Support for Servo motor for Arduino. Support for'diag' in c

1 files changed, 129 insertions, 0 deletions

diff --git a/2.3-1/src/c/matrixOperations/division/u8rdivma.c b/2.3-1/src/c/matrixOperations/division/u8rdivma.c
new file mode 100644
index 00000000..478f6ac9
--- /dev/null
+++ b/2.3-1/src/c/matrixOperations/division/u8rdivma.c
@@ -0,0 +1,129 @@
+/*
+ *  Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+ *  Copyright (C) 2008-2008 - INRIA - Allan SIMON
+ *
+ *  This file must be used under the terms of the CeCILL.
+ *  This source file is licensed as described in the file COPYING, which
+ *  you should have received as part of this distribution.  The terms
+ *  are also available at
+ *  http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ *
+ */
+#include <stdlib.h>
+#include <string.h>
+#include "matrixDivision.h" 
+#include "lapack.h" 
+
+void u8rdivma (	uint8 * in1,		int lines1,	int columns1,
+				uint8 * in2,		int lines2,	int columns2,
+				uint8 * out){
+
+	char cNorm	= 0;
+	int iExit	= 0;
+
+	/*temporary variables*/
+	int iWork		= 0;
+	int iInfo		= 0;
+	int iMax		= 0;
+	uint8 dblRcond	= 0;
+
+	uint8 dblEps	= 0;
+	uint8 dblAnorm	= 0;
+
+	uint8 *pAf		= NULL;
+	uint8 *pAt		= NULL;
+	uint8 *pBt		= NULL;
+	uint8 *pDwork	= NULL;
+
+	int *pRank	= NULL;
+	int *pIpiv	= NULL;
+	int *pJpvt	= NULL;
+	int *pIwork	= NULL;
+
+	iWork	= max(4 * columns2, max(min(lines2, columns2) + 3 * lines2 + 1, 2 * min(lines2, columns2) + lines1));
+
+
+	/* Array allocations*/
+	pAf			= (uint8*)malloc(sizeof(uint8) * (unsigned int)columns2 * (unsigned int)lines2);
+	pAt			= (uint8*)malloc(sizeof(uint8) * (unsigned int)columns2 *(unsigned int) lines2);
+	pBt			= (uint8*)malloc(sizeof(uint8) * (unsigned int)max(lines2,columns2) * (unsigned int)lines1);
+
+	pRank		= (int*)malloc(sizeof(int));
+	pIpiv		= (int*)malloc(sizeof(int) * (unsigned int)columns2);
+	pJpvt		= (int*)malloc(sizeof(int) * (unsigned int)lines2);
+	pIwork		= (int*)malloc(sizeof(int) * (unsigned int)columns2);
+
+
+	cNorm		= '1';
+	pDwork		= (uint8*)malloc(sizeof(uint8) * (unsigned int)iWork);
+	dblEps		= getRelativeMachinePrecision() ;
+	dblAnorm	= dlange_(&cNorm, &lines2, &columns1, in2, &lines2, pDwork);
+
+	/*tranpose A and B*/
+
+	dtransposea(in2, lines2, columns2, pAt);
+	dtransposea(in1, lines1, columns2, pBt);
+
+	if(lines2 == columns2)
+	{
+		cNorm		= 'F';
+		dlacpy_(&cNorm, &columns2, &columns2, pAt, &columns2, pAf, &columns2);
+		dgetrf_(&columns2, &columns2, pAf, &columns2, pIpiv, &iInfo);
+		if(iInfo == 0)
+		{
+			cNorm = '1';
+			dgecon_(&cNorm, &columns2, pAf, &columns2, &dblAnorm, &dblRcond, pDwork, pIwork, &iInfo);
+			if(dblRcond > sqrt(dblEps))
+			{
+				cNorm	= 'N';
+				dgetrs_(&cNorm, &columns2, &lines1, pAf, &columns2, pIpiv, pBt, &columns2, &iInfo);
+				dtransposea(pBt, columns2, lines1, out);
+				iExit = 1;
+			}
+		}
+
+	}
+
+	if(iExit == 0)
+	{
+		dblRcond = sqrt(dblEps);
+		cNorm = 'F';
+		iMax = max(lines2, columns2);
+		memset(pJpvt, 0x00, (unsigned int)sizeof(int) * (unsigned int)lines2);
+		dgelsy_(&columns2, &lines2, &lines1, pAt, &columns2, pBt, &iMax,
+			pJpvt, &dblRcond, &pRank[0], pDwork, &iWork, &iInfo);
+
+		if(iInfo == 0)
+		{
+
+
+		/*	TransposeRealMatrix(pBt, lines1, lines2, out, Max(lines1,columns1), lines2);*/
+
+			/*Mega caca de la mort qui tue des ours a mains nues 
+			mais je ne sais pas comment le rendre "beau" :(*/
+			{
+				int i,j,ij,ji;
+				for(j = 0 ; j < lines2 ; j++)
+				{
+					for(i = 0 ; i < lines1 ; i++)
+					{
+						ij = i + j * lines1;
+						ji = j + i * max(lines2, columns2);
+						out[ij]	= pBt[ji];
+					}
+				}
+			}
+		}
+	}
+
+	free(pAf);
+	free(pAt);
+	free(pBt);
+	free(pRank);
+	free(pIpiv);
+	free(pJpvt);
+	free(pIwork);
+	free(pDwork);
+
+}
+