C/C++ - IO-16 Bricklet 2.0

This is the description of the C/C++ API bindings for the IO-16 Bricklet 2.0. General information and technical specifications for the IO-16 Bricklet 2.0 are summarized in its hardware description.

An installation guide for the C/C++ API bindings is part of their general description.

Examples

The example code below is Public Domain (CC0 1.0).

Output

Download (example_output.c)

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#define IPCON_EXPOSE_MILLISLEEP

#include <stdio.h>

#include "ip_connection.h"
#include "bricklet_io16_v2.h"

#define HOST "localhost"
#define PORT 4223
#define UID "XYZ" // Change XYZ to the UID of your IO-16 Bricklet 2.0

int main(void) {
    // Create IP connection
    IPConnection ipcon;
    ipcon_create(&ipcon);

    // Create device object
    IO16V2 io;
    io16_v2_create(&io, UID, &ipcon);

    // Connect to brickd
    if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
        fprintf(stderr, "Could not connect\n");
        return 1;
    }
    // Don't use device before ipcon is connected

    // Configure channel 7 as output low
    io16_v2_set_configuration(&io, 7, 'o', false);

    // Set channel 7 alternating high/low 10 times with 100 ms delay
    int i;
    for(i = 0; i < 10; ++i) {
        millisleep(100);
        io16_v2_set_selected_value(&io, 7, true);
        millisleep(100);
        io16_v2_set_selected_value(&io, 7, false);
    }

    printf("Press key to exit\n");
    getchar();
    io16_v2_destroy(&io);
    ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
    return 0;
}

Interrupt

Download (example_interrupt.c)

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#include <stdio.h>

#include "ip_connection.h"
#include "bricklet_io16_v2.h"

#define HOST "localhost"
#define PORT 4223
#define UID "XYZ" // Change XYZ to the UID of your IO-16 Bricklet 2.0

// Callback function for input value callback
void cb_input_value(uint8_t channel, bool changed, bool value, void *user_data) {
    (void)user_data; // avoid unused parameter warning

    printf("Channel: %u\n", channel);
    printf("Changed: %s\n", changed ? "true" : "false");
    printf("Value: %s\n", value ? "true" : "false");
    printf("\n");
}

int main(void) {
    // Create IP connection
    IPConnection ipcon;
    ipcon_create(&ipcon);

    // Create device object
    IO16V2 io;
    io16_v2_create(&io, UID, &ipcon);

    // Connect to brickd
    if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
        fprintf(stderr, "Could not connect\n");
        return 1;
    }
    // Don't use device before ipcon is connected

    // Register input value callback to function cb_input_value
    io16_v2_register_callback(&io,
                              IO16_V2_CALLBACK_INPUT_VALUE,
                              (void (*)(void))cb_input_value,
                              NULL);

    // Set period for input value (channel 4) callback to 0.5s (500ms)
    io16_v2_set_input_value_callback_configuration(&io, 4, 500, false);

    printf("Press key to exit\n");
    getchar();
    io16_v2_destroy(&io);
    ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
    return 0;
}

API

Every function of the C/C++ bindings returns an integer which describes an error code. Data returned from the device, when a getter is called, is handled via output parameters. These parameters are labeled with the ret_ prefix.

Possible error codes are:

  • E_OK = 0
  • E_TIMEOUT = -1
  • E_NO_STREAM_SOCKET = -2
  • E_HOSTNAME_INVALID = -3
  • E_NO_CONNECT = -4
  • E_NO_THREAD = -5
  • E_NOT_ADDED = -6 (unused since C/C++ bindings version 2.0.0)
  • E_ALREADY_CONNECTED = -7
  • E_NOT_CONNECTED = -8
  • E_INVALID_PARAMETER = -9
  • E_NOT_SUPPORTED = -10
  • E_UNKNOWN_ERROR_CODE = -11
  • E_STREAM_OUT_OF_SYNC = -12
  • E_INVALID_UID = -13
  • E_NON_ASCII_CHAR_IN_SECRET = -14

as defined in ip_connection.h.

All functions listed below are thread-safe.

The Bricklet has sixteen channels that are named 0 to 15 in the API. The corresponding connectors on the Bricklet are labeled A0 to A7 for channel 0 to 7 and B0 to B7 for channels 8 to 15.

Basic Functions

void io16_v2_create(IO16V2 *io16_v2, const char *uid, IPConnection *ipcon)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • uid – Type: const char *
  • ipcon – Type: IPConnection *

Creates the device object io16_v2 with the unique device ID uid and adds it to the IPConnection ipcon:

IO16V2 io16_v2;
io16_v2_create(&io16_v2, "YOUR_DEVICE_UID", &ipcon);

This device object can be used after the IP connection has been connected (see examples above).

void io16_v2_destroy(IO16V2 *io16_v2)
Parameters:
  • io16_v2 – Type: IO16V2 *

Removes the device object io16_v2 from its IPConnection and destroys it. The device object cannot be used anymore afterwards.

int io16_v2_set_value(IO16V2 *io16_v2, bool value[16])
Parameters:
  • io16_v2 – Type: IO16V2 *
  • value – Type: bool[16]
Returns:
  • error_code – Type: int

Sets the output value of all sixteen channels. A value of true or false outputs logic 1 or logic 0 respectively on the corresponding channel.

Use io16_v2_set_selected_value() to change only one output channel state.

For example: (True, True, False, False, ..., False) will turn the channels 0-1 high and the channels 2-15 low.

All running monoflop timers will be aborted if this function is called.

Note

This function does nothing for channels that are configured as input. Pull-up resistors can be switched on with io16_v2_set_configuration().

int io16_v2_get_value(IO16V2 *io16_v2, bool ret_value[16])
Parameters:
  • io16_v2 – Type: IO16V2 *
Output Parameters:
  • ret_value – Type: bool[16]
Returns:
  • error_code – Type: int

Returns the logic levels that are currently measured on the channels. This function works if the channel is configured as input as well as if it is configured as output.

int io16_v2_set_selected_value(IO16V2 *io16_v2, uint8_t channel, bool value)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
  • value – Type: bool
Returns:
  • error_code – Type: int

Sets the output value of a specific channel without affecting the other channels.

A running monoflop timer for the specific channel will be aborted if this function is called.

Note

This function does nothing for channels that are configured as input. Pull-up resistors can be switched on with io16_v2_set_configuration().

int io16_v2_set_configuration(IO16V2 *io16_v2, uint8_t channel, char direction, bool value)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
  • direction – Type: char, Range: See constants, Default: 'i'
  • value – Type: bool, Default: true
Returns:
  • error_code – Type: int

Configures the value and direction of a specific channel. Possible directions are 'i' and 'o' for input and output.

If the direction is configured as output, the value is either high or low (set as true or false).

If the direction is configured as input, the value is either pull-up or default (set as true or false).

For example:

  • (0, 'i', true) will set channel-0 as input pull-up.
  • (1, 'i', false) will set channel-1 as input default (floating if nothing is connected).
  • (2, 'o', true) will set channel-2 as output high.
  • (3, 'o', false) will set channel-3 as output low.

A running monoflop timer for the specific channel will be aborted if this function is called.

The following constants are available for this function:

For direction:

  • IO16_V2_DIRECTION_IN = 'i'
  • IO16_V2_DIRECTION_OUT = 'o'
int io16_v2_get_configuration(IO16V2 *io16_v2, uint8_t channel, char *ret_direction, bool *ret_value)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
Output Parameters:
  • ret_direction – Type: char, Range: See constants, Default: 'i'
  • ret_value – Type: bool, Default: true
Returns:
  • error_code – Type: int

Returns the channel configuration as set by io16_v2_set_configuration().

The following constants are available for this function:

For ret_direction:

  • IO16_V2_DIRECTION_IN = 'i'
  • IO16_V2_DIRECTION_OUT = 'o'

Advanced Functions

int io16_v2_set_monoflop(IO16V2 *io16_v2, uint8_t channel, bool value, uint32_t time)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
  • value – Type: bool
  • time – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1]
Returns:
  • error_code – Type: int

Configures a monoflop of the specified channel.

The second parameter is the desired value of the specified channel. A true means relay closed and a false means relay open.

The third parameter indicates the time that the channels should hold the value.

If this function is called with the parameters (0, 1, 1500) channel 0 will close and in 1.5s channel 0 will open again

A monoflop can be used as a fail-safe mechanism. For example: Lets assume you have a RS485 bus and a IO-16 Bricklet 2.0 connected to one of the slave stacks. You can now call this function every second, with a time parameter of two seconds and channel 0 closed. Channel 0 will be closed all the time. If now the RS485 connection is lost, then channel 0 will be opened in at most two seconds.

int io16_v2_get_monoflop(IO16V2 *io16_v2, uint8_t channel, bool *ret_value, uint32_t *ret_time, uint32_t *ret_time_remaining)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
Output Parameters:
  • ret_value – Type: bool
  • ret_time – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1]
  • ret_time_remaining – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1]
Returns:
  • error_code – Type: int

Returns (for the given channel) the current value and the time as set by io16_v2_set_monoflop() as well as the remaining time until the value flips.

If the timer is not running currently, the remaining time will be returned as 0.

int io16_v2_get_edge_count(IO16V2 *io16_v2, uint8_t channel, bool reset_counter, uint32_t *ret_count)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
  • reset_counter – Type: bool
Output Parameters:
  • ret_count – Type: uint32_t, Range: [0 to 232 - 1]
Returns:
  • error_code – Type: int

Returns the current value of the edge counter for the selected channel. You can configure the edges that are counted with io16_v2_set_edge_count_configuration().

If you set the reset counter to true, the count is set back to 0 directly after it is read.

int io16_v2_set_edge_count_configuration(IO16V2 *io16_v2, uint8_t channel, uint8_t edge_type, uint8_t debounce)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
  • edge_type – Type: uint8_t, Range: See constants, Default: 0
  • debounce – Type: uint8_t, Unit: 1 ms, Range: [0 to 255], Default: 100
Returns:
  • error_code – Type: int

Configures the edge counter for a specific channel.

The edge type parameter configures if rising edges, falling edges or both are counted if the channel is configured for input. Possible edge types are:

  • 0 = rising
  • 1 = falling
  • 2 = both

Configuring an edge counter resets its value to 0.

If you don't know what any of this means, just leave it at default. The default configuration is very likely OK for you.

The following constants are available for this function:

For edge_type:

  • IO16_V2_EDGE_TYPE_RISING = 0
  • IO16_V2_EDGE_TYPE_FALLING = 1
  • IO16_V2_EDGE_TYPE_BOTH = 2
int io16_v2_get_edge_count_configuration(IO16V2 *io16_v2, uint8_t channel, uint8_t *ret_edge_type, uint8_t *ret_debounce)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
Output Parameters:
  • ret_edge_type – Type: uint8_t, Range: See constants, Default: 0
  • ret_debounce – Type: uint8_t, Unit: 1 ms, Range: [0 to 255], Default: 100
Returns:
  • error_code – Type: int

Returns the edge type and debounce time for the selected channel as set by io16_v2_set_edge_count_configuration().

The following constants are available for this function:

For ret_edge_type:

  • IO16_V2_EDGE_TYPE_RISING = 0
  • IO16_V2_EDGE_TYPE_FALLING = 1
  • IO16_V2_EDGE_TYPE_BOTH = 2
int io16_v2_get_spitfp_error_count(IO16V2 *io16_v2, uint32_t *ret_error_count_ack_checksum, uint32_t *ret_error_count_message_checksum, uint32_t *ret_error_count_frame, uint32_t *ret_error_count_overflow)
Parameters:
  • io16_v2 – Type: IO16V2 *
Output Parameters:
  • ret_error_count_ack_checksum – Type: uint32_t, Range: [0 to 232 - 1]
  • ret_error_count_message_checksum – Type: uint32_t, Range: [0 to 232 - 1]
  • ret_error_count_frame – Type: uint32_t, Range: [0 to 232 - 1]
  • ret_error_count_overflow – Type: uint32_t, Range: [0 to 232 - 1]
Returns:
  • error_code – Type: int

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

  • ACK checksum errors,
  • message checksum errors,
  • framing errors and
  • overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

int io16_v2_set_bootloader_mode(IO16V2 *io16_v2, uint8_t mode, uint8_t *ret_status)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • mode – Type: uint8_t, Range: See constants
Output Parameters:
  • ret_status – Type: uint8_t, Range: See constants
Returns:
  • error_code – Type: int

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

For mode:

  • IO16_V2_BOOTLOADER_MODE_BOOTLOADER = 0
  • IO16_V2_BOOTLOADER_MODE_FIRMWARE = 1
  • IO16_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • IO16_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • IO16_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For ret_status:

  • IO16_V2_BOOTLOADER_STATUS_OK = 0
  • IO16_V2_BOOTLOADER_STATUS_INVALID_MODE = 1
  • IO16_V2_BOOTLOADER_STATUS_NO_CHANGE = 2
  • IO16_V2_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • IO16_V2_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • IO16_V2_BOOTLOADER_STATUS_CRC_MISMATCH = 5
int io16_v2_get_bootloader_mode(IO16V2 *io16_v2, uint8_t *ret_mode)
Parameters:
  • io16_v2 – Type: IO16V2 *
Output Parameters:
  • ret_mode – Type: uint8_t, Range: See constants
Returns:
  • error_code – Type: int

Returns the current bootloader mode, see io16_v2_set_bootloader_mode().

The following constants are available for this function:

For ret_mode:

  • IO16_V2_BOOTLOADER_MODE_BOOTLOADER = 0
  • IO16_V2_BOOTLOADER_MODE_FIRMWARE = 1
  • IO16_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • IO16_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • IO16_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
int io16_v2_set_write_firmware_pointer(IO16V2 *io16_v2, uint32_t pointer)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • pointer – Type: uint32_t, Unit: 1 B, Range: [0 to 232 - 1]
Returns:
  • error_code – Type: int

Sets the firmware pointer for io16_v2_write_firmware(). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

int io16_v2_write_firmware(IO16V2 *io16_v2, uint8_t data[64], uint8_t *ret_status)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • data – Type: uint8_t[64], Range: [0 to 255]
Output Parameters:
  • ret_status – Type: uint8_t, Range: [0 to 255]
Returns:
  • error_code – Type: int

Writes 64 Bytes of firmware at the position as written by io16_v2_set_write_firmware_pointer() before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

int io16_v2_set_status_led_config(IO16V2 *io16_v2, uint8_t config)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • config – Type: uint8_t, Range: See constants, Default: 3
Returns:
  • error_code – Type: int

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

For config:

  • IO16_V2_STATUS_LED_CONFIG_OFF = 0
  • IO16_V2_STATUS_LED_CONFIG_ON = 1
  • IO16_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • IO16_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3
int io16_v2_get_status_led_config(IO16V2 *io16_v2, uint8_t *ret_config)
Parameters:
  • io16_v2 – Type: IO16V2 *
Output Parameters:
  • ret_config – Type: uint8_t, Range: See constants, Default: 3
Returns:
  • error_code – Type: int

Returns the configuration as set by io16_v2_set_status_led_config()

The following constants are available for this function:

For ret_config:

  • IO16_V2_STATUS_LED_CONFIG_OFF = 0
  • IO16_V2_STATUS_LED_CONFIG_ON = 1
  • IO16_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • IO16_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3
int io16_v2_get_chip_temperature(IO16V2 *io16_v2, int16_t *ret_temperature)
Parameters:
  • io16_v2 – Type: IO16V2 *
Output Parameters:
  • ret_temperature – Type: int16_t, Unit: 1 °C, Range: [-215 to 215 - 1]
Returns:
  • error_code – Type: int

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

int io16_v2_reset(IO16V2 *io16_v2)
Parameters:
  • io16_v2 – Type: IO16V2 *
Returns:
  • error_code – Type: int

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

int io16_v2_write_uid(IO16V2 *io16_v2, uint32_t uid)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • uid – Type: uint32_t, Range: [0 to 232 - 1]
Returns:
  • error_code – Type: int

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

int io16_v2_read_uid(IO16V2 *io16_v2, uint32_t *ret_uid)
Parameters:
  • io16_v2 – Type: IO16V2 *
Output Parameters:
  • ret_uid – Type: uint32_t, Range: [0 to 232 - 1]
Returns:
  • error_code – Type: int

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

int io16_v2_get_identity(IO16V2 *io16_v2, char ret_uid[8], char ret_connected_uid[8], char *ret_position, uint8_t ret_hardware_version[3], uint8_t ret_firmware_version[3], uint16_t *ret_device_identifier)
Parameters:
  • io16_v2 – Type: IO16V2 *
Output Parameters:
  • ret_uid – Type: char[8]
  • ret_connected_uid – Type: char[8]
  • ret_position – Type: char, Range: ['a' to 'h', 'i', 'z']
  • ret_hardware_version – Type: uint8_t[3]
    • 0: major – Type: uint8_t, Range: [0 to 255]
    • 1: minor – Type: uint8_t, Range: [0 to 255]
    • 2: revision – Type: uint8_t, Range: [0 to 255]
  • ret_firmware_version – Type: uint8_t[3]
    • 0: major – Type: uint8_t, Range: [0 to 255]
    • 1: minor – Type: uint8_t, Range: [0 to 255]
    • 2: revision – Type: uint8_t, Range: [0 to 255]
  • ret_device_identifier – Type: uint16_t, Range: [0 to 216 - 1]
Returns:
  • error_code – Type: int

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). The Raspberry Pi HAT (Zero) Brick is always at position 'i' and the Bricklet connected to an Isolator Bricklet is always as position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions

void io16_v2_register_callback(IO16V2 *io16_v2, int16_t callback_id, void (*function)(void), void *user_data)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • callback_id – Type: int16_t
  • function – Type: void (*)(void)
  • user_data – Type: void *

Registers the given function with the given callback_id. The user_data will be passed as the last parameter to the function.

The available callback IDs with corresponding function signatures are listed below.

int io16_v2_set_input_value_callback_configuration(IO16V2 *io16_v2, uint8_t channel, uint32_t period, bool value_has_to_change)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
  • period – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • value_has_to_change – Type: bool, Default: false
Returns:
  • error_code – Type: int

This callback can be configured per channel.

The period is the period with which the IO16_V2_CALLBACK_INPUT_VALUE callback is triggered periodically. A value of 0 turns the callback off.

If the value has to change-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

int io16_v2_get_input_value_callback_configuration(IO16V2 *io16_v2, uint8_t channel, uint32_t *ret_period, bool *ret_value_has_to_change)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • channel – Type: uint8_t, Range: [0 to 15]
Output Parameters:
  • ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • ret_value_has_to_change – Type: bool, Default: false
Returns:
  • error_code – Type: int

Returns the callback configuration as set by io16_v2_set_input_value_callback_configuration().

int io16_v2_set_all_input_value_callback_configuration(IO16V2 *io16_v2, uint32_t period, bool value_has_to_change)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • period – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • value_has_to_change – Type: bool, Default: false
Returns:
  • error_code – Type: int

The period is the period with which the IO16_V2_CALLBACK_ALL_INPUT_VALUE callback is triggered periodically. A value of 0 turns the callback off.

If the value has to change-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

int io16_v2_get_all_input_value_callback_configuration(IO16V2 *io16_v2, uint32_t *ret_period, bool *ret_value_has_to_change)
Parameters:
  • io16_v2 – Type: IO16V2 *
Output Parameters:
  • ret_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • ret_value_has_to_change – Type: bool, Default: false
Returns:
  • error_code – Type: int

Returns the callback configuration as set by io16_v2_set_all_input_value_callback_configuration().

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the io16_v2_register_callback() function:

void my_callback(int value, void *user_data) {
    printf("Value: %d\n", value);
}

io16_v2_register_callback(&io16_v2,
                          IO16_V2_CALLBACK_EXAMPLE,
                          (void (*)(void))my_callback,
                          NULL);

The available constants with corresponding function signatures are described below.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

IO16_V2_CALLBACK_INPUT_VALUE
void callback(uint8_t channel, bool changed, bool value, void *user_data)
Callback Parameters:
  • channel – Type: uint8_t, Range: [0 to 15]
  • changed – Type: bool
  • value – Type: bool
  • user_data – Type: void *

This callback is triggered periodically according to the configuration set by io16_v2_set_input_value_callback_configuration().

The parameters are the channel, a value-changed indicator and the actual value for the channel. The changed parameter is true if the value has changed since the last callback.

IO16_V2_CALLBACK_ALL_INPUT_VALUE
void callback(bool changed[16], bool value[16], void *user_data)
Callback Parameters:
  • changed – Type: bool[16]
  • value – Type: bool[16]
  • user_data – Type: void *

This callback is triggered periodically according to the configuration set by io16_v2_set_all_input_value_callback_configuration().

The parameters are the same as io16_v2_get_value(). Additional the changed parameter is true if the value has changed since the last callback.

IO16_V2_CALLBACK_MONOFLOP_DONE
void callback(uint8_t channel, bool value, void *user_data)
Callback Parameters:
  • channel – Type: uint8_t, Range: [0 to 15]
  • value – Type: bool
  • user_data – Type: void *

This callback is triggered whenever a monoflop timer reaches 0. The parameters contain the channel and the current value of the channel (the value after the monoflop).

Virtual Functions

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

int io16_v2_get_api_version(IO16V2 *io16_v2, uint8_t ret_api_version[3])
Parameters:
  • io16_v2 – Type: IO16V2 *
Output Parameters:
  • ret_api_version – Type: uint8_t[3]
    • 0: major – Type: uint8_t, Range: [0 to 255]
    • 1: minor – Type: uint8_t, Range: [0 to 255]
    • 2: revision – Type: uint8_t, Range: [0 to 255]
Returns:
  • error_code – Type: int

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

int io16_v2_get_response_expected(IO16V2 *io16_v2, uint8_t function_id, bool *ret_response_expected)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • function_id – Type: uint8_t, Range: See constants
Output Parameters:
  • ret_response_expected – Type: bool
Returns:
  • error_code – Type: int

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by io16_v2_set_response_expected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • IO16_V2_FUNCTION_SET_VALUE = 1
  • IO16_V2_FUNCTION_SET_SELECTED_VALUE = 3
  • IO16_V2_FUNCTION_SET_CONFIGURATION = 4
  • IO16_V2_FUNCTION_SET_INPUT_VALUE_CALLBACK_CONFIGURATION = 6
  • IO16_V2_FUNCTION_SET_ALL_INPUT_VALUE_CALLBACK_CONFIGURATION = 8
  • IO16_V2_FUNCTION_SET_MONOFLOP = 10
  • IO16_V2_FUNCTION_SET_EDGE_COUNT_CONFIGURATION = 13
  • IO16_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • IO16_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
  • IO16_V2_FUNCTION_RESET = 243
  • IO16_V2_FUNCTION_WRITE_UID = 248
int io16_v2_set_response_expected(IO16V2 *io16_v2, uint8_t function_id, bool response_expected)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • function_id – Type: uint8_t, Range: See constants
  • response_expected – Type: bool
Returns:
  • error_code – Type: int

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • IO16_V2_FUNCTION_SET_VALUE = 1
  • IO16_V2_FUNCTION_SET_SELECTED_VALUE = 3
  • IO16_V2_FUNCTION_SET_CONFIGURATION = 4
  • IO16_V2_FUNCTION_SET_INPUT_VALUE_CALLBACK_CONFIGURATION = 6
  • IO16_V2_FUNCTION_SET_ALL_INPUT_VALUE_CALLBACK_CONFIGURATION = 8
  • IO16_V2_FUNCTION_SET_MONOFLOP = 10
  • IO16_V2_FUNCTION_SET_EDGE_COUNT_CONFIGURATION = 13
  • IO16_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • IO16_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
  • IO16_V2_FUNCTION_RESET = 243
  • IO16_V2_FUNCTION_WRITE_UID = 248
int io16_v2_set_response_expected_all(IO16V2 *io16_v2, bool response_expected)
Parameters:
  • io16_v2 – Type: IO16V2 *
  • response_expected – Type: bool
Returns:
  • error_code – Type: int

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Constants

IO16_V2_DEVICE_IDENTIFIER

This constant is used to identify a IO-16 Bricklet 2.0.

The io16_v2_get_identity() function and the IPCON_CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

IO16_V2_DEVICE_DISPLAY_NAME

This constant represents the human readable name of a IO-16 Bricklet 2.0.