Delphi/Lazarus - Industrial Digital Out 4 Bricklet 2.0¶

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, BrickletIndustrialDigitalOut4V2;

type
  TExample = class
  private
    ipcon: TIPConnection;
    ido4: TBrickletIndustrialDigitalOut4V2;
  public
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your Industrial Digital Out 4 Bricklet 2.0 }

var
  e: TExample;

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

  { Create device object }
  ido4 := TBrickletIndustrialDigitalOut4V2.Create(UID, ipcon);

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

  { Set channels alternating high/low 10 times with 100 ms delay }
  for i := 0 to 9 do begin
    Sleep(100);
    ido4.SetValue([true, false, false, false]);
    Sleep(100);
    ido4.SetValue([false, true, false, false]);
    Sleep(100);
    ido4.SetValue([false, false, true, false]);
    Sleep(100);
    ido4.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.

Basic Functions¶

constructor TBrickletIndustrialDigitalOut4V2.Create(const uid: string; ipcon: TIPConnection)¶

Parameters:	uid – Type: string ipcon – Type: TIPConnection
Returns:	industrialDigitalOut4V2 – Type: TBrickletIndustrialDigitalOut4V2

Creates an object with the unique device ID uid:

industrialDigitalOut4V2 := TBrickletIndustrialDigitalOut4V2.Create('YOUR_DEVICE_UID', ipcon);

This object can then be used after the IP Connection is connected.

procedure TBrickletIndustrialDigitalOut4V2.SetValue(const value: array [0..3] of boolean)¶

Parameters:	value – Type: array [0..3] of boolean

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.

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.

function TBrickletIndustrialDigitalOut4V2.GetValue: array [0..3] of boolean¶

Returns:	value – Type: array [0..3] of boolean

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

procedure TBrickletIndustrialDigitalOut4V2.SetSelectedValue(const channel: byte; const value: boolean)¶

Parameters:	channel – Type: byte, Range: [0 to 3] value – Type: boolean

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.

procedure TBrickletIndustrialDigitalOut4V2.SetChannelLEDConfig(const channel: byte; const config: byte)¶

Parameters:	channel – Type: byte, Range: [0 to 3] config – Type: byte, Range: See constants, Default: 3

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:

• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_CHANNEL_LED_CONFIG_OFF = 0
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_CHANNEL_LED_CONFIG_ON = 1
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_CHANNEL_LED_CONFIG_SHOW_HEARTBEAT = 2
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_CHANNEL_LED_CONFIG_SHOW_CHANNEL_STATUS = 3

function TBrickletIndustrialDigitalOut4V2.GetChannelLEDConfig(const channel: byte): byte¶

Parameters:	channel – Type: byte, Range: [0 to 3]
Returns:	config – Type: byte, Range: See constants, Default: 3

Returns the channel LED configuration as set by SetChannelLEDConfig

The following constants are available for this function:

For config:

• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_CHANNEL_LED_CONFIG_OFF = 0
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_CHANNEL_LED_CONFIG_ON = 1
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_CHANNEL_LED_CONFIG_SHOW_HEARTBEAT = 2
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_CHANNEL_LED_CONFIG_SHOW_CHANNEL_STATUS = 3

Advanced Functions¶

procedure TBrickletIndustrialDigitalOut4V2.SetMonoflop(const channel: byte; const value: boolean; const time: longword)¶

Parameters:	channel – Type: byte, Range: [0 to 3] value – Type: boolean time – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1]

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.

procedure TBrickletIndustrialDigitalOut4V2.GetMonoflop(const channel: byte; out value: boolean; out time: longword; out timeRemaining: longword)¶

Parameters:	channel – Type: byte, Range: [0 to 3]
Output Parameters:	value – Type: boolean time – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1] timeRemaining – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1]

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 TBrickletIndustrialDigitalOut4V2.SetPWMConfiguration(const channel: byte; const frequency: longword; const dutyCycle: word)¶

Parameters:	channel – Type: byte, Range: [0 to 3] frequency – Type: longword, Unit: 1/10 Hz, Range: [0 to 232 - 1], Default: 0 dutyCycle – Type: word, Unit: 1/100 %, Range: [0 to 10000], Default: 0

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. SetSelectedValue).

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.

procedure TBrickletIndustrialDigitalOut4V2.GetPWMConfiguration(const channel: byte; out frequency: longword; out dutyCycle: word)¶

Parameters:	channel – Type: byte, Range: [0 to 3]
Output Parameters:	frequency – Type: longword, Unit: 1/10 Hz, Range: [0 to 232 - 1], Default: 0 dutyCycle – Type: word, Unit: 1/100 %, Range: [0 to 10000], Default: 0

Returns the PWM configuration as set by SetPWMConfiguration.

procedure TBrickletIndustrialDigitalOut4V2.GetSPITFPErrorCount(out errorCountAckChecksum: longword; out errorCountMessageChecksum: longword; out errorCountFrame: longword; out errorCountOverflow: longword)¶

Output Parameters:	errorCountAckChecksum – Type: longword, Range: [0 to 232 - 1] errorCountMessageChecksum – Type: longword, Range: [0 to 232 - 1] errorCountFrame – Type: longword, Range: [0 to 232 - 1] errorCountOverflow – Type: longword, 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.

procedure TBrickletIndustrialDigitalOut4V2.SetStatusLEDConfig(const config: byte)¶

Parameters:	config – Type: byte, Range: See constants, Default: 3

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:

• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_STATUS_LED_CONFIG_OFF = 0
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_STATUS_LED_CONFIG_ON = 1
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletIndustrialDigitalOut4V2.GetStatusLEDConfig: byte¶

Returns:	config – Type: byte, Range: See constants, Default: 3

Returns the configuration as set by SetStatusLEDConfig

The following constants are available for this function:

For config:

• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_STATUS_LED_CONFIG_OFF = 0
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_STATUS_LED_CONFIG_ON = 1
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletIndustrialDigitalOut4V2.GetChipTemperature: smallint¶

Returns:	temperature – Type: smallint, 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.

procedure TBrickletIndustrialDigitalOut4V2.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 TBrickletIndustrialDigitalOut4V2.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)¶

Output Parameters:

uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] firmwareVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] deviceIdentifier – Type: word, 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). 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.

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: TBrickletIndustrialDigitalOut4V2; const value: longint);
begin
  WriteLn(Format('Value: %d', [value]));
end;

industrialDigitalOut4V2.OnExample := {$ifdef FPC}@{$endif}example.MyCallback;

The available callback properties and their parameter types are described below.

property TBrickletIndustrialDigitalOut4V2.OnMonoflopDone¶

procedure(sender: TBrickletIndustrialDigitalOut4V2; const channel: byte; const value: boolean) of object;

Callback Parameters:	sender – Type: TBrickletIndustrialDigitalOut4V2 channel – Type: byte, Range: [0 to 3] value – Type: boolean

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.

function TBrickletIndustrialDigitalOut4V2.GetAPIVersion: array [0..2] of byte¶

Output Parameters:	apiVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, 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.

function TBrickletIndustrialDigitalOut4V2.GetResponseExpected(const functionId: byte): boolean¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – Type: 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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_VALUE = 1
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_SELECTED_VALUE = 3
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_MONOFLOP = 4
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_CHANNEL_LED_CONFIG = 7
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_PWM_CONFIGURATION = 9
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_RESET = 243
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_WRITE_UID = 248

procedure TBrickletIndustrialDigitalOut4V2.SetResponseExpected(const functionId: byte; const responseExpected: boolean)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – Type: 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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_VALUE = 1
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_SELECTED_VALUE = 3
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_MONOFLOP = 4
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_CHANNEL_LED_CONFIG = 7
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_PWM_CONFIGURATION = 9
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_RESET = 243
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_FUNCTION_WRITE_UID = 248

procedure TBrickletIndustrialDigitalOut4V2.SetResponseExpectedAll(const responseExpected: boolean)¶

Parameters:	responseExpected – Type: boolean

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.

function TBrickletIndustrialDigitalOut4V2.SetBootloaderMode(const mode: byte): byte¶

Parameters:	mode – Type: byte, Range: See constants
Returns:	status – Type: byte, 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:

• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_BOOTLOADER = 0
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_FIRMWARE = 1
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_STATUS_OK = 0
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_STATUS_INVALID_MODE = 1
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_STATUS_NO_CHANGE = 2
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_STATUS_CRC_MISMATCH = 5

function TBrickletIndustrialDigitalOut4V2.GetBootloaderMode: byte¶

Returns:	mode – Type: byte, Range: See constants

Returns the current bootloader mode, see SetBootloaderMode.

The following constants are available for this function:

For mode:

• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_BOOTLOADER = 0
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_FIRMWARE = 1
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

procedure TBrickletIndustrialDigitalOut4V2.SetWriteFirmwarePointer(const pointer: longword)¶

Parameters:	pointer – Type: longword, Unit: 1 B, Range: [0 to 232 - 1]

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 TBrickletIndustrialDigitalOut4V2.WriteFirmware(const data: array [0..63] of byte): byte¶

Parameters:	data – Type: array [0..63] of byte, Range: [0 to 255]
Returns:	status – Type: byte, Range: [0 to 255]

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 TBrickletIndustrialDigitalOut4V2.WriteUID(const uid: longword)¶

Parameters:	uid – Type: longword, Range: [0 to 232 - 1]

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 TBrickletIndustrialDigitalOut4V2.ReadUID: longword¶

Returns:	uid – Type: longword, Range: [0 to 232 - 1]

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

Constants¶

const BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_DEVICE_IDENTIFIER¶

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

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

const BRICKLET_INDUSTRIAL_DIGITAL_OUT_4_V2_DEVICE_DISPLAY_NAME¶

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