I/O pin

Experimental support for accessing IO-pins on sub modules of the Kvaser DIN Rail SE 400S and variants that was added to CANlib v5.26.

New in version 1.8.

AddonModule

class canlib.canlib.iopin.AddonModule(module_type, fw_version=None, serial=None, first_pin_index=None)[source]

Contains information about one add-on module

Parameters
  • module_type (ModuleType) – The type of the add-on module.

  • sw_version (canlib.VersionNumber) – The software version in the add-on module.

  • serial (int) – The serial number of the add-on module.

  • first_index (int) – The index of the add-on modules first pin.

New in version 1.9.

issubset(spec)[source]

Check if current attributes are fulfilling attributes in spec.

Any attribute in spec that is set to None is automatically considered fulfilled.

The fw_version attribute is considered fulfilled when self.fw_version >= spec.fw_version.

This can be used to check if a specific module fulfills a manually created specification:

>>> module_spec = [iopin.AddonModule(module_type=iopin.ModuleType.DIGITAL)]
... config = iopin.Configuration(channel)
>>> config.modules
[AddonModule(module_type=<ModuleType.DIGITAL: 1>, fw_version=VersionNumber(major=2, minor=5, release=None, build=None), serial=2342), first_pin_index=0]
>>> config.issubset(module_spec)
True

>>> module_spec = [iopin.AddonModule(
        module_type=iopin.ModuleType.DIGITAL,
        fw_version=VersionNumber(major=3, minor=1),
        serial=2342)]

>>> config.issubset(module_spec)
False

>>> module_spec = [
    iopin.AddonModule(module_type=iopin.ModuleType.ANALOG),
    iopin.AddonModule(module_type=iopin.ModuleType.DIGITAL,
                      fw_version=VersionNumber(major=3, minor=1),
                      serial=2342)]

>>> config.issubset(module_spec)
False

AnalogIn

class canlib.canlib.iopin.AnalogIn(channel, pin)[source]

Bases: IoPin

property hysteresis

The hysteresis in Volt for analog input pin

property lp_filter_order

The low-pass filter order for analog input pin

property value

Voltage level on the Analog input pin

AnalogOut

class canlib.canlib.iopin.AnalogOut(channel, pin)[source]

Bases: IoPin

property value

Voltage level on the Analog output pin

Configuration

class canlib.canlib.iopin.Configuration(channel)[source]

Contains I/O pins and the canlib.Channel to find them on

Creating this object may take some time depending on the number of I/O pins availably on the given canlib.Channel.

Parameters

channel (Channel) – The channel where the discovery of I/O pins should take place.

Variables
  • io_pins (list(IoPin)) – All discovered I/O pins.

  • modules (list(AddonModule)) – All included add-on-modules.

  • pin_names (list(str)) – List of label I/O pin names.

  • (dict(str (pin_index) – int)): Dictionary with I/O pin label name as key, and pin index as value.

To create an iopin.Configuration you need to supply the canlib.Channel, which is were we look for I/O pins:

>>> from canlib.canlib import iopin
... from canlib import canlib, Device, EAN
... device = Device.find(ean=EAN('01059-8'), serial=225)
... channel = canlib.openChannel(device.channel_number(), canlib.Open.EXCLUSIVE)
... config = iopin.Configuration(channel)

Now we can investigate a specific pin by index:

>>> config.pin(index=80)
Pin 80: <PinType.ANALOG: 2> <Direction.OUT: 8> bits=12 range=0.0-10.0 (<ModuleType.ANALOG: 2>)

It is also possible to find the label name from the index and vice verse for a pin, as well as access the pin using the label name:

>>> config.name(80)
'4:AO1'

>>> config.index('4:AO1')
80

>>> config.pin(name='4:AO1')
Pin 80: <PinType.ANALOG: 2> <Direction.OUT: 8> bits=12 range=0.0-10.0 (<ModuleType.ANALOG: 2>)

Note

A configuration needs to be confirmed using iopin.Configuration.confirm (which calls Channel.io_confirm_config) before accessing pin values:

>>> config.pin(name='4:AO1').value = 4
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "...\canlib\canlib\iopin.py", line 271, in value
  File "...\canlib\canlib\dll.py", line 94, in _error_check
    raise can_error(result)
canlib.canlib.exceptions.IoPinConfigurationNotConfirmed: I/O pin configuration is not confirmed (-45)
I/O pin configuration is not confirmed (-45)

>>> config.confirm()

>>> config.pin(name='4:AO1').value = 4

A Configuration may be compared with an expected ordered list of AddonModule before confirming using AddonModule.issubset

Changed in version 1.9: Configuration.modules is now an attribute, containing an ordered list of AddonModule objects.

confirm()[source]

Confirm current configuration

Convenience function that calls Channel.io_confirm_config.

index(name)[source]

Return index for pin with the given label name

issubset(spec)[source]

Check if attributes of modules in self is fulfilled by given spec

This is a convenience method that calls AddonModule.issubset on all modules given by self.modules which can be used to check if the current configuration fulfills a manually created specification:

>>> config = iopin.Configuration(channel)
>>> config_spec = [iopin.AddonModule(module_type=iopin.ModuleType.ANALOG),
                   iopin.AddonModule(module_type=iopin.ModuleType.DIGITAL,
                                     fw_version=VersionNumber(major=3, minor=1),
                                     serial=2342)]

>>> config.issubset(config_spec)
False

New in version 1.9.

name(index)[source]

Return label name for pin with given index

pin(index=None, name=None)[source]

Return IoPin object using index or name

Either index or name must be given, if both are given, the name will be used.

Parameters
  • index (int) – I/O pin index

  • name (str) – I/O pin name

DigitalIn

class canlib.canlib.iopin.DigitalIn(channel, pin)[source]

Bases: IoPin

property high_low_filter

Filter time in micro seconds when a digital pin goes from HIGH to LOW

property low_high_filter

Filter time in micro seconds when a digital pin goes from LOW to HIGH

property value

Value on digital input pin (0 or 1)

DigitalOut

class canlib.canlib.iopin.DigitalOut(channel, pin)[source]

Bases: IoPin

property value

Value on digital output pin (0 or 1)

DigitalValue

class canlib.canlib.iopin.DigitalValue(value)[source]

Enum used digital values

HIGH = 1
LOW = 0

Direction

class canlib.canlib.iopin.Direction(value)[source]

Enum used for values in Info

IN = 4

Input

OUT = 8

Output

Info

class canlib.canlib.iopin.Info(value)[source]

Enum used internally in IoPin for calls to kvIoPinGetInfo and kvIoPinSetInfo

AI_HYSTERESIS = 11

The hysteresis in volt.

The hysteresis in volt for an analog input pin, i.e. the amount the input have to change before the sampled value is updated.

0.0 - 10.0, default 0.3

AI_LP_FILTER_ORDER = 10

The low-pass filter order for an analog input pin.

0 - 16, default 3 (sample time is 1 ms)

DIRECTION = 2

One of Direction

DI_HIGH_LOW_FILTER = 9

Time when a digital input pin goes from LOW to HIGH.

Filter time in micro seconds when a digital input pin goes from LOW to HIGH.

Range: 0 - 65000, Default 5000 us

DI_LOW_HIGH_FILTER = 8

Time when a digital input pin goes from HIGH to LOW.

Filter time in micro seconds when a digital input pin goes from HIGH to LOW. Range: 0 - 65000, Default 5000 us

FW_VERSION = 16

Software version number of the submodule the pin belongs to. Read-only.

MODULE_NUMBER = 14

The module number the pin belongs to. The number starts from 0. Read-only.

MODULE_TYPE = 1

One of ModuleType

NUMBER_OF_BITS = 5

Resolution in number of bits. Read-only.

PIN_TYPE = 4

One of PinType

RANGE_MAX = 7

A float that contains the upper range limit in volts. Read-only.

RANGE_MIN = 6

A float that contains the lower range limit in volts. Read-only.

SERIAL_NUMBER = 15

Serial number of the submodule the pin belongs to. Read-only.

IoPin

class canlib.canlib.iopin.IoPin(channel, pin)[source]

Base class of I/O ports

property direction

Pin direction (Read-only)

Type

Direction

property fw_version

Firmware version in module (Read-only)

Type

VersionNumber

property hysteresis

Base class does not implement hysteresis attribute

property lp_filter_order

Base class does not implement lp_filter_order attribute

property module_type

Type of module (Read-only)

Type

ModuleType

property number_of_bits

Resolution in number of bits (Read-only)

Type

int

property pin_type

Type of pin (Read-only)

Type

PinType

property range_max

Upper range limit in volts (Read-only)

Type

float

property range_min

Lower range limit in volts (Read-only)

Type

float

property serial

Module serial number (Read-only)

Type

int

property value

Base class does not implement value attribute

ModuleType

class canlib.canlib.iopin.ModuleType(value)[source]

Enum used for return values in kvIoPinGetInfo

ANALOG = 2

Analog Add-on (4 inputs, 4 outputs).

DIGITAL = 1

Digital Add-on (16 inputs, 16 outputs).

INTERNAL = 4

Internal Digital module (1 input, 1 output).

RELAY = 3

Relay Add-on (8 inputs, 8 outputs).

PinType

class canlib.canlib.iopin.PinType(value)[source]

Enum used for values in Info

ANALOG = 2
DIGITAL = 1
RELAY = 3

Relay

class canlib.canlib.iopin.Relay(channel, pin)[source]

Bases: IoPin

property value

Value on relay, 0 for off, 1 for on