altos: Add TeleMega v0.3 support

Includes adding SPI support to the MPU6000 driver

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

4 files changed, 607 insertions, 9 deletions

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 6d47482c..c65aecbc 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -22,47 +22,71 @@
 static uint8_t	ao_mpu6000_wake;
 static uint8_t	ao_mpu6000_configured;
 
-static void
-ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len)
-{
-	ao_i2c_get(AO_MPU6000_I2C_INDEX);
-	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
-	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
-	ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX, TRUE);
-	ao_i2c_put(AO_MPU6000_I2C_INDEX);
-}
+#define ao_mpu6000_spi_get() 	ao_spi_get_bit(AO_MPU6000_SPI_CS_PORT,	\
+					       AO_MPU6000_SPI_CS_PIN,	\
+					       AO_MPU6000_SPI_CS,	\
+					       AO_MPU6000_SPI_BUS,	\
+					       AO_SPI_SPEED_1MHz)
+
+#define ao_mpu6000_spi_put() 	ao_spi_put_bit(AO_MPU6000_SPI_CS_PORT,	\
+					       AO_MPU6000_SPI_CS_PIN,	\
+					       AO_MPU6000_SPI_CS,	\
+					       AO_MPU6000_SPI_BUS)
+
 
 static void
 ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
 {
 	uint8_t	d[2] = { addr, value };
+#ifdef AO_MPU6000_I2C_INDEX
 	ao_i2c_get(AO_MPU6000_I2C_INDEX);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
 	ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
 	ao_i2c_put(AO_MPU6000_I2C_INDEX);
+#else
+	ao_mpu6000_spi_get();
+	ao_spi_send(d, 2, AO_MPU6000_SPI_BUS);
+	ao_mpu6000_spi_put();
+#endif
 }
 
 static void
 ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
 {
+#ifdef AO_MPU6000_I2C_INDEX
 	ao_i2c_get(AO_MPU6000_I2C_INDEX);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
 	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
 	ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
 	ao_i2c_put(AO_MPU6000_I2C_INDEX);
+#else
+	addr |= 0x80;
+	ao_mpu6000_spi_get();
+	ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
+	ao_spi_recv(data, len, AO_MPU6000_SPI_BUS);
+	ao_mpu6000_spi_put();
+#endif
 }
 
 static uint8_t
 ao_mpu6000_reg_read(uint8_t addr)
 {
 	uint8_t	value;
+#ifdef AO_MPU6000_I2C_INDEX
 	ao_i2c_get(AO_MPU6000_I2C_INDEX);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
 	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
 	ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
 	ao_i2c_put(AO_MPU6000_I2C_INDEX);
+#else
+	addr |= 0x80;
+	ao_mpu6000_spi_get();
+	ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
+	ao_spi_recv(&value, 1, AO_MPU6000_SPI_BUS);
+	ao_mpu6000_spi_put();
+#endif
 	return value;
 }
 
diff --git a/src/telemega-v0.3/Makefile b/src/telemega-v0.3/Makefile
new file mode 100644
index 00000000..142f8957
--- /dev/null
+++ b/src/telemega-v0.3/Makefile
@@ -0,0 +1,131 @@
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_companion.h \
+	ao_data.h \
+	ao_sample.h \
+	ao_pins.h \
+	altitude-pa.h \
+	ao_kalman.h \
+	ao_product.h \
+	ao_ms5607.h \
+	ao_hmc5883.h \
+	ao_mpu6000.h \
+	ao_mma655x.h \
+	ao_cc1120_CC1120.h \
+	ao_profile.h \
+	ao_task.h \
+	ao_whiten.h \
+	ao_sample_profile.h \
+	ao_mpu.h \
+	stm32l.h \
+	Makefile
+
+#
+# Common AltOS sources
+#
+#	ao_hmc5883.c
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+#	ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+ALTOS_SRC = \
+	ao_interrupt.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_task.c \
+	ao_led.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_serial_stm.c \
+	ao_gps_skytraq.c \
+	ao_gps_report_mega.c \
+	ao_ignite.c \
+	ao_freq.c \
+	ao_dma_stm.c \
+	ao_spi_stm.c \
+	ao_cc1120.c \
+	ao_fec_tx.c \
+	ao_fec_rx.c \
+	ao_data.c \
+	ao_ms5607.c \
+	ao_mma655x.c \
+	ao_hmc5883.c \
+	ao_adc_stm.c \
+	ao_beep_stm.c \
+	ao_storage.c \
+	ao_m25.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_report.c \
+	ao_i2c_stm.c \
+	ao_mpu6000.c \
+	ao_convert_pa.c \
+	ao_log.c \
+	ao_log_mega.c \
+	ao_sample.c \
+	ao_kalman.c \
+	ao_flight.c \
+	ao_telemetry.c \
+	ao_packet_slave.c \
+	ao_packet.c \
+	ao_companion.c \
+	ao_pyro.c \
+	ao_aprs.c \
+	$(PROFILE) \
+	$(SAMPLE_PROFILE) \
+	$(STACK_GUARD)
+
+PRODUCT=TeleMega-v0.3
+PRODUCT_DEF=-DTELEMEGA
+IDPRODUCT=0x0023
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=telemega-v0.1
+PROG=$(PROGNAME)-$(VERSION).elf
+
+SRC=$(ALTOS_SRC) ao_telemega.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG)
+
+$(PROG): Makefile $(OBJ) altos.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc
+
+../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
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/telemega-v0.3/ao_pins.h b/src/telemega-v0.3/ao_pins.h
new file mode 100644
index 00000000..578b1e4c
--- /dev/null
+++ b/src/telemega-v0.3/ao_pins.h
@@ -0,0 +1,343 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE		1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE			8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL		12
+#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV		3
+#define AO_RCC_CFGR_PLLDIV	(STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER	1
+#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER	2
+#define AO_RCC_CFGR_PPRE1_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER	2
+#define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1		1
+#define USE_SERIAL_1_STDIN	0
+#define SERIAL_1_PB6_PB7	0
+#define SERIAL_1_PA9_PA10	1
+
+#define HAS_SERIAL_2		0
+#define USE_SERIAL_2_STDIN	0
+#define SERIAL_2_PA2_PA3	0
+#define SERIAL_2_PD5_PD6	0
+
+#define HAS_SERIAL_3		1
+#define USE_SERIAL_3_STDIN	0
+#define SERIAL_3_PB10_PB11	0
+#define SERIAL_3_PC10_PC11	1
+#define SERIAL_3_PD8_PD9	0
+
+#define ao_gps_getchar		ao_serial3_getchar
+#define ao_gps_putchar		ao_serial3_putchar
+#define ao_gps_set_speed	ao_serial3_set_speed
+#define ao_gps_fifo		(ao_stm_usart3.rx_fifo)
+
+#define HAS_EEPROM		1
+#define USE_INTERNAL_FLASH	0
+#define HAS_USB			1
+#define HAS_BEEP		1
+#define HAS_RADIO		1
+#define HAS_TELEMETRY		1
+#define HAS_APRS		1
+
+#define HAS_SPI_1		1
+#define SPI_1_PA5_PA6_PA7	1	/* Barometer */
+#define SPI_1_PB3_PB4_PB5	0
+#define SPI_1_PE13_PE14_PE15	1	/* Accelerometer, Gyro */
+#define SPI_1_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2		1
+#define SPI_2_PB13_PB14_PB15	1	/* Flash, Companion */
+#define SPI_2_PD1_PD3_PD4	0
+#define SPI_2_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define SPI_2_PORT		(&stm_gpiob)
+#define SPI_2_SCK_PIN		13
+#define SPI_2_MISO_PIN		14
+#define SPI_2_MOSI_PIN		15
+
+#define HAS_I2C_1		1
+#define I2C_1_PB8_PB9		1
+
+#define HAS_I2C_2		0
+#define I2C_2_PB10_PB11		0
+
+#define PACKET_HAS_SLAVE	1
+#define PACKET_HAS_MASTER	0
+
+#define LOW_LEVEL_DEBUG		0
+
+#define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT		(&stm_gpioc)
+#define LED_PIN_RED		8
+#define LED_PIN_GREEN		9
+#define AO_LED_RED		(1 << LED_PIN_RED)
+#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE		(AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS			1
+#define HAS_FLIGHT		1
+#define HAS_ADC			1
+#define HAS_LOG			1
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE		1
+#define HAS_IGNITE_REPORT	1
+
+#define AO_SENSE_DROGUE(p)	((p)->adc.sense[0])
+#define AO_SENSE_MAIN(p)	((p)->adc.sense[1])
+#define AO_IGNITER_CLOSED	400
+#define AO_IGNITER_OPEN		60
+
+#define AO_IGNITER_DROGUE_PORT	(&stm_gpiod)
+#define AO_IGNITER_DROGUE_PIN	6
+
+#define AO_IGNITER_MAIN_PORT	(&stm_gpiod)
+#define AO_IGNITER_MAIN_PIN	7
+
+#define AO_PYRO_PORT_0	(&stm_gpiob)
+#define AO_PYRO_PIN_0	5
+
+#define AO_PYRO_PORT_1	(&stm_gpioe)
+#define AO_PYRO_PIN_1	4
+
+#define AO_PYRO_PORT_2	(&stm_gpioe)
+#define AO_PYRO_PIN_2	6
+
+#define AO_PYRO_PORT_3	(&stm_gpioe)
+#define AO_PYRO_PIN_3	5
+
+/* Number of general purpose pyro channels available */
+#define AO_PYRO_NUM	4
+
+#define AO_IGNITER_SET_DROGUE(v)	stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
+#define AO_IGNITER_SET_MAIN(v)		stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING		32
+#define AO_ADC_NUM_SENSE	6
+
+struct ao_adc {
+	int16_t			sense[AO_ADC_NUM_SENSE];
+	int16_t			v_batt;
+	int16_t			v_pbatt;
+	int16_t			temp;
+};
+
+#define AO_ADC_SENSE_A		0
+#define AO_ADC_SENSE_A_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_A_PIN	0
+
+#define AO_ADC_SENSE_B		1
+#define AO_ADC_SENSE_B_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_B_PIN	1
+
+#define AO_ADC_SENSE_C		2
+#define AO_ADC_SENSE_C_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_C_PIN	2
+
+#define AO_ADC_SENSE_D		3
+#define AO_ADC_SENSE_D_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_D_PIN	3
+
+#define AO_ADC_SENSE_E		4
+#define AO_ADC_SENSE_E_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_E_PIN	4
+
+#define AO_ADC_SENSE_F		22
+#define AO_ADC_SENSE_F_PORT	(&stm_gpioe)
+#define AO_ADC_SENSE_F_PIN	7
+
+#define AO_ADC_V_BATT		8
+#define AO_ADC_V_BATT_PORT	(&stm_gpiob)
+#define AO_ADC_V_BATT_PIN	0
+
+#define AO_ADC_V_PBATT		9
+#define AO_ADC_V_PBATT_PORT	(&stm_gpiob)
+#define AO_ADC_V_PBATT_PIN	1
+
+#define AO_ADC_TEMP		16
+
+#define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_GPIOAEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOEEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN		(AO_ADC_NUM_SENSE + 2)
+
+#define AO_ADC_PIN0_PORT	AO_ADC_SENSE_A_PORT
+#define AO_ADC_PIN0_PIN		AO_ADC_SENSE_A_PIN
+#define AO_ADC_PIN1_PORT	AO_ADC_SENSE_B_PORT
+#define AO_ADC_PIN1_PIN		AO_ADC_SENSE_B_PIN
+#define AO_ADC_PIN2_PORT	AO_ADC_SENSE_C_PORT
+#define AO_ADC_PIN2_PIN		AO_ADC_SENSE_C_PIN
+#define AO_ADC_PIN3_PORT	AO_ADC_SENSE_D_PORT
+#define AO_ADC_PIN3_PIN		AO_ADC_SENSE_D_PIN
+#define AO_ADC_PIN4_PORT	AO_ADC_SENSE_E_PORT
+#define AO_ADC_PIN4_PIN		AO_ADC_SENSE_E_PIN
+#define AO_ADC_PIN5_PORT	AO_ADC_SENSE_F_PORT
+#define AO_ADC_PIN5_PIN		AO_ADC_SENSE_F_PIN
+#define AO_ADC_PIN6_PORT	AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN6_PIN		AO_ADC_V_BATT_PIN
+#define AO_ADC_PIN7_PORT	AO_ADC_V_PBATT_PORT
+#define AO_ADC_PIN7_PIN		AO_ADC_V_PBATT_PIN
+
+#define AO_NUM_ADC	       	(AO_ADC_NUM_SENSE + 3)
+
+#define AO_ADC_SQ1		AO_ADC_SENSE_A
+#define AO_ADC_SQ2		AO_ADC_SENSE_B
+#define AO_ADC_SQ3		AO_ADC_SENSE_C
+#define AO_ADC_SQ4		AO_ADC_SENSE_D
+#define AO_ADC_SQ5		AO_ADC_SENSE_E
+#define AO_ADC_SQ6		AO_ADC_SENSE_F
+#define AO_ADC_SQ7		AO_ADC_V_BATT
+#define AO_ADC_SQ8		AO_ADC_V_PBATT
+#define AO_ADC_SQ9		AO_ADC_TEMP
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define AO_MS5607_PRIVATE_PINS	1
+#define AO_MS5607_CS_PORT	(&stm_gpioc)
+#define AO_MS5607_CS_PIN	4
+#define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS)
+#define AO_MS5607_MISO_PORT	(&stm_gpioa)
+#define AO_MS5607_MISO_PIN	6
+#define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO)
+#define AO_MS5607_SPI_INDEX	AO_SPI_1_PA5_PA6_PA7
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS		1
+#define AO_M25_SPI_CS_PORT	(&stm_gpiod)
+#define AO_M25_SPI_CS_MASK	(1 << 3)
+#define AO_M25_SPI_BUS		AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Radio (cc1120)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 	0x6ca333
+
+#define AO_FEC_DEBUG		0
+#define AO_CC1120_SPI_CS_PORT	(&stm_gpioc)
+#define AO_CC1120_SPI_CS_PIN	5
+#define AO_CC1120_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+#define AO_CC1120_SPI		stm_spi2
+
+#define AO_CC1120_INT_PORT		(&stm_gpioe)
+#define AO_CC1120_INT_PIN		1
+#define AO_CC1120_MCU_WAKEUP_PORT	(&stm_gpioc)
+#define AO_CC1120_MCU_WAKEUP_PIN	(0)
+
+#define AO_CC1120_INT_GPIO	2
+#define AO_CC1120_INT_GPIO_IOCFG	CC1120_IOCFG2
+
+#define AO_CC1120_MARC_GPIO	3
+#define AO_CC1120_MARC_GPIO_IOCFG	CC1120_IOCFG3
+
+#define HAS_BOOT_RADIO		0
+
+/*
+ * Mag sensor (hmc5883)
+ */
+
+#define HAS_HMC5883		1
+#define AO_HMC5883_INT_PORT	(&stm_gpioc)
+#define AO_HMC5883_INT_PIN	12
+#define AO_HMC5883_I2C_INDEX	STM_I2C_INDEX(1)
+
+/*
+ * mpu6000
+ */
+
+#define HAS_MPU6000		1	
+#define AO_MPU6000_INT_PORT	(&stm_gpioe)
+#define AO_MPU6000_INT_PIN	0
+#define AO_MPU6000_SPI_BUS	AO_SPI_1_PE13_PE14_PE15
+#define AO_MPU6000_SPI_CS_PORT	(&stm_gpiod)
+#define AO_MPU6000_SPI_CS_PIN	2
+
+#define HAS_HIGHG_ACCEL		1
+
+/*
+ * mma655x
+ */
+
+#define HAS_MMA655X		1
+#define AO_MMA655X_SPI_INDEX	AO_SPI_1_PE13_PE14_PE15
+#define AO_MMA655X_CS_PORT	(&stm_gpiod)
+#define AO_MMA655X_CS_PIN	4
+
+#define NUM_CMDS		16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT	(&stm_gpiod)
+#define AO_COMPANION_CS_PIN	(0)
+#define AO_COMPANION_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR		0
+#define LEGACY_MONITOR		0
+#define HAS_MONITOR_PUT		1
+#define AO_MONITOR_LED		0
+#define HAS_RSSI		0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE	       	0
+#endif
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telemega-v0.3/ao_telemega.c b/src/telemega-v0.3/ao_telemega.c
new file mode 100644
index 00000000..fbdab64a
--- /dev/null
+++ b/src/telemega-v0.3/ao_telemega.c
@@ -0,0 +1,100 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_hmc5883.h>
+#include <ao_mpu6000.h>
+#include <ao_mma655x.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_packet.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#include <ao_pyro.h>
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+
+int
+main(void)
+{
+	ao_clock_init();
+	
+#if HAS_STACK_GUARD
+	ao_mpu_init();
+#endif
+
+	ao_task_init();
+	ao_serial_init();
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_GREEN);
+	ao_timer_init();
+
+	ao_i2c_init();
+	ao_spi_init();
+	ao_dma_init();
+	ao_exti_init();
+
+	ao_adc_init();
+#if HAS_BEEP
+	ao_beep_init();
+#endif
+	ao_cmd_init();
+
+#if HAS_MS5607
+	ao_ms5607_init();
+#endif
+#if HAS_HMC5883
+	ao_hmc5883_init();
+#endif
+#if HAS_MPU6000
+	ao_mpu6000_init();
+#endif
+#if HAS_MMA655X
+	ao_mma655x_init();
+#endif
+
+	ao_storage_init();
+	
+	ao_flight_init();
+	ao_log_init();
+	ao_report_init();
+
+	ao_usb_init();
+	ao_gps_init();
+	ao_gps_report_mega_init();
+	ao_telemetry_init();
+	ao_radio_init();
+	ao_packet_slave_init(FALSE);
+	ao_igniter_init();
+	ao_companion_init();
+	ao_pyro_init();
+
+	ao_config_init();
+#if AO_PROFILE
+	ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+	ao_sample_profile_init();
+#endif
+	
+	ao_start_scheduler();
+	return 0;
+}