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v10.0.1.x for R2026a
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IO613 - CAN-FD Read

IO613 - CAN-FD Read — Read CAN-FD message from one channel of the IO613

Library

Simulink Real-Time - Speedgoat

Description

The "CAN Read" block reads messages from one channel of the IO61X input queue.

In each execution step it reads one message and indicates if there are more messages available.

See the "CAN" section in the "Usage notes" to find out how this block can be used in a "do...while" subsystem to prevent a possible overflow of the read buffer.

Ports

Outputs
Data present [boolean]

Status signal is "1" if new data is available and otherwise "0".

CAN-FD Msg

The complete CAN-FD message. Please use the "CAN-FD Unpack" block to resolve the data.

ID [uint32]

Identifier of the CAN message

EFF [uint32]

Identifier type (Extended Frame Format) of the CAN message

  • 0: 11-bit identifier

  • 1: 29-bit extended identifier

DLC [uint32]

Length of the payload data. Refer to the CAN-FD Write block for a translation table of the DLC codes.

BRS [uint32]

Bitrate Shift

  • 0: The data will be sent with the baud rate of the arbitration phase (Standard baud rate).

  • 1: The data will be sent with the Fast Data baud rate configured in the Setup block.

Timestamp [uint32]

The timestamp for receipt of the CAN message. The resolution is 1µs, so in order to get a double value in seconds, the block's output must be converted to double and multiplied by 1e-6. This 1µs resolution is given by the hardware implementation of the IO61X module. The time is reset to zero at each model start.

Data [uint8(64)]

Payload data of the CAN-FD message.

Parameters

Module ID

This ID defines the link to the corresponding Setup block

Sample Time

Defines the base sample time at which this driver block gets its sample hit. This parameter can also be set to -1 for inherited sample time. The units are in seconds.

Read Message from channel

Choose the CAN-FD channel to which this driver block should be connected.

Message Type

Defines how the CAN message is represented at the block outputs.

  • CAN-FD: Only one "CAN-FD Msg" output port is available. It will always be connected to one or multiple "CAN-FD Unpack" blocks.

  • RAW: The message content is presented through five output ports: "ID", "EFF", "DLC", "BRS", "Timestamp" and "Data".

  • CAN + RAW: Both versions are displayed.