ioio.lib.api

Interface IOIO

public interface IOIO

This interface provides control over all the IOIO board functions.

An instance of this interface is typically obtained by using the IOIOFactory class. Initially, a connection should be established, by calling waitForConnect(). This method will block until the board is connected an a connection has been established.

During the connection process, this library verifies that the IOIO firmware is compatible with the required version. If not, waitForConnect() will throw a IncompatibilityException, putting the IOIO instance in a "zombie" state: nothing could be done with it except calling disconnect(), or waiting for the physical connection to drop via waitForDisconnect().

As soon as a connection is established, the IOIO can be used, typically, by calling the openXXX() functions to obtain additional interfaces for controlling specific function of the board.

Whenever a connection is lost as a result of physically disconnecting the board or as a result of calling disconnect(), this instance and all the interfaces obtained from it become invalid, and will throw a ConnectionLostException on every operation. Once the connection is lost, those instances cannot be recycled, but rather it is required to create new ones and wait for a connection again.

Initially all pins are tri-stated (floating), and all functions are disabled. Whenever a connection is lost or dropped, the board will immediately return to the this initial state.

Typical usage:

 IOIO ioio = IOIOFactory.create();
 try {
   ioio.waitForConnect();
   DigitalOutput out = ioio.openDigitalOutput(10);
   out.write(true);
   ...
 } catch (ConnectionLostException e) {
 } catch (Exception e) {
   ioio.disconnect();
 } finally {
   ioio.waitForDisconnect();
 }
 

See Also:

IOIOFactory.create()

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	IOIO.State A state of a IOIO instance.
static class	IOIO.VersionType A versioned component in the system.

Field Summary

Fields

Modifier and Type	Field and Description
static int	INVALID_PIN An invalid pin number.
static int	LED_PIN The pin number used to designate the on-board 'stat' LED.

Method Summary

Methods

Modifier and Type	Method and Description
void	beginBatch() Start a batch of operations.
void	disconnect() Closes the connection to the board, or aborts a connection process started with waitForConnect().
void	endBatch() End a batch of operations.
java.lang.String	getImplVersion(IOIO.VersionType v) Query the implementation version of the system's components.
IOIO.State	getState() Gets the connections state.
void	hardReset() Equivalent to disconnecting and reconnecting the board power supply.
AnalogInput	openAnalogInput(int pin) Open a pin for analog input.
CapSense	openCapSense(int pin) Shorthand for openCapSense(pin, CapSense.DEFAULT_COEF).
CapSense	openCapSense(int pin, float filterCoef) Open a pin for cap-sense.
DigitalInput	openDigitalInput(DigitalInput.Spec spec) Open a pin for digital input.
DigitalInput	openDigitalInput(int pin) Shorthand for openDigitalInput(new DigitalInput.Spec(pin)).
DigitalInput	openDigitalInput(int pin, DigitalInput.Spec.Mode mode) Shorthand for openDigitalInput(new DigitalInput.Spec(pin, mode)).
DigitalOutput	openDigitalOutput(DigitalOutput.Spec spec, boolean startValue) Open a pin for digital output.
DigitalOutput	openDigitalOutput(int pin) Shorthand for openDigitalOutput(new DigitalOutput.Spec(pin), false).
DigitalOutput	openDigitalOutput(int pin, boolean startValue) Shorthand for openDigitalOutput(new DigitalOutput.Spec(pin), startValue).
DigitalOutput	openDigitalOutput(int pin, DigitalOutput.Spec.Mode mode, boolean startValue) Shorthand for openDigitalOutput(new DigitalOutput.Spec(pin, mode), startValue).
IcspMaster	openIcspMaster() Open an ICSP channel, enabling Flash programming of an external PIC MCU, and in particular, another IOIO board.
PulseInput	openPulseInput(DigitalInput.Spec spec, PulseInput.ClockRate rate, PulseInput.PulseMode mode, boolean doublePrecision) Open a pin for pulse input.
PulseInput	openPulseInput(int pin, PulseInput.PulseMode mode) Shorthand for openPulseInput(new DigitalInput.Spec(pin), rate, mode, true), i.e.
PwmOutput	openPwmOutput(DigitalOutput.Spec spec, int freqHz) Open a pin for PWM (Pulse-Width Modulation) output.
PwmOutput	openPwmOutput(int pin, int freqHz) Shorthand for openPwmOutput(new DigitalOutput.Spec(pin), freqHz).
SpiMaster	openSpiMaster(DigitalInput.Spec miso, DigitalOutput.Spec mosi, DigitalOutput.Spec clk, DigitalOutput.Spec[] slaveSelect, SpiMaster.Config config) Open a SPI master module, enabling communication with multiple SPI-enabled slave modules.
SpiMaster	openSpiMaster(int miso, int mosi, int clk, int[] slaveSelect, SpiMaster.Rate rate) Shorthand for openSpiMaster(ioio.lib.api.DigitalInput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec[], ioio.lib.api.SpiMaster.Config) , where the pins are all open with the default modes and default configuration values are used.
SpiMaster	openSpiMaster(int miso, int mosi, int clk, int slaveSelect, SpiMaster.Rate rate) Shorthand for openSpiMaster(ioio.lib.api.DigitalInput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec[], ioio.lib.api.SpiMaster.Config) , where the MISO pins is opened with pull up, and the other pins are open with the default modes and default configuration values are used.
TwiMaster	openTwiMaster(int twiNum, TwiMaster.Rate rate, boolean smbus) Open a TWI (Two-Wire Interface, such as I2C/SMBus) master module, enabling communication with multiple TWI-enabled slave modules.
Uart	openUart(DigitalInput.Spec rx, DigitalOutput.Spec tx, int baud, Uart.Parity parity, Uart.StopBits stopbits) Open a UART module, enabling a bulk transfer of byte buffers.
Uart	openUart(int rx, int tx, int baud, Uart.Parity parity, Uart.StopBits stopbits) Shorthand for openUart(DigitalInput.Spec, DigitalOutput.Spec, int, Uart.Parity, Uart.StopBits) , where the input pins use their default specs.
void	softReset() Resets the entire state (returning to initial state), without dropping the connection.
void	waitForConnect() Establishes connection with the IOIO board.
void	waitForDisconnect() Blocks until IOIO has been disconnected and all connection-related resources have been freed, so that a new connection can be attempted.

Field Detail

INVALID_PIN

static final int INVALID_PIN

An invalid pin number.

See Also:

Constant Field Values

LED_PIN

static final int LED_PIN

The pin number used to designate the on-board 'stat' LED.

See Also:

Constant Field Values

Method Detail

waitForConnect

void waitForConnect()
                    throws ConnectionLostException,
                           IncompatibilityException

Establishes connection with the IOIO board.

This method is blocking until connection is established. This method can be aborted by calling disconnect(). In this case, it will throw a ConnectionLostException.

Throws:

ConnectionLostException - An error occurred during connection or disconnect() has been called during connection. The instance state is disconnected.

IncompatibilityException - An incompatible board firmware of hardware has been detected. The instance state is disconnected.

See Also:

disconnect(), waitForDisconnect()

disconnect

void disconnect()

Closes the connection to the board, or aborts a connection process started with waitForConnect().

Once this method is called, this IOIO instance and all the instances obtain from it become invalid and will throw an exception on every operation.

This method is asynchronous, i.e. it returns immediately, but it is not guaranteed that all connection-related resources has already been freed and can be reused upon return. In cases when this is important, client can call waitForDisconnect(), which will block until all resources have been freed.

waitForDisconnect

void waitForDisconnect()
                       throws java.lang.InterruptedException

Blocks until IOIO has been disconnected and all connection-related resources have been freed, so that a new connection can be attempted.

Throws:

java.lang.InterruptedException - When interrupt() has been called on this thread. This might mean that an immediate attempt to create and connect a new IOIO object might fail for resource contention.

See Also:

disconnect(), waitForConnect()

getState

IOIO.State getState()

Gets the connections state.

Returns:

The connection state.

softReset

void softReset()
               throws ConnectionLostException

Resets the entire state (returning to initial state), without dropping the connection.

It is equivalent to calling Closeable.close() on every interface obtained from this instance. A connection must have been established prior to calling this method, by invoking waitForConnect().

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

See Also:

hardReset()

hardReset

void hardReset()
               throws ConnectionLostException

Equivalent to disconnecting and reconnecting the board power supply.

The connection will be dropped and not reestablished. Full boot sequence will take place, so firmware upgrades can be performed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

See Also:

softReset()

getImplVersion

java.lang.String getImplVersion(IOIO.VersionType v)
                                throws ConnectionLostException

Query the implementation version of the system's components. The implementation version uniquely identifies a hardware revision or a software build. Returned version IDs are always 8-character long, according to the IOIO versioning system: first 4 characters are the version authority and last 4 characters are the revision.

Parameters:

v - The component whose version we query.

Returns:

An 8-character implementation version ID.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

openDigitalInput

DigitalInput openDigitalInput(DigitalInput.Spec spec)
                              throws ConnectionLostException

Open a pin for digital input.

A digital input pin can be used to read logic-level signals. The pin will operate in this mode until close() is invoked on the returned interface. It is illegal to open a pin that has already been opened and has not been closed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Parameters:

spec - Pin specification, consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be floating, pull-up or pull-down. See DigitalInput.Spec.Mode for more information.

Returns:

Interface of the assigned pin.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

See Also:

DigitalInput

openDigitalInput

DigitalInput openDigitalInput(int pin)
                              throws ConnectionLostException

Shorthand for openDigitalInput(new DigitalInput.Spec(pin)).

Throws:

ConnectionLostException

See Also:

openDigitalInput(ioio.lib.api.DigitalInput.Spec)

openDigitalInput

DigitalInput openDigitalInput(int pin,
                            DigitalInput.Spec.Mode mode)
                              throws ConnectionLostException

Shorthand for openDigitalInput(new DigitalInput.Spec(pin, mode)).

Throws:

ConnectionLostException

See Also:

openDigitalInput(ioio.lib.api.DigitalInput.Spec)

openDigitalOutput

DigitalOutput openDigitalOutput(DigitalOutput.Spec spec,
                              boolean startValue)
                                throws ConnectionLostException

Open a pin for digital output.

A digital output pin can be used to generate logic-level signals. The pin will operate in this mode until close() is invoked on the returned interface. It is illegal to open a pin that has already been opened and has not been closed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Parameters:

spec - Pin specification, consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be normal or open-drain. See DigitalOutput.Spec.Mode for more information.

startValue - The initial logic level this pin will generate as soon at it is open.

Returns:

Interface of the assigned pin.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

See Also:

DigitalOutput

openDigitalOutput

DigitalOutput openDigitalOutput(int pin,
                              DigitalOutput.Spec.Mode mode,
                              boolean startValue)
                                throws ConnectionLostException

Shorthand for openDigitalOutput(new DigitalOutput.Spec(pin, mode), startValue).

Throws:

ConnectionLostException

See Also:

openDigitalOutput(ioio.lib.api.DigitalOutput.Spec, boolean)

openDigitalOutput

DigitalOutput openDigitalOutput(int pin,
                              boolean startValue)
                                throws ConnectionLostException

Shorthand for openDigitalOutput(new DigitalOutput.Spec(pin), startValue). Pin mode will be "normal" (as opposed to "open-drain".

Throws:

ConnectionLostException

See Also:

openDigitalOutput(ioio.lib.api.DigitalOutput.Spec, boolean)

openDigitalOutput

DigitalOutput openDigitalOutput(int pin)
                                throws ConnectionLostException

Shorthand for openDigitalOutput(new DigitalOutput.Spec(pin), false). Pin mode will be "normal" (as opposed to "open-drain".

Throws:

ConnectionLostException

See Also:

openDigitalOutput(ioio.lib.api.DigitalOutput.Spec, boolean)

openAnalogInput

AnalogInput openAnalogInput(int pin)
                            throws ConnectionLostException

Open a pin for analog input.

An analog input pin can be used to measure voltage. Note that not every pin can be used as an analog input. See board documentation for the legal pins and permitted voltage range.

The pin will operate in this mode until close() is invoked on the returned interface. It is illegal to open a pin that has already been opened and has not been closed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Parameters:

pin - Pin number, as labeled on the board.

Returns:

Interface of the assigned pin.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

See Also:

AnalogInput

openPwmOutput

PwmOutput openPwmOutput(DigitalOutput.Spec spec,
                      int freqHz)
                        throws ConnectionLostException

Open a pin for PWM (Pulse-Width Modulation) output.

A PWM pin produces a logic-level PWM signal. These signals are typically used for simulating analog outputs for controlling the intensity of LEDs, the rotation speed of motors, etc. They are also frequently used for controlling hobby servo motors.

Note that not every pin can be used as PWM output. In addition, the total number of concurrent PWM modules in use is limited. See board documentation for the legal pins and limit on concurrent usage.

The pin will operate in this mode until close() is invoked on the returned interface. It is illegal to open a pin that has already been opened and has not been closed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Parameters:

spec - Pin specification, consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be normal or open-drain. See DigitalOutput.Spec.Mode for more information.

freqHz - PWM frequency, in Hertz.

Returns:

Interface of the assigned pin.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

OutOfResourceException - This is a runtime exception, so it is not necessary to catch it if the client guarantees that the total number of concurrent PWM resources is not exceeded.

See Also:

PwmOutput

openPwmOutput

PwmOutput openPwmOutput(int pin,
                      int freqHz)
                        throws ConnectionLostException

Shorthand for openPwmOutput(new DigitalOutput.Spec(pin), freqHz).

Throws:

ConnectionLostException

See Also:

openPwmOutput(ioio.lib.api.DigitalOutput.Spec, int)

openPulseInput

PulseInput openPulseInput(DigitalInput.Spec spec,
                        PulseInput.ClockRate rate,
                        PulseInput.PulseMode mode,
                        boolean doublePrecision)
                          throws ConnectionLostException

Open a pin for pulse input.

The pulse input module is quite flexible. It enables several kinds of timing measurements on a digital signal: pulse width measurement (positive or negative pulse), and frequency of a periodic signal.

Note that not every pin can be used as pulse input. In addition, the total number of concurrent pulse input modules in use is limited. See board documentation for the legal pins and limit on concurrent usage.

The pin will operate in this mode until close() is invoked on the returned interface. It is illegal to open a pin that has already been opened and has not been closed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Parameters:

spec - Pin specification, consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be floating, pull-up or pull-down. See DigitalInput.Spec.Mode for more information.

rate - The clock rate to use for timing the signal. A faster clock rate will result in better precision but will only be able to measure narrow pulses / high frequencies.

mode - The mode in which to operate. Determines whether the module will measure pulse durations or frequency.

doublePrecision - Whether to open a double-precision pulse input module. Double- precision modules enable reading of much longer pulses and lower frequencies with high accuracy than single precision modules. However, their number is limited, so when possible, and if the resources are all needed, use single-precision. For more details on the exact spec of single- vs. double- precision, see PulseInput.

Returns:

An instance of the PulseInput, which can be used to obtain the data.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

OutOfResourceException - This is a runtime exception, so it is not necessary to catch it if the client guarantees that the total number of concurrent PWM resources is not exceeded.

See Also:

PulseInput

openPulseInput

PulseInput openPulseInput(int pin,
                        PulseInput.PulseMode mode)
                          throws ConnectionLostException

Shorthand for openPulseInput(new DigitalInput.Spec(pin), rate, mode, true), i.e. opens a double-precision, 16MHz pulse input on the given pin with the given mode.

Throws:

ConnectionLostException

See Also:

openPulseInput(ioio.lib.api.DigitalInput.Spec, ioio.lib.api.PulseInput.ClockRate, ioio.lib.api.PulseInput.PulseMode, boolean)

openUart

Uart openUart(DigitalInput.Spec rx,
            DigitalOutput.Spec tx,
            int baud,
            Uart.Parity parity,
            Uart.StopBits stopbits)
              throws ConnectionLostException

Open a UART module, enabling a bulk transfer of byte buffers.

UART is a very common hardware communication protocol, enabling full- duplex, asynchronous point-to-point data transfer. It typically serves for opening consoles or as a basis for higher-level protocols, such as MIDI RS-232, and RS-485.

Note that not every pin can be used for UART RX or TX. In addition, the total number of concurrent UART modules in use is limited. See board documentation for the legal pins and limit on concurrent usage.

The UART module will operate, and the pins will work in their respective modes until close() is invoked on the returned interface. It is illegal to use pins that have already been opened and has not been closed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Parameters:

rx - Pin specification for the RX pin, consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be floating, pull-up or pull-down. See DigitalInput.Spec.Mode for more information. null can be passed to designate that we do not want RX input to this module.

tx - Pin specification for the TX pin, consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be normal or open-drain. See DigitalOutput.Spec.Mode for more information. null can be passed to designate that we do not want TX output to this module.

baud - The clock frequency of the UART module in Hz.

parity - The parity mode, as in Uart.Parity.

stopbits - Number of stop bits, as in Uart.StopBits.

Returns:

Interface of the assigned module.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

OutOfResourceException - This is a runtime exception, so it is not necessary to catch it if the client guarantees that the total number of concurrent UART resources is not exceeded.

See Also:

Uart

openUart

Uart openUart(int rx,
            int tx,
            int baud,
            Uart.Parity parity,
            Uart.StopBits stopbits)
              throws ConnectionLostException

Shorthand for openUart(DigitalInput.Spec, DigitalOutput.Spec, int, Uart.Parity, Uart.StopBits) , where the input pins use their default specs. INVALID_PIN can be used on either pin if a TX- or RX-only UART is needed.

Throws:

ConnectionLostException

See Also:

openUart(DigitalInput.Spec, DigitalOutput.Spec, int, Uart.Parity, Uart.StopBits)

openSpiMaster

SpiMaster openSpiMaster(DigitalInput.Spec miso,
                      DigitalOutput.Spec mosi,
                      DigitalOutput.Spec clk,
                      DigitalOutput.Spec[] slaveSelect,
                      SpiMaster.Config config)
                        throws ConnectionLostException

Open a SPI master module, enabling communication with multiple SPI-enabled slave modules.

SPI is a common hardware communication protocol, enabling full-duplex, synchronous point-to-multi-point data transfer. It requires MOSI, MISO and CLK lines shared by all nodes, as well as a SS line per slave, connected between this slave and a respective pin on the master. The MISO line should operate in pull-up mode, using either the internal pull-up or an external resistor.

Note that not every pin can be used for SPI MISO, MOSI or CLK. In addition, the total number of concurrent SPI modules in use is limited. See board documentation for the legal pins and limit on concurrent usage.

The SPI module will operate, and the pins will work in their respective modes until close() is invoked on the returned interface. It is illegal to use pins that have already been opened and has not been closed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Parameters:

miso - Pin specification for the MISO (Master In Slave Out) pin, consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be floating, pull-up or pull-down. See DigitalInput.Spec.Mode for more information.

mosi - Pin specification for the MOSI (Master Out Slave In) pin, consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be normal or open-drain. See DigitalOutput.Spec.Mode for more information.

clk - Pin specification for the CLK pin, consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be normal or open-drain. See DigitalOutput.Spec.Mode for more information.

slaveSelect - An array of pin specifications for each of the slaves' SS (Slave Select) pin. The index of this array designates the slave index, used later to refer to this slave. The spec is consisting of the pin number, as labeled on the board, and the mode, which determines whether the pin will be normal or open-drain. See DigitalOutput.Spec.Mode for more information.

config - The configuration of the SPI module. See SpiMaster.Config for details.

Returns:

Interface of the assigned module.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

OutOfResourceException - This is a runtime exception, so it is not necessary to catch it if the client guarantees that the total number of concurrent SPI resources is not exceeded.

See Also:

SpiMaster

openSpiMaster

SpiMaster openSpiMaster(int miso,
                      int mosi,
                      int clk,
                      int[] slaveSelect,
                      SpiMaster.Rate rate)
                        throws ConnectionLostException

Shorthand for openSpiMaster(ioio.lib.api.DigitalInput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec[], ioio.lib.api.SpiMaster.Config) , where the pins are all open with the default modes and default configuration values are used.

Throws:

ConnectionLostException

See Also:

openSpiMaster(ioio.lib.api.DigitalInput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec[], ioio.lib.api.SpiMaster.Config)

openSpiMaster

SpiMaster openSpiMaster(int miso,
                      int mosi,
                      int clk,
                      int slaveSelect,
                      SpiMaster.Rate rate)
                        throws ConnectionLostException

Shorthand for openSpiMaster(ioio.lib.api.DigitalInput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec[], ioio.lib.api.SpiMaster.Config) , where the MISO pins is opened with pull up, and the other pins are open with the default modes and default configuration values are used. In this version, a single slave is used.

Throws:

ConnectionLostException

See Also:

openSpiMaster(ioio.lib.api.DigitalInput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec, ioio.lib.api.DigitalOutput.Spec[], ioio.lib.api.SpiMaster.Config)

openTwiMaster

TwiMaster openTwiMaster(int twiNum,
                      TwiMaster.Rate rate,
                      boolean smbus)
                        throws ConnectionLostException

Open a TWI (Two-Wire Interface, such as I2C/SMBus) master module, enabling communication with multiple TWI-enabled slave modules.

TWI is a common hardware communication protocol, enabling half-duplex, synchronous point-to-multi-point data transfer. It requires a physical connection of two lines (SDA, SCL) shared by all the bus nodes, where the SDA is open-drain and externally pulled-up.

Note that there is a fixed number of TWI modules, and the pins they use are static. Client has to make sure these pins are not already opened before calling this method. See board documentation for the number of modules and the respective pins they use.

The TWI module will operate, and the pins will work in their respective modes until close() is invoked on the returned interface. It is illegal to use pins that have already been opened and has not been closed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Parameters:

twiNum - The TWI module index to use. Will also determine the pins used.

rate - The clock rate. Can be 100KHz / 400KHz / 1MHz.

smbus - When true, will use SMBus voltage levels. When false, I2C voltage levels.

Returns:

Interface of the assigned module.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

See Also:

TwiMaster

openIcspMaster

IcspMaster openIcspMaster()
                          throws ConnectionLostException

Open an ICSP channel, enabling Flash programming of an external PIC MCU, and in particular, another IOIO board.

ICSP (In-Circuit Serial Programming) is a protocol intended for programming of PIC MCUs. It is a serial protocol over three wires: PGC (clock), PGD (data) and MCLR (reset), where PGC and MCLR are controlled by the master and PGD is shared by the master and slave, depending on the transaction state.

Note that there is only one ICSP modules, and the pins it uses are static. Client has to make sure that the ICSP module is not already in use, as well as those dedicated pins. See board documentation for the actual pins used for ICSP.

Returns:

Interface of the ICSP module.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

See Also:

IcspMaster

openCapSense

CapSense openCapSense(int pin)
                      throws ConnectionLostException

Shorthand for openCapSense(pin, CapSense.DEFAULT_COEF).

Throws:

ConnectionLostException

See Also:

openCapSense(int, float)

openCapSense

CapSense openCapSense(int pin,
                    float filterCoef)
                      throws ConnectionLostException

Open a pin for cap-sense.

A cap-sense input pin can be used to measure capacitance, typically in touch sensing applications. Note that not every pin can be used as cap- sense. See board documentation for the legal pins.

The pin will operate in this mode until close() is invoked on the returned interface. It is illegal to open a pin that has already been opened and has not been closed. A connection must have been established prior to calling this method, by invoking waitForConnect().

Parameters:

pin - Pin number, as labeled on the board.

Returns:

Interface of the assigned pin.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

See Also:

CapSense

beginBatch

void beginBatch()
                throws ConnectionLostException

Start a batch of operations. This is strictly an optimization and will not change functionality: if the client knows that a sequence of several IOIO operations are going to be performed immediately following each other, a call to beginBatch() before the sequence and endBatch() after the sequence will cause the operations to be grouped into one transfer to the IOIO, thus reducing latency. A matching endBatch() operation must always follow, or otherwise no operation will ever be actually executed. beginBatch() / endBatch() blocks may be nested - the transfer will occur when the outermost endBatch() is invoked. Note that it is not guaranteed that no transfers will happen while inside a batch - it should be treated as a hint. Code running inside the block must be quick as it blocks all transfers to the IOIO, including those performed from other threads.

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.

endBatch

void endBatch()
              throws ConnectionLostException

End a batch of operations. For explanation, see beginBatch().

Throws:

ConnectionLostException - Connection was lost before or during the execution of this method.