| pigpio
pigpio C I/F
pigpiod
pigpiod C I/F
Python
pigs
piscope
Misc
Examples
Download
FAQ
Site Map
|
Socket Interface
pigpio provides a socket interface to many of its functions.
The socket interface is available whenever pigpio is running,
either because it has been started as a daemon, or it has been
linked in to a running user program.
The socket interface can be disabled by the program which
initialises the library. pigpiod offers the -k option to
disable the socket interface. User programs should call
gpioCfgInterfaces if they
wish to disable the socket interface.
pigpio listens for connections on port 8888 by default. This
default may be overridden when pigpio starts by the gpioCfgSocketPort function
call. The pigpio daemon uses this function to provide an
option to change the port number.
The pigs utility is an example of using the socket interface from
C.
Request
pigpio expects messages of type cmdCmd_t immediately followed with an
extension for a few commands.
The caller should fill in cmd, p1, p2, p3/res, and any extension as
needed. p3 will always be zero unless the command requires an
extension in which case p3 will be the length in bytes of the
extension.
The cmdCmd_t is echoed back with
the result, if any, in p3/res, and an extension immediately
afterwards for a few commands.
| COMMAND |
cmd
|
p1 |
p2 |
p3 |
Extension
|
| MODES |
0 |
gpio |
mode |
0 |
-
|
| MODEG |
1 |
gpio |
0 |
0 |
-
|
| PUD |
2 |
gpio |
pud |
0 |
-
|
| READ |
3 |
gpio |
0 |
0 |
-
|
| WRITE |
4 |
gpio |
level |
0 |
-
|
| PWM |
5 |
gpio |
dutycycle |
0 |
-
|
| PRS |
6 |
gpio |
range |
0 |
-
|
| PFS |
7 |
gpio |
frequency |
0 |
-
|
| SERVO |
8 |
gpio |
pulsewidth |
0 |
-
|
| WDOG |
9 |
gpio |
timeout |
0 |
-
|
| BR1 |
10 |
0 |
0 |
0 |
-
|
| BR2 |
11 |
0 |
0 |
0 |
-
|
| BC1 |
12 |
bits |
0 |
0 |
-
|
| BC2 |
13 |
bits |
0 |
0 |
-
|
| BS1 |
14 |
bits |
0 |
0 |
-
|
| BS2 |
15 |
bits |
0 |
0 |
-
|
| TICK |
16 |
0 |
0 |
0 |
-
|
| HWVER |
17 |
0 |
0 |
0 |
-
|
| NO |
18 |
0 |
0 |
0 |
-
|
| NB |
19 |
handle |
bits |
0 |
-
|
| NP |
20 |
handle |
0 |
0 |
-
|
| NC |
21 |
handle |
0 |
0 |
-
|
| PRG |
22 |
gpio |
0 |
0 |
-
|
| PFG |
23 |
gpio |
0 |
0 |
-
|
| PRRG |
24 |
gpio |
0 |
0 |
-
|
HELP
|
25 |
N/A
|
N/A
|
N/A
|
N/A
|
| PIGPV |
26 |
0 |
0 |
0 |
-
|
| WVCLR |
27 |
0 |
0 |
0 |
-
|
| WVAG |
28 |
0 |
0 |
12*X |
gpioPulse_t pulse[X] |
| WVAS |
29 |
gpio |
baud |
12+X |
uint32_t databits
uint32_t stophalfbits
uint32_t offset
uint8_t data[X] |
N/A
|
30 |
0 |
0 |
0 |
-
|
N/A
|
31 |
0 |
0 |
0 |
-
|
| WVBSY |
32 |
0 |
0 |
0 |
-
|
| WVHLT |
33 |
0 |
0 |
0 |
-
|
| WVSM |
34 |
subcmd |
0 |
0 |
-
|
| WVSP |
35 |
subcmd |
0 |
0 |
-
|
| WVSC |
36 |
subcmd |
0 |
0 |
-
|
| TRIG |
37 |
gpio |
pulselen |
4 |
uint32_t level |
| PROC |
38 |
0 |
0 |
X |
uint8_t text[X] |
| PROCD |
39 |
script_id |
0 |
0 |
-
|
| PROCR |
40 |
script_id |
0 |
4*X
|
uint32_t pars[X]
|
| PROCS |
41 |
script_id |
0 |
0 |
-
|
| SLRO |
42 |
gpio |
baud |
4 |
uint32_t databits
|
| SLR |
43 |
gpio |
count |
0 |
-
|
| SLRC |
44 |
gpio |
0 |
0 |
-
|
| PROCP |
45 |
script_id |
0 |
0 |
-
|
| MICS |
46 |
micros |
0 |
0 |
-
|
| MILS |
47 |
millis |
0 |
0 |
-
|
| PARSE |
48 |
N/A |
N/A
|
N/A
|
N/A |
| WVCRE |
49 |
0 |
0 |
0 |
-
|
| WVDEL |
50 |
wave_id |
0 |
0 |
-
|
| WVTX |
51 |
wave_id |
0 |
0 |
-
|
| WVTXR |
52 |
wave_id |
0 |
0 |
-
|
| WVNEW |
53 |
0 |
0 |
0 |
-
|
| I2CO |
54 |
bus |
device |
4 |
uint32_t flags |
| I2CC |
55 |
handle |
0 |
0 |
-
|
| I2CRD |
56 |
handle |
count |
0 |
-
|
| I2CWD |
57 |
handle |
0 |
X |
uint8_t data[X] |
| I2CWQ |
58 |
handle |
bit |
0 |
-
|
| I2CRS |
59 |
handle |
0 |
0 |
-
|
| I2CWS |
60 |
handle |
byte |
0 |
-
|
| I2CRB |
61 |
handle |
register |
0 |
-
|
| I2CWB |
62 |
handle |
register |
4 |
uint32_t byte |
| I2CRW |
63 |
handle |
register |
0 |
-
|
| I2CWW |
64 |
handle |
register |
4 |
uint32_t word |
| I2CRK |
65 |
handle |
register
|
0 |
-
|
| I2CWK |
66 |
handle |
register
|
X |
uint8_t bvs[X]
|
| I2CRI |
67 |
handle |
register
|
4 |
uint32_t num
|
| I2CWI |
68 |
handle |
register
|
X
|
uint8_t bvs[X]
|
| I2CPC |
69 |
handle |
register
|
4 |
uint32_t word
|
| I2CPK |
70 |
handle |
register
|
X
|
uint8_t data[X]
|
SPIO
|
71 |
channel |
baud |
4 |
uint32_t flags |
| SPIC |
72 |
handle |
0 |
0 |
-
|
| SPIR |
73 |
handle |
count |
0 |
-
|
| SPIW |
74 |
handle |
0 |
X |
uint8_t data[X] |
| SPIX |
75 |
handle |
0 |
X |
uint8_t data[X] |
| SERO |
76 |
baud |
flags |
X |
uint8_t device[X] |
| SERC |
77 |
handle |
0 |
0 |
-
|
| SERRB |
78 |
handle |
0 |
0 |
-
|
| SERWB |
79 |
handle |
byte |
0 |
-
|
| SERR |
80 |
handle |
count |
0 |
-
|
| SERW |
81 |
handle |
0 |
X |
uint8_t data[X] |
| SERDA |
82 |
handle |
0 |
0 |
-
|
GDC
|
83
|
gpio
|
0
|
0
|
-
|
GPW
|
84
|
gpio
|
0
|
0
|
-
|
HC
|
85
|
gpio
|
frequency
|
0
|
-
|
HP
|
86
|
gpio
|
frequency
|
4
|
uint32_t dutycycle
|
CF1
|
87
|
arg1
|
arg2
|
X
|
uint8_t argx[X]
|
CF2
|
88
|
arg1
|
retMax
|
X
|
uint8_t argx[X]
|
BI2CC
|
89
|
sda
|
0
|
0
|
-
|
BI2CO
|
90
|
sda
|
scl
|
4
|
uint32_t baud
|
BI2CZ
|
91
|
sda
|
0
|
X
|
uint8_t data[X]
|
I2CZ
|
92
|
handle
|
0
|
X
|
uint8_t data[X]
|
WVCHA
|
93
|
0
|
0
|
X
|
uint8_t data[X]
|
SLRI
|
94
|
gpio
|
invert
|
0
|
-
|
CGI
|
95
|
0
|
0
|
0
|
-
|
CSI
|
96
|
config
|
0
|
0
|
-
|
FG
|
97
|
gpio
|
steady
|
0
|
-
|
FN
|
98
|
gpio
|
steady
|
4
|
uint32_t active
|
| NOIB |
99 |
0 |
0 |
0 |
-
|
WVTXM
|
100
|
wave_id
|
mode
|
0
|
-
|
WVTAT
|
101
|
0
|
0
|
0
|
-
|
PADS
|
102
|
pad
|
strength
|
0
|
-
|
PADG
|
103
|
pad
|
0
|
0
|
-
|
FO
|
104
|
mode
|
0
|
X
|
uint8_t file[X]
|
FC
|
105
|
handle
|
0
|
0
|
-
|
FR
|
106
|
handle
|
count
|
0
|
-
|
FW
|
107
|
handle
|
0
|
X
|
uint8_t data[X]
|
FS
|
108
|
handle
|
offset
|
4
|
uint32_t from
|
FL
|
109
|
count
|
0
|
X
|
uint8_t pattern[X]
|
SHELL
|
110
|
len(name)
|
0
|
len(name)+
1+
len(string)
|
uint8_t name[len(name)]
uint8_t null (0)
uint8_t string[len(string)]
|
BSPIC
|
111
|
CS
|
0
|
0
|
-
|
BSPIO
|
112
|
CS
|
0
|
20
|
uint32_t MISO
uint32_t MOSI
uint32_t SCLK
uint32_t baud
uint32_t spi_flags
|
BSPIX
|
113
|
CS
|
0
|
X
|
uint8_t data[X]
|
BSCX
|
114
|
control
|
0
|
X
|
uint8_t data[X]
|
EVM
|
115
|
handle
|
bits
|
0
|
-
|
EVT
|
116
|
event
|
0
|
0
|
-
|
PROCU
|
117
|
script_id
|
0
|
4*X
|
uint32_t pars[X]
|
Response
The response has cmd/p1/p2 as in the request. p3/res holds
the return value. If the command returns additional values
they will be in the immediately following extension.
Normally res should be treated as a 32 bit signed value and will be
greater than or equal to zero. Upon failure res will be less
than 0 and contains an error code.
There are a few commands where the returned value should be
treated as a 32 bit unsigned value. These commands can not
fail. They are indicated with a * after the command
name.
Commands with an extension have the size of the extension in
bytes returned in res (or <0 on error as above).
| COMMAND |
cmd
|
p1
|
p2
|
res
|
Extension
|
| MODES |
0 |
-
|
-
|
0 |
-
|
| MODEG |
1 |
-
|
-
|
mode
|
-
|
| PUD |
2 |
-
|
-
|
0 |
-
|
| READ |
3 |
-
|
-
|
level
|
-
|
| WRITE |
4 |
-
|
-
|
0 |
-
|
| PWM |
5 |
-
|
-
|
0 |
-
|
| PRS |
6 |
-
|
-
|
0 |
-
|
| PFS |
7 |
-
|
-
|
0 |
-
|
| SERVO |
8 |
-
|
-
|
0 |
-
|
| WDOG |
9 |
-
|
-
|
0 |
-
|
| BR1 * |
10 |
-
|
-
|
bits
|
-
|
| BR2 * |
11 |
-
|
-
|
bits
|
-
|
| BC1 |
12 |
-
|
-
|
0 |
-
|
| BC2 |
13 |
-
|
-
|
0 |
-
|
| BS1 |
14 |
-
|
-
|
0 |
-
|
| BS2 |
15 |
-
|
-
|
0 |
-
|
TICK *
|
16 |
-
|
-
|
tick
|
-
|
HWVER *
|
17 |
-
|
-
|
version
|
-
|
| NO |
18 |
-
|
-
|
handle
|
-
|
| NB |
19 |
-
|
-
|
0 |
-
|
| NP |
20 |
-
|
-
|
0 |
-
|
| NC |
21 |
-
|
-
|
0 |
-
|
| PRG |
22 |
-
|
-
|
range
|
-
|
| PFG |
23 |
-
|
-
|
frequency
|
-
|
| PRRG |
24 |
-
|
-
|
real range
|
-
|
| HELP |
25 |
-
|
-
|
N/A
|
N/A
|
PIGPV *
|
26 |
-
|
-
|
version
|
-
|
| WVCLR |
27 |
-
|
-
|
0 |
-
|
| WVAG |
28 |
-
|
-
|
wave pulses
|
-
|
| WVAS |
29 |
-
|
-
|
wave pulses
|
-
|
N/A
|
30 |
-
|
-
|
-
|
-
|
N/A
|
31 |
-
|
-
|
-
|
-
|
| WVBSY |
32 |
-
|
-
|
busy (1) or not busy (0)
|
-
|
| WVHLT |
33 |
-
|
-
|
0 |
-
|
| WVSM |
34 |
-
|
-
|
wave micros
wave micros - high
wave micros - max
|
-
|
| WVSP |
35 |
-
|
-
|
wave pulses
wave pulses - high
wave pulses - max
|
-
|
| WVSC |
36 |
-
|
-
|
wave DMA CBs
wave DMA CBs - high
wave DMA CBs - max
|
-
|
| TRIG |
37 |
-
|
-
|
0
|
- |
| PROC |
38 |
-
|
-
|
script id
|
-
|
| PROCD |
39 |
-
|
-
|
0 |
-
|
| PROCR |
40 |
-
|
-
|
script status
|
- |
| PROCS |
41 |
-
|
-
|
0 |
-
|
| SLRO |
42 |
-
|
-
|
0
|
-
|
| SLR |
43 |
-
|
-
|
X
|
uint8_t data[X]
|
| SLRC |
44 |
-
|
-
|
0 |
-
|
| PROCP |
45 |
-
|
-
|
44 |
uint32_t script_status
uint32_t pars[10]
|
| MICS |
46 |
-
|
-
|
0 |
-
|
| MILS |
47 |
-
|
-
|
0 |
-
|
| PARSE |
48 |
-
|
-
|
N/A
|
- |
| WVCRE |
49 |
-
|
-
|
wave id
|
-
|
| WVDEL |
50 |
-
|
-
|
0 |
-
|
| WVTX |
51 |
-
|
-
|
wave DMA CBs
|
-
|
| WVTXR |
52 |
-
|
-
|
wave DMA CBs
|
-
|
| WVNEW |
53 |
-
|
-
|
0 |
-
|
| I2CO |
54 |
-
|
-
|
handle |
-
|
| I2CC |
55 |
-
|
-
|
0 |
-
|
| I2CRD |
56 |
-
|
-
|
X
|
uint8_t data[X]
|
| I2CWD |
57 |
-
|
-
|
0
|
-
|
| I2CWQ |
58 |
-
|
-
|
0 |
-
|
| I2CRS |
59 |
-
|
-
|
byte value
|
-
|
| I2CWS |
60 |
-
|
-
|
0 |
-
|
| I2CRB |
61 |
-
|
-
|
byte value
|
-
|
| I2CWB |
62 |
-
|
-
|
0
|
-
|
| I2CRW |
63 |
-
|
-
|
word value
|
-
|
| I2CWW |
64 |
-
|
-
|
0
|
-
|
| I2CRK |
65 |
-
|
-
|
0 |
-
|
| I2CWK |
66 |
-
|
-
|
0
|
-
|
| I2CRI |
67 |
-
|
-
|
X
|
uint8_t data[X]
|
| I2CWI |
68 |
-
|
-
|
0
|
-
|
| I2CPC |
69 |
-
|
-
|
word value
|
-
|
| I2CPK |
70 |
-
|
-
|
X
|
uint8_t data[X]
|
SPIO
|
71 |
-
|
-
|
handle
|
-
|
| SPIC |
72 |
-
|
-
|
0 |
-
|
| SPIR |
73 |
-
|
-
|
X
|
uint8_t data[X]
|
| SPIW |
74 |
-
|
-
|
0
|
-
|
| SPIX |
75 |
-
|
-
|
X |
uint8_t data[X] |
| SERO |
76 |
-
|
-
|
handle
|
- |
| SERC |
77 |
-
|
-
|
0 |
-
|
| SERRB |
78 |
-
|
-
|
byte value
|
-
|
| SERWB |
79 |
-
|
-
|
0 |
-
|
| SERR |
80 |
-
|
-
|
X
|
uint8_t data[X]
|
| SERW |
81 |
-
|
-
|
0
|
-
|
| SERDA |
82 |
-
|
-
|
data ready count
|
-
|
GDC
|
83
|
-
|
-
|
dutycycle
|
-
|
GPW
|
84
|
-
|
-
|
pulsewidth
|
-
|
HC
|
85
|
-
|
-
|
0
|
-
|
HP
|
86
|
-
|
-
|
0
|
-
|
CF1
|
87
|
-
|
-
|
value
|
-
|
CF2
|
88
|
-
|
-
|
X
|
uint8_t retBuf[X]
|
BI2CC
|
89
|
-
|
-
|
0
|
-
|
BI2CO
|
90
|
-
|
-
|
handle
|
-
|
BI2CZ
|
91
|
-
|
-
|
X
|
uint8_t data[X]
|
I2CZ
|
92
|
-
|
-
|
X
|
uint8_t data[X]
|
WVCHA
|
93
|
-
|
-
|
0
|
-
|
SLRI
|
94
|
-
|
-
|
0
|
-
|
CGI
|
95
|
-
|
-
|
config
|
-
|
CSI
|
96
|
-
|
-
|
0
|
-
|
FG
|
97
|
-
|
-
|
0
|
-
|
FN
|
98
|
-
|
-
|
0
|
-
|
| NOIB |
99 |
-
|
-
|
0 |
-
|
WVTXM
|
100
|
-
|
-
|
wave DMA CBs
|
-
|
WVTAT
|
101
|
-
|
-
|
wave id
|
-
|
PADS
|
102
|
-
|
-
|
0
|
-
|
PADG
|
103
|
-
|
-
|
strength
|
-
|
FO
|
104
|
-
|
-
|
handle
|
-
|
FC
|
105
|
-
|
-
|
0
|
-
|
FR
|
106
|
-
|
-
|
X
|
uint8_t data[X]
|
FW
|
107
|
-
|
-
|
0
|
-
|
FS
|
108
|
-
|
-
|
position
|
-
|
FL
|
109
|
-
|
-
|
X
|
uint8_t filenames[X]
|
SHELL
|
110
|
-
|
-
|
exit status
|
-
|
BSPIC
|
111
|
-
|
-
|
0
|
-
|
BSPIO
|
112
|
-
|
-
|
0
|
-
|
BSPIX
|
113
|
-
|
-
|
X
|
uint8_t data[X] |
BSCX
|
114
|
-
|
-
|
X+4
|
uint32_t status
uint8_t data[X] |
EVM
|
115
|
-
|
-
|
0
|
-
|
EVT
|
116
|
-
|
-
|
0
|
-
|
PROCU
|
117
|
-
|
-
|
0
|
-
|
cmdCmd_t
typedef struct
{
uint32_t cmd;
uint32_t p1;
uint32_t p2;
union
{
uint32_t p3;
uint32_t ext_len;
uint32_t res;
};
} cmdCmd_t;
|
