Just a quick note to some people who've provided help, suggestions, bug-fixes, etc. along the way... Nick Lott: (And others) Hints about making it work with C++ Philipp Stefan Neininger: Minor bug in the Makefile to do with cross compiling Chris McSweeny Hints and tips about the use of arithmetic in gettimeofday() inside the dealyMicrosecondsHard() function. And spotting a couple of schoolboy errors in the (experimental) softServo code, prompting me to completely re-write it. Armin (Via projects website) Some pointers about the i2c-dev.h files. Arno Wagner Suggestions for the mmap calls in wiringPiSetup() CHARLES Thibaut: A small issue in softTone Xian Stannard Fixing some typos in the man page! Andre Crone Suggested the __WIRING_PI.H__ round wiringPi.h Rik Teerling Pointing out some silly mistooks in the I2C code... And everyone else that's been working on this project!