<root>
<document scada='0' schema='102' license='1,Bubthenib,RMFW7Y' title='' description='' fcversion='590080' target='PIC.18F.ECIO-40' >
	<config data='' clkspd='48000000' simspd='1' usewdt='0' constif='0' Use3V3='0' />
	<plugins >
		<dll_models enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<debug />
	<traces />
	<ghost >
		<FK2 >
			<data name='FK2D0' port='4294967295' pin='4294967295' />
			<data name='FK2D1' port='4294967295' pin='4294967295' />
			<data name='FK2D2' port='4294967295' pin='4294967295' />
			<data name='FK2D3' port='4294967295' pin='4294967295' />
			<data name='FK2D4' port='4294967295' pin='4294967295' />
			<data name='FK2D5' port='4294967295' pin='4294967295' />
			<data name='FK2D6' port='4294967295' pin='4294967295' />
			<data name='FK2D7' port='4294967295' pin='4294967295' />
			<data name='FK2D8' port='4294967295' pin='4294967295' />
			<data name='FK2D9' port='4294967295' pin='4294967295' />
			<data name='FK2D10' port='4294967295' pin='4294967295' />
			<data name='FK2D11' port='4294967295' pin='4294967295' />
			<data name='FK2D12' port='4294967295' pin='4294967295' />
			<data name='FK2D13' port='4294967295' pin='4294967295' />
			<data name='FK2D14' port='4294967295' pin='4294967295' />
			<data name='FK2D15' port='4294967295' pin='4294967295' />
			<data name='FK2A0' port='4294967295' pin='4294967295' />
			<data name='FK2A1' port='4294967295' pin='4294967295' />
			<data name='FK2A2' port='4294967295' pin='4294967295' />
			<data name='FK2A3' port='4294967295' pin='4294967295' />
			<data name='FK2A4' port='4294967295' pin='4294967295' />
			<data name='FK2A5' port='4294967295' pin='4294967295' />
		</FK2>
		<ICD >
			<data name='AnalogPrescaleValue' value='19' />
			<data name='DigitalSampleRate' value='100000' />
			<data name='BreakpointCount' value='8' />
			<data name='CallStackDepthCount' value='8' />
			<data name='ClockPort' value='2' />
			<data name='ClockPin' value='4' />
			<data name='DataPort' value='4' />
			<data name='DataPin' value='2' />
			<data name='UseDefaultPins' value='1' />
			<data name='WrapEnabled' value='1' />
			<data name='CommsDelayOverridden' value='0' />
			<data name='CommsDelay' value='4' />
			<data name='CalculatedCommsDelay' value='4' />
			<data name='AnalogEB2PrescaleValue' value='2' />
			<data name='DigitalEB2SampleRate' value='100000' />
		</ICD>
		<pins >
			<digital A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
			<analog A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
		</pins>
	</ghost>
	<components >
		<settings autoimg='0' center='1' unitscale='1' fixedscale='0' fixedx='1' fixedy='1' fixedz='1' headcode='0' />
		<definition guid='75a362f4-d74d-48e7-9790-530f4d0e78b6' vstate='40' vmin='1' vmaj='2' srcleaf='MPU-6050.fcfx' visiblename='Accel / Gyro 6-Axis' description='MPU-6050 Combined 6-Axis Accelerometer and Gyroscope sensors.
Useful for working out data such as Pitch and Roll.
Can be combined with a Magnetometer to also provide Yaw.' category='Movement &amp; Orientation' category2='' category3='' bIs2dOnly='0' catenable='1' author='Matrix Ltd' manuname='TDK' manucode='MPU-6050' sysinfo='1053483' keywords='' dynamic='1' scadaCompatible='1' embeddedCompatible='1' iconpath='..\..\icons\components\accelerometert.png' />
		<gdiopts FullContainer='1' FullTransparency='1' ShowGdi='1' ShowOpengl='1' />
		<component class_type='root' codename='MPU6050' x='0' y='0' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
			<resources />
			<properties >
				<property name='Device Specific' folder='property_1' hidden='0' >
					<property name='Address Bit AD0' target='AddressBit' typeid='16' hidden='0' locked='0' info='' filter='0000 - A0 Low
0011 - A0 High' />
					<property name='Gyro Range' target='GyroRange' typeid='16' hidden='0' locked='0' info='' filter='000+/- 250 Degs/Sec
001+/- 500 Degs/Sec
002+/- 1000 Degs/Sec
003+/- 2000 Degs/Sec' />
					<property name='Accel Range' target='AccelRange' typeid='16' hidden='0' locked='0' info='' filter='000+/- 2G
001+/- 4G
002+/- 8G
003+/- 16G' />
				</property>
				<property name='Connections' folder='property_2' hidden='0' >
					<property name='Channel' target='cal_i2c1::CHANNEL' typeid='16' hidden='0' locked='0' info='Channel selection' filter='000Software
001Channel 1
' />
					<property name='Baud Select' target='cal_i2c1::BAUD_LIST' typeid='16' hidden='0' locked='0' info='Baud rate option selector' filter='000Custom
001100KHz
002400KHz
0031MHz' />
					<property name='Baud Rate' target='cal_i2c1::BAUD' typeid='14' hidden='0' locked='1' info='Baud rate to be used' />
					<property name='SDA' target='cal_i2c1::SDA' typeid='5' hidden='0' locked='1' info='Pin used for SDA (data signal)' />
					<property name='SDA Remap Pin' target='cal_i2c1::SDAPins' typeid='16' hidden='1' locked='0' info='' filter='000$PORTC.0
001$PORTC.1
002$PORTC.2
003$PORTC.3
004$PORTC.4
005$PORTC.5
006$PORTC.6
007$PORTC.7
008$PORTB.0
009$PORTB.1
010$PORTB.2
011$PORTB.3
012$PORTB.4
013$PORTB.5
014$PORTB.6
015$PORTB.7' />
					<property name='SCL' target='cal_i2c1::SCL' typeid='5' hidden='0' locked='1' info='Pin used for SCL (clock signal)' />
					<property name='SCL Remap Pin' target='cal_i2c1::SCLPins' typeid='16' hidden='1' locked='0' info='' filter='000$PORTC.0
001$PORTC.1
002$PORTC.2
003$PORTC.3
004$PORTC.4
005$PORTC.5
006$PORTC.6
007$PORTC.7
008$PORTB.0
009$PORTB.1
010$PORTB.2
011$PORTB.3
012$PORTB.4
013$PORTB.5
014$PORTB.6
015$PORTB.7' />
					<property name='Stop Delay' target='cal_i2c1::StopDel' typeid='7' hidden='0' locked='0' info='On older microcontroller devices there is a potential for the I2C hardware channel to lock up if there is not 
a 10ms delay between an I2C stop event and the next I2C start event.

Most modern microcontrollers will not have a problem so this property can be disabled to speed up the 
I2C communications. ' />
				</property>
				<property name='Simulation' folder='property_3' hidden='0' >
					<property name='Simulate Comms' target='SimulateComms' typeid='7' hidden='0' locked='0' info='' />
					<property name='Comms Settings' folder='property_4' hidden='1' >
						<property name='Label' target='I2C_Master1::label' typeid='10' hidden='0' locked='0' info='Label shown on the comms flasher on the simulation panel.' />
						<property name='Scope Traces' target='cal_i2c1::ScopeTraces' typeid='7' hidden='0' locked='0' info='Selects if the component pin connections are automatically generated on the data recorder window or not.
Yes: Automatically add the component pins to a group on the data recorder which will reflect the sim data during simultion.
No: Do not show the pin signals on the data recorder window.' />
						<property name='Console Data' target='cal_i2c1::ConsoleData' typeid='7' hidden='0' locked='0' info='Selects if the console data is automatically generated or not' />
						<property name='Injector' target='cal_i2c1::Injector' typeid='16' hidden='0' locked='0' info='Specifies the injector component on the panel to interact with to provide comms simulation.' filter='000' />
					</property>
					<property name='AccelMult' target='AccelMult' typeid='15' hidden='1' locked='0' info='' />
					<property name='GyroMult' target='GyroMult' typeid='15' hidden='1' locked='0' info='' />
				</property>
			</properties>
			<values >
				<value target='AddressBit' data='000' />
				<value target='GyroRange' data='000' />
				<value target='AccelRange' data='000' />
				<value target='cal_i2c1::CHANNEL' data='001' />
				<value target='cal_i2c1::BAUD_LIST' data='001' />
				<value target='cal_i2c1::BAUD' data='100000' />
				<value target='cal_i2c1::SDA' data='$PORTB.0' />
				<value target='cal_i2c1::SDAPins' data='000' />
				<value target='cal_i2c1::SCL' data='$PORTB.1' />
				<value target='cal_i2c1::SCLPins' data='001' />
				<value target='cal_i2c1::StopDel' data='1' />
				<value target='SimulateComms' data='0' />
				<value target='I2C_Master1::label' data='MPU-6050' />
				<value target='cal_i2c1::ScopeTraces' data='1' />
				<value target='cal_i2c1::ConsoleData' data='1' />
				<value target='cal_i2c1::Injector' data='000' />
				<value target='AccelMult' data='16383.500000' />
				<value target='GyroMult' data='131.067993' />
			</values>
			<events >
				<event class='Components' event='Initialise' target='Ev_Initialise' />
				<event class='Components' event='Property' target='Ev_Property' />
			</events>
			<apis >
				<api name='GetAccelReading' alt='GetAccelReading' type='1' proto='1' />
				<api name='GetTempReadingReal' alt='GetTempReadingReal' type='1' proto='1' />
				<api name='SampleDevice' alt='SampleDeviceSim' type='1' proto='1' />
				<api name='GetGyroReadng' alt='GetGyroReadng' type='1' proto='1' />
				<api name='GetTempReadingInt' alt='GetTempReadingInt' type='1' proto='1' />
				<api name='ReadRegister' alt='ReadRegister' type='1' proto='1' />
				<api name='WriteRegister' alt='WriteRegister' type='1' proto='1' />
				<api name='Initialise' alt='InitialiseSim' type='1' proto='1' />
			</apis>
			<variables >
				<variable public='0' >
					<def class_type='variable' name='false' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Accel' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' >
						<array size='3' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Temperature' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Gyro' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' >
						<array size='3' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='true' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='InitialiseSim' description='Startup the I2C bus and configure the device.
Returns 0 if the device is ok and 255 if the device is not responding correctly.' statediag='0' >
						<return name='Return' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='SimulateComms' swap='0' >
							<flowline >
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Initialise' >
									<return exp='.Return' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='.Return = 0' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='GetAccelReading' description='Collects one of the accelerometer readings from the last sample.' statediag='0' >
						<return name='Return' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<param name='Axis' type='u8' description='0=X, 1=Y, 2=Z' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='.Return = Accel[.Axis]' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='GetTempReadingReal' description='Collects the temperature reading in degrees C as a floating point value.' statediag='0' >
						<return name='Return' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<command class_type='calculation' title='Calculate Temperature in Degrees C' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='.Return = int2float (Temperature)' />
							<exp exp='.Return = fdiv (.Return,340.0)' />
							<exp exp='.Return = fadd (.Return,36.53)' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Ev_Initialise' description='Initialisation routine for the component once the component is linked to its parent' statediag='0' >
						<return name='Return' type='u32' description='Non-zero to prevent initialisation' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='SampleDevice' description='Collects the accelerometer, gyro and temperature readings from the device,' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='Temp' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='data' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='14' />
						</local>
						<command class_type='calculation' title='Data start address' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='.data[0] = 59' />
						</command>
						<command class_type='call' title='Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='cal_i2c1' macro='Transaction_Write' >
							<argument exp='.data' />
							<argument exp='0x8001' />
						</command>
						<command class_type='call' title='Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='cal_i2c1' macro='Transaction_Read' >
							<argument exp='.data' />
							<argument exp='14' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Accel[0] = (.data[0] &lt;&lt; 8) | .data[1]' />
							<exp exp='Accel[1] = (.data[2] &lt;&lt; 8) | .data[3]' />
							<exp exp='Accel[2] = (.data[4] &lt;&lt; 8) | .data[5]' />
							<exp exp='Temperature = (.data[6] &lt;&lt; 8) | .data[7]' />
							<exp exp='Gyro[0] = (.data[8] &lt;&lt; 8) | .data[9]' />
							<exp exp='Gyro[1] = (.data[10] &lt;&lt; 8) | .data[11]' />
							<exp exp='Gyro[2] = (.data[12] &lt;&lt; 8) | .data[13]' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='GetGyroReadng' description='Collects one of the gyroscope readings from the last sample.' statediag='0' >
						<return name='Return' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<param name='Axis' type='u8' description='0=X, 1=Y, 2=Z' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='.Return = Gyro[.Axis]' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='SampleDeviceSim' description='Collects the accelerometer, gyro and temperature readings from the device,' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='f' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='SimulateComms' swap='0' >
							<flowline >
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='SampleDevice' />
								<command class_type='call' title='Call User Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='GetAccelReading' >
									<return exp='.f' />
									<argument exp='0' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='.f = .f / AccelMult' />
								</command>
								<command class_type='call' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelX' macro='SetValue' >
									<argument exp='.f' />
								</command>
								<command class_type='call' title='Call User Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='GetAccelReading' >
									<return exp='.f' />
									<argument exp='1' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='.f = .f / AccelMult' />
								</command>
								<command class_type='call' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelY' macro='SetValue' >
									<argument exp='.f' />
								</command>
								<command class_type='call' title='Call User Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='GetAccelReading' >
									<return exp='.f' />
									<argument exp='2' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='.f = .f / AccelMult' />
								</command>
								<command class_type='call' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelZ' macro='SetValue' >
									<argument exp='.f' />
								</command>
								<command class_type='call' title='Call User Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='GetGyroReadng' >
									<return exp='.f' />
									<argument exp='0' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='.f = .f / GyroMult' />
								</command>
								<command class_type='call' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroX' macro='SetValue' >
									<argument exp='.f' />
								</command>
								<command class_type='call' title='Call User Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='GetGyroReadng' >
									<return exp='.f' />
									<argument exp='1' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='.f = .f / GyroMult' />
								</command>
								<command class_type='call' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroY' macro='SetValue' >
									<argument exp='.f' />
								</command>
								<command class_type='call' title='Call User Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='GetGyroReadng' >
									<return exp='.f' />
									<argument exp='2' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='.f = .f / GyroMult' />
								</command>
								<command class_type='call' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroZ' macro='SetValue' >
									<argument exp='.f' />
								</command>
								<command class_type='call' title='Call User Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='GetTempReadingInt' >
									<return exp='.f' />
								</command>
								<command class_type='call' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Temp' macro='SetValue' >
									<argument exp='.f' />
								</command>
							</flowline>
							<flowline >
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Temp' macro='GetValue' >
									<return exp='Temperature' />
								</command>
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelX' macro='GetValue' >
									<return exp='.f' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Accel[0] = FLOAT AccelMult * .f' />
								</command>
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelY' macro='GetValue' >
									<return exp='.f' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Accel[1] = FLOAT AccelMult * .f' />
								</command>
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelZ' macro='GetValue' >
									<return exp='.f' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Accel[2] = FLOAT AccelMult * .f' />
								</command>
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroX' macro='GetValue' >
									<return exp='.f' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Gyro[0] = FLOAT GyroMult * .f' />
								</command>
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroY' macro='GetValue' >
									<return exp='.f' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Gyro[1] = FLOAT GyroMult * .f' />
								</command>
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroZ' macro='GetValue' >
									<return exp='.f' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Gyro[2] = FLOAT GyroMult * .f' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Ev_Property' description='Sent when a property has been changed by the User' statediag='0' >
						<return name='Return' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='AddressBit &gt; 1' swap='0' >
							<flowline >
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetValue' >
									<argument exp='this' />
									<argument exp='&quot;AddressBit&quot;' />
									<argument exp='1' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='switch' title='Switch' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='AccelRange' >
							<case >
								<flowline >
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelX' macro='SetRange' >
										<argument exp='-2' />
										<argument exp='2' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelY' macro='SetRange' >
										<argument exp='-2' />
										<argument exp='2' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelZ' macro='SetRange' >
										<argument exp='-2' />
										<argument exp='2' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetValue' >
										<argument exp='this' />
										<argument exp='&quot;AccelMult&quot;' />
										<argument exp='32767.0 / 2.0' />
									</command>
								</flowline>
							</case>
							<case exp='1' >
								<flowline >
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelX' macro='SetRange' >
										<argument exp='-4' />
										<argument exp='4' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelY' macro='SetRange' >
										<argument exp='-4' />
										<argument exp='4' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelZ' macro='SetRange' >
										<argument exp='-4' />
										<argument exp='4' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetValue' >
										<argument exp='this' />
										<argument exp='&quot;AccelMult&quot;' />
										<argument exp='32767.0 / 4.0' />
									</command>
								</flowline>
							</case>
							<case exp='2' >
								<flowline >
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelX' macro='SetRange' >
										<argument exp='-8' />
										<argument exp='8' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelY' macro='SetRange' >
										<argument exp='-8' />
										<argument exp='8' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelZ' macro='SetRange' >
										<argument exp='-8' />
										<argument exp='8' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetValue' >
										<argument exp='this' />
										<argument exp='&quot;AccelMult&quot;' />
										<argument exp='32767.0 / 8.0' />
									</command>
								</flowline>
							</case>
							<case exp='3' >
								<flowline >
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelX' macro='SetRange' >
										<argument exp='-16' />
										<argument exp='16' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelY' macro='SetRange' >
										<argument exp='-16' />
										<argument exp='16' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='AccelZ' macro='SetRange' >
										<argument exp='-16' />
										<argument exp='16' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetValue' >
										<argument exp='this' />
										<argument exp='&quot;AccelMult&quot;' />
										<argument exp='32767.0 / 16.0' />
									</command>
								</flowline>
							</case>
						</command>
						<command class_type='switch' title='Switch' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='GyroRange' >
							<case >
								<flowline >
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroX' macro='SetRange' >
										<argument exp='-250' />
										<argument exp='250' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroY' macro='SetRange' >
										<argument exp='-250' />
										<argument exp='250' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroZ' macro='SetRange' >
										<argument exp='-250' />
										<argument exp='250' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetValue' >
										<argument exp='this' />
										<argument exp='&quot;GyroMult&quot;' />
										<argument exp='32767.0 / 250.0' />
									</command>
								</flowline>
							</case>
							<case exp='1' >
								<flowline >
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroX' macro='SetRange' >
										<argument exp='-500' />
										<argument exp='500' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroY' macro='SetRange' >
										<argument exp='-500' />
										<argument exp='500' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroZ' macro='SetRange' >
										<argument exp='-500' />
										<argument exp='500' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetValue' >
										<argument exp='this' />
										<argument exp='&quot;GyroMult&quot;' />
										<argument exp='32767.0 / 500.0' />
									</command>
								</flowline>
							</case>
							<case exp='2' >
								<flowline >
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroX' macro='SetRange' >
										<argument exp='-1000' />
										<argument exp='1000' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroY' macro='SetRange' >
										<argument exp='-1000' />
										<argument exp='1000' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroZ' macro='SetRange' >
										<argument exp='-1000' />
										<argument exp='1000' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetValue' >
										<argument exp='this' />
										<argument exp='&quot;GyroMult&quot;' />
										<argument exp='32767.0 / 1000.0' />
									</command>
								</flowline>
							</case>
							<case exp='3' >
								<flowline >
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroX' macro='SetRange' >
										<argument exp='-2000' />
										<argument exp='2000' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroY' macro='SetRange' >
										<argument exp='-2000' />
										<argument exp='2000' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='GyroZ' macro='SetRange' >
										<argument exp='-2000' />
										<argument exp='2000' />
									</command>
									<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetValue' >
										<argument exp='this' />
										<argument exp='&quot;GyroMult&quot;' />
										<argument exp='32767.0 / 2000.0' />
									</command>
								</flowline>
							</case>
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='SimulateComms' swap='0' >
							<flowline >
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetVisible' >
									<argument exp='this' />
									<argument exp='&quot;property_4&quot;' />
									<argument exp='1' />
								</command>
							</flowline>
							<flowline >
								<command class_type='sim' title='Simulation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Component.Property.SetVisible' >
									<argument exp='this' />
									<argument exp='&quot;property_4&quot;' />
									<argument exp='0' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='GetTempReadingInt' description='Collects the temperature reading in degrees C as an integer value.' statediag='0' >
						<return name='Return' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='Temp' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<command class_type='calculation' title='Calculate Temperature in Degrees C' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='.Temp = int2float (Temperature)' />
							<exp exp='.Temp = fdiv (.Temp,340.0)' />
							<exp exp='.Temp = fadd (.Temp,36.53)' />
							<exp exp='.Return = float2int (.Temp)' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='ReadRegister' description='Reads the value from one of the registers onboard the device.' statediag='0' >
						<return name='Return' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<param name='Address' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='data' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='1' />
						</local>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='.data[0] = .Address' />
						</command>
						<command class_type='call' title='Write data array - no stop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='cal_i2c1' macro='Transaction_Write' >
							<argument exp='.data' />
							<argument exp='0x8001' />
						</command>
						<command class_type='call' title='Read data array' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='cal_i2c1' macro='Transaction_Read' >
							<argument exp='.data' />
							<argument exp='1' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='.Return = .data[0]' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Ev_Initialise' />
						<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Initialise' />
						<command class_type='loop' title='Loop' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='1' >
							<flowline >
								<command class_type='call' title='Call Component Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='SampleDevice' />
								<command class_type='delay' title='Delay' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='2' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='WriteRegister' description='Sets the value of one of the registers on the device.' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<param name='Address' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<param name='Value' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='Temp' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='data' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='2' />
						</local>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='.data[0] = .Address' />
							<exp exp='.data[1] = .Value' />
						</command>
						<command class_type='call' title='Write data array' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='cal_i2c1' macro='Transaction_Write' >
							<argument exp='.data' />
							<argument exp='2' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Initialise' description='Startup the I2C bus and configure the device.
Returns 0 if the device is ok and 255 if the device is not responding correctly.' statediag='0' >
						<return name='Return' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='call' title='Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='cal_i2c1' macro='Master_Init' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='AddressBit' swap='0' >
							<flowline >
								<command class_type='call' title='Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='cal_i2c1' macro='Transaction_Initialise' >
									<argument exp='0x69' />
								</command>
							</flowline>
							<flowline >
								<command class_type='call' title='Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='cal_i2c1' macro='Transaction_Initialise' >
									<argument exp='0x68' />
								</command>
							</flowline>
						</command>
						<command class_type='call' title='Read WhoAmIRegister' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='ReadRegister' >
							<return exp='.Return' />
							<argument exp='117' />
						</command>
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