Documentation

Module ID

The Module ID has two functions:

• It defines the logical connection between the Setup block and its I/O blocks

• It also informs the auto-search feature of the PCI Slot parameter. If only one I/O module of this type 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 I/O modules installed in the target machine need to be used.

Module Type

Select the type of your I/O module installed in your target machine.

PCI Slot (-1: auto-search)

There are two approaches for mapping this block to a specific I/O module installed in your target machine. All modules of the same type must be configured using the same method.

• Auto-Search: with the default value -1 the I/O module will be automatically located in the target machine. If you have multiple modules of the same kind, the Module ID defines which module is associated with this block. To see how each I/O module maps to a Module ID, use this Speedgoat API:

  speedgoat.getIoInterfaces("TargetName", "mySpeedgoat")

• Explicit Addressing: to explicitly define the logical address of the I/O module in the target machine, you can provide the PCI bus and slot numbers as a vector: [bus, slot]. To determine these numbers, run the following command in the MATLAB command window:

  speedgoat.getIoInterfaces("TargetName", "mySpeedgoat", "Advanced", true)

  Note that the PCI address can change whenever an I/O module is added or removed – usually, auto-search is the best option.

CAN Channel Operation Mode Selection

Configuration of the respective protocol mode for each channel. The available options are:

• Disabled

• CAN (HS)

• CAN-FD

	Note
	CAN (HS) according to ISO 11898-2 and CAN-FD according to ISO 11898-1

LIN Channel Operation Mode Selection

Configuration of the respective mode for each channel. The available options are:

• Disabled

• Master

• Slave

Initialization Structures

Defines CAN messages sent during initialization of the Setup block. For more information, refer to the usage notes

Termination Structures

Defines CAN messages sent during termination of the Setup block. For more information, refer to the usage notes

GPIO Channel Operation Mode Selection

Enabling or disabling of all the GPIO channels. The available options are:

• Disabled

• Enabled

The tab for a channel is visible only if the respective channel is enabled in the Main tab.

Nominal Baud Rate

Select the baud rate for CAN (HS) or the arbitration baud rate for CAN-FD. The options are defined according to the hardware configuration.

	Note
	The User defined option should be used if a baud rate is required that is not configured by default or if a certain sample point is required. Selecting User defined enables the [BRP, SJW, TSEG1, TSEG2] parameter. Refer to the usage notes for more information.

[BRP, SJW, TSEG1, TSEG2]

If the User defined option has been selected with the Standard Baud Rate parameter, this parameter is used to configure the bit timing. The [BRP, SJW, TSEG1, TSEG2] parameter is a vector with the following elements:

• Bit Rate Prescaler (BRP)

• Synchronization Jump Width (SJW)

• Time Segment 1 (TSEG1)

• Time Segment 2 (TSEG2)

80e6/BRP/(1 + TSEG1 + TSEG2) equals the baud rate. The ratio between (1 + TSEG1) and (1 + TSEG1 + TSEG2) nominates the sample point. For additional information refer to can-wiki, info. Use the following settings with respect to the selected I/O module:

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

• Clock Rate: 80 MHz

• Sample point: 80.0

• SJW: 1

Flexible Data Baud Rate

This parameter is only available if the CAN-FD option is chosen within the Channel parameter. The options are defined according to the Hardware configuration.

	Note
	The User defined option should be used if a baud rate is required that is not configured by default or if a certain sample point is required. Selecting User defined enables the [BRP, SJW, TSEG1, TSEG2] parameter.

[BRP, SJW, TSEG1, TSEG2]

The principle is the same as for Nominal Baud Rate. The BRP of Nominal Baud Rate and Flexible Data Baud Rate must be identical for the same channel of the same I/O module. Failing this, you will get an error notification.

120 Ohm Termination Resistor

Enables or disables the internal 120 Ohm termination resistor for this CAN channel (this feature is currently only supported for the IO603). For the IO602-2, IO602-4 and IO691, external termination resistors have to be used to terminate the bus.

Active Output Channels

Select the active output channels in a vector. A defined number of channels can be selected using square brackets, for example, [1 2 3]. A sequence of channels can be selected using a colon, for example, 1:4.

Output Voltage [V]

Select the reference voltage of the push-pull output for the front I/O: 5 V or 3 V.

Initial Values

Define the initial signal level present on the outputs after the application has been downloaded. The values can be set individually by entering a vector: the value at a certain position in the Initial Values vector is applied to the channel as defined in the enabled channels. A scalar value applies to all the channels; for example, for individual values, type "[1 0 0 1]", and to set all channels to zero, type "0".

Reset to Initial Values

Define whether the initial values are also applied once the application has stopped. The behavior can be set individually for each channel using a vector. A scalar value applies to all the channels; for example, for individual values, type "[1 0 0 1]", and to set all channels to zero, type "0". "1" means use the Initial Value and "0" means keep the latest value.

Active Input Channels

Select the active input channels in a vector. Check the active output channels to avoid conflicts.

Input Voltage [V]

Select the reference voltage of the push-, or pull-down resistor for the front I/O: 5 V or 3.3 V.

Pull Resistors - Front connector

Select the reference voltage of the pull resistor for the front I/O: Pull-up or Pull-down.