Ruby - Industrial Digital Out 4 Bricklet 2.0

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

Examples

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

Simple

Download (example_simple.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/bricklet_industrial_digital_out_4_v2'

include Tinkerforge

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

ipcon = IPConnection.new # Create IP connection
ido4 = BrickletIndustrialDigitalOut4V2.new 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 _ in 0..9
  sleep 0.1
  ido4.set_value [true, false, false, false]
  sleep 0.1
  ido4.set_value [false, true, false, false]
  sleep 0.1
  ido4.set_value [false, false, true, false]
  sleep 0.1
  ido4.set_value [false, false, false, true]
end

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

API

All methods listed below are thread-safe.

Basic Functions

BrickletIndustrialDigitalOut4V2::new(uid, ipcon) → industrial_digital_out_4_v2
Parameters:
  • uid -- str
  • ipcon -- IPConnection

Creates an object with the unique device ID uid:

industrial_digital_out_4_v2 = BrickletIndustrialDigitalOut4V2.new 'YOUR_DEVICE_UID', ipcon

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

BrickletIndustrialDigitalOut4V2#set_value(value) → nil
Parameters:value -- [bool, bool, bool, bool]

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.

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

BrickletIndustrialDigitalOut4V2#get_value → [bool, bool, bool, bool]

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

BrickletIndustrialDigitalOut4V2#set_selected_value(channel, value) → nil
Parameters:
  • channel -- int
  • value -- bool

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

BrickletIndustrialDigitalOut4V2#set_channel_led_config(channel, config) → nil
Parameters:
  • channel -- int
  • config -- int

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::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) → int
Parameters:channel -- int

Returns the channel LED configuration as set by #set_channel_led_config

The following constants are available for this function:

  • 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) → nil
Parameters:
  • channel -- int
  • value -- bool
  • time -- int

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#get_monoflop(channel) → [bool, int, int]
Parameters:channel -- int

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.

The returned array has the values value, time and time_remaining.

BrickletIndustrialDigitalOut4V2#set_pwm_configuration(channel, frequency, duty_cycle) → nil
Parameters:
  • channel -- int
  • frequency -- int
  • duty_cycle -- int

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. #set_selected_value).

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#get_pwm_configuration(channel) → [int, int]
Parameters:channel -- int

Returns the PWM configuration as set by #set_pwm_configuration.

The returned array has the values frequency and duty_cycle.

BrickletIndustrialDigitalOut4V2#get_api_version → [int, int, int]

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#get_response_expected(function_id) → bool
Parameters:function_id -- int

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.

See #set_response_expected for the list of function ID constants available for this function.

BrickletIndustrialDigitalOut4V2#set_response_expected(function_id, response_expected) → nil
Parameters:
  • function_id -- int
  • response_expected -- bool

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::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) → nil
Parameters:response_expected -- bool

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

BrickletIndustrialDigitalOut4V2#get_spitfp_error_count → [int, int, int, int]

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 array has the values error_count_ack_checksum, error_count_message_checksum, error_count_frame and error_count_overflow.

BrickletIndustrialDigitalOut4V2#set_bootloader_mode(mode) → int
Parameters:mode -- int

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::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::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 → int

Returns the current bootloader mode, see #set_bootloader_mode.

The following constants are available for this function:

  • 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) → nil
Parameters:pointer -- int

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) → int
Parameters:data -- [int, int, ..61x.., int]

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) → nil
Parameters:config -- int

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::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 → int

Returns the configuration as set by #set_status_led_config

The following constants are available for this function:

  • 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 → int

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 → nil

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) → nil
Parameters:uid -- int

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 → int

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

BrickletIndustrialDigitalOut4V2#get_identity → [str, str, str, [int, int, int], [int, int, int], int]

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 array has the values uid, connected_uid, position, hardware_version, firmware_version and device_identifier.

Callback Configuration Functions

BrickletIndustrialDigitalOut4V2#register_callback(callback_id) { |param [, ...]| block } → nil
Parameters:callback_id -- int

Registers the given block 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 is a block:

industrial_digital_out_4_v2.register_callback BrickletIndustrialDigitalOut4V2::CALLBACK_EXAMPLE, do |param|
  puts "#{param}"
end

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
Parameters:
  • channel -- int
  • value -- 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).

Constants

BrickletIndustrialDigitalOut4V2::DEVICE_IDENTIFIER

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

The #get_identity() function and the ::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.