Documentation

Module ID

The Module ID must be unique among all IO611 Setup blocks in your model. It has two functions:

• It defines the logical connection to associate the Setup, Read and Write blocks with each other.

• It is relevant for the PCI slot auto-search feature: If only one IO614 is installed, the Module ID must be set to 1. If n modules are installed, it must be in the range 1:n. Not all the modules installed in the target machine need be used.

Drive letter on target machine

Choose on which drive this driver block should look for the firmware to load on the module, once the model is downloaded to the machine. The default setting for this parameter is 'C:', as the firmware will be located on the C drive by default.

PCI slot (-1:autosearch)

There are two approaches for mapping the blocks to a specific IO614 module installed in the target machine. All IO614 modules must be configured using the same method.

• Auto-Search: The default value '-1' lets the real-time target machine auto-search for the I/O module. The priority is defined by the Module ID. The module with the lowest PCI bus/slot number is associated with Module ID 1, the next module found is associated to Module ID 2, and so on. Please refer to your target machine manual for the specific slot sequence.

• Explicit Addressing: The location of the module inside the target machine can be explicitly defined using the format '[BusNumber, SlotNumber]'. To determine these numbers, type speedgoat.showInstalledIoModules in the MATLAB command window.

Channel Selection

In this group box, you can specify the configuration for each channel. Note that LIN is only available on channel 2.

This tab is only visible if at least one CAN channel is enabled. There will be one group box per enabled CAN channel, labeled with the number of the channel. There is also one additional group box called Init./Term. Structures, where you can define CAN messages sent during initialization and termination of the CAN write driver blocks.

Operation Mode:

Choose High-Speed or Low-Speed operation. Low-Speed operation is according to ISO 11898-3. High-Speed operation is according to ISO 11898-2. Note that the Operation Mode is only configurable for channel 1, as the other CAN channels only support High-Speed operation.

Baud rate

The baud rate for this CAN channel. This control allows the most commonly used values to be selected. If special bit timing is needed, then select the User defined here and use the "User defined baud rate" parameter below.

User defined baud rate

If the defined User has been selected in the "Baud rate" parameter above, this parameter is used to configure the bit timing. The parameter is a vector with the following elements:

• Prescaler (BRP)

• Synchronization-Jump-Width (SJW)

• Time-Segment-1 (TSEG1)

• Time-Segment-2 (TSEG2)

For an explanation and calculation of the bit-timing values, check the free individual bit-timing table on can-wiki,info using the following parameters:

• Table for: IFI CAN FD arbitration, in ISO mode

• Clock Rate: 80MHz

• Sample point: 87.5

• SJW: 1

Note that the Bitrate indicated on this website is in thousands (e.g. Bitrate = 1000 accords to 1Mbaud).

Standard Acceptance Mask

The rule to decide whether a CAN message with a standard ID (11 bits) is accepted on this channel. The message is accepted if the following rule is true:

• ((ID & StdMask) == StdCode)

Set the StdMask element to zero (the default) to disable the rule. Note that this parameter takes a decimal value. See the "Usage notes" section for examples of how to set this parameter.

Extended Acceptance Mask

The rule to decide whether a CAN message with an extended ID (29 bits) is accepted on this channel. The message is accepted if either of the following rules is true:

• ((ID & ExtMask) == ExtCode)

Set the ExtMask element to zero (the default) to disable the rule. Note that this parameter takes a decimal value. See the "Usage notes" section for examples of how to set this parameter.

Initialization Structures

Defines CAN messages sent during initialization of the Setup block. For more information, see: Initialization and Termination CAN Messages.

Termination Structures

Defines CAN messages sent during termination of the Setup block. For more information, see: Initialization and Termination CAN Messages.

This tab is only visible if LIN on channel 2 is enabled.

Operation Mode

The IO614 can be configured to act as a master or a slave. In the LIN topology, only one master is allowed per network.

Baud rate

This parameter is valid for master and slave operation. Range between 1000 and 20000.