisp_check_argc(_ao_lisp_atom_led, cons, 1, 1))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_led, cons, 0, AO_LISP_INT, 0))
+		return AO_LISP_NIL;
+	delay = ao_lisp_arg(cons, 0);
+	ao_lisp_os_delay(ao_lisp_poly_int(delay));
+	return delay;
+}
+
+ao_poly
+ao_lisp_do_eval(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_eval, cons, 1, 1))
+		return AO_LISP_NIL;
+	ao_lisp_stack->state = eval_sexpr;
+	return cons->car;
+}
+
+ao_poly
+ao_lisp_do_read(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_read, cons, 0, 0))
+		return AO_LISP_NIL;
+	return ao_lisp_read();
+}
+
+ao_poly
+ao_lisp_do_collect(struct ao_lisp_cons *cons)
+{
+	int	free;
+	(void) cons;
+	free = ao_lisp_collect(AO_LISP_COLLECT_FULL);
+	return ao_lisp_int_poly(free);
+}
+
+const ao_lisp_func_t ao_lisp_builtins[] = {
+	[builtin_eval] = ao_lisp_do_eval,
+	[builtin_read] = ao_lisp_do_read,
+	[builtin_lambda] = ao_lisp_lambda,
+	[builtin_lexpr] = ao_lisp_lexpr,
+	[builtin_nlambda] = ao_lisp_nlambda,
+	[builtin_macro] = ao_lisp_macro,
+	[builtin_car] = ao_lisp_car,
+	[builtin_cdr] = ao_lisp_cdr,
+	[builtin_cons] = ao_lisp_cons,
+	[builtin_last] = ao_lisp_last,
+	[builtin_length] = ao_lisp_length,
+	[builtin_quote] = ao_lisp_quote,
+	[builtin_set] = ao_lisp_set,
+	[builtin_setq] = ao_lisp_setq,
+	[builtin_cond] = ao_lisp_cond,
+	[builtin_progn] = ao_lisp_progn,
+	[builtin_while] = ao_lisp_while,
+	[builtin_print] = ao_lisp_print,
+	[builtin_patom] = ao_lisp_patom,
+	[builtin_plus] = ao_lisp_plus,
+	[builtin_minus] = ao_lisp_minus,
+	[builtin_times] = ao_lisp_times,
+	[builtin_divide] = ao_lisp_divide,
+	[builtin_mod] = ao_lisp_mod,
+	[builtin_equal] = ao_lisp_equal,
+	[builtin_less] = ao_lisp_less,
+	[builtin_greater] = ao_lisp_greater,
+	[builtin_less_equal] = ao_lisp_less_equal,
+	[builtin_greater_equal] = ao_lisp_greater_equal,
+	[builtin_pack] = ao_lisp_pack,
+	[builtin_unpack] = ao_lisp_unpack,
+	[builtin_flush] = ao_lisp_flush,
+	[builtin_led] = ao_lisp_led,
+	[builtin_delay] = ao_lisp_delay,
+	[builtin_save] = ao_lisp_save,
+	[builtin_restore] = ao_lisp_restore,
+	[builtin_call_cc] = ao_lisp_call_cc,
+	[builtin_collect] = ao_lisp_do_collect,
+};
+
diff --git a/src/lisp/ao_lisp_cons.c b/src/lisp/ao_lisp_cons.c
new file mode 100644
index 00000000..d2b60c9a
--- /dev/null
+++ b/src/lisp/ao_lisp_cons.c
@@ -0,0 +1,143 @@
+/*
+ * 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_lisp.h"
+
+static void cons_mark(void *addr)
+{
+	struct ao_lisp_cons	*cons = addr;
+
+	for (;;) {
+		ao_lisp_poly_mark(cons->car, 1);
+		cons = ao_lisp_poly_cons(cons->cdr);
+		if (!cons)
+			break;
+		if (ao_lisp_mark_memory(&ao_lisp_cons_type, cons))
+			break;
+	}
+}
+
+static int cons_size(void *addr)
+{
+	(void) addr;
+	return sizeof (struct ao_lisp_cons);
+}
+
+static void cons_move(void *addr)
+{
+	struct ao_lisp_cons	*cons = addr;
+
+	if (!cons)
+		return;
+
+	for (;;) {
+		struct ao_lisp_cons	*cdr;
+		int			ret;
+
+		MDBG_MOVE("cons_move start %d (%d, %d)\n",
+			  MDBG_OFFSET(cons), MDBG_OFFSET(ao_lisp_ref(cons->car)), MDBG_OFFSET(ao_lisp_ref(cons->cdr)));
+		(void) ao_lisp_poly_move(&cons->car, 1);
+		cdr = ao_lisp_poly_cons(cons->cdr);
+		if (!cdr)
+			break;
+		ret = ao_lisp_move_memory(&ao_lisp_cons_type, (void **) &cdr);
+		if (cdr != ao_lisp_poly_cons(cons->cdr))
+			cons->cdr = ao_lisp_cons_poly(cdr);
+		MDBG_MOVE("cons_move end %d (%d, %d)\n",
+			  MDBG_OFFSET(cons), MDBG_OFFSET(ao_lisp_ref(cons->car)), MDBG_OFFSET(ao_lisp_ref(cons->cdr)));
+		if (ret)
+			break;
+		cons = cdr;
+	}
+}
+
+const struct ao_lisp_type ao_lisp_cons_type = {
+	.mark = cons_mark,
+	.size = cons_size,
+	.move = cons_move,
+	.name = "cons",
+};
+
+struct ao_lisp_cons *ao_lisp_cons_free_list;
+
+struct ao_lisp_cons *
+ao_lisp_cons_cons(ao_poly car, struct ao_lisp_cons *cdr)
+{
+	struct ao_lisp_cons	*cons;
+
+	if (ao_lisp_cons_free_list) {
+		cons = ao_lisp_cons_free_list;
+		ao_lisp_cons_free_list = ao_lisp_poly_cons(cons->cdr);
+	} else {
+		ao_lisp_poly_stash(0, car);
+		ao_lisp_cons_stash(0, cdr);
+		cons = ao_lisp_alloc(sizeof (struct ao_lisp_cons));
+		car = ao_lisp_poly_fetch(0);
+		cdr = ao_lisp_cons_fetch(0);
+		if (!cons)
+			return NULL;
+	}
+	cons->car = car;
+	cons->cdr = ao_lisp_cons_poly(cdr);
+	return cons;
+}
+
+void
+ao_lisp_cons_free(struct ao_lisp_cons *cons)
+{
+	while (cons) {
+		ao_poly cdr = cons->cdr;
+		cons->cdr = ao_lisp_cons_poly(ao_lisp_cons_free_list);
+		ao_lisp_cons_free_list = cons;
+		cons = ao_lisp_poly_cons(cdr);
+	}
+}
+
+void
+ao_lisp_cons_print(ao_poly c)
+{
+	struct ao_lisp_cons *cons = ao_lisp_poly_cons(c);
+	int	first = 1;
+	printf("(");
+	while (cons) {
+		if (!first)
+			printf(" ");
+		ao_lisp_poly_print(cons->car);
+		cons = ao_lisp_poly_cons(cons->cdr);
+		first = 0;
+	}
+	printf(")");
+}
+
+void
+ao_lisp_cons_patom(ao_poly c)
+{
+	struct ao_lisp_cons *cons = ao_lisp_poly_cons(c);
+
+	while (cons) {
+		ao_lisp_poly_patom(cons->car);
+		cons = ao_lisp_poly_cons(cons->cdr);
+	}
+}
+
+int
+ao_lisp_cons_length(struct ao_lisp_cons *cons)
+{
+	int	len = 0;
+	while (cons) {
+		len++;
+		cons = ao_lisp_poly_cons(cons->cdr);
+	}
+	return len;
+}
diff --git a/src/lisp/ao_lisp_const.lisp b/src/lisp/ao_lisp_const.lisp
new file mode 100644
index 00000000..3c8fd21b
--- /dev/null
+++ b/src/lisp/ao_lisp_const.lisp
@@ -0,0 +1,184 @@
+;
+; 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.
+;
+; Lisp code placed in ROM
+
+					; return a list containing all of the arguments
+
+(set (quote list) (lexpr (l) l))
+
+					;
+					; Define a variable without returning the value
+					; Useful when defining functions to avoid
+					; having lots of output generated
+					;
+
+(setq def (macro (name val rest)
+		 (list
+		  'progn
+		  (list
+		   'set
+		   (list 'quote name)
+		   val)
+		  (list 'quote name)
+		  )
+		 )
+      )
+
+					;
+					; A slightly more convenient form
+					; for defining lambdas.
+					;
+					; (defun <name> (<params>) s-exprs)
+					;
+
+(def defun (macro (name args exprs)
+		  (list
+		   def
+		   name
+		   (cons 'lambda (cons args exprs))
+		   )
+		  )
+     )
+
+					; basic list accessors
+
+
+(defun cadr (l) (car (cdr l)))
+
+(defun caddr (l) (car (cdr (cdr l))))
+
+(defun nth (list n)
+  (cond ((= n 0) (car list))
+	((nth (cdr list) (1- n)))
+	)
+  )
+
+					; simple math operators
+
+(defun 1+ (x) (+ x 1))
+(defun 1- (x) (- x 1))
+
+					; define a set of local
+					; variables and then evaluate
+					; a list of sexprs
+					;
+					; (let (var-defines) sexprs)
+					;
+					; where var-defines are either
+					;
+					; (name value)
+					;
+					; or
+					;
+					; (name)
+					;
+					; e.g.
+					;
+					; (let ((x 1) (y)) (setq y (+ x 1)) y)
+
+(def let (macro (vars exprs)
+		((lambda (make-names make-exprs make-nils)
+
+					;
+					; make the list of names in the let
+					;
+
+		   (setq make-names (lambda (vars)
+				      (cond (vars
+					     (cons (car (car vars))
+						   (make-names (cdr vars))))
+					    )
+				      )
+			 )
+
+					; the set of expressions is
+					; the list of set expressions
+					; pre-pended to the
+					; expressions to evaluate
+
+		   (setq make-exprs (lambda (vars exprs)
+				      (cond (vars (cons
+						   (list set
+							 (list quote
+							       (car (car vars))
+							       )
+							 (cadr (car vars))
+							 )
+						   (make-exprs (cdr vars) exprs)
+						   )
+						  )
+					    (exprs)
+					    )
+				      )
+			 )
+
+					; the parameters to the lambda is a list
+					; of nils of the right length
+
+		   (setq make-nils (lambda (vars)
+				     (cond (vars (cons nil (make-nils (cdr vars))))
+					   )
+				     )
+			 )
+					; prepend the set operations
+					; to the expressions
+
+		   (setq exprs (make-exprs vars exprs))
+
+					; build the lambda.
+
+		   (cons (cons 'lambda (cons (make-names vars) exprs))
+			 (make-nils vars)
+			 )
+		   )
+		 ()
+		 ()
+		 ()
+		 )
+		)
+     )
+
+					; boolean operators
+
+(def or (lexpr (l)
+	       (let ((ret nil))
+		 (while l
+		   (cond ((setq ret (car l))
+			  (setq l nil))
+			 ((setq l (cdr l)))))
+		 ret
+		 )
+	       )
+     )
+
+					; execute to resolve macros
+
+(or nil t)
+
+(def and (lexpr (l)
+	       (let ((ret t))
+		 (while l
+		   (cond ((setq ret (car l))
+			  (setq l (cdr l)))
+			 ((setq ret (setq l nil)))
+			 )
+		   )
+		 ret
+		 )
+	       )
+     )
+
+					; execute to resolve macros
+
+(and t nil)
diff --git a/src/lisp/ao_lisp_error.c b/src/lisp/ao_lisp_error.c
new file mode 100644
index 00000000..54a9be10
--- /dev/null
+++ b/src/lisp/ao_lisp_error.c
@@ -0,0 +1,102 @@
+/*
+ * 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_lisp.h"
+#include <stdarg.h>
+
+void
+ao_lisp_error_poly(char *name, ao_poly poly, ao_poly last)
+{
+	int first = 1;
+	printf("\t\t%s(", name);
+	if (ao_lisp_poly_type(poly) == AO_LISP_CONS) {
+		if (poly) {
+			while (poly) {
+				struct ao_lisp_cons *cons = ao_lisp_poly_cons(poly);
+				if (!first)
+					printf("\t\t         ");
+				else
+					first = 0;
+				ao_lisp_poly_print(cons->car);
+				printf("\n");
+				if (poly == last)
+					break;
+				poly = cons->cdr;
+			}
+			printf("\t\t         )\n");
+		} else
+			printf(")\n");
+	} else {
+		ao_lisp_poly_print(poly);
+		printf("\n");
+	}
+}
+
+static void tabs(int indent)
+{
+	while (indent--)
+		printf("\t");
+}
+
+void
+ao_lisp_error_frame(int indent, char *name, struct ao_lisp_frame *frame)
+{
+	int			f;
+
+	tabs(indent);
+	printf ("%s{", name);
+	if (frame) {
+		if (frame->type & AO_LISP_FRAME_PRINT)
+			printf("recurse...");
+		else {
+			frame->type |= AO_LISP_FRAME_PRINT;
+			for (f = 0; f < frame->num; f++) {
+				if (f != 0) {
+					tabs(indent);
+					printf("         ");
+				}
+				ao_lisp_poly_print(frame->vals[f].atom);
+				printf(" = ");
+				ao_lisp_poly_print(frame->vals[f].val);
+				printf("\n");
+			}
+			if (frame->prev)
+				ao_lisp_error_frame(indent + 1, "prev:   ", ao_lisp_poly_frame(frame->prev));
+			frame->type &= ~AO_LISP_FRAME_PRINT;
+		}
+		tabs(indent);
+		printf("        }\n");
+	} else
+		printf ("}\n");
+}
+
+
+ao_poly
+ao_lisp_error(int error, char *format, ...)
+{
+	va_list	args;
+
+	ao_lisp_exception |= error;
+	va_start(args, format);
+	vprintf(format, args);
+	va_end(args);
+	printf("\n");
+	printf("Value: "); ao_lisp_poly_print(ao_lisp_v); printf("\n");
+	printf("Stack:\n");
+	ao_lisp_stack_print(ao_lisp_stack_poly(ao_lisp_stack));
+	printf("Globals:\n\t");
+	ao_lisp_frame_print(ao_lisp_frame_poly(ao_lisp_frame_global));
+	printf("\n");
+	return AO_LISP_NIL;
+}
diff --git a/src/lisp/ao_lisp_eval.c b/src/lisp/ao_lisp_eval.c
new file mode 100644
index 00000000..3be7c9c4
--- /dev/null
+++ b/src/lisp/ao_lisp_eval.c
@@ -0,0 +1,531 @@
+/*
+ * 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_lisp.h"
+#include <assert.h>
+
+struct ao_lisp_stack		*ao_lisp_stack;
+ao_poly				ao_lisp_v;
+
+ao_poly
+ao_lisp_set_cond(struct ao_lisp_cons *c)
+{
+	ao_lisp_stack->state = eval_cond;
+	ao_lisp_stack->sexprs = ao_lisp_cons_poly(c);
+	return AO_LISP_NIL;
+}
+
+static int
+func_type(ao_poly func)
+{
+	if (func == AO_LISP_NIL)
+		return ao_lisp_error(AO_LISP_INVALID, "func is nil");
+	switch (ao_lisp_poly_type(func)) {
+	case AO_LISP_BUILTIN:
+		return ao_lisp_poly_builtin(func)->args & AO_LISP_FUNC_MASK;
+	case AO_LISP_LAMBDA:
+		return ao_lisp_poly_lambda(func)->args;
+	case AO_LISP_STACK:
+		return AO_LISP_FUNC_LAMBDA;
+	default:
+		ao_lisp_error(AO_LISP_INVALID, "not a func");
+		return -1;
+	}
+}
+
+/*
+ * Flattened eval to avoid stack issues
+ */
+
+/*
+ * Evaluate an s-expression
+ *
+ * For a list, evaluate all of the elements and
+ * then execute the resulting function call.
+ *
+ * Each element of the list is evaluated in
+ * a clean stack context.
+ *
+ * The current stack state is set to 'formal' so that
+ * when the evaluation is complete, the value
+ * will get appended to the values list.
+ *
+ * For other types, compute the value directly.
+ */
+
+static int
+ao_lisp_eval_sexpr(void)
+{
+	DBGI("sexpr: "); DBG_POLY(ao_lisp_v); DBG("\n");
+	switch (ao_lisp_poly_type(ao_lisp_v)) {
+	case AO_LISP_CONS:
+		if (ao_lisp_v == AO_LISP_NIL) {
+			if (!ao_lisp_stack->values) {
+				/*
+				 * empty list evaluates to empty list
+				 */
+				ao_lisp_v = AO_LISP_NIL;
+				ao_lisp_stack->state = eval_val;
+			} else {
+				/*
+				 * done with arguments, go execute it
+				 */
+				ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->values)->car;
+				ao_lisp_stack->state = eval_exec;
+			}
+		} else {
+			if (!ao_lisp_stack->values)
+				ao_lisp_stack->list = ao_lisp_v;
+			/*
+			 * Evaluate another argument and then switch
+			 * to 'formal' to add the value to the values
+			 * list
+			 */
+			ao_lisp_stack->sexprs = ao_lisp_v;
+			ao_lisp_stack->state = eval_formal;
+			if (!ao_lisp_stack_push())
+				return 0;
+			/*
+			 * push will reset the state to 'sexpr', which
+			 * will evaluate the expression
+			 */
+			ao_lisp_v = ao_lisp_poly_cons(ao_lisp_v)->car;
+		}
+		break;
+	case AO_LISP_ATOM:
+		DBGI("..frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+		ao_lisp_v = ao_lisp_atom_get(ao_lisp_v);
+		/* fall through */
+	case AO_LISP_INT:
+	case AO_LISP_STRING:
+	case AO_LISP_BUILTIN:
+	case AO_LISP_LAMBDA:
+		ao_lisp_stack->state = eval_val;
+		break;
+	}
+	DBGI(".. result "); DBG_POLY(ao_lisp_v); DBG("\n");
+	return 1;
+}
+
+/*
+ * A value has been computed.
+ *
+ * If the value was computed from a macro,
+ * then we want to reset the current context
+ * to evaluate the macro result again.
+ *
+ * If not a macro, then pop the stack.
+ * If the stack is empty, we're done.
+ * Otherwise, the stack will contain
+ * the next state.
+ */
+
+static int
+ao_lisp_eval_val(void)
+{
+	DBGI("val: "); DBG_POLY(ao_lisp_v); DBG("\n");
+	/*
+	 * Value computed, pop the stack
+	 * to figure out what to do with the value
+	 */
+	ao_lisp_stack_pop();
+	DBGI("..state %d\n", ao_lisp_stack ? ao_lisp_stack->state : -1);
+	return 1;
+}
+
+/*
+ * A formal has been computed.
+ *
+ * If this is the first formal, then check to see if we've got a
+ * lamda/lexpr or macro/nlambda.
+ *
+ * For lambda/lexpr, go compute another formal.  This will terminate
+ * when the sexpr state sees nil.
+ *
+ * For macro/nlambda, we're done, so move the sexprs into the values
+ * and go execute it.
+ *
+ * Macros have an additional step of saving a stack frame holding the
+ * macro value execution context, which then gets the result of the
+ * macro to run
+ */
+
+static int
+ao_lisp_eval_formal(void)
+{
+	ao_poly			formal;
+	struct ao_lisp_stack	*prev;
+
+	DBGI("formal: "); DBG_POLY(ao_lisp_v); DBG("\n");
+
+	/* Check what kind of function we've got */
+	if (!ao_lisp_stack->values) {
+		switch (func_type(ao_lisp_v)) {
+		case AO_LISP_FUNC_LAMBDA:
+		case AO_LISP_FUNC_LEXPR:
+			DBGI(".. lambda or lexpr\n");
+			break;
+		case AO_LISP_FUNC_MACRO:
+			/* Evaluate the result once more */
+			ao_lisp_stack->state = eval_macro;
+			if (!ao_lisp_stack_push())
+				return 0;
+
+			/* After the function returns, take that
+			 * value and re-evaluate it
+			 */
+			prev = ao_lisp_poly_stack(ao_lisp_stack->prev);
+			ao_lisp_stack->sexprs = prev->sexprs;
+
+			DBGI(".. start macro\n");
+			DBGI(".. sexprs       "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
+			DBGI(".. values       "); DBG_POLY(ao_lisp_stack->values); DBG("\n");
+			DBG_FRAMES();
+
+			/* fall through ... */
+		case AO_LISP_FUNC_NLAMBDA:
+			DBGI(".. nlambda or macro\n");
+
+			/* use the raw sexprs as values */
+			ao_lisp_stack->values = ao_lisp_stack->sexprs;
+			ao_lisp_stack->values_tail = AO_LISP_NIL;
+			ao_lisp_stack->state = eval_exec;
+
+			/* ready to execute now */
+			return 1;
+		case -1:
+			return 0;
+		}
+	}
+
+	/* Append formal to list of values */
+	formal = ao_lisp_cons_poly(ao_lisp_cons_cons(ao_lisp_v, NULL));
+	if (!formal)
+		return 0;
+
+	if (ao_lisp_stack->values_tail)
+		ao_lisp_poly_cons(ao_lisp_stack->values_tail)->cdr = formal;
+	else
+		ao_lisp_stack->values = formal;
+	ao_lisp_stack->values_tail = formal;
+
+	DBGI(".. values "); DBG_POLY(ao_lisp_stack->values); DBG("\n");
+
+	/*
+	 * Step to the next argument, if this is last, then
+	 * 'sexpr' will end up switching to 'exec'
+	 */
+	ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->cdr;
+
+	ao_lisp_stack->state = eval_sexpr;
+
+	DBGI(".. "); DBG_POLY(ao_lisp_v); DBG("\n");
+	return 1;
+}
+
+/*
+ * Start executing a function call
+ *
+ * Most builtins are easy, just call the function.
+ * 'cond' is magic; it sticks the list of clauses
+ * in 'sexprs' and switches to 'cond' state. That
+ * bit of magic is done in ao_lisp_set_cond.
+ *
+ * Lambdas build a new frame to hold the locals and
+ * then re-use the current stack context to evaluate
+ * the s-expression from the lambda.
+ */
+
+static int
+ao_lisp_eval_exec(void)
+{
+	ao_poly v;
+	struct ao_lisp_builtin	*builtin;
+
+	DBGI("exec: "); DBG_POLY(ao_lisp_v); DBG(" values "); DBG_POLY(ao_lisp_stack->values); DBG ("\n");
+	ao_lisp_stack->sexprs = AO_LISP_NIL;
+	switch (ao_lisp_poly_type(ao_lisp_v)) {
+	case AO_LISP_BUILTIN:
+		ao_lisp_stack->state = eval_val;
+		builtin = ao_lisp_poly_builtin(ao_lisp_v);
+		v = ao_lisp_func(builtin) (
+			ao_lisp_poly_cons(ao_lisp_poly_cons(ao_lisp_stack->values)->cdr));
+		DBG_DO(if (!ao_lisp_exception && ao_lisp_poly_builtin(ao_lisp_v)->func == builtin_set) {
+				struct ao_lisp_cons *cons = ao_lisp_poly_cons(ao_lisp_stack->values);
+				ao_poly atom = ao_lisp_arg(cons, 1);
+				ao_poly val = ao_lisp_arg(cons, 2);
+				DBGI("set "); DBG_POLY(atom); DBG(" = "); DBG_POLY(val); DBG("\n");
+			});
+		builtin = ao_lisp_poly_builtin(ao_lisp_v);
+		if (builtin->args & AO_LISP_FUNC_FREE_ARGS && !ao_lisp_stack_marked(ao_lisp_stack))
+			ao_lisp_cons_free(ao_lisp_poly_cons(ao_lisp_stack->values));
+
+		ao_lisp_v = v;
+		ao_lisp_stack->values = AO_LISP_NIL;
+		ao_lisp_stack->values_tail = AO_LISP_NIL;
+		DBGI(".. result "); DBG_POLY(ao_lisp_v); DBG ("\n");
+		DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+		break;
+	case AO_LISP_LAMBDA:
+		DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+		ao_lisp_stack->state = eval_progn;
+		v = ao_lisp_lambda_eval();
+		ao_lisp_stack->sexprs = v;
+		ao_lisp_stack->values = AO_LISP_NIL;
+		ao_lisp_stack->values_tail = AO_LISP_NIL;
+		DBGI(".. sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
+		DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+		break;
+	case AO_LISP_STACK:
+		DBGI(".. stack "); DBG_POLY(ao_lisp_v); DBG("\n");
+		ao_lisp_v = ao_lisp_stack_eval();
+		DBGI(".. value "); DBG_POLY(ao_lisp_v); DBG("\n");
+		DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+		break;
+	}
+	return 1;
+}
+
+/*
+ * Start evaluating the next cond clause
+ *
+ * If the list of clauses is empty, then
+ * the result of the cond is nil.
+ *
+ * Otherwise, set the current stack state to 'cond_test' and create a
+ * new stack context to evaluate the test s-expression. Once that's
+ * complete, we'll land in 'cond_test' to finish the clause.
+ */
+static int
+ao_lisp_eval_cond(void)
+{
+	DBGI("cond: "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
+	DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+	DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
+	if (!ao_lisp_stack->sexprs) {
+		ao_lisp_v = AO_LISP_NIL;
+		ao_lisp_stack->state = eval_val;
+	} else {
+		ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->car;
+		if (!ao_lisp_v || ao_lisp_poly_type(ao_lisp_v) != AO_LISP_CONS) {
+			ao_lisp_error(AO_LISP_INVALID, "invalid cond clause");
+			return 0;
+		}
+		ao_lisp_v = ao_lisp_poly_cons(ao_lisp_v)->car;
+		ao_lisp_stack->state = eval_cond_test;
+		if (!ao_lisp_stack_push())
+			return 0;
+	}
+	return 1;
+}
+
+/*
+ * Finish a cond clause.
+ *
+ * Check the value from the test expression, if
+ * non-nil, then set up to evaluate the value expression.
+ *
+ * Otherwise, step to the next clause and go back to the 'cond'
+ * state
+ */
+static int
+ao_lisp_eval_cond_test(void)
+{
+	DBGI("cond_test: "); DBG_POLY(ao_lisp_v); DBG(" sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
+	DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+	DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
+	if (ao_lisp_v) {
+		struct ao_lisp_cons *car = ao_lisp_poly_cons(ao_lisp_poly_cons(ao_lisp_stack->sexprs)->car);
+		ao_poly c = car->cdr;
+
+		if (c) {
+			ao_lisp_stack->state = eval_progn;
+			ao_lisp_stack->sexprs = c;
+		} else
+			ao_lisp_stack->state = eval_val;
+	} else {
+		ao_lisp_stack->sexprs = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->cdr;
+		DBGI("next cond: "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
+		ao_lisp_stack->state = eval_cond;
+	}
+	return 1;
+}
+
+/*
+ * Evaluate a list of sexprs, returning the value from the last one.
+ *
+ * ao_lisp_progn records the list in stack->sexprs, so we just need to
+ * walk that list. Set ao_lisp_v to the car of the list and jump to
+ * eval_sexpr. When that's done, it will land in eval_val. For all but
+ * the last, leave a stack frame with eval_progn set so that we come
+ * back here. For the last, don't add a stack frame so that we can
+ * just continue on.
+ */
+static int
+ao_lisp_eval_progn(void)
+{
+	DBGI("progn: "); DBG_POLY(ao_lisp_v); DBG(" sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
+	DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+	DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
+
+	if (!ao_lisp_stack->sexprs) {
+		ao_lisp_v = AO_LISP_NIL;
+		ao_lisp_stack->state = eval_val;
+	} else {
+		ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->car;
+		ao_lisp_stack->sexprs = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->cdr;
+
+		/* If there are more sexprs to do, then come back here, otherwise
+		 * return the value of the last one by just landing in eval_sexpr
+		 */
+		if (ao_lisp_stack->sexprs) {
+			ao_lisp_stack->state = eval_progn;
+			if (!ao_lisp_stack_push())
+				return 0;
+		}
+		ao_lisp_stack->state = eval_sexpr;
+	}
+	return 1;
+}
+
+/*
+ * Conditionally execute a list of sexprs while the first is true
+ */
+static int
+ao_lisp_eval_while(void)
+{
+	DBGI("while: "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
+	DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+	DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
+
+	ao_lisp_stack->values = ao_lisp_v;
+	if (!ao_lisp_stack->sexprs) {
+		ao_lisp_v = AO_LISP_NIL;
+		ao_lisp_stack->state = eval_val;
+	} else {
+		ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->car;
+		ao_lisp_stack->state = eval_while_test;
+		if (!ao_lisp_stack_push())
+			return 0;
+	}
+	return 1;
+}
+
+/*
+ * Check the while condition, terminate the loop if nil. Otherwise keep going
+ */
+static int
+ao_lisp_eval_while_test(void)
+{
+	DBGI("while_test: "); DBG_POLY(ao_lisp_v); DBG(" sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
+	DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
+	DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
+
+	if (ao_lisp_v) {
+		ao_lisp_stack->values = ao_lisp_v;
+		ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->cdr;
+		ao_lisp_stack->state = eval_while;
+		if (!ao_lisp_stack_push())
+			return 0;
+		ao_lisp_stack->state = eval_progn;
+		ao_lisp_stack->sexprs = ao_lisp_v;
+	}
+	else
+	{
+		ao_lisp_stack->state = eval_val;
+		ao_lisp_v = ao_lisp_stack->values;
+	}
+	return 1;
+}
+
+/*
+ * Replace the original sexpr with the macro expansion, then
+ * execute that
+ */
+static int
+ao_lisp_eval_macro(void)
+{
+	DBGI("macro: "); DBG_POLY(ao_lisp_v); DBG(" sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
+
+	if (ao_lisp_v == AO_LISP_NIL)
+		ao_lisp_abort();
+	if (ao_lisp_poly_type(ao_lisp_v) == AO_LISP_CONS) {
+		*ao_lisp_poly_cons(ao_lisp_stack->sexprs) = *ao_lisp_poly_cons(ao_lisp_v);
+		ao_lisp_v = ao_lisp_stack->sexprs;
+		DBGI("sexprs rewritten to: "); DBG_POLY(ao_lisp_v); DBG("\n");
+	}
+	ao_lisp_stack->sexprs = AO_LISP_NIL;
+	ao_lisp_stack->state = eval_sexpr;
+	return 1;
+}
+
+static int (*const evals[])(void) = {
+	[eval_sexpr] = ao_lisp_eval_sexpr,
+	[eval_val] = ao_lisp_eval_val,
+	[eval_formal] = ao_lisp_eval_formal,
+	[eval_exec] = ao_lisp_eval_exec,
+	[eval_cond] = ao_lisp_eval_cond,
+	[eval_cond_test] = ao_lisp_eval_cond_test,
+	[eval_progn] = ao_lisp_eval_progn,
+	[eval_while] = ao_lisp_eval_while,
+	[eval_while_test] = ao_lisp_eval_while_test,
+	[eval_macro] = ao_lisp_eval_macro,
+};
+
+const char *ao_lisp_state_names[] = {
+	"sexpr",
+	"val",
+	"formal",
+	"exec",
+	"cond",
+	"cond_test",
+	"progn",
+};
+
+/*
+ * Called at restore time to reset all execution state
+ */
+
+void
+ao_lisp_eval_clear_globals(void)
+{
+	ao_lisp_stack = NULL;
+	ao_lisp_frame_current = NULL;
+	ao_lisp_v = AO_LISP_NIL;
+}
+
+int
+ao_lisp_eval_restart(void)
+{
+	return ao_lisp_stack_push();
+}
+
+ao_poly
+ao_lisp_eval(ao_poly _v)
+{
+	ao_lisp_v = _v;
+
+	if (!ao_lisp_stack_push())
+		return AO_LISP_NIL;
+
+	while (ao_lisp_stack) {
+		if (!(*evals[ao_lisp_stack->state])() || ao_lisp_exception) {
+			ao_lisp_stack_clear();
+			return AO_LISP_NIL;
+		}
+	}
+	DBG_DO(if (ao_lisp_frame_current) {DBGI("frame left as "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");});
+	ao_lisp_frame_current = NULL;
+	return ao_lisp_v;
+}
diff --git a/src/lisp/ao_lisp_frame.c b/src/lisp/ao_lisp_frame.c
new file mode 100644
index 00000000..05f6d253
--- /dev/null
+++ b/src/lisp/ao_lisp_frame.c
@@ -0,0 +1,293 @@
+/*
+ * 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_lisp.h"
+
+static inline int
+frame_num_size(int num)
+{
+	return sizeof (struct ao_lisp_frame) + num * sizeof (struct ao_lisp_val);
+}
+
+static int
+frame_size(void *addr)
+{
+	struct ao_lisp_frame	*frame = addr;
+	return frame_num_size(frame->num);
+}
+
+static void
+frame_mark(void *addr)
+{
+	struct ao_lisp_frame	*frame = addr;
+	int			f;
+
+	for (;;) {
+		MDBG_MOVE("frame mark %d\n", MDBG_OFFSET(frame));
+		if (!AO_LISP_IS_POOL(frame))
+			break;
+		for (f = 0; f < frame->num; f++) {
+			struct ao_lisp_val	*v = &frame->vals[f];
+
+			ao_lisp_poly_mark(v->val, 0);
+			MDBG_MOVE("frame mark atom %s %d val %d at %d\n",
+				  ao_lisp_poly_atom(v->atom)->name,
+				  MDBG_OFFSET(ao_lisp_ref(v->atom)),
+				  MDBG_OFFSET(ao_lisp_ref(v->val)), f);
+		}
+		frame = ao_lisp_poly_frame(frame->prev);
+		MDBG_MOVE("frame next %d\n", MDBG_OFFSET(frame));
+		if (!frame)
+			break;
+		if (ao_lisp_mark_memory(&ao_lisp_frame_type, frame))
+			break;
+	}
+}
+
+static void
+frame_move(void *addr)
+{
+	struct ao_lisp_frame	*frame = addr;
+	int			f;
+
+	for (;;) {
+		struct ao_lisp_frame	*prev;
+		int			ret;
+
+		MDBG_MOVE("frame move %d\n", MDBG_OFFSET(frame));
+		if (!AO_LISP_IS_POOL(frame))
+			break;
+		for (f = 0; f < frame->num; f++) {
+			struct ao_lisp_val	*v = &frame->vals[f];
+
+			ao_lisp_poly_move(&v->atom, 0);
+			ao_lisp_poly_move(&v->val, 0);
+			MDBG_MOVE("frame move atom %s %d val %d at %d\n",
+				  ao_lisp_poly_atom(v->atom)->name,
+				  MDBG_OFFSET(ao_lisp_ref(v->atom)),
+				  MDBG_OFFSET(ao_lisp_ref(v->val)), f);
+		}
+		prev = ao_lisp_poly_frame(frame->prev);
+		if (!prev)
+			break;
+		ret = ao_lisp_move_memory(&ao_lisp_frame_type, (void **) &prev);
+		if (prev != ao_lisp_poly_frame(frame->prev)) {
+			MDBG_MOVE("frame prev moved from %d to %d\n",
+				  MDBG_OFFSET(ao_lisp_poly_frame(frame->prev)),
+				  MDBG_OFFSET(prev));
+			frame->prev = ao_lisp_frame_poly(prev);
+		}
+		if (ret)
+			break;
+		frame = prev;
+	}
+}
+
+const struct ao_lisp_type ao_lisp_frame_type = {
+	.mark = frame_mark,
+	.size = frame_size,
+	.move = frame_move,
+	.name = "frame",
+};
+
+void
+ao_lisp_frame_print(ao_poly p)
+{
+	struct ao_lisp_frame	*frame = ao_lisp_poly_frame(p);
+	int			f;
+
+	printf ("{");
+	if (frame) {
+		if (frame->type & AO_LISP_FRAME_PRINT)
+			printf("recurse...");
+		else {
+			frame->type |= AO_LISP_FRAME_PRINT;
+			for (f = 0; f < frame->num; f++) {
+				if (f != 0)
+					printf(", ");
+				ao_lisp_poly_print(frame->vals[f].atom);
+				printf(" = ");
+				ao_lisp_poly_print(frame->vals[f].val);
+			}
+			if (frame->prev)
+				ao_lisp_poly_print(frame->prev);
+			frame->type &= ~AO_LISP_FRAME_PRINT;
+		}
+	}
+	printf("}");
+}
+
+static int
+ao_lisp_frame_find(struct ao_lisp_frame *frame, int top, ao_poly atom)
+{
+	int l = 0;
+	int r = top - 1;
+	while (l <= r) {
+		int m = (l + r) >> 1;
+		if (frame->vals[m].atom < atom)
+			l = m + 1;
+		else
+			r = m - 1;
+	}
+	return l;
+}
+
+ao_poly *
+ao_lisp_frame_ref(struct ao_lisp_frame *frame, ao_poly atom)
+{
+	int l = ao_lisp_frame_find(frame, frame->num, atom);
+
+	if (l >= frame->num)
+		return NULL;
+
+	if (frame->vals[l].atom != atom)
+		return NULL;
+	return &frame->vals[l].val;
+}
+
+int
+ao_lisp_frame_set(struct ao_lisp_frame *frame, ao_poly atom, ao_poly val)
+{
+	while (frame) {
+		if (!AO_LISP_IS_CONST(frame)) {
+			ao_poly *ref = ao_lisp_frame_ref(frame, atom);
+			if (ref) {
+				*ref = val;
+				return 1;
+			}
+		}
+		frame = ao_lisp_poly_frame(frame->prev);
+	}
+	return 0;
+}
+
+ao_poly
+ao_lisp_frame_get(struct ao_lisp_frame *frame, ao_poly atom)
+{
+	while (frame) {
+		ao_poly *ref = ao_lisp_frame_ref(frame, atom);
+		if (ref)
+			return *ref;
+		frame = ao_lisp_poly_frame(frame->prev);
+	}
+	return AO_LISP_NIL;
+}
+
+struct ao_lisp_frame	*ao_lisp_frame_free_list[AO_LISP_FRAME_FREE];
+
+struct ao_lisp_frame *
+ao_lisp_frame_new(int num)
+{
+	struct ao_lisp_frame	*frame;
+
+	if (num < AO_LISP_FRAME_FREE && (frame = ao_lisp_frame_free_list[num]))
+		ao_lisp_frame_free_list[num] = ao_lisp_poly_frame(frame->prev);
+	else {
+		frame = ao_lisp_alloc(frame_num_size(num));
+		if (!frame)
+			return NULL;
+	}
+	frame->type = AO_LISP_FRAME;
+	frame->num = num;
+	frame->prev = AO_LISP_NIL;
+	memset(frame->vals, '\0', num * sizeof (struct ao_lisp_val));
+	return frame;
+}
+
+ao_poly
+ao_lisp_frame_mark(struct ao_lisp_frame *frame)
+{
+	if (!frame)
+		return AO_LISP_NIL;
+	frame->type |= AO_LISP_FRAME_MARK;
+	return ao_lisp_frame_poly(frame);
+}
+
+void
+ao_lisp_frame_free(struct ao_lisp_frame *frame)
+{
+	if (!ao_lisp_frame_marked(frame)) {
+		int	num = frame->num;
+		if (num < AO_LISP_FRAME_FREE) {
+			frame->prev = ao_lisp_frame_poly(ao_lisp_frame_free_list[num]);
+			ao_lisp_frame_free_list[num] = frame;
+		}
+	}
+}
+
+static struct ao_lisp_frame *
+ao_lisp_frame_realloc(struct ao_lisp_frame **frame_ref, int new_num)
+{
+	struct ao_lisp_frame	*frame = *frame_ref;
+	struct ao_lisp_frame	*new;
+	int			copy;
+
+	if (new_num == frame->num)
+		return frame;
+	new = ao_lisp_frame_new(new_num);
+	if (!new)
+		return NULL;
+	/*
+	 * Re-fetch the frame as it may have moved
+	 * during the allocation
+	 */
+	frame = *frame_ref;
+	copy = new_num;
+	if (copy > frame->num)
+		copy = frame->num;
+	memcpy(new->vals, frame->vals, copy * sizeof (struct ao_lisp_val));
+	new->prev = frame->prev;
+	ao_lisp_frame_free(frame);
+	return new;
+}
+
+void
+ao_lisp_frame_bind(struct ao_lisp_frame *frame, int num, ao_poly atom, ao_poly val)
+{
+	int l = ao_lisp_frame_find(frame, num, atom);
+
+	memmove(&frame->vals[l+1],
+		&frame->vals[l],
+		(num - l) * sizeof (struct ao_lisp_val));
+	frame->vals[l].atom = atom;
+	frame->vals[l].val = val;
+}
+
+int
+ao_lisp_frame_add(struct ao_lisp_frame **frame_ref, ao_poly atom, ao_poly val)
+{
+	struct ao_lisp_frame *frame = *frame_ref;
+	ao_poly *ref = frame ? ao_lisp_frame_ref(frame, atom) : NULL;
+
+	if (!ref) {
+		int f;
+		ao_lisp_poly_stash(0, atom);
+		ao_lisp_poly_stash(1, val);
+		if (frame) {
+			f = frame->num;
+			frame = ao_lisp_frame_realloc(frame_ref, f + 1);
+		} else {
+			f = 0;
+			frame = ao_lisp_frame_new(1);
+		}
+		if (!frame)
+			return 0;
+		*frame_ref = frame;
+		atom = ao_lisp_poly_fetch(0);
+		val = ao_lisp_poly_fetch(1);
+		ao_lisp_frame_bind(frame, frame->num - 1, atom, val);
+	} else
+		*ref = val;
+	return 1;
+}
diff --git a/src/lisp/ao_lisp_int.c b/src/lisp/ao_lisp_int.c
new file mode 100644
index 00000000..77f65e95
--- /dev/null
+++ b/src/lisp/ao_lisp_int.c
@@ -0,0 +1,22 @@
+/*
+ * 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_lisp.h"
+
+void
+ao_lisp_int_print(ao_poly p)
+{
+	int i = ao_lisp_poly_int(p);
+	printf("%d", i);
+}
diff --git a/src/lisp/ao_lisp_lambda.c b/src/lisp/ao_lisp_lambda.c
new file mode 100644
index 00000000..526863c5
--- /dev/null
+++ b/src/lisp/ao_lisp_lambda.c
@@ -0,0 +1,196 @@
+/*
+ * 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.
+ */
+
+#include "ao_lisp.h"
+
+int
+lambda_size(void *addr)
+{
+	(void) addr;
+	return sizeof (struct ao_lisp_lambda);
+}
+
+void
+lambda_mark(void *addr)
+{
+	struct ao_lisp_lambda	*lambda = addr;
+
+	ao_lisp_poly_mark(lambda->code, 0);
+	ao_lisp_poly_mark(lambda->frame, 0);
+}
+
+void
+lambda_move(void *addr)
+{
+	struct ao_lisp_lambda	*lambda = addr;
+
+	ao_lisp_poly_move(&lambda->code, 0);
+	ao_lisp_poly_move(&lambda->frame, 0);
+}
+
+const struct ao_lisp_type ao_lisp_lambda_type = {
+	.size = lambda_size,
+	.mark = lambda_mark,
+	.move = lambda_move,
+	.name = "lambda",
+};
+
+void
+ao_lisp_lambda_print(ao_poly poly)
+{
+	struct ao_lisp_lambda	*lambda = ao_lisp_poly_lambda(poly);
+	struct ao_lisp_cons	*cons = ao_lisp_poly_cons(lambda->code);
+
+	printf("(");
+	printf("%s", ao_lisp_args_name(lambda->args));
+	while (cons) {
+		printf(" ");
+		ao_lisp_poly_print(cons->car);
+		cons = ao_lisp_poly_cons(cons->cdr);
+	}
+	printf(")");
+}
+
+ao_poly
+ao_lisp_lambda_alloc(struct ao_lisp_cons *code, int args)
+{
+	ao_lisp_cons_stash(0, code);
+	struct ao_lisp_lambda	*lambda = ao_lisp_alloc(sizeof (struct ao_lisp_lambda));
+	code = ao_lisp_cons_fetch(0);
+	struct ao_lisp_cons	*arg;
+	int			f;
+
+	if (!lambda)
+		return AO_LISP_NIL;
+
+	if (!ao_lisp_check_argt(_ao_lisp_atom_lambda, code, 0, AO_LISP_CONS, 1))
+		return AO_LISP_NIL;
+	f = 0;
+	arg = ao_lisp_poly_cons(ao_lisp_arg(code, 0));
+	while (arg) {
+		if (ao_lisp_poly_type(arg->car) != AO_LISP_ATOM)
+			return ao_lisp_error(AO_LISP_INVALID, "formal %d is not an atom", f);
+		arg = ao_lisp_poly_cons(arg->cdr);
+		f++;
+	}
+
+	lambda->type = AO_LISP_LAMBDA;
+	lambda->args = args;
+	lambda->code = ao_lisp_cons_poly(code);
+	lambda->frame = ao_lisp_frame_mark(ao_lisp_frame_current);
+	DBGI("build frame: "); DBG_POLY(lambda->frame); DBG("\n");
+	DBG_STACK();
+	return ao_lisp_lambda_poly(lambda);
+}
+
+ao_poly
+ao_lisp_lambda(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_lambda_alloc(cons, AO_LISP_FUNC_LAMBDA);
+}
+
+ao_poly
+ao_lisp_lexpr(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_lambda_alloc(cons, AO_LISP_FUNC_LEXPR);
+}
+
+ao_poly
+ao_lisp_nlambda(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_lambda_alloc(cons, AO_LISP_FUNC_NLAMBDA);
+}
+
+ao_poly
+ao_lisp_macro(struct ao_lisp_cons *cons)
+{
+	return ao_lisp_lambda_alloc(cons, AO_LISP_FUNC_MACRO);
+}
+
+ao_poly
+ao_lisp_lambda_eval(void)
+{
+	struct ao_lisp_lambda	*lambda = ao_lisp_poly_lambda(ao_lisp_v);
+	struct ao_lisp_cons	*cons = ao_lisp_poly_cons(ao_lisp_stack->values);
+	struct ao_lisp_cons	*code = ao_lisp_poly_cons(lambda->code);
+	struct ao_lisp_cons	*args = ao_lisp_poly_cons(ao_lisp_arg(code, 0));
+	struct ao_lisp_frame	*next_frame;
+	int			args_wanted;
+	int			args_provided;
+	int			f;
+	struct ao_lisp_cons	*vals;
+
+	DBGI("lambda "); DBG_POLY(ao_lisp_lambda_poly(lambda)); DBG("\n");
+
+	args_wanted = ao_lisp_cons_length(args);
+
+	/* Create a frame to hold the variables
+	 */
+	args_provided = ao_lisp_cons_length(cons) - 1;
+	if (lambda->args == AO_LISP_FUNC_LAMBDA) {
+		if (args_wanted != args_provided)
+			return ao_lisp_error(AO_LISP_INVALID, "need %d args, got %d", args_wanted, args_provided);
+	} else {
+		if (args_provided < args_wanted - 1)
+			return ao_lisp_error(AO_LISP_INVALID, "need at least %d args, got %d", args_wanted, args_provided);
+	}
+
+	next_frame = ao_lisp_frame_new(args_wanted);
+
+	/* Re-fetch all of the values in case something moved */
+	lambda = ao_lisp_poly_lambda(ao_lisp_v);
+	cons = ao_lisp_poly_cons(ao_lisp_stack->values);
+	code = ao_lisp_poly_cons(lambda->code);
+	args = ao_lisp_poly_cons(ao_lisp_arg(code, 0));
+	vals = ao_lisp_poly_cons(cons->cdr);
+
+	next_frame->prev = lambda->frame;
+	ao_lisp_frame_current = next_frame;
+	ao_lisp_stack->frame = ao_lisp_frame_poly(ao_lisp_frame_current);
+
+	switch (lambda->args) {
+	case AO_LISP_FUNC_LAMBDA:
+		for (f = 0; f < args_wanted; f++) {
+			DBGI("bind "); DBG_POLY(args->car); DBG(" = "); DBG_POLY(vals->car); DBG("\n");
+			ao_lisp_frame_bind(next_frame, f, args->car, vals->car);
+			args = ao_lisp_poly_cons(args->cdr);
+			vals = ao_lisp_poly_cons(vals->cdr);
+		}
+		if (!ao_lisp_stack_marked(ao_lisp_stack))
+			ao_lisp_cons_free(cons);
+		cons = NULL;
+		break;
+	case AO_LISP_FUNC_LEXPR:
+	case AO_LISP_FUNC_NLAMBDA:
+	case AO_LISP_FUNC_MACRO:
+		for (f = 0; f < args_wanted - 1; f++) {
+			DBGI("bind "); DBG_POLY(args->car); DBG(" = "); DBG_POLY(vals->car); DBG("\n");
+			ao_lisp_frame_bind(next_frame, f, args->car, vals->car);
+			args = ao_lisp_poly_cons(args->cdr);
+			vals = ao_lisp_poly_cons(vals->cdr);
+		}
+		DBGI("bind "); DBG_POLY(args->car); DBG(" = "); DBG_POLY(ao_lisp_cons_poly(vals)); DBG("\n");
+		ao_lisp_frame_bind(next_frame, f, args->car, ao_lisp_cons_poly(vals));
+		break;
+	default:
+		break;
+	}
+	DBGI("eval frame: "); DBG_POLY(ao_lisp_frame_poly(next_frame)); DBG("\n");
+	DBG_STACK();
+	DBGI("eval code: "); DBG_POLY(code->cdr); DBG("\n");
+	return code->cdr;
+}
diff --git a/src/lisp/ao_lisp_lex.c b/src/lisp/ao_lisp_lex.c
new file mode 100644
index 00000000..fe7c47f4
--- /dev/null
+++ b/src/lisp/ao_lisp_lex.c
@@ -0,0 +1,16 @@
+/*
+ * 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_lisp.h"
+
diff --git a/src/lisp/ao_lisp_make_const.c b/src/lisp/ao_lisp_make_const.c
new file mode 100644
index 00000000..49f989e6
--- /dev/null
+++ b/src/lisp/ao_lisp_make_const.c
@@ -0,0 +1,423 @@
+/*
+ * 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_lisp.h"
+#include <stdlib.h>
+#include <ctype.h>
+#include <unistd.h>
+#include <getopt.h>
+
+static struct ao_lisp_builtin *
+ao_lisp_make_builtin(enum ao_lisp_builtin_id func, int args) {
+	struct ao_lisp_builtin *b = ao_lisp_alloc(sizeof (struct ao_lisp_builtin));
+
+	b->type = AO_LISP_BUILTIN;
+	b->func = func;
+	b->args = args;
+	return b;
+}
+
+struct builtin_func {
+	char	*name;
+	int	args;
+	int	func;
+};
+
+struct builtin_func funcs[] = {
+	{ .name = "eval",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_eval },
+	{ .name = "read",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_read },
+	{ .name = "lambda",	.args = AO_LISP_FUNC_NLAMBDA,	.func = builtin_lambda },
+	{ .name = "lexpr",	.args = AO_LISP_FUNC_NLAMBDA,	.func = builtin_lexpr },
+	{ .name = "nlambda",	.args = AO_LISP_FUNC_NLAMBDA,	.func = builtin_nlambda },
+	{ .name = "macro",	.args = AO_LISP_FUNC_NLAMBDA,	.func = builtin_macro },
+	{ .name = "car",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_car },
+	{ .name = "cdr",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_cdr },
+	{ .name = "cons",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_cons },
+	{ .name = "last",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_last },
+	{ .name = "length",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_length },
+	{ .name = "quote",	.args = AO_LISP_FUNC_NLAMBDA,	.func = builtin_quote },
+	{ .name = "set",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_set },
+	{ .name = "setq",	.args = AO_LISP_FUNC_MACRO,	.func = builtin_setq },
+	{ .name = "cond",	.args = AO_LISP_FUNC_NLAMBDA,	.func = builtin_cond },
+	{ .name = "progn",	.args = AO_LISP_FUNC_NLAMBDA,	.func = builtin_progn },
+	{ .name = "while",	.args = AO_LISP_FUNC_NLAMBDA,	.func = builtin_while },
+	{ .name = "print",	.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_print },
+	{ .name = "patom",	.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_patom },
+	{ .name = "+",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_plus },
+	{ .name = "-",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_minus },
+	{ .name = "*",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_times },
+	{ .name = "/",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_divide },
+	{ .name = "%",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_mod },
+	{ .name = "=",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_equal },
+	{ .name = "<",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_less },
+	{ .name = ">",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_greater },
+	{ .name = "<=",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_less_equal },
+	{ .name = ">=",		.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_greater_equal },
+	{ .name = "pack",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_pack },
+	{ .name = "unpack",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_unpack },
+	{ .name = "flush",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_flush },
+	{ .name = "delay",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_delay },
+	{ .name = "led",	.args = AO_LISP_FUNC_F_LEXPR,	.func = builtin_led },
+	{ .name = "save",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_save },
+	{ .name = "restore",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_restore },
+	{ .name = "call/cc",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_call_cc },
+	{ .name = "collect",	.args = AO_LISP_FUNC_F_LAMBDA,	.func = builtin_collect },
+};
+
+#define N_FUNC (sizeof funcs / sizeof funcs[0])
+
+struct ao_lisp_frame	*globals;
+
+static int
+is_atom(int offset)
+{
+	struct ao_lisp_atom *a;
+
+	for (a = ao_lisp_atoms; a; a = ao_lisp_poly_atom(a->next))
+		if (((uint8_t *) a->name - ao_lisp_const) == offset)
+			return strlen(a->name);
+	return 0;
+}
+
+#define AO_FEC_CRC_INIT	0xffff
+
+static inline uint16_t
+ao_fec_crc_byte(uint8_t byte, uint16_t crc)
+{
+	uint8_t	bit;
+
+	for (bit = 0; bit < 8; bit++) {
+		if (((crc & 0x8000) >> 8) ^ (byte & 0x80))
+			crc = (crc << 1) ^ 0x8005;
+		else
+			crc = (crc << 1);
+		byte <<= 1;
+	}
+	return crc;
+}
+
+uint16_t
+ao_fec_crc(const uint8_t *bytes, uint8_t len)
+{
+	uint16_t	crc = AO_FEC_CRC_INIT;
+
+	while (len--)
+		crc = ao_fec_crc_byte(*bytes++, crc);
+	return crc;
+}
+
+struct ao_lisp_macro_stack {
+	struct ao_lisp_macro_stack *next;
+	ao_poly	p;
+};
+
+struct ao_lisp_macro_stack *macro_stack;
+
+int
+ao_lisp_macro_push(ao_poly p)
+{
+	struct ao_lisp_macro_stack *m = macro_stack;
+
+	while (m) {
+		if (m->p == p)
+			return 1;
+		m = m->next;
+	}
+	m = malloc (sizeof (struct ao_lisp_macro_stack));
+	m->p = p;
+	m->next = macro_stack;
+	macro_stack = m;
+	return 0;
+}
+
+void
+ao_lisp_macro_pop(void)
+{
+	struct ao_lisp_macro_stack *m = macro_stack;
+
+	macro_stack = m->next;
+	free(m);
+}
+
+#define DBG_MACRO 0
+#if DBG_MACRO
+int macro_scan_depth;
+
+void indent(void)
+{
+	int i;
+	for (i = 0; i < macro_scan_depth; i++)
+		printf("  ");
+}
+#define MACRO_DEBUG(a)	a
+#else
+#define MACRO_DEBUG(a)
+#endif
+
+ao_poly
+ao_has_macro(ao_poly p);
+
+ao_poly
+ao_macro_test_get(ao_poly atom)
+{
+	ao_poly	*ref = ao_lisp_atom_ref(ao_lisp_frame_global, atom);
+	if (ref)
+		return *ref;
+	return AO_LISP_NIL;
+}
+
+ao_poly
+ao_is_macro(ao_poly p)
+{
+	struct ao_lisp_builtin	*builtin;
+	struct ao_lisp_lambda	*lambda;
+	ao_poly ret;
+
+	MACRO_DEBUG(indent(); printf ("is macro "); ao_lisp_poly_print(p); printf("\n"); ++macro_scan_depth);
+	switch (ao_lisp_poly_type(p)) {
+	case AO_LISP_ATOM:
+		if (ao_lisp_macro_push(p))
+			ret = AO_LISP_NIL;
+		else {
+			if (ao_is_macro(ao_macro_test_get(p)))
+				ret = p;
+			else
+				ret = AO_LISP_NIL;
+			ao_lisp_macro_pop();
+		}
+		break;
+	case AO_LISP_CONS:
+		ret = ao_has_macro(p);
+		break;
+	case AO_LISP_BUILTIN:
+		builtin = ao_lisp_poly_builtin(p);
+		if ((builtin->args & AO_LISP_FUNC_MASK) == AO_LISP_FUNC_MACRO)
+			ret = p;
+		else
+			ret = 0;
+		break;
+
+	case AO_LISP_LAMBDA:
+		lambda = ao_lisp_poly_lambda(p);
+		if (lambda->args == AO_LISP_FUNC_MACRO)
+			ret = p;
+		else
+			ret = ao_has_macro(lambda->code);
+		break;
+	default:
+		ret = AO_LISP_NIL;
+		break;
+	}
+	MACRO_DEBUG(--macro_scan_depth;	indent(); printf ("... "); ao_lisp_poly_print(ret); printf("\n"));
+	return ret;
+}
+
+ao_poly
+ao_has_macro(ao_poly p)
+{
+	struct ao_lisp_cons	*cons;
+	struct ao_lisp_lambda	*lambda;
+	ao_poly			m;
+
+	if (p == AO_LISP_NIL)
+		return AO_LISP_NIL;
+
+	MACRO_DEBUG(indent(); printf("has macro "); ao_lisp_poly_print(p); printf("\n"); ++macro_scan_depth);
+	switch (ao_lisp_poly_type(p)) {
+	case AO_LISP_LAMBDA:
+		lambda = ao_lisp_poly_lambda(p);
+		p = ao_has_macro(lambda->code);
+		break;
+	case AO_LISP_CONS:
+		cons = ao_lisp_poly_cons(p);
+		if ((p = ao_is_macro(cons->car)))
+			break;
+
+		cons = ao_lisp_poly_cons(cons->cdr);
+		p = AO_LISP_NIL;
+		while (cons) {
+			m = ao_has_macro(cons->car);
+			if (m) {
+				p = m;
+				break;
+			}
+			cons = ao_lisp_poly_cons(cons->cdr);
+		}
+		break;
+
+	default:
+		p = AO_LISP_NIL;
+		break;
+	}
+	MACRO_DEBUG(--macro_scan_depth;	indent(); printf("... "); ao_lisp_poly_print(p); printf("\n"));
+	return p;
+}
+
+int
+ao_lisp_read_eval_abort(void)
+{
+	ao_poly	in, out = AO_LISP_NIL;
+	for(;;) {
+		in = ao_lisp_read();
+		if (in == _ao_lisp_atom_eof)
+			break;
+		out = ao_lisp_eval(in);
+		if (ao_lisp_exception)
+			return 0;
+		ao_lisp_poly_print(out);
+		putchar ('\n');
+	}
+	return 1;
+}
+
+static FILE	*in;
+static FILE	*out;
+
+int
+ao_lisp_getc(void)
+{
+	return getc(in);
+}
+
+static const struct option options[] = {
+	{ .name = "out", .has_arg = 1, .val = 'o' },
+	{ 0, 0, 0, 0 }
+};
+
+static void usage(char *program)
+{
+	fprintf(stderr, "usage: %s [--out=<output>] [input]\n", program);
+	exit(1);
+}
+
+int
+main(int argc, char **argv)
+{
+	int	f, o;
+	ao_poly	val;
+	struct ao_lisp_atom	*a;
+	struct ao_lisp_builtin	*b;
+	int	in_atom = 0;
+	char	*out_name = NULL;
+	int	c;
+
+	in = stdin;
+	out = stdout;
+
+	while ((c = getopt_long(argc, argv, "o:", options, NULL)) != -1) {
+		switch (c) {
+		case 'o':
+			out_name = optarg;
+			break;
+		default:
+			usage(argv[0]);
+			break;
+		}
+	}
+
+	for (f = 0; f < (int) N_FUNC; f++) {
+		b = ao_lisp_make_builtin(funcs[f].func, funcs[f].args);
+		a = ao_lisp_atom_intern(funcs[f].name);
+		ao_lisp_atom_set(ao_lisp_atom_poly(a),
+				 ao_lisp_builtin_poly(b));
+	}
+
+	/* boolean constants */
+	ao_lisp_atom_set(ao_lisp_atom_poly(ao_lisp_atom_intern("nil")),
+			 AO_LISP_NIL);
+	a = ao_lisp_atom_intern("t");
+	ao_lisp_atom_set(ao_lisp_atom_poly(a),
+			 ao_lisp_atom_poly(a));
+
+	/* end of file value */
+	a = ao_lisp_atom_intern("eof");
+	ao_lisp_atom_set(ao_lisp_atom_poly(a),
+			 ao_lisp_atom_poly(a));
+
+	if (argv[optind]){
+		in = fopen(argv[optind], "r");
+		if (!in) {
+			perror(argv[optind]);
+			exit(1);
+		}
+	}
+	if (!ao_lisp_read_eval_abort()) {
+		fprintf(stderr, "eval failed\n");
+		exit(1);
+	}
+
+	/* Reduce to referenced values */
+	ao_lisp_collect(AO_LISP_COLLECT_FULL);
+
+	for (f = 0; f < ao_lisp_frame_global->num; f++) {
+		val = ao_has_macro(ao_lisp_frame_global->vals[f].val);
+		if (val != AO_LISP_NIL) {
+			printf("error: function %s contains unresolved macro: ",
+			       ao_lisp_poly_atom(ao_lisp_frame_global->vals[f].atom)->name);
+			ao_lisp_poly_print(val);
+			printf("\n");
+			exit(1);
+		}
+	}
+
+	if (out_name) {
+		out = fopen(out_name, "w");
+		if (!out) {
+			perror(out_name);
+			exit(1);
+		}
+	}
+
+	fprintf(out, "/* Generated file, do not edit */\n\n");
+
+	fprintf(out, "#define AO_LISP_POOL_CONST %d\n", ao_lisp_top);
+	fprintf(out, "extern const uint8_t ao_lisp_const[AO_LISP_POOL_CONST] __attribute__((aligned(4)));\n");
+	fprintf(out, "#define ao_builtin_atoms 0x%04x\n", ao_lisp_atom_poly(ao_lisp_atoms));
+	fprintf(out, "#define ao_builtin_frame 0x%04x\n", ao_lisp_frame_poly(ao_lisp_frame_global));
+	fprintf(out, "#define ao_lisp_const_checksum ((uint16_t) 0x%04x)\n", ao_fec_crc(ao_lisp_const, ao_lisp_top));
+
+
+	for (a = ao_lisp_atoms; a; a = ao_lisp_poly_atom(a->next)) {
+		char	*n = a->name, c;
+		fprintf(out, "#define _ao_lisp_atom_");
+		while ((c = *n++)) {
+			if (isalnum(c))
+				fprintf(out, "%c", c);
+			else
+				fprintf(out, "%02x", c);
+		}
+		fprintf(out, "  0x%04x\n", ao_lisp_atom_poly(a));
+	}
+	fprintf(out, "#ifdef AO_LISP_CONST_BITS\n");
+	fprintf(out, "const uint8_t ao_lisp_const[AO_LISP_POOL_CONST] __attribute((aligned(4))) = {");
+	for (o = 0; o < ao_lisp_top; o++) {
+		uint8_t	c;
+		if ((o & 0xf) == 0)
+			fprintf(out, "\n\t");
+		else
+			fprintf(out, " ");
+		c = ao_lisp_const[o];
+		if (!in_atom)
+			in_atom = is_atom(o);
+		if (in_atom) {
+			fprintf(out, " '%c',", c);
+			in_atom--;
+		} else {
+			fprintf(out, "0x%02x,", c);
+		}
+	}
+	fprintf(out, "\n};\n");
+	fprintf(out, "#endif /* AO_LISP_CONST_BITS */\n");
+	exit(0);
+}
diff --git a/src/lisp/ao_lisp_mem.c b/src/lisp/ao_lisp_mem.c
new file mode 100644
index 00000000..d067ea07
--- /dev/null
+++ b/src/lisp/ao_lisp_mem.c
@@ -0,0 +1,880 @@
+/*
+ * 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.
+ */
+
+#define AO_LISP_CONST_BITS
+
+#include "ao_lisp.h"
+#include <stdio.h>
+
+#ifdef AO_LISP_MAKE_CONST
+
+/*
+ * When building the constant table, it is the
+ * pool for allocations.
+ */
+
+#include <stdlib.h>
+uint8_t ao_lisp_const[AO_LISP_POOL_CONST] __attribute__((aligned(4)));
+#define ao_lisp_pool ao_lisp_const
+#undef AO_LISP_POOL
+#define AO_LISP_POOL AO_LISP_POOL_CONST
+
+#else
+
+uint8_t	ao_lisp_pool[AO_LISP_POOL + AO_LISP_POOL_EXTRA] __attribute__((aligned(4)));
+
+#endif
+
+#ifndef DBG_MEM_STATS
+#define DBG_MEM_STATS	DBG_MEM
+#endif
+
+#if DBG_MEM
+int dbg_move_depth;
+int dbg_mem = DBG_MEM_START;
+int dbg_validate = 0;
+
+struct ao_lisp_record {
+	struct ao_lisp_record		*next;
+	const struct ao_lisp_type	*type;
+	void				*addr;
+	int				size;
+};
+
+static struct ao_lisp_record	*record_head, **record_tail;
+
+static void
+ao_lisp_record_free(struct ao_lisp_record *record)
+{
+	while (record) {
+		struct ao_lisp_record *next = record->next;
+		free(record);
+		record = next;
+	}
+}
+
+static void
+ao_lisp_record_reset(void)
+{
+	ao_lisp_record_free(record_head);
+	record_head = NULL;
+	record_tail = &record_head;
+}
+
+static void
+ao_lisp_record(const struct ao_lisp_type	*type,
+	       void				*addr,
+	       int				size)
+{
+	struct ao_lisp_record	*r = malloc(sizeof (struct ao_lisp_record));
+
+	r->next = NULL;
+	r->type = type;
+	r->addr = addr;
+	r->size = size;
+	*record_tail = r;
+	record_tail = &r->next;
+}
+
+static struct ao_lisp_record *
+ao_lisp_record_save(void)
+{
+	struct ao_lisp_record *r = record_head;
+
+	record_head = NULL;
+	record_tail = &record_head;
+	return r;
+}
+
+static void
+ao_lisp_record_compare(char *where,
+		       struct ao_lisp_record *a,
+		       struct ao_lisp_record *b)
+{
+	while (a && b) {
+		if (a->type != b->type || a->size != b->size) {
+			printf("%s record difers %d %s %d -> %d %s %d\n",
+			       where,
+			       MDBG_OFFSET(a->addr),
+			       a->type->name,
+			       a->size,
+			       MDBG_OFFSET(b->addr),
+			       b->type->name,
+			       b->size);
+			ao_lisp_abort();
+		}
+		a = a->next;
+		b = b->next;
+	}
+	if (a) {
+		printf("%s record differs %d %s %d -> NULL\n",
+		       where,
+		       MDBG_OFFSET(a->addr),
+		       a->type->name,
+		       a->size);
+		ao_lisp_abort();
+	}
+	if (b) {
+		printf("%s record differs NULL -> %d %s %d\n",
+		       where,
+		       MDBG_OFFSET(b->addr),
+		       b->type->name,
+		       b->size);
+		ao_lisp_abort();
+	}
+}
+
+#else
+#define ao_lisp_record_reset()
+#endif
+
+uint8_t	ao_lisp_exception;
+
+struct ao_lisp_root {
+	const struct ao_lisp_type	*type;
+	void				**addr;
+};
+
+static struct ao_lisp_cons 	*save_cons[2];
+static char			*save_string[2];
+static ao_poly			save_poly[3];
+
+static const struct ao_lisp_root	ao_lisp_root[] = {
+	{
+		.type = &ao_lisp_cons_type,
+		.addr = (void **) &save_cons[0],
+	},
+	{
+		.type = &ao_lisp_cons_type,
+		.addr = (void **) &save_cons[1],
+	},
+	{
+		.type = &ao_lisp_string_type,
+		.addr = (void **) &save_string[0],
+	},
+	{
+		.type = &ao_lisp_string_type,
+		.addr = (void **) &save_string[1],
+	},
+	{
+		.type = NULL,
+		.addr = (void **) (void *) &save_poly[0]
+	},
+	{
+		.type = NULL,
+		.addr = (void **) (void *) &save_poly[1]
+	},
+	{
+		.type = NULL,
+		.addr = (void **) (void *) &save_poly[2]
+	},
+	{
+		.type = &ao_lisp_atom_type,
+		.addr = (void **) &ao_lisp_atoms
+	},
+	{
+		.type = &ao_lisp_frame_type,
+		.addr = (void **) &ao_lisp_frame_global,
+	},
+	{
+		.type = &ao_lisp_frame_type,
+		.addr = (void **) &ao_lisp_frame_current,
+	},
+	{
+		.type = &ao_lisp_stack_type,
+		.addr = (void **) &ao_lisp_stack,
+	},
+	{
+		.type = NULL,
+		.addr = (void **) (void *) &ao_lisp_v,
+	},
+	{
+		.type = &ao_lisp_cons_type,
+		.addr = (void **) &ao_lisp_read_cons,
+	},
+	{
+		.type = &ao_lisp_cons_type,
+		.addr = (void **) &ao_lisp_read_cons_tail,
+	},
+	{
+		.type = &ao_lisp_cons_type,
+		.addr = (void **) &ao_lisp_read_stack,
+	},
+};
+
+#define AO_LISP_ROOT	(sizeof (ao_lisp_root) / sizeof (ao_lisp_root[0]))
+
+static const void ** const ao_lisp_cache[] = {
+	(const void **) &ao_lisp_cons_free_list,
+	(const void **) &ao_lisp_stack_free_list,
+	(const void **) &ao_lisp_frame_free_list[0],
+	(const void **) &ao_lisp_frame_free_list[1],
+	(const void **) &ao_lisp_frame_free_list[2],
+	(const void **) &ao_lisp_frame_free_list[3],
+	(const void **) &ao_lisp_frame_free_list[4],
+	(const void **) &ao_lisp_frame_free_list[5],
+};
+
+#if AO_LISP_FRAME_FREE != 6
+#error Unexpected AO_LISP_FRAME_FREE value
+#endif
+
+#define AO_LISP_CACHE	(sizeof (ao_lisp_cache) / sizeof (ao_lisp_cache[0]))
+
+#define AO_LISP_BUSY_SIZE	((AO_LISP_POOL + 31) / 32)
+
+static uint8_t	ao_lisp_busy[AO_LISP_BUSY_SIZE];
+static uint8_t	ao_lisp_cons_note[AO_LISP_BUSY_SIZE];
+static uint8_t	ao_lisp_cons_last[AO_LISP_BUSY_SIZE];
+static uint8_t	ao_lisp_cons_noted;
+
+uint16_t	ao_lisp_top;
+
+struct ao_lisp_chunk {
+	uint16_t		old_offset;
+	union {
+		uint16_t	size;
+		uint16_t	new_offset;
+	};
+};
+
+#define AO_LISP_NCHUNK	64
+
+static struct ao_lisp_chunk ao_lisp_chunk[AO_LISP_NCHUNK];
+
+/* Offset of an address within the pool. */
+static inline uint16_t pool_offset(void *addr) {
+#if DBG_MEM
+	if (!AO_LISP_IS_POOL(addr))
+		ao_lisp_abort();
+#endif
+	return ((uint8_t *) addr) - ao_lisp_pool;
+}
+
+static inline void mark(uint8_t *tag, int offset) {
+	int	byte = offset >> 5;
+	int	bit = (offset >> 2) & 7;
+	tag[byte] |= (1 << bit);
+}
+
+static inline void clear(uint8_t *tag, int offset) {
+	int	byte = offset >> 5;
+	int	bit = (offset >> 2) & 7;
+	tag[byte] &= ~(1 << bit);
+}
+
+static inline int busy(uint8_t *tag, int offset) {
+	int	byte = offset >> 5;
+	int	bit = (offset >> 2) & 7;
+	return (tag[byte] >> bit) & 1;
+}
+
+static inline int min(int a, int b) { return a < b ? a : b; }
+static inline int max(int a, int b) { return a > b ? a : b; }
+
+static inline int limit(int offset) {
+	return min(AO_LISP_POOL, max(offset, 0));
+}
+
+static void
+note_cons(uint16_t offset)
+{
+	MDBG_MOVE("note cons %d\n", offset);
+	ao_lisp_cons_noted = 1;
+	mark(ao_lisp_cons_note, offset);
+}
+
+static uint16_t	chunk_low, chunk_high;
+static uint16_t	chunk_first, chunk_last;
+
+static int
+find_chunk(uint16_t offset)
+{
+	int l, r;
+	/* Binary search for the location */
+	l = chunk_first;
+	r = chunk_last - 1;
+	while (l <= r) {
+		int m = (l + r) >> 1;
+		if (ao_lisp_chunk[m].old_offset < offset)
+			l = m + 1;
+		else
+			r = m - 1;
+	}
+	return l;
+}
+
+static void
+note_chunk(uint16_t offset, uint16_t size)
+{
+	int l;
+
+	if (offset < chunk_low || chunk_high <= offset)
+		return;
+
+	l = find_chunk(offset);
+
+	/*
+	 * The correct location is always in 'l', with r = l-1 being
+	 * the entry before the right one
+	 */
+
+#if DBG_MEM
+	/* Off the right side */
+	if (l >= AO_LISP_NCHUNK)
+		ao_lisp_abort();
+
+	/* Off the left side */
+	if (l == 0 && chunk_last && offset > ao_lisp_chunk[0].old_offset)
+		ao_lisp_abort();
+#endif
+
+	/* Shuffle existing entries right */
+	int end = min(AO_LISP_NCHUNK, chunk_last + 1);
+
+	memmove(&ao_lisp_chunk[l+1],
+		&ao_lisp_chunk[l],
+		(end - (l+1)) * sizeof (struct ao_lisp_chunk));
+
+	/* Add new entry */
+	ao_lisp_chunk[l].old_offset = offset;
+	ao_lisp_chunk[l].size = size;
+
+	/* Increment the number of elements up to the size of the array */
+	if (chunk_last < AO_LISP_NCHUNK)
+		chunk_last++;
+
+	/* Set the top address if the array is full */
+	if (chunk_last == AO_LISP_NCHUNK)
+		chunk_high = ao_lisp_chunk[AO_LISP_NCHUNK-1].old_offset +
+			ao_lisp_chunk[AO_LISP_NCHUNK-1].size;
+}
+
+static void
+reset_chunks(void)
+{
+	chunk_high = ao_lisp_top;
+	chunk_last = 0;
+	chunk_first = 0;
+}
+
+/*
+ * Walk all referenced objects calling functions on each one
+ */
+
+static void
+walk(int (*visit_addr)(const struct ao_lisp_type *type, void **addr),
+     int (*visit_poly)(ao_poly *p, uint8_t do_note_cons))
+{
+	int i;
+
+	ao_lisp_record_reset();
+	memset(ao_lisp_busy, '\0', sizeof (ao_lisp_busy));
+	memset(ao_lisp_cons_note, '\0', sizeof (ao_lisp_cons_note));
+	ao_lisp_cons_noted = 0;
+	for (i = 0; i < (int) AO_LISP_ROOT; i++) {
+		if (ao_lisp_root[i].type) {
+			void **a = ao_lisp_root[i].addr, *v;
+			if (a && (v = *a)) {
+				MDBG_MOVE("root ptr %d\n", MDBG_OFFSET(v));
+				visit_addr(ao_lisp_root[i].type, a);
+			}
+		} else {
+			ao_poly *a = (ao_poly *) ao_lisp_root[i].addr, p;
+			if (a && (p = *a)) {
+				MDBG_MOVE("root poly %d\n", MDBG_OFFSET(ao_lisp_ref(p)));
+				visit_poly(a, 0);
+			}
+		}
+	}
+	while (ao_lisp_cons_noted) {
+		memcpy(ao_lisp_cons_last, ao_lisp_cons_note, sizeof (ao_lisp_cons_note));
+		memset(ao_lisp_cons_note, '\0', sizeof (ao_lisp_cons_note));
+		ao_lisp_cons_noted = 0;
+		for (i = 0; i < AO_LISP_POOL; i += 4) {
+			if (busy(ao_lisp_cons_last, i)) {
+				void *v = ao_lisp_pool + i;
+				MDBG_MOVE("root cons %d\n", MDBG_OFFSET(v));
+				visit_addr(&ao_lisp_cons_type, &v);
+			}
+		}
+	}
+}
+
+#if MDBG_DUMP
+static void
+dump_busy(void)
+{
+	int	i;
+	MDBG_MOVE("busy:");
+	for (i = 0; i < ao_lisp_top; i += 4) {
+		if ((i & 0xff) == 0) {
+			MDBG_MORE("\n");
+			MDBG_MOVE("%s", "");
+		}
+		else if ((i & 0x1f) == 0)
+			MDBG_MORE(" ");
+		if (busy(ao_lisp_busy, i))
+			MDBG_MORE("*");
+		else
+			MDBG_MORE("-");
+	}
+	MDBG_MORE ("\n");
+}
+#define DUMP_BUSY()	dump_busy()
+#else
+#define DUMP_BUSY()
+#endif
+
+static const struct ao_lisp_type const *ao_lisp_types[AO_LISP_NUM_TYPE] = {
+	[AO_LISP_CONS] = &ao_lisp_cons_type,
+	[AO_LISP_INT] = NULL,
+	[AO_LISP_STRING] = &ao_lisp_string_type,
+	[AO_LISP_OTHER] = (void *) 0x1,
+	[AO_LISP_ATOM] = &ao_lisp_atom_type,
+	[AO_LISP_BUILTIN] = &ao_lisp_builtin_type,
+	[AO_LISP_FRAME] = &ao_lisp_frame_type,
+	[AO_LISP_LAMBDA] = &ao_lisp_lambda_type,
+	[AO_LISP_STACK] = &ao_lisp_stack_type,
+};
+
+static int
+ao_lisp_mark_ref(const struct ao_lisp_type *type, void **ref)
+{
+	return ao_lisp_mark(type, *ref);
+}
+
+static int
+ao_lisp_poly_mark_ref(ao_poly *p, uint8_t do_note_cons)
+{
+	return ao_lisp_poly_mark(*p, do_note_cons);
+}
+
+#if DBG_MEM_STATS
+int ao_lisp_collects[2];
+int ao_lisp_freed[2];
+int ao_lisp_loops[2];
+#endif
+
+int ao_lisp_last_top;
+
+int
+ao_lisp_collect(uint8_t style)
+{
+	int	i;
+	int	top;
+#if DBG_MEM_STATS
+	int	loops = 0;
+#endif
+#if DBG_MEM
+	struct ao_lisp_record	*mark_record = NULL, *move_record = NULL;
+
+	MDBG_MOVE("collect %d\n", ao_lisp_collects[style]);
+#endif
+
+	/* The first time through, we're doing a full collect */
+	if (ao_lisp_last_top == 0)
+		style = AO_LISP_COLLECT_FULL;
+
+	/* Clear references to all caches */
+	for (i = 0; i < (int) AO_LISP_CACHE; i++)
+		*ao_lisp_cache[i] = NULL;
+	if (style == AO_LISP_COLLECT_FULL) {
+		chunk_low = top = 0;
+	} else {
+		chunk_low = top = ao_lisp_last_top;
+	}
+	for (;;) {
+#if DBG_MEM_STATS
+		loops++;
+#endif
+		MDBG_MOVE("move chunks from %d to %d\n", chunk_low, top);
+		/* Find the sizes of the first chunk of objects to move */
+		reset_chunks();
+		walk(ao_lisp_mark_ref, ao_lisp_poly_mark_ref);
+#if DBG_MEM
+
+		ao_lisp_record_free(mark_record);
+		mark_record = ao_lisp_record_save();
+		if (mark_record && move_record)
+			ao_lisp_record_compare("mark", move_record, mark_record);
+#endif
+
+		DUMP_BUSY();
+
+		/* Find the first moving object */
+		for (i = 0; i < chunk_last; i++) {
+			uint16_t	size = ao_lisp_chunk[i].size;
+
+#if DBG_MEM
+			if (!size)
+				ao_lisp_abort();
+#endif
+
+			if (ao_lisp_chunk[i].old_offset > top)
+				break;
+
+			MDBG_MOVE("chunk %d %d not moving\n",
+				  ao_lisp_chunk[i].old_offset,
+				  ao_lisp_chunk[i].size);
+#if DBG_MEM
+			if (ao_lisp_chunk[i].old_offset != top)
+				ao_lisp_abort();
+#endif
+			top += size;
+		}
+
+		/*
+		 * Limit amount of chunk array used in mapping moves
+		 * to the active region
+		 */
+		chunk_first = i;
+		chunk_low = ao_lisp_chunk[i].old_offset;
+
+		/* Copy all of the objects */
+		for (; i < chunk_last; i++) {
+			uint16_t	size = ao_lisp_chunk[i].size;
+
+#if DBG_MEM
+			if (!size)
+				ao_lisp_abort();
+#endif
+
+			MDBG_MOVE("chunk %d %d -> %d\n",
+				  ao_lisp_chunk[i].old_offset,
+				  size,
+				  top);
+			ao_lisp_chunk[i].new_offset = top;
+
+			memmove(&ao_lisp_pool[top],
+				&ao_lisp_pool[ao_lisp_chunk[i].old_offset],
+				size);
+
+			top += size;
+		}
+
+		if (chunk_first < chunk_last) {
+			/* Relocate all references to the objects */
+			walk(ao_lisp_move, ao_lisp_poly_move);
+
+#if DBG_MEM
+			ao_lisp_record_free(move_record);
+			move_record = ao_lisp_record_save();
+			if (mark_record && move_record)
+				ao_lisp_record_compare("move", mark_record, move_record);
+#endif
+		}
+
+		/* If we ran into the end of the heap, then
+		 * there's no need to keep walking
+		 */
+		if (chunk_last != AO_LISP_NCHUNK)
+			break;
+
+		/* Next loop starts right above this loop */
+		chunk_low = chunk_high;
+	}
+
+#if DBG_MEM_STATS
+	/* Collect stats */
+	++ao_lisp_collects[style];
+	ao_lisp_freed[style] += ao_lisp_top - top;
+	ao_lisp_loops[style] += loops;
+#endif
+
+	ao_lisp_top = top;
+	if (style == AO_LISP_COLLECT_FULL)
+		ao_lisp_last_top = top;
+
+	MDBG_DO(memset(ao_lisp_chunk, '\0', sizeof (ao_lisp_chunk));
+		walk(ao_lisp_mark_ref, ao_lisp_poly_mark_ref));
+
+	return AO_LISP_POOL - ao_lisp_top;
+}
+
+/*
+ * Mark interfaces for objects
+ */
+
+/*
+ * Note a reference to memory and collect information about a few
+ * object sizes at a time
+ */
+
+int
+ao_lisp_mark_memory(const struct ao_lisp_type *type, void *addr)
+{
+	int offset;
+	if (!AO_LISP_IS_POOL(addr))
+		return 1;
+
+	offset = pool_offset(addr);
+	MDBG_MOVE("mark memory %d\n", MDBG_OFFSET(addr));
+	if (busy(ao_lisp_busy, offset)) {
+		MDBG_MOVE("already marked\n");
+		return 1;
+	}
+	mark(ao_lisp_busy, offset);
+	note_chunk(offset, ao_lisp_size(type, addr));
+	return 0;
+}
+
+/*
+ * Mark an object and all that it refereces
+ */
+int
+ao_lisp_mark(const struct ao_lisp_type *type, void *addr)
+{
+	int ret;
+	MDBG_MOVE("mark %d\n", MDBG_OFFSET(addr));
+	MDBG_MOVE_IN();
+	ret = ao_lisp_mark_memory(type, addr);
+	if (!ret) {
+		MDBG_MOVE("mark recurse\n");
+		type->mark(addr);
+	}
+	MDBG_MOVE_OUT();
+	return ret;
+}
+
+/*
+ * Mark an object, unless it is a cons cell and
+ * do_note_cons is set. In that case, just
+ * set a bit in the cons note array; those
+ * will be marked in a separate pass to avoid
+ * deep recursion in the collector
+ */
+int
+ao_lisp_poly_mark(ao_poly p, uint8_t do_note_cons)
+{
+	uint8_t type;
+	void	*addr;
+
+	type = ao_lisp_poly_base_type(p);
+
+	if (type == AO_LISP_INT)
+		return 1;
+
+	addr = ao_lisp_ref(p);
+	if (!AO_LISP_IS_POOL(addr))
+		return 1;
+
+	if (type == AO_LISP_CONS && do_note_cons) {
+		note_cons(pool_offset(addr));
+		return 1;
+	} else {
+		if (type == AO_LISP_OTHER)
+			type = ao_lisp_other_type(addr);
+
+		const struct ao_lisp_type *lisp_type = ao_lisp_types[type];
+#if DBG_MEM
+		if (!lisp_type)
+			ao_lisp_abort();
+#endif
+
+		return ao_lisp_mark(lisp_type, addr);
+	}
+}
+
+/*
+ * Find the current location of an object
+ * based on the original location. For unmoved
+ * objects, this is simple. For moved objects,
+ * go search for it
+ */
+
+static uint16_t
+move_map(uint16_t offset)
+{
+	int		l;
+
+	if (offset < chunk_low || chunk_high <= offset)
+		return offset;
+
+	l = find_chunk(offset);
+
+#if DBG_MEM
+	if (ao_lisp_chunk[l].old_offset != offset)
+		ao_lisp_abort();
+#endif
+	return ao_lisp_chunk[l].new_offset;
+}
+
+int
+ao_lisp_move_memory(const struct ao_lisp_type *type, void **ref)
+{
+	void		*addr = *ref;
+	uint16_t	offset, orig_offset;
+
+	if (!AO_LISP_IS_POOL(addr))
+		return 1;
+
+	(void) type;
+
+	MDBG_MOVE("move memory %d\n", MDBG_OFFSET(addr));
+	orig_offset = pool_offset(addr);
+	offset = move_map(orig_offset);
+	if (offset != orig_offset) {
+		MDBG_MOVE("update ref %d %d -> %d\n",
+			  AO_LISP_IS_POOL(ref) ? MDBG_OFFSET(ref) : -1,
+			  orig_offset, offset);
+		*ref = ao_lisp_pool + offset;
+	}
+	if (busy(ao_lisp_busy, offset)) {
+		MDBG_MOVE("already moved\n");
+		return 1;
+	}
+	mark(ao_lisp_busy, offset);
+	MDBG_DO(ao_lisp_record(type, addr, ao_lisp_size(type, addr)));
+	return 0;
+}
+
+int
+ao_lisp_move(const struct ao_lisp_type *type, void **ref)
+{
+	int ret;
+	MDBG_MOVE("move object %d\n", MDBG_OFFSET(*ref));
+	MDBG_MOVE_IN();
+	ret = ao_lisp_move_memory(type, ref);
+	if (!ret) {
+		MDBG_MOVE("move recurse\n");
+		type->move(*ref);
+	}
+	MDBG_MOVE_OUT();
+	return ret;
+}
+
+int
+ao_lisp_poly_move(ao_poly *ref, uint8_t do_note_cons)
+{
+	uint8_t		type;
+	ao_poly		p = *ref;
+	int		ret;
+	void		*addr;
+	uint16_t	offset, orig_offset;
+	uint8_t		base_type;
+
+	base_type = type = ao_lisp_poly_base_type(p);
+
+	if (type == AO_LISP_INT)
+		return 1;
+
+	addr = ao_lisp_ref(p);
+	if (!AO_LISP_IS_POOL(addr))
+		return 1;
+
+	orig_offset = pool_offset(addr);
+	offset = move_map(orig_offset);
+
+	if (type == AO_LISP_CONS && do_note_cons) {
+		note_cons(orig_offset);
+		ret = 1;
+	} else {
+		if (type == AO_LISP_OTHER)
+			type = ao_lisp_other_type(ao_lisp_pool + offset);
+
+		const struct ao_lisp_type *lisp_type = ao_lisp_types[type];
+#if DBG_MEM
+		if (!lisp_type)
+			ao_lisp_abort();
+#endif
+
+		ret = ao_lisp_move(lisp_type, &addr);
+	}
+
+	/* Re-write the poly value */
+	if (offset != orig_offset) {
+		ao_poly np = ao_lisp_poly(ao_lisp_pool + offset, base_type);
+		MDBG_MOVE("poly %d moved %d -> %d\n",
+			  type, orig_offset, offset);
+		*ref = np;
+	}
+	return ret;
+}
+
+#if DBG_MEM
+void
+ao_lisp_validate(void)
+{
+	chunk_low = 0;
+	memset(ao_lisp_chunk, '\0', sizeof (ao_lisp_chunk));
+	walk(ao_lisp_mark_ref, ao_lisp_poly_mark_ref);
+}
+
+int dbg_allocs;
+
+#endif
+
+void *
+ao_lisp_alloc(int size)
+{
+	void	*addr;
+
+	MDBG_DO(++dbg_allocs);
+	MDBG_DO(if (dbg_validate) ao_lisp_validate());
+	size = ao_lisp_size_round(size);
+	if (AO_LISP_POOL - ao_lisp_top < size &&
+	    ao_lisp_collect(AO_LISP_COLLECT_INCREMENTAL) < size &&
+	    ao_lisp_collect(AO_LISP_COLLECT_FULL) < size)
+	{
+		ao_lisp_error(AO_LISP_OOM, "out of memory");
+		return NULL;
+	}
+	addr = ao_lisp_pool + ao_lisp_top;
+	ao_lisp_top += size;
+	return addr;
+}
+
+void
+ao_lisp_cons_stash(int id, struct ao_lisp_cons *cons)
+{
+	save_cons[id] = cons;
+}
+
+struct ao_lisp_cons *
+ao_lisp_cons_fetch(int id)
+{
+	struct ao_lisp_cons *cons = save_cons[id];
+	save_cons[id] = NULL;
+	return cons;
+}
+
+void
+ao_lisp_poly_stash(int id, ao_poly poly)
+{
+	save_poly[id] = poly;
+}
+
+ao_poly
+ao_lisp_poly_fetch(int id)
+{
+	ao_poly poly = save_poly[id];
+	save_poly[id] = AO_LISP_NIL;
+	return poly;
+}
+
+void
+ao_lisp_string_stash(int id, char *string)
+{
+	save_string[id] = string;
+}
+
+char *
+ao_lisp_string_fetch(int id)
+{
+	char *string = save_string[id];
+	save_string[id] = NULL;
+	return string;
+}
+
diff --git a/src/lisp/ao_lisp_os.h b/src/lisp/ao_lisp_os.h
new file mode 100644
index 00000000..5fa3686b
--- /dev/null
+++ b/src/lisp/ao_lisp_os.h
@@ -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; 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 <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+
+extern int ao_lisp_getc(void);
+
+static inline void
+ao_lisp_os_flush(void) {
+	fflush(stdout);
+}
+
+static inline void
+ao_lisp_abort(void)
+{
+	abort();
+}
+
+static inline void
+ao_lisp_os_led(int led)
+{
+	printf("leds set to 0x%x\n", led);
+}
+
+static inline void
+ao_lisp_os_delay(int delay)
+{
+	struct timespec ts = {
+		.tv_sec = delay / 1000,
+		.tv_nsec = (delay % 1000) * 1000000,
+	};
+	nanosleep(&ts, NULL);
+}
+#endif
diff --git a/src/lisp/ao_lisp_poly.c b/src/lisp/ao_lisp_poly.c
new file mode 100644
index 00000000..fb3b06fe
--- /dev/null
+++ b/src/lisp/ao_lisp_poly.c
@@ -0,0 +1,102 @@
+/*
+ * 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_lisp.h"
+
+struct ao_lisp_funcs {
+	void (*print)(ao_poly);
+	void (*patom)(ao_poly);
+};
+
+static const struct ao_lisp_funcs ao_lisp_funcs[AO_LISP_NUM_TYPE] = {
+	[AO_LISP_CONS] = {
+		.print = ao_lisp_cons_print,
+		.patom = ao_lisp_cons_patom,
+	},
+	[AO_LISP_STRING] = {
+		.print = ao_lisp_string_print,
+		.patom = ao_lisp_string_patom,
+	},
+	[AO_LISP_INT] = {
+		.print = ao_lisp_int_print,
+		.patom = ao_lisp_int_print,
+	},
+	[AO_LISP_ATOM] = {
+		.print = ao_lisp_atom_print,
+		.patom = ao_lisp_atom_print,
+	},
+	[AO_LISP_BUILTIN] = {
+		.print = ao_lisp_builtin_print,
+		.patom = ao_lisp_builtin_print,
+	},
+	[AO_LISP_FRAME] = {
+		.print = ao_lisp_frame_print,
+		.patom = ao_lisp_frame_print,
+	},
+	[AO_LISP_LAMBDA] = {
+		.print = ao_lisp_lambda_print,
+		.patom = ao_lisp_lambda_print,
+	},
+	[AO_LISP_STACK] = {
+		.print = ao_lisp_stack_print,
+		.patom = ao_lisp_stack_print,
+	},
+};
+
+static const struct ao_lisp_funcs *
+funcs(ao_poly p)
+{
+	uint8_t	type = ao_lisp_poly_type(p);
+
+	if (type < AO_LISP_NUM_TYPE)
+		return &ao_lisp_funcs[type];
+	return NULL;
+}
+
+void
+ao_lisp_poly_print(ao_poly p)
+{
+	const struct ao_lisp_funcs *f = funcs(p);
+
+	if (f && f->print)
+		f->print(p);
+}
+
+void
+ao_lisp_poly_patom(ao_poly p)
+{
+	const struct ao_lisp_funcs *f = funcs(p);
+
+	if (f && f->patom)
+		f->patom(p);
+}
+
+void *
+ao_lisp_ref(ao_poly poly) {
+	if (poly == AO_LISP_NIL)
+		return NULL;
+	if (poly & AO_LISP_CONST)
+		return (void *) (ao_lisp_const + (poly & AO_LISP_REF_MASK) - 4);
+	return (void *) (ao_lisp_pool + (poly & AO_LISP_REF_MASK) - 4);
+}
+
+ao_poly
+ao_lisp_poly(const void *addr, ao_poly type) {
+	const uint8_t	*a = addr;
+	if (a == NULL)
+		return AO_LISP_NIL;
+	if (AO_LISP_IS_CONST(a))
+		return AO_LISP_CONST | (a - ao_lisp_const + 4) | type;
+	return (a - ao_lisp_pool + 4) | type;
+}
diff --git a/src/lisp/ao_lisp_read.c b/src/lisp/ao_lisp_read.c
new file mode 100644
index 00000000..84ef2a61
--- /dev/null
+++ b/src/lisp/ao_lisp_read.c
@@ -0,0 +1,498 @@
+/*
+ * 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_lisp.h"
+#include "ao_lisp_read.h"
+
+static const uint16_t	lex_classes[128] = {
+	IGNORE,		/* ^@ */
+	IGNORE,		/* ^A */
+	IGNORE,		/* ^B */
+	IGNORE,		/* ^C */
+	IGNORE,		/* ^D */
+	IGNORE,		/* ^E */
+	IGNORE,		/* ^F */
+	IGNORE,		/* ^G */
+	IGNORE,		/* ^H */
+	WHITE,		/* ^I */
+	WHITE,		/* ^J */
+	WHITE,		/* ^K */
+	WHITE,		/* ^L */
+	WHITE,		/* ^M */
+	IGNORE,		/* ^N */
+	IGNORE,		/* ^O */
+	IGNORE,		/* ^P */
+	IGNORE,		/* ^Q */
+	IGNORE,		/* ^R */
+	IGNORE,		/* ^S */
+	IGNORE,		/* ^T */
+	IGNORE,		/* ^U */
+	IGNORE,		/* ^V */
+	IGNORE,		/* ^W */
+	IGNORE,		/* ^X */
+	IGNORE,		/* ^Y */
+	IGNORE,		/* ^Z */
+	IGNORE,		/* ^[ */
+	IGNORE,		/* ^\ */
+	IGNORE,		/* ^] */
+	IGNORE,		/* ^^ */
+	IGNORE,		/* ^_ */
+	PRINTABLE|WHITE,	/*    */
+ 	PRINTABLE,		/* ! */
+ 	PRINTABLE|STRINGC,	/* " */
+ 	PRINTABLE|COMMENT,	/* # */
+ 	PRINTABLE,		/* $ */
+ 	PRINTABLE,		/* % */
+ 	PRINTABLE,		/* & */
+ 	PRINTABLE|QUOTEC,	/* ' */
+ 	PRINTABLE|BRA,		/* ( */
+ 	PRINTABLE|KET,		/* ) */
+ 	PRINTABLE,		/* * */
+ 	PRINTABLE|SIGN,		/* + */
+ 	PRINTABLE,		/* , */
+ 	PRINTABLE|SIGN,		/* - */
+ 	PRINTABLE,		/* . */
+ 	PRINTABLE,		/* / */
+ 	PRINTABLE|DIGIT,	/* 0 */
+ 	PRINTABLE|DIGIT,	/* 1 */
+ 	PRINTABLE|DIGIT,	/* 2 */
+ 	PRINTABLE|DIGIT,	/* 3 */
+ 	PRINTABLE|DIGIT,	/* 4 */
+ 	PRINTABLE|DIGIT,	/* 5 */
+ 	PRINTABLE|DIGIT,	/* 6 */
+ 	PRINTABLE|DIGIT,	/* 7 */
+ 	PRINTABLE|DIGIT,	/* 8 */
+ 	PRINTABLE|DIGIT,	/* 9 */
+ 	PRINTABLE,		/* : */
+ 	PRINTABLE|COMMENT,	/* ; */
+ 	PRINTABLE,		/* < */
+ 	PRINTABLE,		/* = */
+ 	PRINTABLE,		/* > */
+ 	PRINTABLE,		/* ? */
+  	PRINTABLE,		/*  @ */
+	PRINTABLE,		/*  A */
+	PRINTABLE,		/*  B */
+	PRINTABLE,		/*  C */
+	PRINTABLE,		/*  D */
+	PRINTABLE,		/*  E */
+	PRINTABLE,		/*  F */
+	PRINTABLE,		/*  G */
+	PRINTABLE,		/*  H */
+	PRINTABLE,		/*  I */
+	PRINTABLE,		/*  J */
+	PRINTABLE,		/*  K */
+	PRINTABLE,		/*  L */
+	PRINTABLE,		/*  M */
+	PRINTABLE,		/*  N */
+	PRINTABLE,		/*  O */
+	PRINTABLE,		/*  P */
+	PRINTABLE,		/*  Q */
+	PRINTABLE,		/*  R */
+	PRINTABLE,		/*  S */
+	PRINTABLE,		/*  T */
+	PRINTABLE,		/*  U */
+	PRINTABLE,		/*  V */
+	PRINTABLE,		/*  W */
+	PRINTABLE,		/*  X */
+	PRINTABLE,		/*  Y */
+	PRINTABLE,		/*  Z */
+	PRINTABLE,		/*  [ */
+	PRINTABLE|BACKSLASH,	/*  \ */
+	PRINTABLE,		/*  ] */
+	PRINTABLE,		/*  ^ */
+	PRINTABLE,		/*  _ */
+  	PRINTABLE,		/*  ` */
+	PRINTABLE,		/*  a */
+	PRINTABLE,		/*  b */
+	PRINTABLE,		/*  c */
+	PRINTABLE,		/*  d */
+	PRINTABLE,		/*  e */
+	PRINTABLE,		/*  f */
+	PRINTABLE,		/*  g */
+	PRINTABLE,		/*  h */
+	PRINTABLE,		/*  i */
+	PRINTABLE,		/*  j */
+	PRINTABLE,		/*  k */
+	PRINTABLE,		/*  l */
+	PRINTABLE,		/*  m */
+	PRINTABLE,		/*  n */
+	PRINTABLE,		/*  o */
+	PRINTABLE,		/*  p */
+	PRINTABLE,		/*  q */
+	PRINTABLE,		/*  r */
+	PRINTABLE,		/*  s */
+	PRINTABLE,		/*  t */
+	PRINTABLE,		/*  u */
+	PRINTABLE,		/*  v */
+	PRINTABLE,		/*  w */
+	PRINTABLE,		/*  x */
+	PRINTABLE,		/*  y */
+	PRINTABLE,		/*  z */
+	PRINTABLE,		/*  { */
+	PRINTABLE|VBAR,		/*  | */
+	PRINTABLE,		/*  } */
+	PRINTABLE|TWIDDLE,	/*  ~ */
+	IGNORE,			/*  ^? */
+};
+
+static int lex_unget_c;
+
+static inline int
+lex_get()
+{
+	int	c;
+	if (lex_unget_c) {
+		c = lex_unget_c;
+		lex_unget_c = 0;
+	} else {
+		c = ao_lisp_getc();
+	}
+	return c;
+}
+
+static inline void
+lex_unget(int c)
+{
+	if (c != EOF)
+		lex_unget_c = c;
+}
+
+static int
+lex_quoted (void)
+{
+	int	c;
+	int	v;
+	int	count;
+
+	c = lex_get();
+	if (c == EOF)
+		return EOF;
+	c &= 0x7f;
+ 	switch (c) {
+	case 'n':
+		return '\n';
+	case 'f':
+		return '\f';
+	case 'b':
+		return '\b';
+	case 'r':
+		return '\r';
+	case 'v':
+		return '\v';
+	case 't':
+		return '\t';
+	case '0':
+	case '1':
+	case '2':
+	case '3':
+	case '4':
+	case '5':
+	case '6':
+	case '7':
+		v = c - '0';
+		count = 1;
+		while (count <= 3) {
+			c = lex_get();
+			if (c == EOF)
+				return EOF;
+			c &= 0x7f;
+			if (c < '0' || '7' < c) {
+				lex_unget(c);
+				break;
+			}
+			v = (v << 3) + c - '0';
+			++count;
+		}
+		return v;
+	default:
+		return c;
+	}
+}
+
+static uint16_t	lex_class;
+
+static int
+lexc(void)
+{
+	int	c;
+	do {
+		c = lex_get();
+		if (c == EOF) {
+			lex_class = ENDOFFILE;
+			c = 0;
+		} else {
+			c &= 0x7f;
+			lex_class = lex_classes[c];
+			if (lex_class & BACKSLASH) {
+				c = lex_quoted();
+				if (c == EOF)
+					lex_class = ENDOFFILE;
+				else
+					lex_class = PRINTABLE;
+			}
+		}
+	} while (lex_class & IGNORE);
+	return c;
+}
+
+#define AO_LISP_TOKEN_MAX	32
+
+static char	token_string[AO_LISP_TOKEN_MAX];
+static int	token_int;
+static int	token_len;
+
+static inline void add_token(int c) {
+	if (c && token_len < AO_LISP_TOKEN_MAX - 1)
+		token_string[token_len++] = c;
+}
+
+static inline void end_token(void) {
+	token_string[token_len] = '\0';
+}
+
+static int
+lex(void)
+{
+	int	c;
+
+	token_len = 0;
+	for (;;) {
+		c = lexc();
+		if (lex_class & ENDOFFILE)
+			return END;
+
+		if (lex_class & WHITE)
+			continue;
+
+		if (lex_class & COMMENT) {
+			while ((c = lexc()) != '\n') {
+				if (lex_class & ENDOFFILE)
+					return END;
+			}
+			continue;
+		}
+
+		if (lex_class & (BRA|KET|QUOTEC)) {
+			add_token(c);
+			end_token();
+			switch (c) {
+			case '(':
+				return OPEN;
+			case ')':
+				return CLOSE;
+			case '\'':
+				return QUOTE;
+			}
+		}
+		if (lex_class & TWIDDLE) {
+			token_int = lexc();
+			return NUM;
+		}
+		if (lex_class & STRINGC) {
+			for (;;) {
+				c = lexc();
+				if (lex_class & (STRINGC|ENDOFFILE)) {
+					end_token();
+					return STRING;
+				}
+				add_token(c);
+			}
+		}
+		if (lex_class & PRINTABLE) {
+			int	isnum;
+			int	hasdigit;
+			int	isneg;
+
+			isnum = 1;
+			hasdigit = 0;
+			token_int = 0;
+			isneg = 0;
+			for (;;) {
+				if (!(lex_class & NUMBER)) {
+					isnum = 0;
+				} else {
+ 					if (token_len != 0 &&
+					    (lex_class & SIGN))
+					{
+						isnum = 0;
+					}
+					if (c == '-')
+						isneg = 1;
+					if (lex_class & DIGIT) {
+						hasdigit = 1;
+						if (isnum)
+							token_int = token_int * 10 + c - '0';
+					}
+				}
+				add_token (c);
+				c = lexc ();
+				if (lex_class & (NOTNAME)) {
+//					if (lex_class & ENDOFFILE)
+//						clearerr (f);
+					lex_unget(c);
+					end_token ();
+					if (isnum && hasdigit) {
+						if (isneg)
+							token_int = -token_int;
+						return NUM;
+					}
+					return NAME;
+				}
+			}
+
+		}
+	}
+}
+
+static int parse_token;
+
+struct ao_lisp_cons	*ao_lisp_read_cons;
+struct ao_lisp_cons	*ao_lisp_read_cons_tail;
+struct ao_lisp_cons	*ao_lisp_read_stack;
+
+static int
+push_read_stack(int cons, int in_quote)
+{
+	DBGI("push read stack %p %d\n", ao_lisp_read_cons, in_quote);
+	DBG_IN();
+	if (cons) {
+		ao_lisp_read_stack = ao_lisp_cons_cons(ao_lisp_cons_poly(ao_lisp_read_cons),
+					       ao_lisp_cons_cons(ao_lisp_int_poly(in_quote),
+								 ao_lisp_read_stack));
+		if (!ao_lisp_read_stack)
+			return 0;
+	}
+	ao_lisp_read_cons = NULL;
+	ao_lisp_read_cons_tail = NULL;
+	return 1;
+}
+
+static int
+pop_read_stack(int cons)
+{
+	int	in_quote = 0;
+	if (cons) {
+		ao_lisp_read_cons = ao_lisp_poly_cons(ao_lisp_read_stack->car);
+		ao_lisp_read_stack = ao_lisp_poly_cons(ao_lisp_read_stack->cdr);
+		in_quote = ao_lisp_poly_int(ao_lisp_read_stack->car);
+		ao_lisp_read_stack = ao_lisp_poly_cons(ao_lisp_read_stack->cdr);
+		for (ao_lisp_read_cons_tail = ao_lisp_read_cons;
+		     ao_lisp_read_cons_tail && ao_lisp_read_cons_tail->cdr;
+		     ao_lisp_read_cons_tail = ao_lisp_poly_cons(ao_lisp_read_cons_tail->cdr))
+			;
+	} else {
+		ao_lisp_read_cons = 0;
+		ao_lisp_read_cons_tail = 0;
+		ao_lisp_read_stack = 0;
+	}
+	DBG_OUT();
+	DBGI("pop read stack %p %d\n", ao_lisp_read_cons, in_quote);
+	return in_quote;
+}
+
+ao_poly
+ao_lisp_read(void)
+{
+	struct ao_lisp_atom	*atom;
+	char			*string;
+	int			cons;
+	int			in_quote;
+	ao_poly			v;
+
+	parse_token = lex();
+	DBGI("token %d (%s)\n", parse_token, token_string);
+
+	cons = 0;
+	in_quote = 0;
+	ao_lisp_read_cons = ao_lisp_read_cons_tail = ao_lisp_read_stack = 0;
+	for (;;) {
+		while (parse_token == OPEN) {
+			if (!push_read_stack(cons, in_quote))
+				return AO_LISP_NIL;
+			cons++;
+			in_quote = 0;
+			parse_token = lex();
+			DBGI("token %d (%s)\n", parse_token, token_string);
+		}
+
+		switch (parse_token) {
+		case END:
+		default:
+			if (cons)
+				ao_lisp_error(AO_LISP_EOF, "unexpected end of file");
+			return _ao_lisp_atom_eof;
+			break;
+		case NAME:
+			atom = ao_lisp_atom_intern(token_string);
+			if (atom)
+				v = ao_lisp_atom_poly(atom);
+			else
+				v = AO_LISP_NIL;
+			break;
+		case NUM:
+			v = ao_lisp_int_poly(token_int);
+			break;
+		case STRING:
+			string = ao_lisp_string_copy(token_string);
+			if (string)
+				v = ao_lisp_string_poly(string);
+			else
+				v = AO_LISP_NIL;
+			break;
+		case QUOTE:
+			if (!push_read_stack(cons, in_quote))
+				return AO_LISP_NIL;
+			cons++;
+			in_quote = 1;
+			v = _ao_lisp_atom_quote;
+			break;
+		case CLOSE:
+			if (!cons) {
+				v = AO_LISP_NIL;
+				break;
+			}
+			v = ao_lisp_cons_poly(ao_lisp_read_cons);
+			--cons;
+			in_quote = pop_read_stack(cons);
+			break;
+		}
+
+		/* loop over QUOTE ends */
+		for (;;) {
+			if (!cons)
+				return v;
+
+			struct ao_lisp_cons	*read = ao_lisp_cons_cons(v, NULL);
+			if (!read)
+				return AO_LISP_NIL;
+
+			if (ao_lisp_read_cons_tail)
+				ao_lisp_read_cons_tail->cdr = ao_lisp_cons_poly(read);
+			else
+				ao_lisp_read_cons = read;
+			ao_lisp_read_cons_tail = read;
+
+			if (!in_quote || !ao_lisp_read_cons->cdr)
+				break;
+
+			v = ao_lisp_cons_poly(ao_lisp_read_cons);
+			--cons;
+			in_quote = pop_read_stack(cons);
+		}
+
+		parse_token = lex();
+		DBGI("token %d (%s)\n", parse_token, token_string);
+	}
+	return v;
+}
diff --git a/src/lisp/ao_lisp_read.h b/src/lisp/ao_lisp_read.h
new file mode 100644
index 00000000..1c994d56
--- /dev/null
+++ b/src/lisp/ao_lisp_read.h
@@ -0,0 +1,49 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_LISP_READ_H_
+#define _AO_LISP_READ_H_
+
+# define END	0
+# define NAME	1
+# define OPEN  	2
+# define CLOSE	3
+# define QUOTE	4
+# define STRING	5
+# define NUM	6
+
+/*
+ * character classes
+ */
+
+# define PRINTABLE	0x00000001	/* \t \n ' ' - '~' */
+# define QUOTED		0x00000002	/* \ anything */
+# define BRA		0x00000004	/* ( [ { */
+# define KET		0x00000008	/* ) ] } */
+# define WHITE		0x00000010	/* ' ' \t \n */
+# define DIGIT		0x00000020	/* [0-9] */
+# define SIGN		0x00000040	/* +- */
+# define ENDOFFILE	0x00000080	/* end of file */
+# define COMMENT	0x00000100	/* ; # */
+# define IGNORE		0x00000200	/* \0 - ' ' */
+# define QUOTEC		0x00000400	/* ' */
+# define BACKSLASH	0x00000800	/* \ */
+# define VBAR		0x00001000	/* | */
+# define TWIDDLE	0x00002000	/* ~ */
+# define STRINGC	0x00004000	/* " */
+
+# define NOTNAME	(STRINGC|TWIDDLE|VBAR|QUOTEC|COMMENT|ENDOFFILE|WHITE|KET|BRA)
+# define NUMBER		(DIGIT|SIGN)
+
+#endif /* _AO_LISP_READ_H_ */
diff --git a/src/lisp/ao_lisp_rep.c b/src/lisp/ao_lisp_rep.c
new file mode 100644
index 00000000..3be95d44
--- /dev/null
+++ b/src/lisp/ao_lisp_rep.c
@@ -0,0 +1,34 @@
+/*
+ * 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_lisp.h"
+
+ao_poly
+ao_lisp_read_eval_print(void)
+{
+	ao_poly	in, out = AO_LISP_NIL;
+	for(;;) {
+		in = ao_lisp_read();
+		if (in == _ao_lisp_atom_eof || in == AO_LISP_NIL)
+			break;
+		out = ao_lisp_eval(in);
+		if (ao_lisp_exception) {
+			ao_lisp_exception = 0;
+		} else {
+			ao_lisp_poly_print(out);
+			putchar ('\n');
+		}
+	}
+	return out;
+}
diff --git a/src/lisp/ao_lisp_save.c b/src/lisp/ao_lisp_save.c
new file mode 100644
index 00000000..4f850fb9
--- /dev/null
+++ b/src/lisp/ao_lisp_save.c
@@ -0,0 +1,76 @@
+/*
+ * 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_lisp.h>
+
+ao_poly
+ao_lisp_save(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_save, cons, 0, 0))
+		return AO_LISP_NIL;
+
+#ifdef AO_LISP_SAVE
+	struct ao_lisp_os_save *os = (struct ao_lisp_os_save *) (void *) &ao_lisp_pool[AO_LISP_POOL];
+
+	ao_lisp_collect(AO_LISP_COLLECT_FULL);
+	os->atoms = ao_lisp_atom_poly(ao_lisp_atoms);
+	os->globals = ao_lisp_frame_poly(ao_lisp_frame_global);
+	os->const_checksum = ao_lisp_const_checksum;
+	os->const_checksum_inv = (uint16_t) ~ao_lisp_const_checksum;
+
+	if (ao_lisp_os_save())
+		return _ao_lisp_atom_t;
+#endif
+	return AO_LISP_NIL;
+}
+
+ao_poly
+ao_lisp_restore(struct ao_lisp_cons *cons)
+{
+	if (!ao_lisp_check_argc(_ao_lisp_atom_save, cons, 0, 0))
+		return AO_LISP_NIL;
+
+#ifdef AO_LISP_SAVE
+	struct ao_lisp_os_save save;
+	struct ao_lisp_os_save *os = (struct ao_lisp_os_save *) (void *) &ao_lisp_pool[AO_LISP_POOL];
+
+	if (!ao_lisp_os_restore_save(&save, AO_LISP_POOL))
+		return ao_lisp_error(AO_LISP_INVALID, "header restore failed");
+
+	if (save.const_checksum != ao_lisp_const_checksum ||
+	    save.const_checksum_inv != (uint16_t) ~ao_lisp_const_checksum)
+	{
+		return ao_lisp_error(AO_LISP_INVALID, "image is corrupted or stale");
+	}
+
+	if (ao_lisp_os_restore()) {
+
+		ao_lisp_atoms = ao_lisp_poly_atom(os->atoms);
+		ao_lisp_frame_global = ao_lisp_poly_frame(os->globals);
+
+		/* Clear the eval global variabls */
+		ao_lisp_eval_clear_globals();
+
+		/* Reset the allocator */
+		ao_lisp_top = AO_LISP_POOL;
+		ao_lisp_collect(AO_LISP_COLLECT_FULL);
+
+		/* Re-create the evaluator stack */
+		if (!ao_lisp_eval_restart())
+			return AO_LISP_NIL;
+		return _ao_lisp_atom_t;
+	}
+#endif
+	return AO_LISP_NIL;
+}
diff --git a/src/lisp/ao_lisp_stack.c b/src/lisp/ao_lisp_stack.c
new file mode 100644
index 00000000..53adf432
--- /dev/null
+++ b/src/lisp/ao_lisp_stack.c
@@ -0,0 +1,278 @@
+/*
+ * 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_lisp.h"
+
+const struct ao_lisp_type ao_lisp_stack_type;
+
+static int
+stack_size(void *addr)
+{
+	(void) addr;
+	return sizeof (struct ao_lisp_stack);
+}
+
+static void
+stack_mark(void *addr)
+{
+	struct ao_lisp_stack	*stack = addr;
+	for (;;) {
+		ao_lisp_poly_mark(stack->sexprs, 0);
+		ao_lisp_poly_mark(stack->values, 0);
+		/* no need to mark values_tail */
+		ao_lisp_poly_mark(stack->frame, 0);
+		ao_lisp_poly_mark(stack->list, 0);
+		stack = ao_lisp_poly_stack(stack->prev);
+		if (ao_lisp_mark_memory(&ao_lisp_stack_type, stack))
+			break;
+	}
+}
+
+static void
+stack_move(void *addr)
+{
+	struct ao_lisp_stack	*stack = addr;
+
+	while (stack) {
+		struct ao_lisp_stack	*prev;
+		int			ret;
+		(void) ao_lisp_poly_move(&stack->sexprs, 0);
+		(void) ao_lisp_poly_move(&stack->values, 0);
+		(void) ao_lisp_poly_move(&stack->values_tail, 0);
+		(void) ao_lisp_poly_move(&stack->frame, 0);
+		(void) ao_lisp_poly_move(&stack->list, 0);
+		prev = ao_lisp_poly_stack(stack->prev);
+		if (!prev)
+			break;
+		ret = ao_lisp_move_memory(&ao_lisp_stack_type, (void **) &prev);
+		if (prev != ao_lisp_poly_stack(stack->prev))
+			stack->prev = ao_lisp_stack_poly(prev);
+		if (ret)
+			break;
+		stack = prev;
+	}
+}
+
+const struct ao_lisp_type ao_lisp_stack_type = {
+	.size = stack_size,
+	.mark = stack_mark,
+	.move = stack_move,
+	.name = "stack"
+};
+
+struct ao_lisp_stack		*ao_lisp_stack_free_list;
+
+void
+ao_lisp_stack_reset(struct ao_lisp_stack *stack)
+{
+	stack->state = eval_sexpr;
+	stack->sexprs = AO_LISP_NIL;
+	stack->values = AO_LISP_NIL;
+	stack->values_tail = AO_LISP_NIL;
+}
+
+static struct ao_lisp_stack *
+ao_lisp_stack_new(void)
+{
+	struct ao_lisp_stack *stack;
+
+	if (ao_lisp_stack_free_list) {
+		stack = ao_lisp_stack_free_list;
+		ao_lisp_stack_free_list = ao_lisp_poly_stack(stack->prev);
+	} else {
+		stack = ao_lisp_alloc(sizeof (struct ao_lisp_stack));
+		if (!stack)
+			return 0;
+		stack->type = AO_LISP_STACK;
+	}
+	ao_lisp_stack_reset(stack);
+	return stack;
+}
+
+int
+ao_lisp_stack_push(void)
+{
+	struct ao_lisp_stack	*stack = ao_lisp_stack_new();
+
+	if (!stack)
+		return 0;
+
+	stack->prev = ao_lisp_stack_poly(ao_lisp_stack);
+	stack->frame = ao_lisp_frame_poly(ao_lisp_frame_current);
+	stack->list = AO_LISP_NIL;
+
+	ao_lisp_stack = stack;
+
+	DBGI("stack push\n");
+	DBG_FRAMES();
+	DBG_IN();
+	return 1;
+}
+
+void
+ao_lisp_stack_pop(void)
+{
+	ao_poly			prev;
+	struct ao_lisp_frame	*prev_frame;
+
+	if (!ao_lisp_stack)
+		return;
+	prev = ao_lisp_stack->prev;
+	if (!ao_lisp_stack_marked(ao_lisp_stack)) {
+		ao_lisp_stack->prev = ao_lisp_stack_poly(ao_lisp_stack_free_list);
+		ao_lisp_stack_free_list = ao_lisp_stack;
+	}
+
+	ao_lisp_stack = ao_lisp_poly_stack(prev);
+	prev_frame = ao_lisp_frame_current;
+	if (ao_lisp_stack)
+		ao_lisp_frame_current = ao_lisp_poly_frame(ao_lisp_stack->frame);
+	else
+		ao_lisp_frame_current = NULL;
+	if (ao_lisp_frame_current != prev_frame)
+		ao_lisp_frame_free(prev_frame);
+	DBG_OUT();
+	DBGI("stack pop\n");
+	DBG_FRAMES();
+}
+
+void
+ao_lisp_stack_clear(void)
+{
+	ao_lisp_stack = NULL;
+	ao_lisp_frame_current = NULL;
+	ao_lisp_v = AO_LISP_NIL;
+}
+
+void
+ao_lisp_stack_print(ao_poly poly)
+{
+	struct ao_lisp_stack *s = ao_lisp_poly_stack(poly);
+
+	while (s) {
+		if (s->type & AO_LISP_STACK_PRINT) {
+			printf("[recurse...]");
+			return;
+		}
+		s->type |= AO_LISP_STACK_PRINT;
+		printf("\t[\n");
+		printf("\t\texpr:   "); ao_lisp_poly_print(s->list); printf("\n");
+		printf("\t\tstate:  %s\n", ao_lisp_state_names[s->state]);
+		ao_lisp_error_poly ("values: ", s->values, s->values_tail);
+		ao_lisp_error_poly ("sexprs: ", s->sexprs, AO_LISP_NIL);
+		ao_lisp_error_frame(2, "frame:  ", ao_lisp_poly_frame(s->frame));
+		printf("\t]\n");
+		s->type &= ~AO_LISP_STACK_PRINT;
+		s = ao_lisp_poly_stack(s->prev);
+	}
+}
+
+/*
+ * Copy a stack, being careful to keep everybody referenced
+ */
+static struct ao_lisp_stack *
+ao_lisp_stack_copy(struct ao_lisp_stack *old)
+{
+	struct ao_lisp_stack *new = NULL;
+	struct ao_lisp_stack *n, *prev = NULL;
+
+	while (old) {
+		ao_lisp_stack_stash(0, old);
+		ao_lisp_stack_stash(1, new);
+		ao_lisp_stack_stash(2, prev);
+		n = ao_lisp_stack_new();
+		prev = ao_lisp_stack_fetch(2);
+		new = ao_lisp_stack_fetch(1);
+		old = ao_lisp_stack_fetch(0);
+		if (!n)
+			return NULL;
+
+		ao_lisp_stack_mark(old);
+		ao_lisp_frame_mark(ao_lisp_poly_frame(old->frame));
+		*n = *old;
+
+		if (prev)
+			prev->prev = ao_lisp_stack_poly(n);
+		else
+			new = n;
+		prev = n;
+
+		old = ao_lisp_poly_stack(old->prev);
+	}
+	return new;
+}
+
+/*
+ * Evaluate a continuation invocation
+ */
+ao_poly
+ao_lisp_stack_eval(void)
+{
+	struct ao_lisp_stack	*new = ao_lisp_stack_copy(ao_lisp_poly_stack(ao_lisp_v));
+	if (!new)
+		return AO_LISP_NIL;
+
+	struct ao_lisp_cons	*cons = ao_lisp_poly_cons(ao_lisp_stack->values);
+
+	if (!cons || !cons->cdr)
+		return ao_lisp_error(AO_LISP_INVALID, "continuation requires a value");
+
+	new->state = eval_val;
+
+	ao_lisp_stack = new;
+	ao_lisp_frame_current = ao_lisp_poly_frame(ao_lisp_stack->frame);
+
+	return ao_lisp_poly_cons(cons->cdr)->car;
+}
+
+/*
+ * Call with current continuation. This calls a lambda, passing
+ * it a single argument which is the current continuation
+ */
+ao_poly
+ao_lisp_call_cc(struct ao_lisp_cons *cons)
+{
+	struct ao_lisp_stack	*new;
+	ao_poly			v;
+
+	/* Make sure the single parameter is a lambda */
+	if (!ao_lisp_check_argc(_ao_lisp_atom_call2fcc, cons, 1, 1))
+		return AO_LISP_NIL;
+	if (!ao_lisp_check_argt(_ao_lisp_atom_call2fcc, cons, 0, AO_LISP_LAMBDA, 0))
+		return AO_LISP_NIL;
+
+	/* go get the lambda */
+	ao_lisp_v = ao_lisp_arg(cons, 0);
+
+	/* Note that the whole call chain now has
+	 * a reference to it which may escape
+	 */
+	new = ao_lisp_stack_copy(ao_lisp_stack);
+	if (!new)
+		return AO_LISP_NIL;
+
+	/* re-fetch cons after the allocation */
+	cons = ao_lisp_poly_cons(ao_lisp_poly_cons(ao_lisp_stack->values)->cdr);
+
+	/* Reset the arg list to the current stack,
+	 * and call the lambda
+	 */
+
+	cons->car = ao_lisp_stack_poly(new);
+	cons->cdr = AO_LISP_NIL;
+	v = ao_lisp_lambda_eval();
+	ao_lisp_stack->sexprs = v;
+	ao_lisp_stack->state = eval_progn;
+	return AO_LISP_NIL;
+}
diff --git a/src/lisp/ao_lisp_string.c b/src/lisp/ao_lisp_string.c
new file mode 100644
index 00000000..cd7b27a9
--- /dev/null
+++ b/src/lisp/ao_lisp_string.c
@@ -0,0 +1,158 @@
+/*
+ * 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.
+ */
+
+#include "ao_lisp.h"
+
+static void string_mark(void *addr)
+{
+	(void) addr;
+}
+
+static int string_size(void *addr)
+{
+	if (!addr)
+		return 0;
+	return strlen(addr) + 1;
+}
+
+static void string_move(void *addr)
+{
+	(void) addr;
+}
+
+const struct ao_lisp_type ao_lisp_string_type = {
+	.mark = string_mark,
+	.size = string_size,
+	.move = string_move,
+	.name = "string",
+};
+
+char *
+ao_lisp_string_copy(char *a)
+{
+	int	alen = strlen(a);
+
+	ao_lisp_string_stash(0, a);
+	char	*r = ao_lisp_alloc(alen + 1);
+	a = ao_lisp_string_fetch(0);
+	if (!r)
+		return NULL;
+	strcpy(r, a);
+	return r;
+}
+
+char *
+ao_lisp_string_cat(char *a, char *b)
+{
+	int	alen = strlen(a);
+	int	blen = strlen(b);
+
+	ao_lisp_string_stash(0, a);
+	ao_lisp_string_stash(1, b);
+	char	*r = ao_lisp_alloc(alen + blen + 1);
+	a = ao_lisp_string_fetch(0);
+	b = ao_lisp_string_fetch(1);
+	if (!r)
+		return NULL;
+	strcpy(r, a);
+	strcpy(r+alen, b);
+	return r;
+}
+
+ao_poly
+ao_lisp_string_pack(struct ao_lisp_cons *cons)
+{
+	int	len = ao_lisp_cons_length(cons);
+	ao_lisp_cons_stash(0, cons);
+	char	*r = ao_lisp_alloc(len + 1);
+	cons = ao_lisp_cons_fetch(0);
+	char	*s = r;
+
+	while (cons) {
+		if (ao_lisp_poly_type(cons->car) != AO_LISP_INT)
+			return ao_lisp_error(AO_LISP_INVALID, "non-int passed to pack");
+		*s++ = ao_lisp_poly_int(cons->car);
+		cons = ao_lisp_poly_cons(cons->cdr);
+	}
+	*s++ = 0;
+	return ao_lisp_string_poly(r);
+}
+
+ao_poly
+ao_lisp_string_unpack(char *a)
+{
+	struct ao_lisp_cons	*cons = NULL, *tail = NULL;
+	int			c;
+	int			i;
+
+	for (i = 0; (c = a[i]); i++) {
+		ao_lisp_cons_stash(0, cons);
+		ao_lisp_cons_stash(1, tail);
+		ao_lisp_string_stash(0, a);
+		struct ao_lisp_cons	*n = ao_lisp_cons_cons(ao_lisp_int_poly(c), NULL);
+		a = ao_lisp_string_fetch(0);
+		cons = ao_lisp_cons_fetch(0);
+		tail = ao_lisp_cons_fetch(1);
+
+		if (!n) {
+			cons = NULL;
+			break;
+		}
+		if (tail)
+			tail->cdr = ao_lisp_cons_poly(n);
+		else
+			cons = n;
+		tail = n;
+	}
+	return ao_lisp_cons_poly(cons);
+}
+
+void
+ao_lisp_string_print(ao_poly p)
+{
+	char	*s = ao_lisp_poly_string(p);
+	char	c;
+
+	putchar('"');
+	while ((c = *s++)) {
+		switch (c) {
+		case '\n':
+			printf ("\\n");
+			break;
+		case '\r':
+			printf ("\\r");
+			break;
+		case '\t':
+			printf ("\\t");
+			break;
+		default:
+			putchar(c);
+			break;
+		}
+	}
+	putchar('"');
+}
+
+void
+ao_lisp_string_patom(ao_poly p)
+{
+	char	*s = ao_lisp_poly_string(p);
+	char	c;
+
+	while ((c = *s++))
+		putchar(c);
+}
diff --git a/src/lpc/Makefile-lpc.defs b/src/lpc/Makefile-lpc.defs
index bccea5bc..c4521620 100644
--- a/src/lpc/Makefile-lpc.defs
+++ b/src/lpc/Makefile-lpc.defs
@@ -4,7 +4,7 @@ endif
 
 include $(TOPDIR)/Makedefs
 
-vpath % $(TOPDIR)/lpc:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR/aes):$(TOPDIR):$(TOPDIR)/math
+vpath % $(TOPDIR)/lpc:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR)/aes:$(TOPDIR):$(TOPDIR)/math
 vpath make-altitude $(TOPDIR)/util
 vpath make-kalman $(TOPDIR)/util
 vpath kalman.5c $(TOPDIR)/kalman
@@ -26,9 +26,12 @@ endif
 ELFTOHEX=$(TOPDIR)/../ao-tools/ao-elftohex/ao-elftohex
 CC=$(ARM_CC)
 
-WARN_FLAGS=-Wall -Wextra -Werror
+WARN_FLAGS=-Wall -Wextra -Werror -Wcast-align
+
+AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/kernel -I$(TOPDIR)/drivers \
+	-I$(TOPDIR)/product -I$(TOPDIR) -I$(TOPDIR)/math -I$(TOPDIR) \
+	$(PDCLIB_INCLUDES) 
 
-AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/kernel -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) -I$(TOPDIR)/math -I$(TOPDIR) $(PDCLIB_INCLUDES) 
 LPC_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m0 -mthumb\
 	-ffreestanding -nostdlib $(AO_CFLAGS) $(WARN_FLAGS)
 
diff --git a/src/lpc/ao_arch_funcs.h b/src/lpc/ao_arch_funcs.h
index 5fc0f680..15106dea 100644
--- a/src/lpc/ao_arch_funcs.h
+++ b/src/lpc/ao_arch_funcs.h
@@ -109,7 +109,7 @@ ao_arch_memory_barrier() {
 static inline void
 ao_arch_init_stack(struct ao_task *task, void *start)
 {
-	uint32_t	*sp = (uint32_t *) (task->stack + AO_STACK_SIZE);
+	uint32_t	*sp = (uint32_t *) (void *) (task->stack + AO_STACK_SIZE);
 	uint32_t	a = (uint32_t) start;
 	int		i;
 
diff --git a/src/nucleao-32/.gitignore b/src/nucleao-32/.gitignore
new file mode 100644
index 00000000..cb8f78e5
--- /dev/null
+++ b/src/nucleao-32/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+nucleo-32*
diff --git a/src/nucleao-32/Makefile b/src/nucleao-32/Makefile
new file mode 100644
index 00000000..69049982
--- /dev/null
+++ b/src/nucleao-32/Makefile
@@ -0,0 +1,93 @@
+#
+# 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_task.h \
+	ao_lisp.h \
+	ao_lisp_const.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_task.c \
+	ao_led.c \
+	ao_beep_stm.c \
+	ao_dma_stm.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_usb_stm.c \
+	ao_serial_stm.c \
+	ao_flash_stm.c \
+	ao_lisp_atom.c \
+	ao_lisp_builtin.c \
+	ao_lisp_cons.c \
+	ao_lisp_error.c \
+	ao_lisp_eval.c \
+	ao_lisp_frame.c \
+	ao_lisp_int.c \
+	ao_lisp_lambda.c \
+	ao_lisp_lex.c \
+	ao_lisp_mem.c \
+	ao_lisp_poly.c \
+	ao_lisp_read.c \
+	ao_lisp_rep.c \
+	ao_lisp_save.c \
+	ao_lisp_stack.c \
+	ao_lisp_string.c \
+	ao_lisp_os_save.c
+
+PRODUCT=Nucleo-32
+PRODUCT_DEF=-DNUCLEO
+IDPRODUCT=0x000a
+
+CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -Os -g
+
+LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tload.ld
+
+PROGNAME=nucleo-32
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_nucleo.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) > $@
+
+load: $(PROG)
+	stm-load $(PROG)
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/nucleao-32/ao_nucleo.c b/src/nucleao-32/ao_nucleo.c
new file mode 100644
index 00000000..6b4cbaae
--- /dev/null
+++ b/src/nucleao-32/ao_nucleo.c
@@ -0,0 +1,48 @@
+/*
+ * 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_beep.h>
+
+static void lisp_cmd() {
+	ao_lisp_read_eval_print();
+}
+
+static void beep() {
+	ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+}
+
+static const struct ao_cmds blink_cmds[] = {
+	{ lisp_cmd,	"l\0Run lisp interpreter" },
+	{ beep,		"b\0Beep" },
+	{ 0, 0 }
+};
+
+void main(void)
+{
+	ao_led_init(LEDS_AVAILABLE);
+	ao_clock_init();
+	ao_task_init();
+	ao_timer_init();
+	ao_dma_init();
+	ao_usb_init();
+	ao_serial_init();
+	ao_beep_init();
+	ao_cmd_init();
+	ao_cmd_register(blink_cmds);
+	ao_start_scheduler();
+}
+
+
diff --git a/src/nucleao-32/ao_pins.h b/src/nucleao-32/ao_pins.h
new file mode 100644
index 00000000..cee4616f
--- /dev/null
+++ b/src/nucleao-32/ao_pins.h
@@ -0,0 +1,65 @@
+/*
+ * 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.
+ *
+ * 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 LED_PORT_ENABLE	STM_RCC_AHBENR_IOPBEN
+#define LED_PORT	(&stm_gpiob)
+#define LED_PIN_GREEN	3
+#define AO_LED_GREEN	(1 << LED_PIN_GREEN)
+#define AO_LED_PANIC	AO_LED_GREEN
+#define AO_CMD_LEN	128
+#define AO_LISP_POOL_TOTAL	3072
+#define AO_LISP_SAVE	1
+#define AO_STACK_SIZE	1024
+
+#define LEDS_AVAILABLE	(AO_LED_GREEN)
+
+#define AO_POWER_MANAGEMENT	0
+
+/* 48MHz clock based on USB */
+#define AO_HSI48	1
+
+/* 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 HAS_BEEP			1
+
+#define BEEPER_TIMER			2
+#define BEEPER_CHANNEL			4
+#define BEEPER_PORT			(&stm_gpioa)
+#define BEEPER_PIN			3
+
+#define IS_FLASH_LOADER	0
+
+#define HAS_SERIAL_2		1
+#define SERIAL_2_PA2_PA15	1
+#define USE_SERIAL_2_FLOW	0
+#define USE_SERIAL_2_STDIN	1
+#define DELAY_SERIAL_2_STDIN	0
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/nucleao-32/flash-loader/.gitignore b/src/nucleao-32/flash-loader/.gitignore
new file mode 100644
index 00000000..cb8f78e5
--- /dev/null
+++ b/src/nucleao-32/flash-loader/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+nucleo-32*
diff --git a/src/nucleao-32/flash-loader/Makefile b/src/nucleao-32/flash-loader/Makefile
new file mode 100644
index 00000000..2392e998
--- /dev/null
+++ b/src/nucleao-32/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=nucleo-32
+include $(TOPDIR)/stmf0/Makefile-flash.defs
diff --git a/src/nucleao-32/flash-loader/ao_pins.h b/src/nucleao-32/flash-loader/ao_pins.h
new file mode 100644
index 00000000..8bdbdb1a
--- /dev/null
+++ b/src/nucleao-32/flash-loader/ao_pins.h
@@ -0,0 +1,37 @@
+/*
+ * 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.
+ *
+ * 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 D3, which is PB0 */
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpiob
+#define AO_BOOT_APPLICATION_PIN		0
+#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/pnpservo-v1/Makefile b/src/pnpservo-v1/Makefile
new file mode 100644
index 00000000..8606b1ae
--- /dev/null
+++ b/src/pnpservo-v1/Makefile
@@ -0,0 +1,72 @@
+#
+# 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_task.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_task.c \
+	ao_led.c \
+	ao_dma_stm.c \
+	ao_stdio.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_usb_stm.c \
+	ao_flash_stm.c 
+
+PRODUCT=PNPservo-v1
+PRODUCT_DEF=-DPNPSERVO
+IDPRODUCT=0x000a
+
+CFLAGS = $(PRODUCT_DEF) -I. $(STMF0_CFLAGS) -Os -g
+
+LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tlambda.ld
+
+PROGNAME=pnpservo-v1
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_pnpservo.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) lambda.ld 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) > $@
+
+load: $(PROG)
+	stm-load $(PROG)
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/pnpservo-v1/ao_pins.h b/src/pnpservo-v1/ao_pins.h
new file mode 100644
index 00000000..38f3d8e5
--- /dev/null
+++ b/src/pnpservo-v1/ao_pins.h
@@ -0,0 +1,59 @@
+/*
+ * 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.
+ *
+ * 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 LED_PORT_ENABLE	STM_RCC_AHBENR_IOPAEN
+#define LED_PORT	(&stm_gpioa)
+#define LED_PIN_RED	9
+#define LED_PIN_GREEN	10
+#define AO_LED_RED	(1 << LED_PIN_RED)
+#define AO_LED_GREEN	(1 << LED_PIN_GREEN)
+#define AO_LED_PANIC	AO_LED_RED
+#define AO_CMD_LEN	128
+#define AO_LISP_POOL_TOTAL	3072
+#define AO_LISP_SAVE	1
+#define AO_STACK_SIZE	1024
+
+/* need HSI active to write to flash */
+#define AO_NEED_HSI	1
+
+#define LEDS_AVAILABLE	(AO_LED_RED | AO_LED_GREEN)
+
+#define AO_POWER_MANAGEMENT	0
+
+/* 48MHz clock based on USB */
+#define AO_HSI48	1
+
+/* 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		1
+#define HAS_BEEP			0
+
+#define IS_FLASH_LOADER	0
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/pnpservo-v1/ao_pnpservo.c b/src/pnpservo-v1/ao_pnpservo.c
new file mode 100644
index 00000000..d4c2d495
--- /dev/null
+++ b/src/pnpservo-v1/ao_pnpservo.c
@@ -0,0 +1,36 @@
+/*
+ * 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>
+
+static const struct ao_cmds blink_cmds[] = {
+//	{ lisp_cmd,	"l\0Run lisp interpreter" },
+	{ 0, 0 }
+};
+
+
+void main(void)
+{
+	ao_led_init(LEDS_AVAILABLE);
+	ao_clock_init();
+	ao_task_init();
+	ao_timer_init();
+	ao_dma_init();
+	ao_usb_init();
+	ao_cmd_init();
+	ao_cmd_register(blink_cmds);
+	ao_start_scheduler();
+}
+
+
diff --git a/src/pnpservo-v1/flash-loader/.gitignore b/src/pnpservo-v1/flash-loader/.gitignore
new file mode 100644
index 00000000..86ebb7f2
--- /dev/null
+++ b/src/pnpservo-v1/flash-loader/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+lambdakey*
diff --git a/src/pnpservo-v1/flash-loader/Makefile b/src/pnpservo-v1/flash-loader/Makefile
new file mode 100644
index 00000000..3283380c
--- /dev/null
+++ b/src/pnpservo-v1/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=pnpservo-v1
+include $(TOPDIR)/stmf0/Makefile-flash.defs
diff --git a/src/pnpservo-v1/flash-loader/ao_pins.h b/src/pnpservo-v1/flash-loader/ao_pins.h
new file mode 100644
index 00000000..4b788f67
--- /dev/null
+++ b/src/pnpservo-v1/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 on debug connector */
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpioa
+#define AO_BOOT_APPLICATION_PIN		15
+#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/pnpservo-v1/lambda.ld b/src/pnpservo-v1/lambda.ld
new file mode 100644
index 00000000..5de65eb5
--- /dev/null
+++ b/src/pnpservo-v1/lambda.ld
@@ -0,0 +1,117 @@
+/*
+ * 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 = 25K
+	flash (r):   ORIGIN = 0x08007400, LENGTH = 3k
+	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 */
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+		*(.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__ = .;
+		__text_ram_start__ = .;
+		*(.ramtext)
+		__text_ram_end = .;
+	} >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(__stack__ = ORIGIN(stack) + LENGTH(stack));
+
+	__flash__ = ORIGIN(flash);
+}
+
+ENTRY(start);
diff --git a/src/stm-vga/Makefile b/src/stm-vga/Makefile
new file mode 100644
index 00000000..46a77272
--- /dev/null
+++ b/src/stm-vga/Makefile
@@ -0,0 +1,83 @@
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_boot.h \
+	ao_pins.h \
+	ao_product.h \
+	ao_vga.h \
+	ao_draw.h \
+	ao_draw_int.h \
+	ao_font.h \
+	ao_ps2.h
+
+#
+# Common AltOS sources
+#
+ALTOS_SRC = \
+	ao_interrupt.c \
+	ao_boot_chain.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_task.c \
+	ao_led.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_lcd_stm.c \
+	ao_lcd_font.c \
+	ao_vga.c \
+	ao_blt.c \
+	ao_copy.c \
+	ao_rect.c \
+	ao_text.c \
+	ao_line.c \
+	ao_mutex.c \
+	ao_dma_stm.c \
+	ao_adc_stm.c \
+	ao_data.c \
+	ao_i2c_stm.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_ps2.c \
+	ao_console.c
+
+PRODUCT=StmVga-v0.0
+IDPRODUCT=0x000a
+
+CFLAGS = $(STM_CFLAGS) -g -Os
+
+PROG=stm-vga-$(VERSION)
+ELF=$(PROG).elf
+IHX=$(PROG).ihx
+
+SRC=$(ALTOS_SRC) ao_demo.c
+OBJ=$(SRC:.c=.o)
+
+all: $(ELF) $(IHX)
+
+$(ELF): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $@ $(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 *.elf *.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/stm-vga/ao_demo.c b/src/stm-vga/ao_demo.c
new file mode 100644
index 00000000..1b443b1f
--- /dev/null
+++ b/src/stm-vga/ao_demo.c
@@ -0,0 +1,233 @@
+/*
+ * 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>
+#include <ao_event.h>
+#include <ao_quadrature.h>
+#include <ao_button.h>
+#include <ao_boot.h>
+#include <ao_vga.h>
+#include <ao_ps2.h>
+#include <ao_console.h>
+
+struct ao_task ball_task;
+struct ao_task ps2_task;
+
+#define BALL_WIDTH	5
+#define BALL_HEIGHT	5
+
+static int	ball_x;
+static int	ball_y;
+static int	ball_dx, ball_dy;
+
+uint8_t		ball_enable;
+
+void
+ao_ball(void)
+{
+	ball_dx = 1;
+	ball_dy = 1;
+	ball_x = 0;
+	ball_y = 0;
+	for (;;) {
+		while (!ball_enable)
+			ao_sleep(&ball_enable);
+		for (;;) {
+			ao_line(&ao_vga_bitmap,
+				-100, -100, ball_x*2, ball_y*2,
+				1, AO_XOR);
+			ao_text(&ao_vga_bitmap,
+				ball_x, ball_y - 10,
+				"Hello, Bdale!",
+				1, AO_XOR);
+			ao_rect(&ao_vga_bitmap,
+				ball_x, ball_y,
+				BALL_WIDTH,
+				BALL_HEIGHT,
+				1,
+				AO_XOR);
+			ao_delay(AO_MS_TO_TICKS(10));
+			ao_rect(&ao_vga_bitmap,
+				ball_x, ball_y,
+				BALL_WIDTH,
+				BALL_HEIGHT,
+				1,
+				AO_XOR);
+			ao_text(&ao_vga_bitmap,
+				ball_x, ball_y - 10,
+				"Hello, Bdale!",
+				1, AO_XOR);
+			ao_line(&ao_vga_bitmap,
+				-100, -100, ball_x*2, ball_y*2,
+				1, AO_XOR);
+			if (!ball_enable)
+				break;
+			ball_x += ball_dx;
+			ball_y += ball_dy;
+			if (ball_x + BALL_WIDTH > AO_VGA_WIDTH) {
+				ball_x = AO_VGA_WIDTH - BALL_WIDTH;
+				ball_dx = -ball_dx;
+			}
+			if (ball_x < 0) {
+				ball_x = -ball_x;
+				ball_dx = -ball_dx;
+			}
+			if (ball_y + BALL_HEIGHT > AO_VGA_HEIGHT) {
+				ball_y = AO_VGA_HEIGHT - BALL_HEIGHT;
+				ball_dy = -ball_dy;
+			}
+			if (ball_y < 0) {
+				ball_y = -ball_y;
+				ball_dy = -ball_dy;
+			}
+		}
+	}
+}
+
+void
+ao_ps2(void)
+{
+	uint8_t	leds = 0;
+	for (;;) {
+		uint8_t	b = ao_ps2_get();
+		printf ("%02x\n", b);
+		flush();
+		if (b == 0x14) {
+			leds ^= 4;
+			ao_ps2_put(0xed);
+			if (ao_ps2_get() == 0xfa)
+				ao_ps2_put(leds);
+		}
+	}
+}
+
+static void
+ao_fb_init(void)
+{
+	ao_rect(&ao_vga_bitmap,
+		0, 0, AO_VGA_WIDTH, AO_VGA_HEIGHT,
+		1, AO_COPY);
+
+	ao_rect(&ao_vga_bitmap,
+		10, 10, 10, 10,
+		0, AO_COPY);
+
+	ao_rect(&ao_vga_bitmap,
+		AO_VGA_WIDTH - 20, 10, 10, 10,
+		0, AO_COPY);
+
+	ao_rect(&ao_vga_bitmap,
+		10, AO_VGA_HEIGHT - 20, 10, 10,
+		0, AO_COPY);
+
+	ao_rect(&ao_vga_bitmap,
+		AO_VGA_WIDTH - 20, AO_VGA_HEIGHT - 20, 10, 10,
+		0, AO_COPY);
+
+	ao_text(&ao_vga_bitmap,
+		20, 100,
+		"Hello, Bdale!",
+		0, AO_COPY);
+
+	ao_text(&ao_vga_bitmap,
+		1, ao_font.ascent,
+		"UL",
+		0, AO_COPY);
+
+	ao_text(&ao_vga_bitmap,
+		1, AO_VGA_HEIGHT - ao_font.descent,
+		"BL",
+		0, AO_COPY);
+}
+
+static void
+ao_video_toggle(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_lex_i)
+		ao_fb_init();
+	ao_vga_enable(ao_cmd_lex_i);
+}
+
+static void
+ao_ball_toggle(void)
+{
+	ao_cmd_decimal();
+	ball_enable = ao_cmd_lex_i;
+	ao_wakeup(&ball_enable);
+}
+
+static void
+ao_ps2_read_keys(void)
+{
+	char	c;
+
+	for (;;) {
+		c = ao_ps2_getchar();
+		printf("%02x %c\n", c, ' ' <= c && c < 0x7f ? c : '.');
+		flush();
+		if (c == ' ')
+			break;
+	}
+}
+
+static void
+ao_console_send(void)
+{
+	char	c;
+
+	while ((c = getchar()) != '~') {
+		ao_console_putchar(c);
+		flush();
+	}
+}
+
+__code struct ao_cmds ao_demo_cmds[] = {
+	{ ao_video_toggle, "V\0Toggle video" },
+	{ ao_ball_toggle, "B\0Toggle ball" },
+	{ ao_ps2_read_keys, "K\0Read keys from keyboard" },
+	{ ao_console_send, "C\0Send data to console, end with ~" },
+	{ 0, NULL }
+};
+
+int
+main(void)
+{
+	ao_clock_init();
+
+	ao_task_init();
+
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_GREEN);
+	ao_led_off(AO_LED_BLUE);
+	ao_timer_init();
+	ao_dma_init();
+	ao_cmd_init();
+	ao_vga_init();
+	ao_usb_init();
+	ao_exti_init();
+	ao_ps2_init();
+	ao_console_init();
+
+	ao_add_task(&ball_task, ao_ball, "ball");
+	ao_cmd_register(&ao_demo_cmds[0]);
+
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/stm-vga/ao_lisp_os.h b/src/stm-vga/ao_lisp_os.h
new file mode 100644
index 00000000..1993ac44
--- /dev/null
+++ b/src/stm-vga/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/stm-vga/ao_lisp_os_save.c b/src/stm-vga/ao_lisp_os_save.c
new file mode 100644
index 00000000..7c853990
--- /dev/null
+++ b/src/stm-vga/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__[];
+
+/* 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/stm-vga/ao_pins.h b/src/stm-vga/ao_pins.h
new file mode 100644
index 00000000..8503c4fd
--- /dev/null
+++ b/src/stm-vga/ao_pins.h
@@ -0,0 +1,219 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+/* Bridge SB17 on the board and use the MCO from the other chip */
+#define AO_HSE			8000000
+#define AO_HSE_BYPASS		1
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL		12
+#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 24MHz */
+#define AO_PLLDIV		4
+#define AO_RCC_CFGR_PLLDIV	(STM_RCC_CFGR_PLLDIV_4)
+
+/* HCLK = 24MHZ (CPU clock) */
+#define AO_AHB_PRESCALER	1
+#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at HCLK/1 */
+#define AO_APB1_PRESCALER	1
+#define AO_RCC_CFGR_PPRE1_DIV	STM_RCC_CFGR_PPRE2_DIV_1
+
+/* Run APB2 at HCLK/1 */
+#define AO_APB2_PRESCALER      	1
+#define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_1
+
+/* Allow for non-maskable interrupts at priority 0 */
+#define AO_NONMASK_INTERRUPT	1
+
+#define HAS_SERIAL_1		0
+#define USE_SERIAL_1_STDIN	0
+#define SERIAL_1_PB6_PB7	1
+#define SERIAL_1_PA9_PA10	0
+
+#define HAS_SERIAL_2		0
+#define USE_SERIAL_2_STDIN	0
+#define SERIAL_2_PA2_PA3	0
+#define SERIAL_2_PD5_PD6	1
+
+#define HAS_SERIAL_3		0
+#define USE_SERIAL_3_STDIN	1
+#define SERIAL_3_PB10_PB11	0
+#define SERIAL_3_PC10_PC11	0
+#define SERIAL_3_PD8_PD9	1
+
+#define HAS_SPI_1		0
+#define SPI_1_PB3_PB4_PB5	1
+#define SPI_1_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2		0
+
+#define HAS_USB			1
+#define HAS_BEEP		0
+#define PACKET_HAS_SLAVE	0
+#define HAS_TASK_QUEUE		1
+
+#define CONSOLE_STDIN		1
+
+#define AO_STACK_SIZE		1024
+
+#define STM_DMA1_3_STOLEN	1
+
+#define AO_BOOT_CHAIN		1
+
+#define LOW_LEVEL_DEBUG		0
+
+#define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOBEN
+#define LED_PORT		(&stm_gpiob)
+#define LED_PIN_GREEN		7
+#define LED_PIN_BLUE		6
+#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
+#define AO_LED_BLUE		(1 << LED_PIN_BLUE)
+#define AO_LED_PANIC		AO_LED_BLUE
+
+#define LEDS_AVAILABLE		(AO_LED_BLUE | AO_LED_GREEN)
+
+#define AO_LCD_STM_SEG_ENABLED_0 (		\
+		(1 << 0) | /* PA1 */		\
+		(1 << 1) | /* PA2 */		\
+		(1 << 2) | /* PA3 */		\
+		(0 << 3) | /* PA6 */		\
+		(0 << 4) | /* PA7 */		\
+		(0 << 5) | /* PB0 */		\
+		(0 << 6) | /* PB1 */		\
+		(1 << 7) | /* PB3 */		\
+		(1 << 8) | /* PB4 */		\
+		(1 << 9) | /* PB5 */		\
+		(1 << 10) | /* PB10 */		\
+		(1 << 11) | /* PB11 */		\
+		(1 << 12) | /* PB12 */		\
+		(1 << 13) | /* PB13 */		\
+		(1 << 14) | /* PB14 */		\
+		(1 << 15) | /* PB15 */		\
+		(1 << 16) | /* PB8 */		\
+		(1 << 17) | /* PA15 */		\
+		(1 << 18) | /* PC0 */		\
+		(1 << 19) | /* PC1 */		\
+		(1 << 20) | /* PC2 */		\
+		(1 << 21) | /* PC3 */		\
+		(0 << 22) | /* PC4 */		\
+		(0 << 23) | /* PC5 */		\
+		(1 << 24) | /* PC6 */		\
+		(1 << 25) | /* PC7 */		\
+		(1 << 26) | /* PC8 */		\
+		(1 << 27) | /* PC9 */		\
+		(1 << 28) | /* PC10 or PD8 */	\
+		(1 << 29) | /* PC11 or PD9 */	\
+		(0 << 30) | /* PC12 or PD10 */	\
+		(0 << 31))  /* PD2 or PD11 */
+
+#define AO_LCD_STM_SEG_ENABLED_1 (		\
+		(0 << 0) | /* PD12 */		\
+		(0 << 1) | /* PD13 */		\
+		(0 << 2) | /* PD14 */		\
+		(0 << 3) | /* PD15 */		\
+		(0 << 4) | /* PE0 */		\
+		(0 << 5) | /* PE1 */		\
+		(0 << 6) | /* PE2 */		\
+		(0 << 7))  /* PE3 */
+
+#define AO_LCD_STM_COM_ENABLED (		\
+		(1 << 0) | /* PA8 */		\
+		(1 << 1) | /* PA9 */		\
+		(1 << 2) | /* PA10 */		\
+		(1 << 3) | /* PB9 */		\
+		(0 << 4) | /* PC10 */		\
+		(0 << 5) | /* PC11 */		\
+		(0 << 6)) /* PC12 */
+
+#define AO_LCD_28_ON_C	1
+
+#define AO_LCD_DUTY	STM_LCD_CR_DUTY_STATIC
+
+#define HAS_ADC			1
+
+#define AO_ADC_RING		32
+
+struct ao_adc {
+	uint16_t		tick;
+	int16_t			idd;
+	int16_t			temp;
+	int16_t			vref;
+};
+
+#define AO_ADC_IDD		4
+#define AO_ADC_PIN0_PORT	(&stm_gpioa)
+#define AO_ADC_PIN0_PIN		4
+
+#define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_GPIOAEN))
+#define AO_ADC_TEMP		16
+#define AO_ADC_VREF		17
+
+#define HAS_ADC_TEMP		1
+
+#define AO_DATA_RING		32
+#define AO_NUM_ADC		3
+
+#define AO_ADC_SQ1		AO_ADC_IDD
+#define AO_ADC_SQ2		AO_ADC_TEMP
+#define AO_ADC_SQ3		AO_ADC_VREF
+	
+#define HAS_I2C_1		1
+#define I2C_1_PB6_PB7		0
+#define I2C_1_PB8_PB9		1
+
+#define HAS_I2C_2		0
+#define I2C_2_PB10_PB11		0
+
+#define AO_EVENT		1
+
+#define AO_QUADRATURE_COUNT	2
+#define AO_QUADRATURE_MODE	AO_EXTI_MODE_PULL_UP
+
+#define AO_QUADRATURE_0_PORT	&stm_gpioc
+#define AO_QUADRATURE_0_A	1
+#define AO_QUADRATURE_0_B	0
+
+#define AO_QUADRATURE_1_PORT	&stm_gpioc
+#define AO_QUADRATURE_1_A	3
+#define AO_QUADRATURE_1_B	2
+
+#define AO_BUTTON_COUNT		2
+#define AO_BUTTON_MODE		AO_EXTI_MODE_PULL_UP
+
+#define AO_BUTTON_0_PORT	&stm_gpioc
+#define AO_BUTTON_0		6
+
+#define AO_BUTTON_1_PORT	&stm_gpioc
+#define AO_BUTTON_1		7
+
+#define AO_TICK_TYPE		uint32_t
+#define AO_TICK_SIGNED		int32_t
+
+#define AO_PS2_CLOCK_PORT	(&stm_gpioc)
+#define AO_PS2_CLOCK_BIT	0
+
+#define AO_PS2_DATA_PORT	(&stm_gpioc)
+#define AO_PS2_DATA_BIT		1
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs
index 0ba86f5a..66ed4be8 100644
--- a/src/stm/Makefile.defs
+++ b/src/stm/Makefile.defs
@@ -1,4 +1,4 @@
-vpath % ../stm:../product:../drivers:../kernel:../util:../kalman:../aes:../math:..
+vpath % ../stm:../product:../drivers:../kernel:../util:../kalman:../aes:../math:../draw:../lisp:..
 vpath make-altitude ../util
 vpath make-kalman ../util
 vpath kalman.5c ../kalman
@@ -26,7 +26,7 @@ LIBS=$(PDCLIB_LIBS_M3) -lgcc
 
 WARN_FLAGS=-Wall -Wextra -Werror
 
-AO_CFLAGS=-I. -I../stm -I../kernel -I../drivers -I../math -I.. $(PDCLIB_INCLUDES)
+AO_CFLAGS=-I. -I../stm -I../kernel -I../drivers -I../math -I../draw -I../lisp -I.. $(PDCLIB_INCLUDES)
 STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -Wcast-align \
 	-ffreestanding -nostdlib $(AO_CFLAGS) $(WARN_FLAGS)
 
diff --git a/src/stm/altos-512.ld b/src/stm/altos-512.ld
new file mode 100644
index 00000000..78c41685
--- /dev/null
+++ b/src/stm/altos-512.ld
@@ -0,0 +1,98 @@
+/*
+ * 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.
+ */
+
+MEMORY {
+	rom (rx) : ORIGIN = 0x08001000, LENGTH = 508K
+	ram (!w) : ORIGIN = 0x20000000, LENGTH = 81408
+	stack (!w) : ORIGIN = 0x20013e00, LENGTH = 512
+}
+
+INCLUDE registers.ld
+
+EXTERN (stm_interrupt_vector)
+
+SECTIONS {
+	/*
+	 * Rom contents
+	 */
+
+	.text ORIGIN(rom) : {
+		__text_start__ = .;
+		*(.interrupt)	/* Interrupt vectors */
+
+		. = ORIGIN(rom) + 0x100;
+
+
+		/* 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 */
+		*(.rodata*)	/* Constants */
+
+	} > rom
+
+	.ARM.exidx : {
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+	} > 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));
+}
+
+ENTRY(start);
+
+
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index 0cc29376..5f033b66 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -85,10 +85,6 @@ extern const uint32_t ao_radio_cal;
 #define ao_arch_task_members\
 	uint32_t *sp;			/* saved stack pointer */
 
-#define ao_arch_block_interrupts()	asm("cpsid i")
-#define ao_arch_release_interrupts()	asm("cpsie i")
-
-
 /*
  * For now, we're running at a weird frequency
  */
@@ -122,10 +118,21 @@ extern const uint32_t ao_radio_cal;
 #define AO_TIM91011_CLK		(2 * AO_PCLK2)
 #endif
 
-#define AO_STM_NVIC_HIGH_PRIORITY	4
-#define AO_STM_NVIC_CLOCK_PRIORITY	6
-#define AO_STM_NVIC_MED_PRIORITY	8
-#define AO_STM_NVIC_LOW_PRIORITY	10
+/* The stm32l implements only 4 bits of the priority fields */
+
+#if AO_NONMASK_INTERRUPT
+#define AO_STM_NVIC_NONMASK_PRIORITY	0x00
+
+/* Set the basepri register to this value to mask all
+ * non-maskable priorities
+ */
+#define AO_STM_NVIC_BASEPRI_MASK	0x10
+#endif
+
+#define AO_STM_NVIC_HIGH_PRIORITY	0x40
+#define AO_STM_NVIC_MED_PRIORITY	0x80
+#define AO_STM_NVIC_LOW_PRIORITY	0xC0
+#define AO_STM_NVIC_CLOCK_PRIORITY	0xf0
 
 void ao_lcd_stm_init(void);
 
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index a9d0fa34..522059bc 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -202,8 +202,11 @@ ao_spi_try_get_mask(struct stm_gpio *reg, uint16_t mask, uint8_t bus, uint32_t s
 
 #define ao_gpio_set_bits(port, bits) stm_gpio_set_bits(port, bits)
 
+#define ao_gpio_set_mask(port, bits, mask) stm_gpio_set_mask(port, bits, mask)
+
 #define ao_gpio_clr_bits(port, bits) stm_gpio_clr_bits(port, bits);
 
+#define ao_gpio_get_all(port) stm_gpio_get_all(port)
 
 #define ao_enable_output(port,bit,pin,v) do {			\
 		ao_enable_port(port);				\
@@ -211,6 +214,18 @@ ao_spi_try_get_mask(struct stm_gpio *reg, uint16_t mask, uint8_t bus, uint32_t s
 		stm_moder_set(port, bit, STM_MODER_OUTPUT);\
 	} while (0)
 
+#define ao_enable_output_mask(port,bits,mask) do {		\
+		ao_enable_port(port);				\
+		ao_gpio_set_mask(port, bits, mask);		\
+		ao_set_output_mask(port, mask);			\
+	} while (0)
+
+#define AO_OUTPUT_PUSH_PULL	STM_OTYPER_PUSH_PULL
+#define AO_OUTPUT_OPEN_DRAIN	STM_OTYPER_OPEN_DRAIN
+
+#define ao_gpio_set_output_mode(port,bit,pin,mode) \
+	stm_otyper_set(port, pin, mode)
+
 #define ao_gpio_set_mode(port,bit,mode) do {				\
 		if (mode == AO_EXTI_MODE_PULL_UP)			\
 			stm_pupdr_set(port, bit, STM_PUPDR_PULL_UP);	\
@@ -219,36 +234,73 @@ ao_spi_try_get_mask(struct stm_gpio *reg, uint16_t mask, uint8_t bus, uint32_t s
 		else							\
 			stm_pupdr_set(port, bit, STM_PUPDR_NONE);	\
 	} while (0)
-	
+
+#define ao_gpio_set_mode_mask(port,mask,mode) do {			\
+		if (mode == AO_EXTI_MODE_PULL_UP)			\
+			stm_pupdr_set_mask(port, mask, STM_PUPDR_PULL_UP); \
+		else if (mode == AO_EXTI_MODE_PULL_DOWN)		\
+			stm_pupdr_set_mask(port, mask, STM_PUPDR_PULL_DOWN); \
+		else							\
+			stm_pupdr_set_mask(port, mask, STM_PUPDR_NONE);	\
+	} while (0)
+
+#define ao_set_input(port, bit) do {				\
+		stm_moder_set(port, bit, STM_MODER_INPUT);	\
+	} while (0)
+
+#define ao_set_output(port, bit, pin, v) do {			\
+		ao_gpio_set(port, bit, pin, v);			\
+		stm_moder_set(port, bit, STM_MODER_OUTPUT);	\
+	} while (0)
+
+#define ao_set_output_mask(port, mask) do {			\
+		stm_moder_set_mask(port, mask, STM_MODER_OUTPUT);	\
+	} while (0)
+
+#define ao_set_input_mask(port, mask) do {				\
+		stm_moder_set_mask(port, mask, STM_MODER_INPUT);	\
+	} while (0)
+
 #define ao_enable_input(port,bit,mode) do {				\
 		ao_enable_port(port);					\
-		stm_moder_set(port, bit, STM_MODER_INPUT);		\
+		ao_set_input(port, bit);				\
 		ao_gpio_set_mode(port, bit, mode);			\
 	} while (0)
 
-#define ao_enable_cs(port,bit) do {				\
+#define ao_enable_input_mask(port,mask,mode) do {	\
+		ao_enable_port(port);			\
+		ao_gpio_set_mode_mask(port, mask, mode);	\
+		ao_set_input_mask(port, mask);		\
+	} while (0)
+
+#define _ao_enable_cs(port, bit) do {				\
 		stm_gpio_set((port), bit, 1);			\
 		stm_moder_set((port), bit, STM_MODER_OUTPUT);	\
 	} while (0)
 
+#define ao_enable_cs(port,bit) do {				\
+		ao_enable_port(port);				\
+		_ao_enable_cs(port, bit);			\
+	} while (0)
+
 #define ao_spi_init_cs(port, mask) do {				\
 		ao_enable_port(port);				\
-		if ((mask) & 0x0001) ao_enable_cs(port, 0);	\
-		if ((mask) & 0x0002) ao_enable_cs(port, 1);	\
-		if ((mask) & 0x0004) ao_enable_cs(port, 2);	\
-		if ((mask) & 0x0008) ao_enable_cs(port, 3);	\
-		if ((mask) & 0x0010) ao_enable_cs(port, 4);	\
-		if ((mask) & 0x0020) ao_enable_cs(port, 5);	\
-		if ((mask) & 0x0040) ao_enable_cs(port, 6);	\
-		if ((mask) & 0x0080) ao_enable_cs(port, 7);	\
-		if ((mask) & 0x0100) ao_enable_cs(port, 8);	\
-		if ((mask) & 0x0200) ao_enable_cs(port, 9);	\
-		if ((mask) & 0x0400) ao_enable_cs(port, 10);\
-		if ((mask) & 0x0800) ao_enable_cs(port, 11);\
-		if ((mask) & 0x1000) ao_enable_cs(port, 12);\
-		if ((mask) & 0x2000) ao_enable_cs(port, 13);\
-		if ((mask) & 0x4000) ao_enable_cs(port, 14);\
-		if ((mask) & 0x8000) ao_enable_cs(port, 15);\
+		if ((mask) & 0x0001) _ao_enable_cs(port, 0);	\
+		if ((mask) & 0x0002) _ao_enable_cs(port, 1);	\
+		if ((mask) & 0x0004) _ao_enable_cs(port, 2);	\
+		if ((mask) & 0x0008) _ao_enable_cs(port, 3);	\
+		if ((mask) & 0x0010) _ao_enable_cs(port, 4);	\
+		if ((mask) & 0x0020) _ao_enable_cs(port, 5);	\
+		if ((mask) & 0x0040) _ao_enable_cs(port, 6);	\
+		if ((mask) & 0x0080) _ao_enable_cs(port, 7);	\
+		if ((mask) & 0x0100) _ao_enable_cs(port, 8);	\
+		if ((mask) & 0x0200) _ao_enable_cs(port, 9);	\
+		if ((mask) & 0x0400) _ao_enable_cs(port, 10);\
+		if ((mask) & 0x0800) _ao_enable_cs(port, 11);\
+		if ((mask) & 0x1000) _ao_enable_cs(port, 12);\
+		if ((mask) & 0x2000) _ao_enable_cs(port, 13);\
+		if ((mask) & 0x4000) _ao_enable_cs(port, 14);\
+		if ((mask) & 0x8000) _ao_enable_cs(port, 15);\
 	} while (0)
 
 /* ao_dma_stm.c
@@ -345,17 +397,43 @@ extern struct ao_stm_usart	ao_stm_usart3;
 
 typedef uint32_t	ao_arch_irq_t;
 
+static inline void
+ao_arch_block_interrupts(void) {
+#ifdef AO_NONMASK_INTERRUPTS
+	asm("msr basepri,%0" : : "r" (AO_STM_NVIC_BASEPRI_MASK));
+#else
+	asm("cpsid i");
+#endif
+}
+
+static inline void
+ao_arch_release_interrupts(void) {
+#ifdef AO_NONMASK_INTERRUPTS
+	asm("msr basepri,%0" : : "r" (0x0));
+#else
+	asm("cpsie i");
+#endif
+}
+
 static inline uint32_t
 ao_arch_irqsave(void) {
-	uint32_t	primask;
-	asm("mrs %0,primask" : "=&r" (primask));
+	uint32_t	val;
+#ifdef AO_NONMASK_INTERRUPTS
+	asm("mrs %0,basepri" : "=r" (val));
+#else
+	asm("mrs %0,primask" : "=r" (val));
+#endif
 	ao_arch_block_interrupts();
-	return primask;
+	return val;
 }
 
 static inline void
-ao_arch_irqrestore(uint32_t primask) {
-	asm("msr primask,%0" : : "r" (primask));
+ao_arch_irqrestore(uint32_t basepri) {
+#ifdef AO_NONMASK_INTERRUPTS
+	asm("msr basepri,%0" : : "r" (basepri));
+#else
+	asm("msr primask,%0" : : "r" (basepri));
+#endif
 }
 
 static inline void
@@ -365,10 +443,17 @@ ao_arch_memory_barrier() {
 
 static inline void
 ao_arch_irq_check(void) {
+#ifdef AO_NONMASK_INTERRUPTS
+	uint32_t	basepri;
+	asm("mrs %0,basepri" : "=r" (basepri));
+	if (basepri == 0)
+		ao_panic(AO_PANIC_IRQ);
+#else
 	uint32_t	primask;
-	asm("mrs %0,primask" : "=&r" (primask));
+	asm("mrs %0,primask" : "=r" (primask));
 	if ((primask & 1) == 0)
 		ao_panic(AO_PANIC_IRQ);
+#endif
 }
 
 #if HAS_TASK
@@ -390,7 +475,7 @@ ao_arch_init_stack(struct ao_task *task, void *start)
 	/* APSR */
 	ARM_PUSH32(sp, 0);
 
-	/* PRIMASK with interrupts enabled */
+	/* BASEPRI with interrupts enabled */
 	ARM_PUSH32(sp, 0);
 
 	task->sp = sp;
@@ -404,8 +489,13 @@ static inline void ao_arch_save_regs(void) {
 	asm("mrs r0,apsr");
 	asm("push {r0}");
 
+#ifdef AO_NONMASK_INTERRUPTS
+	/* Save BASEPRI */
+	asm("mrs r0,basepri");
+#else
 	/* Save PRIMASK */
 	asm("mrs r0,primask");
+#endif
 	asm("push {r0}");
 }
 
@@ -419,9 +509,15 @@ static inline void ao_arch_restore_stack(void) {
 	/* Switch stacks */
 	asm("mov sp, %0" : : "r" (ao_cur_task->sp) );
 
+#ifdef AO_NONMASK_INTERRUPTS
+	/* Restore BASEPRI */
+	asm("pop {r0}");
+	asm("msr basepri,r0");
+#else
 	/* Restore PRIMASK */
 	asm("pop {r0}");
 	asm("msr primask,r0");
+#endif
 
 	/* Restore APSR */
 	asm("pop {r0}");
@@ -463,7 +559,7 @@ static inline void ao_arch_start_scheduler(void) {
 
 	asm("mrs %0,msp" : "=&r" (sp));
 	asm("msr psp,%0" : : "r" (sp));
-	asm("mrs %0,control" : "=&r" (control));
+	asm("mrs %0,control" : "=r" (control));
 	control |= (1 << 1);
 	asm("msr control,%0" : : "r" (control));
 	asm("isb");
@@ -474,12 +570,24 @@ static inline void ao_arch_start_scheduler(void) {
 
 #endif
 
-#define ao_arch_wait_interrupt() do {				\
-		asm("\twfi\n");					\
-		ao_arch_release_interrupts();			\
-		asm(".global ao_idle_loc\nao_idle_loc:");	\
-		ao_arch_block_interrupts();			\
-	} while (0)
+static inline void
+ao_arch_wait_interrupt(void) {
+#ifdef AO_NONMASK_INTERRUPTS
+	asm(
+	    "dsb\n"			/* Serialize data */
+	    "isb\n"			/* Serialize instructions */
+	    "cpsid i\n"			/* Block all interrupts */
+	    "msr basepri,%0\n"		/* Allow all interrupts through basepri */
+	    "wfi\n"			/* Wait for an interrupt */
+	    "cpsie i\n"			/* Allow all interrupts */
+	    "msr basepri,%1\n"		/* Block interrupts through basepri */
+	    : : "r" (0), "r" (AO_STM_NVIC_BASEPRI_MASK));
+#else
+	asm("\twfi\n");
+	ao_arch_release_interrupts();
+	ao_arch_block_interrupts();
+#endif
+}
 
 #define ao_arch_critical(b) do {			\
 		uint32_t __mask = ao_arch_irqsave();	\
diff --git a/src/stm/ao_dma_stm.c b/src/stm/ao_dma_stm.c
index 6d779660..962b3acc 100644
--- a/src/stm/ao_dma_stm.c
+++ b/src/stm/ao_dma_stm.c
@@ -29,7 +29,6 @@ uint8_t ao_dma_done[NUM_DMA];
 static struct ao_dma_config ao_dma_config[NUM_DMA];
 static uint8_t ao_dma_allocated[NUM_DMA];
 static uint8_t ao_dma_mutex[NUM_DMA];
-static uint8_t ao_dma_active;
 
 static void
 ao_dma_isr(uint8_t index) {
@@ -49,12 +48,24 @@ ao_dma_isr(uint8_t index) {
 
 void stm_dma1_channel1_isr(void) { ao_dma_isr(STM_DMA_INDEX(1)); }
 void stm_dma1_channel2_isr(void) { ao_dma_isr(STM_DMA_INDEX(2)); }
+#ifdef STM_DMA1_3_STOLEN
+#define LEAVE_DMA_ON
+#else
 void stm_dma1_channel3_isr(void) { ao_dma_isr(STM_DMA_INDEX(3)); }
+#endif
 void stm_dma1_channel4_isr(void) { ao_dma_isr(STM_DMA_INDEX(4)); }
+#ifdef STM_DMA1_5_STOLEN
+#define LEAVE_DMA_ON
+#else
 void stm_dma1_channel5_isr(void) { ao_dma_isr(STM_DMA_INDEX(5)); }
+#endif
 void stm_dma1_channel6_isr(void) { ao_dma_isr(STM_DMA_INDEX(6)); }
 void stm_dma1_channel7_isr(void) { ao_dma_isr(STM_DMA_INDEX(7)); }
 
+#ifndef LEAVE_DMA_ON
+static uint8_t ao_dma_active;
+#endif
+
 void
 ao_dma_set_transfer(uint8_t 		index,
 		    volatile void	*peripheral,
@@ -68,10 +79,12 @@ ao_dma_set_transfer(uint8_t 		index,
 		ao_dma_mutex[index] = 0xff;
 	} else
 		ao_mutex_get(&ao_dma_mutex[index]);
+#ifndef LEAVE_DMA_ON
 	ao_arch_critical(
 		if (ao_dma_active++ == 0)
 			stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_DMA1EN);
 		);
+#endif
 	stm_dma.channel[index].ccr = ccr | (1 << STM_DMA_CCR_TCIE);
 	stm_dma.channel[index].cndtr = count;
 	stm_dma.channel[index].cpar = peripheral;
@@ -96,10 +109,12 @@ void
 ao_dma_done_transfer(uint8_t index)
 {
 	stm_dma.channel[index].ccr &= ~(1 << STM_DMA_CCR_EN);
+#ifndef LEAVE_DMA_ON
 	ao_arch_critical(
 		if (--ao_dma_active == 0)
 			stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_DMA1EN);
 		);
+#endif
 	if (ao_dma_allocated[index])
 		ao_dma_mutex[index] = 0;
 	else
@@ -120,10 +135,12 @@ ao_dma_dump_cmd(void)
 {
 	int i;
 
+#ifndef LEAVE_DMA_ON
 	ao_arch_critical(
 		if (ao_dma_active++ == 0)
 			stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_DMA1EN);
 		);
+#endif
 	printf ("isr %08x ifcr%08x\n", stm_dma.isr, stm_dma.ifcr);
 	for (i = 0; i < NUM_DMA; i++)
 		printf("%d: done %d allocated %d mutex %2d ccr %04x cndtr %04x cpar %08x cmar %08x isr %08x\n",
@@ -136,10 +153,12 @@ ao_dma_dump_cmd(void)
 		       stm_dma.channel[i].cpar,
 		       stm_dma.channel[i].cmar,
 		       ao_dma_config[i].isr);
+#ifndef LEAVE_DMA_ON
 	ao_arch_critical(
 		if (--ao_dma_active == 0)
 			stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_DMA1EN);
 		);
+#endif
 }
 
 static const struct ao_cmds ao_dma_cmds[] = {
@@ -153,9 +172,27 @@ ao_dma_init(void)
 {
 	int	index;
 
+#ifdef LEAVE_DMA_ON
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_DMA1EN);
+#endif
 	for (index = 0; index < STM_NUM_DMA; index++) {
+#if STM_DMA1_5_STOLEN
+		if (index == STM_DMA_INDEX(5)) {
+			ao_dma_allocated[index] = 1;
+			ao_dma_mutex[index] = 0xff;
+			continue;
+		}
+#endif
+#if STM_DMA1_3_STOLEN
+		if (index == STM_DMA_INDEX(3)) {
+			ao_dma_allocated[index] = 1;
+			ao_dma_mutex[index] = 0xff;
+			continue;
+		}
+#endif
 		stm_nvic_set_enable(STM_ISR_DMA1_CHANNEL1_POS + index);
-		stm_nvic_set_priority(STM_ISR_DMA1_CHANNEL1_POS + index, 4);
+		stm_nvic_set_priority(STM_ISR_DMA1_CHANNEL1_POS + index,
+				      AO_STM_NVIC_MED_PRIORITY);
 		ao_dma_allocated[index] = 0;
 		ao_dma_mutex[index] = 0;
 	}
diff --git a/src/stm/ao_exti_stm.c b/src/stm/ao_exti_stm.c
index 3e0b3e5c..2491b609 100644
--- a/src/stm/ao_exti_stm.c
+++ b/src/stm/ao_exti_stm.c
@@ -123,7 +123,7 @@ ao_exti_set_mode(struct stm_gpio *gpio, uint8_t pin, uint8_t mode) {
 	(void) gpio;
 
 	uint32_t	mask = 1 << pin;
-	
+
 	if (mode & AO_EXTI_MODE_RISING)
 		stm_exti.rtsr |= mask;
 	else
diff --git a/src/stm/ao_flash_stm.c b/src/stm/ao_flash_stm.c
index c1648421..38618bbe 100644
--- a/src/stm/ao_flash_stm.c
+++ b/src/stm/ao_flash_stm.c
@@ -74,11 +74,10 @@ static void __attribute__ ((section(".ramtext"),noinline))
 _ao_flash_erase_page(uint32_t *page)
 {
 	stm_flash.pecr |= (1 << STM_FLASH_PECR_ERASE) | (1 << STM_FLASH_PECR_PROG);
-	
+
 	*page = 0x00000000;
 
-	while (stm_flash.sr & (1 << STM_FLASH_SR_BSY))
-		;
+	ao_flash_wait_bsy();
 }
 
 void
@@ -101,9 +100,8 @@ _ao_flash_half_page(uint32_t *dst, uint32_t *src)
 
 	stm_flash.pecr |= (1 << STM_FLASH_PECR_FPRG);
 	stm_flash.pecr |= (1 << STM_FLASH_PECR_PROG);
-	
-	while (stm_flash.sr & (1 << STM_FLASH_SR_BSY))
-		;
+
+	ao_flash_wait_bsy();
 
 	for (i = 0; i < 32; i++) {
 		*dst++ = *src++;
diff --git a/src/stm/ao_i2c_stm.c b/src/stm/ao_i2c_stm.c
index 29a8f173..59cad495 100644
--- a/src/stm/ao_i2c_stm.c
+++ b/src/stm/ao_i2c_stm.c
@@ -75,6 +75,9 @@ uint8_t 	ao_i2c_mutex[STM_NUM_I2C];
 #if AO_PCLK1 == 16000000
 # define AO_STM_I2C_CR2_FREQ	STM_I2C_CR2_FREQ_16_MHZ
 #endif
+#if AO_PCLK1 == 24000000
+# define AO_STM_I2C_CR2_FREQ	STM_I2C_CR2_FREQ_24_MHZ
+#endif
 #if AO_PCLK1 == 32000000
 # define AO_STM_I2C_CR2_FREQ	STM_I2C_CR2_FREQ_32_MHZ
 #endif
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index db0be992..c625471e 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -444,7 +444,7 @@ ao_serial_init(void)
 	ao_usart_init(&ao_stm_usart1);
 
 	stm_nvic_set_enable(STM_ISR_USART1_POS);
-	stm_nvic_set_priority(STM_ISR_USART1_POS, 4);
+	stm_nvic_set_priority(STM_ISR_USART1_POS, AO_STM_NVIC_MED_PRIORITY);
 #if USE_SERIAL_1_STDIN && !DELAY_SERIAL_1_STDIN
 	ao_add_stdio(_ao_serial1_pollchar,
 		     ao_serial1_putchar,
@@ -500,7 +500,7 @@ ao_serial_init(void)
 #endif
 
 	stm_nvic_set_enable(STM_ISR_USART2_POS);
-	stm_nvic_set_priority(STM_ISR_USART2_POS, 4);
+	stm_nvic_set_priority(STM_ISR_USART2_POS, AO_STM_NVIC_MED_PRIORITY);
 #if USE_SERIAL_2_STDIN && !DELAY_SERIAL_2_STDIN
 	ao_add_stdio(_ao_serial2_pollchar,
 		     ao_serial2_putchar,
@@ -544,7 +544,7 @@ ao_serial_init(void)
 	ao_usart_init(&ao_stm_usart3);
 
 	stm_nvic_set_enable(STM_ISR_USART3_POS);
-	stm_nvic_set_priority(STM_ISR_USART3_POS, 4);
+	stm_nvic_set_priority(STM_ISR_USART3_POS, AO_STM_NVIC_MED_PRIORITY);
 #if USE_SERIAL_3_STDIN && !DELAY_SERIAL_3_STDIN
 	ao_add_stdio(_ao_serial3_pollchar,
 		     ao_serial3_putchar,
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index f86a5116..1576a6c9 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -90,6 +90,7 @@ ao_timer_init(void)
 	stm_systick.csr = ((1 << STM_SYSTICK_CSR_ENABLE) |
 			   (1 << STM_SYSTICK_CSR_TICKINT) |
 			   (STM_SYSTICK_CSR_CLKSOURCE_HCLK_8 << STM_SYSTICK_CSR_CLKSOURCE));
+	stm_nvic.shpr15_12 |= AO_STM_NVIC_CLOCK_PRIORITY << 24;
 }
 
 #endif
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index 9d72844e..33e0617c 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -1015,7 +1015,7 @@ ao_usb_enable(void)
 	ao_arch_block_interrupts();
 
 	/* Route interrupts */
-	stm_nvic_set_priority(STM_ISR_USB_LP_POS, 3);
+	stm_nvic_set_priority(STM_ISR_USB_LP_POS, AO_STM_NVIC_LOW_PRIORITY);
 	stm_nvic_set_enable(STM_ISR_USB_LP_POS);
 
 	ao_usb_configuration = 0;
@@ -1109,7 +1109,7 @@ struct ao_usb_dbg {
 	int		line;
 	char		*msg;
 	uint32_t	value;
-	uint32_t	primask;
+	uint32_t	prival;
 #if TX_DBG
 	uint16_t	in_count;
 	uint32_t	in_epr;
@@ -1125,19 +1125,23 @@ struct ao_usb_dbg {
 #endif
 };
 
-#define NUM_USB_DBG	128
+#define NUM_USB_DBG	16
 
-static struct ao_usb_dbg dbg[128];
+static struct ao_usb_dbg dbg[NUM_USB_DBG];
 static int dbg_i;
 
 static void _dbg(int line, char *msg, uint32_t value)
 {
-	uint32_t	primask;
+	uint32_t	prival;
 	dbg[dbg_i].line = line;
 	dbg[dbg_i].msg = msg;
 	dbg[dbg_i].value = value;
-	asm("mrs %0,primask" : "=&r" (primask));
-	dbg[dbg_i].primask = primask;
+#if AO_NONMASK_INTERRUPT
+	asm("mrs %0,basepri" : "=&r" (prival));
+#else
+	asm("mrs %0,primask" : "=&r" (prival));
+#endif
+	dbg[dbg_i].prival = prival;
 #if TX_DBG
 	dbg[dbg_i].in_count = in_count;
 	dbg[dbg_i].in_epr = stm_usb.epr[AO_USB_IN_EPR];
diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h
index be1e1d65..201f4f36 100644
--- a/src/stm/stm32l.h
+++ b/src/stm/stm32l.h
@@ -52,7 +52,32 @@ stm_moder_set(struct stm_gpio *gpio, int pin, vuint32_t value) {
 			~(STM_MODER_MASK << STM_MODER_SHIFT(pin))) |
 		       value << STM_MODER_SHIFT(pin));
 }
-	
+
+static inline uint32_t
+stm_spread_mask(uint16_t mask) {
+	uint32_t m = mask;
+
+	/* 0000000000000000mmmmmmmmmmmmmmmm */
+	m = (m & 0xff) | ((m & 0xff00) << 8);
+	/* 00000000mmmmmmmm00000000mmmmmmmm */
+	m = (m & 0x000f000f) | ((m & 0x00f000f0) << 4);
+	/* 0000mmmm0000mmmm0000mmmm0000mmmm */
+	m = (m & 0x03030303) | ((m & 0x0c0c0c0c) << 2);
+	/* 00mm00mm00mm00mm00mm00mm00mm00mm */
+	m = (m & 0x11111111) | ((m & 0x22222222) << 2);
+	/* 0m0m0m0m0m0m0m0m0m0m0m0m0m0m0m0m */
+	return m;
+}
+
+static inline void
+stm_moder_set_mask(struct stm_gpio *gpio, uint16_t mask, uint32_t value) {
+	uint32_t	bits32 = stm_spread_mask(mask);
+	uint32_t	mask32 = 3 * bits32;
+	uint32_t	value32 = (value & 3) * bits32;
+
+	gpio->moder = ((gpio->moder & ~mask32) | value32);
+}
+
 static inline uint32_t
 stm_moder_get(struct stm_gpio *gpio, int pin) {
 	return (gpio->moder >> STM_MODER_SHIFT(pin)) & STM_MODER_MASK;
@@ -69,7 +94,7 @@ stm_otyper_set(struct stm_gpio *gpio, int pin, vuint32_t value) {
 			 ~(STM_OTYPER_MASK << STM_OTYPER_SHIFT(pin))) |
 			value << STM_OTYPER_SHIFT(pin));
 }
-	
+
 static inline uint32_t
 stm_otyper_get(struct stm_gpio *gpio, int pin) {
 	return (gpio->otyper >> STM_OTYPER_SHIFT(pin)) & STM_OTYPER_MASK;
@@ -83,12 +108,21 @@ stm_otyper_get(struct stm_gpio *gpio, int pin) {
 #define STM_OSPEEDR_40MHz		3
 
 static inline void
-stm_ospeedr_set(struct stm_gpio *gpio, int pin, vuint32_t value) {
+stm_ospeedr_set(struct stm_gpio *gpio, int pin, uint32_t value) {
 	gpio->ospeedr = ((gpio->ospeedr &
 			~(STM_OSPEEDR_MASK << STM_OSPEEDR_SHIFT(pin))) |
 		       value << STM_OSPEEDR_SHIFT(pin));
 }
-	
+
+static inline void
+stm_ospeedr_set_mask(struct stm_gpio *gpio, uint16_t mask, uint32_t value) {
+	uint32_t	bits32 = stm_spread_mask(mask);
+	uint32_t	mask32 = 3 * bits32;
+	uint32_t	value32 = (value & 3) * bits32;
+
+	gpio->ospeedr = ((gpio->ospeedr & ~mask32) | value32);
+}
+
 static inline uint32_t
 stm_ospeedr_get(struct stm_gpio *gpio, int pin) {
 	return (gpio->ospeedr >> STM_OSPEEDR_SHIFT(pin)) & STM_OSPEEDR_MASK;
@@ -107,7 +141,16 @@ stm_pupdr_set(struct stm_gpio *gpio, int pin, uint32_t value) {
 			~(STM_PUPDR_MASK << STM_PUPDR_SHIFT(pin))) |
 		       value << STM_PUPDR_SHIFT(pin));
 }
-	
+
+static inline void
+stm_pupdr_set_mask(struct stm_gpio *gpio, uint16_t mask, uint32_t value) {
+	uint32_t	bits32 = stm_spread_mask(mask);
+	uint32_t	mask32 = 3 * bits32;
+	uint32_t	value32 = (value & 3) * bits32;
+
+	gpio->pupdr = (gpio->pupdr & ~mask32) | value32;
+}
+
 static inline uint32_t
 stm_pupdr_get(struct stm_gpio *gpio, int pin) {
 	return (gpio->pupdr >> STM_PUPDR_SHIFT(pin)) & STM_PUPDR_MASK;
@@ -168,6 +211,12 @@ stm_gpio_set(struct stm_gpio *gpio, int pin, uint8_t value) {
 }
 
 static inline void
+stm_gpio_set_mask(struct stm_gpio *gpio, uint16_t bits, uint16_t mask) {
+	/* Use the bit set/reset register to do this atomically */
+	gpio->bsrr = ((uint32_t) (~bits & mask) << 16) | ((uint32_t) (bits & mask));
+}
+
+static inline void
 stm_gpio_set_bits(struct stm_gpio *gpio, uint16_t bits) {
 	gpio->bsrr = bits;
 }
@@ -518,7 +567,7 @@ extern struct stm_rcc stm_rcc;
 #define  STM_RCC_CFGR_MCOPRE_DIV_4	2
 #define  STM_RCC_CFGR_MCOPRE_DIV_8	3
 #define  STM_RCC_CFGR_MCOPRE_DIV_16	4
-#define  STM_RCC_CFGR_MCOPRE_DIV_MASK	7
+#define  STM_RCC_CFGR_MCOPRE_MASK	7
 
 #define STM_RCC_CFGR_MCOSEL	(24)
 #define  STM_RCC_CFGR_MCOSEL_DISABLE	0
@@ -897,7 +946,11 @@ struct stm_nvic {
 	vuint32_t	sc;		/* 0xc10 0xe000ed10 System Control Register */
 	vuint32_t	cc;		/* 0xc14 0xe000ed14 Configuration Control Register */
 
-	uint8_t		_unusedc18[0xe00 - 0xc18];
+	vuint32_t	shpr7_4;	/* 0xc18 0xe000ed18 System Hander Priority Registers */
+	vuint32_t	shpr11_8;	/* 0xc1c */
+	vuint32_t	shpr15_12;	/* 0xc20 */
+
+	uint8_t		_unusedc18[0xe00 - 0xc24];
 
 	vuint32_t	stir;		/* 0xe00 */
 };
@@ -1594,6 +1647,7 @@ extern struct stm_i2c stm_i2c1, stm_i2c2;
 #define  STM_I2C_CR2_FREQ_4_MHZ		4
 #define  STM_I2C_CR2_FREQ_8_MHZ		8
 #define  STM_I2C_CR2_FREQ_16_MHZ	16
+#define  STM_I2C_CR2_FREQ_24_MHZ	24
 #define  STM_I2C_CR2_FREQ_32_MHZ	32
 #define  STM_I2C_CR2_FREQ_MASK		0x3f
 
@@ -1740,6 +1794,12 @@ extern struct stm_tim234 stm_tim2, stm_tim3, stm_tim4;
 #define  STM_TIM234_SMCR_SMS_EXTERNAL_CLOCK	7
 #define  STM_TIM234_SMCR_SMS_MASK		7
 
+#define STM_TIM234_DIER_CC4IE		4
+#define STM_TIM234_DIER_CC3IE		3
+#define STM_TIM234_DIER_CC2IE		2
+#define STM_TIM234_DIER_CC1IE		1
+#define STM_TIM234_DIER_UIE		0
+
 #define STM_TIM234_SR_CC4OF	12
 #define STM_TIM234_SR_CC3OF	11
 #define STM_TIM234_SR_CC2OF	10
@@ -1840,15 +1900,23 @@ extern struct stm_tim234 stm_tim2, stm_tim3, stm_tim4;
 
 #define STM_TIM234_CCER_CC4NP	15
 #define STM_TIM234_CCER_CC4P	13
+#define  STM_TIM234_CCER_CC4P_ACTIVE_HIGH	0
+#define  STM_TIM234_CCER_CC4P_ACTIVE_LOW	1
 #define STM_TIM234_CCER_CC4E	12
 #define STM_TIM234_CCER_CC3NP	11
 #define STM_TIM234_CCER_CC3P	9
+#define  STM_TIM234_CCER_CC3P_ACTIVE_HIGH	0
+#define  STM_TIM234_CCER_CC3P_ACTIVE_LOW	1
 #define STM_TIM234_CCER_CC3E	8
 #define STM_TIM234_CCER_CC2NP	7
 #define STM_TIM234_CCER_CC2P	5
+#define  STM_TIM234_CCER_CC2P_ACTIVE_HIGH	0
+#define  STM_TIM234_CCER_CC2P_ACTIVE_LOW	1
 #define STM_TIM234_CCER_CC2E	4
 #define STM_TIM234_CCER_CC1NP	3
 #define STM_TIM234_CCER_CC1P	1
+#define  STM_TIM234_CCER_CC1P_ACTIVE_HIGH	0
+#define  STM_TIM234_CCER_CC1P_ACTIVE_LOW	1
 #define STM_TIM234_CCER_CC1E	0
 
 struct stm_usb {
diff --git a/src/stmf0/Makefile-stmf0.defs b/src/stmf0/Makefile-stmf0.defs
index f3296b69..f2c53499 100644
--- a/src/stmf0/Makefile-stmf0.defs
+++ b/src/stmf0/Makefile-stmf0.defs
@@ -4,7 +4,7 @@ endif
 
 include $(TOPDIR)/Makedefs
 
-vpath % $(TOPDIR)/stmf0:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR/aes):$(TOPDIR):$(TOPDIR)/math
+vpath % $(TOPDIR)/stmf0:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR)/aes:$(TOPDIR):$(TOPDIR)/math:$(TOPDIR)/lisp
 vpath make-altitude $(TOPDIR)/util
 vpath make-kalman $(TOPDIR)/util
 vpath kalman.5c $(TOPDIR)/kalman
@@ -27,7 +27,10 @@ CC=$(ARM_CC)
 
 WARN_FLAGS=-Wall -Wextra -Werror -Wcast-align
 
-AO_CFLAGS=-I. -I$(TOPDIR)/stmf0 -I$(TOPDIR)/kernel -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) -I$(TOPDIR)/math $(PDCLIB_INCLUDES) 
+AO_CFLAGS=-I. -I$(TOPDIR)/stmf0 -I$(TOPDIR)/kernel -I$(TOPDIR)/drivers \
+	-I$(TOPDIR)/product -I$(TOPDIR) -I$(TOPDIR)/math -I$(TOPDIR)/lisp \
+	$(PDCLIB_INCLUDES) 
+
 STMF0_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m0 -mthumb\
 	-ffreestanding -nostdlib $(AO_CFLAGS) $(WARN_FLAGS)
 
diff --git a/src/stmf0/altos-raw.ld b/src/stmf0/altos-raw.ld
new file mode 100644
index 00000000..eb285e07
--- /dev/null
+++ b/src/stmf0/altos-raw.ld
@@ -0,0 +1,85 @@
+/*
+ * 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 = 0x08000000, LENGTH = 32K
+	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 : {
+		__text_start__ = .;
+		*(.interrupt)	/* Interrupt vectors */
+	} > rom
+
+	.text ORIGIN(rom) + 0x100 : {
+
+		/* 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 */
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+		*(.rodata*)	/* Constants */
+
+	} > rom
+	__text_end__ = .;
+
+	/* 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));
+}
+
+ENTRY(start);
+
+
diff --git a/src/stmf0/altos.ld b/src/stmf0/altos.ld
index 8f8933c6..74fdf3ea 100644
--- a/src/stmf0/altos.ld
+++ b/src/stmf0/altos.ld
@@ -55,10 +55,16 @@ SECTIONS {
 		ao_product.o(.romconfig*)
 
 		*(.text*)	/* Executable code */
+	} > rom
+
+	.ARM.exidx : {
 		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
-		*(.rodata*)	/* Constants */
+	} > rom
 
+	.rodata : {
+		*(.rodata*)	/* Constants */
 	} > rom
+
 	__text_end__ = .;
 
 	/* Boot data which must live at the start of ram so that
diff --git a/src/stmf0/ao_adc_stm.c b/src/stmf0/ao_adc_stm.c
new file mode 100644
index 00000000..2b23dc50
--- /dev/null
+++ b/src/stmf0/ao_adc_stm.c
@@ -0,0 +1,340 @@
+/*
+ * Copyright © 2015 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_data.h>
+
+#define AO_ADC_DEBUG	0
+
+static uint8_t	ao_adc_ready;
+
+/*
+ * Callback from DMA ISR
+ *
+ * Mark time in ring, shut down DMA engine
+ */
+static void ao_adc_done(int index)
+{
+	(void) index;
+	/* Clear ISR bits */
+	stm_adc.isr = ((1 << STM_ADC_ISR_AWD) |
+		       (1 << STM_ADC_ISR_OVR) |
+		       (1 << STM_ADC_ISR_EOSEQ) |
+		       (1 << STM_ADC_ISR_EOC));
+
+	AO_DATA_PRESENT(AO_DATA_ADC);
+	ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1));
+	if (ao_data_present == AO_DATA_ALL) {
+#if HAS_MS5607
+		ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current;
+#endif
+#if HAS_MMA655X
+		ao_data_ring[ao_data_head].mma655x = ao_mma655x_current;
+#endif
+#if HAS_HMC5883
+		ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
+#endif
+#if HAS_MPU6000
+		ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+#endif
+		ao_data_ring[ao_data_head].tick = ao_tick_count;
+		ao_data_head = ao_data_ring_next(ao_data_head);
+		ao_wakeup((void *) &ao_data_head);
+	}
+	ao_adc_ready = 1;
+}
+
+/*
+ * Start the ADC sequence using the DMA engine
+ */
+void
+ao_adc_poll(void)
+{
+	if (!ao_adc_ready)
+		return;
+	ao_adc_ready = 0;
+	stm_adc.isr = 0;
+	ao_dma_set_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1),
+			    &stm_adc.dr,
+			    (void *) (&ao_data_ring[ao_data_head].adc),
+			    AO_NUM_ADC,
+			    (0 << STM_DMA_CCR_MEM2MEM) |
+			    (STM_DMA_CCR_PL_HIGH << STM_DMA_CCR_PL) |
+			    (STM_DMA_CCR_MSIZE_16 << STM_DMA_CCR_MSIZE) |
+			    (STM_DMA_CCR_PSIZE_16 << STM_DMA_CCR_PSIZE) |
+			    (1 << STM_DMA_CCR_MINC) |
+			    (0 << STM_DMA_CCR_PINC) |
+			    (0 << STM_DMA_CCR_CIRC) |
+			    (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
+			    (1 << STM_DMA_CCR_TCIE));
+	ao_dma_set_isr(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1), ao_adc_done);
+	ao_dma_start(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1));
+
+	stm_adc.cr |= (1 << STM_ADC_CR_ADSTART);
+}
+
+static void
+ao_adc_dump(void)
+{
+	struct ao_data	packet;
+
+	ao_data_get(&packet);
+	AO_ADC_DUMP(&packet);
+}
+
+#if AO_ADC_DEBUG
+static void
+ao_adc_one(void)
+{
+	int		ch;
+	uint16_t	value;
+
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	ch = ao_cmd_lex_i;
+	if (ch < 0 || AO_NUM_ADC <= ch) {
+		ao_cmd_status = ao_cmd_syntax_error;
+		return;
+	}
+
+	ao_timer_set_adc_interval(0);
+	ao_delay(1);
+
+	printf("At top, data %u isr %04x cr %04x\n", stm_adc.dr, stm_adc.isr, stm_adc.cr);
+
+	if (stm_adc.cr & (1 << STM_ADC_CR_ADEN)) {
+		printf("Disabling\n"); flush();
+		stm_adc.cr |= (1 << STM_ADC_CR_ADDIS);
+		while (stm_adc.cr & (1 << STM_ADC_CR_ADDIS))
+			;
+		printf("Disabled\n"); flush();
+	}
+
+	/* 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));
+
+	printf("After disable, ADC status %04x\n", stm_adc.cr);
+
+	/* 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 */
+			 (0 << STM_ADC_CFGR1_DMAEN));				  /* disable DMA */
+
+	stm_adc.chselr = (1 << ch);
+
+	/* Longest sample time */
+	stm_adc.smpr = STM_ADC_SMPR_SMP_41_5 << STM_ADC_SMPR_SMP;
+
+	printf("Before enable, ADC status %04x\n", stm_adc.cr); flush();
+	/* Enable */
+	stm_adc.cr |= (1 << STM_ADC_CR_ADEN);
+	while ((stm_adc.isr & (1 << STM_ADC_ISR_ADRDY)) == 0)
+		;
+
+	/* Start */
+	stm_adc.cr |= (1 << STM_ADC_CR_ADSTART);
+
+	/* Wait for conversion complete */
+	while (!(stm_adc.isr & (1 << STM_ADC_ISR_EOC)))
+		;
+
+	value = stm_adc.dr;
+	printf ("value %u, cr is %04x isr is %04x\n",
+		value, stm_adc.cr, stm_adc.isr);
+
+
+	/* Clear ISR bits */
+	stm_adc.isr = ((1 << STM_ADC_ISR_AWD) |
+		       (1 << STM_ADC_ISR_OVR) |
+		       (1 << STM_ADC_ISR_EOSEQ) |
+		       (1 << STM_ADC_ISR_EOC));
+}
+#endif
+
+__code struct ao_cmds ao_adc_cmds[] = {
+	{ ao_adc_dump,	"a\0Display current ADC values" },
+#if AO_ADC_DEBUG
+	{ ao_adc_one,	"A ch\0Display one ADC channel" },
+#endif
+	{ 0, NULL },
+};
+
+void
+ao_adc_init(void)
+{
+	uint32_t	chselr;
+
+	/* Reset ADC */
+	stm_rcc.apb2rstr |= (1 << STM_RCC_APB2RSTR_ADCRST);
+	stm_rcc.apb2rstr &= ~(1 << STM_RCC_APB2RSTR_ADCRST);
+
+	/* Turn on ADC pins */
+	stm_rcc.ahbenr |= AO_ADC_RCC_AHBENR;
+
+#ifdef AO_ADC_PIN0_PORT
+	stm_moder_set(AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
+	stm_pupdr_set(AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN1_PORT
+	stm_moder_set(AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
+	stm_pupdr_set(AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN2_PORT
+	stm_moder_set(AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
+	stm_pupdr_set(AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN3_PORT
+	stm_moder_set(AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
+	stm_pupdr_set(AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN4_PORT
+	stm_moder_set(AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
+	stm_pupdr_set(AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN5_PORT
+	stm_moder_set(AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
+	stm_pupdr_set(AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN6_PORT
+	stm_moder_set(AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
+	stm_pupdr_set(AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN7_PORT
+	stm_moder_set(AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
+	stm_pupdr_set(AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN24_PORT
+	#error "Too many ADC ports"
+#endif
+
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADCEN);
+
+	chselr = 0;
+#if AO_NUM_ADC > 0
+	chselr |= (1 << AO_ADC_PIN0_CH);
+#endif
+#if AO_NUM_ADC > 1
+	chselr |= (1 << AO_ADC_PIN1_CH);
+#endif
+#if AO_NUM_ADC > 2
+	chselr |= (1 << AO_ADC_PIN2_CH);
+#endif
+#if AO_NUM_ADC > 3
+	chselr |= (1 << AO_ADC_PIN3_CH);
+#endif
+#if AO_NUM_ADC > 4
+	chselr |= (1 << AO_ADC_PIN4_CH);
+#endif
+#if AO_NUM_ADC > 5
+	chselr |= (1 << AO_ADC_PIN5_CH);
+#endif
+#if AO_NUM_ADC > 6
+	chselr |= (1 << AO_ADC_PIN6_CH);
+#endif
+#if AO_NUM_ADC > 7
+	chselr |= (1 << AO_ADC_PIN7_CH);
+#endif
+#if AO_NUM_ADC > 8
+#error Need more ADC defines
+#endif
+
+	/* Wait for ADC to be idle */
+	while (stm_adc.cr & ((1 << STM_ADC_CR_ADCAL) |
+			     (1 << STM_ADC_CR_ADDIS)))
+		;
+
+	/* 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));
+
+	/* 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;
+
+	stm_adc.chselr = chselr;
+
+	stm_adc.ccr = ((0 << STM_ADC_CCR_VBATEN) |
+		       (0 << STM_ADC_CCR_TSEN) |
+		       (0 << 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);
+
+	/* Set ADC to use DMA channel 1 (option 1) */
+	stm_syscfg.cfgr1 &= ~(1 << STM_SYSCFG_CFGR1_ADC_DMA_RMP);
+
+	ao_dma_alloc(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1));
+
+	ao_cmd_register(&ao_adc_cmds[0]);
+
+	ao_adc_ready = 1;
+}
diff --git a/src/stmf0/ao_arch.h b/src/stmf0/ao_arch.h
index a36482b6..c5f451f5 100644
--- a/src/stmf0/ao_arch.h
+++ b/src/stmf0/ao_arch.h
@@ -144,10 +144,15 @@ ao_adc_init();
 /* ADC maximum reported value */
 #define AO_ADC_MAX			4095
 
+#ifndef HAS_BOOT_LOADER
+#define HAS_BOOT_LOADER			1
+#endif
+
+#if HAS_BOOT_LOADER
 #define AO_BOOT_APPLICATION_BASE	((uint32_t *) 0x08001000)
 #define AO_BOOT_APPLICATION_BOUND	((uint32_t *) (0x08000000 + stm_flash_size()))
 #define AO_BOOT_LOADER_BASE		((uint32_t *) 0x08000000)
-#define HAS_BOOT_LOADER			1
+#endif
 
 #endif /* _AO_ARCH_H_ */
 
diff --git a/src/stmf0/ao_arch_funcs.h b/src/stmf0/ao_arch_funcs.h
index 0cb0e43d..c38ce41a 100644
--- a/src/stmf0/ao_arch_funcs.h
+++ b/src/stmf0/ao_arch_funcs.h
@@ -314,7 +314,18 @@ struct ao_stm_usart {
 	struct ao_fifo		rx_fifo;
 	struct ao_fifo		tx_fifo;
 	struct stm_usart	*reg;
-	uint8_t			tx_started;
+	uint8_t			tx_running;
+	uint8_t			draining;
+#if HAS_SERIAL_SW_FLOW
+	/* RTS - 0 if we have FIFO space, 1 if not
+	 * CTS - 0 if we can send, 0 if not
+	 */
+	struct stm_gpio		*gpio_rts;
+	struct stm_gpio		*gpio_cts;
+	uint8_t			pin_rts;
+	uint8_t			pin_cts;
+	uint8_t			rts;
+#endif
 };
 
 #if HAS_SERIAL_1
diff --git a/src/stmf0/ao_beep_stm.c b/src/stmf0/ao_beep_stm.c
new file mode 100644
index 00000000..610f4a31
--- /dev/null
+++ b/src/stmf0/ao_beep_stm.c
@@ -0,0 +1,389 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+#ifndef BEEPER_CHANNEL
+#error BEEPER_CHANNEL undefined
+#endif
+
+#ifndef BEEPER_TIMER
+#define BEEPER_TIMER	1
+#endif
+
+#if BEEPER_TIMER == 1
+#define timer stm_tim1
+#define STM_RCC_TIMER STM_RCC_APB2ENR_TIM1EN
+#define stm_rcc_enr stm_rcc.apb2enr
+#endif
+
+#if BEEPER_TIMER == 2
+#define timer stm_tim2
+#define STM_RCC_TIMER STM_RCC_APB1ENR_TIM2EN
+#define stm_rcc_enr stm_rcc.apb1enr
+#endif
+
+#if BEEPER_TIMER == 3
+#define timer stm_tim3
+#define STM_RCC_TIMER STM_RCC_APB1ENR_TIM3EN
+#define stm_rcc_enr stm_rcc.apb1enr
+#endif
+
+#ifndef timer
+#error BEEPER_TIMER invalid
+#endif
+
+static inline void
+disable(void)
+{
+	timer.cr1 = 0;
+#if BEEPER_TIMER == 1
+	timer.bdtr = 0;
+#endif
+	stm_rcc_enr &= ~(1 << STM_RCC_TIMER);
+
+	/* Disconnect the timer from the pin */
+	stm_afr_set(BEEPER_PORT, BEEPER_PIN, STM_AFR_NONE);
+}
+
+void
+ao_beep(uint8_t beep)
+{
+	if (beep == 0) {
+		disable();
+	} else {
+		stm_rcc_enr |= (1 << STM_RCC_TIMER);
+
+#if BEEPER_TIMER == 1
+		/* Master output enable */
+		stm_tim1.bdtr = (1 << STM_TIM1_BDTR_MOE);
+
+		stm_tim1.cr2 = ((0 << STM_TIM1_CR2_TI1S) |
+				(STM_TIM1_CR2_MMS_RESET << STM_TIM1_CR2_MMS) |
+				(0 << STM_TIM1_CR2_CCDS));
+
+		/* Set prescaler to match cc1111 clocks
+		 */
+		stm_tim1.psc = AO_TIM_CLK / 750000;
+
+		/* 1. Select the counter clock (internal, external, prescaler).
+		 *
+		 * Setting SMCR to zero means use the internal clock
+		 */
+
+		stm_tim1.smcr = 0;
+
+		/* 2. Write the desired data in the TIMx_ARR and TIMx_CCRx registers. */
+		stm_tim1.arr = beep;
+		stm_tim1.ccr1 = beep;
+
+		/* 3. Set the CCxIE and/or CCxDE bits if an interrupt and/or a
+		 * DMA request is to be generated.
+		 */
+		/* don't want this */
+
+		/* 4. Select the output mode. For example, you must write
+		 *  OCxM=011, OCxPE=0, CCxP=0 and CCxE=1 to toggle OCx output
+		 *  pin when CNT matches CCRx, CCRx preload is not used, OCx
+		 *  is enabled and active high.
+		 */
+
+#if BEEPER_CHANNEL == 1
+		stm_tim1.ccmr1 = ((0 << STM_TIM1_CCMR1_OC2CE) |
+				  (STM_TIM1_CCMR_OCM_FROZEN << STM_TIM1_CCMR1_OC2M) |
+				  (0 << STM_TIM1_CCMR1_OC2PE) |
+				  (0 << STM_TIM1_CCMR1_OC2FE) |
+				  (STM_TIM1_CCMR_CCS_OUTPUT << STM_TIM1_CCMR1_CC2S) |
+
+				  (0 << STM_TIM1_CCMR1_OC1CE) |
+				  (STM_TIM1_CCMR_OCM_TOGGLE << STM_TIM1_CCMR1_OC1M) |
+				  (0 << STM_TIM1_CCMR1_OC1PE) |
+				  (0 << STM_TIM1_CCMR1_OC1FE) |
+				  (STM_TIM1_CCMR_CCS_OUTPUT << STM_TIM1_CCMR1_CC1S));
+
+		stm_tim1.ccer = ((0 << STM_TIM1_CCER_CC4P) |
+				 (0 << STM_TIM1_CCER_CC4E) |
+				 (0 << STM_TIM1_CCER_CC3NP) |
+				 (0 << STM_TIM1_CCER_CC3NE) |
+				 (0 << STM_TIM1_CCER_CC3P) |
+				 (0 << STM_TIM1_CCER_CC3E) |
+				 (0 << STM_TIM1_CCER_CC2NP) |
+				 (0 << STM_TIM1_CCER_CC2NE) |
+				 (0 << STM_TIM1_CCER_CC2P) |
+				 (0 << STM_TIM1_CCER_CC2E) |
+				 (0 << STM_TIM1_CCER_CC1NE) |
+				 (0 << STM_TIM1_CCER_CC1P) |
+				 (1 << STM_TIM1_CCER_CC1E));
+#endif
+#if BEEPER_CHANNEL == 2
+		stm_tim1.ccmr1 = ((0 << STM_TIM1_CCMR1_OC2CE) |
+				  (STM_TIM1_CCMR_OCM_TOGGLE << STM_TIM1_CCMR1_OC2M) |
+				  (0 << STM_TIM1_CCMR1_OC2PE) |
+				  (0 << STM_TIM1_CCMR1_OC2FE) |
+				  (STM_TIM1_CCMR_CCS_OUTPUT << STM_TIM1_CCMR1_CC2S) |
+
+				  (0 << STM_TIM1_CCMR1_OC1CE) |
+				  (STM_TIM1_CCMR_OCM_FROZEN << STM_TIM1_CCMR1_OC1M) |
+				  (0 << STM_TIM1_CCMR1_OC1PE) |
+				  (0 << STM_TIM1_CCMR1_OC1FE) |
+				  (STM_TIM1_CCMR_CCS_OUTPUT << STM_TIM1_CCMR1_CC1S));
+
+		stm_tim1.ccer = ((0 << STM_TIM1_CCER_CC4P) |
+				 (0 << STM_TIM1_CCER_CC4E) |
+				 (0 << STM_TIM1_CCER_CC3NP) |
+				 (0 << STM_TIM1_CCER_CC3NE) |
+				 (0 << STM_TIM1_CCER_CC3P) |
+				 (0 << STM_TIM1_CCER_CC3E) |
+				 (0 << STM_TIM1_CCER_CC2NP) |
+				 (0 << STM_TIM1_CCER_CC2NE) |
+				 (0 << STM_TIM1_CCER_CC2P) |
+				 (1 << STM_TIM1_CCER_CC2E) |
+				 (0 << STM_TIM1_CCER_CC1NE) |
+				 (0 << STM_TIM1_CCER_CC1P) |
+				 (0 << STM_TIM1_CCER_CC1E));
+#endif
+#if BEEPER_CHANNEL == 3
+		stm_tim1.ccmr2 = ((0 << STM_TIM1_CCMR2_OC4CE) |
+				  (STM_TIM1_CCMR_OCM_FROZEN << STM_TIM1_CCMR2_OC4M) |
+				  (0 << STM_TIM1_CCMR2_OC4PE) |
+				  (0 << STM_TIM1_CCMR2_OC4FE) |
+				  (STM_TIM1_CCMR_CCS_OUTPUT << STM_TIM1_CCMR2_CC4S) |
+
+				  (0 << STM_TIM1_CCMR2_OC3CE) |
+				  (STM_TIM1_CCMR_OCM_TOGGLE << STM_TIM1_CCMR2_OC3M) |
+				  (0 << STM_TIM1_CCMR2_OC3PE) |
+				  (0 << STM_TIM1_CCMR2_OC3FE) |
+				  (STM_TIM1_CCMR_CCS_OUTPUT << STM_TIM1_CCMR2_CC3S));
+
+		stm_tim1.ccer = ((0 << STM_TIM1_CCER_CC4P) |
+				 (0 << STM_TIM1_CCER_CC4E) |
+				 (0 << STM_TIM1_CCER_CC3NP) |
+				 (0 << STM_TIM1_CCER_CC3NE) |
+				 (0 << STM_TIM1_CCER_CC3P) |
+				 (1 << STM_TIM1_CCER_CC3E) |
+				 (0 << STM_TIM1_CCER_CC2NP) |
+				 (0 << STM_TIM1_CCER_CC2NE) |
+				 (0 << STM_TIM1_CCER_CC2P) |
+				 (0 << STM_TIM1_CCER_CC2E) |
+				 (0 << STM_TIM1_CCER_CC1NE) |
+				 (0 << STM_TIM1_CCER_CC1P) |
+				 (0 << STM_TIM1_CCER_CC1E));
+#endif
+#if BEEPER_CHANNEL == 4
+		stm_tim1.ccmr2 = ((0 << STM_TIM1_CCMR2_OC4CE) |
+				  (STM_TIM1_CCMR2_OC4M_TOGGLE << STM_TIM1_CCMR2_OC4M) |
+				  (0 << STM_TIM1_CCMR2_OC4PE) |
+				  (0 << STM_TIM1_CCMR2_OC4FE) |
+				  (STM_TIM1_CCMR2_CC4S_OUTPUT << STM_TIM1_CCMR2_CC4S) |
+
+				  (0 << STM_TIM1_CCMR2_OC3CE) |
+				  (STM_TIM1_CCMR2_OC3M_FROZEN << STM_TIM1_CCMR2_OC3M) |
+				  (0 << STM_TIM1_CCMR2_OC3PE) |
+				  (0 << STM_TIM1_CCMR2_OC3FE) |
+				  (STM_TIM1_CCMR2_CC3S_OUTPUT << STM_TIM1_CCMR2_CC3S));
+
+		stm_tim1.ccer = ((0 << STM_TIM1_CCER_CC4NP) |
+				 (0 << STM_TIM1_CCER_CC4P) |
+				 (1 << STM_TIM1_CCER_CC4E) |
+				 (0 << STM_TIM1_CCER_CC3NP) |
+				 (0 << STM_TIM1_CCER_CC3P) |
+				 (0 << STM_TIM1_CCER_CC3E) |
+				 (0 << STM_TIM1_CCER_CC2NP) |
+				 (0 << STM_TIM1_CCER_CC2P) |
+				 (0 << STM_TIM1_CCER_CC2E) |
+				 (0 << STM_TIM1_CCER_CC1NP) |
+				 (0 << STM_TIM1_CCER_CC1P) |
+				 (0 << STM_TIM1_CCER_CC1E));
+#endif
+		/* 5. Enable the counter by setting the CEN bit in the TIMx_CR1 register. */
+
+		stm_tim1.cr1 = ((STM_TIM1_CR1_CKD_1 << STM_TIM1_CR1_CKD) |
+				(0 << STM_TIM1_CR1_ARPE) |
+				(STM_TIM1_CR1_CMS_EDGE << STM_TIM1_CR1_CMS) |
+				(0 << STM_TIM1_CR1_DIR) |
+				(0 << STM_TIM1_CR1_OPM) |
+				(0 << STM_TIM1_CR1_URS) |
+				(0 << STM_TIM1_CR1_UDIS) |
+				(1 << STM_TIM1_CR1_CEN));
+
+		/* Update the values */
+		stm_tim1.egr = (1 << STM_TIM1_EGR_UG);
+#endif
+#if BEEPER_TIMER == 2 || BEEPER_TIMER == 3
+
+		timer.cr2 = ((0 << STM_TIM23_CR2_TI1S) |
+			     (STM_TIM23_CR2_MMS_RESET << STM_TIM23_CR2_MMS) |
+			     (0 << STM_TIM23_CR2_CCDS));
+
+		/* Set prescaler to match cc1111 clocks
+		 */
+		timer.psc = AO_TIM_CLK / 750000;
+
+		/* 1. Select the counter clock (internal, external, prescaler).
+		 *
+		 * Setting SMCR to zero means use the internal clock
+		 */
+
+		timer.smcr = 0;
+
+		/* 2. Write the desired data in the TIMx_ARR and TIMx_CCRx registers. */
+		timer.arr = beep;
+		timer.ccr1 = beep;
+
+		/* 3. Set the CCxIE and/or CCxDE bits if an interrupt and/or a
+		 * DMA request is to be generated.
+		 */
+		/* don't want this */
+
+		/* 4. Select the output mode. For example, you must write
+		 *  OCxM=011, OCxPE=0, CCxP=0 and CCxE=1 to toggle OCx output
+		 *  pin when CNT matches CCRx, CCRx preload is not used, OCx
+		 *  is enabled and active high.
+		 */
+
+#if BEEPER_CHANNEL == 1
+		timer.ccmr1 = ((0 << STM_TIM23_CCMR1_OC2CE) |
+			       (STM_TIM23_CCMR1_OC2M_FROZEN << STM_TIM23_CCMR1_OC2M) |
+			       (0 << STM_TIM23_CCMR1_OC2PE) |
+			       (0 << STM_TIM23_CCMR1_OC2FE) |
+			       (STM_TIM23_CCMR1_CC2S_OUTPUT << STM_TIM23_CCMR1_CC2S) |
+
+			       (0 << STM_TIM23_CCMR1_OC1CE) |
+			       (STM_TIM23_CCMR1_OC1M_TOGGLE << STM_TIM23_CCMR1_OC1M) |
+			       (0 << STM_TIM23_CCMR1_OC1PE) |
+			       (0 << STM_TIM23_CCMR1_OC1FE) |
+			       (STM_TIM23_CCMR1_CC1S_OUTPUT << STM_TIM23_CCMR1_CC1S));
+
+		timer.ccer = ((0 << STM_TIM23_CCER_CC4P) |
+			      (0 << STM_TIM23_CCER_CC4E) |
+			      (0 << STM_TIM23_CCER_CC3NP) |
+			      (0 << STM_TIM23_CCER_CC3P) |
+			      (0 << STM_TIM23_CCER_CC3E) |
+			      (0 << STM_TIM23_CCER_CC2NP) |
+			      (0 << STM_TIM23_CCER_CC2P) |
+			      (0 << STM_TIM23_CCER_CC2E) |
+			      (0 << STM_TIM23_CCER_CC1P) |
+			      (1 << STM_TIM23_CCER_CC1E));
+#endif
+#if BEEPER_CHANNEL == 2
+		timer.ccmr1 = ((0 << STM_TIM23_CCMR1_OC2CE) |
+			       (STM_TIM23_CCMR1_OC2M_TOGGLE << STM_TIM23_CCMR1_OC2M) |
+			       (0 << STM_TIM23_CCMR1_OC2PE) |
+			       (0 << STM_TIM23_CCMR1_OC2FE) |
+			       (STM_TIM23_CCMR1_CC2S_OUTPUT << STM_TIM23_CCMR1_CC2S) |
+
+			       (0 << STM_TIM23_CCMR1_OC1CE) |
+			       (STM_TIM23_CCMR1_OC1M_FROZEN << STM_TIM23_CCMR1_OC1M) |
+			       (0 << STM_TIM23_CCMR1_OC1PE) |
+			       (0 << STM_TIM23_CCMR1_OC1FE) |
+			       (STM_TIM23_CCMR1_CC1S_OUTPUT << STM_TIM23_CCMR1_CC1S));
+
+		timer.ccer = ((0 << STM_TIM23_CCER_CC4P) |
+			      (0 << STM_TIM23_CCER_CC4E) |
+			      (0 << STM_TIM23_CCER_CC3NP) |
+			      (0 << STM_TIM23_CCER_CC3P) |
+			      (0 << STM_TIM23_CCER_CC3E) |
+			      (0 << STM_TIM23_CCER_CC2NP) |
+			      (0 << STM_TIM23_CCER_CC2P) |
+			      (1 << STM_TIM23_CCER_CC2E) |
+			      (0 << STM_TIM23_CCER_CC1P) |
+			      (0 << STM_TIM23_CCER_CC1E));
+#endif
+#if BEEPER_CHANNEL == 3
+		timer.ccmr2 = ((0 << STM_TIM23_CCMR2_OC4CE) |
+			       (STM_TIM23_CCMR2_OC4M_FROZEN << STM_TIM23_CCMR2_OC4M) |
+			       (0 << STM_TIM23_CCMR2_OC4PE) |
+			       (0 << STM_TIM23_CCMR2_OC4FE) |
+			       (STM_TIM23_CCMR2_CC4S_OUTPUT << STM_TIM23_CCMR2_CC4S) |
+
+			       (0 << STM_TIM23_CCMR2_OC3CE) |
+			       (STM_TIM23_CCMR2_OC3M_TOGGLE << STM_TIM23_CCMR2_OC3M) |
+			       (0 << STM_TIM23_CCMR2_OC3PE) |
+			       (0 << STM_TIM23_CCMR2_OC3FE) |
+			       (STM_TIM23_CCMR2_CC3S_OUTPUT << STM_TIM23_CCMR2_CC3S));
+
+		timer.ccer = ((0 << STM_TIM23_CCER_CC4P) |
+			      (0 << STM_TIM23_CCER_CC4E) |
+			      (0 << STM_TIM23_CCER_CC3NP) |
+			      (0 << STM_TIM23_CCER_CC3P) |
+			      (1 << STM_TIM23_CCER_CC3E) |
+			      (0 << STM_TIM23_CCER_CC2NP) |
+			      (0 << STM_TIM23_CCER_CC2P) |
+			      (0 << STM_TIM23_CCER_CC2E) |
+			      (0 << STM_TIM23_CCER_CC1P) |
+			      (0 << STM_TIM23_CCER_CC1E));
+#endif
+#if BEEPER_CHANNEL == 4
+		timer.ccmr2 = ((0 << STM_TIM23_CCMR2_OC4CE) |
+			       (STM_TIM23_CCMR2_OC4M_TOGGLE << STM_TIM23_CCMR2_OC4M) |
+			       (0 << STM_TIM23_CCMR2_OC4PE) |
+			       (0 << STM_TIM23_CCMR2_OC4FE) |
+			       (STM_TIM23_CCMR2_CC4S_OUTPUT << STM_TIM23_CCMR2_CC4S) |
+
+			       (0 << STM_TIM23_CCMR2_OC3CE) |
+			       (STM_TIM23_CCMR2_OC3M_FROZEN << STM_TIM23_CCMR2_OC3M) |
+			       (0 << STM_TIM23_CCMR2_OC3PE) |
+			       (0 << STM_TIM23_CCMR2_OC3FE) |
+			       (STM_TIM23_CCMR2_CC3S_OUTPUT << STM_TIM23_CCMR2_CC3S));
+
+		timer.ccer = ((0 << STM_TIM23_CCER_CC4P) |
+			      (1 << STM_TIM23_CCER_CC4E) |
+			      (0 << STM_TIM23_CCER_CC3NP) |
+			      (0 << STM_TIM23_CCER_CC3P) |
+			      (0 << STM_TIM23_CCER_CC3E) |
+			      (0 << STM_TIM23_CCER_CC2NP) |
+			      (0 << STM_TIM23_CCER_CC2P) |
+			      (0 << STM_TIM23_CCER_CC2E) |
+			      (0 << STM_TIM23_CCER_CC1P) |
+			      (0 << STM_TIM23_CCER_CC1E));
+#endif
+		/* 5. Enable the counter by setting the CEN bit in the TIMx_CR1 register. */
+
+		timer.cr1 = ((STM_TIM23_CR1_CKD_1 << STM_TIM23_CR1_CKD) |
+			     (0 << STM_TIM23_CR1_ARPE) |
+			     (STM_TIM23_CR1_CMS_EDGE << STM_TIM23_CR1_CMS) |
+			     (0 << STM_TIM23_CR1_DIR) |
+			     (0 << STM_TIM23_CR1_OPM) |
+			     (0 << STM_TIM23_CR1_URS) |
+			     (0 << STM_TIM23_CR1_UDIS) |
+			     (1 << STM_TIM23_CR1_CEN));
+
+		/* Update the values */
+		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);
+#endif
+	}
+}
+
+void
+ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant
+{
+	ao_beep(beep);
+	ao_delay(ticks);
+	ao_beep(0);
+}
+
+void
+ao_beep_init(void)
+{
+	ao_enable_output(BEEPER_PORT, BEEPER_PIN, BEEPER, 0);
+
+	/* Leave the timer off until requested */
+	stm_rcc_enr &= ~(1 << STM_RCC_TIMER);
+}
diff --git a/src/stmf0/ao_crc.h b/src/stmf0/ao_crc.h
index 7acc6f9c..b6d91023 100644
--- a/src/stmf0/ao_crc.h
+++ b/src/stmf0/ao_crc.h
@@ -35,7 +35,8 @@
 static inline uint16_t
 ao_crc_in_32_out_16(uint32_t v) {
 	stm_crc.dr.u32 = v;
-	return stm_crc.dr.u16;
+	v = stm_crc.dr.u32;
+	return v ^ (v >> 16);
 }
 
 static inline uint16_t
diff --git a/src/stmf0/ao_flash_stm.c b/src/stmf0/ao_flash_stm.c
index 2aeff388..2d57eea7 100644
--- a/src/stmf0/ao_flash_stm.c
+++ b/src/stmf0/ao_flash_stm.c
@@ -19,6 +19,12 @@
 #include <ao.h>
 #include <ao_flash.h>
 
+/* 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)
 {
@@ -44,12 +50,7 @@ ao_flash_lock(void)
 	stm_flash.cr |= (1 << STM_FLASH_CR_LOCK);
 }
 
-static void
-ao_flash_wait_bsy(void)
-{
-	while (stm_flash.sr & (1 << STM_FLASH_SR_BSY))
-		;
-}
+#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(uint32_t *page)
diff --git a/src/stmf0/ao_interrupt.c b/src/stmf0/ao_interrupt.c
index 79412483..fcd330f1 100644
--- a/src/stmf0/ao_interrupt.c
+++ b/src/stmf0/ao_interrupt.c
@@ -26,9 +26,11 @@
 #define IS_FLASH_LOADER	0
 #endif
 
+#ifndef RELOCATE_INTERRUPT
 #if !IS_FLASH_LOADER
 #define RELOCATE_INTERRUPT	1
 #endif
+#endif
 
 extern void main(void);
 extern char __stack__;
diff --git a/src/stmf0/ao_serial_stm.c b/src/stmf0/ao_serial_stm.c
new file mode 100644
index 00000000..30b0dbd2
--- /dev/null
+++ b/src/stmf0/ao_serial_stm.c
@@ -0,0 +1,500 @@
+/*
+ * 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_exti.h>
+
+void
+ao_debug_out(char c)
+{
+	if (c == '\n')
+		ao_debug_out('\r');
+	while (!(stm_usart1.isr & (1 << STM_USART_ISR_TXE)));
+	stm_usart1.tdr = c;
+}
+
+static int
+_ao_usart_tx_start(struct ao_stm_usart *usart)
+{
+	if (!ao_fifo_empty(usart->tx_fifo)) {
+#if HAS_SERIAL_SW_FLOW
+		if (usart->gpio_cts && ao_gpio_get(usart->gpio_cts, usart->pin_cts, foo) == 1) {
+			ao_exti_enable(usart->gpio_cts, usart->pin_cts);
+			return 0;
+		}
+#endif
+		if (usart->reg->isr & (1 << STM_USART_ISR_TXE))
+		{
+			usart->tx_running = 1;
+			usart->reg->cr1 |= (1 << STM_USART_CR1_TXEIE) | (1 << STM_USART_CR1_TCIE);
+			ao_fifo_remove(usart->tx_fifo, usart->reg->tdr);
+			ao_wakeup(&usart->tx_fifo);
+			return 1;
+		}
+	}
+	return 0;
+}
+
+#if HAS_SERIAL_SW_FLOW
+static void
+_ao_usart_cts(struct ao_stm_usart *usart)
+{
+	if (_ao_usart_tx_start(usart))
+		ao_exti_disable(usart->gpio_cts, usart->pin_cts);
+}
+#endif
+
+static void
+_ao_usart_rx(struct ao_stm_usart *usart, int stdin)
+{
+	if (usart->reg->isr & (1 << STM_USART_ISR_RXNE)) {
+		usart->reg->icr = (1 << STM_USART_ICR_ORECF);
+		if (!ao_fifo_full(usart->rx_fifo)) {
+			ao_fifo_insert(usart->rx_fifo, usart->reg->rdr);
+			ao_wakeup(&usart->rx_fifo);
+			if (stdin)
+				ao_wakeup(&ao_stdin_ready);
+#if HAS_SERIAL_SW_FLOW
+			/* If the fifo is nearly full, turn off RTS and wait
+			 * for it to drain a bunch
+			 */
+			if (usart->gpio_rts && ao_fifo_mostly(usart->rx_fifo)) {
+				ao_gpio_set(usart->gpio_rts, usart->pin_rts, usart->pin_rts, 1);
+				usart->rts = 0;
+			}
+#endif
+		} else {
+			usart->reg->cr1 &= ~(1 << STM_USART_CR1_RXNEIE);
+		}
+	}
+}
+
+static void
+ao_usart_isr(struct ao_stm_usart *usart, int stdin)
+{
+	_ao_usart_rx(usart, stdin);
+
+	if (!_ao_usart_tx_start(usart))
+		usart->reg->cr1 &= ~(1<< STM_USART_CR1_TXEIE);
+
+	if (usart->reg->isr & (1 << STM_USART_ISR_TC)) {
+		usart->tx_running = 0;
+		usart->reg->cr1 &= ~(1 << STM_USART_CR1_TCIE);
+		if (usart->draining) {
+			usart->draining = 0;
+			ao_wakeup(&usart->tx_fifo);
+		}
+	}
+}
+
+static int
+_ao_usart_pollchar(struct ao_stm_usart *usart)
+{
+	int	c;
+
+	if (ao_fifo_empty(usart->rx_fifo))
+		c = AO_READ_AGAIN;
+	else {
+		uint8_t	u;
+		ao_fifo_remove(usart->rx_fifo,u);
+		if ((usart->reg->cr1 & (1 << STM_USART_CR1_RXNEIE)) == 0) {
+			if (ao_fifo_barely(usart->rx_fifo))
+				usart->reg->cr1 |= (1 << STM_USART_CR1_RXNEIE);
+		}
+#if HAS_SERIAL_SW_FLOW
+		/* If we've cleared RTS, check if there's space now and turn it back on */
+		if (usart->gpio_rts && usart->rts == 0 && ao_fifo_barely(usart->rx_fifo)) {
+			ao_gpio_set(usart->gpio_rts, usart->pin_rts, foo, 0);
+			usart->rts = 1;
+		}
+#endif
+		c = u;
+	}
+	return c;
+}
+
+static char
+ao_usart_getchar(struct ao_stm_usart *usart)
+{
+	int c;
+	ao_arch_block_interrupts();
+	while ((c = _ao_usart_pollchar(usart)) == AO_READ_AGAIN)
+		ao_sleep(&usart->rx_fifo);
+	ao_arch_release_interrupts();
+	return (char) c;
+}
+
+static inline uint8_t
+_ao_usart_sleep_for(struct ao_stm_usart *usart, uint16_t timeout)
+{
+	return ao_sleep_for(&usart->rx_fifo, timeout);
+}
+
+static void
+ao_usart_putchar(struct ao_stm_usart *usart, char c)
+{
+	ao_arch_block_interrupts();
+	while (ao_fifo_full(usart->tx_fifo))
+		ao_sleep(&usart->tx_fifo);
+	ao_fifo_insert(usart->tx_fifo, c);
+	_ao_usart_tx_start(usart);
+	ao_arch_release_interrupts();
+}
+
+static void
+ao_usart_drain(struct ao_stm_usart *usart)
+{
+	ao_arch_block_interrupts();
+	while (!ao_fifo_empty(usart->tx_fifo) || usart->tx_running) {
+		usart->draining = 1;
+		ao_sleep(&usart->tx_fifo);
+	}
+	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 void
+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;
+}
+
+static void
+ao_usart_init(struct ao_stm_usart *usart)
+{
+	usart->reg->cr1 = ((0 << STM_USART_CR1_M1) |
+			   (0 << STM_USART_CR1_EOBIE) |
+			   (0 << STM_USART_CR1_RTOIE) |
+			   (0 << STM_USART_CR1_DEAT) |
+			   (0 << STM_USART_CR1_DEDT) |
+			   (0 << STM_USART_CR1_OVER8) |
+			   (0 << STM_USART_CR1_CMIE) |
+			   (0 << STM_USART_CR1_MME) |
+			   (0 << STM_USART_CR1_M0) |
+			   (0 << STM_USART_CR1_WAKE) |
+			   (0 << STM_USART_CR1_PCE) |
+			   (0 << STM_USART_CR1_PS) |
+			   (0 << STM_USART_CR1_PEIE) |
+			   (0 << STM_USART_CR1_TXEIE) |
+			   (0 << STM_USART_CR1_TCIE) |
+			   (1 << STM_USART_CR1_RXNEIE) |
+			   (0 << STM_USART_CR1_IDLEIE) |
+			   (1 << STM_USART_CR1_TE) |
+			   (1 << STM_USART_CR1_RE) |
+			   (0 << STM_USART_CR1_UESM) |
+			   (0 << STM_USART_CR1_UE));
+
+	usart->reg->cr2 = ((0 << STM_USART_CR2_ADD) |
+			   (0 << STM_USART_CR2_RTOEN) |
+			   (0 << STM_USART_CR2_ABRMOD) |
+			   (0 << STM_USART_CR2_ABREN) |
+			   (0 << STM_USART_CR2_MSBFIRST) |
+			   (0 << STM_USART_CR2_DATAINV) |
+			   (0 << STM_USART_CR2_TXINV) |
+			   (0 << STM_USART_CR2_RXINV) |
+			   (0 << STM_USART_CR2_SWAP) |
+			   (0 << STM_USART_CR2_LINEN) |
+			   (0 << STM_USART_CR2_STOP) |
+			   (0 << STM_USART_CR2_CLKEN) |
+			   (0 << STM_USART_CR2_CPOL) |
+			   (0 << STM_USART_CR2_CHPA) |
+			   (0 << STM_USART_CR2_LBCL) |
+			   (0 << STM_USART_CR2_LBDIE) |
+			   (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));
+
+
+	/* 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;
+
+void stm_usart1_isr(void) { ao_usart_isr(&ao_stm_usart1, USE_SERIAL_1_STDIN); }
+
+char
+ao_serial1_getchar(void)
+{
+	return ao_usart_getchar(&ao_stm_usart1);
+}
+
+void
+ao_serial1_putchar(char c)
+{
+	ao_usart_putchar(&ao_stm_usart1, c);
+}
+
+int
+_ao_serial1_pollchar(void)
+{
+	return _ao_usart_pollchar(&ao_stm_usart1);
+}
+
+uint8_t
+_ao_serial1_sleep_for(uint16_t timeout)
+{
+	return _ao_usart_sleep_for(&ao_stm_usart1, timeout);
+}
+
+void
+ao_serial1_drain(void)
+{
+	ao_usart_drain(&ao_stm_usart1);
+}
+
+void
+ao_serial1_set_speed(uint8_t speed)
+{
+	ao_usart_drain(&ao_stm_usart1);
+	ao_usart_set_speed(&ao_stm_usart1, speed);
+}
+#endif	/* HAS_SERIAL_1 */
+
+#if HAS_SERIAL_2
+
+struct ao_stm_usart ao_stm_usart2;
+
+void stm_usart2_isr(void) { ao_usart_isr(&ao_stm_usart2, USE_SERIAL_2_STDIN); }
+
+char
+ao_serial2_getchar(void)
+{
+	return ao_usart_getchar(&ao_stm_usart2);
+}
+
+void
+ao_serial2_putchar(char c)
+{
+	ao_usart_putchar(&ao_stm_usart2, c);
+}
+
+int
+_ao_serial2_pollchar(void)
+{
+	return _ao_usart_pollchar(&ao_stm_usart2);
+}
+
+uint8_t
+_ao_serial2_sleep_for(uint16_t timeout)
+{
+	return _ao_usart_sleep_for(&ao_stm_usart2, timeout);
+}
+
+void
+ao_serial2_drain(void)
+{
+	ao_usart_drain(&ao_stm_usart2);
+}
+
+void
+ao_serial2_set_speed(uint8_t speed)
+{
+	ao_usart_drain(&ao_stm_usart2);
+	ao_usart_set_speed(&ao_stm_usart2, speed);
+}
+
+#if HAS_SERIAL_SW_FLOW
+void
+ao_serial2_cts(void)
+{
+	_ao_usart_cts(&ao_stm_usart2);
+}
+#endif
+
+#endif	/* HAS_SERIAL_2 */
+
+#if HAS_SERIAL_SW_FLOW
+static void
+ao_serial_set_sw_rts_cts(struct ao_stm_usart *usart,
+			 void (*isr)(void),
+			 struct stm_gpio *port_rts,
+			 int pin_rts,
+			 struct stm_gpio *port_cts,
+			 int pin_cts)
+{
+	/* Pull RTS low to note that there's space in the FIFO
+	 */
+	ao_enable_output(port_rts, pin_rts, foo, 0);
+	usart->gpio_rts = port_rts;
+	usart->pin_rts = pin_rts;
+	usart->rts = 1;
+
+	ao_exti_setup(port_cts, pin_cts, AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_MED, isr);
+	usart->gpio_cts = port_cts;
+	usart->pin_cts = pin_cts;
+}
+#endif
+
+void
+ao_serial_init(void)
+{
+#if HAS_SERIAL_1
+	/*
+	 *	TX	RX
+	 *	PA9	PA10
+	 *	PB6	PB7
+	 */
+
+#if SERIAL_1_PA9_PA10
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
+
+	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);
+
+	stm_afr_set(&stm_gpiob, 6, STM_AFR_AF0);
+	stm_afr_set(&stm_gpiob, 7, STM_AFR_AF0);
+#else
+#error "No SERIAL_1 port configuration specified"
+#endif
+#endif
+	/* Enable USART */
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_USART1EN);
+
+	ao_stm_usart1.reg = &stm_usart1;
+	ao_usart_init(&ao_stm_usart1);
+
+	stm_nvic_set_enable(STM_ISR_USART1_POS);
+	stm_nvic_set_priority(STM_ISR_USART1_POS, 4);
+#if USE_SERIAL_1_STDIN && !DELAY_SERIAL_1_STDIN
+	ao_add_stdio(_ao_serial1_pollchar,
+		     ao_serial1_putchar,
+		     NULL);
+#endif
+#endif
+
+#if HAS_SERIAL_2
+	/*
+	 *	TX	RX
+	 *	PA2	PA3
+	 *	PA14	PA15
+	 */
+
+# if SERIAL_2_PA2_PA3
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
+
+	stm_afr_set(&stm_gpioa, 2, STM_AFR_AF1);
+	stm_afr_set(&stm_gpioa, 3, STM_AFR_AF1);
+#  if USE_SERIAL_2_FLOW
+#   if USE_SERIAL_2_SW_FLOW
+	ao_serial_set_sw_rts_cts(&ao_stm_usart2,
+				 ao_serial2_cts,
+				 SERIAL_2_PORT_RTS,
+				 SERIAL_2_PIN_RTS,
+				 SERIAL_2_PORT_CTS,
+				 SERIAL_2_PIN_CTS);
+#   else
+	stm_afr_set(&stm_gpioa, 0, STM_AFR_AF1);
+	stm_afr_set(&stm_gpioa, 1, STM_AFR_AF1);
+#   endif
+#  endif
+# else
+#  if SERIAL_2_PA14_PA15
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
+
+	stm_afr_set(&stm_gpioa, 14, STM_AFR_AF1);
+	stm_afr_set(&stm_gpioa, 15, STM_AFR_AF1);
+#   if USE_SERIAL_2_FLOW
+#    error "Don't know how to set flowcontrol for serial 2 on PA14"
+#   endif
+#  else
+#   if SERIAL_2_PA2_PA15
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
+
+	stm_afr_set(&stm_gpioa, 2, STM_AFR_AF1);
+	stm_afr_set(&stm_gpioa, 15, STM_AFR_AF1);
+#    if USE_SERIAL_2_FLOW
+#     error "Don't know how to set flowcontrol for serial 2 on PA2_PA15"
+#    endif
+#   else
+#    error "No SERIAL_2 port configuration specified"
+#   endif
+#  endif
+# endif
+	/* Enable USART */
+	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
+
+	stm_nvic_set_enable(STM_ISR_USART2_POS);
+	stm_nvic_set_priority(STM_ISR_USART2_POS, 4);
+# if USE_SERIAL_2_STDIN && !DELAY_SERIAL_2_STDIN
+	ao_add_stdio(_ao_serial2_pollchar,
+		     ao_serial2_putchar,
+		     NULL);
+# endif
+#endif
+}
diff --git a/src/stmf0/ao_spi_stm.c b/src/stmf0/ao_spi_stm.c
index 0448ad8c..5e76d6c3 100644
--- a/src/stmf0/ao_spi_stm.c
+++ b/src/stmf0/ao_spi_stm.c
@@ -536,12 +536,18 @@ void
 ao_spi_init(void)
 {
 #if HAS_SPI_1
+#ifndef SPI_1_PA5_PA6_PA7
+#error SPI_1_PA5_PA6_PA7 undefined
+#endif
 # if SPI_1_PA5_PA6_PA7
 	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
 	stm_ospeedr_set(&stm_gpioa, 5, SPI_1_OSPEEDR);
 	stm_ospeedr_set(&stm_gpioa, 6, SPI_1_OSPEEDR);
 	stm_ospeedr_set(&stm_gpioa, 7, SPI_1_OSPEEDR);
 # endif
+# ifndef SPI_1_PB3_PB4_PB5
+# error SPI_1_PB3_PB4_PB5 undefined
+# endif
 # if SPI_1_PB3_PB4_PB5
 	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPBEN);
 	stm_ospeedr_set(&stm_gpiob, 3, SPI_1_OSPEEDR);
diff --git a/src/stmf0/ao_spi_stm_slave.c b/src/stmf0/ao_spi_stm_slave.c
new file mode 100644
index 00000000..962ff2c6
--- /dev/null
+++ b/src/stmf0/ao_spi_stm_slave.c
@@ -0,0 +1,339 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+
+struct ao_spi_stm_slave_info {
+	uint8_t	miso_dma_index;
+	uint8_t mosi_dma_index;
+	struct stm_spi *stm_spi;
+};
+
+static uint8_t		ao_spi_slave_mutex[STM_NUM_SPI];
+static uint8_t		ao_spi_slave_index[STM_NUM_SPI];
+
+static const struct ao_spi_stm_slave_info ao_spi_stm_slave_info[STM_NUM_SPI] = {
+	{
+		.miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_RX),
+		.mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_TX),
+		&stm_spi1
+	},
+	{
+		.miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_RX),
+		.mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_TX),
+		&stm_spi2
+	}
+};
+
+static uint8_t	spi_dev_null;
+
+void
+ao_spi_slave_send(void *block, uint16_t len)
+{
+	struct stm_spi *stm_spi = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].stm_spi;
+	uint8_t	mosi_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].mosi_dma_index;
+	uint8_t	miso_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].miso_dma_index;
+
+	/* Set up the transmit DMA to deliver data */
+	ao_dma_set_transfer(mosi_dma_index,
+			    &stm_spi->dr,
+			    block,
+			    len,
+			    (0 << STM_DMA_CCR_MEM2MEM) |
+			    (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+			    (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+			    (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+			    (1 << STM_DMA_CCR_MINC) |
+			    (0 << STM_DMA_CCR_PINC) |
+			    (0 << STM_DMA_CCR_CIRC) |
+			    (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR));
+
+	/* Clear RXNE */
+	(void) stm_spi->dr;
+
+	/* Set up the receive DMA -- when this is done, we know the SPI unit
+	 * is idle. Without this, we'd have to poll waiting for the BSY bit to
+	 * be cleared
+	 */
+	ao_dma_set_transfer(miso_dma_index,
+			    &stm_spi->dr,
+			    &spi_dev_null,
+			    len,
+			    (0 << STM_DMA_CCR_MEM2MEM) |
+			    (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+			    (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+			    (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+			    (0 << STM_DMA_CCR_MINC) |
+			    (0 << STM_DMA_CCR_PINC) |
+			    (0 << STM_DMA_CCR_CIRC) |
+			    (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR));
+	stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+			(0 << STM_SPI_CR2_RXNEIE) |
+			(0 << STM_SPI_CR2_ERRIE) |
+			(0 << STM_SPI_CR2_SSOE) |
+			(1 << STM_SPI_CR2_TXDMAEN) |
+			(1 << STM_SPI_CR2_RXDMAEN));
+	ao_dma_start(miso_dma_index);
+	ao_dma_start(mosi_dma_index);
+	ao_arch_critical(
+		while (!ao_dma_done[miso_dma_index])
+			ao_sleep(&ao_dma_done[miso_dma_index]);
+		);
+	ao_dma_done_transfer(mosi_dma_index);
+	ao_dma_done_transfer(miso_dma_index);
+}
+
+uint8_t
+ao_spi_slave_recv(void *block, uint16_t len)
+{
+	struct stm_spi *stm_spi = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].stm_spi;
+	uint8_t	mosi_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].mosi_dma_index;
+	uint8_t	miso_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].miso_dma_index;
+
+	/* Set up transmit DMA to make the SPI hardware actually run */
+	ao_dma_set_transfer(mosi_dma_index,
+			    &stm_spi->dr,
+			    &spi_dev_null,
+			    len,
+			    (0 << STM_DMA_CCR_MEM2MEM) |
+			    (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+			    (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+			    (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+			    (0 << STM_DMA_CCR_MINC) |
+			    (0 << STM_DMA_CCR_PINC) |
+			    (0 << STM_DMA_CCR_CIRC) |
+			    (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR));
+
+	/* Clear RXNE */
+	(void) stm_spi->dr;
+
+	/* Set up the receive DMA to capture data */
+	ao_dma_set_transfer(miso_dma_index,
+			    &stm_spi->dr,
+			    block,
+			    len,
+			    (0 << STM_DMA_CCR_MEM2MEM) |
+			    (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+			    (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+			    (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+			    (1 << STM_DMA_CCR_MINC) |
+			    (0 << STM_DMA_CCR_PINC) |
+			    (0 << STM_DMA_CCR_CIRC) |
+			    (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR));
+
+	stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+			(0 << STM_SPI_CR2_RXNEIE) |
+			(0 << STM_SPI_CR2_ERRIE) |
+			(0 << STM_SPI_CR2_SSOE) |
+			(1 << STM_SPI_CR2_TXDMAEN) |
+			(1 << STM_SPI_CR2_RXDMAEN));
+	ao_dma_start(miso_dma_index);
+	ao_dma_start(mosi_dma_index);
+
+	/* Wait until the SPI unit is done */
+	ao_arch_critical(
+		while (!ao_dma_done[miso_dma_index])
+			ao_sleep(&ao_dma_done[miso_dma_index]);
+		);
+
+	ao_dma_done_transfer(mosi_dma_index);
+	ao_dma_done_transfer(miso_dma_index);
+	return 1;
+}
+
+static void
+ao_spi_slave_disable_index(uint8_t spi_index)
+{
+	/* Disable current config
+	 */
+	switch (AO_SPI_INDEX(spi_index)) {
+	case STM_SPI_INDEX(1):
+		switch (spi_index) {
+		case AO_SPI_1_PA5_PA6_PA7:
+			stm_gpio_set(&stm_gpioa, 5, 1);
+			stm_moder_set(&stm_gpioa, 5, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpioa, 6, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpioa, 7, STM_MODER_OUTPUT);
+			break;
+		case AO_SPI_1_PB3_PB4_PB5:
+			stm_gpio_set(&stm_gpiob, 3, 1);
+			stm_moder_set(&stm_gpiob, 3, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpiob, 4, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpiob, 5, STM_MODER_OUTPUT);
+			break;
+		case AO_SPI_1_PE13_PE14_PE15:
+			stm_gpio_set(&stm_gpioe, 13, 1);
+			stm_moder_set(&stm_gpioe, 13, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpioe, 14, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpioe, 15, STM_MODER_OUTPUT);
+			break;
+		}
+		break;
+	case STM_SPI_INDEX(2):
+		switch (spi_index) {
+		case AO_SPI_2_PB13_PB14_PB15:
+			stm_gpio_set(&stm_gpiob, 13, 1);
+			stm_moder_set(&stm_gpiob, 13, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpiob, 14, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpiob, 15, STM_MODER_OUTPUT);
+			break;
+		case AO_SPI_2_PD1_PD3_PD4:
+			stm_gpio_set(&stm_gpiod, 1, 1);
+			stm_moder_set(&stm_gpiod, 1, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpiod, 3, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpiod, 4, STM_MODER_OUTPUT);
+			break;
+		}
+		break;
+	}
+}
+
+static void
+ao_spi_slave_enable_index(uint8_t spi_index)
+{
+	switch (AO_SPI_INDEX(spi_index)) {
+	case STM_SPI_INDEX(1):
+		switch (spi_index) {
+		case AO_SPI_1_PA5_PA6_PA7:
+			stm_afr_set(&stm_gpioa, 5, STM_AFR_AF5);
+			stm_afr_set(&stm_gpioa, 6, STM_AFR_AF5);
+			stm_afr_set(&stm_gpioa, 7, STM_AFR_AF5);
+			break;
+		case AO_SPI_1_PB3_PB4_PB5:
+			stm_afr_set(&stm_gpiob, 3, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiob, 4, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiob, 5, STM_AFR_AF5);
+			break;
+		case AO_SPI_1_PE13_PE14_PE15:
+			stm_afr_set(&stm_gpioe, 13, STM_AFR_AF5);
+			stm_afr_set(&stm_gpioe, 14, STM_AFR_AF5);
+			stm_afr_set(&stm_gpioe, 15, STM_AFR_AF5);
+			break;
+		}
+		break;
+	case STM_SPI_INDEX(2):
+		switch (spi_index) {
+		case AO_SPI_2_PB13_PB14_PB15:
+			stm_afr_set(&stm_gpiob, 13, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiob, 14, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiob, 15, STM_AFR_AF5);
+			break;
+		case AO_SPI_2_PD1_PD3_PD4:
+			stm_afr_set(&stm_gpiod, 1, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiod, 3, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiod, 4, STM_AFR_AF5);
+			break;
+		}
+		break;
+	}
+}
+
+void
+ao_spi_slave_get(uint8_t spi_index, uint32_t speed)
+{
+	uint8_t		id = AO_SPI_INDEX(spi_index);
+	struct stm_spi	*stm_spi = ao_spi_stm_slave_info[id].stm_spi;
+
+	ao_mutex_get(&ao_spi_slave_mutex[id]);
+	stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) |			/* Three wire mode */
+			(0 << STM_SPI_CR1_BIDIOE) |
+			(0 << STM_SPI_CR1_CRCEN) |			/* CRC disabled */
+			(0 << STM_SPI_CR1_CRCNEXT) |
+			(0 << STM_SPI_CR1_DFF) |
+			(0 << STM_SPI_CR1_RXONLY) |
+			(1 << STM_SPI_CR1_SSM) |        		/* Software SS handling */
+			(1 << STM_SPI_CR1_SSI) |			/*  ... */
+			(0 << STM_SPI_CR1_LSBFIRST) |			/* Big endian */
+			(1 << STM_SPI_CR1_SPE) |			/* Enable SPI unit */
+			(speed << STM_SPI_CR1_BR) |	/* baud rate to pclk/4 */
+			(1 << STM_SPI_CR1_MSTR) |
+			(0 << STM_SPI_CR1_CPOL) |			/* Format 0 */
+			(0 << STM_SPI_CR1_CPHA));
+	if (spi_index != ao_spi_slave_index[id]) {
+		
+		/* Disable old config
+		 */
+		ao_spi_slave_disable_index(ao_spi_slave_index[id]);
+
+		/* Enable new config
+		 */
+		ao_spi_slave_enable_index(spi_index);
+		
+		/* Remember current config
+		 */
+		ao_spi_slave_index[id] = spi_index;
+	}
+}
+
+void
+ao_spi_slave_put(uint8_t spi_index)
+{
+	uint8_t		id = AO_SPI_INDEX(spi_index);
+	struct stm_spi	*stm_spi = ao_spi_stm_slave_info[id].stm_spi;
+
+	stm_spi->cr1 = 0;
+	ao_mutex_put(&ao_spi_slave_mutex[id]);
+}
+
+static void
+ao_spi_channel_init(uint8_t spi_index)
+{
+	uint8_t		id = AO_SPI_INDEX(spi_index);
+	struct stm_spi	*stm_spi = ao_spi_stm_slave_info[id].stm_spi;
+
+	ao_spi_slave_disable_index(spi_index);
+
+	stm_spi->cr1 = 0;
+	(void) stm_spi->sr;
+	stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+			(0 << STM_SPI_CR2_RXNEIE) |
+			(0 << STM_SPI_CR2_ERRIE) |
+			(0 << STM_SPI_CR2_SSOE) |
+			(0 << STM_SPI_CR2_TXDMAEN) |
+			(0 << STM_SPI_CR2_RXDMAEN));
+}
+
+void
+ao_spi_slave_init(void)
+{
+#if HAS_SPI_SLAVE_1
+# if SPI_1_PA5_PA6_PA7
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN);
+# endif
+# if SPI_1_PB3_PB4_PB5
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN);
+# endif
+# if SPI_1_PE13_PE14_PE15
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN);
+# endif
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SPI1EN);
+	ao_spi_slave_index[0] = AO_SPI_CONFIG_NONE;
+	ao_spi_channel_init(0);
+#endif
+
+#if HAS_SPI_SLAVE_2
+# if SPI_2_PB13_PB14_PB15
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN);
+# endif
+# if SPI_2_PD1_PD3_PD4
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIODEN);
+# endif
+	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_SPI2EN);
+	ao_spi_slave_index[1] = AO_SPI_CONFIG_NONE;
+	ao_spi_channel_init(1);
+#endif
+}
diff --git a/src/stmf0/stm32f0.h b/src/stmf0/stm32f0.h
index bafa763a..e53a5dfd 100644
--- a/src/stmf0/stm32f0.h
+++ b/src/stmf0/stm32f0.h
@@ -1812,15 +1812,15 @@ extern struct stm_tim23 stm_tim2, stm_tim3;
 
 #define STM_TIM23_CCMR2_OC4CE	15
 #define STM_TIM23_CCMR2_OC4M	12
-#define  STM_TIM23_CCMR2_OCM_FROZEN			0
-#define  STM_TIM23_CCMR2_OCM_SET_HIGH_ON_MATCH	1
-#define  STM_TIM23_CCMR2_OCM_SET_LOW_ON_MATCH		2
-#define  STM_TIM23_CCMR2_OCM_TOGGLE			3
-#define  STM_TIM23_CCMR2_OCM_FORCE_LOW			4
-#define  STM_TIM23_CCMR2_OCM_FORCE_HIGH			5
-#define  STM_TIM23_CCMR2_OCM_PWM_MODE_1			6
-#define  STM_TIM23_CCMR2_OCM_PWM_MODE_2			7
-#define  STM_TIM23_CCMR2_OCM_MASK			7
+#define  STM_TIM23_CCMR2_OC4M_FROZEN			0
+#define  STM_TIM23_CCMR2_OC4M_SET_HIGH_ON_MATCH	1
+#define  STM_TIM23_CCMR2_OC4M_SET_LOW_ON_MATCH		2
+#define  STM_TIM23_CCMR2_OC4M_TOGGLE			3
+#define  STM_TIM23_CCMR2_OC4M_FORCE_LOW			4
+#define  STM_TIM23_CCMR2_OC4M_FORCE_HIGH		5
+#define  STM_TIM23_CCMR2_OC4M_PWM_MODE_1		6
+#define  STM_TIM23_CCMR2_OC4M_PWM_MODE_2		7
+#define  STM_TIM23_CCMR2_OC4M_MASK			7
 #define STM_TIM23_CCMR2_OC4PE	11
 #define STM_TIM23_CCMR2_OC4FE	10
 #define STM_TIM23_CCMR2_CC4S	8
@@ -1832,15 +1832,15 @@ extern struct stm_tim23 stm_tim2, stm_tim3;
 
 #define STM_TIM23_CCMR2_OC3CE	7
 #define STM_TIM23_CCMR2_OC3M	4
-#define  STM_TIM23_CCMR2_OCM_FROZEN			0
-#define  STM_TIM23_CCMR2_OCM_SET_HIGH_ON_MATCH		1
-#define  STM_TIM23_CCMR2_OCM_SET_LOW_ON_MATCH		2
-#define  STM_TIM23_CCMR2_OCM_TOGGLE			3
-#define  STM_TIM23_CCMR2_OCM_FORCE_LOW			4
-#define  STM_TIM23_CCMR2_OCM_FORCE_HIGH			5
+#define  STM_TIM23_CCMR2_OC3M_FROZEN			0
+#define  STM_TIM23_CCMR2_OC3M_SET_HIGH_ON_MATCH		1
+#define  STM_TIM23_CCMR2_OC3M_SET_LOW_ON_MATCH		2
+#define  STM_TIM23_CCMR2_OC3M_TOGGLE			3
+#define  STM_TIM23_CCMR2_OC3M_FORCE_LOW			4
+#define  STM_TIM23_CCMR2_OC3M_FORCE_HIGH		5
 #define  STM_TIM23_CCMR2_OC3M_PWM_MODE_1		6
-#define  STM_TIM23_CCMR2_OCM_PWM_MODE_2			7
-#define  STM_TIM23_CCMR2_OCM_MASK			7
+#define  STM_TIM23_CCMR2_OC3M_PWM_MODE_2		7
+#define  STM_TIM23_CCMR2_OC3M_MASK			7
 #define STM_TIM23_CCMR2_OC3PE	11
 #define STM_TIM23_CCMR2_OC3FE	2
 #define STM_TIM23_CCMR2_CC3S	0
@@ -2010,4 +2010,129 @@ struct stm_exti {
 
 extern struct stm_exti stm_exti;
 
+struct stm_usart {
+	vuint32_t	cr1;	/* control register 1 */
+	vuint32_t	cr2;	/* control register 2 */
+	vuint32_t	cr3;	/* control register 3 */
+	vuint32_t	brr;	/* baud rate register */
+
+	vuint32_t	gtpr;	/* guard time and prescaler */
+	vuint32_t	rtor;	/* receiver timeout register */
+	vuint32_t	rqr;	/* request register */
+	vuint32_t	isr;	/* interrupt and status register */
+
+	vuint32_t	icr;	/* interrupt flag clear register */
+	vuint32_t	rdr;	/* receive data register */
+	vuint32_t	tdr;	/* transmit data register */
+};
+
+#define STM_USART_CR1_M1	28
+#define STM_USART_CR1_EOBIE	27
+#define STM_USART_CR1_RTOIE	26
+#define STM_USART_CR1_DEAT	21
+#define STM_USART_CR1_DEDT	16
+#define STM_USART_CR1_OVER8	15
+#define STM_USART_CR1_CMIE	14
+#define STM_USART_CR1_MME	13
+#define STM_USART_CR1_M0	12
+#define STM_USART_CR1_WAKE	11
+#define STM_USART_CR1_PCE	10
+#define STM_USART_CR1_PS	9
+#define STM_USART_CR1_PEIE	8
+#define STM_USART_CR1_TXEIE	7
+#define STM_USART_CR1_TCIE	6
+#define STM_USART_CR1_RXNEIE	5
+#define STM_USART_CR1_IDLEIE	4
+#define STM_USART_CR1_TE	3
+#define STM_USART_CR1_RE	2
+#define STM_USART_CR1_UESM	1
+#define STM_USART_CR1_UE	0
+
+#define STM_USART_CR2_ADD	24
+#define STM_USART_CR2_RTOEN	23
+#define STM_USART_CR2_ABRMOD	21
+#define STM_USART_CR2_ABREN	20
+#define STM_USART_CR2_MSBFIRST	19
+#define STM_USART_CR2_DATAINV	18
+#define STM_USART_CR2_TXINV	17
+#define STM_USART_CR2_RXINV	16
+#define STM_USART_CR2_SWAP	15
+#define STM_USART_CR2_LINEN	14
+#define STM_USART_CR2_STOP	12
+#define STM_USART_CR2_CLKEN	11
+#define STM_USART_CR2_CPOL	10
+#define STM_USART_CR2_CHPA	9
+#define STM_USART_CR2_LBCL	8
+#define STM_USART_CR2_LBDIE	6
+#define STM_USART_CR2_LBDL	5
+#define STM_USART_CR2_ADDM7	4
+
+#define STM_USART_CR3_WUFIE	22
+#define STM_USART_CR3_WUS	20
+#define STM_USART_CR3_SCARCNT	17
+#define STM_USART_CR3_DEP	15
+#define STM_USART_CR3_DEM	14
+#define STM_USART_CR3_DDRE	13
+#define STM_USART_CR3_OVRDIS	12
+#define STM_USART_CR3_ONEBIT	11
+#define STM_USART_CR3_CTIIE	10
+#define STM_USART_CR3_CTSE	9
+#define STM_USART_CR3_RTSE	8
+#define STM_USART_CR3_DMAT	7
+#define STM_USART_CR3_DMAR	6
+#define STM_USART_CR3_SCEN	5
+#define STM_USART_CR3_NACK	4
+#define STM_USART_CR3_HDSEL	3
+#define STM_USART_CR3_IRLP	2
+#define STM_USART_CR3_IREN	1
+#define STM_USART_CR3_EIE	0
+
+#define STM_USART_GTPR_GT	8
+#define STM_USART_GTPR_PSC	0
+
+#define STM_USART_RQR_TXFRQ	4
+#define STM_USART_RQR_RXFRQ	3
+#define STM_USART_RQR_MMRQ	2
+#define STM_USART_RQR_SBKRQ	1
+#define STM_USART_RQR_ABRRQ	0
+
+#define STM_USART_ISR_REACK	22
+#define STM_USART_ISR_TEACK	21
+#define STM_USART_ISR_WUF	20
+#define STM_USART_ISR_RWU	19
+#define STM_USART_ISR_SBKF	18
+#define STM_USART_ISR_CMF	17
+#define STM_USART_ISR_BUSY	16
+#define STM_USART_ISR_ABRF	15
+#define STM_USART_ISR_ABRE	14
+#define STM_USART_ISR_EOBF	12
+#define STM_USART_ISR_RTOF	11
+#define STM_USART_ISR_CTS	10
+#define STM_USART_ISR_CTSIF	9
+#define STM_USART_ISR_LBDF	8
+#define STM_USART_ISR_TXE	7
+#define STM_USART_ISR_TC	6
+#define STM_USART_ISR_RXNE	5
+#define STM_USART_ISR_IDLE	4
+#define STM_USART_ISR_ORE	3
+#define STM_USART_ISR_NF	2
+#define STM_USART_ISR_FE	1
+#define STM_USART_ISR_PE	0
+
+#define STM_USART_ICR_WUCF	20
+#define STM_USART_ICR_CMCF	17
+#define STM_USART_ICR_EOBCF	12
+#define STM_USART_ICR_RTOCF	11
+#define STM_USART_ICR_CTSCF	9
+#define STM_USART_ICR_LBDCF	8
+#define STM_USART_ICR_TCCF	6
+#define STM_USART_ICR_IDLECF	4
+#define STM_USART_ICR_ORECF	3
+#define STM_USART_ICR_NCF	2
+#define STM_USART_ICR_FECF	1
+#define STM_USART_ICR_PECF	0
+
+extern struct stm_usart	stm_usart1;
+extern struct stm_usart stm_usart2;
+
 #endif /* _STM32F0_H_ */
diff --git a/src/telebt-v3.0/Makefile b/src/telebt-v3.0/Makefile
index a7ef4d64..40d1f6e4 100644
--- a/src/telebt-v3.0/Makefile
+++ b/src/telebt-v3.0/Makefile
@@ -58,7 +58,12 @@ ALTOS_SRC = \
 	ao_monitor.c \
 	$(PROFILE) \
 	$(SAMPLE_PROFILE) \
-	$(STACK_GUARD)
+	$(STACK_GUARD) \
+	ao_lco_func.c \
+	ao_radio_cmac.c \
+	ao_aes.c \
+	ao_aes_tables.c \
+	ao_lco_cmd.c
 
 PRODUCT=TeleBT-v3.0
 PRODUCT_DEF=-DTELEBT_V_3_0
diff --git a/src/telebt-v3.0/ao_pins.h b/src/telebt-v3.0/ao_pins.h
index 61cbe9bb..62dddf2a 100644
--- a/src/telebt-v3.0/ao_pins.h
+++ b/src/telebt-v3.0/ao_pins.h
@@ -80,6 +80,7 @@
 #define HAS_TELEMETRY		0
 #define HAS_APRS		0
 #define HAS_ACCEL		0
+#define HAS_AES			1
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* CC1200 */
@@ -197,6 +198,7 @@ struct ao_adc {
 #define AO_CC1200_SPI_CS_PIN	10
 #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_INT_PORT		(&stm_gpiob)
 #define AO_CC1200_INT_PIN		(11)
diff --git a/src/telebt-v3.0/ao_telebt.c b/src/telebt-v3.0/ao_telebt.c
index 9117863b..8775d993 100644
--- a/src/telebt-v3.0/ao_telebt.c
+++ b/src/telebt-v3.0/ao_telebt.c
@@ -22,6 +22,7 @@
 #include <ao_eeprom.h>
 #include <ao_profile.h>
 #include <ao_btm.h>
+#include <ao_lco_cmd.h>
 #if HAS_SAMPLE_PROFILE
 #include <ao_sample_profile.h>
 #endif
@@ -44,6 +45,8 @@ main(void)
 	ao_btm_init();
 	ao_cmd_init();
 
+	ao_lco_cmd_init();
+
 	ao_eeprom_init();
 
 	ao_usb_init();
diff --git a/src/teledongle-v3.0/ao_pins.h b/src/teledongle-v3.0/ao_pins.h
index effc2322..be710aef 100644
--- a/src/teledongle-v3.0/ao_pins.h
+++ b/src/teledongle-v3.0/ao_pins.h
@@ -96,6 +96,7 @@
 #define AO_CC1200_SPI_CS_PIN	3
 #define AO_CC1200_SPI_BUS	0
 #define AO_CC1200_SPI		0
+#define AO_CC1200_SPI_SPEED	AO_SPI_SPEED_8MHz
 
 #define AO_CC1200_INT_PORT	0
 #define AO_CC1200_INT_PIN	2
diff --git a/src/telefiretwo-v0.1/ao_pins.h b/src/telefiretwo-v0.1/ao_pins.h
index f56061b2..1e5c0d09 100644
--- a/src/telefiretwo-v0.1/ao_pins.h
+++ b/src/telefiretwo-v0.1/ao_pins.h
@@ -110,6 +110,7 @@
 #define AO_CC1200_SPI_CS_PIN	7
 #define AO_CC1200_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
 #define AO_CC1200_SPI		stm_spi2
+#define AO_CC1200_SPI_SPEED	AO_SPI_SPEED_FAST
 
 #define AO_CC1200_INT_PORT		(&stm_gpiob)
 #define AO_CC1200_INT_PIN		(11)
diff --git a/src/telefiretwo-v0.2/ao_pins.h b/src/telefiretwo-v0.2/ao_pins.h
index 70af5dd1..469e9937 100644
--- a/src/telefiretwo-v0.2/ao_pins.h
+++ b/src/telefiretwo-v0.2/ao_pins.h
@@ -110,6 +110,7 @@
 #define AO_CC1200_SPI_CS_PIN	7
 #define AO_CC1200_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
 #define AO_CC1200_SPI		stm_spi2
+#define AO_CC1200_SPI_SPEED	AO_SPI_SPEED_FAST
 
 #define AO_CC1200_INT_PORT		(&stm_gpiob)
 #define AO_CC1200_INT_PIN		(11)
diff --git a/src/telefiretwo-v1.0/Makefile b/src/telefiretwo-v1.0/Makefile
new file mode 100644
index 00000000..87d5d477
--- /dev/null
+++ b/src/telefiretwo-v1.0/Makefile
@@ -0,0 +1,95 @@
+#
+# TeleFire build file
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	ao_log.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_pad.h \
+	ao_product.h \
+	ao_radio_spi.h \
+	ao_radio_cmac.h \
+	ao_cc1200_CC1200.h \
+	ao_cc1200.h \
+	stm32l.h
+#
+# Common AltOS sources
+#
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+ALTOS_SRC = \
+	ao_boot_chain.c \
+	ao_interrupt.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_adc_stm.c \
+	ao_data.c \
+	ao_config.c \
+	ao_task.c \
+	ao_led.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_freq.c \
+	ao_dma_stm.c \
+	ao_spi_stm.c \
+	ao_beep_stm.c \
+	ao_eeprom_stm.c \
+	ao_storage.c \
+	ao_m25.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_cc1200.c \
+	ao_radio_cmac.c \
+	ao_aes.c \
+	ao_aes_tables.c \
+	ao_pad.c \
+	ao_radio_cmac_cmd.c \
+	ao_log.c \
+	ao_log_firetwo.c
+
+PRODUCT_SRC = \
+	ao_telefiretwo.c
+
+PRODUCT=TeleFireTwo-v1.0
+PRODUCT_DEF=-DTELEFIRETWO_V_1_0
+IDPRODUCT=0x000f
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g
+
+PROGNAME = telefiretwo-v1.0
+PROG = $(PROGNAME)-$(VERSION).elf
+HEX = $(PROGNAME)-$(VERSION).ihx
+
+SRC = $(ALTOS_SRC) $(PRODUCT_SRC)
+OBJ=$(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/telefiretwo-v1.0/ao_pins.h b/src/telefiretwo-v1.0/ao_pins.h
new file mode 100644
index 00000000..b2f5a5ab
--- /dev/null
+++ b/src/telefiretwo-v1.0/ao_pins.h
@@ -0,0 +1,233 @@
+/*
+ * Copyright © 2010 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_
+
+#define HAS_RADIO		1
+#define HAS_RADIO_RATE		1
+#define HAS_TELEMETRY		0
+
+#define HAS_FLIGHT		0
+#define HAS_USB			1
+#define HAS_BEEP		1
+#define BEEPER_CHANNEL		4
+#define HAS_GPS			0
+#define HAS_SERIAL_1		0
+#define HAS_ADC			1
+#define HAS_DBG			0
+#define HAS_EEPROM		1
+#define HAS_LOG			1
+#define HAS_PAD			1
+#define USE_INTERNAL_FLASH	0
+#define IGNITE_ON_P0		0
+#define PACKET_HAS_MASTER	0
+#define PACKET_HAS_SLAVE	0
+#define AO_DATA_RING		32
+#define HAS_FIXED_PAD_BOX	1
+
+#define LOG_ERASE_MARK		0x55
+
+/* 8MHz High speed external crystal */
+#define AO_HSE			8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL		12
+#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
+
+#define AO_CC1200_FOSC		40000000
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV		3
+#define AO_RCC_CFGR_PLLDIV	(STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER	1
+#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER	2
+#define AO_RCC_CFGR_PPRE1_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER	2
+#define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_EEPROM		1
+#define USE_EEPROM_CONFIG	1
+#define USE_STORAGE_CONFIG	0
+#define HAS_USB			1
+#define HAS_RADIO		1
+#define HAS_RADIO_RATE		1
+#define HAS_TELEMETRY		0
+#define HAS_AES			1
+
+#define HAS_SPI_1		0
+#define SPI_1_PA5_PA6_PA7	0
+#define SPI_1_PB3_PB4_PB5	0
+#define SPI_1_PE13_PE14_PE15	0
+
+#define HAS_SPI_2		1	/* CC1200 */
+#define SPI_2_PB13_PB14_PB15	1
+#define SPI_2_PD1_PD3_PD4	0
+#define SPI_2_GPIO		(&stm_gpiob)
+#define SPI_2_SCK		13
+#define SPI_2_MISO		14
+#define SPI_2_MOSI		15
+#define SPI_2_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define HAS_I2C_1		0
+
+#define HAS_I2C_2		0
+
+#define PACKET_HAS_SLAVE	0
+#define PACKET_HAS_MASTER	0
+
+#define FAST_TIMER_FREQ		10000	/* .1ms for debouncing */
+
+/*
+ * SPI Flash memory
+ */
+
+#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_2_PB13_PB14_PB15
+
+/*
+ * Radio is a cc1200 connected via SPI
+ */
+
+#define AO_RADIO_CAL_DEFAULT 	5695733
+
+#define AO_FEC_DEBUG		0
+#define AO_CC1200_SPI_CS_PORT	(&stm_gpioa)
+#define AO_CC1200_SPI_CS_PIN	7
+#define AO_CC1200_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+#define AO_CC1200_SPI		stm_spi2
+#define AO_CC1200_SPI_SPEED	AO_SPI_SPEED_FAST
+
+#define AO_CC1200_INT_PORT		(&stm_gpiob)
+#define AO_CC1200_INT_PIN		(11)
+
+#define AO_CC1200_INT_GPIO	2
+#define AO_CC1200_INT_GPIO_IOCFG	CC1200_IOCFG2
+
+#define LED_PORT_0		(&stm_gpioa)
+#define LED_PORT_1		(&stm_gpiob)
+
+#define LED_PORT_0_ENABLE	STM_RCC_AHBENR_GPIOAEN
+#define LED_PORT_1_ENABLE	STM_RCC_AHBENR_GPIOBEN
+
+/* Port A, pins 4-6 */
+#define LED_PORT_0_SHIFT	4
+#define LED_PORT_0_MASK		0x7
+#define LED_PIN_GREEN		0
+#define LED_PIN_AMBER		1
+#define LED_PIN_RED		2
+#define AO_LED_RED		(1 << LED_PIN_RED)
+#define AO_LED_AMBER		(1 << LED_PIN_AMBER)
+#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
+
+/* Port B, pins 4-5 */
+#define LED_PORT_1_SHIFT	0
+#define LED_PORT_1_MASK		(0x3 << 4)
+#define LED_PIN_CONT_0		4
+#define LED_PIN_ARMED		5
+
+#define AO_LED_ARMED		(1 << LED_PIN_ARMED)
+#define AO_LED_CONTINUITY(c)	(1 << (4 - (c)))
+#define AO_LED_CONTINUITY_MASK	(0x1 << 4)
+
+#define LEDS_AVAILABLE		(LED_PORT_0_MASK|LED_PORT_1_MASK)
+
+/* Alarm A */
+#define AO_SIREN
+#define AO_SIREN_PORT		(&stm_gpiob)
+#define AO_SIREN_PIN		8
+
+/* Alarm B */
+#define AO_STROBE
+#define AO_STROBE_PORT		(&stm_gpiob)
+#define AO_STROBE_PIN		9
+
+#define SPI_CONST	0x00
+
+#define AO_PAD_NUM		1
+#define	AO_PAD_PORT		(&stm_gpioa)
+
+#define AO_PAD_PIN_0		1
+#define AO_PAD_ADC_0		0
+
+#define AO_PAD_ALL_PINS		((1 << AO_PAD_PIN_0))
+#define AO_PAD_ALL_CHANNELS	((1 << 0))
+
+/* test these values with real igniters */
+#define AO_PAD_RELAY_CLOSED	3524
+#define AO_PAD_NO_IGNITER	16904
+#define AO_PAD_GOOD_IGNITER	22514
+
+#define AO_PAD_ADC_PYRO		2
+#define AO_PAD_ADC_BATT		8
+
+#define AO_PAD_ADC_THRUST	3
+#define AO_PAD_ADC_PRESSURE	18
+
+#define AO_ADC_FIRST_PIN	0
+
+#define AO_NUM_ADC		5
+
+#define AO_ADC_SQ1		AO_PAD_ADC_0
+#define AO_ADC_SQ2		AO_PAD_ADC_PYRO
+#define AO_ADC_SQ3		AO_PAD_ADC_BATT
+#define AO_ADC_SQ4		AO_PAD_ADC_THRUST
+#define AO_ADC_SQ5		AO_PAD_ADC_PRESSURE
+
+#define AO_PYRO_R_PYRO_SENSE	200
+#define AO_PYRO_R_SENSE_GND	22
+
+#define AO_FIRE_R_POWER_FET	0
+#define AO_FIRE_R_FET_SENSE	200
+#define AO_FIRE_R_SENSE_GND	22
+
+#define HAS_ADC_TEMP		0
+
+struct ao_adc {
+	int16_t		sense[AO_PAD_NUM];
+	int16_t		pyro;
+	int16_t		batt;
+	int16_t		thrust;
+	int16_t		pressure;
+};
+
+#define AO_ADC_DUMP(p)							\
+	printf ("tick: %5u 0: %5d pyro: %5d batt %5d thrust %5d pressure %5d\n", \
+		(p)->tick,						\
+		(p)->adc.sense[0],					\
+		(p)->adc.pyro,						\
+		(p)->adc.batt,						\
+		(p)->adc.thrust,					\
+		(p)->adc.pressure)
+
+#define AO_ADC_PINS	((1 << AO_PAD_ADC_0) | \
+			 (1 << AO_PAD_ADC_PYRO) | \
+			 (1 << AO_PAD_ADC_BATT) | \
+			 (1 << AO_PAD_ADC_THRUST) | \
+			 (1 << AO_PAD_ADC_PRESSURE))
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telefiretwo-v1.0/ao_telefiretwo.c b/src/telefiretwo-v1.0/ao_telefiretwo.c
new file mode 100644
index 00000000..115b3e91
--- /dev/null
+++ b/src/telefiretwo-v1.0/ao_telefiretwo.c
@@ -0,0 +1,73 @@
+/*
+ * 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.
+ */
+
+#include <ao.h>
+#include <ao_log.h>
+#include <ao_pad.h>
+#include <ao_exti.h>
+#include <ao_radio_cmac_cmd.h>
+#include <ao_eeprom.h>
+
+static void
+set_logging(void)
+{
+	ao_cmd_hex();
+	ao_log_running = ao_cmd_lex_i;
+	ao_wakeup(&ao_log_running);
+}
+
+__code struct ao_cmds ao_firetwo_cmds[] = {
+        { set_logging,  "L <0 off, 1 on>\0Log sensors to flash" },
+        { 0,    NULL },
+};
+
+void
+main(void)
+{
+	ao_clock_init();
+
+	ao_led_init(LEDS_AVAILABLE);
+
+	ao_task_init();
+
+	ao_timer_init();
+	ao_spi_init();
+	ao_dma_init();
+	ao_exti_init();
+
+	ao_cmd_register(&ao_firetwo_cmds[0]);
+	ao_cmd_init();
+
+	ao_adc_init();
+
+	ao_eeprom_init();
+	ao_storage_init();
+	ao_log_init();
+
+	ao_radio_init();
+
+	ao_usb_init();
+
+	ao_config_init();
+
+	ao_pad_init();
+
+//	ao_radio_cmac_cmd_init();
+
+	ao_start_scheduler();
+}
diff --git a/src/telefiretwo-v1.0/flash-loader/.gitignore b/src/telefiretwo-v1.0/flash-loader/.gitignore
new file mode 100644
index 00000000..65fe7eab
--- /dev/null
+++ b/src/telefiretwo-v1.0/flash-loader/.gitignore
@@ -0,0 +1,2 @@
+*.elf
+*.ihx
diff --git a/src/telefiretwo-v1.0/flash-loader/Makefile b/src/telefiretwo-v1.0/flash-loader/Makefile
new file mode 100644
index 00000000..d429dcc4
--- /dev/null
+++ b/src/telefiretwo-v1.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telefiretwo-v1.0
+include $(TOPDIR)/stm/Makefile-flash.defs
diff --git a/src/telefiretwo-v1.0/flash-loader/ao_pins.h b/src/telefiretwo-v1.0/flash-loader/ao_pins.h
new file mode 100644
index 00000000..ded45a40
--- /dev/null
+++ b/src/telefiretwo-v1.0/flash-loader/ao_pins.h
@@ -0,0 +1,33 @@
+/*
+ * 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_
+
+/* External crystal at 8MHz */
+#define AO_HSE		8000000
+
+#include <ao_flash_stm_pins.h>
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpiob
+#define AO_BOOT_APPLICATION_PIN		6
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telegps-v0.1/ao_pins.h b/src/telegps-v0.1/ao_pins.h
index 96e8cfd7..5afc9498 100644
--- a/src/telegps-v0.1/ao_pins.h
+++ b/src/telegps-v0.1/ao_pins.h
@@ -148,6 +148,7 @@
 #define AO_CC115L_SPI_CS_PIN	12
 #define AO_CC115L_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
 #define AO_CC115L_SPI		stm_spi2
+#define AO_CC115L_SPI_SPEED	AO_SPI_SPEED_4MHz
 
 #define AO_CC115L_FIFO_INT_GPIO_IOCFG	CC115L_IOCFG2
 #define AO_CC115L_FIFO_INT_PORT		(&stm_gpioa)
@@ -183,4 +184,8 @@
 #define AO_SDCARD_SPI_CS_PIN	4
 #define AO_SDCARD_SPI		stm_spi1
 
+#define SDCARD_DEBUG		1
+#define SDCARD_WARN		1
+#define SDCARD_TRACE		1
+
 #endif /* _AO_PINS_H_ */
diff --git a/src/telegps-v0.1/ao_telegps.c b/src/telegps-v0.1/ao_telegps.c
index eb8ab72d..f734d90f 100644
--- a/src/telegps-v0.1/ao_telegps.c
+++ b/src/telegps-v0.1/ao_telegps.c
@@ -49,16 +49,16 @@ main(void)
 	ao_cmd_init();
 
 	ao_usb_init();
-	ao_radio_init();
+//	ao_radio_init();
 
 	ao_fat_init();
 
-	ao_gps_init();
-	ao_gps_report_mega_init();
+//	ao_gps_init();
+//	ao_gps_report_mega_init();
 
-	ao_telemetry_init();
-	ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
-	ao_rdf_set(1);
+//	ao_telemetry_init();
+//	ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
+//	ao_rdf_set(1);
 
 #if HAS_SAMPLE_PROFILE
 	ao_sample_profile_init();
diff --git a/src/telegps-v0.3/ao_pins.h b/src/telegps-v0.3/ao_pins.h
index 9c650cc4..28ae30a4 100644
--- a/src/telegps-v0.3/ao_pins.h
+++ b/src/telegps-v0.3/ao_pins.h
@@ -95,6 +95,7 @@
 #define AO_CC115L_SPI_CS_PORT	0
 #define AO_CC115L_SPI_CS_PIN	3
 #define AO_CC115L_SPI_BUS	0
+#define AO_CC115L_SPI_SPEED	AO_SPI_SPEED_6MHz
 
 #define AO_CC115L_FIFO_INT_GPIO_IOCFG	CC115L_IOCFG2
 #define AO_CC115L_FIFO_INT_PORT		0
diff --git a/src/telegps-v1.0/ao_pins.h b/src/telegps-v1.0/ao_pins.h
index 19774f63..9672ab03 100644
--- a/src/telegps-v1.0/ao_pins.h
+++ b/src/telegps-v1.0/ao_pins.h
@@ -97,6 +97,7 @@
 #define AO_CC115L_SPI_CS_PORT	0
 #define AO_CC115L_SPI_CS_PIN	3
 #define AO_CC115L_SPI_BUS	0
+#define AO_CC115L_SPI_SPEED	AO_SPI_SPEED_6MHz
 
 #define AO_CC115L_FIFO_INT_GPIO_IOCFG	CC115L_IOCFG2
 #define AO_CC115L_FIFO_INT_PORT		0
diff --git a/src/telegps-v2.0/Makefile b/src/telegps-v2.0/Makefile
new file mode 100644
index 00000000..19d088d3
--- /dev/null
+++ b/src/telegps-v2.0/Makefile
@@ -0,0 +1,89 @@
+#
+# AltOS build
+#
+#
+
+include ../stmf0/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_pins.h \
+	ao_product.h \
+	ao_tracker.h \
+	ao_task.h \
+	ao_cc1200.h \
+	ao_fec.h \
+	stm32f0.h \
+	Makefile
+
+
+ALTOS_SRC = \
+	ao_adc_stm.c \
+	ao_led.c \
+	ao_interrupt.c \
+	ao_boot_chain.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_task.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_freq.c \
+	ao_dma_stm.c \
+	ao_spi_stm.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_serial_stm.c \
+	ao_gps_ublox.c \
+	ao_gps_show.c \
+	ao_cc1200.c \
+	ao_aprs.c \
+	ao_tracker.c \
+	ao_telemetry.c \
+	ao_storage.c \
+	ao_m25.c \
+	ao_log.c \
+	ao_log_gps.c \
+	ao_distance.c \
+	ao_sqrt.c \
+	ao_data.c \
+	ao_convert_volt.c \
+	$(SAMPLE_PROFILE)
+
+PRODUCT=TeleGPS-v2.0
+PRODUCT_DEF=-DTELEGPS
+IDPRODUCT=0x0025
+
+CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) $(PROFILE_DEF) -g -Os
+
+PROGNAME=telegps-v2.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_telegps.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+	$(call quiet,CC) $(LDFLAGS) -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 ao_serial_stm.h $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/telegps-v2.0/ao_pins.h b/src/telegps-v2.0/ao_pins.h
new file mode 100644
index 00000000..c51f0afb
--- /dev/null
+++ b/src/telegps-v2.0/ao_pins.h
@@ -0,0 +1,164 @@
+/*
+ * 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 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 LEDS_AVAILABLE  (AO_LED_RED)
+
+#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_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 = 48MHz */
+#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
+
+#define IS_FLASH_LOADER 0
+
+/* 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_RCC_AHBENR       ((1 << STM_RCC_AHBENR_IOPAEN))
+
+#define AO_NUM_ADC              1
+
+#define AO_DATA_RING		4
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	56	/* 5.6k */
+#define AO_BATTERY_DIV_MINUS	100	/* 10k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
+
+struct ao_adc {
+        int16_t                 v_batt;
+};
+
+#define AO_ADC_DUMP(p) \
+        printf("tick: %5u batt: %5d\n", \
+               (p)->tick, \
+               (p)->adc.v_batt)
+
+/* SPI */
+#define HAS_SPI_1               1
+#define HAS_SPI_2               0
+#define SPI_1_PA5_PA6_PA7       1
+#define SPI_1_PB3_PB4_PB5       0
+#define SPI_1_OSPEEDR           STM_OSPEEDR_HIGH
+
+#define HAS_MS5607              0
+
+/* Flash */
+
+#define M25_MAX_CHIPS           1
+#define AO_M25_SPI_CS_PORT      (&stm_gpiob)
+#define AO_M25_SPI_CS_MASK      (1 << 0)
+#define AO_M25_SPI_BUS          AO_SPI_1_PA5_PA6_PA7
+
+#define HAS_SERIAL_1		1
+#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_EEPROM		1
+#define USE_INTERNAL_FLASH	0
+#define HAS_RADIO		1
+#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
+#define HAS_LOG			1
+#define FLIGHT_LOG_APPEND	1
+#define HAS_TRACKER		1
+#define LOG_ADC			0
+
+#define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
+#define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
+
+/*
+ * GPS
+ */
+
+#define AO_SERIAL_SPEED_UBLOX	AO_SERIAL_SPEED_9600
+
+
+/*
+ * Radio (cc1120)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT    5695733
+
+#define AO_FEC_DEBUG            0
+#define AO_CC1200_SPI_CS_PORT   (&stm_gpioa)
+#define AO_CC1200_SPI_CS_PIN    5
+#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_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
new file mode 100644
index 00000000..7a923d11
--- /dev/null
+++ b/src/telegps-v2.0/ao_telegps.c
@@ -0,0 +1,68 @@
+/*
+ * 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.
+ */
+
+#include <ao.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_tracker.h>
+
+int
+main(void)
+{
+	ao_clock_init();
+
+#if HAS_STACK_GUARD
+	ao_mpu_init();
+#endif
+
+	ao_task_init();
+	ao_timer_init();
+
+	ao_spi_init();
+	ao_exti_init();
+
+	ao_storage_init();
+
+	ao_serial_init();
+
+	ao_cmd_init();
+
+	ao_usb_init();
+	ao_radio_init();
+
+#if HAS_ADC
+	ao_adc_init();
+#endif
+
+	ao_gps_init();
+#if HAS_LOG
+	ao_log_init();
+#endif
+
+	ao_tracker_init();
+
+	ao_telemetry_init();
+
+#if HAS_SAMPLE_PROFILE
+	ao_sample_profile_init();
+#endif
+	ao_config_init();
+
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/telegps-v2.0/flash-loader/Makefile b/src/telegps-v2.0/flash-loader/Makefile
new file mode 100644
index 00000000..c0659698
--- /dev/null
+++ b/src/telegps-v2.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telegps-v2.0
+include $(TOPDIR)/stmf0/Makefile-flash.defs
diff --git a/src/telegps-v2.0/flash-loader/ao_pins.h b/src/telegps-v2.0/flash-loader/ao_pins.h
new file mode 100644
index 00000000..a83dbaa2
--- /dev/null
+++ b/src/telegps-v2.0/flash-loader/ao_pins.h
@@ -0,0 +1,36 @@
+/*
+ * 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_
+
+#include <ao_flash_stm_pins.h>
+
+/* Pin 5 on debug connector */
+
+#define AO_BOOT_PIN		1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpioa
+#define AO_BOOT_APPLICATION_PIN		15
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
+
+#define HAS_USB			1
+#define AO_USB_DIRECTIO		0
+#define AO_PA11_PA12_RMP	1
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telelco-v0.3/ao_pins.h b/src/telelco-v0.3/ao_pins.h
index d874a19b..dd4aaafb 100644
--- a/src/telelco-v0.3/ao_pins.h
+++ b/src/telelco-v0.3/ao_pins.h
@@ -89,6 +89,7 @@
 #define AO_CC1200_SPI_CS_PIN	0
 #define AO_CC1200_SPI_BUS	AO_SPI_2_PD1_PD3_PD4
 #define AO_CC1200_SPI		stm_spi2
+#define AO_CC1200_SPI_SPEED	AO_SPI_SPEED_FAST
 
 #define AO_CC1200_INT_PORT		(&stm_gpioc)
 #define AO_CC1200_INT_PIN		(15)
diff --git a/src/telelcotwo-v0.1/ao_pins.h b/src/telelcotwo-v0.1/ao_pins.h
index 714a5c3a..60e94c67 100644
--- a/src/telelcotwo-v0.1/ao_pins.h
+++ b/src/telelcotwo-v0.1/ao_pins.h
@@ -91,6 +91,7 @@
 #define AO_CC1200_SPI_CS_PIN	7
 #define AO_CC1200_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
 #define AO_CC1200_SPI		stm_spi2
+#define AO_CC1200_SPI_SPEED	AO_SPI_SPEED_FAST
 
 #define AO_CC1200_INT_PORT		(&stm_gpiob)
 #define AO_CC1200_INT_PIN		(11)
diff --git a/src/telemega-v2.0/ao_pins.h b/src/telemega-v2.0/ao_pins.h
index b1c472da..c7c8ad19 100644
--- a/src/telemega-v2.0/ao_pins.h
+++ b/src/telemega-v2.0/ao_pins.h
@@ -309,6 +309,7 @@ struct ao_adc {
 #define AO_CC1200_SPI_CS_PIN	5
 #define AO_CC1200_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
 #define AO_CC1200_SPI		stm_spi2
+#define AO_CC1200_SPI_SPEED	AO_SPI_SPEED_FAST
 
 #define AO_CC1200_INT_PORT		(&stm_gpioe)
 #define AO_CC1200_INT_PIN		1
diff --git a/src/telemetrum-v3.0/ao_pins.h b/src/telemetrum-v3.0/ao_pins.h
index ccf2f18f..b937b422 100644
--- a/src/telemetrum-v3.0/ao_pins.h
+++ b/src/telemetrum-v3.0/ao_pins.h
@@ -259,6 +259,7 @@ struct ao_adc {
 #define AO_CC1200_SPI_CS_PIN	2
 #define AO_CC1200_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
 #define AO_CC1200_SPI		stm_spi2
+#define AO_CC1200_SPI_SPEED	AO_SPI_SPEED_FAST
 
 #define AO_CC1200_INT_PORT		(&stm_gpioa)
 #define AO_CC1200_INT_PIN		(3)
diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h
index 4f1d36df..d2aa4c2d 100644
--- a/src/telemini-v2.0/ao_pins.h
+++ b/src/telemini-v2.0/ao_pins.h
@@ -115,8 +115,8 @@
 #define AO_IGNITER_FIRE_TIME	AO_MS_TO_TICKS(50)
 #define AO_IGNITER_CHARGE_TIME	AO_MS_TO_TICKS(2000)
 
-#define AO_SEND_MINI
-#define AO_LOG_FORMAT		AO_LOG_FORMAT_TELEMINI
+#define AO_SEND_MINI		AO_TELEMETRY_MINI2
+#define AO_LOG_FORMAT		AO_LOG_FORMAT_TELEMINI2
 
 /*
  * ADC
diff --git a/src/telemini-v3.0/Makefile b/src/telemini-v3.0/Makefile
new file mode 100644
index 00000000..4713b3ad
--- /dev/null
+++ b/src/telemini-v3.0/Makefile
@@ -0,0 +1,93 @@
+#
+# AltOS build
+#
+#
+
+include ../stmf0/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_pins.h \
+	ao_product.h \
+	ao_cc1200.h \
+	ao_cc1200_CC1200.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_freq.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_cc1200.c \
+	ao_telemetry.c \
+	ao_packet_slave.c \
+	ao_beep_stm.c \
+	ao_packet.c
+
+PRODUCT=TeleMini-v3.0
+PRODUCT_DEF=-DTELEMINI_V_3_0
+IDPRODUCT=0x0027
+
+CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -g -Os
+
+PROGNAME=telemini-v3.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_telemini.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)
+
+load: $(PROG)
+	lpc-load $(PROG)
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/telemini-v3.0/ao_pins.h b/src/telemini-v3.0/ao_pins.h
new file mode 100644
index 00000000..351d28d8
--- /dev/null
+++ b/src/telemini-v3.0/ao_pins.h
@@ -0,0 +1,188 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#define HAS_BEEP		1
+#define HAS_SERIAL_1		0
+#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 PACKET_HAS_SLAVE	1
+
+#define AO_LOG_FORMAT		AO_LOG_FORMAT_TELEMINI3
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	((uint32_t) 112 * (uint32_t) 1024)
+
+#define HAS_BOOT_RADIO		0
+
+#define HAS_ACCEL		0
+#define HAS_GPS			0
+#define HAS_RADIO		1
+#define HAS_RADIO_RATE		1
+#define HAS_FLIGHT		1
+#define HAS_EEPROM		1
+#define HAS_TELEMETRY		1
+#define AO_SEND_MINI		AO_TELEMETRY_MINI3
+#define HAS_APRS		0
+#define HAS_LOG			1
+#define USE_INTERNAL_FLASH	0
+#define HAS_IGNITE		1
+#define HAS_IGNITE_REPORT	1
+#define AO_SMALL_ALTITUDE_TABLE	1
+
+/* Beeper is on Tim1 CH3 */
+#define BEEPER_CHANNEL		4
+#define BEEPER_TIMER		2
+#define BEEPER_PORT		(&stm_gpioa)
+#define BEEPER_PIN		3
+
+/* 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 << 4)
+#define AO_M25_SPI_BUS		AO_SPI_1_PA5_PA6_PA7
+
+/* 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	15
+#define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS_PIN)
+#define AO_MS5607_MISO_PORT	(&stm_gpiob)
+#define AO_MS5607_MISO_PIN	4
+#define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO_PIN)
+#define AO_MS5607_SPI_INDEX	AO_SPI_1_PB3_PB4_PB5
+#define AO_MS5607_SPI_SPEED	AO_SPI_SPEED_12MHz
+
+/* CC1200 */
+
+// #define AO_RADIO_CAL_DEFAULT 	5695733
+#define AO_RADIO_CAL_DEFAULT 	5695717
+
+#define AO_FEC_DEBUG		0
+#define CC1200_DEBUG		0
+#define AO_CC1200_SPI_CS_PORT	(&stm_gpiob)
+#define AO_CC1200_SPI_CS_PIN	0
+#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_12MHz
+
+#define AO_CC1200_INT_PORT		(&stm_gpiob)
+#define AO_CC1200_INT_PIN		1
+
+#define AO_CC1200_INT_GPIO	2
+#define AO_CC1200_INT_GPIO_IOCFG	CC1200_IOCFG2
+
+
+#define AO_DATA_RING		16
+
+/*
+ * 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	7
+#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	6
+#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	56	/* 5.6k */
+#define AO_BATTERY_DIV_MINUS	100	/* 10k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS	100	/* 100k */
+#define AO_IGNITE_DIV_MINUS	27	/* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
diff --git a/src/telemini-v3.0/ao_telemini.c b/src/telemini-v3.0/ao_telemini.c
new file mode 100644
index 00000000..82c1acd4
--- /dev/null
+++ b/src/telemini-v3.0/ao_telemini.c
@@ -0,0 +1,58 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_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_SERIAL_1
+	ao_serial_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_telemetry_init();
+	ao_radio_init();
+	ao_packet_slave_init(TRUE);
+	ao_igniter_init();
+	ao_config_init();
+
+	ao_start_scheduler();
+}
diff --git a/src/telemini-v3.0/flash-loader/Makefile b/src/telemini-v3.0/flash-loader/Makefile
new file mode 100644
index 00000000..8b628552
--- /dev/null
+++ b/src/telemini-v3.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telemini-v3.0
+include $(TOPDIR)/stmf0/Makefile-flash.defs
diff --git a/src/telemini-v3.0/flash-loader/ao_pins.h b/src/telemini-v3.0/flash-loader/ao_pins.h
new file mode 100644
index 00000000..fea9a645
--- /dev/null
+++ b/src/telemini-v3.0/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>
+
+/* beeper to 3.3V 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
+
+/* USB */
+#define HAS_USB			1
+#define AO_USB_DIRECTIO		0
+#define AO_PA11_PA12_RMP	1
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/test/Makefile b/src/test/Makefile
index 02e1d22b..a22abe46 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,16 +1,16 @@
-vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product
+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_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_ms5607_convert_test ao_quaternion_test ao_lisp_test
 
 INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h ao_quaternion.h
 
 KALMAN=make-kalman 
 
-CFLAGS=-I.. -I. -I../kernel -I../drivers -I../micropeak -I../product -O0 -g -Wall
+CFLAGS=-I.. -I. -I../kernel -I../drivers -I../micropeak -I../product -I../lisp -O0 -g -Wall -DAO_LISP_TEST -no-pie
 
 all: $(PROGS) ao_aprs_data.wav
 
@@ -88,3 +88,12 @@ ao_ms5607_convert_test: ao_ms5607_convert_test.c ao_ms5607_convert_8051.c ao_int
 ao_quaternion_test: ao_quaternion_test.c ao_quaternion.h
 	cc $(CFLAGS) -o $@ ao_quaternion_test.c -lm
 
+AO_LISP_OBJS = ao_lisp_test.o ao_lisp_mem.o  ao_lisp_cons.o ao_lisp_string.o \
+	ao_lisp_atom.o ao_lisp_int.o ao_lisp_eval.o ao_lisp_poly.o \
+	ao_lisp_builtin.o ao_lisp_read.o ao_lisp_rep.o ao_lisp_frame.o \
+	ao_lisp_lambda.o ao_lisp_error.o ao_lisp_save.o ao_lisp_stack.o
+
+ao_lisp_test: $(AO_LISP_OBJS)
+	cc $(CFLAGS) -o $@ $(AO_LISP_OBJS)
+
+$(AO_LISP_OBJS): ao_lisp.h ao_lisp_const.h ao_lisp_os.h
diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c
index 3852668a..941bf954 100644
--- a/src/test/ao_aprs_test.c
+++ b/src/test/ao_aprs_test.c
@@ -60,6 +60,20 @@ ao_aprs_bit(uint8_t bit)
 void
 ao_radio_send_aprs(ao_radio_fill_func fill);
 
+static void
+aprs_bit_debug(uint8_t tx_bit)
+{
+	fprintf (stderr, "bit %d\n", tx_bit);
+}
+
+static void
+aprs_byte_debug(uint8_t tx_byte)
+{
+	fprintf(stderr, "byte %02x\n", tx_byte);
+}
+#define APRS_BIT_DEBUG(x) aprs_bit_debug(x)
+#define APRS_BYTE_DEBUG(y) aprs_byte_debug(y)
+
 #include <ao_aprs.c>
 
 /*
@@ -103,7 +117,7 @@ audio_gap(int secs)
 // This is where we go after reset.
 int main(int argc, char **argv)
 {
-    audio_gap(1);
+//    audio_gap(1);
 
     ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000;
     ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000;
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index bd7f2ff8..25ddb48f 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -58,6 +58,7 @@ int ao_gps_new;
 #define HAS_HMC5883 		1
 #define HAS_BEEP		1
 #define AO_CONFIG_MAX_SIZE	1024
+#define AO_MMA655X_INVERT	0
 
 struct ao_adc {
 	int16_t			sense[AO_ADC_NUM_SENSE];
@@ -71,6 +72,7 @@ struct ao_adc {
 #define AO_ADC_NUM_SENSE	2
 #define HAS_MS5607		1
 #define HAS_MMA655X		1
+#define AO_MMA655X_INVERT	1
 #define HAS_BEEP		1
 #define AO_CONFIG_MAX_SIZE	1024
 
@@ -373,6 +375,8 @@ uint16_t	prev_tick;
 #define AO_PYRO_2	2
 #define AO_PYRO_3	3
 
+#define PYRO_DBG	1
+
 static void
 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 {
diff --git a/src/test/ao_lisp_os.h b/src/test/ao_lisp_os.h
new file mode 100644
index 00000000..9ff2e1fe
--- /dev/null
+++ b/src/test/ao_lisp_os.h
@@ -0,0 +1,59 @@
+/*
+ * 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 <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+
+#define AO_LISP_POOL_TOTAL	3072
+#define AO_LISP_SAVE		1
+#define DBG_MEM_STATS		1
+
+extern int ao_lisp_getc(void);
+
+static inline void
+ao_lisp_os_flush() {
+	fflush(stdout);
+}
+
+static inline void
+ao_lisp_abort(void)
+{
+	abort();
+}
+
+static inline void
+ao_lisp_os_led(int led)
+{
+	printf("leds set to 0x%x\n", led);
+}
+
+static inline void
+ao_lisp_os_delay(int delay)
+{
+	if (!delay)
+		return;
+	struct timespec ts = {
+		.tv_sec = delay / 1000,
+		.tv_nsec = (delay % 1000) * 1000000,
+	};
+	nanosleep(&ts, NULL);
+}
+#endif
diff --git a/src/test/ao_lisp_test.c b/src/test/ao_lisp_test.c
new file mode 100644
index 00000000..68e3a202
--- /dev/null
+++ b/src/test/ao_lisp_test.c
@@ -0,0 +1,134 @@
+/*
+ * 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_lisp.h"
+#include <stdio.h>
+
+static FILE *ao_lisp_file;
+static int newline = 1;
+
+static char save_file[] = "lisp.image";
+
+int
+ao_lisp_os_save(void)
+{
+	FILE	*save = fopen(save_file, "w");
+
+	if (!save) {
+		perror(save_file);
+		return 0;
+	}
+	fwrite(ao_lisp_pool, 1, AO_LISP_POOL_TOTAL, save);
+	fclose(save);
+	return 1;
+}
+
+int
+ao_lisp_os_restore_save(struct ao_lisp_os_save *save, int offset)
+{
+	FILE	*restore = fopen(save_file, "r");
+	size_t	ret;
+
+	if (!restore) {
+		perror(save_file);
+		return 0;
+	}
+	fseek(restore, offset, SEEK_SET);
+	ret = fread(save, sizeof (struct ao_lisp_os_save), 1, restore);
+	fclose(restore);
+	if (ret != 1)
+		return 0;
+	return 1;
+}
+
+int
+ao_lisp_os_restore(void)
+{
+	FILE	*restore = fopen(save_file, "r");
+	size_t	ret;
+
+	if (!restore) {
+		perror(save_file);
+		return 0;
+	}
+	ret = fread(ao_lisp_pool, 1, AO_LISP_POOL_TOTAL, restore);
+	fclose(restore);
+	if (ret != AO_LISP_POOL_TOTAL)
+		return 0;
+	return 1;
+}
+
+int
+ao_lisp_getc(void)
+{
+	int c;
+
+	if (ao_lisp_file)
+		return getc(ao_lisp_file);
+
+	if (newline) {
+		printf("> ");
+		newline = 0;
+	}
+	c = getchar();
+	if (c == '\n')
+		newline = 1;
+	return c;
+}
+
+int
+main (int argc, char **argv)
+{
+	while (*++argv) {
+		ao_lisp_file = fopen(*argv, "r");
+		if (!ao_lisp_file) {
+			perror(*argv);
+			exit(1);
+		}
+		ao_lisp_read_eval_print();
+		fclose(ao_lisp_file);
+		ao_lisp_file = NULL;
+	}
+	ao_lisp_read_eval_print();
+
+	printf ("collects: full: %d incremental %d\n",
+		ao_lisp_collects[AO_LISP_COLLECT_FULL],
+		ao_lisp_collects[AO_LISP_COLLECT_INCREMENTAL]);
+
+	printf ("freed: full %d incremental %d\n",
+		ao_lisp_freed[AO_LISP_COLLECT_FULL],
+		ao_lisp_freed[AO_LISP_COLLECT_INCREMENTAL]);
+
+	printf("loops: full %d incremental %d\n",
+		ao_lisp_loops[AO_LISP_COLLECT_FULL],
+		ao_lisp_loops[AO_LISP_COLLECT_INCREMENTAL]);
+
+	printf("loops per collect: full %f incremental %f\n",
+	       (double) ao_lisp_loops[AO_LISP_COLLECT_FULL] /
+	       (double) ao_lisp_collects[AO_LISP_COLLECT_FULL],
+	       (double) ao_lisp_loops[AO_LISP_COLLECT_INCREMENTAL] /
+	       (double) ao_lisp_collects[AO_LISP_COLLECT_INCREMENTAL]);
+
+	printf("freed per collect: full %f incremental %f\n",
+	       (double) ao_lisp_freed[AO_LISP_COLLECT_FULL] /
+	       (double) ao_lisp_collects[AO_LISP_COLLECT_FULL],
+	       (double) ao_lisp_freed[AO_LISP_COLLECT_INCREMENTAL] /
+	       (double) ao_lisp_collects[AO_LISP_COLLECT_INCREMENTAL]);
+
+	printf("freed per loop: full %f incremental %f\n",
+	       (double) ao_lisp_freed[AO_LISP_COLLECT_FULL] /
+	       (double) ao_lisp_loops[AO_LISP_COLLECT_FULL],
+	       (double) ao_lisp_freed[AO_LISP_COLLECT_INCREMENTAL] /
+	       (double) ao_lisp_loops[AO_LISP_COLLECT_INCREMENTAL]);
+}
diff --git a/src/test/hanoi.lisp b/src/test/hanoi.lisp
new file mode 100644
index 00000000..e2eb0fa0
--- /dev/null
+++ b/src/test/hanoi.lisp
@@ -0,0 +1,155 @@
+;
+; Towers of Hanoi
+;
+; 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.
+;
+
+					; ANSI control sequences
+
+(defun move-to (col row)
+  (patom "\033[" row ";" col "H")
+  )
+
+(defun clear ()
+  (patom "\033[2J")
+  )
+
+(defun display-string (x y str)
+  (move-to x y)
+  (patom str)
+  )
+
+					; Here's the pieces to display
+
+(setq stack '("     *     " "    ***    " "   *****   " "  *******  " " ********* " "***********"))
+
+					; Here's all of the stacks of pieces
+					; This is generated when the program is run
+
+(setq stacks nil)
+
+					; Display one stack, clearing any
+					; space above it
+
+(defun display-stack (x y clear stack)
+  (cond ((= 0 clear)
+	 (cond (stack 
+		(display-string x y (car stack))
+		(display-stack x (1+ y) 0 (cdr stack))
+		)
+	       )
+	 )
+	(t 
+	 (display-string x y "                   ")
+	 (display-stack x (1+ y) (1- clear) stack)
+	 )
+	)
+  )
+
+					; Position of the top of the stack on the screen
+					; Shorter stacks start further down the screen
+
+(defun stack-pos (y stack)
+  (- y (length stack))
+  )
+
+					; Display all of the stacks, spaced 20 columns apart
+
+(defun display-stacks (x y stacks)
+  (cond (stacks
+	 (display-stack x 0 (stack-pos y (car stacks)) (car stacks))
+	 (display-stacks (+ x 20) y (cdr stacks)))
+	)
+  )
+
+					; Display all of the stacks, then move the cursor
+					; out of the way and flush the output
+
+(defun display ()
+  (display-stacks 0 top stacks)
+  (move-to 1 21)
+  (flush)
+  )
+
+					; Reset stacks to the starting state, with
+					; all of the pieces in the first stack and the
+					; other two empty
+
+(defun reset-stacks ()
+  (setq stacks (list stack nil nil))
+  (setq top (+ (length stack) 3))
+  (length stack)
+  )
+
+					; more functions which could usefully
+					; be in the rom image
+
+(defun min (a b)
+  (cond ((< a b) a)
+	(b)
+	)
+  )
+
+					; Replace a stack in the list of stacks
+					; with a new value
+
+(defun replace (list pos member)
+  (cond ((= pos 0) (cons member (cdr list)))
+	((cons (car list) (replace (cdr list) (1- pos) member)))
+	)
+  )
+
+					; Move a piece from the top of one stack
+					; to the top of another
+
+(setq move-delay 100)
+
+(defun move-piece (from to)
+  (let ((from-stack (nth stacks from))
+	(to-stack (nth stacks to))
+	(piece (car from-stack)))
+    (setq from-stack (cdr from-stack))
+    (setq to-stack (cons piece to-stack))
+    (setq stacks (replace stacks from from-stack))
+    (setq stacks (replace stacks to to-stack))
+    (display)
+    (delay move-delay)
+    )
+  )
+
+; The implementation of the game
+
+(defun _hanoi (n from to use)
+  (cond ((= 1 n)
+	 (move-piece from to)
+	 )
+	(t
+	 (_hanoi (1- n) from use to)
+	 (_hanoi 1 from to use)
+	 (_hanoi (1- n) use to from)
+	 )
+	)
+  )
+
+					; A pretty interface which
+					; resets the state of the game,
+					; clears the screen and runs
+					; the program
+
+(defun hanoi ()
+  (setq len (reset-stacks))
+  (clear)
+  (_hanoi len 0 1 2)
+  (move-to 0 23)
+  t
+  )