Model { Name "Accelero_Gyro_Combo_Lubins_Kalman" Version 7.0 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.49" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1252" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Wed Mar 14 23:59:06 2007" Creator "Lubin" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "Prezes" ModifiedDateFormat "%" LastModifiedDate "Thu Sep 25 00:30:26 2008" RTWModifiedTimeStamp 0 ModelVersionFormat "1.%" ConfigurationManager "None" SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.3.0" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.3.0" StartTime "0.0" StopTime "10.0" AbsTol "auto" FixedStep "0.001" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" Solver "FixedStepDiscrete" SolverName "FixedStepDiscrete" ZeroCrossControl "UseLocalSettings" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.3.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput on SaveState off SignalLogging on InspectSignalLogs off SaveTime on StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Version "1.3.0" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off OptimizeModelRefInitCode on LifeSpan "1" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off } Simulink.DebuggingCC { $ObjectID 5 Version "1.3.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" StrictBusMsg "Warning" LoggingUnavailableSignals "error" } Simulink.HardwareCC { $ObjectID 6 Array { Type "Cell" Dimension 2 Cell "ProdHWDeviceType" Cell "ProdEqTarget" PropName "DisabledProps" } Version "1.3.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 16 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "LittleEndian" ProdWordSize 16 ProdShiftRightIntArith on ProdHWDeviceType "16-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "32-bit Generic" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.3.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 1 Cell "TargetLang" PropName "DisabledProps" } Version "1.3.0" SystemTargetFile "dspic.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "dspic_pic30_gcc.tmf" PostCodeGenCommand "dsPIC_Compile()" Description "Embedded Target for Microchip dsPIC (real-time)" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "dspic_make_rtw_hook" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off RTWCompilerOptimization "Off" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Version "1.3.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.STFCustomTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 5 Cell "GenerateSampleERTMain" Cell "MatFileLogging" Cell "SupportNonInlinedSFcns" Cell "UtilityFuncGeneration" Cell "IncludeMdlTerminateFcn" PropName "DisabledProps" } Version "1.3.0" TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant off CompOptLevelCompliant off IncludeMdlTerminateFcn off CombineOutputUpdateFcns on SuppressErrorStatus on IncludeFileDelimiter "Auto" ERTCustomFileBanners on SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging off MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime off SupportNonInlinedSFcns off EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off SystemTargetFile "dspic.tlc" DialogCategory 0 Array { Type "Handle" Dimension 1 Simulink.ERTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Array { Type "Cell" Dimension 8 Cell "GenerateSampleERTMain" Cell "GenerateErtSFunction" Cell "MatFileLogging" Cell "GRTInterface" Cell "ERTCustomFileTemplate" Cell "SupportNonInlinedSFcns" Cell "UtilityFuncGeneration" Cell "IncludeMdlTerminateFcn" PropName "DisabledProps" } Version "1.3.0" TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant off CompOptLevelCompliant off IncludeMdlTerminateFcn off CombineOutputUpdateFcns on SuppressErrorStatus on IncludeFileDelimiter "Auto" ERTCustomFileBanners on SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging off MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime off SupportNonInlinedSFcns off EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off GenerateErtSFunction off GenerateASAP2 off ExtMode off ExtModeTransport 0 ExtModeStaticAlloc off ExtModeStaticAllocSize 1000000 ExtModeTesting off ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" InlinedParameterPlacement "NonHierarchical" TargetOS "BareBoardExample" MultiInstanceErrorCode "Error" RateGroupingCode on RootIOFormat "Individual arguments" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off ERTSrcFileBannerTemplate "dsPIC_code_template.cgt" ERTHdrFileBannerTemplate "dsPIC_code_template.cgt" ERTDataSrcFileTemplate "dsPIC_code_template.cgt" ERTDataHdrFileTemplate "dsPIC_code_template.cgt" ERTCustomFileTemplate "dsPIC_main.tlc" ModuleNamingRule "Unspecified" SignalDisplayLevel 10 ParamTuneLevel 10 GlobalDataDefinition "Auto" DataDefinitionFile "global.c" GlobalDataReference "Auto" DataReferenceFile "global.h" GRTInterface off PreserveExpressionOrder off PreserveIfCondition off EnableUserReplacementTypes off Array { Type "Struct" Dimension 1 MATStruct { double "" single "" int32 "" int16 "" int8 "" uint32 "" uint16 "" uint8 "" boolean "" int "" uint "" char "" } PropName "ReplacementTypes" } MemSecPackage "--- None ---" MemSecDataConstants "Default" MemSecDataIO "Default" MemSecDataInternal "Default" MemSecDataParameters "Default" MemSecFuncInitTerm "Default" MemSecFuncExecute "Default" } PropName "Components" } CustomProperty { DataType "string" Name "GMAKE_PLACE" Value "D:\\PROGRA~1\\MATLAB\\R2007b\\bin\\win32\\gmake" } CustomProperty { DataType "string" Name "OPTIM_GCC" Value "-mcpu=30f6010A -O3 -fschedule-insns -fschedule-insns2" } CustomProperty { DataType "string" Name "LDFLAGS" Value "-t --report-mem -Map ../untitled.map --heap 0 -cref" } CustomProperty { DataType "string" Name "LDPICTYPE" Value "-T C:\\PROGRA~1\\MICROC~1\\MPLABC~1\\support\\dsPIC30F\\gld\\p30f6010A.gld" } CustomProperty { DataType "string" Name "LDLIBPIC" Value "C:\\PROGRA~1\\MICROC~1\\MPLABC~1\\lib\\libpic30-coff.a C:\\PROGRA~1\\MICROC~1\\MPLABC~1\\lib\\dsPIC30F\\libp30f6010A-coff.a C:\\PROGRA~1\\MICROC~1\\MPLABC~1\\lib\\libc-coff.a C:\\PROGRA~1\\MICROC~1\\MPLABC~1\\lib\\libm-coff.a" } CustomProperty { DataType "string" Name "PIC_INCLUDES" Value "-I C:\\PROGRA~1\\MICROC~1\\MPLABC~1\\include" } CustomProperty { DataType "string" Name "PIC_REF" Value "30f6010A" } } PropName "Components" } } PropName "Components" } Name "Configuration" ExtraOptions "-aGenerateTraceInfo=0 " CurrentDlgPage "Real-Time Workshop/DsPIC options" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType DataStoreMemory ReadBeforeWriteMsg "none" WriteAfterWriteMsg "none" WriteAfterReadMsg "none" InitialValue "0" StateMustResolveToSignalObject off ShowAdditionalParam off OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" } Block { BlockType DataStoreRead } Block { BlockType DataStoreWrite } Block { BlockType DataTypeConversion OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit via back propagation" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off ConvertRealWorld "Real World Value (RWV)" RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType DiscreteIntegrator IntegratorMethod "Integration: Forward Euler" gainval "1.0" ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" InitialConditionMode "State and output" SampleTime "1" OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit via internal rule" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow off LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off IgnoreLimit off StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType DiscreteTransferFcn Numerator "[1]" Denominator "[1 0.5]" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" Realization "auto" } Block { BlockType EnablePort StatesWhenEnabling "held" ShowOutputPort off ZeroCross on } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParameterDataTypeMode "Same as input" ParameterDataType "fixdt(1,16,0)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "[]" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Ground } Block { BlockType Inport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchByCopyingInsideSignal off Interpolate on } Block { BlockType Logic Operator "AND" Inputs "2" IconShape "rectangular" AllPortsSameDT on OutDataTypeMode "Logical (see Configuration Parameters: Optimization)" LogicDataType "uint(8)" SampleTime "-1" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Terminator } Block { BlockType UnitDelay X0 "0" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType Trigonometry Operator "sin" OutputSignalType "auto" SampleTime "-1" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Arial" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "Accelero_Gyro_Combo_Lubins_Kalman" Location [2, 82, 997, 705] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Reference Name "ADC Input" Tag "dsPIC_ADC" Ports [0, 3] Position [15, 379, 165, 441] Priority "5" List { ListType RTWdata DMAChannel "0" } SourceBlock "dsPICdrivers/Peripheral I//O/ADC Input" SourceType "dsPIC : ADC10" ADC_TYPE "10 bits" ADC_MODE "Continuous sampling & get last channel value" NbrSampleStep "1" VoltRefpopup "AVdd - AVss" OutFormatBitspopup "0000 00dd dddd dddd : Integer" InterruptPriority "6" ANCHANNELS "[11 14 15]" MaxName "ANmax = 1024" Rin "0" ADCS "3" SAMC "1" Temperature "25" DMAChannel "0" SampleTime "0.001" Status "OK | Tsmp=2.000e-007 | T/Channel=2.600e-006 | Tall=7.800e-006" } Block { BlockType SubSystem Name "Calibrating" Ports [1, 0, 1] Position [420, 244, 520, 306] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Calibrating" Location [632, 268, 908, 460] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [75, 103, 105, 117] IconDisplay "Port number" } Block { BlockType EnablePort Name "Enable" Ports [] Position [110, 30, 130, 50] StatesWhenEnabling "reset" } Block { BlockType DataStoreWrite Name "Data Store\nWrite" Position [130, 94, 185, 126] DataStoreName "ACC_X" SampleTime "-1" } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Store\nWrite" DstPort 1 } } } Block { BlockType SubSystem Name "Calibrating3" Ports [1, 0, 1] Position [425, 554, 525, 616] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Calibrating3" Location [632, 268, 908, 460] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [75, 103, 105, 117] IconDisplay "Port number" } Block { BlockType EnablePort Name "Enable" Ports [] Position [110, 30, 130, 50] StatesWhenEnabling "reset" } Block { BlockType DataStoreWrite Name "Data Store\nWrite" Position [130, 94, 190, 126] DataStoreName "GYRO_Y" SampleTime "-1" } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Store\nWrite" DstPort 1 } } } Block { BlockType Reference Name "Configure Model \nfor dsPIC" Ports [] Position [35, 19, 147, 75] ForegroundColor "blue" BackgroundColor "yellow" SourceBlock "dsPICdrivers/Simulink Configuration/Configure Model \nfor dsPIC" SourceType "" } Block { BlockType DataStoreMemory Name "Data Store\nMemory" Position [50, 220, 110, 252] DataStoreName "ACC_X" ReadBeforeWriteMsg "warning" WriteAfterWriteMsg "warning" WriteAfterReadMsg "warning" InitialValue "-1" RTWStateStorageClass "Auto" VectorParams1D on OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType DataStoreMemory Name "Data Store\nMemory2" Position [130, 220, 187, 250] DataStoreName "ACC_Z" ReadBeforeWriteMsg "warning" WriteAfterWriteMsg "warning" WriteAfterReadMsg "warning" InitialValue "347" RTWStateStorageClass "Auto" VectorParams1D on OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType DataStoreMemory Name "Data Store\nMemory3" Position [210, 220, 267, 250] DataStoreName "GYRO_Y" ReadBeforeWriteMsg "warning" WriteAfterWriteMsg "warning" WriteAfterReadMsg "warning" InitialValue "347" RTWStateStorageClass "Auto" VectorParams1D on OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [1050, 535, 1105, 555] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion2" Position [215, 320, 270, 340] OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion3" Position [215, 480, 270, 500] OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion5" Position [215, 630, 270, 650] OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DiscreteIntegrator Name "Discrete-Time\nIntegrator" Ports [1, 1] Position [720, 624, 755, 656] IntegratorMethod "Accumulation: Forward Euler" ExternalReset "none" InitialConditionSource "internal" SampleTime "-1" OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" ICPrevOutput "DiscIntNeverNeededParam" ICPrevScaledInput "DiscIntNeverNeededParam" } Block { BlockType Gain Name "Gain" Position [780, 389, 840, 431] Gain "180/pi" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Logic Name "Logical\nOperator" Ports [1, 1] Position [535, 194, 565, 226] Operator "NOT" Inputs "1" AllPortsSameDT off OutDataTypeMode "boolean" } Block { BlockType DiscreteTransferFcn Name "Low Pass Filter1" Position [300, 312, 380, 348] Numerator "[.01478 .01478]" Denominator "[1 -.9704]" SampleTime ".001" } Block { BlockType DiscreteTransferFcn Name "Low Pass Filter3" Position [300, 472, 380, 508] Numerator "[.01478 .01478]" Denominator "[1 -.9704]" SampleTime ".001" } Block { BlockType DiscreteTransferFcn Name "Low Pass Filter4" Position [300, 622, 380, 658] Numerator "[.01478 .01478]" Denominator "[1 -.9704]" SampleTime ".001" } Block { BlockType Reference Name "Master" Tag "dsPIC_MASTER" Ports [] Position [34, 120, 134, 170] BackgroundColor "lightBlue" DropShadow on Priority "1" List { ListType RTWdata NumBusyPort "-1" } SourceBlock "dsPICdrivers/Master" SourceType "Master" TimeStepType "Timer1" picType "30f6010A" fcy "10e6" Quartz_33f "5e6" PLLActive_33f off fcyDesired_33f "0" tmr1 "[1 9999 0]" tmr1Info "Time Step : 0.001 ; Error : 0% PR1=9999" tmr2345 "[0 0 0 0]" tmr2345cfg "[-1 -1 -1 -1]" IOautoConf on typePort "[ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8 0 0 8 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ]" TRIS "[ 65535 65535 65535 65535 65535 65535 65535 ]" ADPCFG "0" MasterBusyPort "None" MasterOverloadPort "None" FOSC "ECIO" TempProtection_33f "TEMP_ON" FPBOR "PBOR_OFF" PWRT "PWRT_OFF" MCLR "MCLR_DIS" PowerSave off } Block { BlockType SubSystem Name "Simplified Kalman for publi" Ports [2, 1] Position [900, 505, 1015, 585] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Simplified Kalman for publi" Location [299, 347, 910, 685] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "Gyro" Position [150, 50, 180, 65] Orientation "down" IconDisplay "Port number" } Block { BlockType Inport Name "Accel" Position [487, 50, 513, 65] Orientation "down" Port "2" IconDisplay "Port number" } Block { BlockType Demux Name "Demux1" Ports [1, 2] Position [130, 201, 135, 239] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" Port { PortNumber 2 Name "Gyro Bias" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Demux Name "Demux2" Ports [1, 2] Position [440, 201, 445, 239] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Gain Name "Gain1" Position [60, 198, 110, 242] Gain "Az" Multiplication "Matrix(K*u)" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain6" Position [365, 111, 415, 149] Orientation "left" NamePlacement "alternate" Gain "Kz" Multiplication "Matrix(K*u)" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain7" Position [136, 125, 194, 165] Orientation "down" NamePlacement "alternate" Gain "Ts" Multiplication "Matrix(K*u)" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux6" Ports [2, 1] Position [265, 201, 270, 239] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [155, 200, 175, 220] ShowName off IconShape "round" Inputs "++|" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "Angle Estimation" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [290, 210, 310, 230] ShowName off IconShape "round" Inputs "++|" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum5" Ports [2, 1] Position [490, 120, 510, 140] Orientation "left" NamePlacement "alternate" ShowName off IconShape "round" Inputs "+-" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Terminator Name "Terminator" Position [475, 220, 495, 240] } Block { BlockType UnitDelay Name "Unit Delay2" Position [345, 203, 380, 237] SampleTime "-1" } Block { BlockType Outport Name "Angle Estimation" Position [545, 203, 575, 217] NamePlacement "alternate" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "Gain6" SrcPort 1 Points [-60, 0] DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Unit Delay2" SrcPort 1 Points [10, 0] Branch { Points [0, 85; -365, 0; 0, -85] DstBlock "Gain1" DstPort 1 } Branch { DstBlock "Demux2" DstPort 1 } } Line { SrcBlock "Gyro" SrcPort 1 DstBlock "Gain7" DstPort 1 } Line { SrcBlock "Accel" SrcPort 1 DstBlock "Sum5" DstPort 1 } Line { SrcBlock "Gain7" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "Gain6" DstPort 1 } Line { SrcBlock "Mux6" SrcPort 1 Points [0, 5] DstBlock "Sum4" DstPort 2 } Line { Name "Gyro Bias" Labels [0, 0] SrcBlock "Demux1" SrcPort 2 DstBlock "Mux6" DstPort 2 } Line { Name "Angle Estimation" Labels [0, 0] SrcBlock "Sum2" SrcPort 1 DstBlock "Mux6" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 1 Points [0, 5] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "Demux1" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 1 Points [50, 0] Branch { DstBlock "Angle Estimation" DstPort 1 } Branch { DstBlock "Sum5" DstPort 2 } } Line { SrcBlock "Sum4" SrcPort 1 DstBlock "Unit Delay2" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 2 DstBlock "Terminator" DstPort 1 } Annotation { Name "Cz = [1 0]'" Position [442, 196] } } } Block { BlockType Step Name "Step" Position [340, 195, 370, 225] Time "5" Before "1" After "0" } Block { BlockType SubSystem Name "Subsystem" Ports [1, 1, 1] Position [545, 298, 650, 362] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Subsystem" Location [287, 322, 815, 578] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [50, 103, 80, 117] IconDisplay "Port number" } Block { BlockType EnablePort Name "Enable" Ports [] Position [235, 25, 255, 45] StatesWhenEnabling "reset" } Block { BlockType DataStoreRead Name "Data Store\nRead1" Position [50, 144, 95, 176] DataStoreName "ACC_X" SampleTime "-1" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [345, 100, 400, 120] OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [105, 100, 125, 120] ShowName off IconShape "round" Inputs "|+-" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "Out1" Position [450, 103, 480, 117] IconDisplay "Port number" } Line { SrcBlock "Data Store\nRead1" SrcPort 1 Points [15, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Sum1" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem2" Ports [1, 1, 1] Position [550, 458, 655, 522] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Subsystem2" Location [287, 322, 815, 578] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [50, 103, 80, 117] IconDisplay "Port number" } Block { BlockType EnablePort Name "Enable" Ports [] Position [235, 25, 255, 45] StatesWhenEnabling "reset" } Block { BlockType DataStoreRead Name "Data Store\nRead1" Position [45, 144, 95, 176] DataStoreName "ACC_Z" SampleTime "-1" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [345, 100, 400, 120] OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [105, 100, 125, 120] ShowName off IconShape "round" Inputs "|+-" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "Out1" Position [450, 103, 480, 117] IconDisplay "Port number" } Line { SrcBlock "Data Store\nRead1" SrcPort 1 Points [15, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Sum1" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem3" Ports [1, 1, 1] Position [540, 608, 645, 672] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Subsystem3" Location [287, 322, 981, 578] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [50, 103, 80, 117] IconDisplay "Port number" } Block { BlockType EnablePort Name "Enable" Ports [] Position [235, 25, 255, 45] StatesWhenEnabling "reset" } Block { BlockType DataStoreRead Name "Data Store\nRead1" Position [45, 144, 95, 176] DataStoreName "GYRO_Y" SampleTime "-1" } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [105, 100, 125, 120] ShowName off IconShape "round" Inputs "|+-" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "Out1" Position [280, 103, 310, 117] IconDisplay "Port number" } Line { SrcBlock "In1" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "Data Store\nRead1" SrcPort 1 Points [15, 0] DstBlock "Sum1" DstPort 2 } } } Block { BlockType Reference Name "TX Output Multiplexed\nfor Matlab / Labview" Tag "dsPIC_TX_Multiplexed" Ports [1] Position [1135, 517, 1275, 573] Priority "5" SourceBlock "dsPICdrivers/Serial PORT/TX Output Multiplexed\nfor Matlab // Labview" SourceType "send structured data frame to Matlab / Labview" UART "1" CleverSpreadingChk on CleverSpreading "1" CHANNEL "[0 ]" CHANNELBLOCKED "[]" CHANNELBLOCKED_BITEWISE "0" Status "OK" } Block { BlockType Trigonometry Name "Trigonometric\nFunction" Ports [2, 1] Position [720, 392, 750, 423] Operator "atan2" } Block { BlockType Reference Name "UART Configuration" Tag "dsPIC_config_UART" Ports [] Position [145, 124, 246, 154] BackgroundColor "lightBlue" Priority "2" List { ListType RTWdata RxBufferSize "32" } SourceBlock "dsPICdrivers/Serial PORT/UART Configuration" SourceType "Configure UART" UART "1" proposed_BAUD "9600" ALT_TX_RX off InterruptTxWhen "When Transmit Buffer is empty" TXInterruptPri "1" TxBufferSize "32" TXEN on InterruptRxWhen "When Receive Buffer is full (contain 4 characters)" RXInterruptPri "1" RxBufferSize "32" BAUD "9600" UxBRG "64" Info "UxBRG = 64 || Real Baud : 9615 || % error : 0.16026 || max 0.96154 Bytes / Step" RealBaud "0" } Block { BlockType Reference Name "dbl-click to open\nGraphical interface" Ports [] Position [272, 125, 350, 158] BackgroundColor "cyan" SourceBlock "dsPICdrivers/Serial PORT/dbl-click to open\nGraphical interface" SourceType "" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" Nothing "0" } Line { SrcBlock "Trigonometric\nFunction" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Discrete-Time\nIntegrator" SrcPort 1 Points [100, 0; 0, -115] DstBlock "Simplified Kalman for publi" DstPort 1 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "Low Pass Filter1" DstPort 1 } Line { SrcBlock "Low Pass Filter1" SrcPort 1 Points [15, 0] Branch { Points [0, -55] DstBlock "Calibrating" DstPort 1 } Branch { DstBlock "Subsystem" DstPort 1 } } Line { SrcBlock "Step" SrcPort 1 Points [15, 0] Branch { Points [80, 0] Branch { DstBlock "Calibrating" DstPort enable } Branch { DstBlock "Logical\nOperator" DstPort 1 } } Branch { Points [0, 329] DstBlock "Calibrating3" DstPort enable } } Line { SrcBlock "Logical\nOperator" SrcPort 1 Points [25, 0] Branch { DstBlock "Subsystem" DstPort enable } Branch { Points [65, 0; 0, 233] Branch { DstBlock "Subsystem2" DstPort enable } Branch { Points [0, 145; -70, 0] DstBlock "Subsystem3" DstPort enable } } } Line { SrcBlock "Data Type Conversion3" SrcPort 1 DstBlock "Low Pass Filter3" DstPort 1 } Line { SrcBlock "Low Pass Filter3" SrcPort 1 DstBlock "Subsystem2" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 1 Points [20, 0; 0, 70] DstBlock "Trigonometric\nFunction" DstPort 1 } Line { SrcBlock "Subsystem2" SrcPort 1 Points [15, 0; 0, -75] DstBlock "Trigonometric\nFunction" DstPort 2 } Line { SrcBlock "Data Type Conversion5" SrcPort 1 DstBlock "Low Pass Filter4" DstPort 1 } Line { SrcBlock "Low Pass Filter4" SrcPort 1 Points [20, 0] Branch { DstBlock "Subsystem3" DstPort 1 } Branch { Points [0, -55] DstBlock "Calibrating3" DstPort 1 } } Line { SrcBlock "Subsystem3" SrcPort 1 DstBlock "Discrete-Time\nIntegrator" DstPort 1 } Line { SrcBlock "ADC Input" SrcPort 3 Points [10, 0; 0, -100] DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "ADC Input" SrcPort 1 Points [20, 0; 0, 250] DstBlock "Data Type Conversion5" DstPort 1 } Line { SrcBlock "ADC Input" SrcPort 2 Points [30, 0] DstBlock "Data Type Conversion3" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 Points [5, 0; 0, 155] DstBlock "Simplified Kalman for publi" DstPort 2 } Line { SrcBlock "Simplified Kalman for publi" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "TX Output Multiplexed\nfor Matlab / Labview" DstPort 1 } Annotation { Position [289, 632] } Annotation { Position [336, 636] } Annotation { Position [299, 482] } Annotation { Position [346, 486] } Annotation { Position [284, 322] } Annotation { Position [331, 326] } } }