Model { Name "UAV_controllerMCU_USBkit" Version 7.0 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.29" 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 "Sat Feb 26 20:29:43 2011" Creator "Admin" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "Admin" ModifiedDateFormat "%" LastModifiedDate "Sat May 05 15:17:38 2012" 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 8 Simulink.SolverCC { $ObjectID 2 Version "1.3.0" StartTime "0.0" StopTime "10.0" AbsTol "auto" FixedStep "0.01" 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 "SingleTasking" 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 "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" 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 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-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 "pic32.tlc" GenCodeOnly off MakeCommand "make_CreateMPLAB" GenerateMakefile on TemplateMakefile "pic32_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 "pic32_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 6 Cell "GenerateSampleERTMain" Cell "MatFileLogging" Cell "SupportNonInlinedSFcns" Cell "UtilityFuncGeneration" Cell "IncludeMdlTerminateFcn" Cell "ModelReferenceCompliant" 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 on 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 "pic32.tlc" DialogCategory 0 Array { Type "Handle" Dimension 1 Simulink.ERTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Array { Type "Cell" Dimension 9 Cell "GenerateSampleERTMain" Cell "GenerateErtSFunction" Cell "MatFileLogging" Cell "GRTInterface" Cell "ERTCustomFileTemplate" Cell "SupportNonInlinedSFcns" Cell "UtilityFuncGeneration" Cell "IncludeMdlTerminateFcn" Cell "ModelReferenceCompliant" 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 on 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 "noextcomm" 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 "C:\\PROGRA~1\\MATLAB\\R2007b\\bin\\win32\\gmake" } CustomProperty { DataType "string" Name "OPTIM_GCC" Value "-mprocessor=32MX795F512L -O3 -fschedule-insns -fschedule-insns2" } CustomProperty { DataType "string" Name "LDFLAGS" Value "-t --report-mem -cref" } CustomProperty { DataType "string" Name "LDLIBPIC" Value " C:\\MICROC~1\\PIC32S~1\\MPLABC~1\\pic32mx\\lib\\speed\\libc.a C:\\MICROC~1\\PIC32S~1\\MPLABC~1\\pic32mx\\lib\\speed\\libmchp_peripheral_32MX795F512L.a C:\\MICROC~1\\PIC32S~1\\MPLABC~1\\pic32mx\\lib\\speed\\libm.a C:\\MICROC~1\\PIC32S~1\\MPLABC~1\\pic32mx\\lib\\speed\\libm.a" } CustomProperty { DataType "string" Name "PIC_INCLUDES" Value " -IC:\\MICROC~1\\PIC32S~1\\MPLABC~1\\pic32mx\\include -IC:\\MICROC~1\\PIC32S~1\\MPLABC~1\\pic32mx\\include\\peripheral" } CustomProperty { DataType "string" Name "PIC_REF" Value "32MX795F512L" } CustomProperty { DataType "string" Name "GCCPATH" Value "''" } } PropName "Components" } } hdlcoderui.hdlcc { $ObjectID 12 Description "HDL Coder custom configuration component" Version "1.3.0" Name "HDL Coder" Array { Type "Cell" Dimension 1 Cell "" PropName "HDLConfigFile" } HDLCActiveTab "0" } 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 ArithShift nBitShiftRight "0" nBinPtShiftRight "0" } 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 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 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 SignalSpecification Dimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" SamplingMode "auto" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" } 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 Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit via internal rule" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType Terminator } Block { BlockType UnitDelay X0 "0" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "fixdt(1,16,0)" ConRadixGroup "Use specified scaling" OutScaling "[]" SampleTime "inf" FramePeriod "inf" } } 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 "UAV_controllerMCU_USBkit" Location [110, 114, 856, 610] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Reference Name "Configuration" Ports [] Position [450, 25, 550, 75] BackgroundColor "lightBlue" DropShadow on SourceBlock "dsPICdrivers/Configuration" 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" double64 off } Block { BlockType Reference Name "Configure Model \nfor dsPIC" Ports [] Position [50, 14, 162, 70] ForegroundColor "blue" BackgroundColor "yellow" SourceBlock "dsPICdrivers/Simulink Configuration/Configure Model \nfor dsPIC" SourceType "" } Block { BlockType Reference Name "Generate Code" Ports [] Position [190, 29, 302, 85] ForegroundColor "blue" BackgroundColor "yellow" DropShadow on SourceBlock "dsPICdrivers/Simulink Configuration/Generate Code" SourceType "" } Block { BlockType Reference Name "Master" Tag "dsPIC_MASTER" Ports [] Position [329, 30, 429, 80] BackgroundColor "lightBlue" DropShadow on Priority "1" List { ListType RTWdata NumBusyPort "-1" } SourceBlock "dsPICdrivers/Master" SourceType "Master" TimeStepType "Timer1" picType "32MX795F512L" fcy "80000000" Quartz_33f "8e6" PLLActive_33f on fcyDesired_33f "80e6" tmr1 "[64 12499 0]" tmr1Info "Time Step : 0.01 ; Error : 0% PR1=12499" tmr2345 "[8 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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10 0 10 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 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 65530 65535 65535 65535 ]" ADPCFG "0" MasterBusyPort "None" MasterOverloadPort "None" FOSC "Quartz (XT - HS)" ClockSwitchMonitor "Both disabled" TempProtection_33f "TEMP_ON" FPBOR "" PWRT "disable" MCLR "" ICD "ICS_PGD1" JTAGEN "JTAGEN_OFF" PowerSave off OverrideFcy off NewFcy "1e6" PR2345 "[65535 65535 65535 65535]" } Block { BlockType Mux Name "Mux1" Ports [10, 1] Position [605, 262, 640, 458] ShowName off Inputs "10" DisplayOption "bar" } Block { BlockType Reference Name "Rx Input2" Tag "dsPIC_RX" Ports [0, 2] Position [165, 221, 235, 259] Priority "5" SourceBlock "dsPICdrivers/Serial PORT/Rx Input" SourceType "Rx" UART "1A" SampleTime ".01" BlockingFctChk off OutputDefault "0" IsPresentFlagChk on OrderingInOutPopup "None" } Block { BlockType SubSystem Name "SERVO PWM SIGNAL" Ports [0, 4] Position [15, 303, 190, 402] BackgroundColor "green" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "SERVO PWM SIGNAL" Location [273, 184, 683, 383] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Reference Name "Input Capture1" Tag "dsPIC_PWM_IC" Ports [0, 4] Position [25, 28, 170, 167] Priority "5" SourceBlock "dsPICdrivers/Peripheral I//O/Input Capture" SourceType "Input driver for Input Capture Peripheral" IntPriority "6" Channel "[ 1 2 3 4 ]" Channel_UP_Down_Periode "[1 1 1 1]" MaxChannel "[0.001 0.001 0.001 0.001]" SafeMarge "[10 10 10 10]" MaxName " ' IC1max , IC2max , IC3max , IC4max ' " Precision "[13.2874 13.2874 13.2874 13.2874]" Timer "[2 2 2 2]" ChangeDetected "[0 0 0 0]" ChangeDetectedPortRef "3" SampleTime "0.02" Status "Channel not available on selected target" } Block { BlockType SubSystem Name "Subsystem" Ports [4, 4] Position [285, 40, 330, 175] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Subsystem" Location [398, 183, 768, 376] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [45, 38, 75, 52] IconDisplay "Port number" } Block { BlockType Inport Name "In2" Position [110, 83, 140, 97] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "In3" Position [25, 108, 55, 122] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "In4" Position [160, 143, 190, 157] Port "4" IconDisplay "Port number" } Block { BlockType SubSystem Name "processing1" Ports [1, 1] Position [165, 72, 240, 108] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "processing1" Location [317, 253, 910, 400] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 53, 55, 67] IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion11" Position [80, 50, 135, 70] OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion5" Position [420, 40, 475, 60] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "Embedded\nMATLAB Function1" Ports [1, 1] Position [320, 36, 390, 84] PermitHierarchicalResolution "ExplicitOnly" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off MaskType "Stateflow" MaskDescription "Embedded MATLAB block" MaskDisplay "disp('fcn');" MaskSelfModifiable on MaskIconFrame on MaskIconOpaque off MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "Embedded\nMATLAB Function1" Location [257, 457, 812, 717] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "u" Position [20, 101, 40, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Demux Name " Demux " Ports [1, 1] Position [270, 180, 320, 220] Outputs "1" } Block { BlockType "S-Function" Name " SFunction " Tag "Stateflow S-Function UAV_controllerMCU_USBkit 9" Ports [1, 2] Position [180, 100, 230, 180] FunctionName "sf_sfun" PortCounts "[1 2]" EnableBusSupport on Port { PortNumber 2 Name "y" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Terminator Name " Terminator " Position [460, 191, 480, 209] } Block { BlockType Outport Name "y" Position [460, 101, 480, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock " SFunction " SrcPort 1 Points [0, 80] DstBlock " Demux " DstPort 1 } Line { SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { Name "y" Labels [0, 0] SrcBlock " SFunction " SrcPort 2 DstBlock "y" DstPort 1 } } } Block { BlockType Outport Name "Out1" Position [500, 43, 530, 57] IconDisplay "Port number" } Line { SrcBlock "Embedded\nMATLAB Function1" SrcPort 1 Points [0, -10] DstBlock "Data Type Conversion5" DstPort 1 } Line { SrcBlock "Data Type Conversion11" SrcPort 1 DstBlock "Embedded\nMATLAB Function1" DstPort 1 } Line { SrcBlock "Data Type Conversion5" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Type Conversion11" DstPort 1 } } } Block { BlockType SubSystem Name "processing2" Ports [1, 1] Position [80, 97, 155, 133] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "processing2" Location [317, 253, 910, 400] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 53, 55, 67] IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion11" Position [80, 50, 135, 70] OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion5" Position [420, 40, 475, 60] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "Embedded\nMATLAB Function1" Ports [1, 1] Position [320, 36, 390, 84] PermitHierarchicalResolution "ExplicitOnly" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off MaskType "Stateflow" MaskDescription "Embedded MATLAB block" MaskDisplay "disp('fcn');" MaskSelfModifiable on MaskIconFrame on MaskIconOpaque off MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "Embedded\nMATLAB Function1" Location [257, 457, 812, 717] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "u" Position [20, 101, 40, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Demux Name " Demux " Ports [1, 1] Position [270, 180, 320, 220] Outputs "1" } Block { BlockType "S-Function" Name " SFunction " Tag "Stateflow S-Function UAV_controllerMCU_USBkit 10" Ports [1, 2] Position [180, 100, 230, 180] FunctionName "sf_sfun" PortCounts "[1 2]" EnableBusSupport on Port { PortNumber 2 Name "y" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Terminator Name " Terminator " Position [460, 191, 480, 209] } Block { BlockType Outport Name "y" Position [460, 101, 480, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock " SFunction " SrcPort 1 Points [0, 80] DstBlock " Demux " DstPort 1 } Line { SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { Name "y" Labels [0, 0] SrcBlock " SFunction " SrcPort 2 DstBlock "y" DstPort 1 } } } Block { BlockType Outport Name "Out1" Position [500, 43, 530, 57] IconDisplay "Port number" } Line { SrcBlock "Embedded\nMATLAB Function1" SrcPort 1 Points [0, -10] DstBlock "Data Type Conversion5" DstPort 1 } Line { SrcBlock "Data Type Conversion11" SrcPort 1 DstBlock "Embedded\nMATLAB Function1" DstPort 1 } Line { SrcBlock "Data Type Conversion5" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Type Conversion11" DstPort 1 } } } Block { BlockType SubSystem Name "processing3" Ports [1, 1] Position [210, 132, 285, 168] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "processing3" Location [317, 253, 910, 400] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 53, 55, 67] IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion11" Position [80, 50, 135, 70] OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion5" Position [420, 40, 475, 60] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "Embedded\nMATLAB Function1" Ports [1, 1] Position [320, 36, 390, 84] PermitHierarchicalResolution "ExplicitOnly" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off MaskType "Stateflow" MaskDescription "Embedded MATLAB block" MaskDisplay "disp('fcn');" MaskSelfModifiable on MaskIconFrame on MaskIconOpaque off MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "Embedded\nMATLAB Function1" Location [257, 457, 812, 717] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "u" Position [20, 101, 40, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Demux Name " Demux " Ports [1, 1] Position [270, 180, 320, 220] Outputs "1" } Block { BlockType "S-Function" Name " SFunction " Tag "Stateflow S-Function UAV_controllerMCU_USBkit 4" Ports [1, 2] Position [180, 100, 230, 180] FunctionName "sf_sfun" PortCounts "[1 2]" EnableBusSupport on Port { PortNumber 2 Name "y" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Terminator Name " Terminator " Position [460, 191, 480, 209] } Block { BlockType Outport Name "y" Position [460, 101, 480, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock " SFunction " SrcPort 1 Points [0, 80] DstBlock " Demux " DstPort 1 } Line { SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { Name "y" Labels [0, 0] SrcBlock " SFunction " SrcPort 2 DstBlock "y" DstPort 1 } } } Block { BlockType Outport Name "Out1" Position [500, 43, 530, 57] IconDisplay "Port number" } Line { SrcBlock "Embedded\nMATLAB Function1" SrcPort 1 Points [0, -10] DstBlock "Data Type Conversion5" DstPort 1 } Line { SrcBlock "Data Type Conversion11" SrcPort 1 DstBlock "Embedded\nMATLAB Function1" DstPort 1 } Line { SrcBlock "Data Type Conversion5" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Type Conversion11" DstPort 1 } } } Block { BlockType SubSystem Name "processing5" Ports [1, 1] Position [100, 27, 175, 63] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "processing5" Location [317, 253, 910, 400] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 53, 55, 67] IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion11" Position [80, 50, 135, 70] OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion5" Position [420, 40, 475, 60] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "Embedded\nMATLAB Function1" Ports [1, 1] Position [320, 36, 390, 84] PermitHierarchicalResolution "ExplicitOnly" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off MaskType "Stateflow" MaskDescription "Embedded MATLAB block" MaskDisplay "disp('fcn');" MaskSelfModifiable on MaskIconFrame on MaskIconOpaque off MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "Embedded\nMATLAB Function1" Location [257, 457, 812, 717] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "u" Position [20, 101, 40, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Demux Name " Demux " Ports [1, 1] Position [270, 180, 320, 220] Outputs "1" } Block { BlockType "S-Function" Name " SFunction " Tag "Stateflow S-Function UAV_controllerMCU_USBkit 6" Ports [1, 2] Position [180, 100, 230, 180] FunctionName "sf_sfun" PortCounts "[1 2]" EnableBusSupport on Port { PortNumber 2 Name "y" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Terminator Name " Terminator " Position [460, 191, 480, 209] } Block { BlockType Outport Name "y" Position [460, 101, 480, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock " SFunction " SrcPort 1 Points [0, 80] DstBlock " Demux " DstPort 1 } Line { SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { Name "y" Labels [0, 0] SrcBlock " SFunction " SrcPort 2 DstBlock "y" DstPort 1 } } } Block { BlockType Outport Name "Out1" Position [500, 43, 530, 57] IconDisplay "Port number" } Line { SrcBlock "Embedded\nMATLAB Function1" SrcPort 1 Points [0, -10] DstBlock "Data Type Conversion5" DstPort 1 } Line { SrcBlock "Data Type Conversion11" SrcPort 1 DstBlock "Embedded\nMATLAB Function1" DstPort 1 } Line { SrcBlock "Data Type Conversion5" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Type Conversion11" DstPort 1 } } } Block { BlockType Outport Name "Out1" Position [200, 38, 230, 52] IconDisplay "Port number" } Block { BlockType Outport Name "Out2" Position [265, 83, 295, 97] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Out3" Position [180, 108, 210, 122] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "Out4" Position [315, 143, 345, 157] Port "4" IconDisplay "Port number" } Line { SrcBlock "In1" SrcPort 1 DstBlock "processing5" DstPort 1 } Line { SrcBlock "processing5" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In2" SrcPort 1 DstBlock "processing1" DstPort 1 } Line { SrcBlock "processing1" SrcPort 1 DstBlock "Out2" DstPort 1 } Line { SrcBlock "In3" SrcPort 1 DstBlock "processing2" DstPort 1 } Line { SrcBlock "processing2" SrcPort 1 DstBlock "Out3" DstPort 1 } Line { SrcBlock "In4" SrcPort 1 DstBlock "processing3" DstPort 1 } Line { SrcBlock "processing3" SrcPort 1 DstBlock "Out4" DstPort 1 } } } Block { BlockType Outport Name "Out1" Position [355, 48, 385, 62] IconDisplay "Port number" } Block { BlockType Outport Name "Out2" Position [355, 83, 385, 97] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Out3" Position [355, 118, 385, 132] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "Out4" Position [355, 153, 385, 167] Port "4" IconDisplay "Port number" } Line { SrcBlock "Input Capture1" SrcPort 2 Points [95, 0] DstBlock "Subsystem" DstPort 2 } Line { SrcBlock "Input Capture1" SrcPort 4 Points [95, 0] DstBlock "Subsystem" DstPort 4 } Line { SrcBlock "Input Capture1" SrcPort 1 Points [95, 0] DstBlock "Subsystem" DstPort 1 } Line { SrcBlock "Input Capture1" SrcPort 3 Points [95, 0] DstBlock "Subsystem" DstPort 3 } Line { SrcBlock "Subsystem" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 2 DstBlock "Out2" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 3 DstBlock "Out3" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 4 DstBlock "Out4" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem" Ports [5, 10] Position [445, 240, 510, 440] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Subsystem" Location [470, 127, 893, 584] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [35, 38, 65, 52] IconDisplay "Port number" } Block { BlockType Inport Name "In2" Position [35, 88, 65, 102] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "In3" Position [25, 258, 55, 272] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "In4" Position [30, 313, 60, 327] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "In5" Position [70, 383, 100, 397] Port "5" IconDisplay "Port number" } Block { BlockType SubSystem Name "Decomposition" Ports [1, 2] Position [90, 91, 170, 124] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Decomposition" Location [627, 316, 1047, 459] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "int16" Position [25, 38, 55, 52] IconDisplay "Port number" } Block { BlockType Reference Name "Shift Arithmetic" Ports [1, 1] Position [145, 25, 225, 65] SourceBlock "simulink/Logic and Bit\nOperations/Shift\nArithmetic" SourceType "Shift Arithmetic" 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" nBitShiftRight "8" nBinPtShiftRight "0" } Block { BlockType DataTypeConversion Name "convert" Position [290, 84, 340, 116] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "convert1" Position [290, 29, 340, 61] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "MSB" Position [365, 38, 395, 52] IconDisplay "Port number" } Block { BlockType Outport Name "LSB" Position [365, 93, 395, 107] Port "2" IconDisplay "Port number" } Line { SrcBlock "int16" SrcPort 1 Points [15, 0] Branch { Points [0, 55] DstBlock "convert" DstPort 1 } Branch { DstBlock "Shift Arithmetic" DstPort 1 } } Line { SrcBlock "Shift Arithmetic" SrcPort 1 DstBlock "convert1" DstPort 1 } Line { SrcBlock "convert1" SrcPort 1 DstBlock "MSB" DstPort 1 } Line { SrcBlock "convert" SrcPort 1 DstBlock "LSB" DstPort 1 } } } Block { BlockType SubSystem Name "Decomposition1" Ports [1, 2] Position [90, 26, 170, 59] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Decomposition1" Location [177, 323, 597, 466] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "int16" Position [25, 38, 55, 52] IconDisplay "Port number" } Block { BlockType Reference Name "Shift Arithmetic" Ports [1, 1] Position [145, 25, 225, 65] SourceBlock "simulink/Logic and Bit\nOperations/Shift\nArithmetic" SourceType "Shift Arithmetic" 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" nBitShiftRight "8" nBinPtShiftRight "0" } Block { BlockType DataTypeConversion Name "convert" Position [290, 84, 340, 116] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "convert1" Position [290, 29, 340, 61] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "MSB" Position [365, 38, 395, 52] IconDisplay "Port number" } Block { BlockType Outport Name "LSB" Position [365, 93, 395, 107] Port "2" IconDisplay "Port number" } Line { SrcBlock "int16" SrcPort 1 Points [15, 0] Branch { Points [0, 55] DstBlock "convert" DstPort 1 } Branch { DstBlock "Shift Arithmetic" DstPort 1 } } Line { SrcBlock "Shift Arithmetic" SrcPort 1 DstBlock "convert1" DstPort 1 } Line { SrcBlock "convert1" SrcPort 1 DstBlock "MSB" DstPort 1 } Line { SrcBlock "convert" SrcPort 1 DstBlock "LSB" DstPort 1 } } } Block { BlockType SubSystem Name "Decomposition2" Ports [1, 2] Position [95, 241, 175, 274] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Decomposition2" Location [627, 316, 1047, 459] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "int16" Position [25, 38, 55, 52] IconDisplay "Port number" } Block { BlockType Reference Name "Shift Arithmetic" Ports [1, 1] Position [145, 25, 225, 65] SourceBlock "simulink/Logic and Bit\nOperations/Shift\nArithmetic" SourceType "Shift Arithmetic" 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" nBitShiftRight "8" nBinPtShiftRight "0" } Block { BlockType DataTypeConversion Name "convert" Position [290, 84, 340, 116] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "convert1" Position [290, 29, 340, 61] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "MSB" Position [365, 38, 395, 52] IconDisplay "Port number" } Block { BlockType Outport Name "LSB" Position [365, 93, 395, 107] Port "2" IconDisplay "Port number" } Line { SrcBlock "int16" SrcPort 1 Points [15, 0] Branch { Points [0, 55] DstBlock "convert" DstPort 1 } Branch { DstBlock "Shift Arithmetic" DstPort 1 } } Line { SrcBlock "Shift Arithmetic" SrcPort 1 DstBlock "convert1" DstPort 1 } Line { SrcBlock "convert1" SrcPort 1 DstBlock "MSB" DstPort 1 } Line { SrcBlock "convert" SrcPort 1 DstBlock "LSB" DstPort 1 } } } Block { BlockType SubSystem Name "Decomposition3" Ports [1, 2] Position [95, 306, 175, 339] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Decomposition3" Location [627, 316, 1047, 459] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "int16" Position [25, 38, 55, 52] IconDisplay "Port number" } Block { BlockType Reference Name "Shift Arithmetic" Ports [1, 1] Position [145, 25, 225, 65] SourceBlock "simulink/Logic and Bit\nOperations/Shift\nArithmetic" SourceType "Shift Arithmetic" 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" nBitShiftRight "8" nBinPtShiftRight "0" } Block { BlockType DataTypeConversion Name "convert" Position [290, 84, 340, 116] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "convert1" Position [290, 29, 340, 61] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "MSB" Position [365, 38, 395, 52] IconDisplay "Port number" } Block { BlockType Outport Name "LSB" Position [365, 93, 395, 107] Port "2" IconDisplay "Port number" } Line { SrcBlock "int16" SrcPort 1 Points [15, 0] Branch { Points [0, 55] DstBlock "convert" DstPort 1 } Branch { DstBlock "Shift Arithmetic" DstPort 1 } } Line { SrcBlock "Shift Arithmetic" SrcPort 1 DstBlock "convert1" DstPort 1 } Line { SrcBlock "convert1" SrcPort 1 DstBlock "MSB" DstPort 1 } Line { SrcBlock "convert" SrcPort 1 DstBlock "LSB" DstPort 1 } } } Block { BlockType SubSystem Name "Decomposition4" Ports [1, 2] Position [135, 376, 215, 409] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Decomposition4" Location [627, 316, 1047, 459] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "int16" Position [25, 38, 55, 52] IconDisplay "Port number" } Block { BlockType Reference Name "Shift Arithmetic" Ports [1, 1] Position [145, 25, 225, 65] SourceBlock "simulink/Logic and Bit\nOperations/Shift\nArithmetic" SourceType "Shift Arithmetic" 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" nBitShiftRight "8" nBinPtShiftRight "0" } Block { BlockType DataTypeConversion Name "convert" Position [290, 84, 340, 116] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "convert1" Position [290, 29, 340, 61] OutDataTypeMode "uint8" OutDataType "sfix(16)" OutScaling "2^0" ConvertRealWorld "Stored Integer (SI)" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "MSB" Position [365, 38, 395, 52] IconDisplay "Port number" } Block { BlockType Outport Name "LSB" Position [365, 93, 395, 107] Port "2" IconDisplay "Port number" } Line { SrcBlock "int16" SrcPort 1 Points [15, 0] Branch { Points [0, 55] DstBlock "convert" DstPort 1 } Branch { DstBlock "Shift Arithmetic" DstPort 1 } } Line { SrcBlock "Shift Arithmetic" SrcPort 1 DstBlock "convert1" DstPort 1 } Line { SrcBlock "convert1" SrcPort 1 DstBlock "MSB" DstPort 1 } Line { SrcBlock "convert" SrcPort 1 DstBlock "LSB" DstPort 1 } } } Block { BlockType Outport Name "Out1" Position [195, 28, 225, 42] IconDisplay "Port number" } Block { BlockType Outport Name "Out2" Position [195, 43, 225, 57] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Out3" Position [195, 93, 225, 107] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "Out4" Position [195, 108, 225, 122] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "Out5" Position [200, 243, 230, 257] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "Out6" Position [200, 258, 230, 272] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "Out7" Position [200, 308, 230, 322] Port "7" IconDisplay "Port number" } Block { BlockType Outport Name "Out8" Position [200, 323, 230, 337] Port "8" IconDisplay "Port number" } Block { BlockType Outport Name "Out9" Position [240, 378, 270, 392] Port "9" IconDisplay "Port number" } Block { BlockType Outport Name "Out10" Position [240, 393, 270, 407] Port "10" IconDisplay "Port number" } Line { SrcBlock "In1" SrcPort 1 DstBlock "Decomposition1" DstPort 1 } Line { SrcBlock "In2" SrcPort 1 Points [5, 0] DstBlock "Decomposition" DstPort 1 } Line { SrcBlock "In3" SrcPort 1 Points [20, 0] DstBlock "Decomposition2" DstPort 1 } Line { SrcBlock "In4" SrcPort 1 Points [15, 0] DstBlock "Decomposition3" DstPort 1 } Line { SrcBlock "Decomposition1" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "Decomposition1" SrcPort 2 DstBlock "Out2" DstPort 1 } Line { SrcBlock "Decomposition" SrcPort 1 DstBlock "Out3" DstPort 1 } Line { SrcBlock "Decomposition" SrcPort 2 DstBlock "Out4" DstPort 1 } Line { SrcBlock "Decomposition2" SrcPort 1 DstBlock "Out5" DstPort 1 } Line { SrcBlock "Decomposition2" SrcPort 2 DstBlock "Out6" DstPort 1 } Line { SrcBlock "Decomposition3" SrcPort 1 DstBlock "Out7" DstPort 1 } Line { SrcBlock "Decomposition3" SrcPort 2 DstBlock "Out8" DstPort 1 } Line { SrcBlock "In5" SrcPort 1 Points [15, 0] DstBlock "Decomposition4" DstPort 1 } Line { SrcBlock "Decomposition4" SrcPort 1 DstBlock "Out9" DstPort 1 } Line { SrcBlock "Decomposition4" SrcPort 2 DstBlock "Out10" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem1" Ports [4, 4] Position [305, 298, 355, 412] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Subsystem1" Location [449, 319, 734, 679] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [45, 38, 75, 52] IconDisplay "Port number" } Block { BlockType Inport Name "In2" Position [20, 98, 50, 112] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "In3" Position [50, 168, 80, 182] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "In4" Position [40, 258, 70, 272] Port "4" IconDisplay "Port number" } Block { BlockType SubSystem Name "processing1" Ports [1, 1] Position [130, 142, 205, 178] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "processing1" Location [317, 253, 910, 400] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 53, 55, 67] IconDisplay "Port number" } Block { BlockType Constant Name "Constant" Position [45, 92, 140, 108] Value "IC3max/2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType DataTypeConversion Name "Data Type Conversion11" Position [80, 50, 135, 70] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain" Position [245, 42, 370, 98] Gain "10000/(0.9*IC3max)" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [180, 50, 200, 70] 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 [500, 43, 530, 57] IconDisplay "Port number" } Line { SrcBlock "Gain" SrcPort 1 Points [0, -20] DstBlock "Out1" DstPort 1 } Line { SrcBlock "Data Type Conversion11" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Type Conversion11" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [25, 0] DstBlock "Gain" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [45, 0] DstBlock "Sum" DstPort 2 } } } Block { BlockType SubSystem Name "processing2" Ports [1, 1] Position [95, 242, 170, 278] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "processing2" Location [317, 253, 910, 400] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 53, 55, 67] IconDisplay "Port number" } Block { BlockType Constant Name "Constant" Position [45, 92, 140, 108] Value "IC4max/2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType DataTypeConversion Name "Data Type Conversion11" Position [80, 50, 135, 70] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion5" Position [420, 40, 475, 60] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain" Position [245, 42, 370, 98] Gain "10000/(0.9*IC1max)" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [180, 50, 200, 70] 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 [500, 43, 530, 57] IconDisplay "Port number" } Line { SrcBlock "Gain" SrcPort 1 Points [0, -20] DstBlock "Data Type Conversion5" DstPort 1 } Line { SrcBlock "Data Type Conversion11" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Data Type Conversion5" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Type Conversion11" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [25, 0] DstBlock "Gain" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [45, 0] DstBlock "Sum" DstPort 2 } } } Block { BlockType SubSystem Name "processing4" Ports [1, 1] Position [80, 92, 155, 128] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "processing4" Location [317, 253, 910, 400] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 53, 55, 67] IconDisplay "Port number" } Block { BlockType Constant Name "Constant" Position [45, 92, 140, 108] Value "IC2max/2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType DataTypeConversion Name "Data Type Conversion11" Position [80, 50, 135, 70] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain" Position [245, 42, 370, 98] Gain "10000/(0.9*IC2max)" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [180, 50, 200, 70] 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 [500, 43, 530, 57] IconDisplay "Port number" } Line { SrcBlock "Gain" SrcPort 1 Points [0, -20] DstBlock "Out1" DstPort 1 } Line { SrcBlock "Data Type Conversion11" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Type Conversion11" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [25, 0] DstBlock "Gain" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [45, 0] DstBlock "Sum" DstPort 2 } } } Block { BlockType SubSystem Name "processing5" Ports [1, 1] Position [100, 27, 175, 63] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "processing5" Location [317, 253, 910, 400] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 53, 55, 67] IconDisplay "Port number" } Block { BlockType Constant Name "Constant" Position [45, 92, 140, 108] Value "IC1max/2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType DataTypeConversion Name "Data Type Conversion11" Position [80, 50, 135, 70] OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain" Position [245, 42, 370, 98] Gain "10000/(0.9*IC1max)" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" OutDataTypeMode "int16" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [180, 50, 200, 70] 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 [500, 43, 530, 57] IconDisplay "Port number" } Line { SrcBlock "Gain" SrcPort 1 Points [0, -20] DstBlock "Out1" DstPort 1 } Line { SrcBlock "Data Type Conversion11" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Data Type Conversion11" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [25, 0] DstBlock "Gain" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [45, 0] DstBlock "Sum" DstPort 2 } } } Block { BlockType Outport Name "Out1" Position [200, 38, 230, 52] IconDisplay "Port number" } Block { BlockType Outport Name "Out2" Position [220, 93, 250, 107] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Out3" Position [230, 183, 260, 197] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "Out4" Position [195, 258, 225, 272] Port "4" IconDisplay "Port number" } Line { SrcBlock "In1" SrcPort 1 DstBlock "processing5" DstPort 1 } Line { SrcBlock "processing5" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In2" SrcPort 1 Points [10, 0] DstBlock "processing4" DstPort 1 } Line { SrcBlock "processing4" SrcPort 1 Points [0, -10] DstBlock "Out2" DstPort 1 } Line { SrcBlock "In3" SrcPort 1 Points [0, -15] DstBlock "processing1" DstPort 1 } Line { SrcBlock "processing1" SrcPort 1 Points [0, 30] DstBlock "Out3" DstPort 1 } Line { SrcBlock "In4" SrcPort 1 Points [5, 0] DstBlock "processing2" DstPort 1 } Line { SrcBlock "processing2" SrcPort 1 Points [0, 5] DstBlock "Out4" DstPort 1 } } } Block { BlockType Reference Name "Tx Output" Tag "dsPIC_TX" Ports [1] Position [665, 339, 735, 371] BackgroundColor "red" Priority "5" SourceBlock "dsPICdrivers/Serial PORT/Tx Output" SourceType "Serial Transmition" UART "2A" OrderingInOutPopup "None" } Block { BlockType Reference Name "UART Configuration" Tag "dsPIC_config_UART" Ports [] Position [50, 169, 157, 215] BackgroundColor "lightBlue" Priority "2" List { ListType RTWdata RxBufferSize "32" DoNotImplementRxInterrupt "0" DoNotImplementTxInterrupt "0" } SourceBlock "dsPICdrivers/Serial PORT/UART Configuration" SourceType "Configure UART" UART "2A" proposed_BAUD "57600" BAUD "57600" ALT_TX_RX on InterruptTxWhen "When Transmit Buffer is empty" TXInterruptPri "1" TxBufferSize "128" TXEN on InterruptRxWhen "When Receive Buffer is full (contain 4 characters)" RXInterruptPri "1" RxBufferSize "32" DoNotImplementRxInterrupt off DoNotImplementTxInterrupt off UxBRG "86" Info "UxBRG = 86 || Real Baud : 57471 || % error : -0.2235 || max 57.4713 Bytes / Step" RealBaud "0" ERROR "-0.2235" BYTES_STEP "57.4713" } Block { BlockType Reference Name "UART Configuration1" Tag "dsPIC_config_UART" Ports [] Position [45, 99, 152, 145] BackgroundColor "lightBlue" Priority "2" List { ListType RTWdata RxBufferSize "32" DoNotImplementRxInterrupt "0" DoNotImplementTxInterrupt "0" } SourceBlock "dsPICdrivers/Serial PORT/UART Configuration" SourceType "Configure UART" UART "1A" proposed_BAUD "57600" BAUD "57600" ALT_TX_RX on InterruptTxWhen "When Transmit Buffer is empty" TXInterruptPri "1" TxBufferSize "128" TXEN off InterruptRxWhen "Do not use interrupt" RXInterruptPri "1" RxBufferSize "32" DoNotImplementRxInterrupt off DoNotImplementTxInterrupt off UxBRG "86" Info "UxBRG = 86 || Real Baud : 57471 || % error : -0.2235 || max 57.4713 Bytes / Step" RealBaud "0" ERROR "-0.2235" BYTES_STEP "57.4713" } Block { BlockType Reference Name "dbl-click to open\nGraphical interface" Ports [] Position [197, 125, 275, 158] BackgroundColor "cyan" SourceBlock "dsPICdrivers/Serial PORT/dbl-click to open\nGraphical interface" SourceType "" Nothing "0" } Block { BlockType SubSystem Name "onboard LEDs" Ports [] Position [610, 40, 650, 100] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "onboard LEDs" Location [567, 311, 972, 499] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Reference Name "0.5Hz" Ports [0, 1] Position [25, 35, 55, 65] SourceBlock "simulink/Sources/Counter\nFree-Running" SourceType "Counter Free-Running" 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" NumBits "1" tsamp "0.02" } Block { BlockType Reference Name "0.5Hz1" Ports [0, 1] Position [30, 125, 60, 155] SourceBlock "simulink/Sources/Counter\nFree-Running" SourceType "Counter Free-Running" 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" NumBits "1" tsamp "1" } Block { BlockType Reference Name "Blinking Orange Led @ 0.5Hz" Tag "dsPIC_Digital_Output" Ports [1] Position [250, 27, 375, 73] Priority "5" SourceBlock "dsPICdrivers/Digital I//O/Digital Output Write" SourceType "" PORT "D" Pin "[0]" Simultaneous off OrderingInOutPopup "None" } Block { BlockType Reference Name "Blinking Orange Led @ 0.5Hz1" Tag "dsPIC_Digital_Output" Ports [1] Position [255, 117, 380, 163] Priority "5" SourceBlock "dsPICdrivers/Digital I//O/Digital Output Write" SourceType "" PORT "D" Pin "[2]" Simultaneous off OrderingInOutPopup "None" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [120, 33, 190, 67] OutDataTypeMode "boolean" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion2" Position [125, 123, 195, 157] OutDataTypeMode "boolean" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Line { SrcBlock "0.5Hz" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "Blinking Orange Led @ 0.5Hz" DstPort 1 } Line { SrcBlock "0.5Hz1" SrcPort 1 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "Blinking Orange Led @ 0.5Hz1" DstPort 1 } } } Line { SrcBlock "Mux1" SrcPort 1 Points [0, -5] DstBlock "Tx Output" DstPort 1 } Line { SrcBlock "SERVO PWM SIGNAL" SrcPort 4 Points [0, 10] DstBlock "Subsystem1" DstPort 4 } Line { SrcBlock "SERVO PWM SIGNAL" SrcPort 3 Points [0, 5] DstBlock "Subsystem1" DstPort 3 } Line { SrcBlock "SERVO PWM SIGNAL" SrcPort 2 DstBlock "Subsystem1" DstPort 2 } Line { SrcBlock "SERVO PWM SIGNAL" SrcPort 1 Points [70, 0; 0, -5] DstBlock "Subsystem1" DstPort 1 } Line { SrcBlock "Rx Input2" SrcPort 1 Points [50, 0; 0, 30] DstBlock "Subsystem" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 1 Points [75, 0] DstBlock "Mux1" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 2 Points [75, 0] DstBlock "Mux1" DstPort 2 } Line { SrcBlock "Subsystem" SrcPort 3 Points [75, 0] DstBlock "Mux1" DstPort 3 } Line { SrcBlock "Subsystem" SrcPort 4 Points [75, 0] DstBlock "Mux1" DstPort 4 } Line { SrcBlock "Subsystem" SrcPort 5 Points [75, 0] DstBlock "Mux1" DstPort 5 } Line { SrcBlock "Subsystem" SrcPort 6 Points [75, 0] DstBlock "Mux1" DstPort 6 } Line { SrcBlock "Subsystem" SrcPort 7 Points [75, 0] DstBlock "Mux1" DstPort 7 } Line { SrcBlock "Subsystem" SrcPort 8 Points [75, 0] DstBlock "Mux1" DstPort 8 } Line { SrcBlock "Subsystem" SrcPort 9 Points [75, 0] DstBlock "Mux1" DstPort 9 } Line { SrcBlock "Subsystem" SrcPort 10 Points [75, 0] DstBlock "Mux1" DstPort 10 } Line { SrcBlock "Subsystem1" SrcPort 1 Points [0, -10] DstBlock "Subsystem" DstPort 2 } Line { SrcBlock "Subsystem1" SrcPort 2 DstBlock "Subsystem" DstPort 3 } Line { SrcBlock "Subsystem1" SrcPort 3 Points [0, 10] DstBlock "Subsystem" DstPort 4 } Line { SrcBlock "Subsystem1" SrcPort 4 Points [0, 20] DstBlock "Subsystem" DstPort 5 } } } # Finite State Machines # # Stateflow Version 6.7 (R2007b) dated Aug 7 2007, 16:48:14 # # Stateflow { machine { id 1 name "UAV_controllerMCU_USBkit" created "14-Apr-2012 09:51:01" isLibrary 0 firstTarget 30 sfVersion 67014000.000001 } chart { id 2 name "SERVO PWM SIGNAL/Subsystem/processing3/Embedded\nMATLAB Function1" windowPosition [408.627 54.244 200.25 189.75] viewLimits [0 156.75 0 153.75] screen [1 1 1024 768 1.333333333333333] treeNode [0 3 0 0] firstTransition 5 firstJunction 4 viewObj 2 machine 1 decomposition CLUSTER_CHART type EML_CHART firstData 6 chartFileNumber 4 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. \n% A=3.3/2^12;\n% B=1/0.0049;\nB=0.015/9374;\n\ny = 1000000*B*u;\n\nend" editorLayout "100 M4x1[299 331 671 364]" } } 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 "SERVO PWM SIGNAL/Subsystem/processing3/Embedded\nMATLAB Function1" machine 1 chart 2 } chart { id 9 name "SERVO PWM SIGNAL/Subsystem/processing5/Embedded\nMATLAB Function1" windowPosition [387.294 79.844 200.25 189.75] viewLimits [0 156.75 0 153.75] screen [1 1 1024 768 1.333333333333333] treeNode [0 10 0 0] firstTransition 12 firstJunction 11 viewObj 9 machine 1 decomposition CLUSTER_CHART type EML_CHART firstData 13 chartFileNumber 6 disableImplicitCasting 1 eml { name "fcn" } } state { id 10 labelString "eML_blk_kernel()" position [18 64.5 118 66] fontSize 12 chart 9 treeNode [9 0 0 0] superState SUBCHART subviewer 9 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. \n% A=3.3/2^12;\n% B=1/0.0049;\nB=0.015/9374;\n\ny = 1000000*B*u;\n\nend" editorLayout "100 M4x1[299 331 671 364]" } } junction { id 11 position [23.5747 49.5747 7] chart 9 linkNode [9 0 0] subviewer 9 type CONNECTIVE_JUNCTION } transition { id 12 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 11 intersection [7 0 -1 -1 23.5747 42.5747 0 0] } midPoint [23.5747 24.9468] chart 9 linkNode [9 0 0] dataLimits [23.575 23.575 14.625 34.575] subviewer 9 drawStyle SMART executionOrder 1 } data { id 13 name "u" linkNode [9 0 14] 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 14 name "y" linkNode [9 13 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 15 name "SERVO PWM SIGNAL/Subsystem/processing5/Embedded\nMATLAB Function1" machine 1 chart 9 } chart { id 16 name "SERVO PWM SIGNAL/Subsystem/processing1/Embedded\nMATLAB Function1" windowPosition [397.961 67.044 200.25 189.75] viewLimits [0 156.75 0 153.75] screen [1 1 1024 768 1.333333333333333] treeNode [0 17 0 0] firstTransition 19 firstJunction 18 viewObj 16 machine 1 decomposition CLUSTER_CHART type EML_CHART firstData 20 chartFileNumber 9 disableImplicitCasting 1 eml { name "fcn" } } state { id 17 labelString "eML_blk_kernel()" position [18 64.5 118 66] fontSize 12 chart 16 treeNode [16 0 0 0] superState SUBCHART subviewer 16 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. \n% A=3.3/2^12;\n% B=1/0.0049;\nB=0.015/9374;\n\ny = 1000000*B*u;\n\nend" editorLayout "100 M4x1[299 331 671 364]" } } junction { id 18 position [23.5747 49.5747 7] chart 16 linkNode [16 0 0] subviewer 16 type CONNECTIVE_JUNCTION } transition { id 19 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 18 intersection [7 0 -1 -1 23.5747 42.5747 0 0] } midPoint [23.5747 24.9468] chart 16 linkNode [16 0 0] dataLimits [23.575 23.575 14.625 34.575] subviewer 16 drawStyle SMART executionOrder 1 } data { id 20 name "u" linkNode [16 0 21] 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 21 name "y" linkNode [16 20 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 22 name "SERVO PWM SIGNAL/Subsystem/processing1/Embedded\nMATLAB Function1" machine 1 chart 16 } chart { id 23 name "SERVO PWM SIGNAL/Subsystem/processing2/Embedded\nMATLAB Function1" windowPosition [397.961 67.044 200.25 189.75] viewLimits [0 156.75 0 153.75] screen [1 1 1024 768 1.333333333333333] treeNode [0 24 0 0] firstTransition 26 firstJunction 25 viewObj 23 machine 1 decomposition CLUSTER_CHART type EML_CHART firstData 27 chartFileNumber 10 disableImplicitCasting 1 eml { name "fcn" } } state { id 24 labelString "eML_blk_kernel()" position [18 64.5 118 66] fontSize 12 chart 23 treeNode [23 0 0 0] superState SUBCHART subviewer 23 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. \n% A=3.3/2^12;\n% B=1/0.0049;\nB=0.015/9374;\n\ny = 1000000*B*u;\n\nend" editorLayout "100 M4x1[299 331 671 364]" } } junction { id 25 position [23.5747 49.5747 7] chart 23 linkNode [23 0 0] subviewer 23 type CONNECTIVE_JUNCTION } transition { id 26 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 25 intersection [7 0 -1 -1 23.5747 42.5747 0 0] } midPoint [23.5747 24.9468] chart 23 linkNode [23 0 0] dataLimits [23.575 23.575 14.625 34.575] subviewer 23 drawStyle SMART executionOrder 1 } data { id 27 name "u" linkNode [23 0 28] 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 28 name "y" linkNode [23 27 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 29 name "SERVO PWM SIGNAL/Subsystem/processing2/Embedded\nMATLAB Function1" machine 1 chart 23 } target { id 30 name "sfun" description "Default Simulink S-Function Target." machine 1 linkNode [1 0 31] } target { id 31 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 30 0] } }