NOTICE: This code is believed by the author to be bug free. You are free to use and modify this code with the understanding that any use, either direct or derivative, must contain acknowledgement of its author and source. The author makes no warranty of any kind, expressed or implied, of merchantability or fitness for a particular purpose. The author shall not be held liable for any incidental or consequential damages in connection with or arising out of the furnishing, performance, or use of this software. This software is not authorized for use in life support devices or systems.