Mathematica - Industrial Digital Out 4 Bricklet 2.0

This is the description of the Mathematica API bindings for the Industrial Digital Out 4 Bricklet 2.0. General information and technical specifications for the Industrial Digital Out 4 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).

Simple

Download (ExampleSimple.nb)

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

host="localhost"
port=4223
uid="XYZ"(*Change XYZ to the UID of your Industrial Digital Out 4 Bricklet 2.0*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
ido4=NETNew["Tinkerforge.BrickletIndustrialDigitalOut4V2",uid,ipcon]
ipcon@Connect[host,port]

(*Set channels alternating high/low 10 times with 100 ms delay*)
For[i=0,i<10,i++,
 Pause[0.1];
 ido4@SetValue[{True,False,False,False}];
 Pause[0.1];
 ido4@SetValue[{False,True,False,False}];
 Pause[0.1];
 ido4@SetValue[{False,False,True,False}];
 Pause[0.1];
 ido4@SetValue[{False,False,False,True}]
]

(*Clean up*)
ipcon@Disconnect[]
ReleaseNETObject[ido4]
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.*.

Basic Functions

BrickletIndustrialDigitalOut4V2[uid, ipcon] → industrialDigitalOut4V2
Parameters:
  • uid -- String
  • ipcon -- NETObject[IPConnection]
Returns:
  • industrialDigitalOut4V2 -- NETObject[BrickletIndustrialDigitalOut4V2]

Creates an object with the unique device ID uid:

industrialDigitalOut4V2=NETNew["Tinkerforge.BrickletIndustrialDigitalOut4V2","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.

BrickletIndustrialDigitalOut4V2@SetValue[{value1, value2, value3, value4}] → Null
Parameters:
  • valuei -- True/False

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.

BrickletIndustrialDigitalOut4V2@GetValue[] → {value1, value2, value3, value4}
Returns:
  • valuei -- True/False

Returns the logic levels that are currently output on the channels.

BrickletIndustrialDigitalOut4V2@SetSelectedValue[channel, value] → Null
Parameters:
  • channel -- Integer
  • value -- True/False

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

BrickletIndustrialDigitalOut4V2@SetChannelLEDConfig[channel, config] → Null
Parameters:
  • channel -- Integer
  • config -- Integer

Each channel has a corresponding LED. You can turn the LED off, on or show a heartbeat. You can also set the LED to "Channel Status". In this mode the LED is on if the channel is high and off otherwise.

By default all channel LEDs are configured as "Channel Status".

The following constants are available for this function:

  • BrickletIndustrialDigitalOut4V2`CHANNELULEDUCONFIGUOFF = 0
  • BrickletIndustrialDigitalOut4V2`CHANNELULEDUCONFIGUON = 1
  • BrickletIndustrialDigitalOut4V2`CHANNELULEDUCONFIGUSHOWUHEARTBEAT = 2
  • BrickletIndustrialDigitalOut4V2`CHANNELULEDUCONFIGUSHOWUCHANNELUSTATUS = 3
BrickletIndustrialDigitalOut4V2@GetChannelLEDConfig[channel] → config
Parameters:
  • channel -- Integer
Returns:
  • config -- Integer

Returns the channel LED configuration as set by SetChannelLEDConfig[]

The following constants are available for this function:

  • BrickletIndustrialDigitalOut4V2`CHANNELULEDUCONFIGUOFF = 0
  • BrickletIndustrialDigitalOut4V2`CHANNELULEDUCONFIGUON = 1
  • BrickletIndustrialDigitalOut4V2`CHANNELULEDUCONFIGUSHOWUHEARTBEAT = 2
  • BrickletIndustrialDigitalOut4V2`CHANNELULEDUCONFIGUSHOWUCHANNELUSTATUS = 3

Advanced Functions

BrickletIndustrialDigitalOut4V2@SetMonoflop[channel, value, time] → Null
Parameters:
  • channel -- Integer
  • value -- True/False
  • time -- Integer

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 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.

BrickletIndustrialDigitalOut4V2@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.

BrickletIndustrialDigitalOut4V2@SetPWMConfiguration[channel, frequency, dutyCycle] → Null
Parameters:
  • channel -- Integer
  • frequency -- Integer
  • dutyCycle -- Integer

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

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 duty cycle value is 10000 (100%). The optocoupler of the Industrial Digital Out 4 Bricklet 2.0 has a rise time and fall time of 11.5us (each) at 24V. So the maximum useful frequency value is about 400000 (40kHz).

The default values are 0, 0.

BrickletIndustrialDigitalOut4V2@GetPWMConfiguration[channel, out frequency, out dutyCycle] → Null
Parameters:
  • channel -- Integer
  • frequency -- Integer
  • dutyCycle -- Integer

Returns the PWM configuration as set by SetPWMConfiguration[].

BrickletIndustrialDigitalOut4V2@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.

BrickletIndustrialDigitalOut4V2@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.

BrickletIndustrialDigitalOut4V2@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:

  • BrickletIndustrialDigitalOut4V2`FUNCTIONUSETUVALUE = 1
  • BrickletIndustrialDigitalOut4V2`FUNCTIONUSETUSELECTEDUVALUE = 3
  • BrickletIndustrialDigitalOut4V2`FUNCTIONUSETUMONOFLOP = 4
  • BrickletIndustrialDigitalOut4V2`FUNCTIONUSETUCHANNELULEDUCONFIG = 7
  • BrickletIndustrialDigitalOut4V2`FUNCTIONUSETUPWMUCONFIGURATION = 9
  • BrickletIndustrialDigitalOut4V2`FUNCTIONUSETUWRITEUFIRMWAREUPOINTER = 237
  • BrickletIndustrialDigitalOut4V2`FUNCTIONUSETUSTATUSULEDUCONFIG = 239
  • BrickletIndustrialDigitalOut4V2`FUNCTIONURESET = 243
  • BrickletIndustrialDigitalOut4V2`FUNCTIONUWRITEUUID = 248
BrickletIndustrialDigitalOut4V2@SetResponseExpectedAll[responseExpected] → Null
Parameters:
  • responseExpected -- True/False

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

BrickletIndustrialDigitalOut4V2@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.

BrickletIndustrialDigitalOut4V2@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:

  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUBOOTLOADER = 0
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUFIRMWARE = 1
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUBOOTLOADERUWAITUFORUREBOOT = 2
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUFIRMWAREUWAITUFORUREBOOT = 3
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUFIRMWAREUWAITUFORUERASEUANDUREBOOT = 4
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUSTATUSUOK = 0
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUSTATUSUINVALIDUMODE = 1
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUSTATUSUNOUCHANGE = 2
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUSTATUSUENTRYUFUNCTIONUNOTUPRESENT = 3
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUSTATUSUDEVICEUIDENTIFIERUINCORRECT = 4
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUSTATUSUCRCUMISMATCH = 5
BrickletIndustrialDigitalOut4V2@GetBootloaderMode[] → mode
Returns:
  • mode -- Integer

Returns the current bootloader mode, see SetBootloaderMode[].

The following constants are available for this function:

  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUBOOTLOADER = 0
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUFIRMWARE = 1
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUBOOTLOADERUWAITUFORUREBOOT = 2
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUFIRMWAREUWAITUFORUREBOOT = 3
  • BrickletIndustrialDigitalOut4V2`BOOTLOADERUMODEUFIRMWAREUWAITUFORUERASEUANDUREBOOT = 4
BrickletIndustrialDigitalOut4V2@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.

BrickletIndustrialDigitalOut4V2@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.

BrickletIndustrialDigitalOut4V2@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:

  • BrickletIndustrialDigitalOut4V2`STATUSULEDUCONFIGUOFF = 0
  • BrickletIndustrialDigitalOut4V2`STATUSULEDUCONFIGUON = 1
  • BrickletIndustrialDigitalOut4V2`STATUSULEDUCONFIGUSHOWUHEARTBEAT = 2
  • BrickletIndustrialDigitalOut4V2`STATUSULEDUCONFIGUSHOWUSTATUS = 3
BrickletIndustrialDigitalOut4V2@GetStatusLEDConfig[] → config
Returns:
  • config -- Integer

Returns the configuration as set by SetStatusLEDConfig[]

The following constants are available for this function:

  • BrickletIndustrialDigitalOut4V2`STATUSULEDUCONFIGUOFF = 0
  • BrickletIndustrialDigitalOut4V2`STATUSULEDUCONFIGUON = 1
  • BrickletIndustrialDigitalOut4V2`STATUSULEDUCONFIGUSHOWUHEARTBEAT = 2
  • BrickletIndustrialDigitalOut4V2`STATUSULEDUCONFIGUSHOWUSTATUS = 3
BrickletIndustrialDigitalOut4V2@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.

BrickletIndustrialDigitalOut4V2@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!

BrickletIndustrialDigitalOut4V2@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.

BrickletIndustrialDigitalOut4V2@ReadUID[] → uid
Returns:
  • uid -- Integer

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

BrickletIndustrialDigitalOut4V2@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.

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[industrialDigitalOut4V2@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 BrickletIndustrialDigitalOut4V2@MonoflopDoneCallback[sender, channel, value]
Parameters:
  • sender -- NETObject[BrickletIndustrialDigitalOut4V2]
  • 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

BrickletIndustrialDigitalOut4V2`DEVICEUIDENTIFIER

This constant is used to identify a Industrial Digital Out 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.

BrickletIndustrialDigitalOut4V2`DEVICEDISPLAYNAME

This constant represents the human readable name of a Industrial Digital Out 4 Bricklet 2.0.