C# - IO-4 Bricklet 2.0

This is the description of the C# API bindings for the IO-4 Bricklet 2.0. General information and technical specifications for the IO-4 Bricklet 2.0 are summarized in its hardware description.

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

Examples

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

Output

Download (ExampleOutput.cs)

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using System;
using System.Threading;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your IO-4 Bricklet 2.0

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletIO4V2 io = new BrickletIO4V2(UID, ipcon); // Create device object

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

        // Configure channel 3 as output low
        io.SetConfiguration(3, 'o', false);

        // Set channel 3 alternating high/low 10 times with 100 ms delay
        for(int i = 0; i < 10; i++)
        {
            Thread.Sleep(100);
            io.SetSelectedValue(3, true);
            Thread.Sleep(100);
            io.SetSelectedValue(3, false);
        }

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Interrupt

Download (ExampleInterrupt.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your IO-4 Bricklet 2.0

    // Callback function for input value callback
    static void InputValueCB(BrickletIO4V2 sender, byte channel, bool changed, bool value)
    {
        Console.WriteLine("Channel: " + channel);
        Console.WriteLine("Changed: " + changed);
        Console.WriteLine("Value: " + value);
        Console.WriteLine("");
    }

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletIO4V2 io = new BrickletIO4V2(UID, ipcon); // Create device object

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

        // Register input value callback to function InputValueCB
        io.InputValueCallback += InputValueCB;

        // Set period for input value (channel 1) callback to 0.5s (500ms)
        io.SetInputValueCallbackConfiguration(1, 500, false);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

API

Generally, every method of the C# 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 C# does not support multiple return values directly, we use the out keyword to return multiple values from a method.

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

All methods listed below are thread-safe.

Basic Functions

public class BrickletIO4V2(String uid, IPConnection ipcon)

Creates an object with the unique device ID uid:

BrickletIO4V2 io4V2 = new BrickletIO4V2("YOUR_DEVICE_UID", ipcon);

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

public void SetValue(bool[] value)

Sets the output value of all four 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) will turn the channels 0-1 high and the channels 2-3 low.

Note

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

public bool[] 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.

public void SetSelectedValue(byte channel, bool value)

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().

public void SetConfiguration(byte channel, char direction, bool 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.

The default configuration is input with pull-up.

The following constants are available for this function:

  • BrickletIO4V2.DIRECTION_IN = 'i'
  • BrickletIO4V2.DIRECTION_OUT = 'o'

Advanced Functions

public void SetMonoflop(byte channel, bool value, long time)

The first parameter is the desired state of the channel (true means output high and false means output low). The second parameter indicates the time (in ms) that the channel should hold the state.

If this function is called with the parameters (true, 1500): The channel will turn on and in 1.5s it will turn off again.

A monoflop can be used as a failsafe mechanism. For example: Lets assume you have a RS485 bus and a IO-4 Bricklet 2.0 is connected to one of the slave stacks. You can now call this function every second, with a time parameter of two seconds. The channel will be high all the time. If now the RS485 connection is lost, the channel will turn low in at most two seconds.

public void GetMonoflop(byte channel, out bool value, out long time, out long timeRemaining)

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.

public long GetEdgeCount(byte channel, bool 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.

public void SetEdgeCountConfiguration(byte channel, byte edgeType, byte 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:

  • BrickletIO4V2.EDGE_TYPE_RISING = 0
  • BrickletIO4V2.EDGE_TYPE_FALLING = 1
  • BrickletIO4V2.EDGE_TYPE_BOTH = 2
public void GetEdgeCountConfiguration(byte channel, out byte edgeType, out byte debounce)

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

The following constants are available for this function:

  • BrickletIO4V2.EDGE_TYPE_RISING = 0
  • BrickletIO4V2.EDGE_TYPE_FALLING = 1
  • BrickletIO4V2.EDGE_TYPE_BOTH = 2
public void SetPWMConfiguration(byte channel, long frequency, int dutyCycle)

Activates a PWM for the given channel with the frequency given in 1/10Hz and the duty cycle given in 1/100%.

You need to set the channel to output before you call this function, otherwise it will be ignored. To turn the PWM off again, you can set the frequency to 0 or any other function that changes a value of the channel (e.g. SetSelectedValue()).

The maximum frequency value is 320000000 (32MHz). The maximum duty cycle value is 10000 (100%).

The default values are 0, 0.

public void GetPWMConfiguration(byte channel, out long frequency, out int dutyCycle)

Returns the PWM configuration as set by SetPWMConfiguration().

public byte[] 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.

public bool GetResponseExpected(byte 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 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.

public void SetResponseExpected(byte functionId, bool 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 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:

  • BrickletIO4V2.FUNCTION_SET_VALUE = 1
  • BrickletIO4V2.FUNCTION_SET_SELECTED_VALUE = 3
  • BrickletIO4V2.FUNCTION_SET_CONFIGURATION = 4
  • BrickletIO4V2.FUNCTION_SET_INPUT_VALUE_CALLBACK_CONFIGURATION = 6
  • BrickletIO4V2.FUNCTION_SET_ALL_INPUT_VALUE_CALLBACK_CONFIGURATION = 8
  • BrickletIO4V2.FUNCTION_SET_MONOFLOP = 10
  • BrickletIO4V2.FUNCTION_SET_EDGE_COUNT_CONFIGURATION = 13
  • BrickletIO4V2.FUNCTION_SET_PWM_CONFIGURATION = 15
  • BrickletIO4V2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletIO4V2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletIO4V2.FUNCTION_RESET = 243
  • BrickletIO4V2.FUNCTION_WRITE_UID = 248
public void SetResponseExpectedAll(bool responseExpected)

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

public void GetSPITFPErrorCount(out long errorCountAckChecksum, out long errorCountMessageChecksum, out long errorCountFrame, out long errorCountOverflow)

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.

public byte SetBootloaderMode(byte 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:

  • BrickletIO4V2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletIO4V2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletIO4V2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletIO4V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletIO4V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
  • BrickletIO4V2.BOOTLOADER_STATUS_OK = 0
  • BrickletIO4V2.BOOTLOADER_STATUS_INVALID_MODE = 1
  • BrickletIO4V2.BOOTLOADER_STATUS_NO_CHANGE = 2
  • BrickletIO4V2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BrickletIO4V2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BrickletIO4V2.BOOTLOADER_STATUS_CRC_MISMATCH = 5
public byte GetBootloaderMode()

Returns the current bootloader mode, see SetBootloaderMode().

The following constants are available for this function:

  • BrickletIO4V2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletIO4V2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletIO4V2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletIO4V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletIO4V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
public void 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.

public byte WriteFirmware(byte[] 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.

public void SetStatusLEDConfig(byte 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:

  • BrickletIO4V2.STATUS_LED_CONFIG_OFF = 0
  • BrickletIO4V2.STATUS_LED_CONFIG_ON = 1
  • BrickletIO4V2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletIO4V2.STATUS_LED_CONFIG_SHOW_STATUS = 3
public byte GetStatusLEDConfig()

Returns the configuration as set by SetStatusLEDConfig()

The following constants are available for this function:

  • BrickletIO4V2.STATUS_LED_CONFIG_OFF = 0
  • BrickletIO4V2.STATUS_LED_CONFIG_ON = 1
  • BrickletIO4V2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletIO4V2.STATUS_LED_CONFIG_SHOW_STATUS = 3
public short 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.

public void 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!

public void 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.

public long ReadUID()

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

public void GetIdentity(out string uid, out string connectedUid, out char position, out byte[] hardwareVersion, out byte[] firmwareVersion, out int deviceIdentifier)

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

public void GetConfiguration(byte channel, out char direction, out bool value)

Returns the channel configuration as set by SetConfiguration().

The following constants are available for this function:

  • BrickletIO4V2.DIRECTION_IN = 'i'
  • BrickletIO4V2.DIRECTION_OUT = 'o'
public void SetInputValueCallbackConfiguration(byte channel, long period, bool valueHasToChange)

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).

public void GetInputValueCallbackConfiguration(byte channel, out long period, out bool valueHasToChange)

Returns the callback configuration for the given channel as set by SetInputValueCallbackConfiguration().

public void SetAllInputValueCallbackConfiguration(long period, bool valueHasToChange)

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).

public void GetAllInputValueCallbackConfiguration(out long period, out bool valueHasToChange)

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 appending your callback handler to the corresponding event:

void MyCallback(BrickletIO4V2 sender, int value)
{
    System.Console.WriteLine("Value: " + value);
}

io4V2.ExampleCallback += MyCallback;

The available events 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.

public event InputValueCallback(BrickletIO4V2 sender, byte channel, bool changed, bool value)

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.

public event AllInputValueCallback(BrickletIO4V2 sender, bool[] changed, bool[] value)

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.

public event MonoflopDoneCallback(BrickletIO4V2 sender, byte channel, bool value)

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

public int DEVICE_IDENTIFIER

This constant is used to identify a IO-4 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.

public string DEVICE_DISPLAY_NAME

This constant represents the human readable name of a IO-4 Bricklet 2.0.