diff --git a/Code/.gitkeep b/Code/.gitkeep
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/Code/Huzzah32/server/server.ino b/Code/Huzzah32/server/server.ino
new file mode 100644
index 0000000000000000000000000000000000000000..5eff0785d3f6935bf555cc252497e628fba2bd11
--- /dev/null
+++ b/Code/Huzzah32/server/server.ino
@@ -0,0 +1,354 @@
+// Load Wi-Fi library
+#include <WiFi.h>
+#define LOG_LOCAL_LEVEL ESP_LOG_VERBOSE
+#include "esp_log.h"
+
+// Replace with your network credentials
+const char* ssid = "MicHub";
+const char* password = "0123456789";
+
+int lastBlink;
+int blinkState;
+
+// Set web server port number to 80
+WiFiServer server(80);
+
+// Variable to store the HTTP request
+String header;
+
+// Auxiliar variables to store the current output state
+String recordingState = "off";
+String boardState = "not responding";
+
+// Assign output variables to GPIO pins
+const int ledPin = 13;
+
+#define BUF_SIZE (255)
+uint8_t buf[BUF_SIZE];
+
+#define BoardInit 0 /* Initializing */
+#define BoardReady 1 /* Ready to respond */
+#define BoardRecording 2 /* Recording */
+#define BoardTransmitting 3 /* Transmitting */
+#define BoardError 4 /* Error occurred, restart */
+
+/*
+// Set your Static IP address
+IPAddress local_IP(192, 168, 1, 184);
+// Set your Gateway IP address
+IPAddress gateway(192, 168, 1, 1);
+
+IPAddress subnet(255, 255, 0, 0);
+*/
+
+void setup() {
+ Serial.begin(115200);
+
+ //Serial1.begin(1843200);
+ Serial1.begin(2000000);
+
+ Serial1.write(2);// Flush old data
+ while(Serial1.available() > 0) {Serial1.read();}
+
+ // Initialize the output variables as outputs
+ pinMode(ledPin, OUTPUT);
+ digitalWrite(ledPin, HIGH);
+ lastBlink = 0;
+ blinkState = 0;
+
+ connect();
+
+ server.begin();
+
+ readMode();
+}
+
+void connect() {
+ // Connect to Wi-Fi network with SSID and password
+ Serial.print("Connecting to ");
+ Serial.println(ssid);
+/*
+ if (!WiFi.config(local_IP, gateway, subnet)) {
+ Serial.println("STA Failed to configure");
+ }
+ */
+
+ WiFi.begin(ssid, password);
+ WiFi.setSleep(false);
+
+ while (WiFi.status() != WL_CONNECTED) {
+ delay(500);
+ Serial.print(".");
+ }
+
+ Serial.println("");
+ Serial.println("WiFi connected");
+ Serial.println("IP address: ");
+ Serial.println(WiFi.localIP());
+}
+
+void readMode() {
+ // Flush
+ while(Serial1.available() > 0) {Serial1.read();}
+
+ Serial1.println("status");
+ int reqtime = millis();
+ while(Serial1.available() == 0 && millis()-reqtime < 1000) { }
+
+ Serial.println(Serial1.available());
+
+ if (Serial1.available() == 0) {
+ boardState = "not responding";
+ } else {
+ byte boardMode = Serial1.read();
+ Serial.println(boardMode);
+
+ switch(boardMode) {
+ case BoardInit: boardState = "initializing"; break;
+ case BoardReady: boardState = "ready"; break;
+ case BoardRecording: boardState = "recording"; break;
+ case BoardTransmitting: boardState = "transmitting"; break;
+ case BoardError: boardState = "in error mode"; break;
+ default: boardState = "non-responsive"; break;
+ }
+ }
+
+ // Flush
+ while(Serial1.available() > 0) {Serial1.read();}
+}
+
+void loop() {
+ if (boardState == "ready")
+ {
+ digitalWrite(ledPin, HIGH);
+ lastBlink = 0;
+ blinkState = 0;
+ } else if (boardState != "recording") {
+ digitalWrite(ledPin, LOW);
+ lastBlink = 0;
+ blinkState = 0;
+ } else { /* Recording */
+ if (blinkState == 0) {
+ digitalWrite(ledPin, LOW);
+ lastBlink = millis();
+ blinkState = 1;
+ } else if (blinkState == 1 && millis()-lastBlink > 1000) {
+ digitalWrite(ledPin, HIGH);
+ lastBlink = millis();
+ blinkState = 2;
+ } else if (blinkState == 2 && millis()-lastBlink > 1000) {
+ digitalWrite(ledPin, LOW);
+ lastBlink = millis();
+ blinkState = 1;
+ }
+ }
+ if (!WiFi.isConnected()) {
+ Serial.print("Reconnecting...");
+ connect();
+ }
+ WiFiClient client = server.available(); // Listen for incoming clients
+ if (client && client.connected()) { // If a new client connects,
+ Serial.println("New Client."); // print a message out in the serial port
+ String currentLine = ""; // make a String to hold incoming data from the client
+ while (client.connected()) { // loop while the client's connected
+ if (client.available()) { // if there's bytes to read from the client,
+ char c = client.read(); // read a byte, then
+ //Serial.write(c); // print it out the serial monitor
+ header += c;
+ if (c == '\n') { // if the byte is a newline character
+
+ // if the current line is blank, you got two newline characters in a row.
+ // that's the end of the client HTTP request, so send a response:
+ if (currentLine.length() == 0) {
+ readMode();
+
+
+ int i = header.indexOf("/dl/");
+ if (i >= 0 && boardState == "ready") {
+ int s = header.indexOf("\n",i);
+ String dlfile = header.substring(i+4,s-1);
+ s = dlfile.indexOf(" ");
+ if (s >= 0) {
+ dlfile = dlfile.substring(0,s);
+ }
+ String command = "get " + dlfile;
+
+ Serial.println(dlfile);
+
+ // Flush old data
+ while(Serial1.available() > 0) {Serial1.read();}
+
+ Serial1.println(command);
+ String dlsize = "";
+ while(true)
+ {
+ if (Serial1.available() > 0)
+ {
+ char c = Serial1.read();
+ if (c == '\n')
+ {
+ break;
+ } else if (isDigit(c)) {
+ dlsize += c;
+ }
+ }
+ }
+ int idlsize = dlsize.toInt();
+ Serial.println(idlsize);
+
+ client.println("HTTP/1.1 200 OK");
+ client.println("Content-type:binary/audio");
+ client.println("Content-Length: " + dlsize);
+ client.println("Accept-Ranges: bytes");
+ client.println("Connection: close");
+ client.println("");
+
+ int count = 0;
+ int m = 0;
+ int timestamp = millis();
+ while(count < idlsize)
+ {
+ int left = idlsize - count;
+ int expected = (left > BUF_SIZE ? BUF_SIZE : left);
+
+ int n = Serial1.available();
+ if (n > m)
+ {
+ timestamp = millis();
+ m = n;
+ }
+
+ if (n == expected)
+ {
+ n = Serial1.readBytes(buf, n);
+ Serial1.write(1);
+ client.write(buf,n);
+ count += n;
+ Serial.print(count);
+ Serial.print(", ");
+ m = 0;
+ }
+ else if (millis() - timestamp > 100)
+ {
+ // Flush old data
+ while(Serial1.available() > 0) {Serial1.read();}
+ Serial1.write(0);
+ Serial.println("Resend request");
+ }
+ }
+
+ Serial.println("Done");
+ } else {
+ bool printList = false;
+
+ // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
+ // and a content-type so the client knows what's coming, then a blank line:
+ client.println("HTTP/1.1 200 OK");
+ client.println("Content-type:text/html");
+ client.println("Connection: close");
+ client.println();
+
+ // turns the GPIOs on and off
+ if (header.indexOf("GET /rec/on") >= 0 && boardState == "ready") {
+ Serial.println("Start Recording");
+ Serial1.println("start");
+ recordingState = "on";
+ delay(1000);
+ readMode();
+ } else if (header.indexOf("GET /rec/off") >= 0 && boardState == "recording") {
+ Serial.println("Stop Recording");
+ Serial1.println("stop");
+ recordingState = "off";
+ delay(1000);
+ readMode();
+ } else if (header.indexOf("GET /list") >= 0 && boardState == "ready") {
+ Serial.println("List");
+ printList = true;
+ }
+
+ if(printList)
+ {
+ // Flush old data
+ while(Serial1.available() > 0) {Serial1.read();}
+
+ Serial1.println("list");
+ }
+
+ // Display the HTML web page
+ client.println("<!DOCTYPE html><html>");
+ client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
+ client.println("<link rel=\"icon\" href=\"data:,\">");
+ // CSS to style the on/off buttons
+ // Feel free to change the background-color and font-size attributes to fit your preferences
+ client.println("<style>html { font-family: Helvetica; display: inline-block; margin: 0px auto; text-align: center;}");
+ client.println("a:link {text-decoration: none;}");
+ client.println(".button { background-color: white; border: none; color: red; padding: 16px 40px;");
+ client.println("text-decoration: none; font-size: 80px; margin: 2px; cursor: pointer;}");
+ client.println(".button2 {background-color: white; color: black;}");
+ client.println(".button4 {background-color: white; color: green;}");
+ client.println(".button3 {background-color: #white; color: black; font-size: 30px;}</style></head>");
+
+ // Web Page Heading
+ client.println("<body><h1>Audio Recording Headset</h1>");
+
+ // Display current state, and ON/OFF buttons for GPIO 26
+ client.println("<p>Headset is " + boardState + "</p>");
+ // If the recordingState is off, it displays the ON button
+ if (boardState == "ready") {
+ client.println("<p><a href=\"/rec/on\"><button class=\"button\">●</button></a></p>");
+ } else if (boardState == "recording") {
+ client.println("<p><a href=\"/rec/off\"><button class=\"button button2\">■</button></a></p>");
+ }
+ client.println("<p><a href=\"/\"><button class=\"button button4\">↻</button></a></p>");
+ client.println("<p><a href=\"/list\"><button class=\"button button3\">List files</button></a></p>");
+
+ if (printList)
+ {
+ char c;
+ String filename = "";
+ while(true) {
+ if (Serial1.available() > 0)
+ {
+ c = Serial1.read();
+ Serial.print(c);
+ if ((char) c == '\n')
+ {
+ if (filename.length() == 0) { Serial.println("Broken out"); break;}
+
+ String nameonly = filename.substring(0,filename.indexOf('\t'));
+ String filesize = "\t" + filename.substring(filename.indexOf('\t')) + " kb";
+ client.println("<p><a href=\"/dl/" + nameonly + "\">" + nameonly + "</a>" + filesize + "</p>");
+ filename = "";
+ }
+ else if (c != '\r')
+ {
+ filename += (char) c;
+ }
+ }
+ }
+ }
+ client.println("</body></html>");
+
+ }
+
+ // The HTTP response ends with another blank line
+ client.println();
+ client.println();
+ // Break out of the while loop
+ break;
+ } else { // if you got a newline, then clear currentLine
+ currentLine = "";
+ }
+ } else if (c != '\r') { // if you got anything else but a carriage return character,
+ currentLine += c; // add it to the end of the currentLine
+ }
+ }
+ }
+ // Clear the header variable
+ header = "";
+ // Close the connection
+ client.stop();
+ Serial.println("Client disconnected.");
+ Serial.println("");
+ }
+}
diff --git a/Code/Matlab/readData.m b/Code/Matlab/readData.m
new file mode 100644
index 0000000000000000000000000000000000000000..127714af4d3d9e2f2565ab4ecd90c6bdfe19ca76
--- /dev/null
+++ b/Code/Matlab/readData.m
@@ -0,0 +1,85 @@
+function [audio, data] = readData(name, path)
+%READDATA Read recorded sound and IMU data.
+% name Name of files excluding extension
+% path Path to read combined file from.
+
+%% Load sound
+filename = fullfile(path, [name '.wav']);
+
+[audio, fs] = audioread(filename);
+
+% Map channels to positions
+audio = audio(:,[5 7 4 1 2 3 8 6]);
+
+t = (1:size(audio,1))/fs*1000;
+figure; title('Microphone signals');
+for i=1:8;subplot(2,4,i); plot(t,audio(1:end,i));title(num2str(i));end
+
+%%
+ti = [650 71500];
+tc = t(t>= ti(1) & t <= ti(end));
+sndc = audio(t>= ti(1) & t <= ti(end),:);
+for i=1:8;subplot(2,4,i); plot(tc,sndc(1:end,i));title(num2str(i));end
+%% IMU Data
+filename = fullfile(path, [name '.bin']);
+
+% Load entire file first for faster parsing
+f = fopen(filename);
+D = uint8(fread(f, inf, 'uint8=>uint8')');
+fclose(f);
+
+% Init data structures for parsing
+struct_size = 64;
+N = length(D)/struct_size;
+timestamp = zeros(N,1);
+temperature = zeros(N,1);
+gyro = zeros(N,3);
+accelerometer = zeros(N,3);
+magnetometer = zeros(N,3);
+orientation = zeros(N,3);
+
+% Parse data
+p = 1;
+for j = 1:N
+ if mod(j,500) == 0; clc; disp([num2str(round(j/N*100,0)) '%']); end
+
+ timestamp(j,:) = typecast(D(p +(0:7)), 'uint64'); p = p + 8;
+ temperature(j,:) = typecast(D(p +(0:3)), 'single'); p = p + 4;
+ gyro(j,:) = typecast(D(p +(0:11)), 'single'); p = p + 12;
+ accelerometer(j,:) = typecast(D(p +(0:11)), 'single'); p = p + 12;
+ magnetometer(j,:) = typecast(D(p +(0:11)), 'single'); p = p + 12;
+ orientation(j,:) = typecast(D(p +(0:11)), 'single'); p = p + 12;
+ p = p + 4; % Dummy
+end
+
+data = struct('Timestamp', timestamp, ...
+ 'Temperature', temperature, ...
+ 'Gyro', gyro, ...
+ 'Accelerometer', accelerometer, ...
+ 'Magnetometer', magnetometer, ...
+ 'Orientation', orientation);
+
+% Sync with sound recording (hopefully not needed
+timestamp = timestamp - timestamp(1);
+
+% Remove outliers if missing data
+timestampf = filloutliers(timestamp,'linear','movmedian',1000);
+temperaturef = filloutliers(temperature,'linear','movmedian',1000);
+gyrof = filloutliers(gyro,'linear','movmedian',1000);
+accelerometerf = filloutliers(accelerometer,'linear','movmedian',1000);
+magnetometerf = filloutliers(magnetometer,'linear','movmedian',1000);
+orientationf = filloutliers(orientation,'linear','movmedian',1000);
+
+ %% Plot data
+
+figure; title('Raw')
+subplot(2,2,1); plot(timestamp/1000,orientation); title('Orientation'); xlabel('Time [s]'); ylabel('Attitude [deg]');
+subplot(2,2,2); plot(timestamp/1000,accelerometer); title('Accelerometer'); xlabel('Time [s]'); ylabel('Acceleration [g]');
+subplot(2,2,3); plot(timestamp/1000,magnetometer);title('Magnetometer'); xlabel('Time [s]'); ylabel('Magnetic Field [gauss]');
+subplot(2,2,4); plot(timestamp/1000,gyro);title('Gyro'); xlabel('Time [s]'); ylabel('Angular Velocity [deg/s]');
+
+figure;title('Outliers removed');
+subplot(2,2,1); plot(timestamp/1000,orientationf); title('Orientation'); xlabel('Time [s]'); ylabel('Attitude [deg]');
+subplot(2,2,2); plot(timestamp/1000,accelerometerf); title('Accelerometer');xlabel('Time [s]'); ylabel('Acceleration [g]');
+subplot(2,2,3); plot(timestamp/1000,magnetometerf);title('Magnetometer');xlabel('Time [s]'); ylabel('Magnetic Field [gauss]');
+subplot(2,2,4); plot(timestamp/1000,gyrof);title('Gyro'); xlabel('Time [s]'); ylabel('Angular Velocity [deg/s]');
\ No newline at end of file
diff --git a/Code/Matlab/splitFile.m b/Code/Matlab/splitFile.m
new file mode 100644
index 0000000000000000000000000000000000000000..19e2ddfd73223674c93b1d9f864e1784f60135ed
--- /dev/null
+++ b/Code/Matlab/splitFile.m
@@ -0,0 +1,110 @@
+function [audioBytes, dataBytes] = splitFile(name, outPath, inPath, magicWord, show)
+%SPLITFILE Splits a combined sound and data file, by searching for a magic
+%word that marks a data block and extract them into a separate file.
+% name Name of file excluding extension
+% outPath Path to place resulting wav and bin files
+% inPath Path to read combined file from.
+% magicWord Determine magic word (default fe ed ab ee de ad)
+% show Show progress in console (default true).
+
+if nargin < 5 || isempty(show); show = true; end
+ if nargin < 4 || isempty(magicWord)
+ magicWord = hex2dec({'FE', 'ED', 'AB', 'EE', 'DE', 'AD'})'; %, 'BE', 'EF'
+ end
+ if nargin < 3 || isempty(inPath); inPath = 'E:\'; end
+ if nargin < 2 || isempty(outPath); outPath = 'D:\Data\AudioRecorder\'; end
+
+ inFilename = fullfile(inPath,[name '.wav']);
+ outFilename = fullfile(outPath,[name '.wav']);
+ outData = fullfile(outPath,[name '.bin']);
+ i = 0;
+ while exist(outFilename, 'file') || exist(outData, 'file')
+ i = i + 1;
+ outFilename = fullfile(outPath,[name '_' num2str(i) '.wav']);
+ outData = fullfile(outPath,[name '_' num2str(i) '.bin']);
+ end
+ batchSize = 1024 * 1024;
+ sizeFieldSize = 2;
+ %frameSize = length(magicWord) + sizeFieldSize + structSize;
+
+ fi = fopen(inFilename);
+ fa = fopen(outFilename, 'w');
+ fd = fopen(outData, 'w');
+
+ totalBytes = dir(inFilename).bytes;
+ audioBytes = 0;
+ dataBytes = 0;
+
+ D = [];
+ while(true)
+ if show
+ clc;
+ disp(['Processed: ' num2str(round((100*audioBytes+dataBytes)/totalBytes,1)) '%']);
+ end
+
+ D = [D fread(fi, batchSize, 'uint8=>uint8')'];
+
+ ind = strfind(D, magicWord);
+
+ if isempty(ind)
+ fwrite(fa, D(1:end-length(magicWord)));
+ audioBytes = audioBytes + length(D(1:end-length(magicWord)));
+ D(1:end-length(magicWord)) = [];
+ else
+ p = 1;
+ for i = 1:length(ind)-1
+ fwrite(fa, D(p:ind(i)-1));
+ audioBytes = audioBytes + length(D(p:ind(i)-1));
+ p = ind(i) + length(magicWord);
+
+ frame_size = sum(double(D([p p+1])).*[1 256]);
+ p = p + sizeFieldSize;
+
+ fwrite(fd, D(p + (0:frame_size-1)));
+ dataBytes = dataBytes + frame_size;
+ p = p + frame_size;
+ end
+ fwrite(fa, D(p:ind(end)-1));
+ audioBytes = audioBytes + length(D(p:ind(end)-1));
+ p = ind(end);
+
+ q = ind(end);
+ if length(D) - q > length(magicWord) + sizeFieldSize
+ q = q + length(magicWord);
+ frame_size = sum(double(D([q q+1])).*[1 256]);
+ q = q + 2;
+ if length(D) - q > frame_size
+ fwrite(fd, D(q + (0:frame_size-1)));
+ dataBytes = dataBytes + frame_size;
+ p = q + frame_size;
+ else
+ D(1:p-1) = [];
+ continue;
+ end
+ else
+ D(1:p-1) = [];
+ continue;
+ end
+ if p < length(D) - length(magicWord) + 1
+ fwrite(fa, D(p:end-length(magicWord)));
+ audioBytes = audioBytes + length(D(p:end-length(magicWord)));
+
+ D(1:end-length(magicWord)) = [];
+ end
+ end
+ if feof(fi) == 1
+ fwrite(fa, D);
+ audioBytes = audioBytes + length(D);
+ D = [];
+ if show
+ clc;
+ disp(['Processed: 100%']);
+ end
+ break;
+ end
+ end
+ fclose(fi);
+ fclose(fa);
+ fclose(fd);
+end
+
diff --git a/Code/README.MD b/Code/README.MD
new file mode 100644
index 0000000000000000000000000000000000000000..11369e0c5685c935cea23b20b095dcfdb1f6ccd8
--- /dev/null
+++ b/Code/README.MD
@@ -0,0 +1,27 @@
+Array Frame Source Code
+=======================
+
+The main code executes on the Spresense board.
+Recordings are started and stopped using a push button and the resulting files are stored on an SD card.
+
+Optionally, an AdaFruit HUZZAH32 board can be used to manage recordings over WiFi.
+
+Preparations
+------------
+1. Install Arduino IDE for Spresense using the guide
+https://developer.sony.com/develop/spresense/docs/arduino_set_up_en.html
+
+2. Open the Library Manager in Arduino IDE and install
+ - Sparkfun MPU-9250 9 DOF IMU Breakout
+ - SoftwareWire
+3. Replace SoftwareWire files with the modified files in this repo to make it compatible with Spresense.
+4. Update the MPU-9250 code to include SoftwareWire.h instead of Wire.h and replace TwoWire with SoftwareWire.
+
+Optional WebServer
+------------------
+Install ESP32 library using the guide
+https://learn.adafruit.com/huzzah32-esp32-breakout-board/using-with-arduino-ide
+
+Data Parsing
+------------
+To parse the data, an m-script (splitFile.m) is provided for splitting the recorded file into a sound file and a data file. Another script (readData.m) is provided to parse the data into matlab.
\ No newline at end of file
diff --git a/Code/SoftwareWire/Licence.md b/Code/SoftwareWire/Licence.md
new file mode 100644
index 0000000000000000000000000000000000000000..5f8b06fe3c76799cc5db75f8283f6417cb20b80a
--- /dev/null
+++ b/Code/SoftwareWire/Licence.md
@@ -0,0 +1,675 @@
+### GNU GENERAL PUBLIC LICENSE
+
+Version 3, 29 June 2007
+
+Copyright (C) 2007 Free Software Foundation, Inc.
+<http://fsf.org/>
+
+Everyone is permitted to copy and distribute verbatim copies of this
+license document, but changing it is not allowed.
+
+### Preamble
+
+The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom
+to share and change all versions of a program--to make sure it remains
+free software for all its users. We, the Free Software Foundation, use
+the GNU General Public License for most of our software; it applies
+also to any other work released this way by its authors. You can apply
+it to your programs, too.
+
+When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you
+have certain responsibilities if you distribute copies of the
+software, or if you modify it: responsibilities to respect the freedom
+of others.
+
+For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received. You must make sure that they, too, receive
+or can get the source code. And you must show them these terms so they
+know their rights.
+
+Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software. For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the
+manufacturer can do so. This is fundamentally incompatible with the
+aim of protecting users' freedom to change the software. The
+systematic pattern of such abuse occurs in the area of products for
+individuals to use, which is precisely where it is most unacceptable.
+Therefore, we have designed this version of the GPL to prohibit the
+practice for those products. If such problems arise substantially in
+other domains, we stand ready to extend this provision to those
+domains in future versions of the GPL, as needed to protect the
+freedom of users.
+
+Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish
+to avoid the special danger that patents applied to a free program
+could make it effectively proprietary. To prevent this, the GPL
+assures that patents cannot be used to render the program non-free.
+
+The precise terms and conditions for copying, distribution and
+modification follow.
+
+### TERMS AND CONDITIONS
+
+#### 0. Definitions.
+
+"This License" refers to version 3 of the GNU General Public License.
+
+"Copyright" also means copyright-like laws that apply to other kinds
+of works, such as semiconductor masks.
+
+"The Program" refers to any copyrightable work licensed under this
+License. Each licensee is addressed as "you". "Licensees" and
+"recipients" may be individuals or organizations.
+
+To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of
+an exact copy. The resulting work is called a "modified version" of
+the earlier work or a work "based on" the earlier work.
+
+A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy. Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies. Mere interaction with a user
+through a computer network, with no transfer of a copy, is not
+conveying.
+
+An interactive user interface displays "Appropriate Legal Notices" to
+the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
+work under this License, and how to view a copy of this License. If
+the interface presents a list of user commands or options, such as a
+menu, a prominent item in the list meets this criterion.
+
+#### 1. Source Code.
+
+The "source code" for a work means the preferred form of the work for
+making modifications to it. "Object code" means any non-source form of
+a work.
+
+A "Standard Interface" means an interface that either is an official
+standard defined by a recognized standards body, or, in the case of
+interfaces specified for a particular programming language, one that
+is widely used among developers working in that language.
+
+The "System Libraries" of an executable work include anything, other
+than the work as a whole, that (a) is included in the normal form of
+packaging a Major Component, but which is not part of that Major
+Component, and (b) serves only to enable use of the work with that
+Major Component, or to implement a Standard Interface for which an
+implementation is available to the public in source code form. A
+"Major Component", in this context, means a major essential component
+(kernel, window system, and so on) of the specific operating system
+(if any) on which the executable work runs, or a compiler used to
+produce the work, or an object code interpreter used to run it.
+
+The "Corresponding Source" for a work in object code form means all
+the source code needed to generate, install, and (for an executable
+work) run the object code and to modify the work, including scripts to
+control those activities. However, it does not include the work's
+System Libraries, or general-purpose tools or generally available free
+programs which are used unmodified in performing those activities but
+which are not part of the work. For example, Corresponding Source
+includes interface definition files associated with source files for
+the work, and the source code for shared libraries and dynamically
+linked subprograms that the work is specifically designed to require,
+such as by intimate data communication or control flow between those
+subprograms and other parts of the work.
+
+The Corresponding Source need not include anything that users can
+regenerate automatically from other parts of the Corresponding Source.
+
+The Corresponding Source for a work in source code form is that same
+work.
+
+#### 2. Basic Permissions.
+
+All rights granted under this License are granted for the term of
+copyright on the Program, and are irrevocable provided the stated
+conditions are met. This License explicitly affirms your unlimited
+permission to run the unmodified Program. The output from running a
+covered work is covered by this License only if the output, given its
+content, constitutes a covered work. This License acknowledges your
+rights of fair use or other equivalent, as provided by copyright law.
+
+You may make, run and propagate covered works that you do not convey,
+without conditions so long as your license otherwise remains in force.
+You may convey covered works to others for the sole purpose of having
+them make modifications exclusively for you, or provide you with
+facilities for running those works, provided that you comply with the
+terms of this License in conveying all material for which you do not
+control copyright. Those thus making or running the covered works for
+you must do so exclusively on your behalf, under your direction and
+control, on terms that prohibit them from making any copies of your
+copyrighted material outside their relationship with you.
+
+Conveying under any other circumstances is permitted solely under the
+conditions stated below. Sublicensing is not allowed; section 10 makes
+it unnecessary.
+
+#### 3. Protecting Users' Legal Rights From Anti-Circumvention Law.
+
+No covered work shall be deemed part of an effective technological
+measure under any applicable law fulfilling obligations under article
+11 of the WIPO copyright treaty adopted on 20 December 1996, or
+similar laws prohibiting or restricting circumvention of such
+measures.
+
+When you convey a covered work, you waive any legal power to forbid
+circumvention of technological measures to the extent such
+circumvention is effected by exercising rights under this License with
+respect to the covered work, and you disclaim any intention to limit
+operation or modification of the work as a means of enforcing, against
+the work's users, your or third parties' legal rights to forbid
+circumvention of technological measures.
+
+#### 4. Conveying Verbatim Copies.
+
+You may convey verbatim copies of the Program's source code as you
+receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice;
+keep intact all notices stating that this License and any
+non-permissive terms added in accord with section 7 apply to the code;
+keep intact all notices of the absence of any warranty; and give all
+recipients a copy of this License along with the Program.
+
+You may charge any price or no price for each copy that you convey,
+and you may offer support or warranty protection for a fee.
+
+#### 5. Conveying Modified Source Versions.
+
+You may convey a work based on the Program, or the modifications to
+produce it from the Program, in the form of source code under the
+terms of section 4, provided that you also meet all of these
+conditions:
+
+- a) The work must carry prominent notices stating that you modified
+ it, and giving a relevant date.
+- b) The work must carry prominent notices stating that it is
+ released under this License and any conditions added under
+ section 7. This requirement modifies the requirement in section 4
+ to "keep intact all notices".
+- c) You must license the entire work, as a whole, under this
+ License to anyone who comes into possession of a copy. This
+ License will therefore apply, along with any applicable section 7
+ additional terms, to the whole of the work, and all its parts,
+ regardless of how they are packaged. This License gives no
+ permission to license the work in any other way, but it does not
+ invalidate such permission if you have separately received it.
+- d) If the work has interactive user interfaces, each must display
+ Appropriate Legal Notices; however, if the Program has interactive
+ interfaces that do not display Appropriate Legal Notices, your
+ work need not make them do so.
+
+A compilation of a covered work with other separate and independent
+works, which are not by their nature extensions of the covered work,
+and which are not combined with it such as to form a larger program,
+in or on a volume of a storage or distribution medium, is called an
+"aggregate" if the compilation and its resulting copyright are not
+used to limit the access or legal rights of the compilation's users
+beyond what the individual works permit. Inclusion of a covered work
+in an aggregate does not cause this License to apply to the other
+parts of the aggregate.
+
+#### 6. Conveying Non-Source Forms.
+
+You may convey a covered work in object code form under the terms of
+sections 4 and 5, provided that you also convey the machine-readable
+Corresponding Source under the terms of this License, in one of these
+ways:
+
+- a) Convey the object code in, or embodied in, a physical product
+ (including a physical distribution medium), accompanied by the
+ Corresponding Source fixed on a durable physical medium
+ customarily used for software interchange.
+- b) Convey the object code in, or embodied in, a physical product
+ (including a physical distribution medium), accompanied by a
+ written offer, valid for at least three years and valid for as
+ long as you offer spare parts or customer support for that product
+ model, to give anyone who possesses the object code either (1) a
+ copy of the Corresponding Source for all the software in the
+ product that is covered by this License, on a durable physical
+ medium customarily used for software interchange, for a price no
+ more than your reasonable cost of physically performing this
+ conveying of source, or (2) access to copy the Corresponding
+ Source from a network server at no charge.
+- c) Convey individual copies of the object code with a copy of the
+ written offer to provide the Corresponding Source. This
+ alternative is allowed only occasionally and noncommercially, and
+ only if you received the object code with such an offer, in accord
+ with subsection 6b.
+- d) Convey the object code by offering access from a designated
+ place (gratis or for a charge), and offer equivalent access to the
+ Corresponding Source in the same way through the same place at no
+ further charge. You need not require recipients to copy the
+ Corresponding Source along with the object code. If the place to
+ copy the object code is a network server, the Corresponding Source
+ may be on a different server (operated by you or a third party)
+ that supports equivalent copying facilities, provided you maintain
+ clear directions next to the object code saying where to find the
+ Corresponding Source. Regardless of what server hosts the
+ Corresponding Source, you remain obligated to ensure that it is
+ available for as long as needed to satisfy these requirements.
+- e) Convey the object code using peer-to-peer transmission,
+ provided you inform other peers where the object code and
+ Corresponding Source of the work are being offered to the general
+ public at no charge under subsection 6d.
+
+A separable portion of the object code, whose source code is excluded
+from the Corresponding Source as a System Library, need not be
+included in conveying the object code work.
+
+A "User Product" is either (1) a "consumer product", which means any
+tangible personal property which is normally used for personal,
+family, or household purposes, or (2) anything designed or sold for
+incorporation into a dwelling. In determining whether a product is a
+consumer product, doubtful cases shall be resolved in favor of
+coverage. For a particular product received by a particular user,
+"normally used" refers to a typical or common use of that class of
+product, regardless of the status of the particular user or of the way
+in which the particular user actually uses, or expects or is expected
+to use, the product. A product is a consumer product regardless of
+whether the product has substantial commercial, industrial or
+non-consumer uses, unless such uses represent the only significant
+mode of use of the product.
+
+"Installation Information" for a User Product means any methods,
+procedures, authorization keys, or other information required to
+install and execute modified versions of a covered work in that User
+Product from a modified version of its Corresponding Source. The
+information must suffice to ensure that the continued functioning of
+the modified object code is in no case prevented or interfered with
+solely because modification has been made.
+
+If you convey an object code work under this section in, or with, or
+specifically for use in, a User Product, and the conveying occurs as
+part of a transaction in which the right of possession and use of the
+User Product is transferred to the recipient in perpetuity or for a
+fixed term (regardless of how the transaction is characterized), the
+Corresponding Source conveyed under this section must be accompanied
+by the Installation Information. But this requirement does not apply
+if neither you nor any third party retains the ability to install
+modified object code on the User Product (for example, the work has
+been installed in ROM).
+
+The requirement to provide Installation Information does not include a
+requirement to continue to provide support service, warranty, or
+updates for a work that has been modified or installed by the
+recipient, or for the User Product in which it has been modified or
+installed. Access to a network may be denied when the modification
+itself materially and adversely affects the operation of the network
+or violates the rules and protocols for communication across the
+network.
+
+Corresponding Source conveyed, and Installation Information provided,
+in accord with this section must be in a format that is publicly
+documented (and with an implementation available to the public in
+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+#### 7. Additional Terms.
+
+"Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law. If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it. (Additional permissions may be written to require their own
+removal in certain cases when you modify the work.) You may place
+additional permissions on material, added by you to a covered work,
+for which you have or can give appropriate copyright permission.
+
+Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders
+of that material) supplement the terms of this License with terms:
+
+- a) Disclaiming warranty or limiting liability differently from the
+ terms of sections 15 and 16 of this License; or
+- b) Requiring preservation of specified reasonable legal notices or
+ author attributions in that material or in the Appropriate Legal
+ Notices displayed by works containing it; or
+- c) Prohibiting misrepresentation of the origin of that material,
+ or requiring that modified versions of such material be marked in
+ reasonable ways as different from the original version; or
+- d) Limiting the use for publicity purposes of names of licensors
+ or authors of the material; or
+- e) Declining to grant rights under trademark law for use of some
+ trade names, trademarks, or service marks; or
+- f) Requiring indemnification of licensors and authors of that
+ material by anyone who conveys the material (or modified versions
+ of it) with contractual assumptions of liability to the recipient,
+ for any liability that these contractual assumptions directly
+ impose on those licensors and authors.
+
+All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10. If the Program as you
+received it, or any part of it, contains a notice stating that it is
+governed by this License along with a term that is a further
+restriction, you may remove that term. If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions; the
+above requirements apply either way.
+
+#### 8. Termination.
+
+You may not propagate or modify a covered work except as expressly
+provided under this License. Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+However, if you cease all violation of this License, then your license
+from a particular copyright holder is reinstated (a) provisionally,
+unless and until the copyright holder explicitly and finally
+terminates your license, and (b) permanently, if the copyright holder
+fails to notify you of the violation by some reasonable means prior to
+60 days after the cessation.
+
+Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License. If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+#### 9. Acceptance Not Required for Having Copies.
+
+You are not required to accept this License in order to receive or run
+a copy of the Program. Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance. However,
+nothing other than this License grants you permission to propagate or
+modify any covered work. These actions infringe copyright if you do
+not accept this License. Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+#### 10. Automatic Licensing of Downstream Recipients.
+
+Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License. You are not responsible
+for enforcing compliance by third parties with this License.
+
+An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations. If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License. For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+#### 11. Patents.
+
+A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+A contributor's "essential patent claims" are all patent claims owned
+or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version. For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+A patent license is "discriminatory" if it does not include within the
+scope of its coverage, prohibits the exercise of, or is conditioned on
+the non-exercise of one or more of the rights that are specifically
+granted under this License. You may not convey a covered work if you
+are a party to an arrangement with a third party that is in the
+business of distributing software, under which you make payment to the
+third party based on the extent of your activity of conveying the
+work, and under which the third party grants, to any of the parties
+who would receive the covered work from you, a discriminatory patent
+license (a) in connection with copies of the covered work conveyed by
+you (or copies made from those copies), or (b) primarily for and in
+connection with specific products or compilations that contain the
+covered work, unless you entered into that arrangement, or that patent
+license was granted, prior to 28 March 2007.
+
+Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+#### 12. No Surrender of Others' Freedom.
+
+If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under
+this License and any other pertinent obligations, then as a
+consequence you may not convey it at all. For example, if you agree to
+terms that obligate you to collect a royalty for further conveying
+from those to whom you convey the Program, the only way you could
+satisfy both those terms and this License would be to refrain entirely
+from conveying the Program.
+
+#### 13. Use with the GNU Affero General Public License.
+
+Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+#### 14. Revised Versions of this License.
+
+The Free Software Foundation may publish revised and/or new versions
+of the GNU General Public License from time to time. Such new versions
+will be similar in spirit to the present version, but may differ in
+detail to address new problems or concerns.
+
+Each version is given a distinguishing version number. If the Program
+specifies that a certain numbered version of the GNU General Public
+License "or any later version" applies to it, you have the option of
+following the terms and conditions either of that numbered version or
+of any later version published by the Free Software Foundation. If the
+Program does not specify a version number of the GNU General Public
+License, you may choose any version ever published by the Free
+Software Foundation.
+
+If the Program specifies that a proxy can decide which future versions
+of the GNU General Public License can be used, that proxy's public
+statement of acceptance of a version permanently authorizes you to
+choose that version for the Program.
+
+Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+#### 15. Disclaimer of Warranty.
+
+THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT
+WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND
+PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE
+DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR
+CORRECTION.
+
+#### 16. Limitation of Liability.
+
+IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR
+CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES
+ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT
+NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR
+LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM
+TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER
+PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
+
+#### 17. Interpretation of Sections 15 and 16.
+
+If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+END OF TERMS AND CONDITIONS
+
+### How to Apply These Terms to Your New Programs
+
+If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these
+terms.
+
+To do so, attach the following notices to the program. It is safest to
+attach them to the start of each source file to most effectively state
+the exclusion of warranty; and each file should have at least the
+"copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ 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, either version 3 of the License, or
+ (at your option) any later version.
+
+ 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, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper
+mail.
+
+If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands \`show w' and \`show c' should show the
+appropriate parts of the General Public License. Of course, your
+program's commands might be different; for a GUI interface, you would
+use an "about box".
+
+You should also get your employer (if you work as a programmer) or
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary. For more information on this, and how to apply and follow
+the GNU GPL, see <http://www.gnu.org/licenses/>.
+
+The GNU General Public License does not permit incorporating your
+program into proprietary programs. If your program is a subroutine
+library, you may consider it more useful to permit linking proprietary
+applications with the library. If this is what you want to do, use the
+GNU Lesser General Public License instead of this License. But first,
+please read <http://www.gnu.org/philosophy/why-not-lgpl.html>.
diff --git a/Code/SoftwareWire/SoftwareWire.cpp b/Code/SoftwareWire/SoftwareWire.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..42db261011ea3f79d1dba33da7c01ea097a1865a
--- /dev/null
+++ b/Code/SoftwareWire/SoftwareWire.cpp
@@ -0,0 +1,890 @@
+// Signal differences
+// ------------------
+// When the AVR microcontroller is set into hardware I2C mode,
+// the pins follow the I2C specifications for voltage levels and current.
+// For example the current to pull SDA or SCL low is maximum 3mA.
+//
+// With the Software I2C, a normal pin is used which can sink/source 40mA for a ATmega328P.
+// That could increase the voltage spikes and could increase interference between sda and scl.
+// The voltage levels are different.
+// The timing of the software I2C is also different.
+//
+// In most cases the software I2C should work.
+// With longer wires or with non-matching voltage levels, the result is unpredictable.
+//
+//
+//
+// Clock pulse stretching
+// ----------------------
+// An I2C Slave could stretch the clock signal by keeping the SCL low.
+// This happens for example when a Slave is an Arduino which can be
+// busy doing other things like handling other interrupts.
+// Adding a check for the clock stretching should make the transmission
+// completely reliable without any loss.
+// Only an Arduino as Slave would do clock stretching, normal devices
+// like sensors and I2C EEPROM don't use clock stretching.
+// The extra check for clock stretching slows down the transfer rate.
+//
+// Using millis() instead of micros() is faster.
+// That is why millis() is used for the timeout of the clock pulse stretching.
+//
+//
+//
+// Arduino Stream class
+// --------------------
+// The Arduino Stream class is used by many Arduino objects.
+// For the I2C bus, the benefits are less obvious.
+// For example the parseInt() function is not used with I2C.
+// At this moment the Stream class is not used.
+//
+//
+// Multiple Slaves with the same I2C address
+// -----------------------------------------
+// The SoftwareWire can be declared more than once,
+// to create a number of software i2c busses.
+// That makes it possible to use a number of I2C devices,
+// which have the same I2C address.
+// Every software i2c bus requires 2 pins,
+// and every SoftwareWire object requires 59 bytes at the moment.
+//
+
+
+
+// added code to i2c_stop(), since a problem was reported here:
+// http://forum.arduino.cc/index.php?topic=348337.0
+// Added lines have keyword "ADDED1".
+
+
+// Use the next define to run a i2c_scanner inside the printStatus() function.
+// #define ENABLE_I2C_SCANNER
+
+#include "SoftwareWire.h"
+
+#include "Arduino.h"
+
+
+// Sets SDA low and drives output.
+// The SDA may not be HIGH output, so first the output register is cleared
+// (clearing internal pullup resistor), after that the SDA is set as output.
+//#define i2c_sda_lo() \
+// *_sdaPortReg &= ~_sdaBitMask; \
+// *_sdaDirReg |= _sdaBitMask;
+#define i2c_sda_lo() \
+ digitalWrite(_sdaPin, LOW);
+
+
+// sets SCL low and drives output.
+// The SCL may not be HIGH output, so first the output register is cleared
+// (clearing internal pullup resistor), after that the SCL is set as output.
+//#define i2c_scl_lo() \
+// *_sclPortReg &= ~_sclBitMask; \
+// *_sclDirReg |= _sclBitMask;
+#define i2c_scl_lo() \
+ digitalWrite(_sclPin, LOW);
+
+// Set SDA high and to input (releases pin) (i.e. change to input, turn on pullup).
+// The SDA may not become HIGH output. Therefore the pin is first set to input,
+// after that, a pullup resistor is switched on if needed.
+// #define i2c_sda_hi() \
+ // *_sdaDirReg &= ~_sdaBitMask; \
+ // if(_pullups) { *_sdaPortReg |= _sdaBitMask; }
+// #define i2c_sda_hi() \
+ // pinMode(_sdaPin, INPUT); \
+ // if(_pullups) { pinMode(_sdaPin, INPUT_PULLUP); }
+#define i2c_sda_hi() \
+ pinMode(_sdaPin, INPUT_PULLUP);
+
+// set SCL high and to input (releases pin) (i.e. change to input, turn on pullup)
+// The SCL may not become HIGH output. Therefore the pin is first set to input,
+// after that, a pullup resistor is switched on if needed.
+// #define i2c_scl_hi() \
+ // *_sclDirReg &= ~_sclBitMask; \
+ // if(_pullups) { *_sclPortReg |= _sclBitMask; }
+// #define i2c_scl_hi() \
+ // pinMode(_sclPin, INPUT); \
+ // if(_pullups) { pinMode(_sclPin, INPUT_PULLUP);}
+#define i2c_scl_hi() \
+ pinMode(_sclPin, INPUT_PULLUP);
+
+// Read the bit value of the pin
+// Note that is the pin can also be read when it is an output.
+// #define i2c_sda_read() ((uint8_t) (*_sdaPinReg & _sdaBitMask) ? 1 : 0)
+// #define i2c_scl_read() ((uint8_t) (*_sclPinReg & _sclBitMask) ? 1 : 0)
+#define i2c_sda_read() ((uint8_t) digitalRead(_sdaPin))
+#define i2c_scl_read() ((uint8_t) digitalRead(_sclPin))
+
+
+//
+// Constructor
+//
+// The pins are not activated until begin() is called.
+//
+SoftwareWire::SoftwareWire()
+{
+}
+
+SoftwareWire::SoftwareWire(uint8_t sdaPin, uint8_t sclPin, boolean pullups, boolean detectClockStretch)
+{
+
+ _sdaPin = sdaPin;
+ _sclPin = sclPin;
+ _pullups = pullups;
+ _stretch = detectClockStretch;
+
+ setClock( 100000UL); // set default 100kHz
+
+ // Set default timeout to 1000 ms.
+ // 1 second is very long, 10ms would be more appropriate.
+ // However, the Arduino libraries use often a default timeout of 1 second.
+ setTimeout( 1000L);
+
+ // Turn Arduino pin numbers into PORTx, DDRx, and PINx
+ // uint8_t port;
+
+ // port = digitalPinToPort(_sdaPin);
+ // _sdaBitMask = digitalPinToBitMask(_sdaPin);
+ // _sdaPortReg = portOutputRegister(port);
+ // _sdaDirReg = portModeRegister(port);
+ // _sdaPinReg = portInputRegister(port); // PinReg is the input register, not the Arduino pin.
+
+ // port = digitalPinToPort(_sclPin);
+ // _sclBitMask = digitalPinToBitMask(_sclPin);
+ // _sclPortReg = portOutputRegister(port);
+ // _sclDirReg = portModeRegister(port);
+ // _sclPinReg = portInputRegister(port);
+}
+
+
+//
+// The destructor releases the pins Software I2C bus for other use.
+//
+SoftwareWire::~SoftwareWire()
+{
+ end();
+}
+
+
+//
+// Release the pins of the Software I2C bus for other use.
+// Also the internal pullup resistors are removed.
+//
+void SoftwareWire::end()
+{
+ // Remember the pullups variable.
+ // They will be used again when begin() is called.
+ boolean pullupsCopy = _pullups;
+
+ _pullups = false;
+ i2c_sda_hi(); // release sda, remove any pullup
+ i2c_scl_hi(); // release scl, remove any pullup
+
+ _pullups = pullupsCopy;
+}
+
+
+// begin(void) - enter master mode
+// The pins are not changed until begin() is called.
+void SoftwareWire::begin(void)
+{
+ rxBufPut = 0; // nothing in the rxBuf
+ rxBufGet = 0;
+
+ i2c_init(); // release the sda and scl (the pullup resistors pull them high)
+
+ // Some tests could be added here, to check if the SDA and SCL are really turning high.
+ // Even some tests for shortcuts could be done here.
+
+
+ // When a I2C transmission would start immediate, it could fail when only the internal pullup resistors
+ // are used, and the signals were just now turned high with i2c_init().
+ if( _pullups)
+ delay(2); // 1ms didn't always work.
+}
+
+//
+// beginTransmission starts the I2C transmission immediate.
+//
+void SoftwareWire::beginTransmission(uint8_t address)
+{
+ // Reset error returned by endTransmission.
+ _transmission = SOFTWAREWIRE_NO_ERROR;
+
+ // check return value of the start condition.
+ // It indicates if the i2c bus is okay.
+ if(i2c_start())
+ {
+ uint8_t rc = i2c_write((address << 1) | 0); // The r/w bit is zero for write
+
+ if( rc == 0) // a sda zero from Slave for the 9th bit is ack
+ {
+ _transmission = SOFTWAREWIRE_NO_ERROR;
+ }
+ else
+ {
+ _transmission = SOFTWAREWIRE_ADDRESS_NACK;
+ }
+ }
+ else
+ {
+ // If the bus was not okay, the scl or sda didn't work.
+ _transmission = SOFTWAREWIRE_OTHER;
+ }
+}
+
+
+//
+void SoftwareWire::beginTransmission(int address)
+{
+ beginTransmission((uint8_t)address);
+}
+
+
+//
+uint8_t SoftwareWire::endTransmission(boolean sendStop)
+{
+ if(sendStop)
+ i2c_stop();
+ else
+ i2c_repstart();
+
+ return(_transmission); // return the transmission status that was set during writing address and data
+}
+
+
+//
+// The requestFrom() read the data from the I2C bus and stores it in a buffer.
+//
+uint8_t SoftwareWire::requestFrom(uint8_t address, uint8_t size, uint8_t sendStop)
+{
+ uint8_t n=0; // number of valid received bytes. Start with 0 bytes.
+
+ // The transmission status is set, although it is not returned.
+ // Start with the status : no error
+ _transmission = SOFTWAREWIRE_NO_ERROR;
+
+
+ // Clear the RX buffer
+ rxBufPut = 0;
+ rxBufGet = 0;
+
+ boolean bus_okay = i2c_start();
+
+ if(bus_okay)
+ {
+ uint8_t rc = i2c_write((address << 1) | 1); // The r/w bit is '1' to read
+
+ if( rc == 0) // a sda zero from Slave for the 9th bit is ack
+ {
+ _transmission = SOFTWAREWIRE_NO_ERROR;
+
+ // TODO: check if the Slave returns less bytes than requested.
+
+ for(; n<size; n++)
+ {
+ if( n < (size - 1))
+ rxBuf[n] = i2c_read(true); // read with ack
+ else
+ rxBuf[n] = i2c_read(false); // last byte, read with nack
+ }
+ rxBufPut = n;
+ }
+ else
+ {
+ _transmission = SOFTWAREWIRE_ADDRESS_NACK;
+ }
+ }
+ else
+ {
+ // There was a bus error.
+ _transmission = SOFTWAREWIRE_OTHER;
+ }
+
+ if(sendStop > 0 || _transmission != SOFTWAREWIRE_NO_ERROR)
+ i2c_stop();
+ else
+ i2c_repstart();
+
+ return( n);
+}
+
+
+//
+// uint8_t SoftwareWire::requestFrom(int address, int size, int sendStop)
+// {
+ // return requestFrom( (uint8_t) address, (uint8_t) size, (uint8_t) sendStop);
+// }
+
+
+// must be called in:
+// slave tx event callback
+// or after beginTransmission(address)
+size_t SoftwareWire::write(uint8_t data)
+{
+ // When there was an error during the transmission, no more bytes are transmitted.
+ if( _transmission == SOFTWAREWIRE_NO_ERROR)
+ {
+ if( i2c_write(data) == 0) // a sda zero from Slave for the 9th bit is ack
+ {
+ _transmission = SOFTWAREWIRE_NO_ERROR;
+ }
+ else
+ {
+ _transmission = SOFTWAREWIRE_ADDRESS_NACK;
+ }
+ }
+
+ return(1); // ignore any errors, return the number of bytes that are written.
+}
+
+
+//
+size_t SoftwareWire::write(const uint8_t* data, size_t quantity)
+{
+ for (size_t i=0; i<quantity; i++)
+ {
+ write(data[i]);
+ }
+
+ return(quantity); // ignore any errors, return the number of bytes that are written.
+}
+
+
+//
+int SoftwareWire::available(void)
+{
+ return(rxBufPut - rxBufGet);
+}
+
+
+//
+int SoftwareWire::peek(void)
+{
+ int data;
+
+ if( rxBufPut > rxBufGet)
+ {
+ data = rxBuf[rxBufGet];
+ }
+ else
+ {
+ data = -1;
+ }
+
+ return(data);
+}
+
+
+//
+// The read() reads the buffer, not the I2C bus.
+//
+int SoftwareWire::read(void)
+{
+ int data;
+
+ if( rxBufPut > rxBufGet)
+ {
+ data = rxBuf[rxBufGet];
+ rxBufGet++;
+ }
+ else
+ {
+ data = -1;
+ }
+
+ return(data);
+}
+
+
+int SoftwareWire::readBytes(uint8_t* buf, uint8_t size)
+{
+ int data;
+ int n;
+
+ for( n=0; n<size; n++)
+ {
+ data = read();
+ if( data == -1)
+ break;
+ else
+ buf[n] = (uint8_t) data;
+ }
+
+ return(n);
+}
+
+
+//
+int SoftwareWire::readBytes(char * buf, uint8_t size)
+{
+ return readBytes( (uint8_t *) buf, size);
+}
+
+
+//
+int SoftwareWire::readBytes(char * buf, int size)
+{
+ return readBytes( (uint8_t *) buf, (uint8_t) size);
+}
+
+
+//
+// Set the clock speed for the I2C bus.
+// Default is 100000 (100kHz).
+// A speed of 1Hz is possible with this software I2C library (but not with the Arduino Wire library).
+// A speed of 200kHz or higher will remove the delay on an Arduino Uno.
+// Without the delay, the functions are free running, using the execution timing of the code.
+//
+void SoftwareWire::setClock(uint32_t clock)
+{
+ // Tested values with an earlier version of this library.
+ // Value 0 is without delay, the result depends on the microcontroller and the cpu clock.
+ // 0=maxspeed=140kHz (tested on 328P@16MHz)
+ // 1=120kHz
+ // 2=100kHz (default)
+ // 7=50kHz
+ // 47=10kHz
+ // 97=5kHz
+ // 500=1kHz
+ // 5000=100Hz
+ // 16383=minspeed=30Hz - delayMicroseconds() max value reference arduino
+ //
+
+ _i2cdelay = 2;
+ return;
+
+ // The _i2cdelay is an uint16_t
+ _i2cdelay = ( (F_CPU / 32L) / clock ); // The delay in microseconds, '32' is for this code.
+ unsigned int delayByCode = (F_CPU / 5000000L); // Add some delay for the code, just a guess
+
+ if( _i2cdelay > delayByCode)
+ _i2cdelay -= delayByCode;
+ else
+ _i2cdelay = 0;
+
+}
+
+
+//
+// Set the timeout in milliseconds.
+// At this moment, it is only used for timeout when the Slave is stretching the clock pulse.
+//
+void SoftwareWire::setTimeout(long timeout)
+{
+ // 2017, fix issue #6.
+ // A signed long as parameter to be compatible with Arduino libraries.
+ // A unsigned long internal to avoid compiler warnings.
+ _timeout = (unsigned long) timeout;
+}
+
+
+// printStatus
+// -----------
+// Print information to the Serial port
+// Used during developing and debugging.
+// Call it with the Serial port as parameter:
+// myWire.printStatus(Serial);
+// This function is not compatible with the Wire library.
+// When this function is not called, it does not use any memory.
+//
+void SoftwareWire::printStatus( Print& Ser)
+{
+ Ser.println(F("-------------------"));
+ Ser.println(F("SoftwareWire Status"));
+ Ser.println(F("-------------------"));
+ Ser.print(F(" F_CPU = "));
+ Ser.println(F_CPU);
+ Ser.print(F(" sizeof(SoftwareWire) = "));
+ Ser.println(sizeof(SoftwareWire));
+ Ser.print(F(" _transmission status = "));
+ Ser.println(_transmission);
+ Ser.print(F(" _i2cdelay = "));
+ Ser.print(_i2cdelay);
+ if( _i2cdelay == 0)
+ Ser.print(F(" (free running)"));
+ Ser.println();
+ Ser.print(F(" _pullups = "));
+ Ser.print(_pullups);
+ if( _pullups)
+ Ser.print(F(" (enabled)"));
+ Ser.println();
+ Ser.print(F(" _timeout = "));
+ Ser.print(_timeout);
+ Ser.println(F(" ms"));
+
+ Ser.print(F(" SOFTWAREWIRE_BUFSIZE = "));
+ Ser.println(SOFTWAREWIRE_BUFSIZE);
+ Ser.print(F(" rxBufPut = "));
+ Ser.println(rxBufPut);
+ Ser.print(F(" rxBufGet = "));
+ Ser.println(rxBufGet);
+ Ser.print(F(" available() = "));
+ Ser.println(available());
+ Ser.print(F(" rxBuf (hex) = "));
+ for(int ii=0; ii<SOFTWAREWIRE_BUFSIZE; ii++)
+ {
+ if(rxBuf[ii] < 16)
+ Ser.print(F("0"));
+ Ser.print(rxBuf[ii],HEX);
+ Ser.print(F(" "));
+ }
+ Ser.println();
+
+ // Ser.print(F(" _sdaPin = "));
+ // Ser.println(_sdaPin);
+ // Ser.print(F(" _sclPin = "));
+ // Ser.println(_sclPin);
+ // Ser.print(F(" _sdaBitMask = 0x"));
+ // Ser.println(_sdaBitMask, HEX);
+ // Ser.print(F(" _sclBitMask = 0x"));
+ // Ser.println(_sclBitMask, HEX);
+ // Ser.print(F(" _sdaPortReg = "));
+ // Ser.println( (uint16_t) _sdaPortReg, HEX);
+ // Ser.print(F(" _sclPortReg = "));
+ // Ser.println( (uint16_t) _sclPortReg, HEX);
+ // Ser.print(F(" _sdaDirReg = "));
+ // Ser.println( (uint16_t) _sdaDirReg, HEX);
+ // Ser.print(F(" _sclDirReg = "));
+ // Ser.println( (uint16_t) _sclDirReg, HEX);
+ // Ser.print(F(" _sdaPinReg = "));
+ // Ser.println( (uint16_t) _sdaPinReg, HEX);
+ // Ser.print(F(" _sclPinReg = "));
+ // Ser.println( (uint16_t) _sclPinReg, HEX);
+
+ Ser.print(F(" line state sda = "));
+ Ser.println(i2c_sda_read());
+ Ser.print(F(" line state scl = "));
+ Ser.println(i2c_scl_read());
+
+#ifdef ENABLE_I2C_SCANNER
+ // i2c_scanner
+ // Taken from : http://playground.arduino.cc/Main/I2cScanner
+ // At April 2015, it was version 5
+ Ser.println("\n I2C Scanner");
+ byte error, address;
+ int nDevices;
+
+ Ser.println(" Scanning...");
+
+ nDevices = 0;
+ for(address=1; address<127; address++ )
+ {
+ // The i2c_scanner uses the return value of
+ // the Write.endTransmisstion to see if
+ // a device did acknowledge to the address.
+ beginTransmission(address);
+ error = endTransmission();
+
+ if (error == 0)
+ {
+ Ser.print(" I2C device found at address 0x");
+ if (address<16)
+ Ser.print("0");
+ Ser.print(address,HEX);
+ Ser.println(" !");
+
+ nDevices++;
+ }
+ else if (error==4)
+ {
+ Ser.print(" Unknow error at address 0x");
+ if (address<16)
+ Ser.print("0");
+ Ser.println(address,HEX);
+ }
+ }
+ if (nDevices == 0)
+ Ser.println(" No I2C devices found\n");
+ else
+ Ser.println(" done\n");
+#endif
+}
+
+
+//--------------------------------------------------------------------
+
+
+//
+// The i2c_writebit and i2c_readbit could be make "inline", but that
+// didn't increase the speed, and the code size increases.
+//
+// The sda is low after the start condition.
+// Therefore the sda is low for the first bit.
+//
+void SoftwareWire::i2c_writebit(uint8_t c)
+{
+ if(c==0)
+ {
+ i2c_sda_lo();
+ }
+ else
+ {
+ i2c_sda_hi();
+ }
+
+ if (_i2cdelay != 0) // This delay is not needed, but it makes it safer
+ delayMicroseconds(_i2cdelay); // This delay is not needed, but it makes it safer
+
+ i2c_scl_hi(); // clock high: the Slave will read the sda signal
+
+ // Check if clock stretching by the Slave should be detected.
+ if( _stretch)
+ {
+ // If the Slave was stretching the clock pulse, the clock would not go high immediately.
+ // For example if the Slave is an Arduino, that has other interrupts running (for example Serial data).
+ unsigned long prevMillis = millis();
+ while( i2c_scl_read() == 0)
+ {
+ if( millis() - prevMillis >= _timeout)
+ break;
+ };
+ }
+
+ // After the clock stretching, the clock must be high for the normal duration.
+ // That is why this delay has still to be done.
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ i2c_scl_lo();
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+}
+
+
+//
+uint8_t SoftwareWire::i2c_readbit(void)
+{
+ i2c_sda_hi(); // 'hi' is the same as releasing the line
+ i2c_scl_hi();
+
+ // Check if clock stretching by the Slave should be detected.
+ if( _stretch)
+ {
+ // Wait until the clock is high, the Slave could keep it low for clock stretching.
+ unsigned long prevMillis = millis();
+ while( i2c_scl_read() == 0)
+ {
+ if( millis() - prevMillis >= _timeout)
+ break;
+ };
+ }
+
+ // After the clock stretching, this delay has still be done before reading sda.
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ uint8_t c = i2c_sda_read();
+
+ i2c_scl_lo();
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ return(c);
+}
+
+
+//
+// Initializes the Software I2C.
+//
+// The original i2c_init sets the SDA and SCL high at the same time.
+//
+// The code has been changed, since the first data to the software i2c did fail sometimes.
+// Changed into SCL high first, with a delay.
+// That would send a STOP if the SDA happens to be low.
+// Any Slave that was busy, will detect the STOP.
+//
+// After both lines are high, the delay is changed into 4 times the normal delay.
+// That did reduce the error with the first transmission.
+// It was tested with Arduino Uno with clock of 100kHz (_i2cdelay=2).
+//
+void SoftwareWire::i2c_init(void)
+{
+ i2c_scl_hi();
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ i2c_sda_hi();
+
+ for( uint8_t i=0; i<4; i++) // 4 times the normal delay, to claim the bus.
+ {
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+ }
+}
+
+
+//
+// Send a START Condition
+//
+// The SDA and SCL should already be high.
+//
+// The SDA and SCL will both be low after this function.
+// When writing the address, the Master makes them high.
+//
+// Return value:
+// true : software i2c bus is okay.
+// false : failed, some kind of hardware bus error.
+//
+boolean SoftwareWire::i2c_start(void)
+{
+ i2c_sda_hi(); // can perhaps be removed some day ? if the rest of the code is okay
+ i2c_scl_hi(); // can perhaps be removed some day ? if the rest of the code is okay
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ // Both the sda and scl should be high.
+ // If not, there might be a hardware problem with the i2c bus signal lines.
+ // This check was added to prevent that a shortcut of sda would be seen as a valid ACK
+ // from a i2c Slave.
+ uint8_t sda_status = i2c_sda_read();
+ uint8_t scl_status = i2c_scl_read();
+ if(sda_status == 0 || scl_status == 0)
+ {
+ return(false);
+ }
+ else
+ {
+ i2c_sda_lo();
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ i2c_scl_lo();
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+ }
+ return(true);
+}
+
+
+//
+// Repeated START instead of a STOP
+//
+// TODO: check if the repeated start actually works.
+//
+void SoftwareWire::i2c_repstart(void)
+{
+ i2c_sda_hi();
+// i2c_scl_hi(); // ??????
+
+ i2c_scl_lo(); // force SCL low
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ i2c_sda_hi(); // release SDA
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ i2c_scl_hi(); // release SCL
+
+ // Check if clock stretching by the Slave should be detected.
+ if( _stretch)
+ {
+ // If the Slave was stretching the clock pulse, the clock would not go high immediately.
+ // For example if the Slave is an Arduino, that has other interrupts running (for example Serial data).
+ unsigned long prevMillis = millis();
+ while( i2c_scl_read() == 0)
+ {
+ if( millis() - prevMillis >= _timeout)
+ break;
+ };
+ }
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+}
+
+
+// Send a STOP Condition
+//
+// The stop was not recognized by every chip.
+// Some code has been added (with comment "ADDED1"),
+// to be sure that the levels are okay with delays in between.
+void SoftwareWire::i2c_stop(void)
+{
+ i2c_scl_lo(); // ADDED1, it should already be low.
+ i2c_sda_lo();
+
+ // ADDED1, wait to be sure that the slave knows that both are low
+ if (_i2cdelay != 0) // ADDED1
+ delayMicroseconds(_i2cdelay); // ADDED1
+
+ // For a stop, make SCL high wile SDA is still low
+ i2c_scl_hi();
+
+ // Check if clock stretching by the Slave should be detected.
+ if( _stretch)
+ {
+ // Wait until the clock is high, the Slave could keep it low for clock stretching.
+ // Clock pulse stretching during a stop condition seems odd, but when
+ // the Slave is an Arduino, it might happen.
+ unsigned long prevMillis = millis();
+ while( i2c_scl_read() == 0)
+ {
+ if( millis() - prevMillis >= _timeout)
+ break;
+ };
+ }
+
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ // complete the STOP by setting SDA high
+ i2c_sda_hi();
+
+ // A delay after the STOP for safety.
+ // It is not known how fast the next START will happen.
+ if (_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+}
+
+
+//
+// Write a byte to the I2C slave device
+// The returned bit is 0 for ACK and 1 for NACK
+//
+uint8_t SoftwareWire::i2c_write( uint8_t c )
+{
+ for ( uint8_t i=0; i<8; i++)
+ {
+ i2c_writebit(c & 0x80); // highest bit first
+ c <<= 1;
+ }
+
+ return(i2c_readbit());
+}
+
+
+//
+// read a byte from the I2C slave device
+//
+uint8_t SoftwareWire::i2c_read(boolean ack)
+{
+ uint8_t res = 0;
+
+ for(uint8_t i=0; i<8; i++)
+ {
+ res <<= 1;
+ res |= i2c_readbit();
+ }
+
+ if(ack)
+ {
+ i2c_writebit(0);
+ }
+ else
+ {
+ i2c_writebit(1);
+ }
+
+ if(_i2cdelay != 0)
+ delayMicroseconds(_i2cdelay);
+
+ return(res);
+}
diff --git a/Code/SoftwareWire/SoftwareWire.h b/Code/SoftwareWire/SoftwareWire.h
new file mode 100644
index 0000000000000000000000000000000000000000..5d18e27712dece69380d74e353984b4d27e7ea75
--- /dev/null
+++ b/Code/SoftwareWire/SoftwareWire.h
@@ -0,0 +1,86 @@
+
+#ifndef SoftwareWire_h
+#define SoftwareWire_h
+
+#include <Arduino.h>
+
+
+
+// Transmission status error, the return value of endTransmission()
+#define SOFTWAREWIRE_NO_ERROR 0
+#define SOFTWAREWIRE_BUFFER_FULL 1
+#define SOFTWAREWIRE_ADDRESS_NACK 2
+#define SOFTWAREWIRE_DATA_NACK 3
+#define SOFTWAREWIRE_OTHER 4
+
+#define SOFTWAREWIRE_BUFSIZE 32 // same as buffer size of Arduino Wire library
+
+
+class SoftwareWire
+{
+public:
+ SoftwareWire();
+ SoftwareWire(uint8_t sdaPin, uint8_t sclPin, boolean pullups = true, boolean detectClockStretch = true);
+ virtual ~SoftwareWire();
+ void end();
+
+ void begin();
+ // Generate compile error when slave mode begin(address) is used
+ void __attribute__ ((error("I2C/TWI Slave mode is not supported by the SoftwareWire library"))) begin(uint8_t addr);
+ void __attribute__ ((error("I2C/TWI Slave mode is not supported by the SoftwareWire library"))) begin(int addr);
+
+ void setClock(uint32_t clock);
+ void beginTransmission(uint8_t address);
+ void beginTransmission(int address);
+ uint8_t endTransmission(boolean sendStop = true);
+ uint8_t requestFrom(uint8_t address, uint8_t size, uint8_t sendStop = true);
+ size_t write(uint8_t data);
+ size_t write(const uint8_t* data, size_t quantity);
+ int available(void);
+ int read(void);
+ int readBytes(uint8_t* buf, uint8_t size);
+ int readBytes(char * buf, uint8_t size);
+ int readBytes(char * buf, int size);
+ int peek(void);
+ void setTimeout(long timeout); // timeout to wait for the I2C bus
+ void printStatus(Print& Ser); // print information using specified object class
+
+
+private:
+ // per object data
+
+ uint8_t _sdaPin;
+ uint8_t _sclPin;
+ uint8_t _sdaBitMask;
+ uint8_t _sclBitMask;
+
+ volatile uint8_t *_sdaPortReg;
+ volatile uint8_t *_sclPortReg;
+ volatile uint8_t *_sdaDirReg;
+ volatile uint8_t *_sclDirReg;
+ volatile uint8_t *_sdaPinReg;
+ volatile uint8_t *_sclPinReg;
+
+ uint8_t _transmission; // transmission status, returned by endTransmission(). 0 is no error.
+ uint16_t _i2cdelay; // delay in micro seconds for sda and scl bits.
+ boolean _pullups; // using the internal pullups or not
+ boolean _stretch; // should code handle clock stretching by the slave or not.
+ unsigned long _timeout; // timeout in ms. When waiting for a clock pulse stretch. 2017, Fix issue #6
+
+ uint8_t rxBuf[SOFTWAREWIRE_BUFSIZE]; // buffer inside this class, a buffer per SoftwareWire.
+ uint8_t rxBufPut; // index to rxBuf, just after the last valid byte.
+ uint8_t rxBufGet; // index to rxBuf, the first new to be read byte.
+
+ // private methods
+
+ void i2c_writebit( uint8_t c );
+ uint8_t i2c_readbit(void);
+ void i2c_init(void);
+ boolean i2c_start(void);
+ void i2c_repstart(void);
+ void i2c_stop(void);
+ uint8_t i2c_write(uint8_t c);
+ uint8_t i2c_read(boolean ack);
+};
+
+#endif // SoftwareWire_h
diff --git a/Code/Spresense/recorder/imu/communication.h b/Code/Spresense/recorder/imu/communication.h
new file mode 100644
index 0000000000000000000000000000000000000000..8c8c2f0d3ed24ade0dabf46c1662f4d9466a6328
--- /dev/null
+++ b/Code/Spresense/recorder/imu/communication.h
@@ -0,0 +1,22 @@
+#define IMU_BUFFER_SIZE 32
+#define IMU_HALF_BUFFER_SIZE (IMU_BUFFER_SIZE/2)
+
+#define MSG_FIFO_ADDRESS 1
+
+#define ACK 1
+#define NACK (-1)
+
+typedef struct IMUData {
+ uint64_t timestamp;
+ float temperature;
+ float gyro[3]; // z, y, x
+ float accelerometer[3]; // x, y, z
+ float magnetometer[3]; // x, y, z
+ float orientation[3]; // Yaw, pitch, roll
+} IMUData;
+
+typedef struct IMUFIFO {
+ IMUData imu[IMU_BUFFER_SIZE];
+ int head = 0;
+ int tail = 0;
+} IMUFIFO;
diff --git a/Code/Spresense/recorder/imu/imu.ino b/Code/Spresense/recorder/imu/imu.ino
new file mode 100644
index 0000000000000000000000000000000000000000..23c214c8beede3ef0e96bbc017fd8150e4f62a29
--- /dev/null
+++ b/Code/Spresense/recorder/imu/imu.ino
@@ -0,0 +1,307 @@
+#include <MP.h>
+#include <MPU9250.h>
+#include <Watchdog.h>
+#include "quaternionFilters.h"
+#include "communication.h"
+#include <SoftwareWire.h>
+
+int ledStatus = LED3;
+
+#define PIN_SDA 14
+#define PIN_SCL 15
+SoftwareWire softWire(PIN_SDA, PIN_SCL, false, false);
+
+char debugMsg[200];
+#define serialDebug false // Print debug data
+
+#define I2Cclock 100000
+#define I2Cport softWire
+#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0
+#define MPU9250_ID (0x71)
+#define MPU9250_MAG_ID (0x48)
+MPU9250 myIMU(MPU9250_ADDRESS, I2Cport, I2Cclock);
+float rawmx, rawmy, rawmz;
+IMUFIFO imuFifo;
+
+bool i2cCheckLineState() {
+
+ sprintf(debugMsg, "Current state sda(%d)=%d, scl(%d)=%d", PIN_SDA, digitalRead(PIN_SDA), PIN_SCL, digitalRead(PIN_SCL));
+ Serial.println(debugMsg);
+
+ // I2C bus OK
+ if (digitalRead(PIN_SDA) && digitalRead(PIN_SCL)) {
+ return true;
+ }
+
+ pinMode(PIN_SDA, INPUT_PULLUP);
+ pinMode(PIN_SCL, INPUT_PULLUP);
+
+ sprintf(debugMsg, "Current state sda(%d)=%d, scl(%d)=%d", PIN_SDA, digitalRead(PIN_SDA), PIN_SCL, digitalRead(PIN_SCL));
+ Serial.println(debugMsg);
+
+ // I2C bus is busy, client keeps SDA high
+ if (!digitalRead(PIN_SDA) || !digitalRead(PIN_SCL)) {
+ sprintf(debugMsg, "invalid state sda(%d)=%d, scl(%d)=%d", PIN_SDA, digitalRead(PIN_SDA), PIN_SCL, digitalRead(PIN_SCL));
+ Serial.println(debugMsg);
+
+ // Manually cycle the clock until client releases SDA
+ pinMode(PIN_SCL, OUTPUT);
+ digitalWrite(PIN_SCL, HIGH);
+ for (uint8_t a = 0; a < 9; a++) {
+ delayMicroseconds(5);
+ digitalWrite(PIN_SCL, LOW);
+ delayMicroseconds(5);
+ digitalWrite(PIN_SCL, HIGH);
+ if (digitalRead(PIN_SDA)) { // bus recovered
+ sprintf(debugMsg, "Recovered after %d Cycles", a + 1);
+ Serial.println(debugMsg);
+ break;
+ }
+ }
+
+ // Send start and stop condition to client
+ pinMode(PIN_SDA, OUTPUT);
+ delayMicroseconds(5);
+ digitalWrite(PIN_SDA, LOW);
+ delayMicroseconds(5);
+ digitalWrite(PIN_SDA, HIGH);
+ }
+
+ pinMode(PIN_SCL, INPUT);
+ pinMode(PIN_SDA, INPUT);
+ pinMode(PIN_SCL, INPUT_PULLUP);
+ pinMode(PIN_SDA, INPUT_PULLUP);
+
+ // Double check that the I2C bus is ok
+ if (!digitalRead(PIN_SDA) || !digitalRead(PIN_SCL)) { // bus in busy state
+ sprintf(debugMsg, "Bus Invalid State, TwoWire() Can't init sda=%d, scl=%d", digitalRead(PIN_SDA), digitalRead(PIN_SCL));
+ Serial.println(debugMsg);
+ return false; // bus is busy
+ }
+
+ return true;
+}
+
+void setup()
+{
+ int ret = MP.begin();
+ MP.RecvTimeout(MP_RECV_POLLING);
+
+ Serial.begin(115200);
+ Serial.println("Subcore 1 started");
+
+ i2cCheckLineState();
+
+ softWire.begin();
+
+ byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
+
+ if (c == MPU9250_ID)
+ {
+ myIMU.MPU9250SelfTest(myIMU.selfTest);
+
+ if(serialDebug)
+ {
+ Serial.print(F("x-axis self test: acceleration trim within : "));
+ Serial.print(myIMU.selfTest[0], 1); Serial.println("% of factory value");
+ Serial.print(F("y-axis self test: acceleration trim within : "));
+ Serial.print(myIMU.selfTest[1], 1); Serial.println("% of factory value");
+ Serial.print(F("z-axis self test: acceleration trim within : "));
+ Serial.print(myIMU.selfTest[2], 1); Serial.println("% of factory value");
+ Serial.print(F("x-axis self test: gyration trim within : "));
+ Serial.print(myIMU.selfTest[3], 1); Serial.println("% of factory value");
+ Serial.print(F("y-axis self test: gyration trim within : "));
+ Serial.print(myIMU.selfTest[4], 1); Serial.println("% of factory value");
+ Serial.print(F("z-axis self test: gyration trim within : "));
+ Serial.print(myIMU.selfTest[5], 1); Serial.println("% of factory value");
+ }
+
+ myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);
+
+ myIMU.initMPU9250();
+ Serial.println("MPU9250 online");
+
+ byte d = myIMU.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963);
+
+ if (d != MPU9250_MAG_ID)
+ {
+ Serial.print("Could not connect to AK8963: 0x");
+ Serial.println(d, HEX);
+
+ // Communication failed, stop here
+ Serial.println(F("Communication failed, abort!"));
+ Serial.flush();
+ abort();
+ }
+
+ myIMU.initAK8963(myIMU.factoryMagCalibration);
+
+ Serial.println("AK8963 online");
+
+ if (serialDebug)
+ {
+ Serial.println("Calibration values: ");
+ Serial.print("X-Axis factory sensitivity adjustment value ");
+ Serial.println(myIMU.factoryMagCalibration[0], 2);
+ Serial.print("Y-Axis factory sensitivity adjustment value ");
+ Serial.println(myIMU.factoryMagCalibration[1], 2);
+ Serial.print("Z-Axis factory sensitivity adjustment value ");
+ Serial.println(myIMU.factoryMagCalibration[2], 2);
+ }
+
+ // Get sensor resolutions, only need to do this once
+ myIMU.getAres();
+ myIMU.getGres();
+ myIMU.getMres();
+
+ if (serialDebug)
+ {
+ Serial.print("Resolution value: ");
+ Serial.println(myIMU.mRes, 2);
+
+ Serial.println("AK8963 mag biases (mG)");
+ Serial.println(myIMU.magBias[0]);
+ Serial.println(myIMU.magBias[1]);
+ Serial.println(myIMU.magBias[2]);
+
+ Serial.println("AK8963 mag scale (mG)");
+ Serial.println(myIMU.magScale[0]);
+ Serial.println(myIMU.magScale[1]);
+ Serial.println(myIMU.magScale[2]);
+
+ Serial.println("Magnetometer:");
+ Serial.print("X-Axis sensitivity adjustment value ");
+ Serial.println(myIMU.factoryMagCalibration[0], 2);
+ Serial.print("Y-Axis sensitivity adjustment value ");
+ Serial.println(myIMU.factoryMagCalibration[1], 2);
+ Serial.print("Z-Axis sensitivity adjustment value ");
+ Serial.println(myIMU.factoryMagCalibration[2], 2);
+ }
+ }
+ else
+ {
+ Serial.print("Could not connect to MPU9250: 0x");
+ Serial.println(c, HEX);
+
+ // Communication failed, reboot
+ Serial.println(F("Communication failed, abort!"));
+ Serial.flush();
+
+ // Restart processor to try again
+ Watchdog.begin();
+ Watchdog.start(1);
+ while (true) {
+ ;
+ }
+ abort();
+ }
+
+ // Share memory with main core
+ Serial.println("Sending FIFO address...");
+
+ uint32_t data;
+ int8_t msgid = 0;
+ ret = -1;
+ MP.RecvTimeout(500);
+ while (!(ret >= 0 && msgid == MSG_FIFO_ADDRESS && data == ACK)) {
+ MP.Send(MSG_FIFO_ADDRESS, &imuFifo);
+ Serial.print(".");
+ ret = MP.Recv(&msgid, &data);
+ }
+ MP.RecvTimeout(MP_RECV_POLLING);
+ Serial.println("ACK received");
+
+ pinMode(ledStatus, OUTPUT);
+ digitalWrite(ledStatus, HIGH);
+}
+
+void loop()
+{
+ if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
+ {
+ myIMU.readAccelData(myIMU.accelCount);
+
+ myIMU.ax = (float)myIMU.accelCount[0] * myIMU.aRes;
+ myIMU.ay = (float)myIMU.accelCount[1] * myIMU.aRes;
+ myIMU.az = (float)myIMU.accelCount[2] * myIMU.aRes;
+
+ myIMU.readGyroData(myIMU.gyroCount);
+
+ myIMU.gx = (float)myIMU.gyroCount[0] * myIMU.gRes;
+ myIMU.gy = (float)myIMU.gyroCount[1] * myIMU.gRes;
+ myIMU.gz = (float)myIMU.gyroCount[2] * myIMU.gRes;
+
+ myIMU.readMagData(myIMU.magCount);
+
+ rawmx = (float)myIMU.magCount[0] * myIMU.mRes * myIMU.factoryMagCalibration[0];
+ rawmy = (float)myIMU.magCount[1] * myIMU.mRes * myIMU.factoryMagCalibration[1] ;
+ rawmz = (float)myIMU.magCount[2] * myIMU.mRes * myIMU.factoryMagCalibration[2];
+
+ // Use hardcoded calibration
+ myIMU.mx = (rawmx - myIMU.magBias[0]) * myIMU.magScale[0];
+ myIMU.my = (rawmy - myIMU.magBias[1]) * myIMU.magScale[1];
+ myIMU.mz = (rawmz - myIMU.magBias[2]) * myIMU.magScale[2];
+
+ }
+
+ myIMU.updateTime();
+
+ // Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of
+ // the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis
+ // (+ up) of accelerometer and gyro! We have to make some allowance for this
+ // orientationmismatch in feeding the output to the quaternion filter. For the
+ // MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward
+ // along the x-axis just like in the LSM9DS0 sensor. This rotation can be
+ // modified to allow any convenient orientation convention. This is ok by
+ // aircraft orientation standards! Pass gyro rate as rad/s
+ MahonyQuaternionUpdate(myIMU.ax, myIMU.ay, myIMU.az, myIMU.gx * DEG_TO_RAD,
+ myIMU.gy * DEG_TO_RAD, myIMU.gz * DEG_TO_RAD, myIMU.my,
+ myIMU.mx, myIMU.mz, myIMU.deltat);
+
+ myIMU.delt_t = millis() - myIMU.count;
+
+ if (myIMU.delt_t > 10)
+ {
+ myIMU.count = millis();
+ myIMU.sumCount = 0;
+ myIMU.sum = 0;
+
+ // Read temperature and convert to Celsius
+ myIMU.tempCount = myIMU.readTempData();
+ myIMU.temperature = ((float) myIMU.tempCount) / 333.87 + 21.0;
+
+ // Convert to yaw, pitch, roll
+ const float * q = getQ();
+ myIMU.yaw = atan2(2.0f * (q[1]*q[2] + q[0]*q[3]), q[0]*q[0] + q[1]*q[1] - q[2]*q[2] - q[3]*q[3]);
+ myIMU.pitch = -asin(2.0f * (q[1]*q[3] - q[0]*q[2]));
+ myIMU.roll = atan2(2.0f * (q[0]*q[1] + q[2]*q[3]), q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
+ myIMU.pitch *= RAD_TO_DEG;
+ myIMU.yaw *= RAD_TO_DEG;
+
+ // Declination of LiU
+ // - http://www.ngdc.noaa.gov/geomag-web/#declination
+ myIMU.yaw -= 5.53;
+ myIMU.roll *= RAD_TO_DEG;
+
+ if (((imuFifo.head + 1) % IMU_BUFFER_SIZE) != imuFifo.tail)
+ {
+ imuFifo.imu[imuFifo.head].timestamp = millis();
+ imuFifo.imu[imuFifo.head].temperature = myIMU.temperature;
+ imuFifo.imu[imuFifo.head].gyro[0] = myIMU.gx;
+ imuFifo.imu[imuFifo.head].gyro[1] = myIMU.gy;
+ imuFifo.imu[imuFifo.head].gyro[2] = myIMU.gz;
+ imuFifo.imu[imuFifo.head].accelerometer[0] = myIMU.ax;
+ imuFifo.imu[imuFifo.head].accelerometer[1] = myIMU.ay;
+ imuFifo.imu[imuFifo.head].accelerometer[2] = myIMU.az;
+ imuFifo.imu[imuFifo.head].magnetometer[0] = rawmx;
+ imuFifo.imu[imuFifo.head].magnetometer[1] = rawmy;
+ imuFifo.imu[imuFifo.head].magnetometer[2] = rawmz;
+ imuFifo.imu[imuFifo.head].orientation[0] = myIMU.yaw;
+ imuFifo.imu[imuFifo.head].orientation[1] = myIMU.pitch;
+ imuFifo.imu[imuFifo.head].orientation[2] = myIMU.roll;
+
+ imuFifo.head = (imuFifo.head + 1) % IMU_BUFFER_SIZE;
+ if (imuFifo.head == 0) digitalWrite(ledStatus, !digitalRead(ledStatus));
+ }
+ }
+}
diff --git a/Code/Spresense/recorder/recorder.ino b/Code/Spresense/recorder/recorder.ino
new file mode 100644
index 0000000000000000000000000000000000000000..89824f36e17d59dfa94009483cc388401a8ec32b
--- /dev/null
+++ b/Code/Spresense/recorder/recorder.ino
@@ -0,0 +1,409 @@
+/*
+ * recorder_wav.ino - Recorder example application for WAV(PCM)
+ * Copyright 2018 Sony Semiconductor Solutions Corporation
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#include <MP.h>
+#include <SDHCI.h>
+#include <Audio.h>
+
+#include "imu/communication.h"
+#include <arch/board/board.h>
+
+SDClass theSD;
+AudioClass *theAudio;
+
+#define BoardInit 0 /* Initializing */
+#define BoardReady 1 /* Ready to respond */
+#define BoardRecording 2 /* Recording */
+#define BoardTransmitting 3 /* Transmitting */
+#define BoardError 4 /* Error occurred, restart */
+uint8_t boardMode;
+
+#define BUTTON_PIN PIN_D08
+bool buttonPressed = false;
+int64_t last_blink = 0;
+bool Recording = false;
+bool ErrEnd = false;
+
+static const int32_t channels = 8; /* 2, 4, 8) */
+static const int32_t frequency = 48000; /* 16, 48, 64, 96, 128, 192 kHz */
+
+const int subcore = 1;
+IMUFIFO * imu_fifo =(IMUFIFO *) 0;
+
+#define SERIAL_BUFFFER_SIZE (255)
+uint8_t serialBuffer[SERIAL_BUFFFER_SIZE];
+String command;
+File myFile;
+char filename[100];
+
+#define IMU_FRAME_SIZE (sizeof(magicWord) + sizeof(dataSize) + sizeof(IMUData))
+#define BUFFER_SIZE (1024*28)
+const uint8_t magicWord[] = {0xFE, 0xED, 0xAB, 0xEE, 0xDE, 0xAD};//, 0xBE, 0xEF
+const uint16_t imuSize = sizeof(IMUData);
+uint8_t writeBuffer[BUFFER_SIZE];
+uint16_t lastWrite = 0;
+uint32_t writeSize = 0;
+
+
+int32_t number;
+static const char* fileformat = "Sound%03d.wav";
+
+static void audio_attention_cb(const ErrorAttentionParam *atprm)
+{
+ puts("Attention!");
+
+ if (atprm->error_code >= AS_ATTENTION_CODE_WARNING)
+ {
+ ErrEnd = true;
+ }
+}
+
+void setup()
+{
+ number = 1;
+ boardMode = BoardInit;
+
+ puts("Initializing LEDs...");
+ pinMode(LED0, OUTPUT);
+ pinMode(LED1, OUTPUT);
+ pinMode(LED2, OUTPUT);
+
+ puts("Initializing Serial Port...");
+ Serial.begin(115200);
+
+ pinMode(BUTTON_PIN, INPUT_PULLUP);
+ buttonPressed = !digitalRead(BUTTON_PIN);
+
+ puts("Initializing SD Card...");
+ theSD.begin();
+
+ puts("Initializing Audio Library...");
+ theAudio = AudioClass::getInstance();
+ theAudio->begin(audio_attention_cb);
+
+ puts("Setting Recorder Mode...");
+ uint8_t input_device = AS_SETRECDR_STS_INPUTDEVICE_MIC;
+ int32_t input_gain = 0;
+ uint32_t buffer_size = 2*SIMPLE_FIFO_BUF_SIZE;
+ bool is_digital = true;
+ err_t res = theAudio->setRecorderMode(input_device, input_gain, buffer_size, is_digital);
+
+ puts("Initializing Recorder...");
+ theAudio->initRecorder(AS_CODECTYPE_WAV,"/mnt/sd0/BIN",frequency, channels);
+
+ puts("Initializing SubCore 1...");
+ void * data;
+ int8_t msgid = 0;
+ int ret = MP.begin(subcore);
+ if (ret < 0) {
+ printf("MP.begin error = %d\n", ret);
+ }
+ MP.RecvTimeout(MP_RECV_POLLING);
+
+ Serial.println("Subcore started, waiting: ");
+ ret = -1;
+ MP.RecvTimeout(500);
+ while(!(ret >= 0 && msgid == MSG_FIFO_ADDRESS)) {
+ Serial.print(".");
+ ret = MP.Recv(&msgid, &data, subcore);
+ }
+ MP.RecvTimeout(MP_RECV_POLLING);
+ Serial.println("Pointer received");
+ imu_fifo = (IMUFIFO *) data;
+ MP.Send(MSG_FIFO_ADDRESS, ACK, subcore);
+
+ while(ret == 0) {ret = MP.Recv(&msgid, &data, subcore);}
+
+ digitalWrite(LED0, HIGH);
+ boardMode = BoardReady;
+}
+
+void ListFiles()
+{
+ if (boardMode != BoardReady) return;
+ boardMode = BoardTransmitting;
+
+ puts("Listing Files...");
+
+ String path = "";
+ File root = theSD.open("");
+
+ root.rewindDirectory();
+
+ while(true)
+ {
+ File entry = root.openNextFile();
+ if (!entry) {
+ Serial2.println("");
+ Serial2.println("");
+ Serial2.println("");
+ Serial2.println("");
+ Serial2.println("");
+ Serial2.println("");
+ break;
+ }
+ String path = entry.name();
+ int sep = path.lastIndexOf('/');
+ path = path.substring(sep+1);
+ sep = path.lastIndexOf('.');
+ if (path.substring(sep+1).equals("wav")) {
+ Serial2.println(path + "\t" + (entry.size()/1024));
+ }
+ entry.close();
+ }
+ root.close();
+
+ boardMode = BoardReady;
+}
+
+void StartRecording()
+{
+ if (boardMode != BoardReady)
+ {
+ Serial.print("Wrong board mode: ");
+ Serial.println(boardMode);
+ return;
+ }
+ boardMode = BoardRecording;
+
+ puts("Opening file...");
+
+ sprintf(filename, fileformat, number);
+ while(theSD.exists(filename)) //
+ {
+ sprintf(filename, fileformat, ++number);
+ }
+ puts(filename);
+
+ myFile = theSD.open(filename, FILE_WRITE);
+ if (!myFile)
+ {
+ puts("File open error");
+ ErrEnd = true; return;
+ }
+
+ puts("Writing header...");
+ theAudio->writeWavHeader(myFile);
+
+ writeSize = 0;
+
+ puts("Starting Recorder...");
+ theAudio->startRecorder();
+
+ digitalWrite(LED1, HIGH);
+ Recording = true;
+ puts("Recording Started...");
+ lastWrite = millis();
+}
+
+void StopRecording(bool error = false)
+{
+ if (boardMode != BoardRecording)
+ {
+ Serial.print("Wrong board mode: ");
+ Serial.println(boardMode);
+ return;
+ }
+ err_t err;
+
+ puts("Stop Recording...");
+ digitalWrite(LED1, LOW);
+ theAudio->stopRecorder();
+ Recording = false;
+
+ puts("Closing File...");
+ theAudio->closeOutputFile(myFile);
+
+ puts("Recording Stopped...");
+
+ boardMode = BoardReady;
+}
+
+void TransmitFile(String file)
+{
+ if (boardMode != BoardReady) return;
+ boardMode = BoardTransmitting;
+
+ puts("Opening file...");
+ puts(file.c_str());
+
+ myFile = theSD.open(file, FILE_READ);
+
+ /* Verify file open */
+ if (!myFile)
+ {
+ puts("File for transmission not found...");
+ }
+
+ Serial.println(Serial2.availableForWrite());
+ Serial2.println(myFile.size());
+ Serial.println(myFile.size());
+
+ puts("Transmission start...");
+ // Flush old data
+ while(Serial2.available() > 0) {Serial2.read();}
+ int n = myFile.read(&serialBuffer, SERIAL_BUFFFER_SIZE);
+ int send_ready = true;
+ while(n > 0)
+ {
+ if (send_ready)
+ {
+ Serial2.write(serialBuffer, n);
+ send_ready = false;
+ }
+ else if (Serial2.available())
+ {
+ int ret = Serial2.read();
+ if (ret == 1)
+ {
+ n = myFile.read(&serialBuffer, SERIAL_BUFFFER_SIZE);
+ send_ready = true;
+ }
+ else if (ret == 2)
+ {
+ break;
+ }
+ else
+ {
+ Serial.println("Resending");
+ send_ready = true;
+ }
+
+ }
+
+ }
+ puts("Transmission end...");
+ myFile.close();
+
+ boardMode = BoardReady;
+}
+
+void loop()
+{
+ /* Blink status LED to show that it is alive */
+ if (millis()-last_blink > 1000)
+ {
+ digitalWrite(LED2, !digitalRead(LED2));
+ last_blink = millis();
+ }
+
+ /* Start and stop recording with the press of a button */
+ bool buttonPressedNow = !digitalRead(BUTTON_PIN);
+ if (!buttonPressedNow && buttonPressed)
+ {
+ if(Recording) StopRecording(); else StartRecording();
+ }
+ buttonPressed = buttonPressedNow;
+
+ /* IMU data available, copy to SD write buffer */
+ if (imu_fifo->tail != imu_fifo->head)
+ {
+ if (Recording)
+ {
+ // Copy IMU data to write buffer
+ memcpy(&writeBuffer[writeSize], magicWord, sizeof(magicWord));
+ writeSize += sizeof(magicWord);
+ memcpy(&writeBuffer[writeSize], &imuSize, sizeof(imuSize));
+ writeSize += sizeof(imuSize);
+ memcpy(&writeBuffer[writeSize], &imu_fifo->imu[imu_fifo->tail], imuSize);
+ writeSize += imuSize;
+ }
+
+ imu_fifo->tail = (imu_fifo->tail + 1) % IMU_BUFFER_SIZE;
+ }
+
+ if (Serial2.available() > 0)
+ {
+ char c = Serial2.read(); // read a byte, then
+ //Serial.write(c); // print it out the serial monitor
+ if(c == '\r')
+ {
+ puts(command.c_str());
+ if (command.startsWith("start"))
+ {
+ StartRecording();
+ }
+ else if (command.startsWith("stop"))
+ {
+ StopRecording();
+ }
+ else if (command.startsWith("list"))
+ {
+ ListFiles();
+ }
+ else if (command.startsWith("status"))
+ {
+ Serial.println(boardMode);
+ Serial2.write(boardMode);
+ }
+ else if (command.startsWith("get"))
+ {
+ command = command.substring(4);
+ TransmitFile(command);
+ }
+
+ command = "";
+ }
+ else if(c != '\n')
+ {
+ command += c;
+ }
+ }
+
+ /* Copy audio data to SD write buffer */
+ if (Recording)
+ {
+ uint32_t bytesWritten;
+ uint16_t tempTime;
+
+ err_t err = AUDIOLIB_ECODE_INSUFFICIENT_BUFFER_AREA;
+
+ while(err == AUDIOLIB_ECODE_INSUFFICIENT_BUFFER_AREA)
+ {
+ err = theAudio->readFrames(&writeBuffer[writeSize], sizeof(writeBuffer) - writeSize, &bytesWritten );
+ writeSize += bytesWritten;
+
+ //printf("dSize = %d\n", writeSize);
+ if(err == AUDIOLIB_ECODE_INSUFFICIENT_BUFFER_AREA) printf("IBA T = %d\n", millis()-lastWrite);
+
+ /* Write combined stream to SD card */
+ if (bytesWritten > 0) {
+ tempTime = millis();
+ if(tempTime-lastWrite > 24) printf("T: %u\n", tempTime - lastWrite);
+ lastWrite = tempTime;
+ myFile.write(writeBuffer, writeSize);
+ writeSize = 0;
+ }
+ }
+
+ if (err != AUDIOLIB_ECODE_OK)
+ {
+ printf("File End! =%d\n",err);
+ StopRecording(true);
+ }
+
+ }
+
+ if (ErrEnd)
+ {
+ printf("Error End\n");
+ StopRecording(true);
+ ErrEnd = false;
+ }
+}
diff --git a/Code/Spresense/recorder_no_serial.ino b/Code/Spresense/recorder_no_serial.ino
new file mode 100644
index 0000000000000000000000000000000000000000..b524f9f7078af76374e076eecdef126eca7ff51d
--- /dev/null
+++ b/Code/Spresense/recorder_no_serial.ino
@@ -0,0 +1,268 @@
+/*
+ * recorder_wav.ino - Recorder example application for WAV(PCM)
+ * Copyright 2018 Sony Semiconductor Solutions Corporation
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#include <MP.h>
+#include <SDHCI.h>
+#include <Audio.h>
+
+#include "imu/communication.h"
+#include <arch/board/board.h>
+
+SDClass theSD;
+AudioClass *theAudio;
+
+#define BoardInit 0 /* Initializing */
+#define BoardReady 1 /* Ready to respond */
+#define BoardRecording 2 /* Recording */
+uint8_t boardMode;
+
+#define BUTTON_PIN PIN_D08
+bool buttonPressed = false;
+int64_t last_blink = 0;
+bool Recording = false;
+bool ErrEnd = false;
+
+static const int32_t channels = 8; /* 2, 4, 8) */
+static const int32_t frequency = 48000; /* 16, 48, 64, 96, 128, 192 kHz */
+
+const int subcore = 1;
+IMUFIFO * imu_fifo =(IMUFIFO *) 0;
+
+File myFile;
+char filename[100];
+
+#define IMU_FRAME_SIZE (sizeof(magicWord) + sizeof(dataSize) + sizeof(IMUData))
+#define BUFFER_SIZE (1024*28)
+const uint8_t magicWord[] = {0xFE, 0xED, 0xAB, 0xEE, 0xDE, 0xAD};//, 0xBE, 0xEF
+const uint16_t imuSize = sizeof(IMUData);
+uint8_t writeBuffer[BUFFER_SIZE];
+uint16_t lastWrite = 0;
+uint32_t writeSize = 0;
+
+int32_t number;
+static const char* fileformat = "Sound%03d.wav";
+
+static void audio_attention_cb(const ErrorAttentionParam *atprm)
+{
+ puts("Attention!");
+
+ if (atprm->error_code >= AS_ATTENTION_CODE_WARNING)
+ {
+ ErrEnd = true;
+ }
+}
+
+void setup()
+{
+ number = 1;
+ boardMode = BoardInit;
+
+ puts("Initializing LEDs...");
+ pinMode(LED0, OUTPUT);
+ pinMode(LED1, OUTPUT);
+ pinMode(LED2, OUTPUT);
+
+ puts("Initializing Serial Port...");
+ Serial.begin(115200);
+
+ pinMode(BUTTON_PIN, INPUT_PULLUP);
+ buttonPressed = !digitalRead(BUTTON_PIN);
+
+ puts("Initializing SD Card...");
+ theSD.begin();
+
+ puts("Initializing Audio Library...");
+ theAudio = AudioClass::getInstance();
+ theAudio->begin(audio_attention_cb);
+
+ puts("Setting Recorder Mode...");
+ uint8_t input_device = AS_SETRECDR_STS_INPUTDEVICE_MIC;
+ int32_t input_gain = 0;
+ uint32_t buffer_size = 2*SIMPLE_FIFO_BUF_SIZE;
+ bool is_digital = true;
+ err_t res = theAudio->setRecorderMode(input_device, input_gain, buffer_size, is_digital);
+
+ puts("Initializing Recorder...");
+ theAudio->initRecorder(AS_CODECTYPE_WAV,"/mnt/sd0/BIN",frequency, channels);
+
+ puts("Initializing SubCore 1...");
+ void * data;
+ int8_t msgid = 0;
+ int ret = MP.begin(subcore);
+ if (ret < 0) {
+ printf("MP.begin error = %d\n", ret);
+ }
+ MP.RecvTimeout(MP_RECV_POLLING);
+
+ Serial.println("Subcore started, waiting: ");
+ ret = -1;
+ MP.RecvTimeout(500);
+ while(!(ret >= 0 && msgid == MSG_FIFO_ADDRESS)) {
+ Serial.print(".");
+ ret = MP.Recv(&msgid, &data, subcore);
+ }
+ MP.RecvTimeout(MP_RECV_POLLING);
+ Serial.println("Pointer received");
+ imu_fifo = (IMUFIFO *) data;
+ MP.Send(MSG_FIFO_ADDRESS, ACK, subcore);
+
+ while(ret == 0) {ret = MP.Recv(&msgid, &data, subcore);}
+
+ digitalWrite(LED0, HIGH);
+ boardMode = BoardReady;
+}
+
+void StartRecording()
+{
+ if (boardMode != BoardReady)
+ {
+ Serial.print("Wrong board mode: ");
+ Serial.println(boardMode);
+ return;
+ }
+ boardMode = BoardRecording;
+
+ puts("Opening file...");
+
+ sprintf(filename, fileformat, number);
+ while(theSD.exists(filename)) //
+ {
+ sprintf(filename, fileformat, ++number);
+ }
+ puts(filename);
+
+ myFile = theSD.open(filename, FILE_WRITE);
+ if (!myFile)
+ {
+ puts("File open error");
+ ErrEnd = true; return;
+ }
+
+ puts("Writing header...");
+ theAudio->writeWavHeader(myFile);
+
+ writeSize = 0;
+
+ puts("Starting Recorder...");
+ theAudio->startRecorder();
+
+ digitalWrite(LED1, HIGH);
+ Recording = true;
+ puts("Recording Started...");
+ lastWrite = millis();
+}
+
+void StopRecording(bool error = false)
+{
+ if (boardMode != BoardRecording)
+ {
+ Serial.print("Wrong board mode: ");
+ Serial.println(boardMode);
+ return;
+ }
+ err_t err;
+
+ puts("Stop Recording...");
+ digitalWrite(LED1, LOW);
+ theAudio->stopRecorder();
+ Recording = false;
+
+ puts("Closing File...");
+ theAudio->closeOutputFile(myFile);
+
+ puts("Recording Stopped...");
+
+ boardMode = BoardReady;
+}
+
+void loop()
+{
+ /* Blink status LED to show that it is alive */
+ if (millis()-last_blink > 1000)
+ {
+ digitalWrite(LED2, !digitalRead(LED2));
+ last_blink = millis();
+ }
+
+ /* Start and stop recording with the press of a button */
+ bool buttonPressedNow = !digitalRead(BUTTON_PIN);
+ if (!buttonPressedNow && buttonPressed)
+ {
+ if(Recording) StopRecording(); else StartRecording();
+ }
+ buttonPressed = buttonPressedNow;
+
+ /* IMU data available, copy to SD write buffer */
+ if (imu_fifo->tail != imu_fifo->head)
+ {
+ if (Recording)
+ {
+ // Copy IMU data to write buffer
+ memcpy(&writeBuffer[writeSize], magicWord, sizeof(magicWord));
+ writeSize += sizeof(magicWord);
+ memcpy(&writeBuffer[writeSize], &imuSize, sizeof(imuSize));
+ writeSize += sizeof(imuSize);
+ memcpy(&writeBuffer[writeSize], &imu_fifo->imu[imu_fifo->tail], imuSize);
+ writeSize += imuSize;
+ }
+
+ imu_fifo->tail = (imu_fifo->tail + 1) % IMU_BUFFER_SIZE;
+ }
+
+ /* Copy audio data to SD write buffer */
+ if (Recording)
+ {
+ uint32_t bytesWritten;
+ uint16_t tempTime;
+
+ err_t err = AUDIOLIB_ECODE_INSUFFICIENT_BUFFER_AREA;
+
+ while(err == AUDIOLIB_ECODE_INSUFFICIENT_BUFFER_AREA)
+ {
+ err = theAudio->readFrames(&writeBuffer[writeSize], sizeof(writeBuffer) - writeSize, &bytesWritten );
+ writeSize += bytesWritten;
+
+ //printf("dSize = %d\n", writeSize);
+ if(err == AUDIOLIB_ECODE_INSUFFICIENT_BUFFER_AREA) printf("IBA T = %d\n", millis()-lastWrite);
+
+ /* Write combined stream to SD card */
+ if (bytesWritten > 0) {
+ tempTime = millis();
+ if(tempTime-lastWrite > 24) printf("T: %u\n", tempTime - lastWrite);
+ lastWrite = tempTime;
+ myFile.write(writeBuffer, writeSize);
+ writeSize = 0;
+ }
+ }
+
+ if (err != AUDIOLIB_ECODE_OK)
+ {
+ printf("File End! =%d\n",err);
+ StopRecording(true);
+ }
+
+ }
+
+ if (ErrEnd)
+ {
+ printf("Error End\n");
+ StopRecording(true);
+ ErrEnd = false;
+ }
+}
diff --git a/Design Files/.gitkeep b/Design Files/.gitkeep
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/README.md b/README.md
index 2393065a7acbb7e4bcf0a635d2add8fb782880bb..dd5970eb0afd3ea6ff2d2b19f347f23bd10fd906 100644
--- a/README.md
+++ b/README.md
@@ -2,5 +2,6 @@
This project contains
- Design files for the array frame
-- Hardware descriptions
+- List of hardware components
+- Schematics
- Source code
\ No newline at end of file