initial commit

46 files changed, 3590 insertions, 0 deletions

diff --git a/arduino/ace/.gitignore b/arduino/ace/.gitignore
new file mode 100644
index 0000000..a9dd55f
--- /dev/null
+++ b/arduino/ace/.gitignore
@@ -0,0 +1,7 @@
+.lib/
+.dep/
+*.o
+*.hex
+*.elf
+*~
+
diff --git a/arduino/ace/Makefile b/arduino/ace/Makefile
new file mode 100644
index 0000000..3e0f36d
--- /dev/null
+++ b/arduino/ace/Makefile
@@ -0,0 +1,7 @@
+#SOURCES := main.cc other.cc
+#LIBRARIES := EEPROM
+
+ARDUINODIR=$(ARDUINO_HOME)
+BOARD=mega2560
+#export LIBRARIES=LiquidCrystal
+include arduino.mk
diff --git a/arduino/ace/ace.c b/arduino/ace/ace.c
new file mode 100644
index 0000000..ea05e1c
--- /dev/null
+++ b/arduino/ace/ace.c
@@ -0,0 +1,116 @@
+#include "ace.h"
+
+#include <avr/interrupt.h>
+
+
+typedef struct {
+  uint8_t buffer[SERIAL_BUFFER_SIZE];
+  volatile uint16_t head;
+  volatile uint16_t tail;
+} ring_buffer;
+
+static ring_buffer tx_buffer0 = {{0}, 0, 0};
+static framer framer0;
+static arq arq0;
+static uint32_t max_ticks0;
+static uint32_t ticks0;
+
+//initialize UART
+static void init_s0(uint32_t baud) {
+  UCSR0A |= (1 << U2X0);   //enable double speed transmission
+  uint16_t baud_setting = (F_CPU / 4 / baud - 1) / 2;
+  UBRR0H = baud_setting >> 8;
+  UBRR0L = baud_setting;
+  UCSR0B |= (1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0);   // defaults to 8-bit, no parity, 1 stop bit
+  UCSR0B &= ~(1 << UDRIE0) | (1 << TXEN0) | (1 << RXCIE0);
+}
+
+static void send_to_s0(uint8_t byte) {
+  uint16_t i = (tx_buffer0.head + 1) % SERIAL_BUFFER_SIZE;
+  // If the output buffer is full, there's nothing for it other than to 
+  // wait for the interrupt handler to empty it a bit
+  if (i == tx_buffer0.tail) return;
+  //while (i == tx_buffer0.tail) {};
+  tx_buffer0.buffer[tx_buffer0.head] = byte;
+  tx_buffer0.head = i;
+	//enable data register empty interrupt
+	UCSR0B |= (1 << UDRIE0);
+}
+
+static void send_to_framer0(int16_t size, const uint8_t* const data) {
+  send_frame(&framer0, size, data);
+}
+
+static void receive_from_framer0(int16_t size, uint8_t* data) {
+  receive_frame(&arq0, size, data);
+}
+
+//called when byte is received
+ISR(USART0_RX_vect) {
+  uint8_t c = UDR0;
+  receive_byte(&framer0, c);
+}
+
+//called when data register is empty
+ISR(USART0_UDRE_vect) {
+  if (tx_buffer0.head == tx_buffer0.tail) {
+    UCSR0B &= ~(1 << UDRIE0); //buffer empty, disable interruot
+  } else {
+    uint8_t c = tx_buffer0.buffer[tx_buffer0.tail];
+    tx_buffer0.tail = (tx_buffer0.tail + 1) % SERIAL_BUFFER_SIZE;
+    UDR0 = c; //write next byte
+  }
+}
+
+//initialize timer
+static void init_t0(uint32_t ticks) {
+  cli();
+  TCCR1A = 0;
+  TCCR1B = 0;
+  TCCR1B |= (1 << WGM12); // turn on CTC mode:
+  TCCR1B |= (1 << CS11); // set CS31 for 64 prescaler
+  // set compare match register to desired timer count:
+  OCR1A = F_CPU / 1000 / 64; // should be 250 for F_CPU=16Mhz and f = 1000Hz
+  sei();
+  //the timer should now interrupt every ms
+  max_ticks0 = ticks;
+  ticks0 = 0;
+}
+
+inline static void start_t0() {
+  TIMSK1 |= (1 << OCIE1A);
+}
+
+inline static void stop_t0() {
+  TIMSK1 &= ~(1 << OCIE1A);
+}
+
+ISR(TIMER1_COMPA_vect) {
+  ticks0 += 1;
+  if (ticks0 > max_ticks0) {
+    timeout(&arq0);
+    ticks0 = 0;
+  }
+} 
+
+void init_ace0(uint32_t baud, uint32_t extra_time) {
+  init_s0(baud);
+  init_framer(&framer0);
+  init_arq(&arq0);
+  
+  framer0.sender = send_to_s0;
+  arq0.sender = send_to_framer0;
+  
+  framer0.receiver = receive_from_framer0;
+  arq0.event_handler = ace_event0;
+  
+  uint32_t bits = (MAX_FRAME_SIZE + 3) * 8 * 2;
+  uint32_t tx_time = bits * 1000 / baud; // transmission time in milliseconds
+  init_t0(tx_time + extra_time);
+  arq0.start_timer = start_t0;
+  arq0.stop_timer = stop_t0;
+}
+
+void ace_send0(uint8_t size, const uint8_t* const message) {
+  send_message(&arq0, size, message);
+}
diff --git a/arduino/ace/ace.h b/arduino/ace/ace.h
new file mode 100644
index 0000000..75b178c
--- /dev/null
+++ b/arduino/ace/ace.h
@@ -0,0 +1,27 @@
+#ifndef ACE_H
+#define ACE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <inttypes.h>
+#include "framing.h"
+#include "arq.h"
+
+#define SERIAL_BUFFER_SIZE 64
+
+void init_ace0(uint32_t baud, uint32_t extra_time);
+void ace_send0(uint8_t size, const uint8_t* const message);
+void ace_event0(message_event event, int16_t size, const uint8_t* const message);
+
+#define init_ace init_ace0
+#define ace_send ace_send0
+#define ace_event ace_event0
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif /* ACE_H */
diff --git a/arduino/ace/arduino.mk b/arduino/ace/arduino.mk
new file mode 100644
index 0000000..9fce9c7
--- /dev/null
+++ b/arduino/ace/arduino.mk
@@ -0,0 +1,379 @@
+#_______________________________________________________________________________
+#
+#                         edam's Arduino makefile
+#_______________________________________________________________________________
+#                                                                    version 0.4
+#
+# Copyright (C) 2011, 2012 Tim Marston <tim@ed.am>.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
+#_______________________________________________________________________________
+#
+#
+# This is a general purpose makefile for use with Arduino hardware and
+# software.  It works with the arduino-1.0 software release.  To download the
+# latest version of this makefile, visit the following website, where you can
+# also find more information and documentation on it's use.  The following text
+# can only really be considered a reference to it's use.
+#
+#   http://ed.am/dev/make/arduino-mk
+#
+# This makefile can be used as a drop-in replacement for the Arduino IDE's
+# build system.  To use it, save arduino.mk somewhere (I keep mine at
+# ~/src/arduino.mk) and create a symlink to it in your project directory named
+# "Makefile".  For example:
+#
+#   $ ln -s ~/src/arduino.mk Makefile
+#
+# The Arduino software (version 1.0 or later) is required.  If you are using
+# Debian (or a derivative), type `apt-get install arduino`.  Otherwise, you
+# will have to download the Arduino software manually from http://arduino.cc/.
+# It is suggested that you install it at ~/opt/arduino if you are unsure.
+#
+# If you downloaded the Arduino software manually and unpacked it somewhere
+# other than ~/opt/arduino, you will need to set up ARDUINODIR to be the path
+# where you unpacked it.  (If unset, ARDUINODIR defaults to ~/opt/arduino and
+# then /usr/share/arduino, in that order.)  You might be best to set this in
+# your ~/.profile by adding something like this:
+#
+#   export ARDUINODIR=~/somewhere/arduino-1.0
+#
+# You will also need to set BOARD to the type of Arduino you're building for.
+# Type `make boards` for a list of acceptable values.  You could set a default
+# in your ~/.profile if you want, but it is suggested that you specify this at
+# build time, especially if you work with different types of Arduino.  For
+# example:
+#
+#   $ export BOARD=uno
+#   $ make
+#
+# You may also need to set SERIALDEV if it is not detected correctly.
+#
+# The presence of a .ino (or .pde) file causes the arduino.mk to automatically
+# determine values for SOURCES, TARGET and LIBRARIES.  Any .c, .cc and .cpp
+# files in the project directory (or any "util" or "utility" subdirectories)
+# are automatically included in the build and are scanned for Arduino libraries
+# that have been #included. Note, there can only be one .ino (or .pde) file.
+#
+# Alternatively, if you want to manually specify build variables, create a
+# Makefile that defines SOURCES and LIBRARIES and then includes arduino.mk.
+# (There is no need to define TARGET).  Here is an example Makefile:
+#
+#   SOURCES := main.cc other.cc
+#   LIBRARIES := EEPROM
+#   include ~/src/arduino.mk
+#
+# Here is a complete list of configuration parameters:
+#
+# ARDUINODIR   The path where the Arduino software is installed on your system.
+#
+# ARDUINOCONST The Arduino software version, as an integer, used to define the
+#              ARDUINO version constant. This defaults to 100 if undefined.
+#
+# AVRDUDECONF  The avrdude.conf to use. If undefined, this defaults to a guess
+#              based on where the avrdude in use is. If empty, no avrdude.conf
+#              is passed to avrdude (to the system default is used).
+#
+# AVRTOOLSPATH A space-separated list of directories to search in order when
+#              looking for the avr build tools. This defaults to the system PATH
+#              followed by subdirectories in ARDUINODIR if undefined.
+#
+# BOARD        Specify a target board type.  Run `make boards` to see available
+#              board types.
+#
+# LIBRARIES    A list of Arduino libraries to build and include.  This is set
+#              automatically if a .ino (or .pde) is found.
+#
+# SERIALDEV    The unix device name of the serial device that is the Arduino.
+#              If unspecified, an attempt is made to determine the name of a
+#              connected Arduino's serial device.
+#
+# SOURCES      A list of all source files of whatever language.  The language
+#              type is determined by the file extension.  This is set
+#              automatically if a .ino (or .pde) is found.
+#
+# TARGET       The name of the target file.  This is set automatically if a
+#              .ino (or .pde) is found, but it is not necessary to set it
+#              otherwise.
+#
+# This makefile also defines the following goals for use on the command line
+# when you run make:
+#
+# all          This is the default if no goal is specified.  It builds the
+#              target.
+#
+# target       Builds the target.
+#
+# upload       Uploads the last built target to an attached Arduino.
+#
+# clean        Deletes files created during the build.
+#
+# boards       Display a list of available board names, so that you can set the
+#              BOARD environment variable appropriately.
+#
+# monitor      Start `screen` on the serial device.  This is meant to be an
+#              equivalent to the Arduino serial monitor.
+#
+# size         Displays size information about the bulit target.
+#
+# <file>       Builds the specified file, either an object file or the target,
+#              from those that that would be built for the project.
+#_______________________________________________________________________________
+#
+
+# default arduino software directory, check software exists
+ifndef ARDUINODIR
+ARDUINODIR := $(firstword $(wildcard ~/opt/arduino /usr/share/arduino))
+endif
+ifeq "$(wildcard $(ARDUINODIR)/hardware/arduino/boards.txt)" ""
+$(error ARDUINODIR is not set correctly; arduino software not found)
+endif
+
+# default arduino version
+ARDUINOCONST ?= 100
+
+# default path for avr tools
+ifndef AVRTOOLSPATH
+AVRTOOLSPATH := $(subst :, , $(PATH))
+AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools
+AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools/avr/bin
+endif
+
+# auto mode?
+INOFILE := $(wildcard *.ino *.pde)
+ifdef INOFILE
+ifneq "$(words $(INOFILE))" "1"
+$(error There is more than one .pde or .ino file in this directory!)
+endif
+
+# automatically determine sources and targeet
+TARGET := $(basename $(INOFILE))
+SOURCES := $(INOFILE) \
+	$(wildcard *.c *.cc *.cpp) \
+	$(wildcard $(addprefix util/, *.c *.cc *.cpp)) \
+	$(wildcard $(addprefix utility/, *.c *.cc *.cpp))
+
+# automatically determine included libraries
+LIBRARIES := $(filter $(notdir $(wildcard $(ARDUINODIR)/libraries/*)), \
+	$(shell sed -ne "s/^ *\# *include *[<\"]\(.*\)\.h[>\"]/\1/p" $(SOURCES)))
+
+endif
+
+# no serial device? make a poor attempt to detect an arduino
+SERIALDEVGUESS := 0
+ifeq "$(SERIALDEV)" ""
+SERIALDEV := $(firstword $(wildcard \
+	/dev/ttyACM? /dev/ttyUSB? /dev/tty.usbserial* /dev/tty.usbmodem*))
+SERIALDEVGUESS := 1
+endif
+
+# software
+findsoftware = $(firstword $(wildcard $(addsuffix /$(1), $(AVRTOOLSPATH))))
+CC := $(call findsoftware,avr-gcc)
+CXX := $(call findsoftware,avr-g++)
+LD := $(call findsoftware,avr-ld)
+AR := $(call findsoftware,avr-ar)
+OBJCOPY := $(call findsoftware,avr-objcopy)
+AVRDUDE := $(call findsoftware,avrdude)
+AVRSIZE := $(call findsoftware,avr-size)
+
+# files
+TARGET := $(if $(TARGET),$(TARGET),a.out)
+OBJECTS := $(addsuffix .o, $(basename $(SOURCES)))
+DEPFILES := $(patsubst %, .dep/%.dep, $(SOURCES))
+ARDUINOCOREDIR := $(ARDUINODIR)/hardware/arduino/cores/arduino
+ARDUINOLIB := .lib/arduino.a
+ARDUINOLIBLIBSDIR := $(ARDUINODIR)/libraries
+ARDUINOLIBLIBSPATH := $(foreach lib, $(LIBRARIES), \
+	$(ARDUINODIR)/libraries/$(lib)/ $(ARDUINODIR)/libraries/$(lib)/utility/ )
+ARDUINOLIBOBJS := $(foreach dir, $(ARDUINOCOREDIR) $(ARDUINOLIBLIBSPATH), \
+	$(patsubst %, .lib/%.o, $(wildcard $(addprefix $(dir)/, *.c *.cpp))))
+ifeq "$(AVRDUDECONF)" ""
+ifeq "$(AVRDUDE)" "$(ARDUINODIR)/hardware/tools/avr/bin/avrdude"
+AVRDUDECONF := $(ARDUINODIR)/hardware/tools/avr/etc/avrdude.conf
+else
+AVRDUDECONF := $(wildcard $(AVRDUDE).conf)
+endif
+endif
+
+# no board?
+ifndef BOARD
+ifneq "$(MAKECMDGOALS)" "boards"
+ifneq "$(MAKECMDGOALS)" "clean"
+$(error BOARD is unset.  Type 'make boards' to see possible values)
+endif
+endif
+endif
+
+# obtain board parameters from the arduino boards.txt file
+BOARDS_FILE := $(ARDUINODIR)/hardware/arduino/boards.txt
+BOARD_BUILD_MCU := \
+	$(shell sed -ne "s/$(BOARD).build.mcu=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_BUILD_FCPU := \
+	$(shell sed -ne "s/$(BOARD).build.f_cpu=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_BUILD_VARIANT := \
+	$(shell sed -ne "s/$(BOARD).build.variant=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_UPLOAD_SPEED := \
+	$(shell sed -ne "s/$(BOARD).upload.speed=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_UPLOAD_PROTOCOL := \
+	$(shell sed -ne "s/$(BOARD).upload.protocol=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_USB_VID := \
+	$(shell sed -ne "s/$(BOARD).build.vid=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_USB_PID := \
+	$(shell sed -ne "s/$(BOARD).build.pid=\(.*\)/\1/p" $(BOARDS_FILE))
+
+# invalid board?
+ifeq "$(BOARD_BUILD_MCU)" ""
+ifneq "$(MAKECMDGOALS)" "boards"
+ifneq "$(MAKECMDGOALS)" "clean"
+$(error BOARD is invalid.  Type 'make boards' to see possible values)
+endif
+endif
+endif
+
+# flags
+CPPFLAGS := -Os -Wall -fno-exceptions -ffunction-sections -fdata-sections
+CPPFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CPPFLAGS += -mmcu=$(BOARD_BUILD_MCU)
+CPPFLAGS += -DF_CPU=$(BOARD_BUILD_FCPU) -DARDUINO=$(ARDUINOCONST)
+CPPFLAGS += -DUSB_VID=$(BOARD_USB_VID) -DUSB_PID=$(BOARD_USB_PID)
+CPPFLAGS += -I. -Iutil -Iutility -I $(ARDUINOCOREDIR)
+CPPFLAGS += -I $(ARDUINODIR)/hardware/arduino/variants/$(BOARD_BUILD_VARIANT)/
+CPPFLAGS += $(addprefix -I $(ARDUINODIR)/libraries/, $(LIBRARIES))
+CPPFLAGS += $(patsubst %, -I $(ARDUINODIR)/libraries/%/utility, $(LIBRARIES))
+CPPDEPFLAGS = -MMD -MP -MF .dep/$<.dep
+CPPINOFLAGS := -x c++ -include $(ARDUINOCOREDIR)/Arduino.h
+AVRDUDEFLAGS := $(addprefix -C , $(AVRDUDECONF)) -DV
+AVRDUDEFLAGS += -p $(BOARD_BUILD_MCU) -P $(SERIALDEV)
+AVRDUDEFLAGS += -c $(BOARD_UPLOAD_PROTOCOL) -b $(BOARD_UPLOAD_SPEED)
+LINKFLAGS := -Os -Wl,--gc-sections -mmcu=$(BOARD_BUILD_MCU)
+
+# figure out which arg to use with stty (for OS X, GNU and busybox stty)
+STTYFARG := $(shell stty --help 2>&1 | \
+	grep -q 'illegal option' && echo -f || echo -F)
+
+# include dependencies
+ifneq "$(MAKECMDGOALS)" "clean"
+-include $(DEPFILES)
+endif
+
+# default rule
+.DEFAULT_GOAL := all
+
+#_______________________________________________________________________________
+#                                                                          RULES
+
+.PHONY:	all target upload clean boards monitor size
+
+all: target
+
+target: $(TARGET).hex
+
+upload: target
+	@echo "\nUploading to board..."
+	@test -n "$(SERIALDEV)" || { \
+		echo "error: SERIALDEV could not be determined automatically." >&2; \
+		exit 1; }
+	@test 0 -eq $(SERIALDEVGUESS) || { \
+		echo "*GUESSING* at serial device:" $(SERIALDEV); \
+		echo; }
+	stty $(STTYFARG) $(SERIALDEV) hupcl
+	$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(TARGET).hex:i
+
+clean:
+	rm -f $(OBJECTS)
+	rm -f $(TARGET).elf $(TARGET).hex $(ARDUINOLIB) *~
+	rm -rf .lib .dep
+
+boards:
+	@echo Available values for BOARD:
+	@sed -nEe '/^#/d; /^[^.]+\.name=/p' $(BOARDS_FILE) | \
+		sed -Ee 's/([^.]+)\.name=(.*)/\1            \2/' \
+			-e 's/(.{12}) *(.*)/\1 \2/'
+
+monitor:
+	@test -n "$(SERIALDEV)" || { \
+		echo "error: SERIALDEV could not be determined automatically." >&2; \
+		exit 1; }
+	@test -n `which screen` || { \
+		echo "error: can't find GNU screen, you might need to install it." >&2 \
+		ecit 1; }
+	@test 0 -eq $(SERIALDEVGUESS) || { \
+		echo "*GUESSING* at serial device:" $(SERIALDEV); \
+		echo; }
+	screen $(SERIALDEV)
+
+size: $(TARGET).elf
+	echo && $(AVRSIZE) --format=avr --mcu=$(BOARD_BUILD_MCU) $(TARGET).elf
+
+# building the target
+
+$(TARGET).hex: $(TARGET).elf
+	$(OBJCOPY) -O ihex -R .eeprom $< $@
+
+.INTERMEDIATE: $(TARGET).elf
+
+$(TARGET).elf: $(ARDUINOLIB) $(OBJECTS)
+	$(CC) $(LINKFLAGS) $(OBJECTS) $(ARDUINOLIB) -lm -o $@
+
+%.o: %.c
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.c) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.cpp
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.cc
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.C
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.ino
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $(CPPINOFLAGS) $<
+
+%.o: %.pde
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ -x c++ -include $(ARDUINOCOREDIR)/Arduino.h $<
+
+# building the arduino library
+
+$(ARDUINOLIB): $(ARDUINOLIBOBJS)
+	$(AR) rcs $@ $?
+
+.lib/%.c.o: %.c
+	mkdir -p $(dir $@)
+	$(COMPILE.c) -o $@ $<
+
+.lib/%.cpp.o: %.cpp
+	mkdir -p $(dir $@)
+	$(COMPILE.cpp) -o $@ $<
+
+.lib/%.cc.o: %.cc
+	mkdir -p $(dir $@)
+	$(COMPILE.cpp) -o $@ $<
+
+.lib/%.C.o: %.C
+	mkdir -p $(dir $@)
+	$(COMPILE.cpp) -o $@ $<
diff --git a/arduino/ace/arq.c b/arduino/ace/arq.c
new file mode 100644
index 0000000..9d4a08c
--- /dev/null
+++ b/arduino/ace/arq.c
@@ -0,0 +1,122 @@
+#include "arq.h"
+
+#include <stdlib.h>
+/* Expected frame data for ARQ
+ * 
+ * +-----+-----+------+
+ * | seq | cmd | data |
+ * +-----+-----+------+
+ * 
+ * seq: sequence number of frame (1 byte)
+ * cmd: command id of frame (1 byte), currently either ACK or DATA
+ * data: actual data of frame (arbitraty length, respecting frame limitations)
+ * 
+ * Note: frame checking, headers and footers are not handled by arq, see 'framing' instead
+ *
+*/
+
+#define MAX_RESENDS 5 //number of resends before a timeout is generated
+#define MAX_SEQ 255 //maximum sequence number of frames
+#define DATA 0x05
+#define ACK 0x06
+
+#define SEQ_INDEX 0
+#define CMD_INDEX 1
+#define MESSAGE_OFFSET 2
+#define MAX_MESSAGE_SIZE MAX_FRAME_SIZE - MESSAGE_OFFSET
+
+
+typedef enum {
+  RECEIVED_FRAME,
+  TIMEOUT
+} arq_event;
+
+static void send_ack(arq* a, uint8_t seq) {
+  uint8_t data[] = {seq, ACK};
+  a->sender(2, data);
+}
+
+static void process_event(arq* a, arq_event event, int16_t data_size, uint8_t* data) {
+  if (event == RECEIVED_FRAME) {
+    uint8_t seq = data[SEQ_INDEX];
+    uint8_t cmd = data[CMD_INDEX];
+    uint8_t* message = &(data[MESSAGE_OFFSET]);
+    int16_t message_size = data_size - MESSAGE_OFFSET;
+    
+    if (!a->awaiting_ack) { //ready to receive
+      if (cmd == DATA) {
+        if (a->last_received_seq != seq) {
+          a->last_received_seq = seq;
+          a->event_handler(RECEIVED, message_size, message);
+        }
+        send_ack(a, seq);
+      }
+      //ignore case in which an ack is received even though none is awaited
+    } else { //awaiting ack
+      a->awaiting_ack = false;
+       a->stop_timer();
+      
+      if (cmd == ACK && seq == a->last_sent_buffer[SEQ_INDEX]) {
+        a->event_handler(SEND_SUCCESS, a->last_sent_size - MESSAGE_OFFSET, &(a->last_sent_buffer[MESSAGE_OFFSET]));
+      } else {
+        a->event_handler(BAD_ACK, a->last_sent_size - MESSAGE_OFFSET, &(a->last_sent_buffer[MESSAGE_OFFSET]));
+      }
+    }
+    
+  } else if (event == TIMEOUT) {
+    if (a->resends > MAX_RESENDS) {
+      a->awaiting_ack = false;
+      a->stop_timer();
+      a->event_handler(NO_ACK, a->last_sent_size - MESSAGE_OFFSET, &(a->last_sent_buffer[MESSAGE_OFFSET]));
+    } else {
+      a->resends += 1;
+      a->sender(a->last_sent_size, a->last_sent_buffer);
+      a->awaiting_ack = true;
+      a->start_timer();
+    } 
+  }
+}
+
+void receive_frame(arq* a, int16_t size, uint8_t* data) {
+  process_event(a, RECEIVED_FRAME, size, data);
+}
+
+void timeout(arq* a) {
+  process_event(a, TIMEOUT, 0, NULL);
+}
+
+void send_message(arq* a, int16_t size, const uint8_t * const message) {
+  if (a->awaiting_ack) {
+    a->event_handler(BUSY, size, message);
+    return;
+  }
+  
+  if (size > MAX_MESSAGE_SIZE) {
+    a->event_handler(SIZE_ERROR, size, message);
+    return;
+  }
+    
+  
+  a->last_sent_buffer[SEQ_INDEX] += 1; //increment seq
+  a->last_sent_buffer[CMD_INDEX] = DATA;
+  int i;
+  for (i = 0; i < size; ++i) {
+    a->last_sent_buffer[i + MESSAGE_OFFSET] = message[i];
+  }
+  
+  a->last_sent_size = MESSAGE_OFFSET + size;
+  
+  a->sender(a->last_sent_size, a->last_sent_buffer);
+  a->awaiting_ack = true;
+  a->resends = 0;
+  a->start_timer();
+}
+
+void init_arq(arq* a) {
+  a->last_sent_size = 0;
+  a->last_received_seq = 0;
+  a->resends = 0;
+  a->awaiting_ack = false;
+}
+
+
diff --git a/arduino/ace/arq.h b/arduino/ace/arq.h
new file mode 100644
index 0000000..592b0d4
--- /dev/null
+++ b/arduino/ace/arq.h
@@ -0,0 +1,52 @@
+#ifndef ARQ_H
+#define ARQ_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <inttypes.h>
+
+#include "framing.h"
+
+
+typedef enum {
+  RECEIVED = 0,
+  SEND_SUCCESS = 1,
+  NO_ACK = 3,
+  BAD_ACK = 4,
+  SIZE_ERROR = 5,
+  BUSY = 6
+} message_event;
+
+typedef void (*send_frame_function)(int16_t size, uint8_t* data);
+typedef void (*message_event_function)(message_event e, int16_t size, const uint8_t* const message);
+typedef void (*void_function)();
+
+typedef struct {
+  uint8_t last_sent_buffer[MAX_FRAME_SIZE];
+  int16_t last_sent_size;
+  uint8_t last_received_seq;
+  uint8_t resends;
+  bool awaiting_ack;
+  
+  send_frame_function sender;
+  message_event_function event_handler;
+  void_function start_timer;
+  void_function stop_timer;
+  
+} arq;
+
+void init_arq(arq* a);
+void receive_frame(arq* a, int16_t size, uint8_t* data);
+void timeout(arq* a);
+void send_message(arq* a, int16_t size, const uint8_t * const message);
+
+
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif /* ARQ_H */
diff --git a/arduino/ace/framing.c b/arduino/ace/framing.c
new file mode 100644
index 0000000..4d9c5de
--- /dev/null
+++ b/arduino/ace/framing.c
@@ -0,0 +1,88 @@
+#include "framing.h"
+
+static inline bool is_cmd(uint8_t byte) {
+  return (byte == FRAME_START || byte == FRAME_STOP || byte == FRAME_ESCAPE);
+}
+
+static inline void reset(framer* f) {
+  f->position = -1;
+  f->checksum = 0x00;
+}
+
+static inline void accept(framer* f, uint8_t byte) {
+  
+  //if a new byte would cause an overflow, restart frame
+  //note that this should not happen if both communicating parties have defined the same maximum frame length
+  if (f->position >= MAX_FRAME_SIZE) {
+    reset(f);
+    return;
+  }
+  
+  if (f->position != -1) { // i.e. a previous byte exists
+    f->buffer[f->position] = f->staged; 
+    f->checksum = f->checksum ^ f->staged;
+  }
+  
+  f->position += 1;
+  f->staged = byte;
+}
+
+void receive_byte(framer* f, uint8_t byte) {
+  
+  switch(f->state) {
+    case ESCAPING:
+      accept(f, byte);
+      f->state = RECEIVING;
+      break;
+      
+    case WAITING:
+      if (byte == FRAME_START) {
+        reset(f);
+        f->state = RECEIVING;
+      }
+      break;
+      
+    case RECEIVING:
+      switch(byte) {
+        case FRAME_ESCAPE:
+          f->state = ESCAPING;
+          break;
+        case FRAME_START:
+          reset(f);
+          break;
+        case FRAME_STOP:
+          f->state = WAITING;
+          if (f->staged == f->checksum) { //at this point, staged byte is the checksum sent in the frame (last byte of frame)
+            f->receiver(f->position, f->buffer);
+          }
+          break;
+          
+        default:
+          accept(f, byte);
+          break;
+      }
+  }
+}
+
+void send_frame(framer* f, int16_t size, const uint8_t * const data_out) {
+  uint8_t checksum = 0x00;
+  uint8_t byte;
+  send_byte_function sender = f->sender;
+  
+  sender(FRAME_START);
+  int i;
+  for (i = 0; i < size; ++i) {
+    byte = data_out[i];
+    if (is_cmd(byte)) sender(FRAME_ESCAPE);
+    sender(byte);
+    checksum = checksum ^ byte;
+  }
+  if (is_cmd(checksum)) sender(FRAME_ESCAPE);
+  sender(checksum);
+  sender(FRAME_STOP);
+}
+
+void init_framer(framer* f) {
+  f->state = WAITING;
+  reset(f);
+}
diff --git a/arduino/ace/framing.h b/arduino/ace/framing.h
new file mode 100644
index 0000000..daacba7
--- /dev/null
+++ b/arduino/ace/framing.h
@@ -0,0 +1,47 @@
+#ifndef FRAMING_H
+#define FRAMING_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <inttypes.h>
+
+#define MAX_FRAME_SIZE 128
+#define FRAME_ESCAPE 0x02
+#define FRAME_START 0x03
+#define FRAME_STOP 0x10
+
+typedef enum {
+  WAITING,
+  RECEIVING,
+  ESCAPING
+} link_state;
+
+typedef void (*receive_frame_function)(int16_t size, uint8_t* data);
+typedef void (*send_byte_function)(uint8_t byte);
+
+
+typedef struct {
+  link_state state; // current state
+  uint8_t buffer[MAX_FRAME_SIZE]; // in data buffer
+  uint8_t staged; // previously read byte, will be put in buffer after next read
+  int16_t position; //current position of next byte to be read in buffer
+  uint8_t checksum; //current value of calculated checksum
+  
+  receive_frame_function receiver;
+  send_byte_function sender;
+  
+} framer;
+
+void init_framer(framer* f);
+void receive_byte(framer* f, uint8_t byte);
+void send_frame(framer* f, int16_t size, const uint8_t * const data_out);
+
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif /* FRAMING_H */
diff --git a/arduino/ace/test.ino b/arduino/ace/test.ino
new file mode 100644
index 0000000..e9df65f
--- /dev/null
+++ b/arduino/ace/test.ino
@@ -0,0 +1,44 @@
+#include "Arduino.h"
+
+#include "LiquidCrystal.h"
+#include "ace.h"
+
+LiquidCrystal lcd(8, 9, 4, 5, 6, 11);
+
+#define ERR_PIN 3
+
+void ace_event(message_event e, int16_t size, const uint8_t* const message) {
+
+  if (e == 0 || e == 1) {
+    digitalWrite(ERR_PIN, LOW);
+    lcd.clear();
+    for(int i = 0; i < size; ++i) {
+      lcd.write(message[i]);
+    } 
+  }
+  else {
+    digitalWrite(ERR_PIN, HIGH);
+    lcd.clear();
+    lcd.print(e);
+  }
+}
+
+void setup() {
+  init_ace(115200, 20);
+  lcd.begin(16,2);
+  lcd.clear();
+  lcd.print("ready");
+  pinMode(ERR_PIN, OUTPUT);
+}
+
+uint8_t i = 0;
+void loop() {
+  
+  lcd.clear();
+  lcd.print("|");
+
+  
+  delay(1000);
+  ace_send0(1, &i);
+  delay(1000);
+}
diff --git a/arduino/ace_cpp_old/Framer.cpp b/arduino/ace_cpp_old/Framer.cpp
new file mode 100644
index 0000000..03335af
--- /dev/null
+++ b/arduino/ace_cpp_old/Framer.cpp
@@ -0,0 +1,101 @@
+#include "Framer.h"
+
+Framer::Framer():
+  state(WAITING),
+  position(-1),
+  checksum(0) {
+}
+
+void Framer::reset() {
+  position = -1;
+  checksum = 0x00;
+}
+
+void Framer::accept(uint8_t byte) {
+  
+  //if a new byte would cause an overflow, restart frame
+  //note that this should not happen if both communicating parties have defined the same maximum frame length
+  if (position >= MAX_FRAME_SIZE) {
+    reset();
+    return;
+  }
+  
+  if (position != -1) { // i.e. a previous byte exists
+    frameBuffer[position] = staged; 
+    checksum = checksum ^ staged;
+  }
+  
+  position += 1;
+  staged = byte;
+  
+}
+
+void Framer::put(uint8_t byte) {
+  
+  switch(state) {
+    case ESCAPING:
+      accept(byte);
+      state = RECEIVING;
+      break;
+      
+    case WAITING:
+      if (byte == START) {
+        reset();
+        state = RECEIVING;
+      }
+      break;
+      
+    case RECEIVING:
+      switch(byte) {
+        case ESCAPE:
+          state = ESCAPING;
+          break;
+        case START:
+          reset();
+          break;
+        case STOP:
+          state = WAITING;
+          if (staged == checksum) { //at this point, staged byte is the checksum sent in the frame (last byte of frame)
+            onFrame(position, frameBuffer);
+          }
+          break;
+          
+        default:
+          accept(byte);
+          break;
+      }
+  }
+}
+
+  
+
+void Framer::send(uint16_t length, const uint8_t * const data) {
+  uint8_t checksum = 0x00;
+  uint8_t byte;
+  
+  onSendByte(START);
+  for (int i = 0; i < length; ++i) {
+    byte = data[i];
+    if (isCommandByte(byte))
+      onSendByte(ESCAPE);
+      checksum = checksum ^ byte;
+      isCommandByte(byte);
+  }
+  if (isCommandByte(checksum)) {
+    onSendByte(ESCAPE);
+  }
+  onSendByte(checksum);
+  onSendByte(STOP);
+};
+
+
+ //~ cli();
+  //~ TCCR1A = 0; // set entire TCCR1A register to 0
+  //~ TCCR1B = 0; // same for TCCR1B
+  //~ // turn on CTC mode:
+  //~ TCCR1B |= (1 << WGM12);
+  //~ // set CS31 for 64 prescaler
+  //~ TCCR1B |= (1 << CS11);
+  //~ // set compare match register to desired timer count:
+  //~ OCR1A = F_CPU / 1000 / 64; // should be 250 for F_CPU=16Mhz and f = 1000Hz
+  //~ sei();
diff --git a/arduino/ace_cpp_old/Framer.h b/arduino/ace_cpp_old/Framer.h
new file mode 100644
index 0000000..f06bebb
--- /dev/null
+++ b/arduino/ace_cpp_old/Framer.h
@@ -0,0 +1,51 @@
+#ifndef FRAMER_H
+#define FRAMER_H
+
+#include <inttypes.h>
+
+#define MAX_PACKET_SIZE 64
+#define MAX_FRAME_SIZE MAX_PACKET_SIZE + 3
+
+class Framer {
+private:
+  
+  enum LinkState {
+    WAITING,
+    RECEIVING,
+    ESCAPING
+  };
+  
+  static const uint8_t ESCAPE = 0x02;
+  static const uint8_t START = 0x03;
+  static const uint8_t STOP = 0x10;
+  
+  LinkState state; //current state
+  uint8_t frameBuffer[MAX_FRAME_SIZE]; //data of current frame
+  uint8_t staged; //previous byte read, not defined when position == -1
+  
+  int16_t position; //position of next byte to be read into frame buffer, can also be -1 if no byte has yet been staged
+  uint8_t checksum;
+  
+  
+  inline void reset(); //reset current frame
+  inline void accept(uint8_t byte); //reads a data byte (not a command byte) and takes an appropraiet action by modifying internal state
+  inline static bool isCommandByte(uint8_t byte) {return (byte == START || byte == STOP || byte == ESCAPE);}
+  
+  
+protected:
+
+  Framer();  
+  void put(uint8_t byte);
+  void send(uint16_t length, const uint8_t * const data);
+  
+  /* Called when a byte is to be sent.
+   * @param byte the byte to be sent */
+  virtual void onSendByte(uint8_t byte) = 0;
+  
+  /* Called when a valid frame is received. */
+  virtual void onFrame(uint16_t length, uint8_t *data) = 0;
+  
+};
+
+
+#endif /* FRAMER_H */
diff --git a/arduino/ace_cpp_old/Makefile b/arduino/ace_cpp_old/Makefile
new file mode 100644
index 0000000..5ed9f66
--- /dev/null
+++ b/arduino/ace_cpp_old/Makefile
@@ -0,0 +1,7 @@
+#SOURCES := main.cc other.cc
+#LIBRARIES := EEPROM
+
+ARDUINODIR=$(ARDUINO_HOME)
+BOARD=mega2560
+export LIBRARIES=LiquidCrystal
+include arduino.mk
diff --git a/arduino/ace_cpp_old/SafeSerial.cpp b/arduino/ace_cpp_old/SafeSerial.cpp
new file mode 100644
index 0000000..bab930e
--- /dev/null
+++ b/arduino/ace_cpp_old/SafeSerial.cpp
@@ -0,0 +1,59 @@
+#include "SafeSerial.h"
+
+#include <avr/interrupt.h>
+
+typedef struct {
+  uint8_t buffer[SERIAL_BUFFER_SIZE];
+  volatile uint16_t head;
+  volatile uint16_t tail;
+} ring_buffer;
+
+static ring_buffer tx_buffer = {{0}, 0, 0};
+
+SafeSerial::begin(uint32_t baud) {
+  //enable double speed transmission
+  *ucsrXa |= (1 << u2xX);
+
+  uint16_t baudSetting = (F_CPU / 4 / baud - 1) / 2;
+  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+  *ubrrXh = baudSetting >> 8;
+  *ubrrXl = baudSetting;
+  
+  // defaults to 8-bit, no parity, 1 stop bit
+  *ucsrXb |= (1 << *exenX) | (1 << *txenX) | (1 << *rxcieX);
+  *ucsrXb &= ~(1 << *udrieX) | (1 << *txenX) | (1 << *rxcieX);
+}
+
+
+//receive
+ISR(USART0_RX_vect) {
+  uint8_t c = UDR0;
+  serial.put(c);
+}
+
+//data register empty
+ISR(USART0_UDRE_vect) {
+  if (tx_buffer.head == tx_buffer.tail) {
+    //buffer empty, disable interruot
+    UCSR0B &= ~(1 << UDRIE0);
+  } else {
+    uint8_t c = tx_buffer.buffer[tx_buffer.tail];
+    tx_buffer.tail = (tx_buffer.tail + 1) % SERIAL_BUFFER_SIZE;
+    UDR0 = c; //write next byte
+  }
+}
+
+void SafeSerial::send(uint8_t byte) {
+  uint16_t i = (tx_buffer.head + 1) % SERIAL_BUFFER_SIZE;
+	
+  // If the output buffer is full, there's nothing for it other than to 
+  // wait for the interrupt handler to empty it a bit
+if (i == tx_buffer.tail) return;
+  //while (i == tx_buffer.tail) {};
+	
+  tx_buffer.buffer[tx_buffer.head] = byte;
+  tx_buffer.head = i;
+	
+	//enable data register empty interrupt
+	UCSR0B |= (1 << UDRIE0);
+};
diff --git a/arduino/ace_cpp_old/SafeSerial.h b/arduino/ace_cpp_old/SafeSerial.h
new file mode 100644
index 0000000..12dba3e
--- /dev/null
+++ b/arduino/ace_cpp_old/SafeSerial.h
@@ -0,0 +1,23 @@
+#ifndef SAFESERIAL_H
+#define SAFESERIAL_H
+
+#include <inttypes.h>
+#include "Framer.h"
+
+//#define MAX_PACKET_SIZE 64
+//#define MAX_FRAME_SIZE MAX_PACKET_SIZE + 3
+
+#define SERIAL_BUFFER_SIZE 64
+
+class SafeSerial: public Framer {
+private:
+  void sendByte(uint8_t byte);
+  
+  
+protected:
+  /* virtual */ void onSendByte(uint8_t byte) {};
+  /* virtual */ void onFrame(uint16_t length, uint8_t *data) {};
+  
+};
+
+#endif /* SAFESERIAL_H */
diff --git a/arduino/ace_cpp_old/ace.ino b/arduino/ace_cpp_old/ace.ino
new file mode 100644
index 0000000..2ca0347
--- /dev/null
+++ b/arduino/ace_cpp_old/ace.ino
@@ -0,0 +1,13 @@
+#include "Arduino.h"
+
+#include "SafeSerial.h"
+
+volatile SafeSerial s;
+
+void setup() {
+ 
+}
+
+void loop() {
+  s;
+}
diff --git a/arduino/ace_cpp_old/arduino.mk b/arduino/ace_cpp_old/arduino.mk
new file mode 100644
index 0000000..9fce9c7
--- /dev/null
+++ b/arduino/ace_cpp_old/arduino.mk
@@ -0,0 +1,379 @@
+#_______________________________________________________________________________
+#
+#                         edam's Arduino makefile
+#_______________________________________________________________________________
+#                                                                    version 0.4
+#
+# Copyright (C) 2011, 2012 Tim Marston <tim@ed.am>.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
+#_______________________________________________________________________________
+#
+#
+# This is a general purpose makefile for use with Arduino hardware and
+# software.  It works with the arduino-1.0 software release.  To download the
+# latest version of this makefile, visit the following website, where you can
+# also find more information and documentation on it's use.  The following text
+# can only really be considered a reference to it's use.
+#
+#   http://ed.am/dev/make/arduino-mk
+#
+# This makefile can be used as a drop-in replacement for the Arduino IDE's
+# build system.  To use it, save arduino.mk somewhere (I keep mine at
+# ~/src/arduino.mk) and create a symlink to it in your project directory named
+# "Makefile".  For example:
+#
+#   $ ln -s ~/src/arduino.mk Makefile
+#
+# The Arduino software (version 1.0 or later) is required.  If you are using
+# Debian (or a derivative), type `apt-get install arduino`.  Otherwise, you
+# will have to download the Arduino software manually from http://arduino.cc/.
+# It is suggested that you install it at ~/opt/arduino if you are unsure.
+#
+# If you downloaded the Arduino software manually and unpacked it somewhere
+# other than ~/opt/arduino, you will need to set up ARDUINODIR to be the path
+# where you unpacked it.  (If unset, ARDUINODIR defaults to ~/opt/arduino and
+# then /usr/share/arduino, in that order.)  You might be best to set this in
+# your ~/.profile by adding something like this:
+#
+#   export ARDUINODIR=~/somewhere/arduino-1.0
+#
+# You will also need to set BOARD to the type of Arduino you're building for.
+# Type `make boards` for a list of acceptable values.  You could set a default
+# in your ~/.profile if you want, but it is suggested that you specify this at
+# build time, especially if you work with different types of Arduino.  For
+# example:
+#
+#   $ export BOARD=uno
+#   $ make
+#
+# You may also need to set SERIALDEV if it is not detected correctly.
+#
+# The presence of a .ino (or .pde) file causes the arduino.mk to automatically
+# determine values for SOURCES, TARGET and LIBRARIES.  Any .c, .cc and .cpp
+# files in the project directory (or any "util" or "utility" subdirectories)
+# are automatically included in the build and are scanned for Arduino libraries
+# that have been #included. Note, there can only be one .ino (or .pde) file.
+#
+# Alternatively, if you want to manually specify build variables, create a
+# Makefile that defines SOURCES and LIBRARIES and then includes arduino.mk.
+# (There is no need to define TARGET).  Here is an example Makefile:
+#
+#   SOURCES := main.cc other.cc
+#   LIBRARIES := EEPROM
+#   include ~/src/arduino.mk
+#
+# Here is a complete list of configuration parameters:
+#
+# ARDUINODIR   The path where the Arduino software is installed on your system.
+#
+# ARDUINOCONST The Arduino software version, as an integer, used to define the
+#              ARDUINO version constant. This defaults to 100 if undefined.
+#
+# AVRDUDECONF  The avrdude.conf to use. If undefined, this defaults to a guess
+#              based on where the avrdude in use is. If empty, no avrdude.conf
+#              is passed to avrdude (to the system default is used).
+#
+# AVRTOOLSPATH A space-separated list of directories to search in order when
+#              looking for the avr build tools. This defaults to the system PATH
+#              followed by subdirectories in ARDUINODIR if undefined.
+#
+# BOARD        Specify a target board type.  Run `make boards` to see available
+#              board types.
+#
+# LIBRARIES    A list of Arduino libraries to build and include.  This is set
+#              automatically if a .ino (or .pde) is found.
+#
+# SERIALDEV    The unix device name of the serial device that is the Arduino.
+#              If unspecified, an attempt is made to determine the name of a
+#              connected Arduino's serial device.
+#
+# SOURCES      A list of all source files of whatever language.  The language
+#              type is determined by the file extension.  This is set
+#              automatically if a .ino (or .pde) is found.
+#
+# TARGET       The name of the target file.  This is set automatically if a
+#              .ino (or .pde) is found, but it is not necessary to set it
+#              otherwise.
+#
+# This makefile also defines the following goals for use on the command line
+# when you run make:
+#
+# all          This is the default if no goal is specified.  It builds the
+#              target.
+#
+# target       Builds the target.
+#
+# upload       Uploads the last built target to an attached Arduino.
+#
+# clean        Deletes files created during the build.
+#
+# boards       Display a list of available board names, so that you can set the
+#              BOARD environment variable appropriately.
+#
+# monitor      Start `screen` on the serial device.  This is meant to be an
+#              equivalent to the Arduino serial monitor.
+#
+# size         Displays size information about the bulit target.
+#
+# <file>       Builds the specified file, either an object file or the target,
+#              from those that that would be built for the project.
+#_______________________________________________________________________________
+#
+
+# default arduino software directory, check software exists
+ifndef ARDUINODIR
+ARDUINODIR := $(firstword $(wildcard ~/opt/arduino /usr/share/arduino))
+endif
+ifeq "$(wildcard $(ARDUINODIR)/hardware/arduino/boards.txt)" ""
+$(error ARDUINODIR is not set correctly; arduino software not found)
+endif
+
+# default arduino version
+ARDUINOCONST ?= 100
+
+# default path for avr tools
+ifndef AVRTOOLSPATH
+AVRTOOLSPATH := $(subst :, , $(PATH))
+AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools
+AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools/avr/bin
+endif
+
+# auto mode?
+INOFILE := $(wildcard *.ino *.pde)
+ifdef INOFILE
+ifneq "$(words $(INOFILE))" "1"
+$(error There is more than one .pde or .ino file in this directory!)
+endif
+
+# automatically determine sources and targeet
+TARGET := $(basename $(INOFILE))
+SOURCES := $(INOFILE) \
+	$(wildcard *.c *.cc *.cpp) \
+	$(wildcard $(addprefix util/, *.c *.cc *.cpp)) \
+	$(wildcard $(addprefix utility/, *.c *.cc *.cpp))
+
+# automatically determine included libraries
+LIBRARIES := $(filter $(notdir $(wildcard $(ARDUINODIR)/libraries/*)), \
+	$(shell sed -ne "s/^ *\# *include *[<\"]\(.*\)\.h[>\"]/\1/p" $(SOURCES)))
+
+endif
+
+# no serial device? make a poor attempt to detect an arduino
+SERIALDEVGUESS := 0
+ifeq "$(SERIALDEV)" ""
+SERIALDEV := $(firstword $(wildcard \
+	/dev/ttyACM? /dev/ttyUSB? /dev/tty.usbserial* /dev/tty.usbmodem*))
+SERIALDEVGUESS := 1
+endif
+
+# software
+findsoftware = $(firstword $(wildcard $(addsuffix /$(1), $(AVRTOOLSPATH))))
+CC := $(call findsoftware,avr-gcc)
+CXX := $(call findsoftware,avr-g++)
+LD := $(call findsoftware,avr-ld)
+AR := $(call findsoftware,avr-ar)
+OBJCOPY := $(call findsoftware,avr-objcopy)
+AVRDUDE := $(call findsoftware,avrdude)
+AVRSIZE := $(call findsoftware,avr-size)
+
+# files
+TARGET := $(if $(TARGET),$(TARGET),a.out)
+OBJECTS := $(addsuffix .o, $(basename $(SOURCES)))
+DEPFILES := $(patsubst %, .dep/%.dep, $(SOURCES))
+ARDUINOCOREDIR := $(ARDUINODIR)/hardware/arduino/cores/arduino
+ARDUINOLIB := .lib/arduino.a
+ARDUINOLIBLIBSDIR := $(ARDUINODIR)/libraries
+ARDUINOLIBLIBSPATH := $(foreach lib, $(LIBRARIES), \
+	$(ARDUINODIR)/libraries/$(lib)/ $(ARDUINODIR)/libraries/$(lib)/utility/ )
+ARDUINOLIBOBJS := $(foreach dir, $(ARDUINOCOREDIR) $(ARDUINOLIBLIBSPATH), \
+	$(patsubst %, .lib/%.o, $(wildcard $(addprefix $(dir)/, *.c *.cpp))))
+ifeq "$(AVRDUDECONF)" ""
+ifeq "$(AVRDUDE)" "$(ARDUINODIR)/hardware/tools/avr/bin/avrdude"
+AVRDUDECONF := $(ARDUINODIR)/hardware/tools/avr/etc/avrdude.conf
+else
+AVRDUDECONF := $(wildcard $(AVRDUDE).conf)
+endif
+endif
+
+# no board?
+ifndef BOARD
+ifneq "$(MAKECMDGOALS)" "boards"
+ifneq "$(MAKECMDGOALS)" "clean"
+$(error BOARD is unset.  Type 'make boards' to see possible values)
+endif
+endif
+endif
+
+# obtain board parameters from the arduino boards.txt file
+BOARDS_FILE := $(ARDUINODIR)/hardware/arduino/boards.txt
+BOARD_BUILD_MCU := \
+	$(shell sed -ne "s/$(BOARD).build.mcu=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_BUILD_FCPU := \
+	$(shell sed -ne "s/$(BOARD).build.f_cpu=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_BUILD_VARIANT := \
+	$(shell sed -ne "s/$(BOARD).build.variant=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_UPLOAD_SPEED := \
+	$(shell sed -ne "s/$(BOARD).upload.speed=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_UPLOAD_PROTOCOL := \
+	$(shell sed -ne "s/$(BOARD).upload.protocol=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_USB_VID := \
+	$(shell sed -ne "s/$(BOARD).build.vid=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_USB_PID := \
+	$(shell sed -ne "s/$(BOARD).build.pid=\(.*\)/\1/p" $(BOARDS_FILE))
+
+# invalid board?
+ifeq "$(BOARD_BUILD_MCU)" ""
+ifneq "$(MAKECMDGOALS)" "boards"
+ifneq "$(MAKECMDGOALS)" "clean"
+$(error BOARD is invalid.  Type 'make boards' to see possible values)
+endif
+endif
+endif
+
+# flags
+CPPFLAGS := -Os -Wall -fno-exceptions -ffunction-sections -fdata-sections
+CPPFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CPPFLAGS += -mmcu=$(BOARD_BUILD_MCU)
+CPPFLAGS += -DF_CPU=$(BOARD_BUILD_FCPU) -DARDUINO=$(ARDUINOCONST)
+CPPFLAGS += -DUSB_VID=$(BOARD_USB_VID) -DUSB_PID=$(BOARD_USB_PID)
+CPPFLAGS += -I. -Iutil -Iutility -I $(ARDUINOCOREDIR)
+CPPFLAGS += -I $(ARDUINODIR)/hardware/arduino/variants/$(BOARD_BUILD_VARIANT)/
+CPPFLAGS += $(addprefix -I $(ARDUINODIR)/libraries/, $(LIBRARIES))
+CPPFLAGS += $(patsubst %, -I $(ARDUINODIR)/libraries/%/utility, $(LIBRARIES))
+CPPDEPFLAGS = -MMD -MP -MF .dep/$<.dep
+CPPINOFLAGS := -x c++ -include $(ARDUINOCOREDIR)/Arduino.h
+AVRDUDEFLAGS := $(addprefix -C , $(AVRDUDECONF)) -DV
+AVRDUDEFLAGS += -p $(BOARD_BUILD_MCU) -P $(SERIALDEV)
+AVRDUDEFLAGS += -c $(BOARD_UPLOAD_PROTOCOL) -b $(BOARD_UPLOAD_SPEED)
+LINKFLAGS := -Os -Wl,--gc-sections -mmcu=$(BOARD_BUILD_MCU)
+
+# figure out which arg to use with stty (for OS X, GNU and busybox stty)
+STTYFARG := $(shell stty --help 2>&1 | \
+	grep -q 'illegal option' && echo -f || echo -F)
+
+# include dependencies
+ifneq "$(MAKECMDGOALS)" "clean"
+-include $(DEPFILES)
+endif
+
+# default rule
+.DEFAULT_GOAL := all
+
+#_______________________________________________________________________________
+#                                                                          RULES
+
+.PHONY:	all target upload clean boards monitor size
+
+all: target
+
+target: $(TARGET).hex
+
+upload: target
+	@echo "\nUploading to board..."
+	@test -n "$(SERIALDEV)" || { \
+		echo "error: SERIALDEV could not be determined automatically." >&2; \
+		exit 1; }
+	@test 0 -eq $(SERIALDEVGUESS) || { \
+		echo "*GUESSING* at serial device:" $(SERIALDEV); \
+		echo; }
+	stty $(STTYFARG) $(SERIALDEV) hupcl
+	$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(TARGET).hex:i
+
+clean:
+	rm -f $(OBJECTS)
+	rm -f $(TARGET).elf $(TARGET).hex $(ARDUINOLIB) *~
+	rm -rf .lib .dep
+
+boards:
+	@echo Available values for BOARD:
+	@sed -nEe '/^#/d; /^[^.]+\.name=/p' $(BOARDS_FILE) | \
+		sed -Ee 's/([^.]+)\.name=(.*)/\1            \2/' \
+			-e 's/(.{12}) *(.*)/\1 \2/'
+
+monitor:
+	@test -n "$(SERIALDEV)" || { \
+		echo "error: SERIALDEV could not be determined automatically." >&2; \
+		exit 1; }
+	@test -n `which screen` || { \
+		echo "error: can't find GNU screen, you might need to install it." >&2 \
+		ecit 1; }
+	@test 0 -eq $(SERIALDEVGUESS) || { \
+		echo "*GUESSING* at serial device:" $(SERIALDEV); \
+		echo; }
+	screen $(SERIALDEV)
+
+size: $(TARGET).elf
+	echo && $(AVRSIZE) --format=avr --mcu=$(BOARD_BUILD_MCU) $(TARGET).elf
+
+# building the target
+
+$(TARGET).hex: $(TARGET).elf
+	$(OBJCOPY) -O ihex -R .eeprom $< $@
+
+.INTERMEDIATE: $(TARGET).elf
+
+$(TARGET).elf: $(ARDUINOLIB) $(OBJECTS)
+	$(CC) $(LINKFLAGS) $(OBJECTS) $(ARDUINOLIB) -lm -o $@
+
+%.o: %.c
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.c) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.cpp
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.cc
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.C
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.ino
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $(CPPINOFLAGS) $<
+
+%.o: %.pde
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ -x c++ -include $(ARDUINOCOREDIR)/Arduino.h $<
+
+# building the arduino library
+
+$(ARDUINOLIB): $(ARDUINOLIBOBJS)
+	$(AR) rcs $@ $?
+
+.lib/%.c.o: %.c
+	mkdir -p $(dir $@)
+	$(COMPILE.c) -o $@ $<
+
+.lib/%.cpp.o: %.cpp
+	mkdir -p $(dir $@)
+	$(COMPILE.cpp) -o $@ $<
+
+.lib/%.cc.o: %.cc
+	mkdir -p $(dir $@)
+	$(COMPILE.cpp) -o $@ $<
+
+.lib/%.C.o: %.C
+	mkdir -p $(dir $@)
+	$(COMPILE.cpp) -o $@ $<
diff --git a/arduino/ace_old/Makefile b/arduino/ace_old/Makefile
new file mode 100644
index 0000000..5ed9f66
--- /dev/null
+++ b/arduino/ace_old/Makefile
@@ -0,0 +1,7 @@
+#SOURCES := main.cc other.cc
+#LIBRARIES := EEPROM
+
+ARDUINODIR=$(ARDUINO_HOME)
+BOARD=mega2560
+export LIBRARIES=LiquidCrystal
+include arduino.mk
diff --git a/arduino/ace_old/ace.ino b/arduino/ace_old/ace.ino
new file mode 100644
index 0000000..33984dc
--- /dev/null
+++ b/arduino/ace_old/ace.ino
@@ -0,0 +1,117 @@
+#include "link.h"
+#include "physical.h"
+#include "transport.h"
+
+
+// include the library code:
+#include <LiquidCrystal.h>
+
+// initialize the library with the numbers of the interface pins
+LiquidCrystal lcd(8, 9, 4, 5, 6, 11);
+
+int freeRam () {
+  extern int __heap_start, *__brkval; 
+  int v; 
+  return (int) &v - (__brkval == 0 ? (int) &__heap_start : (int) __brkval);
+}
+
+#define LED_PIN 13
+uint8_t msg_buffer[] = {97,98,99};
+  message msg = {msg_buffer, 3};
+
+void setup() {
+  pinMode(LED_PIN, OUTPUT);
+  lcd.begin(16, 2);
+  init_physical_layer(115200);
+  init_transport_layer(200);
+ 
+}
+
+
+void step_circle() {
+  static volatile uint8_t position = 0;
+  static const char chars[] = {'|', '/', '-', '\\'};
+  position = position + 1;
+  if (position >= 4) position = 0;
+ 
+  lcd.setCursor(15, 0);
+  lcd.print(chars[position]);
+}
+
+
+void loop() {
+
+  //lcd.print(freeRam());
+  
+  int x = analogRead (0);
+  //lcd.setCursor(10,1);
+  if (x < 100) {
+    //lcd.print ("Right ");
+  }
+  else if (x < 200) {
+    //lcd.print ("Up    ");
+  }
+  else if (x < 400){
+    //lcd.print ("Down  ");
+  }
+  else if (x < 600){
+//    lcd.print ("Raw    ");
+    to_physical_layer(97);
+  }
+  else if (x < 800){
+    lcd.setCursor(0,0);
+    lcd.print ("SENDING...");
+    to_transport_layer(&msg);
+    lcd.print ("DONE");
+  }
+  else {
+    
+  }
+  
+  delay(100);
+
+  //step_circle();
+}
+
+/*void from_physical_layer(uint8_t byte) {
+ if (byte == 'A') digitalWrite(LED_PIN, HIGH);
+  else digitalWrite(LED_PIN, LOW);
+}*/
+/*void from_link_layer(packet* s) {
+ if (s->data[0] == 'A') digitalWrite(LED_PIN, HIGH);
+ else digitalWrite(LED_PIN, LOW);
+
+};*/
+
+
+static volatile uint32_t errs = 0;
+void from_transport_layer(transport_code code, message* s) {
+ lcd.clear();
+ lcd.setCursor(0,0);
+ if (code == RECEIVED) {
+   lcd.print("RECEIVED");
+   lcd.setCursor(0,1);
+   for (int i = 0; i < s->length; ++i) lcd.write(s->data[i]);
+ }
+ 
+ if (code == SEND_SUCCESS) {
+   lcd.print("SENT");
+   for (int i = 0; i < s->length; ++i) lcd.write(s->data[i]);
+ }
+ 
+ if (code >= SEND_ERROR) {
+   lcd.print("ERROR");
+   lcd.setCursor(0,1);
+   switch(code) {
+     case NO_ACK:
+       lcd.print("NO ACK");
+       break;
+     case BAD_ACK:
+       lcd.print("BAD ACK");
+       break;
+     case BUSY:
+       lcd.print("BUSY");
+       break;
+   }
+ }
+} //implemented in transport
diff --git a/arduino/ace_old/arduino.mk b/arduino/ace_old/arduino.mk
new file mode 100644
index 0000000..9fce9c7
--- /dev/null
+++ b/arduino/ace_old/arduino.mk
@@ -0,0 +1,379 @@
+#_______________________________________________________________________________
+#
+#                         edam's Arduino makefile
+#_______________________________________________________________________________
+#                                                                    version 0.4
+#
+# Copyright (C) 2011, 2012 Tim Marston <tim@ed.am>.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
+#_______________________________________________________________________________
+#
+#
+# This is a general purpose makefile for use with Arduino hardware and
+# software.  It works with the arduino-1.0 software release.  To download the
+# latest version of this makefile, visit the following website, where you can
+# also find more information and documentation on it's use.  The following text
+# can only really be considered a reference to it's use.
+#
+#   http://ed.am/dev/make/arduino-mk
+#
+# This makefile can be used as a drop-in replacement for the Arduino IDE's
+# build system.  To use it, save arduino.mk somewhere (I keep mine at
+# ~/src/arduino.mk) and create a symlink to it in your project directory named
+# "Makefile".  For example:
+#
+#   $ ln -s ~/src/arduino.mk Makefile
+#
+# The Arduino software (version 1.0 or later) is required.  If you are using
+# Debian (or a derivative), type `apt-get install arduino`.  Otherwise, you
+# will have to download the Arduino software manually from http://arduino.cc/.
+# It is suggested that you install it at ~/opt/arduino if you are unsure.
+#
+# If you downloaded the Arduino software manually and unpacked it somewhere
+# other than ~/opt/arduino, you will need to set up ARDUINODIR to be the path
+# where you unpacked it.  (If unset, ARDUINODIR defaults to ~/opt/arduino and
+# then /usr/share/arduino, in that order.)  You might be best to set this in
+# your ~/.profile by adding something like this:
+#
+#   export ARDUINODIR=~/somewhere/arduino-1.0
+#
+# You will also need to set BOARD to the type of Arduino you're building for.
+# Type `make boards` for a list of acceptable values.  You could set a default
+# in your ~/.profile if you want, but it is suggested that you specify this at
+# build time, especially if you work with different types of Arduino.  For
+# example:
+#
+#   $ export BOARD=uno
+#   $ make
+#
+# You may also need to set SERIALDEV if it is not detected correctly.
+#
+# The presence of a .ino (or .pde) file causes the arduino.mk to automatically
+# determine values for SOURCES, TARGET and LIBRARIES.  Any .c, .cc and .cpp
+# files in the project directory (or any "util" or "utility" subdirectories)
+# are automatically included in the build and are scanned for Arduino libraries
+# that have been #included. Note, there can only be one .ino (or .pde) file.
+#
+# Alternatively, if you want to manually specify build variables, create a
+# Makefile that defines SOURCES and LIBRARIES and then includes arduino.mk.
+# (There is no need to define TARGET).  Here is an example Makefile:
+#
+#   SOURCES := main.cc other.cc
+#   LIBRARIES := EEPROM
+#   include ~/src/arduino.mk
+#
+# Here is a complete list of configuration parameters:
+#
+# ARDUINODIR   The path where the Arduino software is installed on your system.
+#
+# ARDUINOCONST The Arduino software version, as an integer, used to define the
+#              ARDUINO version constant. This defaults to 100 if undefined.
+#
+# AVRDUDECONF  The avrdude.conf to use. If undefined, this defaults to a guess
+#              based on where the avrdude in use is. If empty, no avrdude.conf
+#              is passed to avrdude (to the system default is used).
+#
+# AVRTOOLSPATH A space-separated list of directories to search in order when
+#              looking for the avr build tools. This defaults to the system PATH
+#              followed by subdirectories in ARDUINODIR if undefined.
+#
+# BOARD        Specify a target board type.  Run `make boards` to see available
+#              board types.
+#
+# LIBRARIES    A list of Arduino libraries to build and include.  This is set
+#              automatically if a .ino (or .pde) is found.
+#
+# SERIALDEV    The unix device name of the serial device that is the Arduino.
+#              If unspecified, an attempt is made to determine the name of a
+#              connected Arduino's serial device.
+#
+# SOURCES      A list of all source files of whatever language.  The language
+#              type is determined by the file extension.  This is set
+#              automatically if a .ino (or .pde) is found.
+#
+# TARGET       The name of the target file.  This is set automatically if a
+#              .ino (or .pde) is found, but it is not necessary to set it
+#              otherwise.
+#
+# This makefile also defines the following goals for use on the command line
+# when you run make:
+#
+# all          This is the default if no goal is specified.  It builds the
+#              target.
+#
+# target       Builds the target.
+#
+# upload       Uploads the last built target to an attached Arduino.
+#
+# clean        Deletes files created during the build.
+#
+# boards       Display a list of available board names, so that you can set the
+#              BOARD environment variable appropriately.
+#
+# monitor      Start `screen` on the serial device.  This is meant to be an
+#              equivalent to the Arduino serial monitor.
+#
+# size         Displays size information about the bulit target.
+#
+# <file>       Builds the specified file, either an object file or the target,
+#              from those that that would be built for the project.
+#_______________________________________________________________________________
+#
+
+# default arduino software directory, check software exists
+ifndef ARDUINODIR
+ARDUINODIR := $(firstword $(wildcard ~/opt/arduino /usr/share/arduino))
+endif
+ifeq "$(wildcard $(ARDUINODIR)/hardware/arduino/boards.txt)" ""
+$(error ARDUINODIR is not set correctly; arduino software not found)
+endif
+
+# default arduino version
+ARDUINOCONST ?= 100
+
+# default path for avr tools
+ifndef AVRTOOLSPATH
+AVRTOOLSPATH := $(subst :, , $(PATH))
+AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools
+AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools/avr/bin
+endif
+
+# auto mode?
+INOFILE := $(wildcard *.ino *.pde)
+ifdef INOFILE
+ifneq "$(words $(INOFILE))" "1"
+$(error There is more than one .pde or .ino file in this directory!)
+endif
+
+# automatically determine sources and targeet
+TARGET := $(basename $(INOFILE))
+SOURCES := $(INOFILE) \
+	$(wildcard *.c *.cc *.cpp) \
+	$(wildcard $(addprefix util/, *.c *.cc *.cpp)) \
+	$(wildcard $(addprefix utility/, *.c *.cc *.cpp))
+
+# automatically determine included libraries
+LIBRARIES := $(filter $(notdir $(wildcard $(ARDUINODIR)/libraries/*)), \
+	$(shell sed -ne "s/^ *\# *include *[<\"]\(.*\)\.h[>\"]/\1/p" $(SOURCES)))
+
+endif
+
+# no serial device? make a poor attempt to detect an arduino
+SERIALDEVGUESS := 0
+ifeq "$(SERIALDEV)" ""
+SERIALDEV := $(firstword $(wildcard \
+	/dev/ttyACM? /dev/ttyUSB? /dev/tty.usbserial* /dev/tty.usbmodem*))
+SERIALDEVGUESS := 1
+endif
+
+# software
+findsoftware = $(firstword $(wildcard $(addsuffix /$(1), $(AVRTOOLSPATH))))
+CC := $(call findsoftware,avr-gcc)
+CXX := $(call findsoftware,avr-g++)
+LD := $(call findsoftware,avr-ld)
+AR := $(call findsoftware,avr-ar)
+OBJCOPY := $(call findsoftware,avr-objcopy)
+AVRDUDE := $(call findsoftware,avrdude)
+AVRSIZE := $(call findsoftware,avr-size)
+
+# files
+TARGET := $(if $(TARGET),$(TARGET),a.out)
+OBJECTS := $(addsuffix .o, $(basename $(SOURCES)))
+DEPFILES := $(patsubst %, .dep/%.dep, $(SOURCES))
+ARDUINOCOREDIR := $(ARDUINODIR)/hardware/arduino/cores/arduino
+ARDUINOLIB := .lib/arduino.a
+ARDUINOLIBLIBSDIR := $(ARDUINODIR)/libraries
+ARDUINOLIBLIBSPATH := $(foreach lib, $(LIBRARIES), \
+	$(ARDUINODIR)/libraries/$(lib)/ $(ARDUINODIR)/libraries/$(lib)/utility/ )
+ARDUINOLIBOBJS := $(foreach dir, $(ARDUINOCOREDIR) $(ARDUINOLIBLIBSPATH), \
+	$(patsubst %, .lib/%.o, $(wildcard $(addprefix $(dir)/, *.c *.cpp))))
+ifeq "$(AVRDUDECONF)" ""
+ifeq "$(AVRDUDE)" "$(ARDUINODIR)/hardware/tools/avr/bin/avrdude"
+AVRDUDECONF := $(ARDUINODIR)/hardware/tools/avr/etc/avrdude.conf
+else
+AVRDUDECONF := $(wildcard $(AVRDUDE).conf)
+endif
+endif
+
+# no board?
+ifndef BOARD
+ifneq "$(MAKECMDGOALS)" "boards"
+ifneq "$(MAKECMDGOALS)" "clean"
+$(error BOARD is unset.  Type 'make boards' to see possible values)
+endif
+endif
+endif
+
+# obtain board parameters from the arduino boards.txt file
+BOARDS_FILE := $(ARDUINODIR)/hardware/arduino/boards.txt
+BOARD_BUILD_MCU := \
+	$(shell sed -ne "s/$(BOARD).build.mcu=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_BUILD_FCPU := \
+	$(shell sed -ne "s/$(BOARD).build.f_cpu=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_BUILD_VARIANT := \
+	$(shell sed -ne "s/$(BOARD).build.variant=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_UPLOAD_SPEED := \
+	$(shell sed -ne "s/$(BOARD).upload.speed=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_UPLOAD_PROTOCOL := \
+	$(shell sed -ne "s/$(BOARD).upload.protocol=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_USB_VID := \
+	$(shell sed -ne "s/$(BOARD).build.vid=\(.*\)/\1/p" $(BOARDS_FILE))
+BOARD_USB_PID := \
+	$(shell sed -ne "s/$(BOARD).build.pid=\(.*\)/\1/p" $(BOARDS_FILE))
+
+# invalid board?
+ifeq "$(BOARD_BUILD_MCU)" ""
+ifneq "$(MAKECMDGOALS)" "boards"
+ifneq "$(MAKECMDGOALS)" "clean"
+$(error BOARD is invalid.  Type 'make boards' to see possible values)
+endif
+endif
+endif
+
+# flags
+CPPFLAGS := -Os -Wall -fno-exceptions -ffunction-sections -fdata-sections
+CPPFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CPPFLAGS += -mmcu=$(BOARD_BUILD_MCU)
+CPPFLAGS += -DF_CPU=$(BOARD_BUILD_FCPU) -DARDUINO=$(ARDUINOCONST)
+CPPFLAGS += -DUSB_VID=$(BOARD_USB_VID) -DUSB_PID=$(BOARD_USB_PID)
+CPPFLAGS += -I. -Iutil -Iutility -I $(ARDUINOCOREDIR)
+CPPFLAGS += -I $(ARDUINODIR)/hardware/arduino/variants/$(BOARD_BUILD_VARIANT)/
+CPPFLAGS += $(addprefix -I $(ARDUINODIR)/libraries/, $(LIBRARIES))
+CPPFLAGS += $(patsubst %, -I $(ARDUINODIR)/libraries/%/utility, $(LIBRARIES))
+CPPDEPFLAGS = -MMD -MP -MF .dep/$<.dep
+CPPINOFLAGS := -x c++ -include $(ARDUINOCOREDIR)/Arduino.h
+AVRDUDEFLAGS := $(addprefix -C , $(AVRDUDECONF)) -DV
+AVRDUDEFLAGS += -p $(BOARD_BUILD_MCU) -P $(SERIALDEV)
+AVRDUDEFLAGS += -c $(BOARD_UPLOAD_PROTOCOL) -b $(BOARD_UPLOAD_SPEED)
+LINKFLAGS := -Os -Wl,--gc-sections -mmcu=$(BOARD_BUILD_MCU)
+
+# figure out which arg to use with stty (for OS X, GNU and busybox stty)
+STTYFARG := $(shell stty --help 2>&1 | \
+	grep -q 'illegal option' && echo -f || echo -F)
+
+# include dependencies
+ifneq "$(MAKECMDGOALS)" "clean"
+-include $(DEPFILES)
+endif
+
+# default rule
+.DEFAULT_GOAL := all
+
+#_______________________________________________________________________________
+#                                                                          RULES
+
+.PHONY:	all target upload clean boards monitor size
+
+all: target
+
+target: $(TARGET).hex
+
+upload: target
+	@echo "\nUploading to board..."
+	@test -n "$(SERIALDEV)" || { \
+		echo "error: SERIALDEV could not be determined automatically." >&2; \
+		exit 1; }
+	@test 0 -eq $(SERIALDEVGUESS) || { \
+		echo "*GUESSING* at serial device:" $(SERIALDEV); \
+		echo; }
+	stty $(STTYFARG) $(SERIALDEV) hupcl
+	$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(TARGET).hex:i
+
+clean:
+	rm -f $(OBJECTS)
+	rm -f $(TARGET).elf $(TARGET).hex $(ARDUINOLIB) *~
+	rm -rf .lib .dep
+
+boards:
+	@echo Available values for BOARD:
+	@sed -nEe '/^#/d; /^[^.]+\.name=/p' $(BOARDS_FILE) | \
+		sed -Ee 's/([^.]+)\.name=(.*)/\1            \2/' \
+			-e 's/(.{12}) *(.*)/\1 \2/'
+
+monitor:
+	@test -n "$(SERIALDEV)" || { \
+		echo "error: SERIALDEV could not be determined automatically." >&2; \
+		exit 1; }
+	@test -n `which screen` || { \
+		echo "error: can't find GNU screen, you might need to install it." >&2 \
+		ecit 1; }
+	@test 0 -eq $(SERIALDEVGUESS) || { \
+		echo "*GUESSING* at serial device:" $(SERIALDEV); \
+		echo; }
+	screen $(SERIALDEV)
+
+size: $(TARGET).elf
+	echo && $(AVRSIZE) --format=avr --mcu=$(BOARD_BUILD_MCU) $(TARGET).elf
+
+# building the target
+
+$(TARGET).hex: $(TARGET).elf
+	$(OBJCOPY) -O ihex -R .eeprom $< $@
+
+.INTERMEDIATE: $(TARGET).elf
+
+$(TARGET).elf: $(ARDUINOLIB) $(OBJECTS)
+	$(CC) $(LINKFLAGS) $(OBJECTS) $(ARDUINOLIB) -lm -o $@
+
+%.o: %.c
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.c) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.cpp
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.cc
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.C
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
+
+%.o: %.ino
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $(CPPINOFLAGS) $<
+
+%.o: %.pde
+	mkdir -p .dep/$(dir $<)
+	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ -x c++ -include $(ARDUINOCOREDIR)/Arduino.h $<
+
+# building the arduino library
+
+$(ARDUINOLIB): $(ARDUINOLIBOBJS)
+	$(AR) rcs $@ $?
+
+.lib/%.c.o: %.c
+	mkdir -p $(dir $@)
+	$(COMPILE.c) -o $@ $<
+
+.lib/%.cpp.o: %.cpp
+	mkdir -p $(dir $@)
+	$(COMPILE.cpp) -o $@ $<
+
+.lib/%.cc.o: %.cc
+	mkdir -p $(dir $@)
+	$(COMPILE.cpp) -o $@ $<
+
+.lib/%.C.o: %.C
+	mkdir -p $(dir $@)
+	$(COMPILE.cpp) -o $@ $<
diff --git a/arduino/ace_old/debug.h b/arduino/ace_old/debug.h
new file mode 100644
index 0000000..d10d85b
--- /dev/null
+++ b/arduino/ace_old/debug.h
@@ -0,0 +1,9 @@
+#ifndef MY_DEBUG_H
+#define MY_DEBUG_H
+
+// include the library code:
+#include <Arduino.h>
+#include <LiquidCrystal.h>
+
+
+#endif
diff --git a/arduino/ace_old/link.c b/arduino/ace_old/link.c
new file mode 100644
index 0000000..408e14e
--- /dev/null
+++ b/arduino/ace_old/link.c
@@ -0,0 +1,103 @@
+#include "link.h"
+#include "physical.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdbool.h>
+
+typedef enum {
+  WAITING,
+  RECEIVING,
+  ESCAPING
+} link_state;
+
+#define FRAME_ESCAPE 0x02
+#define FRAME_START 0x03
+#define FRAME_END 0x10
+
+
+void from_physical_layer(uint8_t byte) {
+  static link_state state = WAITING;
+  static uint16_t position = 0; //read position
+  static uint8_t packet_data_buffer[MAX_PACKET_SIZE];
+  static packet received = {packet_data_buffer, 0};
+  static uint8_t checksum = 0x00;
+  
+  static bool previous_exists = false;
+  static uint8_t previous_byte;
+  
+  #define start_receiving() \
+    position = 0; \
+    previous_exists = false; \
+    checksum = 0x00
+  
+  #define accept(byte) \
+    if (position >= MAX_PACKET_SIZE) {start_receiving(); return;} \
+    if (previous_exists) { \
+      packet_data_buffer[position] = previous_byte; \
+      position = position + 1; \
+      checksum = checksum ^ previous_byte; \
+      previous_byte = byte; \
+    } else { \
+      previous_byte = byte; \
+      previous_exists = true; \
+    }
+    
+
+  switch(state) {
+    case ESCAPING:
+      accept(byte);
+      state = RECEIVING;
+      break;
+      
+    case WAITING:
+      if (byte == FRAME_START) {
+        start_receiving();
+        state = RECEIVING;
+      }
+      break;
+    case RECEIVING:
+      switch(byte) {
+        case FRAME_ESCAPE:
+          state = ESCAPING;
+          break;
+        case FRAME_START:
+          start_receiving();
+          break;
+        case FRAME_END:
+          state = WAITING;
+          uint8_t sent_checksum = previous_byte;
+          if (sent_checksum == checksum) {
+            received.length = position;
+            from_link_layer(&received);
+          }
+          
+          break;
+        default:
+          accept(byte);
+          break;
+      }
+  }
+  
+  #undef accept
+  #undef start_receiving
+}
+
+void to_link_layer(packet* s) {
+  uint8_t checksum = 0x00;
+  uint8_t byte;
+  int i;
+  
+  to_physical_layer(FRAME_START);
+  for (i = 0; i < (s->length); ++i) {
+    byte = s->data[i];
+    if (byte == FRAME_START || byte == FRAME_END || byte == FRAME_ESCAPE)
+      to_physical_layer(FRAME_ESCAPE);
+    checksum = checksum ^ byte;
+    to_physical_layer(byte);
+  }
+  if (checksum == FRAME_START || checksum == FRAME_END || checksum == FRAME_ESCAPE)
+    to_physical_layer(FRAME_ESCAPE);
+  to_physical_layer(checksum);
+  to_physical_layer(FRAME_END);
+};
diff --git a/arduino/ace_old/link.h b/arduino/ace_old/link.h
new file mode 100644
index 0000000..797145e
--- /dev/null
+++ b/arduino/ace_old/link.h
@@ -0,0 +1,24 @@
+#ifndef LINK_H
+#define LINK_H
+
+#include <inttypes.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define MAX_PACKET_SIZE 256
+
+typedef struct {
+  uint8_t* data;
+  uint16_t length;
+} packet;
+
+void to_link_layer(packet* s); //implemented in link
+void from_link_layer(packet* r); //should be implemented in transport
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif /* LINK_H */
diff --git a/arduino/ace_old/physical.c b/arduino/ace_old/physical.c
new file mode 100644
index 0000000..17e15d7
--- /dev/null
+++ b/arduino/ace_old/physical.c
@@ -0,0 +1,61 @@
+#include "physical.h"
+#include "link.h"
+
+#include <avr/interrupt.h>
+
+typedef struct {
+  uint8_t buffer[SERIAL_BUFFER_SIZE];
+  volatile uint16_t head;
+  volatile uint16_t tail;
+} ring_buffer;
+
+static ring_buffer tx_buffer = {{0}, 0, 0};
+
+
+void init_physical_layer(uint32_t baud) {
+  //enable double speed transmission
+  UCSR0A |= (1 << U2X0);
+
+  uint16_t baud_setting = (F_CPU / 4 / baud - 1) / 2;
+  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+  UBRR0H = baud_setting >> 8;
+  UBRR0L = baud_setting;
+  
+  // defaults to 8-bit, no parity, 1 stop bit
+  UCSR0B |= (1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0);
+  UCSR0B &= ~(1 << UDRIE0) | (1 << TXEN0) | (1 << RXCIE0);
+}
+
+
+//receive
+ISR(USART0_RX_vect) {
+  uint8_t c = UDR0;
+  from_physical_layer(c);
+}
+
+//data register empty
+ISR(USART0_UDRE_vect) {
+  if (tx_buffer.head == tx_buffer.tail) {
+    //buffer empty, disable interruot
+    UCSR0B &= ~(1 << UDRIE0);
+  } else {
+    uint8_t c = tx_buffer.buffer[tx_buffer.tail];
+    tx_buffer.tail = (tx_buffer.tail + 1) % SERIAL_BUFFER_SIZE;
+    UDR0 = c; //write next byte
+  }
+}
+
+void to_physical_layer(uint8_t byte) {
+  uint16_t i = (tx_buffer.head + 1) % SERIAL_BUFFER_SIZE;
+	
+  // If the output buffer is full, there's nothing for it other than to 
+  // wait for the interrupt handler to empty it a bit
+if (i == tx_buffer.tail) return;
+  //while (i == tx_buffer.tail) {};
+	
+  tx_buffer.buffer[tx_buffer.head] = byte;
+  tx_buffer.head = i;
+	
+	//enable data register empty interrupt
+	UCSR0B |= (1 << UDRIE0);
+};
diff --git a/arduino/ace_old/physical.h b/arduino/ace_old/physical.h
new file mode 100644
index 0000000..74272ff
--- /dev/null
+++ b/arduino/ace_old/physical.h
@@ -0,0 +1,19 @@
+#ifndef PHYSICAL_H
+#define PHYSICAL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <inttypes.h>
+#define SERIAL_BUFFER_SIZE 64
+
+void init_physical_layer(uint32_t baud);
+void to_physical_layer(uint8_t s); //implemented in physical
+void from_physical_layer(uint8_t r); //should be implemented in link
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif /* PHYSICAL_H */
diff --git a/arduino/ace_old/transport.c b/arduino/ace_old/transport.c
new file mode 100644
index 0000000..986165e
--- /dev/null
+++ b/arduino/ace_old/transport.c
@@ -0,0 +1,166 @@
+#include "transport.h"
+#include "link.h"
+
+#include <stdlib.h>
+#include <stdbool.h>
+#include <avr/interrupt.h>
+
+//ms
+#define EXTRA_TIME 200
+#define MAX_RESENDS 5
+#define MAX_SEQ 255
+
+#define next_seq(k) if (k < MAX_SEQ) k = k + 1; else k = 0
+
+#define DATA 0x05
+#define ACK 0x06
+
+
+static void start_sending(message* msg, bool resend);
+static void stop_sending();
+
+
+typedef enum {
+  RECEIVED_PACKET,
+  TIMEOUT
+} event_kind;
+
+typedef struct {
+  event_kind kind;
+  packet* payload;
+} event;
+
+static void disassemble_packet(packet* p, uint8_t* seq, uint8_t* command, uint8_t** msg, uint16_t* message_length) {
+  if (seq != NULL) *seq = p->data[0];
+  if (command != NULL) *command = p->data[1];
+  if (msg != NULL) *msg = &(p->data[2]);
+  if (message_length != NULL) *message_length = p->length - 2;
+}
+
+static void assemble_packet(packet* p, uint8_t seq, uint8_t command, uint8_t* msg, uint16_t message_length) {
+  p->data[0] = seq;
+  p->data[1] = command;
+  int i;
+  for (i = 0; i < message_length; ++i) {
+    p->data[i+2] = msg[i];
+  }
+  p->length = message_length + 2;
+}
+
+static packet* ack(uint8_t seq) {
+  static uint8_t ack_buffer[] = {0, ACK};
+  static packet ack_packet = {ack_buffer, 2};
+  ack_buffer[0] = seq;
+  return &ack_packet;
+}
+
+static volatile bool awaiting_ack = false;
+static volatile uint8_t last_sent_seq = 0;
+static volatile uint8_t resends = 0;
+static volatile uint8_t last_sent_buffer[MAX_PACKET_SIZE]; 
+static volatile packet last_sent = {last_sent_buffer, 0};
+
+static void process_event(event* e) {
+  static uint8_t last_received_seq = 0;
+  
+  switch(e->kind) {
+    case RECEIVED_PACKET: {
+      uint8_t seq;
+      uint8_t cmd;
+      static message msg;
+      disassemble_packet(e->payload, &seq, &cmd, &msg.data, &msg.length);
+      
+      if (!awaiting_ack) {
+        if (cmd == DATA) {
+          if (last_received_seq != seq) {
+            last_received_seq = seq;
+            from_transport_layer(RECEIVED, &msg);
+          }
+          to_link_layer(ack(seq));
+        }
+        //ignore case in which an ack is received even though none is awaited
+ 
+      } else { //waiting for an ack
+        stop_sending();
+        disassemble_packet(&last_sent, NULL, NULL, &msg.data, &msg.length);
+        if (cmd == ACK && seq == last_sent_seq) {
+          from_transport_layer(SEND_SUCCESS, &msg);
+        } else {
+          from_transport_layer(BAD_ACK, &msg);
+        }
+      }      
+    } break;
+    case TIMEOUT:
+      if (resends > MAX_RESENDS) {
+        message msg;
+        disassemble_packet(&last_sent, NULL, NULL, &msg.data, &msg.length);
+        stop_sending();
+        from_transport_layer(NO_ACK, &msg);
+      } else {
+        start_sending(NULL, true);
+      }
+      break;
+  }
+}
+
+static void start_sending(message* msg, bool resend) {  
+  if (resend) {
+    resends = resends + 1;
+  } else {
+    next_seq(last_sent_seq);
+    assemble_packet(&last_sent, last_sent_seq, DATA, msg->data, msg->length);
+    resends = 0;
+    TIMSK1 |= (1 << OCIE1A);
+  }
+  
+  awaiting_ack = true;
+  to_link_layer(&last_sent);
+}
+
+static void stop_sending() {
+  TIMSK1 &= ~(1 << OCIE1A);
+  awaiting_ack = false;
+}
+
+static volatile uint32_t ticks;
+static volatile uint32_t max_ticks;
+
+void init_transport_layer(uint32_t timeout_millis) {
+  cli();
+  TCCR1A = 0; // set entire TCCR1A register to 0
+  TCCR1B = 0; // same for TCCR1B
+  // turn on CTC mode:
+  TCCR1B |= (1 << WGM12);
+  // set CS31 for 64 prescaler
+  TCCR1B |= (1 << CS11);
+  // set compare match register to desired timer count:
+  OCR1A = F_CPU / 1000 / 64; // should be 250 for F_CPU=16Mhz and f = 1000Hz
+  sei();
+  
+  //the timer should now interrupt every ms
+  max_ticks = timeout_millis;
+}
+
+ISR(TIMER1_COMPA_vect) {
+  static event e = {TIMEOUT, NULL};
+  
+  ticks = ticks + 1;
+  if (ticks > max_ticks) {
+    process_event(&e);
+    ticks = 0;
+  }
+} 
+
+void from_link_layer(packet* r) {
+ static event e = {RECEIVED_PACKET, NULL};
+ e.payload = r;
+ process_event(&e);
+}
+
+void to_transport_layer(message* s) {
+  if (!awaiting_ack)
+    start_sending(s, false);
+  else
+    from_transport_layer(BUSY, s);
+}
+
diff --git a/arduino/ace_old/transport.h b/arduino/ace_old/transport.h
new file mode 100644
index 0000000..233d19c
--- /dev/null
+++ b/arduino/ace_old/transport.h
@@ -0,0 +1,32 @@
+#ifndef TRANSPORT_H
+#define TRANSPORT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <inttypes.h>
+
+typedef struct {
+  uint8_t* data;
+  uint16_t length;
+} message;
+
+typedef enum {
+  RECEIVED = 0,
+  SEND_SUCCESS = 1,
+  SEND_ERROR = 2,
+  NO_ACK = 3,
+  BAD_ACK = 4,
+  BUSY = 5
+} transport_code;
+
+void init_transport_layer(uint32_t timeout_millis);
+void to_transport_layer(message* s); //implemented in transport
+void from_transport_layer(transport_code code, message* r); //should be implemented in application
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif /* TRANSPORT_H */
diff --git a/scala/.gitignore b/scala/.gitignore
new file mode 100644
index 0000000..94730a8
--- /dev/null
+++ b/scala/.gitignore
@@ -0,0 +1,18 @@
+*.class
+*.log
+
+# sbt specific
+dist/*
+target/
+.target/
+lib_managed/
+src_managed/
+project/boot/
+project/plugins/project/
+
+# Scala-IDE specific
+.scala_dependencies
+.project
+.classpath
+.cache
+.settings/
diff --git a/scala/build.sbt b/scala/build.sbt
new file mode 100644
index 0000000..d61bc17
--- /dev/null
+++ b/scala/build.sbt
@@ -0,0 +1,9 @@
+name := "ace"
+
+organization := "com.github.jodersky"
+
+version := "1.0-SNAPSHOT"
+
+scalaVersion := "2.10.0"
+
+scalacOptions ++= Seq("-deprecation","-feature")
diff --git a/scala/lib/jssc.jar b/scala/lib/jssc.jar
new file mode 100644
index 0000000..b0d6a82
--- /dev/null
+++ b/scala/lib/jssc.jar
diff --git a/scala/src/main/scala/com/github/jodersky/ace/Arduino.scala b/scala/src/main/scala/com/github/jodersky/ace/Arduino.scala
new file mode 100644
index 0000000..7077570
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/Arduino.scala
@@ -0,0 +1,28 @@
+package com.github.jodersky.ace
+
+import scala.util.Try
+import jssc.SerialPort
+import jssc.SerialPortEventListener
+import jssc.SerialPortEvent
+import scala.util.Success
+import com.github.jodersky.ace.protocol.SecureSerial
+import scala.concurrent.Await
+import scala.concurrent.duration._
+
+object Arduino {
+
+  private def open(port: String, rate: Int) =  {
+    val serialPort = new SerialPort(port);
+    serialPort.openPort();
+    serialPort.setParams(rate,
+      SerialPort.DATABITS_8,
+      SerialPort.STOPBITS_1,
+      SerialPort.PARITY_NONE); //Set params. Also you can set params by this string: serialPort.setParams(9600, 8, 1, 0);
+    //  serialPort.writeBytes("This is a test string".getBytes()); //Write data to port
+    //serialPort.closePort(); //Close serial port
+    serialPort
+  }
+  
+  def connect(port: String) = new SecureSerial(open(port, 115200))
+  
+}
\ No newline at end of file
diff --git a/scala/src/main/scala/com/github/jodersky/ace/Main.scala b/scala/src/main/scala/com/github/jodersky/ace/Main.scala
new file mode 100644
index 0000000..17351e2
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/Main.scala
@@ -0,0 +1,18 @@
+package com.github.jodersky.ace
+
+import scala.concurrent._
+import scala.concurrent.ExecutionContext.Implicits.global
+
+object Main {
+  
+  def main(args: Array[String]): Unit = { 
+    val s = SafeSerial.open("/dev/ttyACM0", 115200).get
+    var cmd: String = ""
+    while (cmd != ":quit"){
+      cmd = Console.readLine
+      s.send(cmd).onComplete(v => println("sent: " + v))
+    }
+    s.close()
+  }
+
+}
diff --git a/scala/src/main/scala/com/github/jodersky/ace/SafeSerial.scala b/scala/src/main/scala/com/github/jodersky/ace/SafeSerial.scala
new file mode 100644
index 0000000..d75d6f5
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/SafeSerial.scala
@@ -0,0 +1,35 @@
+package com.github.jodersky.ace
+
+import com.github.jodersky.ace.protocol._
+import jssc.SerialPort
+import scala.concurrent.ExecutionContext.Implicits.global
+import scala.util.Try
+
+class SafeSerial(port: SerialPort) { self =>
+  val physical = new PhysicalLayer(port)
+  val link = new LinkLayer
+  val transport = new TransportLayer
+
+  val application = new ReactiveLayer[Message, String] {
+    def receive(message: Message) = Console.println(message.data.map(_.toChar).mkString(""))
+    def write(s: String) = writeToLower(Message(s.map(_.toChar.toInt))).map(x => s)
+  }
+
+  def send(s: String) = application.write(s)
+  def close() = Try(port.closePort())
+
+  physical connect link connect transport connect application
+  physical.begin()
+}
+
+object SafeSerial {
+  def open(port: String, rate: Int) = Try {
+    val serialPort = new SerialPort(port);
+    serialPort.openPort()
+    serialPort.setParams(rate,
+      SerialPort.DATABITS_8,
+      SerialPort.STOPBITS_1,
+      SerialPort.PARITY_NONE)
+    serialPort
+  } map (port => new SafeSerial(port)) 
+}
\ No newline at end of file
diff --git a/scala/src/main/scala/com/github/jodersky/ace/protocol/LinkLayer.scala b/scala/src/main/scala/com/github/jodersky/ace/protocol/LinkLayer.scala
new file mode 100644
index 0000000..5f8d228
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/protocol/LinkLayer.scala
@@ -0,0 +1,72 @@
+package com.github.jodersky.ace.protocol
+
+import scala.collection.mutable.ArrayBuffer
+import scala.concurrent.Future
+import scala.concurrent.ExecutionContext.Implicits.global
+
+class LinkLayer extends ReactiveLayer[Array[Byte], Packet] {
+  import LinkLayer._
+
+  private var state: State = Waiting
+  private val buffer = new ArrayBuffer[Int]
+
+  def receive(data: Array[Byte]) = for (d <- data) receive(d)
+
+  def receive(data: Byte): Unit = {
+    val unsigned = data & 0xff
+
+    state match {
+      case Escaping => {
+        buffer += unsigned
+        state = Receiving
+      }
+      case Waiting => if (unsigned == Start) {
+        buffer.clear()
+        state = Receiving
+      }
+      case Receiving => unsigned match {
+        case Escape => state = Escaping
+        case Start => buffer.clear()
+        case End => {
+          state = Waiting
+          if (checksum(buffer.init.toArray) == buffer.last)
+            notifyHigher(Packet(buffer.init.toArray))
+        }
+        case datum => buffer += datum
+      }
+    }
+  }
+
+  def write(packet: Packet): Future[Packet] = {
+    val buffer = new ArrayBuffer[Int]
+    buffer += Start
+    packet.data foreach { unsigned =>
+      unsigned match {
+        case Start | End | Escape => {
+          buffer += Escape
+          buffer += unsigned
+        }
+        case _ => buffer += unsigned
+      }
+    }
+    buffer += checksum(packet.data)
+    buffer += End
+    writeToLower(buffer.map(_.toByte).toArray).map(_ => packet)
+  }
+}
+
+object LinkLayer {
+  sealed trait State
+  case object Waiting extends State
+  case object Receiving extends State
+  case object Escaping extends State
+
+  final val Escape = 0x02
+  final val Start = 0x03
+  final val End = 0x10
+
+  def checksum(unsignedData: Seq[Int]) = {
+    unsignedData.fold(0)(_ ^ _)
+  }
+
+}
\ No newline at end of file
diff --git a/scala/src/main/scala/com/github/jodersky/ace/protocol/Message.scala b/scala/src/main/scala/com/github/jodersky/ace/protocol/Message.scala
new file mode 100644
index 0000000..32edfea
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/protocol/Message.scala
@@ -0,0 +1,3 @@
+package com.github.jodersky.ace.protocol
+
+case class Message(data: Seq[Int])
\ No newline at end of file
diff --git a/scala/src/main/scala/com/github/jodersky/ace/protocol/Packet.scala b/scala/src/main/scala/com/github/jodersky/ace/protocol/Packet.scala
new file mode 100644
index 0000000..583022f
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/protocol/Packet.scala
@@ -0,0 +1,3 @@
+package com.github.jodersky.ace.protocol
+
+case class Packet(data: Seq[Int])
\ No newline at end of file
diff --git a/scala/src/main/scala/com/github/jodersky/ace/protocol/PhysicalLayer.scala b/scala/src/main/scala/com/github/jodersky/ace/protocol/PhysicalLayer.scala
new file mode 100644
index 0000000..39c2d25
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/protocol/PhysicalLayer.scala
@@ -0,0 +1,37 @@
+package com.github.jodersky.ace.protocol
+
+import scala.concurrent._
+import scala.concurrent.ExecutionContext.Implicits.global
+import jssc.SerialPort
+import java.io.IOException
+import jssc.SerialPortEvent
+import jssc.SerialPortEventListener
+
+class PhysicalLayer(serial: SerialPort) extends ReactiveLayer[Nothing, Array[Byte]] {
+
+  def receive(nothing: Nothing) = throw new UnsupportedOperationException("A receive function cannot be called on the lowest layer.")
+
+  private val listener = new SerialPortEventListener {
+    override def serialEvent(event: SerialPortEvent) = {
+      if (event.isRXCHAR()) {
+        val bytes = serial.readBytes
+        if (bytes != null) notifyHigher(bytes)
+      }
+    }
+  }
+  
+
+  def write(data: Array[Byte]) = future {
+    serial.writeBytes(data)
+  } map { success =>
+    if (success) data
+    else throw new IOException("Could not write to serial port.")
+  }
+  
+  def begin() = {
+    val mask = SerialPort.MASK_RXCHAR + SerialPort.MASK_CTS + SerialPort.MASK_DSR
+    serial.setEventsMask(mask)
+    serial.addEventListener(listener)
+  }
+
+}
\ No newline at end of file
diff --git a/scala/src/main/scala/com/github/jodersky/ace/protocol/ReactiveLayer.scala b/scala/src/main/scala/com/github/jodersky/ace/protocol/ReactiveLayer.scala
new file mode 100644
index 0000000..422ced3
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/protocol/ReactiveLayer.scala
@@ -0,0 +1,39 @@
+package com.github.jodersky.ace.protocol
+
+import scala.concurrent.Future
+
+/** Represents a layer in a reactive protocol.
+ * 
+ *  @tparam L data type this layer receives from or writes to a lower layer
+ *  @tparam T data type this layer sends to a higher layer or receives from a higher */
+trait ReactiveLayer[L, T] {
+  private var lowerLayer: Option[ReactiveLayer[_, L]] = None 
+  private var higherLayer: Option[ReactiveLayer[T, _]] = None
+  
+  /** Notifies a higher layer that data is available. */
+  protected def notifyHigher(data: T): Unit = higherLayer match {
+    case Some(higher) => higher.receive(data)
+    case None => throw new UnsupportedOperationException("Higher layer doesn't exist.")
+  }
+  
+  /** Writes data to a lower layer. */
+  protected def writeToLower(l: L): Future[L] = lowerLayer match {
+    case Some(lower) => lower.write(l)
+    case None => Future.failed(new UnsupportedOperationException("Lower layer doesn't exist."))
+  }
+  
+  /** Connects this layer with a higher layer, effectively linking calls
+   *  `notifyHigher` to `higher.receive` and `higher.writeToLower` to `write`. */
+  def connect[A](higher: ReactiveLayer[T, A]) = {
+    this.higherLayer = Some(higher)
+    higher.lowerLayer = Some(this)
+    higher
+  }
+  
+  /** Called from lower layer. */
+  def receive(data: L): Unit
+  
+  /** Write data to this layer.
+   *  @return a future value containing the data written, or an error */
+  def write(data: T): Future[T]
+}
\ No newline at end of file
diff --git a/scala/src/main/scala/com/github/jodersky/ace/protocol/SecureSerial.scala b/scala/src/main/scala/com/github/jodersky/ace/protocol/SecureSerial.scala
new file mode 100644
index 0000000..e229b82
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/protocol/SecureSerial.scala
@@ -0,0 +1,22 @@
+package com.github.jodersky.ace.protocol
+
+import jssc.SerialPort
+import scala.concurrent.ExecutionContext.Implicits.global
+import scala.util.Try
+
+class SecureSerial(port: SerialPort) { self =>
+  val physical = new PhysicalLayer(port)
+  val link = new LinkLayer
+  val transport = new TransportLayer
+  
+  val application = new ReactiveLayer[Message, String] {
+    def receive(message: Message) = Console.println(message.data.mkString(""))
+    def write(s: String) = writeToLower(Message(s.map(_.toInt))).map(x => s)
+  }
+  
+  def send(s: String) = application.write(s)
+  def close() = Try(port.closePort())
+  
+  physical connect link connect transport connect application
+  physical.begin()
+}
\ No newline at end of file
diff --git a/scala/src/main/scala/com/github/jodersky/ace/protocol/TransportLayer.scala b/scala/src/main/scala/com/github/jodersky/ace/protocol/TransportLayer.scala
new file mode 100644
index 0000000..2055770
--- /dev/null
+++ b/scala/src/main/scala/com/github/jodersky/ace/protocol/TransportLayer.scala
@@ -0,0 +1,88 @@
+package com.github.jodersky.ace.protocol
+
+import scala.concurrent._
+import scala.concurrent.ExecutionContext.Implicits.global
+import scala.concurrent.duration._
+import java.io.IOException
+import scala.collection.mutable.HashMap
+import scala.collection.mutable.Queue
+import com.github.jodersky.ace.protocol.{Packet => PPacket}
+import scala.util.Success
+
+class TransportLayer extends ReactiveLayer[Packet, Message] {
+  
+  
+  private val openRequests = HashMap[Int, (Message, Promise[Message])]()
+  private val receivedSeqs = Queue[Int]()
+  
+  class Packet(val data: Seq[Int]) {
+    
+    def seq = data(0)
+    def cmd = data(1)
+    def message = Message(data.drop(2))
+    
+    def underlying = PPacket(data)
+  }
+  
+  object Packet {
+    final val DATA = 0x05
+    final val ACK = 0x06
+    private var seq = 0;
+    private def nextSeq() = {seq += 1; if (seq > TransportLayer.MaxSeq) seq = 0; seq}
+    
+    def fromPacket(packet: PPacket) = new Packet(packet.data)
+    
+    def fromMessage(message: Message) = new Packet(Seq(nextSeq(), DATA) ++ message.data)
+    
+    def ack(seq: Int) = new Packet (Seq(seq, ACK))
+    
+  }   
+
+  def receive(ppacket: PPacket) = {
+    val in = Packet.fromPacket(ppacket)
+    
+    in.cmd match {
+      case Packet.ACK => {
+        openRequests.get(in.seq).map{case (message, promise) => promise.complete(Success(message))}
+      }
+      
+      case Packet.DATA => {
+         writeToLower(Packet.ack(in.seq).underlying)
+         
+         if (!(receivedSeqs contains in.seq)) {
+           if (receivedSeqs.size > TransportLayer.MaxSeqBuffer) receivedSeqs.dequeue
+           receivedSeqs enqueue in.seq
+           notifyHigher(in.message)
+         }  
+      }
+      
+    }
+  }
+
+  def write(message: Message) = {
+    val promise = Promise[Message]
+    val packet = Packet.fromMessage(message)
+    val seq = packet.seq
+
+    def send(n: Int): Future[Message] =
+      writeToLower(packet.underlying) map { packet =>
+        Await.result(promise.future, TransportLayer.Timeout milliseconds)
+      } recoverWith {
+        case t: TimeoutException if (n < TransportLayer.MaxResends) => send(n + 1)
+      }
+      
+    if (openRequests.size >= TransportLayer.MaxSeqBuffer) Future.failed(new IOException("too many open requests"))
+    else {
+      openRequests += (seq -> (message, promise))
+      send(0) andThen {case r => (openRequests -= seq)}
+    }
+  }
+
+}
+
+object TransportLayer {
+  final val Timeout = 100
+  final val MaxResends = 5
+  final val MaxSeq = 255
+  final val MaxSeqBuffer = 10
+}
\ No newline at end of file
diff --git a/specification/.gitignore b/specification/.gitignore
new file mode 100644
index 0000000..b25c15b
--- /dev/null
+++ b/specification/.gitignore
@@ -0,0 +1 @@
+*~
diff --git a/specification/latex/specification.aux b/specification/latex/specification.aux
new file mode 100644
index 0000000..e6173fd
--- /dev/null
+++ b/specification/latex/specification.aux
@@ -0,0 +1,18 @@
+\relax 
+\ifx\hyper@anchor\@undefined
+\global \let \oldcontentsline\contentsline
+\gdef \contentsline#1#2#3#4{\oldcontentsline{#1}{#2}{#3}}
+\global \let \oldnewlabel\newlabel
+\gdef \newlabel#1#2{\newlabelxx{#1}#2}
+\gdef \newlabelxx#1#2#3#4#5#6{\oldnewlabel{#1}{{#2}{#3}}}
+\AtEndDocument{\let \contentsline\oldcontentsline
+\let \newlabel\oldnewlabel}
+\else
+\global \let \hyper@last\relax 
+\fi
+
+\select@language{english}
+\@writefile{toc}{\select@language{english}}
+\@writefile{lof}{\select@language{english}}
+\@writefile{lot}{\select@language{english}}
+\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces A frame in RSSP}}{2}{figure.1}}
diff --git a/specification/latex/specification.log b/specification/latex/specification.log
new file mode 100644
index 0000000..3747726
--- /dev/null
+++ b/specification/latex/specification.log
@@ -0,0 +1,656 @@
+This is pdfTeX, Version 3.1415926-1.40.10 (TeX Live 2009/Debian) (format=pdflatex 2012.4.28)  27 JAN 2013 17:18
+entering extended mode
+ %&-line parsing enabled.
+**specification.tex
+(./specification.tex
+LaTeX2e <2009/09/24>
+Babel <v3.8l> and hyphenation patterns for english, usenglishmax, dumylang, noh
+yphenation, loaded.
+(/usr/share/texmf-texlive/tex/latex/base/article.cls
+Document Class: article 2007/10/19 v1.4h Standard LaTeX document class
+(/usr/share/texmf-texlive/tex/latex/base/size10.clo
+File: size10.clo 2007/10/19 v1.4h Standard LaTeX file (size option)
+)
+\c@part=\count79
+\c@section=\count80
+\c@subsection=\count81
+\c@subsubsection=\count82
+\c@paragraph=\count83
+\c@subparagraph=\count84
+\c@figure=\count85
+\c@table=\count86
+\abovecaptionskip=\skip41
+\belowcaptionskip=\skip42
+\bibindent=\dimen102
+)
+(/usr/share/texmf-texlive/tex/latex/base/inputenc.sty
+Package: inputenc 2008/03/30 v1.1d Input encoding file
+\inpenc@prehook=\toks14
+\inpenc@posthook=\toks15
+
+(/usr/share/texmf-texlive/tex/latex/base/utf8.def
+File: utf8.def 2008/04/05 v1.1m UTF-8 support for inputenc
+Now handling font encoding OML ...
+... no UTF-8 mapping file for font encoding OML
+Now handling font encoding T1 ...
+... processing UTF-8 mapping file for font encoding T1
+
+(/usr/share/texmf-texlive/tex/latex/base/t1enc.dfu
+File: t1enc.dfu 2008/04/05 v1.1m UTF-8 support for inputenc
+   defining Unicode char U+00A1 (decimal 161)
+   defining Unicode char U+00A3 (decimal 163)
+   defining Unicode char U+00AB (decimal 171)
+   defining Unicode char U+00BB (decimal 187)
+   defining Unicode char U+00BF (decimal 191)
+   defining Unicode char U+00C0 (decimal 192)
+   defining Unicode char U+00C1 (decimal 193)
+   defining Unicode char U+00C2 (decimal 194)
+   defining Unicode char U+00C3 (decimal 195)
+   defining Unicode char U+00C4 (decimal 196)
+   defining Unicode char U+00C5 (decimal 197)
+   defining Unicode char U+00C6 (decimal 198)
+   defining Unicode char U+00C7 (decimal 199)
+   defining Unicode char U+00C8 (decimal 200)
+   defining Unicode char U+00C9 (decimal 201)
+   defining Unicode char U+00CA (decimal 202)
+   defining Unicode char U+00CB (decimal 203)
+   defining Unicode char U+00CC (decimal 204)
+   defining Unicode char U+00CD (decimal 205)
+   defining Unicode char U+00CE (decimal 206)
+   defining Unicode char U+00CF (decimal 207)
+   defining Unicode char U+00D0 (decimal 208)
+   defining Unicode char U+00D1 (decimal 209)
+   defining Unicode char U+00D2 (decimal 210)
+   defining Unicode char U+00D3 (decimal 211)
+   defining Unicode char U+00D4 (decimal 212)
+   defining Unicode char U+00D5 (decimal 213)
+   defining Unicode char U+00D6 (decimal 214)
+   defining Unicode char U+00D8 (decimal 216)
+   defining Unicode char U+00D9 (decimal 217)
+   defining Unicode char U+00DA (decimal 218)
+   defining Unicode char U+00DB (decimal 219)
+   defining Unicode char U+00DC (decimal 220)
+   defining Unicode char U+00DD (decimal 221)
+   defining Unicode char U+00DE (decimal 222)
+   defining Unicode char U+00DF (decimal 223)
+   defining Unicode char U+00E0 (decimal 224)
+   defining Unicode char U+00E1 (decimal 225)
+   defining Unicode char U+00E2 (decimal 226)
+   defining Unicode char U+00E3 (decimal 227)
+   defining Unicode char U+00E4 (decimal 228)
+   defining Unicode char U+00E5 (decimal 229)
+   defining Unicode char U+00E6 (decimal 230)
+   defining Unicode char U+00E7 (decimal 231)
+   defining Unicode char U+00E8 (decimal 232)
+   defining Unicode char U+00E9 (decimal 233)
+   defining Unicode char U+00EA (decimal 234)
+   defining Unicode char U+00EB (decimal 235)
+   defining Unicode char U+00EC (decimal 236)
+   defining Unicode char U+00ED (decimal 237)
+   defining Unicode char U+00EE (decimal 238)
+   defining Unicode char U+00EF (decimal 239)
+   defining Unicode char U+00F0 (decimal 240)
+   defining Unicode char U+00F1 (decimal 241)
+   defining Unicode char U+00F2 (decimal 242)
+   defining Unicode char U+00F3 (decimal 243)
+   defining Unicode char U+00F4 (decimal 244)
+   defining Unicode char U+00F5 (decimal 245)
+   defining Unicode char U+00F6 (decimal 246)
+   defining Unicode char U+00F8 (decimal 248)
+   defining Unicode char U+00F9 (decimal 249)
+   defining Unicode char U+00FA (decimal 250)
+   defining Unicode char U+00FB (decimal 251)
+   defining Unicode char U+00FC (decimal 252)
+   defining Unicode char U+00FD (decimal 253)
+   defining Unicode char U+00FE (decimal 254)
+   defining Unicode char U+00FF (decimal 255)
+   defining Unicode char U+0102 (decimal 258)
+   defining Unicode char U+0103 (decimal 259)
+   defining Unicode char U+0104 (decimal 260)
+   defining Unicode char U+0105 (decimal 261)
+   defining Unicode char U+0106 (decimal 262)
+   defining Unicode char U+0107 (decimal 263)
+   defining Unicode char U+010C (decimal 268)
+   defining Unicode char U+010D (decimal 269)
+   defining Unicode char U+010E (decimal 270)
+   defining Unicode char U+010F (decimal 271)
+   defining Unicode char U+0110 (decimal 272)
+   defining Unicode char U+0111 (decimal 273)
+   defining Unicode char U+0118 (decimal 280)
+   defining Unicode char U+0119 (decimal 281)
+   defining Unicode char U+011A (decimal 282)
+   defining Unicode char U+011B (decimal 283)
+   defining Unicode char U+011E (decimal 286)
+   defining Unicode char U+011F (decimal 287)
+   defining Unicode char U+0130 (decimal 304)
+   defining Unicode char U+0131 (decimal 305)
+   defining Unicode char U+0132 (decimal 306)
+   defining Unicode char U+0133 (decimal 307)
+   defining Unicode char U+0139 (decimal 313)
+   defining Unicode char U+013A (decimal 314)
+   defining Unicode char U+013D (decimal 317)
+   defining Unicode char U+013E (decimal 318)
+   defining Unicode char U+0141 (decimal 321)
+   defining Unicode char U+0142 (decimal 322)
+   defining Unicode char U+0143 (decimal 323)
+   defining Unicode char U+0144 (decimal 324)
+   defining Unicode char U+0147 (decimal 327)
+   defining Unicode char U+0148 (decimal 328)
+   defining Unicode char U+014A (decimal 330)
+   defining Unicode char U+014B (decimal 331)
+   defining Unicode char U+0150 (decimal 336)
+   defining Unicode char U+0151 (decimal 337)
+   defining Unicode char U+0152 (decimal 338)
+   defining Unicode char U+0153 (decimal 339)
+   defining Unicode char U+0154 (decimal 340)
+   defining Unicode char U+0155 (decimal 341)
+   defining Unicode char U+0158 (decimal 344)
+   defining Unicode char U+0159 (decimal 345)
+   defining Unicode char U+015A (decimal 346)
+   defining Unicode char U+015B (decimal 347)
+   defining Unicode char U+015E (decimal 350)
+   defining Unicode char U+015F (decimal 351)
+   defining Unicode char U+0160 (decimal 352)
+   defining Unicode char U+0161 (decimal 353)
+   defining Unicode char U+0162 (decimal 354)
+   defining Unicode char U+0163 (decimal 355)
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diff --git a/specification/latex/specification.pdf b/specification/latex/specification.pdf
new file mode 100644
index 0000000..f0591a3
--- /dev/null
+++ b/specification/latex/specification.pdf
diff --git a/specification/latex/specification.tex b/specification/latex/specification.tex
new file mode 100644
index 0000000..db261c7
--- /dev/null
+++ b/specification/latex/specification.tex
@@ -0,0 +1,103 @@
+% ** General Options ***************************************************
+
+	\documentclass[10pt,a4paper]{article}
+
+	% ** input encoding **
+	\usepackage[utf8]{inputenc} % Linux / Windows
+	%\usepackage[applemac]{inputenc} % Mac
+
+	% ** language **
+	%\usepackage[french]{babel} % french
+	%\usepackage[french, english]{babel} % bilingual, french / english
+	\usepackage[english]{babel} % english
+	
+	% ** illustrations **
+	\usepackage{graphicx}
+	\usepackage{subfigure}
+
+	% ** tables **
+	\usepackage{rotating}
+	\usepackage{ctable}
+	\usepackage{multirow}
+	\usepackage{makecell}
+	
+	% ** equations **
+	\usepackage{amsmath,amssymb,amsfonts}
+	\newcommand{\be} {\begin{equation}}
+	\newcommand{\ee} {\end{equation}}
+	\newcommand{\ben} {\begin{equation*}}
+	\newcommand{\een} {\end{equation*}}
+	\newcommand{\st} {\ensuremath{\sigma}}
+	\newcommand{\dfm} {\ensuremath{\varepsilon}}
+	\newcommand{\delx} {\ensuremath{\Delta x}}
+	\newcommand{\dely} {\ensuremath{\Delta y}}
+	\newcommand{\delz} {\ensuremath{\Delta z}}
+	\renewcommand{\deg} {\ensuremath{^{\circ}}}
+	\providecommand{\abs}[1]{\ensuremath{\left|#1\right|}}
+	\providecommand{\re}[1]{\ensuremath{\frac{\Delta #1}{#1}}}
+	\providecommand{\norm}[1]{\ensuremath{\lVert#1\rVert}}
+	\renewcommand{\vec}[1]{\ensuremath{\boldsymbol{#1}}}
+	\providecommand{\unit}[1]{\ensuremath{\mathrm{#1}}}
+	\providecommand{\E}[1]{\ensuremath{\cdot 10^{#1}}}
+	\providecommand{\tp}[1]{\ensuremath{10^{#1}}}
+	\providecommand{\ddif}{\ensuremath{\mathrm{d}}}
+	
+	% ** links **
+	\usepackage[colorlinks,bookmarks=false,linkcolor=blue,urlcolor=blue]{hyperref}
+	\newcommand{\mail}[1]{{\href{mailto:#1}{#1}}}
+	\newcommand{\ftplink}[1]{{\href{ftp://#1}{#1}}}
+	
+
+	% ** comments **
+	\newcommand{\comment}[1]{{}} % multi-line comment
+	
+	% ** layout **
+	\setlength{\textheight}{235mm}
+	\setlength{\topmargin}{-1.2cm}
+	%\setlength{\footskip}{5mm}
+	\setlength{\textwidth}{15cm}
+	\setlength{\oddsidemargin}{0.56cm}
+	\setlength{\evensidemargin}{0.56cm}
+
+\newcommand{\iw}{7.3cm}
+
+
+% ** Title, author *****************************************************
+\title{A Reactive Secure Serial Protocol}
+\date{\today}
+\author{Jakob Odersky\\{\small \mail{jodersky@gmail.com}}}
+	    
+\setcounter{tocdepth}{2}
+
+% ** Document **********************************************************
+\begin{document}
+
+\maketitle
+\tableofcontents
+\pagestyle{plain}
+\newpage
+
+\begin{figure}
+\begin{centering}
+
+\begin{tabular}{|c|c|c|c|}\hline
+Header & Packet & Checksum & Trailer \\ \hline
+0x02 & & & 0x03
+\end{tabular}
+
+
+
+
+\end{centering}
+\caption{A frame in RSSP}
+\end{figure}
+
+
+
+% \newpage
+% \appendix
+% \input{appendix.tex}
+
+%\bibliographystyle{ieeetr}
+%\bibliography{bibliography}
+\end{document}
diff --git a/specification/latex/specification.toc b/specification/latex/specification.toc
new file mode 100644
index 0000000..556f38b
--- /dev/null
+++ b/specification/latex/specification.toc
@@ -0,0 +1 @@
+\select@language {english}