Code generation for Arduino changed. DC motor added to Arduino

28 files changed, 540 insertions, 377 deletions

diff --git a/2.3-1/macros/ASTManagement/AST_HandleEndGenFun.bin b/2.3-1/macros/ASTManagement/AST_HandleEndGenFun.bin
index 8b3ce654..d5d2e4ab 100644
--- a/2.3-1/macros/ASTManagement/AST_HandleEndGenFun.bin
+++ b/2.3-1/macros/ASTManagement/AST_HandleEndGenFun.bin
diff --git a/2.3-1/macros/ASTManagement/AST_HandleEndGenFun.sci b/2.3-1/macros/ASTManagement/AST_HandleEndGenFun.sci
index f9515cd1..f6ae58e7 100644
--- a/2.3-1/macros/ASTManagement/AST_HandleEndGenFun.sci
+++ b/2.3-1/macros/ASTManagement/AST_HandleEndGenFun.sci
@@ -46,7 +46,11 @@ ReportFileName         = FileInfo.Funct(nxtscifunnumber).ReportFileName;
 Pass1HeaderFileName    = FileInfo.Funct(nxtscifunnumber).Pass1HeaderFileName;
 FunInfoDatDir          = FileInfo.FunctionList.FunInfoDatDir;
 CGblDeclarFileName     = FileInfo.Funct(nxtscifunnumber).CGblDeclarFileName;
-PeripheralInitListFile = FileInfo.PeripheralInitListFile;
+if(SharedInfo.OutFormat == 'AVR')
+	PeripheralInitListFile = FileInfo.PeripheralInitListFile;
+elseif (SharedInfo.OutFormat == 'Arduino')
+    SetupListFile = FileInfo.SetupListFile;
+end 
 
 Flag_FunAlreadyCalled = 0;
 // #RNU_RES_B
@@ -67,382 +71,395 @@ global STACKDEDUG
 //NUT: verifica se ASTFunType e' veramente importante
 // #RNU_RES_E
 [ASTFunName,InArg,NInArg,OutArg,NOutArg] = AST_GetFuncallPrm(FileInfo,SharedInfo,ASTFunType);
-if (ASTFunName == 'OpIns')
-   SharedInfo.SkipNextEqual = 1;
-   SharedInfo.Equal.Nins = SharedInfo.Equal.Nins + 1;
-   //NUT: Force ins to have 0 args. Double check it.
-   NOutArg = 0;
-   // #RNU_RES_B
-   //NUT: io aumenterei qui gli argomenti in ingresso della ins cosi qui vengono fatte tutte le modifiche del
-   //NUT: caso e la C_FunCall non se ne deve preoccupare, vedi se lo stesso vale per le altre funzioni
-   //NUT: speciali presenti nell C_FunCall.
-
-   // 1 more input argument containing the values to be inserted in the matrix.
-   // #RNU_RES_E
-   NInArg = NInArg + 1;
-   InArg(NInArg).Name = SharedInfo.Equal.InArg(SharedInfo.Equal.Nins).Name;
-   InArg(NInArg).Scope = SharedInfo.Equal.InArg(SharedInfo.Equal.Nins).Scope;
-elseif (ASTFunName == 'global')
-   SharedInfo.SkipNextEqual = 1;
-   SharedInfo.SkipNextFun = 1;
-   if (NInArg ~= 1)
-      PrintStringInfo(' ',ReportFileName,'both','y');
-      PrintStringInfo('SCI2CERROR: Multiple declaration of global variables is not allowed.',ReportFileName,'both','y');
-      PrintStringInfo('SCI2CERROR: See example below:',ReportFileName,'both','y');
-      PrintStringInfo('SCI2CERROR: global var1 var2; //NOT ALLOWED',ReportFileName,'both','y');
-      PrintStringInfo('SCI2CERROR: global var1; //ALLOWED',ReportFileName,'both','y');
-      PrintStringInfo('SCI2CERROR: global var2; //ALLOWED',ReportFileName,'both','y');
-      PrintStringInfo(' ',ReportFileName,'both','y');
-      error(9999, 'SCI2CERROR: Multiple declaration of global variables is not allowed.');
-   end
-   if (NOutArg ~= 1)
-      PrintStringInfo(' ',ReportFileName,'both','y');
-      PrintStringInfo('SCI2CERROR: Unexpected number of output arguments for global function.',ReportFileName,'both','y');
-      PrintStringInfo('SCI2CERROR: Please report this error to: http://forge.scilab.org/index.php/p/scilab2c/issues/',ReportFileName,'both','y');
-      PrintStringInfo(' ',ReportFileName,'both','y');
-      error(9999, 'SCI2CERROR: Unexpected number of output arguments for global function.');
-   end
-//elseif(IsAVRSupportFunction(ASTFunName))
-   //Get the peripheral from function name and input arguements, insert it in 
-   //list of used peripherals.
-  // PeripheralUsed=GetPeripheral(ASTFunName,InArg);
-  // InsertPeripheralInList(PeripheralUsed,PeripheralInitListFile);
-end
 
-// #RNU_RES_B
-// --------------------------------------
-// --- Read the function annotations. ---
-// --------------------------------------
-// #RNU_RES_E
-if (ASTFunName == 'OpEqual')
-   FunTypeAnnot = '';
-   FunSizeAnnot = '';
-else
-   [FunTypeAnnot,FunSizeAnnot] = FA_GetFunAnn(NInArg,NOutArg,ASTFunName,FileInfo,SharedInfo);
-end
+	if (ASTFunName == 'OpIns')
+	   SharedInfo.SkipNextEqual = 1;
+	   SharedInfo.Equal.Nins = SharedInfo.Equal.Nins + 1;
+	   //NUT: Force ins to have 0 args. Double check it.
+	   NOutArg = 0;
+	   // #RNU_RES_B
+	   //NUT: io aumenterei qui gli argomenti in ingresso della ins cosi qui vengono fatte tutte le modifiche del
+	   //NUT: caso e la C_FunCall non se ne deve preoccupare, vedi se lo stesso vale per le altre funzioni
+	   //NUT: speciali presenti nell C_FunCall.
 
-// #RNU_RES_B
-// -------------------------------------------------------------------------------------------
-// --- Search for Equal Lhs and precision specifier to be applied to the current function. ---
-// -------------------------------------------------------------------------------------------
-// #RNU_RES_E
-[LhsArg,NLhsArg,FunPrecSpecifier,SharedInfo] = AST_GetPrecAndLhsArg(OutArg,NOutArg,ASTFunName,FunTypeAnnot,FunSizeAnnot,ASTFunType,FileInfo,SharedInfo);
-//NUT: questa funzione contiene troppi parametri e mi sembra disordinata.
+	   // 1 more input argument containing the values to be inserted in the matrix.
+	   // #RNU_RES_E
+	   NInArg = NInArg + 1;
+	   InArg(NInArg).Name = SharedInfo.Equal.InArg(SharedInfo.Equal.Nins).Name;
+	   InArg(NInArg).Scope = SharedInfo.Equal.InArg(SharedInfo.Equal.Nins).Scope;
+	elseif (ASTFunName == 'global')
+	   SharedInfo.SkipNextEqual = 1;
+	   SharedInfo.SkipNextFun = 1;
+	   if (NInArg ~= 1)
+		  PrintStringInfo(' ',ReportFileName,'both','y');
+		  PrintStringInfo('SCI2CERROR: Multiple declaration of global variables is not allowed.',ReportFileName,'both','y');
+		  PrintStringInfo('SCI2CERROR: See example below:',ReportFileName,'both','y');
+		  PrintStringInfo('SCI2CERROR: global var1 var2; //NOT ALLOWED',ReportFileName,'both','y');
+		  PrintStringInfo('SCI2CERROR: global var1; //ALLOWED',ReportFileName,'both','y');
+		  PrintStringInfo('SCI2CERROR: global var2; //ALLOWED',ReportFileName,'both','y');
+		  PrintStringInfo(' ',ReportFileName,'both','y');
+		  error(9999, 'SCI2CERROR: Multiple declaration of global variables is not allowed.');
+	   end
+	   if (NOutArg ~= 1)
+		  PrintStringInfo(' ',ReportFileName,'both','y');
+		  PrintStringInfo('SCI2CERROR: Unexpected number of output arguments for global function.',ReportFileName,'both','y');
+		  PrintStringInfo('SCI2CERROR: Please report this error to: http://forge.scilab.org/index.php/p/scilab2c/issues/',ReportFileName,'both','y');
+		  PrintStringInfo(' ',ReportFileName,'both','y');
+		  error(9999, 'SCI2CERROR: Unexpected number of output arguments for global function.');
+	   end
+	//elseif(IsAVRSupportFunction(ASTFunName))
+	   //Get the peripheral from function name and input arguements, insert it in 
+	   //list of used peripherals.
+	  // PeripheralUsed=GetPeripheral(ASTFunName,InArg);
+	  // InsertPeripheralInList(PeripheralUsed,PeripheralInitListFile);
+	end
 
-// #RNU_RES_B
-// --------------------------------
-// --- Input Arguments Section. ---
-// --------------------------------
-// --- Get Input Arguments info from their numerical value or from the symbol table. ---
-// #RNU_RES_E
-if (ASTFunName == 'global')
-   [TBFlagfound,TBType,TBSize,TBValue,TBFindLike,TBDimension,TBScope] = ...
-      ST_GetSymbolInfo(InArg(1).Name,FileInfo,SharedInfo);
-   if (TBFlagfound == 1)
-      InArg(1).Type      = TBType;
-      InArg(1).Size      = TBSize;
-      InArg(1).Value     = TBValue;
-      InArg(1).FindLike  = TBFindLike;
-      InArg(1).Dimension = TBDimension;
-      InArg(1).Scope     = TBScope;
-      IndentLevelGlobal = 0; //NUT: forced always to 1
-      FlagExt = 1;
-      C_GenDeclarations(InArg(1),CGblDeclarFileName,IndentLevelGlobal,ReportFileName,FlagExt,SharedInfo.ResizeApproach);
-   else
-      // #RNU_RES_B
-      // That means it is the first time we encounter
-      // this global variable and in C this means that
-      // we don't have to do nothing.
-      // #RNU_RES_E
-      // SharedInfo.SkipNextFun = SharedInfo.SkipNextFun + 1;
-      SharedInfo.SkipNextFun = 1;
-
-      InArg(1).Type      = 'GBLToBeDefined';
-      InArg(1).Size(1)   = 'GBLToBeDefined';
-      InArg(1).Size(2)   = 'GBLToBeDefined';
-      InArg(1).Value     = %nan;
-      InArg(1).FindLike  = %nan;
-      InArg(1).Dimension = %nan;
-      InArg(1).Scope     = 'Global';
-
-      // #RNU_RES_B
-      PrintStringInfo('***Putting global variable in the symbol table***',ReportFileName,'file','y');
-      PrintStringInfo('   Symbol ""'+InArg(1).Name+'""',ReportFileName,'file','y');
-
-      PrintStringInfo('   Type:      '+InArg(1).Type,ReportFileName,'file','y');
-      PrintStringInfo('   Size(1):   '+string(InArg(1).Size(1)),ReportFileName,'file','y');
-      PrintStringInfo('   Size(2):   '+string(InArg(1).Size(2)),ReportFileName,'file','y');
-      PrintStringInfo('   Value:     '+string(InArg(1).Value),ReportFileName,'file','y');
-      PrintStringInfo('   FindLike:  '+string(InArg(1).FindLike),ReportFileName,'file','y');
-      PrintStringInfo('   Dimension: '+string(InArg(1).Dimension),ReportFileName,'file','y');
-      PrintStringInfo('   Scope:     '+string(InArg(1).Scope),ReportFileName,'file','y');
-      PrintStringInfo(' ',ReportFileName,'file','y');
-      // #RNU_RES_E
-
-      ST_Set(InArg(1).Name,...
-         InArg(1).Type,...
-         InArg(1).Size,...
-         InArg(1).Value,...
-         InArg(1).FindLike,...
-         InArg(1).Dimension,...
-         FileInfo.GlobalVarFileName);
-   end
-else
-   [InArg,SharedInfo] = ST_GetInArgInfo(InArg,NInArg,FileInfo,SharedInfo);
-end
+	// #RNU_RES_B
+	// --------------------------------------
+	// --- Read the function annotations. ---
+	// --------------------------------------
+	// #RNU_RES_E
+	if (ASTFunName == 'OpEqual')
+	   FunTypeAnnot = '';
+	   FunSizeAnnot = '';
+	else
+	   [FunTypeAnnot,FunSizeAnnot] = FA_GetFunAnn(NInArg,NOutArg,ASTFunName,FileInfo,SharedInfo);
+	end
 
-// #RNU_RES_B
-// -------------------------------------------------------------------
-// --- Change info of Input Argument according to resize approach. ---
-// -------------------------------------------------------------------
-//RNU toglimi nella versione da dare ad hartes.
-//RNU per ora gestisco solo la resize all con tutte realloc.
-//RNU global variables are still coded with fixed size.
-// #RNU_RES_E
-if (SharedInfo.ResizeApproach=='REALLOC_ALL_RESIZE_ALL')
-   for cntin = 1:NInArg
-      if ((InArg(cntin).Dimension > 0))
-          // if ((InArg(cntin).Dimension > 0) & (InArg(cntin).Scope ~= 'Global'))
-         InArg(cntin).Size(1) = '__'+InArg(cntin).Name+'Size[0]';
-         InArg(cntin).Size(2) = '__'+InArg(cntin).Name+'Size[1]';
-      end
-      //#RNUREM_MERNU vedi se la seguente fa casino l'ho aggiunta in modo che agia=ones(1,3) sia generata come realloc ma non ho verificato.
-      tmpscope = InArg(cntin).Scope;
-      lengthNumber = length('Number_');
-      if (part(tmpscope,1:lengthNumber) == 'Number_')
-      //#RNUREM_ME RNU il problema e' che ones(3,1) allora l'output e' 3,1 e come faccio a trasformare 3 e 1 in simboli in modo tale che realloco anziche' allocare
-         InArg(cntin).Value = %nan; //RNU non va bene dove per esempio hai problemi di 1:3:4 se al posto dei numeri metti nan ti impalli
-         //#RNUREM_ME Credo che dove c'e' uan allocazione secca ones(3,1) non vada lasciata cosi' ma tutto vada ricondotto a realloc
-         //#RNUREM_ME quindi devo vedere nella dichiarazione delle variabili come forzare la dichiarazione dei null pointer.
-         //#RNUREM_ME successivamente devo vedere come fare a riscrivere la size dell'output.
-      else
-      end
-   end
-end
+	// #RNU_RES_B
+	// -------------------------------------------------------------------------------------------
+	// --- Search for Equal Lhs and precision specifier to be applied to the current function. ---
+	// -------------------------------------------------------------------------------------------
+	// #RNU_RES_E
+	[LhsArg,NLhsArg,FunPrecSpecifier,SharedInfo] = AST_GetPrecAndLhsArg(OutArg,NOutArg,ASTFunName,FunTypeAnnot,FunSizeAnnot,ASTFunType,FileInfo,SharedInfo);
+	//NUT: questa funzione contiene troppi parametri e mi sembra disordinata.
 
-// #RNU_RES_B
-// ---------------------------------
-// --- Output Arguments Section. ---
-// ---------------------------------
-// --- Update Out arg structure with info stored in the function annotations. ---
-// #RNU_RES_E
-if (ASTFunName == 'OpEqual')
-   for cntin = 1:NInArg
-      OutArg(cntin).Type      = InArg(cntin).Type;
-      OutArg(cntin).Size      = InArg(cntin).Size;
-      OutArg(cntin).Dimension = InArg(cntin).Dimension;
-      OutArg(cntin).Value     = InArg(cntin).Value;
-      OutArg(cntin).FindLike  = InArg(cntin).FindLike;
-      //NUT: forse qui occorre aggiungere lo scope che dovrebbe essere local or global.
-      //NUT: per ora lo scope viene settato da AST_ParseEqualStruct
-   end
-elseif ((ASTFunName == 'OpMinus') & (NInArg == 1) & (InArg(1).Dimension == 0)&(InArg(1).Scope == 'Number'))
-   // #RNU_RES_B
-   // --- Manage OpMinus when applied to scalars. ---
-   // -1 is not translated as tmp = OpMinus(1), but
-   // it is considered as a single entity "-1"
-   // #RNU_RES_E
-   SharedInfo.SkipNextFun = 1; //RN: SISTEMAMI
-   OutArg(1).Type      = InArg(1).Type;
-   OutArg(1).Size      = InArg(1).Size;
-   OutArg(1).Dimension = InArg(1).Dimension;
-   OutArg(1).Value     = -InArg(1).Value;
-   OutArg(1).FindLike  = InArg(1).FindLike;
-   OutArg(1).Scope  = 'Number_'+InArg(1).Type;
-elseif ((ASTFunName == 'float') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   // #RNU_RES_B
-   // --- Manage OpMinus when applied to scalars. ---
-   // -1 is not translated as tmp = OpMinus(1), but
-   // it is considered as a single entity "-1"
-   // #RNU_RES_E
-   SharedInfo.SkipNextFun = 1; //RN: SISTEMAMI
-   OutArg(1).Type      = InArg(1).Type;
-   OutArg(1).Size      = InArg(1).Size;
-   OutArg(1).Dimension = InArg(1).Dimension;
-   OutArg(1).Value     = InArg(1).Value;
-   OutArg(1).FindLike  = InArg(1).FindLike;
-   OutArg(1).Scope     = 'Number_s';
-elseif ((ASTFunName == 'double') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   // #RNU_RES_B
-   // --- Manage OpMinus when applied to scalars. ---
-   // -1 is not translated as tmp = OpMinus(1), but
-   // it is considered as a single entity "-1"
-   // #RNU_RES_E
-   SharedInfo.SkipNextFun = 1;
-   //RN: SISTEMAMI
-   SharedInfo.SkipNextFun = 1; //RN: SISTEMAMI
-   OutArg(1).Type      = InArg(1).Type;
-   OutArg(1).Size      = InArg(1).Size;
-   OutArg(1).Dimension = InArg(1).Dimension;
-   OutArg(1).Value     = InArg(1).Value;
-   OutArg(1).FindLike  = InArg(1).FindLike;
-   OutArg(1).Scope     = 'Number_d';
-else
-   OutArg = FA_GetOutArgInfo(InArg,NInArg,OutArg,NOutArg,SharedInfo,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,ReportFileName);
-end
+	// #RNU_RES_B
+	// --------------------------------
+	// --- Input Arguments Section. ---
+	// --------------------------------
+	// --- Get Input Arguments info from their numerical value or from the symbol table. ---
+	// #RNU_RES_E
+	if (ASTFunName == 'global')
+	   [TBFlagfound,TBType,TBSize,TBValue,TBFindLike,TBDimension,TBScope] = ...
+		  ST_GetSymbolInfo(InArg(1).Name,FileInfo,SharedInfo);
+	   if (TBFlagfound == 1)
+		  InArg(1).Type      = TBType;
+		  InArg(1).Size      = TBSize;
+		  InArg(1).Value     = TBValue;
+		  InArg(1).FindLike  = TBFindLike;
+		  InArg(1).Dimension = TBDimension;
+		  InArg(1).Scope     = TBScope;
+		  IndentLevelGlobal = 0; //NUT: forced always to 1
+		  FlagExt = 1;
+		  C_GenDeclarations(InArg(1),CGblDeclarFileName,IndentLevelGlobal,ReportFileName,FlagExt,SharedInfo.ResizeApproach);
+	   else
+		  // #RNU_RES_B
+		  // That means it is the first time we encounter
+		  // this global variable and in C this means that
+		  // we don't have to do nothing.
+		  // #RNU_RES_E
+		  // SharedInfo.SkipNextFun = SharedInfo.SkipNextFun + 1;
+		  SharedInfo.SkipNextFun = 1;
 
-// #RNU_RES_B
-// --- Generate the names for the output arguments. ---
-// Update of OutArg.Name and OutArg.Scope fields.
-// #RNU_RES_E
-if ((ASTFunName == 'OpMinus') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   OutArg(1).Name  = string(OutArg(1).Value);
-elseif ((ASTFunName == 'float') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   OutArg(1).Name  = string(OutArg(1).Value);
-elseif ((ASTFunName == 'double') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   OutArg(1).Name  = string(OutArg(1).Value);
-else
-   [OutArg,SharedInfo] = GenOutArgNames(ASTFunName,InArg,NInArg,OutArg,NOutArg,LhsArg,NLhsArg,FileInfo,SharedInfo);
-end
+		  InArg(1).Type      = 'GBLToBeDefined';
+		  InArg(1).Size(1)   = 'GBLToBeDefined';
+		  InArg(1).Size(2)   = 'GBLToBeDefined';
+		  InArg(1).Value     = %nan;
+		  InArg(1).FindLike  = %nan;
+		  InArg(1).Dimension = %nan;
+		  InArg(1).Scope     = 'Global';
 
-// #RNU_RES_B
-// --- Push in the AST stack the Output arguments. ---
-// #RNU_RES_E
-if (ASTFunName == 'OpEqual')
-   // Do nothing
-else
-   for counteroutargs = 1:NOutArg
-      tmppushstack = OutArg(counteroutargs).Scope+': '+OutArg(counteroutargs).Name;
-      // #RNU_RES_B
-      PrintStringInfo('   Pushing in the AST stack: ""'+tmppushstack+'"".',ReportFileName,'file','y');
-      // #RNU_RES_E
-      AST_PushASTStack(tmppushstack);
-   end
-end
+		  // #RNU_RES_B
+		  PrintStringInfo('***Putting global variable in the symbol table***',ReportFileName,'file','y');
+		  PrintStringInfo('   Symbol ""'+InArg(1).Name+'""',ReportFileName,'file','y');
 
-// #RNU_RES_B
-//NUT: verificare se si puo' accorpare qualcosa qui sotto
-//RN: non capisco come mai analizzo lo scope dopo che faccio il push nello stack dove lo utilizzo!!!
-// --- Scope analysis of the output arguments. ---
-// #RNU_RES_E
-if (ASTFunName == 'OpMinus' & NInArg == 1 & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   // Scope already set above.
-elseif (ASTFunName == 'float' & NInArg == 1 & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   // Scope already set above.
-elseif (ASTFunName == 'double' & NInArg == 1 & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   // Scope already set above.
-else
-   OutArg = ST_AnalyzeScope(OutArg,NOutArg,FileInfo,SharedInfo);
-end
-
-//#RNUREM_ME --- Check if the current function is handling for counter variables. ---
-[OutArg,SharedInfo] = ST_InsForCntVars(InArg,NInArg,OutArg,NOutArg,ASTFunName,FileInfo,SharedInfo);
-
-//#RNUREM_ME --- Store the while condition variable (if any). ---
-SharedInfo = GetWhileCondVariable(OutArg,NOutArg,ASTFunName,FileInfo,SharedInfo);
-
-//#RNUREM_ME --- Update Symbol Table with output arguments. ---
-if ((ASTFunName == 'OpMinus') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   //#RNUREM_ME A number is not inserted in the symbol table.
-elseif ((ASTFunName == 'float') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   //#RNUREM_ME A number is not inserted in the symbol table.
-elseif ((ASTFunName == 'double') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
-   //#RNUREM_ME A number is not inserted in the symbol table.
-else
-   ST_InsOutArg(OutArg,NOutArg,FileInfo,SharedInfo,'all');
-end
-//#RNUREM_ME NUT: per risparmiare tempo di esecuzione puoi mettere delle if sulle funzioni che devono
-//#RNUREM_ME NUT: essere skippate.
-
-//#RNU_RES_B
-// --------------------------------------------
-// --- Generate the C name of the function. ---
-// --------------------------------------------
-//#RNU_RES_E
-
-CFunName = C_GenerateFunName(ASTFunName,InArg,NInArg,OutArg,NOutArg);
-//#RNU_RES_B
-PrintStringInfo('   C Function Name: '+CFunName,ReportFileName,'file','y');
-// -------------------------------------------------------------------------
-// --- Determine which library the function belongs to: USER2C or SCI2C. ---
-// -------------------------------------------------------------------------
-//#RNU_RES_E
-if SCI2Cfileexist(FileInfo.SCI2CLibCAnnFun,ASTFunName+'.ann')
-   LibTypeInfo = 'SCI2C';
-else
-   LibTypeInfo = 'USER2C';
-end
-
-//#RNU_RES_B
-// ------------------------------------------------------------------------------------
-// --- Check whether the function has been already called in the current .sci file. ---
-// ------------------------------------------------------------------------------------
-//#RNU_RES_E
-if (sum(SharedInfo.CFunctsAlreadyCalled == CFunName) == 1)
-   Flag_FunAlreadyCalled = 1;
-else
-
-   //#RNUREM_ME Add the C function name to the list of C functions called in the current .sci file.
-   SharedInfo.CFunctsAlreadyCalled(size(SharedInfo.CFunctsAlreadyCalled,1)+1) = CFunName;
-end
-
-//#RNU_RES_B
-// ----------------------------------
-// --- Generate FunInfo dat file. ---
-// ----------------------------------
-//NUT: questo .dat deve essere generato sempre perche' cambiano i nomi degli argomenti mentre il resto dovrebbe
-//NUT: essere tutto uguale
-//NUT: magari posso fare una funzione che inserisce solo i campi diversi e fa un check su quelli che
-//NUT: dovrebbero essere identici.
-//#RNU_RES_E
-GenCFunDatFiles(ASTFunName,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,InArg,NInArg,OutArg,NOutArg,CFunName,LibTypeInfo,FunInfoDatDir);
-
-//#RNU_RES_B
-// -----------------------------------
-// --- Update SCI2C Function List. ---
-// -----------------------------------
-// Functions that are not already available in C are stored
-// in the SCI2C Function List and converted in C at the end of
-// the translation of the current .sci file.
-//NUT: il problema della d0d0OpEqual dovrebbe essere legato al fatto che cerco di fare la opequal legata alla ins...
-//NUT: devo evitare di scriveral dentro la lsista delle funzioni da tradurre.
-//#RNU_RES_E
-SharedInfo = FL_UpdateToBeConv(ASTFunName,CFunName,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,InArg,NInArg,OutArg,NOutArg,FileInfo,SharedInfo);
-
-//#RNU_RES_B
-// -----------------------------------------------
-// --- Check on common input/output arguments. ---
-// -----------------------------------------------
-//#RNU_RES_E
-if (((ASTFunName=='OpEqual') & (SharedInfo.SkipNextEqual == 1)) | ...
-    SharedInfo.SkipNextFun > 0 | ...
-    ((sum(mtlb_strcmp(ASTFunName,SharedInfo.Annotations.DataPrec)) > 0) & (SharedInfo.SkipNextPrec == 1)))
-   // Do nothing
-else
-   AST_CheckCommonInOutArgs(InArg,NInArg,OutArg,NOutArg,ReportFileName);
-end
-
-//#RNU_RES_B
-// -----------------------------
-// --- C Generation Section. ---
-// -----------------------------
-// --- Load FunInfo structure. ---
-//#RNU_RES_E
-FunInfoDatFileName = fullfile(FunInfoDatDir,CFunName+'.dat');
-load(FunInfoDatFileName,'FunInfo');
-
-//#RNU_RES_B
-// --- Generate include. ---
-//#RNU_RES_E
-if ((Flag_FunAlreadyCalled == 0) & (FunInfo.LibTypeInfo == 'USER2C') & (SharedInfo.NextCFunName ~= CFunName))
-   // (SharedInfo.NextCFunName ~= CFunName) I don't want an include in the same file. Ex. in main.h I don't want include "main.h"
-   // #RNU_RES_B
-   PrintStringInfo('Adding include',ReportFileName,'file','y');
-   PrintStringInfo('#include ""'+CFunName+'.h""',...
-      ReportFileName,'file','y');
-   // #RNU_RES_E
-   PrintStringInfo('#include ""'+CFunName+'.h""',...
-      Pass1HeaderFileName,'file','y');
-end
-
-//#RNU_RES_B
-// --- Generate the C code for the current function. ---
-//#RNU_RES_E
-FlagCall = 1;
-SharedInfo = C_Funcall(FunInfo,FileInfo,SharedInfo,FlagCall);
-//#RNU_RES_B
-//NUT: anziche farla fare alla cfuncall l'aggiornamento delle skip metti qui una funzione dedicata a cio'
-//NUT: e' piu' ordinato.
-//#RNU_RES_E
+		  PrintStringInfo('   Type:      '+InArg(1).Type,ReportFileName,'file','y');
+		  PrintStringInfo('   Size(1):   '+string(InArg(1).Size(1)),ReportFileName,'file','y');
+		  PrintStringInfo('   Size(2):   '+string(InArg(1).Size(2)),ReportFileName,'file','y');
+		  PrintStringInfo('   Value:     '+string(InArg(1).Value),ReportFileName,'file','y');
+		  PrintStringInfo('   FindLike:  '+string(InArg(1).FindLike),ReportFileName,'file','y');
+		  PrintStringInfo('   Dimension: '+string(InArg(1).Dimension),ReportFileName,'file','y');
+		  PrintStringInfo('   Scope:     '+string(InArg(1).Scope),ReportFileName,'file','y');
+		  PrintStringInfo(' ',ReportFileName,'file','y');
+		  // #RNU_RES_E
+
+		  ST_Set(InArg(1).Name,...
+		     InArg(1).Type,...
+		     InArg(1).Size,...
+		     InArg(1).Value,...
+		     InArg(1).FindLike,...
+		     InArg(1).Dimension,...
+		     FileInfo.GlobalVarFileName);
+	   end
+	else
+	   [InArg,SharedInfo] = ST_GetInArgInfo(InArg,NInArg,FileInfo,SharedInfo);
+	end
+
+	// #RNU_RES_B
+	// -------------------------------------------------------------------
+	// --- Change info of Input Argument according to resize approach. ---
+	// -------------------------------------------------------------------
+	//RNU toglimi nella versione da dare ad hartes.
+	//RNU per ora gestisco solo la resize all con tutte realloc.
+	//RNU global variables are still coded with fixed size.
+	// #RNU_RES_E
+	if (SharedInfo.ResizeApproach=='REALLOC_ALL_RESIZE_ALL')
+	   for cntin = 1:NInArg
+		  if ((InArg(cntin).Dimension > 0))
+		      // if ((InArg(cntin).Dimension > 0) & (InArg(cntin).Scope ~= 'Global'))
+		     InArg(cntin).Size(1) = '__'+InArg(cntin).Name+'Size[0]';
+		     InArg(cntin).Size(2) = '__'+InArg(cntin).Name+'Size[1]';
+		  end
+		  //#RNUREM_MERNU vedi se la seguente fa casino l'ho aggiunta in modo che agia=ones(1,3) sia generata come realloc ma non ho verificato.
+		  tmpscope = InArg(cntin).Scope;
+		  lengthNumber = length('Number_');
+		  if (part(tmpscope,1:lengthNumber) == 'Number_')
+		  //#RNUREM_ME RNU il problema e' che ones(3,1) allora l'output e' 3,1 e come faccio a trasformare 3 e 1 in simboli in modo tale che realloco anziche' allocare
+		     InArg(cntin).Value = %nan; //RNU non va bene dove per esempio hai problemi di 1:3:4 se al posto dei numeri metti nan ti impalli
+		     //#RNUREM_ME Credo che dove c'e' uan allocazione secca ones(3,1) non vada lasciata cosi' ma tutto vada ricondotto a realloc
+		     //#RNUREM_ME quindi devo vedere nella dichiarazione delle variabili come forzare la dichiarazione dei null pointer.
+		     //#RNUREM_ME successivamente devo vedere come fare a riscrivere la size dell'output.
+		  else
+		  end
+	   end
+	end
+
+	// #RNU_RES_B
+	// ---------------------------------
+	// --- Output Arguments Section. ---
+	// ---------------------------------
+	// --- Update Out arg structure with info stored in the function annotations. ---
+	// #RNU_RES_E
+	if (ASTFunName == 'OpEqual')
+	   for cntin = 1:NInArg
+		  OutArg(cntin).Type      = InArg(cntin).Type;
+		  OutArg(cntin).Size      = InArg(cntin).Size;
+		  OutArg(cntin).Dimension = InArg(cntin).Dimension;
+		  OutArg(cntin).Value     = InArg(cntin).Value;
+		  OutArg(cntin).FindLike  = InArg(cntin).FindLike;
+		  //NUT: forse qui occorre aggiungere lo scope che dovrebbe essere local or global.
+		  //NUT: per ora lo scope viene settato da AST_ParseEqualStruct
+	   end
+	elseif ((ASTFunName == 'OpMinus') & (NInArg == 1) & (InArg(1).Dimension == 0)&(InArg(1).Scope == 'Number'))
+	   // #RNU_RES_B
+	   // --- Manage OpMinus when applied to scalars. ---
+	   // -1 is not translated as tmp = OpMinus(1), but
+	   // it is considered as a single entity "-1"
+	   // #RNU_RES_E
+	   SharedInfo.SkipNextFun = 1; //RN: SISTEMAMI
+	   OutArg(1).Type      = InArg(1).Type;
+	   OutArg(1).Size      = InArg(1).Size;
+	   OutArg(1).Dimension = InArg(1).Dimension;
+	   OutArg(1).Value     = -InArg(1).Value;
+	   OutArg(1).FindLike  = InArg(1).FindLike;
+	   OutArg(1).Scope  = 'Number_'+InArg(1).Type;
+	elseif ((ASTFunName == 'float') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   // #RNU_RES_B
+	   // --- Manage OpMinus when applied to scalars. ---
+	   // -1 is not translated as tmp = OpMinus(1), but
+	   // it is considered as a single entity "-1"
+	   // #RNU_RES_E
+	   SharedInfo.SkipNextFun = 1; //RN: SISTEMAMI
+	   OutArg(1).Type      = InArg(1).Type;
+	   OutArg(1).Size      = InArg(1).Size;
+	   OutArg(1).Dimension = InArg(1).Dimension;
+	   OutArg(1).Value     = InArg(1).Value;
+	   OutArg(1).FindLike  = InArg(1).FindLike;
+	   OutArg(1).Scope     = 'Number_s';
+	elseif ((ASTFunName == 'double') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   // #RNU_RES_B
+	   // --- Manage OpMinus when applied to scalars. ---
+	   // -1 is not translated as tmp = OpMinus(1), but
+	   // it is considered as a single entity "-1"
+	   // #RNU_RES_E
+	   SharedInfo.SkipNextFun = 1;
+	   //RN: SISTEMAMI
+	   SharedInfo.SkipNextFun = 1; //RN: SISTEMAMI
+	   OutArg(1).Type      = InArg(1).Type;
+	   OutArg(1).Size      = InArg(1).Size;
+	   OutArg(1).Dimension = InArg(1).Dimension;
+	   OutArg(1).Value     = InArg(1).Value;
+	   OutArg(1).FindLike  = InArg(1).FindLike;
+	   OutArg(1).Scope     = 'Number_d';
+	else
+	   OutArg = FA_GetOutArgInfo(InArg,NInArg,OutArg,NOutArg,SharedInfo,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,ReportFileName);
+	end
+
+	// #RNU_RES_B
+	// --- Generate the names for the output arguments. ---
+	// Update of OutArg.Name and OutArg.Scope fields.
+	// #RNU_RES_E
+	if ((ASTFunName == 'OpMinus') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   OutArg(1).Name  = string(OutArg(1).Value);
+	elseif ((ASTFunName == 'float') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   OutArg(1).Name  = string(OutArg(1).Value);
+	elseif ((ASTFunName == 'double') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   OutArg(1).Name  = string(OutArg(1).Value);
+	else
+	   [OutArg,SharedInfo] = GenOutArgNames(ASTFunName,InArg,NInArg,OutArg,NOutArg,LhsArg,NLhsArg,FileInfo,SharedInfo);
+	end
+
+	// #RNU_RES_B
+	// --- Push in the AST stack the Output arguments. ---
+	// #RNU_RES_E
+	if (ASTFunName == 'OpEqual')
+	   // Do nothing
+	else
+	   for counteroutargs = 1:NOutArg
+		  tmppushstack = OutArg(counteroutargs).Scope+': '+OutArg(counteroutargs).Name;
+		  // #RNU_RES_B
+		  PrintStringInfo('   Pushing in the AST stack: ""'+tmppushstack+'"".',ReportFileName,'file','y');
+		  // #RNU_RES_E
+		  AST_PushASTStack(tmppushstack);
+	   end
+	end
+
+	// #RNU_RES_B
+	//NUT: verificare se si puo' accorpare qualcosa qui sotto
+	//RN: non capisco come mai analizzo lo scope dopo che faccio il push nello stack dove lo utilizzo!!!
+	// --- Scope analysis of the output arguments. ---
+	// #RNU_RES_E
+	if (ASTFunName == 'OpMinus' & NInArg == 1 & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   // Scope already set above.
+	elseif (ASTFunName == 'float' & NInArg == 1 & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   // Scope already set above.
+	elseif (ASTFunName == 'double' & NInArg == 1 & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   // Scope already set above.
+	else
+	   OutArg = ST_AnalyzeScope(OutArg,NOutArg,FileInfo,SharedInfo);
+	end
+
+	//#RNUREM_ME --- Check if the current function is handling for counter variables. ---
+	[OutArg,SharedInfo] = ST_InsForCntVars(InArg,NInArg,OutArg,NOutArg,ASTFunName,FileInfo,SharedInfo);
+
+	//#RNUREM_ME --- Store the while condition variable (if any). ---
+	SharedInfo = GetWhileCondVariable(OutArg,NOutArg,ASTFunName,FileInfo,SharedInfo);
+
+	//#RNUREM_ME --- Update Symbol Table with output arguments. ---
+	if ((ASTFunName == 'OpMinus') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   //#RNUREM_ME A number is not inserted in the symbol table.
+	elseif ((ASTFunName == 'float') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   //#RNUREM_ME A number is not inserted in the symbol table.
+	elseif ((ASTFunName == 'double') & (NInArg == 1) & (InArg(1).Dimension == 0) & (InArg(1).Scope == 'Number'))
+	   //#RNUREM_ME A number is not inserted in the symbol table.
+	else
+	   ST_InsOutArg(OutArg,NOutArg,FileInfo,SharedInfo,'all');
+	end
+	//#RNUREM_ME NUT: per risparmiare tempo di esecuzione puoi mettere delle if sulle funzioni che devono
+	//#RNUREM_ME NUT: essere skippate.
+
+	//#RNU_RES_B
+	// --------------------------------------------
+	// --- Generate the C name of the function. ---
+	// --------------------------------------------
+	//#RNU_RES_E
+
+	CFunName = C_GenerateFunName(ASTFunName,InArg,NInArg,OutArg,NOutArg);
+	//#RNU_RES_B
+	PrintStringInfo('   C Function Name: '+CFunName,ReportFileName,'file','y');
+	if(IsArduinoFunction(ASTFunName))
+		if(IsArduinoSetupFunction(ASTFunName))
+			//If current function is an arduino setup function (like 'dc_motor_setup'), it 	
+			//should not be converted and inserted here. It is inserted in a list now and
+			//added to 'setup_arduino.c' later
+		   	InsertSetupInList(CFunName,InArg,NInArg,SetupListFile,'Setup');	 
+		   	SharedInfo.SkipNextFun = SharedInfo.SkipNextFun + 1;
+		else  //Currnet arduino function is not a setup function, so init function must be added
+			InsertSetupInList(ASTFunName,InArg,NInArg,SetupListFile,'Init');	 
+		end
+	end
+
+	// -------------------------------------------------------------------------
+	// --- Determine which library the function belongs to: USER2C or SCI2C. ---
+	// -------------------------------------------------------------------------
+	//#RNU_RES_E
+	if SCI2Cfileexist(FileInfo.SCI2CLibCAnnFun,ASTFunName+'.ann')
+	   LibTypeInfo = 'SCI2C';
+	else
+	   LibTypeInfo = 'USER2C';
+	end
+
+	//#RNU_RES_B
+	// ------------------------------------------------------------------------------------
+	// --- Check whether the function has been already called in the current .sci file. ---
+	// ------------------------------------------------------------------------------------
+	//#RNU_RES_E
+	if (sum(SharedInfo.CFunctsAlreadyCalled == CFunName) == 1)
+	   Flag_FunAlreadyCalled = 1;
+	else
+
+	   //#RNUREM_ME Add the C function name to the list of C functions called in the current .sci file.
+	   SharedInfo.CFunctsAlreadyCalled(size(SharedInfo.CFunctsAlreadyCalled,1)+1) = CFunName;
+	end
+
+	//#RNU_RES_B
+	// ----------------------------------
+	// --- Generate FunInfo dat file. ---
+	// ----------------------------------
+	//NUT: questo .dat deve essere generato sempre perche' cambiano i nomi degli argomenti mentre il resto dovrebbe
+	//NUT: essere tutto uguale
+	//NUT: magari posso fare una funzione che inserisce solo i campi diversi e fa un check su quelli che
+	//NUT: dovrebbero essere identici.
+	//#RNU_RES_E
+	GenCFunDatFiles(ASTFunName,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,InArg,NInArg,OutArg,NOutArg,CFunName,LibTypeInfo,FunInfoDatDir);
+
+	//#RNU_RES_B
+	// -----------------------------------
+	// --- Update SCI2C Function List. ---
+	// -----------------------------------
+	// Functions that are not already available in C are stored
+	// in the SCI2C Function List and converted in C at the end of
+	// the translation of the current .sci file.
+	//NUT: il problema della d0d0OpEqual dovrebbe essere legato al fatto che cerco di fare la opequal legata alla ins...
+	//NUT: devo evitare di scriveral dentro la lsista delle funzioni da tradurre.
+	//#RNU_RES_E
+	SharedInfo = FL_UpdateToBeConv(ASTFunName,CFunName,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,InArg,NInArg,OutArg,NOutArg,FileInfo,SharedInfo);
+
+	//#RNU_RES_B
+	// -----------------------------------------------
+	// --- Check on common input/output arguments. ---
+	// -----------------------------------------------
+	//#RNU_RES_E
+	if (((ASTFunName=='OpEqual') & (SharedInfo.SkipNextEqual == 1)) | ...
+		SharedInfo.SkipNextFun > 0 | ...
+		((sum(mtlb_strcmp(ASTFunName,SharedInfo.Annotations.DataPrec)) > 0) & (SharedInfo.SkipNextPrec == 1)))
+	   // Do nothing
+	else
+	   AST_CheckCommonInOutArgs(InArg,NInArg,OutArg,NOutArg,ReportFileName);
+	end
+
+	//#RNU_RES_B
+	// -----------------------------
+	// --- C Generation Section. ---
+	// -----------------------------
+	// --- Load FunInfo structure. ---
+	//#RNU_RES_E
+	FunInfoDatFileName = fullfile(FunInfoDatDir,CFunName+'.dat');
+	load(FunInfoDatFileName,'FunInfo');
+
+	//#RNU_RES_B
+	// --- Generate include. ---
+	//#RNU_RES_E
+	if ((Flag_FunAlreadyCalled == 0) & (FunInfo.LibTypeInfo == 'USER2C') & (SharedInfo.NextCFunName ~= CFunName))
+	   // (SharedInfo.NextCFunName ~= CFunName) I don't want an include in the same file. Ex. in main.h I don't want include "main.h"
+	   // #RNU_RES_B
+	   PrintStringInfo('Adding include',ReportFileName,'file','y');
+	   PrintStringInfo('#include ""'+CFunName+'.h""',...
+		  ReportFileName,'file','y');
+	   // #RNU_RES_E
+	   PrintStringInfo('#include ""'+CFunName+'.h""',...
+		  Pass1HeaderFileName,'file','y');
+	end
+
+	//#RNU_RES_B
+	// --- Generate the C code for the current function. ---
+	//#RNU_RES_E
+	FlagCall = 1;
+	SharedInfo = C_Funcall(FunInfo,FileInfo,SharedInfo,FlagCall);
+	//#RNU_RES_B
+	//NUT: anziche farla fare alla cfuncall l'aggiornamento delle skip metti qui una funzione dedicata a cio'
+	//NUT: e' piu' ordinato.
+	//#RNU_RES_E
 
 endfunction
diff --git a/2.3-1/macros/FunctionList/FL_ExtractFuncList.sci b/2.3-1/macros/FunctionList/FL_ExtractFuncList.sci
index 9e951d9c..cbc14655 100644
--- a/2.3-1/macros/FunctionList/FL_ExtractFuncList.sci
+++ b/2.3-1/macros/FunctionList/FL_ExtractFuncList.sci
@@ -34,7 +34,7 @@ SCI2CNInArgCheck(argn(2),5,5);
 tmppwd = pwd();

 cd(FunctionDir);

 // funfiles = ls();

-funfiles = listfiles();
+funfiles = listfiles();

 cd(tmppwd);

 NFunFiles = size(funfiles,1);

 

diff --git a/2.3-1/macros/Hardware/AVR/AVRPWMSetDuty.bin b/2.3-1/macros/Hardware/AVR/AVRPWMSetDuty.bin
new file mode 100644
index 00000000..f3c9e3e4
--- /dev/null
+++ b/2.3-1/macros/Hardware/AVR/AVRPWMSetDuty.bin
diff --git a/2.3-1/macros/Hardware/AVR/AVRPWMSetDuty.sci b/2.3-1/macros/Hardware/AVR/AVRPWMSetDuty.sci
new file mode 100644
index 00000000..0042540a
--- /dev/null
+++ b/2.3-1/macros/Hardware/AVR/AVRPWMSetDuty.sci
@@ -0,0 +1,24 @@
+function AVRPWMSetDuty(timer, duty)
+// Function to set duty for PWM of AVR
+//
+// Calling Sequence
+//     AVRPWMSetDuty(uint8 timer, uint8 duty)
+//
+// Parameters
+//     timer: timer to be used for PWM generation (0,1,2)
+//     duty: duty for PWM waveform (0-100)
+//         
+// Description
+//	   This function sets duty for PWM waveform according to given parameters.
+//
+// Examples
+//     AVRPWMSetDuty(0,10)   //Sets 10% duty for timer 0 output.
+//
+// Authors
+//     Siddhesh Wani
+//
+//
+
+// This is curretly dummy function. It provides no functionality but is required 
+// for providing support for generating C code for AVR.
+endfunction
diff --git a/2.3-1/macros/Hardware/AVR/lib b/2.3-1/macros/Hardware/AVR/lib
index aa4d6113..3e0137c5 100644
--- a/2.3-1/macros/Hardware/AVR/lib
+++ b/2.3-1/macros/Hardware/AVR/lib
diff --git a/2.3-1/macros/Hardware/AVR/names b/2.3-1/macros/Hardware/AVR/names
index afd171ec..0e6aa636 100644
--- a/2.3-1/macros/Hardware/AVR/names
+++ b/2.3-1/macros/Hardware/AVR/names
@@ -2,6 +2,7 @@ AVRADCSetup
 AVRDigitalIn
 AVRDigitalOut
 AVRDigitalSetup
+AVRPWMSetDuty
 AVRPWMSetup
 AVRReadADC
 GetAVRSupportFunctions
diff --git a/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin b/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin
index f790c5e8..be0c48fb 100644
--- a/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin
+++ b/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin
diff --git a/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci b/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci
index c6423531..c3981a49 100644
--- a/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci
+++ b/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci
@@ -3952,6 +3952,56 @@ INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,Ex
 

 

 //------------------------------------

+//---- Class cmd_dcmotor_setup -------

+//------------------------------------

+ClassName = 'cmd_dcmotor_setup';

+

+// --- Class Annotation. ---

+PrintStringInfo('   Adding Class: '+ClassName+'.',GeneralReport,'file','y');

+ClassFileName = fullfile(SCI2CLibCAnnClsDir,ClassName+ExtensionCAnnCls);

+PrintStringInfo('NIN=          5',ClassFileName,'file','y');

+PrintStringInfo('NOUT=         1       ',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).TP=    ''u8''',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(1)= ''1''',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(2)= ''1''',ClassFileName,'file','y');

+

+// --- Function List Class. ---

+ClassFileName = fullfile(SCI2CLibCFLClsDir,ClassName+ExtensionCFuncListCls);

+PrintStringInfo('d0d0d0d0d0'+ArgSeparator+'u80',ClassFileName,'file','y');

+

+// --- Annotation Function And Function List Function. ---

+FunctionName = 'cmd_dcmotor_setup'; 

+PrintStringInfo('      Adding Function: '+FunctionName+'.',GeneralReport,'file','y');

+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,ExtensionCAnnFun);

+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,ExtensionCFuncListFun);

+

+//------------------------------------

+//---- Class cmd_dcmotor_run -------

+//------------------------------------

+ClassName = 'cmd_dcmotor_run';

+

+// --- Class Annotation. ---

+PrintStringInfo('   Adding Class: '+ClassName+'.',GeneralReport,'file','y');

+ClassFileName = fullfile(SCI2CLibCAnnClsDir,ClassName+ExtensionCAnnCls);

+PrintStringInfo('NIN=          3',ClassFileName,'file','y');

+PrintStringInfo('NOUT=         1       ',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).TP=    ''u8''',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(1)= ''1''',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(2)= ''1''',ClassFileName,'file','y');

+

+// --- Function List Class. ---

+ClassFileName = fullfile(SCI2CLibCFLClsDir,ClassName+ExtensionCFuncListCls);

+PrintStringInfo('d0d0d0'+ArgSeparator+'u80',ClassFileName,'file','y');

+PrintStringInfo('d0d0i160'+ArgSeparator+'u80',ClassFileName,'file','y');

+

+// --- Annotation Function And Function List Function. ---

+FunctionName = 'cmd_dcmotor_run'; 

+PrintStringInfo('      Adding Function: '+FunctionName+'.',GeneralReport,'file','y');

+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,ExtensionCAnnFun);

+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,ExtensionCFuncListFun);

+

+

+//------------------------------------

 //---- Class Sleep -------------------

 //------------------------------------

 ClassName = 'sleep';

@@ -4109,6 +4159,57 @@ INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,E
 INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,ExtensionCFuncListFun);

 

 

+//------------------------------------

+//---- Class AVRPWMSetup -------------

+//------------------------------------

+ClassName = 'AVRPWMSetup';

+

+// --- Class Annotation. ---

+PrintStringInfo('   Adding Class: '+ClassName+'.',GeneralReport,'file','y');

+ClassFileName = fullfile(SCI2CLibCAnnClsDir,ClassName+ExtensionCAnnCls);

+PrintStringInfo('NIN=         4',ClassFileName,'file','y');

+PrintStringInfo('NOUT=         1       ',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).TP=    ''u8''',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(1)= ''1''',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(2)= ''1''',ClassFileName,'file','y');

+

+// --- Function List Class. ---

+ClassFileName = fullfile(SCI2CLibCFLClsDir,ClassName+ExtensionCFuncListCls);

+PrintStringInfo('d0d0d0d0'+ArgSeparator+'u80',ClassFileName,'file','y');

+

+

+// --- Annotation Function And Function List Function. ---

+FunctionName = 'AVRPWMSetup'; 

+PrintStringInfo('      Adding Function: '+FunctionName+'.',GeneralReport,'file','y');

+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,ExtensionCAnnFun);

+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,ExtensionCFuncListFun);

+

+//------------------------------------

+//---- Class AVRPWMSetDuty -----------

+//------------------------------------

+ClassName = 'AVRPWMSetDuty';

+

+// --- Class Annotation. ---

+PrintStringInfo('   Adding Class: '+ClassName+'.',GeneralReport,'file','y');

+ClassFileName = fullfile(SCI2CLibCAnnClsDir,ClassName+ExtensionCAnnCls);

+PrintStringInfo('NIN=         2',ClassFileName,'file','y');

+PrintStringInfo('NOUT=         1       ',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).TP=    ''u8''',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(1)= ''1''',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(2)= ''1''',ClassFileName,'file','y');

+

+// --- Function List Class. ---

+ClassFileName = fullfile(SCI2CLibCFLClsDir,ClassName+ExtensionCFuncListCls);

+PrintStringInfo('d0d0'+ArgSeparator+'u80',ClassFileName,'file','y');

+

+

+// --- Annotation Function And Function List Function. ---

+FunctionName = 'AVRPWMSetDuty'; 

+PrintStringInfo('      Adding Function: '+FunctionName+'.',GeneralReport,'file','y');

+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,ExtensionCAnnFun);

+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,ExtensionCFuncListFun);

+

+

 // ////////////////////////////////////////////

 // /////PARTE INTRODOTTA DA ALBERTO MOREA

 // /////////////////////////////////////////////

diff --git a/2.3-1/macros/ToolInitialization/INIT_GenFileInfo.bin b/2.3-1/macros/ToolInitialization/INIT_GenFileInfo.bin
index 8f114a72..a8d47222 100644
--- a/2.3-1/macros/ToolInitialization/INIT_GenFileInfo.bin
+++ b/2.3-1/macros/ToolInitialization/INIT_GenFileInfo.bin
diff --git a/2.3-1/macros/ToolInitialization/INIT_GenFileInfo.sci b/2.3-1/macros/ToolInitialization/INIT_GenFileInfo.sci
index 753509e3..21fe7a72 100644
--- a/2.3-1/macros/ToolInitialization/INIT_GenFileInfo.sci
+++ b/2.3-1/macros/ToolInitialization/INIT_GenFileInfo.sci
@@ -113,5 +113,5 @@ FileInfo.MakefileFilename   = fullfile(FileInfo.CStyleOutCCCodeDir,'Makefile');
 //----Hardware related-----

 //-------------------------

 FileInfo.PeripheralInitListFile      = fullfile(FileInfo.WorkingDir,'PeripheralInit.dat');

-

+FileInfo.SetupListFile				 = fullfile(FileInfo.WorkingDir,'SetupList.dat');

 endfunction

diff --git a/2.3-1/macros/ToolInitialization/INIT_LoadLibraries.bin b/2.3-1/macros/ToolInitialization/INIT_LoadLibraries.bin
index 4cf02836..c85aac6e 100644
--- a/2.3-1/macros/ToolInitialization/INIT_LoadLibraries.bin
+++ b/2.3-1/macros/ToolInitialization/INIT_LoadLibraries.bin
diff --git a/2.3-1/macros/ToolInitialization/INIT_LoadLibraries.sci b/2.3-1/macros/ToolInitialization/INIT_LoadLibraries.sci
index 1ef9ee00..28eb34f5 100644
--- a/2.3-1/macros/ToolInitialization/INIT_LoadLibraries.sci
+++ b/2.3-1/macros/ToolInitialization/INIT_LoadLibraries.sci
@@ -49,7 +49,7 @@ ToBeConverted(1).CFunctionName   = SharedInfo.NextCFunName;
 // --- Read the list of library functions available. ---

 [SCI2CAvailableC,SCI2CNElem] = FL_ExtractFuncList(FileInfo.SCI2CLibCFLFun,FileInfo.SCI2CLibCFLCls,...

    SharedInfo.Annotations.FUNCLASS,SharedInfo.Extension.FuncListClasses,FileInfo.GeneralReport);

-

+//disp (SCI2CAvailable);

 [USER2CAvailableC,USER2CNElem] = FL_ExtractFuncList(FileInfo.USER2CLibCFLFun,FileInfo.USER2CLibCFLCls,...

    SharedInfo.Annotations.FUNCLASS,SharedInfo.Extension.FuncListClasses,FileInfo.GeneralReport);

 

diff --git a/2.3-1/macros/ToolInitialization/INIT_SCI2C.bin b/2.3-1/macros/ToolInitialization/INIT_SCI2C.bin
index 72623b28..c6141d61 100644
--- a/2.3-1/macros/ToolInitialization/INIT_SCI2C.bin
+++ b/2.3-1/macros/ToolInitialization/INIT_SCI2C.bin
diff --git a/2.3-1/macros/ToolInitialization/INIT_SCI2C.sci b/2.3-1/macros/ToolInitialization/INIT_SCI2C.sci
index 0340d6ff..6dde05de 100644
--- a/2.3-1/macros/ToolInitialization/INIT_SCI2C.sci
+++ b/2.3-1/macros/ToolInitialization/INIT_SCI2C.sci
@@ -147,8 +147,13 @@ anscounter = 0;
 //--------------------------------------------

 //---Hardware related initialisation----------

 //--------------------------------------------

-PeripheralList = list();

-save(FileInfo.PeripheralInitListFile, 'PeripheralList');

+if (OutFormat == 'AVR')

+	PeripheralList = list();

+	save(FileInfo.PeripheralInitListFile, 'PeripheralList');

+elseif (OutFormat == 'Arduino')

+    SetupList = list();

+    save(FileInfo.SetupListFile, 'SetupList');

+end

 

 endfunction

 // #RNU_RES_B

diff --git a/2.3-1/macros/ToolInitialization/ManageNextConversion.bin b/2.3-1/macros/ToolInitialization/ManageNextConversion.bin
index a34ee4f6..bf43562a 100644
--- a/2.3-1/macros/ToolInitialization/ManageNextConversion.bin
+++ b/2.3-1/macros/ToolInitialization/ManageNextConversion.bin
diff --git a/2.3-1/macros/ToolInitialization/ManageNextConversion.sci b/2.3-1/macros/ToolInitialization/ManageNextConversion.sci
index 04ec9dbc..a1524766 100644
--- a/2.3-1/macros/ToolInitialization/ManageNextConversion.sci
+++ b/2.3-1/macros/ToolInitialization/ManageNextConversion.sci
@@ -49,6 +49,7 @@ C_FinalizeCode(FileInfo,SharedInfo);
 // --- Identify the next function to translate. ---

 // ------------------------------------------------

 SharedInfo.NFilesToTranslate = SharedInfo.NFilesToTranslate - 1;

+

 if (SharedInfo.NFilesToTranslate >= 1)

    // Remove the translated C function from the ToBeConverted list

    ToBeConverted(1) = [];

diff --git a/2.3-1/macros/buildmacros.sce b/2.3-1/macros/buildmacros.sce
index 627e6384..dfeb4755 100644
--- a/2.3-1/macros/buildmacros.sce
+++ b/2.3-1/macros/buildmacros.sce
@@ -9,7 +9,8 @@ Directories = [ "ASTManagement", ...
                 "GeneralFunctions", ...
                 "SymbolTable", ...
                 "ToolInitialization"...
-		"Hardware" ];
+				"Hardware/AVR"...
+				"Scilab-Arduino" ];
 
 
 current_path_buildmacros = get_absolute_file_path("buildmacros.sce");
diff --git a/2.3-1/macros/findDeps/getAllHeaders.bin b/2.3-1/macros/findDeps/getAllHeaders.bin
index 50ce832f..4ed973e7 100644
--- a/2.3-1/macros/findDeps/getAllHeaders.bin
+++ b/2.3-1/macros/findDeps/getAllHeaders.bin
diff --git a/2.3-1/macros/findDeps/getAllHeaders.sci b/2.3-1/macros/findDeps/getAllHeaders.sci
index 697a0fa6..7cddce29 100644
--- a/2.3-1/macros/findDeps/getAllHeaders.sci
+++ b/2.3-1/macros/findDeps/getAllHeaders.sci
@@ -134,11 +134,14 @@ function allHeaders = getAllHeaders(OutFormat)
       "src/c/scilab-arduino/includes/cmd_digital_in.h"
       "src/c/scilab-arduino/includes/cmd_analog_out.h"
       "src/c/scilab-arduino/includes/cmd_analog_in.h"
+	  "src/c/scilab-arduino/includes/cmd_dcmotor_setup.h"
+	  "src/c/scilab-arduino/includes/cmd_dcmotor_run.h"
       "src/c/scilab-arduino/includes/sleep.h"];
 
   AVR_headers = [
       "src/c/hardware/avr/includes/AVRPeripheralGPIO.h"
       "src/c/hardware/avr/includes/AVRPeripheralADC.h"
+      "src/c/hardware/avr/includes/AVRPeripheralPWM.h"
       "src/c/hardware/avr/includes/AVRUtil.h"
 	    ]; 
 
diff --git a/2.3-1/macros/findDeps/getAllInterfaces.bin b/2.3-1/macros/findDeps/getAllInterfaces.bin
index c28ac331..368b84ab 100644
--- a/2.3-1/macros/findDeps/getAllInterfaces.bin
+++ b/2.3-1/macros/findDeps/getAllInterfaces.bin
diff --git a/2.3-1/macros/findDeps/getAllInterfaces.sci b/2.3-1/macros/findDeps/getAllInterfaces.sci
index 14249d08..78138093 100644
--- a/2.3-1/macros/findDeps/getAllInterfaces.sci
+++ b/2.3-1/macros/findDeps/getAllInterfaces.sci
@@ -127,12 +127,14 @@ function allInterfaces = getAllInterfaces(OutFormat)
       "src/c/scilab-arduino/interfaces/int_cmd_digital_in.h"
       "src/c/scilab-arduino/interfaces/int_cmd_analog_out.h"
       "src/c/scilab-arduino/interfaces/int_cmd_analog_in.h"
+      "src/c/scilab-arduino/interfaces/int_cmd_dcmotor.h"
       "src/c/scilab-arduino/interfaces/int_sleep.h"];
 
   //Interface files required for "AVR" output
   AVR_interfaces = [
       "src/c/hardware/avr/interfaces/int_AVRPeripheralGPIO.h"
       "src/c/hardware/avr/interfaces/int_AVRPeripheralADC.h"
+      "src/c/hardware/avr/interfaces/int_AVRPeripheralADC.h"
       "src/c/hardware/avr/interfaces/int_AVRUtil.h"
 	];
 
diff --git a/2.3-1/macros/findDeps/getAllSources.bin b/2.3-1/macros/findDeps/getAllSources.bin
index b1591ac4..a81e474e 100644
--- a/2.3-1/macros/findDeps/getAllSources.bin
+++ b/2.3-1/macros/findDeps/getAllSources.bin
diff --git a/2.3-1/macros/findDeps/getAllSources.sci b/2.3-1/macros/findDeps/getAllSources.sci
index 325d4b23..c8d6d0b4 100644
--- a/2.3-1/macros/findDeps/getAllSources.sci
+++ b/2.3-1/macros/findDeps/getAllSources.sci
@@ -822,6 +822,8 @@ function allSources = getAllSources(OutFormat)
       "src/c/scilab-arduino/cmd_digital_in/u8cmd_digital_ins.c"
       "src/c/scilab-arduino/cmd_analog_out/u8cmd_analog_outs.c"
       "src/c/scilab-arduino/cmd_analog_in/u8cmd_analog_ins.c"
+      "src/c/scilab-arduino/cmd_dcmotor_setup/u8cmd_dcmotor_setups.c"
+      "src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c"
       "src/c/scilab-arduino/sleep/u16sleeps.c"];
 
   //Files to be inserted only if output format selected is 'AVR'.
@@ -831,6 +833,8 @@ function allSources = getAllSources(OutFormat)
       "src/c/hardware/avr/gpio/u8AVRDigitalIns.c"
       "src/c/hardware/avr/adc/u8AVRADCSetups.c"
       "src/c/hardware/avr/adc/u8AVRReadADCs.c"
+      "src/c/hardware/avr/pwm/u8AVRPWMSetups.c"
+      "src/c/hardware/avr/pwm/u8AVRPWMSetDutys.c"
 	  "src/c/hardware/avr/util/u16AVRSleeps.c"
          ];
 
diff --git a/2.3-1/macros/findDeps/getArduinoFiles.bin b/2.3-1/macros/findDeps/getArduinoFiles.bin
index f8937bfe..651b8f3d 100644
--- a/2.3-1/macros/findDeps/getArduinoFiles.bin
+++ b/2.3-1/macros/findDeps/getArduinoFiles.bin
diff --git a/2.3-1/macros/findDeps/getArduinoFiles.sci b/2.3-1/macros/findDeps/getArduinoFiles.sci
index a51d9b52..89033d00 100644
--- a/2.3-1/macros/findDeps/getArduinoFiles.sci
+++ b/2.3-1/macros/findDeps/getArduinoFiles.sci
@@ -12,6 +12,7 @@
 
 function arduinoFiles = getArduinoFiles()
   arduinoFiles = [
+		"src/c/scilab-arduino/default_files/setup_arduino.h"
 		"src/c/scilab-arduino/default_files/Makefile"
 		"src/c/scilab-arduino/default_files/sci2c_arduino.ino"];
 endfunction
diff --git a/2.3-1/macros/runsci2c.bin b/2.3-1/macros/runsci2c.bin
index afe6e7d6..6c09823e 100644
--- a/2.3-1/macros/runsci2c.bin
+++ b/2.3-1/macros/runsci2c.bin
diff --git a/2.3-1/macros/runsci2c.sci b/2.3-1/macros/runsci2c.sci
index 91587031..4620705c 100644
--- a/2.3-1/macros/runsci2c.sci
+++ b/2.3-1/macros/runsci2c.sci
@@ -133,12 +133,15 @@ end
 //default folder, else generate makefile for standalone c code

 

 if (OutFormat == 'Arduino')

+

+   GenerateSetupFunction(FileInfo);

    mkdir(SCI2COutputPath+"/arduino/");

    mkdir(SCI2COutputPath+"/arduino/sci2c_arduino");

    //Copy arduino makefile

    arduinoFiles = SCI2CHOME + "/" + getArduinoFiles();

    PrintStepInfo('Copying arduino files', FileInfo.GeneralReport,'both');

-   for i = 1:size(arduinoFiles, "*")

+   copyfile(arduinoFiles(1), SCI2COutputPath);

+   for i = 2:size(arduinoFiles, "*")

        // DEBUG only

        //disp("Copying "+arduinoFiles(i)+" in "+SCI2COutputPath+"/arduino/sci2carduino");

        copyfile(arduinoFiles(i), SCI2COutputPath+"/arduino/sci2c_arduino/");