3. Software-Defined Rig

3.1. Introduction

The Software-Defined Rig is a modular software hardware complex designed for simulating sensors, actuators, and vehicle networks. It is implemented in a 19-inch rack-mountable crate format. The width of each module is a multiple of 7HP, with the total crate width being 84HP. Module types are chosen based on specific tasks, and the modules are easily interchangeable.

At the rear of the crate, a cross PCB is positioned, responsible for routing data and power to each module. The crate can be effortlessly connected via 1000Base-T Ethernet, providing a seamless interface for communication.

3.2. Interface Multiplexer Module

The Interface Multiplexer is a module designed for simulating vehicle networks and peripheral devices connected to Electronic Control Units (ECUs) through digital interfaces. Its primary feature is the CANFD multiplexer, implemented as a matrix of electromagnetic relays, capable of connecting any CAN ECU to the CAN rig.

Key Features:

  • 8 CANFD channels for comprehensive testing

  • LIN 2.0 channel

  • CANFD multiplexer 8 inputs / 16 outputs

  • RS485 channel*

3.2.1. Functional diagram

3.2.2. Connectors

3.2.2.1. R1

Pin Name

Pin Description

R1.1

CAN 8H

CAN FD interface 8. Up to 5Mbits/s

R1.2

CAN 8L

CAN FD interface 8. Up to 5Mbits/s

R1.3

CAN 7H

CAN FD interface 7. Up to 5Mbits/s

R1.4

CAN 7L

CAN FD interface 7. Up to 5Mbits/s

R1.5

CAN 6H

CAN FD interface 6. Up to 5Mbits/s

R1.6

CAN 6L

CAN FD interface 6. Up to 5Mbits/s

R1.7

CAN 5H

CAN FD interface. 5. Up to 5Mbits/s

R1.8

CAN 5L

CAN FD interface 5. Up to 5Mbits/s

R1.9

CAN 4H

CAN FD interface 4. Up to 5Mbits/s

R1.10

CAN 4L

CAN FD interface 4. Up to 5Mbits/s

R1.11

CAN 3H

CAN FD interface. 3. Up to 5Mbits/s

R1.12

CAN 3L

CAN FD interface 3. Up to 5Mbits/s

R1.13

CAN 2H

CAN FD interface 2. Up to 5Mbits/s

R1.14

CAN 2L

CAN FD interface. 2. Up to 5Mbits/s

R1.15

CAN 1H

CAN FD interface. 1. Up to 5Mbits/s

R1.16

CAN 1L

CAN FD interface 1. Up to 5Mbits/s

3.2.2.2. R2

Pin Name

Pin Description

R2.1

RESV

Reserved pin

R2.2

24V

Source 24V

R2.3

GND

GND

R2.4

GND

GND

R2.5

RESV

Reserved pin

R2.6

RESV

Reserved pin

R2.7

RESV

Reserved pin

R2.8

LIN

Interface LIN 2.0. Support only slave mode. Up to 19,2 Kbit/s

R2.9

RESV

Reserved pin

R2.10

RESV

Reserved pin

R2.11

RESV

Reserved pin

R2.12

RESV

Reserved pin

R2.13

RS485A

RS485 interface. Up to 460800 bits/s

R2.14

RS485B

RS485 interface. Up to 460800 bits/s

R2.15

RESV

Reserved pin

R2.16

RESV

Reserved pin

3.2.2.3. LAN

Communication interface ethernet 100base-t. Used to connect the module when it is used separately from the crate

3.2.2.4. VDD

Module power supply 30V. Used to connect the module when it is used separately from the crate

3.2.2.5. DEBUG

Reserved for module calibration

3.3. Universal Input / Output Module

The Universal Input / Output is a module designed for simulating analog vehicle sensors. Its primary feature is the universal pin, capable of setting/measuring voltage, generating PWM, input capture, and being a current loop transmitter and receiver.

Key Features:

  • 8 universal channels for comprehensive testing

  • High accuracy of measured and generated signals

  • Wide range of measured and generated signals 0-27V

3.3.1. Functional diagram

3.3.2. Connectors

3.3.2.1. R1

Pin Name

Pin Description

R1.1

PWM8

Pulse-Width Modulation channel 8

Range 20Hz - 60 kHz

20Hz - 10KHz duty setting accuracy 1%

10 KHz - 60 kHz duty setting accuracy 5%

R1.2

IC8

Input Capture channel 8

Range 1Hz - 60 kHz

R1.3

PWM7

Pulse-Width Modulation channel 7

Range 20Hz - 60 kHz

20Hz - 10KHz duty setting accuracy 1%

10 KHz - 60 kHz duty setting accuracy 5%

R1.4

IC7

Input Capture channel 7

Range 1Hz - 60 kHz

R1.5

PWM6

Pulse-Width Modulation channel 6

Range 20Hz - 60 kHz

20Hz - 10KHz duty setting accuracy 1%

10 KHz - 60 kHz duty setting accuracy 5%

R1.6

IC6

Input Capture channel 6

Range 1Hz - 60 kHz

R1.7

PWM5

Pulse-Width Modulation channel 5

Range 20Hz - 60 kHz

20Hz - 10KHz duty setting accuracy 1%

10 KHz - 60 kHz duty setting accuracy 5%

R1.8

IC5

Input Capture channel 5

Range 1Hz - 60 kHz

R1.9

PWM4

Pulse-Width Modulation channel 4

Range 20Hz - 60 kHz

20Hz - 10KHz duty setting accuracy 1%

10 KHz - 60 kHz duty setting accuracy 5%

R1.10

IC4

Input Capture channel 4

Range 1Hz - 60 kHz

R1.11

PWM3

Pulse-Width Modulation channel 3

Range 20Hz - 60 kHz

20Hz - 10KHz duty setting accuracy 1%

10 KHz - 60 kHz duty setting accuracy 5%

R1.12

IC3

Input Capture channel 3

Range 1Hz - 60 kHz

R1.13

PWM2

Pulse-Width Modulation channel 2

Range 20Hz - 60 kHz

20Hz - 10KHz duty setting accuracy 1%

10 KHz - 60 kHz duty setting accuracy 5%

R1.14

IC2

Input Capture channel 2

Range 1Hz - 60 kHz

R1.15

PWM1

Pulse-Width Modulation channel 1

Range 20Hz - 60 kHz

20Hz - 10KHz duty setting accuracy 1%

10 KHz - 60 kHz duty setting accuracy 5%

R1.16

IC1

Input Capture channel 1

Range 1Hz - 60 kHz

3.3.2.2. R2

Pin Name

Pin Description

R2.1

CLO8

Current Loop output channel 8

Range 4-20 mA

R2.2

CLI8

Current Loop input channel 8

Range 4-20 mA

R2.3

CLO7

Current Loop output channel 7

Range 4-20 mA

R2.4

CLI7

Current Loop input channel 7

Range 4-20 mA

R2.5

CLO6

Current Loop output channel 6

Range 4-20 mA

R2.6

CLI6

Current Loop input channel 6

Range 4-20 mA

R2.7

CLO5

Current Loop output channel 5

Range 4-20 mA

R2.8

CLI5

Current Loop input channel 5

Range 4-20 mA

R2.9

CLO4

Current Loop output channel 4

Range 4-20 mA

R2.10

CLI4

Current Loop input channel 4

Range 4-20 mA

R2.11

CLO3

Current Loop output channel 3

Range 4-20 mA

R2.12

CLI3

Current Loop input channel 3

Range 4-20 mA

R2.13

CLO2

Current Loop output channel 2

Range 4-20 mA

R2.14

CLI2

Current Loop input channel 2

Range 4-20 mA

R2.15

CLO1

Current Loop output channel 1

Range 4-20 mA

R2.16

CLI1

Current Loop input channel 1

Range 4-20 mA

3.3.2.3. R3

Pin Name

Pin Description

R3.1

VO8

Voltage measurement channel 8

Range 0-27V

R3.2

GND

GND

R3.3

VO7

Voltage measurement channel 7

Range 0-27V

R3.4

GND

GND

R3.5

VO6

Voltage measurement channel 6

Range 0-27V

R3.6

GND

GND

R3.7

VO5

Voltage measurement channel 5

Range 0-27V

R3.8

GND

GND

R3.9

VO4

Voltage measurement channel 4

Range 0-27V

R3.10

GND

GND

R3.11

VO3

Voltage measurement channel 3

Range 0-27V

R3.12

GND

GND

R3.13

VO2

Voltage measurement channel 2

Range 0-27V

R3.14

GND

GND

R3.15

VO1

Voltage measurement channel 1

Range 0-27V

R3.16

GND

GND

3.3.2.4. R4

Pin Name

Pin Description

R4.1

UIO8

Universal I/O channel 8

Supported modes:

* Voltage Measurement 0-27V

* Voltage Setting 0-27V

* PWM Generation 20Hz-60KHz

* Input Capture 1Hz-60KHz

* Current Loop Output 4-20mA

* Current Loop Input 4-20mA

R4.2

GND

GND

R4.3

UIO7

Universal I/O channel 7

Supported modes:

* Voltage Measurement 0-27V

* Voltage Setting 0-27V

* PWM Generation 20Hz-60KHz

* Input Capture 1Hz-60KHz

* Current Loop Output 4-20mA

* Current Loop Input 4-20mA

R4.4

GND

GND

R4.5

UIO6

Universal I/O channel 6

Supported modes:

* Voltage Measurement 0-27V

* Voltage Setting 0-27V

* PWM Generation 20Hz-60KHz

* Input Capture 1Hz-60KHz

* Current Loop Output 4-20mA

* Current Loop Input 4-20mA

R4.6

GND

GND

R4.7

UIO5

Universal I/O channel 5

Supported modes:

* Voltage Measurement 0-27V

* Voltage Setting 0-27V

* PWM Generation 20Hz-60KHz

* Input Capture 1Hz-60KHz

* Current Loop Output 4-20mA

* Current Loop Input 4-20mA

R4.8

GND

GND

R4.9

UIO4

Universal I/O channel 4

Supported modes:

* Voltage Measurement 0-27V

* Voltage Setting 0-27V

* PWM Generation 20Hz-60KHz

* Input Capture 1Hz-60KHz

* Current Loop Output 4-20mA

* Current Loop Input 4-20mA

R4.10

GND

GND

R4.11

UIO3

Universal I/O channel 3

Supported modes:

* Voltage Measurement 0-27V

* Voltage Setting 0-27V

* PWM Generation 20Hz-60KHz

* Input Capture 1Hz-60KHz

* Current Loop Output 4-20mA

* Current Loop Input 4-20mA

R4.12

GND

GND

R4.13

UIO2

Universal I/O channel 2

Supported modes:

* Voltage Measurement 0-27V

* Voltage Setting 0-27V

* PWM Generation 20Hz-60KHz

* Input Capture 1Hz-60KHz

* Current Loop Output 4-20mA

* Current Loop Input 4-20mA

R4.14

GND

GND

R4.15

UIO1

Universal I/O channel 1

Supported modes:

* Voltage Measurement 0-27V

* Voltage Setting 0-27V

* PWM Generation 20Hz-60KHz

* Input Capture 1Hz-60KHz

* Current Loop Output 4-20mA

* Current Loop Input 4-20mA

R4.16

GND

GND

3.3.2.5. LAN

Communication interface ethernet 100base-t. Used to connect the module when it is used separately from the crate

3.3.2.6. VDD

Module power supply 30V. Used to connect the module when it is used separately from the crate

3.3.2.7. DEBUG

Reserved for module calibration

3.4. Electronic Load Module

The Electronic Load module is designed for simulating analog vehicle actuators and loads of ECU. Its primary feature is the MOSFET module, capable of dissipating up to 200W on each channel and up to 600W on all channels

Key Features:

  • 8-channel versatility for comprehensive testing

  • Peak dissipated power of 200W per channel

  • Total module capacity of 600W for robust testing scenarios

3.4.1. Functional diagram

3.4.2. Connectors

3.4.2.1. R2

Pin Name

Pin Description

R2.1

GND

GND

R2.2

EL4

Сhannel 4:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R2.3

GND

GND

R2.4

EL4

Сhannel 4:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R2.5

GND

GND

R2.6

EL3

Сhannel 3:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R2.7

GND

GND

R2.8

EL3

Сhannel 3:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R2.9

GND

GND

R2.10

EL2

Сhannel 2:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R2.11

GND

GND

R2.12

EL2

Сhannel 2:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R2.13

GND

GND

R2.14

EL1

Сhannel 1:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R2.15

GND

GND

R2.16

EL1

Сhannel 1:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

3.4.2.2. R3

Pin Name

Pin Description

R3.1

24V

Source 24V

R3.2

DOUT4

Digital Output channel 4

R3.3

24V

Source 24V

R3.4

DOUT3

Digital Output channel 3

R3.5

24V

Source 24V

R3.6

DOUT2

Digital Output channel 2

R3.7

24V

Source 24V

R3.8

DOUT1

Digital Output channel 1

R3.9

R3.10

R3.11

R3.12

R3.13

R3.14

R3.15

R3.16

3.4.2.3. R4

Pin Name

Pin Description

R4.1

GND

GND

R4.2

EL8

Сhannel 8:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R4.3

GND

GND

R4.4

EL8

Сhannel 8:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R4.5

GND

GND

R4.6

EL7

Сhannel 7:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R4.7

GND

GND

R4.8

EL7

Сhannel 7:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R4.9

GND

GND

R4.10

EL6

Сhannel 6:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R4.11

GND

GND

R4.12

EL6

Сhannel 6:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R4.13

GND

GND

R4.14

EL5

Сhannel 5:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

R4.15

GND

GND

R4.16

EL5

Сhannel 5:

*Electronic Load up to 200W

*Voltage Measurement 0-27V

*Voltage Setting 0-27V

3.4.2.4. LAN

Communication interface ethernet 100base-t. Used to connect the module when it is used separately from the crate

3.4.2.5. VDD

Module power supply 30V. Used to connect the module when it is used separately from the crate

3.4.2.6. DEBUG

Reserved for module calibration

3.5. Camera Emulator Module

The camera emulator module generates video flow (FPD Link 3 or GMSL) from SODA.SIM and provides full HIL testing of AD/ADS features

Key Features:

  • 4-channel output FPDLink 3

  • 4-channel output GMSL

  • HDMI input

3.5.1. Functional diagram

3.5.2. Connectors

3.5.2.5. GMSL Chanel 1

GMSL output

3.5.2.6. GMSL Chanel 2

GMSL output

3.5.2.7. GMSL Chanel 3

GMSL output

3.5.2.8. GMSL Chanel 4

GMSL output

3.5.2.9. HDMI

HDMI input

3.5.2.10. LAN

Communication interface ethernet 100base-t. Used to connect the module when it is used separately from the crate

3.5.2.11. VDD

Module power supply 30V. Used to connect the module when it is used separately from the crate

3.5.2.12. DEBUG

Reserved for module calibration