Scilab2C Arduino Updated

76 files changed, 1504 insertions, 0 deletions

diff --git a/src/c/CACSD/includes/lqr.h b/src/c/CACSD/includes/lqr.h
index 5b20ee8..aab06d3 100644
--- a/src/c/CACSD/includes/lqr.h
+++ b/src/c/CACSD/includes/lqr.h
@@ -17,7 +17,11 @@
 extern "C" {
 #endif
 
+<<<<<<< HEAD
 void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, double* S, double* X, double* K);
+=======
+void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus 
 } /* extern "C" */
diff --git a/src/c/CACSD/interfaces/int_lqr.h b/src/c/CACSD/interfaces/int_lqr.h
index 8deba90..c292f8c 100644
--- a/src/c/CACSD/interfaces/int_lqr.h
+++ b/src/c/CACSD/interfaces/int_lqr.h
@@ -16,6 +16,7 @@
 extern "C" {
 #endif
 
+<<<<<<< HEAD
 #define ss2lqrd2d2(in1,size1,out1,out2) dlqra(in1,size1[0],size1[1],NULL,\
 				NULL,NULL,out1,out2);
 
@@ -24,6 +25,9 @@ extern "C" {
 
 #define ss2d2d2d2lqrd2d2(in1,size1,in2,size2,in3,size3,in4,size4,out1,out2) \
 				dlqra(in1,size1[0],size1[1],in2,in3,in4,out1,out2);
+=======
+#define ss2lqrd2d2(in1,size1,out1,out2) dlqra(in1,size1[0],size1[1],out1,out2);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus
 } /* extern "C" */
diff --git a/src/c/CACSD/lqe/dlqea.c b/src/c/CACSD/lqe/dlqea.c
index e0be5b3..06c1c6e 100644
--- a/src/c/CACSD/lqe/dlqea.c
+++ b/src/c/CACSD/lqe/dlqea.c
@@ -54,7 +54,11 @@ void dlqea(double* sys, int sys_rows, int sys_cols, double* X, double* K)
 
 	/*Calculate LQR gain*/
 	K_lqr = (double*) malloc(no_of_ip*no_of_st*sizeof(double));
+<<<<<<< HEAD
 	dlqra(sys_lqr,sys_lqr_rows,sys_lqr_cols,NULL,NULL,NULL,X,K_lqr);
+=======
+	dlqra(sys_lqr,sys_lqr_rows,sys_lqr_cols,X,K_lqr);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 	dtransposea(K_lqr,sys_rows - no_of_st,no_of_st,K);
 }
\ No newline at end of file
diff --git a/src/c/CACSD/lqr/dlqra.c b/src/c/CACSD/lqr/dlqra.c
index 1440c3a..15120f7 100644
--- a/src/c/CACSD/lqr/dlqra.c
+++ b/src/c/CACSD/lqr/dlqra.c
@@ -22,8 +22,12 @@
 #include "schur.h"
 #include "matrixDivision.h" 
 
+<<<<<<< HEAD
 void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
             double* S, double* K, double* X)
+=======
+void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 {
     int no_of_states, no_of_inputs, no_of_outputs, dom = 1;
     int row,col;
@@ -33,7 +37,11 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
 
     double *A, *B, *C, *D;
     double *B_t, *C_t, *D_t;
+<<<<<<< HEAD
     //double *Q, *R, *S;
+=======
+    double *Q, *R, *S;
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
     double *Ri, *LA, *LE;
     double *BRi, *StRi, *S_t;
     double *buf1, *buf2, *buf3, *buf4, *buf5, *buf6;
@@ -91,10 +99,18 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
 
     dom = (int)sys[(sys_rows*(sys_cols-2)) + no_of_states];
 
+<<<<<<< HEAD
+=======
+    Q = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+    R = (double*) malloc (no_of_inputs*no_of_inputs*sizeof(double));
+    S = (double*) malloc (no_of_inputs*no_of_states*sizeof(double));
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
     dtransposea(B,no_of_states,no_of_inputs,B_t);
     dtransposea(C,no_of_outputs,no_of_states,C_t);
     dtransposea(D,no_of_outputs,no_of_inputs,D_t);
 
+<<<<<<< HEAD
     if(Q == NULL)
     {/*If Q is not provided*/
         Q = (double*) malloc (no_of_states*no_of_states*sizeof(double));
@@ -114,6 +130,14 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
     }
 
     /*Free up unwanted variables*/
+=======
+    dmulma(C_t,no_of_states,no_of_outputs,C,no_of_outputs,no_of_states,Q);
+    dmulma(D_t,no_of_inputs,no_of_outputs,D,no_of_outputs,no_of_inputs,R);
+    dmulma(D_t,no_of_inputs,no_of_outputs,C,no_of_outputs,no_of_states,S);
+
+    /*Free up unwanted variables*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
     free(C);
     free(C_t);
     free(D);
@@ -187,8 +211,13 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
 
         /*Freeup umwanted variables*/
         free(A);    
+<<<<<<< HEAD
         //free(Q);
         //free(R);
+=======
+        free(Q);
+        free(R);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
         free(BRi);
         free(S_t);
         free(StRi);
@@ -288,7 +317,11 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
         }
 
 
+<<<<<<< HEAD
         //free(Q);
+=======
+        free(Q);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
         free(BRi);
         free(S_t);
         free(StRi);
@@ -326,7 +359,11 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
 
          /*inv(B'XB+R)*/
         dmulma(B_t,no_of_inputs,no_of_states,X,no_of_states,no_of_states,buf3);
+<<<<<<< HEAD
         dmulma(buf3,no_of_inputs,no_of_states,B,no_of_states,no_of_inputs,buf6);
+=======
+        dmulma(buf3,no_of_inputs,no_of_states,B_t,no_of_states,no_of_inputs,buf6);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
         dadda(buf6,no_of_inputs*no_of_inputs,R,no_of_inputs*no_of_inputs,buf5);
         dinverma(buf5,buf6,no_of_inputs);
         /*B'XA+S*/
@@ -343,14 +380,22 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \
 
         free(A);
         free(B);
+<<<<<<< HEAD
         //free(R);
+=======
+        free(R);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
         free(buf5);
         free(buf6);
         
     }
 
     free(B_t);
+<<<<<<< HEAD
     //free(S);
+=======
+    free(S);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
     free(wsmall);
     free(X12);
     free(phi12);
diff --git a/src/c/elementaryFunctions/includes/linspace.h b/src/c/elementaryFunctions/includes/linspace.h
index 62d4501..00b1471 100644
--- a/src/c/elementaryFunctions/includes/linspace.h
+++ b/src/c/elementaryFunctions/includes/linspace.h
@@ -21,11 +21,16 @@ extern "C" {
 
 EXTERN_ELEMFUNCT void  dlinspaces(double low_limit,double up_limit,double range_num, double* out);
 
+<<<<<<< HEAD
 EXTERN_ELEMFUNCT void  slinspaces(float low_limit,float up_limit,float range_num, float* out);
 
 EXTERN_ELEMFUNCT void  dlinspacea(double *low_limit,int row,double *up_limit,double range_num, double* out);
 
 EXTERN_ELEMFUNCT void  slinspacea(float *low_limit,int row,float *up_limit,float range_num, float* out);
+=======
+EXTERN_ELEMFUNCT void  dlinspacea(double *low_limit,int row,double *up_limit,double range_num, double* out);
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 
 
diff --git a/src/c/elementaryFunctions/interfaces/int_linspace.h b/src/c/elementaryFunctions/interfaces/int_linspace.h
index 15ea269..febe516 100644
--- a/src/c/elementaryFunctions/interfaces/int_linspace.h
+++ b/src/c/elementaryFunctions/interfaces/int_linspace.h
@@ -15,10 +15,15 @@
 
 #define d0d0d0linspaced2(in1,in2,in3,out) dlinspaces(in1,in2,in3,out)
 
+<<<<<<< HEAD
 #define s0s0s0linspaces2(in1,in2,in3,out) slinspaces(in1,in2,in3,out)
 
 #define d2d2d0linspaced2(in1,size1,in2,size2,in3,out) dlinspacea(in1,size1[0],in2,in3,out)
 
 #define s2s2s0linspaces2(in1,size1,in2,size2,in3,out) slinspacea(in1,size1[0],in2,in3,out)
 
+=======
+#define d2d2d0linspaced2(in1,size1,in2,size2,in3,out) dlinspacea(in1,size1[0],in2,in3,out)
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #endif 
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
index 22d470a..b9b88e7 100644
--- a/src/c/hardware/rasberrypi/includes/RPIPeripheralDigital.h
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralDigital.h
@@ -1,4 +1,8 @@
+<<<<<<< HEAD
 /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+=======
+/* Copyright (C) 2016 - IIT Bombay - FOSSEE
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
  This file must be used under the terms of the CeCILL.
  This source file is licensed as described in the file COPYING, which
@@ -19,12 +23,24 @@
 extern "C" {
 #endif
 
+<<<<<<< HEAD
 #include "types.h"
 
 uint8 u8RPI_digitalReads(uint8 pin);
 uint8 RPI_digitalReadByte();
 void u8RPI_digitalWrites(uint8 pin, uint8 state);
 void u8RPI_digitalWriteBytes(uint8 value);
+=======
+
+#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);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus
 } /* extern "C" */
diff --git a/src/c/hardware/rasberrypi/includes/RPIPeripheralPWM.h b/src/c/hardware/rasberrypi/includes/RPIPeripheralPWM.h
index f1d3024..9c523f9 100644
--- a/src/c/hardware/rasberrypi/includes/RPIPeripheralPWM.h
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralPWM.h
@@ -5,17 +5,28 @@
  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
+<<<<<<< HEAD
  Author: Siddhesh Wani, Jorawar Singh
+=======
+ Author: Siddhesh Wani
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
  */
 #ifndef __RPIPERIPHERALPWM_H__
 #define __RPIPERIPHERALPWM_H__
 
+<<<<<<< HEAD
+=======
+#include "types.h"
+#include "wiringPi.h"
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifdef  __cplusplus
 extern "C" {
 #endif
 
+<<<<<<< HEAD
 #include "types.h"
 
 void u8RPI_pwmWrites(uint8 pin,uint16 value);
@@ -23,6 +34,12 @@ void u32RPI_pwmRanges(uint32 value);
 void gRPI_pwmModea(char* mode,int size);
 void u16RPI_pwmClocks(uint16 divisor);
 void u8RPI_pwmToneWrites(uint8 pin,uint16 value);
+=======
+void u8RPIHardPWMWrites(uint8 pin, uint16 value);
+void u8RPIHardPWMSetRanges(uint16 value);
+void u8RPIHardPWMSetModes(uint8 mode);
+void u8RPIHardPWMSetClocks(uint16 clk_divisor);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus 
 } /* extern "C" */
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
index 67284bd..19ddcb2 100644
--- a/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
@@ -5,17 +5,28 @@
  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
+<<<<<<< HEAD
  Author: Siddhesh Wani, Jorawar Singh
+=======
+ Author: Siddhesh Wani
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
  */
 #ifndef __RPIPERIPHERALSERIAL_H__
 #define __RPIPERIPHERALSERIAL_H__
 
+<<<<<<< HEAD
+=======
+#include "types.h"
+#include "wiringSerial.h"
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifdef  __cplusplus
 extern "C" {
 #endif
 
+<<<<<<< HEAD
 #include "types.h"
 #include "wiringSerial.h"
 
@@ -27,6 +38,30 @@ void u8RPI_serialGetchars(uint8 fd,char* out);
 void u8RPI_serialPrintfs(uint8 fd,char* msg,int size);
 void u8RPI_serialPutchars(uint8 fd,uint8 character);
 void u8RPI_serialPutss(uint8 fd,char* character,int size);
+=======
+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);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus 
 } /* extern "C" */
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
index e75a539..b9087d7 100644
--- a/src/c/hardware/rasberrypi/includes/RPIPeripheralTiming.h
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralTiming.h
@@ -5,7 +5,11 @@
  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
+<<<<<<< HEAD
  Author: Siddhesh Wani, Jorawar Singh
+=======
+ Author: Siddhesh Wani
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
 */
@@ -22,10 +26,17 @@ extern "C" {
 #include "types.h"
 #include "wiringPi.h"
 
+<<<<<<< HEAD
 void u32RPI_delays(uint32 time);
 void u32RPI_delayMicros(uint32 time);
 uint32 RPI_millis();
 uint32 RPI_micros();
+=======
+void u16RPIDelayMillis(uint16 time);
+void u16RPIDelayMicros(uint16 time);
+uint32 u32RPIGetMillis();
+uint32 u32RPIGetMicros();
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus
 } /* extern "C" */
diff --git a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralDigital.h b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralDigital.h
index 096fed0..d571488 100644
--- a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralDigital.h
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralDigital.h
@@ -5,7 +5,11 @@
  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
+<<<<<<< HEAD
  Author: Siddhesh Wani, Jorawar Singh
+=======
+ Author: Siddhesh Wani
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
 */
@@ -20,6 +24,7 @@
 extern "C" {
 #endif
 
+<<<<<<< HEAD
 #define u80RPI_digitalReadu80(pin) u8RPI_digitalReads(pin);
 #define d0RPI_digitalReadd0(pin) u8RPI_digitalReads(pin);
 
@@ -28,9 +33,20 @@ extern "C" {
 #define d0d0RPI_digitalWrite(pin,state) u8RPI_digitalWrites(pin,state);
 
 #define u80RPI_digitalWriteByte(value) u8RPI_digitalWriteBytes(value);
+=======
+#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);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus
 } /* extern "C" */
 #endif
 
+<<<<<<< HEAD
 #endif /* !__INT_RPIPERIPHERALGPIO_H__ */
+=======
+#endif /* !__RPIPERIPHERALGPIO_H__ */
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
diff --git a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPWM.h b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPWM.h
index 49c58c0..edf9aed 100644
--- a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPWM.h
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralPWM.h
@@ -1,33 +1,58 @@
+<<<<<<< HEAD
 /* Copyright (C) 2016 - IIT Bombay - FOSSEE
+=======
+ /* Copyright (C) 2016 - IIT Bombay - FOSSEE
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
  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
+<<<<<<< HEAD
  Author:  Jorawar Singh, Siddhesh Wani
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
 */
 
+=======
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __INT_RPIPERIPHERALPWM_H__
 #define __INT_RPIPERIPHERALPWM_H__
 
 #include "types.h"
+<<<<<<< HEAD
 #include "RPIPeripheralPWM.h"
+=======
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus
 extern "C" {
 #endif
 
+<<<<<<< HEAD
 #define u80u160RPI_pwmWrite(pin,value) u8RPI_pwmWrites(pin,value);
 #define u320RPI_pwmRange(value) u32RPI_pwmRanges(value);
 #define g2RPI_pwmMode(mode) gRPI_pwmModea(mode);
 #define u160RPI_pwmClock(divisor) u16RPI_pwmClocks(divisor);
 #define u80u160RPI_pwmToneWrite(pin,value) u8RPI_pwmToneWrites(pin,value);
+=======
+#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)	
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus
 } /* extern "C" */
 #endif
 
+<<<<<<< HEAD
 #endif /* !__INT_RPIPERIPHERALPWM_H__ */
+=======
+#endif /*__INT_RPIPERIPHERALPWM_H__*/
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
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
index e0832f9..5924c90 100644
--- a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralSerial.h
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralSerial.h
@@ -1,25 +1,40 @@
+<<<<<<< HEAD
 /* Copyright (C) 2016 - IIT Bombay - FOSSEE
+=======
+ /* Copyright (C) 2016 - IIT Bombay - FOSSEE
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
  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
+<<<<<<< HEAD
  Author:  Jorawar Singh, Siddhesh Wani
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
 */
 
+=======
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __INT_RPIPERIPHERALSERIAL_H__
 #define __INT_RPIPERIPHERALSERIAL_H__
 
 #include "types.h"
+<<<<<<< HEAD
 #include "RPIPeripheralSerial.h"
+=======
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus
 extern "C" {
 #endif
 
+<<<<<<< HEAD
 #define g2u320RPI_serialOpeni80(device,size,baud) gRPI_serialOpena(device,size[1],baud);
 #define u80RPI_serialClose(fd) u8RPI_serialCloses(fd);
 #define u80RPI_serialDataAvailu80(fd) u8RPI_serialDataAvails(fd);
@@ -28,9 +43,36 @@ extern "C" {
 #define u80g2RPI_serialPrintf(fd,msg,size) u8RPI_serialPrintfs(fd,msg,size[1]);
 #define u80u80RPI_serialPutchar(fd,character) u8RPI_serialPutchars(fd,character);
 #define u80g2RPI_serialPutsg2(fd,character,size) u8RPI_serialPutss(fd,character,size[1]);
+=======
+#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)	
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus
 } /* extern "C" */
 #endif
 
+<<<<<<< HEAD
 #endif /* !__INT_RPIPERIPHERALSERIAL_H__ */
+=======
+#endif /*__INT_RPIPERIPHERALSERIAL_H__*/
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
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
index d2fae23..073cc1e 100644
--- a/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralTiming.h
+++ b/src/c/hardware/rasberrypi/interfaces/int_RPIPeripheralTiming.h
@@ -5,11 +5,19 @@
  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
+<<<<<<< HEAD
  Author:  Jorawar Singh, Siddhesh Wani
+=======
+ Author: Siddhesh Wani
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
  Organization: FOSSEE, IIT Bombay
  Email: toolbox@scilab.in
 */
 
+<<<<<<< HEAD
+=======
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __INT_RPIPERIPHERALTIMING_H__
 #define __INT_RPIPERIPHERALTIMING_H__
 
@@ -20,15 +28,27 @@
 extern "C" {
 #endif
 
+<<<<<<< HEAD
 #define u320RPI_delay(time) u32RPI_delays(time);
 #define d0RPI_delay(time) u32RPI_delays(time);
 
 #define u320RPI_delayMicro(time) u32RPI_delayMicros(time);
 #define RPI_millisu320() RPI_millis();
 #define RPI_microsu320() RPI_micros();
+=======
+#define RPI_DelayMicro(in1) u16RPIDelayMicros((uint16) in1)
+#define RPI_DelayMilli(in1) u16RPIDelayMillis((uint16) in1)
+#define RPI_GetMicro() u32RPIGetMicros()
+#define RPI_GetMillis() u32RPIGetMillis()
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 #ifdef  __cplusplus
 } /* extern "C" */
 #endif
 
+<<<<<<< HEAD
 #endif /* !__INT_RPIPERIPHERALTIMING_H__ */
+=======
+#endif /* !__RPIPERIPHERALTIMING_H__ */
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
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
diff --git a/src/c/matrixOperations/cat/ccata.c b/src/c/matrixOperations/cat/ccata.c
index cd2b4c9..6a2a6d9 100644
--- a/src/c/matrixOperations/cat/ccata.c
+++ b/src/c/matrixOperations/cat/ccata.c
@@ -26,7 +26,11 @@ void		crowcata(floatComplex *in1, int lines1, int columns1, floatComplex *in2, i
     {
       for (j = 0 ; j < lines1 ; ++j)
 	{
+<<<<<<< HEAD
 	  out[i*(lines1 + lines2) + j] = in1[i*lines1 + j];
+=======
+	  /*out[i*(lines1 + lines2) + j] = in1[i*lines1 + j];*/
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 	}
        for (j = 0 ; j < lines2 ; ++j)
 	{
diff --git a/src/c/matrixOperations/cat/zcata.c b/src/c/matrixOperations/cat/zcata.c
index 485553d..659f14c 100644
--- a/src/c/matrixOperations/cat/zcata.c
+++ b/src/c/matrixOperations/cat/zcata.c
@@ -26,7 +26,11 @@ void		zrowcata(doubleComplex *in1, int lines1, int columns1, doubleComplex *in2,
     {
       for (j = 0 ; j < lines1 ; ++j)
 	{
+<<<<<<< HEAD
 	  out[i*(lines1 + lines2) + j] = in1[i*lines1 + j];
+=======
+	  /*out[i*(lines1 + lines2) + j] = in1[i*lines1 + j];*/
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 	}
        for (j = 0 ; j < lines2 ; ++j)
 	{
diff --git a/src/c/scilab-arduino/cmd_analog_in_volt/u8cmd_analog_in_volts.c b/src/c/scilab-arduino/cmd_analog_in_volt/u8cmd_analog_in_volts.c
index 7018df2..27f63c7 100644
--- a/src/c/scilab-arduino/cmd_analog_in_volt/u8cmd_analog_in_volts.c
+++ b/src/c/scilab-arduino/cmd_analog_in_volt/u8cmd_analog_in_volts.c
@@ -15,8 +15,13 @@
 
 float u8cmd_analog_in_volts(uint8 board_no, uint8 pin)
 {
+<<<<<<< HEAD
     float a;
     a = ((5*(float)analogRead(pin))/1023);
+=======
+    float a;					//declaration of variable
+    a = ((5*(float)analogRead(pin))/1023);	//recieved 10 bit input from analog pin is convert to voltage(0 - 50
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
     return(a);
 }
 
diff --git a/src/c/scilab-arduino/cmd_analog_out_volt/u8cmd_analog_out_volts.c b/src/c/scilab-arduino/cmd_analog_out_volt/u8cmd_analog_out_volts.c
index 2dd82e4..19a73fc 100644
--- a/src/c/scilab-arduino/cmd_analog_out_volt/u8cmd_analog_out_volts.c
+++ b/src/c/scilab-arduino/cmd_analog_out_volt/u8cmd_analog_out_volts.c
@@ -15,8 +15,14 @@
 
 void u8cmd_analog_out_volts(uint8 board_no, uint8 pin, float value)
 {	
+<<<<<<< HEAD
     int a;
     a = ((value*255)/5);
     analogWrite(pin,a);
+=======
+    int a;			//declaring variable 
+    a = ((value*255)/5);	//converting given voltage to duty cycle value (0 - 255)
+    analogWrite(pin,a);		//passing pin no. and duty cycle value
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
     
 }
diff --git a/src/c/scilab-arduino/cmd_dcmotor_release/u8cmd_dcmotor_releases.c b/src/c/scilab-arduino/cmd_dcmotor_release/u8cmd_dcmotor_releases.c
index 349bcb1..a228303 100644
--- a/src/c/scilab-arduino/cmd_dcmotor_release/u8cmd_dcmotor_releases.c
+++ b/src/c/scilab-arduino/cmd_dcmotor_release/u8cmd_dcmotor_releases.c
@@ -15,6 +15,7 @@
 
 void u8cmd_dcmotor_releases(uint8 board_no, uint8 motor_no)
 {
+<<<<<<< HEAD
 	if (dcm_mode[motor_no] == 3)
 	{
 		analogWrite(dcm_pin_1[motor_no],0);
@@ -25,5 +26,17 @@ void u8cmd_dcmotor_releases(uint8 board_no, uint8 motor_no)
 	{
 		digitalWrite(dcm_pin_1[motor_no],LOW);
 		digitalWrite(dcm_pin_2[motor_no],LOW);
+=======
+	if (dcm_mode[motor_no] == 3)						//for IC accepting analog value
+	{
+		analogWrite(dcm_pin_1[motor_no],0);				//passing LOW to IC pins to stop the motor
+		analogWrite(dcm_pin_2[motor_no],0);
+	}
+
+	else 									//for IC accepting digital value
+	{
+		digitalWrite(dcm_pin_1[motor_no],LOW);
+		digitalWrite(dcm_pin_2[motor_no],LOW);				//passing LOW to IC pins to stop the motor
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 	}
 }
diff --git a/src/c/scilab-arduino/cmd_i2c_dev/u8cmd_i2c_devs.cpp b/src/c/scilab-arduino/cmd_i2c_dev/u8cmd_i2c_devs.cpp
index adc1a6e..2ba4d39 100644
--- a/src/c/scilab-arduino/cmd_i2c_dev/u8cmd_i2c_devs.cpp
+++ b/src/c/scilab-arduino/cmd_i2c_dev/u8cmd_i2c_devs.cpp
@@ -1,10 +1,34 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+//This function establishes I2C communication between arduino and given device
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #include "cmd_i2c_dev.h"
 #include "Arduino.h"
 #include "Wire.h"
 
+<<<<<<< HEAD
 
 uint8 u8cmd_i2c_devs(uint8 address)
 {
        Wire.begin(); 
        return((uint8)address); 
+=======
+uint8 u8cmd_i2c_devs(uint8 address)
+{
+       Wire.begin(); 					//To initiate connection
+       return((uint8)address); 				//Returns address to create a device object
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 }
diff --git a/src/c/scilab-arduino/cmd_i2c_read/u8cmd_i2c_reads.cpp b/src/c/scilab-arduino/cmd_i2c_read/u8cmd_i2c_reads.cpp
index 8f02a87..78ef0ce 100644
--- a/src/c/scilab-arduino/cmd_i2c_read/u8cmd_i2c_reads.cpp
+++ b/src/c/scilab-arduino/cmd_i2c_read/u8cmd_i2c_reads.cpp
@@ -1,3 +1,20 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+
+//This function reads data from I2C bus. 
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #include "cmd_i2c_read.h"
 #include "Arduino.h"
 #include "Wire.h"
diff --git a/src/c/scilab-arduino/cmd_i2c_read_register/u8cmd_i2c_read_registers.cpp b/src/c/scilab-arduino/cmd_i2c_read_register/u8cmd_i2c_read_registers.cpp
index 0a2ec2e..6b54159 100644
--- a/src/c/scilab-arduino/cmd_i2c_read_register/u8cmd_i2c_read_registers.cpp
+++ b/src/c/scilab-arduino/cmd_i2c_read_register/u8cmd_i2c_read_registers.cpp
@@ -1,3 +1,20 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+
+//this function reads data from the device register with given address
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #include "cmd_i2c_read_register.h"
 #include "Arduino.h"
 #include "Wire.h"
diff --git a/src/c/scilab-arduino/cmd_i2c_write/u8cmd_i2c_writes.cpp b/src/c/scilab-arduino/cmd_i2c_write/u8cmd_i2c_writes.cpp
index 0239097..788fd08 100644
--- a/src/c/scilab-arduino/cmd_i2c_write/u8cmd_i2c_writes.cpp
+++ b/src/c/scilab-arduino/cmd_i2c_write/u8cmd_i2c_writes.cpp
@@ -1,3 +1,19 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+//This function writes data to the connected device
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #include "cmd_i2c_write.h"
 #include "Arduino.h"
 #include "Wire.h"
diff --git a/src/c/scilab-arduino/cmd_i2c_write_register/u8cmd_i2c_write_registers.cpp b/src/c/scilab-arduino/cmd_i2c_write_register/u8cmd_i2c_write_registers.cpp
index 63cc7c7..f10dd97 100644
--- a/src/c/scilab-arduino/cmd_i2c_write_register/u8cmd_i2c_write_registers.cpp
+++ b/src/c/scilab-arduino/cmd_i2c_write_register/u8cmd_i2c_write_registers.cpp
@@ -1,3 +1,20 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+
+//This function writes to the register of the device
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #include "cmd_i2c_write_register.h"
 #include "Arduino.h"
 #include "Wire.h"
diff --git a/src/c/scilab-arduino/default_files/sci2c_arduino.ino b/src/c/scilab-arduino/default_files/sci2c_arduino.ino
index df28950..5d5d101 100644
--- a/src/c/scilab-arduino/default_files/sci2c_arduino.ino
+++ b/src/c/scilab-arduino/default_files/sci2c_arduino.ino
@@ -11,8 +11,13 @@
 */
 
 #include "Arduino.h"
+<<<<<<< HEAD
 #include <loop_arduino.h>
 #include <setup_arduino.h>
+=======
+#include "loop_arduino.h"
+#include "setup_arduino.h"
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 void setup()
 {
diff --git a/src/c/scilab-arduino/includes/cmd_i2c_dev.h b/src/c/scilab-arduino/includes/cmd_i2c_dev.h
index 861a8e7..85d154a 100644
--- a/src/c/scilab-arduino/includes/cmd_i2c_dev.h
+++ b/src/c/scilab-arduino/includes/cmd_i2c_dev.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __CMD_I2C_DEV_H__
 #define __CMD_I2C_DEV_H__
  
diff --git a/src/c/scilab-arduino/includes/cmd_i2c_read.h b/src/c/scilab-arduino/includes/cmd_i2c_read.h
index 791bdd3..e49abcd 100644
--- a/src/c/scilab-arduino/includes/cmd_i2c_read.h
+++ b/src/c/scilab-arduino/includes/cmd_i2c_read.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __CMD_I2C_READ_H__
 #define __CMD_I2C_READ_H__
  
diff --git a/src/c/scilab-arduino/includes/cmd_i2c_read_register.h b/src/c/scilab-arduino/includes/cmd_i2c_read_register.h
index ea203ad..1b3a3cf 100644
--- a/src/c/scilab-arduino/includes/cmd_i2c_read_register.h
+++ b/src/c/scilab-arduino/includes/cmd_i2c_read_register.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __CMD_I2C_READ_REGISTER_H__
 #define __CMD_I2C_READ_REGISTER_H__
  
diff --git a/src/c/scilab-arduino/includes/cmd_i2c_write.h b/src/c/scilab-arduino/includes/cmd_i2c_write.h
index 6a57222..58667c7 100644
--- a/src/c/scilab-arduino/includes/cmd_i2c_write.h
+++ b/src/c/scilab-arduino/includes/cmd_i2c_write.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __CMD_I2C_WRITE_H__
 #define __CMD_I2C_WRITE_H__
  
diff --git a/src/c/scilab-arduino/includes/cmd_i2c_write_register.h b/src/c/scilab-arduino/includes/cmd_i2c_write_register.h
index ff1b9ec..bf8e788 100644
--- a/src/c/scilab-arduino/includes/cmd_i2c_write_register.h
+++ b/src/c/scilab-arduino/includes/cmd_i2c_write_register.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __CMD_I2C_WRITE_REGISTER_H__
 #define __CMD_I2C_WRITE_REGISTER_H__
  
diff --git a/src/c/scilab-arduino/interfaces/int_cmd_i2c_dev.h b/src/c/scilab-arduino/interfaces/int_cmd_i2c_dev.h
index c4d93d7..c1de1b7 100644
--- a/src/c/scilab-arduino/interfaces/int_cmd_i2c_dev.h
+++ b/src/c/scilab-arduino/interfaces/int_cmd_i2c_dev.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __INT_CMD_I2C_DEV_H__
 #define __INT_CMD_I2C_DEV_H__
  
diff --git a/src/c/scilab-arduino/interfaces/int_cmd_i2c_read.h b/src/c/scilab-arduino/interfaces/int_cmd_i2c_read.h
index b0633a0..ef11426 100644
--- a/src/c/scilab-arduino/interfaces/int_cmd_i2c_read.h
+++ b/src/c/scilab-arduino/interfaces/int_cmd_i2c_read.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __INT_CMD_I2C_READ_H__
 #define __INT_CMD_I2C_READ_H__
  
diff --git a/src/c/scilab-arduino/interfaces/int_cmd_i2c_read_register.h b/src/c/scilab-arduino/interfaces/int_cmd_i2c_read_register.h
index 5f4c529..c2cdc65 100644
--- a/src/c/scilab-arduino/interfaces/int_cmd_i2c_read_register.h
+++ b/src/c/scilab-arduino/interfaces/int_cmd_i2c_read_register.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __INT_CMD_I2C_READ_REGISTER_H__
 #define __INT_CMD_I2C_READ_REGISTER_H__
  
diff --git a/src/c/scilab-arduino/interfaces/int_cmd_i2c_write.h b/src/c/scilab-arduino/interfaces/int_cmd_i2c_write.h
index a7705a8..23474a7 100644
--- a/src/c/scilab-arduino/interfaces/int_cmd_i2c_write.h
+++ b/src/c/scilab-arduino/interfaces/int_cmd_i2c_write.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __INT_CMD_I2C_WRITE_H__
 #define __INT_CMD_I2C_WRITE_H__
  
diff --git a/src/c/scilab-arduino/interfaces/int_cmd_i2c_write_register.h b/src/c/scilab-arduino/interfaces/int_cmd_i2c_write_register.h
index 35c0527..e385b3f 100644
--- a/src/c/scilab-arduino/interfaces/int_cmd_i2c_write_register.h
+++ b/src/c/scilab-arduino/interfaces/int_cmd_i2c_write_register.h
@@ -1,3 +1,18 @@
+<<<<<<< HEAD
+=======
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Yash Pratap Singh Tomar
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifndef __INT_CMD_I2C_WRITE_REGISTER_H__
 #define __INT_CMD_I2C_WRITE_REGISTER_H__
  
diff --git a/src/c/string/disp/ddispa.c b/src/c/string/disp/ddispa.c
index 29aacee..3ae1d15 100644
--- a/src/c/string/disp/ddispa.c
+++ b/src/c/string/disp/ddispa.c
@@ -16,7 +16,11 @@ double ddispa (double* in, int rows, int columns){
 	int i = 0,j = 0;
 	
 	for (i = 0; i < rows; ++i) {
+<<<<<<< HEAD
 		for (j=0;j<columns;j++) printf ("  %e  ", in[i+j*rows]);
+=======
+		for (j=0;j<columns;j++) printf ("  %1.20f  ", in[i+j*rows]);
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 		printf("\n");
 	}
 	return 0;
diff --git a/src/c/string/disp/zdispa.c b/src/c/string/disp/zdispa.c
index bc71de4..6f651b8 100644
--- a/src/c/string/disp/zdispa.c
+++ b/src/c/string/disp/zdispa.c
@@ -16,7 +16,11 @@ double zdispa (doubleComplex* in, int rows, int columns){
 	int i = 0,j = 0;
 	
 	for (i = 0; i < rows; ++i) {
+<<<<<<< HEAD
 		for (j=0;j<columns;j++) printf("  %1.20lf + %1.20lfi  " ,zreals(in[i+j*rows]) ,zimags(in[i+j*rows])); 
+=======
+		for (j=0;j<columns;j++) printf("  %1.20f + %1.20fi  " ,zreals(in[i+j*rows]) ,zimags(in[i+j*rows])); 
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 		printf("\n");
 	}
 	return 0;
diff --git a/src/c/type/doubleComplex.h b/src/c/type/doubleComplex.h
index 4be0d7d..c2e2d2e 100644
--- a/src/c/type/doubleComplex.h
+++ b/src/c/type/doubleComplex.h
@@ -45,6 +45,24 @@ typedef struct double_complex doubleComplex;
 /*
 ** }
 */
+<<<<<<< HEAD
+=======
+#elif defined(ARDUINO)
+/*
+** Hand made Double Complex definition
+** {
+*/
+struct  double_complex
+{
+  double real;
+  double imag;
+};
+
+typedef struct double_complex doubleComplex;
+/*
+** }
+*/
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #else
 /*
 ** Standard C99 Complex
@@ -57,7 +75,10 @@ typedef double complex doubleComplex;
 ** }
 */
 #endif
+<<<<<<< HEAD
 
+=======
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 #ifdef  __cplusplus
 extern "C" {
 #endif
diff --git a/src/c/type/floatComplex.h b/src/c/type/floatComplex.h
index fe35ca4..fb4039b 100644
--- a/src/c/type/floatComplex.h
+++ b/src/c/type/floatComplex.h
@@ -44,6 +44,24 @@ struct  float_complex
 typedef struct float_complex floatComplex;
 /*
 ** }
+<<<<<<< HEAD
+=======
+*/

+#elif defined(ARDUINO)

+/*
+** Hand made Float Complex definition
+** {
+*/
+struct  float_complex
+{
+  float real;
+  float imag;
+};
+
+typedef struct float_complex floatComplex;
+/*
+** }
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 */
 #else
 /*
diff --git a/src/c/type/types.h b/src/c/type/types.h
index a76bf30..8379003 100644
--- a/src/c/type/types.h
+++ b/src/c/type/types.h
@@ -4,7 +4,11 @@
 /*****************************************************************************/
 /* TYPE DEFINITIONS                                                          */
 /*****************************************************************************/
+<<<<<<< HEAD
 typedef unsigned char       boolean;
+=======
+/*typedef unsigned char       boolean;*/
+>>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
 
 typedef unsigned char       uint8;
 typedef unsigned short      uint16;