From 0dd148e388944d8d265da51d62806c4a00b2c13d Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 24 Jun 2013 14:23:53 -0700
Subject: altos/lpc: Add boot loader

Support the USB boot loader, add USB pull-up support.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/product/ao_flash_pins.h |  2 ++
 src/product/ao_flash_task.c | 13 +++++--------
 2 files changed, 7 insertions(+), 8 deletions(-)

(limited to 'src/product')

diff --git a/src/product/ao_flash_pins.h b/src/product/ao_flash_pins.h
index b774df6d..439ba75c 100644
--- a/src/product/ao_flash_pins.h
+++ b/src/product/ao_flash_pins.h
@@ -37,4 +37,6 @@
 #define AO_BOOT_CHAIN		1
 #define AO_BOOT_PIN		1
 
+#define IS_FLASH_LOADER		1
+
 #endif /* _AO_FLASH_PINS_H_ */
diff --git a/src/product/ao_flash_task.c b/src/product/ao_flash_task.c
index fdc4d0aa..4cfbf75f 100644
--- a/src/product/ao_flash_task.c
+++ b/src/product/ao_flash_task.c
@@ -73,7 +73,7 @@ static void
 ao_block_erase(void)
 {
 	uint32_t	addr = ao_get_hex32();
-	uint32_t	*p = (uint32_t *) addr;
+	void		*p = (void *) addr;
 
 	ao_flash_erase_page(p);
 }
@@ -82,11 +82,8 @@ static void
 ao_block_write(void)
 {
 	uint32_t	addr = ao_get_hex32();
-	uint32_t	*p = (uint32_t *) addr;
-	union {
-		uint8_t		data8[256];
-		uint32_t	data32[64];
-	} u;
+	void		*p = (void *) addr;
+	uint8_t		data[256];
 	uint16_t	i;
 
 	if (addr < (uint32_t) AO_BOOT_APPLICATION_BASE) {
@@ -94,8 +91,8 @@ ao_block_write(void)
 		return;
 	}
 	for (i = 0; i < 256; i++)
-		u.data8[i] = ao_usb_getchar();
-	ao_flash_page(p, u.data32);
+		data[i] = ao_usb_getchar();
+	ao_flash_page(p, (void *) data);
 }
 
 static void
-- 
cgit v1.2.3


From 224a1e01bacb7db0076129906ed58e1c785e1b14 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 2 Sep 2013 23:08:34 -0600
Subject: altos: Not all products have pins to control flash loader

TeleGPS has no exposed pins for this function

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/product/ao_flash_pins.h | 1 -
 1 file changed, 1 deletion(-)

(limited to 'src/product')

diff --git a/src/product/ao_flash_pins.h b/src/product/ao_flash_pins.h
index 439ba75c..dd67d820 100644
--- a/src/product/ao_flash_pins.h
+++ b/src/product/ao_flash_pins.h
@@ -35,7 +35,6 @@
 #define HAS_VERSION		0
 
 #define AO_BOOT_CHAIN		1
-#define AO_BOOT_PIN		1
 
 #define IS_FLASH_LOADER		1
 
-- 
cgit v1.2.3


From 690094e2d7d9cfe5eb4edb478fd79e5d133c6b4b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 15 Sep 2013 14:11:50 -0700
Subject: altos: Move micropeak sources around

This sticks the micropeak sources in appropriate directories, rather
than in the micropeak product directory so that they can be shared
with future micropeak-style products.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/attiny/ao_async.c          |  71 ++++++++++++++++++++
 src/attiny/ao_async.h          |  30 +++++++++
 src/core/ao_log_micro.c        | 121 ++++++++++++++++++++++++++++++++++
 src/core/ao_log_micro.h        |  39 +++++++++++
 src/core/ao_microflight.c      | 143 +++++++++++++++++++++++++++++++++++++++++
 src/core/ao_microkalman.c      |  74 +++++++++++++++++++++
 src/core/ao_report_micro.c     |  57 ++++++++++++++++
 src/micropeak/Makefile         |   6 +-
 src/micropeak/ao_async.c       |  71 --------------------
 src/micropeak/ao_async.h       |  30 ---------
 src/micropeak/ao_log_micro.c   | 121 ----------------------------------
 src/micropeak/ao_log_micro.h   |  39 -----------
 src/micropeak/ao_microflight.c | 143 -----------------------------------------
 src/micropeak/ao_microkalman.c |  74 ---------------------
 src/micropeak/ao_micropeak.c   |  89 -------------------------
 src/micropeak/ao_micropeak.h   |  78 ----------------------
 src/micropeak/ao_report_tiny.c |  57 ----------------
 src/product/ao_micropeak.c     |  89 +++++++++++++++++++++++++
 src/product/ao_micropeak.h     |  78 ++++++++++++++++++++++
 19 files changed, 705 insertions(+), 705 deletions(-)
 create mode 100644 src/attiny/ao_async.c
 create mode 100644 src/attiny/ao_async.h
 create mode 100644 src/core/ao_log_micro.c
 create mode 100644 src/core/ao_log_micro.h
 create mode 100644 src/core/ao_microflight.c
 create mode 100644 src/core/ao_microkalman.c
 create mode 100644 src/core/ao_report_micro.c
 delete mode 100644 src/micropeak/ao_async.c
 delete mode 100644 src/micropeak/ao_async.h
 delete mode 100644 src/micropeak/ao_log_micro.c
 delete mode 100644 src/micropeak/ao_log_micro.h
 delete mode 100644 src/micropeak/ao_microflight.c
 delete mode 100644 src/micropeak/ao_microkalman.c
 delete mode 100644 src/micropeak/ao_micropeak.c
 delete mode 100644 src/micropeak/ao_micropeak.h
 delete mode 100644 src/micropeak/ao_report_tiny.c
 create mode 100644 src/product/ao_micropeak.c
 create mode 100644 src/product/ao_micropeak.h

(limited to 'src/product')

diff --git a/src/attiny/ao_async.c b/src/attiny/ao_async.c
new file mode 100644
index 00000000..3556f54c
--- /dev/null
+++ b/src/attiny/ao_async.c
@@ -0,0 +1,71 @@
+/*
+ * 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_async.h>
+
+#define AO_ASYNC_BAUD	38400l
+#define AO_ASYNC_DELAY	(uint8_t) (1000000l / AO_ASYNC_BAUD)
+
+#define LED_PORT	PORTB
+
+void
+ao_async_start(void)
+{
+	LED_PORT |= (1 << AO_LED_SERIAL);
+}
+
+void
+ao_async_stop(void)
+{
+	LED_PORT &= ~(1 << AO_LED_SERIAL);
+}
+
+void
+ao_async_byte(uint8_t byte)
+{
+	uint8_t		b;
+	uint16_t	w;
+
+	/*    start           data           stop */
+	w = (0x000 << 0) | (byte << 1) | (0x001 << 9);
+
+	ao_arch_block_interrupts();
+	for (b = 0; b < 10; b++) {
+		uint8_t	v = LED_PORT & ~(1 << AO_LED_SERIAL);
+		v |= (w & 1) << AO_LED_SERIAL;
+		LED_PORT = v;
+		w >>= 1;
+
+		/* Carefully timed to hit around 9600 baud */
+		asm volatile ("nop");
+		asm volatile ("nop");
+
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+	}
+	ao_arch_release_interrupts();
+}
diff --git a/src/attiny/ao_async.h b/src/attiny/ao_async.h
new file mode 100644
index 00000000..1b239712
--- /dev/null
+++ b/src/attiny/ao_async.h
@@ -0,0 +1,30 @@
+/*
+ * 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_ASYNC_H_
+#define _AO_ASYNC_H_
+
+void
+ao_async_start(void);
+
+void
+ao_async_stop(void);
+
+void
+ao_async_byte(uint8_t byte);
+
+#endif /* _AO_ASYNC_H_ */
diff --git a/src/core/ao_log_micro.c b/src/core/ao_log_micro.c
new file mode 100644
index 00000000..d665efb5
--- /dev/null
+++ b/src/core/ao_log_micro.c
@@ -0,0 +1,121 @@
+/*
+ * 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_micropeak.h>
+#include <ao_log_micro.h>
+#include <ao_async.h>
+
+static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
+
+void
+ao_log_micro_save(void)
+{
+	uint16_t	n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
+	ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+	ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+	ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+}
+
+void
+ao_log_micro_restore(void)
+{
+	ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+	ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+}
+
+void
+ao_log_micro_data(void)
+{
+	uint16_t	low_bits = pa;
+
+	if (ao_log_offset < MAX_LOG_OFFSET) {
+		ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
+		ao_log_offset += sizeof (low_bits);
+	}
+}
+
+#define POLY 0x8408
+
+static uint16_t
+ao_log_micro_crc(uint16_t crc, uint8_t byte)
+{
+	uint8_t	i;
+
+	for (i = 0; i < 8; i++) {
+		if ((crc & 0x0001) ^ (byte & 0x0001))
+			crc = (crc >> 1) ^ POLY;
+		else
+			crc = crc >> 1;
+		byte >>= 1;
+	}
+	return crc;
+}
+
+static void
+ao_log_hex_nibble(uint8_t b)
+{
+	if (b < 10)
+		ao_async_byte('0' + b);
+	else
+		ao_async_byte('a' - 10 + b);
+}
+
+static void
+ao_log_hex(uint8_t b)
+{
+	ao_log_hex_nibble(b>>4);
+	ao_log_hex_nibble(b&0xf);
+}
+
+static void
+ao_log_newline(void)
+{
+	ao_async_byte('\r');
+	ao_async_byte('\n');
+}
+
+void
+ao_log_micro_dump(void)
+{
+	uint16_t	n_samples;
+	uint16_t	nbytes;
+	uint8_t		byte;
+	uint16_t	b;
+	uint16_t	crc = 0xffff;
+
+	ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+	if (n_samples == 0xffff)
+		n_samples = 0;
+	nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
+	ao_async_start();
+	ao_async_byte('M');
+	ao_async_byte('P');
+	for (b = 0; b < nbytes; b++) {
+		if ((b & 0xf) == 0)
+			ao_log_newline();
+		ao_eeprom_read(b, &byte, 1);
+		ao_log_hex(byte);
+		crc = ao_log_micro_crc(crc, byte);
+	}
+	ao_log_newline();
+	crc = ~crc;
+	ao_log_hex(crc >> 8);
+	ao_log_hex(crc);
+	ao_log_newline();
+	ao_async_stop();
+}
diff --git a/src/core/ao_log_micro.h b/src/core/ao_log_micro.h
new file mode 100644
index 00000000..976852ee
--- /dev/null
+++ b/src/core/ao_log_micro.h
@@ -0,0 +1,39 @@
+/*
+ * 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_LOG_MICRO_H_
+#define _AO_LOG_MICRO_H_
+
+#define PA_GROUND_OFFSET	0
+#define PA_MIN_OFFSET		4
+#define N_SAMPLES_OFFSET	8
+#define STARTING_LOG_OFFSET	10
+#define MAX_LOG_OFFSET		512
+
+void
+ao_log_micro_save(void);
+
+void
+ao_log_micro_restore(void);
+
+void
+ao_log_micro_data(void);
+
+void
+ao_log_micro_dump(void);
+
+#endif /* _AO_LOG_MICRO_H_ */
diff --git a/src/core/ao_microflight.c b/src/core/ao_microflight.c
new file mode 100644
index 00000000..714bb90a
--- /dev/null
+++ b/src/core/ao_microflight.c
@@ -0,0 +1,143 @@
+/*
+ * 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_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+#include <ao_log_micro.h>
+
+uint32_t	pa;
+uint32_t	pa_ground;
+uint32_t	pa_min;
+
+static void
+ao_microsample(void)
+{
+	ao_pa_get();
+	ao_microkalman_predict();
+	ao_microkalman_correct();
+}
+
+#define NUM_PA_HIST	16
+
+#define SKIP_PA_HIST(i,j)	(((i) + (j)) & (NUM_PA_HIST - 1))
+
+static uint32_t	pa_hist[NUM_PA_HIST];
+
+void
+ao_microflight(void)
+{
+	int16_t		sample_count;
+	uint16_t	time;
+	uint32_t	pa_interval_min, pa_interval_max;
+	int32_t		pa_diff;
+	uint8_t		h, i;
+	uint8_t		accel_lock = 0;
+	uint32_t	pa_sum = 0;
+
+	/* Wait for motion, averaging values to get ground pressure */
+
+	time = ao_time();
+	ao_pa_get();
+	ao_microkalman_init();
+	pa_ground = pa;
+	sample_count = 0;
+	h = 0;
+	for (;;) {
+		time += SAMPLE_SLEEP;
+		if (sample_count == 0)
+			ao_led_on(AO_LED_REPORT);
+		ao_delay_until(time);
+		ao_microsample();
+		if (sample_count == 0)
+			ao_led_off(AO_LED_REPORT);
+		pa_hist[h] = pa;
+		h = SKIP_PA_HIST(h,1);
+		pa_diff = pa_ground - ao_pa;
+
+		/* Check for a significant pressure change */
+		if (pa_diff > BOOST_DETECT)
+			break;
+
+		if (sample_count < GROUND_AVG * 2) {
+			if (sample_count < GROUND_AVG)
+				pa_sum += pa;
+			++sample_count;
+		} else {
+			pa_ground = pa_sum >> GROUND_AVG_SHIFT;
+			pa_sum = 0;
+			sample_count = 0;
+		}
+	}
+
+	/* Go back and find the first sample a decent interval above the ground */
+	pa_min = pa_ground - LAND_DETECT;
+	for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
+		if (pa_hist[i] < pa_min)
+			break;
+	}
+
+	/* Log the remaining samples so we get a complete history since leaving the ground */
+	for (; i != h; i = SKIP_PA_HIST(i,2)) {
+		pa = pa_hist[i];
+		ao_log_micro_data();
+	}
+
+	/* Now sit around until the pressure is stable again and record the max */
+
+	sample_count = 0;
+	pa_min = ao_pa;
+	pa_interval_min = ao_pa;
+	pa_interval_max = ao_pa;
+	for (;;) {
+		time += SAMPLE_SLEEP;
+		ao_delay_until(time);
+		if ((sample_count & 3) == 0)
+			ao_led_on(AO_LED_REPORT);
+		ao_microsample();
+		if ((sample_count & 3) == 0)
+			ao_led_off(AO_LED_REPORT);
+		if (sample_count & 1)
+			ao_log_micro_data();
+
+		/* If accelerating upwards, don't look for min pressure */
+		if (ao_pa_accel < ACCEL_LOCK_PA)
+			accel_lock = ACCEL_LOCK_TIME;
+		else if (accel_lock)
+			--accel_lock;
+		else if (ao_pa < pa_min)
+			pa_min = ao_pa;
+
+		if (sample_count == (GROUND_AVG - 1)) {
+			pa_diff = pa_interval_max - pa_interval_min;
+
+			/* Check to see if the pressure is now stable */
+			if (pa_diff < LAND_DETECT)
+				break;
+			sample_count = 0;
+			pa_interval_min = ao_pa;
+			pa_interval_max = ao_pa;
+		} else {
+			if (ao_pa < pa_interval_min)
+				pa_interval_min = ao_pa;
+			if (ao_pa > pa_interval_max)
+				pa_interval_max = ao_pa;
+			++sample_count;
+		}
+	}
+}
diff --git a/src/core/ao_microkalman.c b/src/core/ao_microkalman.c
new file mode 100644
index 00000000..0684ea2b
--- /dev/null
+++ b/src/core/ao_microkalman.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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+
+#define FIX_BITS	16
+
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix8(x)	((x) >> 8)
+#define from_fix(x)	((x) >> 16)
+#define fix8_to_fix16(x)	((x) << 8)
+#define fix16_to_fix8(x)	((x) >> 8)
+
+#include <ao_kalman.h>
+
+/* Basic time step (96ms) */
+#define AO_MK_STEP	to_fix16(0.096)
+/* step ** 2 / 2 */
+#define AO_MK_STEP_2_2	to_fix16(0.004608)
+
+uint32_t	ao_k_pa;		/* 24.8 fixed point */
+int32_t		ao_k_pa_speed;		/* 16.16 fixed point */
+int32_t		ao_k_pa_accel;		/* 16.16 fixed point */
+
+uint32_t	ao_pa;			/* integer portion */
+int16_t		ao_pa_speed;		/* integer portion */
+int16_t		ao_pa_accel;		/* integer portion */
+
+void
+ao_microkalman_init(void)
+{
+	ao_pa = pa;
+	ao_k_pa = pa << 8;
+}	
+
+void
+ao_microkalman_predict(void)
+{
+	ao_k_pa       += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
+	ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
+}
+
+void
+ao_microkalman_correct(void)
+{
+	int16_t	e;	/* Height error in Pa */
+
+	e = pa - from_fix8(ao_k_pa);
+
+	ao_k_pa       += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
+	ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
+	ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
+	ao_pa = from_fix8(ao_k_pa);
+	ao_pa_speed = from_fix(ao_k_pa_speed);
+	ao_pa_accel = from_fix(ao_k_pa_accel);
+}
diff --git a/src/core/ao_report_micro.c b/src/core/ao_report_micro.c
new file mode 100644
index 00000000..0e8e287f
--- /dev/null
+++ b/src/core/ao_report_micro.c
@@ -0,0 +1,57 @@
+/*
+ * 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>
+
+#define mid(time)	ao_led_for(AO_LED_REPORT, time)
+#define pause(time)	ao_delay(time)
+
+static void
+ao_report_digit(uint8_t digit) __reentrant
+{
+	if (!digit) {
+		mid(AO_MS_TO_TICKS(1000));
+		pause(AO_MS_TO_TICKS(300));
+	} else {
+		while (digit--) {
+			mid(AO_MS_TO_TICKS(300));
+			pause(AO_MS_TO_TICKS(300));
+		}
+	}
+	pause(AO_MS_TO_TICKS(1000));
+}
+
+void
+ao_report_altitude(void)
+{
+	__pdata alt_t	agl = ao_max_height;
+	static __xdata uint8_t	digits[11];
+	__pdata uint8_t ndigits, i;
+
+	if (agl < 0)
+		agl = 0;
+	ndigits = 0;
+	do {
+		digits[ndigits++] = agl % 10;
+		agl /= 10;
+	} while (agl);
+
+	i = ndigits;
+	do
+		ao_report_digit(digits[--i]);
+	while (i != 0);
+}
diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
index 44e0b873..e51b2847 100644
--- a/src/micropeak/Makefile
+++ b/src/micropeak/Makefile
@@ -2,7 +2,7 @@
 # Tiny AltOS build
 #
 #
-vpath % ../attiny:../drivers:../core:..
+vpath % ../attiny:../drivers:../core:../product:..
 vpath ao-make-product.5c ../util
 vpath make-altitude-pa ../util
 
@@ -30,7 +30,7 @@ ALTOS_SRC = \
 	ao_ms5607.c \
 	ao_exti.c \
 	ao_convert_pa.c \
-	ao_report_tiny.c \
+	ao_report_micro.c \
 	ao_notask.c \
 	ao_eeprom_tiny.c \
 	ao_panic.c \
@@ -53,7 +53,7 @@ INC=\
 IDPRODUCT=0
 PRODUCT=MicroPeak-v0.1
 PRODUCT_DEF=-DMICROPEAK
-CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product
 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
 
 NICKLE=nickle
diff --git a/src/micropeak/ao_async.c b/src/micropeak/ao_async.c
deleted file mode 100644
index 3556f54c..00000000
--- a/src/micropeak/ao_async.c
+++ /dev/null
@@ -1,71 +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>
-#include <ao_async.h>
-
-#define AO_ASYNC_BAUD	38400l
-#define AO_ASYNC_DELAY	(uint8_t) (1000000l / AO_ASYNC_BAUD)
-
-#define LED_PORT	PORTB
-
-void
-ao_async_start(void)
-{
-	LED_PORT |= (1 << AO_LED_SERIAL);
-}
-
-void
-ao_async_stop(void)
-{
-	LED_PORT &= ~(1 << AO_LED_SERIAL);
-}
-
-void
-ao_async_byte(uint8_t byte)
-{
-	uint8_t		b;
-	uint16_t	w;
-
-	/*    start           data           stop */
-	w = (0x000 << 0) | (byte << 1) | (0x001 << 9);
-
-	ao_arch_block_interrupts();
-	for (b = 0; b < 10; b++) {
-		uint8_t	v = LED_PORT & ~(1 << AO_LED_SERIAL);
-		v |= (w & 1) << AO_LED_SERIAL;
-		LED_PORT = v;
-		w >>= 1;
-
-		/* Carefully timed to hit around 9600 baud */
-		asm volatile ("nop");
-		asm volatile ("nop");
-
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-		asm volatile ("nop");
-	}
-	ao_arch_release_interrupts();
-}
diff --git a/src/micropeak/ao_async.h b/src/micropeak/ao_async.h
deleted file mode 100644
index 1b239712..00000000
--- a/src/micropeak/ao_async.h
+++ /dev/null
@@ -1,30 +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_ASYNC_H_
-#define _AO_ASYNC_H_
-
-void
-ao_async_start(void);
-
-void
-ao_async_stop(void);
-
-void
-ao_async_byte(uint8_t byte);
-
-#endif /* _AO_ASYNC_H_ */
diff --git a/src/micropeak/ao_log_micro.c b/src/micropeak/ao_log_micro.c
deleted file mode 100644
index d665efb5..00000000
--- a/src/micropeak/ao_log_micro.c
+++ /dev/null
@@ -1,121 +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>
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-#include <ao_async.h>
-
-static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
-
-void
-ao_log_micro_save(void)
-{
-	uint16_t	n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
-	ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
-	ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
-	ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
-}
-
-void
-ao_log_micro_restore(void)
-{
-	ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
-	ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
-}
-
-void
-ao_log_micro_data(void)
-{
-	uint16_t	low_bits = pa;
-
-	if (ao_log_offset < MAX_LOG_OFFSET) {
-		ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
-		ao_log_offset += sizeof (low_bits);
-	}
-}
-
-#define POLY 0x8408
-
-static uint16_t
-ao_log_micro_crc(uint16_t crc, uint8_t byte)
-{
-	uint8_t	i;
-
-	for (i = 0; i < 8; i++) {
-		if ((crc & 0x0001) ^ (byte & 0x0001))
-			crc = (crc >> 1) ^ POLY;
-		else
-			crc = crc >> 1;
-		byte >>= 1;
-	}
-	return crc;
-}
-
-static void
-ao_log_hex_nibble(uint8_t b)
-{
-	if (b < 10)
-		ao_async_byte('0' + b);
-	else
-		ao_async_byte('a' - 10 + b);
-}
-
-static void
-ao_log_hex(uint8_t b)
-{
-	ao_log_hex_nibble(b>>4);
-	ao_log_hex_nibble(b&0xf);
-}
-
-static void
-ao_log_newline(void)
-{
-	ao_async_byte('\r');
-	ao_async_byte('\n');
-}
-
-void
-ao_log_micro_dump(void)
-{
-	uint16_t	n_samples;
-	uint16_t	nbytes;
-	uint8_t		byte;
-	uint16_t	b;
-	uint16_t	crc = 0xffff;
-
-	ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
-	if (n_samples == 0xffff)
-		n_samples = 0;
-	nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
-	ao_async_start();
-	ao_async_byte('M');
-	ao_async_byte('P');
-	for (b = 0; b < nbytes; b++) {
-		if ((b & 0xf) == 0)
-			ao_log_newline();
-		ao_eeprom_read(b, &byte, 1);
-		ao_log_hex(byte);
-		crc = ao_log_micro_crc(crc, byte);
-	}
-	ao_log_newline();
-	crc = ~crc;
-	ao_log_hex(crc >> 8);
-	ao_log_hex(crc);
-	ao_log_newline();
-	ao_async_stop();
-}
diff --git a/src/micropeak/ao_log_micro.h b/src/micropeak/ao_log_micro.h
deleted file mode 100644
index 976852ee..00000000
--- a/src/micropeak/ao_log_micro.h
+++ /dev/null
@@ -1,39 +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_LOG_MICRO_H_
-#define _AO_LOG_MICRO_H_
-
-#define PA_GROUND_OFFSET	0
-#define PA_MIN_OFFSET		4
-#define N_SAMPLES_OFFSET	8
-#define STARTING_LOG_OFFSET	10
-#define MAX_LOG_OFFSET		512
-
-void
-ao_log_micro_save(void);
-
-void
-ao_log_micro_restore(void);
-
-void
-ao_log_micro_data(void);
-
-void
-ao_log_micro_dump(void);
-
-#endif /* _AO_LOG_MICRO_H_ */
diff --git a/src/micropeak/ao_microflight.c b/src/micropeak/ao_microflight.c
deleted file mode 100644
index 714bb90a..00000000
--- a/src/micropeak/ao_microflight.c
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-
-uint32_t	pa;
-uint32_t	pa_ground;
-uint32_t	pa_min;
-
-static void
-ao_microsample(void)
-{
-	ao_pa_get();
-	ao_microkalman_predict();
-	ao_microkalman_correct();
-}
-
-#define NUM_PA_HIST	16
-
-#define SKIP_PA_HIST(i,j)	(((i) + (j)) & (NUM_PA_HIST - 1))
-
-static uint32_t	pa_hist[NUM_PA_HIST];
-
-void
-ao_microflight(void)
-{
-	int16_t		sample_count;
-	uint16_t	time;
-	uint32_t	pa_interval_min, pa_interval_max;
-	int32_t		pa_diff;
-	uint8_t		h, i;
-	uint8_t		accel_lock = 0;
-	uint32_t	pa_sum = 0;
-
-	/* Wait for motion, averaging values to get ground pressure */
-
-	time = ao_time();
-	ao_pa_get();
-	ao_microkalman_init();
-	pa_ground = pa;
-	sample_count = 0;
-	h = 0;
-	for (;;) {
-		time += SAMPLE_SLEEP;
-		if (sample_count == 0)
-			ao_led_on(AO_LED_REPORT);
-		ao_delay_until(time);
-		ao_microsample();
-		if (sample_count == 0)
-			ao_led_off(AO_LED_REPORT);
-		pa_hist[h] = pa;
-		h = SKIP_PA_HIST(h,1);
-		pa_diff = pa_ground - ao_pa;
-
-		/* Check for a significant pressure change */
-		if (pa_diff > BOOST_DETECT)
-			break;
-
-		if (sample_count < GROUND_AVG * 2) {
-			if (sample_count < GROUND_AVG)
-				pa_sum += pa;
-			++sample_count;
-		} else {
-			pa_ground = pa_sum >> GROUND_AVG_SHIFT;
-			pa_sum = 0;
-			sample_count = 0;
-		}
-	}
-
-	/* Go back and find the first sample a decent interval above the ground */
-	pa_min = pa_ground - LAND_DETECT;
-	for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
-		if (pa_hist[i] < pa_min)
-			break;
-	}
-
-	/* Log the remaining samples so we get a complete history since leaving the ground */
-	for (; i != h; i = SKIP_PA_HIST(i,2)) {
-		pa = pa_hist[i];
-		ao_log_micro_data();
-	}
-
-	/* Now sit around until the pressure is stable again and record the max */
-
-	sample_count = 0;
-	pa_min = ao_pa;
-	pa_interval_min = ao_pa;
-	pa_interval_max = ao_pa;
-	for (;;) {
-		time += SAMPLE_SLEEP;
-		ao_delay_until(time);
-		if ((sample_count & 3) == 0)
-			ao_led_on(AO_LED_REPORT);
-		ao_microsample();
-		if ((sample_count & 3) == 0)
-			ao_led_off(AO_LED_REPORT);
-		if (sample_count & 1)
-			ao_log_micro_data();
-
-		/* If accelerating upwards, don't look for min pressure */
-		if (ao_pa_accel < ACCEL_LOCK_PA)
-			accel_lock = ACCEL_LOCK_TIME;
-		else if (accel_lock)
-			--accel_lock;
-		else if (ao_pa < pa_min)
-			pa_min = ao_pa;
-
-		if (sample_count == (GROUND_AVG - 1)) {
-			pa_diff = pa_interval_max - pa_interval_min;
-
-			/* Check to see if the pressure is now stable */
-			if (pa_diff < LAND_DETECT)
-				break;
-			sample_count = 0;
-			pa_interval_min = ao_pa;
-			pa_interval_max = ao_pa;
-		} else {
-			if (ao_pa < pa_interval_min)
-				pa_interval_min = ao_pa;
-			if (ao_pa > pa_interval_max)
-				pa_interval_max = ao_pa;
-			++sample_count;
-		}
-	}
-}
diff --git a/src/micropeak/ao_microkalman.c b/src/micropeak/ao_microkalman.c
deleted file mode 100644
index 0684ea2b..00000000
--- a/src/micropeak/ao_microkalman.c
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-
-#define FIX_BITS	16
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix8(x)	((x) >> 8)
-#define from_fix(x)	((x) >> 16)
-#define fix8_to_fix16(x)	((x) << 8)
-#define fix16_to_fix8(x)	((x) >> 8)
-
-#include <ao_kalman.h>
-
-/* Basic time step (96ms) */
-#define AO_MK_STEP	to_fix16(0.096)
-/* step ** 2 / 2 */
-#define AO_MK_STEP_2_2	to_fix16(0.004608)
-
-uint32_t	ao_k_pa;		/* 24.8 fixed point */
-int32_t		ao_k_pa_speed;		/* 16.16 fixed point */
-int32_t		ao_k_pa_accel;		/* 16.16 fixed point */
-
-uint32_t	ao_pa;			/* integer portion */
-int16_t		ao_pa_speed;		/* integer portion */
-int16_t		ao_pa_accel;		/* integer portion */
-
-void
-ao_microkalman_init(void)
-{
-	ao_pa = pa;
-	ao_k_pa = pa << 8;
-}	
-
-void
-ao_microkalman_predict(void)
-{
-	ao_k_pa       += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
-	ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
-}
-
-void
-ao_microkalman_correct(void)
-{
-	int16_t	e;	/* Height error in Pa */
-
-	e = pa - from_fix8(ao_k_pa);
-
-	ao_k_pa       += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
-	ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
-	ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
-	ao_pa = from_fix8(ao_k_pa);
-	ao_pa_speed = from_fix(ao_k_pa_speed);
-	ao_pa_accel = from_fix(ao_k_pa_accel);
-}
diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
deleted file mode 100644
index 10f0d192..00000000
--- a/src/micropeak/ao_micropeak.c
+++ /dev/null
@@ -1,89 +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>
-#include <ao_micropeak.h>
-#include <ao_ms5607.h>
-#include <ao_log_micro.h>
-#include <ao_async.h>
-
-static struct ao_ms5607_sample	sample;
-static struct ao_ms5607_value	value;
-
-alt_t		ground_alt, max_alt;
-alt_t		ao_max_height;
-
-void
-ao_pa_get(void)
-{
-	ao_ms5607_sample(&sample);
-	ao_ms5607_convert(&sample, &value);
-	pa = value.pres;
-}
-
-static void
-ao_compute_height(void)
-{
-	ground_alt = ao_pa_to_altitude(pa_ground);
-	max_alt = ao_pa_to_altitude(pa_min);
-	ao_max_height = max_alt - ground_alt;
-}
-
-static void
-ao_pips(void)
-{
-	uint8_t	i;
-	for (i = 0; i < 10; i++) {
-		ao_led_toggle(AO_LED_REPORT);
-		ao_delay(AO_MS_TO_TICKS(80));
-	}
-	ao_delay(AO_MS_TO_TICKS(200));
-}
-
-int
-main(void)
-{
-	ao_led_init(LEDS_AVAILABLE);
-	ao_timer_init();
-
-	/* Init external hardware */
-	ao_spi_init();
-	ao_ms5607_init();
-	ao_ms5607_setup();
-
-	/* Give the person a second to get their finger out of the way */
-	ao_delay(AO_MS_TO_TICKS(1000));
-
-	ao_log_micro_restore();
-	ao_compute_height();
-	ao_report_altitude();
-	ao_pips();
-	ao_log_micro_dump();
-	
-	ao_delay(BOOST_DELAY);
-
-	ao_microflight();
-
-	ao_log_micro_save();
-	ao_compute_height();
-	ao_report_altitude();
-	for (;;) {
-		cli();
-		set_sleep_mode(SLEEP_MODE_PWR_DOWN);
-		sleep_mode();
-	}
-}
diff --git a/src/micropeak/ao_micropeak.h b/src/micropeak/ao_micropeak.h
deleted file mode 100644
index 382b98d9..00000000
--- a/src/micropeak/ao_micropeak.h
+++ /dev/null
@@ -1,78 +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_MICROPEAK_H_
-#define _AO_MICROPEAK_H_
-
-#define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
-
-/* 16 sample, or about two seconds worth */
-#define GROUND_AVG_SHIFT	4
-#define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
-
-/* Pressure change (in Pa) to detect boost */
-#define BOOST_DETECT		120	/* 10m at sea level, 12m at 2000m */
-
-/* Wait after power on before doing anything to give the user time to assemble the rocket */
-#define BOOST_DELAY		AO_SEC_TO_TICKS(30)
-
-/* Pressure change (in Pa) to detect landing */
-#define LAND_DETECT		24	/* 2m at sea level, 2.4m at 2000m */
-
-/* Current sensor pressure value */
-extern uint32_t	pa;
-
-/* Average pressure value on ground */
-extern uint32_t	pa_ground;
-
-/* Minimum recorded filtered pressure value */
-extern uint32_t	pa_min;
-
-/* Pressure values converted to altitudes */
-extern alt_t	ground_alt, max_alt;
-
-/* max_alt - ground_alt */
-extern alt_t	ao_max_height;
-
-void
-ao_pa_get(void);
-
-void
-ao_microflight(void);
-
-#define ACCEL_LOCK_PA		-20
-#define ACCEL_LOCK_TIME		10
-
-extern uint32_t	ao_k_pa;		/* 24.8 fixed point */
-extern int32_t	ao_k_pa_speed;		/* 16.16 fixed point */
-extern int32_t	ao_k_pa_accel;		/* 16.16 fixed point */
-
-extern uint32_t	ao_pa;			/* integer portion */
-extern int16_t	ao_pa_speed;		/* integer portion */
-extern int16_t	ao_pa_accel;		/* integer portion */
-
-void
-ao_microkalman_init(void);
-
-void
-ao_microkalman_predict(void);
-
-void
-ao_microkalman_correct(void);
-	
-#endif
-
diff --git a/src/micropeak/ao_report_tiny.c b/src/micropeak/ao_report_tiny.c
deleted file mode 100644
index 0e8e287f..00000000
--- a/src/micropeak/ao_report_tiny.c
+++ /dev/null
@@ -1,57 +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>
-
-#define mid(time)	ao_led_for(AO_LED_REPORT, time)
-#define pause(time)	ao_delay(time)
-
-static void
-ao_report_digit(uint8_t digit) __reentrant
-{
-	if (!digit) {
-		mid(AO_MS_TO_TICKS(1000));
-		pause(AO_MS_TO_TICKS(300));
-	} else {
-		while (digit--) {
-			mid(AO_MS_TO_TICKS(300));
-			pause(AO_MS_TO_TICKS(300));
-		}
-	}
-	pause(AO_MS_TO_TICKS(1000));
-}
-
-void
-ao_report_altitude(void)
-{
-	__pdata alt_t	agl = ao_max_height;
-	static __xdata uint8_t	digits[11];
-	__pdata uint8_t ndigits, i;
-
-	if (agl < 0)
-		agl = 0;
-	ndigits = 0;
-	do {
-		digits[ndigits++] = agl % 10;
-		agl /= 10;
-	} while (agl);
-
-	i = ndigits;
-	do
-		ao_report_digit(digits[--i]);
-	while (i != 0);
-}
diff --git a/src/product/ao_micropeak.c b/src/product/ao_micropeak.c
new file mode 100644
index 00000000..10f0d192
--- /dev/null
+++ b/src/product/ao_micropeak.c
@@ -0,0 +1,89 @@
+/*
+ * 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_micropeak.h>
+#include <ao_ms5607.h>
+#include <ao_log_micro.h>
+#include <ao_async.h>
+
+static struct ao_ms5607_sample	sample;
+static struct ao_ms5607_value	value;
+
+alt_t		ground_alt, max_alt;
+alt_t		ao_max_height;
+
+void
+ao_pa_get(void)
+{
+	ao_ms5607_sample(&sample);
+	ao_ms5607_convert(&sample, &value);
+	pa = value.pres;
+}
+
+static void
+ao_compute_height(void)
+{
+	ground_alt = ao_pa_to_altitude(pa_ground);
+	max_alt = ao_pa_to_altitude(pa_min);
+	ao_max_height = max_alt - ground_alt;
+}
+
+static void
+ao_pips(void)
+{
+	uint8_t	i;
+	for (i = 0; i < 10; i++) {
+		ao_led_toggle(AO_LED_REPORT);
+		ao_delay(AO_MS_TO_TICKS(80));
+	}
+	ao_delay(AO_MS_TO_TICKS(200));
+}
+
+int
+main(void)
+{
+	ao_led_init(LEDS_AVAILABLE);
+	ao_timer_init();
+
+	/* Init external hardware */
+	ao_spi_init();
+	ao_ms5607_init();
+	ao_ms5607_setup();
+
+	/* Give the person a second to get their finger out of the way */
+	ao_delay(AO_MS_TO_TICKS(1000));
+
+	ao_log_micro_restore();
+	ao_compute_height();
+	ao_report_altitude();
+	ao_pips();
+	ao_log_micro_dump();
+	
+	ao_delay(BOOST_DELAY);
+
+	ao_microflight();
+
+	ao_log_micro_save();
+	ao_compute_height();
+	ao_report_altitude();
+	for (;;) {
+		cli();
+		set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+		sleep_mode();
+	}
+}
diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h
new file mode 100644
index 00000000..3e3dec15
--- /dev/null
+++ b/src/product/ao_micropeak.h
@@ -0,0 +1,78 @@
+/*
+ * 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_MICROPEAK_H_
+#define _AO_MICROPEAK_H_
+
+#define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
+
+/* 16 sample, or about two seconds worth */
+#define GROUND_AVG_SHIFT	4
+#define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
+
+/* Pressure change (in Pa) to detect boost */
+#define BOOST_DETECT		120	/* 10m at sea level, 12m at 2000m */
+
+/* Wait after power on before doing anything to give the user time to assemble the rocket */
+#define BOOST_DELAY		AO_SEC_TO_TICKS(60)
+
+/* Pressure change (in Pa) to detect landing */
+#define LAND_DETECT		24	/* 2m at sea level, 2.4m at 2000m */
+
+/* Current sensor pressure value */
+extern uint32_t	pa;
+
+/* Average pressure value on ground */
+extern uint32_t	pa_ground;
+
+/* Minimum recorded filtered pressure value */
+extern uint32_t	pa_min;
+
+/* Pressure values converted to altitudes */
+extern alt_t	ground_alt, max_alt;
+
+/* max_alt - ground_alt */
+extern alt_t	ao_max_height;
+
+void
+ao_pa_get(void);
+
+void
+ao_microflight(void);
+
+#define ACCEL_LOCK_PA		-20
+#define ACCEL_LOCK_TIME		10
+
+extern uint32_t	ao_k_pa;		/* 24.8 fixed point */
+extern int32_t	ao_k_pa_speed;		/* 16.16 fixed point */
+extern int32_t	ao_k_pa_accel;		/* 16.16 fixed point */
+
+extern uint32_t	ao_pa;			/* integer portion */
+extern int16_t	ao_pa_speed;		/* integer portion */
+extern int16_t	ao_pa_accel;		/* integer portion */
+
+void
+ao_microkalman_init(void);
+
+void
+ao_microkalman_predict(void);
+
+void
+ao_microkalman_correct(void);
+	
+#endif
+
-- 
cgit v1.2.3


From 0ff5f0fbc4900ad45bb7910ffc0c5a4e4cc4b857 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 15 Sep 2013 14:21:08 -0700
Subject: altos: Stop copying cc1111 binaries to the altos/src dir

Just clutters up that directory.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/product/Makefile.teledongle | 4 ++--
 src/product/Makefile.telelaunch | 4 ++--
 src/product/Makefile.telemetrum | 6 +++---
 src/product/Makefile.telemini   | 6 +++---
 src/product/Makefile.telenano   | 4 ++--
 src/spiradio-v0.1/Makefile      | 6 +++---
 src/teleballoon-v1.1/Makefile   | 2 +-
 src/telebt-v1.0/Makefile        | 2 +-
 src/telefire-v0.1/Makefile      | 6 +++---
 src/telefire-v0.2/Makefile      | 6 +++---
 src/telemini-v2.0/Makefile      | 6 +++---
 src/teleshield-v0.1/Makefile    | 6 +++---
 src/teleterra-v0.2/Makefile     | 6 +++---
 src/tidongle/Makefile           | 6 +++---
 14 files changed, 35 insertions(+), 35 deletions(-)

(limited to 'src/product')

diff --git a/src/product/Makefile.teledongle b/src/product/Makefile.teledongle
index 3101b777..da9bcba0 100644
--- a/src/product/Makefile.teledongle
+++ b/src/product/Makefile.teledongle
@@ -80,9 +80,9 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
+$(PROG): $(REL) Makefile
 	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
diff --git a/src/product/Makefile.telelaunch b/src/product/Makefile.telelaunch
index 1e55989c..a5e2eb7f 100644
--- a/src/product/Makefile.telelaunch
+++ b/src/product/Makefile.telelaunch
@@ -82,9 +82,9 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
+$(PROG): $(REL) Makefile
 	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)  || rm $@
 
diff --git a/src/product/Makefile.telemetrum b/src/product/Makefile.telemetrum
index 5e3eed7f..c740a483 100644
--- a/src/product/Makefile.telemetrum
+++ b/src/product/Makefile.telemetrum
@@ -94,10 +94,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/product/Makefile.telemini b/src/product/Makefile.telemini
index ef8906ba..0884079e 100644
--- a/src/product/Makefile.telemini
+++ b/src/product/Makefile.telemini
@@ -83,10 +83,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/product/Makefile.telenano b/src/product/Makefile.telenano
index 67410ae0..c31989ee 100644
--- a/src/product/Makefile.telenano
+++ b/src/product/Makefile.telenano
@@ -82,9 +82,9 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
+$(PROG): $(REL) Makefile
 	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
diff --git a/src/spiradio-v0.1/Makefile b/src/spiradio-v0.1/Makefile
index a207d34f..e644bc49 100644
--- a/src/spiradio-v0.1/Makefile
+++ b/src/spiradio-v0.1/Makefile
@@ -73,10 +73,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)  || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/teleballoon-v1.1/Makefile b/src/teleballoon-v1.1/Makefile
index 2eea996e..6ff076a9 100644
--- a/src/teleballoon-v1.1/Makefile
+++ b/src/teleballoon-v1.1/Makefile
@@ -103,7 +103,7 @@ quiet ?= $($1)
 all: $(PROG)
 
 $(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/telebt-v1.0/Makefile b/src/telebt-v1.0/Makefile
index 911a8b09..40853fc3 100644
--- a/src/telebt-v1.0/Makefile
+++ b/src/telebt-v1.0/Makefile
@@ -82,7 +82,7 @@ quiet ?= $($1)
 all: $(PROG)
 
 $(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/telefire-v0.1/Makefile b/src/telefire-v0.1/Makefile
index 712b2e8b..f9e11698 100644
--- a/src/telefire-v0.1/Makefile
+++ b/src/telefire-v0.1/Makefile
@@ -84,10 +84,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)  || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/telefire-v0.2/Makefile b/src/telefire-v0.2/Makefile
index 3353bc1a..a820990a 100644
--- a/src/telefire-v0.2/Makefile
+++ b/src/telefire-v0.2/Makefile
@@ -84,10 +84,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)  || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/telemini-v2.0/Makefile b/src/telemini-v2.0/Makefile
index 40878778..ed90f30f 100644
--- a/src/telemini-v2.0/Makefile
+++ b/src/telemini-v2.0/Makefile
@@ -96,10 +96,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/teleshield-v0.1/Makefile b/src/teleshield-v0.1/Makefile
index ab2a025f..e8b262ef 100644
--- a/src/teleshield-v0.1/Makefile
+++ b/src/teleshield-v0.1/Makefile
@@ -92,10 +92,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/teleterra-v0.2/Makefile b/src/teleterra-v0.2/Makefile
index 68a8d1b6..88637360 100644
--- a/src/teleterra-v0.2/Makefile
+++ b/src/teleterra-v0.2/Makefile
@@ -86,10 +86,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/tidongle/Makefile b/src/tidongle/Makefile
index 1514c4df..b2ba537b 100644
--- a/src/tidongle/Makefile
+++ b/src/tidongle/Makefile
@@ -72,10 +72,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
-- 
cgit v1.2.3


From 1bd9786802751391cca3b83ac3045029e00e39ee Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 13 Oct 2013 22:05:20 -0700
Subject: altos/micropeak: Increase boost detect to 30m

This meant increasing the data buffering as well so that we could
reliably capture the flight data back to the ground, even for slow
flights.

And, with the buffer extra large, we work backwards from the current
buffer location to find the last ground location rather than working
forwards from the first buffered location. This ensures that we don't
capture noise before boost and instead capture a nice flight curve instead.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_microflight.c  | 12 ++++++------
 src/product/ao_micropeak.h |  6 +++---
 2 files changed, 9 insertions(+), 9 deletions(-)

(limited to 'src/product')

diff --git a/src/core/ao_microflight.c b/src/core/ao_microflight.c
index 714bb90a..f680e400 100644
--- a/src/core/ao_microflight.c
+++ b/src/core/ao_microflight.c
@@ -33,7 +33,7 @@ ao_microsample(void)
 	ao_microkalman_correct();
 }
 
-#define NUM_PA_HIST	16
+#define NUM_PA_HIST	(GROUND_AVG)
 
 #define SKIP_PA_HIST(i,j)	(((i) + (j)) & (NUM_PA_HIST - 1))
 
@@ -60,11 +60,11 @@ ao_microflight(void)
 	h = 0;
 	for (;;) {
 		time += SAMPLE_SLEEP;
-		if (sample_count == 0)
+		if ((sample_count & 0x1f) == 0)
 			ao_led_on(AO_LED_REPORT);
 		ao_delay_until(time);
 		ao_microsample();
-		if (sample_count == 0)
+		if ((sample_count & 0x1f) == 0)
 			ao_led_off(AO_LED_REPORT);
 		pa_hist[h] = pa;
 		h = SKIP_PA_HIST(h,1);
@@ -85,10 +85,10 @@ ao_microflight(void)
 		}
 	}
 
-	/* Go back and find the first sample a decent interval above the ground */
+	/* Go back and find the last sample close to the ground */
 	pa_min = pa_ground - LAND_DETECT;
-	for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
-		if (pa_hist[i] < pa_min)
+	for (i = SKIP_PA_HIST(h,-2); i != SKIP_PA_HIST(h,2); i = SKIP_PA_HIST(i,-2)) {
+		if (pa_hist[i] >= pa_min)
 			break;
 	}
 
diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h
index 3e3dec15..0cefca6f 100644
--- a/src/product/ao_micropeak.h
+++ b/src/product/ao_micropeak.h
@@ -20,12 +20,12 @@
 
 #define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
 
-/* 16 sample, or about two seconds worth */
-#define GROUND_AVG_SHIFT	4
+/* 64 sample, or about six seconds worth */
+#define GROUND_AVG_SHIFT	6
 #define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
 
 /* Pressure change (in Pa) to detect boost */
-#define BOOST_DETECT		120	/* 10m at sea level, 12m at 2000m */
+#define BOOST_DETECT		360	/* 30m at sea level, 36m at 2000m */
 
 /* Wait after power on before doing anything to give the user time to assemble the rocket */
 #define BOOST_DELAY		AO_SEC_TO_TICKS(60)
-- 
cgit v1.2.3


From 039446f54ef6968a3f0b37ce32ca6bdcdbe62546 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 14 Oct 2013 22:41:43 -0700
Subject: altos: Merge GPS logging into a single function

Create a new global, ao_gps_new, which indicates new GPS position and
satellite data.

Use ao_gps_new as the new sleep/wakeup address.

Merge the separate gps position/satellite logging tasks into a single
function which waits for new data and writes out the changed values.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao.h                     |   4 ++
 src/core/ao_flight.c              |   4 +-
 src/core/ao_gps_report.c          | 102 ++++++++++++++++-------------------
 src/core/ao_gps_report_mega.c     |  88 +++++++++++++------------------
 src/core/ao_gps_report_metrum.c   | 108 +++++++++++++++++---------------------
 src/drivers/ao_gps_sirf.c         |   7 ++-
 src/drivers/ao_gps_skytraq.c      |   7 ++-
 src/drivers/ao_gps_ublox.c        |   5 +-
 src/product/ao_terraui.c          |   2 +-
 src/teleballoon-v1.1/ao_balloon.c |   4 +-
 src/test/ao_gps_test.c            |  13 +++--
 src/test/ao_gps_test_skytraq.c    |   2 +-
 src/test/ao_gps_test_ublox.c      |   2 +-
 13 files changed, 164 insertions(+), 184 deletions(-)

(limited to 'src/product')

diff --git a/src/core/ao.h b/src/core/ao.h
index e7320327..ea37885e 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -342,6 +342,10 @@ ao_spi_slave(void);
 #define AO_GPS_DATE_VALID	(1 << 6)
 #define AO_GPS_COURSE_VALID	(1 << 7)
 
+#define AO_GPS_NEW_DATA		1
+#define AO_GPS_NEW_TRACKING	2
+
+extern __xdata uint8_t ao_gps_new;
 extern __pdata uint16_t ao_gps_tick;
 extern __xdata uint8_t ao_gps_mutex;
 extern __xdata struct ao_telemetry_location ao_gps_data;
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 88dc816d..2495a44b 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -194,8 +194,8 @@ ao_flight(void)
 
 #if HAS_GPS
 				/* Record current GPS position by waking up GPS log tasks */
-				ao_wakeup(&ao_gps_data);
-				ao_wakeup(&ao_gps_tracking_data);
+				ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+				ao_wakeup(&ao_gps_new);
 #endif
 
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
diff --git a/src/core/ao_gps_report.c b/src/core/ao_gps_report.c
index c52ef621..8d15c083 100644
--- a/src/core/ao_gps_report.c
+++ b/src/core/ao_gps_report.c
@@ -22,78 +22,68 @@ ao_gps_report(void)
 {
 	static __xdata struct ao_log_record		gps_log;
 	static __xdata struct ao_telemetry_location	gps_data;
+	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
 	uint8_t	date_reported = 0;
+	uint8_t new;
 
 	for (;;) {
-		ao_sleep(&ao_gps_data);
 		ao_mutex_get(&ao_gps_mutex);
-		ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+		while ((new = ao_gps_new) == 0)
+			ao_sleep(&ao_gps_new);
+		if (new & AO_GPS_NEW_DATA)
+			ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+		if (new & AO_GPS_NEW_TRACKING)
+			ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+		ao_gps_new = 0;
 		ao_mutex_put(&ao_gps_mutex);
 
-		if (!(gps_data.flags & AO_GPS_VALID))
-			continue;
-
-		gps_log.tick = ao_gps_tick;
-		gps_log.type = AO_LOG_GPS_TIME;
-		gps_log.u.gps_time.hour = gps_data.hour;
-		gps_log.u.gps_time.minute = gps_data.minute;
-		gps_log.u.gps_time.second = gps_data.second;
-		gps_log.u.gps_time.flags = gps_data.flags;
-		ao_log_data(&gps_log);
-		gps_log.type = AO_LOG_GPS_LAT;
-		gps_log.u.gps_latitude = gps_data.latitude;
-		ao_log_data(&gps_log);
-		gps_log.type = AO_LOG_GPS_LON;
-		gps_log.u.gps_longitude = gps_data.longitude;
-		ao_log_data(&gps_log);
-		gps_log.type = AO_LOG_GPS_ALT;
-		gps_log.u.gps_altitude.altitude = gps_data.altitude;
-		gps_log.u.gps_altitude.unused = 0xffff;
-		ao_log_data(&gps_log);
-		if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
-			gps_log.type = AO_LOG_GPS_DATE;
-			gps_log.u.gps_date.year = gps_data.year;
-			gps_log.u.gps_date.month = gps_data.month;
-			gps_log.u.gps_date.day = gps_data.day;
-			gps_log.u.gps_date.extra = 0;
-			date_reported = ao_log_data(&gps_log);
+		if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+			gps_log.tick = ao_gps_tick;
+			gps_log.type = AO_LOG_GPS_TIME;
+			gps_log.u.gps_time.hour = gps_data.hour;
+			gps_log.u.gps_time.minute = gps_data.minute;
+			gps_log.u.gps_time.second = gps_data.second;
+			gps_log.u.gps_time.flags = gps_data.flags;
+			ao_log_data(&gps_log);
+			gps_log.type = AO_LOG_GPS_LAT;
+			gps_log.u.gps_latitude = gps_data.latitude;
+			ao_log_data(&gps_log);
+			gps_log.type = AO_LOG_GPS_LON;
+			gps_log.u.gps_longitude = gps_data.longitude;
+			ao_log_data(&gps_log);
+			gps_log.type = AO_LOG_GPS_ALT;
+			gps_log.u.gps_altitude.altitude = gps_data.altitude;
+			gps_log.u.gps_altitude.unused = 0xffff;
+			ao_log_data(&gps_log);
+			if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
+				gps_log.type = AO_LOG_GPS_DATE;
+				gps_log.u.gps_date.year = gps_data.year;
+				gps_log.u.gps_date.month = gps_data.month;
+				gps_log.u.gps_date.day = gps_data.day;
+				gps_log.u.gps_date.extra = 0;
+				date_reported = ao_log_data(&gps_log);
+			}
 		}
-	}
-}
-
-void
-ao_gps_tracking_report(void)
-{
-	static __xdata struct ao_log_record		gps_log;
-	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
-	uint8_t	c, n;
-
-	for (;;) {
-		ao_sleep(&ao_gps_tracking_data);
-		ao_mutex_get(&ao_gps_mutex);
-		gps_log.tick = ao_gps_tick;
-		ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
-		ao_mutex_put(&ao_gps_mutex);
+		if (new & AO_GPS_NEW_TRACKING) {
+			uint8_t c, n;
 
-		if (!(n = gps_tracking_data.channels))
-			continue;
-
-		gps_log.type = AO_LOG_GPS_SAT;
-		for (c = 0; c < n; c++)
-			if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
-			{
-				gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
-				ao_log_data(&gps_log);
+			if ((n = gps_tracking_data.channels) != 0) {
+				gps_log.type = AO_LOG_GPS_SAT;
+				for (c = 0; c < n; c++)
+					if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
+					{
+						gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
+						ao_log_data(&gps_log);
+					}
 			}
+		}
 	}
 }
 
 __xdata struct ao_task ao_gps_report_task;
-__xdata struct ao_task ao_gps_tracking_report_task;
 
 void
 ao_gps_report_init(void)
 {
 	ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
-	ao_add_task(&ao_gps_tracking_report_task, ao_gps_tracking_report, "gps_tracking_report");
 }
diff --git a/src/core/ao_gps_report_mega.c b/src/core/ao_gps_report_mega.c
index e3af4307..e2adbfbc 100644
--- a/src/core/ao_gps_report_mega.c
+++ b/src/core/ao_gps_report_mega.c
@@ -23,66 +23,55 @@ ao_gps_report_mega(void)
 {
 	static __xdata struct ao_log_mega		gps_log;
 	static __xdata struct ao_telemetry_location	gps_data;
-	uint8_t	date_reported = 0;
-
-	for (;;) {
-		ao_sleep(&ao_gps_data);
-		ao_mutex_get(&ao_gps_mutex);
-		ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
-		ao_mutex_put(&ao_gps_mutex);
-
-		if (!(gps_data.flags & AO_GPS_VALID))
-			continue;
-
-		gps_log.tick = ao_gps_tick;
-		gps_log.type = AO_LOG_GPS_TIME;
-		gps_log.u.gps.latitude = gps_data.latitude;
-		gps_log.u.gps.longitude = gps_data.longitude;
-		gps_log.u.gps.altitude = gps_data.altitude;
-
-		gps_log.u.gps.hour = gps_data.hour;
-		gps_log.u.gps.minute = gps_data.minute;
-		gps_log.u.gps.second = gps_data.second;
-		gps_log.u.gps.flags = gps_data.flags;
-		gps_log.u.gps.year = gps_data.year;
-		gps_log.u.gps.month = gps_data.month;
-		gps_log.u.gps.day = gps_data.day;
-		ao_log_mega(&gps_log);
-	}
-}
-
-void
-ao_gps_tracking_report_mega(void)
-{
-	static __xdata struct ao_log_mega		gps_log;
 	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
+	uint8_t	date_reported = 0;
+	uint8_t	new;
 	uint8_t	c, n, i;
 
 	for (;;) {
-		ao_sleep(&ao_gps_tracking_data);
 		ao_mutex_get(&ao_gps_mutex);
-		ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+		while (!(new = ao_gps_new))
+			ao_sleep(&ao_gps_new);
+		if (new & AO_GPS_NEW_DATA)
+			ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+		if (new & AO_GPS_NEW_TRACKING)
+			ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+		ao_gps_new = 0;
 		ao_mutex_put(&ao_gps_mutex);
 
-		if (!(n = gps_tracking_data.channels))
-			continue;
+		if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+			gps_log.tick = ao_gps_tick;
+			gps_log.type = AO_LOG_GPS_TIME;
+			gps_log.u.gps.latitude = gps_data.latitude;
+			gps_log.u.gps.longitude = gps_data.longitude;
+			gps_log.u.gps.altitude = gps_data.altitude;
 
-		gps_log.type = AO_LOG_GPS_SAT;
-		gps_log.tick = ao_gps_tick;
-		i = 0;
-		for (c = 0; c < n; c++)
-			if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
-			{
-				gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
-				i++;
-			}
-		gps_log.u.gps_sat.channels = i;
-		ao_log_mega(&gps_log);
+			gps_log.u.gps.hour = gps_data.hour;
+			gps_log.u.gps.minute = gps_data.minute;
+			gps_log.u.gps.second = gps_data.second;
+			gps_log.u.gps.flags = gps_data.flags;
+			gps_log.u.gps.year = gps_data.year;
+			gps_log.u.gps.month = gps_data.month;
+			gps_log.u.gps.day = gps_data.day;
+			ao_log_mega(&gps_log);
+		}
+		if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
+			gps_log.tick = ao_gps_tick;
+			gps_log.type = AO_LOG_GPS_SAT;
+			i = 0;
+			for (c = 0; c < n; c++)
+				if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
+				{
+					gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
+					i++;
+				}
+			gps_log.u.gps_sat.channels = i;
+			ao_log_mega(&gps_log);
+		}
 	}
 }
 
 __xdata struct ao_task ao_gps_report_mega_task;
-__xdata struct ao_task ao_gps_tracking_report_mega_task;
 
 void
 ao_gps_report_mega_init(void)
@@ -90,7 +79,4 @@ ao_gps_report_mega_init(void)
 	ao_add_task(&ao_gps_report_mega_task,
 		    ao_gps_report_mega,
 		    "gps_report");
-	ao_add_task(&ao_gps_tracking_report_mega_task,
-		    ao_gps_tracking_report_mega,
-		    "gps_tracking_report");
 }
diff --git a/src/core/ao_gps_report_metrum.c b/src/core/ao_gps_report_metrum.c
index 4fefe223..b82936dd 100644
--- a/src/core/ao_gps_report_metrum.c
+++ b/src/core/ao_gps_report_metrum.c
@@ -23,80 +23,69 @@ ao_gps_report_metrum(void)
 {
 	static __xdata struct ao_log_metrum		gps_log;
 	static __xdata struct ao_telemetry_location	gps_data;
-	uint8_t	date_reported = 0;
-
-	for (;;) {
-		ao_sleep(&ao_gps_data);
-		ao_mutex_get(&ao_gps_mutex);
-		ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
-		ao_mutex_put(&ao_gps_mutex);
-
-		if (!(gps_data.flags & AO_GPS_VALID))
-			continue;
-
-		gps_log.tick = ao_gps_tick;
-		gps_log.type = AO_LOG_GPS_POS;
-		gps_log.u.gps.latitude = gps_data.latitude;
-		gps_log.u.gps.longitude = gps_data.longitude;
-		gps_log.u.gps.altitude = gps_data.altitude;
-		ao_log_metrum(&gps_log);
-
-		gps_log.type = AO_LOG_GPS_TIME;
-		gps_log.u.gps_time.hour = gps_data.hour;
-		gps_log.u.gps_time.minute = gps_data.minute;
-		gps_log.u.gps_time.second = gps_data.second;
-		gps_log.u.gps_time.flags = gps_data.flags;
-		gps_log.u.gps_time.year = gps_data.year;
-		gps_log.u.gps_time.month = gps_data.month;
-		gps_log.u.gps_time.day = gps_data.day;
-		ao_log_metrum(&gps_log);
-	}
-}
-
-void
-ao_gps_tracking_report_metrum(void)
-{
-	static __xdata struct ao_log_metrum		gps_log;
 	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
 	uint8_t	c, n, i, p, valid, packets;
 	uint8_t svid;
+	uint8_t	date_reported = 0;
 
 	for (;;) {
-		ao_sleep(&ao_gps_tracking_data);
 		ao_mutex_get(&ao_gps_mutex);
-		ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+		while (!(new = ao_gps_new))
+			ao_sleep(&ao_gps_new);
+		if (new & AO_GPS_NEW_DATA)
+			ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+		if (new & AO_GPS_NEW_TRACKING)
+			ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+		ao_gps_new = 0;
 		ao_mutex_put(&ao_gps_mutex);
 
-		if (!(n = gps_tracking_data.channels))
-			continue;
+		if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+			gps_log.tick = ao_gps_tick;
+			gps_log.type = AO_LOG_GPS_POS;
+			gps_log.u.gps.latitude = gps_data.latitude;
+			gps_log.u.gps.longitude = gps_data.longitude;
+			gps_log.u.gps.altitude = gps_data.altitude;
+			ao_log_metrum(&gps_log);
 
-		gps_log.type = AO_LOG_GPS_SAT;
-		gps_log.tick = ao_gps_tick;
-		i = 0;
-		for (c = 0; c < n; c++) {
-			svid = gps_tracking_data.sats[c].svid;
-			if (svid != 0) {
-				if (i == 4) {
-					gps_log.u.gps_sat.channels = i;
-					gps_log.u.gps_sat.more = 1;
-					ao_log_metrum(&gps_log);
-					i = 0;
+			gps_log.type = AO_LOG_GPS_TIME;
+			gps_log.u.gps_time.hour = gps_data.hour;
+			gps_log.u.gps_time.minute = gps_data.minute;
+			gps_log.u.gps_time.second = gps_data.second;
+			gps_log.u.gps_time.flags = gps_data.flags;
+			gps_log.u.gps_time.year = gps_data.year;
+			gps_log.u.gps_time.month = gps_data.month;
+			gps_log.u.gps_time.day = gps_data.day;
+			ao_log_metrum(&gps_log);
+		}
+
+		if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels)) {
+			gps_log.type = AO_LOG_GPS_SAT;
+			gps_log.tick = ao_gps_tick;
+			i = 0;
+			for (c = 0; c < n; c++) {
+				svid = gps_tracking_data.sats[c].svid;
+				if (svid != 0) {
+					if (i == 4) {
+						gps_log.u.gps_sat.channels = i;
+						gps_log.u.gps_sat.more = 1;
+						ao_log_metrum(&gps_log);
+						i = 0;
+					}
+					gps_log.u.gps_sat.sats[i].svid = svid;
+					gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
+					i++;
 				}
-				gps_log.u.gps_sat.sats[i].svid = svid;
-				gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
-				i++;
 			}
-		}
-		if (i) {
-			gps_log.u.gps_sat.channels = i;
-			gps_log.u.gps_sat.more = 0;
-			ao_log_metrum(&gps_log);
+			if (i) {
+				gps_log.u.gps_sat.channels = i;
+				gps_log.u.gps_sat.more = 0;
+				ao_log_metrum(&gps_log);
+			}
 		}
 	}
 }
 
 __xdata struct ao_task ao_gps_report_metrum_task;
-__xdata struct ao_task ao_gps_tracking_report_metrum_task;
 
 void
 ao_gps_report_metrum_init(void)
@@ -104,7 +93,4 @@ ao_gps_report_metrum_init(void)
 	ao_add_task(&ao_gps_report_metrum_task,
 		    ao_gps_report_metrum,
 		    "gps_report");
-	ao_add_task(&ao_gps_tracking_report_metrum_task,
-		    ao_gps_tracking_report_metrum,
-		    "gps_tracking_report");
 }
diff --git a/src/drivers/ao_gps_sirf.c b/src/drivers/ao_gps_sirf.c
index 91fc948b..d89435b9 100644
--- a/src/drivers/ao_gps_sirf.c
+++ b/src/drivers/ao_gps_sirf.c
@@ -19,6 +19,7 @@
 #include "ao.h"
 #endif
 
+__xdata uint8_t ao_gps_new;
 __xdata uint8_t ao_gps_mutex;
 __pdata uint16_t ao_gps_tick;
 __xdata struct ao_telemetry_location	ao_gps_data;
@@ -422,8 +423,9 @@ ao_gps(void) __reentrant
 			else
 				ao_gps_data.v_error = ao_sirf_data.v_error / 100;
 #endif
+			ao_gps_new |= AO_GPS_NEW_DATA;
 			ao_mutex_put(&ao_gps_mutex);
-			ao_wakeup(&ao_gps_data);
+			ao_wakeup(&ao_gps_new);
 			break;
 		case 4:
 			ao_mutex_get(&ao_gps_mutex);
@@ -432,8 +434,9 @@ ao_gps(void) __reentrant
 				ao_gps_tracking_data.sats[i].svid = ao_sirf_tracker_data.sats[i].svid;
 				ao_gps_tracking_data.sats[i].c_n_1 = ao_sirf_tracker_data.sats[i].c_n_1;
 			}
+			ao_gps_new |= AO_GPS_NEW_TRACKING;
 			ao_mutex_put(&ao_gps_mutex);
-			ao_wakeup(&ao_gps_tracking_data);
+			ao_wakeup(&ao_gps_new);
 			break;
 		}
 	}
diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index 9a9dff75..944a37f9 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -32,6 +32,7 @@
 #define ao_gps_set_speed	ao_serial1_set_speed
 #endif
 
+__xdata uint8_t ao_gps_new;
 __xdata uint8_t ao_gps_mutex;
 static __data char ao_gps_char;
 static __data uint8_t ao_gps_cksum;
@@ -293,10 +294,11 @@ ao_nmea_gga(void)
 
 	if (!ao_gps_error) {
 		ao_mutex_get(&ao_gps_mutex);
+		ao_gps_new |= AO_GPS_NEW_DATA;
 		ao_gps_tick = ao_gps_next_tick;
 		ao_xmemcpy(&ao_gps_data, PDATA_TO_XDATA(&ao_gps_next), sizeof (ao_gps_data));
 		ao_mutex_put(&ao_gps_mutex);
-		ao_wakeup(&ao_gps_data);
+		ao_wakeup(&ao_gps_new);
 	}
 }
 
@@ -352,9 +354,10 @@ ao_nmea_gsv(void)
 		ao_gps_tracking_next.channels = 0;
 	else if (done) {
 		ao_mutex_get(&ao_gps_mutex);
+		ao_gps_new |= AO_GPS_NEW_TRACKING;
 		ao_xmemcpy(&ao_gps_tracking_data, PDATA_TO_XDATA(&ao_gps_tracking_next), sizeof(ao_gps_tracking_data));
 		ao_mutex_put(&ao_gps_mutex);
-		ao_wakeup(&ao_gps_tracking_data);
+		ao_wakeup(&ao_gps_new);
 	}
 }
 
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index e9168348..3582d6e0 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -25,6 +25,7 @@
 
 #include <stdarg.h>
 
+__xdata uint8_t ao_gps_new;
 __xdata uint8_t ao_gps_mutex;
 __pdata uint16_t ao_gps_tick;
 __xdata struct ao_telemetry_location	ao_gps_data;
@@ -760,8 +761,8 @@ ao_gps(void) __reentrant
 				}
 
 				ao_mutex_put(&ao_gps_mutex);
-				ao_wakeup(&ao_gps_data);
-				ao_wakeup(&ao_gps_tracking_data);
+				ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+				ao_wakeup(&ao_gps_new);
 				break;
 			}
 			break;
diff --git a/src/product/ao_terraui.c b/src/product/ao_terraui.c
index 1866eb0c..8fd97033 100644
--- a/src/product/ao_terraui.c
+++ b/src/product/ao_terraui.c
@@ -629,7 +629,7 @@ ao_terragps(void)
 
 	for (;;) {
 		while (ao_gps_tick == gps_tick)
-			ao_sleep(&ao_gps_data);
+			ao_sleep(&ao_gps_new);
 		gps_tick = ao_gps_tick;
 		ao_gps_progress = (ao_gps_progress + 1) & 3;
 	}
diff --git a/src/teleballoon-v1.1/ao_balloon.c b/src/teleballoon-v1.1/ao_balloon.c
index e8972655..12752d1f 100644
--- a/src/teleballoon-v1.1/ao_balloon.c
+++ b/src/teleballoon-v1.1/ao_balloon.c
@@ -105,8 +105,8 @@ ao_flight(void)
 
 #if HAS_GPS
 				/* Record current GPS position by waking up GPS log tasks */
-				ao_wakeup(&ao_gps_data);
-				ao_wakeup(&ao_gps_tracking_data);
+				ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+				ao_wakeup(&ao_gps_new);
 #endif
 
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c
index 3844a326..b6cc9ba7 100644
--- a/src/test/ao_gps_test.c
+++ b/src/test/ao_gps_test.c
@@ -427,11 +427,18 @@ void
 ao_dump_state(void *wchan)
 {
 	int	i;
-	if (wchan == &ao_gps_data)
+
+	if (wchan != &ao_gps_new)
+		return;
+	
+	if (ao_gps_new & AO_GPS_NEW_DATA) {
 		ao_gps_print(&ao_gps_data);
-	else
+		putchar('\n');
+	}
+	if (ao_gps_new & AO_GPS_NEW_TRACKING) {
 		ao_gps_tracking_print(&ao_gps_tracking_data);
-	putchar('\n');
+		putchar('\n');
+	}
 	return;
 	printf ("%02d:%02d:%02d",
 		ao_gps_data.hour, ao_gps_data.minute,
diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
index 89cbd767..bf2ab5b8 100644
--- a/src/test/ao_gps_test_skytraq.c
+++ b/src/test/ao_gps_test_skytraq.c
@@ -443,7 +443,7 @@ uint8_t	ao_task_minimize_latency;
 void
 ao_dump_state(void *wchan)
 {
-	if (wchan == &ao_gps_data)
+	if (wchan == &ao_gps_new)
 		ao_gps_show();
 }
 
diff --git a/src/test/ao_gps_test_ublox.c b/src/test/ao_gps_test_ublox.c
index a0e04cb6..31c7af60 100644
--- a/src/test/ao_gps_test_ublox.c
+++ b/src/test/ao_gps_test_ublox.c
@@ -347,7 +347,7 @@ check_ublox_message(char *which, uint8_t *msg)
 void
 ao_dump_state(void *wchan)
 {
-	if (wchan == &ao_gps_data)
+	if (wchan == &ao_gps_new)
 		ao_gps_show();
 	return;
 }
-- 
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