updated with main repo

34 files changed, 522 insertions, 26 deletions

diff --git a/2.3-1/src/c/CACSD/includes/lqr.h b/2.3-1/src/c/CACSD/includes/lqr.h
index 062d6e41..5b20ee83 100644
--- a/2.3-1/src/c/CACSD/includes/lqr.h
+++ b/2.3-1/src/c/CACSD/includes/lqr.h
@@ -17,7 +17,7 @@
 extern "C" {
 #endif
 
-void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K);
+void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, double* S, double* X, double* K);
 
 #ifdef  __cplusplus 
 } /* extern "C" */
diff --git a/2.3-1/src/c/CACSD/interfaces/int_lqr.h b/2.3-1/src/c/CACSD/interfaces/int_lqr.h
index e6f534fc..8deba90b 100644
--- a/2.3-1/src/c/CACSD/interfaces/int_lqr.h
+++ b/2.3-1/src/c/CACSD/interfaces/int_lqr.h
@@ -16,7 +16,14 @@
 extern "C" {
 #endif
 
-#define ss2lqrd2d2(in1,size1,out1,out2) dlqra(in1,size1[0],size1[1],out1,out2);
+#define ss2lqrd2d2(in1,size1,out1,out2) dlqra(in1,size1[0],size1[1],NULL,\
+				NULL,NULL,out1,out2);
+
+#define ss2d2d2lqrd2d2(in1,size1,in2,size2,in3,size3,out1,out2) dlqra(in1,\
+				size1[0],size1[1],in2,in3,NULL,out1,out2);
+
+#define ss2d2d2d2lqrd2d2(in1,size1,in2,size2,in3,size3,in4,size4,out1,out2) \
+				dlqra(in1,size1[0],size1[1],in2,in3,in4,out1,out2);
 
 #ifdef  __cplusplus
 } /* extern "C" */
diff --git a/2.3-1/src/c/CACSD/lqe/dlqea.c b/2.3-1/src/c/CACSD/lqe/dlqea.c
index 63f8d62d..e0be5b34 100644
--- a/2.3-1/src/c/CACSD/lqe/dlqea.c
+++ b/2.3-1/src/c/CACSD/lqe/dlqea.c
@@ -54,7 +54,7 @@ void dlqea(double* sys, int sys_rows, int sys_cols, double* X, double* K)
 
 	/*Calculate LQR gain*/
 	K_lqr = (double*) malloc(no_of_ip*no_of_st*sizeof(double));
-	dlqra(sys_lqr,sys_lqr_rows,sys_lqr_cols,X,K_lqr);
+	dlqra(sys_lqr,sys_lqr_rows,sys_lqr_cols,NULL,NULL,NULL,X,K_lqr);
 
 	dtransposea(K_lqr,sys_rows - no_of_st,no_of_st,K);
 }
\ No newline at end of file
diff --git a/2.3-1/src/c/CACSD/lqr/dlqra.c b/2.3-1/src/c/CACSD/lqr/dlqra.c
index 02ac1504..1440c3a8 100644
--- a/2.3-1/src/c/CACSD/lqr/dlqra.c
+++ b/2.3-1/src/c/CACSD/lqr/dlqra.c
@@ -22,7 +22,8 @@
 #include "schur.h"
 #include "matrixDivision.h" 
 
-void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
+void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
+            double* S, double* K, double* X)
 {
     int no_of_states, no_of_inputs, no_of_outputs, dom = 1;
     int row,col;
@@ -32,7 +33,7 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
 
     double *A, *B, *C, *D;
     double *B_t, *C_t, *D_t;
-    double *Q, *R, *S;
+    //double *Q, *R, *S;
     double *Ri, *LA, *LE;
     double *BRi, *StRi, *S_t;
     double *buf1, *buf2, *buf3, *buf4, *buf5, *buf6;
@@ -90,20 +91,29 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
 
     dom = (int)sys[(sys_rows*(sys_cols-2)) + no_of_states];
 
-    Q = (double*) malloc (no_of_states*no_of_states*sizeof(double));
-    R = (double*) malloc (no_of_inputs*no_of_inputs*sizeof(double));
-    S = (double*) malloc (no_of_inputs*no_of_states*sizeof(double));
-
     dtransposea(B,no_of_states,no_of_inputs,B_t);
     dtransposea(C,no_of_outputs,no_of_states,C_t);
     dtransposea(D,no_of_outputs,no_of_inputs,D_t);
 
-    dmulma(C_t,no_of_states,no_of_outputs,C,no_of_outputs,no_of_states,Q);
-    dmulma(D_t,no_of_inputs,no_of_outputs,D,no_of_outputs,no_of_inputs,R);
-    dmulma(D_t,no_of_inputs,no_of_outputs,C,no_of_outputs,no_of_states,S);
+    if(Q == NULL)
+    {/*If Q is not provided*/
+        Q = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+        dmulma(C_t,no_of_states,no_of_outputs,C,no_of_outputs,no_of_states,Q);
+    }
+    
+    if(R == NULL)
+    {/*If R is not provided*/
+        R = (double*) malloc (no_of_inputs*no_of_inputs*sizeof(double));
+        dmulma(D_t,no_of_inputs,no_of_outputs,D,no_of_outputs,no_of_inputs,R);
+    }
 
-    /*Free up unwanted variables*/
+    if(S == NULL)
+    {/*If Q is not provided*/    
+        S = (double*) malloc (no_of_inputs*no_of_states*sizeof(double));
+        dmulma(D_t,no_of_inputs,no_of_outputs,C,no_of_outputs,no_of_states,S);
+    }
 
+    /*Free up unwanted variables*/
     free(C);
     free(C_t);
     free(D);
@@ -177,8 +187,8 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
 
         /*Freeup umwanted variables*/
         free(A);    
-        free(Q);
-        free(R);
+        //free(Q);
+        //free(R);
         free(BRi);
         free(S_t);
         free(StRi);
@@ -278,7 +288,7 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
         }
 
 
-        free(Q);
+        //free(Q);
         free(BRi);
         free(S_t);
         free(StRi);
@@ -316,7 +326,7 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
 
          /*inv(B'XB+R)*/
         dmulma(B_t,no_of_inputs,no_of_states,X,no_of_states,no_of_states,buf3);
-        dmulma(buf3,no_of_inputs,no_of_states,B_t,no_of_states,no_of_inputs,buf6);
+        dmulma(buf3,no_of_inputs,no_of_states,B,no_of_states,no_of_inputs,buf6);
         dadda(buf6,no_of_inputs*no_of_inputs,R,no_of_inputs*no_of_inputs,buf5);
         dinverma(buf5,buf6,no_of_inputs);
         /*B'XA+S*/
@@ -333,14 +343,14 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
 
         free(A);
         free(B);
-        free(R);
+        //free(R);
         free(buf5);
         free(buf6);
         
     }
 
     free(B_t);
-    free(S);
+    //free(S);
     free(wsmall);
     free(X12);
     free(phi12);
diff --git a/2.3-1/src/c/elementaryFunctions/includes/sec.h b/2.3-1/src/c/elementaryFunctions/includes/sec.h
index 96061583..a04c5f73 100644
--- a/2.3-1/src/c/elementaryFunctions/includes/sec.h
+++ b/2.3-1/src/c/elementaryFunctions/includes/sec.h
@@ -14,7 +14,7 @@
 #include "dynlib_elementaryfunctions.h"
 #include "floatComplex.h"
 #include "doubleComplex.h"
-#include <complex.h>
+//#include <complex.h>
 #include "types.h"
 
  #ifdef  __cplusplus
diff --git a/2.3-1/src/c/scilab-arduino/cmd_analog_in_volt/u8cmd_analog_in_volts.c b/2.3-1/src/c/scilab-arduino/cmd_analog_in_volt/u8cmd_analog_in_volts.c
new file mode 100644
index 00000000..7018df2c
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/cmd_analog_in_volt/u8cmd_analog_in_volts.c
@@ -0,0 +1,22 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ 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
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+#include "cmd_analog_in_volt.h"
+#include "Arduino.h"
+
+float u8cmd_analog_in_volts(uint8 board_no, uint8 pin)
+{
+    float a;
+    a = ((5*(float)analogRead(pin))/1023);
+    return(a);
+}
+
diff --git a/2.3-1/src/c/scilab-arduino/cmd_analog_out_volt/u8cmd_analog_out_volts.c b/2.3-1/src/c/scilab-arduino/cmd_analog_out_volt/u8cmd_analog_out_volts.c
new file mode 100644
index 00000000..2dd82e41
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/cmd_analog_out_volt/u8cmd_analog_out_volts.c
@@ -0,0 +1,22 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ 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
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+#include "cmd_analog_out_volt.h"
+#include "Arduino.h"
+
+void u8cmd_analog_out_volts(uint8 board_no, uint8 pin, float value)
+{	
+    int a;
+    a = ((value*255)/5);
+    analogWrite(pin,a);
+    
+}
diff --git a/2.3-1/src/c/scilab-arduino/cmd_dcmotor_release/u8cmd_dcmotor_releases.c b/2.3-1/src/c/scilab-arduino/cmd_dcmotor_release/u8cmd_dcmotor_releases.c
new file mode 100644
index 00000000..349bcb17
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/cmd_dcmotor_release/u8cmd_dcmotor_releases.c
@@ -0,0 +1,29 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ 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
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+#include "cmd_dcmotor_release.h"
+#include "Arduino.h"
+
+void u8cmd_dcmotor_releases(uint8 board_no, uint8 motor_no)
+{
+	if (dcm_mode[motor_no] == 3)
+	{
+		analogWrite(dcm_pin_1[motor_no],0);
+		analogWrite(dcm_pin_2[motor_no],0);
+	}
+
+	else 
+	{
+		digitalWrite(dcm_pin_1[motor_no],LOW);
+		digitalWrite(dcm_pin_2[motor_no],LOW);
+	}
+}
diff --git a/2.3-1/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c b/2.3-1/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c
index 6e1c2caa..e8fa8b3c 100644
--- a/2.3-1/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c
+++ b/2.3-1/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c
@@ -6,6 +6,7 @@
  are also available at
  http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
  Author: Siddhesh Wani
+ Revised by: Yash Pratap Singh Tomar
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
 */
diff --git a/2.3-1/src/c/scilab-arduino/cmd_dcmotor_setup/u8cmd_dcmotor_setups.c b/2.3-1/src/c/scilab-arduino/cmd_dcmotor_setup/u8cmd_dcmotor_setups.c
index 389f9111..0d04e748 100644
--- a/2.3-1/src/c/scilab-arduino/cmd_dcmotor_setup/u8cmd_dcmotor_setups.c
+++ b/2.3-1/src/c/scilab-arduino/cmd_dcmotor_setup/u8cmd_dcmotor_setups.c
@@ -6,6 +6,7 @@
  are also available at
  http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
  Author: Siddhesh Wani
+ Revised by: Yash Pratap Singh Tomar
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
 */
diff --git a/2.3-1/src/c/scilab-arduino/cmd_i2c_dev/u8cmd_i2c_devs.cpp b/2.3-1/src/c/scilab-arduino/cmd_i2c_dev/u8cmd_i2c_devs.cpp
new file mode 100644
index 00000000..adc1a6e5
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/cmd_i2c_dev/u8cmd_i2c_devs.cpp
@@ -0,0 +1,10 @@
+#include "cmd_i2c_dev.h"
+#include "Arduino.h"
+#include "Wire.h"
+
+
+uint8 u8cmd_i2c_devs(uint8 address)
+{
+       Wire.begin(); 
+       return((uint8)address); 
+}
diff --git a/2.3-1/src/c/scilab-arduino/cmd_i2c_read/u8cmd_i2c_reads.cpp b/2.3-1/src/c/scilab-arduino/cmd_i2c_read/u8cmd_i2c_reads.cpp
new file mode 100644
index 00000000..8f02a87e
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/cmd_i2c_read/u8cmd_i2c_reads.cpp
@@ -0,0 +1,18 @@
+#include "cmd_i2c_read.h"
+#include "Arduino.h"
+#include "Wire.h"
+
+float u8cmd_i2c_reads(uint8 address, uint8 bytes)
+{
+	
+  		float c;				   	   //variable declaration to save received data
+
+		//  request reading from sensor
+  		Wire.requestFrom(address, bytes);          // request no. of bytes(given) from slave device with address
+
+                // receive reading from sensor
+		while (Wire.available())		   //If data is received
+     		c = Wire.read(); 			   //Save received data in variable
+		return(c);
+	
+}
diff --git a/2.3-1/src/c/scilab-arduino/cmd_i2c_read_register/u8cmd_i2c_read_registers.cpp b/2.3-1/src/c/scilab-arduino/cmd_i2c_read_register/u8cmd_i2c_read_registers.cpp
new file mode 100644
index 00000000..0a2ec2ed
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/cmd_i2c_read_register/u8cmd_i2c_read_registers.cpp
@@ -0,0 +1,26 @@
+#include "cmd_i2c_read_register.h"
+#include "Arduino.h"
+#include "Wire.h"
+
+uint16 u8cmd_i2c_read_registers(uint8 address, uint8 reg_adrs)
+{
+  long int reading;
+
+  Wire.beginTransmission(address); // transmit to device address
+  Wire.write(reg_adrs);      // sets register pointer to reg_adrs position
+  Wire.endTransmission();      // stop transmitting
+
+  //  request reading from sensor
+  Wire.requestFrom(address, 2);    // request 2 bytes from slave device with address
+
+  // receive reading from sensor
+  if (2 <= Wire.available())  // if two bytes were received
+  {
+    reading = Wire.read();  // receive high byte (overwrites previous reading)
+    reading = reading << 8;    // shift high byte to be high 8 bits
+    reading |= Wire.read(); // receive low byte as lower 8 bits
+  }
+  
+    return(reading);
+
+}
diff --git a/2.3-1/src/c/scilab-arduino/cmd_i2c_write/u8cmd_i2c_writes.cpp b/2.3-1/src/c/scilab-arduino/cmd_i2c_write/u8cmd_i2c_writes.cpp
new file mode 100644
index 00000000..0239097a
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/cmd_i2c_write/u8cmd_i2c_writes.cpp
@@ -0,0 +1,13 @@
+#include "cmd_i2c_write.h"
+#include "Arduino.h"
+#include "Wire.h"
+
+void u8cmd_i2c_writes(uint8 address, uint8 data)
+{
+	
+		Wire.beginTransmission(address);    //Begins transmission to the device connected to given address
+		Wire.write(data);                   //sends data to slave device
+  		Wire.endTransmission();             //Transmission ends
+	
+} 
+
diff --git a/2.3-1/src/c/scilab-arduino/cmd_i2c_write_register/u8cmd_i2c_write_registers.cpp b/2.3-1/src/c/scilab-arduino/cmd_i2c_write_register/u8cmd_i2c_write_registers.cpp
new file mode 100644
index 00000000..63cc7c7a
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/cmd_i2c_write_register/u8cmd_i2c_write_registers.cpp
@@ -0,0 +1,16 @@
+#include "cmd_i2c_write_register.h"
+#include "Arduino.h"
+#include "Wire.h"
+
+void u8cmd_i2c_write_registers(uint8 address, uint8 reg_adrs, uint8 data)
+{
+
+
+		Wire.beginTransmission(address); //Begins transmission to the device connected to given address
+		Wire.write(reg_adrs); 	         //sets register pointer to reg_adrs position
+  		Wire.write(data);                //writes given data on reg_adrs position
+  		Wire.endTransmission();          //Transmission ends
+
+
+} 
+
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_analog_in_volt.h b/2.3-1/src/c/scilab-arduino/includes/cmd_analog_in_volt.h
new file mode 100644
index 00000000..ec471426
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_analog_in_volt.h
@@ -0,0 +1,28 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ 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
+ Author: Yash Pratap Singh Tomar 
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+#ifndef __CMD_ANALOG_IN_VOLT_H__
+#define __CMD_ANALOG_IN_VOLT_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+	
+float u8cmd_analog_in_volts(uint8 board_no, uint8 pin);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __CMD_ANALOG_IN_VOLT_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_analog_out_volt.h b/2.3-1/src/c/scilab-arduino/includes/cmd_analog_out_volt.h
new file mode 100644
index 00000000..51580fbb
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_analog_out_volt.h
@@ -0,0 +1,27 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ 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
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+#ifndef __CMD_ANALOG_OUT_VOLT_H__
+#define __CMD_ANALOG_OUT_VOLT_H__
+ 
+#include "types.h"
+#ifdef  __cplusplus
+extern "C" {
+#endif
+	
+void u8cmd_analog_out_volts(uint8 board_no, uint8 pin, float value);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __CMD_ANALOG_OUT_VOLT_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_release.h b/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_release.h
new file mode 100644
index 00000000..d185fb5e
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_release.h
@@ -0,0 +1,30 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ 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
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+#ifndef __CMD_DCMOTOR_RELEASE_H__
+#define __CMD_DCMOTOR_RELEASE_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+extern uint8 dcm_pin_1[4], dcm_pin_2[4], dcm_mode[4];
+	
+void u8cmd_dcmotor_releases(uint8 board_no, uint8 motor_no);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __CMD_DCMOTOR_RELEASE_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_run.h b/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_run.h
index 2b69c99b..1b5d41c1 100644
--- a/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_run.h
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_run.h
@@ -22,7 +22,7 @@ extern "C" {
 
 extern uint8 dcm_pin_1[4], dcm_pin_2[4], dcm_mode[4];
 	
-void u8cmd_dc_motor_runs(uint8 board_no, uint8 motor_no, int16 duty);
+void u8cmd_dcmotor_runs(uint8 board_no, uint8 motor_no, int16 duty);
 
 #ifdef  __cplusplus
 } /* extern "C" */
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_setup.h b/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_setup.h
index cecd4659..45854ffb 100644
--- a/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_setup.h
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_dcmotor_setup.h
@@ -22,7 +22,7 @@ extern "C" {
 
 extern uint8 dcm_pin_1[4], dcm_pin_2[4], dcm_mode[4];
 	
-void u8cmd_dc_motor_setups(uint8 board_no, uint8 driver_type, uint8 motor_no,\
+void u8cmd_dcmotor_setups(uint8 board_no, uint8 driver_type, uint8 motor_no,\
 							uint8 pin_1, uint8 pin_2);
 
 #ifdef  __cplusplus
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_dev.h b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_dev.h
new file mode 100644
index 00000000..861a8e7b
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_dev.h
@@ -0,0 +1,16 @@
+#ifndef __CMD_I2C_DEV_H__
+#define __CMD_I2C_DEV_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+	
+uint8 u8cmd_i2c_devs(uint8 address);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __CMD_I2C_DEV_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_read.h b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_read.h
new file mode 100644
index 00000000..791bdd38
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_read.h
@@ -0,0 +1,16 @@
+#ifndef __CMD_I2C_READ_H__
+#define __CMD_I2C_READ_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+	
+float u8cmd_i2c_reads(uint8 address, uint8 bytes);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __CMD_I2C_READ_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_read_register.h b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_read_register.h
new file mode 100644
index 00000000..ea203adf
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_read_register.h
@@ -0,0 +1,16 @@
+#ifndef __CMD_I2C_READ_REGISTER_H__
+#define __CMD_I2C_READ_REGISTER_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+	
+uint16 u8cmd_i2c_read_registers(uint8 address, uint8 reg_adrs);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __CMD_I2C_READ_REGISTER_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_write.h b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_write.h
new file mode 100644
index 00000000..6a57222b
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_write.h
@@ -0,0 +1,16 @@
+#ifndef __CMD_I2C_WRITE_H__
+#define __CMD_I2C_WRITE_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+	
+void u8cmd_i2c_writes(uint8 address, uint8 data);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __CMD_I2C_WRITE_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_write_register.h b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_write_register.h
new file mode 100644
index 00000000..ff1b9ec0
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/includes/cmd_i2c_write_register.h
@@ -0,0 +1,16 @@
+#ifndef __CMD_I2C_WRITE_REGISTER_H__
+#define __CMD_I2C_WRITE_REGISTER_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+	
+void u8cmd_i2c_write_registers(uint8 address, uint8 reg_adrs, uint8 data);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __CMD_I2C_WRITE_REGISTER_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_analog_in_volt.h b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_analog_in_volt.h
new file mode 100644
index 00000000..e8fe65d7
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_analog_in_volt.h
@@ -0,0 +1,30 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ 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
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+
+#ifndef __INT_CMD_ANALOG_IN_VOLT_H__
+#define __INT_CMD_ANALOG_IN_VOLT_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define d0d0cmd_analog_in_volts0(in1,in2) u8cmd_analog_in_volts((uint8)in1,(uint8)in2)
+									
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __INT_CMD_ANALOG_IN_VOLT_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_analog_out_volt.h b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_analog_out_volt.h
new file mode 100644
index 00000000..283f8fa0
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_analog_out_volt.h
@@ -0,0 +1,30 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ 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
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+#ifndef __INT_CMD_ANALOG_OUT_VOLT_H__
+#define __INT_CMD_ANALOG_OUT_VOLT_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define d0d0d0cmd_analog_out_volt(in1,in2,in3) u8cmd_analog_out_volts((uint8)in1,(uint8)in2,(float)in3)	
+
+#define d0d0s0cmd_analog_out_volt(in1,in2,in3) u8cmd_analog_out_volts((uint8)in1,(uint8)in2,(float)in3)	
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __INT_CMD_ANALOG_OUT_VOLT_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_dcmotor.h b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_dcmotor.h
index 61e0d2e3..d465ff6f 100644
--- a/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_dcmotor.h
+++ b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_dcmotor.h
@@ -6,6 +6,7 @@
  are also available at
  http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
  Author: Siddhesh Wani
+ Revised by: Yash Pratap Singh Tomar
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
 */
@@ -20,16 +21,16 @@
 extern "C" {
 #endif
 
-#define d0d0d0d0d0cmd_dcmotor_setup(in1,in2,in3,in4,in5)\
-			u8cmd_dcmotor_setups((uint8)in1,(uint8)in2,(uint8)in3,\
-			(uint8)in4,(uint8)in5)
+#define d0d0d0d0d0cmd_dcmotor_setup(in1,in2,in3,in4,in5) u8cmd_dcmotor_setups((uint8)in1,(uint8)in2,(uint8)in3,(uint8)in4,(uint8)in5)
 
 #define d0d0d0cmd_dcmotor_run(in1,in2,in3) u8cmd_dcmotor_runs((uint8)in1,\
 				(uint8)in2, (int16)in3);	
 
 
 #define d0d0u160cmd_dcmotor_run(in1,in2,in3) u8cmd_dcmotor_runs((uint8)in1,\
-				(uint8)in2, (int16)in3);	
+				(uint8)in2, (int16)in3);
+
+#define d0d0cmd_dcmotor_release(in1,in2) u8cmd_dcmotor_releases((uint8)in1,(uint8)in2)	
 
 
 #ifdef  __cplusplus
diff --git a/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_dev.h b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_dev.h
new file mode 100644
index 00000000..c4d93d74
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_dev.h
@@ -0,0 +1,17 @@
+#ifndef __INT_CMD_I2C_DEV_H__
+#define __INT_CMD_I2C_DEV_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define d0cmd_i2c_devu80(in1) u8cmd_i2c_devs((uint8)in1)
+									
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __INT_CMD_I2C_DEV_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_read.h b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_read.h
new file mode 100644
index 00000000..b0633a07
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_read.h
@@ -0,0 +1,19 @@
+#ifndef __INT_CMD_I2C_READ_H__
+#define __INT_CMD_I2C_READ_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define d0d0cmd_i2c_reads0(in1, in2) u8cmd_i2c_reads((uint8)in1, (uint8)in2)
+
+#define u80d0cmd_i2c_reads0(in1, in2) u8cmd_i2c_reads((uint8)in1, (uint8)in2)
+									
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __INT_CMD_I2C_READ_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_read_register.h b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_read_register.h
new file mode 100644
index 00000000..5f4c5298
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_read_register.h
@@ -0,0 +1,18 @@
+#ifndef __INT_CMD_I2C_READ_REGISTER_H__
+#define __INT_CMD_I2C_READ_REGISTER_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define d0d0cmd_i2c_read_registeru160(in1, in2) u8cmd_i2c_read_registers((uint8)in1, (uint8)in2)
+									
+#define u80d0cmd_i2c_read_registeru160(in1, in2) u8cmd_i2c_read_registers((uint8)in1, (uint8)in2)
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __INT_CMD_I2C_READ_REGISTER_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_write.h b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_write.h
new file mode 100644
index 00000000..a7705a89
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_write.h
@@ -0,0 +1,20 @@
+#ifndef __INT_CMD_I2C_WRITE_H__
+#define __INT_CMD_I2C_WRITE_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define d0d0cmd_i2c_write(in1, in2) u8cmd_i2c_writes((uint8)in1, (uint8)in2)
+
+#define u80d0cmd_i2c_write(in1, in2) u8cmd_i2c_writes((uint8)in1, (uint8)in2)
+
+									
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __INT_CMD_I2C_WRITE_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_write_register.h b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_write_register.h
new file mode 100644
index 00000000..35c0527e
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/interfaces/int_cmd_i2c_write_register.h
@@ -0,0 +1,19 @@
+#ifndef __INT_CMD_I2C_WRITE_REGISTER_H__
+#define __INT_CMD_I2C_WRITE_REGISTER_H__
+ 
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define d0d0d0cmd_i2c_write_register(in1, in2, in3) u8cmd_i2c_write_registers((uint8)in1, (uint8)in2, (uint8)in3)
+									
+#define u80d0d0cmd_i2c_write_register(in1, in2, in3) u8cmd_i2c_write_registers((uint8)in1, (uint8)in2, (uint8)in3)
+
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* __INT_CMD_I2C_WRITE_REGISTER_H__ */
diff --git a/2.3-1/src/c/scilab-arduino/sleep/u16sleeps.c b/2.3-1/src/c/scilab-arduino/sleep/u16sleeps.c
index 88f8a66d..30459782 100644
--- a/2.3-1/src/c/scilab-arduino/sleep/u16sleeps.c
+++ b/2.3-1/src/c/scilab-arduino/sleep/u16sleeps.c
@@ -6,11 +6,13 @@
  are also available at
  http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
  Author: Siddhesh Wani
+ Revised by: Yash Pratap Singh Tomar
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
 */
 
 #include "sleep.h"
+#include "Arduino.h"
 
 void u16sleeps(uint16 delay_ms)
 {