testbcirobot.mdl

simulink real-time workshop for dragon12 development board from

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	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		    "64"
	    pinStr		    "6"
	  }
	  FontSize		  12
	  FunctionName		  "digOut_sfcn_9S12"
	  Parameters		  "sampletime, port, pins, Von, Voff"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [1, 1]
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    Block {
      BlockType		      SubSystem
      Name		      "left stepper motor driver"
      Ports		      [1, 2]
      Position		      [295, 71, 420, 129]
      NamePlacement	      "alternate"
      TreatAsAtomicUnit	      off
      MaskDescription	      "The block sample time (seconds) is used to cloc"
"k the digital motor driver algorithm. Smaller values lead to slower pulse seq"
"uences.\n"
      MaskPromptString	      "Maximum number of pulses per second (Nmax)|Numb"
"er of increments (Ninc = 1 ... Nmax)|Sample time"
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      MaskVarAliasString      ",,"
      MaskVariables	      "Nmax=@1;Ninc=@2;Ts=@3;"
      MaskInitialization      "Nmax = floor(abs(Nmax));\nNinc = max(1, floor(a"
"bs(Ninc)));\nif (Ninc > Nmax)\n	error(['Stepper motor driver: Invalid "
"number of increments (Ninc = ' num2str(Ninc) '; value must be smaller or equa"
"l to Nmax = ' num2str(Nmax) ')'])\nend\n\n% work out pulse length\nTpulse_ = "
"1/Nmax/2;\n%disp(['Pulse length: ' num2str(1000*Tpulse_) ' ms.'])\n\n% ensure"
" that sample time is fixed multiple of 'Ts'\nTpulse = ceil(Tpulse_/Ts)*Ts;\ni"
"f (Tpulse > Tpulse_)\n	disp('Decreasing maximum number of pulses per s"
"econd to ensure that the pulse duration is an integer multiple of ''Ts''')\n"
"	\n	% adjust Nmax\n	Nmax = floor(1/Tpulse/2);\n	d"
"isp(['New Nmax: ' num2str(Nmax) ' pulses per second.'])\nend\n	\n% wor"
"k out quantization interval\ndQ = floor(Nmax/Ninc);"
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	Block {
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	Block {
	  BlockType		  Sum
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	Block {
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	Block {
	  BlockType		  Switch
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	}
	Block {
	  BlockType		  UnitDelay
	  Name			  "Unit Delay"
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	  SampleTime		  "Tpulse"
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	  Position		  [825, 93, 855, 107]
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	  Position		  [825, 153, 855, 167]
	  Port			  "2"
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	    DstPort		    1
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      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "right stepper motor driver"
      Ports		      [1, 2]
      Position		      [295, 256, 420, 314]
      TreatAsAtomicUnit	      off
      MaskDescription	      "The block sample time (seconds) is used to cloc"
"k the digital motor driver algorithm. Smaller values lead to slower pulse seq"
"uences.\n"
      MaskPromptString	      "Maximum number of pulses per second (Nmax)|Numb"
"er of increments (Ninc = 1 ... Nmax)|Sample time"