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v10.0.1.x for R2026a
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IO614 - CAN Write

IO614 - CAN Write — Send CAN message to the IO614 output buffer

Library

Simulink Real-Time - Speedgoat

Description

Each execution of a "CAN Write" block represents a CAN message being sent to the IO61X output buffer. Multiple instances of the block can be used to send messages at multiple rates.

The write buffer has the following size:

ModuleWrite Buffer Size
IO61096 messages
IO61196 messages
IO612101 messages
IO61396 messages
IO614101 messages

Depending on the selected baud rate and the "CAN Write" block sample times, it is important to not let the output buffer overflow. You can use the block status output port to verify this.

Ports

Which inputs are available depends on the "Message type" mask setting:

  • CAN: Only CAN message output is available

  • RAW: Data, Identifier, Length, Identifier Type and Timestamp outputs are available

Inputs
CAN Msg

The complete CAN message. Please use the "CAN Pack" block to create this message.

Data Types: CAN_MESSAGE

ID

The CAN message identifier.

Data Types: uint32

EFF

The identifier type (Extended Frame Format) of the CAN message.

  • 0: 11-bit identifier

  • 1: 29-bit extended identifier

Data Types: uint32

DLC

The length of the payload data (Data).

Data Types: uint32

Data

The payload data of the CAN message is 8 bytes.

Data Types: uint8(8)

[Note]Note

The Data input ports always expect 8 bytes. When less than 8 bytes need to be transmitted, the user must pad the input with zeros for the unused bytes; and set the DLC to the required number of bytes to transmit.

Outputs
Status

Indicates if the message supplied to the input ports has been successfully placed in the module's tx queue.

  • 0: The message was not successfully written to the send buffer.

  • 1: The message was successfully written to the send buffer.

This port can be enabled or disabled from the "Show status output port" in the dialog box for this driver block.

Data Types: uint32

Parameters

Module ID

Specifies the ID of the IO61X module this driver block should be connected to. It must correspond to the module ID of the according setup block. Check the setup block help for more details.

Sample Time

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

Send Message with Channel

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

Message Type

  • CAN: Use "CAN Pack" block to define the CAN message.

  • RAW: Manual definition of the CAN message without the "CAN Pack" block. Please see the CAN specification for the correct input values for the Identifier, Identifier Type, Length and Data.

Input as bus

Select this option for the block if the input CAN messages is a bus signal.

Enable Status Output Port

Adds the "Status" output port.