From 422799d9be36ef71b63c1c0fd80d5e76da802949 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 8 Oct 2012 21:59:55 -0700
Subject: altos: Compute desired frequency when upgrading from pre-1.1

Instead of just smashing the frequency to 434.550, compute the
frequency from the old radio channel value

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_config.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src/core')

diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index ce855ad1..e8ff95b7 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -102,6 +102,7 @@ _ao_config_get(void)
 		ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
 		ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
 		       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+		ao_config._legacy_radio_channel = 0;
 	}
 	minor = ao_config.minor;
 	if (minor != AO_CONFIG_MINOR) {
@@ -131,7 +132,7 @@ _ao_config_get(void)
 		if (minor < 9)
 			ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
 		if (minor < 10)
-			ao_config.frequency = 434550;
+			ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
 		if (minor < 11)
 			ao_config.apogee_lockout = 0;
 #if AO_PYRO_NUM
-- 
cgit v1.2.3


From 39c5738acdfdf0c87b64de6135fe107971cfa12b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 8 Oct 2012 23:04:16 -0700
Subject: altos: Go back to recording sensor data in globals

Instead of trying to get things into the ring from a variety of
functions, go back to the simpler method of storing them in globals
and having the ADC code just pluck out the most recent values.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_data.h       |  9 +--------
 src/drivers/ao_hmc5883.c |  4 +++-
 src/drivers/ao_hmc5883.h |  2 ++
 src/drivers/ao_mma655x.c |  4 +++-
 src/drivers/ao_mma655x.h |  1 +
 src/drivers/ao_mpu6000.c |  4 +++-
 src/drivers/ao_mpu6000.h |  2 ++
 src/drivers/ao_ms5607.c  |  4 +++-
 src/drivers/ao_ms5607.h  |  2 ++
 src/stm/ao_adc_stm.c     | 17 +++++++++++++++++
 10 files changed, 37 insertions(+), 12 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 2b9ef5ac..30208dfb 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -85,14 +85,7 @@ extern volatile __data uint8_t		ao_data_count;
 /*
  * Mark a section of data as ready, check for data complete
  */
-#define AO_DATA_PRESENT(bit)	do {					\
-		if ((ao_data_present |= (bit)) == AO_DATA_ALL) {	\
-			ao_data_ring[ao_data_head].tick = ao_tick_count; \
-			ao_data_head = ao_data_ring_next(ao_data_head); \
-			ao_data_present = 0;				\
-			ao_wakeup((void *) &ao_data_head);		\
-		}							\
-	} while (0);
+#define AO_DATA_PRESENT(bit)	(ao_data_present |= (bit))
 
 /*
  * Wait until it is time to write a sensor sample; this is
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index ade6c263..059fc2c8 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -123,12 +123,14 @@ ao_hmc5883_setup(void)
 	return 1;
 }
 
+struct ao_hmc5883_sample ao_hmc5883_current;
+
 static void
 ao_hmc5883(void)
 {
 	ao_hmc5883_setup();
 	for (;;) {
-		ao_hmc5883_sample((struct ao_hmc5883_sample *) &ao_data_ring[ao_data_head].hmc5883);
+		ao_hmc5883_sample(&ao_hmc5883_current);
 		ao_arch_critical(
 			AO_DATA_PRESENT(AO_DATA_HMC5883);
 			AO_DATA_WAIT();
diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h
index 55690978..ff2725eb 100644
--- a/src/drivers/ao_hmc5883.h
+++ b/src/drivers/ao_hmc5883.h
@@ -79,6 +79,8 @@ struct ao_hmc5883_sample {
 	int16_t		x, y, z;
 };
 
+extern struct ao_hmc5883_sample	ao_hmc5883_current;
+
 void
 ao_hmc5883_init(void);
 
diff --git a/src/drivers/ao_mma655x.c b/src/drivers/ao_mma655x.c
index 005bc684..18c5317c 100644
--- a/src/drivers/ao_mma655x.c
+++ b/src/drivers/ao_mma655x.c
@@ -250,12 +250,14 @@ __code struct ao_cmds ao_mma655x_cmds[] = {
 	{ 0, NULL },
 };
 
+uint16_t	ao_mma655x_current;
+
 static void
 ao_mma655x(void)
 {
 	ao_mma655x_setup();
 	for (;;) {
-		ao_data_ring[ao_data_head].mma655x = ao_mma655x_value();
+		ao_mma655x_current = ao_mma655x_value();
 		ao_arch_critical(
 			AO_DATA_PRESENT(AO_DATA_MMA655X);
 			AO_DATA_WAIT();
diff --git a/src/drivers/ao_mma655x.h b/src/drivers/ao_mma655x.h
index 9c0c59dc..2d951e07 100644
--- a/src/drivers/ao_mma655x.h
+++ b/src/drivers/ao_mma655x.h
@@ -78,6 +78,7 @@
 #define AO_MMA655X_COUNT	0x15
 #define AO_MMA655X_OFFCORR	0x16
 
+extern uint16_t	ao_mma655x_current;
 
 void
 ao_mma655x_init(void);
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index b3e284e0..49596705 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -240,13 +240,15 @@ ao_mpu6000_setup(void)
 	ao_mpu6000_configured = 1;
 }
 
+struct ao_mpu6000_sample	ao_mpu6000_current;
+
 static void
 ao_mpu6000(void)
 {
 	ao_mpu6000_setup();
 	for (;;)
 	{
-		ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000);
+		ao_mpu6000_sample(&ao_mpu6000_current);
 		ao_arch_critical(
 			AO_DATA_PRESENT(AO_DATA_MPU6000);
 			AO_DATA_WAIT();
diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index ca76b081..ab36d6f2 100644
--- a/src/drivers/ao_mpu6000.h
+++ b/src/drivers/ao_mpu6000.h
@@ -155,6 +155,8 @@ struct ao_mpu6000_sample {
 	int16_t		gyro_z;
 };
 
+extern struct ao_mpu6000_sample	ao_mpu6000_current;
+
 void
 ao_mpu6000_init(void);
 
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 3295baac..492199b8 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -207,13 +207,15 @@ ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value
 	value->temp = TEMP;
 }
 
+struct ao_ms5607_sample	ao_ms5607_current;
+
 static void
 ao_ms5607(void)
 {
 	ao_ms5607_setup();
 	for (;;)
 	{
-		ao_ms5607_sample((struct ao_ms5607_sample *) &ao_data_ring[ao_data_head].ms5607_raw);
+		ao_ms5607_sample(&ao_ms5607_current);
 		ao_arch_critical(
 			AO_DATA_PRESENT(AO_DATA_MS5607);
 			AO_DATA_WAIT();
diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h
index e9c364d9..4c29f6a7 100644
--- a/src/drivers/ao_ms5607.h
+++ b/src/drivers/ao_ms5607.h
@@ -56,6 +56,8 @@ struct ao_ms5607_value {
 	int32_t		temp;	/* in °C * 100 */
 };
 
+extern struct ao_ms5607_sample	ao_ms5607_current;
+
 void
 ao_ms5607_init(void);
 
diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 18ca6ea0..48fc4262 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -43,6 +43,23 @@ static void ao_adc_done(int index)
 {
 	AO_DATA_PRESENT(AO_DATA_ADC);
 	ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
+	if (ao_data_present == AO_DATA_ALL) {
+#if HAS_MS5607
+		ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current;
+#endif
+#if HAS_MMA655X
+		ao_data_ring[ao_data_head].mma655x = ao_mma655x_current;
+#endif
+#if HAS_HMC5883
+		ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
+#endif
+#if HAS_MPU6000
+		ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+#endif
+		ao_data_ring[ao_data_head].tick = ao_tick_count;
+		ao_data_head = ao_data_ring_next(ao_data_head);
+		ao_wakeup((void *) &ao_data_head);
+	}
 	ao_adc_ready = 1;
 }
 
-- 
cgit v1.2.3


From a07b8ba166e05e7d1722c59651ef00e9fb7580d5 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 13:31:17 -0700
Subject: altos: Split task definitions out to ao_task.h

And only include them if using tasks

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h      | 63 ++++--------------------------------------
 src/core/ao_task.h | 80 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 86 insertions(+), 57 deletions(-)
 create mode 100644 src/core/ao_task.h

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 31ec4686..711b3533 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -39,64 +39,13 @@
 #define CODE_TO_XDATA(a)	(a)
 #endif
 
-/* An AltOS task */
-struct ao_task {
-	__xdata void *wchan;		/* current wait channel (NULL if running) */
-	uint16_t alarm;			/* abort ao_sleep time */
-	ao_arch_task_members		/* any architecture-specific fields */
-	uint8_t task_id;		/* unique id */
-	__code char *name;		/* task name */
-	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
-};
-
-extern __xdata struct ao_task *__data ao_cur_task;
-
-#define AO_NUM_TASKS		16	/* maximum number of tasks */
-#define AO_NO_TASK		0	/* no task id */
-
-/*
- ao_task.c
- */
-
-/* Suspend the current task until wchan is awoken.
- * returns:
- *  0 on normal wake
- *  1 on alarm
- */
-uint8_t
-ao_sleep(__xdata void *wchan);
-
-/* Wake all tasks sleeping on wchan */
-void
-ao_wakeup(__xdata void *wchan);
-
-/* set an alarm to go off in 'delay' ticks */
-void
-ao_alarm(uint16_t delay);
-
-/* Clear any pending alarm */
-void
-ao_clear_alarm(void);
-
-/* Yield the processor to another task */
-void
-ao_yield(void) ao_arch_naked_declare;
-
-/* Add a task to the run queue */
-void
-ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
-
-/* Terminate the current task */
-void
-ao_exit(void);
-
-/* Dump task info to console */
-void
-ao_task_info(void);
+#ifndef HAS_TASK
+#define HAS_TASK	1
+#endif
 
-/* Start the scheduler. This will not return */
-void
-ao_start_scheduler(void);
+#if HAS_TASK
+#include <ao_task.h>
+#endif
 
 /*
  * ao_panic.c
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
new file mode 100644
index 00000000..18edd866
--- /dev/null
+++ b/src/core/ao_task.h
@@ -0,0 +1,80 @@
+/*
+ * 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_TASK_H_
+#define _AO_TASK_H_
+
+/* An AltOS task */
+struct ao_task {
+	__xdata void *wchan;		/* current wait channel (NULL if running) */
+	uint16_t alarm;			/* abort ao_sleep time */
+	ao_arch_task_members		/* any architecture-specific fields */
+	uint8_t task_id;		/* unique id */
+	__code char *name;		/* task name */
+	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
+};
+
+extern __xdata struct ao_task *__data ao_cur_task;
+
+#define AO_NUM_TASKS		16	/* maximum number of tasks */
+#define AO_NO_TASK		0	/* no task id */
+
+/*
+ ao_task.c
+ */
+
+/* Suspend the current task until wchan is awoken.
+ * returns:
+ *  0 on normal wake
+ *  1 on alarm
+ */
+uint8_t
+ao_sleep(__xdata void *wchan);
+
+/* Wake all tasks sleeping on wchan */
+void
+ao_wakeup(__xdata void *wchan);
+
+/* set an alarm to go off in 'delay' ticks */
+void
+ao_alarm(uint16_t delay);
+
+/* Clear any pending alarm */
+void
+ao_clear_alarm(void);
+
+/* Yield the processor to another task */
+void
+ao_yield(void) ao_arch_naked_declare;
+
+/* Add a task to the run queue */
+void
+ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
+
+/* Terminate the current task */
+void
+ao_exit(void);
+
+/* Dump task info to console */
+void
+ao_task_info(void);
+
+/* Start the scheduler. This will not return */
+void
+ao_start_scheduler(void);
+
+#endif
-- 
cgit v1.2.3


From 6a3ee911353291b04e161d50a181ed4211d467a2 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 13:54:37 -0700
Subject: altos: Allow projects to specify clock at other than 100Hz

Leave the default at 100Hz, but allow it to be overridden

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 711b3533..9d801489 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -85,7 +85,9 @@ ao_panic(uint8_t reason);
 extern volatile __data AO_TICK_TYPE ao_tick_count;
 
 /* Our timer runs at 100Hz */
+#ifndef AO_HERTZ
 #define AO_HERTZ		100
+#endif
 #define AO_MS_TO_TICKS(ms)	((ms) / (1000 / AO_HERTZ))
 #define AO_SEC_TO_TICKS(s)	((s) * AO_HERTZ)
 
-- 
cgit v1.2.3


From be0a28ee7a6fbd98fc8113db8501bb791a112fa0 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 13:55:33 -0700
Subject: altos: Allow for other mutex implementations

Allow projects to replace ao_mutex_get and ao_mutex_put with macros

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 9d801489..200d4bc4 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -119,11 +119,13 @@ ao_clock_init(void);
  * ao_mutex.c
  */
 
+#ifndef ao_mutex_get
 void
 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
 
 void
 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
+#endif
 
 /*
  * ao_cmd.c
-- 
cgit v1.2.3


From 175380a436efa35bbfae2ee5e29e12e9ef86fbde Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 13:57:49 -0700
Subject: altos: Use alt_t for all Pascal-based altitude data

This allows alt_t to be overridden for systems using the MS5607/MS5611
sensors

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h                 |  6 ++++--
 src/core/ao_convert_pa.c      |  6 +++---
 src/core/ao_convert_pa_test.c |  1 +
 src/core/ao_data.h            | 11 ++++++++++-
 4 files changed, 18 insertions(+), 6 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 200d4bc4..e559e876 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -272,11 +272,13 @@ ao_temp_to_dC(int16_t temp) __reentrant;
  * Convert between pressure in Pa and altitude in meters
  */
 
-int32_t
+#include <ao_data.h>
+
+alt_t
 ao_pa_to_altitude(int32_t pa);
 
 int32_t
-ao_altitude_to_pa(int32_t alt);
+ao_altitude_to_pa(alt_t alt);
 
 #if HAS_DBG
 #include <ao_dbg.h>
diff --git a/src/core/ao_convert_pa.c b/src/core/ao_convert_pa.c
index 0c93caea..1413681d 100644
--- a/src/core/ao_convert_pa.c
+++ b/src/core/ao_convert_pa.c
@@ -26,7 +26,7 @@ static const int32_t altitude_table[] = {
 #define ALT_SCALE	(1 << ALT_SHIFT)
 #define ALT_MASK	(ALT_SCALE - 1)
 
-int32_t
+alt_t
 ao_pa_to_altitude(int32_t pa)
 {
 	int16_t	o;
@@ -40,8 +40,8 @@ ao_pa_to_altitude(int32_t pa)
 	o = pa >> ALT_SHIFT;
 	part = pa & ALT_MASK;
 
-	low = (int32_t) altitude_table[o] * (ALT_SCALE - part);
-	high = (int32_t) altitude_table[o+1] * part + (ALT_SCALE >> 1);
+	low = (alt_t) FETCH_ALT(o) * (ALT_SCALE - part);
+	high = (alt_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
 	return (low + high) >> ALT_SHIFT;
 }
 
diff --git a/src/core/ao_convert_pa_test.c b/src/core/ao_convert_pa_test.c
index 972a4d4c..143ce958 100644
--- a/src/core/ao_convert_pa_test.c
+++ b/src/core/ao_convert_pa_test.c
@@ -17,6 +17,7 @@
 
 #include <stdint.h>
 #define AO_CONVERT_TEST
+typedef int32_t alt_t;
 #include "ao_host.h"
 #include "ao_convert_pa.c"
 
diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 2b9ef5ac..90182b12 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -110,7 +110,12 @@ extern volatile __data uint8_t		ao_data_count;
 #define HAS_BARO	1
 
 typedef int32_t	pres_t;
-typedef int32_t alt_t;
+
+#ifndef AO_ALT_TYPE
+#define AO_ALT_TYPE	int32_t
+#endif
+
+typedef AO_ALT_TYPE	alt_t;
 
 #define ao_data_pres_cook(packet)	ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
 
@@ -135,6 +140,10 @@ typedef int16_t alt_t;
 
 #endif
 
+#if !HAS_BARO
+typedef int16_t alt_t;
+#endif
+
 /*
  * Need a few macros to pull data from the sensors:
  *
-- 
cgit v1.2.3


From 68308908afbd1f04b17056d2be408c89b3578c86 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 13:59:50 -0700
Subject: altos: Parameterize altitude table access and initialization

This allows projects to store the altitude data in different
representations or with different access modes.

By default, altitude data is stored in meters, but the initializers
include decimeter values so those can be used instead if desired.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_convert_pa.c  | 10 +++++++++-
 src/util/make-altitude-pa | 10 +++++-----
 2 files changed, 14 insertions(+), 6 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_convert_pa.c b/src/core/ao_convert_pa.c
index 1413681d..2793b77c 100644
--- a/src/core/ao_convert_pa.c
+++ b/src/core/ao_convert_pa.c
@@ -19,10 +19,18 @@
 #include "ao.h"
 #endif
 
-static const int32_t altitude_table[] = {
+#ifndef AO_CONST_ATTRIB
+#define AO_CONST_ATTRIB
+#endif
+
+static const alt_t altitude_table[] AO_CONST_ATTRIB = {
 #include "altitude-pa.h"
 };
 
+#ifndef FETCH_ALT
+#define FETCH_ALT(o)	altitude_table[o]
+#endif
+
 #define ALT_SCALE	(1 << ALT_SHIFT)
 #define ALT_MASK	(ALT_SCALE - 1)
 
diff --git a/src/util/make-altitude-pa b/src/util/make-altitude-pa
index eae5ebe9..22831d50 100644
--- a/src/util/make-altitude-pa
+++ b/src/util/make-altitude-pa
@@ -239,8 +239,8 @@ real sample_to_fit_altitude(int sample) {
 	real i_v;
 
 	r_v = sample * l.m + l.b;
-	i_v = (round(alt_part[sub]) * (seg_len - off) + round(alt_part[sub+1]) * off) / seg_len;
-	return i_v;
+	i_v = (round(alt_part[sub]*10) * (seg_len - off) + round(alt_part[sub+1]*10) * off) / seg_len;
+	return i_v/10;
 }
 
 real max_error = 0;
@@ -279,11 +279,11 @@ printf ("/*max error %f at %7.3f kPa. Average error %f*/\n",
 
 printf ("#define NALT %d\n", dim(alt_part));
 printf ("#define ALT_SHIFT %d\n", pa_part_shift + pa_sample_shift);
-printf ("#ifndef SATURATE\n#define SATURATE(x) (x)\n#endif\n");
+printf ("#ifndef AO_ALT_VALUE\n#define AO_ALT_VALUE(x) (alt_t) (x)\n#endif\n");
 
 for (int part = 0; part < dim(alt_part); part++) {
 	real kPa = sample_to_Pa(part_to_sample(part)) / 1000;
-	printf ("SATURATE(%9d), /* %6.2f kPa error %6.2fm */\n",
-		round (alt_part[part]), kPa,
+	printf ("AO_ALT_VALUE(%10.1f), /* %6.2f kPa error %6.2fm */\n",
+		round (alt_part[part]*10) / 10, kPa,
 		alt_error[part]);
 }
-- 
cgit v1.2.3


From 866d10b3faa96f6c5a2c495a2c12a0d2bc8259ef Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 14:01:16 -0700
Subject: altos: Elide ao_altitude_to_pa in flight firmware

Only the conversion testing code needs to get back from altitude to
pressure, so don't include that code in other environments.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_convert_pa.c | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao_convert_pa.c b/src/core/ao_convert_pa.c
index 2793b77c..55fe6e7d 100644
--- a/src/core/ao_convert_pa.c
+++ b/src/core/ao_convert_pa.c
@@ -53,6 +53,7 @@ ao_pa_to_altitude(int32_t pa)
 	return (low + high) >> ALT_SHIFT;
 }
 
+#ifdef AO_CONVERT_TEST
 int32_t
 ao_altitude_to_pa(int32_t alt)
 {
@@ -78,3 +79,4 @@ ao_altitude_to_pa(int32_t alt)
 		pa = 0;
 	return pa;
 }
+#endif
-- 
cgit v1.2.3


From 7751c9cbc630f7251b8988f8da68be9a54ff552c Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 14:02:29 -0700
Subject: altos: Clean up types in Pa conversion testing code. Only test to
 40km

A couple of missing 'int' declarations.
Only test to 40km as above that there aren't enough data points to do
anything reasonable

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_convert_pa_test.c | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_convert_pa_test.c b/src/core/ao_convert_pa_test.c
index 143ce958..7d5b1922 100644
--- a/src/core/ao_convert_pa_test.c
+++ b/src/core/ao_convert_pa_test.c
@@ -24,9 +24,10 @@ typedef int32_t alt_t;
 #define STEP_P	1
 #define STEP_A	1
 
-static inline i_abs(int i) { return i < 0 ? -i : i; }
+static inline int i_abs(int i) { return i < 0 ? -i : i; }
 
-main ()
+int
+main (int argc, char **argv)
 {
 	int	i;
 	int32_t p_to_a, p_to_a_to_p;
@@ -50,9 +51,7 @@ main ()
 //		printf ("pa %d alt %d pa %d\n",
 //			i, p_to_a, p_to_a_to_p);
 	}
-	for (i = -1450; i < 74250 + STEP_A; i += STEP_A) {
-		if (i > 74250)
-			i = 74250;
+	for (i = -1450; i < 40000 + STEP_A; i += STEP_A) {
 		a_to_p = ao_altitude_to_pa(i);
 		a_to_p_to_a = ao_pa_to_altitude(a_to_p);
 		a_error = i_abs(a_to_p_to_a - i);
-- 
cgit v1.2.3


From 16bad3b6ab65cf31b19152127cb6af69142c5c12 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 14:03:28 -0700
Subject: altos: Include struct ao_data declaration only when used

Leave it out for products that don't have a ring of sensor data

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_data.h | 4 ++++
 1 file changed, 4 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 90182b12..1153d433 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -52,6 +52,8 @@
 #define AO_DATA_MMA655X 0
 #endif
 
+#ifdef AO_DATA_RING
+
 #define AO_DATA_ALL	(AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
 
 struct ao_data {
@@ -102,6 +104,8 @@ extern volatile __data uint8_t		ao_data_count;
 		ao_sleep((void *) &ao_data_count);	\
 	} while (0)
 
+#endif /* AO_DATA_RING */
+
 #if !HAS_BARO && HAS_MS5607
 
 /* Either an MS5607 or an MS5611 hooked to a SPI port
-- 
cgit v1.2.3


From 9c732effeb2ef4a4d8bc9599febed74a6ec2f466 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 14:18:37 -0700
Subject: altos: Allow products to define which LED to panic with

Continue to use AO_LED_RED by default.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_panic.c | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_panic.c b/src/core/ao_panic.c
index 52433044..3c0b471e 100644
--- a/src/core/ao_panic.c
+++ b/src/core/ao_panic.c
@@ -29,6 +29,10 @@
 #define ao_led_off(x)
 #endif
 
+#ifndef AO_LED_PANIC
+#define AO_LED_PANIC	AO_LED_RED
+#endif
+
 static void
 ao_panic_delay(uint8_t n)
 {
@@ -52,10 +56,10 @@ ao_panic(uint8_t reason)
 	__critical for (;;) {
 		ao_panic_delay(20);
 		for (n = 0; n < 5; n++) {
-			ao_led_on(AO_LED_RED);
+			ao_led_on(AO_LED_PANIC);
 			ao_beep(AO_BEEP_HIGH);
 			ao_panic_delay(1);
-			ao_led_off(AO_LED_RED);
+			ao_led_off(AO_LED_PANIC);
 			ao_beep(AO_BEEP_LOW);
 			ao_panic_delay(1);
 		}
@@ -66,18 +70,18 @@ ao_panic(uint8_t reason)
 #pragma disable_warning 126
 #endif
 		if (reason & 0x40) {
-			ao_led_on(AO_LED_RED);
+			ao_led_on(AO_LED_PANIC);
 			ao_beep(AO_BEEP_HIGH);
 			ao_panic_delay(40);
-			ao_led_off(AO_LED_RED);
+			ao_led_off(AO_LED_PANIC);
 			ao_beep(AO_BEEP_OFF);
 			ao_panic_delay(10);
 		}
 		for (n = 0; n < (reason & 0x3f); n++) {
-			ao_led_on(AO_LED_RED);
+			ao_led_on(AO_LED_PANIC);
 			ao_beep(AO_BEEP_MID);
 			ao_panic_delay(10);
-			ao_led_off(AO_LED_RED);
+			ao_led_off(AO_LED_PANIC);
 			ao_beep(AO_BEEP_OFF);
 			ao_panic_delay(10);
 		}
-- 
cgit v1.2.3


From eea1c8da986f9dbd0ca58c926a2bbe01721c1bda Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 13 Oct 2012 13:33:45 -0700
Subject: altos: Document a few member offsets in struct ao_log_record

Incomplete, but useful even so

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_log.h | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index 04abeb7e..30ef03f2 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -138,17 +138,17 @@ ao_log_full(void);
 #define AO_LOG_POS_NONE		(~0UL)
 
 struct ao_log_record {
-	char			type;
-	uint8_t			csum;
-	uint16_t		tick;
+	char			type;				/* 0 */
+	uint8_t			csum;				/* 1 */
+	uint16_t		tick;				/* 2 */
 	union {
 		struct {
-			int16_t		ground_accel;
-			uint16_t	flight;
+			int16_t		ground_accel;		/* 4 */
+			uint16_t	flight;			/* 6 */
 		} flight;
 		struct {
-			int16_t		accel;
-			int16_t		pres;
+			int16_t		accel;			/* 4 */
+			int16_t		pres;			/* 6 */
 		} sensor;
 		struct {
 			int16_t		temp;
-- 
cgit v1.2.3


From 46abd248fb2eb84f161672ffce121b2203d42be0 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 13 Oct 2012 13:34:28 -0700
Subject: altos: struct ao_log_mega doesn't have a ground temp value

There's no averaged ground temperature recorded in the flight system
to save there, so just remove the field

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_log.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index 30ef03f2..eaaca444 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -201,8 +201,7 @@ struct ao_log_mega {
 			uint16_t	flight;		/* 4 */
 			int16_t		ground_accel;	/* 6 */
 			uint32_t	ground_pres;	/* 8 */
-			uint32_t	ground_temp;	/* 12 */
-		} flight;				/* 16 */
+		} flight;				/* 12 */
 		struct {
 			uint16_t	state;
 			uint16_t	reason;
-- 
cgit v1.2.3


From 5caf56e89678637c1afa79700a2fa09aa67dea9b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 13 Oct 2012 15:02:42 -0700
Subject: altos: When missing MMA655x, create fake Z accel value

This avoids overwriting the MPU6000 y acceleration value so that other
computations using that value can work unmodified.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_data.h | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 1153d433..86acd48f 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -67,6 +67,9 @@ struct ao_data {
 #endif
 #if HAS_MPU6000
 	struct ao_mpu6000_sample	mpu6000;
+#if !HAS_MMA655X
+	int16_t				z_accel;
+#endif
 #endif
 #if HAS_HMC5883
 	struct ao_hmc5883_sample	hmc5883;
@@ -285,9 +288,9 @@ typedef int16_t accel_t;
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet)			((packet)->mpu6000.accel_y)
+#define ao_data_accel(packet)			((packet)->z_accel)
 #define ao_data_accel_cook(packet)		(-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel)	((packet)->mpu6000.accel_y = (accel))
+#define ao_data_set_accel(packet, accel)	((packet)->z_accel = (accel))
 #define ao_data_accel_invert(a)			(-(a))
 
 #endif
-- 
cgit v1.2.3


From 6a1a1dae3e00bfcddf31c447f915245a7d42e566 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 21 Oct 2012 16:55:00 -0700
Subject: altos: Document mega log packet types

Just add comments to ao_log.h so it's easy to remember which labels go
with each record.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_log.h | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index eaaca444..4eaed420 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -197,15 +197,18 @@ struct ao_log_mega {
 	uint8_t			csum;			/* 1 */
 	uint16_t		tick;			/* 2 */
 	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
 		struct {
 			uint16_t	flight;		/* 4 */
 			int16_t		ground_accel;	/* 6 */
 			uint32_t	ground_pres;	/* 8 */
 		} flight;				/* 12 */
+		/* AO_LOG_STATE */
 		struct {
 			uint16_t	state;
 			uint16_t	reason;
 		} state;
+		/* AO_LOG_SENSOR */
 		struct {
 			uint32_t	pres;		/* 4 */
 			uint32_t	temp;		/* 8 */
@@ -220,12 +223,14 @@ struct ao_log_mega {
 			int16_t		mag_z;		/* 28 */
 			int16_t		accel;		/* 30 */
 		} sensor;	/* 32 */
+		/* AO_LOG_TEMP_VOLT */
 		struct {
 			int16_t		v_batt;		/* 4 */
 			int16_t		v_pbatt;	/* 6 */
 			int16_t		n_sense;	/* 8 */
 			int16_t		sense[10];	/* 10 */
 		} volt;					/* 30 */
+		/* AO_LOG_GPS_TIME */
 		struct {
 			int32_t		latitude;	/* 4 */
 			int32_t		longitude;	/* 8 */
@@ -239,6 +244,7 @@ struct ao_log_mega {
 			uint8_t		day;		/* 20 */
 			uint8_t		pad;		/* 21 */
 		} gps;	/* 22 */
+		/* AO_LOG_GPS_SAT */
 		struct {
 			uint16_t	channels;	/* 4 */
 			struct {
-- 
cgit v1.2.3


From fd619a01bf3489b1df017aca20362757b087ec11 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 22 Oct 2012 08:52:08 -0700
Subject: altos: Add state comparisons to pyro channel conditions

Let pyro channels block waiting for flight state changes. This
allows for pyro channels to be synchronized with the main iginiter
channels.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_pyro.c | 16 +++++++++++++++-
 src/core/ao_pyro.h |  4 ++++
 2 files changed, 19 insertions(+), 1 deletion(-)

(limited to 'src/core')

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 4f37e979..b1cfd9d8 100644
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -113,6 +113,15 @@ ao_pyro_ready(struct ao_pyro *pyro)
 			/* handled separately */
 			continue;
 
+		case ao_pyro_state_less:
+			if (ao_flight_state < pyro->state_less)
+				continue;
+			break;
+		case ao_pyro_state_greater_or_equal:
+			if (ao_flight_state >= pyro->state_greater_or_equal)
+				continue;
+			break;
+
 		default:
 			continue;
 		}
@@ -166,7 +175,7 @@ uint8_t	ao_pyro_wakeup;
 static void
 ao_pyro(void)
 {
-	uint8_t		p;
+	uint8_t		p, any_waiting;
 	struct ao_pyro	*pyro;
 
 	ao_config_get();
@@ -177,6 +186,7 @@ ao_pyro(void)
 		ao_alarm(AO_MS_TO_TICKS(100));
 		ao_sleep(&ao_pyro_wakeup);
 		ao_clear_alarm();
+		any_waiting = 0;
 		for (p = 0; p < AO_PYRO_NUM; p++) {
 			pyro = &ao_config.pyro[p];
 
@@ -190,6 +200,7 @@ ao_pyro(void)
 			if (!pyro->flags)
 				continue;
 
+			any_waiting = 1;
 			/* Check pyro state to see if it shoule fire
 			 */
 			if (!pyro->delay_done) {
@@ -213,7 +224,10 @@ ao_pyro(void)
 
 			ao_pyro_fire(p);
 		}
+		if (!any_waiting)
+			break;
 	}
+	ao_exit();
 }
 
 __xdata struct ao_task ao_pyro_task;
diff --git a/src/core/ao_pyro.h b/src/core/ao_pyro.h
index 5deb69d0..cde850ad 100644
--- a/src/core/ao_pyro.h
+++ b/src/core/ao_pyro.h
@@ -42,6 +42,9 @@ enum ao_pyro_flag {
 	ao_pyro_after_motor		= 0x00001000,
 
 	ao_pyro_delay			= 0x00002000,
+
+	ao_pyro_state_less		= 0x00004000,
+	ao_pyro_state_greater_or_equal  = 0x00008000,
 };
 
 struct ao_pyro {
@@ -52,6 +55,7 @@ struct ao_pyro {
 	int16_t			orient_less, orient_greater;
 	int16_t			time_less, time_greater;
 	int16_t			delay;
+	uint8_t			state_less, state_greater_or_equal;
 	int16_t			motor;
 	uint16_t		delay_done;
 	uint8_t			fired;
-- 
cgit v1.2.3


From d4ea2e7c3ed84fb6f4e880da6c5ddf2a83d3ef61 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 22 Oct 2012 21:38:18 -0700
Subject: altos: Allow pyro flight state config to be set

Without these lines, flight state compares can't be shown or set.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_pyro.c | 3 +++
 1 file changed, 3 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index b1cfd9d8..aac8fda5 100644
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -271,6 +271,9 @@ const struct {
 	{ "t<",	ao_pyro_time_less,	offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
 	{ "t>",	ao_pyro_time_greater,	offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)")  },
 
+	{ "f<",	ao_pyro_state_less,	offsetof(struct ao_pyro, state_less), HELP("state less") },
+	{ "f>=",ao_pyro_state_greater_or_equal,	offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal")  },
+
 	{ "A", ao_pyro_ascending,	NO_VALUE, HELP("ascending") },
 	{ "D", ao_pyro_descending,	NO_VALUE, HELP("descending") },
 
-- 
cgit v1.2.3


From 097c931c979d3652ef8e279ba66bb7ce758f37a3 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 24 Oct 2012 23:52:49 -0700
Subject: altos: When slave mode first starts, accept any packet

This eliminates the packet sequence matching for the first packet,
allowing outstanding send data to arrive from the master instead of
ignoring packets with data until they match the seqno

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_packet.h          | 1 +
 src/drivers/ao_packet.c       | 5 ++++-
 src/drivers/ao_packet_slave.c | 1 +
 3 files changed, 6 insertions(+), 1 deletion(-)

(limited to 'src/core')

diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index f232a878..9058c347 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -48,6 +48,7 @@ extern __xdata struct ao_task	ao_packet_task;
 extern __xdata uint8_t ao_packet_enable;
 extern __xdata uint8_t ao_packet_master_sleeping;
 extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
+extern __xdata uint8_t ao_packet_restart;
 
 void
 ao_packet_send(void);
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index d813b25f..2bada949 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -27,6 +27,7 @@ static __pdata uint8_t rx_seq;
 
 __xdata struct ao_task	ao_packet_task;
 __xdata uint8_t ao_packet_enable;
+__xdata uint8_t ao_packet_restart;
 
 #if PACKET_HAS_MASTER
 __xdata uint8_t ao_packet_master_sleeping;
@@ -106,7 +107,8 @@ ao_packet_recv(void)
 		/* Check for incoming data at the next sequence and
 		 * for an empty data buffer
 		 */
-		if (ao_rx_packet.packet.seq == (uint8_t) (rx_seq + (uint8_t) 1) &&
+		if ((ao_rx_packet.packet.seq == (uint8_t) (rx_seq + (uint8_t) 1) ||
+		     ao_packet_restart) &&
 		    ao_packet_rx_used == ao_packet_rx_len) {
 
 			/* Copy data to the receive data buffer and set up the
@@ -126,6 +128,7 @@ ao_packet_recv(void)
 			ao_wakeup(&ao_stdin_ready);
 		}
 	}
+	ao_packet_restart = 0;
 
 	/* If the other side has seen the latest data we queued,
 	 * wake up any task waiting to send data and let them go again
diff --git a/src/drivers/ao_packet_slave.c b/src/drivers/ao_packet_slave.c
index fd5d443e..e45775cb 100644
--- a/src/drivers/ao_packet_slave.c
+++ b/src/drivers/ao_packet_slave.c
@@ -22,6 +22,7 @@ ao_packet_slave(void)
 {
 	ao_tx_packet.addr = ao_serial_number;
 	ao_tx_packet.len = AO_PACKET_SYN;
+	ao_packet_restart = 1;
 	while (ao_packet_enable) {
 		if (ao_packet_recv()) {
 			ao_xmemcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN);
-- 
cgit v1.2.3


From b119e19604aa557a40e848c60d98a67b5f259bbd Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 23 Oct 2012 22:17:49 -0700
Subject: altos: profiling on STM32L

Add sample-based profiling, using a 1kHz timer

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_flight.c                |   2 +-
 src/core/ao_sample_profile.c        | 173 ++++++++++++++++++++++++++++++++++++
 src/core/ao_sample_profile.h        |  29 ++++++
 src/core/ao_task.c                  |  16 ++++
 src/core/ao_task.h                  |  13 ++-
 src/drivers/ao_cc1120.c             |  14 +--
 src/drivers/ao_ms5607.c             |   8 +-
 src/megametrum-v0.1/Makefile        |  11 ++-
 src/megametrum-v0.1/ao_megametrum.c |   6 ++
 src/stm/ao_arch.h                   |   2 +-
 src/stm/ao_sample_profile_timer.c   | 115 ++++++++++++++++++++++++
 src/stm/ao_sample_profile_timer.h   |  32 +++++++
 src/stm/stm32l.h                    | 134 +++++++++++++++++++++++++++-
 13 files changed, 541 insertions(+), 14 deletions(-)
 create mode 100644 src/core/ao_sample_profile.c
 create mode 100644 src/core/ao_sample_profile.h
 create mode 100644 src/stm/ao_sample_profile_timer.c
 create mode 100644 src/stm/ao_sample_profile_timer.h

(limited to 'src/core')

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index aa4f6961..64c95063 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -115,7 +115,7 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
diff --git a/src/core/ao_sample_profile.c b/src/core/ao_sample_profile.c
new file mode 100644
index 00000000..1d9ed414
--- /dev/null
+++ b/src/core/ao_sample_profile.c
@@ -0,0 +1,173 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_sample_profile.h>
+#include <ao_task.h>
+
+#ifndef AO_SAMPLE_PROFILE_LOW_PC
+#define AO_SAMPLE_PROFILE_LOW_PC	0x08000000
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_HIGH_PC
+#define AO_SAMPLE_PROFILE_HIGH_PC	(AO_SAMPLE_PROFILE_LOW_PC + 44 * 1024)
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_SHIFT
+#define AO_SAMPLE_PROFILE_SHIFT		6
+#endif
+
+#define AO_SAMPLE_PROFILE_RANGE		(AO_SAMPLE_PROFILE_HIGH_PC - AO_SAMPLE_PROFILE_LOW_PC)
+#define AO_SAMPLE_PROFILE_NUM		(AO_SAMPLE_PROFILE_RANGE >> AO_SAMPLE_PROFILE_SHIFT)
+
+static uint16_t	prev_tick;
+static uint16_t	samples[AO_SAMPLE_PROFILE_NUM];
+static uint8_t missed[AO_SAMPLE_PROFILE_NUM/8];
+static uint16_t max_miss;
+static uint32_t task, isr, os, idle;
+
+extern uint8_t ao_idle_loc;
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr)
+{
+	uint16_t	delta = tick - prev_tick;
+
+	if (pc < AO_SAMPLE_PROFILE_LOW_PC)
+		return;
+	if (pc >= AO_SAMPLE_PROFILE_HIGH_PC)
+		return;
+	if (ao_cur_task) {
+		uint8_t		*sp;
+		int32_t		sp_delta;
+		
+		asm("mov %0,sp" : "=&r" (sp));
+		sp_delta = sp - (uint8_t *) ao_cur_task->stack;
+		if (-96 < sp_delta && sp_delta < 16)
+			ao_panic(AO_PANIC_STACK);
+	}
+
+	if (in_isr)
+		isr += delta;
+	else if (ao_cur_task) {
+		ao_cur_task->ticks += delta;
+		task += delta;
+	} else if (pc == (uint32_t) &ao_idle_loc)
+		idle += delta;
+	else
+		os += delta;
+
+	pc -= AO_SAMPLE_PROFILE_LOW_PC;
+	pc >>= AO_SAMPLE_PROFILE_SHIFT;
+	samples[pc] += delta;
+
+	if (delta > 1)
+		missed[pc >> 3] |= (1 << (pc & 7));
+	if (delta > max_miss)
+		max_miss = delta;
+	prev_tick = tick;
+}
+
+static void
+ao_sample_profile_start(void)
+{
+	prev_tick = ao_sample_profile_timer_start();
+}
+
+static void
+ao_sample_profile_stop(void)
+{
+	ao_sample_profile_timer_stop();
+}
+
+static void
+ao_sample_profile_dump(void)
+{
+	uint16_t	a;
+	uint8_t		t;
+
+	printf ("task %6d\n", task);
+	printf ("isr  %6d\n", isr);
+	printf ("os   %6d\n", os);
+	printf ("idle %6d\n", idle);
+	printf ("irq blocked %d\n", max_miss);
+	for (t = 0; t < ao_num_tasks; t++)
+		printf ("task %6d %6d %6d %s\n",
+			ao_tasks[t]->ticks,
+			ao_tasks[t]->yields,
+			ao_tasks[t]->max_run,
+			ao_tasks[t]->name);
+	for (a = 0; a < AO_SAMPLE_PROFILE_NUM; a++) {
+		if (samples[a])
+			printf ("%04x %c %u\n",
+				(a << AO_SAMPLE_PROFILE_SHIFT) + AO_SAMPLE_PROFILE_LOW_PC,
+				missed[a >> 3] & (1 << (a & 7)) ? '*' : ' ',
+				samples[a]);
+	}
+}
+
+static void
+ao_sample_profile_clear(void)
+{
+	int t;
+
+	task = isr = os = idle = 0;
+	max_miss = 0;
+	memset(samples, '\0', sizeof (samples));
+	memset(missed, '\0', sizeof (missed));
+	for (t = 0; t < ao_num_tasks; t++) {
+		ao_tasks[t]->ticks = 0;
+		ao_tasks[t]->yields = 0;
+		ao_tasks[t]->max_run = 0;
+	}
+}
+
+static void
+ao_sample_profile_cmd(void)
+{
+	ao_cmd_white();
+	switch (ao_cmd_lex_c) {
+	case '1':
+		ao_sample_profile_start();
+		break;
+	case '0':
+		ao_sample_profile_stop();
+		break;
+	case 'd':
+		ao_sample_profile_dump();
+		break;
+	case 'c':
+		ao_sample_profile_clear();
+		break;
+	default:
+		ao_cmd_status = ao_cmd_syntax_error;
+		break;
+	}
+}
+
+static __code struct ao_cmds ao_sample_profile_cmds[] = {
+	{ ao_sample_profile_cmd,	"S <1 start,0 stop, d dump,c clear>\0Sample profile" },
+	{ 0, NULL }
+};
+
+void
+ao_sample_profile_init(void)
+{
+	ao_sample_profile_timer_init();
+	ao_cmd_register(&ao_sample_profile_cmds[0]);
+	ao_sample_profile_clear();
+}
diff --git a/src/core/ao_sample_profile.h b/src/core/ao_sample_profile.h
new file mode 100644
index 00000000..dbc29d3d
--- /dev/null
+++ b/src/core/ao_sample_profile.h
@@ -0,0 +1,29 @@
+/*
+ * 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_SAMPLE_PROFILE_H_
+#define _AO_SAMPLE_PROFILE_H_
+
+#include <ao_sample_profile_timer.h>
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr);
+
+void
+ao_sample_profile_init(void);
+
+#endif /* _AO_SAMPLE_PROFILE_H_ */
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 65654731..c2b1b270 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -16,6 +16,10 @@
  */
 
 #include <ao.h>
+#include <ao_task.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
 
 #define AO_NO_TASK_INDEX	0xff
 
@@ -67,6 +71,8 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 	ao_arch_init_stack(task, start);
 }
 
+__xdata uint8_t	ao_idle;
+
 /* Task switching function. This must not use any stack variables */
 void
 ao_yield(void) ao_arch_naked_define
@@ -77,6 +83,13 @@ ao_yield(void) ao_arch_naked_define
 		ao_cur_task_index = ao_num_tasks-1;
 	else
 	{
+#if HAS_SAMPLE_PROFILE
+		uint16_t	tick = ao_sample_profile_timer_value();
+		uint16_t	run = tick - ao_cur_task->start;
+		if (run > ao_cur_task->max_run)
+			ao_cur_task->max_run = run;
+		++ao_cur_task->yields;
+#endif
 		ao_arch_save_stack();
 	}
 
@@ -110,6 +123,9 @@ ao_yield(void) ao_arch_naked_define
 			if (ao_cur_task_index == ao_last_task_index)
 				ao_arch_cpu_idle();
 		}
+#if HAS_SAMPLE_PROFILE
+	ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
 	}
 #if AO_CHECK_STACK
 	cli();
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 18edd866..4319d632 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -26,13 +26,22 @@ struct ao_task {
 	uint8_t task_id;		/* unique id */
 	__code char *name;		/* task name */
 	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
+#if HAS_SAMPLE_PROFILE
+	uint32_t ticks;
+	uint32_t yields;
+	uint16_t start;
+	uint16_t max_run;
+#endif
 };
 
-extern __xdata struct ao_task *__data ao_cur_task;
-
 #define AO_NUM_TASKS		16	/* maximum number of tasks */
 #define AO_NO_TASK		0	/* no task id */
 
+extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
+extern __data uint8_t ao_num_tasks;
+extern __data uint8_t ao_cur_task_index;
+extern __xdata struct ao_task *__data ao_cur_task;
+
 /*
  ao_task.c
  */
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 2f9c296f..7428bead 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -21,6 +21,9 @@
 #include <ao_fec.h>
 #include <ao_packet.h>
 
+#define AO_RADIO_MAX_RECV	sizeof(struct ao_packet)
+#define AO_RADIO_MAX_SEND	sizeof(struct ao_packet)
+
 uint8_t ao_radio_wake;
 uint8_t ao_radio_mutex;
 uint8_t ao_radio_abort;
@@ -559,18 +562,19 @@ ao_radio_test_cmd(void)
 	}
 }
 
+static uint8_t	tx_data[(AO_RADIO_MAX_SEND + 4) * 2];
+
 void
 ao_radio_send(const void *d, uint8_t size)
 {
 	uint8_t		marc_status;
-	static uint8_t	encode[256];
-	uint8_t		*e = encode;
+	uint8_t		*e = tx_data;
 	uint8_t		encode_len;
 	uint8_t		this_len;
 	uint8_t		started = 0;
 	uint8_t		fifo_space;
 
-	encode_len = ao_fec_encode(d, size, encode);
+	encode_len = ao_fec_encode(d, size, tx_data);
 
 	ao_radio_get(encode_len);
 
@@ -611,8 +615,6 @@ ao_radio_send(const void *d, uint8_t size)
 	ao_radio_put();
 }
 
-#define AO_RADIO_MAX_RECV	90
-
 static uint8_t	rx_data[(AO_RADIO_MAX_RECV + 4) * 2 * 8];
 static uint16_t	rx_data_count;
 static uint16_t	rx_data_consumed;
@@ -1026,6 +1028,7 @@ ao_radio_init(void)
 	ao_radio_configured = 0;
 	ao_spi_init_cs (AO_CC1120_SPI_CS_PORT, (1 << AO_CC1120_SPI_CS_PIN));
 
+#if 0
 	AO_CC1120_SPI_CS_PORT->bsrr = ((uint32_t) (1 << AO_CC1120_SPI_CS_PIN));
 	for (i = 0; i < 10000; i++) {
 		if ((SPI_2_PORT->idr & (1 << SPI_2_MISO_PIN)) == 0)
@@ -1034,6 +1037,7 @@ ao_radio_init(void)
 	AO_CC1120_SPI_CS_PORT->bsrr = (1 << AO_CC1120_SPI_CS_PIN);
 	if (i == 10000)
 		ao_panic(AO_PANIC_SELF_TEST_CC1120);
+#endif
 
 	/* Enable the EXTI interrupt for the appropriate pin */
 	ao_enable_port(AO_CC1120_INT_PORT);
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 077a40e6..ce0bcf4b 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -130,6 +130,7 @@ static uint32_t
 ao_ms5607_get_sample(uint8_t cmd) {
 	uint8_t	reply[3];
 	uint8_t read;
+	uint32_t loops;
 
 	ao_ms5607_done = 0;
 
@@ -141,10 +142,15 @@ ao_ms5607_get_sample(uint8_t cmd) {
 #if AO_MS5607_PRIVATE_PINS
 	ao_spi_put(AO_MS5607_SPI_INDEX);
 #endif
+//	loops = 0;
 	cli();
-	while (!ao_ms5607_done)
+	while (!ao_ms5607_done) {
+//		loops++;
 		ao_sleep((void *) &ao_ms5607_done);
+	}
 	sei();
+//	if (loops > 1)
+//		printf ("ms5607 loops %d\n", loops);
 #if AO_MS5607_PRIVATE_PINS
 	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
 #else
diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile
index 0e0534a5..b100fafc 100644
--- a/src/megametrum-v0.1/Makefile
+++ b/src/megametrum-v0.1/Makefile
@@ -22,7 +22,9 @@ INC = \
 	ao_mma655x.h \
 	ao_cc1120_CC1120.h \
 	ao_profile.h \
+	ao_task.h \
 	ao_whiten.h \
+	ao_sample_profile.h \
 	stm32l.h
 
 #
@@ -32,6 +34,10 @@ INC = \
 #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
+
 #	ao_hmc5883.c
 
 ALTOS_SRC = \
@@ -80,13 +86,14 @@ ALTOS_SRC = \
 	ao_packet.c \
 	ao_companion.c \
 	ao_pyro.c \
-	$(PROFILE)
+	$(PROFILE) \
+	$(SAMPLE_PROFILE)
 
 PRODUCT=MegaMetrum-v0.1
 PRODUCT_DEF=-DMEGAMETRUM
 IDPRODUCT=0x0023
 
-CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) -Os -g
 
 PROGNAME=megametrum-v0.1
 PROG=$(PROGNAME)-$(VERSION).elf
diff --git a/src/megametrum-v0.1/ao_megametrum.c b/src/megametrum-v0.1/ao_megametrum.c
index d3ae4690..114f144f 100644
--- a/src/megametrum-v0.1/ao_megametrum.c
+++ b/src/megametrum-v0.1/ao_megametrum.c
@@ -24,6 +24,9 @@
 #include <ao_packet.h>
 #include <ao_companion.h>
 #include <ao_profile.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
 #include <ao_pyro.h>
 
 int
@@ -78,6 +81,9 @@ main(void)
 #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/stm/ao_arch.h b/src/stm/ao_arch.h
index 87eda18b..f2de719c 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -143,7 +143,7 @@ extern const uint32_t ao_radio_cal;
 
 
 #define ao_arch_cpu_idle() do {			\
-		asm("wfi");		\
+		asm(".global ao_idle_loc\n\twfi\nao_idle_loc:");	\
 	} while (0)
 
 #define ao_arch_restore_stack() do { \
diff --git a/src/stm/ao_sample_profile_timer.c b/src/stm/ao_sample_profile_timer.c
new file mode 100644
index 00000000..d5af3a57
--- /dev/null
+++ b/src/stm/ao_sample_profile_timer.c
@@ -0,0 +1,115 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_sample_profile.h>
+
+struct stm_exception {
+	uint32_t	r0;
+	uint32_t	r1;
+	uint32_t	r2;
+	uint32_t	r3;
+	uint32_t	r12;
+	uint32_t	lr;
+	uint32_t	pc;
+	uint32_t	psr;
+};
+
+void
+stm_tim10_isr(void)
+{
+	struct stm_exception	*ex;
+
+	asm("mov %0,sp" : "=&r" (ex));
+
+	stm_tim10.sr = 0;
+	ao_sample_profile_point(ex->pc, stm_tim11.cnt, (ex->psr & 0xff) != 0);
+}
+
+uint16_t
+ao_sample_profile_timer_start(void)
+{
+	/* Reset counts */
+	stm_tim11.cnt = 0;
+	stm_tim10.cnt = 0;
+
+	/* Turn on timer 11 */
+	stm_tim11.cr1 = ((0 << STM_TIM1011_CR1_CKD) |
+			 (0 << STM_TIM1011_CR1_ARPE) |
+			 (1 << STM_TIM1011_CR1_URS) |
+			 (0 << STM_TIM1011_CR1_UDIS) |
+			 (1 << STM_TIM1011_CR1_CEN));
+
+	/* Turn on timer 10 */
+	stm_tim10.cr1 = ((0 << STM_TIM1011_CR1_CKD) |
+			 (0 << STM_TIM1011_CR1_ARPE) |
+			 (1 << STM_TIM1011_CR1_URS) |
+			 (0 << STM_TIM1011_CR1_UDIS) |
+			 (1 << STM_TIM1011_CR1_CEN));
+	return stm_tim11.cnt;
+}
+
+void
+ao_sample_profile_timer_stop(void)
+{
+	stm_tim10.cr1 = 0;
+	stm_tim11.cr1 = 0;
+}
+
+#if AO_APB2_PRESCALER > 1
+#define TIMER_91011_SCALER 2
+#else
+#define TIMER_91011_SCALER 1
+#endif
+
+#define TIMER_10kHz	((AO_PCLK2 * TIMER_91011_SCALER) / 10000)
+#define TIMER_1kHz	((AO_PCLK2 * TIMER_91011_SCALER) / 1000)
+
+void
+ao_sample_profile_timer_init(void)
+{
+	/* Turn on power for timer 10 and 11 */
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_TIM10EN) | (1 << STM_RCC_APB2ENR_TIM11EN);
+
+	/* Timer 10 is the 1kHz interrupt */
+	stm_tim10.cr1 = 0;
+	stm_tim10.psc = TIMER_10kHz;
+	stm_tim10.arr = 9;
+	stm_tim10.cnt = 0;
+
+	/* Enable timer 10 update interrupt */
+	stm_tim10.dier = (1 << STM_TIM1011_DIER_UIE);
+
+	/* Poke timer to reload values */
+	stm_tim10.egr |= (1 << STM_TIM1011_EGR_UG);
+
+	/* Timer 11 is the 1kHz counter */
+	stm_tim11.cr1 = 0;
+	stm_tim11.psc = TIMER_1kHz;
+	stm_tim11.arr = 0xffff;
+	stm_tim11.cnt = 0;
+
+	/* Disable interrupts for timer 11 */
+	stm_tim11.dier = 0;
+
+	/* Poke timer to reload values */
+	stm_tim11.egr |= (1 << STM_TIM1011_EGR_UG);
+
+	stm_tim10.sr = 0;
+	stm_nvic_set_enable(STM_ISR_TIM10_POS);
+	stm_nvic_set_priority(STM_ISR_TIM10_POS, AO_STM_NVIC_HIGH_PRIORITY);
+}
diff --git a/src/stm/ao_sample_profile_timer.h b/src/stm/ao_sample_profile_timer.h
new file mode 100644
index 00000000..1da1bfb4
--- /dev/null
+++ b/src/stm/ao_sample_profile_timer.h
@@ -0,0 +1,32 @@
+/*
+ * 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_SAMPLE_PROFILE_TIMER_H_
+#define _AO_SAMPLE_PROFILE_TIMER_H_
+
+uint16_t
+ao_sample_profile_timer_start(void);
+
+void
+ao_sample_profile_timer_stop(void);
+
+void
+ao_sample_profile_timer_init(void);
+
+#define ao_sample_profile_timer_value()	((uint16_t) stm_tim11.cnt)
+
+#endif /* _AO_SAMPLE_PROFILE_TIMER_H_ */
diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h
index 25f5af07..e950d09b 100644
--- a/src/stm/stm32l.h
+++ b/src/stm/stm32l.h
@@ -254,8 +254,138 @@ struct stm_tim {
 };
 
 extern struct stm_tim stm_tim9;
-extern struct stm_tim stm_tim10;
-extern struct stm_tim stm_tim11;
+
+struct stm_tim1011 {
+	vuint32_t	cr1;
+	uint32_t	unused_4;
+	vuint32_t	smcr;
+	vuint32_t	dier;
+	vuint32_t	sr;
+	vuint32_t	egr;
+	vuint32_t	ccmr1;
+	uint32_t	unused_1c;
+	vuint32_t	ccer;
+	vuint32_t	cnt;
+	vuint32_t	psc;
+	vuint32_t	arr;
+	uint32_t	unused_30;
+	vuint32_t	ccr1;
+	uint32_t	unused_38;
+	uint32_t	unused_3c;
+	uint32_t	unused_40;
+	uint32_t	unused_44;
+	uint32_t	unused_48;
+	uint32_t	unused_4c;
+	vuint32_t	or;
+};
+
+extern struct stm_tim1011 stm_tim10;
+extern struct stm_tim1011 stm_tim11;
+
+#define STM_TIM1011_CR1_CKD	8
+#define  STM_TIM1011_CR1_CKD_1		0
+#define  STM_TIM1011_CR1_CKD_2		1
+#define  STM_TIM1011_CR1_CKD_4		2
+#define  STM_TIM1011_CR1_CKD_MASK	3
+#define STM_TIM1011_CR1_ARPE	7
+#define STM_TIM1011_CR1_URS	2
+#define STM_TIM1011_CR1_UDIS	1
+#define STM_TIM1011_CR1_CEN	0
+
+#define STM_TIM1011_SMCR_ETP	15
+#define STM_TIM1011_SMCR_ECE	14
+#define STM_TIM1011_SMCR_ETPS	12
+#define  STM_TIM1011_SMCR_ETPS_OFF	0
+#define  STM_TIM1011_SMCR_ETPS_2	1
+#define  STM_TIM1011_SMCR_ETPS_4	2
+#define  STM_TIM1011_SMCR_ETPS_8	3
+#define  STM_TIM1011_SMCR_ETPS_MASK	3
+#define STM_TIM1011_SMCR_ETF	8
+#define  STM_TIM1011_SMCR_ETF_NONE		0
+#define  STM_TIM1011_SMCR_ETF_CK_INT_2		1
+#define  STM_TIM1011_SMCR_ETF_CK_INT_4		2
+#define  STM_TIM1011_SMCR_ETF_CK_INT_8		3
+#define  STM_TIM1011_SMCR_ETF_DTS_2_6		4
+#define  STM_TIM1011_SMCR_ETF_DTS_2_8		5
+#define  STM_TIM1011_SMCR_ETF_DTS_4_6		6
+#define  STM_TIM1011_SMCR_ETF_DTS_4_8		7
+#define  STM_TIM1011_SMCR_ETF_DTS_8_6		8
+#define  STM_TIM1011_SMCR_ETF_DTS_8_8		9
+#define  STM_TIM1011_SMCR_ETF_DTS_16_5		10
+#define  STM_TIM1011_SMCR_ETF_DTS_16_6		11
+#define  STM_TIM1011_SMCR_ETF_DTS_16_8		12
+#define  STM_TIM1011_SMCR_ETF_DTS_32_5		13
+#define  STM_TIM1011_SMCR_ETF_DTS_32_6		14
+#define  STM_TIM1011_SMCR_ETF_DTS_32_8		15
+#define  STM_TIM1011_SMCR_ETF_MASK		15
+
+#define STM_TIM1011_DIER_CC1E	1
+#define STM_TIM1011_DIER_UIE	0
+
+#define STM_TIM1011_SR_CC1OF	9
+#define STM_TIM1011_SR_CC1IF	1
+#define STM_TIM1011_SR_UIF	0
+
+#define STM_TIM1011_EGR_CC1G	1
+#define STM_TIM1011_EGR_UG	0
+
+#define STM_TIM1011_CCMR1_OC1CE	7
+#define STM_TIM1011_CCMR1_OC1M	4
+#define  STM_TIM1011_CCMR1_OC1M_FROZEN			0
+#define  STM_TIM1011_CCMR1_OC1M_SET_1_ACTIVE_ON_MATCH	1
+#define  STM_TIM1011_CCMR1_OC1M_SET_1_INACTIVE_ON_MATCH	2
+#define  STM_TIM1011_CCMR1_OC1M_TOGGLE			3
+#define  STM_TIM1011_CCMR1_OC1M_FORCE_INACTIVE		4
+#define  STM_TIM1011_CCMR1_OC1M_FORCE_ACTIVE		5
+#define  STM_TIM1011_CCMR1_OC1M_PWM_MODE_1		6
+#define  STM_TIM1011_CCMR1_OC1M_PWM_MODE_2		7
+#define  STM_TIM1011_CCMR1_OC1M_MASK			7
+#define STM_TIM1011_CCMR1_OC1PE	3
+#define STM_TIM1011_CCMR1_OC1FE	2
+#define STM_TIM1011_CCMR1_CC1S	0
+#define  STM_TIM1011_CCMR1_CC1S_OUTPUT			0
+#define  STM_TIM1011_CCMR1_CC1S_INPUT_TI1		1
+#define  STM_TIM1011_CCMR1_CC1S_INPUT_TI2		2
+#define  STM_TIM1011_CCMR1_CC1S_INPUT_TRC		3
+#define  STM_TIM1011_CCMR1_CC1S_MASK			3
+
+#define  STM_TIM1011_CCMR1_IC1F_NONE		0
+#define  STM_TIM1011_CCMR1_IC1F_CK_INT_2	1
+#define  STM_TIM1011_CCMR1_IC1F_CK_INT_4	2
+#define  STM_TIM1011_CCMR1_IC1F_CK_INT_8	3
+#define  STM_TIM1011_CCMR1_IC1F_DTS_2_6		4
+#define  STM_TIM1011_CCMR1_IC1F_DTS_2_8		5
+#define  STM_TIM1011_CCMR1_IC1F_DTS_4_6		6
+#define  STM_TIM1011_CCMR1_IC1F_DTS_4_8		7
+#define  STM_TIM1011_CCMR1_IC1F_DTS_8_6		8
+#define  STM_TIM1011_CCMR1_IC1F_DTS_8_8		9
+#define  STM_TIM1011_CCMR1_IC1F_DTS_16_5	10
+#define  STM_TIM1011_CCMR1_IC1F_DTS_16_6	11
+#define  STM_TIM1011_CCMR1_IC1F_DTS_16_8	12
+#define  STM_TIM1011_CCMR1_IC1F_DTS_32_5	13
+#define  STM_TIM1011_CCMR1_IC1F_DTS_32_6	14
+#define  STM_TIM1011_CCMR1_IC1F_DTS_32_8	15
+#define  STM_TIM1011_CCMR1_IC1F_MASK		15
+#define STM_TIM1011_CCMR1_IC1PSC	2
+#define  STM_TIM1011_CCMR1_IC1PSC_1		0
+#define  STM_TIM1011_CCMR1_IC1PSC_2		1
+#define  STM_TIM1011_CCMR1_IC1PSC_4		2
+#define  STM_TIM1011_CCMR1_IC1PSC_8		3
+#define  STM_TIM1011_CCMR1_IC1PSC_MASK		3
+#define STM_TIM1011_CCMR1_CC1S		0
+
+#define STM_TIM1011_CCER_CC1NP		3
+#define STM_TIM1011_CCER_CC1P		1
+#define STM_TIM1011_CCER_CC1E		0
+
+#define STM_TIM1011_OR_TI1_RMP_RI	3
+#define STM_TIM1011_ETR_RMP		2
+#define STM_TIM1011_TI1_RMP		0
+#define  STM_TIM1011_TI1_RMP_GPIO		0
+#define  STM_TIM1011_TI1_RMP_LSI		1
+#define  STM_TIM1011_TI1_RMP_LSE		2
+#define  STM_TIM1011_TI1_RMP_RTC		3
+#define  STM_TIM1011_TI1_RMP_MASK		3
 
 /* Flash interface */
 
-- 
cgit v1.2.3


From e80fa6de4ccc5c4851eab9fb941f9282d2e3eb16 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 24 Oct 2012 22:35:32 -0700
Subject: altos: Replace __critical usage with ao_arch_critical as needed

sdcc offers __critical as a machine-independent way to block
interrupts, but as gcc doesn't, we need to use a compiler-independent
construct instead. ao_arch_critical has been around since the AVR
port, but some old __critical usages remained.

This fixes a bunch of random hangs when communicating with MM over USB
or the radio as the various stdio loops were running without
interrupts blocked between the test and the sleep.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h                  |  2 +-
 src/core/ao_ignite.c           | 10 ++++++----
 src/core/ao_mutex.c            |  8 ++++----
 src/core/ao_packet.h           |  2 +-
 src/core/ao_panic.c            |  3 ++-
 src/core/ao_stdio.c            | 26 ++++++++++++++------------
 src/drivers/ao_btm.c           | 24 +++++++++++++-----------
 src/drivers/ao_packet.c        |  8 +++++++-
 src/drivers/ao_packet_master.c |  2 +-
 src/stm/ao_arch.h              | 26 +++++++++++++++++++++++---
 src/stm/ao_timer.c             |  8 +++++---
 src/stm/ao_usb_stm.c           | 38 ++++++++++++++++++++++----------------
 12 files changed, 99 insertions(+), 58 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index e559e876..2b375cfd 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -101,7 +101,7 @@ ao_delay(uint16_t ticks);
 
 /* Set the ADC interval */
 void
-ao_timer_set_adc_interval(uint8_t interval) __critical;
+ao_timer_set_adc_interval(uint8_t interval);
 
 /* Timer interrupt */
 void
diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c
index c7829fc3..693b7c7a 100644
--- a/src/core/ao_ignite.c
+++ b/src/core/ao_ignite.c
@@ -21,10 +21,12 @@
 __xdata struct ao_ignition ao_ignition[2];
 
 void
-ao_ignite(enum ao_igniter igniter) __critical
+ao_ignite(enum ao_igniter igniter)
 {
+	cli();
 	ao_ignition[igniter].request = 1;
 	ao_wakeup(&ao_ignition);
+	sei();
 }
 
 #ifndef AO_SENSE_DROGUE
@@ -39,12 +41,12 @@ ao_igniter_status(enum ao_igniter igniter)
 	__pdata int16_t value;
 	__pdata uint8_t request, firing, fired;
 
-	__critical {
+	ao_arch_critical(
 		ao_data_get(&packet);
 		request = ao_ignition[igniter].request;
 		fired = ao_ignition[igniter].fired;
 		firing = ao_ignition[igniter].firing;
-	}
+		);
 	if (firing || (request && !fired))
 		return ao_igniter_active;
 
@@ -79,7 +81,7 @@ ao_igniter_status(enum ao_igniter igniter)
 #endif
 
 void
-ao_igniter_fire(enum ao_igniter igniter) __critical
+ao_igniter_fire(enum ao_igniter igniter)
 {
 	ao_ignition[igniter].firing = 1;
 	switch(ao_config.ignite_mode) {
diff --git a/src/core/ao_mutex.c b/src/core/ao_mutex.c
index c82a7d57..952ff462 100644
--- a/src/core/ao_mutex.c
+++ b/src/core/ao_mutex.c
@@ -22,11 +22,11 @@ ao_mutex_get(__xdata uint8_t *mutex) __reentrant
 {
 	if (*mutex == ao_cur_task->task_id)
 		ao_panic(AO_PANIC_MUTEX);
-	__critical {
+	ao_arch_critical(
 		while (*mutex)
 			ao_sleep(mutex);
 		*mutex = ao_cur_task->task_id;
-	}
+		);
 }
 
 void
@@ -34,8 +34,8 @@ ao_mutex_put(__xdata uint8_t *mutex) __reentrant
 {
 	if (*mutex != ao_cur_task->task_id)
 		ao_panic(AO_PANIC_MUTEX);
-	__critical {
+	ao_arch_critical(
 		*mutex = 0;
 		ao_wakeup(mutex);
-	}
+		);
 }
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 9058c347..0eafd3b2 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -63,7 +63,7 @@ void
 ao_packet_putchar(char c) __reentrant;
 
 char
-ao_packet_pollchar(void) __critical;
+ao_packet_pollchar(void);
 
 #if PACKET_HAS_MASTER
 /* ao_packet_master.c */
diff --git a/src/core/ao_panic.c b/src/core/ao_panic.c
index 3c0b471e..c29cd8fe 100644
--- a/src/core/ao_panic.c
+++ b/src/core/ao_panic.c
@@ -53,7 +53,8 @@ ao_panic(uint8_t reason)
 	ao_cur_task = NULL;
 	printf ("panic %d\n", reason);
 #endif
-	__critical for (;;) {
+	ao_arch_block_interrupts();
+	for (;;) {
 		ao_panic_delay(20);
 		for (n = 0; n < 5; n++) {
 			ao_led_on(AO_LED_PANIC);
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 656b23c9..8cf66a23 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -96,21 +96,23 @@ flush(void)
 __xdata uint8_t ao_stdin_ready;
 
 char
-getchar(void) __reentrant __critical
+getchar(void) __reentrant
 {
 	char c;
-	int8_t stdio = ao_cur_stdio;
+	ao_arch_critical(
+		int8_t stdio = ao_cur_stdio;
 
-	for (;;) {
-		c = ao_stdios[stdio].pollchar();
-		if (c != AO_READ_AGAIN)
-			break;
-		if (++stdio == ao_num_stdios)
-			stdio = 0;
-		if (stdio == ao_cur_stdio)
-			ao_sleep(&ao_stdin_ready);
-	}
-	ao_cur_stdio = stdio;
+		for (;;) {
+			c = ao_stdios[stdio].pollchar();
+			if (c != AO_READ_AGAIN)
+				break;
+			if (++stdio == ao_num_stdios)
+				stdio = 0;
+			if (stdio == ao_cur_stdio)
+				ao_sleep(&ao_stdin_ready);
+		}
+		ao_cur_stdio = stdio;
+		);
 	return c;
 }
 
diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c
index f193ac8e..f3816047 100644
--- a/src/drivers/ao_btm.c
+++ b/src/drivers/ao_btm.c
@@ -312,18 +312,20 @@ __xdata struct ao_task ao_btm_task;
 #endif
 
 void
-ao_btm_check_link() __critical
+ao_btm_check_link()
 {
-	/* Check the pin and configure the interrupt detector to wait for the
-	 * pin to flip the other way
-	 */
-	if (BT_LINK_PIN) {
-		ao_btm_connected = 0;
-		PICTL |= BT_PICTL_ICON;
-	} else {
-		ao_btm_connected = 1;
-		PICTL &= ~BT_PICTL_ICON;
-	}
+	ao_arch_critical(
+		/* Check the pin and configure the interrupt detector to wait for the
+		 * pin to flip the other way
+		 */
+		if (BT_LINK_PIN) {
+			ao_btm_connected = 0;
+			PICTL |= BT_PICTL_ICON;
+		} else {
+			ao_btm_connected = 1;
+			PICTL &= ~BT_PICTL_ICON;
+		}
+		);
 }
 
 void
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 2bada949..3c1e7a18 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -155,6 +155,9 @@ ao_packet_flush(void)
 void
 ao_packet_putchar(char c) __reentrant
 {
+	/* No need to block interrupts, all variables here
+	 * are only manipulated in task context
+	 */
 	while (ao_packet_tx_used == AO_PACKET_MAX && ao_packet_enable) {
 #if PACKET_HAS_MASTER
 		ao_packet_flush();
@@ -167,8 +170,11 @@ ao_packet_putchar(char c) __reentrant
 }
 
 char
-ao_packet_pollchar(void) __critical
+ao_packet_pollchar(void)
 {
+	/* No need to block interrupts, all variables here
+	 * are only manipulated in task context
+	 */
 	if (!ao_packet_enable)
 		return AO_READ_AGAIN;
 
diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index e97a6648..481232df 100644
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -18,7 +18,7 @@
 #include "ao.h"
 
 static char
-ao_packet_getchar(void) __critical
+ao_packet_getchar(void)
 {
 	char c;
 	while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index f2de719c..0c3cfc91 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -43,7 +43,6 @@
 #define __xdata
 #define __code const
 #define __reentrant
-#define __critical
 #define __interrupt(n)
 #define __at(n)
 
@@ -83,8 +82,29 @@ extern const uint32_t ao_radio_cal;
 #define ao_arch_task_members\
 	uint32_t *sp;			/* saved stack pointer */
 
-#define cli()	asm("cpsid i")
-#define sei()	asm("cpsie i")
+#define ao_arch_block_interrupts()	asm("cpsid i")
+#define ao_arch_release_interrupts()	asm("cpsie i")
+
+#define cli()	ao_arch_block_interrupts()
+#define sei()	ao_arch_release_interrupts()
+
+static uint32_t
+ao_arch_irqsave(void) {
+	uint32_t	primask;
+	asm("mrs %0,primask" : "=&r" (primask));
+	ao_arch_block_interrupts();
+	return primask;
+}
+
+static void
+ao_arch_irqrestore(uint32_t primask) {
+	asm("msr primask,%0" : : "r" (primask));
+}
+
+static void
+ao_arch_memory_barrier() {
+	asm volatile("" ::: "memory");
+}
 
 #define ao_arch_init_stack(task, start) do {				\
 		uint32_t	*sp = (uint32_t *) (task->stack + AO_STACK_SIZE); \
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index f3011d3f..d82a803e 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -56,10 +56,12 @@ void stm_tim6_isr(void)
 
 #if HAS_ADC
 void
-ao_timer_set_adc_interval(uint8_t interval) __critical
+ao_timer_set_adc_interval(uint8_t interval)
 {
-	ao_data_interval = interval;
-	ao_data_count = 0;
+	ao_arch_critical(
+		ao_data_interval = interval;
+		ao_data_count = 0;
+		);
 }
 #endif
 
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index 4f37a7d9..8e7dacc5 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -799,25 +799,23 @@ ao_usb_in_send(void)
 	ao_usb_tx_count = 0;
 }
 
-/* Wait for a free IN buffer */
+/* Wait for a free IN buffer. Interrupts are blocked */
 static void
-ao_usb_in_wait(void)
+_ao_usb_in_wait(void)
 {
 	for (;;) {
 		/* Check if the current buffer is writable */
 		if (ao_usb_tx_count < AO_USB_IN_SIZE)
 			break;
 
-		cli();
 		/* Wait for an IN buffer to be ready */
 		while (ao_usb_in_pending)
 			ao_sleep(&ao_usb_in_pending);
-		sei();
 	}
 }
 
 void
-ao_usb_flush(void) __critical
+ao_usb_flush(void)
 {
 	if (!ao_usb_running)
 		return;
@@ -829,24 +827,25 @@ ao_usb_flush(void) __critical
 	 * packet was full, in which case we now
 	 * want to send an empty packet
 	 */
+	ao_arch_block_interrupts();
 	if (!ao_usb_in_flushed) {
 		ao_usb_in_flushed = 1;
-		cli();
 		/* Wait for an IN buffer to be ready */
 		while (ao_usb_in_pending)
 			ao_sleep(&ao_usb_in_pending);
-		sei();
 		ao_usb_in_send();
 	}
+	ao_arch_release_interrupts();
 }
 
 void
-ao_usb_putchar(char c) __critical __reentrant
+ao_usb_putchar(char c)
 {
 	if (!ao_usb_running)
 		return;
 
-	ao_usb_in_wait();
+	ao_arch_block_interrupts();
+	_ao_usb_in_wait();
 
 	ao_usb_in_flushed = 0;
 	ao_usb_tx_buffer[ao_usb_tx_count++] = (uint8_t) c;
@@ -854,10 +853,11 @@ ao_usb_putchar(char c) __critical __reentrant
 	/* Send the packet when full */
 	if (ao_usb_tx_count == AO_USB_IN_SIZE)
 		ao_usb_in_send();
+	ao_arch_release_interrupts();
 }
 
 static void
-ao_usb_out_recv(void)
+_ao_usb_out_recv(void)
 {
 	ao_usb_out_avail = 0;
 
@@ -888,7 +888,7 @@ _ao_usb_pollchar(void)
 		/* Check to see if a packet has arrived */
 		if (!ao_usb_out_avail)
 			return AO_READ_AGAIN;
-		ao_usb_out_recv();
+		_ao_usb_out_recv();
 	}
 
 	/* Pull a character out of the fifo */
@@ -900,27 +900,28 @@ char
 ao_usb_pollchar(void)
 {
 	char	c;
-	cli();
+	ao_arch_block_interrupts();
 	c = _ao_usb_pollchar();
-	sei();
+	ao_arch_release_interrupts();
 	return c;
 }
 
 char
-ao_usb_getchar(void) __critical
+ao_usb_getchar(void)
 {
 	char	c;
 
-	cli();
+	ao_arch_block_interrupts();
 	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
 		ao_sleep(&ao_stdin_ready);
-	sei();
+	ao_arch_release_interrupts();
 	return c;
 }
 
 void
 ao_usb_disable(void)
 {
+	ao_arch_block_interrupts();
 	stm_usb.cntr = (1 << STM_USB_CNTR_FRES);
 	stm_usb.istr = 0;
 
@@ -932,6 +933,7 @@ ao_usb_disable(void)
 
 	/* Disable the interface */
 	stm_rcc.apb1enr &+ ~(1 << STM_RCC_APB1ENR_USBEN);
+	ao_arch_release_interrupts();
 }
 
 void
@@ -954,6 +956,8 @@ ao_usb_enable(void)
 	 * pulled low and doesn't work at all
 	 */
 
+	ao_arch_block_interrupts();
+
 	/* Route interrupts */
 	stm_nvic_set_priority(STM_ISR_USB_LP_POS, 3);
 	stm_nvic_set_enable(STM_ISR_USB_LP_POS);
@@ -985,6 +989,8 @@ ao_usb_enable(void)
 			(0 << STM_USB_CNTR_PDWN) |
 			(0 << STM_USB_CNTR_FRES));
 
+	ao_arch_release_interrupts();
+
 	for (t = 0; t < 1000; t++)
 		ao_arch_nop();
 	/* Enable USB pull-up */
-- 
cgit v1.2.3


From 4b13d3c659240e5a8347b1ba7ab0bf1d8355eba3 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 24 Oct 2012 22:46:55 -0700
Subject: altos: Add stack-guard code. Uses STM MPU to trap stack overflow.

This marks the lowest portion of the stack as inaccessible to the CPU,
causing the processor to fault when it reaches it. The fault then
generates a panic message so that the user can know what happened.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h                       |   1 +
 src/core/ao_task.c                  |   6 ++
 src/megametrum-v0.1/Makefile        |  10 ++-
 src/megametrum-v0.1/ao_megametrum.c |   7 ++
 src/stm-bringup/Makefile            |   2 +-
 src/stm-bringup/ao.h                |  18 +++++
 src/stm/ao_interrupt.c              |   3 +-
 src/stm/ao_mpu.h                    |  29 +++++++
 src/stm/ao_mpu_stm.c                | 149 ++++++++++++++++++++++++++++++++++++
 src/stm/registers.ld                |   2 +
 src/stm/stm32l.h                    |  64 ++++++++++++++++
 11 files changed, 286 insertions(+), 5 deletions(-)
 create mode 100644 src/stm-bringup/ao.h
 create mode 100644 src/stm/ao_mpu.h
 create mode 100644 src/stm/ao_mpu_stm.c

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 2b375cfd..87e69e19 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -64,6 +64,7 @@
 #define AO_PANIC_BT		11	/* Communications with bluetooth device failed */
 #define AO_PANIC_STACK		12	/* Stack overflow */
 #define AO_PANIC_SPI		13	/* SPI communication failure */
+#define AO_PANIC_CRASH		14	/* Processor crashed */
 #define AO_PANIC_SELF_TEST_CC1120	0x40 | 1	/* Self test failure */
 #define AO_PANIC_SELF_TEST_HMC5883	0x40 | 2	/* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU6000	0x40 | 3	/* Self test failure */
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index c2b1b270..df70b906 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -20,6 +20,9 @@
 #if HAS_SAMPLE_PROFILE
 #include <ao_sample_profile.h>
 #endif
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
 
 #define AO_NO_TASK_INDEX	0xff
 
@@ -127,6 +130,9 @@ ao_yield(void) ao_arch_naked_define
 	ao_cur_task->start = ao_sample_profile_timer_value();
 #endif
 	}
+#if HAS_STACK_GUARD
+	ao_mpu_stack_guard(ao_cur_task->stack);
+#endif
 #if AO_CHECK_STACK
 	cli();
 	in_yield = 0;
diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile
index b100fafc..487a643f 100644
--- a/src/megametrum-v0.1/Makefile
+++ b/src/megametrum-v0.1/Makefile
@@ -25,11 +25,13 @@ INC = \
 	ao_task.h \
 	ao_whiten.h \
 	ao_sample_profile.h \
+	ao_mpu.h \
 	stm32l.h
 
 #
 # Common AltOS sources
 #
+#	ao_hmc5883.c
 
 #PROFILE=ao_profile.c
 #PROFILE_DEF=-DAO_PROFILE=1
@@ -38,7 +40,8 @@ SAMPLE_PROFILE=ao_sample_profile.c \
 	ao_sample_profile_timer.c
 SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
 
-#	ao_hmc5883.c
+STACK_GUARD=ao_mpu_stm.c
+STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
 
 ALTOS_SRC = \
 	ao_interrupt.c \
@@ -87,13 +90,14 @@ ALTOS_SRC = \
 	ao_companion.c \
 	ao_pyro.c \
 	$(PROFILE) \
-	$(SAMPLE_PROFILE)
+	$(SAMPLE_PROFILE) \
+	$(STACK_GUARD)
 
 PRODUCT=MegaMetrum-v0.1
 PRODUCT_DEF=-DMEGAMETRUM
 IDPRODUCT=0x0023
 
-CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) -Os -g
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
 
 PROGNAME=megametrum-v0.1
 PROG=$(PROGNAME)-$(VERSION).elf
diff --git a/src/megametrum-v0.1/ao_megametrum.c b/src/megametrum-v0.1/ao_megametrum.c
index 114f144f..43c2292d 100644
--- a/src/megametrum-v0.1/ao_megametrum.c
+++ b/src/megametrum-v0.1/ao_megametrum.c
@@ -28,12 +28,19 @@
 #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_serial_init();
 	ao_led_init(LEDS_AVAILABLE);
 	ao_led_on(AO_LED_GREEN);
diff --git a/src/stm-bringup/Makefile b/src/stm-bringup/Makefile
index d45e836d..5cc94bd9 100644
--- a/src/stm-bringup/Makefile
+++ b/src/stm-bringup/Makefile
@@ -12,7 +12,7 @@ PDCLIB=/home/keithp/sat
 C_LIB=$(PDCLIB)/lib/pdclib.a
 C_INC=-I$(PDCLIB)/include
 
-DEF_CFLAGS=-g -std=gnu99 -Os -mlittle-endian -mthumb -ffreestanding -nostdlib -I../../src/stm $(C_INC)
+DEF_CFLAGS=-g -std=gnu99 -Os -mlittle-endian -mthumb -ffreestanding -nostdlib -I. -I../../src/stm $(C_INC)
 
 # to run from SRAM
 LD_FLAGS_RAM=-L../stm -Wl,-Taltos-ram.ld
diff --git a/src/stm-bringup/ao.h b/src/stm-bringup/ao.h
new file mode 100644
index 00000000..27204fae
--- /dev/null
+++ b/src/stm-bringup/ao.h
@@ -0,0 +1,18 @@
+/*
+ * 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.
+ */
+
+#define ao_panic(n)	for(;;);
diff --git a/src/stm/ao_interrupt.c b/src/stm/ao_interrupt.c
index 6b4a9700..a423d8b1 100644
--- a/src/stm/ao_interrupt.c
+++ b/src/stm/ao_interrupt.c
@@ -15,6 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
+#include <ao.h>
 #include "stm32l.h"
 #include <string.h>
 
@@ -28,7 +29,7 @@ extern char __bss_start__, __bss_end__;
 
 void stm_halt_isr(void)
 {
-	for(;;);
+	ao_panic(AO_PANIC_CRASH);
 }
 
 void stm_ignore_isr(void)
diff --git a/src/stm/ao_mpu.h b/src/stm/ao_mpu.h
new file mode 100644
index 00000000..cc6132a5
--- /dev/null
+++ b/src/stm/ao_mpu.h
@@ -0,0 +1,29 @@
+/*
+ * 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_MPU_H_
+#define _AO_MPU_H_
+
+extern uint32_t	ao_mpu_dregion;
+
+void
+ao_mpu_stack_guard(void *stack);
+
+void
+ao_mpu_init(void);
+
+#endif /* _AO_MPU_H_ */
diff --git a/src/stm/ao_mpu_stm.c b/src/stm/ao_mpu_stm.c
new file mode 100644
index 00000000..969d7446
--- /dev/null
+++ b/src/stm/ao_mpu_stm.c
@@ -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.
+ */
+
+#include <ao.h>
+#include <ao_mpu.h>
+
+static uint32_t	stm_mpu_dregion;
+
+void
+ao_mpu_init(void)
+{
+	uint32_t	region;
+
+	/* Check to see how many regions we have */
+	stm_mpu_dregion = (stm_mpu.typer >> STM_MPU_TYPER_DREGION) & STM_MPU_TYPER_DREGION_MASK;
+
+	/* No MPU at all */
+	if (stm_mpu_dregion == 0)
+		return;
+
+	/* Disable MPU */
+	stm_mpu.cr = ((0 << STM_MPU_CR_PRIVDEFENA) |
+		      (0 << STM_MPU_CR_HFNMIENA) |
+		      (0 << STM_MPU_CR_ENABLE));
+
+	/* Disable all regions */
+	for (region = 0; region < stm_mpu_dregion; region++) {
+		/* Set the base address and RNR value */
+		stm_mpu.rbar = ((0 & (STM_MPU_RBAR_ADDR_MASK << STM_MPU_RBAR_ADDR)) |
+				(1 << STM_MPU_RBAR_VALID) |
+				(region << STM_MPU_RBAR_REGION));
+
+		/* Disable this region */
+		stm_mpu.rasr = 0;
+	}
+
+	region = 0;
+
+	/* Flash */
+	/* 0x00000000 - 0x1fffffff */
+	stm_mpu.rbar = (0x0000000 |
+			(1 << STM_MPU_RBAR_VALID) |
+			(region << STM_MPU_RBAR_REGION));
+
+	stm_mpu.rasr = ((0 << STM_MPU_RASR_XN) |
+			(STM_MPU_RASR_AP_RO_RO << STM_MPU_RASR_AP) |
+			(5 << STM_MPU_RASR_TEX) |
+			(0 << STM_MPU_RASR_C) |
+			(1 << STM_MPU_RASR_B) |
+			(0 << STM_MPU_RASR_S) |
+			(0 << STM_MPU_RASR_SRD) |
+			(28 << STM_MPU_RASR_SIZE) |
+			(1 << STM_MPU_RASR_ENABLE));
+	region++;
+
+	/* Ram */
+	/* 0x20000000 - 0x3fffffff */
+	stm_mpu.rbar = (0x20000000 |
+			(1 << STM_MPU_RBAR_VALID) |
+			(region << STM_MPU_RBAR_REGION));
+
+	stm_mpu.rasr = ((0 << STM_MPU_RASR_XN) |
+			(STM_MPU_RASR_AP_RW_RW << STM_MPU_RASR_AP) |
+			(5 << STM_MPU_RASR_TEX) |
+			(0 << STM_MPU_RASR_C) |
+			(1 << STM_MPU_RASR_B) |
+			(0 << STM_MPU_RASR_S) |
+			(0 << STM_MPU_RASR_SRD) |
+			(28 << STM_MPU_RASR_SIZE) |
+			(1 << STM_MPU_RASR_ENABLE));
+	region++;
+
+	/* Peripherals */
+
+	/* 0x4000000 - 0x7ffffff */
+	stm_mpu.rbar = (0x40000000 |
+			(1 << STM_MPU_RBAR_VALID) |
+			(region << STM_MPU_RBAR_REGION));
+
+	stm_mpu.rasr = ((1 << STM_MPU_RASR_XN) |
+			(STM_MPU_RASR_AP_RW_RW << STM_MPU_RASR_AP) |
+			(2 << STM_MPU_RASR_TEX) |
+			(0 << STM_MPU_RASR_C) |
+			(0 << STM_MPU_RASR_B) |
+			(0 << STM_MPU_RASR_S) |
+			(0 << STM_MPU_RASR_SRD) |
+			(29 << STM_MPU_RASR_SIZE) |
+			(1 << STM_MPU_RASR_ENABLE));
+	region++;
+
+	/* 0x8000000 - 0xffffffff */
+	stm_mpu.rbar = (0x80000000 |
+			(1 << STM_MPU_RBAR_VALID) |
+			(region << STM_MPU_RBAR_REGION));
+
+	stm_mpu.rasr = ((1 << STM_MPU_RASR_XN) |
+			(STM_MPU_RASR_AP_RW_RW << STM_MPU_RASR_AP) |
+			(2 << STM_MPU_RASR_TEX) |
+			(0 << STM_MPU_RASR_C) |
+			(0 << STM_MPU_RASR_B) |
+			(0 << STM_MPU_RASR_S) |
+			(0 << STM_MPU_RASR_SRD) |
+			(30 << STM_MPU_RASR_SIZE) |
+			(1 << STM_MPU_RASR_ENABLE));
+	region++;
+
+	/* Enable MPU */
+	stm_mpu.cr = ((0 << STM_MPU_CR_PRIVDEFENA) |
+		      (0 << STM_MPU_CR_HFNMIENA) |
+		      (1 << STM_MPU_CR_ENABLE));
+}
+
+/*
+ * Protect the base of the stack from CPU access
+ */
+
+void
+ao_mpu_stack_guard(void *base)
+{
+	uintptr_t	addr = (uintptr_t) base;
+
+	/* Round up to cover the lowest possible 32-byte region */
+	addr = (addr + ~(STM_MPU_RBAR_ADDR_MASK << STM_MPU_RBAR_ADDR)) & (STM_MPU_RBAR_ADDR_MASK << STM_MPU_RBAR_ADDR);
+
+	stm_mpu.rbar = addr | (1 << STM_MPU_RBAR_VALID) | (7 << STM_MPU_RBAR_REGION);
+	stm_mpu.rasr = ((1 << STM_MPU_RASR_XN) |
+			(STM_MPU_RASR_AP_NONE_NONE << STM_MPU_RASR_AP) |
+			(5 << STM_MPU_RASR_TEX) |
+			(0 << STM_MPU_RASR_C) |
+			(1 << STM_MPU_RASR_B) |
+			(0 << STM_MPU_RASR_S) |
+			(0 << STM_MPU_RASR_SRD) |
+			(4 << STM_MPU_RASR_SIZE) |
+			(1 << STM_MPU_RASR_ENABLE));
+}
diff --git a/src/stm/registers.ld b/src/stm/registers.ld
index fd61e486..f8b224a2 100644
--- a/src/stm/registers.ld
+++ b/src/stm/registers.ld
@@ -46,5 +46,7 @@ stm_tim2   = 0x40000000;
 
 stm_nvic   = 0xe000e100;
 
+stm_mpu    = 0xe000ed90;
+
 /* calibration data in system memory */
 stm_temp_cal = 0x1ff80078;
diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h
index e950d09b..d953aee4 100644
--- a/src/stm/stm32l.h
+++ b/src/stm/stm32l.h
@@ -901,6 +901,63 @@ stm_nvic_get_priority(int irq) {
 	return (stm_nvic.ipr[IRQ_PRIO_REG(irq)] >> IRQ_PRIO_BIT(irq)) & IRQ_PRIO_MASK(0);
 }
 
+struct stm_mpu {
+	vuint32_t	typer;
+	vuint32_t	cr;
+	vuint32_t	rnr;
+	vuint32_t	rbar;
+
+	vuint32_t	rasr;
+	vuint32_t	rbar_a1;
+	vuint32_t	rasr_a1;
+	vuint32_t	rbar_a2;
+	vuint32_t	rasr_a2;
+	vuint32_t	rbar_a3;
+	vuint32_t	rasr_a3;
+};
+
+extern struct stm_mpu stm_mpu;
+
+#define STM_MPU_TYPER_IREGION	16
+#define  STM_MPU_TYPER_IREGION_MASK	0xff
+#define STM_MPU_TYPER_DREGION	8
+#define  STM_MPU_TYPER_DREGION_MASK	0xff
+#define STM_MPU_TYPER_SEPARATE	0
+
+#define STM_MPU_CR_PRIVDEFENA	2
+#define STM_MPU_CR_HFNMIENA	1
+#define STM_MPU_CR_ENABLE	0
+
+#define STM_MPU_RNR_REGION	0
+#define STM_MPU_RNR_REGION_MASK		0xff
+
+#define STM_MPU_RBAR_ADDR	5
+#define STM_MPU_RBAR_ADDR_MASK		0x7ffffff
+
+#define STM_MPU_RBAR_VALID	4
+#define STM_MPU_RBAR_REGION	0
+#define STM_MPU_RBAR_REGION_MASK	0xf
+
+#define STM_MPU_RASR_XN		28
+#define STM_MPU_RASR_AP		24
+#define  STM_MPU_RASR_AP_NONE_NONE	0
+#define  STM_MPU_RASR_AP_RW_NONE	1
+#define  STM_MPU_RASR_AP_RW_RO		2
+#define  STM_MPU_RASR_AP_RW_RW		3
+#define  STM_MPU_RASR_AP_RO_NONE	5
+#define  STM_MPU_RASR_AP_RO_RO		6
+#define  STM_MPU_RASR_AP_MASK		7
+#define STM_MPU_RASR_TEX	19
+#define  STM_MPU_RASR_TEX_MASK		7
+#define STM_MPU_RASR_S		18
+#define STM_MPU_RASR_C		17
+#define STM_MPU_RASR_B		16
+#define STM_MPU_RASR_SRD	8
+#define  STM_MPU_RASR_SRD_MASK		0xff
+#define STM_MPU_RASR_SIZE	1
+#define  STM_MPU_RASR_SIZE_MASK		0x1f
+#define STM_MPU_RASR_ENABLE	0
+
 #define isr(name) void stm_ ## name ## _isr(void);
 
 isr(nmi)
@@ -1568,6 +1625,13 @@ extern struct stm_tim234 stm_tim2, stm_tim3, stm_tim4;
 #define STM_TIM234_SR_CC1IF	1
 #define STM_TIM234_SR_UIF	0
 
+#define STM_TIM234_EGR_TG	6
+#define STM_TIM234_EGR_CC4G	4
+#define STM_TIM234_EGR_CC3G	3
+#define STM_TIM234_EGR_CC2G	2
+#define STM_TIM234_EGR_CC1G	1
+#define STM_TIM234_EGR_UG	0
+
 #define STM_TIM234_CCMR1_OC2CE	15
 #define STM_TIM234_CCMR1_OC2M	12
 #define  STM_TIM234_CCMR1_OC2M_FROZEN			0
-- 
cgit v1.2.3


From b49c751749dcd3e78991463c098f8d916f52179d Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 24 Oct 2012 23:50:55 -0700
Subject: altos: Add task queues.

This replaces the array-based scheduler with a queue-based one
instead. It should have the same basic scheduling semantics, but it
walks shorter lists for each operation, making it much more efficient
when the system has a lot of tasks.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_list.h                  | 213 ++++++++++++++++++++++
 src/core/ao_task.c                  | 340 ++++++++++++++++++++++++++++++++++--
 src/core/ao_task.h                  |  21 ++-
 src/megametrum-v0.1/ao_megametrum.c |   1 +
 src/megametrum-v0.1/ao_pins.h       |   2 +
 src/stm/ao_timer.c                  |   4 +
 6 files changed, 564 insertions(+), 17 deletions(-)
 create mode 100644 src/core/ao_list.h

(limited to 'src/core')

diff --git a/src/core/ao_list.h b/src/core/ao_list.h
new file mode 100644
index 00000000..23cf1841
--- /dev/null
+++ b/src/core/ao_list.h
@@ -0,0 +1,213 @@
+/*
+ * 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_LIST_H_
+#define _AO_LIST_H_
+
+#include <stddef.h>
+
+struct ao_list {
+	struct ao_list	*next, *prev;
+};
+
+static inline void
+ao_list_init(struct ao_list *list)
+{
+	list->next = list->prev = list;
+}
+
+static inline void
+__ao_list_add(struct ao_list *list, struct ao_list *prev, struct ao_list *next)
+{
+	next->prev = list;
+	list->next = next;
+	list->prev = prev;
+	prev->next = list;
+}
+
+/**
+ * Insert a new element after the given list head. The new element does not
+ * need to be initialised as empty list.
+ * The list changes from:
+ *      head → some element → ...
+ * to
+ *      head → new element → older element → ...
+ *
+ * Example:
+ * struct foo *newfoo = malloc(...);
+ * ao_list_add(&newfoo->entry, &bar->list_of_foos);
+ *
+ * @param entry The new element to prepend to the list.
+ * @param head The existing list.
+ */
+static inline void
+ao_list_insert(struct ao_list *entry, struct ao_list *head)
+{
+    __ao_list_add(entry, head, head->next);
+}
+
+/**
+ * Append a new element to the end of the list given with this list head.
+ *
+ * The list changes from:
+ *      head → some element → ... → lastelement
+ * to
+ *      head → some element → ... → lastelement → new element
+ *
+ * Example:
+ * struct foo *newfoo = malloc(...);
+ * ao_list_append(&newfoo->entry, &bar->list_of_foos);
+ *
+ * @param entry The new element to prepend to the list.
+ * @param head The existing list.
+ */
+static inline void
+ao_list_append(struct ao_list *entry, struct ao_list *head)
+{
+    __ao_list_add(entry, head->prev, head);
+}
+
+static inline void
+__ao_list_del(struct ao_list *prev, struct ao_list *next)
+{
+    next->prev = prev;
+    prev->next = next;
+}
+
+/**
+ * Remove the element from the list it is in. Using this function will reset
+ * the pointers to/from this element so it is removed from the list. It does
+ * NOT free the element itself or manipulate it otherwise.
+ *
+ * Using ao_list_del on a pure list head (like in the example at the top of
+ * this file) will NOT remove the first element from
+ * the list but rather reset the list as empty list.
+ *
+ * Example:
+ * ao_list_del(&foo->entry);
+ *
+ * @param entry The element to remove.
+ */
+static inline void
+ao_list_del(struct ao_list *entry)
+{
+    __ao_list_del(entry->prev, entry->next);
+    ao_list_init(entry);
+}
+
+/**
+ * Check if the list is empty.
+ *
+ * Example:
+ * ao_list_is_empty(&bar->list_of_foos);
+ *
+ * @return True if the list contains one or more elements or False otherwise.
+ */
+static inline uint8_t
+ao_list_is_empty(struct ao_list *head)
+{
+    return head->next == head;
+}
+
+/**
+ * Returns a pointer to the container of this list element.
+ *
+ * Example:
+ * struct foo* f;
+ * f = container_of(&foo->entry, struct foo, entry);
+ * assert(f == foo);
+ *
+ * @param ptr Pointer to the struct ao_list.
+ * @param type Data type of the list element.
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the data struct containing the list head.
+ */
+#define ao_container_of(ptr, type, member) \
+    (type *)((char *)(ptr) - offsetof(type, member))
+
+/**
+ * Alias of ao_container_of
+ */
+#define ao_list_entry(ptr, type, member) \
+    ao_container_of(ptr, type, member)
+
+/**
+ * Retrieve the first list entry for the given list pointer.
+ *
+ * Example:
+ * struct foo *first;
+ * first = ao_list_first_entry(&bar->list_of_foos, struct foo, list_of_foos);
+ *
+ * @param ptr The list head
+ * @param type Data type of the list element to retrieve
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the first list element.
+ */
+#define ao_list_first_entry(ptr, type, member) \
+    ao_list_entry((ptr)->next, type, member)
+
+/**
+ * Retrieve the last list entry for the given listpointer.
+ *
+ * Example:
+ * struct foo *first;
+ * first = ao_list_last_entry(&bar->list_of_foos, struct foo, list_of_foos);
+ *
+ * @param ptr The list head
+ * @param type Data type of the list element to retrieve
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the last list element.
+ */
+#define ao_list_last_entry(ptr, type, member) \
+    ao_list_entry((ptr)->prev, type, member)
+
+/**
+ * Loop through the list given by head and set pos to struct in the list.
+ *
+ * Example:
+ * struct foo *iterator;
+ * ao_list_for_each_entry(iterator, &bar->list_of_foos, entry) {
+ *      [modify iterator]
+ * }
+ *
+ * This macro is not safe for node deletion. Use ao_list_for_each_entry_safe
+ * instead.
+ *
+ * @param pos Iterator variable of the type of the list elements.
+ * @param head List head
+ * @param member Member name of the struct ao_list in the list elements.
+ *
+ */
+#define ao_list_for_each_entry(pos, head, type, member)			\
+    for (pos = ao_container_of((head)->next, type, member);		\
+	 &pos->member != (head);					\
+	 pos = ao_container_of(pos->member.next, type, member))
+
+/**
+ * Loop through the list, keeping a backup pointer to the element. This
+ * macro allows for the deletion of a list element while looping through the
+ * list.
+ *
+ * See ao_list_for_each_entry for more details.
+ */
+#define ao_list_for_each_entry_safe(pos, tmp, head, type, member)		\
+	for ((pos = ao_container_of((head)->next, type, member)),		\
+	     (tmp = ao_container_of(pos->member.next, type, member)); 		\
+	     &pos->member != (head);						\
+	     (pos = tmp), (tmp = ao_container_of(pos->member.next, type, member)))
+
+#endif /* _AO_LIST_H_ */
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index df70b906..a11979f0 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -24,13 +24,18 @@
 #include <ao_mpu.h>
 #endif
 
+#define DEBUG	0
+
 #define AO_NO_TASK_INDEX	0xff
 
 __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
 __data uint8_t ao_num_tasks;
-__data uint8_t ao_cur_task_index;
 __xdata struct ao_task *__data ao_cur_task;
 
+#if !HAS_TASK_QUEUE
+static __data uint8_t ao_cur_task_index;
+#endif
+
 #ifdef ao_arch_task_globals
 ao_arch_task_globals
 #endif
@@ -49,6 +54,225 @@ static inline void ao_check_stack(void) {
 #define ao_check_stack()
 #endif
 
+#if HAS_TASK_QUEUE
+
+#define SLEEP_HASH_SIZE	17
+
+static struct ao_list	run_queue;
+static struct ao_list	alarm_queue;
+static struct ao_list	sleep_queue[SLEEP_HASH_SIZE];
+
+static void
+ao_task_to_run_queue(struct ao_task *task)
+{
+	ao_list_del(&task->queue);
+	ao_list_append(&task->queue, &run_queue);
+}
+
+static struct ao_list *
+ao_task_sleep_queue(void *wchan)
+{
+	return &sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
+}
+
+static void
+ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
+{
+	ao_list_del(&task->queue);
+	ao_list_append(&task->queue, ao_task_sleep_queue(wchan));
+}
+
+#if DEBUG
+static void
+ao_task_validate_alarm_queue(void)
+{
+	struct ao_task	*alarm, *prev = NULL;
+	int		i;
+
+	if (ao_list_is_empty(&alarm_queue))
+		return;
+	ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
+		if (prev) {
+			if ((int16_t) (alarm->alarm - prev->alarm) < 0) {
+				ao_panic(1);
+			}
+		}
+		prev = alarm;
+	}
+	for (i = 0; i < ao_num_tasks; i++) {
+		alarm = ao_tasks[i];
+		if (alarm->alarm) {
+			if (ao_list_is_empty(&alarm->alarm_queue))
+				ao_panic(2);
+		} else {
+			if (!ao_list_is_empty(&alarm->alarm_queue))
+				ao_panic(3);
+		}
+	}
+}
+#else
+#define ao_task_validate_alarm_queue()
+#endif
+
+static void
+ao_task_to_alarm_queue(struct ao_task *task)
+{
+	struct ao_task	*alarm;
+	ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
+		if ((int16_t) (alarm->alarm - task->alarm) >= 0) {
+			ao_list_insert(&task->alarm_queue, alarm->alarm_queue.prev);
+			ao_task_validate_alarm_queue();
+			return;
+		}
+	}
+	ao_list_append(&task->alarm_queue, &alarm_queue);
+	ao_task_validate_alarm_queue();
+}
+
+static void
+ao_task_from_alarm_queue(struct ao_task *task)
+{
+	ao_list_del(&task->alarm_queue);
+	ao_task_validate_alarm_queue();
+}
+
+static void
+ao_task_init_queue(struct ao_task *task)
+{
+	ao_list_init(&task->queue);
+	ao_list_init(&task->alarm_queue);
+}
+
+static void
+ao_task_exit_queue(struct ao_task *task)
+{
+	ao_list_del(&task->queue);
+	ao_list_del(&task->alarm_queue);
+}
+
+void
+ao_task_check_alarm(uint16_t tick)
+{
+	struct ao_task	*alarm, *next;
+	int		i;
+
+	if (ao_num_tasks == 0)
+		return;
+	ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
+		if ((int16_t) (tick - alarm->alarm) < 0)
+			break;
+		alarm->alarm = 0;
+		ao_task_from_alarm_queue(alarm);
+		ao_task_to_run_queue(alarm);
+	}
+}
+
+void
+ao_task_init(void)
+{
+	uint8_t	i;
+	ao_list_init(&run_queue);
+	ao_list_init(&alarm_queue);
+	for (i = 0; i < SLEEP_HASH_SIZE; i++)
+		ao_list_init(&sleep_queue[i]);
+}
+
+#if DEBUG
+static uint8_t
+ao_task_validate_queue(struct ao_task *task)
+{
+	uint32_t flags;
+	struct ao_task *m;
+	uint8_t ret = 0;
+	struct ao_list *queue;
+
+	flags = ao_arch_irqsave();
+	if (task->wchan) {
+		queue = ao_task_sleep_queue(task->wchan);
+		ret |= 2;
+	} else {
+		queue = &run_queue;
+		ret |= 4;
+	}
+	ao_list_for_each_entry(m, queue, struct ao_task, queue) {
+		if (m == task) {
+			ret |= 1;
+			break;
+		}
+	}
+	ao_arch_irqrestore(flags);
+	return ret;
+}
+
+static uint8_t
+ao_task_validate_alarm(struct ao_task *task)
+{
+	uint32_t	flags;
+	struct ao_task	*m;
+	uint8_t		ret = 0;
+
+	flags = ao_arch_irqsave();
+	if (task->alarm == 0)
+		return 0xff;
+	ao_list_for_each_entry(m, &alarm_queue, struct ao_task, alarm_queue) {
+		if (m == task)
+			ret |= 1;
+		else {
+			if (!(ret&1)) {
+				if ((int16_t) (m->alarm - task->alarm) > 0)
+					ret |= 2;
+			} else {
+				if ((int16_t) (task->alarm - m->alarm) > 0)
+					ret |= 4;
+			}
+		}
+	}
+	ao_arch_irqrestore(flags);
+	return ret;
+}
+
+
+static void
+ao_task_validate(void)
+{
+	uint8_t		i;
+	struct ao_task	*task;
+	uint8_t		ret;
+
+	for (i = 0; i < ao_num_tasks; i++) {
+		task = ao_tasks[i];
+		ret = ao_task_validate_queue(task);
+		if (!(ret & 1)) {
+			if (ret & 2)
+				printf ("sleeping task not on sleep queue %s %08x\n",
+					task->name, task->wchan);
+			else
+				printf ("running task not on run queue %s\n",
+					task->name);
+		}
+		ret = ao_task_validate_alarm(task);
+		if (ret != 0xff) {
+			if (!(ret & 1))
+				printf ("alarm task not on alarm queue %s %d\n",
+					task->name, task->alarm);
+			if (ret & 2)
+				printf ("alarm queue has sooner entries after %s %d\n",
+					task->name, task->alarm);
+			if (ret & 4)
+				printf ("alarm queue has later entries before %s %d\n",
+					task->name, task->alarm);
+		}
+	}
+}
+#else
+#define ao_task_validate()
+#endif
+
+#else
+#define ao_task_to_run_queue(task)
+#define ao_task_to_alarm_queue(task)
+#endif
+
 void
 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
 {
@@ -63,7 +287,6 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 		if (t == ao_num_tasks)
 			break;
 	}
-	ao_tasks[ao_num_tasks++] = task;
 	task->task_id = task_id;
 	task->name = name;
 	task->wchan = NULL;
@@ -72,18 +295,29 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 	 * to the start of the task
 	 */
 	ao_arch_init_stack(task, start);
+	ao_arch_critical(
+#if HAS_TASK_QUEUE
+		ao_task_init_queue(task);
+		ao_task_to_run_queue(task);
+#endif
+		ao_tasks[ao_num_tasks] = task;
+		ao_num_tasks++;
+		);
 }
 
-__xdata uint8_t	ao_idle;
-
 /* Task switching function. This must not use any stack variables */
 void
 ao_yield(void) ao_arch_naked_define
 {
 	ao_arch_save_regs();
 
+#if HAS_TASK_QUEUE
+	if (ao_cur_task == NULL)
+		ao_cur_task = ao_tasks[ao_num_tasks-1];
+#else
 	if (ao_cur_task_index == AO_NO_TASK_INDEX)
 		ao_cur_task_index = ao_num_tasks-1;
+#endif
 	else
 	{
 #if HAS_SAMPLE_PROFILE
@@ -104,6 +338,24 @@ ao_yield(void) ao_arch_naked_define
 	/* Find a task to run. If there isn't any runnable task,
 	 * this loop will run forever, which is just fine
 	 */
+#if HAS_TASK_QUEUE
+	if (ao_cur_task->wchan == NULL) {
+		uint32_t flags;
+		flags = ao_arch_irqsave();
+		ao_task_to_run_queue(ao_cur_task);
+		ao_arch_irqrestore(flags);
+	}
+	ao_cur_task = NULL;
+
+	for (;;) {
+		ao_arch_memory_barrier();
+		if (!ao_list_is_empty(&run_queue))
+			break;
+		ao_arch_cpu_idle();
+	}
+		
+	ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
+#else
 	{
 		__pdata uint8_t	ao_last_task_index = ao_cur_task_index;
 		for (;;) {
@@ -127,14 +379,15 @@ ao_yield(void) ao_arch_naked_define
 				ao_arch_cpu_idle();
 		}
 #if HAS_SAMPLE_PROFILE
-	ao_cur_task->start = ao_sample_profile_timer_value();
+		ao_cur_task->start = ao_sample_profile_timer_value();
 #endif
 	}
+#endif
 #if HAS_STACK_GUARD
 	ao_mpu_stack_guard(ao_cur_task->stack);
 #endif
 #if AO_CHECK_STACK
-	cli();
+	ao_arch_block_interrupts();
 	in_yield = 0;
 #endif
 	ao_arch_restore_stack();
@@ -143,7 +396,15 @@ ao_yield(void) ao_arch_naked_define
 uint8_t
 ao_sleep(__xdata void *wchan)
 {
+#if HAS_TASK_QUEUE
+	uint32_t flags;
+	flags = ao_arch_irqsave();
+#endif
 	ao_cur_task->wchan = wchan;
+#if HAS_TASK_QUEUE
+	ao_task_to_sleep_queue(ao_cur_task, wchan);
+	ao_arch_irqrestore(flags);
+#endif
 	ao_yield();
 	if (ao_cur_task->wchan) {
 		ao_cur_task->wchan = NULL;
@@ -156,28 +417,62 @@ ao_sleep(__xdata void *wchan)
 void
 ao_wakeup(__xdata void *wchan)
 {
-	uint8_t	i;
+#if HAS_TASK_QUEUE
+	struct ao_task	*sleep, *next;
+	struct ao_list	*sleep_queue;
+	uint32_t	flags;
 
-	ao_check_stack();
+	if (ao_num_tasks == 0)
+		return;
+	sleep_queue = ao_task_sleep_queue(wchan);
+	flags = ao_arch_irqsave();
+	ao_list_for_each_entry_safe(sleep, next, sleep_queue, struct ao_task, queue) {
+		if (sleep->wchan == wchan) {
+			sleep->wchan = NULL;
+			ao_task_to_run_queue(sleep);
+		}
+	}
+	ao_arch_irqrestore(flags);
+#else
+	uint8_t	i;
 	for (i = 0; i < ao_num_tasks; i++)
 		if (ao_tasks[i]->wchan == wchan)
 			ao_tasks[i]->wchan = NULL;
+#endif
+	ao_check_stack();
 }
 
 void
 ao_alarm(uint16_t delay)
 {
+#if HAS_TASK_QUEUE
+	uint32_t flags;
 	/* Make sure we sleep *at least* delay ticks, which means adding
 	 * one to account for the fact that we may be close to the next tick
 	 */
+	flags = ao_arch_irqsave();
+#endif
 	if (!(ao_cur_task->alarm = ao_time() + delay + 1))
 		ao_cur_task->alarm = 1;
+#if HAS_TASK_QUEUE
+	ao_task_to_alarm_queue(ao_cur_task);
+	ao_arch_irqrestore(flags);
+#endif
 }
 
 void
 ao_clear_alarm(void)
 {
+#if HAS_TASK_QUEUE
+	uint32_t flags;
+
+	flags = ao_arch_irqsave();
+#endif
 	ao_cur_task->alarm = 0;
+#if HAS_TASK_QUEUE
+	ao_task_from_alarm_queue(ao_cur_task);
+	ao_arch_irqrestore(flags);
+#endif
 }
 
 static __xdata uint8_t ao_forever;
@@ -193,14 +488,22 @@ ao_delay(uint16_t ticks)
 void
 ao_exit(void)
 {
-	ao_arch_critical(
-		uint8_t	i;
-		ao_num_tasks--;
-		for (i = ao_cur_task_index; i < ao_num_tasks; i++)
-			ao_tasks[i] = ao_tasks[i+1];
-		ao_cur_task_index = AO_NO_TASK_INDEX;
-		ao_yield();
-		);
+	uint8_t	i;
+	ao_arch_block_interrupts();
+	ao_num_tasks--;
+#if HAS_TASK_QUEUE
+	for (i = 0; i < ao_num_tasks; i++)
+		if (ao_tasks[i] == ao_cur_task)
+			break;
+	ao_task_exit_queue(ao_cur_task);
+#else
+	i = ao_cur_task_index;
+	ao_cur_task_index = AO_NO_TASK_INDEX;
+#endif
+	for (; i < ao_num_tasks; i++)
+		ao_tasks[i] = ao_tasks[i+1];
+	ao_cur_task = NULL;
+	ao_yield();
 	/* we'll never get back here */
 }
 
@@ -216,12 +519,17 @@ ao_task_info(void)
 		       task->name,
 		       (int) task->wchan);
 	}
+#if HAS_TASK_QUEUE
+	ao_task_validate();
+#endif
 }
 
 void
 ao_start_scheduler(void)
 {
+#if !HAS_TASK_QUEUE
 	ao_cur_task_index = AO_NO_TASK_INDEX;
+#endif
 	ao_cur_task = NULL;
 	ao_yield();
 }
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 4319d632..b3f152a0 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -17,6 +17,9 @@
 
 #ifndef _AO_TASK_H_
 #define _AO_TASK_H_
+#if HAS_TASK_QUEUE
+#include <ao_list.h>
+#endif
 
 /* An AltOS task */
 struct ao_task {
@@ -25,6 +28,10 @@ struct ao_task {
 	ao_arch_task_members		/* any architecture-specific fields */
 	uint8_t task_id;		/* unique id */
 	__code char *name;		/* task name */
+#if HAS_TASK_QUEUE
+	struct ao_list	queue;
+	struct ao_list	alarm_queue;
+#endif
 	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
 #if HAS_SAMPLE_PROFILE
 	uint32_t ticks;
@@ -39,7 +46,6 @@ struct ao_task {
 
 extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
 extern __data uint8_t ao_num_tasks;
-extern __data uint8_t ao_cur_task_index;
 extern __xdata struct ao_task *__data ao_cur_task;
 
 /*
@@ -74,6 +80,12 @@ ao_yield(void) ao_arch_naked_declare;
 void
 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
 
+#if HAS_TASK_QUEUE
+/* Called on timer interrupt to check alarms */
+void
+ao_task_check_alarm(uint16_t tick);
+#endif
+
 /* Terminate the current task */
 void
 ao_exit(void);
@@ -86,4 +98,11 @@ ao_task_info(void);
 void
 ao_start_scheduler(void);
 
+#if HAS_TASK_QUEUE
+void
+ao_task_init(void);
+#else
+#define ao_task_init()
+#endif
+
 #endif
diff --git a/src/megametrum-v0.1/ao_megametrum.c b/src/megametrum-v0.1/ao_megametrum.c
index 43c2292d..cb1eb417 100644
--- a/src/megametrum-v0.1/ao_megametrum.c
+++ b/src/megametrum-v0.1/ao_megametrum.c
@@ -41,6 +41,7 @@ main(void)
 	ao_mpu_init();
 #endif
 
+	ao_task_init();
 	ao_serial_init();
 	ao_led_init(LEDS_AVAILABLE);
 	ao_led_on(AO_LED_GREEN);
diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
index e4c8c8fb..5ae80ac5 100644
--- a/src/megametrum-v0.1/ao_pins.h
+++ b/src/megametrum-v0.1/ao_pins.h
@@ -18,6 +18,8 @@
 #ifndef _AO_PINS_H_
 #define _AO_PINS_H_
 
+#define HAS_TASK_QUEUE		1
+
 /* 8MHz High speed external crystal */
 #define AO_HSE			8000000
 
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index d82a803e..d69035f8 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include <ao_task.h>
 
 volatile __data AO_TICK_TYPE ao_tick_count;
 
@@ -42,6 +43,9 @@ void stm_tim6_isr(void)
 	if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) {
 		stm_tim6.sr = 0;
 		++ao_tick_count;
+#if HAS_TASK_QUEUE
+		ao_task_check_alarm((uint16_t) ao_tick_count);
+#endif
 #if AO_DATA_ALL
 		if (++ao_data_count == ao_data_interval) {
 			ao_data_count = 0;
-- 
cgit v1.2.3


From f221c78e6237e0a118ebe85c25e433fe16a7735d Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 25 Oct 2012 11:25:42 -0700
Subject: altos: Switch drivers to ao_arch_block/release_interrupts

Stop using cli/sei, which are avr-specific

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_ignite.c          |  4 ++--
 src/drivers/ao_cc1120.c       | 12 ++++++------
 src/drivers/ao_ms5607.c       | 12 +++---------
 src/drivers/ao_radio_master.c |  8 ++++----
 src/stm/ao_i2c_stm.c          | 16 ++++++++--------
 src/stm/ao_lcd_stm.c          |  4 ++--
 src/stm/ao_serial_stm.c       | 32 ++++++++++++++++----------------
 src/stm/ao_usb_stm.c          | 12 ++++++------
 8 files changed, 47 insertions(+), 53 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c
index 693b7c7a..74bd0c5a 100644
--- a/src/core/ao_ignite.c
+++ b/src/core/ao_ignite.c
@@ -23,10 +23,10 @@ __xdata struct ao_ignition ao_ignition[2];
 void
 ao_ignite(enum ao_igniter igniter)
 {
-	cli();
+	ao_arch_block_interrupts();
 	ao_ignition[igniter].request = 1;
 	ao_wakeup(&ao_ignition);
-	sei();
+	ao_arch_release_interrupts();
 }
 
 #ifndef AO_SENSE_DROGUE
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 7428bead..bad313eb 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -469,10 +469,10 @@ ao_rdf_run(void)
 {
 	ao_radio_start_tx();
 
-	cli();
+	ao_arch_block_interrupts();
 	while (!ao_radio_wake && !ao_radio_abort)
 		ao_sleep(&ao_radio_wake);
-	sei();
+	ao_arch_release_interrupts();
 	if (!ao_radio_wake)
 		ao_radio_idle();
 	ao_radio_put();
@@ -603,10 +603,10 @@ ao_radio_send(const void *d, uint8_t size)
 			
 		do {
 			ao_radio_wake = 0;
-			cli();
+			ao_arch_block_interrupts();
 			while (!ao_radio_wake)
 				ao_sleep(&ao_radio_wake);
-			sei();
+			ao_arch_release_interrupts();
 			if (!encode_len)
 				break;
 			fifo_space = ao_radio_tx_fifo_space();
@@ -660,14 +660,14 @@ ao_radio_rx_isr(void)
 static uint16_t
 ao_radio_rx_wait(void)
 {
-	cli();
+	ao_arch_block_interrupts();
 	rx_waiting = 1;
 	while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK &&
 	       !ao_radio_abort) {
 		ao_sleep(&ao_radio_wake);
 	}
 	rx_waiting = 0;
-	sei();
+	ao_arch_release_interrupts();
 	if (ao_radio_abort)
 		return 0;
 	rx_data_consumed += AO_FEC_DECODE_BLOCK;
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index ce0bcf4b..55bea563 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -130,7 +130,6 @@ static uint32_t
 ao_ms5607_get_sample(uint8_t cmd) {
 	uint8_t	reply[3];
 	uint8_t read;
-	uint32_t loops;
 
 	ao_ms5607_done = 0;
 
@@ -142,15 +141,10 @@ ao_ms5607_get_sample(uint8_t cmd) {
 #if AO_MS5607_PRIVATE_PINS
 	ao_spi_put(AO_MS5607_SPI_INDEX);
 #endif
-//	loops = 0;
-	cli();
-	while (!ao_ms5607_done) {
-//		loops++;
+	ao_arch_block_interrupts();
+	while (!ao_ms5607_done)
 		ao_sleep((void *) &ao_ms5607_done);
-	}
-	sei();
-//	if (loops > 1)
-//		printf ("ms5607 loops %d\n", loops);
+	ao_arch_release_interrupts();
 #if AO_MS5607_PRIVATE_PINS
 	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
 #else
diff --git a/src/drivers/ao_radio_master.c b/src/drivers/ao_radio_master.c
index 4a37ace0..1e0050c8 100644
--- a/src/drivers/ao_radio_master.c
+++ b/src/drivers/ao_radio_master.c
@@ -75,7 +75,7 @@ ao_radio_master_send(void)
 	 */
 
 	PRINTD("Waiting radio ready\n");
-	cli();
+	ao_arch_block_interrupts();
 	ao_radio_ready = ao_gpio_get(AO_RADIO_INT_PORT,
 				     AO_RADIO_INT_PIN, AO_RADIO_INT);
 	ret = 0;
@@ -84,7 +84,7 @@ ao_radio_master_send(void)
 		if (ret)
 			break;
 	}
-	sei();
+	ao_arch_release_interrupts();
 	if (ret)
 		return 0;
 
@@ -99,11 +99,11 @@ ao_radio_master_send(void)
 		    AO_RADIO_SPI_BUS);
 	ao_radio_master_stop();
 	PRINTD("waiting for send done %d\n", ao_radio_done);
-	cli();
+	ao_arch_block_interrupts();
 	while (!ao_radio_done)
 		if (ao_sleep((void *) &ao_radio_done))
 			break;
-	sei();
+	ao_arch_release_interrupts();
 	PRINTD ("sent, radio done %d isr_0 %d isr_1 %d\n", ao_radio_done, isr_0_count, isr_1_count);
 	return ao_radio_done;
 }
diff --git a/src/stm/ao_i2c_stm.c b/src/stm/ao_i2c_stm.c
index b6dd7056..779e2275 100644
--- a/src/stm/ao_i2c_stm.c
+++ b/src/stm/ao_i2c_stm.c
@@ -197,13 +197,13 @@ ao_i2c_start(uint8_t index, uint16_t addr)
 			break;
 	}
 	ao_alarm(AO_MS_TO_TICKS(250));
-	cli();
+	ao_arch_block_interrupts();
 	stm_i2c->cr2 = AO_STM_I2C_CR2 | (1 << STM_I2C_CR2_ITEVTEN) | (1 << STM_I2C_CR2_ITERREN);
 	ao_i2c_ev_isr(index);
 	while (ao_i2c_state[index] == I2C_IDLE)
 		if (ao_sleep(&ao_i2c_state[index]))
 			break;
-	sei();
+	ao_arch_release_interrupts();
 	ao_clear_alarm();
 	return ao_i2c_state[index] == I2C_RUNNING;
 }
@@ -263,7 +263,7 @@ ao_i2c_send(void *block, uint16_t len, uint8_t index, uint8_t stop)
 			   
 	ao_dma_start(tx_dma_index);
 	ao_alarm(1 + len);
-	cli();
+	ao_arch_block_interrupts();
 	while (!ao_dma_done[tx_dma_index])
 		if (ao_sleep(&ao_dma_done[tx_dma_index]))
 			break;
@@ -274,7 +274,7 @@ ao_i2c_send(void *block, uint16_t len, uint8_t index, uint8_t stop)
 		if (ao_sleep(&ao_i2c_state[index]))
 			break;
 	stm_i2c->cr2 = AO_STM_I2C_CR2;
-	sei();
+	ao_arch_release_interrupts();
 	if (stop) {
 		stm_i2c->cr1 = AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_STOP);
 		ao_i2c_wait_stop(index);
@@ -328,11 +328,11 @@ ao_i2c_recv(void *block, uint16_t len, uint8_t index, uint8_t stop)
 			stm_i2c->cr1 = AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_STOP);
 
 		ao_alarm(1);
-		cli();
+		ao_arch_block_interrupts();
 		while (ao_i2c_recv_len[index])
 			if (ao_sleep(&ao_i2c_recv_len[index]))
 				break;
-		sei();
+		ao_arch_release_interrupts();
 		ret = ao_i2c_recv_len[index] == 0;
 		ao_clear_alarm();
 	} else {
@@ -358,11 +358,11 @@ ao_i2c_recv(void *block, uint16_t len, uint8_t index, uint8_t stop)
 
 		ao_dma_start(rx_dma_index);
 		ao_alarm(len);
-		cli();
+		ao_arch_block_interrupts();
 		while (!ao_dma_done[rx_dma_index])
 			if (ao_sleep(&ao_dma_done[rx_dma_index]))
 				break;
-		sei();
+		ao_arch_release_interrupts();
 		ao_clear_alarm();
 		ret = ao_dma_done[rx_dma_index];
 		ao_dma_done_transfer(rx_dma_index);
diff --git a/src/stm/ao_lcd_stm.c b/src/stm/ao_lcd_stm.c
index 0f9a8eb5..4f2a2242 100644
--- a/src/stm/ao_lcd_stm.c
+++ b/src/stm/ao_lcd_stm.c
@@ -253,12 +253,12 @@ ao_lcd_stm_fcr_sync(void)
 void
 ao_lcd_flush(void)
 {
-	cli();
+	ao_arch_block_interrupts();
 	ao_lcd_update_active = 1;
 	stm_lcd.sr = (1 << STM_LCD_SR_UDR);
 	while (ao_lcd_update_active)
 		ao_sleep(&ao_lcd_update_active);
-	sei();
+	ao_arch_release_interrupts();
 }
 
 void
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index 406da9fb..00409f4a 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -34,7 +34,7 @@ ao_debug_out(char c)
 }
 
 static void
-ao_usart_tx_start(struct ao_stm_usart *usart)
+_ao_usart_tx_start(struct ao_stm_usart *usart)
 {
 	if (!ao_fifo_empty(usart->tx_fifo) && !usart->tx_started)
 	{
@@ -61,7 +61,7 @@ ao_usart_isr(struct ao_stm_usart *usart, int stdin)
 	}
 	if (sr & (1 << STM_USART_SR_TC)) {
 		usart->tx_started = 0;
-		ao_usart_tx_start(usart);
+		_ao_usart_tx_start(usart);
 		ao_wakeup(&usart->tx_fifo);
 	}
 }
@@ -70,11 +70,11 @@ char
 ao_usart_getchar(struct ao_stm_usart *usart)
 {
 	char c;
-	cli();
+	ao_arch_block_interrupts();
 	while (ao_fifo_empty(usart->rx_fifo))
 		ao_sleep(&usart->rx_fifo);
 	ao_fifo_remove(usart->rx_fifo, c);
-	sei();
+	ao_arch_release_interrupts();
 	return c;
 }
 
@@ -82,34 +82,34 @@ char
 ao_usart_pollchar(struct ao_stm_usart *usart)
 {
 	char	c;
-	cli();
-	if (ao_fifo_empty(usart->rx_fifo)) {
-		sei();
-		return AO_READ_AGAIN;
-	}
-	ao_fifo_remove(usart->rx_fifo,c);
-	sei();
+	
+	ao_arch_block_interrupts();
+	if (ao_fifo_empty(usart->rx_fifo))
+		c = AO_READ_AGAIN;
+	else
+		ao_fifo_remove(usart->rx_fifo,c);
+	ao_arch_release_interrupts();
 	return c;
 }
 
 void
 ao_usart_putchar(struct ao_stm_usart *usart, char c)
 {
-	cli();
+	ao_arch_block_interrupts();
 	while (ao_fifo_full(usart->tx_fifo))
 		ao_sleep(&usart->tx_fifo);
 	ao_fifo_insert(usart->tx_fifo, c);
-	ao_usart_tx_start(usart);
-	sei();
+	_ao_usart_tx_start(usart);
+	ao_arch_release_interrupts();
 }
 
 void
 ao_usart_drain(struct ao_stm_usart *usart)
 {
-	cli();
+	ao_arch_block_interrupts();
 	while (!ao_fifo_empty(usart->tx_fifo))
 		ao_sleep(&usart->tx_fifo);
-	sei();
+	ao_arch_release_interrupts();
 }
 
 static const struct {
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index 8e7dacc5..d93a0c17 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -223,16 +223,16 @@ _ao_usb_set_stat_tx(int ep, uint32_t stat_tx)
 static void
 ao_usb_set_stat_tx(int ep, uint32_t stat_tx)
 {
-	cli();
+	ao_arch_block_interrupts();
 	_ao_usb_set_stat_tx(ep, stat_tx);
-	sei();
+	ao_arch_release_interrupts();
 }
 
 static void
 ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
 	uint32_t	epr_write, epr_old;
 
-	cli();
+	ao_arch_block_interrupts();
 	epr_write = epr_old = stm_usb.epr[ep];
 	epr_write &= STM_USB_EPR_PRESERVE_MASK;
 	epr_write |= STM_USB_EPR_INVARIANT;
@@ -240,7 +240,7 @@ ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
 			      STM_USB_EPR_STAT_RX_MASK << STM_USB_EPR_STAT_RX,
 			      stat_rx << STM_USB_EPR_STAT_RX);
 	stm_usb.epr[ep] = epr_write;
-	sei();
+	ao_arch_release_interrupts();
 }
 
 /*
@@ -251,7 +251,7 @@ static void
 ao_usb_init_ep(uint8_t ep, uint32_t addr, uint32_t type, uint32_t stat_rx, uint32_t stat_tx)
 {
 	uint32_t		epr;
-	cli();
+	ao_arch_block_interrupts();
 	epr = stm_usb.epr[ep];
 	epr = ((0 << STM_USB_EPR_CTR_RX) |
 	       (epr & (1 << STM_USB_EPR_DTOG_RX)) |
@@ -267,7 +267,7 @@ ao_usb_init_ep(uint8_t ep, uint32_t addr, uint32_t type, uint32_t stat_rx, uint3
 			  (stat_tx << STM_USB_EPR_STAT_TX)) |
 	       (addr << STM_USB_EPR_EA));
 	stm_usb.epr[ep] = epr;
-	sei();
+	ao_arch_release_interrupts();
 	debug ("writing epr[%d] 0x%08x wrote 0x%08x\n",
 	       ep, epr, stm_usb.epr[ep]);
 }
-- 
cgit v1.2.3


From ff6a439cd24e239abd97107ecedf12dca71e59a5 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 25 Oct 2012 13:33:43 -0700
Subject: altos: Wrap ao_container_of value in parens

Keeps the cast from being separated from the value when used
in expressions.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_list.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/core')

diff --git a/src/core/ao_list.h b/src/core/ao_list.h
index 23cf1841..8a6fa4d9 100644
--- a/src/core/ao_list.h
+++ b/src/core/ao_list.h
@@ -137,7 +137,7 @@ ao_list_is_empty(struct ao_list *head)
  * @return A pointer to the data struct containing the list head.
  */
 #define ao_container_of(ptr, type, member) \
-    (type *)((char *)(ptr) - offsetof(type, member))
+	((type *)((char *)(ptr) - offsetof(type, member)))
 
 /**
  * Alias of ao_container_of
-- 
cgit v1.2.3


From ccf0faa7d26d56deca7928b521d07be40504466a Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 25 Oct 2012 13:40:54 -0700
Subject: altos: Leave interrupts disabled while checking for task to run

Otherwise, we run the risk of an interrupt waking a task after we've
decided to idle the CPU.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_arch.h       | 19 +++++++++++++++----
 src/cc1111/ao_arch.h    | 11 +++++++----
 src/core/ao_task.c      | 28 +++++++++++++---------------
 src/stm/ao_arch_funcs.h |  4 +++-
 4 files changed, 38 insertions(+), 24 deletions(-)

(limited to 'src/core')

diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h
index c82612a8..d626e830 100644
--- a/src/avr/ao_arch.h
+++ b/src/avr/ao_arch.h
@@ -112,7 +112,6 @@ extern uint8_t	ao_cpu_sleep_disable;
 		asm("push r9" "\n\t" "push r8" "\n\t" "push r7" "\n\t" "push r6" "\n\t" "push r5"); \
 		asm("push r4" "\n\t" "push r3" "\n\t" "push r2" "\n\t" "push r1" "\n\t" "push r0"); \
 		asm("in r0, __SREG__" "\n\t" "push r0");		\
-		sei();							\
 	} while (0)
 
 #define ao_arch_save_stack() do {					\
@@ -124,16 +123,28 @@ extern uint8_t	ao_cpu_sleep_disable;
 
 #define ao_arch_isr_stack()	/* nothing */
 
-#define ao_arch_cpu_idle() do {			\
-		if (!ao_cpu_sleep_disable)	\
+/* Idle the CPU (if possible) waiting for an interrupt. Enabling
+ * interrupts and sleeping the CPU must be adjacent to eliminate race
+ * conditions. In all cases, we execute a single nop with interrupts
+ * enabled
+ */
+#define ao_arch_wait_interrupt() do {		\
+		if (!ao_cpu_sleep_disable) {	\
+			sleep_enable();		\
+			sei();			\
 			sleep_cpu();		\
+			sleep_disable();	\
+		} else {			\
+			sei();			\
+		}				\
+		ao_arch_nop();			\
+		cli();				\
 	} while (0)
 
 #define ao_arch_restore_stack() do { \
 		uint8_t	sp_l, sp_h;					\
 		sp_l = (uint16_t) ao_cur_task->sp;			\
 		sp_h = ((uint16_t) ao_cur_task->sp) >> 8;		\
-		cli();							\
 		asm("out __SP_H__,%0" : : "r" (sp_h) );			\
 		asm("out __SP_L__,%0" : : "r" (sp_l) );			\
 		asm("pop r0"	"\n\t"					\
diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h
index 39468e06..9097557f 100644
--- a/src/cc1111/ao_arch.h
+++ b/src/cc1111/ao_arch.h
@@ -112,9 +112,7 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal;
 	/* Push ACC first, as when restoring the context it must be restored \
 	 * last (it is used to set the IE register). */			\
 	push	ACC							\
-	/* Store the IE register then enable interrupts. */		\
 	push	_IEN0							\
-	setb	_EA							\
 	push	DPL							\
 	push	DPH							\
 	push	b							\
@@ -150,11 +148,16 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal;
 /* Empty the stack; might as well let interrupts have the whole thing */
 #define ao_arch_isr_stack()		(SP = AO_STACK_START - 1)
 
-/* Idle the CPU, waking when an interrupt occurs */
-#define ao_arch_cpu_idle()		(PCON = PCON_IDLE)
 #define ao_arch_block_interrupts()	__asm clr _EA __endasm
 #define ao_arch_release_interrupts()	__asm setb _EA __endasm
 
+/* Idle the CPU, waking when an interrupt occurs */
+#define ao_arch_wait_interrupt() do {		\
+		ao_arch_release_interrupts();	\
+		(PCON = PCON_IDLE);		\
+		ao_arch_block_interrupts();	\
+	} while (0)
+
 #define ao_arch_restore_stack() {					\
 		uint8_t stack_len;					\
 		__data uint8_t *stack_ptr;				\
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index a11979f0..985c37fa 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -331,6 +331,7 @@ ao_yield(void) ao_arch_naked_define
 	}
 
 	ao_arch_isr_stack();
+	ao_arch_block_interrupts();
 
 #if AO_CHECK_STACK
 	in_yield = 1;
@@ -339,21 +340,19 @@ ao_yield(void) ao_arch_naked_define
 	 * this loop will run forever, which is just fine
 	 */
 #if HAS_TASK_QUEUE
-	if (ao_cur_task->wchan == NULL) {
-		uint32_t flags;
-		flags = ao_arch_irqsave();
+	/* If the current task is running, move it to the
+	 * end of the queue to allow other tasks a chance
+	 */
+	if (ao_cur_task->wchan == NULL)
 		ao_task_to_run_queue(ao_cur_task);
-		ao_arch_irqrestore(flags);
-	}
 	ao_cur_task = NULL;
-
 	for (;;) {
 		ao_arch_memory_barrier();
 		if (!ao_list_is_empty(&run_queue))
 			break;
-		ao_arch_cpu_idle();
+		/* Wait for interrupts when there's nothing ready */
+		ao_arch_wait_interrupt();
 	}
-		
 	ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
 #else
 	{
@@ -374,20 +373,19 @@ ao_yield(void) ao_arch_naked_define
 			    (int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
 				break;
 
-			/* Enter lower power mode when there isn't anything to do */
+			/* Wait for interrupts when there's nothing ready */
 			if (ao_cur_task_index == ao_last_task_index)
-				ao_arch_cpu_idle();
+				ao_arch_wait_interrupt();
 		}
-#if HAS_SAMPLE_PROFILE
-		ao_cur_task->start = ao_sample_profile_timer_value();
-#endif
 	}
 #endif
+#if HAS_SAMPLE_PROFILE
+	ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
 #if HAS_STACK_GUARD
 	ao_mpu_stack_guard(ao_cur_task->stack);
 #endif
 #if AO_CHECK_STACK
-	ao_arch_block_interrupts();
 	in_yield = 0;
 #endif
 	ao_arch_restore_stack();
@@ -519,7 +517,7 @@ ao_task_info(void)
 		       task->name,
 		       (int) task->wchan);
 	}
-#if HAS_TASK_QUEUE
+#if HAS_TASK_QUEUE && DEBUG
 	ao_task_validate();
 #endif
 }
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index ca451a53..d6ab1465 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -299,8 +299,10 @@ static inline void ao_arch_restore_stack(void) {
 
 #define ao_arch_isr_stack()
 
-#define ao_arch_cpu_idle() do {			\
+#define ao_arch_wait_interrupt() do {			\
 		asm(".global ao_idle_loc\n\twfi\nao_idle_loc:");	\
+		ao_arch_release_interrupts();				\
+		ao_arch_block_interrupts();				\
 	} while (0)
 
 #define ao_arch_critical(b) do {				\
-- 
cgit v1.2.3


From e57ab2a7bfb69c0ef9b5b7fa8e53e20a500e7c6c Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 25 Oct 2012 13:42:10 -0700
Subject: altos: Provide ao_task_alarm_tick to reduce per-tick cost

Cache the next wakeup time and check that before jumping to the task
code.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_task.c | 20 ++++++++++----------
 src/core/ao_task.h |  1 +
 src/stm/ao_timer.c |  3 ++-
 3 files changed, 13 insertions(+), 11 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 985c37fa..0411fbdd 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -114,6 +114,8 @@ ao_task_validate_alarm_queue(void)
 #define ao_task_validate_alarm_queue()
 #endif
 
+uint16_t	ao_task_alarm_tick;
+
 static void
 ao_task_to_alarm_queue(struct ao_task *task)
 {
@@ -126,6 +128,7 @@ ao_task_to_alarm_queue(struct ao_task *task)
 		}
 	}
 	ao_list_append(&task->alarm_queue, &alarm_queue);
+	ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
 	ao_task_validate_alarm_queue();
 }
 
@@ -133,6 +136,10 @@ static void
 ao_task_from_alarm_queue(struct ao_task *task)
 {
 	ao_list_del(&task->alarm_queue);
+	if (ao_list_is_empty(&alarm_queue))
+		ao_task_alarm_tick = 0;
+	else
+		ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
 	ao_task_validate_alarm_queue();
 }
 
@@ -154,10 +161,7 @@ void
 ao_task_check_alarm(uint16_t tick)
 {
 	struct ao_task	*alarm, *next;
-	int		i;
 
-	if (ao_num_tasks == 0)
-		return;
 	ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
 		if ((int16_t) (tick - alarm->alarm) < 0)
 			break;
@@ -173,6 +177,7 @@ ao_task_init(void)
 	uint8_t	i;
 	ao_list_init(&run_queue);
 	ao_list_init(&alarm_queue);
+	ao_task_alarm_tick = 0;
 	for (i = 0; i < SLEEP_HASH_SIZE; i++)
 		ao_list_init(&sleep_queue[i]);
 }
@@ -264,14 +269,9 @@ ao_task_validate(void)
 		}
 	}
 }
-#else
-#define ao_task_validate()
-#endif
+#endif /* DEBUG */
 
-#else
-#define ao_task_to_run_queue(task)
-#define ao_task_to_alarm_queue(task)
-#endif
+#endif /* HAS_TASK_QUEUE */
 
 void
 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index b3f152a0..049f69a7 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -82,6 +82,7 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 
 #if HAS_TASK_QUEUE
 /* Called on timer interrupt to check alarms */
+extern uint16_t	ao_task_alarm_tick;
 void
 ao_task_check_alarm(uint16_t tick);
 #endif
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index d69035f8..e07625d8 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -44,7 +44,8 @@ void stm_tim6_isr(void)
 		stm_tim6.sr = 0;
 		++ao_tick_count;
 #if HAS_TASK_QUEUE
-		ao_task_check_alarm((uint16_t) ao_tick_count);
+		if (ao_task_alarm_tick && (int16_t) (ao_tick_count - ao_task_alarm_tick) >= 0)
+			ao_task_check_alarm((uint16_t) ao_tick_count);
 #endif
 #if AO_DATA_ALL
 		if (++ao_data_count == ao_data_interval) {
-- 
cgit v1.2.3


From e4d931cd99a7c91803584b71670e30c0d00217df Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 1 Nov 2012 10:49:17 -0700
Subject: altos: Remove 'volatile' from ao_rssi.c globals

No need for this, the variables aren't changed at interrupt time.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_rssi.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_rssi.c b/src/core/ao_rssi.c
index e3964d2d..244a84fe 100644
--- a/src/core/ao_rssi.c
+++ b/src/core/ao_rssi.c
@@ -17,9 +17,9 @@
 
 #include "ao.h"
 
-static __xdata volatile uint16_t	ao_rssi_time;
-static __pdata volatile uint16_t	ao_rssi_delay;
-static __pdata uint8_t			ao_rssi_led;
+static __xdata uint16_t	ao_rssi_time;
+static __pdata uint16_t	ao_rssi_delay;
+static __pdata uint8_t	ao_rssi_led;
 
 void
 ao_rssi(void)
-- 
cgit v1.2.3


From f74d724f92b335d6c0674d0f1fcc650b729401df Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 1 Nov 2012 10:50:03 -0700
Subject: altos: Remove legacy telemetry from ao_monitor when not needed

For products not supporting LEGACY_MONITOR, remove the (undefined)
structs from the ao_monitor union.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 87e69e19..81d92e72 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -558,8 +558,10 @@ extern const char const * const ao_state_names[];
 union ao_monitor {
 	struct ao_telemetry_raw_recv	raw;
 	struct ao_telemetry_all_recv	all;
+#if LEGACY_MONITOR
 	struct ao_telemetry_orig_recv	orig;
 	struct ao_telemetry_tiny_recv	tiny;
+#endif
 };
 
 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
-- 
cgit v1.2.3


From 70c9fc74a68fdb92569eb73295cfa154cf3768f4 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 18 Nov 2012 09:50:54 -0800
Subject: altos: Make Tm recovery mode set RF cal and callsign too

This lets us connect to Tm even if someone messes up the RF
calibration or callsign info

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_config.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

(limited to 'src/core')

diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index e8ff95b7..e85ddcb4 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -144,8 +144,12 @@ _ao_config_get(void)
 	}
 #if HAS_RADIO
 #if HAS_FORCE_FREQ
-	if (ao_force_freq)
+	if (ao_force_freq) {
 		ao_config.frequency = 434550;
+		ao_config.radio_cal = ao_radio_cal;
+		ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
+		       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+	}
 #endif
 	ao_config_set_radio();
 #endif
-- 
cgit v1.2.3


From 81648829defbaf49fc98c4520540f7a20c50c417 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 30 Nov 2012 15:04:21 -0800
Subject: altos: Share getnibble function

Two implementations of the same function, one in cc1111/ao_dbg.c and
the other in core/ao_send_packet.c.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/ao_dbg.c       | 20 ++------------------
 src/core/ao.h             |  4 ++++
 src/core/ao_cmd.c         | 16 ++++++++++++++++
 src/core/ao_send_packet.c | 20 ++------------------
 4 files changed, 24 insertions(+), 36 deletions(-)

(limited to 'src/core')

diff --git a/src/cc1111/ao_dbg.c b/src/cc1111/ao_dbg.c
index 847b5aaf..214cb013 100644
--- a/src/cc1111/ao_dbg.c
+++ b/src/cc1111/ao_dbg.c
@@ -281,22 +281,6 @@ debug_get(void)
 	putchar('\n');
 }
 
-static uint8_t
-getnibble(void)
-{
-	__pdata char	c;
-
-	c = getchar();
-	if ('0' <= c && c <= '9')
-		return c - '0';
-	if ('a' <= c && c <= 'f')
-		return c - ('a' - 10);
-	if ('A' <= c && c <= 'F')
-		return c - ('A' - 10);
-	ao_cmd_status = ao_cmd_lex_error;
-	return 0;
-}
-
 static void
 debug_input(void)
 {
@@ -338,8 +322,8 @@ debug_output(void)
 		return;
 	ao_dbg_start_transfer(addr);
 	while (count--) {
-		b = getnibble() << 4;
-		b |= getnibble();
+		b = ao_getnibble() << 4;
+		b |= ao_getnibble();
 		if (ao_cmd_status != ao_cmd_success)
 			return;
 		ao_dbg_write_byte(b);
diff --git a/src/core/ao.h b/src/core/ao.h
index 81d92e72..1aff3d49 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -170,6 +170,10 @@ ao_cmd_hex(void);
 void
 ao_cmd_decimal(void);
 
+/* Read a single hex nibble off stdin. */
+uint8_t
+ao_getnibble(void);
+
 uint8_t
 ao_match_word(__code char *word);
 
diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 1814cecf..a3330974 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -110,6 +110,22 @@ putnibble(uint8_t v)
 		putchar(v + ('a' - 10));
 }
 
+uint8_t
+ao_getnibble(void)
+{
+	char	c;
+
+	c = getchar();
+	if ('0' <= c && c <= '9')
+		return c - '0';
+	if ('a' <= c && c <= 'f')
+		return c - ('a' - 10);
+	if ('A' <= c && c <= 'F')
+		return c - ('A' - 10);
+	ao_cmd_status = ao_cmd_lex_error;
+	return 0;
+}
+
 void
 ao_cmd_put16(uint16_t v)
 {
diff --git a/src/core/ao_send_packet.c b/src/core/ao_send_packet.c
index 1a8e74de..66315d22 100644
--- a/src/core/ao_send_packet.c
+++ b/src/core/ao_send_packet.c
@@ -21,22 +21,6 @@
 
 static __xdata uint8_t ao_send[AO_MAX_SEND];
 
-static uint8_t
-getnibble(void)
-{
-	char	c;
-
-	c = getchar();
-	if ('0' <= c && c <= '9')
-		return c - '0';
-	if ('a' <= c && c <= 'f')
-		return c - ('a' - 10);
-	if ('A' <= c && c <= 'F')
-		return c - ('A' - 10);
-	ao_cmd_status = ao_cmd_lex_error;
-	return 0;
-}
-
 static void
 ao_send_packet(void)
 {
@@ -53,8 +37,8 @@ ao_send_packet(void)
 		return;
 	}
 	for (i = 0; i < count; i++) {
-		b = getnibble() << 4;
-		b |= getnibble();
+		b = ao_getnibble() << 4;
+		b |= ao_getnibble();
 		if (ao_cmd_status != ao_cmd_success)
 			return;
 		ao_send[i] = b;
-- 
cgit v1.2.3


From 0b65402361f36a0c722977bcb63edb26fda0db28 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 30 Nov 2012 16:01:07 -0800
Subject: altos: Make stdio 8-bit clean by making pollchar return int

We were stealing one value (0xff) in the return value from pollchar to
indicate 'not ready yet'. Instead of doing that, use the integer value
-1 and have pollchar return an int instead of a char. That
necessitated cleaning a few other bits to make sure that 0xff wouldn't
get promoted to -1 on accident.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_usb_avr.c    | 10 +++++-----
 src/cc1111/ao_serial.c  |  8 ++++----
 src/cc1111/ao_usb.c     | 12 ++++++------
 src/core/ao.h           |  6 +++---
 src/core/ao_packet.h    |  2 +-
 src/core/ao_serial.h    | 28 ++++++++++++++++++++++++++--
 src/core/ao_stdio.c     |  2 +-
 src/core/ao_usb.h       |  2 +-
 src/drivers/ao_packet.c |  6 +++---
 src/stm/ao_arch.h       | 36 ------------------------------------
 src/stm/ao_arch_funcs.h | 20 ++++++++++++++++++++
 src/stm/ao_serial_stm.c | 24 ++++++++++--------------
 src/stm/ao_usb_stm.c    | 10 +++++-----
 13 files changed, 85 insertions(+), 81 deletions(-)

(limited to 'src/core')

diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c
index 9ba407af..2ef546c9 100644
--- a/src/avr/ao_usb_avr.c
+++ b/src/avr/ao_usb_avr.c
@@ -480,10 +480,10 @@ ao_usb_putchar(char c) __critical __reentrant
 	ao_usb_in_flushed = 0;
 }
 
-static char
+static int
 _ao_usb_pollchar(void)
 {
-	char c;
+	uint8_t c;
 	uint8_t	intx;
 
 	if (!ao_usb_running)
@@ -517,10 +517,10 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-char
+int
 ao_usb_pollchar(void)
 {
-	char	c;
+	int	c;
 	cli();
 	c = _ao_usb_pollchar();
 	sei();
@@ -530,7 +530,7 @@ ao_usb_pollchar(void)
 char
 ao_usb_getchar(void) __critical
 {
-	char	c;
+	int	c;
 
 	cli();
 	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
diff --git a/src/cc1111/ao_serial.c b/src/cc1111/ao_serial.c
index 48383802..2a93bf52 100644
--- a/src/cc1111/ao_serial.c
+++ b/src/cc1111/ao_serial.c
@@ -85,10 +85,10 @@ ao_serial0_getchar(void) __critical
 }
 
 #if USE_SERIAL_0_STDIN
-char
+int
 ao_serial0_pollchar(void) __critical
 {
-	char	c;
+	uint8_t	c;
 	if (ao_fifo_empty(ao_serial0_rx_fifo))
 		return AO_READ_AGAIN;
 	ao_fifo_remove(ao_serial0_rx_fifo,c);
@@ -173,10 +173,10 @@ ao_serial1_getchar(void) __critical
 }
 
 #if USE_SERIAL_1_STDIN
-char
+int
 ao_serial1_pollchar(void) __critical
 {
-	char	c;
+	uint8_t	c;
 	if (ao_fifo_empty(ao_serial1_rx_fifo))
 		return AO_READ_AGAIN;
 	ao_fifo_remove(ao_serial1_rx_fifo,c);
diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c
index ce26e808..81e9074e 100644
--- a/src/cc1111/ao_usb.c
+++ b/src/cc1111/ao_usb.c
@@ -382,19 +382,19 @@ ao_usb_putchar(char c) __critical __reentrant
 		ao_usb_in_send();
 }
 
-char
+int
 ao_usb_pollchar(void) __critical
 {
-	char c;
+	uint8_t c;
 	if (ao_usb_out_bytes == 0) {
 		USBINDEX = AO_USB_OUT_EP;
 		if ((USBCSOL & USBCSOL_OUTPKT_RDY) == 0)
-			return AO_READ_AGAIN;
+			return -1;
 		ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL;
 		if (ao_usb_out_bytes == 0) {
 			USBINDEX = AO_USB_OUT_EP;
 			USBCSOL &= ~USBCSOL_OUTPKT_RDY;
-			return AO_READ_AGAIN;
+			return -1;
 		}
 	}
 	--ao_usb_out_bytes;
@@ -409,9 +409,9 @@ ao_usb_pollchar(void) __critical
 char
 ao_usb_getchar(void) __critical
 {
-	char	c;
+	int	c;
 
-	while ((c = ao_usb_pollchar()) == AO_READ_AGAIN)
+	while ((c = ao_usb_pollchar()) == -1)
 		ao_sleep(&ao_stdin_ready);
 	return c;
 }
diff --git a/src/core/ao.h b/src/core/ao.h
index 1aff3d49..54018b37 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -599,10 +599,10 @@ ao_monitor_init(void) __reentrant;
  * ao_stdio.c
  */
 
-#define AO_READ_AGAIN	((char) -1)
+#define AO_READ_AGAIN	(-1)
 
 struct ao_stdio {
-	char	(*pollchar)(void);
+	int	(*pollchar)(void);
 	void	(*putchar)(char c) __reentrant;
 	void	(*flush)(void);
 	uint8_t	echo;
@@ -621,7 +621,7 @@ uint8_t
 ao_echo(void);
 
 int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
 	     void (*putchar)(char) __reentrant,
 	     void (*flush)(void)) __reentrant;
 
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 0eafd3b2..08b184d6 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -62,7 +62,7 @@ ao_packet_flush(void);
 void
 ao_packet_putchar(char c) __reentrant;
 
-char
+int
 ao_packet_pollchar(void);
 
 #if PACKET_HAS_MASTER
diff --git a/src/core/ao_serial.h b/src/core/ao_serial.h
index 53aa8a89..a799bf2c 100644
--- a/src/core/ao_serial.h
+++ b/src/core/ao_serial.h
@@ -22,6 +22,7 @@
 #define AO_SERIAL_SPEED_9600	1
 #define AO_SERIAL_SPEED_19200	2
 #define AO_SERIAL_SPEED_57600	3
+#define AO_SERIAL_SPEED_115200	4
 
 #if HAS_SERIAL_0
 extern volatile __xdata struct ao_fifo	ao_serial0_rx_fifo;
@@ -30,6 +31,9 @@ extern volatile __xdata struct ao_fifo	ao_serial0_tx_fifo;
 char
 ao_serial0_getchar(void);
 
+int
+ao_serial0_pollchar(void);
+
 void
 ao_serial0_putchar(char c);
 
@@ -47,7 +51,7 @@ extern volatile __xdata struct ao_fifo	ao_serial1_tx_fifo;
 char
 ao_serial1_getchar(void);
 
-char
+int
 ao_serial1_pollchar(void);
 
 void
@@ -67,7 +71,7 @@ extern volatile __xdata struct ao_fifo	ao_serial2_tx_fifo;
 char
 ao_serial2_getchar(void);
 
-char
+int
 ao_serial2_pollchar(void);
 
 void
@@ -80,6 +84,26 @@ void
 ao_serial2_set_speed(uint8_t speed);
 #endif
 
+#if HAS_SERIAL_3
+extern volatile __xdata struct ao_fifo	ao_serial3_rx_fifo;
+extern volatile __xdata struct ao_fifo	ao_serial3_tx_fifo;
+
+char
+ao_serial3_getchar(void);
+
+int
+ao_serial3_pollchar(void);
+
+void
+ao_serial3_putchar(char c);
+
+void
+ao_serial3_drain(void);
+
+void
+ao_serial3_set_speed(uint8_t speed);
+#endif
+
 void
 ao_serial_init(void);
 
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 8cf66a23..4a832487 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -123,7 +123,7 @@ ao_echo(void)
 }
 
 int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
 	     void (*putchar)(char),
 	     void (*flush)(void)) __reentrant
 {
diff --git a/src/core/ao_usb.h b/src/core/ao_usb.h
index e051db93..4476ee6b 100644
--- a/src/core/ao_usb.h
+++ b/src/core/ao_usb.h
@@ -33,7 +33,7 @@ ao_usb_getchar(void);
 /* Poll for a charcter on the USB input queue.
  * returns AO_READ_AGAIN if none are available
  */
-char
+int
 ao_usb_pollchar(void);
 
 /* Flush the USB output queue */
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 3c1e7a18..91319923 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -21,8 +21,8 @@ __xdata struct ao_packet_recv ao_rx_packet;
 __xdata struct ao_packet ao_tx_packet;
 __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
 
-static __xdata char tx_data[AO_PACKET_MAX];
-static __xdata char rx_data[AO_PACKET_MAX];
+static __xdata uint8_t tx_data[AO_PACKET_MAX];
+static __xdata uint8_t rx_data[AO_PACKET_MAX];
 static __pdata uint8_t rx_seq;
 
 __xdata struct ao_task	ao_packet_task;
@@ -169,7 +169,7 @@ ao_packet_putchar(char c) __reentrant
 		tx_data[ao_packet_tx_used++] = c;
 }
 
-char
+int
 ao_packet_pollchar(void)
 {
 	/* No need to block interrupts, all variables here
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index e270199e..007f7e2e 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -123,42 +123,6 @@ void ao_lcd_font_init(void);
 
 void ao_lcd_font_string(char *s);
 
-char
-ao_serial1_getchar(void);
-
-void
-ao_serial1_putchar(char c);
-
-char
-ao_serial1_pollchar(void);
-
-void
-ao_serial1_set_speed(uint8_t speed);
-
-char
-ao_serial2_getchar(void);
-
-void
-ao_serial2_putchar(char c);
-
-char
-ao_serial2_pollchar(void);
-
-void
-ao_serial2_set_speed(uint8_t speed);
-
-char
-ao_serial3_getchar(void);
-
-void
-ao_serial3_putchar(char c);
-
-char
-ao_serial3_pollchar(void);
-
-void
-ao_serial3_set_speed(uint8_t speed);
-
 extern const uint32_t	ao_radio_cal;
 
 void
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index d6ab1465..87bbe73e 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -210,6 +210,26 @@ ao_i2c_recv(void *block, uint16_t len, uint8_t i2c_index, uint8_t stop);
 void
 ao_i2c_init(void);
 
+/* ao_serial_stm.c */
+struct ao_stm_usart {
+	struct ao_fifo		rx_fifo;
+	struct ao_fifo		tx_fifo;
+	struct stm_usart	*reg;
+	uint8_t			tx_started;
+};
+
+#if HAS_SERIAL_1
+extern struct ao_stm_usart	ao_stm_usart1;
+#endif
+
+#if HAS_SERIAL_2
+extern struct ao_stm_usart	ao_stm_usart2;
+#endif
+
+#if HAS_SERIAL_3
+extern struct ao_stm_usart	ao_stm_usart3;
+#endif
+
 #define ARM_PUSH32(stack, val)	(*(--(stack)) = (val))
 
 static inline uint32_t
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index 00409f4a..94138edc 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -17,13 +17,6 @@
 
 #include <ao.h>
 
-struct ao_stm_usart {
-	struct ao_fifo		rx_fifo;
-	struct ao_fifo		tx_fifo;
-	struct stm_usart	*reg;
-	uint8_t			tx_started;
-};
-
 void
 ao_debug_out(char c)
 {
@@ -78,16 +71,19 @@ ao_usart_getchar(struct ao_stm_usart *usart)
 	return c;
 }
 
-char
+int
 ao_usart_pollchar(struct ao_stm_usart *usart)
 {
-	char	c;
+	int	c;
 	
 	ao_arch_block_interrupts();
 	if (ao_fifo_empty(usart->rx_fifo))
 		c = AO_READ_AGAIN;
-	else
-		ao_fifo_remove(usart->rx_fifo,c);
+	else {
+		uint8_t	u;
+		ao_fifo_remove(usart->rx_fifo,u);
+		c = u;
+	}
 	ao_arch_release_interrupts();
 	return c;
 }
@@ -201,7 +197,7 @@ ao_serial1_putchar(char c)
 	ao_usart_putchar(&ao_stm_usart1, c);
 }
 
-char
+int
 ao_serial1_pollchar(void)
 {
 	return ao_usart_pollchar(&ao_stm_usart1);
@@ -232,7 +228,7 @@ ao_serial2_putchar(char c)
 	ao_usart_putchar(&ao_stm_usart2, c);
 }
 
-char
+int
 ao_serial2_pollchar(void)
 {
 	return ao_usart_pollchar(&ao_stm_usart2);
@@ -263,7 +259,7 @@ ao_serial3_putchar(char c)
 	ao_usart_putchar(&ao_stm_usart3, c);
 }
 
-char
+int
 ao_serial3_pollchar(void)
 {
 	return ao_usart_pollchar(&ao_stm_usart3);
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index d93a0c17..9379e5cd 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -873,10 +873,10 @@ _ao_usb_out_recv(void)
 	ao_usb_set_stat_rx(AO_USB_OUT_EPR, STM_USB_EPR_STAT_RX_VALID);
 }
 
-static char
+static int
 _ao_usb_pollchar(void)
 {
-	char c;
+	uint8_t c;
 
 	if (!ao_usb_running)
 		return AO_READ_AGAIN;
@@ -896,10 +896,10 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-char
+int
 ao_usb_pollchar(void)
 {
-	char	c;
+	int	c;
 	ao_arch_block_interrupts();
 	c = _ao_usb_pollchar();
 	ao_arch_release_interrupts();
@@ -909,7 +909,7 @@ ao_usb_pollchar(void)
 char
 ao_usb_getchar(void)
 {
-	char	c;
+	int	c;
 
 	ao_arch_block_interrupts();
 	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
-- 
cgit v1.2.3


From f2c2d04f07253a90c4f7da49df43c3969119516b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 30 Nov 2012 16:04:24 -0800
Subject: altos: Use ao_xmemcpy in ao_log_telem.c

This eliminates the libc generic version in TeleTerra

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_log_telem.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c
index 18ab85dd..23ebf7dd 100644
--- a/src/core/ao_log_telem.c
+++ b/src/core/ao_log_telem.c
@@ -102,9 +102,9 @@ ao_log_single(void)
 		while (ao_log_running) {
 			/* Write samples to EEPROM */
 			while (ao_log_monitor_pos != ao_monitor_head) {
-				memcpy(&ao_log_single_write_data.telemetry,
-				       &ao_monitor_ring[ao_log_monitor_pos],
-				       AO_LOG_SINGLE_SIZE);
+				ao_xmemcpy(&ao_log_single_write_data.telemetry,
+					   &ao_monitor_ring[ao_log_monitor_pos],
+					   AO_LOG_SINGLE_SIZE);
 				ao_log_single_write();
 				ao_log_monitor_pos = ao_monitor_ring_next(ao_log_monitor_pos);
 				ao_log_telem_track();
-- 
cgit v1.2.3


From ae0ddb0f866a26867f0147e0811717810f74c9ef Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 30 Nov 2012 16:05:19 -0800
Subject: altos: Add ao_task_minimize_latency to reduce IRQ delays

When set, this causes the task switching code to avoid blocking IRQs
while looking for an idle task as that can increase IRQ latencies
enough to drop characters at 115200 baud on the cc1111. Note that this
*also* eliminates the ability to use low power modes as we cannot know
at any point whether some interrupt has come along and woken a task.

Has no effect when using task queues as those require IRQs to be
blocked while looking at the queue. Shouldn't be a problem there
though as the check for no running tasks is very cheap.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_task.c | 11 +++++++++--
 src/core/ao_task.h |  1 +
 2 files changed, 10 insertions(+), 2 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 0411fbdd..9cb074b5 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -305,6 +305,8 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 		);
 }
 
+__data uint8_t	ao_task_minimize_latency;
+
 /* Task switching function. This must not use any stack variables */
 void
 ao_yield(void) ao_arch_naked_define
@@ -331,7 +333,12 @@ ao_yield(void) ao_arch_naked_define
 	}
 
 	ao_arch_isr_stack();
-	ao_arch_block_interrupts();
+#if !HAS_TASK_QUEUE
+	if (ao_task_minimize_latency)
+		ao_arch_release_interrupts();
+	else
+#endif
+		ao_arch_block_interrupts();
 
 #if AO_CHECK_STACK
 	in_yield = 1;
@@ -374,7 +381,7 @@ ao_yield(void) ao_arch_naked_define
 				break;
 
 			/* Wait for interrupts when there's nothing ready */
-			if (ao_cur_task_index == ao_last_task_index)
+			if (ao_cur_task_index == ao_last_task_index && !ao_task_minimize_latency)
 				ao_arch_wait_interrupt();
 		}
 	}
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 049f69a7..50bfb220 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -47,6 +47,7 @@ struct ao_task {
 extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
 extern __data uint8_t ao_num_tasks;
 extern __xdata struct ao_task *__data ao_cur_task;
+extern __data uint8_t ao_task_minimize_latency;	/* Reduce IRQ latency */
 
 /*
  ao_task.c
-- 
cgit v1.2.3


From c1e6fa32b856b91afa355cd272d2d7287d3ccca1 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 6 Dec 2012 10:12:11 -0800
Subject: altos: Hook APRS up to the radio

This adds an arbitrary-length packet writing function to the radio
code.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h                |   5 ++
 src/drivers/ao_aprs.c        |  48 +++++-------
 src/drivers/ao_cc1120.c      | 175 +++++++++++++++++++++++++++++++++++++------
 src/megametrum-v0.1/Makefile |   1 +
 src/test/ao_aprs_test.c      |   6 ++
 5 files changed, 183 insertions(+), 52 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 54018b37..d6e27707 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -529,6 +529,11 @@ ao_radio_recv_abort(void);
 void
 ao_radio_test(uint8_t on);
 
+typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
+
+void
+ao_radio_send_lots(ao_radio_fill_func fill);
+
 /*
  * Compute the packet length as follows:
  *
diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index 1a074ba5..e273908f 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -145,11 +145,6 @@
 
 #include <ao_aprs.h>
 
-typedef int bool_t;
-typedef int32_t int32;
-#define false 0
-#define true 1
-
 // Public methods, constants, and data structures for each class.
 
 static void timeInit(void);
@@ -285,9 +280,6 @@ static uint8_t tncLength;
 /// A copy of the last 5 bits we've transmitted to determine if we need to bit stuff on the next bit.
 static uint8_t tncBitStuff;
 
-/// Pointer to TNC buffer as we save each byte during message preparation.
-static uint8_t *tncBufferPnt;
-
 /// Buffer to hold the message portion of the AX.25 packet as we prepare it.
 static uint8_t tncBuffer[TNC_BUFFER_SIZE];
 
@@ -471,18 +463,18 @@ static void tnc1200TimerTick()
 /**
  *   Generate the plain text position packet.
  */
-static void tncPositionPacket(void)
+static int tncPositionPacket(void)
 {
-    int32_t	latitude = 45.4694766 * 10000000;
-    int32_t	longitude = -122.7376250 * 10000000;
-    uint32_t	altitude = 10000;
+    int32_t	latitude = ao_gps_data.latitude;
+    int32_t	longitude = ao_gps_data.longitude;
+    int32_t	altitude = ao_gps_data.altitude;
+
     uint16_t	lat_deg;
     uint16_t	lon_deg;
     uint16_t	lat_min;
     uint16_t	lat_frac;
     uint16_t	lon_min;
     uint16_t	lon_frac;
-    int		c;
 
     char	lat_sign = 'N', lon_sign = 'E';
 
@@ -510,12 +502,15 @@ static void tncPositionPacket(void)
     longitude -= lon_min * 10000000;
     lon_frac = (longitude + 50000) / 100000;
 
-    c = sprintf ((char *) tncBufferPnt, "=%02u%02u.%02u%c\\%03u%02u.%02u%cO /A=%06u\015",
-		lat_deg, lat_min, lat_frac, lat_sign,
-		lon_deg, lon_min, lon_frac, lon_sign,
-		altitude * 100 / 3048);
-    tncBufferPnt += c;
-    tncLength += c;
+    if (altitude < 0)
+	altitude = 0;
+
+    altitude = altitude * (int32_t) 1000 / (int32_t) 3048;
+    
+    return sprintf ((char *) tncBuffer, "=%02u%02u.%02u%c\\%03u%02u.%02u%cO /A=%06u\015",
+		    lat_deg, lat_min, lat_frac, lat_sign,
+		    lon_deg, lon_min, lon_frac, lon_sign,
+		    altitude);
 }
 
 static int16_t
@@ -553,24 +548,15 @@ void ao_aprs_send(void)
     timeInit();
     tncInit();
 
-    // Set a pointer to our TNC output buffer.
-    tncBufferPnt = tncBuffer;
-
-    // Set the message length counter.
-    tncLength = 0;
-
-    tncPositionPacket();
+    tncLength = tncPositionPacket();
 
     // Calculate the CRC for the header and message.
     crc = sysCRC16(TNC_AX25_HEADER, sizeof(TNC_AX25_HEADER), 0xffff);
     crc = sysCRC16(tncBuffer, tncLength, crc ^ 0xffff);
 
     // Save the CRC in the message.
-    *tncBufferPnt++ = crc & 0xff;
-    *tncBufferPnt = (crc >> 8) & 0xff;
-
-    // Update the length to include the CRC bytes.
-    tncLength += 2;
+    tncBuffer[tncLength++] = crc & 0xff;
+    tncBuffer[tncLength++] = (crc >> 8) & 0xff;
 
     // Prepare the variables that are used in the real-time clock interrupt.
     tncBitCount = 0;
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index f27958f9..ed26e28d 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -323,12 +323,12 @@ static const uint16_t packet_rx_setup[] = {
 /*
  * For our RDF beacon, set the symbol rate to 2kBaud (for a 1kHz tone)
  *
- *              (2**20 - DATARATE_M) * 2 ** DATARATE_E
+ *              (2**20 + DATARATE_M) * 2 ** DATARATE_E
  *	Rdata = -------------------------------------- * fosc
  *		             2 ** 39
  *
- *	DATARATE_M = 511705
- *	DATARATE_E = 6
+ *	DATARATE_M = 25166
+ *	DATARATE_E = 5
  *
  * To make the tone last for 200ms, we need 2000 * .2 = 400 bits or 50 bytes
  */
@@ -358,7 +358,64 @@ static const uint16_t rdf_setup[] = {
 				 (0 << CC1120_PKT_CFG0_UART_SWAP_EN)),
 };
 
-static uint8_t ao_radio_mode;
+/*
+ * APRS deviation is 5kHz
+ *
+ *	fdev = fosc >> 24 * (256 + dev_m) << dev_e
+ *
+ *     	32e6Hz / (2 ** 24) * (256 + 71) * (2 ** 3) = 4989
+ */
+
+#define APRS_DEV_E	3
+#define APRS_DEV_M	71
+#define APRS_PACKET_LEN	50
+
+/*
+ * For our APRS beacon, set the symbol rate to 9.6kBaud (8x oversampling for 1200 baud data rate)
+ *
+ *              (2**20 + DATARATE_M) * 2 ** DATARATE_E
+ *	Rdata = -------------------------------------- * fosc
+ *		             2 ** 39
+ *
+ *	DATARATE_M = 239914
+ *	DATARATE_E = 7
+ *
+ *	Rdata = 9599.998593330383301
+ *
+ */
+#define APRS_DRATE_E	5
+#define APRS_DRATE_M	25166
+
+static const uint16_t aprs_setup[] = {
+	CC1120_DEVIATION_M,	APRS_DEV_M,
+	CC1120_MODCFG_DEV_E,	((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) |
+				 (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) |
+				 (APRS_DEV_E << CC1120_MODCFG_DEV_E_DEV_E)),
+	CC1120_DRATE2,		((APRS_DRATE_E << CC1120_DRATE2_DATARATE_E) |
+				 (((APRS_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)),
+	CC1120_DRATE1,		((APRS_DRATE_M >> 8) & 0xff),
+	CC1120_DRATE0,		((APRS_DRATE_M >> 0) & 0xff),
+	CC1120_PKT_CFG2,	((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) |
+				 (CC1120_PKT_CFG2_PKT_FORMAT_NORMAL << CC1120_PKT_CFG2_PKT_FORMAT)),
+	CC1120_PKT_CFG1,	((0 << CC1120_PKT_CFG1_WHITE_DATA) |
+				 (CC1120_PKT_CFG1_ADDR_CHECK_CFG_NONE << CC1120_PKT_CFG1_ADDR_CHECK_CFG) |
+				 (CC1120_PKT_CFG1_CRC_CFG_DISABLED << CC1120_PKT_CFG1_CRC_CFG) |
+				 (0 << CC1120_PKT_CFG1_APPEND_STATUS)),
+};
+
+#define AO_PKT_CFG0_INFINITE ((0 << CC1120_PKT_CFG0_RESERVED7) |	\
+			      (CC1120_PKT_CFG0_LENGTH_CONFIG_INFINITE << CC1120_PKT_CFG0_LENGTH_CONFIG) | \
+			      (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) |	\
+			      (0 << CC1120_PKT_CFG0_UART_MODE_EN) |	\
+			      (0 << CC1120_PKT_CFG0_UART_SWAP_EN))
+
+#define AO_PKT_CFG0_FIXED ((0 << CC1120_PKT_CFG0_RESERVED7) |		\
+			   (CC1120_PKT_CFG0_LENGTH_CONFIG_FIXED << CC1120_PKT_CFG0_LENGTH_CONFIG) | \
+			   (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) |		\
+			   (0 << CC1120_PKT_CFG0_UART_MODE_EN) |	\
+			   (0 << CC1120_PKT_CFG0_UART_SWAP_EN))
+
+static uint16_t ao_radio_mode;
 
 #define AO_RADIO_MODE_BITS_PACKET	1
 #define AO_RADIO_MODE_BITS_PACKET_TX	2
@@ -366,17 +423,22 @@ static uint8_t ao_radio_mode;
 #define AO_RADIO_MODE_BITS_TX_FINISH	8
 #define AO_RADIO_MODE_BITS_PACKET_RX	16
 #define AO_RADIO_MODE_BITS_RDF		32
+#define AO_RADIO_MODE_BITS_APRS		64
+#define AO_RADIO_MODE_BITS_INFINITE	128
+#define AO_RADIO_MODE_BITS_FIXED	256
 
 #define AO_RADIO_MODE_NONE		0
 #define AO_RADIO_MODE_PACKET_TX_BUF	(AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_BUF)
 #define AO_RADIO_MODE_PACKET_TX_FINISH	(AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_FINISH)
 #define AO_RADIO_MODE_PACKET_RX		(AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_RX)
 #define AO_RADIO_MODE_RDF		(AO_RADIO_MODE_BITS_RDF | AO_RADIO_MODE_BITS_TX_FINISH)
+#define AO_RADIO_MODE_APRS_BUF		(AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_INFINITE)
+#define AO_RADIO_MODE_APRS_FINISH	(AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_FIXED)
 
 static void
-ao_radio_set_mode(uint8_t new_mode)
+ao_radio_set_mode(uint16_t new_mode)
 {
-	uint8_t	changes;
+	uint16_t changes;
 	int i;
 
 	if (new_mode == ao_radio_mode)
@@ -404,6 +466,17 @@ ao_radio_set_mode(uint8_t new_mode)
 	if (changes & AO_RADIO_MODE_BITS_RDF)
 		for (i = 0; i < sizeof (rdf_setup) / sizeof (rdf_setup[0]); i += 2)
 			ao_radio_reg_write(rdf_setup[i], rdf_setup[i+1]);
+
+	if (changes & AO_RADIO_MODE_BITS_APRS)
+		for (i = 0; i < sizeof (aprs_setup) / sizeof (aprs_setup[0]); i += 2)
+			ao_radio_reg_write(aprs_setup[i], aprs_setup[i+1]);
+
+	if (changes & AO_RADIO_MODE_BITS_INFINITE)
+		ao_radio_reg_write(CC1120_PKT_CFG0, AO_PKT_CFG0_INFINITE);
+
+	if (changes & AO_RADIO_MODE_BITS_FIXED)
+		ao_radio_reg_write(CC1120_PKT_CFG0, AO_PKT_CFG0_FIXED);
+
 	ao_radio_mode = new_mode;
 }
 
@@ -430,11 +503,21 @@ ao_radio_setup(void)
 	ao_radio_configured = 1;
 }
 
+static void
+ao_radio_set_len(uint8_t len)
+{
+	static uint8_t	last_len;
+
+	if (len != last_len) {
+		ao_radio_reg_write(CC1120_PKT_LEN, len);
+		last_len = len;
+	}
+}
+
 static void
 ao_radio_get(uint8_t len)
 {
 	static uint32_t	last_radio_setting;
-	static uint8_t	last_len;
 
 	ao_mutex_get(&ao_radio_mutex);
 	if (!ao_radio_configured)
@@ -445,10 +528,7 @@ ao_radio_get(uint8_t len)
 		ao_radio_reg_write(CC1120_FREQ0, ao_config.radio_setting);
 		last_radio_setting = ao_config.radio_setting;
 	}
-	if (len != last_len) {
-		ao_radio_reg_write(CC1120_PKT_LEN, len);
-		last_len = len;
-	}
+	ao_radio_set_len(len);
 }
 
 #define ao_radio_put()	ao_mutex_put(&ao_radio_mutex)
@@ -562,6 +642,24 @@ ao_radio_test_cmd(void)
 	}
 }
 
+static uint8_t
+ao_radio_wait_tx(uint8_t wait_fifo)
+{
+	uint8_t	fifo_space = 0;
+
+	do {
+		ao_radio_wake = 0;
+		ao_arch_block_interrupts();
+		while (!ao_radio_wake)
+			ao_sleep(&ao_radio_wake);
+		ao_arch_release_interrupts();
+		if (!wait_fifo)
+			return 0;
+		fifo_space = ao_radio_tx_fifo_space();
+	} while (!fifo_space);
+	return fifo_space;
+}
+
 static uint8_t	tx_data[(AO_RADIO_MAX_SEND + 4) * 2];
 
 void
@@ -601,16 +699,51 @@ ao_radio_send(const void *d, uint8_t size)
 			ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
 		}
 			
-		do {
-			ao_radio_wake = 0;
-			ao_arch_block_interrupts();
-			while (!ao_radio_wake)
-				ao_sleep(&ao_radio_wake);
-			ao_arch_release_interrupts();
-			if (!encode_len)
-				break;
-			fifo_space = ao_radio_tx_fifo_space();
-		} while (!fifo_space);
+		fifo_space = ao_radio_wait_tx(encode_len != 0);
+	}
+	ao_radio_put();
+}
+
+#define AO_RADIO_LOTS	64
+
+void
+ao_radio_send_lots(ao_radio_fill_func fill)
+{
+	uint8_t	buf[AO_RADIO_LOTS], *b;
+	int	cnt;
+	int	total = 0;
+	uint8_t	done = 0;
+	uint8_t	started = 0;
+	uint8_t	fifo_space;
+
+	ao_radio_get(0xff);
+	fifo_space = CC1120_FIFO_SIZE;
+	while (!done) {
+		cnt = (*fill)(buf, sizeof(buf));
+		if (cnt < 0) {
+			done = 1;
+			cnt = -cnt;
+		}
+		total += cnt;
+		if (done) {
+			ao_radio_set_len(total & 0xff);
+			ao_radio_set_mode(AO_RADIO_MODE_APRS_FINISH);
+		} else
+			ao_radio_set_mode(AO_RADIO_MODE_APRS_BUF);
+		b = buf;
+		while (cnt) {
+			uint8_t	this_len = cnt;
+			if (this_len > fifo_space)
+				this_len = fifo_space;
+			ao_radio_fifo_write(b, this_len);
+			b += this_len;
+			cnt -= this_len;
+			if (!started) {
+				ao_radio_start_tx();
+				started = 1;
+			}
+			fifo_space = ao_radio_wait_tx(!done || cnt);
+		}
 	}
 	ao_radio_put();
 }
diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile
index 7d6c7388..25d0ed03 100644
--- a/src/megametrum-v0.1/Makefile
+++ b/src/megametrum-v0.1/Makefile
@@ -90,6 +90,7 @@ ALTOS_SRC = \
 	ao_packet.c \
 	ao_companion.c \
 	ao_pyro.c \
+	ao_aprs.c \
 	$(PROFILE) \
 	$(SAMPLE_PROFILE) \
 	$(STACK_GUARD)
diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c
index d0cfb52d..f16c94e8 100644
--- a/src/test/ao_aprs_test.c
+++ b/src/test/ao_aprs_test.c
@@ -23,6 +23,8 @@
 
 #include <ao_telemetry.h>
 
+struct ao_telemetry_location ao_gps_data;
+
 #define AO_APRS_TEST
 
 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
@@ -91,6 +93,10 @@ int main(int argc, char **argv)
 {
     audio_gap(1);
 
+    ao_gps_data.latitude = 45.4694766 * 10000000;
+    ao_gps_data.longitude = -122.7376250 * 10000000;
+    ao_gps_data.altitude = 83;
+
     /* Transmit one packet */
     ao_aprs_send();
 
-- 
cgit v1.2.3


From f661da527fb4a3a492f5322e2a718d441e1cde83 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 6 Dec 2012 10:23:39 -0800
Subject: altos: Hook up APRS to telemetry loop

Send APRS packet once every 2 seconds

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_telemetry.c       | 21 ++++++++++++++++++++-
 src/drivers/ao_aprs.h         |  2 ++
 src/megametrum-v0.1/ao_pins.h |  1 +
 3 files changed, 23 insertions(+), 1 deletion(-)

(limited to 'src/core')

diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 52ac9489..79d1bb81 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -22,6 +22,12 @@ static __pdata uint16_t ao_telemetry_interval;
 static __pdata uint8_t ao_rdf = 0;
 static __pdata uint16_t ao_rdf_time;
 
+#if HAS_APRS
+static __pdata uint16_t ao_aprs_time;
+
+#include <ao_aprs.h>
+#endif
+
 #if defined(MEGAMETRUM)
 #define AO_SEND_MEGA	1
 #endif
@@ -288,6 +294,9 @@ ao_telemetry(void)
 		while (ao_telemetry_interval == 0)
 			ao_sleep(&telemetry);
 		time = ao_rdf_time = ao_time();
+#if HAS_APRS
+		ao_aprs_time = time;
+#endif
 		while (ao_telemetry_interval) {
 
 
@@ -325,6 +334,12 @@ ao_telemetry(void)
 #endif
 					ao_radio_rdf();
 			}
+#if HAS_APRS
+			if (ao_rdf && (int16_t) (ao_time() - ao_aprs_time) >= 0) {
+				ao_aprs_time = ao_time() + AO_APRS_INTERVAL_TICKS;
+				ao_aprs_send();
+			}
+#endif
 #endif
 			time += ao_telemetry_interval;
 			delay = time - ao_time();
@@ -389,8 +404,12 @@ ao_rdf_set(uint8_t rdf)
 	ao_rdf = rdf;
 	if (rdf == 0)
 		ao_radio_rdf_abort();
-	else
+	else {
 		ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+#if HAS_APRS
+		ao_aprs_time = ao_time() + AO_APRS_INTERVAL_TICKS;
+#endif
+	}
 }
 
 __xdata struct ao_task	ao_telemetry_task;
diff --git a/src/drivers/ao_aprs.h b/src/drivers/ao_aprs.h
index a033fa0b..e00dd75b 100644
--- a/src/drivers/ao_aprs.h
+++ b/src/drivers/ao_aprs.h
@@ -18,6 +18,8 @@
 #ifndef _AO_APRS_H_
 #define _AO_APRS_H_
 
+#define AO_APRS_INTERVAL_TICKS	AO_SEC_TO_TICKS(2)
+
 void
 ao_aprs_send(void);
 
diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
index f07dc26e..083c1b6f 100644
--- a/src/megametrum-v0.1/ao_pins.h
+++ b/src/megametrum-v0.1/ao_pins.h
@@ -70,6 +70,7 @@
 #define HAS_BEEP		1
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
+#define HAS_APRS		1
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* Barometer */
-- 
cgit v1.2.3


From 1f84c0adbfa494ddc7dbe276796d999560be9438 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 6 Dec 2012 10:28:14 -0800
Subject: altos: Allow telemetry, rdf and APRS to be individually controlled

But, only when APRS is available so that TeleMetrum and TeleMini don't
change behaviour

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h           |  5 +++++
 src/core/ao_config.c    |  2 +-
 src/core/ao_telemetry.c | 31 +++++++++++++++++++++----------
 3 files changed, 27 insertions(+), 11 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index d6e27707..fa873efe 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -717,6 +717,11 @@ struct ao_config {
 #define AO_IGNITE_MODE_APOGEE		1
 #define AO_IGNITE_MODE_MAIN		2
 
+#define AO_RADIO_ENABLE_CORE		1
+#define AO_RADIO_ENABLE_APRS		2
+#define AO_RADIO_DISABLE_TELEMETRY	4
+#define AO_RADIO_DISABLE_RDF		8
+
 #define AO_PAD_ORIENTATION_ANTENNA_UP	0
 #define AO_PAD_ORIENTATION_ANTENNA_DOWN	1
 
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index e85ddcb4..df40ff90 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -128,7 +128,7 @@ _ao_config_get(void)
 		if (minor < 6)
 			ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
 		if (minor < 8)
-			ao_config.radio_enable = TRUE;
+			ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
 		if (minor < 9)
 			ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
 		if (minor < 10)
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 79d1bb81..4ff98f9b 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -300,27 +300,35 @@ ao_telemetry(void)
 		while (ao_telemetry_interval) {
 
 
+#if HAS_APRS
+			if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
+#endif
+			{
 #ifdef AO_SEND_ALL_BARO
-			ao_send_baro();
+				ao_send_baro();
 #endif
 #ifdef AO_SEND_MEGA
-			ao_send_mega_sensor();
-			ao_send_mega_data();
+				ao_send_mega_sensor();
+				ao_send_mega_data();
 #else
-			ao_send_sensor();
+				ao_send_sensor();
 #endif
 
 #if HAS_COMPANION
-			if (ao_companion_running)
-				ao_send_companion();
+				if (ao_companion_running)
+					ao_send_companion();
 #endif
-			ao_send_configuration();
+				ao_send_configuration();
 #if HAS_GPS
-			ao_send_location();
-			ao_send_satellite();
+				ao_send_location();
+				ao_send_satellite();
 #endif
+			}
 #ifndef AO_SEND_ALL_BARO
 			if (ao_rdf &&
+#if HAS_APRS
+			    !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
+#endif
 			    (int16_t) (ao_time() - ao_rdf_time) >= 0)
 			{
 #if HAS_IGNITE_REPORT
@@ -335,7 +343,10 @@ ao_telemetry(void)
 					ao_radio_rdf();
 			}
 #if HAS_APRS
-			if (ao_rdf && (int16_t) (ao_time() - ao_aprs_time) >= 0) {
+			if (ao_rdf &&
+			    (ao_config.radio_enable & AO_RADIO_ENABLE_APRS) &&
+			    (int16_t) (ao_time() - ao_aprs_time) >= 0)
+			{
 				ao_aprs_time = ao_time() + AO_APRS_INTERVAL_TICKS;
 				ao_aprs_send();
 			}
-- 
cgit v1.2.3


From 75912f8af04cecc0bbffecb2072d465c3744d4e8 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 6 Dec 2012 10:30:46 -0800
Subject: altos: Send APRS packets even during ascent

If you're using APRS, presumably you want to watch the rocket going up too.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_telemetry.c | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 4ff98f9b..cfc72e04 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -343,8 +343,7 @@ ao_telemetry(void)
 					ao_radio_rdf();
 			}
 #if HAS_APRS
-			if (ao_rdf &&
-			    (ao_config.radio_enable & AO_RADIO_ENABLE_APRS) &&
+			if ((ao_config.radio_enable & AO_RADIO_ENABLE_APRS) &&
 			    (int16_t) (ao_time() - ao_aprs_time) >= 0)
 			{
 				ao_aprs_time = ao_time() + AO_APRS_INTERVAL_TICKS;
@@ -417,9 +416,6 @@ ao_rdf_set(uint8_t rdf)
 		ao_radio_rdf_abort();
 	else {
 		ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
-#if HAS_APRS
-		ao_aprs_time = ao_time() + AO_APRS_INTERVAL_TICKS;
-#endif
 	}
 }
 
-- 
cgit v1.2.3


From 9d095eb1987f35d0d4e6540bf335e1faaa7c86ec Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 6 Dec 2012 16:29:36 -0800
Subject: altos: Shrink 'ao_version' by calling printf fewer times

Each printf call costs quite a bit of code space on the cc1111, so
instead of making multiple short calls, make one longer one.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_cmd.c | 21 +++++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index a3330974..9e78a225 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -265,12 +265,25 @@ ao_reboot(void)
 static void
 version(void)
 {
-	printf("manufacturer     %s\n", ao_manufacturer);
-	printf("product          %s\n", ao_product);
-	printf("serial-number    %u\n", ao_serial_number);
+	printf("manufacturer     %s\n"
+	       "product          %s\n"
+	       "serial-number    %u\n"
+#if HAS_FLIGHT
+	       "flight-number    %u\n"
+#endif
+#if HAS_LOG
+	       "log-format       %u\n"
+#endif
+	       , ao_manufacturer
+	       , ao_product
+	       , ao_serial_number
+#if HAS_FLIGHT
+	       , ao_flight_number
+#endif
 #if HAS_LOG
-	printf("log-format       %u\n", ao_log_format);
+	       , ao_log_format
 #endif
+		);
 #if HAS_MS5607
 	ao_ms5607_info();
 #endif
-- 
cgit v1.2.3


From b4e86af6de52ea0bacf80e3936b6cd17c1cbf898 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 6 Dec 2012 17:06:17 -0800
Subject: altos: Change 'flight-number' to 'current-flight'

Avoids ambiguity with stored flight info, which starts lines with 'flight'.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_cmd.c    |  2 +-
 src/core/ao_config.c | 12 ++++--------
 2 files changed, 5 insertions(+), 9 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 9e78a225..3d086a57 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -269,7 +269,7 @@ version(void)
 	       "product          %s\n"
 	       "serial-number    %u\n"
 #if HAS_FLIGHT
-	       "flight-number    %u\n"
+	       "current-flight   %u\n"
 #endif
 #if HAS_LOG
 	       "log-format       %u\n"
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index e85ddcb4..797fe7ec 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -529,15 +529,15 @@ __code struct ao_config_var ao_config_vars[] = {
 	  ao_config_callsign_set,	ao_config_callsign_show },
 	{ "e <0 disable, 1 enable>\0Enable telemetry and RDF",
 	  ao_config_radio_enable_set, ao_config_radio_enable_show },
+	{ "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
+	  ao_config_radio_cal_set,  	ao_config_radio_cal_show },
 #endif /* HAS_RADIO */
 #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",
+	  ao_config_pad_orientation_set,ao_config_pad_orientation_show },
 #endif /* HAS_ACCEL */
-#if HAS_RADIO
-	{ "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
-	  ao_config_radio_cal_set,  	ao_config_radio_cal_show },
-#endif /* HAS_RADIO */
 #if HAS_LOG
 	{ "l <size>\0Flight log size (kB)",
 	  ao_config_log_set,		ao_config_log_show },
@@ -546,10 +546,6 @@ __code struct ao_config_var ao_config_vars[] = {
 	{ "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
 	  ao_config_ignite_mode_set,	ao_config_ignite_mode_show },
 #endif
-#if HAS_ACCEL
-	{ "o <0 antenna up, 1 antenna down>\0Set pad orientation",
-	  ao_config_pad_orientation_set,ao_config_pad_orientation_show },
-#endif
 #if HAS_AES
 	{ "k <32 hex digits>\0Set AES encryption key",
 	  ao_config_key_set, ao_config_key_show },
-- 
cgit v1.2.3


From c10f9a438ed5789479d21c78153ca7f14c05534c Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 7 Dec 2012 10:05:51 -0800
Subject: altos: fix functions calling pollchar to use 'int' to hold the value

AO_READ_AGAIN doesn't fit in a char anymore now that stdio is 8-bit
clean, everyone using pollchar must use an 'int' variable to capture
the whole value from pollchar.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/ao_usb.c            | 2 +-
 src/core/ao_stdio.c            | 2 +-
 src/drivers/ao_btm.c           | 2 +-
 src/drivers/ao_packet_master.c | 4 ++--
 4 files changed, 5 insertions(+), 5 deletions(-)

(limited to 'src/core')

diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c
index 81e9074e..f66e807c 100644
--- a/src/cc1111/ao_usb.c
+++ b/src/cc1111/ao_usb.c
@@ -411,7 +411,7 @@ ao_usb_getchar(void) __critical
 {
 	int	c;
 
-	while ((c = ao_usb_pollchar()) == -1)
+	while ((c = ao_usb_pollchar()) == AO_READ_AGAIN)
 		ao_sleep(&ao_stdin_ready);
 	return c;
 }
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 4a832487..1748dfe8 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -98,7 +98,7 @@ __xdata uint8_t ao_stdin_ready;
 char
 getchar(void) __reentrant
 {
-	char c;
+	int c;
 	ao_arch_critical(
 		int8_t stdio = ao_cur_stdio;
 
diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c
index f3816047..c862200a 100644
--- a/src/drivers/ao_btm.c
+++ b/src/drivers/ao_btm.c
@@ -120,7 +120,7 @@ uint8_t
 ao_btm_get_line(void)
 {
 	uint8_t ao_btm_reply_len = 0;
-	char c;
+	int c;
 
 	for (;;) {
 
diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index 481232df..023c788b 100644
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -20,7 +20,7 @@
 static char
 ao_packet_getchar(void)
 {
-	char c;
+	int c;
 	while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
 		if (!ao_packet_enable)
 			break;
@@ -35,7 +35,7 @@ ao_packet_getchar(void)
 static void
 ao_packet_echo(void) __reentrant
 {
-	char	c;
+	int	c;
 	while (ao_packet_enable) {
 		c = ao_packet_getchar();
 		if (c != AO_READ_AGAIN)
-- 
cgit v1.2.3


From b28323ce91d23db5e1c3cbd1309c72aafcfbe235 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 7 Dec 2012 17:18:32 -0800
Subject: altos: Make APRS interval configurable

This provides a separate configuration value for APRS, allowing the
interval between APRS reports to vary.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h           |  8 ++++----
 src/core/ao_config.c    | 27 +++++++++++++++++++++++++++
 src/core/ao_telemetry.c |  5 ++---
 src/drivers/ao_aprs.h   |  2 --
 4 files changed, 33 insertions(+), 9 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index fa873efe..df5bbf48 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -684,7 +684,7 @@ extern __xdata uint8_t ao_force_freq;
 #endif
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	12
+#define AO_CONFIG_MINOR	13
 
 #define AO_AES_LEN 16
 
@@ -711,6 +711,7 @@ struct ao_config {
 #if AO_PYRO_NUM
 	struct ao_pyro	pyro[AO_PYRO_NUM];	/* minor version 12 */
 #endif
+	uint16_t	aprs_interval;		/* minor version 13 */
 };
 
 #define AO_IGNITE_MODE_DUAL		0
@@ -718,9 +719,8 @@ struct ao_config {
 #define AO_IGNITE_MODE_MAIN		2
 
 #define AO_RADIO_ENABLE_CORE		1
-#define AO_RADIO_ENABLE_APRS		2
-#define AO_RADIO_DISABLE_TELEMETRY	4
-#define AO_RADIO_DISABLE_RDF		8
+#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
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index 63158158..0aac16a6 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -139,6 +139,8 @@ _ao_config_get(void)
 		if (minor < 12)
 			memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro));
 #endif
+		if (minor < 13)
+			ao_config.aprs_interval = 0;
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
 	}
@@ -498,6 +500,27 @@ ao_config_key_set(void) __reentrant
 }
 #endif
 
+#if HAS_APRS
+
+void
+ao_config_aprs_show(void)
+{
+	printf ("APRS interval: %d\n", ao_config.aprs_interval);
+}
+
+void
+ao_config_aprs_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.aprs_interval = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+#endif /* HAS_APRS */
+
 struct ao_config_var {
 	__code char	*str;
 	void		(*set)(void) __reentrant;
@@ -553,6 +576,10 @@ __code struct ao_config_var ao_config_vars[] = {
 #if AO_PYRO_NUM
 	{ "P <n,?>\0Configure pyro channels",
 	  ao_pyro_set, ao_pyro_show },
+#endif
+#if HAS_APRS
+	{ "A <secs>\0APRS packet interval (0 disable)",
+	  ao_config_aprs_set, ao_config_aprs_show },
 #endif
 	{ "s\0Show",
 	  ao_config_show,		0 },
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index cfc72e04..8d440e15 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -299,7 +299,6 @@ ao_telemetry(void)
 #endif
 		while (ao_telemetry_interval) {
 
-
 #if HAS_APRS
 			if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 #endif
@@ -343,10 +342,10 @@ ao_telemetry(void)
 					ao_radio_rdf();
 			}
 #if HAS_APRS
-			if ((ao_config.radio_enable & AO_RADIO_ENABLE_APRS) &&
+			if (ao_config.aprs_interval != 0 &&
 			    (int16_t) (ao_time() - ao_aprs_time) >= 0)
 			{
-				ao_aprs_time = ao_time() + AO_APRS_INTERVAL_TICKS;
+				ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 				ao_aprs_send();
 			}
 #endif
diff --git a/src/drivers/ao_aprs.h b/src/drivers/ao_aprs.h
index e00dd75b..a033fa0b 100644
--- a/src/drivers/ao_aprs.h
+++ b/src/drivers/ao_aprs.h
@@ -18,8 +18,6 @@
 #ifndef _AO_APRS_H_
 #define _AO_APRS_H_
 
-#define AO_APRS_INTERVAL_TICKS	AO_SEC_TO_TICKS(2)
-
 void
 ao_aprs_send(void);
 
-- 
cgit v1.2.3


From defd5d0784a754be30e3295067fbc85a108ad172 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 9 Dec 2012 18:27:49 -0800
Subject: altos: Make sure pa to altitude conversion is done with 32 bits

We need 32 bits to hold intermediate values, even if the final
altitude is reported in only 16 bits.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_convert_pa.c | 8 ++++----
 src/micropeak/ao_pins.h  | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_convert_pa.c b/src/core/ao_convert_pa.c
index 55fe6e7d..fe6e0ef6 100644
--- a/src/core/ao_convert_pa.c
+++ b/src/core/ao_convert_pa.c
@@ -43,13 +43,13 @@ ao_pa_to_altitude(int32_t pa)
 
 	if (pa < 0)
 		pa = 0;
-	if (pa > 120000)
-		pa = 120000;
+	if (pa > 120000L)
+		pa = 120000L;
 	o = pa >> ALT_SHIFT;
 	part = pa & ALT_MASK;
 
-	low = (alt_t) FETCH_ALT(o) * (ALT_SCALE - part);
-	high = (alt_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
+	low = (int32_t) FETCH_ALT(o) * (ALT_SCALE - part);
+	high = (int32_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
 	return (low + high) >> ALT_SHIFT;
 }
 
diff --git a/src/micropeak/ao_pins.h b/src/micropeak/ao_pins.h
index 187b2544..63e9cb1b 100644
--- a/src/micropeak/ao_pins.h
+++ b/src/micropeak/ao_pins.h
@@ -60,6 +60,6 @@
 typedef int32_t alt_t;
 #define FETCH_ALT(o)		((alt_t) pgm_read_dword(&altitude_table[o]))
 
-#define AO_ALT_VALUE(x)		((x) * 10)
+#define AO_ALT_VALUE(x)		((x) * (alt_t) 10)
 
 #endif /* _AO_PINS_H_ */
-- 
cgit v1.2.3


From b1d37be4c024e9690107c693d9819229025966fa Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 17 Dec 2012 17:03:41 -0800
Subject: altos: Average MPU6000 values on ground for later use

Having long-term ground averages recorded to the eeprom file will make
post-flight analysis of the data better.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_data.h        | 21 +++++++++++
 src/core/ao_log.h         | 14 +++++--
 src/core/ao_sample.c      | 95 ++++++++++++++++++++++++++++++++++++++++++++++-
 src/core/ao_sqrt.c        |  2 +
 src/test/ao_flight_test.c | 17 ++++++++-
 5 files changed, 142 insertions(+), 7 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 6fdd19cb..7e2f85d8 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -288,4 +288,25 @@ typedef int16_t accel_t;
 
 #endif
 
+#if !HAS_GYRO && HAS_MPU6000
+
+#define HAS_GYRO	1
+
+typedef int16_t	gyro_t;
+typedef int32_t angle_t;
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#define ao_data_along(packet)	((packet)->mpu6000.accel_y)
+#define ao_data_across(packet)	((packet)->mpu6000.accel_x)
+#define ao_data_through(packet)	((packet)->mpu6000.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu6000.gyro_y)
+#define ao_data_pitch(packet)	((packet)->mpu6000.gyro_x)
+#define ao_data_yaw(packet)	((packet)->mpu6000.gyro_z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index 4eaed420..93b01778 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -199,10 +199,16 @@ struct ao_log_mega {
 	union {						/* 4 */
 		/* AO_LOG_FLIGHT */
 		struct {
-			uint16_t	flight;		/* 4 */
-			int16_t		ground_accel;	/* 6 */
-			uint32_t	ground_pres;	/* 8 */
-		} flight;				/* 12 */
+			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_gyro_roll;	/* 18 */
+			int16_t		ground_gyro_pitch;	/* 20 */
+			int16_t		ground_gyro_yaw;	/* 22 */
+		} flight;					/* 24 */
 		/* AO_LOG_STATE */
 		struct {
 			uint16_t	state;
diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index 985c0940..7a1eff8e 100644
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -37,6 +37,16 @@ __pdata alt_t		ao_sample_height;
 #if HAS_ACCEL
 __pdata accel_t		ao_sample_accel;
 #endif
+#if HAS_GYRO
+__pdata accel_t		ao_sample_accel_along;
+__pdata accel_t		ao_sample_accel_across;
+__pdata accel_t		ao_sample_accel_through;
+__pdata gyro_t		ao_sample_roll;
+__pdata gyro_t		ao_sample_pitch;
+__pdata gyro_t		ao_sample_yaw;
+__pdata angle_t		ao_sample_angle;
+__pdata angle_t		ao_sample_roll_angle;
+#endif
 
 __data uint8_t		ao_sample_data;
 
@@ -53,6 +63,15 @@ __pdata accel_t		ao_accel_2g;		/* factory accel calibration */
 __pdata int32_t		ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
 
+#if HAS_GYRO
+__pdata accel_t		ao_ground_accel_along;
+__pdata accel_t		ao_ground_accel_across;
+__pdata accel_t		ao_ground_accel_through;
+__pdata gyro_t		ao_ground_pitch;
+__pdata gyro_t		ao_ground_yaw;
+__pdata gyro_t		ao_ground_roll;
+#endif
+
 static __pdata uint8_t	ao_preflight;		/* in preflight mode */
 
 static __pdata uint16_t	nsamples;
@@ -60,6 +79,14 @@ __pdata int32_t ao_sample_pres_sum;
 #if HAS_ACCEL
 __pdata int32_t ao_sample_accel_sum;
 #endif
+#if HAS_GYRO
+__pdata int32_t ao_sample_accel_along_sum;
+__pdata int32_t ao_sample_accel_across_sum;
+__pdata int32_t	ao_sample_accel_through_sum;
+__pdata int32_t ao_sample_pitch_sum;
+__pdata int32_t ao_sample_yaw_sum;
+__pdata int32_t	ao_sample_roll_sum;
+#endif
 
 static void
 ao_sample_preflight_add(void)
@@ -68,6 +95,14 @@ ao_sample_preflight_add(void)
 	ao_sample_accel_sum += ao_sample_accel;
 #endif
 	ao_sample_pres_sum += ao_sample_pres;
+#if HAS_GYRO
+	ao_sample_accel_along_sum += ao_sample_accel_along;
+	ao_sample_accel_across_sum += ao_sample_accel_across;
+	ao_sample_accel_through_sum += ao_sample_accel_through;
+	ao_sample_pitch_sum += ao_sample_pitch;
+	ao_sample_yaw_sum += ao_sample_yaw;
+	ao_sample_roll_sum += ao_sample_roll;
+#endif
 	++nsamples;
 }
 
@@ -80,8 +115,23 @@ ao_sample_preflight_set(void)
 #endif
 	ao_ground_pres = ao_sample_pres_sum >> 9;
 	ao_ground_height = pres_to_altitude(ao_ground_pres);
-	nsamples = 0;
 	ao_sample_pres_sum = 0;
+#if HAS_GYRO
+	ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
+	ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
+	ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
+	ao_ground_pitch = ao_sample_pitch_sum >> 9;
+	ao_ground_yaw = ao_sample_yaw_sum >> 9;
+	ao_ground_roll = ao_sample_roll_sum >> 9;
+	ao_sample_accel_along_sum = 0;
+	ao_sample_accel_across_sum = 0;
+	ao_sample_accel_through_sum = 0;
+	ao_sample_pitch_sum = 0;
+	ao_sample_yaw_sum = 0;
+	ao_sample_roll_sum = 0;
+	ao_sample_angle = 0;
+#endif	
+	nsamples = 0;
 }
 
 static void
@@ -122,6 +172,24 @@ ao_sample_preflight_update(void)
 		ao_sample_preflight_set();
 }
 
+#if HAS_GYRO
+
+static int32_t	p_filt;
+static int32_t	y_filt;
+
+static gyro_t inline ao_gyro(void) {
+	gyro_t	p = ao_sample_pitch - ao_ground_pitch;
+	gyro_t	y = ao_sample_yaw - ao_ground_yaw;
+
+	p_filt = p_filt - (p_filt >> 6) + p;
+	y_filt = y_filt - (y_filt >> 6) + y;
+
+	p = p_filt >> 6;
+	y = y_filt >> 6;
+	return ao_sqrt(p*p + y*y);
+}
+#endif
+
 uint8_t
 ao_sample(void)
 {
@@ -147,6 +215,12 @@ ao_sample(void)
 			ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
 		ao_data_set_accel(ao_data, ao_sample_accel);
 #endif
+#if HAS_GYRO
+		ao_sample_accel_along = ao_data_along(ao_data);
+		ao_sample_pitch = ao_data_pitch(ao_data);
+		ao_sample_yaw = ao_data_yaw(ao_data);
+		ao_sample_roll = ao_data_roll(ao_data);
+#endif
 
 		if (ao_preflight)
 			ao_sample_preflight();
@@ -154,6 +228,10 @@ ao_sample(void)
 			if (ao_flight_state < ao_flight_boost)
 				ao_sample_preflight_update();
 			ao_kalman();
+#if HAS_GYRO
+			ao_sample_angle += ao_gyro();
+			ao_sample_roll_angle += (ao_sample_roll - ao_ground_roll);
+#endif
 		}
 		ao_sample_data = ao_data_ring_next(ao_sample_data);
 	}
@@ -170,6 +248,21 @@ ao_sample_init(void)
 #if HAS_ACCEL
 	ao_sample_accel_sum = 0;
 	ao_sample_accel = 0;
+#endif
+#if HAS_GYRO
+	ao_sample_accel_along_sum = 0;
+	ao_sample_accel_across_sum = 0;
+	ao_sample_accel_through_sum = 0;
+	ao_sample_accel_along = 0;
+	ao_sample_accel_across = 0;
+	ao_sample_accel_through = 0;
+	ao_sample_pitch_sum = 0;
+	ao_sample_yaw_sum = 0;
+	ao_sample_roll_sum = 0;
+	ao_sample_pitch = 0;
+	ao_sample_yaw = 0;
+	ao_sample_roll = 0;
+	ao_sample_angle = 0;
 #endif
 	ao_sample_data = ao_data_head;
 	ao_preflight = TRUE;
diff --git a/src/core/ao_sqrt.c b/src/core/ao_sqrt.c
index 09c2e319..3a550eaa 100644
--- a/src/core/ao_sqrt.c
+++ b/src/core/ao_sqrt.c
@@ -15,7 +15,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
+#ifndef AO_FLIGHT_TEST
 #include "ao.h"
+#endif
 
 /* Adapted from int_sqrt.c in the linux kernel, which is licensed GPLv2 */
 /**
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index acdf4d92..cdd1f236 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -236,10 +236,14 @@ extern int32_t	ao_accel_scale;
 extern alt_t	ao_ground_height;
 extern alt_t	ao_sample_alt;
 
+double ao_sample_qangle;
+
 int ao_sample_prev_tick;
 uint16_t	prev_tick;
 
+
 #include "ao_kalman.c"
+#include "ao_sqrt.c"
 #include "ao_sample.c"
 #include "ao_flight.c"
 
@@ -309,7 +313,7 @@ ao_mpu6000_accel(int16_t sensor)
 }
 
 static double
-ao_mpu6000_gyro(int16_t sensor)
+ao_mpu6000_gyro(int32_t sensor)
 {
 	return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
 }
@@ -370,6 +374,7 @@ ao_insert(void)
 		if (!ao_summary) {
 			printf("%7.2f height %8.2f accel %8.3f "
 #if MEGAMETRUM
+			       "roll %8.3f angle %8.3f qangle %8.3f "
 			       "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 #endif
 			       "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
@@ -377,6 +382,9 @@ ao_insert(void)
 			       height,
 			       accel,
 #if MEGAMETRUM
+			       ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
+			       ao_mpu6000_gyro(ao_sample_angle) / 100.0,
+			       ao_sample_qangle,
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
@@ -715,12 +723,14 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 	q_dot.q2 =  0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
 	q_dot.q3 =  0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
 
+#if 0
 	printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
 	printf ("q_dot (%g) %g %g %g\n",
 		q_dot.q0,
 		q_dot.q1,
 		q_dot.q2,
 		q_dot.q3);
+#endif
 
 	ao_orient.q0 += q_dot.q0 * dt;
 	ao_orient.q1 += q_dot.q1 * dt;
@@ -731,6 +741,8 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 
 	ao_quat_rot(&ao_current, &ao_up, &ao_orient);
 
+	ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
+#if 0
 	printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
 		ao_orient.q0,
 		ao_orient.q1,
@@ -740,6 +752,7 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 		ao_current.q1,
 		ao_current.q2,
 		ao_current.q3);
+#endif
 }
 #endif
 
@@ -845,7 +858,7 @@ ao_sleep(void *wchan)
 						double		rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
 						double		rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
 
-						update_orientation(rate_x, rate_z, rate_y, tick);
+						update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
 					}
 					ao_records_read++;
 					ao_insert();
-- 
cgit v1.2.3


From 57487e78b90465a21c87cf30deb0aeaba0887332 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 18 Dec 2012 23:15:20 -0800
Subject: altos: Actually record ground averages for 6dof sensor

This gets the long-term averages for the 6dof sensors recorded into
the first flight log record.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_log.h      | 6 +++---
 src/core/ao_log_mega.c | 8 ++++++++
 src/core/ao_sample.c   | 8 +++++---
 src/core/ao_sample.h   | 8 ++++++++
 4 files changed, 24 insertions(+), 6 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index 93b01778..036d6f2d 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -205,9 +205,9 @@ struct ao_log_mega {
 			int16_t		ground_accel_along;	/* 16 */
 			int16_t		ground_accel_across;	/* 12 */
 			int16_t		ground_accel_through;	/* 14 */
-			int16_t		ground_gyro_roll;	/* 18 */
-			int16_t		ground_gyro_pitch;	/* 20 */
-			int16_t		ground_gyro_yaw;	/* 22 */
+			int16_t		ground_roll;		/* 18 */
+			int16_t		ground_pitch;		/* 20 */
+			int16_t		ground_yaw;		/* 22 */
 		} flight;					/* 24 */
 		/* AO_LOG_STATE */
 		struct {
diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c
index ac1590db..e03687ad 100644
--- a/src/core/ao_log_mega.c
+++ b/src/core/ao_log_mega.c
@@ -94,6 +94,14 @@ ao_log(void)
 	log.tick = ao_sample_tick;
 #if HAS_ACCEL
 	log.u.flight.ground_accel = ao_ground_accel;
+#endif
+#if HAS_GYRO
+	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_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;
diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index 7a1eff8e..dec44f9f 100644
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -172,8 +172,8 @@ ao_sample_preflight_update(void)
 		ao_sample_preflight_set();
 }
 
+#if 0
 #if HAS_GYRO
-
 static int32_t	p_filt;
 static int32_t	y_filt;
 
@@ -189,6 +189,7 @@ static gyro_t inline ao_gyro(void) {
 	return ao_sqrt(p*p + y*y);
 }
 #endif
+#endif
 
 uint8_t
 ao_sample(void)
@@ -217,6 +218,8 @@ ao_sample(void)
 #endif
 #if HAS_GYRO
 		ao_sample_accel_along = ao_data_along(ao_data);
+		ao_sample_accel_across = ao_data_across(ao_data);
+		ao_sample_accel_through = ao_data_through(ao_data);
 		ao_sample_pitch = ao_data_pitch(ao_data);
 		ao_sample_yaw = ao_data_yaw(ao_data);
 		ao_sample_roll = ao_data_roll(ao_data);
@@ -229,8 +232,7 @@ ao_sample(void)
 				ao_sample_preflight_update();
 			ao_kalman();
 #if HAS_GYRO
-			ao_sample_angle += ao_gyro();
-			ao_sample_roll_angle += (ao_sample_roll - ao_ground_roll);
+			/* do quaternion stuff here... */
 #endif
 		}
 		ao_sample_data = ao_data_ring_next(ao_sample_data);
diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h
index 9336bdf9..a2dac979 100644
--- a/src/core/ao_sample.h
+++ b/src/core/ao_sample.h
@@ -111,6 +111,14 @@ extern __pdata accel_t	ao_ground_accel;	/* startup acceleration */
 extern __pdata accel_t 	ao_accel_2g;		/* factory accel calibration */
 extern __pdata int32_t	ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
+#if HAS_GYRO
+extern __pdata accel_t	ao_ground_accel_along;
+extern __pdata accel_t	ao_ground_accel_across;
+extern __pdata accel_t	ao_ground_accel_through;
+extern __pdata gyro_t	ao_ground_pitch;
+extern __pdata gyro_t	ao_ground_yaw;
+extern __pdata gyro_t	ao_ground_roll;
+#endif
 
 void ao_sample_init(void);
 
-- 
cgit v1.2.3


From 3645cb6578ec2a11ab7b0f6d435c6de22ca02a9f Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 13 Jan 2013 10:31:59 -0800
Subject: Update avr ao_spi_slave code to match API changes

Made the interface use void * for pointers and uint16_t for lengths

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_spi_slave.c | 10 ++++++----
 src/core/ao.h          |  4 ++--
 2 files changed, 8 insertions(+), 6 deletions(-)

(limited to 'src/core')

diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c
index a400b8a0..15e9924d 100644
--- a/src/avr/ao_spi_slave.c
+++ b/src/avr/ao_spi_slave.c
@@ -18,22 +18,24 @@
 #include "ao.h"
 
 uint8_t
-ao_spi_slave_recv(uint8_t *buf, uint8_t len)
+ao_spi_slave_recv(void *buf, uint16_t len)
 {
+	uint8_t *b = buf;
 	while (len--) {
 		while (!(SPSR & (1 << SPIF)))
 			if ((PINB & (1 << PINB0)))
 				return 0;
-		*buf++ = SPDR;
+		*b++ = SPDR;
 	}
 	return 1;
 }
 
 void
-ao_spi_slave_send(uint8_t *buf, uint8_t len)
+ao_spi_slave_send(void *buf, uint16_t len)
 {
+	uint8_t *b = buf;
 	while (len--) {
-		SPDR = *buf++;
+		SPDR = *b++;
 		while (!(SPSR & (1 << SPIF)))
 			if ((PINB & (1 << PINB0)))
 				return;
diff --git a/src/core/ao.h b/src/core/ao.h
index df5bbf48..ce0bf5d1 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -299,10 +299,10 @@ ao_altitude_to_pa(alt_t alt);
  */
 
 uint8_t
-ao_spi_slave_recv(uint8_t *buf, uint8_t len);
+ao_spi_slave_recv(void *buf, uint16_t len);
 
 void
-ao_spi_slave_send(uint8_t *buf, uint8_t len);
+ao_spi_slave_send(void *buf, uint16_t len);
 
 void
 ao_spi_slave_init(void);
-- 
cgit v1.2.3


From 4889b33af9700b9d872364f0cadaf9425cf84a7d Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 26 Mar 2013 14:24:45 -0700
Subject: altos: Add RFPA0133 amplifier driver

No configuration of power level yet, just the bare driver.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h             | 19 +++++++++++++++++++
 src/drivers/ao_rfpa0133.c | 48 +++++++++++++++++++++++++++++++++++++++++++++++
 src/drivers/ao_rfpa0133.h | 30 +++++++++++++++++++++++++++++
 3 files changed, 97 insertions(+)
 create mode 100644 src/drivers/ao_rfpa0133.c
 create mode 100644 src/drivers/ao_rfpa0133.h

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index ce0bf5d1..133d9118 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -534,6 +534,25 @@ typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
 void
 ao_radio_send_lots(ao_radio_fill_func fill);
 
+/*
+ * ao_radio_pa
+ */
+
+#if AO_RADIO_HAS_PA
+void
+ao_radio_pa_on(void);
+
+void
+ao_radio_pa_off(void);
+
+void
+ao_radio_pa_init(void);
+#else
+#define ao_radio_pa_on()
+#define ao_radio_pa_off()
+#define ao_radio_pa_init()
+#endif
+
 /*
  * Compute the packet length as follows:
  *
diff --git a/src/drivers/ao_rfpa0133.c b/src/drivers/ao_rfpa0133.c
new file mode 100644
index 00000000..70d5edba
--- /dev/null
+++ b/src/drivers/ao_rfpa0133.c
@@ -0,0 +1,48 @@
+/*
+ * 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"
+
+static uint8_t	power = 0;
+
+static void
+ao_rfpa0133_set_power(void)
+{
+	ao_gpio_set(AO_PA_GAIN_8_GPIO, AO_PA_GAIN_8_PIN, AO_PA_GAIN_8, power & 1);
+	ao_gpio_set(AO_PA_GAIN_16_GPIO, AO_PA_GAIN_16_PIN, AO_PA_GAIN_16, (power >> 1) & 1);
+}
+
+void
+ao_radio_pa_on(void)
+{
+	ao_rfpa0133_set_power();
+	ao_gpio_set(AO_PA_POWER_GPIO, AO_PA_POWER_PIN, AO_PA_POWER, 1);
+}
+
+void
+ao_radio_pa_off(void)
+{
+	ao_gpio_set(AO_PA_POWER_GPIO, AO_PA_POWER_PIN, AO_PA_POWER, 0);
+}
+
+void
+ao_radio_pa_init(void)
+{
+	ao_enable_output(AO_PA_POWER_GPIO, AO_PA_POWER_PIN, AO_PA_POWER, 0);
+	ao_enable_output(AO_PA_GAIN_8_GPIO, AO_PA_GAIN_8_PIN, AO_PA_GAIN_8, 0);
+	ao_enable_output(AO_PA_GAIN_16_GPIO, AO_PA_GAIN_16_PIN, AO_PA_GAIN_16, 0);
+}
diff --git a/src/drivers/ao_rfpa0133.h b/src/drivers/ao_rfpa0133.h
new file mode 100644
index 00000000..2ba7f699
--- /dev/null
+++ b/src/drivers/ao_rfpa0133.h
@@ -0,0 +1,30 @@
+/*
+ * 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_RFPA0133_H_
+#define _AO_RFPA0133_H_
+
+void
+ao_rfpa0133_on(void);
+
+void
+ao_rfpa0133_off(void);
+
+void
+ao_rfpa0133_init(void);
+
+#endif /* _AO_RFPA0133_H_ */
-- 
cgit v1.2.3


From 237e853b820b01409562b93b82684e5147286806 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 26 Mar 2013 14:27:46 -0700
Subject: altos: Allow radio recv and xmit to be separately configured

The CC115L is xmit only, so split out the functions and provide
defines to check for xmit or recv separately as needed.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h | 11 +++++++++++
 1 file changed, 11 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 133d9118..6cfdcba8 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -514,17 +514,28 @@ extern __xdata uint8_t	ao_radio_dma;
 #define AO_RADIO_STATUS_CRC_OK	AO_FEC_DECODE_CRC_OK
 #endif
 
+#ifndef HAS_RADIO_RECV
+#define HAS_RADIO_RECV HAS_RADIO
+#endif
+#ifndef HAS_RADIO_XMIT
+#define HAS_RADIO_XMIT HAS_RADIO
+#endif
+
 void
 ao_radio_general_isr(void) ao_arch_interrupt(16);
 
+#if HAS_RADIO_XMIT
 void
 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
+#endif
 
+#if HAS_RADIO_RECV
 uint8_t
 ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
 
 void
 ao_radio_recv_abort(void);
+#endif
 
 void
 ao_radio_test(uint8_t on);
-- 
cgit v1.2.3


From 747114786512339211d4981a7828c8c6f1f46c20 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 26 Mar 2013 14:28:37 -0700
Subject: altos: Fix config to not abort radio recv when no recv is available

Use the new radio recv define to skip disabling the receiver when
there isn't a receiver.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_config.c | 3 +++
 1 file changed, 3 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index 0aac16a6..9c84fe60 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -210,6 +210,7 @@ ao_config_callsign_set(void) __reentrant
 }
 
 #if HAS_RADIO
+
 void
 ao_config_frequency_show(void) __reentrant
 {
@@ -227,7 +228,9 @@ ao_config_frequency_set(void) __reentrant
 	ao_config.frequency = ao_cmd_lex_u32;
 	ao_config_set_radio();
 	_ao_config_edit_finish();
+#if HAS_RADIO_RECV
 	ao_radio_recv_abort();
+#endif
 }
 #endif
 
-- 
cgit v1.2.3


From 561175afebc63ec3d2f8f7305235c9812ceaf501 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 27 Mar 2013 01:15:04 -0700
Subject: altos: Add new panic flag for bufio misuse

Allow the bufio code to signal a fatal error if someone misuses the API

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h | 1 +
 1 file changed, 1 insertion(+)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 6cfdcba8..6d617cfc 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -65,6 +65,7 @@
 #define AO_PANIC_STACK		12	/* Stack overflow */
 #define AO_PANIC_SPI		13	/* SPI communication failure */
 #define AO_PANIC_CRASH		14	/* Processor crashed */
+#define AO_PANIC_BUFIO		15	/* Mis-using bufio API */
 #define AO_PANIC_SELF_TEST_CC1120	0x40 | 1	/* Self test failure */
 #define AO_PANIC_SELF_TEST_HMC5883	0x40 | 2	/* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU6000	0x40 | 3	/* Self test failure */
-- 
cgit v1.2.3


From 9aeed244879f90b5b6dab1c7ca095cc001b03fe5 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 29 Mar 2013 12:13:59 -0700
Subject: altos: Add temporary RF power settings

These expose the raw cc115l and rfpa0133 register settings so that we
can calibrate them against measured power outputs.

I've tested them to verify that they change how much power the board
consumes, so they're clearly doing something...

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h              | 10 ++++++--
 src/core/ao_config.c       | 60 ++++++++++++++++++++++++++++++++++++++++++++++
 src/drivers/ao_cc115l.c    |  5 ++++
 src/drivers/ao_rf_cc115l.h |  2 +-
 src/drivers/ao_rfpa0133.c  |  7 +++---
 src/telegps-v0.1/ao_pins.h |  4 +++-
 6 files changed, 80 insertions(+), 8 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 6d617cfc..7c5c69b8 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -550,7 +550,7 @@ ao_radio_send_lots(ao_radio_fill_func fill);
  * ao_radio_pa
  */
 
-#if AO_RADIO_HAS_PA
+#if HAS_RADIO_AMP
 void
 ao_radio_pa_on(void);
 
@@ -715,7 +715,7 @@ extern __xdata uint8_t ao_force_freq;
 #endif
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	13
+#define AO_CONFIG_MINOR	14
 
 #define AO_AES_LEN 16
 
@@ -743,6 +743,12 @@ struct ao_config {
 	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
 };
 
 #define AO_IGNITE_MODE_DUAL		0
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index 9c84fe60..73608a55 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -47,6 +47,8 @@ __xdata uint8_t ao_config_mutex;
 #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	((uint32_t) 192 * (uint32_t) 1024)
 #endif
 #endif
+#define AO_CONFIG_DEFAULT_RADIO_POWER		0x60
+#define AO_CONFIG_DEFAULT_RADIO_AMP		0
 
 #if HAS_EEPROM
 static void
@@ -141,6 +143,14 @@ _ao_config_get(void)
 #endif
 		if (minor < 13)
 			ao_config.aprs_interval = 0;
+#if HAS_RADIO_POWER
+		if (minor < 14)
+			ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER;
+		#endif
+#if HAS_RADIO_AMP
+		if (minor  < 14)
+			ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
+#endif
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
 	}
@@ -524,6 +534,48 @@ ao_config_aprs_set(void)
 
 #endif /* HAS_APRS */
 
+#if HAS_RADIO_AMP
+
+void
+ao_config_radio_amp_show(void)
+{
+	printf ("Radio amp setting: %d\n", ao_config.radio_amp);
+}
+
+void
+ao_config_radio_amp_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.radio_amp = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+#endif
+
+#if HAS_RADIO_POWER
+
+void
+ao_config_radio_power_show(void)
+{
+	printf ("Radio power setting: %d\n", ao_config.radio_power);
+}
+
+void
+ao_config_radio_power_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.radio_power = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+#endif
+
 struct ao_config_var {
 	__code char	*str;
 	void		(*set)(void) __reentrant;
@@ -557,6 +609,14 @@ __code struct ao_config_var ao_config_vars[] = {
 	  ao_config_radio_enable_set, ao_config_radio_enable_show },
 	{ "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
 	  ao_config_radio_cal_set,  	ao_config_radio_cal_show },
+#if HAS_RADIO_POWER
+	{ "p <setting>\0Radio power setting (0-255)",
+	  ao_config_radio_power_set,	ao_config_radio_power_show },
+#endif
+#if HAS_RADIO_AMP
+	{ "d <setting>\0Radio amplifier setting (0-3)",
+	  ao_config_radio_amp_set,	ao_config_radio_amp_show },
+#endif
 #endif /* HAS_RADIO */
 #if HAS_ACCEL
 	{ "a <+g> <-g>\0Accel calib (0 for auto)",
diff --git a/src/drivers/ao_cc115l.c b/src/drivers/ao_cc115l.c
index feff82af..5b0ec3d7 100644
--- a/src/drivers/ao_cc115l.c
+++ b/src/drivers/ao_cc115l.c
@@ -452,6 +452,7 @@ static void
 ao_radio_get(uint8_t len)
 {
 	static uint32_t	last_radio_setting;
+	static uint8_t	last_power_setting;
 
 	ao_mutex_get(&ao_radio_mutex);
 	if (!ao_radio_configured)
@@ -462,6 +463,10 @@ ao_radio_get(uint8_t len)
 		ao_radio_reg_write(CC115L_FREQ0, ao_config.radio_setting);
 		last_radio_setting = ao_config.radio_setting;
 	}
+	if (ao_config.radio_power != last_power_setting) {
+		ao_radio_reg_write(CC115L_PA, ao_config.radio_power);
+		last_power_setting = ao_config.radio_power;
+	}
 	ao_radio_set_len(len);
 }
 
diff --git a/src/drivers/ao_rf_cc115l.h b/src/drivers/ao_rf_cc115l.h
index 6eb30bf2..50a730ab 100644
--- a/src/drivers/ao_rf_cc115l.h
+++ b/src/drivers/ao_rf_cc115l.h
@@ -80,4 +80,4 @@
         CC115L_TEST1,                       0x35,       /* Various Test Settings */
         CC115L_TEST0,                       0x09,       /* Various Test Settings */
 
-	CC115L_PA,		     	    0x60,	 /* Power setting (0dBm) */
+	CC115L_PA,		     	    0x00,	 /* Power setting (0dBm) */
diff --git a/src/drivers/ao_rfpa0133.c b/src/drivers/ao_rfpa0133.c
index 70d5edba..a98e261a 100644
--- a/src/drivers/ao_rfpa0133.c
+++ b/src/drivers/ao_rfpa0133.c
@@ -17,10 +17,8 @@
 
 #include "ao.h"
 
-static uint8_t	power = 0;
-
 static void
-ao_rfpa0133_set_power(void)
+ao_rfpa0133_set_power(uint8_t power)
 {
 	ao_gpio_set(AO_PA_GAIN_8_GPIO, AO_PA_GAIN_8_PIN, AO_PA_GAIN_8, power & 1);
 	ao_gpio_set(AO_PA_GAIN_16_GPIO, AO_PA_GAIN_16_PIN, AO_PA_GAIN_16, (power >> 1) & 1);
@@ -29,7 +27,7 @@ ao_rfpa0133_set_power(void)
 void
 ao_radio_pa_on(void)
 {
-	ao_rfpa0133_set_power();
+	ao_rfpa0133_set_power(ao_config.radio_amp);
 	ao_gpio_set(AO_PA_POWER_GPIO, AO_PA_POWER_PIN, AO_PA_POWER, 1);
 }
 
@@ -37,6 +35,7 @@ void
 ao_radio_pa_off(void)
 {
 	ao_gpio_set(AO_PA_POWER_GPIO, AO_PA_POWER_PIN, AO_PA_POWER, 0);
+	ao_rfpa0133_set_power(0);
 }
 
 void
diff --git a/src/telegps-v0.1/ao_pins.h b/src/telegps-v0.1/ao_pins.h
index 01f4a303..09574568 100644
--- a/src/telegps-v0.1/ao_pins.h
+++ b/src/telegps-v0.1/ao_pins.h
@@ -132,6 +132,8 @@
 
 #define AO_RADIO_CAL_DEFAULT 	0x10b6a5
 
+#define HAS_RADIO_POWER		1
+
 #define AO_FEC_DEBUG		0
 #define AO_CC115L_SPI_CS_PORT	(&stm_gpiob)
 #define AO_CC115L_SPI_CS_PIN	12
@@ -150,7 +152,7 @@
 #define AO_CC115L_MARC_GPIO	0
 #define AO_CC115L_MARC_GPIO_IOCFG	CC115L_IOCFG0
 
-#define AO_RADIO_HAS_PA	1
+#define HAS_RADIO_AMP		1
 
 /*
  * Power amplifier (RFPA0133)
-- 
cgit v1.2.3


From 93a9aa703a0173e13b327ed432e6d52e90ebfa1b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 29 Mar 2013 17:05:36 -0700
Subject: altos: Get CC115L radio working.

This involved figuring out which GPIO signal would reliably indicate
that the transmitter was finished; I ended up using the PA_PD bit for
this.

This also converts all of the radio users to the long packet support
as the CC115L has only a 64-byte fifo, not large enough to hold either
an RDF tone or a regular AltOS telemetry packet.

This also renames the public API for sending APRS packets from
ao_radio_send_lots to ao_radio_send_aprs, which is at least more
accurate. The workings of that API haven't changed, just the name.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h              |   2 +-
 src/drivers/ao_aprs.c      |   2 +-
 src/drivers/ao_cc1120.c    |   2 +-
 src/drivers/ao_cc115l.c    | 544 +++++++++++++++++++++++++--------------------
 src/drivers/ao_rf_cc115l.h |  83 -------
 src/telegps-v0.1/Makefile  |   1 -
 src/telegps-v0.1/ao_pins.h |  16 +-
 src/test/ao_aprs_test.c    |   2 +-
 8 files changed, 312 insertions(+), 340 deletions(-)
 delete mode 100644 src/drivers/ao_rf_cc115l.h

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 7c5c69b8..e3161b4c 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -544,7 +544,7 @@ ao_radio_test(uint8_t on);
 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
 
 void
-ao_radio_send_lots(ao_radio_fill_func fill);
+ao_radio_send_aprs(ao_radio_fill_func fill);
 
 /*
  * ao_radio_pa
diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index 03bcab05..6ab61e6a 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -593,7 +593,7 @@ void ao_aprs_send(void)
     tncIndex = 0;
     tncMode = TNC_TX_SYNC;
 
-    ao_radio_send_lots(tncFill);
+    ao_radio_send_aprs(tncFill);
 }
 
 /** @} */
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 53bb5a62..a26eccbc 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -747,7 +747,7 @@ ao_radio_send(const void *d, uint8_t size)
 #define AO_RADIO_LOTS	64
 
 void
-ao_radio_send_lots(ao_radio_fill_func fill)
+ao_radio_send_aprs(ao_radio_fill_func fill)
 {
 	uint8_t	buf[AO_RADIO_LOTS], *b;
 	int	cnt;
diff --git a/src/drivers/ao_cc115l.c b/src/drivers/ao_cc115l.c
index 5b0ec3d7..1d8211f6 100644
--- a/src/drivers/ao_cc115l.c
+++ b/src/drivers/ao_cc115l.c
@@ -25,13 +25,18 @@
 
 static uint8_t ao_radio_mutex;
 
-static uint8_t ao_radio_wake;		/* radio ready. Also used as sleep address */
+static uint8_t ao_radio_fifo;		/* fifo drained interrupt received */
+static uint8_t ao_radio_done;		/* tx done interrupt received */
+static uint8_t ao_radio_wake;		/* sleep address for radio interrupts */
 static uint8_t ao_radio_abort;		/* radio operation should abort */
 static uint8_t ao_radio_mcu_wake;	/* MARC status change */
 static uint8_t ao_radio_marcstate;	/* Last read MARC state value */
 
+/* Debugging commands */
 #define CC115L_DEBUG	1
-#define CC115L_TRACE	1
+
+/* Runtime tracing */
+#define CC115L_TRACE	0
 
 #define FOSC	26000000
 
@@ -42,15 +47,67 @@ static uint8_t ao_radio_marcstate;	/* Last read MARC state value */
 #define ao_radio_spi_recv(d,l)	ao_spi_recv((d), (l), AO_CC115L_SPI_BUS)
 #define ao_radio_duplex(o,i,l)	ao_spi_duplex((o), (i), (l), AO_CC115L_SPI_BUS)
 
+struct ao_cc115l_reg {
+	uint16_t	addr;
+	char		*name;
+};
+
+#if CC115L_TRACE
+
+const static struct ao_cc115l_reg ao_cc115l_reg[];
+const static char *cc115l_state_name[];
+
+enum ao_cc115l_trace_type {
+	trace_strobe,
+	trace_read,
+	trace_write,
+	trace_dma,
+	trace_line,
+};
+
+struct ao_cc115l_trace {
+	enum ao_cc115l_trace_type	type;
+	int16_t				addr;
+	int16_t				value;
+	const char			*comment;
+};
+
+#define NUM_TRACE	256
+
+static struct ao_cc115l_trace	trace[NUM_TRACE];
+static int			trace_i;
+static int			trace_disable;
+
+static void trace_add(enum ao_cc115l_trace_type type, int16_t addr, int16_t value, const char *comment)
+{
+	if (trace_disable)
+		return;
+	switch (type) {
+	case trace_read:
+	case trace_write:
+		comment = ao_cc115l_reg[addr].name;
+		break;
+	case trace_strobe:
+		comment = cc115l_state_name[(value >> 4) & 0x7];
+		break;
+	}
+	trace[trace_i].type = type;
+	trace[trace_i].addr = addr;
+	trace[trace_i].value = value;
+	trace[trace_i].comment = comment;
+	if (++trace_i == NUM_TRACE)
+		trace_i = 0;
+}
+#else
+#define trace_add(t,a,v,c)
+#endif
+
 static uint8_t
-ao_radio_reg_read(uint16_t addr)
+ao_radio_reg_read(uint8_t addr)
 {
 	uint8_t	data[1];
 	uint8_t	d;
 
-#if CC115L_TRACE
-	printf("\t\tao_radio_reg_read (%04x): ", addr); flush();
-#endif
 	data[0] = ((1 << CC115L_READ)  |
 		   (0 << CC115L_BURST) |
 		   addr);
@@ -58,21 +115,17 @@ ao_radio_reg_read(uint16_t addr)
 	ao_radio_spi_send(data, 1);
 	ao_radio_spi_recv(data, 1);
 	ao_radio_deselect();
-#if CC115L_TRACE
-	printf (" %02x\n", data[0]);
-#endif
+	trace_add(trace_read, addr, data[0], NULL);
 	return data[0];
 }
 
 static void
-ao_radio_reg_write(uint16_t addr, uint8_t value)
+ao_radio_reg_write(uint8_t addr, uint8_t value)
 {
 	uint8_t	data[2];
 	uint8_t	d;
 
-#if CC115L_TRACE
-	printf("\t\tao_radio_reg_write (%04x): %02x\n", addr, value);
-#endif
+	trace_add(trace_write, addr, value, NULL);
 	data[0] = ((0 << CC115L_READ)  |
 		   (0 << CC115L_BURST) |
 		   addr);
@@ -107,15 +160,10 @@ ao_radio_strobe(uint8_t addr)
 {
 	uint8_t	in;
 
-#if CC115L_TRACE
-	printf("\t\tao_radio_strobe (%02x): ", addr); flush();
-#endif
 	ao_radio_select();
 	ao_radio_duplex(&addr, &in, 1);
 	ao_radio_deselect();
-#if CC115L_TRACE
-	printf("%02x\n", in); flush();
-#endif
+	trace_add(trace_strobe, addr, in, NULL);
 	return in;
 }
 
@@ -141,25 +189,11 @@ static uint8_t
 ao_radio_fifo_write(uint8_t *data, uint8_t len)
 {
 	uint8_t	status = ao_radio_fifo_write_start();
-#if CC115L_TRACE
-	printf ("fifo_write %d\n", len);
-#endif
+	trace_add(trace_dma, CC115L_FIFO, len, NULL);
 	ao_radio_spi_send(data, len);
 	return ao_radio_fifo_write_stop(status);
 }
 
-static uint8_t
-ao_radio_fifo_write_fixed(uint8_t data, uint8_t len)
-{
-	uint8_t status = ao_radio_fifo_write_start();
-
-#if CC115L_TRACE
-	printf ("fifo_write_fixed %02x %d\n", data, len);
-#endif
-	ao_radio_spi_send_fixed(data, len);
-	return ao_radio_fifo_write_stop(status);
-}
-
 static uint8_t
 ao_radio_tx_fifo_space(void)
 {
@@ -179,42 +213,28 @@ ao_radio_get_marcstate(void)
 {
 	return ao_radio_reg_read(CC115L_MARCSTATE) & CC115L_MARCSTATE_MASK;
 }
-
+	  
 static void
-ao_radio_mcu_wakeup_isr(void)
+ao_radio_done_isr(void)
 {
-	ao_radio_mcu_wake = 1;
+	ao_exti_disable(AO_CC115L_DONE_INT_PORT, AO_CC115L_DONE_INT_PIN);
+	trace_add(trace_line, __LINE__, 0, "done_isr");
+	ao_radio_done = 1;
 	ao_wakeup(&ao_radio_wake);
 }
 
-
-static void
-ao_radio_check_marcstate(void)
-{
-	ao_radio_mcu_wake = 0;
-	ao_radio_marcstate = ao_radio_get_marcstate();
-	
-	/* Anyt other than 'tx finished' means an error occurred */
-	if (ao_radio_marcstate != CC115L_MARCSTATE_TX_END)
-		ao_radio_abort = 1;
-}
-
 static void
-ao_radio_isr(void)
+ao_radio_fifo_isr(void)
 {
-	ao_exti_disable(AO_CC115L_INT_PORT, AO_CC115L_INT_PIN);
-	ao_radio_wake = 1;
+	ao_exti_disable(AO_CC115L_FIFO_INT_PORT, AO_CC115L_FIFO_INT_PIN);
+	trace_add(trace_line, __LINE__, 0, "fifo_isr");
+	ao_radio_fifo = 1;
 	ao_wakeup(&ao_radio_wake);
 }
 
 static void
 ao_radio_start_tx(void)
 {
-	ao_radio_pa_on();
-	ao_exti_set_callback(AO_CC115L_INT_PORT, AO_CC115L_INT_PIN, ao_radio_isr);
-	ao_exti_enable(AO_CC115L_INT_PORT, AO_CC115L_INT_PIN);
-	ao_exti_enable(AO_CC115L_MCU_WAKEUP_PORT, AO_CC115L_MCU_WAKEUP_PIN);
-	ao_radio_strobe(CC115L_STX);
 }
 
 static void
@@ -287,12 +307,9 @@ static const uint16_t packet_setup[] = {
  *
  *	DATARATE_M = 67
  *	DATARATE_E = 6
- *
- * To make the tone last for 200ms, we need 2000 * .2 = 400 bits or 50 bytes
  */
 #define RDF_DRATE_E	6
 #define RDF_DRATE_M	67
-#define RDF_PACKET_LEN	50
 
 static const uint16_t rdf_setup[] = {
 	CC115L_DEVIATN,		((RDF_DEV_E << CC115L_DEVIATN_DEVIATION_E) |
@@ -307,7 +324,7 @@ static const uint16_t rdf_setup[] = {
  */
 
 #define APRS_DEV_E	RDF_DEV_E
-#define APRS_DEV_M	RDF_DEV_E
+#define APRS_DEV_M	RDF_DEV_M
 
 /*
  * For our APRS beacon, set the symbol rate to 9.6kBaud (8x oversampling for 1200 baud data rate)
@@ -342,21 +359,27 @@ static const uint16_t aprs_setup[] = {
 
 static uint16_t ao_radio_mode;
 
+
+/*
+ * These set the data rate and modulation parameters
+ */
 #define AO_RADIO_MODE_BITS_PACKET_TX	1
-#define AO_RADIO_MODE_BITS_TX_BUF	2
-#define AO_RADIO_MODE_BITS_TX_FINISH	4
-#define AO_RADIO_MODE_BITS_RDF		8
-#define AO_RADIO_MODE_BITS_APRS		16
-#define AO_RADIO_MODE_BITS_INFINITE	32
-#define AO_RADIO_MODE_BITS_FIXED	64
+#define AO_RADIO_MODE_BITS_RDF		2
+#define AO_RADIO_MODE_BITS_APRS		4
+
+/*
+ * Flips between infinite packet mode and fixed packet mode;
+ * we use infinite mode until the sender gives us the
+ * last chunk of data
+ */
+#define AO_RADIO_MODE_BITS_INFINITE	40
+#define AO_RADIO_MODE_BITS_FIXED	80
 
 #define AO_RADIO_MODE_NONE		0
-#define AO_RADIO_MODE_PACKET_TX_BUF	(AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_BUF)
-#define AO_RADIO_MODE_PACKET_TX_FINISH	(AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_FINISH)
-#define AO_RADIO_MODE_RDF		(AO_RADIO_MODE_BITS_RDF | AO_RADIO_MODE_BITS_TX_FINISH)
-#define AO_RADIO_MODE_APRS_BUF		(AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_INFINITE | AO_RADIO_MODE_BITS_TX_BUF)
-#define AO_RADIO_MODE_APRS_LAST_BUF	(AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_FIXED | AO_RADIO_MODE_BITS_TX_BUF)
-#define AO_RADIO_MODE_APRS_FINISH	(AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_FIXED | AO_RADIO_MODE_BITS_TX_FINISH)
+
+#define AO_RADIO_MODE_RDF		AO_RADIO_MODE_BITS_RDF
+#define AO_RADIO_MODE_PACKET_TX		AO_RADIO_MODE_BITS_PACKET_TX
+#define AO_RADIO_MODE_APRS		AO_RADIO_MODE_BITS_APRS
 
 static void
 ao_radio_set_mode(uint16_t new_mode)
@@ -372,12 +395,6 @@ ao_radio_set_mode(uint16_t new_mode)
 		for (i = 0; i < sizeof (packet_setup) / sizeof (packet_setup[0]); i += 2)
 			ao_radio_reg_write(packet_setup[i], packet_setup[i+1]);
 
-	if (changes & AO_RADIO_MODE_BITS_TX_BUF)
-		ao_radio_reg_write(AO_CC115L_INT_GPIO_IOCFG, CC115L_IOCFG_GPIO_CFG_TXFIFO_THR);
-
-	if (changes & AO_RADIO_MODE_BITS_TX_FINISH)
-		ao_radio_reg_write(AO_CC115L_INT_GPIO_IOCFG, CC115L_IOCFG_GPIO_CFG_PKT_SYNC_TX | (1 << CC115L_IOCFG_GPIO_INV));
-
 	if (changes & AO_RADIO_MODE_BITS_RDF)
 		for (i = 0; i < sizeof (rdf_setup) / sizeof (rdf_setup[0]); i += 2)
 			ao_radio_reg_write(rdf_setup[i], rdf_setup[i+1]);
@@ -395,8 +412,44 @@ ao_radio_set_mode(uint16_t new_mode)
 	ao_radio_mode = new_mode;
 }
 
+/***************************************************************
+ *  SmartRF Studio(tm) Export
+ *
+ *  Radio register settings specifed with address, value
+ *
+ *  RF device: CC115L
+ *
+ ***************************************************************/
+
 static const uint16_t radio_setup[] = {
-#include "ao_rf_cc115l.h"
+
+	/* High when FIFO is above threshold, low when fifo is below threshold */
+	AO_CC115L_FIFO_INT_GPIO_IOCFG,	    CC115L_IOCFG_GPIO_CFG_TXFIFO_THR,
+
+	/* High when transmitter is running, low when off */
+	AO_CC115L_DONE_INT_GPIO_IOCFG,	    CC115L_IOCFG_GPIO_CFG_PA_PD | (1 << CC115L_IOCFG_GPIO_INV),
+
+        CC115L_FIFOTHR,                     0x47,       /* TX FIFO Thresholds */
+        CC115L_PKTCTRL0,                    0x05,       /* Packet Automation Control */
+        CC115L_FREQ2,                       0x10,       /* Frequency Control Word, High Byte */
+        CC115L_FREQ1,                       0xb6,       /* Frequency Control Word, Middle Byte */
+        CC115L_FREQ0,                       0xa5,       /* Frequency Control Word, Low Byte */
+        CC115L_MDMCFG4,                     0xfa,       /* Modem Configuration */
+        CC115L_MDMCFG3,                     0x83,       /* Modem Configuration */
+        CC115L_MDMCFG2,                     0x13,       /* Modem Configuration */
+        CC115L_MDMCFG1,                     0x21,       /* Modem Configuration */
+        CC115L_DEVIATN,                     0x35,       /* Modem Deviation Setting */
+        CC115L_MCSM0,                       0x18,       /* Main Radio Control State Machine Configuration */
+        CC115L_RESERVED_0X20,               0xfb,       /* Use setting from SmartRF Studio */
+        CC115L_FSCAL3,                      0xe9,       /* Frequency Synthesizer Calibration */
+        CC115L_FSCAL2,                      0x2a,       /* Frequency Synthesizer Calibration */
+        CC115L_FSCAL1,                      0x00,       /* Frequency Synthesizer Calibration */
+        CC115L_FSCAL0,                      0x1f,       /* Frequency Synthesizer Calibration */
+        CC115L_TEST2,                       0x81,       /* Various Test Settings */
+        CC115L_TEST1,                       0x35,       /* Various Test Settings */
+        CC115L_TEST0,                       0x09,       /* Various Test Settings */
+
+	CC115L_PA,		     	    0x00,	 /* Power setting (0dBm) */
 };
 
 static uint8_t	ao_radio_configured = 0;
@@ -406,29 +459,11 @@ ao_radio_setup(void)
 {
 	int	i;
 
-#if 0
-	ao_gpio_set(AO_CC115L_SPI_CS_PORT, AO_CC115L_SPI_CS_PIN, AO_CC115L_SPI_CS, 0);
-	for (i = 0; i < 10000; i++) {
-		if (ao_gpio_get(SPI_2_PORT, SPI_2_MISO_PIN, SPI_2_MISO) == 0) {
-			printf ("Chip clock alive\n");
-			break;
-		}
-	}
-	ao_gpio_set(AO_CC115L_SPI_CS_PORT, AO_CC115L_SPI_CS_PIN, AO_CC115L_SPI_CS, 1);
-	if (i == 10000)
-		printf ("Chip clock not alive\n");
-#endif
-
 	ao_radio_strobe(CC115L_SRES);
 	ao_delay(AO_MS_TO_TICKS(10));
 
-	printf ("Part %x\n", ao_radio_reg_read(CC115L_PARTNUM));
-	printf ("Version %x\n", ao_radio_reg_read(CC115L_VERSION));
-
-	for (i = 0; i < sizeof (radio_setup) / sizeof (radio_setup[0]); i += 2) {
+	for (i = 0; i < sizeof (radio_setup) / sizeof (radio_setup[0]); i += 2)
 		ao_radio_reg_write(radio_setup[i], radio_setup[i+1]);
-		ao_radio_reg_read(radio_setup[i]);
-	}
 
 	ao_radio_mode = 0;
 
@@ -449,7 +484,7 @@ ao_radio_set_len(uint8_t len)
 }
 
 static void
-ao_radio_get(uint8_t len)
+ao_radio_get(void)
 {
 	static uint32_t	last_radio_setting;
 	static uint8_t	last_power_setting;
@@ -467,69 +502,100 @@ ao_radio_get(uint8_t len)
 		ao_radio_reg_write(CC115L_PA, ao_config.radio_power);
 		last_power_setting = ao_config.radio_power;
 	}
-	ao_radio_set_len(len);
 }
 
+static void
+ao_radio_send_lots(ao_radio_fill_func fill, uint8_t mode);
+
 #define ao_radio_put()	ao_mutex_put(&ao_radio_mutex)
 
-static void
-ao_rdf_start(uint8_t len)
+struct ao_radio_tone {
+	uint8_t	value;
+	uint8_t	len;
+};
+
+struct ao_radio_tone *ao_radio_tone;
+uint8_t ao_radio_tone_count;
+uint8_t ao_radio_tone_current;
+uint8_t ao_radio_tone_offset;
+
+int16_t
+ao_radio_tone_fill(uint8_t *buf, int16_t len)
 {
-	ao_radio_abort = 0;
-	ao_radio_get(len);
+	int16_t	ret = 0;
+
+	while (len) {
+		int16_t 		this_time;
+		struct ao_radio_tone	*t;
+
+		/* Figure out how many to send of the current value */
+		t = &ao_radio_tone[ao_radio_tone_current];
+		this_time = t->len - ao_radio_tone_offset;
+		if (this_time > len)
+			this_time = len;
 
-	ao_radio_set_mode(AO_RADIO_MODE_RDF);
-	ao_radio_wake = 0;
+		/* queue the data */
+		memset(buf, t->value, this_time);
 
+		/* mark as sent */
+		len -= this_time;
+		ao_radio_tone_offset += this_time;
+		ret += this_time;
+
+		if (ao_radio_tone_offset >= t->len) {
+			ao_radio_tone_offset = 0;
+			ao_radio_tone_current++;
+			if (ao_radio_tone_current >= ao_radio_tone_count) {
+				trace_add(trace_line, __LINE__, ret, "done with tone");
+				return -ret;
+			}
+		}
+	}
+	trace_add(trace_line, __LINE__, ret, "got some tone");
+	return ret;
 }
 
 static void
-ao_rdf_run(void)
+ao_radio_tone_run(struct ao_radio_tone *tones, int ntones)
 {
-	ao_radio_start_tx();
-
-	ao_arch_block_interrupts();
-	while (!ao_radio_wake && !ao_radio_abort && !ao_radio_mcu_wake)
-		ao_sleep(&ao_radio_wake);
-	ao_arch_release_interrupts();
-	if (ao_radio_mcu_wake)
-		ao_radio_check_marcstate();
-	ao_radio_pa_off();
-	if (!ao_radio_wake)
-		ao_radio_idle();
-	ao_radio_put();
+	ao_radio_tone = tones;
+	ao_radio_tone_current = 0;
+	ao_radio_tone_offset = 0;
+	ao_radio_send_lots(ao_radio_tone_fill, AO_RADIO_MODE_RDF);
 }
 
 void
 ao_radio_rdf(void)
 {
-	ao_rdf_start(AO_RADIO_RDF_LEN);
-
-	ao_radio_fifo_write_fixed(ao_radio_rdf_value, AO_RADIO_RDF_LEN);
+	struct ao_radio_tone	tone;
 
-	ao_rdf_run();
+	tone.value = ao_radio_rdf_value;
+	tone.len = AO_RADIO_RDF_LEN;
+	ao_radio_tone_run(&tone, 1);
 }
 
 void
 ao_radio_continuity(uint8_t c)
 {
-	uint8_t	i;
-	uint8_t status;
-
-	ao_rdf_start(AO_RADIO_CONT_TOTAL_LEN);
+	struct ao_radio_tone	tones[7];
+	uint8_t	count = 0;
+	uint8_t i;
 
-	status = ao_radio_fifo_write_start();
 	for (i = 0; i < 3; i++) {
-		ao_radio_spi_send_fixed(0x00, AO_RADIO_CONT_PAUSE_LEN);
+		tones[count].value = 0x00;
+		tones[count].len = AO_RADIO_CONT_PAUSE_LEN;
+		count++;
 		if (i < c)
-			ao_radio_spi_send_fixed(ao_radio_rdf_value, AO_RADIO_CONT_TONE_LEN);
+			tones[count].value = ao_radio_rdf_value;
 		else
-			ao_radio_spi_send_fixed(0x00, AO_RADIO_CONT_TONE_LEN);
+			tones[count].value = 0x00;
+		tones[count].len = AO_RADIO_CONT_TONE_LEN;
+		count++;
 	}
-	ao_radio_spi_send_fixed(0x00, AO_RADIO_CONT_PAUSE_LEN);
-	status = ao_radio_fifo_write_stop(status);
-	(void) status;
-	ao_rdf_run();
+	tones[count].value = 0x00;
+	tones[count].len = AO_RADIO_CONT_PAUSE_LEN;
+	count++;
+	ao_radio_tone_run(tones, count);
 }
 
 void
@@ -557,17 +623,12 @@ ao_radio_test_cmd(void)
 #if PACKET_HAS_SLAVE
 		ao_packet_slave_stop();
 #endif
-		ao_radio_get(0xff);
+		ao_radio_get();
+		ao_radio_set_len(0xff);
+		ao_radio_set_mode(AO_RADIO_MODE_PACKET_TX | AO_RADIO_MODE_BITS_FIXED);
+		ao_radio_strobe(CC115L_SFTX);
 		ao_radio_pa_on();
 		ao_radio_strobe(CC115L_STX);
-#if CC115L_TRACE
-		{ int t; 
-			for (t = 0; t < 10; t++) {
-				printf ("status: %02x\n", ao_radio_status());
-				ao_delay(AO_MS_TO_TICKS(100));
-			}
-		}
-#endif
 		radio_on = 1;
 	}
 	if (mode == 3) {
@@ -585,85 +646,76 @@ 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));
+}
+
 static void
-ao_radio_wait_isr(void)
+ao_radio_wait_fifo(void)
 {
 	ao_arch_block_interrupts();
-	while (!ao_radio_wake && !ao_radio_mcu_wake && !ao_radio_abort)
+	while (!ao_radio_fifo && !ao_radio_done && !ao_radio_abort) {
+		trace_add(trace_line, __LINE__, ao_radio_gpio_bits(), "wait_fifo");
 		ao_sleep(&ao_radio_wake);
+	}
 	ao_arch_release_interrupts();
-	if (ao_radio_mcu_wake)
-		ao_radio_check_marcstate();
+	trace_add(trace_line, __LINE__, ao_radio_gpio_bits(), "wake bits");
+	trace_add(trace_line, __LINE__, ao_radio_fifo, "wake fifo");
+	trace_add(trace_line, __LINE__, ao_radio_done, "wake done");
+	trace_add(trace_line, __LINE__, ao_radio_abort, "wake abort");
 }
 
-static uint8_t
-ao_radio_wait_tx(uint8_t wait_fifo)
+static void
+ao_radio_wait_done(void)
 {
-	uint8_t	fifo_space = 0;
-
-	do {
-		ao_radio_wait_isr();
-		if (!wait_fifo)
-			return 0;
-		fifo_space = ao_radio_tx_fifo_space();
-	} while (!fifo_space && !ao_radio_abort);
-	return fifo_space;
+	ao_arch_block_interrupts();
+	while (!ao_radio_done && !ao_radio_abort) {
+		trace_add(trace_line, __LINE__, ao_radio_gpio_bits(), "wait_done");
+		ao_sleep(&ao_radio_wake);
+	}
+	ao_arch_release_interrupts();
+	trace_add(trace_line, __LINE__, ao_radio_gpio_bits(), "wake bits");
+	trace_add(trace_line, __LINE__, ao_radio_fifo, "wake fifo");
+	trace_add(trace_line, __LINE__, ao_radio_done, "wake done");
+	trace_add(trace_line, __LINE__, ao_radio_abort, "wake abort");
 }
 
 static uint8_t	tx_data[(AO_RADIO_MAX_SEND + 4) * 2];
 
-void
-ao_radio_send(const void *d, uint8_t size)
-{
-	uint8_t		marc_status;
-	uint8_t		*e = tx_data;
-	uint8_t		encode_len;
-	uint8_t		this_len;
-	uint8_t		started = 0;
-	uint8_t		fifo_space;
-
-	encode_len = ao_fec_encode(d, size, tx_data);
+static uint8_t	*ao_radio_send_buf;
+static int16_t	ao_radio_send_len;
 
-	ao_radio_get(encode_len);
-
-	started = 0;
-	fifo_space = CC115L_FIFO_SIZE;
-	while (encode_len) {
-		this_len = encode_len;
-
-		ao_radio_wake = 0;
-		if (this_len > fifo_space) {
-			this_len = fifo_space;
-			ao_radio_set_mode(AO_RADIO_MODE_PACKET_TX_BUF);
-		} else {
-			ao_radio_set_mode(AO_RADIO_MODE_PACKET_TX_FINISH);
-		}
+static int16_t
+ao_radio_send_fill(uint8_t *buf, int16_t len)
+{
+	int16_t this_time;
 
-		ao_radio_fifo_write(e, this_len);
-		e += this_len;
-		encode_len -= this_len;
+	this_time = ao_radio_send_len;
+	if (this_time > len)
+		this_time = len;
+	memcpy(buf, ao_radio_send_buf, this_time);
+	ao_radio_send_buf += this_time;
+	ao_radio_send_len -= this_time;
+	if (ao_radio_send_len == 0)
+		return -this_time;
+	return this_time;
+}
 
-		if (!started) {
-			ao_radio_start_tx();
-			started = 1;
-		} else {
-			ao_exti_enable(AO_CC115L_INT_PORT, AO_CC115L_INT_PIN);
-		}
-			
-		fifo_space = ao_radio_wait_tx(encode_len != 0);
-		if (ao_radio_abort) {
-			ao_radio_idle();
-			break;
-		}
-	}
-	ao_radio_pa_off();
-	ao_radio_put();
+void
+ao_radio_send(const void *d, uint8_t size)
+{
+	ao_radio_send_len = ao_fec_encode(d, size, tx_data);
+	ao_radio_send_buf = tx_data;
+	ao_radio_send_lots(ao_radio_send_fill, AO_RADIO_MODE_PACKET_TX);
 }
 
 #define AO_RADIO_LOTS	64
 
-void
-ao_radio_send_lots(ao_radio_fill_func fill)
+static void
+ao_radio_send_lots(ao_radio_fill_func fill, uint8_t mode)
 {
 	uint8_t	buf[AO_RADIO_LOTS], *b;
 	int	cnt;
@@ -672,10 +724,13 @@ ao_radio_send_lots(ao_radio_fill_func fill)
 	uint8_t	started = 0;
 	uint8_t	fifo_space;
 
-	ao_radio_get(0xff);
+	ao_radio_get();
 	fifo_space = CC115L_FIFO_SIZE;
+	ao_radio_done = 0;
+	ao_radio_fifo = 0;
 	while (!done) {
 		cnt = (*fill)(buf, sizeof(buf));
+		trace_add(trace_line, __LINE__, cnt, "send data count");
 		if (cnt < 0) {
 			done = 1;
 			cnt = -cnt;
@@ -683,8 +738,13 @@ ao_radio_send_lots(ao_radio_fill_func fill)
 		total += cnt;
 
 		/* At the last buffer, set the total length */
-		if (done)
+		if (done) {
 			ao_radio_set_len(total & 0xff);
+			ao_radio_set_mode(mode | AO_RADIO_MODE_BITS_FIXED);
+		} else {
+			ao_radio_set_len(0xff);
+			ao_radio_set_mode(mode | AO_RADIO_MODE_BITS_INFINITE);
+		}
 
 		b = buf;
 		while (cnt) {
@@ -692,46 +752,49 @@ ao_radio_send_lots(ao_radio_fill_func fill)
 
 			/* Wait for some space in the fifo */
 			while (!ao_radio_abort && (fifo_space = ao_radio_tx_fifo_space()) == 0) {
-				ao_radio_wake = 0;
-				ao_radio_wait_isr();
+				trace_add(trace_line, __LINE__, this_len, "wait for space");
+				ao_radio_wait_fifo();
 			}
-			if (ao_radio_abort)
+			if (ao_radio_abort || ao_radio_done)
 				break;
+			trace_add(trace_line, __LINE__, fifo_space, "got space");
 			if (this_len > fifo_space)
 				this_len = fifo_space;
 
 			cnt -= this_len;
 
-			if (done) {
-				if (cnt)
-					ao_radio_set_mode(AO_RADIO_MODE_APRS_LAST_BUF);
-				else
-					ao_radio_set_mode(AO_RADIO_MODE_APRS_FINISH);
-			} else
-				ao_radio_set_mode(AO_RADIO_MODE_APRS_BUF);
-
+			ao_radio_done = 0;
+			ao_radio_fifo = 0;
 			ao_radio_fifo_write(b, this_len);
 			b += this_len;
 
+			ao_exti_enable(AO_CC115L_FIFO_INT_PORT, AO_CC115L_FIFO_INT_PIN);
+			ao_exti_enable(AO_CC115L_DONE_INT_PORT, AO_CC115L_DONE_INT_PIN);
+
 			if (!started) {
-				ao_radio_start_tx();
+				ao_radio_pa_on();
+				ao_radio_strobe(CC115L_STX);
 				started = 1;
-			} else
-				ao_exti_enable(AO_CC115L_INT_PORT, AO_CC115L_INT_PIN);
+			}
 		}
-		if (ao_radio_abort) {
-			ao_radio_idle();
+		if (ao_radio_abort || ao_radio_done)
 			break;
-		}
-		/* Wait for the transmitter to go idle */
-		ao_radio_wake = 0;
-		ao_radio_wait_isr();
 	}
+	if (ao_radio_abort)
+		ao_radio_idle();
+	ao_radio_wait_done();
 	ao_radio_pa_off();
 	ao_radio_put();
 }
 
-static char *cc115l_state_name[] = {
+void
+ao_radio_send_aprs(ao_radio_fill_func fill)
+{
+	ao_radio_send_lots(fill, AO_RADIO_MODE_APRS);
+}
+
+#if CC115L_DEBUG
+const static char *cc115l_state_name[] = {
 	[CC115L_STATUS_STATE_IDLE] = "IDLE",
 	[CC115L_STATUS_STATE_TX] = "TX",
 	[CC115L_STATUS_STATE_FSTXON] = "FSTXON",
@@ -740,11 +803,6 @@ static char *cc115l_state_name[] = {
 	[CC115L_STATUS_STATE_TX_FIFO_UNDERFLOW] = "TX_FIFO_UNDERFLOW",
 };
 
-struct ao_cc115l_reg {
-	uint16_t	addr;
-	char		*name;
-};
-
 const static struct ao_cc115l_reg ao_cc115l_reg[] = {
 	{ .addr = CC115L_IOCFG2, .name = "IOCFG2" },
 	{ .addr = CC115L_IOCFG1, .name = "IOCFG1" },
@@ -793,7 +851,7 @@ static void ao_radio_show(void) {
 	uint8_t	status = ao_radio_status();
 	int	i;
 
-	ao_radio_get(0xff);
+	ao_radio_get();
 	status = ao_radio_status();
 	printf ("Status:   %02x\n", status);
 	printf ("CHIP_RDY: %d\n", (status >> CC115L_STATUS_CHIP_RDY) & 1);
@@ -824,6 +882,8 @@ static void ao_radio_packet(void) {
 	ao_radio_send(packet, sizeof (packet));
 }
 
+#endif /* CC115L_DEBUG */
+
 #if HAS_APRS
 #include <ao_aprs.h>
 
@@ -869,17 +929,17 @@ ao_radio_init(void)
 		ao_panic(AO_PANIC_SELF_TEST_CC115L);
 #endif
 
-	/* Enable the EXTI interrupt for the appropriate pin */
-	ao_enable_port(AO_CC115L_INT_PORT);
-	ao_exti_setup(AO_CC115L_INT_PORT, AO_CC115L_INT_PIN,
+	/* Enable the fifo threhold interrupt pin */
+	ao_enable_port(AO_CC115L_FIFO_INT_PORT);
+	ao_exti_setup(AO_CC115L_FIFO_INT_PORT, AO_CC115L_FIFO_INT_PIN,
 		      AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH,
-		      ao_radio_isr);
+		      ao_radio_fifo_isr);
 
-	/* Enable the hacked up GPIO3 pin */
-	ao_enable_port(AO_CC115L_MCU_WAKEUP_PORT);
-	ao_exti_setup(AO_CC115L_MCU_WAKEUP_PORT, AO_CC115L_MCU_WAKEUP_PIN,
+	/* Enable the tx done interrupt pin */
+	ao_enable_port(AO_CC115L_DONE_INT_PORT);
+	ao_exti_setup(AO_CC115L_DONE_INT_PORT, AO_CC115L_DONE_INT_PIN,
 		      AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_MED,
-		      ao_radio_mcu_wakeup_isr);
+		      ao_radio_done_isr);
 
 	ao_radio_pa_init();
 
diff --git a/src/drivers/ao_rf_cc115l.h b/src/drivers/ao_rf_cc115l.h
deleted file mode 100644
index 50a730ab..00000000
--- a/src/drivers/ao_rf_cc115l.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/***************************************************************
- *  SmartRF Studio(tm) Export
- *
- *  Radio register settings specifed with address, value
- *
- *  RF device: CC115L
- *
- ***************************************************************/
-
-
-#if 0
-        CC115L_IOCFG2,                      0x2e,        /* GDO2 Output Pin Configuration */
-        CC115L_IOCFG1,                      0x2e,        /* GDO1 Output Pin Configuration */
-        CC115L_IOCFG0,                      0x06,        /* GDO0 Output Pin Configuration */
-        CC115L_FIFOTHR,                     0x47,        /* TX FIFO Thresholds */
-        CC115L_SYNC1,                       0xd3,        /* Sync Word, High Byte */
-        CC115L_SYNC0,                       0x91,        /* Sync Word, Low Byte */
-        CC115L_PKTLEN,                      0xff,        /* Packet Length */
-        CC115L_PKTCTRL0,                    0x05,        /* Packet Automation Control */
-        CC115L_CHANNR,                      0x00,        /* Channel number */
-        CC115L_FSCTRL0,                     0x00,        /* Frequency Synthesizer Control */
-        CC115L_FREQ2,                       0x10,        /* Frequency Control Word, High Byte */
-        CC115L_FREQ1,                       0xb6,        /* Frequency Control Word, Middle Byte */
-        CC115L_FREQ0,                       0xa5,        /* Frequency Control Word, Low Byte */
-        CC115L_MDMCFG4,                     0xfa,        /* Modem Configuration */
-        CC115L_MDMCFG3,                     0x83,        /* Modem Configuration */
-        CC115L_MDMCFG2,                     0x13,        /* Modem Configuration */
-        CC115L_MDMCFG1,                     0x21,        /* Modem Configuration */
-        CC115L_MDMCFG0,                     0xf8,        /* Modem Configuration */
-        CC115L_DEVIATN,                     0x35,        /* Modem Deviation Setting */
-        CC115L_MCSM1,                       0x30,        /* Main Radio Control State Machine Configuration */
-        CC115L_MCSM0,                       0x18,        /* Main Radio Control State Machine Configuration */
-        CC115L_RESERVED_0X20,               0xfb,        /* Use setting from SmartRF Studio */
-        CC115L_FREND0,                      0x10,        /* Front End TX Configuration */
-        CC115L_FSCAL3,                      0xe9,        /* Frequency Synthesizer Calibration */
-        CC115L_FSCAL2,                      0x2a,        /* Frequency Synthesizer Calibration */
-        CC115L_FSCAL1,                      0x00,        /* Frequency Synthesizer Calibration */
-        CC115L_FSCAL0,                      0x1f,        /* Frequency Synthesizer Calibration */
-        CC115L_RESERVED_0X29,               0x89,        /* Use setting from SmartRF Studio */
-        CC115L_RESERVED_0X2A,               0x127,       /* Use setting from SmartRF Studio */
-        CC115L_RESERVED_0X2B,               0x63,        /* Use setting from SmartRF Studio */
-        CC115L_TEST2,                       0x81,        /* Various Test Settings */
-        CC115L_TEST1,                       0x35,        /* Various Test Settings */
-        CC115L_TEST0,                       0x09,        /* Various Test Settings */
-        CC115L_PARTNUM,                     0x00,        /* Chip ID */
-        CC115L_VERSION,                     0x09,        /* Chip ID */
-        CC115L_MARCSTATE,                   0x00,        /* Main Radio Control State Machine State */
-        CC115L_PKTSTATUS,                   0x00,        /* Current GDOx Status and Packet Status */
-        CC115L_TXBYTES,                     0x00,        /* Underflow and Number of Bytes */
-#endif
-		
-/***************************************************************
- *  SmartRF Studio(tm) Export
- *
- *  Radio register settings specifed with address, value
- *
- *  RF device: CC115L
- *
- ***************************************************************/
-
-
-        CC115L_IOCFG0,                      0x06,       /* GDO0 Output Pin Configuration */
-        CC115L_FIFOTHR,                     0x47,       /* TX FIFO Thresholds */
-        CC115L_PKTCTRL0,                    0x05,       /* Packet Automation Control */
-        CC115L_FREQ2,                       0x10,       /* Frequency Control Word, High Byte */
-        CC115L_FREQ1,                       0xb6,       /* Frequency Control Word, Middle Byte */
-        CC115L_FREQ0,                       0xa5,       /* Frequency Control Word, Low Byte */
-        CC115L_MDMCFG4,                     0xfa,       /* Modem Configuration */
-        CC115L_MDMCFG3,                     0x83,       /* Modem Configuration */
-        CC115L_MDMCFG2,                     0x13,       /* Modem Configuration */
-        CC115L_MDMCFG1,                     0x21,       /* Modem Configuration */
-        CC115L_DEVIATN,                     0x35,       /* Modem Deviation Setting */
-        CC115L_MCSM0,                       0x18,       /* Main Radio Control State Machine Configuration */
-        CC115L_RESERVED_0X20,               0xfb,       /* Use setting from SmartRF Studio */
-        CC115L_FSCAL3,                      0xe9,       /* Frequency Synthesizer Calibration */
-        CC115L_FSCAL2,                      0x2a,       /* Frequency Synthesizer Calibration */
-        CC115L_FSCAL1,                      0x00,       /* Frequency Synthesizer Calibration */
-        CC115L_FSCAL0,                      0x1f,       /* Frequency Synthesizer Calibration */
-        CC115L_TEST2,                       0x81,       /* Various Test Settings */
-        CC115L_TEST1,                       0x35,       /* Various Test Settings */
-        CC115L_TEST0,                       0x09,       /* Various Test Settings */
-
-	CC115L_PA,		     	    0x00,	 /* Power setting (0dBm) */
diff --git a/src/telegps-v0.1/Makefile b/src/telegps-v0.1/Makefile
index c8ab8a9a..ae36c9fd 100644
--- a/src/telegps-v0.1/Makefile
+++ b/src/telegps-v0.1/Makefile
@@ -14,7 +14,6 @@ INC = \
 	ao_task.h \
 	ao_whiten.h \
 	ao_cc115l.h \
-	ao_rf_cc115l.h \
 	ao_fec.h \
 	stm32l.h \
 	Makefile
diff --git a/src/telegps-v0.1/ao_pins.h b/src/telegps-v0.1/ao_pins.h
index 09574568..eea050c9 100644
--- a/src/telegps-v0.1/ao_pins.h
+++ b/src/telegps-v0.1/ao_pins.h
@@ -140,17 +140,13 @@
 #define AO_CC115L_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
 #define AO_CC115L_SPI		stm_spi2
 
-#define AO_CC115L_INT_PORT	(&stm_gpioa)
-#define AO_CC115L_INT_PIN	(9)
+#define AO_CC115L_FIFO_INT_GPIO_IOCFG	CC115L_IOCFG2
+#define AO_CC115L_FIFO_INT_PORT		(&stm_gpioa)
+#define AO_CC115L_FIFO_INT_PIN		(9)
 
-#define AO_CC115L_MCU_WAKEUP_PORT	(&stm_gpioa)
-#define AO_CC115L_MCU_WAKEUP_PIN	(10)
-
-#define AO_CC115L_INT_GPIO	2
-#define AO_CC115L_INT_GPIO_IOCFG	CC115L_IOCFG2
-
-#define AO_CC115L_MARC_GPIO	0
-#define AO_CC115L_MARC_GPIO_IOCFG	CC115L_IOCFG0
+#define AO_CC115L_DONE_INT_GPIO_IOCFG	CC115L_IOCFG0
+#define AO_CC115L_DONE_INT_PORT		(&stm_gpioa)
+#define AO_CC115L_DONE_INT_PIN		(10)
 
 #define HAS_RADIO_AMP		1
 
diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c
index 3b31f2d3..dd5eac4d 100644
--- a/src/test/ao_aprs_test.c
+++ b/src/test/ao_aprs_test.c
@@ -107,7 +107,7 @@ int main(int argc, char **argv)
 }
 
 void
-ao_radio_send_lots(ao_radio_fill_func fill)
+ao_radio_send_aprs(ao_radio_fill_func fill)
 {
 	int16_t	len;
 	uint8_t	done = 0;
-- 
cgit v1.2.3


From 649999863c7228ead0225968752d068dc0d30091 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 30 Mar 2013 01:33:49 -0700
Subject: altos: Add logging and telem to telegps

This turns on telemetry, APRS, RDF and data logging for telegps.

Data is logged as soon as GPS has a date to create the right
filename, using files of the form YYYYMMDD.LOG which just barely fits
in a FAT filename.

Telemetry/RDF/APRS are all separately controllable.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 ao-tools/ao-telem/ao-telem.c  |  9 ++++--
 src/core/ao_gps_report_mega.c |  1 +
 src/core/ao_telemetry.c       |  3 ++
 src/drivers/ao_log_fat.c      | 74 +++++++++++++++++++++++++++++++++++++++++++
 src/telegps-v0.1/Makefile     |  5 ++-
 src/telegps-v0.1/ao_telegps.c |  9 +++++-
 6 files changed, 97 insertions(+), 4 deletions(-)
 create mode 100644 src/drivers/ao_log_fat.c

(limited to 'src/core')

diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c
index e7fc8e26..d2dae5a7 100644
--- a/ao-tools/ao-telem/ao-telem.c
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -24,6 +24,7 @@
 #include "cc.h"
 
 static const struct option options[] = {
+	{ .name = "crc", .has_arg = 0, .val = 'c' },
 	{ 0, 0, 0, 0},
 };
 
@@ -44,8 +45,12 @@ main (int argc, char **argv)
 	char *s;
 	FILE *file;
 	int serial;
-	while ((c = getopt_long(argc, argv, "", options, NULL)) != -1) {
+	int ignore_crc = 0;
+	while ((c = getopt_long(argc, argv, "c", options, NULL)) != -1) {
 		switch (c) {
+		case 'c':
+			ignore_crc = 1;
+			break;
 		default:
 			usage(argv[0]);
 			break;
@@ -74,7 +79,7 @@ main (int argc, char **argv)
 				printf ("serial %5d rssi %d status %02x tick %5d type %3d ",
 					telem.generic.serial, rssi, telem.generic.status,
 					telem.generic.tick, telem.generic.type);
-				if ((telem.generic.status & (1 << 7)) == 0) {
+				if (!ignore_crc && (telem.generic.status & (1 << 7)) == 0) {
 					printf ("CRC error\n");
 					continue;
 				}
diff --git a/src/core/ao_gps_report_mega.c b/src/core/ao_gps_report_mega.c
index 47891cab..e3af4307 100644
--- a/src/core/ao_gps_report_mega.c
+++ b/src/core/ao_gps_report_mega.c
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include "ao_log.h"
 
 void
 ao_gps_report_mega(void)
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 8d440e15..3aa315c7 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include "ao_log.h"
 #include "ao_product.h"
 
 static __pdata uint16_t ao_telemetry_interval;
@@ -306,12 +307,14 @@ ao_telemetry(void)
 #ifdef AO_SEND_ALL_BARO
 				ao_send_baro();
 #endif
+#if HAS_FLIGHT
 #ifdef AO_SEND_MEGA
 				ao_send_mega_sensor();
 				ao_send_mega_data();
 #else
 				ao_send_sensor();
 #endif
+#endif
 
 #if HAS_COMPANION
 				if (ao_companion_running)
diff --git a/src/drivers/ao_log_fat.c b/src/drivers/ao_log_fat.c
new file mode 100644
index 00000000..684148b7
--- /dev/null
+++ b/src/drivers/ao_log_fat.c
@@ -0,0 +1,74 @@
+/*
+ * 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_log.h"
+#include "ao_fat.h"
+
+static uint8_t	log_year, log_month, log_day;
+static uint8_t	log_running;
+static uint8_t	log_mutex;
+
+static void
+ao_log_open(void)
+{
+	char	name[12];
+
+	sprintf(name,"%04d%02d%02dLOG", 2000 + log_year, log_month, log_day);
+	if (ao_fat_open(name, AO_FAT_OPEN_WRITE) == AO_FAT_SUCCESS)
+		log_running = 1;
+}
+
+static void
+ao_log_close(void)
+{
+	log_running = 0;
+	ao_fat_close();
+}
+
+uint8_t
+ao_log_full(void)
+{
+	return ao_fat_full();
+}
+
+uint8_t
+ao_log_mega(struct ao_log_mega *log)
+{
+	uint8_t	wrote = 0;
+	ao_mutex_get(&log_mutex);
+	if (log->type == AO_LOG_GPS_TIME) {
+		if (log_running &&
+		    (log_year != log->u.gps.year ||
+		     log_month != log->u.gps.month ||
+		     log_day != log->u.gps.day)) {
+			ao_log_close();
+		}
+		if (!log_running) {
+			log_year = log->u.gps.year;
+			log_month = log->u.gps.month;
+			log_day = log->u.gps.day;
+			ao_log_open();
+		}
+	}
+	if (log_running) {
+		wrote = ao_fat_write(log, sizeof (*log)) == AO_FAT_SUCCESS;
+		ao_fat_sync();
+	}
+	ao_mutex_put(&log_mutex);
+	return wrote;
+}
diff --git a/src/telegps-v0.1/Makefile b/src/telegps-v0.1/Makefile
index ae36c9fd..8e610db7 100644
--- a/src/telegps-v0.1/Makefile
+++ b/src/telegps-v0.1/Makefile
@@ -55,7 +55,10 @@ ALTOS_SRC = \
 	ao_eeprom_stm.c \
 	ao_sdcard.c \
 	ao_bufio.c \
-	ao_fat.c
+	ao_fat.c \
+	ao_log_fat.c \
+	ao_gps_report_mega.c \
+	ao_telemetry.c
 
 PRODUCT=TeleGPS-v0.1
 PRODUCT_DEF=-DTELEGPS
diff --git a/src/telegps-v0.1/ao_telegps.c b/src/telegps-v0.1/ao_telegps.c
index 2f1f38f2..91796c21 100644
--- a/src/telegps-v0.1/ao_telegps.c
+++ b/src/telegps-v0.1/ao_telegps.c
@@ -19,6 +19,8 @@
 #include <ao_exti.h>
 #include <ao_fat.h>
 
+uint16_t	ao_flight_number = 1;
+
 int
 main(void)
 {
@@ -47,9 +49,14 @@ main(void)
 	ao_usb_init();
 	ao_radio_init();
 
+	ao_fat_init();
+
 	ao_gps_init();
+	ao_gps_report_mega_init();
 
-	ao_fat_init();
+	ao_telemetry_init();
+	ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
+	ao_rdf_set(1);
 
 	ao_config_init();
 	
-- 
cgit v1.2.3


From 4f1f3e836393304434130d362771a39f6f8f859a Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 24 Mar 2013 15:00:20 -0700
Subject: altos: Do not release interrupts from any pollchar function

getchar relies on interrupts being blocked across the pollchar calls
and into the sleep call or it may go to sleep with data pending.

This prefixes all pollchar functions with _ to indicate that they are
to be called with interrupts blocked and eliminates all interrupt
manipulation calls from within the pollchar functions.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_serial_avr.c        | 43 +++++++++++++++++-----------------
 src/avr/ao_usb_avr.c           | 42 ++++++++++++++--------------------
 src/cc1111/ao_serial.c         |  8 +++----
 src/cc1111/ao_usb.c            | 14 +++++++-----
 src/core/ao.h                  |  2 +-
 src/core/ao_packet.h           |  2 +-
 src/core/ao_serial.h           |  8 +++----
 src/core/ao_stdio.c            | 31 +++++++++++++------------
 src/drivers/ao_btm.c           | 52 +++++++++++++++++++++++++++---------------
 src/drivers/ao_packet.c        |  6 ++---
 src/drivers/ao_packet_master.c |  7 +++++-
 src/drivers/ao_packet_slave.c  |  2 +-
 src/stm/ao_serial_stm.c        | 45 +++++++++++++++++-------------------
 src/stm/ao_usb_stm.c           | 23 ++++++++-----------
 14 files changed, 144 insertions(+), 141 deletions(-)

(limited to 'src/core')

diff --git a/src/avr/ao_serial_avr.c b/src/avr/ao_serial_avr.c
index dcee246c..e0f813d5 100644
--- a/src/avr/ao_serial_avr.c
+++ b/src/avr/ao_serial_avr.c
@@ -59,52 +59,51 @@ ISR(USART1_UDRE_vect)
 	ao_wakeup(&ao_serial1_tx_fifo);
 }
 
-char
-ao_serial1_getchar(void) __critical
-{
-	char	c;
-	cli();
-	while (ao_fifo_empty(ao_serial1_rx_fifo))
-		ao_sleep(&ao_serial1_rx_fifo);
-	ao_fifo_remove(ao_serial1_rx_fifo, c);
-	sei();
-	return c;
-}
-
 #if USE_SERIAL_1_STDIN
-char
-ao_serial1_pollchar(void) __critical
+int
+_ao_serial1_pollchar(void)
 {
 	char	c;
-	cli();
 	if (ao_fifo_empty(ao_serial1_rx_fifo)) {
 		sei();
 		return AO_READ_AGAIN;
 	}
 	ao_fifo_remove(ao_serial1_rx_fifo,c);
-	sei();
 	return c;
 }
 #endif
 
+char
+ao_serial1_getchar(void) __critical
+{
+	char	c;
+
+	ao_arch_block_interrupts();
+	while (ao_fifo_empty(ao_serial1_rx_fifo))
+		ao_sleep(&ao_serial1_rx_fifo);
+	ao_fifo_remove(ao_serial1_rx_fifo, c);
+	ao_arch_release_interrupts();
+	return c;
+}
+
 void
-ao_serial1_putchar(char c) __critical
+ao_serial1_putchar(char c)
 {
-	cli();
+	ao_arch_block_interrupts();
 	while (ao_fifo_full(ao_serial1_tx_fifo))
 		ao_sleep(&ao_serial1_tx_fifo);
 	ao_fifo_insert(ao_serial1_tx_fifo, c);
 	ao_serial_tx1_start();
-	sei();
+	ao_arch_release_interrupts();
 }
 
 void
 ao_serial1_drain(void) __critical
 {
-	cli();
+	ao_arch_block_interrupts();
 	while (!ao_fifo_empty(ao_serial1_tx_fifo))
 		ao_sleep(&ao_serial1_tx_fifo);
-	sei();
+	ao_arch_release_interrupts();
 }
 
 static const struct {
@@ -155,7 +154,7 @@ ao_serial_init(void)
 		  (1 << RXCIE1) |	/* Enable receive interrupts */
 		  (1 << UDRIE1));	/* Enable transmit empty interrupts */
 #if USE_SERIAL_1_STDIN
-	ao_add_stdio(ao_serial1_pollchar,
+	ao_add_stdio(_ao_serial1_pollchar,
 		     ao_serial1_putchar,
 		     NULL);
 #endif
diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c
index 2ef546c9..bd75b17d 100644
--- a/src/avr/ao_usb_avr.c
+++ b/src/avr/ao_usb_avr.c
@@ -411,7 +411,7 @@ ao_usb_ep0(void)
 
 /* Wait for a free IN buffer */
 static void
-ao_usb_in_wait(void)
+_ao_usb_in_wait(void)
 {
 	for (;;) {
 		/* Check if the current buffer is writable */
@@ -419,7 +419,6 @@ ao_usb_in_wait(void)
 		if (UEINTX & (1 << RWAL))
 			break;
 
-		cli();
 		/* Wait for an IN buffer to be ready */
 		for (;;) {
 			UENUM = AO_USB_IN_EP;
@@ -430,24 +429,24 @@ ao_usb_in_wait(void)
 		}
 		/* Ack the interrupt */
 		UEINTX &= ~(1 << TXINI);
-		sei();
 	}
 }
 
 /* Queue the current IN buffer for transmission */
 static void
-ao_usb_in_send(void)
+_ao_usb_in_send(void)
 {
 	UENUM = AO_USB_IN_EP;
 	UEINTX &= ~(1 << FIFOCON);
 }
 
 void
-ao_usb_flush(void) __critical
+ao_usb_flush(void)
 {
 	if (!ao_usb_running)
 		return;
 
+	ao_arch_block_interrupts();
 	/* Anytime we've sent a character since
 	 * the last time we flushed, we'll need
 	 * to send a packet -- the only other time
@@ -457,18 +456,20 @@ ao_usb_flush(void) __critical
 	 */
 	if (!ao_usb_in_flushed) {
 		ao_usb_in_flushed = 1;
-		ao_usb_in_wait();
-		ao_usb_in_send();
+		_ao_usb_in_wait();
+		_ao_usb_in_send();
 	}
+	ao_arch_release_interrupts();
 }
 
 void
-ao_usb_putchar(char c) __critical __reentrant
+ao_usb_putchar(char c)
 {
 	if (!ao_usb_running)
 		return;
 
-	ao_usb_in_wait();
+	ao_arch_block_interrupts();
+	_ao_usb_in_wait();
 
 	/* Queue a byte */
 	UENUM = AO_USB_IN_EP;
@@ -476,11 +477,12 @@ ao_usb_putchar(char c) __critical __reentrant
 
 	/* Send the packet when full */
 	if ((UEINTX & (1 << RWAL)) == 0)
-		ao_usb_in_send();
+		_ao_usb_in_send();
 	ao_usb_in_flushed = 0;
+	ao_arch_release_interrupts();
 }
 
-static int
+int
 _ao_usb_pollchar(void)
 {
 	uint8_t c;
@@ -517,25 +519,15 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-int
-ao_usb_pollchar(void)
-{
-	int	c;
-	cli();
-	c = _ao_usb_pollchar();
-	sei();
-	return c;
-}
-
 char
-ao_usb_getchar(void) __critical
+ao_usb_getchar(void)
 {
 	int	c;
 
-	cli();
+	ao_arch_block_interrupts();
 	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
 		ao_sleep(&ao_stdin_ready);
-	sei();
+	ao_arch_release_interrupts();
 	return c;
 }
 
@@ -668,5 +660,5 @@ ao_usb_init(void)
 #if USB_DEBUG
 	ao_add_task(&ao_usb_echo_task, ao_usb_echo, "usb echo");
 #endif
-	ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
+	ao_add_stdio(_ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
 }
diff --git a/src/cc1111/ao_serial.c b/src/cc1111/ao_serial.c
index 8913a9b0..81727836 100644
--- a/src/cc1111/ao_serial.c
+++ b/src/cc1111/ao_serial.c
@@ -92,7 +92,7 @@ ao_serial0_getchar(void) __critical
 
 #if USE_SERIAL_0_STDIN
 int
-ao_serial0_pollchar(void) __critical
+_ao_serial0_pollchar(void)
 {
 	uint8_t	c;
 	if (ao_fifo_empty(ao_serial0_rx_fifo))
@@ -180,7 +180,7 @@ ao_serial1_getchar(void) __critical
 
 #if USE_SERIAL_1_STDIN
 int
-ao_serial1_pollchar(void) __critical
+_ao_serial1_pollchar(void)
 {
 	uint8_t	c;
 	if (ao_fifo_empty(ao_serial1_rx_fifo))
@@ -271,7 +271,7 @@ ao_serial_init(void)
 	IEN0 |= IEN0_URX0IE;
 	IEN2 |= IEN2_UTX0IE;
 #if USE_SERIAL_0_STDIN && !DELAY_SERIAL_0_STDIN
-	ao_add_stdio(ao_serial0_pollchar,
+	ao_add_stdio(_ao_serial0_pollchar,
 		     ao_serial0_putchar,
 		     NULL);
 #endif
@@ -327,7 +327,7 @@ ao_serial_init(void)
 	IEN2 |= IEN2_UTX1IE;
 
 #if USE_SERIAL_1_STDIN && !DELAY_SERIAL_1_STDIN
-	ao_add_stdio(ao_serial1_pollchar,
+	ao_add_stdio(_ao_serial1_pollchar,
 		     ao_serial1_putchar,
 		     NULL);
 #endif
diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c
index f66e807c..8bd2efdf 100644
--- a/src/cc1111/ao_usb.c
+++ b/src/cc1111/ao_usb.c
@@ -383,18 +383,18 @@ ao_usb_putchar(char c) __critical __reentrant
 }
 
 int
-ao_usb_pollchar(void) __critical
+_ao_usb_pollchar(void)
 {
 	uint8_t c;
 	if (ao_usb_out_bytes == 0) {
 		USBINDEX = AO_USB_OUT_EP;
 		if ((USBCSOL & USBCSOL_OUTPKT_RDY) == 0)
-			return -1;
+			return AO_READ_AGAIN;
 		ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL;
 		if (ao_usb_out_bytes == 0) {
 			USBINDEX = AO_USB_OUT_EP;
 			USBCSOL &= ~USBCSOL_OUTPKT_RDY;
-			return -1;
+			return AO_READ_AGAIN;
 		}
 	}
 	--ao_usb_out_bytes;
@@ -407,12 +407,14 @@ ao_usb_pollchar(void) __critical
 }
 
 char
-ao_usb_getchar(void) __critical
+ao_usb_getchar(void)
 {
 	int	c;
 
-	while ((c = ao_usb_pollchar()) == AO_READ_AGAIN)
+	ao_arch_block_interrupts();
+	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
 		ao_sleep(&ao_stdin_ready);
+	ao_arch_release_interrupts();
 	return c;
 }
 
@@ -459,5 +461,5 @@ ao_usb_init(void)
 	ao_usb_enable();
 
 	ao_add_task(&ao_usb_task, ao_usb_ep0, "usb");
-	ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
+	ao_add_stdio(_ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
 }
diff --git a/src/core/ao.h b/src/core/ao.h
index e3161b4c..6c790f69 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -638,7 +638,7 @@ ao_monitor_init(void) __reentrant;
 #define AO_READ_AGAIN	(-1)
 
 struct ao_stdio {
-	int	(*pollchar)(void);
+	int	(*_pollchar)(void);	/* Called with interrupts blocked */
 	void	(*putchar)(char c) __reentrant;
 	void	(*flush)(void);
 	uint8_t	echo;
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 08b184d6..6d121bb9 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -63,7 +63,7 @@ void
 ao_packet_putchar(char c) __reentrant;
 
 int
-ao_packet_pollchar(void);
+_ao_packet_pollchar(void);
 
 #if PACKET_HAS_MASTER
 /* ao_packet_master.c */
diff --git a/src/core/ao_serial.h b/src/core/ao_serial.h
index a799bf2c..baf213c0 100644
--- a/src/core/ao_serial.h
+++ b/src/core/ao_serial.h
@@ -32,7 +32,7 @@ char
 ao_serial0_getchar(void);
 
 int
-ao_serial0_pollchar(void);
+_ao_serial0_pollchar(void);
 
 void
 ao_serial0_putchar(char c);
@@ -52,7 +52,7 @@ char
 ao_serial1_getchar(void);
 
 int
-ao_serial1_pollchar(void);
+_ao_serial1_pollchar(void);
 
 void
 ao_serial1_putchar(char c);
@@ -72,7 +72,7 @@ char
 ao_serial2_getchar(void);
 
 int
-ao_serial2_pollchar(void);
+_ao_serial2_pollchar(void);
 
 void
 ao_serial2_putchar(char c);
@@ -92,7 +92,7 @@ char
 ao_serial3_getchar(void);
 
 int
-ao_serial3_pollchar(void);
+_ao_serial3_pollchar(void);
 
 void
 ao_serial3_putchar(char c);
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 1748dfe8..977d74b1 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -99,20 +99,21 @@ char
 getchar(void) __reentrant
 {
 	int c;
-	ao_arch_critical(
-		int8_t stdio = ao_cur_stdio;
+	int8_t stdio;
 
-		for (;;) {
-			c = ao_stdios[stdio].pollchar();
-			if (c != AO_READ_AGAIN)
-				break;
-			if (++stdio == ao_num_stdios)
-				stdio = 0;
-			if (stdio == ao_cur_stdio)
-				ao_sleep(&ao_stdin_ready);
-		}
-		ao_cur_stdio = stdio;
-		);
+	ao_arch_block_interrupts();
+	stdio = ao_cur_stdio;
+	for (;;) {
+		c = ao_stdios[stdio]._pollchar();
+		if (c != AO_READ_AGAIN)
+			break;
+		if (++stdio == ao_num_stdios)
+			stdio = 0;
+		if (stdio == ao_cur_stdio)
+			ao_sleep(&ao_stdin_ready);
+	}
+	ao_cur_stdio = stdio;
+	ao_arch_release_interrupts();
 	return c;
 }
 
@@ -123,13 +124,13 @@ ao_echo(void)
 }
 
 int8_t
-ao_add_stdio(int (*pollchar)(void),
+ao_add_stdio(int (*_pollchar)(void),
 	     void (*putchar)(char),
 	     void (*flush)(void)) __reentrant
 {
 	if (ao_num_stdios == AO_NUM_STDIOS)
 		ao_panic(AO_PANIC_STDIO);
-	ao_stdios[ao_num_stdios].pollchar = pollchar;
+	ao_stdios[ao_num_stdios]._pollchar = _pollchar;
 	ao_stdios[ao_num_stdios].putchar = putchar;
 	ao_stdios[ao_num_stdios].flush = flush;
 	ao_stdios[ao_num_stdios].echo = 1;
diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c
index c862200a..de1f31a3 100644
--- a/src/drivers/ao_btm.c
+++ b/src/drivers/ao_btm.c
@@ -19,9 +19,10 @@
 
 #ifndef ao_serial_btm_getchar
 #define ao_serial_btm_putchar	ao_serial1_putchar
-#define ao_serial_btm_pollchar	ao_serial1_pollchar
+#define _ao_serial_btm_pollchar	_ao_serial1_pollchar
 #define ao_serial_btm_set_speed ao_serial1_set_speed
 #define ao_serial_btm_drain	ao_serial1_drain
+#define ao_serial_btm_rx_fifo	ao_serial1_rx_fifo
 #endif
 
 int8_t			ao_btm_stdio;
@@ -111,6 +112,30 @@ __code struct ao_cmds ao_btm_cmds[] = {
 #define AO_BTM_MAX_REPLY	16
 __xdata char		ao_btm_reply[AO_BTM_MAX_REPLY];
 
+/*
+ * Read one bluetooth character.
+ * Returns AO_READ_AGAIN if no character arrives within 10ms
+ */
+
+static int
+ao_btm_getchar(void)
+{
+	int	c;
+
+	ao_arch_block_interrupts();
+	while ((c = _ao_serial_btm_pollchar()) == AO_READ_AGAIN) {
+		ao_alarm(AO_MS_TO_TICKS(10));
+		c = ao_sleep(&ao_serial_btm_rx_fifo);
+		ao_clear_alarm();
+		if (c) {
+			c = AO_READ_AGAIN;
+			break;
+		}
+	}
+	ao_arch_release_interrupts();
+	return c;
+}
+
 /*
  * Read a line of data from the serial port, truncating
  * it after a few characters.
@@ -122,24 +147,13 @@ ao_btm_get_line(void)
 	uint8_t ao_btm_reply_len = 0;
 	int c;
 
-	for (;;) {
-
-		while ((c = ao_serial_btm_pollchar()) != AO_READ_AGAIN) {
-			ao_btm_log_in_char(c);
-			if (ao_btm_reply_len < sizeof (ao_btm_reply))
-				ao_btm_reply[ao_btm_reply_len++] = c;
-			if (c == '\r' || c == '\n')
-				goto done;
-		}
-		for (c = 0; c < 10; c++) {
-			ao_delay(AO_MS_TO_TICKS(10));
-			if (!ao_fifo_empty(ao_serial1_rx_fifo))
-				break;
-		}
-		if (c == 10)
-			goto done;
+	while ((c = ao_btm_getchar()) != AO_READ_AGAIN) {
+		ao_btm_log_in_char(c);
+		if (ao_btm_reply_len < sizeof (ao_btm_reply))
+			ao_btm_reply[ao_btm_reply_len++] = c;
+		if (c == '\r' || c == '\n')
+			break;
 	}
-done:
 	for (c = ao_btm_reply_len; c < sizeof (ao_btm_reply);)
 		ao_btm_reply[c++] = '\0';
 	return ao_btm_reply_len;
@@ -279,7 +293,7 @@ ao_btm(void)
 	/* Turn off status reporting */
 	ao_btm_cmd("ATQ1\r");
 
-	ao_btm_stdio = ao_add_stdio(ao_serial_btm_pollchar,
+	ao_btm_stdio = ao_add_stdio(_ao_serial_btm_pollchar,
 				    ao_serial_btm_putchar,
 				    NULL);
 	ao_btm_echo(0);
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 91319923..5a507478 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -169,12 +169,10 @@ ao_packet_putchar(char c) __reentrant
 		tx_data[ao_packet_tx_used++] = c;
 }
 
+/* May be called with interrupts blocked */
 int
-ao_packet_pollchar(void)
+_ao_packet_pollchar(void)
 {
-	/* No need to block interrupts, all variables here
-	 * are only manipulated in task context
-	 */
 	if (!ao_packet_enable)
 		return AO_READ_AGAIN;
 
diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index 023c788b..4c0dc573 100644
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -21,7 +21,12 @@ static char
 ao_packet_getchar(void)
 {
 	int c;
-	while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
+
+	/* No need to block interrupts in this function as
+	 * all packet variables are only modified from task
+	 * context, not an interrupt handler
+	 */
+	while ((c = _ao_packet_pollchar()) == AO_READ_AGAIN) {
 		if (!ao_packet_enable)
 			break;
 		if (ao_packet_master_sleeping)
diff --git a/src/drivers/ao_packet_slave.c b/src/drivers/ao_packet_slave.c
index e45775cb..e75df0d6 100644
--- a/src/drivers/ao_packet_slave.c
+++ b/src/drivers/ao_packet_slave.c
@@ -59,7 +59,7 @@ ao_packet_slave_stop(void)
 void
 ao_packet_slave_init(uint8_t enable)
 {
-	ao_add_stdio(ao_packet_pollchar,
+	ao_add_stdio(_ao_packet_pollchar,
 		     ao_packet_putchar,
 		     NULL);
 	if (enable)
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index ce33f97e..2133c584 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -59,24 +59,11 @@ ao_usart_isr(struct ao_stm_usart *usart, int stdin)
 	}
 }
 
-char
-ao_usart_getchar(struct ao_stm_usart *usart)
-{
-	char c;
-	ao_arch_block_interrupts();
-	while (ao_fifo_empty(usart->rx_fifo))
-		ao_sleep(&usart->rx_fifo);
-	ao_fifo_remove(usart->rx_fifo, c);
-	ao_arch_release_interrupts();
-	return c;
-}
-
 int
-ao_usart_pollchar(struct ao_stm_usart *usart)
+_ao_usart_pollchar(struct ao_stm_usart *usart)
 {
 	int	c;
 	
-	ao_arch_block_interrupts();
 	if (ao_fifo_empty(usart->rx_fifo))
 		c = AO_READ_AGAIN;
 	else {
@@ -84,10 +71,20 @@ ao_usart_pollchar(struct ao_stm_usart *usart)
 		ao_fifo_remove(usart->rx_fifo,u);
 		c = u;
 	}
-	ao_arch_release_interrupts();
 	return c;
 }
 
+char
+ao_usart_getchar(struct ao_stm_usart *usart)
+{
+	int c;
+	ao_arch_block_interrupts();
+	while ((c = _ao_usart_pollchar(usart)) == AO_READ_AGAIN)
+		ao_sleep(&usart->rx_fifo);
+	ao_arch_release_interrupts();
+	return (char) c;
+}
+
 void
 ao_usart_putchar(struct ao_stm_usart *usart, char c)
 {
@@ -201,9 +198,9 @@ ao_serial1_putchar(char c)
 }
 
 int
-ao_serial1_pollchar(void)
+_ao_serial1_pollchar(void)
 {
-	return ao_usart_pollchar(&ao_stm_usart1);
+	return _ao_usart_pollchar(&ao_stm_usart1);
 }
 
 void
@@ -232,9 +229,9 @@ ao_serial2_putchar(char c)
 }
 
 int
-ao_serial2_pollchar(void)
+_ao_serial2_pollchar(void)
 {
-	return ao_usart_pollchar(&ao_stm_usart2);
+	return _ao_usart_pollchar(&ao_stm_usart2);
 }
 
 void
@@ -263,9 +260,9 @@ ao_serial3_putchar(char c)
 }
 
 int
-ao_serial3_pollchar(void)
+_ao_serial3_pollchar(void)
 {
-	return ao_usart_pollchar(&ao_stm_usart3);
+	return _ao_usart_pollchar(&ao_stm_usart3);
 }
 
 void
@@ -309,7 +306,7 @@ ao_serial_init(void)
 	stm_nvic_set_enable(STM_ISR_USART1_POS);
 	stm_nvic_set_priority(STM_ISR_USART1_POS, 4);
 #if USE_SERIAL_1_STDIN
-	ao_add_stdio(ao_serial1_pollchar,
+	ao_add_stdio(_ao_serial1_pollchar,
 		     ao_serial1_putchar,
 		     NULL);
 #endif
@@ -346,7 +343,7 @@ ao_serial_init(void)
 	stm_nvic_set_enable(STM_ISR_USART2_POS);
 	stm_nvic_set_priority(STM_ISR_USART2_POS, 4);
 #if USE_SERIAL_2_STDIN
-	ao_add_stdio(ao_serial2_pollchar,
+	ao_add_stdio(_ao_serial2_pollchar,
 		     ao_serial2_putchar,
 		     NULL);
 #endif
@@ -390,7 +387,7 @@ ao_serial_init(void)
 	stm_nvic_set_enable(STM_ISR_USART3_POS);
 	stm_nvic_set_priority(STM_ISR_USART3_POS, 4);
 #if USE_SERIAL_3_STDIN
-	ao_add_stdio(ao_serial3_pollchar,
+	ao_add_stdio(_ao_serial3_pollchar,
 		     ao_serial3_putchar,
 		     NULL);
 #endif
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index 9379e5cd..dfa58c42 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -229,10 +229,9 @@ ao_usb_set_stat_tx(int ep, uint32_t stat_tx)
 }
 
 static void
-ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
+_ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
 	uint32_t	epr_write, epr_old;
 
-	ao_arch_block_interrupts();
 	epr_write = epr_old = stm_usb.epr[ep];
 	epr_write &= STM_USB_EPR_PRESERVE_MASK;
 	epr_write |= STM_USB_EPR_INVARIANT;
@@ -240,6 +239,12 @@ ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
 			      STM_USB_EPR_STAT_RX_MASK << STM_USB_EPR_STAT_RX,
 			      stat_rx << STM_USB_EPR_STAT_RX);
 	stm_usb.epr[ep] = epr_write;
+}
+
+static void
+ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
+	ao_arch_block_interrupts();
+	_ao_usb_set_stat_rx(ep, stat_rx);
 	ao_arch_release_interrupts();
 }
 
@@ -870,10 +875,10 @@ _ao_usb_out_recv(void)
 	ao_usb_rx_pos = 0;
 
 	/* ACK the packet */
-	ao_usb_set_stat_rx(AO_USB_OUT_EPR, STM_USB_EPR_STAT_RX_VALID);
+	_ao_usb_set_stat_rx(AO_USB_OUT_EPR, STM_USB_EPR_STAT_RX_VALID);
 }
 
-static int
+int
 _ao_usb_pollchar(void)
 {
 	uint8_t c;
@@ -896,16 +901,6 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-int
-ao_usb_pollchar(void)
-{
-	int	c;
-	ao_arch_block_interrupts();
-	c = _ao_usb_pollchar();
-	ao_arch_release_interrupts();
-	return c;
-}
-
 char
 ao_usb_getchar(void)
 {
-- 
cgit v1.2.3


From a764bf06d0975cbf1620b079351c7437053ea1a8 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 1 Apr 2013 01:58:37 -0700
Subject: altos: Flush the on-board mega log after every sample interval.

SPI flash parts don't need flushing, but the SD card does. Make sure
the SD card contents are sane after every logging interval has passed
by flushing all dirty blocks to the device.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_log.h        | 3 +++
 src/core/ao_log_mega.c   | 2 ++
 src/drivers/ao_log_fat.c | 6 ++++++
 3 files changed, 11 insertions(+)

(limited to 'src/core')

diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index 036d6f2d..cac78771 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -268,4 +268,7 @@ ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 uint8_t
 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 
+void
+ao_log_flush(void);
+
 #endif /* _AO_LOG_H_ */
diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c
index e03687ad..ba3f7bfc 100644
--- a/src/core/ao_log_mega.c
+++ b/src/core/ao_log_mega.c
@@ -171,6 +171,8 @@ ao_log(void)
 		}
 #endif
 
+		ao_log_flush();
+
 		/* Wait for a while */
 		ao_delay(AO_MS_TO_TICKS(100));
 
diff --git a/src/drivers/ao_log_fat.c b/src/drivers/ao_log_fat.c
index 2741555f..6b433b99 100644
--- a/src/drivers/ao_log_fat.c
+++ b/src/drivers/ao_log_fat.c
@@ -83,3 +83,9 @@ ao_log_mega(struct ao_log_mega *log)
 	ao_mutex_put(&log_mutex);
 	return wrote;
 }
+
+void
+ao_log_flush(void)
+{
+	ao_fat_sync();
+}
-- 
cgit v1.2.3


From 398c02b945a58634c8932f07df2c2be8438da7d1 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 9 Apr 2013 00:28:05 -0700
Subject: altoslib/altosui: Carry receiver status around in AltosListenerState

This moves the crc_errors into the new structure and adds a receiver
battery voltage value there as well. Now the receiver status can be
monitored separately from the flight status. That also means that code
receiving state updates should be prepared to accept missing listener
or flight state values.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 altoslib/AltosConfigData.java        |   6 +
 altoslib/AltosFlightReader.java      |   4 +
 altoslib/AltosGPS.java               |  57 +++++-----
 altoslib/AltosIdleMonitor.java       |   6 +-
 altoslib/AltosLink.java              |  57 ++++++++++
 altoslib/AltosListenerState.java     |  28 +++++
 altoslib/AltosRecord.java            |  24 ++--
 altoslib/AltosSensorMM.java          | 122 +++++++++-----------
 altoslib/AltosSensorTM.java          |  80 ++++++-------
 altoslib/AltosState.java             |  21 +++-
 altoslib/AltosTelemetryReader.java   |   8 ++
 altoslib/Makefile.am                 |   1 +
 altosui/AltosAscent.java             |  36 +++---
 altosui/AltosCompanionInfo.java      |   2 +-
 altosui/AltosDescent.java            |  48 ++++----
 altosui/AltosDisplayThread.java      |  55 ++++-----
 altosui/AltosFlightDisplay.java      |   2 +-
 altosui/AltosFlightStatus.java       |  38 ++++---
 altosui/AltosFlightStatusUpdate.java |  12 +-
 altosui/AltosFlightUI.java           |  31 ++---
 altosui/AltosGraphUI.java            |   2 +-
 altosui/AltosIdleMonitorUI.java      |  10 +-
 altosui/AltosInfoTable.java          | 213 ++++++++++++++++++-----------------
 altosui/AltosLanded.java             |  32 +++---
 altosui/AltosPad.java                | 199 +++++++++++++++++++-------------
 altosui/AltosSiteMap.java            |   6 +-
 altosui/AltosSiteMapTile.java        |   2 +-
 src/core/ao.h                        |   2 +-
 src/stm/ao_timer.c                   |  11 +-
 29 files changed, 632 insertions(+), 483 deletions(-)
 create mode 100644 altoslib/AltosListenerState.java

(limited to 'src/core')

diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 45b95646..57605607 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -135,6 +135,12 @@ public class AltosConfigData implements Iterable<String> {
 		}
 	}
 
+	public boolean has_monitor_battery() {
+		if (product.startsWith("TeleBT"))
+			return true;
+		return false;
+	}
+
 	int[] parse_version(String v) {
 		String[] parts = v.split("\\.");
 		int r[] = new int[parts.length];
diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java
index 3039b4dc..34526658 100644
--- a/altoslib/AltosFlightReader.java
+++ b/altoslib/AltosFlightReader.java
@@ -45,4 +45,8 @@ public class AltosFlightReader {
 	public boolean supports_telemetry(int telemetry) { return false; }
 
 	public File backing_file() { return null; }
+
+	public boolean has_monitor_battery() { return false; }
+
+	public double monitor_battery() { return AltosRecord.MISSING; }
 }
diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index 068d8c9c..f23842f3 100644
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -217,33 +217,38 @@ public class AltosGPS {
 	}
 
 	public AltosGPS(AltosGPS old) {
-		nsat = old.nsat;
-		locked = old.locked;
-		connected = old.connected;
-		lat = old.lat;		/* degrees (+N -S) */
-		lon = old.lon;		/* degrees (+E -W) */
-		alt = old.alt;		/* m */
-		year = old.year;
-		month = old.month;
-		day = old.day;
-		hour = old.hour;
-		minute = old.minute;
-		second = old.second;
-
-		ground_speed = old.ground_speed;	/* m/s */
-		course = old.course;		/* degrees */
-		climb_rate = old.climb_rate;	/* m/s */
-		hdop = old.hdop;		/* unitless? */
-		h_error = old.h_error;	/* m */
-		v_error = old.v_error;	/* m */
-
-		if (old.cc_gps_sat != null) {
-			cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
-			for (int i = 0; i < old.cc_gps_sat.length; i++) {
-				cc_gps_sat[i] = new AltosGPSSat();
-				cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
-				cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+		if (old != null) {
+			nsat = old.nsat;
+			locked = old.locked;
+			connected = old.connected;
+			lat = old.lat;		/* degrees (+N -S) */
+			lon = old.lon;		/* degrees (+E -W) */
+			alt = old.alt;		/* m */
+			year = old.year;
+			month = old.month;
+			day = old.day;
+			hour = old.hour;
+			minute = old.minute;
+			second = old.second;
+
+			ground_speed = old.ground_speed;	/* m/s */
+			course = old.course;		/* degrees */
+			climb_rate = old.climb_rate;	/* m/s */
+			hdop = old.hdop;		/* unitless? */
+			h_error = old.h_error;	/* m */
+			v_error = old.v_error;	/* m */
+
+			if (old.cc_gps_sat != null) {
+				cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
+				for (int i = 0; i < old.cc_gps_sat.length; i++) {
+					cc_gps_sat[i] = new AltosGPSSat();
+					cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
+					cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+				}
 			}
+		} else {
+			ClearGPSTime();
+			cc_gps_sat = null;
 		}
 	}
 }
diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java
index f2f75bbb..ec51b9c1 100644
--- a/altoslib/AltosIdleMonitor.java
+++ b/altoslib/AltosIdleMonitor.java
@@ -116,8 +116,10 @@ public class AltosIdleMonitor extends Thread {
 		} finally {
 			if (remote) {
 				link.stop_remote();
-				if (record != null)
-					record.rssi = AltosRSSI();
+				if (record != null) {
+					record.rssi = link.rssi();
+					record.monitor_battery = link.monitor_battery();
+				}
 			} else {
 				if (record != null)
 					record.rssi = 0;
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 9eb25ce0..159ebfe1 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -364,6 +364,63 @@ public abstract class AltosLink implements Runnable {
 		remote = false;
 	}
 
+	public int rssi() throws TimeoutException, InterruptedException {
+		if (remote)
+			return 0;
+		printf("s\n");
+		String line = get_reply_no_dialog(5000);
+		if (line == null)
+			throw new TimeoutException();
+		String[] items = line.split("\\s+");
+		if (items.length < 2)
+			return 0;
+		if (!items[0].equals("RSSI:"))
+			return 0;
+		int rssi = Integer.parseInt(items[1]);
+		return rssi;
+	}
+
+	public String[] adc() throws TimeoutException, InterruptedException {
+		printf("a\n");
+		for (;;) {
+			String line = get_reply_no_dialog(5000);
+			if (line == null) {
+				throw new TimeoutException();
+			}
+			if (!line.startsWith("tick:"))
+				continue;
+			String[] items = line.split("\\s+");
+			return items;
+		}
+	}
+
+	public boolean has_monitor_battery() {
+		return config_data.has_monitor_battery();
+	}
+
+	public double monitor_battery() {
+		int monitor_batt = AltosRecord.MISSING;
+
+		if (config_data.has_monitor_battery()) {
+			try {
+			String[] items = adc();
+			for (int i = 0; i < items.length;) {
+				if (items[i].equals("batt")) {
+					monitor_batt = Integer.parseInt(items[i+1]);
+					i += 2;
+					continue;
+				}
+				i++;
+			}
+			} catch (InterruptedException ie) {
+			} catch (TimeoutException te) {
+			}
+		}
+		if (monitor_batt == AltosRecord.MISSING)
+			return AltosRecord.MISSING;
+		return AltosConvert.cc_battery_to_voltage(monitor_batt);
+	}
+
 	public AltosLink() {
 		callsign = "";
 	}
diff --git a/altoslib/AltosListenerState.java b/altoslib/AltosListenerState.java
new file mode 100644
index 00000000..2fb4673e
--- /dev/null
+++ b/altoslib/AltosListenerState.java
@@ -0,0 +1,28 @@
+/*
+ * 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.
+ */
+
+package org.altusmetrum.altoslib_1;
+
+public class AltosListenerState {
+	public int	crc_errors;
+	public double	battery;
+
+	public AltosListenerState() {
+		crc_errors = 0;
+		battery = AltosRecord.MISSING;
+	}
+}
diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java
index f8c44cc5..7046b9f1 100644
--- a/altoslib/AltosRecord.java
+++ b/altoslib/AltosRecord.java
@@ -17,7 +17,7 @@
 
 package org.altusmetrum.altoslib_1;
 
-public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable {
+public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
 
 	public static final int	seen_flight = 1;
 	public static final int	seen_sensor = 2;
@@ -75,15 +75,17 @@ public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable
 	 *	temperature:	°C
 	 */
 
-	abstract public double pressure();
-	abstract public double ground_pressure();
-	abstract public double acceleration();
+	public double pressure() { return MISSING; }
+	public double ground_pressure() { return MISSING; }
+	public double acceleration() { return MISSING; }
 
 	public double altitude() {
 		double	p = pressure();
 
-		if (p == MISSING)
+		if (p == MISSING) {
+			System.out.printf ("altitude missing\n");
 			return MISSING;
+		}
 		return AltosConvert.pressure_to_altitude(p);
 	}
 
@@ -126,7 +128,11 @@ public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable
 		return tick - o.tick;
 	}
 
-	abstract public AltosRecord clone();
+	public AltosRecord clone() {
+		AltosRecord n = new AltosRecord();
+		n.copy(this);
+		return n;
+	}
 
 	public void copy(AltosRecord old) {
 		seen = old.seen;
@@ -150,13 +156,13 @@ public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable
 		seen = 0;
 		version = 0;
 		callsign = "N0CALL";
-		serial = 0;
-		flight = 0;
+		serial = MISSING;
+		flight = MISSING;
 		rssi = 0;
 		status = 0;
 		state = AltosLib.ao_flight_startup;
 		tick = 0;
-		gps = new AltosGPS();
+		gps = null;
 		new_gps = false;
 		companion = null;
 
diff --git a/altoslib/AltosSensorMM.java b/altoslib/AltosSensorMM.java
index 8372d047..6d1b61c0 100644
--- a/altoslib/AltosSensorMM.java
+++ b/altoslib/AltosSensorMM.java
@@ -28,75 +28,65 @@ class AltosSensorMM {
 	int		accel_ref;
 
 	public AltosSensorMM(AltosLink link) throws InterruptedException, TimeoutException {
-		link.printf("a\n");
-		for (;;) {
-			String line = link.get_reply_no_dialog(5000);
-			if (line == null) {
-				throw new TimeoutException();
+		String[] items = link.adc();
+		sense = new int[6];
+		for (int i = 0; i < items.length;) {
+			if (items[i].equals("tick:")) {
+				tick = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("0:")) {
+				sense[0] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("1:")) {
+				sense[1] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("2:")) {
+				sense[2] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("3:")) {
+				sense[3] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("4:")) {
+				sense[4] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("5:")) {
+				sense[5] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("6:")) {
+				v_batt = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("7:")) {
+				v_pyro = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("8:")) {
+				accel = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
 			}
-			if (!line.startsWith("tick:"))
+			if (items[i].equals("9:")) {
+				accel_ref = Integer.parseInt(items[i+1]);
+				i += 2;
 				continue;
-			String[] items = line.split("\\s+");
-			sense = new int[6];
-			for (int i = 0; i < items.length;) {
-				if (items[i].equals("tick:")) {
-					tick = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("0:")) {
-					sense[0] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("1:")) {
-					sense[1] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("2:")) {
-					sense[2] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("3:")) {
-					sense[3] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("4:")) {
-					sense[4] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("5:")) {
-					sense[5] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("6:")) {
-					v_batt = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("7:")) {
-					v_pyro = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("8:")) {
-					accel = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("9:")) {
-					accel_ref = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				i++;
 			}
-			break;
+			i++;
 		}
 	}
 }
diff --git a/altoslib/AltosSensorTM.java b/altoslib/AltosSensorTM.java
index f5fa83a5..754dc5bb 100644
--- a/altoslib/AltosSensorTM.java
+++ b/altoslib/AltosSensorTM.java
@@ -23,54 +23,44 @@ class AltosSensorTM extends AltosRecordTM {
 
 	public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
 		super();
-		link.printf("a\n");
-		for (;;) {
-			String line = link.get_reply_no_dialog(5000);
-			if (line == null) {
-				throw new TimeoutException();
+		String[] items = link.adc();
+		for (int i = 0; i < items.length;) {
+			if (items[i].equals("tick:")) {
+				tick = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("accel:")) {
+				accel = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("pres:")) {
+				pres = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("temp:")) {
+				temp = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("batt:")) {
+				batt = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("drogue:")) {
+				drogue = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
 			}
-			if (!line.startsWith("tick:"))
+			if (items[i].equals("main:")) {
+				main = Integer.parseInt(items[i+1]);
+				i += 2;
 				continue;
-			String[] items = line.split("\\s+");
-			for (int i = 0; i < items.length;) {
-				if (items[i].equals("tick:")) {
-					tick = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("accel:")) {
-					accel = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("pres:")) {
-					pres = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("temp:")) {
-					temp = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("batt:")) {
-					batt = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("drogue:")) {
-					drogue = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("main:")) {
-					main = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				i++;
 			}
-			break;
+			i++;
 		}
 		ground_accel = config_data.accel_cal_plus;
 		ground_pres = pres;
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 8a3bbd4c..f1bcb1c1 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -155,30 +155,41 @@ public class AltosState {
 				/* compute barometric speed */
 
 				double height_change = height - prev_state.height;
+
+				double prev_baro_speed = prev_state.baro_speed;
+				if (prev_baro_speed == AltosRecord.MISSING)
+					prev_baro_speed = 0;
+
 				if (time_change > 0)
-					baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+					baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
 				else
 					baro_speed = prev_state.baro_speed;
 
+				double prev_accel_speed = prev_state.accel_speed;
+
+				if (prev_accel_speed == AltosRecord.MISSING)
+					prev_accel_speed = 0;
+
 				if (acceleration == AltosRecord.MISSING) {
 					/* Fill in mising acceleration value */
 					accel_speed = baro_speed;
-					if (time_change > 0)
-						acceleration = (accel_speed - prev_state.accel_speed) / time_change;
+
+					if (time_change > 0 && accel_speed != AltosRecord.MISSING)
+						acceleration = (accel_speed - prev_accel_speed) / time_change;
 					else
 						acceleration = prev_state.acceleration;
 				} else {
 					/* compute accelerometer speed */
-					accel_speed = prev_state.accel_speed + acceleration * time_change;
+					accel_speed = prev_accel_speed + acceleration * time_change;
 				}
 			}
-
 		} else {
 			npad = 0;
 			ngps = 0;
 			gps = null;
 			baro_speed = AltosRecord.MISSING;
 			accel_speed = AltosRecord.MISSING;
+			pad_alt = AltosRecord.MISSING;
 			max_baro_speed = 0;
 			max_accel_speed = 0;
 			max_height = 0;
diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index f365b821..b4293c73 100644
--- a/altoslib/AltosTelemetryReader.java
+++ b/altoslib/AltosTelemetryReader.java
@@ -107,6 +107,14 @@ public class AltosTelemetryReader extends AltosFlightReader {
 		return log.file();
 	}
 
+	public boolean has_monitor_battery() {
+		return link.has_monitor_battery();
+	}
+
+	public double monitor_battery() {
+		return link.monitor_battery();
+	}
+
 	public AltosTelemetryReader (AltosLink in_link)
 		throws IOException, InterruptedException, TimeoutException {
 		link = in_link;
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index 8e5701ad..30a9d954 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -37,6 +37,7 @@ altoslib_JAVA = \
 	AltosIMUQuery.java \
 	AltosLine.java \
 	AltosLink.java \
+	AltosListenerState.java \
 	AltosLog.java \
 	AltosMs5607.java \
 	AltosMs5607Query.java \
diff --git a/altosui/AltosAscent.java b/altosui/AltosAscent.java
index 80a5b759..4da4d591 100644
--- a/altosui/AltosAscent.java
+++ b/altosui/AltosAscent.java
@@ -42,7 +42,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 			label.setVisible(false);
 		}
 
-		void show(AltosState state, int crc_errors) {}
+		void show(AltosState state, AltosListenerState listener_state) {}
 
 		void show(String s) {
 			show();
@@ -107,7 +107,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 	public class AscentValue {
 		JLabel		label;
 		JTextField	value;
-		void show(AltosState state, int crc_errors) {}
+		void show(AltosState state, AltosListenerState listener_state) {}
 
 		void reset() {
 			value.setText("");
@@ -174,7 +174,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 		JTextField	max_value;
 		double		max;
 
-		void show(AltosState state, int crc_errors) {}
+		void show(AltosState state, AltosListenerState listener_state) {}
 
 		void reset() {
 			value.setText("");
@@ -239,7 +239,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 
 
 	class Height extends AscentValueHold {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show(AltosConvert.height, state.height);
 		}
 		public Height (GridBagLayout layout, int y) {
@@ -250,7 +250,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 	Height	height;
 
 	class Speed extends AscentValueHold {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			double speed = state.accel_speed;
 			if (!state.ascent)
 				speed = state.baro_speed;
@@ -264,7 +264,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 	Speed	speed;
 
 	class Accel extends AscentValueHold {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show(AltosConvert.accel, state.acceleration);
 		}
 		public Accel (GridBagLayout layout, int y) {
@@ -286,7 +286,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 	}
 
 	class Apogee extends AscentStatus {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show("%4.2f V", state.drogue_sense);
 			lights.set(state.drogue_sense > 3.2);
 		}
@@ -298,7 +298,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 	Apogee apogee;
 
 	class Main extends AscentStatus {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show("%4.2f V", state.main_sense);
 			lights.set(state.main_sense > 3.2);
 		}
@@ -310,7 +310,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 	Main main;
 
 	class Lat extends AscentValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			if (state.gps != null)
 				show(pos(state.gps.lat,"N", "S"));
 			else
@@ -324,7 +324,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 	Lat lat;
 
 	class Lon extends AscentValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			if (state.gps != null)
 				show(pos(state.gps.lon,"E", "W"));
 			else
@@ -359,25 +359,25 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 		accel.set_font();
 	}
 
-	public void show(AltosState state, int crc_errors) {
+	public void show(AltosState state, AltosListenerState listener_state) {
 		if (state.gps != null && state.gps.connected) {
-			lat.show(state, crc_errors);
-			lon.show(state, crc_errors);
+			lat.show(state, listener_state);
+			lon.show(state, listener_state);
 		} else {
 			lat.hide();
 			lon.hide();
 		}
-		height.show(state, crc_errors);
+		height.show(state, listener_state);
 		if (state.main_sense != AltosRecord.MISSING)
-			main.show(state, crc_errors);
+			main.show(state, listener_state);
 		else
 			main.hide();
 		if (state.drogue_sense != AltosRecord.MISSING)
-			apogee.show(state, crc_errors);
+			apogee.show(state, listener_state);
 		else
 			apogee.hide();
-		speed.show(state, crc_errors);
-		accel.show(state, crc_errors);
+		speed.show(state, listener_state);
+		accel.show(state, listener_state);
 	}
 
 	public void labels(GridBagLayout layout, int y) {
diff --git a/altosui/AltosCompanionInfo.java b/altosui/AltosCompanionInfo.java
index 7dd36aec..ebe1d1f9 100644
--- a/altosui/AltosCompanionInfo.java
+++ b/altosui/AltosCompanionInfo.java
@@ -83,7 +83,7 @@ public class AltosCompanionInfo extends JTable {
 		}
 	}
 	
-	public void show(AltosState state, int crc_errors) {
+	public void show(AltosState state, AltosListenerState listener_state) {
 		if (state == null)
 			return;
 		if (state.data.companion != null)
diff --git a/altosui/AltosDescent.java b/altosui/AltosDescent.java
index 9838f46b..29d33ddc 100644
--- a/altosui/AltosDescent.java
+++ b/altosui/AltosDescent.java
@@ -29,7 +29,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 		JTextField	value;
 		AltosLights	lights;
 
-		abstract void show(AltosState state, int crc_errors);
+		abstract void show(AltosState state, AltosListenerState listener_state);
 
 		void show() {
 			label.setVisible(true);
@@ -108,7 +108,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 			value.setText("");
 		}
 
-		abstract void show(AltosState state, int crc_errors);
+		abstract void show(AltosState state, AltosListenerState listener_state);
 
 		void show() {
 			label.setVisible(true);
@@ -192,7 +192,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 			value2.setFont(Altos.value_font);
 		}
 
-		abstract void show(AltosState state, int crc_errors);
+		abstract void show(AltosState state, AltosListenerState listener_state);
 
 		void show(String v1, String v2) {
 			show();
@@ -244,7 +244,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	}
 
 	class Height extends DescentValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show(AltosConvert.height, state.height);
 		}
 		public Height (GridBagLayout layout, int x, int y) {
@@ -255,7 +255,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	Height	height;
 
 	class Speed extends DescentValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			double speed = state.accel_speed;
 			if (!state.ascent)
 				speed = state.baro_speed;
@@ -280,7 +280,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	}
 
 	class Lat extends DescentValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			if (state.gps != null && state.gps.connected)
 				show(pos(state.gps.lat,"N", "S"));
 			else
@@ -294,7 +294,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	Lat lat;
 
 	class Lon extends DescentValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			if (state.gps != null && state.gps.connected)
 				show(pos(state.gps.lon,"W", "E"));
 			else
@@ -308,7 +308,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	Lon lon;
 
 	class Distance extends DescentValue {
-		void show(AltosState state, int crc_errors) {
+		void show(AltosState state, AltosListenerState listener_state) {
 			if (state.from_pad != null)
 				show(AltosConvert.distance, state.from_pad.distance);
 			else
@@ -324,7 +324,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 		
 
 	class Apogee extends DescentStatus {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show("%4.2f V", state.drogue_sense);
 			lights.set(state.drogue_sense > 3.2);
 		}
@@ -336,7 +336,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	Apogee apogee;
 
 	class Main extends DescentStatus {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show("%4.2f V", state.main_sense);
 			lights.set(state.main_sense > 3.2);
 		}
@@ -348,7 +348,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	Main main;
 
 	class Bearing extends DescentDualValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			if (state.from_pad != null) {
 				show( String.format("%3.0f°", state.from_pad.bearing),
 				      state.from_pad.bearing_words(
@@ -365,7 +365,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	Bearing bearing;
 
 	class Range extends DescentValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show(AltosConvert.distance, state.range);
 		}
 		public Range (GridBagLayout layout, int x, int y) {
@@ -376,7 +376,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	Range range;
 
 	class Elevation extends DescentValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show("%3.0f°", state.elevation);
 		}
 		public Elevation (GridBagLayout layout, int x, int y) {
@@ -412,16 +412,16 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 		apogee.set_font();
 	}
 
-	public void show(AltosState state, int crc_errors) {
-		height.show(state, crc_errors);
-		speed.show(state, crc_errors);
+	public void show(AltosState state, AltosListenerState listener_state) {
+		height.show(state, listener_state);
+		speed.show(state, listener_state);
 		if (state.gps != null && state.gps.connected) {
-			bearing.show(state, crc_errors);
-			range.show(state, crc_errors);
-			distance.show(state, crc_errors);
-			elevation.show(state, crc_errors);
-			lat.show(state, crc_errors);
-			lon.show(state, crc_errors);
+			bearing.show(state, listener_state);
+			range.show(state, listener_state);
+			distance.show(state, listener_state);
+			elevation.show(state, listener_state);
+			lat.show(state, listener_state);
+			lon.show(state, listener_state);
 		} else {
 			bearing.hide();
 			range.hide();
@@ -431,11 +431,11 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 			lon.hide();
 		}
 		if (state.main_sense != AltosRecord.MISSING)
-			main.show(state, crc_errors);
+			main.show(state, listener_state);
 		else
 			main.hide();
 		if (state.drogue_sense != AltosRecord.MISSING)
-			apogee.show(state, crc_errors);
+			apogee.show(state, listener_state);
 		else
 			apogee.hide();
 	}
diff --git a/altosui/AltosDisplayThread.java b/altosui/AltosDisplayThread.java
index 6f8aa9ee..095bed99 100644
--- a/altosui/AltosDisplayThread.java
+++ b/altosui/AltosDisplayThread.java
@@ -29,21 +29,17 @@ public class AltosDisplayThread extends Thread {
 	IdleThread		idle_thread;
 	AltosVoice		voice;
 	AltosFlightReader	reader;
-	int			crc_errors;
+	AltosState		old_state, state;
+	AltosListenerState	listener_state;
 	AltosFlightDisplay	display;
 
-	void show_internal(AltosState state, int crc_errors) {
-		if (state != null)
-			display.show(state, crc_errors);
-	}
-
-	void show_safely(AltosState in_state, int in_crc_errors) {
-		final AltosState state = in_state;
-		final int crc_errors = in_crc_errors;
+	synchronized void show_safely() {
+		final AltosState my_state = state;
+		final AltosListenerState my_listener_state = listener_state;
 		Runnable r = new Runnable() {
 				public void run() {
 					try {
-						show_internal(state, crc_errors);
+						display.show(my_state, my_listener_state);
 					} catch (Exception ex) {
 					}
 				}
@@ -73,7 +69,6 @@ public class AltosDisplayThread extends Thread {
 	class IdleThread extends Thread {
 
 		boolean	started;
-		private AltosState state;
 		int	reported_landing;
 		int	report_interval;
 		long	report_time;
@@ -129,7 +124,7 @@ public class AltosDisplayThread extends Thread {
 				++reported_landing;
 				if (state.state != Altos.ao_flight_landed) {
 					state.state = Altos.ao_flight_landed;
-					show_safely(state, 0);
+					show_safely();
 				}
 			}
 		}
@@ -145,6 +140,10 @@ public class AltosDisplayThread extends Thread {
 		public void run () {
 			try {
 				for (;;) {
+					if (reader.has_monitor_battery()) {
+						listener_state.battery = reader.monitor_battery();
+						show_safely();
+					}
 					set_report_time();
 					for (;;) {
 						voice.drain();
@@ -155,6 +154,7 @@ public class AltosDisplayThread extends Thread {
 							wait(sleep_time);
 						}
 					}
+					
 					report(false);
 				}
 			} catch (InterruptedException ie) {
@@ -164,18 +164,7 @@ public class AltosDisplayThread extends Thread {
 			}
 		}
 
-		public synchronized void notice(AltosState new_state, boolean spoken) {
-			AltosState old_state = state;
-			state = new_state;
-			if (!started && state.state > Altos.ao_flight_pad) {
-				started = true;
-				start();
-			}
-
-			if (state.state < Altos.ao_flight_drogue)
-				report_interval = 10000;
-			else
-				report_interval = 20000;
+		public synchronized void notice(boolean spoken) {
 			if (old_state != null && old_state.state != state.state) {
 				report_time = now();
 				this.notify();
@@ -184,13 +173,12 @@ public class AltosDisplayThread extends Thread {
 		}
 
 		public IdleThread() {
-			state = null;
 			reported_landing = 0;
 			report_interval = 10000;
 		}
 	}
 
-	boolean tell(AltosState state, AltosState old_state) {
+	synchronized boolean tell() {
 		boolean	ret = false;
 		if (old_state == null || old_state.state != state.state) {
 			voice.speak(state.data.state());
@@ -222,12 +210,10 @@ public class AltosDisplayThread extends Thread {
 
 	public void run() {
 		boolean		interrupted = false;
-		//String		line;
-		AltosState	state = null;
-		AltosState	old_state = null;
 		boolean		told;
 
 		idle_thread = new IdleThread();
+		idle_thread.start();
 
 		try {
 			for (;;) {
@@ -238,14 +224,14 @@ public class AltosDisplayThread extends Thread {
 					old_state = state;
 					state = new AltosState(record, state);
 					reader.update(state);
-					show_safely(state, crc_errors);
-					told = tell(state, old_state);
-					idle_thread.notice(state, told);
+					show_safely();
+					told = tell();
+					idle_thread.notice(told);
 				} catch (ParseException pp) {
 					System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 				} catch (AltosCRCException ce) {
-					++crc_errors;
-					show_safely(state, crc_errors);
+					++listener_state.crc_errors;
+					show_safely();
 				}
 			}
 		} catch (InterruptedException ee) {
@@ -264,6 +250,7 @@ public class AltosDisplayThread extends Thread {
 	}
 
 	public AltosDisplayThread(Frame in_parent, AltosVoice in_voice, AltosFlightDisplay in_display, AltosFlightReader in_reader) {
+		listener_state = new AltosListenerState();
 		parent = in_parent;
 		voice = in_voice;
 		display = in_display;
diff --git a/altosui/AltosFlightDisplay.java b/altosui/AltosFlightDisplay.java
index d1ed7d2f..4f4c158e 100644
--- a/altosui/AltosFlightDisplay.java
+++ b/altosui/AltosFlightDisplay.java
@@ -22,7 +22,7 @@ import org.altusmetrum.altoslib_1.*;
 public interface AltosFlightDisplay {
 	void reset();
 
-	void show(AltosState state, int crc_errors);
+	void show(AltosState state, AltosListenerState listener_state);
 
 	void set_font();
 }
diff --git a/altosui/AltosFlightStatus.java b/altosui/AltosFlightStatus.java
index 20539a9f..d2910414 100644
--- a/altosui/AltosFlightStatus.java
+++ b/altosui/AltosFlightStatus.java
@@ -28,7 +28,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay
 		JLabel		label;
 		JTextField	value;
 
-		void show(AltosState state, int crc_errors) {}
+		void show(AltosState state, AltosListenerState listener_state) {}
 
 		void reset() {
 			value.setText("");
@@ -64,7 +64,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay
 	}
 
 	class Call extends FlightValue {
-		void show(AltosState state, int crc_errors) {
+		void show(AltosState state, AltosListenerState listener_state) {
 			value.setText(state.data.callsign);
 		}
 		public Call (GridBagLayout layout, int x) {
@@ -75,8 +75,11 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay
 	Call call;
 
 	class Serial extends FlightValue {
-		void show(AltosState state, int crc_errors) {
-			value.setText(String.format("%d", state.data.serial));
+		void show(AltosState state, AltosListenerState listener_state) {
+			if (state.data.serial == AltosRecord.MISSING)
+				value.setText("none");
+			else
+				value.setText(String.format("%d", state.data.serial));
 		}
 		public Serial (GridBagLayout layout, int x) {
 			super (layout, x, "Serial");
@@ -86,8 +89,11 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay
 	Serial serial;
 
 	class Flight extends FlightValue {
-		void show(AltosState state, int crc_errors) {
-			value.setText(String.format("%d", state.data.flight));
+		void show(AltosState state, AltosListenerState listener_state) {
+			if (state.data.flight == AltosRecord.MISSING)
+				value.setText("none");
+			else
+				value.setText(String.format("%d", state.data.flight));
 		}
 		public Flight (GridBagLayout layout, int x) {
 			super (layout, x, "Flight");
@@ -97,7 +103,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay
 	Flight flight;
 
 	class FlightState extends FlightValue {
-		void show(AltosState state, int crc_errors) {
+		void show(AltosState state, AltosListenerState listener_state) {
 			value.setText(state.data.state());
 		}
 		public FlightState (GridBagLayout layout, int x) {
@@ -108,7 +114,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay
 	FlightState flight_state;
 
 	class RSSI extends FlightValue {
-		void show(AltosState state, int crc_errors) {
+		void show(AltosState state, AltosListenerState listener_state) {
 			value.setText(String.format("%d", state.data.rssi));
 		}
 		public RSSI (GridBagLayout layout, int x) {
@@ -119,7 +125,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay
 	RSSI rssi;
 
 	class LastPacket extends FlightValue {
-		void show(AltosState state, int crc_errors) {
+		void show(AltosState state, AltosListenerState listener_state) {
 			long secs = (System.currentTimeMillis() - state.report_time + 500) / 1000;
 			value.setText(String.format("%d", secs));
 		}
@@ -148,13 +154,13 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay
 		last_packet.set_font();
 	}
 
-	public void show (AltosState state, int crc_errors) {
-		call.show(state, crc_errors);
-		serial.show(state, crc_errors);
-		flight.show(state, crc_errors);
-		flight_state.show(state, crc_errors);
-		rssi.show(state, crc_errors);
-		last_packet.show(state, crc_errors);
+	public void show (AltosState state, AltosListenerState listener_state) {
+		call.show(state, listener_state);
+		serial.show(state, listener_state);
+		flight.show(state, listener_state);
+		flight_state.show(state, listener_state);
+		rssi.show(state, listener_state);
+		last_packet.show(state, listener_state);
 	}
 
 	public int height() {
diff --git a/altosui/AltosFlightStatusUpdate.java b/altosui/AltosFlightStatusUpdate.java
index bf679b85..962a08f7 100644
--- a/altosui/AltosFlightStatusUpdate.java
+++ b/altosui/AltosFlightStatusUpdate.java
@@ -22,12 +22,16 @@ import org.altusmetrum.altoslib_1.*;
 
 public class AltosFlightStatusUpdate implements ActionListener {
 
-	public AltosState	saved_state;
-	AltosFlightStatus	flightStatus;
+	public AltosState		saved_state;
+	public AltosListenerState	saved_listener_state;
+	AltosFlightStatus		flightStatus;
 
 	public void actionPerformed (ActionEvent e) {
-		if (saved_state != null)
-			flightStatus.show(saved_state, 0);
+		if (saved_state != null) {
+			if (saved_listener_state == null)
+				saved_listener_state = new AltosListenerState();
+			flightStatus.show(saved_state, saved_listener_state);
+		}
 	}
 
 	public AltosFlightStatusUpdate (AltosFlightStatus in_flightStatus) {
diff --git a/altosui/AltosFlightUI.java b/altosui/AltosFlightUI.java
index c04a4357..6b258f2e 100644
--- a/altosui/AltosFlightUI.java
+++ b/altosui/AltosFlightUI.java
@@ -98,11 +98,15 @@ public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, A
 
 	AltosFlightStatusUpdate	status_update;
 
-	public void show(AltosState state, int crc_errors) {
+	public void show(AltosState state, AltosListenerState listener_state) {
 		status_update.saved_state = state;
-		JComponent tab = which_tab(state);
-		try {
-		pad.show(state, crc_errors);
+
+		if (state == null) {
+			System.out.printf ("no state provided\n");
+			state = new AltosState(new AltosRecord());
+		}
+
+		pad.show(state, listener_state);
 
 		if (state.state != Altos.ao_flight_startup) {
 			if (!has_state) {
@@ -114,25 +118,26 @@ public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, A
 			}
 		}
 
-		ascent.show(state, crc_errors);
-		descent.show(state, crc_errors);
-		landed.show(state, crc_errors);
+		ascent.show(state, listener_state);
+		descent.show(state, listener_state);
+		landed.show(state, listener_state);
 
+		JComponent tab = which_tab(state);
 		if (tab != cur_tab) {
 			if (cur_tab == pane.getSelectedComponent()) {
 				pane.setSelectedComponent(tab);
 			}
 			cur_tab = tab;
 		}
-		flightStatus.show(state, crc_errors);
-		flightInfo.show(state, crc_errors);
+		flightStatus.show(state, listener_state);
+		flightInfo.show(state, listener_state);
 
 		if (state.data.companion != null) {
 			if (!has_companion) {
 				pane.add("Companion", companion);
 				has_companion= true;
 			}
-			companion.show(state, crc_errors);
+			companion.show(state, listener_state);
 		} else {
 			if (has_companion) {
 				pane.remove(companion);
@@ -144,17 +149,13 @@ public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, A
 				pane.add("Site Map", sitemap);
 				has_map = true;
 			}
-			sitemap.show(state, crc_errors);
+			sitemap.show(state, listener_state);
 		} else {
 			if (has_map) {
 				pane.remove(sitemap);
 				has_map = false;
 			}
 		}
-		} catch (Exception e) {
-			System.out.print("Show exception " + e + "\n");
-			e.printStackTrace();
-		}
 	}
 
 	public void set_exit_on_close() {
diff --git a/altosui/AltosGraphUI.java b/altosui/AltosGraphUI.java
index f6e57e7e..d8b8f6dd 100644
--- a/altosui/AltosGraphUI.java
+++ b/altosui/AltosGraphUI.java
@@ -35,7 +35,7 @@ public class AltosGraphUI extends AltosUIFrame
 			if (state.gps != null && state.gps.locked && state.gps.nsat >= 4) {
 				if (map == null)
 					map = new AltosSiteMap();
-				map.show(state, 0);
+				map.show(state, null);
 				has_gps = true;
 			}
 		}
diff --git a/altosui/AltosIdleMonitorUI.java b/altosui/AltosIdleMonitorUI.java
index 8c883eeb..1ef30f0a 100644
--- a/altosui/AltosIdleMonitorUI.java
+++ b/altosui/AltosIdleMonitorUI.java
@@ -63,12 +63,12 @@ public class AltosIdleMonitorUI extends AltosUIFrame implements AltosFlightDispl
 
 	AltosFlightStatusUpdate	status_update;
 
-	public void show(AltosState state, int crc_errors) {
+	public void show(AltosState state, AltosListenerState listener_state) {
 		status_update.saved_state = state;
 		try {
-			pad.show(state, crc_errors);
-			flightStatus.show(state, crc_errors);
-			flightInfo.show(state, crc_errors);
+			pad.show(state, listener_state);
+			flightStatus.show(state, listener_state);
+			flightInfo.show(state, listener_state);
 		} catch (Exception e) {
 			System.out.print("Show exception" + e);
 		}
@@ -77,7 +77,7 @@ public class AltosIdleMonitorUI extends AltosUIFrame implements AltosFlightDispl
 	public void update(final AltosState state) {
 		Runnable r = new Runnable() {
 				public void run() {
-					show(state, 0);
+					show(state, null);
 				}
 			};
 		SwingUtilities.invokeLater(r);
diff --git a/altosui/AltosInfoTable.java b/altosui/AltosInfoTable.java
index 1dce6daf..3d16faf2 100644
--- a/altosui/AltosInfoTable.java
+++ b/altosui/AltosInfoTable.java
@@ -104,111 +104,118 @@ public class AltosInfoTable extends JTable {
 		model.clear();
 	}
 
-	public void show(AltosState state, int crc_errors) {
-		if (state == null)
-			return;
+	public void show(AltosState state, AltosListenerState listener_state) {
 		info_reset();
-		if (state.altitude != AltosRecord.MISSING)
-			info_add_row(0, "Altitude", "%6.0f    m", state.altitude);
-		if (state.ground_altitude != AltosRecord.MISSING)
-			info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
-		if (state.height != AltosRecord.MISSING)
-			info_add_row(0, "Height", "%6.0f    m", state.height);
-		if (state.max_height != AltosRecord.MISSING)
-			info_add_row(0, "Max height", "%6.0f    m", state.max_height);
-		if (state.acceleration != AltosRecord.MISSING)
-			info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
-		if (state.max_acceleration != AltosRecord.MISSING)
-			info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
-		if (state.speed() != AltosRecord.MISSING)
-			info_add_row(0, "Speed", "%8.1f  m/s", state.speed());
-		if (state.max_speed() != AltosRecord.MISSING)
-			info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_accel_speed);
-		if (state.temperature != AltosRecord.MISSING)
-			info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
-		if (state.battery != AltosRecord.MISSING)
-			info_add_row(0, "Battery", "%9.2f V", state.battery);
-		if (state.drogue_sense != AltosRecord.MISSING)
-			info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
-		if (state.main_sense != AltosRecord.MISSING)
-			info_add_row(0, "Main", "%9.2f V", state.main_sense);
-		info_add_row(0, "CRC Errors", "%6d", crc_errors);
-
-		if (state.gps == null || !state.gps.connected) {
-			info_add_row(1, "GPS", "not available");
-		} else {
-			if (state.gps_ready)
-				info_add_row(1, "GPS state", "%s", "ready");
-			else
-				info_add_row(1, "GPS state", "wait (%d)",
-					     state.gps_waiting);
-			if (state.data.gps.locked)
-				info_add_row(1, "GPS", "   locked");
-			else if (state.data.gps.connected)
-				info_add_row(1, "GPS", " unlocked");
-			else
-				info_add_row(1, "GPS", "  missing");
-			info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
-			info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
-			info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
-			info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
-			info_add_row(1, "GPS height", "%6.0f", state.gps_height);
-
-			/* The SkyTraq GPS doesn't report these values */
-			/*
-			if (false) {
-				info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
-					     state.gps.ground_speed,
-					     state.gps.course);
-				info_add_row(1, "GPS climb rate", "%8.1f m/s",
-					     state.gps.climb_rate);
-				info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
-					     state.gps.h_error, state.gps.v_error);
-			}
-			*/
-
-			info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
-
-			if (state.npad > 0) {
-				if (state.from_pad != null) {
-					info_add_row(1, "Distance from pad", "%6d m",
-						     (int) (state.from_pad.distance + 0.5));
-					info_add_row(1, "Direction from pad", "%6d°",
-						     (int) (state.from_pad.bearing + 0.5));
-					info_add_row(1, "Elevation from pad", "%6d°",
-						     (int) (state.elevation + 0.5));
-					info_add_row(1, "Range from pad", "%6d m",
-						     (int) (state.range + 0.5));
-				} else {
-					info_add_row(1, "Distance from pad", "unknown");
-					info_add_row(1, "Direction from pad", "unknown");
-					info_add_row(1, "Elevation from pad", "unknown");
-					info_add_row(1, "Range from pad", "unknown");
+		if (state != null) {
+			if (state.altitude != AltosRecord.MISSING)
+				info_add_row(0, "Altitude", "%6.0f    m", state.altitude);
+			if (state.ground_altitude != AltosRecord.MISSING)
+				info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
+			if (state.height != AltosRecord.MISSING)
+				info_add_row(0, "Height", "%6.0f    m", state.height);
+			if (state.height != AltosRecord.MISSING)
+				info_add_row(0, "Max height", "%6.0f    m", state.max_height);
+			if (state.acceleration != AltosRecord.MISSING)
+				info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
+			if (state.acceleration != AltosRecord.MISSING)
+				info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
+			if (state.speed() != AltosRecord.MISSING)
+				info_add_row(0, "Speed", "%8.1f  m/s", state.speed());
+			if (state.speed() != AltosRecord.MISSING)
+				info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_accel_speed);
+			if (state.temperature != AltosRecord.MISSING)
+				info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
+			if (state.battery != AltosRecord.MISSING)
+				info_add_row(0, "Battery", "%9.2f V", state.battery);
+			if (state.drogue_sense != AltosRecord.MISSING)
+				info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
+			if (state.main_sense != AltosRecord.MISSING)
+				info_add_row(0, "Main", "%9.2f V", state.main_sense);
+		}
+		if (listener_state != null) {
+			info_add_row(0, "CRC Errors", "%6d", listener_state.crc_errors);
+
+			if (listener_state.battery != AltosRecord.MISSING)
+				info_add_row(0, "Receiver Battery", "%9.2f", listener_state.battery);
+		}
+
+		if (state != null) {
+			if (state.gps == null || !state.gps.connected) {
+				info_add_row(1, "GPS", "not available");
+			} else {
+				if (state.gps_ready)
+					info_add_row(1, "GPS state", "%s", "ready");
+				else
+					info_add_row(1, "GPS state", "wait (%d)",
+						     state.gps_waiting);
+				if (state.data.gps.locked)
+					info_add_row(1, "GPS", "   locked");
+				else if (state.data.gps.connected)
+					info_add_row(1, "GPS", " unlocked");
+				else
+					info_add_row(1, "GPS", "  missing");
+				info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
+				info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
+				info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
+				info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
+				info_add_row(1, "GPS height", "%6.0f", state.gps_height);
+
+				/* The SkyTraq GPS doesn't report these values */
+				/*
+				  if (false) {
+				  info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
+				  state.gps.ground_speed,
+				  state.gps.course);
+				  info_add_row(1, "GPS climb rate", "%8.1f m/s",
+				  state.gps.climb_rate);
+				  info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
+				  state.gps.h_error, state.gps.v_error);
+				  }
+				*/
+
+				info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
+
+				if (state.npad > 0) {
+					if (state.from_pad != null) {
+						info_add_row(1, "Distance from pad", "%6d m",
+							     (int) (state.from_pad.distance + 0.5));
+						info_add_row(1, "Direction from pad", "%6d°",
+							     (int) (state.from_pad.bearing + 0.5));
+						info_add_row(1, "Elevation from pad", "%6d°",
+							     (int) (state.elevation + 0.5));
+						info_add_row(1, "Range from pad", "%6d m",
+							     (int) (state.range + 0.5));
+					} else {
+						info_add_row(1, "Distance from pad", "unknown");
+						info_add_row(1, "Direction from pad", "unknown");
+						info_add_row(1, "Elevation from pad", "unknown");
+						info_add_row(1, "Range from pad", "unknown");
+					}
+					info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
+					info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
+					info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
 				}
-				info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
-				info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
-				info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
-			}
-			info_add_row(1, "GPS date", "%04d-%02d-%02d",
-				       state.gps.year,
-				       state.gps.month,
-				       state.gps.day);
-			info_add_row(1, "GPS time", "  %02d:%02d:%02d",
-				       state.gps.hour,
-				       state.gps.minute,
-				       state.gps.second);
-			//int	nsat_vis = 0;
-			int	c;
-
-			if (state.gps.cc_gps_sat == null)
-				info_add_row(2, "Satellites Visible", "%4d", 0);
-			else {
-				info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
-				for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
-					info_add_row(2, "Satellite id,C/N0",
-						     "%4d, %4d",
-						     state.gps.cc_gps_sat[c].svid,
-						     state.gps.cc_gps_sat[c].c_n0);
+				info_add_row(1, "GPS date", "%04d-%02d-%02d",
+					     state.gps.year,
+					     state.gps.month,
+					     state.gps.day);
+				info_add_row(1, "GPS time", "  %02d:%02d:%02d",
+					     state.gps.hour,
+					     state.gps.minute,
+					     state.gps.second);
+				//int	nsat_vis = 0;
+				int	c;
+
+				if (state.gps.cc_gps_sat == null)
+					info_add_row(2, "Satellites Visible", "%4d", 0);
+				else {
+					info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
+					for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
+						info_add_row(2, "Satellite id,C/N0",
+							     "%4d, %4d",
+							     state.gps.cc_gps_sat[c].svid,
+							     state.gps.cc_gps_sat[c].c_n0);
+					}
 				}
 			}
 		}
diff --git a/altosui/AltosLanded.java b/altosui/AltosLanded.java
index a245dde3..1d209bda 100644
--- a/altosui/AltosLanded.java
+++ b/altosui/AltosLanded.java
@@ -29,7 +29,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 	public class LandedValue {
 		JLabel		label;
 		JTextField	value;
-		void show(AltosState state, int crc_errors) {}
+		void show(AltosState state, AltosListenerState listener_state) {}
 
 		void reset() {
 			value.setText("");
@@ -102,7 +102,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 	}
 
 	class Lat extends LandedValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			if (state.gps != null && state.gps.connected)
 				show(pos(state.gps.lat,"N", "S"));
 			else
@@ -116,7 +116,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 	Lat lat;
 
 	class Lon extends LandedValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show();
 			if (state.gps != null && state.gps.connected)
 				show(pos(state.gps.lon,"E", "W"));
@@ -131,7 +131,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 	Lon lon;
 
 	class Bearing extends LandedValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show();
 			if (state.from_pad != null)
 				show("%3.0f°", state.from_pad.bearing);
@@ -146,7 +146,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 	Bearing bearing;
 
 	class Distance extends LandedValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show();
 			if (state.from_pad != null)
 				show(AltosConvert.distance, state.from_pad.distance);
@@ -161,7 +161,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 	Distance distance;
 
 	class Height extends LandedValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show(AltosConvert.height, state.max_height);
 		}
 		public Height (GridBagLayout layout, int y) {
@@ -172,7 +172,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 	Height	height;
 
 	class Speed extends LandedValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show(AltosConvert.speed, state.max_speed());
 		}
 		public Speed (GridBagLayout layout, int y) {
@@ -183,7 +183,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 	Speed	speed;
 
 	class Accel extends LandedValue {
-		void show (AltosState state, int crc_errors) {
+		void show (AltosState state, AltosListenerState listener_state) {
 			show(AltosConvert.accel, state.max_acceleration);
 		}
 		public Accel (GridBagLayout layout, int y) {
@@ -213,21 +213,21 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
 		accel.set_font();
 	}
 
-	public void show(AltosState state, int crc_errors) {
+	public void show(AltosState state, AltosListenerState listener_state) {
 		if (state.gps != null && state.gps.connected) {
-			bearing.show(state, crc_errors);
-			distance.show(state, crc_errors);
-			lat.show(state, crc_errors);
-			lon.show(state, crc_errors);
+			bearing.show(state, listener_state);
+			distance.show(state, listener_state);
+			lat.show(state, listener_state);
+			lon.show(state, listener_state);
 		} else {
 			bearing.hide();
 			distance.hide();
 			lat.hide();
 			lon.hide();
 		}
-		height.show(state, crc_errors);
-		speed.show(state, crc_errors);
-		accel.show(state, crc_errors);
+		height.show(state, listener_state);
+		speed.show(state, listener_state);
+		accel.show(state, listener_state);
 		if (reader.backing_file() != null)
 			graph.setEnabled(true);
 	}
diff --git a/altosui/AltosPad.java b/altosui/AltosPad.java
index eb08525c..e2316a13 100644
--- a/altosui/AltosPad.java
+++ b/altosui/AltosPad.java
@@ -29,7 +29,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 		JTextField	value;
 		AltosLights	lights;
 
-		void show(AltosState state, int crc_errors) {}
+		void show(AltosState state, AltosListenerState listener_state) {}
 
 		void reset() {
 			value.setText("");
@@ -109,7 +109,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	public class LaunchValue {
 		JLabel		label;
 		JTextField	value;
-		void show(AltosState state, int crc_errors) {}
+		void show(AltosState state, AltosListenerState listener_state) {}
 
 		void show() {
 			label.setVisible(true);
@@ -175,8 +175,8 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	}
 
 	class Battery extends LaunchStatus {
-		void show (AltosState state, int crc_errors) {
-			if (state.battery == AltosRecord.MISSING)
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (state == null || state.battery == AltosRecord.MISSING)
 				hide();
 			else {
 				show("%4.2f V", state.battery);
@@ -191,9 +191,13 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	Battery	battery;
 
 	class Apogee extends LaunchStatus {
-		void show (AltosState state, int crc_errors) {
-			show("%4.2f V", state.drogue_sense);
-			lights.set(state.drogue_sense > 3.2);
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (state == null || state.drogue_sense == AltosRecord.MISSING)
+				hide();
+			else {
+				show("%4.2f V", state.drogue_sense);
+				lights.set(state.drogue_sense > 3.2);
+			}
 		}
 		public Apogee (GridBagLayout layout, int y) {
 			super(layout, y, "Apogee Igniter Voltage");
@@ -203,9 +207,13 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	Apogee apogee;
 
 	class Main extends LaunchStatus {
-		void show (AltosState state, int crc_errors) {
-			show("%4.2f V", state.main_sense);
-			lights.set(state.main_sense > 3.2);
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (state == null || state.main_sense == AltosRecord.MISSING)
+				hide();
+			else {
+				show("%4.2f V", state.main_sense);
+				lights.set(state.main_sense > 3.2);
+			}
 		}
 		public Main (GridBagLayout layout, int y) {
 			super(layout, y, "Main Igniter Voltage");
@@ -215,18 +223,21 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	Main main;
 
 	class LoggingReady extends LaunchStatus {
-		void show (AltosState state, int crc_errors) {
-			if (state.data.flight != 0) {
-				if (state.data.state <= Altos.ao_flight_pad)
-					show("Ready to record");
-				else if (state.data.state < Altos.ao_flight_landed)
-					show("Recording data");
-				else
-					show("Recorded data");
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (state == null || state.data.flight == AltosRecord.MISSING) {
+				hide();
+			} else {
+				if (state.data.flight != 0) {
+					if (state.data.state <= Altos.ao_flight_pad)
+						show("Ready to record");
+					else if (state.data.state < Altos.ao_flight_landed)
+						show("Recording data");
+					else
+						show("Recorded data");
+				} else
+					show("Storage full");
+				lights.set(state.data.flight != 0);
 			}
-			else
-				show("Storage full");
-			lights.set(state.data.flight != 0);
 		}
 		public LoggingReady (GridBagLayout layout, int y) {
 			super(layout, y, "On-board Data Logging");
@@ -236,9 +247,13 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	LoggingReady logging_ready;
 
 	class GPSLocked extends LaunchStatus {
-		void show (AltosState state, int crc_errors) {
-			show("%4d sats", state.gps.nsat);
-			lights.set(state.gps.locked && state.gps.nsat >= 4);
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (state == null || state.gps == null)
+				hide();
+			else {
+				show("%4d sats", state.gps.nsat);
+				lights.set(state.gps.locked && state.gps.nsat >= 4);
+			}
 		}
 		public GPSLocked (GridBagLayout layout, int y) {
 			super (layout, y, "GPS Locked");
@@ -248,12 +263,16 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	GPSLocked gps_locked;
 
 	class GPSReady extends LaunchStatus {
-		void show (AltosState state, int crc_errors) {
-			if (state.gps_ready)
-				show("Ready");
-			else
-				show("Waiting %d", state.gps_waiting);
-			lights.set(state.gps_ready);
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (state == null || state.gps == null)
+				hide();
+			else {
+				if (state.gps_ready)
+					show("Ready");
+				else
+					show("Waiting %d", state.gps_waiting);
+				lights.set(state.gps_ready);
+			}
 		}
 		public GPSReady (GridBagLayout layout, int y) {
 			super (layout, y, "GPS Ready");
@@ -262,6 +281,22 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 
 	GPSReady gps_ready;
 
+	class ReceiverBattery extends LaunchStatus {
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (listener_state == null || listener_state.battery == AltosRecord.MISSING)
+				hide();
+			else {
+				show("%4.2f V", listener_state.battery);
+				lights.set(listener_state.battery > 3.7);
+			}
+		}
+		public ReceiverBattery (GridBagLayout layout, int y) {
+			super(layout, y, "Receiver Battery");
+		}
+	}
+
+	ReceiverBattery	receiver_battery;
+
 	String pos(double p, String pos, String neg) {
 		String	h = pos;
 		if (p < 0) {
@@ -274,13 +309,17 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	}
 
 	class PadLat extends LaunchValue {
-		void show (AltosState state, int crc_errors) {
-			if (state.state < AltosLib.ao_flight_pad && state.gps != null) {
-				show(pos(state.gps.lat,"N", "S"));
-				set_label("Latitude");
-			} else { 
-				show(pos(state.pad_lat,"N", "S"));
-				set_label("Pad Latitude");
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (state == null || state.gps == null) {
+				hide();
+			} else {
+				if (state.state < AltosLib.ao_flight_pad) {
+					show(pos(state.gps.lat,"N", "S"));
+					set_label("Latitude");
+				} else { 
+					show(pos(state.pad_lat,"N", "S"));
+					set_label("Pad Latitude");
+				}
 			}
 		}
 		public PadLat (GridBagLayout layout, int y) {
@@ -291,13 +330,17 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	PadLat pad_lat;
 
 	class PadLon extends LaunchValue {
-		void show (AltosState state, int crc_errors) {
-			if (state.state < AltosLib.ao_flight_pad && state.gps != null) {
-				show(pos(state.gps.lon,"E", "W"));
-				set_label("Longitude");
-			} else { 
-				show(pos(state.pad_lon,"E", "W"));
-				set_label("Pad Longitude");
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (state == null || state.gps == null) {
+				hide();
+			} else {
+				if (state.state < AltosLib.ao_flight_pad) {
+					show(pos(state.gps.lon,"E", "W"));
+					set_label("Longitude");
+				} else { 
+					show(pos(state.pad_lon,"E", "W"));
+					set_label("Pad Longitude");
+				}
 			}
 		}
 		public PadLon (GridBagLayout layout, int y) {
@@ -308,16 +351,20 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 	PadLon pad_lon;
 
 	class PadAlt extends LaunchValue {
-		void show (AltosState state, int crc_errors) {
-			if (state.state < AltosLib.ao_flight_pad && state.gps != null) {
-				show("%4.0f m", state.gps.alt);
-				set_label("Altitude");
-			} else {
-				if (state.pad_alt == AltosRecord.MISSING)
-					hide();
-				else {
-					show("%4.0f m", state.pad_alt);
-					set_label("Pad Altitude");
+		void show (AltosState state, AltosListenerState listener_state) {
+			if (state == null)
+				hide();
+			else {
+				if (state.state < AltosLib.ao_flight_pad && state.gps != null) {
+					show("%4.0f m", state.gps.alt);
+					set_label("Altitude");
+				} else {
+					if (state.pad_alt == AltosRecord.MISSING)
+						hide();
+					else {
+						show("%4.0f m", state.pad_alt);
+						set_label("Pad Altitude");
+					}
 				}
 			}
 		}
@@ -335,6 +382,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 		logging_ready.reset();
 		gps_locked.reset();
 		gps_ready.reset();
+		receiver_battery.reset();
 		pad_lat.reset();
 		pad_lon.reset();
 		pad_alt.reset();
@@ -347,34 +395,23 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 		logging_ready.set_font();
 		gps_locked.set_font();
 		gps_ready.set_font();
+		receiver_battery.set_font();
 		pad_lat.set_font();
 		pad_lon.set_font();
 		pad_alt.set_font();
 	}
 	
-	public void show(AltosState state, int crc_errors) {
-		battery.show(state, crc_errors);
-		if (state.drogue_sense == AltosRecord.MISSING)
-			apogee.hide();
-		else
-			apogee.show(state, crc_errors);
-		if (state.main_sense == AltosRecord.MISSING)
-			main.hide();
-		else
-			main.show(state, crc_errors);
-		logging_ready.show(state, crc_errors);
-		pad_alt.show(state, crc_errors);
-		if (state.gps != null && state.gps.connected) {
-			gps_locked.show(state, crc_errors);
-			gps_ready.show(state, crc_errors);
-			pad_lat.show(state, crc_errors);
-			pad_lon.show(state, crc_errors);
-		} else {
-			gps_locked.hide();
-			gps_ready.hide();
-			pad_lat.hide();
-			pad_lon.hide();
-		}
+	public void show(AltosState state, AltosListenerState listener_state) {
+		battery.show(state, listener_state);
+		apogee.show(state, listener_state);
+		main.show(state, listener_state);
+		logging_ready.show(state, listener_state);
+		pad_alt.show(state, listener_state);
+		receiver_battery.show(state, listener_state);
+		gps_locked.show(state, listener_state);
+		gps_ready.show(state, listener_state);
+		pad_lat.show(state, listener_state);
+		pad_lon.show(state, listener_state);
 	}
 
 	public AltosPad() {
@@ -398,8 +435,10 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 		logging_ready = new LoggingReady(layout, 3);
 		gps_locked = new GPSLocked(layout, 4);
 		gps_ready = new GPSReady(layout, 5);
-		pad_lat = new PadLat(layout, 6);
-		pad_lon = new PadLon(layout, 7);
-		pad_alt = new PadAlt(layout, 8);
+		receiver_battery = new ReceiverBattery(layout, 6);
+		pad_lat = new PadLat(layout, 7);
+		pad_lon = new PadLon(layout, 8);
+		pad_alt = new PadAlt(layout, 9);
+		show(null, null);
 	}
 }
diff --git a/altosui/AltosSiteMap.java b/altosui/AltosSiteMap.java
index f614eae6..5bf02e54 100644
--- a/altosui/AltosSiteMap.java
+++ b/altosui/AltosSiteMap.java
@@ -264,7 +264,7 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay {
 		initMaps(lat, lon);
 		scrollRocketToVisible(pt(lat, lon));
 	}
-	public void show(final AltosState state, final int crc_errors) {
+	public void show(final AltosState state, final AltosListenerState listener_state) {
 		// if insufficient gps data, nothing to update
 		if (!state.gps.locked && state.gps.nsat < 4)
 			return;
@@ -294,7 +294,7 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay {
 			Point2D.Double ref, lref;
 			ref = translatePoint(pt, tileCoordOffset(offset));
 			lref = translatePoint(last_pt, tileCoordOffset(offset));
-			tile.show(state, crc_errors, lref, ref);
+			tile.show(state, listener_state, lref, ref);
 			if (0 <= ref.x && ref.x < px_size)
 				if (0 <= ref.y && ref.y < px_size)
 					in_any = true;
@@ -307,7 +307,7 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay {
 			lref = translatePoint(last_pt, tileCoordOffset(offset));
 
 			AltosSiteMapTile tile = createTile(offset);
-			tile.show(state, crc_errors, lref, ref);
+			tile.show(state, listener_state, lref, ref);
 			initMap(offset);
 			finishTileLater(tile, offset);
 		}
diff --git a/altosui/AltosSiteMapTile.java b/altosui/AltosSiteMapTile.java
index 10e65bcd..365e4b6c 100644
--- a/altosui/AltosSiteMapTile.java
+++ b/altosui/AltosSiteMapTile.java
@@ -56,7 +56,7 @@ public class AltosSiteMapTile extends JLayeredPane {
 
 	private boolean drawn_landed_circle = false;
 	private boolean drawn_boost_circle = false;
-	public synchronized void show(AltosState state, int crc_errors,
+	public synchronized void show(AltosState state, AltosListenerState listener_state,
 				      Point2D.Double last_pt, Point2D.Double pt)
 	{
 		if (0 <= state.state && state.state < stateColors.length) {
diff --git a/src/core/ao.h b/src/core/ao.h
index 6c790f69..977e10b8 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -94,7 +94,7 @@ extern volatile __data AO_TICK_TYPE ao_tick_count;
 #define AO_SEC_TO_TICKS(s)	((s) * AO_HERTZ)
 
 /* Returns the current time in ticks */
-uint16_t
+AO_TICK_TYPE
 ao_time(void);
 
 /* Suspend the current task until ticks time has passed */
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index e07625d8..8b7c2327 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -18,15 +18,12 @@
 #include "ao.h"
 #include <ao_task.h>
 
-volatile __data AO_TICK_TYPE ao_tick_count;
+volatile AO_TICK_TYPE ao_tick_count;
 
-uint16_t ao_time(void)
+AO_TICK_TYPE
+ao_time(void)
 {
-	uint16_t	v;
-	ao_arch_critical(
-		v = ao_tick_count;
-		);
-	return v;
+	return ao_tick_count;
 }
 
 #if AO_DATA_ALL
-- 
cgit v1.2.3


From aa7eac32adf4c2cdf441991d02411758f2682d1e Mon Sep 17 00:00:00 2001
From: Bdale Garbee <bdale@gag.com>
Date: Mon, 22 Apr 2013 13:00:26 -0600
Subject: name change from MegaMetrum to TeleMega

---
 altoslib/AltosConfigData.java       |   2 +-
 altoslib/AltosIdleMonitor.java      |   4 +-
 altoslib/AltosLib.java              |   6 +-
 altosui/AltosDataChooser.java       |   2 +-
 altosui/AltosEepromDownload.java    |   2 +-
 altosui/Makefile.am                 |   2 +-
 altosui/altos-windows.nsi.in        |   2 +-
 altosuilib/AltosUSBDevice.java      |   6 +-
 ao-bringup/megametrum.cfg           |   4 -
 ao-bringup/megametrum.gdb           |   2 -
 ao-bringup/telemega.cfg             |   4 +
 ao-bringup/telemega.gdb             |   2 +
 debian/docs                         |   2 +-
 doc/altos.xsl                       |   2 +-
 doc/megametrum-outline.pdf          | Bin 4349 -> 0 bytes
 doc/megametrum-outline.svg          | 244 ------------------------
 doc/release-notes-1.2.xsl           |   2 +-
 src/Makefile                        |   2 +-
 src/core/ao_fec_rx.c                |   2 +-
 src/core/ao_log.h                   |   2 +-
 src/core/ao_log_mega.c              |   2 +-
 src/core/ao_telemetry.c             |   2 +-
 src/drivers/ao_companion.c          |   2 +-
 src/megametrum-v0.1/.gitignore      |   2 -
 src/megametrum-v0.1/Makefile        | 131 -------------
 src/megametrum-v0.1/ao_megametrum.c | 100 ----------
 src/megametrum-v0.1/ao_pins.h       | 359 ------------------------------------
 src/megametrum-v0.1/stlink-pins     |  57 ------
 src/stm/ao_i2c_stm.c                |   2 +-
 src/telelco-v0.1/Makefile           |   2 +-
 src/test/Makefile                   |   2 +-
 src/test/ao_flight_test.c           |  22 +--
 telemetrum.inf                      |   8 +-
 33 files changed, 46 insertions(+), 939 deletions(-)
 delete mode 100644 ao-bringup/megametrum.cfg
 delete mode 100644 ao-bringup/megametrum.gdb
 create mode 100644 ao-bringup/telemega.cfg
 create mode 100644 ao-bringup/telemega.gdb
 delete mode 100644 doc/megametrum-outline.pdf
 delete mode 100644 doc/megametrum-outline.svg
 delete mode 100644 src/megametrum-v0.1/.gitignore
 delete mode 100644 src/megametrum-v0.1/Makefile
 delete mode 100644 src/megametrum-v0.1/ao_megametrum.c
 delete mode 100644 src/megametrum-v0.1/ao_pins.h
 delete mode 100644 src/megametrum-v0.1/stlink-pins

(limited to 'src/core')

diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 57605607..2ca5a7a5 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -504,7 +504,7 @@ public class AltosConfigData implements Iterable<String> {
 		switch (log_format) {
 		case AltosLib.AO_LOG_FORMAT_FULL:
 		case AltosLib.AO_LOG_FORMAT_TINY:
-		case AltosLib.AO_LOG_FORMAT_MEGAMETRUM:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 			link.printf("l\n");
 			read_link(link, "done");
 		default:
diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java
index c379547f..2e4ddef2 100644
--- a/altoslib/AltosIdleMonitor.java
+++ b/altoslib/AltosIdleMonitor.java
@@ -52,11 +52,11 @@ public class AltosIdleMonitor extends Thread {
 	}
 
 	boolean has_sensor_mm(AltosConfigData config_data) {
-		return config_data.product.startsWith("MegaMetrum");
+		return config_data.product.startsWith("TeleMega");
 	}
 
 	boolean has_gps(AltosConfigData config_data) {
-		return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("MegaMetrum");
+		return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMega");
 	}
 
 	AltosRecord sensor_mm(AltosConfigData config_data) throws InterruptedException, TimeoutException {
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index 0b5475f7..25d17e72 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -50,7 +50,7 @@ public class AltosLib {
 	public static final int AO_LOG_SERIAL_NUMBER = 2002;
 	public static final int AO_LOG_LOG_FORMAT = 2003;
 
-	/* Added for header fields in megametrum files */
+	/* Added for header fields in telemega files */
 	public static final int AO_LOG_BARO_RESERVED = 3000;
 	public static final int AO_LOG_BARO_SENS = 3001;
 	public static final int AO_LOG_BARO_OFF = 3002;
@@ -89,7 +89,7 @@ public class AltosLib {
 	public final static int product_telelco = 0x0010;
 	public final static int product_telescience = 0x0011;
 	public final static int product_telepyro =0x0012;
-	public final static int product_megametrum = 0x0023;
+	public final static int product_telemega = 0x0023;
 	public final static int product_megadongle = 0x0024;
 	public final static int product_telegps = 0x0025;
 	public final static int product_altusmetrum_min = 0x000a;
@@ -215,7 +215,7 @@ public class AltosLib {
 	public static final int AO_LOG_FORMAT_TINY = 2;
 	public static final int AO_LOG_FORMAT_TELEMETRY = 3;
 	public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
-	public static final int AO_LOG_FORMAT_MEGAMETRUM = 5;
+	public static final int AO_LOG_FORMAT_TELEMEGA = 5;
 	public static final int AO_LOG_FORMAT_NONE = 127;
 
 	public static boolean isspace(int c) {
diff --git a/altosui/AltosDataChooser.java b/altosui/AltosDataChooser.java
index 7de18afb..f914f138 100644
--- a/altosui/AltosDataChooser.java
+++ b/altosui/AltosDataChooser.java
@@ -75,7 +75,7 @@ public class AltosDataChooser extends JFileChooser {
 							  "eeprom"));
 		setFileFilter(new FileNameExtensionFilter("Telemetry file",
 							  "telem"));
-		setFileFilter(new FileNameExtensionFilter("MegaMetrum eeprom file",
+		setFileFilter(new FileNameExtensionFilter("TeleMega eeprom file",
 							  "mega"));
 		setFileFilter(new FileNameExtensionFilter("Flight data file",
 							  "telem", "eeprom", "mega"));
diff --git a/altosui/AltosEepromDownload.java b/altosui/AltosEepromDownload.java
index 801d4ec0..a0523b58 100644
--- a/altosui/AltosEepromDownload.java
+++ b/altosui/AltosEepromDownload.java
@@ -366,7 +366,7 @@ public class AltosEepromDownload implements Runnable {
 				extension = "science";
 				CaptureTeleScience(eechunk);
 				break;
-			case AltosLib.AO_LOG_FORMAT_MEGAMETRUM:
+			case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 				extension = "mega";
 				CaptureMega(eechunk);
 			}
diff --git a/altosui/Makefile.am b/altosui/Makefile.am
index 96cf77f2..4bfef47c 100644
--- a/altosui/Makefile.am
+++ b/altosui/Makefile.am
@@ -157,7 +157,7 @@ FIRMWARE=$(FIRMWARE_TM) $(FIRMWARE_TELEMINI) $(FIRMWARE_TD)
 ALTUSMETRUM_DOC=$(top_srcdir)/doc/altusmetrum.pdf
 ALTOS_DOC=$(top_srcdir)/doc/altos.pdf
 TELEMETRY_DOC=$(top_srcdir)/doc/telemetry.pdf
-TEMPLATE_DOC=$(top_srcdir)/doc/telemetrum-outline.pdf $(top_srcdir)/doc/megametrum-outline.pdf
+TEMPLATE_DOC=$(top_srcdir)/doc/telemetrum-outline.pdf $(top_srcdir)/doc/telemega-outline.pdf
 
 DOC=$(ALTUSMETRUM_DOC) $(ALTOS_DOC) $(TELEMETRY_DOC) $(TEMPLATE_DOC)
 
diff --git a/altosui/altos-windows.nsi.in b/altosui/altos-windows.nsi.in
index cde54b41..9886e4a2 100644
--- a/altosui/altos-windows.nsi.in
+++ b/altosui/altos-windows.nsi.in
@@ -131,7 +131,7 @@ Section "Documentation"
 	File "../doc/altos.pdf"
 	File "../doc/telemetry.pdf"
 	File "../doc/telemetrum-outline.pdf"
-	File "../doc/megametrum-outline.pdf"
+	File "../doc/telemega-outline.pdf"
 SectionEnd
 
 Section "Uninstaller"
diff --git a/altosuilib/AltosUSBDevice.java b/altosuilib/AltosUSBDevice.java
index 5268927c..0f6cbd10 100644
--- a/altosuilib/AltosUSBDevice.java
+++ b/altosuilib/AltosUSBDevice.java
@@ -72,11 +72,11 @@ public class AltosUSBDevice  extends altos_device implements AltosDevice {
 			return matchProduct(AltosUILib.product_teledongle) ||
 				matchProduct(AltosUILib.product_teleterra) ||
 				matchProduct(AltosUILib.product_telebt) ||
-				matchProduct(AltosUILib.product_megadongle);
+				matchProduct(AltosUILib.product_telemega);
 
 		if (want_product == AltosUILib.product_altimeter)
 			return matchProduct(AltosUILib.product_telemetrum) ||
-				matchProduct(AltosUILib.product_megametrum) ||
+				matchProduct(AltosUILib.product_telemega) ||
 				matchProduct(AltosUILib.product_telegps);
 
 		int have_product = getProduct();
@@ -110,4 +110,4 @@ public class AltosUSBDevice  extends altos_device implements AltosDevice {
 
 		return device_list;
 	}
-}
\ No newline at end of file
+}
diff --git a/ao-bringup/megametrum.cfg b/ao-bringup/megametrum.cfg
deleted file mode 100644
index e95c6f2b..00000000
--- a/ao-bringup/megametrum.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-# openocd config for MegaMetrum using the Olimex ARM-USB-OCD dongle
-
-source /opt/stm32/share/openocd/scripts/interface/olimex-arm-usb-ocd.cfg
-source /opt/stm32/share/openocd/scripts/target/stm32l.cfg
diff --git a/ao-bringup/megametrum.gdb b/ao-bringup/megametrum.gdb
deleted file mode 100644
index 964ae1f3..00000000
--- a/ao-bringup/megametrum.gdb
+++ /dev/null
@@ -1,2 +0,0 @@
-target remote localhost:3333
-monitor poll
diff --git a/ao-bringup/telemega.cfg b/ao-bringup/telemega.cfg
new file mode 100644
index 00000000..f6b96c13
--- /dev/null
+++ b/ao-bringup/telemega.cfg
@@ -0,0 +1,4 @@
+# openocd config for TeleMega using the Olimex ARM-USB-OCD dongle
+
+source /opt/stm32/share/openocd/scripts/interface/olimex-arm-usb-ocd.cfg
+source /opt/stm32/share/openocd/scripts/target/stm32l.cfg
diff --git a/ao-bringup/telemega.gdb b/ao-bringup/telemega.gdb
new file mode 100644
index 00000000..964ae1f3
--- /dev/null
+++ b/ao-bringup/telemega.gdb
@@ -0,0 +1,2 @@
+target remote localhost:3333
+monitor poll
diff --git a/debian/docs b/debian/docs
index 3ac75ad4..dcdb7763 100644
--- a/debian/docs
+++ b/debian/docs
@@ -7,4 +7,4 @@ doc/telemetry.pdf
 doc/altos.html
 doc/altos.pdf
 doc/telemetrum-outline.pdf
-doc/megametrum-outline.pdf
+doc/telemega-outline.pdf
diff --git a/doc/altos.xsl b/doc/altos.xsl
index c301adde..5af94725 100644
--- a/doc/altos.xsl
+++ b/doc/altos.xsl
@@ -50,7 +50,7 @@
 	    STM32L series from ST Microelectronics. This ARM Cortex-M3
 	    based microcontroller offers low power consumption and a
 	    wide variety of built-in peripherals. Altus Metrum uses
-	    this in the MegaMetrum, MegaDongle and TeleLCO projects.
+	    this in the TeleMega, MegaDongle and TeleLCO projects.
 	  </para>
 	</listitem>
 	<listitem>
diff --git a/doc/megametrum-outline.pdf b/doc/megametrum-outline.pdf
deleted file mode 100644
index f8fc26e2..00000000
Binary files a/doc/megametrum-outline.pdf and /dev/null differ
diff --git a/doc/megametrum-outline.svg b/doc/megametrum-outline.svg
deleted file mode 100644
index e8d74d38..00000000
--- a/doc/megametrum-outline.svg
+++ /dev/null
@@ -1,244 +0,0 @@
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-         y="-303.75"
-         id="tspan4242">UP</tspan></text>
-  </g>
-</svg>
diff --git a/doc/release-notes-1.2.xsl b/doc/release-notes-1.2.xsl
index 610fa1a2..b254c7b5 100644
--- a/doc/release-notes-1.2.xsl
+++ b/doc/release-notes-1.2.xsl
@@ -41,7 +41,7 @@
 	raised, breaking the Descent tab contents.
       </listitem>
       <listitem>
-	Add preliminary MegaMetrum support, including configuration,
+	Add preliminary TeleMega support, including configuration,
 	data download and analysis.
       </listitem>
       <listitem>
diff --git a/src/Makefile b/src/Makefile
index d91a235a..e271ddf3 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -29,7 +29,7 @@ AVRDIRS=\
 	telescience-v0.1 telescience-pwm telepyro-v0.1 micropeak
 
 ARMDIRS=\
-	megametrum-v0.1 megadongle-v0.1 stm-bringup stm-demo telelco-v0.1 \
+	telemega-v0.1 megadongle-v0.1 stm-bringup stm-demo telelco-v0.1 \
 	telescience-v0.2
 
 ifneq ($(shell which sdcc),)
diff --git a/src/core/ao_fec_rx.c b/src/core/ao_fec_rx.c
index 072a9e90..c4f5559a 100644
--- a/src/core/ao_fec_rx.c
+++ b/src/core/ao_fec_rx.c
@@ -18,7 +18,7 @@
 #include <ao_fec.h>
 #include <stdio.h>
 
-#ifdef MEGAMETRUM
+#ifdef TELEMEGA
 #include <ao.h>
 #endif
 
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index cac78771..a68a40dd 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -43,7 +43,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TINY		2	/* two byte state/baro records */
 #define AO_LOG_FORMAT_TELEMETRY		3	/* 32 byte ao_telemetry records */
 #define AO_LOG_FORMAT_TELESCIENCE	4	/* 32 byte typed telescience records */
-#define AO_LOG_FORMAT_MEGAMETRUM	5	/* 32 byte typed megametrum records */
+#define AO_LOG_FORMAT_TELEMEGA		5	/* 32 byte typed telemega records */
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 extern __code uint8_t ao_log_format;
diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c
index ba3f7bfc..abf953a6 100644
--- a/src/core/ao_log_mega.c
+++ b/src/core/ao_log_mega.c
@@ -23,7 +23,7 @@
 static __xdata uint8_t	ao_log_mutex;
 static __xdata struct ao_log_mega log;
 
-__code uint8_t ao_log_format = AO_LOG_FORMAT_MEGAMETRUM;
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
 
 static uint8_t
 ao_log_csum(__xdata uint8_t *b) __reentrant
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 3aa315c7..03aa48d8 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -29,7 +29,7 @@ static __pdata uint16_t ao_aprs_time;
 #include <ao_aprs.h>
 #endif
 
-#if defined(MEGAMETRUM)
+#if defined(TELEMEGA)
 #define AO_SEND_MEGA	1
 #endif
 
diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 0ebe8429..0f405253 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -18,7 +18,7 @@
 #include <ao.h>
 #include <ao_companion.h>
 
-#ifdef MEGAMETRUM
+#ifdef TELEMEGA
 #define ao_spi_slow(b)
 #define ao_spi_fast(b)
 #endif
diff --git a/src/megametrum-v0.1/.gitignore b/src/megametrum-v0.1/.gitignore
deleted file mode 100644
index b04d3950..00000000
--- a/src/megametrum-v0.1/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-ao_product.h
-megametrum-*.elf
diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile
deleted file mode 100644
index a5fdcbb2..00000000
--- a/src/megametrum-v0.1/Makefile
+++ /dev/null
@@ -1,131 +0,0 @@
-#
-# AltOS build
-#
-#
-
-include ../stm/Makefile.defs
-
-INC = \
-	ao.h \
-	ao_arch.h \
-	ao_arch_funcs.h \
-	ao_companion.h \
-	ao_data.h \
-	ao_sample.h \
-	ao_pins.h \
-	altitude-pa.h \
-	ao_kalman.h \
-	ao_product.h \
-	ao_ms5607.h \
-	ao_hmc5883.h \
-	ao_mpu6000.h \
-	ao_mma655x.h \
-	ao_cc1120_CC1120.h \
-	ao_profile.h \
-	ao_task.h \
-	ao_whiten.h \
-	ao_sample_profile.h \
-	ao_mpu.h \
-	stm32l.h \
-	Makefile
-
-#
-# Common AltOS sources
-#
-#	ao_hmc5883.c
-
-#PROFILE=ao_profile.c
-#PROFILE_DEF=-DAO_PROFILE=1
-
-#SAMPLE_PROFILE=ao_sample_profile.c \
-#	ao_sample_profile_timer.c
-#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
-
-#STACK_GUARD=ao_mpu_stm.c
-#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
-
-ALTOS_SRC = \
-	ao_interrupt.c \
-	ao_product.c \
-	ao_romconfig.c \
-	ao_cmd.c \
-	ao_config.c \
-	ao_task.c \
-	ao_led.c \
-	ao_stdio.c \
-	ao_panic.c \
-	ao_timer.c \
-	ao_mutex.c \
-	ao_serial_stm.c \
-	ao_gps_skytraq.c \
-	ao_gps_report_mega.c \
-	ao_ignite.c \
-	ao_freq.c \
-	ao_dma_stm.c \
-	ao_spi_stm.c \
-	ao_cc1120.c \
-	ao_fec_tx.c \
-	ao_fec_rx.c \
-	ao_data.c \
-	ao_ms5607.c \
-	ao_mma655x.c \
-	ao_hmc5883.c \
-	ao_adc_stm.c \
-	ao_beep_stm.c \
-	ao_storage.c \
-	ao_m25.c \
-	ao_usb_stm.c \
-	ao_exti_stm.c \
-	ao_report.c \
-	ao_i2c_stm.c \
-	ao_mpu6000.c \
-	ao_convert_pa.c \
-	ao_log.c \
-	ao_log_mega.c \
-	ao_sample.c \
-	ao_kalman.c \
-	ao_flight.c \
-	ao_telemetry.c \
-	ao_packet_slave.c \
-	ao_packet.c \
-	ao_companion.c \
-	ao_pyro.c \
-	ao_aprs.c \
-	$(PROFILE) \
-	$(SAMPLE_PROFILE) \
-	$(STACK_GUARD)
-
-PRODUCT=MegaMetrum-v0.1
-PRODUCT_DEF=-DMEGAMETRUM
-IDPRODUCT=0x0023
-
-CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
-
-PROGNAME=megametrum-v0.1
-PROG=$(PROGNAME)-$(VERSION).elf
-
-SRC=$(ALTOS_SRC) ao_megametrum.c
-OBJ=$(SRC:.c=.o)
-
-all: $(PROG)
-
-$(PROG): Makefile $(OBJ) altos.ld
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc
-
-../altitude-pa.h: make-altitude-pa
-	nickle $< > $@
-
-$(OBJ): $(INC)
-
-ao_product.h: ao-make-product.5c ../Version
-	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
-
-distclean:	clean
-
-clean:
-	rm -f *.o $(PROGNAME)-*.elf
-	rm -f ao_product.h
-
-install:
-
-uninstall:
diff --git a/src/megametrum-v0.1/ao_megametrum.c b/src/megametrum-v0.1/ao_megametrum.c
deleted file mode 100644
index fbdab64a..00000000
--- a/src/megametrum-v0.1/ao_megametrum.c
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include <ao.h>
-#include <ao_hmc5883.h>
-#include <ao_mpu6000.h>
-#include <ao_mma655x.h>
-#include <ao_log.h>
-#include <ao_exti.h>
-#include <ao_packet.h>
-#include <ao_companion.h>
-#include <ao_profile.h>
-#if HAS_SAMPLE_PROFILE
-#include <ao_sample_profile.h>
-#endif
-#include <ao_pyro.h>
-#if HAS_STACK_GUARD
-#include <ao_mpu.h>
-#endif
-
-int
-main(void)
-{
-	ao_clock_init();
-	
-#if HAS_STACK_GUARD
-	ao_mpu_init();
-#endif
-
-	ao_task_init();
-	ao_serial_init();
-	ao_led_init(LEDS_AVAILABLE);
-	ao_led_on(AO_LED_GREEN);
-	ao_timer_init();
-
-	ao_i2c_init();
-	ao_spi_init();
-	ao_dma_init();
-	ao_exti_init();
-
-	ao_adc_init();
-#if HAS_BEEP
-	ao_beep_init();
-#endif
-	ao_cmd_init();
-
-#if HAS_MS5607
-	ao_ms5607_init();
-#endif
-#if HAS_HMC5883
-	ao_hmc5883_init();
-#endif
-#if HAS_MPU6000
-	ao_mpu6000_init();
-#endif
-#if HAS_MMA655X
-	ao_mma655x_init();
-#endif
-
-	ao_storage_init();
-	
-	ao_flight_init();
-	ao_log_init();
-	ao_report_init();
-
-	ao_usb_init();
-	ao_gps_init();
-	ao_gps_report_mega_init();
-	ao_telemetry_init();
-	ao_radio_init();
-	ao_packet_slave_init(FALSE);
-	ao_igniter_init();
-	ao_companion_init();
-	ao_pyro_init();
-
-	ao_config_init();
-#if AO_PROFILE
-	ao_profile_init();
-#endif
-#if HAS_SAMPLE_PROFILE
-	ao_sample_profile_init();
-#endif
-	
-	ao_start_scheduler();
-	return 0;
-}
diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
deleted file mode 100644
index 4c645871..00000000
--- a/src/megametrum-v0.1/ao_pins.h
+++ /dev/null
@@ -1,359 +0,0 @@
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef _AO_PINS_H_
-#define _AO_PINS_H_
-
-#define HAS_TASK_QUEUE		1
-
-/* 8MHz High speed external crystal */
-#define AO_HSE			8000000
-
-/* PLLVCO = 96MHz (so that USB will work) */
-#define AO_PLLMUL		12
-#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
-
-/* SYSCLK = 32MHz (no need to go faster than CPU) */
-#define AO_PLLDIV		3
-#define AO_RCC_CFGR_PLLDIV	(STM_RCC_CFGR_PLLDIV_3)
-
-/* HCLK = 32MHz (CPU clock) */
-#define AO_AHB_PRESCALER	1
-#define AO_RCC_CFGR_HPRE_DIV	STM_RCC_CFGR_HPRE_DIV_1
-
-/* Run APB1 at 16MHz (HCLK/2) */
-#define AO_APB1_PRESCALER	2
-#define AO_RCC_CFGR_PPRE1_DIV	STM_RCC_CFGR_PPRE2_DIV_2
-
-/* Run APB2 at 16MHz (HCLK/2) */
-#define AO_APB2_PRESCALER	2
-#define AO_RCC_CFGR_PPRE2_DIV	STM_RCC_CFGR_PPRE2_DIV_2
-
-#define HAS_SERIAL_1		1
-#define USE_SERIAL_1_STDIN	0
-#define SERIAL_1_PB6_PB7	0
-#define SERIAL_1_PA9_PA10	1
-
-#define HAS_SERIAL_2		0
-#define USE_SERIAL_2_STDIN	0
-#define SERIAL_2_PA2_PA3	0
-#define SERIAL_2_PD5_PD6	0
-
-#define HAS_SERIAL_3		1
-#define USE_SERIAL_3_STDIN	0
-#define SERIAL_3_PB10_PB11	0
-#define SERIAL_3_PC10_PC11	1
-#define SERIAL_3_PD8_PD9	0
-
-#define ao_gps_getchar		ao_serial3_getchar
-#define ao_gps_putchar		ao_serial3_putchar
-#define ao_gps_set_speed	ao_serial3_set_speed
-#define ao_gps_fifo		(ao_stm_usart3.rx_fifo)
-
-#define HAS_EEPROM		1
-#define USE_INTERNAL_FLASH	0
-#define HAS_USB			1
-#define HAS_BEEP		1
-#define HAS_RADIO		1
-#define HAS_TELEMETRY		1
-#define HAS_APRS		1
-
-#define HAS_SPI_1		1
-#define SPI_1_PA5_PA6_PA7	1	/* Barometer */
-#define SPI_1_PB3_PB4_PB5	0
-#define SPI_1_PE13_PE14_PE15	1	/* Accelerometer */
-#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		1
-#define I2C_2_PB10_PB11		1
-
-#define PACKET_HAS_SLAVE	1
-#define PACKET_HAS_MASTER	0
-
-#define LOW_LEVEL_DEBUG		0
-
-#define LED_PORT_ENABLE		STM_RCC_AHBENR_GPIOCEN
-#define LED_PORT		(&stm_gpioc)
-#define LED_PIN_RED		8
-#define LED_PIN_GREEN		9
-#define AO_LED_RED		(1 << LED_PIN_RED)
-#define AO_LED_GREEN		(1 << LED_PIN_GREEN)
-
-#define LEDS_AVAILABLE		(AO_LED_RED | AO_LED_GREEN)
-
-#define HAS_GPS			1
-#define HAS_FLIGHT		1
-#define HAS_ADC			1
-#define HAS_LOG			1
-
-/*
- * Igniter
- */
-
-#define HAS_IGNITE		1
-#define HAS_IGNITE_REPORT	1
-
-#define AO_SENSE_DROGUE(p)	((p)->adc.sense[0])
-#define AO_SENSE_MAIN(p)	((p)->adc.sense[1])
-#define AO_IGNITER_CLOSED	400
-#define AO_IGNITER_OPEN		60
-
-#define AO_IGNITER_DROGUE_PORT	(&stm_gpiod)
-#define AO_IGNITER_DROGUE_PIN	6
-
-#define AO_IGNITER_MAIN_PORT	(&stm_gpiod)
-#define AO_IGNITER_MAIN_PIN	7
-
-#define AO_PYRO_PORT_0	(&stm_gpiob)
-#define AO_PYRO_PIN_0	5
-
-#define AO_PYRO_PORT_1	(&stm_gpioe)
-#define AO_PYRO_PIN_1	4
-
-#define AO_PYRO_PORT_2	(&stm_gpioe)
-#define AO_PYRO_PIN_2	6
-
-#define AO_PYRO_PORT_3	(&stm_gpioe)
-#define AO_PYRO_PIN_3	5
-
-/* Number of general purpose pyro channels available */
-#define AO_PYRO_NUM	4
-
-#define AO_IGNITER_SET_DROGUE(v)	stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
-#define AO_IGNITER_SET_MAIN(v)		stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
-
-/*
- * ADC
- */
-#define AO_DATA_RING		32
-#define AO_ADC_NUM_SENSE	6
-
-struct ao_adc {
-	int16_t			sense[AO_ADC_NUM_SENSE];
-	int16_t			v_batt;
-	int16_t			v_pbatt;
-	int16_t			accel_ref;
-	int16_t			accel;
-	int16_t			temp;
-};
-
-#define AO_ADC_SENSE_A		0
-#define AO_ADC_SENSE_A_PORT	(&stm_gpioa)
-#define AO_ADC_SENSE_A_PIN	0
-
-#define AO_ADC_SENSE_B		1
-#define AO_ADC_SENSE_B_PORT	(&stm_gpioa)
-#define AO_ADC_SENSE_B_PIN	1
-
-#define AO_ADC_SENSE_C		2
-#define AO_ADC_SENSE_C_PORT	(&stm_gpioa)
-#define AO_ADC_SENSE_C_PIN	2
-
-#define AO_ADC_SENSE_D		3
-#define AO_ADC_SENSE_D_PORT	(&stm_gpioa)
-#define AO_ADC_SENSE_D_PIN	3
-
-#define AO_ADC_SENSE_E		4
-#define AO_ADC_SENSE_E_PORT	(&stm_gpioa)
-#define AO_ADC_SENSE_E_PIN	4
-
-#define AO_ADC_SENSE_F		22
-#define AO_ADC_SENSE_F_PORT	(&stm_gpioe)
-#define AO_ADC_SENSE_F_PIN	7
-
-#define AO_ADC_V_BATT		8
-#define AO_ADC_V_BATT_PORT	(&stm_gpiob)
-#define AO_ADC_V_BATT_PIN	0
-
-#define AO_ADC_V_PBATT		9
-#define AO_ADC_V_PBATT_PORT	(&stm_gpiob)
-#define AO_ADC_V_PBATT_PIN	1
-
-#define AO_ADC_ACCEL_REF	10
-#define AO_ADC_ACCEL_REF_PORT	(&stm_gpioc)
-#define AO_ADC_ACCEL_REF_PIN	0
-
-#define AO_ADC_ACCEL		11
-#define AO_ADC_ACCEL_PORT	(&stm_gpioc)
-#define AO_ADC_ACCEL_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) | \
-				 (1 << STM_RCC_AHBENR_GPIOCEN))
-
-#define AO_NUM_ADC_PIN		(AO_ADC_NUM_SENSE + 4)
-
-#define AO_ADC_PIN0_PORT	AO_ADC_SENSE_A_PORT
-#define AO_ADC_PIN0_PIN		AO_ADC_SENSE_A_PIN
-#define AO_ADC_PIN1_PORT	AO_ADC_SENSE_B_PORT
-#define AO_ADC_PIN1_PIN		AO_ADC_SENSE_B_PIN
-#define AO_ADC_PIN2_PORT	AO_ADC_SENSE_C_PORT
-#define AO_ADC_PIN2_PIN		AO_ADC_SENSE_C_PIN
-#define AO_ADC_PIN3_PORT	AO_ADC_SENSE_D_PORT
-#define AO_ADC_PIN3_PIN		AO_ADC_SENSE_D_PIN
-#define AO_ADC_PIN4_PORT	AO_ADC_SENSE_E_PORT
-#define AO_ADC_PIN4_PIN		AO_ADC_SENSE_E_PIN
-#define AO_ADC_PIN5_PORT	AO_ADC_SENSE_F_PORT
-#define AO_ADC_PIN5_PIN		AO_ADC_SENSE_F_PIN
-#define AO_ADC_PIN6_PORT	AO_ADC_V_BATT_PORT
-#define AO_ADC_PIN6_PIN		AO_ADC_V_BATT_PIN
-#define AO_ADC_PIN7_PORT	AO_ADC_V_PBATT_PORT
-#define AO_ADC_PIN7_PIN		AO_ADC_V_PBATT_PIN
-#define AO_ADC_PIN8_PORT	AO_ADC_ACCEL_REF_PORT
-#define AO_ADC_PIN8_PIN		AO_ADC_ACCEL_REF_PIN
-#define AO_ADC_PIN9_PORT	AO_ADC_ACCEL_PORT
-#define AO_ADC_PIN9_PIN		AO_ADC_ACCEL_PIN
-
-#define AO_NUM_ADC	       	(AO_ADC_NUM_SENSE + 5)
-
-#define AO_ADC_SQ1		AO_ADC_SENSE_A
-#define AO_ADC_SQ2		AO_ADC_SENSE_B
-#define AO_ADC_SQ3		AO_ADC_SENSE_C
-#define AO_ADC_SQ4		AO_ADC_SENSE_D
-#define AO_ADC_SQ5		AO_ADC_SENSE_E
-#define AO_ADC_SQ6		AO_ADC_SENSE_F
-#define AO_ADC_SQ7		AO_ADC_V_BATT
-#define AO_ADC_SQ8		AO_ADC_V_PBATT
-#define AO_ADC_SQ9		AO_ADC_ACCEL_REF
-#define AO_ADC_SQ10		AO_ADC_ACCEL
-#define AO_ADC_SQ11		AO_ADC_TEMP
-
-/*
- * Pressure sensor settings
- */
-#define HAS_MS5607		1
-#define HAS_MS5611		0
-#define AO_MS5607_PRIVATE_PINS	1
-#define AO_MS5607_CS_PORT	(&stm_gpioc)
-#define AO_MS5607_CS_PIN	4
-#define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS)
-#define AO_MS5607_MISO_PORT	(&stm_gpioa)
-#define AO_MS5607_MISO_PIN	6
-#define AO_MS5607_MISO_MASK	(1 << AO_MS5607_MISO)
-#define AO_MS5607_SPI_INDEX	AO_SPI_1_PA5_PA6_PA7
-
-/*
- * SPI Flash memory
- */
-
-#define M25_MAX_CHIPS		1
-#define AO_M25_SPI_CS_PORT	(&stm_gpiod)
-#define AO_M25_SPI_CS_MASK	(1 << 3)
-#define AO_M25_SPI_BUS		AO_SPI_2_PB13_PB14_PB15
-
-/*
- * Radio (cc1120)
- */
-
-/* gets pretty close to 434.550 */
-
-#define AO_RADIO_CAL_DEFAULT 	0x6ca333
-
-#define AO_FEC_DEBUG		0
-#define AO_CC1120_SPI_CS_PORT	(&stm_gpioc)
-#define AO_CC1120_SPI_CS_PIN	5
-#define AO_CC1120_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
-#define AO_CC1120_SPI		stm_spi2
-
-#define AO_CC1120_INT_PORT		(&stm_gpioc)
-#define AO_CC1120_INT_PIN		14
-#define AO_CC1120_MCU_WAKEUP_PORT	(&stm_gpioc)
-#define AO_CC1120_MCU_WAKEUP_PIN	(0)
-
-#define AO_CC1120_INT_GPIO	2
-#define AO_CC1120_INT_GPIO_IOCFG	CC1120_IOCFG2
-
-#define AO_CC1120_MARC_GPIO	3
-#define AO_CC1120_MARC_GPIO_IOCFG	CC1120_IOCFG3
-
-
-#define HAS_BOOT_RADIO		0
-
-/*
- * Mag sensor (hmc5883)
- */
-
-#define HAS_HMC5883		0
-#define AO_HMC5883_INT_PORT	(&stm_gpioc)
-#define AO_HMC5883_INT_PIN	12
-#define AO_HMC5883_I2C_INDEX	STM_I2C_INDEX(1)
-
-/*
- * mpu6000
- */
-
-#define HAS_MPU6000		1	
-#define AO_MPU6000_INT_PORT	(&stm_gpioc)
-#define AO_MPU6000_INT_PIN	13
-#define AO_MPU6000_I2C_INDEX	STM_I2C_INDEX(1)
-
-#define HAS_HIGHG_ACCEL		0
-
-/*
- * mma655x
- */
-
-#define HAS_MMA655X		1
-#define AO_MMA655X_SPI_INDEX	AO_SPI_1_PE13_PE14_PE15
-#define AO_MMA655X_CS_PORT	(&stm_gpiod)
-#define AO_MMA655X_CS_PIN	4
-
-#define NUM_CMDS		16
-
-/*
- * Companion
- */
-
-#define AO_COMPANION_CS_PORT	(&stm_gpiod)
-#define AO_COMPANION_CS_PIN	(0)
-#define AO_COMPANION_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
-
-/*
- * Monitor
- */
-
-#define HAS_MONITOR		0
-#define LEGACY_MONITOR		0
-#define HAS_MONITOR_PUT		1
-#define AO_MONITOR_LED		0
-#define HAS_RSSI		0
-
-/*
- * Profiling Viterbi decoding
- */
-
-#ifndef AO_PROFILE
-#define AO_PROFILE	       	0
-#endif
-
-#endif /* _AO_PINS_H_ */
diff --git a/src/megametrum-v0.1/stlink-pins b/src/megametrum-v0.1/stlink-pins
deleted file mode 100644
index 390f8e5d..00000000
--- a/src/megametrum-v0.1/stlink-pins
+++ /dev/null
@@ -1,57 +0,0 @@
-ST discovery card pins
-
-1	AIN-1
-2	JTCK
-3	GND
-4	JTMS
-5	NRST
-6	SWO
-
-MegaMetrum v0.1 misc connector
-
-1	GND
-2	reset_n
-3	boot0
-4	tx1
-5	rx1
-6	+3.3V
-7	GND
-8	jtms
-9	jtck
-10	jtdi
-11	jtdo
-12	jntrst
-13	sda2
-14	scl2
-15	pe1
-16	pe0
-
-For debugging:
-
-	ST	MM v0.1
-JTCK	2	9
-GND	3	7
-JTMS	4	8
-NRST	5	2
-
-Altus Metrum STM32L standard debug connector (4 pin MicoMaTch):
-
-	TL	ST
-GND	1	3
-NRST	2	5
-SWDIO	3	4
-SWCLK	4	2
-
-Altus Metrum standard 4-pin connector to MegaMetrum v0.1 misc connector:
-
-	AMstd	MM v0.1
-gnd	1	1
-nrst	2	2
-swdio	3	8
-swclk	4	9
-
-MegaAccel:
-
-Jumpers
-PC0 (pin15) (blue)	PE0 (pin97)	accel_ref	(debug 16)
-PC1 (pin16) (green)	PE1 (pin98)	accel		(debug 15)
diff --git a/src/stm/ao_i2c_stm.c b/src/stm/ao_i2c_stm.c
index 779e2275..809b5c6f 100644
--- a/src/stm/ao_i2c_stm.c
+++ b/src/stm/ao_i2c_stm.c
@@ -36,7 +36,7 @@ static uint16_t	ao_i2c_addr[STM_NUM_I2C];
 uint8_t 	ao_i2c_mutex[STM_NUM_I2C];
 
 # define I2C_HIGH_SLOW	5000	/* ns, 100kHz clock */
-#ifdef MEGAMETRUM
+#ifdef TELEMEGA
 # define I2C_HIGH_FAST	2000	/* ns, 167kHz clock */
 #else
 # define I2C_HIGH_FAST	1000	/* ns, 333kHz clock */
diff --git a/src/telelco-v0.1/Makefile b/src/telelco-v0.1/Makefile
index d2702dd6..a4a83d02 100644
--- a/src/telelco-v0.1/Makefile
+++ b/src/telelco-v0.1/Makefile
@@ -61,7 +61,7 @@ ALTOS_SRC = \
 	ao_radio_cmac_cmd.c
 
 PRODUCT=TeleLCO-v0.1
-PRODUCT_DEF=-DMEGAMETRUM
+PRODUCT_DEF=-DTELEMEGA
 IDPRODUCT=0x0023
 
 CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g
diff --git a/src/test/Makefile b/src/test/Makefile
index 991bdbfc..a62b59c5 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -30,7 +30,7 @@ ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kal
 	cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c
 
 ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c $(INCS)
-	cc -DMEGAMETRUM=1 $(CFLAGS) -o $@ $< -lm
+	cc -DTELEMEGA=1 $(CFLAGS) -o $@ $< -lm
 
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
 	cc $(CFLAGS) -o $@ $<
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index cdd1f236..99bed7ee 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -35,7 +35,7 @@
 #define AO_MS_TO_SPEED(ms)	((int16_t) ((ms) * 16))
 #define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
 
-#if MEGAMETRUM
+#if TELEMEGA
 #define AO_ADC_NUM_SENSE	6
 #define HAS_MS5607		1
 #define HAS_MPU6000		1
@@ -195,7 +195,7 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
-#if MEGAMETRUM
+#if TELEMEGA
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
 struct ao_ms5607_prom	ms5607_prom;
@@ -333,7 +333,7 @@ ao_insert(void)
 #else
 		double	accel = 0.0;
 #endif
-#if MEGAMETRUM
+#if TELEMEGA
 		double	height;
 
 		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -373,7 +373,7 @@ ao_insert(void)
 
 		if (!ao_summary) {
 			printf("%7.2f height %8.2f accel %8.3f "
-#if MEGAMETRUM
+#if TELEMEGA
 			       "roll %8.3f angle %8.3f qangle %8.3f "
 			       "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 #endif
@@ -381,7 +381,7 @@ ao_insert(void)
 			       time,
 			       height,
 			       accel,
-#if MEGAMETRUM
+#if TELEMEGA
 			       ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
 			       ao_mpu6000_gyro(ao_sample_angle) / 100.0,
 			       ao_sample_qangle,
@@ -555,7 +555,7 @@ int32(uint8_t *bytes, int off)
 
 static int log_format;
 
-#if MEGAMETRUM
+#if TELEMEGA
 
 static double
 ao_vec_norm(double x, double y, double z)
@@ -774,7 +774,7 @@ ao_sleep(void *wchan)
 		for (;;) {
 			if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 			{
-#if MEGAMETRUM
+#if TELEMEGA
 				ao_data_static.mpu6000 = ao_ground_mpu6000;
 #else
 				ao_data_static.adc.accel = ao_flight_ground_accel;
@@ -800,8 +800,8 @@ ao_sleep(void *wchan)
 				if (words[nword] == NULL)
 					break;
 			}
-#if MEGAMETRUM
-			if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) {
+#if TELEMEGA
+			if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 				int	i;
 				struct ao_ms5607_value	value;
 
@@ -885,7 +885,7 @@ ao_sleep(void *wchan)
 				continue;
 			}
 #else
-			if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) {
+			if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 				type = words[0][0];
 				tick = strtoul(words[1], NULL, 16);
 				a = strtoul(words[2], NULL, 16);
@@ -1002,7 +1002,7 @@ ao_sleep(void *wchan)
 			if (type != 'F' && !ao_flight_started)
 				continue;
 
-#if MEGAMETRUM
+#if TELEMEGA
 			(void) a;
 			(void) b;
 #else
diff --git a/telemetrum.inf b/telemetrum.inf
index 91416bca..386dd286 100755
--- a/telemetrum.inf
+++ b/telemetrum.inf
@@ -30,7 +30,7 @@ DefaultDestDir	= 12
 %TeleScience%	= AltusMetrum.Install, USB\VID_FFFE&PID_0011, AltusMetrumSerial
 %TelePyro%	= AltusMetrum.Install, USB\VID_FFFE&PID_0012, AltusMetrumSerial
 %TeleShield%	= AltusMetrum.Install, USB\VID_FFFE&PID_0013, AltusMetrumSerial
-%MegaMetrum%	= AltusMetrum.Install, USB\VID_FFFE&PID_0023, AltusMetrumSerial
+%TeleMega%	= AltusMetrum.Install, USB\VID_FFFE&PID_0023, AltusMetrumSerial
 %MegaDongle	= AltusMetrum.Install, USB\VID_FFFE&PID_0024, AltusMetrumSerial
 %TeleGPS%	= AltusMetrum.Install, USB\VID_FFFE&PID_0025, AltusMetrumSerial
 %AltusMetrum26%	= AltusMetrum.Install, USB\VID_FFFE&PID_0026, AltusMetrumSerial
@@ -52,7 +52,7 @@ DefaultDestDir	= 12
 %TeleScience%	= AltusMetrum.Install, USB\VID_FFFE&PID_0011, AltusMetrumSerial
 %TelePyro%	= AltusMetrum.Install, USB\VID_FFFE&PID_0012, AltusMetrumSerial
 %TeleShield%	= AltusMetrum.Install, USB\VID_FFFE&PID_0013, AltusMetrumSerial
-%MegaMetrum%	= AltusMetrum.Install, USB\VID_FFFE&PID_0023, AltusMetrumSerial
+%TeleMega%	= AltusMetrum.Install, USB\VID_FFFE&PID_0023, AltusMetrumSerial
 %MegaDongle	= AltusMetrum.Install, USB\VID_FFFE&PID_0024, AltusMetrumSerial
 %TeleGPS%	= AltusMetrum.Install, USB\VID_FFFE&PID_0025, AltusMetrumSerial
 %AltusMetrum26%	= AltusMetrum.Install, USB\VID_FFFE&PID_0026, AltusMetrumSerial
@@ -74,7 +74,7 @@ DefaultDestDir	= 12
 %TeleScience%	= AltusMetrum.Install, USB\VID_FFFE&PID_0011, AltusMetrumSerial
 %TelePyro%	= AltusMetrum.Install, USB\VID_FFFE&PID_0012, AltusMetrumSerial
 %TeleShield%	= AltusMetrum.Install, USB\VID_FFFE&PID_0013, AltusMetrumSerial
-%MegaMetrum%	= AltusMetrum.Install, USB\VID_FFFE&PID_0023, AltusMetrumSerial
+%TeleMega%	= AltusMetrum.Install, USB\VID_FFFE&PID_0023, AltusMetrumSerial
 %MegaDongle	= AltusMetrum.Install, USB\VID_FFFE&PID_0024, AltusMetrumSerial
 %TeleGPS%	= AltusMetrum.Install, USB\VID_FFFE&PID_0025, AltusMetrumSerial
 %AltusMetrum26%	= AltusMetrum.Install, USB\VID_FFFE&PID_0026, AltusMetrumSerial
@@ -96,7 +96,7 @@ DefaultDestDir	= 12
 %TeleScience%	= AltusMetrum.Install, USB\VID_FFFE&PID_0011, AltusMetrumSerial
 %TelePyro%	= AltusMetrum.Install, USB\VID_FFFE&PID_0012, AltusMetrumSerial
 %TeleShield%	= AltusMetrum.Install, USB\VID_FFFE&PID_0013, AltusMetrumSerial
-%MegaMetrum%	= AltusMetrum.Install, USB\VID_FFFE&PID_0023, AltusMetrumSerial
+%TeleMega%	= AltusMetrum.Install, USB\VID_FFFE&PID_0023, AltusMetrumSerial
 %MegaDongle	= AltusMetrum.Install, USB\VID_FFFE&PID_0024, AltusMetrumSerial
 %TeleGPS%	= AltusMetrum.Install, USB\VID_FFFE&PID_0025, AltusMetrumSerial
 %AltusMetrum26%	= AltusMetrum.Install, USB\VID_FFFE&PID_0026, AltusMetrumSerial
-- 
cgit v1.2.3


From 6dea353e732b6e19586c844796bc3bb848cc92f8 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 10 Mar 2013 21:05:34 -0700
Subject: altos: Expose ao_put_string function

This works like puts, except it doesn't add a trailing newline.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h     |  3 +++
 src/core/ao_cmd.c | 20 ++++++++++++++------
 2 files changed, 17 insertions(+), 6 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao.h b/src/core/ao.h
index 977e10b8..548e8738 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -144,6 +144,9 @@ extern __pdata uint32_t ao_cmd_lex_u32;
 extern __pdata char	ao_cmd_lex_c;
 extern __pdata enum ao_cmd_status ao_cmd_status;
 
+void
+ao_put_string(__code char *s);
+
 void
 ao_cmd_lex(void);
 
diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 3d086a57..6eed08d9 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -28,8 +28,8 @@ static __xdata char	cmd_line[CMD_LEN];
 static __pdata uint8_t	cmd_len;
 static __pdata uint8_t	cmd_i;
 
-static void
-put_string(__code char *s)
+void
+ao_put_string(__code char *s)
 {
 	char	c;
 	while ((c = *s++))
@@ -39,7 +39,7 @@ put_string(__code char *s)
 static void
 backspace(void)
 {
-	put_string ("\010 \010");
+	ao_put_string ("\010 \010");
 }
 
 static void
@@ -47,7 +47,7 @@ readline(void)
 {
 	char c;
 	if (ao_echo())
-		put_string("> ");
+		ao_put_string("> ");
 	cmd_len = 0;
 	for (;;) {
 		flush();
@@ -303,13 +303,21 @@ help(void)
 	__pdata uint8_t cmds;
 	__pdata uint8_t cmd;
 	__code struct ao_cmds * __pdata cs;
-	const char *h;
+	__code const char *h;
+	uint8_t e;
 
 	for (cmds = 0; cmds < ao_ncmds; cmds++) {
 		cs = ao_cmds[cmds];
 		for (cmd = 0; cs[cmd].func; cmd++) {
 			h = cs[cmd].help;
-			printf("%-45s %s\n", h, h + 1 + strlen(h));
+			ao_put_string(h);
+			e = strlen(h);
+			h += e + 1;
+			e = 45 - e;
+			while (e--)
+				putchar(' ');
+			ao_put_string(h);
+			putchar('\n');
 		}
 	}
 }
-- 
cgit v1.2.3


From f677a83348a9568679240ee9d731ab454f289831 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 28 Apr 2013 23:02:12 -0700
Subject: altos: Provide timeout value to ao_radio_recv

Instead of using ao_alarm around calls to ao_radio_recv, provide an
explicit timeout value as needed by radio functions with more
complicated system interaction than the cc1111. The timeout is 8 bits
of clock ticks.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/ao_radio.c         |  6 +++++-
 src/core/ao.h                 |  2 +-
 src/core/ao_monitor.c         |  2 +-
 src/core/ao_radio_cmac.c      |  6 +-----
 src/drivers/ao_cc1120.c       | 19 ++++++++++++-------
 src/drivers/ao_packet.c       |  2 +-
 src/drivers/ao_radio_master.c |  3 ++-
 src/drivers/ao_radio_slave.c  |  3 ++-
 8 files changed, 25 insertions(+), 18 deletions(-)

(limited to 'src/core')

diff --git a/src/cc1111/ao_radio.c b/src/cc1111/ao_radio.c
index cb2c2fdd..07b0d1b5 100644
--- a/src/cc1111/ao_radio.c
+++ b/src/cc1111/ao_radio.c
@@ -322,7 +322,7 @@ ao_radio_send(__xdata void *packet, uint8_t size) __reentrant
 }
 
 uint8_t
-ao_radio_recv(__xdata void *packet, uint8_t size) __reentrant
+ao_radio_recv(__xdata void *packet, uint8_t size, uint8_t timeout) __reentrant
 {
 	ao_radio_abort = 0;
 	ao_radio_get(size - 2);
@@ -342,9 +342,13 @@ ao_radio_recv(__xdata void *packet, uint8_t size) __reentrant
 	/* Wait for DMA to be done, for the radio receive process to
 	 * get aborted or for a receive timeout to fire
 	 */
+	if (timeout)
+		ao_alarm(timeout);
 	__critical while (!ao_radio_dma_done && !ao_radio_abort)
 			   if (ao_sleep(&ao_radio_dma_done))
 				   break;
+	if (timeout)
+		ao_clear_alarm();
 
 	/* If recv was aborted, clean up by stopping the DMA engine
 	 * and idling the radio
diff --git a/src/core/ao.h b/src/core/ao.h
index 548e8738..2a8eb042 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -535,7 +535,7 @@ ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
 
 #if HAS_RADIO_RECV
 uint8_t
-ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
+ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
 
 void
 ao_radio_recv_abort(void);
diff --git a/src/core/ao_monitor.c b/src/core/ao_monitor.c
index 5876bef7..18f170b4 100644
--- a/src/core/ao_monitor.c
+++ b/src/core/ao_monitor.c
@@ -81,7 +81,7 @@ ao_monitor_get(void)
 			size = ao_monitoring;
 			break;
 		}
-		if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
+		if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
 			continue;
 		ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
 		ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
diff --git a/src/core/ao_radio_cmac.c b/src/core/ao_radio_cmac.c
index fc0ca8b1..4920b50c 100644
--- a/src/core/ao_radio_cmac.c
+++ b/src/core/ao_radio_cmac.c
@@ -85,11 +85,7 @@ radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
 #if HAS_MONITOR
 	ao_monitor_set(0);
 #endif
-	if (timeout)
-		ao_alarm(timeout);
-
-	i = ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2);
-	ao_clear_alarm();
+	i = ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2, timeout);
 
 	if (!i) {
 		ao_radio_cmac_rssi = 0;
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index a26eccbc..5add45e4 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -671,12 +671,17 @@ ao_radio_test_cmd(void)
 }
 
 static void
-ao_radio_wait_isr(void)
+ao_radio_wait_isr(uint16_t timeout)
 {
+	if (timeout)
+		ao_alarm(timeout);
 	ao_arch_block_interrupts();
 	while (!ao_radio_wake && !ao_radio_mcu_wake && !ao_radio_abort)
-		ao_sleep(&ao_radio_wake);
+		if (ao_sleep(&ao_radio_wake))
+			ao_radio_abort = 1;
 	ao_arch_release_interrupts();
+	if (timeout)
+		ao_clear_alarm();
 	if (ao_radio_mcu_wake)
 		ao_radio_check_marc_status();
 }
@@ -687,7 +692,7 @@ ao_radio_wait_tx(uint8_t wait_fifo)
 	uint8_t	fifo_space = 0;
 
 	do {
-		ao_radio_wait_isr();
+		ao_radio_wait_isr(0);
 		if (!wait_fifo)
 			return 0;
 		fifo_space = ao_radio_tx_fifo_space();
@@ -777,7 +782,7 @@ ao_radio_send_aprs(ao_radio_fill_func fill)
 			/* Wait for some space in the fifo */
 			while (!ao_radio_abort && (fifo_space = ao_radio_tx_fifo_space()) == 0) {
 				ao_radio_wake = 0;
-				ao_radio_wait_isr();
+				ao_radio_wait_isr(0);
 			}
 			if (ao_radio_abort)
 				break;
@@ -809,7 +814,7 @@ ao_radio_send_aprs(ao_radio_fill_func fill)
 		}
 		/* Wait for the transmitter to go idle */
 		ao_radio_wake = 0;
-		ao_radio_wait_isr();
+		ao_radio_wait_isr(0);
 	}
 	ao_radio_put();
 }
@@ -886,7 +891,7 @@ ao_radio_rx_wait(void)
 }
 
 uint8_t
-ao_radio_recv(__xdata void *d, uint8_t size)
+ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout)
 {
 	uint8_t		len;
 	uint16_t	i;
@@ -940,7 +945,7 @@ ao_radio_recv(__xdata void *d, uint8_t size)
 	ao_radio_strobe(CC1120_SRX);
 
 	/* Wait for the preamble to appear */
-	ao_radio_wait_isr();
+	ao_radio_wait_isr(timeout);
 	if (ao_radio_abort)
 		goto abort;
 
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 5a507478..802d4c90 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -62,7 +62,7 @@ ao_packet_recv(void)
 #ifdef AO_LED_GREEN
 	ao_led_on(AO_LED_GREEN);
 #endif
-	dma_done = ao_radio_recv(&ao_rx_packet, sizeof (struct ao_packet_recv));
+	dma_done = ao_radio_recv(&ao_rx_packet, sizeof (struct ao_packet_recv), 0);
 #ifdef AO_LED_GREEN
 	ao_led_off(AO_LED_GREEN);
 #endif
diff --git a/src/drivers/ao_radio_master.c b/src/drivers/ao_radio_master.c
index 1e0050c8..128fcf32 100644
--- a/src/drivers/ao_radio_master.c
+++ b/src/drivers/ao_radio_master.c
@@ -156,7 +156,7 @@ ao_radio_send(const void *d, uint8_t size)
 
 
 uint8_t
-ao_radio_recv(__xdata void *d, uint8_t size)
+ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout)
 {
 	int8_t	ret;
 	uint8_t	recv;
@@ -166,6 +166,7 @@ ao_radio_recv(__xdata void *d, uint8_t size)
 	
 	ao_radio_get(AO_RADIO_SPI_RECV, 0);
 	ao_radio_spi_request.recv_len = size;
+	ao_radio_spi_request.timeout = timeout;
 	recv = ao_radio_master_send();
 	if (!recv) {
 		ao_radio_put();
diff --git a/src/drivers/ao_radio_slave.c b/src/drivers/ao_radio_slave.c
index 1d1f16fe..9a0612e5 100644
--- a/src/drivers/ao_radio_slave.c
+++ b/src/drivers/ao_radio_slave.c
@@ -65,7 +65,8 @@ ao_radio_slave_spi(void)
 			ao_config.radio_setting = ao_radio_spi_request.setting;
 			ao_led_on(AO_LED_RX);
 			ao_radio_spi_reply.status = ao_radio_recv(&ao_radio_spi_reply.payload,
-								  ao_radio_spi_request.recv_len);
+								  ao_radio_spi_request.recv_len,
+								  ao_radio_spi_request.timeout);
 			ao_led_off(AO_LED_RX);
 			ao_radio_spi_reply.rssi = 0;
 			ao_spi_send(&ao_radio_spi_reply,
-- 
cgit v1.2.3


From eb0e1720be2aa4fb6729ceada09c18947bfee2bc Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 29 Apr 2013 23:20:25 -0700
Subject: altos: Compute "real" RSSI value in radio code as needed

Instead of dragging around the weird CC1111 RSSI values, just compute
a dBm value in a signed 8-bit integer, ao_radio_rssi. Use that
everywhere we need RSSI internally. We leave the weird CC1111 value in
the packet reply as that's what the host expects.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/ao_radio.c          | 19 +++++++++++++++++++
 src/core/ao.h                  |  2 ++
 src/core/ao_packet.h           |  2 +-
 src/core/ao_radio_cmac.c       |  4 ++--
 src/drivers/ao_cc1120.c        | 23 ++++++++++++++++++-----
 src/drivers/ao_packet.c        |  4 ----
 src/drivers/ao_packet_master.c |  2 +-
 7 files changed, 43 insertions(+), 13 deletions(-)

(limited to 'src/core')

diff --git a/src/cc1111/ao_radio.c b/src/cc1111/ao_radio.c
index 07b0d1b5..4842486b 100644
--- a/src/cc1111/ao_radio.c
+++ b/src/cc1111/ao_radio.c
@@ -249,6 +249,18 @@ __xdata uint8_t ao_radio_done;
 __xdata uint8_t ao_radio_abort;
 __xdata uint8_t ao_radio_mutex;
 
+#if PACKET_HAS_MASTER || HAS_AES
+#define NEED_RADIO_RSSI 1
+#endif
+
+#ifndef NEED_RADIO_RSSI
+#define NEED_RADIO_RSSI 0
+#endif
+
+#if NEED_RADIO_RSSI
+__xdata int8_t ao_radio_rssi;
+#endif
+
 void
 ao_radio_general_isr(void) __interrupt 16
 {
@@ -356,7 +368,14 @@ ao_radio_recv(__xdata void *packet, uint8_t size, uint8_t timeout) __reentrant
 	if (!ao_radio_dma_done) {
 		ao_dma_abort(ao_radio_dma);
 		ao_radio_idle();
+#if NEED_RADIO_RSSI
+		ao_radio_rssi = 0;
+#endif
 	}
+#if NEED_RADIO_RSSI
+	else
+		ao_radio_rssi = AO_RSSI_FROM_RADIO(((uint8_t *)packet)[size - 1]);
+#endif
 	ao_radio_put();
 	return ao_radio_dma_done;
 }
diff --git a/src/core/ao.h b/src/core/ao.h
index 2a8eb042..6bcb3664 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -511,6 +511,8 @@ ao_telemetry_tiny_init(void);
 
 extern __xdata uint8_t	ao_radio_dma;
 
+extern __xdata int8_t	ao_radio_rssi;
+
 #ifdef PKT_APPEND_STATUS_1_CRC_OK
 #define AO_RADIO_STATUS_CRC_OK	PKT_APPEND_STATUS_1_CRC_OK
 #else
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 6d121bb9..b8426cf9 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -68,7 +68,7 @@ _ao_packet_pollchar(void);
 #if PACKET_HAS_MASTER
 /* ao_packet_master.c */
 
-extern __xdata uint8_t ao_packet_last_rssi;
+extern __xdata int8_t ao_packet_last_rssi;
 
 void
 ao_packet_master_init(void);
diff --git a/src/core/ao_radio_cmac.c b/src/core/ao_radio_cmac.c
index 4920b50c..3ca3c313 100644
--- a/src/core/ao_radio_cmac.c
+++ b/src/core/ao_radio_cmac.c
@@ -92,7 +92,7 @@ radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
 		return AO_RADIO_CMAC_TIMEOUT;
 	}
 
-	ao_radio_cmac_rssi = (int8_t) (((int8_t) cmac_data[len + AO_CMAC_KEY_LEN]) >> 1) - 74;
+	ao_radio_cmac_rssi = ao_radio_rssi;
 	if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & AO_RADIO_STATUS_CRC_OK))
 		return AO_RADIO_CMAC_CRC_ERROR;
 
@@ -146,7 +146,7 @@ ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant
 int8_t
 ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant
 {
-	uint8_t	i;
+	int8_t	i;
 	if (len > AO_CMAC_MAX_LEN)
 		return AO_RADIO_CMAC_LEN_ERROR;
 	ao_mutex_get(&ao_radio_cmac_mutex);
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 07ebf835..b6b77a5a 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -32,6 +32,8 @@ static uint8_t ao_radio_mcu_wake;	/* MARC status change */
 static uint8_t ao_radio_marc_status;	/* Last read MARC status value */
 static uint8_t ao_radio_tx_finished;	/* MARC status indicates TX finished */
 
+int8_t	ao_radio_rssi;			/* Last received RSSI value */
+
 #define CC1120_DEBUG	AO_FEC_DEBUG
 #define CC1120_TRACE	0
 
@@ -552,6 +554,7 @@ ao_radio_get(uint8_t len)
 	static uint32_t	last_radio_setting;
 
 	ao_mutex_get(&ao_radio_mutex);
+
 	if (!ao_radio_configured)
 		ao_radio_setup();
 	if (ao_config.radio_setting != last_radio_setting) {
@@ -909,7 +912,8 @@ ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout)
 {
 	uint8_t		len;
 	uint16_t	i;
-	uint8_t		rssi;
+	uint8_t		radio_rssi = 0;
+	uint8_t		rssi0;
 	uint8_t		ret;
 	static int been_here = 0;
 
@@ -977,17 +981,26 @@ ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout)
 	ao_radio_burst_read_stop();
 
 abort:
-	ao_radio_strobe(CC1120_SIDLE);
-
 	/* Convert from 'real' rssi to cc1111-style values */
 
-	rssi = AO_RADIO_FROM_RSSI(ao_radio_reg_read(CC1120_RSSI1));
+	rssi0 = ao_radio_reg_read(CC1120_RSSI0);
+	if (rssi0 & 1) {
+		int8_t rssi = ao_radio_reg_read(CC1120_RSSI1);
+		ao_radio_rssi = rssi;
+
+		/* Bound it to the representable range */
+		if (rssi > -11)
+			rssi = -11;
+		radio_rssi = AO_RADIO_FROM_RSSI (rssi);
+	}
+
+	ao_radio_strobe(CC1120_SIDLE);
 
 	ao_radio_put();
 
 	/* Store the received RSSI value; the crc-OK byte is already done */
 
-	((uint8_t *) d)[size] = (uint8_t) rssi;
+	((uint8_t *) d)[size] = radio_rssi;
 
 #if AO_PROFILE
 	rx_last_done_tick = rx_done_tick;
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 802d4c90..8cdf85a9 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -31,7 +31,6 @@ __xdata uint8_t ao_packet_restart;
 
 #if PACKET_HAS_MASTER
 __xdata uint8_t ao_packet_master_sleeping;
-__xdata uint8_t ao_packet_last_rssi;
 #endif
 
 void
@@ -85,9 +84,6 @@ ao_packet_recv(void)
 	if (!(ao_rx_packet.status & AO_RADIO_STATUS_CRC_OK))
 		return 0;
 
-#if PACKET_HAS_MASTER
-	ao_packet_last_rssi = ao_rx_packet.rssi;
-#endif
 	/* Accept packets with matching call signs, or any packet if
 	 * our callsign hasn't been configured
 	 */
diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index 4c0dc573..d6c99cbd 100644
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -145,7 +145,7 @@ ao_packet_forward(void) __reentrant
 static void
 ao_packet_signal(void)
 {
-	printf ("RSSI: %d\n", AO_RSSI_FROM_RADIO(ao_packet_last_rssi));
+	printf ("RSSI: %d\n", ao_radio_rssi);
 }
 
 __code struct ao_cmds ao_packet_master_cmds[] = {
-- 
cgit v1.2.3


From 1e9b405e939136d25d937334d1f14f06c7d6127b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 30 Apr 2013 19:04:26 -0700
Subject: altos: Use separate exception stack on STM32L

This reserves 512 bytes of memory for a stack, then makes sure that
exceptions continue to use that stack while processes use the per-task
stack.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_task.c      |  3 +++
 src/stm/altos.ld        |  6 ++++--
 src/stm/ao_arch_funcs.h | 13 +++++++++++++
 3 files changed, 20 insertions(+), 2 deletions(-)

(limited to 'src/core')

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 9cb074b5..c24c9929 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -536,5 +536,8 @@ ao_start_scheduler(void)
 	ao_cur_task_index = AO_NO_TASK_INDEX;
 #endif
 	ao_cur_task = NULL;
+#if HAS_ARCH_START_SCHEDULER
+	ao_arch_start_scheduler();
+#endif
 	ao_yield();
 }
diff --git a/src/stm/altos.ld b/src/stm/altos.ld
index f78a45d6..d218e992 100644
--- a/src/stm/altos.ld
+++ b/src/stm/altos.ld
@@ -17,7 +17,8 @@
 
 MEMORY {
 	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
-	ram (!w) : ORIGIN = 0x20000000, LENGTH = 16K
+	ram (!w) : ORIGIN = 0x20000000, LENGTH = 15872
+	stack (!w) : ORIGIN = 0x20003e00, LENGTH = 512
 }
 
 INCLUDE registers.ld
@@ -63,8 +64,9 @@ SECTIONS {
 		__bss_end__ = .;
 	} >ram
 
-	PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram));
 	PROVIDE(end = .);
+
+	PROVIDE(__stack__ = ORIGIN(stack) + LENGTH(stack));
 }
 
 ENTRY(start);
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index d1779307..f3d68202 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -317,6 +317,19 @@ static inline void ao_arch_restore_stack(void) {
 	asm("bx lr");
 }
 
+#define HAS_ARCH_START_SCHEDULER	1
+
+static inline void ao_arch_start_scheduler(void) {
+	uint32_t	sp;
+	uint32_t	control;
+
+	asm("mrs %0,msp" : "=&r" (sp));
+	asm("msr psp,%0" : : "r" (sp));
+	asm("mrs %0,control" : "=&r" (control));
+	control |= (1 << 1);
+	asm("msr control,%0" : : "r" (control));
+}
+
 #define ao_arch_isr_stack()
 
 #define ao_arch_wait_interrupt() do {			\
-- 
cgit v1.2.3


From b7b0ddfddee3f8e21f21d67cd9f522fa50777265 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 1 May 2013 08:56:57 -0700
Subject: altos: Mark GPS telemetry packets with GPS time stamp

This provides a reasonable accurate indication of the system time when
the GPS location data was received, and also makes sure GPS packets
get some timestamp when no other telemetry is being transmitted.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_telemetry.c | 1 +
 1 file changed, 1 insertion(+)

(limited to 'src/core')

diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 03aa48d8..c3bbfec5 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -230,6 +230,7 @@ ao_send_location(void)
 		ao_xmemcpy(&telemetry.location.flags,
 		       &ao_gps_data.flags,
 		       26);
+		telemetry.location.tick = ao_gps_tick;
 		ao_mutex_put(&ao_gps_mutex);
 		ao_radio_send(&telemetry, sizeof (telemetry));
 		ao_telemetry_loc_cur = ao_telemetry_config_max;
-- 
cgit v1.2.3


From 887209b61ac3012d0fd2206cf1016c44f59cb432 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 7 May 2013 19:29:06 -0700
Subject: altos: Sanity check barometer before going to pad mode

Make sure the barometer is reporting some sensible value before
letting TM try to fly the rocket.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_flight.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

(limited to 'src/core')

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 64c95063..9d9d4c6e 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -94,7 +94,9 @@ ao_flight(void)
 			if (ao_config.accel_plus_g == 0 ||
 			    ao_config.accel_minus_g == 0 ||
 			    ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
-			    ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
+			    ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
+			    ao_ground_height < -1000 ||
+			    ao_ground_height > 7000)
 			{
 				/* Detected an accel value outside -1.5g to 1.5g
 				 * (or uncalibrated values), so we go into invalid mode
-- 
cgit v1.2.3


From c9c35b100c3fcae661501d2bf89eedc7fceb2e1c Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 10 Mar 2013 21:02:59 -0700
Subject: altos: Make stm-flash capable of switching to application

This shrinks the base OS load down a bit as well so that stm-flash
fits comfortably in the first 8kB of memory.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_cmd.c            | 11 +++++++
 src/core/ao_task.c           |  2 ++
 src/core/ao_task.h           |  4 +++
 src/stm-demo/Makefile        |  2 +-
 src/stm-flash/ao_pins.h      | 13 +++++---
 src/stm-flash/ao_stm_flash.c | 28 +----------------
 src/stm/altos-application.ld | 72 ++++++++++++++++++++++++++++++++++++++++++++
 src/stm/altos-loader.ld      | 72 ++++++++++++++++++++++++++++++++++++++++++++
 src/stm/ao_boot.h            | 24 +++++++++++++++
 src/stm/ao_interrupt.c       | 44 +++++++++++++++++++++------
 10 files changed, 229 insertions(+), 43 deletions(-)
 create mode 100644 src/stm/altos-application.ld
 create mode 100644 src/stm/altos-loader.ld
 create mode 100644 src/stm/ao_boot.h

(limited to 'src/core')

diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 6eed08d9..7da2384f 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include "ao_task.h"
 
 __pdata uint16_t ao_cmd_lex_i;
 __pdata uint32_t ao_cmd_lex_u32;
@@ -262,6 +263,11 @@ ao_reboot(void)
 	ao_panic(AO_PANIC_REBOOT);
 }
 
+#ifndef HAS_VERSION
+#define HAS_VERSION 1
+#endif
+
+#if HAS_VERSION
 static void
 version(void)
 {
@@ -289,6 +295,7 @@ version(void)
 #endif
 	printf("software-version %s\n", ao_version);
 }
+#endif
 
 #ifndef NUM_CMDS
 #define NUM_CMDS	11
@@ -382,10 +389,14 @@ __xdata struct ao_task ao_cmd_task;
 
 __code struct ao_cmds	ao_base_cmds[] = {
 	{ help,		"?\0Help" },
+#if HAS_TASK_INFO
 	{ ao_task_info,	"T\0Tasks" },
+#endif
 	{ echo,		"E <0 off, 1 on>\0Echo" },
 	{ ao_reboot,	"r eboot\0Reboot" },
+#if HAS_VERSION
 	{ version,	"v\0Version" },
+#endif
 	{ 0,	NULL },
 };
 
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index c24c9929..0aad6508 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -512,6 +512,7 @@ ao_exit(void)
 	/* we'll never get back here */
 }
 
+#if HAS_TASK_INFO
 void
 ao_task_info(void)
 {
@@ -528,6 +529,7 @@ ao_task_info(void)
 	ao_task_validate();
 #endif
 }
+#endif
 
 void
 ao_start_scheduler(void)
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 50bfb220..1a4b5b6b 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -21,6 +21,10 @@
 #include <ao_list.h>
 #endif
 
+#ifndef HAS_TASK_INFO
+#define HAS_TASK_INFO 1
+#endif
+
 /* An AltOS task */
 struct ao_task {
 	__xdata void *wchan;		/* current wait channel (NULL if running) */
diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile
index 3b1b671b..ab12f47b 100644
--- a/src/stm-demo/Makefile
+++ b/src/stm-demo/Makefile
@@ -53,7 +53,7 @@ OBJ=$(SRC:.c=.o)
 
 all: $(PROG)
 
-LDFLAGS=-L../stm -Wl,-Taltos.ld
+LDFLAGS=-L../stm -Wl,-Taltos-application.ld
 
 $(PROG): Makefile $(OBJ)
 	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc
diff --git a/src/stm-flash/ao_pins.h b/src/stm-flash/ao_pins.h
index b232f373..ca53d844 100644
--- a/src/stm-flash/ao_pins.h
+++ b/src/stm-flash/ao_pins.h
@@ -20,7 +20,9 @@
 
 #define HAS_TASK_QUEUE		0
 
-#define AO_HSE			8000000
+/* Bridge SB17 on the board and use the MCO from the other chip */
+#define AO_HSE		8000000
+#define AO_HSE_BYPASS		1
 
 /* PLLVCO = 96MHz (so that USB will work) */
 #define AO_PLLMUL		12
@@ -61,11 +63,12 @@
 #define AO_TICK_SIGNED		int32_t
 
 #define HAS_TASK_INFO		0
+#define HAS_VERSION		0
 
-#define AO_BOOT_APPLICATION_GPIO	stm_gpiob
-#define AO_BOOT_APPLICATION_PIN		5
-#define AO_BOOT_APPLICATION_VALUE	0
-#define AO_BOOT_APPLICATION_MODE	AO_EXTI_MODE_PULL_UP
+#define AO_BOOT_APPLICATION_GPIO	stm_gpioa
+#define AO_BOOT_APPLICATION_PIN		0
+#define AO_BOOT_APPLICATION_VALUE	1
+#define AO_BOOT_APPLICATION_MODE	0
 #define AO_BOOT_APPLICATION_BASE	0x2000
 
 #endif /* _AO_PINS_H_ */
diff --git a/src/stm-flash/ao_stm_flash.c b/src/stm-flash/ao_stm_flash.c
index 81ae86df..e2d7ec65 100644
--- a/src/stm-flash/ao_stm_flash.c
+++ b/src/stm-flash/ao_stm_flash.c
@@ -17,7 +17,6 @@
 
 #include "ao.h"
 #include <ao_exti.h>
-<<<<<<< HEAD
 #include <ao_boot.h>
 #include <ao_flash_stm.h>
 
@@ -118,48 +117,23 @@ __code struct ao_cmds ao_flash_cmds[] = {
 	{ ao_block_read, "R <addr>\0Read block. Returns 256 bytes" },
 	{ 0, NULL },
 };
-=======
 
-void
-ao_panic(uint8_t c)
-{
-}
-
-void
-ao_test(void)
-{
-	char	c;
-
-	for (;;) {
-		c = ao_usb_getchar();
-		ao_usb_putchar(c);
-		ao_usb_flush();
-	}
-}
-
-struct ao_task ao_test_task;
->>>>>>> 5187bb4... Add STM self-flashing loader
 
 int
 main(void)
 {
 	ao_clock_init();
-<<<<<<< HEAD
 
 	ao_task_init();
 
-=======
->>>>>>> 5187bb4... Add STM self-flashing loader
 	ao_timer_init();
 //	ao_dma_init();
 	ao_cmd_init();
 //	ao_exti_init();
 	ao_usb_init();
 
-<<<<<<< HEAD
 	ao_cmd_register(&ao_flash_cmds[0]);
-=======
->>>>>>> 5187bb4... Add STM self-flashing loader
+	ao_cmd_register(&ao_flash_cmds[0]);
 	ao_start_scheduler();
 	return 0;
 }
diff --git a/src/stm/altos-application.ld b/src/stm/altos-application.ld
new file mode 100644
index 00000000..63a3be00
--- /dev/null
+++ b/src/stm/altos-application.ld
@@ -0,0 +1,72 @@
+/*
+ * 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.
+ */
+
+MEMORY {
+	rom (rx) : ORIGIN = 0x08002000, LENGTH = 120K
+	ram (!w) : ORIGIN = 0x20000000, LENGTH = 16K
+}
+
+INCLUDE registers.ld
+
+EXTERN (stm_interrupt_vector)
+
+SECTIONS {
+	/*
+	 * Rom contents
+	 */
+
+	.text ORIGIN(rom) : {
+		__text_start__ = .;
+		*(.interrupt)	/* Interrupt vectors */
+
+		. = ORIGIN(rom) + 0x100;
+
+		ao_romconfig.o(.romconfig*)
+		ao_product.o(.romconfig*)
+
+		*(.text*)	/* Executable code */
+		*(.rodata*)	/* Constants */
+
+	} > rom
+
+	.ARM.exidx : {
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+		__text_end__ = .;
+	} > rom
+
+	/* Data -- relocated to RAM, but written to ROM
+	 */
+	.data ORIGIN(ram) : AT (ADDR(.ARM.exidx) + SIZEOF (.ARM.exidx)) {
+		__data_start__ = .;
+		*(.data)	/* initialized data */
+		__data_end__ = .;
+		__bss_start__ = .;
+	} >ram
+
+	.bss : {
+		*(.bss)
+		*(COMMON)
+		__bss_end__ = .;
+	} >ram
+
+	PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram));
+	PROVIDE(end = .);
+}
+
+ENTRY(start);
+
+
diff --git a/src/stm/altos-loader.ld b/src/stm/altos-loader.ld
new file mode 100644
index 00000000..2d71b4ee
--- /dev/null
+++ b/src/stm/altos-loader.ld
@@ -0,0 +1,72 @@
+/*
+ * 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.
+ */
+
+MEMORY {
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 8K
+	ram (!w) : ORIGIN = 0x20000000, LENGTH = 16K
+}
+
+INCLUDE registers.ld
+
+EXTERN (stm_interrupt_vector)
+
+SECTIONS {
+	/*
+	 * Rom contents
+	 */
+
+	.text ORIGIN(rom) : {
+		__text_start__ = .;
+		*(.interrupt)	/* Interrupt vectors */
+
+		. = ORIGIN(rom) + 0x100;
+
+		ao_romconfig.o(.romconfig*)
+		ao_product.o(.romconfig*)
+
+		*(.text*)	/* Executable code */
+		*(.rodata*)	/* Constants */
+
+	} > rom
+
+	.ARM.exidx : {
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+		__text_end__ = .;
+	} > rom
+
+	/* Data -- relocated to RAM, but written to ROM
+	 */
+	.data ORIGIN(ram) : AT (ADDR(.ARM.exidx) + SIZEOF (.ARM.exidx)) {
+		__data_start__ = .;
+		*(.data)	/* initialized data */
+		__data_end__ = .;
+		__bss_start__ = .;
+	} >ram
+
+	.bss : {
+		*(.bss)
+		*(COMMON)
+		__bss_end__ = .;
+	} >ram
+
+	PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram));
+	PROVIDE(end = .);
+}
+
+ENTRY(start);
+
+
diff --git a/src/stm/ao_boot.h b/src/stm/ao_boot.h
new file mode 100644
index 00000000..863d8e05
--- /dev/null
+++ b/src/stm/ao_boot.h
@@ -0,0 +1,24 @@
+/*
+ * 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_BOOT_H_
+#define _AO_BOOT_H_
+
+void
+ao_reboot_application(void);
+
+#endif /* _AO_BOOT_H_ */
diff --git a/src/stm/ao_interrupt.c b/src/stm/ao_interrupt.c
index 12763a30..9e756219 100644
--- a/src/stm/ao_interrupt.c
+++ b/src/stm/ao_interrupt.c
@@ -42,12 +42,45 @@ const void *stm_interrupt_vector[];
 
 #ifdef AO_BOOT_APPLICATION_PIN
 #include <ao_exti.h>
+
+#define AO_BOOT_APPLICATION		0x5a5aa5a5
+#define AO_BOOT_APPLICATION_CHECK	0xc3c33c3c
+
+static uint32_t	ao_boot_application;
+static uint32_t	ao_boot_application_check;
+
+static void
+ao_boot_chain(void) {
+	uint32_t	sp;
+	uint32_t	pc;
+
+	sp = BOOT_FETCH(0);
+	pc = BOOT_FETCH(4);
+	asm ("mov sp, %0" : : "r" (sp));
+	asm ("mov lr, %0" : : "r" (pc));
+	asm ("bx lr");
+}
+
+void
+ao_reboot_application(void)
+{
+	ao_boot_application = AO_BOOT_APPLICATION;
+	ao_boot_application_check = AO_BOOT_APPLICATION_CHECK;
+	ao_arch_reboot();
+}
+
 #endif
 
 void start(void) {
 #ifdef AO_BOOT_APPLICATION_PIN
 	uint16_t v;
 
+	if (ao_boot_application == AO_BOOT_APPLICATION &&
+	    ao_boot_application_check == AO_BOOT_APPLICATION_CHECK) {
+		ao_boot_application = 0;
+		ao_boot_application_check = 0;
+		ao_boot_chain();
+	}
 	/* Enable power interface clock */
 	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
 	
@@ -63,16 +96,7 @@ void start(void) {
 	ao_disable_port(&AO_BOOT_APPLICATION_GPIO);
 	stm_rcc.apb1enr &= ~(1 << STM_RCC_APB1ENR_PWREN);
 	if (v == AO_BOOT_APPLICATION_VALUE)
-	{
-		uint32_t	sp;
-		uint32_t	pc;
-
-		sp = BOOT_FETCH(0);
-		pc = BOOT_FETCH(4);
-		asm ("mov sp, %0" : : "r" (sp));
-		asm ("mov lr, %0" : : "r" (pc));
-		asm ("bx lr");
-	}
+		ao_boot_chain();
 #endif
 
 	/* Set interrupt vector table offset */
-- 
cgit v1.2.3


From 6f3bbb11880f45284f1f094990ffa32a66bf4560 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 22 Apr 2013 20:24:48 -0500
Subject: altos: Move ao_notask to core

The STM flash loader wants to be taskless too, share this very simple
implementation of sleep/wakeup.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/attiny/ao_arch.h      |  2 +-
 src/core/ao.h             |  2 ++
 src/core/ao_notask.c      | 45 +++++++++++++++++++++++++++++++++++++++++++++
 src/core/ao_notask.h      | 27 +++++++++++++++++++++++++++
 src/micropeak/ao_notask.c | 45 ---------------------------------------------
 5 files changed, 75 insertions(+), 46 deletions(-)
 create mode 100644 src/core/ao_notask.c
 create mode 100644 src/core/ao_notask.h
 delete mode 100644 src/micropeak/ao_notask.c

(limited to 'src/core')

diff --git a/src/attiny/ao_arch.h b/src/attiny/ao_arch.h
index 52bed981..8140dd30 100644
--- a/src/attiny/ao_arch.h
+++ b/src/attiny/ao_arch.h
@@ -55,7 +55,7 @@
 #define putchar(c)	ao_putchar(c)
 #define getchar		ao_getchar
 
-#define ao_arch_cpu_idle() do {			\
+#define ao_arch_wait_interrupt() do {		\
 		sleep_enable();			\
 		sei();				\
 		sleep_cpu();			\
diff --git a/src/core/ao.h b/src/core/ao.h
index 6bcb3664..0ad3e4aa 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -45,6 +45,8 @@
 
 #if HAS_TASK
 #include <ao_task.h>
+#else
+#include <ao_notask.h>
 #endif
 
 /*
diff --git a/src/core/ao_notask.c b/src/core/ao_notask.c
new file mode 100644
index 00000000..a41712d2
--- /dev/null
+++ b/src/core/ao_notask.c
@@ -0,0 +1,45 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+
+static volatile void *ao_wchan;
+
+uint8_t
+ao_sleep(__xdata void *wchan)
+{
+#if 1
+	ao_wchan = wchan;
+	ao_arch_wait_interrupt();
+#else
+	uint8_t	sreg;
+
+	ao_wchan = wchan;
+	asm("in %0,__SREG__" : "=&r" (sreg));
+	sei();
+	while (ao_wchan)
+		ao_arch_cpu_idle();
+	asm("out __SREG__,%0" : : "r" (sreg));
+#endif
+	return 0;
+}
+
+void
+ao_wakeup(__xdata void *wchan)
+{
+	ao_wchan = 0;
+}
diff --git a/src/core/ao_notask.h b/src/core/ao_notask.h
new file mode 100644
index 00000000..6b6b5bb8
--- /dev/null
+++ b/src/core/ao_notask.h
@@ -0,0 +1,27 @@
+/*
+ * 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_NOTASK_H_
+#define _AO_NOTASK_H_
+
+uint8_t
+ao_sleep(__xdata void *wchan);
+
+void
+ao_wakeup(__xdata void *wchan);
+
+#endif /* _AO_NOTASK_H_ */
diff --git a/src/micropeak/ao_notask.c b/src/micropeak/ao_notask.c
deleted file mode 100644
index 0aef9cf3..00000000
--- a/src/micropeak/ao_notask.c
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include <ao.h>
-
-static volatile void *ao_wchan;
-
-uint8_t
-ao_sleep(__xdata void *wchan)
-{
-#if 1
-	ao_wchan = wchan;
-	ao_arch_cpu_idle();
-#else
-	uint8_t	sreg;
-
-	ao_wchan = wchan;
-	asm("in %0,__SREG__" : "=&r" (sreg));
-	sei();
-	while (ao_wchan)
-		ao_arch_cpu_idle();
-	asm("out __SREG__,%0" : : "r" (sreg));
-#endif
-	return 0;
-}
-
-void
-ao_wakeup(__xdata void *wchan)
-{
-	ao_wchan = 0;
-}
-- 
cgit v1.2.3


From 8d0f4bc23eae4f1e085bfb853c995f1fb6b8b594 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 22 Apr 2013 20:27:52 -0500
Subject: altos: Eliminate stdio looping when system has a single stdio source

No need to loop if there's only one

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_avr_stdio.c | 11 +----------
 src/core/ao_stdio.c    | 17 +++++++++++++++++
 2 files changed, 18 insertions(+), 10 deletions(-)

(limited to 'src/core')

diff --git a/src/avr/ao_avr_stdio.c b/src/avr/ao_avr_stdio.c
index 2765853a..f9c0f88c 100644
--- a/src/avr/ao_avr_stdio.c
+++ b/src/avr/ao_avr_stdio.c
@@ -20,16 +20,7 @@
 int
 stdio_put(char c, FILE *stream)
 {
-	if (ao_cur_task && ao_num_stdios)
-		putchar(c);
-	else
-	{
-		if (c == '\n')
-			stdio_put('\r', stream);
-		loop_until_bit_is_set(UCSR1A, UDRE1);
-		UDR1 = c;
-	}
-
+	putchar(c);
 	return 0;
 }
 
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 977d74b1..cd144d6b 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -66,8 +66,15 @@
 #define AO_NUM_STDIOS	(HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN)
 
 __xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS];
+
+#if AO_NUM_STDIOS > 1
 __pdata int8_t ao_cur_stdio;
 __pdata int8_t ao_num_stdios;
+#else
+__pdata int8_t ao_cur_stdio;
+#define ao_cur_stdio	0
+#define ao_num_stdios	0
+#endif
 
 void
 putchar(char c)
@@ -107,12 +114,16 @@ getchar(void) __reentrant
 		c = ao_stdios[stdio]._pollchar();
 		if (c != AO_READ_AGAIN)
 			break;
+#if AO_NUM_STDIOS > 1
 		if (++stdio == ao_num_stdios)
 			stdio = 0;
 		if (stdio == ao_cur_stdio)
+#endif
 			ao_sleep(&ao_stdin_ready);
 	}
+#if AO_NUM_STDIOS > 1
 	ao_cur_stdio = stdio;
+#endif
 	ao_arch_release_interrupts();
 	return c;
 }
@@ -128,11 +139,17 @@ ao_add_stdio(int (*_pollchar)(void),
 	     void (*putchar)(char),
 	     void (*flush)(void)) __reentrant
 {
+#if AO_NUM_STDIOS > 1
 	if (ao_num_stdios == AO_NUM_STDIOS)
 		ao_panic(AO_PANIC_STDIO);
+#endif
 	ao_stdios[ao_num_stdios]._pollchar = _pollchar;
 	ao_stdios[ao_num_stdios].putchar = putchar;
 	ao_stdios[ao_num_stdios].flush = flush;
 	ao_stdios[ao_num_stdios].echo = 1;
+#if AO_NUM_STDIOS > 1
 	return ao_num_stdios++;
+#else
+	return 0;
+#endif
 }
-- 
cgit v1.2.3


From dfc268e0021e1cd3045f73339a749d292a6a6300 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 22 Apr 2013 20:35:57 -0500
Subject: altos: Use flash loader on all STM products

Includes the boot chain stuff

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_cmd.c             | 15 +++++++
 src/megadongle-v0.1/Makefile  |  1 +
 src/stm-demo/Makefile         |  2 +-
 src/stm-demo/ao_demo.c        |  8 ----
 src/stm-flash/ao_pins.h       |  1 -
 src/stm/altos-application.ld  | 95 -------------------------------------------
 src/stm/altos.ld              | 35 +++++++++++++---
 src/stm/ao_arch.h             |  5 +++
 src/stm/ao_boot.h             |  5 +++
 src/telegps-v0.1/Makefile     |  1 +
 src/telelco-v0.1/Makefile     |  1 +
 src/telemega-v0.1/Makefile    |  1 +
 src/telescience-v0.2/Makefile |  1 +
 13 files changed, 60 insertions(+), 111 deletions(-)
 delete mode 100644 src/stm/altos-application.ld

(limited to 'src/core')

diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 7da2384f..188b8bb4 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -385,6 +385,18 @@ ao_cmd(void)
 	}
 }
 
+#if HAS_BOOT_LOADER
+
+#include <ao_boot.h>
+
+static void
+ao_loader(void)
+{
+	flush();
+	ao_boot_loader();
+}
+#endif
+
 __xdata struct ao_task ao_cmd_task;
 
 __code struct ao_cmds	ao_base_cmds[] = {
@@ -396,6 +408,9 @@ __code struct ao_cmds	ao_base_cmds[] = {
 	{ ao_reboot,	"r eboot\0Reboot" },
 #if HAS_VERSION
 	{ version,	"v\0Version" },
+#endif
+#if HAS_BOOT_LOADER
+	{ ao_loader,	"X\0Switch to boot loader" },
 #endif
 	{ 0,	NULL },
 };
diff --git a/src/megadongle-v0.1/Makefile b/src/megadongle-v0.1/Makefile
index fe392ce1..7f12963f 100644
--- a/src/megadongle-v0.1/Makefile
+++ b/src/megadongle-v0.1/Makefile
@@ -28,6 +28,7 @@ INC = \
 #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
 
 ALTOS_SRC = \
+	ao_boot_chain.c \
 	ao_interrupt.c \
 	ao_product.c \
 	ao_romconfig.c \
diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile
index e84a7675..d1f825db 100644
--- a/src/stm-demo/Makefile
+++ b/src/stm-demo/Makefile
@@ -56,7 +56,7 @@ OBJ=$(SRC:.c=.o)
 
 all: $(ELF) $(IHX)
 
-LDFLAGS=-L../stm -Wl,-Taltos-application.ld
+LDFLAGS=-L../stm -Wl,-Taltos.ld
 
 $(ELF): Makefile $(OBJ)
 	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $@ $(OBJ) $(SAT_CLIB) -lgcc
diff --git a/src/stm-demo/ao_demo.c b/src/stm-demo/ao_demo.c
index ec572fdc..5677cdf4 100644
--- a/src/stm-demo/ao_demo.c
+++ b/src/stm-demo/ao_demo.c
@@ -169,13 +169,6 @@ ao_event(void)
 
 }
 
-static void
-ao_boot_loader(void)
-{
-	flush();
-	ao_boot_reboot((uint32_t *) 0);
-}
-
 __code struct ao_cmds ao_demo_cmds[] = {
 	{ ao_dma_test,	"D\0DMA test" },
 	{ ao_spi_write, "W\0SPI write" },
@@ -183,7 +176,6 @@ __code struct ao_cmds ao_demo_cmds[] = {
 	{ ao_i2c_write, "i\0I2C write" },
 	{ ao_temp, "t\0Show temp" },
 	{ ao_event, "e\0Monitor event queue" },
-	{ ao_boot_loader, "L\0Reboot to boot loader" },
 	{ 0, NULL }
 };
 
diff --git a/src/stm-flash/ao_pins.h b/src/stm-flash/ao_pins.h
index 1c00675b..8fb56f7b 100644
--- a/src/stm-flash/ao_pins.h
+++ b/src/stm-flash/ao_pins.h
@@ -75,6 +75,5 @@
 #define AO_BOOT_APPLICATION_PIN		0
 #define AO_BOOT_APPLICATION_VALUE	1
 #define AO_BOOT_APPLICATION_MODE	0
-#define AO_BOOT_APPLICATION_BASE	((uint32_t *) 0x1000)
 
 #endif /* _AO_PINS_H_ */
diff --git a/src/stm/altos-application.ld b/src/stm/altos-application.ld
deleted file mode 100644
index 6affc376..00000000
--- a/src/stm/altos-application.ld
+++ /dev/null
@@ -1,95 +0,0 @@
-/*
- * 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.
- */
-
-MEMORY {
-	rom (rx) : ORIGIN = 0x08001000, LENGTH = 124K
-	ram (!w) : ORIGIN = 0x20000000, LENGTH = 16K
-}
-
-INCLUDE registers.ld
-
-EXTERN (stm_interrupt_vector)
-
-SECTIONS {
-	/*
-	 * Rom contents
-	 */
-
-	.text ORIGIN(rom) : {
-		__text_start__ = .;
-		*(.interrupt)	/* Interrupt vectors */
-
-		. = ORIGIN(rom) + 0x100;
-
-
-		/* Ick. What I want is to specify the
-		 * addresses of some global constants so
-		 * that I can find them across versions
-		 * of the application. I can't figure out
-		 * how to make gnu ld do that, so instead
-		 * we just load the two files that include
-		 * these defines in the right order here and
-		 * expect things to 'just work'. Don't change
-		 * the contents of those files, ok?
-		 */
-		ao_romconfig.o(.romconfig*)
-		ao_product.o(.romconfig*)
-		*(.text*)	/* Executable code */
-		*(.rodata*)	/* Constants */
-
-	} > rom
-
-	.ARM.exidx : {
-		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
-	} > rom
-	__text_end__ = .;
-
-	/* Boot data which must live at the start of ram so that
-	 * the application and bootloader share the same addresses.
-	 * This must be all uninitialized data
-	 */
-	.boot (NOLOAD) : {
-		__boot_start__ = .;
-		*(.boot)
-		. = ALIGN(4);
-		__boot_end__ = .;
-	} >ram
-
-	/* Data -- relocated to RAM, but written to ROM
-	 */
-	.data : {
-		__data_start__ = .;
-		*(.data)	/* initialized data */
-		. = ALIGN(4);
-		__data_end__ = .;
-	} >ram AT>rom
-
-	.bss : {
-		__bss_start__ = .;
-		*(.bss)
-		*(COMMON)
-		. = ALIGN(4);
-		__bss_end__ = .;
-	} >ram
-
-	PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram));
-	PROVIDE(end = .);
-}
-
-ENTRY(start);
-
-
diff --git a/src/stm/altos.ld b/src/stm/altos.ld
index d218e992..3106cc3b 100644
--- a/src/stm/altos.ld
+++ b/src/stm/altos.ld
@@ -16,7 +16,7 @@
  */
 
 MEMORY {
-	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	rom (rx) : ORIGIN = 0x08001000, LENGTH = 124K
 	ram (!w) : ORIGIN = 0x20000000, LENGTH = 15872
 	stack (!w) : ORIGIN = 0x20003e00, LENGTH = 512
 }
@@ -36,9 +36,19 @@ SECTIONS {
 
 		. = ORIGIN(rom) + 0x100;
 
+
+		/* Ick. What I want is to specify the
+		 * addresses of some global constants so
+		 * that I can find them across versions
+		 * of the application. I can't figure out
+		 * how to make gnu ld do that, so instead
+		 * we just load the two files that include
+		 * these defines in the right order here and
+		 * expect things to 'just work'. Don't change
+		 * the contents of those files, ok?
+		 */
 		ao_romconfig.o(.romconfig*)
 		ao_product.o(.romconfig*)
-
 		*(.text*)	/* Executable code */
 		*(.rodata*)	/* Constants */
 
@@ -46,21 +56,34 @@ SECTIONS {
 
 	.ARM.exidx : {
 		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
-		__text_end__ = .;
 	} > rom
+	__text_end__ = .;
+
+	/* Boot data which must live at the start of ram so that
+	 * the application and bootloader share the same addresses.
+	 * This must be all uninitialized data
+	 */
+	.boot (NOLOAD) : {
+		__boot_start__ = .;
+		*(.boot)
+		. = ALIGN(4);
+		__boot_end__ = .;
+	} >ram
 
 	/* Data -- relocated to RAM, but written to ROM
 	 */
-	.data ORIGIN(ram) : AT (ADDR(.ARM.exidx) + SIZEOF (.ARM.exidx)) {
+	.data : {
 		__data_start__ = .;
 		*(.data)	/* initialized data */
+		. = ALIGN(4);
 		__data_end__ = .;
-		__bss_start__ = .;
-	} >ram
+	} >ram AT>rom
 
 	.bss : {
+		__bss_start__ = .;
 		*(.bss)
 		*(COMMON)
+		. = ALIGN(4);
 		__bss_end__ = .;
 	} >ram
 
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index 27a942f2..cc83eac2 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -129,5 +129,10 @@ extern const uint32_t	ao_radio_cal;
 void
 ao_adc_init();
 
+#define AO_BOOT_APPLICATION_BASE	((uint32_t *) 0x1000)
+#define AO_BOOT_LOADER_BASE		((uint32_t *) 0x0)
+#define HAS_BOOT_LOADER			1
+
 #endif /* _AO_ARCH_H_ */
 
+
diff --git a/src/stm/ao_boot.h b/src/stm/ao_boot.h
index 3e8c50ba..862e8755 100644
--- a/src/stm/ao_boot.h
+++ b/src/stm/ao_boot.h
@@ -30,4 +30,9 @@ ao_boot_check_chain(void);
 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_ */
diff --git a/src/telegps-v0.1/Makefile b/src/telegps-v0.1/Makefile
index aae37660..2c41235b 100644
--- a/src/telegps-v0.1/Makefile
+++ b/src/telegps-v0.1/Makefile
@@ -33,6 +33,7 @@ INC = \
 #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
 
 ALTOS_SRC = \
+	ao_boot_chain.c \
 	ao_interrupt.c \
 	ao_product.c \
 	ao_romconfig.c \
diff --git a/src/telelco-v0.1/Makefile b/src/telelco-v0.1/Makefile
index a4a83d02..24083308 100644
--- a/src/telelco-v0.1/Makefile
+++ b/src/telelco-v0.1/Makefile
@@ -30,6 +30,7 @@ INC = \
 #PROFILE_DEF=-DAO_PROFILE=1
 
 ALTOS_SRC = \
+	ao_boot_chain.c \
 	ao_interrupt.c \
 	ao_product.c \
 	ao_romconfig.c \
diff --git a/src/telemega-v0.1/Makefile b/src/telemega-v0.1/Makefile
index 16393ea0..a72d08f2 100644
--- a/src/telemega-v0.1/Makefile
+++ b/src/telemega-v0.1/Makefile
@@ -45,6 +45,7 @@ INC = \
 #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
 
 ALTOS_SRC = \
+	ao_boot_chain.c \
 	ao_interrupt.c \
 	ao_product.c \
 	ao_romconfig.c \
diff --git a/src/telescience-v0.2/Makefile b/src/telescience-v0.2/Makefile
index fbeeb75c..f16ef268 100644
--- a/src/telescience-v0.2/Makefile
+++ b/src/telescience-v0.2/Makefile
@@ -28,6 +28,7 @@ INC = \
 #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
 
 ALTOS_SRC = \
+	ao_boot_chain.c \
 	ao_interrupt.c \
 	ao_product.c \
 	ao_romconfig.c \
-- 
cgit v1.2.3


From d2f0dcc73df612d10ed12d364fe661ccd831f037 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 13 May 2013 22:32:25 -0700
Subject: altos: Provide a define for the number of sat infos in a telem packet

12 fit, but it's best to use a symbolic constant

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_telemetry.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

(limited to 'src/core')

diff --git a/src/core/ao_telemetry.h b/src/core/ao_telemetry.h
index 32a1668c..f2d201de 100644
--- a/src/core/ao_telemetry.h
+++ b/src/core/ao_telemetry.h
@@ -126,13 +126,15 @@ struct ao_telemetry_satellite_info {
 	uint8_t		c_n_1;
 };
 
+#define AO_TELEMETRY_SATELLITE_MAX_SAT	12
+
 struct ao_telemetry_satellite {
 	uint16_t				serial;		/*  0 */
 	uint16_t				tick;		/*  2 */
 	uint8_t					type;		/*  4 */
 	uint8_t					channels;	/*  5 number of reported sats */
 
-	struct ao_telemetry_satellite_info	sats[12];	/* 6 */
+	struct ao_telemetry_satellite_info	sats[AO_TELEMETRY_SATELLITE_MAX_SAT];	/* 6 */
 	uint8_t					unused[2];	/* 30 */
 	/* 32 */
 };
-- 
cgit v1.2.3