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robotology · Feb 28, 2024 · ab3e833 · ab3e833
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diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -0,0 +1,9 @@
+{
+	"name": "iCub Firmware Models Documentation",
+	"build": {
+		"dockerfile": "../.gitpod.Dockerfile"
+	},
+	"extensions": [],
+	"forwardPorts": [8000],
+	"remoteUser": "gitpod"
+}
diff --git a/.github/workflows/gh-pages.yml b/.github/workflows/gh-pages.yml
@@ -0,0 +1,57 @@
+name: GitHub Pages
+
+on:
+  push:
+    branches:
+    - docs
+  workflow_dispatch:
+  repository_dispatch:
+    types: [build_documentation]
+
+concurrency:
+  group: publish_gh_pages
+  cancel-in-progress: true
+
+jobs:
+  docs:
+    name: "Deploy"
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout docs 
+        uses: actions/checkout@main
+        with:
+          ref: 'docs'
+
+      - name: Dependencies
+        run: |
+          sudo apt update
+          sudo apt install -y python3-wheel python3-setuptools
+          pip install --upgrade Jinja2
+          pip install --user mkdocs
+          pip install --user $(mkdocs get-deps)
+          pip install --upgrade pygments
+          echo "${HOME}/.local/bin" >> ${GITHUB_PATH}
+        
+      - name: Configure Git
+        run: |
+          git config --global push.default upstream
+          git config --global user.name "GitHub Actions"
+          git config --global user.email "[email protected]"
+          git remote set-url origin https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}.git
+
+      - name: Build Mkdocs
+        run: |
+          mkdocs build
+
+      - name: Create and prepare gh-pages anew
+        run: |
+          git checkout --orphan gh-pages
+          rm -R `ls -A | grep -v -E "^(.git|site)$"`
+          mv site/* ./
+
+      - name: Commit and push
+        run: |
+          git add .
+          git commit -m "publish site"
+          git push --force --set-upstream origin gh-pages
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,14 @@
+site
+*~
+~*
+build*
+*.slxc
+*.autosave
+*.mexw64
+*.mexa64
+slprj*
+*.zip
+*_ert_rtw
+cache*
+codegen*
+derived*
diff --git a/.gitpod.Dockerfile b/.gitpod.Dockerfile
@@ -0,0 +1,25 @@
+FROM ubuntu:latest
+LABEL org.opencontainers.image.authors="Ugo Pattacini <[email protected]>"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt update && \
+    apt install -y sudo apt-utils bash-completion wget ruby git \
+                   python3 python3-pip python3-setuptools python3-wheel
+
+RUN pip install mkdocs && \
+    wget https://raw.githubusercontent.com/robotology/icub-firmware-models/docs/mkdocs.yml && \
+    pip install $(mkdocs get-deps) && \
+    rm mkdocs.yml
+
+RUN gem install yaml
+
+RUN rm -Rf /var/lib/apt/lists/*
+
+RUN useradd -l -u 33333 -G sudo -md /home/gitpod -s /bin/bash -p gitpod gitpod && \
+    sed -i.bkp -e 's/%sudo\s\+ALL=(ALL\(:ALL\)\?)\s\+ALL/%sudo ALL=NOPASSWD:ALL/g' /etc/sudoers
+
+EXPOSE 8000
+
+WORKDIR /workspace
+CMD ["bash"]
diff --git a/.gitpod.yml b/.gitpod.yml
@@ -0,0 +1,5 @@
+image:
+  file: .gitpod.Dockerfile
+ports:
+- port: 8000
+  onOpen: notify
diff --git a/README.md b/README.md
@@ -0,0 +1,4 @@
+iCub Firmware Models
+====================
+
+This repository hosts all the models underlying the iCub Firmware.
diff --git a/docs/assets/head-solid.png b/docs/assets/head-solid.png
diff --git a/docs/index.md b/docs/index.md
@@ -0,0 +1,5 @@
+# Welcome to the iCub Firmware Models
+This documentation contains a guide to the Simulink models we used to generate the firmware running
+onboard the iCub robot.
+
+#### [:zap:{.blink} Documentation resources for the `AMCBLDC` firmware](models/boards/amcbldc/webview.html){target=_blank}.
diff --git a/docs/javascripts/config.js b/docs/javascripts/config.js
@@ -0,0 +1,17 @@
+window.MathJax = {
+    tex: {
+      inlineMath: [["\\(", "\\)"]],
+      displayMath: [["\\[", "\\]"]],
+      processEscapes: true,
+      processEnvironments: true
+    },
+    options: {
+      ignoreHtmlClass: ".*|",
+      processHtmlClass: "arithmatex"
+    }
+  };
+
+  document$.subscribe(() => {
+    MathJax.typesetPromise()
+  })
+
diff --git a/docs/models/boards/amcbldc/stylesheets/combined.css b/docs/models/boards/amcbldc/stylesheets/combined.css
diff --git a/docs/models/boards/amcbldc/support/lib/bundle.main.js b/docs/models/boards/amcbldc/support/lib/bundle.main.js
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diff --git a/...cbldc/support/lib/images/checkmarkNoBorder-1269e0d1f90e781e5944aed70cbc6aac.png b/...cbldc/support/lib/images/checkmarkNoBorder-1269e0d1f90e781e5944aed70cbc6aac.png
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diff --git a/docs/models/boards/amcbldc/support/lib/images/closed_hand.cur b/docs/models/boards/amcbldc/support/lib/images/closed_hand.cur
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diff --git a/...upport/lib/images/commonIconsObjActEnabled-560539bd49cd623775f6fa2061014f1d.png b/...upport/lib/images/commonIconsObjActEnabled-560539bd49cd623775f6fa2061014f1d.png
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diff --git a/...amcbldc/support/lib/images/dialogCloseIcon-ae2e05eb79ac53028959986dafa517cf.png b/...amcbldc/support/lib/images/dialogCloseIcon-ae2e05eb79ac53028959986dafa517cf.png
diff --git a/...ldc/support/lib/images/dialogCloseIcon8bit-38fbceeccdaf8ffea7bc324f5f6b0d67.png b/...ldc/support/lib/images/dialogCloseIcon8bit-38fbceeccdaf8ffea7bc324f5f6b0d67.png
diff --git a/...dels/boards/amcbldc/support/lib/images/dnd-bcb9ab9968eda26ef7c997834c1eb539.png b/...dels/boards/amcbldc/support/lib/images/dnd-bcb9ab9968eda26ef7c997834c1eb539.png
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diff --git a/...bldc/support/lib/images/editorIconsEnabled-be18bc672b0ecf2c2a204a28435fec19.png b/...bldc/support/lib/images/editorIconsEnabled-be18bc672b0ecf2c2a204a28435fec19.png
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diff --git a/...ls/boards/amcbldc/support/lib/images/error-599d9a38cb19f45d64cf20cbbc0c9d2f.png b/...ls/boards/amcbldc/support/lib/images/error-599d9a38cb19f45d64cf20cbbc0c9d2f.png
diff --git a/...mcbldc/support/lib/images/loadingAnimation-e902db352e0e800182328e7f8e67231d.gif b/...mcbldc/support/lib/images/loadingAnimation-e902db352e0e800182328e7f8e67231d.gif
diff --git a/...dc/support/lib/images/loadingAnimation_rtl-b6f1fd46a8f5dd0d0ab385eea4624e18.gif b/...dc/support/lib/images/loadingAnimation_rtl-b6f1fd46a8f5dd0d0ab385eea4624e18.gif
diff --git a/docs/models/boards/amcbldc/support/lib/images/open_hand.cur b/docs/models/boards/amcbldc/support/lib/images/open_hand.cur
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diff --git a/...dc/support/lib/images/treeExpandImages8bit-5c82af3acdbebc3503f9dbe1d2364cae.png b/...dc/support/lib/images/treeExpandImages8bit-5c82af3acdbebc3503f9dbe1d2364cae.png
diff --git a/...support/lib/images/ui-icons_222222_256x240-ebe6b6902a408fbf9cac6379a1477525.png b/...support/lib/images/ui-icons_222222_256x240-ebe6b6902a408fbf9cac6379a1477525.png
diff --git a/docs/models/boards/amcbldc/support/lib/images/zoom_in.cur b/docs/models/boards/amcbldc/support/lib/images/zoom_in.cur
diff --git a/docs/models/boards/amcbldc/support/lib/main-css.css b/docs/models/boards/amcbldc/support/lib/main-css.css
diff --git a/docs/models/boards/amcbldc/support/lib/rights/CodeMirror.rights b/docs/models/boards/amcbldc/support/lib/rights/CodeMirror.rights
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (C) 2017 by Marijn Haverbeke <[email protected]> and others
+
+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.
diff --git a/docs/models/boards/amcbldc/support/lib/rights/D3js.rights b/docs/models/boards/amcbldc/support/lib/rights/D3js.rights
@@ -0,0 +1,27 @@
+Copyright 2010-2017 Mike Bostock
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the author nor the names of contributors may be used to
+  endorse or promote products derived from this software without specific prior
+  written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/docs/models/boards/amcbldc/support/lib/rights/Selector.rights b/docs/models/boards/amcbldc/support/lib/rights/Selector.rights
@@ -0,0 +1,32 @@
+/**
+ * @license
+ *
+ *  ***** BEGIN LICENSE BLOCK *****
+ * Distributed under the "New" BSD License:
+ *
+ * Copyright (c) 2010-2016, The Dojo Foundation
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *    * Redistributions of source code must retain the above copyright notice, this
+ *      list of conditions and the following disclaimer.
+ *    * Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *    * Neither the name of the Dojo Foundation nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * ***** END LICENSE BLOCK ***** */
diff --git a/docs/models/boards/amcbldc/support/lib/rights/Vuejs.rights b/docs/models/boards/amcbldc/support/lib/rights/Vuejs.rights
@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2018-present, Yuxi (Evan) You
+
+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.
diff --git a/docs/models/boards/amcbldc/support/lib/rights/ace.rights b/docs/models/boards/amcbldc/support/lib/rights/ace.rights
@@ -0,0 +1,24 @@
+Copyright (c) 2010, Ajax.org B.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of Ajax.org B.V. nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL AJAX.ORG B.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/docs/models/boards/amcbldc/support/lib/rights/antlrv4-runtime-js.rights b/docs/models/boards/amcbldc/support/lib/rights/antlrv4-runtime-js.rights
@@ -0,0 +1,52 @@
+[The "BSD 3-clause license"]
+Copyright (c) 2012-2017 The ANTLR Project. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ 1. Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+ 2. Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in the
+    documentation and/or other materials provided with the distribution.
+ 3. Neither the name of the copyright holder nor the names of its contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+=====
+
+MIT License for codepointat.js from https://git.io/codepointat
+MIT License for fromcodepoint.js from https://git.io/vDW1m
+
+Copyright Mathias Bynens <https://mathiasbynens.be/>
+
+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.
diff --git a/docs/models/boards/amcbldc/support/lib/rights/custom-elements.rights b/docs/models/boards/amcbldc/support/lib/rights/custom-elements.rights
@@ -0,0 +1,19 @@
+# License
+
+Everything in this repo is BSD style license unless otherwise specified.
+
+Copyright (c) 2015 The Polymer Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+* Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/docs/models/boards/amcbldc/support/lib/rights/dagre.rights b/docs/models/boards/amcbldc/support/lib/rights/dagre.rights
@@ -0,0 +1,19 @@
+Copyright (c) 2012-2014 Chris Pettitt
+
+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.