pigpio/pigs.1

." Process this file with
." groff -man -Tascii foo.1
."
.TH pigs 1 2012-2014 Linux "pigpio archive"
.SH NAME
pigs - command line socket access to the pigpio daemon.

/dev/pigpio - command line pipe access to the pigpio daemon.

.SH SYNOPSIS

.B sudo pigpiod

then

.B pigs {command}+

or

.B "echo {command}+ >/dev/pigpio"

.SH DESCRIPTION


.br
The socket and pipe interfaces allow control of the gpios by passing
messages to the running pigpio library.

.br
The normal way to start the pigpio library would be as a daemon during boot.

.br

.EX
sudo pigpiod
.br

.EE

.br
pigs is a program and internally uses the socket interface to pigpio
whereas /dev/pigpio uses the pipe interface.

.br
.SS Features
.br
o PWM on any of gpios 0-31

.br
o servo pulses on any of gpios 0-31

.br
o reading/writing all of the gpios in a bank as one operation

.br
o individually setting gpio modes, reading and writing

.br
o notifications when any of gpios 0-31 change state

.br
o the construction of output waveforms with microsecond timing

.br
o I2C, SPI, and serial link wrappers

.br
o creating and running scripts on the pigpio daemon

.br
.SS gpios
.br
ALL gpios are identified by their Broadcom number.

.br
.SS Usage
.br
pigs and the socket interface share the same commands and are invoked in
a similar fashion from the command line.

.br
The pigpio library must be running, either by running a program linked
with the library or starting the pigpio daemon (sudo pigpiod).

.br
pigs {command}+

.br
echo "{command}+" >/dev/pigpio

.br
pigs will show the result of the command on screen.

.br
The results of /dev/pigpio commands need to be read from /dev/pigout,
e.g. cat /dev/pigout (try cat /dev/pigout& so that all subsequent
results are shown on screen).

.br
In both cases if an error was detected a message will have been written
to /dev/pigerr (try cat /dev/pigerr&).  This is likely to be more
informative than the message returned by pigs or the error code
returned by the pipe interface.

.br
Several commands may be entered on a line.  If present PROC and PARSE must
be the last command on a line.

.br
E.g.

.br

.EX
pigs w 22 1 mils 1000 w 22 0
.br

.EE

.br
is equivalent to

.br

.EX
pigs w 22 1
.br
pigs mils 1000
.br
pigs w 22 0
.br

.EE

.br
and

.br

.EX
echo "m 4 w w 4 0 mils 250 m 4 r r 4" >/dev/pigpio
.br

.EE

.br
is equivalent to

.br

.EX
echo "m 4 w"    >/dev/pigpio
.br
echo "w 4 0"    >/dev/pigpio
.br
echo "mils 250" >/dev/pigpio
.br
echo "m 4 r"    >/dev/pigpio
.br
echo "r 4"      >/dev/pigpio
.br

.EE

.br
.SS Notes
.br
The examples from now on will show the pigs interface but the same
commands will also work on the pipe interface.

.br
pigs does not show the status of successful commands unless the
command itself returns data.  The status (0) will be returned to
pigs but will be discarded.

.br
The status/data of each command sent to the pipe interface should
be read from /dev/pigout.

.br
When a command takes a number as a parameter it may be entered as hex
(precede by 0x), octal (precede by 0), or decimal.

.br
E.g. 23 is 23 decimal, 0x100 is 256 decimal, 070 is 56 decimal.

.br

.SH COMMANDS

.br

.IP "\fBBC1 bits\fP - Clear specified gpios in bank 1"
.IP "" 4
This command clears (sets low) the gpios specified by \fBbits\fP in bank 1.
Bank 1 consists of gpios 0-31.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs bc1 0x400010 # clear gpios 4 (1<<4) and 22 (1<<22)
.br

.br
$ pigs bc1 32 # clear gpio 5 (1<<5)
.br
-42
.br
ERROR: no permission to update one or more gpios
.br

.EE

.br

.IP "\fBBC2 bits\fP - Clear specified gpios in bank 2"
.IP "" 4
This command clears (sets low) the gpios specified by \fBbits\fP in bank 2.
Bank 2 consists of gpios 32-53.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs bc2 0x8000 # clear gpio 47 (activity LED on B+)
.br

.br
$ pigs bc2 1 # clear gpio 32 (first in bank 2)
.br
-42
.br
ERROR: no permission to update one or more gpios
.br

.EE

.br

.IP "\fBBR1 \fP - Read bank 1 gpios"
.IP "" 4
This command read gpios 0-31 (bank 1) and returns the levels as a
32-bit hexadecimal value.

.br

\fBExample\fP
.br

.EX
$ pigs br1
.br
1001C1CF
.br

.EE

.br

.IP "\fBBR2 \fP - Read bank 2 gpios"
.IP "" 4
This command read gpios 32-53 (bank 2) and returns the levels as a
32-bit hexadecimal value.

.br

\fBExample\fP
.br

.EX
$ pigs br2
.br
003F0000
.br

.EE

.br

.IP "\fBBS1 bits\fP - Set specified gpios in bank 1"
.IP "" 4
This command sets (sets high) the gpios specified by \fBbits\fP in bank 1.
Bank 1 consists of gpios 0-31.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs bs1 16 # set gpio 4 (1<<4)
.br

.br
$ pigs bs1 1 # set gpio 1 (1<<0)
.br
-42
.br
ERROR: no permission to update one or more gpios
.br

.EE

.br

.IP "\fBBS2 bits\fP - Set specified gpios in bank 2"
.IP "" 4
This command sets (sets high) the gpios specified by \fBbits\fP in bank 2.
Bank 2 consists of gpios 32-53.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs bs2 0x40 # set gpio 38 (enable high current mode B+)
.br

.br
$ pigs bs2 1 # set gpio 32 (first in bank 2)
.br
-42
.br
ERROR: no permission to update one or more gpios
.br

.EE

.br

.IP "\fBGDC u\fP - Get gpio PWM dutycycle"
.IP "" 4

.br
This command returns the PWM dutycycle in use on gpio \fBu\fP.

.br
Upon success the dutycycle is returned.  On error a negative
status code will be returned.

.br
For normal PWM the dutycycle will be out of the defined range
for the gpio (see \fBPRG\fP).  If a hardware clock is active on
the gpio the reported dutycycle will be 500 (out of 1000).
If hardware PWM is active on the gpio the reported dutycycle
will be out of a 1000.

.br

\fBExample\fP
.br

.EX
$ pigs p 4 129
.br
$ pigs gdc 4
.br
129
.br

.br
pigs gdc 5
.br
-92
.br
ERROR: gpio is not in use for PWM
.br

.EE

.br

.IP "\fBGPW u\fP - Get gpio servo pulsewidth"
.IP "" 4

.br
This command returns the servo pulsewidth in use on gpio \fBu\fP.

.br
Upon success the servo pulsewidth is returned.  On error a negative
status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs s 4 1235
.br
$ pigs gpw 4
.br
1235
.br

.br
$ pigs gpw 9
.br
-93
.br
ERROR: gpio is not in use for servo pulses
.br

.EE

.br

.IP "\fBH/HELP \fP - Display command help"
.IP "" 4
This command displays a brief list of the commands and their parameters.

.br

\fBExample\fP
.br

.EX
$ pigs h
.br

.br
$ pigs help
.br

.EE

.br

.IP "\fBHC g cf\fP - Set hardware clock frequency"
.IP "" 4
This command sets the hardware clock associated with gpio \fBg\fP to
frequency \fBcf\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs hc 4 5000 # start a 5 KHz clock on gpio 4 (clock 0)
.br

.br
$ pigs hc 5 5000000 # start a 5 MHz clcok on gpio 5 (clock 1)
.br
-99
.br
ERROR: need password to use hardware clock 1
.br

.EE

.br
The same clock is available on multiple gpios.  The latest
frequency setting will be used by all gpios which share a clock.

.br
The gpio must be one of the following.

.br

.EX
4   clock 0  All models
5   clock 1  A+/B+ and compute module only (reserved for system use)
6   clock 2  A+/B+ and compute module only
20  clock 0  A+/B+ and compute module only
21  clock 1  All models but Rev.2 B (reserved for system use)

.EE

.br

.EX
32  clock 0  Compute module only
34  clock 0  Compute module only
42  clock 1  Compute module only (reserved for system use)
43  clock 2  Compute module only
44  clock 1  Compute module only (reserved for system use)

.EE

.br
Access to clock 1 is protected by a password as its use will
likely crash the Pi.  The password is given by or'ing 0x5A000000
with the gpio number.

.br

.IP "\fBHP g pf pdc\fP - Set hardware PWM frequency and dutycycle"
.IP "" 4
This command sets the hardware PWM associated with gpio \fBg\fP to
frequency \fBpf\fP with dutycycle \fBpdc\fP.

.br
NOTE: Any waveform started by \fBWVGO\fP, \fBWVGOR\fP, \fBWVTX\fP or
\fBWVTXR\fP will be cancelled.

.br
This function is only valid if the pigpio main clock is PCM.  The
main clock defaults to PCM but may be overridden when the pigpio
daemon is started (option -t).

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

.EX
$ pigs hp 18 100 4000 # 80% dutycycle
.br

.br
$ pigs hp 19 100 1000 # 20% dutycycle
.br

.br
$ pigs hp 19 1 100
.br
-96
.br
ERROR: hardware PWM frequency not 5-50K
.br

.EE

.br
Both PWM channels share the same clock and the same update frequency.
The latest frequency setting will be used by both PWM channels. The
same PWM channel is available on multiple gpios.  The latest
dutycycle setting will be used by all gpios which share a PWM channel.

.br
The gpio must be one of the following.

.br

.EX
12  PWM channel 0  A+/B+ and compute module only
13  PWM channel 1  A+/B+ and compute module only
18  PWM channel 0  All models
19  PWM channel 1  A+/B+ and compute module only

.EE

.br

.EX
40  PWM channel 0  Compute module only
41  PWM channel 1  Compute module only
45  PWM channel 1  Compute module only
52  PWM channel 0  Compute module only
53  PWM channel 1  Compute module only

.EE

.br

.IP "\fBHWVER \fP - Get hardware version"
.IP "" 4
This command returns the hardware revision of the Pi.

.br
The hardware revision is found in the last 4 characters on the Revision
line of /proc/cpuinfo.

.br
If the hardware revision can not be found or is not a valid hexadecimal
number the command returns 0.

.br
The revision number can be used to determine the assignment of gpios to pins.

.br
There are currently three types of board.

.br
Type 1 has gpio 0 on P1-3, gpio 1 on P1-5, and gpio 21 on P1-13.

.br
Type 2 has gpio 2 on P1-3, gpio 3 on P1-5, gpio 27 on P1-13, and
gpios 28-31 on P5.

.br
Type 3 has a 40 pin connector rather than the 26 pin connector of
the earlier boards.  Gpios 0 to 27 are brought out to the connector
(although gpios 0 and 1 are reserved).

.br
Type 1 boards have hardware revision numbers of 2 and 3.

.br
Type 2 boards have hardware revision numbers of 4, 5, 6, and 15.

.br
Type 3 boards have hardware revision number 16.

.br
for "Revision : 0002" the command returns 2.

.br
for "Revision : 000f" the command returns 15.

.br
for "Revision : 000g" the command returns 0.

.br

\fBExample\fP
.br

.EX
$ pigs hwver # On a B+
.br
16
.br

.EE

.br

.IP "\fBI2CC h\fP - Close I2C handle"
.IP "" 4
This command closes an I2C handle \fBh\fP previously opened with \fBI2CO\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2cc 0 # First close okay.
.br

.br
$ pigs i2cc 0 # Second fails.
.br
-25
.br
ERROR: unknown handle
.br

.EE

.br

.IP "\fBI2CO ib id if\fP - Open I2C bus and device with flags"
.IP "" 4
This command returns a handle to access device \fBid\fP on I2C bus \fBib\fP.
The device is opened with flags \fBif\fP.

.br
No flags are currently defined.  The parameter \fBif\fP should be 0.

.br
Upon success the next free handle (>=0) is returned.  On error a
negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2co 1 0x70 0 # Bus 1, device 0x70, flags 0.
.br
0
.br

.br
$ pigs i2co 1 0x53 0 # Bus 1, device 0x53, flags 0.
.br
1
.br

.EE

.br

.IP "\fBI2CPC h r wv\fP - smb Process Call: exchange register with word"
.IP "" 4
This command writes \fBwv\fP to register \fBr\fP of the I2C device
associated with handle \fBh\fP and returns a 16-bit word read from the
device.

.br
Upon success a value between 0 and 65535 will be returned.  On error
a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2cpc 0 37 43210
.br
39933
.br

.br
$ pigs i2cpc 0 256 43210
.br
ERROR: bad i2c/spi/ser parameter
.br
-81
.br

.EE

.br

.IP "\fBI2CPK h r bvs\fP - smb Block Process Call: exchange data bytes with register"
.IP "" 4

.br
This command writes the data bytes \fBbvs\fP to register \fBr\fP of the I2C device
associated with handle \fBh\fP and returns a device specific number of bytes.

.br
Upon success the count of returned bytes followed by the bytes themselves
is returned.  On error a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2cpk 0 0 0x11 0x12
.br
6 0 0 0 0 0 0
.br

.EE

.br

.IP "\fBI2CRB h r\fP - smb Read Byte Data: read byte from register"
.IP "" 4

.br
This command returns a single byte read from register \fBr\fP of the I2C device
associated with handle \fBh\fP.

.br
Upon success a value between 0 and 255 will be returned.  On error
a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2crb 0 0
.br
6
.br

.EE

.br

.IP "\fBI2CRD h num\fP - i2c Read bytes"
.IP "" 4

.br
This command returns \fBnum\fP bytes read from the I2C device associated with
handle \fBh\fP.

.br
Upon success the count of returned bytes followed by the bytes themselves
is returned.  On error a negative status code will be returned.

.br
This command operates on the raw I2C device.  The maximum value of the
parameter \fBnum\fP is dependent on the I2C drivers and the device
itself. pigs imposes a limit of about 8000 bytes.

.br

\fBExample\fP
.br

.EX
$ pigs i2crd 0 16
.br
16 6 24 0 0 0 0 0 0 0 0 0 0 0 0 32 78
.br

.EE

.br

.IP "\fBI2CRI h r num\fP - smb Read I2C Block Data: read bytes from register"
.IP "" 4

.br
This command returns \fBnum\fP bytes from register \fBr\fP of the I2C device
associated with handle \fBh\fP.

.br
Upon success the count of returned bytes followed by the bytes themselves
is returned.  On error a negative status code will be returned.

.br
The parameter \fBnum\fP may be 1-32.

.br

\fBExample\fP
.br

.EX
$ pigs i2cri 0 0 16
.br
16 237 155 155 155 155 155 155 155 155 155 155 155 155 155 155 155
.br

.EE

.br

.IP "\fBI2CRK h r\fP - smb Read Block Data: read data from register"
.IP "" 4

.br
This command returns between 1 and 32 bytes read from register \fBr\fP of
the I2C device associated with handle \fBh\fP.

.br
Upon success the count of returned bytes followed by the bytes themselves
is returned.  On error a negative status code will be returned.

.br
The number of bytes of returned data is specific to the device and
register.

.br

\fBExample\fP
.br

.EX
$ pigs i2crk 0 0
.br
6 0 0 0 0 0 0
.br

.br
$ pigs i2crk 0 1
.br
24 0 0 0 0 0 0 0 0 0 0 0 0 120 222 105 215 128 87 195 217 0 0 0 0
.br

.EE

.br

.IP "\fBI2CRS h\fP - smb Read Byte: read byte"
.IP "" 4

.br
This command returns a single byte read from the I2C device
associated with handle \fBh\fP.

.br
Upon success a value between 0 and 255 will be returned.  On error
a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2crs 0
.br
0
.br

.EE

.br

.IP "\fBI2CRW h r\fP - smb Read Word Data: read word from register"
.IP "" 4

.br
This command returns a single 16 bit word read from register \fBr\fP of
the I2C device associated with handle \fBh\fP.

.br
Upon success a value between 0 and 65535 will be returned.  On error
a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2crw 0 0
.br
6150
.br

.EE

.br

.IP "\fBI2CWB h r bv\fP - smb Write Byte Data: write byte to register"
.IP "" 4

.br
This command writes a single byte \fBbv\fP to register \fBr\fP of the
I2C device associated with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2cwb 0 10 0x54
.br

.EE

.br

.IP "\fBI2CWD h bvs\fP - i2c Write data"
.IP "" 4

.br
This command writes a block of bytes \fBbvs\fP to the I2C device
associated with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
The number of bytes which may be written in one transaction is
dependent on the I2C drivers and the device itself.  pigs imposes
a limit of about 500 bytes.

.br
This command operates on the raw I2C device.

.br

\fBExample\fP
.br

.EX
$ pigs i2cwd 0 0x01 0x02 0x03 0x04
.br

.EE

.br

.IP "\fBI2CWI h r bvs\fP - smb Write I2C Block Data"
.IP "" 4

.br
This command writes between 1 and 32 bytes \fBbvs\fP to register \fBr\fP of
the I2C device associated with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2cwi 0 4 0x01 0x04 0xc0
.br

.EE

.br

.IP "\fBI2CWK h r bvs\fP - smb Write Block Data: write data to register"
.IP "" 4

.br
This command writes between 1 and 32 bytes \fBbvs\fP to register \fBr\fP of
the I2C device associated with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
pigs i2cwk 0 4 0x01 0x04 0xc0
.br

.EE

.br

.IP "\fBI2CWQ h bit\fP - smb Write Quick: write bit"
.IP "" 4

.br
This command writes a single \fBbit\fP to the I2C device associated
with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2cwq 0 1
.br

.EE

.br

.IP "\fBI2CWS h bv\fP - smb Write Byte: write byte"
.IP "" 4

.br
This command writes a single byte \fBbv\fP to the I2C device associated
with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2cws 0 0x12
.br

.br
$ pigs i2cws 0 0xff
.br
-82
.br
ERROR: I2C write failed
.br

.EE

.br

.IP "\fBI2CWW h r wv\fP - smb Write Word Data: write word to register"
.IP "" 4

.br
This command writes a single 16 bit word \fBwv\fP to register \fBr\fP of
the I2C device associated with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs i2cww 0 0 0xffff
.br

.EE

.br

.IP "\fBM/MODES g m\fP - Set gpio mode"
.IP "" 4

.br
This command sets gpio \fBg\fP to mode \fBm\fP, typically input (read)
or output (write).

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
Each gpio can be configured to be in one of 8 different modes. The modes
are named Input, Output, ALT0, ALT1, ALT2, ALT3, ALT4, and ALT5.

.br
To set the mode use the code for the mode.

.br

.EX
Mode  Input Output ALT0 ALT1 ALT2 ALT3 ALT4 ALT5
Code      R      W    0    1    2    3    4    5

.EE

.br

\fBExample\fP
.br

.EX
$ pigs m 4 r # Input (read)
.br
$ pigs m 4 w # Output (write)
.br
$ pigs m 4 0 # ALT 0
.br
$ pigs m 4 5 # ALT 5
.br

.EE

.br

.IP "\fBMG/MODEG g\fP - Get gpio mode"
.IP "" 4

.br
This command returns the current mode of gpio \fBg\fP.

.br
Upon success the value of the gpio mode is returned.
On error a negative status code will be returned.

.br

.EX
Value      0      1    2    3    4    5    6    7
Mode   Input Output ALT5 ALT4 ALT0 ALT1 ALT2 ALT3

.EE

.br

\fBExample\fP
.br

.EX
$ pigs mg 4
.br
1
.br

.EE

.br

.IP "\fBMICS v\fP - Microseconds delay"
.IP "" 4
This command delays execution for \fBv\fP microseconds.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
The main use of this command is expected to be within \fBScripts\fP.

.br

\fBExample\fP
.br

.EX
$ pigs mics 20 # Delay 20 microseconds.
.br
$ pigs mics 1000000 # Delay 1 second.
.br

.br
$ pigs mics 2000000
.br
-64
.br
ERROR: bad MICS delay (too large)
.br

.EE

.br

.IP "\fBMILS v\fP - Milliseconds delay"
.IP "" 4

.br
This command delays execution for \fBv\fP milliseconds.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs mils 2000 # Delay 2 seconds.
.br

.br
$ pigs mils 61000
.br
-65
.br
ERROR: bad MILS delay (too large)
.br

.EE

.br

.IP "\fBNB h bits\fP - Start notification"
.IP "" 4

.br
This command starts notifications on handle \fBh\fP returned by
a prior call to \fBNO\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
The notification gets state changes for each gpio specified by \fBbits\fP.

.br

\fBExample\fP
.br

.EX
$ pigs nb 0 -1 # Shorthand for gpios 0-31.
.br
$ pigs nb 0 0xf0 # Get notifications for gpios 4-7.
.br

.br
$ pigs nb 1 0xf
.br
-25
.br
ERROR: unknown handle
.br

.EE

.br

.IP "\fBNC h\fP - Close notification"
.IP "" 4

.br
This command stops notifications on handle \fBh\fP returned by
a prior call to \fBNO\fP and releases the handle for reuse.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs nc 0 # First call succeeds.
.br

.br
$ pigs nc 1 # Second call fails.
.br
-25
.br
ERROR: unknown handle
.br

.EE

.br

.IP "\fBNO \fP - Request a notification"
.IP "" 4

.br
This command requests a free notification handle.

.br
A notification is a method for being notified of gpio state changes via a pipe.

.br
Upon success the command returns a handle greater than or equal to zero.
On error a negative status code will be returned.

.br
Notifications for handle x will be available at the pipe named /dev/pigpiox
(where x is the handle number).

.br
E.g. if the command returns 15 then the notifications must be read
from /dev/pigpio15.

.br

\fBExample\fP
.br

.EX
$ pigs no
.br
0
.br

.EE

.br

.IP "\fBNP h\fP - Pause notification"
.IP "" 4

.br
This command pauses notifications on handle \fBh\fP returned by
a prior call to \fBNO\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
Notifications for the handle are suspended until a new \fBNB\fP command
is given for the handle.

.br

\fBExample\fP
.br

.EX
$ pigs np 0
.br

.EE

.br

.IP "\fBP/PWM u v\fP - Set gpio PWM value"
.IP "" 4

.br
This command starts PWM on gpio \fBu\fP with dutycycle \fBv\fP.  The dutycycle
varies from 0 (off) to range (fully on).  The range defaults to 255.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
This and the servo functionality use the DMA and PWM or PCM peripherals
to control and schedule the pulsewidths and dutycycles.

.br
The \fBPRS\fP command may be used to change the default range of 255.

.br

\fBExample\fP
.br

.EX
$ pigs p 4 64  # Start PWM on gpio 4 with 25% dutycycle
.br
$ pigs p 4 128 # 50%
.br
$ pigs p 4 192 # 75%
.br
$ pigs p 4 255 # 100%
.br

.EE

.br

.IP "\fBPARSE t\fP - Validate script"
.IP "" 4

.br
Validates the text \fBt\fP of a script without storing the script.

.br
Upon success nothing is returned.  On error a list of detected
script errors will be given.

.br
See \fBScripts\fP.

.br
This command may be used to find script syntax faults.

.br

\fBExample\fP
.br

.EX
$ pigs parse tag 100 w 22 1 mils 200 w 22 0 mils 800 jmp 100
.br

.br
$ pigs parse tag 0 w 22 1 mills 50 w 22 0 dcr p10 jp 99
.br
Unknown command: mills
.br
Unknown command: 50
.br
Bad parameter to dcr
.br
Can't resolve tag 99
.br

.EE

.br

.IP "\fBPFG u\fP - Get gpio PWM frequency"
.IP "" 4

.br
This command returns the PWM frequency in Hz used for gpio \fBu\fP.

.br
Upon success the PWM frequency is returned.  On error a negative
status code will be returned.

.br
For normal PWM the frequency will be that defined for the gpio
by \fBPFS\fP.  If a hardware clock is active on the gpio
the reported frequency will be that set by \fBHC\fP.
If hardware PWM is active on the gpio the reported frequency
will be that set by \fBHP\fP.

.br

\fBExample\fP
.br

.EX
$ pigs pfg 4
.br
800
.br

.br
$ pigs pfg 34
.br
ERROR: gpio not 0-31
.br
-2
.br

.EE

.br

.IP "\fBPFS u v\fP - Set gpio PWM frequency"
.IP "" 4
This command sets the PWM frequency \fBv\fP to be used for gpio \fBu\fP.

.br
The numerically closest frequency to \fBv\fP will be selected.

.br
Upon success the new frequency is returned.  On error a negative status code
will be returned.

.br
The selectable frequencies depend upon the sample rate with which the
pigpiod daemon was started.  The sample rate is one of 1, 2, 4, 5, 8,
or 10 microseconds (default 5).

.br
Each gpio can be independently set to one of 18 different PWM frequencies.

.br
If PWM is currently active on the gpio it will be switched off and then
back on at the new frequency.

.br
The frequencies for each sample rate are:

.br

.EX
        #1    #2    #3   #4   #5   #6   #7   #8   #9
 1us 40000 20000 10000 8000 5000 4000 2500 2000 1600
 2us 20000 10000  5000 4000 2500 2000 1250 1000  800
 4us 10000  5000  2500 2000 1250 1000  625  500  400
 5us  8000  4000  2000 1600 1000  800  500  400  320
 8us  5000  2500  1250 1000  625  500  313  250  200
10us  4000  2000  1000  800  500  400  250  200  160
                                                
       #10   #11   #12  #13  #14  #15  #16  #17  #18
 1us  1250  1000   800  500  400  250  200  100   50
 2us   625   500   400  250  200  125  100   50   25
 4us   313   250   200  125  100   63   50   25   13
 5us   250   200   160  100   80   50   40   20   10
 8us   156   125   100   63   50   31   25   13    6
10us   125   100    80   50   40   25   20   10    5

.EE

.br

\fBExample\fP
.br

.EX
pigs pfs 4 0 # 0 selects the lowest frequency.
.br
10
.br

.br
$ pigs pfs 4 1000 # Set 1000Hz PWM.
.br
1000
.br

.br
$ pigs pfs 4 100000 # Very big number selects the highest frequency.
.br
8000
.br

.EE

.br

.IP "\fBPIGPV \fP - Get pigpio library version"
.IP "" 4

.br
This command returns the pigpio library version.

.br

\fBExample\fP
.br

.EX
$ pigs pigpv
.br
17
.br

.EE

.br

.IP "\fBPRG u\fP - Get gpio PWM range"
.IP "" 4

.br
This command returns the dutycycle range for gpio \fBu\fP.

.br
Upon success the range is returned.  On error a negative status code
will be returned.

.br
If a hardware clock or hardware PWM is active on the gpio the reported
range will be 1000.

.br

\fBExample\fP
.br

.EX
$ pigs prg 4
.br
255
.br

.EE

.br

.IP "\fBPROC t\fP - Store script"
.IP "" 4

.br
This command stores a script \fBt\fP for later execution.

.br
If the script is valid a script id (>=0) is returned which is passed
to the other script commands. On error a negative status code
will be returned.

.br
See \fBScripts\fP.

.br

\fBExample\fP
.br

.EX
$ pigs proc tag 123 w 4 0 mils 200 w 4 1 mils 300 dcr p0 jp 123
.br
0
.br

.br
$ pigs proc tag 123 w 4 0 mils 5 w 4 1 mils 5 jmp 12
.br
ERROR: script has unresolved tag
.br
-63
.br

.EE

.br

.IP "\fBPROCD sid\fP - Delete script"
.IP "" 4

.br
This command deletes script \fBsid\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
See \fBScripts\fP.

.br

\fBExample\fP
.br

.EX
$ pigs procd 1
.br

.br
$ pigs procd 1
.br
ERROR: unknown script id
.br
-48
.br

.EE

.br

.IP "\fBPROCP sid\fP - Get script status and parameters"
.IP "" 4

.br
This command returns the status of script \fBsid\fP as well as the
current value of its 10 parameters.

.br
Upon success the script status and parameters are  returned.
On error a negative status code will be returned.

.br
The script status may be one of

.br

.EX
0   being initialised
1   halted
2   running
3   waiting
4   failed

.EE

.br
See \fBScripts\fP.

.br

\fBExample\fP
.br

.EX
$ pigs procp 0
.br
1 0 0 0 0 0 0 0 0 0 0
.br

.EE

.br

.IP "\fBPROCR sid pars\fP - Run script"
.IP "" 4

.br
This command runs stored script \fBsid\fP passing it up to 10 optional
parameters.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
See \fBScripts\fP.

.br

\fBExample\fP
.br

.EX
$ pigs proc tag 123 w 4 0 mils 200 w 4 1 mils 300 dcr p0 jp 123
.br
0
.br

.br
$ pigs procr 0 50 # Run script 0 with parameter 0 of 50.
.br

.br
$ pigs procp 0
.br
2 44 0 0 0 0 0 0 0 0 0
.br
$ pigs procp 0
.br
2 37 0 0 0 0 0 0 0 0 0
.br
$ pigs procp 0
.br
2 10 0 0 0 0 0 0 0 0 0
.br
$ pigs procp 0
.br
2 5 0 0 0 0 0 0 0 0 0
.br
$ pigs procp 0
.br
2 2 0 0 0 0 0 0 0 0 0
.br
$ pigs procp 0
.br
1 -1 0 0 0 0 0 0 0 0 0
.br

.EE

.br

.IP "\fBPROCS sid\fP - Stop script"
.IP "" 4

.br
This command stops a running script \fBsid\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
See \fBScripts\fP.

.br

\fBExample\fP
.br

.EX
$ pigs procs 0
.br

.br
$ pigs procs 1
.br
-48
.br
ERROR: unknown script id
.br

.EE

.br

.IP "\fBPRRG u\fP - Get gpio PWM real range"
.IP "" 4

.br
This command returns the real underlying range used by gpio \fBu\fP.

.br
If a hardware clock or hardware PWM is active on the gpio the
reported range will be 1000.

.br
Upon success the real range is returned.  On error a negative status code
will be returned.

.br
See \fBPRS\fP.

.br

\fBExample\fP
.br

.EX
$ pigs prrg 17
.br
250
.br

.br
$ pigs pfs 17 0
.br
10
.br
$ pigs prrg 17
.br
20000
.br

.br
$ pigs pfs 17 100000
.br
8000
.br
$ pigs prrg 17
.br
25
.br

.EE

.br

.IP "\fBPRS u v\fP - Set gpio PWM range"
.IP "" 4

.br
This command sets the dutycycle range \fBv\fP to be used for gpio \fBu\fP.
Subsequent uses of command \fBP/PWM\fP will use a dutycycle between 0 (off)
and \fBv\fP (fully on).

.br
Upon success the real underlying range used by the gpio is returned.
On error a negative status code will be returned.

.br
If PWM is currently active on the gpio its dutycycle will be scaled to
reflect the new range.

.br
The real range, the number of steps between fully off and fully on
for each frequency, is given in the following table.

.br

.EX
 #1   #2   #3   #4   #5   #6   #7    #8    #9
 25   50  100  125  200  250  400   500   625
                                        
#10  #11  #12  #13  #14  #15  #16   #17   #18
800 1000 1250 2000 2500 4000 5000 10000 20000

.EE

.br
The real value set by \fBPRS\fP is (dutycycle * real range) / range.

.br
See \fBPRRG\fP

.br

\fBExample\fP
.br

.EX
$ pigs prs 18 1000
.br
250
.br

.EE

.br

.IP "\fBPUD g p\fP - Set gpio pull up/down"
.IP "" 4

.br
This command sets the internal pull/up down for gpio \fBg\fP to mode \fBp\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
The mode may be pull-down (D), pull-up (U), or off (O).

.br

\fBExample\fP
.br

.EX
$ pigs pud 4 d # Set pull-down on gpio 4.
.br
$ pigs pud 4 u # Set pull-up on gpio 4.
.br
$ pigs pud 4 o # No pull-up/down on gpio 4.
.br

.EE

.br

.IP "\fBR/READ g\fP - Read gpio level"
.IP "" 4

.br
This reads the current level of gpio \fBg\fP.

.br
Upon success the current level is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs r 17 # Get level of gpio 17.
.br
0
.br

.br
$ pigs r 4 # Get level of gpio 4.
.br
1
.br

.EE

.br

.IP "\fBS/SERVO u v\fP - Set gpio servo pulsewidth"
.IP "" 4

.br
This command starts servo pulses of \fBv\fP microseconds on gpio \fBu\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
The servo pulsewidth may be 0 (off), 500 (most anti-clockwise)
to 2500 (most clockwise).

.br
The range supported by servos varies and should probably be determined
by experiment. Generally values between 1000-2000 should be safe.
A value of 1500 should always be safe and represents
the mid-point of rotation.

.br
You can DAMAGE a servo if you command it to move beyond its limits.

.br

\fBExample\fP
.br

.EX
$ pigs SERVO 17 1500
.br

.EE

.br
This example causes an on pulse of 1500 microseconds duration to be
transmitted on gpio 17 at a rate of 50 times per second.

.br
This will command a servo connected to gpio 17 to rotate to its mid-point.

.br

\fBExample\fP
.br

.EX
pigs s 17 0 # Switch servo pulses off.
.br

.EE

.br

.IP "\fBSERC h\fP - Close serial handle"
.IP "" 4

.br
This command closes a serial handle \fBh\fP previously opened with \fBSERO\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs serc 0 # First close okay.
.br

.br
$ pigs serc 0 # Second close gives error.
.br
-25
.br
ERROR: unknown handle
.br

.EE

.br

.IP "\fBSERDA h\fP - Check for serial data ready to read"
.IP "" 4

.br
This command returns the number of bytes of data available
to be read from the serial device associated with handle \fBh\fP.

.br
Upon success the count of bytes available to be read is
returned (which may be 0).  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs serda 0
.br
0
.br

.EE

.br

.IP "\fBSERO dev b sef\fP - Open serial device dev at baud with flags"
.IP "" 4

.br
This command opens the serial \fBdev\fP at \fBb\fP bits per second.

.br
No flags are currently defined.  \fBsef\fP should be set to zero.

.br
Upon success a handle (>=0) is returned.  On error a negative status code
will be returned.

.br
The UART is /dev/ttyAMA0.  The consoles are /dev/ttyx.  The USB
devices are /dev/ttyUSBx.

.br

\fBExample\fP
.br

.EX
$ pigs sero /dev/ttyAMA0 9600 0
.br
0
.br

.br
$ pigs sero /dev/tty1 38400 0
.br
1
.br

.EE

.br

.IP "\fBSERR h num\fP - Read bytes from serial handle"
.IP "" 4

.br
This command returns up to \fBnum\fP bytes of data read from the
serial device associated with handle \fBh\fP.

.br
Upon success the count of returned bytes followed by the bytes themselves
is returned.  On error a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs serr 0 10
.br
5 48 49 128 144 255
.br

.br
$ pigs serr 0 10
.br
0
.br

.EE

.br

.IP "\fBSERRB \fP - Read byte from serial handle"
.IP "" 4

.br
This command returns a byte of data read from the serial
device associated with handle \fBh\fP.

.br
Upon success a number between 0 and 255 is returned.
On error a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs serrb 0
.br
23
.br
$ pigs serrb 0
.br
45
.br

.EE

.br

.IP "\fBSERW h bvs\fP - Write bytes to serial handle"
.IP "" 4

.br
This command writes bytes \fBbvs\fP to the serial device
associated with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs serw 0 23 45 67 89
.br

.EE

.br

.IP "\fBSERWB h bv\fP - Write byte to serial handle"
.IP "" 4

.br
This command writes a single byte \fBbv\fP to the serial device
associated with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs serwb 0 23
.br
$ pigs serwb 0 0xf0
.br

.EE

.br

.IP "\fBSLR u num\fP - Read bit bang serial data from gpio"
.IP "" 4

.br
This command returns up to \fBnum\fP bytes of bit bang serial data
read from gpio \fBu\fP.

.br
Upon success the count of returned bytes followed by the bytes themselves
is returned.  On error a negative status code will be returned.

.br
The gpio \fBu\fP should have been initialised with the \fBSLRO\fP command.

.br
The bytes returned for each character depend upon the number of
data bits \fBdb\fP specified in the \fBSLRO\fP command.

.br
For \fBdb\fP 1-8 there will be one byte per character.
.br
For \fBdb\fP 9-16 there will be two bytes per character.
.br
For \fBdb\fP 17-32 there will be four bytes per character.

.br

\fBExample\fP
.br

.EX
$ pigs slr 15 20
.br
6 1 0 23 45 89 0
.br

.EE

.br

.IP "\fBSLRC u\fP - Close gpio for bit bang serial data"
.IP "" 4

.br
This command closes gpio \fBu\fP for reading bit bang serial data.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs slrc 23
.br

.br
$ pigs slrc 23
.br
-38
.br
ERROR: no serial read in progress on gpio
.br

.EE

.br

.IP "\fBSLRO u b db\fP - Open gpio for bit bang serial data"
.IP "" 4

.br
This command opens gpio \fBu\fP for reading bit bang serial data
at \fBb\fP baud and \fBdb\fP data bits.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
The received data is held in a cyclic buffer.

.br
It is the user's responsibility to read the data (with \fBSLR\fP)
in a timely fashion.

.br

\fBExample\fP
.br

.EX
$ pigs slro 23 19200 8
.br

.br
$ pigs slro 23 19200 8
.br
-50
.br
ERROR: gpio already in use
.br

.EE

.br

.IP "\fBSPIC h\fP - SPI close handle"
.IP "" 4

.br
This command closes the SPI handle \fBh\fP returned by a prior
call to \fBSPIO\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

.IP "\fBSPIO c b spf\fP - SPI open channel at baud with flags"
.IP "" 4

.br
This command returns a handle to a SPI device on channel \fBc\fP.

.br
Data will be transferred at \fBb\fP bits per second.  The flags \fBspf\fP
may be used to modify the default behaviour of 4-wire operation,
mode 0, active low chip select.

.br
An auxiliary SPI device is available on the B+ and may be
selected by setting the A bit in the flags.  The auxiliary
device has 3 chip selects and a selectable word size in bits.

.br
The flags consists of the least significant 22 bits.

.br

.EX
21 20 19 18 17 16 15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0
.br
 b  b  b  b  b  b  R  T  n  n  n  n  W  A u2 u1 u0 p2 p1 p0  m  m
.br

.EE

.br
mm defines the SPI mode.

.br

.EX
Mode POL PHA
.br
 0    0   0
.br
 1    0   1
.br
 2    1   0
.br
 3    1   1
.br

.EE

.br
px is 0 if CEx is active low (default) and 1 for active high.

.br
ux is 0 if the CEx gpio is reserved for SPI (default) and 1 otherwise.

.br
A is 0 for the standard SPI device, 1 for the auxiliary SPI.  The
auxiliary device is only present on the B+.

.br
W is 0 if the device is not 3-wire, 1 if the device is 3-wire.  Standard
SPI device only.

.br
nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data.  This field is ignored
if W is not set.  Standard SPI device only.

.br
T is 1 if the least significant bit is transmitted on MOSI first, the
default (0) shifts the most significant bit out first.  Auxiliary SPI
device only.

.br
R is 1 if the least significant bit is received on MISO first, the
default (0) receives the most significant bit first.  Auxiliary SPI
device only.

.br
bbbbbb defines the word size in bits (0-32).  The default (0)
sets 8 bits per word.  Auxiliary SPI device only.

.br
The other bits in flags should be set to zero.

.br
Upon success a handle (>=0) is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs spio 0 100000 3 # Open channel 0 at 100kbps in mode 3.
.br
0
.br

.EE

.br

.IP "\fBSPIR h num\fP - SPI read bytes from handle"
.IP "" 4

.br
This command returns \fBnum\fP bytes read from the SPI device
associated with handle \fBh\fP.

.br
Upon success the count of returned bytes followed by the bytes themselves
is returned.  On error a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs spir 0 10 # Read 10 bytes from the SPI device.
.br
10 0 0 0 0 0 0 0 0 0 0
.br

.EE

.br

.IP "\fBSPIW h bvs\fP - SPI write bytes to handle"
.IP "" 4

.br
This command writes bytes \fBbvs\fP to the SPI device
associated with handle \fBh\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs spiw 0 0x22 0x33 0xcc 0xff
.br

.EE

.br

.IP "\fBSPIX h bvs\fP - SPI transfer bytes to handle"
.IP "" 4

.br
This command writes bytes \fBbvs\fP to the SPI device
associated with handle \fBh\fP.  It returns the same
number of bytes read from the device.

.br
Upon success the count of returned bytes followed by the bytes themselves
is returned.  On error a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs spix 0 0x22 0x33 0xcc 0xff
.br
4 0 0 0 0
.br

.EE

.br

.IP "\fBT/TICK \fP - Get current tick"
.IP "" 4

.br
This command returns the current system tick.

.br
Tick is the number of microseconds since system boot.

.br
As tick is an unsigned 32 bit quantity it wraps around after 2^32 microseconds,
which is approximately 1 hour 12 minutes.

.br

\fBExample\fP
.br

.EX
$ pigs t mils 1000 t
.br
3691823946
.br
3692833987
.br

.EE

.br

.IP "\fBTRIG u pl L\fP - Send a trigger pulse"
.IP "" 4

.br
This command sends a trigger pulse of \fBpl\fP microseconds at level \fBL\fP
to gpio \fBu\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
The gpio is set to not level at the end of the pulse.

.br

\fBExample\fP
.br

.EX
$ pigs trig 4 10 1
.br

.br
$ pigs trig 4 51 1
.br
-46
.br
ERROR: trigger pulse > 50 microseconds
.br

.EE

.br

.IP "\fBW/WRITE g L\fP - Write gpio level"
.IP "" 4

.br
This command sets gpio \fBg\fP to level \fBL\fP.  The level may be 0
(low, off, clear) or 1 (high, on, set).

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs w 23 0
.br
$ pigs w 23 1
.br

.br
$ pigs w 23 2
.br
-5
.br
ERROR: level not 0-1
.br

.EE

.br

.IP "\fBWDOG u v\fP - Set gpio watchdog"
.IP "" 4

.br
This command sets a watchdog of \fBv\fP milliseconds on gpio \fBu\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br
The watchdog is nominally in milliseconds.

.br
One watchdog may be registered per gpio.

.br
The watchdog may be cancelled by setting timeout to 0.

.br
If no level change has been detected for the gpio for timeout milliseconds:-

.br
any notification for the gpio has a report written to the fifo with
the flags set to indicate a watchdog timeout.

.br

\fBExample\fP
.br

.EX
$ pigs wdog 23 90000
.br
-15
.br
ERROR: timeout not 0-60000
.br

.br
$ pigs wdog 23 9000
.br

.EE

.br
This example causes a report to be written to any notification pipes
listening on gpio 23 whenever gpio 23 changes state or approximately
every 9000 ms.

.br

.IP "\fBWVAG trips\fP - Add generic pulses to waveform"
.IP "" 4

.br
This command adds 1 one or more triplets \fBtrips\fP of gpios on, gpios off,
delay to the existing waveform (if any).

.br
Upon success the total number of pulses in the waveform so far is
returned.  On error a negative status code will be returned.

.br
The triplets will be added at the start of the existing waveform.  If
they are to start offset from the start then the first triplet should
consist solely of a delay i.e. 0 0 offset.

.br

\fBExample\fP
.br

.EX
$ pigs wvag 0x10 0x80 1000 0x80 0x10 9000
.br
2
.br

.br
$ pigs wvag 0 0 10000 0x10 0x80 1000 0x80 0x10 9000
.br
4
.br

.EE

.br

.IP "\fBWVAS u b db sb o bvs\fP - Add serial data to waveform"
.IP "" 4

.br
This command adds a waveform representing serial data \fBbvs\fP to
gpio \fBu\fP at \fBb\fP baud to the existing waveform (if any).
The serial data starts \fBo\fP microseconds from the start of the
waveform.

.br
Upon success the total number of pulses in the waveform so far is
returned.  On error a negative status code will be returned.

.br
The serial data is formatted as one start bit, \fBdb\fP data bits, and
\fBsb\fP/2 stop bits.

.br
It is legal to add serial data streams with different baud rates to
the same waveform.

.br
The bytes required for each character depend upon \fBdb\fP.

.br
For \fBdb\fP 1-8 there will be one byte per character.
.br
For \fBdb\fP 9-16 there will be two bytes per character.
.br
For \fBdb\fP 17-32 there will be four bytes per character.

.br

\fBExample\fP
.br

.EX
$ pigs wvas 4 9600 8 2 0 0x30 0x31 0x32 0x33
.br
23
.br

.br
$ pigs wvas 7 38400 8 2 0 0x41 0x42
.br
35
.br

.EE

.br

.IP "\fBWVBSY \fP - Check if waveform is being transmitted"
.IP "" 4

.br
This command checks to see if a waveform is currently being transmitted.

.br
Returns 1 if a waveform is currently being transmitted, otherwise 0.

.br

\fBExample\fP
.br

.EX
$ pigs wvbsy
.br
0
.br

.EE

.br

.IP "\fBWVCLR \fP - Clear all waveforms"
.IP "" 4

.br
This command clears all waveforms.

.br
Nothing is returned.

.br

\fBExample\fP
.br

.EX
$ pigs wvclr
.br

.EE

.br

.IP "\fBWVCRE \fP - Create a waveform"
.IP "" 4

.br
This command creates a waveform from the data provided by the prior
calls to the \fBWVAG\fP and \fBWVAS\fP commands.

.br
Upon success a wave id (>=0) is returned.  On error a negative status
code will be returned.

.br
The data provided by the \fBWVAG\fP and \fBWVAS\fP commands is
consumed by this command.

.br
As many waveforms may be created as there is space available.
The wave id is passed to \fBWVTX\fP or \fBWVTXR\fP to specify the
waveform to transmit.

.br
Normal usage would be

.br
Step 1. \fBWVCLR\fP to clear all waveforms and added data.

.br
Step 2. \fBWVAG\fP/\fBWVAS\fP calls to supply the waveform data.

.br
Step 3. \fBWVCRE\fP to create the waveform and get a unique id.

.br
Repeat steps 2 and 3 as needed.

.br
Step 4. \fBWVTX\fP or \fBWVTXR\fP with the id of the waveform to transmit.

.br
A waveform comprises of one or more pulses.

.br
A pulse specifies

.br
1) the gpios to be switched on at the start of the pulse.
.br
2) the gpios to be switched off at the start of the pulse.
.br
3) the delay in microseconds before the next pulse.

.br
Any or all the fields can be zero.  It doesn't make any sense to
set all the fields to zero (the pulse will be ignored).

.br
When a waveform is started each pulse is executed in order with
the specified delay between the pulse and the next.

.br

\fBExample\fP
.br

.EX
$ pigs wvas 4 9600 0 23 45 67 89 90
.br
37
.br
$ pigs wvcre
.br
0
.br

.br
$ pigs wvcre
.br
-69
.br
ERROR: attempt to create an empty waveform
.br

.EE

.br

.IP "\fBWVDEL wid\fP - Delete selected waveforms"
.IP "" 4

.br
This command deletes all waveforms with ids greater than or equal to \fBwid\fP.

.br
Upon success nothing is returned.  On error a negative status code
will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs wvdel 0
.br

.br
$ pigs wvdel 0
.br
-66
.br
ERROR: non existent wave id
.br

.EE

.br

.IP "\fBWVGO \fP - Transmit waveform once (DEPRECATED)"
.IP "" 4

.br
This command transmits the current waveform.  The waveform is sent once.

.br
NOTE: Any hardware PWM started by \fBHP\fP will be cancelled.

.br
Upon success the number of DMA control blocks in the waveform is returned.
On error a negative status code will be returned.

.br

.IP "\fBWVGOR \fP - Transmit waveform repeatedly (DEPRECATED)"
.IP "" 4

.br
This command transmits the current waveform.  The waveform is sent repeatedly.

.br
NOTE: Any hardware PWM started by \fBHP\fP will be cancelled.

.br
Upon success the number of DMA control blocks in the waveform is returned.
On error a negative status code will be returned.

.br

.IP "\fBWVHLT \fP - Stop waveform"
.IP "" 4

.br
This command aborts the transmission of the current waveform.

.br
Nothing is returned.

.br
This command is intended to stop a waveform started in the repeat mode.

.br

\fBExample\fP
.br

.EX
$ pigs wvhlt
.br

.EE

.br

.IP "\fBWVNEW \fP - Initialise a new waveform"
.IP "" 4

.br
This clears any existing waveform data ready for the creation of a new
waveform.

.br
Nothing is returned.

.br

\fBExample\fP
.br

.EX
$ pigs wvnew
.br

.EE

.br

.IP "\fBWVSC ws\fP - Get waveform DMA CB stats"
.IP "" 4

.br
The statistic requested by \fBws\fP is returned.

.br
\fBws\fP identifies the subcommand as follows.

.br
0 Get Cbs
.br
1 Get High Cbs
.br
2 Get Max Cbs

.br

\fBExample\fP
.br

.EX
$ pigs wvas 4 9600 0 23 45 67 89 90
.br
37
.br

.br
$ pigs wvsc 0
.br
74
.br
$ pigs wvsc 1
.br
74
.br
$ pigs wvsc 2
.br
25016
.br

.EE

.br

.IP "\fBWVSM ws\fP - Get waveform time stats"
.IP "" 4

.br
The statistic requested by \fBws\fP is returned.

.br
\fBws\fP identifies the subcommand as follows.

.br
0 Get Micros
.br
1 Get High Micros
.br
2 Get Max Micros

.br

\fBExample\fP
.br

.EX
$ pigs wvsm 0
.br
5314
.br
$ pigs wvsm 1
.br
5314
.br
$ pigs wvsm 2
.br
1800000000
.br

.EE

.br

.IP "\fBWVSP ws\fP - Get waveform pulse stats"
.IP "" 4

.br
The statistic requested by \fBws\fP is returned.

.br
\fBws\fP identifies the subcommand as follows.

.br
0 Get Pulses
.br
1 Get High Pulses
.br
2 Get Max Pulses

.br

\fBExample\fP
.br

.EX
$ pigs wvsp 0
.br
37
.br
$ pigs wvsp 1
.br
37
.br
$ pigs wvsp 2
.br
12000
.br

.EE

.br

.IP "\fBWVTX wid\fP - Transmit waveform once"
.IP "" 4

.br
This command transmits the waveform with id \fBwid\fP once.

.br
NOTE: Any hardware PWM started by \fBHP\fP will be cancelled.

.br
Upon success the number of DMA control blocks in the waveform is returned.
On error a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs wvtx 1
.br
75
.br

.br
$ pigs wvtx 2
.br
-66
.br
ERROR: non existent wave id
.br

.EE

.br

.IP "\fBWVTXR wid\fP - Transmit waveform repeatedly"
.IP "" 4

.br
This command transmits the waveform with id \fBwid\fP repeatedly.

.br
NOTE: Any hardware PWM started by \fBHP\fP will be cancelled.

.br
Upon success the number of DMA control blocks in the waveform is returned.
On error a negative status code will be returned.

.br

\fBExample\fP
.br

.EX
$ pigs wvtxr 1
.br
75
.br

.br
$ pigs wvtxr 2
.br
-66
.br
ERROR: non existent wave id
.br

.EE

.br

.SH PARAMETERS

.br

.IP "\fBb\fP - baud (100-250000)" 0
The command expects a baud rate for serial data.

.br

.IP "\fBbit\fP - bit value (0-1)" 0
The command expects 0 or 1.

.br

.IP "\fBbits\fP - a bit mask" 0
A mask is used to select one or more gpios.  A gpio is selected
if bit (1<<gpio) is set in the mask.

.br
E.g. a mask of 6 (binary 110) select gpios 1 and 2, a mask of
0x103 (binary 100000011) selects gpios 0, 1, and 8.

.br

.IP "\fBbv\fP - a byte value (0-255)" 0
The command expects a byte value.

.br

.IP "\fBbvs\fP - byte values (0-255)" 0
The command expects one or more byte values.

.br

.IP "\fBc\fP - SPI channel (0-1)" 0
The command expects a SPI channel.

.br

.IP "\fBcf\fP - hardware clock frequency (4689-250M)" 0
The command expects a frequency.

.br

.IP "\fBdb\fP - serial data bits (1-32)" 0
The command expects the number of data bits per serial character.

.br

.IP "\fBdev\fP - a tty serial device (/dev/tty*)" 0
The command expects the name of a tty serial device, e.g.

.br

.EX
/dev/ttyAMA0
.br
/dev/ttyUSB0
.br
/dev/tty0
.br

.EE

.br

.IP "\fBg\fP - gpio (0-53)" 0
The command expects a gpio.

.br
There are 54 General Purpose Input Outputs (gpios) named gpio0 through gpio53.

.br
They are split into two banks.  Bank 1 consists of gpio0 through gpio31.
Bank 2 consists of gpio32 through gpio53.

.br
All the gpios which are safe for the user to read and write are in bank 1.
Not all gpios in bank 1 are safe though. Rev.1 boards have 17 safe gpios.
Rev.2 boards have 21. Rev.3 boards have 26.

.br
The user gpios are marked with an X in the following table.

.br

.EX
         0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15
Rev.1    X  X  -  -  X  -  -  X  X  X  X  X  -  -  X  X
Rev.2    -  -  X  X  X  -  -  X  X  X  X  X  -  -  X  X
Rev.3          X  X  X  X  X  X  X  X  X  X  X  X  X  X
                                                     
        16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Rev.1    -  X  X  -  -  X  X  X  X  X  -  -  -  -  -  -
Rev.2    -  X  X  -  -  -  X  X  X  X  -  X  X  X  X  X
Rev.3    X  X  X  X  X  X  X  X  X  X  X  X  -  -  -  -

.EE

.br
You are not prevented from writing to unsafe gpios.  The consequences
of doing so range from no effect, to a crash, or corrupted data.

.br

.IP "\fBh\fP - handle (>=0)" 0
The command expects a handle.

.br
A handle is a number referencing an object opened by one of \fBI2CO\fP, \fBNO\fP,
\fBSERO\fP, \fBSPIO\fP.

.br

.IP "\fBib\fP - I2C bus (0-1)" 0
The command expects an I2C bus.

.br

.IP "\fBid\fP - I2C device (0x08-0x77)" 0
The command expects the address of an I2C device.

.br

.IP "\fBif\fP - I2C flags (0)" 0
The command expects an I2C flags value.  No flags are currently defined.

.br

.IP "\fBL\fP - level (0-1)" 0
The command expects a gpio level.

.br

.IP "\fBm\fP - mode (RW540123)" 0
The command expects a mode character.

.br
Each gpio can be configured to be in one of 8 different modes. The modes
are named Input, Output, ALT0, ALT1, ALT2, ALT3, ALT4, and ALT5.

.br
To set the mode use the code for the mode.

.br
The value is returned by the mode get command.

.br

.EX
Mode   Input Output ALT0 ALT1 ALT2 ALT3 ALT4 ALT5
Code       R      W    0    1    2    3    4    5
Value      0      1    4    5    6    7    3    2

.EE

.br

.IP "\fBnum\fP - number of bytes to read (1-)" 0
The command expects the number of bytes to read.

.br
For the I2C and SPI commands the requested number of bytes will always
be returned.

.br
For the serial commands the smaller of the number of bytes available to be
read (which may be zero) and \fBnum\fP bytes will be returned.

.br

.IP "\fBo\fP - offset (>=0)" 0
Serial data is stored offset microseconds from the start of the waveform.

.br

.IP "\fBp\fP - PUD (ODU)" 0
The command expects a PUD character.

.br
Each gpio can be configured to use or not use an internal pull up or
pull down resistor.  This is useful to provide a default state for inputs.

.br
A pull up will default the input to 1 (high).

.br
A pull down will default the input to 0 (low).

.br
To set the pull up down state use the command character for the state.

.br

.EX
Pull Up Down      Off Pull Down Pull Up
Command Character   O         D       U

.EE

.br
There is no mechanism to read the pull up down state.

.br

.IP "\fBpars\fP - script parameters" 0
The command expects 0 to 10 numbers as parameters to be passed to the script.

.br

.IP "\fBpdc\fP - hardware PWM dutycycle (0-1000)" 0
The command expects a dutycycle.

.br

.IP "\fBpf\fP - hardware PWM frequency (5-250K)" 0
The command expects a frequency.

.br

.IP "\fBpl\fP - pulse length (1-50)" 0
The command expects a pulse length in microseconds.

.br

.IP "\fBr\fP - register (0-255)" 0
The command expects an I2C register number.

.br

.IP "\fBsb\fP - serial stop (half) bits (2-8)" 0
The command expects the number of stop (half) bits per serial character.

.br

.IP "\fBsef\fP - serial flags (32 bits)" 0
The command expects a flag value.  No serial flags are currently defined.

.br

.IP "\fBsid\fP - script id (>= 0)" 0
The command expects a script id as returned by a call to \fBPROC\fP.

.br

.IP "\fBspf\fP - SPI flags (32 bits)" 0
See \fBSPIO\fP.

.br

.IP "\fBt\fP - text (a string of text)" 0
The command expects a text string.

.br

.IP "\fBtrips\fP - triplets" 0
The command expects 1 or more triplets of gpios on, gpios off, delay.

.br
E.g. 0x400000 0 100000 0 0x400000 900000 defines two pulses as follows

.br

.EX
     gpios on          gpios off          delay
0x400000 (gpio 22)           0 (None) 100000 (1/10th s)
          0 (None) 0x400000 (gpio 22) 900000 (9/10th s)

.EE

.br

.IP "\fBu\fP - user gpio (0-31)" 0
The command expects the number of a user gpio.

.br
A number of commands are restricted to gpios in bank 1,
in particular the PWM commands, the servo command,
the watchdog command, and the notification command.

.br
It is your responsibility to ensure that the PWM and servo commands
are only used on safe gpios.

.br
See \fBg\fP

.br

.IP "\fBv\fP - value" 0
The command expects a number.

.br

.IP "\fBwid\fP - wave id (>=0)" 0
The command expects a wave id.

.br
When a waveform is created it is given an id (0, 1, 2, ...).

.br

.IP "\fBws\fP - wave stats sucommand (0-2)" 0
The command expects a subcommand.

.br
0 = current value.
.br
1 = highest value so far.
.br
2 = maximum possible value.

.br

.IP "\fBwv\fP - word value (0-65535)" 0
The command expects a word value.

.br

.SH SCRIPTS

.br
Scripts are programs to be stored and executed by the pigpio daemon.
They are intended to mitigate any performance problems associated with
the pigpio daemon server/client model.

.br
.SS Example
.br
A trivial example might be useful.  Suppose you want to toggle a gpio
on and off as fast as possible.

.br
From the command line you could write

.br

.EX
for ((i=0; i<1000;i++)); do pigs w 22 1 w 22 0; done
.br

.EE

.br
Timing that you will see it takes about 14 seconds, or roughly
70 toggles per second.

.br
Using the pigpio Python module you could use code such as

.br

.EX
#!/usr/bin/env python
.br

.br
import time
.br

.br
import pigpio
.br

.br
PIN=4
.br

.br
TOGGLE=10000
.br

.br
pi = pigpio.pi() # Connect to local Pi.
.br

.br
s = time.time()
.br

.br
for i in range(TOGGLE):
.br
   pi.write(PIN, 1)
.br
   pi.write(PIN, 0)
.br

.br
e = time.time()
.br

.br
print("pigpio did {} toggles per second".format(int(TOGGLE/(e-s))))
.br

.br
pi.stop()
.br

.EE

.br
Timing that shows a speed improvement to roughly 800 toggles per second.

.br
Now let's use a script.

.br

.EX
pigs proc tag 999 w 22 1 w 22 0 dcr p0 jp 999
.br

.EE

.br
Ignore the details for now.

.br
Let's time the script running.

.br
Again, ignore the details for now.

.br

.EX
time (pigs procr 0 10000000; while a=$(pigs procp 0); [[ ${a::1} -eq 2 ]];\
.br
 do sleep 0.2; done)
.br

.EE

.br
The script takes roughly 12 seconds to complete, or 800,000 toggles per second.

.br
That is the advantage of a stored script.

.br
Some details.

.br

.EX
pigs proc tag 999 w 22 1 w 22 0 dcr p0 jp 999
.br

.EE

.br
proc introduces a script.  Everything after proc is part of the script.
.br
tag 999 names the current position in the script.
.br
w 22 1 writes 1 to gpio 22.
.br
w 22 0 writes 0 to gpio 22.
.br
dcr p0 decrements parameter 0.
.br
jp 999 jumps to tag 999 if the result is positive.

.br

.EX
time (pigs procr 0 10000000; while a=$(pigs procp 0); [[ ${a::1} -eq 2 ]];\
.br
 do sleep 0.2; done)
.br

.EE

.br
pigs procr 0 10000000 starts script 0 with parameter 0 of 10 million.

.br
The rest is bash apart from

.br
pigs procp 0 asks for the status and parameters of script 0.
The status will be 2 while the script is running and 1 when it is complete.

.br
.SS Virtual machine
.br
A script runs within a virtual machine with

.br
a 32 bit accumulator A.
.br
a flags register F.
.br
a program counter PC.

.br
Each script has

.br
10 parameters named 0 through 9.
.br
150 variables named 0 through 149.
.br
50 labels which are named by any unique number.

.br
.SS Commands
.br
All the normal pigs commands may be used within a script.

.br
The following commands are only legal within a script.

.br

.EX
Command Description                                   Definition
ADD x   Add x to accumulator                          A+=x; F=A
AND x   And x with accumulator                        A&=x; F=A
CALL L  Call subroutine at tag L                      push(PC+1); PC=L
CMP x   Compare x with accumulator                    F=A-x
DCR y   Decrement register                            --*y; F=*y
DCRA    Decrement accumulator                         --A; F=A
DIV x   Divide x into accumulator                     A/=x; F=A
HALT    Halt                                          Halt
INR y   Increment register                            ++*y; F=*y
INRA    Increment accumulator                         ++A; F=A
JM L    Jump if minus to tag L                        if (F<0) PC=L
JMP L   Jump to tag L                                 PC=L
JNZ L   Jump if non-zero to tag L                     if (F) PC=L
JP L    Jump if positive to tag L                     if (F>=0) PC=L
JZ L    Jump if zero to tag L                         if (!F) PC=L
LD y x  Load register with x                          *y=x
LDA x   Load accumulator with x                       A=x
MLT x   Multiply x with accumulator                   A*=x; F=A
MOD x   Modulus x with accumulator                    A%=x; F=A
OR x    Or x with accumulator                         A|=x; F=A
POP y   Pop register                                  y=pop()
POPA    Pop accumulator                               A=pop()
PUSH y  Push register                                 push(y)
PUSHA   Push accumulator                              push(A)
RET     Return from subroutine                        PC=pop()
RL y x  Rotate left register x bits                   *y<<=x; F=*y
RLA x   Rotate left accumulator x bits                A<<=x; F=A
RR y x  Rotate right register x bits                  *y>>=x; F=*y
RRA x   Rotate right accumulator x bits               A>>=x; F=A
STA y   Store accumulator in register                 y=A
SUB x   Subtract x from accumulator                   A-=x; F=A
SYS str Run external script (/opt/pigpio/cgi/str)     system(str); F=A
TAG L   Label the current script position             N/A
WAIT x  Wait for a gpio in x to change state          A=wait(x); F=A
X y1 y2 Exchange contents of registers y1 and y2      t=*y1;*y1=*y2;*y2=t
XA y    Exchange contents of accumulator and register t=A;A=*y;*y=t
XOR x   Xor x with accumulator                        A^=x; F=A

.EE

.br
x may be a constant, a parameter (p0-p9), or a variable (v0-v149).

.br
y may be a parameter (p0-p9), or a variable (v0-v149).  If p or v isn't
specified y is assumed to be a variable.

.br
The WAIT command parameter is a bit-mask with 1 set for gpios of interest.

.br

.SH SEE ALSO

pigpiod(1), pig2vcd(1), pigpio(3), pigpiod_if(3)
.SH AUTHOR

joan@abyz.co.uk