robot_pc.mdl

simulink real-time workshop for dragon12 development board from

    }
    Block {
      BlockType		      SubSystem
      Name		      "FreePortComms_TX"
      Tag		      "MC9S12Target_FreePortCom"
      Ports		      [1]
      Position		      [280, 29, 440, 131]
      AncestorBlock	      "mc9S12tool/Send user data"
      FontSize		      12
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      MaskHelp		      "helpview('C:\\Documents and Settings\\fwornle\\"
"My Documents\\frank\\_cProgs\\Motorola\\rtmc9S12_CW_R13\\bin\\mc9S12.map', 'm"
"c9S12_FPRXD_In_blkref')"
      MaskPromptString	      "Sample time|Communication port|Baudrate|Channel"
" number|Number of elements|Data Type|Block sends raw data"
      MaskStyleString	      "edit,popup(SCI0|SCI1|COM1|COM2|COM3|COM4),popup"
"(300|600|1200|2400|4800|9600|19200|38400|57600|115200),edit,edit,popup(SINGLE"
"|INT8|UINT8|INT16|UINT16|INT32|UINT32|BOOLEAN),checkbox"
      MaskTunableValueString  "on,on,on,on,on,on,on"
      MaskCallbackString      "||||||"
      MaskEnableString	      "on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,"
      MaskVariables	      "sampletime=@1;port=@2;baudrate=@3;channel=@4;bu"
"f_size=@5;data_type=@6;format=@7;"
      MaskInitialization      "[buf_sizestr, portNamestr, baudratestr, channel"
"str, data_type_str, sampletime_str] = mbc_freeporttxd(sampletime, port, baudr"
"ate, channel, buf_size, data_type, format);\n"
      MaskDisplay	      "fprintf('Transmit %s element(s)\\nComm port: %s"
"\\nBaudrate: %s bps\\nChannel: %s\\nData type: %s\\n Sample rate: %s', buf_si"
"zestr, portNamestr, baudratestr, channelstr, data_type_str, sampletime_str)"
      MaskSelfModifiable      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0.1|COM1|115200|0|2|SINGLE|off"
      System {
	Name			"FreePortComms_TX"
	Location		[542, 167, 996, 332]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [45, 60, 65, 80]
	  FontSize		  12
	}
	Block {
	  BlockType		  DataTypeConversion
	  Name			  "Data Type Conversion"
	  Position		  [160, 56, 215, 84]
	  DataType		  "single"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "SEND_VIA_FREE_PORT"
	  Tag			  "MC9S12target"
	  Ports			  [1]
	  Position		  [280, 49, 420, 91]
	  List {
	    ListType		    RTWdata
	    portStr		    "1"
	    portNameStr		    "COM1"
	    baudrateStr		    "115200"
	    formatStr		    "0"
	  }
	  FontSize		  12
	  FunctionName		  "freePortComms_txd"
	  Parameters		  "sampletime, channel, buf_size, data_type, p"
"ort, baudrate, format"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	}
	Line {
	  SrcBlock		  "Data Type Conversion"
	  SrcPort		  1
	  DstBlock		  "SEND_VIA_FREE_PORT"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Data Type Conversion"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "FreePortComms_TX1"
      Tag		      "MC9S12Target_FreePortCom"
      Ports		      [1]
      Position		      [280, 169, 440, 271]
      AncestorBlock	      "mc9S12tool/Send user data"
      FontSize		      12
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      MaskHelp		      "helpview('C:\\Documents and Settings\\fwornle\\"
"My Documents\\frank\\_cProgs\\Motorola\\rtmc9S12_CW_R13\\bin\\mc9S12.map', 'm"
"c9S12_FPRXD_In_blkref')"
      MaskPromptString	      "Sample time|Communication port|Baudrate|Channel"
" number|Number of elements|Data Type|Block sends raw data"
      MaskStyleString	      "edit,popup(SCI0|SCI1|COM1|COM2|COM3|COM4),popup"
"(300|600|1200|2400|4800|9600|19200|38400|57600|115200),edit,edit,popup(SINGLE"
"|INT8|UINT8|INT16|UINT16|INT32|UINT32|BOOLEAN),checkbox"
      MaskTunableValueString  "on,on,on,on,on,on,on"
      MaskCallbackString      "||||||"
      MaskEnableString	      "on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,"
      MaskVariables	      "sampletime=@1;port=@2;baudrate=@3;channel=@4;bu"
"f_size=@5;data_type=@6;format=@7;"
      MaskInitialization      "[buf_sizestr, portNamestr, baudratestr, channel"
"str, data_type_str, sampletime_str] = mbc_freeporttxd(sampletime, port, baudr"
"ate, channel, buf_size, data_type, format);\n"
      MaskDisplay	      "fprintf('Transmit %s element(s)\\nComm port: %s"
"\\nBaudrate: %s bps\\nChannel: %s\\nData type: %s\\n Sample rate: %s', buf_si"
"zestr, portNamestr, baudratestr, channelstr, data_type_str, sampletime_str)"
      MaskSelfModifiable      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0.1|COM1|115200|1|1|SINGLE|off"
      System {
	Name			"FreePortComms_TX1"
	Location		[542, 167, 996, 332]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [45, 60, 65, 80]
	  FontSize		  12
	}
	Block {
	  BlockType		  DataTypeConversion
	  Name			  "Data Type Conversion"
	  Position		  [160, 56, 215, 84]
	  DataType		  "single"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "SEND_VIA_FREE_PORT"
	  Tag			  "MC9S12target"
	  Ports			  [1]
	  Position		  [280, 49, 420, 91]
	  List {
	    ListType		    RTWdata
	    portStr		    "1"
	    portNameStr		    "COM1"
	    baudrateStr		    "115200"
	    formatStr		    "0"
	  }
	  FontSize		  12
	  FunctionName		  "freePortComms_txd"
	  Parameters		  "sampletime, channel, buf_size, data_type, p"
"ort, baudrate, format"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Data Type Conversion"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Data Type Conversion"
	  SrcPort		  1
	  DstBlock		  "SEND_VIA_FREE_PORT"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [235, 61, 240, 99]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Reference
      Name		      "lhd motor"
      Ports		      [1, 1]
      Position		      [140, 25, 180, 55]
      SourceBlock	      "simulink/Math\nOperations/Slider\nGain"
      SourceType	      "Slider Gain"
      low		      "0"
      gain		      "2.825"
      high		      "5"
    }
    Block {
      BlockType		      Reference
      Name		      "rhd motor"
      Ports		      [1, 1]
      Position		      [140, 99, 180, 131]
      SourceBlock	      "simulink/Math\nOperations/Slider\nGain"
      SourceType	      "Slider Gain"
      low		      "0"
      gain		      "3.855"
      high		      "5"
    }
    Block {
      BlockType		      Reference
      Name		      "speed"
      Ports		      [1, 1]
      Position		      [140, 205, 180, 235]
      SourceBlock	      "simulink/Math\nOperations/Slider\nGain"
      SourceType	      "Slider Gain"
      low		      "-1"
      gain		      "-0.8"
      high		      "1"
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "speed"
      DstPort		      1
    }
    Line {
      SrcBlock		      "speed"
      SrcPort		      1
      DstBlock		      "FreePortComms_TX1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant1"
      SrcPort		      1
      DstBlock		      "lhd motor"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant2"
      SrcPort		      1
      DstBlock		      "rhd motor"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "FreePortComms_TX"
      DstPort		      1
    }
    Line {
      SrcBlock		      "lhd motor"
      SrcPort		      1
      Points		      [15, 0; 0, 30]
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "rhd motor"
      SrcPort		      1
      Points		      [15, 0; 0, -25]
      DstBlock		      "Mux"
      DstPort		      2
    }
  }
}