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  Created		  "Wed Mar 14 23:59:06 2007"
  Creator		  "Lubin"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "Admin"
  ModifiedDateFormat	  "%<Auto>"
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  RTWModifiedTimeStamp	  0
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	  Description		  "Embedded Target for Microchip dsPIC (real-time)"
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    Block {
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      SFunctionModules	      "''"
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      PermitHierarchicalResolution "All"
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      IOautoConf	      on
      typePort		      "[ 0   0  10   0   0   0   0   0   0   0   0   0   0   0   0   0   0   0   0   8   8   0   0   0   0   8   0   8   8   0   0   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   6   6   6   6   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 ]"
      TRIS		      "[ 65531  65535  65535  65535  65535  65535  65535 ]"
      ADPCFG		      "0"
      MasterBusyPort	      "None"
      MasterOverloadPort      "None"
      FOSC		      "Quartz (XT - HS)"
      ClockSwitchMonitor      "Both disabled"
      TempProtection_33f      "TEMP_ON"
      FPBOR		      "<empty>"
      PWRT		      "64ms"
      MCLR		      "<empty>"
      ICD		      "ICS_PGD1"
      JTAGEN		      "JTAGEN_OFF"
      PowerSave		      off
      OverrideFcy	      off
      NewFcy		      "1e6"
      PR2345		      "[65535  65535  65535  65535  65535  65535  65535  65535]"
    }
    Block {
      BlockType		      Reference
      Name		      "Produce the GPS Main\nData and update the AP State\n(lat lon hei cog sog)\n[gps.c]"
      Tag		      "dsPIC_dsPIC_CFunctionCall"
      Ports		      [0, 1]
      Position		      [255, 397, 395, 443]
      BackgroundColor	      "orange"
      List {
	ListType		RTWdata
	isFctUpdate		"1"
	FctDeclaration		"extern void getGpsMainData(real32_T* y1);"
	FctCall			"getGpsMainData(*%y1);"
	fctName			"getGpsMainData"
	INPUT_SIZE		"1"
	OUTPUT_SIZE		"5"
	NBR_INPUT		"0"
	NBR_OUTPUT		"1"
	isFctStart		"0"
	FctStart_Declaration	"inline extern void Init_onlyOnce();"
	FctStart_Call		"Init_onlyOnce();"
	FctStart_Name		"Init_onlyOnce"
	isFctInit		"0"
	FctInit_Declaration	"inline extern void Init_Reset();"
	FctInit_Call		"Init_Reset();"
	FctInit_Name		"Init_Reset"
      }
      SourceBlock	      "dsPICdrivers/OTHERS/C Function Call"
      SourceType	      "C Function Call"
      FctUpdate		      "Output Function"
      fctName		      "'getGpsMainData'"
      INPUT_SIZE	      "1"
      INPUT1		      "--"
      INPUT2		      "--"
      INPUT3		      "--"
      OUTPUT_SIZE	      "5"
      OUTPUT1		      "real32"
      SampleTime	      ".01"
      InputType		      "[ ]"
      OutputType	      "[ 7 ]"
      FctDeclaration	      "extern void getGpsMainData(real32_T* y1);"
      FctCall		      "getGpsMainData(*%y1);"
      OrderingInOutPopup      "None"
      FctStart		      "None"
      FctStart_Name	      "Init_onlyOnce"
      FctStart_Declaration    "inline extern void Init_onlyOnce();"
      FctStart_Call	      "Init_onlyOnce();"
      FctInit		      "None"
      FctInit_Name	      "Init_Reset"
      FctInit_Declaration     "inline extern void Init_Reset();"
      FctInit_Call	      "Init_Reset();"
    }
    Block {
      BlockType		      Reference
      Name		      "TX Output Multiplexed\nfor Matlab / Labview"
      Tag		      "dsPIC_TX_Multiplexed"
      Ports		      [16]
      Position		      [900, 76, 1160, 649]
      Priority		      "5"
      SourceBlock	      "dsPICdrivers/Serial PORT/TX Output Multiplexed\nfor Matlab // Labview"
      SourceType	      "send structured data frame to Matlab / Labview"
      UART		      "2"
      CleverSpreadingChk      on
      CleverSpreading	      "1"
      CHANNEL		      "[0 1 2  3  4  5 6 7 8 9 10 11 12 13 14  15]"
      CHANNELBLOCKED	      "[]"
      CHANNELBLOCKED_BITEWISE "0"
      Status		      "OK"
    }
    Block {
      BlockType		      Reference
      Name		      "UART Configuration"
      Tag		      "dsPIC_config_UART"
      Ports		      []
      Position		      [75, 214, 182, 260]
      BackgroundColor	      "lightBlue"
      Priority		      "2"
      List {
	ListType		RTWdata
	RxBufferSize		"32"
	DoNotImplementRxInterrupt "0"
	DoNotImplementTxInterrupt "0"
      }
      SourceBlock	      "dsPICdrivers/Serial PORT/UART Configuration"
      SourceType	      "Configure UART"
      UART		      "2"
      proposed_BAUD	      "115200"
      BAUD		      "115200"
      ALT_TX_RX		      on
      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"
      DoNotImplementRxInterrupt	off
      DoNotImplementTxInterrupt	off
      UxBRG		      "21"
      Info		      "UxBRG = 21   ||  Real Baud : 113636   ||  % error : -1.3573  ||  max 113.6364 Bytes / Step"
      RealBaud		      "0"
      ERROR		      "-1.3573"
      BYTES_STEP	      "113.6364"
    }
    Block {
      BlockType		      Reference
      Name		      "dbl-click to open\nGraphical interface"
      Ports		      []
      Position		      [87, 285, 165, 318]
      BackgroundColor	      "cyan"
      SourceBlock	      "dsPICdrivers/Serial PORT/dbl-click to open\nGraphical interface"
      SourceType	      ""
      Nothing		      "0"
    }
    Line {
      SrcBlock		      "0.5Hz2"
      SrcPort		      1
      DstBlock		      "Data Type Conversion6"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Data Type Conversion6"
      SrcPort		      1
      Points		      [50, 0; 0, 5; 145, 0]
      DstBlock		      "Digital Output Write"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ADC Input2"
      SrcPort		      1
      DstBlock		      "Data Type Conversion1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ADC Input3"
      SrcPort		      1
      DstBlock		      "Data Type Conversion3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ADC Input4"
      SrcPort		      1
      Points		      [300, 0; 0, 5]
      DstBlock		      "Data Type Conversion4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ADC Input5"
      SrcPort		      1
      Points		      [180, 0; 0, -10]
      DstBlock		      "Data Type Conversion5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ADC Input6"
      SrcPort		      1
      Points		      [140, 0; 0, -40]
      DstBlock		      "Data Type Conversion7"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Produce the GPS Main\nData and update the AP State\n(lat lon hei cog sog)\n[gps.c]"
      SrcPort		      1
      Points		      [20, 0; 0, -5]
      DstBlock		      "Demux3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux3"
      SrcPort		      1
      Points		      [265, 0]
      DstBlock		      "Data Type Conversion8"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux3"
      SrcPort		      2
      Points		      [205, 0; 0, -55]
      DstBlock		      "Data Type Conversion9"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux3"
      SrcPort		      3
      Points		      [195, 0; 0, -50]
      DstBlock		      "Data Type Conversion10"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux3"
      SrcPort		      4
      Points		      [185, 0; 0, -45]
      DstBlock		      "Data Type Conversion11"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux3"
      SrcPort		      5
      Points		      [175, 0; 0, -30]
      DstBlock		      "Data Type Conversion12"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Data Type Conversion2"
      SrcPort		      1
      Points		      [60, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Data Type Conversion1"
      SrcPort		      1
      Points		      [40, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Data Type Conversion3"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Data Type Conversion4"
      SrcPort		      1
      Points		      [100, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Data Type Conversion5"
      SrcPort		      1
      Points		      [90, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      5
    }
    Line {
      SrcBlock		      "Data Type Conversion7"
      SrcPort		      1
      Points		      [110, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      6
    }
    Line {
      SrcBlock		      "Data Type Conversion8"
      SrcPort		      1
      Points		      [70, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      7
    }
    Line {
      SrcBlock		      "Data Type Conversion9"
      SrcPort		      1
      Points		      [50, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      8
    }
    Line {
      SrcBlock		      "Data Type Conversion10"
      SrcPort		      1
      Points		      [65, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      9
    }
    Line {
      SrcBlock		      "Data Type Conversion11"
      SrcPort		      1
      Points		      [70, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      10
    }
    Line {
      SrcBlock		      "Data Type Conversion12"
      SrcPort		      1
      Points		      [55, 0]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      11
    }
    Line {
      SrcBlock		      "ADC Input1"
      SrcPort		      1
      DstBlock		      "Data Type Conversion"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Low Pass Filter"
      SrcPort		      1
      DstBlock		      "Embedded\nMATLAB Function"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Data Type Conversion"
      SrcPort		      1
      Points		      [50, 0]
      DstBlock		      "Low Pass Filter"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Embedded\nMATLAB Function"
      SrcPort		      1
      DstBlock		      "Data Type Conversion2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Input Capture"
      SrcPort		      1
      Points		      [150, 0; 0, -5; 70, 0; 0, -20]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      12
    }
    Line {
      SrcBlock		      "Input Capture"
      SrcPort		      2
      Points		      [145, 0; 0, -25]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      13
    }
    Line {
      SrcBlock		      "Input Capture"
      SrcPort		      3
      Points		      [200, 0; 0, -25]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      14
    }
    Line {
      SrcBlock		      "Input Capture"
      SrcPort		      4
      Points		      [145, 0; 0, -25]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      15
    }
    Line {
      SrcBlock		      "Input Capture"
      SrcPort		      5
      Points		      [145, 0; 0, -25]
      DstBlock		      "TX Output Multiplexed\nfor Matlab / Labview"
      DstPort		      16
    }
    Annotation {
      Name		      "Configure the Model for dsPIC Target (dbl click on the yellow block). \nThen, Compile using the incremental build icon \n(second icon on right of the simulation mode (Normal))"
      Position		      [387, 43]
    }
  }
}
# Finite State Machines
#
#    Stateflow Version 6.7 (R2007b) dated Aug  7 2007, 16:48:14
#
#


Stateflow {
  machine {
    id			    1
    name		    "UAV_SENSORS_IMU_GPS_PWM"
    created		    "22-May-2011 20:05:13"
    isLibrary		    0
    firstTarget		    9
    sfVersion		    67014000.000001
  }
  chart {
    id			    2
    name		    "Embedded\nMATLAB Function"
    windowPosition	    [311.813 324 200.25 189.75]
    viewLimits		    [0 156.75 0 153.75]
    screen		    [1 1 1280 800 1.333333333333333]
    treeNode		    [0 3 0 0]
    firstTransition	    5
    firstJunction	    4
    viewObj		    2
    machine		    1
    subviewS {
    }
    decomposition	    CLUSTER_CHART
    type		    EML_CHART
    firstData		    6
    chartFileNumber	    2
    disableImplicitCasting  1
    eml {
      name		      "fcn"
    }
  }
  state {
    id			    3
    labelString		    "eML_blk_kernel()"
    position		    [18 64.5 118 66]
    fontSize		    12
    chart		    2
    treeNode		    [2 0 0 0]
    superState		    SUBCHART
    subviewer		    2
    type		    FUNC_STATE
    decomposition	    CLUSTER_STATE
    eml {
      isEML		      1
      script		      "function y = fcn(u)\n% This block supports the Embedded MATLAB subset.\n% See the help menu for details. \nA=3.3/2^12;\ny = u*A;\nend"
      editorLayout	      "100 M4x1[146 214 671 364]"
    }
  }
  junction {
    id			    4
    position		    [23.5747 49.5747 7]
    chart		    2
    linkNode		    [2 0 0]
    subviewer		    2
    type		    CONNECTIVE_JUNCTION
  }
  transition {
    id			    5
    labelString		    "{eML_blk_kernel();}"
    labelPosition	    [32.125 19.875 102.544 14.964]
    fontSize		    12
    src {
      intersection	      [0 0 1 0 23.5747 14.625 0 0]
    }
    dst {
      id		      4
      intersection	      [7 0 -1 -1 23.5747 42.5747 0 0]
    }
    midPoint		    [23.5747 24.9468]
    chart		    2
    linkNode		    [2 0 0]
    dataLimits		    [23.575 23.575 14.625 34.575]
    subviewer		    2
    drawStyle		    SMART
    executionOrder	    1
  }
  data {
    id			    6
    name		    "u"
    linkNode		    [2 0 7]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"-1"
      }
      type {
	method			SF_INHERITED_TYPE
      }
      complexity	      SF_COMPLEX_INHERITED
    }
    dataType		    "inherited"
    fixptType {
      slope		      1
      baseType		      SF_INT16_TYPE
    }
    complexity		    SF_COMPLEX_INHERITED
  }
  data {
    id			    7
    name		    "y"
    linkNode		    [2 6 0]
    scope		    OUTPUT_DATA
    machine		    1
    props {
      array {
	size			"-1"
      }
      type {
	method			SF_INHERITED_TYPE
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_NO
    }
    dataType		    "inherited"
    fixptType {
      slope		      1
      baseType		      SF_INT16_TYPE
    }
    complexity		    SF_COMPLEX_INHERITED
  }
  instance {
    id			    8
    name		    "Embedded\nMATLAB Function"
    machine		    1
    chart		    2
  }
  target {
    id			    9
    name		    "sfun"
    description		    "Default Simulink S-Function Target."
    machine		    1
    linkNode		    [1 0 10]
  }
  target {
    id			    10
    name		    "rtw"
    codeFlags		    " comments=1 statebitsets=1 databitsets=1 emitlogicalops=1 elseifdetection=1 constantfolding=1 redundantloadelimination=0 preservenames=0 preservenameswithparent=0 exportcharts=0"
    machine		    1
    linkNode		    [1 9 0]
  }
}