2014-08-01 10:30:25 +02:00
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." Process this file with
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." groff -man -Tascii pigpiod_if.3
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."
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.TH pigpiod_if 3 2012-2014 Linux "pigpio archive"
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.SH NAME
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pigpiod_if - A C library to interface to the pigpio daemon.
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.SH SYNOPSIS
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gcc -o prog prog.c -lpigpiod_if
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./prog
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.SH DESCRIPTION
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.br
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.br
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pigpiod_if is a C library for the Raspberry which allows control
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of the gpios via the socket interface to the pigpio daemon.
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.br
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.SS Features
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.br
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.br
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o PWM on any of gpios 0-31
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.br
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.br
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o servo pulses on any of gpios 0-31
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.br
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o callbacks when any of gpios 0-31 change state
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.br
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o callbacks at timed intervals
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.br
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o reading/writing all of the gpios in a bank as one operation
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.br
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.br
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o individually setting gpio modes, reading and writing
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.br
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.br
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o notifications when any of gpios 0-31 change state
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.br
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.br
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o the construction of output waveforms with microsecond timing
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.br
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.br
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o rudimentary permission control over gpios
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o a simple interface to start and stop new threads
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.br
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o I2C, SPI, and serial link wrappers
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.br
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.br
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o creating and running scripts on the pigpio daemon
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.SS gpios
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ALL gpios are identified by their Broadcom number.
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.SS Notes
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.br
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The PWM and servo pulses are timed using the DMA and PWM/PCM peripherals.
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.br
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2014-08-15 16:40:46 +02:00
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.SS Usage
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.br
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Include <pigpiod_if.h> in your source files.
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Assuming your source is in prog.c use the following command to build
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.EX
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gcc -o prog prog.c -lpigpiod_if
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.EE
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.br
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.br
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to run make sure the pigpio daemon is running
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.EX
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sudo pigpiod
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./prog # sudo is not required to run programs linked to pigpiod_if
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.EE
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.br
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.br
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For examples see x_pigpiod_if.c within the pigpio archive file.
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.br
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.br
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.SS Notes
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.br
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.br
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All the functions which return an int return < 0 on error
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.br
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2014-08-01 10:30:25 +02:00
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.br
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.SH FUNCTIONS
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.IP "\fBdouble time_time(void)\fP"
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.IP "" 4
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Return the current time in seconds since the Epoch.
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.IP "\fBvoid time_sleep(double seconds)\fP"
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.IP "" 4
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Delay execution for a given number of seconds.
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.br
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.EX
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seconds: the number of seconds to delay.
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.br
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.EE
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.IP "\fBchar *pigpio_error(int errnum)\fP"
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.IP "" 4
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Return a text description for an error code.
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.br
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.br
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.EX
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errnum: the error code.
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.br
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.EE
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.IP "\fBunsigned pigpiod_if_version(void)\fP"
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.IP "" 4
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Return the pigpiod_if version.
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.IP "\fBpthread_t *start_thread(gpioThreadFunc_t thread_func, void *userdata)\fP"
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.IP "" 4
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Starts a new thread of execution with thread_func as the main routine.
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.br
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.br
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.EX
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thread_func: the main function for the new thread.
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.br
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userdata: a pointer to an arbitrary argument.
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.EE
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Returns a pointer to pthread_t if OK, otherwise NULL.
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.br
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.br
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The function is passed the single argument userdata.
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.br
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.br
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The thread can be cancelled by passing the pointer to pthread_t to
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\fBstop_thread\fP.
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.IP "\fBvoid stop_thread(pthread_t *pth)\fP"
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.IP "" 4
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Cancels the thread pointed at by pth.
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.br
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.br
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.EX
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pth: the thread to be stopped.
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.br
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.EE
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No value is returned.
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The thread to be stopped should have been started with \fBstart_thread\fP.
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.IP "\fBint pigpio_start(char *addrStr, char *portStr)\fP"
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.IP "" 4
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Connect to the pigpio daemon. Reserving command and
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notification streams.
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.br
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.br
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.EX
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addrStr: specifies the host or IP address of the Pi running the
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.br
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pigpio daemon. It may be NULL in which case localhost
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.br
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is used unless overridden by the PIGPIO_ADDR environment
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variable.
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.br
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.br
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portStr: specifies the port address used by the Pi running the
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pigpio daemon. It may be NULL in which case "8888"
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is used unless overridden by the PIGPIO_PORT environment
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variable.
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.br
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.EE
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.IP "\fBvoid pigpio_stop(void)\fP"
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.IP "" 4
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Terminates the connection to the pigpio daemon and releases
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resources used by the library.
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.IP "\fBint set_mode(unsigned gpio, unsigned mode)\fP"
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.IP "" 4
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Set the gpio mode.
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.br
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.br
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.EX
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gpio: 0-53.
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.br
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mode: PI_INPUT, PI_OUTPUT, PI_ALT0, _ALT1,
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.br
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PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5.
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.br
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.EE
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.br
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Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_MODE,
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or PI_NOT_PERMITTED.
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.IP "\fBint get_mode(unsigned gpio)\fP"
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.IP "" 4
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Get the gpio mode.
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.br
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.br
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.EX
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gpio: 0-53.
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.br
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.EE
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.br
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.br
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Returns the gpio mode if OK, otherwise PI_BAD_GPIO.
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.IP "\fBint set_pull_up_down(unsigned gpio, unsigned pud)\fP"
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.IP "" 4
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Set or clear the gpio pull-up/down resistor.
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.br
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.br
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.EX
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gpio: 0-53.
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.br
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pud: PI_PUD_UP, PI_PUD_DOWN, PI_PUD_OFF.
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.br
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.EE
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.br
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.br
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Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_PUD,
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or PI_NOT_PERMITTED.
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.IP "\fBint gpio_read(unsigned gpio)\fP"
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.IP "" 4
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Read the gpio level.
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.br
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.br
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.EX
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gpio:0-53.
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.br
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.EE
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.br
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.br
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Returns the gpio level if OK, otherwise PI_BAD_GPIO.
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.IP "\fBint gpio_write(unsigned gpio, unsigned level)\fP"
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.IP "" 4
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Write the gpio level.
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.br
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.br
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.EX
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gpio: 0-53.
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.br
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level: 0, 1.
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.br
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.EE
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.br
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.br
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Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_LEVEL,
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or PI_NOT_PERMITTED.
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.br
|
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.br
|
|
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|
|
Notes
|
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.br
|
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|
.br
|
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|
|
If PWM or servo pulses are active on the gpio they are switched off.
|
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|
|
.IP "\fBint set_PWM_dutycycle(unsigned user_gpio, unsigned dutycycle)\fP"
|
|
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|
|
.IP "" 4
|
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|
|
|
Start (non-zero dutycycle) or stop (0) PWM pulses on the gpio.
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.br
|
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.br
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.EX
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|
user_gpio: 0-31.
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.br
|
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dutycycle: 0-range (range defaults to 255).
|
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.br
|
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.EE
|
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.br
|
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.br
|
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Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYCYCLE,
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|
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|
|
or PI_NOT_PERMITTED.
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|
Notes
|
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.br
|
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.br
|
|
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|
|
The \fBset_PWM_range\fP function may be used to change the
|
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|
|
default range of 255.
|
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|
|
2014-11-20 16:36:16 +01:00
|
|
|
.IP "\fBint get_PWM_dutycycle(unsigned user_gpio)\fP"
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|
|
.IP "" 4
|
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|
|
Return the PWM dutycycle in use on a gpio.
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.br
|
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.br
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.EX
|
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|
user_gpio: 0-31.
|
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.br
|
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.EE
|
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.br
|
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.br
|
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Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO.
|
|
|
|
|
|
2014-08-01 10:30:25 +02:00
|
|
|
.IP "\fBint set_PWM_range(unsigned user_gpio, unsigned range)\fP"
|
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|
|
.IP "" 4
|
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|
|
Set the range of PWM values to be used on the gpio.
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.br
|
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.br
|
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.EX
|
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|
|
user_gpio: 0-31.
|
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.br
|
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|
range: 25-40000.
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.br
|
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.EE
|
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|
.br
|
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.br
|
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|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYRANGE,
|
|
|
|
|
or PI_NOT_PERMITTED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
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.br
|
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|
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|
Notes
|
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.br
|
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|
.br
|
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|
If PWM is currently active on the gpio its dutycycle will be
|
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|
|
scaled to reflect the new range.
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|
.br
|
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.br
|
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|
The real range, the number of steps between fully off and fully on
|
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|
|
for each of the 18 available gpio frequencies is
|
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.br
|
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.br
|
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|
.EX
|
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|
|
25(#1), 50(#2), 100(#3), 125(#4), 200(#5), 250(#6),
|
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|
.br
|
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|
|
400(#7), 500(#8), 625(#9), 800(#10), 1000(#11), 1250(#12),
|
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|
.br
|
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|
|
2000(#13), 2500(#14), 4000(#15), 5000(#16), 10000(#17), 20000(#18)
|
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|
.br
|
|
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|
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|
.EE
|
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|
.br
|
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|
|
.br
|
|
|
|
|
The real value set by set_PWM_range is (dutycycle * real range) / range.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint get_PWM_range(unsigned user_gpio)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Get the range of PWM values being used on the gpio.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
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|
|
|
|
|
|
.br
|
|
|
|
|
Returns the dutycycle range used for the gpio if OK,
|
|
|
|
|
otherwise PI_BAD_USER_GPIO.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint get_PWM_real_range(unsigned user_gpio)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Get the real underlying range of PWM values being used on the gpio.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the real range used for the gpio if OK,
|
|
|
|
|
otherwise PI_BAD_USER_GPIO.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint set_PWM_frequency(unsigned user_gpio, unsigned frequency)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Set the frequency (in Hz) of the PWM to be used on the gpio.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
frequency: 0- (Hz).
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the numerically closest frequency if OK, otherwise
|
|
|
|
|
PI_BAD_USER_GPIO or PI_NOT_PERMITTED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The selectable frequencies depend upon the sample rate which
|
|
|
|
|
may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The
|
|
|
|
|
sample rate is set when the C pigpio library is started.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Each gpio can be independently set to one of 18 different
|
|
|
|
|
PWM frequencies.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
If PWM is currently active on the gpio it will be switched
|
|
|
|
|
off and then back on at the new frequency.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
1us 40000, 20000, 10000, 8000, 5000, 4000, 2500, 2000, 1600,
|
|
|
|
|
.br
|
|
|
|
|
1250, 1000, 800, 500, 400, 250, 200, 100, 50
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
2us 20000, 10000, 5000, 4000, 2500, 2000, 1250, 1000, 800,
|
|
|
|
|
.br
|
|
|
|
|
625, 500, 400, 250, 200, 125, 100, 50 , 25
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
4us 10000, 5000, 2500, 2000, 1250, 1000, 625, 500, 400,
|
|
|
|
|
.br
|
|
|
|
|
313, 250, 200, 125, 100, 63, 50, 25, 13
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
5us 8000, 4000, 2000, 1600, 1000, 800, 500, 400, 320,
|
|
|
|
|
.br
|
|
|
|
|
250, 200, 160, 100 , 80, 50, 40, 20, 10
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
8us 5000, 2500, 1250, 1000, 625, 500, 313, 250, 200,
|
|
|
|
|
.br
|
|
|
|
|
156, 125, 100, 63, 50, 31, 25, 13, 6
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
10us 4000, 2000, 1000, 800, 500, 400, 250, 200, 160,
|
|
|
|
|
.br
|
|
|
|
|
125, 100, 80, 50, 40, 25, 20, 10, 5
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.IP "\fBint get_PWM_frequency(unsigned user_gpio)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Get the frequency of PWM being used on the gpio.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the frequency (in hertz) used for the gpio if OK,
|
|
|
|
|
otherwise PI_BAD_USER_GPIO.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint set_servo_pulsewidth(unsigned user_gpio, unsigned pulsewidth)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Start (500-2500) or stop (0) servo pulses on the gpio.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
pulsewidth: 0 (off), 500 (anti-clockwise) - 2500 (clockwise).
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_PULSEWIDTH or
|
|
|
|
|
PI_NOT_PERMITTED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The selected pulsewidth will continue to be transmitted until
|
|
|
|
|
changed by a subsequent call to set_servo_pulsewidth.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The pulsewidths supported by servos varies and should probably be
|
|
|
|
|
determined by experiment. A value of 1500 should always be safe and
|
|
|
|
|
represents the mid-point of rotation.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
You can DAMAGE a servo if you command it to move beyond its limits.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
OTHER UPDATE RATES:
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
This function updates servos at 50Hz. If you wish to use a different
|
|
|
|
|
update frequency you will have to use the PWM functions.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
Update Rate (Hz) 50 100 200 400 500
|
|
|
|
|
.br
|
|
|
|
|
1E6/Hz 20000 10000 5000 2500 2000
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Firstly set the desired PWM frequency using \fBset_PWM_frequency\fP.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Then set the PWM range using \fBset_PWM_range\fP to 1E6/Hz.
|
|
|
|
|
Doing this allows you to use units of microseconds when setting
|
2014-11-20 16:36:16 +01:00
|
|
|
the servo pulsewidth.
|
2014-08-01 10:30:25 +02:00
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
E.g. If you want to update a servo connected to gpio 25 at 400Hz
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
set_PWM_frequency(25, 400);
|
|
|
|
|
.br
|
|
|
|
|
set_PWM_range(25, 2500);
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Thereafter use the \fBset_PWM_dutycycle\fP function to move the servo,
|
|
|
|
|
e.g. set_PWM_dutycycle(25, 1500) will set a 1500 us pulse.
|
|
|
|
|
.br
|
|
|
|
|
|
2014-11-20 16:36:16 +01:00
|
|
|
.IP "\fBint get_servo_pulsewidth(unsigned user_gpio)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Return the servo pulsewidth in use on a gpio.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO.
|
|
|
|
|
|
2014-08-01 10:30:25 +02:00
|
|
|
.IP "\fBint notify_open(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Get a free notification handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
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.br
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|
Returns a handle greater than or equal to zero if OK,
|
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|
|
otherwise PI_NO_HANDLE.
|
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|
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|
.br
|
|
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.br
|
|
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|
|
A notification is a method for being notified of gpio state
|
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|
changes via a pipe.
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.br
|
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.br
|
|
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|
Pipes are only accessible from the local machine so this function
|
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|
|
|
serves no purpose if you are using the library from a remote machine.
|
|
|
|
|
The in-built (socket) notifications provided by \fBcallback\fP
|
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|
|
should be used instead.
|
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.br
|
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.br
|
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|
Notifications for handle x will be available at the pipe
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|
|
named /dev/pigpiox (where x is the handle number).
|
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E.g. if the function returns 15 then the notifications must be
|
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|
|
|
read from /dev/pigpio15.
|
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|
.IP "\fBint notify_begin(unsigned handle, uint32_t bits)\fP"
|
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|
.IP "" 4
|
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Start notifications on a previously opened handle.
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.br
|
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.br
|
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|
.EX
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handle: 0-31 (as returned by \fBnotify_open\fP)
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.br
|
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|
bits: a mask indicating the gpios to be notified.
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.br
|
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.EE
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.br
|
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.br
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Returns 0 if OK, otherwise PI_BAD_HANDLE.
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.br
|
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.br
|
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The notification sends state changes for each gpio whose
|
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corresponding bit in bits is set.
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.br
|
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.br
|
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|
Notes
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.br
|
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.br
|
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|
Each notification occupies 12 bytes in the fifo as follows:
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.br
|
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.br
|
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|
.EX
|
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|
H (16 bit) seqno
|
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.br
|
|
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|
H (16 bit) flags
|
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.br
|
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|
I (32 bit) tick
|
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|
.br
|
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|
I (32 bit) level
|
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|
.br
|
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|
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|
.EE
|
|
|
|
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|
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|
|
.IP "\fBint notify_pause(unsigned handle)\fP"
|
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|
|
|
.IP "" 4
|
|
|
|
|
Pause notifications on a previously opened handle.
|
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|
.br
|
|
|
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|
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|
.br
|
|
|
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|
|
.EX
|
|
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|
|
handle: 0-31 (as returned by \fBnotify_open\fP)
|
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|
|
.br
|
|
|
|
|
|
|
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|
.EE
|
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|
|
.br
|
|
|
|
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|
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|
|
.br
|
|
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|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
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|
|
|
|
|
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|
.br
|
|
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|
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|
.br
|
|
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|
|
Notifications for the handle are suspended until
|
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|
|
\fBnotify_begin\fP is called again.
|
|
|
|
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|
|
.IP "\fBint notify_close(unsigned handle)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Stop notifications on a previously opened handle and
|
|
|
|
|
release the handle for reuse.
|
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|
|
|
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|
.br
|
|
|
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|
|
|
|
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|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: 0-31 (as returned by \fBnotify_open\fP)
|
|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
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|
|
.br
|
|
|
|
|
|
|
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|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint set_watchdog(unsigned user_gpio, unsigned timeout)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Sets a watchdog for a gpio.
|
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|
|
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|
.br
|
|
|
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|
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|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
timeout: 0-60000.
|
|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO
|
|
|
|
|
or PI_BAD_WDOG_TIMEOUT.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The watchdog is nominally in milliseconds.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Only one watchdog may be registered per gpio.
|
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|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The watchdog may be cancelled by setting timeout to 0.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
If no level change has been detected for the gpio for timeout
|
|
|
|
|
milliseconds any notification for the gpio has a report written
|
|
|
|
|
to the fifo with the flags set to indicate a watchdog timeout.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The \fBcallback\fP and \fBcallback_ex\fP functions interpret the flags
|
|
|
|
|
and will call registered callbacks for the gpio with level TIMEOUT.
|
|
|
|
|
|
|
|
|
|
.IP "\fBuint32_t read_bank_1(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Read the levels of the bank 1 gpios (gpios 0-31).
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The returned 32 bit integer has a bit set if the corresponding
|
|
|
|
|
gpio is logic 1. Gpio n has bit value (1<<n).
|
|
|
|
|
|
|
|
|
|
.IP "\fBuint32_t read_bank_2(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Read the levels of the bank 2 gpios (gpios 32-53).
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The returned 32 bit integer has a bit set if the corresponding
|
|
|
|
|
gpio is logic 1. Gpio n has bit value (1<<(n-32)).
|
|
|
|
|
|
|
|
|
|
.IP "\fBint clear_bank_1(uint32_t bits)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Clears gpios 0-31 if the corresponding bit in bits is set.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
bits: a bit mask with 1 set if the corresponding gpio is
|
|
|
|
|
.br
|
|
|
|
|
to be cleared.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_SOME_PERMITTED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
A status of PI_SOME_PERMITTED indicates that the user is not
|
|
|
|
|
allowed to write to one or more of the gpios.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint clear_bank_2(uint32_t bits)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Clears gpios 32-53 if the corresponding bit (0-21) in bits is set.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
bits: a bit mask with 1 set if the corresponding gpio is
|
|
|
|
|
.br
|
|
|
|
|
to be cleared.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_SOME_PERMITTED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
A status of PI_SOME_PERMITTED indicates that the user is not
|
|
|
|
|
allowed to write to one or more of the gpios.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint set_bank_1(uint32_t bits)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Sets gpios 0-31 if the corresponding bit in bits is set.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
bits: a bit mask with 1 set if the corresponding gpio is
|
|
|
|
|
.br
|
|
|
|
|
to be set.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_SOME_PERMITTED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
A status of PI_SOME_PERMITTED indicates that the user is not
|
|
|
|
|
allowed to write to one or more of the gpios.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint set_bank_2(uint32_t bits)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Sets gpios 32-53 if the corresponding bit (0-21) in bits is set.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
bits: a bit mask with 1 set if the corresponding gpio is
|
|
|
|
|
.br
|
|
|
|
|
to be set.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_SOME_PERMITTED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
A status of PI_SOME_PERMITTED indicates that the user is not
|
|
|
|
|
allowed to write to one or more of the gpios.
|
|
|
|
|
|
|
|
|
|
.IP "\fBuint32_t get_current_tick(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Gets the current system tick.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Tick is the number of microseconds since system boot.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
As tick is an unsigned 32 bit quantity it wraps around after
|
|
|
|
|
2**32 microseconds, which is approximately 1 hour 12 minutes.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBuint32_t get_hardware_revision(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Get the Pi's hardware revision number.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The hardware revision is the last 4 characters on the Revision line
|
|
|
|
|
of /proc/cpuinfo.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
If the hardware revision can not be found or is not a valid
|
|
|
|
|
hexadecimal number the function returns 0.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The revision number can be used to determine the assignment of gpios
|
|
|
|
|
to pins.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
There are currently three types of board.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Type 1 has gpio 0 on P1-3, gpio 1 on P1-5, and gpio 21 on P1-13.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.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
|
|
|
|
|
|
|
|
|
|
.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.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Type 1 boards have hardware revision numbers of 2 and 3.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Type 2 boards have hardware revision numbers of 4, 5, 6, and 15.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Type 3 boards have hardware revision number 16.
|
|
|
|
|
|
|
|
|
|
.IP "\fBuint32_t get_pigpio_version(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Returns the pigpio version.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_clear(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function clears all waveforms and any data added by calls to the
|
|
|
|
|
\fBwave_add_*\fP functions.
|
|
|
|
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.br
|
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|
.br
|
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|
Returns 0 if OK.
|
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|
|
.IP "\fBint wave_add_new(void)\fP"
|
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|
|
.IP "" 4
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|
|
This function starts a new empty waveform. You wouldn't normally need
|
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|
|
to call this function as it is automatically called after a waveform is
|
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|
|
created with the \fBwave_create\fP function.
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|
.br
|
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|
.br
|
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|
Returns 0 if OK.
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|
.IP "\fBint wave_add_generic(unsigned numPulses, gpioPulse_t *pulses)\fP"
|
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|
|
.IP "" 4
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|
|
This function adds a number of pulses to the current waveform.
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.br
|
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.br
|
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|
.EX
|
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|
|
numPulses: the number of pulses.
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|
.br
|
|
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|
pulses: an array of pulses.
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.br
|
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.EE
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.br
|
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.br
|
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Returns the new total number of pulses in the current waveform if OK,
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otherwise PI_TOO_MANY_PULSES.
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.br
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.br
|
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The pulses are interleaved in time order within the existing waveform
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(if any).
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.br
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.br
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Merging allows the waveform to be built in parts, that is the settings
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for gpio#1 can be added, and then gpio#2 etc.
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.br
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.br
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If the added waveform is intended to start after or within the existing
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waveform then the first pulse should consist solely of a delay.
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.IP "\fBint wave_add_serial(unsigned user_gpio, unsigned bbBaud, unsigned offset, unsigned numChar, char *str)\fP"
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|
.IP "" 4
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|
This function adds a waveform representing serial data to the
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|
|
existing waveform (if any). The serial data starts offset microseconds
|
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from the start of the waveform.
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.br
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.br
|
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|
.EX
|
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|
|
user_gpio: 0-31.
|
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|
.br
|
|
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|
|
bbBaud: 100-250000
|
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.br
|
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offset: 0-
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.br
|
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numChar: 1-
|
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.br
|
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|
str: an array of chars.
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.br
|
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|
.EE
|
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.br
|
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|
.br
|
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|
|
Returns the new total number of pulses in the current waveform if OK,
|
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|
|
|
otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_TOO_MANY_CHARS, or
|
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|
|
|
PI_TOO_MANY_PULSES.
|
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.br
|
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.br
|
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|
NOTES:
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.br
|
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.br
|
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|
The serial data is formatted as one start bit, eight data bits, and one
|
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stop bit.
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.br
|
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.br
|
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|
It is legal to add serial data streams with different baud rates to
|
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|
|
the same waveform.
|
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|
|
.IP "\fBint wave_create(void)\fP"
|
|
|
|
|
.IP "" 4
|
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|
|
|
This function creates a waveform from the data provided by the prior
|
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|
|
|
calls to the \fBwave_add_*\fP functions. Upon success a positive wave id
|
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|
is returned.
|
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.br
|
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|
.br
|
|
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|
|
The data provided by the \fBwave_add_*\fP functions is consumed by this
|
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|
|
|
function.
|
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|
.br
|
|
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|
.br
|
|
|
|
|
As many waveforms may be created as there is space available. The
|
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|
|
|
wave id is passed to \fBwave_send_*\fP to specify the waveform to transmit.
|
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|
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|
.br
|
|
|
|
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|
.br
|
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|
Normal usage would be
|
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|
.br
|
|
|
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|
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|
.br
|
|
|
|
|
Step 1. \fBwave_clear\fP to clear all waveforms and added data.
|
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|
.br
|
|
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|
.br
|
|
|
|
|
Step 2. \fBwave_add_*\fP calls to supply the waveform data.
|
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|
.br
|
|
|
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|
.br
|
|
|
|
|
Step 3. \fBwave_create\fP to create the waveform and get a unique id
|
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|
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|
.br
|
|
|
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|
.br
|
|
|
|
|
Repeat steps 2 and 3 as needed.
|
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|
.br
|
|
|
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|
.br
|
|
|
|
|
Step 4. \fBwave_send_*\fP with the id of the waveform to transmit.
|
|
|
|
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|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
A waveform comprises one or more pulses. Each pulse consists of a
|
|
|
|
|
\fBgpioPulse_t\fP structure.
|
|
|
|
|
|
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|
|
.br
|
|
|
|
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|
|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
typedef struct
|
|
|
|
|
.br
|
|
|
|
|
{
|
|
|
|
|
.br
|
|
|
|
|
uint32_t gpioOn;
|
|
|
|
|
.br
|
|
|
|
|
uint32_t gpioOff;
|
|
|
|
|
.br
|
|
|
|
|
uint32_t usDelay;
|
|
|
|
|
.br
|
|
|
|
|
} gpioPulse_t;
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The fields specify
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.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
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.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
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
When a waveform is started each pulse is executed in order with the
|
|
|
|
|
specified delay between the pulse and the next.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the new waveform id if OK, otherwise PI_EMPTY_WAVEFORM,
|
|
|
|
|
PI_NO_WAVEFORM_ID, PI_TOO_MANY_CBS, or PI_TOO_MANY_OOL.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_delete(unsigned wave_id)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function deletes all created waveforms with ids greater than or
|
|
|
|
|
equal to wave_id.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
wave_id: >=0, as returned by \fBwave_create\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Wave ids are allocated in order, 0, 1, 2, etc.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_WAVE_ID.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_tx_start(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function is deprecated and should no longer be used. Use
|
|
|
|
|
\fBwave_create\fP/\fBwave_send_*\fP instead.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_tx_repeat(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function is deprecated and should no longer be used. Use
|
|
|
|
|
\fBwave_create\fP/\fBwave_send_*\fP instead.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_send_once(unsigned wave_id)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function transmits the waveform with id wave_id. The waveform
|
|
|
|
|
is sent once.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
wave_id: >=0, as returned by \fBwave_create\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the number of DMA control blocks in the waveform if OK,
|
|
|
|
|
otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_send_repeat(unsigned wave_id)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function transmits the waveform with id wave_id. The waveform
|
|
|
|
|
cycles until cancelled (either by the sending of a new waveform or
|
|
|
|
|
by \fBwave_tx_stop\fP).
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
wave_id: >=0, as returned by \fBwave_create\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the number of DMA control blocks in the waveform if OK,
|
|
|
|
|
otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_tx_busy(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function checks to see if a waveform is currently being
|
|
|
|
|
transmitted.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 1 if a waveform is currently being transmitted, otherwise 0.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_tx_stop(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function stops the transmission of the current waveform.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
This function is intended to stop a waveform started with the repeat mode.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_get_micros(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns the length in microseconds of the current
|
|
|
|
|
waveform.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_get_high_micros(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns the length in microseconds of the longest waveform
|
|
|
|
|
created since the pigpio daemon was started.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_get_max_micros(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns the maximum possible size of a waveform in
|
|
|
|
|
.br
|
|
|
|
|
microseconds.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_get_pulses(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns the length in pulses of the current waveform.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_get_high_pulses(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns the length in pulses of the longest waveform
|
|
|
|
|
created since the pigpio daemon was started.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_get_max_pulses(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns the maximum possible size of a waveform in pulses.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_get_cbs(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns the length in DMA control blocks of the current
|
|
|
|
|
waveform.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_get_high_cbs(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns the length in DMA control blocks of the longest
|
|
|
|
|
waveform created since the pigpio daemon was started.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wave_get_max_cbs(void)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns the maximum possible size of a waveform in DMA
|
|
|
|
|
control blocks.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint gpio_trigger(unsigned user_gpio, unsigned pulseLen, unsigned level)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function sends a trigger pulse to a gpio. The gpio is set to
|
|
|
|
|
level for pulseLen microseconds and then reset to not level.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
2014-08-17 20:53:43 +02:00
|
|
|
pulseLen: 1-100.
|
2014-08-01 10:30:25 +02:00
|
|
|
.br
|
|
|
|
|
level: 0,1.
|
|
|
|
|
.br
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.EE
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.br
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.br
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Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_LEVEL,
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PI_BAD_PULSELEN, or PI_NOT_PERMITTED.
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.IP "\fBint store_script(char *script)\fP"
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.IP "" 4
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This function stores a script for later execution.
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.br
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.br
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.EX
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script: the text of the script.
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.br
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.EE
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.br
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.br
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The function returns a script id if the script is valid,
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otherwise PI_BAD_SCRIPT.
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.IP "\fBint run_script(unsigned script_id, unsigned numPar, uint32_t *param)\fP"
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.IP "" 4
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This function runs a stored script.
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.br
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.br
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.EX
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script_id: >=0, as returned by \fBstore_script\fP.
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.br
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numPar: 0-10, the number of parameters.
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.br
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param: an array of parameters.
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.br
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.EE
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.br
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.br
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The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or
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PI_TOO_MANY_PARAM
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.br
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.br
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param is an array of up to 10 parameters which may be referenced in
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the script as p0 to p9.
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.IP "\fBint script_status(unsigned script_id, uint32_t *param)\fP"
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.IP "" 4
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This function returns the run status of a stored script as well
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as the current values of parameters 0 to 9.
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.br
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.br
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.EX
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script_id: >=0, as returned by \fBstore_script\fP.
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.br
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param: an array to hold the returned 10 parameters.
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.br
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.EE
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.br
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.br
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The function returns greater than or equal to 0 if OK,
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otherwise PI_BAD_SCRIPT_ID.
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.br
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.br
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The run status may be
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.br
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.br
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.EX
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PI_SCRIPT_INITING
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.br
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PI_SCRIPT_HALTED
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.br
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PI_SCRIPT_RUNNING
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.br
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PI_SCRIPT_WAITING
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.br
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PI_SCRIPT_FAILED
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.br
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.EE
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.br
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.br
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The current value of script parameters 0 to 9 are returned in param.
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|
.IP "\fBint stop_script(unsigned script_id)\fP"
|
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|
.IP "" 4
|
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|
|
This function stops a running script.
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.br
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.br
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.EX
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|
|
script_id: >=0, as returned by \fBstore_script\fP.
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.br
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.EE
|
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.br
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.br
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The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID.
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|
|
.IP "\fBint delete_script(unsigned script_id)\fP"
|
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|
|
.IP "" 4
|
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|
|
This function deletes a stored script.
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.br
|
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.br
|
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|
|
.EX
|
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|
|
script_id: >=0, as returned by \fBstore_script\fP.
|
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.br
|
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.EE
|
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.br
|
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.br
|
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|
|
The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID.
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|
.IP "\fBint bb_serial_read_open(unsigned user_gpio, unsigned bbBaud)\fP"
|
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|
|
|
.IP "" 4
|
|
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|
|
This function opens a gpio for bit bang reading of serial data.
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.br
|
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.br
|
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|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
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|
|
bbBaud: 100-250000
|
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.br
|
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|
.EE
|
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.br
|
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.br
|
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|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD,
|
|
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|
|
or PI_GPIO_IN_USE.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
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|
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|
|
.br
|
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|
|
|
The serial data is returned in a cyclic buffer and is read using
|
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|
|
|
bb_serial_read.
|
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|
.br
|
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.br
|
|
|
|
|
It is the caller's responsibility to read data from the cyclic buffer
|
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|
|
in a timely fashion.
|
|
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|
|
.IP "\fBint bb_serial_read(unsigned user_gpio, void *buf, size_t bufSize)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function copies up to bufSize bytes of data read from the
|
|
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|
|
bit bang serial cyclic buffer to the buffer starting at buf.
|
|
|
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|
.br
|
|
|
|
|
|
|
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|
.br
|
|
|
|
|
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|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31, previously opened with \fBbb_serial_read_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
buf: an array to receive the read bytes.
|
|
|
|
|
.br
|
|
|
|
|
bufSize: 0-
|
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|
.br
|
|
|
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|
|
.EE
|
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|
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|
.br
|
|
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|
.br
|
|
|
|
|
Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO
|
|
|
|
|
or PI_NOT_SERIAL_GPIO.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint bb_serial_read_close(unsigned user_gpio)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function closes a gpio for bit bang reading of serial data.
|
|
|
|
|
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|
|
|
|
.br
|
|
|
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|
|
|
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|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31, previously opened with \fBbb_serial_read_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
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|
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|
|
.br
|
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|
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|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_open(unsigned i2c_bus, unsigned i2c_addr, unsigned i2c_flags)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This returns a handle for the device at address i2c_addr on bus i2c_bus.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
i2c_bus: 0-1.
|
|
|
|
|
.br
|
|
|
|
|
i2c_addr: 0x08-0x77.
|
|
|
|
|
.br
|
|
|
|
|
i2c_flags: 0.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
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|
|
|
|
|
|
.br
|
|
|
|
|
No flags are currently defined. This parameter should be set to zero.
|
|
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|
|
|
|
|
|
|
.br
|
|
|
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|
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|
|
.br
|
|
|
|
|
Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR,
|
|
|
|
|
PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_close(unsigned handle)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This closes the I2C device associated with the handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_read_device(unsigned handle, char *buf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This reads count bytes from the raw device into buf.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
buf: an array to receive the read data bytes.
|
|
|
|
|
.br
|
|
|
|
|
count: >0, the number of bytes to read.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_I2C_READ_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_write_device(unsigned handle, char *buf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This writes count bytes from buf to the raw device.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
buf: an array containing the data bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
count: >0, the number of bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_write_quick(unsigned handle, unsigned bit)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This sends a single bit (in the Rd/Wr bit) to the device associated
|
|
|
|
|
with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
bit: 0-1, the value to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Quick command. smbus 2.0 5.5.1
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_write_byte(unsigned handle, unsigned bVal)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This sends a single byte to the device associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
bVal: 0-0xFF, the value to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Send byte. smbus 2.0 5.5.2
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_read_byte(unsigned handle)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This reads a single byte from the device associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
|
|
|
or PI_I2C_READ_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Receive byte. smbus 2.0 5.5.3
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_write_byte_data(unsigned handle, unsigned i2c_reg, unsigned bVal)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This writes a single byte to the specified register of the device
|
|
|
|
|
associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to write.
|
|
|
|
|
.br
|
|
|
|
|
bVal: 0-0xFF, the value to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Write byte. smbus 2.0 5.5.4
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_write_word_data(unsigned handle, unsigned i2c_reg, unsigned wVal)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This writes a single 16 bit word to the specified register of the device
|
|
|
|
|
associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to write.
|
|
|
|
|
.br
|
|
|
|
|
wVal: 0-0xFFFF, the value to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Write word. smbus 2.0 5.5.4
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_read_byte_data(unsigned handle, unsigned i2c_reg)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This reads a single byte from the specified register of the device
|
|
|
|
|
associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to read.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
|
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Read byte. smbus 2.0 5.5.5
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_read_word_data(unsigned handle, unsigned i2c_reg)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This reads a single 16 bit word from the specified register of the device
|
|
|
|
|
associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to read.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
|
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Read word. smbus 2.0 5.5.5
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_process_call(unsigned handle, unsigned i2c_reg, unsigned wVal)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This writes 16 bits of data to the specified register of the device
|
|
|
|
|
associated with handle and and reads 16 bits of data in return.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to write/read.
|
|
|
|
|
.br
|
|
|
|
|
wVal: 0-0xFFFF, the value to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
|
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Process call. smbus 2.0 5.5.6
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_write_block_data(unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This writes up to 32 bytes to the specified register of the device
|
|
|
|
|
associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to write.
|
|
|
|
|
.br
|
|
|
|
|
buf: an array with the data to send.
|
|
|
|
|
.br
|
|
|
|
|
count: 1-32, the number of bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Block write. smbus 2.0 5.5.7
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_read_block_data(unsigned handle, unsigned i2c_reg, char *buf)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This reads a block of up to 32 bytes from the specified register of
|
|
|
|
|
the device associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to read.
|
|
|
|
|
.br
|
|
|
|
|
buf: an array to receive the read data.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The amount of returned data is set by the device.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
|
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Block read. smbus 2.0 5.5.7
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_block_process_call(unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This writes data bytes to the specified register of the device
|
|
|
|
|
associated with handle and reads a device specified number
|
|
|
|
|
of bytes of data in return.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to write/read.
|
|
|
|
|
.br
|
|
|
|
|
buf: an array with the data to send and to receive the read data.
|
|
|
|
|
.br
|
|
|
|
|
count: 1-32, the number of bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
|
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The smbus 2.0 documentation states that a minimum of 1 byte may be
|
|
|
|
|
sent and a minimum of 1 byte may be received. The total number of
|
|
|
|
|
bytes sent/received must be 32 or less.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Block write-block read. smbus 2.0 5.5.8
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_read_i2c_block_data(unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This reads count bytes from the specified register of the device
|
|
|
|
|
associated with handle . The count may be 1-32.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to read.
|
|
|
|
|
.br
|
|
|
|
|
buf: an array to receive the read data.
|
|
|
|
|
.br
|
|
|
|
|
count: 1-32, the number of bytes to read.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE,
|
|
|
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint i2c_write_i2c_block_data(unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This writes 1 to 32 bytes to the specified register of the device
|
|
|
|
|
associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBi2c_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
i2c_reg: 0-255, the register to write.
|
|
|
|
|
.br
|
|
|
|
|
buf: the data to write.
|
|
|
|
|
.br
|
|
|
|
|
count: 1-32, the number of bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint spi_open(unsigned spi_channel, unsigned spi_baud, unsigned spi_flags)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function returns a handle for the SPI device on channel.
|
2014-08-12 19:47:26 +02:00
|
|
|
Data will be transferred at baud bits per second. The flags may
|
|
|
|
|
be used to modify the default behaviour of 4-wire operation, mode 0,
|
|
|
|
|
active low chip select.
|
2014-08-01 10:30:25 +02:00
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
2014-09-03 20:52:48 +02:00
|
|
|
.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
|
|
|
|
|
|
2014-08-01 10:30:25 +02:00
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
2014-09-09 23:58:39 +02:00
|
|
|
spi_channel: 0-1 (0-2 for B+ auxiliary device).
|
2014-08-01 10:30:25 +02:00
|
|
|
.br
|
2014-09-09 23:58:39 +02:00
|
|
|
spi_baud: 32K-125M (values above 30M are unlikely to work).
|
2014-08-01 10:30:25 +02:00
|
|
|
.br
|
2014-08-12 19:47:26 +02:00
|
|
|
spi_flags: see below.
|
2014-08-01 10:30:25 +02:00
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL,
|
2014-09-03 20:52:48 +02:00
|
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PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED.
|
2014-08-01 10:30:25 +02:00
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.br
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.br
|
2014-09-03 20:52:48 +02:00
|
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spi_flags consists of the least significant 22 bits.
|
2014-08-01 10:30:25 +02:00
|
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.br
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.br
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.EX
|
2014-09-03 20:52:48 +02:00
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21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
|
2014-08-01 10:30:25 +02:00
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.br
|
2014-09-03 20:52:48 +02:00
|
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b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
|
2014-08-01 10:30:25 +02:00
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.br
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2014-08-12 19:47:26 +02:00
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.EE
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.br
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.br
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mm defines the SPI mode.
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.br
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.br
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.EX
|
2014-08-01 10:30:25 +02:00
|
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Mode POL PHA
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.br
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0 0 0
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.br
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1 0 1
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.br
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2 1 0
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.br
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3 1 1
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.br
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.EE
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.br
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|
2014-08-12 19:47:26 +02:00
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.br
|
2014-09-03 20:52:48 +02:00
|
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px is 0 if CEx is active low (default) and 1 for active high.
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.br
|
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.br
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ux is 0 if the CEx gpio is reserved for SPI (default) and 1 otherwise.
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.br
|
2014-08-12 19:47:26 +02:00
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.br
|
2014-09-03 20:52:48 +02:00
|
|
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A is 0 for the standard SPI device, 1 for the auxiliary SPI. The
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|
auxiliary device is only present on the B+.
|
2014-08-12 19:47:26 +02:00
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.br
|
2014-09-03 20:52:48 +02:00
|
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.br
|
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W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard
|
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SPI device only.
|
2014-08-12 19:47:26 +02:00
|
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.br
|
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.br
|
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nnnn defines the number of bytes (0-15) to write before switching
|
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the MOSI line to MISO to read data. This field is ignored
|
2014-09-03 20:52:48 +02:00
|
|
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if W is not set. Standard SPI device only.
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.br
|
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.br
|
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T is 1 if the least significant bit is transmitted on MOSI first, the
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default (0) shifts the most significant bit out first. Auxiliary SPI
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device only.
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.br
|
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.br
|
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R is 1 if the least significant bit is received on MISO first, the
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default (0) receives the most significant bit first. Auxiliary SPI
|
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device only.
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.br
|
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.br
|
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|
bbbbbb defines the word size in bits (0-32). The default (0)
|
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|
|
sets 8 bits per word. Auxiliary SPI device only.
|
2014-08-12 19:47:26 +02:00
|
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|
.br
|
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|
2014-08-01 10:30:25 +02:00
|
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.br
|
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|
The other bits in flags should be set to zero.
|
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|
.IP "\fBint spi_close(unsigned handle)\fP"
|
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|
.IP "" 4
|
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|
|
This functions closes the SPI device identified by the handle.
|
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.br
|
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.br
|
|
|
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|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBspi_open\fP.
|
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|
.br
|
|
|
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|
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|
.EE
|
|
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|
.br
|
|
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|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint spi_read(unsigned handle, char *buf, unsigned count)\fP"
|
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|
|
|
.IP "" 4
|
|
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|
|
This function reads count bytes of data from the SPI
|
|
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|
device associated with the handle.
|
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|
.br
|
|
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|
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|
.br
|
|
|
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|
|
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|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBspi_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
buf: an array to receive the read data bytes.
|
|
|
|
|
.br
|
|
|
|
|
count: the number of bytes to read.
|
|
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|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
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|
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|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or
|
|
|
|
|
PI_SPI_XFER_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint spi_write(unsigned handle, char *buf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function writes count bytes of data from buf to the SPI
|
|
|
|
|
device associated with the handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBspi_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
buf: the data bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
count: the number of bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or
|
|
|
|
|
PI_SPI_XFER_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint spi_xfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function transfers count bytes of data from txBuf to the SPI
|
|
|
|
|
device associated with the handle. Simultaneously count bytes of
|
|
|
|
|
data are read from the device and placed in rxBuf.
|
|
|
|
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|
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|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBspi_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
txBuf: the data bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
rxBuf: the received data bytes.
|
|
|
|
|
.br
|
|
|
|
|
count: the number of bytes to transfer.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or
|
|
|
|
|
PI_SPI_XFER_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint serial_open(char *ser_tty, unsigned ser_baud, unsigned ser_flags)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function opens a serial device at a specified baud rate
|
|
|
|
|
with specified flags.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
ser_tty: the serial device to open, /dev/tty*.
|
|
|
|
|
.br
|
|
|
|
|
ser_baud: the baud rate to use.
|
|
|
|
|
.br
|
|
|
|
|
ser_flags: 0.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or
|
|
|
|
|
PI_SER_OPEN_FAILED.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
No flags are currently defined. This parameter should be set to zero.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint serial_close(unsigned handle)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function closes the serial device associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBserial_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint serial_write_byte(unsigned handle, unsigned bVal)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function writes bVal to the serial port associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBserial_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_SER_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint serial_read_byte(unsigned handle)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function reads a byte from the serial port associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBserial_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
|
|
|
PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint serial_write(unsigned handle, char *buf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function writes count bytes from buf to the the serial port
|
|
|
|
|
associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBserial_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
buf: the array of bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
count: the number of bytes to write.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
|
|
|
PI_SER_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint serial_read(unsigned handle, char *buf, unsigned count)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function reads up to count bytes from the the serial port
|
|
|
|
|
associated with handle and writes them to buf.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBserial_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
buf: an array to receive the read data.
|
|
|
|
|
.br
|
|
|
|
|
count: the maximum number of bytes to read.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE,
|
|
|
|
|
PI_BAD_PARAM, PI_SER_READ_NO_DATA, or PI_SER_WRITE_FAILED.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint serial_data_available(unsigned handle)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
Returns the number of bytes available to be read from the
|
|
|
|
|
device associated with handle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
handle: >=0, as returned by a call to \fBserial_open\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
Returns the number of bytes of data available (>=0) if OK,
|
|
|
|
|
otherwise PI_BAD_HANDLE.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint callback(unsigned user_gpio, unsigned edge, CBFunc_t f)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function initialises a new callback.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE.
|
|
|
|
|
.br
|
|
|
|
|
f: the callback function.
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The function returns a callback id if OK, otherwise pigif_bad_malloc,
|
|
|
|
|
pigif_duplicate_callback, or pigif_bad_callback.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The callback is called with the gpio, edge, and tick, whenever the
|
|
|
|
|
gpio has the identified edge.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint callback_ex(unsigned user_gpio, unsigned edge, CBFuncEx_t f, void *userdata)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function initialises a new callback.
|
|
|
|
|
|
|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
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|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE.
|
|
|
|
|
.br
|
|
|
|
|
f: the callback function.
|
|
|
|
|
.br
|
|
|
|
|
userdata: a pointer to arbitrary user data.
|
|
|
|
|
.br
|
|
|
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|
.EE
|
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|
|
.br
|
|
|
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|
|
|
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|
|
.br
|
|
|
|
|
The function returns a callback id if OK, otherwise pigif_bad_malloc,
|
|
|
|
|
pigif_duplicate_callback, or pigif_bad_callback.
|
|
|
|
|
|
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|
|
.br
|
|
|
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|
|
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|
.br
|
|
|
|
|
The callback is called with the gpio, edge, tick, and user, whenever
|
|
|
|
|
the gpio has the identified edge.
|
|
|
|
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|
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|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBint callback_cancel(unsigned callback_id)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function fim
|
|
|
|
|
cancels a callback identified by its id.
|
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|
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|
.br
|
|
|
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.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
callback_id: >=0, as returned by a call to \fBcallback\fP or \fBcallback_ex\fP.
|
|
|
|
|
.br
|
|
|
|
|
|
|
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|
|
.EE
|
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|
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|
.br
|
|
|
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|
.br
|
|
|
|
|
The function returns 0 if OK, otherwise pigif_callback_not_found.
|
|
|
|
|
|
|
|
|
|
.IP "\fBint wait_for_edge(unsigned user_gpio, unsigned edge, double timeout)\fP"
|
|
|
|
|
.IP "" 4
|
|
|
|
|
This function waits for edge on the gpio for up to timeout
|
|
|
|
|
seconds.
|
|
|
|
|
|
|
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|
|
.br
|
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|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
user_gpio: 0-31.
|
|
|
|
|
.br
|
|
|
|
|
edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE.
|
|
|
|
|
.br
|
|
|
|
|
timeout: >=0.
|
|
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|
|
.br
|
|
|
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|
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|
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|
.EE
|
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|
|
.br
|
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|
.br
|
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|
|
The function returns 1 if the edge occurred, otherwise 0.
|
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|
.br
|
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|
.br
|
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|
|
The function returns when the edge occurs or after the timeout.
|
|
|
|
|
.SH PARAMETERS
|
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|
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|
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|
|
.br
|
|
|
|
|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fB*addrStr\fP" 0
|
|
|
|
|
A string specifying the host or IP address of the Pi running
|
|
|
|
|
the pigpio daemon. It may be NULL in which case localhost
|
|
|
|
|
is used unless overridden by the PIGPIO_ADDR environment
|
|
|
|
|
variable.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
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|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBbbBaud\fP" 0
|
|
|
|
|
The baud rate used for the transmission and reception of bit banged
|
|
|
|
|
serial data.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
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|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
PI_WAVE_MIN_BAUD 100
|
|
|
|
|
.br
|
|
|
|
|
PI_WAVE_MAX_BAUD 250000
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
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|
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.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBbit\fP" 0
|
|
|
|
|
A value of 0 or 1.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBbits\fP" 0
|
|
|
|
|
A value used to select gpios. If bit n of bits is set then gpio n is
|
|
|
|
|
selected.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
A convenient way to set bit n is to or in (1<<n).
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
e.g. to select bits 5, 9, 23 you could use (1<<5) | (1<<9) | (1<<23).
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fB*buf\fP" 0
|
|
|
|
|
A buffer to hold data being sent or being received.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBbufSize\fP" 0
|
|
|
|
|
The size in bytes of a buffer.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBbVal\fP: 0-255 (Hex 0x0-0xFF, Octal 0-0377)" 0
|
|
|
|
|
An 8-bit byte value.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBcallback_id\fP" 0
|
|
|
|
|
A >=0, as returned by a call to \fBcallback\fP or \fBcallback_ex\fP. This is
|
|
|
|
|
passed to \fBcallback_cancel\fP to cancel the callback.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBCBFunc_t\fP" 0
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
typedef void (*CBFunc_t)
|
|
|
|
|
.br
|
|
|
|
|
(unsigned user_gpio, unsigned level, uint32_t tick);
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBCBFuncEx_t\fP" 0
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
typedef void (*CBFuncEx_t)
|
|
|
|
|
.br
|
|
|
|
|
(unsigned user_gpio, unsigned level, uint32_t tick, void * user);
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBchar\fP" 0
|
|
|
|
|
A single character, an 8 bit quantity able to store 0-255.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBcount\fP" 0
|
|
|
|
|
The number of bytes to be transferred in an I2C, SPI, or Serial
|
|
|
|
|
command.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBdouble\fP" 0
|
|
|
|
|
A floating point number.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBdutycycle\fP: 0-range" 0
|
|
|
|
|
A number representing the ratio of on time to off time for PWM.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
The number may vary between 0 and range (default 255) where
|
|
|
|
|
0 is off and range is fully on.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBedge\fP" 0
|
|
|
|
|
Used to identify a gpio level transition of interest. A rising edge is
|
|
|
|
|
a level change from 0 to 1. A falling edge is a level change from 1 to 0.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
RISING_EDGE 0
|
|
|
|
|
.br
|
|
|
|
|
FALLING_EDGE 1
|
|
|
|
|
.br
|
|
|
|
|
EITHER_EDGE. 2
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBerrnum\fP" 0
|
|
|
|
|
A negative number indicating a function call failed and the nature
|
|
|
|
|
of the error.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBf\fP" 0
|
|
|
|
|
A function.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBfrequency\fP: 0-" 0
|
|
|
|
|
The number of times a gpio is swiched on and off per second. This
|
|
|
|
|
can be set per gpio and may be as little as 5Hz or as much as
|
|
|
|
|
40KHz. The gpio will be on for a proportion of the time as defined
|
|
|
|
|
by its dutycycle.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBgpio\fP" 0
|
|
|
|
|
A Broadcom numbered gpio, in the range 0-53.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBgpioPulse_t\fP" 0
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
typedef struct
|
|
|
|
|
.br
|
|
|
|
|
{
|
|
|
|
|
.br
|
|
|
|
|
uint32_t gpioOn;
|
|
|
|
|
.br
|
|
|
|
|
uint32_t gpioOff;
|
|
|
|
|
.br
|
|
|
|
|
uint32_t usDelay;
|
|
|
|
|
.br
|
|
|
|
|
} gpioPulse_t;
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBgpioThreadFunc_t\fP" 0
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
typedef void *(gpioThreadFunc_t) (void *);
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBhandle\fP: 0-" 0
|
|
|
|
|
A number referencing an object opened by one of \fBi2c_open\fP, \fBnotify_open\fP,
|
|
|
|
|
\fBserial_open\fP, and \fBspi_open\fP.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBi2c_addr\fP: 0x08-0x77" 0
|
|
|
|
|
The address of a device on the I2C bus (0x08 - 0x77)
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBi2c_bus\fP: 0-1" 0
|
|
|
|
|
An I2C bus, 0 or 1.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBi2c_flags\fP: 0" 0
|
|
|
|
|
Flags which modify an I2C open command. None are currently defined.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBi2c_reg\fP: 0-255" 0
|
|
|
|
|
A register of an I2C device.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBint\fP" 0
|
|
|
|
|
A whole number, negative or positive.
|
|
|
|
|
|
|
|
|
|
.br
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.br
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.IP "\fBlevel\fP" 0
|
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The level of a gpio. Low or High.
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.br
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.br
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.EX
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PI_OFF 0
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.br
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PI_ON 1
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.br
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.br
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PI_CLEAR 0
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.br
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PI_SET 1
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.br
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.br
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PI_LOW 0
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.br
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PI_HIGH 1
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.br
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.EE
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.br
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.br
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There is one exception. If a watchdog expires on a gpio the level will be
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reported as PI_TIMEOUT. See \fBset_watchdog\fP.
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.br
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.br
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.EX
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PI_TIMEOUT 2
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.br
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.EE
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.br
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.br
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.IP "\fBmode\fP: 0-7" 0
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The operational mode of a gpio, normally INPUT or OUTPUT.
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.br
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.br
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.EX
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PI_INPUT 0
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.br
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PI_OUTPUT 1
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.br
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PI_ALT0 4
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.br
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PI_ALT1 5
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.br
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PI_ALT2 6
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.br
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PI_ALT3 7
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.br
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PI_ALT4 3
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.br
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PI_ALT5 2
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.br
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.EE
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.br
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.br
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.IP "\fBnumChar\fP" 0
|
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|
|
The number of characters in a string (used when the string might contain
|
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|
|
null characters, which would normally terminate the string).
|
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.br
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.br
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.IP "\fBnumPar\fP: 0-10" 0
|
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|
|
The number of parameters passed to a script.
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.br
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.br
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.IP "\fBnumPulses\fP" 0
|
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|
The number of pulses to be added to a waveform.
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.br
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.br
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.IP "\fBoffset\fP" 0
|
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|
|
The associated data starts this number of microseconds from the start of
|
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|
the waveform.
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.br
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.br
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.IP "\fB*param\fP" 0
|
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|
|
An array of script parameters.
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.br
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.br
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.br
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.br
|
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|
.IP "\fB*portStr\fP" 0
|
|
|
|
|
A string specifying the port address used by the Pi running
|
|
|
|
|
the pigpio daemon. It may be NULL in which case "8888"
|
|
|
|
|
is used unless overridden by the PIGPIO_PORT environment
|
|
|
|
|
variable.
|
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.br
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.br
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|
.IP "\fB*pth\fP" 0
|
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|
|
|
A thread identifier, returned by \fBstart_thread\fP.
|
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|
.br
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.br
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.br
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.br
|
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|
.IP "\fBpthread_t\fP" 0
|
|
|
|
|
A thread identifier.
|
|
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|
.br
|
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|
|
.br
|
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|
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|
|
.IP "\fBpud\fP: 0-2" 0
|
|
|
|
|
The setting of the pull up/down resistor for a gpio, which may be off,
|
|
|
|
|
pull-up, or pull-down.
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
PI_PUD_OFF 0
|
|
|
|
|
.br
|
|
|
|
|
PI_PUD_DOWN 1
|
|
|
|
|
.br
|
|
|
|
|
PI_PUD_UP 2
|
|
|
|
|
.br
|
|
|
|
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|
|
.EE
|
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|
.br
|
|
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|
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|
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|
|
.br
|
|
|
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|
|
|
|
|
.IP "\fBpulseLen\fP" 0
|
2014-08-17 20:53:43 +02:00
|
|
|
1-100, the length of a trigger pulse in microseconds.
|
2014-08-01 10:30:25 +02:00
|
|
|
|
|
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|
|
.br
|
|
|
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|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fB*pulses\fP" 0
|
2014-09-03 20:52:48 +02:00
|
|
|
An array of pulses to be added to a waveform.
|
2014-08-01 10:30:25 +02:00
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
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|
|
.IP "\fBpulsewidth\fP: 0, 500-2500" 0
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
PI_SERVO_OFF 0
|
|
|
|
|
.br
|
|
|
|
|
PI_MIN_SERVO_PULSEWIDTH 500
|
|
|
|
|
.br
|
|
|
|
|
PI_MAX_SERVO_PULSEWIDTH 2500
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
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|
|
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|
|
.br
|
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.br
|
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.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
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|
|
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|
|
.IP "\fBrange\fP: 25-40000" 0
|
|
|
|
|
The permissible dutycycle values are 0-range.
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
PI_MIN_DUTYCYCLE_RANGE 25
|
|
|
|
|
.br
|
|
|
|
|
PI_MAX_DUTYCYCLE_RANGE 40000
|
|
|
|
|
.br
|
|
|
|
|
|
|
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|
|
.EE
|
|
|
|
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.br
|
|
|
|
|
|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fB*rxBuf\fP" 0
|
|
|
|
|
A pointer to a buffer to receive data.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fB*script\fP" 0
|
|
|
|
|
A pointer to the text of a script.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBscript_id\fP" 0
|
|
|
|
|
An id of a stored script as returned by \fBstore_script\fP.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
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|
.br
|
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.br
|
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|
|
.br
|
|
|
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|
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|
|
.IP "\fBseconds\fP" 0
|
|
|
|
|
The number of seconds.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBser_baud\fP" 0
|
|
|
|
|
The baud rate to use on the serial link.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
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|
|
.br
|
|
|
|
|
It must be one of 50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400,
|
|
|
|
|
4800, 9600, 19200, 38400, 57600, 115200, 230400.
|
|
|
|
|
|
|
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|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBser_flags\fP" 0
|
|
|
|
|
Flags which modify a serial open command. None are currently defined.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fB*ser_tty\fP" 0
|
|
|
|
|
The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBsize_t\fP" 0
|
|
|
|
|
A standard type used to indicate the size of an object in bytes.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBspi_baud\fP" 0
|
|
|
|
|
The speed in bits per second to use for the SPI device.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBspi_channel\fP" 0
|
2014-09-09 23:58:39 +02:00
|
|
|
A SPI channel, 0-2.
|
2014-08-01 10:30:25 +02:00
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBspi_flags\fP" 0
|
2014-09-03 20:52:48 +02:00
|
|
|
See \fBspi_open\fP.
|
2014-08-01 10:30:25 +02:00
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fB*str\fP" 0
|
|
|
|
|
An array of characters.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBthread_func\fP" 0
|
|
|
|
|
A function of type gpioThreadFunc_t used as the main function of a
|
|
|
|
|
thread.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBtimeout\fP" 0
|
|
|
|
|
A gpio watchdog timeout in milliseconds.
|
|
|
|
|
|
|
|
|
|
.EX
|
|
|
|
|
PI_MIN_WDOG_TIMEOUT 0
|
|
|
|
|
.br
|
|
|
|
|
PI_MAX_WDOG_TIMEOUT 60000
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.EE
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fB*txBuf\fP" 0
|
|
|
|
|
An array of bytes to transmit.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBuint32_t\fP: 0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF)" 0
|
|
|
|
|
A 32-bit unsigned value.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBunsigned\fP" 0
|
|
|
|
|
A whole number >= 0.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBuser_gpio\fP" 0
|
|
|
|
|
0-31, a Broadcom numbered gpio.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fB*userdata\fP" 0
|
|
|
|
|
A pointer to arbitrary user data. This may be used to identify the instance.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBvoid\fP" 0
|
|
|
|
|
Denoting no parameter is required
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBwave_add_*\fP" 0
|
|
|
|
|
One of \fBwave_add_new\fP, \fBwave_add_generic\fP, \fBwave_add_serial\fP.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBwave_id\fP" 0
|
|
|
|
|
A number representing a waveform created by \fBwave_create\fP.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.IP "\fBwave_send_*\fP" 0
|
|
|
|
|
One of \fBwave_send_once\fP, \fBwave_send_repeat\fP.
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
|
|
.br
|
|
|
|
|
|
|
|
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.IP "\fBwVal\fP: 0-65535 (Hex 0x0-0xFFFF, Octal 0-0177777)" 0
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A 16-bit word value.
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.br
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.br
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.SH pigpiod_if Error Codes
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.EX
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.br
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typedef enum
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.br
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{
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.br
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pigif_bad_send = -2000,
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.br
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pigif_bad_recv = -2001,
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.br
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pigif_bad_getaddrinfo = -2002,
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.br
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pigif_bad_connect = -2003,
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.br
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pigif_bad_socket = -2004,
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.br
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pigif_bad_noib = -2005,
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.br
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pigif_duplicate_callback = -2006,
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.br
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pigif_bad_malloc = -2007,
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.br
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pigif_bad_callback = -2008,
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.br
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pigif_notify_failed = -2009,
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.br
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pigif_callback_not_found = -2010,
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.br
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} pigifError_t;
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.br
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.br
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.EE
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.SH SEE ALSO
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pigpiod(1), pig2vcd(1), pigs(1), pigpio(3)
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.SH AUTHOR
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joan@abyz.co.uk
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