UMI gripper firmware v2.0.0 (RP2040)
Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
NVIDIA-owned portions: Apache-2.0; see LICENSE.

The firmware source files below adapt third-party code. Each keeps its original
copyright and license notice at the top of the file; the full license texts are
in LICENSES/.

firmware/crc16.h
  CRC-16/XMODEM table and function matching Redis src/crc16.c.
  Copyright 2001-2010 Georges Menie (www.menie.org)
  Copyright 2010-2012 Salvatore Sanfilippo
  License: BSD-3-Clause (LICENSES/CRC16-BSD-3-Clause.txt)
  Reference: https://github.com/redis/redis/blob/7.2/src/crc16.c

firmware/usb_descriptors.c
  Device, string and reset descriptors adapted from the Raspberry Pi Pico SDK
  stdio_usb_descriptors.c, which was originally part of MicroPython.
  Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
  Copyright (c) 2019 Damien P. George
  License: MIT (LICENSES/Pico-stdio-usb-MIT.txt)
  Reference: https://github.com/raspberrypi/pico-sdk/blob/2.2.0/src/rp2_common/pico_stdio_usb/stdio_usb_descriptors.c
  The stereo microphone descriptor is adapted from TinyUSB src/device/usbd.h.
  Copyright (c) 2019 Ha Thach (tinyusb.org)
  License: MIT (LICENSES/TinyUSB-MIT.txt)

firmware/usb_audio.c
  UAC2 control callbacks adapted from the TinyUSB audio_4_channel_mic example.
  Copyright (c) 2020 Reinhard Panhuber
  License: MIT (LICENSES/TinyUSB-MIT.txt)
  Reference: https://github.com/hathach/tinyusb/blob/0.18.0/examples/device/audio_4_channel_mic/src/main.c

firmware/OpenPDM2PCM/OpenPDMFilter.c, firmware/OpenPDM2PCM/OpenPDMFilter.h
  Copyright (c) 2018 STMicroelectronics
  License: Apache-2.0 (LICENSE)
  Reference: https://github.com/ArmDeveloperEcosystem/microphone-library-for-pico/tree/main/src/OpenPDM2PCM

firmware/pico_sdk_import.cmake
  Copy of the Raspberry Pi Pico SDK import helper.
  Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
  License: BSD-3-Clause (LICENSES/RaspberryPi-BSD-3-Clause.txt)

Building the firmware links code that is not in this archive: the Raspberry Pi
Pico SDK 2.2.0 (BSD-3-Clause, with its MIT-licensed TinyUSB stack and printf)
and the Arm toolchain's Newlib C library and libgcc (GPL-3.0-or-later with the
GCC Runtime Library Exception 3.1). If you distribute a built UF2 or ELF,
include the notices of the SDK and toolchain versions you built with.
