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C/C++ for Microcontrollers - Industrial Dual Relay Bricklet

This is the description of the C/C++ for Microcontrollers API bindings for the Industrial Dual Relay Bricklet. General information and technical specifications for the Industrial Dual Relay Bricklet are summarized in its hardware description.

An installation guide for the C/C++ for Microcontrollers API bindings is part of their general description.

Examples

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

Simple

Download (example_simple.c)

 1// This example is not self-contained.
 2// It requires usage of the example driver specific to your platform.
 3// See the HAL documentation.
 4
 5#include "src/bindings/hal_common.h"
 6#include "src/bindings/bricklet_industrial_dual_relay.h"
 7
 8void check(int rc, const char *msg);
 9void example_setup(TF_HAL *hal);
10void example_loop(TF_HAL *hal);
11
12static TF_IndustrialDualRelay idr;
13
14void example_setup(TF_HAL *hal) {
15    // Create device object
16    check(tf_industrial_dual_relay_create(&idr, NULL, hal), "create device object");
17
18    // Turn relays alternating on/off 10 times with 1 second delay
19    int i;
20    for (i = 0; i < 5; ++i) {
21        tf_hal_sleep_us(hal, 1000 * 1000);
22        check(tf_industrial_dual_relay_set_value(&idr, true, false), "call set_value");
23        tf_hal_sleep_us(hal, 1000 * 1000);
24        check(tf_industrial_dual_relay_set_value(&idr, false, true), "call set_value");
25    }
26}
27
28void example_loop(TF_HAL *hal) {
29    // Poll for callbacks
30    tf_hal_callback_tick(hal, 0);
31}

API

Most functions of the C/C++ bindings for microcontrollers return an error code (e_code).

Possible error codes are:

  • TF_E\ _OK = 0

  • TF_E\ _TIMEOUT = -1

  • TF_E\ _INVALID_PARAMETER = -2

  • TF_E\ _NOT_SUPPORTED = -3

  • TF_E\ _UNKNOWN_ERROR_CODE = -4

  • TF_E\ _STREAM_OUT_OF_SYNC = -5

  • TF_E\ _INVALID_CHAR_IN_UID = -6

  • TF_E\ _UID_TOO_LONG = -7

  • TF_E\ _UID_OVERFLOW = -8

  • TF_E\ _TOO_MANY_DEVICES = -9

  • TF_E\ _DEVICE_NOT_FOUND = -10

  • TF_E\ _WRONG_DEVICE_TYPE = -11

  • TF_E\ _LOCKED = -12

  • TF_E\ _PORT_NOT_FOUND = -13

(as defined in errors.h) as well as the errors returned from the hardware abstraction layer (HAL) that is used.

Use :cpp:func`tf_hal_strerror` (defined in the HAL's header file) to get an error string for an error code.

Data returned from the device, when a getter is called, is handled via output parameters. These parameters are labeled with the ret_ prefix. The bindings will not write to an output parameter if NULL or nullptr is passed. This can be used to ignore outputs that you are not interested in.

None of the functions listed below are thread-safe. See the API bindings description for details.

Basic Functions

int tf_industrial_dual_relay_create(TF_IndustrialDualRelay *industrial_dual_relay, const char *uid_or_port_name, TF_HAL *hal)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • uid – Type: const char *
  • hal – Type: TF_HAL *
Returns:
  • e_code – Type: int

Creates the device object industrial_dual_relay with the optional unique device ID or port name uid_or_port_name and adds it to the HAL hal:

TF_IndustrialDualRelay industrial_dual_relay;
tf_industrial_dual_relay_create(&industrial_dual_relay, NULL, &hal);

Normally uid_or_port_name can stay NULL. For more details about this see section UID or Port Name.

int tf_industrial_dual_relay_destroy(TF_IndustrialDualRelay *industrial_dual_relay)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
Returns:
  • e_code – Type: int

Removes the device object industrial_dual_relay from its HAL and destroys it. The device object cannot be used anymore afterwards.

int tf_industrial_dual_relay_set_value(TF_IndustrialDualRelay *industrial_dual_relay, bool channel0, bool channel1)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • channel0 – Type: bool, Default: false
  • channel1 – Type: bool, Default: false
Returns:
  • e_code – Type: int

Sets the state of the relays, true means on and false means off. For example: (true, false) turns relay 0 on and relay 1 off.

If you just want to set one of the relays and don't know the current state of the other relay, you can get the state with tf_industrial_dual_relay_get_value() or you can use tf_industrial_dual_relay_set_selected_value().

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

int tf_industrial_dual_relay_get_value(TF_IndustrialDualRelay *industrial_dual_relay, bool *ret_channel0, bool *ret_channel1)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
Output Parameters:
  • ret_channel0 – Type: bool, Default: false
  • ret_channel1 – Type: bool, Default: false
Returns:
  • e_code – Type: int

Returns the state of the relays, true means on and false means off.

Advanced Functions

int tf_industrial_dual_relay_set_monoflop(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t channel, bool value, uint32_t time)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • channel – Type: uint8_t, Range: [0 to 1]
  • value – Type: bool
  • time – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1]
Returns:
  • e_code – Type: int

The first parameter can be 0 or 1 (relay 0 or relay 1). The second parameter is the desired state of the relay (true means on and false means off). The third parameter indicates the time that the relay should hold the state.

If this function is called with the parameters (1, true, 1500): Relay 1 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 Industrial Dual Relay Bricklet connected to one of the slave stacks. You can now call this function every second, with a time parameter of two seconds. The relay will be on all the time. If now the RS485 connection is lost, the relay will turn off in at most two seconds.

int tf_industrial_dual_relay_get_monoflop(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t channel, bool *ret_value, uint32_t *ret_time, uint32_t *ret_time_remaining)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • channel – Type: uint8_t, Range: [0 to 1]
Output Parameters:
  • ret_value – Type: bool
  • ret_time – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1]
  • ret_time_remaining – Type: uint32_t, Unit: 1 ms, Range: [0 to 232 - 1]
Returns:
  • e_code – Type: int

Returns (for the given relay) the current state and the time as set by tf_industrial_dual_relay_set_monoflop() as well as the remaining time until the state flips.

If the timer is not running currently, the remaining time will be returned as 0.

int tf_industrial_dual_relay_set_selected_value(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t channel, bool value)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • channel – Type: uint8_t, Range: [0 to 1]
  • value – Type: bool
Returns:
  • e_code – Type: int

Sets the state of the selected relay, true means on and false means off.

A running monoflop timer for the selected relay will be aborted if this function is called.

The other relay remains untouched.

int tf_industrial_dual_relay_get_spitfp_error_count(TF_IndustrialDualRelay *industrial_dual_relay, uint32_t *ret_error_count_ack_checksum, uint32_t *ret_error_count_message_checksum, uint32_t *ret_error_count_frame, uint32_t *ret_error_count_overflow)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
Output Parameters:
  • ret_error_count_ack_checksum – Type: uint32_t, Range: [0 to 232 - 1]
  • ret_error_count_message_checksum – Type: uint32_t, Range: [0 to 232 - 1]
  • ret_error_count_frame – Type: uint32_t, Range: [0 to 232 - 1]
  • ret_error_count_overflow – Type: uint32_t, Range: [0 to 232 - 1]
Returns:
  • e_code – Type: 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.

int tf_industrial_dual_relay_set_status_led_config(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t config)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • config – Type: uint8_t, Range: See constants, Default: 3
Returns:
  • e_code – Type: 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:

For config:

  • TF_INDUSTRIAL_DUAL_RELAY_STATUS_LED_CONFIG_OFF = 0

  • TF_INDUSTRIAL_DUAL_RELAY_STATUS_LED_CONFIG_ON = 1

  • TF_INDUSTRIAL_DUAL_RELAY_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2

  • TF_INDUSTRIAL_DUAL_RELAY_STATUS_LED_CONFIG_SHOW_STATUS = 3

int tf_industrial_dual_relay_get_status_led_config(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t *ret_config)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
Output Parameters:
  • ret_config – Type: uint8_t, Range: See constants, Default: 3
Returns:
  • e_code – Type: int

Returns the configuration as set by tf_industrial_dual_relay_set_status_led_config()

The following constants are available for this function:

For ret_config:

  • TF_INDUSTRIAL_DUAL_RELAY_STATUS_LED_CONFIG_OFF = 0

  • TF_INDUSTRIAL_DUAL_RELAY_STATUS_LED_CONFIG_ON = 1

  • TF_INDUSTRIAL_DUAL_RELAY_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2

  • TF_INDUSTRIAL_DUAL_RELAY_STATUS_LED_CONFIG_SHOW_STATUS = 3

int tf_industrial_dual_relay_get_chip_temperature(TF_IndustrialDualRelay *industrial_dual_relay, int16_t *ret_temperature)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
Output Parameters:
  • ret_temperature – Type: int16_t, Unit: 1 °C, Range: [-215 to 215 - 1]
Returns:
  • e_code – Type: int

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.

int tf_industrial_dual_relay_reset(TF_IndustrialDualRelay *industrial_dual_relay)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
Returns:
  • e_code – Type: int

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!

int tf_industrial_dual_relay_get_identity(TF_IndustrialDualRelay *industrial_dual_relay, char ret_uid[8], char ret_connected_uid[8], char *ret_position, uint8_t ret_hardware_version[3], uint8_t ret_firmware_version[3], uint16_t *ret_device_identifier)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
Output Parameters:
  • ret_uid – Type: char[8]
  • ret_connected_uid – Type: char[8]
  • ret_position – Type: char, Range: ['a' to 'h', 'z']
  • ret_hardware_version – Type: uint8_t[3]
    • 0: major – Type: uint8_t, Range: [0 to 255]
    • 1: minor – Type: uint8_t, Range: [0 to 255]
    • 2: revision – Type: uint8_t, Range: [0 to 255]
  • ret_firmware_version – Type: uint8_t[3]
    • 0: major – Type: uint8_t, Range: [0 to 255]
    • 1: minor – Type: uint8_t, Range: [0 to 255]
    • 2: revision – Type: uint8_t, Range: [0 to 255]
  • ret_device_identifier – Type: uint16_t, Range: [0 to 216 - 1]
Returns:
  • e_code – Type: 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', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at 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

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding tf_industrial_dual_relay_register_*_callback function. The user_data passed to the registration function as well as the device that triggered the callback are passed to the registered callback handler.

Only one handler can be registered to a callback at the same time. To deregister a callback, call the tf_industrial_dual_relay_register_*_callback function with NULL as handler.

Note

Using callbacks for recurring events is preferred compared to using getters. Polling for a callback requires writing one byte only. See here Optimizing Performance.

Warning

Calling bindings function from inside a callback handler is not allowed. See here Thread safety.

int tf_industrial_dual_relay_register_monoflop_done_callback(TF_IndustrialDualRelay *industrial_dual_relay, TF_IndustrialDualRelay_MonoflopDoneHandler handler, void *user_data)
void handler(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t channel, bool value, void *user_data)
Callback Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • channel – Type: uint8_t, Range: [0 to 1]
  • value – Type: bool
  • user_data – Type: void *

This callback is triggered whenever a monoflop timer reaches 0. The parameters contain the relay and the current state of the relay (the state after the monoflop).

Virtual Functions

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object.

int tf_industrial_dual_relay_get_response_expected(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t function_id, bool *ret_response_expected)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • function_id – Type: uint8_t, Range: See constants
Output Parameters:
  • ret_response_expected – Type: bool
Returns:
  • e_code – Type: 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 tf_industrial_dual_relay_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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_VALUE = 1

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_MONOFLOP = 3

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_SELECTED_VALUE = 6

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_STATUS_LED_CONFIG = 239

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_RESET = 243

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_WRITE_UID = 248

int tf_industrial_dual_relay_set_response_expected(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t function_id, bool response_expected)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • function_id – Type: uint8_t, Range: See constants
  • response_expected – Type: bool
Returns:
  • e_code – Type: int

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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_VALUE = 1

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_MONOFLOP = 3

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_SELECTED_VALUE = 6

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_SET_STATUS_LED_CONFIG = 239

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_RESET = 243

  • TF_INDUSTRIAL_DUAL_RELAY_FUNCTION_WRITE_UID = 248

int tf_industrial_dual_relay_set_response_expected_all(TF_IndustrialDualRelay *industrial_dual_relay, bool response_expected)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • response_expected – Type: bool
Returns:
  • e_code – Type: int

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

Internal Functions

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

int tf_industrial_dual_relay_set_bootloader_mode(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t mode, uint8_t *ret_status)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • mode – Type: uint8_t, Range: See constants
Output Parameters:
  • ret_status – Type: uint8_t, Range: See constants
Returns:
  • e_code – Type: 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:

For mode:

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_BOOTLOADER = 0

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_FIRMWARE = 1

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For ret_status:

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_STATUS_OK = 0

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_STATUS_INVALID_MODE = 1

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_STATUS_NO_CHANGE = 2

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_STATUS_CRC_MISMATCH = 5

int tf_industrial_dual_relay_get_bootloader_mode(TF_IndustrialDualRelay *industrial_dual_relay, uint8_t *ret_mode)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
Output Parameters:
  • ret_mode – Type: uint8_t, Range: See constants
Returns:
  • e_code – Type: int

Returns the current bootloader mode, see tf_industrial_dual_relay_set_bootloader_mode().

The following constants are available for this function:

For ret_mode:

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_BOOTLOADER = 0

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_FIRMWARE = 1

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3

  • TF_INDUSTRIAL_DUAL_RELAY_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

int tf_industrial_dual_relay_set_write_firmware_pointer(TF_IndustrialDualRelay *industrial_dual_relay, uint32_t pointer)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • pointer – Type: uint32_t, Unit: 1 B, Range: [0 to 232 - 1]
Returns:
  • e_code – Type: int

Sets the firmware pointer for tf_industrial_dual_relay_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.

int tf_industrial_dual_relay_write_firmware(TF_IndustrialDualRelay *industrial_dual_relay, const uint8_t data[64], uint8_t *ret_status)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • data – Type: const uint8_t[64], Range: [0 to 255]
Output Parameters:
  • ret_status – Type: uint8_t, Range: [0 to 255]
Returns:
  • e_code – Type: int

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

int tf_industrial_dual_relay_write_uid(TF_IndustrialDualRelay *industrial_dual_relay, uint32_t uid)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
  • uid – Type: uint32_t, Range: [0 to 232 - 1]
Returns:
  • e_code – Type: 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.

int tf_industrial_dual_relay_read_uid(TF_IndustrialDualRelay *industrial_dual_relay, uint32_t *ret_uid)
Parameters:
  • industrial_dual_relay – Type: TF_IndustrialDualRelay *
Output Parameters:
  • ret_uid – Type: uint32_t, Range: [0 to 232 - 1]
Returns:
  • e_code – Type: int

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

Constants

TF_INDUSTRIAL_DUAL_RELAY_DEVICE_IDENTIFIER

This constant is used to identify a Industrial Dual Relay Bricklet.

The functions tf_industrial_dual_relay_get_identity() and tf_hal_get_device_info() have a device_identifier output parameter to specify the Brick's or Bricklet's type.

TF_INDUSTRIAL_DUAL_RELAY_DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Industrial Dual Relay Bricklet.