1. Produce SCADE Design
Let us assume that you are developing a SCADE design for a project named "scade-example" with a root node "example". Then all you have to care about is that your root node has a number of inputs (|-->) and outputs (-->). The names of these inputs and outputs have to comply scade2brick's naming and value conventions:| I/O | name | min. value | max. value | meaning |
| |--> | SensorLight_n | 0 | 100 | Input SensorLight_n (1<=n<=3) is a light sensor. It returns the measured brightness as an int (percentage) with 0 = black and 100 = white. |
| |--> | SensorTouch_n | 0 | 1 | Input SensorTouch_n (1<=n<=3) is a touch sensor. It returns an int value of 0 as long as it is not touched and 1 otherwise. |
| |--> | SensorRot_n | 0 | 32766 | Input SensorRot_n (1<=n<=3) is a rotation sensor. It returns an int value obtained from the rotation sensor connected to port n of the RCX. Rotation sensors count the number of 1/16 rotations of the axis connected to the sensor in a 16-bit (unsigned, but only 15 bits are used) register, wich may overflow. The sensor register is incremented if the axis is turned 1/16 rotation in positive turning direction, and decremented if the axis is turned in negative direction. An initial value for the sensor can be set using SensorRotSet_n. Measuring rotations has to be started and stopped with SensorRotOnOff_n. |
| |--> | Button_OnOff | 0 | 1 | Returns an int value of 1 as long as the On/Off button is pressed and 0 as long as it is released. |
| |--> | Button_Run | 0 | 1 | Returns an int value of 1 as long as the Run button is pressed and 0 as long as it is released. |
| |--> | Button_View | 0 | 1 | Returns an int value of 1 as long as the View button is pressed and 0 as long as it is released. |
| |--> | Button_Pgrm | 0 | 1 | Returns an int value of 1 as long as the Program button is pressed and 0 as long as it is released. |
| Motor_x_Speed | 0 | 100 | Output Motor_x_Speed (x = [A|B|C]) sets the speed value for motor x as an int (percentage) with 0 = motor off and 100 = full speed. | |
| Motor_x_Direction | 0 | 3 | Output Motor_x_Direction (x = [A|B|C]) sets the rotation direction of motor x. The value is of type int; 0 = off/freewheeling, 1 = forward, 2 = reverse and 3 = brake. | |
| Beep | 0 | 1 | Make the RCX beep if the output value is 1. | |
| SensorRotSet_n | 0 | 32766 | Set an initial value for the rotation sensor connected to port n (1<=n<=3). No value is written to the respective RCX register if 32766 is passed. The axis connected to the sensor should be fixed while the sensor is initialised. If it is connectet to a motor, this can be achieved by putting the motor into braking mode. | |
| SensorRotOnOff_n | 0 | 1 | Turn the rotation sensor connected to port n (1<=n<=3) on (if 1 is passed) and off (if 0 is passed). |
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- The motor moves forward if the touch sensor is not pushed and backwards otherwise (SensorsTouchTrue = 1, MotorsForward = 1, MotorsReverse = 2).
- If the light sensor measures a value greater than or equal to SensorLightThreshold (40) the motor is turned off (MotorsOn = 100, MotorsOff = 0). In addition to this a beep sound will be emitted (SoundBeepOff = 0, SoundBeepOn = 1).
If you want to play around with the model from Fig. 1 or use it as a basis for your own projects, feel free to download scade-example-0.9.tar.gz (2006-11-20; GnuPG Signature). There's also an example employing a rotation sensor in order to change the rotation direction of a moter after every 4th turn available (c.f. Fig. 2). Download scade-example-rot-0.9.3.tar.gz (2008-01-13; GnuPG Signature) if you want to have a look at it.
Note: scade2brick has only been tested with version 5.1 of the SCADE suite. There is a good chance that I will extent scade2brick in order to cover possible new features and code characteristics for SCADE 6 as soon as it is available.
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2. Code Generation
Code generation works almost automagically, but make sure to pay a short visit to the configuration settings (menu "Project" --> "Code Generator - Simulator" --> "Settings..."). On the "General" settings panel select "example" as the main node, the "KCG 4.2" as the code generator and verify that "Split to multiple files" is not checked. Move to the "Optimization" panel and tick "Internal variables", "User variables" as well as "Constants". Then click on "Generate Code" and remember where KCG puts the resulting files.3. Apply scade2brick
Now open Cygwin or a Un*x shell and run$ scade2brick <path to example.c> examplescade2brick will then parse "example.c", initialise its data structures and create a function that reads the sensor values and sets the output values according to the computations of the main node. The output of the scade2brick command will be a file "example.lx", which you can upload to the RCX and see whether it does what it is supposed to.