def digitalIO(self, idNum=None, demo=0, trisD=None, trisIO=None, stateD=None, stateIO=None, updateDigital=0):
        """
        Name: U12.digitalIO(idNum=None, demo=0, trisD=None, trisIO=None, stateD=None, stateIO=None, updateDigital=0)
        Args: See section 4.17 of the User's Guide
        Desc: Reads and writes to all 20 digital I/O.

        >>> dev = U12()
        >>> dev.digitalIO()
        >>> {'stateIO': 0, 'stateD': 0, 'idnum': 1, 'outputD': 0, 'trisD': 0}
        """
        
        #Check id number
        if idNum is None:
            idNum = self.id
        idNum = ctypes.c_long(idNum)

        # Check tris and state parameters
        if 0 > updateDigital:
            if trisD is None: raise ValueError("keyword argument trisD must be set")
            if trisIO is None: raise ValueError("keyword argument trisIO must be set")
            if stateD is None: raise ValueError("keyword argument stateD must be set")
            if stateIO is None: raise ValueError("keyword argument stateIO must be set")
        
        # Create ctypes
        if trisD is None: trisD = ctypes.c_long(999)
        else:trisD = ctypes.c_long(trisD)
        if stateD is None:stateD = ctypes.c_long(999)
        else: stateD = ctypes.c_long(stateD)
        if stateIO is None: stateIO = ctypes.c_long(0)
        else: stateIO = ctypes.c_long(stateIO)
        outputD = ctypes.c_long(999)
        
        # Check trisIO
        if trisIO is None: trisIO = 0

        ecode = staticLib.DigitalIO(ctypes.byref(idNum), demo, ctypes.byref(trisD), trisIO, ctypes.byref(stateD), ctypes.byref(stateIO), updateDigital, ctypes.byref(outputD))
        if ecode != 0: raise U12Exception(ecode)
        
        return {"idnum":idNum.value, "trisD":trisD.value, "stateD":stateD.value, "stateIO":stateIO.value, "outputD":outputD.value}
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