170 files changed, 6860 insertions, 941 deletions

diff --git a/altosui/Altos.java b/altosui/Altos.java
index e4f974f9..aa2fd77a 100644
--- a/altosui/Altos.java
+++ b/altosui/Altos.java
@@ -498,5 +498,5 @@ public class Altos {
 
 	public final static String bt_product_telebt = bt_product_telebt();
 
-//	public static AltosBTKnown bt_known = new AltosBTKnown();
+	public static AltosBTKnown bt_known = new AltosBTKnown();
 }
diff --git a/altosui/AltosBTDevice.java b/altosui/AltosBTDevice.java
index 7a876c25..55b8f8fc 100644
--- a/altosui/AltosBTDevice.java
+++ b/altosui/AltosBTDevice.java
@@ -42,6 +42,13 @@ public class AltosBTDevice extends altos_bt_device implements AltosDevice {
 		return getAddr();
 	}
 
+	public String getErrorString() {
+		altos_error	error = new altos_error();
+
+		libaltos.altos_get_last_error(error);
+		return String.format("%s (%d)", error.getString(), error.getCode());
+	}
+
 	public int getSerial() {
 		String name = getName();
 		if (name == null)
diff --git a/altosui/AltosCSVUI.java b/altosui/AltosCSVUI.java
index e1b6002d..a212409e 100644
--- a/altosui/AltosCSVUI.java
+++ b/altosui/AltosCSVUI.java
@@ -99,7 +99,7 @@ public class AltosCSVUI
 				writer.close();
 			} catch (FileNotFoundException ee) {
 				JOptionPane.showMessageDialog(frame,
-							      file.getName(),
+							      ee.getMessage(),
 							      "Cannot open file",
 							      JOptionPane.ERROR_MESSAGE);
 			}
diff --git a/altosui/AltosConfig.java b/altosui/AltosConfig.java
index 122ebecc..93def70d 100644
--- a/altosui/AltosConfig.java
+++ b/altosui/AltosConfig.java
@@ -480,8 +480,7 @@ public class AltosConfig implements ActionListener {
 				}
 			} catch (FileNotFoundException ee) {
 				JOptionPane.showMessageDialog(owner,
-							      String.format("Cannot open device \"%s\"",
-									    device.toShortString()),
+							      ee.getMessage(),
 							      "Cannot open target device",
 							      JOptionPane.ERROR_MESSAGE);
 			} catch (AltosSerialInUseException si) {
diff --git a/altosui/AltosConfigureUI.java b/altosui/AltosConfigureUI.java
index bcb9636b..980068c0 100644
--- a/altosui/AltosConfigureUI.java
+++ b/altosui/AltosConfigureUI.java
@@ -52,8 +52,7 @@ public class AltosConfigureUI
 
 	JRadioButton	serial_debug;
 
-// BLUETOOTH
-//	JButton		manage_bluetooth;
+	JButton		manage_bluetooth;
 	JButton		manage_frequencies;
 
 	final static String[] font_size_names = { "Small", "Medium", "Large" };
@@ -241,19 +240,18 @@ public class AltosConfigureUI
 		c.anchor = GridBagConstraints.WEST;
 		pane.add(serial_debug, c);
 
-// BLUETOOTH
-//		manage_bluetooth = new JButton("Manage Bluetooth");
-//		manage_bluetooth.addActionListener(new ActionListener() {
-//				public void actionPerformed(ActionEvent e) {
-//					AltosBTManage.show(owner, Altos.bt_known);
-//				}
-//			});
-//		c.gridx = 0;
-//		c.gridy = row++;
-//		c.gridwidth = 2;
-//		c.fill = GridBagConstraints.NONE;
-//		c.anchor = GridBagConstraints.WEST;
-//		pane.add(manage_bluetooth, c);
+		manage_bluetooth = new JButton("Manage Bluetooth");
+		manage_bluetooth.addActionListener(new ActionListener() {
+				public void actionPerformed(ActionEvent e) {
+					AltosBTManage.show(owner, Altos.bt_known);
+				}
+			});
+		c.gridx = 0;
+		c.gridy = row;
+		c.gridwidth = 2;
+		c.fill = GridBagConstraints.NONE;
+		c.anchor = GridBagConstraints.WEST;
+		pane.add(manage_bluetooth, c);
 
 		manage_frequencies = new JButton("Manage Frequencies");
 		manage_frequencies.addActionListener(new ActionListener() {
@@ -262,9 +260,8 @@ public class AltosConfigureUI
 				}
 			});
 		manage_frequencies.setToolTipText("Configure which values are shown in frequency menus");
-// BLUETOOTH
-//		c.gridx = 2;
-		c.gridx = 1;
+		c.gridx = 2;
+		c.gridx = 2;
 		c.gridy = row++;
 		c.gridwidth = 2;
 		c.fill = GridBagConstraints.NONE;
diff --git a/altosui/AltosDataChooser.java b/altosui/AltosDataChooser.java
index 15de05c2..d81ca6d1 100644
--- a/altosui/AltosDataChooser.java
+++ b/altosui/AltosDataChooser.java
@@ -61,7 +61,7 @@ public class AltosDataChooser extends JFileChooser {
 				}
 			} catch (FileNotFoundException fe) {
 				JOptionPane.showMessageDialog(frame,
-							      filename,
+							      fe.getMessage(),
 							      "Cannot open file",
 							      JOptionPane.ERROR_MESSAGE);
 			}
diff --git a/altosui/AltosDevice.java b/altosui/AltosDevice.java
index 3357c550..1b5c1a91 100644
--- a/altosui/AltosDevice.java
+++ b/altosui/AltosDevice.java
@@ -26,5 +26,6 @@ public interface AltosDevice {
 	public abstract int getSerial();
 	public abstract String getPath();
 	public abstract boolean matchProduct(int product);
+	public abstract String getErrorString();
 	public SWIGTYPE_p_altos_file open();
 }
diff --git a/altosui/AltosDeviceDialog.java b/altosui/AltosDeviceDialog.java
index fa9587bc..610bb73e 100644
--- a/altosui/AltosDeviceDialog.java
+++ b/altosui/AltosDeviceDialog.java
@@ -30,8 +30,7 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
 	private JList		list;
 	private JButton		cancel_button;
 	private JButton		select_button;
-// BLUETOOTH
-//	private JButton		manage_bluetooth_button;
+	private JButton		manage_bluetooth_button;
 	private Frame		frame;
 	private int		product;
 
@@ -42,17 +41,15 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
 	private AltosDevice[] devices() {
 		java.util.List<AltosDevice>	usb_devices = AltosUSBDevice.list(product);
 		int				num_devices = usb_devices.size();
-// BLUETOOTH
-//		java.util.List<AltosDevice>	bt_devices = Altos.bt_known.list(product);
-//		num_devices += bt_devices.size();
+		java.util.List<AltosDevice>	bt_devices = Altos.bt_known.list(product);
+		num_devices += bt_devices.size();
 		AltosDevice[]			devices = new AltosDevice[num_devices];
 
 		for (int i = 0; i < usb_devices.size(); i++)
 			devices[i] = usb_devices.get(i);
-// BLUETOOTH
-//		int off = usb_devices.size();
-//		for (int j = 0; j < bt_devices.size(); j++)
-//			devices[off + j] = bt_devices.get(j);
+		int off = usb_devices.size();
+		for (int j = 0; j < bt_devices.size(); j++)
+			devices[off + j] = bt_devices.get(j);
 		return devices;
 	}
 
@@ -75,10 +72,9 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
 		cancel_button.setActionCommand("cancel");
 		cancel_button.addActionListener(this);
 
-// BLUETOOTH
-//		manage_bluetooth_button = new JButton("Manage Bluetooth");
-//		manage_bluetooth_button.setActionCommand("manage");
-//		manage_bluetooth_button.addActionListener(this);
+		manage_bluetooth_button = new JButton("Manage Bluetooth");
+		manage_bluetooth_button.setActionCommand("manage");
+		manage_bluetooth_button.addActionListener(this);
 
 		select_button = new JButton("Select");
 		select_button.setActionCommand("select");
@@ -152,8 +148,7 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
 		buttonPane.add(Box.createHorizontalGlue());
 		buttonPane.add(cancel_button);
 		buttonPane.add(Box.createRigidArea(new Dimension(10, 0)));
-// BLUETOOTH
-//		buttonPane.add(manage_bluetooth_button);
+		buttonPane.add(manage_bluetooth_button);
 		buttonPane.add(Box.createRigidArea(new Dimension(10, 0)));
 		buttonPane.add(select_button);
 
@@ -173,12 +168,11 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
 	public void actionPerformed(ActionEvent e) {
 		if ("select".equals(e.getActionCommand()))
 			value = (AltosDevice)(list.getSelectedValue());
-// BLUETOOTH
-//		if ("manage".equals(e.getActionCommand())) {
-//			AltosBTManage.show(frame, Altos.bt_known);
-//			update_devices();
-//			return;
-//		}
+		if ("manage".equals(e.getActionCommand())) {
+			AltosBTManage.show(frame, Altos.bt_known);
+			update_devices();
+			return;
+		}
 		setVisible(false);
 	}
 
diff --git a/altosui/AltosEepromDownload.java b/altosui/AltosEepromDownload.java
index 358ad337..e7e52466 100644
--- a/altosui/AltosEepromDownload.java
+++ b/altosui/AltosEepromDownload.java
@@ -248,6 +248,10 @@ public class AltosEepromDownload implements Runnable {
 			done = true;
 	}
 
+	void CaptureTelemetry(AltosEepromChunk eechunk) throws IOException {
+		
+	}
+
 	void CaptureLog(AltosEepromLog log) throws IOException, InterruptedException, TimeoutException {
 		int			block, state_block = 0;
 		int			log_format = flights.config_data.log_format;
@@ -300,10 +304,10 @@ public class AltosEepromDownload implements Runnable {
 				extension = "eeprom";
 				CaptureTiny(eechunk);
 				break;
-//			case Altos.AO_LOG_FORMAT_TELEMETRY:
-//				extension = "telem";
-//				CaptureTelemetry(eechunk);
-//				break;
+			case Altos.AO_LOG_FORMAT_TELEMETRY:
+				extension = "telem";
+				CaptureTelemetry(eechunk);
+				break;
 			case Altos.AO_LOG_FORMAT_TELESCIENCE:
 				extension = "science";
 				CaptureTeleScience(eechunk);
diff --git a/altosui/AltosEepromManage.java b/altosui/AltosEepromManage.java
index 2e520628..083c7372 100644
--- a/altosui/AltosEepromManage.java
+++ b/altosui/AltosEepromManage.java
@@ -219,8 +219,7 @@ public class AltosEepromManage implements ActionListener {
 				t.start();
 			} catch (FileNotFoundException ee) {
 				JOptionPane.showMessageDialog(frame,
-							      String.format("Cannot open device \"%s\"",
-									    device.toShortString()),
+							      ee.getMessage(),
 							      "Cannot open target device",
 							      JOptionPane.ERROR_MESSAGE);
 			} catch (AltosSerialInUseException si) {
diff --git a/altosui/AltosFlashUI.java b/altosui/AltosFlashUI.java
index 3874b500..3956ff20 100644
--- a/altosui/AltosFlashUI.java
+++ b/altosui/AltosFlashUI.java
@@ -200,8 +200,8 @@ public class AltosFlashUI
 	void exception (Exception e) {
 		if (e instanceof FileNotFoundException) {
 			JOptionPane.showMessageDialog(frame,
-						      "Cannot open image",
-						      file.toString(),
+						      ((FileNotFoundException) e).getMessage(),
+						      "Cannot open file",
 						      JOptionPane.ERROR_MESSAGE);
 		} else if (e instanceof AltosSerialInUseException) {
 			JOptionPane.showMessageDialog(frame,
diff --git a/altosui/AltosIgniteUI.java b/altosui/AltosIgniteUI.java
index c11a8614..b215c228 100644
--- a/altosui/AltosIgniteUI.java
+++ b/altosui/AltosIgniteUI.java
@@ -122,8 +122,7 @@ public class AltosIgniteUI
 	void ignite_exception(Exception e) {
 		if (e instanceof FileNotFoundException) {
 			JOptionPane.showMessageDialog(owner,
-						      String.format("Cannot open device \"%s\"",
-								    device.toShortString()),
+						      ((FileNotFoundException) e).getMessage(),
 						      "Cannot open target device",
 						      JOptionPane.ERROR_MESSAGE);
 		} else if (e instanceof AltosSerialInUseException) {
diff --git a/altosui/AltosLanded.java b/altosui/AltosLanded.java
index 50e6b542..4dd9a2dd 100644
--- a/altosui/AltosLanded.java
+++ b/altosui/AltosLanded.java
@@ -250,7 +250,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 						FileInputStream in = new FileInputStream(file);
 						records = new AltosTelemetryIterable(in);
 					} else {
-						throw new FileNotFoundException();
+						throw new FileNotFoundException(filename);
 					}
 					try {
 						new AltosGraphUI(records, filename);
@@ -259,7 +259,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 					}
 				} catch (FileNotFoundException fe) {
 					JOptionPane.showMessageDialog(null,
-								      filename,
+								      fe.getMessage(),
 								      "Cannot open file",
 								      JOptionPane.ERROR_MESSAGE);
 				}
diff --git a/altosui/AltosLaunch.java b/altosui/AltosLaunch.java
new file mode 100644
index 00000000..77f681b8
--- /dev/null
+++ b/altosui/AltosLaunch.java
@@ -0,0 +1,201 @@
+/*
+ * 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; 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.
+ */
+
+package altosui;
+
+import java.io.*;
+import java.util.concurrent.*;
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import javax.swing.event.*;
+
+public class AltosLaunch {
+	AltosDevice	device;
+	AltosSerial	serial;
+	boolean		serial_started;
+	int		launcher_serial;
+	int		launcher_channel;
+	int		rssi;
+
+	final static int	Unknown = -1;
+	final static int	Good = 0;
+	final static int	Bad = 1;
+
+	int		armed;
+	int		igniter;
+
+	private void start_serial() throws InterruptedException {
+		serial_started = true;
+	}
+
+	private void stop_serial() throws InterruptedException {
+		if (!serial_started)
+			return;
+		serial_started = false;
+		if (serial == null)
+			return;
+	}
+
+	class string_ref {
+		String	value;
+
+		public String get() {
+			return value;
+		}
+		public void set(String i) {
+			value = i;
+		}
+		public string_ref() {
+			value = null;
+		}
+	}
+
+	private boolean get_string(String line, String label, string_ref s) {
+		if (line.startsWith(label)) {
+			String	quoted = line.substring(label.length()).trim();
+
+			if (quoted.startsWith("\""))
+				quoted = quoted.substring(1);
+			if (quoted.endsWith("\""))
+				quoted = quoted.substring(0,quoted.length()-1);
+			s.set(quoted);
+			return true;
+		} else {
+			return false;
+		}
+	}
+
+	public boolean status() throws InterruptedException, TimeoutException {
+		boolean ok = false;
+		if (serial == null)
+			return false;
+		string_ref status_name = new string_ref();
+		start_serial();
+		serial.printf("l %d %d\n", launcher_serial, launcher_channel);
+		for (;;) {
+			String line = serial.get_reply(20000);
+			if (line == null)
+				throw new TimeoutException();
+			if (get_string(line, "Rssi: ", status_name)) {
+				try {
+					rssi = Altos.fromdec(status_name.get());
+				} catch (NumberFormatException ne) {
+				}
+				break;
+			} else if (get_string(line, "Armed: ", status_name)) {
+				armed = Good;
+				String status = status_name.get();
+				if (status.startsWith("igniter good"))
+					igniter = Good;
+				else if (status.startsWith("igniter bad"))
+					igniter = Bad;
+				else
+					igniter = Unknown;
+				ok = true;
+			} else if (get_string(line, "Disarmed: ", status_name)) {
+				armed = Bad;
+				if (status_name.get().startsWith("igniter good"))
+					igniter = Good;
+				else if (status_name.get().startsWith("igniter bad"))
+					igniter = Bad;
+				else
+					igniter = Unknown;
+				ok = true;
+			} else if (get_string(line, "Error ", status_name)) {
+				armed = Unknown;
+				igniter = Unknown;
+				ok = false;
+				break;
+			}
+		}
+		stop_serial();
+		if (!ok) {
+			armed = Unknown;
+			igniter = Unknown;
+		}
+		return ok;
+	}
+
+	public static String status_string(int status) {
+		switch (status) {
+		case Good:
+			return "good";
+		case Bad:
+			return "open";
+		}
+		return "unknown";
+	}
+
+	public void arm() {
+		if (serial == null)
+			return;
+		try {
+			start_serial();
+			serial.printf("a %d %d\n", launcher_serial, launcher_channel);
+			serial.flush_output();
+		} catch (InterruptedException ie) {
+		} finally {
+			try {
+				stop_serial();
+			} catch (InterruptedException ie) {
+			}
+		}
+	}
+
+	public void fire() {
+		if (serial == null)
+			return;
+		try {
+			start_serial();
+			serial.printf("i %d %d\n", launcher_serial, launcher_channel);
+			serial.flush_output();
+		} catch (InterruptedException ie) {
+		} finally {
+			try {
+				stop_serial();
+			} catch (InterruptedException ie) {
+			}
+		}
+	}
+
+	public void close() {
+		try {
+			stop_serial();
+		} catch (InterruptedException ie) {
+		}
+		serial.close();
+		serial = null;
+	}
+
+	public void set_frame(Frame frame) {
+		serial.set_frame(frame);
+	}
+
+	public void set_remote(int in_serial, int in_channel) {
+		launcher_serial = in_serial;
+		launcher_channel = in_channel;
+	}
+
+	public AltosLaunch(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
+
+		device = in_device;
+		serial = new AltosSerial(device);
+	}
+}
\ No newline at end of file
diff --git a/altosui/AltosLaunchUI.java b/altosui/AltosLaunchUI.java
new file mode 100644
index 00000000..47365e03
--- /dev/null
+++ b/altosui/AltosLaunchUI.java
@@ -0,0 +1,517 @@
+/*
+ * 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; 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.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import javax.swing.event.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+class FireButton extends JButton {
+	protected void processMouseEvent(MouseEvent e) {
+		super.processMouseEvent(e);
+		switch (e.getID()) {
+		case MouseEvent.MOUSE_PRESSED:
+			if (actionListener != null)
+				actionListener.actionPerformed(new ActionEvent(this, e.getID(), "fire_down"));
+			break;
+		case MouseEvent.MOUSE_RELEASED:
+			if (actionListener != null)
+				actionListener.actionPerformed(new ActionEvent(this, e.getID(), "fire_up"));
+			break;
+		}
+	}
+
+	public FireButton(String s) {
+		super(s);
+	}
+}
+
+public class AltosLaunchUI
+	extends JDialog
+	implements ActionListener
+{
+	AltosDevice	device;
+	JFrame		owner;
+	JLabel		label;
+
+	int		radio_channel;
+	JLabel		radio_channel_label;
+	JTextField	radio_channel_text;
+
+	int		launcher_serial;
+	JLabel		launcher_serial_label;
+	JTextField	launcher_serial_text;
+
+	int		launcher_channel;
+	JLabel		launcher_channel_label;
+	JTextField	launcher_channel_text;
+
+	JLabel		armed_label;
+	JLabel		armed_status_label;
+	JLabel		igniter;
+	JLabel		igniter_status_label;
+	JToggleButton	arm;
+	FireButton	fire;
+	javax.swing.Timer	arm_timer;
+	javax.swing.Timer	fire_timer;
+
+	boolean		firing;
+	boolean		armed;
+	int		armed_status;
+	int		igniter_status;
+	int		rssi;
+
+	final static int	arm_timeout = 1 * 1000;
+	final static int	fire_timeout = 250;
+
+	int		armed_count;
+
+	LinkedBlockingQueue<String>	command_queue;
+
+	class LaunchHandler implements Runnable {
+		AltosLaunch	launch;
+		JFrame		owner;
+
+		void send_exception(Exception e) {
+			final Exception	f_e = e;
+			Runnable r = new Runnable() {
+					public void run() {
+						launch_exception(f_e);
+					}
+				};
+			SwingUtilities.invokeLater(r);
+		}
+
+		public void run () {
+			try {
+				launch = new AltosLaunch(device);
+			} catch (Exception e) {
+				send_exception(e);
+				return;
+			}
+			launch.set_frame(owner);
+			launch.set_remote(launcher_serial, launcher_channel);
+
+			for (;;) {
+				Runnable	r;
+
+				try {
+					String		command = command_queue.take();
+					String		reply = null;
+
+					if (command.equals("get_status")) {
+						launch.status();
+						reply = "status";
+						armed_status = launch.armed;
+						igniter_status = launch.igniter;
+						rssi = launch.rssi;
+					} else if (command.equals("set_remote")) {
+						launch.set_remote(launcher_serial, launcher_channel);
+						reply = "remote set";
+					} else if (command.equals("arm")) {
+						launch.arm();
+						reply = "armed";
+					} else if (command.equals("fire")) {
+						launch.fire();
+						reply = "fired";
+					} else if (command.equals("quit")) {
+						launch.close();
+						break;
+					} else {
+						throw new ParseException(String.format("invalid command %s", command), 0);
+					}
+					final String f_reply = reply;
+					r = new Runnable() {
+							public void run() {
+								launch_reply(f_reply);
+							}
+						};
+					SwingUtilities.invokeLater(r);
+				} catch (Exception e) {
+					send_exception(e);
+				}
+			}
+		}
+
+		public LaunchHandler(JFrame in_owner) {
+			owner = in_owner;
+		}
+	}
+
+	void launch_exception(Exception e) {
+		if (e instanceof FileNotFoundException) {
+			JOptionPane.showMessageDialog(owner,
+						      ((FileNotFoundException) e).getMessage(),
+						      "Cannot open target device",
+						      JOptionPane.ERROR_MESSAGE);
+		} else if (e instanceof AltosSerialInUseException) {
+			JOptionPane.showMessageDialog(owner,
+						      String.format("Device \"%s\" already in use",
+								    device.toShortString()),
+						      "Device in use",
+						      JOptionPane.ERROR_MESSAGE);
+		} else if (e instanceof IOException) {
+			IOException ee = (IOException) e;
+			JOptionPane.showMessageDialog(owner,
+						      device.toShortString(),
+						      ee.getLocalizedMessage(),
+						      JOptionPane.ERROR_MESSAGE);
+		} else {
+			JOptionPane.showMessageDialog(owner,
+						      String.format("Connection to \"%s\" failed",
+								    device.toShortString()),
+						      "Connection Failed",
+						      JOptionPane.ERROR_MESSAGE);
+		}
+		close();
+	}
+
+	void launch_reply(String reply) {
+		if (reply == null)
+			return;
+		if (reply.equals("remote set"))
+			poll_launch_status();
+		if (reply.equals("status")) {
+			set_launch_status();
+		}
+	}
+
+	void set_arm_text() {
+		if (arm.isSelected())
+			arm.setText(String.format("%d", armed_count));
+		else
+			arm.setText("Arm");
+	}
+
+	void start_arm_timer() {
+		armed_count = 30;
+		set_arm_text();
+	}
+
+	void stop_arm_timer() {
+		armed_count = 0;
+		armed = false;
+		arm.setSelected(false);
+		fire.setEnabled(false);
+		set_arm_text();
+	}
+
+	void cancel () {
+		fire.setEnabled(false);
+		firing = false;
+		stop_arm_timer();
+	}
+
+	void send_command(String command) {
+		try {
+			command_queue.put(command);
+		} catch (Exception ex) {
+			launch_exception(ex);
+		}
+	}
+
+	boolean	getting_status = false;
+
+	void set_launch_status() {
+		getting_status = false;
+		armed_status_label.setText(String.format("\"%s\"", AltosLaunch.status_string(armed_status)));
+		igniter_status_label.setText(String.format("\"%s\"", AltosLaunch.status_string(igniter_status)));
+	}
+
+	void poll_launch_status() {
+		if (!getting_status && !firing && !armed) {
+			getting_status = true;
+			send_command("get_status");
+		}
+	}
+
+	void fired() {
+		firing = false;
+		cancel();
+	}
+
+	void close() {
+		send_command("quit");
+		arm_timer.stop();
+		setVisible(false);
+		dispose();
+	}
+
+	void tick_arm_timer() {
+		if (armed_count > 0) {
+			--armed_count;
+			if (armed_count <= 0) {
+				armed_count = 0;
+				cancel();
+			} else {
+				if (!firing) {
+					send_command("arm");
+					set_arm_text();
+				}
+			}
+		}
+		poll_launch_status();
+	}
+
+	void arm() {
+		if (arm.isSelected()) {
+			fire.setEnabled(true);
+			start_arm_timer();
+			if (!firing)
+				send_command("arm");
+			armed = true;
+		} else
+			cancel();
+	}
+
+	void fire_more() {
+		if (firing)
+			send_command("fire");
+	}
+
+	void fire_down() {
+		if (arm.isEnabled() && arm.isSelected() && armed_count > 0) {
+			firing = true;
+			fire_more();
+			fire_timer.restart();
+		}
+	}
+
+	void fire_up() {
+		firing = false;
+		fire_timer.stop();
+	}
+
+	void set_radio() {
+		try {
+			radio_channel = Integer.parseInt(radio_channel_text.getText());
+		} catch (NumberFormatException ne) {
+			radio_channel_text.setText(String.format("%d", radio_channel));
+		}
+	}
+
+	void set_serial() {
+		try {
+			launcher_serial = Integer.parseInt(launcher_serial_text.getText());
+			AltosPreferences.set_launcher_serial(launcher_serial);
+			send_command("set_remote");
+		} catch (NumberFormatException ne) {
+			launcher_serial_text.setText(String.format("%d", launcher_serial));
+		}
+	}
+
+	void set_channel() {
+		try {
+			launcher_channel = Integer.parseInt(launcher_channel_text.getText());
+			AltosPreferences.set_launcher_serial(launcher_channel);
+			send_command("set_remote");
+		} catch (NumberFormatException ne) {
+			launcher_channel_text.setText(String.format("%d", launcher_channel));
+		}
+	}
+
+	public void actionPerformed(ActionEvent e) {
+		String cmd = e.getActionCommand();
+		System.out.printf("cmd %s\n", cmd);
+		if (cmd.equals("armed") || cmd.equals("igniter")) {
+			stop_arm_timer();
+		}
+
+		if (cmd.equals("arm"))
+			arm();
+		if (cmd.equals("tick_arm"))
+			tick_arm_timer();
+		if (cmd.equals("close"))
+			close();
+		if (cmd.equals("fire_down"))
+			fire_down();
+		if (cmd.equals("fire_up"))
+			fire_up();
+		if (cmd.equals("tick_fire"))
+			fire_more();
+		if (cmd.equals("new_serial"))
+			set_serial();
+		if (cmd.equals("new_channel"))
+			set_channel();
+	}
+
+	/* A window listener to catch closing events and tell the config code */
+	class ConfigListener extends WindowAdapter {
+		AltosLaunchUI	ui;
+
+		public ConfigListener(AltosLaunchUI this_ui) {
+			ui = this_ui;
+		}
+
+		public void windowClosing(WindowEvent e) {
+			ui.actionPerformed(new ActionEvent(e.getSource(),
+							   ActionEvent.ACTION_PERFORMED,
+							   "close"));
+		}
+	}
+
+	private boolean open() {
+		command_queue = new LinkedBlockingQueue<String>();
+
+		device = AltosDeviceDialog.show(owner, Altos.product_any);
+		if (device != null) {
+				LaunchHandler	handler = new LaunchHandler(owner);
+				Thread		t = new Thread(handler);
+				t.start();
+				return true;
+		}
+		return false;
+	}
+
+	public AltosLaunchUI(JFrame in_owner) {
+
+		launcher_channel = AltosPreferences.launcher_channel();
+		launcher_serial = AltosPreferences.launcher_serial();
+		owner = in_owner;
+		armed_status = AltosLaunch.Unknown;
+		igniter_status = AltosLaunch.Unknown;
+
+		if (!open())
+			return;
+
+		Container		pane = getContentPane();
+		GridBagConstraints	c = new GridBagConstraints();
+		Insets			i = new Insets(4,4,4,4);
+
+		arm_timer = new javax.swing.Timer(arm_timeout, this);
+		arm_timer.setActionCommand("tick_arm");
+		arm_timer.restart();
+
+		fire_timer = new javax.swing.Timer(fire_timeout, this);
+		fire_timer.setActionCommand("tick_fire");
+
+		owner = in_owner;
+
+		pane.setLayout(new GridBagLayout());
+
+		c.fill = GridBagConstraints.NONE;
+		c.anchor = GridBagConstraints.CENTER;
+		c.insets = i;
+		c.weightx = 1;
+		c.weighty = 1;
+
+		c.gridx = 0;
+		c.gridy = 0;
+		c.gridwidth = 2;
+		c.anchor = GridBagConstraints.CENTER;
+		label = new JLabel ("Launch Controller");
+		pane.add(label, c);
+
+		c.gridx = 0;
+		c.gridy = 1;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.WEST;
+		launcher_serial_label = new JLabel("Launcher Serial");
+		pane.add(launcher_serial_label, c);
+
+		c.gridx = 1;
+		c.gridy = 1;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.WEST;
+		launcher_serial_text = new JTextField(7);
+		launcher_serial_text.setText(String.format("%d", launcher_serial));
+		launcher_serial_text.setActionCommand("new_serial");
+		launcher_serial_text.addActionListener(this);
+		pane.add(launcher_serial_text, c);
+
+		c.gridx = 0;
+		c.gridy = 2;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.WEST;
+		launcher_channel_label = new JLabel("Launcher Channel");
+		pane.add(launcher_channel_label, c);
+
+		c.gridx = 1;
+		c.gridy = 2;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.WEST;
+		launcher_channel_text = new JTextField(7);
+		launcher_channel_text.setText(String.format("%d", launcher_channel));
+		launcher_channel_text.setActionCommand("new_channel");
+		launcher_channel_text.addActionListener(this);
+		pane.add(launcher_channel_text, c);
+
+		c.gridx = 0;
+		c.gridy = 3;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.WEST;
+		armed_label = new JLabel ("Armed");
+		pane.add(armed_label, c);
+
+		c.gridx = 1;
+		c.gridy = 3;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.WEST;
+		armed_status_label = new JLabel();
+		pane.add(armed_status_label, c);
+
+		c.gridx = 0;
+		c.gridy = 4;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.WEST;
+		igniter = new JLabel ("Igniter");
+		pane.add(igniter, c);
+
+		c.gridx = 1;
+		c.gridy = 4;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.WEST;
+		igniter_status_label = new JLabel();
+		pane.add(igniter_status_label, c);
+
+		c.gridx = 0;
+		c.gridy = 5;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.CENTER;
+		arm = new JToggleButton ("Arm");
+		pane.add(arm, c);
+		arm.addActionListener(this);
+		arm.setActionCommand("arm");
+		arm.setEnabled(true);
+
+		c.gridx = 1;
+		c.gridy = 5;
+		c.gridwidth = 1;
+		c.anchor = GridBagConstraints.CENTER;
+		fire = new FireButton ("Fire");
+		fire.setEnabled(false);
+		pane.add(fire, c);
+		fire.addActionListener(this);
+		fire.setActionCommand("fire");
+
+		pack();
+		setLocationRelativeTo(owner);
+
+		addWindowListener(new ConfigListener(this));
+
+		setVisible(true);
+	}
+}
\ No newline at end of file
diff --git a/altosui/AltosPreferences.java b/altosui/AltosPreferences.java
index 716559ab..48aed441 100644
--- a/altosui/AltosPreferences.java
+++ b/altosui/AltosPreferences.java
@@ -58,6 +58,12 @@ class AltosPreferences {
 	/* font size preferences name */
 	final static String fontSizePreference = "FONT-SIZE";
 
+	/* Launcher serial preference name */
+	final static String launcherSerialPreference = "LAUNCHER-SERIAL";
+
+	/* Launcher channel prefernce name */
+	final static String launcherChannelPreference = "LAUNCHER-CHANNEL";
+	
 	/* Default logdir is ~/TeleMetrum */
 	final static String logdirName = "TeleMetrum";
 
@@ -143,6 +149,9 @@ class AltosPreferences {
 			node.put(String.format(description_format, i), frequencies[i].description);
 		}
 	}
+	static int launcher_serial;
+
+	static int launcher_channel;
 
 	public static void init() {
 		preferences = Preferences.userRoot().node("/org/altusmetrum/altosui");
@@ -176,6 +185,10 @@ class AltosPreferences {
 		font_size = preferences.getInt(fontSizePreference, Altos.font_size_medium);
 		Altos.set_fonts(font_size);
 
+		launcher_serial = preferences.getInt(launcherSerialPreference, 0);
+
+		launcher_channel = preferences.getInt(launcherChannelPreference, 0);
+
 		String firmwaredir_string = preferences.get(firmwaredirPreference, null);
 		if (firmwaredir_string != null)
 			firmwaredir = new File(firmwaredir_string);
@@ -390,6 +403,32 @@ class AltosPreferences {
 		return serial_debug;
 	}
 
+	public static void set_launcher_serial(int new_launcher_serial) {
+		launcher_serial = new_launcher_serial;
+		System.out.printf("set launcher serial to %d\n", new_launcher_serial);
+		synchronized (preferences) {
+			preferences.putInt(launcherSerialPreference, launcher_serial);
+			flush_preferences();
+		}
+	}
+
+	public static int launcher_serial() {
+		return launcher_serial;
+	}
+
+	public static void set_launcher_channel(int new_launcher_channel) {
+		launcher_channel = new_launcher_channel;
+		System.out.printf("set launcher channel to %d\n", new_launcher_channel);
+		synchronized (preferences) {
+			preferences.putInt(launcherChannelPreference, launcher_channel);
+			flush_preferences();
+		}
+	}
+
+	public static int launcher_channel() {
+		return launcher_channel;
+	}
+	
 	public static Preferences bt_devices() {
 		return preferences.node("bt_devices");
 	}
diff --git a/altosui/AltosScanUI.java b/altosui/AltosScanUI.java
index bce4b32c..df5c51d4 100644
--- a/altosui/AltosScanUI.java
+++ b/altosui/AltosScanUI.java
@@ -130,8 +130,7 @@ public class AltosScanUI
 	void scan_exception(Exception e) {
 		if (e instanceof FileNotFoundException) {
 			JOptionPane.showMessageDialog(owner,
-						      String.format("Cannot open device \"%s\"",
-								    device.toShortString()),
+						      ((FileNotFoundException) e).getMessage(),
 						      "Cannot open target device",
 						      JOptionPane.ERROR_MESSAGE);
 		} else if (e instanceof AltosSerialInUseException) {
@@ -326,8 +325,7 @@ public class AltosScanUI
 			return true;
 		} catch (FileNotFoundException ee) {
 			JOptionPane.showMessageDialog(owner,
-						      String.format("Cannot open device \"%s\"",
-								    device.toShortString()),
+						      ee.getMessage(),
 						      "Cannot open target device",
 						      JOptionPane.ERROR_MESSAGE);
 		} catch (AltosSerialInUseException si) {
diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java
index 0a531aa9..4cf306d0 100644
--- a/altosui/AltosSerial.java
+++ b/altosui/AltosSerial.java
@@ -323,8 +323,10 @@ public class AltosSerial implements Runnable {
 		}
 		altos = device.open();
 		if (altos == null) {
+			final String	message = device.getErrorString();
 			close();
-			throw new FileNotFoundException(device.toShortString());
+			throw new FileNotFoundException(String.format("%s (%s)",
+								      device.toShortString(), message));
 		}
 		if (debug)
 			System.out.printf("Open %s\n", device.getPath());
diff --git a/altosui/AltosUI.java b/altosui/AltosUI.java
index 27c41838..3e5bcf43 100644
--- a/altosui/AltosUI.java
+++ b/altosui/AltosUI.java
@@ -52,8 +52,7 @@ public class AltosUI extends JFrame {
 				new AltosFlightUI(voice, reader, device.getSerial());
 		} catch (FileNotFoundException ee) {
 			JOptionPane.showMessageDialog(AltosUI.this,
-						      String.format("Cannot open device \"%s\"",
-								    device.toShortString()),
+						      ee.getMessage(),
 						      "Cannot open target device",
 						      JOptionPane.ERROR_MESSAGE);
 		} catch (AltosSerialInUseException si) {
@@ -210,6 +209,13 @@ public class AltosUI extends JFrame {
 			});
 		b.setToolTipText("Check flight readiness of altimeter in idle mode");
 
+		b = addButton(3, 2, "Launch Controller");
+		b.addActionListener(new ActionListener() {
+				public void actionPerformed(ActionEvent e) {
+					LaunchController();
+				}
+			});
+
 		setTitle("AltOS");
 
 		pane.doLayout();
@@ -272,6 +278,10 @@ public class AltosUI extends JFrame {
 		new AltosSiteMapPreload(AltosUI.this);
 	}
 
+	void LaunchController() {
+		new AltosLaunchUI(AltosUI.this);
+	}
+
 	/*
 	 * Replay a flight from telemetry data
 	 */
@@ -345,7 +355,7 @@ public class AltosUI extends JFrame {
 			else
 				return new AltosTelemetryIterable(in);
 		} catch (FileNotFoundException fe) {
-			System.out.printf("Cannot open '%s'\n", filename);
+			System.out.printf("%s\n", fe.getMessage());
 			return null;
 		}
 	}
@@ -355,7 +365,7 @@ public class AltosUI extends JFrame {
 		try {
 			return new AltosCSV(file);
 		} catch (FileNotFoundException fe) {
-			System.out.printf("Cannot open '%s'\n", filename);
+			System.out.printf("%s\n", fe.getMessage());
 			return null;
 		}
 	}
@@ -365,7 +375,7 @@ public class AltosUI extends JFrame {
 		try {
 			return new AltosKML(file);
 		} catch (FileNotFoundException fe) {
-			System.out.printf("Cannot open '%s'\n", filename);
+			System.out.printf("%s\n", fe.getMessage());
 			return null;
 		}
 	}
diff --git a/altosui/AltosUSBDevice.java b/altosui/AltosUSBDevice.java
index dc746a64..b11a3934 100644
--- a/altosui/AltosUSBDevice.java
+++ b/altosui/AltosUSBDevice.java
@@ -39,6 +39,13 @@ public class AltosUSBDevice  extends altos_device implements AltosDevice {
 
 	}
 
+	public String getErrorString() {
+		altos_error	error = new altos_error();
+
+		libaltos.altos_get_last_error(error);
+		return String.format("%s (%d)", error.getString(), error.getCode());
+	}
+
 	public SWIGTYPE_p_altos_file open() {
 		return libaltos.altos_open(this);
 	}
diff --git a/altosui/Makefile.am b/altosui/Makefile.am
index ba1c830c..c4d1e611 100644
--- a/altosui/Makefile.am
+++ b/altosui/Makefile.am
@@ -68,6 +68,8 @@ altosui_JAVA = \
 	AltosIdleMonitorUI.java \
 	AltosIgnite.java \
 	AltosIgniteUI.java \
+	AltosLaunch.java \
+	AltosLaunchUI.java \
 	AltosInfoTable.java \
 	AltosKML.java \
 	AltosLanded.java \
@@ -116,7 +118,8 @@ altosui_JAVA = \
 	AltosGraphUI.java \
 	AltosDataChooser.java \
 	AltosVersion.java \
-	AltosVoice.java
+	AltosVoice.java \
+	$(altosui_BT)
 
 JFREECHART_CLASS= \
     jfreechart.jar
diff --git a/altosui/libaltos/libaltos.c b/altosui/libaltos/libaltos.c
index d1f445bd..48e00a44 100644
--- a/altosui/libaltos/libaltos.c
+++ b/altosui/libaltos/libaltos.c
@@ -49,6 +49,22 @@ altos_fini(void)
 {
 }
 
+static struct altos_error last_error;
+
+static void
+altos_set_last_error(int code, char *string)
+{
+	last_error.code = code;
+	strncpy(last_error.string, string, sizeof (last_error.string) -1);
+	last_error.string[sizeof(last_error.string)-1] = '\0';
+}
+
+PUBLIC void
+altos_get_last_error(struct altos_error *error)
+{
+	*error = last_error;
+}
+
 #ifdef DARWIN
 
 #undef USE_POLL
@@ -96,6 +112,12 @@ struct altos_file {
 	int				in_read;
 };
 
+static void
+altos_set_last_posix_error(void)
+{
+	altos_set_last_error(errno, strerror(errno));
+}
+
 PUBLIC struct altos_file *
 altos_open(struct altos_device *device)
 {
@@ -103,12 +125,18 @@ altos_open(struct altos_device *device)
 	int			ret;
 	struct termios		term;
 
-	if (!file)
+	if (!file) {
+		altos_set_last_posix_error();
 		return NULL;
+	}
+
+//	altos_set_last_error(12, "yeah yeah, failed again");
+//	free(file);
+//	return NULL;
 
 	file->fd = open(device->path, O_RDWR | O_NOCTTY);
 	if (file->fd < 0) {
-		perror(device->path);
+		altos_set_last_posix_error();
 		free(file);
 		return NULL;
 	}
@@ -117,7 +145,7 @@ altos_open(struct altos_device *device)
 #else
 	file->out_fd = open(device->path, O_RDWR | O_NOCTTY);
 	if (file->out_fd < 0) {
-		perror(device->path);
+		altos_set_last_posix_error();
 		close(file->fd);
 		free(file);
 		return NULL;
@@ -125,7 +153,7 @@ altos_open(struct altos_device *device)
 #endif
 	ret = tcgetattr(file->fd, &term);
 	if (ret < 0) {
-		perror("tcgetattr");
+		altos_set_last_posix_error();
 		close(file->fd);
 #ifndef USE_POLL
 		close(file->out_fd);
@@ -143,7 +171,7 @@ altos_open(struct altos_device *device)
 #endif
 	ret = tcsetattr(file->fd, TCSAFLUSH, &term);
 	if (ret < 0) {
-		perror("tcsetattr");
+		altos_set_last_posix_error();
 		close(file->fd);
 #ifndef USE_POLL
 		close(file->out_fd);
@@ -195,8 +223,10 @@ altos_flush(struct altos_file *file)
 #else
 		ret = write (file->out_fd, file->out_data, file->out_used);
 #endif
-		if (ret < 0)
+		if (ret < 0) {
+			altos_set_last_posix_error();
 			return -errno;
+		}
 		if (ret) {
 			memmove(file->out_data, file->out_data + ret,
 				file->out_used - ret);
@@ -248,7 +278,7 @@ altos_fill(struct altos_file *file, int timeout)
 		fd[1].events = POLLIN;
 		ret = poll(fd, 2, timeout);
 		if (ret < 0) {
-			perror("altos_getchar");
+			altos_set_last_posix_error();
 			return LIBALTOS_ERROR;
 		}
 		if (ret == 0)
@@ -261,7 +291,7 @@ altos_fill(struct altos_file *file, int timeout)
 		{
 			ret = read(file->fd, file->in_data, USB_BUF_SIZE);
 			if (ret < 0) {
-				perror("altos_getchar");
+				altos_set_last_posix_error();
 				return LIBALTOS_ERROR;
 			}
 			file->in_read = 0;
@@ -598,7 +628,6 @@ altos_list_finish(struct altos_list *usbdevs)
 	free(usbdevs);
 }
 
-#if HAS_BLUETOOTH
 struct altos_bt_list {
 	inquiry_info	*ii;
 	int		sock;
@@ -701,8 +730,10 @@ altos_bt_open(struct altos_bt_device *device)
 	if (!file)
 		goto no_file;
 	file->fd = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
-	if (file->fd < 0)
+	if (file->fd < 0) {
+		altos_set_last_posix_error();
 		goto no_sock;
+	}
 
 	addr.rc_family = AF_BLUETOOTH;
 	addr.rc_channel = 1;
@@ -712,7 +743,7 @@ altos_bt_open(struct altos_bt_device *device)
 			 (struct sockaddr *)&addr,
 			 sizeof(addr));
 	if (status < 0) {
-		perror("connect");
+		altos_set_last_posix_error();
 		goto no_link;
 	}
 	sleep(1);
@@ -730,7 +761,6 @@ no_sock:
 no_file:
 	return NULL;
 }
-#endif /* HAS_BLUETOOTH */
 
 #endif
 
@@ -844,6 +874,48 @@ altos_list_finish(struct altos_list *list)
 	free(list);
 }
 
+struct altos_bt_list {
+	int		sock;
+	int		dev_id;
+	int		rsp;
+	int		num_rsp;
+};
+
+#define INQUIRY_MAX_RSP	255
+
+struct altos_bt_list *
+altos_bt_list_start(int inquiry_time)
+{
+	return NULL;
+}
+
+int
+altos_bt_list_next(struct altos_bt_list *bt_list,
+		   struct altos_bt_device *device)
+{
+	return 0;
+}
+
+void
+altos_bt_list_finish(struct altos_bt_list *bt_list)
+{
+}
+
+void
+altos_bt_fill_in(char *name, char *addr, struct altos_bt_device *device)
+{
+	strncpy(device->name, name, sizeof (device->name));
+	device->name[sizeof(device->name)-1] = '\0';
+	strncpy(device->addr, addr, sizeof (device->addr));
+	device->addr[sizeof(device->addr)-1] = '\0';
+}
+
+struct altos_file *
+altos_bt_open(struct altos_bt_device *device)
+{
+	return NULL;
+}
+
 #endif
 
 
@@ -872,6 +944,21 @@ struct altos_file {
 	OVERLAPPED			ov_write;
 };
 
+static void
+altos_set_last_windows_error(void)
+{
+	DWORD	error = GetLastError();
+	TCHAR	message[1024];
+	FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM,
+		      0,
+		      error,
+		      0,
+		      message,
+		      sizeof (message) / sizeof (TCHAR),
+		      NULL);
+	altos_set_last_error(error, message);
+}
+
 PUBLIC struct altos_list *
 altos_list_start(void)
 {
@@ -882,7 +969,7 @@ altos_list_start(void)
 	list->dev_info = SetupDiGetClassDevs(NULL, "USB", NULL,
 					     DIGCF_ALLCLASSES|DIGCF_PRESENT);
 	if (list->dev_info == INVALID_HANDLE_VALUE) {
-		printf("SetupDiGetClassDevs failed %ld\n", GetLastError());
+		altos_set_last_windows_error();
 		free(list);
 		return NULL;
 	}
@@ -916,6 +1003,7 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
 					       DICS_FLAG_GLOBAL, 0, DIREG_DEV,
 					       KEY_READ);
 		if (dev_key == INVALID_HANDLE_VALUE) {
+			altos_set_last_windows_error();
 			printf("cannot open device registry key\n");
 			continue;
 		}
@@ -926,6 +1014,7 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
 		result = RegQueryValueEx(dev_key, "SymbolicName", NULL, NULL,
 					 symbolic, &symbolic_len);
 		if (result != 0) {
+			altos_set_last_windows_error();
 			printf("cannot find SymbolicName value\n");
 			RegCloseKey(dev_key);
 			continue;
@@ -948,6 +1037,7 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
 					 port, &port_len);
 		RegCloseKey(dev_key);
 		if (result != 0) {
+			altos_set_last_windows_error();
 			printf("failed to get PortName\n");
 			continue;
 		}
@@ -963,6 +1053,7 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
 						     sizeof(friendlyname),
 						     &friendlyname_len))
 		{
+			altos_set_last_windows_error();
 			printf("Failed to get friendlyname\n");
 			continue;
 		}
@@ -975,8 +1066,10 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
 		return 1;
 	}
 	result = GetLastError();
-	if (result != ERROR_NO_MORE_ITEMS)
+	if (result != ERROR_NO_MORE_ITEMS) {
+		altos_set_last_windows_error();
 		printf ("SetupDiEnumDeviceInfo failed error %d\n", (int) result);
+	}
 	return 0;
 }
 
@@ -995,8 +1088,10 @@ altos_queue_read(struct altos_file *file)
 		return LIBALTOS_SUCCESS;
 
 	if (!ReadFile(file->handle, file->in_data, USB_BUF_SIZE, &got, &file->ov_read)) {
-		if (GetLastError() != ERROR_IO_PENDING)
+		if (GetLastError() != ERROR_IO_PENDING) {
+			altos_set_last_windows_error();
 			return LIBALTOS_ERROR;
+		}
 		file->pend_read = TRUE;
 	} else {
 		file->pend_read = FALSE;
@@ -1021,8 +1116,10 @@ altos_wait_read(struct altos_file *file, int timeout)
 	ret = WaitForSingleObject(file->ov_read.hEvent, timeout);
 	switch (ret) {
 	case WAIT_OBJECT_0:
-		if (!GetOverlappedResult(file->handle, &file->ov_read, &got, FALSE))
+		if (!GetOverlappedResult(file->handle, &file->ov_read, &got, FALSE)) {
+			altos_set_last_windows_error();
 			return LIBALTOS_ERROR;
+		}
 		file->pend_read = FALSE;
 		file->in_read = 0;
 		file->in_used = got;
@@ -1066,15 +1163,20 @@ altos_flush(struct altos_file *file)
 
 	while (used) {
 		if (!WriteFile(file->handle, data, used, &put, &file->ov_write)) {
-			if (GetLastError() != ERROR_IO_PENDING)
+			if (GetLastError() != ERROR_IO_PENDING) {
+				altos_set_last_windows_error();
 				return LIBALTOS_ERROR;
+			}
 			ret = WaitForSingleObject(file->ov_write.hEvent, INFINITE);
 			switch (ret) {
 			case WAIT_OBJECT_0:
-				if (!GetOverlappedResult(file->handle, &file->ov_write, &put, FALSE))
+				if (!GetOverlappedResult(file->handle, &file->ov_write, &put, FALSE)) {
+					altos_set_last_windows_error();
 					return LIBALTOS_ERROR;
+				}
 				break;
 			default:
+				altos_set_last_windows_error();
 				return LIBALTOS_ERROR;
 			}
 		}
@@ -1102,6 +1204,7 @@ altos_open(struct altos_device *device)
 				  0, NULL, OPEN_EXISTING,
 				  FILE_FLAG_OVERLAPPED, NULL);
 	if (file->handle == INVALID_HANDLE_VALUE) {
+		altos_set_last_windows_error();
 		free(file);
 		return NULL;
 	}
@@ -1117,6 +1220,7 @@ altos_open(struct altos_device *device)
 
 	dcbSerialParams.DCBlength = sizeof(dcbSerialParams);
 	if (!GetCommState(file->handle, &dcbSerialParams)) {
+		altos_set_last_windows_error();
 		CloseHandle(file->handle);
 		free(file);
 		return NULL;
@@ -1126,6 +1230,7 @@ altos_open(struct altos_device *device)
 	dcbSerialParams.StopBits = ONESTOPBIT;
 	dcbSerialParams.Parity = NOPARITY;
 	if (!SetCommState(file->handle, &dcbSerialParams)) {
+		altos_set_last_windows_error();
 		CloseHandle(file->handle);
 		free(file);
 		return NULL;
@@ -1180,4 +1285,38 @@ altos_getchar(struct altos_file *file, int timeout)
 	return file->in_data[file->in_read++];
 }
 
+struct altos_bt_list *
+altos_bt_list_start(int inquiry_time)
+{
+	return NULL;
+}
+
+int
+altos_bt_list_next(struct altos_bt_list *bt_list,
+		   struct altos_bt_device *device)
+{
+	return 0;
+}
+
+void
+altos_bt_list_finish(struct altos_bt_list *bt_list)
+{
+	free(bt_list);
+}
+
+void
+altos_bt_fill_in(char *name, char *addr, struct altos_bt_device *device)
+{
+	strncpy(device->name, name, sizeof (device->name));
+	device->name[sizeof(device->name)-1] = '\0';
+	strncpy(device->addr, addr, sizeof (device->addr));
+	device->addr[sizeof(device->addr)-1] = '\0';
+}
+
+struct altos_file *
+altos_bt_open(struct altos_bt_device *device)
+{
+	return NULL;
+}
+
 #endif
diff --git a/altosui/libaltos/libaltos.h b/altosui/libaltos/libaltos.h
index 363a84fd..f90fbb87 100644
--- a/altosui/libaltos/libaltos.h
+++ b/altosui/libaltos/libaltos.h
@@ -51,6 +51,11 @@ struct altos_bt_device {
 	//%mutable;
 };
 
+struct altos_error {
+	int				code;
+	char				string[1024];
+};
+
 #define LIBALTOS_SUCCESS	0
 #define LIBALTOS_ERROR		-1
 #define LIBALTOS_TIMEOUT	-2
@@ -62,6 +67,9 @@ altos_init(void);
 PUBLIC void
 altos_fini(void);
 
+PUBLIC void
+altos_get_last_error(struct altos_error *error);
+
 PUBLIC struct altos_list *
 altos_list_start(void);
 
@@ -93,9 +101,6 @@ altos_flush(struct altos_file *file);
 PUBLIC int
 altos_getchar(struct altos_file *file, int timeout);
 
-// #define HAS_BLUETOOTH 1
-#if HAS_BLUETOOTH
-
 PUBLIC struct altos_bt_list *
 altos_bt_list_start(int inquiry_time);
 
@@ -111,6 +116,4 @@ altos_bt_fill_in(char *name, char *addr, struct altos_bt_device *device);
 PUBLIC struct altos_file *
 altos_bt_open(struct altos_bt_device *device);
 
-#endif
-
 #endif /* _LIBALTOS_H_ */
diff --git a/configure.ac b/configure.ac
index 27d56751..959f3b4d 100644
--- a/configure.ac
+++ b/configure.ac
@@ -18,8 +18,8 @@ dnl
 dnl Process this file with autoconf to create configure.
 
 AC_PREREQ(2.57)
-AC_INIT([altos], 1.0.1)
-AC_CONFIG_SRCDIR([src/ao.h])
+AC_INIT([altos], 1.0.9.0)
+AC_CONFIG_SRCDIR([src/core/ao.h])
 AM_INIT_AUTOMAKE([foreign dist-bzip2])
 AM_MAINTAINER_MODE
 
diff --git a/src/Makefile b/src/Makefile
index 018f0c5c..5da7c855 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -2,7 +2,13 @@
 # AltOS build
 #
 #
-CC=sdcc
+
+vpath make-altitude util
+vpath make-kalman util
+vpath kalman.5c kalman
+vpath kalman_filter.5c kalman
+vpath load_csv.5c kalman
+vpath matrix.5c kalman
 
 include Version
 
@@ -12,9 +18,10 @@ SUBDIRS=\
 	telemini-v1.0 telenano-v0.1 \
 	telebt-v0.0 telebt-v0.1 \
 	telemetrum-v0.1-sky telemetrum-v0.1-sirf \
-	tidongle test
+	telelaunch-v0.1 \
+	tidongle test telescience-v0.1 telepyro-v0.1
 
-all: all-recursive
+all: all-local all-recursive
 
 RECURSIVE_TARGETS = all-recursive clean-recursive install-recursive
 
@@ -27,8 +34,21 @@ $(RECURSIVE_TARGETS):
 
 distclean:	clean
 
-clean: clean-recursive
+clean: clean-local clean-recursive
 
 install: install-recursive
 
 uninstall:
+
+all-recursive: all-local
+
+all-local: altitude.h ao_kalman.h
+
+altitude.h: make-altitude
+	nickle $< > $@
+
+ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
+	bash $< kalman > $@
+
+clean-local:
+	rm -f altitude.h ao_kalman.h
diff --git a/src/Makefile.proto b/src/Makefile.proto
deleted file mode 100644
index 8f98d354..00000000
--- a/src/Makefile.proto
+++ /dev/null
@@ -1,380 +0,0 @@
-#
-# AltOS build
-#
-#
-vpath %.c ..
-vpath %.h ..
-vpath make-altitude ..
-vpath make-kalman ..
-vpath kalman.5c ../kalman
-vpath kalman_filter.5c ../kalman
-vpath load_csv.5c ../kalman
-vpath matrix.5c ../kalman
-vpath ao-make-product.5c ..
-
-CC=sdcc
-
-ifndef VERSION
-include ../Version
-endif
-
-CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE)
-
-CODESIZE ?= 0x8000
-
-LDFLAGS=--out-fmt-ihx --code-loc 0x0000 --code-size $(CODESIZE) \
-	--xram-loc 0xf000 --xram-size 0xda2 --iram-size 0xff
-
-INC = \
-	ao.h \
-	ao_pins.h \
-	cc1111.h \
-	altitude.h \
-	ao_kalman.h \
-	25lc1024.h
-
-#
-# Common AltOS sources
-#
-ALTOS_SRC = \
-	ao_cmd.c \
-	ao_dma.c \
-	ao_mutex.c \
-	ao_panic.c \
-	ao_task.c \
-	ao_timer.c \
-	ao_romconfig.c \
-	_bp.c
-
-#
-# Shared AltOS drivers
-#
-ALTOS_DRIVER_SRC = \
-	ao_config.c \
-	ao_led.c \
-	ao_radio.c \
-	ao_stdio.c
-
-BEEP_DRIVER_SRC = \
-	ao_beep.c
-
-USB_DRIVER_SRC = \
-	ao_usb.c
-
-TELE_COMMON_SRC = \
-	ao_packet.c
-
-#
-# Receiver code
-#
-TELE_RECEIVER_SRC =\
-	ao_monitor.c \
-	ao_gps_print.c \
-	ao_packet_master.c \
-	ao_state.c \
-	ao_rssi.c
-
-#
-# Shared Tele drivers (on TeleMetrum, TeleTerra, TeleDongle)
-#
-
-TELE_DRIVER_SRC = \
-	ao_convert.c
-
-#
-# Serial port driver
-#
-SERIAL_DRIVER_SRC = \
-	ao_serial.c
-
-#
-# Spi bus driver
-#
-SPI_DRIVER_SRC = \
-	ao_spi.c
-
-#
-# Debug dongle driver (only on TI)
-#
-DBG_SRC = \
-	ao_dbg.c
-
-#
-# Drivers only on TeleMetrum
-#
-TM_DRIVER_SRC = \
-	ao_adc.c \
-	ao_gps_report.c \
-	ao_ignite.c \
-	ao_packet_slave.c \
-	$(BEEP_DRIVER_SRC) \
-	$(USB_DRIVER_SRC)
-
-#
-# 25LC1024 driver source
-EE_DRIVER_SRC = \
-	ao_storage.c \
-	ao_ee.c
-
-#
-# AT45DB161D driver source
-
-FLASH_DRIVER_SRC = \
-	ao_storage.c \
-	ao_flash.c
-
-#
-# Numonyx M25P80 driver source
-#
-
-M25_DRIVER_SRC = \
-	ao_storage.c \
-	ao_m25.c
-
-#
-# SiRF driver source
-#
-SIRF_DRIVER_SRC = \
-	ao_gps_sirf.c
-
-#
-# Skytraq driver source
-#
-SKY_DRIVER_SRC = \
-	ao_gps_skytraq.c
-
-
-#
-# BTM-182 driver source
-#
-BTM_DRIVER_SRC = \
-	ao_btm.c
-
-#
-# Companion port driver source
-#
-COMPANION_SRC = \
-	ao_companion.c
-
-#
-# Tasks run on TeleMetrum
-#
-TM_TASK_SRC = \
-	ao_flight.c \
-	ao_sample.c \
-	ao_kalman.c \
-	ao_log.c \
-	ao_log_big.c \
-	ao_report.c \
-	ao_telemetry.c
-
-TM_MAIN_SRC = \
-	ao_telemetrum.c
-
-#
-# Base sources for TeleMetrum
-#
-TM_BASE_SRC = \
-	$(ALTOS_SRC) \
-	$(ALTOS_DRIVER_SRC) \
-	$(TELE_DRIVER_SRC) \
-	$(SERIAL_DRIVER_SRC) \
-	$(TELE_COMMON_SRC) \
-	$(TM_DRIVER_SRC) \
-	$(TM_TASK_SRC) \
-	$(TM_MAIN_SRC)
-
-#
-# Sources for TeleMini
-TMINI_DRIVER_SRC = \
-	ao_adc.c \
-	ao_ignite.c \
-	ao_config.c \
-	ao_storage.c \
-	ao_packet_slave.c \
-	ao_intflash.c
-
-TMINI_TASK_SRC = \
-	ao_flight.c \
-	ao_sample.c \
-	ao_kalman.c \
-	ao_log.c \
-	ao_log_tiny.c \
-	ao_report.c \
-	ao_telemetry.c
-
-TMINI_MAIN_SRC = \
-	ao_telemini.c
-
-TMINI_BASE_SRC = \
-	$(ALTOS_SRC) \
-	$(ALTOS_DRIVER_SRC) \
-	$(TELE_DRIVER_SRC) \
-	$(TELE_COMMON_SRC) \
-	$(TMINI_DRIVER_SRC) \
-	$(TMINI_TASK_SRC) \
-	$(TMINI_MAIN_SRC)
-
-#
-# Sources for TeleNano
-TNANO_DRIVER_SRC = \
-	ao_adc.c \
-	ao_config.c \
-	ao_storage.c \
-	ao_packet_slave.c \
-	ao_intflash.c
-
-TNANO_TASK_SRC = \
-	ao_flight_nano.c \
-	ao_sample.c \
-	ao_kalman.c \
-	ao_log.c \
-	ao_log_tiny.c \
-	ao_report.c \
-	ao_telemetry.c
-
-TNANO_MAIN_SRC = \
-	ao_telenano.c
-
-TNANO_BASE_SRC = \
-	$(ALTOS_SRC) \
-	$(ALTOS_DRIVER_SRC) \
-	$(TELE_DRIVER_SRC) \
-	$(TELE_COMMON_SRC) \
-	$(TNANO_DRIVER_SRC) \
-	$(TNANO_TASK_SRC) \
-	$(TNANO_MAIN_SRC)
-
-#
-# Sources for TeleBluetooth
-#
-
-TBT_MAIN_SRC = \
-	ao_telebt.c
-
-TBT_BASE_SRC = \
-	$(ALTOS_SRC) \
-	$(ALTOS_DRIVER_SRC) \
-	$(TELE_RECEIVER_SRC) \
-	$(TELE_COMMON_SRC) \
-	$(SERIAL_DRIVER_SRC) \
-	$(USB_DRIVER_SRC) \
-	$(BTM_DRIVER_SRC) \
-	$(DBG_SRC) \
-	$(TBT_MAIN_SRC)
-
-TBT_V_0_1_SRC = \
-	$(TBT_BASE_SRC) \
-	$(SPI_DRIVER_SRC) \
-	$(M25_DRIVER_SRC) \
-	$(BEEP_DRIVER_SRC) \
-	ao_log_telem.c
-
-#
-# TI Dongle sources
-#
-TI_MAIN_SRC = \
-	ao_tidongle.c
-
-#
-# All sources for the TI debug dongle
-#
-TI_SRC = \
-	$(ALTOS_SRC) \
-	$(ALTOS_DRIVER_SRC) \
-	$(TELE_RECEIVER_SRC) \
-	$(TELE_COMMON_SRC) \
-	$(USB_DRIVER_SRC) \
-	$(TI_MAIN_SRC) \
-	$(DBG_SRC)
-
-TT_MAIN_SRC = \
-	ao_teleterra.c
-#
-# All sources for TeleTerra
-#
-TT_SRC = \
-	$(ALTOS_SRC) \
-	$(ALTOS_DRIVER_SRC) \
-	$(TELE_RECEIVER_SRC) \
-	$(TELE_DRIVER_SRC) \
-	$(TELE_COMMON_SRC) \
-	$(USB_DRIVER_SRC) \
-	$(TT_MAIN_SRC)
-
-
-#
-# Sources for TeleDongle
-#
-
-TD_MAIN_SRC = \
-	ao_teledongle.c
-
-TD_SRC = \
-	$(ALTOS_SRC) \
-	$(ALTOS_DRIVER_SRC) \
-	$(TELE_RECEIVER_SRC) \
-	$(TELE_COMMON_SRC) \
-	$(USB_DRIVER_SRC) \
-	$(TD_MAIN_SRC)
-
-include Makefile.defs
-
-CFLAGS += $(PRODUCT_DEF) -I.
-
-NICKLE=nickle
-CHECK_STACK=sh ../check-stack
-
-REL=$(SRC:.c=.rel) ao_product.rel
-ADB=$(REL:.rel=.adb)
-ASM=$(REL:.rel=.asm)
-LNK=$(REL:.rel=.lnk)
-LST=$(REL:.rel=.lst)
-RST=$(REL:.rel=.rst)
-SYM=$(REL:.rel=.sym)
-
-PCDB=$(PROG:.ihx=.cdb)
-PLNK=$(PROG:.ihx=.lnk)
-PMAP=$(PROG:.ihx=.map)
-PMEM=$(PROG:.ihx=.mem)
-PAOM=$(PROG:.ihx=)
-
-V=0
-# The user has explicitly enabled quiet compilation.
-ifeq ($(V),0)
-quiet = @printf "  $1 $2 $@\n"; $($1)
-endif
-# Otherwise, print the full command line.
-quiet ?= $($1)
-
-%.rel : %.c $(INC)
-	$(call quiet,CC,$(PRODUCT_DEF)) $(CFLAGS) -c -o$@ $<
-
-all: ../$(PROG)
-
-../$(PROG): $(REL) Makefile Makefile.defs ../Makefile.proto
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
-	$(call quiet,CHECK_STACK) ../ao.h $(PMEM)
-
-../altitude.h: make-altitude
-	nickle $< > $@
-
-../ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
-	sh $< > $@
-
-ao_product.h: ao-make-product.5c ../Version
-	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
-
-$(REL): ao_product.h
-
-distclean:	clean
-
-clean:
-	rm -f $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM)
-	rm -f $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM)
-	rm -f ao_product.h
-	rm -f ../$(PROG)
-
-install:
-
-uninstall:
diff --git a/src/ao_aes.c b/src/ao_aes.c
new file mode 100644
index 00000000..d50fecfb
--- /dev/null
+++ b/src/ao_aes.c
@@ -0,0 +1,142 @@
+/*
+ * 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"
+
+#if !HAS_AES
+#error Must define HAS_AES 1
+#endif
+
+__xdata uint8_t ao_aes_mutex;
+__xdata uint8_t	ao_aes_done;
+__xdata uint8_t	ao_aes_dma_in, ao_aes_dma_out;
+__xdata uint8_t ao_aes_dma_in_done, ao_aes_dma_out_done;
+__pdata enum ao_aes_mode ao_aes_current_mode;
+
+void
+ao_aes_isr(void) __interrupt 4
+{
+	S0CON = 0;
+	if (ENCCCS & ENCCCS_RDY) {
+		ao_aes_done = 1;
+		ao_wakeup(&ao_aes_done);
+	}
+}
+
+void
+ao_aes_set_mode(enum ao_aes_mode mode)
+{
+	ao_aes_current_mode = mode;
+}
+
+void
+ao_aes_set_key(__xdata uint8_t *in)
+{
+	ao_dma_set_transfer(ao_aes_dma_in,
+			    in,
+			    &ENCDIXADDR,
+			    AO_AES_LEN,
+			    DMA_CFG0_WORDSIZE_8 |
+			    DMA_CFG0_TMODE_SINGLE |
+			    DMA_CFG0_TRIGGER_ENC_DW,
+			    DMA_CFG1_SRCINC_1 |
+			    DMA_CFG1_DESTINC_0 |
+			    DMA_CFG1_PRIORITY_LOW);
+	ao_dma_start(ao_aes_dma_in);
+	ao_aes_done = 0;
+	ENCCCS = ENCCCS_MODE_CBC_MAC |
+		ENCCCS_CMD_LOAD_KEY;
+	ENCCCS |= ENCCCS_START;
+	__critical while (!ao_aes_done)
+		ao_sleep(&ao_aes_done);
+}
+
+void
+ao_aes_zero_iv(void)
+{
+	uint8_t	b;
+
+	ENCCCS = ENCCCS_MODE_CBC_MAC | ENCCCS_CMD_LOAD_IV | ENCCCS_START;
+	for (b = 0; b < AO_AES_LEN; b++)
+		ENCDI = 0;
+}
+
+void
+ao_aes_run(__xdata uint8_t *in,
+	   __xdata uint8_t *out)
+{
+	uint8_t	b;
+	if (in) {
+		ao_dma_set_transfer(ao_aes_dma_in,
+				    in,
+				    &ENCDIXADDR,
+				    AO_AES_LEN,
+				    DMA_CFG0_WORDSIZE_8 |
+				    DMA_CFG0_TMODE_SINGLE |
+				    DMA_CFG0_TRIGGER_ENC_DW,
+				    DMA_CFG1_SRCINC_1 |
+				    DMA_CFG1_DESTINC_0 |
+				    DMA_CFG1_PRIORITY_LOW);
+	}
+	if (out) {
+		ao_dma_set_transfer(ao_aes_dma_out,
+				    &ENCDOXADDR,
+				    out,
+				    AO_AES_LEN,
+				    DMA_CFG0_WORDSIZE_8 |
+				    DMA_CFG0_TMODE_SINGLE |
+				    DMA_CFG0_TRIGGER_ENC_UP,
+				    DMA_CFG1_SRCINC_0 |
+				    DMA_CFG1_DESTINC_1 |
+				    DMA_CFG1_PRIORITY_LOW);
+	}
+	switch (ao_aes_current_mode) {
+	case ao_aes_mode_cbc_mac:
+		if (out)
+			b = (ENCCCS_MODE_CBC |
+			     ENCCCS_CMD_ENCRYPT);
+		else
+			b = (ENCCCS_MODE_CBC_MAC |
+			     ENCCCS_CMD_ENCRYPT);
+		break;
+	default:
+		return;
+	}
+	ao_aes_done = 0;
+	if (in)
+		ao_dma_start(ao_aes_dma_in);
+	if (out)
+		ao_dma_start(ao_aes_dma_out);
+	ENCCCS = b;
+	ENCCCS |= ENCCCS_START;
+	if (out) {
+		__critical while (!ao_aes_dma_out_done)
+			ao_sleep(&ao_aes_dma_out_done);
+	} else {
+		__critical while (!ao_aes_done)
+			ao_sleep(&ao_aes_done);
+	}
+}
+
+void
+ao_aes_init(void)
+{
+	ao_aes_dma_in = ao_dma_alloc(&ao_aes_dma_in_done);
+	ao_aes_dma_out = ao_dma_alloc(&ao_aes_dma_out_done);
+	S0CON = 0;
+	ENCIE = 1;
+}
diff --git a/src/ao_radio_cmac.c b/src/ao_radio_cmac.c
new file mode 100644
index 00000000..41fbbe1f
--- /dev/null
+++ b/src/ao_radio_cmac.c
@@ -0,0 +1,406 @@
+/*
+ * 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"
+
+#define AO_CMAC_KEY_LEN		AO_AES_LEN
+#define AO_CMAC_MAX_LEN		(128 - AO_CMAC_KEY_LEN)
+
+static __xdata uint8_t ao_radio_cmac_mutex;
+__pdata int16_t ao_radio_cmac_rssi;
+static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN + AO_CMAC_KEY_LEN + 2 + AO_CMAC_KEY_LEN];
+static __pdata uint8_t ao_radio_cmac_len;
+
+static uint8_t
+getnibble(void)
+{
+	int8_t	b;
+
+	b = ao_cmd_hexchar(getchar());
+	if (b < 0) {
+		ao_cmd_status = ao_cmd_lex_error;
+		return 0;
+	}
+	return (uint8_t) b;
+}
+
+static uint8_t
+getbyte(void)
+{
+	uint8_t	b;
+	b = getnibble() << 4;
+	b |= getnibble();
+	return b;
+}
+	
+static uint8_t
+round_len(uint8_t len)
+{
+	uint8_t	rem;
+
+	/* Make sure we transfer at least one packet, and
+	 * then make sure every packet is full. Note that
+	 * there is no length encoded, and that the receiver
+	 * must deal with any extra bytes in the packet
+	 */
+	if (len < AO_CMAC_KEY_LEN)
+		len = AO_CMAC_KEY_LEN;
+	rem = len % AO_CMAC_KEY_LEN;
+	if (rem != 0)
+		len += (AO_CMAC_KEY_LEN - rem);
+	return len;
+}
+
+/*
+ * Sign and deliver the data sitting in the cmac buffer
+ */
+static void
+radio_cmac_send(uint8_t len) __reentrant
+{
+	uint8_t	i;
+
+	len = round_len(len);
+	/* Make sure the AES key is loaded */
+	ao_config_get();
+
+#if HAS_MONITOR
+	ao_set_monitor(0);
+#endif
+
+	ao_mutex_get(&ao_aes_mutex);
+	ao_aes_set_mode(ao_aes_mode_cbc_mac);
+	ao_aes_set_key(ao_config.aes_key);
+	ao_aes_zero_iv();
+	for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
+		if (i + AO_CMAC_KEY_LEN < len)
+			ao_aes_run(&cmac_data[i], NULL);
+		else
+			ao_aes_run(&cmac_data[i], &cmac_data[len]);
+	}
+	ao_mutex_put(&ao_aes_mutex);
+
+	ao_radio_send(cmac_data, len + AO_CMAC_KEY_LEN);
+}
+
+/*
+ * Receive and validate an incoming packet
+ */
+
+static int8_t
+radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
+{
+	uint8_t	i;
+
+	len = round_len(len);
+#if HAS_MONITOR
+	ao_set_monitor(0);
+#endif
+	if (timeout)
+		ao_alarm(timeout);
+
+	i = ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2);
+	ao_clear_alarm();
+
+	if (!i) {
+		ao_radio_cmac_rssi = 0;
+		return AO_RADIO_CMAC_TIMEOUT;
+	}
+
+	ao_radio_cmac_rssi = (int16_t) (((int8_t) cmac_data[len + AO_CMAC_KEY_LEN]) >> 1) - 74;
+	if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & PKT_APPEND_STATUS_1_CRC_OK))
+		return AO_RADIO_CMAC_CRC_ERROR;
+
+	ao_config_get();
+
+	/* Compute the packet signature
+	 */
+	ao_mutex_get(&ao_aes_mutex);
+	ao_aes_set_mode(ao_aes_mode_cbc_mac);
+	ao_aes_set_key(ao_config.aes_key);
+	ao_aes_zero_iv();
+	for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
+		if (i + AO_CMAC_KEY_LEN < len)
+			ao_aes_run(&cmac_data[i], NULL);
+		else
+			ao_aes_run(&cmac_data[i], &cmac_data[len + AO_CMAC_KEY_LEN + 2]);
+	}
+	ao_mutex_put(&ao_aes_mutex);
+
+	/* Check the packet signature against the signature provided
+	 * over the link
+	 */
+	 
+	if (memcmp(&cmac_data[len],
+		   &cmac_data[len + AO_CMAC_KEY_LEN + 2],
+		   AO_CMAC_KEY_LEN) != 0) {
+		return AO_RADIO_CMAC_MAC_ERROR;
+	}
+
+	return AO_RADIO_CMAC_OK;
+}
+
+int8_t
+ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant
+{
+	if (len > AO_CMAC_MAX_LEN)
+		return AO_RADIO_CMAC_LEN_ERROR;
+	ao_mutex_get(&ao_radio_cmac_mutex);
+	memcpy(cmac_data, packet, len);
+	radio_cmac_send(len);
+	ao_mutex_put(&ao_radio_cmac_mutex);
+	return AO_RADIO_CMAC_OK;
+}
+
+int8_t
+ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant
+{
+	uint8_t	i;
+	if (len > AO_CMAC_MAX_LEN)
+		return AO_RADIO_CMAC_LEN_ERROR;
+	ao_mutex_get(&ao_radio_cmac_mutex);
+	i = radio_cmac_recv(len, timeout);
+	if (i == AO_RADIO_CMAC_OK)
+		memcpy(packet, cmac_data, len);
+	ao_mutex_put(&ao_radio_cmac_mutex);
+	return i;
+}
+
+static void
+radio_cmac_send_cmd(void) __reentrant
+{
+	uint8_t	i;
+	uint8_t	len;
+
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	len = ao_cmd_lex_i;
+	if (len > AO_CMAC_MAX_LEN) {
+		ao_cmd_status = ao_cmd_syntax_error;
+		return;
+	}
+	flush();
+	ao_mutex_get(&ao_radio_cmac_mutex);
+	len = ao_cmd_lex_i;
+	for (i = 0; i < len; i++) {
+		cmac_data[i] = getbyte();
+		if (ao_cmd_status != ao_cmd_success)
+			return;
+	}
+	radio_cmac_send(len);
+	ao_mutex_put(&ao_radio_cmac_mutex);
+}
+
+static void
+radio_cmac_recv_cmd(void) __reentrant
+{
+	uint8_t		len, i;
+	uint16_t	timeout;
+
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	len = ao_cmd_lex_i;
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	timeout = AO_MS_TO_TICKS(ao_cmd_lex_i);
+	ao_mutex_get(&ao_radio_cmac_mutex);
+	i = radio_cmac_recv(len, timeout);
+	if (i == AO_RADIO_CMAC_OK) {
+		printf ("PACKET ");
+		for (i = 0; i < len; i++)
+			printf("%02x", cmac_data[i]);
+		printf (" %d\n", ao_radio_cmac_rssi);
+	} else
+		printf ("ERROR %d %d\n", i, ao_radio_cmac_rssi);
+	ao_mutex_put(&ao_radio_cmac_mutex);
+}
+
+static __xdata struct ao_launch_command	command;
+static __xdata struct ao_launch_query	query;
+static pdata uint16_t	launch_serial;
+static pdata uint8_t	launch_channel;
+static pdata uint16_t	tick_offset;
+
+static void
+launch_args(void) __reentrant
+{
+	ao_cmd_decimal();
+	launch_serial = ao_cmd_lex_i;
+	ao_cmd_decimal();
+	launch_channel = ao_cmd_lex_i;
+}
+
+static int8_t
+launch_query(void)
+{
+	uint8_t	i;
+	int8_t	r = AO_RADIO_CMAC_OK;
+
+	tick_offset = ao_time();
+	for (i = 0; i < 10; i++) {
+		printf ("."); flush();
+		command.tick = ao_time();
+		command.serial = launch_serial;
+		command.cmd = AO_LAUNCH_QUERY;
+		command.channel = launch_channel;
+		ao_radio_cmac_send(&command, sizeof (command));
+		r = ao_radio_cmac_recv(&query, sizeof (query), AO_MS_TO_TICKS(500));
+		if (r == AO_RADIO_CMAC_OK)
+			break;
+	}
+	tick_offset -= query.tick;
+	printf("\n"); flush();
+	return r;
+}
+
+static void
+launch_report_cmd(void) __reentrant
+{
+	int8_t		r;
+
+	launch_args();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	r = launch_query();
+	switch (r) {
+	case AO_RADIO_CMAC_OK:
+		if (query.valid) {
+			switch (query.arm_status) {
+			case ao_igniter_ready:
+			case ao_igniter_active:
+				printf ("Armed: ");
+				break;
+			default:
+				printf("Disarmed: ");
+			}
+			switch (query.igniter_status) {
+			default:
+				printf("unknown\n");
+				break;
+			case ao_igniter_ready:
+				printf("igniter good\n");
+				break;
+			case ao_igniter_open:
+				printf("igniter bad\n");
+				break;
+			}
+		} else {
+			printf("Invalid channel %d\n", launch_channel);
+		}
+		printf("Rssi: %d\n", ao_radio_cmac_rssi);
+		break;
+	default:
+		printf("Error %d\n", r);
+		break;
+	}
+}
+
+static void
+launch_arm(void) __reentrant
+{
+	command.tick = ao_time() - tick_offset;
+	command.serial = launch_serial;
+	command.cmd = AO_LAUNCH_ARM;
+	command.channel = launch_channel;
+	ao_radio_cmac_send(&command, sizeof (command));
+}
+
+static void
+launch_ignite(void) __reentrant
+{
+	command.tick = ao_time() - tick_offset;
+	command.serial = launch_serial;
+	command.cmd = AO_LAUNCH_FIRE;
+	command.channel = 0;
+	ao_radio_cmac_send(&command, sizeof (command));
+}
+
+static void
+launch_fire_cmd(void) __reentrant
+{
+	static __xdata struct ao_launch_command	command;
+	uint8_t		secs;
+	uint8_t		i;
+	int8_t		r;
+
+	launch_args();
+	ao_cmd_decimal();
+	secs = ao_cmd_lex_i;
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	r = launch_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();
+		launch_arm();
+	}
+
+	secs = secs * 10 - 5;
+	if (secs > 100)
+		secs = 100;
+	for (i = 0; i < secs; i++) {
+		printf("fire %d\n", i); flush();
+		launch_ignite();
+		ao_delay(AO_MS_TO_TICKS(100));
+	}
+}
+
+static void
+launch_arm_cmd(void) __reentrant
+{
+	uint8_t	i;
+	int8_t  r;
+	launch_args();
+	r = launch_query();
+	if (r != AO_RADIO_CMAC_OK) {
+		printf("query failed %d\n", r);
+		return;
+	}
+	for (i = 0; i < 4; i++)
+		launch_arm();
+}
+
+static void
+launch_ignite_cmd(void) __reentrant
+{
+	uint8_t i;
+	launch_args();
+	for (i = 0; i < 4; i++)
+		launch_ignite();
+}
+
+static __code struct ao_cmds ao_radio_cmac_cmds[] = {
+	{ radio_cmac_send_cmd,	"s <length>\0Send AES-CMAC packet. Bytes to send follow on next line" },
+	{ radio_cmac_recv_cmd,	"S <length> <timeout>\0Receive AES-CMAC packet. Timeout in ms" },
+	{ launch_report_cmd,    "l <serial> <channel>\0Get remote launch status" },
+	{ launch_fire_cmd,	"f <serial> <channel> <secs>\0Fire remote igniter" },
+	{ launch_arm_cmd,	"a <serial> <channel>\0Arm remote igniter" },
+	{ launch_ignite_cmd,	"i <serial> <channel>\0Pulse remote igniter" },
+	{ 0, NULL },
+};
+
+void
+ao_radio_cmac_init(void)
+{
+	ao_cmd_register(&ao_radio_cmac_cmds[0]);
+}
diff --git a/src/ao_main.c b/src/ao_telelaunch.c
index 25acccfc..506431de 100644
--- a/src/ao_main.c
+++ b/src/ao_telelaunch.c
@@ -1,5 +1,5 @@
 /*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ * 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
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include "ao_pins.h"
 
 void
 main(void)
@@ -23,21 +24,23 @@ main(void)
 	ao_clock_init();
 
 	/* Turn on the red LED until the system is stable */
-	ao_led_init();
+	ao_led_init(LEDS_AVAILABLE);
 	ao_led_on(AO_LED_RED);
 
 	ao_timer_init();
 	ao_adc_init();
 	ao_beep_init();
 	ao_cmd_init();
-	ao_ee_init();
-	ao_flight_init();
-	ao_log_init();
-	ao_report_init();
+	ao_spi_init();
+	ao_storage_init();
 	ao_usb_init();
-	ao_serial_init();
-	ao_gps_init();
-	ao_telemetry_init();
 	ao_radio_init();
+#if HAS_DBG
+	ao_dbg_init();
+#endif
+	ao_aes_init();
+	ao_radio_cmac_init();
+	ao_launch_init();
+	ao_config_init();
 	ao_start_scheduler();
 }
diff --git a/src/avr-demo/Makefile b/src/avr-demo/Makefile
new file mode 100644
index 00000000..93295166
--- /dev/null
+++ b/src/avr-demo/Makefile
@@ -0,0 +1,105 @@
+#
+# AltOS build
+#
+#
+vpath % ..:../core:../product:../drivers:../avr
+vpath make-altitude ..
+vpath make-kalman ..
+vpath kalman.5c ../kalman
+vpath kalman_filter.5c ../kalman
+vpath load_csv.5c ../kalman
+vpath matrix.5c ../kalman
+vpath ao-make-product.5c ../util
+
+MCU=atmega32u4
+DUDECPUTYPE=m32u4
+#PROGRAMMER=stk500v2 -P usb
+PROGRAMMER=usbtiny
+LOADCMD=avrdude
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	altitude.h \
+	ao_kalman.h
+
+#
+# Common AltOS sources
+#
+ALTOS_SRC = \
+	ao_cmd.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_serial_avr.c \
+	ao_avr_stdio.c \
+	ao_stdio.c \
+	ao_task.c \
+	ao_timer.c \
+	ao_led.c \
+	ao_usb_avr.c \
+	ao_lcd.c
+
+PRODUCT=AvrDemo-v0.0
+MCU=atmega32u4
+PRODUCT_DEF=-DAVR_DEMO
+IDPRODUCT=0x000a
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -Os -mcall-prologues
+
+NICKLE=nickle
+
+PROG=avr-demo
+
+SRC=$(ALTOS_SRC) ao_demo.c ao_debug_avr.c
+OBJ=$(SRC:.c=.o)
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: $(PROG)
+
+$(PROG): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+
+$(PROG).hex: $(PROG)
+	avr-size $(PROG)
+	$(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(PROG).hex
+	$(LOADCMD) $(LOADARG)$(PROG).hex
+
+../altitude.h: make-altitude
+	nickle $< > $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.rel: ao_product.c ao_product.h
+	$(call quiet,CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"ao_product.h\"' -o$@ $<
+
+distclean:	clean
+
+clean:
+	rm -f $(OBJ)
+	rm -f ao_product.h
+
+install:
+
+uninstall:
+
+$(OBJ): ao.h ao_product.h
\ No newline at end of file
diff --git a/src/avr-demo/ao_demo.c b/src/avr-demo/ao_demo.c
new file mode 100644
index 00000000..756dd0d4
--- /dev/null
+++ b/src/avr-demo/ao_demo.c
@@ -0,0 +1,52 @@
+/*
+ * 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"
+
+struct ao_task demo_task;
+
+void
+ao_demo(void)
+{
+	for (;;) {
+		ao_led_toggle(AO_LED_RED);
+		printf ("hello %d\n", ao_time());
+		ao_delay(AO_MS_TO_TICKS(200));
+	}
+}
+
+int
+main(void)
+{
+	ao_clock_init();
+
+	ao_serial_init();
+
+	ao_led_init(LEDS_AVAILABLE);
+	ao_avr_stdio_init();
+	printf ("stdio initialized\n");
+//	ao_debug_init();
+	ao_timer_init();
+	ao_cmd_init();
+	ao_usb_init();
+	ao_lcd_init();
+
+//	ao_add_task(&demo_task, ao_demo, "demo");
+	/* Turn on the LED until the system is stable */
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/avr/ao_adc_avr.c b/src/avr/ao_adc_avr.c
new file mode 100644
index 00000000..8c0cade0
--- /dev/null
+++ b/src/avr/ao_adc_avr.c
@@ -0,0 +1,168 @@
+/*
+ * 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"
+
+volatile __xdata struct ao_adc	ao_adc_ring[AO_ADC_RING];
+volatile __data uint8_t		ao_adc_head;
+
+#ifdef TELESCIENCE
+const uint8_t	adc_channels[AO_LOG_TELESCIENCE_NUM_ADC] = {
+	0x00,
+	0x01,
+	0x04,
+	0x05,
+	0x06,
+	0x07,
+	0x20,
+	0x21,
+	0x22,
+	0x23,
+	0x24,
+	0x25,
+};
+#endif
+
+#ifdef TELEPYRO
+const uint8_t	adc_channels[AO_TELEPYRO_NUM_ADC] = {
+	0x00,	/* ADC0  v_batt */
+	0x04,	/* ADC4  sense_a */
+	0x05,	/* ADC5  sense_b */
+	0x06,	/* ADC6  sense_c */
+	0x07,	/* ADC7  sense_d */
+	0x23,	/* ADC11 sense_e */
+	0x22,	/* ADC10 sense_f */
+	0x21,	/* ADC9 sense_g */
+	0x20,	/* ADC8 sense_h */
+};
+#endif
+
+#define NUM_ADC	(sizeof (adc_channels) / sizeof (adc_channels[0]))
+
+static uint8_t	ao_adc_channel;
+
+#define ADC_CHANNEL_LOW(c)	(((c) & 0x1f) << MUX0)
+#define ADC_CHANNEL_HIGH(c)	((((c) & 0x20) >> 5) << MUX5)
+
+#define ADCSRA_INIT	((1 << ADEN) |		/* Enable ADC */ 		\
+			 (0 << ADATE) |		/* No auto ADC trigger */ 	\
+			 (1 << ADIF) |		/* Clear interrupt */		\
+			 (0 << ADIE) |		/* Enable interrupt */		\
+			 (6 << ADPS0))		/* Prescale clock by 64 */
+
+#define ADCSRB_INIT	((0 << ADHSM) |		/* No high-speed mode */ \
+			 (0 << ACME) |		/* Some comparitor thing */ \
+			 (0 << ADTS0))		/* Free running mode (don't care) */
+
+static void
+ao_adc_start(void)
+{
+	uint8_t	channel = adc_channels[ao_adc_channel];
+	ADMUX = ((0 << REFS1) |				/* AVcc reference */
+		 (1 << REFS0) |				/* AVcc reference */
+		 (1 << ADLAR) |				/* Left-shift results */
+		 (ADC_CHANNEL_LOW(channel)));		/* Select channel */
+
+	ADCSRB = (ADCSRB_INIT |
+		  ADC_CHANNEL_HIGH(channel));		/* High channel bit */
+
+	ADCSRA = (ADCSRA_INIT |
+		  (1 << ADSC) |
+		  (1 << ADIE));				/* Start conversion */
+}
+
+ISR(ADC_vect)
+{
+	uint16_t	value;
+
+	/* Must read ADCL first or the value there will be lost */
+	value = ADCL;
+	value |= (ADCH << 8);
+	ao_adc_ring[ao_adc_head].adc[ao_adc_channel] = value;
+	if (++ao_adc_channel < NUM_ADC)
+		ao_adc_start();
+	else {
+		ADCSRA = ADCSRA_INIT;
+		ao_adc_ring[ao_adc_head].tick = ao_time();
+		ao_adc_head = ao_adc_ring_next(ao_adc_head);
+		ao_wakeup((void *) &ao_adc_head);
+		ao_cpu_sleep_disable = 0;
+	}
+}
+
+void
+ao_adc_poll(void)
+{
+	ao_cpu_sleep_disable = 1;
+	ao_adc_channel = 0;
+	ao_adc_start();
+}
+
+void
+ao_adc_get(__xdata struct ao_adc *packet)
+{
+	uint8_t	i = ao_adc_ring_prev(ao_adc_head);
+	memcpy(packet, (void *) &ao_adc_ring[i], sizeof (struct ao_adc));
+}
+
+static void
+ao_adc_dump(void) __reentrant
+{
+	static __xdata struct ao_adc	packet;
+	uint8_t i;
+	ao_adc_get(&packet);
+#ifdef TELEPYRO
+	printf("ADMUX:  %02x\n", ADMUX);
+	printf("ADCSRA: %02x\n", ADCSRA);
+	printf("ADCSRB: %02x\n", ADCSRB);
+	printf("DIDR0:  %02x\n", DIDR0);
+	printf("DIDR2:  %02x\n", DIDR2);
+	printf("PORTF:  %02x\n", PORTF);
+	printf("DDRF:   %02x\n", DDRF);
+	printf("PINF:   %02x\n", PINF);
+#endif
+	printf("tick: %5u",  packet.tick);
+	for (i = 0; i < NUM_ADC; i++)
+		printf (" %2d: %5u", i, packet.adc[i]);
+
+
+#ifdef TELEPYRO
+	ADMUX = 0x60;
+	ADCSRB = 0x00;
+	ADCSRA = 0xc6;
+	while (ADCSRA & 0x40)
+		;
+	printf ("ADCL:  %02x\n", ADCL);
+	printf ("ADCH:  %02x\n", ADCH);
+	printf ("\n");
+#endif
+}
+
+__code struct ao_cmds ao_adc_cmds[] = {
+	{ ao_adc_dump,	"a\0Display current ADC values" },
+	{ 0, NULL },
+};
+
+void
+ao_adc_init(void)
+{
+	DIDR0 = 0xf3;
+	DIDR2 = 0x3f;
+	ADCSRB = ADCSRB_INIT;
+	ADCSRA = ADCSRA_INIT;
+	ao_cmd_register(&ao_adc_cmds[0]);
+}
diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h
new file mode 100644
index 00000000..c695a725
--- /dev/null
+++ b/src/avr/ao_arch.h
@@ -0,0 +1,158 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_ARCH_H_
+#define _AO_ARCH_H_
+
+#include <stdio.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/sleep.h>
+
+#ifdef AVR_DEMO
+#define TEENSY 1
+#endif
+
+#if TEENSY
+#define F_CPU 16000000UL	// 16 MHz
+#else
+#define F_CPU  8000000UL	// 8 MHz
+#endif
+
+/*
+ * AVR definitions and code fragments for AltOS
+ */
+
+#define AO_STACK_SIZE	128
+
+/* Various definitions to make GCC look more like SDCC */
+
+#define ao_arch_naked_declare	__attribute__((naked))
+#define ao_arch_naked_define
+#define __pdata
+#define __data
+#define __xdata
+#define __code const
+#define __reentrant
+#define __critical
+#define __interrupt(n)
+#define __at(n)
+
+#define ao_arch_reboot()	/* XXX */
+
+#define ao_arch_nop()		asm("nop")
+
+#define ao_arch_interrupt(n)	/* nothing */
+
+#undef putchar
+#undef getchar
+#define putchar(c)	ao_putchar(c)
+#define getchar		ao_getchar
+
+extern void putchar(char c);
+extern char getchar(void);
+extern void ao_avr_stdio_init(void);
+
+extern const uint16_t ao_serial_number;
+
+#define AVR_PUSH8(stack, val)	(*((stack)--) = (val))
+
+extern uint8_t	ao_cpu_sleep_disable;
+
+#define ao_arch_task_globals	uint8_t ao_cpu_sleep_disable;
+
+#define ao_arch_task_members\
+	uint8_t *sp;			/* saved stack pointer */
+
+#define ao_arch_init_stack(task, start) do {			\
+	uint8_t		*sp = task->stack + AO_STACK_SIZE - 1;	\
+	uint16_t	a = (uint16_t) start; 			\
+	int		i;					\
+								\
+	/* Return address */					\
+	AVR_PUSH8(sp, a);					\
+	AVR_PUSH8(sp, (a >> 8));				\
+								\
+	/* Clear register values */				\
+	i = 32;							\
+	while (i--)						\
+		AVR_PUSH8(sp, 0);				\
+								\
+	/* SREG with interrupts enabled */			\
+	AVR_PUSH8(sp, 0x80);					\
+	task->sp = sp;						\
+} while (0);
+	
+#define ao_arch_save_regs() do {					\
+		asm("push r31" "\n\t" "push r30");			\
+		asm("push r29" "\n\t" "push r28" "\n\t" "push r27" "\n\t" "push r26" "\n\t" "push r25"); \
+		asm("push r24" "\n\t" "push r23" "\n\t" "push r22" "\n\t" "push r21" "\n\t" "push r20"); \
+		asm("push r19" "\n\t" "push r18" "\n\t" "push r17" "\n\t" "push r16" "\n\t" "push r15"); \
+		asm("push r14" "\n\t" "push r13" "\n\t" "push r12" "\n\t" "push r11" "\n\t" "push r10"); \
+		asm("push r9" "\n\t" "push r8" "\n\t" "push r7" "\n\t" "push r6" "\n\t" "push r5"); \
+		asm("push r4" "\n\t" "push r3" "\n\t" "push r2" "\n\t" "push r1" "\n\t" "push r0"); \
+		cli();							\
+		asm("in r0, __SREG__" "\n\t" "push r0");		\
+		sei();							\
+	} while (0)
+
+#define ao_arch_save_stack() do {					\
+		uint8_t	sp_l, sp_h;					\
+		asm("in %0,__SP_L__" : "=&r" (sp_l) );			\
+		asm("in %0,__SP_H__" : "=&r" (sp_h) );			\
+		ao_cur_task->sp = (uint8_t *) ((uint16_t) sp_l | ((uint16_t) sp_h << 8)); \
+	} while (0)
+
+#define ao_arch_isr_stack()	/* nothing */
+
+#define ao_arch_cpu_idle() do {			\
+		if (!ao_cpu_sleep_disable)	\
+			sleep_cpu();		\
+	} while (0)
+
+#define ao_arch_restore_stack() do { \
+		uint8_t	sp_l, sp_h;					\
+		sp_l = (uint16_t) ao_cur_task->sp;			\
+		sp_h = ((uint16_t) ao_cur_task->sp) >> 8;		\
+		cli();							\
+		asm("out __SP_H__,%0" : : "r" (sp_h) );			\
+		asm("out __SP_L__,%0" : : "r" (sp_l) );			\
+		asm("pop r0"	"\n\t"					\
+		    "out __SREG__, r0");				\
+		asm("pop r0" "\n\t" "pop r1" "\n\t" "pop r2" "\n\t" "pop r3" "\n\t" "pop r4"); \
+		asm("pop r5" "\n\t" "pop r6" "\n\t" "pop r7" "\n\t" "pop r8" "\n\t" "pop r9"); \
+		asm("pop r10" "\n\t" "pop r11" "\n\t" "pop r12" "\n\t" "pop r13" "\n\t" "pop r14"); \
+		asm("pop r15" "\n\t" "pop r16" "\n\t" "pop r17" "\n\t" "pop r18" "\n\t" "pop r19"); \
+		asm("pop r20" "\n\t" "pop r21" "\n\t" "pop r22" "\n\t" "pop r23" "\n\t" "pop r24"); \
+		asm("pop r25" "\n\t" "pop r26" "\n\t" "pop r27" "\n\t" "pop r28" "\n\t" "pop r29"); \
+		asm("pop r30" "\n\t" "pop r31");			\
+		asm("ret");						\
+	} while(0)
+
+#define ao_arch_critical(b) do { cli(); b; sei(); } while (0)
+
+#define AO_TELESCIENCE_NUM_ADC	12
+
+struct ao_adc {
+	uint16_t	tick;		/* tick when the sample was read */
+	uint16_t	adc[AO_TELESCIENCE_NUM_ADC];	/* samples */
+};
+
+#define AO_ADC_RING	16
+
+#endif /* _AO_ARCH_H_ */
+
diff --git a/src/avr/ao_avr_stdio.c b/src/avr/ao_avr_stdio.c
new file mode 100644
index 00000000..ba562dbf
--- /dev/null
+++ b/src/avr/ao_avr_stdio.c
@@ -0,0 +1,52 @@
+/*
+ * 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"
+
+int
+stdio_put(char c, FILE *stream)
+{
+	if (ao_cur_task && ao_num_stdios)
+		putchar(c);
+	else
+	{
+		if (c == '\n')
+			stdio_put('\r', stream);
+		loop_until_bit_is_set(UCSR1A, UDRE1);
+		UDR1 = c;
+	}
+
+	return 0;
+}
+
+int
+stdio_get(FILE *stream)
+{
+	return (int) getchar() & 0xff;
+}
+
+static FILE mystdout = FDEV_SETUP_STREAM(stdio_put, NULL, _FDEV_SETUP_WRITE);
+
+static FILE mystdin = FDEV_SETUP_STREAM(NULL, stdio_get, _FDEV_SETUP_READ);
+
+void
+ao_avr_stdio_init(void)
+{
+	stdout = &mystdout;
+	stdin = &mystdin;
+	printf("%d stdios registered\n", ao_num_stdios);
+}
diff --git a/src/avr/ao_clock.c b/src/avr/ao_clock.c
new file mode 100644
index 00000000..0d42b6d5
--- /dev/null
+++ b/src/avr/ao_clock.c
@@ -0,0 +1,77 @@
+/*
+ * 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"
+
+/*
+ * AltOS always cranks the clock to the max frequency
+ */
+
+void
+ao_clock_init(void)
+{
+	/* disable RC clock */
+	CLKSEL0 &= ~(1 << RCE);
+
+	/* Disable PLL */
+	PLLCSR &= ~(1 << PLLE);
+
+	/* Enable external clock */
+	CLKSEL0 |= (1 << EXTE);
+
+	/* wait for external clock to be ready */
+	while ((CLKSTA & (1 << EXTON)) == 0)
+		;
+
+	/* select external clock */
+	CLKSEL0 |= (1 << CLKS);
+
+	/* Disable the clock prescaler */
+	cli();
+	CLKPR = (1 << CLKPCE);
+
+	/* Always run the system clock at 8MHz */
+#if AVR_CLOCK > 12000000UL
+	CLKPR = 1;
+#else
+	CLKPR = 0;
+#endif
+	sei();
+
+	/* Set up the PLL to use the crystal */
+
+	/* Use primary system clock as PLL source */
+	PLLFRQ = ((0 << PINMUX) |	/* Use primary clock */
+		  (0 << PLLUSB) |	/* No divide by 2 for USB */
+		  (0 << PLLTM0) |	/* Disable high speed timer */
+		  (0x4 << PDIV0));	/* 48MHz PLL clock */
+
+	/* Set the frequency of the crystal */
+#if AVR_CLOCK > 12000000UL
+	PLLCSR |= (1 << PINDIV);	/* For 16MHz crystal on Teensy board */
+#else
+	PLLCSR &= ~(1 << PINDIV);	/* For 8MHz crystal on TeleScience board */
+#endif
+
+	/* Enable the PLL */
+	PLLCSR |= (1 << PLLE);
+	while (!(PLLCSR & (1 << PLOCK)))
+		;
+
+	set_sleep_mode(SLEEP_MODE_IDLE);
+	sleep_enable();
+}
diff --git a/src/avr/ao_debug_avr.c b/src/avr/ao_debug_avr.c
new file mode 100644
index 00000000..2e41e15a
--- /dev/null
+++ b/src/avr/ao_debug_avr.c
@@ -0,0 +1,78 @@
+/*
+ * 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"
+
+void
+uart_send(char c)
+{
+	loop_until_bit_is_set(UCSR1A, UDRE1);
+	UDR1 = c;
+}
+
+int
+uart_put(char c, FILE *stream)
+{
+	if (c == '\n')
+		uart_send('\r');
+	uart_send(c);
+	return 0;
+}
+
+int
+uart_get(FILE *stream)
+{
+	loop_until_bit_is_set(UCSR1A, RXC1);
+	return (int) UDR1 & 0xff;
+}
+
+void
+uart_init(uint16_t baud)
+{
+	PRR1 &= ~(1 << PRUSART1);
+	UBRR1L = baud;
+	UBRR1H = baud >> 8;
+	UCSR1A = 0;
+	UCSR1B = ((1 << RXEN1) |	/* Enable receiver */
+		  (1 << TXEN1));	/* Enable transmitter */
+	UCSR1C = ((0 << UMSEL10) |	/* Asynchronous mode */
+		  (0 << UPM10) |	/* No parity */
+		  (0 << USBS1) |	/* 1 stop bit */
+		  (3 << UCSZ10) |	/* 8 bit characters */
+		  (0 << UCPOL1));	/* MBZ for async mode */
+}
+
+static FILE mystdout = FDEV_SETUP_STREAM(uart_put, NULL, _FDEV_SETUP_WRITE);
+
+static FILE mystdin = FDEV_SETUP_STREAM(NULL, uart_get, _FDEV_SETUP_READ);
+
+void	ao_debug_init(void)
+{
+	uart_init(F_CPU / (16UL * 9600UL) - 1);
+
+	stdout = &mystdout;
+	stdin = &mystdin;
+
+	if (DDRB & AO_LED_RED) {
+		printf ("oops, starting all over\n");
+		for (;;)
+			;
+	}
+	DDRB |= (1 << 7);
+	PORTB |= (1 << 7);
+	printf ("debug initialized\n");
+}
diff --git a/src/avr/ao_led.c b/src/avr/ao_led.c
new file mode 100644
index 00000000..91dfb85e
--- /dev/null
+++ b/src/avr/ao_led.c
@@ -0,0 +1,67 @@
+/*
+ * Copyright © 2009 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"
+
+__pdata uint8_t ao_led_enable;
+
+#define LED_PORT	PORTB
+#define LED_DDR		DDRB
+
+void
+ao_led_on(uint8_t colors)
+{
+	LED_PORT |= (colors & ao_led_enable);
+}
+
+void
+ao_led_off(uint8_t colors)
+{
+	LED_PORT &= ~(colors & ao_led_enable);
+}
+
+void
+ao_led_set(uint8_t colors)
+{
+	LED_PORT = (LED_PORT & ~(ao_led_enable)) | (colors & ao_led_enable);
+}
+
+void
+ao_led_toggle(uint8_t colors)
+{
+	LED_PORT ^= (colors & ao_led_enable);
+}
+
+void
+ao_led_for(uint8_t colors, uint16_t ticks) __reentrant
+{
+	ao_led_on(colors);
+	ao_delay(ticks);
+	ao_led_off(colors);
+}
+
+void
+ao_led_init(uint8_t enable)
+{
+	ao_led_enable = enable;
+	if ((LED_DDR & enable)) {
+		printf ("oops! restarted\n");
+		ao_panic(AO_PANIC_REBOOT);
+	}
+	LED_PORT &= ~enable;
+	LED_DDR |= enable;
+}
diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h
new file mode 100644
index 00000000..6b72530b
--- /dev/null
+++ b/src/avr/ao_pins.h
@@ -0,0 +1,88 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#ifdef AVR_DEMO
+	#define AO_LED_RED		(1<<7)
+	#define LEDS_AVAILABLE		(AO_LED_RED)
+	#define USE_SERIAL_STDIN	1
+	#define HAS_USB			1
+	#define PACKET_HAS_SLAVE	0
+	#define HAS_SERIAL_1		1
+	#define TEENSY			1
+	#define AVR_VCC_5V	       	1
+	#define AVR_VCC_3V3		0
+	#define AVR_CLOCK		16000000UL
+	#define HAS_BEEP		0
+#endif
+
+#ifdef TELESCIENCE
+	#define LEDS_AVAILABLE		0
+	#define HAS_USB			1
+	#define HAS_LOG			1
+	#define TEENSY			0
+	#define USE_SERIAL_STDIN	1
+	#define HAS_SERIAL_1		1
+	#define HAS_USB			1
+	#define HAS_ADC			1
+	#define PACKET_HAS_SLAVE	0
+	#define HAS_BEEP		0
+
+	#define AVR_VCC_5V	       	0
+	#define AVR_VCC_3V3		1
+	#define AVR_CLOCK		8000000UL
+
+	#define SPI_CS_PORT		PORTE
+	#define SPI_CS_DIR		DDRE
+	#define M25_CS_MASK		(1 << PORTE6)
+	#define M25_MAX_CHIPS		1
+
+	#define SPI_SLAVE_CS_PORT	PORTB
+	#define SPI_SLAVE_CS_PIN	PINB
+	#define SPI_SLAVE_CS_PIN_NO	PINB0
+
+	#define SPI_SLAVE_PIN_0_3	1
+	#define SPI_SLAVE_PIN_2_5	0
+#endif
+
+#ifdef TELEPYRO
+	#define LEDS_AVAILABLE		0
+	#define HAS_USB			1
+	#define HAS_LOG			0
+	#define TEENSY			0
+	#define USE_SERIAL_STDIN	1
+	#define HAS_SERIAL_1		1
+	#define HAS_USB			1
+	#define HAS_ADC			1
+	#define PACKET_HAS_SLAVE	0
+	#define HAS_BEEP		0
+
+	#define AVR_VCC_5V	       	0
+	#define AVR_VCC_3V3		1
+	#define AVR_CLOCK		8000000UL
+
+	#define SPI_SLAVE_CS_PORT	PORTB
+	#define SPI_SLAVE_CS_PIN	PINB
+	#define SPI_SLAVE_CS_PIN_NO	PINB0
+
+	#define SPI_SLAVE_PIN_0_3	1
+	#define SPI_SLAVE_PIN_2_5	0
+#endif
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/ao_log_telem.c b/src/avr/ao_romconfig.c
index 1b472efe..bbb677e2 100644
--- a/src/ao_log_telem.c
+++ b/src/avr/ao_romconfig.c
@@ -17,14 +17,4 @@
 
 #include "ao.h"
 
-void
-ao_log_write_erase(uint8_t pos)
-{
-	(void) pos;
-}
-
-uint8_t
-ao_log_present(void)
-{
-	return 0;
-}
+const uint16_t ao_serial_number = 0;
diff --git a/src/avr/ao_serial_avr.c b/src/avr/ao_serial_avr.c
new file mode 100644
index 00000000..2fe39755
--- /dev/null
+++ b/src/avr/ao_serial_avr.c
@@ -0,0 +1,166 @@
+/*
+ * 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"
+
+__xdata struct ao_fifo	ao_usart1_rx_fifo;
+__xdata struct ao_fifo	ao_usart1_tx_fifo;
+
+void
+ao_debug_out(char c)
+{
+	if (c == '\n')
+		ao_debug_out('\r');
+	loop_until_bit_is_set(UCSR1A, UDRE1);
+	UDR1 = c;
+}
+
+ISR(USART1_RX_vect)
+{
+	if (!ao_fifo_full(ao_usart1_rx_fifo))
+		ao_fifo_insert(ao_usart1_rx_fifo, UDR1);
+	ao_wakeup(&ao_usart1_rx_fifo);
+#if USE_SERIAL_STDIN
+	ao_wakeup(&ao_stdin_ready);
+#endif
+}
+
+static __xdata uint8_t ao_serial_tx1_started;
+
+static void
+ao_serial_tx1_start(void)
+{
+	if (!ao_fifo_empty(ao_usart1_tx_fifo) &&
+	    !ao_serial_tx1_started)
+	{
+		ao_serial_tx1_started = 1;
+		ao_fifo_remove(ao_usart1_tx_fifo, UDR1);
+	}
+}
+
+ISR(USART1_UDRE_vect)
+{
+	ao_serial_tx1_started = 0;
+	ao_serial_tx1_start();
+	ao_wakeup(&ao_usart1_tx_fifo);
+}
+
+char
+ao_serial_getchar(void) __critical
+{
+	char	c;
+	cli();
+	while (ao_fifo_empty(ao_usart1_rx_fifo))
+		ao_sleep(&ao_usart1_rx_fifo);
+	ao_fifo_remove(ao_usart1_rx_fifo, c);
+	sei();
+	return c;
+}
+
+#if USE_SERIAL_STDIN
+char
+ao_serial_pollchar(void) __critical
+{
+	char	c;
+	cli();
+	if (ao_fifo_empty(ao_usart1_rx_fifo)) {
+		sei();
+		return AO_READ_AGAIN;
+	}
+	ao_fifo_remove(ao_usart1_rx_fifo,c);
+	sei();
+	return c;
+}
+#endif
+
+void
+ao_serial_putchar(char c) __critical
+{
+	cli();
+	while (ao_fifo_full(ao_usart1_tx_fifo))
+		ao_sleep(&ao_usart1_tx_fifo);
+	ao_fifo_insert(ao_usart1_tx_fifo, c);
+	ao_serial_tx1_start();
+	sei();
+}
+
+void
+ao_serial_drain(void) __critical
+{
+	cli();
+	while (!ao_fifo_empty(ao_usart1_tx_fifo))
+		ao_sleep(&ao_usart1_tx_fifo);
+	sei();
+}
+
+static const struct {
+	uint16_t ubrr;
+} ao_serial_speeds[] = {
+	/* [AO_SERIAL_SPEED_4800] = */ {
+		F_CPU / (16UL * 4800UL) - 1
+	},
+	/* [AO_SERIAL_SPEED_9600] = */ {
+		F_CPU / (16UL * 9600UL) - 1
+	},
+	/* [AO_SERIAL_SPEED_19200] = */ {
+		F_CPU / (16UL * 19200UL) - 1
+	},
+	/* [AO_SERIAL_SPEED_57600] = */ {
+		F_CPU / (16UL * 57600UL) - 1
+	},
+};
+
+void
+ao_serial_set_speed(uint8_t speed)
+{
+	ao_serial_drain();
+	if (speed > AO_SERIAL_SPEED_57600)
+		return;
+	UBRR1L = ao_serial_speeds[speed].ubrr;
+	UBRR1H = ao_serial_speeds[speed].ubrr >> 8;
+}
+
+void
+ao_serial_init(void)
+{
+	/* Ensure the uart is powered up */
+
+	PRR1 &= ~(1 << PRUSART1);
+
+	/* Pick a 9600 baud rate */
+	ao_serial_set_speed(AO_SERIAL_SPEED_9600);
+
+	UCSR1A = 0;
+	UCSR1C = ((0 << UMSEL10) |	/* Asynchronous mode */
+		  (0 << UPM10) |	/* No parity */
+		  (0 << USBS1) |	/* 1 stop bit */
+		  (3 << UCSZ10) |	/* 8 bit characters */
+		  (0 << UCPOL1));	/* MBZ for async mode */
+	UCSR1B = ((1 << RXEN1) |	/* Enable receiver */
+		  (1 << TXEN1) |	/* Enable transmitter */
+		  (1 << RXCIE1) |	/* Enable receive interrupts */
+		  (1 << UDRIE1));	/* Enable transmit empty interrupts */
+#if 0
+#if USE_SERIAL_STDIN
+	int8_t	i;
+	i = ao_add_stdio(ao_serial_pollchar,
+			 ao_serial_putchar,
+			 NULL);
+	printf("Register serial stdio as %d\n", i);
+#endif
+#endif
+}
diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c
new file mode 100644
index 00000000..76f574c6
--- /dev/null
+++ b/src/avr/ao_spi_slave.c
@@ -0,0 +1,115 @@
+/*
+ * 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"
+
+uint8_t
+ao_spi_read(uint8_t *buf, uint8_t len)
+{
+	while (len--) {
+		while (!(SPSR & (1 << SPIF)))
+			if ((PINB & (1 << PINB0)))
+				return 0;
+		*buf++ = SPDR;
+	}
+	return 1;
+}
+
+void
+ao_spi_write(uint8_t *buf, uint8_t len)
+{
+	while (len--) {
+		SPDR = *buf++;
+		while (!(SPSR & (1 << SPIF)))
+			if ((PINB & (1 << PINB0)))
+				return;
+	}
+	/* Clear pending SPIF bit by reading */
+	(void) SPDR;
+}
+
+static uint8_t ao_spi_slave_running;
+
+ISR(PCINT0_vect)
+{
+	cli();
+#if SPI_SLAVE_PIN_0_3
+	if ((PINB & (1 << PORTB0)) == 0)
+#endif
+#if SPI_SLAVE_PIN_2_5
+	if ((PINB & (1 << PORTB2)) == 0)
+#endif
+	{
+		if (!ao_spi_slave_running) {
+			ao_spi_slave_running = 1;
+			ao_spi_slave();
+		}
+	} else {
+		ao_spi_slave_running = 0;
+	}
+	sei();
+}
+
+void
+ao_spi_slave_init(void)
+{
+	/* We'd like to have a pull-up on SS so that disconnecting the
+	 * TM would cause any SPI transaction to abort. However, when
+	 * I tried that, SPI transactions would spontaneously abort,
+	 * making me assume that we needed a less aggressive pull-up
+	 * than is offered inside the AVR
+	 */
+#if SPI_SLAVE_PIN_0_3
+	PCMSK0 |= (1 << PCINT0);	/* Enable PCINT0 pin change */
+	PCICR |= (1 << PCIE0);		/* Enable pin change interrupt */
+
+	DDRB = ((DDRB & 0xf0) |
+		(1 << 3) |		/* MISO, output */
+		(0 << 2) |		/* MOSI, input */
+		(0 << 1) |		/* SCK, input */
+		(0 << 0));		/* SS, input */
+
+	PORTB = ((PORTB & 0xf0) |
+		 (1 << 3) |		/* MISO, output */
+		 (0 << 2) |		/* MOSI, no pull-up */
+		 (0 << 1) |		/* SCK, no pull-up */
+		 (0 << 0));		/* SS, no pull-up */
+#endif
+#if SPI_SLAVE_PIN_2_5
+	PCMSK0 |= (1 << PCINT2);	/* Enable PCINT2 pin change */
+	PCICR |= (1 << PCIE0);		/* Enable pin change interrupt */
+
+	DDRB = ((DDRB & 0xf0) |
+		(0 << 5) |		/* SCK, input */
+		(1 << 4) |		/* MISO, output */
+		(0 << 3) |		/* MOSI, input */
+		(0 << 2));		/* SS, input */
+
+	PORTB = ((PORTB & 0xf0) |
+		 (0 << 5) |		/* SCK, no pull-up */
+		 (1 << 4) |		/* MISO, output */
+		 (0 << 3) |		/* MOSI, no pull-up */
+		 (0 << 2));		/* SS, no pull-up */
+#endif	
+
+	SPCR = (0 << SPIE) |		/* Disable SPI interrupts */
+		(1 << SPE) |		/* Enable SPI */
+		(0 << DORD) |		/* MSB first */
+		(0 << MSTR) |		/* Slave mode */
+		(0 << CPOL) |		/* Clock low when idle */
+		(0 << CPHA);		/* Sample at leading clock edge */
+}
diff --git a/src/avr/ao_spi_usart.c b/src/avr/ao_spi_usart.c
new file mode 100644
index 00000000..6ed708ff
--- /dev/null
+++ b/src/avr/ao_spi_usart.c
@@ -0,0 +1,112 @@
+/*
+ * 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"
+
+/*
+ * Atmega32u4 USART in MSPIM (master SPI mode)
+ */
+
+__xdata uint8_t	ao_spi_mutex;
+
+/* Send bytes over SPI.
+ *
+ * This just polls; the SPI is set to go as fast as possible,
+ * so using interrupts would take way too long
+ */
+void
+ao_spi_send(void __xdata *block, uint16_t len) __reentrant
+{
+	uint8_t	*d = block;
+
+	ao_mutex_get(&ao_spi_mutex);
+	while (len--) {
+		while (!(UCSR1A & (1 << UDRE1)));
+		UDR1 = *d++;
+		while (!(UCSR1A & (1 << RXC1)));
+		(void) UDR1;
+	}
+	ao_mutex_put(&ao_spi_mutex);
+}
+
+/* Receive bytes over SPI.
+ *
+ * This sets up tow DMA engines, one reading the data and another
+ * writing constant values to the SPI transmitter as that is what
+ * clocks the data coming in.
+ */
+void
+ao_spi_recv(void __xdata *block, uint16_t len) __reentrant
+{
+	uint8_t	*d = block;
+
+	ao_mutex_get(&ao_spi_mutex);
+	while (len--) {
+		while (!(UCSR1A & (1 << UDRE1)));
+		UDR1 = 0;
+		while (!(UCSR1A & (1 << RXC1)));
+		*d++ = UDR1;
+	}
+	ao_mutex_put(&ao_spi_mutex);
+}
+
+/*
+ * Initialize USART0 for SPI using config alt 2
+ *
+ * 	MO	P1_5
+ * 	MI	P1_4
+ * 	CLK	P1_3
+ *
+ * Chip select is the responsibility of the caller
+ */
+
+#define XCK1_DDR	DDRD
+#define XCK1_PORT	PORTD
+#define XCK1		PORTD5
+#define XMS1_DDR	DDRE
+#define XMS1_PORT	PORTE
+#define XMS1		PORTE6
+
+void
+ao_spi_init(void)
+{
+	/* Ensure the USART is powered */
+	PRR1 &= ~(1 << PRUSART1);
+
+	/*
+	 * Set pin directions
+	 */
+	XCK1_DDR |= (1 << XCK1);
+
+	/* Clear chip select (which is negated) */
+	XMS1_PORT |= (1 < XMS1);
+	XMS1_DDR |= (1 << XMS1);
+
+	/* Set baud register to zero (required before turning transmitter on) */
+	UBRR1 = 0;
+
+	UCSR1C = ((0x3 << UMSEL10) |	/* Master SPI mode */
+		  (0 << UCSZ10) |	/* SPI mode 0 */
+		  (0 << UCPOL1));	/* SPI mode 0 */
+
+	/* Enable transmitter and receiver */
+	UCSR1B = ((1 << RXEN1) |
+		  (1 << TXEN1));
+
+	/* It says that 0 is a legal value; we'll see... */
+	UBRR1 = 0;
+}
diff --git a/src/avr/ao_timer.c b/src/avr/ao_timer.c
new file mode 100644
index 00000000..eef14345
--- /dev/null
+++ b/src/avr/ao_timer.c
@@ -0,0 +1,89 @@
+/*
+ * Copyright © 2009 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"
+
+static volatile __data uint16_t ao_tick_count;
+
+uint16_t ao_time(void)
+{
+	uint16_t	v;
+	ao_arch_critical(
+		v = ao_tick_count;
+		);
+	return v;
+}
+
+static __xdata uint8_t ao_forever;
+
+void
+ao_delay(uint16_t ticks)
+{
+	ao_alarm(ticks);
+	ao_sleep(&ao_forever);
+}
+
+#define T1_CLOCK_DIVISOR	8	/* 24e6/8 = 3e6 */
+#define T1_SAMPLE_TIME		30000	/* 3e6/30000 = 100 */
+
+#if HAS_ADC
+volatile __data uint8_t	ao_adc_interval = 1;
+volatile __data uint8_t	ao_adc_count;
+#endif
+
+void
+ao_debug_out(char c);
+
+ISR(TIMER1_COMPA_vect)
+{
+	++ao_tick_count;
+#if HAS_ADC
+	if (++ao_adc_count == ao_adc_interval) {
+		ao_adc_count = 0;
+		ao_adc_poll();
+	}
+#endif
+}
+
+#if HAS_ADC
+void
+ao_timer_set_adc_interval(uint8_t interval) __critical
+{
+	ao_adc_interval = interval;
+	ao_adc_count = 0;
+}
+#endif
+
+void
+ao_timer_init(void)
+{
+	TCCR1A = ((0 << WGM11) |	/* CTC mode, OCR1A */
+		  (0 << WGM10));	/* CTC mode, OCR1A */
+	TCCR1B = ((0 << ICNC1) |	/* no input capture noise canceler */
+		  (0 << ICES1) |	/* input capture on falling edge (don't care) */
+		  (0 << WGM13) |	/* CTC mode, OCR1A */
+		  (1 << WGM12) |	/* CTC mode, OCR1A */
+		  (3 << CS10));		/* clk/64 from prescaler */
+
+#if TEENSY
+	OCR1A = 2500;			/* 16MHz clock */
+#else
+	OCR1A = 1250;			/* 8MHz clock */
+#endif
+
+	TIMSK1 = (1 << OCIE1A);		/* Interrupt on compare match */
+}
diff --git a/src/ao_usb.h b/src/avr/ao_usb.h
index 6633dafc..6633dafc 100644
--- a/src/ao_usb.h
+++ b/src/avr/ao_usb.h
diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c
new file mode 100644
index 00000000..74bdea23
--- /dev/null
+++ b/src/avr/ao_usb_avr.c
@@ -0,0 +1,688 @@
+/*
+ * 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_usb.h"
+
+#define USB_DEBUG 0
+
+#if USB_DEBUG
+#define debug(format, args...)	printf(format, ## args)
+#else
+#define debug(format, args...)
+#endif
+
+struct ao_task __xdata ao_usb_task;
+
+struct ao_usb_setup {
+	uint8_t		dir_type_recip;
+	uint8_t		request;
+	uint16_t	value;
+	uint16_t	index;
+	uint16_t	length;
+} __xdata ao_usb_setup;
+
+static __xdata uint8_t 	ao_usb_ep0_state;
+static const uint8_t * __xdata ao_usb_ep0_in_data;
+static __xdata uint8_t 	ao_usb_ep0_in_len;
+static __xdata uint8_t	ao_usb_ep0_in_pending;
+static __xdata uint8_t	ao_usb_addr_pending;
+static __xdata uint8_t	ao_usb_ep0_in_buf[2];
+static __xdata uint8_t 	ao_usb_ep0_out_len;
+static __xdata uint8_t *__xdata ao_usb_ep0_out_data;
+
+static __xdata uint8_t	ao_usb_in_flushed;
+static __xdata uint8_t	ao_usb_running;
+static __xdata uint8_t	ao_usb_configuration;
+static __xdata uint8_t	ueienx_0;
+
+void
+ao_usb_set_address(uint8_t address)
+{
+	UDADDR = (0 << ADDEN) | address;
+	ao_usb_addr_pending = 1;
+}
+
+#define EP_SIZE(s)	((s) == 64 ? 0x30 :	\
+			((s) == 32 ? 0x20 :	\
+			((s) == 16 ? 0x10 :	\
+			             0x00)))
+
+static void
+ao_usb_dump_ep(uint8_t ep)
+{
+	UENUM = ep;
+	debug ("EP %d: UECONX %02x UECFG0X %02x UECFG1X %02x UEIENX %02x UESTA0X %02x UESTA1X %02X\n",
+		ep, UECONX, UECFG0X, UECFG1X, UEIENX, UESTA0X, UESTA1X);
+}
+
+static void
+ao_usb_set_ep0(void)
+{
+	debug ("set_ep0\n");
+	/* Set the CONTROL max packet size, single buffered */
+	UENUM = 0;
+	UECONX = (1 << EPEN);					/* Enable */
+
+	UECFG0X = ((0 << EPTYPE0) |				/* Control */
+		   (0 << EPDIR));				/* Out (ish) */
+
+	UECFG1X = (EP_SIZE(AO_USB_CONTROL_SIZE) |		/* Size */
+		   (0 << EPBK0) |				/* Single bank */
+		   (1 << ALLOC));
+
+	ueienx_0 = ((1 << RXSTPE) |				/* Enable SETUP interrupt */
+		    (1 << RXOUTE));				/* Enable OUT interrupt */
+
+//	ao_usb_dump_ep(0);
+	ao_usb_addr_pending = 0;
+}
+
+static void
+ao_usb_set_configuration(void)
+{
+	/* Set the IN max packet size, double buffered */
+	UENUM = AO_USB_IN_EP;
+	UECONX = (1 << EPEN);					/* Enable */
+
+	UECFG0X = ((2 << EPTYPE0) |				/* Bulk */
+		   (1 << EPDIR));				/* In */
+
+	UECFG1X = (EP_SIZE(AO_USB_IN_SIZE) |			/* Size */
+		   (1 << EPBK0) |				/* Double bank */
+		   (1 << ALLOC));				/* Allocate */
+
+#if 0
+	UEIENX = ((1 << TXINE));				/* Enable IN complete interrupt */
+#endif
+
+	ao_usb_dump_ep(AO_USB_IN_EP);
+
+	/* Set the OUT max packet size, double buffered */
+	UENUM = AO_USB_OUT_EP;
+	UECONX |= (1 << EPEN);					/* Enable */
+
+	UECFG0X = ((2 << EPTYPE0) |				/* Bulk */
+		   (0 << EPDIR));				/* Out */
+
+	UECFG1X = (EP_SIZE(AO_USB_OUT_SIZE) |			/* Size */
+		   (1 << EPBK0) |				/* Double bank */
+		   (1 << ALLOC));				/* Allocate */
+
+	UEIENX = ((1 << RXOUTE));				/* Enable OUT complete interrupt */
+
+	ao_usb_dump_ep(AO_USB_OUT_EP);
+	ao_usb_running = 1;
+}
+
+ISR(USB_GEN_vect)
+{
+	ao_wakeup(&ao_usb_task);
+}
+
+
+__xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
+
+/* Walk through the list of descriptors and find a match
+ */
+static void
+ao_usb_get_descriptor(uint16_t value)
+{
+	const uint8_t		*__xdata descriptor;
+	__xdata uint8_t		type = value >> 8;
+	__xdata uint8_t		index = value;
+
+	descriptor = ao_usb_descriptors;
+	while (descriptor[0] != 0) {
+		if (descriptor[1] == type && index-- == 0) {
+			if (type == AO_USB_DESC_CONFIGURATION)
+				ao_usb_ep0_in_len = descriptor[2];
+			else
+				ao_usb_ep0_in_len = descriptor[0];
+			ao_usb_ep0_in_data = descriptor;
+			break;
+		}
+		descriptor += descriptor[0];
+	}
+}
+
+static void
+ao_usb_ep0_set_in_pending(uint8_t in_pending)
+{
+	ao_usb_ep0_in_pending = in_pending;
+
+	if (in_pending)
+		ueienx_0 = ((1 << RXSTPE) | (1 << RXOUTE) | (1 << TXINE));	/* Enable IN interrupt */
+}
+
+/* Send an IN data packet */
+static void
+ao_usb_ep0_flush(void)
+{
+	__xdata uint8_t this_len;
+
+	cli();
+	UENUM = 0;
+	if (!(UEINTX & (1 << TXINI))) {
+		debug("EP0 not accepting IN data\n");
+		ao_usb_ep0_set_in_pending(1);
+	} else {
+		this_len = ao_usb_ep0_in_len;
+		if (this_len > AO_USB_CONTROL_SIZE)
+			this_len = AO_USB_CONTROL_SIZE;
+
+		ao_usb_ep0_in_len -= this_len;
+
+		/* Set IN interrupt enable */
+		if (ao_usb_ep0_in_len == 0 && this_len != AO_USB_CONTROL_SIZE)
+			ao_usb_ep0_set_in_pending(0);
+		else
+			ao_usb_ep0_set_in_pending(1);
+
+		debug ("Flush EP0 len %d:", this_len);
+		while (this_len--) {
+			uint8_t	c = *ao_usb_ep0_in_data++;
+			debug(" %02x", c);
+			UEDATX = c;
+		}
+		debug ("\n");
+
+		/* Clear the TXINI bit to send the packet */
+		UEINTX &= ~(1 << TXINI);
+	}
+	sei();
+}
+
+/* Read data from the ep0 OUT fifo */
+static void
+ao_usb_ep0_fill(uint8_t len, uint8_t ack)
+{
+	if (len > ao_usb_ep0_out_len)
+		len = ao_usb_ep0_out_len;
+	ao_usb_ep0_out_len -= len;
+
+//	debug ("EP0 UEINTX %02x UEBCLX %d UEBCHX %d\n",
+//		UEINTX, UEBCLX, UEBCHX);
+	/* Pull all of the data out of the packet */
+	debug ("Fill EP0 len %d:", len);
+	UENUM = 0;
+	while (len--) {
+		uint8_t	c = UEDATX;
+		*ao_usb_ep0_out_data++ = c;
+		debug (" %02x", c);
+	}
+	debug ("\n");
+
+	/* ACK the packet */
+	UEINTX &= ~ack;
+}
+
+void
+ao_usb_ep0_queue_byte(uint8_t a)
+{
+	ao_usb_ep0_in_buf[ao_usb_ep0_in_len++] = a;
+}
+
+static void
+ao_usb_ep0_setup(void)
+{
+	/* Pull the setup packet out of the fifo */
+	ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_setup;
+	ao_usb_ep0_out_len = 8;
+	ao_usb_ep0_fill(8, (1 << RXSTPI) | (1 << RXOUTI) | (1 << TXINI));
+	if (ao_usb_ep0_out_len != 0) {
+		debug ("invalid setup packet length\n");
+		return;
+	}
+
+	/* Figure out how to ACK the setup packet */
+	if (ao_usb_setup.dir_type_recip & AO_USB_DIR_IN) {
+		if (ao_usb_setup.length)
+			ao_usb_ep0_state = AO_USB_EP0_DATA_IN;
+		else
+			ao_usb_ep0_state = AO_USB_EP0_IDLE;
+	} else {
+		if (ao_usb_setup.length)
+			ao_usb_ep0_state = AO_USB_EP0_DATA_OUT;
+		else
+			ao_usb_ep0_state = AO_USB_EP0_IDLE;
+	}
+/*
+	UENUM = 0;
+	if (ao_usb_ep0_state == AO_USB_EP0_IDLE)
+		USBCS0 = USBCS0_CLR_OUTPKT_RDY | USBCS0_DATA_END;
+	else
+		USBCS0 = USBCS0_CLR_OUTPKT_RDY;
+*/
+
+	ao_usb_ep0_in_data = ao_usb_ep0_in_buf;
+	ao_usb_ep0_in_len = 0;
+	switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_TYPE_MASK) {
+	case AO_USB_TYPE_STANDARD:
+		debug ("Standard setup packet\n");
+		switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_RECIP_MASK) {
+		case AO_USB_RECIP_DEVICE:
+			debug ("Device setup packet\n");
+			switch(ao_usb_setup.request) {
+			case AO_USB_REQ_GET_STATUS:
+				debug ("get status\n");
+				ao_usb_ep0_queue_byte(0);
+				ao_usb_ep0_queue_byte(0);
+				break;
+			case AO_USB_REQ_SET_ADDRESS:
+				debug ("set address %d\n", ao_usb_setup.value);
+				ao_usb_set_address(ao_usb_setup.value);
+				break;
+			case AO_USB_REQ_GET_DESCRIPTOR:
+				debug ("get descriptor %d\n", ao_usb_setup.value);
+				ao_usb_get_descriptor(ao_usb_setup.value);
+				break;
+			case AO_USB_REQ_GET_CONFIGURATION:
+				debug ("get configuration %d\n", ao_usb_configuration);
+				ao_usb_ep0_queue_byte(ao_usb_configuration);
+				break;
+			case AO_USB_REQ_SET_CONFIGURATION:
+				ao_usb_configuration = ao_usb_setup.value;
+				debug ("set configuration %d\n", ao_usb_configuration);
+				ao_usb_set_configuration();
+				break;
+			}
+			break;
+		case AO_USB_RECIP_INTERFACE:
+#ifndef AVR
+			#pragma disable_warning 110
+#endif
+			debug ("Interface setup packet\n");
+			switch(ao_usb_setup.request) {
+			case AO_USB_REQ_GET_STATUS:
+				ao_usb_ep0_queue_byte(0);
+				ao_usb_ep0_queue_byte(0);
+				break;
+			case AO_USB_REQ_GET_INTERFACE:
+				ao_usb_ep0_queue_byte(0);
+				break;
+			case AO_USB_REQ_SET_INTERFACE:
+				break;
+			}
+			break;
+		case AO_USB_RECIP_ENDPOINT:
+			debug ("Endpoint setup packet\n");
+			switch(ao_usb_setup.request) {
+			case AO_USB_REQ_GET_STATUS:
+				ao_usb_ep0_queue_byte(0);
+				ao_usb_ep0_queue_byte(0);
+				break;
+			}
+			break;
+		}
+		break;
+	case AO_USB_TYPE_CLASS:
+		debug ("Class setup packet\n");
+		switch (ao_usb_setup.request) {
+		case SET_LINE_CODING:
+			debug ("set line coding\n");
+			ao_usb_ep0_out_len = 7;
+			ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_line_coding;
+			break;
+		case GET_LINE_CODING:
+			debug ("get line coding\n");
+			ao_usb_ep0_in_len = 7;
+			ao_usb_ep0_in_data = (uint8_t *) &ao_usb_line_coding;
+			break;
+		case SET_CONTROL_LINE_STATE:
+			break;
+		}
+		break;
+	}
+	if (ao_usb_ep0_state != AO_USB_EP0_DATA_OUT) {
+		if (ao_usb_setup.length < ao_usb_ep0_in_len)
+			ao_usb_ep0_in_len = ao_usb_setup.length;
+		debug ("Start ep0 in delivery %d\n", ao_usb_ep0_in_len);
+		ao_usb_ep0_set_in_pending(1);
+	}
+}
+
+/* End point 0 receives all of the control messages. */
+static void
+ao_usb_ep0(void)
+{
+	uint8_t	intx, udint;
+
+	debug ("usb task started\n");
+	ao_usb_ep0_state = AO_USB_EP0_IDLE;
+	for (;;) {
+		cli();
+		for (;;) {
+			udint = UDINT;
+			UDINT = 0;
+//			debug ("UDINT %02x\n", udint);
+			if (udint & (1 << EORSTI)) {
+				ao_usb_configuration = 0;
+				ao_usb_set_ep0();
+			}
+			UENUM = 0;
+			intx = UEINTX;
+//			debug ("UEINTX %02x\n", intx);
+			if (intx & ((1 << RXSTPI) | (1 << RXOUTI)))
+				break;
+			if ((intx & (1 << TXINI))) {
+				if (ao_usb_ep0_in_pending)
+					break;
+				else
+				{
+					if (ao_usb_addr_pending) {
+						UDADDR |= (1 << ADDEN);
+						ao_usb_addr_pending = 0;
+					}
+					ueienx_0 = ((1 << RXSTPE) | (1 << RXOUTE));	/* Disable IN interrupt */
+				}
+			}
+//			debug ("usb task sleeping...\n");
+			UENUM = 0;
+			UEIENX = ueienx_0;
+			ao_sleep(&ao_usb_task);
+		}
+		sei();
+//		debug ("UEINTX for ep0 is %02x\n", intx);
+		if (intx & (1 << RXSTPI)) {
+			ao_usb_ep0_setup();
+		}
+		if (intx & (1 << RXOUTI)) {
+			ao_usb_ep0_fill(UEBCLX, (1 << RXOUTI));
+			ao_usb_ep0_set_in_pending(1);
+		}
+		if (intx & (1 << TXINI) && ao_usb_ep0_in_pending) {
+			debug ("continue sending ep0 IN data\n");
+			ao_usb_ep0_flush();
+		}
+	}
+}
+
+/* Wait for a free IN buffer */
+static void
+ao_usb_in_wait(void)
+{
+	for (;;) {
+		/* Check if the current buffer is writable */
+		UENUM = AO_USB_IN_EP;
+		if (UEINTX & (1 << RWAL))
+			break;
+
+		cli();
+		/* Wait for an IN buffer to be ready */
+		for (;;) {
+			UENUM = AO_USB_IN_EP;
+			if ((UEINTX & (1 << TXINI)))
+				break;
+			UEIENX = (1 << TXINE);
+			ao_sleep(&ao_usb_in_flushed);
+		}
+		/* Ack the interrupt */
+		UEINTX &= ~(1 << TXINI);
+		sei();
+	}
+}
+
+/* Queue the current IN buffer for transmission */
+static void
+ao_usb_in_send(void)
+{
+	UENUM = AO_USB_IN_EP;
+	UEINTX &= ~(1 << FIFOCON);
+}
+
+void
+ao_usb_flush(void) __critical
+{
+	if (!ao_usb_running)
+		return;
+
+	/* Anytime we've sent a character since
+	 * the last time we flushed, we'll need
+	 * to send a packet -- the only other time
+	 * we would send a packet is when that
+	 * packet was full, in which case we now
+	 * want to send an empty packet
+	 */
+	if (!ao_usb_in_flushed) {
+		ao_usb_in_flushed = 1;
+		ao_usb_in_wait();
+		ao_usb_in_send();
+	}
+}
+
+void
+ao_usb_putchar(char c) __critical __reentrant
+{
+	if (!ao_usb_running)
+		return;
+
+	ao_usb_in_wait();
+
+	/* Queue a byte */
+	UENUM = AO_USB_IN_EP;
+	UEDATX = c;
+
+	/* Send the packet when full */
+	if ((UEINTX & (1 << RWAL)) == 0)
+		ao_usb_in_send();
+	ao_usb_in_flushed = 0;
+}
+
+static char
+_ao_usb_pollchar(void)
+{
+	char c;
+	uint8_t	intx;
+
+	if (!ao_usb_running)
+		return AO_READ_AGAIN;
+
+	for (;;) {
+		UENUM = AO_USB_OUT_EP;
+		intx = UEINTX;
+		debug("usb_pollchar UEINTX %02d\n", intx);
+		if (intx & (1 << RWAL))
+			break;
+
+		if (intx & (1 << FIFOCON)) {
+			/* Ack the last packet */
+			UEINTX = (uint8_t) ~(1 << FIFOCON);
+		}
+
+		/* Check to see if a packet has arrived */
+		if ((intx & (1 << RXOUTI)) == 0) {
+			UENUM = AO_USB_OUT_EP;
+			UEIENX = (1 << RXOUTE);
+			return AO_READ_AGAIN;
+		}
+
+		/* Ack the interrupt */
+		UEINTX = ~(1 << RXOUTI);
+	}
+
+	/* Pull a character out of the fifo */
+	c = UEDATX;
+	return c;
+}
+
+char
+ao_usb_pollchar(void)
+{
+	char	c;
+	cli();
+	c = _ao_usb_pollchar();
+	sei();
+	return c;
+}
+
+char
+ao_usb_getchar(void) __critical
+{
+	char	c;
+
+	cli();
+	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
+		ao_sleep(&ao_stdin_ready);
+	sei();
+	return c;
+}
+
+uint16_t	control_count;
+uint16_t	in_count;
+uint16_t	out_count;
+
+/* Endpoint interrupt */
+ISR(USB_COM_vect)
+{
+	uint8_t	old_num = UENUM;
+	uint8_t	i = UEINT;
+
+#ifdef AO_LED_RED
+	ao_led_toggle(AO_LED_RED);
+#endif
+	UEINT = 0;
+	if (i & (1 << 0)) {
+		UENUM = 0;
+		UEIENX = 0;
+		ao_wakeup(&ao_usb_task);
+		++control_count;
+	}
+	if (i & (1 << AO_USB_IN_EP)) {
+		UENUM = AO_USB_IN_EP;
+		UEIENX = 0;
+		ao_wakeup(&ao_usb_in_flushed);
+		in_count++;
+	}
+	if (i & (1 << AO_USB_OUT_EP)) {
+		UENUM = AO_USB_OUT_EP;
+		UEIENX = 0;
+		ao_wakeup(&ao_stdin_ready);
+		++out_count;
+	}
+	UENUM = old_num;
+}
+
+#if AVR_VCC_5V
+#define AO_PAD_REGULATOR_INIT	(1 << UVREGE)	/* Turn on pad regulator */
+#endif
+#if AVR_VCC_3V3
+/* TeleScience V0.1 has a hardware bug -- UVcc is hooked up, but UCap is not
+ * Make this work by running power through UVcc to the USB system
+ */
+#define AO_PAD_REGULATOR_INIT	(1 << UVREGE)	/* Turn off pad regulator */
+#endif
+
+#if AVR_CLOCK == 16000000UL
+#define AO_USB_PLL_INPUT_PRESCALER	(1 << PINDIV)	/* Divide 16MHz clock by 2 */
+#endif
+#if AVR_CLOCK == 8000000UL
+#define AO_USB_PLL_INPUT_PRESCALER	0		/* Don't divide clock */
+#endif
+
+void
+ao_usb_disable(void)
+{
+	/* Unplug from the bus */
+	UDCON = (1 << DETACH);
+
+	/* Disable the interface */
+	USBCON = 0;
+
+	/* Disable the PLL */
+	PLLCSR = 0;
+
+	/* Turn off the pad regulator */
+	UHWCON = 0;
+}
+
+#define AO_USB_CON ((1 << USBE) |	/* USB enable */ \
+		    (0 << RSTCPU) |	/* do not reset CPU */	\
+		    (0 << LSM) |	/* Full speed mode */	\
+		    (0 << RMWKUP))	/* no remote wake-up */ \
+
+void
+ao_usb_enable(void)
+{
+	/* Configure pad regulator */
+	UHWCON = AO_PAD_REGULATOR_INIT;
+
+	/* Enable USB device, but freeze the clocks until initialized */
+	USBCON = AO_USB_CON | (1 <<FRZCLK);
+
+	/* Enable PLL with appropriate divider */
+	PLLCSR = AO_USB_PLL_INPUT_PRESCALER | (1 << PLLE);
+
+	/* Wait for PLL to lock */
+	loop_until_bit_is_set(PLLCSR, (1 << PLOCK));
+
+	/* Enable USB, enable the VBUS pad */
+	USBCON = AO_USB_CON | (1 << OTGPADE);
+
+	/* Enable global interrupts */
+	UDIEN = (1 << EORSTE);		/* End of reset interrupt */
+
+	ao_usb_configuration = 0;
+
+	debug ("ao_usb_enable\n");
+
+	debug ("UHWCON %02x USBCON %02x PLLCSR %02x UDIEN %02x\n",
+	       UHWCON, USBCON, PLLCSR, UDIEN);
+	UDCON = (0 << DETACH);	/* Clear the DETACH bit to plug into the bus */
+}
+
+#if USB_DEBUG
+struct ao_task __xdata ao_usb_echo_task;
+
+static void
+ao_usb_echo(void)
+{
+	char	c;
+
+	for (;;) {
+		c = ao_usb_getchar();
+		ao_usb_putchar(c);
+		ao_usb_flush();
+	}
+}
+#endif
+
+static void
+ao_usb_irq(void)
+{
+	printf ("control: %d out: %d in: %d\n",
+		control_count, out_count, in_count);
+}
+
+__code struct ao_cmds ao_usb_cmds[] = {
+	{ ao_usb_irq, "i\0Show USB interrupt counts" },
+	{ 0, NULL }
+};
+
+void
+ao_usb_init(void)
+{
+	ao_usb_enable();
+
+	debug ("ao_usb_init\n");
+	ao_add_task(&ao_usb_task, ao_usb_ep0, "usb");
+#if USB_DEBUG
+	ao_add_task(&ao_usb_echo_task, ao_usb_echo, "usb echo");
+#endif
+	ao_cmd_register(&ao_usb_cmds[0]);
+	ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
+}
diff --git a/src/cc1111/Makefile.cc1111 b/src/cc1111/Makefile.cc1111
new file mode 100644
index 00000000..8de4a9b2
--- /dev/null
+++ b/src/cc1111/Makefile.cc1111
@@ -0,0 +1,27 @@
+CC=sdcc
+
+CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE)
+
+CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../core -I../cc1111 -I../driver -I../product
+
+CODESIZE ?= 0x8000
+
+LDFLAGS=--out-fmt-ihx --code-loc 0x0000 --code-size $(CODESIZE) \
+	--xram-loc 0xf000 --xram-size 0xda2 --iram-size 0xff
+
+REL=$(SRC:.c=.rel) ao_product.rel
+ADB=$(REL:.rel=.adb)
+ASM=$(REL:.rel=.asm)
+LNK=$(REL:.rel=.lnk)
+LST=$(REL:.rel=.lst)
+RST=$(REL:.rel=.rst)
+SYM=$(REL:.rel=.sym)
+
+PCDB=$(PROG:.ihx=.cdb)
+PLNK=$(PROG:.ihx=.lnk)
+PMAP=$(PROG:.ihx=.map)
+PMEM=$(PROG:.ihx=.mem)
+PAOM=$(PROG:.ihx=)
+
+%.rel : %.c $(INC)
+	$(call quiet,CC,$(PRODUCT_DEF)) $(CFLAGS) -c -o$@ $<
diff --git a/src/_bp.c b/src/cc1111/_bp.c
index 6bf135bc..6bf135bc 100644
--- a/src/_bp.c
+++ b/src/cc1111/_bp.c
diff --git a/src/ao_adc.c b/src/cc1111/ao_adc.c
index 786dfd11..6aa6e018 100644
--- a/src/ao_adc.c
+++ b/src/cc1111/ao_adc.c
@@ -41,7 +41,11 @@ ao_adc_poll(void)
 void
 ao_adc_get(__xdata struct ao_adc *packet)
 {
+#if HAS_FLIGHT
 	uint8_t	i = ao_adc_ring_prev(ao_sample_adc);
+#else
+	uint8_t	i = ao_adc_ring_prev(ao_adc_head);
+#endif
 	memcpy(packet, &ao_adc_ring[i], sizeof (struct ao_adc));
 }
 
diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h
new file mode 100644
index 00000000..8a41791f
--- /dev/null
+++ b/src/cc1111/ao_arch.h
@@ -0,0 +1,207 @@
+/*
+ * 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.
+ */
+
+/*
+ * CC1111 definitions and code fragments for AltOS
+ */
+
+#ifndef _AO_ARCH_H_
+#define _AO_ARCH_H_
+
+#include "cc1111.h"
+
+/* Convert a __data pointer into an __xdata pointer */
+#define DATA_TO_XDATA(a)	((void __xdata *) ((uint8_t) (a) | 0xff00))
+
+/* Stack runs from above the allocated __data space to 0xfe, which avoids
+ * writing to 0xff as that triggers the stack overflow indicator
+ */
+#define AO_STACK_START	0x90
+#define AO_STACK_END	0xfe
+#define AO_STACK_SIZE	(AO_STACK_END - AO_STACK_START + 1)
+
+#define ao_arch_reboot() do {					\
+	WDCTL = WDCTL_EN | WDCTL_MODE_WATCHDOG | WDCTL_INT_64;	\
+	ao_delay(AO_SEC_TO_TICKS(2));				\
+	} while (0)
+	
+#define ao_arch_nop()	_asm nop _endasm
+#define ao_arch_interrupt(n)	__interrupt n
+
+#define ao_arch_naked_declare	__naked
+#define ao_arch_naked_define	__naked
+
+/* CC1111-specific drivers */
+
+/*
+ * ao_romconfig.c
+ */
+
+#define AO_ROMCONFIG_VERSION	2
+
+extern __code __at (0x00a0) uint16_t ao_romconfig_version;
+extern __code __at (0x00a2) uint16_t ao_romconfig_check;
+extern __code __at (0x00a4) uint16_t ao_serial_number;
+extern __code __at (0x00a6) uint32_t ao_radio_cal;
+
+#ifndef HAS_USB
+#error Please define HAS_USB
+#endif
+
+#define ao_arch_task_members\
+	uint8_t	stack_count;		/* amount of saved stack */
+
+/* Initialize stack */
+#define ao_arch_init_stack(task, start) {			\
+	uint8_t __xdata *stack = task->stack;			\
+	uint8_t	t;						\
+	*stack++ = ((uint16_t) start);		/* 0 */		\
+	*stack++ = ((uint16_t) start) >> 8;	/* 1 */		\
+								\
+	/* and the stuff saved by ao_switch */			\
+	*stack++ = 0;				/* 2 acc */   	\
+	*stack++ = 0x80;			/* 3 IE */ 	\
+								\
+	/*  4 DPL 						\
+	 *  5 DPH 						\
+	 *  6 B 						\
+	 *  7 R2 						\
+	 *  8 R3 						\
+	 *  9 R4 						\
+	 * 10 R5 						\
+	 * 11 R6 						\
+	 * 12 R7 						\
+	 * 13 R0 						\
+	 * 14 R1 						\
+	 * 15 PSW 						\
+	 * 16 BP 						\
+	 */ 							\
+	for (t = 0; t < 13; t++) 				\
+		*stack++ = 0; 					\
+	task->stack_count = 17;					\
+	}
+
+
+  
+/* Save current context */
+
+#define ao_arch_save_regs()						\
+	_asm								\
+	/* Push ACC first, as when restoring the context it must be restored \
+	 * last (it is used to set the IE register). */			\
+	push	ACC							\
+	/* Store the IE register then enable interrupts. */		\
+	push	_IEN0							\
+	setb	_EA							\
+	push	DPL							\
+	push	DPH							\
+	push	b							\
+	push	ar2							\
+	push	ar3							\
+	push	ar4							\
+	push	ar5							\
+	push	ar6							\
+	push	ar7							\
+	push	ar0							\
+	push	ar1							\
+	push	PSW							\
+	_endasm;							\
+	PSW = 0;							\
+	_asm								\
+	push	_bp							\
+	_endasm
+
+#define ao_arch_save_stack() { 						\
+		uint8_t stack_len;					\
+		__data uint8_t *stack_ptr;				\
+		__xdata uint8_t *save_ptr;				\
+		/* Save the current stack */				\
+		stack_len = SP - (AO_STACK_START - 1);			\
+		ao_cur_task->stack_count = stack_len;			\
+		stack_ptr = (uint8_t __data *) AO_STACK_START;		\
+		save_ptr = (uint8_t __xdata *) ao_cur_task->stack;	\
+		do							\
+			*save_ptr++ = *stack_ptr++;			\
+		while (--stack_len);					\
+	}
+
+#define ao_arch_isr_stack()						\
+	/* Empty the stack; might as well let interrupts have the whole thing */ \
+	(SP = AO_STACK_START - 1)
+
+#define ao_arch_cpu_idle()	(PCON = PCON_IDLE)
+
+#define ao_arch_restore_stack() {					\
+		uint8_t stack_len;					\
+		__data uint8_t *stack_ptr;				\
+		__xdata uint8_t *save_ptr;				\
+									\
+		/* Restore the old stack */				\
+		stack_len = ao_cur_task->stack_count;			\
+		SP = AO_STACK_START - 1 + stack_len;			\
+									\
+		stack_ptr = (uint8_t __data *) AO_STACK_START;		\
+		save_ptr = (uint8_t __xdata *) ao_cur_task->stack;	\
+		do							\
+			*stack_ptr++ = *save_ptr++;			\
+		while (--stack_len);					\
+									\
+		_asm							\
+		pop		_bp					\
+		pop		PSW					\
+		pop		ar1					\
+		pop		ar0					\
+		pop		ar7					\
+		pop		ar6					\
+		pop		ar5					\
+		pop		ar4					\
+		pop		ar3					\
+		pop		ar2					\
+		pop		b					\
+		pop		DPH					\
+		pop		DPL					\
+		/* The next byte of the stack is the IE register.  Only the global \
+		   enable bit forms part of the task context.  Pop off the IE then set \
+		   the global enable bit to match that of the stored IE register. */ \
+		pop		ACC					\
+		JB		ACC.7,0098$				\
+		CLR		_EA					\
+		LJMP	0099$						\
+		0098$:							\
+			SETB		_EA				\
+		0099$:							\
+		/* Finally pop off the ACC, which was the first register saved. */ \
+		pop		ACC					\
+		ret							\
+		_endasm;						\
+}
+
+#define ao_arch_critical(b) __critical { b }
+
+struct ao_adc {
+	uint16_t	tick;		/* tick when the sample was read */
+	int16_t		accel;		/* accelerometer */
+	int16_t		pres;		/* pressure sensor */
+	int16_t		temp;		/* temperature sensor */
+	int16_t		v_batt;		/* battery voltage */
+	int16_t		sense_d;	/* drogue continuity sense */
+	int16_t		sense_m;	/* main continuity sense */
+};
+
+#define AO_ADC_RING	32
+
+#endif /* _AO_ARCH_H_ */
diff --git a/src/ao_beep.c b/src/cc1111/ao_beep.c
index 3642f4c6..3642f4c6 100644
--- a/src/ao_beep.c
+++ b/src/cc1111/ao_beep.c
diff --git a/src/ao_dbg.c b/src/cc1111/ao_dbg.c
index d4c9567f..d4c9567f 100644
--- a/src/ao_dbg.c
+++ b/src/cc1111/ao_dbg.c
diff --git a/src/ao_dma.c b/src/cc1111/ao_dma.c
index 6052964a..6052964a 100644
--- a/src/ao_dma.c
+++ b/src/cc1111/ao_dma.c
diff --git a/src/ao_ignite.c b/src/cc1111/ao_ignite.c
index 5238beb4..289263ab 100644
--- a/src/ao_ignite.c
+++ b/src/cc1111/ao_ignite.c
@@ -17,34 +17,6 @@
 
 #include "ao.h"
 
-#if IGNITE_ON_P2
-#define AO_IGNITER_DROGUE	P2_3
-#define AO_IGNITER_MAIN		P2_4
-#define AO_IGNITER_DIR		P2DIR
-#define AO_IGNITER_DROGUE_BIT	(1 << 3)
-#define AO_IGNITER_MAIN_BIT	(1 << 4)
-#endif
-
-#if IGNITE_ON_P0
-#define AO_IGNITER_DROGUE	P0_5
-#define AO_IGNITER_MAIN		P0_4
-#define AO_IGNITER_DIR		P0DIR
-#define AO_IGNITER_DROGUE_BIT	(1 << 5)
-#define AO_IGNITER_MAIN_BIT	(1 << 4)
-#endif
-
-/* test these values with real igniters */
-#define AO_IGNITER_OPEN		1000
-#define AO_IGNITER_CLOSED	7000
-#define AO_IGNITER_FIRE_TIME	AO_MS_TO_TICKS(50)
-#define AO_IGNITER_CHARGE_TIME	AO_MS_TO_TICKS(2000)
-
-struct ao_ignition {
-	uint8_t	request;
-	uint8_t fired;
-	uint8_t firing;
-};
-
 __xdata struct ao_ignition ao_ignition[2];
 
 void
diff --git a/src/ao_intflash.c b/src/cc1111/ao_intflash.c
index d76d954e..d76d954e 100644
--- a/src/ao_intflash.c
+++ b/src/cc1111/ao_intflash.c
diff --git a/src/cc1111/ao_launch.c b/src/cc1111/ao_launch.c
new file mode 100644
index 00000000..a593d0b2
--- /dev/null
+++ b/src/cc1111/ao_launch.c
@@ -0,0 +1,209 @@
+/*
+ * 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"
+
+__xdata uint16_t ao_launch_ignite;
+
+#if 0
+#define PRINTD(...) printf(__VA_ARGS__)
+#else
+#define PRINTD(...) 
+#endif
+
+static void
+ao_launch_run(void)
+{
+	for (;;) {
+		while (!ao_launch_ignite)
+			ao_sleep(&ao_launch_ignite);
+		ao_ignition[ao_igniter_drogue].firing = 1;
+		ao_ignition[ao_igniter_main].firing = 1;
+		AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
+		AO_IGNITER_DROGUE = 1;
+		while (ao_launch_ignite) {
+			ao_launch_ignite = 0;
+			ao_delay(AO_MS_TO_TICKS(500));
+		}
+		AO_IGNITER_DROGUE = 0;
+		ao_ignition[ao_igniter_drogue].firing = 0;
+		ao_ignition[ao_igniter_main].firing = 0;
+	}
+}
+
+static void
+ao_launch_status(void)
+{
+	uint8_t	i;
+	for (;;) {
+		ao_delay(AO_SEC_TO_TICKS(1));
+		if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
+			if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
+				for (i = 0; i < 5; i++) {
+					ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
+					ao_delay(AO_MS_TO_TICKS(100));
+				}
+			} else {
+				ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+			}
+		}
+	}
+}
+
+static __pdata uint8_t	ao_launch_armed;
+static __pdata uint16_t	ao_launch_arm_time;
+
+static void
+ao_launch(void)
+{
+	static __xdata struct ao_launch_command	command;
+	static __xdata struct ao_launch_query	query;
+	int16_t	time_difference;
+
+	ao_led_off(AO_LED_RED);
+	ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+	for (;;) {
+		flush();
+		if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
+			continue;
+		
+		PRINTD ("tick %d serial %d cmd %d channel %d\n",
+			command.tick, command.serial, command.cmd, command.channel);
+
+		switch (command.cmd) {
+		case AO_LAUNCH_QUERY:
+			if (command.serial != ao_serial_number) {
+				PRINTD ("serial number mismatch\n");
+				break;
+			}
+
+			if (command.channel == 0) {
+				query.valid = 1;
+				query.arm_status = ao_igniter_status(ao_igniter_drogue);
+				query.igniter_status = ao_igniter_status(ao_igniter_main);
+			} else {
+				query.valid = 0;
+			}
+			query.tick = ao_time();
+			query.serial = ao_serial_number;
+			query.channel = command.channel;
+			PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
+				query.tick, query.serial, query.channel, query.valid, query.arm_status,
+				query.igniter_status);
+			ao_radio_cmac_send(&query, sizeof (query));
+			break;
+		case AO_LAUNCH_ARM:
+			if (command.serial != ao_serial_number) {
+				PRINTD ("serial number mismatch\n");
+				break;
+			}
+
+			if (command.channel != 0)
+				break;
+			time_difference = command.tick - ao_time();
+			PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
+			if (time_difference < 0)
+				time_difference = -time_difference;
+			if (time_difference > 10) {
+				PRINTD ("time difference too large %d\n", time_difference);
+				break;
+			}
+			PRINTD ("armed\n");
+			ao_launch_armed = 1;
+			ao_launch_arm_time = ao_time();
+			break;
+		case AO_LAUNCH_FIRE:
+			if (!ao_launch_armed) {
+				PRINTD ("not armed\n");
+				break;
+			}
+			if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
+				PRINTD ("late launch arm_time %d time %d\n",
+					ao_launch_arm_time, ao_time());
+				break;
+			}
+			time_difference = command.tick - ao_time();
+			if (time_difference < 0)
+				time_difference = -time_difference;
+			if (time_difference > 10) {
+				PRINTD ("time different too large %d\n", time_difference);
+				break;
+			}
+			PRINTD ("ignite\n");
+			ao_launch_ignite = 1;
+			ao_wakeup(&ao_launch_ignite);
+			break;
+		}
+	}
+}
+
+void
+ao_launch_test(void)
+{
+	switch (ao_igniter_status(ao_igniter_drogue)) {
+	case ao_igniter_ready:
+	case ao_igniter_active:
+		printf ("Armed: ");
+		switch (ao_igniter_status(ao_igniter_main)) {
+		default:
+			printf("unknown status\n");
+			break;
+		case ao_igniter_ready:
+			printf("igniter good\n");
+			break;
+		case ao_igniter_open:
+			printf("igniter bad\n");
+			break;
+		}
+		break;
+	default:
+		printf("Disarmed\n");
+	}
+}
+
+void
+ao_launch_manual(void)
+{
+	ao_cmd_white();
+	if (!ao_match_word("DoIt"))
+		return;
+	ao_cmd_white();
+	ao_launch_ignite = 1;
+	ao_wakeup(&ao_launch_ignite);
+}
+
+static __xdata struct ao_task ao_launch_task;
+static __xdata struct ao_task ao_launch_ignite_task;
+static __xdata struct ao_task ao_launch_status_task;
+
+__code struct ao_cmds ao_launch_cmds[] = {
+	{ ao_launch_test,	"t\0Test launch continuity" },
+	{ ao_launch_manual,	"i <key>\0Fire igniter. <key> is doit with D&I" },
+	{ 0, NULL }
+};
+
+void
+ao_launch_init(void)
+{
+	AO_IGNITER_DROGUE = 0;
+	AO_IGNITER_MAIN = 0;
+	AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
+	ao_cmd_register(&ao_launch_cmds[0]);
+	ao_add_task(&ao_launch_task, ao_launch, "launch listener");
+	ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
+	ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");
+}
diff --git a/src/ao_led.c b/src/cc1111/ao_led.c
index 5beed58d..5beed58d 100644
--- a/src/ao_led.c
+++ b/src/cc1111/ao_led.c
diff --git a/src/ao_packet.c b/src/cc1111/ao_packet.c
index f627e02b..f627e02b 100644
--- a/src/ao_packet.c
+++ b/src/cc1111/ao_packet.c
diff --git a/src/ao_packet_master.c b/src/cc1111/ao_packet_master.c
index b0fdf5a8..0d0be30e 100644
--- a/src/ao_packet_master.c
+++ b/src/cc1111/ao_packet_master.c
@@ -80,13 +80,16 @@ ao_packet_master(void)
 	ao_packet_master_time = ao_time();
 	ao_packet_master_delay = AO_PACKET_MASTER_DELAY_SHORT;
 	while (ao_packet_enable) {
+		uint8_t	r;
 		memcpy(ao_tx_packet.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
 		ao_packet_send();
 		if (ao_tx_packet.len)
 			ao_packet_master_busy();
 		ao_packet_master_check_busy();
 		ao_alarm(ao_packet_master_delay);
-		if (ao_packet_recv()) {
+		r = ao_packet_recv();
+		ao_clear_alarm();
+		if (r) {
 			/* if we can transmit data, do so */
 			if (ao_packet_tx_used && ao_tx_packet.len == 0)
 				continue;
@@ -95,6 +98,7 @@ ao_packet_master(void)
 			ao_packet_master_sleeping = 1;
 			ao_alarm(ao_packet_master_delay);
 			ao_sleep(&ao_packet_master_sleeping);
+			ao_clear_alarm();
 			ao_packet_master_sleeping = 0;
 		}
 	}
diff --git a/src/ao_packet_slave.c b/src/cc1111/ao_packet_slave.c
index 9f14052a..9f14052a 100644
--- a/src/ao_packet_slave.c
+++ b/src/cc1111/ao_packet_slave.c
diff --git a/src/ao_pins.h b/src/cc1111/ao_pins.h
index e1f5459f..723f1500 100644
--- a/src/ao_pins.h
+++ b/src/cc1111/ao_pins.h
@@ -27,6 +27,7 @@
 	#define HAS_ADC			1
 	#define USE_SERIAL_STDIN	0
 	#define HAS_EEPROM		1
+	#define HAS_LOG			1
 	#define USE_INTERNAL_FLASH	0
 	#define HAS_DBG			1
 	#define DBG_ON_P1 		1
@@ -59,6 +60,7 @@
 	#define USE_SERIAL_STDIN	0
 	#define HAS_ADC			1
 	#define HAS_EEPROM		1
+	#define HAS_LOG			1
 	#define USE_INTERNAL_FLASH	0
 	#define HAS_DBG			1
 	#define DBG_ON_P1 		1
@@ -95,6 +97,7 @@
 	#define HAS_ADC			0
 	#define HAS_DBG			1
 	#define HAS_EEPROM		0
+	#define HAS_LOG			0
 	#define DBG_ON_P1		1
 	#define DBG_ON_P0 		0
 	#define IGNITE_ON_P2		0
@@ -108,6 +111,8 @@
 	#define SPI_CS_ON_P0		0
 	#define HAS_IGNITE		0
 	#define HAS_MONITOR		1
+	#define HAS_RSSI		1
+	#define HAS_AES			1
 #endif
 
 #if defined(TELEMINI_V_1_0)
@@ -119,6 +124,7 @@
 	#define USE_SERIAL_STDIN	0
 	#define HAS_ADC			1
 	#define HAS_EEPROM		1
+	#define HAS_LOG			1
 	#define USE_INTERNAL_FLASH	1
 	#define HAS_DBG			0
 	#define IGNITE_ON_P2		0
@@ -145,6 +151,7 @@
 	#define USE_SERIAL_STDIN	0
 	#define HAS_ADC			1
 	#define HAS_EEPROM		1
+	#define HAS_LOG			1
 	#define USE_INTERNAL_FLASH	1
 	#define HAS_DBG			0
 	#define IGNITE_ON_P2		0
@@ -171,6 +178,7 @@
 	#define HAS_ADC			1
 	#define HAS_DBG			0
 	#define HAS_EEPROM		1
+	#define HAS_LOG			1
 	#define USE_INTERNAL_FLASH	0
 	#define DBG_ON_P1 		0
 	#define DBG_ON_P0 		1
@@ -199,6 +207,7 @@
 	#define HAS_ADC			0
 	#define HAS_DBG			0
 	#define HAS_EEPROM		0
+	#define HAS_LOG			0
 	#define DBG_ON_P1		0
 	#define DBG_ON_P0 		1
 	#define IGNITE_ON_P2		0
@@ -212,6 +221,8 @@
 	#define SPI_CS_ON_P0		1
 	#define HAS_IGNITE		0
 	#define HAS_MONITOR		1
+	#define HAS_RSSI		1
+	#define HAS_AES			1
 #endif
 
 #if defined(TIDONGLE)
@@ -223,6 +234,7 @@
 	#define HAS_ADC			0
 	#define HAS_DBG			1
 	#define HAS_EEPROM		0
+	#define HAS_LOG			0
 	#define DBG_ON_P1		0
 	#define DBG_ON_P0		1
 	#define IGNITE_ON_P2		0
@@ -235,6 +247,8 @@
 	#define SPI_CS_ON_P0		1
 	#define HAS_IGNITE		0
 	#define HAS_MONITOR		1
+	#define HAS_RSSI		1
+	#define HAS_AES			1
 #endif
 
 #if defined(TELEBT_V_0_0)
@@ -246,6 +260,7 @@
 	#define HAS_ADC			0
 	#define HAS_DBG			1
 	#define HAS_EEPROM		0
+	#define HAS_LOG			0
 	#define HAS_BTM			1
 	#define DBG_ON_P1 		0
 	#define DBG_ON_P0 		1
@@ -259,11 +274,14 @@
 	#define SPI_CS_ON_P1		1
 	#define SPI_CS_ON_P0		0
 	#define HAS_IGNITE		0
+	#define HAS_IGNITE_REPORT	1
 	#define BT_LINK_ON_P2		1
 	#define BT_LINK_ON_P1		0
 	#define BT_LINK_PIN_INDEX	7
 	#define BT_LINK_PIN		P2_1
 	#define HAS_MONITOR		1
+	#define HAS_RSSI		0
+	#define HAS_AES			1
 #endif
 
 #if defined(TELEBT_V_0_1)
@@ -278,6 +296,7 @@
 	#define HAS_ADC			0
 	#define HAS_DBG			1
 	#define HAS_EEPROM		1
+	#define HAS_LOG			1
 	#define USE_INTERNAL_FLASH	0
 	#define HAS_BTM			1
 	#define DBG_ON_P1 		1
@@ -295,11 +314,45 @@
 	#define M25_MAX_CHIPS		1
 	#define HAS_ACCEL		0
 	#define HAS_IGNITE		0
+	#define HAS_IGNITE_REPORT	1
 	#define BT_LINK_ON_P2		0
 	#define BT_LINK_ON_P1		1
 	#define BT_LINK_PIN_INDEX	7
 	#define BT_LINK_PIN		P1_7
 	#define HAS_MONITOR		1
+	#define HAS_RSSI		0
+	#define HAS_AES			1
+#endif
+
+#if defined(TELELAUNCH_V_0_1)
+	#define HAS_FLIGHT		0
+	#define HAS_USB			1
+	#define HAS_BEEP		1
+	#define HAS_GPS			0
+	#define HAS_SERIAL_1		1
+	#define USE_SERIAL_STDIN	0
+	#define HAS_ADC			1
+	#define HAS_DBG			0
+	#define HAS_EEPROM		1
+	#define HAS_LOG			0
+	#define USE_INTERNAL_FLASH	1
+	#define DBG_ON_P1 		0
+	#define DBG_ON_P0 		1
+	#define IGNITE_ON_P2		1
+	#define IGNITE_ON_P0		0
+	#define PACKET_HAS_MASTER	0
+	#define PACKET_HAS_SLAVE	0
+	#define AO_LED_RED		2
+	#define AO_LED_GREEN		1
+	#define LEDS_AVAILABLE		(AO_LED_RED|AO_LED_GREEN)
+	#define HAS_EXTERNAL_TEMP	1
+	#define HAS_ACCEL_REF		0
+	#define SPI_CS_ON_P1		1
+	#define SPI_CS_ON_P0		0
+	#define HAS_ACCEL		0
+	#define HAS_IGNITE		1
+	#define HAS_MONITOR		0
+	#define HAS_AES			1
 #endif
 
 #if DBG_ON_P1
@@ -380,6 +433,10 @@
 #error Please define HAS_EEPROM
 #endif
 
+#ifndef HAS_LOG
+#error Please define HAS_LOG
+#endif
+
 #if HAS_EEPROM
 #ifndef USE_INTERNAL_FLASH
 #error Please define USE_INTERNAL_FLASH
@@ -394,6 +451,10 @@
 #error Please define HAS_IGNITE
 #endif
 
+#if HAS_IGNITE
+#define HAS_IGNITE_REPORT 1
+#endif
+
 #ifndef PACKET_HAS_MASTER
 #error Please define PACKET_HAS_MASTER
 #endif
@@ -405,4 +466,49 @@
 #ifndef HAS_MONITOR
 #error Please define HAS_MONITOR
 #endif
+
+#if HAS_MONITOR
+#ifndef HAS_RSSI
+#error Please define HAS_RSSI
+#endif
+#endif
+
+#ifndef HAS_ADC
+#error Please define HAS_ADC
+#endif
+
+#if HAS_ADC
+
+#if HAS_ACCEL
+#ifndef HAS_ACCEL_REF
+#error Please define HAS_ACCEL_REF
+#endif
+#else
+#define HAS_ACCEL_REF 0
+#endif
+
+#endif /* HAS_ADC */
+
+#if IGNITE_ON_P2
+#define AO_IGNITER_DROGUE	P2_3
+#define AO_IGNITER_MAIN		P2_4
+#define AO_IGNITER_DIR		P2DIR
+#define AO_IGNITER_DROGUE_BIT	(1 << 3)
+#define AO_IGNITER_MAIN_BIT	(1 << 4)
+#endif
+
+#if IGNITE_ON_P0
+#define AO_IGNITER_DROGUE	P0_5
+#define AO_IGNITER_MAIN		P0_4
+#define AO_IGNITER_DIR		P0DIR
+#define AO_IGNITER_DROGUE_BIT	(1 << 5)
+#define AO_IGNITER_MAIN_BIT	(1 << 4)
+#endif
+
+/* test these values with real igniters */
+#define AO_IGNITER_OPEN		1000
+#define AO_IGNITER_CLOSED	7000
+#define AO_IGNITER_FIRE_TIME	AO_MS_TO_TICKS(50)
+#define AO_IGNITER_CHARGE_TIME	AO_MS_TO_TICKS(2000)
+
 #endif /* _AO_PINS_H_ */
diff --git a/src/ao_radio.c b/src/cc1111/ao_radio.c
index 00816b33..75f241d4 100644
--- a/src/ao_radio.c
+++ b/src/cc1111/ao_radio.c
@@ -367,21 +367,9 @@ ao_radio_recv_abort(void)
 __xdata ao_radio_rdf_value = 0x55;
 
 void
-ao_radio_rdf(int ms)
+ao_radio_rdf(uint8_t pkt_len)
 {
 	uint8_t i;
-	uint8_t pkt_len;
-
-	/*
-	 * Compute the packet length as follows:
-	 *
-	 * 2000 bps (for a 1kHz tone)
-	 * so, for 'ms' milliseconds, we need
-	 * 2 * ms bits, or ms / 4 bytes
-	 */
-	if (ms > (255 * 4))
-		ms = 255 * 4;
-	pkt_len = ms >> 2;
 
 	ao_radio_abort = 0;
 	ao_radio_get(pkt_len);
diff --git a/src/ao_reboot.c b/src/cc1111/ao_reboot.c
index 8c47b893..8c47b893 100644
--- a/src/ao_reboot.c
+++ b/src/cc1111/ao_reboot.c
diff --git a/src/ao_romconfig.c b/src/cc1111/ao_romconfig.c
index f3fe61b1..f3fe61b1 100644
--- a/src/ao_romconfig.c
+++ b/src/cc1111/ao_romconfig.c
diff --git a/src/ao_serial.c b/src/cc1111/ao_serial.c
index 82370c64..82370c64 100644
--- a/src/ao_serial.c
+++ b/src/cc1111/ao_serial.c
diff --git a/src/ao_spi.c b/src/cc1111/ao_spi.c
index fbe613c7..fbe613c7 100644
--- a/src/ao_spi.c
+++ b/src/cc1111/ao_spi.c
diff --git a/src/ao_timer.c b/src/cc1111/ao_timer.c
index c977fbc8..aadee71e 100644
--- a/src/ao_timer.c
+++ b/src/cc1111/ao_timer.c
@@ -31,6 +31,7 @@ ao_delay(uint16_t ticks)
 {
 	ao_alarm(ticks);
 	ao_sleep(&ao_forever);
+	ao_clear_alarm();
 }
 
 #define T1_CLOCK_DIVISOR	8	/* 24e6/8 = 3e6 */
diff --git a/src/ao_usb.c b/src/cc1111/ao_usb.c
index 08cb7390..08cb7390 100644
--- a/src/ao_usb.c
+++ b/src/cc1111/ao_usb.c
diff --git a/src/cc1111/ao_usb.h b/src/cc1111/ao_usb.h
new file mode 100644
index 00000000..6633dafc
--- /dev/null
+++ b/src/cc1111/ao_usb.h
@@ -0,0 +1,100 @@
+/*
+ * Copyright © 2009 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_USB_H_
+#define _AO_USB_H_
+
+#define AO_USB_SETUP_DIR_MASK	(0x01 << 7)
+#define AO_USB_SETUP_TYPE_MASK	(0x03 << 5)
+#define AO_USB_SETUP_RECIP_MASK	(0x1f)
+
+#define AO_USB_DIR_OUT			0
+#define AO_USB_DIR_IN			(1 << 7)
+
+#define AO_USB_TYPE_STANDARD		0
+#define AO_USB_TYPE_CLASS		(1 << 5)
+#define AO_USB_TYPE_VENDOR		(2 << 5)
+#define AO_USB_TYPE_RESERVED		(3 << 5)
+
+#define AO_USB_RECIP_DEVICE		0
+#define AO_USB_RECIP_INTERFACE		1
+#define AO_USB_RECIP_ENDPOINT		2
+#define AO_USB_RECIP_OTHER		3
+
+/* standard requests */
+#define	AO_USB_REQ_GET_STATUS		0x00
+#define AO_USB_REQ_CLEAR_FEATURE	0x01
+#define AO_USB_REQ_SET_FEATURE		0x03
+#define AO_USB_REQ_SET_ADDRESS		0x05
+#define AO_USB_REQ_GET_DESCRIPTOR	0x06
+#define AO_USB_REQ_SET_DESCRIPTOR	0x07
+#define AO_USB_REQ_GET_CONFIGURATION	0x08
+#define AO_USB_REQ_SET_CONFIGURATION	0x09
+#define AO_USB_REQ_GET_INTERFACE	0x0A
+#define AO_USB_REQ_SET_INTERFACE	0x0B
+#define AO_USB_REQ_SYNCH_FRAME		0x0C
+
+#define AO_USB_DESC_DEVICE		1
+#define AO_USB_DESC_CONFIGURATION	2
+#define AO_USB_DESC_STRING		3
+#define AO_USB_DESC_INTERFACE		4
+#define AO_USB_DESC_ENDPOINT		5
+#define AO_USB_DESC_DEVICE_QUALIFIER	6
+#define AO_USB_DESC_OTHER_SPEED		7
+#define AO_USB_DESC_INTERFACE_POWER	8
+
+#define AO_USB_GET_DESC_TYPE(x)		(((x)>>8)&0xFF)
+#define AO_USB_GET_DESC_INDEX(x)	((x)&0xFF)
+
+#define AO_USB_CONTROL_EP	0
+#define AO_USB_INT_EP		1
+#define AO_USB_OUT_EP		4
+#define AO_USB_IN_EP		5
+#define AO_USB_CONTROL_SIZE	32
+/*
+ * Double buffer IN and OUT EPs, so each
+ * gets half of the available space
+ *
+ * Ah, but USB bulk packets can only come in 8, 16, 32 and 64
+ * byte sizes, so we'll use 64 for everything
+ */
+#define AO_USB_IN_SIZE		64
+#define AO_USB_OUT_SIZE		64
+
+#define AO_USB_EP0_IDLE		0
+#define AO_USB_EP0_DATA_IN	1
+#define AO_USB_EP0_DATA_OUT	2
+
+#define LE_WORD(x)    ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8))
+
+/* CDC definitions */
+#define CS_INTERFACE      0x24
+#define CS_ENDPOINT       0x25
+
+#define SET_LINE_CODING         0x20
+#define GET_LINE_CODING         0x21
+#define SET_CONTROL_LINE_STATE  0x22
+
+/* Data structure for GET_LINE_CODING / SET_LINE_CODING class requests */
+struct ao_usb_line_coding {
+	uint32_t	rate;
+	uint8_t		char_format;
+	uint8_t		parity;
+	uint8_t		data_bits;
+} ;
+
+#endif /* _AO_USB_H_ */
diff --git a/src/cc1111.h b/src/cc1111/cc1111.h
index e52aa79f..11ea8bbb 100644
--- a/src/cc1111.h
+++ b/src/cc1111/cc1111.h
@@ -768,7 +768,7 @@ struct cc_dma_channel {
 # define DMA_CFG0_TRIGGER_ADC_CH7	28
 # define DMA_CFG0_TRIGGER_I2STX		28
 # define DMA_CFG0_TRIGGER_ENC_DW	29
-# define DMA_CFG0_TRIGGER_DNC_UP	30
+# define DMA_CFG0_TRIGGER_ENC_UP	30
 
 # define DMA_CFG1_SRCINC_MASK		(3 << 6)
 # define DMA_CFG1_SRCINC_0		(0 << 6)
@@ -1303,4 +1303,26 @@ __xdata __at (0xdf3c) uint8_t RF_PKTSTATUS;
 __xdata __at (0xdf3d) uint8_t RF_VCO_VC_DAC;
 #define RF_VCO_VC_DAC_OFF	0x3d
 
+/* AES engine */
+
+__sfr at 0xB1 ENCDI;
+__sfr at 0xB2 ENCDO;
+__xdata at (0xDFB1) volatile uint8_t ENCDIXADDR;
+__xdata at (0xDFB2) volatile uint8_t ENCDOXADDR;
+
+__sfr at 0xB3 ENCCCS;
+
+#define ENCCCS_MODE_CBC		(0 << 4)
+#define ENCCCS_MODE_CFB		(1 << 4)
+#define ENCCCS_MODE_OFB		(2 << 4)
+#define ENCCCS_MODE_CTR		(3 << 4)
+#define ENCCCS_MODE_ECB		(4 << 4)
+#define ENCCCS_MODE_CBC_MAC	(5 << 4)
+#define ENCCCS_RDY		(1 << 3)
+#define ENCCCS_CMD_ENCRYPT	(0 << 1)
+#define ENCCCS_CMD_DECRYPT	(1 << 1)
+#define ENCCCS_CMD_LOAD_KEY	(2 << 1)
+#define ENCCCS_CMD_LOAD_IV	(3 << 1)
+#define ENCCCS_START		(1 << 0)
+
 #endif
diff --git a/src/altitude.h b/src/core/altitude.h
index a278bbc6..a278bbc6 100644
--- a/src/altitude.h
+++ b/src/core/altitude.h
diff --git a/src/ao.h b/src/core/ao.h
index 8ac9ac3d..04610fea 100644
--- a/src/ao.h
+++ b/src/core/ao.h
@@ -22,27 +22,22 @@
 #include <stdio.h>
 #include <string.h>
 #include <stddef.h>
-#include "cc1111.h"
 #include "ao_pins.h"
+#include <ao_arch.h>
 
 #define TRUE 1
 #define FALSE 0
 
 /* Convert a __data pointer into an __xdata pointer */
-#define DATA_TO_XDATA(a)	((void __xdata *) ((uint8_t) (a) | 0xff00))
-
-/* Stack runs from above the allocated __data space to 0xfe, which avoids
- * writing to 0xff as that triggers the stack overflow indicator
- */
-#define AO_STACK_START	0x90
-#define AO_STACK_END	0xfe
-#define AO_STACK_SIZE	(AO_STACK_END - AO_STACK_START + 1)
+#ifndef DATA_TO_XDATA
+#define DATA_TO_XDATA(a)	(a)
+#endif
 
 /* An AltOS task */
 struct ao_task {
 	__xdata void *wchan;		/* current wait channel (NULL if running) */
 	uint16_t alarm;			/* abort ao_sleep time */
-	uint8_t	stack_count;		/* amount of saved stack */
+	ao_arch_task_members		/* any architecture-specific fields */
 	uint8_t task_id;		/* unique id */
 	__code char *name;		/* task name */
 	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
@@ -73,9 +68,13 @@ ao_wakeup(__xdata void *wchan);
 void
 ao_alarm(uint16_t delay);
 
+/* Clear any pending alarm */
+void
+ao_clear_alarm(void);
+
 /* Yield the processor to another task */
 void
-ao_yield(void) __naked;
+ao_yield(void) ao_arch_naked_declare;
 
 /* Add a task to the run queue */
 void
@@ -136,7 +135,7 @@ ao_timer_set_adc_interval(uint8_t interval) __critical;
 
 /* Timer interrupt */
 void
-ao_timer_isr(void) __interrupt 9;
+ao_timer_isr(void) ao_arch_interrupt(9);
 
 /* Initialize the timer */
 void
@@ -149,35 +148,13 @@ ao_clock_init(void);
 /*
  * One set of samples read from the A/D converter or telemetry
  */
-struct ao_adc {
-	uint16_t	tick;		/* tick when the sample was read */
-	int16_t		accel;		/* accelerometer */
-	int16_t		pres;		/* pressure sensor */
-	int16_t		temp;		/* temperature sensor */
-	int16_t		v_batt;		/* battery voltage */
-	int16_t		sense_d;	/* drogue continuity sense */
-	int16_t		sense_m;	/* main continuity sense */
-};
-
-#ifndef HAS_ADC
-#error Please define HAS_ADC
-#endif
 
 #if HAS_ADC
 
-#if HAS_ACCEL
-#ifndef HAS_ACCEL_REF
-#error Please define HAS_ACCEL_REF
-#endif
-#else
-#define HAS_ACCEL_REF 0
-#endif
-
 /*
  * ao_adc.c
  */
 
-#define AO_ADC_RING	32
 #define ao_adc_ring_next(n)	(((n) + 1) & (AO_ADC_RING - 1))
 #define ao_adc_ring_prev(n)	(((n) - 1) & (AO_ADC_RING - 1))
 
@@ -207,7 +184,7 @@ ao_adc_get(__xdata struct ao_adc *packet);
 /* The A/D interrupt handler */
 
 void
-ao_adc_isr(void) __interrupt 1;
+ao_adc_isr(void) ao_arch_interrupt(1);
 
 /* Initialize the A/D converter */
 void
@@ -299,25 +276,6 @@ void
 ao_led_init(uint8_t enable);
 
 /*
- * ao_romconfig.c
- */
-
-#define AO_ROMCONFIG_VERSION	2
-
-extern __code __at (0x00a0) uint16_t ao_romconfig_version;
-extern __code __at (0x00a2) uint16_t ao_romconfig_check;
-extern __code __at (0x00a4) uint16_t ao_serial_number;
-extern __code __at (0x00a6) uint32_t ao_radio_cal;
-
-#ifndef HAS_USB
-#error Please define HAS_USB
-#endif
-
-#if HAS_USB
-extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
-#endif
-
-/*
  * ao_usb.c
  */
 
@@ -342,7 +300,7 @@ ao_usb_flush(void);
 #if HAS_USB
 /* USB interrupt handler */
 void
-ao_usb_isr(void) __interrupt 6;
+ao_usb_isr(void) ao_arch_interrupt(6);
 #endif
 
 /* Enable the USB controller */
@@ -357,6 +315,10 @@ ao_usb_disable(void);
 void
 ao_usb_init(void);
 
+#if HAS_USB
+extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
+#endif
+
 /*
  * ao_cmd.c
  */
@@ -384,6 +346,12 @@ ao_cmd_put16(uint16_t v);
 void
 ao_cmd_white(void);
 
+int8_t
+ao_cmd_hexchar(char c);
+
+void
+ao_cmd_hexbyte(void);
+
 void
 ao_cmd_hex(void);
 
@@ -446,7 +414,7 @@ ao_dma_abort(uint8_t id);
 
 /* DMA interrupt routine */
 void
-ao_dma_isr(void) __interrupt 8;
+ao_dma_isr(void) ao_arch_interrupt(8);
 
 /*
  * ao_mutex.c
@@ -927,10 +895,10 @@ ao_dbg_init(void);
 #endif
 
 void
-ao_serial_rx1_isr(void) __interrupt 3;
+ao_serial_rx1_isr(void) ao_arch_interrupt(3);
 
 void
-ao_serial_tx1_isr(void) __interrupt 14;
+ao_serial_tx1_isr(void) ao_arch_interrupt(14);
 
 char
 ao_serial_getchar(void) __critical;
@@ -1003,6 +971,27 @@ void
 ao_spi_init(void);
 
 /*
+ * ao_spi_slave.c
+ */
+
+uint8_t
+ao_spi_read(uint8_t *buf, uint8_t len);
+
+void
+ao_spi_write(uint8_t *buf, uint8_t len);
+
+void
+ao_spi_slave_init(void);
+
+/* This must be defined by the product; it will get called when chip
+ * select goes low, at which point it should use ao_spi_read and
+ * ao_spi_write to deal with the request
+ */
+
+void
+ao_spi_slave(void);
+
+/*
  * ao_telemetry.c
  */
 #define AO_MAX_CALLSIGN			8
@@ -1133,6 +1122,30 @@ struct ao_telemetry_companion {
 	/* 32 */
 };
 	
+/* #define AO_SEND_ALL_BARO */
+
+#define AO_TELEMETRY_BARO		0x80
+
+/*
+ * This packet allows the full sampling rate baro
+ * data to be captured over the RF link so that the
+ * flight software can be tested using 'real' data.
+ *
+ * Along with this telemetry packet, the flight
+ * code is modified to send full-rate telemetry all the time
+ * and never send an RDF tone; this ensure that the full radio
+ * link is available.
+ */
+struct ao_telemetry_baro {
+	uint16_t				serial;		/*  0 */
+	uint16_t				tick;		/*  2 */
+	uint8_t					type;		/*  4 */
+	uint8_t					samples;	/*  5 number samples */
+
+	int16_t					baro[12];	/* 6 samples */
+	/* 32 */
+};
+
 union ao_telemetry_all {
 	struct ao_telemetry_generic		generic;
 	struct ao_telemetry_sensor		sensor;
@@ -1140,6 +1153,7 @@ union ao_telemetry_all {
 	struct ao_telemetry_location		location;
 	struct ao_telemetry_satellite		satellite;
 	struct ao_telemetry_companion		companion;
+	struct ao_telemetry_baro		baro;
 };
 
 /*
@@ -1251,14 +1265,6 @@ struct ao_telemetry_tiny {
 	char			callsign[AO_MAX_CALLSIGN];
 };
 
-/*
- * ao_radio_recv tacks on rssi and status bytes
- */
-
-struct ao_telemetry_raw_recv {
-	uint8_t			packet[AO_MAX_TELEMETRY + 2];
-};
-
 struct ao_telemetry_orig_recv {
 	struct ao_telemetry_orig	telemetry_orig;
 	int8_t				rssi;
@@ -1271,11 +1277,25 @@ struct ao_telemetry_tiny_recv {
 	uint8_t				status;
 };
 
+/*
+ * ao_radio_recv tacks on rssi and status bytes
+ */
+
+struct ao_telemetry_raw_recv {
+	uint8_t			packet[AO_MAX_TELEMETRY + 2];
+};
+
 /* Set delay between telemetry reports (0 to disable) */
 
+#ifdef AO_SEND_ALL_BARO
+#define AO_TELEMETRY_INTERVAL_PAD	AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_FLIGHT	AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_RECOVER	AO_MS_TO_TICKS(100)
+#else
 #define AO_TELEMETRY_INTERVAL_PAD	AO_MS_TO_TICKS(1000)
 #define AO_TELEMETRY_INTERVAL_FLIGHT	AO_MS_TO_TICKS(100)
 #define AO_TELEMETRY_INTERVAL_RECOVER	AO_MS_TO_TICKS(1000)
+#endif
 
 void
 ao_telemetry_set_interval(uint16_t interval);
@@ -1302,7 +1322,7 @@ extern __xdata uint8_t ao_radio_done;
 extern __xdata uint8_t ao_radio_mutex;
 
 void
-ao_radio_general_isr(void) __interrupt 16;
+ao_radio_general_isr(void) ao_arch_interrupt(16);
 
 void
 ao_radio_get(uint8_t len);
@@ -1321,8 +1341,18 @@ ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
 void
 ao_radio_recv_abort(void);
 
+/*
+ * Compute the packet length as follows:
+ *
+ * 2000 bps (for a 1kHz tone)
+ * so, for 'ms' milliseconds, we need
+ * 2 * ms bits, or ms / 4 bytes
+ */
+
+#define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2))
+
 void
-ao_radio_rdf(int ms);
+ao_radio_rdf(uint8_t pkt_len);
 
 void
 ao_radio_rdf_abort(void);
@@ -1339,6 +1369,21 @@ ao_radio_init(void);
 
 extern const char const * const ao_state_names[];
 
+#define AO_MONITOR_RING	8
+
+union ao_monitor {
+		struct ao_telemetry_raw_recv	raw;
+		struct ao_telemetry_orig_recv	orig;
+		struct ao_telemetry_tiny_recv	tiny;
+};
+
+extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
+
+#define ao_monitor_ring_next(n)	(((n) + 1) & (AO_MONITOR_RING - 1))
+
+extern __data uint8_t ao_monitoring;
+extern __data uint8_t ao_monitor_head;
+
 void
 ao_monitor(void);
 
@@ -1401,9 +1446,19 @@ enum ao_igniter_status {
 	ao_igniter_open,	/* open circuit detected */
 };
 
+struct ao_ignition {
+	uint8_t	request;
+	uint8_t fired;
+	uint8_t firing;
+};
+
+extern __xdata struct ao_ignition ao_ignition[2];
+
 enum ao_igniter_status
 ao_igniter_status(enum ao_igniter igniter);
 
+extern __pdata uint8_t ao_igniter_present;
+
 void
 ao_ignite_set_pins(void);
 
@@ -1415,7 +1470,8 @@ ao_igniter_init(void);
  */
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	8
+#define AO_CONFIG_MINOR	9
+#define AO_AES_LEN 16
 
 struct ao_config {
 	uint8_t		major;
@@ -1432,6 +1488,7 @@ struct ao_config {
 	uint8_t		pad_orientation;	/* minor version 6 */
 	uint32_t	radio_setting;		/* minor version 7 */
 	uint8_t		radio_enable;		/* minor version 8 */
+	uint8_t		aes_key[AO_AES_LEN];	/* minor version 9 */
 };
 
 #define AO_IGNITE_MODE_DUAL		0
@@ -1600,11 +1657,164 @@ struct ao_companion_setup {
 };
 
 extern __pdata uint8_t				ao_companion_running;
-extern __xdata struct ao_companion_setup	ao_companion_setup;
 extern __xdata uint8_t				ao_companion_mutex;
+extern __xdata struct ao_companion_command	ao_companion_command;
+extern __xdata struct ao_companion_setup	ao_companion_setup;
 extern __xdata uint16_t				ao_companion_data[AO_COMPANION_MAX_CHANNELS];
 
 void
 ao_companion_init(void);
 
+/* ao_lcd.c */
+  
+void
+ao_lcd_init(void);
+
+/* ao_aes.c */
+
+__xdata uint8_t ao_aes_mutex;
+
+/* AES keys and blocks are 128 bits */
+
+enum ao_aes_mode {
+	ao_aes_mode_cbc_mac
+};
+
+#if HAS_AES
+void
+ao_aes_isr(void) __interrupt 4;
+#endif
+
+void
+ao_aes_set_mode(enum ao_aes_mode mode);
+
+void
+ao_aes_set_key(__xdata uint8_t *in);
+
+void
+ao_aes_zero_iv(void);
+
+void
+ao_aes_run(__xdata uint8_t *in,
+	   __xdata uint8_t *out);
+
+void
+ao_aes_init(void);
+
+/* ao_radio_cmac.c */
+
+int8_t
+ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant;
+
+#define AO_RADIO_CMAC_OK	0
+#define AO_RADIO_CMAC_LEN_ERROR	-1
+#define AO_RADIO_CMAC_CRC_ERROR	-2
+#define AO_RADIO_CMAC_MAC_ERROR	-3
+#define AO_RADIO_CMAC_TIMEOUT	-4
+
+int8_t
+ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant;
+
+void
+ao_radio_cmac_init(void);
+
+/* 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
+ */
+
+#define AO_LOG_TELESCIENCE_START	((uint8_t) 's')
+#define AO_LOG_TELESCIENCE_DATA		((uint8_t) 'd')
+
+#define AO_LOG_TELESCIENCE_NUM_ADC	12
+
+struct ao_log_telescience {
+	uint8_t		type;
+	uint8_t		csum;
+	uint16_t	tick;
+	uint16_t	tm_tick;
+	uint8_t		tm_state;
+	uint8_t		unused;
+	uint16_t	adc[AO_LOG_TELESCIENCE_NUM_ADC];
+};
+
+#define AO_LOG_SINGLE_SIZE		32
+
+union ao_log_single {
+	struct ao_log_telescience	telescience;
+	union ao_telemetry_all		telemetry;
+	uint8_t				bytes[AO_LOG_SINGLE_SIZE];
+};
+
+extern __xdata union ao_log_single	ao_log_single_write_data;
+extern __xdata union ao_log_single	ao_log_single_read_data;
+
+void
+ao_log_single_extra_query(void);
+
+void
+ao_log_single_list(void);
+
+void
+ao_log_single_main(void);
+
+uint8_t
+ao_log_single_write(void);
+
+uint8_t
+ao_log_single_read(uint32_t pos);
+
+void
+ao_log_single_start(void);
+
+void
+ao_log_single_stop(void);
+
+void
+ao_log_single_restart(void);
+
+void
+ao_log_single_set(void);
+
+void
+ao_log_single_delete(void);
+
+void
+ao_log_single_init(void);
+
+void
+ao_log_single(void);
+
+/*
+ * ao_pyro_slave.c
+ */
+
+#define AO_TELEPYRO_NUM_ADC	9
+
 #endif /* _AO_H_ */
diff --git a/src/ao_cmd.c b/src/core/ao_cmd.c
index 1442ebea..d0a46633 100644
--- a/src/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -22,7 +22,7 @@ __pdata uint32_t ao_cmd_lex_u32;
 __pdata char	ao_cmd_lex_c;
 __pdata enum ao_cmd_status ao_cmd_status;
 
-#define CMD_LEN	32
+#define CMD_LEN	48
 
 static __xdata char	cmd_line[CMD_LEN];
 static __pdata uint8_t	cmd_len;
@@ -32,7 +32,7 @@ static void
 put_string(__code char *s)
 {
 	char	c;
-	while (c = *s++)
+	while ((c = *s++))
 		putchar(c);
 }
 
@@ -128,22 +128,48 @@ ao_cmd_white(void)
 		ao_cmd_lex();
 }
 
+int8_t
+ao_cmd_hexchar(char c)
+{
+	if ('0' <= c && c <= '9')
+		return (c - '0');
+	if ('a' <= c && c <= 'f')
+		return (c - 'a' + 10);
+	if ('A' <= c && c <= 'F')
+		return (c - 'A' + 10);
+	return -1;
+}
+
+void
+ao_cmd_hexbyte(void)
+{
+	uint8_t i;
+	int8_t	n;
+
+	ao_cmd_lex_i = 0;
+	ao_cmd_white();
+	for (i = 0; i < 2; i++) {
+		n = ao_cmd_hexchar(ao_cmd_lex_c);
+		if (n < 0) {
+			ao_cmd_status = ao_cmd_syntax_error;
+			break;
+		}
+		ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
+		ao_cmd_lex();
+	}
+}
+
 void
 ao_cmd_hex(void)
 {
 	__pdata uint8_t	r = ao_cmd_lex_error;
-	uint8_t	n;
+	int8_t	n;
 
 	ao_cmd_lex_i = 0;
 	ao_cmd_white();
 	for(;;) {
-		if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
-			n = (ao_cmd_lex_c - '0');
-		else if ('a' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'f')
-			n = (ao_cmd_lex_c - 'a' + 10);
-		else if ('A' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'F')
-			n = (ao_cmd_lex_c - 'A' + 10);
-		else
+		n = ao_cmd_hexchar(ao_cmd_lex_c);
+		if (n < 0)
 			break;
 		ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
 		r = ao_cmd_success;
@@ -188,13 +214,6 @@ ao_match_word(__code char *word)
 }
 
 static void
-eol(void)
-{
-	while (ao_cmd_lex_c != '\n')
-		ao_cmd_lex();
-}
-
-static void
 echo(void)
 {
 	ao_cmd_hex();
@@ -208,8 +227,7 @@ ao_reboot(void)
 	ao_cmd_white();
 	if (!ao_match_word("eboot"))
 		return;
-	WDCTL = WDCTL_EN | WDCTL_MODE_WATCHDOG | WDCTL_INT_64;
-	ao_delay(AO_SEC_TO_TICKS(2));
+	ao_arch_reboot();
 	ao_panic(AO_PANIC_REBOOT);
 }
 
@@ -219,7 +237,7 @@ version(void)
 	printf("manufacturer     %s\n", ao_manufacturer);
 	printf("product          %s\n", ao_product);
 	printf("serial-number    %u\n", ao_serial_number);
-#if HAS_EEPROM
+#if HAS_LOG
 	printf("log-format       %u\n", ao_log_format);
 #endif
 	printf("software-version %s\n", ao_version);
@@ -254,6 +272,7 @@ report(void)
 	case ao_cmd_syntax_error:
 		puts("Syntax error");
 		ao_cmd_status = 0;
+	default:
 		break;
 	}
 }
diff --git a/src/ao_config.c b/src/core/ao_config.c
index 0c10e608..a653bed2 100644
--- a/src/ao_config.c
+++ b/src/core/ao_config.c
@@ -47,7 +47,9 @@ _ao_config_put(void)
 	ao_storage_setup();
 	ao_storage_erase(ao_storage_config);
 	ao_storage_write(ao_storage_config, &ao_config, sizeof (ao_config));
+#if HAS_FLIGHT
 	ao_log_write_erase(0);
+#endif
 	ao_storage_flush();
 }
 
@@ -72,11 +74,14 @@ _ao_config_get(void)
 	if (ao_config.major != AO_CONFIG_MAJOR) {
 		ao_config.major = AO_CONFIG_MAJOR;
 		ao_config.minor = 0;
+
+		/* Version 0 stuff */
 		ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
 		ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
 		memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
 		memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
 		       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+		ao_config_dirty = 1;
 	}
 	if (ao_config.minor < AO_CONFIG_MINOR) {
 		/* Fixups for minor version 1 */
@@ -102,6 +107,8 @@ _ao_config_get(void)
 			ao_config.radio_setting = ao_config.radio_cal;
 		if (ao_config.minor < 8)
 			ao_config.radio_enable = TRUE;
+		if (ao_config.minor < 9)
+			memset(&ao_config.aes_key, 0, AO_AES_LEN);
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
 	}
@@ -301,7 +308,7 @@ ao_config_radio_cal_set(void) __reentrant
 	_ao_config_edit_finish();
 }
 
-#if HAS_EEPROM
+#if HAS_LOG
 void
 ao_config_log_show(void) __reentrant
 {
@@ -329,7 +336,7 @@ ao_config_log_set(void) __reentrant
 		_ao_config_edit_finish();
 	}
 }
-#endif /* HAS_EEPROM */
+#endif /* HAS_LOG */
 
 #if HAS_IGNITE
 void
@@ -412,6 +419,33 @@ ao_config_radio_enable_set(void) __reentrant
 	_ao_config_edit_finish();
 }
 	
+#if HAS_AES
+void
+ao_config_key_show(void) __reentrant
+{
+	uint8_t	i;
+	printf("AES key: ");
+	for (i = 0; i < AO_AES_LEN; i++)
+		printf ("%02x", ao_config.aes_key[i]);
+	printf("\n");
+}
+
+void
+ao_config_key_set(void) __reentrant
+{
+	uint8_t i;
+
+	_ao_config_edit_start();
+	for (i = 0; i < AO_AES_LEN; i++) {
+		ao_cmd_hexbyte();
+		if (ao_cmd_status != ao_cmd_success)
+			break;
+		ao_config.aes_key[i] = ao_cmd_lex_i;
+	}
+	_ao_config_edit_finish();
+}
+#endif
+
 struct ao_config_var {
 	__code char	*str;
 	void		(*set)(void) __reentrant;
@@ -448,7 +482,7 @@ __code struct ao_config_var ao_config_vars[] = {
 #endif /* HAS_ACCEL */
 	{ "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
 	  ao_config_radio_cal_set,  	ao_config_radio_cal_show },
-#if HAS_EEPROM
+#if HAS_LOG
 	{ "l <size>\0Flight log size in kB",
 	  ao_config_log_set,		ao_config_log_show },
 #endif
@@ -460,6 +494,10 @@ __code struct ao_config_var ao_config_vars[] = {
 	{ "o <0 antenna up, 1 antenna down>\0Set pad orientation",
 	  ao_config_pad_orientation_set,ao_config_pad_orientation_show },
 #endif
+#if HAS_AES
+	{ "k <32 hex digits>\0Set AES encryption key",
+	  ao_config_key_set, ao_config_key_show },
+#endif
 	{ "s\0Show",
 	  ao_config_show,		0 },
 #if HAS_EEPROM
diff --git a/src/ao_convert.c b/src/core/ao_convert.c
index 0969f107..0969f107 100644
--- a/src/ao_convert.c
+++ b/src/core/ao_convert.c
diff --git a/src/ao_convert_test.c b/src/core/ao_convert_test.c
index e2c28b73..e2c28b73 100644
--- a/src/ao_convert_test.c
+++ b/src/core/ao_convert_test.c
diff --git a/src/ao_ee_fake.c b/src/core/ao_ee_fake.c
index b0c1d61e..b0c1d61e 100644
--- a/src/ao_ee_fake.c
+++ b/src/core/ao_ee_fake.c
diff --git a/src/ao_flight.c b/src/core/ao_flight.c
index 85c1825b..a5cf7468 100644
--- a/src/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -34,7 +34,7 @@
 /* Main flight thread. */
 
 __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
-__pdata uint16_t		ao_launch_tick;		/* time of launch detect */
+__pdata uint16_t		ao_boost_tick;		/* time of launch detect */
 
 /*
  * track min/max data over a long interval to detect
@@ -151,7 +151,7 @@ ao_flight(void)
 				)
 			{
 				ao_flight_state = ao_flight_boost;
-				ao_launch_tick = ao_sample_tick;
+				ao_boost_tick = ao_sample_tick;
 
 				/* start logging data */
 				ao_log_start();
@@ -184,7 +184,7 @@ ao_flight(void)
 			 * (15 seconds) has past.
 			 */
 			if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
-			    (int16_t) (ao_sample_tick - ao_launch_tick) > BOOST_TICKS_MAX)
+			    (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 			{
 #if HAS_ACCEL
 				ao_flight_state = ao_flight_fast;
@@ -205,7 +205,8 @@ ao_flight(void)
 			{
 				ao_flight_state = ao_flight_coast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
+			} else
+				goto check_re_boost;
 			break;
 #endif
 		case ao_flight_coast:
@@ -237,6 +238,16 @@ ao_flight(void)
 				ao_flight_state = ao_flight_drogue;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
+#if HAS_ACCEL
+			else {
+			check_re_boost:
+				if (ao_accel > AO_MSS_TO_ACCEL(20)) {
+					ao_boost_tick = ao_sample_tick;
+					ao_flight_state = ao_flight_boost;
+					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				}
+			}
+#endif
 
 			break;
 		case ao_flight_drogue:
diff --git a/src/ao_flight_nano.c b/src/core/ao_flight_nano.c
index 2e332b12..2e332b12 100644
--- a/src/ao_flight_nano.c
+++ b/src/core/ao_flight_nano.c
diff --git a/src/ao_gps_print.c b/src/core/ao_gps_print.c
index fcdedd30..fcdedd30 100644
--- a/src/ao_gps_print.c
+++ b/src/core/ao_gps_print.c
diff --git a/src/ao_gps_report.c b/src/core/ao_gps_report.c
index e57f8744..e57f8744 100644
--- a/src/ao_gps_report.c
+++ b/src/core/ao_gps_report.c
diff --git a/src/ao_host.h b/src/core/ao_host.h
index 65c25fe5..65c25fe5 100644
--- a/src/ao_host.h
+++ b/src/core/ao_host.h
diff --git a/src/ao_kalman.c b/src/core/ao_kalman.c
index ee01949e..ee01949e 100644
--- a/src/ao_kalman.c
+++ b/src/core/ao_kalman.c
diff --git a/src/ao_log.c b/src/core/ao_log.c
index 6d3ad535..6d3ad535 100644
--- a/src/ao_log.c
+++ b/src/core/ao_log.c
diff --git a/src/ao_log_big.c b/src/core/ao_log_big.c
index 74d94c4b..74d94c4b 100644
--- a/src/ao_log_big.c
+++ b/src/core/ao_log_big.c
diff --git a/src/core/ao_log_single.c b/src/core/ao_log_single.c
new file mode 100644
index 00000000..9e90bd82
--- /dev/null
+++ b/src/core/ao_log_single.c
@@ -0,0 +1,198 @@
+/*
+ * 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.
+ */
+
+/*
+ * ao_log_single.c
+ *
+ * Stores a sequence of fixed-size (32 byte) chunks
+ * without splitting memory up into separate flights
+ */
+
+#include "ao.h"
+#include "ao_product.h"
+
+static __xdata struct ao_task ao_log_single_task;
+
+__xdata uint8_t 	ao_log_running;
+__xdata uint8_t		ao_log_mutex;
+__pdata uint32_t	ao_log_start_pos;
+__pdata uint32_t	ao_log_end_pos;
+__pdata uint32_t	ao_log_current_pos;
+
+__xdata union ao_log_single ao_log_single_write_data;
+__xdata union ao_log_single ao_log_single_read_data;
+
+uint8_t
+ao_log_single_write(void)
+{
+	uint8_t wrote = 0;
+
+	ao_mutex_get(&ao_log_mutex); {
+		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+			ao_log_single_stop();
+		if (ao_log_running) {
+			wrote = 1;
+			ao_storage_write(ao_log_current_pos,
+					 &ao_log_single_write_data,
+					 AO_LOG_SINGLE_SIZE);
+			ao_log_current_pos += AO_LOG_SINGLE_SIZE;
+		}
+	} ao_mutex_put(&ao_log_mutex);
+	return wrote;
+}
+
+static uint8_t
+ao_log_single_valid(void)
+{
+	__xdata uint8_t	*d = ao_log_single_read_data.bytes;
+	uint8_t	i;
+	for (i = 0; i < AO_LOG_SINGLE_SIZE; i++)
+		if (*d++ != 0xff)
+			return 1;
+	return 0;
+}
+
+uint8_t
+ao_log_single_read(uint32_t pos)
+{
+	if (!ao_storage_read(pos, &ao_log_single_read_data, AO_LOG_SINGLE_SIZE))
+		return 0;
+	return ao_log_single_valid();
+}
+
+void
+ao_log_single_start(void)
+{
+	if (!ao_log_running) {
+		ao_log_running = 1;
+		ao_wakeup(&ao_log_running);
+	}
+}
+
+void
+ao_log_single_stop(void)
+{
+	if (ao_log_running) {
+		ao_log_running = 0;
+	}
+}
+
+void
+ao_log_single_restart(void)
+{
+	/* Find end of data */
+	ao_log_end_pos = ao_storage_config;
+	for (ao_log_current_pos = 0;
+	     ao_log_current_pos < ao_storage_config;
+	     ao_log_current_pos += ao_storage_block)
+	{
+		if (!ao_log_single_read(ao_log_current_pos))
+			break;
+	}
+	if (ao_log_current_pos > 0) {
+		ao_log_current_pos -= ao_storage_block;
+		for (; ao_log_current_pos < ao_storage_config;
+		     ao_log_current_pos += sizeof (struct ao_log_telescience))
+		{
+			if (!ao_log_single_read(ao_log_current_pos))
+				break;
+		}
+	}
+}
+
+void
+ao_log_single_set(void)
+{
+	printf("Logging currently %s\n", ao_log_running ? "on" : "off");
+	ao_cmd_hex();
+	if (ao_cmd_status == ao_cmd_success) {
+		if (ao_cmd_lex_i) {
+			printf("Logging from %ld to %ld\n", ao_log_current_pos, ao_log_end_pos);
+			ao_log_single_start();
+		} else {
+			printf ("Log stopped at %ld\n", ao_log_current_pos);
+			ao_log_single_stop();
+		}
+	}
+	ao_cmd_status = ao_cmd_success;
+}
+
+void
+ao_log_single_delete(void)
+{
+	uint32_t	pos;
+
+	ao_cmd_hex();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	if (ao_cmd_lex_i != 1) {
+		ao_cmd_status = ao_cmd_syntax_error;
+		printf("No such flight: %d\n", ao_cmd_lex_i);
+		return;
+	}
+	ao_log_single_stop();
+	for (pos = 0; pos < ao_storage_config; pos += ao_storage_block) {
+		if (!ao_log_single_read(pos))
+			break;
+		ao_storage_erase(pos);
+	}
+	ao_log_current_pos = ao_log_start_pos = 0;
+	if (pos == 0)
+		printf("No such flight: %d\n", ao_cmd_lex_i);
+	else
+		printf ("Erased\n");
+}
+
+uint8_t
+ao_log_full(void)
+{
+	return ao_log_current_pos >= ao_log_end_pos;
+}
+
+uint8_t
+ao_log_present(void)
+{
+	return ao_log_single_read(0);
+}
+
+static void
+ao_log_single_query(void)
+{
+	printf("Logging enabled: %d\n", ao_log_running);
+	printf("Log start: %ld\n", ao_log_start_pos);
+	printf("Log cur: %ld\n", ao_log_current_pos);
+	printf("Log end: %ld\n", ao_log_end_pos);
+	ao_log_single_extra_query();
+}
+
+const struct ao_cmds ao_log_single_cmds[] = {
+	{ ao_log_single_set,	"L <0 off, 1 on>\0Set logging mode" },
+	{ ao_log_single_list,	"l\0List stored flight logs" },
+	{ ao_log_single_delete, "d 1\0Delete all stored flights" },
+	{ ao_log_single_query, "q\0Query log status" },
+	{ 0,	NULL },
+};
+
+void
+ao_log_single_init(void)
+{
+	ao_log_running = 0;
+
+	ao_cmd_register(&ao_log_single_cmds[0]);
+
+	ao_add_task(&ao_log_single_task, ao_log_single, "log");
+}
diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c
new file mode 100644
index 00000000..096ad919
--- /dev/null
+++ b/src/core/ao_log_telem.c
@@ -0,0 +1,127 @@
+/*
+ * 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"
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRY;
+
+static __data uint8_t			ao_log_monitor_pos;
+__pdata enum ao_flight_state		ao_flight_state;
+__pdata int16_t				ao_max_height;	/* max of ao_height */
+__pdata int16_t				sense_d, sense_m;
+__pdata uint8_t				ao_igniter_present;
+
+static void
+ao_log_telem_track() {
+	if (ao_monitoring == sizeof (union ao_telemetry_all)) {
+		switch (ao_log_single_write_data.telemetry.generic.type) {
+		case AO_TELEMETRY_SENSOR_TELEMETRUM:
+		case AO_TELEMETRY_SENSOR_TELEMINI:
+			/* fall through ... */
+		case AO_TELEMETRY_SENSOR_TELENANO:
+			if (ao_log_single_write_data.telemetry.generic.type == AO_TELEMETRY_SENSOR_TELENANO) {
+				ao_igniter_present = 0;
+			} else {
+				sense_d = ao_log_single_write_data.telemetry.sensor.sense_d;
+				sense_m = ao_log_single_write_data.telemetry.sensor.sense_m;
+				ao_igniter_present = 1;
+			}
+			if (ao_log_single_write_data.telemetry.sensor.height > ao_max_height) {
+				ao_max_height = ao_log_single_write_data.telemetry.sensor.height;
+			}
+			if (ao_log_single_write_data.telemetry.sensor.state != ao_flight_state) {
+				ao_flight_state = ao_log_single_write_data.telemetry.sensor.state;
+				if (ao_flight_state == ao_flight_pad)
+					ao_max_height = 0;
+				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+			}
+		}
+	}
+}
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter)
+{
+	int16_t	value;
+
+	switch (igniter) {
+	case ao_igniter_drogue:
+		value = sense_d;
+		break;
+	case ao_igniter_main:
+		value = sense_m;
+		break;
+	default:
+		value = 0;
+		break;
+	}
+	if (value < AO_IGNITER_OPEN)
+		return ao_igniter_open;
+	else if (value > AO_IGNITER_CLOSED)
+		return ao_igniter_ready;
+	else
+		return ao_igniter_unknown;
+}
+
+void
+ao_log_single(void)
+{
+	ao_storage_setup();
+
+	/* This can take a while, so let the rest
+	 * of the system finish booting before we start
+	 */
+	ao_delay(AO_SEC_TO_TICKS(2));
+
+	ao_log_running = 1;
+	ao_log_single_restart();
+	ao_flight_state = ao_flight_startup;
+	for (;;) {
+		while (!ao_log_running)
+			ao_sleep(&ao_log_running);
+
+		ao_log_monitor_pos = ao_monitor_head;
+		while (ao_log_running) {
+			/* Write samples to EEPROM */
+			while (ao_log_monitor_pos != ao_monitor_head) {
+				memcpy(&ao_log_single_write_data.telemetry,
+				       &ao_monitor_ring[ao_log_monitor_pos],
+				       AO_LOG_SINGLE_SIZE);
+				ao_log_single_write();
+				ao_log_monitor_pos = ao_monitor_ring_next(ao_log_monitor_pos);
+				ao_log_telem_track();
+			}
+			/* Wait for more telemetry data to arrive */
+			ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+		}
+	}
+}
+
+void
+ao_log_single_list(void)
+{
+	if (ao_log_current_pos != 0)
+		printf("flight 1 start %x end %x\n",
+		       0,
+		       (uint16_t) ((ao_log_current_pos + 0xff) >> 8));
+	printf ("done\n");
+}
+
+void
+ao_log_single_extra_query(void)
+{
+}
diff --git a/src/core/ao_log_telescience.c b/src/core/ao_log_telescience.c
new file mode 100644
index 00000000..31eda381
--- /dev/null
+++ b/src/core/ao_log_telescience.c
@@ -0,0 +1,117 @@
+/*
+ * 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_product.h"
+
+static uint8_t	ao_log_adc_pos;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELESCIENCE;
+
+static void
+ao_log_telescience_csum(void) __reentrant
+{
+	__xdata uint8_t *b = ao_log_single_write_data.bytes;
+	uint8_t	sum = 0x5a;
+	uint8_t	i;
+
+	ao_log_single_write_data.telescience.csum = 0;
+	for (i = 0; i < sizeof (struct ao_log_telescience); i++)
+		sum += *b++;
+	ao_log_single_write_data.telescience.csum = -sum;
+}
+
+void
+ao_log_single(void)
+{
+	ao_storage_setup();
+
+	/* This can take a while, so let the rest
+	 * of the system finish booting before we start
+	 */
+	ao_delay(AO_SEC_TO_TICKS(10));
+
+	ao_log_single_restart();
+	for (;;) {
+		while (!ao_log_running)
+			ao_sleep(&ao_log_running);
+
+		ao_log_start_pos = ao_log_current_pos;
+		ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_START;
+		ao_log_single_write_data.telescience.tick = ao_time();
+		ao_log_single_write_data.telescience.adc[0] = ao_companion_command.serial;
+		ao_log_single_write_data.telescience.adc[1] = ao_companion_command.flight;
+		ao_log_telescience_csum();
+		ao_log_single_write();
+		/* Write the whole contents of the ring to the log
+		 * when starting up.
+		 */
+		ao_log_adc_pos = ao_adc_ring_next(ao_adc_head);
+		ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_DATA;
+		while (ao_log_running) {
+			/* Write samples to EEPROM */
+			while (ao_log_adc_pos != ao_adc_head) {
+				ao_log_single_write_data.telescience.tick = ao_adc_ring[ao_log_adc_pos].tick;
+				memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_adc_ring[ao_log_adc_pos].adc,
+				       AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
+				ao_log_telescience_csum();
+				ao_log_single_write();
+				ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
+			}
+			/* Wait for more ADC data to arrive */
+			ao_sleep((void *) &ao_adc_head);
+		}
+		memset(&ao_log_single_write_data.telescience.adc, '\0', sizeof (ao_log_single_write_data.telescience.adc));
+	}
+}
+
+void
+ao_log_single_list(void)
+{
+	uint32_t	pos;
+	uint32_t	start = 0;
+	uint8_t		flight = 0;
+
+	for (pos = 0; ; pos += sizeof (struct ao_log_telescience)) {
+		if (pos >= ao_storage_config ||
+		    !ao_log_single_read(pos) ||
+		    ao_log_single_read_data.telescience.type == AO_LOG_TELESCIENCE_START)
+		{
+			if (pos != start) {
+				printf("flight %d start %x end %x\n",
+				       flight,
+				       (uint16_t) (start >> 8),
+				       (uint16_t) ((pos + 0xff) >> 8)); flush();
+			}
+			if (ao_log_single_read_data.telescience.type != AO_LOG_TELESCIENCE_START)
+				break;
+			start = pos;
+			flight++;
+		}
+	}
+	printf ("done\n");
+}
+
+void
+ao_log_single_extra_query(void)
+{
+	printf("log data tick: %04x\n", ao_log_single_write_data.telescience.tick);
+	printf("TM data tick: %04x\n", ao_log_single_write_data.telescience.tm_tick);
+	printf("TM state: %d\n", ao_log_single_write_data.telescience.tm_state);
+	printf("TM serial: %d\n", ao_companion_command.serial);
+	printf("TM flight: %d\n", ao_companion_command.flight);
+}
diff --git a/src/ao_log_tiny.c b/src/core/ao_log_tiny.c
index d5a3b99f..d5a3b99f 100644
--- a/src/ao_log_tiny.c
+++ b/src/core/ao_log_tiny.c
diff --git a/src/ao_monitor.c b/src/core/ao_monitor.c
index 69eb58e8..56d7604d 100644
--- a/src/ao_monitor.c
+++ b/src/core/ao_monitor.c
@@ -22,18 +22,10 @@
 #error Must define HAS_MONITOR to 1
 #endif
 
-__xdata uint8_t ao_monitoring;
+__data uint8_t ao_monitoring;
 __pdata uint8_t ao_monitor_led;
 
-#define AO_MONITOR_RING	8
-
-__xdata union ao_monitor {
-		struct ao_telemetry_raw_recv	raw;
-		struct ao_telemetry_orig_recv	orig;
-		struct ao_telemetry_tiny_recv	tiny;
-} ao_monitor_ring[AO_MONITOR_RING];
-
-#define ao_monitor_ring_next(n)	(((n) + 1) & (AO_MONITOR_RING - 1))
+__xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
 
 __data uint8_t	ao_monitor_head;
 
@@ -45,7 +37,7 @@ ao_monitor_get(void)
 	for (;;) {
 		switch (ao_monitoring) {
 		case 0:
-			ao_sleep(&ao_monitoring);
+			ao_sleep(DATA_TO_XDATA(&ao_monitoring));
 			continue;
 		case AO_MONITORING_ORIG:
 			size = sizeof (struct ao_telemetry_orig_recv);
@@ -63,7 +55,15 @@ ao_monitor_get(void)
 			continue;
 		ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
 		ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
-		ao_led_toggle(ao_monitor_led);
+	}
+}
+
+void
+ao_monitor_blink(void)
+{
+	for (;;) {
+		ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+		ao_led_for(ao_monitor_led, AO_MS_TO_TICKS(100));
 	}
 }
 
@@ -159,7 +159,9 @@ ao_monitor_put(void)
 				ao_gps_print(&recv_orig.telemetry_orig.gps);
 				ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
 				putchar('\n');
+#if HAS_RSSI
 				ao_rssi_set(rssi);
+#endif
 			} else {
 				printf("CRC INVALID RSSI %3d\n", rssi);
 			}
@@ -222,7 +224,9 @@ ao_monitor_put(void)
 				       recv_tiny.telemetry_tiny.flight_vel,
 				       recv_tiny.telemetry_tiny.flight_pres);
 #endif
+#if HAS_RSSI
 				ao_rssi_set(rssi);
+#endif
 			} else {
 				printf("CRC INVALID RSSI %3d\n", rssi);
 			}
@@ -236,6 +240,12 @@ ao_monitor_put(void)
 				printf("%02x", byte);
 			}
 			printf("%02x\n", sum);
+#if HAS_RSSI
+			if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
+				rssi = ((int16_t) recv_raw.packet[ao_monitoring] >> 1) - 74;
+				ao_rssi_set(rssi);
+			}
+#endif
 			break;
 		}
 		ao_usb_flush();
@@ -244,6 +254,7 @@ ao_monitor_put(void)
 
 __xdata struct ao_task ao_monitor_get_task;
 __xdata struct ao_task ao_monitor_put_task;
+__xdata struct ao_task ao_monitor_blink_task;
 
 void
 ao_set_monitor(uint8_t monitoring)
@@ -251,7 +262,7 @@ ao_set_monitor(uint8_t monitoring)
 	if (ao_monitoring)
 		ao_radio_recv_abort();
 	ao_monitoring = monitoring;
-	ao_wakeup(&ao_monitoring);
+	ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
 }
 
 static void
@@ -274,4 +285,6 @@ ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
 	ao_cmd_register(&ao_monitor_cmds[0]);
 	ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
 	ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
+	if (ao_monitor_led)
+		ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
 }
diff --git a/src/ao_mutex.c b/src/core/ao_mutex.c
index c82a7d57..c82a7d57 100644
--- a/src/ao_mutex.c
+++ b/src/core/ao_mutex.c
diff --git a/src/ao_panic.c b/src/core/ao_panic.c
index fdada201..244917a8 100644
--- a/src/ao_panic.c
+++ b/src/core/ao_panic.c
@@ -24,6 +24,10 @@
 #if !HAS_BEEP
 #define ao_beep(x)
 #endif
+#if !LEDS_AVAILABLE
+#define ao_led_on(x)
+#define ao_led_off(x)
+#endif
 
 static void
 ao_panic_delay(uint8_t n)
@@ -33,7 +37,7 @@ ao_panic_delay(uint8_t n)
 	while (n--)
 		while (--j)
 			while (--i)
-				_asm nop _endasm;
+				ao_arch_nop();
 }
 
 void
@@ -53,7 +57,10 @@ ao_panic(uint8_t reason)
 		}
 		ao_beep(AO_BEEP_OFF);
 		ao_panic_delay(2);
+
+#ifdef SDCC
 #pragma disable_warning 126
+#endif
 		for (n = 0; n < reason; n++) {
 			ao_led_on(AO_LED_RED);
 			ao_beep(AO_BEEP_MID);
diff --git a/src/ao_product.c b/src/core/ao_product.c
index fb59580b..fb59580b 100644
--- a/src/ao_product.c
+++ b/src/core/ao_product.c
diff --git a/src/ao_report.c b/src/core/ao_report.c
index 3cf558e1..70f0b49d 100644
--- a/src/ao_report.c
+++ b/src/core/ao_report.c
@@ -109,7 +109,7 @@ ao_report_altitude(void)
 	}
 }
 
-#if HAS_IGNITE
+#if HAS_IGNITE_REPORT
 static uint8_t
 ao_report_igniter_ready(enum ao_igniter igniter)
 {
@@ -119,7 +119,13 @@ ao_report_igniter_ready(enum ao_igniter igniter)
 static void
 ao_report_continuity(void) __reentrant
 {
-	uint8_t	c = (ao_report_igniter_ready(ao_igniter_drogue) |
+	uint8_t	c;
+
+#if !HAS_IGNITE
+	if (!ao_igniter_present)
+		return;
+#endif
+	c = (ao_report_igniter_ready(ao_igniter_drogue) |
 		     (ao_report_igniter_ready(ao_igniter_main) << 1));
 	if (c) {
 		while (c--) {
@@ -133,6 +139,7 @@ ao_report_continuity(void) __reentrant
 			low(AO_MS_TO_TICKS(20));
 		}
 	}
+#if HAS_LOG
 	if (ao_log_full()) {
 		pause(AO_MS_TO_TICKS(100));
 		c = 2;
@@ -143,9 +150,7 @@ ao_report_continuity(void) __reentrant
 			mid(AO_MS_TO_TICKS(100));
 		}
 	}
-	c = 50;
-	while (c-- && ao_flight_state == ao_flight_pad)
-		pause(AO_MS_TO_TICKS(100));
+#endif
 }
 #endif
 
@@ -157,11 +162,16 @@ ao_report(void)
 		if (ao_flight_state == ao_flight_landed)
 			ao_report_altitude();
 		ao_report_beep();
-#if HAS_IGNITE
+#if HAS_IGNITE_REPORT
 		if (ao_flight_state == ao_flight_idle)
 			ao_report_continuity();
-		while (ao_flight_state == ao_flight_pad)
+		while (ao_flight_state == ao_flight_pad) {
+			uint8_t	c;
 			ao_report_continuity();
+			c = 50;
+			while (c-- && ao_flight_state == ao_flight_pad)
+				pause(AO_MS_TO_TICKS(100));
+		}
 #endif
 		__critical {
 			while (ao_report_state == ao_flight_state)
diff --git a/src/ao_rssi.c b/src/core/ao_rssi.c
index e3964d2d..e3964d2d 100644
--- a/src/ao_rssi.c
+++ b/src/core/ao_rssi.c
diff --git a/src/ao_sample.c b/src/core/ao_sample.c
index b2b8e9f6..b2b8e9f6 100644
--- a/src/ao_sample.c
+++ b/src/core/ao_sample.c
diff --git a/src/ao_state.c b/src/core/ao_state.c
index ed197aa5..ed197aa5 100644
--- a/src/ao_state.c
+++ b/src/core/ao_state.c
diff --git a/src/ao_stdio.c b/src/core/ao_stdio.c
index c0138a30..c0138a30 100644
--- a/src/ao_stdio.c
+++ b/src/core/ao_stdio.c
diff --git a/src/ao_storage.c b/src/core/ao_storage.c
index 6ffca0e5..6ffca0e5 100644
--- a/src/ao_storage.c
+++ b/src/core/ao_storage.c
diff --git a/src/ao_task.c b/src/core/ao_task.c
index f5850fa4..a19a6a6f 100644
--- a/src/ao_task.c
+++ b/src/core/ao_task.c
@@ -24,10 +24,13 @@ __data uint8_t ao_num_tasks;
 __data uint8_t ao_cur_task_index;
 __xdata struct ao_task *__data ao_cur_task;
 
+#ifdef ao_arch_task_globals
+ao_arch_task_globals
+#endif
+
 void
 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
 {
-	uint8_t	__xdata *stack;
 	uint8_t task_id;
 	uint8_t t;
 	if (ao_num_tasks == AO_NUM_TASKS)
@@ -42,90 +45,28 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 	ao_tasks[ao_num_tasks++] = task;
 	task->task_id = task_id;
 	task->name = name;
+	task->wchan = NULL;
 	/*
 	 * Construct a stack frame so that it will 'return'
 	 * to the start of the task
 	 */
-	stack = task->stack;
-
-	*stack++ = ((uint16_t) start);		/* 0 */
-	*stack++ = ((uint16_t) start) >> 8;	/* 1 */
-
-	/* and the stuff saved by ao_switch */
-	*stack++ = 0;				/* 2 acc */  
-	*stack++ = 0x80;			/* 3 IE */
-
-	/*  4 DPL
-	 *  5 DPH
-	 *  6 B
-	 *  7 R2
-	 *  8 R3
-	 *  9 R4
-	 * 10 R5
-	 * 11 R6
-	 * 12 R7
-	 * 13 R0
-	 * 14 R1
-	 * 15 PSW
-	 * 16 BP
-	 */
-	for (t = 0; t < 13; t++)
-		*stack++ = 0;
-
-	task->stack_count = 17;
-	task->wchan = NULL;
+	ao_arch_init_stack(task, start);
 }
 
 /* Task switching function. This must not use any stack variables */
 void
-ao_yield(void) __naked
+ao_yield(void) ao_arch_naked_define
 {
-
-	/* Save current context */
-	_asm
-		/* Push ACC first, as when restoring the context it must be restored
-		 * last (it is used to set the IE register). */
-		push	ACC
-		/* Store the IE register then enable interrupts. */
-		push	_IEN0
-		setb	_EA
-		push	DPL
-		push	DPH
-		push	b
-		push	ar2
-		push	ar3
-		push	ar4
-		push	ar5
-		push	ar6
-		push	ar7
-		push	ar0
-		push	ar1
-		push	PSW
-	_endasm;
-	PSW = 0;
-	_asm
-		push	_bp
-	_endasm;
+	ao_arch_save_regs();
 
 	if (ao_cur_task_index == AO_NO_TASK_INDEX)
 		ao_cur_task_index = ao_num_tasks-1;
 	else
 	{
-		uint8_t stack_len;
-		__data uint8_t *stack_ptr;
-		__xdata uint8_t *save_ptr;
-		/* Save the current stack */
-		stack_len = SP - (AO_STACK_START - 1);
-		ao_cur_task->stack_count = stack_len;
-		stack_ptr = (uint8_t __data *) AO_STACK_START;
-		save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
-		do
-			*save_ptr++ = *stack_ptr++;
-		while (--stack_len);
+		ao_arch_save_stack();
 	}
 
-	/* Empty the stack; might as well let interrupts have the whole thing */
-	SP = AO_STACK_START - 1;
+	ao_arch_isr_stack();
 
 	/* Find a task to run. If there isn't any runnable task,
 	 * this loop will run forever, which is just fine
@@ -151,65 +92,21 @@ ao_yield(void) __naked
 			}
 
 			/* Enter lower power mode when there isn't anything to do */
-			if (ao_next_task_index == ao_cur_task_index)
-				PCON = PCON_IDLE;
+			if (ao_next_task_index == ao_cur_task_index) {
+				ao_arch_cpu_idle();
+			}
 		}
 	}
-
-	{
-		uint8_t stack_len;
-		__data uint8_t *stack_ptr;
-		__xdata uint8_t *save_ptr;
-
-		/* Restore the old stack */
-		stack_len = ao_cur_task->stack_count;
-		SP = AO_STACK_START - 1 + stack_len;
-
-		stack_ptr = (uint8_t __data *) AO_STACK_START;
-		save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
-		do
-			*stack_ptr++ = *save_ptr++;
-		while (--stack_len);
-	}
-
-	_asm
-		pop		_bp
-		pop		PSW
-		pop		ar1
-		pop		ar0
-		pop		ar7
-		pop		ar6
-		pop		ar5
-		pop		ar4
-		pop		ar3
-		pop		ar2
-		pop		b
-		pop		DPH
-		pop		DPL
-		/* The next byte of the stack is the IE register.  Only the global
-		enable bit forms part of the task context.  Pop off the IE then set
-		the global enable bit to match that of the stored IE register. */
-		pop		ACC
-		JB		ACC.7,0098$
-		CLR		_EA
-		LJMP	0099$
-	0098$:
-		SETB		_EA
-	0099$:
-		/* Finally pop off the ACC, which was the first register saved. */
-		pop		ACC
-		ret
-	_endasm;
+	ao_arch_restore_stack();
 }
 
 uint8_t
 ao_sleep(__xdata void *wchan)
 {
-	__critical {
+	ao_arch_critical(
 		ao_cur_task->wchan = wchan;
-	}
+		);
 	ao_yield();
-	ao_cur_task->alarm = 0;
 	if (ao_cur_task->wchan) {
 		ao_cur_task->wchan = NULL;
 		return 1;
@@ -238,14 +135,22 @@ ao_alarm(uint16_t delay)
 }
 
 void
-ao_exit(void) __critical
+ao_clear_alarm(void)
 {
-	uint8_t	i;
-	ao_num_tasks--;
-	for (i = ao_cur_task_index; i < ao_num_tasks; i++)
-		ao_tasks[i] = ao_tasks[i+1];
-	ao_cur_task_index = AO_NO_TASK_INDEX;
-	ao_yield();
+	ao_cur_task->alarm = 0;
+}
+
+void
+ao_exit(void)
+{
+	ao_arch_critical(
+		uint8_t	i;
+		ao_num_tasks--;
+		for (i = ao_cur_task_index; i < ao_num_tasks; i++)
+			ao_tasks[i] = ao_tasks[i+1];
+		ao_cur_task_index = AO_NO_TASK_INDEX;
+		ao_yield();
+		);
 	/* we'll never get back here */
 }
 
@@ -253,16 +158,13 @@ void
 ao_task_info(void)
 {
 	uint8_t	i;
-	uint8_t pc_loc;
 	__xdata struct ao_task *task;
 
 	for (i = 0; i < ao_num_tasks; i++) {
 		task = ao_tasks[i];
-		pc_loc = task->stack_count - 17;
-		printf("%12s: wchan %04x pc %04x\n",
+		printf("%12s: wchan %04x\n",
 		       task->name,
-		       (int16_t) task->wchan,
-		       (task->stack[pc_loc]) | (task->stack[pc_loc+1] << 8));
+		       (int16_t) task->wchan);
 	}
 }
 
diff --git a/src/ao_telem.h b/src/core/ao_telem.h
index 1a8da291..1a8da291 100644
--- a/src/ao_telem.h
+++ b/src/core/ao_telem.h
diff --git a/src/ao_telemetry.c b/src/core/ao_telemetry.c
index c7338a58..c2707e7d 100644
--- a/src/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -94,6 +94,30 @@ ao_send_sensor(void)
 	ao_radio_send(&telemetry, sizeof (telemetry));
 }
 
+static uint8_t		ao_baro_sample;
+
+#ifdef AO_SEND_ALL_BARO
+static void
+ao_send_baro(void)
+{
+	uint8_t		sample = ao_sample_adc;
+	uint8_t		samples = (sample - ao_baro_sample) & (AO_ADC_RING - 1);
+
+	if (samples > 12) {
+		ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_ADC_RING - 1);
+		samples = 12;
+	}
+	telemetry.generic.tick = ao_adc_ring[sample].tick;
+	telemetry.generic.type = AO_TELEMETRY_BARO;
+	telemetry.baro.samples = samples;
+	for (sample = 0; sample < samples; sample++) {
+		telemetry.baro.baro[sample] = ao_adc_ring[ao_baro_sample].pres;
+		ao_baro_sample = ao_adc_ring_next(ao_baro_sample);
+	}
+	ao_radio_send(&telemetry, sizeof (telemetry));
+}
+#endif
+
 static void
 ao_send_configuration(void)
 {
@@ -193,6 +217,9 @@ ao_telemetry(void)
 		while (ao_telemetry_interval) {
 
 
+#ifdef AO_SEND_ALL_BARO
+			ao_send_baro();
+#endif
 			ao_send_sensor();
 #if HAS_COMPANION
 			if (ao_companion_running)
@@ -203,12 +230,14 @@ ao_telemetry(void)
 			ao_send_location();
 			ao_send_satellite();
 #endif
+#ifndef AO_SEND_ALL_BARO
 			if (ao_rdf &&
 			    (int16_t) (ao_time() - ao_rdf_time) >= 0)
 			{
 				ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
-				ao_radio_rdf(AO_RDF_LENGTH_MS);
+				ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
 			}
+#endif
 			time += ao_telemetry_interval;
 			delay = time - ao_time();
 			if (delay > 0)
diff --git a/src/ao_ee.c b/src/drivers/ao_25lc1024.c
index a2fe8dc1..738f8ce6 100644
--- a/src/ao_ee.c
+++ b/src/drivers/ao_25lc1024.c
@@ -16,7 +16,7 @@
  */
 
 #include "ao.h"
-#include "25lc1024.h"
+#include "ao_25lc1024.h"
 
 #define EE_BLOCK_SIZE	((uint16_t) (256))
 #define EE_BLOCK_SHIFT	8
diff --git a/src/25lc1024.h b/src/drivers/ao_25lc1024.h
index 44e52387..44e52387 100644
--- a/src/25lc1024.h
+++ b/src/drivers/ao_25lc1024.h
diff --git a/src/ao_flash.c b/src/drivers/ao_at45db161d.c
index bb40f6f7..aee9877a 100644
--- a/src/ao_flash.c
+++ b/src/drivers/ao_at45db161d.c
@@ -16,7 +16,7 @@
  */
 
 #include "ao.h"
-#include "at45db161d.h"
+#include "ao_at45db161d.h"
 
 /* Total bytes of available storage */
 __pdata uint32_t	ao_storage_total;
diff --git a/src/at45db161d.h b/src/drivers/ao_at45db161d.h
index 9ee6f1b6..9ee6f1b6 100644
--- a/src/at45db161d.h
+++ b/src/drivers/ao_at45db161d.h
diff --git a/src/ao_btm.c b/src/drivers/ao_btm.c
index 44155ec1..5eb78815 100644
--- a/src/ao_btm.c
+++ b/src/drivers/ao_btm.c
@@ -20,6 +20,87 @@
 int8_t			ao_btm_stdio;
 __xdata uint8_t		ao_btm_connected;
 
+#define BT_DEBUG 0
+
+#if BT_DEBUG
+__xdata char		ao_btm_buffer[256];
+int			ao_btm_ptr;
+char			ao_btm_dir;
+
+static void
+ao_btm_add_char(char c)
+{
+	if (ao_btm_ptr < sizeof (ao_btm_buffer))
+		ao_btm_buffer[ao_btm_ptr++] = c;
+}
+
+static void
+ao_btm_log_char(char c, char dir)
+{
+	if (dir != ao_btm_dir) {
+		ao_btm_add_char(dir);
+		ao_btm_dir = dir;
+	}
+	ao_btm_add_char(c);
+}
+
+static void
+ao_btm_log_out_char(char c)
+{
+	ao_btm_log_char(c, '>');
+}
+
+static void
+ao_btm_log_in_char(char c)
+{
+	ao_btm_log_char(c, '<');
+}
+
+/*
+ * Dump everything received from the bluetooth device during startup
+ */
+static void
+ao_btm_dump(void)
+{
+	int i;
+	char c;
+
+	for (i = 0; i < ao_btm_ptr; i++) {
+		c = ao_btm_buffer[i];
+		if (c < ' ' && c != '\n')
+			printf("\\%03o", ((int) c) & 0xff);
+		else
+			putchar(ao_btm_buffer[i]);
+	}
+	putchar('\n');
+}
+
+static void
+ao_btm_speed(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_lex_u32 == 57600)
+		ao_serial_set_speed(AO_SERIAL_SPEED_57600);
+	else if (ao_cmd_lex_u32 == 19200)
+		ao_serial_set_speed(AO_SERIAL_SPEED_19200);
+	else
+		ao_cmd_status = ao_cmd_syntax_error;
+}
+
+__code struct ao_cmds ao_btm_cmds[] = {
+	{ ao_btm_dump,		"d\0Dump btm buffer." },
+	{ ao_btm_speed,		"s <19200,57600>\0Set btm serial speed." },
+	{ 0, NULL },
+};
+
+#define ao_btm_log_init()	ao_cmd_register(&ao_btm_cmds[0])
+
+#else
+#define ao_btm_log_in_char(c)
+#define ao_btm_log_out_char(c)
+#define ao_btm_log_init()
+#endif
+
 #define AO_BTM_MAX_REPLY	16
 __xdata char		ao_btm_reply[AO_BTM_MAX_REPLY];
 
@@ -39,6 +120,7 @@ ao_btm_get_line(void)
 	for (;;) {
 
 		while ((c = ao_serial_pollchar()) != AO_READ_AGAIN) {
+			ao_btm_log_in_char(c);
 			if (ao_btm_reply_len < sizeof (ao_btm_reply))
 				ao_btm_reply[ao_btm_reply_len++] = c;
 			if (c == '\r' || c == '\n')
@@ -85,6 +167,7 @@ ao_btm_echo(uint8_t echo)
 void
 ao_btm_putchar(char c)
 {
+	ao_btm_log_out_char(c);
 	ao_serial_putchar(c);
 	ao_delay(1);
 }
@@ -166,10 +249,6 @@ ao_btm(void)
 	 */
 	ao_delay(AO_SEC_TO_TICKS(3));
 
-#if HAS_BEEP
-	ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
-#endif
-
 	/*
 	 * The first time we connect, the BTM-180 comes up at 19200 baud.
 	 * After that, it will remember and come up at 57600 baud. So, see
@@ -299,4 +378,5 @@ ao_btm_init (void)
 #endif
 
 	ao_add_task(&ao_btm_task, ao_btm, "bt");
+	ao_btm_log_init();
 }
diff --git a/src/ao_companion.c b/src/drivers/ao_companion.c
index 4c8f4269..2e587f8e 100644
--- a/src/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -30,7 +30,7 @@
 #define COMPANION_SELECT()	do { ao_spi_get_bit(COMPANION_CS); ao_spi_slow(); } while (0)
 #define COMPANION_DESELECT()	do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS); } while (0)
 
-static __xdata struct ao_companion_command	ao_companion_command;
+__xdata struct ao_companion_command		ao_companion_command;
 __xdata struct ao_companion_setup		ao_companion_setup;
 
 __xdata uint16_t	ao_companion_data[AO_COMPANION_MAX_CHANNELS];
diff --git a/src/ao_gps_sirf.c b/src/drivers/ao_gps_sirf.c
index f2abbf84..f2abbf84 100644
--- a/src/ao_gps_sirf.c
+++ b/src/drivers/ao_gps_sirf.c
diff --git a/src/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index 7ac26946..7ac26946 100644
--- a/src/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
diff --git a/src/drivers/ao_lcd.c b/src/drivers/ao_lcd.c
new file mode 100644
index 00000000..5bc89bbd
--- /dev/null
+++ b/src/drivers/ao_lcd.c
@@ -0,0 +1,281 @@
+/*
+ * 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"
+
+#define LCD_PORT	PORTB
+#define LCD_DDR		DDRB
+
+#define PIN_RS		4
+#define PIN_E		5
+#define PIN_RW		6
+
+void
+ao_lcd_set_bits(uint8_t bits)
+{
+#if 0
+	printf("\tLCD data %x RS %d R/W %d E %d\n",
+	       bits & 0xf,
+	       (bits & (1 << PIN_RS)) ? 1 : 0,
+	       (bits & (1 << PIN_RW)) ? 1 : 0,
+	       (bits & (1 << PIN_E)) ? 1 : 0);
+#endif
+	LCD_PORT = bits;
+#if 0
+	ao_delay(1);
+	if (bits & (1 << PIN_RW))
+		printf("\tLCD input %x\n", PINB);
+#endif
+}
+
+uint8_t
+ao_lcd_get_nibble(uint8_t rs)
+{
+	uint8_t	data = (rs ? (1 << PIN_RS) : 0) | (1 << PIN_RW);
+	uint8_t n;
+
+	DDRB = (1 << PIN_RS) | (1 << PIN_E) | (1 << PIN_RW);
+	ao_lcd_set_bits(data);
+	ao_lcd_set_bits(data | (1 << PIN_E));
+	n = PINB & 0xf;
+	ao_lcd_set_bits(data);
+	return n;
+}
+
+uint8_t
+ao_lcd_get_status(void)
+{
+	uint8_t	high, low;
+	uint8_t data;
+
+	high = ao_lcd_get_nibble(0);
+	low = ao_lcd_get_nibble(0);
+	data = (high << 4) | low;
+	printf ("\tLCD status %02x\n", data);
+	return data;
+}
+
+uint8_t
+ao_lcd_get_data(void)
+{
+	uint8_t	high, low;
+	uint8_t data;
+
+	high = ao_lcd_get_nibble(1);
+	low = ao_lcd_get_nibble(1);
+	data = (high << 4) | low;
+	printf ("\tLCD data %02x\n", data);
+	return data;
+}
+
+void
+ao_lcd_wait_idle(void)
+{
+	uint8_t	status;
+	uint8_t	count = 0;
+
+	do {
+		status = ao_lcd_get_status();
+		count++;
+		if (count > 100) {
+			printf("idle timeout\n");
+			break;
+		}
+	} while (0);	/* status & 0x80); */
+}
+
+void
+ao_lcd_send_nibble(uint8_t rs, uint8_t data)
+{
+	data = (data & 0xf) | (rs ? (1 << PIN_RS) : 0);
+	DDRB = (0xf) | (1 << PIN_RS) | (1 << PIN_E) | (1 << PIN_RW);
+	ao_lcd_set_bits(data);
+	ao_lcd_set_bits(data | (1 << PIN_E));
+	ao_lcd_set_bits(data);
+}
+
+static uint16_t	ao_lcd_time = 3;
+
+void
+ao_lcd_delay(void)
+{
+	volatile uint16_t	count;
+
+	for (count = 0; count < ao_lcd_time; count++)
+		;
+}
+
+void
+ao_lcd_send_ins(uint8_t data)
+{
+//	printf("send ins %02x\n", data);
+//	ao_lcd_wait_idle();
+//	ao_delay(1);
+	ao_lcd_delay();
+	ao_lcd_send_nibble(0, data >> 4);
+	ao_lcd_send_nibble(0, data & 0xf);
+}
+
+void
+ao_lcd_send_data(uint8_t data)
+{
+//	printf ("send data %02x\n", data);
+//	ao_lcd_wait_idle();
+	ao_lcd_delay();
+	ao_lcd_send_nibble(1, data >> 4);
+	ao_lcd_send_nibble(1, data & 0x0f);
+}
+
+void
+ao_lcd_send_string(char *string)
+{
+	uint8_t	c;
+
+	while ((c = (uint8_t) *string++))
+		ao_lcd_send_data(c);
+}
+
+#define AO_LCD_POWER_CONTROL	0x54
+
+void
+ao_lcd_contrast_set(uint8_t contrast)
+{
+	ao_lcd_send_ins(AO_LCD_POWER_CONTROL | ((contrast >> 4) & 0x3));
+	ao_lcd_send_ins(0x70 | (contrast & 0xf));
+}
+
+void
+ao_lcd_clear(void)
+{
+	ao_lcd_send_ins(0x01);
+	ao_delay(1);
+	/* Entry mode */
+	ao_lcd_send_ins(0x04 | 0x02);
+}
+
+void
+ao_lcd_start(void)
+{
+	/* get to 4bit mode */
+	ao_lcd_send_nibble(0, 0x3);
+	ao_lcd_send_nibble(0, 0x3);
+	ao_lcd_send_nibble(0, 0x3);
+	ao_lcd_send_nibble(0, 0x2);
+
+	/* function set */
+	ao_lcd_send_ins(0x28);
+	/* function set, instruction table 1 */
+	ao_lcd_send_ins(0x29);
+
+	/* freq set */
+	ao_lcd_send_ins(0x14);
+
+	/* Power/icon/contrast control*/
+	ao_lcd_send_ins(AO_LCD_POWER_CONTROL);
+
+	/* Follower control */
+	ao_lcd_send_ins(0x6d);
+	ao_delay(AO_MS_TO_TICKS(200));
+
+	/* contrast set */
+	ao_lcd_contrast_set(0x18);
+
+	/* Display on */
+	ao_lcd_send_ins(0x08 | 0x04);
+
+	/* Clear */
+	ao_lcd_clear();
+
+}
+
+void
+ao_lcd_contrast(void)
+{
+	ao_cmd_hex();
+	if (ao_cmd_status == ao_cmd_success) {
+		printf("setting contrast to %02x\n", ao_cmd_lex_i);
+		ao_lcd_contrast_set(ao_cmd_lex_i & 0x3f);
+	}
+}
+
+static uint8_t
+ao_cmd_hex_nibble(void)
+{
+	if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
+		return ao_cmd_lex_c - '0';
+	if ('a' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'f')
+		return ao_cmd_lex_c - ('a' - 10);
+	if ('A' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'F')
+		return ao_cmd_lex_c - ('A' - 10);
+	ao_cmd_status = ao_cmd_syntax_error;
+	return 0;
+}
+
+void
+ao_lcd_string(void)
+{
+	uint8_t	col = 0;
+	uint8_t	c;
+
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	ao_lcd_send_ins(0x80 | (ao_cmd_lex_i ? 0x40 : 0x00));
+	ao_cmd_white();
+	while (ao_cmd_lex_c != '\n') {
+		c = ao_cmd_lex_c;
+		if (c == '\\') {
+			ao_cmd_lex();
+			c = ao_cmd_hex_nibble() << 4;
+			ao_cmd_lex();
+			c |= ao_cmd_hex_nibble();
+		}
+		ao_lcd_send_data(c);
+		ao_cmd_lex();
+		col++;
+	}
+	while (col < 16) {
+		ao_lcd_send_data(' ');
+		col++;
+	}
+}
+
+void
+ao_lcd_delay_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status == ao_cmd_success) {
+		printf("setting LCD delay to %d\n", ao_cmd_lex_i);
+		ao_lcd_time = ao_cmd_lex_i;
+	}
+}
+
+__code struct ao_cmds ao_lcd_cmds[] = {
+	{ ao_lcd_start, "S\0Start LCD" },
+	{ ao_lcd_contrast, "C <contrast>\0Set LCD contrast" },
+	{ ao_lcd_string, "s <line> <string>\0Send string to LCD" },
+	{ ao_lcd_delay_set, "t <delay>\0Set LCD delay" },
+	{ 0, NULL },
+};
+
+void
+ao_lcd_init(void)
+{
+	DDRB = (1 << PIN_RS) | (1 << PIN_E) | (1 << PIN_RW);
+	PORTB = 0;
+	ao_cmd_register(&ao_lcd_cmds[0]);
+}
diff --git a/src/ao_m25.c b/src/drivers/ao_m25.c
index d7208273..28cb1dd7 100644
--- a/src/ao_m25.c
+++ b/src/drivers/ao_m25.c
@@ -376,5 +376,7 @@ ao_storage_device_init(void)
 	/* Set up chip select wires */
 	SPI_CS_PORT |= M25_CS_MASK;	/* raise all CS pins */
 	SPI_CS_DIR |= M25_CS_MASK;	/* set CS pins as outputs */
+#ifdef SPI_CS_SEL
 	SPI_CS_SEL &= ~M25_CS_MASK;	/* set CS pins as GPIO */
+#endif
 }
diff --git a/src/drivers/ao_pyro_slave.c b/src/drivers/ao_pyro_slave.c
new file mode 100644
index 00000000..e6c73a3c
--- /dev/null
+++ b/src/drivers/ao_pyro_slave.c
@@ -0,0 +1,51 @@
+/*
+ * 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_product.h"
+
+struct ao_companion_command	ao_companion_command;
+
+static const struct ao_companion_setup	ao_telepyro_setup = {
+	.board_id 		= AO_idProduct_NUMBER,
+	.board_id_inverse	= ~AO_idProduct_NUMBER,
+	.update_period		= 50,
+	.channels		= AO_TELEPYRO_NUM_ADC,
+};
+
+void ao_spi_slave(void)
+{
+	if (!ao_spi_read((uint8_t *) &ao_companion_command,
+			 sizeof (ao_companion_command)))
+		return;
+
+	/* Figure out the outbound data */
+	switch (ao_companion_command.command) {
+	case AO_COMPANION_SETUP:
+		ao_spi_write((uint8_t *) &ao_telepyro_setup,
+			     sizeof (ao_telepyro_setup));
+		break;
+	case AO_COMPANION_FETCH:
+		ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
+			     AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
+		break;
+	case AO_COMPANION_NOTIFY:
+		break;
+	default:
+		return;
+	}
+}
diff --git a/src/drivers/ao_science_slave.c b/src/drivers/ao_science_slave.c
new file mode 100644
index 00000000..e902318f
--- /dev/null
+++ b/src/drivers/ao_science_slave.c
@@ -0,0 +1,62 @@
+/*
+ * 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_product.h"
+
+struct ao_companion_command	ao_companion_command;
+
+static const struct ao_companion_setup	ao_telescience_setup = {
+	.board_id 		= AO_idProduct_NUMBER,
+	.board_id_inverse	= ~AO_idProduct_NUMBER,
+	.update_period		= 50,
+	.channels		= AO_LOG_TELESCIENCE_NUM_ADC,
+};
+
+void ao_spi_slave(void)
+{
+	if (!ao_spi_read((uint8_t *) &ao_companion_command,
+			 sizeof (ao_companion_command)))
+		return;
+
+	/* Figure out the outbound data */
+	switch (ao_companion_command.command) {
+	case AO_COMPANION_SETUP:
+		ao_spi_write((uint8_t *) &ao_telescience_setup,
+			     sizeof (ao_telescience_setup));
+		break;
+	case AO_COMPANION_FETCH:
+		ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
+			     AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
+		break;
+	case AO_COMPANION_NOTIFY:
+		break;
+	default:
+		return;
+	}
+
+	ao_log_single_write_data.telescience.tm_tick = ao_companion_command.tick;
+	if (ao_log_single_write_data.telescience.tm_state != ao_companion_command.flight_state) {
+		ao_log_single_write_data.telescience.tm_state = ao_companion_command.flight_state;
+		if (ao_flight_boost <= ao_log_single_write_data.telescience.tm_state) {
+			if (ao_log_single_write_data.telescience.tm_state < ao_flight_landed)
+				ao_log_single_start();
+			else
+				ao_log_single_stop();
+		}
+	}
+}
diff --git a/src/product/Makefile.telebt b/src/product/Makefile.telebt
new file mode 100644
index 00000000..46c87db0
--- /dev/null
+++ b/src/product/Makefile.telebt
@@ -0,0 +1,98 @@
+#
+# TeleBT build file
+#
+# Define TELEBT_VER, TELEBT_DEF, TELEBT_INC and TELEBT_SRC
+# and include this file
+
+vpath %.c ..:../core:../cc1111:../drivers:../product
+vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	cc1111.h \
+	ao_product.h \
+	$(TELEBT_INC)
+
+CORE_SRC = \
+	ao_cmd.c \
+	ao_config.c \
+	ao_gps_print.c \
+	ao_monitor.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_state.c \
+	ao_stdio.c \
+	ao_task.c
+
+CC1111_SRC = \
+	ao_aes.c \
+	ao_dbg.c \
+	ao_dma.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_packet_master.c \
+	ao_radio.c \
+	ao_radio_cmac.c \
+	ao_romconfig.c \
+	ao_serial.c \
+	ao_timer.c \
+	ao_usb.c \
+	_bp.c
+
+DRIVER_SRC = \
+	ao_btm.c
+
+PRODUCT_SRC = \
+	ao_telebt.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC) \
+	$(TELEBT_SRC)
+
+PROG = telebt-v$(TELEBT_VER)-$(VERSION).ihx
+PRODUCT=TeleBT-v$(TELEBT_VER)
+PRODUCT_DEF=-DTELEBT_V_$(TELEBT_DEF)
+IDPRODUCT=0x000e
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: ../$(PROG)
+
+../$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)
+
+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 $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM)
+	rm -f $(PROG) $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM)
+	rm -f ao_product.h
+	rm -f ../$(PROG) ../$(PMAP)
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.teledongle b/src/product/Makefile.teledongle
new file mode 100644
index 00000000..56182b84
--- /dev/null
+++ b/src/product/Makefile.teledongle
@@ -0,0 +1,98 @@
+#
+# TeleDongle build file
+#
+# The various teledongle versions differ only
+# in minor pin variations
+# so the per-board makefiles simply define
+# TD_VER, TD_DEF and include
+# this file
+
+vpath %.c ..:../core:../cc1111:../drivers:../product
+vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	cc1111.h \
+	ao_product.h
+
+CORE_SRC = \
+	ao_cmd.c \
+	ao_config.c \
+	ao_gps_print.c \
+	ao_monitor.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_rssi.c \
+	ao_state.c \
+	ao_stdio.c \
+	ao_task.c
+
+CC1111_SRC = \
+	ao_aes.c \
+	ao_dbg.c \
+	ao_dma.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_packet_master.c \
+	ao_radio.c \
+	ao_radio_cmac.c \
+	ao_romconfig.c \
+	ao_timer.c \
+	ao_usb.c \
+	_bp.c
+
+DRIVER_SRC =
+
+PRODUCT_SRC = \
+	ao_teledongle.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROG = teledongle-v$(TD_VER)-$(VERSION).ihx
+PRODUCT=TeleDongle-v$(TD_VER)
+PRODUCT_DEF=-DTELEDONGLE_V_$(TD_DEF)
+IDPRODUCT=0x000c
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: ../$(PROG)
+
+../$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)
+
+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 $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM)
+	rm -f $(PROG) $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM)
+	rm -f ao_product.h
+	rm -f ../$(PROG) ../$(PMAP)
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.telelaunch b/src/product/Makefile.telelaunch
new file mode 100644
index 00000000..5da42e46
--- /dev/null
+++ b/src/product/Makefile.telelaunch
@@ -0,0 +1,101 @@
+#
+# TeleLaunch build file
+#
+# define TELELAUNCH_VER, TELELAUNCH_DEF
+# this file
+
+vpath %.c ..:../core:../cc1111:../drivers:../product
+vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	cc1111.h \
+	ao_product.h
+
+CORE_SRC = \
+	ao_cmd.c \
+	ao_config.c \
+	ao_convert.c \
+	ao_launch.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_stdio.c \
+	ao_storage.c \
+	ao_task.c
+
+CC1111_SRC = \
+	ao_adc.c \
+	ao_aes.c \
+	ao_beep.c \
+	ao_dbg.c \
+	ao_dma.c \
+	ao_ignite.c \
+	ao_intflash.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_packet_slave.c \
+	ao_radio.c \
+	ao_radio_cmac.c \
+	ao_romconfig.c \
+	ao_serial.c \
+	ao_spi.c \
+	ao_timer.c \
+	ao_usb.c \
+	_bp.c
+
+DRIVER_SRC =
+
+PRODUCT_SRC = \
+	ao_telelaunch.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROG = telelaunch-v$(TELELAUNCH_VER)-$(VERSION).ihx
+PRODUCT=TeleLaunch-v$(TELELAUNCH_VER)
+PRODUCT_DEF=-DTELELAUNCH_V_$(TELELAUNCH_DEF)
+IDPRODUCT=0x000f
+CODESIZE=0x6700
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: ../$(PROG)
+
+../$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)
+
+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 $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM)
+	rm -f $(PROG) $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM)
+	rm -f ao_product.h
+	rm -f ../$(PROG) ../$(PMAP)
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.telemetrum b/src/product/Makefile.telemetrum
new file mode 100644
index 00000000..2759ac52
--- /dev/null
+++ b/src/product/Makefile.telemetrum
@@ -0,0 +1,111 @@
+#
+# TeleMetrum build file
+#
+# The various telemetrum versions differ only
+# in which flash and GPS drivers are included,
+# so the per-board makefiles simply define
+# TM_VER, TM_DEF, TM_INC and TM_SRC and include
+# this file
+
+vpath %.c ..:../core:../cc1111:../drivers:../product
+vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	cc1111.h \
+	altitude.h \
+	ao_kalman.h \
+	ao_product.h \
+	$(TM_INC)
+
+CORE_SRC = \
+	ao_cmd.c \
+	ao_config.c \
+	ao_convert.c \
+	ao_gps_report.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_stdio.c \
+	ao_storage.c \
+	ao_task.c \
+	ao_flight.c \
+	ao_sample.c \
+	ao_kalman.c \
+	ao_log.c \
+	ao_log_big.c \
+	ao_report.c \
+	ao_telemetry.c
+
+CC1111_SRC = \
+	ao_adc.c \
+	ao_beep.c \
+	ao_dbg.c \
+	ao_dma.c \
+	ao_ignite.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_packet_slave.c \
+	ao_radio.c \
+	ao_romconfig.c \
+	ao_serial.c \
+	ao_spi.c \
+	ao_timer.c \
+	ao_usb.c \
+	_bp.c
+
+DRIVER_SRC = \
+	$(TM_SRC)
+
+PRODUCT_SRC = \
+	ao_telemetrum.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROG = telemetrum-v$(TM_VER)-$(VERSION).ihx
+PRODUCT=TeleMetrum-v$(TM_VER)
+PRODUCT_DEF=-DTELEMETRUM_V_$(TM_DEF)
+IDPRODUCT=0x000b
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: ../$(PROG)
+
+../$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)
+
+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 $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM)
+	rm -f $(PROG) $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM)
+	rm -f ao_product.h
+	rm -f ../$(PROG) ../$(PMAP)
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.telemini b/src/product/Makefile.telemini
new file mode 100644
index 00000000..7f251897
--- /dev/null
+++ b/src/product/Makefile.telemini
@@ -0,0 +1,100 @@
+#
+# TeleMini build file
+#
+# Define TELEMINI_VER and TELEMINI_DEF and then
+# include this file
+
+vpath %.c ..:../core:../cc1111:../drivers:../product
+vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	cc1111.h \
+	ao_product.h
+
+CORE_SRC = \
+	ao_cmd.c \
+	ao_config.c \
+	ao_convert.c \
+	ao_flight.c \
+	ao_kalman.c \
+	ao_log.c \
+	ao_log_tiny.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_report.c \
+	ao_sample.c \
+	ao_stdio.c \
+	ao_storage.c \
+	ao_task.c \
+	ao_telemetry.c
+
+CC1111_SRC = \
+	ao_adc.c \
+	ao_dma.c \
+	ao_ignite.c \
+	ao_intflash.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_packet_slave.c \
+	ao_radio.c \
+	ao_romconfig.c \
+	ao_timer.c \
+	_bp.c
+
+DRIVER_SRC =
+
+PRODUCT_SRC = \
+	ao_telemini.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROG = telemini-v$(TELEMINI_VER)-$(VERSION).ihx
+PRODUCT=TeleMini-v$(TELEMINI_VER)
+PRODUCT_DEF=-DTELEMINI_V_$(TELEMINI_DEF)
+IDPRODUCT=0x000a
+CODESIZE=0x6700
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: ../$(PROG)
+
+../$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)
+
+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 $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM)
+	rm -f $(PROG) $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM)
+	rm -f ao_product.h
+	rm -f ../$(PROG) ../$(PMAP)
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.telenano b/src/product/Makefile.telenano
new file mode 100644
index 00000000..c47e95ff
--- /dev/null
+++ b/src/product/Makefile.telenano
@@ -0,0 +1,99 @@
+#
+# TeleNano build file
+#
+# Define TELENANO_VER and TELENANO_DEF and then
+# include this file
+
+vpath %.c ..:../core:../cc1111:../drivers:../product
+vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	cc1111.h \
+	ao_product.h
+
+CORE_SRC = \
+	ao_cmd.c \
+	ao_config.c \
+	ao_convert.c \
+	ao_flight_nano.c \
+	ao_kalman.c \
+	ao_log.c \
+	ao_log_tiny.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_report.c \
+	ao_sample.c \
+	ao_stdio.c \
+	ao_storage.c \
+	ao_task.c \
+	ao_telemetry.c
+
+CC1111_SRC = \
+	ao_adc.c \
+	ao_dma.c \
+	ao_intflash.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_packet_slave.c \
+	ao_radio.c \
+	ao_romconfig.c \
+	ao_timer.c \
+	_bp.c
+
+DRIVER_SRC =
+
+PRODUCT_SRC = \
+	ao_telenano.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROG = telenano-v$(TELENANO_VER)-$(VERSION).ihx
+PRODUCT=TeleNano-v$(TELENANO_VER)
+PRODUCT_DEF=-DTELENANO_V_$(TELENANO_DEF)
+IDPRODUCT=0x000a
+CODESIZE=0x6700
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: ../$(PROG)
+
+../$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)
+
+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 $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM)
+	rm -f $(PROG) $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM)
+	rm -f ao_product.h
+	rm -f ../$(PROG) ../$(PMAP)
+
+install:
+
+uninstall:
diff --git a/src/ao_telebt.c b/src/product/ao_telebt.c
index 85565172..9e409db7 100644
--- a/src/ao_telebt.c
+++ b/src/product/ao_telebt.c
@@ -37,14 +37,23 @@ main(void)
 	ao_storage_init();
 #endif
 	ao_usb_init();
-	ao_monitor_init(AO_LED_GREEN, TRUE);
-	ao_rssi_init(AO_LED_RED);
+	ao_monitor_init(AO_LED_RED, sizeof (union ao_telemetry_all));
+#if HAS_LOG
+	ao_report_init();
+#endif
 	ao_radio_init();
 	ao_packet_master_init();
 	ao_btm_init();
+#if HAS_LOG
+	ao_log_single_init();
+#endif
 #if HAS_DBG
 	ao_dbg_init();
 #endif
+#if HAS_AES
+	ao_aes_init();
+	ao_radio_cmac_init();
+#endif
 	ao_config_init();
 	ao_start_scheduler();
 }
diff --git a/src/ao_teledongle.c b/src/product/ao_teledongle.c
index 008b200a..b8be9f45 100644
--- a/src/ao_teledongle.c
+++ b/src/product/ao_teledongle.c
@@ -35,6 +35,8 @@ main(void)
 #if HAS_DBG
 	ao_dbg_init();
 #endif
+	ao_aes_init();
+	ao_radio_cmac_init();
 	ao_config_init();
 	ao_start_scheduler();
 }
diff --git a/src/ao_telemetrum.c b/src/product/ao_telemetrum.c
index f560740a..f560740a 100644
--- a/src/ao_telemetrum.c
+++ b/src/product/ao_telemetrum.c
diff --git a/src/ao_telemini.c b/src/product/ao_telemini.c
index fa23de01..fa23de01 100644
--- a/src/ao_telemini.c
+++ b/src/product/ao_telemini.c
diff --git a/src/ao_telenano.c b/src/product/ao_telenano.c
index d91983d0..d91983d0 100644
--- a/src/ao_telenano.c
+++ b/src/product/ao_telenano.c
diff --git a/src/ao_adc_fake.c b/src/product/ao_telepyro.c
index 6ca88d4e..a2b8f83c 100644
--- a/src/ao_adc_fake.c
+++ b/src/product/ao_telepyro.c
@@ -1,5 +1,5 @@
 /*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ * 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
@@ -17,11 +17,20 @@
 
 #include "ao.h"
 
-volatile __xdata struct ao_adc	ao_adc_ring[AO_ADC_RING];
-volatile __data uint8_t		ao_adc_head;
-
-/* Stub for systems which have no ADC */
-void
-ao_adc_poll(void)
+int
+main(void)
 {
+	ao_clock_init();
+
+	PORTE |= (1 << 6);
+	DDRE |= (1 << 6);
+
+	ao_avr_stdio_init();
+	ao_timer_init();
+	ao_cmd_init();
+	ao_spi_slave_init();
+	ao_usb_init();
+	ao_adc_init();
+	ao_start_scheduler();
+	return 0;
 }
diff --git a/src/product/ao_telescience.c b/src/product/ao_telescience.c
new file mode 100644
index 00000000..45b6d40e
--- /dev/null
+++ b/src/product/ao_telescience.c
@@ -0,0 +1,39 @@
+/*
+ * 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"
+
+int
+main(void)
+{
+	ao_clock_init();
+
+	PORTE |= (1 << 6);
+	DDRE |= (1 << 6);
+
+	ao_avr_stdio_init();
+	ao_timer_init();
+	ao_cmd_init();
+	ao_spi_init();
+	ao_spi_slave_init();
+	ao_storage_init();
+	ao_usb_init();
+	ao_adc_init();
+	ao_log_single_init();
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/ao_teleterra.c b/src/product/ao_teleterra.c
index d696b914..d696b914 100644
--- a/src/ao_teleterra.c
+++ b/src/product/ao_teleterra.c
diff --git a/src/ao_test.c b/src/product/ao_test.c
index 14c2eb75..14c2eb75 100644
--- a/src/ao_test.c
+++ b/src/product/ao_test.c
diff --git a/src/ao_tidongle.c b/src/product/ao_tidongle.c
index 3b7c2733..5adbb05c 100644
--- a/src/ao_tidongle.c
+++ b/src/product/ao_tidongle.c
@@ -34,6 +34,8 @@ main(void)
 	ao_rssi_init(AO_LED_RED);
 	ao_radio_init();
 	ao_dbg_init();
+	ao_aes_init();
+	ao_radio_cmac_init();
 	ao_config_init();
 	/* Bring up the USB link */
 	P1DIR |= 1;
diff --git a/src/telebt-v0.0/Makefile b/src/telebt-v0.0/Makefile
index d8867b19..e89639ab 100644
--- a/src/telebt-v0.0/Makefile
+++ b/src/telebt-v0.0/Makefile
@@ -1 +1,9 @@
-include ../Makefile.proto
+#
+# TeleBT v0.0 build
+#
+
+TELEBT_VER=0.0
+TELEBT_DEF=0_0
+
+include ../product/Makefile.telebt
+
diff --git a/src/telebt-v0.0/Makefile.defs b/src/telebt-v0.0/Makefile.defs
deleted file mode 100644
index f0bb5e0c..00000000
--- a/src/telebt-v0.0/Makefile.defs
+++ /dev/null
@@ -1,8 +0,0 @@
-PROG = telebt-v0.0-$(VERSION).ihx
-
-SRC = \
-	$(TBT_BASE_SRC)
-
-PRODUCT=TeleBT-v0.0
-PRODUCT_DEF=-DTELEBT_V_0_0
-IDPRODUCT=0x000e
diff --git a/src/telebt-v0.1/Makefile b/src/telebt-v0.1/Makefile
index d8867b19..90cd3cac 100644
--- a/src/telebt-v0.1/Makefile
+++ b/src/telebt-v0.1/Makefile
@@ -1 +1,21 @@
-include ../Makefile.proto
+#
+# TeleBT v0.1 build
+#
+
+TELEBT_VER=0.1
+TELEBT_DEF=0_1
+
+TELEBT_INC = \
+	ao_25lc1024.h
+
+TELEBT_SRC = \
+	ao_beep.c \
+	ao_log_single.c \
+	ao_log_telem.c \
+	ao_report.c \
+	ao_spi.c \
+	ao_storage.c \
+	ao_m25.c
+
+include ../product/Makefile.telebt
+
diff --git a/src/telebt-v0.1/Makefile.defs b/src/telebt-v0.1/Makefile.defs
deleted file mode 100644
index 50657c83..00000000
--- a/src/telebt-v0.1/Makefile.defs
+++ /dev/null
@@ -1,8 +0,0 @@
-PROG = telebt-v0.1-$(VERSION).ihx
-
-SRC = \
-	$(TBT_V_0_1_SRC)
-
-PRODUCT=TeleBT-v0.1
-PRODUCT_DEF=-DTELEBT_V_0_1
-IDPRODUCT=0x000e
diff --git a/src/teledongle-v0.1/.sdcdbrc b/src/teledongle-v0.1/.sdcdbrc
new file mode 100644
index 00000000..710b4a2f
--- /dev/null
+++ b/src/teledongle-v0.1/.sdcdbrc
@@ -0,0 +1 @@
+--directory=..
diff --git a/src/teledongle-v0.1/Makefile b/src/teledongle-v0.1/Makefile
index d8867b19..48425107 100644
--- a/src/teledongle-v0.1/Makefile
+++ b/src/teledongle-v0.1/Makefile
@@ -1 +1,8 @@
-include ../Makefile.proto
+#
+# TeleDongle v0.2 build
+#
+
+TD_VER=0.1
+TD_DEF=0_1
+
+include ../product/Makefile.teledongle
diff --git a/src/teledongle-v0.1/Makefile.defs b/src/teledongle-v0.1/Makefile.defs
deleted file mode 100644
index ceb80b7a..00000000
--- a/src/teledongle-v0.1/Makefile.defs
+++ /dev/null
@@ -1,9 +0,0 @@
-PROG = teledongle-v0.1-$(VERSION).ihx
-
-SRC = \
-	$(TD_SRC) \
-	$(DBG_SRC)
-
-PRODUCT=TeleDongle-v0.1
-PRODUCT_DEF=-DTELEDONGLE_V_0_1
-IDPRODUCT=0x000c
diff --git a/src/teledongle-v0.2/Makefile b/src/teledongle-v0.2/Makefile
index d8867b19..ce4ab437 100644
--- a/src/teledongle-v0.2/Makefile
+++ b/src/teledongle-v0.2/Makefile
@@ -1 +1,8 @@
-include ../Makefile.proto
+#
+# TeleDongle v0.2 build
+#
+
+TD_VER=0.2
+TD_DEF=0_2
+
+include ../product/Makefile.teledongle
\ No newline at end of file
diff --git a/src/teledongle-v0.2/Makefile.defs b/src/teledongle-v0.2/Makefile.defs
deleted file mode 100644
index ea9713b6..00000000
--- a/src/teledongle-v0.2/Makefile.defs
+++ /dev/null
@@ -1,9 +0,0 @@
-PROG = teledongle-v0.2-$(VERSION).ihx
-
-SRC = \
-	$(TD_SRC) \
-	$(DBG_SRC)
-
-PRODUCT=TeleDongle-v0.2
-PRODUCT_DEF=-DTELEDONGLE_V_0_2
-IDPRODUCT=0x000c
diff --git a/src/telelaunch-v0.1/.gitignore b/src/telelaunch-v0.1/.gitignore
new file mode 100644
index 00000000..d25d7ad9
--- /dev/null
+++ b/src/telelaunch-v0.1/.gitignore
@@ -0,0 +1,2 @@
+telemetrum-v0.1-sky*
+ao_product.h
diff --git a/src/telelaunch-v0.1/.sdcdbrc b/src/telelaunch-v0.1/.sdcdbrc
new file mode 100644
index 00000000..710b4a2f
--- /dev/null
+++ b/src/telelaunch-v0.1/.sdcdbrc
@@ -0,0 +1 @@
+--directory=..
diff --git a/src/telelaunch-v0.1/Makefile b/src/telelaunch-v0.1/Makefile
new file mode 100644
index 00000000..b0d9d165
--- /dev/null
+++ b/src/telelaunch-v0.1/Makefile
@@ -0,0 +1,4 @@
+TELELAUNCH_VER=0.1
+TELELAUNCH_DEF=0_1
+
+include ../product/Makefile.telelaunch
diff --git a/src/telelaunch-v0.1/Makefile.defs b/src/telelaunch-v0.1/Makefile.defs
new file mode 100644
index 00000000..56f5730b
--- /dev/null
+++ b/src/telelaunch-v0.1/Makefile.defs
@@ -0,0 +1,14 @@
+PROG = telelaunch-v0.1-$(VERSION).ihx
+
+SRC = \
+	$(TLAUNCH_BASE_SRC) \
+	$(SPI_DRIVER_SRC) \
+	$(EE_DRIVER_SRC) \
+	ao_launch.c \
+	ao_aes.c \
+	ao_radio_cmac.c \
+	$(DBG_SRC)
+
+PRODUCT=TeleLaunch-v0.1
+PRODUCT_DEF=-DTELELAUNCH_V_0_1
+IDPRODUCT=0x000f
diff --git a/src/telemetrum-v0.1-sirf/Makefile b/src/telemetrum-v0.1-sirf/Makefile
index d8867b19..00cdc9c5 100644
--- a/src/telemetrum-v0.1-sirf/Makefile
+++ b/src/telemetrum-v0.1-sirf/Makefile
@@ -1 +1,16 @@
-include ../Makefile.proto
+#
+# TeleMetrum v0.1 with SkyTraq GPS build
+#
+
+TM_VER=0.1
+TM_DEF=0_1
+
+TM_INC = \
+	ao_25lc1024.h
+
+TM_SRC = \
+	ao_gps_sirf.c \
+	ao_25lc1024.c
+
+include ../product/Makefile.telemetrum
+
diff --git a/src/telemetrum-v0.1-sirf/Makefile.defs b/src/telemetrum-v0.1-sirf/Makefile.defs
deleted file mode 100644
index ac8dcdb9..00000000
--- a/src/telemetrum-v0.1-sirf/Makefile.defs
+++ /dev/null
@@ -1,12 +0,0 @@
-PROG = telemetrum-v0.1-sirf-$(VERSION).ihx
-
-SRC = \
-	$(TM_BASE_SRC) \
-	$(SPI_DRIVER_SRC) \
-	$(EE_DRIVER_SRC) \
-	$(SIRF_DRIVER_SRC) \
-	$(DBG_SRC)
-
-PRODUCT=TeleMetrum-v0.1-SiRF
-PRODUCT_DEF=-DTELEMETRUM_V_0_1
-IDPRODUCT=0x000b
diff --git a/src/telemetrum-v0.1-sky/Makefile b/src/telemetrum-v0.1-sky/Makefile
index d8867b19..e3c61db6 100644
--- a/src/telemetrum-v0.1-sky/Makefile
+++ b/src/telemetrum-v0.1-sky/Makefile
@@ -1 +1,16 @@
-include ../Makefile.proto
+#
+# TeleMetrum v0.1 with SkyTraq GPS build
+#
+
+TM_VER=0.1
+TM_DEF=0_1
+
+TM_INC = \
+	ao_25lc1024.h
+
+TM_SRC = \
+	ao_gps_skytraq.c \
+	ao_25lc1024.c
+
+include ../product/Makefile.telemetrum
+
diff --git a/src/telemetrum-v0.1-sky/Makefile.defs b/src/telemetrum-v0.1-sky/Makefile.defs
deleted file mode 100644
index e032d1eb..00000000
--- a/src/telemetrum-v0.1-sky/Makefile.defs
+++ /dev/null
@@ -1,12 +0,0 @@
-PROG = telemetrum-v0.1-sky-$(VERSION).ihx
-
-SRC = \
-	$(TM_BASE_SRC) \
-	$(SPI_DRIVER_SRC) \
-	$(EE_DRIVER_SRC) \
-	$(SKY_DRIVER_SRC) \
-	$(DBG_SRC)
-
-PRODUCT=TeleMetrum-v0.1
-PRODUCT_DEF=-DTELEMETRUM_V_0_1
-IDPRODUCT=0x000b
diff --git a/src/telemetrum-v1.0/Makefile b/src/telemetrum-v1.0/Makefile
index d8867b19..4aae84c8 100644
--- a/src/telemetrum-v1.0/Makefile
+++ b/src/telemetrum-v1.0/Makefile
@@ -1 +1,16 @@
-include ../Makefile.proto
+#
+# TeleMetrum v1.0 build
+#
+
+TM_VER=1.0
+TM_DEF=1_0
+
+TM_INC = \
+	ao_at45db161d.h
+
+TM_SRC = \
+	ao_companion.c \
+	ao_gps_skytraq.c \
+	ao_at45db161d.c
+
+include ../product/Makefile.telemetrum
diff --git a/src/telemetrum-v1.0/Makefile.defs b/src/telemetrum-v1.0/Makefile.defs
deleted file mode 100644
index 5eefc392..00000000
--- a/src/telemetrum-v1.0/Makefile.defs
+++ /dev/null
@@ -1,13 +0,0 @@
-PROG = telemetrum-v1.0-$(VERSION).ihx
-
-SRC = \
-	$(TM_BASE_SRC) \
-	$(SPI_DRIVER_SRC) \
-	$(FLASH_DRIVER_SRC) \
-	$(SKY_DRIVER_SRC) \
-	$(COMPANION_SRC) \
-	$(DBG_SRC)
-
-PRODUCT=TeleMetrum-v1.0
-PRODUCT_DEF=-DTELEMETRUM_V_1_0
-IDPRODUCT=0x000b
diff --git a/src/telemetrum-v1.1/Makefile b/src/telemetrum-v1.1/Makefile
index d8867b19..4bea03db 100644
--- a/src/telemetrum-v1.1/Makefile
+++ b/src/telemetrum-v1.1/Makefile
@@ -1 +1,16 @@
-include ../Makefile.proto
+#
+# AltOS build
+#
+#
+
+TM_VER=1.1
+TM_DEF=1_1
+
+TM_INC =
+
+TM_SRC = \
+	ao_companion.c \
+	ao_gps_skytraq.c \
+	ao_m25.c
+
+include ../product/Makefile.telemetrum
diff --git a/src/telemetrum-v1.1/Makefile.defs b/src/telemetrum-v1.1/Makefile.defs
deleted file mode 100644
index 3c8b8793..00000000
--- a/src/telemetrum-v1.1/Makefile.defs
+++ /dev/null
@@ -1,13 +0,0 @@
-PROG = telemetrum-v1.1-$(VERSION).ihx
-
-SRC = \
-	$(TM_BASE_SRC) \
-	$(SPI_DRIVER_SRC) \
-	$(M25_DRIVER_SRC) \
-	$(SKY_DRIVER_SRC) \
-	$(COMPANION_SRC) \
-	$(DBG_SRC)
-
-PRODUCT=TeleMetrum-v1.1
-PRODUCT_DEF=-DTELEMETRUM_V_1_1
-IDPRODUCT=0x000b
diff --git a/src/telemini-v1.0/Makefile b/src/telemini-v1.0/Makefile
index d8867b19..4f1c8b51 100644
--- a/src/telemini-v1.0/Makefile
+++ b/src/telemini-v1.0/Makefile
@@ -1 +1,8 @@
-include ../Makefile.proto
+#
+# TeleMini build file
+#
+
+TELEMINI_VER=1.0
+TELEMINI_DEF=1_0
+
+include ../product/Makefile.telemini
diff --git a/src/telemini-v1.0/Makefile.defs b/src/telemini-v1.0/Makefile.defs
deleted file mode 100644
index 0e91f2fc..00000000
--- a/src/telemini-v1.0/Makefile.defs
+++ /dev/null
@@ -1,9 +0,0 @@
-PROG = telemini-v1.0-$(VERSION).ihx
-
-SRC = \
-	$(TMINI_BASE_SRC)
-
-PRODUCT=TeleMini-v1.0
-PRODUCT_DEF=-DTELEMINI_V_1_0
-IDPRODUCT=0x000a
-CODESIZE=0x6700
diff --git a/src/telenano-v0.1/Makefile b/src/telenano-v0.1/Makefile
index d8867b19..2714c1e9 100644
--- a/src/telenano-v0.1/Makefile
+++ b/src/telenano-v0.1/Makefile
@@ -1 +1,9 @@
-include ../Makefile.proto
+#
+# TeleNano build file
+#
+
+TELENANO_VER=0.1
+TELENANO_DEF=0_1
+
+include ../product/Makefile.telenano
+
diff --git a/src/telenano-v0.1/Makefile.defs b/src/telenano-v0.1/Makefile.defs
deleted file mode 100644
index 34cf69d1..00000000
--- a/src/telenano-v0.1/Makefile.defs
+++ /dev/null
@@ -1,9 +0,0 @@
-PROG = telenano-v0.1-$(VERSION).ihx
-
-SRC = \
-	$(TNANO_BASE_SRC)
-
-PRODUCT=TeleNano-v0.1
-PRODUCT_DEF=-DTELENANO_V_0_1
-IDPRODUCT=0x000a
-CODESIZE=0x6700
diff --git a/src/telepyro-v0.1/Makefile b/src/telepyro-v0.1/Makefile
new file mode 100644
index 00000000..2f664fcb
--- /dev/null
+++ b/src/telepyro-v0.1/Makefile
@@ -0,0 +1,101 @@
+#
+# AltOS build
+#
+#
+vpath % ..:../core:../product:../drivers:../avr
+vpath ao-make-product.5c ../util
+
+MCU=atmega32u4
+DUDECPUTYPE=m32u4
+#PROGRAMMER=stk500v2 -P usb
+PROGRAMMER=usbtiny
+LOADCMD=avrdude
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_usb.h \
+	ao_pins.h \
+	altitude.h
+
+ALTOS_SRC = \
+	ao_clock.c \
+	ao_cmd.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_product.c \
+	ao_stdio.c \
+	ao_task.c \
+	ao_timer.c \
+	ao_led.c \
+	ao_avr_stdio.c \
+	ao_romconfig.c \
+	ao_usb_avr.c \
+	ao_adc_avr.c \
+	ao_pyro_slave.c \
+	ao_spi_slave.c
+
+PRODUCT=TelePyro-v0.1
+MCU=atmega32u4
+PRODUCT_DEF=-DTELEPYRO
+IDPRODUCT=0x0011
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR
+
+NICKLE=nickle
+
+PROG=telepyro-v0.1
+
+SRC=$(ALTOS_SRC) ao_telepyro.c
+OBJ=$(SRC:.c=.o)
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: $(PROG)
+
+CHECK=sh ../util/check-avr-mem
+
+$(PROG): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+	$(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
+
+$(PROG).hex: $(PROG)
+	avr-size $(PROG)
+	$(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(PROG).hex
+	$(LOADCMD) $(LOADARG)$(PROG).hex
+
+../altitude.h: make-altitude
+	nickle $< > $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.rel: ao_product.c ao_product.h
+	$(call quiet,CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"ao_product.h\"' -o$@ $<
+
+distclean:	clean
+
+clean:
+	rm -f $(OBJ)
+	rm -f ao_product.h
+
+install:
+
+uninstall:
+
+$(OBJ): ao.h ao_product.h ao_usb.h
diff --git a/src/telescience-v0.1/Makefile b/src/telescience-v0.1/Makefile
new file mode 100644
index 00000000..a6797cbe
--- /dev/null
+++ b/src/telescience-v0.1/Makefile
@@ -0,0 +1,112 @@
+#
+# AltOS build
+#
+#
+vpath % ..:../core:../product:../drivers:../avr
+vpath ao-make-product.5c ../util
+
+MCU=atmega32u4
+DUDECPUTYPE=m32u4
+#PROGRAMMER=stk500v2 -P usb
+PROGRAMMER=usbtiny
+LOADCMD=avrdude
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_usb.h \
+	ao_pins.h \
+	altitude.h
+
+#
+# Common AltOS sources
+#
+TELESCIENCE_STORAGE= \
+	ao_m25.c \
+	ao_spi_usart.c \
+	ao_storage.c \
+
+ALTOS_SRC = \
+	ao_clock.c \
+	ao_cmd.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_product.c \
+	ao_stdio.c \
+	ao_task.c \
+	ao_timer.c \
+	ao_led.c \
+	ao_avr_stdio.c \
+	ao_romconfig.c \
+	ao_usb_avr.c \
+	ao_adc_avr.c \
+	ao_science_slave.c \
+	ao_spi_slave.c \
+	ao_log_single.c \
+	ao_log_telescience.c \
+	$(TELESCIENCE_STORAGE)
+
+PRODUCT=TeleScience-v0.1
+MCU=atmega32u4
+PRODUCT_DEF=-DTELESCIENCE
+IDPRODUCT=0x0011
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR
+
+NICKLE=nickle
+
+PROG=telescience-v0.1
+
+SRC=$(ALTOS_SRC) ao_telescience.c
+OBJ=$(SRC:.c=.o)
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: $(PROG)
+
+CHECK=sh ../util/check-avr-mem
+
+$(PROG): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+	$(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
+
+$(PROG).hex: $(PROG)
+	avr-size $(PROG)
+	$(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(PROG).hex
+	$(LOADCMD) $(LOADARG)$(PROG).hex
+
+../altitude.h: make-altitude
+	nickle $< > $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.rel: ao_product.c ao_product.h
+	$(call quiet,CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"ao_product.h\"' -o$@ $<
+
+distclean:	clean
+
+clean:
+	rm -f $(OBJ)
+	rm -f ao_product.h
+
+install:
+
+uninstall:
+
+$(OBJ): ao.h ao_product.h ao_usb.h
diff --git a/src/test/Makefile b/src/test/Makefile
index 33203ffd..333850e4 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,9 +1,8 @@
-vpath % ..
-vpath % ../kalman
+vpath % ..:../core:../drivers
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_gps_test ao_gps_test_skytraq ao_convert_test
 
-CFLAGS=-I.. -I.
+CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g
 
 all: $(PROGS)
 
@@ -13,22 +12,19 @@ clean:
 install:
 
 ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
-	cc -g -o $@ $<
+	cc $(CFLAGS) -o $@ $<
 
 ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kalman.c altitude.h ao_kalman.h
-	cc -g -o $@ -DHAS_ACCEL=0 ../ao_flight_test.c
+	cc $(CFLAGS) -o $@ -DHAS_ACCEL=0 ao_flight_test.c
 
 ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kalman.c altitude.h ao_kalman.h
-	cc -g -o $@ -DFORCE_ACCEL=1 ../ao_flight_test.c
+	cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c
 
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
-	cc -g -o $@ $<
+	cc $(CFLAGS) -o $@ $<
 
 ao_gps_test_skytraq: ao_gps_test_skytraq.c ao_gps_skytraq.c ao_gps_print.c ao_host.h
-	cc -g -o $@ $<
+	cc $(CFLAGS) -o $@ $<
 
 ao_convert_test: ao_convert_test.c ao_convert.c altitude.h
-	cc -g -o $@ $<
-
-../ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
-	sh $< > $@
+	cc $(CFLAGS) -o $@ $<
diff --git a/src/ao_flight_test.c b/src/test/ao_flight_test.c
index 56733c89..56733c89 100644
--- a/src/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
diff --git a/src/ao_gps_test.c b/src/test/ao_gps_test.c
index 93d7a9ab..93d7a9ab 100644
--- a/src/ao_gps_test.c
+++ b/src/test/ao_gps_test.c
diff --git a/src/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
index a78fae0f..a78fae0f 100644
--- a/src/ao_gps_test_skytraq.c
+++ b/src/test/ao_gps_test_skytraq.c
diff --git a/src/tidongle/Makefile b/src/tidongle/Makefile
index d8867b19..057e420b 100644
--- a/src/tidongle/Makefile
+++ b/src/tidongle/Makefile
@@ -1 +1,94 @@
-include ../Makefile.proto
+#
+# TIDongle build file
+#
+
+vpath %.c ..:../core:../cc1111:../drivers:../product
+vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	cc1111.h \
+	ao_product.h
+
+CORE_SRC = \
+	ao_cmd.c \
+	ao_config.c \
+	ao_gps_print.c \
+	ao_monitor.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_rssi.c \
+	ao_state.c \
+	ao_stdio.c \
+	ao_task.c
+
+CC1111_SRC = \
+	ao_aes.c \
+	ao_dbg.c \
+	ao_dma.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_packet_master.c \
+	ao_radio.c \
+	ao_radio_cmac.c \
+	ao_romconfig.c \
+	ao_timer.c \
+	ao_usb.c \
+	_bp.c
+
+DRIVER_SRC =
+
+PRODUCT_SRC = \
+	ao_tidongle.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROG = tidongle-$(VERSION).ihx
+PRODUCT=TIDongle
+PRODUCT_DEF=-DTIDONGLE
+IDPRODUCT=0x000a
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: ../$(PROG)
+
+../$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)
+
+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 $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM)
+	rm -f $(PROG) $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM)
+	rm -f ao_product.h
+	rm -f ../$(PROG) ../$(PMAP)
+
+install:
+
+uninstall:
+
diff --git a/src/tidongle/Makefile.defs b/src/tidongle/Makefile.defs
deleted file mode 100644
index 0e13cb20..00000000
--- a/src/tidongle/Makefile.defs
+++ /dev/null
@@ -1,9 +0,0 @@
-PROG = tidongle-$(VERSION).ihx
-
-SRC = \
-	$(TI_SRC)
-
-PRODUCT=TIDongle
-
-PRODUCT_DEF=-DTIDONGLE
-IDPRODUCT=0x000a
diff --git a/src/ao-make-product.5c b/src/util/ao-make-product.5c
index 5f2eb8e8..5f2eb8e8 100644
--- a/src/ao-make-product.5c
+++ b/src/util/ao-make-product.5c
diff --git a/src/util/check-avr-mem b/src/util/check-avr-mem
new file mode 100644
index 00000000..c73edbd1
--- /dev/null
+++ b/src/util/check-avr-mem
@@ -0,0 +1,9 @@
+#!/bin/sh
+nm "$@" |
+grep ' N _end' |
+awk '{ iram = strtonum("0x" $1) % 0x10000;
+if ( iram > 0xaff) {
+	printf ("%d bytes of ram more than %d available\n", iram, 0xaff);
+	exit(1);
+} else
+	exit(0); }'
diff --git a/src/check-stack b/src/util/check-stack
index 1e8044e0..1e8044e0 100755
--- a/src/check-stack
+++ b/src/util/check-stack
diff --git a/src/gps-cksum b/src/util/gps-cksum
index a08153bf..a08153bf 100755
--- a/src/gps-cksum
+++ b/src/util/gps-cksum
diff --git a/src/make-altitude b/src/util/make-altitude
index 716aa8a8..716aa8a8 100644
--- a/src/make-altitude
+++ b/src/util/make-altitude
diff --git a/src/make-kalman b/src/util/make-kalman
index 9ac35134..397d6020 100644
--- a/src/make-kalman
+++ b/src/util/make-kalman
@@ -1,6 +1,6 @@
-#!/bin/sh
+#!/bin/bash
 
-cd ../kalman
+cd $1 2> /dev/null 1>&2
 
 SIGMA_BOTH="-M 2 -H 6 -A 2"
 SIGMA_BARO="-M 2 -H 6 -A 2"
diff --git a/src/sirf-cksum b/src/util/sirf-cksum
index b905f318..b905f318 100755
--- a/src/sirf-cksum
+++ b/src/util/sirf-cksum
diff --git a/src/skytraq-cksum b/src/util/skytraq-cksum
index ab0464a7..ab0464a7 100644
--- a/src/skytraq-cksum
+++ b/src/util/skytraq-cksum