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V17

This commit is contained in:
joan 2014-08-01 09:30:25 +01:00
parent a99255ed9a
commit 517b42acff
23 changed files with 17816 additions and 2280 deletions
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6
MakeRemote
View File

@ -24,11 +24,17 @@ install: $(LIB)
sudo install -m 0755 -d /usr/local/bin sudo install -m 0755 -d /usr/local/bin
sudo install -m 0755 pigs /usr/local/bin sudo install -m 0755 pigs /usr/local/bin
sudo python setup.py install sudo python setup.py install
sudo install -m 0755 -d /usr/local/man/man1
sudo install -m 0644 *.1 /usr/local/man/man1
sudo install -m 0755 -d /usr/local/man/man3
sudo install -m 0644 *.3 /usr/local/man/man3
uninstall: uninstall:
sudo rm -f /usr/local/include/pigpio.h sudo rm -f /usr/local/include/pigpio.h
sudo rm -f /usr/local/lib/libpigpiod_if.a sudo rm -f /usr/local/lib/libpigpiod_if.a
sudo rm -f /usr/local/bin/pigs sudo rm -f /usr/local/bin/pigs
sudo rm -f /usr/local/man/man1/pig*.1
sudo rm -f /usr/local/man/man3/pig*.3
LIB = libpigpiod_if.a LIB = libpigpiod_if.a
OBJ = pigpiod_if.o command.o OBJ = pigpiod_if.o command.o

6
Makefile
View File

@ -52,6 +52,10 @@ install: $(LIB)
sudo install -m 0755 pigpiod /usr/local/bin sudo install -m 0755 pigpiod /usr/local/bin
sudo install -m 0755 pigs /usr/local/bin sudo install -m 0755 pigs /usr/local/bin
sudo python setup.py install sudo python setup.py install
sudo install -m 0755 -d /usr/local/man/man1
sudo install -m 0644 *.1 /usr/local/man/man1
sudo install -m 0755 -d /usr/local/man/man3
sudo install -m 0644 *.3 /usr/local/man/man3
uninstall: uninstall:
sudo rm -f /usr/local/include/pigpio.h sudo rm -f /usr/local/include/pigpio.h
@ -61,6 +65,8 @@ uninstall:
sudo rm -f /usr/local/bin/pig2vcd sudo rm -f /usr/local/bin/pig2vcd
sudo rm -f /usr/local/bin/pigpiod sudo rm -f /usr/local/bin/pigpiod
sudo rm -f /usr/local/bin/pigs sudo rm -f /usr/local/bin/pigs
sudo rm -f /usr/local/man/man1/pig*.1
sudo rm -f /usr/local/man/man3/pig*.3
$(LIB1): $(OBJ1) $(LIB1): $(OBJ1)
$(AR) rcs $(LIB1) $(OBJ1) $(AR) rcs $(LIB1) $(OBJ1)

19
README
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@ -18,13 +18,14 @@ o the header file (pigpiod_if.h) in /usr/local/include
o the daemon (pigpiod) in /usr/local/bin o the daemon (pigpiod) in /usr/local/bin
o the socket interface (pigs) in /usr/local/bin o the socket interface (pigs) in /usr/local/bin
o the utility pig2vcd in /usr/local/bin o the utility pig2vcd in /usr/local/bin
o man pages in /usr/local/man/man1 and man3
o the Python module pigpio.py o the Python module pigpio.py
TEST (optional) TEST (optional)
*** WARNING ************************************************ *** WARNING ************************************************
* * * *
* All the tests make extensive use of gpio 4 (pin P1-7). * * All the tests make extensive use of gpio 4 (pin P1/J8-7).*
* Ensure that either nothing or just a LED is connected to * * Ensure that either nothing or just a LED is connected to *
* gpio 4 before running any of the tests. * * gpio 4 before running any of the tests. *
************************************************************ ************************************************************
@ -123,6 +124,7 @@ o the library (libpigpiod_if.a) in /usr/local/lib
o the header file (pigpio.h) in /usr/local/include o the header file (pigpio.h) in /usr/local/include
o the header file (pigpiod_if.h) in /usr/local/include o the header file (pigpiod_if.h) in /usr/local/include
o the socket interface (pigs) in /usr/local/bin o the socket interface (pigs) in /usr/local/bin
o man pages in /usr/local/man/man1 and man3
o the Python module pigpio.py o the Python module pigpio.py
On Windows machines (and possibly Macs) On Windows machines (and possibly Macs)
@ -134,3 +136,18 @@ python setup.py install
pigs and pigpiod_if.c will need minor mods to reflect the pigs and pigpiod_if.c will need minor mods to reflect the
Window's/Mac's socket interface. Window's/Mac's socket interface.
DOCUMENTATION
The most up to date should be http://abyz.co.uk/rpi/pigpio/
On the Pi try
man pigs
man pigpiod
man pig2vcd
man pigpio
man pigpiod_if
pydoc pigpio

30
command.c
View File

@ -26,7 +26,7 @@ For more information, please refer to <http://unlicense.org/>
*/ */
/* /*
This version is for pigpio version 16+ This version is for pigpio version 17+
*/ */
#include <stdio.h> #include <stdio.h>
@ -91,20 +91,20 @@ cmdInfo_t cmdInfo[]=
{PI_CMD_NO, "NO", 101, 2}, // gpioNotifyOpen {PI_CMD_NO, "NO", 101, 2}, // gpioNotifyOpen
{PI_CMD_NP, "NP", 112, 0}, // gpioNotifyPause {PI_CMD_NP, "NP", 112, 0}, // gpioNotifyPause
{PI_CMD_PARSE, "PARSE", 115, 2}, // cmdParseScript {PI_CMD_PARSE, "PARSE", 115, 0}, // cmdParseScript
{PI_CMD_PFG, "PFG", 112, 2}, // gpioGetPWMfrequency {PI_CMD_PFG, "PFG", 112, 2}, // gpioGetPWMfrequency
{PI_CMD_PFS, "PFS", 121, 2}, // gpioSetPWMfrequency {PI_CMD_PFS, "PFS", 121, 2}, // gpioSetPWMfrequency
{PI_CMD_PIGPV, "PIGPV", 101, 4}, // gpioVersion {PI_CMD_PIGPV, "PIGPV", 101, 4}, // gpioVersion
{PI_CMD_PRG, "PRG", 112, 2}, // gpioGetPWMrangeg {PI_CMD_PRG, "PRG", 112, 2}, // gpioGetPWMrange
{PI_CMD_PROC, "PROC", 115, 2}, // gpioStoreScript {PI_CMD_PROC, "PROC", 115, 2}, // gpioStoreScript
{PI_CMD_PROCD, "PROCD", 112, 2}, // gpioDeleteScript {PI_CMD_PROCD, "PROCD", 112, 0}, // gpioDeleteScript
{PI_CMD_PROCP, "PROCP", 112, 7}, // gpioScriptStatus {PI_CMD_PROCP, "PROCP", 112, 7}, // gpioScriptStatus
{PI_CMD_PROCR, "PROCR", 191, 2}, // gpioRunScript {PI_CMD_PROCR, "PROCR", 191, 0}, // gpioRunScript
{PI_CMD_PROCS, "PROCS", 112, 2}, // gpioStopScript {PI_CMD_PROCS, "PROCS", 112, 0}, // gpioStopScript
{PI_CMD_PRRG, "PRRG", 112, 2}, // gpioGetPWMrealRange {PI_CMD_PRRG, "PRRG", 112, 2}, // gpioGetPWMrealRange
{PI_CMD_PRS, "PRS", 121, 2}, // gpioSetPWMrange {PI_CMD_PRS, "PRS", 121, 2}, // gpioSetPWMrange
@ -129,13 +129,13 @@ cmdInfo_t cmdInfo[]=
{PI_CMD_SERVO, "SERVO", 121, 0}, // gpioServo {PI_CMD_SERVO, "SERVO", 121, 0}, // gpioServo
{PI_CMD_SLR, "SLR", 121, 6}, // gpioSerialRead {PI_CMD_SLR, "SLR", 121, 6}, // gpioSerialRead
{PI_CMD_SLRC, "SLRC", 112, 2}, // gpioSerialReadClose {PI_CMD_SLRC, "SLRC", 112, 0}, // gpioSerialReadClose
{PI_CMD_SLRO, "SLRO", 121, 2}, // gpioSerialReadOpen {PI_CMD_SLRO, "SLRO", 121, 0}, // gpioSerialReadOpen
{PI_CMD_SPIC, "SPIC", 112, 0}, // spiClose {PI_CMD_SPIC, "SPIC", 112, 0}, // spiClose
{PI_CMD_SPIO, "SPIO", 131, 2}, // spiOpen {PI_CMD_SPIO, "SPIO", 131, 2}, // spiOpen
{PI_CMD_SPIR, "SPIR", 121, 6}, // spiRead {PI_CMD_SPIR, "SPIR", 121, 6}, // spiRead
{PI_CMD_SPIW, "SPIW", 193, 2}, // spiWrite {PI_CMD_SPIW, "SPIW", 193, 0}, // spiWrite
{PI_CMD_SPIX, "SPIX", 193, 6}, // spiXfer {PI_CMD_SPIX, "SPIX", 193, 6}, // spiXfer
{PI_CMD_TICK, "T", 101, 4}, // gpioTick {PI_CMD_TICK, "T", 101, 4}, // gpioTick
@ -153,11 +153,11 @@ cmdInfo_t cmdInfo[]=
{PI_CMD_WVBSY, "WVBSY", 101, 2}, // gpioWaveTxBusy {PI_CMD_WVBSY, "WVBSY", 101, 2}, // gpioWaveTxBusy
{PI_CMD_WVCLR, "WVCLR", 101, 0}, // gpioWaveClear {PI_CMD_WVCLR, "WVCLR", 101, 0}, // gpioWaveClear
{PI_CMD_WVCRE, "WVCRE", 101, 2}, // gpioWaveCreate {PI_CMD_WVCRE, "WVCRE", 101, 2}, // gpioWaveCreate
{PI_CMD_WVDEL, "WVDEL", 112, 2}, // gpioWaveDelete {PI_CMD_WVDEL, "WVDEL", 112, 0}, // gpioWaveDelete
{PI_CMD_WVGO, "WVGO" , 101, 2}, // gpioWaveTxStart {PI_CMD_WVGO, "WVGO" , 101, 2}, // gpioWaveTxStart
{PI_CMD_WVGOR, "WVGOR", 101, 2}, // gpioWaveTxStart {PI_CMD_WVGOR, "WVGOR", 101, 2}, // gpioWaveTxStart
{PI_CMD_WVHLT, "WVHLT", 101, 2}, // gpioWaveTxStop {PI_CMD_WVHLT, "WVHLT", 101, 0}, // gpioWaveTxStop
{PI_CMD_WVNEW, "WVNEW", 101, 2}, // gpioWaveAddNew {PI_CMD_WVNEW, "WVNEW", 101, 0}, // gpioWaveAddNew
{PI_CMD_WVSC, "WVSC", 112, 2}, // gpioWaveGet*Cbs {PI_CMD_WVSC, "WVSC", 112, 2}, // gpioWaveGet*Cbs
{PI_CMD_WVSM, "WVSM", 112, 2}, // gpioWaveGet*Micros {PI_CMD_WVSM, "WVSM", 112, 2}, // gpioWaveGet*Micros
{PI_CMD_WVSP, "WVSP", 112, 2}, // gpioWaveGet*Pulses {PI_CMD_WVSP, "WVSP", 112, 2}, // gpioWaveGet*Pulses
@ -237,7 +237,7 @@ I2CRW h r smb Read Word Data: read word from register.\n\
\n\ \n\
I2CWB h r bv smb Write Byte Data: write byte to register.\n\ I2CWB h r bv smb Write Byte Data: write byte to register.\n\
I2CWD h bvs i2c Write data.\n\ I2CWD h bvs i2c Write data.\n\
I2CWI h smb Write I2C Block Data.\n\ I2CWI h r bvs smb Write I2C Block Data.\n\
I2CWK h r bvs smb Write Block Data: write data to register.\n\ I2CWK h r bvs smb Write Block Data: write data to register.\n\
I2CWQ h bit smb Write Quick: write bit.\n\ I2CWQ h bit smb Write Quick: write bit.\n\
I2CWS h bv smb Write Byte: write byte.\n\ I2CWS h bv smb Write Byte: write byte.\n\
@ -373,7 +373,7 @@ static errInfo_t errInfo[]=
{PI_BAD_LEVEL , "level not 0-1"}, {PI_BAD_LEVEL , "level not 0-1"},
{PI_BAD_PUD , "pud not 0-2"}, {PI_BAD_PUD , "pud not 0-2"},
{PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"}, {PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"},
{PI_BAD_DUTYCYCLE , "dutycycle outside set range"}, {PI_BAD_DUTYCYCLE , "dutycycle not 0-range (default 255)"},
{PI_BAD_TIMER , "timer not 0-9"}, {PI_BAD_TIMER , "timer not 0-9"},
{PI_BAD_MS , "ms not 10-60000"}, {PI_BAD_MS , "ms not 10-60000"},
{PI_BAD_TIMETYPE , "timetype not 0-1"}, {PI_BAD_TIMETYPE , "timetype not 0-1"},
@ -390,7 +390,7 @@ static errInfo_t errInfo[]=
{PI_BAD_SIGNUM , "signum not 0-63"}, {PI_BAD_SIGNUM , "signum not 0-63"},
{PI_BAD_PATHNAME , "can't open pathname"}, {PI_BAD_PATHNAME , "can't open pathname"},
{PI_NO_HANDLE , "no handle available"}, {PI_NO_HANDLE , "no handle available"},
{PI_BAD_HANDLE , "unknown notify handle"}, {PI_BAD_HANDLE , "unknown handle"},
{PI_BAD_IF_FLAGS , "ifFlags > 3"}, {PI_BAD_IF_FLAGS , "ifFlags > 3"},
{PI_BAD_CHANNEL , "DMA channel not 0-14"}, {PI_BAD_CHANNEL , "DMA channel not 0-14"},
{PI_BAD_SOCKET_PORT , "socket port not 1024-30000"}, {PI_BAD_SOCKET_PORT , "socket port not 1024-30000"},

249
pig2vcd.1 Normal file
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@ -0,0 +1,249 @@
." Process this file with
." groff -man -Tascii pig2vcd.1
."
.TH pig2vcd 1 2012-2014 Linux "pigpio archive"
.SH NAME
pig2vd - A utility to convert pigpio notifications to VCD.
.SH SYNOPSIS
pig2vcd </dev/pigpioXX >file.VCD
.SH DESCRIPTION
pig2vcd is a utility which reads notifications on stdin and writes the
output as a Value Change Dump (VCD) file on stdout.
.br
.br
The VCD file can be viewed using GTKWave.
.br
.br
.SS Notifications
.br
.br
Notifications consist of 12 bytes with the following binary format.
.br
.br
.EX
typedef struct
.br
{
.br
uint16_t seqno;
.br
uint16_t flags;
.br
uint32_t tick;
.br
uint32_t level;
.br
} gpioReport_t;
.br
.EE
.br
.br
seqno starts at 0 each time the handle is opened and then increments
by one for each report.
.br
.br
flags, if bit 5 is set then bits 0-4 of the flags indicate a gpio which
has had a watchdog timeout.
.br
.br
tick is the number of microseconds since system boot.
.br
.br
level indicates the level of each gpio.
.br
.br
pig2vcd takes these notifications and outputs a text format VCD.
.br
.br
.SS VCD format
.br
.br
The VCD starts with a header.
.br
.br
.EX
$date 2013-05-31 18:49:36 $end
.br
$version pig2vcd V1 $end
.br
$timescale 1 us $end
.br
$scope module top $end
.br
$var wire 1 A 0 $end
.br
$var wire 1 B 1 $end
.br
$var wire 1 C 2 $end
.br
$var wire 1 D 3 $end
.br
$var wire 1 E 4 $end
.br
$var wire 1 F 5 $end
.br
$var wire 1 G 6 $end
.br
$var wire 1 H 7 $end
.br
$var wire 1 I 8 $end
.br
$var wire 1 J 9 $end
.br
$var wire 1 K 10 $end
.br
$var wire 1 L 11 $end
.br
$var wire 1 M 12 $end
.br
$var wire 1 N 13 $end
.br
$var wire 1 O 14 $end
.br
$var wire 1 P 15 $end
.br
$var wire 1 Q 16 $end
.br
$var wire 1 R 17 $end
.br
$var wire 1 S 18 $end
.br
$var wire 1 T 19 $end
.br
$var wire 1 U 20 $end
.br
$var wire 1 V 21 $end
.br
$var wire 1 W 22 $end
.br
$var wire 1 X 23 $end
.br
$var wire 1 Y 24 $end
.br
$var wire 1 Z 25 $end
.br
$var wire 1 a 26 $end
.br
$var wire 1 b 27 $end
.br
$var wire 1 c 28 $end
.br
$var wire 1 d 29 $end
.br
$var wire 1 e 30 $end
.br
$var wire 1 f 31 $end
.br
$upscope $end
.br
$enddefinitions $end
.br
.EE
.br
.br
The header defines gpio identifiers and their name. Each gpio identifier
must be unique. pig2vcd arbitrarily uses 'A' through 'Z' for gpios 0
through 25, and 'a' through 'f' for gpios 26 through 31.
The corresponding names are 0 through 31.
.br
.br
.br
The VCD file may be edited to give a frendlier name, e.g. 8 could be
changed to ENCODER_A if an encoder switch A is connected to gpio 8.
.br
.br
Following the header pig2vcd takes notifications and outputs a timestamp
followed by a list of one or more gpios which have changed state.
The timestamp consists of a '#' followed by the microsecond tick.
The state lines contain the new state followed by the gpio identifier.
.br
.br
.EX
#1058747
.br
0H
.br
0I
.br
#1059012
.br
1H
.br
#1079777
.br
1I
.br
#1079782
.br
0I
.br
#1079852
.br
1I
.br
#1079857
.br
0I
.br
0H
.br
#1165113
.br
1H
.br
#1165118
.br
0H
.br
#1165153
.br
1H
.br
.EE
.SH SEE ALSO
pigpiod(1), pigs(1), pigpio(3), pigpiod_if(3)
.SH AUTHOR
joan@abyz.co.uk

6134
pigpio.3 Normal file
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File diff suppressed because it is too large Load Diff

172
pigpio.c
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@ -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/>
*/ */
/* pigpio version 16 */ /* pigpio version 17 */
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
@ -51,6 +51,7 @@ For more information, please refer to <http://unlicense.org/>
#include <sys/stat.h> #include <sys/stat.h>
#include <sys/file.h> #include <sys/file.h>
#include <sys/socket.h> #include <sys/socket.h>
#include <netinet/tcp.h>
#include <arpa/inet.h> #include <arpa/inet.h>
#include <sys/select.h> #include <sys/select.h>
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
@ -812,12 +813,6 @@ struct my_smbus_ioctl_data
union my_smbus_data *data; union my_smbus_data *data;
}; };
struct my_rdwr_ioctl_data
{
struct i2c_msg *msgs; /* pointers to msgs */
uint32_t nmsgs; /* number of msgs */
};
/* --------------------------------------------------------------- */ /* --------------------------------------------------------------- */
/* initialise once then preserve */ /* initialise once then preserve */
@ -984,6 +979,28 @@ static int gpioNotifyOpenInBand(int fd);
/* ======================================================================= */ /* ======================================================================= */
static char * myTimeStamp()
{
static struct timeval last;
static char buf[32];
struct timeval now;
struct tm tmp;
gettimeofday(&now, NULL);
if (now.tv_sec != last.tv_sec)
{
localtime_r(&now.tv_sec, &tmp);
strftime(buf, sizeof(buf), "%F %T", &tmp);
last.tv_sec = now.tv_sec;
}
return buf;
}
/* ----------------------------------------------------------------------- */
static int my_smbus_access( static int my_smbus_access(
int fd, char rw, uint8_t cmd, int size, union my_smbus_data *data) int fd, char rw, uint8_t cmd, int size, union my_smbus_data *data)
{ {
@ -997,6 +1014,8 @@ static int my_smbus_access(
return ioctl(fd, PI_I2C_SMBUS, &args); return ioctl(fd, PI_I2C_SMBUS, &args);
} }
/* ----------------------------------------------------------------------- */
static char *myBuf2Str(unsigned count, char *buf) static char *myBuf2Str(unsigned count, char *buf)
{ {
static char str[64]; static char str[64];
@ -1014,6 +1033,8 @@ static char *myBuf2Str(unsigned count, char *buf)
return str; return str;
} }
/* ----------------------------------------------------------------------- */
static void myGpioSleep(int seconds, int micros) static void myGpioSleep(int seconds, int micros)
{ {
struct timespec ts, rem; struct timespec ts, rem;
@ -1045,28 +1066,6 @@ static uint32_t myGpioDelay(uint32_t micros)
/* ----------------------------------------------------------------------- */ /* ----------------------------------------------------------------------- */
static char * myTimeStamp()
{
static struct timeval last;
static char buf[32];
struct timeval now;
struct tm tmp;
gettimeofday(&now, NULL);
if (now.tv_sec != last.tv_sec)
{
localtime_r(&now.tv_sec, &tmp);
strftime(buf, sizeof(buf), "%F %T", &tmp);
last.tv_sec = now.tv_sec;
}
return buf;
}
/* ----------------------------------------------------------------------- */
static void myCreatePipe(char * name, int perm) static void myCreatePipe(char * name, int perm)
{ {
unlink(name); unlink(name);
@ -1743,12 +1742,12 @@ static void myGpioSetServo(unsigned gpio, int oldVal, int newVal)
/* ======================================================================= */ /* ======================================================================= */
rawCbs_t * rawWaveCBAdr(int n) rawCbs_t * rawWaveCBAdr(int cbNum)
{ {
int page, slot; int page, slot;
page = n/CBS_PER_OPAGE; page = cbNum/CBS_PER_OPAGE;
slot = n%CBS_PER_OPAGE; slot = cbNum%CBS_PER_OPAGE;
return &dmaOVirt[page]->cb[slot]; return &dmaOVirt[page]->cb[slot];
} }
@ -1861,7 +1860,7 @@ static int errCBsOOL(int cb, int botOOL, int topOOL)
/* ----------------------------------------------------------------------- */ /* ----------------------------------------------------------------------- */
static int wave2Cbs(unsigned mode) static int wave2Cbs(unsigned wave_mode)
{ {
int botCB=waveOutBotCB, botOOL=waveOutBotOOL, topOOL=waveOutTopOOL; int botCB=waveOutBotCB, botOOL=waveOutBotOOL, topOOL=waveOutTopOOL;
@ -2000,7 +1999,7 @@ static int wave2Cbs(unsigned mode)
if (p != NULL) if (p != NULL)
{ {
if (mode == PI_WAVE_MODE_ONE_SHOT) if (wave_mode == PI_WAVE_MODE_ONE_SHOT)
p->next = 0; p->next = 0;
else p->next = waveCbPOadr(repeatCB) | DMA_BUS_ADR; else p->next = waveCbPOadr(repeatCB) | DMA_BUS_ADR;
} }
@ -2485,8 +2484,12 @@ int i2cReadBlockData(unsigned handle, unsigned reg, char *buf)
return PI_I2C_READ_FAILED; return PI_I2C_READ_FAILED;
else else
{ {
for (i=1; i<=data.block[0]; i++) buf[i-1] = data.block[i]; if (data.block[0] <= PI_I2C_SMBUS_BLOCK_MAX)
return data.block[0]; {
for (i=0; i<data.block[0]; i++) buf[i] = data.block[i+1];
return data.block[0];
}
else return PI_I2C_READ_FAILED;
} }
} }
@ -2558,12 +2561,17 @@ int i2cBlockProcessCall(
for (i=1; i<=count; i++) data.block[i] = buf[i-1]; for (i=1; i<=count; i++) data.block[i] = buf[i-1];
data.block[0] = count; data.block[0] = count;
if (my_smbus_access( if (my_smbus_access(
i2cInfo[handle].fd, PI_I2C_SMBUS_WRITE, reg, PI_I2C_SMBUS_BLOCK_PROC_CALL, &data)) i2cInfo[handle].fd, PI_I2C_SMBUS_WRITE, reg,
PI_I2C_SMBUS_BLOCK_PROC_CALL, &data))
return PI_I2C_READ_FAILED; return PI_I2C_READ_FAILED;
else else
{ {
for (i=1; i<=data.block[0]; i++) buf[i-1] = data.block[i]; if (data.block[0] <= PI_I2C_SMBUS_BLOCK_MAX)
return data.block[0]; {
for (i=0; i<data.block[0]; i++) buf[i] = data.block[i+1];
return data.block[0];
}
else return PI_I2C_READ_FAILED;
} }
} }
@ -2604,8 +2612,12 @@ int i2cReadI2CBlockData(
return PI_I2C_READ_FAILED; return PI_I2C_READ_FAILED;
else else
{ {
for (i = 1; i <= data.block[0]; i++) buf[i-1] = data.block[i]; if (data.block[0] <= PI_I2C_SMBUS_I2C_BLOCK_MAX)
return data.block[0]; {
for (i=0; i<data.block[0]; i++) buf[i] = data.block[i+1];
return data.block[0];
}
else return PI_I2C_READ_FAILED;
} }
} }
@ -4122,11 +4134,10 @@ static void *pthScript(void *x)
s = x; s = x;
s->run_state = PI_SCRIPT_HALTED; while ((volatile int)s->request != PI_SCRIPT_DELETE)
while (s->request != PI_SCRIPT_DELETE)
{ {
pthread_mutex_lock(&s->pthMutex); pthread_mutex_lock(&s->pthMutex);
s->run_state = PI_SCRIPT_HALTED;
pthread_cond_wait(&s->pthCond, &s->pthMutex); pthread_cond_wait(&s->pthCond, &s->pthMutex);
pthread_mutex_unlock(&s->pthMutex); pthread_mutex_unlock(&s->pthMutex);
@ -4137,8 +4148,8 @@ static void *pthScript(void *x)
PC = 0; PC = 0;
SP = 0; SP = 0;
while ((s->request == PI_SCRIPT_RUN ) && while (((volatile int)s->request == PI_SCRIPT_RUN ) &&
(s->run_state == PI_SCRIPT_RUNNING)) (s->run_state == PI_SCRIPT_RUNNING))
{ {
instr = s->script.instr[PC]; instr = s->script.instr[PC];
@ -4150,7 +4161,11 @@ static void *pthScript(void *x)
if (instr.opt[2] == CMD_VAR) instr.p[2] = s->script.var[p2o]; if (instr.opt[2] == CMD_VAR) instr.p[2] = s->script.var[p2o];
else if (instr.opt[2] == CMD_PAR) instr.p[2] = s->script.par[p2o]; else if (instr.opt[2] == CMD_PAR) instr.p[2] = s->script.par[p2o];
/*
fprintf(stderr, "PC=%d cmd=%d p1o=%d p1=%d p2o=%d p2=%d\n",
PC, instr.p[0], p1o, instr.p[1], p2o, instr.p[2]);
fflush(stderr);
*/
if (instr.p[0] < 100) if (instr.p[0] < 100)
{ {
if (instr.p[3]) if (instr.p[3])
@ -4323,7 +4338,8 @@ static void *pthScript(void *x)
} }
if (s->request == PI_SCRIPT_HALT) s->run_state = PI_SCRIPT_HALTED; if ((volatile int)s->request == PI_SCRIPT_HALT)
s->run_state = PI_SCRIPT_HALTED;
} }
@ -4462,11 +4478,15 @@ static void * pthFifoThread(void *x)
break; break;
case 6: case 6:
if (res < 0) fprintf(outFifo, "%d\n", res); fprintf(outFifo, "%d", res);
else if (res > 0) if (res > 0)
{ {
fwrite(v, 1, res, outFifo); for (i=0; i<res; i++)
{
fprintf(outFifo, " %d", v[i]);
}
} }
fprintf(outFifo, "\n");
break; break;
case 7: case 7:
@ -4499,10 +4519,15 @@ static void *pthSocketThreadHandler(void *fdC)
{ {
int sock = *(int*)fdC; int sock = *(int*)fdC;
uint32_t p[10]; uint32_t p[10];
int opt;
char buf[CMD_MAX_EXTENSION]; char buf[CMD_MAX_EXTENSION];
free(fdC); free(fdC);
/* Disable the Nagle algorithm. */
opt = 1;
setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (char*)&opt, sizeof(int));
while (1) while (1)
{ {
if (recv(sock, p, 16, MSG_WAITALL) != 16) break; if (recv(sock, p, 16, MSG_WAITALL) != 16) break;
@ -4544,6 +4569,10 @@ static void *pthSocketThreadHandler(void *fdC)
else else
{ {
p[3] = gpioNotifyOpenInBand(sock); p[3] = gpioNotifyOpenInBand(sock);
/* Enable the Nagle algorithm. */
opt = 0;
setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (char*)&opt, sizeof(int));
} }
write(sock, p, 16); write(sock, p, 16);
@ -5617,7 +5646,8 @@ int gpioInitialise(void)
if (i == 0) gpioMask = PI_DEFAULT_UPDATE_MASK_R0; if (i == 0) gpioMask = PI_DEFAULT_UPDATE_MASK_R0;
else if (i < 4) gpioMask = PI_DEFAULT_UPDATE_MASK_R1; else if (i < 4) gpioMask = PI_DEFAULT_UPDATE_MASK_R1;
else gpioMask = PI_DEFAULT_UPDATE_MASK_R2; else if (i < 16) gpioMask = PI_DEFAULT_UPDATE_MASK_R2;
else gpioMask = PI_DEFAULT_UPDATE_MASK_R3;
gpioMaskSet = 1; gpioMaskSet = 1;
} }
@ -6191,11 +6221,12 @@ int gpioWaveAddGeneric(unsigned numPulses, gpioPulse_t *pulses)
/* ----------------------------------------------------------------------- */ /* ----------------------------------------------------------------------- */
int gpioWaveAddSerial(unsigned gpio, int gpioWaveAddSerial
unsigned bbBaud, (unsigned gpio,
unsigned offset, unsigned bbBaud,
unsigned numChar, unsigned offset,
char *str) unsigned numChar,
char *str)
{ {
int i, b, p, lev, c, v; int i, b, p, lev, c, v;
@ -6489,7 +6520,7 @@ int gpioWaveDelete(unsigned wave_id)
/* ----------------------------------------------------------------------- */ /* ----------------------------------------------------------------------- */
int gpioWaveTxStart(unsigned mode) int gpioWaveTxStart(unsigned wave_mode)
{ {
/* This function is deprecated and will be removed. */ /* This function is deprecated and will be removed. */
@ -6497,12 +6528,12 @@ int gpioWaveTxStart(unsigned mode)
int cb, i; int cb, i;
DBG(DBG_USER, "mode=%d", mode); DBG(DBG_USER, "wave_mode=%d", wave_mode);
CHECK_INITED; CHECK_INITED;
if (mode > PI_WAVE_MODE_REPEAT) if (wave_mode > PI_WAVE_MODE_REPEAT)
SOFT_ERROR(PI_BAD_WAVE_MODE, "bad wave mode (%d)", mode); SOFT_ERROR(PI_BAD_WAVE_MODE, "bad wave mode (%d)", wave_mode);
if (wfc[wfcur] == 0) return 0; if (wfc[wfcur] == 0) return 0;
@ -6523,7 +6554,7 @@ int gpioWaveTxStart(unsigned mode)
waveOutCount = 0; waveOutCount = 0;
cb = wave2Cbs(mode); cb = wave2Cbs(wave_mode);
if (gpioCfg.dbgLevel >= DBG_SLOW_TICK) if (gpioCfg.dbgLevel >= DBG_SLOW_TICK)
{ {
@ -6539,21 +6570,21 @@ int gpioWaveTxStart(unsigned mode)
/* ----------------------------------------------------------------------- */ /* ----------------------------------------------------------------------- */
int gpioWaveTxSend(unsigned wave_id, unsigned mode) int gpioWaveTxSend(unsigned wave_id, unsigned wave_mode)
{ {
rawCbs_t *p=NULL; rawCbs_t *p=NULL;
static int secondaryClockInited = 0; static int secondaryClockInited = 0;
DBG(DBG_USER, "wave_id=%d mode=%d", wave_id, mode); DBG(DBG_USER, "wave_id=%d wave_mode=%d", wave_id, wave_mode);
CHECK_INITED; CHECK_INITED;
if (wave_id >= waveOutCount) if (wave_id >= waveOutCount)
SOFT_ERROR(PI_BAD_WAVE_ID, "bad wave id (%d)", wave_id); SOFT_ERROR(PI_BAD_WAVE_ID, "bad wave id (%d)", wave_id);
if (mode > PI_WAVE_MODE_REPEAT) if (wave_mode > PI_WAVE_MODE_REPEAT)
SOFT_ERROR(PI_BAD_WAVE_MODE, "bad wave mode (%d)", mode); SOFT_ERROR(PI_BAD_WAVE_MODE, "bad wave mode (%d)", wave_mode);
if (!secondaryClockInited) if (!secondaryClockInited)
{ {
@ -6563,7 +6594,7 @@ int gpioWaveTxSend(unsigned wave_id, unsigned mode)
p = rawWaveCBAdr(waveInfo[wave_id].topCB); p = rawWaveCBAdr(waveInfo[wave_id].topCB);
if (mode == PI_WAVE_MODE_ONE_SHOT) p->next = 0; if (wave_mode == PI_WAVE_MODE_ONE_SHOT) p->next = 0;
else p->next = waveCbPOadr(waveInfo[wave_id].botCB+1) | DMA_BUS_ADR; else p->next = waveCbPOadr(waveInfo[wave_id].botCB+1) | DMA_BUS_ADR;
dmaOut[DMA_CS] = DMA_CHANNEL_RESET; dmaOut[DMA_CS] = DMA_CHANNEL_RESET;
@ -7358,7 +7389,7 @@ int gpioStoreScript(char *script)
if (status == 0) if (status == 0)
{ {
s->request = PI_SCRIPT_HALT; s->request = PI_SCRIPT_HALT;
s->run_state = PI_SCRIPT_HALTED; s->run_state = PI_SCRIPT_INITING;
pthread_cond_init(&s->pthCond, NULL); pthread_cond_init(&s->pthCond, NULL);
pthread_mutex_init(&s->pthMutex, NULL); pthread_mutex_init(&s->pthMutex, NULL);
@ -7519,7 +7550,8 @@ int gpioDeleteScript(unsigned script_id)
gpioStopThread(gpioScript[script_id].pthIdp); gpioStopThread(gpioScript[script_id].pthIdp);
if (gpioScript[script_id].script.par) free(gpioScript[script_id].script.par); if (gpioScript[script_id].script.par)
free(gpioScript[script_id].script.par);
gpioScript[script_id].script.par = NULL; gpioScript[script_id].script.par = NULL;
@ -7949,8 +7981,6 @@ int gpioCfgInternals(unsigned cfgWhat, int cfgVal)
DBG(DBG_USER, "cfgWhat=%u, cfgVal=%d", cfgWhat, cfgVal); DBG(DBG_USER, "cfgWhat=%u, cfgVal=%d", cfgWhat, cfgVal);
CHECK_NOT_INITED;
/* /*
133084774 133084774
207081315 207081315

2775
pigpio.h
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340
pigpio.py
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@ -2,57 +2,51 @@
pigpio is a Python module for the Raspberry which allows control pigpio is a Python module for the Raspberry which allows control
of the general purpose input outputs (gpios). 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*
The pigpio module's main features are: o pigpio Python module can be running on Windows, Macs, or Linux
- controlling the gpios of one or more Pi's o controls one or more Pi's
- PWM on any of gpios 0-31 simultaneously o independent PWM on any of gpios 0-31 simultaneously
- servo pulses on any of gpios 0-31 simultaneously o independent servo pulses on any of gpios 0-31 simultaneously
- callbacks when any of gpios 0-31 change state o callbacks when any of gpios 0-31 change state
- creating and transmitting precisely timed waveforms o creating and transmitting precisely timed waveforms
- reading/writing gpios and setting their modes o reading/writing gpios and setting their modes
- wrappers for I2C, SPI, and serial links o wrappers for I2C, SPI, and serial links
- creating and running scripts on the pigpio daemon o creating and running scripts on the pigpio daemon
Notes *gpios*
ALL gpios are identified by their Broadcom number.
*Notes*
Transmitted waveforms are accurate to a microsecond. Transmitted waveforms are accurate to a microsecond.
Callback level changes are time-stamped and will be Callback level changes are time-stamped and will be
accurate to within a few microseconds. accurate to within a few microseconds.
ALL gpios are identified by their Broadcom number. *Settings*
This module uses the services of the C pigpio library. pigpio
must be running on the Pi whose gpios are to be manipulated.
The normal way to start pigpio is as a daemon (during system
start).
sudo pigpiod
Settings
A number of settings are determined when the pigpio daemon is started. A number of settings are determined when the pigpio daemon is started.
- the sample rate (1, 2, 4, 5, 8, or 10us, default 5us). o the sample rate (1, 2, 4, 5, 8, or 10us, default 5us).
- 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 listed above for the Rev.1 or Rev.2 boards. default set is those available on the Pi board revision.
- the available PWM frequencies (see set_PWM_frequency). o the available PWM frequencies (see [*set_PWM_frequency*]).
Exceptions *Exceptions*
By default a fatal exception is raised if you pass an invalid By default a fatal exception is raised if you pass an invalid
argument to a pigpio function. argument to a pigpio function.
@ -60,7 +54,26 @@ argument to a pigpio function.
If you wish to handle the returned status yourself you should set If you wish to handle the returned status yourself you should set
pigpio.exceptions to False. pigpio.exceptions to False.
USAGE You may prefer to check the returned status in only a few parts
of your code. In that case do the following.
...
pigpio.exceptions = False
# Code where you want to test the error status.
pigpio.exceptions = True
...
*Usage*
This module uses the services of the C pigpio library. pigpio
must be running on the Pi(s) whose gpios are to be manipulated.
The normal way to start pigpio is as a daemon (during system
start).
sudo pigpiod
Your Python program must import pigpio and create one or more Your Python program must import pigpio and create one or more
instances of the pigpio.pi class. This class gives access to instances of the pigpio.pi class. This class gives access to
@ -68,12 +81,12 @@ a specified Pi's gpios.
... ...
pi1 = pigpio.pi() # pi1 accesses the local Pi's gpios pi1 = pigpio.pi() # pi1 accesses the local Pi's gpios
pi2 = pigpio.pi('hard') # pi2 accesses hard's gpios pi2 = pigpio.pi('tom') # pi2 accesses tom's gpios
pi3 = pigpio.pi('soft') # pi3 accesses soft's gpios pi3 = pigpio.pi('dick') # pi3 accesses dick's gpios
pi1.write(4, 0) # set local Pi's gpio 4 low pi1.write(4, 0) # set local Pi's gpio 4 low
pi2.write(4, 1) # set hard's gpio 4 to high pi2.write(4, 1) # set tom's gpio 4 to high
pi3.read(4) # get level of soft's gpio 4 pi3.read(4) # get level of dick's gpio 4
... ...
The later example code snippets assume that pi is an instance of The later example code snippets assume that pi is an instance of
@ -81,7 +94,6 @@ the pigpio.pi class.
OVERVIEW OVERVIEW
Essential Essential
pigpio.pi Initialise Pi connection pigpio.pi Initialise Pi connection
@ -234,7 +246,7 @@ import os
import atexit import atexit
import codecs import codecs
VERSION = "1.6" VERSION = "1.7"
exceptions = True exceptions = True
@ -275,10 +287,11 @@ PUD_UP = 2
# script run status # script run status
PI_SCRIPT_HALTED =0 PI_SCRIPT_INITING=0
PI_SCRIPT_RUNNING=1 PI_SCRIPT_HALTED =1
PI_SCRIPT_WAITING=2 PI_SCRIPT_RUNNING=2
PI_SCRIPT_FAILED =3 PI_SCRIPT_WAITING=3
PI_SCRIPT_FAILED =4
# pigpio command numbers # pigpio command numbers
@ -483,7 +496,7 @@ _errors=[
[PI_BAD_LEVEL , "level not 0-1"], [PI_BAD_LEVEL , "level not 0-1"],
[PI_BAD_PUD , "pud not 0-2"], [PI_BAD_PUD , "pud not 0-2"],
[PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"], [PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"],
[PI_BAD_DUTYCYCLE , "dutycycle not 0-255"], [PI_BAD_DUTYCYCLE , "dutycycle not 0-range (default 255)"],
[_PI_BAD_TIMER , "timer not 0-9"], [_PI_BAD_TIMER , "timer not 0-9"],
[_PI_BAD_MS , "ms not 10-60000"], [_PI_BAD_MS , "ms not 10-60000"],
[_PI_BAD_TIMETYPE , "timetype not 0-1"], [_PI_BAD_TIMETYPE , "timetype not 0-1"],
@ -500,7 +513,7 @@ _errors=[
[_PI_BAD_SIGNUM , "signum not 0-63"], [_PI_BAD_SIGNUM , "signum not 0-63"],
[_PI_BAD_PATHNAME , "can't open pathname"], [_PI_BAD_PATHNAME , "can't open pathname"],
[PI_NO_HANDLE , "no handle available"], [PI_NO_HANDLE , "no handle available"],
[PI_BAD_HANDLE , "unknown notify handle"], [PI_BAD_HANDLE , "unknown handle"],
[_PI_BAD_IF_FLAGS , "ifFlags > 3"], [_PI_BAD_IF_FLAGS , "ifFlags > 3"],
[_PI_BAD_CHANNEL , "DMA channel not 0-14"], [_PI_BAD_CHANNEL , "DMA channel not 0-14"],
[_PI_BAD_SOCKET_PORT , "socket port not 1024-30000"], [_PI_BAD_SOCKET_PORT , "socket port not 1024-30000"],
@ -936,7 +949,7 @@ class pi():
user_gpio:= 0-31. user_gpio:= 0-31.
dutycycle:= 0-range (range defaults to 255). dutycycle:= 0-range (range defaults to 255).
The set_PWM_range function can change the default range of 255. The [*set_PWM_range*] function can change the default range of 255.
... ...
pi.set_PWM_dutycycle(4, 0) # PWM off pi.set_PWM_dutycycle(4, 0) # PWM off
@ -1072,10 +1085,11 @@ class pi():
Pipes are only accessible from the local machine so this Pipes are only accessible from the local machine so this
function serves no purpose if you are using Python from a function serves no purpose if you are using Python from a
remote machine. The in-built (socket) notifications remote machine. The in-built (socket) notifications
provided by callback should be used instead. provided by [*callback*] should be used instead.
Notifications for handle x will be available at the pipe Notifications for handle x will be available at the pipe
named /dev/pigpiox (where x is the handle number). named /dev/pigpiox (where x is the handle number).
E.g. if the function returns 15 then the notifications must be E.g. if the function returns 15 then the notifications must be
read from /dev/pigpio15. read from /dev/pigpio15.
@ -1101,7 +1115,7 @@ class pi():
""" """
Starts notifications on a handle. Starts notifications on a handle.
handle:= >=0 (as returned by a prior call to notify_open) handle:= >=0 (as returned by a prior call to [*notify_open*])
bits:= a 32 bit mask indicating the gpios to be notified. bits:= a 32 bit mask indicating the gpios to be notified.
The notification sends state changes for each gpio whose The notification sends state changes for each gpio whose
@ -1122,10 +1136,10 @@ class pi():
""" """
Pauses notifications on a handle. Pauses notifications on a handle.
handle:= >=0 (as returned by a prior call to notify_open) handle:= >=0 (as returned by a prior call to [*notify_open*])
Notifications for the handle are suspended until Notifications for the handle are suspended until
notify_begin is called again. [*notify_begin*] is called again.
... ...
h = pi.notify_open() h = pi.notify_open()
@ -1144,7 +1158,7 @@ class pi():
""" """
Stops notifications on a handle and releases the handle for reuse. Stops notifications on a handle and releases the handle for reuse.
handle:= >=0 (as returned by a prior call to notify_open) handle:= >=0 (as returned by a prior call to [*notify_open*])
... ...
h = pi.notify_open() h = pi.notify_open()
@ -1303,7 +1317,7 @@ class pi():
The revision number can be used to determine the assignment The revision number can be used to determine the assignment
of gpios to pins. of gpios to pins.
There are at least two types of board. There are at least three types of board.
Type 1 has gpio 0 on P1-3, gpio 1 on P1-5, and gpio 21 on P1-13 Type 1 has gpio 0 on P1-3, gpio 1 on P1-5, and gpio 21 on P1-13
(revision numbers 2 and 3). (revision numbers 2 and 3).
@ -1311,6 +1325,10 @@ class pi():
Type 2 has gpio 2 on P1-3, gpio 3 on P1-5, gpio 27 on P1-13, Type 2 has gpio 2 on P1-3, gpio 3 on P1-5, gpio 27 on P1-13,
and gpios 28-31 on P5 (revision numbers of 4, 5, 6, and 15). and gpios 28-31 on P5 (revision numbers of 4, 5, 6, and 15).
Type 3 has a 40 pin connector rather than the 26 pin connector
of the earlier boards. Gpios 0 to 27 are brought out to the
connector (revision number 16).
If the hardware revision can not be found or is not a valid If the hardware revision can not be found or is not a valid
hexadecimal number the function returns 0. hexadecimal number the function returns 0.
@ -1334,7 +1352,7 @@ class pi():
def wave_clear(self): def wave_clear(self):
""" """
Clears all waveforms and any data added by calls to the Clears all waveforms and any data added by calls to the
wave_add_* functions. [*wave_add_**] functions.
... ...
pi.wave_clear() pi.wave_clear()
@ -1348,7 +1366,7 @@ class pi():
You would not normally need to call this function as it is You would not normally need to call this function as it is
automatically called after a waveform is created with the automatically called after a waveform is created with the
wave_create function. [*wave_create*] function.
... ...
pi.wave_add_new() pi.wave_add_new()
@ -1483,28 +1501,28 @@ class pi():
def wave_create(self): def wave_create(self):
""" """
Creates a waveform from the data provided by the prior calls Creates a waveform from the data provided by the prior calls
to the wave_add_* functions. to the [*wave_add_**] functions.
Returns a wave id (>=0) if OK. Returns a wave id (>=0) if OK.
The data provided by the wave_add_* functions is consumed by The data provided by the [*wave_add_**] functions is consumed by
this function. this function.
As many waveforms may be created as there is space available. As many waveforms may be created as there is space available.
The wave id is passed to wave_send_* to specify the waveform The wave id is passed to [*wave_send_**] to specify the waveform
to transmit. to transmit.
Normal usage would be Normal usage would be
Step 1. wave_clear to clear all waveforms and added data. Step 1. [*wave_clear*] to clear all waveforms and added data.
Step 2. wave_add_* calls to supply the waveform data. Step 2. [*wave_add_**] calls to supply the waveform data.
Step 3. wave_create to create the waveform and get a unique id Step 3. [*wave_create*] to create the waveform and get a unique id
Repeat steps 2 and 3 as needed. Repeat steps 2 and 3 as needed.
Step 4. wave_send_* with the id of the waveform to transmit. Step 4. [*wave_send_**] with the id of the waveform to transmit.
A waveform comprises one or more pulses. A waveform comprises one or more pulses.
@ -1531,7 +1549,7 @@ class pi():
Deletes all created waveforms with ids greater than or equal Deletes all created waveforms with ids greater than or equal
to wave_id. to wave_id.
wave_id:= >=0 (as returned by a prior call to wave_create). wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
Wave ids are allocated in order, 0, 1, 2, etc. Wave ids are allocated in order, 0, 1, 2, etc.
@ -1547,7 +1565,7 @@ 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.
""" """
return _u2i(_pigpio_command(self._control, _PI_CMD_WVGO, 0, 0)) return _u2i(_pigpio_command(self._control, _PI_CMD_WVGO, 0, 0))
@ -1555,7 +1573,7 @@ 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.
""" """
return _u2i(_pigpio_command(self._control, _PI_CMD_WVGOR, 0, 0)) return _u2i(_pigpio_command(self._control, _PI_CMD_WVGOR, 0, 0))
@ -1564,7 +1582,7 @@ 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.
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.
@ -1577,10 +1595,10 @@ class pi():
def wave_send_repeat(self, wave_id): def wave_send_repeat(self, wave_id):
""" """
Transmits the waveform with id wave_id. The waveform repeats Transmits the waveform with id wave_id. The waveform repeats
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.
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.
@ -1693,6 +1711,11 @@ class pi():
i2c_address:= 0x08-0x77. i2c_address:= 0x08-0x77.
i2c_flags:= 0, no flags are currently defined. i2c_flags:= 0, no flags are currently defined.
Normally you would only use the [*i2c_**] functions if
you are or will be connecting to the Pi over a network. If
you will always run on the local Pi use the standard smbus
modules instead.
... ...
h = pi.i2c_open(1, 0x53) # open device at address 0x53 on bus 1 h = pi.i2c_open(1, 0x53) # open device at address 0x53 on bus 1
... ...
@ -1710,7 +1733,7 @@ class pi():
""" """
Closes the I2C device associated with handle. Closes the I2C device associated with handle.
handle:= >=0 (as returned by a prior call to i2c_open). handle:= >=0 (as returned by a prior call to [*i2c_open*]).
... ...
pi.i2c_close(h) pi.i2c_close(h)
@ -1723,7 +1746,7 @@ class pi():
Returns count bytes read from the raw device associated Returns count bytes read from the raw device associated
with handle. with handle.
handle:= >=0 (as returned by a prior call to i2c_open). handle:= >=0 (as returned by a prior call to [*i2c_open*]).
count:= >0, the number of bytes to read. count:= >0, the number of bytes to read.
The returned value is a tuple of the number of bytes read and a The returned value is a tuple of the number of bytes read and a
@ -1744,7 +1767,7 @@ class pi():
""" """
Writes the data bytes to the raw device associated with handle. Writes the data bytes to the raw device associated with handle.
handle:= >=0 (as returned by a prior call to i2c_open). handle:= >=0 (as returned by a prior call to [*i2c_open*]).
data:= the bytes to write. data:= the bytes to write.
... ...
@ -1770,10 +1793,11 @@ class pi():
def i2c_write_quick(self, handle, bit): def i2c_write_quick(self, handle, bit):
""" """
Sends a single bit to the device associated with handle Sends a single bit to the device associated with handle.
(smbus 2.0 5.5.1 - Quick command).
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.1 - Quick command.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
bit:= 0 or 1, the value to write. bit:= 0 or 1, the value to write.
... ...
@ -1785,10 +1809,11 @@ class pi():
def i2c_write_byte(self, handle, byte_val): def i2c_write_byte(self, handle, byte_val):
""" """
Sends a single byte to the device associated with handle Sends a single byte to the device associated with handle.
(smbus 2.0 5.5.2 - Send byte).
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.2 - Send byte.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
byte_val:= 0-255, the value to write. byte_val:= 0-255, the value to write.
... ...
@ -1801,10 +1826,11 @@ class pi():
def i2c_read_byte(self, handle): def i2c_read_byte(self, handle):
""" """
Reads a single byte from the device associated with handle Reads a single byte from the device associated with handle.
(smbus 2.0 5.5.3 - Receive byte).
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.3 - Receive byte.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
... ...
b = pi.i2c_read_byte(2) # read a byte from device 2 b = pi.i2c_read_byte(2) # read a byte from device 2
@ -1815,9 +1841,11 @@ class pi():
def i2c_write_byte_data(self, handle, reg, byte_val): def i2c_write_byte_data(self, handle, reg, byte_val):
""" """
Writes a single byte to the specified register of the device Writes a single byte to the specified register of the device
associated with handle (smbus 2.0 5.5.4 - Write byte). associated with handle.
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.4 - Write byte.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
byte_val:= 0-255, the value to write. byte_val:= 0-255, the value to write.
@ -1841,9 +1869,11 @@ class pi():
def i2c_write_word_data(self, handle, reg, word_val): def i2c_write_word_data(self, handle, reg, word_val):
""" """
Writes a single 16 bit word to the specified register of the Writes a single 16 bit word to the specified register of the
device associated with handle (smbus 2.0 5.5.4 - Write word). device associated with handle.
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.4 - Write word.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
word_val:= 0-65535, the value to write. word_val:= 0-65535, the value to write.
@ -1867,9 +1897,11 @@ class pi():
def i2c_read_byte_data(self, handle, reg): def i2c_read_byte_data(self, handle, reg):
""" """
Reads a single byte from the specified register of the device Reads a single byte from the specified register of the device
associated with handle (smbus 2.0 5.5.5 - Read byte). associated with handle.
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.5 - Read byte.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
... ...
@ -1885,9 +1917,11 @@ class pi():
def i2c_read_word_data(self, handle, reg): def i2c_read_word_data(self, handle, reg):
""" """
Reads a single 16 bit word from the specified register of the Reads a single 16 bit word from the specified register of the
device associated with handle (smbus 2.0 5.5.5 - Read word). device associated with handle.
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.5 - Read word.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
... ...
@ -1903,10 +1937,11 @@ class pi():
def i2c_process_call(self, handle, reg, word_val): def i2c_process_call(self, handle, reg, word_val):
""" """
Writes 16 bits of data to the specified register of the device Writes 16 bits of data to the specified register of the device
associated with handle and reads 16 bits of data in return associated with handle and reads 16 bits of data in return.
(smbus 2.0 5.5.6 - Process call).
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.6 - Process call.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
word_val:= 0-65535, the value to write. word_val:= 0-65535, the value to write.
@ -1927,9 +1962,11 @@ class pi():
def i2c_write_block_data(self, handle, reg, data): def i2c_write_block_data(self, handle, reg, data):
""" """
Writes up to 32 bytes to the specified register of the device Writes up to 32 bytes to the specified register of the device
associated with handle (smbus 2.0 5.5.7 - Block write). associated with handle.
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.7 - Block write.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
data:= the bytes to write. data:= the bytes to write.
@ -1957,9 +1994,11 @@ class pi():
def i2c_read_block_data(self, handle, reg): def i2c_read_block_data(self, handle, reg):
""" """
Reads a block of up to 32 bytes from the specified register of Reads a block of up to 32 bytes from the specified register of
the device associated with handle (smbus 2.0 5.5.7 - Block read). the device associated with handle.
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.7 - Block read.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
The amount of returned data is set by the device. The amount of returned data is set by the device.
@ -1986,10 +2025,11 @@ class pi():
""" """
Writes data bytes to the specified register of the device Writes data bytes to the specified register of the device
associated with handle and reads a device specified number associated with handle and reads a device specified number
of bytes of data in return (smbus 2.0 5.5.8 - of bytes of data in return.
Block write-block read).
handle:= >=0 (as returned by a prior call to i2c_open). smbus 2.0 5.5.8 - Block write-block read.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
data:= the bytes to write. data:= the bytes to write.
@ -2028,7 +2068,7 @@ class pi():
Writes data bytes to the specified register of the device Writes data bytes to the specified register of the device
associated with handle . 1-32 bytes may be written. associated with handle . 1-32 bytes may be written.
handle:= >=0 (as returned by a prior call to i2c_open). handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
data:= the bytes to write. data:= the bytes to write.
@ -2058,7 +2098,7 @@ class pi():
Reads count bytes from the specified register of the device Reads count bytes from the specified register of the device
associated with handle . The count may be 1-32. associated with handle . The count may be 1-32.
handle:= >=0 (as returned by a prior call to i2c_open). handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register. reg:= >=0, the device register.
count:= >0, the number of bytes to read. count:= >0, the number of bytes to read.
@ -2095,6 +2135,11 @@ class pi():
spi_baud:= >0, the transmission rate in bits per second. spi_baud:= >0, the transmission rate in bits per second.
spi_flags:= see below. spi_flags:= see below.
Normally you would only use the [*spi_**] functions if
you are or will be connecting to the Pi over a network. If
you will always run on the local Pi use the standard SPI
modules instead.
The bottom two bits of spi_flags define the SPI mode as The bottom two bits of spi_flags define the SPI mode as
follows. follows.
@ -2129,7 +2174,7 @@ class pi():
""" """
Closes the SPI device associated with handle. Closes the SPI device associated with handle.
handle:= >=0 (as returned by a prior call to spi_open). handle:= >=0 (as returned by a prior call to [*spi_open*]).
... ...
pi.spi_close(h) pi.spi_close(h)
@ -2141,7 +2186,7 @@ class pi():
""" """
Reads count bytes from the SPI device associated with handle. Reads count bytes from the SPI device associated with handle.
handle:= >=0 (as returned by a prior call to spi_open). handle:= >=0 (as returned by a prior call to [*spi_open*]).
count:= >0, the number of bytes to read. count:= >0, the number of bytes to read.
The returned value is a tuple of the number of bytes read and a The returned value is a tuple of the number of bytes read and a
@ -2167,7 +2212,7 @@ class pi():
""" """
Writes the data bytes to the SPI device associated with handle. Writes the data bytes to the SPI device associated with handle.
handle:= >=0 (as returned by a prior call to spi_open). handle:= >=0 (as returned by a prior call to [*spi_open*]).
data:= the bytes to write. data:= the bytes to write.
... ...
@ -2193,7 +2238,7 @@ class pi():
Writes the data bytes to the SPI device associated with handle, Writes the data bytes to the SPI device associated with handle,
returning the data bytes read from the device. returning the data bytes read from the device.
handle:= >=0 (as returned by a prior call to spi_open). handle:= >=0 (as returned by a prior call to [*spi_open*]).
data:= the bytes to write. data:= the bytes to write.
The returned value is a tuple of the number of bytes read and a The returned value is a tuple of the number of bytes read and a
@ -2231,6 +2276,11 @@ class pi():
ser_baud:= baud rate ser_baud:= baud rate
ser_flags:= 0, no flags are currently defined. ser_flags:= 0, no flags are currently defined.
Normally you would only use the [*serial_**] functions if
you are or will be connecting to the Pi over a network. If
you will always run on the local Pi use the standard serial
modules instead.
... ...
h1 = pi.serial_open("/dev/ttyAMA0", 300) h1 = pi.serial_open("/dev/ttyAMA0", 300)
@ -2249,7 +2299,7 @@ class pi():
""" """
Closes the serial device associated with handle. Closes the serial device associated with handle.
handle:= >=0 (as returned by a prior call to serial_open). handle:= >=0 (as returned by a prior call to [*serial_open*]).
... ...
pi.serial_close(h1) pi.serial_close(h1)
@ -2261,7 +2311,7 @@ class pi():
""" """
Returns a single byte from the device associated with handle. Returns a single byte from the device associated with handle.
handle:= >=0 (as returned by a prior call to serial_open). handle:= >=0 (as returned by a prior call to [*serial_open*]).
... ...
b = pi.serial_read_byte(h1) b = pi.serial_read_byte(h1)
@ -2273,7 +2323,7 @@ class pi():
""" """
Writes a single byte to the device associated with handle. Writes a single byte to the device associated with handle.
handle:= >=0 (as returned by a prior call to serial_open). handle:= >=0 (as returned by a prior call to [*serial_open*]).
byte_val:= 0-255, the value to write. byte_val:= 0-255, the value to write.
... ...
@ -2289,7 +2339,7 @@ class pi():
""" """
Reads up to count bytes from the device associated with handle. Reads up to count bytes from the device associated with handle.
handle:= >=0 (as returned by a prior call to serial_open). handle:= >=0 (as returned by a prior call to [*serial_open*]).
count:= >0, the number of bytes to read. count:= >0, the number of bytes to read.
The returned value is a tuple of the number of bytes read and a The returned value is a tuple of the number of bytes read and a
@ -2313,7 +2363,7 @@ class pi():
""" """
Writes the data bytes to the device associated with handle. Writes the data bytes to the device associated with handle.
handle:= >=0 (as returned by a prior call to serial_open). handle:= >=0 (as returned by a prior call to [*serial_open*]).
data:= the bytes to write. data:= the bytes to write.
... ...
@ -2340,7 +2390,7 @@ class pi():
Returns the number of bytes available to be read from the Returns the number of bytes available to be read from the
device associated with handle. device associated with handle.
handle:= >=0 (as returned by a prior call to serial_open). handle:= >=0 (as returned by a prior call to [*serial_open*]).
... ...
rdy = pi.serial_data_available(h1) rdy = pi.serial_data_available(h1)
@ -2441,6 +2491,7 @@ class pi():
The run status may be The run status may be
. . . .
PI_SCRIPT_INITING
PI_SCRIPT_HALTED PI_SCRIPT_HALTED
PI_SCRIPT_RUNNING PI_SCRIPT_RUNNING
PI_SCRIPT_WAITING PI_SCRIPT_WAITING
@ -2510,7 +2561,7 @@ class pi():
""" """
Returns data from the bit bang serial cyclic buffer. Returns data from the bit bang serial cyclic buffer.
user_gpio:= 0-31 (opened in a prior call to bb_serial_read_open) user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*])
The returned value is a tuple of the number of bytes read and a The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the bytearray containing the bytes. If there was an error the
@ -2531,7 +2582,7 @@ class pi():
""" """
Closes a gpio for bit bang reading of serial data. Closes a gpio for bit bang reading of serial data.
user_gpio:= 0-31 (opened in a prior call to bb_serial_read_open) user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*])
... ...
status = pi.bb_serial_read_close(17) status = pi.bb_serial_read_close(17)
@ -2607,11 +2658,11 @@ class pi():
Grants access to a Pi's gpios. Grants access to a Pi's gpios.
host:= the host name of the Pi on which the pigpio daemon is host:= the host name of the Pi on which the pigpio daemon is
running. The default is localhost unless overwritten by running. The default is localhost unless overridden by
the PIGPIO_ADDR environment variable. the PIGPIO_ADDR environment variable.
port:= the port number on which the pigpio daemon is listening. port:= the port number on which the pigpio daemon is listening.
The default is 8888 unless overwritten by the PIGPIO_PORT The default is 8888 unless overridden by the PIGPIO_PORT
environment variable. The pigpio daemon must have been environment variable. The pigpio daemon must have been
started with the same port number. started with the same port number.
@ -2637,9 +2688,13 @@ class pi():
self._control = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self._control = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# Disable the Nagle algorithm.
self._control.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
try: try:
self._control.connect((self._host, self._port)) self._control.connect((self._host, self._port))
self._notify = _callback_thread(self._control, self._host, self._port) self._notify = _callback_thread(self._control, self._host, self._port)
except socket.error: except socket.error:
self.connected = False self.connected = False
if self._control is not None: if self._control is not None:
@ -2648,8 +2703,11 @@ class pi():
h = "localhost" h = "localhost"
else: else:
h = self._host h = self._host
errStr = "Can't connect to pigpio on " + str(h) + "(" + str(self._port) + ")"
print("%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%") errStr = "Can't connect to pigpio on {}({})".format(
str(h), str(self._port))
print("%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%")
print(errStr) print(errStr)
print("") print("")
print("Did you start the pigpio daemon? E.g. sudo pigpiod") print("Did you start the pigpio daemon? E.g. sudo pigpiod")
@ -2660,7 +2718,7 @@ class pi():
print("") print("")
print("Did you specify the correct Pi host/port in the") print("Did you specify the correct Pi host/port in the")
print("pigpio.pi() function? E.g. pigpio.pi('soft', 8888))") print("pigpio.pi() function? E.g. pigpio.pi('soft', 8888))")
print("%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%") print("%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%")
else: else:
atexit.register(self.stop) atexit.register(self.stop)
@ -2680,7 +2738,7 @@ class pi():
self._control.close() self._control.close()
self._control = None self._control = None
def variables(): 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.
@ -2710,13 +2768,17 @@ def variables():
The length of a pulse in microseconds. The length of a pulse in microseconds.
dutycycle: 0-range_ dutycycle: 0-range_
A number between 0 and range_. The dutycycle sets the A number between 0 and range_.
proportion of on time versus off time duting each PWM
cycle.
0 is off. The dutycycle sets the proportion of time on versus time off during each
range_ / 2 is 50% on. PWM cycle.
range_ is fully on.
Dutycycle @ On time
0 @ Off
range_ * 0.25 @ 25% On
range_ * 0.50 @ 50% On
range_ * 0.75 @ 75% On
range_ @ Fully On
edge: 0-2 edge: 0-2
EITHER_EDGE = 2 EITHER_EDGE = 2
@ -2812,16 +2874,15 @@ def variables():
of a pulse. of a pulse.
handle: 0- handle: 0-
A number referencing an object opened by one of A number referencing an object opened by one of [*i2c_open*],
[*notify_open*], [*serial_open*], [*spi_open*].
[*i2c_open*]
[*notify_open*]
[*serial_open*]
[*spi_open*]
host: host:
The name or IP address of the Pi running the pigpio daemon. The name or IP address of the Pi running the pigpio daemon.
i2c_*:
One of the i2c_ functions.
i2c_address: i2c_address:
The address of a device on the I2C bus (0x08 - 0x77) The address of a device on the I2C bus (0x08 - 0x77)
@ -2870,16 +2931,19 @@ def variables():
A whole number. A whole number.
pulses: pulses:
A list of class pulse objects defining the characteristics of a
waveform.
pulsewidth: pulsewidth:
The servo pulsewidth in microseconds. 0 switches pulses off. The servo pulsewidth in microseconds. 0 switches pulses off.
range_: 25-40000 range_: 25-40000
Defines the limits for the [*dutycycle*] parameter. Defines the limits for the [*dutycycle*] parameter.
range_ defaults tpo 255.
range_ defaults to 255.
reg: 0-255 reg: 0-255
An I2C devive register. The usable registers depend on the An I2C device register. The usable registers depend on the
actual device. actual device.
script: script:
@ -2889,14 +2953,21 @@ def variables():
A number referencing a script created by [*store_script*]. A number referencing a script created by [*store_script*].
ser_baud: ser_baud:
The transmission rate in bits per second. The default The transmission rate in bits per second.
allowable values are 50, 75, 110, 134, 150, 200, 300,
The allowable values are 50, 75, 110, 134, 150, 200, 300,
600, 1200, 1800, 2400, 4800, 9600, 19200, 38400, 600, 1200, 1800, 2400, 4800, 9600, 19200, 38400,
57600, 115200, or 230400. 57600, 115200, or 230400.
ser_flags: 32 bit ser_flags: 32 bit
No serial flags are currently defined. No serial flags are currently defined.
serial_*:
One of the serial_ functions.
spi_*:
One of the spi_ functions.
spi_baud: 1- spi_baud: 1-
The transmission rate in bits per second. The transmission rate in bits per second.
@ -2916,16 +2987,25 @@ def variables():
A Pi serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0 A Pi serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0
user_gpio: 0-31 user_gpio: 0-31
A Broadcom numbered gpio. All the user gpios are in the range 0-31. A Broadcom numbered gpio.
All the user gpios are in the range 0-31.
Not all the gpios within this range are usable, some are reserved Not all the gpios within this range are usable, some are reserved
for system use. for system use.
wait_timeout: 0.0 - wait_timeout: 0.0 -
The number of seconds to wait in wait_for_edge before timing out. The number of seconds to wait in wait_for_edge before timing out.
wave_add_*:
One of [*wave_add_new*] , [*wave_add_generic*], [*wave_add_serial*].
wave_id: 0- wave_id: 0-
A number referencing a wave created by [*wave_create*]. A number referencing a wave created by [*wave_create*].
wave_send_*:
One of [*wave_send_once*], [*wave_send_repeat*].
wdog_timeout: 0-60000 wdog_timeout: 0-60000
Defines a gpio watchdog timeout in milliseconds. If no level Defines a gpio watchdog timeout in milliseconds. If no level
change is detected on the gpio for timeout millisecond a watchdog change is detected on the gpio for timeout millisecond a watchdog

179
pigpiod.1 Normal file
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@ -0,0 +1,179 @@
." Process this file with
." groff -man -Tascii pigpiod.1
."
.TH pigpiod 1 2012-2014 Linux "pigpio archive"
.SH NAME
pigpiod - A utility to start the pigpio library as a daemon.
.SH SYNOPSIS
sudo pigpiod [OPTION]...
.SH DESCRIPTION
pigpiod is a utility which launches the pigpio library as a daemon.
.br
.br
Once launched the pigpio library runs in the background accepting commands from the pipe and socket interfaces.
.br
.br
The pigpiod utility requires sudo privileges to launch the library but thereafter the pipe and socket commands may be issued by normal users.
.br
.br
pigpiod accepts the following configuration options
.br
.br
.SH OPTIONS
.IP "\fB-b value\fP"
gpio sample buffer in milliseconds
100-10000
default 120
.IP "\fB-d value\fP"
primary DMA channel
0-14
default 14
.IP "\fB-e value\fP"
secondary DMA channel
0-6
default 5
.IP "\fB-f\fP"
disable fifo interface
default enabled
.IP "\fB-k\fP"
disable socket interface
default enabled
.IP "\fB-p value\fP"
socket port
1024-32000
default 8888
.IP "\fB-s value\fP"
sample rate
1, 2, 4, 5, 8, 10
default 5
.IP "\fB-t value\fP"
clock peripheral
0=PWM 1=PCM
default PCM
.IP "\fB-u value\fP"
clock source
0=OSC 1=PLLD
default PLLD
.IP "\fB-x mask\fP"
gpios which may be updated
A 54 bit mask with (1<<n) set if the user may update gpio #n.
default is the set of user gpios for the board revision
.br
.br
.SS Example
.br
.br
.EX
sudo pigpiod -s 2 -b 200 -f
.br
.EE
.br
.br
Launch the pigpio library with a sample rate of 2 microseconds and a 200 millisecond buffer. Disable the fifo interface.
.br
.br
.SS Permissions
.br
.br
pigpio provides a rudimentary permissions system for commands issued via the socket and pipe interfaces.
.br
.br
All gpios may be read.
.br
.br
Only the default gpios for the board revision or those specified by the -x option may be updated.
.br
.br
.EX
Revision 1 boards 0x03E6CF93
.br
Revision 2 boards 0xFBC6CF9C
.br
Revision 3 boards 0x0FFFFFFC
.br
.EE
.br
.br
In this context an update includes the following:
.br
.br
gpio mode set
.br
gpio pull/up down
.br
gpio write
.br
gpio set PWM (including range and frequency)
.br
gpio set servo
.br
.br
In addition the bank clear and set commands, and the wave commands will only
affect updateable gpios.
.br
.br
There are two special cases.
.br
.br
The activity LED may be written (gpio 16 for Rev.1/2
boards, gpio 47 for Rev.3 boards).
.br
.br
The high USB power mode gpio may be written (gpio 38 for Rev.3 boards).
.SH SEE ALSO
pig2vcd(1), pigs(1), pigpio(3), pigpiod_if(3)
.SH AUTHOR
joan@abyz.co.uk

3
pigpiod.c
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@ -92,7 +92,7 @@ void usage()
" -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" \ " -u value, clock source, 0=OSC 1=PLLD, default PLLD\n" \
" -x mask, gpios which may be updated, default 0xFFFFFFFF\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" \
" Set a sample rate of 2 microseconds with a 200 millisecond\n" \ " Set a sample rate of 2 microseconds with a 200 millisecond\n" \
@ -184,7 +184,6 @@ static void initOpts(int argc, char *argv[])
case 'x': case 'x':
mask = strtoll(optarg, &endptr, 0); mask = strtoll(optarg, &endptr, 0);
printf("mask=%llx\n", mask);
if (!*endptr) if (!*endptr)
{ {
updateMask = mask; updateMask = mask;

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84
pigpiod_if.c
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@ -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 4 */ /* PIGPIOD_IF_VERSION 6 */
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
@ -42,6 +42,7 @@ For more information, please refer to <http://unlicense.org/>
#include <sys/stat.h> #include <sys/stat.h>
#include <sys/time.h> #include <sys/time.h>
#include <sys/socket.h> #include <sys/socket.h>
#include <netinet/tcp.h>
#include <sys/select.h> #include <sys/select.h>
#include <arpa/inet.h> #include <arpa/inet.h>
@ -133,7 +134,7 @@ static int pigpio_command_ext
static int pigpioOpenSocket(char *addr, char *port) static int pigpioOpenSocket(char *addr, char *port)
{ {
int sock, err; int sock, err, opt;
struct addrinfo hints, *res, *rp; struct addrinfo hints, *res, *rp;
const char *addrStr, *portStr; const char *addrStr, *portStr;
@ -175,6 +176,10 @@ static int pigpioOpenSocket(char *addr, char *port)
if (sock == -1) continue; if (sock == -1) continue;
/* Disable the Nagle algorithm. */
opt = 1;
setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (char*)&opt, sizeof(int));
if (connect(sock, rp->ai_addr, rp->ai_addrlen) != -1) break; if (connect(sock, rp->ai_addr, rp->ai_addrlen) != -1) break;
} }
@ -289,17 +294,17 @@ static void findNotifyBits(void)
} }
} }
static void _wfe(unsigned gpio, unsigned level, uint32_t tick, void *user) static void _wfe(unsigned user_gpio, unsigned level, uint32_t tick, void *user)
{ {
*(int *)user = 1; *(int *)user = 1;
} }
static int intCallback(unsigned gpio, unsigned edge, void *f, void *user, int ex) static int intCallback(unsigned user_gpio, unsigned edge, void *f, void *user, int ex)
{ {
static int id = 0; static int id = 0;
callback_t *p; callback_t *p;
if ((gpio >=0) && (gpio < 32) && (edge >=0) && (edge <= 2) && f) if ((user_gpio >=0) && (user_gpio < 32) && (edge >=0) && (edge <= 2) && f)
{ {
/* prevent duplicates */ /* prevent duplicates */
@ -307,7 +312,7 @@ static int intCallback(unsigned gpio, unsigned edge, void *f, void *user, int ex
while (p) while (p)
{ {
if ((p->gpio == gpio) && (p->edge == edge) && (p->f == f)) if ((p->gpio == user_gpio) && (p->edge == edge) && (p->f == f))
{ {
return pigif_duplicate_callback; return pigif_duplicate_callback;
} }
@ -321,7 +326,7 @@ static int intCallback(unsigned gpio, unsigned edge, void *f, void *user, int ex
if (!gCallBackFirst) gCallBackFirst = p; if (!gCallBackFirst) gCallBackFirst = p;
p->id = id++; p->id = id++;
p->gpio = gpio; p->gpio = user_gpio;
p->edge = edge; p->edge = edge;
p->f = f; p->f = f;
p->user = user; p->user = user;
@ -375,12 +380,12 @@ void time_sleep(double seconds)
} }
} }
const char *pigpio_error(int error) char *pigpio_error(int errnum)
{ {
if (error > -1000) return cmdErrStr(error); if (errnum > -1000) return cmdErrStr(errnum);
else else
{ {
switch(error) switch(errnum)
{ {
case pigif_bad_send: case pigif_bad_send:
return "failed to send to pigpiod"; return "failed to send to pigpiod";
@ -415,7 +420,7 @@ unsigned pigpiod_if_version(void)
return PIGPIOD_IF_VERSION; return PIGPIOD_IF_VERSION;
} }
pthread_t *start_thread(gpioThreadFunc_t func, void *arg) pthread_t *start_thread(gpioThreadFunc_t thread_func, void *arg)
{ {
pthread_t *pth; pthread_t *pth;
pthread_attr_t pthAttr; pthread_attr_t pthAttr;
@ -438,7 +443,7 @@ pthread_t *start_thread(gpioThreadFunc_t func, void *arg)
return NULL; return NULL;
} }
if (pthread_create(pth, &pthAttr, func, arg)) if (pthread_create(pth, &pthAttr, thread_func, arg))
{ {
perror("pthread_create socket failed"); perror("pthread_create socket failed");
free(pth); free(pth);
@ -543,8 +548,8 @@ int gpio_write(unsigned gpio, unsigned level)
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);}
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);}
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);}
@ -631,12 +636,13 @@ int wave_add_generic(unsigned numPulses, gpioPulse_t *pulses)
} }
int wave_add_serial( int wave_add_serial(
unsigned gpio, unsigned baud, unsigned offset, unsigned numChar, char *str) unsigned user_gpio, unsigned baud, unsigned offset,
unsigned numChar, char *str)
{ {
gpioExtent_t ext[3]; gpioExtent_t ext[3];
/* /*
p1=gpio p1=user_gpio
p2=baud p2=baud
p3=len+4 p3=len+4
## extension ## ## extension ##
@ -653,7 +659,7 @@ int wave_add_serial(
ext[1].ptr = str; ext[1].ptr = str;
return pigpio_command_ext( return pigpio_command_ext(
gPigCommand, PI_CMD_WVAS, gpio, baud, numChar+4, 2, ext); gPigCommand, PI_CMD_WVAS, user_gpio, baud, numChar+4, 2, ext);
} }
int wave_create(void) int wave_create(void)
@ -707,12 +713,12 @@ int wave_get_high_cbs(void)
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);}
int gpio_trigger(unsigned gpio, unsigned pulseLen, unsigned level) int gpio_trigger(unsigned user_gpio, unsigned pulseLen, unsigned level)
{ {
gpioExtent_t ext[1]; gpioExtent_t ext[1];
/* /*
p1=gpio p1=user_gpio
p2=pulseLen p2=pulseLen
p3=4 p3=4
## extension ## ## extension ##
@ -723,7 +729,7 @@ int gpio_trigger(unsigned gpio, unsigned pulseLen, unsigned level)
ext[0].ptr = &level; ext[0].ptr = &level;
return pigpio_command_ext( return pigpio_command_ext(
gPigCommand, PI_CMD_TRIG, gpio, pulseLen, 4, 1, ext); gPigCommand, PI_CMD_TRIG, user_gpio, pulseLen, 4, 1, ext);
} }
int store_script(char *script) int store_script(char *script)
@ -792,14 +798,14 @@ int stop_script(unsigned script_id)
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);}
int bb_serial_read_open(unsigned gpio, unsigned baud) int bb_serial_read_open(unsigned user_gpio, unsigned baud)
{return pigpio_command(gPigCommand, PI_CMD_SLRO, gpio, baud);} {return pigpio_command(gPigCommand, PI_CMD_SLRO, user_gpio, baud);}
int bb_serial_read(unsigned 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, gpio, bufSize); bytes = pigpio_command(gPigCommand, PI_CMD_SLR, user_gpio, bufSize);
if (bytes > 0) if (bytes > 0)
{ {
@ -809,26 +815,26 @@ int bb_serial_read(unsigned gpio, void *buf, size_t bufSize)
return bytes; return bytes;
} }
int bb_serial_read_close(unsigned gpio) int bb_serial_read_close(unsigned user_gpio)
{return pigpio_command(gPigCommand, PI_CMD_SLRC, gpio, 0);} {return pigpio_command(gPigCommand, PI_CMD_SLRC, user_gpio, 0);}
int i2c_open(unsigned bus, unsigned addr, unsigned flags) int i2c_open(unsigned i2c_bus, unsigned i2c_addr, unsigned i2c_flags)
{ {
gpioExtent_t ext[1]; gpioExtent_t ext[1];
/* /*
p1=bus p1=i2c_bus
p2=addr p2=i2c_addr
p3=4 p3=4
## extension ## ## extension ##
uint32_t flags uint32_t i2c_flags
*/ */
ext[0].size = 4; ext[0].size = 4;
ext[0].ptr = &flags; ext[0].ptr = &i2c_flags;
return pigpio_command_ext return pigpio_command_ext
(gPigCommand, PI_CMD_I2CO, bus, addr, 4, 1, ext); (gPigCommand, PI_CMD_I2CO, i2c_bus, i2c_addr, 4, 1, ext);
} }
int i2c_close(unsigned handle) int i2c_close(unsigned handle)
@ -857,7 +863,7 @@ int i2c_write_device(unsigned handle, char *buf, unsigned count)
p2=0 p2=0
p3=count p3=count
## extension ## ## extension ##
char buf[count] flags char buf[count]
*/ */
ext[0].size = count; ext[0].size = count;
@ -1201,11 +1207,11 @@ int serial_read(unsigned handle, char *buf, unsigned count)
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);}
int callback(unsigned gpio, unsigned edge, CBFunc_t f) int callback(unsigned user_gpio, unsigned edge, CBFunc_t f)
{return intCallback(gpio, edge, f, 0, 0);} {return intCallback(user_gpio, edge, f, 0, 0);}
int callback_ex(unsigned gpio, unsigned edge, CBFuncEx_t f, void *user) int callback_ex(unsigned user_gpio, unsigned edge, CBFuncEx_t f, void *user)
{return intCallback(gpio, edge, f, user, 1);} {return intCallback(user_gpio, edge, f, user, 1);}
int callback_cancel(unsigned id) int callback_cancel(unsigned id)
{ {
@ -1234,7 +1240,7 @@ int callback_cancel(unsigned id)
return pigif_callback_not_found; return pigif_callback_not_found;
} }
int wait_for_edge(unsigned gpio, unsigned edge, double timeout) int wait_for_edge(unsigned user_gpio, unsigned edge, double timeout)
{ {
int triggered = 0; int triggered = 0;
int id; int id;
@ -1244,7 +1250,7 @@ int wait_for_edge(unsigned gpio, unsigned edge, double timeout)
due = time_time() + timeout; due = time_time() + timeout;
id = callback_ex(gpio, edge, _wfe, &triggered); id = callback_ex(user_gpio, edge, _wfe, &triggered);
while (!triggered && (time_time() < due)) time_sleep(0.1); while (!triggered && (time_time() < due)) time_sleep(0.1);

3077
pigpiod_if.h
View File

File diff suppressed because it is too large Load Diff

3486
pigs.1 Normal file
View File

File diff suppressed because it is too large Load Diff

34
pigs.c
View File

@ -26,7 +26,7 @@ For more information, please refer to <http://unlicense.org/>
*/ */
/* /*
This version is for pigpio version 16+ This version is for pigpio version 17+
*/ */
#include <stdio.h> #include <stdio.h>
@ -64,8 +64,6 @@ void fatal(char *fmt, ...)
fprintf(stderr, "%s\n", buf); fprintf(stderr, "%s\n", buf);
fflush(stderr); fflush(stderr);
exit(EXIT_FAILURE);
} }
static int openSocket(void) static int openSocket(void)
@ -118,16 +116,17 @@ void print_result(int sock, int rv, cmdCmd_t cmd)
switch (rv) switch (rv)
{ {
case 0: case 0:
if (r < 0) fatal("ERROR: %s", cmdErrStr(r));
break;
case 1: case 1:
if (r < 0) fatal("ERROR: %s", cmdErrStr(r)); if (r < 0)
{
printf("%d\n", r);
fatal("ERROR: %s", cmdErrStr(r));
}
break; break;
case 2: case 2:
printf("%d\n", r);
if (r < 0) fatal("ERROR: %s", cmdErrStr(r)); if (r < 0) fatal("ERROR: %s", cmdErrStr(r));
else printf("%d\n", r);
break; break;
case 3: case 3:
@ -142,29 +141,32 @@ void print_result(int sock, int rv, cmdCmd_t cmd)
printf(cmdUsage); printf(cmdUsage);
break; break;
case 6: /* SLR I2CRD */ case 6: /* I2CPK I2CRD I2CRI I2CRK SERR SLR SPIX SPIR */
printf("%d", r);
if (r < 0) fatal("ERROR: %s", cmdErrStr(r)); if (r < 0) fatal("ERROR: %s", cmdErrStr(r));
else if (r > 0) if (r > 0)
{ {
write(1, response_buf, r); for (i=0; i<r; i++)
{
printf(" %hhu", response_buf[i]);
}
} }
printf("\n");
break; break;
case 7: /* PROCP */ case 7: /* PROCP */
printf("%d", r);
if (r < 0) fatal("ERROR: %s", cmdErrStr(r)); if (r < 0) fatal("ERROR: %s", cmdErrStr(r));
else if (r >= 0)
{ {
printf("%d", r);
p = (uint32_t *)response_buf; p = (uint32_t *)response_buf;
for (i=0; i<PI_MAX_SCRIPT_PARAMS; i++) for (i=0; i<PI_MAX_SCRIPT_PARAMS; i++)
{ {
printf(" %d", p[i]); printf(" %d", p[i]);
} }
printf("\n");
} }
printf("\n");
break; break;
} }
} }

6
setup.py
View File

@ -3,14 +3,14 @@
from distutils.core import setup from distutils.core import setup
setup(name='pigpio', setup(name='pigpio',
version='1.6', version='1.7',
author='joan', author='joan',
author_email='joan@abyz.co.uk', author_email='joan@abyz.co.uk',
maintainer='joan', maintainer='joan',
maintainer_email='joan@abyz.co.uk', maintainer_email='joan@abyz.co.uk',
url='http://abyz.co.uk/rpi/pigpio/python.html/', url='http://abyz.co.uk/rpi/pigpio/python.html/',
description='Raspberry Pi gpio module', description='Raspberry gpio module',
long_description='Raspberry Pi Python module to access the pigpio daemon', long_description='Raspberry Python module to access the pigpio daemon',
download_url='http://abyz.co.uk/rpi/pigpio/pigpio.zip', download_url='http://abyz.co.uk/rpi/pigpio/pigpio.zip',
license='unlicense.org', license='unlicense.org',
py_modules=['pigpio'] py_modules=['pigpio']

18
tarball
View File

@ -5,25 +5,35 @@ mkdir PIGPIO
# #
cp command.c PIGPIO cp command.c PIGPIO
cp command.h PIGPIO cp command.h PIGPIO
cp Makefile PIGPIO
cp MakeRemote PIGPIO
cp pig2vcd.c PIGPIO cp pig2vcd.c PIGPIO
cp pigpio.c PIGPIO cp pigpio.c PIGPIO
cp pigpio.h PIGPIO cp pigpio.h PIGPIO
cp pigpiod.c PIGPIO cp pigpiod.c PIGPIO
cp pigpiod_if.c PIGPIO cp pigpiod_if.c PIGPIO
cp pigpiod_if.h PIGPIO cp pigpiod_if.h PIGPIO
cp pigpio.py PIGPIO
cp pigs.c PIGPIO cp pigs.c PIGPIO
cp README PIGPIO #
cp pigpio.py PIGPIO
cp setup.py PIGPIO cp setup.py PIGPIO
#
cp README PIGPIO
cp UNLICENCE PIGPIO cp UNLICENCE PIGPIO
#
cp x_pigpio.c PIGPIO cp x_pigpio.c PIGPIO
cp x_pigpio.py PIGPIO cp x_pigpio.py PIGPIO
cp x_pigpiod_if.c PIGPIO cp x_pigpiod_if.c PIGPIO
cp x_pigs PIGPIO cp x_pigs PIGPIO
cp x_pipe PIGPIO cp x_pipe PIGPIO
# #
cp pig2vcd.1 PIGPIO
cp pigpiod.1 PIGPIO
cp pigs.1 PIGPIO
cp pigpio.3 PIGPIO
cp pigpiod_if.3 PIGPIO
#
cp Makefile PIGPIO
cp MakeRemote PIGPIO
#
zip -r pigpio-$1.zip PIGPIO zip -r pigpio-$1.zip PIGPIO
tar cvf pigpio-$1.tar PIGPIO tar cvf pigpio-$1.tar PIGPIO

17
x_pigpio.c
View File

@ -561,16 +561,13 @@ void t9()
p1 GPIO p1 GPIO
*/ */
char *script="\ char *script="\
lda p0\ ld p9 p0\
sta v0\
tag 0\ tag 0\
w p1 1\ w p1 1\
mils 5\ mils 5\
w p1 0\ w p1 0\
mils 5\ mils 5\
dcr v0\ dcr p9\
lda v0\
sta p9\
jp 0"; jp 0";
printf("Script store/run/status/stop/delete tests.\n"); printf("Script store/run/status/stop/delete tests.\n");
@ -580,7 +577,15 @@ void t9()
gpioSetAlertFunc(GPIO, t9cbf); gpioSetAlertFunc(GPIO, t9cbf);
s = gpioStoreScript(script); s = gpioStoreScript(script);
time_sleep(0.1);
while (1)
{
/* loop until script initialised */
time_sleep(0.1);
e = gpioScriptStatus(s, p);
if (e != PI_SCRIPT_INITING) break;
}
oc = t9_count; oc = t9_count;
p[0] = 99; p[0] = 99;
p[1] = GPIO; p[1] = GPIO;

27
x_pigpio.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python3 #!/usr/bin/env python
#*** WARNING ************************************************ #*** WARNING ************************************************
#* * #* *
@ -38,6 +38,8 @@ def t0():
print("Hardware revision {}.".format(pi.get_hardware_revision())) print("Hardware revision {}.".format(pi.get_hardware_revision()))
print("Python version {}.".format(sys.version.replace("\n", " ")))
def t1(): def t1():
print("Mode/PUD/read/write tests.") print("Mode/PUD/read/write tests.")
@ -96,7 +98,7 @@ def t2():
oc = t2_count oc = t2_count
time.sleep(2) time.sleep(2)
f = t2_count - oc f = t2_count - oc
CHECK(2, 3, f, 40, 5, "set PWM dutycycle, callback") CHECK(2, 3, f, 40, 10, "set PWM dutycycle, callback")
pi.set_PWM_frequency(GPIO,100) pi.set_PWM_frequency(GPIO,100)
f = pi.get_PWM_frequency(GPIO) f = pi.get_PWM_frequency(GPIO)
@ -106,7 +108,7 @@ def t2():
oc = t2_count oc = t2_count
time.sleep(2) time.sleep(2)
f = t2_count - oc f = t2_count - oc
CHECK(2, 5, f, 400, 1, "callback") CHECK(2, 5, f, 400, 5, "callback")
pi.set_PWM_frequency(GPIO,1000) pi.set_PWM_frequency(GPIO,1000)
f = pi.get_PWM_frequency(GPIO) f = pi.get_PWM_frequency(GPIO)
@ -116,7 +118,7 @@ def t2():
oc = t2_count oc = t2_count
time.sleep(2) time.sleep(2)
f = t2_count - oc f = t2_count - oc
CHECK(2, 7, f, 4000, 1, "callback") CHECK(2, 7, f, 4000, 5, "callback")
r = pi.get_PWM_range(GPIO) r = pi.get_PWM_range(GPIO)
CHECK(2, 8, r, 255, 0, "get PWM range") CHECK(2, 8, r, 255, 0, "get PWM range")
@ -489,7 +491,7 @@ def t7():
oc = t7_count oc = t7_count
time.sleep(2) time.sleep(2)
c = t7_count - oc c = t7_count - oc
CHECK(7, 1, c, 200, 1, "set watchdog on count") CHECK(7, 1, c, 200, 5, "set watchdog on count")
pi.set_watchdog(GPIO, 0) # 0 switches watchdog off pi.set_watchdog(GPIO, 0) # 0 switches watchdog off
time.sleep(0.5) time.sleep(0.5)
@ -549,21 +551,26 @@ def t9():
# p0 number of loops # p0 number of loops
# p1 GPIO # p1 GPIO
script=""" script="""
lda p0 ld p9 p0
sta v0
tag 0 tag 0
w p1 1 w p1 1
mils 5 mils 5
w p1 0 w p1 0
mils 5 mils 5
dcr v0 dcr p9
lda v0
sta p9
jp 0""" jp 0"""
t9cb = pi.callback(GPIO) t9cb = pi.callback(GPIO)
s = pi.store_script(script) s = pi.store_script(script)
# Ensure the script has finished initing.
while True:
time.sleep(0.1)
e, p = pi.script_status(s)
if e != pigpio.PI_SCRIPT_INITING:
break
oc = t9cb.tally() oc = t9cb.tally()
pi.run_script(s, [99, GPIO]) pi.run_script(s, [99, GPIO])
time.sleep(2) time.sleep(2)

21
x_pigpiod_if.c
View File

@ -382,6 +382,7 @@ To the lascivious pleasing of a lute.\n\
CHECK(5, 13, c, 6158704, 0, "wave get micros"); CHECK(5, 13, c, 6158704, 0, "wave get micros");
c = wave_get_high_micros(); c = wave_get_high_micros();
if (c >= 6158704) c = 6158704;
CHECK(5, 14, c, 6158704, 0, "wave get high micros"); CHECK(5, 14, c, 6158704, 0, "wave get high micros");
c = wave_get_max_micros(); c = wave_get_max_micros();
@ -548,21 +549,27 @@ void t9()
p1 GPIO p1 GPIO
*/ */
char *script="\ char *script="\
lda p0\ ld p9 p0\
sta v0\
tag 0\ tag 0\
w p1 1\ w p1 1\
mils 5\ mils 5\
w p1 0\ w p1 0\
mils 5\ mils 5\
dcr v0\ dcr p9\
lda v0\
sta p9\
jp 0"; jp 0";
callback(GPIO, RISING_EDGE, t9cbf); callback(GPIO, RISING_EDGE, t9cbf);
s = store_script(script); s = store_script(script);
/* Wait for script to finish initing. */
while (1)
{
time_sleep(0.1);
e = script_status(s, p);
if (e != PI_SCRIPT_INITING) break;
}
oc = t9_count; oc = t9_count;
p[0] = 99; p[0] = 99;
p[1] = GPIO; p[1] = GPIO;
@ -577,9 +584,9 @@ void t9()
run_script(s, 2, p); run_script(s, 2, p);
while (1) while (1)
{ {
time_sleep(0.1);
e = script_status(s, p); e = script_status(s, p);
if (e != PI_SCRIPT_RUNNING) break; if (e != PI_SCRIPT_RUNNING) break;
time_sleep(0.5);
} }
c = t9_count - oc; c = t9_count - oc;
time_sleep(0.1); time_sleep(0.1);
@ -591,10 +598,10 @@ void t9()
run_script(s, 2, p); run_script(s, 2, p);
while (1) while (1)
{ {
time_sleep(0.1);
e = script_status(s, p); e = script_status(s, p);
if (e != PI_SCRIPT_RUNNING) break; if (e != PI_SCRIPT_RUNNING) break;
if (p[9] < 1900) stop_script(s); if (p[9] < 1900) stop_script(s);
time_sleep(0.1);
} }
c = t9_count - oc; c = t9_count - oc;
time_sleep(0.1); time_sleep(0.1);

23
x_pigs
View File

@ -86,7 +86,7 @@ s=$(pigs pfs $GPIO 800)
if [[ $s = 800 ]]; then echo "PFS-b ok"; else echo "PFS-b fail ($s)"; fi if [[ $s = 800 ]]; then echo "PFS-b ok"; else echo "PFS-b fail ($s)"; fi
s=$(pigs pigpv) s=$(pigs pigpv)
if [[ $s = 16 ]]; then echo "PIGPV ok"; else echo "PIGPV fail ($s)"; fi if [[ $s = 17 ]]; then echo "PIGPV ok"; else echo "PIGPV fail ($s)"; fi
s=$(pigs prs $GPIO 255) s=$(pigs prs $GPIO 255)
if [[ $s = 250 ]]; then echo "PRG-a ok"; else echo "PRG-a fail ($s)"; fi if [[ $s = 250 ]]; then echo "PRG-a ok"; else echo "PRG-a fail ($s)"; fi
@ -99,21 +99,23 @@ then echo "PROC($p) ok"
else echo "PROC($p) fail ($s)" else echo "PROC($p) fail ($s)"
fi fi
sleep 0.1 # Make sure script has time to intialise.
s=$(pigs procr $p 9876) s=$(pigs procr $p 9876)
if [[ $s = 0 ]]; then echo "PROCR($p) ok"; else echo "PROCR($p) fail ($s)"; fi if [[ $s = "" ]]; then echo "PROCR($p) ok"; else echo "PROCR($p) fail ($s)"; fi
s=$(pigs procp $p) s=$(pigs procp $p)
v=(${s// / }) v=(${s// / })
if [[ ${v[0]} = 1 && ${v[1]} = 1234 && ${v[2]} = 9876 ]] if [[ ${v[0]} = 2 && ${v[1]} = 1234 && ${v[2]} = 9876 ]]
then echo "PROCP($p) ok" then echo "PROCP($p) ok"
else echo "PROCP($p) fail ($s)" else echo "PROCP($p) fail ($s)"
fi fi
s=$(pigs procs $p) s=$(pigs procs $p)
if [[ $s = 0 ]]; then echo "PROCS($p) ok"; else echo "PROCS($p) fail ($s)"; fi if [[ $s = "" ]]; then echo "PROCS($p) ok"; else echo "PROCS($p) fail ($s)"; fi
s=$(pigs procd $p) s=$(pigs procd $p)
if [[ $s = 0 ]]; then echo "PROCD($p) ok"; else echo "PROCD($p) fail ($s)"; fi if [[ $s = "" ]]; then echo "PROCD($p) ok"; else echo "PROCD($p) fail ($s)"; fi
s=$(pigs prrg $GPIO) s=$(pigs prrg $GPIO)
if [[ $s = 250 ]]; then echo "PRRG ok"; else echo "PRRG fail ($s)"; fi if [[ $s = 250 ]]; then echo "PRRG ok"; else echo "PRRG fail ($s)"; fi
@ -170,7 +172,7 @@ if [[ $s = "" ]]; then echo "SERVO-d ok"; else echo "SERVO-d fail ($s)"; fi
s=$(pigs wvclr) s=$(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 [[ $s = 0 ]]; then echo "SLR-b ok"; else echo "SLR-b fail ($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 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 $GPIO w)
@ -179,12 +181,13 @@ s=$(pigs wvgo)
if [[ $s = 191 ]]; then echo "SLR-e ok"; else echo "SLR-e fail ($s)"; fi if [[ $s = 191 ]]; then echo "SLR-e ok"; else echo "SLR-e fail ($s)"; fi
sleep 0.1 sleep 0.1
s=$(pigs slr $GPIO 100) s=$(pigs slr $GPIO 100)
if [[ $s = "my name is joan" ]] e="15 109 121 32 110 97 109 101 32 105 115 32 106 111 97 110"
if [[ $s = $e ]]
then echo "SLR-f ok" then echo "SLR-f ok"
else echo "SLR-f fail with [$s]" else echo "SLR-f fail with [$s]"
fi fi
s=$(pigs slrc $GPIO) s=$(pigs slrc $GPIO)
if [[ $s = 0 ]]; then echo "SLR-g ok"; else echo "SLR-g fail ($s)"; fi if [[ $s = "" ]]; then echo "SLR-g ok"; else echo "SLR-g fail ($s)"; fi
t=$(pigs t tick) t=$(pigs t tick)
v=(${t// / }) v=(${t// / })
@ -233,7 +236,7 @@ sleep 1
s=$(pigs wvbsy) s=$(pigs wvbsy)
if [[ $s = 1 ]]; then echo "WVBSY-b ok"; else echo "WVBSY-b fail ($s)"; fi if [[ $s = 1 ]]; then echo "WVBSY-b ok"; else echo "WVBSY-b fail ($s)"; fi
s=$(pigs wvhlt) s=$(pigs wvhlt)
if [[ $s = 0 ]]; then echo "WVHLT ok"; else echo "WVHLT fail ($s)"; fi if [[ $s = "" ]]; then echo "WVHLT ok"; else echo "WVHLT fail ($s)"; fi
s=$(pigs wvbsy) s=$(pigs wvbsy)
if [[ $s = 0 ]]; then echo "WVBSY-c ok"; else echo "WVBSY-c fail ($s)"; fi if [[ $s = 0 ]]; then echo "WVBSY-c ok"; else echo "WVBSY-c fail ($s)"; fi
s=$(pigs wvgor) s=$(pigs wvgor)
@ -241,7 +244,7 @@ if [[ $s = 621 ]]; then echo "WVGOR ok"; else echo "WVGOR fail ($s)"; fi
s=$(pigs wvbsy) s=$(pigs wvbsy)
if [[ $s = 1 ]]; then echo "WVBSY-d ok"; else echo "WVBSY-d fail ($s)"; fi if [[ $s = 1 ]]; then echo "WVBSY-d ok"; else echo "WVBSY-d fail ($s)"; fi
s=$(pigs wvhlt) s=$(pigs wvhlt)
if [[ $s = 0 ]]; then echo "WVHLT ok"; else echo "WVHLT fail ($s)"; fi if [[ $s = "" ]]; then echo "WVHLT ok"; else echo "WVHLT fail ($s)"; fi
s=$(pigs wvbsy) s=$(pigs wvbsy)
if [[ $s = 0 ]]; then echo "WVBSY-e ok"; else echo "WVBSY-e fail ($s)"; fi if [[ $s = 0 ]]; then echo "WVBSY-e ok"; else echo "WVBSY-e fail ($s)"; fi

17
x_pipe
View File

@ -119,7 +119,7 @@ if [[ $s = 800 ]]; then echo "PFS-b ok"; else echo "PFS-b fail ($s)"; fi
echo "pigpv" >/dev/pigpio echo "pigpv" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = 16 ]]; then echo "PIGPV ok"; else echo "PIGPV fail ($s)"; fi if [[ $s = 17 ]]; then echo "PIGPV ok"; else echo "PIGPV fail ($s)"; fi
echo "prs $GPIO 255" >/dev/pigpio echo "prs $GPIO 255" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
@ -135,13 +135,15 @@ then echo "PROC($p) ok"
else echo "PROC($p) fail ($s)" else echo "PROC($p) fail ($s)"
fi fi
sleep 0.1 # Make sure script has time to intialise.
echo "procr $p 9876" >/dev/pigpio echo "procr $p 9876" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = 0 ]]; then echo "PROCR($p) ok"; else echo "PROCR($p) fail ($s)"; fi if [[ $s = 0 ]]; then echo "PROCR($p) ok"; else echo "PROCR($p) fail ($s)"; fi
echo "procp $p" >/dev/pigpio echo "procp $p" >/dev/pigpio
read -t 1 -a v </dev/pigout read -t 1 -a v </dev/pigout
if [[ ${v[0]} = 1 && ${v[1]} = 29 && ${v[2]} = 9876 ]] if [[ ${v[0]} = 2 && ${v[1]} = 29 && ${v[2]} = 9876 ]]
then echo "PROCP($p) ok" then echo "PROCP($p) ok"
else echo "PROCP($p) fail ($s)" else echo "PROCP($p) fail ($s)"
fi fi
@ -235,19 +237,20 @@ 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 0xc2 0xac" >/dev/pigpio echo "wvas $GPIO 1200 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 [[ $s = 105 ]]; then echo "SLR-c ok"; else echo "SLR-c fail ($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
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = 0 ]]; then echo "SLR-d ok"; else echo "SLR-d fail ($s)"; fi if [[ $s = 0 ]]; then echo "SLR-d ok"; else echo "SLR-d fail ($s)"; fi
echo "wvgo" >/dev/pigpio echo "wvgo" >/dev/pigpio
read -t 1 s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = 211 ]]; then echo "SLR-e ok"; else echo "SLR-e fail ($s)"; fi if [[ $s = 191 ]]; then echo "SLR-e ok"; else echo "SLR-e fail ($s)"; fi
sleep 0.2 sleep 0.2
echo "slr $GPIO 100" >/dev/pigpio echo "slr $GPIO 100" >/dev/pigpio
read -t 1 -d ¬ s </dev/pigout read -t 1 s </dev/pigout
if [[ $s = "my name is joan" ]] e="15 109 121 32 110 97 109 101 32 105 115 32 106 111 97 110"
if [[ $s = $e ]]
then echo "SLR-f ok" then echo "SLR-f ok"
else echo "SLR-f fail with ($s)" else echo "SLR-f fail with ($s)"
fi fi