o Initial import.HEADmaster

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diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/ant/experimental/ant_frequency_agility/ant_frequency_agility_rx/ant_frequency_agility_rx.c b/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/ant/experimental/ant_frequency_agility/ant_frequency_agility_rx/ant_frequency_agility_rx.c
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+++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/ant/experimental/ant_frequency_agility/ant_frequency_agility_rx/ant_frequency_agility_rx.c
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+/**
+ * This software is subject to the ANT+ Shared Source License
+ * www.thisisant.com/swlicenses
+ * Copyright (c) Dynastream Innovations, Inc. 2015
+ * 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 Dynastream nor the names of its
+ *    contributors may be used to endorse or promote products
+ *    derived from this software without specific prior
+ *    written permission.
+ * 
+ * The following actions are prohibited:
+ * 1) Redistribution of source code containing the ANT+ Network
+ *    Key. The ANT+ Network Key is available to ANT+ Adopters.
+ *    Please refer to http://thisisant.com to become an ANT+
+ *    Adopter and access the key.
+ * 
+ * 2) Reverse engineering, decompilation, and/or disassembly of
+ *    software provided in binary form under this license.
+ * 
+ * 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 HEREBY
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER 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; DAMAGE TO ANY DEVICE, 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. SOME STATES DO NOT ALLOW
+ * THE EXCLUSION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES, SO THE
+ * ABOVE LIMITATIONS MAY NOT APPLY TO YOU.
+ * 
+ */
+
+#include "ant_frequency_agility_rx.h"
+#include <stdint.h>
+#include "string.h"
+#include "sdk_config.h"
+#include "bsp.h"
+#include "nrf_soc.h"
+#include "ant_interface.h"
+#include "ant_parameters.h"
+#include "ant_channel_config.h"
+#include "ant_search_config.h"
+#include "nrf_sdh.h"
+#include "nrf_sdh_ant.h"
+#include "app_error.h"
+#include "ant_error.h"
+
+//ANT Channels
+#define ANT_CHANNEL_NUMBER              0x00                    /**< ANT Channel 0. */
+#define EXT_ASSIGN                      EXT_PARAM_FREQUENCY_AGILITY   /**< ANT Ext Assign. */
+#define ANT_CHANNEL_DEFAULT_NETWORK     0x00                    /**< ANT Network (default public network). */
+
+// Data Page Numbers
+#define DIGITALIO_DATA_PID              1u                      /**< Page number: digital data. */
+
+// Static variables and buffers.
+static uint8_t m_broadcast_data[ANT_STANDARD_DATA_PAYLOAD_SIZE];    /**< Primary data transmit buffer. */
+static uint8_t m_rx_input_pin_state = 0xFF;                         /**< State of received digital data, from the other node. */
+static uint8_t m_tx_input_pin_state = 0xFF;                         /**< State of digital inputs in this node, for transmission. */
+
+
+/**@brief Encode current state of buttons
+ *
+ * Configure bitfield encoding the state of the buttons
+ * Bit 0 = 0 if button 0 is pressed
+ * Bit 1 = 0 if button 1 is pressed
+ * Bit 2 = 0 if button 2 is pressed
+ * Bit 3 = 0 if button 3 is pressed
+ * Bit 4-7 = 1 (unused)
+ */
+static void encode_button_state(void)
+{
+    m_tx_input_pin_state = 0xFF;
+
+    if (bsp_button_is_pressed(0))
+    {
+        m_tx_input_pin_state &= 0xFE;
+    }
+
+    if (bsp_button_is_pressed(1))
+    {
+        m_tx_input_pin_state &= 0xFD;
+    }
+
+    if (bsp_button_is_pressed(2))
+    {
+        m_tx_input_pin_state &= 0xFB;
+    }
+
+    if (bsp_button_is_pressed(3))
+    {
+        m_tx_input_pin_state &= 0xF7;
+    }
+}
+
+
+/**@brief Formats page with current button state and sends data
+ * Byte 0   = Page number (Digital I/O Data)
+ * Byte 1-6 = Reserved
+ * Byte 7   = State of digital inputs
+ */
+static void handle_transmit()
+{
+    uint32_t err_code;
+
+    encode_button_state();
+
+    m_broadcast_data[0] = DIGITALIO_DATA_PID;
+    m_broadcast_data[1] = 0xFF;
+    m_broadcast_data[2] = 0xFF;
+    m_broadcast_data[3] = 0xFF;
+    m_broadcast_data[4] = 0xFF;
+    m_broadcast_data[5] = 0xFF;
+    m_broadcast_data[6] = 0xFF;
+    m_broadcast_data[7] = m_tx_input_pin_state;
+
+    err_code = sd_ant_broadcast_message_tx(ANT_CHANNEL_NUMBER, ANT_STANDARD_DATA_PAYLOAD_SIZE, m_broadcast_data);
+    APP_ERROR_CHECK(err_code);
+}
+
+/**@brief Turns on LEDs according to the contents of the received data page.
+ */
+static void set_led_state()
+{
+    uint8_t led_state_field = ~m_rx_input_pin_state;
+
+    if (led_state_field & 1)
+        bsp_board_led_on(BSP_BOARD_LED_0);
+    else
+        bsp_board_led_off(BSP_BOARD_LED_0);
+
+    if (led_state_field & 2)
+        bsp_board_led_on(BSP_BOARD_LED_1);
+    else
+        bsp_board_led_off(BSP_BOARD_LED_1);
+
+    if (led_state_field & 4)
+        bsp_board_led_on(BSP_BOARD_LED_2);
+    else
+        bsp_board_led_off(BSP_BOARD_LED_2);
+
+    if (led_state_field & 8)
+        bsp_board_led_on(BSP_BOARD_LED_3);
+    else
+        bsp_board_led_off(BSP_BOARD_LED_3);
+
+}
+
+
+void ant_freq_ag_setup(void)
+{
+    uint32_t err_code;
+
+    ant_channel_config_t channel_config =
+    {
+        .channel_number     = ANT_CHANNEL_NUMBER,
+        .channel_type       = CHANNEL_TYPE_SLAVE,
+        .ext_assign         = EXT_ASSIGN,
+        .rf_freq            = RF_FREQUENCY_A,
+        .transmission_type  = CHAN_ID_TRANS_TYPE,
+        .device_type        = CHAN_ID_DEV_TYPE,
+        .device_number      = CHAN_ID_DEV_NUM,
+        .channel_period     = CHAN_PERIOD,
+        .network_number     = ANT_CHANNEL_DEFAULT_NETWORK,
+    };
+
+
+    ant_search_config_t search_config  = DEFAULT_ANT_SEARCH_CONFIG(ANT_CHANNEL_NUMBER);
+    search_config.high_priority_timeout = 12;
+    search_config.low_priority_timeout = ANT_LOW_PRIORITY_SEARCH_DISABLE;
+
+    // Configure channel parameters
+    err_code = ant_channel_init(&channel_config);
+    APP_ERROR_CHECK(err_code);
+
+    // Configure search
+    err_code = ant_search_init(&search_config);
+    APP_ERROR_CHECK(err_code);
+
+    // Configure the frequency agility hop table.
+    err_code = sd_ant_auto_freq_hop_table_set(ANT_CHANNEL_NUMBER, RF_FREQUENCY_A, RF_FREQUENCY_B, RF_FREQUENCY_C);
+    APP_ERROR_CHECK(err_code);
+
+    // Open channel.
+    err_code = sd_ant_channel_open(ANT_CHANNEL_NUMBER);
+    APP_ERROR_CHECK(err_code);
+}
+
+
+static void ant_freq_ag_event_handler(ant_evt_t * p_ant_evt, void * p_context)
+{
+    uint32_t err_code;
+    uint8_t channel_status = 0;
+    ANT_MESSAGE * p_message = (ANT_MESSAGE*) p_ant_evt->message.aucMessage;
+
+    switch (p_ant_evt->event)
+    {
+        case EVENT_RX:
+           if (p_message->ANT_MESSAGE_aucPayload[0] == DIGITALIO_DATA_PID)
+           {
+               //Set LEDs according to Received Digital IO Data Page
+               m_rx_input_pin_state = p_message->ANT_MESSAGE_aucPayload[7];
+               set_led_state();
+           }
+           // Transmit data on the reverse direction every channel period
+           handle_transmit();
+           break;
+
+        case EVENT_TX:
+        case EVENT_TRANSFER_TX_COMPLETED:
+        case EVENT_TRANSFER_TX_FAILED:
+          // Transmit data on the reverse direction every channel period
+          handle_transmit();
+          break;
+
+        case EVENT_CHANNEL_CLOSED:
+            // Re -open the channel
+            err_code = sd_ant_channel_status_get (ANT_CHANNEL_NUMBER, &channel_status);
+            APP_ERROR_CHECK(err_code);
+
+            if ((channel_status & STATUS_CHANNEL_STATE_MASK) == STATUS_ASSIGNED_CHANNEL)
+            {
+                err_code = sd_ant_channel_open(ANT_CHANNEL_NUMBER);
+                APP_ERROR_CHECK(err_code);
+            }
+            break;
+
+        case EVENT_RX_SEARCH_TIMEOUT:
+        default:
+          break;
+    }
+}
+
+NRF_SDH_ANT_OBSERVER(m_ant_observer, 1, ant_freq_ag_event_handler, NULL);
+
+