Code generation for Arduino changed. DC motor added to Arduino.

2 files changed, 387 insertions, 370 deletions

diff --git a/macros/ASTManagement/AST_HandleEndGenFun.bin b/macros/ASTManagement/AST_HandleEndGenFun.bin
index 8b3ce65..d5d2e4a 100644
--- a/macros/ASTManagement/AST_HandleEndGenFun.bin
+++ b/macros/ASTManagement/AST_HandleEndGenFun.bin
diff --git a/macros/ASTManagement/AST_HandleEndGenFun.sci b/macros/ASTManagement/AST_HandleEndGenFun.sci
index f9515cd..f6ae58e 100644
--- a/macros/ASTManagement/AST_HandleEndGenFun.sci
+++ b/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