/* 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 PIGPIO_H #define PIGPIO_H #include #include #define PIGPIO_VERSION 77 /*TEXT pigpio is a C library for the Raspberry which allows control of the GPIO. *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 *GPIO* ALL GPIO are identified by their Broadcom number. *Credits* The PWM and servo pulses are timed using the DMA and PWM peripherals. This use was inspired by Richard Hirst's servoblaster kernel module. *Usage* Include in your source files. Assuming your source is in prog.c use the following command to build and run the executable. . . gcc -Wall -pthread -o prog prog.c -lpigpio -lrt sudo ./prog . . For examples of usage see the C programs within the pigpio archive file. *Notes* All the functions which return an int return < 0 on error. [*gpioInitialise*] must be called before all other library functions with the following exceptions: . . [*gpioCfg**] [*gpioVersion*] [*gpioHardwareRevision*] . . If the library is not initialised all but the [*gpioCfg**], [*gpioVersion*], and [*gpioHardwareRevision*] functions will return error PI_NOT_INITIALISED. If the library is initialised the [*gpioCfg**] functions will return error PI_INITIALISED. If you intend to rely on signals sent to your application, you should turn off the internal signal handling as shown in this example: . . int cfg = gpioCfgGetInternals(); cfg |= PI_CFG_NOSIGHANDLER; // (1<<10) gpioCfgSetInternals(cfg); int status = gpioInitialise(); . . TEXT*/ /*OVERVIEW ESSENTIAL gpioInitialise Initialise library gpioTerminate Stop library BASIC gpioSetMode Set a GPIO mode gpioGetMode Get a GPIO mode gpioSetPullUpDown Set/clear GPIO pull up/down resistor gpioRead Read a GPIO gpioWrite Write a GPIO PWM_(overrides_servo_commands_on_same_GPIO) gpioPWM Start/stop PWM pulses on a GPIO gpioSetPWMfrequency Configure PWM frequency for a GPIO gpioSetPWMrange Configure PWM range for a GPIO gpioGetPWMdutycycle Get dutycycle setting on a GPIO gpioGetPWMfrequency Get configured PWM frequency for a GPIO gpioGetPWMrange Get configured PWM range for a GPIO gpioGetPWMrealRange Get underlying PWM range for a GPIO Servo_(overrides_PWM_commands_on_same_GPIO) gpioServo Start/stop servo pulses on a GPIO gpioGetServoPulsewidth Get pulsewidth setting on a GPIO INTERMEDIATE gpioTrigger Send a trigger pulse to a GPIO gpioSetWatchdog Set a watchdog on a GPIO gpioRead_Bits_0_31 Read all GPIO in bank 1 gpioRead_Bits_32_53 Read all GPIO in bank 2 gpioWrite_Bits_0_31_Clear Clear selected GPIO in bank 1 gpioWrite_Bits_32_53_Clear Clear selected GPIO in bank 2 gpioWrite_Bits_0_31_Set Set selected GPIO in bank 1 gpioWrite_Bits_32_53_Set Set selected GPIO in bank 2 gpioSetAlertFunc Request a GPIO level change callback gpioSetAlertFuncEx Request a GPIO change callback, extended gpioSetTimerFunc Request a regular timed callback gpioSetTimerFuncEx Request a regular timed callback, extended gpioStartThread Start a new thread gpioStopThread Stop a previously started thread ADVANCED gpioNotifyOpen Request a notification handle gpioNotifyClose Close a notification gpioNotifyOpenWithSize Request a notification with sized pipe gpioNotifyBegin Start notifications for selected GPIO gpioNotifyPause Pause notifications gpioHardwareClock Start hardware clock on supported GPIO gpioHardwarePWM Start hardware PWM on supported GPIO gpioGlitchFilter Set a glitch filter on a GPIO gpioNoiseFilter Set a noise filter on a GPIO gpioSetPad Sets a pads drive strength gpioGetPad Gets a pads drive strength shell Executes a shell command gpioSetISRFunc Request a GPIO interrupt callback gpioSetISRFuncEx Request a GPIO interrupt callback, extended gpioSetSignalFunc Request a signal callback gpioSetSignalFuncEx Request a signal callback, extended gpioSetGetSamplesFunc Requests a GPIO samples callback gpioSetGetSamplesFuncEx Requests a GPIO samples callback, extended Custom gpioCustom1 User custom function 1 gpioCustom2 User custom function 2 Events eventMonitor Sets the events to monitor eventSetFunc Request an event callback eventSetFuncEx Request an event callback, extended eventTrigger Trigger an event Scripts gpioStoreScript Store a script gpioRunScript Run a stored script gpioUpdateScript Set a scripts parameters gpioScriptStatus Get script status and parameters gpioStopScript Stop a running script gpioDeleteScript Delete a stored script I2C i2cOpen Opens an I2C device i2cClose Closes an I2C device i2cWriteQuick SMBus write quick i2cReadByte SMBus read byte i2cWriteByte SMBus write byte i2cReadByteData SMBus read byte data i2cWriteByteData SMBus write byte data i2cReadWordData SMBus read word data i2cWriteWordData SMBus write word data i2cReadBlockData SMBus read block data i2cWriteBlockData SMBus write block data i2cReadI2CBlockData SMBus read I2C block data i2cWriteI2CBlockData SMBus write I2C block data i2cReadDevice Reads the raw I2C device i2cWriteDevice Writes the raw I2C device i2cProcessCall SMBus process call i2cBlockProcessCall SMBus block process call i2cSwitchCombined Sets or clears the combined flag i2cSegments Performs multiple I2C transactions i2cZip Performs multiple I2C transactions I2C_BIT_BANG bbI2COpen Opens GPIO for bit banging I2C bbI2CClose Closes GPIO for bit banging I2C bbI2CZip Performs bit banged I2C transactions I2C/SPI_SLAVE bscXfer I2C/SPI as slave transfer SERIAL serOpen Opens a serial device serClose Closes a serial device serReadByte Reads a byte from 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 SERIAL_BIT_BANG_(read_only) gpioSerialReadOpen Opens a GPIO for bit bang serial reads gpioSerialReadClose Closes a GPIO for bit bang serial reads gpioSerialReadInvert Configures normal/inverted for serial reads gpioSerialRead Reads bit bang serial data from a GPIO SPI spiOpen Opens a SPI device spiClose Closes a SPI device spiRead Reads bytes from a SPI device spiWrite Writes bytes to a SPI device spiXfer Transfers bytes with a SPI device SPI_BIT_BANG bbSPIOpen Opens GPIO for bit banging SPI bbSPIClose Closes GPIO for bit banging SPI bbSPIXfer Performs bit banged SPI transactions 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 WAVES gpioWaveClear Deletes all waveforms gpioWaveAddNew Starts a new waveform gpioWaveAddGeneric Adds a series of pulses to the waveform gpioWaveAddSerial Adds serial data to the waveform gpioWaveCreate Creates a waveform from added data gpioWaveCreatePad Creates a waveform of fixed size from added data gpioWaveDelete Deletes a waveform gpioWaveTxSend Transmits a waveform gpioWaveChain Transmits a chain of waveforms gpioWaveTxAt Returns the current transmitting waveform gpioWaveTxBusy Checks to see if the waveform has ended gpioWaveTxStop Aborts the current waveform gpioWaveGetCbs Length in CBs of the current waveform gpioWaveGetHighCbs Length of longest waveform so far gpioWaveGetMaxCbs Absolute maximum allowed CBs gpioWaveGetMicros Length in micros of the current waveform gpioWaveGetHighMicros Length of longest waveform so far gpioWaveGetMaxMicros Absolute maximum allowed micros gpioWaveGetPulses Length in pulses of the current waveform gpioWaveGetHighPulses Length of longest waveform so far gpioWaveGetMaxPulses Absolute maximum allowed pulses UTILITIES gpioDelay Delay for a number of microseconds gpioTick Get current tick (microseconds) gpioHardwareRevision Get hardware revision gpioVersion Get the pigpio version getBitInBytes Get the value of a bit putBitInBytes Set the value of a bit gpioTime Get current time gpioSleep Sleep for specified time time_sleep Sleeps for a float number of seconds time_time Float number of seconds since the epoch CONFIGURATION gpioCfgBufferSize Configure the GPIO sample buffer size gpioCfgClock Configure the GPIO sample rate gpioCfgDMAchannel Configure the DMA channel (DEPRECATED) gpioCfgDMAchannels Configure the DMA channels gpioCfgPermissions Configure the GPIO access permissions gpioCfgInterfaces Configure user interfaces gpioCfgSocketPort Configure socket port gpioCfgMemAlloc Configure DMA memory allocation mode gpioCfgNetAddr Configure allowed network addresses gpioCfgGetInternals Get internal configuration settings gpioCfgSetInternals Set internal configuration settings EXPERT rawWaveAddSPI Not intended for general use rawWaveAddGeneric Not intended for general use rawWaveCB Not intended for general use rawWaveCBAdr Not intended for general use rawWaveGetOOL Not intended for general use rawWaveSetOOL Not intended for general use rawWaveGetOut Not intended for general use rawWaveSetOut Not intended for general use rawWaveGetIn Not intended for general use rawWaveSetIn Not intended for general use rawWaveInfo Not intended for general use rawDumpWave Not intended for general use rawDumpScript Not intended for general use OVERVIEW*/ #define PI_INPFIFO "/dev/pigpio" #define PI_OUTFIFO "/dev/pigout" #define PI_ERRFIFO "/dev/pigerr" #define PI_ENVPORT "PIGPIO_PORT" #define PI_ENVADDR "PIGPIO_ADDR" #define PI_LOCKFILE "/var/run/pigpio.pid" #define PI_I2C_COMBINED "/sys/module/i2c_bcm2708/parameters/combined" #ifdef __cplusplus extern "C" { #endif typedef struct { uint16_t func; uint16_t size; } gpioHeader_t; typedef struct { size_t size; void *ptr; uint32_t data; } gpioExtent_t; typedef struct { uint32_t tick; uint32_t level; } gpioSample_t; typedef struct { uint16_t seqno; uint16_t flags; uint32_t tick; uint32_t level; } gpioReport_t; typedef struct { uint32_t gpioOn; uint32_t gpioOff; uint32_t usDelay; } gpioPulse_t; #define WAVE_FLAG_READ 1 #define WAVE_FLAG_TICK 2 typedef struct { uint32_t gpioOn; uint32_t gpioOff; uint32_t usDelay; uint32_t flags; } rawWave_t; /* CBs are used in order from the lowest numbered CB up to the maximum NUM_WAVE_CBS. OOLS are used from the bottom climbing up and from the top climbing down. The GPIO on and off settings climb up from the bottom (botOOL/numBOOL). The level and tick read values are stored in descending locations from the top (topOOL/numTOOL). */ typedef struct { uint16_t botCB; /* first CB used by wave */ uint16_t topCB; /* last CB used by wave */ uint16_t botOOL; /* first bottom OOL used by wave */ /* botOOL to botOOL + numBOOL - 1 are in use */ uint16_t topOOL; /* last top OOL used by wave */ /* topOOL - numTOOL to topOOL are in use.*/ uint16_t deleted; uint16_t numCB; uint16_t numBOOL; uint16_t numTOOL; } rawWaveInfo_t; typedef struct { int clk; /* GPIO for clock */ int mosi; /* GPIO for MOSI */ int miso; /* GPIO for MISO */ int ss_pol; /* slave select off state */ int ss_us; /* delay after slave select */ int clk_pol; /* clock off state */ int clk_pha; /* clock phase */ int clk_us; /* clock micros */ } rawSPI_t; typedef struct { /* linux/arch/arm/mach-bcm2708/include/mach/dma.h */ uint32_t info; uint32_t src; uint32_t dst; uint32_t length; uint32_t stride; uint32_t next; uint32_t pad[2]; } rawCbs_t; typedef struct { uint16_t addr; /* slave address */ uint16_t flags; uint16_t len; /* msg length */ uint8_t *buf; /* pointer to msg data */ } pi_i2c_msg_t; /* BSC FIFO size */ #define BSC_FIFO_SIZE 512 typedef struct { uint32_t control; /* Write */ int rxCnt; /* Read only */ char rxBuf[BSC_FIFO_SIZE]; /* Read only */ int txCnt; /* Write */ char txBuf[BSC_FIFO_SIZE]; /* Write */ } bsc_xfer_t; typedef void (*gpioAlertFunc_t) (int gpio, int level, uint32_t tick); typedef void (*gpioAlertFuncEx_t) (int gpio, int level, uint32_t tick, void *userdata); typedef void (*eventFunc_t) (int event, uint32_t tick); typedef void (*eventFuncEx_t) (int event, uint32_t tick, void *userdata); typedef void (*gpioISRFunc_t) (int gpio, int level, uint32_t tick); typedef void (*gpioISRFuncEx_t) (int gpio, int level, uint32_t tick, void *userdata); typedef void (*gpioTimerFunc_t) (void); typedef void (*gpioTimerFuncEx_t) (void *userdata); typedef void (*gpioSignalFunc_t) (int signum); typedef void (*gpioSignalFuncEx_t) (int signum, void *userdata); typedef void (*gpioGetSamplesFunc_t) (const gpioSample_t *samples, int numSamples); typedef void (*gpioGetSamplesFuncEx_t) (const gpioSample_t *samples, int numSamples, void *userdata); typedef void *(gpioThreadFunc_t) (void *); /* gpio: 0-53 */ #define PI_MIN_GPIO 0 #define PI_MAX_GPIO 53 /* user_gpio: 0-31 */ #define PI_MAX_USER_GPIO 31 /* level: 0-1 */ #define PI_OFF 0 #define PI_ON 1 #define PI_CLEAR 0 #define PI_SET 1 #define PI_LOW 0 #define PI_HIGH 1 /* level: only reported for GPIO time-out, see gpioSetWatchdog */ #define PI_TIMEOUT 2 /* mode: 0-7 */ #define PI_INPUT 0 #define PI_OUTPUT 1 #define PI_ALT0 4 #define PI_ALT1 5 #define PI_ALT2 6 #define PI_ALT3 7 #define PI_ALT4 3 #define PI_ALT5 2 /* pud: 0-2 */ #define PI_PUD_OFF 0 #define PI_PUD_DOWN 1 #define PI_PUD_UP 2 /* dutycycle: 0-range */ #define PI_DEFAULT_DUTYCYCLE_RANGE 255 /* range: 25-40000 */ #define PI_MIN_DUTYCYCLE_RANGE 25 #define PI_MAX_DUTYCYCLE_RANGE 40000 /* pulsewidth: 0, 500-2500 */ #define PI_SERVO_OFF 0 #define PI_MIN_SERVO_PULSEWIDTH 500 #define PI_MAX_SERVO_PULSEWIDTH 2500 /* hardware PWM */ #define PI_HW_PWM_MIN_FREQ 1 #define PI_HW_PWM_MAX_FREQ 125000000 #define PI_HW_PWM_MAX_FREQ_2711 187500000 #define PI_HW_PWM_RANGE 1000000 /* hardware clock */ #define PI_HW_CLK_MIN_FREQ 4689 #define PI_HW_CLK_MIN_FREQ_2711 13184 #define PI_HW_CLK_MAX_FREQ 250000000 #define PI_HW_CLK_MAX_FREQ_2711 375000000 #define PI_NOTIFY_SLOTS 32 #define PI_NTFY_FLAGS_EVENT (1 <<7) #define PI_NTFY_FLAGS_ALIVE (1 <<6) #define PI_NTFY_FLAGS_WDOG (1 <<5) #define PI_NTFY_FLAGS_BIT(x) (((x)<<0)&31) #define PI_WAVE_BLOCKS 4 #define PI_WAVE_MAX_PULSES (PI_WAVE_BLOCKS * 3000) #define PI_WAVE_MAX_CHARS (PI_WAVE_BLOCKS * 300) #define PI_BB_I2C_MIN_BAUD 50 #define PI_BB_I2C_MAX_BAUD 500000 #define PI_BB_SPI_MIN_BAUD 50 #define PI_BB_SPI_MAX_BAUD 250000 #define PI_BB_SER_MIN_BAUD 50 #define PI_BB_SER_MAX_BAUD 250000 #define PI_BB_SER_NORMAL 0 #define PI_BB_SER_INVERT 1 #define PI_WAVE_MIN_BAUD 50 #define PI_WAVE_MAX_BAUD 1000000 #define PI_SPI_MIN_BAUD 32000 #define PI_SPI_MAX_BAUD 125000000 #define PI_MIN_WAVE_DATABITS 1 #define PI_MAX_WAVE_DATABITS 32 #define PI_MIN_WAVE_HALFSTOPBITS 2 #define PI_MAX_WAVE_HALFSTOPBITS 8 #define PI_WAVE_MAX_MICROS (30 * 60 * 1000000) /* half an hour */ #define PI_MAX_WAVES 250 #define PI_MAX_WAVE_CYCLES 65535 #define PI_MAX_WAVE_DELAY 65535 #define PI_WAVE_COUNT_PAGES 10 /* wave tx mode */ #define PI_WAVE_MODE_ONE_SHOT 0 #define PI_WAVE_MODE_REPEAT 1 #define PI_WAVE_MODE_ONE_SHOT_SYNC 2 #define PI_WAVE_MODE_REPEAT_SYNC 3 /* special wave at return values */ #define PI_WAVE_NOT_FOUND 9998 /* Transmitted wave not found. */ #define PI_NO_TX_WAVE 9999 /* No wave being transmitted. */ /* Files, I2C, SPI, SER */ #define PI_FILE_SLOTS 16 #define PI_I2C_SLOTS 512 #define PI_SPI_SLOTS 32 #define PI_SER_SLOTS 16 #define PI_MAX_I2C_ADDR 0x7F #define PI_NUM_AUX_SPI_CHANNEL 3 #define PI_NUM_STD_SPI_CHANNEL 2 #define PI_MAX_I2C_DEVICE_COUNT (1<<16) #define PI_MAX_SPI_DEVICE_COUNT (1<<16) /* max pi_i2c_msg_t per transaction */ #define PI_I2C_RDRW_IOCTL_MAX_MSGS 42 /* flags for i2cTransaction, pi_i2c_msg_t */ #define PI_I2C_M_WR 0x0000 /* write data */ #define PI_I2C_M_RD 0x0001 /* read data */ #define PI_I2C_M_TEN 0x0010 /* ten bit chip address */ #define PI_I2C_M_RECV_LEN 0x0400 /* length will be first received byte */ #define PI_I2C_M_NO_RD_ACK 0x0800 /* if I2C_FUNC_PROTOCOL_MANGLING */ #define PI_I2C_M_IGNORE_NAK 0x1000 /* if I2C_FUNC_PROTOCOL_MANGLING */ #define PI_I2C_M_REV_DIR_ADDR 0x2000 /* if I2C_FUNC_PROTOCOL_MANGLING */ #define PI_I2C_M_NOSTART 0x4000 /* if I2C_FUNC_PROTOCOL_MANGLING */ /* bbI2CZip and i2cZip commands */ #define PI_I2C_END 0 #define PI_I2C_ESC 1 #define PI_I2C_START 2 #define PI_I2C_COMBINED_ON 2 #define PI_I2C_STOP 3 #define PI_I2C_COMBINED_OFF 3 #define PI_I2C_ADDR 4 #define PI_I2C_FLAGS 5 #define PI_I2C_READ 6 #define PI_I2C_WRITE 7 /* SPI */ #define PI_SPI_FLAGS_BITLEN(x) ((x&63)<<16) #define PI_SPI_FLAGS_RX_LSB(x) ((x&1)<<15) #define PI_SPI_FLAGS_TX_LSB(x) ((x&1)<<14) #define PI_SPI_FLAGS_3WREN(x) ((x&15)<<10) #define PI_SPI_FLAGS_3WIRE(x) ((x&1)<<9) #define PI_SPI_FLAGS_AUX_SPI(x) ((x&1)<<8) #define PI_SPI_FLAGS_RESVD(x) ((x&7)<<5) #define PI_SPI_FLAGS_CSPOLS(x) ((x&7)<<2) #define PI_SPI_FLAGS_MODE(x) ((x&3)) /* BSC registers */ #define BSC_DR 0 #define BSC_RSR 1 #define BSC_SLV 2 #define BSC_CR 3 #define BSC_FR 4 #define BSC_IFLS 5 #define BSC_IMSC 6 #define BSC_RIS 7 #define BSC_MIS 8 #define BSC_ICR 9 #define BSC_DMACR 10 #define BSC_TDR 11 #define BSC_GPUSTAT 12 #define BSC_HCTRL 13 #define BSC_DEBUG_I2C 14 #define BSC_DEBUG_SPI 15 #define BSC_CR_TESTFIFO 2048 #define BSC_CR_RXE 512 #define BSC_CR_TXE 256 #define BSC_CR_BRK 128 #define BSC_CR_CPOL 16 #define BSC_CR_CPHA 8 #define BSC_CR_I2C 4 #define BSC_CR_SPI 2 #define BSC_CR_EN 1 #define BSC_FR_RXBUSY 32 #define BSC_FR_TXFE 16 #define BSC_FR_RXFF 8 #define BSC_FR_TXFF 4 #define BSC_FR_RXFE 2 #define BSC_FR_TXBUSY 1 /* BSC GPIO */ #define BSC_SDA_MOSI 18 #define BSC_SCL_SCLK 19 #define BSC_MISO 20 #define BSC_CE_N 21 #define BSC_SDA_MOSI_2711 10 #define BSC_SCL_SCLK_2711 11 #define BSC_MISO_2711 9 #define BSC_CE_N_2711 8 /* Longest busy delay */ #define PI_MAX_BUSY_DELAY 100 /* timeout: 0-60000 */ #define PI_MIN_WDOG_TIMEOUT 0 #define PI_MAX_WDOG_TIMEOUT 60000 /* timer: 0-9 */ #define PI_MIN_TIMER 0 #define PI_MAX_TIMER 9 /* millis: 10-60000 */ #define PI_MIN_MS 10 #define PI_MAX_MS 60000 #define PI_MAX_SCRIPTS 32 #define PI_MAX_SCRIPT_TAGS 50 #define PI_MAX_SCRIPT_VARS 150 #define PI_MAX_SCRIPT_PARAMS 10 /* script status */ #define PI_SCRIPT_INITING 0 #define PI_SCRIPT_HALTED 1 #define PI_SCRIPT_RUNNING 2 #define PI_SCRIPT_WAITING 3 #define PI_SCRIPT_FAILED 4 /* signum: 0-63 */ #define PI_MIN_SIGNUM 0 #define PI_MAX_SIGNUM 63 /* timetype: 0-1 */ #define PI_TIME_RELATIVE 0 #define PI_TIME_ABSOLUTE 1 #define PI_MAX_MICS_DELAY 1000000 /* 1 second */ #define PI_MAX_MILS_DELAY 60000 /* 60 seconds */ /* cfgMillis */ #define PI_BUF_MILLIS_MIN 100 #define PI_BUF_MILLIS_MAX 10000 /* cfgMicros: 1, 2, 4, 5, 8, or 10 */ /* cfgPeripheral: 0-1 */ #define PI_CLOCK_PWM 0 #define PI_CLOCK_PCM 1 /* DMA channel: 0-15, 15 is unset */ #define PI_MIN_DMA_CHANNEL 0 #define PI_MAX_DMA_CHANNEL 15 /* port */ #define PI_MIN_SOCKET_PORT 1024 #define PI_MAX_SOCKET_PORT 32000 /* ifFlags: */ #define PI_DISABLE_FIFO_IF 1 #define PI_DISABLE_SOCK_IF 2 #define PI_LOCALHOST_SOCK_IF 4 #define PI_DISABLE_ALERT 8 /* memAllocMode */ #define PI_MEM_ALLOC_AUTO 0 #define PI_MEM_ALLOC_PAGEMAP 1 #define PI_MEM_ALLOC_MAILBOX 2 /* filters */ #define PI_MAX_STEADY 300000 #define PI_MAX_ACTIVE 1000000 /* gpioCfgInternals */ #define PI_CFG_DBG_LEVEL 0 /* bits 0-3 */ #define PI_CFG_ALERT_FREQ 4 /* bits 4-7 */ #define PI_CFG_RT_PRIORITY (1<<8) #define PI_CFG_STATS (1<<9) #define PI_CFG_NOSIGHANDLER (1<<10) #define PI_CFG_ILLEGAL_VAL (1<<11) /* gpioISR */ #define RISING_EDGE 0 #define FALLING_EDGE 1 #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 /* Allowed socket connect addresses */ #define MAX_CONNECT_ADDRESSES 256 /* events */ #define PI_MAX_EVENT 31 /* Event auto generated on BSC slave activity */ #define PI_EVENT_BSC 31 /*F*/ int gpioInitialise(void); /*D Initialises the library. Returns the pigpio version number if OK, otherwise PI_INIT_FAILED. gpioInitialise must be called before using the other library functions with the following exceptions: . . [*gpioCfg**] [*gpioVersion*] [*gpioHardwareRevision*] . . ... if (gpioInitialise() < 0) { // pigpio initialisation failed. } else { // pigpio initialised okay. } ... D*/ /*F*/ void gpioTerminate(void); /*D Terminates the library. Returns nothing. Call before program exit. This function resets the used DMA channels, releases memory, and terminates any running threads. ... gpioTerminate(); ... D*/ /*F*/ int gpioSetMode(unsigned gpio, unsigned mode); /*D Sets the GPIO mode, typically input or output. . . gpio: 0-53 mode: 0-7 . . Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_MODE. Arduino style: pinMode. ... gpioSetMode(17, PI_INPUT); // Set GPIO17 as input. gpioSetMode(18, PI_OUTPUT); // Set GPIO18 as output. gpioSetMode(22,PI_ALT0); // Set GPIO22 to alternative mode 0. ... See [[http://www.raspberrypi.org/documentation/hardware/raspberrypi/bcm2835/BCM2835-ARM-Peripherals.pdf]] page 102 for an overview of the modes. D*/ /*F*/ int gpioGetMode(unsigned gpio); /*D Gets the GPIO mode. . . gpio: 0-53 . . Returns the GPIO mode if OK, otherwise PI_BAD_GPIO. ... if (gpioGetMode(17) != PI_ALT0) { gpioSetMode(17, PI_ALT0); // set GPIO17 to ALT0 } ... D*/ /*F*/ int gpioSetPullUpDown(unsigned gpio, unsigned pud); /*D Sets or clears resistor pull ups or downs on the GPIO. . . gpio: 0-53 pud: 0-2 . . Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_PUD. ... gpioSetPullUpDown(17, PI_PUD_UP); // Sets a pull-up. gpioSetPullUpDown(18, PI_PUD_DOWN); // Sets a pull-down. gpioSetPullUpDown(23, PI_PUD_OFF); // Clear any pull-ups/downs. ... D*/ /*F*/ int gpioRead (unsigned gpio); /*D Reads the GPIO level, on or off. . . gpio: 0-53 . . Returns the GPIO level if OK, otherwise PI_BAD_GPIO. Arduino style: digitalRead. ... printf("GPIO24 is level %d", gpioRead(24)); ... D*/ /*F*/ int gpioWrite(unsigned gpio, unsigned level); /*D Sets the GPIO level, on or off. . . gpio: 0-53 level: 0-1 . . Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_LEVEL. If PWM or servo pulses are active on the GPIO they are switched off. Arduino style: digitalWrite ... gpioWrite(24, 1); // Set GPIO24 high. ... D*/ /*F*/ int gpioPWM(unsigned user_gpio, unsigned dutycycle); /*D Starts PWM on the GPIO, dutycycle between 0 (off) and range (fully on). Range defaults to 255. . . user_gpio: 0-31 dutycycle: 0-range . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYCYCLE. Arduino style: analogWrite This and the servo functionality use the DMA and PWM or PCM peripherals to control and schedule the pulse lengths and dutycycles. The [*gpioSetPWMrange*] function may be used to change the default range of 255. ... gpioPWM(17, 255); // Sets GPIO17 full on. gpioPWM(18, 128); // Sets GPIO18 half on. gpioPWM(23, 0); // Sets GPIO23 full off. ... D*/ /*F*/ int gpioGetPWMdutycycle(unsigned user_gpio); /*D Returns the PWM dutycycle setting for the GPIO. . . user_gpio: 0-31 . . Returns between 0 (off) and range (fully on) 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 [*gpioGetPWMrange*]). 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). Normal PWM range defaults to 255. D*/ /*F*/ int gpioSetPWMrange(unsigned user_gpio, unsigned range); /*D Selects the dutycycle range to be used for the GPIO. Subsequent calls to gpioPWM will use a dutycycle between 0 (off) and range (fully on). . . user_gpio: 0-31 range: 25-40000 . . Returns the real range for the given GPIO's frequency if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYRANGE. 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 frequency, is given in the following table. . . 25, 50, 100, 125, 200, 250, 400, 500, 625, 800, 1000, 1250, 2000, 2500, 4000, 5000, 10000, 20000 . . The real value set by [*gpioPWM*] is (dutycycle * real range) / range. ... gpioSetPWMrange(24, 2000); // Now 2000 is fully on // 1000 is half on // 500 is quarter on, etc. ... D*/ /*F*/ int gpioGetPWMrange(unsigned user_gpio); /*D Returns the dutycycle range used for the GPIO if OK, otherwise PI_BAD_USER_GPIO. . . user_gpio: 0-31 . . If a hardware clock or hardware PWM is active on the GPIO the reported range will be 1000000 (1M). ... r = gpioGetPWMrange(23); ... D*/ /*F*/ int gpioGetPWMrealRange(unsigned user_gpio); /*D Returns the real range used for the GPIO if OK, otherwise PI_BAD_USER_GPIO. . . user_gpio: 0-31 . . 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. ... rr = gpioGetPWMrealRange(17); ... D*/ /*F*/ int gpioSetPWMfrequency(unsigned user_gpio, unsigned frequency); /*D Sets the frequency in hertz to be used for the GPIO. . . user_gpio: 0-31 frequency: >=0 . . Returns the numerically closest frequency if OK, otherwise PI_BAD_USER_GPIO. 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 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 . . ... gpioSetPWMfrequency(23, 0); // Set GPIO23 to lowest frequency. gpioSetPWMfrequency(24, 500); // Set GPIO24 to 500Hz. gpioSetPWMfrequency(25, 100000); // Set GPIO25 to highest frequency. ... D*/ /*F*/ int gpioGetPWMfrequency(unsigned user_gpio); /*D Returns the frequency (in hertz) used for the GPIO if OK, otherwise PI_BAD_USER_GPIO. . . user_gpio: 0-31 . . For normal PWM the frequency will be that defined for the GPIO by [*gpioSetPWMfrequency*]. If a hardware clock is active on the GPIO the reported frequency will be that set by [*gpioHardwareClock*]. 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. ... D*/ /*F*/ int gpioServo(unsigned user_gpio, unsigned pulsewidth); /*D Starts servo pulses on the GPIO, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise). . . user_gpio: 0-31 pulsewidth: 0, 500-2500 . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_PULSEWIDTH. The range 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. The following causes an on pulse of 1500 microseconds duration to be transmitted on GPIO 17 at a rate of 50 times per second. This will command a servo connected to GPIO 17 to rotate to its mid-point. ... gpioServo(17, 1000); // Move servo to safe position anti-clockwise. gpioServo(23, 1500); // Move servo to centre position. gpioServo(25, 2000); // Move servo to safe position clockwise. ... 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. . . PWM Hz 50 100 200 400 500 1E6/Hz 20000 10000 5000 2500 2000 . . Firstly set the desired PWM frequency using [*gpioSetPWMfrequency*]. 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 . . gpioSetPWMfrequency(25, 400); gpioSetPWMrange(25, 2500); . . Thereafter use the PWM command to move the servo, e.g. gpioPWM(25, 1500) will set a 1500 us pulse. D*/ /*F*/ int gpioGetServoPulsewidth(unsigned user_gpio); /*D Returns the servo pulsewidth setting for the GPIO. . . user_gpio: 0-31 . . Returns 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise) if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO. D*/ /*F*/ int gpioSetAlertFunc(unsigned user_gpio, gpioAlertFunc_t f); /*D Registers a function to be called (a callback) when the specified GPIO changes state. . . user_gpio: 0-31 f: the callback function . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO. One callback may be registered per GPIO. The callback is passed the GPIO, the new level, and the tick. . . Parameter Value Meaning GPIO 0-31 The GPIO which has changed state level 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 . . The alert may be cancelled by passing NULL as the function. The GPIO are sampled at a rate set when the library is started. If a value isn't specifically set the default of 5 us is used. The number of samples per second is given in the following table. . . samples per sec 1 1,000,000 2 500,000 sample 4 250,000 rate 5 200,000 (us) 8 125,000 10 100,000 . . Level changes shorter than the sample rate may be missed. The thread which calls the alert functions is triggered nominally 1000 times per second. The active alert functions will be called once per level change since the last time the thread was activated. i.e. The active alert functions will get all level changes but there will be a latency. If you want to track the level of more than one GPIO do so by maintaining the state in the callback. Do not use [*gpioRead*]. Remember the event that triggered the callback may have happened several milliseconds before and the GPIO may have changed level many times since then. The tick value is the time stamp of the sample in microseconds, see [*gpioTick*] for more details. ... void aFunction(int gpio, int level, uint32_t tick) { printf("GPIO %d became %d at %d", gpio, level, tick); } // call aFunction whenever GPIO 4 changes state gpioSetAlertFunc(4, aFunction); ... D*/ /*F*/ int gpioSetAlertFuncEx( unsigned user_gpio, gpioAlertFuncEx_t f, void *userdata); /*D Registers a function to be called (a callback) when the specified GPIO changes state. . . user_gpio: 0-31 f: the callback function userdata: pointer to arbitrary user data . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO. One callback may be registered per GPIO. The callback is passed the GPIO, the new level, the tick, and the userdata pointer. . . Parameter Value Meaning GPIO 0-31 The GPIO which has changed state level 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 . . See [*gpioSetAlertFunc*] for further details. Only one of [*gpioSetAlertFunc*] or [*gpioSetAlertFuncEx*] can be registered per GPIO. D*/ /*F*/ int gpioSetISRFunc( unsigned gpio, unsigned edge, int timeout, gpioISRFunc_t f); /*D Registers a function to be called (a callback) whenever the specified GPIO interrupt occurs. . . gpio: 0-53 edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE timeout: interrupt timeout in milliseconds (<=0 to cancel) f: the callback function . . Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_EDGE, or PI_BAD_ISR_INIT. One function may be registered per GPIO. The function is passed the GPIO, the current level, and the current tick. The level will be PI_TIMEOUT if the optional interrupt timeout expires. . . Parameter Value Meaning GPIO 0-53 The GPIO which has changed state level 0-2 0 = change to low (a falling edge) 1 = change to high (a rising edge) 2 = no level change (interrupt timeout) tick 32 bit The number of microseconds since boot WARNING: this wraps around from 4294967295 to 0 roughly every 72 minutes . . The underlying Linux sysfs GPIO interface is used to provide the interrupt services. The first time the function is called, with a non-NULL f, the GPIO is exported, set to be an input, and set to interrupt on the given edge and timeout. Subsequent calls, with a non-NULL f, can vary one or more of the edge, timeout, or function. The ISR may be cancelled by passing a NULL f, in which case the GPIO is unexported. The tick is that read at the time the process was informed of the interrupt. This will be a variable number of microseconds after the interrupt occurred. Typically the latency will be of the order of 50 microseconds. The latency is not guaranteed and will vary with system load. The level is that read at the time the process was informed of the interrupt, or PI_TIMEOUT if the optional interrupt timeout expired. It may not be the same as the expected edge as interrupts happening in rapid succession may be missed by the kernel (i.e. this mechanism can not be used to capture several interrupts only a few microseconds apart). D*/ /*F*/ int gpioSetISRFuncEx( unsigned gpio, unsigned edge, int timeout, gpioISRFuncEx_t f, void *userdata); /*D Registers a function to be called (a callback) whenever the specified GPIO interrupt occurs. . . gpio: 0-53 edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE timeout: interrupt timeout in milliseconds (<=0 to cancel) f: the callback function userdata: pointer to arbitrary user data . . Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_EDGE, or PI_BAD_ISR_INIT. The function is passed the GPIO, the current level, the current tick, and the userdata pointer. . . Parameter Value Meaning GPIO 0-53 The GPIO which has changed state level 0-2 0 = change to low (a falling edge) 1 = change to high (a rising edge) 2 = no level change (interrupt 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 . . Only one of [*gpioSetISRFunc*] or [*gpioSetISRFuncEx*] can be registered per GPIO. See [*gpioSetISRFunc*] for further details. D*/ /*F*/ int gpioNotifyOpen(void); /*D This function requests 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 or socket. Pipe 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. Socket notifications are returned to the socket which requested the handle. ... h = gpioNotifyOpen(); if (h >= 0) { sprintf(str, "/dev/pigpio%d", h); fd = open(str, O_RDONLY); if (fd >= 0) { // Okay. } else { // Error. } } else { // Error. } ... D*/ /*F*/ int gpioNotifyOpenWithSize(int bufSize); /*D This function requests a free notification handle. It differs from [*gpioNotifyOpen*] in that the pipe size may be specified, whereas [*gpioNotifyOpen*] uses the default pipe size. See [*gpioNotifyOpen*] for further details. D*/ /*F*/ int gpioNotifyBegin(unsigned handle, uint32_t bits); /*D This function starts notifications on a previously opened handle. . . handle: >=0, as returned by [*gpioNotifyOpen*] bits: a bit mask indicating the GPIO of interest . . 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 and has the following structure. . . 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: three flags are defined, PI_NTFY_FLAGS_WDOG, PI_NTFY_FLAGS_ALIVE, and PI_NTFY_FLAGS_EVENT. 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. If bit 7 is set (PI_NTFY_FLAGS_EVENT) then bits 0-4 of the flags indicate an event which has been triggered. tick: the number of microseconds since system boot. It wraps around after 1h12m. level: indicates the level of each GPIO. If bit 1<=0, as returned by [*gpioNotifyOpen*] . . Returns 0 if OK, otherwise PI_BAD_HANDLE. Notifications for the handle are suspended until [*gpioNotifyBegin*] is called again. ... gpioNotifyPause(h); ... D*/ /*F*/ int gpioNotifyClose(unsigned handle); /*D This function stops notifications on a previously opened handle and releases the handle for reuse. . . handle: >=0, as returned by [*gpioNotifyOpen*] . . Returns 0 if OK, otherwise PI_BAD_HANDLE. ... gpioNotifyClose(h); ... D*/ /*F*/ int gpioWaveClear(void); /*D This function clears all waveforms and any data added by calls to the [*gpioWaveAdd**] functions. Returns 0 if OK. ... gpioWaveClear(); ... D*/ /*F*/ int gpioWaveAddNew(void); /*D This function starts a new empty waveform. You wouldn't normally need to call this function as it is automatically called after a waveform is created with the [*gpioWaveCreate*] function. Returns 0 if OK. ... gpioWaveAddNew(); ... D*/ /*F*/ int gpioWaveAddGeneric(unsigned numPulses, gpioPulse_t *pulses); /*D This function adds a number of pulses to the current waveform. . . numPulses: the number of pulses pulses: an array of pulses . . Returns the new total number of pulses in the current waveform if OK, otherwise PI_TOO_MANY_PULSES. The pulses are interleaved in time order within the existing waveform (if any). Merging allows the waveform to be built in parts, that is the settings for GPIO#1 can be added, and then GPIO#2 etc. If the added waveform is intended to start after or within the existing waveform then the first pulse should consist of a delay. ... // Construct and send a 30 microsecond square wave. gpioSetMode(gpio, PI_OUTPUT); pulse[0].gpioOn = (1<= 0) { gpioWaveTxSend(wave_id, PI_WAVE_MODE_REPEAT); // Transmit for 30 seconds. sleep(30); gpioWaveTxStop(); } else { // Wave create failed. } ... D*/ /*F*/ int gpioWaveAddSerial (unsigned user_gpio, unsigned baud, unsigned data_bits, unsigned stop_bits, unsigned offset, unsigned numBytes, char *str); /*D This function adds a waveform representing serial data to the existing waveform (if any). The serial data starts offset microseconds from the start of the waveform. . . user_gpio: 0-31 baud: 50-1000000 data_bits: 1-32 stop_bits: 2-8 offset: >=0 numBytes: >=1 str: an array of chars (which may contain nulls) . . 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_STOPBITS, 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. ... #define MSG_LEN 8 int i; char *str; char data[MSG_LEN]; str = "Hello world!"; gpioWaveAddSerial(4, 9600, 8, 2, 0, strlen(str), str); for (i=0; i=0, as returned by [*gpioWaveCreate*] . . Wave ids are allocated in order, 0, 1, 2, etc. Returns 0 if OK, otherwise PI_BAD_WAVE_ID. D*/ /*F*/ int gpioWaveTxSend(unsigned wave_id, unsigned wave_mode); /*D This function transmits the waveform with id wave_id. The mode determines whether the waveform is sent once or cycles endlessly. The SYNC variants wait for the current waveform to reach the end of a cycle or finish before starting the new waveform. WARNING: bad things may happen if you delete the previous waveform before it has been synced to the new waveform. NOTE: Any hardware PWM started by [*gpioHardwarePWM*] will be cancelled. . . wave_id: >=0, as returned by [*gpioWaveCreate*] wave_mode: PI_WAVE_MODE_ONE_SHOT, PI_WAVE_MODE_REPEAT, PI_WAVE_MODE_ONE_SHOT_SYNC, PI_WAVE_MODE_REPEAT_SYNC . . 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 gpioWaveChain(char *buf, unsigned bufSize); /*D This function transmits a chain of waveforms. NOTE: Any hardware PWM started by [*gpioHardwarePWM*] 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 (gpioInitialise()<0) return -1; gpioSetMode(GPIO, PI_OUTPUT); printf("start piscope, press return"); getchar(); for (i=0; i=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 [*gpioSerialReadOpen*] 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 gpioSerialReadClose(unsigned user_gpio); /*D This function closes a GPIO for bit bang reading of serial data. . . user_gpio: 0-31, previously opened with [*gpioSerialReadOpen*] . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. D*/ /*F*/ int i2cOpen(unsigned i2cBus, unsigned i2cAddr, unsigned i2cFlags); /*D This returns a handle for the device at the address on the I2C bus. . . i2cBus: >=0 i2cAddr: 0-0x7F i2cFlags: 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. i2cReg (8 bits): Command byte, a byte which often selects a register. Data (8 bits): A data byte. Count (8 bits): A byte defining the length of a block operation. [..]: Data sent by the device. . . D*/ /*F*/ int i2cClose(unsigned handle); /*D This closes the I2C device associated with the handle. . . handle: >=0, as returned by a call to [*i2cOpen*] . . Returns 0 if OK, otherwise PI_BAD_HANDLE. D*/ /*F*/ int i2cWriteQuick(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 [*i2cOpen*] 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 bit [A] P . . D*/ /*F*/ int i2cWriteByte(unsigned handle, unsigned bVal); /*D This sends a single byte to the device associated with handle. . . handle: >=0, as returned by a call to [*i2cOpen*] 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] bVal [A] P . . D*/ /*F*/ int i2cReadByte(unsigned handle); /*D This reads a single byte from the device associated with handle. . . handle: >=0, as returned by a call to [*i2cOpen*] . . 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 i2cWriteByteData(unsigned handle, unsigned i2cReg, 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 [*i2cOpen*] i2cReg: 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] i2cReg [A] bVal [A] P . . D*/ /*F*/ int i2cWriteWordData(unsigned handle, unsigned i2cReg, 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 [*i2cOpen*] i2cReg: 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] i2cReg [A] wValLow [A] wValHigh [A] P . . D*/ /*F*/ int i2cReadByteData(unsigned handle, unsigned i2cReg); /*D This reads a single byte from the specified register of the device associated with handle. . . handle: >=0, as returned by a call to [*i2cOpen*] i2cReg: 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] i2cReg [A] S Addr Rd [A] [Data] NA P . . D*/ /*F*/ int i2cReadWordData(unsigned handle, unsigned i2cReg); /*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 [*i2cOpen*] i2cReg: 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] i2cReg [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P . . D*/ /*F*/ int i2cProcessCall(unsigned handle, unsigned i2cReg, unsigned wVal); /*D This writes 16 bits of data to the specified register of the device associated with handle and reads 16 bits of data in return. . . handle: >=0, as returned by a call to [*i2cOpen*] i2cReg: 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] i2cReg [A] wValLow [A] wValHigh [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P . . D*/ /*F*/ int i2cWriteBlockData( unsigned handle, unsigned i2cReg, 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 [*i2cOpen*] i2cReg: 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] i2cReg [A] count [A] buf0 [A] buf1 [A] ... [A] bufn [A] P . . D*/ /*F*/ int i2cReadBlockData(unsigned handle, unsigned i2cReg, 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 [*i2cOpen*] i2cReg: 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] i2cReg [A] S Addr Rd [A] [Count] A [buf0] A [buf1] A ... A [bufn] NA P . . D*/ /*F*/ int i2cBlockProcessCall( unsigned handle, unsigned i2cReg, 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 [*i2cOpen*] i2cReg: 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] i2cReg [A] count [A] buf0 [A] ... bufn [A] S Addr Rd [A] [Count] A [buf0] A ... [bufn] A P . . D*/ /*F*/ int i2cReadI2CBlockData( unsigned handle, unsigned i2cReg, 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 [*i2cOpen*] i2cReg: 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] i2cReg [A] S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P . . D*/ /*F*/ int i2cWriteI2CBlockData( unsigned handle, unsigned i2cReg, 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 [*i2cOpen*] i2cReg: 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] i2cReg [A] buf0 [A] buf1 [A] ... [A] bufn [A] P . . D*/ /*F*/ int i2cReadDevice(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 [*i2cOpen*] 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. . . S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P . . D*/ /*F*/ int i2cWriteDevice(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 [*i2cOpen*] 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. . . S Addr Wr [A] buf0 [A] buf1 [A] ... [A] bufn [A] P . . D*/ /*F*/ void i2cSwitchCombined(int setting); /*D This sets the I2C (i2c-bcm2708) module "use combined transactions" parameter on or off. . . setting: 0 to set the parameter off, non-zero to set it on . . NOTE: when the flag is on a write followed by a read to the same slave address will use a repeated start (rather than a stop/start). D*/ /*F*/ int i2cSegments(unsigned handle, pi_i2c_msg_t *segs, unsigned numSegs); /*D This function executes multiple I2C segments in one transaction by calling the I2C_RDWR ioctl. . . handle: >=0, as returned by a call to [*i2cOpen*] segs: an array of I2C segments numSegs: >0, the number of I2C segments . . Returns the number of segments if OK, otherwise PI_BAD_I2C_SEG. D*/ /*F*/ int i2cZip( 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 bbI2COpen(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 bbI2CClose(unsigned SDA); /*D This function stops bit banging I2C on a pair of GPIO previously opened with [*bbI2COpen*]. . . SDA: 0-31, the SDA GPIO used in a prior call to [*bbI2COpen*] . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO. D*/ /*F*/ int bbI2CZip( 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 [*bbI2COpen*]) 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 bscXfer(bsc_xfer_t *bsc_xfer); /*D This function provides a low-level interface to the SPI/I2C Slave peripheral on the BCM chip. This peripheral allows the Pi to act as a hardware slave device on an I2C or SPI bus. This is not a bit bang version and as such is OS timing independent. The bus timing is handled directly by the chip. The output process is simple. You simply append data to the FIFO buffer on the chip. This works like a queue, you add data to the queue and the master removes it. I can't get SPI to work properly. I tried with a control word of 0x303 and swapped MISO and MOSI. The function sets the BSC mode, writes any data in the transmit buffer to the BSC transmit FIFO, and copies any data in the BSC receive FIFO to the receive buffer. . . bsc_xfer:= a structure defining the transfer typedef struct { uint32_t control; // Write int rxCnt; // Read only char rxBuf[BSC_FIFO_SIZE]; // Read only int txCnt; // Write char txBuf[BSC_FIFO_SIZE]; // Write } bsc_xfer_t; . . To start a transfer set control (see below), copy the bytes to be added to the transmit FIFO (if any) to txBuf and set txCnt to the number of copied bytes. Upon return rxCnt will be set to the number of received bytes placed in rxBuf. Note that the control word sets the BSC mode. The BSC will stay in that mode until a different control word is sent. GPIO used for models other than those based on the BCM2711. @ SDA @ SCL @ MOSI @ SCLK @ MISO @ CE I2C @ 18 @ 19 @ - @ - @ - @ - SPI @ - @ - @ 18 @ 19 @ 20 @ 21 GPIO used for models based on the BCM2711 (e.g. the Pi4B). @ SDA @ SCL @ MOSI @ SCLK @ MISO @ CE I2C @ 10 @ 11 @ - @ - @ - @ - SPI @ - @ - @ 10 @ 11 @ 9 @ 8 When a zero control word is received the used GPIO will be reset to INPUT mode. The returned function value is the status of the transfer (see below). If there was an error the status will be less than zero (and will contain the error code). The most significant word of the returned status contains the number of bytes actually copied from txBuf to the BSC transmit FIFO (may be less than requested if the FIFO already contained untransmitted data). control consists of the following bits. . . 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 a a a a a a a - - IT HC TF IR RE TE BK EC ES PL PH I2 SP EN . . Bits 0-13 are copied unchanged to the BSC CR register. See pages 163-165 of the Broadcom peripherals document for full details. aaaaaaa @ defines the I2C slave address (only relevant in I2C mode) IT @ invert transmit status flags HC @ enable host control TF @ enable test FIFO IR @ invert receive status flags RE @ enable receive TE @ enable transmit BK @ abort operation and clear FIFOs EC @ send control register as first I2C byte ES @ send status register as first I2C byte PL @ set SPI polarity high PH @ set SPI phase high I2 @ enable I2C mode SP @ enable SPI mode EN @ enable BSC peripheral The returned status has the following format . . 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 S S S S S R R R R R T T T T T RB TE RF TF RE TB . . Bits 0-15 are copied unchanged from the BSC FR register. See pages 165-166 of the Broadcom peripherals document for full details. SSSSS @ number of bytes successfully copied to transmit FIFO RRRRR @ number of bytes in receieve FIFO TTTTT @ number of bytes in transmit FIFO RB @ receive busy TE @ transmit FIFO empty RF @ receive FIFO full TF @ transmit FIFO full RE @ receive FIFO empty TB @ transmit busy The following example shows how to configure the BSC peripheral as an I2C slave with address 0x13 and send four bytes. ... bsc_xfer_t xfer; xfer.control = (0x13<<16) | 0x305; memcpy(xfer.txBuf, "ABCD", 4); xfer.txCnt = 4; status = bscXfer(&xfer); if (status >= 0) { // process transfer } ... D*/ /*F*/ int bbSPIOpen( unsigned CS, unsigned MISO, unsigned MOSI, unsigned SCLK, unsigned baud, unsigned spiFlags); /*D This function selects a set of GPIO for bit banging SPI with a specified baud rate and mode. . . CS: 0-31 MISO: 0-31 MOSI: 0-31 SCLK: 0-31 baud: 50-250000 spiFlags: see below . . spiFlags 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 0 0 0 0 0 0 R T 0 0 0 0 0 0 0 0 0 0 0 p m m . . mm defines the SPI mode, defaults to 0 . . Mode CPOL CPHA 0 0 0 1 0 1 2 1 0 3 1 1 . . p is 0 if CS is active low (default) and 1 for active high. T is 1 if the least significant bit is transmitted on MOSI first, the default (0) shifts the most significant bit out first. R is 1 if the least significant bit is received on MISO first, the default (0) receives the most significant bit first. The other bits in flags should be set to zero. Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SPI_BAUD, or PI_GPIO_IN_USE. If more than one device is connected to the SPI bus (defined by SCLK, MOSI, and MISO) each must have its own CS. ... bbSPIOpen(10, MISO, MOSI, SCLK, 10000, 0); // device 1 bbSPIOpen(11, MISO, MOSI, SCLK, 20000, 3); // device 2 ... D*/ /*F*/ int bbSPIClose(unsigned CS); /*D This function stops bit banging SPI on a set of GPIO opened with [*bbSPIOpen*]. . . CS: 0-31, the CS GPIO used in a prior call to [*bbSPIOpen*] . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SPI_GPIO. D*/ /*F*/ int bbSPIXfer( unsigned CS, char *inBuf, char *outBuf, unsigned count); /*D This function executes a bit banged SPI transfer. . . CS: 0-31 (as used in a prior call to [*bbSPIOpen*]) inBuf: pointer to buffer to hold data to be sent outBuf: pointer to buffer to hold returned data count: size of data transfer . . Returns >= 0 if OK (the number of bytes read), otherwise PI_BAD_USER_GPIO, PI_NOT_SPI_GPIO or PI_BAD_POINTER. ... // gcc -Wall -pthread -o bbSPIx_test bbSPIx_test.c -lpigpio // sudo ./bbSPIx_test #include #include "pigpio.h" #define CE0 5 #define CE1 6 #define MISO 13 #define MOSI 19 #define SCLK 12 int main(int argc, char *argv[]) { int i, count, set_val, read_val; unsigned char inBuf[3]; char cmd1[] = {0, 0}; char cmd2[] = {12, 0}; char cmd3[] = {1, 128, 0}; if (gpioInitialise() < 0) { fprintf(stderr, "pigpio initialisation failed.\n"); return 1; } bbSPIOpen(CE0, MISO, MOSI, SCLK, 10000, 0); // MCP4251 DAC bbSPIOpen(CE1, MISO, MOSI, SCLK, 20000, 3); // MCP3008 ADC for (i=0; i<256; i++) { cmd1[1] = i; count = bbSPIXfer(CE0, cmd1, (char *)inBuf, 2); // > DAC if (count == 2) { count = bbSPIXfer(CE0, cmd2, (char *)inBuf, 2); // < DAC if (count == 2) { set_val = inBuf[1]; count = bbSPIXfer(CE1, cmd3, (char *)inBuf, 3); // < ADC if (count == 3) { read_val = ((inBuf[1]&3)<<8) | inBuf[2]; printf("%d %d\n", set_val, read_val); } } } } bbSPIClose(CE0); bbSPIClose(CE1); gpioTerminate(); return 0; } ... D*/ /*F*/ int spiOpen(unsigned spiChan, unsigned baud, unsigned spiFlags); /*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 . . spiChan: 0-1 (0-2 for the auxiliary SPI) baud: 32K-125M (values above 30M are unlikely to work) spiFlags: 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. spiFlags 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 [*spiRead*], [*spiWrite*], and [*spiXfer*] 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 spiClose(unsigned handle); /*D This functions closes the SPI device identified by the handle. . . handle: >=0, as returned by a call to [*spiOpen*] . . Returns 0 if OK, otherwise PI_BAD_HANDLE. D*/ /*F*/ int spiRead(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 [*spiOpen*] 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 spiWrite(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 [*spiOpen*] 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 spiXfer(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 [*spiOpen*] 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 serOpen(char *sertty, unsigned baud, unsigned serFlags); /*D This function opens a serial device at a specified baud rate and with specified flags. The device name must start with /dev/tty or /dev/serial. . . sertty: the serial device to open baud: the baud rate in bits per second, see below serFlags: 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 serClose(unsigned handle); /*D This function closes the serial device associated with handle. . . handle: >=0, as returned by a call to [*serOpen*] . . Returns 0 if OK, otherwise PI_BAD_HANDLE. D*/ /*F*/ int serWriteByte(unsigned handle, unsigned bVal); /*D This function writes bVal to the serial port associated with handle. . . handle: >=0, as returned by a call to [*serOpen*] . . Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_SER_WRITE_FAILED. D*/ /*F*/ int serReadByte(unsigned handle); /*D This function reads a byte from the serial port associated with handle. . . handle: >=0, as returned by a call to [*serOpen*] . . 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 serWrite(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 [*serOpen*] 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 serRead(unsigned handle, char *buf, unsigned count); /*D 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 [*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, or PI_SER_READ_NO_DATA. If no data is ready zero is returned. D*/ /*F*/ int serDataAvailable(unsigned handle); /*D This function returns the number of bytes available to be read from the device associated with handle. . . handle: >=0, as returned by a call to [*serOpen*] . . Returns the number of bytes of data available (>=0) if OK, otherwise PI_BAD_HANDLE. D*/ /*F*/ int gpioTrigger(unsigned user_gpio, unsigned pulseLen, unsigned level); /*D This function sends a trigger pulse to a GPIO. The GPIO is set to level for pulseLen microseconds and then reset to not level. . . user_gpio: 0-31 pulseLen: 1-100 level: 0,1 . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_LEVEL, or PI_BAD_PULSELEN. D*/ /*F*/ int gpioSetWatchdog(unsigned user_gpio, unsigned timeout); /*D Sets a watchdog for a GPIO. . . user_gpio: 0-31 timeout: 0-60000 . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_WDOG_TIMEOUT. The watchdog is nominally in milliseconds. One watchdog may be registered per GPIO. The watchdog may be cancelled by setting timeout to 0. Until cancelled a timeout will be reported every timeout milliseconds after the last GPIO activity. In particular: 1) any registered alert function for the GPIO will be called with the level set to PI_TIMEOUT. 2) any notification for the GPIO will have a report written to the fifo with the flags set to indicate a watchdog timeout. ... void aFunction(int gpio, int level, uint32_t tick) { printf("GPIO %d became %d at %d", gpio, level, tick); } // call aFunction whenever GPIO 4 changes state gpioSetAlertFunc(4, aFunction); // or approximately every 5 millis gpioSetWatchdog(4, 5); ... D*/ /*F*/ int gpioNoiseFilter(unsigned user_gpio, unsigned steady, unsigned active); /*D Sets a noise filter on a GPIO. Level changes on the GPIO are ignored until a level which has been stable for [*steady*] microseconds is detected. Level changes on the GPIO are then reported for [*active*] microseconds after which the process repeats. . . user_gpio: 0-31 steady: 0-300000 active: 0-1000000 . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. This filter affects the GPIO samples returned to callbacks set up with [*gpioSetAlertFunc*], [*gpioSetAlertFuncEx*], [*gpioSetGetSamplesFunc*], and [*gpioSetGetSamplesFuncEx*]. It does not affect interrupts set up with [*gpioSetISRFunc*], [*gpioSetISRFuncEx*], or levels read by [*gpioRead*], [*gpioRead_Bits_0_31*], or [*gpioRead_Bits_32_53*]. Level changes before and after the active period may be reported. Your software must be designed to cope with such reports. D*/ /*F*/ int gpioGlitchFilter(unsigned user_gpio, unsigned steady); /*D Sets a glitch filter on a GPIO. Level changes on the GPIO are not reported unless the level has been stable for at least [*steady*] microseconds. The level is then reported. Level changes of less than [*steady*] microseconds are ignored. . . user_gpio: 0-31 steady: 0-300000 . . Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. This filter affects the GPIO samples returned to callbacks set up with [*gpioSetAlertFunc*], [*gpioSetAlertFuncEx*], [*gpioSetGetSamplesFunc*], and [*gpioSetGetSamplesFuncEx*]. It does not affect interrupts set up with [*gpioSetISRFunc*], [*gpioSetISRFuncEx*], or levels read by [*gpioRead*], [*gpioRead_Bits_0_31*], or [*gpioRead_Bits_32_53*]. Each (stable) edge will be timestamped [*steady*] microseconds after it was first detected. D*/ /*F*/ int gpioSetGetSamplesFunc(gpioGetSamplesFunc_t f, uint32_t bits); /*D Registers a function to be called (a callback) every millisecond with the latest GPIO samples. . . f: the function to call bits: the GPIO of interest . . Returns 0 if OK. The function is passed a pointer to the samples (an array of [*gpioSample_t*]), and the number of samples. Only one function can be registered. The callback may be cancelled by passing NULL as the function. The samples returned will be the union of bits, plus any active alerts, plus any active notifications. e.g. if there are alerts for GPIO 7, 8, and 9, notifications for GPIO 8, 10, 23, 24, and bits is (1<<23)|(1<<17) then samples for GPIO 7, 8, 9, 10, 17, 23, and 24 will be reported. D*/ /*F*/ int gpioSetGetSamplesFuncEx( gpioGetSamplesFuncEx_t f, uint32_t bits, void *userdata); /*D Registers a function to be called (a callback) every millisecond with the latest GPIO samples. . . f: the function to call bits: the GPIO of interest userdata: a pointer to arbitrary user data . . Returns 0 if OK. The function is passed a pointer to the samples (an array of [*gpioSample_t*]), the number of samples, and the userdata pointer. Only one of [*gpioGetSamplesFunc*] or [*gpioGetSamplesFuncEx*] can be registered. See [*gpioSetGetSamplesFunc*] for further details. D*/ /*F*/ int gpioSetTimerFunc(unsigned timer, unsigned millis, gpioTimerFunc_t f); /*D Registers a function to be called (a callback) every millis milliseconds. . . timer: 0-9 millis: 10-60000 f: the function to call . . Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. 10 timers are supported numbered 0 to 9. One function may be registered per timer. The timer may be cancelled by passing NULL as the function. ... void bFunction(void) { printf("two seconds have elapsed"); } // call bFunction every 2000 milliseconds gpioSetTimerFunc(0, 2000, bFunction); ... D*/ /*F*/ int gpioSetTimerFuncEx( unsigned timer, unsigned millis, gpioTimerFuncEx_t f, void *userdata); /*D Registers a function to be called (a callback) every millis milliseconds. . . timer: 0-9. millis: 10-60000 f: the function to call userdata: a pointer to arbitrary user data . . Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. The function is passed the userdata pointer. Only one of [*gpioSetTimerFunc*] or [*gpioSetTimerFuncEx*] can be registered per timer. See [*gpioSetTimerFunc*] for further details. D*/ /*F*/ pthread_t *gpioStartThread(gpioThreadFunc_t f, void *userdata); /*D Starts a new thread of execution with f as the main routine. . . f: the main function for the new thread userdata: a pointer to arbitrary user data . . Returns a pointer to pthread_t if OK, otherwise NULL. The function is passed the single argument arg. The thread can be cancelled by passing the pointer to pthread_t to [*gpioStopThread*]. ... #include #include void *myfunc(void *arg) { while (1) { printf("%s", arg); sleep(1); } } int main(int argc, char *argv[]) { pthread_t *p1, *p2, *p3; if (gpioInitialise() < 0) return 1; p1 = gpioStartThread(myfunc, "thread 1"); sleep(3); p2 = gpioStartThread(myfunc, "thread 2"); sleep(3); p3 = gpioStartThread(myfunc, "thread 3"); sleep(3); gpioStopThread(p3); sleep(3); gpioStopThread(p2); sleep(3); gpioStopThread(p1); sleep(3); gpioTerminate(); } ... D*/ /*F*/ void gpioStopThread(pthread_t *pth); /*D Cancels the thread pointed at by pth. . . pth: a thread pointer returned by [*gpioStartThread*] . . No value is returned. The thread to be stopped should have been started with [*gpioStartThread*]. D*/ /*F*/ int gpioStoreScript(char *script); /*D This function stores a null terminated script for later execution. See [[http://abyz.me.uk/rpi/pigpio/pigs.html#Scripts]] for details. . . script: the text of the script . . The function returns a script id if the script is valid, otherwise PI_BAD_SCRIPT. D*/ /*F*/ int gpioRunScript(unsigned script_id, unsigned numPar, uint32_t *param); /*D This function runs a stored script. . . script_id: >=0, as returned by [*gpioStoreScript*] 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 gpioRunScript(unsigned script_id, unsigned numPar, uint32_t *param); /*D This function runs a stored script. . . script_id: >=0, as returned by [*gpioStoreScript*] 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 gpioUpdateScript(unsigned script_id, unsigned numPar, uint32_t *param); /*D This function sets the parameters of a script. The script may or may not be running. The first numPar parameters of the script are overwritten with the new values. . . script_id: >=0, as returned by [*gpioStoreScript*] 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 gpioScriptStatus(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 [*gpioStoreScript*] 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 gpioStopScript(unsigned script_id); /*D This function stops a running script. . . script_id: >=0, as returned by [*gpioStoreScript*] . . The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. D*/ /*F*/ int gpioDeleteScript(unsigned script_id); /*D This function deletes a stored script. . . script_id: >=0, as returned by [*gpioStoreScript*] . . The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. D*/ /*F*/ int gpioSetSignalFunc(unsigned signum, gpioSignalFunc_t f); /*D Registers a function to be called (a callback) when a signal occurs. . . signum: 0-63 f: the callback function . . Returns 0 if OK, otherwise PI_BAD_SIGNUM. The function is passed the signal number. One function may be registered per signal. The callback may be cancelled by passing NULL. By default all signals are treated as fatal and cause the library to call gpioTerminate and then exit. D*/ /*F*/ int gpioSetSignalFuncEx( unsigned signum, gpioSignalFuncEx_t f, void *userdata); /*D Registers a function to be called (a callback) when a signal occurs. . . signum: 0-63 f: the callback function userdata: a pointer to arbitrary user data . . Returns 0 if OK, otherwise PI_BAD_SIGNUM. The function is passed the signal number and the userdata pointer. Only one of gpioSetSignalFunc or gpioSetSignalFuncEx can be registered per signal. See gpioSetSignalFunc for further details. D*/ /*F*/ uint32_t gpioRead_Bits_0_31(void); /*D Returns the current level of GPIO 0-31. D*/ /*F*/ uint32_t gpioRead_Bits_32_53(void); /*D Returns the current level of GPIO 32-53. D*/ /*F*/ int gpioWrite_Bits_0_31_Clear(uint32_t bits); /*D Clears GPIO 0-31 if the corresponding bit in bits is set. . . bits: a bit mask of GPIO to clear . . Returns 0 if OK. ... // To clear (set to 0) GPIO 4, 7, and 15 gpioWrite_Bits_0_31_Clear( (1<<4) | (1<<7) | (1<<15) ); ... D*/ /*F*/ int gpioWrite_Bits_32_53_Clear(uint32_t bits); /*D Clears GPIO 32-53 if the corresponding bit (0-21) in bits is set. . . bits: a bit mask of GPIO to clear . . Returns 0 if OK. D*/ /*F*/ int gpioWrite_Bits_0_31_Set(uint32_t bits); /*D Sets GPIO 0-31 if the corresponding bit in bits is set. . . bits: a bit mask of GPIO to set . . Returns 0 if OK. D*/ /*F*/ int gpioWrite_Bits_32_53_Set(uint32_t bits); /*D Sets GPIO 32-53 if the corresponding bit (0-21) in bits is set. . . bits: a bit mask of GPIO to set . . Returns 0 if OK. ... // To set (set to 1) GPIO 32, 40, and 53 gpioWrite_Bits_32_53_Set((1<<(32-32)) | (1<<(40-32)) | (1<<(53-32))); ... D*/ /*F*/ int gpioHardwareClock(unsigned gpio, unsigned clkfreq); /*D Starts a hardware clock on a GPIO at the specified frequency. Frequencies above 30MHz are unlikely to work. . . gpio: see description clkfreq: 0 (off) or 4689-250M (13184-375M for the BCM2711) . . Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HCLK_GPIO, PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS. The same clock is available on multiple GPIO. The latest frequency setting will be used by all GPIO which share a clock. The GPIO must be one of the following. . . 4 clock 0 All models 5 clock 1 All models but A and B (reserved for system use) 6 clock 2 All models but A and B 20 clock 0 All models but A and B 21 clock 1 All models but A and Rev.2 B (reserved for system use) 32 clock 0 Compute module only 34 clock 0 Compute module only 42 clock 1 Compute module only (reserved for system use) 43 clock 2 Compute module only 44 clock 1 Compute module only (reserved for system use) . . Access to clock 1 is protected by a password as its use will likely crash the Pi. The password is given by or'ing 0x5A000000 with the GPIO number. D*/ /*F*/ int gpioHardwarePWM(unsigned gpio, unsigned PWMfreq, unsigned PWMduty); /*D Starts hardware PWM on a GPIO at the specified frequency and dutycycle. Frequencies above 30MHz are unlikely to work. NOTE: Any waveform started by [*gpioWaveTxSend*], or [*gpioWaveChain*] will be cancelled. This function is only valid if the pigpio main clock is PCM. The main clock defaults to PCM but may be overridden by a call to [*gpioCfgClock*]. . . gpio: see description PWMfreq: 0 (off) or 1-125M (1-187.5M for the BCM2711) PWMduty: 0 (off) to 1000000 (1M)(fully on) . . Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HPWM_GPIO, PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ, or PI_HPWM_ILLEGAL. The same PWM channel is available on multiple GPIO. The latest frequency and dutycycle setting will be used by all GPIO which share a PWM channel. The GPIO must be one of the following. . . 12 PWM channel 0 All models but A and B 13 PWM channel 1 All models but A and B 18 PWM channel 0 All models 19 PWM channel 1 All models but A and B 40 PWM channel 0 Compute module only 41 PWM channel 1 Compute module only 45 PWM channel 1 Compute module only 52 PWM channel 0 Compute module only 53 PWM channel 1 Compute module only . . The actual number of steps beween off and fully on is the integral part of 250M/PWMfreq (375M/PWMfreq for the BCM2711). The actual frequency set is 250M/steps (375M/steps for the BCM2711). There will only be a million steps for a PWMfreq of 250 (375 for the BCM2711). Lower frequencies will have more steps and higher frequencies will have fewer steps. PWMduty is automatically scaled to take this into account. D*/ /*F*/ int gpioTime(unsigned timetype, int *seconds, int *micros); /*D Updates the seconds and micros variables with the current time. . . timetype: 0 (relative), 1 (absolute) seconds: a pointer to an int to hold seconds micros: a pointer to an int to hold microseconds . . Returns 0 if OK, otherwise PI_BAD_TIMETYPE. If timetype is PI_TIME_ABSOLUTE updates seconds and micros with the number of seconds and microseconds since the epoch (1st January 1970). If timetype is PI_TIME_RELATIVE updates seconds and micros with the number of seconds and microseconds since the library was initialised. ... int secs, mics; // print the number of seconds since the library was started gpioTime(PI_TIME_RELATIVE, &secs, &mics); printf("library started %d.%03d seconds ago", secs, mics/1000); ... D*/ /*F*/ int gpioSleep(unsigned timetype, int seconds, int micros); /*D Sleeps for the number of seconds and microseconds specified by seconds and micros. . . timetype: 0 (relative), 1 (absolute) seconds: seconds to sleep micros: microseconds to sleep . . Returns 0 if OK, otherwise PI_BAD_TIMETYPE, PI_BAD_SECONDS, or PI_BAD_MICROS. If timetype is PI_TIME_ABSOLUTE the sleep ends when the number of seconds and microseconds since the epoch (1st January 1970) has elapsed. System clock changes are taken into account. If timetype is PI_TIME_RELATIVE the sleep is for the specified number of seconds and microseconds. System clock changes do not effect the sleep length. For short delays (say, 50 microseonds or less) use [*gpioDelay*]. ... gpioSleep(PI_TIME_RELATIVE, 2, 500000); // sleep for 2.5 seconds gpioSleep(PI_TIME_RELATIVE, 0, 100000); // sleep for 0.1 seconds gpioSleep(PI_TIME_RELATIVE, 60, 0); // sleep for one minute ... D*/ /*F*/ uint32_t gpioDelay(uint32_t micros); /*D Delays for at least the number of microseconds specified by micros. . . micros: the number of microseconds to sleep . . Returns the actual length of the delay in microseconds. Delays of 100 microseconds or less use busy waits. D*/ /*F*/ uint32_t gpioTick(void); /*D Returns the current system tick. Tick is the number of microseconds since system boot. As tick is an unsigned 32 bit quantity it wraps around after 2^32 microseconds, which is approximately 1 hour 12 minutes. You don't need to worry about the wrap around as long as you take a tick (uint32_t) from another tick, i.e. the following code will always provide the correct difference. ... uint32_t startTick, endTick; int diffTick; startTick = gpioTick(); // do some processing endTick = gpioTick(); diffTick = endTick - startTick; printf("some processing took %d microseconds", diffTick); ... D*/ /*F*/ unsigned gpioHardwareRevision(void); /*D Returns the hardware revision. If the hardware revision can not be found or is not a valid hexadecimal number the function returns 0. The hardware revision is the last few characters on the Revision line of /proc/cpuinfo. The revision number can be used to determine the assignment of GPIO to pins (see [*gpio*]). There are at least three types of board. Type 1 boards have hardware revision numbers of 2 and 3. Type 2 boards have hardware revision numbers of 4, 5, 6, and 15. Type 3 boards have hardware revision numbers of 16 or greater. for "Revision : 0002" the function returns 2. for "Revision : 000f" the function returns 15. for "Revision : 000g" the function returns 0. D*/ /*F*/ unsigned gpioVersion(void); /*D 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 eventMonitor(unsigned handle, uint32_t bits); /*D This function selects the events to be reported on a previously opened handle. . . handle: >=0, as returned by [*gpioNotifyOpen*] bits: a bit mask indicating the events of interest . . Returns 0 if OK, otherwise PI_BAD_HANDLE. A report is sent each time an event is triggered providing the corresponding bit in bits is set. See [*gpioNotifyBegin*] for the notification format. ... // Start reporting events 3, 6, and 7. // bit 76543210 // (0xC8 = 0b11001000) eventMonitor(h, 0xC8); ... D*/ /*F*/ int eventSetFunc(unsigned event, eventFunc_t f); /*D Registers a function to be called (a callback) when the specified event occurs. . . event: 0-31 f: the callback function . . Returns 0 if OK, otherwise PI_BAD_EVENT_ID. One function may be registered per event. The function is passed the event, and the tick. The callback may be cancelled by passing NULL as the function. D*/ /*F*/ int eventSetFuncEx(unsigned event, eventFuncEx_t f, void *userdata); /*D Registers a function to be called (a callback) when the specified event occurs. . . event: 0-31 f: the callback function userdata: pointer to arbitrary user data . . Returns 0 if OK, otherwise PI_BAD_EVENT_ID. One function may be registered per event. The function is passed the event, the tick, and the ueserdata pointer. The callback may be cancelled by passing NULL as the function. Only one of [*eventSetFunc*] or [*eventSetFuncEx*] can be registered per event. D*/ /*F*/ int eventTrigger(unsigned event); /*D This function signals the occurrence of an event. . . event: 0-31, the event . . Returns 0 if OK, otherwise PI_BAD_EVENT_ID. An event is a signal used to inform one or more consumers to start an action. Each consumer which has registered an interest in the event (e.g. by calling [*eventSetFunc*]) will be informed by a callback. One event, PI_EVENT_BSC (31) is predefined. This event is auto generated on BSC slave activity. The meaning of other events is arbitrary. Note that other than its id and its tick there is no data associated with an event. 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 #include 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 #include 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 Configures pigpio to buffer cfgMillis milliseconds of GPIO samples. This function is only effective if called before [*gpioInitialise*]. . . cfgMillis: 100-10000 . . The default setting is 120 milliseconds. The intention is to allow for bursts of data and protection against other processes hogging cpu time. I haven't seen a process locked out for more than 100 milliseconds. Making the buffer bigger uses a LOT of memory at the more frequent sampling rates as shown in the following table in MBs. . . buffer milliseconds 120 250 500 1sec 2sec 4sec 8sec 1 16 31 55 107 --- --- --- 2 10 18 31 55 107 --- --- sample 4 8 12 18 31 55 107 --- rate 5 8 10 14 24 45 87 --- (us) 8 6 8 12 18 31 55 107 10 6 8 10 14 24 45 87 . . D*/ /*F*/ int gpioCfgClock( unsigned cfgMicros, unsigned cfgPeripheral, unsigned cfgSource); /*D Configures pigpio to use a particular sample rate timed by a specified peripheral. This function is only effective if called before [*gpioInitialise*]. . . cfgMicros: 1, 2, 4, 5, 8, 10 cfgPeripheral: 0 (PWM), 1 (PCM) cfgSource: deprecated, value is ignored . . The timings are provided by the specified peripheral (PWM or PCM). The default setting is 5 microseconds using the PCM peripheral. The approximate CPU percentage used for each sample rate is: . . sample cpu rate % 1 25 2 16 4 11 5 10 8 15 10 14 . . A sample rate of 5 microseconds seeems to be the sweet spot. D*/ /*F*/ int gpioCfgDMAchannel(unsigned DMAchannel); /* DEPRECATED */ /*D Configures pigpio to use the specified DMA channel. This function is only effective if called before [*gpioInitialise*]. . . DMAchannel: 0-14 . . The default setting is to use channel 14. D*/ /*F*/ int gpioCfgDMAchannels(unsigned primaryChannel, unsigned secondaryChannel); /*D Configures pigpio to use the specified DMA channels. This function is only effective if called before [*gpioInitialise*]. . . primaryChannel: 0-14 secondaryChannel: 0-14 . . The default setting depends on whether the Pi has a BCM2711 chip or not (currently only the Pi4B has a BCM2711). The default setting for a non-BCM2711 is to use channel 14 for the primary channel and channel 6 for the secondary channel. The default setting for a BCM2711 is to use channel 7 for the primary channel and channel 6 for the secondary channel. The secondary channel is only used for the transmission of waves. If possible use one of channels 0 to 6 for the secondary channel (a full channel). A full channel only requires one DMA control block regardless of the length of a pulse delay. Channels 7 to 14 (lite channels) require one DMA control block for each 16383 microseconds of delay. I.e. a 10 second pulse delay requires one control block on a full channel and 611 control blocks on a lite channel. D*/ /*F*/ int gpioCfgPermissions(uint64_t updateMask); /*D Configures pigpio to restrict GPIO updates via the socket or pipe interfaces to the GPIO specified by the mask. Programs directly calling the pigpio library (i.e. linked with -lpigpio are not affected). A GPIO update is a write to a GPIO or a GPIO mode change or any function which would force such an action. This function is only effective if called before [*gpioInitialise*]. . . updateMask: bit (1<=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 gpioCustom2(unsigned arg1, char *argx, unsigned argc, char *retBuf, unsigned retMax); /*D This function is available for user customisation. It differs from gpioCustom1 in that it returns an array of bytes rather than just an integer. The returned value is an integer indicating the number of returned bytes. . . arg1: >=0 argx: extra (byte) arguments argc: number of extra arguments retBuf: buffer for returned bytes retMax: maximum number of bytes to return . . Returns >= 0 if OK, less than 0 indicates a user defined error. The number of returned bytes must be retMax or less. D*/ /*F*/ int rawWaveAddSPI( rawSPI_t *spi, unsigned offset, unsigned spiSS, char *buf, unsigned spiTxBits, unsigned spiBitFirst, unsigned spiBitLast, unsigned spiBits); /*D This function adds a waveform representing SPI data to the existing waveform (if any). . . spi: a pointer to a spi object offset: microseconds from the start of the waveform spiSS: the slave select GPIO buf: the bits to transmit, most significant bit first spiTxBits: the number of bits to write spiBitFirst: the first bit to read spiBitLast: the last bit to read spiBits: the number of bits to transfer . . Returns the new total number of pulses in the current waveform if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SER_OFFSET, or PI_TOO_MANY_PULSES. Not intended for general use. D*/ /*F*/ int rawWaveAddGeneric(unsigned numPulses, rawWave_t *pulses); /*D This function adds a number of pulses to the current waveform. . . numPulses: the number of pulses pulses: the array containing the pulses . . Returns the new total number of pulses in the current waveform if OK, otherwise PI_TOO_MANY_PULSES. The advantage of this function over gpioWaveAddGeneric is that it allows the setting of the flags field. The pulses are interleaved in time order within the existing waveform (if any). Merging allows the waveform to be built in parts, that is the settings for GPIO#1 can be added, and then GPIO#2 etc. If the added waveform is intended to start after or within the existing waveform then the first pulse should consist of a delay. Not intended for general use. D*/ /*F*/ unsigned rawWaveCB(void); /*D Returns the number of the cb being currently output. Not intended for general use. D*/ /*F*/ rawCbs_t *rawWaveCBAdr(int cbNum); /*D Return the (Linux) address of contol block cbNum. . . cbNum: the cb of interest . . Not intended for general use. D*/ /*F*/ uint32_t rawWaveGetOOL(int pos); /*D Gets the OOL parameter stored at pos. . . pos: the position of interest. . . Not intended for general use. D*/ /*F*/ void rawWaveSetOOL(int pos, uint32_t lVal); /*D Sets the OOL parameter stored at pos to value. . . pos: the position of interest lVal: the value to write . . Not intended for general use. D*/ /*F*/ uint32_t rawWaveGetOut(int pos); /*D Gets the wave output parameter stored at pos. DEPRECATED: use rawWaveGetOOL instead. . . pos: the position of interest. . . Not intended for general use. D*/ /*F*/ void rawWaveSetOut(int pos, uint32_t lVal); /*D Sets the wave output parameter stored at pos to value. DEPRECATED: use rawWaveSetOOL instead. . . pos: the position of interest lVal: the value to write . . Not intended for general use. D*/ /*F*/ uint32_t rawWaveGetIn(int pos); /*D Gets the wave input value parameter stored at pos. DEPRECATED: use rawWaveGetOOL instead. . . pos: the position of interest . . Not intended for general use. D*/ /*F*/ void rawWaveSetIn(int pos, uint32_t lVal); /*D Sets the wave input value stored at pos to value. DEPRECATED: use rawWaveSetOOL instead. . . pos: the position of interest lVal: the value to write . . Not intended for general use. D*/ /*F*/ rawWaveInfo_t rawWaveInfo(int wave_id); /*D Gets details about the wave with id wave_id. . . wave_id: the wave of interest . . Not intended for general use. D*/ /*F*/ int getBitInBytes(int bitPos, char *buf, int numBits); /*D Returns the value of the bit bitPos bits from the start of buf. Returns 0 if bitPos is greater than or equal to numBits. . . bitPos: bit index from the start of buf buf: array of bits numBits: number of valid bits in buf . . D*/ /*F*/ void putBitInBytes(int bitPos, char *buf, int bit); /*D Sets the bit bitPos bits from the start of buf to bit. . . bitPos: bit index from the start of buf buf: array of bits bit: 0-1, value to set . . D*/ /*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 sleep . . D*/ /*F*/ void rawDumpWave(void); /*D Used to print a readable version of the current waveform to stderr. Not intended for general use. D*/ /*F*/ void rawDumpScript(unsigned script_id); /*D Used to print a readable version of a script to stderr. . . script_id: >=0, a script_id returned by [*gpioStoreScript*] . . Not intended for general use. D*/ #ifdef __cplusplus } #endif /*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). 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. bitPos:: A bit position within a byte or word. The least significant bit is position 0. 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 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 [*gpioHardwareRevision*]. 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 - - - - . . gpioAlertFunc_t:: . . typedef void (*gpioAlertFunc_t) (int gpio, int level, uint32_t tick); . . gpioAlertFuncEx_t:: . . typedef void (*eventFuncEx_t) (int event, int level, uint32_t tick, void *userdata); . . gpioCfg*:: These functions are only effective if called before [*gpioInitialise*]. [*gpioCfgBufferSize*] [*gpioCfgClock*] [*gpioCfgDMAchannel*] [*gpioCfgDMAchannels*] [*gpioCfgPermissions*] [*gpioCfgInterfaces*] [*gpioCfgSocketPort*] [*gpioCfgMemAlloc*] gpioGetSamplesFunc_t:: . . typedef void (*gpioGetSamplesFunc_t) (const gpioSample_t *samples, int numSamples); . . gpioGetSamplesFuncEx_t:: . . typedef void (*gpioGetSamplesFuncEx_t) (const gpioSample_t *samples, int numSamples, void *userdata); . . gpioISRFunc_t:: . . typedef void (*gpioISRFunc_t) (int gpio, int level, uint32_t tick); . . gpioISRFuncEx_t:: . . typedef void (*gpioISRFuncEx_t) (int gpio, int level, uint32_t tick, void *userdata); . . gpioPulse_t:: . . typedef struct { uint32_t gpioOn; uint32_t gpioOff; uint32_t usDelay; } gpioPulse_t; . . gpioSample_t:: . . typedef struct { uint32_t tick; uint32_t level; } gpioSample_t; . . gpioSignalFunc_t:: . . typedef void (*gpioSignalFunc_t) (int signum); . . gpioSignalFuncEx_t:: . . typedef void (*gpioSignalFuncEx_t) (int signum, void *userdata); . . gpioThreadFunc_t:: . . typedef void *(gpioThreadFunc_t) (void *); . . gpioTimerFunc_t:: . . typedef void (*gpioTimerFunc_t) (void); . . gpioTimerFuncEx_t:: . . typedef void (*gpioTimerFuncEx_t) (void *userdata); . . gpioWaveAdd*:: One of [*gpioWaveAddNew*] [*gpioWaveAddGeneric*] [*gpioWaveAddSerial*] handle::>=0 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. i2cBus::>=0 An I2C bus number. i2cFlags::0 Flags which modify an I2C open command. None are currently defined. i2cReg:: 0-255 A register of an I2C device. ifFlags::0-3 . . PI_DISABLE_FIFO_IF 1 PI_DISABLE_SOCK_IF 2 . . *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. int32_t:: A 32-bit signed value. 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 [*gpioSetWatchdog*]. . . PI_TIMEOUT 2 . . lVal::0-4294967295 (Hex 0x0-0xFFFFFFFF, Octal 0-37777777777) A 32-bit word value. memAllocMode:: 0-2 The DMA memory allocation mode. . . PI_MEM_ALLOC_AUTO 0 PI_MEM_ALLOC_PAGEMAP 1 PI_MEM_ALLOC_MAILBOX 2 . . *micros:: A value representing microseconds. micros:: A value representing microseconds. millis:: A value representing milliseconds. MISO:: The GPIO used for the MISO signal when bit banging SPI. mode:: 1. 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 . . 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 . . MOSI:: The GPIO used for the MOSI signal when bit banging SPI. numBits:: The number of bits stored in a buffer. 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. numSegs:: The number of segments in a combined I2C transaction. numSockAddr:: The number of network addresses allowed to use the socket interface. 0 means all addresses allowed. 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. 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. pctBOOL:: 0-100 percent On-Off-Level (OOL) buffer to consume for wave output. pctCB:: 0-100 the percent of all DMA control blocks to consume. pctTOOL:: 0-100 the percent of OOL buffer to consume for wave input (flags). pi_i2c_msg_t:: . . typedef struct { uint16_t addr; // slave address uint16_t flags; uint16_t len; // msg length uint8_t *buf; // pointer to msg data } pi_i2c_msg_t; . . port:: 1024-32000 The port used to bind to the pigpio socket. Defaults to 8888. pos:: The position of an item. primaryChannel:: 0-15 The DMA channel used to time the sampling of GPIO and to time servo and PWM pulses. *pth:: A thread identifier, returned by [*gpioStartThread*]. 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. . . PI_HW_PWM_RANGE 1000000 . . PWMfreq::1-125M (1-187.5M for the BCM2711) The hardware PWM frequency. . . PI_HW_PWM_MIN_FREQ 1 PI_HW_PWM_MAX_FREQ 125000000 PI_HW_PWM_MAX_FREQ_2711 187500000 . . range::25-40000 . . PI_MIN_DUTYCYCLE_RANGE 25 PI_MAX_DUTYCYCLE_RANGE 40000 . . rawCbs_t:: . . typedef struct // linux/arch/arm/mach-bcm2708/include/mach/dma.h { unsigned long info; unsigned long src; unsigned long dst; unsigned long length; unsigned long stride; unsigned long next; unsigned long pad[2]; } rawCbs_t; . . rawSPI_t:: . . typedef struct { int clk; // GPIO for clock int mosi; // GPIO for MOSI int miso; // GPIO for MISO int ss_pol; // slave select off state int ss_us; // delay after slave select int clk_pol; // clock off state int clk_pha; // clock phase int clk_us; // clock micros } rawSPI_t; . . rawWave_t:: . . typedef struct { uint32_t gpioOn; uint32_t gpioOff; uint32_t usDelay; uint32_t flags; } rawWave_t; . . rawWaveInfo_t:: . . typedef struct { uint16_t botCB; // first CB used by wave uint16_t topCB; // last CB used by wave uint16_t botOOL; // last OOL used by wave uint16_t topOOL; // first OOL used by wave uint16_t deleted; uint16_t numCB; uint16_t numBOOL; uint16_t numTOOL; } rawWaveInfo_t; . . *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. SCLK:: The GPIO used for the SCLK signal when bit banging SPI. *script:: A pointer to the text of a script. script_id:: An id of a stored script as returned by [*gpioStoreScript*]. *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 The DMA channel used to time output waveforms. *seconds:: A pointer to a uint32_t to store the second component of a returned time. 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). *segs:: An array of segments which make up a combined I2C transaction. serFlags:: Flags which modify a serial open command. None are currently defined. *sertty:: The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1. setting:: A value used to set a flag, 0 for false, non-zero for true. signum::0-63 . . PI_MIN_SIGNUM 0 PI_MAX_SIGNUM 63 . . size_t:: A standard type used to indicate the size of an object in bytes. *sockAddr:: An array of network addresses allowed to use the socket interface encoded as 32 bit numbers. E.g. address 192.168.1.66 would be encoded as 0x4201a8c0. *spi:: A pointer to a [*rawSPI_t*] structure. spiBitFirst:: GPIO reads are made from spiBitFirst to spiBitLast. spiBitLast:: GPIO reads are made from spiBitFirst to spiBitLast. spiBits:: The number of bits to transfer in a raw SPI transaction. spiChan:: A SPI channel, 0-2. spiFlags:: See [*spiOpen*] and [*bbSPIOpen*]. spiSS:: The SPI slave select GPIO in a raw SPI transaction. spiTxBits:: The number of bits to transfer dring a raw SPI transaction steady :: 0-300000 The number of microseconds level changes must be stable for before reporting the level changed ([*gpioGlitchFilter*]) or triggering the active part of a noise filter ([*gpioNoiseFilter*]). stop_bits::2-8 The number of (half) stop bits to be used when adding serial data to a waveform. . . PI_MIN_WAVE_HALFSTOPBITS 2 PI_MAX_WAVE_HALFSTOPBITS 8 . . *str:: An array of characters. timeout:: A GPIO level change timeout in milliseconds. [*gpioSetWatchdog*] . . PI_MIN_WDOG_TIMEOUT 0 PI_MAX_WDOG_TIMEOUT 60000 . . [*gpioSetISRFunc*] and [*gpioSetISRFuncEx*] . . <=0 cancel timeout >0 timeout after specified milliseconds . . timer:: . . PI_MIN_TIMER 0 PI_MAX_TIMER 9 . . timetype:: . . PI_TIME_RELATIVE 0 PI_TIME_ABSOLUTE 1 . . *txBuf:: An array of bytes to transmit. uint32_t::0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF) A 32-bit unsigned value. uint64_t::0-(2^64)-1 A 64-bit unsigned value. unsigned:: A whole number >= 0. updateMask:: A 64 bit mask indicating which GPIO may be written to by the user. If GPIO#n may be written then bit (1< 4 #define PI_BAD_CHANNEL -27 // DMA channel not 0-15 #define PI_BAD_PRIM_CHANNEL -27 // DMA primary channel not 0-15 #define PI_BAD_SOCKET_PORT -28 // socket port not 1024-32000 #define PI_BAD_FIFO_COMMAND -29 // unrecognized fifo command #define PI_BAD_SECO_CHANNEL -30 // DMA secondary channel not 0-15 #define PI_NOT_INITIALISED -31 // function called before gpioInitialise #define PI_INITIALISED -32 // function called after gpioInitialise #define PI_BAD_WAVE_MODE -33 // waveform mode not 0-3 #define PI_BAD_CFG_INTERNAL -34 // bad parameter in gpioCfgInternals call #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 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 #define PI_SOME_PERMITTED -42 // one or more GPIO not permitted #define PI_BAD_WVSC_COMMND -43 // bad WVSC subcommand #define PI_BAD_WVSM_COMMND -44 // bad WVSM subcommand #define PI_BAD_WVSP_COMMND -45 // bad WVSP subcommand #define PI_BAD_PULSELEN -46 // trigger pulse length not 1-100 #define PI_BAD_SCRIPT -47 // invalid script #define PI_BAD_SCRIPT_ID -48 // unknown script id #define PI_BAD_SER_OFFSET -49 // add serial data offset > 30 minutes #define PI_GPIO_IN_USE -50 // GPIO already in use #define PI_BAD_SERIAL_COUNT -51 // must read at least a byte at a time #define PI_BAD_PARAM_NUM -52 // script parameter id not 0-9 #define PI_DUP_TAG -53 // script has duplicate tag #define PI_TOO_MANY_TAGS -54 // script has too many tags #define PI_BAD_SCRIPT_CMD -55 // illegal script command #define PI_BAD_VAR_NUM -56 // script variable id not 0-149 #define PI_NO_SCRIPT_ROOM -57 // no more room for scripts #define PI_NO_MEMORY -58 // can't allocate temporary memory #define PI_SOCK_READ_FAILED -59 // socket read failed #define PI_SOCK_WRIT_FAILED -60 // socket write failed #define PI_TOO_MANY_PARAM -61 // too many script parameters (> 10) #define PI_NOT_HALTED -62 // DEPRECATED #define PI_SCRIPT_NOT_READY -62 // script initialising #define PI_BAD_TAG -63 // script has unresolved tag #define PI_BAD_MICS_DELAY -64 // bad MICS delay (too large) #define PI_BAD_MILS_DELAY -65 // bad MILS delay (too large) #define PI_BAD_WAVE_ID -66 // non existent wave id #define PI_TOO_MANY_CBS -67 // No more CBs for waveform #define PI_TOO_MANY_OOL -68 // No more OOL for waveform #define PI_EMPTY_WAVEFORM -69 // attempt to create an empty waveform #define PI_NO_WAVEFORM_ID -70 // no more waveforms #define PI_I2C_OPEN_FAILED -71 // can't open I2C device #define PI_SER_OPEN_FAILED -72 // can't open serial device #define PI_SPI_OPEN_FAILED -73 // can't open SPI device #define PI_BAD_I2C_BUS -74 // bad I2C bus #define PI_BAD_I2C_ADDR -75 // bad I2C address #define PI_BAD_SPI_CHANNEL -76 // bad SPI channel #define PI_BAD_FLAGS -77 // bad i2c/spi/ser open flags #define PI_BAD_SPI_SPEED -78 // bad SPI speed #define PI_BAD_SER_DEVICE -79 // bad serial device name #define PI_BAD_SER_SPEED -80 // bad serial baud rate #define PI_BAD_PARAM -81 // bad i2c/spi/ser parameter #define PI_I2C_WRITE_FAILED -82 // i2c write failed #define PI_I2C_READ_FAILED -83 // i2c read failed #define PI_BAD_SPI_COUNT -84 // bad SPI count #define PI_SER_WRITE_FAILED -85 // ser write failed #define PI_SER_READ_FAILED -86 // ser read failed #define PI_SER_READ_NO_DATA -87 // ser read no data available #define PI_UNKNOWN_COMMAND -88 // unknown command #define PI_SPI_XFER_FAILED -89 // spi xfer/read/write failed #define PI_BAD_POINTER -90 // bad (NULL) pointer #define PI_NO_AUX_SPI -91 // no auxiliary SPI on Pi A or B #define PI_NOT_PWM_GPIO -92 // GPIO is not in use for PWM #define PI_NOT_SERVO_GPIO -93 // GPIO is not in use for servo pulses #define PI_NOT_HCLK_GPIO -94 // GPIO has no hardware clock #define PI_NOT_HPWM_GPIO -95 // GPIO has no hardware PWM #define PI_BAD_HPWM_FREQ -96 // invalid hardware PWM frequency #define PI_BAD_HPWM_DUTY -97 // hardware PWM dutycycle not 0-1M #define PI_BAD_HCLK_FREQ -98 // invalid hardware clock frequency #define PI_BAD_HCLK_PASS -99 // need password to use hardware clock 1 #define PI_HPWM_ILLEGAL -100 // illegal, PWM in use for main clock #define PI_BAD_DATABITS -101 // serial data bits not 1-32 #define PI_BAD_STOPBITS -102 // serial (half) stop bits not 2-8 #define PI_MSG_TOOBIG -103 // socket/pipe message too big #define PI_BAD_MALLOC_MODE -104 // bad memory allocation mode #define PI_TOO_MANY_SEGS -105 // too many I2C transaction segments #define PI_BAD_I2C_SEG -106 // an I2C transaction segment failed #define PI_BAD_SMBUS_CMD -107 // SMBus command not supported by driver #define PI_NOT_I2C_GPIO -108 // no bit bang I2C in progress on GPIO #define PI_BAD_I2C_WLEN -109 // bad I2C write length #define PI_BAD_I2C_RLEN -110 // bad I2C read length #define PI_BAD_I2C_CMD -111 // bad I2C command #define PI_BAD_I2C_BAUD -112 // bad I2C baud rate, not 50-500k #define PI_CHAIN_LOOP_CNT -113 // bad chain loop count #define PI_BAD_CHAIN_LOOP -114 // empty chain loop #define PI_CHAIN_COUNTER -115 // too many chain counters #define PI_BAD_CHAIN_CMD -116 // bad chain command #define PI_BAD_CHAIN_DELAY -117 // bad chain delay micros #define PI_CHAIN_NESTING -118 // chain counters nested too deeply #define PI_CHAIN_TOO_BIG -119 // chain is too long #define PI_DEPRECATED -120 // deprecated function removed #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 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_BAD_SPI_BAUD -141 // bad SPI baud rate, not 50-500k #define PI_NOT_SPI_GPIO -142 // no bit bang SPI in progress on GPIO #define PI_BAD_EVENT_ID -143 // bad event id #define PI_CMD_INTERRUPTED -144 // Used by Python #define PI_NOT_ON_BCM2711 -145 // not available on BCM2711 #define PI_ONLY_ON_BCM2711 -146 // only available on BCM2711 #define PI_PIGIF_ERR_0 -2000 #define PI_PIGIF_ERR_99 -2099 #define PI_CUSTOM_ERR_0 -3000 #define PI_CUSTOM_ERR_999 -3999 /*DEF_E*/ /*DEF_S Defaults*/ #define PI_DEFAULT_BUFFER_MILLIS 120 #define PI_DEFAULT_CLK_MICROS 5 #define PI_DEFAULT_CLK_PERIPHERAL PI_CLOCK_PCM #define PI_DEFAULT_IF_FLAGS 0 #define PI_DEFAULT_FOREGROUND 0 #define PI_DEFAULT_DMA_CHANNEL 14 #define PI_DEFAULT_DMA_PRIMARY_CHANNEL 14 #define PI_DEFAULT_DMA_SECONDARY_CHANNEL 6 #define PI_DEFAULT_DMA_PRIMARY_CH_2711 7 #define PI_DEFAULT_DMA_SECONDARY_CH_2711 6 #define PI_DEFAULT_DMA_NOT_SET 15 #define PI_DEFAULT_SOCKET_PORT 8888 #define PI_DEFAULT_SOCKET_PORT_STR "8888" #define PI_DEFAULT_SOCKET_ADDR_STR "localhost" #define PI_DEFAULT_UPDATE_MASK_UNKNOWN 0x0000000FFFFFFCLL #define PI_DEFAULT_UPDATE_MASK_B1 0x03E7CF93 #define PI_DEFAULT_UPDATE_MASK_A_B2 0xFBC7CF9C #define PI_DEFAULT_UPDATE_MASK_APLUS_BPLUS 0x0080480FFFFFFCLL #define PI_DEFAULT_UPDATE_MASK_ZERO 0x0080000FFFFFFCLL #define PI_DEFAULT_UPDATE_MASK_PI2B 0x0080480FFFFFFCLL #define PI_DEFAULT_UPDATE_MASK_PI3B 0x0000000FFFFFFCLL #define PI_DEFAULT_UPDATE_MASK_PI4B 0x0000000FFFFFFCLL #define PI_DEFAULT_UPDATE_MASK_COMPUTE 0x00FFFFFFFFFFFFLL #define PI_DEFAULT_MEM_ALLOC_MODE PI_MEM_ALLOC_AUTO #define PI_DEFAULT_CFG_INTERNALS 0 /*DEF_E*/ #endif