232 files changed, 4643 insertions, 514 deletions

diff --git a/src/Makefile b/src/Makefile
index 392262d4..4e8b3c20 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -19,11 +19,10 @@ include Makedefs
 SDCCDIRS=\
 	telemetrum-v1.2 telemetrum-v1.1 telemetrum-v1.0 \
 	teledongle-v0.2 \
-	telemini-v1.0 \
+	telemini-v1.0 telemini-v2.0 \
 	telebt-v1.0 \
 	teleterra-v0.2 teleshield-v0.1 \
-	telefire-v0.1 telefire-v0.2 \
-	telemini-v2.0
+	telefire-v0.1 telefire-v0.2
 
 ARMM3DIRS=\
 	telemega-v0.1 telemega-v0.1/flash-loader \
@@ -31,8 +30,10 @@ ARMM3DIRS=\
 	telemetrum-v2.0 telemetrum-v2.0/flash-loader \
 	megadongle-v0.1 megadongle-v0.1/flash-loader \
 	telegps-v0.3 telegps-v0.3/flash-loader \
+	telegps-v1.0 telegps-v1.0/flash-loader \
 	telelco-v0.2 telelco-v0.2/flash-loader \
-	telescience-v0.2 telescience-v0.2/flash-loader
+	telescience-v0.2 telescience-v0.2/flash-loader \
+	teleballoon-v2.0
 
 ARMM0DIRS=\
 	easymini-v1.0 easymini-v1.0/flash-loader
diff --git a/src/attiny/ao_async.c b/src/attiny/ao_async.c
index 3556f54c..f64f7bde 100644
--- a/src/attiny/ao_async.c
+++ b/src/attiny/ao_async.c
@@ -40,11 +40,98 @@ ao_async_byte(uint8_t byte)
 {
 	uint8_t		b;
 	uint16_t	w;
+	uint8_t		v;
+	uint8_t		bit;
+	uint8_t		w_hi, w_lo;
 
 	/*    start           data           stop */
 	w = (0x000 << 0) | (byte << 1) | (0x001 << 9);
 
+	w_hi = w >> 8;
+	w_lo = w;
+
 	ao_arch_block_interrupts();
+
+	/* Ok, this is a bit painful.
+	 * We need this loop to be precisely timed, which
+	 * means knowing exactly how many instructions will
+	 * be executed for each bit. It's easy to do that by
+	 * compiling the C code and looking at the output,
+	 * but we need this code to work even if the compiler
+	 * changes. So, just hand-code the whole thing
+	 */
+
+	asm volatile (
+		"	ldi	%[b], 10\n"		// loop value
+		"loop:\n"
+		"	in	%[v], %[port]\n"	// read current value
+		"	andi	%[v], %[led_mask]\n"	// mask to clear LED bit
+		"	mov	%[bit], %[w_lo]\n"	// get current data byte
+		"	andi	%[bit], 0x01\n"		// get current data bit
+#if AO_LED_SERIAL >= 1
+		"	add	%[bit],%[bit]\n"	// shift by one
+#else
+		"	nop\n"
+#endif
+#if AO_LED_SERIAL >= 2
+		"	add	%[bit],%[bit]\n"	// shift by one
+#else
+		"	nop\n"
+#endif
+#if AO_LED_SERIAL >= 3
+		"	add	%[bit],%[bit]\n"	// shift by one
+#else
+		"	nop\n"
+#endif
+#if AO_LED_SERIAL >= 4
+		"	add	%[bit],%[bit]\n"	// shift by one
+#else
+		"	nop\n"
+#endif
+#if AO_LED_SERIAL >= 5
+		"	add	%[bit],%[bit]\n"	// shift by one
+#else
+		"	nop\n"
+#endif
+#if AO_LED_SERIAL >= 6
+		"	add	%[bit],%[bit]\n"	// shift by one
+#else
+		"	nop\n"
+#endif
+#if AO_LED_SERIAL >= 7
+		"	add	%[bit],%[bit]\n"	// shift by one
+#else
+		"	nop\n"
+#endif
+		"	or	%[v], %[bit]\n"		// add to register
+		"	out	%[port], %[v]\n"	// write current value
+		"	lsr	%[w_hi]\n"		// shift data
+		"	ror	%[w_lo]\n"		//  ...
+		"	nop\n"
+		"	nop\n"
+		"	nop\n"
+		"	nop\n"
+		"	nop\n"
+
+		"	nop\n"
+		"	nop\n"
+		"	nop\n"
+		"	subi	%[b], 1\n"		// decrement bit count
+		"	brne	loop\n"			// jump back to top
+		: [v]        "=&r" (v),
+		  [bit]	     "=&r" (bit),
+		  [b]	     "=&r" (b),
+		  [w_lo]     "+r" (w_lo),
+		  [w_hi]     "+r" (w_hi)
+		: [port]     "I"  (_SFR_IO_ADDR(LED_PORT)),
+		  [led_mask] "M"  ((~(1 << AO_LED_SERIAL)) & 0xff)
+		);
+
+#if 0
+	/*
+	 * Here's the equivalent C code to document
+	 * what the above assembly code does
+	 */
 	for (b = 0; b < 10; b++) {
 		uint8_t	v = LED_PORT & ~(1 << AO_LED_SERIAL);
 		v |= (w & 1) << AO_LED_SERIAL;
@@ -54,6 +141,7 @@ ao_async_byte(uint8_t byte)
 		/* Carefully timed to hit around 9600 baud */
 		asm volatile ("nop");
 		asm volatile ("nop");
+		asm volatile ("nop");
 
 		asm volatile ("nop");
 		asm volatile ("nop");
@@ -67,5 +155,6 @@ ao_async_byte(uint8_t byte)
 		asm volatile ("nop");
 		asm volatile ("nop");
 	}
+#endif
 	ao_arch_release_interrupts();
 }
diff --git a/src/avr-demo/Makefile b/src/avr-demo/Makefile
index 6d9bfea2..e21ad047 100644
--- a/src/avr-demo/Makefile
+++ b/src/avr-demo/Makefile
@@ -2,7 +2,7 @@
 # AltOS build
 #
 #
-vpath % ..:../core:../product:../drivers:../avr
+vpath % ..:../kernel:../product:../drivers:../avr
 vpath make-altitude ..
 vpath make-kalman ..
 vpath kalman.5c ../kalman
@@ -46,7 +46,7 @@ PRODUCT=AvrDemo-v0.0
 MCU=atmega32u4
 PRODUCT_DEF=-DAVR_DEMO
 IDPRODUCT=0x000a
-CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../kernel -I..
 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -Os -mcall-prologues
 
 NICKLE=nickle
diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c
index bd75b17d..cb0455c2 100644
--- a/src/avr/ao_usb_avr.c
+++ b/src/avr/ao_usb_avr.c
@@ -46,7 +46,7 @@ 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;
+__xdata uint8_t		ao_usb_running;
 static __xdata uint8_t	ao_usb_configuration;
 static __xdata uint8_t	ueienx_0;
 
diff --git a/src/cc1111/Makefile.cc1111 b/src/cc1111/Makefile.cc1111
index 78b653b3..0ea30e1d 100644
--- a/src/cc1111/Makefile.cc1111
+++ b/src/cc1111/Makefile.cc1111
@@ -3,7 +3,7 @@ CC=$(SDCC)
 
 CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE)
 
-CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../core -I../cc1111 -I../drivers -I../product
+CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../kernel -I../cc1111 -I../drivers -I../product
 
 CODESIZE ?= 0x8000
 
diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h
index 34235b08..fcac331b 100644
--- a/src/cc1111/ao_arch.h
+++ b/src/cc1111/ao_arch.h
@@ -326,4 +326,6 @@ void
 ao_p0_isr(void) __interrupt(13);
 #endif
 
+#define AO_ADC_MAX	32767
+
 #endif /* _AO_ARCH_H_ */
diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h
index 2f0e2884..2b19f1f6 100644
--- a/src/cc1111/ao_pins.h
+++ b/src/cc1111/ao_pins.h
@@ -18,12 +18,16 @@
 #ifndef _AO_PINS_H_
 #define _AO_PINS_H_
 
-#define HAS_RADIO	1
+#define HAS_RADIO		1
+#define DISABLE_LOG_SPACE	1
 
 #if defined(TELEMETRUM_V_1_0)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		1
 	#define HAS_USB			1
 	#define HAS_BEEP		1
+	#define HAS_BEEP_CONFIG		0
 	#define HAS_GPS			1
 	#define HAS_SERIAL_1		1
 	#define HAS_ADC			1
@@ -55,9 +59,13 @@
 #endif
 
 #if defined(TELEMETRUM_V_1_1)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		1
 	#define HAS_USB			1
 	#define HAS_BEEP		1
+	#define HAS_BEEP_CONFIG		0
+	#define HAS_BATTERY_REPORT	1
 	#define HAS_GPS			1
 	#define HAS_SERIAL_1		1
 	#define HAS_ADC			1
@@ -91,9 +99,13 @@
 #endif
 
 #if defined(TELEMETRUM_V_1_2)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		1
 	#define HAS_USB			1
 	#define HAS_BEEP		1
+	#define HAS_BEEP_CONFIG		0
+	#define HAS_BATTERY_REPORT	1
 	#define HAS_GPS			1
 	#define HAS_SERIAL_1		1
 	#define HAS_ADC			1
@@ -155,6 +167,8 @@
 #endif
 
 #if defined(TELEMINI_V_1_0)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		1
 	#define HAS_USB			0
 	#define HAS_BEEP		0
@@ -182,6 +196,8 @@
 #endif
 
 #if defined(TELENANO_V_0_1)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		1
 	#define HAS_USB			0
 	#define HAS_BEEP		0
@@ -207,9 +223,12 @@
 #endif
 
 #if defined(TELEMETRUM_V_0_1)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		1
 	#define HAS_USB			1
 	#define HAS_BEEP		1
+	#define HAS_BEEP_CONFIG		0
 	#define HAS_GPS			1
 	#define HAS_SERIAL_1		1
 	#define HAS_ADC			1
@@ -237,6 +256,8 @@
 #endif
 
 #if defined(TELEDONGLE_V_0_1)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		0
 	#define HAS_USB			1
 	#define HAS_BEEP		0
@@ -265,6 +286,8 @@
 #endif
 
 #if defined(TIDONGLE)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		0
 	#define HAS_USB			1
 	#define HAS_BEEP		0
@@ -292,6 +315,8 @@
 #endif
 
 #if defined(TELEBT_V_0_0)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		0
 	#define HAS_USB			1
 	#define HAS_BEEP		0
@@ -328,9 +353,12 @@
 #endif
 
 #if defined(TELEBT_V_0_1)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		0
 	#define HAS_USB			1
 	#define HAS_BEEP		1
+	#define HAS_BEEP_CONFIG		0
 	#define HAS_SERIAL_1		1
 	#define HAS_SERIAL_1_ALT_1	1
 	#define HAS_SERIAL_1_ALT_2	0
@@ -371,6 +399,8 @@
 #endif
 
 #if defined(TELELAUNCH_V_0_1)
+	/* Discontinued and was never built with CC1111 chips needing this */
+	#define NEEDS_CC1111_CLOCK_HACK	0
 	#define HAS_FLIGHT		0
 	#define HAS_USB			1
 	#define HAS_BEEP		1
@@ -572,4 +602,21 @@ struct ao_adc {
 #endif
 };
 
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	5	/* 5k */
+#define AO_BATTERY_DIV_MINUS	10	/* 10k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS	100	/* 100k */
+#define AO_IGNITE_DIV_MINUS	27	/* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
+
 #endif /* _AO_PINS_H_ */
diff --git a/src/cc1111/ao_timer.c b/src/cc1111/ao_timer.c
index 75cc4ce8..2fbc6621 100644
--- a/src/cc1111/ao_timer.c
+++ b/src/cc1111/ao_timer.c
@@ -83,25 +83,57 @@ ao_timer_init(void)
 	T1CTL = T1CTL_MODE_MODULO | T1CTL_DIV_8;
 }
 
+#ifndef NEEDS_CC1111_CLOCK_HACK
+#define NEEDS_CC1111_CLOCK_HACK		1
+#endif
+
+#if NEEDS_CC1111_CLOCK_HACK
+static void
+ao_clock_delay(void)
+{
+	uint16_t	i = 0;
+
+	while (--i)
+		ao_arch_nop();
+}
+#endif
+
 /*
  * AltOS always cranks the clock to the max frequency
  */
 void
 ao_clock_init(void)
 {
+#if NEEDS_CC1111_CLOCK_HACK
+	/* Power up both oscillators */
+	SLEEP &= ~(SLEEP_OSC_PD);
+
+	/* Switch to the HFRC oscillator */
+	CLKCON = (CLKCON & ~CLKCON_OSC_MASK) | (CLKCON_OSC_RC);
+
+	/* Wait for the HFRC oscillator to be stable */
+	while (!(SLEEP & SLEEP_HFRC_STB))
+		;
+
+	/* Delay for 'a while' waiting for the crystal to
+	 * stabilize -- the XOSC_STB bit isn't reliable
+	 *
+	 *  http://www.ti.com/lit/er/swrz022c/swrz022c.pdf
+	 */
+
+	ao_clock_delay();
+#endif
+
 	/* Switch system clock to crystal oscilator */
 	CLKCON = (CLKCON & ~CLKCON_OSC_MASK) | (CLKCON_OSC_XTAL);
 
+	/* Wait for the HFRC oscillator to be stable */
 	while (!(SLEEP & SLEEP_XOSC_STB))
 		;
 
 	/* Power down the unused HFRC oscillator */
 	SLEEP |= SLEEP_OSC_PD;
 
-	/* Wait for HFRC to power down */
-	while ((SLEEP & SLEEP_HFRC_STB) != 0)
-		;
-	
 	/* Crank up the timer tick and system clock speed */
 	CLKCON = ((CLKCON & ~(CLKCON_TICKSPD_MASK | CLKCON_CLKSPD_MASK)) |
 		  (CLKCON_TICKSPD_1 | CLKCON_CLKSPD_1));
diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c
index b0ab409d..d9d255f8 100644
--- a/src/cc1111/ao_usb.c
+++ b/src/cc1111/ao_usb.c
@@ -24,7 +24,7 @@ static __xdata uint16_t	ao_usb_in_bytes;
 static __pdata uint16_t ao_usb_in_bytes_last;
 static __xdata uint16_t	ao_usb_out_bytes;
 static __pdata uint8_t	ao_usb_iif;
-static __pdata uint8_t	ao_usb_running;
+__pdata uint8_t		ao_usb_running;
 
 static void
 ao_usb_set_interrupts(void)
@@ -274,7 +274,7 @@ ao_usb_ep0_setup(void)
 			ao_usb_ep0_in_len = ao_usb_setup.length;
 		ao_usb_ep0_flush();
 	} else if (ao_usb_ep0_out_len) {
-		
+
 		/* Receiving data from the host
 		 */
 		ao_usb_ep0_state = AO_USB_EP0_DATA_OUT;
@@ -448,6 +448,9 @@ ao_usb_enable(void)
 	USBCIF = 0;
 	USBOIF = 0;
 	USBIIF = 0;
+#if HAS_USB_PULLUP
+	ao_gpio_set(AO_USB_PULLUP_PORT, AO_USB_PULLUP_PIN, AO_USB_PULLUP, 0);
+#endif
 }
 
 void
@@ -459,6 +462,10 @@ ao_usb_disable(void)
 	USBCIE = 0;
 	IEN2 &= ~IEN2_USBIE;
 
+#if HAS_USB_PULLUP
+	ao_gpio_set(AO_USB_PULLUP_PORT, AO_USB_PULLUP_PIN, AO_USB_PULLUP, 0);
+#endif
+
 	/* Clear any pending interrupts */
 	USBCIF = 0;
 	USBOIF = 0;
@@ -471,6 +478,9 @@ ao_usb_disable(void)
 void
 ao_usb_init(void)
 {
+#if HAS_USB_PULLUP
+	ao_enable_output(AO_USB_PULLUP_PORT, AO_USB_PULLUP_PIN, AO_USB_PULLUP, 0);
+#endif
 	ao_usb_enable();
 
 	ao_add_task(&ao_usb_task, ao_usb_ep0, "usb");
diff --git a/src/core/ao_config.h b/src/core/ao_config.h
deleted file mode 100644
index e101af8e..00000000
--- a/src/core/ao_config.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef _AO_CONFIG_H_
-#define _AO_CONFIG_H_
-
-#ifndef USE_STORAGE_CONFIG
-#define USE_STORAGE_CONFIG 1
-#endif
-
-#ifndef USE_EEPROM_CONFIG
-#define USE_EEPROM_CONFIG 0
-#endif
-
-#if USE_STORAGE_CONFIG
-
-#include <ao_storage.h>
-
-#define ao_config_setup() 		ao_storage_setup()
-#define ao_config_erase()		ao_storage_erase(ao_storage_config)
-#define ao_config_write(pos,bytes, len)	ao_storage_write(ao_storage_config+(pos), bytes, len)
-#define ao_config_read(pos,bytes, len)	ao_storage_read(ao_storage_config+(pos), bytes, len)
-#define ao_config_flush()		ao_storage_flush()
-
-#endif
-
-#if USE_EEPROM_CONFIG
-
-#include <ao_eeprom.h>
-
-#define ao_config_setup()
-#define ao_config_erase()
-#define ao_config_write(pos,bytes, len)	ao_eeprom_write(pos, bytes, len)
-#define ao_config_read(pos,bytes, len)	ao_eeprom_read(pos, bytes, len)
-#define ao_config_flush()
-
-#endif
-
-#endif /* _AO_CONFIG_H_ */
diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index 0a6c72ce..8a1b6a4d 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -144,7 +144,6 @@
 #endif
 
 #include <ao_aprs.h>
-#include <math.h>
 
 // Public methods, constants, and data structures for each class.
 
@@ -512,23 +511,38 @@ static int tncComment(uint8_t *buf)
 {
 #if HAS_ADC
 	struct ao_data packet;
-	
+
 	ao_arch_critical(ao_data_get(&packet););
 
 	int16_t battery = ao_battery_decivolt(packet.adc.v_batt);
+#ifdef AO_SENSE_DROGUE
 	int16_t apogee = ao_ignite_decivolt(AO_SENSE_DROGUE(&packet));
+#endif
+#ifdef AO_SENSE_MAIN
 	int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
+#endif
 
 	return sprintf((char *) buf,
-		       "%c%d B%d.%d A%d.%d M%d.%d",
-		       ao_gps_locked(),
+		       "%c%d B%d.%d"
+#ifdef AO_SENSE_DROGUE
+		       " A%d.%d"
+#endif
+#ifdef AO_SENSE_MAIN
+		       " M%d.%d"
+#endif
+		       , ao_gps_locked(),
 		       ao_num_sats(),
 		       battery/10,
-		       battery % 10,
-		       apogee/10,
-		       apogee%10,
-		       main/10,
-		       main%10);
+		       battery % 10
+#ifdef AO_SENSE_DROGUE
+		       , apogee/10,
+		       apogee%10
+#endif
+#ifdef AO_SENSE_MAIN
+		       , main/10,
+		       main%10
+#endif
+		);
 #else
 	return sprintf((char *) buf,
 		       "%c%d",
@@ -537,6 +551,144 @@ static int tncComment(uint8_t *buf)
 #endif
 }
 
+/*
+ * APRS use a log encoding of altitude with a base of 1.002, such that
+ *
+ *	feet = 1.002 ** encoded_altitude
+ *
+ *	meters = (1.002 ** encoded_altitude) * 0.3048
+ *
+ *	log2(meters) = log2(1.002 ** encoded_altitude) + log2(0.3048)
+ *
+ *	log2(meters) = encoded_altitude * log2(1.002) + log2(0.3048)
+ *
+ *	encoded_altitude = (log2(meters) - log2(0.3048)) / log2(1.002)
+ *
+ *	encoded_altitude = (log2(meters) + log2(1/0.3048)) * (1/log2(1.002))
+ *
+ * We need 9 bits of mantissa to hold 1/log2(1.002) (~ 347), which leaves us
+ * 23 bits of fraction. That turns out to be *just* enough to avoid any
+ * errors in the result (cool, huh?).
+ */
+
+#define fixed23_int(x)		((uint32_t) ((x) << 23))
+#define fixed23_one		fixed23_int(1)
+#define fixed23_two 		fixed23_int(2)
+#define fixed23_half		(fixed23_one >> 1)
+#define fixed23_floor(x)	((x) >> 23)
+#define fixed23_real(x)		((uint32_t) ((x) * fixed23_one + 0.5))
+
+static inline uint64_t
+fixed23_mul(uint32_t x, uint32_t y)
+{
+	return ((uint64_t) x * y + fixed23_half) >> 23;
+}
+
+/*
+ * Use 30 fraction bits for the altitude. We need two bits at the
+ * top as we need to handle x, where 0 <= x < 4. We don't
+ * need 30 bits, but it's actually easier this way as we normalize
+ * the incoming value to 1 <= x < 2, and having the integer portion
+ * way up high means we don't have to deal with shifting in both
+ * directions to cover from 0 to 2**30-1.
+ */
+
+#define fixed30_int(x)	((uint32_t) ((x) << 30))
+#define fixed30_one 	fixed30_int(1)
+#define fixed30_half 	(fixed30_one >> 1)
+#define fixed30_two	fixed30_int(2)
+
+static inline uint32_t
+fixed30_mul(uint32_t x, uint32_t y)
+{
+	return ((uint64_t) x * y + fixed30_half) >> 30;
+}
+
+/*
+ * Fixed point log2. Takes integer argument, returns
+ * fixed point result with 23 bits of fraction
+ */
+
+static uint32_t
+ao_fixed_log2(uint32_t x)
+{
+	uint32_t	result;
+	uint32_t	frac = fixed23_one;
+
+	/* Bounds check for sanity */
+	if (x <= 0)
+		return 0;
+
+	if (x >= fixed30_one)
+		return 0xffffffff;
+
+	/*
+	 * Normalize and compute integer log portion
+	 *
+	 * This makes 1 <= x < 2, and computes result to be
+	 * the integer portion of the log2 of x
+	 */
+
+	for (result = fixed23_int(30); x < fixed30_one; result -= fixed23_one, x <<= 1)
+		;
+
+	/*
+	 * Given x, find y and n such that:
+	 *
+	 *	x = y * 2**n 		1 <= y < 2
+	 *
+	 * That means:
+	 *
+	 *	lb(x) = n + lb(y)
+	 *
+	 * Now, repeatedly square y to find find z and m such that:
+	 *
+	 *	z = y ** (2**m)	2 <= z < 4
+	 *
+	 * This is possible because 1 <= y < 2
+	 *
+	 *	lb(y) = lb(z) / 2**m
+ 	 *
+	 *	        (1 + lb(z/2))
+	 *	      = -------------
+	 *                  2**m
+	 *
+	 *            = 2**-m + 2**-m * lb(z/2)
+	 *
+	 * Note that if 2 <= z < 4, then 1 <= (z/2) < 2, so we can
+	 * iterate to find lb(z/2)
+	 *
+	 * In this implementation, we don't care about the 'm' value,
+	 * instead we only care about 2**-m, which we store in 'frac'
+	 */
+
+	while (frac != 0 && x != fixed30_one) {
+		/* Repeatedly square x until 2 <= x < 4 */
+		while (x < fixed30_two) {
+			x = fixed30_mul(x, x);
+
+			/* Divide the fractional result bit by 2 */
+			frac >>= 1;
+		}
+
+		/* Add in this result bit */
+		result |= frac;
+
+		/* Make 1 <= x < 2 again and iterate */
+		x >>= 1;
+	}
+	return result;
+}
+
+#define APRS_LOG_CONVERT	fixed23_real(1.714065192056127)
+#define APRS_LOG_BASE		fixed23_real(346.920048461100941)
+
+static int
+ao_aprs_encode_altitude(int meters)
+{
+	return fixed23_floor(fixed23_mul(ao_fixed_log2(meters) + APRS_LOG_CONVERT, APRS_LOG_BASE) + fixed23_half);
+}
+
 /**
  *   Generate the plain text position packet.
  */
@@ -565,10 +717,7 @@ static int tncPositionPacket(void)
     lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
     lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
 
-#define ALTITUDE_LOG_BASE	0.001998002662673f	/* log(1.002) */
-
-    alt = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
-    alt = logf((float) altitude) * (1/ALTITUDE_LOG_BASE);
+    alt = ao_aprs_encode_altitude(altitude);
 
     tncCompressInt(buf, lat, 4);
     buf += 4;
diff --git a/src/drivers/ao_cc115l.c b/src/drivers/ao_cc115l.c
index f0f72d4d..f250e714 100644
--- a/src/drivers/ao_cc115l.c
+++ b/src/drivers/ao_cc115l.c
@@ -52,8 +52,8 @@ struct ao_cc115l_reg {
 
 #if CC115L_TRACE
 
-const static struct ao_cc115l_reg ao_cc115l_reg[];
-const static char *cc115l_state_name[];
+static const struct ao_cc115l_reg ao_cc115l_reg[];
+static const char *cc115l_state_name[];
 
 enum ao_cc115l_trace_type {
 	trace_strobe,
@@ -88,6 +88,8 @@ static void trace_add(enum ao_cc115l_trace_type type, int16_t addr, int16_t valu
 	case trace_strobe:
 		comment = cc115l_state_name[(value >> 4) & 0x7];
 		break;
+	default:
+		break;
 	}
 	trace[trace_i].type = type;
 	trace[trace_i].addr = addr;
@@ -197,24 +199,22 @@ ao_radio_tx_fifo_space(void)
 	return CC115L_FIFO_SIZE - (ao_radio_reg_read(CC115L_TXBYTES) & CC115L_TXBYTES_NUM_TX_BYTES_MASK);
 }
 
-#if UNUSED
+#if CC115L_DEBUG
 static uint8_t
 ao_radio_status(void)
 {
 	return ao_radio_strobe (CC115L_SNOP);
 }
-#endif
 
-#define ao_radio_rdf_value 0x55
-
-#if UNUSED
 static uint8_t
 ao_radio_get_marcstate(void)
 {
 	return ao_radio_reg_read(CC115L_MARCSTATE) & CC115L_MARCSTATE_MASK;
 }
 #endif
-	  
+
+#define ao_radio_rdf_value 0x55
+
 static void
 ao_radio_done_isr(void)
 {
@@ -612,6 +612,12 @@ ao_radio_rdf_abort(void)
 
 #define POWER_STEP	0x08
 
+#if HAS_RADIO_POWER
+#define RADIO_POWER	ao_config.radio_power
+#else
+#define RADIO_POWER	0xc0
+#endif
+
 static void
 ao_radio_stx(void)
 {
@@ -619,9 +625,10 @@ ao_radio_stx(void)
 	ao_radio_pa_on();
 	ao_radio_reg_write(CC115L_PA, 0);
 	ao_radio_strobe(CC115L_STX);
-	for (power = POWER_STEP; power < ao_config.radio_power; power += POWER_STEP)
+	for (power = POWER_STEP; power < RADIO_POWER; power += POWER_STEP)
 		ao_radio_reg_write(CC115L_PA, power);
-	ao_radio_reg_write(CC115L_PA, ao_config.radio_power);
+	if (power != RADIO_POWER)
+		ao_radio_reg_write(CC115L_PA, RADIO_POWER);
 }
 
 static void
@@ -668,8 +675,8 @@ ao_radio_test_cmd(void)
 static inline int16_t
 ao_radio_gpio_bits(void)
 {
-	return AO_CC115L_DONE_INT_PORT->idr & ((1 << AO_CC115L_FIFO_INT_PIN) |
-					       (1 << AO_CC115L_DONE_INT_PIN));
+	return ((ao_gpio_get(AO_CC115L_DONE_INT_PORT, AO_CC115L_DONE_INT_PIN, AO_CC115L_DONE_INT) << 1) |
+		ao_gpio_get(AO_CC115L_FIFO_INT_PORT, AO_CC115L_FIFO_INT_PIN, AO_CC115L_FIFO_INT));
 }
 #endif
 
@@ -819,7 +826,7 @@ ao_radio_send_aprs(ao_radio_fill_func fill)
 }
 
 #if CC115L_DEBUG
-const static char *cc115l_state_name[] = {
+static const char *cc115l_state_name[] = {
 	[CC115L_STATUS_STATE_IDLE] = "IDLE",
 	[CC115L_STATUS_STATE_TX] = "TX",
 	[CC115L_STATUS_STATE_FSTXON] = "FSTXON",
@@ -828,7 +835,7 @@ const static char *cc115l_state_name[] = {
 	[CC115L_STATUS_STATE_TX_FIFO_UNDERFLOW] = "TX_FIFO_UNDERFLOW",
 };
 
-const static struct ao_cc115l_reg ao_cc115l_reg[] = {
+static const struct ao_cc115l_reg ao_cc115l_reg[] = {
 	{ .addr = CC115L_IOCFG2, .name = "IOCFG2" },
 	{ .addr = CC115L_IOCFG1, .name = "IOCFG1" },
 	{ .addr = CC115L_IOCFG0, .name = "IOCFG0" },
@@ -874,7 +881,7 @@ const static struct ao_cc115l_reg ao_cc115l_reg[] = {
 
 static void ao_radio_show(void) {
 	uint8_t	status = ao_radio_status();
-	int	i;
+	unsigned int	i;
 
 	ao_radio_get();
 	status = ao_radio_status();
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 01169522..077698a9 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -601,6 +601,14 @@ static const uint8_t ublox_enable_nav[] = {
 };
 
 void
+ao_gps_set_rate(uint8_t rate)
+{
+	uint8_t	i;
+	for (i = 0; i < sizeof (ublox_enable_nav); i++)
+		ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], rate);
+}
+
+void
 ao_gps(void) __reentrant
 {
 	uint8_t			class, id;
@@ -616,8 +624,7 @@ ao_gps(void) __reentrant
 		ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
 
 	/* Enable all of the messages we want */
-	for (i = 0; i < sizeof (ublox_enable_nav); i++)
-		ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
+	ao_gps_set_rate(1);
 
 	ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
 					 UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
@@ -713,7 +720,7 @@ ao_gps(void) __reentrant
 				ao_gps_data.flags |= AO_GPS_RUNNING;
 				if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
 					uint8_t	nsat = nav_sol.nsat;
-					ao_gps_data.flags |= AO_GPS_VALID;
+					ao_gps_data.flags |= AO_GPS_VALID | AO_GPS_COURSE_VALID;
 					if (nsat > 15)
 						nsat = 15;
 					ao_gps_data.flags |= nsat;
diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c
index a5d28e61..9e642836 100644
--- a/src/drivers/ao_lco_func.c
+++ b/src/drivers/ao_lco_func.c
@@ -36,7 +36,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
 	command.channels = 0;
 	ao_radio_cmac_send(&command, sizeof (command));
 	sent_time = ao_time();
-	r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(20));
+	r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(10));
 	if (r == AO_RADIO_CMAC_OK)
 		*tick_offset = sent_time - query->tick;
 	ao_mutex_put(&ao_lco_mutex);
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 58ab9197..6098699e 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -21,8 +21,8 @@
 
 #if HAS_MS5607 || HAS_MS5611
 
-static __xdata struct ao_ms5607_prom	ms5607_prom;
-static __xdata uint8_t	  		ms5607_configured;
+__xdata struct ao_ms5607_prom	ao_ms5607_prom;
+static __xdata uint8_t	  	ms5607_configured;
 
 static void
 ao_ms5607_start(void) {
@@ -111,7 +111,7 @@ ao_ms5607_setup(void)
 		return;
 	ms5607_configured = 1;
 	ao_ms5607_reset();
-	ao_ms5607_prom_read(&ms5607_prom);
+	ao_ms5607_prom_read(&ao_ms5607_prom);
 }
 
 static __xdata volatile uint8_t	ao_ms5607_done;
@@ -208,14 +208,14 @@ __xdata struct ao_task ao_ms5607_task;
 void
 ao_ms5607_info(void)
 {
-	printf ("ms5607 reserved: %u\n", ms5607_prom.reserved);
-	printf ("ms5607 sens: %u\n", ms5607_prom.sens);
-	printf ("ms5607 off: %u\n", ms5607_prom.off);
-	printf ("ms5607 tcs: %u\n", ms5607_prom.tcs);
-	printf ("ms5607 tco: %u\n", ms5607_prom.tco);
-	printf ("ms5607 tref: %u\n", ms5607_prom.tref);
-	printf ("ms5607 tempsens: %u\n", ms5607_prom.tempsens);
-	printf ("ms5607 crc: %u\n", ms5607_prom.crc);
+	printf ("ms5607 reserved: %u\n", ao_ms5607_prom.reserved);
+	printf ("ms5607 sens: %u\n", ao_ms5607_prom.sens);
+	printf ("ms5607 off: %u\n", ao_ms5607_prom.off);
+	printf ("ms5607 tcs: %u\n", ao_ms5607_prom.tcs);
+	printf ("ms5607 tco: %u\n", ao_ms5607_prom.tco);
+	printf ("ms5607 tref: %u\n", ao_ms5607_prom.tref);
+	printf ("ms5607 tempsens: %u\n", ao_ms5607_prom.tempsens);
+	printf ("ms5607 crc: %u\n", ao_ms5607_prom.crc);
 }
 
 static void
diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h
index 206efd64..b58178fd 100644
--- a/src/drivers/ao_ms5607.h
+++ b/src/drivers/ao_ms5607.h
@@ -57,6 +57,7 @@ struct ao_ms5607_value {
 };
 
 extern __xdata struct ao_ms5607_sample	ao_ms5607_current;
+extern __xdata struct ao_ms5607_prom	ao_ms5607_prom;
 
 void
 ao_ms5607_setup(void);
@@ -74,7 +75,4 @@ void
 ao_ms5607_convert(__xdata struct ao_ms5607_sample *sample,
 		  __xdata struct ao_ms5607_value *value);
 
-void
-ao_ms5607_get_prom(__data struct ao_ms5607_prom *prom);
-
 #endif /* _AO_MS5607_H_ */
diff --git a/src/drivers/ao_ms5607_convert.c b/src/drivers/ao_ms5607_convert.c
index bfb952a4..4d412cbe 100644
--- a/src/drivers/ao_ms5607_convert.c
+++ b/src/drivers/ao_ms5607_convert.c
@@ -25,16 +25,16 @@ ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value
 	int64_t OFF;
 	int64_t SENS;
 
-	dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
+	dT = sample->temp - ((int32_t) ao_ms5607_prom.tref << 8);
 	
-	TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23);
+	TEMP = 2000 + (((int64_t) dT * ao_ms5607_prom.tempsens) >> 23);
 
 #if HAS_MS5611
-	OFF = ((int64_t) ms5607_prom.off << 16) + (((int64_t) ms5607_prom.tco * dT) >> 7);
-	SENS = ((int64_t) ms5607_prom.sens << 15) + (((int64_t) ms5607_prom.tcs * dT) >> 8);
+	OFF = ((int64_t) ao_ms5607_prom.off << 16) + (((int64_t) ao_ms5607_prom.tco * dT) >> 7);
+	SENS = ((int64_t) ao_ms5607_prom.sens << 15) + (((int64_t) ao_ms5607_prom.tcs * dT) >> 8);
 #else
-	OFF = ((int64_t) ms5607_prom.off << 17) + (((int64_t) ms5607_prom.tco * dT) >> 6);
-	SENS = ((int64_t) ms5607_prom.sens << 16) + (((int64_t) ms5607_prom.tcs * dT) >> 7);
+	OFF = ((int64_t) ao_ms5607_prom.off << 17) + (((int64_t) ao_ms5607_prom.tco * dT) >> 6);
+	SENS = ((int64_t) ao_ms5607_prom.sens << 16) + (((int64_t) ao_ms5607_prom.tcs * dT) >> 7);
 #endif
 
 	if (TEMP < 2000) {
diff --git a/src/drivers/ao_ms5607_convert_8051.c b/src/drivers/ao_ms5607_convert_8051.c
index f3a48c46..a74086d9 100644
--- a/src/drivers/ao_ms5607_convert_8051.c
+++ b/src/drivers/ao_ms5607_convert_8051.c
@@ -40,30 +40,30 @@ ao_ms5607_convert(__xdata struct ao_ms5607_sample *sample,
 	__LOCAL ao_int64_t SENS;
 	__LOCAL ao_int64_t a;
 
-	dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
+	dT = sample->temp - ((int32_t) ao_ms5607_prom.tref << 8);
 	
-	/* TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23); */
-	ao_mul64_32_32(&a, dT, ms5607_prom.tempsens);
+	/* TEMP = 2000 + (((int64_t) dT * ao_ms5607_prom.tempsens) >> 23); */
+	ao_mul64_32_32(&a, dT, ao_ms5607_prom.tempsens);
 	ao_rshift64(&a, &a, 23);
 	TEMP = 2000 + a.low;
 	/* */
 
-	/* OFF = ((int64_t) ms5607_prom.off << SHIFT_OFF) + (((int64_t) ms5607_prom.tco * dT) >> SHIFT_TCO);*/
+	/* OFF = ((int64_t) ao_ms5607_prom.off << SHIFT_OFF) + (((int64_t) ao_ms5607_prom.tco * dT) >> SHIFT_TCO);*/
 #if SHIFT_OFF > 16
-	OFF.high = ms5607_prom.off >> (32 - SHIFT_OFF);
+	OFF.high = ao_ms5607_prom.off >> (32 - SHIFT_OFF);
 #else
 	OFF.high = 0;
 #endif
-	OFF.low = (uint32_t) ms5607_prom.off << SHIFT_OFF;
-	ao_mul64_32_32(&a, ms5607_prom.tco, dT);
+	OFF.low = (uint32_t) ao_ms5607_prom.off << SHIFT_OFF;
+	ao_mul64_32_32(&a, ao_ms5607_prom.tco, dT);
 	ao_rshift64(&a, &a, SHIFT_TCO);
 	ao_plus64(&OFF, &OFF, &a);
 	/**/
 
-	/* SENS = ((int64_t) ms5607_prom.sens << SHIFT_SENS) + (((int64_t) ms5607_prom.tcs * dT) >> SHIFT_TCS); */
+	/* SENS = ((int64_t) ao_ms5607_prom.sens << SHIFT_SENS) + (((int64_t) ao_ms5607_prom.tcs * dT) >> SHIFT_TCS); */
 	SENS.high = 0;
-	SENS.low = (uint32_t) ms5607_prom.sens << SHIFT_SENS;
-	ao_mul64_32_32(&a, ms5607_prom.tcs, dT);
+	SENS.low = (uint32_t) ao_ms5607_prom.sens << SHIFT_SENS;
+	ao_mul64_32_32(&a, ao_ms5607_prom.tcs, dT);
 	ao_rshift64(&a, &a, SHIFT_TCS);
 	ao_plus64(&SENS, &SENS, &a);
 	/**/
diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index 62ae68e9..144cbd70 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -153,11 +153,11 @@ ao_pad_monitor(void)
 			 *
 			 *		v_pyro \
 			 *	100k		igniter
-			 *		output /	
+			 *		output /
 			 *	100k           \
 			 *		sense   relay
-			 *	27k            / 
-			 *		gnd ---   
+			 *	27k            /
+			 *		gnd ---
 			 *
 			 *	If the relay is closed, then sense will be 0
 			 *	If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
diff --git a/src/drivers/ao_pca9922.c b/src/drivers/ao_pca9922.c
index d376b968..6d1b5fae 100644
--- a/src/drivers/ao_pca9922.c
+++ b/src/drivers/ao_pca9922.c
@@ -66,6 +66,24 @@ ao_led_set_mask(uint8_t colors, uint8_t mask)
 	ao_led_apply();
 }
 
+#define LED_TEST	1
+#if LED_TEST
+static void
+ao_led_test(void)
+{
+	ao_cmd_hexbyte();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	ao_led_set(ao_cmd_lex_i);
+	printf("LEDs set to %02x\n", ao_cmd_lex_i);
+}
+
+static const struct ao_cmds ao_led_cmds[] = {
+	{ ao_led_test,	"l <value>\0Set LEDs to <value>" },
+	{ 0, NULL }
+};
+#endif
+
 void
 ao_led_toggle(uint8_t colors)
 {
@@ -86,4 +104,7 @@ ao_led_init(uint8_t enable)
 {
 	(void) enable;
 	ao_enable_output(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, 1);
+#if LED_TEST
+	ao_cmd_register(&ao_led_cmds[0]);
+#endif
 }
diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index d07488d0..0cdcc9fb 100644
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -22,11 +22,14 @@
 #include <ao_event.h>
 
 __xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
-static uint8_t	ao_quadrature_state[AO_QUADRATURE_COUNT];
-static int8_t	ao_quadrature_raw[AO_QUADRATURE_COUNT];
+static uint8_t  ao_quadrature_state[AO_QUADRATURE_COUNT];
 
-#define BIT(a,b)	((a) | ((b) << 1))
-#define STATE(old_a, old_b, new_a, new_b)	(((BIT(old_a, old_b) << 2) | BIT(new_a, new_b)))
+struct ao_debounce {
+	uint8_t	state;
+	uint8_t	count;
+};
+
+static struct ao_debounce ao_debounce_state[AO_QUADRATURE_COUNT][2];
 
 #define port(q)	AO_QUADRATURE_ ## q ## _PORT
 #define bita(q) AO_QUADRATURE_ ## q ## _A
@@ -35,14 +38,35 @@ static int8_t	ao_quadrature_raw[AO_QUADRATURE_COUNT];
 #define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN
 #define isr(q)  ao_quadrature_isr_ ## q
 
-static inline uint16_t
-ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b) {
-	uint16_t	v = stm_gpio_get_all(gpio);
+#define DEBOUNCE	10
 
-	return ~((((v >> pin_a) & 1) | (((v >> pin_b) & 1) << 1))) & 3;
+static uint8_t
+ao_debounce(uint8_t cur, struct ao_debounce *debounce)
+{
+	if (cur == debounce->state)
+		debounce->count = 0;
+	else {
+		if (++debounce->count == DEBOUNCE) {
+			debounce->state = cur;
+			debounce->count = 0;
+		}
+	}
+	return debounce->state;
 }
 
-#define _ao_quadrature_get(q)	ao_quadrature_read(port(q), bita(q), bitb(q))
+static uint16_t
+ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b, struct ao_debounce debounce_state[2]) {
+	uint16_t	v = ~stm_gpio_get_all(gpio);
+	uint8_t		a = (v >> pin_a) & 1;
+	uint8_t		b = (v >> pin_b) & 1;
+
+	a = ao_debounce(a, &debounce_state[0]);
+	b = ao_debounce(b, &debounce_state[1]);
+
+	return a | (b << 1);
+}
+
+#define _ao_quadrature_get(q)	ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[q])
 
 static void
 _ao_quadrature_queue(uint8_t q, int8_t step)
@@ -54,51 +78,28 @@ _ao_quadrature_queue(uint8_t q, int8_t step)
 	ao_wakeup(&ao_quadrature_count[q]);
 }
 
-static const int8_t	step[16] = {
-	[STATE(0,0,0,0)] = 0,
-	[STATE(0,0,0,1)] = -1,
-	[STATE(0,0,1,0)] = 1,
-	[STATE(0,0,1,1)] = 0,
-	[STATE(0,1,0,0)] = 1,
-	[STATE(0,1,1,0)] = 0,
-	[STATE(0,1,1,1)] = -1,
-	[STATE(1,0,0,0)] = -1,
-	[STATE(1,0,0,1)] = 0,
-	[STATE(1,0,1,0)] = 0,
-	[STATE(1,0,1,1)] = 1,
-	[STATE(1,1,0,0)] = 0,
-	[STATE(1,1,0,1)] = 1,
-	[STATE(1,1,1,0)] = -1,
-	[STATE(1,1,1,1)] = 0
-};
-
 static void
-_ao_quadrature_set(uint8_t q, uint8_t value) {
-	uint8_t v;
-	
-	v = ao_quadrature_state[q] & 3;
-	value = value & 3;
-
-	if (v == value)
-		return;
-	
-	ao_quadrature_state[q] = (v << 2) | value;
+_ao_quadrature_set(uint8_t q, uint8_t new) {
+	uint8_t	old = ao_quadrature_state[q];
 
-	ao_quadrature_raw[q] += step[ao_quadrature_state[q]];
-	if (value == 0) {
-		if (ao_quadrature_raw[q] == 4)
+	if (old != new && new == 0) {
+		if (old & 2)
 			_ao_quadrature_queue(q, 1);
-		else if (ao_quadrature_raw[q] == -4)
+		else if (old & 1)
 			_ao_quadrature_queue(q, -1);
-		ao_quadrature_raw[q] = 0;
 	}
+	ao_quadrature_state[q] = new;
 }
 
 static void
 ao_quadrature_isr(void)
 {
+#if AO_QUADRATURE_COUNT > 0
 	_ao_quadrature_set(0, _ao_quadrature_get(0));
+#endif
+#if AO_QUADRATURE_COUNT > 1
 	_ao_quadrature_set(1, _ao_quadrature_get(1));
+#endif
 }
 
 int32_t
@@ -120,6 +121,8 @@ static void
 ao_quadrature_test(void)
 {
 	uint8_t	q;
+	int32_t	c;
+	uint8_t	s;
 
 	ao_cmd_decimal();
 	q = ao_cmd_lex_i;
@@ -127,10 +130,18 @@ ao_quadrature_test(void)
 		ao_cmd_status = ao_cmd_syntax_error;
 		return;
 	}
-	printf ("count %d state %x raw %d\n",
-		ao_quadrature_count[q],
-		ao_quadrature_state[q],
-		ao_quadrature_raw[q]);
+
+	c = -10000;
+	s = 0;
+	while (ao_quadrature_count[q] != 10) {
+		if (ao_quadrature_count[q] != c ||
+		    ao_quadrature_state[q] != s) {
+			c = ao_quadrature_count[q];
+			s = ao_quadrature_state[q];
+			printf ("count %3d state %2x\n", c, s);
+			flush();
+		}
+	}
 #if 0
 	for (;;) {
 		int32_t	c;
diff --git a/src/easymega-v0.1/.gitignore b/src/easymega-v0.1/.gitignore
new file mode 100644
index 00000000..410943d5
--- /dev/null
+++ b/src/easymega-v0.1/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+easymega-*.elf
diff --git a/src/easymega-v0.1/Makefile b/src/easymega-v0.1/Makefile
new file mode 100644
index 00000000..66619852
--- /dev/null
+++ b/src/easymega-v0.1/Makefile
@@ -0,0 +1,144 @@
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_boot.h \
+	ao_companion.h \
+	ao_data.h \
+	ao_sample.h \
+	ao_pins.h \
+	altitude-pa.h \
+	ao_kalman.h \
+	ao_product.h \
+	ao_ms5607.h \
+	ao_hmc5883.h \
+	ao_mpu6000.h \
+	ao_mma655x.h \
+	ao_profile.h \
+	ao_task.h \
+	ao_whiten.h \
+	ao_sample_profile.h \
+	ao_quaternion.h \
+	math.h \
+	ao_mpu.h \
+	stm32l.h \
+	math.h \
+	Makefile
+
+#
+# Common AltOS sources
+#
+#	ao_hmc5883.c
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+#	ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+MATH_SRC=\
+	ef_acos.c \
+	ef_sqrt.c \
+	ef_rem_pio2.c \
+	kf_cos.c \
+	kf_sin.c \
+	kf_rem_pio2.c \
+	sf_copysign.c \
+	sf_cos.c \
+	sf_fabs.c \
+	sf_floor.c \
+	sf_scalbn.c \
+	sf_sin.c \
+	ef_log.c
+
+ALTOS_SRC = \
+	ao_boot_chain.c \
+	ao_interrupt.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_task.c \
+	ao_led.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_ignite.c \
+	ao_freq.c \
+	ao_dma_stm.c \
+	ao_spi_stm.c \
+	ao_data.c \
+	ao_ms5607.c \
+	ao_mma655x.c \
+	ao_hmc5883.c \
+	ao_adc_stm.c \
+	ao_beep_stm.c \
+	ao_eeprom_stm.c \
+	ao_storage.c \
+	ao_m25.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_report.c \
+	ao_i2c_stm.c \
+	ao_mpu6000.c \
+	ao_convert_pa.c \
+	ao_convert_volt.c \
+	ao_log.c \
+	ao_log_mega.c \
+	ao_sample.c \
+	ao_kalman.c \
+	ao_flight.c \
+	ao_companion.c \
+	ao_pyro.c \
+	$(MATH_SRC) \
+	$(PROFILE) \
+	$(SAMPLE_PROFILE) \
+	$(STACK_GUARD)
+
+PRODUCT=EasyMega-v0.1
+PRODUCT_DEF=-DEASYMEGA
+IDPRODUCT=0x0023
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=easymega-v0.1
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_easymega.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+../altitude-pa.h: make-altitude-pa
+	nickle $< > $@
+
+$(OBJ): $(INC)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/easymega-v0.1/ao_easymega.c b/src/easymega-v0.1/ao_easymega.c
new file mode 100644
index 00000000..e217c33c
--- /dev/null
+++ b/src/easymega-v0.1/ao_easymega.c
@@ -0,0 +1,95 @@
+/*
+ * Copyright © 2014 Bdale Garbee <bdale@gag.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_hmc5883.h>
+#include <ao_mpu6000.h>
+#include <ao_mma655x.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#include <ao_eeprom.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#include <ao_pyro.h>
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+
+int
+main(void)
+{
+	ao_clock_init();
+	
+#if HAS_STACK_GUARD
+	ao_mpu_init();
+#endif
+
+	ao_task_init();
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_GREEN);
+	ao_timer_init();
+
+	ao_i2c_init();
+	ao_spi_init();
+	ao_dma_init();
+	ao_exti_init();
+
+	ao_adc_init();
+#if HAS_BEEP
+	ao_beep_init();
+#endif
+	ao_cmd_init();
+
+#if HAS_MS5607
+	ao_ms5607_init();
+#endif
+#if HAS_HMC5883
+	ao_hmc5883_init();
+#endif
+#if HAS_MPU6000
+	ao_mpu6000_init();
+#endif
+#if HAS_MMA655X
+	ao_mma655x_init();
+#endif
+
+	ao_eeprom_init();
+	ao_storage_init();
+	
+	ao_flight_init();
+	ao_log_init();
+	ao_report_init();
+
+	ao_usb_init();
+	ao_igniter_init();
+	ao_companion_init();
+	ao_pyro_init();
+
+	ao_config_init();
+#if AO_PROFILE
+	ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+	ao_sample_profile_init();
+#endif
+	
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/easymega-v0.1/ao_pins.h b/src/easymega-v0.1/ao_pins.h
new file mode 100644
index 00000000..cb6e3980
--- /dev/null
+++ b/src/easymega-v0.1/ao_pins.h
@@ -0,0 +1,352 @@
+/*
+ * Copyright © 2014 Bdale Garbee <bdale@gag.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE		1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE			8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL		12
+#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV		3
+#define AO_RCC_CFGR_PLLDIV	(STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER	1
+#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER	2
+#define AO_RCC_CFGR_PPRE1_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER	2
+#define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1		0
+#define USE_SERIAL_1_STDIN	0
+#define SERIAL_1_PB6_PB7	0
+#define SERIAL_1_PA9_PA10	0
+
+#define HAS_SERIAL_2		0
+#define USE_SERIAL_2_STDIN	0
+#define SERIAL_2_PA2_PA3	0
+#define SERIAL_2_PD5_PD6	0
+
+#define HAS_SERIAL_3		0
+#define USE_SERIAL_3_STDIN	0
+#define SERIAL_3_PB10_PB11	0
+#define SERIAL_3_PC10_PC11	0
+#define SERIAL_3_PD8_PD9	0
+
+#define ao_gps_getchar		ao_serial1_getchar
+#define ao_gps_putchar		ao_serial1_putchar
+#define ao_gps_set_speed	ao_serial1_set_speed
+#define ao_gps_fifo		(ao_stm_usart1.rx_fifo)
+
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	(1024 * 1024)
+#define HAS_EEPROM		1
+#define USE_INTERNAL_FLASH	0
+#define USE_EEPROM_CONFIG	1
+#define USE_STORAGE_CONFIG	0
+#define HAS_USB			1
+#define HAS_BEEP		1
+#define HAS_BATTERY_REPORT	1
+#define HAS_RADIO		0
+#define HAS_TELEMETRY		0
+#define HAS_APRS		0
+
+#define HAS_SPI_1		1
+#define SPI_1_PA5_PA6_PA7	1	/* Barometer */
+#define SPI_1_PB3_PB4_PB5	1	/* Accelerometer, Gyro */
+#define SPI_1_PE13_PE14_PE15	0	
+#define SPI_1_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2		1
+#define SPI_2_PB13_PB14_PB15	1	/* Flash, Companion */
+#define SPI_2_PD1_PD3_PD4	0
+#define SPI_2_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define SPI_2_PORT		(&stm_gpiob)
+#define SPI_2_SCK_PIN		13
+#define SPI_2_MISO_PIN		14
+#define SPI_2_MOSI_PIN		15
+
+#define HAS_I2C_1		1
+#define I2C_1_PB8_PB9		1
+
+#define HAS_I2C_2		0
+#define I2C_2_PB10_PB11		0
+
+#define PACKET_HAS_SLAVE	0
+#define PACKET_HAS_MASTER	0
+
+#define LOW_LEVEL_DEBUG		0
+
+#define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOAEN
+#define LED_PORT		(&stm_gpioa)
+#define LED_PIN_RED		9
+#define LED_PIN_GREEN		10
+#define AO_LED_RED		(1 << LED_PIN_RED)
+#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE		(AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS			0
+#define HAS_FLIGHT		1
+#define HAS_ADC			1
+#define HAS_ADC_TEMP		1
+#define HAS_LOG			1
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE		1
+#define HAS_IGNITE_REPORT	1
+
+#define AO_SENSE_PYRO(p,n)	((p)->adc.sense[n])
+#define AO_SENSE_DROGUE(p)	((p)->adc.sense[4])
+#define AO_SENSE_MAIN(p)	((p)->adc.sense[5])
+#define AO_IGNITER_CLOSED	400
+#define AO_IGNITER_OPEN		60
+
+/* Pyro A */
+#define AO_PYRO_PORT_0	(&stm_gpioa)
+#define AO_PYRO_PIN_0	15
+
+/* Pyro B */
+#define AO_PYRO_PORT_1	(&stm_gpioc)
+#define AO_PYRO_PIN_1	10
+
+/* Pyro C */
+#define AO_PYRO_PORT_2	(&stm_gpiob)
+#define AO_PYRO_PIN_2	11
+
+/* Pyro D */
+#define AO_PYRO_PORT_3	(&stm_gpiob)
+#define AO_PYRO_PIN_3	10
+
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT	(&stm_gpioa)
+#define AO_IGNITER_DROGUE_PIN	0
+
+/* Main */
+#define AO_IGNITER_MAIN_PORT	(&stm_gpioa)
+#define AO_IGNITER_MAIN_PIN	1
+
+/* Number of general purpose pyro channels available */
+#define AO_PYRO_NUM	4
+
+#define AO_IGNITER_SET_DROGUE(v)	stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
+#define AO_IGNITER_SET_MAIN(v)		stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING		32
+#define AO_ADC_NUM_SENSE	6
+
+struct ao_adc {
+	int16_t			sense[AO_ADC_NUM_SENSE];
+	int16_t			v_batt;
+	int16_t			v_pbatt;
+	int16_t			temp;
+};
+
+#define AO_ADC_DUMP(p) \
+	printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+	       (p)->tick, \
+	       (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
+	       (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
+	       (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp)
+
+#define AO_ADC_SENSE_A		14
+#define AO_ADC_SENSE_A_PORT	(&stm_gpioc)
+#define AO_ADC_SENSE_A_PIN	4
+
+#define AO_ADC_SENSE_B		15
+#define AO_ADC_SENSE_B_PORT	(&stm_gpioc)
+#define AO_ADC_SENSE_B_PIN	5
+
+#define AO_ADC_SENSE_C		13
+#define AO_ADC_SENSE_C_PORT	(&stm_gpioc)
+#define AO_ADC_SENSE_C_PIN	3
+
+#define AO_ADC_SENSE_D		12
+#define AO_ADC_SENSE_D_PORT	(&stm_gpioc)
+#define AO_ADC_SENSE_D_PIN	2
+
+#define AO_ADC_SENSE_DROGUE	11
+#define AO_ADC_SENSE_DROGUE_PORT	(&stm_gpioc)
+#define AO_ADC_SENSE_DROGUE_PIN	1
+
+#define AO_ADC_SENSE_MAIN	10
+#define AO_ADC_SENSE_MAIN_PORT	(&stm_gpioc)
+#define AO_ADC_SENSE_MAIN_PIN	0
+
+#define AO_ADC_V_BATT		8
+#define AO_ADC_V_BATT_PORT	(&stm_gpiob)
+#define AO_ADC_V_BATT_PIN	0
+
+#define AO_ADC_V_PBATT		9
+#define AO_ADC_V_PBATT_PORT	(&stm_gpiob)
+#define AO_ADC_V_PBATT_PIN	1
+
+#define AO_ADC_TEMP		16
+
+#define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_GPIOAEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOEEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN		(AO_ADC_NUM_SENSE + 2)
+
+#define AO_ADC_PIN0_PORT	AO_ADC_SENSE_A_PORT
+#define AO_ADC_PIN0_PIN		AO_ADC_SENSE_A_PIN
+#define AO_ADC_PIN1_PORT	AO_ADC_SENSE_B_PORT
+#define AO_ADC_PIN1_PIN		AO_ADC_SENSE_B_PIN
+#define AO_ADC_PIN2_PORT	AO_ADC_SENSE_C_PORT
+#define AO_ADC_PIN2_PIN		AO_ADC_SENSE_C_PIN
+#define AO_ADC_PIN3_PORT	AO_ADC_SENSE_D_PORT
+#define AO_ADC_PIN3_PIN		AO_ADC_SENSE_D_PIN
+#define AO_ADC_PIN4_PORT	AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN4_PIN		AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN5_PORT	AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN5_PIN		AO_ADC_SENSE_MAIN_PIN
+#define AO_ADC_PIN6_PORT	AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN6_PIN		AO_ADC_V_BATT_PIN
+#define AO_ADC_PIN7_PORT	AO_ADC_V_PBATT_PORT
+#define AO_ADC_PIN7_PIN		AO_ADC_V_PBATT_PIN
+
+#define AO_NUM_ADC	       	(AO_ADC_NUM_SENSE + 3)
+
+#define AO_ADC_SQ1		AO_ADC_SENSE_A
+#define AO_ADC_SQ2		AO_ADC_SENSE_B
+#define AO_ADC_SQ3		AO_ADC_SENSE_C
+#define AO_ADC_SQ4		AO_ADC_SENSE_D
+#define AO_ADC_SQ5		AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ6		AO_ADC_SENSE_MAIN
+#define AO_ADC_SQ7		AO_ADC_V_BATT
+#define AO_ADC_SQ8		AO_ADC_V_PBATT
+#define AO_ADC_SQ9		AO_ADC_TEMP
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	56	/* 5.6k */
+#define AO_BATTERY_DIV_MINUS	100	/* 10k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS	100	/* 100k */
+#define AO_IGNITE_DIV_MINUS	27	/* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define AO_MS5607_PRIVATE_PINS	1
+#define AO_MS5607_CS_PORT	(&stm_gpioa)
+#define AO_MS5607_CS_PIN	3
+#define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS_PIN)
+#define AO_MS5607_MISO_PORT	(&stm_gpioa)
+#define AO_MS5607_MISO_PIN	6
+#define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO_PIN)
+#define AO_MS5607_SPI_INDEX	AO_SPI_1_PA5_PA6_PA7
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS		1
+#define AO_M25_SPI_CS_PORT	(&stm_gpiob)
+#define AO_M25_SPI_CS_PIN	12
+#define AO_M25_SPI_CS_MASK	(1 << AO_M25_SPI_CS_PIN)
+#define AO_M25_SPI_BUS		AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Mag sensor (hmc5883)
+ */
+
+#define HAS_HMC5883		1
+#define AO_HMC5883_INT_PORT	(&stm_gpioc)
+#define AO_HMC5883_INT_PIN	14
+#define AO_HMC5883_I2C_INDEX	STM_I2C_INDEX(1)
+
+/*
+ * mpu6000
+ */
+
+#define HAS_MPU6000		1
+#define AO_MPU6000_INT_PORT	(&stm_gpioc)
+#define AO_MPU6000_INT_PIN	15
+#define AO_MPU6000_SPI_BUS	AO_SPI_1_PB3_PB4_PB5
+#define AO_MPU6000_SPI_CS_PORT	(&stm_gpioc)
+#define AO_MPU6000_SPI_CS_PIN	13
+#define HAS_IMU			1
+
+/*
+ * mma655x
+ */
+
+#define HAS_MMA655X		1
+#define AO_MMA655X_SPI_INDEX	AO_SPI_1_PB3_PB4_PB5
+#define AO_MMA655X_CS_PORT	(&stm_gpioc)
+#define AO_MMA655X_CS_PIN	12
+
+#define NUM_CMDS		16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT	(&stm_gpiob)
+#define AO_COMPANION_CS_PIN	(6)
+#define AO_COMPANION_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR		0
+#define LEGACY_MONITOR		0
+#define HAS_MONITOR_PUT		0
+#define AO_MONITOR_LED		0
+#define HAS_RSSI		0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE	       	0
+#endif
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/easymega-v0.1/flash-loader/Makefile b/src/easymega-v0.1/flash-loader/Makefile
new file mode 100644
index 00000000..35312fd6
--- /dev/null
+++ b/src/easymega-v0.1/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=easymega-v0.1
+include $(TOPDIR)/stm/Makefile-flash.defs
diff --git a/src/easymega-v0.1/flash-loader/ao_pins.h b/src/easymega-v0.1/flash-loader/ao_pins.h
new file mode 100644
index 00000000..445289bf
--- /dev/null
+++ b/src/easymega-v0.1/flash-loader/ao_pins.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+/* External crystal at 8MHz */
+#define AO_HSE		8000000
+
+#include <ao_flash_stm_pins.h>
+
+/* Companion port cs_companion0 PD0 */
+
+#define AO_BOOT_PIN		1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpiob
+#define AO_BOOT_APPLICATION_PIN		6
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/easymini-v1.0/Makefile b/src/easymini-v1.0/Makefile
index 7dae2692..654be22b 100644
--- a/src/easymini-v1.0/Makefile
+++ b/src/easymini-v1.0/Makefile
@@ -32,6 +32,7 @@ ALTOS_SRC = \
 	ao_sample.c \
 	ao_data.c \
 	ao_convert_pa.c \
+	ao_convert_volt.c \
 	ao_task.c \
 	ao_log.c \
 	ao_log_mini.c \
diff --git a/src/easymini-v1.0/ao_pins.h b/src/easymini-v1.0/ao_pins.h
index e721030d..0edde5a2 100644
--- a/src/easymini-v1.0/ao_pins.h
+++ b/src/easymini-v1.0/ao_pins.h
@@ -15,8 +15,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-#define HAS_BEEP	1
-#define	HAS_LED		0
+#define HAS_BEEP		1
+#define HAS_BATTERY_REPORT	1
 
 #define AO_STACK_SIZE	384
 
@@ -134,3 +134,20 @@ struct ao_adc {
 #define AO_ADC_DUMP(p) \
 	printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \
 	       (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt)
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	100	/* 100k */
+#define AO_BATTERY_DIV_MINUS	27	/* 27k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS	100	/* 100k */
+#define AO_IGNITE_DIV_MINUS	27	/* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
diff --git a/src/core/altitude.h b/src/kernel/altitude.h
index a278bbc6..a278bbc6 100644
--- a/src/core/altitude.h
+++ b/src/kernel/altitude.h
diff --git a/src/core/ao.h b/src/kernel/ao.h
index 29ad2603..5ff9b518 100644
--- a/src/core/ao.h
+++ b/src/kernel/ao.h
@@ -394,6 +394,9 @@ struct ao_gps_tracking_orig {
 };
 
 void
+ao_gps_set_rate(uint8_t rate);
+
+void
 ao_gps(void);
 
 void
@@ -737,6 +740,7 @@ ao_igniter_init(void);
 /*
  * ao_config.c
  */
+#include <ao_config.h>
 
 #if AO_PYRO_NUM
 #include <ao_pyro.h>
@@ -749,81 +753,6 @@ ao_igniter_init(void);
 extern __xdata uint8_t ao_force_freq;
 #endif
 
-#define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	15
-
-#define AO_AES_LEN 16
-
-extern __xdata uint8_t ao_config_aes_seq;
-
-struct ao_config {
-	uint8_t		major;
-	uint8_t		minor;
-	uint16_t	main_deploy;
-	int16_t		accel_plus_g;		/* changed for minor version 2 */
-	uint8_t		_legacy_radio_channel;
-	char		callsign[AO_MAX_CALLSIGN + 1];
-	uint8_t		apogee_delay;		/* minor version 1 */
-	int16_t		accel_minus_g;		/* minor version 2 */
-	uint32_t	radio_cal;		/* minor version 3 */
-	uint32_t	flight_log_max;		/* minor version 4 */
-	uint8_t		ignite_mode;		/* minor version 5 */
-	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 */
-	uint32_t	frequency;		/* minor version 10 */
-	uint16_t	apogee_lockout;		/* minor version 11 */
-#if AO_PYRO_NUM
-	struct ao_pyro	pyro[AO_PYRO_NUM];	/* minor version 12 */
-#endif
-	uint16_t	aprs_interval;		/* minor version 13 */
-#if HAS_RADIO_POWER
-	uint8_t		radio_power;		/* minor version 14 */
-#endif
-#if HAS_RADIO_AMP
-	uint8_t		radio_amp;		/* minor version 14 */
-#endif
-#if HAS_GYRO
-	int16_t		accel_zero_along;	/* minor version 15 */
-	int16_t		accel_zero_across;	/* minor version 15 */
-	int16_t		accel_zero_through;	/* minor version 15 */
-#endif
-};
-
-#define AO_IGNITE_MODE_DUAL		0
-#define AO_IGNITE_MODE_APOGEE		1
-#define AO_IGNITE_MODE_MAIN		2
-
-#define AO_RADIO_ENABLE_CORE		1
-#define AO_RADIO_DISABLE_TELEMETRY	2
-#define AO_RADIO_DISABLE_RDF		4
-
-#define AO_PAD_ORIENTATION_ANTENNA_UP	0
-#define AO_PAD_ORIENTATION_ANTENNA_DOWN	1
-
-extern __xdata struct ao_config ao_config;
-
-#define AO_CONFIG_MAX_SIZE	128
-
-void
-_ao_config_edit_start(void);
-
-void
-_ao_config_edit_finish(void);
-
-void
-ao_config_get(void);
-
-void
-ao_config_put(void);
-
-void
-ao_config_set_radio(void);
-
-void
-ao_config_init(void);
-
 /*
  * ao_rssi.c
  */
diff --git a/src/core/ao_adc.h b/src/kernel/ao_adc.h
index 373db1c4..373db1c4 100644
--- a/src/core/ao_adc.h
+++ b/src/kernel/ao_adc.h
diff --git a/src/core/ao_aes.h b/src/kernel/ao_aes.h
index c47bc2db..c47bc2db 100644
--- a/src/core/ao_aes.h
+++ b/src/kernel/ao_aes.h
diff --git a/src/teleballoon-v1.1/ao_balloon.c b/src/kernel/ao_balloon.c
index 12752d1f..904a9c08 100644
--- a/src/teleballoon-v1.1/ao_balloon.c
+++ b/src/kernel/ao_balloon.c
@@ -31,6 +31,13 @@
 #error Please define HAS_USB
 #endif
 
+#if HAS_SENSOR_ERRORS
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t			ao_sensor_errors;
+#endif
+
+__pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
+
 /* Main flight thread. */
 
 __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
@@ -67,7 +74,8 @@ ao_flight(void)
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
-				ao_usb_disable();
+				if (!ao_usb_running)
+					ao_usb_disable();
 #endif
 
 				/* Disable packet mode in pad state */
@@ -112,9 +120,8 @@ ao_flight(void)
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
 			break;
-		case ao_flight_drogue:
+		default:
 			break;
-			
 		}
 	}
 }
diff --git a/src/core/ao_beep.h b/src/kernel/ao_beep.h
index 55f61171..9d6ecf27 100644
--- a/src/core/ao_beep.h
+++ b/src/kernel/ao_beep.h
@@ -18,6 +18,12 @@
 #ifndef _AO_BEEP_H_
 #define _AO_BEEP_H_
 
+#ifndef HAS_BEEP_CONFIG
+#if defined(USE_EEPROM_CONFIG) && USE_EEPROM_CONFIG || HAS_EEPROM
+#define HAS_BEEP_CONFIG	1
+#endif
+#endif
+
 /*
  * ao_beep.c
  */
@@ -28,9 +34,16 @@
  * frequency = 1/2 (24e6/32) / beep
  */
 
-#define AO_BEEP_LOW	150	/* 2500Hz */
-#define AO_BEEP_MID	94	/* 3989Hz */
-#define AO_BEEP_HIGH	75	/* 5000Hz */
+#define AO_BEEP_MID_DEFAULT	94	/* 3989Hz */
+
+#if HAS_BEEP_CONFIG
+#define AO_BEEP_MID	ao_config.mid_beep
+#else
+#define AO_BEEP_MID	AO_BEEP_MID_DEFAULT
+#endif
+#define AO_BEEP_LOW	AO_BEEP_MID * 150 / 94	/* 2500Hz */
+#define AO_BEEP_HIGH	AO_BEEP_MID * 75 / 94	/* 5000Hz */
+
 #define AO_BEEP_OFF	0	/* off */
 
 #define AO_BEEP_g	240	/* 1562.5Hz */
diff --git a/src/stm/ao_boot.h b/src/kernel/ao_boot.h
index e0ed4de7..62392d25 100644
--- a/src/stm/ao_boot.h
+++ b/src/kernel/ao_boot.h
@@ -31,9 +31,11 @@ ao_boot_check_chain(void);
 void
 ao_boot_reboot(uint32_t *base);
 
+#define AO_BOOT_FORCE_LOADER	((uint32_t *) 0)
+
 static inline void
 ao_boot_loader(void) {
-	ao_boot_reboot(AO_BOOT_LOADER_BASE);
+	ao_boot_reboot(AO_BOOT_FORCE_LOADER);
 }
 
 #endif /* _AO_BOOT_H_ */
diff --git a/src/core/ao_btm.h b/src/kernel/ao_btm.h
index 484e5d7f..484e5d7f 100644
--- a/src/core/ao_btm.h
+++ b/src/kernel/ao_btm.h
diff --git a/src/core/ao_cmd.c b/src/kernel/ao_cmd.c
index 4ebaa607..0052bdce 100644
--- a/src/core/ao_cmd.c
+++ b/src/kernel/ao_cmd.c
@@ -23,7 +23,11 @@ __pdata uint32_t ao_cmd_lex_u32;
 __pdata char	ao_cmd_lex_c;
 __pdata enum ao_cmd_status ao_cmd_status;
 
+#if AO_PYRO_NUM
+#define CMD_LEN 128
+#else
 #define CMD_LEN	48
+#endif
 
 static __xdata char	cmd_line[CMD_LEN];
 static __pdata uint8_t	cmd_len;
@@ -274,20 +278,32 @@ version(void)
 	printf("manufacturer     %s\n"
 	       "product          %s\n"
 	       "serial-number    %u\n"
-#if HAS_FLIGHT
+#if HAS_FLIGHT || HAS_TRACKER
 	       "current-flight   %u\n"
 #endif
 #if HAS_LOG
 	       "log-format       %u\n"
+#if !DISABLE_LOG_SPACE
+	       "log-space	 %lu\n"
+#endif
+#endif
+#if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND)
+	       "program-space    %u\n"
 #endif
 	       , ao_manufacturer
 	       , ao_product
 	       , ao_serial_number
-#if HAS_FLIGHT
+#if HAS_FLIGHT || HAS_TRACKER
 	       , ao_flight_number
 #endif
 #if HAS_LOG
 	       , ao_log_format
+#if !DISABLE_LOG_SPACE
+	       , (unsigned long) ao_storage_log_max
+#endif
+#endif
+#if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND)
+	       , (uint32_t) AO_BOOT_APPLICATION_BOUND - (uint32_t) AO_BOOT_APPLICATION_BASE
 #endif
 		);
 	printf("software-version %s\n", ao_version);
diff --git a/src/core/ao_companion.h b/src/kernel/ao_companion.h
index 035325a3..035325a3 100644
--- a/src/core/ao_companion.h
+++ b/src/kernel/ao_companion.h
diff --git a/src/core/ao_config.c b/src/kernel/ao_config.c
index 4482f673..71445335 100644
--- a/src/core/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -22,6 +22,12 @@
 #include <ao_sample.h>
 #include <ao_data.h>
 #endif
+#if HAS_BEEP
+#include <ao_beep.h>
+#endif
+#if HAS_TRACKER
+#include <ao_tracker.h>
+#endif
 
 __xdata struct ao_config ao_config;
 __pdata uint8_t ao_config_loaded;
@@ -38,6 +44,7 @@ __xdata uint8_t ao_config_mutex;
 #define AO_CONFIG_DEFAULT_APOGEE_DELAY	0
 #define AO_CONFIG_DEFAULT_IGNITE_MODE	AO_IGNITE_MODE_DUAL
 #define AO_CONFIG_DEFAULT_PAD_ORIENTATION	AO_PAD_ORIENTATION_ANTENNA_UP
+#define AO_CONFIG_DEFAULT_PYRO_TIME	AO_MS_TO_TICKS(50)
 #if HAS_EEPROM
 #ifndef USE_INTERNAL_FLASH
 #error Please define USE_INTERNAL_FLASH
@@ -127,7 +134,7 @@ _ao_config_get(void)
 			ao_config.radio_cal = ao_radio_cal;
 #endif
 		/* Fixups for minor version 4 */
-#if HAS_FLIGHT
+#if HAS_LOG
 		if (minor < 4)
 			ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
 #endif
@@ -171,6 +178,20 @@ _ao_config_get(void)
 			ao_config.accel_minus_g = 0;
 		}
 #endif
+#if HAS_BEEP_CONFIG
+		if (minor < 16)
+			ao_config.mid_beep = AO_BEEP_MID_DEFAULT;
+#endif
+#if HAS_TRACKER
+		if (minor < 17) {
+			ao_config.tracker_motion = AO_TRACKER_MOTION_DEFAULT;
+			ao_config.tracker_interval = AO_TRACKER_INTERVAL_DEFAULT;
+		}
+#endif
+#if AO_PYRO_NUM
+		if (minor < 18)
+			ao_config.pyro_time = AO_CONFIG_DEFAULT_PYRO_TIME;
+#endif
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
 	}
@@ -357,7 +378,7 @@ ao_config_accel_calibrate_set(void) __reentrant
 	int16_t	accel_across_up = 0, accel_across_down = 0;
 	int16_t	accel_through_up = 0, accel_through_down = 0;
 #endif
-	
+
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
 		return;
@@ -555,7 +576,7 @@ ao_config_radio_enable_set(void) __reentrant
 	_ao_config_edit_finish();
 }
 #endif /* HAS_RADIO */
-	
+
 #if HAS_AES
 
 __xdata uint8_t	ao_config_aes_seq = 1;
@@ -650,6 +671,72 @@ ao_config_radio_power_set(void)
 
 #endif
 
+#if HAS_BEEP_CONFIG
+void
+ao_config_beep_show(void)
+{
+	printf ("Beeper setting: %d\n", ao_config.mid_beep);
+}
+
+void
+ao_config_beep_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.mid_beep = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+#endif
+
+#if HAS_TRACKER
+void
+ao_config_tracker_show(void)
+{
+	printf ("Tracker setting: %d %d\n",
+		ao_config.tracker_motion,
+		ao_config.tracker_interval);
+}
+
+void
+ao_config_tracker_set(void)
+{
+	uint16_t	m, i;
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	m = ao_cmd_lex_i;
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	i = ao_cmd_lex_i;
+	_ao_config_edit_start();
+	ao_config.tracker_motion = m;
+	ao_config.tracker_interval = i;
+	_ao_config_edit_finish();
+}
+#endif /* HAS_TRACKER */
+
+#if AO_PYRO_NUM
+void
+ao_config_pyro_time_show(void)
+{
+	printf ("Pyro time: %d\n", ao_config.pyro_time);
+}
+
+void
+ao_config_pyro_time_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.pyro_time = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+#endif
+
 struct ao_config_var {
 	__code char	*str;
 	void		(*set)(void) __reentrant;
@@ -697,7 +784,7 @@ __code struct ao_config_var ao_config_vars[] = {
 #if HAS_ACCEL
 	{ "a <+g> <-g>\0Accel calib (0 for auto)",
 	  ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
-	{ "o <0 antenna up, 1 antenna down>\0Set pad orientation",
+	{ "o <0 antenna up, 1 antenna down>\0Pad orientation",
 	  ao_config_pad_orientation_set,ao_config_pad_orientation_show },
 #endif /* HAS_ACCEL */
 #if HAS_LOG
@@ -705,21 +792,31 @@ __code struct ao_config_var ao_config_vars[] = {
 	  ao_config_log_set,		ao_config_log_show },
 #endif
 #if HAS_IGNITE
-	{ "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
+	{ "i <0 dual, 1 apogee, 2 main>\0Igniter mode",
 	  ao_config_ignite_mode_set,	ao_config_ignite_mode_show },
 #endif
 #if HAS_AES
-	{ "k <32 hex digits>\0Set AES encryption key",
+	{ "k <32 hex digits>\0AES encryption key",
 	  ao_config_key_set, ao_config_key_show },
 #endif
 #if AO_PYRO_NUM
-	{ "P <n,?>\0Configure pyro channels",
+	{ "P <n,?>\0Pyro channels",
 	  ao_pyro_set, ao_pyro_show },
+	{ "I <ticks>\0Pyro firing time",
+	  ao_config_pyro_time_set, ao_config_pyro_time_show },
 #endif
 #if HAS_APRS
 	{ "A <secs>\0APRS packet interval (0 disable)",
 	  ao_config_aprs_set, ao_config_aprs_show },
 #endif
+#if HAS_BEEP_CONFIG
+	{ "b <val>\0Beeper tone (freq = 1/2 (24e6/32) / beep",
+	  ao_config_beep_set, ao_config_beep_show },
+#endif
+#if HAS_TRACKER
+	{ "t <motion> <interval>\0Tracker configuration",
+	  ao_config_tracker_set, ao_config_tracker_show },
+#endif
 	{ "s\0Show",
 	  ao_config_show,		0 },
 #if HAS_EEPROM
diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h
new file mode 100644
index 00000000..2b5cd352
--- /dev/null
+++ b/src/kernel/ao_config.h
@@ -0,0 +1,146 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_CONFIG_H_
+#define _AO_CONFIG_H_
+
+#include <ao_pyro.h>
+
+#ifndef USE_STORAGE_CONFIG
+#define USE_STORAGE_CONFIG 1
+#endif
+
+#ifndef USE_EEPROM_CONFIG
+#define USE_EEPROM_CONFIG 0
+#endif
+
+#if USE_STORAGE_CONFIG
+
+#include <ao_storage.h>
+
+#define ao_config_setup() 		ao_storage_setup()
+#define ao_config_erase()		ao_storage_erase(ao_storage_config)
+#define ao_config_write(pos,bytes, len)	ao_storage_write(ao_storage_config+(pos), bytes, len)
+#define ao_config_read(pos,bytes, len)	ao_storage_read(ao_storage_config+(pos), bytes, len)
+#define ao_config_flush()		ao_storage_flush()
+
+#endif
+
+#if USE_EEPROM_CONFIG
+
+#include <ao_eeprom.h>
+
+#define ao_config_setup()
+#define ao_config_erase()
+#define ao_config_write(pos,bytes, len)	ao_eeprom_write(pos, bytes, len)
+#define ao_config_read(pos,bytes, len)	ao_eeprom_read(pos, bytes, len)
+#define ao_config_flush()
+
+#endif
+
+#define AO_CONFIG_MAJOR	1
+#define AO_CONFIG_MINOR	18
+
+#define AO_AES_LEN 16
+
+extern __xdata uint8_t ao_config_aes_seq;
+
+struct ao_config {
+	uint8_t		major;
+	uint8_t		minor;
+	uint16_t	main_deploy;
+	int16_t		accel_plus_g;		/* changed for minor version 2 */
+	uint8_t		_legacy_radio_channel;
+	char		callsign[AO_MAX_CALLSIGN + 1];
+	uint8_t		apogee_delay;		/* minor version 1 */
+	int16_t		accel_minus_g;		/* minor version 2 */
+	uint32_t	radio_cal;		/* minor version 3 */
+	uint32_t	flight_log_max;		/* minor version 4 */
+	uint8_t		ignite_mode;		/* minor version 5 */
+	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 */
+	uint32_t	frequency;		/* minor version 10 */
+	uint16_t	apogee_lockout;		/* minor version 11 */
+#if AO_PYRO_NUM
+	struct ao_pyro	pyro[AO_PYRO_NUM];	/* minor version 12 */
+#endif
+	uint16_t	aprs_interval;		/* minor version 13 */
+#if HAS_RADIO_POWER
+	uint8_t		radio_power;		/* minor version 14 */
+#endif
+#if HAS_RADIO_AMP
+	uint8_t		radio_amp;		/* minor version 14 */
+#endif
+#if HAS_GYRO
+	int16_t		accel_zero_along;	/* minor version 15 */
+	int16_t		accel_zero_across;	/* minor version 15 */
+	int16_t		accel_zero_through;	/* minor version 15 */
+#endif
+#if HAS_BEEP
+	uint8_t		mid_beep;		/* minor version 16 */
+#endif
+#if HAS_TRACKER
+	uint16_t	tracker_motion;		/* minor version 17 */
+	uint8_t		tracker_interval;	/* minor version 17 */
+#endif
+#if AO_PYRO_NUM
+	uint16_t	pyro_time;		/* minor version 18 */
+#endif
+};
+
+#define AO_IGNITE_MODE_DUAL		0
+#define AO_IGNITE_MODE_APOGEE		1
+#define AO_IGNITE_MODE_MAIN		2
+
+#define AO_RADIO_ENABLE_CORE		1
+#define AO_RADIO_DISABLE_TELEMETRY	2
+#define AO_RADIO_DISABLE_RDF		4
+
+#define AO_PAD_ORIENTATION_ANTENNA_UP	0
+#define AO_PAD_ORIENTATION_ANTENNA_DOWN	1
+
+#ifndef AO_CONFIG_MAX_SIZE
+#define AO_CONFIG_MAX_SIZE	128
+#endif
+
+/* Make sure AO_CONFIG_MAX_SIZE is big enough */
+typedef uint8_t	config_check_space[(int) (AO_CONFIG_MAX_SIZE - sizeof (struct ao_config))];
+
+extern __xdata struct ao_config ao_config;
+extern __pdata uint8_t ao_config_loaded;
+
+void
+_ao_config_edit_start(void);
+
+void
+_ao_config_edit_finish(void);
+
+void
+ao_config_get(void);
+
+void
+ao_config_put(void);
+
+void
+ao_config_set_radio(void);
+
+void
+ao_config_init(void);
+
+#endif /* _AO_CONFIG_H_ */
diff --git a/src/core/ao_convert.c b/src/kernel/ao_convert.c
index aa9b5f48..aa9b5f48 100644
--- a/src/core/ao_convert.c
+++ b/src/kernel/ao_convert.c
diff --git a/src/core/ao_convert_pa.c b/src/kernel/ao_convert_pa.c
index fe6e0ef6..fe6e0ef6 100644
--- a/src/core/ao_convert_pa.c
+++ b/src/kernel/ao_convert_pa.c
diff --git a/src/core/ao_convert_pa_test.c b/src/kernel/ao_convert_pa_test.c
index 7d5b1922..7d5b1922 100644
--- a/src/core/ao_convert_pa_test.c
+++ b/src/kernel/ao_convert_pa_test.c
diff --git a/src/core/ao_convert_test.c b/src/kernel/ao_convert_test.c
index 87e76841..87e76841 100644
--- a/src/core/ao_convert_test.c
+++ b/src/kernel/ao_convert_test.c
diff --git a/src/core/ao_convert_volt.c b/src/kernel/ao_convert_volt.c
index 8556d423..f697e748 100644
--- a/src/core/ao_convert_volt.c
+++ b/src/kernel/ao_convert_volt.c
@@ -17,17 +17,23 @@
 
 #include "ao.h"
 
-#define scale(v,p,m)	((int32_t) (v) * (AO_ADC_REFERENCE_DV * ((p) + (m))) / (AO_ADC_MAX * (m)))
+#define MUL(p,m)	((int32_t) AO_ADC_REFERENCE_DV * ((p) + (m)))
+#define ADD(p,m)	(MUL(p,m)/2)
+#define DIV(p,m)	((int32_t) AO_ADC_MAX * (m))
+#define scale(v,p,m)	(((int32_t) (v) * MUL(p,m) + ADD(p,m)) / DIV(p,m))
 
+#if HAS_APRS || HAS_BATTERY_REPORT
 int16_t
 ao_battery_decivolt(int16_t adc)
 {
 	return scale(adc, AO_BATTERY_DIV_PLUS, AO_BATTERY_DIV_MINUS);
 }
+#endif
 
+#if HAS_APRS && defined(AO_IGNITE_DIV_PLUS)
 int16_t
 ao_ignite_decivolt(int16_t adc)
 {
 	return scale(adc, AO_IGNITE_DIV_PLUS, AO_IGNITE_DIV_MINUS);
 }
-
+#endif
diff --git a/src/core/ao_data.c b/src/kernel/ao_data.c
index 6a3d02a1..6a3d02a1 100644
--- a/src/core/ao_data.c
+++ b/src/kernel/ao_data.c
diff --git a/src/core/ao_data.h b/src/kernel/ao_data.h
index c4b062fd..c4b062fd 100644
--- a/src/core/ao_data.h
+++ b/src/kernel/ao_data.h
diff --git a/src/core/ao_dbg.h b/src/kernel/ao_dbg.h
index 181e6ec2..181e6ec2 100644
--- a/src/core/ao_dbg.h
+++ b/src/kernel/ao_dbg.h
diff --git a/src/core/ao_debounce.c b/src/kernel/ao_debounce.c
index b9d67729..b9d67729 100644
--- a/src/core/ao_debounce.c
+++ b/src/kernel/ao_debounce.c
diff --git a/src/core/ao_debounce.h b/src/kernel/ao_debounce.h
index 19c620f5..19c620f5 100644
--- a/src/core/ao_debounce.h
+++ b/src/kernel/ao_debounce.h
diff --git a/src/kernel/ao_distance.c b/src/kernel/ao_distance.c
new file mode 100644
index 00000000..5654182a
--- /dev/null
+++ b/src/kernel/ao_distance.c
@@ -0,0 +1,123 @@
+/*
+ * Copyright © 2014 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_distance.h>
+
+static uint32_t
+ao_dist(int32_t a, int32_t b)
+{
+	int32_t	d = a - b;
+	if (d < 0)
+		d = -d;
+
+	return (uint32_t) ((int64_t) d * 111198 / 10000000);
+}
+
+static uint32_t
+ao_lat_dist(int32_t lat_a, int32_t lat_b)
+{
+	return ao_dist(lat_a, lat_b);
+}
+
+static const 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 uint32_t
+ao_lon_dist(int32_t lon_a, int32_t lon_b)
+{
+	uint8_t		c = cos_table[lon_a >> 24];
+	uint32_t	lon_dist;
+
+	/* check if it's shorter to go the other way around */
+	if ((lon_a >> 1) < (lon_b >> 1) - (1800000000 >> 1))
+		lon_a += 3600000000;
+	lon_dist = ao_dist(lon_a, lon_b);
+	if (c) {
+		if (lon_dist & 0x7f800000)
+			lon_dist = (lon_dist >> 8) * c;
+		else
+			lon_dist = (lon_dist * (int16_t) c) >> 8;
+	}
+	return lon_dist;
+}
+
+static uint32_t sqr(uint32_t x) { return x * x; }
+
+uint32_t
+ao_distance(int32_t lat_a, int32_t lon_a, int32_t lat_b, int32_t lon_b)
+{
+	uint32_t	lat_dist = ao_lat_dist(lat_a, lat_b);
+	uint32_t	lon_dist = ao_lon_dist(lon_a, lon_b);
+
+	return ao_sqrt (sqr(lat_dist) + sqr(lon_dist));
+}
diff --git a/src/kernel/ao_distance.h b/src/kernel/ao_distance.h
new file mode 100644
index 00000000..6762434e
--- /dev/null
+++ b/src/kernel/ao_distance.h
@@ -0,0 +1,25 @@
+/*
+ * Copyright © 2014 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_DISTANCE_H_
+#define _AO_DISTANCE_H_
+#include <stdint.h>
+
+uint32_t
+ao_distance(int32_t lat_a, int32_t lon_a, int32_t lat_b, int32_t lon_b);
+
+#endif /* _AO_DISTANCE_H_ */
diff --git a/src/core/ao_ee_fake.c b/src/kernel/ao_ee_fake.c
index 7fcfcab0..7fcfcab0 100644
--- a/src/core/ao_ee_fake.c
+++ b/src/kernel/ao_ee_fake.c
diff --git a/src/core/ao_eeprom.h b/src/kernel/ao_eeprom.h
index 915522bf..915522bf 100644
--- a/src/core/ao_eeprom.h
+++ b/src/kernel/ao_eeprom.h
diff --git a/src/kernel/ao_fake_flight.c b/src/kernel/ao_fake_flight.c
new file mode 100644
index 00000000..11329bb9
--- /dev/null
+++ b/src/kernel/ao_fake_flight.c
@@ -0,0 +1,219 @@
+/*
+ * Copyright © 2014 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_fake_flight.h>
+#if HAS_MS5607 || HAS_MS5611
+#include <ao_ms5607.h>
+#endif
+
+uint8_t			ao_fake_flight_active;
+
+static uint8_t		ao_fake_has_cur;
+static volatile uint8_t	ao_fake_has_next;
+static uint8_t		ao_fake_has_offset;
+static uint16_t		ao_fake_tick_offset;
+static struct ao_data	ao_fake_cur, ao_fake_next;
+
+void
+ao_fake_flight_poll(void)
+{
+	if (ao_fake_has_next && (ao_tick_count - ao_fake_next.tick) >= 0) {
+		ao_fake_cur = ao_fake_next;
+		ao_fake_has_next = 0;
+		ao_wakeup((void *) &ao_fake_has_next);
+		ao_fake_has_cur = 1;
+	}
+	if (!ao_fake_has_cur)
+		return;
+	ao_data_ring[ao_data_head] = ao_fake_cur;
+	ao_data_ring[ao_data_head].tick = ao_tick_count;
+	ao_data_head = ao_data_ring_next(ao_data_head);
+	ao_wakeup((void *) &ao_data_head);
+}
+
+static uint8_t
+ao_fake_data_read(void)
+{
+	uint8_t	i;
+	uint8_t	*d = (void *) &ao_fake_next;
+
+	if (getchar() == 0)
+		return FALSE;
+	for (i = 0; i < sizeof (struct ao_data); i++)
+		*d++ = getchar();
+	if (!ao_fake_has_offset) {
+		ao_fake_tick_offset = (ao_tick_count + 1000) - ao_fake_next.tick;
+		ao_fake_next.tick = ao_tick_count;
+		ao_fake_has_offset = 1;
+	} else
+		ao_fake_next.tick += ao_fake_tick_offset;
+	ao_fake_has_next = 1;
+	return TRUE;
+}
+
+static void
+ao_fake_calib_get(struct ao_fake_calib *calib)
+{
+#if HAS_ACCEL
+	calib->accel_plus_g = ao_config.accel_plus_g;
+	calib->accel_minus_g = ao_config.accel_minus_g;
+#endif
+#if HAS_GYRO
+	calib->accel_zero_along = ao_config.accel_zero_along;
+	calib->accel_zero_across = ao_config.accel_zero_across;
+	calib->accel_zero_through = ao_config.accel_zero_through;
+#endif
+#if HAS_MS5607 || HAS_MS5611
+	calib->ms5607_prom = ao_ms5607_prom;
+#endif
+}
+
+static void
+ao_fake_calib_set(struct ao_fake_calib *calib)
+{
+#if HAS_ACCEL
+	ao_config.accel_plus_g = calib->accel_plus_g;
+	ao_config.accel_minus_g = calib->accel_minus_g;
+#endif
+#if HAS_GYRO
+	ao_config.accel_zero_along = calib->accel_zero_along;
+	ao_config.accel_zero_across = calib->accel_zero_across;
+	ao_config.accel_zero_through = calib->accel_zero_through;
+#endif
+#if HAS_MS5607 || HAS_MS5611
+	ao_ms5607_prom = calib->ms5607_prom;
+#endif
+}
+
+static uint8_t
+ao_fake_calib_read(void)
+{
+	struct ao_fake_calib	ao_calib;
+	uint8_t			*d = (void *) &ao_calib;
+	uint16_t		i;
+
+	/* Read calibration data */
+	for (i = 0; i < sizeof (struct ao_fake_calib); i++)
+		*d++ = getchar();
+	if (ao_calib.major != AO_FAKE_CALIB_MAJOR
+#if AO_FAKE_CALIB_MINOR != 0
+	    || ao_calib.minor < AO_FAKE_CALIB_MINOR
+#endif
+		) {
+		printf ("Calibration data major version mismatch %d.%d <= %d.%d\n",
+			ao_calib.major, ao_calib.minor, AO_FAKE_CALIB_MAJOR, AO_FAKE_CALIB_MINOR);
+		return FALSE;
+	}
+	ao_fake_calib_set(&ao_calib);
+	return TRUE;
+}
+
+static void
+ao_fake_flight(void)
+{
+	int16_t			calib_size, data_size;
+	struct ao_fake_calib	save_calib;
+	uint16_t		my_pyro_fired = 0;
+	enum ao_flight_state	my_state = ao_flight_invalid;
+	int			i;
+
+	ao_cmd_hex();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	calib_size = ao_cmd_lex_i;
+	ao_cmd_hex();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	data_size = ao_cmd_lex_i;
+	if ((unsigned) calib_size != sizeof (struct ao_fake_calib)) {
+		printf ("calib size %d larger than actual size %d\n",
+			calib_size, sizeof (struct ao_fake_calib));
+		ao_cmd_status = ao_cmd_syntax_error;
+		return;
+	}
+	if (data_size != sizeof (struct ao_data)) {
+		printf ("data size %d doesn't match actual size %d\n",
+			data_size, sizeof (struct ao_data));
+		ao_cmd_status = ao_cmd_syntax_error;
+		return;
+	}
+	ao_fake_calib_get(&save_calib);
+	if (!ao_fake_calib_read())
+		return;
+
+	ao_fake_has_next = 0;
+	ao_fake_has_cur = 0;
+	ao_fake_flight_active = 1;
+	ao_sample_init();
+#if PACKET_HAS_SLAVE
+	ao_packet_slave_stop();
+#endif
+#if AO_LED_RED
+	/* Turn on the LED to indicate startup */
+	ao_led_on(AO_LED_RED);
+#endif
+	ao_flight_state = ao_flight_startup;
+	for (;;) {
+		if (my_state != ao_flight_state) {
+			printf("state %d\n", ao_flight_state);
+			my_state = ao_flight_state;
+			flush();
+		}
+		if (my_pyro_fired != ao_pyro_fired) {
+			int	pyro;
+
+			for (pyro = 0; pyro < AO_PYRO_NUM; pyro++) {
+				uint16_t	bit = (1 << pyro);
+				if (!(my_pyro_fired & bit) && (ao_pyro_fired & bit))
+					printf ("fire %d\n", pyro);
+			}
+			my_pyro_fired = ao_pyro_fired;
+		}
+		while (ao_fake_has_next)
+			ao_sleep((void *) &ao_fake_has_next);
+		if (!ao_fake_data_read())
+			break;
+	}
+
+	/* Wait 20 seconds to see if we enter landed state */
+	for (i = 0; i < 200; i++)
+	{
+		if (ao_flight_state == ao_flight_landed)
+			break;
+		ao_delay(AO_MS_TO_TICKS(100));
+	}
+#if AO_LED_RED
+	/* Turn on the LED to indicate startup */
+	ao_led_on(AO_LED_RED);
+#endif
+	ao_fake_flight_active = 0;
+	ao_flight_state = ao_flight_startup;
+	ao_sample_init();
+	ao_fake_calib_set(&save_calib);
+}
+
+static const struct ao_cmds ao_fake_flight_cmds[] = {
+	{ ao_fake_flight,	"F <calib-size> <data-size>\0Start fake flight" },
+	{ 0, NULL }
+};
+
+void
+ao_fake_flight_init(void)
+{
+	ao_cmd_register(&ao_fake_flight_cmds[0]);
+}
diff --git a/src/kernel/ao_fake_flight.h b/src/kernel/ao_fake_flight.h
new file mode 100644
index 00000000..172fc589
--- /dev/null
+++ b/src/kernel/ao_fake_flight.h
@@ -0,0 +1,53 @@
+/*
+ * Copyright © 2014 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_FAKE_FLIGHT_H_
+#define _AO_FAKE_FLIGHT_H_
+#if HAS_MS5607 || HAS_MS5611
+#include <ao_ms5607.h>
+#endif
+
+extern uint8_t	ao_fake_flight_active;
+
+#define AO_FAKE_CALIB_MAJOR	1
+#define AO_FAKE_CALIB_MINOR	0
+
+struct ao_fake_calib {
+	uint16_t		major;
+	uint16_t		minor;
+#if HAS_ACCEL
+	int16_t			accel_plus_g;
+	int16_t			accel_minus_g;
+#endif
+#if HAS_GYRO
+	int16_t			accel_zero_along;
+	int16_t			accel_zero_across;
+	int16_t			accel_zero_through;
+	uint16_t		pad30;
+#endif
+#if HAS_MS5607 || HAS_MS5611
+	struct ao_ms5607_prom	ms5607_prom;
+#endif
+};
+
+void
+ao_fake_flight_poll(void);
+
+void
+ao_fake_flight_init(void);
+
+#endif /* _AO_FAKE_FLIGHT_H_ */
diff --git a/src/core/ao_fec.h b/src/kernel/ao_fec.h
index 618756c1..618756c1 100644
--- a/src/core/ao_fec.h
+++ b/src/kernel/ao_fec.h
diff --git a/src/core/ao_fec_rx.c b/src/kernel/ao_fec_rx.c
index c4f5559a..c4f5559a 100644
--- a/src/core/ao_fec_rx.c
+++ b/src/kernel/ao_fec_rx.c
diff --git a/src/core/ao_fec_tx.c b/src/kernel/ao_fec_tx.c
index 4941d745..4941d745 100644
--- a/src/core/ao_fec_tx.c
+++ b/src/kernel/ao_fec_tx.c
diff --git a/src/core/ao_flight.c b/src/kernel/ao_flight.c
index 702c3403..2b433ee9 100644
--- a/src/core/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -36,6 +36,10 @@
 #error Please define HAS_USB
 #endif
 
+#if HAS_FAKE_FLIGHT
+#include <ao_fake_flight.h>
+#endif
+
 #ifndef HAS_TELEMETRY
 #define HAS_TELEMETRY	HAS_RADIO
 #endif
@@ -130,7 +134,10 @@ ao_flight(void)
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
-				ao_usb_disable();
+#if HAS_FAKE_FLIGHT
+				if (!ao_fake_flight_active)
+#endif
+					ao_usb_disable();
 #endif
 
 #if !HAS_ACCEL && PACKET_HAS_SLAVE
@@ -143,7 +150,7 @@ ao_flight(void)
 				ao_rdf_set(1);
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 #endif
-#if HAS_LED
+#if AO_LED_RED
 				/* signal successful initialization by turning off the LED */
 				ao_led_off(AO_LED_RED);
 #endif
@@ -160,7 +167,7 @@ ao_flight(void)
 				ao_packet_slave_start();
 #endif
 
-#if HAS_LED
+#if AO_LED_RED
 				/* signal successful initialization by turning off the LED */
 				ao_led_off(AO_LED_RED);
 #endif
@@ -170,7 +177,6 @@ ao_flight(void)
 
 			break;
 		case ao_flight_pad:
-
 			/* pad to boost:
 			 *
 			 * barometer: > 20m vertical motion
diff --git a/src/core/ao_flight.h b/src/kernel/ao_flight.h
index 01d21c11..01d21c11 100644
--- a/src/core/ao_flight.h
+++ b/src/kernel/ao_flight.h
diff --git a/src/core/ao_flight_nano.c b/src/kernel/ao_flight_nano.c
index 406d81ad..406d81ad 100644
--- a/src/core/ao_flight_nano.c
+++ b/src/kernel/ao_flight_nano.c
diff --git a/src/core/ao_freq.c b/src/kernel/ao_freq.c
index 12496f6f..12496f6f 100644
--- a/src/core/ao_freq.c
+++ b/src/kernel/ao_freq.c
diff --git a/src/core/ao_gps_print.c b/src/kernel/ao_gps_print.c
index 47c945d7..47c945d7 100644
--- a/src/core/ao_gps_print.c
+++ b/src/kernel/ao_gps_print.c
diff --git a/src/core/ao_gps_report.c b/src/kernel/ao_gps_report.c
index 07201ac2..07201ac2 100644
--- a/src/core/ao_gps_report.c
+++ b/src/kernel/ao_gps_report.c
diff --git a/src/core/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c
index 5e3c71bf..cb0c0fd9 100644
--- a/src/core/ao_gps_report_mega.c
+++ b/src/kernel/ao_gps_report_mega.c
@@ -18,6 +18,43 @@
 #include "ao.h"
 #include "ao_log.h"
 
+#ifndef GPS_SPARSE_LOG
+#define GPS_SPARSE_LOG	0
+#endif
+
+#if GPS_SPARSE_LOG
+static int32_t	prev_lat, prev_lon, int16_t prev_alt;
+static uint8_t	has_prev, unmoving;
+
+#define GPS_SPARSE_UNMOVING_REPORTS	10
+#define GPS_SPARSE_UNMOVING_GROUND	10
+#define GPS_SPARSE_UNMOVING_AIR		10
+
+static uint8_t
+ao_gps_sparse_should_log(int32_t lat, int32_t lon, int16_t alt)
+{
+	uint8_t	ret = 1;
+
+	if (has_prev && ao_log_running) {
+		uint32_t	h = ao_distance(prev_lat, prev_lon, lat, lon);
+		uint16_t	v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
+
+		if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
+			if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
+				++unmoving;
+		} else
+			unmoving = 0;
+	} else
+		unmoving = 0;
+
+	prev_lat = lat;
+	prev_lon = lon;
+	prev_alt = alt;
+	has_prev = 1;
+	return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
+}
+#endif
+
 void
 ao_gps_report_mega(void)
 {
@@ -38,7 +75,14 @@ ao_gps_report_mega(void)
 		ao_gps_new = 0;
 		ao_mutex_put(&ao_gps_mutex);
 
+#if GPS_SPARSE_LOG
+		/* Don't log data if GPS has a fix and hasn't moved for a while */
+		if ((gps_data.flags & AO_GPS_VALID) &&
+		    !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, gps_data.altitude))
+			continue;
+#endif
 		if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+
 			gps_log.tick = ao_gps_tick;
 			gps_log.type = AO_LOG_GPS_TIME;
 			gps_log.u.gps.latitude = gps_data.latitude;
diff --git a/src/core/ao_gps_report_metrum.c b/src/kernel/ao_gps_report_metrum.c
index 696a833b..696a833b 100644
--- a/src/core/ao_gps_report_metrum.c
+++ b/src/kernel/ao_gps_report_metrum.c
diff --git a/src/core/ao_gps_show.c b/src/kernel/ao_gps_show.c
index 3a05e35a..3a05e35a 100644
--- a/src/core/ao_gps_show.c
+++ b/src/kernel/ao_gps_show.c
diff --git a/src/core/ao_host.h b/src/kernel/ao_host.h
index 6eb752c9..6eb752c9 100644
--- a/src/core/ao_host.h
+++ b/src/kernel/ao_host.h
diff --git a/src/core/ao_ignite.c b/src/kernel/ao_ignite.c
index 823d003c..823d003c 100644
--- a/src/core/ao_ignite.c
+++ b/src/kernel/ao_ignite.c
diff --git a/src/core/ao_int64.c b/src/kernel/ao_int64.c
index aa23dbe0..ca75751b 100644
--- a/src/core/ao_int64.c
+++ b/src/kernel/ao_int64.c
@@ -17,8 +17,6 @@
 
 #include <ao_int64.h>
 
-__pdata ao_int64_t *__data ao_64r, *__data ao_64a, *__data ao_64b;
-
 void ao_plus64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, __pdata ao_int64_t *b) __FATTR {
 	__LOCAL uint32_t	t;
 
@@ -151,8 +149,8 @@ void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b)
 		ao_neg64(&ap, a);
 		a = &ap;
 		negative++;
-	} else
-		ao_umul64_64_16(r, a, b);
+	}
+	ao_umul64_64_16(r, a, b);
 	if (negative)
 		ao_neg64(r, r);
 }
diff --git a/src/core/ao_int64.h b/src/kernel/ao_int64.h
index b16db58c..b16db58c 100644
--- a/src/core/ao_int64.h
+++ b/src/kernel/ao_int64.h
diff --git a/src/core/ao_kalman.c b/src/kernel/ao_kalman.c
index 9aea1f14..9aea1f14 100644
--- a/src/core/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
diff --git a/src/core/ao_lcd.h b/src/kernel/ao_lcd.h
index f7e1391a..f7e1391a 100644
--- a/src/core/ao_lcd.h
+++ b/src/kernel/ao_lcd.h
diff --git a/src/core/ao_led.h b/src/kernel/ao_led.h
index d9a0914a..d9a0914a 100644
--- a/src/core/ao_led.h
+++ b/src/kernel/ao_led.h
diff --git a/src/core/ao_list.h b/src/kernel/ao_list.h
index 8a6fa4d9..8a6fa4d9 100644
--- a/src/core/ao_list.h
+++ b/src/kernel/ao_list.h
diff --git a/src/core/ao_log.c b/src/kernel/ao_log.c
index 20febefe..91617d93 100644
--- a/src/core/ao_log.c
+++ b/src/kernel/ao_log.c
@@ -18,7 +18,11 @@
 #include "ao.h"
 #include <ao_log.h>
 #include <ao_config.h>
+#if HAS_TRACKER
+#include <ao_tracker.h>
+#endif
 
+__xdata uint8_t	ao_log_mutex;
 __pdata uint32_t ao_log_current_pos;
 __pdata uint32_t ao_log_end_pos;
 __pdata uint32_t ao_log_start_pos;
@@ -38,13 +42,22 @@ ao_log_flush(void)
  */
 
 struct ao_log_erase {
-	uint8_t	unused;
+	uint8_t	mark;
 	uint16_t flight;
 };
 
 static __xdata struct ao_log_erase erase;
 
+#ifndef LOG_MAX_ERASE
 #define LOG_MAX_ERASE	16
+#endif
+
+#ifndef LOG_ERASE_MARK
+#if USE_EEPROM_CONFIG
+#error "Must define LOG_ERASE_MARK with USE_EEPROM_CONFIG"
+#endif
+#define LOG_ERASE_MARK	0x00
+#endif
 
 static uint32_t
 ao_log_erase_pos(uint8_t i)
@@ -55,9 +68,21 @@ ao_log_erase_pos(uint8_t i)
 void
 ao_log_write_erase(uint8_t pos)
 {
-	erase.unused = 0x00;
+	erase.mark = LOG_ERASE_MARK;
 	erase.flight = ao_flight_number;
 	ao_config_write(ao_log_erase_pos(pos),  &erase, sizeof (erase));
+
+#if USE_EEPROM_CONFIG
+	if (pos == 0) {
+		uint8_t	i;
+		for (i = 1; i < LOG_MAX_ERASE; i++) {
+			erase.mark = ~LOG_ERASE_MARK;
+			erase.flight = 0;
+			ao_config_write(ao_log_erase_pos(i), &erase, sizeof (erase));
+		}
+	}
+#endif
+
 	ao_config_flush();
 }
 
@@ -75,9 +100,9 @@ ao_log_erase_mark(void)
 
 	for (i = 0; i < LOG_MAX_ERASE; i++) {
 		ao_log_read_erase(i);
-		if (erase.unused == 0 && erase.flight == ao_flight_number)
+		if (erase.mark == LOG_ERASE_MARK && erase.flight == ao_flight_number)
 			return;
-		if (erase.unused == 0xff) {
+		if (erase.mark != LOG_ERASE_MARK) {
 			ao_log_write_erase(i);
 			return;
 		}
@@ -136,7 +161,7 @@ ao_log_scan(void) __reentrant
 	 */
 	for (log_slot = LOG_MAX_ERASE; log_slot-- > 0;) {
 		ao_log_read_erase(log_slot);
-		if (erase.unused == 0) {
+		if (erase.mark == LOG_ERASE_MARK) {
 			if (ao_flight_number == 0 ||
 			    (int16_t) (erase.flight - ao_flight_number) > 0)
 				ao_flight_number = erase.flight;
@@ -196,7 +221,11 @@ ao_log_full(void)
 	return ao_log_current_pos == ao_log_end_pos;
 }
 
-#if HAS_ADC
+#ifndef LOG_ADC
+#define LOG_ADC	HAS_ADC
+#endif
+
+#if LOG_ADC
 static __xdata struct ao_task ao_log_task;
 #endif
 
@@ -225,6 +254,7 @@ ao_log_delete(void) __reentrant
 {
 	uint8_t slot;
 	uint8_t slots;
+	uint32_t log_current_pos, log_end_pos;
 
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
@@ -235,10 +265,13 @@ ao_log_delete(void) __reentrant
 	if (ao_cmd_lex_i) {
 		for (slot = 0; slot < slots; slot++) {
 			if (ao_log_flight(slot) == ao_cmd_lex_i) {
+#if HAS_TRACKER
+				ao_tracker_erase_start(ao_cmd_lex_i);
+#endif
 				ao_log_erase_mark();
-				ao_log_current_pos = ao_log_pos(slot);
-				ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
-				while (ao_log_current_pos < ao_log_end_pos) {
+				log_current_pos = ao_log_pos(slot);
+				log_end_pos = log_current_pos + ao_config.flight_log_max;
+				while (log_current_pos < log_end_pos) {
 					uint8_t	i;
 					static __xdata uint8_t b;
 
@@ -248,15 +281,18 @@ ao_log_delete(void) __reentrant
 					 * memory over and over again
 					 */
 					for (i = 0; i < 16; i++) {
-						if (ao_storage_read(ao_log_current_pos + i, &b, 1))
+						if (ao_storage_read(log_current_pos + i, &b, 1))
 							if (b != 0xff)
 								break;
 					}
 					if (i == 16)
 						break;
-					ao_storage_erase(ao_log_current_pos);
-					ao_log_current_pos += ao_storage_block;
+					ao_storage_erase(log_current_pos);
+					log_current_pos += ao_storage_block;
 				}
+#if HAS_TRACKER
+				ao_tracker_erase_end();
+#endif
 				puts("Erased");
 				return;
 			}
@@ -284,7 +320,7 @@ ao_log_init(void)
 #ifndef HAS_ADC
 #error Define HAS_ADC for ao_log.c
 #endif
-#if HAS_ADC
+#if LOG_ADC
 	/* Create a task to log events to eeprom */
 	ao_add_task(&ao_log_task, ao_log, "log");
 #endif
diff --git a/src/core/ao_log.h b/src/kernel/ao_log.h
index 09f31188..33cda3eb 100644
--- a/src/core/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -29,7 +29,7 @@
  * by sleeping on this variable.
  */
 extern __xdata uint16_t ao_flight_number;
-
+extern __xdata uint8_t	ao_log_mutex;
 extern __pdata uint32_t ao_log_current_pos;
 extern __pdata uint32_t ao_log_end_pos;
 extern __pdata uint32_t ao_log_start_pos;
@@ -47,6 +47,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_EASYMINI		6	/* 16-byte MS5607 baro only, 3.0V supply */
 #define AO_LOG_FORMAT_TELEMETRUM	7	/* 16-byte typed telemetrum records */
 #define AO_LOG_FORMAT_TELEMINI		8	/* 16-byte MS5607 baro only, 3.3V supply */
+#define AO_LOG_FORMAT_TELEGPS		9	/* 32 byte telegps records */
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 extern __code uint8_t ao_log_format;
@@ -206,9 +207,9 @@ struct ao_log_mega {
 			uint16_t	flight;			/* 4 */
 			int16_t		ground_accel;		/* 6 */
 			uint32_t	ground_pres;		/* 8 */
-			int16_t		ground_accel_along;	/* 16 */
-			int16_t		ground_accel_across;	/* 12 */
-			int16_t		ground_accel_through;	/* 14 */
+			int16_t		ground_accel_along;	/* 12 */
+			int16_t		ground_accel_across;	/* 14 */
+			int16_t		ground_accel_through;	/* 16 */
 			int16_t		ground_roll;		/* 18 */
 			int16_t		ground_pitch;		/* 20 */
 			int16_t		ground_yaw;		/* 22 */
@@ -364,6 +365,50 @@ struct ao_log_mini {
 		(dst)[2] = (value) >> 16;	\
 	} while (0)
 
+struct ao_log_gps {
+	char			type;			/* 0 */
+	uint8_t			csum;			/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;			/* 4 */
+			int16_t		start_altitude;		/* 6 */
+			int32_t		start_latitude;		/* 8 */
+			int32_t		start_longitude;	/* 12 */
+		} flight;					/* 16 */
+		/* AO_LOG_GPS_TIME */
+		struct {
+			int32_t		latitude;	/* 4 */
+			int32_t		longitude;	/* 8 */
+			int16_t		altitude;	/* 12 */
+			uint8_t		hour;		/* 14 */
+			uint8_t		minute;		/* 15 */
+			uint8_t		second;		/* 16 */
+			uint8_t		flags;		/* 17 */
+			uint8_t		year;		/* 18 */
+			uint8_t		month;		/* 19 */
+			uint8_t		day;		/* 20 */
+			uint8_t		course;		/* 21 */
+			uint16_t	ground_speed;	/* 22 */
+			int16_t		climb_rate;	/* 24 */
+			uint8_t		pdop;		/* 26 */
+			uint8_t		hdop;		/* 27 */
+			uint8_t		vdop;		/* 28 */
+			uint8_t		mode;		/* 29 */
+			uint8_t		state;		/* 30 */
+		} gps;	/* 31 */
+		/* AO_LOG_GPS_SAT */
+		struct {
+			uint16_t	channels;	/* 4 */
+			struct {
+				uint8_t	svid;
+				uint8_t c_n;
+			} sats[12];			/* 6 */
+		} gps_sat;				/* 30 */
+	} u;
+};
+
 /* Write a record to the eeprom log */
 uint8_t
 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
@@ -377,6 +422,9 @@ ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
 uint8_t
 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 
+uint8_t
+ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
+
 void
 ao_log_flush(void);
 
diff --git a/src/core/ao_log_big.c b/src/kernel/ao_log_big.c
index db01f46c..8f57bf75 100644
--- a/src/core/ao_log_big.c
+++ b/src/kernel/ao_log_big.c
@@ -17,7 +17,6 @@
 
 #include "ao.h"
 
-static __xdata uint8_t	ao_log_mutex;
 static __xdata struct ao_log_record log;
 
 __code uint8_t ao_log_format = AO_LOG_FORMAT_FULL;
diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
new file mode 100644
index 00000000..3b728c25
--- /dev/null
+++ b/src/kernel/ao_log_gps.c
@@ -0,0 +1,137 @@
+/*
+ * Copyright © 2014 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_log.h>
+#include <ao_log_gps.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+#include <ao_distance.h>
+#include <ao_tracker.h>
+
+static __xdata struct ao_log_gps log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+	uint8_t	sum = 0x5a;
+	uint8_t	i;
+
+	for (i = 0; i < sizeof (struct ao_log_gps); i++)
+		sum += *b++;
+	return -sum;
+}
+
+uint8_t
+ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
+{
+	uint8_t wrote = 0;
+	/* set checksum */
+	log->csum = 0;
+	log->csum = ao_log_csum((__xdata uint8_t *) log);
+	ao_mutex_get(&ao_log_mutex); {
+		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+			ao_log_stop();
+		if (ao_log_running) {
+			wrote = 1;
+			ao_storage_write(ao_log_current_pos,
+					 log,
+					 sizeof (struct ao_log_gps));
+			ao_log_current_pos += sizeof (struct ao_log_gps);
+		}
+	} ao_mutex_put(&ao_log_mutex);
+	return wrote;
+}
+
+void
+ao_log_gps_flight(void)
+{
+	log.type = AO_LOG_FLIGHT;
+	log.tick = ao_time();
+	log.u.flight.flight = ao_flight_number;
+	ao_log_gps(&log);
+}
+
+void
+ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
+{
+	log.tick = tick;
+	log.type = AO_LOG_GPS_TIME;
+	log.u.gps.latitude = gps_data->latitude;
+	log.u.gps.longitude = gps_data->longitude;
+	log.u.gps.altitude = gps_data->altitude;
+
+	log.u.gps.hour = gps_data->hour;
+	log.u.gps.minute = gps_data->minute;
+	log.u.gps.second = gps_data->second;
+	log.u.gps.flags = gps_data->flags;
+	log.u.gps.year = gps_data->year;
+	log.u.gps.month = gps_data->month;
+	log.u.gps.day = gps_data->day;
+	log.u.gps.course = gps_data->course;
+	log.u.gps.ground_speed = gps_data->ground_speed;
+	log.u.gps.climb_rate = gps_data->climb_rate;
+	log.u.gps.pdop = gps_data->pdop;
+	log.u.gps.hdop = gps_data->hdop;
+	log.u.gps.vdop = gps_data->vdop;
+	log.u.gps.mode = gps_data->mode;
+	ao_log_gps(&log);
+}
+
+void
+ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_data)
+{
+	uint8_t c, n, i;
+
+	log.tick = tick;
+	log.type = AO_LOG_GPS_SAT;
+	i = 0;
+	n = gps_tracking_data->channels;
+	for (c = 0; c < n; c++)
+		if ((log.u.gps_sat.sats[i].svid = gps_tracking_data->sats[c].svid))
+		{
+			log.u.gps_sat.sats[i].c_n = gps_tracking_data->sats[c].c_n_1;
+			i++;
+			if (i >= 12)
+				break;
+		}
+	log.u.gps_sat.channels = i;
+	ao_log_gps(&log);
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+	if (ao_log_csum((uint8_t *) &log) != 0)
+		return 0;
+	return 1;
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+	if (!ao_storage_read(ao_log_pos(slot),
+			     &log,
+			     sizeof (struct ao_log_gps)))
+		return 0;
+
+	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+		return log.u.flight.flight;
+	return 0;
+}
diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h
new file mode 100644
index 00000000..5851f4d1
--- /dev/null
+++ b/src/kernel/ao_log_gps.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright © 2014 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_telemetry.h"
+
+#ifndef _AO_LOG_GPS_H_
+#define _AO_LOG_GPS_H_
+
+uint8_t
+ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt);
+
+void
+ao_log_gps_flight(void);
+
+void
+ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data);
+
+#endif /* _AO_LOG_GPS_H_ */
diff --git a/src/core/ao_log_mega.c b/src/kernel/ao_log_mega.c
index 768947d5..cb83be4b 100644
--- a/src/core/ao_log_mega.c
+++ b/src/kernel/ao_log_mega.c
@@ -20,7 +20,6 @@
 #include <ao_data.h>
 #include <ao_flight.h>
 
-static __xdata uint8_t	ao_log_mutex;
 static __xdata struct ao_log_mega log;
 
 __code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
@@ -65,7 +64,7 @@ ao_log_dump_check_data(void)
 	return 1;
 }
 
-#if HAS_ADC
+#if HAS_FLIGHT
 static __data uint8_t	ao_log_data_pos;
 
 /* a hack to make sure that ao_log_megas fill the eeprom block in even units */
@@ -100,9 +99,9 @@ ao_log(void)
 	log.u.flight.ground_accel_along = ao_ground_accel_along;
 	log.u.flight.ground_accel_across = ao_ground_accel_across;
 	log.u.flight.ground_accel_through = ao_ground_accel_through;
+	log.u.flight.ground_roll = ao_ground_roll;
 	log.u.flight.ground_pitch = ao_ground_pitch;
 	log.u.flight.ground_yaw = ao_ground_yaw;
-	log.u.flight.ground_roll = ao_ground_roll;
 #endif
 	log.u.flight.ground_pres = ao_ground_pres;
 	log.u.flight.flight = ao_flight_number;
@@ -183,7 +182,7 @@ ao_log(void)
 			ao_sleep(&ao_log_running);
 	}
 }
-#endif
+#endif /* HAS_FLIGHT */
 
 uint16_t
 ao_log_flight(uint8_t slot)
diff --git a/src/core/ao_log_metrum.c b/src/kernel/ao_log_metrum.c
index 91624d98..08e7b8c4 100644
--- a/src/core/ao_log_metrum.c
+++ b/src/kernel/ao_log_metrum.c
@@ -20,7 +20,6 @@
 #include <ao_data.h>
 #include <ao_flight.h>
 
-static __xdata uint8_t	ao_log_mutex;
 static __xdata struct ao_log_metrum log;
 
 __code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRUM;
@@ -116,7 +115,9 @@ ao_log(void)
 				log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
 				log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
 #endif
+#if HAS_ACCEL
 				log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
+#endif
 				ao_log_metrum(&log);
 				if (ao_log_state <= ao_flight_coast)
 					next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
diff --git a/src/core/ao_log_micro.c b/src/kernel/ao_log_micro.c
index d665efb5..d665efb5 100644
--- a/src/core/ao_log_micro.c
+++ b/src/kernel/ao_log_micro.c
diff --git a/src/core/ao_log_micro.h b/src/kernel/ao_log_micro.h
index 976852ee..976852ee 100644
--- a/src/core/ao_log_micro.h
+++ b/src/kernel/ao_log_micro.h
diff --git a/src/core/ao_log_mini.c b/src/kernel/ao_log_mini.c
index 29e3bd9f..0ca3ed06 100644
--- a/src/core/ao_log_mini.c
+++ b/src/kernel/ao_log_mini.c
@@ -20,7 +20,6 @@
 #include <ao_data.h>
 #include <ao_flight.h>
 
-static __xdata uint8_t	ao_log_mutex;
 static __xdata struct ao_log_mini log;
 
 __code uint8_t ao_log_format = AO_LOG_FORMAT;
diff --git a/src/core/ao_log_single.c b/src/kernel/ao_log_single.c
index 3f6235a6..3f6235a6 100644
--- a/src/core/ao_log_single.c
+++ b/src/kernel/ao_log_single.c
diff --git a/src/core/ao_log_telem.c b/src/kernel/ao_log_telem.c
index 095aca37..095aca37 100644
--- a/src/core/ao_log_telem.c
+++ b/src/kernel/ao_log_telem.c
diff --git a/src/core/ao_log_telescience.c b/src/kernel/ao_log_telescience.c
index 002a10bd..002a10bd 100644
--- a/src/core/ao_log_telescience.c
+++ b/src/kernel/ao_log_telescience.c
diff --git a/src/core/ao_log_tiny.c b/src/kernel/ao_log_tiny.c
index 67767dc9..67767dc9 100644
--- a/src/core/ao_log_tiny.c
+++ b/src/kernel/ao_log_tiny.c
diff --git a/src/core/ao_microflight.c b/src/kernel/ao_microflight.c
index f680e400..f680e400 100644
--- a/src/core/ao_microflight.c
+++ b/src/kernel/ao_microflight.c
diff --git a/src/core/ao_microkalman.c b/src/kernel/ao_microkalman.c
index 0684ea2b..0684ea2b 100644
--- a/src/core/ao_microkalman.c
+++ b/src/kernel/ao_microkalman.c
diff --git a/src/core/ao_monitor.c b/src/kernel/ao_monitor.c
index 18f170b4..18f170b4 100644
--- a/src/core/ao_monitor.c
+++ b/src/kernel/ao_monitor.c
diff --git a/src/core/ao_mutex.c b/src/kernel/ao_mutex.c
index 952ff462..952ff462 100644
--- a/src/core/ao_mutex.c
+++ b/src/kernel/ao_mutex.c
diff --git a/src/core/ao_notask.c b/src/kernel/ao_notask.c
index 6f967e6d..6f967e6d 100644
--- a/src/core/ao_notask.c
+++ b/src/kernel/ao_notask.c
diff --git a/src/core/ao_notask.h b/src/kernel/ao_notask.h
index 6b6b5bb8..6b6b5bb8 100644
--- a/src/core/ao_notask.h
+++ b/src/kernel/ao_notask.h
diff --git a/src/core/ao_packet.h b/src/kernel/ao_packet.h
index b8426cf9..b8426cf9 100644
--- a/src/core/ao_packet.h
+++ b/src/kernel/ao_packet.h
diff --git a/src/core/ao_panic.c b/src/kernel/ao_panic.c
index c29cd8fe..c29cd8fe 100644
--- a/src/core/ao_panic.c
+++ b/src/kernel/ao_panic.c
diff --git a/src/core/ao_product.c b/src/kernel/ao_product.c
index b9327bac..b9327bac 100644
--- a/src/core/ao_product.c
+++ b/src/kernel/ao_product.c
diff --git a/src/core/ao_pyro.c b/src/kernel/ao_pyro.c
index e59f5bc4..85d88d98 100644
--- a/src/core/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -213,7 +213,7 @@ ao_pyro_pins_fire(uint16_t fire)
 		if (fire & (1 << p))
 			ao_pyro_pin_set(p, 1);
 	}
-	ao_delay(AO_MS_TO_TICKS(50));
+	ao_delay(ao_config.pyro_time);
 	for (p = 0; p < AO_PYRO_NUM; p++) {
 		if (fire & (1 << p)) {
 			ao_pyro_pin_set(p, 0);
@@ -281,7 +281,7 @@ ao_pyro_check(void)
 
 #define NO_VALUE	0xff
 
-#define AO_PYRO_NAME_LEN	3
+#define AO_PYRO_NAME_LEN	4
 
 #if !DISABLE_HELP
 #define ENABLE_HELP 1
@@ -403,7 +403,10 @@ ao_pyro_show(void)
 			if (ao_pyro_values[v].offset != NO_VALUE) {
 				int16_t	value;
 
-				value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
+				if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
+					value = *((uint8_t *) ((char *) pyro + ao_pyro_values[v].offset));
+				else
+					value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
 				printf ("%6d ", value);
 			} else {
 				printf ("       ");
@@ -467,7 +470,10 @@ ao_pyro_set(void)
 			ao_cmd_decimal();
 			if (ao_cmd_status != ao_cmd_success)
 				return;
-			*((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+			if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
+				*((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+			else
+				*((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
 		}
 	}
 	_ao_config_edit_start();
diff --git a/src/core/ao_pyro.h b/src/kernel/ao_pyro.h
index 0c5642d6..b37aaeb1 100644
--- a/src/core/ao_pyro.h
+++ b/src/kernel/ao_pyro.h
@@ -45,7 +45,11 @@ enum ao_pyro_flag {
 
 	ao_pyro_state_less		= 0x00004000,
 	ao_pyro_state_greater_or_equal  = 0x00008000,
-};
+}
+#ifdef __GNUC__
+	__attribute__ ((packed))
+#endif
+	;
 
 struct ao_pyro {
 	enum ao_pyro_flag	flags;
@@ -61,6 +65,8 @@ struct ao_pyro {
 	uint8_t			fired;
 };
 
+#define AO_PYRO_8_BIT_VALUE	(ao_pyro_state_less|ao_pyro_state_greater_or_equal)
+
 extern uint8_t	ao_pyro_wakeup;
 
 extern uint16_t	ao_pyro_fired;
diff --git a/src/core/ao_quaternion.h b/src/kernel/ao_quaternion.h
index 044f1607..044f1607 100644
--- a/src/core/ao_quaternion.h
+++ b/src/kernel/ao_quaternion.h
diff --git a/src/core/ao_radio_cmac.c b/src/kernel/ao_radio_cmac.c
index bff848f6..bff848f6 100644
--- a/src/core/ao_radio_cmac.c
+++ b/src/kernel/ao_radio_cmac.c
diff --git a/src/core/ao_radio_cmac.h b/src/kernel/ao_radio_cmac.h
index e86f31e9..e86f31e9 100644
--- a/src/core/ao_radio_cmac.h
+++ b/src/kernel/ao_radio_cmac.h
diff --git a/src/core/ao_radio_cmac_cmd.c b/src/kernel/ao_radio_cmac_cmd.c
index 64410921..64410921 100644
--- a/src/core/ao_radio_cmac_cmd.c
+++ b/src/kernel/ao_radio_cmac_cmd.c
diff --git a/src/core/ao_radio_cmac_cmd.h b/src/kernel/ao_radio_cmac_cmd.h
index 6b8782de..6b8782de 100644
--- a/src/core/ao_radio_cmac_cmd.h
+++ b/src/kernel/ao_radio_cmac_cmd.h
diff --git a/src/core/ao_report.c b/src/kernel/ao_report.c
index 1104cd82..f2263154 100644
--- a/src/core/ao_report.c
+++ b/src/kernel/ao_report.c
@@ -52,6 +52,60 @@ static const uint8_t flight_reports[] = {
 
 static __pdata enum ao_flight_state ao_report_state;
 
+/*
+ * Farnsworth spacing
+ *
+ * From: http://www.arrl.org/files/file/Technology/x9004008.pdf
+ *
+ *	c:	character rate in wpm
+ *	s:	overall rate in wpm
+ *	u:	unit rate (dit speed)
+ *
+ *	dit:			u
+ *	dah:			3u
+ *	intra-character-time:	u
+ *
+ * 	u = 1.2/c
+ *
+ * Because our clock runs at 10ms, we'll round up to 70ms for u, which
+ * is about 17wpm
+ *
+ *	Farnsworth adds space between characters and
+ *	words:
+ *           60 c - 37.2 s
+ *	Ta = -------------
+ *                sc
+ *
+ *           3 Ta
+ *	Tc = ----
+ *            19
+ *
+ *           7 Ta
+ *	Tw = ----
+ *            19
+ *
+ *	Ta = total delay to add to the characters (31 units)
+ *           of a standard 50-unit "word", in seconds
+ *
+ *      Tc = period between characters, in seconds
+ *
+ *	Tw = period between words, in seconds
+ *
+ * We'll use Farnsworth spacing with c=18 and s=12:
+ *
+ *	u = 1.2/18 = 0.0667
+ *
+ *	Ta = (60 * 17 - 37.2 * 12) / (17 * 12) = 2.812
+ *
+ *	Tc = 3 * Ta / 19 = .444
+ *
+ *	Tw = 1.036
+ *
+ * Note that the values below are all reduced by 10ms; that's because
+ * the timer always adds a tick to make sure the task actually sleeps
+ * at least as long as the argument.
+ */
+
 static void
 ao_report_beep(void) __reentrant
 {
@@ -62,13 +116,13 @@ ao_report_beep(void) __reentrant
 		return;
 	while (l--) {
 		if (r & 8)
-			mid(AO_MS_TO_TICKS(600));
-		else
 			mid(AO_MS_TO_TICKS(200));
-		pause(AO_MS_TO_TICKS(200));
+		else
+			mid(AO_MS_TO_TICKS(60));
+		pause(AO_MS_TO_TICKS(60));
 		r >>= 1;
 	}
-	pause(AO_MS_TO_TICKS(400));
+	pause(AO_MS_TO_TICKS(360));
 }
 
 static void
@@ -87,19 +141,18 @@ ao_report_digit(uint8_t digit) __reentrant
 }
 
 static void
-ao_report_altitude(void)
+ao_report_number(int16_t n)
 {
-	__pdata int16_t	agl = ao_max_height;
 	__xdata uint8_t	digits[10];
 	__pdata uint8_t ndigits, i;
 
-	if (agl < 0)
-		agl = 0;
+	if (n < 0)
+		n = 0;
 	ndigits = 0;
 	do {
-		digits[ndigits++] = agl % 10;
-		agl /= 10;
-	} while (agl);
+		digits[ndigits++] = n % 10;
+		n /= 10;
+	} while (n);
 
 	i = ndigits;
 	do
@@ -107,6 +160,27 @@ ao_report_altitude(void)
 	while (i != 0);
 }
 
+static void
+ao_report_altitude(void)
+{
+	ao_report_number(ao_max_height);
+}
+
+#if HAS_BATTERY_REPORT
+static void
+ao_report_battery(void)
+{
+	__xdata struct ao_data packet;
+	for (;;) {
+		ao_data_get(&packet);
+		if (packet.adc.v_batt != 0)
+			break;
+		ao_sleep(DATA_TO_XDATA(&ao_sample_data));
+	}
+	ao_report_number(ao_battery_decivolt(packet.adc.v_batt));
+}
+#endif
+
 #if HAS_IGNITE_REPORT
 static uint8_t
 ao_report_igniter_ready(enum ao_igniter igniter)
@@ -163,7 +237,12 @@ ao_report(void)
 {
 	ao_report_state = ao_flight_state;
 	for(;;) {
-		ao_report_beep();
+#if HAS_BATTERY_REPORT
+		if (ao_flight_state == ao_flight_startup)
+			ao_report_battery();
+		else
+#endif
+			ao_report_beep();
 		if (ao_flight_state == ao_flight_landed) {
 			ao_report_altitude();
 #if HAS_FLIGHT
diff --git a/src/core/ao_report_micro.c b/src/kernel/ao_report_micro.c
index 0e8e287f..0e8e287f 100644
--- a/src/core/ao_report_micro.c
+++ b/src/kernel/ao_report_micro.c
diff --git a/src/core/ao_rssi.c b/src/kernel/ao_rssi.c
index 244a84fe..244a84fe 100644
--- a/src/core/ao_rssi.c
+++ b/src/kernel/ao_rssi.c
diff --git a/src/core/ao_sample.c b/src/kernel/ao_sample.c
index 34658951..34658951 100644
--- a/src/core/ao_sample.c
+++ b/src/kernel/ao_sample.c
diff --git a/src/core/ao_sample.h b/src/kernel/ao_sample.h
index 16d4c507..16d4c507 100644
--- a/src/core/ao_sample.h
+++ b/src/kernel/ao_sample.h
diff --git a/src/core/ao_sample_profile.c b/src/kernel/ao_sample_profile.c
index d3743d12..d3743d12 100644
--- a/src/core/ao_sample_profile.c
+++ b/src/kernel/ao_sample_profile.c
diff --git a/src/core/ao_sample_profile.h b/src/kernel/ao_sample_profile.h
index dbc29d3d..dbc29d3d 100644
--- a/src/core/ao_sample_profile.h
+++ b/src/kernel/ao_sample_profile.h
diff --git a/src/core/ao_send_packet.c b/src/kernel/ao_send_packet.c
index 66315d22..66315d22 100644
--- a/src/core/ao_send_packet.c
+++ b/src/kernel/ao_send_packet.c
diff --git a/src/core/ao_send_packet.h b/src/kernel/ao_send_packet.h
index 526f7b55..526f7b55 100644
--- a/src/core/ao_send_packet.h
+++ b/src/kernel/ao_send_packet.h
diff --git a/src/core/ao_serial.h b/src/kernel/ao_serial.h
index baf213c0..baf213c0 100644
--- a/src/core/ao_serial.h
+++ b/src/kernel/ao_serial.h
diff --git a/src/core/ao_sqrt.c b/src/kernel/ao_sqrt.c
index 3a550eaa..3a550eaa 100644
--- a/src/core/ao_sqrt.c
+++ b/src/kernel/ao_sqrt.c
diff --git a/src/core/ao_state.c b/src/kernel/ao_state.c
index ed197aa5..ed197aa5 100644
--- a/src/core/ao_state.c
+++ b/src/kernel/ao_state.c
diff --git a/src/core/ao_stdio.c b/src/kernel/ao_stdio.c
index cd144d6b..99118137 100644
--- a/src/core/ao_stdio.c
+++ b/src/kernel/ao_stdio.c
@@ -51,6 +51,9 @@
 #ifndef USE_SERIAL_9_STDIN
 #define USE_SERIAL_9_STDIN	0
 #endif
+#ifndef PACKET_HAS_SLAVE
+#define PACKET_HAS_SLAVE	0
+#endif
 
 #define USE_SERIAL_STDIN (USE_SERIAL_0_STDIN +	\
 			  USE_SERIAL_1_STDIN +	\
diff --git a/src/core/ao_storage.c b/src/kernel/ao_storage.c
index 6eddae7f..6eddae7f 100644
--- a/src/core/ao_storage.c
+++ b/src/kernel/ao_storage.c
diff --git a/src/core/ao_storage.h b/src/kernel/ao_storage.h
index 6cc6fcb7..6cc6fcb7 100644
--- a/src/core/ao_storage.h
+++ b/src/kernel/ao_storage.h
diff --git a/src/core/ao_task.c b/src/kernel/ao_task.c
index bafb4943..bafb4943 100644
--- a/src/core/ao_task.c
+++ b/src/kernel/ao_task.c
diff --git a/src/core/ao_task.h b/src/kernel/ao_task.h
index 9c56b480..9c56b480 100644
--- a/src/core/ao_task.h
+++ b/src/kernel/ao_task.h
diff --git a/src/core/ao_telem.h b/src/kernel/ao_telem.h
index 1a8da291..1a8da291 100644
--- a/src/core/ao_telem.h
+++ b/src/kernel/ao_telem.h
diff --git a/src/core/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 5a00d825..9f778b09 100644
--- a/src/core/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -187,7 +187,9 @@ ao_send_metrum_sensor(void)
 	telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
 
 	telemetry.metrum_sensor.state = ao_flight_state;
+#if HAS_ACCEL
 	telemetry.metrum_sensor.accel = ao_data_accel(packet);
+#endif
 	telemetry.metrum_sensor.pres = ao_data_pres(packet);
 	telemetry.metrum_sensor.temp = ao_data_temp(packet);
 
@@ -216,9 +218,15 @@ ao_send_metrum_data(void)
 		telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 
 		telemetry.metrum_data.ground_pres = ao_ground_pres;
+#if HAS_ACCEL
 		telemetry.metrum_data.ground_accel = ao_ground_accel;
 		telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 		telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
+#else
+		telemetry.metrum_data.ground_accel = 1;
+		telemetry.metrum_data.accel_plus_g = 0;
+		telemetry.metrum_data.accel_minus_g = 2;
+#endif
 
 		ao_radio_send(&telemetry, sizeof (telemetry));
 		ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
@@ -297,8 +305,14 @@ ao_send_configuration(void)
 #endif
 		telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 		telemetry.configuration.config_minor = AO_CONFIG_MINOR;
+#if AO_idProduct_NUMBER == 0x25 && HAS_ADC
+		/* TeleGPS gets battery voltage instead of apogee delay */
+		telemetry.configuration.apogee_delay = ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt;
+#else
 		telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 		telemetry.configuration.main_deploy = ao_config.main_deploy;
+#endif
+
 		telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 		ao_xmemcpy (telemetry.configuration.callsign,
 			    ao_config.callsign,
diff --git a/src/core/ao_telemetry.h b/src/kernel/ao_telemetry.h
index 237a35ab..be7d0340 100644
--- a/src/core/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -115,7 +115,7 @@ struct ao_telemetry_location {
 	uint16_t	ground_speed;	/* 26 cm/s */
 	int16_t		climb_rate;	/* 28 cm/s */
 	uint8_t		course;		/* 30 degrees / 2 */
-	uint8_t		unused[1];	/* 31 */
+	uint8_t		unused;		/* 31 unused */
 	/* 32 */
 };
 
@@ -154,7 +154,7 @@ struct ao_telemetry_companion {
 	uint16_t				companion_data[AO_COMPANION_MAX_CHANNELS];	/*  8 */
 	/* 32 */
 };
-	
+
 #define AO_TELEMETRY_MEGA_SENSOR	0x08
 
 struct ao_telemetry_mega_sensor {
@@ -181,7 +181,7 @@ struct ao_telemetry_mega_sensor {
 	int16_t		mag_z;		/* 30 */
 	/* 32 */
 };
-	
+
 #define AO_TELEMETRY_MEGA_DATA		0x09
 
 struct ao_telemetry_mega_data {
@@ -231,7 +231,7 @@ struct ao_telemetry_metrum_sensor {
 	uint8_t		pad[6];		/* 26 */
 	/* 32 */
 };
-	
+
 #define AO_TELEMETRY_METRUM_DATA	0x0B
 
 struct ao_telemetry_metrum_data {
diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
new file mode 100644
index 00000000..9febc7f0
--- /dev/null
+++ b/src/kernel/ao_tracker.c
@@ -0,0 +1,226 @@
+/*
+ * Copyright © 2014 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 <ao_log.h>
+#include <ao_log_gps.h>
+#include <ao_distance.h>
+#include <ao_tracker.h>
+#include <ao_exti.h>
+
+static uint8_t		ao_tracker_force_telem;
+
+#if HAS_USB_CONNECT
+static inline uint8_t
+ao_usb_connected(void)
+{
+	return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+}
+#else
+#define ao_usb_connected()	1
+#endif
+
+struct gps_position {
+	int32_t	latitude;
+	int32_t	longitude;
+	int16_t	altitude;
+};
+
+#define GPS_RING	16
+
+struct gps_position	gps_position[GPS_RING];
+
+#define ao_gps_ring_next(n)	(((n) + 1) & (GPS_RING - 1))
+#define ao_gps_ring_prev(n)	(((n) - 1) & (GPS_RING - 1))
+
+static uint8_t	gps_head;
+
+static uint8_t	tracker_mutex;
+static uint8_t	log_started;
+static struct ao_telemetry_location gps_data;
+static uint8_t	tracker_running;
+static uint16_t tracker_interval;
+
+static void
+ao_tracker(void)
+{
+	uint8_t	new;
+	int32_t	ground_distance;
+	int16_t height;
+	uint16_t gps_tick;
+	uint8_t new_tracker_running;
+
+#if HAS_ADC
+	ao_timer_set_adc_interval(100);
+#endif
+
+#if !HAS_USB_CONNECT
+	ao_tracker_force_telem = 1;
+#endif
+	ao_log_scan();
+
+	ao_rdf_set(1);
+
+	tracker_interval = ao_config.tracker_interval;
+	ao_gps_set_rate(tracker_interval);
+
+	for (;;) {
+
+		/** Wait for new GPS data
+		 */
+		while (!(new = ao_gps_new))
+			ao_sleep(&ao_gps_new);
+		ao_mutex_get(&ao_gps_mutex);
+		gps_data = ao_gps_data;
+		gps_tick = ao_gps_tick;
+		ao_gps_new = 0;
+		ao_mutex_put(&ao_gps_mutex);
+
+		new_tracker_running = ao_tracker_force_telem || !ao_usb_connected();
+
+		if (ao_config.tracker_interval != tracker_interval) {
+			tracker_interval = ao_config.tracker_interval;
+			ao_gps_set_rate(tracker_interval);
+
+			/* force telemetry interval to be reset */
+			tracker_running = 0;
+		}
+
+		if (new_tracker_running && !tracker_running)
+			ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
+		else if (!new_tracker_running && tracker_running)
+			ao_telemetry_set_interval(0);
+
+		tracker_running = new_tracker_running;
+
+		if (new_tracker_running && !ao_log_running)
+			ao_log_start();
+		else if (!new_tracker_running && ao_log_running)
+			ao_log_stop();
+
+		if (!ao_log_running)
+			continue;
+
+		if (new & AO_GPS_NEW_DATA) {
+			if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+			    (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+			{
+				uint8_t	ring;
+				uint8_t	moving = 0;
+
+				for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
+					ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
+								      gps_position[ring].latitude,
+								      gps_position[ring].longitude);
+					height = gps_position[ring].altitude - gps_data.altitude;
+					if (height < 0)
+						height = -height;
+
+					if (ao_tracker_force_telem)
+						printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
+					if (ground_distance > ao_config.tracker_motion ||
+					    height > (ao_config.tracker_motion << 1))
+					{
+						moving = 1;
+						break;
+					}
+				}
+				if (ao_tracker_force_telem) {
+					printf ("moving %d started %d\n", moving, log_started);
+					flush();
+				}
+				if (moving) {
+					ao_mutex_get(&tracker_mutex);
+					if (!log_started) {
+						ao_log_gps_flight();
+						log_started = 1;
+					}
+					ao_log_gps_data(gps_tick, &gps_data);
+					gps_position[gps_head].latitude = gps_data.latitude;
+					gps_position[gps_head].longitude = gps_data.longitude;
+					gps_position[gps_head].altitude = gps_data.altitude;
+					gps_head = ao_gps_ring_next(gps_head);
+					ao_mutex_put(&tracker_mutex);
+				}
+			}
+		}
+	}
+}
+
+static uint8_t erasing_current;
+
+void
+ao_tracker_erase_start(uint16_t flight)
+{
+	erasing_current = flight == ao_flight_number;
+	if (erasing_current) {
+		ao_mutex_get(&tracker_mutex);
+		ao_log_stop();
+		if (++ao_flight_number == 0)
+			ao_flight_number = 1;
+	}
+}
+
+void
+ao_tracker_erase_end(void)
+{
+	if (erasing_current) {
+		ao_log_scan();
+		log_started = 0;
+		ao_mutex_put(&tracker_mutex);
+	}
+}
+
+static struct ao_task ao_tracker_task;
+
+static void
+ao_tracker_set_telem(void)
+{
+	uint8_t	telem;
+	ao_cmd_hex();
+	telem = ao_cmd_lex_i;
+	if (ao_cmd_status == ao_cmd_success)
+		ao_tracker_force_telem = telem;
+	ao_cmd_status = ao_cmd_success;
+	printf ("flight: %d\n", ao_flight_number);
+	printf ("force_telem: %d\n", ao_tracker_force_telem);
+	printf ("tracker_running: %d\n", tracker_running);
+	printf ("log_started: %d\n", log_started);
+	printf ("latitude: %ld\n", (long) gps_data.latitude);
+	printf ("longitude: %ld\n", (long) gps_data.longitude);
+	printf ("altitude: %d\n", gps_data.altitude);
+	printf ("log_running: %d\n", ao_log_running);
+	printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
+	printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
+	printf ("log_end_pos: %ld\n", (long) ao_log_end_pos);
+}
+
+static const struct ao_cmds ao_tracker_cmds[] = {
+	{ ao_tracker_set_telem,	"t <d>\0Set telem on USB" },
+	{ 0, NULL },
+};
+
+void
+ao_tracker_init(void)
+{
+#if HAS_USB_CONNECT
+	ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
+#endif
+	ao_cmd_register(&ao_tracker_cmds[0]);
+	ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+}
diff --git a/src/kernel/ao_tracker.h b/src/kernel/ao_tracker.h
new file mode 100644
index 00000000..78c40cb4
--- /dev/null
+++ b/src/kernel/ao_tracker.h
@@ -0,0 +1,37 @@
+/*
+ * Copyright © 2014 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_TRACKER_H_
+#define _AO_TRACKER_H_
+
+/* Any motion more than this will result in a log entry */
+
+#define AO_TRACKER_MOTION_DEFAULT	10
+#define AO_TRACKER_INTERVAL_DEFAULT	1
+
+#define AO_TRACKER_MOTION_COUNT		10
+
+void
+ao_tracker_init(void);
+
+void
+ao_tracker_erase_start(uint16_t flight);
+
+void
+ao_tracker_erase_end(void);
+
+#endif /* _AO_TRACKER_H_ */
diff --git a/src/core/ao_usb.h b/src/kernel/ao_usb.h
index 35e64e65..1ce4f82f 100644
--- a/src/core/ao_usb.h
+++ b/src/kernel/ao_usb.h
@@ -137,4 +137,6 @@ struct ao_usb_line_coding {
 	uint8_t		data_bits;
 } ;
 
+extern __pdata uint8_t ao_usb_running;
+
 #endif /* _AO_USB_H_ */
diff --git a/src/lpc/Makefile-lpc.defs b/src/lpc/Makefile-lpc.defs
index fecb9135..bccea5bc 100644
--- a/src/lpc/Makefile-lpc.defs
+++ b/src/lpc/Makefile-lpc.defs
@@ -4,7 +4,7 @@ endif
 
 include $(TOPDIR)/Makedefs
 
-vpath % $(TOPDIR)/lpc:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/core:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR/aes):$(TOPDIR):$(TOPDIR)/math
+vpath % $(TOPDIR)/lpc:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR/aes):$(TOPDIR):$(TOPDIR)/math
 vpath make-altitude $(TOPDIR)/util
 vpath make-kalman $(TOPDIR)/util
 vpath kalman.5c $(TOPDIR)/kalman
@@ -28,7 +28,7 @@ CC=$(ARM_CC)
 
 WARN_FLAGS=-Wall -Wextra -Werror
 
-AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) -I$(TOPDIR)/math -I$(TOPDIR) $(PDCLIB_INCLUDES) 
+AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/kernel -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) -I$(TOPDIR)/math -I$(TOPDIR) $(PDCLIB_INCLUDES) 
 LPC_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m0 -mthumb\
 	-ffreestanding -nostdlib $(AO_CFLAGS) $(WARN_FLAGS)
 
diff --git a/src/lpc/ao_adc_lpc.c b/src/lpc/ao_adc_lpc.c
index e1aae0e4..b24163ee 100644
--- a/src/lpc/ao_adc_lpc.c
+++ b/src/lpc/ao_adc_lpc.c
@@ -160,7 +160,7 @@ ao_adc_dump(void) __reentrant
 #else
 	printf("tick: %5u",  packet.tick);
 	d = (int16_t *) (&packet.adc);
-	for (i = 0; i < AO_NUM_ADC; i++)
+	for (i = 0; i < AO_ADC_NUM; i++)
 		printf (" %2d: %5d", i, d[i]);
 	printf("\n");
 #endif
diff --git a/src/lpc/ao_arch.h b/src/lpc/ao_arch.h
index d04bf2c8..5fbb8dfa 100644
--- a/src/lpc/ao_arch.h
+++ b/src/lpc/ao_arch.h
@@ -28,10 +28,10 @@
 #define AO_STACK_SIZE	512
 #endif
 
-#define AO_LED_TYPE	uint16_t
-
 #define AO_PORT_TYPE	uint32_t
 
+#define AO_LED_TYPE	AO_PORT_TYPE
+
 #ifndef AO_TICK_TYPE
 #define AO_TICK_TYPE	uint16_t
 #define AO_TICK_SIGNED	int16_t
@@ -140,7 +140,12 @@ ao_serial_init(void);
 #define AO_SPI_SPEED_FAST	AO_SPI_SPEED_12MHz
 
 #define AO_BOOT_APPLICATION_BASE	((uint32_t *) 0x00001000)
+#define AO_BOOT_APPLICATION_BOUND	((uint32_t *) (0x00000000 + 32 * 1024))
 #define AO_BOOT_LOADER_BASE		((uint32_t *) 0x00000000)
 #define HAS_BOOT_LOADER			1
 
+/* ADC definitions */
+
+#define AO_ADC_MAX	32767
+
 #endif /* _AO_ARCH_H_ */
diff --git a/src/lpc/ao_boot_chain.c b/src/lpc/ao_boot_chain.c
index a08d1f2c..9e45ba27 100644
--- a/src/lpc/ao_boot_chain.c
+++ b/src/lpc/ao_boot_chain.c
@@ -43,14 +43,14 @@ struct ao_boot {
 };
 
 static struct ao_boot __attribute__ ((section(".boot"))) ao_boot;
-	
+
 int
 ao_boot_check_chain(void)
 {
 	if (ao_boot.signal == AO_BOOT_SIGNAL && ao_boot.check == AO_BOOT_CHECK) {
 		ao_boot.signal = 0;
 		ao_boot.check = 0;
-		if (ao_boot.base == 0)
+		if (ao_boot.base == AO_BOOT_FORCE_LOADER)
 			return 0;
 		ao_boot_chain(ao_boot.base);
 	}
diff --git a/src/lpc/ao_exti_lpc.c b/src/lpc/ao_exti_lpc.c
index 941aa965..fdb6a1ca 100644
--- a/src/lpc/ao_exti_lpc.c
+++ b/src/lpc/ao_exti_lpc.c
@@ -69,7 +69,7 @@ _ao_exti_set_enable(uint8_t pint)
 		lpc_gpio_pin.sienr = mask;
 	else
 		lpc_gpio_pin.cienr = mask;
-		
+
 	if (mode & AO_EXTI_MODE_FALLING)
 		lpc_gpio_pin.sienf = mask;
 	else
@@ -98,7 +98,7 @@ ao_exti_setup (uint8_t port, uint8_t pin, uint8_t mode, void (*callback)(void))
 	mask = (1 << pint);
 	ao_pint_inuse |= mask;
 	ao_pint_enabled &= ~mask;
-	
+
 	ao_pint_map[id] = pint;
 	ao_exti_callback[pint] = callback;
 
diff --git a/src/lpc/ao_interrupt.c b/src/lpc/ao_interrupt.c
index c4dc7867..3318db2b 100644
--- a/src/lpc/ao_interrupt.c
+++ b/src/lpc/ao_interrupt.c
@@ -172,5 +172,5 @@ const void *lpc_interrupt_vector[] = {
 	i(0xb0, hardfault),	/* IRQ28 */
 	i(0xb4, hardfault),
 	i(0xb8, usb_wakeup),
-	i(0xbc, hardfault),	
+	i(0xbc, hardfault),
 };
diff --git a/src/lpc/ao_led_lpc.c b/src/lpc/ao_led_lpc.c
index 7bef51ba..d983437c 100644
--- a/src/lpc/ao_led_lpc.c
+++ b/src/lpc/ao_led_lpc.c
@@ -17,38 +17,38 @@
 
 #include <ao.h>
 
-__pdata uint16_t ao_led_enable;
+__pdata AO_PORT_TYPE ao_led_enable;
 
 void
-ao_led_on(uint16_t colors)
+ao_led_on(AO_PORT_TYPE colors)
 {
 	lpc_gpio.pin[LED_PORT] |= colors;
 }
 
 void
-ao_led_off(uint16_t colors)
+ao_led_off(AO_PORT_TYPE colors)
 {
 	lpc_gpio.pin[LED_PORT] &= ~colors;
 }
 
 void
-ao_led_set(uint16_t colors)
+ao_led_set(AO_PORT_TYPE colors)
 {
-	uint16_t	on = colors & ao_led_enable;
-	uint16_t	off = ~colors & ao_led_enable;
+	AO_PORT_TYPE	on = colors & ao_led_enable;
+	AO_PORT_TYPE	off = ~colors & ao_led_enable;
 
 	ao_led_off(off);
 	ao_led_on(on);
 }
 
 void
-ao_led_toggle(uint16_t colors)
+ao_led_toggle(AO_PORT_TYPE colors)
 {
 	lpc_gpio.pin[LED_PORT] ^= colors;
 }
 
 void
-ao_led_for(uint16_t colors, uint16_t ticks) __reentrant
+ao_led_for(AO_PORT_TYPE colors, uint16_t ticks) __reentrant
 {
 	ao_led_on(colors);
 	ao_delay(ticks);
@@ -56,10 +56,8 @@ ao_led_for(uint16_t colors, uint16_t ticks) __reentrant
 }
 
 void
-ao_led_init(uint16_t enable)
+ao_led_init(AO_PORT_TYPE enable)
 {
-	int	bit;
-
 	ao_led_enable = enable;
 	lpc_scb.sysahbclkctrl |= (1 << LPC_SCB_SYSAHBCLKCTRL_GPIO);
 	lpc_gpio.dir[LED_PORT] |= enable;
diff --git a/src/lpc/ao_serial_lpc.c b/src/lpc/ao_serial_lpc.c
index 431ae98a..b0d5fcbc 100644
--- a/src/lpc/ao_serial_lpc.c
+++ b/src/lpc/ao_serial_lpc.c
@@ -206,8 +206,8 @@ ao_serial_init(void)
 	lpc_nvic_set_enable(LPC_ISR_USART_POS);
 	lpc_nvic_set_priority(LPC_ISR_USART_POS, 0);
 #if USE_SERIAL_0_STDIN
-	ao_add_stdio(_ao_serial_pollchar,
-		     ao_serial_putchar,
+	ao_add_stdio(_ao_serial0_pollchar,
+		     ao_serial0_putchar,
 		     NULL);
 #endif
 }
diff --git a/src/lpc/ao_usb_lpc.c b/src/lpc/ao_usb_lpc.c
index d02ccdd6..12f5d8e6 100644
--- a/src/lpc/ao_usb_lpc.c
+++ b/src/lpc/ao_usb_lpc.c
@@ -109,7 +109,7 @@ static uint8_t	ao_usb_in_pending;
  * but not pulled to the shadow buffer.
  */
 static uint8_t	ao_usb_out_avail;
-static uint8_t	ao_usb_running;
+uint8_t		ao_usb_running;
 static uint8_t	ao_usb_configuration;
 
 #define AO_USB_EP0_GOT_RESET	1
@@ -875,7 +875,7 @@ ao_usb_enable(void)
 	int	t;
 
 	/* Enable USB pins */
-#if HAS_USB_CONNECT
+#if HAS_LPC_USB_CONNECT
 	lpc_ioconf.pio0_6 = ((LPC_IOCONF_FUNC_USB_CONNECT << LPC_IOCONF_FUNC) |
 			     (LPC_IOCONF_MODE_INACTIVE << LPC_IOCONF_MODE) |
 			     (0 << LPC_IOCONF_HYS) |
diff --git a/src/lpcxpresso/ao_pins.h b/src/lpcxpresso/ao_pins.h
index c0074ce2..0ffc2fad 100644
--- a/src/lpcxpresso/ao_pins.h
+++ b/src/lpcxpresso/ao_pins.h
@@ -16,7 +16,6 @@
  */
 
 #define HAS_BEEP	0
-#define	HAS_LED		1
 
 /* Crystal on the board */
 #define AO_LPC_CLKIN	12000000
diff --git a/src/megadongle-v0.1/Makefile b/src/megadongle-v0.1/Makefile
index 6035c348..ade8e496 100644
--- a/src/megadongle-v0.1/Makefile
+++ b/src/megadongle-v0.1/Makefile
@@ -9,6 +9,7 @@ INC = \
 	ao.h \
 	ao_arch.h \
 	ao_arch_funcs.h \
+	ao_boot.h \
 	ao_pins.h \
 	ao_product.h \
 	ao_cc1120_CC1120.h \
diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
index dcc32874..6ae3d0be 100644
--- a/src/micropeak/Makefile
+++ b/src/micropeak/Makefile
@@ -2,12 +2,15 @@
 # Tiny AltOS build
 #
 #
-vpath % ../attiny:../drivers:../core:../product:..
+vpath % ../attiny:../drivers:../kernel:../product:..
 vpath ao-make-product.5c ../util
 vpath make-altitude-pa ../util
 
 include ../avr/Makefile.defs
 
+PUBLISH_DIR=$(HOME)/altusmetrumllc/Binaries
+PUBLISH_FILE=$(PUBLISH_DIR)/$(PROG)-$(VERSION).hex
+
 MCU=attiny85
 DUDECPUTYPE=t85
 #PROGRAMMER=stk500v2 -P usb
@@ -47,7 +50,7 @@ INC=\
 IDPRODUCT=0
 PRODUCT=MicroPeak-v0.1
 PRODUCT_DEF=-DMICROPEAK
-CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../kernel -I.. -I../drivers -I../product
 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
 
 NICKLE=nickle
@@ -98,6 +101,16 @@ clean:
 	rm -f *.o $(PROG) $(PROG).hex
 	rm -f ao_product.h
 
+
+publish: $(PROG).hex
+	cp -a $(PROG).hex $(PUBLISH_FILE)
+
+load-product:
+	$(LOADCMD) $(LOADARG)$(PUBLISH_FILE)
+
+load-product-slow:
+	$(LOADCMD) $(LOADSLOW) $(LOADARG)$(PUBLISH_FILE)
+
 ../altitude-pa.h: make-altitude-pa
 	nickle $< > $@
 
diff --git a/src/microwater/.gitignore b/src/microwater/.gitignore
new file mode 100644
index 00000000..0573d989
--- /dev/null
+++ b/src/microwater/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+microwater-*
diff --git a/src/microwater/Makefile b/src/microwater/Makefile
new file mode 100644
index 00000000..a49cda4b
--- /dev/null
+++ b/src/microwater/Makefile
@@ -0,0 +1,121 @@
+#
+# Tiny AltOS build
+#
+#
+vpath % ../attiny:../drivers:../kernel:../product:..
+vpath ao-make-product.5c ../util
+vpath make-altitude-pa ../util
+
+include ../avr/Makefile.defs
+
+PUBLISH_DIR=$(HOME)/altusmetrumllc/Binaries
+PUBLISH_FILE=$(PUBLISH_DIR)/$(PROG)-$(VERSION).hex
+
+MCU=attiny85
+DUDECPUTYPE=t85
+#PROGRAMMER=stk500v2 -P usb
+LOADSLOW=-i 32 -B 32
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+
+#LDFLAGS=-L$(LDSCRIPTS) -Tavr25.x
+
+ALTOS_SRC = \
+	ao_micropeak.c \
+	ao_spi_attiny.c \
+	ao_led.c \
+	ao_clock.c \
+	ao_ms5607.c \
+	ao_exti.c \
+	ao_convert_pa.c \
+	ao_report_micro.c \
+	ao_notask.c \
+	ao_eeprom_tiny.c \
+	ao_panic.c \
+	ao_log_micro.c \
+	ao_async.c \
+	ao_microflight.c \
+	ao_microkalman.c
+
+INC=\
+	ao.h \
+	ao_pins.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_exti.h \
+	ao_ms5607.h \
+	ao_log_micro.h \
+	ao_micropeak.h \
+	altitude-pa.h
+
+IDPRODUCT=0
+PRODUCT=MicroWater-v0.1
+PRODUCT_DEF=-DMICROPEAK
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../kernel -I.. -I../drivers -I../product
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
+
+NICKLE=nickle
+
+PROG=microwater-v0.1
+
+SRC=$(ALTOS_SRC)
+OBJ=$(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) $(PROG).hex
+
+CHECK=sh ../util/check-avr-mem
+
+$(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
+
+load-slow: $(PROG).hex
+	$(LOADCMD) $(LOADSLOW) $(LOADARG)$(PROG).hex
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.o: ao_product.c ao_product.h
+
+%.o : %.c $(INC)
+	$(call quiet,CC) -c $(CFLAGS) $<
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROG) $(PROG).hex
+	rm -f ao_product.h
+
+
+publish: $(PROG).hex
+	cp -a $(PROG).hex $(PUBLISH_FILE)
+
+load-product:
+	$(LOADCMD) $(LOADARG)$(PUBLISH_FILE)
+
+load-product-slow:
+	$(LOADCMD) $(LOADSLOW) $(LOADARG)$(PUBLISH_FILE)
+
+../altitude-pa.h: make-altitude-pa
+	nickle $< > $@
+
+install:
+
+uninstall:
+
+$(OBJ): ao_product.h $(INC)
diff --git a/src/microwater/ao_pins.h b/src/microwater/ao_pins.h
new file mode 100644
index 00000000..37885ec2
--- /dev/null
+++ b/src/microwater/ao_pins.h
@@ -0,0 +1,70 @@
+/*
+ * 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_
+#include <avr/pgmspace.h>
+
+#define AO_LED_ORANGE		(1<<4)
+#define AO_LED_SERIAL		4
+#define AO_LED_PANIC		AO_LED_ORANGE
+#define AO_LED_REPORT		AO_LED_ORANGE
+#define LEDS_AVAILABLE		(AO_LED_ORANGE)
+#define USE_SERIAL_1_STDIN	0
+#define HAS_USB			0
+#define PACKET_HAS_SLAVE	0
+#define HAS_SERIAL_1		0
+#define HAS_TASK		0
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define HAS_EEPROM		0
+#define HAS_BEEP		0
+#define AVR_CLOCK		250000UL
+
+/* SPI */
+#define SPI_PORT		PORTB
+#define SPI_PIN			PINB
+#define SPI_DIR			DDRB
+#define AO_MS5607_CS_PORT	PORTB
+#define AO_MS5607_CS_PIN	3
+
+/* MS5607 */
+#define AO_MS5607_SPI_INDEX	0
+#define AO_MS5607_MISO_PORT	PORTB
+#define AO_MS5607_MISO_PIN	0
+#define AO_MS5607_BARO_OVERSAMPLE	4096
+#define AO_MS5607_TEMP_OVERSAMPLE	1024
+
+/* I2C */
+#define I2C_PORT		PORTB
+#define I2C_PIN			PINB
+#define I2C_DIR			DDRB
+#define I2C_PIN_SCL		PINB2
+#define I2C_PIN_SDA		PINB0
+
+#define AO_CONST_ATTRIB		PROGMEM
+typedef int32_t alt_t;
+#define FETCH_ALT(o)		((alt_t) pgm_read_dword(&altitude_table[o]))
+
+#define AO_ALT_VALUE(x)		((x) * (alt_t) 10)
+
+/* Pressure change (in Pa) to detect boost */
+#ifndef BOOST_DETECT
+#define BOOST_DETECT		120	/* 10m at sea level, 12m at 2000m */
+#endif
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/nanopeak-v0.1/Makefile b/src/nanopeak-v0.1/Makefile
index 04eea902..d3779594 100644
--- a/src/nanopeak-v0.1/Makefile
+++ b/src/nanopeak-v0.1/Makefile
@@ -2,7 +2,7 @@
 # Tiny AltOS build
 #
 #
-vpath % ../attiny:../drivers:../core:../product:..
+vpath % ../attiny:../drivers:../kernel:../product:..
 vpath ao-make-product.5c ../util
 vpath make-altitude-pa ../util
 
@@ -47,7 +47,7 @@ INC=\
 IDPRODUCT=0
 PRODUCT=NanoPeak-v0.1
 PRODUCT_DEF=-DNANOPEAK
-CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../kernel -I.. -I../drivers -I../product
 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
 
 NICKLE=nickle
diff --git a/src/product/Makefile.teledongle b/src/product/Makefile.teledongle
index da9bcba0..81151364 100644
--- a/src/product/Makefile.teledongle
+++ b/src/product/Makefile.teledongle
@@ -7,8 +7,8 @@
 # TD_VER, TD_DEF and include
 # this file
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/product/Makefile.telelaunch b/src/product/Makefile.telelaunch
index a5e2eb7f..90fe7833 100644
--- a/src/product/Makefile.telelaunch
+++ b/src/product/Makefile.telelaunch
@@ -4,8 +4,8 @@
 # define TELELAUNCH_VER, TELELAUNCH_DEF
 # this file
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/product/Makefile.telemetrum b/src/product/Makefile.telemetrum
index c740a483..dbbf57d8 100644
--- a/src/product/Makefile.telemetrum
+++ b/src/product/Makefile.telemetrum
@@ -7,8 +7,8 @@
 # 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 %.c .:..:../kernel:../cc1111:../drivers:../product
+vpath %.h .:..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/product/Makefile.telemini b/src/product/Makefile.telemini
index 0884079e..ff8b9d56 100644
--- a/src/product/Makefile.telemini
+++ b/src/product/Makefile.telemini
@@ -4,8 +4,8 @@
 # Define TELEMINI_VER and TELEMINI_DEF and then
 # include this file
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/product/Makefile.telenano b/src/product/Makefile.telenano
index c31989ee..d2fcb6d8 100644
--- a/src/product/Makefile.telenano
+++ b/src/product/Makefile.telenano
@@ -4,8 +4,8 @@
 # Define TELENANO_VER and TELENANO_DEF and then
 # include this file
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/product/ao_flash_task.c b/src/product/ao_flash_task.c
index 6cb308e1..9a12add6 100644
--- a/src/product/ao_flash_task.c
+++ b/src/product/ao_flash_task.c
@@ -79,6 +79,14 @@ ao_block_erase(void)
 	ao_flash_erase_page(p);
 }
 
+static int
+ao_block_valid_address(uint32_t addr)
+{
+	if ((uint32_t) AO_BOOT_APPLICATION_BASE <= addr && addr <= (uint32_t) AO_BOOT_APPLICATION_BOUND - 256)
+		return 1;
+	return 0;
+}
+
 static void
 ao_block_write(void)
 {
@@ -87,12 +95,10 @@ ao_block_write(void)
 	uint8_t		data[256];
 	uint16_t	i;
 
-	if (addr < (uint32_t) AO_BOOT_APPLICATION_BASE) {
-		ao_put_string("Invalid address\n");
-		return;
-	}
 	for (i = 0; i < 256; i++)
 		data[i] = ao_usb_getchar();
+	if (!ao_block_valid_address(addr))
+		return;
 	ao_flash_page(p, (void *) data);
 }
 
@@ -104,18 +110,43 @@ ao_block_read(void)
 	uint16_t	i;
 	uint8_t		c;
 
+	if (!ao_block_valid_address(addr)) {
+		for (i = 0; i < 256; i++)
+			ao_usb_putchar(0xff);
+		return;
+	}
 	for (i = 0; i < 256; i++) {
 		c = *p++;
 		ao_usb_putchar(c);
 	}
 }
 
+static inline void
+hexchar(uint8_t c)
+{
+	if (c > 10)
+		c += 'a' - ('9' + 1);
+	ao_usb_putchar(c + '0');
+}
+
+static void
+ao_put_hex(uint32_t u)
+{
+	int8_t i;
+	for (i = 28; i >= 0; i -= 4)
+		hexchar((u >> i) & 0xf);
+}
+
 static void
 ao_show_version(void)
 {
 	ao_put_string("altos-loader");
 	ao_put_string("\nmanufacturer     "); ao_put_string(ao_manufacturer);
 	ao_put_string("\nproduct          "); ao_put_string(ao_product);
+	ao_put_string("\nflash-range      ");
+	ao_put_hex((uint32_t) AO_BOOT_APPLICATION_BASE);
+	ao_usb_putchar(' ');
+	ao_put_hex((uint32_t) AO_BOOT_APPLICATION_BOUND);
 	ao_put_string("\nsoftware-version "); ao_put_string(ao_version);
 	ao_put_string("\n");
 }
diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h
index 0cefca6f..0ec407d7 100644
--- a/src/product/ao_micropeak.h
+++ b/src/product/ao_micropeak.h
@@ -25,7 +25,9 @@
 #define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
 
 /* Pressure change (in Pa) to detect boost */
+#ifndef BOOST_DETECT
 #define BOOST_DETECT		360	/* 30m at sea level, 36m at 2000m */
+#endif
 
 /* Wait after power on before doing anything to give the user time to assemble the rocket */
 #define BOOST_DELAY		AO_SEC_TO_TICKS(60)
diff --git a/src/spiradio-v0.1/.sdcdbrc b/src/spiradio-v0.1/.sdcdbrc
index b9f6129c..2c77e32b 100644
--- a/src/spiradio-v0.1/.sdcdbrc
+++ b/src/spiradio-v0.1/.sdcdbrc
@@ -1,2 +1,2 @@
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
 
diff --git a/src/spiradio-v0.1/Makefile b/src/spiradio-v0.1/Makefile
index e644bc49..cd7a9cde 100644
--- a/src/spiradio-v0.1/Makefile
+++ b/src/spiradio-v0.1/Makefile
@@ -5,8 +5,8 @@
 SPIRADIO_VER=0.1
 SPIRADIO_DEF=0_1
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/stm-bringup/Makefile b/src/stm-bringup/Makefile
index 797df2d6..b0943e56 100644
--- a/src/stm-bringup/Makefile
+++ b/src/stm-bringup/Makefile
@@ -1,4 +1,4 @@
-vpath % ..:../core:../product:../drivers:../stm
+vpath % ..:../kernel:../product:../drivers:../stm
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile
index 98fcd9e5..869fb32f 100644
--- a/src/stm-demo/Makefile
+++ b/src/stm-demo/Makefile
@@ -9,6 +9,7 @@ INC = \
 	ao.h \
 	ao_arch.h \
 	ao_arch_funcs.h \
+	ao_boot.h \
 	ao_pins.h \
 	ao_product.h
 
@@ -26,7 +27,6 @@ ALTOS_SRC = \
 	ao_stdio.c \
 	ao_panic.c \
 	ao_timer.c \
-	ao_serial_stm.c \
 	ao_lcd_stm.c \
 	ao_lcd_font.c \
 	ao_mutex.c \
diff --git a/src/stm-demo/ao_demo.c b/src/stm-demo/ao_demo.c
index 58cf651b..ffc5d2d8 100644
--- a/src/stm-demo/ao_demo.c
+++ b/src/stm-demo/ao_demo.c
@@ -171,12 +171,38 @@ ao_event(void)
 }
 #endif
 
+static uint8_t ao_blinking = 0;
+
+static void
+ao_blink(void)
+{
+	for (;;) {
+		while (!ao_blinking)
+			ao_sleep(&ao_blinking);
+		while (ao_blinking) {
+			ao_led_toggle(AO_LED_BLUE|AO_LED_GREEN);
+			ao_delay(AO_MS_TO_TICKS(500));
+		}
+	}
+}
+
+static struct ao_task ao_blink_task;
+
+static void
+ao_blink_toggle(void)
+{
+	ao_blinking = !ao_blinking;
+	ao_wakeup(&ao_blinking);
+}
+
+
 __code struct ao_cmds ao_demo_cmds[] = {
 	{ ao_dma_test,	"D\0DMA test" },
 	{ ao_spi_write, "W\0SPI write" },
 	{ ao_spi_read, "R\0SPI read" },
 	{ ao_i2c_write, "i\0I2C write" },
 	{ ao_temp, "t\0Show temp" },
+	{ ao_blink_toggle, "b\0Toggle LED blinking" },
 /*	{ ao_event, "e\0Monitor event queue" }, */
 	{ 0, NULL }
 };
@@ -188,23 +214,26 @@ main(void)
 	
 	ao_task_init();
 
-	ao_serial_init();
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_GREEN);
+	ao_led_off(AO_LED_BLUE);
 	ao_timer_init();
 	ao_dma_init();
 	ao_cmd_init();
 //	ao_lcd_stm_init();
 //	ao_lcd_font_init();
-	ao_spi_init();
-	ao_i2c_init();
-	ao_exti_init();
+//	ao_spi_init();
+//	ao_i2c_init();
+//	ao_exti_init();
 //	ao_quadrature_init();
 //	ao_button_init();
 
-	ao_timer_set_adc_interval(100);
+//	ao_timer_set_adc_interval(100);
 
-	ao_adc_init();
+//	ao_adc_init();
 	ao_usb_init();
 
+	ao_add_task(&ao_blink_task, ao_blink, "blink");
 	ao_cmd_register(&ao_demo_cmds[0]);
 	
 	ao_start_scheduler();
diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h
index 40e48a36..885b9db6 100644
--- a/src/stm-demo/ao_pins.h
+++ b/src/stm-demo/ao_pins.h
@@ -42,13 +42,13 @@
 #define AO_APB2_PRESCALER      	1
 #define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_1
 
-#define HAS_SERIAL_1		1
-#define USE_SERIAL_1_STDIN	1
+#define HAS_SERIAL_1		0
+#define USE_SERIAL_1_STDIN	0
 #define SERIAL_1_PB6_PB7	1
 #define SERIAL_1_PA9_PA10	0
 
 #define HAS_SERIAL_2		0
-#define USE_SERIAL_2_STDIN	1
+#define USE_SERIAL_2_STDIN	0
 #define SERIAL_2_PA2_PA3	0
 #define SERIAL_2_PD5_PD6	1
 
@@ -70,7 +70,7 @@
 
 #define AO_BOOT_CHAIN		1
 
-#define LOW_LEVEL_DEBUG		1
+#define LOW_LEVEL_DEBUG		0
 
 #define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOBEN
 #define LED_PORT		(&stm_gpiob)
@@ -78,8 +78,7 @@
 #define LED_PIN_BLUE		6
 #define AO_LED_GREEN		(1 << LED_PIN_GREEN)
 #define AO_LED_BLUE		(1 << LED_PIN_BLUE)
-
-#define AO_LED_RED		AO_LED_BLUE	/* a patent lie */
+#define AO_LED_PANIC		AO_LED_BLUE
 
 #define LEDS_AVAILABLE		(AO_LED_BLUE | AO_LED_GREEN)
 
diff --git a/src/stm-demo/flash-loader/Makefile b/src/stm-demo/flash-loader/Makefile
new file mode 100644
index 00000000..27e54278
--- /dev/null
+++ b/src/stm-demo/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=stm-demo
+include $(TOPDIR)/stm/Makefile-flash.defs
diff --git a/src/stm-demo/flash-loader/ao_pins.h b/src/stm-demo/flash-loader/ao_pins.h
new file mode 100644
index 00000000..4c59101a
--- /dev/null
+++ b/src/stm-demo/flash-loader/ao_pins.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; 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_
+
+/* Bridge SB17 on the board and use the MCO from the other chip */
+#define AO_HSE		8000000
+#define AO_HSE_BYPASS		1
+
+#include <ao_flash_stm_pins.h>
+
+/* Use the 'user switch' to force boot loader on power on */
+
+#define AO_BOOT_PIN			1
+#define AO_BOOT_APPLICATION_GPIO	stm_gpioa
+#define AO_BOOT_APPLICATION_PIN		0
+#define AO_BOOT_APPLICATION_VALUE	0
+#define AO_BOOT_APPLICATION_MODE	0
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/stm-flash/Makefile b/src/stm-flash/Makefile
index 5c0699e1..568ab85a 100644
--- a/src/stm-flash/Makefile
+++ b/src/stm-flash/Makefile
@@ -9,6 +9,7 @@ INC = \
 	ao.h \
 	ao_arch.h \
 	ao_arch_funcs.h \
+	ao_boot.h \
 	ao_pins.h \
 	ao_product.h
 
diff --git a/src/stm/Makefile-flash.defs b/src/stm/Makefile-flash.defs
index 3890eff1..dde51a68 100644
--- a/src/stm/Makefile-flash.defs
+++ b/src/stm/Makefile-flash.defs
@@ -1,4 +1,4 @@
-vpath % $(TOPDIR)/stm:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/core:$(TOPDIR)/util:$(TOPDIR)
+vpath % $(TOPDIR)/stm:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)
 vpath ao-make-product.5c $(TOPDIR)/util
 
 .SUFFIXES: .elf .ihx
@@ -14,7 +14,7 @@ include $(TOPDIR)/Makedefs
 CC=$(ARM_CC)
 LIBS=$(PDCLIB_LIBS_M3) -lgcc
 
-AO_CFLAGS=-I. -I$(TOPDIR)/stm -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) $(PDCLIB_INCLUDES)
+AO_CFLAGS=-I. -I$(TOPDIR)/stm -I$(TOPDIR)/kernel -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) $(PDCLIB_INCLUDES)
 STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS)
 
 LDFLAGS=-L$(TOPDIR)/stm -Wl,-Taltos-loader.ld
diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs
index 42adfd09..c3d2707f 100644
--- a/src/stm/Makefile.defs
+++ b/src/stm/Makefile.defs
@@ -1,4 +1,4 @@
-vpath % ../stm:../product:../drivers:../core:../util:../kalman:../aes:../math:..
+vpath % ../stm:../product:../drivers:../kernel:../util:../kalman:../aes:../math:..
 vpath make-altitude ../util
 vpath make-kalman ../util
 vpath kalman.5c ../kalman
@@ -26,7 +26,7 @@ LIBS=$(PDCLIB_LIBS_M3) -lgcc
 
 WARN_FLAGS=-Wall -Wextra -Werror
 
-AO_CFLAGS=-I. -I../stm -I../core -I../drivers -I../math -I.. $(PDCLIB_INCLUDES)
+AO_CFLAGS=-I. -I../stm -I../kernel -I../drivers -I../math -I.. $(PDCLIB_INCLUDES)
 STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb \
 	-ffreestanding -nostdlib $(AO_CFLAGS) $(WARN_FLAGS)
 
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index 76fa9194..a6276c5a 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -139,7 +139,8 @@ ao_adc_init();
 #define AO_ADC_MAX			4095
 
 #define AO_BOOT_APPLICATION_BASE	((uint32_t *) 0x08001000)
-#define AO_BOOT_LOADER_BASE		((uint32_t *) 0x0)
+#define AO_BOOT_APPLICATION_BOUND	((uint32_t *) (0x08000000 + stm_flash_size()))
+#define AO_BOOT_LOADER_BASE		((uint32_t *) 0x08000000)
 #define HAS_BOOT_LOADER			1
 
 #endif /* _AO_ARCH_H_ */
diff --git a/src/stm/ao_boot_chain.c b/src/stm/ao_boot_chain.c
index 6a3864a7..bcebf033 100644
--- a/src/stm/ao_boot_chain.c
+++ b/src/stm/ao_boot_chain.c
@@ -50,7 +50,7 @@ ao_boot_check_chain(void)
 	if (ao_boot.signal == AO_BOOT_SIGNAL && ao_boot.check == AO_BOOT_CHECK) {
 		ao_boot.signal = 0;
 		ao_boot.check = 0;
-		if (ao_boot.base == 0)
+		if (ao_boot.base == AO_BOOT_FORCE_LOADER)
 			return 0;
 		ao_boot_chain(ao_boot.base);
 	}
diff --git a/src/stm/ao_boot_pin.c b/src/stm/ao_boot_pin.c
index 1000a65a..e825b618 100644
--- a/src/stm/ao_boot_pin.c
+++ b/src/stm/ao_boot_pin.c
@@ -26,7 +26,7 @@ ao_boot_check_pin(void)
 
 	/* Enable power interface clock */
 	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
-	
+
 	/* Enable the input pin */
 	ao_enable_input(&AO_BOOT_APPLICATION_GPIO, AO_BOOT_APPLICATION_PIN,
 			AO_BOOT_APPLICATION_MODE);
diff --git a/src/stm/ao_fast_timer.c b/src/stm/ao_fast_timer.c
index d61b40c9..9a73eb51 100644
--- a/src/stm/ao_fast_timer.c
+++ b/src/stm/ao_fast_timer.c
@@ -88,7 +88,11 @@ void stm_tim6_isr(void)
 #define TIMER_23467_SCALER 1
 #endif
 
-#define TIMER_10kHz	((AO_PCLK1 * TIMER_23467_SCALER) / 10000)
+#ifndef FAST_TIMER_FREQ
+#define FAST_TIMER_FREQ	10000
+#endif
+
+#define TIMER_FAST	((AO_PCLK1 * TIMER_23467_SCALER) / FAST_TIMER_FREQ)
 
 void
 ao_fast_timer_init(void)
@@ -100,7 +104,7 @@ ao_fast_timer_init(void)
 		/* Turn on timer 6 */
 		stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN);
 
-		stm_tim6.psc = TIMER_10kHz;
+		stm_tim6.psc = TIMER_FAST;
 		stm_tim6.arr = 9;
 		stm_tim6.cnt = 0;
 
diff --git a/src/stm/ao_interrupt.c b/src/stm/ao_interrupt.c
index 969e6a0f..56cce0c0 100644
--- a/src/stm/ao_interrupt.c
+++ b/src/stm/ao_interrupt.c
@@ -39,6 +39,38 @@ void stm_ignore_isr(void)
 
 const void *stm_interrupt_vector[];
 
+uint32_t
+stm_flash_size(void) {
+	uint16_t	dev_id = stm_dev_id();
+	uint16_t	kbytes = 0;
+
+	switch (dev_id) {
+	case 0x416:	/* cat 1 */
+		kbytes = stm_flash_size_medium.f_size;
+		break;
+	case 0x429:	/* cat 2 */
+		kbytes = stm_flash_size_medium.f_size & 0xff;
+		break;
+	case 0x427:	/* cat 3 */
+		kbytes = stm_flash_size_large.f_size;
+		break;
+	case 0x436:	/* cat 4 */
+		switch (stm_flash_size_large.f_size) {
+		case 0:
+			kbytes = 256;
+			break;
+		case 1:
+			kbytes = 384;
+			break;
+		}
+		break;
+	case 0x437:	/* cat 5 */
+		kbytes = stm_flash_size_large.f_size;
+		break;
+	}
+	return (uint32_t) kbytes * 1024;
+}
+
 void start(void)
 {
 #ifdef AO_BOOT_CHAIN
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index d93531fc..8db62e76 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -17,6 +17,9 @@
 
 #include "ao.h"
 #include <ao_task.h>
+#if HAS_FAKE_FLIGHT
+#include <ao_fake_flight.h>
+#endif
 
 #ifndef HAS_TICK
 #define HAS_TICK 1
@@ -47,7 +50,12 @@ void stm_systick_isr(void)
 #if AO_DATA_ALL
 		if (++ao_data_count == ao_data_interval) {
 			ao_data_count = 0;
-			ao_adc_poll();
+#if HAS_FAKE_FLIGHT
+			if (ao_fake_flight_active)
+				ao_fake_flight_poll();
+			else
+#endif
+				ao_adc_poll();
 #if (AO_DATA_ALL & ~(AO_DATA_ADC))
 			ao_wakeup((void *) &ao_data_count);
 #endif
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index 27b82357..4e9d1f14 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -117,7 +117,7 @@ static uint8_t	ao_usb_in_pending;
  * but not pulled to the shadow buffer.
  */
 static uint8_t	ao_usb_out_avail;
-static uint8_t	ao_usb_running;
+uint8_t		ao_usb_running;
 static uint8_t	ao_usb_configuration;
 
 #define AO_USB_EP0_GOT_RESET	1
@@ -727,6 +727,9 @@ ao_usb_ep0_handle(uint8_t receive)
 	if (receive & AO_USB_EP0_GOT_TX_ACK) {
 		debug ("\tgot tx ack\n");
 
+#if HAS_FLIGHT && AO_USB_FORCE_IDLE
+		ao_flight_force_idle = 1;
+#endif
 		/* Wait until the IN packet is received from addr 0
 		 * before assigning our local address
 		 */
diff --git a/src/stm/registers.ld b/src/stm/registers.ld
index 8318c75a..d40fd90f 100644
--- a/src/stm/registers.ld
+++ b/src/stm/registers.ld
@@ -52,5 +52,10 @@ stm_scb    = 0xe000ed00;
 
 stm_mpu    = 0xe000ed90;
 
+stm_dbg_mcu = 0xe0042000;
+
 /* calibration data in system memory */
 stm_temp_cal = 0x1ff80078;
+stm_flash_size_medium = 0x1ff8004c;
+stm_flash_size_large = 0x1ff800cc;
+stm_device_id = 0x1ff80050;
diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h
index 302f4d24..799cccbd 100644
--- a/src/stm/stm32l.h
+++ b/src/stm/stm32l.h
@@ -176,12 +176,27 @@ stm_gpio_get_all(struct stm_gpio *gpio) {
 	return gpio->idr;
 }
 
-extern struct stm_gpio stm_gpioa;
-extern struct stm_gpio stm_gpiob;
-extern struct stm_gpio stm_gpioc;
-extern struct stm_gpio stm_gpiod;
-extern struct stm_gpio stm_gpioe;
-extern struct stm_gpio stm_gpioh;
+/*
+ * We can't define these in registers.ld or our fancy
+ * ao_enable_gpio macro will expand into a huge pile of code
+ * as the compiler won't do correct constant folding and
+ * dead-code elimination
+
+ extern struct stm_gpio stm_gpioa;
+ extern struct stm_gpio stm_gpiob;
+ extern struct stm_gpio stm_gpioc;
+ extern struct stm_gpio stm_gpiod;
+ extern struct stm_gpio stm_gpioe;
+ extern struct stm_gpio stm_gpioh;
+
+*/
+
+#define stm_gpioh  (*((struct stm_gpio *) 0x40021400))
+#define stm_gpioe  (*((struct stm_gpio *) 0x40021000))
+#define stm_gpiod  (*((struct stm_gpio *) 0x40020c00))
+#define stm_gpioc  (*((struct stm_gpio *) 0x40020800))
+#define stm_gpiob  (*((struct stm_gpio *) 0x40020400))
+#define stm_gpioa  (*((struct stm_gpio *) 0x40020000))
 
 struct stm_usart {
 	vuint32_t	sr;	/* status register */
@@ -1492,6 +1507,36 @@ extern struct stm_temp_cal	stm_temp_cal;
 #define stm_temp_cal_cold	25
 #define stm_temp_cal_hot	110
 
+struct stm_dbg_mcu {
+	uint32_t	idcode;
+};
+
+extern struct stm_dbg_mcu	stm_dbg_mcu;
+
+static inline uint16_t
+stm_dev_id(void) {
+	return stm_dbg_mcu.idcode & 0xfff;
+}
+
+struct stm_flash_size {
+	uint16_t	f_size;
+};
+
+extern struct stm_flash_size	stm_flash_size_medium;
+extern struct stm_flash_size	stm_flash_size_large;
+
+/* Returns flash size in bytes */
+extern uint32_t
+stm_flash_size(void);
+
+struct stm_device_id {
+	uint32_t	u_id0;
+	uint32_t	u_id1;
+	uint32_t	u_id2;
+};
+
+extern struct stm_device_id	stm_device_id;
+
 #define STM_NUM_I2C	2
 
 #define STM_I2C_INDEX(channel)	((channel) - 1)
diff --git a/src/teleballoon-v1.1/Makefile b/src/teleballoon-v1.1/Makefile
index 6ff076a9..c6f6345a 100644
--- a/src/teleballoon-v1.1/Makefile
+++ b/src/teleballoon-v1.1/Makefile
@@ -17,8 +17,8 @@ TELEBALLOON_SRC = \
 	ao_gps_skytraq.c \
 	ao_m25.c
 
-vpath %.c ..:../core:../cc1111:../drivers:../product:.
-vpath %.h ..:../core:../cc1111:../drivers:../product:.
+vpath %.c ..:../kernel:../cc1111:../drivers:../product:.
+vpath %.h ..:../kernel:../cc1111:../drivers:../product:.
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/teleballoon-v1.1/ao_pins.h b/src/teleballoon-v1.1/ao_pins.h
index 7ba48c96..4c23ca88 100644
--- a/src/teleballoon-v1.1/ao_pins.h
+++ b/src/teleballoon-v1.1/ao_pins.h
@@ -28,6 +28,7 @@
 	#define HAS_FLIGHT		1
 	#define HAS_USB			1
 	#define HAS_BEEP		1
+	#define HAS_BATTERY_REPORT	1
 	#define HAS_GPS			1
 	#define HAS_SERIAL_1		1
 	#define HAS_ADC			1
diff --git a/src/teleballoon-v2.0/.gitignore b/src/teleballoon-v2.0/.gitignore
new file mode 100644
index 00000000..85f12553
--- /dev/null
+++ b/src/teleballoon-v2.0/.gitignore
@@ -0,0 +1,3 @@
+ao_product.h
+teleballoon-*.elf
+
diff --git a/src/teleballoon-v2.0/Makefile b/src/teleballoon-v2.0/Makefile
new file mode 100644
index 00000000..28588778
--- /dev/null
+++ b/src/teleballoon-v2.0/Makefile
@@ -0,0 +1,130 @@
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_boot.h \
+	ao_companion.h \
+	ao_data.h \
+	ao_sample.h \
+	ao_pins.h \
+	altitude-pa.h \
+	ao_kalman.h \
+	ao_product.h \
+	ao_ms5607.h \
+	ao_mma655x.h \
+	ao_cc1120_CC1120.h \
+	ao_profile.h \
+	ao_task.h \
+	ao_whiten.h \
+	ao_sample_profile.h \
+	ao_mpu.h \
+	stm32l.h \
+	Makefile
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+#	ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+MATH_SRC=\
+	ef_log.c
+
+ALTOS_SRC = \
+	ao_boot_chain.c \
+	ao_interrupt.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_task.c \
+	ao_led.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer.c \
+	ao_mutex.c \
+	ao_serial_stm.c \
+	ao_gps_ublox.c \
+	ao_gps_show.c \
+	ao_gps_report_metrum.c \
+	ao_ignite.c \
+	ao_freq.c \
+	ao_dma_stm.c \
+	ao_spi_stm.c \
+	ao_cc1120.c \
+	ao_fec_tx.c \
+	ao_fec_rx.c \
+	ao_data.c \
+	ao_ms5607.c \
+	ao_mma655x.c \
+	ao_adc_stm.c \
+	ao_beep_stm.c \
+	ao_storage.c \
+	ao_m25.c \
+	ao_usb_stm.c \
+	ao_exti_stm.c \
+	ao_eeprom_stm.c \
+	ao_report.c \
+	ao_convert_pa.c \
+	ao_convert_volt.c \
+	ao_log.c \
+	ao_log_metrum.c \
+	ao_sample.c \
+	ao_kalman.c \
+	ao_balloon.c \
+	ao_telemetry.c \
+	ao_packet_slave.c \
+	ao_packet.c \
+	ao_companion.c \
+	ao_aprs.c \
+	$(MATH_SRC) \
+	$(PROFILE) \
+	$(SAMPLE_PROFILE) \
+	$(STACK_GUARD)
+
+PRODUCT=TeleBalloon-v2.0
+PRODUCT_DEF=-DTELEMETRUM_V_2_0
+IDPRODUCT=0x000b
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=teleballoon-v2.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_teleballoon.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+../altitude-pa.h: make-altitude-pa
+	nickle $< > $@
+
+$(OBJ): $(INC)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/teleballoon-v2.0/ao_pins.h b/src/teleballoon-v2.0/ao_pins.h
new file mode 100644
index 00000000..a369070f
--- /dev/null
+++ b/src/teleballoon-v2.0/ao_pins.h
@@ -0,0 +1,328 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE		1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE			8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL		12
+#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV		3
+#define AO_RCC_CFGR_PLLDIV	(STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER	1
+#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER	2
+#define AO_RCC_CFGR_PPRE1_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER	2
+#define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1		0
+#define USE_SERIAL_1_STDIN	0
+#define SERIAL_1_PB6_PB7	0
+#define SERIAL_1_PA9_PA10	1
+
+#define HAS_SERIAL_2		0
+#define USE_SERIAL_2_STDIN	0
+#define SERIAL_2_PA2_PA3	0
+#define SERIAL_2_PD5_PD6	0
+
+#define HAS_SERIAL_3		1
+#define USE_SERIAL_3_STDIN	0
+#define SERIAL_3_PB10_PB11	1
+#define SERIAL_3_PC10_PC11	0
+#define SERIAL_3_PD8_PD9	0
+
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	(512 * 1024)
+#define AO_CONFIG_MAX_SIZE			1024
+#define LOG_ERASE_MARK				0x55
+#define LOG_MAX_ERASE				128
+
+#define HAS_EEPROM		1
+#define USE_INTERNAL_FLASH	0
+#define USE_EEPROM_CONFIG	1
+#define USE_STORAGE_CONFIG	0
+#define HAS_USB			1
+#define HAS_BEEP		1
+#define HAS_BATTERY_REPORT	1
+#define BEEPER_CHANNEL		4
+#define HAS_RADIO		1
+#define HAS_TELEMETRY		1
+#define HAS_APRS		1
+
+#define HAS_SPI_1		1
+#define SPI_1_PA5_PA6_PA7	1	/* Barometer */
+#define SPI_1_PB3_PB4_PB5	1	/* Accelerometer */
+#define SPI_1_PE13_PE14_PE15	0
+#define SPI_1_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2		1
+#define SPI_2_PB13_PB14_PB15	1	/* Flash, Companion, Radio */
+#define SPI_2_PD1_PD3_PD4	0
+#define SPI_2_OSPEEDR		STM_OSPEEDR_10MHz
+
+#define SPI_2_PORT		(&stm_gpiob)
+#define SPI_2_SCK_PIN		13
+#define SPI_2_MISO_PIN		14
+#define SPI_2_MOSI_PIN		15
+
+#define HAS_I2C_1		0
+#define I2C_1_PB8_PB9		0
+
+#define HAS_I2C_2		0
+#define I2C_2_PB10_PB11		0
+
+#define PACKET_HAS_SLAVE	1
+#define PACKET_HAS_MASTER	0
+
+#define LOW_LEVEL_DEBUG		0
+
+#define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT		(&stm_gpioc)
+#define LED_PIN_RED		14
+#define LED_PIN_GREEN		15
+#define AO_LED_RED		(1 << LED_PIN_RED)
+#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE		(AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS			1
+#define HAS_FLIGHT		1
+#define HAS_ADC			1
+#define HAS_ADC_TEMP		1
+#define HAS_LOG			1
+#define AO_USB_FORCE_IDLE	0
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE		0
+#define HAS_IGNITE_REPORT	0
+
+#define AO_SENSE_DROGUE(p)	((p)->adc.sense_a)
+#define AO_SENSE_MAIN(p)	((p)->adc.sense_m)
+#define AO_IGNITER_CLOSED	400
+#define AO_IGNITER_OPEN		60
+
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT	(&stm_gpioa)
+#define AO_IGNITER_DROGUE_PIN	8
+
+/* Main */
+#define AO_IGNITER_MAIN_PORT	(&stm_gpioa)
+#define AO_IGNITER_MAIN_PIN	9
+
+#define AO_IGNITER_SET_DROGUE(v)	stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
+#define AO_IGNITER_SET_MAIN(v)		stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING		32
+#define AO_ADC_NUM_SENSE	2
+
+struct ao_adc {
+	int16_t			sense_a;
+	int16_t			sense_m;
+	int16_t			v_batt;
+	int16_t			temp;
+};
+
+#define AO_ADC_DUMP(p) \
+	printf("tick: %5u drogue: %5d main: %5d batt: %5d\n", \
+	       (p)->tick, \
+	       (p)->adc.sense_a, (p)->adc.sense_m, \
+	       (p)->adc.v_batt);
+
+#define AO_ADC_SENSE_DROGUE	0
+#define AO_ADC_SENSE_DROGUE_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_DROGUE_PIN	0
+
+#define AO_ADC_SENSE_MAIN	1
+#define AO_ADC_SENSE_MAIN_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_MAIN_PIN	1
+
+#define AO_ADC_V_BATT		8
+#define AO_ADC_V_BATT_PORT	(&stm_gpiob)
+#define AO_ADC_V_BATT_PIN	0
+
+#define AO_ADC_TEMP		16
+
+#define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_GPIOAEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOEEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN		3
+
+#define AO_ADC_PIN0_PORT	AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN0_PIN		AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN1_PORT	AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN1_PIN		AO_ADC_SENSE_MAIN_PIN
+#define AO_ADC_PIN2_PORT	AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN2_PIN		AO_ADC_V_BATT_PIN
+
+#define AO_NUM_ADC	       	(AO_NUM_ADC_PIN + 1)
+
+#define AO_ADC_SQ1		AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ2		AO_ADC_SENSE_MAIN
+#define AO_ADC_SQ3		AO_ADC_V_BATT
+#define AO_ADC_SQ4		AO_ADC_TEMP
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	56	/* 5.6k */
+#define AO_BATTERY_DIV_MINUS	100	/* 10k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS	100	/* 100k */
+#define AO_IGNITE_DIV_MINUS	27	/* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
+
+/*
+ * GPS
+ */
+
+#define AO_SERIAL_SPEED_UBLOX	AO_SERIAL_SPEED_9600
+
+#define ao_gps_getchar		ao_serial3_getchar
+#define ao_gps_putchar		ao_serial3_putchar
+#define ao_gps_set_speed	ao_serial3_set_speed
+#define ao_gps_fifo		(ao_stm_usart3.rx_fifo)
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define AO_MS5607_PRIVATE_PINS	1
+#define AO_MS5607_CS_PORT	(&stm_gpiob)
+#define AO_MS5607_CS_PIN	12
+#define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS)
+#define AO_MS5607_MISO_PORT	(&stm_gpioa)
+#define AO_MS5607_MISO_PIN	6
+#define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO)
+#define AO_MS5607_SPI_INDEX	AO_SPI_1_PA5_PA6_PA7
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS		1
+#define AO_M25_SPI_CS_PORT	(&stm_gpiob)
+#define AO_M25_SPI_CS_MASK	(1 << 8)
+#define AO_M25_SPI_BUS		AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Radio (cc1120)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 	0x6ca333
+
+#define AO_FEC_DEBUG		0
+#define AO_CC1120_SPI_CS_PORT	(&stm_gpioa)
+#define AO_CC1120_SPI_CS_PIN	2
+#define AO_CC1120_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+#define AO_CC1120_SPI		stm_spi2
+
+#define AO_CC1120_INT_PORT		(&stm_gpioa)
+#define AO_CC1120_INT_PIN		(3)
+#define AO_CC1120_MCU_WAKEUP_PORT	(&stm_gpioa)
+#define AO_CC1120_MCU_WAKEUP_PIN	(4)
+
+#define AO_CC1120_INT_GPIO	2
+#define AO_CC1120_INT_GPIO_IOCFG	CC1120_IOCFG2
+
+#define AO_CC1120_MARC_GPIO	3
+#define AO_CC1120_MARC_GPIO_IOCFG	CC1120_IOCFG3
+
+#define HAS_BOOT_RADIO		0
+
+#define HAS_HIGHG_ACCEL		0
+
+/* Disable accelerometer for balloon mode */
+   
+#define HAS_ACCEL		0
+
+/*
+ * mma655x
+ */
+
+#define HAS_MMA655X		0
+#define AO_MMA655X_SPI_INDEX	AO_SPI_1_PB3_PB4_PB5
+#define AO_MMA655X_CS_PORT	(&stm_gpiob)
+#define AO_MMA655X_CS_PIN	9
+#define AO_MMA655X_INVERT	1
+
+#define NUM_CMDS		16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT	(&stm_gpiob)
+#define AO_COMPANION_CS_PIN	(6)
+#define AO_COMPANION_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR		0
+#define LEGACY_MONITOR		0
+#define HAS_MONITOR_PUT		1
+#define AO_MONITOR_LED		0
+#define HAS_RSSI		0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE	       	0
+#endif
+
+/*
+ * Teleballoon-specific bits
+ */
+
+#define AO_TELEMETRY_INTERVAL_BALLOON	AO_MS_TO_TICKS(1000)
+
+#define AO_SEND_METRUM		1
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/teleballoon-v2.0/ao_teleballoon.c b/src/teleballoon-v2.0/ao_teleballoon.c
new file mode 100644
index 00000000..9b506814
--- /dev/null
+++ b/src/teleballoon-v2.0/ao_teleballoon.c
@@ -0,0 +1,92 @@
+/*
+ * 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_ms5607.h>
+#include <ao_mma655x.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_packet.h>
+#include <ao_companion.h>
+#include <ao_eeprom.h>
+#include <ao_profile.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+
+int
+main(void)
+{
+	ao_clock_init();
+	
+#if HAS_STACK_GUARD
+	ao_mpu_init();
+#endif
+
+	ao_task_init();
+	ao_serial_init();
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_RED);
+	ao_timer_init();
+
+	ao_spi_init();
+	ao_dma_init();
+	ao_exti_init();
+
+	ao_adc_init();
+#if HAS_BEEP
+	ao_beep_init();
+#endif
+	ao_cmd_init();
+
+#if HAS_MS5607
+	ao_ms5607_init();
+#endif
+#if HAS_MMA655X
+	ao_mma655x_init();
+#endif
+
+	ao_eeprom_init();
+
+	ao_storage_init();
+	
+	ao_flight_init();
+	ao_log_init();
+	ao_report_init();
+
+	ao_usb_init();
+	ao_gps_init();
+	ao_gps_report_metrum_init();
+	ao_telemetry_init();
+	ao_radio_init();
+	ao_packet_slave_init(FALSE);
+	ao_companion_init();
+
+	ao_config_init();
+#if AO_PROFILE
+	ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+	ao_sample_profile_init();
+#endif
+	
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/telebt-v1.0/.sdcdbrc b/src/telebt-v1.0/.sdcdbrc
index b9f6129c..2c77e32b 100644
--- a/src/telebt-v1.0/.sdcdbrc
+++ b/src/telebt-v1.0/.sdcdbrc
@@ -1,2 +1,2 @@
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
 
diff --git a/src/telebt-v1.0/Makefile b/src/telebt-v1.0/Makefile
index 40853fc3..a7797499 100644
--- a/src/telebt-v1.0/Makefile
+++ b/src/telebt-v1.0/Makefile
@@ -5,8 +5,8 @@
 TELEBT_VER=1.0
 TELEBT_DEF=1_0
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/telefire-v0.1/.sdcdbrc b/src/telefire-v0.1/.sdcdbrc
index b9f6129c..2c77e32b 100644
--- a/src/telefire-v0.1/.sdcdbrc
+++ b/src/telefire-v0.1/.sdcdbrc
@@ -1,2 +1,2 @@
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
 
diff --git a/src/telefire-v0.1/Makefile b/src/telefire-v0.1/Makefile
index f9e11698..25267268 100644
--- a/src/telefire-v0.1/Makefile
+++ b/src/telefire-v0.1/Makefile
@@ -5,8 +5,8 @@
 TELEFIRE_VER=0.1
 TELEFIRE_DEF=0_1
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/telefire-v0.2/.sdcdbrc b/src/telefire-v0.2/.sdcdbrc
index b9f6129c..2c77e32b 100644
--- a/src/telefire-v0.2/.sdcdbrc
+++ b/src/telefire-v0.2/.sdcdbrc
@@ -1,2 +1,2 @@
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
 
diff --git a/src/telefire-v0.2/Makefile b/src/telefire-v0.2/Makefile
index a820990a..ad5065c1 100644
--- a/src/telefire-v0.2/Makefile
+++ b/src/telefire-v0.2/Makefile
@@ -5,8 +5,8 @@
 TELEFIRE_VER=0.2
 TELEFIRE_DEF=0_2
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/telegps-v0.1/Makefile b/src/telegps-v0.1/Makefile
index 77ef9c4a..46eb0ac5 100644
--- a/src/telegps-v0.1/Makefile
+++ b/src/telegps-v0.1/Makefile
@@ -9,6 +9,7 @@ INC = \
 	ao.h \
 	ao_arch.h \
 	ao_arch_funcs.h \
+	ao_boot.h \
 	ao_pins.h \
 	ao_product.h \
 	ao_task.h \
diff --git a/src/telegps-v0.3/Makefile b/src/telegps-v0.3/Makefile
index 5aad32b5..1eaf7c47 100644
--- a/src/telegps-v0.3/Makefile
+++ b/src/telegps-v0.3/Makefile
@@ -11,6 +11,7 @@ INC = \
 	ao_arch_funcs.h \
 	ao_pins.h \
 	ao_product.h \
+	ao_tracker.h \
 	ao_task.h \
 	ao_whiten.h \
 	ao_cc115l.h \
@@ -19,9 +20,6 @@ INC = \
 	Makefile
 
 
-MATH_SRC=\
-	ef_log.c
-
 ALTOS_SRC = \
 	ao_interrupt.c \
 	ao_boot_chain.c \
@@ -44,13 +42,14 @@ ALTOS_SRC = \
 	ao_cc115l.c \
 	ao_fec_tx.c \
 	ao_aprs.c \
+	ao_tracker.c \
 	ao_telemetry.c \
 	ao_storage.c \
 	ao_m25.c \
 	ao_log.c \
-	ao_log_mega.c \
-	ao_gps_report_mega.c \
-	$(MATH_SRC) \
+	ao_log_gps.c \
+	ao_distance.c \
+	ao_sqrt.c \
 	$(SAMPLE_PROFILE)
 
 PRODUCT=TeleGPS-v0.3
@@ -61,11 +60,12 @@ CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) $(PROFILE_DEF) -Os -g
 
 PROGNAME=telegps-v0.3
 PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
 
 SRC=$(ALTOS_SRC) ao_telegps.c
 OBJ=$(SRC:.c=.o)
 
-all: $(PROG)
+all: $(PROG) $(HEX)
 
 LDFLAGS=-L../lpc -Wl,-Taltos.ld
 
diff --git a/src/telegps-v0.3/ao_pins.h b/src/telegps-v0.3/ao_pins.h
index a4afaa54..d0e4d835 100644
--- a/src/telegps-v0.3/ao_pins.h
+++ b/src/telegps-v0.3/ao_pins.h
@@ -46,7 +46,7 @@
 #define HAS_BEEP		0
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
-#define HAS_RDF			0
+#define HAS_RDF			1
 #define HAS_APRS		1
 #define HAS_RADIO_RECV		0
 
@@ -69,9 +69,11 @@
 #define HAS_FLIGHT		0
 #define HAS_ADC			0
 #define HAS_LOG			1
+#define HAS_TRACKER		1
 
-#define AO_CONFIG_DEFAULT_APRS_INTERVAL	5
+#define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	496 * 1024
 
 /*
  * GPS
@@ -85,9 +87,9 @@
 
 /* gets pretty close to 434.550 */
 
-#define AO_RADIO_CAL_DEFAULT 	0x10b6a5
+#define AO_RADIO_CAL_DEFAULT 	1095378
 
-#define HAS_RADIO_POWER		1
+#define HAS_RADIO_POWER		0
 #define AO_FEC_DEBUG		0
 #define AO_CC115L_SPI_CS_PORT	0
 #define AO_CC115L_SPI_CS_PIN	3
diff --git a/src/telegps-v0.3/ao_telegps.c b/src/telegps-v0.3/ao_telegps.c
index 608817e7..dd699ecf 100644
--- a/src/telegps-v0.3/ao_telegps.c
+++ b/src/telegps-v0.3/ao_telegps.c
@@ -17,15 +17,13 @@
 
 #include <ao.h>
 #include <ao_exti.h>
-#include <ao_fat.h>
-
-uint16_t	ao_flight_number = 1;
+#include <ao_tracker.h>
 
 int
 main(void)
 {
 	ao_clock_init();
-	
+
 #if HAS_STACK_GUARD
 	ao_mpu_init();
 #endif
@@ -48,18 +46,18 @@ main(void)
 
 	ao_gps_init();
 #if HAS_LOG
-	ao_gps_report_mega_init();
 	ao_log_init();
 #endif
 
+	ao_tracker_init();
+
 	ao_telemetry_init();
-	ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
 
 #if HAS_SAMPLE_PROFILE
 	ao_sample_profile_init();
 #endif
 	ao_config_init();
-	
+
 	ao_start_scheduler();
 	return 0;
 }
diff --git a/src/telegps-v1.0/.gitignore b/src/telegps-v1.0/.gitignore
new file mode 100644
index 00000000..892c3acc
--- /dev/null
+++ b/src/telegps-v1.0/.gitignore
@@ -0,0 +1,3 @@
+ao_product.h
+ao_serial_lpc.h
+*.elf
diff --git a/src/telegps-v1.0/Makefile b/src/telegps-v1.0/Makefile
new file mode 100644
index 00000000..bd13cfe7
--- /dev/null
+++ b/src/telegps-v1.0/Makefile
@@ -0,0 +1,91 @@
+#
+# AltOS build
+#
+#
+
+include ../lpc/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_pins.h \
+	ao_product.h \
+	ao_tracker.h \
+	ao_task.h \
+	ao_whiten.h \
+	ao_cc115l.h \
+	ao_fec.h \
+	lpc.h \
+	Makefile
+
+
+ALTOS_SRC = \
+	ao_interrupt.c \
+	ao_boot_chain.c \
+	ao_product.c \
+	ao_romconfig.c \
+	ao_cmd.c \
+	ao_config.c \
+	ao_task.c \
+	ao_stdio.c \
+	ao_panic.c \
+	ao_timer_lpc.c \
+	ao_mutex.c \
+	ao_freq.c \
+	ao_spi_lpc.c \
+	ao_usb_lpc.c \
+	ao_exti_lpc.c \
+	ao_serial_lpc.c \
+	ao_gps_ublox.c \
+	ao_gps_show.c \
+	ao_cc115l.c \
+	ao_fec_tx.c \
+	ao_aprs.c \
+	ao_tracker.c \
+	ao_telemetry.c \
+	ao_storage.c \
+	ao_m25.c \
+	ao_log.c \
+	ao_log_gps.c \
+	ao_distance.c \
+	ao_sqrt.c \
+	ao_data.c \
+	ao_adc_lpc.c \
+	ao_convert_volt.c \
+	$(SAMPLE_PROFILE)
+
+PRODUCT=TeleGPS-v1.0
+PRODUCT_DEF=-DTELEGPS
+IDPRODUCT=0x0025
+
+CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) $(PROFILE_DEF) -Os -g
+
+PROGNAME=telegps-v1.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_telegps.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+LDFLAGS=-L../lpc -Wl,-Taltos.ld
+
+$(PROG): Makefile $(OBJ) altos.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+$(OBJ): $(INC)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean:
+	rm -f *.o ao_serial_lpc.h $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/telegps-v1.0/ao_pins.h b/src/telegps-v1.0/ao_pins.h
new file mode 100644
index 00000000..5f53dd9d
--- /dev/null
+++ b/src/telegps-v1.0/ao_pins.h
@@ -0,0 +1,149 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define AO_STACK_SIZE	448
+
+#define IS_FLASH_LOADER		0
+
+/* Crystal on the board */
+#define AO_LPC_CLKIN	12000000
+
+/* Main clock frequency. 48MHz for USB so we don't use the USB PLL */
+#define AO_LPC_CLKOUT	48000000
+
+/* System clock frequency */
+#define AO_LPC_SYSCLK	24000000
+
+#define HAS_SERIAL_0		1
+#define SERIAL_0_18_19		1
+#define USE_SERIAL_0_STDIN	0
+
+#define ao_gps_getchar		ao_serial0_getchar
+#define ao_gps_putchar		ao_serial0_putchar
+#define ao_gps_set_speed	ao_serial0_set_speed
+#define ao_gps_fifo		(ao_usart_rx_fifo)
+
+#define HAS_EEPROM		1
+#define USE_INTERNAL_FLASH	0
+#define HAS_USB			1
+#define HAS_BEEP		0
+#define HAS_RADIO		1
+#define HAS_TELEMETRY		1
+#define HAS_RDF			1
+#define HAS_APRS		1
+#define HAS_RADIO_RECV		0
+
+#define HAS_USB_PULLUP		1
+#define AO_USB_PULLUP_PORT	0
+#define AO_USB_PULLUP_PIN	7
+#define HAS_USB_CONNECT		1
+#define AO_USB_CONNECT_PORT	1
+#define AO_USB_CONNECT_PIN	19
+
+/* Flash part */
+#define HAS_SPI_0		1
+#define SPI_SCK0_P0_6		1
+#define SPI_0_OSPEEDR		AO_SPI_OSPEED_12MHz
+
+/* Radio */
+#define HAS_SPI_1		1
+#define SPI_SCK1_P1_15		1
+#define SPI_MISO1_P0_22		1
+#define SPI_MOSI1_P0_21		1
+
+#define HAS_GPS			1
+#define HAS_FLIGHT		0
+#define HAS_LOG			1
+#define HAS_TRACKER		1
+
+#define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
+#define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	496 * 1024
+
+/*
+ * GPS
+ */
+
+#define AO_SERIAL_SPEED_UBLOX	AO_SERIAL_SPEED_9600
+
+/*
+ * Radio (cc115l)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 	1095378
+
+#define HAS_RADIO_POWER		0
+#define AO_FEC_DEBUG		0
+#define AO_CC115L_SPI_CS_PORT	0
+#define AO_CC115L_SPI_CS_PIN	3
+#define AO_CC115L_SPI_BUS	0
+
+#define AO_CC115L_FIFO_INT_GPIO_IOCFG	CC115L_IOCFG2
+#define AO_CC115L_FIFO_INT_PORT		0
+#define AO_CC115L_FIFO_INT_PIN		20
+
+#define AO_CC115L_DONE_INT_GPIO_IOCFG	CC115L_IOCFG0
+#define AO_CC115L_DONE_INT_PORT		0
+#define AO_CC115L_DONE_INT_PIN		2
+
+/*
+ * Flash (M25)
+ */
+#define M25_MAX_CHIPS		1
+#define AO_M25_SPI_CS_PORT	0
+#define AO_M25_SPI_CS_MASK	(1 << 23)
+#define AO_M25_SPI_BUS		1
+
+#define PACKET_HAS_SLAVE	0
+
+/*
+ * ADC
+ */
+
+#define HAS_ADC			1
+#define LOG_ADC			0
+
+#define AO_DATA_RING		4
+
+#define AO_ADC_3		1
+
+struct ao_adc {
+	int16_t			v_batt;
+};
+
+#define AO_ADC_DUMP(p) \
+	printf("tick: %5u batt: %5d\n", \
+	       (p)->tick, \
+	       (p)->adc.v_batt)
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	56	/* 5.6k */
+#define AO_BATTERY_DIV_MINUS	100	/* 10k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telegps-v1.0/ao_telegps.c b/src/telegps-v1.0/ao_telegps.c
new file mode 100644
index 00000000..7a71699b
--- /dev/null
+++ b/src/telegps-v1.0/ao_telegps.c
@@ -0,0 +1,66 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_exti.h>
+#include <ao_tracker.h>
+
+int
+main(void)
+{
+	ao_clock_init();
+
+#if HAS_STACK_GUARD
+	ao_mpu_init();
+#endif
+
+	ao_task_init();
+	ao_timer_init();
+
+	ao_spi_init();
+	ao_exti_init();
+
+	ao_storage_init();
+
+	ao_serial_init();
+
+	ao_cmd_init();
+
+	ao_usb_init();
+	ao_radio_init();
+
+#if HAS_ADC
+	ao_adc_init();
+#endif
+
+	ao_gps_init();
+#if HAS_LOG
+	ao_log_init();
+#endif
+
+	ao_tracker_init();
+
+	ao_telemetry_init();
+
+#if HAS_SAMPLE_PROFILE
+	ao_sample_profile_init();
+#endif
+	ao_config_init();
+
+	ao_start_scheduler();
+	return 0;
+}
diff --git a/src/telegps-v1.0/flash-loader/Makefile b/src/telegps-v1.0/flash-loader/Makefile
new file mode 100644
index 00000000..5283f554
--- /dev/null
+++ b/src/telegps-v1.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telegps-v1.0
+include $(TOPDIR)/lpc/Makefile-flash.defs
diff --git a/src/lpc/ao_boot.h b/src/telegps-v1.0/flash-loader/ao_pins.h
index e0ed4de7..91097a25 100644
--- a/src/lpc/ao_boot.h
+++ b/src/telegps-v1.0/flash-loader/ao_pins.h
@@ -15,25 +15,19 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-#ifndef _AO_BOOT_H_
-#define _AO_BOOT_H_
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
 
-void
-ao_boot_chain(uint32_t *base);
+#include <ao_flash_lpc_pins.h>
 
-void
-ao_boot_check_pin(void);
+#define AO_BOOT_PIN		1
+#define AO_BOOT_APPLICATION_GPIO	0
+#define AO_BOOT_APPLICATION_PIN		19
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
 
-/* Return true to switch to application (if present) */
-int
-ao_boot_check_chain(void);
+#define HAS_USB_PULLUP		1
+#define AO_USB_PULLUP_PORT	0
+#define AO_USB_PULLUP_PIN	7
 
-void
-ao_boot_reboot(uint32_t *base);
-
-static inline void
-ao_boot_loader(void) {
-	ao_boot_reboot(AO_BOOT_LOADER_BASE);
-}
-
-#endif /* _AO_BOOT_H_ */
+#endif /* _AO_PINS_H_ */
diff --git a/src/telelco-v0.1/Makefile b/src/telelco-v0.1/Makefile
index 44d9237f..f7628c30 100644
--- a/src/telelco-v0.1/Makefile
+++ b/src/telelco-v0.1/Makefile
@@ -9,6 +9,7 @@ INC = \
 	ao.h \
 	ao_arch.h \
 	ao_arch_funcs.h \
+	ao_boot.h \
 	ao_companion.h \
 	ao_data.h \
 	ao_sample.h \
diff --git a/src/telelco-v0.2/Makefile b/src/telelco-v0.2/Makefile
index f28bdd32..7a21f099 100644
--- a/src/telelco-v0.2/Makefile
+++ b/src/telelco-v0.2/Makefile
@@ -9,6 +9,7 @@ INC = \
 	ao.h \
 	ao_arch.h \
 	ao_arch_funcs.h \
+	ao_boot.h \
 	ao_companion.h \
 	ao_data.h \
 	ao_sample.h \
diff --git a/src/telelco-v0.2/ao_lco.c b/src/telelco-v0.2/ao_lco.c
index 0bbb76f1..b3f5bb16 100644
--- a/src/telelco-v0.2/ao_lco.c
+++ b/src/telelco-v0.2/ao_lco.c
@@ -251,18 +251,22 @@ ao_lco_search(void)
 {
 	uint16_t	tick_offset;
 	int8_t		r;
+	int8_t		try;
 	uint8_t		box;
 
 	ao_lco_box_reset_present();
 	for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
 		if ((box % 10) == 0)
 			ao_lco_set_box(box);
-		tick_offset = 0;
-		r = ao_lco_query(box, &ao_pad_query, &tick_offset);
-		PRINTD("box %d result %d\n", box, r);
-		if (r == AO_RADIO_CMAC_OK) {
-			ao_lco_box_set_present(box);
-			ao_delay(AO_MS_TO_TICKS(30));
+		for (try = 0; try < 5; try++) {
+			tick_offset = 0;
+			r = ao_lco_query(box, &ao_pad_query, &tick_offset);
+			PRINTD("box %d result %d\n", box, r);
+			if (r == AO_RADIO_CMAC_OK) {
+				ao_lco_box_set_present(box);
+				ao_delay(AO_MS_TO_TICKS(30));
+				break;
+			}
 		}
 	}
 	if (ao_lco_min_box <= ao_lco_max_box)
diff --git a/src/telelco-v0.2/ao_pins.h b/src/telelco-v0.2/ao_pins.h
index 62f221a1..a6fd4ff8 100644
--- a/src/telelco-v0.2/ao_pins.h
+++ b/src/telelco-v0.2/ao_pins.h
@@ -72,6 +72,8 @@
 #define PACKET_HAS_SLAVE	0
 #define PACKET_HAS_MASTER	0
 
+#define FAST_TIMER_FREQ		10000	/* .1ms for debouncing */
+
 /*
  * Radio is a cc1120 connected via SPI
  */
diff --git a/src/telemega-v0.1/ao_pins.h b/src/telemega-v0.1/ao_pins.h
index db397c66..2616e906 100644
--- a/src/telemega-v0.1/ao_pins.h
+++ b/src/telemega-v0.1/ao_pins.h
@@ -65,12 +65,17 @@
 #define ao_gps_fifo		(ao_stm_usart3.rx_fifo)
 
 #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	(1024 * 1024)
+#define AO_CONFIG_MAX_SIZE			1024
+#define LOG_ERASE_MARK				0x55
+#define LOG_MAX_ERASE				128
+
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
 #define USE_EEPROM_CONFIG	1
 #define USE_STORAGE_CONFIG	0
 #define HAS_USB			1
 #define HAS_BEEP		1
+#define HAS_BATTERY_REPORT	1
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
 #define HAS_APRS		1
diff --git a/src/telemega-v1.0/Makefile b/src/telemega-v1.0/Makefile
index 7a0c1195..46c768e4 100644
--- a/src/telemega-v1.0/Makefile
+++ b/src/telemega-v1.0/Makefile
@@ -9,6 +9,7 @@ INC = \
 	ao.h \
 	ao_arch.h \
 	ao_arch_funcs.h \
+	ao_boot.h \
 	ao_companion.h \
 	ao_data.h \
 	ao_sample.h \
diff --git a/src/telemega-v1.0/ao_pins.h b/src/telemega-v1.0/ao_pins.h
index fe97c684..77b753d1 100644
--- a/src/telemega-v1.0/ao_pins.h
+++ b/src/telemega-v1.0/ao_pins.h
@@ -65,12 +65,17 @@
 #define ao_gps_fifo		(ao_stm_usart3.rx_fifo)
 
 #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	(1024 * 1024)
+#define AO_CONFIG_MAX_SIZE			1024
+#define LOG_ERASE_MARK				0x55
+#define LOG_MAX_ERASE				128
+
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
 #define USE_EEPROM_CONFIG	1
 #define USE_STORAGE_CONFIG	0
 #define HAS_USB			1
 #define HAS_BEEP		1
+#define HAS_BATTERY_REPORT	1
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
 #define HAS_APRS		1
diff --git a/src/telemetrum-v1.0/.sdcdbrc b/src/telemetrum-v1.0/.sdcdbrc
index fbe9a599..e9a51ea6 100644
--- a/src/telemetrum-v1.0/.sdcdbrc
+++ b/src/telemetrum-v1.0/.sdcdbrc
@@ -1 +1 @@
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
diff --git a/src/telemetrum-v1.1/.sdcdbrc b/src/telemetrum-v1.1/.sdcdbrc
index fbe9a599..e9a51ea6 100644
--- a/src/telemetrum-v1.1/.sdcdbrc
+++ b/src/telemetrum-v1.1/.sdcdbrc
@@ -1 +1 @@
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
diff --git a/src/telemetrum-v1.1/Makefile b/src/telemetrum-v1.1/Makefile
index e44be7f9..61e9273b 100644
--- a/src/telemetrum-v1.1/Makefile
+++ b/src/telemetrum-v1.1/Makefile
@@ -12,6 +12,7 @@ TM_SRC = \
 	ao_companion.c \
 	ao_gps_skytraq.c \
 	ao_gps_show.c \
+	ao_convert_volt.c \
 	ao_m25.c
 
 include ../product/Makefile.telemetrum
diff --git a/src/telemetrum-v1.2/Makefile b/src/telemetrum-v1.2/Makefile
index f2285fbe..38ba6d49 100644
--- a/src/telemetrum-v1.2/Makefile
+++ b/src/telemetrum-v1.2/Makefile
@@ -12,6 +12,7 @@ TM_SRC = \
 	ao_companion.c \
 	ao_gps_skytraq.c \
 	ao_gps_show.c \
+	ao_convert_volt.c \
 	ao_m25.c
 
 include ../product/Makefile.telemetrum
diff --git a/src/telemetrum-v2.0/Makefile b/src/telemetrum-v2.0/Makefile
index 83a364dc..d77e9585 100644
--- a/src/telemetrum-v2.0/Makefile
+++ b/src/telemetrum-v2.0/Makefile
@@ -9,6 +9,7 @@ INC = \
 	ao.h \
 	ao_arch.h \
 	ao_arch_funcs.h \
+	ao_boot.h \
 	ao_companion.h \
 	ao_data.h \
 	ao_sample.h \
diff --git a/src/telemetrum-v2.0/ao_pins.h b/src/telemetrum-v2.0/ao_pins.h
index 1b5cedc7..a9a4b243 100644
--- a/src/telemetrum-v2.0/ao_pins.h
+++ b/src/telemetrum-v2.0/ao_pins.h
@@ -60,12 +60,17 @@
 #define SERIAL_3_PD8_PD9	0
 
 #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	(512 * 1024)
+#define AO_CONFIG_MAX_SIZE			1024
+#define LOG_ERASE_MARK				0x55
+#define LOG_MAX_ERASE				128
+
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
 #define USE_EEPROM_CONFIG	1
 #define USE_STORAGE_CONFIG	0
 #define HAS_USB			1
 #define HAS_BEEP		1
+#define HAS_BATTERY_REPORT	1
 #define BEEPER_CHANNEL		4
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
diff --git a/src/telemini-v1.0/.sdcdbrc b/src/telemini-v1.0/.sdcdbrc
index b9f6129c..2c77e32b 100644
--- a/src/telemini-v1.0/.sdcdbrc
+++ b/src/telemini-v1.0/.sdcdbrc
@@ -1,2 +1,2 @@
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
 
diff --git a/src/telemini-v2.0/.sdcdbrc b/src/telemini-v2.0/.sdcdbrc
index b9f6129c..2c77e32b 100644
--- a/src/telemini-v2.0/.sdcdbrc
+++ b/src/telemini-v2.0/.sdcdbrc
@@ -1,2 +1,2 @@
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
 
diff --git a/src/telemini-v2.0/Makefile b/src/telemini-v2.0/Makefile
index fcac2c48..ca69dc41 100644
--- a/src/telemini-v2.0/Makefile
+++ b/src/telemini-v2.0/Makefile
@@ -5,8 +5,8 @@
 TELEMINI_VER=2.0
 TELEMINI_DEF=2_0
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
@@ -30,7 +30,6 @@ INC = \
 CORE_SRC = \
 	ao_cmd.c \
 	ao_config.c \
-	ao_convert.c \
 	ao_flight.c \
 	ao_kalman.c \
 	ao_log.c \
@@ -59,6 +58,7 @@ CC1111_SRC = \
 	ao_spi.c \
 	ao_usb.c \
 	ao_convert_pa.c \
+	ao_convert_volt.c \
 	ao_beep.c \
 	ao_timer.c \
 	ao_exti.c \
diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h
index c4681ee2..f202ccd1 100644
--- a/src/telemini-v2.0/ao_pins.h
+++ b/src/telemini-v2.0/ao_pins.h
@@ -22,8 +22,16 @@
 
 #define HAS_FLIGHT		1
 #define HAS_USB			1
+
+#define HAS_USB_PULLUP	1
+#define AO_USB_PULLUP_PORT	P1
+#define AO_USB_PULLUP_PIN	0
+#define AO_USB_PULLUP		P1_0
+
 #define USB_FORCE_FLIGHT_IDLE	1
 #define HAS_BEEP		1
+#define HAS_BEEP_CONFIG		0
+#define HAS_BATTERY_REPORT	1
 #define HAS_GPS			0
 #define HAS_SERIAL_1		0
 #define HAS_EEPROM		1
@@ -32,9 +40,8 @@
 #define HAS_DBG			0
 #define PACKET_HAS_SLAVE	1
 
-#define AO_LED_GREEN		1
 #define AO_LED_RED		2
-#define LEDS_AVAILABLE		(AO_LED_RED|AO_LED_GREEN)
+#define LEDS_AVAILABLE		AO_LED_RED
 #define HAS_EXTERNAL_TEMP	0
 #define HAS_ACCEL		0
 #define HAS_IGNITE		1
@@ -158,4 +165,21 @@ struct ao_adc {
 		ao_data_ring[ao_data_head].ms5607_raw.temp = ao_ms5607_current.temp; \
 	} while (0)
 
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS	100	/* 100k */
+#define AO_BATTERY_DIV_MINUS	27	/* 27k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS	100	/* 100k */
+#define AO_IGNITE_DIV_MINUS	27	/* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV	33
+
 #endif /* _AO_PINS_H_ */
diff --git a/src/telepyro-v0.1/Makefile b/src/telepyro-v0.1/Makefile
index 025b324a..dcac03dc 100644
--- a/src/telepyro-v0.1/Makefile
+++ b/src/telepyro-v0.1/Makefile
@@ -2,7 +2,7 @@
 # AltOS build
 #
 #
-vpath % .:..:../core:../product:../drivers:../avr
+vpath % .:..:../kernel:../product:../drivers:../avr
 vpath ao-make-product.5c ../util
 
 include ../avr/Makefile.defs
@@ -45,7 +45,7 @@ PRODUCT=TelePyro-v0.1
 MCU=atmega32u4
 PRODUCT_DEF=-DTELEPYRO
 IDPRODUCT=0x0011
-CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../kernel -I..
 CFLAGS += -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR
 
 NICKLE=nickle
diff --git a/src/telescience-pwm/Makefile b/src/telescience-pwm/Makefile
index de81b8d7..493bd480 100644
--- a/src/telescience-pwm/Makefile
+++ b/src/telescience-pwm/Makefile
@@ -2,7 +2,7 @@
 # AltOS build
 #
 #
-vpath % ..:../core:../product:../drivers:../avr
+vpath % ..:../kernel:../product:../drivers:../avr
 vpath ao-make-product.5c ../util
 
 include ../avr/Makefile.defs
@@ -57,7 +57,7 @@ PRODUCT=TeleScience-PWM
 MCU=atmega32u4
 PRODUCT_DEF=-DTELESCIENCE -DTELESCIENCE_PWM
 IDPRODUCT=0x0011
-CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../kernel -I..
 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR
 
 NICKLE=nickle
diff --git a/src/telescience-v0.1/Makefile b/src/telescience-v0.1/Makefile
index 6e4eb6de..c55c48e2 100644
--- a/src/telescience-v0.1/Makefile
+++ b/src/telescience-v0.1/Makefile
@@ -2,7 +2,7 @@
 # AltOS build
 #
 #
-vpath % ..:../core:../product:../drivers:../avr
+vpath % ..:../kernel:../product:../drivers:../avr
 vpath ao-make-product.5c ../util
 
 include ../avr/Makefile.defs
@@ -56,7 +56,7 @@ PRODUCT=TeleScience-v0.1
 MCU=atmega32u4
 PRODUCT_DEF=-DTELESCIENCE
 IDPRODUCT=0x0011
-CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../kernel -I..
 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR
 
 NICKLE=nickle
diff --git a/src/teleshield-v0.1/Makefile b/src/teleshield-v0.1/Makefile
index e8b262ef..f54488a2 100644
--- a/src/teleshield-v0.1/Makefile
+++ b/src/teleshield-v0.1/Makefile
@@ -17,8 +17,8 @@ TELESHIELD_SRC = \
 	ao_btm.c \
 	ao_spi.c
 
-vpath %.c ..:../core:../cc1111:../drivers:../product:.
-vpath %.h ..:../core:../cc1111:../drivers:../product:.
+vpath %.c ..:../kernel:../cc1111:../drivers:../product:.
+vpath %.h ..:../kernel:../cc1111:../drivers:../product:.
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/teleterra-v0.2/.sdcdbrc b/src/teleterra-v0.2/.sdcdbrc
index fbe9a599..e9a51ea6 100644
--- a/src/teleterra-v0.2/.sdcdbrc
+++ b/src/teleterra-v0.2/.sdcdbrc
@@ -1 +1 @@
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
diff --git a/src/teleterra-v0.2/Makefile b/src/teleterra-v0.2/Makefile
index 88637360..826c52e5 100644
--- a/src/teleterra-v0.2/Makefile
+++ b/src/teleterra-v0.2/Makefile
@@ -2,8 +2,8 @@
 # TeleTerra build file
 #
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/test/Makefile b/src/test/Makefile
index c6025219..017f7f71 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,4 +1,4 @@
-vpath % ..:../core:../drivers:../util:../micropeak:../aes:../product
+vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
 	ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
@@ -9,7 +9,7 @@ INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h ao_quat
 
 KALMAN=make-kalman 
 
-CFLAGS=-I.. -I. -I../core -I../drivers -I../micropeak -I../product -O0 -g -Wall
+CFLAGS=-I.. -I. -I../kernel -I../drivers -I../micropeak -I../product -O0 -g -Wall
 
 all: $(PROGS) ao_aprs_data.wav
 
@@ -52,10 +52,10 @@ ao_kalman.h: $(KALMAN)
 	(cd .. && make ao_kalman.h)
 
 ao_fec_test: ao_fec_test.c ao_fec_tx.c ao_fec_rx.c
-	cc $(CFLAGS) -DAO_FEC_DEBUG=1 -o $@ ao_fec_test.c ../core/ao_fec_tx.c ../core/ao_fec_rx.c -lm
+	cc $(CFLAGS) -DAO_FEC_DEBUG=1 -o $@ ao_fec_test.c ../kernel/ao_fec_tx.c ../kernel/ao_fec_rx.c -lm
 
 ao_aprs_test: ao_aprs_test.c ao_aprs.c
-	cc $(CFLAGS) -o $@ ao_aprs_test.c
+	cc $(CFLAGS) -o $@ ao_aprs_test.c -lm
 
 SOX_INPUT_ARGS=--type raw --encoding unsigned-integer -b 8 -c 1 -r 9600
 SOX_OUTPUT_ARGS=--type wav
diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c
index 69147786..86cf527a 100644
--- a/src/test/ao_aprs_test.c
+++ b/src/test/ao_aprs_test.c
@@ -23,7 +23,16 @@
 
 #include <ao_telemetry.h>
 
+#define AO_GPS_NUM_SAT_MASK	(0xf << 0)
+#define AO_GPS_NUM_SAT_SHIFT	(0)
+
+#define AO_GPS_VALID		(1 << 4)
+#define AO_GPS_RUNNING		(1 << 5)
+#define AO_GPS_DATE_VALID	(1 << 6)
+#define AO_GPS_COURSE_VALID	(1 << 7)
+
 struct ao_telemetry_location ao_gps_data;
+struct ao_telemetry_satellite ao_gps_tracking_data;
 
 #define AO_APRS_TEST
 
@@ -73,7 +82,7 @@ ao_radio_send_aprs(ao_radio_fill_func fill);
  *  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
- *  
+ *
 
  */
 
@@ -88,14 +97,42 @@ audio_gap(int secs)
 #endif
 }
 
+#include <math.h>
+
+int
+ao_aprs_encode_altitude_expensive(int meters)
+{
+	double	feet = meters / 0.3048;
+
+	double	encode = log(feet) / log(1.002);
+	return floor(encode + 0.5);
+}
+
 // This is where we go after reset.
 int main(int argc, char **argv)
 {
+	int	e, x;
+	int	a;
+
+	for (a = 1; a < 100000; a++) {
+		e = ao_aprs_encode_altitude(a);
+		x = ao_aprs_encode_altitude_expensive(a);
+
+		if (e != x) {
+			double	back_feet, back_meters;
+			back_feet = pow(1.002, e);
+			back_meters = back_feet * 0.3048;
+			fprintf (stderr, "APRS altitude encoding failure: altitude %d actual %d expected %d actual meters %f\n",
+				 a, e, x, back_meters);
+		}
+	}
+
     audio_gap(1);
 
     ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000;
     ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000;
     ao_gps_data.altitude = 84;
+    ao_gps_data.flags = (AO_GPS_VALID|AO_GPS_RUNNING);
 
     /* Transmit one packet */
     ao_aprs_send();
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 0abb4090..0647fc6c 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -49,13 +49,12 @@ int ao_gps_new;
 #define HAS_MPU6000		1
 #define HAS_MMA655X		1
 #define HAS_HMC5883 		1
+#define HAS_BEEP		1
 
 struct ao_adc {
 	int16_t			sense[AO_ADC_NUM_SENSE];
 	int16_t			v_batt;
 	int16_t			v_pbatt;
-	int16_t			accel_ref;
-	int16_t			accel;
 	int16_t			temp;
 };
 #else
@@ -309,7 +308,7 @@ struct ao_cmds {
 #if TELEMEGA
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
-struct ao_ms5607_prom	ms5607_prom;
+struct ao_ms5607_prom	ao_ms5607_prom;
 #include "ao_ms5607_convert.c"
 #define AO_PYRO_NUM	4
 #include <ao_pyro.h>
@@ -317,22 +316,8 @@ struct ao_ms5607_prom	ms5607_prom;
 #include "ao_convert.c"
 #endif
 
-struct ao_config {
-	uint16_t	main_deploy;
-	int16_t		accel_plus_g;
-	int16_t		accel_minus_g;
-	uint8_t		pad_orientation;
-	uint16_t	apogee_lockout;
-#if TELEMEGA
-	struct ao_pyro	pyro[AO_PYRO_NUM];	/* minor version 12 */
-	int16_t		accel_zero_along;
-	int16_t		accel_zero_across;
-	int16_t		accel_zero_through;
-#endif
-};
-
-#define AO_PAD_ORIENTATION_ANTENNA_UP	0
-#define AO_PAD_ORIENTATION_ANTENNA_DOWN	1
+#include <ao_config.h>
+#include <ao_fake_flight.h>
 
 #define ao_config_get()
 
@@ -732,6 +717,18 @@ ao_sleep(void *wchan)
 					ao_flight_started = 1;
 					ao_ground_pres = int32(bytes, 4);
 					ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+					ao_ground_accel_along = int16(bytes, 8);
+					ao_ground_accel_across = int16(bytes, 10);
+					ao_ground_accel_through = int16(bytes, 12);
+					ao_ground_roll = int16(bytes, 14);
+					ao_ground_pitch = int16(bytes, 16);
+					ao_ground_yaw = int16(bytes, 18);
+					ao_ground_mpu6000.accel_x = ao_ground_accel_across;
+					ao_ground_mpu6000.accel_y = ao_ground_accel_along;
+					ao_ground_mpu6000.accel_z = ao_ground_accel_through;
+					ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
+					ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
+					ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 					break;
 				case 'A':
 					ao_data_static.tick = tick;
@@ -768,21 +765,21 @@ ao_sleep(void *wchan)
 				continue;
 			} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 				if (strcmp(words[1], "reserved:") == 0)
-					ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "sens:") == 0)
-					ms5607_prom.sens = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "off:") == 0)
-					ms5607_prom.off = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tcs:") == 0)
-					ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tco:") == 0)
-					ms5607_prom.tco = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tref:") == 0)
-					ms5607_prom.tref = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tempsens:") == 0)
-					ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "crc:") == 0)
-					ms5607_prom.crc = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 				continue;
 			} else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 				int	p = strtoul(words[1], NULL, 10);
@@ -791,7 +788,7 @@ ao_sleep(void *wchan)
 
 				for (i = 2; i < nword; i++) {
 					for (j = 0; j < NUM_PYRO_VALUES; j++)
-						if (!strcmp (words[2], ao_pyro_values[j].name))
+						if (!strcmp (words[i], ao_pyro_values[j].name))
 							break;
 					if (j == NUM_PYRO_VALUES)
 						continue;
@@ -991,6 +988,7 @@ void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 	emulator_in = f;
 	emulator_info = info;
 	ao_summary = summary;
+
 	ao_flight_init();
 	ao_flight();
 }
diff --git a/src/test/ao_ms5607_convert_test.c b/src/test/ao_ms5607_convert_test.c
index ad593204..1c571f1c 100644
--- a/src/test/ao_ms5607_convert_test.c
+++ b/src/test/ao_ms5607_convert_test.c
@@ -23,7 +23,7 @@
 #include <stdint.h>
 #include <ao_ms5607.h>
 
-struct ao_ms5607_prom ms5607_prom = {
+struct ao_ms5607_prom ao_ms5607_prom = {
 	0x002c,
 	0xa6e0,
 	0x988e,
diff --git a/src/tidongle/Makefile b/src/tidongle/Makefile
index b2ba537b..0e90d744 100644
--- a/src/tidongle/Makefile
+++ b/src/tidongle/Makefile
@@ -2,8 +2,8 @@
 # TIDongle build file
 #
 
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
 vpath ao-make-product.5c ../util
 
 ifndef VERSION
diff --git a/src/usbrelay-v0.1/ao_pins.h b/src/usbrelay-v0.1/ao_pins.h
new file mode 100644
index 00000000..a72f6cc8
--- /dev/null
+++ b/src/usbrelay-v0.1/ao_pins.h
@@ -0,0 +1,79 @@
+/*
+ * Copyright © 2014 Bdale Garbee <bdale@gag.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#define HAS_BEEP	0
+
+#define AO_STACK_SIZE	384
+
+#define IS_FLASH_LOADER	0
+
+/* Crystal on the board */
+#define AO_LPC_CLKIN	12000000
+
+/* Main clock frequency. 48MHz for USB so we don't use the USB PLL */
+#define AO_LPC_CLKOUT	48000000
+
+/* System clock frequency */
+#define AO_LPC_SYSCLK	24000000
+
+#define HAS_USB		1
+
+#define HAS_USB_CONNECT	0
+#define HAS_USB_VBUS	0
+#define HAS_USB_PULLUP	1
+#define AO_USB_PULLUP_PORT	0
+#define AO_USB_PULLUP_PIN	6
+
+/* USART */
+
+#define HAS_SERIAL		1
+#define USE_SERIAL_0_STDIN	0
+#define SERIAL_0_18_19		1
+#define SERIAL_0_14_15		0
+#define SERIAL_0_17_18		0
+#define SERIAL_0_26_27		0
+
+/* SPI */
+
+#define HAS_SPI_0		0
+#define SPI_SCK0_P0_6		0
+#define HAS_SPI_1		0
+#define SPI_SCK1_P1_15		0
+#define SPI_MISO1_P0_22		0
+#define SPI_MOSI1_P0_21		0
+
+/* LED */
+
+#define LED_PORT		0
+#define LED_PIN_RED		23
+#define LED_PIN_GREEN		7
+#define AO_LED_RED		(1 << LED_PIN_RED)
+#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE		(AO_LED_RED|AO_LED_GREEN)
+
+/* RELAY */
+
+#define RELAY_PORT		0
+#define RELAY_PIN		3
+#define RELAY_BIT		(1 << RELAY_PIN)
+
+/* Kludge the SPI driver to not configure any
+ * pin for SCK or MOSI
+ */
+#define HAS_SCK1		0
+#define HAS_MOSI1		0
diff --git a/src/usbrelay-v0.1/ao_serial_lpc.h b/src/usbrelay-v0.1/ao_serial_lpc.h
new file mode 100644
index 00000000..a95b6af1
--- /dev/null
+++ b/src/usbrelay-v0.1/ao_serial_lpc.h
@@ -0,0 +1,33 @@
+#define AO_LPC_USARTCLK 12000000
+
+static const struct {
+	uint16_t dl;
+	uint8_t divaddval;
+	uint8_t mulval;
+} ao_usart_speeds[] = {
+	[AO_SERIAL_SPEED_4800] = { /* actual =  4800.00 */
+		.dl = 125,
+		.divaddval = 1,
+		.mulval = 4
+	},
+	[AO_SERIAL_SPEED_9600] = { /* actual =  9603.07 */
+		.dl = 71,
+		.divaddval = 1,
+		.mulval = 10
+	},
+	[AO_SERIAL_SPEED_19200] = { /* actual = 19181.59 */
+		.dl = 23,
+		.divaddval = 7,
+		.mulval = 10
+	},
+	[AO_SERIAL_SPEED_57600] = { /* actual = 57692.31 */
+		.dl = 7,
+		.divaddval = 6,
+		.mulval = 7
+	},
+	[AO_SERIAL_SPEED_115200] = { /* actual = 115384.6 */
+		.dl = 4,
+		.divaddval = 5,
+		.mulval = 8
+	},
+};
diff --git a/src/usbrelay-v0.1/ao_usbrelay.c b/src/usbrelay-v0.1/ao_usbrelay.c
new file mode 100644
index 00000000..879094b5
--- /dev/null
+++ b/src/usbrelay-v0.1/ao_usbrelay.c
@@ -0,0 +1,90 @@
+/*
+ * Copyright © 2014 Bdale Garbee <bdale@gag.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; 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		relay_output;
+
+void
+ao_relay_init(void)
+{
+	lpc_scb.sysahbclkctrl |= (1 << LPC_SCB_SYSAHBCLKCTRL_GPIO);
+        lpc_gpio.dir[RELAY_PORT] |= RELAY_BIT;
+}
+
+// switch relay to selected output, turn correct LED on as a side effect
+static void
+ao_relay_control(uint8_t output)
+{
+	switch (output) {
+	case 1:
+		lpc_gpio.pin[RELAY_PORT] |= RELAY_BIT;
+		ao_led_on(AO_LED_RED);
+		ao_led_off(AO_LED_GREEN);
+		break;
+	default:
+		lpc_gpio.pin[RELAY_PORT] &= ~RELAY_BIT;
+		ao_led_off(AO_LED_RED);
+		ao_led_on(AO_LED_GREEN);
+	}
+}
+
+static void
+ao_relay_select(void) __reentrant
+{
+	uint8_t output;
+
+	ao_cmd_decimal();
+        if (ao_cmd_status != ao_cmd_success)
+                return;
+	output = ao_cmd_lex_i;
+	if (output > 1) 
+		printf ("Invalid relay position %u\n", output);
+	else
+		ao_relay_control(output);
+}
+
+static __code struct ao_cmds ao_relay_cmds[] = {
+	{ ao_relay_select, "R <output>\0Select relay output" },
+	{ 0, NULL }
+};
+
+void
+main(void)
+{
+	ao_clock_init();
+	ao_task_init();
+	ao_timer_init();
+
+	ao_usb_init();
+
+	ao_serial_init();
+
+	ao_led_init(LEDS_AVAILABLE);
+
+	ao_relay_init();
+
+	// initialize to default output
+	relay_output = 0;
+	ao_relay_control(relay_output);
+
+	ao_cmd_init();
+
+	ao_cmd_register(ao_relay_cmds);
+
+	ao_start_scheduler();
+}
diff --git a/src/usbrelay-v0.1/flash-loader/ao_pins.h b/src/usbrelay-v0.1/flash-loader/ao_pins.h
new file mode 100644
index 00000000..a8046009
--- /dev/null
+++ b/src/usbrelay-v0.1/flash-loader/ao_pins.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; 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_
+
+#include <ao_flash_lpc_pins.h>
+
+#define AO_BOOT_PIN		1
+#define AO_BOOT_APPLICATION_GPIO	0
+#define AO_BOOT_APPLICATION_PIN		19
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
+
+#define HAS_USB_PULLUP		1
+#define AO_USB_PULLUP_PORT	0
+#define AO_USB_PULLUP_PIN	6
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/usbtrng/Makefile b/src/usbtrng/Makefile
new file mode 100644
index 00000000..80e137e7
--- /dev/null
+++ b/src/usbtrng/Makefile
@@ -0,0 +1,70 @@
+#
+# AltOS build
+#
+#
+
+include ../lpc/Makefile.defs
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_pins.h \
+	ao_product.h \
+	lpc.h
+
+#
+# Common AltOS sources
+#
+ALTOS_SRC = \
+	ao_interrupt.c \
+	ao_boot_chain.c \
+	ao_romconfig.c \
+	ao_product.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_stdio.c \
+	ao_task.c \
+	ao_cmd.c \
+	ao_timer_lpc.c \
+	ao_exti_lpc.c \
+	ao_usb_lpc.c \
+	ao_serial_lpc.c \
+	ao_spi_lpc.c \
+	ao_led_lpc.c
+
+PRODUCT=usbtrng-v0.1
+PRODUCT_DEF=-DUSBTRNG_V_0_1
+IDPRODUCT=0x0028
+
+CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) -g -Os
+
+PROGNAME=usbtrng-v0.1
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_usbtrng.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+$(OBJ): $(INC)
+
+load: $(PROG)
+	lpc-load $(PROG)
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/usbtrng/ao_pins.h b/src/usbtrng/ao_pins.h
new file mode 100644
index 00000000..b1fa6eb9
--- /dev/null
+++ b/src/usbtrng/ao_pins.h
@@ -0,0 +1,73 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#define HAS_BEEP	0
+
+#define AO_STACK_SIZE	384
+
+#define IS_FLASH_LOADER	0
+
+/* Crystal on the board */
+#define AO_LPC_CLKIN	12000000
+
+/* Main clock frequency. 48MHz for USB so we don't use the USB PLL */
+#define AO_LPC_CLKOUT	48000000
+
+/* System clock frequency */
+#define AO_LPC_SYSCLK	24000000
+
+#define HAS_USB		1
+
+#define HAS_USB_CONNECT	0
+#define HAS_USB_VBUS	0
+#define HAS_USB_PULLUP	1
+#define AO_USB_PULLUP_PORT	0
+#define AO_USB_PULLUP_PIN	6
+
+/* USART */
+
+#define HAS_SERIAL		1
+#define USE_SERIAL_0_STDIN	0
+#define SERIAL_0_18_19		1
+#define SERIAL_0_14_15		0
+#define SERIAL_0_17_18		0
+#define SERIAL_0_26_27		0
+
+/* SPI */
+
+#define HAS_SPI_0		0
+#define SPI_SCK0_P0_6		0
+#define HAS_SPI_1		1
+#define SPI_SCK1_P1_15		0
+#define SPI_MISO1_P0_22		1
+#define SPI_MOSI1_P0_21		0
+
+/* LED */
+
+#define LED_PORT		0
+#define LED_PIN_RED		3
+#define LED_PIN_GREEN		21
+#define AO_LED_RED		(1 << LED_PIN_RED)
+#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE		(AO_LED_RED|AO_LED_GREEN)
+
+/* Kludge the SPI driver to not configure any
+ * pin for SCK or MOSI
+ */
+#define HAS_SCK1		0
+#define HAS_MOSI1		0
diff --git a/src/usbtrng/ao_usbtrng.c b/src/usbtrng/ao_usbtrng.c
new file mode 100644
index 00000000..6b4d20fe
--- /dev/null
+++ b/src/usbtrng/ao_usbtrng.c
@@ -0,0 +1,63 @@
+/*
+ * Copyright © 2014 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_TRNG_SPI_BUS		1
+#define AO_TRNG_SPI_SPEED	AO_SPI_SPEED_250kHz
+
+static void
+ao_trng_test(void)
+{
+	static uint8_t	random[32];
+	uint8_t		i;
+
+	ao_spi_get(AO_TRNG_SPI_BUS, AO_TRNG_SPI_SPEED);
+	ao_spi_recv(random, sizeof (random), AO_TRNG_SPI_BUS);
+	ao_spi_put(AO_TRNG_SPI_BUS);
+	for (i = 0; i < sizeof (random); i++)
+		printf (" %02x", random[i]);
+	printf ("\n");
+}
+
+static const struct ao_cmds ao_trng_cmds[] = {
+	{ ao_trng_test, "R\0Dump some random numbers" },
+	{ 0, NULL }
+};
+
+void
+main(void)
+{
+	ao_clock_init();
+	ao_task_init();
+	ao_timer_init();
+
+	ao_spi_init();
+	ao_usb_init();
+
+	ao_serial_init();
+
+	ao_led_init(LEDS_AVAILABLE);
+
+	ao_led_on(AO_LED_GREEN);
+
+	ao_cmd_init();
+
+	ao_cmd_register(ao_trng_cmds);
+
+	ao_start_scheduler();
+}
diff --git a/src/usbtrng/flash-loader/Makefile b/src/usbtrng/flash-loader/Makefile
new file mode 100644
index 00000000..e34f1089
--- /dev/null
+++ b/src/usbtrng/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=usbtrng-v0.1
+include $(TOPDIR)/lpc/Makefile-flash.defs
diff --git a/src/usbtrng/flash-loader/ao_pins.h b/src/usbtrng/flash-loader/ao_pins.h
new file mode 100644
index 00000000..a8046009
--- /dev/null
+++ b/src/usbtrng/flash-loader/ao_pins.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; 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_
+
+#include <ao_flash_lpc_pins.h>
+
+#define AO_BOOT_PIN		1
+#define AO_BOOT_APPLICATION_GPIO	0
+#define AO_BOOT_APPLICATION_PIN		19
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
+
+#define HAS_USB_PULLUP		1
+#define AO_USB_PULLUP_PORT	0
+#define AO_USB_PULLUP_PIN	6
+
+#endif /* _AO_PINS_H_ */