Java - IO-16 Bricklet 2.0

This is the description of the Java 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 Java API bindings is part of their general description.

Examples

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

Output

Download (ExampleOutput.java)

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import com.tinkerforge.IPConnection;
import com.tinkerforge.BrickletIO16V2;

public class ExampleOutput {
    private static final String HOST = "localhost";
    private static final int PORT = 4223;

    // Change XYZ to the UID of your IO-16 Bricklet 2.0
    private static final String UID = "XYZ";

    // Note: To make the example code cleaner we do not handle exceptions. Exceptions
    //       you might normally want to catch are described in the documentation
    public static void main(String args[]) throws Exception {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletIO16V2 io = new BrickletIO16V2(UID, ipcon); // Create device object

        ipcon.connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Configure channel 7 as output low
        io.setConfiguration(7, 'o', false);

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

        System.out.println("Press key to exit"); System.in.read();
        ipcon.disconnect();
    }
}

Interrupt

Download (ExampleInterrupt.java)

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import com.tinkerforge.IPConnection;
import com.tinkerforge.BrickletIO16V2;

public class ExampleInterrupt {
    private static final String HOST = "localhost";
    private static final int PORT = 4223;

    // Change XYZ to the UID of your IO-16 Bricklet 2.0
    private static final String UID = "XYZ";

    // Note: To make the example code cleaner we do not handle exceptions. Exceptions
    //       you might normally want to catch are described in the documentation
    public static void main(String args[]) throws Exception {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletIO16V2 io = new BrickletIO16V2(UID, ipcon); // Create device object

        ipcon.connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Add input value listener
        io.addInputValueListener(new BrickletIO16V2.InputValueListener() {
            public void inputValue(int channel, boolean changed, boolean value) {
                System.out.println("Channel: " + channel);
                System.out.println("Changed: " + changed);
                System.out.println("Value: " + value);
                System.out.println("");
            }
        });

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

        System.out.println("Press key to exit"); System.in.read();
        ipcon.disconnect();
    }
}

API

Generally, every method of the Java bindings that returns a value can throw a TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody unplugs the device). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Beside the TimeoutException there is also a NotConnectedException that is thrown if a method needs to communicate with the device while the IP Connection is not connected.

Since Java does not support multiple return values and return by reference is not possible for primitive types, we use small classes that only consist of member variables. The member variables of the returned objects are described in the corresponding method descriptions.

The package for all Brick/Bricklet bindings and the IP Connection is com.tinkerforge.*

All methods 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

class BrickletIO16V2(String uid, IPConnection ipcon)

Creates an object with the unique device ID uid:

BrickletIO16V2 io16V2 = new BrickletIO16V2("YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected (see examples above).

void BrickletIO16V2.setValue(boolean[] value)

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 setSelectedValue() 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 setConfiguration().

boolean[] BrickletIO16V2.getValue()

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.

void BrickletIO16V2.setSelectedValue(int channel, boolean value)

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 setConfiguration().

void BrickletIO16V2.setConfiguration(int channel, char direction, boolean value)

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 default configuration is input with pull-up.

The following constants are available for this function:

  • BrickletIO16V2.DIRECTION_IN = 'i'
  • BrickletIO16V2.DIRECTION_OUT = 'o'
BrickletIO16V2.Configuration BrickletIO16V2.getConfiguration(int channel)

Returns the channel configuration as set by setConfiguration().

The following constants are available for this function:

  • BrickletIO16V2.DIRECTION_IN = 'i'
  • BrickletIO16V2.DIRECTION_OUT = 'o'

The returned object has the public member variables char direction and boolean value.

Advanced Functions

void BrickletIO16V2.setMonoflop(int channel, boolean value, long time)

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 (in ms) 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.

BrickletIO16V2.Monoflop BrickletIO16V2.getMonoflop(int channel)

Returns (for the given channel) the current value and the time as set by setMonoflop() 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.

The returned object has the public member variables boolean value, long time and long timeRemaining.

long BrickletIO16V2.getEdgeCount(int channel, boolean resetCounter)

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

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

void BrickletIO16V2.setEdgeCountConfiguration(int channel, int edgeType, int debounce)

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 (default)
  • 1 = falling
  • 2 = both

The debounce time is given in ms.

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.

Default values: 0 (edge type) and 100ms (debounce time)

The following constants are available for this function:

  • BrickletIO16V2.EDGE_TYPE_RISING = 0
  • BrickletIO16V2.EDGE_TYPE_FALLING = 1
  • BrickletIO16V2.EDGE_TYPE_BOTH = 2
BrickletIO16V2.EdgeCountConfiguration BrickletIO16V2.getEdgeCountConfiguration(int channel)

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

The following constants are available for this function:

  • BrickletIO16V2.EDGE_TYPE_RISING = 0
  • BrickletIO16V2.EDGE_TYPE_FALLING = 1
  • BrickletIO16V2.EDGE_TYPE_BOTH = 2

The returned object has the public member variables int edgeType and int debounce.

int[] BrickletIO16V2.getAPIVersion()

Returns the version of the API definition (major, minor, revision) 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.

boolean BrickletIO16V2.getResponseExpected(int functionId)

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 listener configuration functions it is enabled by default too, but can be disabled by setResponseExpected(). 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:

  • BrickletIO16V2.FUNCTION_SET_VALUE = 1
  • BrickletIO16V2.FUNCTION_SET_SELECTED_VALUE = 3
  • BrickletIO16V2.FUNCTION_SET_CONFIGURATION = 4
  • BrickletIO16V2.FUNCTION_SET_INPUT_VALUE_CALLBACK_CONFIGURATION = 6
  • BrickletIO16V2.FUNCTION_SET_ALL_INPUT_VALUE_CALLBACK_CONFIGURATION = 8
  • BrickletIO16V2.FUNCTION_SET_MONOFLOP = 10
  • BrickletIO16V2.FUNCTION_SET_EDGE_COUNT_CONFIGURATION = 13
  • BrickletIO16V2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletIO16V2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletIO16V2.FUNCTION_RESET = 243
  • BrickletIO16V2.FUNCTION_WRITE_UID = 248
void BrickletIO16V2.setResponseExpected(int functionId, boolean responseExpected)

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 listener 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:

  • BrickletIO16V2.FUNCTION_SET_VALUE = 1
  • BrickletIO16V2.FUNCTION_SET_SELECTED_VALUE = 3
  • BrickletIO16V2.FUNCTION_SET_CONFIGURATION = 4
  • BrickletIO16V2.FUNCTION_SET_INPUT_VALUE_CALLBACK_CONFIGURATION = 6
  • BrickletIO16V2.FUNCTION_SET_ALL_INPUT_VALUE_CALLBACK_CONFIGURATION = 8
  • BrickletIO16V2.FUNCTION_SET_MONOFLOP = 10
  • BrickletIO16V2.FUNCTION_SET_EDGE_COUNT_CONFIGURATION = 13
  • BrickletIO16V2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletIO16V2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletIO16V2.FUNCTION_RESET = 243
  • BrickletIO16V2.FUNCTION_WRITE_UID = 248
void BrickletIO16V2.setResponseExpectedAll(boolean responseExpected)

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

BrickletIO16V2.SPITFPErrorCount BrickletIO16V2.getSPITFPErrorCount()

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.

The returned object has the public member variables long errorCountAckChecksum, long errorCountMessageChecksum, long errorCountFrame and long errorCountOverflow.

int BrickletIO16V2.setBootloaderMode(int mode)

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:

  • BrickletIO16V2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletIO16V2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletIO16V2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletIO16V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletIO16V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
  • BrickletIO16V2.BOOTLOADER_STATUS_OK = 0
  • BrickletIO16V2.BOOTLOADER_STATUS_INVALID_MODE = 1
  • BrickletIO16V2.BOOTLOADER_STATUS_NO_CHANGE = 2
  • BrickletIO16V2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BrickletIO16V2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BrickletIO16V2.BOOTLOADER_STATUS_CRC_MISMATCH = 5
int BrickletIO16V2.getBootloaderMode()

Returns the current bootloader mode, see setBootloaderMode().

The following constants are available for this function:

  • BrickletIO16V2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletIO16V2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletIO16V2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletIO16V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletIO16V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
void BrickletIO16V2.setWriteFirmwarePointer(long pointer)

Sets the firmware pointer for writeFirmware(). 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 BrickletIO16V2.writeFirmware(int[] data)

Writes 64 Bytes of firmware at the position as written by setWriteFirmwarePointer() 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.

void BrickletIO16V2.setStatusLEDConfig(int config)

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:

  • BrickletIO16V2.STATUS_LED_CONFIG_OFF = 0
  • BrickletIO16V2.STATUS_LED_CONFIG_ON = 1
  • BrickletIO16V2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletIO16V2.STATUS_LED_CONFIG_SHOW_STATUS = 3
int BrickletIO16V2.getStatusLEDConfig()

Returns the configuration as set by setStatusLEDConfig()

The following constants are available for this function:

  • BrickletIO16V2.STATUS_LED_CONFIG_OFF = 0
  • BrickletIO16V2.STATUS_LED_CONFIG_ON = 1
  • BrickletIO16V2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletIO16V2.STATUS_LED_CONFIG_SHOW_STATUS = 3
int BrickletIO16V2.getChipTemperature()

Returns the temperature in °C 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.

void BrickletIO16V2.reset()

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!

void BrickletIO16V2.writeUID(long uid)

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.

long BrickletIO16V2.readUID()

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

BrickletIO16V2.Identity BrickletIO16V2.getIdentity()

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' or 'd'.

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

The returned object has the public member variables String uid, String connectedUid, char position, int[] hardwareVersion, int[] firmwareVersion and int deviceIdentifier.

Listener Configuration Functions

void BrickletIO16V2.setInputValueCallbackConfiguration(int channel, long period, boolean valueHasToChange)

This listener can be configured per channel.

The period in ms is the period with which the InputValueListener listener is triggered periodically. A value of 0 turns the listener off.

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

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

The default value is (0, false).

BrickletIO16V2.InputValueCallbackConfiguration BrickletIO16V2.getInputValueCallbackConfiguration(int channel)

Returns the listener configuration as set by setInputValueCallbackConfiguration().

The returned object has the public member variables long period and boolean valueHasToChange.

void BrickletIO16V2.setAllInputValueCallbackConfiguration(long period, boolean valueHasToChange)

The period in ms is the period with which the AllInputValueListener listener is triggered periodically. A value of 0 turns the listener off.

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

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

The default value is (0, false).

BrickletIO16V2.AllInputValueCallbackConfiguration BrickletIO16V2.getAllInputValueCallbackConfiguration()

Returns the listener configuration as set by setAllInputValueCallbackConfiguration().

The returned object has the public member variables long period and boolean valueHasToChange.

Listeners

Listeners can be registered to receive time critical or recurring data from the device. The registration is done with add*Listener() functions of the device object.

The parameter is a listener class object, for example:

device.addExampleListener(new BrickletIO16V2.ExampleListener() {
    public void property(int value) {
        System.out.println("Value: " + value);
    }
});

The available listener classes with inherent methods to be overwritten are described below. It is possible to add several listeners and to remove them with the corresponding remove*Listener() function.

Note

Using listeners 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.

class BrickletIO16V2.InputValueListener()

This listener can be added with the addInputValueListener() function. An added listener can be removed with the removeInputValueListener() function.

void inputValue(int channel, boolean changed, boolean value)

This listener is triggered periodically according to the configuration set by setInputValueCallbackConfiguration().

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 listener.

class BrickletIO16V2.AllInputValueListener()

This listener can be added with the addAllInputValueListener() function. An added listener can be removed with the removeAllInputValueListener() function.

void allInputValue(boolean[] changed, boolean[] value)

This listener is triggered periodically according to the configuration set by setAllInputValueCallbackConfiguration().

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

class BrickletIO16V2.MonoflopDoneListener()

This listener can be added with the addMonoflopDoneListener() function. An added listener can be removed with the removeMonoflopDoneListener() function.

void monoflopDone(int channel, boolean value)

This listener 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).

Constants

static final int BrickletIO16V2.DEVICE_IDENTIFIER

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

The getIdentity() function and the IPConnection.EnumerateListener listener of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

static final String BrickletIO16V2.DEVICE_DISPLAY_NAME

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