Mathematica - IO-16 Bricklet 2.0

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

Examples

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

Output

Download (ExampleOutput.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XYZ"(*Change XYZ to the UID of your IO-16 Bricklet 2.0*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
io=NETNew["Tinkerforge.BrickletIO16V2",uid,ipcon]
ipcon@Connect[host,port]

(*Configure channel 7 as output low*)
io@SetConfiguration[7,ToCharacterCode["o"][[1]],False]

(*Set channel 7 alternating high/low 10 times with 100 ms delay*)
For[i=0,i<10,i++,
 Pause[0.1];
 io@SetSelectedValue[7,True];
 Pause[0.1];
 io@SetSelectedValue[7,False]
]

(*Clean up*)
ipcon@Disconnect[]
ReleaseNETObject[io]
ReleaseNETObject[ipcon]

Interrupt

Download (ExampleInterrupt.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XYZ"(*Change XYZ to the UID of your IO-16 Bricklet 2.0*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
io=NETNew["Tinkerforge.BrickletIO16V2",uid,ipcon]
ipcon@Connect[host,port]

(*Callback function for input value callback*)
InputValueCB[sender_,channel_,changed_,value_]:=
 Module[{},
  Print["Channel: "<>ToString[channel]];
  Print["Changed: "<>ToString[changed]];
  Print["Value: "<>ToString[value]]
 ]

AddEventHandler[io@InputValueCallback,InputValueCB]

(*Set period for input value (channel 4) callback to 0.5s (500ms)*)
io@SetInputValueCallbackConfiguration[4,500,False]

Input["Click OK to exit"]

(*Clean up*)
ipcon@Disconnect[]
ReleaseNETObject[io]
ReleaseNETObject[ipcon]

API

Generally, every method of the Mathematica bindings that returns a value can throw a Tinkerforge.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 plugs the device out). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Since .NET/Link does not support multiple return values directly, we use the out keyword to return multiple values from a method. For further information about the out keyword in .NET/Link see the corresponding Mathematica .NET/Link documentation.

The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.

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

BrickletIO16V2[uid, ipcon] → io16V2
Parameters:
  • uid -- String
  • ipcon -- NETObject[IPConnection]
Returns:
  • io16V2 -- NETObject[BrickletIO16V2]

Creates an object with the unique device ID uid:

io16V2=NETNew["Tinkerforge.BrickletIO16V2","YOUR_DEVICE_UID",ipcon]

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

The .NET runtime has built-in garbage collection that frees objects that are no longer in use by a program. But because Mathematica can not automatically tell when a Mathematica "program" doesn't use a .NET object anymore, this has to be done by the program. For this the ReleaseNETObject[] function is used in the examples.

For further information about object management in .NET/Link see the corresponding Mathematica .NET/Link documentation.

BrickletIO16V2@SetValue[{value1, value2, ..., value16}] → Null
Parameters:
  • valuei -- True/False

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.

Note

This function does nothing for channels that are configured as input. Pull-up resistors can be switched on with SetConfiguration[].

BrickletIO16V2@GetValue[] → {value1, value2, ..., value16}
Returns:
  • valuei -- True/False

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.

BrickletIO16V2@SetSelectedValue[channel, value] → Null
Parameters:
  • channel -- Integer
  • value -- True/False

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

Note

This function does nothing for channels that are configured as input. Pull-up resistors can be switched on with SetConfiguration[].

BrickletIO16V2@SetConfiguration[channel, direction, value] → Null
Parameters:
  • channel -- Integer
  • direction -- Integer
  • value -- True/False

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.

The default configuration is input with pull-up.

The following constants are available for this function:

  • BrickletIO16V2`DIRECTIONUIN = ToCharacterCode["i"][[0]]
  • BrickletIO16V2`DIRECTIONUOUT = ToCharacterCode["o"][[0]]

Advanced Functions

BrickletIO16V2@SetMonoflop[channel, value, time] → Null
Parameters:
  • channel -- Integer
  • value -- True/False
  • time -- Integer

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@GetMonoflop[channel, out value, out time, out timeRemaining] → Null
Parameters:
  • channel -- Integer
  • value -- True/False
  • time -- Integer
  • timeRemaining -- Integer

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.

BrickletIO16V2@GetEdgeCount[channel, resetCounter] → count
Parameters:
  • channel -- Integer
  • resetCounter -- True/False
Returns:
  • count -- Integer

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.

BrickletIO16V2@SetEdgeCountConfiguration[channel, edgeType, debounce] → Null
Parameters:
  • channel -- Integer
  • edgeType -- Integer
  • debounce -- Integer

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`EDGEUTYPEURISING = 0
  • BrickletIO16V2`EDGEUTYPEUFALLING = 1
  • BrickletIO16V2`EDGEUTYPEUBOTH = 2
BrickletIO16V2@GetEdgeCountConfiguration[channel, out edgeType, out debounce] → Null
Parameters:
  • channel -- Integer
  • edgeType -- Integer
  • debounce -- Integer

Returns the edge type and debounce time for the selected channel as set by SetEdgeCountConfiguration[].

The following constants are available for this function:

  • BrickletIO16V2`EDGEUTYPEURISING = 0
  • BrickletIO16V2`EDGEUTYPEUFALLING = 1
  • BrickletIO16V2`EDGEUTYPEUBOTH = 2
BrickletIO16V2@GetAPIVersion[] → {apiVersion1, apiVersion2, apiVersion3}
Returns:
  • apiVersioni -- Integer

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.

BrickletIO16V2@GetResponseExpected[functionId] → responseExpected
Parameters:
  • functionId -- Integer
Returns:
  • responseExpected -- True/False

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 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.

See SetResponseExpected[] for the list of function ID constants available for this function.

BrickletIO16V2@SetResponseExpected[functionId, responseExpected] → Null
Parameters:
  • functionId -- Integer
  • responseExpected -- True/False

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 function ID constants are available for this function:

  • BrickletIO16V2`FUNCTIONUSETUVALUE = 1
  • BrickletIO16V2`FUNCTIONUSETUSELECTEDUVALUE = 3
  • BrickletIO16V2`FUNCTIONUSETUCONFIGURATION = 4
  • BrickletIO16V2`FUNCTIONUSETUINPUTUVALUEUCALLBACKUCONFIGURATION = 6
  • BrickletIO16V2`FUNCTIONUSETUALLUINPUTUVALUEUCALLBACKUCONFIGURATION = 8
  • BrickletIO16V2`FUNCTIONUSETUMONOFLOP = 10
  • BrickletIO16V2`FUNCTIONUSETUEDGEUCOUNTUCONFIGURATION = 13
  • BrickletIO16V2`FUNCTIONUSETUWRITEUFIRMWAREUPOINTER = 237
  • BrickletIO16V2`FUNCTIONUSETUSTATUSULEDUCONFIG = 239
  • BrickletIO16V2`FUNCTIONURESET = 243
  • BrickletIO16V2`FUNCTIONUWRITEUUID = 248
BrickletIO16V2@SetResponseExpectedAll[responseExpected] → Null
Parameters:
  • responseExpected -- True/False

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

BrickletIO16V2@GetSPITFPErrorCount[out errorCountAckChecksum, out errorCountMessageChecksum, out errorCountFrame, out errorCountOverflow] → Null
Parameters:
  • errorCountAckChecksum -- Integer
  • errorCountMessageChecksum -- Integer
  • errorCountFrame -- Integer
  • errorCountOverflow -- Integer

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.

BrickletIO16V2@SetBootloaderMode[mode] → status
Parameters:
  • mode -- Integer
Returns:
  • status -- Integer

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`BOOTLOADERUMODEUBOOTLOADER = 0
  • BrickletIO16V2`BOOTLOADERUMODEUFIRMWARE = 1
  • BrickletIO16V2`BOOTLOADERUMODEUBOOTLOADERUWAITUFORUREBOOT = 2
  • BrickletIO16V2`BOOTLOADERUMODEUFIRMWAREUWAITUFORUREBOOT = 3
  • BrickletIO16V2`BOOTLOADERUMODEUFIRMWAREUWAITUFORUERASEUANDUREBOOT = 4
  • BrickletIO16V2`BOOTLOADERUSTATUSUOK = 0
  • BrickletIO16V2`BOOTLOADERUSTATUSUINVALIDUMODE = 1
  • BrickletIO16V2`BOOTLOADERUSTATUSUNOUCHANGE = 2
  • BrickletIO16V2`BOOTLOADERUSTATUSUENTRYUFUNCTIONUNOTUPRESENT = 3
  • BrickletIO16V2`BOOTLOADERUSTATUSUDEVICEUIDENTIFIERUINCORRECT = 4
  • BrickletIO16V2`BOOTLOADERUSTATUSUCRCUMISMATCH = 5
BrickletIO16V2@GetBootloaderMode[] → mode
Returns:
  • mode -- Integer

Returns the current bootloader mode, see SetBootloaderMode[].

The following constants are available for this function:

  • BrickletIO16V2`BOOTLOADERUMODEUBOOTLOADER = 0
  • BrickletIO16V2`BOOTLOADERUMODEUFIRMWARE = 1
  • BrickletIO16V2`BOOTLOADERUMODEUBOOTLOADERUWAITUFORUREBOOT = 2
  • BrickletIO16V2`BOOTLOADERUMODEUFIRMWAREUWAITUFORUREBOOT = 3
  • BrickletIO16V2`BOOTLOADERUMODEUFIRMWAREUWAITUFORUERASEUANDUREBOOT = 4
BrickletIO16V2@SetWriteFirmwarePointer[pointer] → Null
Parameters:
  • pointer -- Integer

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.

BrickletIO16V2@WriteFirmware[{data1, data2, ..., data64}] → status
Parameters:
  • datai -- Integer
Returns:
  • status -- Integer

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.

BrickletIO16V2@SetStatusLEDConfig[config] → Null
Parameters:
  • config -- Integer

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`STATUSULEDUCONFIGUOFF = 0
  • BrickletIO16V2`STATUSULEDUCONFIGUON = 1
  • BrickletIO16V2`STATUSULEDUCONFIGUSHOWUHEARTBEAT = 2
  • BrickletIO16V2`STATUSULEDUCONFIGUSHOWUSTATUS = 3
BrickletIO16V2@GetStatusLEDConfig[] → config
Returns:
  • config -- Integer

Returns the configuration as set by SetStatusLEDConfig[]

The following constants are available for this function:

  • BrickletIO16V2`STATUSULEDUCONFIGUOFF = 0
  • BrickletIO16V2`STATUSULEDUCONFIGUON = 1
  • BrickletIO16V2`STATUSULEDUCONFIGUSHOWUHEARTBEAT = 2
  • BrickletIO16V2`STATUSULEDUCONFIGUSHOWUSTATUS = 3
BrickletIO16V2@GetChipTemperature[] → temperature
Returns:
  • temperature -- Integer

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.

BrickletIO16V2@Reset[] → Null

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!

BrickletIO16V2@WriteUID[uid] → Null
Parameters:
  • uid -- Integer

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.

BrickletIO16V2@ReadUID[] → uid
Returns:
  • uid -- Integer

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

BrickletIO16V2@GetIdentity[out uid, out connectedUid, out position, out {hardwareVersion1, hardwareVersion2, hardwareVersion3}, out {firmwareVersion1, firmwareVersion2, firmwareVersion3}, out deviceIdentifier] → Null
Parameters:
  • uid -- String
  • connectedUid -- String
  • position -- Integer
  • hardwareVersioni -- Integer
  • firmwareVersioni -- Integer
  • deviceIdentifier -- Integer

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.

Callback Configuration Functions

BrickletIO16V2@GetConfiguration[channel, out direction, out value] → Null
Parameters:
  • channel -- Integer
  • direction -- Integer
  • value -- True/False

Returns the channel configuration as set by SetConfiguration[].

The following constants are available for this function:

  • BrickletIO16V2`DIRECTIONUIN = ToCharacterCode["i"][[0]]
  • BrickletIO16V2`DIRECTIONUOUT = ToCharacterCode["o"][[0]]
BrickletIO16V2@SetInputValueCallbackConfiguration[channel, period, valueHasToChange] → Null
Parameters:
  • channel -- Integer
  • period -- Integer
  • valueHasToChange -- True/False

This callback can be configured per channel.

The period in ms is the period with which the InputValueCallback 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.

The default value is (0, false).

BrickletIO16V2@GetInputValueCallbackConfiguration[channel, out period, out valueHasToChange] → Null
Parameters:
  • channel -- Integer
  • period -- Integer
  • valueHasToChange -- True/False

Returns the callback configuration as set by SetInputValueCallbackConfiguration[].

BrickletIO16V2@SetAllInputValueCallbackConfiguration[period, valueHasToChange] → Null
Parameters:
  • period -- Integer
  • valueHasToChange -- True/False

The period in ms is the period with which the AllInputValueCallback 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.

The default value is (0, false).

BrickletIO16V2@GetAllInputValueCallbackConfiguration[out period, out valueHasToChange] → Null
Parameters:
  • period -- Integer
  • valueHasToChange -- True/False

Returns the callback configuration as set by SetAllInputValueCallbackConfiguration[].

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a function to a callback property of the device object:

MyCallback[sender_,value_]:=Print["Value: "<>ToString[value]]

AddEventHandler[io16V2@ExampleCallback,MyCallback]

For further information about event handling using .NET/Link see the corresponding Mathematica .NET/Link documentation.

The available callback property and their type of parameters 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.

event BrickletIO16V2@InputValueCallback[sender, channel, changed, value]
Parameters:
  • sender -- NETObject[BrickletIO16V2]
  • channel -- Integer
  • changed -- True/False
  • value -- True/False

This callback 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 callback.

event BrickletIO16V2@AllInputValueCallback[sender, {changed1, changed2, ..., changed16}, {value1, value2, ..., value16}]
Parameters:
  • sender -- NETObject[BrickletIO16V2]
  • changedi -- True/False
  • valuei -- True/False

This callback 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 callback.

event BrickletIO16V2@MonoflopDoneCallback[sender, channel, value]
Parameters:
  • sender -- NETObject[BrickletIO16V2]
  • channel -- Integer
  • value -- True/False

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).

Constants

BrickletIO16V2`DEVICEUIDENTIFIER

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

The GetIdentity[] function and the EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

BrickletIO16V2`DEVICEDISPLAYNAME

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