📄 testbcirobot3e_ext.mdl
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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, 258, 870, 292]
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 [245, 438, 310, 452]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "mot_ctrl"
}
Block {
BlockType From
Name "From1"
Position [245, 418, 310, 432]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "gate_right"
}
Block {
BlockType From
Name "From2"
Position [245, 398, 310, 412]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "gate_left"
}
Block {
BlockType From
Name "From3"
Position [245, 378, 310, 392]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "pulse_right"
}
Block {
BlockType From
Name "From4"
Position [245, 358, 310, 372]
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, 203, 640, 217]
BackgroundColor "red"
ShowName off
GotoTag "gate_right"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto4"
Position [690, 348, 755, 362]
BackgroundColor "red"
ShowName off
GotoTag "mot_ctrl"
TagVisibility "local"
}
Block {
BlockType SubSystem
Name "Motor Enable Pin"
Ports [1]
Position [775, 356, 870, 394]
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, 334, 650, 416]
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
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