testbcirobot3b.mdl

simulink real-time workshop for dragon12 development board from

	  Name			  "Constant1"
	  Position		  [125, 100, 155, 130]
	  Orientation		  "left"
	  ShowName		  off
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "FreePortComms_TX"
	  Tag			  "MC9S12Target_FreePortCom"
	  Ports			  [1]
	  Position		  [380, 29, 540, 131]
	  AncestorBlock		  "mc9S12tool/Send user data"
	  FontSize		  12
	  ShowPortLabels	  off
	  TreatAsAtomicUnit	  off
	  MaskHelp		  "helpview('C:\\Documents and Settings\\fworn"
"le\\My Documents\\frank\\_cProgs\\Motorola\\rtmc9S12_CW_R13\\bin\\mc9S12.map'"
", 'mc9S12_FPRXD_In_blkref')"
	  MaskPromptString	  "Sample time|Communication port|Baudrate|Cha"
"nnel number|Number of elements|Data Type|Block sends raw data"
	  MaskStyleString	  "edit,popup(SCI0|SCI1|COM1|COM2|COM3|COM4),p"
"opup(300|600|1200|2400|4800|9600|19200|38400|57600|115200),edit,edit,popup(SI"
"NGLE|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,off,on,off,on"
	  MaskToolTipString	  "on,on,on,on,on,on,on"
	  MaskVarAliasString	  ",,,,,,"
	  MaskVariables		  "sampletime=@1;port=@2;baudrate=@3;channel=@"
"4;buf_size=@5;data_type=@6;format=@7;"
	  MaskInitialization	  "[buf_sizestr, portNamestr, baudratestr, cha"
"nnelstr, data_type_str, sampletime_str] = mbc_freeporttxd(sampletime, port, b"
"audrate, 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', bu"
"f_sizestr, portNamestr, baudratestr, channelstr, data_type_str, sampletime_st"
"r)"
	  MaskSelfModifiable	  on
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "0.1|SCI1|115200|0|1|UINT8|on"
	  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		      "uint8"
	    }
	    Block {
	      BlockType		      "S-Function"
	      Name		      "SEND_VIA_FREE_PORT"
	      Tag		      "MC9S12target"
	      Ports		      [1]
	      Position		      [280, 49, 420, 91]
	      List {
		ListType		RTWdata
		portStr			"1"
		portNameStr		"SCI1"
		baudrateStr		"115200"
		formatStr		"1"
	      }
	      FontSize		      12
	      FunctionName	      "freePortComms_txd"
	      Parameters	      "sampletime, channel, buf_size, data_typ"
"e, port, 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		  Switch
	  Name			  "Switch"
	  Position		  [125, 65, 155, 95]
	  ShowName		  off
	  Criteria		  "u2 > Threshold"
	  Threshold		  "0.5"
	  InputSameDT		  off
	  SaturateOnIntegerOverflow off
	}
	Line {
	  SrcBlock		  "0.1 s"
	  SrcPort		  1
	  DstBlock		  "FreePortComms_TX"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  Points		  [-20, 0; 0, 25]
	  DstBlock		  "Switch"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "3 seconds"
	  SrcPort		  1
	  DstBlock		  "Switch"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Constant1"
	  SrcPort		  1
	  Points		  [-20, 0; 0, -25]
	  DstBlock		  "Switch"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Switch"
	  SrcPort		  1
	  DstBlock		  "'x'"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "'x'"
	  SrcPort		  1
	  DstBlock		  "0.1 s"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Motor Enable Pin"
      Ports		      [1]
      Position		      [775, 304, 870, 356]
      BackgroundColor	      "[1.000000, 1.000000, 0.000000]"
      AncestorBlock	      "mc9S12tool/Digital output"
      List {
	ListType		RTWdata
	portStr			"PORTA"
	ddrStr			"DDRA"
	pinStr			"6"
      }
      FontSize		      12
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      MaskHelp		      "helpview('C:\\Program Files\\Metrowerks\\rtmc9S"
"12_CW_R13\\bin\\mc9S12.map', 'mc9S12_DOUT_In_blkref')"
      MaskPromptString	      "Port (see hardware manuals for valid options)|P"
"in (see hardware manuals for valid options)|Sample time|On-threshold (Von)|Of"
"f-threshold (Voff)"
      MaskStyleString	      "popup(Port A|Port B|Port H|Port J|Port M|Port P"
"|Port S|Port T),edit,edit,edit,edit"
      MaskTunableValueString  "off,off,off,on,on"
      MaskCallbackString      "||||"
      MaskEnableString	      "on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on"
      MaskVarAliasString      ",,,,"
      MaskVariables	      "port=@1;pin=&2;sampletime=@3;Von=@4;Voff=@5;"
      MaskInitialization      "[portstr, pinstr, pins] = mbc_digitaloutput(por"
"t, pin, sampletime, Von, Voff);"
      MaskDisplay	      "fprintf('%s\\nPins: %s', portstr, pinstr)"
      MaskSelfModifiable      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "Port T|7|0.002|0.5|0.5"
      System {
	Name			"Motor Enable Pin"
	Location		[262, 81, 702, 272]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [30, 20, 50, 40]
	  FontSize		  12
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "Digital Output SFcn"
	  Tag			  "MC9S12target"
	  Ports			  [1]
	  Position		  [255, 81, 380, 119]
	  List {
	    ListType		    RTWdata
	    portStr		    "PTT"
	    ddrStr		    "DDRT"
	    pinMask		    "128"
	    pinStr		    "7"
	  }
	  FontSize		  12
	  FunctionName		  "digOut_sfcn_9S12"
	  Parameters		  "sampletime, port, pins, Von, Voff"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [1, 1]
	  Position		  [165, 40, 170, 220]
	  ShowName		  off
	  Inputs		  "1"
	  DisplayOption		  "bar"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  Points		  [95, 0]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  Points		  [0, -30]
	  DstBlock		  "Digital Output SFcn"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Motor Power\nControl"
      Ports		      [2, 1]
      Position		      [550, 289, 650, 371]
      TreatAsAtomicUnit	      off
      System {
	Name			"Motor Power\nControl"
	Location		[217, 336, 796, 652]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "Left Motor\nInstruction"
	  Position		  [105, 62, 135, 78]
	  BackgroundColor	  "orange"
	}
	Block {
	  BlockType		  Inport
	  Name			  "Right Motor \nInstruction"
	  Position		  [105, 232, 135, 248]
	  BackgroundColor	  "orange"
	  Port			  "2"
	}
	Block {
	  BlockType		  Ground
	  Name			  "Ground"
	  Position		  [160, 145, 180, 165]
	}
	Block {
	  BlockType		  Display
	  Name			  "Left Motor Pulse"
	  Ports			  [1]
	  Position		  [190, 16, 280, 44]
	  Decimation		  "1"
	}
	Block {
	  BlockType		  RelationalOperator
	  Name			  "Relational\nOperator"
	  Position		  [235, 152, 265, 183]
	  ShowName		  off
	  Operator		  "~="
	  InputSameDT		  off
	}
	Block {
	  BlockType		  RelationalOperator
	  Name			  "Relational\nOperator2"
	  Position		  [235, 107, 265, 138]
	  ShowName		  off
	  Operator		  "~="
	  InputSameDT		  off
	}
	Block {
	  BlockType		  Display
	  Name			  "Right Motor Pulse"
	  Ports			  [1]
	  Position		  [185, 261, 275, 289]
	  Decimation		  "1"
	}
	Block {
	  BlockType		  Display
	  Name			  "True=1, False=0"
	  Ports			  [1]
	  Position		  [335, 261, 425, 289]
	  Decimation		  "1"
	}
	Block {
	  BlockType		  Display
	  Name			  "True=1; False=0"
	  Ports			  [1]
	  Position		  [335, 16, 425, 44]
	  Decimation		  "1"
	}
	Block {
	  BlockType		  Logic
	  Name			  "switch off \nmotors in \nidle state\n(low a"
"ctive)"
	  Ports			  [2, 1]
	  Position		  [330, 132, 360, 163]
	  Operator		  "NOR"
	  AllPortsSameDT	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "Motor Control\nBit"
	  Position		  [510, 143, 540, 157]
	  BackgroundColor	  "orange"
	}
	Line {
	  SrcBlock		  "Right Motor \nInstruction"
	  SrcPort		  1
	  Points		  [0, 0; 25, 0]
	  Branch {
	    Points		    [50, 0; 0, -80]
	    DstBlock		    "Relational\nOperator"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 35]
	    DstBlock		    "Right Motor Pulse"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Left Motor\nInstruction"
	  SrcPort		  1
	  Points		  [0, 0; 25, 0]
	  Branch {
	    Points		    [50, 0; 0, 45]
	    DstBlock		    "Relational\nOperator2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -40]
	    DstBlock		    "Left Motor Pulse"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Ground"
	  SrcPort		  1
	  Points		  [0, 0; 15, 0]
	  Branch {
	    Points		    [0, -25]
	    DstBlock		    "Relational\nOperator2"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, 20]
	    DstBlock		    "Relational\nOperator"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Relational\nOperator2"
	  SrcPort		  1
	  Points		  [15, 0; 0, 15; 10, 0]
	  Branch {
	    DstBlock		    "switch off \nmotors in \nidle state\n(low"
" active)"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -110]
	    DstBlock		    "True=1; False=0"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Relational\nOperator"
	  SrcPort		  1
	  Points		  [15, 0; 0, -15; 10, 0]
	  Branch {
	    DstBlock		    "switch off \nmotors in \nidle state\n(low"
" active)"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, 120]
	    DstBlock		    "True=1, False=0"
	    DstPort		    1
	  }
	}
	Line {
	  Labels		  [0, 0]
	  SrcBlock		  "switch off \nmotors in \nidle state\n(low a"
"ctive)"
	  SrcPort		  1
	  DstBlock		  "Motor Control\nBit"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [5]
      Position		      [785, 417, 850, 523]
      Location		      [83, 190, 578, 651]
      Open		      off
      NumInputPorts	      "5"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
	axes2			"%<SignalLabel>"
	axes3			"%<SignalLabel>"
	axes4			"%<SignalLabel>"
	axes5			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
	axes2			""
	axes3			""
	axes4			""
	axes5			""
      }
      TimeRange		      "10"
      YMin		      "-5~-5~-5~-5~-5"
      YMax		      "5~5~5~5~5"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Velocity left"
      Ports		      [1]
      Position		      [775, 14, 870, 66]
      BackgroundColor	      "[1.000000, 1.000000, 0.000000]"
      AncestorBlock	      "mc9S12tool/Digital output"
      List {
	ListType		RTWdata
	portStr			"PORTA"
	ddrStr			"DDRA"
	pinStr			"6"
      }
      FontSize		      12
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      MaskHelp		      "helpview('C:\\Program Files\\Metrowerks\\rtmc9S"
"12_CW_R13\\bin\\mc9S12.map', 'mc9S12_DOUT_In_blkref')"