Python - Industrial Digital Out 4 Bricklet 2.0

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

Examples

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

Simple

Download (example_simple.py)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
#!/usr/bin/env python
# -*- coding: utf-8 -*-

HOST = "localhost"
PORT = 4223
UID = "XYZ" # Change XYZ to the UID of your Industrial Digital Out 4 Bricklet 2.0

import time

from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_industrial_digital_out_4_v2 import BrickletIndustrialDigitalOut4V2

if __name__ == "__main__":
    ipcon = IPConnection() # Create IP connection
    ido4 = BrickletIndustrialDigitalOut4V2(UID, ipcon) # Create device object

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

    # Set channels alternating high/low 10 times with 100 ms delay
    for i in range(10):
        time.sleep(0.1)
        ido4.set_value([True, False, False, False])
        time.sleep(0.1)
        ido4.set_value([False, True, False, False])
        time.sleep(0.1)
        ido4.set_value([False, False, True, False])
        time.sleep(0.1)
        ido4.set_value([False, False, False, True])

    raw_input("Press key to exit\n") # Use input() in Python 3
    ipcon.disconnect()

API

Generally, every function of the Python bindings can throw an tinkerforge.ip_connection.Error exception that has a value and a description property. value can have different values:

  • Error.TIMEOUT = -1
  • Error.NOT_ADDED = -6 (unused since Python bindings version 2.0.0)
  • Error.ALREADY_CONNECTED = -7
  • Error.NOT_CONNECTED = -8
  • Error.INVALID_PARAMETER = -9
  • Error.NOT_SUPPORTED = -10
  • Error.UNKNOWN_ERROR_CODE = -11
  • Error.STREAM_OUT_OF_SYNC = -12
  • Error.INVALID_UID = -13
  • Error.NON_ASCII_CHAR_IN_SECRET = -14

All functions listed below are thread-safe.

Basic Functions

BrickletIndustrialDigitalOut4V2(uid, ipcon)
Parameters:
  • uid – Type: str
  • ipcon – Type: IPConnection
Returns:
  • industrial_digital_out_4_v2 – Type: BrickletIndustrialDigitalOut4V2

Creates an object with the unique device ID uid:

industrial_digital_out_4_v2 = BrickletIndustrialDigitalOut4V2("YOUR_DEVICE_UID", ipcon)

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

BrickletIndustrialDigitalOut4V2.set_value(value)
Parameters:
  • value – Type: [bool, ...], Length: 4
Returns:
  • None

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 set_selected_value() to change only one output channel state.

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

For example: (True, True, False, False) will turn the channels 0-1 high and the channels 2-3 low.

BrickletIndustrialDigitalOut4V2.get_value()
Returns:
  • value – Type: [bool, ...], Length: 4

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

BrickletIndustrialDigitalOut4V2.set_selected_value(channel, value)
Parameters:
  • channel – Type: int, Range: [0 to 3]
  • value – Type: bool
Returns:
  • None

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

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

BrickletIndustrialDigitalOut4V2.set_channel_led_config(channel, config)
Parameters:
  • channel – Type: int, Range: [0 to 3]
  • config – Type: int, Range: See constants, Default: 3
Returns:
  • None

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:

For config:

  • BrickletIndustrialDigitalOut4V2.CHANNEL_LED_CONFIG_OFF = 0
  • BrickletIndustrialDigitalOut4V2.CHANNEL_LED_CONFIG_ON = 1
  • BrickletIndustrialDigitalOut4V2.CHANNEL_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletIndustrialDigitalOut4V2.CHANNEL_LED_CONFIG_SHOW_CHANNEL_STATUS = 3
BrickletIndustrialDigitalOut4V2.get_channel_led_config(channel)
Parameters:
  • channel – Type: int, Range: [0 to 3]
Returns:
  • config – Type: int, Range: See constants, Default: 3

Returns the channel LED configuration as set by set_channel_led_config()

The following constants are available for this function:

For config:

  • BrickletIndustrialDigitalOut4V2.CHANNEL_LED_CONFIG_OFF = 0
  • BrickletIndustrialDigitalOut4V2.CHANNEL_LED_CONFIG_ON = 1
  • BrickletIndustrialDigitalOut4V2.CHANNEL_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletIndustrialDigitalOut4V2.CHANNEL_LED_CONFIG_SHOW_CHANNEL_STATUS = 3

Advanced Functions

BrickletIndustrialDigitalOut4V2.set_monoflop(channel, value, time)
Parameters:
  • channel – Type: int, Range: [0 to 3]
  • value – Type: bool
  • time – Type: int, Unit: 1 ms, Range: [0 to 232 - 1]
Returns:
  • None

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 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 PWM for the selected channel will be aborted if this function is called.

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.get_monoflop(channel)
Parameters:
  • channel – Type: int, Range: [0 to 3]
Return Object:
  • value – Type: bool
  • time – Type: int, Unit: 1 ms, Range: [0 to 232 - 1]
  • time_remaining – Type: int, Unit: 1 ms, Range: [0 to 232 - 1]

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

BrickletIndustrialDigitalOut4V2.set_pwm_configuration(channel, frequency, duty_cycle)
Parameters:
  • channel – Type: int, Range: [0 to 3]
  • frequency – Type: int, Unit: 1/10 Hz, Range: [0 to 232 - 1], Default: 0
  • duty_cycle – Type: int, Unit: 1/100 %, Range: [0 to 10000], Default: 0
Returns:
  • None

Activates a PWM for the given channel.

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. set_selected_value()).

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).

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

BrickletIndustrialDigitalOut4V2.get_pwm_configuration(channel)
Parameters:
  • channel – Type: int, Range: [0 to 3]
Return Object:
  • frequency – Type: int, Unit: 1/10 Hz, Range: [0 to 232 - 1], Default: 0
  • duty_cycle – Type: int, Unit: 1/100 %, Range: [0 to 10000], Default: 0

Returns the PWM configuration as set by set_pwm_configuration().

BrickletIndustrialDigitalOut4V2.get_spitfp_error_count()
Return Object:
  • error_count_ack_checksum – Type: int, Range: [0 to 232 - 1]
  • error_count_message_checksum – Type: int, Range: [0 to 232 - 1]
  • error_count_frame – Type: int, Range: [0 to 232 - 1]
  • error_count_overflow – Type: int, Range: [0 to 232 - 1]

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.set_bootloader_mode(mode)
Parameters:
  • mode – Type: int, Range: See constants
Returns:
  • status – Type: int, Range: See constants

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:

  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_STATUS_OK = 0
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_STATUS_INVALID_MODE = 1
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_STATUS_NO_CHANGE = 2
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_STATUS_CRC_MISMATCH = 5
BrickletIndustrialDigitalOut4V2.get_bootloader_mode()
Returns:
  • mode – Type: int, Range: See constants

Returns the current bootloader mode, see set_bootloader_mode().

The following constants are available for this function:

For mode:

  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletIndustrialDigitalOut4V2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
BrickletIndustrialDigitalOut4V2.set_write_firmware_pointer(pointer)
Parameters:
  • pointer – Type: int, Unit: 1 B, Range: [0 to 232 - 1]
Returns:
  • None

Sets the firmware pointer for 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.

BrickletIndustrialDigitalOut4V2.write_firmware(data)
Parameters:
  • data – Type: [int, ...], Length: 64, Range: [0 to 255]
Returns:
  • status – Type: int, Range: [0 to 255]

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

BrickletIndustrialDigitalOut4V2.set_status_led_config(config)
Parameters:
  • config – Type: int, Range: See constants, Default: 3
Returns:
  • None

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:

  • BrickletIndustrialDigitalOut4V2.STATUS_LED_CONFIG_OFF = 0
  • BrickletIndustrialDigitalOut4V2.STATUS_LED_CONFIG_ON = 1
  • BrickletIndustrialDigitalOut4V2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletIndustrialDigitalOut4V2.STATUS_LED_CONFIG_SHOW_STATUS = 3
BrickletIndustrialDigitalOut4V2.get_status_led_config()
Returns:
  • config – Type: int, Range: See constants, Default: 3

Returns the configuration as set by set_status_led_config()

The following constants are available for this function:

For config:

  • BrickletIndustrialDigitalOut4V2.STATUS_LED_CONFIG_OFF = 0
  • BrickletIndustrialDigitalOut4V2.STATUS_LED_CONFIG_ON = 1
  • BrickletIndustrialDigitalOut4V2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletIndustrialDigitalOut4V2.STATUS_LED_CONFIG_SHOW_STATUS = 3
BrickletIndustrialDigitalOut4V2.get_chip_temperature()
Returns:
  • temperature – Type: int, Unit: 1 °C, Range: [-215 to 215 - 1]

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.

BrickletIndustrialDigitalOut4V2.reset()
Returns:
  • None

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.write_uid(uid)
Parameters:
  • uid – Type: int, Range: [0 to 232 - 1]
Returns:
  • None

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.read_uid()
Returns:
  • uid – Type: int, Range: [0 to 232 - 1]

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

BrickletIndustrialDigitalOut4V2.get_identity()
Return Object:
  • uid – Type: str, Length: up to 8
  • connected_uid – Type: str, Length: up to 8
  • position – Type: chr, Range: ["a" to "h", "i", "z"]
  • hardware_version – Type: [int, ...], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]
  • firmware_version – Type: [int, ...], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]
  • device_identifier – Type: int, Range: [0 to 216 - 1]

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

BrickletIndustrialDigitalOut4V2.register_callback(callback_id, function)
Parameters:
  • callback_id – Type: int
  • function – Type: callable
Returns:
  • None

Registers the given function with the given callback_id.

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

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the register_callback() function of the device object. The first parameter is the callback ID and the second parameter the callback function:

def my_callback(param):
    print(param)

industrial_digital_out_4_v2.register_callback(BrickletIndustrialDigitalOut4V2.CALLBACK_EXAMPLE, my_callback)

The available constants with inherent number and 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.

BrickletIndustrialDigitalOut4V2.CALLBACK_MONOFLOP_DONE
Callback Parameters:
  • channel – Type: int, Range: [0 to 3]
  • value – Type: bool

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.

BrickletIndustrialDigitalOut4V2.get_api_version()
Return Object:
  • api_version – Type: [int, ...], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]

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.

BrickletIndustrialDigitalOut4V2.get_response_expected(function_id)
Parameters:
  • function_id – Type: int, Range: See constants
Returns:
  • response_expected – Type: bool

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 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:

  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_VALUE = 1
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_SELECTED_VALUE = 3
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_MONOFLOP = 4
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_CHANNEL_LED_CONFIG = 7
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_PWM_CONFIGURATION = 9
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletIndustrialDigitalOut4V2.FUNCTION_RESET = 243
  • BrickletIndustrialDigitalOut4V2.FUNCTION_WRITE_UID = 248
BrickletIndustrialDigitalOut4V2.set_response_expected(function_id, response_expected)
Parameters:
  • function_id – Type: int, Range: See constants
  • response_expected – Type: bool
Returns:
  • None

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:

  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_VALUE = 1
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_SELECTED_VALUE = 3
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_MONOFLOP = 4
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_CHANNEL_LED_CONFIG = 7
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_PWM_CONFIGURATION = 9
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletIndustrialDigitalOut4V2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletIndustrialDigitalOut4V2.FUNCTION_RESET = 243
  • BrickletIndustrialDigitalOut4V2.FUNCTION_WRITE_UID = 248
BrickletIndustrialDigitalOut4V2.set_response_expected_all(response_expected)
Parameters:
  • response_expected – Type: bool
Returns:
  • None

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

Constants

BrickletIndustrialDigitalOut4V2.DEVICE_IDENTIFIER

This constant is used to identify a Industrial Digital Out 4 Bricklet 2.0.

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

BrickletIndustrialDigitalOut4V2.DEVICE_DISPLAY_NAME

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