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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 +1,6 @@
+# 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}.
+#### [:zap:{.blink} Documentation resources for the `AMCFOC` firmware](models/boards/amcfoc/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/...bldc/support/lib/images/calendarArrows8bit-b70fc0c78d48e851bd73eecfc479d6d4.png b/...bldc/support/lib/images/calendarArrows8bit-b70fc0c78d48e851bd73eecfc479d6d4.png
diff --git a/...ort/lib/images/checkboxAndRadioButtons_IE6-5357ebee9d94419cfe37a60bbeb1833a.png b/...ort/lib/images/checkboxAndRadioButtons_IE6-5357ebee9d94419cfe37a60bbeb1833a.png
diff --git a/...pport/lib/images/checkboxRadioButtonStates-262e9ca14479e3184062ab98217f666f.png b/...pport/lib/images/checkboxRadioButtonStates-262e9ca14479e3184062ab98217f666f.png
diff --git a/...cbldc/support/lib/images/checkmarkNoBorder-4ccbb81890ec08f033044b05a8fd1952.gif b/...cbldc/support/lib/images/checkmarkNoBorder-4ccbb81890ec08f033044b05a8fd1952.gif
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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
diff --git a/...mcbldc/support/lib/images/commonFormArrows-abec9a53fde308625fe3dacef74cb6ad.png b/...mcbldc/support/lib/images/commonFormArrows-abec9a53fde308625fe3dacef74cb6ad.png
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diff --git a/...t/lib/images/commonIconsObjActDisabled_rtl-4889d7ce400ac0d31e9e0a74fb134e02.png b/...t/lib/images/commonIconsObjActDisabled_rtl-4889d7ce400ac0d31e9e0a74fb134e02.png
diff --git a/...upport/lib/images/commonIconsObjActEnabled-ba0940525495200f81bb288d7510ed53.png b/...upport/lib/images/commonIconsObjActEnabled-ba0940525495200f81bb288d7510ed53.png
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diff --git a/...ib/images/commonIconsObjActEnabled8bit_rtl-09b4bd07c00f6cd1a8891a5a63bd6a80.png b/...ib/images/commonIconsObjActEnabled8bit_rtl-09b4bd07c00f6cd1a8891a5a63bd6a80.png
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diff --git a/...amcbldc/support/lib/images/dialogCloseIcon-a79aaaeea343734835ac8daf5006349a.png b/...amcbldc/support/lib/images/dialogCloseIcon-a79aaaeea343734835ac8daf5006349a.png
diff --git a/...ldc/support/lib/images/dialogCloseIcon8bit-2553a1e33bd38a5588e88f4295b2844f.png b/...ldc/support/lib/images/dialogCloseIcon8bit-2553a1e33bd38a5588e88f4295b2844f.png
diff --git a/...dels/boards/amcbldc/support/lib/images/dnd-b20030644e8dcd9b4187126ec675c62d.png b/...dels/boards/amcbldc/support/lib/images/dnd-b20030644e8dcd9b4187126ec675c62d.png
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diff --git a/...bldc/support/lib/images/editorIconsEnabled-b364fb1d9352d8823077d41304492f5c.png b/...bldc/support/lib/images/editorIconsEnabled-b364fb1d9352d8823077d41304492f5c.png
diff --git a/.../support/lib/images/editorIconsEnabled_rtl-71daceb1b02f29a9c53bb170e742f0d3.png b/.../support/lib/images/editorIconsEnabled_rtl-71daceb1b02f29a9c53bb170e742f0d3.png
diff --git a/...ls/boards/amcbldc/support/lib/images/error-0e0f865e76f094536f2217ce2e4db776.png b/...ls/boards/amcbldc/support/lib/images/error-0e0f865e76f094536f2217ce2e4db776.png
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diff --git a/...dc/support/lib/images/loadingAnimation_rtl-9936ee148ea736d3ec32a35fb1be9130.gif b/...dc/support/lib/images/loadingAnimation_rtl-9936ee148ea736d3ec32a35fb1be9130.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/...mcbldc/support/lib/images/treeExpandImages-17423539da80facf2a1f995d29b6cf8c.png b/...mcbldc/support/lib/images/treeExpandImages-17423539da80facf2a1f995d29b6cf8c.png
diff --git a/...dc/support/lib/images/treeExpandImages8bit-61d8b5632f8bc73887bcce818f09578d.png b/...dc/support/lib/images/treeExpandImages8bit-61d8b5632f8bc73887bcce818f09578d.png
diff --git a/...support/lib/images/ui-icons_222222_256x240-9de1b0948e757a140d7797bd7f3e9072.png b/...support/lib/images/ui-icons_222222_256x240-9de1b0948e757a140d7797bd7f3e9072.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 2010-2016 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/STIXfonts.rights b/docs/models/boards/amcbldc/support/lib/rights/STIXfonts.rights
@@ -0,0 +1,109 @@
+Copyright (c) 2001-2010 by the STI Pub Companies, consisting of the American
+Institute of Physics, the American Chemical Society, the American Mathematical
+Society, the American Physical Society, Elsevier, Inc., and The Institute of
+Electrical and Electronic Engineers, Inc. (www.stixfonts.org), with Reserved
+Font Name STIX Fonts, STIX FontsTM is a trademark of The Institute of
+Electrical and Electronics Engineers, Inc.
+
+Portions copyright (c) 1998-2003 by MicroPress, Inc. (www.micropress-inc.com),
+with Reserved Font Name TM Math. To obtain additional mathematical fonts,
+please contact MicroPress, Inc., 68-30 Harrow Street, Forest Hills, NY 11375,
+USA – Phone: (718) 575-1816.
+
+Portions copyright (c) 1990 by Elsevier, Inc.
+
+Copyright (c) 2013 by The MathJax Consortium,
+with Reserved Font Name STIX MathJax
+
+This Font Software is licensed under the SIL Open Font License, Version 1.1.
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font creation
+efforts of academic and linguistic communities, and to provide a free and
+open framework in which fonts may be shared and improved in partnership
+with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded, 
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply
+to any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software components as
+distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to, deleting,
+or substituting -- in part or in whole -- any of the components of the
+Original Version, by changing formats or by porting the Font Software to a
+new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed, modify,
+redistribute, and sell modified and unmodified copies of the Font
+Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components,
+in Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the corresponding
+Copyright Holder. This restriction only applies to the primary font name as
+presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created
+using the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
+
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 and Vue contributors
+
+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.