sci2c arduino updated

44 files changed, 1220 insertions, 0 deletions

diff --git a/src/c/hardware/rasberrypi/ISR/i16RPIPinISRs.c b/src/c/hardware/rasberrypi/ISR/i16RPIPinISRs.c
new file mode 100644
index 0000000..6e398a1
--- /dev/null
+++ b/src/c/hardware/rasberrypi/ISR/i16RPIPinISRs.c
@@ -0,0 +1,25 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to declare interrupt on pins and corresponding ISRs */
+     
+#include "types.h"
+#include "RPIPeripheralPinISR.h"
+#include "RPIPeripheralDigital.h"
+
+int16 i16RPIPinISRs(uint8 pin, uint8 edgetype, void (*ISRFunction)(void))
+{
+	int status;
+	status = wiringPiISR((int)phy_pin[pin-1], (int) edgetype, ISRFunction);
+	return status;
+} 
+
diff --git a/src/c/hardware/rasberrypi/gpio/u8RPIDigitalIns.c b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalIns.c
new file mode 100644
index 0000000..7b84350
--- /dev/null
+++ b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalIns.c
@@ -0,0 +1,24 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to read the state of the gpio pin */
+
+#include "types.h"
+#include "RPIPeripheralDigital.h"
+
+/*pin is reduced by one as array index starts from 0 and pin no starts from 1*/
+uint8 u8RPIDigitalIns(uint8 pin)
+{
+	uint8 state = 0;
+	state = digitalRead(phy_pin[pin-1]);
+	return (state);
+}
diff --git a/src/c/hardware/rasberrypi/gpio/u8RPIDigitalOuts.c b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalOuts.c
new file mode 100644
index 0000000..f828f77
--- /dev/null
+++ b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalOuts.c
@@ -0,0 +1,26 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+ 
+/* Function to change the output state of the gpio pin */
+
+
+#include "types.h"
+#include "RPIPeripheralDigital.h"
+
+/*pin is reduced by one as array index starts from 0 and pin no starts from 1*/
+void u8RPIDigitalOuts(uint8 pin, uint8 state)
+{
+	if (state == 0)  /*low output*/
+		digitalWrite(phy_pin[pin-1], LOW);
+	if (state == 1)  /*high output*/
+		digitalWrite(phy_pin[pin-1], HIGH);
+}
diff --git a/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c
new file mode 100644
index 0000000..f5fefe0
--- /dev/null
+++ b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c
@@ -0,0 +1,39 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to setup digital pins 
+	direction = 1 -> output
+	direction = 0 -> input
+*/
+
+#include "types.h"
+#include "RPIPeripheralDigital.h"
+
+
+/*This array maps pin numbers on RPi board, with pin numbers corrsponding
+to WiringPi library*/
+int phy_pin[] = {17, 17, 8, 17, 9, 17, 7, 15, 17, 16,  		/*Pin 1 to 10*/
+				0, 1, 2, 17, 3, 4, 17, 5, 12, 17, 	 		/*Pin 11 to 20*/
+				13, 6, 14, 10, 17, 11, 30, 31, 21, 17, 		/*Pin 21 to 30*/
+				22, 26, 23, 17, 24, 27, 25, 28, 17, 29 };	/*Pin 31 to 40*/
+
+/*pin is reduced by one as arrayiindex starts from 0 and pin no starts from 1*/
+void u8RPIDigitalSetups(uint8 pin, uint8 direction)
+{
+	if(direction == 1) /*Pin to be used as output*/
+	   	pinMode(phy_pin[pin-1], OUTPUT);
+	else if(direction == 2)
+	   	pinMode(phy_pin[pin-1], PWM_OUTPUT);	
+	else
+	    pinMode(phy_pin[pin-1], INPUT);
+	
+}
diff --git a/src/c/hardware/rasberrypi/includes/RPIPeripheralDigital.h b/src/c/hardware/rasberrypi/includes/RPIPeripheralDigital.h
new file mode 100644
index 0000000..2f40ffb
--- /dev/null
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralDigital.h
@@ -0,0 +1,36 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* This file declares functions and constants related to GPIO pins*/
+
+#ifndef __RPIPERIPHERALGPIO_H__
+#define __RPIPERIPHERALGPIO_H__
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+
+#include "types.h"
+#include "wiringPi.h"
+
+extern int phy_pin[];
+
+void u8RPIDigitalSetups(uint8 pin, uint8 direction);
+void u8RPIDigitalOuts(uint8 pin, uint8 state);
+uint8 u8RPIDigitalIns(uint8 pin);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  /*__RPIPERIPHERALGPIO_H__*/
diff --git a/src/c/hardware/rasberrypi/includes/RPIPeripheralPWM.h b/src/c/hardware/rasberrypi/includes/RPIPeripheralPWM.h
new file mode 100644
index 0000000..d463d9c
--- /dev/null
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralPWM.h
@@ -0,0 +1,31 @@
+ /* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __RPIPERIPHERALPWM_H__
+#define __RPIPERIPHERALPWM_H__
+
+#include "types.h"
+#include "wiringPi.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+void u8RPIHardPWMWrites(uint8 pin, uint16 value);
+void u8RPIHardPWMSetRanges(uint16 value);
+void u8RPIHardPWMSetModes(uint8 mode);
+void u8RPIHardPWMSetClocks(uint16 clk_divisor);
+
+#ifdef  __cplusplus 
+} /* extern "C" */
+#endif
+
+#endif /*__RPIPERIPHERALPWM_H__*/
diff --git a/src/c/hardware/rasberrypi/includes/RPIPeripheralPinISR.h b/src/c/hardware/rasberrypi/includes/RPIPeripheralPinISR.h
new file mode 100644
index 0000000..fc5a8d0
--- /dev/null
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralPinISR.h
@@ -0,0 +1,26 @@
+ /* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __RPIPERIPHERALPINISR_H__
+#define __RPIPERIPHERALPINISR_H__
+
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+int16 i16RPIPinISRs(uint8 pin, uint8 edgetype, void (*ISRFunction)(void));
+
+#ifdef  __cplusplus 
+} /* extern "C" */
+#endif
+
+#endif /*__RPIPERIPHERALPINISR_H__*/
diff --git a/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h b/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
new file mode 100644
index 0000000..14df95b
--- /dev/null
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
@@ -0,0 +1,49 @@
+ /* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __RPIPERIPHERALSERIAL_H__
+#define __RPIPERIPHERALSERIAL_H__
+
+#include "types.h"
+#include "wiringSerial.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+int u8RPISerialSetups(char* port, int baudrate);
+void u8RPISerialCloses(int fd);
+
+void u8RPISerialSendChars(int fd, uint8 data);
+void u8RPISerialSendDatas(int fd, uint8 data);
+void i8RPISerialSendDatas(int fd, int8 data);
+void u16RPISerialSendDatas(int fd, uint16 data);
+void i16RPISerialSendDatas(int fd, int16 data);
+void sRPISerialSendDatas(int fd, float data);
+void dRPISerialSendDatas(int fd, double data);
+void u8RPISerialSendDataa(int fd, uint8* data, int size);
+void i8RPISerialSendDataa(int fd, int8* data, int size);
+void u16RPISerialSendDataa(int fd, uint16* data, int size);
+void i16RPISerialSendDataa(int fd, int16* data, int size);
+void sRPISerialSendDataa(int fd, float* data, int size);
+void dRPISerialSendDataa(int fd, double* data, int size);
+void gRPISerialSendDatas(int fd, uint8* data, int size);
+
+int16 i16RPISerialDataAvails(int fd);
+int16 i16RPISerialGetChars(int fd);
+
+void u8RPISerialFlushs(int fd);
+
+#ifdef  __cplusplus 
+} /* extern "C" */
+#endif
+
+#endif /*__RPIPERIPHERALSERIAL_H__*/
diff --git a/src/c/hardware/rasberrypi/includes/RPIPeripheralThreading.h b/src/c/hardware/rasberrypi/includes/RPIPeripheralThreading.h
new file mode 100644
index 0000000..a7b2adb
--- /dev/null
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralThreading.h
@@ -0,0 +1,28 @@
+ /* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __RPIPERIPHERALTHREADING_H__
+#define __RPIPERIPHERALTHREADING_H__
+
+#include "types.h"
+#include "wiringPi.h" 
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+uint16 RPIThreadCreate(void *(*threadFunction)(void*));
+
+#ifdef  __cplusplus 
+} /* extern "C" */
+#endif
+
+#endif /*__RPIPERIPHERALTHREADING_H__*/
diff --git a/src/c/hardware/rasberrypi/includes/RPIPeripheralTiming.h b/src/c/hardware/rasberrypi/includes/RPIPeripheralTiming.h
new file mode 100644
index 0000000..854073f
--- /dev/null
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralTiming.h
@@ -0,0 +1,34 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* This file declares functions and constants related to rasberrypi*/
+
+#ifndef __RPIPERIPHERALTIMING_H__
+#define __RPIPERIPHERALTIMING_H__
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#include "types.h"
+#include "wiringPi.h"
+
+void u16RPIDelayMillis(uint16 time);
+void u16RPIDelayMicros(uint16 time);
+uint32 u32RPIGetMillis();
+uint32 u32RPIGetMicros();
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  /*__RPIPERIPHERALTIMING_H__*/
diff --git a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralDigital.h b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralDigital.h
new file mode 100644
index 0000000..40a8e1a
--- /dev/null
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralDigital.h
@@ -0,0 +1,33 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+#ifndef __INT_RPIPERIPHERALGPIO_H__
+#define __INT_RPIPERIPHERALGPIO_H__
+
+#include "types.h"
+#include "RPIPeripheralDigital.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define RPI_DigitalSetup(in1,in2) u8RPIDigitalSetups((uint8) in1, (uint8) in2);
+
+#define RPI_DigitalIn(in1) u8RPIDigitalIns((uint8) in1);
+
+#define RPI_DigitalOut(in1,in2) u8RPIDigitalOuts((uint8) in1, (uint8) in2);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* !__RPIPERIPHERALGPIO_H__ */
diff --git a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPWM.h b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPWM.h
new file mode 100644
index 0000000..8c8f4c6
--- /dev/null
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPWM.h
@@ -0,0 +1,30 @@
+ /* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_RPIPERIPHERALPWM_H__
+#define __INT_RPIPERIPHERALPWM_H__
+
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define RPI_HardPWMWrite(pin,value)			u8RPIHardPWMWrites((uint8)pin,(uint16)value)
+#define RPI_HardPWMSetRange(value)			u8RPIHardPWMSetRanges((uint16)value)
+#define RPI_HardPWMSetMode(mode)			u8RPIHardPWMSetModes((uint8)mode)	
+#define RPI_HardPWMSetClock(clk_divisor)	u8RPIHardPWMSetClocks((uint16)clk_divisor)	
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_RPIPERIPHERALPWM_H__*/
diff --git a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPinISR.h b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPinISR.h
new file mode 100644
index 0000000..b2c1ed1
--- /dev/null
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPinISR.h
@@ -0,0 +1,25 @@
+ /* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_RPIPERIPHERALPINISR_H__
+#define __INT_RPIPERIPHERALPINISR_H__
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define RPI_PinISR(pin,edge,funname) i16RPIPinISRs((uint8)pin,(uint8)edge,funname)
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_RPIPERIPHERALPINISR_H__*/
diff --git a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralSerial.h b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralSerial.h
new file mode 100644
index 0000000..5d53b98
--- /dev/null
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralSerial.h
@@ -0,0 +1,47 @@
+ /* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_RPIPERIPHERALSERIAL_H__
+#define __INT_RPIPERIPHERALSERIAL_H__
+
+#include "types.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define RPI_SerialSetup(port,size,baudrate)	u16RPISerialSetups(port,baudrate)
+#define RPI_SerialClose(fd) 				u8RPISerialCloses(fd)
+
+#define u80u80RPI_SerialSendData(fd,data)	u8RPISerialSendDatas(fd,data)
+#define u80i80RPI_SerialSendData(fd,data)	i8RPISerialSendDatas(fd,data)	
+#define u80u160RPI_SerialSendData(fd,data)	u16RPISerialSendDatas(fd,data)
+#define u80i160RPI_SerialSendData(fd,data)	i16RPISerialSendDatas(fd,data)	
+#define u80s0RPI_SerialSendData(fd,data)		sRPISerialSendDatas(fd,data)
+#define u80d0RPI_SerialSendData(fd,data)		dRPISerialSendDatas(fd,data)	
+
+#define u80u82RPI_SerialSendData(fd,data,size) 	u8RPISerialSendDataa(fd,data,size[0]*size[1]);
+#define u80i82RPI_SerialSendData(fd,data,size) 	i8RPISerialSendDataa(fd,data,size[0]*size[1]);
+#define u80u162RPI_SerialSendData(fd,data,size)	u16RPISerialSendDataa(fd,data,size[0]*size[1]);
+#define u80i162RPI_SerialSendData(fd,data,size)	i16RPISerialSendDataa(fd,data,size[0]*size[1]);
+#define u80s2RPI_SerialSendData(fd,data,size) 	sRPISerialSendDataa(fd,data,size[0]*size[1]);
+#define u80d2RPI_SerialSendData(fd,data,size) 	dRPISerialSendDataa(fd,data,size[0]*size[1]);
+#define u80g2RPI_SerialSendData(fd,data,size)	gRPISerialSendDatas(fd,data,size[0]*size[1]);
+
+#define RPI_SerialDataAvail(fd)			i16RPISerialDataAvails(fd)
+#define RPI_SerialGetChar(fd)			i16RPISerialGetChars(fd)
+#define RPI_SerialFlush(fd)				u8RPISerialFlushs(fd)	
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_RPIPERIPHERALSERIAL_H__*/
diff --git a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralThreading.h b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralThreading.h
new file mode 100644
index 0000000..68ed6e0
--- /dev/null
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralThreading.h
@@ -0,0 +1,25 @@
+ /* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_RPIPERIPHERALTHREADING_H__
+#define __INT_RPIPERIPHERALTHREADING_H__
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define RPI_ThreadCreate(fn) RPIThreadCreate(fn);
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_RPIPERIPHERALTHREADING_H__*/
diff --git a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralTiming.h b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralTiming.h
new file mode 100644
index 0000000..1a70465
--- /dev/null
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralTiming.h
@@ -0,0 +1,34 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+
+#ifndef __INT_RPIPERIPHERALTIMING_H__
+#define __INT_RPIPERIPHERALTIMING_H__
+
+#include "types.h"
+#include "RPIPeripheralTiming.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define RPI_DelayMicro(in1) u16RPIDelayMicros((uint16) in1)
+#define RPI_DelayMilli(in1) u16RPIDelayMillis((uint16) in1)
+#define RPI_GetMicro() u32RPIGetMicros()
+#define RPI_GetMillis() u32RPIGetMillis()
+
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* !__RPIPERIPHERALTIMING_H__ */
diff --git a/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMSetClocks.c b/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMSetClocks.c
new file mode 100644
index 0000000..d06b135
--- /dev/null
+++ b/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMSetClocks.c
@@ -0,0 +1,27 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/*Function to set clock for pwm channel. Default clock is 19.2 MHz. 'clk_divisor'
+ along with range decides frequency for PWM
+ 			PWM frequency = 19.2 MHz / clk_divisor/ range
+ Range for clk_divisor = 1-2048			
+ */
+     
+#include "types.h"
+#include "RPIPeripheralPWM.h"
+
+void u8RPIHardPWMSetClocks(uint16 clk_divisor) 
+{
+	pwmSetClock(clk_divisor);
+	
+	
+} 
diff --git a/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMSetModes.c b/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMSetModes.c
new file mode 100644
index 0000000..0cca7a7
--- /dev/null
+++ b/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMSetModes.c
@@ -0,0 +1,28 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/*Function to set mode for PWM channel. Two modes are available
+					0 --> balanced mode
+					1 --> mark/space mode
+ */
+     
+#include "types.h"
+#include "RPIPeripheralPWM.h"
+
+void u8RPIHardPWMSetModes(uint8 mode)
+{
+	if (mode == 1)  /*mark/space mode*/
+		pwmSetMode(PWM_MODE_MS);
+	else
+		pwmSetMode(PWM_MODE_BAL);
+	
+} 
diff --git a/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMSetRanges.c b/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMSetRanges.c
new file mode 100644
index 0000000..b2489f5
--- /dev/null
+++ b/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMSetRanges.c
@@ -0,0 +1,25 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/*Function to assigne pwm duty to specified pin. PWM duty is decided by 'value'
+ and 'range' specified using corresponding function. 
+ 				PWM duty = value/range 
+ */
+     
+#include "types.h"
+#include "RPIPeripheralPWM.h"
+
+void u8RPIHardPWMSetRanges(uint16 value)
+{
+	pwmSetRange(value);
+	
+} 
diff --git a/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMWrites.c b/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMWrites.c
new file mode 100644
index 0000000..ae02bf0
--- /dev/null
+++ b/src/c/hardware/rasberrypi/pwm/u8RPIHardPWMWrites.c
@@ -0,0 +1,26 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/*Function to set range for pwm channel. PWM duty is decided by 'range'
+ and 'value' specified using corresponding function. 
+ 				PWM duty = value/range 
+ */
+     
+#include "types.h"
+#include "RPIPeripheralPWM.h"
+#include "RPIPeripheralDigital.h"
+
+void u8RPIHardPWMWrites(uint8 pin, uint16 value)
+{
+	pwmWrite((int)phy_pin[pin-1], value);
+	
+} 
diff --git a/src/c/hardware/rasberrypi/serial/dRPISerialSendDataa.c b/src/c/hardware/rasberrypi/serial/dRPISerialSendDataa.c
new file mode 100644
index 0000000..f990255
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/dRPISerialSendDataa.c
@@ -0,0 +1,27 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send double data array/matrix on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void dRPISerialSendDataa(int fd, double* data, int size)
+{
+	int count = 0;
+	
+	for (count = 0; count < size; count++)
+	{
+		dRPISerialSendDatas(fd, data[count]);
+	}
+
+} 
diff --git a/src/c/hardware/rasberrypi/serial/dRPISerialSendDatas.c b/src/c/hardware/rasberrypi/serial/dRPISerialSendDatas.c
new file mode 100644
index 0000000..39112fc
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/dRPISerialSendDatas.c
@@ -0,0 +1,35 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send double data on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void dRPISerialSendDatas(int fd, double data)
+{
+	uint8 count;
+
+	union double_bytes{
+		double double_data;
+		unsigned char bytes[sizeof(double)];
+	} in_data;
+
+	in_data.double_data = data;
+
+	for(count=0; count<sizeof(double); count++)
+	{
+		/*Send lsb first*/
+		serialPutchar(fd, (uint8) in_data.bytes[count]);	
+	}
+	
+} 
diff --git a/src/c/hardware/rasberrypi/serial/gRPISerialSendDatas.c b/src/c/hardware/rasberrypi/serial/gRPISerialSendDatas.c
new file mode 100644
index 0000000..f4ec8a8
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/gRPISerialSendDatas.c
@@ -0,0 +1,27 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send string on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void gRPISerialSendDatas(int fd, uint8* data, int size)
+{
+	int count = 0;
+
+	while(data[count] != '\0')
+	{
+		serialPutchar(fd, data[count]);	
+	}
+	
+} 
diff --git a/src/c/hardware/rasberrypi/serial/i16RPISerialDataAvails.c b/src/c/hardware/rasberrypi/serial/i16RPISerialDataAvails.c
new file mode 100644
index 0000000..b56a819
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/i16RPISerialDataAvails.c
@@ -0,0 +1,25 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to check for data availability at specified port. Returns no of 
+	bytes to be read */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+int16 i16RPISerialDataAvails(int fd)
+{
+	int bytes = 0;
+	bytes = serialDataAvail(fd);
+
+	return bytes;
+} 
diff --git a/src/c/hardware/rasberrypi/serial/i16RPISerialGetChars.c b/src/c/hardware/rasberrypi/serial/i16RPISerialGetChars.c
new file mode 100644
index 0000000..18ca2a7
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/i16RPISerialGetChars.c
@@ -0,0 +1,27 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to read character from spcified serial port (file descriptor). 
+   This function will block execution for 10 secs if no character is available,
+   and will return -1 in that case*/
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+int16 i16RPISerialGetChars(int fd)
+{
+	int data = 0;
+	
+	data = serialGetchar(fd);
+
+	return data;
+} 
diff --git a/src/c/hardware/rasberrypi/serial/i16RPISerialSendDataa.c b/src/c/hardware/rasberrypi/serial/i16RPISerialSendDataa.c
new file mode 100644
index 0000000..24180f4
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/i16RPISerialSendDataa.c
@@ -0,0 +1,27 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send signed 16-bit data array/matrix on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void i16RPISerialSendDataa(int fd, int16* data, int size)
+{
+	int count = 0;
+
+	for (count = 0; count < size; ++count)
+	{
+		i16RPISerialSendDatas(fd, data[count]);
+	}
+	
+} 
diff --git a/src/c/hardware/rasberrypi/serial/i16RPISerialSendDatas.c b/src/c/hardware/rasberrypi/serial/i16RPISerialSendDatas.c
new file mode 100644
index 0000000..fe6fe6f
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/i16RPISerialSendDatas.c
@@ -0,0 +1,24 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send signed 16-bit byte on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void i16RPISerialSendDatas(int fd, int16 data)
+{
+	/*Send lsb first*/
+	serialPutchar(fd, (uint8) data);
+	serialPutchar(fd, (uint8) (data>>8));
+
+} 
diff --git a/src/c/hardware/rasberrypi/serial/i8RPISerialSendDataa.c b/src/c/hardware/rasberrypi/serial/i8RPISerialSendDataa.c
new file mode 100644
index 0000000..c4dd199
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/i8RPISerialSendDataa.c
@@ -0,0 +1,26 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send signed 8-bit byte array/matrix on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void i8RPISerialSendDataa(int fd, int8* data, int size)
+{
+	int count = 0;
+
+	for (count = 0; count < size; ++count)
+	{
+		i8RPISerialSendDatas(fd, data[count]);
+	}
+} 
diff --git a/src/c/hardware/rasberrypi/serial/i8RPISerialSendDatas.c b/src/c/hardware/rasberrypi/serial/i8RPISerialSendDatas.c
new file mode 100644
index 0000000..e637871
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/i8RPISerialSendDatas.c
@@ -0,0 +1,22 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send signed 8-bit byte on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void i8RPISerialSendDatas(int fd, int8 data)
+{
+	serialPutchar(fd, (uint8) data);
+
+} 
diff --git a/src/c/hardware/rasberrypi/serial/sRPISerialSendDataa.c b/src/c/hardware/rasberrypi/serial/sRPISerialSendDataa.c
new file mode 100644
index 0000000..14c0bc7
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/sRPISerialSendDataa.c
@@ -0,0 +1,27 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send float data array/matrix on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void sRPISerialSendDataa(int fd, float* data, int size)
+{
+	int count = 0;
+
+	for (count = 0; count < size; ++count)
+	{
+		sRPISerialSendDatas(fd, data[count]);	
+	}
+	
+} 
diff --git a/src/c/hardware/rasberrypi/serial/sRPISerialSendDatas.c b/src/c/hardware/rasberrypi/serial/sRPISerialSendDatas.c
new file mode 100644
index 0000000..ff78dd1
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/sRPISerialSendDatas.c
@@ -0,0 +1,34 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send float data on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void sRPISerialSendDatas(int fd, float data)
+{
+	uint8 count;
+
+	union float_bytes{
+		float float_data;
+		unsigned char bytes[sizeof(float)];
+	} in_data;
+	in_data.float_data = data;
+
+	for(count=0; count<sizeof(float); count++)
+	{
+		/*Send lsb first*/
+		serialPutchar(fd, (uint8) in_data.bytes[count]);	
+	}
+	
+} 
diff --git a/src/c/hardware/rasberrypi/serial/u16RPISerialSendDataa.c b/src/c/hardware/rasberrypi/serial/u16RPISerialSendDataa.c
new file mode 100644
index 0000000..b444047
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/u16RPISerialSendDataa.c
@@ -0,0 +1,28 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send unsigned 16-bit data array/matrix on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void u16RPISerialSendDataa(int fd, uint16* data, int size)
+{
+	int count = 0;
+
+	for (count = 0; count < size; ++count)
+	{
+		u16RPISerialSendDatas(fd, data[count]);
+	}
+	
+
+} 
diff --git a/src/c/hardware/rasberrypi/serial/u16RPISerialSendDatas.c b/src/c/hardware/rasberrypi/serial/u16RPISerialSendDatas.c
new file mode 100644
index 0000000..b4a90c2
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/u16RPISerialSendDatas.c
@@ -0,0 +1,23 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send unsigned 16-bit data on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void u16RPISerialSendDatas(int fd, uint16 data)
+{
+	/*Send lsb first*/
+	serialPutchar(fd, (uint8) data);
+	serialPutchar(fd, (uint8) (data>>8));
+} 
diff --git a/src/c/hardware/rasberrypi/serial/u16RPISerialSetups.c b/src/c/hardware/rasberrypi/serial/u16RPISerialSetups.c
new file mode 100644
index 0000000..cde4cba
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/u16RPISerialSetups.c
@@ -0,0 +1,25 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to setup port with desired baud rate. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+int u16RPISerialSetups(char* port, int baudrate)
+{
+	int fd; 
+
+	fd = serialOpen (port, baudrate);
+
+	return fd;
+} 
diff --git a/src/c/hardware/rasberrypi/serial/u8RPISerialCloses.c b/src/c/hardware/rasberrypi/serial/u8RPISerialCloses.c
new file mode 100644
index 0000000..5162d15
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/u8RPISerialCloses.c
@@ -0,0 +1,21 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to close serial port opened. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void u8RPISerialCloses(int fd)
+{
+	serialClose (fd);
+} 
diff --git a/src/c/hardware/rasberrypi/serial/u8RPISerialFlushs.c b/src/c/hardware/rasberrypi/serial/u8RPISerialFlushs.c
new file mode 100644
index 0000000..c80a92c
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/u8RPISerialFlushs.c
@@ -0,0 +1,21 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to discards data serial buffer (received as well as waiting to be sent */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void u8RPISerialFlushs(int fd)
+{
+	serialFlush(fd);
+} 
diff --git a/src/c/hardware/rasberrypi/serial/u8RPISerialSendChars.c b/src/c/hardware/rasberrypi/serial/u8RPISerialSendChars.c
new file mode 100644
index 0000000..e381351
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/u8RPISerialSendChars.c
@@ -0,0 +1,21 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send 8-bit char on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void u8RPISerialSendChars(int fd, uint8 data)
+{
+	serialPutchar(fd, data);
+} 
diff --git a/src/c/hardware/rasberrypi/serial/u8RPISerialSendDataa.c b/src/c/hardware/rasberrypi/serial/u8RPISerialSendDataa.c
new file mode 100644
index 0000000..9d09714
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/u8RPISerialSendDataa.c
@@ -0,0 +1,27 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send unsigned 8-bit byte array/matrix on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void u8RPISerialSendDataa(int fd, uint8* data, int size)
+{
+	int count = 0;
+
+	for (count = 0; count < size; ++count)
+	{
+		u8RPISerialSendDatas(fd, data[count]);
+	}
+	
+} 
diff --git a/src/c/hardware/rasberrypi/serial/u8RPISerialSendDatas.c b/src/c/hardware/rasberrypi/serial/u8RPISerialSendDatas.c
new file mode 100644
index 0000000..9edb439
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/u8RPISerialSendDatas.c
@@ -0,0 +1,22 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to send unsigned 8-bit byte on specified serial port. */
+     
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+void u8RPISerialSendDatas(int fd, uint8 data)
+{
+	serialPutchar(fd, data);
+
+} 
diff --git a/src/c/hardware/rasberrypi/threading/u16RPIThreadCreates.c b/src/c/hardware/rasberrypi/threading/u16RPIThreadCreates.c
new file mode 100644
index 0000000..c05c959
--- /dev/null
+++ b/src/c/hardware/rasberrypi/threading/u16RPIThreadCreates.c
@@ -0,0 +1,24 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to create thread for given function */
+     
+#include "types.h"
+#include "RPIPeripheralThreading.h"
+
+uint16 RPIThreadCreate(void *(*threadFunction)(void*))
+{
+	int status;
+	status = piThreadCreate (threadFunction);
+	return status;
+} 
+
diff --git a/src/c/hardware/rasberrypi/timing/u16RPIDelayMicros.c b/src/c/hardware/rasberrypi/timing/u16RPIDelayMicros.c
new file mode 100644
index 0000000..9aeeab7
--- /dev/null
+++ b/src/c/hardware/rasberrypi/timing/u16RPIDelayMicros.c
@@ -0,0 +1,22 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to insert some delay in code execution. */
+  
+#include "types.h"
+#include "RPIPeripheralTiming.h"
+
+void u16RPIDelayMicros(uint16 time)
+{
+	delayMicroseconds(time);
+}
+
diff --git a/src/c/hardware/rasberrypi/timing/u16RPIDelayMillis.c b/src/c/hardware/rasberrypi/timing/u16RPIDelayMillis.c
new file mode 100644
index 0000000..2679086
--- /dev/null
+++ b/src/c/hardware/rasberrypi/timing/u16RPIDelayMillis.c
@@ -0,0 +1,25 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to insert some delay in code execution. */
+
+ 
+     
+#include "types.h"
+#include "RPIPeripheralTiming.h"
+
+void u16RPIDelayMillis(uint16 time)
+{
+	delay(time);
+	
+}
+
diff --git a/src/c/hardware/rasberrypi/timing/u32RPIGetMicros.c b/src/c/hardware/rasberrypi/timing/u32RPIGetMicros.c
new file mode 100644
index 0000000..eb086a9
--- /dev/null
+++ b/src/c/hardware/rasberrypi/timing/u32RPIGetMicros.c
@@ -0,0 +1,21 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to get time in microsecond since first setup function called */
+
+#include "types.h"
+#include "RPIPeripheralTiming.h"
+
+uint32 u32RPIGetMicros()
+{
+	return(micros());
+}
\ No newline at end of file
diff --git a/src/c/hardware/rasberrypi/timing/u32RPIGetMillis.c b/src/c/hardware/rasberrypi/timing/u32RPIGetMillis.c
new file mode 100644
index 0000000..c118975
--- /dev/null
+++ b/src/c/hardware/rasberrypi/timing/u32RPIGetMillis.c
@@ -0,0 +1,21 @@
+/* Copyright (C) 2016 - 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to get time in millisecond since first setup function called */
+
+#include "types.h"
+#include "RPIPeripheralTiming.h"
+
+uint32 u32RPIGetMillis()
+{
+	return(millis());
+}
\ No newline at end of file