/*
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or
distribute this software, either in source code form or as a compiled
binary, for any purpose, commercial or non-commercial, and by any
means.
In jurisdictions that recognize copyright laws, the author or authors
of this software dedicate any and all copyright interest in the
software to the public domain. We make this dedication for the benefit
of the public at large and to the detriment of our heirs and
successors. We intend this dedication to be an overt act of
relinquishment in perpetuity of all present and future rights to this
software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to
*/
#ifndef PIGPIOD_IF_H
#define PIGPIOD_IF_H
#include "pigpio.h"
#define PIGPIOD_IF_VERSION 28
/*TEXT
THIS LIBRARY IS DEPRECATED. NEW CODE SHOULD BE WRITTEN TO
USE THE MORE VERSATILE pigpiod_if2 LIBRARY.
pigpiod_if is a C library for the Raspberry which allows control
of the GPIO via the socket interface to the pigpio daemon.
*Features*
o hardware timed PWM 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
o callbacks at timed intervals
o reading/writing all of the GPIO in a bank as one operation
o individually setting GPIO modes, reading and writing
o notifications when any of GPIO 0-31 change state
o the construction of output waveforms with microsecond timing
o rudimentary permission control over GPIO
o a simple interface to start and stop new threads
o I2C, SPI, and serial link wrappers
o creating and running scripts on the pigpio daemon
*GPIO*
ALL GPIO are identified by their Broadcom number.
*Notes*
The PWM and servo pulses are timed using the DMA and PWM/PCM peripherals.
*Usage*
Include in your source files.
Assuming your source is in prog.c use the following command to build
. .
gcc -Wall -pthread -o prog prog.c -lpigpiod_if -lrt
. .
to run make sure the pigpio daemon is running
. .
sudo pigpiod
./prog # sudo is not required to run programs linked to pigpiod_if
. .
For examples see x_pigpiod_if.c within the pigpio archive file.
*Notes*
All the functions which return an int return < 0 on error
TEXT*/
/*OVERVIEW
ESSENTIAL
pigpio_start Connects to the pigpio daemon
pigpio_stop Disconnects from the pigpio daemon
BEGINNER
set_mode Set a GPIO mode
get_mode Get a GPIO mode
set_pull_up_down Set/clear GPIO pull up/down resistor
gpio_read Read a GPIO
gpio_write Write a GPIO
set_PWM_dutycycle Start/stop PWM pulses on a GPIO
get_PWM_dutycycle Get the PWM dutycycle in use on a GPIO
set_servo_pulsewidth Start/stop servo pulses on a GPIO
get_servo_pulsewidth Get the servo pulsewidth in use on a GPIO
callback Create GPIO level change callback
callback_ex Create GPIO level change callback
callback_cancel Cancel a callback
wait_for_edge Wait for GPIO level change
INTERMEDIATE
gpio_trigger Send a trigger pulse to a GPIO.
set_watchdog Set a watchdog on a GPIO.
set_PWM_range Configure PWM range for a GPIO
get_PWM_range Get configured PWM range for a GPIO
set_PWM_frequency Configure PWM frequency for a GPIO
get_PWM_frequency Get configured PWM frequency for a GPIO
read_bank_1 Read all GPIO in bank 1
read_bank_2 Read all GPIO in bank 2
clear_bank_1 Clear selected GPIO in bank 1
clear_bank_2 Clear selected GPIO in bank 2
set_bank_1 Set selected GPIO in bank 1
set_bank_2 Set selected GPIO in bank 2
start_thread Start a new thread
stop_thread Stop a previously started thread
ADVANCED
get_PWM_real_range Get underlying PWM range for a GPIO
notify_open Request a notification handle
notify_begin Start notifications for selected GPIO
notify_pause Pause notifications
notify_close Close a notification
bb_serial_read_open Opens a GPIO for bit bang serial reads
bb_serial_read Reads bit bang serial data from a GPIO
bb_serial_read_close Closes a GPIO for bit bang serial reads
bb_serial_invert Invert serial logic (1 invert, 0 normal)
hardware_clock Start hardware clock on supported GPIO
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
SCRIPTS
store_script Store a script
run_script Run a stored script
script_status Get script status and parameters
stop_script Stop a running script
delete_script Delete a stored script
WAVES
wave_clear Deletes all waveforms
wave_add_new Starts a new waveform
wave_add_generic Adds a series of pulses to the waveform
wave_add_serial Adds serial data to the waveform
wave_create Creates a waveform from added data
wave_delete Deletes one or more waveforms
wave_send_once Transmits a waveform once
wave_send_repeat Transmits a waveform repeatedly
wave_chain Transmits a chain of waveforms
wave_tx_busy Checks to see if the waveform has ended
wave_tx_stop Aborts the current waveform
wave_get_micros Length in microseconds of the current waveform
wave_get_high_micros Length of longest waveform so far
wave_get_max_micros Absolute maximum allowed micros
wave_get_pulses Length in pulses of the current waveform
wave_get_high_pulses Length of longest waveform so far
wave_get_max_pulses Absolute maximum allowed pulses
wave_get_cbs Length in cbs of the current waveform
wave_get_high_cbs Length of longest waveform so far
wave_get_max_cbs Absolute maximum allowed cbs
I2C
i2c_open Opens an I2C device
i2c_close Closes an I2C device
i2c_write_quick smbus write quick
i2c_write_byte smbus write byte
i2c_read_byte smbus read byte
i2c_write_byte_data smbus write byte data
i2c_write_word_data smbus write word data
i2c_read_byte_data smbus read byte data
i2c_read_word_data smbus read word data
i2c_process_call smbus process call
i2c_write_block_data smbus write block data
i2c_read_block_data smbus read block data
i2c_block_process_call smbus block process call
i2c_write_i2c_block_data smbus write I2C block data
i2c_read_i2c_block_data smbus read I2C block data
i2c_read_device Reads the raw I2C device
i2c_write_device Writes the raw I2C device
i2c_zip Performs multiple I2C transactions
bb_i2c_open Opens GPIO for bit banging I2C
bb_i2c_close Closes GPIO for bit banging I2C
bb_i2c_zip Performs multiple bit banged I2C transactions
SPI
spi_open Opens a SPI device
spi_close Closes a SPI device
spi_read Reads bytes from a SPI device
spi_write Writes bytes to a SPI device
spi_xfer Transfers bytes with a SPI device
SERIAL
serial_open Opens a serial device
serial_close Closes a serial device
serial_write_byte Writes a byte to a serial device
serial_read_byte Reads a byte from a serial device
serial_write Writes bytes to a serial device
serial_read Reads bytes from a serial device
serial_data_available Returns number of bytes ready to be read
CUSTOM
custom_1 User custom function 1
custom_2 User custom function 2
UTILITIES
get_current_tick Get current tick (microseconds)
get_hardware_revision Get hardware revision
get_pigpio_version Get the pigpio version
pigpiod_if_version Get the pigpiod_if version
pigpio_error Get a text description of an error code.
time_sleep Sleeps for a float number of seconds
time_time Float number of seconds since the epoch
OVERVIEW*/
#ifdef __cplusplus
extern "C" {
#endif
typedef void (*CBFunc_t) (unsigned user_gpio, unsigned level, uint32_t tick);
typedef void (*CBFuncEx_t)
(unsigned user_gpio, unsigned level, uint32_t tick, void * user);
typedef struct callback_s callback_t;
/*F*/
double time_time(void);
/*D
Return the current time in seconds since the Epoch.
D*/
/*F*/
void time_sleep(double seconds);
/*D
Delay execution for a given number of seconds.
. .
seconds: the number of seconds to delay.
. .
D*/
/*F*/
char *pigpio_error(int errnum);
/*D
Return a text description for an error code.
. .
errnum: the error code.
. .
D*/
/*F*/
unsigned pigpiod_if_version(void);
/*D
Return the pigpiod_if version.
D*/
/*F*/
pthread_t *start_thread(gpioThreadFunc_t thread_func, void *userdata);
/*D
Starts a new thread of execution with thread_func as the main routine.
. .
thread_func: the main function for the new thread.
userdata: a pointer to an arbitrary argument.
. .
Returns a pointer to pthread_t if OK, otherwise NULL.
The function is passed the single argument userdata.
The thread can be cancelled by passing the pointer to pthread_t to
[*stop_thread*].
D*/
/*F*/
void stop_thread(pthread_t *pth);
/*D
Cancels the thread pointed at by pth.
. .
pth: the thread to be stopped.
. .
No value is returned.
The thread to be stopped should have been started with [*start_thread*].
D*/
/*F*/
int pigpio_start(char *addrStr, char *portStr);
/*D
Connect to the pigpio daemon. Reserving command and
notification streams.
. .
addrStr: specifies the host or IP address of the Pi running the
pigpio daemon. It may be NULL in which case localhost
is used unless overridden by the PIGPIO_ADDR environment
variable.
portStr: specifies the port address used by the Pi running the
pigpio daemon. It may be NULL in which case "8888"
is used unless overridden by the PIGPIO_PORT environment
variable.
. .
D*/
/*F*/
void pigpio_stop(void);
/*D
Terminates the connection to the pigpio daemon and releases
resources used by the library.
D*/
/*F*/
int set_mode(unsigned gpio, unsigned mode);
/*D
Set the GPIO mode.
. .
gpio: 0-53.
mode: PI_INPUT, PI_OUTPUT, PI_ALT0, PI_ALT1,
PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5.
. .
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_MODE,
or PI_NOT_PERMITTED.
D*/
/*F*/
int get_mode(unsigned gpio);
/*D
Get the GPIO mode.
. .
gpio: 0-53.
. .
Returns the GPIO mode if OK, otherwise PI_BAD_GPIO.
D*/
/*F*/
int set_pull_up_down(unsigned gpio, unsigned pud);
/*D
Set or clear the GPIO pull-up/down resistor.
. .
gpio: 0-53.
pud: PI_PUD_UP, PI_PUD_DOWN, PI_PUD_OFF.
. .
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_PUD,
or PI_NOT_PERMITTED.
D*/
/*F*/
int gpio_read(unsigned gpio);
/*D
Read the GPIO level.
. .
gpio:0-53.
. .
Returns the GPIO level if OK, otherwise PI_BAD_GPIO.
D*/
/*F*/
int gpio_write(unsigned gpio, unsigned level);
/*D
Write the GPIO level.
. .
gpio: 0-53.
level: 0, 1.
. .
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_LEVEL,
or PI_NOT_PERMITTED.
Notes
If PWM or servo pulses are active on the GPIO they are switched off.
D*/
/*F*/
int set_PWM_dutycycle(unsigned user_gpio, unsigned dutycycle);
/*D
Start (non-zero dutycycle) or stop (0) PWM pulses on the GPIO.
. .
user_gpio: 0-31.
dutycycle: 0-range (range defaults to 255).
. .
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYCYCLE,
or PI_NOT_PERMITTED.
Notes
The [*set_PWM_range*] function may be used to change the
default range of 255.
D*/
/*F*/
int get_PWM_dutycycle(unsigned user_gpio);
/*D
Return the PWM dutycycle in use on a GPIO.
. .
user_gpio: 0-31.
. .
Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO.
For normal PWM the dutycycle will be out of the defined range
for the GPIO (see [*get_PWM_range*]).
If a hardware clock is active on the GPIO the reported dutycycle
will be 500000 (500k) out of 1000000 (1M).
If hardware PWM is active on the GPIO the reported dutycycle
will be out of a 1000000 (1M).
D*/
/*F*/
int set_PWM_range(unsigned user_gpio, unsigned range);
/*D
Set the range of PWM values to be used on the GPIO.
. .
user_gpio: 0-31.
range: 25-40000.
. .
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYRANGE,
or PI_NOT_PERMITTED.
Notes
If PWM is currently active on the GPIO its dutycycle will be
scaled to reflect the new range.
The real range, the number of steps between fully off and fully on
for each of the 18 available GPIO frequencies is
. .
25(#1), 50(#2), 100(#3), 125(#4), 200(#5), 250(#6),
400(#7), 500(#8), 625(#9), 800(#10), 1000(#11), 1250(#12),
2000(#13), 2500(#14), 4000(#15), 5000(#16), 10000(#17), 20000(#18)
. .
The real value set by set_PWM_range is (dutycycle * real range) / range.
D*/
/*F*/
int get_PWM_range(unsigned user_gpio);
/*D
Get the range of PWM values being used on the GPIO.
. .
user_gpio: 0-31.
. .
Returns the dutycycle range used for the GPIO if OK,
otherwise PI_BAD_USER_GPIO.
If a hardware clock or hardware PWM is active on the GPIO the
reported range will be 1000000 (1M).
D*/
/*F*/
int get_PWM_real_range(unsigned user_gpio);
/*D
Get the real underlying range of PWM values being used on the GPIO.
. .
user_gpio: 0-31.
. .
Returns the real range used for the GPIO if OK,
otherwise PI_BAD_USER_GPIO.
If a hardware clock is active on the GPIO the reported
real range will be 1000000 (1M).
If hardware PWM is active on the GPIO the reported real range
will be approximately 250M divided by the set PWM frequency.
D*/
/*F*/
int set_PWM_frequency(unsigned user_gpio, unsigned frequency);
/*D
Set the frequency (in Hz) of the PWM to be used on the GPIO.
. .
user_gpio: 0-31.
frequency: >=0 (Hz).
. .
Returns the numerically closest frequency if OK, otherwise
PI_BAD_USER_GPIO or PI_NOT_PERMITTED.
If PWM is currently active on the GPIO it will be switched
off and then back on at the new frequency.
Each GPIO can be independently set to one of 18 different
PWM frequencies.
The selectable frequencies depend upon the sample rate which
may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The
sample rate is set when the pigpio daemon is started.
The frequencies for each sample rate are:
. .
Hertz
1: 40000 20000 10000 8000 5000 4000 2500 2000 1600
1250 1000 800 500 400 250 200 100 50
2: 20000 10000 5000 4000 2500 2000 1250 1000 800
625 500 400 250 200 125 100 50 25
4: 10000 5000 2500 2000 1250 1000 625 500 400
313 250 200 125 100 63 50 25 13
sample
rate
(us) 5: 8000 4000 2000 1600 1000 800 500 400 320
250 200 160 100 80 50 40 20 10
8: 5000 2500 1250 1000 625 500 313 250 200
156 125 100 63 50 31 25 13 6
10: 4000 2000 1000 800 500 400 250 200 160
125 100 80 50 40 25 20 10 5
. .
D*/
/*F*/
int get_PWM_frequency(unsigned user_gpio);
/*D
Get the frequency of PWM being used on the GPIO.
. .
user_gpio: 0-31.
. .
For normal PWM the frequency will be that defined for the GPIO by
[*set_PWM_frequency*].
If a hardware clock is active on the GPIO the reported frequency
will be that set by [*hardware_clock*].
If hardware PWM is active on the GPIO the reported frequency
will be that set by [*hardware_PWM*].
Returns the frequency (in hertz) used for the GPIO if OK,
otherwise PI_BAD_USER_GPIO.
D*/
/*F*/
int set_servo_pulsewidth(unsigned user_gpio, unsigned pulsewidth);
/*D
Start (500-2500) or stop (0) servo pulses on the GPIO.
. .
user_gpio: 0-31.
pulsewidth: 0 (off), 500 (anti-clockwise) - 2500 (clockwise).
. .
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_PULSEWIDTH or
PI_NOT_PERMITTED.
The selected pulsewidth will continue to be transmitted until
changed by a subsequent call to set_servo_pulsewidth.
The pulsewidths supported by servos varies and should probably be
determined by experiment. A value of 1500 should always be safe and
represents the mid-point of rotation.
You can DAMAGE a servo if you command it to move beyond its limits.
OTHER UPDATE RATES:
This function updates servos at 50Hz. If you wish to use a different
update frequency you will have to use the PWM functions.
. .
Update Rate (Hz) 50 100 200 400 500
1E6/Hz 20000 10000 5000 2500 2000
. .
Firstly set the desired PWM frequency using [*set_PWM_frequency*].
Then set the PWM range using [*set_PWM_range*] to 1E6/Hz.
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 GPIO 25 at 400Hz
. .
set_PWM_frequency(25, 400);
set_PWM_range(25, 2500);
. .
Thereafter use the [*set_PWM_dutycycle*] function to move the servo,
e.g. set_PWM_dutycycle(25, 1500) will set a 1500 us pulse.
D*/
/*F*/
int get_servo_pulsewidth(unsigned user_gpio);
/*D
Return the servo pulsewidth in use on a GPIO.
. .
user_gpio: 0-31.
. .
Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO.
D*/
/*F*/
int notify_open(void);
/*D
Get a free notification handle.
Returns a handle greater than or equal to zero if OK,
otherwise PI_NO_HANDLE.
A notification is a method for being notified of GPIO state
changes via a pipe.
Pipes are only accessible from the local machine so this function
serves no purpose if you are using the library from a remote machine.
The in-built (socket) notifications provided by [*callback*]
should be used instead.
Notifications for handle x will be available at the pipe
named /dev/pigpiox (where x is the handle number).
E.g. if the function returns 15 then the notifications must be
read from /dev/pigpio15.
D*/
/*F*/
int notify_begin(unsigned handle, uint32_t bits);
/*D
Start notifications on a previously opened handle.
. .
handle: 0-31 (as returned by [*notify_open*])
bits: a mask indicating the GPIO to be notified.
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE.
The notification sends state changes for each GPIO whose
corresponding bit in bits is set.
Each notification occupies 12 bytes in the fifo as follows:
. .
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<=0
numBytes: >=1
str: an array of chars.
. .
Returns the new total number of pulses in the current waveform if OK,
otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS,
PI_BAD_STOP_BITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET,
or PI_TOO_MANY_PULSES.
NOTES:
The serial data is formatted as one start bit, [*data_bits*] data bits,
and [*stop_bits*]/2 stop bits.
It is legal to add serial data streams with different baud rates to
the same waveform.
[*numBytes*] is the number of bytes of data in str.
The bytes required for each character depend upon [*data_bits*].
For [*data_bits*] 1-8 there will be one byte per character.
For [*data_bits*] 9-16 there will be two bytes per character.
For [*data_bits*] 17-32 there will be four bytes per character.
D*/
/*F*/
int wave_create(void);
/*D
This function creates a waveform from the data provided by the prior
calls to the [*wave_add_**] functions. Upon success a wave id
greater than or equal to 0 is returned, otherwise PI_EMPTY_WAVEFORM,
PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID.
The data provided by the [*wave_add_**] functions is consumed by this
function.
As many waveforms may be created as there is space available. The
wave id is passed to [*wave_send_**] to specify the waveform to transmit.
Normal usage would be
Step 1. [*wave_clear*] to clear all waveforms and added data.
Step 2. [*wave_add_**] calls to supply the waveform data.
Step 3. [*wave_create*] to create the waveform and get a unique id
Repeat steps 2 and 3 as needed.
Step 4. [*wave_send_**] with the id of the waveform to transmit.
A waveform comprises one or more pulses. Each pulse consists of a
[*gpioPulse_t*] structure.
. .
typedef struct
{
uint32_t gpioOn;
uint32_t gpioOff;
uint32_t usDelay;
} gpioPulse_t;
. .
The fields specify
1) the GPIO to be switched on at the start of the pulse.
2) the GPIO to be switched off at the start of the pulse.
3) the delay in microseconds before the next pulse.
Any or all the fields can be zero. It doesn't make any sense to
set all the fields to zero (the pulse will be ignored).
When a waveform is started each pulse is executed in order with the
specified delay between the pulse and the next.
Returns the new waveform id if OK, otherwise PI_EMPTY_WAVEFORM,
PI_NO_WAVEFORM_ID, PI_TOO_MANY_CBS, or PI_TOO_MANY_OOL.
D*/
/*F*/
int wave_delete(unsigned wave_id);
/*D
This function deletes the waveform with id wave_id.
. .
wave_id: >=0, as returned by [*wave_create*].
. .
Wave ids are allocated in order, 0, 1, 2, etc.
The wave is flagged for deletion. The resources used by the wave
will only be reused when either of the following apply.
- all waves with higher numbered wave ids have been deleted or have
been flagged for deletion.
- a new wave is created which uses exactly the same resources as
the current wave (see the C source for gpioWaveCreate for details).
Returns 0 if OK, otherwise PI_BAD_WAVE_ID.
D*/
/*F*/
int wave_send_once(unsigned wave_id);
/*D
This function transmits the waveform with id wave_id. The waveform
is sent once.
NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled.
. .
wave_id: >=0, as returned by [*wave_create*].
. .
Returns the number of DMA control blocks in the waveform if OK,
otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE.
D*/
/*F*/
int wave_send_repeat(unsigned wave_id);
/*D
This function transmits the waveform with id wave_id. The waveform
cycles until cancelled (either by the sending of a new waveform or
by [*wave_tx_stop*]).
NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled.
. .
wave_id: >=0, as returned by [*wave_create*].
. .
Returns the number of DMA control blocks in the waveform if OK,
otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE.
D*/
/*F*/
int wave_chain(char *buf, unsigned bufSize);
/*D
This function transmits a chain of waveforms.
NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled.
The waves to be transmitted are specified by the contents of buf
which contains an ordered list of [*wave_id*]s and optional command
codes and related data.
. .
buf: pointer to the wave_ids and optional command codes
bufSize: the number of bytes in buf
. .
Returns 0 if OK, otherwise PI_CHAIN_NESTING, PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD, PI_CHAIN_COUNTER,
PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG, or PI_BAD_WAVE_ID.
Each wave is transmitted in the order specified. A wave may
occur multiple times per chain.
A blocks of waves may be transmitted multiple times by using
the loop commands. The block is bracketed by loop start and
end commands. Loops may be nested.
Delays between waves may be added with the delay command.
The following command codes are supported:
Name @ Cmd & Data @ Meaning
Loop Start @ 255 0 @ Identify start of a wave block
Loop Repeat @ 255 1 x y @ loop x + y*256 times
Delay @ 255 2 x y @ delay x + y*256 microseconds
Loop Forever @ 255 3 @ loop forever
If present Loop Forever must be the last entry in the chain.
The code is currently dimensioned to support a chain with roughly
600 entries and 20 loop counters.
...
#include
#include
#define WAVES 5
#define GPIO 4
int main(int argc, char *argv[])
{
int i, wid[WAVES];
if (pigpio_start(0, 0)<0) return -1;
set_mode(GPIO, PI_OUTPUT);
for (i=0; i=0, as returned by [*store_script*].
numPar: 0-10, the number of parameters.
param: an array of parameters.
. .
The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or
PI_TOO_MANY_PARAM
param is an array of up to 10 parameters which may be referenced in
the script as p0 to p9.
D*/
/*F*/
int script_status(unsigned script_id, uint32_t *param);
/*D
This function returns the run status of a stored script as well
as the current values of parameters 0 to 9.
. .
script_id: >=0, as returned by [*store_script*].
param: an array to hold the returned 10 parameters.
. .
The function returns greater than or equal to 0 if OK,
otherwise PI_BAD_SCRIPT_ID.
The run status may be
. .
PI_SCRIPT_INITING
PI_SCRIPT_HALTED
PI_SCRIPT_RUNNING
PI_SCRIPT_WAITING
PI_SCRIPT_FAILED
. .
The current value of script parameters 0 to 9 are returned in param.
D*/
/*F*/
int stop_script(unsigned script_id);
/*D
This function stops a running script.
. .
script_id: >=0, as returned by [*store_script*].
. .
The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID.
D*/
/*F*/
int delete_script(unsigned script_id);
/*D
This function deletes a stored script.
. .
script_id: >=0, as returned by [*store_script*].
. .
The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID.
D*/
/*F*/
int bb_serial_read_open(unsigned user_gpio, unsigned baud, unsigned data_bits);
/*D
This function opens a GPIO for bit bang reading of serial data.
. .
user_gpio: 0-31.
baud: 50-250000
data_bits: 1-32
. .
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD,
or PI_GPIO_IN_USE.
The serial data is returned in a cyclic buffer and is read using
bb_serial_read.
It is the caller's responsibility to read data from the cyclic buffer
in a timely fashion.
D*/
/*F*/
int bb_serial_read(unsigned user_gpio, void *buf, size_t bufSize);
/*D
This function copies up to bufSize bytes of data read from the
bit bang serial cyclic buffer to the buffer starting at buf.
. .
user_gpio: 0-31, previously opened with [*bb_serial_read_open*].
buf: an array to receive the read bytes.
bufSize: >=0
. .
Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO
or PI_NOT_SERIAL_GPIO.
The bytes returned for each character depend upon the number of
data bits [*data_bits*] specified in the [*bb_serial_read_open*] command.
For [*data_bits*] 1-8 there will be one byte per character.
For [*data_bits*] 9-16 there will be two bytes per character.
For [*data_bits*] 17-32 there will be four bytes per character.
D*/
/*F*/
int bb_serial_read_close(unsigned user_gpio);
/*D
This function closes a GPIO for bit bang reading of serial data.
. .
user_gpio: 0-31, previously opened with [*bb_serial_read_open*].
. .
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO.
D*/
/*F*/
int bb_serial_invert(unsigned user_gpio, unsigned invert);
/*D
This function inverts serial logic for big bang serial reads.
. .
user_gpio: 0-31, previously opened with [*bb_serial_read_open*].
invert: 0-1, 1 invert, 0 normal.
. .
Returns 0 if OK, otherwise PI_NOT_SERIAL_GPIO or PI_BAD_SER_INVERT.
D*/
/*F*/
int i2c_open(unsigned i2c_bus, unsigned i2c_addr, unsigned i2c_flags);
/*D
This returns a handle for the device at address i2c_addr on bus i2c_bus.
. .
i2c_bus: >=0.
i2c_addr: 0-0x7F.
i2c_flags: 0.
. .
No flags are currently defined. This parameter should be set to zero.
Physically buses 0 and 1 are available on the Pi. Higher numbered buses
will be available if a kernel supported bus multiplexor is being used.
The GPIO used are given in the following table.
@ SDA @ SCL
I2C 0 @ 0 @ 1
I2C 1 @ 2 @ 3
Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR,
PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED.
For the SMBus commands the low level transactions are shown at the end
of the function description. The following abbreviations are used.
. .
S (1 bit) : Start bit
P (1 bit) : Stop bit
Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0.
A, NA (1 bit) : Accept and not accept bit.
Addr (7 bits): I2C 7 bit address.
Comm (8 bits): Command byte, a data byte which often selects a register.
Data (8 bits): A data byte.
Count (8 bits): A data byte containing the length of a block operation.
[..]: Data sent by the device.
. .
D*/
/*F*/
int i2c_close(unsigned handle);
/*D
This closes the I2C device associated with the handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE.
D*/
/*F*/
int i2c_write_quick(unsigned handle, unsigned bit);
/*D
This sends a single bit (in the Rd/Wr bit) to the device associated
with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
bit: 0-1, the value to write.
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
PI_I2C_WRITE_FAILED.
Quick command. SMBus 2.0 5.5.1
. .
S Addr Rd/Wr [A] P
. .
D*/
/*F*/
int i2c_write_byte(unsigned handle, unsigned bVal);
/*D
This sends a single byte to the device associated with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
bVal: 0-0xFF, the value to write.
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
PI_I2C_WRITE_FAILED.
Send byte. SMBus 2.0 5.5.2
. .
S Addr Wr [A] Data [A] P
. .
D*/
/*F*/
int i2c_read_byte(unsigned handle);
/*D
This reads a single byte from the device associated with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
. .
Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE,
or PI_I2C_READ_FAILED.
Receive byte. SMBus 2.0 5.5.3
. .
S Addr Rd [A] [Data] NA P
. .
D*/
/*F*/
int i2c_write_byte_data(unsigned handle, unsigned i2c_reg, unsigned bVal);
/*D
This writes a single byte to the specified register of the device
associated with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to write.
bVal: 0-0xFF, the value to write.
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
PI_I2C_WRITE_FAILED.
Write byte. SMBus 2.0 5.5.4
. .
S Addr Wr [A] Comm [A] Data [A] P
. .
D*/
/*F*/
int i2c_write_word_data(unsigned handle, unsigned i2c_reg, unsigned wVal);
/*D
This writes a single 16 bit word to the specified register of the device
associated with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to write.
wVal: 0-0xFFFF, the value to write.
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
PI_I2C_WRITE_FAILED.
Write word. SMBus 2.0 5.5.4
. .
S Addr Wr [A] Comm [A] DataLow [A] DataHigh [A] P
. .
D*/
/*F*/
int i2c_read_byte_data(unsigned handle, unsigned i2c_reg);
/*D
This reads a single byte from the specified register of the device
associated with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to read.
. .
Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE,
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
Read byte. SMBus 2.0 5.5.5
. .
S Addr Wr [A] Comm [A] S Addr Rd [A] [Data] NA P
. .
D*/
/*F*/
int i2c_read_word_data(unsigned handle, unsigned i2c_reg);
/*D
This reads a single 16 bit word from the specified register of the device
associated with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to read.
. .
Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE,
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
Read word. SMBus 2.0 5.5.5
. .
S Addr Wr [A] Comm [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P
. .
D*/
/*F*/
int i2c_process_call(unsigned handle, unsigned i2c_reg, unsigned wVal);
/*D
This writes 16 bits of data to the specified register of the device
associated with handle and and reads 16 bits of data in return.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to write/read.
wVal: 0-0xFFFF, the value to write.
. .
Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE,
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
Process call. SMBus 2.0 5.5.6
. .
S Addr Wr [A] Comm [A] DataLow [A] DataHigh [A]
S Addr Rd [A] [DataLow] A [DataHigh] NA P
. .
D*/
/*F*/
int i2c_write_block_data(
unsigned handle, unsigned i2c_reg, char *buf, unsigned count);
/*D
This writes up to 32 bytes to the specified register of the device
associated with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to write.
buf: an array with the data to send.
count: 1-32, the number of bytes to write.
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
PI_I2C_WRITE_FAILED.
Block write. SMBus 2.0 5.5.7
. .
S Addr Wr [A] Comm [A] Count [A] Data [A] Data [A] ... [A] Data [A] P
. .
D*/
/*F*/
int i2c_read_block_data(unsigned handle, unsigned i2c_reg, char *buf);
/*D
This reads a block of up to 32 bytes from the specified register of
the device associated with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to read.
buf: an array to receive the read data.
. .
The amount of returned data is set by the device.
Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE,
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
Block read. SMBus 2.0 5.5.7
. .
S Addr Wr [A] Comm [A]
S Addr Rd [A] [Count] A [Data] A [Data] A ... A [Data] NA P
. .
D*/
/*F*/
int i2c_block_process_call(
unsigned handle, unsigned i2c_reg, char *buf, unsigned count);
/*D
This writes data bytes to the specified register of the device
associated with handle and reads a device specified number
of bytes of data in return.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to write/read.
buf: an array with the data to send and to receive the read data.
count: 1-32, the number of bytes to write.
. .
Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE,
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
The smbus 2.0 documentation states that a minimum of 1 byte may be
sent and a minimum of 1 byte may be received. The total number of
bytes sent/received must be 32 or less.
Block write-block read. SMBus 2.0 5.5.8
. .
S Addr Wr [A] Comm [A] Count [A] Data [A] ...
S Addr Rd [A] [Count] A [Data] ... A P
. .
D*/
/*F*/
int i2c_read_i2c_block_data(
unsigned handle, unsigned i2c_reg, char *buf, unsigned count);
/*D
This reads count bytes from the specified register of the device
associated with handle . The count may be 1-32.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to read.
buf: an array to receive the read data.
count: 1-32, the number of bytes to read.
. .
Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE,
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
. .
S Addr Wr [A] Comm [A]
S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P
. .
D*/
/*F*/
int i2c_write_i2c_block_data(
unsigned handle, unsigned i2c_reg, char *buf, unsigned count);
/*D
This writes 1 to 32 bytes to the specified register of the device
associated with handle.
. .
handle: >=0, as returned by a call to [*i2c_open*].
i2c_reg: 0-255, the register to write.
buf: the data to write.
count: 1-32, the number of bytes to write.
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
PI_I2C_WRITE_FAILED.
. .
S Addr Wr [A] Comm [A] Data [A] Data [A] ... [A] Data [A] P
. .
D*/
/*F*/
int i2c_read_device(unsigned handle, char *buf, unsigned count);
/*D
This reads count bytes from the raw device into buf.
. .
handle: >=0, as returned by a call to [*i2c_open*].
buf: an array to receive the read data bytes.
count: >0, the number of bytes to read.
. .
Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
PI_I2C_READ_FAILED.
D*/
/*F*/
int i2c_write_device(unsigned handle, char *buf, unsigned count);
/*D
This writes count bytes from buf to the raw device.
. .
handle: >=0, as returned by a call to [*i2c_open*].
buf: an array containing the data bytes to write.
count: >0, the number of bytes to write.
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
PI_I2C_WRITE_FAILED.
D*/
/*F*/
int i2c_zip(
unsigned handle,
char *inBuf,
unsigned inLen,
char *outBuf,
unsigned outLen);
/*D
This function executes a sequence of I2C operations. The
operations to be performed are specified by the contents of inBuf
which contains the concatenated command codes and associated data.
. .
handle: >=0, as returned by a call to [*i2cOpen*]
inBuf: pointer to the concatenated I2C commands, see below
inLen: size of command buffer
outBuf: pointer to buffer to hold returned data
outLen: size of output buffer
. .
Returns >= 0 if OK (the number of bytes read), otherwise
PI_BAD_HANDLE, PI_BAD_POINTER, PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN.
PI_BAD_I2C_WLEN, or PI_BAD_I2C_SEG.
The following command codes are supported:
Name @ Cmd & Data @ Meaning
End @ 0 @ No more commands
Escape @ 1 @ Next P is two bytes
On @ 2 @ Switch combined flag on
Off @ 3 @ Switch combined flag off
Address @ 4 P @ Set I2C address to P
Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8)
Read @ 6 P @ Read P bytes of data
Write @ 7 P ... @ Write P bytes of data
The address, read, and write commands take a parameter P.
Normally P is one byte (0-255). If the command is preceded by
the Escape command then P is two bytes (0-65535, least significant
byte first).
The address defaults to that associated with the handle.
The flags default to 0. The address and flags maintain their
previous value until updated.
The returned I2C data is stored in consecutive locations of outBuf.
...
Set address 0x53, write 0x32, read 6 bytes
Set address 0x1E, write 0x03, read 6 bytes
Set address 0x68, write 0x1B, read 8 bytes
End
0x04 0x53 0x07 0x01 0x32 0x06 0x06
0x04 0x1E 0x07 0x01 0x03 0x06 0x06
0x04 0x68 0x07 0x01 0x1B 0x06 0x08
0x00
...
D*/
/*F*/
int bb_i2c_open(unsigned SDA, unsigned SCL, unsigned baud);
/*D
This function selects a pair of GPIO for bit banging I2C at a
specified baud rate.
Bit banging I2C allows for certain operations which are not possible
with the standard I2C driver.
o baud rates as low as 50
o repeated starts
o clock stretching
o I2C on any pair of spare GPIO
. .
SDA: 0-31
SCL: 0-31
baud: 50-500000
. .
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or
PI_GPIO_IN_USE.
NOTE:
The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As
a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value.
D*/
/*F*/
int bb_i2c_close(unsigned SDA);
/*D
This function stops bit banging I2C on a pair of GPIO previously
opened with [*bb_i2c_open*].
. .
SDA: 0-31, the SDA GPIO used in a prior call to [*bb_i2c_open*]
. .
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO.
D*/
/*F*/
int bb_i2c_zip(
unsigned SDA,
char *inBuf,
unsigned inLen,
char *outBuf,
unsigned outLen);
/*D
This function executes a sequence of bit banged I2C operations. The
operations to be performed are specified by the contents of inBuf
which contains the concatenated command codes and associated data.
. .
SDA: 0-31 (as used in a prior call to [*bb_i2c_open*])
inBuf: pointer to the concatenated I2C commands, see below
inLen: size of command buffer
outBuf: pointer to buffer to hold returned data
outLen: size of output buffer
. .
Returns >= 0 if OK (the number of bytes read), otherwise
PI_BAD_USER_GPIO, PI_NOT_I2C_GPIO, PI_BAD_POINTER,
PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN, PI_BAD_I2C_WLEN,
PI_I2C_READ_FAILED, or PI_I2C_WRITE_FAILED.
The following command codes are supported:
Name @ Cmd & Data @ Meaning
End @ 0 @ No more commands
Escape @ 1 @ Next P is two bytes
Start @ 2 @ Start condition
Stop @ 3 @ Stop condition
Address @ 4 P @ Set I2C address to P
Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8)
Read @ 6 P @ Read P bytes of data
Write @ 7 P ... @ Write P bytes of data
The address, read, and write commands take a parameter P.
Normally P is one byte (0-255). If the command is preceded by
the Escape command then P is two bytes (0-65535, least significant
byte first).
The address and flags default to 0. The address and flags maintain
their previous value until updated.
No flags are currently defined.
The returned I2C data is stored in consecutive locations of outBuf.
...
Set address 0x53
start, write 0x32, (re)start, read 6 bytes, stop
Set address 0x1E
start, write 0x03, (re)start, read 6 bytes, stop
Set address 0x68
start, write 0x1B, (re)start, read 8 bytes, stop
End
0x04 0x53
0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03
0x04 0x1E
0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03
0x04 0x68
0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03
0x00
...
D*/
/*F*/
int spi_open(unsigned spi_channel, unsigned baud, unsigned spi_flags);
/*D
This function returns a handle for the SPI device on the channel.
Data will be transferred at baud bits per second. The flags may
be used to modify the default behaviour of 4-wire operation, mode 0,
active low chip select.
The Pi has two SPI peripherals: main and auxiliary.
The main SPI has two chip selects (channels), the auxiliary has
three.
The auxiliary SPI is available on all models but the A and B.
The GPIO used are given in the following table.
@ MISO @ MOSI @ SCLK @ CE0 @ CE1 @ CE2
Main SPI @ 9 @ 10 @ 11 @ 8 @ 7 @ -
Aux SPI @ 19 @ 20 @ 21 @ 18 @ 17 @ 16
. .
spi_channel: 0-1 (0-2 for the auxiliary SPI).
baud: 32K-125M (values above 30M are unlikely to work).
spi_flags: see below.
. .
Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL,
PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED.
spi_flags consists of the least significant 22 bits.
. .
21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
. .
mm defines the SPI mode.
Warning: modes 1 and 3 do not appear to work on the auxiliary SPI.
. .
Mode POL PHA
0 0 0
1 0 1
2 1 0
3 1 1
. .
px is 0 if CEx is active low (default) and 1 for active high.
ux is 0 if the CEx GPIO is reserved for SPI (default) and 1 otherwise.
A is 0 for the main SPI, 1 for the auxiliary SPI.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Main
SPI only.
nnnn defines the number of bytes (0-15) to write before switching
the MOSI line to MISO to read data. This field is ignored
if W is not set. Main SPI only.
T is 1 if the least significant bit is transmitted on MOSI first, the
default (0) shifts the most significant bit out first. Auxiliary SPI
only.
R is 1 if the least significant bit is received on MISO first, the
default (0) receives the most significant bit first. Auxiliary SPI
only.
bbbbbb defines the word size in bits (0-32). The default (0)
sets 8 bits per word. Auxiliary SPI only.
The [*spi_read*], [*spi_write*], and [*spi_xfer*] functions
transfer data packed into 1, 2, or 4 bytes according to
the word size in bits.
For bits 1-8 there will be one byte per word.
For bits 9-16 there will be two bytes per word.
For bits 17-32 there will be four bytes per word.
Multi-byte transfers are made in least significant byte first order.
E.g. to transfer 32 11-bit words buf should contain 64 bytes
and count should be 64.
E.g. to transfer the 14 bit value 0x1ABC send the bytes 0xBC followed
by 0x1A.
The other bits in flags should be set to zero.
D*/
/*F*/
int spi_close(unsigned handle);
/*D
This functions closes the SPI device identified by the handle.
. .
handle: >=0, as returned by a call to [*spi_open*].
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE.
D*/
/*F*/
int spi_read(unsigned handle, char *buf, unsigned count);
/*D
This function reads count bytes of data from the SPI
device associated with the handle.
. .
handle: >=0, as returned by a call to [*spi_open*].
buf: an array to receive the read data bytes.
count: the number of bytes to read.
. .
Returns the number of bytes transferred if OK, otherwise
PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED.
D*/
/*F*/
int spi_write(unsigned handle, char *buf, unsigned count);
/*D
This function writes count bytes of data from buf to the SPI
device associated with the handle.
. .
handle: >=0, as returned by a call to [*spi_open*].
buf: the data bytes to write.
count: the number of bytes to write.
. .
Returns the number of bytes transferred if OK, otherwise
PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED.
D*/
/*F*/
int spi_xfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count);
/*D
This function transfers count bytes of data from txBuf to the SPI
device associated with the handle. Simultaneously count bytes of
data are read from the device and placed in rxBuf.
. .
handle: >=0, as returned by a call to [*spi_open*].
txBuf: the data bytes to write.
rxBuf: the received data bytes.
count: the number of bytes to transfer.
. .
Returns the number of bytes transferred if OK, otherwise
PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED.
D*/
/*F*/
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. The device name must start with
/dev/tty or /dev/serial.
. .
ser_tty: the serial device to open.
baud: the baud rate in bits per second, see below.
ser_flags: 0.
. .
Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or
PI_SER_OPEN_FAILED.
The baud rate must be one of 50, 75, 110, 134, 150,
200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200,
38400, 57600, 115200, or 230400.
No flags are currently defined. This parameter should be set to zero.
D*/
/*F*/
int serial_close(unsigned handle);
/*D
This function closes the serial device associated with handle.
. .
handle: >=0, as returned by a call to [*serial_open*].
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE.
D*/
/*F*/
int serial_write_byte(unsigned handle, unsigned bVal);
/*D
This function writes bVal to the serial port associated with handle.
. .
handle: >=0, as returned by a call to [*serial_open*].
. .
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
PI_SER_WRITE_FAILED.
D*/
/*F*/
int serial_read_byte(unsigned handle);
/*D
This function reads a byte from the serial port associated with handle.
. .
handle: >=0, as returned by a call to [*serial_open*].
. .
Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE,
PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED.
If no data is ready PI_SER_READ_NO_DATA is returned.
D*/
/*F*/
int serial_write(unsigned handle, char *buf, unsigned count);
/*D
This function writes count bytes from buf to the the serial port
associated with handle.
. .
handle: >=0, as returned by a call to [*serial_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, or
PI_SER_WRITE_FAILED.
D*/
/*F*/
int serial_read(unsigned handle, char *buf, unsigned count);
/*D
This function reads up to 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*].
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.
If no data is ready zero is returned.
D*/
/*F*/
int serial_data_available(unsigned handle);
/*D
Returns the number of bytes available to be read from the
device associated with handle.
. .
handle: >=0, as returned by a call to [*serial_open*].
. .
Returns the number of bytes of data available (>=0) if OK,
otherwise PI_BAD_HANDLE.
D*/
/*F*/
int custom_1(unsigned arg1, unsigned arg2, char *argx, unsigned argc);
/*D
This function is available for user customisation.
It returns a single integer value.
. .
arg1: >=0
arg2: >=0
argx: extra (byte) arguments
argc: number of extra arguments
. .
Returns >= 0 if OK, less than 0 indicates a user defined error.
D*/
/*F*/
int custom_2(unsigned arg1, char *argx, unsigned argc,
char *retBuf, unsigned retMax);
/*D
This function is available for user customisation.
It differs from custom_1 in that it returns an array of bytes
rather than just an integer.
The return value is an integer indicating the number of returned bytes.
. .
arg1: >=0
argc: extra (byte) arguments
count: number of extra arguments
retBuf: buffer for returned data
retMax: maximum number of bytes to return
. .
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 callback(unsigned user_gpio, unsigned edge, CBFunc_t f);
/*D
This function initialises a new callback.
. .
user_gpio: 0-31.
edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE.
f: the callback function.
. .
The function returns a callback id if OK, otherwise pigif_bad_malloc,
pigif_duplicate_callback, or pigif_bad_callback.
The callback is called with the GPIO, edge, and tick, whenever the
GPIO has the identified edge.
. .
Parameter Value Meaning
GPIO 0-31 The GPIO which has changed state
edge 0-2 0 = change to low (a falling edge)
1 = change to high (a rising edge)
2 = no level change (a watchdog timeout)
tick 32 bit The number of microseconds since boot
WARNING: this wraps around from
4294967295 to 0 roughly every 72 minutes
. .
D*/
/*F*/
int callback_ex
(unsigned user_gpio, unsigned edge, CBFuncEx_t f, void *userdata);
/*D
This function initialises a new callback.
. .
user_gpio: 0-31.
edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE.
f: the callback function.
userdata: a pointer to arbitrary user data.
. .
The function returns a callback id if OK, otherwise pigif_bad_malloc,
pigif_duplicate_callback, or pigif_bad_callback.
The callback is called with the GPIO, edge, tick, and user, whenever
the GPIO has the identified edge.
. .
Parameter Value Meaning
GPIO 0-31 The GPIO which has changed state
edge 0-2 0 = change to low (a falling edge)
1 = change to high (a rising edge)
2 = no level change (a watchdog timeout)
tick 32 bit The number of microseconds since boot
WARNING: this wraps around from
4294967295 to 0 roughly every 72 minutes
userdata pointer Pointer to an arbitrary object
. .
D*/
/*F*/
int callback_cancel(unsigned callback_id);
/*D
This function cancels a callback identified by its id.
. .
callback_id: >=0, as returned by a call to [*callback*] or [*callback_ex*].
. .
The function returns 0 if OK, otherwise pigif_callback_not_found.
D*/
/*F*/
int wait_for_edge(unsigned user_gpio, unsigned edge, double timeout);
/*D
This function waits for edge on the GPIO for up to timeout
seconds.
. .
user_gpio: 0-31.
edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE.
timeout: >=0.
. .
The function returns 1 if the edge occurred, otherwise 0.
The function returns when the edge occurs or after the timeout.
D*/
/*PARAMS
active :: 0-1000000
The number of microseconds level changes are reported for once
a noise filter has been triggered (by [*steady*] microseconds of
a stable level).
*addrStr::
A string specifying the host or IP address of the Pi running
the pigpio daemon. It may be NULL in which case localhost
is used unless overridden by the PIGPIO_ADDR environment
variable.
arg1::
An unsigned argument passed to a user customised function. Its
meaning is defined by the customiser.
arg2::
An unsigned argument passed to a user customised function. Its
meaning is defined by the customiser.
argc::
The count of bytes passed to a user customised function.
*argx::
A pointer to an array of bytes passed to a user customised function.
Its meaning and content is defined by the customiser.
baud::
The speed of serial communication (I2C, SPI, serial link, waves) in
bits per second.
bit::
A value of 0 or 1.
bits::
A value used to select GPIO. If bit n of bits is set then GPIO n is
selected.
A convenient way to set bit n is to or in (1<=0, as returned by a call to [*callback*] or [*callback_ex*]. This is
passed to [*callback_cancel*] to cancel the callback.
CBFunc_t::
. .
typedef void (*CBFunc_t)
(unsigned user_gpio, unsigned level, uint32_t tick);
. .
CBFuncEx_t::
. .
typedef void (*CBFuncEx_t)
(unsigned user_gpio, unsigned level, uint32_t tick, void * user);
. .
char::
A single character, an 8 bit quantity able to store 0-255.
clkfreq::4689-250000000 (250M)
The hardware clock frequency.
count::
The number of bytes to be transferred in an I2C, SPI, or Serial
command.
data_bits::1-32
The number of data bits in each character of serial data.
. .
#define PI_MIN_WAVE_DATABITS 1
#define PI_MAX_WAVE_DATABITS 32
. .
double::
A floating point number.
dutycycle::0-range
A number representing the ratio of on time to off time for PWM.
The number may vary between 0 and range (default 255) where
0 is off and range is fully on.
edge::
Used to identify a GPIO level transition of interest. A rising edge is
a level change from 0 to 1. A falling edge is a level change from 1 to 0.
. .
RISING_EDGE 0
FALLING_EDGE 1
EITHER_EDGE. 2
. .
errnum::
A negative number indicating a function call failed and the nature
of the error.
f::
A function.
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.
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
have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26.
See [*get_hardware_revision*].
The user GPIO are marked with an X in the following table.
. .
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type 1 X X - - X - - X X X X X - - X X
Type 2 - - X X X - - X X X X X - - X X
Type 3 X X X X X X X X X X X X X X
16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Type 1 - X X - - X X X X X - - - - - -
Type 2 - X X - - - X X X X - X X X X X
Type 3 X X X X X X X X X X X X - - - -
. .
gpioPulse_t::
. .
typedef struct
{
uint32_t gpioOn;
uint32_t gpioOff;
uint32_t usDelay;
} gpioPulse_t;
. .
gpioThreadFunc_t::
. .
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*].
i2c_addr:: 0-0x7F
The address of a device on the I2C bus.
i2c_bus::>=0
An I2C bus number.
i2c_flags::0
Flags which modify an I2C open command. None are currently defined.
i2c_reg:: 0-255
A register of an I2C device.
*inBuf::
A buffer used to pass data to a function.
inLen::
The number of bytes of data in a buffer.
int::
A whole number, negative or positive.
invert::
A flag used to set normal or inverted bit bang serial data level logic.
level::
The level of a GPIO. Low or High.
. .
PI_OFF 0
PI_ON 1
PI_CLEAR 0
PI_SET 1
PI_LOW 0
PI_HIGH 1
. .
There is one exception. If a watchdog expires on a GPIO the level will be
reported as PI_TIMEOUT. See [*set_watchdog*].
. .
PI_TIMEOUT 2
. .
mode::0-7
The operational mode of a GPIO, normally INPUT or OUTPUT.
. .
PI_INPUT 0
PI_OUTPUT 1
PI_ALT0 4
PI_ALT1 5
PI_ALT2 6
PI_ALT3 7
PI_ALT4 3
PI_ALT5 2
. .
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
per character.
numPar:: 0-10
The number of parameters passed to a script.
numPulses::
The number of pulses to be added to a waveform.
offset::
The associated data starts this number of microseconds from the start of
the waveform.
*outBuf::
A buffer used to return data from a function.
outLen::
The size in bytes of an output buffer.
*param::
An array of script parameters.
*portStr::
A string specifying the port address used by the Pi running
the pigpio daemon. It may be NULL in which case "8888"
is used unless overridden by the PIGPIO_PORT environment
variable.
*pth::
A thread identifier, returned by [*start_thread*].
pthread_t::
A thread identifier.
pud::0-2
The setting of the pull up/down resistor for a GPIO, which may be off,
pull-up, or pull-down.
. .
PI_PUD_OFF 0
PI_PUD_DOWN 1
PI_PUD_UP 2
. .
pulseLen::
1-100, the length of a trigger pulse in microseconds.
*pulses::
An array of pulses to be added to a waveform.
pulsewidth::0, 500-2500
. .
PI_SERVO_OFF 0
PI_MIN_SERVO_PULSEWIDTH 500
PI_MAX_SERVO_PULSEWIDTH 2500
. .
PWMduty::0-1000000 (1M)
The hardware PWM dutycycle.
. .
#define PI_HW_PWM_RANGE 1000000
. .
PWMfreq::1-125000000 (125M)
The hardware PWM frequency.
. .
#define PI_HW_PWM_MIN_FREQ 1
#define PI_HW_PWM_MAX_FREQ 125000000
. .
range::25-40000
The permissible dutycycle values are 0-range.
. .
PI_MIN_DUTYCYCLE_RANGE 25
PI_MAX_DUTYCYCLE_RANGE 40000
. .
*retBuf::
A buffer to hold a number of bytes returned to a used customised function,
retMax::
The maximum number of bytes a user customised function should return.
*rxBuf::
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 [*store_script*].
SDA::
The user GPIO to use for data when bit banging I2C.
seconds::
The number of seconds.
ser_flags::
Flags which modify a serial open command. None are currently defined.
*ser_tty::
The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1.
size_t::
A standard type used to indicate the size of an object in bytes.
spi_channel::
A SPI channel, 0-2.
spi_flags::
See [*spi_open*].
steady :: 0-300000
The number of microseconds level changes must be stable for
before reporting the level changed ([*set_glitch_filter*]) or triggering
the active part of a noise filter ([*set_noise_filter*]).
stop_bits::2-8
The number of (half) stop bits to be used when adding serial data
to a waveform.
. .
#define PI_MIN_WAVE_HALFSTOPBITS 2
#define PI_MAX_WAVE_HALFSTOPBITS 8
. .
*str::
An array of characters.
thread_func::
A function of type gpioThreadFunc_t used as the main function of a
thread.
timeout::
A GPIO watchdog timeout in milliseconds.
. .
PI_MIN_WDOG_TIMEOUT 0
PI_MAX_WDOG_TIMEOUT 60000
. .
*txBuf::
An array of bytes to transmit.
uint32_t::0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF)
A 32-bit unsigned value.
unsigned::
A whole number >= 0.
user_gpio::
0-31, a Broadcom numbered GPIO.
See [*gpio*].
*userdata::
A pointer to arbitrary user data. This may be used to identify the instance.
void::
Denoting no parameter is required
wave_add_*::
One of [*wave_add_new*], [*wave_add_generic*], [*wave_add_serial*].
wave_id::
A number representing a waveform created by [*wave_create*].
wave_send_*::
One of [*wave_send_once*], [*wave_send_repeat*].
wVal::0-65535 (Hex 0x0-0xFFFF, Octal 0-0177777)
A 16-bit word value.
PARAMS*/
/*DEF_S pigpiod_if Error Codes*/
typedef enum
{
pigif_bad_send = -2000,
pigif_bad_recv = -2001,
pigif_bad_getaddrinfo = -2002,
pigif_bad_connect = -2003,
pigif_bad_socket = -2004,
pigif_bad_noib = -2005,
pigif_duplicate_callback = -2006,
pigif_bad_malloc = -2007,
pigif_bad_callback = -2008,
pigif_notify_failed = -2009,
pigif_callback_not_found = -2010,
} pigifError_t;
/*DEF_E*/
#ifdef __cplusplus
}
#endif
#endif