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V24

This commit is contained in:
joan 2014-12-17 22:31:17 +00:00
parent 8cb2e78171
commit 1d3d07daff
17 changed files with 2361 additions and 602 deletions
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62
command.c
View File

@ -26,7 +26,7 @@ For more information, please refer to <http://unlicense.org/>
*/ */
/* /*
This version is for pigpio version 23+ This version is for pigpio version 24+
*/ */
#include <stdio.h> #include <stdio.h>
@ -57,6 +57,9 @@ cmdInfo_t cmdInfo[]=
{PI_CMD_HELP, "H", 101, 5}, // cmdUsage {PI_CMD_HELP, "H", 101, 5}, // cmdUsage
{PI_CMD_HELP, "HELP", 101, 5}, // cmdUsage {PI_CMD_HELP, "HELP", 101, 5}, // cmdUsage
{PI_CMD_HC, "HC", 121, 0}, // gpioHardwareClock
{PI_CMD_HP, "HP", 131, 0}, // gpioHardwarePWM
{PI_CMD_HWVER, "HWVER", 101, 4}, // gpioHardwareRevision {PI_CMD_HWVER, "HWVER", 101, 4}, // gpioHardwareRevision
{PI_CMD_I2CC, "I2CC", 112, 0}, // i2cClose {PI_CMD_I2CC, "I2CC", 112, 0}, // i2cClose
@ -226,6 +229,9 @@ GPW u Get servo pulsewidth for gpio.\n\
\n\ \n\
H/HELP Display command help.\n\ H/HELP Display command help.\n\
\n\ \n\
HC g cf Set hardware clock frequency.\n\
HP g pf pdc Set hardware PWM frequency and dutycycle.\n\
\n\
HWVER Get hardware version.\n\ HWVER Get hardware version.\n\
\n\ \n\
I2CC h Close I2C handle.\n\ I2CC h Close I2C handle.\n\
@ -314,7 +320,8 @@ W/WRITE g L Write level to gpio.\n\
WDOG u v Set millisecond watchdog on gpio.\n\ WDOG u v Set millisecond watchdog on gpio.\n\
\n\ \n\
WVAG trips Wave add generic pulses.\n\ WVAG trips Wave add generic pulses.\n\
WVAS u b o bvs Wave add serial data with offset for gpio at baud.\n\ WVAS u b db hb Wave add serial data for gpio u at b baud, db databits,\n\
o bvs hb (half)stopbits, offset o micros from wave start.\n\
WVBSY Check if wave busy.\n\ WVBSY Check if wave busy.\n\
WVCLR Wave clear.\n\ WVCLR Wave clear.\n\
WVCRE Create wave from added pulses.\n\ WVCRE Create wave from added pulses.\n\
@ -332,8 +339,11 @@ WVTXR wid Transmit wave repeatedly.\n\
bits = a mask where (1<<g) is set for each gpio g of interest.\n\ bits = a mask where (1<<g) is set for each gpio g of interest.\n\
bv = byte value (0-255).\n\ bv = byte value (0-255).\n\
bvs = one or more byte values (0-255).\n\ bvs = one or more byte values (0-255).\n\
cf = hardware clock frequency (4689-25M).\n\
db = data bits (1-32).\n\
g = any gpio (0-53).\n\ g = any gpio (0-53).\n\
h = handle (>=0).\n\ h = handle (>=0).\n\
hb = (half) stop bits (2-8).\n\
ib = I2C bus (0-1).\n\ ib = I2C bus (0-1).\n\
id = I2C device (0-127).\n\ id = I2C device (0-127).\n\
if = I2C flags (0).\n\ if = I2C flags (0).\n\
@ -343,7 +353,9 @@ num = number of bytes to read.\n\
o = offset (>=0).\n\ o = offset (>=0).\n\
p = pud (ODU).\n\ p = pud (ODU).\n\
pars = 0 to 10 parameters for script.\n\ pars = 0 to 10 parameters for script.\n\
pl = pulse length (1-50).\n\ pdc = hardware PWM dutycycle (0-1000).\n\
pf = hardware PWM frequency (5-250K).\n\
pl = pulse length (1-100).\n\
r = register.\n\ r = register.\n\
sid = script id (>=0).\n\ sid = script id (>=0).\n\
sb = SPI baud.\n\ sb = SPI baud.\n\
@ -389,7 +401,7 @@ static errInfo_t errInfo[]=
{PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"}, {PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"},
{PI_NO_ALERT_FUNC , "DEPRECATED"}, {PI_NO_ALERT_FUNC , "DEPRECATED"},
{PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"}, {PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"},
{PI_BAD_CLK_SOURCE , "clock source not 0-1"}, {PI_BAD_CLK_SOURCE , "DEPRECATED"},
{PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"}, {PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"},
{PI_BAD_BUF_MILLIS , "buf millis not 100-10000"}, {PI_BAD_BUF_MILLIS , "buf millis not 100-10000"},
{PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"}, {PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"},
@ -406,7 +418,7 @@ static errInfo_t errInfo[]=
{PI_INITIALISED , "function called after gpioInitialise"}, {PI_INITIALISED , "function called after gpioInitialise"},
{PI_BAD_WAVE_MODE , "waveform mode not 0-1"}, {PI_BAD_WAVE_MODE , "waveform mode not 0-1"},
{PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"}, {PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"},
{PI_BAD_WAVE_BAUD , "baud rate not 100-250000"}, {PI_BAD_WAVE_BAUD , "baud rate not 50-250K(RX)/50-1M(TX)"},
{PI_TOO_MANY_PULSES , "waveform has too many pulses"}, {PI_TOO_MANY_PULSES , "waveform has too many pulses"},
{PI_TOO_MANY_CHARS , "waveform has too many chars"}, {PI_TOO_MANY_CHARS , "waveform has too many chars"},
{PI_NOT_SERIAL_GPIO , "no serial read in progress on gpio"}, {PI_NOT_SERIAL_GPIO , "no serial read in progress on gpio"},
@ -417,22 +429,22 @@ static errInfo_t errInfo[]=
{PI_BAD_WVSC_COMMND , "bad WVSC subcommand"}, {PI_BAD_WVSC_COMMND , "bad WVSC subcommand"},
{PI_BAD_WVSM_COMMND , "bad WVSM subcommand"}, {PI_BAD_WVSM_COMMND , "bad WVSM subcommand"},
{PI_BAD_WVSP_COMMND , "bad WVSP subcommand"}, {PI_BAD_WVSP_COMMND , "bad WVSP subcommand"},
{PI_BAD_PULSELEN , "trigger pulse > 100 microseconds"}, {PI_BAD_PULSELEN , "trigger pulse length not 1-100"},
{PI_BAD_SCRIPT , "invalid script"}, {PI_BAD_SCRIPT , "invalid script"},
{PI_BAD_SCRIPT_ID , "unknown script id"}, {PI_BAD_SCRIPT_ID , "unknown script id"},
{PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"}, {PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"},
{PI_GPIO_IN_USE , "gpio already in use"}, {PI_GPIO_IN_USE , "gpio already in use"},
{PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"}, {PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"},
{PI_BAD_PARAM_NUM , "script parameter must be 0-9"}, {PI_BAD_PARAM_NUM , "script parameter id not 0-9"},
{PI_DUP_TAG , "script has duplicate tag"}, {PI_DUP_TAG , "script has duplicate tag"},
{PI_TOO_MANY_TAGS , "script has too many tags"}, {PI_TOO_MANY_TAGS , "script has too many tags"},
{PI_BAD_SCRIPT_CMD , "illegal script command"}, {PI_BAD_SCRIPT_CMD , "illegal script command"},
{PI_BAD_VAR_NUM , "script variable must be 0-149"}, {PI_BAD_VAR_NUM , "script variable id not 0-149"},
{PI_NO_SCRIPT_ROOM , "no more room for scripts"}, {PI_NO_SCRIPT_ROOM , "no more room for scripts"},
{PI_NO_MEMORY , "can't allocate temporary memory"}, {PI_NO_MEMORY , "can't allocate temporary memory"},
{PI_SOCK_READ_FAILED , "socket read failed"}, {PI_SOCK_READ_FAILED , "socket read failed"},
{PI_SOCK_WRIT_FAILED , "socket write failed"}, {PI_SOCK_WRIT_FAILED , "socket write failed"},
{PI_TOO_MANY_PARAM , "too many script parameters > 10"}, {PI_TOO_MANY_PARAM , "too many script parameters (> 10)"},
{PI_NOT_HALTED , "script already running or failed"}, {PI_NOT_HALTED , "script already running or failed"},
{PI_BAD_TAG , "script has unresolved tag"}, {PI_BAD_TAG , "script has unresolved tag"},
{PI_BAD_MICS_DELAY , "bad MICS delay (too large)"}, {PI_BAD_MICS_DELAY , "bad MICS delay (too large)"},
@ -465,6 +477,16 @@ static errInfo_t errInfo[]=
{PI_NO_AUX_SPI , "need a B+ for auxiliary SPI"}, {PI_NO_AUX_SPI , "need a B+ for auxiliary SPI"},
{PI_NOT_PWM_GPIO , "gpio is not in use for PWM"}, {PI_NOT_PWM_GPIO , "gpio is not in use for PWM"},
{PI_NOT_SERVO_GPIO , "gpio is not in use for servo pulses"}, {PI_NOT_SERVO_GPIO , "gpio is not in use for servo pulses"},
{PI_NOT_HCLK_GPIO , "gpio has no hardware clock"},
{PI_NOT_HPWM_GPIO , "gpio has no hardware PWM"},
{PI_BAD_HPWM_FREQ , "hardware PWM frequency not 5-250K"},
{PI_BAD_HPWM_DUTY , "hardware PWM dutycycle not 0-1000"},
{PI_BAD_HCLK_FREQ , "hardware clock frequency not 4689-25M"},
{PI_BAD_HCLK_PASS , "need password to use hardware clock 1"},
{PI_HPWM_ILLEGAL , "illegal, PWM in use for main clock"},
{PI_BAD_DATABITS , "serial data bits not 1-32"},
{PI_BAD_STOPBITS , "serial (half) stop bits not 2-8"},
}; };
@ -535,8 +557,8 @@ int cmdParse(
char *p8; char *p8;
int32_t *p32; int32_t *p32;
char c; char c;
uint32_t tp1; uint32_t tp1, tp2, tp3;
int8_t to1; int8_t to1, to2, to3;
/* Check that ext is big enough for the largest message. */ /* Check that ext is big enough for the largest message. */
if (ext_len < (4 * CMD_MAX_PARAM)) return CMD_EXT_TOO_SMALL; if (ext_len < (4 * CMD_MAX_PARAM)) return CMD_EXT_TOO_SMALL;
@ -659,7 +681,7 @@ int cmdParse(
break; break;
case 121: /* I2CRD I2CRR I2CRW I2CWB I2CWQ P PFS PRS case 121: /* HC I2CRD I2CRR I2CRW I2CWB I2CWQ P PFS PRS
PWM S SERVO SLR SLRO W WDOG WRITE PWM S SERVO SLR SLRO W WDOG WRITE
Two positive parameters. Two positive parameters.
@ -756,7 +778,7 @@ int cmdParse(
break; break;
case 131: /* I2CO I2CPC I2CRI I2CWB I2CWW SPIO TRIG case 131: /* HP I2CO I2CPC I2CRI I2CWB I2CWW SPIO TRIG
Three positive parameters. Three positive parameters.
*/ */
@ -926,21 +948,29 @@ int cmdParse(
p2 baud p2 baud
p3 len + 4 p3 len + 4
--------- ---------
uint32_t databits
uint32_t stophalfbits
uint32_t offset uint32_t offset
uint8_t[len] uint8_t[len]
*/ */
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1); ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
ctl->eaten += getNum(buf+ctl->eaten, &tp2, &to2);
ctl->eaten += getNum(buf+ctl->eaten, &tp3, &to3);
if ((ctl->opt[1] == CMD_NUMERIC) && ((int)p[1] >= 0) && if ((ctl->opt[1] == CMD_NUMERIC) && ((int)p[1] >= 0) &&
(ctl->opt[2] == CMD_NUMERIC) && ((int)p[2] > 0) && (ctl->opt[2] == CMD_NUMERIC) && ((int)p[2] > 0) &&
(to1 == CMD_NUMERIC)) (to1 == CMD_NUMERIC) &&
(to2 == CMD_NUMERIC) &&
(to3 == CMD_NUMERIC))
{ {
pars = 0; pars = 0;
memcpy(ext, &tp1, 4); memcpy(ext, &tp1, 4);
p8 = ext + 4; memcpy(ext+4, &tp2, 4);
memcpy(ext+8, &tp3, 4);
p8 = ext + 12;
while (pars < CMD_MAX_PARAM) while (pars < CMD_MAX_PARAM)
{ {
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1); ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
@ -953,7 +983,7 @@ int cmdParse(
else break; else break;
} }
p[3] = pars + 4; p[3] = pars + 12;
if (pars > 0) valid = 1; if (pars > 0) valid = 1;
} }

396
pigpio.3
View File

@ -1516,11 +1516,11 @@ else
.EE .EE
.IP "\fBint gpioWaveAddSerial(unsigned user_gpio, unsigned bbBaud, unsigned offset, unsigned numChar, char *str)\fP" .IP "\fBint gpioWaveAddSerial(unsigned user_gpio, unsigned bbBaud, unsigned bbBits, unsigned bbStop, unsigned offset, unsigned numBytes, char *str)\fP"
.IP "" 4 .IP "" 4
This function adds a waveform representing serial data to the This function adds a waveform representing serial data to the
existing waveform (if any). The serial data starts offset microseconds existing waveform (if any). The serial data starts offset
from the start of the waveform. microseconds from the start of the waveform.
.br .br
@ -1529,11 +1529,15 @@ from the start of the waveform.
.EX .EX
user_gpio: 0-31 user_gpio: 0-31
.br .br
bbBaud: 100-250000 bbBaud: 100-1000000
.br
bbBits: 1-32
.br
bbStop: 2-8
.br .br
offset: 0- offset: 0-
.br .br
numChar: 1- numBytes: 1-
.br .br
str: an array of chars (which may contain nulls) str: an array of chars (which may contain nulls)
.br .br
@ -1544,14 +1548,20 @@ user_gpio: 0-31
.br .br
Returns the new total number of pulses in the current waveform if OK, Returns the new total number of pulses in the current waveform if OK,
otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_TOO_MANY_CHARS, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS,
PI_BAD_SER_OFFSET, or PI_TOO_MANY_PULSES. PI_BAD_STOPBITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET,
or PI_TOO_MANY_PULSES.
.br .br
.br .br
The serial data is formatted as one start bit, eight data bits, and one NOTES:
stop bit.
.br
.br
The serial data is formatted as one start bit, bbBits data bits, and
bbStop/2 stop bits.
.br .br
@ -1561,6 +1571,25 @@ the same waveform.
.br .br
.br
numBytes is the number of bytes of data in str.
.br
.br
The bytes required for each character depend upon bbBits.
.br
.br
For bbBits 1-8 there will be one byte per character.
.br
For bbBits 9-16 there will be two bytes per character.
.br
For bbBits 17-32 there will be four bytes per character.
.br
.br .br
\fBExample\fP \fBExample\fP
.br .br
@ -1582,7 +1611,7 @@ str = "Hello world!";
.br .br
.br .br
gpioWaveAddSerial(4, 9600, 0, strlen(str), str); gpioWaveAddSerial(4, 9600, 8, 2, 0, strlen(str), str);
.br .br
.br .br
@ -1592,7 +1621,7 @@ for (i=0; i<MSG_LEN; i++) data[i] = i;
.br .br
// Data added is offset 1 second from the waveform start. // Data added is offset 1 second from the waveform start.
.br .br
gpioWaveAddSerial(4, 9600, 1000000, MSG_LEN, data); gpioWaveAddSerial(4, 9600, 8, 2, 1000000, MSG_LEN, data);
.br .br
.EE .EE
@ -1735,6 +1764,11 @@ determines whether the waveform is sent once or cycles endlessly.
.br .br
.br
NOTE: Any hardware PWM started by \fBgpioHardwarePWM\fP will be cancelled.
.br
.br .br
.EX .EX
@ -1762,6 +1796,11 @@ determines whether the waveform is sent once or cycles endlessly.
.br .br
.br
NOTE: Any hardware PWM started by \fBgpioHardwarePWM\fP will be cancelled.
.br
.br .br
.EX .EX
@ -2922,8 +2961,8 @@ Returns 0 if OK.
.br .br
.br .br
The function is passed a pointer to the samples and the number The function is passed a pointer to the samples (an array of
of samples. \fBgpioSample_t\fP), and the number of samples.
.br .br
@ -2975,8 +3014,8 @@ Returns 0 if OK.
.br .br
.br .br
The function is passed a pointer to the samples, the number The function is passed a pointer to the samples (an array of
of samples, and the userdata pointer. \fBgpioSample_t\fP), the number of samples, and the userdata pointer.
.br .br
@ -3554,6 +3593,154 @@ gpioWrite_Bits_32_53_Set((1<<(32-32)) | (1<<(40-32)) | (1<<(53-32)));
.EE .EE
.IP "\fBint gpioHardwareClock(unsigned gpio, unsigned clkfreq)\fP"
.IP "" 4
Starts a hardware clock on a gpio at the specified frequency.
.br
.br
.EX
gpio: see description
.br
clkfreq: 0 (off) or 4689-250M
.br
.EE
.br
.br
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HCLK_GPIO,
PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS.
.br
.br
The same clock is available on multiple gpios. The latest
frequency setting will be used by all gpios which share a clock.
.br
.br
The gpio must be one of the following.
.br
.br
.EX
4 clock 0 All models
.br
5 clock 1 A+/B+ and compute module only (reserved for system use)
.br
6 clock 2 A+/B+ and compute module only
.br
20 clock 0 A+/B+ and compute module only
.br
21 clock 1 All models but Rev.2 B (reserved for system use)
.br
.br
32 clock 0 Compute module only
.br
34 clock 0 Compute module only
.br
42 clock 1 Compute module only (reserved for system use)
.br
43 clock 2 Compute module only
.br
44 clock 1 Compute module only (reserved for system use)
.br
.EE
.br
.br
Access to clock 1 is protected by a password as its use will likely
crash the Pi. The password is given by or'ing 0x5A000000 with the
gpio number.
.IP "\fBint gpioHardwarePWM(unsigned gpio, unsigned PWMfreq, unsigned PWMduty)\fP"
.IP "" 4
Starts hardware PWM on a gpio at the specified frequency and dutycycle.
.br
.br
NOTE: Any waveform started by \fBgpioWaveTxSend\fP or \fBgpioWaveTxStart\fP
will be cancelled.
.br
.br
This function is only valid if the pigpio main clock is PCM. The
main clock defaults to PCM but may be overridden by a call to
\fBgpioCfgClock\fP.
.br
.br
.EX
gpio: see description
.br
PWMfreq: 0 (off) or 5-250K
.br
PWMduty: 0 (off) to 1000 (fully on).
.br
.EE
.br
.br
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HPWM_GPIO,
PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ, or PI_HPWM_ILLEGAL.
.br
.br
Both PWM channels share the same clock and the same update frequency.
The latest frequency setting will be used by both PWM channels. The
same PWM channel is available on multiple gpios. The latest
dutycycle setting will be used by all gpios which share a PWM channel.
.br
.br
The gpio must be one of the following.
.br
.br
.EX
12 PWM channel 0 A+/B+ and compute module only
.br
13 PWM channel 1 A+/B+ and compute module only
.br
18 PWM channel 0 All models
.br
19 PWM channel 1 A+/B+ and compute module only
.br
.br
40 PWM channel 0 Compute module only
.br
41 PWM channel 1 Compute module only
.br
45 PWM channel 1 Compute module only
.br
52 PWM channel 0 Compute module only
.br
53 PWM channel 1 Compute module only
.br
.EE
.IP "\fBint gpioTime(unsigned timetype, int *seconds, int *micros)\fP" .IP "\fBint gpioTime(unsigned timetype, int *seconds, int *micros)\fP"
.IP "" 4 .IP "" 4
Updates the seconds and micros variables with the current time. Updates the seconds and micros variables with the current time.
@ -3890,7 +4077,7 @@ sample 4 8 12 18 31 55 107 ---
.IP "\fBint gpioCfgClock(unsigned cfgMicros, unsigned cfgPeripheral, unsigned cfgSource)\fP" .IP "\fBint gpioCfgClock(unsigned cfgMicros, unsigned cfgPeripheral, unsigned cfgSource)\fP"
.IP "" 4 .IP "" 4
Configures pigpio to use a particualar sample rate timed by a specified Configures pigpio to use a particualar sample rate timed by a specified
peripheral and clock source. peripheral.
.br .br
@ -3901,7 +4088,7 @@ peripheral and clock source.
.br .br
cfgPeripheral: 0 (PWM), 1 (PCM) cfgPeripheral: 0 (PWM), 1 (PCM)
.br .br
cfgSource: 0 (OSC), 1 (PLLD) cfgSource: deprecated, value is ignored
.br .br
.EE .EE
@ -3909,14 +4096,12 @@ cfgPeripheral: 0 (PWM), 1 (PCM)
.br .br
.br .br
The timings are provided by the specified peripheral (PWM or PCM) The timings are provided by the specified peripheral (PWM or PCM).
using the frequency source (OSC or PLLD).
.br .br
.br .br
The default setting is 5 microseconds using the PCM peripheral The default setting is 5 microseconds using the PCM peripheral.
with the PLLD source.
.br .br
@ -4438,9 +4623,59 @@ serial data.
.br .br
.EX .EX
PI_WAVE_MIN_BAUD 100 PI_BB_MIN_BAUD 50
.br .br
PI_WAVE_MAX_BAUD 250000 PI_BB_RX_MAX_BAUD 250000
.br
PI_BB_TX_MAX_BAUD 1000000
.br
.EE
.br
.br
.IP "\fBbbBits\fP: 1-32" 0
.br
.br
The number of data bits to be used when adding serial data to a
waveform.
.br
.br
.EX
#define PI_MIN_WAVE_DATABITS 1
.br
#define PI_MAX_WAVE_DATABITS 32
.br
.EE
.br
.br
.IP "\fBbbStop\fP: 2-8" 0
.br
.br
The number of (half) stop bits to be used when adding serial data
to a waveform.
.br
.br
.EX
#define PI_MIN_WAVE_HALFSTOPBITS 2
.br
#define PI_MAX_WAVE_HALFSTOPBITS 8
.br .br
.EE .EE
@ -4580,16 +4815,7 @@ purposes.
.br .br
.br .br
The clock source used for the timing of DMA transfers. May be the 19.2MHz Deprecated.
crystal or the 500MHz PLL.
.EX
PI_CLOCK_OSC 0
.br
PI_CLOCK_PLLD 1
.br
.EE
.br .br
@ -4635,6 +4861,29 @@ A single character, an 8 bit quantity able to store 0-255.
.br .br
.IP "\fBclkfreq\fP: 4689-250M" 0
.br
.br
The hardware clock frequency.
.br
.br
.EX
#define PI_HW_CLK_MIN_FREQ 4689
.br
#define PI_HW_CLK_MAX_FREQ 250000000
.br
.EE
.br
.br
.IP "\fBcount\fP" 0 .IP "\fBcount\fP" 0
.br .br
@ -5167,13 +5416,14 @@ The number of bits stored in a buffer.
.br .br
.IP "\fBnumChar\fP" 0 .IP "\fBnumBytes\fP" 0
.br .br
.br .br
The number of characters in a string (used when the string might contain The number of bytes used to store characters in a string. Depending
null characters, which would normally terminate the string). on the number of bits per character there may be 1, 2, or 4 bytes
per character.
.br .br
@ -5340,6 +5590,42 @@ PI_MAX_SERVO_PULSEWIDTH 2500
.br .br
.IP "\fBPWMduty\fP: 0-1000" 0
The hardware PWM dutycycle.
.br
.br
.EX
#define PI_HW_PWM_RANGE 1000
.br
.EE
.br
.br
.IP "\fBPWMfreq\fP: 5-250K" 0
The hardware PWM frequency.
.br
.br
.EX
#define PI_HW_PWM_MIN_FREQ 5
.br
#define PI_HW_PWM_MAX_FREQ 250000
.br
.EE
.br
.br
.IP "\fBrange\fP: 25-40000" 0 .IP "\fBrange\fP: 25-40000" 0
.EX .EX
@ -6074,6 +6360,12 @@ A 16-bit word value.
#define PI_CMD_GPW 84 #define PI_CMD_GPW 84
.br .br
.br
#define PI_CMD_HC 85
.br
#define PI_CMD_HP 86
.br
.br .br
#define PI_CMD_NOIB 99 #define PI_CMD_NOIB 99
.br .br
@ -6120,7 +6412,7 @@ A 16-bit word value.
.br .br
#define PI_BAD_CLK_PERIPH -17 // clock peripheral not 0-1 #define PI_BAD_CLK_PERIPH -17 // clock peripheral not 0-1
.br .br
#define PI_BAD_CLK_SOURCE -18 // clock source not 0-1 #define PI_BAD_CLK_SOURCE -18 // DEPRECATED
.br .br
#define PI_BAD_CLK_MICROS -19 // clock micros not 1, 2, 4, 5, 8, or 10 #define PI_BAD_CLK_MICROS -19 // clock micros not 1, 2, 4, 5, 8, or 10
.br .br
@ -6158,7 +6450,7 @@ A 16-bit word value.
.br .br
#define PI_BAD_CFG_INTERNAL -34 // bad parameter in gpioCfgInternals call #define PI_BAD_CFG_INTERNAL -34 // bad parameter in gpioCfgInternals call
.br .br
#define PI_BAD_WAVE_BAUD -35 // baud rate not 100-250000 #define PI_BAD_WAVE_BAUD -35 // baud rate not 50-250K(RX)/50-1M(TX)
.br .br
#define PI_TOO_MANY_PULSES -36 // waveform has too many pulses #define PI_TOO_MANY_PULSES -36 // waveform has too many pulses
.br .br
@ -6180,7 +6472,7 @@ A 16-bit word value.
.br .br
#define PI_BAD_WVSP_COMMND -45 // bad WVSP subcommand #define PI_BAD_WVSP_COMMND -45 // bad WVSP subcommand
.br .br
#define PI_BAD_PULSELEN -46 // trigger pulse length > 100 #define PI_BAD_PULSELEN -46 // trigger pulse length not 1-100
.br .br
#define PI_BAD_SCRIPT -47 // invalid script #define PI_BAD_SCRIPT -47 // invalid script
.br .br
@ -6192,7 +6484,7 @@ A 16-bit word value.
.br .br
#define PI_BAD_SERIAL_COUNT -51 // must read at least a byte at a time #define PI_BAD_SERIAL_COUNT -51 // must read at least a byte at a time
.br .br
#define PI_BAD_PARAM_NUM -52 // script parameter must be 0-9 #define PI_BAD_PARAM_NUM -52 // script parameter id not 0-9
.br .br
#define PI_DUP_TAG -53 // script has duplicate tag #define PI_DUP_TAG -53 // script has duplicate tag
.br .br
@ -6200,7 +6492,7 @@ A 16-bit word value.
.br .br
#define PI_BAD_SCRIPT_CMD -55 // illegal script command #define PI_BAD_SCRIPT_CMD -55 // illegal script command
.br .br
#define PI_BAD_VAR_NUM -56 // script variable must be 0-149 #define PI_BAD_VAR_NUM -56 // script variable id not 0-149
.br .br
#define PI_NO_SCRIPT_ROOM -57 // no more room for scripts #define PI_NO_SCRIPT_ROOM -57 // no more room for scripts
.br .br
@ -6210,7 +6502,7 @@ A 16-bit word value.
.br .br
#define PI_SOCK_WRIT_FAILED -60 // socket write failed #define PI_SOCK_WRIT_FAILED -60 // socket write failed
.br .br
#define PI_TOO_MANY_PARAM -61 // too many script parameters > 10 #define PI_TOO_MANY_PARAM -61 // too many script parameters (> 10)
.br .br
#define PI_NOT_HALTED -62 // script already running or failed #define PI_NOT_HALTED -62 // script already running or failed
.br .br
@ -6276,6 +6568,24 @@ A 16-bit word value.
.br .br
#define PI_NOT_SERVO_GPIO -93 // gpio is not in use for servo pulses #define PI_NOT_SERVO_GPIO -93 // gpio is not in use for servo pulses
.br .br
#define PI_NOT_HCLK_GPIO -94 // gpio has no hardware clock
.br
#define PI_NOT_HPWM_GPIO -95 // gpio has no hardware PWM
.br
#define PI_BAD_HPWM_FREQ -96 // hardware PWM frequency not 5-250K
.br
#define PI_BAD_HPWM_DUTY -97 // hardware PWM dutycycle not 0-1000
.br
#define PI_BAD_HCLK_FREQ -98 // hardware clock frequency not 4689-25M
.br
#define PI_BAD_HCLK_PASS -99 // need password to use hardware clock 1
.br
#define PI_HPWM_ILLEGAL -100 // illegal, PWM in use for main clock
.br
#define PI_BAD_DATABITS -101 // serial data bits not 1-32
.br
#define PI_BAD_STOPBITS -102 // serial (half) stop bits not 2-8
.br
.br .br
@ -6291,8 +6601,6 @@ A 16-bit word value.
.br .br
#define PI_DEFAULT_CLK_PERIPHERAL PI_CLOCK_PCM #define PI_DEFAULT_CLK_PERIPHERAL PI_CLOCK_PCM
.br .br
#define PI_DEFAULT_CLK_SOURCE PI_CLOCK_PLLD
.br
#define PI_DEFAULT_IF_FLAGS 0 #define PI_DEFAULT_IF_FLAGS 0
.br .br
#define PI_DEFAULT_DMA_CHANNEL 14 #define PI_DEFAULT_DMA_CHANNEL 14

766
pigpio.c
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File diff suppressed because it is too large Load Diff

281
pigpio.h
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@ -31,7 +31,7 @@ For more information, please refer to <http://unlicense.org/>
#include <stdint.h> #include <stdint.h>
#include <pthread.h> #include <pthread.h>
#define PIGPIO_VERSION 23 #define PIGPIO_VERSION 24
/*TEXT /*TEXT
@ -177,6 +177,9 @@ gpioSerialReadOpen Opens a gpio for bit bang serial reads
gpioSerialRead Reads bit bang serial data from a gpio gpioSerialRead Reads bit bang serial data from a gpio
gpioSerialReadClose Closes a gpio for bit bang serial reads gpioSerialReadClose Closes a gpio for bit bang serial reads
gpioHardwareClock Start hardware clock on supported gpios
gpioHardwarePWM Start hardware PWM on supported gpios
SCRIPTS SCRIPTS
gpioStoreScript Store a script gpioStoreScript Store a script
@ -289,6 +292,8 @@ EXPERT
rawWaveAddSPI Not intended for general use rawWaveAddSPI Not intended for general use
rawWaveAddGeneric Not intended for general use rawWaveAddGeneric Not intended for general use
rawWaveCB Not intended for general use
rawWaveCBAdr Not intended for general use
rawWaveGetOut Not intended for general use rawWaveGetOut Not intended for general use
rawWaveSetOut Not intended for general use rawWaveSetOut Not intended for general use
rawWaveGetIn Not intended for general use rawWaveGetIn Not intended for general use
@ -388,29 +393,29 @@ unsigned long pad[2];
} rawCbs_t; } rawCbs_t;
typedef void (*gpioAlertFunc_t) (int gpio, typedef void (*gpioAlertFunc_t) (int gpio,
int level, int level,
uint32_t tick); uint32_t tick);
typedef void (*gpioAlertFuncEx_t) (int gpio, typedef void (*gpioAlertFuncEx_t) (int gpio,
int level, int level,
uint32_t tick, uint32_t tick,
void *userdata); void *userdata);
typedef void (*gpioTimerFunc_t) (void); typedef void (*gpioTimerFunc_t) (void);
typedef void (*gpioTimerFuncEx_t) (void *userdata); typedef void (*gpioTimerFuncEx_t) (void *userdata);
typedef void (*gpioSignalFunc_t) (int signum); typedef void (*gpioSignalFunc_t) (int signum);
typedef void (*gpioSignalFuncEx_t) (int signum, typedef void (*gpioSignalFuncEx_t) (int signum,
void *userdata); void *userdata);
typedef void (*gpioGetSamplesFunc_t) (const gpioSample_t *samples, typedef void (*gpioGetSamplesFunc_t) (const gpioSample_t *samples,
int numSamples); int numSamples);
typedef void (*gpioGetSamplesFuncEx_t) (const gpioSample_t *samples, typedef void (*gpioGetSamplesFuncEx_t) (const gpioSample_t *samples,
int numSamples, int numSamples,
void *userdata); void *userdata);
typedef void *(gpioThreadFunc_t) (void *); typedef void *(gpioThreadFunc_t) (void *);
@ -471,6 +476,17 @@ typedef void *(gpioThreadFunc_t) (void *);
#define PI_MIN_SERVO_PULSEWIDTH 500 #define PI_MIN_SERVO_PULSEWIDTH 500
#define PI_MAX_SERVO_PULSEWIDTH 2500 #define PI_MAX_SERVO_PULSEWIDTH 2500
/* hardware PWM */
#define PI_HW_PWM_MIN_FREQ 5
#define PI_HW_PWM_MAX_FREQ 250000
#define PI_HW_PWM_RANGE 1000
/* hardware clock */
#define PI_HW_CLK_MIN_FREQ 4689
#define PI_HW_CLK_MAX_FREQ 250000000
#define PI_NOTIFY_SLOTS 32 #define PI_NOTIFY_SLOTS 32
#define PI_NTFY_FLAGS_WDOG (1 <<5) #define PI_NTFY_FLAGS_WDOG (1 <<5)
@ -478,10 +494,17 @@ typedef void *(gpioThreadFunc_t) (void *);
#define PI_WAVE_BLOCKS 4 #define PI_WAVE_BLOCKS 4
#define PI_WAVE_MAX_PULSES (PI_WAVE_BLOCKS * 3000) #define PI_WAVE_MAX_PULSES (PI_WAVE_BLOCKS * 3000)
#define PI_WAVE_MAX_CHARS (PI_WAVE_BLOCKS * 256) #define PI_WAVE_MAX_CHARS (PI_WAVE_BLOCKS * 300)
#define PI_WAVE_MIN_BAUD 100 #define PI_BB_MIN_BAUD 50
#define PI_WAVE_MAX_BAUD 250000 #define PI_BB_RX_MAX_BAUD 250000
#define PI_BB_TX_MAX_BAUD 1000000
#define PI_MIN_WAVE_DATABITS 1
#define PI_MAX_WAVE_DATABITS 32
#define PI_MIN_WAVE_HALFSTOPBITS 2
#define PI_MAX_WAVE_HALFSTOPBITS 8
#define PI_WAVE_MAX_MICROS (30 * 60 * 1000000) /* half an hour */ #define PI_WAVE_MAX_MICROS (30 * 60 * 1000000) /* half an hour */
@ -577,11 +600,6 @@ typedef void *(gpioThreadFunc_t) (void *);
#define PI_CLOCK_PWM 0 #define PI_CLOCK_PWM 0
#define PI_CLOCK_PCM 1 #define PI_CLOCK_PCM 1
/* cfgSource: 0-1 */
#define PI_CLOCK_OSC 0
#define PI_CLOCK_PLLD 1
/* DMA channel: 0-14 */ /* DMA channel: 0-14 */
#define PI_MIN_DMA_CHANNEL 0 #define PI_MIN_DMA_CHANNEL 0
@ -1325,32 +1343,47 @@ D*/
int gpioWaveAddSerial int gpioWaveAddSerial
(unsigned user_gpio, (unsigned user_gpio,
unsigned bbBaud, unsigned bbBaud,
unsigned bbBits,
unsigned bbStop,
unsigned offset, unsigned offset,
unsigned numChar, unsigned numBytes,
char *str); char *str);
/*D /*D
This function adds a waveform representing serial data to the This function adds a waveform representing serial data to the
existing waveform (if any). The serial data starts offset microseconds existing waveform (if any). The serial data starts offset
from the start of the waveform. microseconds from the start of the waveform.
. . . .
user_gpio: 0-31 user_gpio: 0-31
bbBaud: 100-250000 bbBaud: 100-1000000
bbBits: 1-32
bbStop: 2-8
offset: 0- offset: 0-
numChar: 1- numBytes: 1-
str: an array of chars (which may contain nulls) str: an array of chars (which may contain nulls)
. . . .
Returns the new total number of pulses in the current waveform if OK, Returns the new total number of pulses in the current waveform if OK,
otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_TOO_MANY_CHARS, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS,
PI_BAD_SER_OFFSET, or PI_TOO_MANY_PULSES. PI_BAD_STOPBITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET,
or PI_TOO_MANY_PULSES.
The serial data is formatted as one start bit, eight data bits, and one NOTES:
stop bit.
The serial data is formatted as one start bit, bbBits data bits, and
bbStop/2 stop bits.
It is legal to add serial data streams with different baud rates to It is legal to add serial data streams with different baud rates to
the same waveform. the same waveform.
numBytes is the number of bytes of data in str.
The bytes required for each character depend upon bbBits.
For bbBits 1-8 there will be one byte per character.
For bbBits 9-16 there will be two bytes per character.
For bbBits 17-32 there will be four bytes per character.
... ...
#define MSG_LEN 8 #define MSG_LEN 8
@ -1360,12 +1393,12 @@ char data[MSG_LEN];
str = "Hello world!"; str = "Hello world!";
gpioWaveAddSerial(4, 9600, 0, strlen(str), str); gpioWaveAddSerial(4, 9600, 8, 2, 0, strlen(str), str);
for (i=0; i<MSG_LEN; i++) data[i] = i; for (i=0; i<MSG_LEN; i++) data[i] = i;
// Data added is offset 1 second from the waveform start. // Data added is offset 1 second from the waveform start.
gpioWaveAddSerial(4, 9600, 1000000, MSG_LEN, data); gpioWaveAddSerial(4, 9600, 8, 2, 1000000, MSG_LEN, data);
... ...
D*/ D*/
@ -1446,6 +1479,8 @@ int gpioWaveTxStart(unsigned wave_mode); /* DEPRECATED */
This function creates and then transmits a waveform. The mode This function creates and then transmits a waveform. The mode
determines whether the waveform is sent once or cycles endlessly. determines whether the waveform is sent once or cycles endlessly.
NOTE: Any hardware PWM started by [*gpioHardwarePWM*] will be cancelled.
. . . .
wave_mode: 0 (PI_WAVE_MODE_ONE_SHOT), 1 (PI_WAVE_MODE_REPEAT) wave_mode: 0 (PI_WAVE_MODE_ONE_SHOT), 1 (PI_WAVE_MODE_REPEAT)
. . . .
@ -1464,6 +1499,8 @@ int gpioWaveTxSend(unsigned wave_id, unsigned wave_mode);
This function transmits the waveform with id wave_id. The mode This function transmits the waveform with id wave_id. The mode
determines whether the waveform is sent once or cycles endlessly. determines whether the waveform is sent once or cycles endlessly.
NOTE: Any hardware PWM started by [*gpioHardwarePWM*] will be cancelled.
. . . .
wave_id: >=0, as returned by [*gpioWaveCreate*] wave_id: >=0, as returned by [*gpioWaveCreate*]
wave_mode: 0 (PI_WAVE_MODE_ONE_SHOT), 1 (PI_WAVE_MODE_REPEAT) wave_mode: 0 (PI_WAVE_MODE_ONE_SHOT), 1 (PI_WAVE_MODE_REPEAT)
@ -2237,8 +2274,8 @@ bits: the gpios of interest
Returns 0 if OK. Returns 0 if OK.
The function is passed a pointer to the samples and the number The function is passed a pointer to the samples (an array of
of samples. [*gpioSample_t*]), and the number of samples.
Only one function can be registered. Only one function can be registered.
@ -2268,8 +2305,8 @@ userdata: a pointer to arbitrary user data
Returns 0 if OK. Returns 0 if OK.
The function is passed a pointer to the samples, the number The function is passed a pointer to the samples (an array of
of samples, and the userdata pointer. [*gpioSample_t*]), the number of samples, and the userdata pointer.
Only one of [*gpioGetSamplesFunc*] or [*gpioGetSamplesFuncEx*] can be Only one of [*gpioGetSamplesFunc*] or [*gpioGetSamplesFuncEx*] can be
registered. registered.
@ -2610,6 +2647,84 @@ gpioWrite_Bits_32_53_Set((1<<(32-32)) | (1<<(40-32)) | (1<<(53-32)));
... ...
D*/ D*/
/*F*/
int gpioHardwareClock(unsigned gpio, unsigned clkfreq);
/*D
Starts a hardware clock on a gpio at the specified frequency.
. .
gpio: see description
clkfreq: 0 (off) or 4689-250M
. .
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HCLK_GPIO,
PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS.
The same clock is available on multiple gpios. The latest
frequency setting will be used by all gpios which share a clock.
The gpio must be one of the following.
. .
4 clock 0 All models
5 clock 1 A+/B+ and compute module only (reserved for system use)
6 clock 2 A+/B+ and compute module only
20 clock 0 A+/B+ and compute module only
21 clock 1 All models but Rev.2 B (reserved for system use)
32 clock 0 Compute module only
34 clock 0 Compute module only
42 clock 1 Compute module only (reserved for system use)
43 clock 2 Compute module only
44 clock 1 Compute module only (reserved for system use)
. .
Access to clock 1 is protected by a password as its use will likely
crash the Pi. The password is given by or'ing 0x5A000000 with the
gpio number.
D*/
/*F*/
int gpioHardwarePWM(unsigned gpio, unsigned PWMfreq, unsigned PWMduty);
/*D
Starts hardware PWM on a gpio at the specified frequency and dutycycle.
NOTE: Any waveform started by [*gpioWaveTxSend*] or [*gpioWaveTxStart*]
will be cancelled.
This function is only valid if the pigpio main clock is PCM. The
main clock defaults to PCM but may be overridden by a call to
[*gpioCfgClock*].
. .
gpio: see description
PWMfreq: 0 (off) or 5-250K
PWMduty: 0 (off) to 1000 (fully on).
. .
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HPWM_GPIO,
PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ, or PI_HPWM_ILLEGAL.
Both PWM channels share the same clock and the same update frequency.
The latest frequency setting will be used by both PWM channels. The
same PWM channel is available on multiple gpios. The latest
dutycycle setting will be used by all gpios which share a PWM channel.
The gpio must be one of the following.
. .
12 PWM channel 0 A+/B+ and compute module only
13 PWM channel 1 A+/B+ and compute module only
18 PWM channel 0 All models
19 PWM channel 1 A+/B+ and compute module only
40 PWM channel 0 Compute module only
41 PWM channel 1 Compute module only
45 PWM channel 1 Compute module only
52 PWM channel 0 Compute module only
53 PWM channel 1 Compute module only
. .
D*/
/*F*/ /*F*/
int gpioTime(unsigned timetype, int *seconds, int *micros); int gpioTime(unsigned timetype, int *seconds, int *micros);
@ -2802,19 +2917,17 @@ int gpioCfgClock(
unsigned cfgMicros, unsigned cfgPeripheral, unsigned cfgSource); unsigned cfgMicros, unsigned cfgPeripheral, unsigned cfgSource);
/*D /*D
Configures pigpio to use a particualar sample rate timed by a specified Configures pigpio to use a particualar sample rate timed by a specified
peripheral and clock source. peripheral.
. . . .
cfgMicros: 1, 2, 4, 5, 8, 10 cfgMicros: 1, 2, 4, 5, 8, 10
cfgPeripheral: 0 (PWM), 1 (PCM) cfgPeripheral: 0 (PWM), 1 (PCM)
cfgSource: 0 (OSC), 1 (PLLD) cfgSource: deprecated, value is ignored
. . . .
The timings are provided by the specified peripheral (PWM or PCM) The timings are provided by the specified peripheral (PWM or PCM).
using the frequency source (OSC or PLLD).
The default setting is 5 microseconds using the PCM peripheral The default setting is 5 microseconds using the PCM peripheral.
with the PLLD source.
The approximate CPU percentage used for each sample rate is: The approximate CPU percentage used for each sample rate is:
@ -3153,8 +3266,29 @@ The baud rate used for the transmission and reception of bit banged
serial data. serial data.
. . . .
PI_WAVE_MIN_BAUD 100 PI_BB_MIN_BAUD 50
PI_WAVE_MAX_BAUD 250000 PI_BB_RX_MAX_BAUD 250000
PI_BB_TX_MAX_BAUD 1000000
. .
bbBits::1-32
The number of data bits to be used when adding serial data to a
waveform.
. .
#define PI_MIN_WAVE_DATABITS 1
#define PI_MAX_WAVE_DATABITS 32
. .
bbStop::2-8
The number of (half) stop bits to be used when adding serial data
to a waveform.
. .
#define PI_MIN_WAVE_HALFSTOPBITS 2
#define PI_MAX_WAVE_HALFSTOPBITS 8
. . . .
bit:: bit::
@ -3209,12 +3343,7 @@ purposes.
cfgSource:: cfgSource::
The clock source used for the timing of DMA transfers. May be the 19.2MHz Deprecated.
crystal or the 500MHz PLL.
. .
PI_CLOCK_OSC 0
PI_CLOCK_PLLD 1
. .
cfgVal:: cfgVal::
@ -3231,6 +3360,15 @@ char::
A single character, an 8 bit quantity able to store 0-255. A single character, an 8 bit quantity able to store 0-255.
clkfreq::4689-250M
The hardware clock frequency.
. .
#define PI_HW_CLK_MIN_FREQ 4689
#define PI_HW_CLK_MAX_FREQ 250000000
. .
count:: count::
The number of bytes to be transferred in an I2C, SPI, or Serial The number of bytes to be transferred in an I2C, SPI, or Serial
@ -3449,10 +3587,11 @@ numBits::
The number of bits stored in a buffer. The number of bits stored in a buffer.
numChar:: numBytes::
The number of characters in a string (used when the string might contain The number of bytes used to store characters in a string. Depending
null characters, which would normally terminate the string). on the number of bits per character there may be 1, 2, or 4 bytes
per character.
numPar:: 0-10 numPar:: 0-10
@ -3517,6 +3656,21 @@ PI_MIN_SERVO_PULSEWIDTH 500
PI_MAX_SERVO_PULSEWIDTH 2500 PI_MAX_SERVO_PULSEWIDTH 2500
. . . .
PWMduty::0-1000
The hardware PWM dutycycle.
. .
#define PI_HW_PWM_RANGE 1000
. .
PWMfreq::5-250K
The hardware PWM frequency.
. .
#define PI_HW_PWM_MIN_FREQ 5
#define PI_HW_PWM_MAX_FREQ 250000
. .
range::25-40000 range::25-40000
. . . .
PI_MIN_DUTYCYCLE_RANGE 25 PI_MIN_DUTYCYCLE_RANGE 25
@ -3830,6 +3984,9 @@ PARAMS*/
#define PI_CMD_GDC 83 #define PI_CMD_GDC 83
#define PI_CMD_GPW 84 #define PI_CMD_GPW 84
#define PI_CMD_HC 85
#define PI_CMD_HP 86
#define PI_CMD_NOIB 99 #define PI_CMD_NOIB 99
/*DEF_E*/ /*DEF_E*/
@ -3910,7 +4067,7 @@ after this command is issued.
#define PI_BAD_WDOG_TIMEOUT -15 // timeout not 0-60000 #define PI_BAD_WDOG_TIMEOUT -15 // timeout not 0-60000
#define PI_NO_ALERT_FUNC -16 // DEPRECATED #define PI_NO_ALERT_FUNC -16 // DEPRECATED
#define PI_BAD_CLK_PERIPH -17 // clock peripheral not 0-1 #define PI_BAD_CLK_PERIPH -17 // clock peripheral not 0-1
#define PI_BAD_CLK_SOURCE -18 // clock source not 0-1 #define PI_BAD_CLK_SOURCE -18 // DEPRECATED
#define PI_BAD_CLK_MICROS -19 // clock micros not 1, 2, 4, 5, 8, or 10 #define PI_BAD_CLK_MICROS -19 // clock micros not 1, 2, 4, 5, 8, or 10
#define PI_BAD_BUF_MILLIS -20 // buf millis not 100-10000 #define PI_BAD_BUF_MILLIS -20 // buf millis not 100-10000
#define PI_BAD_DUTYRANGE -21 // dutycycle range not 25-40000 #define PI_BAD_DUTYRANGE -21 // dutycycle range not 25-40000
@ -3929,7 +4086,7 @@ after this command is issued.
#define PI_INITIALISED -32 // function called after gpioInitialise #define PI_INITIALISED -32 // function called after gpioInitialise
#define PI_BAD_WAVE_MODE -33 // waveform mode not 0-1 #define PI_BAD_WAVE_MODE -33 // waveform mode not 0-1
#define PI_BAD_CFG_INTERNAL -34 // bad parameter in gpioCfgInternals call #define PI_BAD_CFG_INTERNAL -34 // bad parameter in gpioCfgInternals call
#define PI_BAD_WAVE_BAUD -35 // baud rate not 100-250000 #define PI_BAD_WAVE_BAUD -35 // baud rate not 50-250K(RX)/50-1M(TX)
#define PI_TOO_MANY_PULSES -36 // waveform has too many pulses #define PI_TOO_MANY_PULSES -36 // waveform has too many pulses
#define PI_TOO_MANY_CHARS -37 // waveform has too many chars #define PI_TOO_MANY_CHARS -37 // waveform has too many chars
#define PI_NOT_SERIAL_GPIO -38 // no serial read in progress on gpio #define PI_NOT_SERIAL_GPIO -38 // no serial read in progress on gpio
@ -3940,22 +4097,22 @@ after this command is issued.
#define PI_BAD_WVSC_COMMND -43 // bad WVSC subcommand #define PI_BAD_WVSC_COMMND -43 // bad WVSC subcommand
#define PI_BAD_WVSM_COMMND -44 // bad WVSM subcommand #define PI_BAD_WVSM_COMMND -44 // bad WVSM subcommand
#define PI_BAD_WVSP_COMMND -45 // bad WVSP subcommand #define PI_BAD_WVSP_COMMND -45 // bad WVSP subcommand
#define PI_BAD_PULSELEN -46 // trigger pulse length > 100 #define PI_BAD_PULSELEN -46 // trigger pulse length not 1-100
#define PI_BAD_SCRIPT -47 // invalid script #define PI_BAD_SCRIPT -47 // invalid script
#define PI_BAD_SCRIPT_ID -48 // unknown script id #define PI_BAD_SCRIPT_ID -48 // unknown script id
#define PI_BAD_SER_OFFSET -49 // add serial data offset > 30 minutes #define PI_BAD_SER_OFFSET -49 // add serial data offset > 30 minutes
#define PI_GPIO_IN_USE -50 // gpio already in use #define PI_GPIO_IN_USE -50 // gpio already in use
#define PI_BAD_SERIAL_COUNT -51 // must read at least a byte at a time #define PI_BAD_SERIAL_COUNT -51 // must read at least a byte at a time
#define PI_BAD_PARAM_NUM -52 // script parameter must be 0-9 #define PI_BAD_PARAM_NUM -52 // script parameter id not 0-9
#define PI_DUP_TAG -53 // script has duplicate tag #define PI_DUP_TAG -53 // script has duplicate tag
#define PI_TOO_MANY_TAGS -54 // script has too many tags #define PI_TOO_MANY_TAGS -54 // script has too many tags
#define PI_BAD_SCRIPT_CMD -55 // illegal script command #define PI_BAD_SCRIPT_CMD -55 // illegal script command
#define PI_BAD_VAR_NUM -56 // script variable must be 0-149 #define PI_BAD_VAR_NUM -56 // script variable id not 0-149
#define PI_NO_SCRIPT_ROOM -57 // no more room for scripts #define PI_NO_SCRIPT_ROOM -57 // no more room for scripts
#define PI_NO_MEMORY -58 // can't allocate temporary memory #define PI_NO_MEMORY -58 // can't allocate temporary memory
#define PI_SOCK_READ_FAILED -59 // socket read failed #define PI_SOCK_READ_FAILED -59 // socket read failed
#define PI_SOCK_WRIT_FAILED -60 // socket write failed #define PI_SOCK_WRIT_FAILED -60 // socket write failed
#define PI_TOO_MANY_PARAM -61 // too many script parameters > 10 #define PI_TOO_MANY_PARAM -61 // too many script parameters (> 10)
#define PI_NOT_HALTED -62 // script already running or failed #define PI_NOT_HALTED -62 // script already running or failed
#define PI_BAD_TAG -63 // script has unresolved tag #define PI_BAD_TAG -63 // script has unresolved tag
#define PI_BAD_MICS_DELAY -64 // bad MICS delay (too large) #define PI_BAD_MICS_DELAY -64 // bad MICS delay (too large)
@ -3988,6 +4145,15 @@ after this command is issued.
#define PI_NO_AUX_SPI -91 // need a B+ for auxiliary SPI #define PI_NO_AUX_SPI -91 // need a B+ for auxiliary SPI
#define PI_NOT_PWM_GPIO -92 // gpio is not in use for PWM #define PI_NOT_PWM_GPIO -92 // gpio is not in use for PWM
#define PI_NOT_SERVO_GPIO -93 // gpio is not in use for servo pulses #define PI_NOT_SERVO_GPIO -93 // gpio is not in use for servo pulses
#define PI_NOT_HCLK_GPIO -94 // gpio has no hardware clock
#define PI_NOT_HPWM_GPIO -95 // gpio has no hardware PWM
#define PI_BAD_HPWM_FREQ -96 // hardware PWM frequency not 5-250K
#define PI_BAD_HPWM_DUTY -97 // hardware PWM dutycycle not 0-1000
#define PI_BAD_HCLK_FREQ -98 // hardware clock frequency not 4689-25M
#define PI_BAD_HCLK_PASS -99 // need password to use hardware clock 1
#define PI_HPWM_ILLEGAL -100 // illegal, PWM in use for main clock
#define PI_BAD_DATABITS -101 // serial data bits not 1-32
#define PI_BAD_STOPBITS -102 // serial (half) stop bits not 2-8
/*DEF_E*/ /*DEF_E*/
@ -3996,7 +4162,6 @@ after this command is issued.
#define PI_DEFAULT_BUFFER_MILLIS 120 #define PI_DEFAULT_BUFFER_MILLIS 120
#define PI_DEFAULT_CLK_MICROS 5 #define PI_DEFAULT_CLK_MICROS 5
#define PI_DEFAULT_CLK_PERIPHERAL PI_CLOCK_PCM #define PI_DEFAULT_CLK_PERIPHERAL PI_CLOCK_PCM
#define PI_DEFAULT_CLK_SOURCE PI_CLOCK_PLLD
#define PI_DEFAULT_IF_FLAGS 0 #define PI_DEFAULT_IF_FLAGS 0
#define PI_DEFAULT_DMA_CHANNEL 14 #define PI_DEFAULT_DMA_CHANNEL 14
#define PI_DEFAULT_DMA_PRIMARY_CHANNEL 14 #define PI_DEFAULT_DMA_PRIMARY_CHANNEL 14

250
pigpio.py
View File

@ -1,12 +1,13 @@
""" """
pigpio is a Python module for the Raspberry which allows control pigpio is a Python module for the Raspberry which talks to
of the general purpose input outputs (gpios). the pigpio daemon to allow control of the general purpose
input outputs (gpios).
[http://abyz.co.uk/rpi/pigpio/python.html] [http://abyz.co.uk/rpi/pigpio/python.html]
*Features* *Features*
o pigpio Python module can be running on Windows, Macs, or Linux o the pigpio Python module can run on Windows, Macs, or Linux
o controls one or more Pi's o controls one or more Pi's
@ -39,7 +40,7 @@ accurate to within a few microseconds.
A number of settings are determined when the pigpio daemon is started. A number of settings are determined when the pigpio daemon is started.
o the sample rate (1, 2, 4, 5, 8, or 10us, default 5us). o the sample rate (1, 2, 4, 5, 8, or 10 us, default 5 us).
o the set of gpios which may be updated (generally written to). The o the set of gpios which may be updated (generally written to). The
default set is those available on the Pi board revision. default set is those available on the Pi board revision.
@ -151,6 +152,9 @@ bb_serial_read_open Open a gpio for bit bang serial reads
bb_serial_read Read bit bang serial data from a gpio bb_serial_read Read bit bang serial data from a gpio
bb_serial_read_close Close a gpio for bit bang serial reads bb_serial_read_close Close a gpio for bit bang serial reads
hardware_clock Start hardware clock on supported gpios
hardware_PWM Start hardware PWM on supported gpios
Scripts Scripts
store_script Store a script store_script Store a script
@ -248,7 +252,7 @@ import threading
import os import os
import atexit import atexit
VERSION = "1.13" VERSION = "1.14"
exceptions = True exceptions = True
@ -395,7 +399,8 @@ _PI_CMD_SERDA=82
_PI_CMD_GDC =83 _PI_CMD_GDC =83
_PI_CMD_GPW =84 _PI_CMD_GPW =84
_PI_CMD_HC =85
_PI_CMD_HP =86
_PI_CMD_NOIB= 99 _PI_CMD_NOIB= 99
@ -495,6 +500,15 @@ _PI_BAD_POINTER =-90
PI_NO_AUX_SPI =-91 PI_NO_AUX_SPI =-91
PI_NOT_PWM_GPIO =-92 PI_NOT_PWM_GPIO =-92
PI_NOT_SERVO_GPIO =-93 PI_NOT_SERVO_GPIO =-93
PI_NOT_HCLK_GPIO =-94
PI_NOT_HPWM_GPIO =-95
PI_BAD_HPWM_FREQ =-96
PI_BAD_HPWM_DUTY =-97
PI_BAD_HCLK_FREQ =-98
PI_BAD_HCLK_PASS =-99
PI_HPWM_ILLEGAL =-100
PI_BAD_DATABITS =-101
PI_BAD_STOPBITS =-102
# pigpio error text # pigpio error text
@ -516,7 +530,7 @@ _errors=[
[PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"], [PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"],
[_PI_NO_ALERT_FUNC , "DEPRECATED"], [_PI_NO_ALERT_FUNC , "DEPRECATED"],
[_PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"], [_PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"],
[_PI_BAD_CLK_SOURCE , "clock source not 0-1"], [_PI_BAD_CLK_SOURCE , "DEPRECATED"],
[_PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"], [_PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"],
[_PI_BAD_BUF_MILLIS , "buf millis not 100-10000"], [_PI_BAD_BUF_MILLIS , "buf millis not 100-10000"],
[PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"], [PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"],
@ -533,7 +547,7 @@ _errors=[
[_PI_INITIALISED , "function called after gpioInitialise"], [_PI_INITIALISED , "function called after gpioInitialise"],
[_PI_BAD_WAVE_MODE , "waveform mode not 0-1"], [_PI_BAD_WAVE_MODE , "waveform mode not 0-1"],
[_PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"], [_PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"],
[PI_BAD_WAVE_BAUD , "baud rate not 100-250000"], [PI_BAD_WAVE_BAUD , "baud rate not 50-250000(RX)/1000000(TX)"],
[PI_TOO_MANY_PULSES , "waveform has too many pulses"], [PI_TOO_MANY_PULSES , "waveform has too many pulses"],
[PI_TOO_MANY_CHARS , "waveform has too many chars"], [PI_TOO_MANY_CHARS , "waveform has too many chars"],
[PI_NOT_SERIAL_GPIO , "no serial read in progress on gpio"], [PI_NOT_SERIAL_GPIO , "no serial read in progress on gpio"],
@ -542,17 +556,17 @@ _errors=[
[PI_BAD_WVSC_COMMND , "bad WVSC subcommand"], [PI_BAD_WVSC_COMMND , "bad WVSC subcommand"],
[PI_BAD_WVSM_COMMND , "bad WVSM subcommand"], [PI_BAD_WVSM_COMMND , "bad WVSM subcommand"],
[PI_BAD_WVSP_COMMND , "bad WVSP subcommand"], [PI_BAD_WVSP_COMMND , "bad WVSP subcommand"],
[PI_BAD_PULSELEN , "trigger pulse length > 100"], [PI_BAD_PULSELEN , "trigger pulse length not 1-100"],
[PI_BAD_SCRIPT , "invalid script"], [PI_BAD_SCRIPT , "invalid script"],
[PI_BAD_SCRIPT_ID , "unknown script id"], [PI_BAD_SCRIPT_ID , "unknown script id"],
[PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"], [PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"],
[PI_GPIO_IN_USE , "gpio already in use"], [PI_GPIO_IN_USE , "gpio already in use"],
[PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"], [PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"],
[PI_BAD_PARAM_NUM , "script parameter must be 0-9"], [PI_BAD_PARAM_NUM , "script parameter id not 0-9"],
[PI_DUP_TAG , "script has duplicate tag"], [PI_DUP_TAG , "script has duplicate tag"],
[PI_TOO_MANY_TAGS , "script has too many tags"], [PI_TOO_MANY_TAGS , "script has too many tags"],
[PI_BAD_SCRIPT_CMD , "illegal script command"], [PI_BAD_SCRIPT_CMD , "illegal script command"],
[PI_BAD_VAR_NUM , "script variable must be 0-149"], [PI_BAD_VAR_NUM , "script variable id not 0-149"],
[PI_NO_SCRIPT_ROOM , "no more room for scripts"], [PI_NO_SCRIPT_ROOM , "no more room for scripts"],
[PI_NO_MEMORY , "can't allocate temporary memory"], [PI_NO_MEMORY , "can't allocate temporary memory"],
[PI_SOCK_READ_FAILED , "socket read failed"], [PI_SOCK_READ_FAILED , "socket read failed"],
@ -590,6 +604,15 @@ _errors=[
[PI_NO_AUX_SPI , "need a B+ for auxiliary SPI"], [PI_NO_AUX_SPI , "need a B+ for auxiliary SPI"],
[PI_NOT_PWM_GPIO , "gpio is not in use for PWM"], [PI_NOT_PWM_GPIO , "gpio is not in use for PWM"],
[PI_NOT_SERVO_GPIO , "gpio is not in use for servo pulses"], [PI_NOT_SERVO_GPIO , "gpio is not in use for servo pulses"],
[PI_NOT_HCLK_GPIO , "gpio has no hardware clock"],
[PI_NOT_HPWM_GPIO , "gpio has no hardware PWM"],
[PI_BAD_HPWM_FREQ , "hardware PWM frequency not 5-250K"],
[PI_BAD_HPWM_DUTY , "hardware PWM dutycycle not 0-1000"],
[PI_BAD_HCLK_FREQ , "hardware clock frequency not 4689-25M"],
[PI_BAD_HCLK_PASS , "need password to use hardware clock 1"],
[PI_HPWM_ILLEGAL , "illegal, PWM in use for main clock"],
[PI_BAD_DATABITS , "serial data bits not 1-32"],
[PI_BAD_STOPBITS , "serial (half) stop bits not 2-8"],
] ]
@ -677,11 +700,11 @@ else:
def _str(x): def _str(x):
return x return x
def u2i(number): def u2i(uint32):
""" """
Converts a 32 bit unsigned number to signed. Converts a 32 bit unsigned number to signed.
number:= an unsigned 32 bit number uint32:= an unsigned 32 bit number
... ...
print(u2i(4294967272)) print(u2i(4294967272))
@ -691,19 +714,19 @@ def u2i(number):
... ...
""" """
mask = (2 ** 32) - 1 mask = (2 ** 32) - 1
if number & (1 << 31): if uint32 & (1 << 31):
v = number | ~mask v = uint32 | ~mask
else: else:
v = number & mask v = uint32 & mask
return v return v
def _u2i(number): def _u2i(uint32):
""" """
Converts a 32 bit unsigned number to signed. If the number Converts a 32 bit unsigned number to signed. If the number
is negative it indicates an error. On error a pigpio is negative it indicates an error. On error a pigpio
exception will be raised if exceptions is True. exception will be raised if exceptions is True.
""" """
v = u2i(number) v = u2i(uint32)
if v < 0: if v < 0:
if exceptions: if exceptions:
raise error(error_text(v)) raise error(error_text(v))
@ -1388,6 +1411,107 @@ class pi():
""" """
return _u2i(_pigpio_command(self.sl, _PI_CMD_BS2, bits, 0)) return _u2i(_pigpio_command(self.sl, _PI_CMD_BS2, bits, 0))
def hardware_clock(self, gpio, clkfreq):
"""
Starts a hardware clock on a gpio at the specified frequency.
gpio:= see description
clkfreq:= 0 (off) or 4689-250M
Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO,
PI_NOT_HCLK_GPIO, PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS.
The same clock is available on multiple gpios. The latest
frequency setting will be used by all gpios which share a clock.
The gpio must be one of the following.
. .
4 clock 0 All models
5 clock 1 A+/B+ and compute module only (reserved for system use)
6 clock 2 A+/B+ and compute module only
20 clock 0 A+/B+ and compute module only
21 clock 1 All models but Rev.2 B (reserved for system use)
32 clock 0 Compute module only
34 clock 0 Compute module only
42 clock 1 Compute module only (reserved for system use)
43 clock 2 Compute module only
44 clock 1 Compute module only (reserved for system use)
. .
Access to clock 1 is protected by a password as its use will
likely crash the Pi. The password is given by or'ing 0x5A000000
with the gpio number.
...
pi.hardware_clock(4, 5000) # 5 KHz clock on gpio 4
pi.hardware_clock(4, 40000000) # 40 MHz clock on gpio 4
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_HC, gpio, clkfreq))
def hardware_PWM(self, gpio, PWMfreq, PWMduty):
"""
Starts hardware PWM on a gpio at the specified
frequency and dutycycle.
NOTE: Any waveform started by [*wave_send_once*],
[*wave_send_repeat*], [*wave_tx_start*], or
[*wave_tx_repeat*] will be cancelled.
This function is only valid if the pigpio main clock is PCM.
The main clock defaults to PCM but may be overridden when the
pigpio daemon is started (option -t).
gpio:= see descripton
PWMfreq:= 0 (off) or 5-250K
PWMduty:= 0 (off) to 1000 (fully on).
Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO,
PI_NOT_HPWM_GPIO, PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ.
Both PWM channels share the same clock and the same update
frequency. The latest frequency setting will be used by
both PWM channels. The same PWM channel is available on
multiple gpios. The latest dutycycle setting will be used
by all gpios which share a PWM channel.
The gpio must be one of the following.
. .
12 PWM channel 0 A+/B+ and compute module only
13 PWM channel 1 A+/B+ and compute module only
18 PWM channel 0 All models
19 PWM channel 1 A+/B+ and compute module only
40 PWM channel 0 Compute module only
41 PWM channel 1 Compute module only
45 PWM channel 1 Compute module only
52 PWM channel 0 Compute module only
53 PWM channel 1 Compute module only
. .
...
pi.hardware_PWM(18, 800, 250) # 800Hz 25% dutycycle
pi.hardware_PWM(18, 2000, 750) # 2000Hz 75% dutycycle
...
"""
# pigpio message format
# I p1 gpio
# I p2 PWMfreq
# I p3 4
## extension ##
# I PWMdutycycle
extents = [struct.pack("I", PWMduty)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_HP, gpio, PWMfreq, 4, extents))
def get_current_tick(self): def get_current_tick(self):
""" """
Returns the current system tick. Returns the current system tick.
@ -1549,49 +1673,60 @@ class pi():
else: else:
return 0 return 0
def wave_add_serial(self, user_gpio, bb_baud, offset, data): def wave_add_serial(
self, user_gpio, bb_baud, data, offset=0, bb_bits=8, bb_stop=2):
""" """
Adds a waveform representing serial data to the existing Adds a waveform representing serial data to the existing
waveform (if any). The serial data starts offset waveform (if any). The serial data starts [*offset*]
microseconds from the start of the waveform. microseconds from the start of the waveform.
user_gpio:= gpio to transmit data. You must set the gpio mode user_gpio:= gpio to transmit data. You must set the gpio mode
to output. to output.
bb_baud:= baud rate to use. bb_baud:= baud rate to use.
offset:= number of microseconds from the starts of the
waveform.
data:= the bytes to write. data:= the bytes to write.
offset:= number of microseconds from the starts of the
waveform, default 0.
bb_bits:= number of data bits, default 8.
bb_stop:= number of stop half bits, default 2.
Returns the new total number of pulses in the current waveform. Returns the new total number of pulses in the current waveform.
The serial data is formatted as one start bit, eight data bits, The serial data is formatted as one start bit, [*bb_bits*]
and one stop bit. data bits, and [*bb_stop*]/2 stop bits.
It is legal to add serial data streams with different baud It is legal to add serial data streams with different baud
rates to the same waveform. rates to the same waveform.
The bytes required for each character depend upon [*bb_bits*].
For [*bb_bits*] 1-8 there will be one byte per character.
For [*bb_bits*] 9-16 there will be two bytes per character.
For [*bb_bits*] 17-32 there will be four bytes per character.
... ...
pi.wave_add_serial(4, 300, 0, 'Hello world') pi.wave_add_serial(4, 300, 'Hello world')
pi.wave_add_serial(4, 300, 0, b"Hello world") pi.wave_add_serial(4, 300, b"Hello world")
pi.wave_add_serial(4, 300, 0, b'\\x23\\x01\\x00\\x45') pi.wave_add_serial(4, 300, b'\\x23\\x01\\x00\\x45')
pi.wave_add_serial(17, 38400, 5000, [23, 128, 234]) pi.wave_add_serial(17, 38400, [23, 128, 234], 5000)
... ...
""" """
# pigpio message format # pigpio message format
# I p1 gpio # I p1 gpio
# I p2 bb_baud # I p2 bb_baud
# I p3 len+4 # I p3 len+12
## extension ## ## extension ##
# I bb_bits
# I bb_stop
# I offset # I offset
# s len data bytes # s len data bytes
if len(data): if len(data):
extents = [struct.pack("I", offset), data] extents = [struct.pack("III", bb_bits, bb_stop, offset), data]
return _u2i(_pigpio_command_ext( return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_WVAS, user_gpio, bb_baud, len(data)+4, extents)) self.sl, _PI_CMD_WVAS, user_gpio, bb_baud, len(data)+12, extents))
else: else:
return 0 return 0
@ -1663,6 +1798,9 @@ class pi():
This function is deprecated and will be removed. This function is deprecated and will be removed.
Use [*wave_create*]/[*wave_send_**] instead. Use [*wave_create*]/[*wave_send_**] instead.
NOTE: Any hardware PWM started by [*hardware_PWM*] will
be cancelled.
""" """
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGO, 0, 0)) return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGO, 0, 0))
@ -1671,6 +1809,9 @@ class pi():
This function is deprecated and will be removed. This function is deprecated and will be removed.
Use [*wave_create*]/[*wave_send_**] instead. Use [*wave_create*]/[*wave_send_**] instead.
NOTE: Any hardware PWM started by [*hardware_PWM*] will
be cancelled.
""" """
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGOR, 0, 0)) return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGOR, 0, 0))
@ -1679,6 +1820,9 @@ class pi():
Transmits the waveform with id wave_id. The waveform is sent Transmits the waveform with id wave_id. The waveform is sent
once. once.
NOTE: Any hardware PWM started by [*hardware_PWM*] will
be cancelled.
wave_id:= >=0 (as returned by a prior call to [*wave_create*]). wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
Returns the number of DMA control blocks used in the waveform. Returns the number of DMA control blocks used in the waveform.
@ -1695,6 +1839,9 @@ class pi():
until wave_tx_stop is called or another call to [*wave_send_**] until wave_tx_stop is called or another call to [*wave_send_**]
is made. is made.
NOTE: Any hardware PWM started by [*hardware_PWM*] will
be cancelled.
wave_id:= >=0 (as returned by a prior call to [*wave_create*]). wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
Returns the number of DMA control blocks used in the waveform. Returns the number of DMA control blocks used in the waveform.
@ -2719,7 +2866,7 @@ class pi():
bb_baud:= 300-250000, the baud rate. bb_baud:= 300-250000, the baud rate.
The serial data is held in a cyclic buffer and is read using The serial data is held in a cyclic buffer and is read using
bb_serial_read. [*bb_serial_read*].
It is the caller's responsibility to read data from the cyclic It is the caller's responsibility to read data from the cyclic
buffer in a timely fashion. buffer in a timely fashion.
@ -2923,6 +3070,16 @@ def xref():
bb_baud: 100 - 250000 bb_baud: 100 - 250000
The baud rate used for the transmission of bit bang serial data. The baud rate used for the transmission of bit bang serial data.
bb_bits: 1-32
The number of data bits to be used when adding serial data to a
waveform.
bb_stop: 2-8
The number of (half) stop bits to be used when adding serial data
to a waveform.
bit: 0-1 bit: 0-1
A value of 0 or 1. A value of 0 or 1.
@ -2938,6 +3095,9 @@ def xref():
byte_val: 0-255 byte_val: 0-255
A whole number. A whole number.
clkfreq: 4689-250M
The hardware clock frequency.
count: count:
The number of bytes of data to be transferred. The number of bytes of data to be transferred.
@ -2966,11 +3126,16 @@ def xref():
RISING_EDGE = 0 RISING_EDGE = 0
errnum: <0 errnum: <0
PI_BAD_DATABITS = -101
PI_BAD_DUTYCYCLE = -8 PI_BAD_DUTYCYCLE = -8
PI_BAD_DUTYRANGE = -21 PI_BAD_DUTYRANGE = -21
PI_BAD_FLAGS = -77 PI_BAD_FLAGS = -77
PI_BAD_GPIO = -3 PI_BAD_GPIO = -3
PI_BAD_HANDLE = -25 PI_BAD_HANDLE = -25
PI_BAD_HCLK_FREQ = -98
PI_BAD_HCLK_PASS = -99
PI_BAD_HPWM_DUTY = -97
PI_BAD_HPWM_FREQ = -96
PI_BAD_I2C_ADDR = -75 PI_BAD_I2C_ADDR = -75
PI_BAD_I2C_BUS = -74 PI_BAD_I2C_BUS = -74
PI_BAD_LEVEL = -5 PI_BAD_LEVEL = -5
@ -2992,6 +3157,7 @@ def xref():
PI_BAD_SPI_CHANNEL = -76 PI_BAD_SPI_CHANNEL = -76
PI_BAD_SPI_COUNT = -84 PI_BAD_SPI_COUNT = -84
PI_BAD_SPI_SPEED = -78 PI_BAD_SPI_SPEED = -78
PI_BAD_STOPBITS = -102
PI_BAD_TAG = -63 PI_BAD_TAG = -63
PI_BAD_USER_GPIO = -2 PI_BAD_USER_GPIO = -2
PI_BAD_VAR_NUM = -56 PI_BAD_VAR_NUM = -56
@ -3004,16 +3170,27 @@ def xref():
PI_DUP_TAG = -53 PI_DUP_TAG = -53
PI_EMPTY_WAVEFORM = -69 PI_EMPTY_WAVEFORM = -69
PI_GPIO_IN_USE = -50 PI_GPIO_IN_USE = -50
PI_HPWM_ILLEGAL = -100
PI_I2C_OPEN_FAILED = -71 PI_I2C_OPEN_FAILED = -71
PI_I2C_READ_FAILED = -83 PI_I2C_READ_FAILED = -83
PI_I2C_WRITE_FAILED = -82 PI_I2C_WRITE_FAILED = -82
PI_NOT_HALTED = -62 PI_NOT_HALTED = -62
PI_NOT_HCLK_GPIO = -94
PI_NOT_HPWM_GPIO = -95
PI_NOT_PERMITTED = -41 PI_NOT_PERMITTED = -41
PI_NOT_PWM_GPIO = -92
PI_NOT_SERIAL_GPIO = -38 PI_NOT_SERIAL_GPIO = -38
PI_NOT_SERVO_GPIO = -93
PI_NO_AUX_SPI = -91
PI_NO_HANDLE = -24 PI_NO_HANDLE = -24
PI_NO_MEMORY = -58 PI_NO_MEMORY = -58
PI_NO_SCRIPT_ROOM = -57 PI_NO_SCRIPT_ROOM = -57
PI_NO_WAVEFORM_ID = -70 PI_NO_WAVEFORM_ID = -70
PI_SCRIPT_FAILED = 4
PI_SCRIPT_HALTED = 1
PI_SCRIPT_INITING = 0
PI_SCRIPT_RUNNING = 2
PI_SCRIPT_WAITING = 3
PI_SER_OPEN_FAILED = -72 PI_SER_OPEN_FAILED = -72
PI_SER_READ_FAILED = -86 PI_SER_READ_FAILED = -86
PI_SER_READ_NO_DATA = -87 PI_SER_READ_NO_DATA = -87
@ -3117,6 +3294,12 @@ def xref():
pulsewidth: pulsewidth:
The servo pulsewidth in microseconds. 0 switches pulses off. The servo pulsewidth in microseconds. 0 switches pulses off.
PWMduty: 0-1000
The hardware PWM dutycycle.
PWMfreq: 5-250K
The hardware PWM frequency.
range_: 25-40000 range_: 25-40000
Defines the limits for the [*dutycycle*] parameter. Defines the limits for the [*dutycycle*] parameter.
@ -3166,6 +3349,9 @@ def xref():
tty: tty:
A Pi serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0 A Pi serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0
uint32:
An unsigned 32 bit number.
user_gpio: 0-31 user_gpio: 0-31
A Broadcom numbered gpio. A Broadcom numbered gpio.

5
pigpiod.1
View File

@ -69,11 +69,6 @@ clock peripheral
0=PWM 1=PCM 0=PWM 1=PCM
default PCM default PCM
.IP "\fB-u value\fP"
clock source
0=OSC 1=PLLD
default PLLD
.IP "\fB-x mask\fP" .IP "\fB-x mask\fP"
gpios which may be updated gpios which may be updated
A 54 bit mask with (1<<n) set if the user may update gpio #n. A 54 bit mask with (1<<n) set if the user may update gpio #n.

16
pigpiod.c
View File

@ -26,7 +26,7 @@ For more information, please refer to <http://unlicense.org/>
*/ */
/* /*
This version is for pigpio version 14+ This version is for pigpio version 24+
*/ */
#include <sys/types.h> #include <sys/types.h>
@ -52,7 +52,6 @@ This program starts the pigpio library as a daemon.
static unsigned bufferSizeMilliseconds = PI_DEFAULT_BUFFER_MILLIS; static unsigned bufferSizeMilliseconds = PI_DEFAULT_BUFFER_MILLIS;
static unsigned clockMicros = PI_DEFAULT_CLK_MICROS; static unsigned clockMicros = PI_DEFAULT_CLK_MICROS;
static unsigned clockPeripheral = PI_DEFAULT_CLK_PERIPHERAL; static unsigned clockPeripheral = PI_DEFAULT_CLK_PERIPHERAL;
static unsigned clockSource = PI_DEFAULT_CLK_SOURCE;
static unsigned ifFlags = PI_DEFAULT_IF_FLAGS; static unsigned ifFlags = PI_DEFAULT_IF_FLAGS;
static unsigned DMAprimaryChannel = PI_DEFAULT_DMA_PRIMARY_CHANNEL; static unsigned DMAprimaryChannel = PI_DEFAULT_DMA_PRIMARY_CHANNEL;
static unsigned DMAsecondaryChannel = PI_DEFAULT_DMA_SECONDARY_CHANNEL; static unsigned DMAsecondaryChannel = PI_DEFAULT_DMA_SECONDARY_CHANNEL;
@ -91,7 +90,6 @@ void usage()
" -p value, socket port, 1024-32000, default 8888\n" \ " -p value, socket port, 1024-32000, default 8888\n" \
" -s value, sample rate, 1, 2, 4, 5, 8, or 10, default 5\n" \ " -s value, sample rate, 1, 2, 4, 5, 8, or 10, default 5\n" \
" -t value, clock peripheral, 0=PWM 1=PCM, default PCM\n" \ " -t value, clock peripheral, 0=PWM 1=PCM, default PCM\n" \
" -u value, clock source, 0=OSC 1=PLLD, default PLLD\n" \
" -x mask, gpios which may be updated, default board user gpios\n" \ " -x mask, gpios which may be updated, default board user gpios\n" \
"EXAMPLE\n" \ "EXAMPLE\n" \
"sudo pigpiod -s 2 -b 200 -f\n" \ "sudo pigpiod -s 2 -b 200 -f\n" \
@ -106,7 +104,7 @@ static void initOpts(int argc, char *argv[])
uint64_t mask; uint64_t mask;
char * endptr; char * endptr;
while ((opt = getopt(argc, argv, "b:d:e:fkp:s:t:u:x:")) != -1) while ((opt = getopt(argc, argv, "b:d:e:fkp:s:t:x:")) != -1)
{ {
i = -1; i = -1;
@ -175,13 +173,6 @@ static void initOpts(int argc, char *argv[])
else fatal("invalid -t option (%d)", i); else fatal("invalid -t option (%d)", i);
break; break;
case 'u':
i = atoi(optarg);
if ((i >= PI_CLOCK_OSC) && (i <= PI_CLOCK_PLLD))
clockSource = i;
else fatal("invalid -u option (%d)", i);
break;
case 'x': case 'x':
mask = strtoll(optarg, &endptr, 0); mask = strtoll(optarg, &endptr, 0);
if (!*endptr) if (!*endptr)
@ -261,7 +252,7 @@ int main(int argc, char **argv)
gpioCfgBufferSize(bufferSizeMilliseconds); gpioCfgBufferSize(bufferSizeMilliseconds);
gpioCfgClock(clockMicros, clockPeripheral, clockSource); gpioCfgClock(clockMicros, clockPeripheral, 0);
gpioCfgInterfaces(ifFlags); gpioCfgInterfaces(ifFlags);
@ -318,3 +309,4 @@ int main(int argc, char **argv)
return 0; return 0;
} }

322
pigpiod_if.3
View File

@ -1084,6 +1084,154 @@ Returns 0 if OK, otherwise PI_SOME_PERMITTED.
A status of PI_SOME_PERMITTED indicates that the user is not A status of PI_SOME_PERMITTED indicates that the user is not
allowed to write to one or more of the gpios. allowed to write to one or more of the gpios.
.IP "\fBint hardware_clock(unsigned gpio, unsigned clkfreq)\fP"
.IP "" 4
Starts a hardware clock on a gpio at the specified frequency.
.br
.br
.EX
gpio: see description
.br
frequency: 0 (off) or 4689-250M
.br
.EE
.br
.br
Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO,
PI_NOT_HCLK_GPIO, PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS.
.br
.br
The same clock is available on multiple gpios. The latest
frequency setting will be used by all gpios which share a clock.
.br
.br
The gpio must be one of the following.
.br
.br
.EX
4 clock 0 All models
.br
5 clock 1 A+/B+ and compute module only (reserved for system use)
.br
6 clock 2 A+/B+ and compute module only
.br
20 clock 0 A+/B+ and compute module only
.br
21 clock 1 All models but Rev.2 B (reserved for system use)
.br
.br
32 clock 0 Compute module only
.br
34 clock 0 Compute module only
.br
42 clock 1 Compute module only (reserved for system use)
.br
43 clock 2 Compute module only
.br
44 clock 1 Compute module only (reserved for system use)
.br
.EE
.br
.br
Access to clock 1 is protected by a password as its use will likely
crash the Pi. The password is given by or'ing 0x5A000000 with the
gpio number.
.IP "\fBint hardware_PWM(unsigned gpio, unsigned PWMfreq, uint32_t PWMduty)\fP"
.IP "" 4
Starts hardware PWM on a gpio at the specified frequency and dutycycle.
.br
.br
NOTE: Any waveform started by \fBwave_send_once\fP, \fBwave_send_repeat\fP, \fBwave_tx_start\fP, or \fBwave_tx_repeat\fP will be cancelled.
.br
.br
This function is only valid if the pigpio main clock is PCM. The
main clock defaults to PCM but may be overridden when the pigpio
daemon is started (option -t).
.br
.br
.EX
gpio: see descripton
.br
PWMfreq: 0 (off) or 5-250K
.br
PWMduty: 0 (off) to 1000 (fully on).
.br
.EE
.br
.br
Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO,
PI_NOT_HPWM_GPIO, PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ,
or PI_HPWM_ILLEGAL.
.br
.br
Both PWM channels share the same clock and the same update frequency.
The latest frequency setting will be used by both PWM channels. The
same PWM channel is available on multiple gpios. The latest
dutycycle setting will be used by all gpios which share a PWM channel.
.br
.br
The gpio must be one of the following.
.br
.br
.EX
12 PWM channel 0 A+/B+ and compute module only
.br
13 PWM channel 1 A+/B+ and compute module only
.br
18 PWM channel 0 All models
.br
19 PWM channel 1 A+/B+ and compute module only
.br
.br
40 PWM channel 0 Compute module only
.br
41 PWM channel 1 Compute module only
.br
45 PWM channel 1 Compute module only
.br
52 PWM channel 0 Compute module only
.br
53 PWM channel 1 Compute module only
.br
.EE
.IP "\fBuint32_t get_current_tick(void)\fP" .IP "\fBuint32_t get_current_tick(void)\fP"
.IP "" 4 .IP "" 4
Gets the current system tick. Gets the current system tick.
@ -1227,11 +1375,11 @@ for gpio#1 can be added, and then gpio#2 etc.
If the added waveform is intended to start after or within the existing If the added waveform is intended to start after or within the existing
waveform then the first pulse should consist solely of a delay. waveform then the first pulse should consist solely of a delay.
.IP "\fBint wave_add_serial(unsigned user_gpio, unsigned bbBaud, unsigned offset, unsigned numChar, char *str)\fP" .IP "\fBint wave_add_serial(unsigned user_gpio, unsigned bbBaud, unsigned bbBits, unsigned bbStop, unsigned offset, unsigned numBytes, char *str)\fP"
.IP "" 4 .IP "" 4
This function adds a waveform representing serial data to the This function adds a waveform representing serial data to the
existing waveform (if any). The serial data starts offset microseconds existing waveform (if any). The serial data starts offset
from the start of the waveform. microseconds from the start of the waveform.
.br .br
@ -1241,10 +1389,14 @@ from the start of the waveform.
user_gpio: 0-31. user_gpio: 0-31.
.br .br
bbBaud: 100-250000 bbBaud: 100-250000
.br
bbBits: number of data bits (1-32)
.br
bbStop: number of stop half bits (2-8)
.br .br
offset: 0- offset: 0-
.br .br
numChar: 1- numBytes: 1-
.br .br
str: an array of chars. str: an array of chars.
.br .br
@ -1255,8 +1407,9 @@ user_gpio: 0-31.
.br .br
Returns the new total number of pulses in the current waveform if OK, Returns the new total number of pulses in the current waveform if OK,
otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_TOO_MANY_CHARS, or otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS,
PI_TOO_MANY_PULSES. PI_BAD_STOP_BITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET,
or PI_TOO_MANY_PULSES.
.br .br
@ -1266,8 +1419,8 @@ NOTES:
.br .br
.br .br
The serial data is formatted as one start bit, eight data bits, and one The serial data is formatted as one start bit, \fBbbBits\fP data bits,
stop bit. and \fBbbStop\fP/2 stop bits.
.br .br
@ -1275,6 +1428,25 @@ stop bit.
It is legal to add serial data streams with different baud rates to It is legal to add serial data streams with different baud rates to
the same waveform. the same waveform.
.br
.br
\fBnumBytes\fP is the number of bytes of data in str.
.br
.br
The bytes required for each character depend upon \fBbbBits\fP.
.br
.br
For \fBbbBits\fP 1-8 there will be one byte per character.
.br
For \fBbbBits\fP 9-16 there will be two bytes per character.
.br
For \fBbbBits\fP 17-32 there will be four bytes per character.
.IP "\fBint wave_create(void)\fP" .IP "\fBint wave_create(void)\fP"
.IP "" 4 .IP "" 4
This function creates a waveform from the data provided by the prior This function creates a waveform from the data provided by the prior
@ -1409,13 +1581,31 @@ Returns 0 if OK, otherwise PI_BAD_WAVE_ID.
.IP "\fBint wave_tx_start(void)\fP" .IP "\fBint wave_tx_start(void)\fP"
.IP "" 4 .IP "" 4
This function is deprecated and should no longer be used. Use This function is deprecated and should no longer be used.
\fBwave_create\fP/\fBwave_send_*\fP instead.
.br
.br
Use \fBwave_create\fP/\fBwave_send_*\fP instead.
.br
.br
NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled.
.IP "\fBint wave_tx_repeat(void)\fP" .IP "\fBint wave_tx_repeat(void)\fP"
.IP "" 4 .IP "" 4
This function is deprecated and should no longer be used. Use This function is deprecated and should no longer be used.
\fBwave_create\fP/\fBwave_send_*\fP instead.
.br
.br
Use \fBwave_create\fP/\fBwave_send_*\fP instead.
.br
.br
NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled.
.IP "\fBint wave_send_once(unsigned wave_id)\fP" .IP "\fBint wave_send_once(unsigned wave_id)\fP"
.IP "" 4 .IP "" 4
@ -1424,6 +1614,11 @@ is sent once.
.br .br
.br
NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled.
.br
.br .br
.EX .EX
@ -1446,6 +1641,11 @@ by \fBwave_tx_stop\fP).
.br .br
.br
NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled.
.br
.br .br
.EX .EX
@ -2792,6 +2992,54 @@ PI_WAVE_MAX_BAUD 250000
.br .br
.IP "\fBbbBits\fP: 1-32" 0
.br
.br
The number of data bits to be used when adding serial data to a
waveform.
.br
.br
.EX
#define PI_MIN_WAVE_DATABITS 1
.br
#define PI_MAX_WAVE_DATABITS 32
.br
.EE
.br
.br
.IP "\fBbbStop\fP: 2-8" 0
.br
.br
The number of (half) stop bits to be used when adding serial data
to a waveform.
.br
.br
.EX
#define PI_MIN_WAVE_HALFSTOPBITS 2
.br
#define PI_MAX_WAVE_HALFSTOPBITS 8
.br
.EE
.br
.br
.IP "\fBbit\fP" 0 .IP "\fBbit\fP" 0
A value of 0 or 1. A value of 0 or 1.
@ -2878,10 +3126,6 @@ typedef void (*CBFuncEx_t)
.br .br
.br
.br
.IP "\fBchar\fP" 0 .IP "\fBchar\fP" 0
A single character, an 8 bit quantity able to store 0-255. A single character, an 8 bit quantity able to store 0-255.
@ -2889,6 +3133,13 @@ A single character, an 8 bit quantity able to store 0-255.
.br .br
.IP "\fBclkfreq\fP: 4689-250M" 0
The hardware clock frequency.
.br
.br
.IP "\fBcount\fP" 0 .IP "\fBcount\fP" 0
The number of bytes to be transferred in an I2C, SPI, or Serial The number of bytes to be transferred in an I2C, SPI, or Serial
command. command.
@ -3138,9 +3389,10 @@ PI_ALT5 2
.br .br
.IP "\fBnumChar\fP" 0 .IP "\fBnumBytes\fP" 0
The number of characters in a string (used when the string might contain The number of bytes used to store characters in a string. Depending
null characters, which would normally terminate the string). on the number of bits per character there may be 1, 2, or 4 bytes
per character.
.br .br
@ -3255,6 +3507,38 @@ PI_MAX_SERVO_PULSEWIDTH 2500
.br .br
.IP "\fBPWMduty\fP: 0-1000" 0
The hardware PWM dutycycle.
.br
.br
.EX
#define PI_HW_PWM_RANGE 1000
.br
.EE
.br
.br
.IP "\fBPWMfreq\fP: 5-250K" 0
The hardware PWM frequency.
.br
.br
.EX
#define PI_HW_PWM_MIN_FREQ 5
.br
#define PI_HW_PWM_MAX_FREQ 250000
.br
.EE
.br .br
.br .br

319
pigpiod_if.c
View File

@ -25,7 +25,7 @@ OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to <http://unlicense.org/> For more information, please refer to <http://unlicense.org/>
*/ */
/* PIGPIOD_IF_VERSION 11 */ /* PIGPIOD_IF_VERSION 13 */
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
@ -88,9 +88,11 @@ static int gPigStarted = 0;
static pthread_t *pthNotify; static pthread_t *pthNotify;
static pthread_mutex_t command_mutex = PTHREAD_MUTEX_INITIALIZER;
/* PRIVATE ---------------------------------------------------------------- */ /* PRIVATE ---------------------------------------------------------------- */
static int pigpio_command(int fd, int command, int p1, int p2) static int pigpio_command(int fd, int command, int p1, int p2, int rl)
{ {
cmdCmd_t cmd; cmdCmd_t cmd;
@ -99,16 +101,28 @@ static int pigpio_command(int fd, int command, int p1, int p2)
cmd.p2 = p2; cmd.p2 = p2;
cmd.res = 0; cmd.res = 0;
if (send(fd, &cmd, sizeof(cmd), 0) != sizeof(cmd)) return pigif_bad_send; pthread_mutex_lock(&command_mutex);
if (send(fd, &cmd, sizeof(cmd), 0) != sizeof(cmd))
{
pthread_mutex_unlock(&command_mutex);
return pigif_bad_send;
}
if (recv(fd, &cmd, sizeof(cmd), MSG_WAITALL) != sizeof(cmd)) if (recv(fd, &cmd, sizeof(cmd), MSG_WAITALL) != sizeof(cmd))
{
pthread_mutex_unlock(&command_mutex);
return pigif_bad_recv; return pigif_bad_recv;
}
if (rl) pthread_mutex_unlock(&command_mutex);
return cmd.res; return cmd.res;
} }
static int pigpio_command_ext static int pigpio_command_ext
(int fd, int command, int p1, int p2, int p3, int extents, gpioExtent_t *ext) (int fd, int command, int p1, int p2, int p3,
int extents, gpioExtent_t *ext, int rl)
{ {
int i; int i;
cmdCmd_t cmd; cmdCmd_t cmd;
@ -118,16 +132,30 @@ static int pigpio_command_ext
cmd.p2 = p2; cmd.p2 = p2;
cmd.p3 = p3; cmd.p3 = p3;
if (send(fd, &cmd, sizeof(cmd), 0) != sizeof(cmd)) return pigif_bad_send; pthread_mutex_lock(&command_mutex);
if (send(fd, &cmd, sizeof(cmd), 0) != sizeof(cmd))
{
pthread_mutex_unlock(&command_mutex);
return pigif_bad_send;
}
for (i=0; i<extents; i++) for (i=0; i<extents; i++)
{ {
if (send(fd, ext[i].ptr, ext[i].size, 0) != ext[i].size) if (send(fd, ext[i].ptr, ext[i].size, 0) != ext[i].size)
{
pthread_mutex_unlock(&command_mutex);
return pigif_bad_send; return pigif_bad_send;
}
} }
if (recv(fd, &cmd, sizeof(cmd), MSG_WAITALL) != sizeof(cmd)) if (recv(fd, &cmd, sizeof(cmd), MSG_WAITALL) != sizeof(cmd))
{
pthread_mutex_unlock(&command_mutex);
return pigif_bad_recv; return pigif_bad_recv;
}
if (rl) pthread_mutex_unlock(&command_mutex);
return cmd.res; return cmd.res;
} }
@ -290,7 +318,7 @@ static void findNotifyBits(void)
if (bits != gNotifyBits) if (bits != gNotifyBits)
{ {
gNotifyBits = bits; gNotifyBits = bits;
pigpio_command(gPigCommand, PI_CMD_NB, gPigHandle, gNotifyBits); pigpio_command(gPigCommand, PI_CMD_NB, gPigHandle, gNotifyBits, 1);
} }
} }
@ -474,7 +502,7 @@ int pigpio_start(char *addrStr, char *portStr)
if (gPigNotify >= 0) if (gPigNotify >= 0)
{ {
gPigHandle = pigpio_command(gPigNotify, PI_CMD_NOIB, 0, 0); gPigHandle = pigpio_command(gPigNotify, PI_CMD_NOIB, 0, 0, 1);
if (gPigHandle < 0) return pigif_bad_noib; if (gPigHandle < 0) return pigif_bad_noib;
else else
@ -509,7 +537,7 @@ void pigpio_stop(void)
{ {
if (gPigHandle >= 0) if (gPigHandle >= 0)
{ {
pigpio_command(gPigNotify, PI_CMD_NC, gPigHandle, 0); pigpio_command(gPigNotify, PI_CMD_NC, gPigHandle, 0, 1);
gPigHandle = -1; gPigHandle = -1;
} }
@ -521,7 +549,7 @@ void pigpio_stop(void)
{ {
if (gPigHandle >= 0) if (gPigHandle >= 0)
{ {
pigpio_command(gPigCommand, PI_CMD_NC, gPigHandle, 0); pigpio_command(gPigCommand, PI_CMD_NC, gPigHandle, 0, 1);
gPigHandle = -1; gPigHandle = -1;
} }
@ -531,94 +559,116 @@ void pigpio_stop(void)
} }
int set_mode(unsigned gpio, unsigned mode) int set_mode(unsigned gpio, unsigned mode)
{return pigpio_command(gPigCommand, PI_CMD_MODES, gpio, mode);} {return pigpio_command(gPigCommand, PI_CMD_MODES, gpio, mode, 1);}
int get_mode(unsigned gpio) int get_mode(unsigned gpio)
{return pigpio_command(gPigCommand, PI_CMD_MODEG, gpio, 0);} {return pigpio_command(gPigCommand, PI_CMD_MODEG, gpio, 0, 1);}
int set_pull_up_down(unsigned gpio, unsigned pud) int set_pull_up_down(unsigned gpio, unsigned pud)
{return pigpio_command(gPigCommand, PI_CMD_PUD, gpio, pud);} {return pigpio_command(gPigCommand, PI_CMD_PUD, gpio, pud, 1);}
int gpio_read(unsigned gpio) int gpio_read(unsigned gpio)
{return pigpio_command(gPigCommand, PI_CMD_READ, gpio, 0);} {return pigpio_command(gPigCommand, PI_CMD_READ, gpio, 0, 1);}
int gpio_write(unsigned gpio, unsigned level) int gpio_write(unsigned gpio, unsigned level)
{return pigpio_command(gPigCommand, PI_CMD_WRITE, gpio, level);} {return pigpio_command(gPigCommand, PI_CMD_WRITE, gpio, level, 1);}
int set_PWM_dutycycle(unsigned user_gpio, unsigned dutycycle) int set_PWM_dutycycle(unsigned user_gpio, unsigned dutycycle)
{return pigpio_command(gPigCommand, PI_CMD_PWM, user_gpio, dutycycle);} {return pigpio_command(gPigCommand, PI_CMD_PWM, user_gpio, dutycycle, 1);}
int get_PWM_dutycycle(unsigned user_gpio) int get_PWM_dutycycle(unsigned user_gpio)
{return pigpio_command(gPigCommand, PI_CMD_GDC, user_gpio, 0);} {return pigpio_command(gPigCommand, PI_CMD_GDC, user_gpio, 0, 1);}
int set_PWM_range(unsigned user_gpio, unsigned range) int set_PWM_range(unsigned user_gpio, unsigned range)
{return pigpio_command(gPigCommand, PI_CMD_PRS, user_gpio, range);} {return pigpio_command(gPigCommand, PI_CMD_PRS, user_gpio, range, 1);}
int get_PWM_range(unsigned user_gpio) int get_PWM_range(unsigned user_gpio)
{return pigpio_command(gPigCommand, PI_CMD_PRG, user_gpio, 0);} {return pigpio_command(gPigCommand, PI_CMD_PRG, user_gpio, 0, 1);}
int get_PWM_real_range(unsigned user_gpio) int get_PWM_real_range(unsigned user_gpio)
{return pigpio_command(gPigCommand, PI_CMD_PRRG, user_gpio, 0);} {return pigpio_command(gPigCommand, PI_CMD_PRRG, user_gpio, 0, 1);}
int set_PWM_frequency(unsigned user_gpio, unsigned frequency) int set_PWM_frequency(unsigned user_gpio, unsigned frequency)
{return pigpio_command(gPigCommand, PI_CMD_PFS, user_gpio, frequency);} {return pigpio_command(gPigCommand, PI_CMD_PFS, user_gpio, frequency, 1);}
int get_PWM_frequency(unsigned user_gpio) int get_PWM_frequency(unsigned user_gpio)
{return pigpio_command(gPigCommand, PI_CMD_PFG, user_gpio, 0);} {return pigpio_command(gPigCommand, PI_CMD_PFG, user_gpio, 0, 1);}
int set_servo_pulsewidth(unsigned user_gpio, unsigned pulsewidth) int set_servo_pulsewidth(unsigned user_gpio, unsigned pulsewidth)
{return pigpio_command(gPigCommand, PI_CMD_SERVO, user_gpio, pulsewidth);} {return pigpio_command(gPigCommand, PI_CMD_SERVO, user_gpio, pulsewidth, 1);}
int get_servo_pulsewidth(unsigned user_gpio) int get_servo_pulsewidth(unsigned user_gpio)
{return pigpio_command(gPigCommand, PI_CMD_GPW, user_gpio, 0);} {return pigpio_command(gPigCommand, PI_CMD_GPW, user_gpio, 0, 1);}
int notify_open(void) int notify_open(void)
{return pigpio_command(gPigCommand, PI_CMD_NO, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_NO, 0, 0, 1);}
int notify_begin(unsigned handle, uint32_t bits) int notify_begin(unsigned handle, uint32_t bits)
{return pigpio_command(gPigCommand, PI_CMD_NB, handle, bits);} {return pigpio_command(gPigCommand, PI_CMD_NB, handle, bits, 1);}
int notify_pause(unsigned handle) int notify_pause(unsigned handle)
{return pigpio_command(gPigCommand, PI_CMD_NB, handle, 0);} {return pigpio_command(gPigCommand, PI_CMD_NB, handle, 0, 1);}
int notify_close(unsigned handle) int notify_close(unsigned handle)
{return pigpio_command(gPigCommand, PI_CMD_NC, handle, 0);} {return pigpio_command(gPigCommand, PI_CMD_NC, handle, 0, 1);}
int set_watchdog(unsigned user_gpio, unsigned timeout) int set_watchdog(unsigned user_gpio, unsigned timeout)
{return pigpio_command(gPigCommand, PI_CMD_WDOG, user_gpio, timeout);} {return pigpio_command(gPigCommand, PI_CMD_WDOG, user_gpio, timeout, 1);}
uint32_t read_bank_1(void) uint32_t read_bank_1(void)
{return pigpio_command(gPigCommand, PI_CMD_BR1, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_BR1, 0, 0, 1);}
uint32_t read_bank_2(void) uint32_t read_bank_2(void)
{return pigpio_command(gPigCommand, PI_CMD_BR2, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_BR2, 0, 0, 1);}
int clear_bank_1(uint32_t levels) int clear_bank_1(uint32_t levels)
{return pigpio_command(gPigCommand, PI_CMD_BC1, levels, 0);} {return pigpio_command(gPigCommand, PI_CMD_BC1, levels, 0, 1);}
int clear_bank_2(uint32_t levels) int clear_bank_2(uint32_t levels)
{return pigpio_command(gPigCommand, PI_CMD_BC2, levels, 0);} {return pigpio_command(gPigCommand, PI_CMD_BC2, levels, 0, 1);}
int set_bank_1(uint32_t levels) int set_bank_1(uint32_t levels)
{return pigpio_command(gPigCommand, PI_CMD_BS1, levels, 0);} {return pigpio_command(gPigCommand, PI_CMD_BS1, levels, 0, 1);}
int set_bank_2(uint32_t levels) int set_bank_2(uint32_t levels)
{return pigpio_command(gPigCommand, PI_CMD_BS2, levels, 0);} {return pigpio_command(gPigCommand, PI_CMD_BS2, levels, 0, 1);}
int hardware_clock(unsigned gpio, unsigned frequency)
{return pigpio_command(gPigCommand, PI_CMD_HC, gpio, frequency, 1);}
int hardware_PWM(unsigned gpio, unsigned frequency, uint32_t dutycycle)
{
gpioExtent_t ext[1];
/*
p1=gpio
p2=frequency
p3=4
## extension ##
uint32_t dutycycle
*/
ext[0].size = sizeof(dutycycle);
ext[0].ptr = &dutycycle;
return pigpio_command_ext(
gPigCommand, PI_CMD_HP, gpio, frequency, sizeof(dutycycle), 1, ext, 1);
}
uint32_t get_current_tick(void) uint32_t get_current_tick(void)
{return pigpio_command(gPigCommand, PI_CMD_TICK, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_TICK, 0, 0, 1);}
uint32_t get_hardware_revision(void) uint32_t get_hardware_revision(void)
{return pigpio_command(gPigCommand, PI_CMD_HWVER, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_HWVER, 0, 0, 1);}
uint32_t get_pigpio_version(void) uint32_t get_pigpio_version(void)
{return pigpio_command(gPigCommand, PI_CMD_PIGPV, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_PIGPV, 0, 0, 1);}
int wave_clear(void) int wave_clear(void)
{return pigpio_command(gPigCommand, PI_CMD_WVCLR, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVCLR, 0, 0, 1);}
int wave_add_new(void) int wave_add_new(void)
{return pigpio_command(gPigCommand, PI_CMD_WVNEW, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVNEW, 0, 0, 1);}
int wave_add_generic(unsigned numPulses, gpioPulse_t *pulses) int wave_add_generic(unsigned numPulses, gpioPulse_t *pulses)
{ {
@ -638,88 +688,95 @@ int wave_add_generic(unsigned numPulses, gpioPulse_t *pulses)
ext[0].ptr = pulses; ext[0].ptr = pulses;
return pigpio_command_ext( return pigpio_command_ext(
gPigCommand, PI_CMD_WVAG, 0, 0, ext[0].size, 1, ext); gPigCommand, PI_CMD_WVAG, 0, 0, ext[0].size, 1, ext, 1);
} }
int wave_add_serial( int wave_add_serial(
unsigned user_gpio, unsigned baud, unsigned offset, unsigned user_gpio, unsigned baud, uint32_t databits,
unsigned numChar, char *str) uint32_t stophalfbits, uint32_t offset, unsigned numChar, char *str)
{ {
gpioExtent_t ext[3]; uint8_t buf[12];
gpioExtent_t ext[2];
/* /*
p1=user_gpio p1=user_gpio
p2=baud p2=baud
p3=len+4 p3=len+12
## extension ## ## extension ##
unsigned offset uint32_t databits
uint32_t stophalfbits
uint32_t offset
char[len] str char[len] str
*/ */
if (!numChar) return 0; if (!numChar) return 0;
ext[0].size = sizeof(unsigned); memcpy(buf, &databits, 4);
ext[0].ptr = &offset; memcpy(buf+4, &stophalfbits, 4);
memcpy(buf+8, &offset, 4);
ext[0].size = sizeof(buf);
ext[0].ptr = buf;
ext[1].size = numChar; ext[1].size = numChar;
ext[1].ptr = str; ext[1].ptr = str;
return pigpio_command_ext( return pigpio_command_ext(gPigCommand, PI_CMD_WVAS,
gPigCommand, PI_CMD_WVAS, user_gpio, baud, numChar+4, 2, ext); user_gpio, baud, numChar+sizeof(buf), 2, ext, 1);
} }
int wave_create(void) int wave_create(void)
{return pigpio_command(gPigCommand, PI_CMD_WVCRE, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVCRE, 0, 0, 1);}
int wave_delete(unsigned wave_id) int wave_delete(unsigned wave_id)
{return pigpio_command(gPigCommand, PI_CMD_WVDEL, wave_id, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVDEL, wave_id, 0, 1);}
int wave_tx_start(void) /* DEPRECATED */ int wave_tx_start(void) /* DEPRECATED */
{return pigpio_command(gPigCommand, PI_CMD_WVGO, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVGO, 0, 0, 1);}
int wave_tx_repeat(void) /* DEPRECATED */ int wave_tx_repeat(void) /* DEPRECATED */
{return pigpio_command(gPigCommand, PI_CMD_WVGOR, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVGOR, 0, 0, 1);}
int wave_send_once(unsigned wave_id) int wave_send_once(unsigned wave_id)
{return pigpio_command(gPigCommand, PI_CMD_WVTX, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVTX, 0, 0, 1);}
int wave_send_repeat(unsigned wave_id) int wave_send_repeat(unsigned wave_id)
{return pigpio_command(gPigCommand, PI_CMD_WVTXR, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVTXR, 0, 0, 1);}
int wave_tx_busy(void) int wave_tx_busy(void)
{return pigpio_command(gPigCommand, PI_CMD_WVBSY, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVBSY, 0, 0, 1);}
int wave_tx_stop(void) int wave_tx_stop(void)
{return pigpio_command(gPigCommand, PI_CMD_WVHLT, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVHLT, 0, 0, 1);}
int wave_get_micros(void) int wave_get_micros(void)
{return pigpio_command(gPigCommand, PI_CMD_WVSM, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVSM, 0, 0, 1);}
int wave_get_high_micros(void) int wave_get_high_micros(void)
{return pigpio_command(gPigCommand, PI_CMD_WVSM, 1, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVSM, 1, 0, 1);}
int wave_get_max_micros(void) int wave_get_max_micros(void)
{return pigpio_command(gPigCommand, PI_CMD_WVSM, 2, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVSM, 2, 0, 1);}
int wave_get_pulses(void) int wave_get_pulses(void)
{return pigpio_command(gPigCommand, PI_CMD_WVSP, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVSP, 0, 0, 1);}
int wave_get_high_pulses(void) int wave_get_high_pulses(void)
{return pigpio_command(gPigCommand, PI_CMD_WVSP, 1, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVSP, 1, 0, 1);}
int wave_get_max_pulses(void) int wave_get_max_pulses(void)
{return pigpio_command(gPigCommand, PI_CMD_WVSP, 2, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVSP, 2, 0, 1);}
int wave_get_cbs(void) int wave_get_cbs(void)
{return pigpio_command(gPigCommand, PI_CMD_WVSC, 0, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVSC, 0, 0, 1);}
int wave_get_high_cbs(void) int wave_get_high_cbs(void)
{return pigpio_command(gPigCommand, PI_CMD_WVSC, 1, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVSC, 1, 0, 1);}
int wave_get_max_cbs(void) int wave_get_max_cbs(void)
{return pigpio_command(gPigCommand, PI_CMD_WVSC, 2, 0);} {return pigpio_command(gPigCommand, PI_CMD_WVSC, 2, 0, 1);}
int gpio_trigger(unsigned user_gpio, unsigned pulseLen, unsigned level) int gpio_trigger(unsigned user_gpio, unsigned pulseLen, uint32_t level)
{ {
gpioExtent_t ext[1]; gpioExtent_t ext[1];
@ -731,11 +788,11 @@ int gpio_trigger(unsigned user_gpio, unsigned pulseLen, unsigned level)
unsigned level unsigned level
*/ */
ext[0].size = sizeof(level); ext[0].size = sizeof(uint32_t);
ext[0].ptr = &level; ext[0].ptr = &level;
return pigpio_command_ext( return pigpio_command_ext(
gPigCommand, PI_CMD_TRIG, user_gpio, pulseLen, 4, 1, ext); gPigCommand, PI_CMD_TRIG, user_gpio, pulseLen, 4, 1, ext, 1);
} }
int store_script(char *script) int store_script(char *script)
@ -758,7 +815,7 @@ int store_script(char *script)
ext[0].size = len; ext[0].size = len;
ext[0].ptr = script; ext[0].ptr = script;
return pigpio_command_ext(gPigCommand, PI_CMD_PROC, 0, 0, len, 1, ext); return pigpio_command_ext(gPigCommand, PI_CMD_PROC, 0, 0, len, 1, ext, 1);
} }
int run_script(unsigned script_id, unsigned numPar, uint32_t *param) int run_script(unsigned script_id, unsigned numPar, uint32_t *param)
@ -777,7 +834,7 @@ int run_script(unsigned script_id, unsigned numPar, uint32_t *param)
ext[0].ptr = param; ext[0].ptr = param;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_PROCR, script_id, 0, numPar*4, 1, ext); (gPigCommand, PI_CMD_PROCR, script_id, 0, numPar*4, 1, ext, 1);
} }
int script_status(unsigned script_id, uint32_t *param) int script_status(unsigned script_id, uint32_t *param)
@ -785,7 +842,7 @@ int script_status(unsigned script_id, uint32_t *param)
int status; int status;
uint32_t p[PI_MAX_SCRIPT_PARAMS+1]; /* space for script status */ uint32_t p[PI_MAX_SCRIPT_PARAMS+1]; /* space for script status */
status = pigpio_command(gPigCommand, PI_CMD_PROCP, script_id, 0); status = pigpio_command(gPigCommand, PI_CMD_PROCP, script_id, 0, 0);
if (status > 0) if (status > 0)
{ {
@ -796,36 +853,41 @@ int script_status(unsigned script_id, uint32_t *param)
if (param) memcpy(param, p+1, sizeof(p)-4); if (param) memcpy(param, p+1, sizeof(p)-4);
} }
pthread_mutex_unlock(&command_mutex);
return status; return status;
} }
int stop_script(unsigned script_id) int stop_script(unsigned script_id)
{return pigpio_command(gPigCommand, PI_CMD_PROCS, script_id, 0);} {return pigpio_command(gPigCommand, PI_CMD_PROCS, script_id, 0, 1);}
int delete_script(unsigned script_id) int delete_script(unsigned script_id)
{return pigpio_command(gPigCommand, PI_CMD_PROCD, script_id, 0);} {return pigpio_command(gPigCommand, PI_CMD_PROCD, script_id, 0, 1);}
int bb_serial_read_open(unsigned user_gpio, unsigned baud) int bb_serial_read_open(unsigned user_gpio, unsigned baud)
{return pigpio_command(gPigCommand, PI_CMD_SLRO, user_gpio, baud);} {return pigpio_command(gPigCommand, PI_CMD_SLRO, user_gpio, baud, 1);}
int bb_serial_read(unsigned user_gpio, void *buf, size_t bufSize) int bb_serial_read(unsigned user_gpio, void *buf, size_t bufSize)
{ {
int bytes; int bytes;
bytes = pigpio_command(gPigCommand, PI_CMD_SLR, user_gpio, bufSize); bytes = pigpio_command(gPigCommand, PI_CMD_SLR, user_gpio, bufSize, 0);
if (bytes > 0) if (bytes > 0)
{ {
/* get the data */ /* get the data */
recv(gPigCommand, buf, bytes, MSG_WAITALL); recv(gPigCommand, buf, bytes, MSG_WAITALL);
} }
pthread_mutex_unlock(&command_mutex);
return bytes; return bytes;
} }
int bb_serial_read_close(unsigned user_gpio) int bb_serial_read_close(unsigned user_gpio)
{return pigpio_command(gPigCommand, PI_CMD_SLRC, user_gpio, 0);} {return pigpio_command(gPigCommand, PI_CMD_SLRC, user_gpio, 0, 1);}
int i2c_open(unsigned i2c_bus, unsigned i2c_addr, unsigned i2c_flags) int i2c_open(unsigned i2c_bus, unsigned i2c_addr, uint32_t i2c_flags)
{ {
gpioExtent_t ext[1]; gpioExtent_t ext[1];
@ -837,27 +899,30 @@ int i2c_open(unsigned i2c_bus, unsigned i2c_addr, unsigned i2c_flags)
uint32_t i2c_flags uint32_t i2c_flags
*/ */
ext[0].size = 4; ext[0].size = sizeof(uint32_t);
ext[0].ptr = &i2c_flags; ext[0].ptr = &i2c_flags;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_I2CO, i2c_bus, i2c_addr, 4, 1, ext); (gPigCommand, PI_CMD_I2CO, i2c_bus, i2c_addr, 4, 1, ext, 1);
} }
int i2c_close(unsigned handle) int i2c_close(unsigned handle)
{return pigpio_command(gPigCommand, PI_CMD_I2CC, handle, 0);} {return pigpio_command(gPigCommand, PI_CMD_I2CC, handle, 0, 1);}
int i2c_read_device(unsigned handle, char *buf, unsigned count) int i2c_read_device(unsigned handle, char *buf, unsigned count)
{ {
int bytes; int bytes;
bytes = pigpio_command(gPigCommand, PI_CMD_I2CRD, handle, count); bytes = pigpio_command(gPigCommand, PI_CMD_I2CRD, handle, count, 0);
if (bytes > 0) if (bytes > 0)
{ {
/* get the data */ /* get the data */
recv(gPigCommand, buf, bytes, MSG_WAITALL); recv(gPigCommand, buf, bytes, MSG_WAITALL);
} }
pthread_mutex_unlock(&command_mutex);
return bytes; return bytes;
} }
@ -877,19 +942,19 @@ int i2c_write_device(unsigned handle, char *buf, unsigned count)
ext[0].ptr = buf; ext[0].ptr = buf;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_I2CWD, handle, 0, count, 1, ext); (gPigCommand, PI_CMD_I2CWD, handle, 0, count, 1, ext, 1);
} }
int i2c_write_quick(unsigned handle, unsigned bit) int i2c_write_quick(unsigned handle, unsigned bit)
{return pigpio_command(gPigCommand, PI_CMD_I2CWQ, handle, bit);} {return pigpio_command(gPigCommand, PI_CMD_I2CWQ, handle, bit, 1);}
int i2c_write_byte(unsigned handle, unsigned val) int i2c_write_byte(unsigned handle, unsigned val)
{return pigpio_command(gPigCommand, PI_CMD_I2CWS, handle, val);} {return pigpio_command(gPigCommand, PI_CMD_I2CWS, handle, val, 1);}
int i2c_read_byte(unsigned handle) int i2c_read_byte(unsigned handle)
{return pigpio_command(gPigCommand, PI_CMD_I2CRS, handle, 0);} {return pigpio_command(gPigCommand, PI_CMD_I2CRS, handle, 0, 1);}
int i2c_write_byte_data(unsigned handle, unsigned reg, unsigned val) int i2c_write_byte_data(unsigned handle, unsigned reg, uint32_t val)
{ {
gpioExtent_t ext[1]; gpioExtent_t ext[1];
@ -901,14 +966,14 @@ int i2c_write_byte_data(unsigned handle, unsigned reg, unsigned val)
uint32_t val uint32_t val
*/ */
ext[0].size = 4; ext[0].size = sizeof(uint32_t);
ext[0].ptr = &val; ext[0].ptr = &val;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_I2CWB, handle, reg, 4, 1, ext); (gPigCommand, PI_CMD_I2CWB, handle, reg, 4, 1, ext, 1);
} }
int i2c_write_word_data(unsigned handle, unsigned reg, unsigned val) int i2c_write_word_data(unsigned handle, unsigned reg, uint32_t val)
{ {
gpioExtent_t ext[1]; gpioExtent_t ext[1];
@ -920,20 +985,20 @@ int i2c_write_word_data(unsigned handle, unsigned reg, unsigned val)
uint32_t val uint32_t val
*/ */
ext[0].size = 4; ext[0].size = sizeof(uint32_t);
ext[0].ptr = &val; ext[0].ptr = &val;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_I2CWW, handle, reg, 4, 1, ext); (gPigCommand, PI_CMD_I2CWW, handle, reg, 4, 1, ext, 1);
} }
int i2c_read_byte_data(unsigned handle, unsigned reg) int i2c_read_byte_data(unsigned handle, unsigned reg)
{return pigpio_command(gPigCommand, PI_CMD_I2CRB, handle, reg);} {return pigpio_command(gPigCommand, PI_CMD_I2CRB, handle, reg, 1);}
int i2c_read_word_data(unsigned handle, unsigned reg) int i2c_read_word_data(unsigned handle, unsigned reg)
{return pigpio_command(gPigCommand, PI_CMD_I2CRW, handle, reg);} {return pigpio_command(gPigCommand, PI_CMD_I2CRW, handle, reg, 1);}
int i2c_process_call(unsigned handle, unsigned reg, unsigned val) int i2c_process_call(unsigned handle, unsigned reg, uint32_t val)
{ {
gpioExtent_t ext[1]; gpioExtent_t ext[1];
@ -945,11 +1010,11 @@ int i2c_process_call(unsigned handle, unsigned reg, unsigned val)
uint32_t val uint32_t val
*/ */
ext[0].size = 4; ext[0].size = sizeof(uint32_t);
ext[0].ptr = &val; ext[0].ptr = &val;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_I2CPK, handle, reg, 4, 1, ext); (gPigCommand, PI_CMD_I2CPK, handle, reg, 4, 1, ext, 1);
} }
int i2c_write_block_data( int i2c_write_block_data(
@ -969,20 +1034,23 @@ int i2c_write_block_data(
ext[0].ptr = buf; ext[0].ptr = buf;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_I2CWK, handle, reg, count, 1, ext); (gPigCommand, PI_CMD_I2CWK, handle, reg, count, 1, ext, 1);
} }
int i2c_read_block_data(unsigned handle, unsigned reg, char *buf) int i2c_read_block_data(unsigned handle, unsigned reg, char *buf)
{ {
int bytes; int bytes;
bytes = pigpio_command(gPigCommand, PI_CMD_I2CRK, handle, reg); bytes = pigpio_command(gPigCommand, PI_CMD_I2CRK, handle, reg, 0);
if (bytes > 0) if (bytes > 0)
{ {
/* get the data */ /* get the data */
recv(gPigCommand, buf, bytes, MSG_WAITALL); recv(gPigCommand, buf, bytes, MSG_WAITALL);
} }
pthread_mutex_unlock(&command_mutex);
return bytes; return bytes;
} }
@ -1004,18 +1072,21 @@ int i2c_block_process_call(
ext[0].ptr = buf; ext[0].ptr = buf;
bytes = pigpio_command_ext bytes = pigpio_command_ext
(gPigCommand, PI_CMD_I2CPK, handle, reg, count, 1, ext); (gPigCommand, PI_CMD_I2CPK, handle, reg, count, 1, ext, 0);
if (bytes > 0) if (bytes > 0)
{ {
/* get the data */ /* get the data */
recv(gPigCommand, buf, bytes, MSG_WAITALL); recv(gPigCommand, buf, bytes, MSG_WAITALL);
} }
pthread_mutex_unlock(&command_mutex);
return bytes; return bytes;
} }
int i2c_read_i2c_block_data( int i2c_read_i2c_block_data(
unsigned handle, unsigned reg, char *buf, unsigned count) unsigned handle, unsigned reg, char *buf, uint32_t count)
{ {
int bytes; int bytes;
gpioExtent_t ext[1]; gpioExtent_t ext[1];
@ -1028,17 +1099,20 @@ int i2c_read_i2c_block_data(
uint32_t count uint32_t count
*/ */
ext[0].size = 4; ext[0].size = sizeof(uint32_t);
ext[0].ptr = &count; ext[0].ptr = &count;
bytes = pigpio_command_ext bytes = pigpio_command_ext
(gPigCommand, PI_CMD_I2CRI, handle, reg, 4, 1, ext); (gPigCommand, PI_CMD_I2CRI, handle, reg, 4, 1, ext, 0);
if (bytes > 0) if (bytes > 0)
{ {
/* get the data */ /* get the data */
recv(gPigCommand, buf, bytes, MSG_WAITALL); recv(gPigCommand, buf, bytes, MSG_WAITALL);
} }
pthread_mutex_unlock(&command_mutex);
return bytes; return bytes;
} }
@ -1060,10 +1134,10 @@ int i2c_write_i2c_block_data(
ext[0].ptr = buf; ext[0].ptr = buf;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_I2CWI, handle, reg, count, 1, ext); (gPigCommand, PI_CMD_I2CWI, handle, reg, count, 1, ext, 1);
} }
int spi_open(unsigned channel, unsigned speed, unsigned flags) int spi_open(unsigned channel, unsigned speed, uint32_t flags)
{ {
gpioExtent_t ext[1]; gpioExtent_t ext[1];
@ -1075,28 +1149,31 @@ int spi_open(unsigned channel, unsigned speed, unsigned flags)
uint32_t flags uint32_t flags
*/ */
ext[0].size = 4; ext[0].size = sizeof(uint32_t);
ext[0].ptr = &flags; ext[0].ptr = &flags;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_SPIO, channel, speed, 4, 1, ext); (gPigCommand, PI_CMD_SPIO, channel, speed, 4, 1, ext, 1);
} }
int spi_close(unsigned handle) int spi_close(unsigned handle)
{return pigpio_command(gPigCommand, PI_CMD_SPIC, handle, 0);} {return pigpio_command(gPigCommand, PI_CMD_SPIC, handle, 0, 1);}
int spi_read(unsigned handle, char *buf, unsigned count) int spi_read(unsigned handle, char *buf, unsigned count)
{ {
int bytes; int bytes;
bytes = pigpio_command bytes = pigpio_command
(gPigCommand, PI_CMD_SPIR, handle, count); (gPigCommand, PI_CMD_SPIR, handle, count, 0);
if (bytes > 0) if (bytes > 0)
{ {
/* get the data */ /* get the data */
recv(gPigCommand, buf, bytes, MSG_WAITALL); recv(gPigCommand, buf, bytes, MSG_WAITALL);
} }
pthread_mutex_unlock(&command_mutex);
return bytes; return bytes;
} }
@ -1116,7 +1193,7 @@ int spi_write(unsigned handle, char *buf, unsigned count)
ext[0].ptr = buf; ext[0].ptr = buf;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_SPIW, handle, 0, count, 1, ext); (gPigCommand, PI_CMD_SPIW, handle, 0, count, 1, ext, 1);
} }
int spi_xfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count) int spi_xfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count)
@ -1136,13 +1213,16 @@ int spi_xfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count)
ext[0].ptr = txBuf; ext[0].ptr = txBuf;
bytes = pigpio_command_ext bytes = pigpio_command_ext
(gPigCommand, PI_CMD_SPIX, handle, 0, count, 1, ext); (gPigCommand, PI_CMD_SPIX, handle, 0, count, 1, ext, 0);
if (bytes > 0) if (bytes > 0)
{ {
/* get the data */ /* get the data */
recv(gPigCommand, rxBuf, bytes, MSG_WAITALL); recv(gPigCommand, rxBuf, bytes, MSG_WAITALL);
} }
pthread_mutex_unlock(&command_mutex);
return bytes; return bytes;
} }
@ -1165,17 +1245,17 @@ int serial_open(char *dev, unsigned baud, unsigned flags)
ext[0].ptr = dev; ext[0].ptr = dev;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_SERO, baud, flags, len, 1, ext); (gPigCommand, PI_CMD_SERO, baud, flags, len, 1, ext, 1);
} }
int serial_close(unsigned handle) int serial_close(unsigned handle)
{return pigpio_command(gPigCommand, PI_CMD_SERC, handle, 0);} {return pigpio_command(gPigCommand, PI_CMD_SERC, handle, 0, 1);}
int serial_write_byte(unsigned handle, unsigned val) int serial_write_byte(unsigned handle, unsigned val)
{return pigpio_command(gPigCommand, PI_CMD_SERWB, handle, val);} {return pigpio_command(gPigCommand, PI_CMD_SERWB, handle, val, 1);}
int serial_read_byte(unsigned handle) int serial_read_byte(unsigned handle)
{return pigpio_command(gPigCommand, PI_CMD_SERRB, handle, 0);} {return pigpio_command(gPigCommand, PI_CMD_SERRB, handle, 0, 1);}
int serial_write(unsigned handle, char *buf, unsigned count) int serial_write(unsigned handle, char *buf, unsigned count)
{ {
@ -1193,7 +1273,7 @@ int serial_write(unsigned handle, char *buf, unsigned count)
ext[0].ptr = buf; ext[0].ptr = buf;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_SERW, handle, 0, count, 1, ext); (gPigCommand, PI_CMD_SERW, handle, 0, count, 1, ext, 1);
} }
int serial_read(unsigned handle, char *buf, unsigned count) int serial_read(unsigned handle, char *buf, unsigned count)
@ -1201,18 +1281,21 @@ int serial_read(unsigned handle, char *buf, unsigned count)
int bytes; int bytes;
bytes = pigpio_command bytes = pigpio_command
(gPigCommand, PI_CMD_SERR, handle, count); (gPigCommand, PI_CMD_SERR, handle, count, 0);
if (bytes > 0) if (bytes > 0)
{ {
/* get the data */ /* get the data */
recv(gPigCommand, buf, bytes, MSG_WAITALL); recv(gPigCommand, buf, bytes, MSG_WAITALL);
} }
pthread_mutex_unlock(&command_mutex);
return bytes; return bytes;
} }
int serial_data_available(unsigned handle) int serial_data_available(unsigned handle)
{return pigpio_command(gPigCommand, PI_CMD_SERDA, handle, 0);} {return pigpio_command(gPigCommand, PI_CMD_SERDA, handle, 0, 1);}
int callback(unsigned user_gpio, unsigned edge, CBFunc_t f) int callback(unsigned user_gpio, unsigned edge, CBFunc_t f)
{return intCallback(user_gpio, edge, f, 0, 0);} {return intCallback(user_gpio, edge, f, 0, 0);}

179
pigpiod_if.h
View File

@ -30,7 +30,7 @@ For more information, please refer to <http://unlicense.org/>
#include "pigpio.h" #include "pigpio.h"
#define PIGPIOD_IF_VERSION 11 #define PIGPIOD_IF_VERSION 12
/*TEXT /*TEXT
@ -162,6 +162,9 @@ bb_serial_read_open Opens a gpio for bit bang serial reads
bb_serial_read Reads bit bang serial data from a gpio bb_serial_read Reads bit bang serial data from a gpio
bb_serial_read_close Closes a gpio for bit bang serial reads bb_serial_read_close Closes a gpio for bit bang serial reads
hardware_clock Start hardware clock on supported gpios
hardware_PWM Start hardware PWM on supported gpios
SCRIPTS SCRIPTS
store_script Store a script store_script Store a script
@ -823,6 +826,88 @@ A status of PI_SOME_PERMITTED indicates that the user is not
allowed to write to one or more of the gpios. allowed to write to one or more of the gpios.
D*/ D*/
/*F*/
int hardware_clock(unsigned gpio, unsigned clkfreq);
/*D
Starts a hardware clock on a gpio at the specified frequency.
. .
gpio: see description
frequency: 0 (off) or 4689-250M
. .
Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO,
PI_NOT_HCLK_GPIO, PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS.
The same clock is available on multiple gpios. The latest
frequency setting will be used by all gpios which share a clock.
The gpio must be one of the following.
. .
4 clock 0 All models
5 clock 1 A+/B+ and compute module only (reserved for system use)
6 clock 2 A+/B+ and compute module only
20 clock 0 A+/B+ and compute module only
21 clock 1 All models but Rev.2 B (reserved for system use)
32 clock 0 Compute module only
34 clock 0 Compute module only
42 clock 1 Compute module only (reserved for system use)
43 clock 2 Compute module only
44 clock 1 Compute module only (reserved for system use)
. .
Access to clock 1 is protected by a password as its use will likely
crash the Pi. The password is given by or'ing 0x5A000000 with the
gpio number.
D*/
/*F*/
int hardware_PWM(unsigned gpio, unsigned PWMfreq, uint32_t PWMduty);
/*D
Starts hardware PWM on a gpio at the specified frequency and dutycycle.
NOTE: Any waveform started by [*wave_send_once*], [*wave_send_repeat*], [*wave_tx_start*], or [*wave_tx_repeat*] will be cancelled.
This function is only valid if the pigpio main clock is PCM. The
main clock defaults to PCM but may be overridden when the pigpio
daemon is started (option -t).
. .
gpio: see descripton
PWMfreq: 0 (off) or 5-250K
PWMduty: 0 (off) to 1000 (fully on).
. .
Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO,
PI_NOT_HPWM_GPIO, PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ,
or PI_HPWM_ILLEGAL.
Both PWM channels share the same clock and the same update frequency.
The latest frequency setting will be used by both PWM channels. The
same PWM channel is available on multiple gpios. The latest
dutycycle setting will be used by all gpios which share a PWM channel.
The gpio must be one of the following.
. .
12 PWM channel 0 A+/B+ and compute module only
13 PWM channel 1 A+/B+ and compute module only
18 PWM channel 0 All models
19 PWM channel 1 A+/B+ and compute module only
40 PWM channel 0 Compute module only
41 PWM channel 1 Compute module only
45 PWM channel 1 Compute module only
52 PWM channel 0 Compute module only
53 PWM channel 1 Compute module only
. .
D*/
/*F*/ /*F*/
uint32_t get_current_tick(void); uint32_t get_current_tick(void);
/*D /*D
@ -917,32 +1002,43 @@ D*/
/*F*/ /*F*/
int wave_add_serial int wave_add_serial
(unsigned user_gpio, unsigned bbBaud, unsigned offset, (unsigned user_gpio, unsigned bbBaud, unsigned bbBits,
unsigned numChar, char *str); unsigned bbStop, unsigned offset, unsigned numBytes, char *str);
/*D /*D
This function adds a waveform representing serial data to the This function adds a waveform representing serial data to the
existing waveform (if any). The serial data starts offset microseconds existing waveform (if any). The serial data starts offset
from the start of the waveform. microseconds from the start of the waveform.
. . . .
user_gpio: 0-31. user_gpio: 0-31.
bbBaud: 100-250000 bbBaud: 100-250000
bbBits: number of data bits (1-32)
bbStop: number of stop half bits (2-8)
offset: 0- offset: 0-
numChar: 1- numBytes: 1-
str: an array of chars. str: an array of chars.
. . . .
Returns the new total number of pulses in the current waveform if OK, Returns the new total number of pulses in the current waveform if OK,
otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_TOO_MANY_CHARS, or otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS,
PI_TOO_MANY_PULSES. PI_BAD_STOP_BITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET,
or PI_TOO_MANY_PULSES.
NOTES: NOTES:
The serial data is formatted as one start bit, eight data bits, and one The serial data is formatted as one start bit, [*bbBits*] data bits,
stop bit. and [*bbStop*]/2 stop bits.
It is legal to add serial data streams with different baud rates to It is legal to add serial data streams with different baud rates to
the same waveform. the same waveform.
[*numBytes*] is the number of bytes of data in str.
The bytes required for each character depend upon [*bbBits*].
For [*bbBits*] 1-8 there will be one byte per character.
For [*bbBits*] 9-16 there will be two bytes per character.
For [*bbBits*] 17-32 there will be four bytes per character.
D*/ D*/
/*F*/ /*F*/
@ -1017,15 +1113,21 @@ D*/
/*F*/ /*F*/
int wave_tx_start(void); int wave_tx_start(void);
/*D /*D
This function is deprecated and should no longer be used. Use This function is deprecated and should no longer be used.
[*wave_create*]/[*wave_send_**] instead.
Use [*wave_create*]/[*wave_send_**] instead.
NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled.
D*/ D*/
/*F*/ /*F*/
int wave_tx_repeat(void); int wave_tx_repeat(void);
/*D /*D
This function is deprecated and should no longer be used. Use This function is deprecated and should no longer be used.
[*wave_create*]/[*wave_send_**] instead.
Use [*wave_create*]/[*wave_send_**] instead.
NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled.
D*/ D*/
/*F*/ /*F*/
@ -1034,6 +1136,8 @@ int wave_send_once(unsigned wave_id);
This function transmits the waveform with id wave_id. The waveform This function transmits the waveform with id wave_id. The waveform
is sent once. is sent once.
NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled.
. . . .
wave_id: >=0, as returned by [*wave_create*]. wave_id: >=0, as returned by [*wave_create*].
. . . .
@ -1049,6 +1153,8 @@ This function transmits the waveform with id wave_id. The waveform
cycles until cancelled (either by the sending of a new waveform or cycles until cancelled (either by the sending of a new waveform or
by [*wave_tx_stop*]). by [*wave_tx_stop*]).
NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled.
. . . .
wave_id: >=0, as returned by [*wave_create*]. wave_id: >=0, as returned by [*wave_create*].
. . . .
@ -1898,6 +2004,26 @@ PI_WAVE_MIN_BAUD 100
PI_WAVE_MAX_BAUD 250000 PI_WAVE_MAX_BAUD 250000
. . . .
bbBits::1-32
The number of data bits to be used when adding serial data to a
waveform.
. .
#define PI_MIN_WAVE_DATABITS 1
#define PI_MAX_WAVE_DATABITS 32
. .
bbStop::2-8
The number of (half) stop bits to be used when adding serial data
to a waveform.
. .
#define PI_MIN_WAVE_HALFSTOPBITS 2
#define PI_MAX_WAVE_HALFSTOPBITS 8
. .
bit:: bit::
A value of 0 or 1. A value of 0 or 1.
@ -1935,10 +2061,12 @@ typedef void (*CBFuncEx_t)
(unsigned user_gpio, unsigned level, uint32_t tick, void * user); (unsigned user_gpio, unsigned level, uint32_t tick, void * user);
. . . .
char:: char::
A single character, an 8 bit quantity able to store 0-255. A single character, an 8 bit quantity able to store 0-255.
clkfreq::4689-250M
The hardware clock frequency.
count:: count::
The number of bytes to be transferred in an I2C, SPI, or Serial The number of bytes to be transferred in an I2C, SPI, or Serial
command. command.
@ -2050,9 +2178,10 @@ PI_ALT4 3
PI_ALT5 2 PI_ALT5 2
. . . .
numChar:: numBytes::
The number of characters in a string (used when the string might contain The number of bytes used to store characters in a string. Depending
null characters, which would normally terminate the string). on the number of bits per character there may be 1, 2, or 4 bytes
per character.
numPar:: 0-10 numPar:: 0-10
The number of parameters passed to a script. The number of parameters passed to a script.
@ -2103,6 +2232,20 @@ PI_MIN_SERVO_PULSEWIDTH 500
PI_MAX_SERVO_PULSEWIDTH 2500 PI_MAX_SERVO_PULSEWIDTH 2500
. . . .
PWMduty::0-1000
The hardware PWM dutycycle.
. .
#define PI_HW_PWM_RANGE 1000
. .
PWMfreq::5-250K
The hardware PWM frequency.
. .
#define PI_HW_PWM_MIN_FREQ 5
#define PI_HW_PWM_MAX_FREQ 250000
. .
range::25-40000 range::25-40000
The permissible dutycycle values are 0-range. The permissible dutycycle values are 0-range.

199
pigs.1
View File

@ -419,8 +419,6 @@ ERROR: gpio is not in use for servo pulses
.EE .EE
.br
This command returns
.br .br
.IP "\fBH/HELP \fP - Display command help" .IP "\fBH/HELP \fP - Display command help"
@ -444,6 +442,140 @@ $ pigs help
.br .br
.IP "\fBHC g cf\fP - Set hardware clock frequency"
.IP "" 4
This command sets the hardware clock associated with gpio \fBg\fP to
frequency \fBcf\fP.
.br
Upon success nothing is returned. On error a negative status code
will be returned.
.br
\fBExample\fP
.br
.EX
$ pigs hc 4 5000 # start a 5 KHz clock on gpio 4 (clock 0)
.br
.br
$ pigs hc 5 5000000 # start a 5 MHz clcok on gpio 5 (clock 1)
.br
-99
.br
ERROR: need password to use hardware clock 1
.br
.EE
.br
The same clock is available on multiple gpios. The latest
frequency setting will be used by all gpios which share a clock.
.br
The gpio must be one of the following.
.br
.EX
4 clock 0 All models
5 clock 1 A+/B+ and compute module only (reserved for system use)
6 clock 2 A+/B+ and compute module only
20 clock 0 A+/B+ and compute module only
21 clock 1 All models but Rev.2 B (reserved for system use)
.EE
.br
.EX
32 clock 0 Compute module only
34 clock 0 Compute module only
42 clock 1 Compute module only (reserved for system use)
43 clock 2 Compute module only
44 clock 1 Compute module only (reserved for system use)
.EE
.br
Access to clock 1 is protected by a password as its use will
likely crash the Pi. The password is given by or'ing 0x5A000000
with the gpio number.
.br
.IP "\fBHP g pf pdc\fP - Set hardware PWM frequency and dutycycle"
.IP "" 4
This command sets the hardware PWM associated with gpio \fBg\fP to
frequency \fBpf\fP with dutycycle \fBpdc\fP.
.br
NOTE: Any waveform started by \fBWVGO\fP, \fBWVGOR\fP, \fBWVTX\fP or
\fBWVTXR\fP will be cancelled.
.br
This function is only valid if the pigpio main clock is PCM. The
main clock defaults to PCM but may be overridden when the pigpio
daemon is started (option -t).
.br
Upon success nothing is returned. On error a negative status code
will be returned.
.br
.EX
$ pigs hp 18 100 900
.br
.br
$ pigs hp 19 100 100
.br
.br
$ pigs hp 19 1 100
.br
-96
.br
ERROR: hardware PWM frequency not 5-250K
.br
.EE
.br
Both PWM channels share the same clock and the same update frequency.
The latest frequency setting will be used by both PWM channels. The
same PWM channel is available on multiple gpios. The latest
dutycycle setting will be used by all gpios which share a PWM channel.
.br
The gpio must be one of the following.
.br
.EX
12 PWM channel 0 A+/B+ and compute module only
13 PWM channel 1 A+/B+ and compute module only
18 PWM channel 0 All models
19 PWM channel 1 A+/B+ and compute module only
.EE
.br
.EX
40 PWM channel 0 Compute module only
41 PWM channel 1 Compute module only
45 PWM channel 1 Compute module only
52 PWM channel 0 Compute module only
53 PWM channel 1 Compute module only
.EE
.br
.IP "\fBHWVER \fP - Get hardware version" .IP "\fBHWVER \fP - Get hardware version"
.IP "" 4 .IP "" 4
This command returns the hardware revision of the Pi. This command returns the hardware revision of the Pi.
@ -2603,20 +2735,36 @@ $ pigs wvag 0 0 10000 0x10 0x80 1000 0x80 0x10 9000
.br .br
.IP "\fBWVAS u b o bvs\fP - Add serial data to waveform" .IP "\fBWVAS u b db sb o bvs\fP - Add serial data to waveform"
.IP "" 4 .IP "" 4
.br .br
This command adds a waveform representing serial data \fBbvs\fP to This command adds a waveform representing serial data \fBbvs\fP to
gpio \fBu\fP at \fBb\fP baud to the existing waveform (if any). gpio \fBu\fP at \fBb\fP baud to the existing waveform (if any).
The serial data starts \fBo\fP microseconds from the start of the waveform. The serial data starts \fBo\fP microseconds from the start of the
waveform.
.br .br
Upon success the total number of pulses in the waveform so far is Upon success the total number of pulses in the waveform so far is
returned. On error a negative status code will be returned. returned. On error a negative status code will be returned.
.br .br
Data with different baud rates may be added to the same wavefrom. The serial data is formatted as one start bit, \fBdb\fP data bits, and
\fBsb\fP/2 stop bits.
.br
It is legal to add serial data streams with different baud rates to
the same waveform.
.br
The bytes required for each character depend upon \fBdb\fP.
.br
For \fBdb\fP 1-8 there will be one byte per character.
.br
For \fBdb\fP 9-16 there will be two bytes per character.
.br
For \fBdb\fP 17-32 there will be four bytes per character.
.br .br
@ -2624,13 +2772,13 @@ Data with different baud rates may be added to the same wavefrom.
.br .br
.EX .EX
$ pigs wvas 4 9600 0 0x30 0x31 0x32 0x33 $ pigs wvas 4 9600 8 2 0 0x30 0x31 0x32 0x33
.br .br
23 23
.br .br
.br .br
$ pigs wvas 7 38400 0 0x41 0x42 $ pigs wvas 7 38400 8 2 0 0x41 0x42
.br .br
35 35
.br .br
@ -2808,6 +2956,9 @@ ERROR: non existent wave id
.br .br
This command transmits the current waveform. The waveform is sent once. This command transmits the current waveform. The waveform is sent once.
.br
NOTE: Any hardware PWM started by \fBHP\fP will be cancelled.
.br .br
Upon success the number of DMA control blocks in the waveform is returned. Upon success the number of DMA control blocks in the waveform is returned.
On error a negative status code will be returned. On error a negative status code will be returned.
@ -2820,6 +2971,9 @@ On error a negative status code will be returned.
.br .br
This command transmits the current waveform. The waveform is sent repeatedly. This command transmits the current waveform. The waveform is sent repeatedly.
.br
NOTE: Any hardware PWM started by \fBHP\fP will be cancelled.
.br .br
Upon success the number of DMA control blocks in the waveform is returned. Upon success the number of DMA control blocks in the waveform is returned.
On error a negative status code will be returned. On error a negative status code will be returned.
@ -3003,6 +3157,9 @@ $ pigs wvsp 2
.br .br
This command transmits the waveform with id \fBwid\fP once. This command transmits the waveform with id \fBwid\fP once.
.br
NOTE: Any hardware PWM started by \fBHP\fP will be cancelled.
.br .br
Upon success the number of DMA control blocks in the waveform is returned. Upon success the number of DMA control blocks in the waveform is returned.
On error a negative status code will be returned. On error a negative status code will be returned.
@ -3036,6 +3193,9 @@ ERROR: non existent wave id
.br .br
This command transmits the waveform with id \fBwid\fP repeatedly. This command transmits the waveform with id \fBwid\fP repeatedly.
.br
NOTE: Any hardware PWM started by \fBHP\fP will be cancelled.
.br .br
Upon success the number of DMA control blocks in the waveform is returned. Upon success the number of DMA control blocks in the waveform is returned.
On error a negative status code will be returned. On error a negative status code will be returned.
@ -3102,6 +3262,16 @@ The command expects a SPI channel.
.br .br
.IP "\fBcf\fP - hardware clock frequency (4689-250M)" 0
The command expects a frequency.
.br
.IP "\fBdb\fP - serial data bits (1-32)" 0
The command expects the number of data bits per serial character.
.br
.IP "\fBdev\fP - a tty serial device (/dev/tty*)" 0 .IP "\fBdev\fP - a tty serial device (/dev/tty*)" 0
The command expects the name of a tty serial device, e.g. The command expects the name of a tty serial device, e.g.
@ -3263,6 +3433,16 @@ The command expects 0 to 10 numbers as parameters to be passed to the script.
.br .br
.IP "\fBpdc\fP - hardware PWM dutycycle (0-1000)" 0
The command expects a dutycycle.
.br
.IP "\fBpf\fP - hardware PWM frequency (5-250K)" 0
The command expects a frequency.
.br
.IP "\fBpl\fP - pulse length (1-50)" 0 .IP "\fBpl\fP - pulse length (1-50)" 0
The command expects a pulse length in microseconds. The command expects a pulse length in microseconds.
@ -3273,6 +3453,11 @@ The command expects an I2C register number.
.br .br
.IP "\fBsb\fP - serial stop (half) bits (2-8)" 0
The command expects the number of stop (half) bits per serial character.
.br
.IP "\fBsef\fP - serial flags (32 bits)" 0 .IP "\fBsef\fP - serial flags (32 bits)" 0
The command expects a flag value. No serial flags are currently defined. The command expects a flag value. No serial flags are currently defined.

2
setup.py
View File

@ -3,7 +3,7 @@
from distutils.core import setup from distutils.core import setup
setup(name='pigpio', setup(name='pigpio',
version='1.13', version='1.14',
author='joan', author='joan',
author_email='joan@abyz.co.uk', author_email='joan@abyz.co.uk',
maintainer='joan', maintainer='joan',

6
x_pigpio.c
View File

@ -396,7 +396,7 @@ To the lascivious pleasing of a lute.\n\
CHECK(5, 6, e, 0, 0, "serial read open"); CHECK(5, 6, e, 0, 0, "serial read open");
gpioWaveClear(); gpioWaveClear();
e = gpioWaveAddSerial(GPIO, BAUD, 5000000, strlen(TEXT), TEXT); e = gpioWaveAddSerial(GPIO, BAUD, 8, 2, 5000000, strlen(TEXT), TEXT);
CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial"); CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial");
e = gpioWaveTxStart(PI_WAVE_MODE_ONE_SHOT); e = gpioWaveTxStart(PI_WAVE_MODE_ONE_SHOT);
@ -416,10 +416,10 @@ To the lascivious pleasing of a lute.\n\
CHECK(5, 12, e, 0, 0, "serial read close"); CHECK(5, 12, e, 0, 0, "serial read close");
c = gpioWaveGetMicros(); c = gpioWaveGetMicros();
CHECK(5, 13, c, 6158704, 0, "wave get micros"); CHECK(5, 13, c, 6158148, 0, "wave get micros");
c = gpioWaveGetHighMicros(); c = gpioWaveGetHighMicros();
CHECK(5, 14, c, 6158704, 0, "wave get high micros"); CHECK(5, 14, c, 6158148, 0, "wave get high micros");
c = gpioWaveGetMaxMicros(); c = gpioWaveGetMaxMicros();
CHECK(5, 15, c, 1800000000, 0, "wave get max micros"); CHECK(5, 15, c, 1800000000, 0, "wave get max micros");

6
x_pigpio.py
View File

@ -371,7 +371,7 @@ To the lascivious pleasing of a lute.
CHECK(5, 6, e, 0, 0, "serial read open") CHECK(5, 6, e, 0, 0, "serial read open")
pi.wave_clear() pi.wave_clear()
e = pi.wave_add_serial(GPIO, BAUD, 5000000, TEXT) e = pi.wave_add_serial(GPIO, BAUD, TEXT, 5000000)
CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial") CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial")
e = pi.wave_tx_start() e = pi.wave_tx_start()
@ -396,7 +396,7 @@ To the lascivious pleasing of a lute.
CHECK(5, 12, e, 0, 0, "serial read close") CHECK(5, 12, e, 0, 0, "serial read close")
c = pi.wave_get_micros() c = pi.wave_get_micros()
CHECK(5, 13, c, 6158704, 0, "wave get micros") CHECK(5, 13, c, 6158148, 0, "wave get micros")
CHECK(5, 14, 0, 0, 0, "NOT APPLICABLE") CHECK(5, 14, 0, 0, 0, "NOT APPLICABLE")
@ -439,7 +439,7 @@ To the lascivious pleasing of a lute.
e = pi.wave_tx_stop() e = pi.wave_tx_stop()
CHECK(5, 27, e, 0, 0, "wave tx stop") CHECK(5, 27, e, 0, 0, "wave tx stop")
e = pi.wave_add_serial(GPIO, BAUD, 5000000, TEXT) e = pi.wave_add_serial(GPIO, BAUD, TEXT, 5000000)
CHECK(5, 28, e, 3405, 0, "wave add serial") CHECK(5, 28, e, 3405, 0, "wave add serial")
w2 = pi.wave_create() w2 = pi.wave_create()

10
x_pigpiod_if.c
View File

@ -1,6 +1,6 @@
/* /*
gcc -o x_pigpiod_if x_pigpiod_if.c -lpigpiod_if -lrt -lpthread gcc -o x_pigpiod_if x_pigpiod_if.c -lpigpiod_if -lrt -lpthread
sudo ./x_pigpiod_if ./x_pigpiod_if
*** WARNING ************************************************ *** WARNING ************************************************
* * * *
@ -370,7 +370,7 @@ To the lascivious pleasing of a lute.\n\
CHECK(5, 6, e, 0, 0, "serial read open"); CHECK(5, 6, e, 0, 0, "serial read open");
wave_clear(); wave_clear();
e = wave_add_serial(GPIO, BAUD, 5000000, strlen(TEXT), TEXT); e = wave_add_serial(GPIO, BAUD, 8, 2, 5000000, strlen(TEXT), TEXT);
CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial"); CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial");
e = wave_tx_start(); e = wave_tx_start();
@ -395,11 +395,11 @@ To the lascivious pleasing of a lute.\n\
CHECK(5, 12, e, 0, 0, "serial read close"); CHECK(5, 12, e, 0, 0, "serial read close");
c = wave_get_micros(); c = wave_get_micros();
CHECK(5, 13, c, 6158704, 0, "wave get micros"); CHECK(5, 13, c, 6158148, 0, "wave get micros");
c = wave_get_high_micros(); c = wave_get_high_micros();
if (c >= 6158704) c = 6158704; if (c > 6158148) c = 6158148;
CHECK(5, 14, c, 6158704, 0, "wave get high micros"); CHECK(5, 14, c, 6158148, 0, "wave get high micros");
c = wave_get_max_micros(); c = wave_get_max_micros();
CHECK(5, 15, c, 1800000000, 0, "wave get max micros"); CHECK(5, 15, c, 1800000000, 0, "wave get max micros");

8
x_pigs
View File

@ -1,6 +1,6 @@
#!/bin/bash #!/bin/bash
VERSION=23 VERSION=24
GPIO=4 GPIO=4
@ -46,7 +46,7 @@ s=$(pigs bs2 0)
if [[ $s = "" ]]; then echo "BS2 ok"; else echo "BS2 fail ($s)"; fi if [[ $s = "" ]]; then echo "BS2 ok"; else echo "BS2 fail ($s)"; fi
s=$(pigs h) s=$(pigs h)
if [[ ${#s} = 4778 ]]; then echo "HELP ok"; else echo "HELP fail (${#s})"; fi if [[ ${#s} = 5150 ]]; then echo "HELP ok"; else echo "HELP fail (${#s})"; fi
s=$(pigs hwver) s=$(pigs hwver)
if [[ $s -ne 0 ]]; then echo "HWVER ok"; else echo "HWVER fail ($s)"; fi if [[ $s -ne 0 ]]; then echo "HWVER ok"; else echo "HWVER fail ($s)"; fi
@ -191,7 +191,7 @@ s=$(pigs wvclr)
if [[ $s = "" ]]; then echo "SLR-a ok"; else echo "SLR-a fail ($s)"; fi if [[ $s = "" ]]; then echo "SLR-a ok"; else echo "SLR-a fail ($s)"; fi
s=$(pigs slro $GPIO 1200) s=$(pigs slro $GPIO 1200)
if [[ $s = "" ]]; then echo "SLR-b ok"; else echo "SLR-b fail ($s)"; fi if [[ $s = "" ]]; then echo "SLR-b ok"; else echo "SLR-b fail ($s)"; fi
s=$(pigs wvas $GPIO 1200 0 0x6d 0x79 0x20 0x6e 0x61 0x6d 0x65 0x20 0x69 0x73 0x20 0x6a 0x6f 0x61 0x6e) s=$(pigs wvas $GPIO 1200 8 2 0 0x6d 0x79 0x20 0x6e 0x61 0x6d 0x65 0x20 0x69 0x73 0x20 0x6a 0x6f 0x61 0x6e)
if [[ $s = 95 ]]; then echo "SLR-c ok"; else echo "SLR-c fail ($s)"; fi if [[ $s = 95 ]]; then echo "SLR-c ok"; else echo "SLR-c fail ($s)"; fi
s=$(pigs m $GPIO w) s=$(pigs m $GPIO w)
if [[ $s = "" ]]; then echo "SLR-d ok"; else echo "SLR-d fail ($s)"; fi if [[ $s = "" ]]; then echo "SLR-d ok"; else echo "SLR-d fail ($s)"; fi
@ -242,7 +242,7 @@ if [[ $s = 0 ]]; then echo "WRITE-d ok"; else echo "WRITE-d fail ($s)"; fi
s=$(pigs wvclr ) s=$(pigs wvclr )
if [[ $s = "" ]]; then echo "WVCLR ok"; else echo "WVCLR fail ($s)"; fi if [[ $s = "" ]]; then echo "WVCLR ok"; else echo "WVCLR fail ($s)"; fi
s=$(pigs wvas $GPIO 300 0 0x74 0x68 0x69 0x73 0x20 0x69 0x73 0x20 0x74 0x68 0x65 0x6e 0x20 0x77 0x69 0x6e 0x74 0x65 0x72 0x20 0x6f 0x66 0x20 0x6d 0x79 0x20 0x64 0x69 0x73 0x63 0x6f 0x6e 0x74 0x65 0x6e 0x74 0x20 0x6d 0x61 0x64 0x65 0x20 0x67 0x6c 0x6f 0x72 0x69 0x6f 0x75 0x73) s=$(pigs wvas $GPIO 300 8 2 0 0x74 0x68 0x69 0x73 0x20 0x69 0x73 0x20 0x74 0x68 0x65 0x6e 0x20 0x77 0x69 0x6e 0x74 0x65 0x72 0x20 0x6f 0x66 0x20 0x6d 0x79 0x20 0x64 0x69 0x73 0x63 0x6f 0x6e 0x74 0x65 0x6e 0x74 0x20 0x6d 0x61 0x64 0x65 0x20 0x67 0x6c 0x6f 0x72 0x69 0x6f 0x75 0x73)
if [[ $s = 309 ]]; then echo "WVAS ok"; else echo "WVAS fail ($s)"; fi if [[ $s = 309 ]]; then echo "WVAS ok"; else echo "WVAS fail ($s)"; fi
s=$(pigs wvag 16 0 5000000 0 16 5000000) s=$(pigs wvag 16 0 5000000 0 16 5000000)
if [[ $s = 310 ]]; then echo "WVAG ok"; else echo "WVAG fail ($s)"; fi if [[ $s = 310 ]]; then echo "WVAG ok"; else echo "WVAG fail ($s)"; fi

6
x_pipe
View File

@ -1,6 +1,6 @@
#!/bin/bash #!/bin/bash
VERSION=23 VERSION=24
GPIO=4 GPIO=4
@ -261,7 +261,7 @@ if [[ $s = 0 ]]; then echo "SLR-a ok"; else echo "SLR-a fail ($s)"; fi
echo "slro $GPIO 1200" >/dev/pigpio echo "slro $GPIO 1200" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = 0 ]]; then echo "SLR-b ok"; else echo "SLR-b fail ($s)"; fi if [[ $s = 0 ]]; then echo "SLR-b ok"; else echo "SLR-b fail ($s)"; fi
echo "wvas $GPIO 1200 0 0x6d 0x79 0x20 0x6e 0x61 0x6d 0x65 0x20 0x69 0x73 0x20 0x6a 0x6f 0x61 0x6e" >/dev/pigpio echo "wvas $GPIO 1200 8 2 0 0x6d 0x79 0x20 0x6e 0x61 0x6d 0x65 0x20 0x69 0x73 0x20 0x6a 0x6f 0x61 0x6e" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = 95 ]]; then echo "SLR-c ok"; else echo "SLR-c fail ($s)"; fi if [[ $s = 95 ]]; then echo "SLR-c ok"; else echo "SLR-c fail ($s)"; fi
echo "m $GPIO w" >/dev/pigpio echo "m $GPIO w" >/dev/pigpio
@ -330,7 +330,7 @@ if [[ $s = 0 ]]; then echo "WRITE-d ok"; else echo "WRITE-d fail ($s)"; fi
echo "wvclr" >/dev/pigpio echo "wvclr" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = 0 ]]; then echo "WVCLR ok"; else echo "WVCLR fail ($s)"; fi if [[ $s = 0 ]]; then echo "WVCLR ok"; else echo "WVCLR fail ($s)"; fi
echo "wvas $GPIO 300 0 0x74 0x68 0x69 0x73 0x20 0x69 0x73 0x20 0x74 0x68 0x65 0x20 0x77 0x69 0x6e 0x74 0x65 0x72 0x20 0x6f 0x66 0x20 0x6d 0x79 0x20 0x64 0x69 0x73 0x63 0x6f 0x6e 0x74 0x65 0x6e 0x74" >/dev/pigpio echo "wvas $GPIO 300 8 2 0 0x74 0x68 0x69 0x73 0x20 0x69 0x73 0x20 0x74 0x68 0x65 0x20 0x77 0x69 0x6e 0x74 0x65 0x72 0x20 0x6f 0x66 0x20 0x6d 0x79 0x20 0x64 0x69 0x73 0x63 0x6f 0x6e 0x74 0x65 0x6e 0x74" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = 215 ]]; then echo "WVAS ok"; else echo "WVAS fail ($s)"; fi if [[ $s = 215 ]]; then echo "WVAS ok"; else echo "WVAS fail ($s)"; fi
echo "wvag 16 0 5000000 0 16 5000000" >/dev/pigpio echo "wvag 16 0 5000000 0 16 5000000" >/dev/pigpio