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V55

This commit is contained in:
joan 2016-07-10 21:29:14 +01:00
parent 862f445669
commit f9e24d568b
18 changed files with 4906 additions and 376 deletions
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152
command.c
View File

@ -26,7 +26,7 @@ For more information, please refer to <http://unlicense.org/>
*/
/*
This version is for pigpio version 53+
This version is for pigpio version 55+
*/
#include <stdio.h>
@ -61,9 +61,19 @@ cmdInfo_t cmdInfo[]=
{PI_CMD_CGI, "CGI", 101, 4}, // gpioCfgGetInternals
{PI_CMD_CSI, "CSI", 111, 1}, // gpioCfgSetInternals
{PI_CMD_FC, "FC", 112, 0}, // fileClose
{PI_CMD_FG, "FG", 121, 0}, // gpioGlitchFilter
{PI_CMD_FL, "FL", 127, 6}, // fileList
{PI_CMD_FN, "FN", 131, 0}, // gpioNoiseFilter
{PI_CMD_FO, "FO", 127, 2}, // fileOpen
{PI_CMD_FR, "FR", 121, 6}, // fileRead
{PI_CMD_FS, "FS", 133, 2}, // fileSeek
{PI_CMD_FW, "FW", 193, 0}, // fileWrite
{PI_CMD_GDC, "GDC", 112, 2}, // gpioGetPWMdutycycle
{PI_CMD_GPW, "GPW", 112, 2}, // gpioGetServoPulsewidth
@ -112,6 +122,9 @@ cmdInfo_t cmdInfo[]=
{PI_CMD_NO, "NO", 101, 2}, // gpioNotifyOpen
{PI_CMD_NP, "NP", 112, 0}, // gpioNotifyPause
{PI_CMD_PADG, "PADG", 112, 2}, // gpioGetPad
{PI_CMD_PADS, "PADS", 121, 0}, // gpioSetPad
{PI_CMD_PARSE, "PARSE", 115, 0}, // cmdParseScript
{PI_CMD_PFG, "PFG", 112, 2}, // gpioGetPWMfrequency
@ -149,6 +162,8 @@ cmdInfo_t cmdInfo[]=
{PI_CMD_SERVO, "S", 121, 0}, // gpioServo
{PI_CMD_SERVO, "SERVO", 121, 0}, // gpioServo
{PI_CMD_SHELL, "SHELL", 128, 2}, // shell
{PI_CMD_SLR, "SLR", 121, 6}, // gpioSerialRead
{PI_CMD_SLRC, "SLRC", 112, 0}, // gpioSerialReadClose
{PI_CMD_SLRO, "SLRO", 131, 0}, // gpioSerialReadOpen
@ -252,8 +267,14 @@ CF2 ... Custom function 2\n\
CGI Configuration get internals\n\
CSI v Configuration set internals\n\
\n\
FC h Close file handle\n\
FG g steady Set glitch filter on GPIO\n\
FL pat n List files which match pattern\n\
FN g steady active | Set noise filter on GPIO\n\
FO file mode Open a file in mode\n\
FR h n Read bytes from file handle\n\
FS h n from Seek to file handle position\n\
FW h ... Write bytes to file handle\n\
\n\
GDC g Get PWM dutycycle for GPIO\n\
GPW g Get servo pulsewidth for GPIO\n\
@ -293,6 +314,8 @@ NO Request a notification\n\
NP h Pause notification\n\
\n\
P/PWM g v Set GPIO PWM value\n\
PADG pad Get pad drive strength\n\
PADS pad v Set pad drive strength\n\
PARSE text Validate script\n\
PFG g Get GPIO PWM frequency\n\
PFS g v Set GPIO PWM frequency\n\
@ -317,6 +340,7 @@ SERR h n Read bytes from serial handle\n\
SERRB h Read byte from serial handle\n\
SERW h ... Write bytes to serial handle\n\
SERWB h byte Write byte to serial handle\n\
SHELL name str Execute a shell command\n\
SLR g v Read bit bang serial data from GPIO\n\
SLRC g Close GPIO for bit bang serial data\n\
SLRO g baud bitlen | Open GPIO for bit bang serial data\n\
@ -490,6 +514,21 @@ static errInfo_t errInfo[]=
{PI_BAD_ISR_INIT , "bad ISR initialisation"},
{PI_BAD_FOREVER , "loop forever must be last chain command"},
{PI_BAD_FILTER , "bad filter parameter"},
{PI_BAD_PAD , "bad pad number"},
{PI_BAD_STRENGTH , "bad pad drive strength"},
{PI_FIL_OPEN_FAILED , "file open failed"},
{PI_BAD_FILE_MODE , "bad file mode"},
{PI_BAD_FILE_FLAG , "bad file flag"},
{PI_BAD_FILE_READ , "bad file read"},
{PI_BAD_FILE_WRITE , "bad file write"},
{PI_FILE_NOT_ROPEN , "file not open for read"},
{PI_FILE_NOT_WOPEN , "file not open for write"},
{PI_BAD_FILE_SEEK , "bad file seek"},
{PI_NO_FILE_MATCH , "no files match pattern"},
{PI_NO_FILE_ACCESS , "no permission to access file"},
{PI_FILE_IS_A_DIR , "file is a directory"},
{PI_BAD_SHELL_STATUS , "bad shell return status"},
{PI_BAD_SCRIPT_NAME , "bad script name"},
};
@ -507,14 +546,14 @@ static int cmdMatch(char *str)
return CMD_UNKNOWN_CMD;
}
static int getNum(char *str, unsigned *val, int8_t *opt)
static int getNum(char *str, uint32_t *val, int8_t *opt)
{
int f, n;
unsigned v;
intmax_t v;
*opt = 0;
f = sscanf(str, " %i %n", &v, &n);
f = sscanf(str, " %ji %n", &v, &n);
if (f == 1)
{
@ -523,7 +562,7 @@ static int getNum(char *str, unsigned *val, int8_t *opt)
return n;
}
f = sscanf(str, " v%i %n", &v, &n);
f = sscanf(str, " v%ji %n", &v, &n);
if (f == 1)
{
@ -533,7 +572,7 @@ static int getNum(char *str, unsigned *val, int8_t *opt)
return n;
}
f = sscanf(str, " p%i %n", &v, &n);
f = sscanf(str, " p%ji %n", &v, &n);
if (f == 1)
{
@ -556,7 +595,7 @@ char *cmdStr(void)
int cmdParse(
char *buf, uint32_t *p, unsigned ext_len, char *ext, cmdCtlParse_t *ctl)
{
int f, valid, idx, val, pp, pars, n, n2, i;
int f, valid, idx, val, pp, pars, n, n2;
char *p8;
int32_t *p32;
char c;
@ -611,8 +650,8 @@ int cmdParse(
break;
case 112: /* BI2CC GDC GPW I2CC
I2CRB MG MICS MILS MODEG NC NP PFG PRG
case 112: /* BI2CC FC GDC GPW I2CC I2CRB
MG MICS MILS MODEG NC NP PADG PFG PRG
PROCD PROCP PROCS PRRG R READ SLRC SPIC
WVDEL WVSC WVSM WVSP WVTX WVTXR
@ -656,37 +695,23 @@ int cmdParse(
case 116: /* SYS
One parameter, a string of letters, digits, '-' and '_'.
One parameter, a string.
*/
f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2);
if ((f >= 0) && n)
{
valid = 1;
for (i=0; i<n; i++)
{
c = buf[ctl->eaten+i];
if ((!isalnum(c)) && (c != '_') && (c != '-'))
{
valid = 0;
break;
}
}
if (valid)
{
p[3] = n;
ctl->opt[3] = CMD_NUMERIC;
memcpy(ext, buf+ctl->eaten, n);
ctl->eaten += n2;
}
valid = 1;
}
break;
case 121: /* HC I2CRD I2CRR I2CRW I2CWB I2CWQ P PFS PRS
PWM S SERVO SLR SLRI W WDOG WRITE WVTXM
case 121: /* HC FR I2CRD I2CRR I2CRW I2CWB I2CWQ P
PADS PFS PRS PWM S SERVO SLR SLRI W
WDOG WRITE WVTXM
Two positive parameters.
*/
@ -782,8 +807,53 @@ int cmdParse(
break;
case 131: /* BI2CO HP I2CO I2CPC I2CRI I2CWB I2CWW SLRO
SPIO TRIG
case 127: /* FL FO
Two parameters, first a string, other positive.
*/
f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2);
if ((f >= 0) && n)
{
p[3] = n;
ctl->opt[2] = CMD_NUMERIC;
memcpy(ext, buf+ctl->eaten, n);
ctl->eaten += n2;
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0))
valid = 1;
}
break;
case 128: /* SHELL
Two string parameters, the first space teminated.
The second arbitrary.
*/
f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2);
if ((f >= 0) && n)
{
valid = 1;
p[1] = n;
memcpy(ext, buf+ctl->eaten, n);
ctl->eaten += n;
ext[n] = 0; /* terminate first string */
n2 = strlen(buf+ctl->eaten+1);
memcpy(ext+n+1, buf+ctl->eaten+1, n2);
ctl->eaten += n2;
ctl->eaten ++;
p[3] = p[1] + n2 + 1;
}
break;
case 131: /* BI2CO HP I2CO I2CPC I2CRI I2CWB I2CWW
SLRO SPIO TRIG
Three positive parameters.
*/
@ -824,6 +894,26 @@ int cmdParse(
break;
case 133: /* FS
Three parameters. First and third positive.
Second may be negative when interpreted as an int.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0) &&
(to1 == CMD_NUMERIC) && ((int)tp1 >= 0))
{
p[3] = 4;
memcpy(ext, &tp1, 4);
valid = 1;
}
break;
case 191: /* PROCR
One to 11 parameters, first positive,
@ -880,7 +970,7 @@ int cmdParse(
break;
case 193: /* BI2CZ I2CWD I2CZ SERW SPIW SPIX
case 193: /* BI2CZ FW I2CWD I2CZ SERW SPIW SPIX
Two or more parameters, first >=0, rest 0-255.
*/

2
command.h
View File

@ -26,7 +26,7 @@ For more information, please refer to <http://unlicense.org/>
*/
/*
This version is for pigpio version 53+
This version is for pigpio version 55+
*/
#ifndef COMMAND_H

4
pig2vcd.1
View File

@ -11,6 +11,10 @@ pig2vd - A utility to convert pigpio notifications to VCD.
pig2vcd </dev/pigpioXX >file.VCD
.SH DESCRIPTION
.ad l
.nh
pig2vcd is a utility which reads notifications on stdin and writes the
output as a Value Change Dump (VCD) file on stdout.

1009
pigpio.3
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File diff suppressed because it is too large Load Diff

552
pigpio.c
View File

@ -25,7 +25,7 @@ OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to <http://unlicense.org/>
*/
/* pigpio version 54 */
/* pigpio version 55 */
/* include ------------------------------------------------------- */
@ -58,11 +58,14 @@ For more information, please refer to <http://unlicense.org/>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include <sys/select.h>
#include <fnmatch.h>
#include <glob.h>
#include "pigpio.h"
#include "command.h"
/* --------------------------------------------------------------- */
/*
@ -299,6 +302,7 @@ bit 0 READ_LAST_NOT_SET_ERROR
#define DMA_BASE (pi_peri_phys + 0x00007000)
#define DMA15_BASE (pi_peri_phys + 0x00E05000)
#define GPIO_BASE (pi_peri_phys + 0x00200000)
#define PADS_BASE (pi_peri_phys + 0x00100000)
#define PCM_BASE (pi_peri_phys + 0x00203000)
#define PWM_BASE (pi_peri_phys + 0x0020C000)
#define SPI_BASE (pi_peri_phys + 0x00204000)
@ -308,6 +312,7 @@ bit 0 READ_LAST_NOT_SET_ERROR
#define CLK_LEN 0xA8
#define DMA_LEN 0x1000 /* allow access to all channels */
#define GPIO_LEN 0xB4
#define PADS_LEN 0x38
#define PCM_LEN 0x24
#define PWM_LEN 0x28
#define SPI_LEN 0x18
@ -474,7 +479,7 @@ bit 0 READ_LAST_NOT_SET_ERROR
#define PCM_GRAY_CLR (1<<1)
#define PCM_GRAY_EN (1<<0)
#define CLK_PASSWD (0x5A<<24)
#define BCM_PASSWD (0x5A<<24)
#define CLK_CTL_MASH(x)((x)<<9)
#define CLK_CTL_BUSY (1 <<7)
@ -734,6 +739,9 @@ Assumes two counters per block. Each counter 4 * 16 (16^4=65536)
#define PI_SER_CLOSED 0
#define PI_SER_OPENED 1
#define PI_FILE_CLOSED 0
#define PI_FILE_OPENED 1
#define PI_NOTIFY_CLOSED 0
#define PI_NOTIFY_CLOSING 1
#define PI_NOTIFY_OPENED 2
@ -843,6 +851,8 @@ Assumes two counters per block. Each counter 4 * 16 (16^4=65536)
#define PI_RUNNING 1
#define PI_ENDING 2
#define PI_MAX_PATH 512
/* typedef ------------------------------------------------------- */
typedef void (*callbk_t) ();
@ -975,6 +985,13 @@ typedef struct
int max_emits;
} gpioNotify_t;
typedef struct
{
uint16_t state;
int16_t fd;
uint32_t mode;
} fileInfo_t;
typedef struct
{
uint16_t state;
@ -1202,6 +1219,7 @@ static gpioInfo_t gpioInfo [PI_MAX_GPIO+1];
static gpioNotify_t gpioNotify [PI_NOTIFY_SLOTS];
static fileInfo_t fileInfo [PI_FILE_SLOTS];
static i2cInfo_t i2cInfo [PI_I2C_SLOTS];
static serInfo_t serInfo [PI_SER_SLOTS];
static spiInfo_t spiInfo [PI_SPI_SLOTS];
@ -1242,6 +1260,7 @@ static volatile uint32_t * auxReg = MAP_FAILED;
static volatile uint32_t * clkReg = MAP_FAILED;
static volatile uint32_t * dmaReg = MAP_FAILED;
static volatile uint32_t * gpioReg = MAP_FAILED;
static volatile uint32_t * padsReg = MAP_FAILED;
static volatile uint32_t * pcmReg = MAP_FAILED;
static volatile uint32_t * pwmReg = MAP_FAILED;
static volatile uint32_t * spiReg = MAP_FAILED;
@ -1408,6 +1427,29 @@ static void closeOrphanedNotifications(int slot, int fd);
/* ======================================================================= */
int myScriptNameValid(char *name)
{
int i, c, len, valid;
len = strlen(name);
valid = 1;
for (i=0; i<len; i++)
{
c = name[i];
if ((!isalnum(c)) && (c != '_') && (c != '-'))
{
valid = 0;
break;
}
}
return valid;
}
/* ----------------------------------------------------------------------- */
static char * myTimeStamp()
{
static struct timeval last;
@ -1430,6 +1472,47 @@ static char * myTimeStamp()
/* ----------------------------------------------------------------------- */
int myPathBad(char *name)
{
int i, c, len, in_part, parts, last_char_dot;
char *bad="/*?.";
parts = 0;
in_part = 0;
last_char_dot = 0;
len = strlen(name);
for (i=0; i<len; i++)
{
c = name[i];
if (memchr(bad, c, 4)) /* wildcard or directory character */
{
if (c == '.')
{
if (last_char_dot) return 1;
last_char_dot = 1;
}
else last_char_dot = 0;
in_part = 0;
}
else /* normal character */
{
last_char_dot = 0;
if (!in_part) parts++;
in_part = 1;
}
}
if (parts < 2) return 1; else return 0;
}
/* ----------------------------------------------------------------------- */
static char *myBuf2Str(unsigned count, char *buf)
{
static char str[128];
@ -1774,15 +1857,36 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf)
case PI_CMD_CSI: res = gpioCfgSetInternals(p[1]); break;
case PI_CMD_FC: res = fileClose(p[1]); break;
case PI_CMD_FG:
res = gpioGlitchFilter(p[1], p[2]);
break;
case PI_CMD_FL:
if (p[1] > bufSize) p[1] = bufSize;
res = fileList(buf, buf, p[1]);
break;
case PI_CMD_FN:
memcpy(&p[4], buf, 4);
res = gpioNoiseFilter(p[1], p[2], p[4]);
break;
case PI_CMD_FO: res = fileOpen(buf, p[1]); break;
case PI_CMD_FR:
if (p[2] > bufSize) p[2] = bufSize;
res = fileRead(p[1], buf, p[2]);
break;
case PI_CMD_FS:
memcpy(&p[4], buf, 4);
res = fileSeek(p[1], p[2], p[4]);
break;
case PI_CMD_FW: res = fileWrite(p[1], buf, p[3]); break;
case PI_CMD_GDC: res = gpioGetPWMdutycycle(p[1]); break;
case PI_CMD_GPW: res = gpioGetServoPulsewidth(p[1]); break;
@ -1923,6 +2027,10 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf)
case PI_CMD_NP: res = gpioNotifyPause(p[1]); break;
case PI_CMD_PADG: res = gpioGetPad(p[1]); break;
case PI_CMD_PADS: res = gpioSetPad(p[1], p[2]); break;
case PI_CMD_PFG: res = gpioGetPWMfrequency(p[1]); break;
case PI_CMD_PFS:
@ -2018,6 +2126,10 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf)
case PI_CMD_SERW: res = serWrite(p[1], buf, p[3]); break;
case PI_CMD_SHELL:
res = shell(buf, buf+p[1]+1);
break;
case PI_CMD_SLR:
if (p[2] > bufSize) p[2] = bufSize;
@ -4477,7 +4589,7 @@ int serOpen(char *tty, unsigned serBaud, unsigned serFlags)
SER_CHECK_INITED;
if (strncmp("/dev/tty", tty, 8))
if (strncmp("/dev/tty", tty, 8) && strncmp("/dev/serial", tty, 11))
SOFT_ERROR(PI_BAD_SER_DEVICE, "bad device (%s)", tty);
switch (serBaud)
@ -6022,17 +6134,21 @@ static int scrWait(gpioScript_t *s, uint32_t bits)
static int scrSys(char *cmd, uint32_t p1, uint32_t p2)
{
char buf[256];
char pars[40];
char buf[1024];
int status;
sprintf(pars, " %u %u", p1, p2);
strcpy(buf, "/opt/pigpio/cgi/");
strncat(buf, cmd, 200);
strcat(buf, pars);
if (!myScriptNameValid(cmd))
SOFT_ERROR(PI_BAD_SCRIPT_NAME, "bad script name (%s)", cmd);
DBG(DBG_USER, "sys %s", buf);
snprintf(buf, sizeof(buf), "/opt/pigpio/cgi/%s %u %u", cmd, p1, p2);
return system(buf);
DBG(DBG_USER, "%s", buf);
status = system(buf);
if (status < 0) status = PI_BAD_SHELL_STATUS;
return status;
}
/* ----------------------------------------------------------------------- */
@ -6523,6 +6639,8 @@ static void *pthSocketThreadHandler(void *fdC)
case PI_CMD_BI2CZ:
case PI_CMD_CF2:
case PI_CMD_FL:
case PI_CMD_FR:
case PI_CMD_I2CPK:
case PI_CMD_I2CRD:
case PI_CMD_I2CRI:
@ -6769,6 +6887,11 @@ static int initPeripherals(void)
if (auxReg == MAP_FAILED)
SOFT_ERROR(PI_INIT_FAILED, "mmap aux failed (%m)");
padsReg = initMapMem(fdMem, PADS_BASE, PADS_LEN);
if (padsReg == MAP_FAILED)
SOFT_ERROR(PI_INIT_FAILED, "mmap pads failed (%m)");
return 0;
}
@ -7170,20 +7293,20 @@ static void initHWClk
{
do
{
clkReg[clkCtl] = CLK_PASSWD | CLK_CTL_KILL;
clkReg[clkCtl] = BCM_PASSWD | CLK_CTL_KILL;
}
while (clkReg[clkCtl] & CLK_CTL_BUSY);
}
clkReg[clkDiv] = (CLK_PASSWD | CLK_DIV_DIVI(divI) | CLK_DIV_DIVF(divF));
clkReg[clkDiv] = (BCM_PASSWD | CLK_DIV_DIVI(divI) | CLK_DIV_DIVF(divF));
usleep(10);
clkReg[clkCtl] = (CLK_PASSWD | CLK_CTL_MASH(MASH) | CLK_CTL_SRC(clkSrc));
clkReg[clkCtl] = (BCM_PASSWD | CLK_CTL_MASH(MASH) | CLK_CTL_SRC(clkSrc));
usleep(10);
clkReg[clkCtl] |= (CLK_PASSWD | CLK_CTL_ENAB);
clkReg[clkCtl] |= (BCM_PASSWD | CLK_CTL_ENAB);
}
static void initClock(int mainClock)
@ -11345,7 +11468,7 @@ int gpioHardwareClock(unsigned gpio, unsigned frequency)
else
{
/* frequency 0, stop clock */
clkReg[cctl[clock]] = CLK_PASSWD | CLK_CTL_KILL;
clkReg[cctl[clock]] = BCM_PASSWD | CLK_CTL_KILL;
if (gpioInfo[gpio].is == GPIO_HW_CLK)
gpioInfo[gpio].is = GPIO_UNDEFINED;
@ -11470,6 +11593,403 @@ int gpioHardwarePWM(
}
int gpioSetPad(unsigned pad, unsigned padStrength)
{
DBG(DBG_USER, "pad=%d padStrength=%d", pad, padStrength);
CHECK_INITED;
if (pad > PI_MAX_PAD)
SOFT_ERROR(PI_BAD_PAD, "bad pad number (%d)", pad);
if ((padStrength < PI_MIN_PAD_STRENGTH) ||
(padStrength > PI_MAX_PAD_STRENGTH))
SOFT_ERROR(PI_BAD_STRENGTH, "bad pad drive strength (%d)", pad);
/* 1-16 -> 0-7 */
padStrength += 1;
padStrength /= 2;
padStrength -= 1;
padsReg[11+pad] = BCM_PASSWD | 0x18 | (padStrength & 7) ;
return 0;
}
int gpioGetPad(unsigned pad)
{
int strength;
DBG(DBG_USER, "pad=%d", pad);
CHECK_INITED;
if (pad > PI_MAX_PAD)
SOFT_ERROR(PI_BAD_PAD, "bad pad (%d)", pad);
strength = padsReg[11+pad] & 7;
strength *= 2;
strength += 2;
return strength;
}
int shell(char *scriptName, char *scriptString)
{
int status;
char buf[4096];
DBG(DBG_USER, "name=%s string=%s", scriptName, scriptString);
CHECK_INITED;
if (!myScriptNameValid(scriptName))
SOFT_ERROR(PI_BAD_SCRIPT_NAME, "bad script name (%s)", scriptName);
snprintf(buf, sizeof(buf),
"/opt/pigpio/cgi/%s %s", scriptName, scriptString);
DBG(DBG_USER, "%s", buf);
status = system(buf);
if (status < 0) status = PI_BAD_SHELL_STATUS;
return status;
}
int fileApprove(char *filename)
{
char match[PI_MAX_PATH];
char buffer[PI_MAX_PATH];
char line[PI_MAX_PATH];
char mperm;
char perm;
char term;
FILE *f;
buffer[0] = 0;
match[0] = 0;
f = fopen("/opt/pigpio/access", "r");
if (!f) return PI_FILE_NONE;
while (!feof(f))
{
buffer[0] = 0;
perm = 0;
term = 0;
if (fgets(line, sizeof(line), f))
{
sscanf(line, " %511s %c%c", buffer, &perm, &term);
if (term == 10)
{
if (myPathBad(buffer)) continue; /* disallow risky lines */
if (fnmatch(buffer, filename, 0) == 0)
{
if (match[0])
{
if (fnmatch(match, buffer, 0) == 0)
{
strcpy(match, buffer);
mperm = perm;
}
}
else
{
strcpy(match, buffer);
mperm = perm;
}
}
}
}
}
fclose(f);
if (match[0])
{
switch (toupper(mperm))
{
case 'R': return PI_FILE_READ;
case 'W': return PI_FILE_WRITE;
case 'U': return PI_FILE_RW;
default : return PI_FILE_NONE;
}
}
return PI_FILE_NONE;
}
int fileOpen(char *file, unsigned mode)
{
int fd=-1;
int i, slot, oflag, omode;
struct stat statbuf;
DBG(DBG_USER, "file=%s mode=%d", file, mode);
CHECK_INITED;
if ( (mode < PI_FILE_MIN) ||
(mode > PI_FILE_MAX) ||
((mode & PI_FILE_RW) == 0) )
SOFT_ERROR(PI_BAD_FILE_MODE, "bad mode (%d)", mode);
if ((fileApprove(file) & mode) == PI_FILE_NONE)
SOFT_ERROR(PI_NO_FILE_ACCESS, "no permission to access file (%s)", file);
slot = -1;
for (i=0; i<PI_FILE_SLOTS; i++)
{
if (fileInfo[i].state == PI_FILE_CLOSED)
{
fileInfo[i].state = PI_FILE_OPENED;
slot = i;
break;
}
}
if (slot < 0)
SOFT_ERROR(PI_NO_HANDLE, "no file handles");
omode = 0;
oflag = 0;
if (mode & PI_FILE_APPEND)
{
mode |= PI_FILE_WRITE;
oflag |= O_APPEND;
}
if (mode & PI_FILE_CREATE)
{
oflag |= O_CREAT;
omode |= (S_IRUSR|S_IWUSR);
}
if (mode & PI_FILE_TRUNC)
{
mode |= PI_FILE_WRITE;
oflag |= O_TRUNC;
}
switch(mode&PI_FILE_RW)
{
case PI_FILE_READ:
fd = open(file, O_RDONLY|oflag, omode);
break;
case PI_FILE_WRITE:
fd = open(file, O_WRONLY|oflag, omode);
break;
case PI_FILE_RW:
fd = open(file, O_RDWR|oflag, omode);
break;
}
if (fd == -1)
{
fileInfo[slot].state = PI_FILE_CLOSED;
return PI_FIL_OPEN_FAILED;
}
else
{
if (stat(file, &statbuf) == 0)
{
if (S_ISDIR(statbuf.st_mode))
{
close(fd);
fileInfo[slot].state = PI_FILE_CLOSED;
SOFT_ERROR(PI_FILE_IS_A_DIR, "file is a directory (%s)", file);
}
}
}
fileInfo[slot].fd = fd;
fileInfo[slot].mode = mode;
return slot;
}
int fileClose(unsigned handle)
{
DBG(DBG_USER, "handle=%d", handle);
CHECK_INITED;
if (handle >= PI_FILE_SLOTS)
SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle);
if (fileInfo[handle].state != PI_FILE_OPENED)
SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle);
if (fileInfo[handle].fd >= 0) close(fileInfo[handle].fd);
fileInfo[handle].fd = -1;
fileInfo[handle].state = PI_FILE_CLOSED;
return 0;
}
int fileWrite(unsigned handle, char *buf, unsigned count)
{
int w;
DBG(DBG_USER, "handle=%d count=%d [%s]",
handle, count, myBuf2Str(count, buf));
CHECK_INITED;
if (handle >= PI_FILE_SLOTS)
SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle);
if (fileInfo[handle].state != PI_FILE_OPENED)
SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle);
if (!count)
SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count);
if (!(fileInfo[handle].mode & PI_FILE_WRITE))
SOFT_ERROR(PI_FILE_NOT_WOPEN, "file not opened for write");
w = write(fileInfo[handle].fd, buf, count);
if (w != count)
{
if (w == -1) DBG(DBG_USER, "write failed with errno %d", errno);
return PI_BAD_FILE_WRITE;
}
return 0;
}
int fileRead(unsigned handle, char *buf, unsigned count)
{
int r;
DBG(DBG_USER, "handle=%d count=%d buf=0x%X", handle, count, (unsigned)buf);
CHECK_INITED;
if (handle >= PI_FILE_SLOTS)
SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle);
if (fileInfo[handle].state != PI_FILE_OPENED)
SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle);
if (!count)
SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count);
if (!(fileInfo[handle].mode & PI_FILE_READ))
SOFT_ERROR(PI_FILE_NOT_ROPEN, "file not opened for read");
r = read(fileInfo[handle].fd, buf, count);
if (r == -1)
{
DBG(DBG_USER, "read failed with errno %d", errno);
return PI_BAD_FILE_READ;
}
else
{
buf[r] = 0;
return r;
}
}
int fileSeek(unsigned handle, int32_t seekOffset, int seekFrom)
{
int whence, s;
DBG(DBG_USER, "handle=%d offset=%d from=%d",
handle, seekOffset, seekFrom);
CHECK_INITED;
if (handle >= PI_FILE_SLOTS)
SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle);
if (fileInfo[handle].state != PI_FILE_OPENED)
SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle);
switch (seekFrom)
{
case PI_FROM_START:
whence = SEEK_SET;
break;
case PI_FROM_CURRENT:
whence = SEEK_CUR;
break;
case PI_FROM_END:
whence = SEEK_END;
break;
default:
SOFT_ERROR(PI_BAD_FILE_SEEK, "bad seek from (%d)", seekFrom);
}
s = lseek(fileInfo[handle].fd, seekOffset, whence);
if (s == -1)
{
DBG(DBG_USER, "seek failed with errno %d", errno);
return PI_BAD_FILE_SEEK;
}
return s;
}
int fileList(char *fpat, char *buf, unsigned count)
{
int len, bufpos;
glob_t pglob;
int i;
DBG(DBG_USER, "fpat=%s count=%d buf=%x", fpat, count, (unsigned)buf);
CHECK_INITED;
if (fileApprove(fpat) == PI_FILE_NONE)
SOFT_ERROR(PI_NO_FILE_ACCESS, "no permission to access file (%s)", fpat);
bufpos = 0;
if (glob(fpat, GLOB_MARK, NULL, &pglob) == 0)
{
for (i=0; i<pglob.gl_pathc; i++)
{
len = strlen(pglob.gl_pathv[i]);
if ((bufpos + len + 1) < count)
{
strcpy(buf+bufpos, pglob.gl_pathv[i]);
bufpos += len;
buf[bufpos++] = '\n';
}
}
}
else
{
bufpos = PI_NO_FILE_MATCH;
}
globfree(&pglob);
return bufpos;
}
/* ----------------------------------------------------------------------- */
int gpioTime(unsigned timetype, int *seconds, int *micros)

572
pigpio.h
View File

@ -31,7 +31,7 @@ For more information, please refer to <http://unlicense.org/>
#include <stdint.h>
#include <pthread.h>
#define PIGPIO_VERSION 54
#define PIGPIO_VERSION 55
/*TEXT
@ -39,9 +39,9 @@ pigpio is a C library for the Raspberry which allows control of the GPIO.
*Features*
o PWM on any of GPIO 0-31
o hardware timed PWM on any of GPIO 0-31
o servo pulses on any of GPIO 0-31
o hardware timed servo pulses on any of GPIO 0-31
o callbacks when any of GPIO 0-31 change state
@ -198,6 +198,11 @@ gpioHardwarePWM Start hardware PWM on supported GPIO
gpioGlitchFilter Set a glitch filter on a GPIO
gpioNoiseFilter Set a noise filter on a GPIO
gpioGetPad Gets a pads drive strength
gpioSetPad Sets a pads drive strength
shell Executes a shell command
SCRIPTS
gpioStoreScript Store a script
@ -282,16 +287,25 @@ spiXfer Transfers bytes with a SPI device
SERIAL
serOpen Opens a serial device (/dev/tty*)
serOpen Opens a serial device
serClose Closes a serial device
serWriteByte Writes a byte to a serial device
serReadByte Reads a byte from a serial device
serWrite Writes bytes to a serial device
serWriteByte Writes a byte to a serial device
serRead Reads bytes from a serial device
serWrite Writes bytes to a serial device
serDataAvailable Returns number of bytes ready to be read
FILES
fileOpen Opens a file
fileClose Closes a file
fileRead Reads bytes from a file
fileWrite Writes bytes to a file
fileSeek Seeks to a position within a file
fileList List files which match a pattern
CONFIGURATION
gpioCfgBufferSize Configure the GPIO sample buffer size
@ -617,8 +631,9 @@ typedef void *(gpioThreadFunc_t) (void *);
#define PI_WAVE_NOT_FOUND 9998 /* Transmitted wave not found. */
#define PI_NO_TX_WAVE 9999 /* No wave being transmitted. */
/* I2C, SPI, SER */
/* Files, I2C, SPI, SER */
#define PI_FILE_SLOTS 8
#define PI_I2C_SLOTS 32
#define PI_SPI_SLOTS 16
#define PI_SER_SLOTS 8
@ -773,6 +788,29 @@ typedef void *(gpioThreadFunc_t) (void *);
#define EITHER_EDGE 2
/* pads */
#define PI_MAX_PAD 2
#define PI_MIN_PAD_STRENGTH 1
#define PI_MAX_PAD_STRENGTH 16
/* files */
#define PI_FILE_NONE 0
#define PI_FILE_MIN 1
#define PI_FILE_READ 1
#define PI_FILE_WRITE 2
#define PI_FILE_RW 3
#define PI_FILE_APPEND 4
#define PI_FILE_CREATE 8
#define PI_FILE_TRUNC 16
#define PI_FILE_MAX 31
#define PI_FROM_START 0
#define PI_FROM_CURRENT 1
#define PI_FROM_END 2
/*F*/
int gpioInitialise(void);
/*D
@ -835,11 +873,11 @@ Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_MODE.
Arduino style: pinMode.
...
gpioSetMode(17, PI_INPUT); // Set gpio17 as input.
gpioSetMode(17, PI_INPUT); // Set GPIO17 as input.
gpioSetMode(18, PI_OUTPUT); // Set gpio18 as output.
gpioSetMode(18, PI_OUTPUT); // Set GPIO18 as output.
gpioSetMode(22,PI_ALT0); // Set gpio22 to alternative mode 0.
gpioSetMode(22,PI_ALT0); // Set GPIO22 to alternative mode 0.
...
D*/
@ -858,7 +896,7 @@ Returns the GPIO mode if OK, otherwise PI_BAD_GPIO.
...
if (gpioGetMode(17) != PI_ALT0)
{
gpioSetMode(17, PI_ALT0); // set gpio17 to ALT0
gpioSetMode(17, PI_ALT0); // set GPIO17 to ALT0
}
...
D*/
@ -900,7 +938,7 @@ Returns the GPIO level if OK, otherwise PI_BAD_GPIO.
Arduino style: digitalRead.
...
printf("gpio24 is level %d", gpioRead(24));
printf("GPIO24 is level %d", gpioRead(24));
...
D*/
@ -922,7 +960,7 @@ If PWM or servo pulses are active on the GPIO they are switched off.
Arduino style: digitalWrite
...
gpioWrite(24, 1); // Set gpio24 high.
gpioWrite(24, 1); // Set GPIO24 high.
...
D*/
@ -949,11 +987,11 @@ The [*gpioSetPWMrange*] function may be used to change the default
range of 255.
...
gpioPWM(17, 255); // Sets gpio17 full on.
gpioPWM(17, 255); // Sets GPIO17 full on.
gpioPWM(18, 128); // Sets gpio18 half on.
gpioPWM(18, 128); // Sets GPIO18 half on.
gpioPWM(23, 0); // Sets gpio23 full off.
gpioPWM(23, 0); // Sets GPIO23 full off.
...
D*/
@ -1107,11 +1145,11 @@ sample
. .
...
gpioSetPWMfrequency(23, 0); // Set gpio23 to lowest frequency.
gpioSetPWMfrequency(23, 0); // Set GPIO23 to lowest frequency.
gpioSetPWMfrequency(24, 500); // Set gpio24 to 500Hz.
gpioSetPWMfrequency(24, 500); // Set GPIO24 to 500Hz.
gpioSetPWMfrequency(25, 100000); // Set gpio25 to highest frequency.
gpioSetPWMfrequency(25, 100000); // Set GPIO25 to highest frequency.
...
D*/
@ -1136,7 +1174,7 @@ If hardware PWM is active on the GPIO the reported frequency
will be that set by [*gpioHardwarePWM*].
...
f = gpioGetPWMfrequency(23); // Get frequency used for gpio23.
f = gpioGetPWMfrequency(23); // Get frequency used for GPIO23.
...
D*/
@ -1187,7 +1225,7 @@ Then set the PWM range using [*gpioSetPWMrange*] to 1E6/frequency.
Doing this allows you to use units of microseconds when setting
the servo pulsewidth.
E.g. If you want to update a servo connected to gpio25 at 400Hz
E.g. If you want to update a servo connected to GPIO25 at 400Hz
. .
gpioSetPWMfrequency(25, 400);
@ -1474,11 +1512,13 @@ seqno: starts at 0 each time the handle is opened and then increments
by one for each report.
flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE.
If bit 5 is set (PI_NTFY_FLAGS_WDOG) then bits 0-4 of the flags
indicate a GPIO which has had a watchdog timeout; if bit 6 is set
(PI_NTFY_FLAGS_ALIVE) this indicates a keep alive signal on the
pipe/socket and is sent once a minute in the absence of other
notification activity.
PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags
indicate a GPIO which has had a watchdog timeout.
PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive
signal on the pipe/socket and is sent once a minute in the absence
of other notification activity.
tick: the number of microseconds since system boot. It wraps around
after 1h12m.
@ -2011,7 +2051,7 @@ int gpioSerialReadInvert(unsigned user_gpio, unsigned invert);
/*D
This function configures the level logic for bit bang serial reads.
Pass PI_BB_SER_INVERT to invert the serial logic. Pass PI_BB_SER_NORMAL for
Use PI_BB_SER_INVERT to invert the serial logic and PI_BB_SER_NORMAL for
normal logic. Default is PI_BB_SER_NORMAL.
. .
@ -2798,10 +2838,11 @@ D*/
int serOpen(char *sertty, unsigned baud, unsigned serFlags);
/*D
This function opens a serial device at a specified baud rate
with specified flags.
and with specified flags. The device name must start with
/dev/tty or /dev/serial.
. .
sertty: the serial device to open, /dev/tty*
sertty: the serial device to open
baud: the baud rate in bits per second, see below
serFlags: 0
. .
@ -2879,13 +2920,13 @@ This function reads up count bytes from the the serial port
associated with handle and writes them to buf.
. .
handle: >=0, as returned by a call to serial_open
handle: >=0, as returned by a call to [*serOpen*]
buf: an array to receive the read data
count: the maximum number of bytes to read
. .
Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE,
PI_BAD_PARAM, PI_SER_READ_NO_DATA, or PI_SER_WRITE_FAILED.
PI_BAD_PARAM, or PI_SER_READ_NO_DATA.
D*/
@ -3631,6 +3672,358 @@ Returns the pigpio version.
D*/
/*F*/
int gpioGetPad(unsigned pad);
/*D
This function returns the pad drive strength in mA.
. .
pad: 0-2, the pad to get
. .
Returns the pad drive strength if OK, otherwise PI_BAD_PAD.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
...
strength = gpioGetPad(1); // get pad 1 strength
...
D*/
/*F*/
int gpioSetPad(unsigned pad, unsigned padStrength);
/*D
This function sets the pad drive strength in mA.
. .
pad: 0-2, the pad to set
padStrength: 1-16 mA
. .
Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
...
gpioSetPad(0, 16); // set pad 0 strength to 16 mA
...
D*/
/*F*/
int shell(char *scriptName, char *scriptString);
/*D
This function uses the system call to execute a shell script
with the given string as its parameter.
. .
scriptName: the name of the script, only alphanumeric characters,
'-' and '_' are allowed in the name
scriptString: the string to pass to the script
. .
The exit status of the system call is returned if OK, otherwise
PI_BAD_SHELL_STATUS.
scriptName must exist in /opt/pigpio/cgi and must be executable.
The returned exit status is normally 256 times that set by the
shell script exit function. If the script can't be found 32512 will
be returned.
The following table gives some example returned statuses.
Script exit status @ Returned system call status
1 @ 256
5 @ 1280
10 @ 2560
200 @ 51200
script not found @ 32512
...
// pass two parameters, hello and world
status = shell("scr1", "hello world");
// pass three parameters, hello, string with spaces, and world
status = shell("scr1", "hello 'string with spaces' world");
// pass one parameter, hello string with spaces world
status = shell("scr1", "\"hello string with spaces world\"");
...
D*/
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcomment"
/*F*/
int fileOpen(char *file, unsigned mode);
/*D
This function returns a handle to a file opened in a specified mode.
. .
file: the file to open
mode: the file open mode
. .
Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, PI_NO_FILE_ACCESS,
PI_BAD_FILE_MODE, PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR.
File
A file may only be opened if permission is granted by an entry in
/opt/pigpio/access. This is intended to allow remote access to files
in a more or less controlled manner.
Each entry in /opt/pigpio/access takes the form of a file path
which may contain wildcards followed by a single letter permission.
The permission may be R for read, W for write, U for read/write,
and N for no access.
Where more than one entry matches a file the most specific rule
applies. If no entry matches a file then access is denied.
Suppose /opt/pigpio/access contains the following entries
. .
/home/* n
/home/pi/shared/dir_1/* w
/home/pi/shared/dir_2/* r
/home/pi/shared/dir_3/* u
/home/pi/shared/dir_1/file.txt n
. .
Files may be written in directory dir_1 with the exception
of file.txt.
Files may be read in directory dir_2.
Files may be read and written in directory dir_3.
If a directory allows read, write, or read/write access then files may
be created in that directory.
In an attempt to prevent risky permissions the following paths are
ignored in /opt/pigpio/access.
. .
a path containing ..
a path containing only wildcards (*?)
a path containing less than two non-wildcard parts
. .
Mode
The mode may have the following values.
Macro @ Value @ Meaning
PI_FILE_READ @ 1 @ open file for reading
PI_FILE_WRITE @ 2 @ open file for writing
PI_FILE_RW @ 3 @ open file for reading and writing
The following values may be or'd into the mode.
Macro @ Value @ Meaning
PI_FILE_APPEND @ 4 @ Writes append data to the end of the file
PI_FILE_CREATE @ 8 @ The file is created if it doesn't exist
PI_FILE_TRUNC @ 16 @ The file is truncated
Newly created files are owned by root with permissions owner read and write.
...
#include <stdio.h>
#include <pigpio.h>
int main(int argc, char *argv[])
{
int handle, c;
char buf[60000];
if (gpioInitialise() < 0) return 1;
// assumes /opt/pigpio/access contains the following line
// /ram/*.c r
handle = fileOpen("/ram/pigpio.c", PI_FILE_READ);
if (handle >= 0)
{
while ((c=fileRead(handle, buf, sizeof(buf)-1)))
{
buf[c] = 0;
printf("%s", buf);
}
fileClose(handle);
}
gpioTerminate();
}
...
D*/
#pragma GCC diagnostic pop
/*F*/
int fileClose(unsigned handle);
/*D
This function closes the file associated with handle.
. .
handle: >=0, as returned by a call to [*fileOpen*]
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE.
...
fileClose(h);
...
D*/
/*F*/
int fileWrite(unsigned handle, char *buf, unsigned count);
/*D
This function writes count bytes from buf to the the file
associated with handle.
. .
handle: >=0, as returned by a call to [*fileOpen*]
buf: the array of bytes to write
count: the number of bytes to write
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM,
PI_FILE_NOT_WOPEN, or PI_BAD_FILE_WRITE.
...
status = fileWrite(h, buf, count);
if (status == 0)
{
// okay
}
else
{
// error
}
...
D*/
/*F*/
int fileRead(unsigned handle, char *buf, unsigned count);
/*D
This function reads up to count bytes from the the file
associated with handle and writes them to buf.
. .
handle: >=0, as returned by a call to [*fileOpen*]
buf: an array to receive the read data
count: the maximum number of bytes to read
. .
Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, PI_FILE_NOT_ROPEN, or PI_BAD_FILE_WRITE.
...
if (fileRead(h, buf, sizeof(buf)) > 0)
{
// process read data
}
...
D*/
/*F*/
int fileSeek(unsigned handle, int32_t seekOffset, int seekFrom);
/*D
This function seeks to a position within the file associated
with handle.
. .
handle: >=0, as returned by a call to [*fileOpen*]
seekOffset: the number of bytes to move. Positive offsets
move forward, negative offsets backwards.
seekFrom: one of PI_FROM_START (0), PI_FROM_CURRENT (1),
or PI_FROM_END (2)
. .
Returns the new byte position within the file (>=0) if OK, otherwise PI_BAD_HANDLE, or PI_BAD_FILE_SEEK.
...
fileSeek(0, 20, PI_FROM_START); // Seek to start plus 20
size = fileSeek(0, 0, PI_FROM_END); // Seek to end, return size
pos = fileSeek(0, 0, PI_FROM_CURRENT); // Return current position
...
D*/
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcomment"
/*F*/
int fileList(char *fpat, char *buf, unsigned count);
/*D
This function returns a list of files which match a pattern. The
pattern may contain wildcards.
. .
fpat: file pattern to match
buf: an array to receive the matching file names
count: the maximum number of bytes to read
. .
Returns the number of returned bytes if OK, otherwise PI_NO_FILE_ACCESS,
or PI_NO_FILE_MATCH.
The pattern must match an entry in /opt/pigpio/access. The pattern
may contain wildcards. See [*fileOpen*].
NOTE
The returned value is not the number of files, it is the number
of bytes in the buffer. The file names are separated by newline
characters.
...
#include <stdio.h>
#include <pigpio.h>
int main(int argc, char *argv[])
{
int c;
char buf[1000];
if (gpioInitialise() < 0) return 1;
// assumes /opt/pigpio/access contains the following line
// /ram/*.c r
c = fileList("/ram/p*.c", buf, sizeof(buf));
if (c >= 0)
{
// terminate string
buf[c] = 0;
printf("%s", buf);
}
gpioTerminate();
}
...
D*/
#pragma GCC diagnostic pop
/*F*/
int gpioCfgBufferSize(unsigned cfgMillis);
/*D
@ -4219,7 +4612,6 @@ PI_HW_CLK_MAX_FREQ 250000000
. .
count::
The number of bytes to be transferred in an I2C, SPI, or Serial
command.
@ -4264,6 +4656,14 @@ f::
A function.
*file::
A full file path. To be accessible the path must match an entry in
/opt/pigpio/access.
*fpat::
A file path which may contain wildcards. To be accessible the path
must match an entry in /opt/pigpio/access.
frequency::>=0
The number of times a GPIO is swiched on and off per second. This
@ -4275,11 +4675,11 @@ gpio::
A Broadcom numbered GPIO, in the range 0-53.
There are 54 General Purpose Input Outputs (GPIO) named gpio0 through
gpio53.
There are 54 General Purpose Input Outputs (GPIO) named GPIO0 through
GPIO53.
They are split into two banks. Bank 1 consists of gpio0 through
gpio31. Bank 2 consists of gpio32 through gpio53.
They are split into two banks. Bank 1 consists of GPIO0 through
GPIO31. Bank 2 consists of GPIO32 through GPIO53.
All the GPIO which are safe for the user to read and write are in
bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards
@ -4403,12 +4803,8 @@ One of
handle::>=0
A number referencing an object opened by one of
[*i2cOpen*]
[*gpioNotifyOpen*]
[*serOpen*]
[*spiOpen*]
A number referencing an object opened by one of [*fileOpen*],
[*gpioNotifyOpen*], [*i2cOpen*], [*serOpen*], [*spiOpen*].
i2cAddr:: 0-0x7F
The address of a device on the I2C bus.
@ -4440,6 +4836,9 @@ The number of bytes of data in a buffer.
int::
A whole number, negative or positive.
int32_t::
A 32-bit signed value.
invert::
A flag used to set normal or inverted bit bang serial data level logic.
@ -4491,9 +4890,9 @@ millis::
A value representing milliseconds.
mode::0-7
mode::
The operational mode of a GPIO, normally INPUT or OUTPUT.
1. The operational mode of a GPIO, normally INPUT or OUTPUT.
. .
PI_INPUT 0
@ -4506,6 +4905,22 @@ PI_ALT4 3
PI_ALT5 2
. .
2. A file open mode.
. .
PI_FILE_READ 1
PI_FILE_WRITE 2
PI_FILE_RW 3
. .
The following values can be or'd into the mode.
. .
PI_FILE_APPEND 4
PI_FILE_CREATE 8
PI_FILE_TRUNC 16
. .
numBits::
The number of bits stored in a buffer.
@ -4534,6 +4949,18 @@ A buffer used to return data from a function.
outLen::
The size in bytes of an output buffer.
pad:: 0-2
A set of GPIO which share common drivers.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
padStrength:: 1-16
The mA which may be drawn from each GPIO whilst still guaranteeing the
high and low levels.
*param::
An array of script parameters.
@ -4680,19 +5107,22 @@ The maximum number of bytes a user customised function should return.
A pointer to a buffer to receive data.
SCL::
The user GPIO to use for the clock when bit banging I2C.
*script::
A pointer to the text of a script.
script_id::
An id of a stored script as returned by [*gpioStoreScript*].
SDA::
*scriptName::
The name of a [*shell*] script to be executed. The script must be present in
/opt/pigpio/cgi and must have execute permission.
*scriptString::
The string to be passed to a [*shell*] script to be executed.
SDA::
The user GPIO to use for data when bit banging I2C.
secondaryChannel:: 0-6
@ -4705,11 +5135,21 @@ A pointer to a uint32_t to store the second component of
a returned time.
seconds::
The number of seconds.
*segs::
seekFrom::
. .
PI_FROM_START 0
PI_FROM_CURRENT 1
PI_FROM_END 2
. .
seekOffset::
The number of bytes to move forward (positive) or backwards (negative)
from the seek position (start, current, or end of file).
*segs::
An array of segments which make up a combined I2C transaction.
serFlags::
@ -4830,7 +5270,6 @@ user_gpio::
See [*gpio*].
*userdata::
A pointer to arbitrary user data. This may be used to identify the instance.
You must ensure that the pointer is in scope at the time it is processed. If
@ -4999,6 +5438,18 @@ PARAMS*/
#define PI_CMD_WVTXM 100
#define PI_CMD_WVTAT 101
#define PI_CMD_PADS 102
#define PI_CMD_PADG 103
#define PI_CMD_FO 104
#define PI_CMD_FC 105
#define PI_CMD_FR 106
#define PI_CMD_FW 107
#define PI_CMD_FS 108
#define PI_CMD_FL 109
#define PI_CMD_SHELL 110
/*DEF_E*/
/*
@ -5099,7 +5550,7 @@ after this command is issued.
#define PI_BAD_WAVE_BAUD -35 // baud rate not 50-250K(RX)/50-1M(TX)
#define PI_TOO_MANY_PULSES -36 // waveform has too many pulses
#define PI_TOO_MANY_CHARS -37 // waveform has too many chars
#define PI_NOT_SERIAL_GPIO -38 // no bit bang serial read in progress on GPIO
#define PI_NOT_SERIAL_GPIO -38 // no bit bang serial read on GPIO
#define PI_BAD_SERIAL_STRUC -39 // bad (null) serial structure parameter
#define PI_BAD_SERIAL_BUF -40 // bad (null) serial buf parameter
#define PI_NOT_PERMITTED -41 // GPIO operation not permitted
@ -5186,8 +5637,23 @@ after this command is issued.
#define PI_BAD_SER_INVERT -121 // bit bang serial invert not 0 or 1
#define PI_BAD_EDGE -122 // bad ISR edge value, not 0-2
#define PI_BAD_ISR_INIT -123 // bad ISR initialisation
#define PI_BAD_FOREVER -124 // loop forever must be last chain command
#define PI_BAD_FOREVER -124 // loop forever must be last command
#define PI_BAD_FILTER -125 // bad filter parameter
#define PI_BAD_PAD -126 // bad pad number
#define PI_BAD_STRENGTH -127 // bad pad drive strength
#define PI_FIL_OPEN_FAILED -128 // file open failed
#define PI_BAD_FILE_MODE -129 // bad file mode
#define PI_BAD_FILE_FLAG -130 // bad file flag
#define PI_BAD_FILE_READ -131 // bad file read
#define PI_BAD_FILE_WRITE -132 // bad file write
#define PI_FILE_NOT_ROPEN -133 // file not open for read
#define PI_FILE_NOT_WOPEN -134 // file not open for write
#define PI_BAD_FILE_SEEK -135 // bad file seek
#define PI_NO_FILE_MATCH -136 // no files match pattern
#define PI_NO_FILE_ACCESS -137 // no permission to access file
#define PI_FILE_IS_A_DIR -138 // file is a directory
#define PI_BAD_SHELL_STATUS -139 // bad shell return status
#define PI_BAD_SCRIPT_NAME -140 // bad script name
#define PI_PIGIF_ERR_0 -2000
#define PI_PIGIF_ERR_99 -2099

529
pigpio.py
View File

@ -11,9 +11,9 @@ o the pigpio Python module can run on Windows, Macs, or Linux
o controls one or more Pi's
o independent PWM on any of GPIO 0-31 simultaneously
o hardware timed PWM on any of GPIO 0-31
o independent servo pulses on any of GPIO 0-31 simultaneously
o hardware timed servo pulses on any of GPIO 0-31
o callbacks when any of GPIO 0-31 change state
@ -159,6 +159,11 @@ hardware_PWM Start hardware PWM on supported GPIO
set_glitch_filter Set a glitch filter on a GPIO
set_noise_filter Set a noise filter on a GPIO
get_pad_strength Gets a pads drive strength
set_pad_strength Sets a pads drive strength
shell Executes a shell command
Scripts
store_script Store a script
@ -235,7 +240,7 @@ spi_xfer Transfers bytes with a SPI device
Serial
serial_open Opens a serial device (/dev/tty*)
serial_open Opens a serial device
serial_close Closes a serial device
serial_read Reads bytes from a serial device
@ -246,7 +251,16 @@ serial_write_byte Writes a byte to a serial device
serial_data_available Returns number of bytes ready to be read
CUSTOM
Files
file_open Opens a file
file_close Closes a file
file_read Reads bytes from a file
file_write Writes bytes to a file
file_seek Seeks to a position within a file
file_list List files which match a pattern
Custom
custom_1 User custom function 1
custom_2 User custom function 2
@ -270,7 +284,7 @@ import threading
import os
import atexit
VERSION = "1.31"
VERSION = "1.32"
exceptions = True
@ -333,6 +347,18 @@ WAVE_MODE_REPEAT_SYNC =3
WAVE_NOT_FOUND = 9998 # Transmitted wave not found.
NO_TX_WAVE = 9999 # No wave being transmitted.
FILE_READ=1
FILE_WRITE=2
FILE_RW=3
FILE_APPEND=4
FILE_CREATE=8
FILE_TRUNC=16
FROM_START=0
FROM_CURRENT=1
FROM_END=2
# pigpio command numbers
_PI_CMD_MODES= 0
@ -460,6 +486,17 @@ _PI_CMD_FN =98
_PI_CMD_WVTXM=100
_PI_CMD_WVTAT=101
_PI_CMD_PADS =102
_PI_CMD_PADG =103
_PI_CMD_FO =104
_PI_CMD_FC =105
_PI_CMD_FR =106
_PI_CMD_FW =107
_PI_CMD_FS =108
_PI_CMD_FL =109
_PI_CMD_SHELL=110
# pigpio error numbers
_PI_INIT_FAILED =-1
@ -588,7 +625,21 @@ _PI_BAD_EDGE =-122
_PI_BAD_ISR_INIT =-123
PI_BAD_FOREVER =-124
PI_BAD_FILTER =-125
PI_BAD_PAD =-126
PI_BAD_STRENGTH =-127
PI_FIL_OPEN_FAILED =-128
PI_BAD_FILE_MODE =-129
PI_BAD_FILE_FLAG =-130
PI_BAD_FILE_READ =-131
PI_BAD_FILE_WRITE =-132
PI_FILE_NOT_ROPEN =-133
PI_FILE_NOT_WOPEN =-134
PI_BAD_FILE_SEEK =-135
PI_NO_FILE_MATCH =-136
PI_NO_FILE_ACCESS =-137
PI_FILE_IS_A_DIR =-138
PI_BAD_SHELL_STATUS =-139
PI_BAD_SCRIPT_NAME =-140
# pigpio error text
@ -716,6 +767,21 @@ _errors=[
[_PI_BAD_ISR_INIT , "bad ISR initialisation"],
[PI_BAD_FOREVER , "loop forever must be last chain command"],
[PI_BAD_FILTER , "bad filter parameter"],
[PI_BAD_PAD , "bad pad number"],
[PI_BAD_STRENGTH , "bad pad drive strength"],
[PI_FIL_OPEN_FAILED , "file open failed"],
[PI_BAD_FILE_MODE , "bad file mode"],
[PI_BAD_FILE_FLAG , "bad file flag"],
[PI_BAD_FILE_READ , "bad file read"],
[PI_BAD_FILE_WRITE , "bad file write"],
[PI_FILE_NOT_ROPEN , "file not open for read"],
[PI_FILE_NOT_WOPEN , "file not open for write"],
[PI_BAD_FILE_SEEK , "bad file seek"],
[PI_NO_FILE_MATCH , "no files match pattern"],
[PI_NO_FILE_ACCESS , "no permission to access file"],
[PI_FILE_IS_A_DIR , "file is a directory"],
[PI_BAD_SHELL_STATUS , "bad shell return status"],
[PI_BAD_SCRIPT_NAME , "bad script name"],
]
@ -1396,8 +1462,8 @@ class pi():
Notifications have the following structure.
. .
I seqno
I flags
H seqno
H flags
I tick
I level
. .
@ -1406,11 +1472,14 @@ class pi():
increments by one for each report.
flags: two flags are defined, PI_NTFY_FLAGS_WDOG and
PI_NTFY_FLAGS_ALIVE. If bit 5 is set (PI_NTFY_FLAGS_WDOG)
then bits 0-4 of the flags indicate a GPIO which has had a
watchdog timeout; if bit 6 is set (PI_NTFY_FLAGS_ALIVE) this
indicates a keep alive signal on the pipe/socket and is sent
once a minute in the absence of other notification activity.
PI_NTFY_FLAGS_ALIVE.
PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the
flags indicate a GPIO which has had a watchdog timeout.
PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep
alive signal on the pipe/socket and is sent once a minute
in the absence of other notification activity.
tick: the number of microseconds since system boot. It wraps
around after 1h12m.
@ -3215,7 +3284,8 @@ class pi():
def serial_open(self, tty, baud, ser_flags=0):
"""
Returns a handle for the serial tty device opened
at baud bits per second.
at baud bits per second. The device name must start
with /dev/tty or /dev/serial.
tty:= the serial device to open.
baud:= baud rate in bits per second, see below.
@ -3234,6 +3304,8 @@ class pi():
h1 = pi.serial_open("/dev/ttyAMA0", 300)
h2 = pi.serial_open("/dev/ttyUSB1", 19200, 0)
h3 = pi.serial_open("/dev/serial0", 9600)
...
"""
# I p1 baud
@ -3646,6 +3718,7 @@ class pi():
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_SLRI, user_gpio, invert))
def custom_1(self, arg1=0, arg2=0, argx=[]):
"""
Calls a pigpio function customised by the user.
@ -3721,6 +3794,360 @@ class pi():
self.sl.l.release()
return bytes, data
def get_pad_strength(self, pad):
"""
This function returns the pad drive strength in mA.
pad:= 0-2, the pad to get.
Returns the pad drive strength if OK, otherwise PI_BAD_PAD.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
...
strength = pi.get_pad_strength(0) # Get pad 0 strength.
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PADG, pad, 0))
def set_pad_strength(self, pad, pad_strength):
"""
This function sets the pad drive strength in mA.
pad:= 0-2, the pad to set.
pad_strength:= 1-16 mA.
Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
...
pi.set_pad_strength(2, 14) # Set pad 2 to 14 mA.
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PADS, pad, pad_strength))
def file_open(self, file_name, file_mode):
"""
This function returns a handle to a file opened in a specified mode.
file_name:= the file to open.
file_mode:= the file open mode.
Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, PI_NO_FILE_ACCESS,
PI_BAD_FILE_MODE, PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR.
...
h = pi.file_open("/home/pi/shared/dir_3/file.txt",
pigpio.FILE_WRITE | pigpio.FILE_CREATE)
pi.file_write(h, "Hello world")
pi.file_close(h)
...
File
A file may only be opened if permission is granted by an entry in
/opt/pigpio/access. This is intended to allow remote access to files
in a more or less controlled manner.
Each entry in /opt/pigpio/access takes the form of a file path
which may contain wildcards followed by a single letter permission.
The permission may be R for read, W for write, U for read/write,
and N for no access.
Where more than one entry matches a file the most specific rule
applies. If no entry matches a file then access is denied.
Suppose /opt/pigpio/access contains the following entries
. .
/home/* n
/home/pi/shared/dir_1/* w
/home/pi/shared/dir_2/* r
/home/pi/shared/dir_3/* u
/home/pi/shared/dir_1/file.txt n
. .
Files may be written in directory dir_1 with the exception
of file.txt.
Files may be read in directory dir_2.
Files may be read and written in directory dir_3.
If a directory allows read, write, or read/write access then files
may be created in that directory.
In an attempt to prevent risky permissions the following paths are
ignored in /opt/pigpio/access.
. .
a path containing ..
a path containing only wildcards (*?)
a path containing less than two non-wildcard parts
. .
Mode
The mode may have the following values.
Constant @ Value @ Meaning
FILE_READ @ 1 @ open file for reading
FILE_WRITE @ 2 @ open file for writing
FILE_RW @ 3 @ open file for reading and writing
The following values may be or'd into the mode.
Name @ Value @ Meaning
FILE_APPEND @ 4 @ All writes append data to the end of the file
FILE_CREATE @ 8 @ The file is created if it doesn't exist
FILE_TRUNC @ 16 @ The file is truncated
Newly created files are owned by root with permissions owner
read and write.
...
#!/usr/bin/env python
import pigpio
pi = pigpio.pi()
if not pi.connected:
exit()
# Assumes /opt/pigpio/access contains the following line.
# /ram/*.c r
handle = pi.file_open("/ram/pigpio.c", pigpio.FILE_READ)
done = False
while not done:
c, d = pi.file_read(handle, 60000)
if c > 0:
print(d)
else:
done = True
pi.file_close(handle)
pi.stop()
...
"""
# I p1 file_mode
# I p2 0
# I p3 len
## extension ##
# s len data bytes
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_FO, file_mode, 0, len(file_name), [file_name]))
def file_close(self, handle):
"""
Closes the file associated with handle.
handle:= >=0 (as returned by a prior call to [*file_open*]).
...
pi.file_close(handle)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_FC, handle, 0))
def file_read(self, handle, count):
"""
Reads up to count bytes from the file associated with handle.
handle:= >=0 (as returned by a prior call to [*file_open*]).
count:= >0, the number of bytes to read.
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(b, d) = pi.file_read(h2, 100)
if b > 0:
# process read data
...
"""
# Don't raise exception. Must release lock.
bytes = u2i(
_pigpio_command(self.sl, _PI_CMD_FR, handle, count, False))
if bytes > 0:
data = self._rxbuf(bytes)
else:
data = ""
self.sl.l.release()
return bytes, data
def file_write(self, handle, data):
"""
Writes the data bytes to the file associated with handle.
handle:= >=0 (as returned by a prior call to [*file_open*]).
data:= the bytes to write.
...
pi.file_write(h1, b'\\x02\\x03\\x04')
pi.file_write(h2, b'help')
pi.file_write(h2, "hello")
pi.file_write(h1, [2, 3, 4])
...
"""
# I p1 handle
# I p2 0
# I p3 len
## extension ##
# s len data bytes
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_FW, handle, 0, len(data), [data]))
def file_seek(self, handle, seek_offset, seek_from):
"""
Seeks to a position relative to the start, current position,
or end of the file. Returns the new position.
handle:= >=0 (as returned by a prior call to [*file_open*]).
seek_offset:= byte offset.
seek_from:= FROM_START, FROM_CURRENT, or FROM_END.
...
new_pos = pi.file_seek(h, 100, pigpio.FROM_START)
cur_pos = pi.file_seek(h, 0, pigpio.FROM_CURRENT)
file_size = pi.file_seek(h, 0, pigpio.FROM_END)
...
"""
# I p1 handle
# I p2 seek_offset
# I p3 4
## extension ##
# I seek_from
extents = [struct.pack("I", seek_from)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_FS, handle, seek_offset, 4, extents))
def file_list(self, fpattern):
"""
Returns a list of files which match a pattern.
fpattern:= file pattern to match.
Returns the number of returned bytes if OK, otherwise
PI_NO_FILE_ACCESS, or PI_NO_FILE_MATCH.
The pattern must match an entry in /opt/pigpio/access. The
pattern may contain wildcards. See [*file_open*].
NOTE
The returned value is not the number of files, it is the number
of bytes in the buffer. The file names are separated by newline
characters.
...
#!/usr/bin/env python
import pigpio
pi = pigpio.pi()
if not pi.connected:
exit()
# Assumes /opt/pigpio/access contains the following line.
# /ram/*.c r
c, d = pi.file_list("/ram/p*.c")
if c > 0:
print(d)
pi.stop()
...
"""
# I p1 60000
# I p2 0
# I p3 len
## extension ##
# s len data bytes
# Don't raise exception. Must release lock.
bytes = u2i(_pigpio_command_ext(
self.sl, _PI_CMD_FL, 60000, 0, len(fpattern), [fpattern], False))
if bytes > 0:
data = self._rxbuf(bytes)
else:
data = ""
self.sl.l.release()
return bytes, data
def shell(self, shellscr, pstring=""):
"""
This function uses the system call to execute a shell script
with the given string as its parameter.
shellscr:= the name of the script, only alphanumerics,
'-' and '_' are allowed in the name
pstring := the parameter string to pass to the script
The exit status of the system call is returned if OK,
otherwise PI_BAD_SHELL_STATUS.
[*shellscr*] must exist in /opt/pigpio/cgi and must be executable.
The returned exit status is normally 256 times that set by
the shell script exit function. If the script can't be
found 32512 will be returned.
The following table gives some example returned statuses.
Script exit status @ Returned system call status
1 @ 256
5 @ 1280
10 @ 2560
200 @ 51200
script not found @ 32512
...
// pass two parameters, hello and world
status = pi.shell("scr1", "hello world");
// pass three parameters, hello, string with spaces, and world
status = pi.shell("scr1", "hello 'string with spaces' world");
// pass one parameter, hello string with spaces world
status = pi.shell("scr1", "\\"hello string with spaces world\\"");
...
"""
# I p1 len(shellscr)
# I p2 0
# I p3 len(shellscr)+len(pstring)+1
## extension ##
# s len data bytes
ls = len(shellscr)
lp = len(pstring)
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_SHELL, ls, 0, ls+lp+1, [shellscr+'\x00'+pstring]))
def callback(self, user_gpio, edge=RISING_EDGE, func=None):
"""
Calls a user supplied function (a callback) whenever the
@ -4071,8 +4498,48 @@ def xref():
PI_BAD_SER_INVERT = -121
PI_BAD_FOREVER = -124
PI_BAD_FILTER = -125
PI_BAD_PAD = -126
PI_BAD_STRENGTH = -127
PI_FIL_OPEN_FAILED = -128
PI_BAD_FILE_MODE = -129
PI_BAD_FILE_FLAG = -130
PI_BAD_FILE_READ = -131
PI_BAD_FILE_WRITE = -132
PI_FILE_NOT_ROPEN = -133
PI_FILE_NOT_WOPEN = -134
PI_BAD_FILE_SEEK = -135
PI_NO_FILE_MATCH = -136
PI_NO_FILE_ACCESS = -137
PI_FILE_IS_A_DIR = -138
PI_BAD_SHELL_STATUS = -139
PI_BAD_SCRIPT_NAME = -140
. .
file_mode:
The mode may have the following values.
. .
FILE_READ 1
FILE_WRITE 2
FILE_RW 3
. .
The following values can be or'd into the file open mode.
. .
FILE_APPEND 4
FILE_CREATE 8
FILE_TRUNC 16
. .
file_name:
A full file path. To be accessible the path must match
an entry in /opt/pigpio/access.
fpattern:
A file path which may contain wildcards. To be accessible the path
must match an entry in /opt/pigpio/access.
frequency: 0-40000
Defines the frequency to be used for PWM on a GPIO.
The closest permitted frequency will be used.
@ -4122,8 +4589,8 @@ def xref():
of a pulse.
handle: >=0
A number referencing an object opened by one of [*i2c_open*],
[*notify_open*], [*serial_open*], [*spi_open*].
A number referencing an object opened by one of [*file_open*],
[*i2c_open*], [*notify_open*], [*serial_open*], [*spi_open*].
host:
The name or IP address of the Pi running the pigpio daemon.
@ -4177,6 +4644,18 @@ def xref():
The offset wave data starts from the beginning of the waveform
being currently defined.
pad: 0-2
A set of GPIO which share common drivers.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
pad_strength: 1-16
The mA which may be drawn from each GPIO whilst still guaranteeing the
high and low levels.
params: 32 bit number
When scripts are started they can receive up to 10 parameters
to define their operation.
@ -4184,6 +4663,9 @@ def xref():
port:
The port used by the pigpio daemon, defaults to 8888.
pstring:
The string to be passed to a [*shell*] script to be executed.
pud: 0-2
PUD_DOWN = 1
PUD_OFF = 0
@ -4230,12 +4712,27 @@ def xref():
SDA:
The user GPIO to use for data when bit banging I2C.
seek_from: 0-2
Direction to seek for [*file_seek*].
FROM_START=0
FROM_CURRENT=1
FROM_END=2
seek_offset:
The number of bytes to move forward (positive) or backwards
(negative) from the seek position (start, current, or end of file).
ser_flags: 32 bit
No serial flags are currently defined.
serial_*:
One of the serial_ functions.
shellscr:
The name of a shell script. The script must exist
in /opt/pigpio/cgi and must be executable.
spi_*:
One of the spi_ functions.

4
pigpiod.1
View File

@ -11,6 +11,10 @@ pigpiod - A utility to start the pigpio library as a daemon.
sudo pigpiod [OPTION]...
.SH DESCRIPTION
.ad l
.nh
pigpiod is a utility which launches the pigpio library as a daemon.
.br

93
pigpiod_if.3
View File

@ -17,6 +17,10 @@ gcc -Wall -pthread -o prog prog.c -lpigpiod_if -lrt
.SH DESCRIPTION
.ad l
.nh
.br
.br
@ -37,12 +41,12 @@ of the GPIO via the socket interface to the pigpio daemon.
.br
.br
o PWM on any of GPIO 0-31
o hardware timed PWM on any of GPIO 0-31
.br
.br
o servo pulses on any of GPIO 0-31
o hardware timed servo pulses on any of GPIO 0-31
.br
@ -313,7 +317,7 @@ Set the GPIO mode.
.EX
gpio: 0-53.
.br
mode: PI_INPUT, PI_OUTPUT, PI_ALT0, _ALT1,
mode: PI_INPUT, PI_OUTPUT, PI_ALT0, PI_ALT1,
.br
PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5.
.br
@ -915,11 +919,6 @@ corresponding bit in bits is set.
.br
.br
Notes
.br
.br
Each notification occupies 12 bytes in the fifo as follows:
@ -928,17 +927,59 @@ Each notification occupies 12 bytes in the fifo as follows:
.br
.EX
H (16 bit) seqno
typedef struct
.br
H (16 bit) flags
{
.br
I (32 bit) tick
uint16_t seqno;
.br
I (32 bit) level
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: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE.
.br
.br
PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags
indicate a GPIO which has had a watchdog timeout.
.br
.br
PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive
signal on the pipe/socket and is sent once a minute in the absence
of other notification activity.
.br
.br
tick: the number of microseconds since system boot. It wraps around
after 1h12m.
.br
.br
level: indicates the level of each GPIO. If bit 1<<x is set then
GPIO x is high.
.IP "\fBint notify_pause(unsigned handle)\fP"
.IP "" 4
Pause notifications on a previously opened handle.
@ -1829,19 +1870,14 @@ The following command codes are supported:
.br
Name Cmd & Data Meaning
.br
Loop Start 255 0 Identify start of a wave block
.br
Loop Repeat 255 1 x y loop x + y*256 times
.br
Delay 255 2 x y delay x + y*256 microseconds
.br
Loop Forever 255 3 loop forever
.br
.br
@ -2977,31 +3013,22 @@ The following command codes are supported:
.br
Name Cmd & Data Meaning
.br
End 0 No more commands
.br
Escape 1 Next P is two bytes
.br
On 2 Switch combined flag on
.br
Off 3 Switch combined flag off
.br
Address 4 P Set I2C address to P
.br
Flags 5 lsb msb Set I2C flags to lsb + (msb << 8)
.br
Read 6 P Read P bytes of data
.br
Write 7 P ... Write P bytes of data
.br
.br
@ -3170,31 +3197,22 @@ The following command codes are supported:
.br
Name Cmd & Data Meaning
.br
End 0 No more commands
.br
Escape 1 Next P is two bytes
.br
Start 2 Start condition
.br
Stop 3 Stop condition
.br
Address 4 P Set I2C address to P
.br
Flags 5 lsb msb Set I2C flags to lsb + (msb << 8)
.br
Read 6 P Read P bytes of data
.br
Write 7 P ... Write P bytes of data
.br
.br
@ -3500,14 +3518,15 @@ PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED.
.IP "\fBint serial_open(char *ser_tty, unsigned baud, unsigned ser_flags)\fP"
.IP "" 4
This function opens a serial device at a specified baud rate
with specified flags.
with specified flags. The device name must start with
/dev/tty or /dev/serial.
.br
.br
.EX
ser_tty: the serial device to open, /dev/tty*.
ser_tty: the serial device to open.
.br
baud: the baud rate in bits per second, see below.
.br

2
pigpiod_if.c
View File

@ -25,7 +25,7 @@ OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to <http://unlicense.org/>
*/
/* PIGPIOD_IF_VERSION 23 */
/* PIGPIOD_IF_VERSION 25 */
#include <stdio.h>
#include <stdlib.h>

46
pigpiod_if.h
View File

@ -30,7 +30,7 @@ For more information, please refer to <http://unlicense.org/>
#include "pigpio.h"
#define PIGPIOD_IF_VERSION 23
#define PIGPIOD_IF_VERSION 25
/*TEXT
@ -42,9 +42,9 @@ of the GPIO via the socket interface to the pigpio daemon.
*Features*
o PWM on any of GPIO 0-31
o hardware timed PWM on any of GPIO 0-31
o servo pulses on any of GPIO 0-31
o hardware timed servo pulses on any of GPIO 0-31
o callbacks when any of GPIO 0-31 change state
@ -251,7 +251,7 @@ spi_xfer Transfers bytes with a SPI device
SERIAL
serial_open Opens a serial device (/dev/tty*)
serial_open Opens a serial device
serial_close Closes a serial device
serial_write_byte Writes a byte to a serial device
@ -389,7 +389,7 @@ Set the GPIO mode.
. .
gpio: 0-53.
mode: PI_INPUT, PI_OUTPUT, PI_ALT0, _ALT1,
mode: PI_INPUT, PI_OUTPUT, PI_ALT0, PI_ALT1,
PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5.
. .
@ -727,16 +727,35 @@ Returns 0 if OK, otherwise PI_BAD_HANDLE.
The notification sends state changes for each GPIO whose
corresponding bit in bits is set.
Notes
Each notification occupies 12 bytes in the fifo as follows:
. .
H (16 bit) seqno
H (16 bit) flags
I (32 bit) tick
I (32 bit) level
typedef struct
{
uint16_t seqno;
uint16_t flags;
uint32_t tick;
uint32_t level;
} gpioReport_t;
. .
seqno: starts at 0 each time the handle is opened and then increments
by one for each report.
flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE.
PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags
indicate a GPIO which has had a watchdog timeout.
PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive
signal on the pipe/socket and is sent once a minute in the absence
of other notification activity.
tick: the number of microseconds since system boot. It wraps around
after 1h12m.
level: indicates the level of each GPIO. If bit 1<<x is set then
GPIO x is high.
D*/
/*F*/
@ -2244,10 +2263,11 @@ D*/
int serial_open(char *ser_tty, unsigned baud, unsigned ser_flags);
/*D
This function opens a serial device at a specified baud rate
with specified flags.
with specified flags. The device name must start with
/dev/tty or /dev/serial.
. .
ser_tty: the serial device to open, /dev/tty*.
ser_tty: the serial device to open.
baud: the baud rate in bits per second, see below.
ser_flags: 0.
. .

945
pigpiod_if2.3
View File

File diff suppressed because it is too large Load Diff

144
pigpiod_if2.c
View File

@ -25,7 +25,7 @@ OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to <http://unlicense.org/>
*/
/* PIGPIOD_IF2_VERSION 6 */
/* PIGPIOD_IF2_VERSION 8 */
#include <stdio.h>
#include <stdlib.h>
@ -1604,6 +1604,148 @@ int custom_2(int pi, unsigned arg1, char *argx, unsigned count,
return bytes;
}
int get_pad_strength(int pi, unsigned pad)
{return pigpio_command(pi, PI_CMD_PADG, pad, 0, 1);}
int set_pad_strength(int pi, unsigned pad, unsigned padStrength)
{return pigpio_command(pi, PI_CMD_PADS, pad, padStrength, 1);}
int shell_(int pi, char *scriptName, char *scriptString)
{
int ln, ls;
gpioExtent_t ext[2];
ln = strlen(scriptName);
ls = strlen(scriptString);
/*
p1=len(scriptName)
p2=0
p3=len(scriptName) + len(scriptString) + 1
## extension ##
char[]
*/
ext[0].size = ln + 1; /* include null byte */
ext[0].ptr = scriptName;
ext[1].size = ls;
ext[1].ptr = scriptString;
return pigpio_command_ext
(pi, PI_CMD_SHELL, ln, 0, ln+ls+1, 2, ext, 1);
}
int file_open(int pi, char *file, unsigned mode)
{
int len;
gpioExtent_t ext[1];
len = strlen(file);
/*
p1=mode
p2=0
p3=len
## extension ##
char file[len]
*/
ext[0].size = len;
ext[0].ptr = file;
return pigpio_command_ext
(pi, PI_CMD_FO, mode, 0, len, 1, ext, 1);
}
int file_close(int pi, unsigned handle)
{return pigpio_command(pi, PI_CMD_FC, handle, 0, 1);}
int file_write(int pi, unsigned handle, char *buf, unsigned count)
{
gpioExtent_t ext[1];
/*
p1=handle
p2=0
p3=count
## extension ##
char buf[count]
*/
ext[0].size = count;
ext[0].ptr = buf;
return pigpio_command_ext
(pi, PI_CMD_FW, handle, 0, count, 1, ext, 1);
}
int file_read(int pi, unsigned handle, char *buf, unsigned count)
{
int bytes;
bytes = pigpio_command
(pi, PI_CMD_FR, handle, count, 0);
if (bytes > 0)
{
bytes = recvMax(pi, buf, count, bytes);
}
_pmu(pi);
return bytes;
}
int file_seek(int pi, unsigned handle, int32_t seekOffset, int seekFrom)
{
gpioExtent_t ext[1];
/*
p1=handle
p2=seekOffset
p3=4
## extension ##
uint32_t seekFrom
*/
ext[0].size = sizeof(uint32_t);
ext[0].ptr = &seekFrom;
return pigpio_command_ext
(pi, PI_CMD_FS, handle, seekOffset, 4, 1, ext, 1);
}
int file_list(int pi, char *fpat, char *buf, unsigned count)
{
int len;
int bytes;
gpioExtent_t ext[1];
len = strlen(fpat);
/*
p1=60000
p2=0
p3=len
## extension ##
char fpat[len]
*/
ext[0].size = len;
ext[0].ptr = fpat;
bytes = pigpio_command_ext(pi, PI_CMD_FL, 60000, 0, len, 1, ext, 0);
if (bytes > 0)
{
bytes = recvMax(pi, buf, count, bytes);
}
_pmu(pi);
return bytes;
}
int callback(int pi, unsigned user_gpio, unsigned edge, CBFunc_t f)
{return intCallback(pi, user_gpio, edge, f, 0, 0);}

498
pigpiod_if2.h
View File

@ -30,7 +30,7 @@ For more information, please refer to <http://unlicense.org/>
#include "pigpio.h"
#define PIGPIOD_IF2_VERSION 6
#define PIGPIOD_IF2_VERSION 8
/*TEXT
@ -39,9 +39,9 @@ of the GPIO via the socket interface to the pigpio daemon.
*Features*
o PWM on any of GPIO 0-31
o hardware timed PWM on any of GPIO 0-31
o servo pulses on any of GPIO 0-31
o hardware timed servo pulses on any of GPIO 0-31
o callbacks when any of GPIO 0-31 change state
@ -169,6 +169,11 @@ hardware_PWM Start hardware PWM on supported GPIO
set_glitch_filter Set a glitch filter on a GPIO
set_noise_filter Set a noise filter on a GPIO
get_pad_strength Gets a pads drive strength
set_pad_strength Sets a pads drive strength
shell_ Executes a shell command
SCRIPTS
store_script Store a script
@ -250,7 +255,7 @@ spi_xfer Transfers bytes with a SPI device
SERIAL
serial_open Opens a serial device (/dev/tty*)
serial_open Opens a serial device
serial_close Closes a serial device
serial_write_byte Writes a byte to a serial device
@ -260,6 +265,15 @@ serial_read Reads bytes from a serial device
serial_data_available Returns number of bytes ready to be read
FILES
file_open Opens a file
file_close Closes a file
file_read Reads bytes from a file
file_write Writes bytes to a file
file_seek Seeks to a position within a file
file_list List files which match a pattern
CUSTOM
custom_1 User custom function 1
@ -399,7 +413,7 @@ Set the GPIO mode.
. .
pi: >=0 (as returned by [*pigpio_start*]).
gpio: 0-53.
mode: PI_INPUT, PI_OUTPUT, PI_ALT0, _ALT1,
mode: PI_INPUT, PI_OUTPUT, PI_ALT0, PI_ALT1,
PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5.
. .
@ -755,16 +769,35 @@ Returns 0 if OK, otherwise PI_BAD_HANDLE.
The notification sends state changes for each GPIO whose
corresponding bit in bits is set.
Notes
Each notification occupies 12 bytes in the fifo as follows:
. .
H (16 bit) seqno
H (16 bit) flags
I (32 bit) tick
I (32 bit) level
typedef struct
{
uint16_t seqno;
uint16_t flags;
uint32_t tick;
uint32_t level;
} gpioReport_t;
. .
seqno: starts at 0 each time the handle is opened and then increments
by one for each report.
flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE.
PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags
indicate a GPIO which has had a watchdog timeout.
PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive
signal on the pipe/socket and is sent once a minute in the absence
of other notification activity.
tick: the number of microseconds since system boot. It wraps around
after 1h12m.
level: indicates the level of each GPIO. If bit 1<<x is set then
GPIO x is high.
D*/
/*F*/
@ -2489,11 +2522,13 @@ D*/
int serial_open(int pi, char *ser_tty, unsigned baud, unsigned ser_flags);
/*D
This function opens a serial device at a specified baud rate
with specified flags.
with specified flags. The device name must start with
/dev/tty or /dev/serial.
. .
pi: >=0 (as returned by [*pigpio_start*]).
ser_tty: the serial device to open, /dev/tty*.
ser_tty: the serial device to open.
baud: the baud rate in bits per second, see below.
ser_flags: 0.
. .
@ -2641,6 +2676,369 @@ Returns >= 0 if OK, less than 0 indicates a user defined error.
Note, the number of returned bytes will be retMax or less.
D*/
/*F*/
int get_pad_strength(int pi, unsigned pad);
/*D
This function returns the pad drive strength in mA.
. .
pi: >=0 (as returned by [*pigpio_start*]).
pad: 0-2, the pad to get.
. .
Returns the pad drive strength if OK, otherwise PI_BAD_PAD.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
...
strength = get_pad_strength(pi, 0); // get pad 0 strength
...
D*/
/*F*/
int set_pad_strength(int pi, unsigned pad, unsigned padStrength);
/*D
This function sets the pad drive strength in mA.
. .
pi: >=0 (as returned by [*pigpio_start*]).
pad: 0-2, the pad to set.
padStrength: 1-16 mA.
. .
Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
...
set_pad_strength(pi, 0, 10); // set pad 0 strength to 10 mA
...
D*/
/*F*/
int shell_(int pi, char *scriptName, char *scriptString);
/*D
This function uses the system call to execute a shell script
with the given string as its parameter.
. .
pi: >=0 (as returned by [*pigpio_start*]).
scriptName: the name of the script, only alphanumeric characters,
'-' and '_' are allowed in the name.
scriptString: the string to pass to the script.
. .
The exit status of the system call is returned if OK, otherwise
PI_BAD_SHELL_STATUS.
scriptName must exist in /opt/pigpio/cgi and must be executable.
The returned exit status is normally 256 times that set by the
shell script exit function. If the script can't be found 32512 will
be returned.
The following table gives some example returned statuses.
Script exit status @ Returned system call status
1 @ 256
5 @ 1280
10 @ 2560
200 @ 51200
script not found @ 32512
...
// pass two parameters, hello and world
status = shell_(pi, "scr1", "hello world");
// pass three parameters, hello, string with spaces, and world
status = shell_(pi, "scr1", "hello 'string with spaces' world");
// pass one parameter, hello string with spaces world
status = shell_(pi, "scr1", "\"hello string with spaces world\"");
...
D*/
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcomment"
/*F*/
int file_open(int pi, char *file, unsigned mode);
/*D
This function returns a handle to a file opened in a specified mode.
. .
pi: >=0 (as returned by [*pigpio_start*]).
file: the file to open.
mode: the file open mode.
. .
Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, PI_NO_FILE_ACCESS,
PI_BAD_FILE_MODE, PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR.
File
A file may only be opened if permission is granted by an entry in
/opt/pigpio/access. This is intended to allow remote access to files
in a more or less controlled manner.
Each entry in /opt/pigpio/access takes the form of a file path
which may contain wildcards followed by a single letter permission.
The permission may be R for read, W for write, U for read/write,
and N for no access.
Where more than one entry matches a file the most specific rule
applies. If no entry matches a file then access is denied.
Suppose /opt/pigpio/access contains the following entries
. .
/home/* n
/home/pi/shared/dir_1/* w
/home/pi/shared/dir_2/* r
/home/pi/shared/dir_3/* u
/home/pi/shared/dir_1/file.txt n
. .
Files may be written in directory dir_1 with the exception
of file.txt.
Files may be read in directory dir_2.
Files may be read and written in directory dir_3.
If a directory allows read, write, or read/write access then files may
be created in that directory.
In an attempt to prevent risky permissions the following paths are
ignored in /opt/pigpio/access.
. .
a path containing ..
a path containing only wildcards (*?)
a path containing less than two non-wildcard parts
. .
Mode
The mode may have the following values.
Macro @ Value @ Meaning
PI_FILE_READ @ 1 @ open file for reading
PI_FILE_WRITE @ 2 @ open file for writing
PI_FILE_RW @ 3 @ open file for reading and writing
The following values may be or'd into the mode.
Macro @ Value @ Meaning
PI_FILE_APPEND @ 4 @ Writes append data to the end of the file
PI_FILE_CREATE @ 8 @ The file is created if it doesn't exist
PI_FILE_TRUNC @ 16 @ The file is truncated
Newly created files are owned by root with permissions owner read and write.
...
#include <stdio.h>
#include <pigpiod_if2.h>
int main(int argc, char *argv[])
{
int pi, handle, c;
char buf[60000];
pi = pigpio_start(NULL, NULL);
if (pi < 0) return 1;
// assumes /opt/pigpio/access contains the following line
// /ram/*.c r
handle = file_open(pi, "/ram/pigpio.c", PI_FILE_READ);
if (handle >= 0)
{
while ((c=file_read(pi, handle, buf, sizeof(buf)-1)))
{
buf[c] = 0;
printf("%s", buf);
}
file_close(pi, handle);
}
pigpio_stop(pi);
}
...
D*/
#pragma GCC diagnostic pop
/*F*/
int file_close(int pi, unsigned handle);
/*D
This function closes the file associated with handle.
. .
pi: >=0 (as returned by [*pigpio_start*]).
handle: >=0 (as returned by [*file_open*]).
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE.
...
file_close(pi, handle);
...
D*/
/*F*/
int file_write(int pi, unsigned handle, char *buf, unsigned count);
/*D
This function writes count bytes from buf to the the file
associated with handle.
. .
pi: >=0 (as returned by [*pigpio_start*]).
handle: >=0 (as returned by [*file_open*]).
buf: the array of bytes to write.
count: the number of bytes to write.
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM,
PI_FILE_NOT_WOPEN, or PI_BAD_FILE_WRITE.
...
if (file_write(pi, handle, buf, 100) == 0)
{
// file written okay
}
else
{
// error
}
...
D*/
/*F*/
int file_read(int pi, unsigned handle, char *buf, unsigned count);
/*D
This function reads up to count bytes from the the file
associated with handle and writes them to buf.
. .
pi: >=0 (as returned by [*pigpio_start*]).
handle: >=0 (as returned by [*file_open*]).
buf: an array to receive the read data.
count: the maximum number of bytes to read.
. .
Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, PI_FILE_NOT_ROPEN, or PI_BAD_FILE_WRITE.
...
bytes = file_read(pi, handle, buf, sizeof(buf));
if (bytes >= 0)
{
// process read data
}
...
D*/
/*F*/
int file_seek(int pi, unsigned handle, int32_t seekOffset, int seekFrom);
/*D
This function seeks to a position within the file associated
with handle.
. .
pi: >=0 (as returned by [*pigpio_start*]).
handle: >=0 (as returned by [*file_open*]).
seekOffset: the number of bytes to move. Positive offsets
move forward, negative offsets backwards.
seekFrom: one of PI_FROM_START (0), PI_FROM_CURRENT (1),
or PI_FROM_END (2).
. .
Returns the new byte position within the file (>=0) if OK, otherwise PI_BAD_HANDLE, or PI_BAD_FILE_SEEK.
...
file_seek(pi, handle, 123, PI_FROM_START); // Start plus 123
size = file_seek(pi, handle, 0, PI_FROM_END); // End, return size
pos = file_seek(pi, handle, 0, PI_FROM_CURRENT); // Current position
...
D*/
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcomment"
/*F*/
int file_list(int pi, char *fpat, char *buf, unsigned count);
/*D
This function returns a list of files which match a pattern.
. .
pi: >=0 (as returned by [*pigpio_start*]).
fpat: file pattern to match.
buf: an array to receive the matching file names.
count: the maximum number of bytes to read.
. .
Returns the number of returned bytes if OK, otherwise PI_NO_FILE_ACCESS,
or PI_NO_FILE_MATCH.
The pattern must match an entry in /opt/pigpio/access. The pattern
may contain wildcards. See [*file_open*].
NOTE
The returned value is not the number of files, it is the number
of bytes in the buffer. The file names are separated by newline
characters.
...
#include <stdio.h>
#include <pigpiod_if2.h>
int main(int argc, char *argv[])
{
int pi, handle, c;
char buf[60000];
pi = pigpio_start(NULL, NULL);
if (pi < 0) return 1;
// assumes /opt/pigpio/access contains the following line
// /ram/*.c r
c = file_list(pi, "/ram/p*.c", buf, sizeof(buf));
if (c >= 0)
{
buf[c] = 0;
printf("%s", buf);
}
pigpio_stop(pi);
}
...
D*/
#pragma GCC diagnostic pop
/*F*/
int callback(int pi, unsigned user_gpio, unsigned edge, CBFunc_t f);
@ -2794,7 +3192,7 @@ clkfreq::4689-250000000 (250M)
The hardware clock frequency.
count::
The number of bytes to be transferred in an I2C, SPI, or Serial
The number of bytes to be transferred in a file, I2C, SPI, or serial
command.
data_bits::1-32
@ -2831,21 +3229,28 @@ of the error.
f::
A function.
*file::
A full file path. To be accessible the path must match an entry in
/opt/pigpio/access.
*fpat::
A file path which may contain wildcards. To be accessible the path
must match an entry in /opt/pigpio/access.
frequency::>=0
The number of times a GPIO is swiched on and off per second. This
can be set per GPIO and may be as little as 5Hz or as much as
40KHz. The GPIO will be on for a proportion of the time as defined
by its dutycycle.
gpio::
A Broadcom numbered GPIO, in the range 0-53.
There are 54 General Purpose Input Outputs (GPIO) named gpio0 through
gpio53.
There are 54 General Purpose Input Outputs (GPIO) named GPIO0 through
GPIO53.
They are split into two banks. Bank 1 consists of gpio0 through
gpio31. Bank 2 consists of gpio32 through gpio53.
They are split into two banks. Bank 1 consists of GPIO0 through
GPIO31. Bank 2 consists of GPIO32 through GPIO53.
All the GPIO which are safe for the user to read and write are in
bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards
@ -2883,8 +3288,8 @@ typedef void *(gpioThreadFunc_t) (void *);
. .
handle::>=0
A number referencing an object opened by one of [*i2c_open*], [*notify_open*],
[*serial_open*], and [*spi_open*].
A number referencing an object opened by one of [*file_open*],
[*i2c_open*], [*notify_open*], [*serial_open*], and [*spi_open*].
i2c_addr::0-0x7F
The address of a device on the I2C bus.
@ -2907,6 +3312,9 @@ The number of bytes of data in a buffer.
int::
A whole number, negative or positive.
int32_t::
A 32-bit signed value.
invert::
A flag used to set normal or inverted bit bang serial data level logic.
@ -2954,6 +3362,23 @@ PI_WAVE_MODE_ONE_SHOT_SYNC 2
PI_WAVE_MODE_REPEAT_SYNC 3
. .
3. A file open mode.
. .
PI_FILE_READ 1
PI_FILE_WRITE 2
PI_FILE_RW 3
. .
The following values can be or'd into the mode.
. .
PI_FILE_APPEND 4
PI_FILE_CREATE 8
PI_FILE_TRUNC 16
. .
numBytes::
The number of bytes used to store characters in a string. Depending
on the number of bits per character there may be 1, 2, or 4 bytes
@ -2975,6 +3400,18 @@ A buffer used to return data from a function.
outLen::
The size in bytes of an output buffer.
pad:: 0-2
A set of GPIO which share common drivers.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
padStrength:: 1-16
The mA which may be drawn from each GPIO whilst still guaranteeing the
high and low levels.
*param::
An array of script parameters.
@ -3058,12 +3495,31 @@ A pointer to the text of a script.
script_id::
An id of a stored script as returned by [*store_script*].
*scriptName::
The name of a [*shell_*] script to be executed. The script must be present in
/opt/pigpio/cgi and must have execute permission.
*scriptString::
The string to be passed to a [*shell_*] script to be executed.
SDA::
The user GPIO to use for data when bit banging I2C.
seconds::
The number of seconds.
seekFrom::
. .
PI_FROM_START 0
PI_FROM_CURRENT 1
PI_FROM_END 2
. .
seekOffset::
The number of bytes to move forward (positive) or backwards (negative)
from the seek position (start, current, or end of file).
ser_flags::
Flags which modify a serial open command. None are currently defined.

688
pigs.1
View File

@ -22,6 +22,10 @@ or
.SH DESCRIPTION
.ad l
.nh
.br
The socket and pipe interfaces allow control of the GPIO by passing
@ -45,10 +49,10 @@ whereas /dev/pigpio uses the pipe interface.
.br
.SS Features
.br
o PWM on any of GPIO 0-31
o hardware timed PWM on any of GPIO 0-31
.br
o servo pulses on any of GPIO 0-31
o hardware timed servo pulses on any of GPIO 0-31
.br
o reading/writing all of the GPIO in a bank as one operation
@ -514,11 +518,40 @@ configuration settings to \fBv\fP.
.br
.IP "\fBFC h\fP - Close file handle"
.IP "" 4
This command closes a file handle \fBh\fP previously opened with \fBFO\fP.
.br
Upon success nothing is returned. On error a negative status code
will be returned.
.br
\fBExample\fP
.br
.EX
$ pigs fc 0 # First close okay.
.br
.br
$ pigs fc 0 # Second fails.
.br
-25
.br
ERROR: unknown handle
.br
.EE
.br
.IP "\fBFG u stdy\fP - Set a glitch filter on a GPIO"
.IP "" 4
.br
Level changes on the GPIO are not reported unless the level
Level changes on the GPIO \fBu\fP are not reported unless the level
has been stable for at least \fBstdy\fP microseconds. The
level is then reported. Level changes of less than \fBstdy\fP
microseconds are ignored.
@ -529,11 +562,77 @@ after it was first detected.
.br
\fBExample\fP
.br
.EX
$ pigs fg 4 250
.br
.br
$ pigs fg 4 1000000
.br
-125
.br
ERROR: bad filter parameter
.br
.EE
.br
.IP "\fBFL pat num\fP - List files which match pattern"
.IP "" 4
This command returns a list of the files matching \fBpat\fP. Up
to \fBnum\fP bytes may be returned.
.br
Upon success the count of returned bytes followed by the matching
files is returned. On error a negative status code will be returned.
.br
A newline (0x0a) character separates each file name.
.br
Only files which have a matching entry in /opt/pigpio/access may
be listed.
.br
Suppose /opt/pigpio/access contains
.br
/sys/bus/w1/devices/28*/w1_slave r
.br
\fBExample\fP
.br
.EX
$ pigs -a fl "/sys/bus/w1/devices/28*/w1_slave" 5000
.br
90 /sys/bus/w1/devices/28-000005d34cd2/w1_slave
.br
/sys/bus/w1/devices/28-001414abbeff/w1_slave
.br
.br
$ pigs -a fl "/sys/bus/*" 5000
.br
ERROR: no permission to access file
.br
-137
.br
.EE
.br
.IP "\fBFN u stdy actv\fP - Set a noise filter on a GPIO"
.IP "" 4
.br
Level changes on the GPIO are ignored until a level which has
Level changes on the GPIO \fBu\fP are ignored until a level which has
been stable for \fBstdy\fP microseconds is detected. Level
changes on the GPIO are then reported for \fBactv\fP microseconds
after which the process repeats.
@ -545,6 +644,311 @@ such reports.
.br
\fBExample\fP
.br
.EX
$ pigs fn 7 250 1000
.br
.br
$ pigs fn 7 2500000 1000
.br
-125
.br
ERROR: bad filter parameter
.br
.EE
.br
.IP "\fBFO file mode\fP - Open a file in mode"
.IP "" 4
This function returns a handle to a file \fBfile\fP opened
in a specified mode \fBmode\fP.
.br
Upon success a handle (>=0) is returned. On error a negative status code
will be returned.
.br
File
.br
A file may only be opened if permission is granted by an entry in
/opt/pigpio/access. This is intended to allow remote access to files
in a more or less controlled manner.
.br
Each entry in /opt/pigpio/access takes the form of a file path
which may contain wildcards followed by a single letter permission.
The permission may be R for read, W for write, U for read/write,
and N for no access.
.br
Where more than one entry matches a file the most specific rule
applies. If no entry matches a file then access is denied.
.br
Suppose /opt/pigpio/access contains the following entries
.br
.EX
/home/* n
.br
/home/pi/shared/dir_1/* w
.br
/home/pi/shared/dir_2/* r
.br
/home/pi/shared/dir_3/* u
.br
/home/pi/shared/dir_1/file.txt n
.br
.EE
.br
Files may be written in directory dir_1 with the exception
of file.txt.
.br
Files may be read in directory dir_2.
.br
Files may be read and written in directory dir_3.
.br
If a directory allows read, write, or read/write access then files may
be created in that directory.
.br
In an attempt to prevent risky permissions the following paths are
ignored in /opt/pigpio/access.
.br
.EX
a path containing ..
.br
a path containing only wildcards (*?)
.br
a path containing less than two non-wildcard parts
.br
.EE
.br
Mode
.br
The mode may have the following values.
.br
.EX
Value Meaning
READ 1 open file for reading
WRITE 2 open file for writing
RW 3 open file for reading and writing
.EE
.br
The following values may be or'd into the mode.
.br
.EX
Value Meaning
APPEND 4 All writes append data to the end of the file
CREATE 8 The file is created if it doesn't exist
TRUNC 16 The file is truncated
.EE
.br
Newly created files are owned by root with permissions owner read and write.
.br
\fBExample\fP
.br
.EX
$ ls /ram/*.c
.br
/ram/command.c /ram/pigpiod.c /ram/pigs.c
.br
/ram/x_pigpiod_if.c /ram/pig2vcd.c /ram/pigpiod_if2.c
.br
/ram/x_pigpio.c /ram/x_repeat.c /ram/pigpio.c
.br
/ram/pigpiod_if.c /ram/x_pigpiod_if2.c
.br
.br
# assumes /opt/pigpio/access contains the following line
.br
# /ram/*.c r
.br
.br
$ pigs fo /ram/pigpio.c 1
.br
0
.br
.br
$ pigs fo /ram/new.c 1
.br
-128
.br
ERROR: file open failed
.br
.br
$ pigs fo /ram/new.c 9
.br
1
.br
.br
$ ls /ram/*.c -l
.br
-rw-r--r-- 1 joan joan 42923 Jul 10 11:22 /ram/command.c
.br
-rw------- 1 root root 0 Jul 10 16:54 /ram/new.c
.br
-rw-r--r-- 1 joan joan 2971 Jul 10 11:22 /ram/pig2vcd.c
.br
-rw------- 1 joan joan 296235 Jul 10 11:22 /ram/pigpio.c
.br
-rw-r--r-- 1 joan joan 9266 Jul 10 11:22 /ram/pigpiod.c
.br
-rw-r--r-- 1 joan joan 37331 Jul 10 11:22 /ram/pigpiod_if2.c
.br
-rw-r--r-- 1 joan joan 33088 Jul 10 11:22 /ram/pigpiod_if.c
.br
-rw-r--r-- 1 joan joan 7990 Jul 10 11:22 /ram/pigs.c
.br
-rw-r--r-- 1 joan joan 19970 Jul 10 11:22 /ram/x_pigpio.c
.br
-rw-r--r-- 1 joan joan 20804 Jul 10 11:22 /ram/x_pigpiod_if2.c
.br
-rw-r--r-- 1 joan joan 19844 Jul 10 11:22 /ram/x_pigpiod_if.c
.br
-rw-r--r-- 1 joan joan 19907 Jul 10 11:22 /ram/x_repeat.c
.br
.EE
.br
.IP "\fBFR h num\fP - Read bytes from file handle"
.IP "" 4
This command returns up to \fBnum\fP bytes of data read from the
file associated with handle \fBh\fP.
.br
Upon success the count of returned bytes followed by the bytes themselves
is returned. On error a negative status code will be returned.
.br
\fBExample\fP
.br
.EX
$ pigs fr 0 10
.br
5 48 49 128 144 255
.br
.br
$ pigs fr 0 10
.br
0
.br
.EE
.br
.IP "\fBFS h num from\fP - Seek to file handle position"
.IP "" 4
This command seeks to a position within the file associated
with handle \fBh\fP.
.br
The number of bytes to move is \fBnum\fP. Positive offsets
move forward, negative offsets backwards. The move start
position is determined by \fBfrom\fP as follows.
.br
.EX
From
0 start
1 current position
2 end
.EE
.br
Upon success the new byte position within the file (>=0) is
returned. On error a negative status code will be returned.
.br
\fBExample\fP
.br
.EX
$ pigs fs 0 0 0 # Seek to start of file plus 200
.br
200
.br
.br
$ pigs fs 0 0 1 # Return current position
.br
200
.br
.br
$ pigs fs 0 0 2 # Seek to end of file, return size
.br
296235
.br
.EE
.br
.IP "\fBFW h bvs\fP - Write bytes to file handle"
.IP "" 4
This command writes bytes \fBbvs\fP to the file
associated with handle \fBh\fP.
.br
Upon success nothing is returned. On error a negative status code
will be returned.
.br
\fBExample\fP
.br
.EX
$ pigs fw 0 23 45 67 89
.br
.EE
.br
.IP "\fBGDC u\fP - Get GPIO PWM dutycycle"
.IP "" 4
@ -1710,6 +2114,96 @@ $ pigs p 4 255 # 100%
.br
.IP "\fBPADG pad\fP - Get pad drive strength"
.IP "" 4
.br
This command gets the \fBpad\fP drive strength \fBpadma\fP in mA.
.br
Returns the pad drive strength if OK. On error a negative status code
will be returned.
.br
.EX
Pad GPIO
0 0-27
1 28-45
2 46-53
.EE
.br
\fBExample\fP
.br
.EX
$ pigs padg 0
.br
8
.br
$ pigs pads 0 16
.br
$ pigs padg 0
.br
16
.br
pigs padg 3
.br
-126
.br
ERROR: bad pad number
.br
.EE
.br
.IP "\fBPADS pad padma\fP - Set pad drive strength"
.IP "" 4
.br
This command sets the \fBpad\fP drive strength \fBpadma\fP in mA.
.br
Upon success nothing is returned. On error a negative status code
will be returned.
.br
.EX
Pad GPIO
0 0-27
1 28-45
2 46-53
.EE
.br
\fBExample\fP
.br
.EX
$ pigs pads 0 16
.br
$ pigs padg 0
.br
16
.br
$ pigs pads 0 17
.br
-127
.br
ERROR: bad pad drive strength
.br
.EE
.br
.IP "\fBPARSE t\fP - Validate script"
.IP "" 4
@ -2447,8 +2941,9 @@ Upon success a handle (>=0) is returned. On error a negative status code
will be returned.
.br
The UART is /dev/ttyAMA0. The consoles are /dev/ttyx. The USB
devices are /dev/ttyUSBx.
The device name must start with /dev/tty or /dev/serial.
.br
.br
The baud rate must be one of 50, 75, 110, 134, 150,
@ -2588,6 +3083,81 @@ $ pigs serwb 0 0xf0
.br
.IP "\fBSHELL name str\fP - Execute a shell command"
.IP "" 4
.br
This command uses the system call to execute a shell script \fBname\fP
with the given string \fBstr\fP as its parameter.
.br
The exit status of the system call is returned if OK, otherwise
PI_BAD_SHELL_STATUS.
.br
\fBname\fP must exist in /opt/pigpio/cgi and must be executable.
.br
The returned exit status is normally 256 times that set
by the shell script exit function. If the script can't
be found 32512 will be returned.
.br
The following table gives some example returned statuses.
.br
.EX
Script exit status Returned system call status
1 256
5 1280
10 2560
200 51200
script not found 32512
.EE
.br
\fBExample\fP
.br
.EX
# pass two parameters, hello and world
.br
$ pigs shell scr1 hello world
.br
256
.br
.br
# pass three parameters, hello, string with spaces, and world
.br
$ pigs shell scr1 "hello 'string with spaces' world"
.br
256
.br
.br
# pass one parameter, hello string with spaces world
.br
$ pigs shell scr1 "\"hello string with spaces world\""
.br
256
.br
.br
# non-existent script
.br
$ pigs shell scr78 par1
.br
32512
.br
.EE
.br
.IP "\fBSLR u num\fP - Read bit bang serial data from GPIO"
.IP "" 4
@ -3916,7 +4486,7 @@ The command expects the number of data bits per serial character.
.br
.IP "\fBdev\fP - a tty serial device (/dev/tty*)" 0
.IP "\fBdev\fP - a tty serial device (/dev/tty* or /dev/serial*)" 0
The command expects the name of a tty serial device, e.g.
.br
@ -3928,6 +4498,28 @@ The command expects the name of a tty serial device, e.g.
.br
/dev/tty0
.br
/dev/serial0
.br
.EE
.br
.IP "\fBfile\fP - a file name" 0
The file name must match an entry in /opt/pigpio/access.
.br
.IP "\fBfrom\fP - 0-2" 0
Position to seek from \fBFS\fP.
.br
.EX
From
0 start
1 current position
2 end
.EE
@ -3979,8 +4571,8 @@ of doing so range from no effect, to a crash, or corrupted data.
The command expects a handle.
.br
A handle is a number referencing an object opened by one of \fBI2CO\fP, \fBNO\fP,
\fBSERO\fP, \fBSPIO\fP.
A handle is a number referencing an object opened by one of \fBFO\fP,
\fBI2CO\fP, \fBNO\fP, \fBSERO\fP, \fBSPIO\fP.
.br
@ -4028,16 +4620,50 @@ Value 0 1 4 5 6 7 3 2
.br
.IP "\fBnum\fP - number of bytes to read (1-)" 0
The command expects the number of bytes to read.
.IP "\fBmode\fP - file open mode" 0
One of the following values.
.br
.EX
Value Meaning
READ 1 open file for reading
WRITE 2 open file for writing
RW 3 open file for reading and writing
.EE
.br
The following values can be or'd into the mode.
.br
.EX
Value Meaning
APPEND 4 All writes append data to the end of the file
CREATE 8 The file is created if it doesn't exist
TRUNC 16 The file is truncated
.EE
.br
.IP "\fBname\fP - the name of a script" 0
Only alphanumeric characters, '-' and '_' are allowed in the name.
.br
.IP "\fBnum\fP - maximum number of bytes to return (1-)" 0
The command expects the maximum number of bytes to return.
.br
For the I2C and SPI commands the requested number of bytes will always
be returned.
.br
For the serial commands the smaller of the number of bytes available to be
read (which may be zero) and \fBnum\fP bytes will be returned.
For the serial and file commands the smaller of the number of
bytes available to be read (which may be zero) and \fBnum\fP bytes
will be returned.
.br
@ -4075,11 +4701,38 @@ There is no mechanism to read the pull up down state.
.br
.IP "\fBpad\fP - 0-2" 0
A set of GPIO which share common drivers.
.br
.EX
Pad GPIO
0 0-27
1 28-45
2 46-53
.EE
.br
.IP "\fBpadma\fP - 1-16" 0
The mA which may be drawn from each GPIO whilst still guaranteeing the
high and low levels.
.br
.IP "\fBpars\fP - script parameters" 0
The command expects 0 to 10 numbers as parameters to be passed to the script.
.br
.IP "\fBpat\fP - a file name pattern" 0
A file path which may contain wildcards. To be accessible the path
must match an entry in /opt/pigpio/access.
.br
.IP "\fBpdc\fP - hardware PWM dutycycle (0-1000000)" 0
The command expects a dutycycle.
@ -4141,8 +4794,13 @@ the active part of a noise filter (\fBFN\fP).
.br
.IP "\fBt\fP - text (a string of text)" 0
The command expects a text string.
.IP "\fBstr\fP - a string" 0
The command expects a string.
.br
.IP "\fBt\fP - a string" 0
The command expects a string.
.br

16
pigs.c
View File

@ -26,7 +26,7 @@ For more information, please refer to <http://unlicense.org/>
*/
/*
This version is for pigpio version 34+
This version is for pigpio version 55+
*/
#include <stdio.h>
@ -48,8 +48,8 @@ This program provides a socket interface to some of
the commands available from pigpio.
*/
char command_buf[8192];
char response_buf[8192];
char command_buf[CMD_MAX_EXTENSION];
char response_buf[CMD_MAX_EXTENSION];
int printFlags = 0;
@ -171,7 +171,10 @@ void print_result(int sock, int rv, cmdCmd_t cmd)
printf("%s", cmdUsage);
break;
case 6: /* BI2CZ CF2 I2CPK I2CRD I2CRI I2CRK I2CZ SERR SLR SPIX SPIR */
case 6: /*
BI2CZ CF2 FL FR I2CPK I2CRD I2CRI I2CRK I2CZ
SERR SLR SPIX SPIR
*/
printf("%d", r);
if (r < 0) fatal("ERROR: %s", cmdErrStr(r));
if (r > 0)
@ -186,7 +189,8 @@ void print_result(int sock, int rv, cmdCmd_t cmd)
else if (printFlags & PRINT_ASCII)
{
if ((ch > 31) && (ch < 127)) printf("%c", ch);
if (isprint(ch) || (ch == '\n') || (ch == '\r'))
printf("%c", ch);
else printf("\\x%02hhx", ch);
}
else printf(" %hhu", response_buf[i]);
@ -221,6 +225,8 @@ void get_extensions(int sock, int command, int res)
{
case PI_CMD_BI2CZ:
case PI_CMD_CF2:
case PI_CMD_FL:
case PI_CMD_FR:
case PI_CMD_I2CPK:
case PI_CMD_I2CRD:
case PI_CMD_I2CRI:

2
setup.py
View File

@ -3,7 +3,7 @@
from distutils.core import setup
setup(name='pigpio',
version='1.31',
version='1.32',
author='joan',
author_email='joan@abyz.co.uk',
maintainer='joan',

2
x_pigs
View File

@ -50,7 +50,7 @@ s=$(pigs bs2 0)
if [[ $s = "" ]]; then echo "BS2 ok"; else echo "BS2 fail ($s)"; fi
s=$(pigs h)
if [[ ${#s} = 4593 ]]; then echo "HELP ok"; else echo "HELP fail (${#s})"; fi
if [[ ${#s} = 4966 ]]; then echo "HELP ok"; else echo "HELP fail (${#s})"; fi
s=$(pigs hwver)
if [[ $s -ne 0 ]]; then echo "HWVER ok"; else echo "HWVER fail ($s)"; fi