From 55ed793c121b995eda320f7ca21b1e8838fe03ce Mon Sep 17 00:00:00 2001
From: baldeau <fabian.baldeau@protonmail.com>
Date: Mon, 24 Feb 2025 23:16:48 +0100
Subject: [PATCH] initial commit

---
 .DS_Store                               |  Bin 0 -> 6148 bytes
 .assets/ferris.webp                     |  Bin 0 -> 50596 bytes
 .cargo/config.toml                      |   15 +
 .gitignore                              |    1 +
 Cargo.lock                              | 1676 +++++++++++++++++++++++
 Cargo.toml                              |   78 ++
 README.md                               |   23 +
 build.rs                                |    6 +
 build_and_flash.sh                      |   28 +
 flashing_time.py                        |   15 +
 lsm6ds3tr_demo/.DS_Store                |  Bin 0 -> 6148 bytes
 lsm6ds3tr_demo/Cargo.toml               |   36 +
 lsm6ds3tr_demo/src/common.rs            |    4 +
 lsm6ds3tr_demo/src/main.rs              |  284 ++++
 lsm6ds3tr_demo/src/usb_dfu.rs           |  157 +++
 memory.x                                |   20 +
 tflite_demo/.DS_Store                   |  Bin 0 -> 6148 bytes
 tflite_demo/Cargo.toml                  |   37 +
 tflite_demo/features/speech.rs          |  219 +++
 tflite_demo/models/.DS_Store            |  Bin 0 -> 6148 bytes
 tflite_demo/models/gesture_model.tflite |  Bin 0 -> 148188 bytes
 tflite_demo/models/sine.tflite          |  Bin 0 -> 2680 bytes
 tflite_demo/models/speech.tflite        |  Bin 0 -> 18800 bytes
 tflite_demo/src/common.rs               |    4 +
 tflite_demo/src/main.rs                 |  285 ++++
 tflite_demo/src/usb_dfu.rs              |  157 +++
 26 files changed, 3045 insertions(+)
 create mode 100644 .DS_Store
 create mode 100644 .assets/ferris.webp
 create mode 100644 .cargo/config.toml
 create mode 100644 .gitignore
 create mode 100644 Cargo.lock
 create mode 100644 Cargo.toml
 create mode 100644 README.md
 create mode 100644 build.rs
 create mode 100755 build_and_flash.sh
 create mode 100755 flashing_time.py
 create mode 100644 lsm6ds3tr_demo/.DS_Store
 create mode 100644 lsm6ds3tr_demo/Cargo.toml
 create mode 100644 lsm6ds3tr_demo/src/common.rs
 create mode 100644 lsm6ds3tr_demo/src/main.rs
 create mode 100644 lsm6ds3tr_demo/src/usb_dfu.rs
 create mode 100644 memory.x
 create mode 100644 tflite_demo/.DS_Store
 create mode 100644 tflite_demo/Cargo.toml
 create mode 100644 tflite_demo/features/speech.rs
 create mode 100644 tflite_demo/models/.DS_Store
 create mode 100644 tflite_demo/models/gesture_model.tflite
 create mode 100644 tflite_demo/models/sine.tflite
 create mode 100644 tflite_demo/models/speech.tflite
 create mode 100644 tflite_demo/src/common.rs
 create mode 100644 tflite_demo/src/main.rs
 create mode 100644 tflite_demo/src/usb_dfu.rs

diff --git a/.DS_Store b/.DS_Store
new file mode 100644
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GIT binary patch
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diff --git a/.assets/ferris.webp b/.assets/ferris.webp
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "adb9e6ca4f869e1180728b7950e35922a7fc6397f7b641499e8f3ef06e50dc83"
+
+[[package]]
+name = "unicode-width"
+version = "0.1.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af"
+
+[[package]]
+name = "usb-device"
+version = "0.2.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
+
+[[package]]
+name = "usb-device"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "98816b1accafbb09085168b90f27e93d790b4bfa19d883466b5e53315b5f06a6"
+dependencies = [
+ "heapless",
+ "portable-atomic",
+]
+
+[[package]]
+name = "usbd-hid"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6f291ab53d428685cc780f08a2eb9d5d6ff58622db2b36e239a4f715f1e184c"
+dependencies = [
+ "serde",
+ "ssmarshal",
+ "usb-device 0.3.2",
+ "usbd-hid-macros",
+]
+
+[[package]]
+name = "usbd-hid-descriptors"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0eee54712c5d778d2fb2da43b1ce5a7b5060886ef7b09891baeb4bf36910a3ed"
+dependencies = [
+ "bitfield 0.14.0",
+]
+
+[[package]]
+name = "usbd-hid-macros"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bb573c76e7884035ac5e1ab4a81234c187a82b6100140af0ab45757650ccda38"
+dependencies = [
+ "byteorder",
+ "hashbrown",
+ "log",
+ "proc-macro2",
+ "quote",
+ "serde",
+ "syn 1.0.109",
+ "usbd-hid-descriptors",
+]
+
+[[package]]
+name = "usbd-serial"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "db75519b86287f12dcf0d171c7cf4ecc839149fe9f3b720ac4cfce52959e1dfe"
+dependencies = [
+ "embedded-hal 0.2.7",
+ "nb 0.1.3",
+ "usb-device 0.2.9",
+]
+
+[[package]]
+name = "uuid"
+version = "1.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b913a3b5fe84142e269d63cc62b64319ccaf89b748fc31fe025177f767a756c4"
+
+[[package]]
+name = "vcell"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+
+[[package]]
+name = "version_check"
+version = "0.9.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+
+[[package]]
+name = "volatile-register"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
+dependencies = [
+ "vcell",
+]
+
+[[package]]
+name = "wide"
+version = "0.7.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "58e6db2670d2be78525979e9a5f9c69d296fd7d670549fe9ebf70f8708cb5019"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
+[[package]]
+name = "zerocopy"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.94",
+]
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..98538a7
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,78 @@
+[workspace]
+members = ["tflite_demo", "lsm6ds3tr_demo"]
+
+[workspace.features]
+default = ["ble-l2cap", "ble-gatt-server", "ble-gatt-client", "ble-sec"]
+
+ble-l2cap = ["nrf-softdevice/ble-l2cap"]
+ble-gatt-server = ["nrf-softdevice/ble-gatt-server"]
+ble-gatt-client = ["nrf-softdevice/ble-gatt-client"]
+ble-sec = ["nrf-softdevice/ble-sec"]
+
+nrf52840 = [
+    "embassy-nrf/nrf52840",
+    "nrf-softdevice/nrf52840",
+    "nrf-softdevice/s140",
+    "dep:nrf-softdevice-s140",
+]
+
+[workspace.dependencies]
+assign-resources = "0.4.1"
+embassy-futures = { version = "0.1.0" }
+embassy-usb = { version = "0.3.0", features = ["defmt"] }
+embassy-executor = { version = "0.7.0", features = [
+    "task-arena-size-32768",
+    "arch-cortex-m",
+    "executor-thread",
+    "executor-interrupt",
+    "defmt",
+] }
+embassy-time = { version = "0.4.0", features = [
+    "defmt",
+    "defmt-timestamp-uptime",
+] }
+embassy-nrf = { version = "0.3.1", features = [
+    "defmt",
+    "nrf52840",
+    "time-driver-rtc1",
+    "gpiote",
+    "unstable-pac",
+    "time",
+    "reset-pin-as-gpio",
+] }
+embassy-embedded-hal = "0.3.0"
+cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7.0"
+defmt = "0.3"
+defmt-rtt = "0.4"
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+nrf52840-hal = "0.16.0"
+usb-device = "0.2.7"
+usbd-serial = "0.1.0"
+microflow = { path = "../microflow-rs" }
+nalgebra = { version = "0.33.2", default-features = false, features = [
+    "macros",
+] }
+libm = "0.2"
+panic-halt = "1.0.0"
+heapless = "0.8.0"
+lsm6ds3tr = { git = "https://avoid.sh/PetActivityMonitor/lsm6ds3tr.git", rev = "b368f6200c3ec9a84114e8ca137eb5fe0aa08e29", features = [
+    "defmt",
+] }
+embassy-sync = { version = "0.5.0" }
+embedded-storage = "0.3.0"
+embedded-hal = "1.0.0"
+embedded-hal-async = { version = "1.0.0" }
+embedded-alloc = "0.6.0"
+nrf-softdevice = { version = "0.1.0", features = [
+    "defmt",
+    "ble-peripheral",
+    "ble-central",
+    "critical-section-impl",
+    "nrf52840",
+    "s140",
+] }
+nrf-softdevice-s140 = { version = "0.1.1" }
+fixed = "1.24.0"
+atomic-pool = "1.0.1"
+static_cell = "2.0.0"
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..a038089
--- /dev/null
+++ b/README.md
@@ -0,0 +1,23 @@
+# xiao_pet_activity_analyser
+
+<img src="./.assets/ferris.webp" width="300" />
+
+Blazingly fast and efficient pet activity analyser!
+
+## Supported Microcontrollers
+
+- Seeed XIAO BLE
+
+## Mac Tooling
+
+List connected devices:
+
+```bash
+ioreg -p IOUSB
+```
+
+Screen the controller:
+
+```bash
+screen /dev/tty./dev/tty.usbmodempet11
+```
diff --git a/build.rs b/build.rs
new file mode 100644
index 0000000..d4dbebf
--- /dev/null
+++ b/build.rs
@@ -0,0 +1,6 @@
+fn main() {
+    // Rebuild if memory.x file was rebuild.
+    // Linker seems to pick it up automatically.
+    // (via the include in link.x which is added with a linker argument!)
+    println!("cargo:rerun-if-changed=memory.x");
+}
\ No newline at end of file
diff --git a/build_and_flash.sh b/build_and_flash.sh
new file mode 100755
index 0000000..fd4f77b
--- /dev/null
+++ b/build_and_flash.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+set -e
+
+COM_PORT=/dev/cu.usbmodem2101
+
+echo -e "bootloader" > $COM_PORT
+
+sleep 1s
+
+while getopts 'abc:h' opt; do
+  case "$opt" in
+    ?|h)
+      echo "Usage: $(basename $0) crate_name"
+      exit 1
+      ;;
+  esac
+done
+shift "$(($OPTIND -1))"
+CRATE=$1
+
+cargo build -p $CRATE --release
+arm-none-eabi-objcopy -O ihex target/thumbv7em-none-eabihf/release/$CRATE target/$CRATE.hex
+adafruit-nrfutil dfu genpkg --dev-type 0x0052 --sd-req 0x0123 --application target/$CRATE.hex target/$CRATE.zip
+# Use our custom reboot system to boot the controller into serial-only DFU mode.
+# echo -e "bootloader" > $COM_PORT
+# Wait for the reboot.
+# sleep 1s
+adafruit-nrfutil --verbose dfu serial -pkg target/$CRATE.zip -p $COM_PORT -b 115200 --singlebank
\ No newline at end of file
diff --git a/flashing_time.py b/flashing_time.py
new file mode 100755
index 0000000..7784ed7
--- /dev/null
+++ b/flashing_time.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+from subprocess import run
+
+# requires pySerial:
+# python -m pip install pyserial
+import serial
+
+# grab the port for the seeed nrf52 (only connect one at a time)
+data = run("ls /dev/ | grep 'cu.usbmodem'", capture_output=True, shell=True, text=True)
+
+ser = serial.Serial("/dev/" + data.stdout.strip(), 1200)
+# send 16 null characters as reset signal to enter the bootloader
+ser.write(b"\x00" * 16)
+ser.close()
diff --git a/lsm6ds3tr_demo/.DS_Store b/lsm6ds3tr_demo/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..9ad35ee736a1a202262b781aefb45145dd36a0bc
GIT binary patch
literal 6148
zcmeHKF-`+P3>=db5i}`jkoE<U_`woFLCpssL83WyQh@$Co(<!*iE<pY6lg5jv+MQT
z-c51d1z_v9$4g)dU_p1pyN9Xyy8FaVGUI6N89i2bMUQ86lj@%n&OOC79<av~nFs!D
z*YCDnzva5W+!cNG(TpQth8Hq+<0`xOR@F)sq<|EV0#ZN<NP!~-*t6XhXMu`RKnh5K
zg9844D0Ih~I0Uv|2ZJBqeSPle#&Nq#5KGQ$;t<Fcngx{@RLd)d1)celbv1Da3_7gs
z%;)6JmNyh@yE9)}IjjaMN&zV_R$vy>rT70E`Y-qYF-bEiAO-%F0yf{=ZPxsx?5&fJ
u^Ilu%_w+AgZ7XLO9RfJ<R(yU`SA5L6nm7bDI`fTA)Iq>?kx7BSP~a2V?j>*l

literal 0
HcmV?d00001

diff --git a/lsm6ds3tr_demo/Cargo.toml b/lsm6ds3tr_demo/Cargo.toml
new file mode 100644
index 0000000..e10e7df
--- /dev/null
+++ b/lsm6ds3tr_demo/Cargo.toml
@@ -0,0 +1,36 @@
+[package]
+name = "lsm6ds3tr_demo"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+cortex-m.workspace = true
+cortex-m-rt.workspace = true
+nrf52840-hal.workspace = true
+usb-device.workspace = true
+usbd-serial.workspace = true
+libm.workspace = true
+nalgebra.workspace = true
+heapless.workspace = true
+lsm6ds3tr.workspace = true
+defmt.workspace = true
+defmt-rtt.workspace = true
+embedded-alloc.workspace = true
+embedded-hal.workspace = true
+embedded-hal-async.workspace = true
+nrf-softdevice.workspace = true
+nrf-softdevice-s140.workspace = true
+embassy-nrf.workspace = true
+embassy-time.workspace = true
+embassy-executor.workspace = true
+embassy-sync.workspace = true
+embassy-embedded-hal.workspace = true
+fixed.workspace = true
+atomic-pool.workspace = true
+static_cell.workspace = true
+embassy-usb.workspace = true
+embassy-futures.workspace = true
+panic-probe.workspace = true
+assign-resources.workspace = true
diff --git a/lsm6ds3tr_demo/src/common.rs b/lsm6ds3tr_demo/src/common.rs
new file mode 100644
index 0000000..eb65974
--- /dev/null
+++ b/lsm6ds3tr_demo/src/common.rs
@@ -0,0 +1,4 @@
+#![macro_use]
+
+use defmt_rtt as _; // global logger
+use embassy_nrf as _; // time driver
diff --git a/lsm6ds3tr_demo/src/main.rs b/lsm6ds3tr_demo/src/main.rs
new file mode 100644
index 0000000..e51f594
--- /dev/null
+++ b/lsm6ds3tr_demo/src/main.rs
@@ -0,0 +1,284 @@
+#![no_main]
+#![no_std]
+
+use assign_resources::assign_resources;
+use core::fmt::Write;
+use defmt::{dbg, info, unwrap};
+use embassy_executor::Spawner;
+use embassy_nrf::gpio::{Level, Output, OutputDrive};
+use embassy_nrf::usb::vbus_detect::HardwareVbusDetect;
+use embassy_nrf::usb::Driver;
+use embassy_nrf::{bind_interrupts, peripherals, twim, usb, Peripherals};
+use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_sync::mutex::Mutex;
+use embassy_time::{Duration, Timer};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::{Builder, Config, UsbDevice};
+use heapless::String;
+use lsm6ds3tr::interface::I2cInterface;
+use lsm6ds3tr::{
+    registers::{GyroSampleRate, GyroScale},
+    AccelSampleRate, AccelScale, AccelSettings, GyroSettings, LsmSettings, LSM6DS3TR,
+};
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+mod usb_dfu;
+
+bind_interrupts!(struct Irqs {
+    USBD => usb::InterruptHandler<peripherals::USBD>;
+    CLOCK_POWER => usb::vbus_detect::InterruptHandler;
+});
+
+assign_resources! {
+    imu: ImuResources {
+        spi: SPI2,
+    }
+}
+
+bind_interrupts!(struct IrqsTest {
+    // SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0 => twim::InterruptHandler<TWISPI0>;
+    TWISPI0 => twim::InterruptHandler<peripherals::TWISPI0>;
+});
+
+static I2C_BUS: StaticCell<Mutex<ThreadModeRawMutex, twim::Twim<peripherals::TWISPI0>>> =
+    StaticCell::new();
+
+type MyDriver = Driver<'static, peripherals::USBD, HardwareVbusDetect>;
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_nrf::init(Default::default());
+    // let resources = split_resources!(p);
+
+    // setup_dfu_over_usb(&spawner, p.USBD);
+
+    // Create the driver, from the HAL.
+    let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));
+
+    let mut config = Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Umbrella Corporation");
+    config.product = Some("Secret Project");
+    config.serial_number = Some("11880");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    static STATE: StaticCell<State> = StaticCell::new();
+    let state = STATE.init(State::new());
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    static CONFIG_DESC: StaticCell<[u8; 256]> = StaticCell::new();
+    static BOS_DESC: StaticCell<[u8; 256]> = StaticCell::new();
+    static MSOS_DESC: StaticCell<[u8; 128]> = StaticCell::new();
+    static CONTROL_BUF: StaticCell<[u8; 128]> = StaticCell::new();
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut CONFIG_DESC.init([0; 256])[..],
+        &mut BOS_DESC.init([0; 256])[..],
+        &mut MSOS_DESC.init([0; 128])[..],
+        &mut CONTROL_BUF.init([0; 128])[..],
+    );
+
+    // Create classes on the builder.
+    let mut class = CdcAcmClass::new(&mut builder, state, 64);
+
+    // Build the builder.
+    let usb = builder.build();
+
+    unwrap!(spawner.spawn(usb_task(usb)));
+
+    let mut led_red = Output::new(p.P0_06, Level::Low, OutputDrive::Standard);
+
+    let mut pin = Output::new(p.P1_08, Level::High, OutputDrive::HighDrive);
+    pin.set_high();
+
+    Timer::after_millis(100).await;
+
+    let sda_pin = p.P0_07;
+    let scl_pin = p.P0_27;
+
+    let mut imuConfig = twim::Config::default();
+    // This limits the ADXL355 ODR to 200Hz max.
+    imuConfig.frequency = twim::Frequency::K400;
+    // Internal pullups for SCL and SDA must be enabled.
+    imuConfig.scl_pullup = true;
+    imuConfig.sda_pullup = true;
+
+    let i2c = twim::Twim::new(p.TWISPI0, IrqsTest, sda_pin, scl_pin, imuConfig);
+
+    let settings = LsmSettings::basic()
+        .with_gyro(
+            GyroSettings::new()
+                .with_sample_rate(GyroSampleRate::_104Hz)
+                .with_scale(GyroScale::_2000DPS),
+        )
+        .with_accel(
+            AccelSettings::new()
+                .with_sample_rate(AccelSampleRate::_104Hz)
+                .with_scale(AccelScale::_4G),
+        );
+
+    let mut imu = LSM6DS3TR::new(I2cInterface::new(i2c)).with_settings(settings);
+    imu.init().expect("LSM6DS3TR-C initialization failure!");
+
+    let blink_fut = async {
+        loop {
+            Timer::after_millis(500).await;
+
+            if let (Ok(xyz_a), Ok(xyz_g)) = (imu.read_accel_raw(), imu.read_gyro()) {
+                class.wait_connection().await;
+                info!("Connected");
+
+                let temp = imu.read_temp().expect("Error reading temperature data.");
+
+                let mut accel_data = String::<32>::new();
+                if write!(
+                    accel_data,
+                    "Accel: x:{} y:{} z:{}\r\n",
+                    xyz_a.x, xyz_a.y, xyz_a.z
+                )
+                .is_ok()
+                {
+                    if let Err(e) = class.write_packet(accel_data.as_bytes()).await {
+                        info!("Failed to write to serial console: {:?}", e);
+                    }
+                }
+                let mut gyro_data = String::<32>::new();
+                if write!(
+                    gyro_data,
+                    "Gyro: x:{} y:{} z:{}\r\n",
+                    xyz_g.x, xyz_g.y, xyz_g.z
+                )
+                .is_ok()
+                {
+                    if let Err(e) = class.write_packet(gyro_data.as_bytes()).await {
+                        info!("Failed to write to serial console: {:?}", e);
+                    }
+                }
+
+                let mut temp_data = String::<32>::new();
+                if write!(temp_data, "Degrees C1 = {}\r\n", temp).is_ok() {
+                    if let Err(e) = class.write_packet(temp_data.as_bytes()).await {
+                        info!("Failed to write to serial console: {:?}", e);
+                    }
+                }
+            } else {
+                class.wait_connection().await;
+                info!("Connected");
+
+                let mut data = String::<32>::new();
+                if write!(data, "Error: Could not read imu data. \r\n").is_ok() {
+                    if let Err(e) = class.write_packet(data.as_bytes()).await {
+                        info!("Failed to write to serial console: {:?}", e);
+                    }
+                }
+            }
+        }
+    };
+
+    blink_fut.await;
+}
+
+#[embassy_executor::task]
+async fn led_blinking_task(resources: ImuResources) {
+    loop {}
+}
+
+#[embassy_executor::task]
+async fn usb_task(mut device: UsbDevice<'static, MyDriver>) {
+    device.run().await;
+}
+
+#[embassy_executor::task]
+async fn write_task(mut class: CdcAcmClass<'static, MyDriver>) {
+    let mut count = 1;
+    loop {
+        class.wait_connection().await;
+        info!("Connected");
+
+        let mut data = String::<32>::new();
+        if write!(data, "Count: {}\r\n", count).is_ok() {
+            if let Err(e) = class.write_packet(data.as_bytes()).await {
+                info!("Failed to write to serial console: {:?}", e);
+            }
+        }
+        count += 1;
+
+        // Add a delay of 1 second
+        Timer::after(Duration::from_secs(1)).await;
+
+        info!("Disconnected");
+    }
+}
+
+#[embassy_executor::task]
+async fn gyro_task(mut class: CdcAcmClass<'static, MyDriver>, p: &'static Peripherals) {
+    let mut count = 1;
+    loop {
+        class.wait_connection().await;
+        info!("Connected");
+
+        let mut data = String::<32>::new();
+        if write!(data, "Count: {}\r\n", count).is_ok() {
+            if let Err(e) = class.write_packet(data.as_bytes()).await {
+                info!("Failed to write to serial console: {:?}", e);
+            }
+        }
+        count += 1;
+
+        // Add a delay of 1 second
+        Timer::after(Duration::from_secs(1)).await;
+
+        info!("Disconnected");
+    }
+}
+
+#[embassy_executor::task]
+async fn print_task(mut class: CdcAcmClass<'static, MyDriver>, text: &'static str) {
+    class.wait_connection().await;
+    info!("Connected");
+
+    let mut data = String::<32>::new();
+    if write!(data, "Count: {}\r\n", text).is_ok() {
+        if let Err(e) = class.write_packet(data.as_bytes()).await {
+            info!("Failed to write to serial console: {:?}", e);
+        }
+    }
+
+    // Add a delay of 1 second
+    Timer::after(Duration::from_secs(1)).await;
+    info!("Disconnected");
+}
+
+#[embassy_executor::task]
+async fn echo_task(mut class: CdcAcmClass<'static, MyDriver>) {
+    loop {
+        class.wait_connection().await;
+        info!("Connected :)");
+        let _ = echo(&mut class).await;
+        info!("Disconnected :(");
+    }
+}
+
+struct Disconnected {}
+
+impl From<EndpointError> for Disconnected {
+    fn from(val: EndpointError) -> Self {
+        match val {
+            EndpointError::BufferOverflow => panic!("Buffer overflow"),
+            EndpointError::Disabled => Disconnected {},
+        }
+    }
+}
+
+async fn echo(class: &mut CdcAcmClass<'static, MyDriver>) -> Result<(), Disconnected> {
+    let mut buf = [0; 64];
+    loop {
+        let n = class.read_packet(&mut buf).await?;
+        let data = &buf[..n];
+        info!("data: {:x}", data);
+        class.write_packet(data).await?;
+    }
+}
diff --git a/lsm6ds3tr_demo/src/usb_dfu.rs b/lsm6ds3tr_demo/src/usb_dfu.rs
new file mode 100644
index 0000000..a8bcfd0
--- /dev/null
+++ b/lsm6ds3tr_demo/src/usb_dfu.rs
@@ -0,0 +1,157 @@
+use crate::Irqs;
+use core::fmt::Write;
+use defmt::{info, unwrap};
+use embassy_executor::Spawner;
+use embassy_futures::join::join;
+use embassy_nrf::peripherals::USBD;
+use embassy_nrf::usb::vbus_detect::{HardwareVbusDetect, VbusDetect};
+use embassy_nrf::usb::{Driver, Instance};
+use embassy_nrf::{pac, peripherals};
+use embassy_time::{Duration, Timer};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::{Builder, Config};
+use heapless::String;
+
+use {defmt_rtt as _, panic_probe as _};
+
+const MAGIC_REBOOT_MESSAGE: &str = "bootloader";
+
+type MyDriver = Driver<'static, peripherals::USBD, HardwareVbusDetect>;
+
+/// Creates a usb serial device.
+/// Sending it [MAGIC_REBOOT_MESSAGE] will reboot the device
+/// into serial-only-dfu mode.
+pub fn setup_dfu_over_usb(spawner: &Spawner, usbd: USBD) {
+    spawner.spawn(dfu_over_usb(usbd, *spawner)).unwrap();
+}
+
+#[embassy_executor::task]
+async fn dfu_over_usb(usbd: USBD, spawner: Spawner) {
+    pac::CLOCK.tasks_hfclkstart().write_value(1);
+    while pac::CLOCK.events_hfclkstarted().read() != 1 {}
+
+    // Create the driver, from the HAL.
+    let driver = Driver::new(usbd, Irqs, HardwareVbusDetect::new(Irqs));
+
+    // Create embassy-usb Config
+    let mut config = Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Embassy");
+    config.product = Some("USB-serial example");
+    config.serial_number = Some("12345678");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    // It needs some buffers for building the descriptors.
+    let mut config_descriptor = [0; 256];
+    let mut bos_descriptor = [0; 256];
+    let mut msos_descriptor = [0; 256];
+    let mut control_buf = [0; 64];
+
+    let mut state = State::new();
+
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut config_descriptor,
+        &mut bos_descriptor,
+        &mut msos_descriptor,
+        &mut control_buf,
+    );
+
+    // Create classes on the builder.
+    let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
+
+    // Build the builder.
+    let mut usb = builder.build();
+
+    // Run the USB device.
+    let usb_fut = usb.run();
+
+    // Do stuff with the class!
+    // let reboot_fut = async {
+    //     loop {
+    //         class.wait_connection().await;
+    //         let _ = reboot_on_magic_message(&mut class).await;
+    //     }
+    // };
+
+    let print_fut = async {
+        let mut count = 1;
+        loop {
+            class.wait_connection().await;
+            info!("Connected");
+
+            let mut data = String::<32>::new();
+            if write!(data, "Count: {}\r\n", count).is_ok() {
+                if let Err(e) = class.write_packet(data.as_bytes()).await {
+                    info!("Failed to write to serial console: {:?}", e);
+                }
+            }
+            count += 1;
+
+            // Add a delay of 1 second
+            Timer::after(Duration::from_secs(1)).await;
+
+            info!("Disconnected");
+        }
+    };
+
+    join(usb_fut, print_fut).await;
+}
+
+struct Disconnected {}
+
+impl From<EndpointError> for Disconnected {
+    fn from(val: EndpointError) -> Self {
+        match val {
+            EndpointError::BufferOverflow => panic!("Buffer overflow"),
+            EndpointError::Disabled => Disconnected {},
+        }
+    }
+}
+
+async fn reboot_on_magic_message<'d, T: Instance + 'd, P: VbusDetect + 'd>(
+    class: &mut CdcAcmClass<'d, Driver<'d, T, P>>,
+) -> Result<(), Disconnected> {
+    let mut buf = [0; 64];
+
+    loop {
+        let n = class.read_packet(&mut buf).await?;
+        let data = &buf[..n];
+
+        if data == MAGIC_REBOOT_MESSAGE.as_bytes() {
+            // Reboot the controller in DFU mode.
+            // The magic number has been taken from the arduino bootloader:
+            // https://github.com/mike1808/PIO_SEEED_Adafruit_nRF52_Arduino/blob/master/cores/nRF5/wiring.c#L26
+            let dfu_magic_serial_only_reset = 0x4E;
+            pac::POWER
+                .gpregret()
+                .write(|w| w.0 = dfu_magic_serial_only_reset);
+            cortex_m::peripheral::SCB::sys_reset();
+        }
+    }
+}
+
+#[embassy_executor::task]
+async fn write_task(mut class: CdcAcmClass<'static, MyDriver>) {
+    let mut count = 1;
+    loop {
+        class.wait_connection().await;
+        info!("Connected");
+
+        let mut data = String::<32>::new();
+        if write!(data, "Count: {}\r\n", count).is_ok() {
+            if let Err(e) = class.write_packet(data.as_bytes()).await {
+                info!("Failed to write to serial console: {:?}", e);
+            }
+        }
+        count += 1;
+
+        // Add a delay of 1 second
+        Timer::after(Duration::from_secs(1)).await;
+
+        info!("Disconnected");
+    }
+}
diff --git a/memory.x b/memory.x
new file mode 100644
index 0000000..7328124
--- /dev/null
+++ b/memory.x
@@ -0,0 +1,20 @@
+MEMORY
+{
+  /* https://infocenter.nordicsemi.com/index.jsp?topic=%2Fsds_s140%2FSDS%2Fs1xx%2Fmem_usage%2Fmem_resource_reqs.html&cp=5_7_4_0_13_0_0 */
+
+  /* Need to leave space for the SoftDevice 
+    These values are confirmed working for S140 7.3.0
+
+    They were extracted from the Arduino IDE plugin linked indirectly at https://wiki.seeedstudio.com/XIAO_BLE/
+  */
+  FLASH (rx)     : ORIGIN = 0x27000, LENGTH = 0xED000 - 0x27000
+
+  /* SRAM required by Softdevice depend on
+   * - Attribute Table Size (Number of Services and Characteristics)
+   * - Vendor UUID count
+   * - Max ATT MTU
+   * - Concurrent connection peripheral + central + secure links
+   * - Event Len, HVN queue, Write CMD queue
+   */ 
+  RAM (rwx) :  ORIGIN = 0x20006000, LENGTH = 0x20040000 - 0x20006000
+}
\ No newline at end of file
diff --git a/tflite_demo/.DS_Store b/tflite_demo/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..66961953b36d7438f1fea0340a139804352d8b0d
GIT binary patch
literal 6148
zcmeHKL2uJA6n<_?mog#s0Maf<mbg|Uu!4lRgl-(T5(Ec8C0W9V$l|F<>7lBWGyE8?
z{1W~Se9!hK+5)Euq3J#8`Lmzj=fqzUJ0>DEnP>NihC~#=89M_MzcKD--?EO6^nuEb
zVQ8NkGIUDiR<;EGM+NxVU8h4zXhtV^au?6<S!s^b(xm9;m*WY1|A#fy_=R{+Iam$N
z!OW>%&sSeI^80uv3}whHH*@Lh-*VGMedh1uTY6R&brXi)Rj1p#*53(sg5BV4{J|{Z
zCTZsNB$>VD)(d0G^t_&=FN=IJ9o{@NRg)A|KC^@(%aQWtRZ(STF){Nht1UNn9l;<N
zOow~R<v1LV^n>tVHPXvR_rsAMA3R*G2Ena6cOO5Wek@Nb^O*&~CxCCj+6|BAz*?-$
z|5H4xN>iO6&YUjQ(C~Oe!Q1HhRdF=ML;+Di6u2Y>{CXAaUeb6nj3^)qTpa~?eb8{m
z$Ybl!E*&WB5dhdj*c$5myT}~vG4j|tL=Q|kD$r4tKVm3HM_l{7$Ybl!(MkEkhw@ie
z{)D3J)iJ)d>7*iuQi=kiz`6om*BtWx|Mbu2|8<hIL;+FYN-3avNAb}FQ}TQ3*5r7v
t)$n(4HqL7uUQkf6TQPEZE8c@!LtJwO7<p_RA_9{i0V{(PqQE~@;3v;#e1QM}

literal 0
HcmV?d00001

diff --git a/tflite_demo/Cargo.toml b/tflite_demo/Cargo.toml
new file mode 100644
index 0000000..ce7f9bb
--- /dev/null
+++ b/tflite_demo/Cargo.toml
@@ -0,0 +1,37 @@
+[package]
+name = "tflite_demo"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+cortex-m.workspace = true
+cortex-m-rt.workspace = true
+nrf52840-hal.workspace = true
+usb-device.workspace = true
+usbd-serial.workspace = true
+microflow.workspace = true
+libm.workspace = true
+nalgebra.workspace = true
+heapless.workspace = true
+lsm6ds3tr.workspace = true
+defmt.workspace = true
+defmt-rtt.workspace = true
+embedded-alloc.workspace = true
+embedded-hal.workspace = true
+embedded-hal-async.workspace = true
+nrf-softdevice.workspace = true
+nrf-softdevice-s140.workspace = true
+embassy-nrf.workspace = true
+embassy-time.workspace = true
+embassy-executor.workspace = true
+embassy-sync.workspace = true
+embassy-embedded-hal.workspace = true
+fixed.workspace = true
+atomic-pool.workspace = true
+static_cell.workspace = true
+embassy-usb.workspace = true
+embassy-futures.workspace = true
+panic-probe.workspace = true
+assign-resources.workspace = true
diff --git a/tflite_demo/features/speech.rs b/tflite_demo/features/speech.rs
new file mode 100644
index 0000000..7141b9f
--- /dev/null
+++ b/tflite_demo/features/speech.rs
@@ -0,0 +1,219 @@
+use nalgebra::matrix;
+
+use microflow::buffer::Buffer2D;
+
+pub const YES: Buffer2D<i8, 1, 1960> = matrix![
+    116, 98, 118, 95, 106, 85, 101, 81, 67, -18, -33, -12, -26, -128, 9, 34, 56, 45, 9, -12, 5, 30,
+    23, 28, 0, -18, 0, -128, -60, -50, -50, -37, -60, -60, -50, -26, -33, -50, -33, -50, 83, 61,
+    81, 55, 76, 61, 73, 64, 38, -8, -37, -20, -18, -20, 48, 29, 52, 41, 55, 18, 25, 37, 44, 37, 8,
+    15, -6, -60, -128, -50, -37, -37, -18, -37, -26, -29, -37, -60, -50, -60, 95, 59, 52, -4, 54,
+    -18, 68, 43, 31, -18, -26, -33, -37, -29, 33, 7, -3, 8, 26, 24, 36, 6, 36, 23, 14, 8, -29, -37,
+    -37, -37, -50, -50, -26, -8, -26, -37, -18, -37, -60, -77, 50, 48, 83, 44, 56, -128, -33, -60,
+    1, -26, -60, -43, -14, -23, -18, -43, -26, -33, 13, -77, -43, -77, -33, -37, 16, -12, -37, -50,
+    -50, -77, -20, -43, -60, -128, -60, -77, -37, -77, -60, -128, 37, -10, 65, -7, 28, -128, 10,
+    -77, -37, -128, -77, -128, -77, -43, -128, -128, -77, -128, -128, -128, -128, -128, -14, -128,
+    -43, -50, -37, -77, -128, -128, -77, -43, -29, -43, -20, -60, -37, -43, -50, -128, -77, -128,
+    -18, -128, -60, -128, -128, -128, -77, -128, -77, -128, -128, -128, -60, -37, -20, -128, -60,
+    -128, -128, -128, -60, -128, -77, -60, -128, -50, -60, -128, -77, -128, -50, -60, -37, -60,
+    -50, -77, -77, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -37, -128,
+    -128, -128, -128, -128, -77, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -77, -60, -128, -128, -50, -128, -50, -128, -50, -128, -77, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -77, -128, -77, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -77, -128, -77, -128, -77,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -77, -128, -128, -128, -128,
+    -77, -50, -128, -128, -77, -77, -128, -128, -128, -50, -128, 85, 43, 65, 53, 69, 60, 45, 3, 46,
+    -12, 9, -23, 32, -1, -128, -128, -128, -128, -1, 37, 38, 33, 43, 36, 58, 70, 68, 39, 6, 10, 32,
+    6, 8, -23, -77, -128, -29, -128, -77, -128, 101, 87, 102, 91, 110, 88, 101, 83, 110, 95, 111,
+    83, 81, 84, 106, 90, 93, 82, 98, 91, 108, 95, 118, 97, 118, 97, 116, 96, 113, 90, 110, 96, 107,
+    85, 94, 66, 69, 36, 29, 0, 100, 60, 105, 68, 92, 93, 113, 92, 107, 85, 107, 83, 104, 91, 105,
+    85, 112, 88, 101, 80, 101, 79, 96, 80, 98, 80, 105, 83, 98, 81, 103, 71, 100, 79, 83, 78, 91,
+    47, 50, 13, 108, 81, 93, 78, 98, 76, 105, 76, 98, 40, 77, 72, 81, 62, 93, 77, 96, 80, 98, 61,
+    97, 69, 88, 61, 71, 56, 98, 68, 97, 72, 89, 51, 81, 61, 88, 75, 86, 56, 48, 13, 71, 22, 84, 66,
+    76, -7, 48, 61, 77, 62, 91, 65, 95, 74, 88, 59, 75, 58, 83, 55, 87, 55, 76, 43, 76, -3, 56, 60,
+    79, 57, 71, 54, 82, 33, 74, 71, 91, 45, 18, -7, 61, 56, 77, 41, 73, 42, 82, 49, 59, 63, 82, 65,
+    66, 38, 83, 34, 48, -8, 46, 20, 54, 33, 54, 6, 48, 16, 60, 37, 58, 22, 58, 14, 65, 53, 75, -4,
+    42, 16, 16, -50, 22, -128, 80, 54, 43, -50, 42, -128, -10, -77, 28, -29, 68, 43, 73, 2, 25,
+    -60, 47, 14, 45, 7, 66, 4, 62, 37, 71, 7, 46, -10, 44, 22, 55, 53, 57, -29, 26, -10, -3, -128,
+    38, -128, 46, -10, 16, -128, -10, -26, 60, -7, 65, 38, 70, -60, 35, -8, 42, -29, 6, -128, 34,
+    -128, 36, -60, 44, -12, -2, -128, -7, -60, -60, -128, -23, -128, 31, -33, 22, -77, -37, -43,
+    -128, -128, 3, -128, -23, -128, 17, -77, 43, -77, -7, -128, -20, -128, 17, -43, 32, -128, -43,
+    -128, -128, -77, 21, -128, -50, -128, -128, -128, -128, -128, -128, -128, -37, -128, -16, -128,
+    -50, -26, -6, -128, -128, -128, -128, -128, -23, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -16, -128, 36, -7, 16, -128, -128, -128, -128, -128, -77, -128, -37, -128, -50,
+    -128, -128, -128, -128, -128, -18, -128, 11, -128, -16, -77, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -26, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -20, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -50, -128, -77, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -77, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -1, -18, 5, -128, 40, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    4, -128, 63, 66, 75, -128, 70, 60, 34, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    87, 86, 95, 76, 91, 62, 72, -6, -50, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, 64, 83, 104, 70, 98, 90, 111, 89, 109, 80, 71, -128, -128, -128, -128, -128, -20,
+    -6, 27, 33, 86, 88, 108, 75, 108, 76, 98, 64, 75, 61, 71, 66, 85, -1, -77, -128, 46, 61, 92,
+    69, 100, 93, 113, 80, 108, 93, 113, 91, 110, 80, 85, 15, -33, -128, 12, -50, 34, 50, 70, 55,
+    84, 72, 108, 81, 111, 88, 100, 80, 84, 73, 97, 86, 99, 65, 85, 43, 96, 78, 107, 94, 118, 98,
+    115, 92, 118, 94, 111, 93, 111, 86, 99, 52, 32, -16, 48, 31, 81, 74, 85, 64, 78, 64, 98, 70,
+    110, 92, 96, 73, 100, 72, 94, 73, 98, 76, 85, 67, 101, 83, 101, 83, 112, 89, 98, 85, 105, 78,
+    98, 72, 102, 80, 95, 23, 19, -8, 52, 57, 103, 91, 95, 65, 74, 8, 77, 49, 96, 76, 100, 87, 105,
+    81, 94, 62, 94, 78, 81, 72, 99, 82, 101, 78, 108, 65, 82, 70, 100, 63, 79, 58, 80, 59, 87, 48,
+    50, 57, 93, 67, 86, 80, 103, 56, 77, 31, 81, 57, 62, 41, 96, 85, 91, 71, 101, 76, 89, 78, 95,
+    76, 96, 79, 103, 81, 103, 48, 70, 57, 88, 66, 84, 11, 85, 67, 104, 37, 38, 67, 90, 54, 81, 62,
+    90, 52, 78, -60, 54, -8, 68, 40, 55, 8, 77, 52, 66, 31, 55, 13, 60, 26, 69, 42, 63, -29, 57,
+    -128, -3, -128, 3, -128, -29, -60, 52, -43, 63, 56, 86, 75, 95, 75, 85, 63, 82, 10, 50, -128,
+    31, -77, 0, -77, -23, -128, 12, -77, 51, -3, 58, -14, 44, 0, 48, 4, 53, 47, 28, -128, -128,
+    -128, -37, -128, -3, -128, 49, 61, 100, 90, 117, 88, 107, 94, 112, 64, 96, 83, -128, -128, 7,
+    -128, -77, -128, -23, -128, -23, -128, 16, -37, 65, -8, 48, 20, 14, -77, 57, -18, -43, -128,
+    -128, -128, -128, -128, -128, -128, 24, 12, 74, 76, 105, 76, 99, 80, 108, 79, 103, 85, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, 42, -128, -8, -128, -50,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -60, -128, -128, 5, 73, 53, 93, 70, 101,
+    73, 94, 57, 86, 66, -18, -128, -128, -128, -128, -128, -128, -128, -128, -128, -50, -128, 36,
+    -128, -128, -128, -128, -128, -20, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, 23, 37, 75, 54, 97, 70, 83, 52, 85, 65, 7, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -43, -128, 23, -128, -43, -128, -33, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -26, -37, 65, 33, 76, 37, 73, 50, 77, 47, -12, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -7, -14, -4, -128, -14, -128, 18, -60, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -26, -60, 71, 42, 68, 53, 81, 49,
+    73, 36, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -18, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    15, -26, 44, -18, 59, 39, 57, 20, 62, 26, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, 49, -128, 30, 8, 69, 27, 62, 38, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -43, -128, 28, -37, 48, -10,
+    48, 11, 74, 37, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -77, -128, 11, -128, -7, -60, -77, -4, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -8, -128, -50, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128
+];
+
+pub const NO: Buffer2D<i8, 1, 1960> = matrix![
+    103, 78, 64, 76, 75, 54, 53, 67, 77, 60, 56, 70, 76, 71, 68, 58, 74, 32, 23, -2, -18, 11, 13,
+    15, 9, 20, 5, -7, -18, -2, -10, -18, -10, -12, 9, 7, -33, -12, -4, -18, 57, 17, 55, 62, 70, 45,
+    61, 37, 67, 52, 48, 47, 55, 46, 57, 47, 73, 17, 27, 20, 19, 8, 15, -6, -1, 10, -12, -29, -6,
+    -23, -18, -3, -1, 5, 3, -4, -12, -8, -1, -14, 65, 48, 58, 43, 48, 19, 39, 39, 57, 57, 58, 55,
+    67, 58, 49, 50, 70, 27, 9, 16, 37, 4, 25, 4, 11, 9, 7, -33, -7, -12, 3, -6, -29, -7, -7, -18,
+    -12, -18, -2, -1, 0, 31, 60, -8, 51, 59, 70, 40, 71, 57, 52, 38, 66, 48, 17, 6, 59, 8, 15, 7,
+    18, 4, 18, -23, -8, -4, -3, -12, -3, -26, 1, 10, 2, -29, -29, -37, -7, -4, 6, -33, 67, 44, 59,
+    -4, 64, 51, 68, 55, 74, 9, 40, 15, 57, 33, 60, 18, 40, 25, 27, -20, 25, -16, 6, 17, -10, -12,
+    -23, -43, -23, -23, -29, -37, -4, -16, -16, -60, -20, -23, -10, -29, -12, 15, 12, -37, 27, 15,
+    61, 44, 50, 8, 48, 22, 49, -18, 46, 33, 42, 34, 46, -8, 4, -18, -43, -43, -10, 1, -10, -16,
+    -10, -77, -16, -33, 11, -26, -23, -37, 0, -8, -16, -29, 42, 40, 68, 24, 47, 46, 53, -128, 30,
+    2, 42, 21, 21, -4, 43, 2, 43, 5, 32, -26, 7, -37, -43, -23, -2, -8, 2, -37, -50, -60, -1, -7,
+    -33, -77, -6, -18, -16, -50, -12, -33, 53, 8, 52, 18, 51, 35, 69, 26, 44, 8, 27, -128, 21, -33,
+    17, -14, 38, -128, -14, -18, 17, -20, -14, -37, 8, -60, -33, -33, -33, -43, -12, -29, -12,
+    -128, -33, -60, -26, -77, -26, -50, 57, 29, 11, 30, 53, -10, 45, 15, 18, -10, 42, 2, 31, -29,
+    10, -4, 42, -37, -50, -128, -4, -43, -20, -77, -14, -26, -33, -128, -12, -43, -8, -33, -33,
+    -60, -43, -77, -12, -60, -26, -50, 40, -23, 36, 35, 50, -2, 37, 27, 26, -77, 49, -7, 28, -43,
+    6, 11, 41, -37, 33, -26, -14, -12, -6, -33, -16, -26, -20, -77, -14, -43, -8, -50, -14, -37,
+    -26, -77, -26, -77, -14, -29, 50, -60, 25, -26, 57, 38, 51, 1, 50, 1, 53, -18, 30, -23, 11,
+    -128, 18, -43, 20, -26, -10, -26, -12, -128, -50, -60, -37, -77, -20, -43, -50, -128, -77,
+    -128, -77, -128, -33, -77, -20, -60, 53, -10, -37, -128, 10, -128, 60, 18, -8, 13, 37, -37, 8,
+    -128, 3, -77, 32, -29, 14, 10, -12, -77, -37, -77, -37, -60, -23, -128, -43, -50, -16, -77, -6,
+    -33, 0, -60, -43, -128, -16, -60, 20, -2, 51, 19, 43, 2, 63, 20, 60, -4, 42, -50, 4, -128, 2,
+    -3, 32, -33, -26, -128, -18, -128, -33, -43, -7, -60, -50, -77, -29, -77, -23, -128, -16, -26,
+    -23, -60, -37, -77, -37, -128, -1, -33, 39, 48, 60, 5, 8, -128, 44, 11, 4, 0, 13, -77, -2, -20,
+    33, -128, -33, -77, -8, -128, -14, -128, -33, -18, -12, -77, -16, -128, -37, -128, -12, -77,
+    -60, -128, -23, -60, -23, -128, 36, -50, 46, -128, 66, 39, 18, -14, -12, -77, -20, -6, 24,
+    -128, 28, -26, 21, -77, -6, -33, 1, -128, -43, -128, -1, -50, -37, -128, -50, -128, -33, -128,
+    -18, -128, -60, -8, -7, -60, -60, -128, -6, -29, 20, -1, 73, 40, -43, -14, 33, -43, 33, -3, 15,
+    -29, 29, -43, 20, -60, -29, -128, -20, -26, 4, -77, -16, -60, -33, -50, -29, -128, -60, -128,
+    -77, -128, -37, -50, 0, -77, -33, -128, 39, 8, 47, 10, 62, 16, 2, 1, 10, 7, 4, -7, 6, -128,
+    -77, -50, 19, -77, -77, -128, -77, -128, -50, -128, -60, -60, -33, -50, -37, -128, -128, -128,
+    -60, -128, -37, -60, -18, -128, -33, -77, 37, 23, 29, -128, -128, -128, -16, -128, -16, -33,
+    21, -20, -8, -60, -2, -60, 11, -128, -50, -128, -50, -128, -29, -77, -16, -128, -26, -128, -50,
+    -77, -43, -128, -128, -128, -50, -128, -33, -128, -33, -50, -23, -128, 24, -128, -128, -77, 4,
+    -23, 32, -128, 1, -26, -14, -128, 10, -77, -4, -128, 1, -50, -8, -77, -77, -77, -23, -128, -50,
+    -43, -33, -128, -43, -128, -128, -128, -43, -128, -50, -128, -128, -128, 44, 15, 14, -128, 9,
+    -128, 21, 0, 29, -7, 18, -7, -7, -128, -33, -50, 14, -60, -60, -128, -60, -128, -37, -128, -43,
+    -128, -20, -128, -50, -128, -43, -77, -26, -128, -60, -50, -60, -128, -77, -128, -3, -128, 14,
+    -77, -26, 11, 47, -77, -7, -77, 45, -43, -12, 14, 37, -60, 22, -4, 5, -77, -14, -128, -10, -60,
+    22, -77, -12, -60, -50, -128, -60, -128, -60, -128, -43, -128, -50, -128, -77, -50, 27, -37,
+    33, -128, 4, -29, -4, -50, -20, -128, 6, -37, -33, -128, -50, -128, 34, 15, -43, -128, -20,
+    -50, -3, -37, -37, -77, -77, -128, -43, -128, -128, -128, 4, -26, -26, 27, 0, -128, -29, -60,
+    35, -26, 23, -128, -29, -77, 19, 14, 28, -128, -16, -7, 31, -1, 17, 11, 60, 44, 8, 11, 18,
+    -128, -33, -60, -1, -128, -43, -128, -23, -128, -128, -128, 59, 43, 35, 61, 37, -77, -77, -50,
+    116, 88, 98, 69, 78, 53, 78, 40, 48, 7, 29, -18, -2, -14, 5, 12, 65, 35, 31, -12, 33, -2, -6,
+    -1, 44, -29, -14, -60, -4, -43, -37, -128, 29, 18, 38, 51, 8, -128, -12, -37, 115, 91, 113, 77,
+    89, 36, 60, 44, 49, 36, 27, 31, 63, 30, 62, 14, 55, 49, 42, 0, 45, 17, -23, 1, 30, -37, -50,
+    -77, -8, -60, 9, -60, -12, -50, 13, 4, 23, -6, 28, 13, 107, 78, 101, 73, 89, 46, 63, 17, 34,
+    -43, -6, 30, 67, 40, 77, 21, 53, 39, 38, 12, -6, 5, 28, -2, 18, -43, 0, -128, -29, -77, 18,
+    -128, -2, -77, 39, 35, 38, 35, 50, 29, 100, 70, 94, 69, 86, 50, 45, 38, 45, 12, 58, 64, 74, 36,
+    77, 45, 78, 62, 8, -60, 38, 6, 21, 7, 8, -37, -1, -20, 48, -37, 8, -10, 8, 13, 45, 39, 38, 22,
+    49, 25, 94, 63, 87, 66, 84, -128, 29, 20, 55, 51, 80, 36, 62, 30, 81, 72, 68, 37, 51, 27, 54,
+    22, 16, -29, 4, 9, 57, 15, 35, -43, -77, -20, 4, 6, 37, -1, 40, 31, 47, 14, 89, 68, 96, 83,
+    111, 96, 115, 87, 99, 76, 105, 84, 105, 86, 113, 91, 108, 87, 110, 78, 80, 46, 22, 74, 88, 72,
+    103, 86, 80, 68, 48, 24, 68, 48, 55, 36, 108, 90, 90, 63, 83, 63, 87, 64, 90, 92, 113, 88, 102,
+    79, 109, 83, 100, 89, 109, 60, 56, 21, 75, 62, 81, 45, 63, 73, 93, 65, 94, 80, 89, 81, 73, 3,
+    43, 60, 102, 70, 84, 67, 99, 74, 78, 57, 79, 50, 93, 82, 98, 56, 77, 70, 91, 71, 85, 82, 86,
+    13, 45, -18, 48, 40, 53, 28, 85, 60, 65, 52, 86, 78, 76, 46, 73, 19, 35, 54, 75, 40, 71, 60,
+    82, 37, 69, 42, 62, 40, 96, 70, 85, 77, 70, 68, 103, 84, 94, 69, 81, -128, -128, -128, -43,
+    -37, 40, 2, 48, 45, 76, 37, 65, 16, 43, 18, 58, 20, 27, 12, 71, 31, 53, 44, 88, 47, 50, 33, 39,
+    8, 89, 57, 88, 69, 72, 63, 100, 68, 81, -77, -10, -128, -128, -128, -128, -128, 13, -77, 8, 27,
+    60, 28, 41, -128, -37, -128, 28, -43, -18, -128, 47, -37, 45, 27, 51, -29, 15, 39, 52, 30, 49,
+    -33, 65, 15, 76, 71, 90, 19, 46, -128, -16, -128, -128, -128, -128, -128, -128, -128, -18,
+    -128, -20, -128, 32, -128, 21, -33, 45, -128, -128, -128, -12, -128, -6, -14, 43, -128, -128,
+    -128, -128, -128, 52, -18, 69, -43, 78, 55, 42, -128, -29, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, 14, -128, -16, -128, -128, -128, 7, -128, -128, -128, -128, -128,
+    -128, -128, 12, -128, -128, -128, -128, -16, 59, -50, 35, -128, 42, 0, 47, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -33, -128, -23, -128, -128, -128,
+    -23, -128, -128, -128, -128, -128, -128, -128, -33, -128, -128, -128, -128, -128, -128, -128,
+    -8, -128, 36, -50, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -37, -128, -128, -60, -10, -128, -128, -128, -128, -128, -128, -128,
+    21, -128, -128, -128, -128, -128, -128, -128, -128, -128, -12, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -77, -128, -128, -128, -29, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -29, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -50, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+    -128, -128
+];
diff --git a/tflite_demo/models/.DS_Store b/tflite_demo/models/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..311bf6fadaa605564deaac3e4c416f41f09fc506
GIT binary patch
literal 6148
zcmeHK%Sr=55Ue&i1cH#G$N7Swe=vsR;MpIL#1)0b2<m-r{(--%)sKW-7R8eX?S}4}
zN7u}59j0dh$m;d>0$2c;(G~HgVQf0DKC+V-Q50Kai5J|V#RKtYrrbH6$#_JAKEJtY
z_q%Po-!el#?~=a!Fk=fiCF_Zt20Pq;%Y0|{d5>xI45>gWkP4&%slY!~fHhlfHh0XJ
z3Zw$5z)=A`9|~Qu26m2ibTH`kUFWBYYHZtEf>@$o13O2~(8Q@kr%F6A#OWL_kyisd
zN2fz<XRZ@FOT19TcISApbVzl~m<pr<Lj@+@U1<H^(7$;94@uce1yX@OrGQM=*XtF3
zDQfHJ=d{)q`VIYH%(Zle!6kqlEyZWOyrOO9)xgft=o~jXF)sqDOIj-M8wz{^s+B5Y

literal 0
HcmV?d00001

diff --git a/tflite_demo/models/gesture_model.tflite b/tflite_demo/models/gesture_model.tflite
new file mode 100644
index 0000000000000000000000000000000000000000..43e3407abea3ef052d64c63973510b5e9b435456
GIT binary patch
literal 148188
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literal 0
HcmV?d00001

diff --git a/tflite_demo/src/common.rs b/tflite_demo/src/common.rs
new file mode 100644
index 0000000..eb65974
--- /dev/null
+++ b/tflite_demo/src/common.rs
@@ -0,0 +1,4 @@
+#![macro_use]
+
+use defmt_rtt as _; // global logger
+use embassy_nrf as _; // time driver
diff --git a/tflite_demo/src/main.rs b/tflite_demo/src/main.rs
new file mode 100644
index 0000000..e0e169d
--- /dev/null
+++ b/tflite_demo/src/main.rs
@@ -0,0 +1,285 @@
+#![no_main]
+#![no_std]
+
+use assign_resources::assign_resources;
+use core::fmt::Write;
+use defmt::{dbg, info, unwrap};
+use embassy_executor::Spawner;
+use embassy_nrf::gpio::{Level, Output, OutputDrive};
+use embassy_nrf::usb::vbus_detect::HardwareVbusDetect;
+use embassy_nrf::usb::Driver;
+use embassy_nrf::{bind_interrupts, peripherals, twim, usb, Peripherals};
+use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_sync::mutex::Mutex;
+use embassy_time::{Duration, Timer};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::{Builder, Config, UsbDevice};
+use heapless::String;
+use lsm6ds3tr::interface::I2cInterface;
+use lsm6ds3tr::{
+    registers::{GyroSampleRate, GyroScale},
+    AccelSampleRate, AccelScale, AccelSettings, GyroSettings, LsmSettings, LSM6DS3TR,
+};
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+mod usb_dfu;
+
+bind_interrupts!(struct Irqs {
+    USBD => usb::InterruptHandler<peripherals::USBD>;
+    CLOCK_POWER => usb::vbus_detect::InterruptHandler;
+});
+
+assign_resources! {
+    imu: ImuResources {
+        spi: SPI2,
+    }
+}
+
+bind_interrupts!(struct IrqsTest {
+    // SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0 => twim::InterruptHandler<TWISPI0>;
+    TWISPI0 => twim::InterruptHandler<peripherals::TWISPI0>;
+});
+
+static I2C_BUS: StaticCell<Mutex<ThreadModeRawMutex, twim::Twim<peripherals::TWISPI0>>> =
+    StaticCell::new();
+
+type MyDriver = Driver<'static, peripherals::USBD, HardwareVbusDetect>;
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_nrf::init(Default::default());
+    // let resources = split_resources!(p);
+
+    // setup_dfu_over_usb(&spawner, p.USBD);
+
+    // Create the driver, from the HAL.
+    let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));
+
+    let mut config = Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Umbrella Corporation");
+    config.product = Some("Secret Project");
+    config.serial_number = Some("11880");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    static STATE: StaticCell<State> = StaticCell::new();
+    let state = STATE.init(State::new());
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    static CONFIG_DESC: StaticCell<[u8; 256]> = StaticCell::new();
+    static BOS_DESC: StaticCell<[u8; 256]> = StaticCell::new();
+    static MSOS_DESC: StaticCell<[u8; 128]> = StaticCell::new();
+    static CONTROL_BUF: StaticCell<[u8; 128]> = StaticCell::new();
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut CONFIG_DESC.init([0; 256])[..],
+        &mut BOS_DESC.init([0; 256])[..],
+        &mut MSOS_DESC.init([0; 128])[..],
+        &mut CONTROL_BUF.init([0; 128])[..],
+    );
+
+    // Create classes on the builder.
+    let mut class = CdcAcmClass::new(&mut builder, state, 64);
+
+    // Build the builder.
+    let usb = builder.build();
+
+    unwrap!(spawner.spawn(usb_task(usb)));
+
+    let mut led_red = Output::new(p.P0_06, Level::Low, OutputDrive::Standard);
+
+    let mut pin = Output::new(p.P1_08, Level::High, OutputDrive::HighDrive);
+    pin.set_high();
+
+    Timer::after_millis(100).await;
+
+    let sda_pin = p.P0_07;
+    let scl_pin = p.P0_27;
+
+    let mut imuConfig = twim::Config::default();
+    // This limits the ADXL355 ODR to 200Hz max.
+    imuConfig.frequency = twim::Frequency::K400;
+    // Internal pullups for SCL and SDA must be enabled.
+    imuConfig.scl_pullup = true;
+    imuConfig.sda_pullup = true;
+
+    let i2c = twim::Twim::new(p.TWISPI0, IrqsTest, sda_pin, scl_pin, imuConfig);
+
+    let settings = LsmSettings::basic()
+        .with_gyro(
+            GyroSettings::new()
+                .with_sample_rate(GyroSampleRate::_104Hz)
+                .with_scale(GyroScale::_2000DPS),
+        )
+        .with_accel(
+            AccelSettings::new()
+                .with_sample_rate(AccelSampleRate::_104Hz)
+                .with_scale(AccelScale::_4G),
+        );
+
+    let mut imu = LSM6DS3TR::new(I2cInterface::new(i2c)).with_settings(settings);
+    imu.init().expect("LSM6DS3TR-C initialization failure!");
+
+    let blink_fut = async {
+        loop {
+            Timer::after_millis(500).await;
+
+            if let (Ok(xyz_a), Ok(xyz_g)) = (imu.read_accel_raw(), imu.read_gyro()) {
+                class.wait_connection().await;
+                info!("Connected");
+
+                let temp = imu.read_temp().expect("Error reading temperature data.");
+                // imu.read_temp()
+
+                let mut accel_data = String::<32>::new();
+                if write!(
+                    accel_data,
+                    "Accel: x:{} y:{} z:{}\r\n",
+                    xyz_a.x, xyz_a.y, xyz_a.z
+                )
+                .is_ok()
+                {
+                    if let Err(e) = class.write_packet(accel_data.as_bytes()).await {
+                        info!("Failed to write to serial console: {:?}", e);
+                    }
+                }
+                let mut gyro_data = String::<32>::new();
+                if write!(
+                    gyro_data,
+                    "Gyro: x:{} y:{} z:{}\r\n",
+                    xyz_g.x, xyz_g.y, xyz_g.z
+                )
+                .is_ok()
+                {
+                    if let Err(e) = class.write_packet(gyro_data.as_bytes()).await {
+                        info!("Failed to write to serial console: {:?}", e);
+                    }
+                }
+
+                let mut temp_data = String::<32>::new();
+                if write!(temp_data, "Degrees C1 = {}\r\n", temp).is_ok() {
+                    if let Err(e) = class.write_packet(temp_data.as_bytes()).await {
+                        info!("Failed to write to serial console: {:?}", e);
+                    }
+                }
+            } else {
+                class.wait_connection().await;
+                info!("Connected");
+
+                let mut data = String::<32>::new();
+                if write!(data, "Error: Could not read imu data. \r\n").is_ok() {
+                    if let Err(e) = class.write_packet(data.as_bytes()).await {
+                        info!("Failed to write to serial console: {:?}", e);
+                    }
+                }
+            }
+        }
+    };
+
+    blink_fut.await;
+}
+
+#[embassy_executor::task]
+async fn led_blinking_task(resources: ImuResources) {
+    loop {}
+}
+
+#[embassy_executor::task]
+async fn usb_task(mut device: UsbDevice<'static, MyDriver>) {
+    device.run().await;
+}
+
+#[embassy_executor::task]
+async fn write_task(mut class: CdcAcmClass<'static, MyDriver>) {
+    let mut count = 1;
+    loop {
+        class.wait_connection().await;
+        info!("Connected");
+
+        let mut data = String::<32>::new();
+        if write!(data, "Count: {}\r\n", count).is_ok() {
+            if let Err(e) = class.write_packet(data.as_bytes()).await {
+                info!("Failed to write to serial console: {:?}", e);
+            }
+        }
+        count += 1;
+
+        // Add a delay of 1 second
+        Timer::after(Duration::from_secs(1)).await;
+
+        info!("Disconnected");
+    }
+}
+
+#[embassy_executor::task]
+async fn gyro_task(mut class: CdcAcmClass<'static, MyDriver>, p: &'static Peripherals) {
+    let mut count = 1;
+    loop {
+        class.wait_connection().await;
+        info!("Connected");
+
+        let mut data = String::<32>::new();
+        if write!(data, "Count: {}\r\n", count).is_ok() {
+            if let Err(e) = class.write_packet(data.as_bytes()).await {
+                info!("Failed to write to serial console: {:?}", e);
+            }
+        }
+        count += 1;
+
+        // Add a delay of 1 second
+        Timer::after(Duration::from_secs(1)).await;
+
+        info!("Disconnected");
+    }
+}
+
+#[embassy_executor::task]
+async fn print_task(mut class: CdcAcmClass<'static, MyDriver>, text: &'static str) {
+    class.wait_connection().await;
+    info!("Connected");
+
+    let mut data = String::<32>::new();
+    if write!(data, "Count: {}\r\n", text).is_ok() {
+        if let Err(e) = class.write_packet(data.as_bytes()).await {
+            info!("Failed to write to serial console: {:?}", e);
+        }
+    }
+
+    // Add a delay of 1 second
+    Timer::after(Duration::from_secs(1)).await;
+    info!("Disconnected");
+}
+
+#[embassy_executor::task]
+async fn echo_task(mut class: CdcAcmClass<'static, MyDriver>) {
+    loop {
+        class.wait_connection().await;
+        info!("Connected :)");
+        let _ = echo(&mut class).await;
+        info!("Disconnected :(");
+    }
+}
+
+struct Disconnected {}
+
+impl From<EndpointError> for Disconnected {
+    fn from(val: EndpointError) -> Self {
+        match val {
+            EndpointError::BufferOverflow => panic!("Buffer overflow"),
+            EndpointError::Disabled => Disconnected {},
+        }
+    }
+}
+
+async fn echo(class: &mut CdcAcmClass<'static, MyDriver>) -> Result<(), Disconnected> {
+    let mut buf = [0; 64];
+    loop {
+        let n = class.read_packet(&mut buf).await?;
+        let data = &buf[..n];
+        info!("data: {:x}", data);
+        class.write_packet(data).await?;
+    }
+}
diff --git a/tflite_demo/src/usb_dfu.rs b/tflite_demo/src/usb_dfu.rs
new file mode 100644
index 0000000..a8bcfd0
--- /dev/null
+++ b/tflite_demo/src/usb_dfu.rs
@@ -0,0 +1,157 @@
+use crate::Irqs;
+use core::fmt::Write;
+use defmt::{info, unwrap};
+use embassy_executor::Spawner;
+use embassy_futures::join::join;
+use embassy_nrf::peripherals::USBD;
+use embassy_nrf::usb::vbus_detect::{HardwareVbusDetect, VbusDetect};
+use embassy_nrf::usb::{Driver, Instance};
+use embassy_nrf::{pac, peripherals};
+use embassy_time::{Duration, Timer};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::{Builder, Config};
+use heapless::String;
+
+use {defmt_rtt as _, panic_probe as _};
+
+const MAGIC_REBOOT_MESSAGE: &str = "bootloader";
+
+type MyDriver = Driver<'static, peripherals::USBD, HardwareVbusDetect>;
+
+/// Creates a usb serial device.
+/// Sending it [MAGIC_REBOOT_MESSAGE] will reboot the device
+/// into serial-only-dfu mode.
+pub fn setup_dfu_over_usb(spawner: &Spawner, usbd: USBD) {
+    spawner.spawn(dfu_over_usb(usbd, *spawner)).unwrap();
+}
+
+#[embassy_executor::task]
+async fn dfu_over_usb(usbd: USBD, spawner: Spawner) {
+    pac::CLOCK.tasks_hfclkstart().write_value(1);
+    while pac::CLOCK.events_hfclkstarted().read() != 1 {}
+
+    // Create the driver, from the HAL.
+    let driver = Driver::new(usbd, Irqs, HardwareVbusDetect::new(Irqs));
+
+    // Create embassy-usb Config
+    let mut config = Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Embassy");
+    config.product = Some("USB-serial example");
+    config.serial_number = Some("12345678");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    // It needs some buffers for building the descriptors.
+    let mut config_descriptor = [0; 256];
+    let mut bos_descriptor = [0; 256];
+    let mut msos_descriptor = [0; 256];
+    let mut control_buf = [0; 64];
+
+    let mut state = State::new();
+
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut config_descriptor,
+        &mut bos_descriptor,
+        &mut msos_descriptor,
+        &mut control_buf,
+    );
+
+    // Create classes on the builder.
+    let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
+
+    // Build the builder.
+    let mut usb = builder.build();
+
+    // Run the USB device.
+    let usb_fut = usb.run();
+
+    // Do stuff with the class!
+    // let reboot_fut = async {
+    //     loop {
+    //         class.wait_connection().await;
+    //         let _ = reboot_on_magic_message(&mut class).await;
+    //     }
+    // };
+
+    let print_fut = async {
+        let mut count = 1;
+        loop {
+            class.wait_connection().await;
+            info!("Connected");
+
+            let mut data = String::<32>::new();
+            if write!(data, "Count: {}\r\n", count).is_ok() {
+                if let Err(e) = class.write_packet(data.as_bytes()).await {
+                    info!("Failed to write to serial console: {:?}", e);
+                }
+            }
+            count += 1;
+
+            // Add a delay of 1 second
+            Timer::after(Duration::from_secs(1)).await;
+
+            info!("Disconnected");
+        }
+    };
+
+    join(usb_fut, print_fut).await;
+}
+
+struct Disconnected {}
+
+impl From<EndpointError> for Disconnected {
+    fn from(val: EndpointError) -> Self {
+        match val {
+            EndpointError::BufferOverflow => panic!("Buffer overflow"),
+            EndpointError::Disabled => Disconnected {},
+        }
+    }
+}
+
+async fn reboot_on_magic_message<'d, T: Instance + 'd, P: VbusDetect + 'd>(
+    class: &mut CdcAcmClass<'d, Driver<'d, T, P>>,
+) -> Result<(), Disconnected> {
+    let mut buf = [0; 64];
+
+    loop {
+        let n = class.read_packet(&mut buf).await?;
+        let data = &buf[..n];
+
+        if data == MAGIC_REBOOT_MESSAGE.as_bytes() {
+            // Reboot the controller in DFU mode.
+            // The magic number has been taken from the arduino bootloader:
+            // https://github.com/mike1808/PIO_SEEED_Adafruit_nRF52_Arduino/blob/master/cores/nRF5/wiring.c#L26
+            let dfu_magic_serial_only_reset = 0x4E;
+            pac::POWER
+                .gpregret()
+                .write(|w| w.0 = dfu_magic_serial_only_reset);
+            cortex_m::peripheral::SCB::sys_reset();
+        }
+    }
+}
+
+#[embassy_executor::task]
+async fn write_task(mut class: CdcAcmClass<'static, MyDriver>) {
+    let mut count = 1;
+    loop {
+        class.wait_connection().await;
+        info!("Connected");
+
+        let mut data = String::<32>::new();
+        if write!(data, "Count: {}\r\n", count).is_ok() {
+            if let Err(e) = class.write_packet(data.as_bytes()).await {
+                info!("Failed to write to serial console: {:?}", e);
+            }
+        }
+        count += 1;
+
+        // Add a delay of 1 second
+        Timer::after(Duration::from_secs(1)).await;
+
+        info!("Disconnected");
+    }
+}