Delphi/Lazarus - Industrial Quad Relay Bricklet 2.0

This is the description of the Delphi/Lazarus API bindings for the Industrial Quad Relay Bricklet 2.0. General information and technical specifications for the Industrial Quad Relay Bricklet 2.0 are summarized in its hardware description.

An installation guide for the Delphi/Lazarus API bindings is part of their general description.

Examples

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

Simple

Download (ExampleSimple.pas)

 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
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
program ExampleSimple;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletIndustrialQuadRelayV2;

type
  TExample = class
  private
    ipcon: TIPConnection;
    iqr: TBrickletIndustrialQuadRelayV2;
  public
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your Industrial Quad Relay Bricklet 2.0 }

var
  e: TExample;

procedure TExample.Execute;
var i: integer;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  iqr := TBrickletIndustrialQuadRelayV2.Create(UID, ipcon);

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

  { Turn relays alternating on/off 10 times with 100 ms delay }
  for i := 0 to 9 do begin
    Sleep(100);
    iqr.SetValue([true, false, false, false]);
    Sleep(100);
    iqr.SetValue([false, true, false, false]);
    Sleep(100);
    iqr.SetValue([false, false, true, false]);
    Sleep(100);
    iqr.SetValue([false, false, false, true]);
  end;

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

API

Since Delphi does not support multiple return values directly, we use the out keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

Basic Functions

constructor TBrickletIndustrialQuadRelayV2.Create(const uid: string; ipcon: TIPConnection)

Creates an object with the unique device ID uid:

industrialQuadRelayV2 := TBrickletIndustrialQuadRelayV2.Create('YOUR_DEVICE_UID', ipcon);

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

procedure TBrickletIndustrialQuadRelayV2.SetValue(const value: array [0..3] of boolean)

Sets the value of all four relays. A value of true closes the relay and a value of false opens the relay.

Use SetSelectedValue to only change one relay.

function TBrickletIndustrialQuadRelayV2.GetValue: array [0..3] of boolean

Returns the values as set by SetValue.

procedure TBrickletIndustrialQuadRelayV2.SetChannelLEDConfig(const channel: byte; const config: byte)

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:

  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_CHANNEL_LED_CONFIG_OFF = 0
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_CHANNEL_LED_CONFIG_ON = 1
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_CHANNEL_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_CHANNEL_LED_CONFIG_SHOW_CHANNEL_STATUS = 3
function TBrickletIndustrialQuadRelayV2.GetChannelLEDConfig(const channel: byte): byte

Returns the channel LED configuration as set by SetChannelLEDConfig

The following constants are available for this function:

  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_CHANNEL_LED_CONFIG_OFF = 0
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_CHANNEL_LED_CONFIG_ON = 1
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_CHANNEL_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_CHANNEL_LED_CONFIG_SHOW_CHANNEL_STATUS = 3

Advanced Functions

procedure TBrickletIndustrialQuadRelayV2.SetMonoflop(const channel: byte; const value: boolean; const time: longword)

Configures a monoflop of the specified channel.

The second parameter is the desired value of the specified channel. A true means relay closed and a false means relay open.

The third parameter indicates the time (in ms) that the channels should hold the value.

If this function is called with the parameters (0, 1, 1500) channel 0 will close and in 1.5s channel 0 will open again

A monoflop can be used as a fail-safe mechanism. For example: Lets assume you have a RS485 bus and a Industrial Quad Relay Bricklet 2.0 connected to one of the slave stacks. You can now call this function every second, with a time parameter of two seconds and channel 0 closed. Channel 0 will be closed all the time. If now the RS485 connection is lost, then channel 0 will be opened in at most two seconds.

procedure TBrickletIndustrialQuadRelayV2.GetMonoflop(const channel: byte; out value: boolean; out time: longword; out timeRemaining: longword)

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.

procedure TBrickletIndustrialQuadRelayV2.SetSelectedValue(const channel: byte; const value: boolean)

Sets the output value of the specified channel without affecting the other channels.

function TBrickletIndustrialQuadRelayV2.GetAPIVersion: array [0..2] of byte

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.

function TBrickletIndustrialQuadRelayV2.GetResponseExpected(const functionId: byte): boolean

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.

procedure TBrickletIndustrialQuadRelayV2.SetResponseExpected(const functionId: byte; const responseExpected: boolean)

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:

  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_FUNCTION_SET_VALUE = 1
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_FUNCTION_SET_MONOFLOP = 3
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_FUNCTION_SET_SELECTED_VALUE = 5
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_FUNCTION_SET_CHANNEL_LED_CONFIG = 6
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_FUNCTION_RESET = 243
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_FUNCTION_WRITE_UID = 248
procedure TBrickletIndustrialQuadRelayV2.SetResponseExpectedAll(const responseExpected: boolean)

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

procedure TBrickletIndustrialQuadRelayV2.GetSPITFPErrorCount(out errorCountAckChecksum: longword; out errorCountMessageChecksum: longword; out errorCountFrame: longword; out errorCountOverflow: longword)

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.

function TBrickletIndustrialQuadRelayV2.SetBootloaderMode(const mode: byte): byte

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:

  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_BOOTLOADER = 0
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_FIRMWARE = 1
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_STATUS_OK = 0
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_STATUS_INVALID_MODE = 1
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_STATUS_NO_CHANGE = 2
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_STATUS_CRC_MISMATCH = 5
function TBrickletIndustrialQuadRelayV2.GetBootloaderMode: byte

Returns the current bootloader mode, see SetBootloaderMode.

The following constants are available for this function:

  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_BOOTLOADER = 0
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_FIRMWARE = 1
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
procedure TBrickletIndustrialQuadRelayV2.SetWriteFirmwarePointer(const pointer: longword)

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.

function TBrickletIndustrialQuadRelayV2.WriteFirmware(const data: array [0..63] of byte): byte

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.

procedure TBrickletIndustrialQuadRelayV2.SetStatusLEDConfig(const config: byte)

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:

  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_STATUS_LED_CONFIG_OFF = 0
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_STATUS_LED_CONFIG_ON = 1
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3
function TBrickletIndustrialQuadRelayV2.GetStatusLEDConfig: byte

Returns the configuration as set by SetStatusLEDConfig

The following constants are available for this function:

  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_STATUS_LED_CONFIG_OFF = 0
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_STATUS_LED_CONFIG_ON = 1
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3
function TBrickletIndustrialQuadRelayV2.GetChipTemperature: smallint

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.

procedure TBrickletIndustrialQuadRelayV2.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!

procedure TBrickletIndustrialQuadRelayV2.WriteUID(const uid: longword)

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.

function TBrickletIndustrialQuadRelayV2.ReadUID: longword

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

procedure TBrickletIndustrialQuadRelayV2.GetIdentity(out uid: string; out connectedUid: string; out position: char; out hardwareVersion: array [0..2] of byte; out firmwareVersion: array [0..2] of byte; out deviceIdentifier: word)

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

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a procedure to an callback property of the device object:

procedure TExample.MyCallback(sender: TBrickletIndustrialQuadRelayV2; const param: word);
begin
  WriteLn(param);
end;

industrialQuadRelayV2.OnExample := {$ifdef FPC}@{$endif}example.MyCallback;

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.

property TBrickletIndustrialQuadRelayV2.OnMonoflopDone
procedure(sender: TBrickletIndustrialQuadRelayV2; const channel: byte; const value: boolean) of object;

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

const BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_DEVICE_IDENTIFIER

This constant is used to identify a Industrial Quad Relay Bricklet 2.0.

The GetIdentity function and the OnEnumerate callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

const BRICKLET_INDUSTRIAL_QUAD_RELAY_V2_DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Industrial Quad Relay Bricklet 2.0.