diff --git a/src/util.c b/src/util.c
new file mode 100644
index 0000000..8e8d04a
--- /dev/null
+++ b/src/util.c
@@ -0,0 +1,487 @@
+#include "util.h"
+
+/***************
+* Versioning  *
+***************/
+const char* osqp_version(void) {
+  return OSQP_VERSION;
+}
+
+/************************************
+* Printing Constants to set Layout *
+************************************/
+#ifdef PRINTING
+# define HEADER_LINE_LEN 65
+#endif /* ifdef PRINTING */
+
+/**********************
+* Utility Functions  *
+**********************/
+void c_strcpy(char dest[], const char source[]) {
+  int i = 0;
+
+  while (1) {
+    dest[i] = source[i];
+
+    if (dest[i] == '\0') break;
+    i++;
+  }
+}
+
+#ifdef PRINTING
+
+static void print_line(void) {
+  char  the_line[HEADER_LINE_LEN + 1];
+  c_int i;
+
+  for (i = 0; i < HEADER_LINE_LEN; ++i) the_line[i] = '-';
+  the_line[HEADER_LINE_LEN] = '\0';
+  c_print("%s\n", the_line);
+}
+
+void print_header(void) {
+  // Different indentation required for windows
+#if defined(IS_WINDOWS) && !defined(PYTHON)
+  c_print("iter  ");
+#else
+  c_print("iter   ");
+#endif
+
+  // Main information
+  c_print("objective    pri res    dua res    rho");
+# ifdef PROFILING
+  c_print("        time");
+# endif /* ifdef PROFILING */
+  c_print("\n");
+}
+
+void print_setup_header(const OSQPWorkspace *work) {
+  OSQPData *data;
+  OSQPSettings *settings;
+  c_int nnz; // Number of nonzeros in the problem
+
+  data     = work->data;
+  settings = work->settings;
+
+  // Number of nonzeros
+  nnz = data->P->p[data->P->n] + data->A->p[data->A->n];
+
+  print_line();
+  c_print("           OSQP v%s  -  Operator Splitting QP Solver\n"
+          "              (c) Bartolomeo Stellato,  Goran Banjac\n"
+          "        University of Oxford  -  Stanford University 2021\n",
+          OSQP_VERSION);
+  print_line();
+
+  // Print variables and constraints
+  c_print("problem:  ");
+  c_print("variables n = %i, constraints m = %i\n          ",
+                                    (int)data->n,
+          (int)data->m);
+  c_print("nnz(P) + nnz(A) = %i\n", (int)nnz);
+
+  // Print Settings
+  c_print("settings: ");
+  c_print("linear system solver = %s",
+          LINSYS_SOLVER_NAME[settings->linsys_solver]);
+
+  if (work->linsys_solver->nthreads != 1) {
+    c_print(" (%d threads)", (int)work->linsys_solver->nthreads);
+  }
+  c_print(",\n          ");
+
+  c_print("eps_abs = %.1e, eps_rel = %.1e,\n          ",
+          settings->eps_abs, settings->eps_rel);
+  c_print("eps_prim_inf = %.1e, eps_dual_inf = %.1e,\n          ",
+          settings->eps_prim_inf, settings->eps_dual_inf);
+  c_print("rho = %.2e ", settings->rho);
+
+  if (settings->adaptive_rho) {
+    c_print("(adaptive)");
+  }
+  c_print(",\n          ");
+  c_print("sigma = %.2e, alpha = %.2f, ",
+          settings->sigma, settings->alpha);
+  c_print("max_iter = %i\n", (int)settings->max_iter);
+
+  if (settings->check_termination) {
+    c_print("          check_termination: on (interval %i),\n",
+      (int)settings->check_termination);
+  } else {c_print("          check_termination: off,\n");}
+# ifdef PROFILING
+  if (settings->time_limit) {
+    c_print("          time_limit: %.2e sec,\n", settings->time_limit);
+  }
+# endif /* ifdef PROFILING */
+
+  if (settings->scaling) {
+    c_print("          scaling: on, ");
+  } else {
+    c_print("          scaling: off, ");
+  }
+
+  if (settings->scaled_termination) {
+    c_print("scaled_termination: on\n");
+  } else {
+    c_print("scaled_termination: off\n");
+  }
+
+  if (settings->warm_start) {
+    c_print("          warm start: on, ");
+  } else {
+    c_print("          warm start: off, ");
+  }
+
+  if (settings->polish) {
+    c_print("polish: on, ");
+  } else {
+    c_print("polish: off, ");
+  }
+
+# ifdef PROFILING
+  if (settings->time_limit) {
+    c_print("time_limit: %.2e sec\n", settings->time_limit);
+  } else {
+    c_print("time_limit: off\n");
+  }
+# endif
+
+  c_print("\n");
+}
+
+void print_summary(OSQPWorkspace *work) {
+  OSQPInfo *info;
+
+  info = work->info;
+
+  c_print("%4i",     (int)info->iter);
+  c_print(" %12.4e", info->obj_val);
+  c_print("  %9.2e", info->pri_res);
+  c_print("  %9.2e", info->dua_res);
+  c_print("  %9.2e", work->settings->rho);
+# ifdef PROFILING
+
+  if (work->first_run) {
+    // total time: setup + solve
+    c_print("  %9.2es", info->setup_time + info->solve_time);
+  } else {
+    // total time: update + solve
+    c_print("  %9.2es", info->update_time + info->solve_time);
+  }
+# endif /* ifdef PROFILING */
+  c_print("\n");
+
+  work->summary_printed = 1; // Summary has been printed
+}
+
+void print_polish(OSQPWorkspace *work) {
+  OSQPInfo *info;
+
+  info = work->info;
+
+  c_print("%4s",     "plsh");
+  c_print(" %12.4e", info->obj_val);
+  c_print("  %9.2e", info->pri_res);
+  c_print("  %9.2e", info->dua_res);
+
+  // Different characters for windows/unix
+#if defined(IS_WINDOWS) && !defined(PYTHON)
+  c_print("  ---------");
+#else
+  c_print("   --------");
+#endif
+
+# ifdef PROFILING
+  if (work->first_run) {
+    // total time: setup + solve
+    c_print("  %9.2es", info->setup_time + info->solve_time +
+            info->polish_time);
+  } else {
+    // total time: update + solve
+    c_print("  %9.2es", info->update_time + info->solve_time +
+            info->polish_time);
+  }
+# endif /* ifdef PROFILING */
+  c_print("\n");
+}
+
+void print_footer(OSQPInfo *info, c_int polish) {
+  c_print("\n"); // Add space after iterations
+
+  c_print("status:               %s\n", info->status);
+
+  if (polish && (info->status_val == OSQP_SOLVED)) {
+    if (info->status_polish == 1) {
+      c_print("solution polish:      successful\n");
+    } else if (info->status_polish < 0) {
+      c_print("solution polish:      unsuccessful\n");
+    }
+  }
+
+  c_print("number of iterations: %i\n", (int)info->iter);
+
+  if ((info->status_val == OSQP_SOLVED) ||
+      (info->status_val == OSQP_SOLVED_INACCURATE)) {
+    c_print("optimal objective:    %.4f\n", info->obj_val);
+  }
+
+# ifdef PROFILING
+  c_print("run time:             %.2es\n", info->run_time);
+# endif /* ifdef PROFILING */
+
+# if EMBEDDED != 1
+  c_print("optimal rho estimate: %.2e\n", info->rho_estimate);
+# endif /* if EMBEDDED != 1 */
+  c_print("\n");
+}
+
+#endif /* End #ifdef PRINTING */
+
+
+#ifndef EMBEDDED
+
+OSQPSettings* copy_settings(const OSQPSettings *settings) {
+  OSQPSettings *new = c_malloc(sizeof(OSQPSettings));
+
+  if (!new) return OSQP_NULL;
+
+  // Copy settings
+  // NB. Copying them explicitly because memcpy is not
+  // defined when PRINTING is disabled (appears in string.h)
+  new->rho = settings->rho;
+  new->sigma = settings->sigma;
+  new->scaling = settings->scaling;
+
+# if EMBEDDED != 1
+  new->adaptive_rho = settings->adaptive_rho;
+  new->adaptive_rho_interval = settings->adaptive_rho_interval;
+  new->adaptive_rho_tolerance = settings->adaptive_rho_tolerance;
+# ifdef PROFILING
+  new->adaptive_rho_fraction = settings->adaptive_rho_fraction;
+# endif
+# endif // EMBEDDED != 1
+  new->max_iter = settings->max_iter;
+  new->eps_abs = settings->eps_abs;
+  new->eps_rel = settings->eps_rel;
+  new->eps_prim_inf = settings->eps_prim_inf;
+  new->eps_dual_inf = settings->eps_dual_inf;
+  new->alpha = settings->alpha;
+  new->linsys_solver = settings->linsys_solver;
+  new->delta = settings->delta;
+  new->polish = settings->polish;
+  new->polish_refine_iter = settings->polish_refine_iter;
+  new->verbose = settings->verbose;
+  new->scaled_termination = settings->scaled_termination;
+  new->check_termination = settings->check_termination;
+  new->warm_start = settings->warm_start;
+# ifdef PROFILING
+  new->time_limit = settings->time_limit;
+# endif
+
+  return new;
+}
+
+#endif // #ifndef EMBEDDED
+
+
+/*******************
+* Timer Functions *
+*******************/
+
+#ifdef PROFILING
+
+// Windows
+# ifdef IS_WINDOWS
+
+void osqp_tic(OSQPTimer *t)
+{
+  QueryPerformanceFrequency(&t->freq);
+  QueryPerformanceCounter(&t->tic);
+}
+
+c_float osqp_toc(OSQPTimer *t)
+{
+  QueryPerformanceCounter(&t->toc);
+  return (t->toc.QuadPart - t->tic.QuadPart) / (c_float)t->freq.QuadPart;
+}
+
+// Mac
+# elif defined IS_MAC
+
+void osqp_tic(OSQPTimer *t)
+{
+  /* read current clock cycles */
+  t->tic = mach_absolute_time();
+}
+
+c_float osqp_toc(OSQPTimer *t)
+{
+  uint64_t duration; /* elapsed time in clock cycles*/
+
+  t->toc   = mach_absolute_time();
+  duration = t->toc - t->tic;
+
+  /*conversion from clock cycles to nanoseconds*/
+  mach_timebase_info(&(t->tinfo));
+  duration *= t->tinfo.numer;
+  duration /= t->tinfo.denom;
+
+  return (c_float)duration / 1e9;
+}
+
+// Linux
+# else  /* ifdef IS_WINDOWS */
+
+/* read current time */
+void osqp_tic(OSQPTimer *t)
+{
+  clock_gettime(CLOCK_MONOTONIC, &t->tic);
+}
+
+/* return time passed since last call to tic on this timer */
+c_float osqp_toc(OSQPTimer *t)
+{
+  struct timespec temp;
+
+  clock_gettime(CLOCK_MONOTONIC, &t->toc);
+
+  if ((t->toc.tv_nsec - t->tic.tv_nsec) < 0) {
+    temp.tv_sec  = t->toc.tv_sec - t->tic.tv_sec - 1;
+    temp.tv_nsec = 1e9 + t->toc.tv_nsec - t->tic.tv_nsec;
+  } else {
+    temp.tv_sec  = t->toc.tv_sec - t->tic.tv_sec;
+    temp.tv_nsec = t->toc.tv_nsec - t->tic.tv_nsec;
+  }
+  return (c_float)temp.tv_sec + (c_float)temp.tv_nsec / 1e9;
+}
+
+# endif /* ifdef IS_WINDOWS */
+
+#endif // If Profiling end
+
+
+/* ==================== DEBUG FUNCTIONS ======================= */
+
+
+
+// If debug mode enabled
+#ifdef DDEBUG
+
+#ifdef PRINTING
+
+void print_csc_matrix(csc *M, const char *name)
+{
+  c_int j, i, row_start, row_stop;
+  c_int k = 0;
+
+  // Print name
+  c_print("%s :\n", name);
+
+  for (j = 0; j < M->n; j++) {
+    row_start = M->p[j];
+    row_stop  = M->p[j + 1];
+
+    if (row_start == row_stop) continue;
+    else {
+      for (i = row_start; i < row_stop; i++) {
+        c_print("\t[%3u,%3u] = %.3g\n", (int)M->i[i], (int)j, M->x[k++]);
+      }
+    }
+  }
+}
+
+void dump_csc_matrix(csc *M, const char *file_name) {
+  c_int j, i, row_strt, row_stop;
+  c_int k = 0;
+  FILE *f = fopen(file_name, "w");
+
+  if (f != NULL) {
+    for (j = 0; j < M->n; j++) {
+      row_strt = M->p[j];
+      row_stop = M->p[j + 1];
+
+      if (row_strt == row_stop) continue;
+      else {
+        for (i = row_strt; i < row_stop; i++) {
+          fprintf(f, "%d\t%d\t%20.18e\n",
+                  (int)M->i[i] + 1, (int)j + 1, M->x[k++]);
+        }
+      }
+    }
+    fprintf(f, "%d\t%d\t%20.18e\n", (int)M->m, (int)M->n, 0.0);
+    fclose(f);
+    c_print("File %s successfully written.\n", file_name);
+  } else {
+    c_eprint("Error during writing file %s.\n", file_name);
+  }
+}
+
+void print_trip_matrix(csc *M, const char *name)
+{
+  c_int k = 0;
+
+  // Print name
+  c_print("%s :\n", name);
+
+  for (k = 0; k < M->nz; k++) {
+    c_print("\t[%3u, %3u] = %.3g\n", (int)M->i[k], (int)M->p[k], M->x[k]);
+  }
+}
+
+void print_dns_matrix(c_float *M, c_int m, c_int n, const char *name)
+{
+  c_int i, j;
+
+  c_print("%s : \n\t", name);
+
+  for (i = 0; i < m; i++) {   // Cycle over rows
+    for (j = 0; j < n; j++) { // Cycle over columns
+      if (j < n - 1)
+        // c_print("% 14.12e,  ", M[j*m+i]);
+        c_print("% .3g,  ", M[j * m + i]);
+
+      else
+        // c_print("% 14.12e;  ", M[j*m+i]);
+        c_print("% .3g;  ", M[j * m + i]);
+    }
+
+    if (i < m - 1) {
+      c_print("\n\t");
+    }
+  }
+  c_print("\n");
+}
+
+void print_vec(c_float *v, c_int n, const char *name) {
+  print_dns_matrix(v, 1, n, name);
+}
+
+void dump_vec(c_float *v, c_int len, const char *file_name) {
+  c_int i;
+  FILE *f = fopen(file_name, "w");
+
+  if (f != NULL) {
+    for (i = 0; i < len; i++) {
+      fprintf(f, "%20.18e\n", v[i]);
+    }
+    fclose(f);
+    c_print("File %s successfully written.\n", file_name);
+  } else {
+    c_print("Error during writing file %s.\n", file_name);
+  }
+}
+
+void print_vec_int(c_int *x, c_int n, const char *name) {
+  c_int i;
+
+  c_print("%s = [", name);
+
+  for (i = 0; i < n; i++) {
+    c_print(" %i ", (int)x[i]);
+  }
+  c_print("]\n");
+}
+
+#endif // PRINTING
+
+#endif // DEBUG MODE