Example of accessing the IMU data on-board

Demo_Crazyflie_IMU/DataView.asn

+TASTE-Dataview DEFINITIONS ::=
+BEGIN
+IMPORTS T-Int32, T-UInt32, T-Int8, T-UInt8, T-Boolean FROM TASTE-BasicTypes;
+
+-- A few simple types to start with ASN.1
+MyInteger   ::= T-UInt8
+
+MyReal      ::= REAL (0.0 .. 1000.0)
+
+MyBool      ::= BOOLEAN
+
+MyEnum      ::= ENUMERATED { hello, world, howareyou }
+
+MySeq       ::= SEQUENCE {
+    input-data  MyInteger,
+    output-data MyInteger,
+    validity    ENUMERATED { valid, invalid }
+}
+
+MyChoice    ::= CHOICE {
+    a BOOLEAN,
+    b MySeq
+}
+
+MySeqOf     ::= SEQUENCE (SIZE (2)) OF MyEnum
+
+MyOctStr    ::= OCTET STRING (SIZE (3))
+
+-- You can also declare constants
+myVar       MySeqOf     ::= { hello, world }
+
+-- Gyroscope
+MyGyroVal ::= REAL (-100000.0 .. 100000.0)
+
+-- Acceleration
+MyAccVal  ::= REAL (-16.0 .. 16.0)
+
+END
+

Demo_Crazyflie_IMU/DeploymentView.aadl

+---------------------------------------------------
+-- AADL2.0
+-- TASTE
+-- 
+-- 
+---------------------------------------------------
+
+PACKAGE deploymentview::DV::Node1
+PUBLIC
+
+WITH Taste;
+WITH Deployment;
+WITH TASTE_DV_Properties;
+PROCESS cortex_m_partition
+END cortex_m_partition;
+
+PROCESS IMPLEMENTATION cortex_m_partition.others
+END cortex_m_partition.others;
+
+END deploymentview::DV::Node1;
+
+PACKAGE deploymentview::DV
+PUBLIC
+
+WITH ocarina_processors_arm;
+WITH deploymentview::DV::Node1;
+WITH Taste;
+WITH Deployment;
+WITH interfaceview::IV;
+WITH TASTE_DV_Properties;
+SYSTEM Node1
+END Node1;
+
+SYSTEM IMPLEMENTATION Node1.others
+SUBCOMPONENTS
+  IV_Control_Laws : SYSTEM interfaceview::IV::Control_Laws.others {
+    Taste::coordinates => "1123 199 1165 254";
+    Taste::FunctionName => "Control_Laws";
+  };
+  IV_Copter_IMU : SYSTEM interfaceview::IV::Copter_IMU.others {
+    Taste::coordinates => "1030 194 1095 268";
+    Taste::FunctionName => "Copter_IMU";
+  };
+  cortex_m_partition : PROCESS deploymentview::DV::Node1::cortex_m_partition.others {
+    Taste::coordinates => "980 137 1190 292";
+    Deployment::Port_Number => 0;
+  };
+  cortex_m_i : PROCESSOR ocarina_processors_arm::cortex_m.i {
+    Taste::coordinates => "972 106 1213 301";
+  };
+PROPERTIES
+  Taste::APLC_Binding => (reference (cortex_m_partition)) APPLIES TO IV_Control_Laws;
+  Taste::APLC_Binding => (reference (cortex_m_partition)) APPLIES TO IV_Copter_IMU;
+  Actual_Processor_Binding => (reference (cortex_m_i)) APPLIES TO cortex_m_partition;
+END Node1.others;
+
+SYSTEM deploymentview
+END deploymentview;
+
+SYSTEM IMPLEMENTATION deploymentview.others
+SUBCOMPONENTS
+  Node1 : SYSTEM Node1.others {
+    Taste::coordinates => "882 80 1235 333";
+  };
+  interfaceview : SYSTEM interfaceview::IV::interfaceview.others;
+END deploymentview.others;
+
+PROPERTIES
+  Taste::coordinates => "0 0 2970 2100";
+  Taste::version => "1.3.19";
+  Taste::interfaceView => "InterfaceView.aadl";
+  Taste::HWLibraries => ("../../tool-inst/share/ocarina/AADLv2/ocarina_components.aadl");
+END deploymentview::DV;
+

Demo_Crazyflie_IMU/InterfaceView.aadl

+---------------------------------------------------
+-- AADL2.0
+-- TASTE
+-- 
+-- 
+---------------------------------------------------
+
+PACKAGE interfaceview::FV::Copter_IMU
+PUBLIC
+
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+SUBPROGRAM PI_Pulse
+PROPERTIES
+  Taste::Associated_Queue_Size => 1;
+END PI_Pulse;
+
+SUBPROGRAM IMPLEMENTATION PI_Pulse.others
+END PI_Pulse.others;
+
+SUBPROGRAM RI_Get_IMU_Data
+FEATURES
+  gyro_X : IN PARAMETER DataView::MyGyroVal {
+    Taste::encoding => NATIVE;
+  };
+  gyro_Y : IN PARAMETER DataView::MyGyroVal {
+    Taste::encoding => NATIVE;
+  };
+  gyro_Z : IN PARAMETER DataView::MyGyroVal {
+    Taste::encoding => NATIVE;
+  };
+  acc_X : IN PARAMETER DataView::MyAccVal {
+    Taste::encoding => NATIVE;
+  };
+  acc_Y : IN PARAMETER DataView::MyAccVal {
+    Taste::encoding => NATIVE;
+  };
+  acc_Z : IN PARAMETER DataView::MyAccVal {
+    Taste::encoding => NATIVE;
+  };
+END RI_Get_IMU_Data;
+
+SUBPROGRAM IMPLEMENTATION RI_Get_IMU_Data.others
+END RI_Get_IMU_Data.others;
+
+END interfaceview::FV::Copter_IMU;
+
+PACKAGE interfaceview::FV::Control_Laws
+PUBLIC
+
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+SUBPROGRAM PI_Get_IMU_Data
+FEATURES
+  gyro_X : IN PARAMETER DataView::MyGyroVal {
+    Taste::encoding => NATIVE;
+  };
+  gyro_Y : IN PARAMETER DataView::MyGyroVal {
+    Taste::encoding => NATIVE;
+  };
+  gyro_Z : IN PARAMETER DataView::MyGyroVal {
+    Taste::encoding => NATIVE;
+  };
+  acc_X : IN PARAMETER DataView::MyAccVal {
+    Taste::encoding => NATIVE;
+  };
+  acc_Y : IN PARAMETER DataView::MyAccVal {
+    Taste::encoding => NATIVE;
+  };
+  acc_Z : IN PARAMETER DataView::MyAccVal {
+    Taste::encoding => NATIVE;
+  };
+PROPERTIES
+  Taste::Associated_Queue_Size => 1;
+END PI_Get_IMU_Data;
+
+SUBPROGRAM IMPLEMENTATION PI_Get_IMU_Data.others
+END PI_Get_IMU_Data.others;
+
+END interfaceview::FV::Control_Laws;
+
+PACKAGE interfaceview::IV
+PUBLIC
+
+WITH interfaceview::FV::Copter_IMU;
+WITH interfaceview::FV::Control_Laws;
+WITH interfaceview::FV;
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+SYSTEM Copter_IMU
+FEATURES
+  PI_Pulse : PROVIDES SUBPROGRAM ACCESS interfaceview::FV::Copter_IMU::PI_Pulse.others {
+    Taste::coordinates => "815 554";
+    Taste::RCMoperationKind => cyclic;
+    Taste::RCMperiod => 50 ms;
+    Taste::Deadline => 0 ms;
+    Taste::InterfaceName => "Pulse";
+  };
+  RI_Get_IMU_Data : REQUIRES SUBPROGRAM ACCESS interfaceview::FV::Control_Laws::PI_Get_IMU_Data.others {
+    Taste::coordinates => "1175 770";
+    Taste::RCMoperationKind => any;
+    Taste::InterfaceName => "Get_IMU_Data";
+    Taste::labelInheritance => "true";
+  };
+PROPERTIES
+  Source_Language => (Ada);
+END Copter_IMU;
+
+SYSTEM IMPLEMENTATION Copter_IMU.others
+SUBCOMPONENTS
+  Pulse_impl : SUBPROGRAM interfaceview::FV::Copter_IMU::PI_Pulse.others {
+    Compute_Execution_Time => 0 ms .. 0 ms;
+  };
+CONNECTIONS
+  OpToPICnx_Pulse_impl : SUBPROGRAM ACCESS Pulse_impl -> PI_Pulse;
+END Copter_IMU.others;
+
+SYSTEM Control_Laws
+FEATURES
+  PI_Get_IMU_Data : PROVIDES SUBPROGRAM ACCESS interfaceview::FV::Control_Laws::PI_Get_IMU_Data.others {
+    Taste::coordinates => "1652 749";
+    Taste::RCMoperationKind => unprotected;
+    Taste::RCMperiod => 0 ms;
+    Taste::Deadline => 0 ms;
+    Taste::InterfaceName => "Get_IMU_Data";
+  };
+PROPERTIES
+  Source_Language => (C);
+END Control_Laws;
+
+SYSTEM IMPLEMENTATION Control_Laws.others
+SUBCOMPONENTS
+  Get_IMU_Data_impl : SUBPROGRAM interfaceview::FV::Control_Laws::PI_Get_IMU_Data.others {
+    Compute_Execution_Time => 0 ms .. 0 ms;
+  };
+CONNECTIONS
+  OpToPICnx_Get_IMU_Data_impl : SUBPROGRAM ACCESS Get_IMU_Data_impl -> PI_Get_IMU_Data;
+END Control_Laws.others;
+
+SYSTEM interfaceview
+END interfaceview;
+
+SYSTEM IMPLEMENTATION interfaceview.others
+SUBCOMPONENTS
+  Copter_IMU : SYSTEM interfaceview::IV::Copter_IMU.others {
+    Taste::coordinates => "477 554 1175 1288";
+  };
+  Control_Laws : SYSTEM interfaceview::IV::Control_Laws.others {
+    Taste::coordinates => "1652 641 2242 1216";
+  };
+CONNECTIONS
+  Control_Laws_Get_IMU_Data_Copter_IMU_Get_IMU_Data : SUBPROGRAM ACCESS Control_Laws.PI_Get_IMU_Data -> Copter_IMU.RI_Get_IMU_Data {
+    Taste::coordinates => "1175 770 1413 770 1413 749 1652 749";
+  };
+END interfaceview.others;
+
+PROPERTIES
+  Taste::dataView => ("DataView");
+  Taste::dataViewPath => ("DataView.aadl");
+  Taste::coordinates => "0 0 2970 2100";
+  Taste::version => "1.3.19";
+END interfaceview::IV;
+
+PACKAGE interfaceview::FV
+PUBLIC
+
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+END interfaceview::FV;
+

Demo_Crazyflie_IMU/InterfaceView.md5

+1a581aa60db79a447f265befdf5d7465  InterfaceView.aadl

Demo_Crazyflie_IMU/build-script.sh

+#!/bin/bash
+
+# This script will build your TASTE system (by default with the C runtime).
+
+# You should not change this file as it was automatically generated.
+
+# If you need additional preprocessing, create a file named 'user_init_pre.sh'
+# and/or 'user_init_post.sh - They will never get overwritten.'
+
+# Inside these files you may set some environment variables:
+#    C_INCLUDE_PATH=/usr/include/xenomai/analogy/:${C_INCLUDE_PATH}
+unset USE_POHIC   
+unset USE_POHIADA
+
+CWD=$(pwd)
+
+[ -z "$ADA_PROJECT_PATH" ] && \
+    export ADA_PROJECT_PATH=$HOME/GitHub/Certyflie/Ada_Drivers_Library/boards
+
+if [ -t 0 ] ; then
+    COLORON="\e[1m\e[32m"
+    COLOROFF="\e[0m"
+else
+    COLORON=""
+    COLOROFF=""
+fi
+INFO="${COLORON}[INFO]${COLOROFF}"
+
+if [ -f user_init_pre.sh ]
+then
+    echo -e "${INFO} Executing user-defined init script"
+    source user_init_pre.sh
+fi
+
+# Detect models from Ellidiss tools v2, and convert them to 1.3
+INTERFACEVIEW=InterfaceView.aadl
+grep "version => \"2" InterfaceView.aadl >/dev/null && {
+    echo -e "${INFO} Converting interface view from V2 to V1.3"
+    TASTE --load-interface-view InterfaceView.aadl --export-interface-view-to-1_3 __iv_1_3.aadl
+    INTERFACEVIEW=__iv_1_3.aadl
+};
+
+if [ -z "$DEPLOYMENTVIEW" ]
+then
+    DEPLOYMENTVIEW=DeploymentView.aadl
+fi
+
+# Detect models from Ellidiss tools v2, and convert them to 1.3
+grep "version => \"2" "$DEPLOYMENTVIEW" >/dev/null && {
+    echo -e "${INFO} Converting deployment view from V2 to V1.3"
+    TASTE --load-deployment-view "$DEPLOYMENTVIEW" --export-deployment-view-to-1_3 __dv_1_3.aadl
+    DEPLOYMENTVIEW=__dv_1_3.aadl
+};
+
+SKELS="./"
+
+# Update the data view with local paths
+taste-update-data-view
+
+cd "$SKELS" && rm -f copter_imu.zip && zip copter_imu copter_imu/* && cd $OLDPWD
+
+cd "$SKELS" && rm -f control_laws.zip && zip control_laws control_laws/* && cd $OLDPWD
+
+[ ! -z "$CLEANUP" ] && rm -rf binary*
+
+if [ -f ConcurrencyView.pro ]
+then
+    ORCHESTRATOR_OPTIONS+=" -w ConcurrencyView.pro "
+fi
+
+if [ ! -z "$USE_POHIC" ]
+then
+    OUTPUTDIR=binary.c
+    ORCHESTRATOR_OPTIONS+=" -p "
+elif [ ! -z "$USE_POHIADA" ]
+then
+    OUTPUTDIR=binary.ada
+else
+    OUTPUTDIR=binary
+fi
+
+if [ -f user_init_post.sh ]
+then
+    echo -e "${INFO} Executing user-defined init script"
+    source user_init_post.sh
+fi
+
+cd "$CWD" && assert-builder-ocarina.py \
+	--fast \
+	--debug \
+	--aadlv2 \
+	--keep-case \
+	--interfaceView "$INTERFACEVIEW" \
+	--deploymentView "$DEPLOYMENTVIEW" \
+	-o "$OUTPUTDIR" \
+	--subAda copter_imu:"$SKELS"/copter_imu.zip \
+	--subC control_laws:"$SKELS"/control_laws.zip \
+    --with-extra-Ada-code cortex_m_partition:$HOME/GitHub/Certyflie/config \
+    --with-extra-Ada-code cortex_m_partition:$HOME/GitHub/Certyflie/drivers \
+    --with-extra-Ada-code cortex_m_partition:$HOME/GitHub/Certyflie/hal \
+	--with-extra-Ada-code cortex_m_partition:$HOME/GitHub/Certyflie/lib \
+	--with-extra-Ada-code cortex_m_partition:$HOME/GitHub/Certyflie/modules \
+	--with-extra-Ada-code cortex_m_partition:$HOME/GitHub/Certyflie/modules/mahony \
+	--with-extra-Ada-code cortex_m_partition:$HOME/GitHub/Certyflie/types \
+    --with-extra-Ada-code cortex_m_partition:$HOME/GitHub/Certyflie/utils \
+
+    $ORCHESTRATOR_OPTIONS || exit 1
+
+arm-eabi-objcopy -O binary binary/binaries/cortex_m_partition binary/binaries/cortex_m_partition.flash_image
+
+echo -e "\nNow burn the new image with:\n"
+echo "   sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 \\"
+echo "       -D binary/binaries/cortex_m_partition.flash_image"

Demo_Crazyflie_IMU/control_laws/Simulink_DataView_asn.m

+MyBool = Simulink.AliasType;
+MyBool.BaseType = 'boolean';
+MyBool.Description = 'A simple BOOLEAN';
+
+T_Int8 = Simulink.AliasType;
+T_Int8.BaseType = 'int8';
+T_Int8.Description = 'range is (-128, 127)';
+
+T_UInt32 = Simulink.AliasType;
+T_UInt32.BaseType = 'uint32';
+T_UInt32.Description = 'range is (0, 4294967295)';
+
+% Values for MyEnum:
+MyEnum_value_hello = 0;
+MyEnum_value_world = 1;
+MyEnum_value_howareyou = 2;
+MyEnum = Simulink.AliasType;
+MyEnum.BaseType = 'int32';
+MyEnum.Description = 'values of ENUMERATED MyEnum';
+
+
+T_UInt8 = Simulink.AliasType;
+T_UInt8.BaseType = 'uint8';
+T_UInt8.Description = 'range is (0, 255)';
+
+MyInteger = Simulink.AliasType;
+MyInteger.BaseType = 'uint8';
+MyInteger.Description = 'range is (0, 255)';
+
+% Values for MySeq-validity:
+MySeq_validity_value_valid = 0;
+MySeq_validity_value_invalid = 1;
+MySeq_validity = Simulink.AliasType;
+MySeq_validity.BaseType = 'int32';
+MySeq_validity.Description = 'values of ENUMERATED MySeq-validity';
+
+
+MySeq_elem01=Simulink.BusElement;
+MySeq_elem01.name='input_data';
+MySeq_elem01.DataType='uint8';
+MySeq_elem01.dimensions=1;
+
+MySeq_elem02=Simulink.BusElement;
+MySeq_elem02.name='output_data';
+MySeq_elem02.DataType='uint8';
+MySeq_elem02.dimensions=1;
+
+MySeq_elem03=Simulink.BusElement;
+MySeq_elem03.name='validity';
+MySeq_elem03.DataType='int32';
+MySeq_elem03.dimensions=1;
+
+MySeq = Simulink.Bus;
+MySeq.Elements = [MySeq_elem01 MySeq_elem02 MySeq_elem03 ];
+
+MyChoice_elem01=Simulink.BusElement;
+MyChoice_elem01.name='choiceIdx';
+MyChoice_elem01.DataType='uint8';
+MyChoice_elem01.dimensions=1;
+
+MyChoice_elem02=Simulink.BusElement;
+MyChoice_elem02.name='a';
+MyChoice_elem02.DataType='boolean';
+MyChoice_elem02.dimensions=1;
+
+MyChoice_elem03=Simulink.BusElement;
+MyChoice_elem03.name='b';
+MyChoice_elem03.DataType='MySeq';
+MyChoice_elem03.dimensions=1;
+
+MyChoice = Simulink.Bus;
+MyChoice.Elements = [MyChoice_elem01 MyChoice_elem02 MyChoice_elem03 ];
+
+MyOctStr_member_data=Simulink.BusElement;
+MyOctStr_member_data.name='element_data';
+MyOctStr_member_data.DataType='uint8';
+MyOctStr_member_data.dimensions=3;
+
+MyOctStr=Simulink.Bus;
+MyOctStr.Elements = [MyOctStr_member_data ];
+
+MySeqOf_member_data=Simulink.BusElement;
+MySeqOf_member_data.name='element_data';
+MySeqOf_member_data.DataType='int32';
+MySeqOf_member_data.dimensions=2;
+
+MySeqOf=Simulink.Bus;
+MySeqOf.Elements = [MySeqOf_member_data ];
+
+MyGyroVal = Simulink.AliasType;
+MyGyroVal.BaseType = 'double';
+MyGyroVal.Description = 'range is (-100000.0, 100000.0)';
+
+T_Boolean = Simulink.AliasType;
+T_Boolean.BaseType = 'boolean';
+T_Boolean.Description = 'A simple BOOLEAN';
+
+MyAccVal = Simulink.AliasType;
+MyAccVal.BaseType = 'double';
+MyAccVal.Description = 'range is (-16.0, 16.0)';
+
+T_Int32 = Simulink.AliasType;
+T_Int32.BaseType = 'int32';
+T_Int32.Description = 'range is (-2147483648, 2147483647)';
+
+MyReal = Simulink.AliasType;
+MyReal.BaseType = 'double';
+MyReal.Description = 'range is (0.0, 1000.0)';
+

Demo_Crazyflie_IMU/control_laws/control_laws.c

+/* User code: This file will not be overwritten by TASTE. */
+
+#include "control_laws.h"
+
+void control_laws_startup()
+{
+    /* Write your initialization code here,
+       but do not make any call to a required interface. */
+}
+
+void control_laws_PI_Get_IMU_Data(const asn1SccMyGyroVal *IN_gyro_X,
+                                  const asn1SccMyGyroVal *IN_gyro_Y,
+                                  const asn1SccMyGyroVal *IN_gyro_Z,
+                                  const asn1SccMyAccVal *IN_acc_X,
+                                  const asn1SccMyAccVal *IN_acc_Y,
+                                  const asn1SccMyAccVal *IN_acc_Z)
+{
+    /* Write your code here! */
+    asn1SccMyGyroVal gyro_x = *IN_gyro_X;
+    asn1SccMyGyroVal gyro_y = *IN_gyro_Y;
+    asn1SccMyGyroVal gyro_z = *IN_gyro_Z;
+    
+    asn1SccMyGyroVal acc_x = *IN_acc_X;
+    asn1SccMyGyroVal acc_y = *IN_acc_Y;
+    asn1SccMyGyroVal acc_z = *IN_acc_Z;
+
+}
+

Demo_Crazyflie_IMU/control_laws/control_laws.h

+/* This file was generated automatically: DO NOT MODIFY IT ! */
+
+/* Declaration of the functions that have to be provided by the user */
+
+#ifndef __USER_CODE_H_control_laws__
+#define __USER_CODE_H_control_laws__
+
+#include "C_ASN1_Types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void control_laws_startup();
+
+void control_laws_PI_Get_IMU_Data(const asn1SccMyGyroVal *,
+                                  const asn1SccMyGyroVal *,
+                                  const asn1SccMyGyroVal *,
+                                  const asn1SccMyAccVal *,
+                                  const asn1SccMyAccVal *,
+                                  const asn1SccMyAccVal *);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif

Demo_Crazyflie_IMU/control_laws/control_laws_script.m

+run Simulink_DataView_asn;
+
+inports_positions = zeros(6, 4);
+bussel_positions = zeros(6, 4);
+outports_positions = zeros(0, 4);
+buscre_positions = zeros(0, 4);
+
+if (exist('Get_IMU_Data') == 4),
+	simulink('open');
+	load_system('Get_IMU_Data');
+	open_system('Get_IMU_Data');
+	inportHan = find_system('Get_IMU_Data','FindAll','on', 'SearchDepth', 1, 'BlockType','Inport');
+	outportHan = find_system('Get_IMU_Data','FindAll','on', 'SearchDepth', 1, 'BlockType','Outport');
+	% ---------------------------------------------------------------------------------
+	% start by removing the Bus Selectors / then lines / finally ports 
+	% ---------------------------------------------------------------------------------
+	% get the handles of all the lines connected to inports 
+	for i=1:length(inportHan)
+		inports_positions(i,:) = get_param(inportHan(i),'Position'); % remember Inport's position
+		line_structsIn(i)=get_param(inportHan(i),'LineHandles'); % get the structures
+		inLinesHan(i)=line_structsIn(i).Outport;	% get the line connected to the block's Outport
+		if (inLinesHan(i) ~= -1) % if exists
+			dstBlock = get_param(inLinesHan(i),'DstBlockHandle'); % get the destination block's handle
+			if (strcmp(get_param(dstBlock,'BlockType'),'BusSelector'))
+				bussel_positions(i,:) = get_param(dstBlock,'Position'); % remember Bus Selector's position
+				blockLineStructs = get_param(dstBlock,'LineHandles'); % get the line connected structures
+				blockLineHandles = blockLineStructs.Outport; % get the line handlers connected to the bus's outports
+				for j=1:length(blockLineHandles)
+					if (blockLineHandles(j) ~= -1)
+						delete(blockLineHandles(j));
+					end
+				end
+				delete_block(dstBlock); % delete it if it is a Bus Selector Block
+			end
+			delete(inLinesHan(i)); % delete the respective line
+		end
+		delete_block(inportHan(i)); % delete the outdated inport block
+	end
+	% now remove the outports
+	for i=1:length(outportHan)
+		outports_positions(i,:) = get_param(outportHan(i),'Position'); % remember Outport's position
+		line_structsOut(i)=get_param(outportHan(i),'LineHandles'); % get the structures
+		outLinesHan(i)=line_structsOut(i).Inport;	% get the line connected to the block's Inport
+		if (outLinesHan(i) ~= -1) % if exists
+			srcBlock = get_param(outLinesHan(i),'SrcBlockHandle'); % get the source block's handle
+			if (strcmp(get_param(srcBlock,'BlockType'),'BusCreator'))
+				buscre_positions(i,:) = get_param(srcBlock,'Position'); % remember Bus Creator's position
+				blockLineStructs = get_param(srcBlock,'LineHandles'); % get the line connected structures
+				blockLineHandles = blockLineStructs.Inport; % get the line handlers connected to the bus's outports
+				for j=1:length(blockLineHandles)
+					if (blockLineHandles(j) ~= -1)
+						delete(blockLineHandles(j));
+					end
+				end
+				delete_block(srcBlock); % delete it if it is a Bus Creator Block
+			end