📄 testbcirobot3.mdl
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DstBlock "right"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "0 ... 2"
DstPort 1
}
Line {
SrcBlock "'0'"
SrcPort 1
Points [25, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "FreePortComms_RX"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
Name "top centre"
Labels [-1, 1]
SrcBlock "Demux"
SrcPort 1
DstBlock "Display"
DstPort 1
}
Line {
Name "top right"
Labels [-1, 1]
SrcBlock "Demux"
SrcPort 2
DstBlock "Display"
DstPort 2
}
Line {
Name "bottom right"
Labels [-1, 1]
SrcBlock "Demux"
SrcPort 3
DstBlock "Display"
DstPort 3
}
Line {
Name "bottom centre"
Labels [-1, 1]
SrcBlock "Demux"
SrcPort 4
DstBlock "Display"
DstPort 4
}
Line {
Name "bottom left"
Labels [-1, 1]
SrcBlock "Demux"
SrcPort 5
DstBlock "Display"
DstPort 5
}
Line {
Name "top left"
Labels [-1, 1]
SrcBlock "Demux"
SrcPort 6
DstBlock "Display"
DstPort 6
}
Line {
Name "centre"
Labels [-1, 1]
SrcBlock "Demux"
SrcPort 7
DstBlock "Display"
DstPort 7
}
Line {
Name "dot"
Labels [-1, 1]
SrcBlock "Demux"
SrcPort 8
DstBlock "Display"
DstPort 8
}
Line {
SrcBlock "Multiport\nSwitch"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "0 ... 2"
SrcPort 1
Points [30, 0]
Branch {
Points [60, 0]
Branch {
DstBlock "Multiport\nSwitch"
DstPort 1
}
Branch {
Points [0, -100]
DstBlock "Relational\nOperator1"
DstPort 2
}
}
Branch {
Points [0, -155]
DstBlock "Relational\nOperator"
DstPort 2
}
}
}
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion"
Position [220, 36, 275, 64]
ShowName off
DataType "double"
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion1"
Position [220, 181, 275, 209]
ShowName off
DataType "double"
}
Block {
BlockType SubSystem
Name "Direction left"
Ports [1]
Position [775, 84, 870, 136]
BackgroundColor "lightBlue"
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 A|5|0.002|0.5|0.5"
System {
Name "Direction left"
Location [262, 82, 829, 357]
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 "PORTA"
ddrStr "DDRA"
pinMask "32"
pinStr "5"
}
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 "Mux"
SrcPort 1
Points [0, -30]
DstBlock "Digital Output SFcn"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
Points [95, 0]
DstBlock "Mux"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Direction right"
Ports [1]
Position [775, 230, 865, 280]
BackgroundColor "lightBlue"
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 A|7|0.002|0.5|0.5"
System {
Name "Direction right"
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 "PORTA"
ddrStr "DDRA"
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 From
Name "From"
Position [660, 503, 725, 517]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "mot_ctrl"
}
Block {
BlockType From
Name "From1"
Position [660, 483, 725, 497]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "gate_right"
}
Block {
BlockType From
Name "From2"
Position [660, 463, 725, 477]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "gate_left"
}
Block {
BlockType From
Name "From3"
Position [660, 443, 725, 457]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "pulse_right"
}
Block {
BlockType From
Name "From4"
Position [660, 423, 725, 437]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "pulse_left"
}
Block {
BlockType Goto
Name "Goto"
Position [600, 18, 665, 32]
BackgroundColor "red"
ShowName off
GotoTag "pulse_left"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto1"
Position [600, 158, 665, 172]
BackgroundColor "red"
ShowName off
GotoTag "pulse_right"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto2"
Position [575, 53, 640, 67]
BackgroundColor "red"
ShowName off
GotoTag "gate_left"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto3"
Position [575, 198, 640, 212]
BackgroundColor "red"
ShowName off
GotoTag "gate_right"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto4"
Position [690, 343, 755, 357]
BackgroundColor "red"
ShowName off
GotoTag "mot_ctrl"
TagVisibility "local"
}
Block {
BlockType SubSystem
Name "Heartbeat (TX)"
Ports []
Position [60, 195, 152, 231]
BackgroundColor "orange"
TreatAsAtomicUnit off
MaskPromptString "Period of heartbeat signal (seconds)"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskToolTipString "on"
MaskVariables "Tbeat=@1;"
MaskDisplay "disp(['Tbeat = ' num2str(Tbeat) ' s'])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "3"
System {
Name "Heartbeat (TX)"
Location [118, 498, 710, 652]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Gain
Name "'x'"
Position [190, 65, 220, 95]
Gain "double('x')"
}
Block {
BlockType ZeroOrderHold
Name "0.1 s"
Position [280, 61, 315, 99]
SampleTime "0.1"
}
Block {
BlockType DiscretePulseGenerator
Name "3 seconds"
Position [25, 63, 70, 97]
PulseType "Time based"
Period "3"
PulseWidth "0.2"
}
Block {
BlockType Constant
Name "Constant"
Position [125, 30, 155, 60]
Orientation "left"
ShowName off
Value "0"
}
Block {
BlockType Constant
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