19 files changed, 1898 insertions, 0 deletions
diff --git a/src/product/Makefile.telebt b/src/product/Makefile.telebt
new file mode 100644
index 00000000..fd52cec4
--- /dev/null
+++ b/src/product/Makefile.telebt
@@ -0,0 +1,97 @@
+#
+# 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 \
+	ao_arch.h \
+	ao_arch_funcs.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 \
+	ao_freq.c
+
+CC1111_SRC = \
+	ao_dbg.c \
+	ao_dma.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_packet_master.c \
+	ao_radio.c \
+	ao_romconfig.c \
+	ao_serial.c \
+	ao_string.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) \
+	$(TELEBT_SRC)
+
+PROGNAME = telebt-v$(TELEBT_VER)
+PROG = $(PROGNAME)-$(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) || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.teledongle b/src/product/Makefile.teledongle
new file mode 100644
index 00000000..3101b777
--- /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 \
+	ao_arch.h \
+	ao_arch_funcs.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 \
+	ao_freq.c
+
+CC1111_SRC = \
+	ao_dbg.c \
+	ao_dma.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_packet_master.c \
+	ao_radio.c \
+	ao_send_packet.c \
+	ao_romconfig.c \
+	ao_string.c \
+	ao_timer.c \
+	ao_usb.c \
+	_bp.c
+
+DRIVER_SRC =
+
+PRODUCT_SRC = \
+	ao_teledongle.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROGNAME = teledongle-v$(TD_VER)
+PROG = $(PROGNAME)-$(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) || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.telelaunch b/src/product/Makefile.telelaunch
new file mode 100644
index 00000000..1e55989c
--- /dev/null
+++ b/src/product/Makefile.telelaunch
@@ -0,0 +1,100 @@
+#
+# 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 \
+	ao_arch.h \
+	ao_arch_funcs.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 \
+	ao_freq.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_radio.c \
+	ao_radio_cmac.c \
+	ao_romconfig.c \
+	ao_serial.c \
+	ao_spi.c \
+	ao_string.c \
+	ao_timer.c \
+	ao_usb.c \
+	_bp.c
+
+DRIVER_SRC =
+
+PRODUCT_SRC = \
+	ao_telelaunch.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROGNAME = telelaunch-v$(TELELAUNCH_VER)
+PROG = $(PROGNAME)-$(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)  || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.telemetrum b/src/product/Makefile.telemetrum
new file mode 100644
index 00000000..5e3eed7f
--- /dev/null
+++ b/src/product/Makefile.telemetrum
@@ -0,0 +1,112 @@
+#
+# 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 \
+	ao_arch.h \
+	ao_arch_funcs.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 \
+	ao_freq.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_string.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) \
+	$(PRODUCT_SRC)
+
+PROGNAME = telemetrum-v$(TM_VER)$(TM_EXTRA)
+PROG = $(PROGNAME)-$(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) || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.telemini b/src/product/Makefile.telemini
new file mode 100644
index 00000000..ef8906ba
--- /dev/null
+++ b/src/product/Makefile.telemini
@@ -0,0 +1,101 @@
+#
+# 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 \
+	ao_arch.h \
+	ao_arch_funcs.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 \
+	ao_freq.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_string.c \
+	ao_timer.c \
+	_bp.c
+
+DRIVER_SRC =
+
+PRODUCT_SRC = \
+	ao_telemini.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROGNAME = telemini-v$(TELEMINI_VER)
+PROG = $(PROGNAME)-$(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) || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
diff --git a/src/product/Makefile.telenano b/src/product/Makefile.telenano
new file mode 100644
index 00000000..67410ae0
--- /dev/null
+++ b/src/product/Makefile.telenano
@@ -0,0 +1,100 @@
+#
+# 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 \
+	ao_arch.h \
+	ao_arch_funcs.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 \
+	ao_freq.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_string.c \
+	ao_timer.c \
+	_bp.c
+
+DRIVER_SRC =
+
+PRODUCT_SRC = \
+	ao_telenano.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROGNAME = telenano-v$(TELENANO_VER)
+PROG = $(PROGNAME)-$(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) || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
diff --git a/src/product/ao_telebt.c b/src/product/ao_telebt.c
new file mode 100644
index 00000000..46c63418
--- /dev/null
+++ b/src/product/ao_telebt.c
@@ -0,0 +1,61 @@
+/*
+ * 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_LOG
+__code uint8_t ao_log_format = AO_LOG_FORMAT_NONE;	/* until we actually log stuff */
+#endif
+
+void
+main(void)
+{
+	ao_clock_init();
+
+	/* Turn on the LED until the system is stable */
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_RED);
+	ao_timer_init();
+#if HAS_BEEP
+	ao_beep_init();
+#endif
+	ao_cmd_init();
+#if HAS_EEPROM
+	ao_spi_init();
+	ao_storage_init();
+#endif
+	ao_usb_init();
+	ao_monitor_init();
+#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/product/ao_teledongle.c b/src/product/ao_teledongle.c
new file mode 100644
index 00000000..25ebe73e
--- /dev/null
+++ b/src/product/ao_teledongle.c
@@ -0,0 +1,42 @@
+/*
+ * 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"
+#include <ao_send_packet.h>
+
+void
+main(void)
+{
+	ao_clock_init();
+
+	/* Turn on the LED until the system is stable */
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_RED);
+	ao_timer_init();
+	ao_cmd_init();
+	ao_usb_init();
+	ao_monitor_init();
+	ao_rssi_init(AO_LED_RED);
+	ao_radio_init();
+	ao_packet_master_init();
+	ao_send_packet_init();
+#if HAS_DBG
+	ao_dbg_init();
+#endif
+	ao_config_init();
+	ao_start_scheduler();
+}
diff --git a/src/product/ao_telelaunch.c b/src/product/ao_telelaunch.c
new file mode 100644
index 00000000..b6e4bfc1
--- /dev/null
+++ b/src/product/ao_telelaunch.c
@@ -0,0 +1,45 @@
+/*
+ * 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_pins.h"
+
+void
+main(void)
+{
+	ao_clock_init();
+
+	/* Turn on the red LED until the system is stable */
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_RED);
+
+	ao_timer_init();
+	ao_adc_init();
+	ao_beep_init();
+	ao_cmd_init();
+	ao_spi_init();
+	ao_storage_init();
+	ao_usb_init();
+	ao_radio_init();
+#if HAS_DBG
+	ao_dbg_init();
+#endif
+	ao_aes_init();
+	ao_launch_init();
+	ao_config_init();
+	ao_start_scheduler();
+}
diff --git a/src/product/ao_telemetrum.c b/src/product/ao_telemetrum.c
new file mode 100644
index 00000000..ea77f5af
--- /dev/null
+++ b/src/product/ao_telemetrum.c
@@ -0,0 +1,70 @@
+/*
+ * 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"
+#include "ao_pins.h"
+
+void
+main(void)
+{
+	/*
+	 * Reduce the transient on the ignite pins at startup by
+	 * pulling the pins low as soon as possible at power up
+	 */
+	ao_ignite_set_pins();
+
+	ao_clock_init();
+
+	/* Turn on the red LED until the system is stable */
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_RED);
+
+	/* A hack -- look at the SPI clock pin, if it's sitting at
+	 *  ground, then we force the computer to idle mode instead of
+	 *  flight mode
+	 */
+	if (P1_3 == 0) {
+		ao_flight_force_idle = 1;
+		while (P1_3 == 0)
+			;
+	}
+	ao_timer_init();
+	ao_adc_init();
+	ao_beep_init();
+	ao_cmd_init();
+	ao_spi_init();
+	ao_storage_init();
+	ao_flight_init();
+	ao_log_init();
+	ao_report_init();
+	ao_usb_init();
+	ao_serial_init();
+	ao_gps_init();
+	ao_gps_report_init();
+	ao_telemetry_init();
+	ao_radio_init();
+	ao_packet_slave_init(FALSE);
+	ao_igniter_init();
+#if HAS_DBG
+	ao_dbg_init();
+#endif
+#if HAS_COMPANION
+	ao_companion_init();
+#endif
+	ao_config_init();
+	ao_start_scheduler();
+}
diff --git a/src/product/ao_telemini.c b/src/product/ao_telemini.c
new file mode 100644
index 00000000..21551ee9
--- /dev/null
+++ b/src/product/ao_telemini.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_pins.h"
+
+__xdata uint8_t ao_force_freq;
+
+void
+main(void)
+{
+	/*
+	 * Reduce the transient on the ignite pins at startup by
+	 * pulling the pins low as soon as possible at power up
+	 */
+	ao_ignite_set_pins();
+
+	ao_clock_init();
+
+	/* Turn on the red LED until the system is stable */
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_RED);
+
+	/* A hack -- look at the debug clock pin, if it's sitting at
+	 *  ground, then we force the computer to idle mode instead of
+	 *  flight mode
+	 */
+	if (P2_2 == 0) {
+		ao_flight_force_idle = 1;
+		ao_force_freq = 1;
+		while (P2_2 == 0)
+			;
+	}
+
+	ao_timer_init();
+	ao_adc_init();
+	ao_cmd_init();
+	ao_storage_init();
+	ao_flight_init();
+	ao_log_init();
+	ao_report_init();
+	ao_telemetry_init();
+	ao_radio_init();
+	ao_packet_slave_init(TRUE);
+	ao_igniter_init();
+	ao_config_init();
+	ao_start_scheduler();
+}
diff --git a/src/product/ao_telenano.c b/src/product/ao_telenano.c
new file mode 100644
index 00000000..d91983d0
--- /dev/null
+++ b/src/product/ao_telenano.c
@@ -0,0 +1,43 @@
+/*
+ * 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_pins.h"
+
+void
+main(void)
+{
+	ao_clock_init();
+
+
+	/* Turn on the red LED until the system is stable */
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_RED);
+
+	ao_timer_init();
+	ao_adc_init();
+	ao_cmd_init();
+	ao_storage_init();
+	ao_flight_nano_init();
+	ao_log_init();
+	ao_report_init();
+	ao_telemetry_init();
+	ao_radio_init();
+	ao_packet_slave_init(TRUE);
+	ao_config_init();
+	ao_start_scheduler();
+}
diff --git a/src/product/ao_telepyro.c b/src/product/ao_telepyro.c
new file mode 100644
index 00000000..79454fb7
--- /dev/null
+++ b/src/product/ao_telepyro.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_slave_init();
+	ao_usb_init();
+	ao_adc_init();
+	ao_storage_init();
+	ao_config_init();
+	ao_pyro_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/product/ao_teleterra.c b/src/product/ao_teleterra.c
new file mode 100644
index 00000000..d696b914
--- /dev/null
+++ b/src/product/ao_teleterra.c
@@ -0,0 +1,38 @@
+/*
+ * 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.
+ */
+
+#define AO_NO_ADC_ISR 1
+#include "ao.h"
+
+void
+main(void)
+{
+	ao_clock_init();
+
+	/* Turn on the red LED until the system is stable */
+	ao_led_init(AO_LED_RED|AO_LED_GREEN);
+	ao_led_on(AO_LED_RED);
+	ao_timer_init();
+	ao_beep_init();
+	ao_cmd_init();
+	ao_usb_init();
+	ao_serial_init();
+	ao_monitor_init(AO_LED_GREEN, TRUE);
+	ao_radio_init();
+	ao_config_init();
+	ao_start_scheduler();
+}
diff --git a/src/product/ao_teleterra_0_2.c b/src/product/ao_teleterra_0_2.c
new file mode 100644
index 00000000..68f02596
--- /dev/null
+++ b/src/product/ao_teleterra_0_2.c
@@ -0,0 +1,46 @@
+/*
+ * 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.
+ */
+
+#define AO_NO_ADC_ISR 1
+#include "ao.h"
+
+void
+main(void)
+{
+	ao_clock_init();
+
+	ao_timer_init();
+	ao_beep_init();
+	ao_cmd_init();
+	ao_spi_init();
+	ao_storage_init();
+	ao_usb_init();
+	ao_serial_init();
+	ao_gps_init();
+	ao_monitor_init();
+	ao_report_init();
+	ao_log_single_init();
+	ao_radio_init();
+	ao_packet_master_init();
+	ao_config_init();
+	ao_dbg_init();
+	ao_lcd_init();
+	ao_terraui_init();
+	ao_button_init();
+	ao_battery_init();
+	ao_start_scheduler();
+}
diff --git a/src/product/ao_terraui.c b/src/product/ao_terraui.c
new file mode 100644
index 00000000..1866eb0c
--- /dev/null
+++ b/src/product/ao_terraui.c
@@ -0,0 +1,646 @@
+/*
+ * 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_flight.h>
+#include <math.h>
+
+static __xdata struct ao_telemetry_sensor		ao_tel_sensor;
+static __xdata struct ao_telemetry_location		ao_tel_location;
+static __xdata struct ao_telemetry_configuration	ao_tel_config;
+static __xdata int16_t 					ao_tel_max_speed;
+static __xdata int16_t					ao_tel_max_height;
+static int8_t ao_tel_rssi;
+
+static __xdata char ao_lcd_line[17];
+static __xdata char ao_state_name[] = "SIPBFCDMLI";
+
+static void
+ao_terraui_line(uint8_t addr)
+{
+	ao_lcd_goto(addr);
+	ao_lcd_putstring(ao_lcd_line);
+}
+
+#define ao_terraui_state()	(ao_state_name[ao_tel_sensor.state])
+
+static char
+ao_terraui_igniter(int16_t sense)
+{
+	if (sense < AO_IGNITER_OPEN)
+		return '-';
+	if (sense > AO_IGNITER_CLOSED)
+		return '+';
+	return '?';
+}
+
+static char
+ao_terraui_battery(void)
+{
+	if (ao_tel_sensor.v_batt > 25558)
+		return '+';
+	return '-';
+}
+
+static char
+ao_terraui_gps(void)
+{
+	if (ao_tel_location.flags & (1 << 4)) {
+		if ((ao_tel_location.flags & 0xf) >= 4)
+			return '+';
+	}
+	return '-';
+}
+
+static char
+ao_terraui_local_gps(void)
+{
+	if (ao_gps_data.flags & (1 << 4)) {
+		if ((ao_gps_data.flags & 0xf) >= 4)
+			return '+';
+	}
+	return '-';
+}
+
+static char
+ao_terraui_logging(void)
+{
+	if (ao_tel_config.flight != 0)
+		return '+';
+	return '-';
+}
+
+static __code char ao_progress[4] = { '\011', '\012', '\014', '\013' };
+
+static uint8_t	ao_telem_progress;
+static uint8_t	ao_gps_progress;
+
+static void
+ao_terraui_startup(void)
+{
+	sprintf(ao_lcd_line, "%-16.16s", ao_product);
+	ao_terraui_line(AO_LCD_ADDR(0,0));
+	sprintf(ao_lcd_line, "%-8.8s %5u  ", ao_version, ao_serial_number);
+	ao_terraui_line(AO_LCD_ADDR(1,0));
+}
+
+static void
+ao_terraui_info_firstline(void)
+{
+	sprintf(ao_lcd_line, "S %4d %7.7s %c",
+		ao_tel_sensor.serial,
+		ao_tel_config.callsign,
+		ao_terraui_state());
+	ao_terraui_line(AO_LCD_ADDR(0,0));
+}
+	
+static void
+ao_terraui_info(void)
+{
+	ao_terraui_info_firstline();
+	sprintf(ao_lcd_line, "F %4d RSSI%4d%c",
+		ao_tel_config.flight,
+		ao_tel_rssi,
+		ao_progress[ao_telem_progress]);
+	ao_terraui_line(AO_LCD_ADDR(1,0));
+}
+
+static void
+ao_terraui_pad(void)
+{
+	sprintf(ao_lcd_line, "B%c A%c M%c L%c G%c %c",
+		ao_terraui_battery(),
+		ao_terraui_igniter(ao_tel_sensor.sense_d),
+		ao_terraui_igniter(ao_tel_sensor.sense_m),
+		ao_terraui_logging(),
+		ao_terraui_gps(),
+		ao_terraui_state());
+	ao_terraui_line(AO_LCD_ADDR(0,0));
+	sprintf(ao_lcd_line, "SAT %2d RSSI%4d%c",
+		ao_tel_location.flags & 0xf,
+		ao_tel_rssi,
+		ao_progress[ao_telem_progress]);
+	ao_terraui_line(AO_LCD_ADDR(1,0));
+}
+
+static void
+ao_terraui_ascent(void)
+{
+	sprintf(ao_lcd_line, "S %5d S\011%5d%c",
+		ao_tel_sensor.speed >> 4,
+		ao_tel_max_speed >> 4,
+		ao_terraui_state());
+	ao_terraui_line(AO_LCD_ADDR(0,0));
+	sprintf(ao_lcd_line, "H %5d H\011%5d%c",
+		ao_tel_sensor.height >> 4,
+		ao_tel_max_height >> 4,
+		ao_progress[ao_telem_progress]);
+	ao_terraui_line(AO_LCD_ADDR(1,0));
+}
+
+static int16_t mag(int32_t d)
+{
+	if (d < 0)
+		d = -d;
+	if (d > 0x7fff)
+		d = 0x7fff;
+	return d;
+}
+
+static int32_t
+dist(int32_t d)
+{
+	__pdata uint32_t m;
+	uint8_t neg = 0;
+
+	if (d < 0) {
+		d = -d;
+		neg = 1;
+	}
+
+	m = 10000000;
+	while (d >= (2147483647 / 111198)) {
+		d /= 10;
+		m /= 10;
+	}
+	d = (d * 111198) / m;
+	if (neg)
+		d = -d;
+	return d;
+}
+
+static __code uint8_t cos_table[] = {
+   0, /*  0 */
+   0, /*  1 */
+   0, /*  2 */
+ 255, /*  3 */
+ 254, /*  4 */
+ 253, /*  5 */
+ 252, /*  6 */
+ 251, /*  7 */
+ 249, /*  8 */
+ 247, /*  9 */
+ 245, /* 10 */
+ 243, /* 11 */
+ 240, /* 12 */
+ 238, /* 13 */
+ 235, /* 14 */
+ 232, /* 15 */
+ 228, /* 16 */
+ 225, /* 17 */
+ 221, /* 18 */
+ 217, /* 19 */
+ 213, /* 20 */
+ 209, /* 21 */
+ 205, /* 22 */
+ 200, /* 23 */
+ 195, /* 24 */
+ 190, /* 25 */
+ 185, /* 26 */
+ 180, /* 27 */
+ 175, /* 28 */
+ 169, /* 29 */
+ 163, /* 30 */
+ 158, /* 31 */
+ 152, /* 32 */
+ 145, /* 33 */
+ 139, /* 34 */
+ 133, /* 35 */
+ 126, /* 36 */
+ 120, /* 37 */
+ 113, /* 38 */
+ 106, /* 39 */
+ 100, /* 40 */
+  93, /* 41 */
+  86, /* 42 */
+  79, /* 43 */
+  71, /* 44 */
+  64, /* 45 */
+  57, /* 46 */
+  49, /* 47 */
+  42, /* 48 */
+  35, /* 49 */
+  27, /* 50 */
+  20, /* 51 */
+  12, /* 52 */
+   5, /* 53 */
+   1, /* 54 */
+};
+
+static __code uint8_t tan_table[] = {
+    0, /*  0 */
+    4, /*  1 */
+    9, /*  2 */
+   13, /*  3 */
+   18, /*  4 */
+   22, /*  5 */
+   27, /*  6 */
+   31, /*  7 */
+   36, /*  8 */
+   41, /*  9 */
+   45, /* 10 */
+   50, /* 11 */
+   54, /* 12 */
+   59, /* 13 */
+   64, /* 14 */
+   69, /* 15 */
+   73, /* 16 */
+   78, /* 17 */
+   83, /* 18 */
+   88, /* 19 */
+   93, /* 20 */
+   98, /* 21 */
+  103, /* 22 */
+  109, /* 23 */
+  114, /* 24 */
+  119, /* 25 */
+  125, /* 26 */
+  130, /* 27 */
+  136, /* 28 */
+  142, /* 29 */
+  148, /* 30 */
+  154, /* 31 */
+  160, /* 32 */
+  166, /* 33 */
+  173, /* 34 */
+  179, /* 35 */
+  186, /* 36 */
+  193, /* 37 */
+  200, /* 38 */
+  207, /* 39 */
+  215, /* 40 */
+  223, /* 41 */
+  231, /* 42 */
+  239, /* 43 */
+  247, /* 44 */
+};
+	
+int16_t ao_atan2(int32_t dy, int32_t dx) __reentrant
+{
+	int8_t	m = 1;
+	int16_t	a = 0;
+	uint8_t	r;
+	int8_t	t;
+
+	if (dx == 0) {
+		if (dy > 0)
+			return 90;
+		if (dy < 0)
+			return -90;
+		return 0;
+	}
+
+	if (dx < 0) {
+		a = 180;
+		m = -m;
+		dx = -dx;
+	}
+
+	if (dy < 0) {
+		m = -m;
+		a = -a;
+		dy = -dy;
+	}
+
+	if (dy > dx) {
+		int32_t	t;
+
+		t = dy; dy = dx; dx = t;
+		a = a + m * 90;
+		m = -m;
+	}
+
+	dy = dy << 8;
+	dy = (dy + (dx >> 1)) / dx;
+	r = dy;
+	for (t = 0; t < 44; t++)
+		if (tan_table[t] >= r)
+			break;
+	return t * m + a;
+}
+
+static __pdata int32_t	lon_dist, lat_dist;
+static __pdata uint32_t	ground_dist, range;
+static __pdata uint8_t dist_in_km;
+static __pdata int16_t bearing, elevation;
+
+static void
+ao_terraui_lat_dist(void)
+{
+	lat_dist = dist (ao_tel_location.latitude - ao_gps_data.latitude);
+}
+
+static void
+ao_terraui_lon_dist(void) __reentrant
+{
+	uint8_t	c = cos_table[ao_gps_data.latitude >> 24];
+	lon_dist = ao_tel_location.longitude;
+
+	/* check if it's shorter to go the other way around */
+	if ((int16_t) (lon_dist >> 24) < (int16_t) (ao_gps_data.longitude >> 24) - (int16_t) (1800000000 >> 24))
+		lon_dist += 3600000000ul;
+	lon_dist = dist(lon_dist - ao_gps_data.longitude);
+	if (c) {
+		if (lon_dist & 0x7f800000)
+			lon_dist = (lon_dist >> 8) * c;
+		else
+			lon_dist = (lon_dist * (int16_t) c) >> 8;
+	}
+}
+
+static int32_t sqr(int32_t x) { return x * x; }
+
+static void
+ao_terraui_compute(void)
+{
+	uint16_t	h = ao_tel_sensor.height;
+
+	ao_terraui_lat_dist();
+	ao_terraui_lon_dist();
+	if (lat_dist > 32767 || lon_dist > 32767) {
+		dist_in_km = 1;
+		ground_dist = sqr(lat_dist/1000) + sqr(lon_dist/1000);
+		h = h/1000;
+	} else {
+		dist_in_km = 0;
+		ground_dist = sqr(lat_dist) + sqr(lon_dist);
+	}
+	ground_dist = ao_sqrt (ground_dist);
+	range = ao_sqrt(ground_dist * ground_dist + ao_tel_sensor.height * ao_tel_sensor.height);
+	bearing = ao_atan2(lon_dist, lat_dist);
+	if (bearing < 0)
+		bearing += 360;
+	elevation = ao_atan2(ao_tel_sensor.height, ground_dist);
+}
+
+static void
+ao_terraui_descent(void)
+{
+	ao_terraui_compute();
+	sprintf(ao_lcd_line, "\007 %4d  \005 %3d  %c",
+		bearing, elevation,
+		ao_terraui_state());
+	ao_terraui_line(AO_LCD_ADDR(0,0));
+	sprintf(ao_lcd_line, "H:%5d S:%5d%c",
+		ao_tel_sensor.height, ao_tel_sensor.speed >> 4,
+		ao_progress[ao_telem_progress]);
+	ao_terraui_line(AO_LCD_ADDR(1,0));
+}
+
+static void
+ao_terraui_recover(void)
+{
+	ao_terraui_compute();
+	sprintf(ao_lcd_line, "\007 %4d  \005 %3d  %c",
+		bearing, elevation,
+		ao_terraui_state());
+	ao_terraui_line(AO_LCD_ADDR(0,0));
+	sprintf(ao_lcd_line, "R%5ld%cRSSI%4d%c",
+		ground_dist, dist_in_km ? 'k' : ' ',
+		ao_tel_rssi,
+		ao_progress[ao_telem_progress]);
+	ao_terraui_line(AO_LCD_ADDR(1,0));
+}
+
+static void
+ao_terraui_coord(int32_t c, char plus, char minus, char extra) __reentrant
+{
+	uint16_t	d;
+	uint8_t		m;
+	uint16_t	f;
+
+	if (c < 0) {
+		plus = minus;
+		c = -c;
+	}
+	d = c / 10000000;
+	c = c % 10000000;
+	c = c * 60;
+	m = c / 10000000;
+	c = c % 10000000;
+	f = (c + 500) / 1000;
+	sprintf(ao_lcd_line, "%c %3d\362 %2d.%04d\"%c",
+		plus, d, m, f, extra);
+}
+
+static void
+ao_terraui_remote(void)
+{
+	ao_terraui_coord(ao_tel_location.latitude, 'N', 'S', ao_terraui_state());
+	ao_terraui_line(AO_LCD_ADDR(0,0));
+	ao_terraui_coord(ao_tel_location.longitude, 'E', 'W', ao_progress[ao_telem_progress]);
+	ao_terraui_line(AO_LCD_ADDR(1,0));
+}
+
+static void
+ao_terraui_local(void) __reentrant
+{
+	ao_terraui_coord(ao_gps_data.latitude, 'n', 's',
+			 ao_terraui_local_gps());
+	ao_terraui_line(AO_LCD_ADDR(0,0));
+	ao_terraui_coord(ao_gps_data.longitude, 'e', 'w', ao_progress[ao_gps_progress]);
+	ao_terraui_line(AO_LCD_ADDR(1,0));
+}
+
+static __pdata uint8_t ao_set_freq;
+static __pdata uint32_t ao_set_freq_orig;
+
+static void
+ao_terraui_freq(void) __reentrant
+{
+	uint16_t	MHz;
+	uint16_t	frac;
+	
+	MHz = ao_config.frequency / 1000;
+	frac = ao_config.frequency % 1000;
+	ao_terraui_info_firstline();
+	sprintf(ao_lcd_line, "Freq: %3d.%03d MHz", MHz, frac);
+	ao_terraui_line(AO_LCD_ADDR(1,0));
+	ao_lcd_goto(AO_LCD_ADDR(1,11));
+}
+
+static void
+ao_terraui_freq_start(void)
+{
+	ao_set_freq = 1;
+	ao_set_freq_orig = ao_config.frequency;
+	ao_lcd_cursor_on();
+}
+
+static void
+ao_terraui_freq_button(char b) {
+
+	switch (b) {
+	case 0:
+		return;
+	case 1:
+		if (ao_config.frequency > 430000)
+			ao_config.frequency -= 100;
+		break;
+	case 2:
+		ao_set_freq = 0;
+		ao_lcd_cursor_off();
+		if (ao_set_freq_orig != ao_config.frequency)
+			ao_config_put();
+		return;
+	case 3:
+		if (ao_config.frequency < 438000)
+			ao_config.frequency += 100;
+		break;
+
+	}
+	ao_config_set_radio();
+	ao_radio_recv_abort();
+}
+
+static __code void (*__code ao_terraui_page[])(void) = {
+	ao_terraui_startup,
+	ao_terraui_info,
+	ao_terraui_pad,
+	ao_terraui_ascent,
+	ao_terraui_descent,
+	ao_terraui_recover,
+	ao_terraui_remote,
+	ao_terraui_local,
+};
+
+#define NUM_PAGE	(sizeof (ao_terraui_page)/sizeof (ao_terraui_page[0]))
+
+static __pdata uint8_t ao_current_page = 0;
+static __pdata uint8_t ao_shown_about = 3;
+
+static void
+ao_terraui(void)
+{
+	ao_lcd_start();
+
+	ao_delay(AO_MS_TO_TICKS(100));
+	ao_button_clear();
+
+	for (;;) {
+		char	b;
+
+		if (ao_set_freq)
+			ao_terraui_freq();
+		else
+			ao_terraui_page[ao_current_page]();
+
+		ao_alarm(AO_SEC_TO_TICKS(1));
+		b = ao_button_get();
+		ao_clear_alarm();
+
+		if (b > 0) {
+			ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(10));
+			ao_shown_about = 0;
+		}
+		
+		if (ao_set_freq) {
+			ao_terraui_freq_button(b);
+			continue;
+		}
+		switch (b) {
+		case 0:
+			if (ao_shown_about) {
+				if (--ao_shown_about == 0)
+					ao_current_page = 2;
+			}
+			break;
+		case 1:
+			ao_current_page++;
+			if (ao_current_page >= NUM_PAGE)
+				ao_current_page = 0;
+			break;
+		case 2:
+			ao_terraui_freq_start();
+			break;
+		case 3:
+			if (ao_current_page == 0)
+				ao_current_page = NUM_PAGE;
+			ao_current_page--;
+			break;
+		}
+	}
+}
+
+__xdata static struct ao_task ao_terraui_task;
+
+static void
+ao_terramonitor(void)
+{
+	uint8_t	monitor;
+
+	monitor = ao_monitor_head;
+	ao_monitor_set(sizeof (struct ao_telemetry_generic));
+	for (monitor = ao_monitor_head;;
+	     monitor = ao_monitor_ring_next(monitor))
+	{
+		while (monitor == ao_monitor_head)
+			ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+		if (ao_monitoring != sizeof (union ao_telemetry_all))
+			continue;
+		if (!(ao_monitor_ring[monitor].all.status & PKT_APPEND_STATUS_1_CRC_OK))
+			continue;
+		ao_tel_rssi = AO_RSSI_FROM_RADIO(ao_monitor_ring[monitor].all.rssi);
+		switch (ao_monitor_ring[monitor].all.telemetry.generic.type) {
+		case AO_TELEMETRY_SENSOR_TELEMETRUM:
+		case AO_TELEMETRY_SENSOR_TELEMINI:
+		case AO_TELEMETRY_SENSOR_TELENANO:
+			ao_xmemcpy(&ao_tel_sensor, &ao_monitor_ring[monitor], sizeof (ao_tel_sensor));
+			if (ao_tel_sensor.state < ao_flight_boost) {
+				ao_tel_max_speed = 0;
+				ao_tel_max_height = 0;
+			} else {
+				if (ao_tel_sensor.speed > ao_tel_max_speed)
+					ao_tel_max_speed = ao_tel_sensor.speed;
+				if (ao_tel_sensor.height > ao_tel_max_height)
+					ao_tel_max_height = ao_tel_sensor.height;
+			}
+			ao_telem_progress = (ao_telem_progress + 1) & 0x3;
+			break;
+		case AO_TELEMETRY_LOCATION:
+			ao_xmemcpy(&ao_tel_location, &ao_monitor_ring[monitor], sizeof (ao_tel_location));
+			break;
+		case AO_TELEMETRY_CONFIGURATION:
+			ao_xmemcpy(&ao_tel_config, &ao_monitor_ring[monitor], sizeof (ao_tel_config));
+		}
+	}
+}
+
+__xdata static struct ao_task ao_terramonitor_task;
+
+static void
+ao_terragps(void)
+{
+	uint16_t	gps_tick = ao_gps_progress;
+
+	for (;;) {
+		while (ao_gps_tick == gps_tick)
+			ao_sleep(&ao_gps_data);
+		gps_tick = ao_gps_tick;
+		ao_gps_progress = (ao_gps_progress + 1) & 3;
+	}
+}
+
+__xdata static struct ao_task ao_terragps_task;
+
+void
+ao_terraui_init(void)
+{
+	ao_add_task(&ao_terraui_task, ao_terraui, "ui");
+	ao_add_task(&ao_terramonitor_task, ao_terramonitor, "monitor");
+	ao_add_task(&ao_terragps_task, ao_terragps, "gps");
+}
diff --git a/src/product/ao_test.c b/src/product/ao_test.c
new file mode 100644
index 00000000..14c2eb75
--- /dev/null
+++ b/src/product/ao_test.c
@@ -0,0 +1,117 @@
+/*
+ * 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"
+
+struct ao_task __xdata blink_0_task;
+struct ao_task __xdata blink_1_task;
+struct ao_task __xdata wakeup_task;
+struct ao_task __xdata beep_task;
+struct ao_task __xdata echo_task;
+
+void delay(int n) __reentrant
+{
+	uint8_t	j = 0;
+	while (--n)
+		while (--j)
+			ao_yield();
+}
+
+static __xdata uint8_t blink_chan;
+
+void
+blink_0(void)
+{
+	uint8_t	b = 0;
+	for (;;) {
+		b = 1 - b;
+		if (b)
+			ao_led_on(AO_LED_GREEN);
+		else
+			ao_led_off(AO_LED_GREEN);
+		ao_sleep(&blink_chan);
+	}
+}
+
+void
+blink_1(void)
+{
+	static __xdata struct ao_adc adc;
+
+	for (;;) {
+		ao_sleep(&ao_adc_head);
+		ao_adc_get(&adc);
+		if (adc.accel < 15900)
+			ao_led_on(AO_LED_RED);
+		else
+			ao_led_off(AO_LED_RED);
+	}
+}
+
+void
+wakeup(void)
+{
+	for (;;) {
+		ao_delay(AO_MS_TO_TICKS(100));
+		ao_wakeup(&blink_chan);
+	}
+}
+
+void
+beep(void)
+{
+	static __xdata struct ao_adc adc;
+
+	for (;;) {
+		ao_delay(AO_SEC_TO_TICKS(1));
+		ao_adc_get(&adc);
+		if (adc.temp > 7400)
+			ao_beep_for(AO_BEEP_LOW, AO_MS_TO_TICKS(50));
+	}
+}
+
+void
+echo(void)
+{
+	char	c;
+	for (;;) {
+		ao_usb_flush();
+		c = ao_usb_getchar();
+		ao_usb_putchar(c);
+		if (c == '\r')
+			ao_usb_putchar('\n');
+	}
+}
+
+void
+main(void)
+{
+	ao_clock_init();
+
+//	ao_add_task(&blink_0_task, blink_0);
+//	ao_add_task(&blink_1_task, blink_1);
+//	ao_add_task(&wakeup_task, wakeup);
+//	ao_add_task(&beep_task, beep);
+	ao_add_task(&echo_task, echo);
+	ao_timer_init();
+	ao_adc_init();
+	ao_beep_init();
+	ao_led_init();
+	ao_usb_init();
+
+	ao_start_scheduler();
+}
diff --git a/src/product/ao_tidongle.c b/src/product/ao_tidongle.c
new file mode 100644
index 00000000..cba0b122
--- /dev/null
+++ b/src/product/ao_tidongle.c
@@ -0,0 +1,42 @@
+/*
+ * 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.
+ */
+
+#define AO_NO_SERIAL_ISR 1
+#define AO_NO_ADC_ISR 1
+#include "ao.h"
+
+void
+main(void)
+{
+	ao_clock_init();
+
+	/* Turn on the LED until the system is stable */
+	ao_led_init(AO_LED_RED);
+	ao_led_on(AO_LED_RED);
+	ao_timer_init();
+	ao_cmd_init();
+	ao_usb_init();
+	ao_monitor_init();
+	ao_rssi_init(AO_LED_RED);
+	ao_radio_init();
+	ao_dbg_init();
+	ao_config_init();
+	/* Bring up the USB link */
+	P1DIR |= 1;
+	P1 |= 1;
+	ao_start_scheduler();
+}