Functions added - balance,rcond,obscont

13 files changed, 576 insertions, 6 deletions

diff --git a/src/c/CACSD/includes/obscont.h b/src/c/CACSD/includes/obscont.h
new file mode 100644
index 0000000..f316adb
--- /dev/null
+++ b/src/c/CACSD/includes/obscont.h
@@ -0,0 +1,28 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __OBSCONT_H__
+#define __OBSCONT_H__
+
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+void dobsconta(double* sys, int sys_rows, int sys_cols, double* Kc, double* Kf, \
+			double *K, double *r);
+
+
+#ifdef  __cplusplus 
+} /* extern "C" */
+#endif
+
+#endif /*__OBSCONT_H__*/
diff --git a/src/c/CACSD/interfaces/int_obscont.h b/src/c/CACSD/interfaces/int_obscont.h
new file mode 100644
index 0000000..fd3a823
--- /dev/null
+++ b/src/c/CACSD/interfaces/int_obscont.h
@@ -0,0 +1,29 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_OBSCONT_H__
+#define __INT_OBSCONT_H__
+
+ #ifdef  __cplusplus
+ extern "C" {
+ #endif
+
+#define ss2d2d2obscontd2(in1,size1,in2,size2,in3,size3,out) \
+ 	dobsconta(in1,size1[0],size1[1],in2,in3,out,NULL)
+
+#define ss2d2d2obscontd2d2(in1,size1,in2,size2,in3,size3,out1,out2) \
+ 	dobsconta(in1,size1[0],size1[1],in2,in3,out1,out2)
+
+ #ifdef  __cplusplus
+ } /* extern "C" */
+ #endif
+
+#endif /*__INT_OBSCONT_H__*/
diff --git a/src/c/CACSD/obscont/dobsconta.c b/src/c/CACSD/obscont/dobsconta.c
new file mode 100644
index 0000000..7e29752
--- /dev/null
+++ b/src/c/CACSD/obscont/dobsconta.c
@@ -0,0 +1,284 @@
+/* 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/*Function for calculating observer controller. 
+  Refer 'obscont.sci' in scilab source.*/
+
+#include <stdlib.h>
+#include "matrixMultiplication.h"
+#include "addition.h"
+
+void dobsconta(double* sys, int sys_rows, int sys_cols, double* Kc, double* Kf, \
+			double *K, double *r)
+{
+	int no_of_states, no_of_inputs, no_of_outputs, dom = 1;
+    int row,col;
+    no_of_states = sys[sys_rows*(sys_cols-1)];
+    no_of_inputs = sys[sys_rows*(sys_cols-1) + 1];
+    no_of_outputs = sys_rows - no_of_states;
+
+ 	int no_of_cols;
+    int no_of_rows;
+   
+    double *A, *B, *C, *D;
+    double *BKc, *KfC, *KfD,*DKc;
+    double *buf, *buf1, *buf2;
+
+    A = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+    B = (double*) malloc (no_of_states*no_of_inputs*sizeof(double));
+    C = (double*) malloc (no_of_states*no_of_outputs*sizeof(double));
+    D = (double*) malloc (no_of_inputs*no_of_outputs*sizeof(double));
+
+	BKc = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+	KfC = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+	KfD = (double*) malloc (no_of_states*no_of_inputs*sizeof(double));
+	DKc = (double*) malloc (no_of_outputs*no_of_states*sizeof(double));
+	buf = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+	buf1 = (double*) malloc (no_of_states*no_of_inputs*sizeof(double));
+	buf2 = (double*) malloc (no_of_outputs*no_of_states*sizeof(double));
+
+	/*Get A from system matrix*/
+    for(col = 0; col < no_of_states; col++)
+    {
+        for(row = 0; row < no_of_states; row++)
+        {
+            A[col*no_of_states + row] = sys[col*sys_rows + row];
+        }
+    }
+
+    /*Get matrix B from system matrix*/
+    for(col=0; col < no_of_inputs; col++)
+    {
+        for(row = 0; row < no_of_states; row++)
+        {
+            B[col * no_of_states + row] = \
+                sys[col * sys_rows + no_of_states*sys_rows + row];
+        }
+    }
+
+    /*Get matrix C from system matrix*/
+    for(col=0; col < no_of_states; col++)
+    {
+        for(row = 0; row < no_of_outputs; row++)
+        {
+            C[col * no_of_outputs + row] = \
+                sys[no_of_states + (col*sys_rows) + row];
+        }
+    }
+
+    /*Get matrix D from system matrix*/
+    for(col=0; col < no_of_inputs; col++)
+    {
+        for(row = 0; row < no_of_outputs; row++)
+        {
+            D[col * no_of_outputs + row] = \
+                sys[(no_of_states+col)*sys_rows + no_of_states +  row];
+        }
+    }
+
+    dom = sys[(sys_rows*(sys_cols-2)) + no_of_states];
+
+    dmulma(B,no_of_states,no_of_inputs,Kc,no_of_inputs,no_of_states,BKc);
+    dmulma(Kf,no_of_states,no_of_outputs,C,no_of_outputs,no_of_states,KfC);
+    dmulma(Kf,no_of_states,no_of_outputs,D,no_of_outputs,no_of_inputs,KfD);
+
+    /*Variables are reused to save memory*/
+    /*A+BKc*/
+    dadda(A,no_of_states*no_of_states,BKc,no_of_states*no_of_states,buf);
+    /*A+BKc+KfC*/
+    dadda(KfC,no_of_states*no_of_states,buf,no_of_states*no_of_states,A);
+    /*KfDKc*/
+    dmulma(KfD,no_of_states,no_of_inputs,Kc,no_of_inputs,no_of_states,BKc);
+    /*A+BKc+KfC+KfDKc*/
+    dadda(A,no_of_states*no_of_states,BKc,no_of_states*no_of_states,buf);
+   
+    /*Dimensions of K*/
+    no_of_cols = no_of_states + no_of_inputs + 2;
+    no_of_rows = no_of_states + no_of_outputs;
+
+    if(r == NULL)
+    {
+  	    /*Dimensions of K*/
+	    no_of_cols = no_of_states + no_of_outputs + 2;
+	    no_of_rows = no_of_states + no_of_inputs;
+
+    	for(col = 0; col < no_of_states; col++)
+	    {
+	    	for(row = 0; row < no_of_states; row++)
+	    	{
+	    		K[col*no_of_rows + row] = buf[col*no_of_states + row];
+	    	}
+	    	
+	    }
+
+	    /*Copy matrix -Kf in out matrix*/
+	    for(col=0; col < no_of_outputs; col++)
+	    {
+	    	for(row = 0; row < no_of_states; row++)
+	    	{
+	    		K[col * no_of_rows + no_of_states*no_of_rows + row]  \
+	    				= -1.0*Kf[col * no_of_states + row];
+	    	}
+	    }
+
+	    /*Copy matrix Kc in out matrix*/
+	    for(col=0; col < no_of_states; col++)
+	    {
+	    	for(row = 0; row < no_of_inputs; row++)
+	    	{
+	    		K[no_of_states + (col*no_of_rows) + row] = Kc[col * no_of_inputs + row];
+	    	}
+	    }
+
+	    K[(no_of_rows*(no_of_cols-2))	+ no_of_states] = dom; 
+    	/*Insert no of states and inputs in last column*/
+		K[(no_of_rows*(no_of_cols-1))] = no_of_states;
+		K[(no_of_rows*(no_of_cols-1))+1] = no_of_outputs;
+		/*For K, no_of_outputs is no of inputs*/ 
+
+    }
+    else
+    {
+    	/*Dimensions of K*/
+	    no_of_cols = no_of_states + no_of_inputs + no_of_outputs + 2;
+    	no_of_rows = no_of_states + no_of_outputs + no_of_inputs;
+
+    	r[0] = no_of_outputs;
+    	r[1] = no_of_inputs;
+
+    	for(col = 0; col < no_of_states; col++)
+	    {
+	    	for(row = 0; row < no_of_states; row++)
+	    	{
+	    		K[col*no_of_rows + row] = buf[col*no_of_states + row];
+	    	}
+	    	
+	    }
+
+	    /*Copy matrix -Kf in out matrix*/
+	    for(col=0; col < no_of_outputs; col++)
+	    {
+	    	for(row = 0; row < no_of_states; row++)
+	    	{
+	    		K[col * no_of_rows + no_of_states*no_of_rows + row]  \
+	    				= -1.0*Kf[col * no_of_states + row];
+	    	}
+	    }
+
+	    /*B+Kf*D*/
+	    dadda(B,no_of_states*no_of_inputs,KfD,no_of_states*no_of_inputs,buf1);
+
+	    /*Copy matrix (B+KfD) in out matrix*/
+	    for(col=0; col < no_of_inputs; col++)
+	    {
+	    	for(row = 0; row < no_of_states; row++)
+	    	{
+	    		K[col * no_of_rows + (no_of_states+no_of_outputs)*no_of_rows \
+	    			 + row] = buf1[col * no_of_states + row];
+	    	}
+	    }
+
+	    /*DKc*/
+	    dmulma(D,no_of_outputs,no_of_inputs,Kc,no_of_inputs,no_of_states,DKc);
+	    /*C+DKc*/
+	    dadda(C,no_of_outputs*no_of_states,DKc,no_of_outputs*no_of_states,buf2);
+
+	    /*Copy matrix Kc in out matrix*/
+	    for(col=0; col < no_of_states; col++)
+	    {
+	    	for(row = 0; row < no_of_inputs; row++)
+	    	{
+	    		K[no_of_states + (col*no_of_rows) + row] \
+	    				= Kc[col * no_of_inputs + row];
+	    	}
+	    }
+
+	    /*Copy -(C+DKc) in out matrix*/
+		for(col=0; col < no_of_states; col++)
+	    {
+	    	for(row = 0; row < no_of_outputs; row++)
+	    	{
+	    		K[(no_of_states+no_of_inputs) + (col*no_of_rows) + row] \
+	    				= -1.0*buf2[col * no_of_outputs + row];
+	    	}
+	    }
+
+	    /*Block 22 for K*/
+		for(col=0; col < no_of_outputs; col++)
+	    {
+	    	for(row = 0; row < no_of_inputs; row++)
+	    	{
+	    		K[no_of_states + (col*no_of_rows) + no_of_states*no_of_rows \
+	    			 + row] = 0;
+	    	}
+	    }	    
+
+	    for(col=0; col < no_of_inputs; col++)
+	    {
+	    	for(row = 0; row < no_of_inputs; row++)
+	    	{
+	    		if(row == col)
+	    			K[no_of_states + (col*no_of_rows) + \
+	    				(no_of_states+no_of_outputs)*no_of_rows + row] = 1;
+	    		else
+	    			K[no_of_states + (col*no_of_rows) + \
+	    				(no_of_states+no_of_outputs)*no_of_rows + row] = 0;
+	    	}
+	    }	    
+
+		for(col=0; col < no_of_outputs; col++)
+	    {
+	    	for(row = 0; row < no_of_outputs; row++)
+	    	{
+	    		if(row == col)
+	    			K[no_of_states + no_of_inputs + (col*no_of_rows) + \
+	    				no_of_states*no_of_rows + row] = 1;
+	    		else
+	    			K[no_of_states + no_of_inputs + (col*no_of_rows) + \
+	    				no_of_states*no_of_rows + row] = 0;
+	    	}
+	    }	    
+
+
+	    for(col=0; col < no_of_inputs; col++)
+	    {
+	    	for(row = 0; row < no_of_outputs; row++)
+	    	{
+	    		K[no_of_states + no_of_inputs + (col*no_of_rows) + \
+	    				(no_of_states+no_of_outputs)*no_of_rows + row] \
+	    				= -1.0*D[col*no_of_inputs + row];
+	    	}
+	    }	    
+
+
+    	K[(no_of_rows*(no_of_cols-2))+ no_of_states] = dom; 
+    	/*Insert no of states and inputs in last column*/
+		K[(no_of_rows*(no_of_cols-1))] = no_of_states;
+		K[(no_of_rows*(no_of_cols-1))+1] = no_of_outputs + no_of_inputs;
+		/*For K, (no_of_outputs+no_of_inputs) is no of inputs*/ 
+
+
+    }
+
+
+    free(A);
+    free(B);
+    free(C);
+    free(D);
+    free(BKc);
+    free(KfC);
+    free(KfD);
+    free(DKc);
+    free(buf);
+    free(buf1);
+    free(buf2);
+}
diff --git a/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c
index fa86025..f5fefe0 100644
--- a/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c
+++ b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c
@@ -21,9 +21,10 @@
 
 /*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 };				/*Pin 21 to 26*/
+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)
diff --git a/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h b/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
index 76a229e..14df95b 100644
--- a/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
@@ -29,13 +29,13 @@ 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, void* data, int size);
+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, void* data, int size);
+void gRPISerialSendDatas(int fd, uint8* data, int size);
 
 int16 i16RPISerialDataAvails(int fd);
 int16 i16RPISerialGetChars(int fd);
diff --git a/src/c/hardware/rasberrypi/serial/u8RPISerialSetups.c b/src/c/hardware/rasberrypi/serial/u16RPISerialSetups.c
index cde4cba..cde4cba 100644
--- a/src/c/hardware/rasberrypi/serial/u8RPISerialSetups.c
+++ b/src/c/hardware/rasberrypi/serial/u16RPISerialSetups.c
diff --git a/src/c/linearAlgebra/balanc/dbalanca.c b/src/c/linearAlgebra/balanc/dbalanca.c
new file mode 100644
index 0000000..558c614
--- /dev/null
+++ b/src/c/linearAlgebra/balanc/dbalanca.c
@@ -0,0 +1,75 @@
+/* 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+
+/*Funtion to balance given square matrix to improve its condition number*/
+#include "balanc.h"
+#include "lapack.h"
+#include "stdlib.h"
+#include "string.h"
+#include "eye.h"
+
+void dbalanca(double* in1, int rows, double* in2, double* out1, \
+		double* out2, double* out3, double* out4)
+{
+	char JOB = 'B';
+	char RSIDE = 'R';
+	char LSIDE = 'L';
+
+	int ILO, IHI, INFO;
+	double *buf1, *buf2, *LSCALE, *RSCALE;
+	double *LWORK;
+
+
+	if(in2 == NULL)
+	{
+		/*Single input matrix*/
+		buf1   = (double*) malloc((double) rows*rows*sizeof(double));
+		LSCALE = (double*) malloc((double) rows*sizeof(double));
+
+		/*copy input to temp buf as lapack function modifies input*/
+		memcpy(buf1,in1,rows*rows*sizeof(double));
+
+		dgebal_(&JOB,&rows,buf1,&rows,&ILO,&IHI,LSCALE,&INFO);
+		deyea(out2,rows,rows);
+		dgebak_(&JOB,&RSIDE,&rows,&ILO,&IHI,LSCALE,&rows,out2,&rows,&INFO);
+		
+		/*copy computed matrix to output*/
+		memcpy(out1,buf1,rows*rows*sizeof(double));
+	}
+	else
+	{
+		/*two matrices as inputs*/
+		buf1   = (double*) malloc((double) rows*rows*sizeof(double));
+		buf2   = (double*) malloc((double) rows*rows*sizeof(double));
+		LSCALE = (double*) malloc((double) rows*sizeof(double));
+		RSCALE = (double*) malloc((double) rows*sizeof(double));
+		LWORK  = (double*) malloc((double) 6*rows*sizeof(double));
+
+		/*copy input to temp buf as lapack function modifies input*/
+		memcpy(buf1,in1,rows*rows*sizeof(double));
+		memcpy(buf2,in2,rows*rows*sizeof(double));
+
+		dggbal_(&JOB,&rows,buf1,&rows,buf2,&rows,&ILO,&IHI,LSCALE,RSCALE, \
+					LWORK,INFO);
+		deyea(out3,rows,rows);
+		deyea(out4,rows,rows);
+
+		dgebak_(&JOB,&LSIDE,&rows,&ILO,&IHI,LSCALE,&rows,out3,&rows,&INFO);
+		dgebak_(&JOB,&RSIDE,&rows,&ILO,&IHI,LSCALE,&rows,out4,&rows,&INFO);
+
+		/*copy computed matrix to output*/
+		memcpy(out1,buf1,rows*rows*sizeof(double));
+		memcpy(out2,buf2,rows*rows*sizeof(double));
+
+	}
+
+}
\ No newline at end of file
diff --git a/src/c/linearAlgebra/includes/balanc.h b/src/c/linearAlgebra/includes/balanc.h
new file mode 100644
index 0000000..dcc66b2
--- /dev/null
+++ b/src/c/linearAlgebra/includes/balanc.h
@@ -0,0 +1,27 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __BALANC_H__
+#define __BALANC_H__
+
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+void dbalanca(double* in1, int rows, double* in2, double* out1, \
+		double* out2, double* out3, double* out4);	
+
+#ifdef  __cplusplus 
+} /* extern "C" */
+#endif
+
+#endif /*__BALANC_H__*/
diff --git a/src/c/linearAlgebra/includes/rcond.h b/src/c/linearAlgebra/includes/rcond.h
new file mode 100644
index 0000000..4796f02
--- /dev/null
+++ b/src/c/linearAlgebra/includes/rcond.h
@@ -0,0 +1,26 @@
+ /* 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __RCOND_H__
+#define __RCOND_H__
+
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+double drconda(double* in1, int rows);	
+
+#ifdef  __cplusplus 
+} /* extern "C" */
+#endif
+
+#endif /*__RCOND_H__*/
diff --git a/src/c/linearAlgebra/interfaces/int_balanc.h b/src/c/linearAlgebra/interfaces/int_balanc.h
new file mode 100644
index 0000000..a16ba8c
--- /dev/null
+++ b/src/c/linearAlgebra/interfaces/int_balanc.h
@@ -0,0 +1,29 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_BALANC_H__
+#define __INT_BALANC_H__
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define d2balancd2d2(in1,size1,out1,out2) dbalanca(in1,size1[0],NULL,out1, \
+			out2,NULL,NULL)
+
+#define d2d2balancd2d2d2d2(in1,size1,in2,size2,out1,out2,out3,out4) \
+			dbalanca(in1,size1[0],in2,out1,out2,out3,out4)
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_BALANC_H__*/
diff --git a/src/c/linearAlgebra/interfaces/int_rcond.h b/src/c/linearAlgebra/interfaces/int_rcond.h
new file mode 100644
index 0000000..6e6a445
--- /dev/null
+++ b/src/c/linearAlgebra/interfaces/int_rcond.h
@@ -0,0 +1,25 @@
+ /* 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_RCOND_H__
+#define __INT_RCOND_H__
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+#define d2rcondd0(in1,size1) drconda(in1,size1[0])
+
+#ifdef  __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_RCOND_H__*/
diff --git a/src/c/linearAlgebra/rcond/drconda.c b/src/c/linearAlgebra/rcond/drconda.c
new file mode 100644
index 0000000..2082e9d
--- /dev/null
+++ b/src/c/linearAlgebra/rcond/drconda.c
@@ -0,0 +1,46 @@
+/* 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: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+
+/*Funtion to find inverse condition number of square matrix*/
+
+#include "lapack.h"
+#include "stdlib.h"
+#include "string.h"
+
+double drconda(double* in1, int rows)
+{
+	double *buf, *IPIV, *LDWORK, *LIWORK;
+	int INFO;
+	char one = '1';
+	double ANORM;
+	double RCOND = 1;
+
+	buf   = (double*) malloc((double) rows*rows*sizeof(double));
+	IPIV   = (double*) malloc((double) rows*sizeof(double));
+	LIWORK = (double*) malloc((double) rows*sizeof(double));
+	LDWORK = (double*) malloc((double) 4*rows*sizeof(double));
+
+	/*Copy input in temp buf, as lapack modifies input*/
+	memcpy(buf,in1,rows*rows*sizeof(double));
+
+	ANORM = dlange_(&one,&rows,&rows,buf,&rows,LDWORK); 
+
+	dgetrf_(&rows,&rows,buf,&rows,IPIV,&INFO);
+	
+	if(INFO == 0)
+	{
+		dgecon_(&one,&rows,buf,&rows,&ANORM,&RCOND,LDWORK,LIWORK,&INFO);
+	}
+
+	return RCOND;
+
+}
\ No newline at end of file
diff --git a/src/c/linearAlgebra/schur/dschura.c b/src/c/linearAlgebra/schur/dschura.c
index 79c4197..802caa8 100644
--- a/src/c/linearAlgebra/schur/dschura.c
+++ b/src/c/linearAlgebra/schur/dschura.c
@@ -10,7 +10,7 @@
  Email: toolbox@scilab.in
  */
 
-/*Fucntion to find schur decomposition of given square matrix */
+/*Funtion to find schur decomposition of given square matrix */
 #include "schur.h"
 #include "lapack.h"
 #include "stdlib.h"