added support for uin8,uint16,int8,int16 and not in GeneratedSetup.sci,u8cmd_digital_outs.c,getAllInterfaces.sci,getAllHeaders.sci

17 files changed, 539 insertions, 25 deletions

diff --git a/2.3-1/macros/Scilab-Arduino/GenerateSetupFunction.sci b/2.3-1/macros/Scilab-Arduino/GenerateSetupFunction.sci
index db96e190..416509c2 100644
--- a/2.3-1/macros/Scilab-Arduino/GenerateSetupFunction.sci
+++ b/2.3-1/macros/Scilab-Arduino/GenerateSetupFunction.sci
@@ -1,9 +1,7 @@
 function GenerateSetupFunction(FileInfo)
 
 SetupListFile = FileInfo.SetupListFile;
-
 load(SetupListFile,'SetupList');
-
 SetupArduinoFile = fullfile(FileInfo.CStyleOutCCCodeDir,'setup_arduino.c');
 C_SCI2CHeader(SetupArduinoFile);
 
@@ -13,7 +11,6 @@ PrintStringInfo('int setup_arduino()',SetupArduinoFile,'file','y');
 PrintStringInfo('{',SetupArduinoFile,'file','y');
 
 nelements=size(SetupList);
-
 for i=1:nelements
 	funcall = '    ';
 	funcall = funcall + SetupList(i)(1);
diff --git a/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin b/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin
index be0c48fb..a92ebcf0 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 aa783b1c..1f9b2c99 100644
--- a/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci
+++ b/2.3-1/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci
@@ -805,6 +805,7 @@ PrintStringInfo('i80'+ArgSeparator+'i80',ClassFileName,'file','y');
 PrintStringInfo('u160'+ArgSeparator+'u160',ClassFileName,'file','y');

 PrintStringInfo('i160'+ArgSeparator+'i160',ClassFileName,'file','y');

 

+

 PrintStringInfo('s2'+ArgSeparator+'s2',ClassFileName,'file','y');

 PrintStringInfo('d2'+ArgSeparator+'d2',ClassFileName,'file','y');

 PrintStringInfo('c2'+ArgSeparator+'c2',ClassFileName,'file','y');

@@ -815,6 +816,7 @@ PrintStringInfo('u162'+ArgSeparator+'u162',ClassFileName,'file','y');
 PrintStringInfo('i162'+ArgSeparator+'i162',ClassFileName,'file','y');

 

 

+

 //NUT: no mixed input types are allowed.

 PrintStringInfo('s0s0'+ArgSeparator+'s0',ClassFileName,'file','y');

 PrintStringInfo('s0s0'+ArgSeparator+'d0',ClassFileName,'file','y');

@@ -835,6 +837,9 @@ PrintStringInfo('i160i160'+ArgSeparator+'i162',ClassFileName,'file','y');
 

 PrintStringInfo('d0d0d0'+ArgSeparator+'d3',ClassFileName,'file','y');

 

+

+

+

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

 FunctionName = 'zeros'; // BJ : Done AS : Float_Done

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

@@ -851,6 +856,75 @@ PrintStringInfo('      Adding Function: '+FunctionName+'.',GeneralReport,'file',
 INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,ExtensionCAnnFun);

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

 

+

+

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

+//-----Class Rand.------

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

+ ClassName = 'rand'

+

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

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

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

+PrintStringInfo('NIN=          0',ClassFileName,'file','y');

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

+//Was FA_TP_USER

+//Cause some trouble if user specify some precision and if input(and also output) is complex.

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

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

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

+

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

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

+//Was FA_TP_USER

+//Cause some trouble if user specify some precision and if input(and also output) is complex.

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

+PrintStringInfo('OUT(1).SZ(1)= FA_SZ_1(IN(1).SZ)',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(2)= FA_SZ_2(IN(1).SZ)',ClassFileName,'file','y');

+

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

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

+//Was FA_TP_USER

+//Cause some trouble if user specify some precision and if input(and also output) is complex.

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

+PrintStringInfo('OUT(1).SZ(1)= FA_SZ_FROM_VAL(IN(1).VAL,IN(1).TP)',ClassFileName,'file','y');

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

+

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

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

+//Was FA_TP_USER

+//Cause some trouble if user specify some precision and if input(and also output) is complex.

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

+PrintStringInfo('OUT(1).SZ(1)= FA_SZ_FROM_VAL(IN(1).VAL,IN(1).TP)',ClassFileName,'file','y');

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

+PrintStringInfo('OUT(1).SZ(3)= FA_SZ_FROM_VAL(IN(3).VAL,IN(3).TP)',ClassFileName,'file','y');

+

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

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

+

+

+//For rand operator

+PrintStringInfo('d0'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('d0d0'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('d0d0'+ArgSeparator+'d2',ClassFileName,'file','y');

+PrintStringInfo('d2'+ArgSeparator+'d2',ClassFileName,'file','y');

+PrintStringInfo('u80'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('i80'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('u160'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('i160'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('u82'+ArgSeparator+'d2',ClassFileName,'file','y');

+PrintStringInfo('i82'+ArgSeparator+'d2',ClassFileName,'file','y');

+PrintStringInfo('u162'+ArgSeparator+'d2',ClassFileName,'file','y');

+PrintStringInfo('i162'+ArgSeparator+'d2',ClassFileName,'file','y');

+PrintStringInfo('u80u80'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('u80u80'+ArgSeparator+'d2',ClassFileName,'file','y');

+PrintStringInfo('i80i80'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('i80i80'+ArgSeparator+'d2',ClassFileName,'file','y');

+PrintStringInfo('u160u160'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('u160u160'+ArgSeparator+'d2',ClassFileName,'file','y');

+PrintStringInfo('i160i160'+ArgSeparator+'d0',ClassFileName,'file','y');

+PrintStringInfo('i160i160'+ArgSeparator+'d2',ClassFileName,'file','y');

+

 //NUT rand  function doesn't behave like zeros and ones functions.

 FunctionName = 'rand'; // BJ : Done  =>  rien pour f loat

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

@@ -1127,6 +1201,7 @@ PrintStringInfo('      Adding Function: '+FunctionName+'.',GeneralReport,'file',
 INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,ExtensionCAnnFun);

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

 

+

 FunctionName = 'imag'; // BJ : Done AS : Float_Done

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

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

@@ -2449,6 +2524,7 @@ PrintStringInfo('NIN=          2',ClassFileName,'file','y');
 PrintStringInfo('NOUT=         1',ClassFileName,'file','y');

 PrintStringInfo('OUT(1).TP=    FA_TP_MIN_REAL(IN(1).TP,IN(2).TP)',ClassFileName,'file','y');

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

+

 PrintStringInfo('OUT(1).SZ(2)= FA_SZ_FROM_VAL(FA_ADD(FA_SUB(FA_REAL(IN(2).VAL,IN(2).TP),FA_REAL(IN(1).VAL,IN(1).TP)),''1''),FA_TP_REAL(IN(2).TP))',ClassFileName,'file','y');

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

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

@@ -2842,29 +2918,32 @@ ClassName = 'String';
 PrintStringInfo('   Adding Class: '+ClassName+'.',GeneralReport,'file','y');

 ClassFileName = fullfile(SCI2CLibCAnnClsDir,ClassName+ExtensionCAnnCls);

 PrintStringInfo('NIN=          1',ClassFileName,'file','y');

-PrintStringInfo('NOUT=         0',ClassFileName,'file','y');

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

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

+PrintStringInfo('OUT(1).SZ(1)= FA_SZ_1(IN.SZ)',ClassFileName,'file','y');

+PrintStringInfo('OUT(1).SZ(2)= FA_SZ_2(IN.SZ)',ClassFileName,'file','y');

 

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

 ClassFileName = fullfile(SCI2CLibCFLClsDir,ClassName+ExtensionCFuncListCls);

-PrintStringInfo('s0'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('d0'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('c0'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('z0'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('g0'+ArgSeparator,ClassFileName,'file','y');

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

-PrintStringInfo('i80'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('u160'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('i160'+ArgSeparator,ClassFileName,'file','y');

-

-PrintStringInfo('s2'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('d2'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('c2'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('z2'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('g2'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('u82'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('i82'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('u162'+ArgSeparator,ClassFileName,'file','y');

-PrintStringInfo('i162'+ArgSeparator,ClassFileName,'file','y');

+PrintStringInfo('s0'+ArgSeparator+'g0',ClassFileName,'file','y');

+PrintStringInfo('d0'+ArgSeparator+'g0',ClassFileName,'file','y');

+PrintStringInfo('c0'+ArgSeparator+'g0',ClassFileName,'file','y');

+PrintStringInfo('z0'+ArgSeparator+'g0',ClassFileName,'file','y');

+PrintStringInfo('g0'+ArgSeparator+'g0',ClassFileName,'file','y');

+PrintStringInfo('u80'+ArgSeparator+'g0',ClassFileName,'file','y');

+PrintStringInfo('i80'+ArgSeparator+'g0',ClassFileName,'file','y');

+PrintStringInfo('u160'+ArgSeparator+'g0',ClassFileName,'file','y');

+PrintStringInfo('i160'+ArgSeparator+'g0',ClassFileName,'file','y');

+

+PrintStringInfo('s2'+ArgSeparator+'g2',ClassFileName,'file','y');

+PrintStringInfo('d2'+ArgSeparator+'g2',ClassFileName,'file','y');

+PrintStringInfo('c2'+ArgSeparator+'g2',ClassFileName,'file','y');

+PrintStringInfo('z2'+ArgSeparator+'g2',ClassFileName,'file','y');

+PrintStringInfo('g2'+ArgSeparator+'g2',ClassFileName,'file','y');

+PrintStringInfo('u82'+ArgSeparator+'g2',ClassFileName,'file','y');

+PrintStringInfo('i82'+ArgSeparator+'g2',ClassFileName,'file','y');

+PrintStringInfo('u162'+ArgSeparator+'g2',ClassFileName,'file','y');

+PrintStringInfo('i162'+ArgSeparator+'g2',ClassFileName,'file','y');

 

 

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

@@ -3100,6 +3179,8 @@ PrintStringInfo('s0f0g2'+ArgSeparator,ClassFileName,'file','y'); //NUT da chiari
 

 PrintStringInfo('d0'+ArgSeparator,ClassFileName,'file','y'); //NUT da chiarire

 PrintStringInfo('d0f0'+ArgSeparator,ClassFileName,'file','y'); //NUT da chiarire

+

+

 PrintStringInfo('d0f0g2'+ArgSeparator,ClassFileName,'file','y'); //NUT da chiarire

 

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

@@ -3912,6 +3993,7 @@ INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,Ex
 

 

 

+

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

 // --- Class Expm. ---

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

@@ -4011,6 +4093,7 @@ 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('d0d0u80'+ArgSeparator+'u80',ClassFileName,'file','y');

 

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

 FunctionName = 'cmd_analog_out'; 

@@ -4092,6 +4175,74 @@ PrintStringInfo('      Adding Function: '+FunctionName+'.',GeneralReport,'file',
 INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,ExtensionCAnnFun);

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

 

+//---Class cmd_servo_attach.---

+ClassName = 'cmd_servo_attach';

+

+//----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 = 'cmd_servo_attach'; 

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

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

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

+

+

+//---Class cmd_servo_detach.---

+ClassName = 'cmd_servo_detach';

+

+//----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 = 'cmd_servo_detach'; 

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

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

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

+

+

+//---Class cmd_servo_move.---

+ClassName = 'cmd_servo_move';

+

+//----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');

+

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

+FunctionName = 'cmd_servo_move'; 

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

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

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

+

 

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

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

diff --git a/2.3-1/macros/findDeps/getAllHeaders.sci b/2.3-1/macros/findDeps/getAllHeaders.sci
index 7cddce29..90010058 100644
--- a/2.3-1/macros/findDeps/getAllHeaders.sci
+++ b/2.3-1/macros/findDeps/getAllHeaders.sci
@@ -134,8 +134,11 @@ 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/cmd_dcmotor_setup.h"
+      "src/c/scilab-arduino/includes/cmd_dcmotor_run.h"
+      "src/c/scilab-arduino/includes/cmd_servo_attach.h"
+      "src/c/scilab-arduino/includes/cmd_servo_detach.h"
+      "src/c/scilab-arduino/includes/cmd_servo_move.h"
       "src/c/scilab-arduino/includes/sleep.h"];
 
   AVR_headers = [
diff --git a/2.3-1/macros/findDeps/getAllInterfaces.sci b/2.3-1/macros/findDeps/getAllInterfaces.sci
index 8b5df6f2..02e741cb 100644
--- a/2.3-1/macros/findDeps/getAllInterfaces.sci
+++ b/2.3-1/macros/findDeps/getAllInterfaces.sci
@@ -129,6 +129,7 @@ function allInterfaces = getAllInterfaces(OutFormat)
       "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_cmd_servo.h"
       "src/c/scilab-arduino/interfaces/int_sleep.h"];
 
   //Interface files required for "AVR" output
diff --git a/2.3-1/macros/findDeps/getAllSources.sci b/2.3-1/macros/findDeps/getAllSources.sci
index 56a8fea0..e8b86c44 100644
--- a/2.3-1/macros/findDeps/getAllSources.sci
+++ b/2.3-1/macros/findDeps/getAllSources.sci
@@ -44,6 +44,14 @@ function allSources = getAllSources(OutFormat)
       "src/c/auxiliaryFunctions/rand/zrands.c"
       "src/c/auxiliaryFunctions/rand/cranda.c"
       "src/c/auxiliaryFunctions/rand/crands.c"
+      "src/c/auxiliaryFunctions/rand/u8randa.c"
+      "src/c/auxiliaryFunctions/rand/u8rands.c"
+      "src/c/auxiliaryFunctions/rand/u16randa.c"
+      "src/c/auxiliaryFunctions/rand/u16rands.c"
+      "src/c/auxiliaryFunctions/rand/i8randa.c"
+      "src/c/auxiliaryFunctions/rand/i8rands.c"
+      "src/c/auxiliaryFunctions/rand/i16randa.c"
+      "src/c/auxiliaryFunctions/rand/i16rands.c"
       "src/c/auxiliaryFunctions/sign/csigna.c"
       "src/c/auxiliaryFunctions/sign/csigns.c"
       "src/c/auxiliaryFunctions/sign/dsigna.c"
@@ -844,6 +852,9 @@ function allSources = getAllSources(OutFormat)
       "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/cmd_servo_attach/u8cmd_servo_attach.cpp"
+      "src/c/scilab-arduino/cmd_servo_detach/u8cmd_servo_detach.cpp"
+      "src/c/scilab-arduino/cmd_servo_move/u8cmd_servo_move.cpp"
       "src/c/scilab-arduino/sleep/u16sleeps.c"];
 
   //Files to be inserted only if output format selected is 'AVR'.
diff --git a/2.3-1/src/c/auxiliaryFunctions/includes/rand.h b/2.3-1/src/c/auxiliaryFunctions/includes/rand.h
index 4716cbba..d032a124 100644
--- a/2.3-1/src/c/auxiliaryFunctions/includes/rand.h
+++ b/2.3-1/src/c/auxiliaryFunctions/includes/rand.h
@@ -17,6 +17,7 @@
 #include "dynlib_auxiliaryfunctions.h"
 #include "floatComplex.h"
 #include "doubleComplex.h"
+#include "types.h"
 
 #ifdef  __cplusplus
 extern "C" {
@@ -46,6 +47,35 @@ EXTERN_AUXFUNCT floatComplex	crands(void);
  **/
 EXTERN_AUXFUNCT doubleComplex	zrands(void);
 
+
+/**
+ ** \brief uint8 Rand function
+ ** \return A random double.
+ **/
+EXTERN_AUXFUNCT double		u8rands(void);
+
+
+/**
+ ** \brief uint16 Rand function
+ ** \return A random double.
+ **/
+EXTERN_AUXFUNCT double		u16rands(void);
+
+
+/**
+ ** \brief int8 Rand function
+ ** \return A random double.
+ **/
+EXTERN_AUXFUNCT double		i8rands(void);
+
+
+/**
+ ** \brief int16 Rand function
+ ** \return A random double.
+ **/
+EXTERN_AUXFUNCT double		i16rands(void);
+
+
 /**
  ** \brief Float Array Rand function
  ** \return A random float array.
@@ -70,6 +100,32 @@ EXTERN_AUXFUNCT void		cranda(floatComplex *out, int size);
  **/
 EXTERN_AUXFUNCT void		zranda(doubleComplex *out, int size);
 
+/**
+ ** \brief uint8 Array Rand function
+ ** \return A random double array.
+ **/
+EXTERN_AUXFUNCT void		u8randa(double *out, int size);
+
+/**
+ ** \brief uint16 Array Rand function
+ ** \return A random double array.
+ **/
+EXTERN_AUXFUNCT void		u16randa(double *out, int size);
+
+
+/**
+ ** \brief int8 Array Rand function
+ ** \return A random double array.
+ **/
+EXTERN_AUXFUNCT void		i8randa(double *out, int size);
+
+/**
+ ** \brief int16 Array Rand function
+ ** \return A random double array.
+ **/
+EXTERN_AUXFUNCT void		i16randa(double *out, int size);
+
+
 #ifdef  __cplusplus
 } /* extern "C" */
 #endif
diff --git a/2.3-1/src/c/auxiliaryFunctions/interfaces/int_rand.h b/2.3-1/src/c/auxiliaryFunctions/interfaces/int_rand.h
index 597309a4..85d08eae 100644
--- a/2.3-1/src/c/auxiliaryFunctions/interfaces/int_rand.h
+++ b/2.3-1/src/c/auxiliaryFunctions/interfaces/int_rand.h
@@ -20,6 +20,14 @@
 
 #define randd0()				drands()
 
+#define randu80()                               u8rands()
+
+#define randu160()                              u16rands()
+
+#define randi80()                               i8rands()
+
+#define randi160()                              i16rands()
+
 
 
 #define s0rands0(in)			srands()
@@ -30,16 +38,39 @@
 
 #define z0randz0(in)			zrands()
 
+#define u80randd0(in)                  u8rands()
+
+#define u160randd0(in)                u16rands()
+
+#define i80randd0(in)                  i8rands()
+
+#define i160randd0(in)                i16rands()
+
 
 #define s0s0rands0(in1,in2)			srands()
 
 #define d0d0randd0(in,in2)			drands()
 
+#define u80u80randd0(in1,in2)                  u8rands()
+
+#define u160u160randd0(in1,in2)             u16rands()
+
+#define i80i80randd0(in1,in2)                i8rands()
+
+#define i160i160randd0(in1,in2)             i16rands()
+
 
 #define s0s0rands2(in1,in2,out)		sranda(out,(int)in1*(int)in2)	
 
 #define d0d0randd2(in1,in2,out)		dranda(out,(int)in1*(int)in2)
 
+#define u80u80randd2(in1,in2,out)      u8randa(out,(int)in1*(int)in2)
+
+#define u160u160randd2(in1,in2,out)   u16randa(out,(int)in1*(int)in2)
+
+#define i80i80randd2(in1,in2,out)      i8randa(out,(int)in1*(int)in2)
+
+#define i160i160randd2(in1,in2,out)      i16randa(out,(int)in1*(int)in2)
 
 #define s2rands2(in,size,out)		sranda(out, size[0]*size[1])
 
@@ -49,5 +80,15 @@
 
 #define z2randz2(in,size,out)		zranda(out, size[0]*size[1])
 
+#define u82randd2(in,size,out)         u8randa(out, size[0]*size[1])
+
+#define u162randd2(in,size,out)       u16randa(out, size[0]*size[1])
+
+#define i82randd2(in,size,out)         i8randa(out, size[0]*size[1])
+
+#define i62randd2(in,size,out)         i16randa(out, size[0]*size[1])
+
+
+
 
 #endif /* !__INT_RAND_H__ */
diff --git a/2.3-1/src/c/auxiliaryFunctions/rand/i16randa.c b/2.3-1/src/c/auxiliaryFunctions/rand/i16randa.c
new file mode 100644
index 00000000..f3d8dd37
--- /dev/null
+++ b/2.3-1/src/c/auxiliaryFunctions/rand/i16randa.c
@@ -0,0 +1,12 @@
+/* Scilab2C FOSSEE IIT BOMBAY */
+#include "rand.h"
+
+void i16randa(double *out,int size)
+{
+  int i = 0;
+  for(i = 0 ; i < size ; ++i)
+    {
+       out[i] = i16rands();
+    }
+
+}
diff --git a/2.3-1/src/c/auxiliaryFunctions/rand/i16rands.c b/2.3-1/src/c/auxiliaryFunctions/rand/i16rands.c
new file mode 100644
index 00000000..ca2ed9cd
--- /dev/null
+++ b/2.3-1/src/c/auxiliaryFunctions/rand/i16rands.c
@@ -0,0 +1,46 @@
+/* Scilab2C FOSSEE IIT Bombay */
+#include "rand.h"
+#include <stdio.h>
+
+double i16rands(void)  
+{
+
+int m=1;
+const int itwo=2;
+static int m2=0,halfm=0,ia=0,ic=0,mic=0,iy=0;
+static double s=0.0;
+if(m2==0)
+{
+  /*if first entry,compute machine integer word length*/
+  while(m>m2)
+   {
+      m2=m;
+      m=itwo*m2;
+   }
+   halfm = m2;
+   /* compute multiplier and increment for linear congruential methos */
+   ia = 8*(int)(halfm*atan(1.0)/8.0) + 5;
+   ic = 2*(int)(halfm*(0.5-sqrt(3.0)/6.0)) +1;
+   mic = (m2 - ic) + m2;
+  /* s is the scale factor for converting to floating point*/
+  s = 0.5/halfm;
+
+}
+
+/* compute next random number */
+ iy = iy*ia;
+/* the following statement is for computers which do not allow interger overflow on addition*/
+if(iy > mic) iy = (iy - m2) - m2;
+ iy = iy + ic;
+
+ /* the following statement is for computers where the word length for addition is greater than for multiplication */
+ if(iy/2 > m2) iy = (iy - m2) - m2;
+ /* the following statement is for computers where integer overflow affects the sign bit */
+ if(iy < 0) iy = (iy + m2) + m2;
+ return (double)iy*s;
+
+
+
+
+
+}
diff --git a/2.3-1/src/c/auxiliaryFunctions/rand/i8randa.c b/2.3-1/src/c/auxiliaryFunctions/rand/i8randa.c
new file mode 100644
index 00000000..d679c65f
--- /dev/null
+++ b/2.3-1/src/c/auxiliaryFunctions/rand/i8randa.c
@@ -0,0 +1,12 @@
+/* Scilab2C FOSSEE IIT BOMBAY */
+#include "rand.h"
+
+void i8randa(double *out,int size)
+{
+  int i = 0;
+  for(i = 0 ; i < size ; ++i)
+    {
+       out[i] = i8rands();
+    }
+
+}
diff --git a/2.3-1/src/c/auxiliaryFunctions/rand/i8rands.c b/2.3-1/src/c/auxiliaryFunctions/rand/i8rands.c
new file mode 100644
index 00000000..55df9093
--- /dev/null
+++ b/2.3-1/src/c/auxiliaryFunctions/rand/i8rands.c
@@ -0,0 +1,42 @@
+/* Scilab2C FOSSEE IIT Bombay */
+#include "rand.h"
+#include <stdio.h>
+
+double i8rands(void)  
+{
+
+int m=1;
+const int itwo=2;
+static int m2=0,halfm=0,ia=0,ic=0,mic=0,iy=0;
+static double s=0.0;
+if(m2==0)
+{
+  /*if first entry,compute machine integer word length*/
+  while(m>m2)
+   {
+      m2=m;
+      m=itwo*m2;
+   }
+   halfm = m2;
+   /* compute multiplier and increment for linear congruential methos */
+   ia = 8*(int)(halfm*atan(1.0)/8.0) + 5;
+   ic = 2*(int)(halfm*(0.5-sqrt(3.0)/6.0)) +1;
+   mic = (m2 - ic) + m2;
+  /* s is the scale factor for converting to floating point*/
+  s = 0.5/halfm;
+
+}
+
+/* compute next random number */
+ iy = iy*ia;
+/* the following statement is for computers which do not allow interger overflow on addition*/
+if(iy > mic) iy = (iy - m2) - m2;
+ iy = iy + ic;
+
+ /* the following statement is for computers where the word length for addition is greater than for multiplication */
+ if(iy/2 > m2) iy = (iy - m2) - m2;
+ /* the following statement is for computers where integer overflow affects the sign bit */
+ if(iy < 0) iy = (iy + m2) + m2;
+ return (double)iy*s;
+
+}
diff --git a/2.3-1/src/c/auxiliaryFunctions/rand/u16randa.c b/2.3-1/src/c/auxiliaryFunctions/rand/u16randa.c
new file mode 100644
index 00000000..f5393369
--- /dev/null
+++ b/2.3-1/src/c/auxiliaryFunctions/rand/u16randa.c
@@ -0,0 +1,12 @@
+/* Scilab2C FOSSEE IIT BOMBAY */
+#include "rand.h"
+
+void u16randa(double *out,int size)
+{
+  int i = 0;
+  for(i = 0 ; i < size ; ++i)
+    {
+       out[i] = u16rands();
+    }
+
+}
diff --git a/2.3-1/src/c/auxiliaryFunctions/rand/u16rands.c b/2.3-1/src/c/auxiliaryFunctions/rand/u16rands.c
new file mode 100644
index 00000000..a08d6a8c
--- /dev/null
+++ b/2.3-1/src/c/auxiliaryFunctions/rand/u16rands.c
@@ -0,0 +1,46 @@
+/* Scilab2C FOSSEE IIT Bombay */
+#include "rand.h"
+#include <stdio.h>
+
+double u16rands(void)  
+{
+
+int m=1;
+const int itwo=2;
+static int m2=0,halfm=0,ia=0,ic=0,mic=0,iy=0;
+static double s=0;
+if(m2==0)
+{
+  /*if first entry,compute machine integer word length*/
+  while(m>m2)
+   {
+      m2=m;
+      m=itwo*m2;
+   }
+   halfm = m2;
+   /* compute multiplier and increment for linear congruential methos */
+   ia = 8*(int)(halfm*atan(1.0)/8.0) + 5;
+   ic = 2*(int)(halfm*(0.5-sqrt(3.0)/6.0)) +1;
+   mic = (m2 - ic) + m2;
+  /* s is the scale factor for converting to floating point*/
+  s = 0.5/halfm;
+
+}
+
+/* compute next random number */
+ iy = iy*ia;
+/* the following statement is for computers which do not allow interger overflow on addition*/
+if(iy > mic) iy = (iy - m2) - m2;
+ iy = iy + ic;
+
+ /* the following statement is for computers where the word length for addition is greater than for multiplication */
+ if(iy/2 > m2) iy = (iy - m2) - m2;
+ /* the following statement is for computers where integer overflow affects the sign bit */
+ if(iy < 0) iy = (iy + m2) + m2;
+ return (double)iy*s;
+
+
+
+}
+
+
diff --git a/2.3-1/src/c/auxiliaryFunctions/rand/u8randa.c b/2.3-1/src/c/auxiliaryFunctions/rand/u8randa.c
new file mode 100644
index 00000000..4d7d3f8a
--- /dev/null
+++ b/2.3-1/src/c/auxiliaryFunctions/rand/u8randa.c
@@ -0,0 +1,15 @@
+/* Scilab2C FOSSEE IIT BOMBAY */
+#include "rand.h"
+#include<stdio.h>
+void u8randa(double *out,int size)
+{
+  
+  int i = 0;
+   
+  for(i = 0 ; i < size ; ++i)
+    {
+       out[i] = u8rands();
+      
+    }
+
+}
diff --git a/2.3-1/src/c/auxiliaryFunctions/rand/u8rands.c b/2.3-1/src/c/auxiliaryFunctions/rand/u8rands.c
new file mode 100644
index 00000000..bdf7f9a5
--- /dev/null
+++ b/2.3-1/src/c/auxiliaryFunctions/rand/u8rands.c
@@ -0,0 +1,68 @@
+/* Scilab2C FOSSEE IIT Bombay */
+#include "rand.h"
+#include <stdio.h>
+
+double u8rands(void)  
+{
+
+int m=1;
+const int itwo=2;
+static int m2=0,halfm=0,ia=0,ic=0,mic=0,iy=0;
+static double s=0.0;
+if(m2==0)
+{ 
+  /*if first entry,compute machine integer word length*/
+ 
+  while(m>m2)
+   { 
+      
+      m2=m;
+     
+      m=itwo*m2;
+    
+   }
+  
+   halfm = m2;
+     /* compute multiplier and increment for linear congruential methos */
+   ia = 8*(int)(halfm*atan(1.0)/8.0) + 5;
+   ic = 2*(int)(halfm*(0.5-sqrt(3.0)/6.0)) +1;
+  
+   mic = (m2 - ic) + m2;
+   
+  /* s is the scale factor for converting to floating point*/
+   s = 0.5/halfm;
+  
+
+}
+
+/* compute next random number */
+ iy = iy*ia;
+ 
+/* the following statement is for computers which do not allow interger overflow on addition*/
+if(iy > mic) 
+{
+ iy = (iy - m2) - m2;
+ 
+}
+ iy = iy + ic;
+
+ /* the following statement is for computers where the word length for addition is greater than for multiplication */
+ if(iy/2 > m2)
+{
+ iy = (iy - m2) - m2;
+ 
+}
+ /* the following statement is for computers where integer overflow affects the sign bit */
+ if(iy < 0) 
+ {
+ iy = (iy + m2) + m2;
+ 
+ }
+
+ return (double)iy*s;
+
+
+
+
+
+}
diff --git a/2.3-1/src/c/scilab-arduino/cmd_digital_out/u8cmd_digital_outs.c b/2.3-1/src/c/scilab-arduino/cmd_digital_out/u8cmd_digital_outs.c
index 09dffd62..2d9de977 100644
--- a/2.3-1/src/c/scilab-arduino/cmd_digital_out/u8cmd_digital_outs.c
+++ b/2.3-1/src/c/scilab-arduino/cmd_digital_out/u8cmd_digital_outs.c
@@ -11,6 +11,7 @@
  */
 
 #include "cmd_digital_out.h"
+#include "Arduino.h"
 
 uint8 u8cmd_digital_outs(uint8 board_no, uint8 pin, uint8 value)
 {