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diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/ant/ant_hd_search_and_bs/main.c b/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/ant/ant_hd_search_and_bs/main.c
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@@ -0,0 +1,328 @@
+/**
+ * This software is subject to the ANT+ Shared Source License
+ * www.thisisant.com/swlicenses
+ * Copyright (c) Dynastream Innovations, Inc. 2013
+ * 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.
+ * 
+ */
+/**@file
+ * @defgroup nrf_ant_background_scanning_demo ANT Background Scanning Example
+ * @{
+ * @ingroup nrf_ant_background_scanning_demo
+ *
+ * @brief Example of ANT Background Scanning implementation.
+ *
+ * Before compiling this example for NRF52, complete the following steps:
+ * - Download the S212 SoftDevice from <a href="https://www.thisisant.com/developer/components/nrf52832" target="_blank">thisisant.com</a>.
+ * - Extract the downloaded zip file and copy the S212 SoftDevice headers to <tt>\<InstallFolder\>/components/softdevice/s212/headers</tt>.
+ * If you are using Keil packs, copy the files into a @c headers folder in your example folder.
+ * - Make sure that @ref ANT_LICENSE_KEY in @c nrf_sdm.h is uncommented.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "nrf.h"
+#include "bsp.h"
+#include "ant_interface.h"
+#include "ant_parameters.h"
+#include "app_error.h"
+#include "nrf_pwr_mgmt.h"
+#include "ant_channel_config.h"
+#include "ant_search_config.h"
+#include "app_timer.h"
+#include "nrf_sdh.h"
+#include "nrf_sdh_ant.h"
+#include "sdk_config.h"
+
+#include "nrf_log.h"
+#include "nrf_log_ctrl.h"
+#include "nrf_log_default_backends.h"
+
+#define ANT_BEACON_PAGE             ((uint8_t) 1)
+#define APP_MS_ANT_OBSERVER_PRIO    1
+#define APP_BS_ANT_OBSERVER_PRIO    1
+
+static uint8_t  m_last_rssi      = 0;
+static uint16_t m_last_device_id = 0;
+static uint8_t  m_received       = 0;
+
+/**@brief Function for setting payload for ANT message and sending it via
+ *        ANT master beacon channel.
+ *
+ *
+ * @details   ANT_BEACON_PAGE message is queued. The format is:
+ *            byte[0]   = page (1 = ANT_BEACON_PAGE)
+ *            byte[1]   = last RSSI value received
+ *            byte[2-3] = channel ID of device corresponding to last RSSI value (little endian)
+ *            byte[6]   = counter that increases with every message period
+ *            byte[7]   = number of messages received on background scanning channel
+ */
+void ant_message_send()
+{
+    uint32_t       err_code;
+    uint8_t        tx_buffer[ANT_STANDARD_DATA_PAYLOAD_SIZE];
+    static uint8_t counter = 0;
+
+    tx_buffer[0] = ANT_BEACON_PAGE;
+    tx_buffer[1] = m_last_rssi;
+    tx_buffer[2] = (uint8_t) LSB_16(m_last_device_id); // LSB
+    tx_buffer[3] = (uint8_t) MSB_16(m_last_device_id); // MSB
+    tx_buffer[6] = counter++;
+    tx_buffer[7] = m_received;
+
+    err_code = sd_ant_broadcast_message_tx(ANT_MS_CHANNEL_NUMBER,
+                                           ANT_STANDARD_DATA_PAYLOAD_SIZE,
+                                           tx_buffer);
+    APP_ERROR_CHECK(err_code);
+}
+
+/**@brief Initialize application.
+ */
+static void application_initialize()
+{
+    /* Set library config to report RSSI and Device ID */
+    uint32_t err_code = sd_ant_lib_config_set(ANT_LIB_CONFIG_MESG_OUT_INC_RSSI
+                                              | ANT_LIB_CONFIG_MESG_OUT_INC_DEVICE_ID);
+
+    APP_ERROR_CHECK(err_code);
+
+    const uint16_t dev_num = (uint16_t) (NRF_FICR->DEVICEID[0]);
+
+    const ant_channel_config_t ms_channel_config =
+    {
+        .channel_number    = ANT_MS_CHANNEL_NUMBER,
+        .channel_type      = CHANNEL_TYPE_MASTER,
+        .ext_assign        = 0x00,
+        .rf_freq           = RF_FREQ,
+        .transmission_type = CHAN_ID_TRANS_TYPE,
+        .device_type       = CHAN_ID_DEV_TYPE,
+        .device_number     = dev_num,
+        .channel_period    = CHAN_PERIOD,
+        .network_number    = ANT_NETWORK_NUM,
+    };
+
+    const ant_channel_config_t bs_channel_config =
+    {
+        .channel_number    = ANT_BS_CHANNEL_NUMBER,
+        .channel_type      = CHANNEL_TYPE_SLAVE,
+        .ext_assign        = EXT_PARAM_ALWAYS_SEARCH,
+        .rf_freq           = RF_FREQ,
+        .transmission_type = CHAN_ID_TRANS_TYPE,
+        .device_type       = CHAN_ID_DEV_TYPE,
+        .device_number     = 0x00,              // Wild card
+        .channel_period    = 0x00,              // This is not taken into account.
+        .network_number    = ANT_NETWORK_NUM,
+    };
+
+    const ant_search_config_t bs_search_config =
+    {
+        .channel_number        = ANT_BS_CHANNEL_NUMBER,
+        .low_priority_timeout  = ANT_LOW_PRIORITY_TIMEOUT_DISABLE,
+        .high_priority_timeout = ANT_HIGH_PRIORITY_SEARCH_DISABLE,
+        .search_sharing_cycles = ANT_SEARCH_SHARING_CYCLES_DISABLE,
+        .search_priority       = ANT_SEARCH_PRIORITY_DEFAULT,
+        // The ANT Search Waveform must be set to the default while using high duty search
+        .waveform = ANT_WAVEFORM_DEFAULT,
+    };
+
+    // Configure high duty search
+    // Can only be done with all channels closed
+    const ANT_HIGH_DUTY_SEARCH_CONFIG hconfig =
+    {
+        HIGH_DUTY_SEARCH_ENABLE,
+        HIGH_DUTY_SEARCH_SUPPRESSION_DEFAULT,
+        HIGH_DUTY_SEARCH_RESTART_INTERVAL_DEFAULT
+    };
+
+    err_code = sd_ant_high_duty_search_config_set(&hconfig);
+    APP_ERROR_CHECK(err_code);
+
+    err_code = ant_channel_init(&ms_channel_config);
+    APP_ERROR_CHECK(err_code);
+
+    err_code = ant_channel_init(&bs_channel_config);
+    APP_ERROR_CHECK(err_code);
+
+    err_code = ant_search_init(&bs_search_config);
+    APP_ERROR_CHECK(err_code);
+
+    // Fill tx buffer for the first frame
+    ant_message_send();
+
+    err_code = sd_ant_channel_open(ANT_MS_CHANNEL_NUMBER);
+    APP_ERROR_CHECK(err_code);
+
+    err_code = sd_ant_channel_open(ANT_BS_CHANNEL_NUMBER);
+    APP_ERROR_CHECK(err_code);
+}
+
+/**@brief Function for the Tracer initialization.
+ */
+static void utils_setup(void)
+{
+    ret_code_t err_code = app_timer_init();
+    APP_ERROR_CHECK(err_code);
+
+    err_code = bsp_init(BSP_INIT_LEDS,
+                        NULL);
+    APP_ERROR_CHECK(err_code);
+
+    err_code = nrf_pwr_mgmt_init();
+    APP_ERROR_CHECK(err_code);
+}
+
+/**
+ *@brief Function for initializing logging.
+ */
+static void log_init(void)
+{
+    ret_code_t err_code = NRF_LOG_INIT(NULL);
+    APP_ERROR_CHECK(err_code);
+
+    NRF_LOG_DEFAULT_BACKENDS_INIT();
+}
+
+/**@brief Function for ANT stack initialization.
+ *
+ * @details Initializes the SoftDevice and the ANT event interrupt.
+ */
+static void softdevice_setup(void)
+{
+    ret_code_t err_code = nrf_sdh_enable_request();
+    APP_ERROR_CHECK(err_code);
+
+    ASSERT(nrf_sdh_is_enabled());
+
+    err_code = nrf_sdh_ant_enable();
+    APP_ERROR_CHECK(err_code);
+}
+
+/**@brief Process ANT message on ANT background scanning channel.
+ *
+ * @param[in] p_ant_evt  ANT stack event.
+ * @param[in] p_context  Context.
+ */
+void background_scanner_process(ant_evt_t * p_ant_evt, void * p_context)
+{
+    uint32_t err_code;
+
+    switch (p_ant_evt->event)
+    {
+        case EVENT_RX:
+            err_code = bsp_indication_set(BSP_INDICATE_RCV_OK);
+            APP_ERROR_CHECK(err_code);
+
+            if (p_ant_evt->message.ANT_MESSAGE_stExtMesgBF.bANTDeviceID)
+            {
+                m_last_device_id = uint16_decode(p_ant_evt->message.ANT_MESSAGE_aucExtData);
+            }
+
+            if (p_ant_evt->message.ANT_MESSAGE_stExtMesgBF.bANTRssi)
+            {
+                m_last_rssi = p_ant_evt->message.ANT_MESSAGE_aucExtData[5];
+            }
+
+            NRF_LOG_INFO("Message number %d\n\r", m_received);
+            NRF_LOG_INFO("Device ID:     %d\n\r", m_last_device_id);
+            NRF_LOG_INFO("RSSI:          %d\n\r\n\r", m_last_rssi);
+
+            m_received++;
+            break;
+
+        default:
+            break;
+    }
+}
+
+NRF_SDH_ANT_OBSERVER(m_bs_ant_observer, APP_BS_ANT_OBSERVER_PRIO, background_scanner_process, NULL);
+
+/**@brief Process ANT message on ANT master beacon channel.
+ *
+ *
+ * @details   This function handles all events on the master beacon channel.
+ *            On EVENT_TX an ANT_BEACON_PAGE message is queued.
+ *
+ * @param[in] p_ant_evt  ANT stack event.
+ * @param[in] p_context  Context.
+ */
+void master_beacon_process(ant_evt_t * p_ant_evt, void * p_context)
+{
+    switch (p_ant_evt->event)
+    {
+        case EVENT_TX:
+            ant_message_send();
+            break;
+
+        default:
+            break;
+    }
+}
+
+NRF_SDH_ANT_OBSERVER(m_ms_ant_observer, APP_MS_ANT_OBSERVER_PRIO, master_beacon_process, NULL);
+
+
+/* Main function */
+int main(void)
+{
+    log_init();
+    utils_setup();
+    softdevice_setup();
+    application_initialize();
+
+    NRF_LOG_INFO("ANT High Duty Search and Background Scanning example started.");
+
+    // Enter main loop
+    for (;;)
+    {
+        NRF_LOG_FLUSH();
+        nrf_pwr_mgmt_run();
+    }
+}
+
+
+/**
+ *@}
+ **/