""" pigpio is a Python module for the Raspberry which allows control of the general purpose input outputs (gpios). [http://abyz.co.uk/rpi/pigpio/python.html] *Features* o pigpio Python module can be running on Windows, Macs, or Linux o controls one or more Pi's o independent PWM on any of gpios 0-31 simultaneously o independent servo pulses on any of gpios 0-31 simultaneously o callbacks when any of gpios 0-31 change state o creating and transmitting precisely timed waveforms o reading/writing gpios and setting their modes o wrappers for I2C, SPI, and serial links o creating and running scripts on the pigpio daemon *gpios* ALL gpios are identified by their Broadcom number. *Notes* Transmitted waveforms are accurate to a microsecond. Callback level changes are time-stamped and will be accurate to within a few microseconds. *Settings* A number of settings are determined when the pigpio daemon is started. o the sample rate (1, 2, 4, 5, 8, or 10us, default 5us). o the set of gpios which may be updated (generally written to). The default set is those available on the Pi board revision. o the available PWM frequencies (see [*set_PWM_frequency*]). *Exceptions* By default a fatal exception is raised if you pass an invalid argument to a pigpio function. If you wish to handle the returned status yourself you should set pigpio.exceptions to False. You may prefer to check the returned status in only a few parts of your code. In that case do the following. ... pigpio.exceptions = False # Code where you want to test the error status. pigpio.exceptions = True ... *Usage* This module uses the services of the C pigpio library. pigpio must be running on the Pi(s) whose gpios are to be manipulated. The normal way to start pigpio is as a daemon (during system start). sudo pigpiod Your Python program must import pigpio and create one or more instances of the pigpio.pi class. This class gives access to a specified Pi's gpios. ... pi1 = pigpio.pi() # pi1 accesses the local Pi's gpios pi2 = pigpio.pi('tom') # pi2 accesses tom's gpios pi3 = pigpio.pi('dick') # pi3 accesses dick's gpios pi1.write(4, 0) # set local Pi's gpio 4 low pi2.write(4, 1) # set tom's gpio 4 to high pi3.read(4) # get level of dick's gpio 4 ... The later example code snippets assume that pi is an instance of the pigpio.pi class. OVERVIEW Essential pigpio.pi Initialise Pi connection stop Stop a Pi connection Beginner set_mode Set a gpio mode get_mode Get a gpio mode set_pull_up_down Set/clear gpio pull up/down resistor read Read a gpio write Write a gpio set_PWM_dutycycle Start/stop PWM pulses on a gpio set_servo_pulsewidth Start/Stop servo pulses on a gpio callback Create gpio level change callback wait_for_edge Wait for gpio level change Intermediate gpio_trigger Send a trigger pulse to a gpio set_watchdog Set a watchdog on a gpio set_PWM_range Configure PWM range of a gpio get_PWM_range Get configured PWM range of a gpio set_PWM_frequency Set PWM frequency of a gpio get_PWM_frequency Get PWM frequency of a gpio read_bank_1 Read all bank 1 gpios read_bank_2 Read all bank 2 gpios clear_bank_1 Clear selected gpios in bank 1 clear_bank_2 Clear selected gpios in bank 2 set_bank_1 Set selected gpios in bank 1 set_bank_2 Set selected gpios in bank 2 Advanced get_PWM_real_range Get underlying PWM range for a gpio notify_open Request a notification handle notify_begin Start notifications for selected gpios notify_pause Pause notifications notify_close Close a notification bb_serial_read_open Open a gpio for bit bang serial reads bb_serial_read Read bit bang serial data from a gpio bb_serial_read_close Close a gpio for bit bang serial reads Scripts store_script Store a script run_script Run a stored script script_status Get script status and parameters stop_script Stop a running script delete_script Delete a stored script Waves wave_clear Deletes all waveforms wave_add_new Starts a new waveform wave_add_generic Adds a series of pulses to the waveform wave_add_serial Adds serial data to the waveform wave_create Creates a waveform from added data wave_delete Deletes one or more waveforms wave_send_once Transmits a waveform once wave_send_repeat Transmits a waveform repeatedly wave_tx_busy Checks to see if a waveform has ended wave_tx_stop Aborts the current waveform wave_tx_repeat Creates/transmits a waveform (DEPRECATED) wave_tx_start Creates/transmits a waveform (DEPRECATED) wave_get_micros Length in microseconds of the current waveform wave_get_max_micros Absolute maximum allowed micros wave_get_pulses Length in pulses of the current waveform wave_get_max_pulses Absolute maximum allowed pulses wave_get_cbs Length in cbs of the current waveform wave_get_max_cbs Absolute maximum allowed cbs I2C i2c_open Opens an I2C device i2c_close Closes an I2C device i2c_read_device Reads the raw I2C device i2c_write_device Writes the raw I2C device i2c_write_quick smbus write quick i2c_write_byte smbus write byte i2c_read_byte smbus read byte i2c_write_byte_data smbus write byte data i2c_write_word_data smbus write word data i2c_read_byte_data smbus read byte data i2c_read_word_data smbus read word data i2c_process_call smbus process call i2c_write_block_data smbus write block data i2c_read_block_data smbus read block data i2c_block_process_call smbus block process call i2c_read_i2c_block_data smbus read I2C block data i2c_write_i2c_block_data smbus write I2C block data SPI spi_open Opens a SPI device spi_close Closes a SPI device spi_read Reads bytes from a SPI device spi_write Writes bytes to a SPI device spi_xfer Transfers bytes with a SPI device Serial serial_open Opens a serial device (/dev/tty*) serial_close Closes a serial device serial_read Reads bytes from a serial device serial_read_byte Reads a byte from a serial device serial_write Writes bytes to a serial device serial_write_byte Writes a byte to a serial device serial_data_available Returns number of bytes ready to be read Utility get_current_tick Get current tick (microseconds) get_hardware_revision Get hardware revision get_pigpio_version Get the pigpio version pigpio.error_text Gets error text from error number pigpio.tickDiff Returns difference between two ticks """ import sys import socket import struct import time import threading import os import atexit import codecs VERSION = "1.11" exceptions = True # gpio levels OFF = 0 LOW = 0 CLEAR = 0 ON = 1 HIGH = 1 SET = 1 TIMEOUT = 2 # gpio edges RISING_EDGE = 0 FALLING_EDGE = 1 EITHER_EDGE = 2 # gpio modes INPUT = 0 OUTPUT = 1 ALT0 = 4 ALT1 = 5 ALT2 = 6 ALT3 = 7 ALT4 = 3 ALT5 = 2 # gpio Pull Up Down PUD_OFF = 0 PUD_DOWN = 1 PUD_UP = 2 # script run status PI_SCRIPT_INITING=0 PI_SCRIPT_HALTED =1 PI_SCRIPT_RUNNING=2 PI_SCRIPT_WAITING=3 PI_SCRIPT_FAILED =4 # pigpio command numbers _PI_CMD_MODES= 0 _PI_CMD_MODEG= 1 _PI_CMD_PUD= 2 _PI_CMD_READ= 3 _PI_CMD_WRITE= 4 _PI_CMD_PWM= 5 _PI_CMD_PRS= 6 _PI_CMD_PFS= 7 _PI_CMD_SERVO= 8 _PI_CMD_WDOG= 9 _PI_CMD_BR1= 10 _PI_CMD_BR2= 11 _PI_CMD_BC1= 12 _PI_CMD_BC2= 13 _PI_CMD_BS1= 14 _PI_CMD_BS2= 15 _PI_CMD_TICK= 16 _PI_CMD_HWVER=17 _PI_CMD_NO= 18 _PI_CMD_NB= 19 _PI_CMD_NP= 20 _PI_CMD_NC= 21 _PI_CMD_PRG= 22 _PI_CMD_PFG= 23 _PI_CMD_PRRG= 24 _PI_CMD_HELP= 25 _PI_CMD_PIGPV=26 _PI_CMD_WVCLR=27 _PI_CMD_WVAG= 28 _PI_CMD_WVAS= 29 _PI_CMD_WVGO= 30 _PI_CMD_WVGOR=31 _PI_CMD_WVBSY=32 _PI_CMD_WVHLT=33 _PI_CMD_WVSM= 34 _PI_CMD_WVSP= 35 _PI_CMD_WVSC= 36 _PI_CMD_TRIG= 37 _PI_CMD_PROC= 38 _PI_CMD_PROCD=39 _PI_CMD_PROCR=40 _PI_CMD_PROCS=41 _PI_CMD_SLRO= 42 _PI_CMD_SLR= 43 _PI_CMD_SLRC= 44 _PI_CMD_PROCP=45 _PI_CMD_MICRO=46 _PI_CMD_MILLI=47 _PI_CMD_PARSE=48 _PI_CMD_WVCRE=49 _PI_CMD_WVDEL=50 _PI_CMD_WVTX =51 _PI_CMD_WVTXR=52 _PI_CMD_WVNEW=53 _PI_CMD_I2CO =54 _PI_CMD_I2CC =55 _PI_CMD_I2CRD=56 _PI_CMD_I2CWD=57 _PI_CMD_I2CWQ=58 _PI_CMD_I2CRS=59 _PI_CMD_I2CWS=60 _PI_CMD_I2CRB=61 _PI_CMD_I2CWB=62 _PI_CMD_I2CRW=63 _PI_CMD_I2CWW=64 _PI_CMD_I2CRK=65 _PI_CMD_I2CWK=66 _PI_CMD_I2CRI=67 _PI_CMD_I2CWI=68 _PI_CMD_I2CPC=69 _PI_CMD_I2CPK=70 _PI_CMD_SPIO =71 _PI_CMD_SPIC =72 _PI_CMD_SPIR =73 _PI_CMD_SPIW =74 _PI_CMD_SPIX =75 _PI_CMD_SERO =76 _PI_CMD_SERC =77 _PI_CMD_SERRB=78 _PI_CMD_SERWB=79 _PI_CMD_SERR =80 _PI_CMD_SERW =81 _PI_CMD_SERDA=82 _PI_CMD_NOIB= 99 # pigpio error numbers _PI_INIT_FAILED =-1 PI_BAD_USER_GPIO =-2 PI_BAD_GPIO =-3 PI_BAD_MODE =-4 PI_BAD_LEVEL =-5 PI_BAD_PUD =-6 PI_BAD_PULSEWIDTH =-7 PI_BAD_DUTYCYCLE =-8 _PI_BAD_TIMER =-9 _PI_BAD_MS =-10 _PI_BAD_TIMETYPE =-11 _PI_BAD_SECONDS =-12 _PI_BAD_MICROS =-13 _PI_TIMER_FAILED =-14 PI_BAD_WDOG_TIMEOUT =-15 _PI_NO_ALERT_FUNC =-16 _PI_BAD_CLK_PERIPH =-17 _PI_BAD_CLK_SOURCE =-18 _PI_BAD_CLK_MICROS =-19 _PI_BAD_BUF_MILLIS =-20 PI_BAD_DUTYRANGE =-21 _PI_BAD_SIGNUM =-22 _PI_BAD_PATHNAME =-23 PI_NO_HANDLE =-24 PI_BAD_HANDLE =-25 _PI_BAD_IF_FLAGS =-26 _PI_BAD_CHANNEL =-27 _PI_BAD_PRIM_CHANNEL=-27 _PI_BAD_SOCKET_PORT =-28 _PI_BAD_FIFO_COMMAND=-29 _PI_BAD_SECO_CHANNEL=-30 _PI_NOT_INITIALISED =-31 _PI_INITIALISED =-32 _PI_BAD_WAVE_MODE =-33 _PI_BAD_CFG_INTERNAL=-34 PI_BAD_WAVE_BAUD =-35 PI_TOO_MANY_PULSES =-36 PI_TOO_MANY_CHARS =-37 PI_NOT_SERIAL_GPIO =-38 _PI_BAD_SERIAL_STRUC=-39 _PI_BAD_SERIAL_BUF =-40 PI_NOT_PERMITTED =-41 PI_SOME_PERMITTED =-42 PI_BAD_WVSC_COMMND =-43 PI_BAD_WVSM_COMMND =-44 PI_BAD_WVSP_COMMND =-45 PI_BAD_PULSELEN =-46 PI_BAD_SCRIPT =-47 PI_BAD_SCRIPT_ID =-48 PI_BAD_SER_OFFSET =-49 PI_GPIO_IN_USE =-50 PI_BAD_SERIAL_COUNT =-51 PI_BAD_PARAM_NUM =-52 PI_DUP_TAG =-53 PI_TOO_MANY_TAGS =-54 PI_BAD_SCRIPT_CMD =-55 PI_BAD_VAR_NUM =-56 PI_NO_SCRIPT_ROOM =-57 PI_NO_MEMORY =-58 PI_SOCK_READ_FAILED =-59 PI_SOCK_WRIT_FAILED =-60 PI_TOO_MANY_PARAM =-61 PI_NOT_HALTED =-62 PI_BAD_TAG =-63 PI_BAD_MICS_DELAY =-64 PI_BAD_MILS_DELAY =-65 PI_BAD_WAVE_ID =-66 PI_TOO_MANY_CBS =-67 PI_TOO_MANY_OOL =-68 PI_EMPTY_WAVEFORM =-69 PI_NO_WAVEFORM_ID =-70 PI_I2C_OPEN_FAILED =-71 PI_SER_OPEN_FAILED =-72 PI_SPI_OPEN_FAILED =-73 PI_BAD_I2C_BUS =-74 PI_BAD_I2C_ADDR =-75 PI_BAD_SPI_CHANNEL =-76 PI_BAD_FLAGS =-77 PI_BAD_SPI_SPEED =-78 PI_BAD_SER_DEVICE =-79 PI_BAD_SER_SPEED =-80 PI_BAD_PARAM =-81 PI_I2C_WRITE_FAILED =-82 PI_I2C_READ_FAILED =-83 PI_BAD_SPI_COUNT =-84 PI_SER_WRITE_FAILED =-85 PI_SER_READ_FAILED =-86 PI_SER_READ_NO_DATA =-87 PI_UNKNOWN_COMMAND =-88 PI_SPI_XFER_FAILED =-89 _PI_BAD_POINTER =-90 PI_NO_AUX_SPI =-91 # pigpio error text _errors=[ [_PI_INIT_FAILED , "pigpio initialisation failed"], [PI_BAD_USER_GPIO , "gpio not 0-31"], [PI_BAD_GPIO , "gpio not 0-53"], [PI_BAD_MODE , "mode not 0-7"], [PI_BAD_LEVEL , "level not 0-1"], [PI_BAD_PUD , "pud not 0-2"], [PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"], [PI_BAD_DUTYCYCLE , "dutycycle not 0-range (default 255)"], [_PI_BAD_TIMER , "timer not 0-9"], [_PI_BAD_MS , "ms not 10-60000"], [_PI_BAD_TIMETYPE , "timetype not 0-1"], [_PI_BAD_SECONDS , "seconds < 0"], [_PI_BAD_MICROS , "micros not 0-999999"], [_PI_TIMER_FAILED , "gpioSetTimerFunc failed"], [PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"], [_PI_NO_ALERT_FUNC , "DEPRECATED"], [_PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"], [_PI_BAD_CLK_SOURCE , "clock source not 0-1"], [_PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"], [_PI_BAD_BUF_MILLIS , "buf millis not 100-10000"], [PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"], [_PI_BAD_SIGNUM , "signum not 0-63"], [_PI_BAD_PATHNAME , "can't open pathname"], [PI_NO_HANDLE , "no handle available"], [PI_BAD_HANDLE , "unknown handle"], [_PI_BAD_IF_FLAGS , "ifFlags > 3"], [_PI_BAD_CHANNEL , "DMA channel not 0-14"], [_PI_BAD_SOCKET_PORT , "socket port not 1024-30000"], [_PI_BAD_FIFO_COMMAND , "unknown fifo command"], [_PI_BAD_SECO_CHANNEL , "DMA secondary channel not 0-6"], [_PI_NOT_INITIALISED , "function called before gpioInitialise"], [_PI_INITIALISED , "function called after gpioInitialise"], [_PI_BAD_WAVE_MODE , "waveform mode not 0-1"], [_PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"], [PI_BAD_WAVE_BAUD , "baud rate not 100-250000"], [PI_TOO_MANY_PULSES , "waveform has too many pulses"], [PI_TOO_MANY_CHARS , "waveform has too many chars"], [PI_NOT_SERIAL_GPIO , "no serial read in progress on gpio"], [PI_NOT_PERMITTED , "no permission to update gpio"], [PI_SOME_PERMITTED , "no permission to update one or more gpios"], [PI_BAD_WVSC_COMMND , "bad WVSC subcommand"], [PI_BAD_WVSM_COMMND , "bad WVSM subcommand"], [PI_BAD_WVSP_COMMND , "bad WVSP subcommand"], [PI_BAD_PULSELEN , "trigger pulse length > 100"], [PI_BAD_SCRIPT , "invalid script"], [PI_BAD_SCRIPT_ID , "unknown script id"], [PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"], [PI_GPIO_IN_USE , "gpio already in use"], [PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"], [PI_BAD_PARAM_NUM , "script parameter must be 0-9"], [PI_DUP_TAG , "script has duplicate tag"], [PI_TOO_MANY_TAGS , "script has too many tags"], [PI_BAD_SCRIPT_CMD , "illegal script command"], [PI_BAD_VAR_NUM , "script variable must be 0-149"], [PI_NO_SCRIPT_ROOM , "no more room for scripts"], [PI_NO_MEMORY , "can't allocate temporary memory"], [PI_SOCK_READ_FAILED , "socket read failed"], [PI_SOCK_WRIT_FAILED , "socket write failed"], [PI_TOO_MANY_PARAM , "too many script parameters (> 10)"], [PI_NOT_HALTED , "script already running or failed"], [PI_BAD_TAG , "script has unresolved tag"], [PI_BAD_MICS_DELAY , "bad MICS delay (too large)"], [PI_BAD_MILS_DELAY , "bad MILS delay (too large)"], [PI_BAD_WAVE_ID , "non existent wave id"], [PI_TOO_MANY_CBS , "No more CBs for waveform"], [PI_TOO_MANY_OOL , "No more OOL for waveform"], [PI_EMPTY_WAVEFORM , "attempt to create an empty waveform"], [PI_NO_WAVEFORM_ID , "No more waveform ids"], [PI_I2C_OPEN_FAILED , "can't open I2C device"], [PI_SER_OPEN_FAILED , "can't open serial device"], [PI_SPI_OPEN_FAILED , "can't open SPI device"], [PI_BAD_I2C_BUS , "bad I2C bus"], [PI_BAD_I2C_ADDR , "bad I2C address"], [PI_BAD_SPI_CHANNEL , "bad SPI channel"], [PI_BAD_FLAGS , "bad i2c/spi/ser open flags"], [PI_BAD_SPI_SPEED , "bad SPI speed"], [PI_BAD_SER_DEVICE , "bad serial device name"], [PI_BAD_SER_SPEED , "bad serial baud rate"], [PI_BAD_PARAM , "bad i2c/spi/ser parameter"], [PI_I2C_WRITE_FAILED , "I2C write failed"], [PI_I2C_READ_FAILED , "I2C read failed"], [PI_BAD_SPI_COUNT , "bad SPI count"], [PI_SER_WRITE_FAILED , "ser write failed"], [PI_SER_READ_FAILED , "ser read failed"], [PI_SER_READ_NO_DATA , "ser read no data available"], [PI_UNKNOWN_COMMAND , "unknown command"], [PI_SPI_XFER_FAILED , "SPI xfer/read/write failed"], [_PI_BAD_POINTER , "bad (NULL) pointer"], [PI_NO_AUX_SPI , "need a B+ for auxiliary SPI"], ] class _socklock: """ A class to store socket and lock. """ def __init__(self): self.s = None self.l = threading.Lock() class error(Exception): """pigpio module exception""" def __init__(self, value): self.value = value def __str__(self): return repr(self.value) class pulse: """ A class to store pulse information. """ def __init__(self, gpio_on, gpio_off, delay): """ Initialises a pulse. gpio_on:= the gpios to switch on at the start of the pulse. gpio_off:= the gpios to switch off at the start of the pulse. delay:= the delay in microseconds before the next pulse. """ self.gpio_on = gpio_on self.gpio_off = gpio_off self.delay = delay def error_text(errnum): """ Returns a text description of a pigpio error. errnum:= <0, the error number ... print(pigpio.error_text(-5)) level not 0-1 ... """ for e in _errors: if e[0] == errnum: return e[1] return "unknown error ({})".format(errnum) def tickDiff(t1, t2): """ Returns the microsecond difference between two ticks. t1:= the earlier tick t2:= the later tick ... print(pigpio.tickDiff(4294967272, 12)) 36 ... """ tDiff = t2 - t1 if tDiff < 0: tDiff += (1 << 32) return tDiff if sys.version < '3': def _b(x): return x else: def _b(x): return codecs.latin_1_encode(x)[0] def u2i(number): """ Converts a 32 bit unsigned number to signed. number:= an unsigned 32 bit number ... print(u2i(4294967272)) -24 print(u2i(37)) 37 ... """ mask = (2 ** 32) - 1 if number & (1 << 31): v = number | ~mask else: v = number & mask return v def _u2i(number): """ Converts a 32 bit unsigned number to signed. If the number is negative it indicates an error. On error a pigpio exception will be raised if exceptions is True. """ v = u2i(number) if v < 0: if exceptions: raise error(error_text(v)) return v def _pigpio_command(sl, cmd, p1, p2, rl=True): """ Runs a pigpio socket command. sl:= command socket and lock. cmd:= the command to be executed. p1:= command parameter 1 (if applicable). p2:= command parameter 2 (if applicable). """ sl.l.acquire() sl.s.send(struct.pack('IIII', cmd, p1, p2, 0)) dummy, res = struct.unpack('12sI', sl.s.recv(16)) if rl: sl.l.release() return res def _pigpio_command_ext(sl, cmd, p1, p2, p3, extents, rl=True): """ Runs an extended pigpio socket command. sl:= command socket and lock. cmd:= the command to be executed. p1:= command parameter 1 (if applicable). p2:= command parameter 2 (if applicable). p3:= total size in bytes of following extents extents:= additional data blocks """ ext = bytearray(struct.pack('IIII', cmd, p1, p2, p3)) for x in extents: if type(x) == type(""): ext.extend(_b(x)) else: ext.extend(x) sl.l.acquire() sl.s.sendall(ext) dummy, res = struct.unpack('12sI', sl.s.recv(16)) if rl: sl.l.release() return res class _callback_ADT: """An ADT class to hold callback information.""" def __init__(self, gpio, edge, func): """ Initialises a callback ADT. gpio:= Broadcom gpio number. edge:= EITHER_EDGE, RISING_EDGE, or FALLING_EDGE. func:= a user function taking three arguments (gpio, level, tick). """ self.gpio = gpio self.edge = edge self.func = func self.bit = 1<=0 Hz Returns the frequency actually set. ... pi.set_PWM_frequency(4,0) print(pi.get_PWM_frequency(4)) 10 pi.set_PWM_frequency(4,100000) print(pi.get_PWM_frequency(4)) 8000 ... """ return _u2i( _pigpio_command(self.sl, _PI_CMD_PFS, user_gpio, frequency)) def get_PWM_frequency(self, user_gpio): """ Returns the frequency of PWM being used on the gpio. user_gpio:= 0-31. Returns the frequency (in Hz) used for the gpio. ... pi.set_PWM_frequency(4,0) print(pi.get_PWM_frequency(4)) 10 pi.set_PWM_frequency(4, 800) print(pi.get_PWM_frequency(4)) 800 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PFG, user_gpio, 0)) def set_servo_pulsewidth(self, user_gpio, pulsewidth): """ Starts (500-2500) or stops (0) servo pulses on the gpio. user_gpio:= 0-31. pulsewidth:= 0 (off), 500 (most anti-clockwise) - 2500 (most clockwise). The selected pulsewidth will continue to be transmitted until changed by a subsequent call to set_servo_pulsewidth. The pulsewidths supported by servos varies and should probably be determined by experiment. A value of 1500 should always be safe and represents the mid-point of rotation. You can DAMAGE a servo if you command it to move beyond its limits. ... pi.set_servo_pulsewidth(17, 0) # off pi.set_servo_pulsewidth(17, 1000) # safe anti-clockwise pi.set_servo_pulsewidth(17, 1500) # centre pi.set_servo_pulsewidth(17, 2000) # safe clockwise ... """ return _u2i(_pigpio_command( self.sl, _PI_CMD_SERVO, user_gpio, int(pulsewidth))) def notify_open(self): """ Returns a notification handle (>=0). A notification is a method for being notified of gpio state changes via a pipe. Pipes are only accessible from the local machine so this function serves no purpose if you are using Python from a remote machine. The in-built (socket) notifications provided by [*callback*] should be used instead. Notifications for handle x will be available at the pipe named /dev/pigpiox (where x is the handle number). E.g. if the function returns 15 then the notifications must be read from /dev/pigpio15. Notifications have the following structure. . . I seqno - increments for each report I flags - flags, if bit 5 is set then bits 0-4 of the flags indicate a gpio which has had a watchdog timeout. I tick - time of sample. I level - 32 bits of levels for gpios 0-31. . . ... h = pi.notify_open() if h >= 0: pi.notify_begin(h, 1234) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_NO, 0, 0)) def notify_begin(self, handle, bits): """ Starts notifications on a handle. handle:= >=0 (as returned by a prior call to [*notify_open*]) bits:= a 32 bit mask indicating the gpios to be notified. The notification sends state changes for each gpio whose corresponding bit in bits is set. The following code starts notifications for gpios 1, 4, 6, 7, and 10 (1234 = 0x04D2 = 0b0000010011010010). ... h = pi.notify_open() if h >= 0: pi.notify_begin(h, 1234) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_NB, handle, bits)) def notify_pause(self, handle): """ Pauses notifications on a handle. handle:= >=0 (as returned by a prior call to [*notify_open*]) Notifications for the handle are suspended until [*notify_begin*] is called again. ... h = pi.notify_open() if h >= 0: pi.notify_begin(h, 1234) ... pi.notify_pause(h) ... pi.notify_begin(h, 1234) ... ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_NB, handle, 0)) def notify_close(self, handle): """ Stops notifications on a handle and releases the handle for reuse. handle:= >=0 (as returned by a prior call to [*notify_open*]) ... h = pi.notify_open() if h >= 0: pi.notify_begin(h, 1234) ... pi.notify_close(h) ... ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_NC, handle, 0)) def set_watchdog(self, user_gpio, wdog_timeout): """ Sets a watchdog timeout for a gpio. user_gpio:= 0-31. wdog_timeout:= 0-60000. The watchdog is nominally in milliseconds. Only one watchdog may be registered per gpio. The watchdog may be cancelled by setting timeout to 0. If no level change has been detected for the gpio for timeout milliseconds any notification for the gpio has a report written to the fifo with the flags set to indicate a watchdog timeout. The callback class interprets the flags and will call registered callbacks for the gpio with level TIMEOUT. ... pi.set_watchdog(23, 1000) # 1000 ms watchdog on gpio 23 pi.set_watchdog(23, 0) # cancel watchdog on gpio 23 ... """ return _u2i(_pigpio_command( self.sl, _PI_CMD_WDOG, user_gpio, int(wdog_timeout))) def read_bank_1(self): """ Returns the levels of the bank 1 gpios (gpios 0-31). The returned 32 bit integer has a bit set if the corresponding gpio is high. Gpio n has bit value (1<=0) if OK. The data provided by the [*wave_add_**] functions is consumed by this function. As many waveforms may be created as there is space available. The wave id is passed to [*wave_send_**] to specify the waveform to transmit. Normal usage would be Step 1. [*wave_clear*] to clear all waveforms and added data. Step 2. [*wave_add_**] calls to supply the waveform data. Step 3. [*wave_create*] to create the waveform and get a unique id Repeat steps 2 and 3 as needed. Step 4. [*wave_send_**] with the id of the waveform to transmit. A waveform comprises one or more pulses. A pulse specifies 1) the gpios to be switched on at the start of the pulse. 2) the gpios to be switched off at the start of the pulse. 3) the delay in microseconds before the next pulse. Any or all the fields can be zero. It doesn't make any sense to set all the fields to zero (the pulse will be ignored). When a waveform is started each pulse is executed in order with the specified delay between the pulse and the next. ... wid = pi.wave_create() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVCRE, 0, 0)) def wave_delete(self, wave_id): """ Deletes all created waveforms with ids greater than or equal to wave_id. wave_id:= >=0 (as returned by a prior call to [*wave_create*]). Wave ids are allocated in order, 0, 1, 2, etc. ... pi.wave_delete(6) # delete all waves with id 6 or greater pi.wave_delete(0) # delete all waves ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVDEL, wave_id, 0)) def wave_tx_start(self): # DEPRECATED """ This function is deprecated and will be removed. Use [*wave_create*]/[*wave_send_**] instead. """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGO, 0, 0)) def wave_tx_repeat(self): # DEPRECATED """ This function is deprecated and will be removed. Use [*wave_create*]/[*wave_send_**] instead. """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGOR, 0, 0)) def wave_send_once(self, wave_id): """ Transmits the waveform with id wave_id. The waveform is sent once. wave_id:= >=0 (as returned by a prior call to [*wave_create*]). Returns the number of DMA control blocks used in the waveform. ... cbs = pi.wave_send_once(wid) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTX, wave_id, 0)) def wave_send_repeat(self, wave_id): """ Transmits the waveform with id wave_id. The waveform repeats until wave_tx_stop is called or another call to [*wave_send_**] is made. wave_id:= >=0 (as returned by a prior call to [*wave_create*]). Returns the number of DMA control blocks used in the waveform. ... cbs = pi.wave_send_repeat(wid) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTXR, wave_id, 0)) def wave_tx_busy(self): """ Returns 1 if a waveform is currently being transmitted, otherwise 0. ... pi.wave_send_once(0) # send first waveform while pi.wave_tx_busy(): # wait for waveform to be sent time.sleep(0.1) pi.wave_send_once(1) # send next waveform ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVBSY, 0, 0)) def wave_tx_stop(self): """ Stops the transmission of the current waveform. This function is intended to stop a waveform started with wave_send_repeat. ... pi.wave_send_repeat(3) time.sleep(5) pi.wave_tx_stop() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVHLT, 0, 0)) def wave_get_micros(self): """ Returns the length in microseconds of the current waveform. ... micros = pi.wave_get_micros() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSM, 0, 0)) def wave_get_max_micros(self): """ Returns the maximum possible size of a waveform in microseconds. ... micros = pi.wave_get_max_micros() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSM, 2, 0)) def wave_get_pulses(self): """ Returns the length in pulses of the current waveform. ... pulses = pi.wave_get_pulses() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSP, 0, 0)) def wave_get_max_pulses(self): """ Returns the maximum possible size of a waveform in pulses. ... pulses = pi.wave_get_max_pulses() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSP, 2, 0)) def wave_get_cbs(self): """ Returns the length in DMA control blocks of the current waveform. ... cbs = pi.wave_get_cbs() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSC, 0, 0)) def wave_get_max_cbs(self): """ Returns the maximum possible size of a waveform in DMA control blocks. ... cbs = pi.wave_get_max_cbs() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSC, 2, 0)) def i2c_open(self, i2c_bus, i2c_address, i2c_flags=0): """ Returns a handle (>=0) for the device at the I2C bus address. i2c_bus:= 0-1. i2c_address:= 0x08-0x77. i2c_flags:= 0, no flags are currently defined. Normally you would only use the [*i2c_**] functions if you are or will be connecting to the Pi over a network. If you will always run on the local Pi use the standard smbus module instead. ... h = pi.i2c_open(1, 0x53) # open device at address 0x53 on bus 1 ... """ # I p1 i2c_bus # I p2 i2c_addr # I p3 4 ## extension ## # I i2c_flags extents = [struct.pack("I", i2c_flags)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CO, i2c_bus, i2c_address, 4, extents)) def i2c_close(self, handle): """ Closes the I2C device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). ... pi.i2c_close(h) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CC, handle, 0)) def i2c_read_device(self, handle, count): """ Returns count bytes read from the raw device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). count:= >0, the number of bytes to read. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (count, data) = pi.i2c_read_device(h, 12) ... """ # Don't raise exception. Must release lock. bytes = u2i( _pigpio_command(self.sl, _PI_CMD_I2CRD, handle, count, False)) if bytes > 0: data = self._rxbuf(bytes) else: data = "" self.sl.l.release() return bytes, data def i2c_write_device(self, handle, data): """ Writes the data bytes to the raw device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). data:= the bytes to write. ... pi.i2c_write_device(h, b"\\x12\\x34\\xA8") pi.i2c_write_device(h, b"help") pi.i2c_write_device(h, 'help') pi.i2c_write_device(h, [23, 56, 231]) ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes if len(data): return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWD, handle, 0, len(data), [data])) else: return 0 def i2c_write_quick(self, handle, bit): """ Sends a single bit to the device associated with handle. smbus 2.0 5.5.1 - Quick command. handle:= >=0 (as returned by a prior call to [*i2c_open*]). bit:= 0 or 1, the value to write. ... pi.i2c_write_quick(0, 1) # send 1 to device 0 pi.i2c_write_quick(3, 0) # send 0 to device 3 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CWQ, handle, bit)) def i2c_write_byte(self, handle, byte_val): """ Sends a single byte to the device associated with handle. smbus 2.0 5.5.2 - Send byte. handle:= >=0 (as returned by a prior call to [*i2c_open*]). byte_val:= 0-255, the value to write. ... pi.i2c_write_byte(1, 17) # send byte 17 to device 1 pi.i2c_write_byte(2, 0x23) # send byte 0x23 to device 2 ... """ return _u2i( _pigpio_command(self.sl, _PI_CMD_I2CWS, handle, byte_val)) def i2c_read_byte(self, handle): """ Reads a single byte from the device associated with handle. smbus 2.0 5.5.3 - Receive byte. handle:= >=0 (as returned by a prior call to [*i2c_open*]). ... b = pi.i2c_read_byte(2) # read a byte from device 2 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRS, handle, 0)) def i2c_write_byte_data(self, handle, reg, byte_val): """ Writes a single byte to the specified register of the device associated with handle. smbus 2.0 5.5.4 - Write byte. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. byte_val:= 0-255, the value to write. ... # send byte 0xC5 to reg 2 of device 1 pi.i2c_write_byte_data(1, 2, 0xC5) # send byte 9 to reg 4 of device 2 pi.i2c_write_byte_data(2, 4, 9) ... """ # I p1 handle # I p2 reg # I p3 4 ## extension ## # I byte_val extents = [struct.pack("I", byte_val)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWB, handle, reg, 4, extents)) def i2c_write_word_data(self, handle, reg, word_val): """ Writes a single 16 bit word to the specified register of the device associated with handle. smbus 2.0 5.5.4 - Write word. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. word_val:= 0-65535, the value to write. ... # send word 0xA0C5 to reg 5 of device 4 pi.i2c_write_word_data(4, 5, 0xA0C5) # send word 2 to reg 2 of device 5 pi.i2c_write_word_data(5, 2, 23) ... """ # I p1 handle # I p2 reg # I p3 4 ## extension ## # I word_val extents = [struct.pack("I", word_val)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWW, handle, reg, 4, extents)) def i2c_read_byte_data(self, handle, reg): """ Reads a single byte from the specified register of the device associated with handle. smbus 2.0 5.5.5 - Read byte. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. ... # read byte from reg 17 of device 2 b = pi.i2c_read_byte_data(2, 17) # read byte from reg 1 of device 0 b = pi.i2c_read_byte_data(0, 1) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRB, handle, reg)) def i2c_read_word_data(self, handle, reg): """ Reads a single 16 bit word from the specified register of the device associated with handle. smbus 2.0 5.5.5 - Read word. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. ... # read word from reg 2 of device 3 w = pi.i2c_read_word_data(3, 2) # read word from reg 7 of device 2 w = pi.i2c_read_word_data(2, 7) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRW, handle, reg)) def i2c_process_call(self, handle, reg, word_val): """ Writes 16 bits of data to the specified register of the device associated with handle and reads 16 bits of data in return. smbus 2.0 5.5.6 - Process call. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. word_val:= 0-65535, the value to write. ... r = pi.i2c_process_call(h, 4, 0x1231) r = pi.i2c_process_call(h, 6, 0) ... """ # I p1 handle # I p2 reg # I p3 4 ## extension ## # I word_val extents = [struct.pack("I", word_val)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CPC, handle, reg, 4, extents)) def i2c_write_block_data(self, handle, reg, data): """ Writes up to 32 bytes to the specified register of the device associated with handle. smbus 2.0 5.5.7 - Block write. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. data:= the bytes to write. ... pi.i2c_write_block_data(4, 5, b'hello') pi.i2c_write_block_data(4, 5, "data bytes") pi.i2c_write_block_data(5, 0, b'\\x00\\x01\\x22') pi.i2c_write_block_data(6, 2, [0, 1, 0x22]) ... """ # I p1 handle # I p2 reg # I p3 len ## extension ## # s len data bytes if len(data): return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWK, handle, reg, len(data), [data])) else: return 0 def i2c_read_block_data(self, handle, reg): """ Reads a block of up to 32 bytes from the specified register of the device associated with handle. smbus 2.0 5.5.7 - Block read. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. The amount of returned data is set by the device. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.i2c_read_block_data(h, 10) if b >= 0: # process data else: # process read failure ... """ # Don't raise exception. Must release lock. bytes = u2i(_pigpio_command(self.sl, _PI_CMD_I2CRK, handle, reg, False)) if bytes > 0: data = self._rxbuf(bytes) else: data = "" self.sl.l.release() return bytes, data def i2c_block_process_call(self, handle, reg, data): """ 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. smbus 2.0 5.5.8 - Block write-block read. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. data:= the bytes to write. 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. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.i2c_block_process_call(h, 10, b'\\x02\\x05\\x00') (b, d) = pi.i2c_block_process_call(h, 10, b'abcdr') (b, d) = pi.i2c_block_process_call(h, 10, "abracad") (b, d) = pi.i2c_block_process_call(h, 10, [2, 5, 16]) ... """ # I p1 handle # I p2 reg # I p3 len ## extension ## # s len data bytes # Don't raise exception. Must release lock. bytes = u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CPK, handle, reg, len(data), [data], False)) if bytes > 0: data = self._rxbuf(bytes) else: data = "" self.sl.l.release() return bytes, data def i2c_write_i2c_block_data(self, handle, reg, data): """ Writes data bytes to the specified register of the device associated with handle . 1-32 bytes may be written. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. data:= the bytes to write. ... pi.i2c_write_i2c_block_data(4, 5, 'hello') pi.i2c_write_i2c_block_data(4, 5, b'hello') pi.i2c_write_i2c_block_data(5, 0, b'\\x00\\x01\\x22') pi.i2c_write_i2c_block_data(6, 2, [0, 1, 0x22]) ... """ # I p1 handle # I p2 reg # I p3 len ## extension ## # s len data bytes if len(data): return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWI, handle, reg, len(data), [data])) else: return 0 def i2c_read_i2c_block_data(self, handle, reg, count): """ 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 prior call to [*i2c_open*]). reg:= >=0, the device register. count:= >0, the number of bytes to read. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.i2c_read_i2c_block_data(h, 4, 32) if b >= 0: # process data else: # process read failure ... """ # I p1 handle # I p2 reg # I p3 4 ## extension ## # I count extents = [struct.pack("I", count)] # Don't raise exception. Must release lock. bytes = u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CRI, handle, reg, 4, extents, False)) if bytes > 0: data = self._rxbuf(bytes) else: data = "" self.sl.l.release() return bytes, data def spi_open(self, spi_channel, spi_baud, spi_flags=0): """ Returns a handle for the SPI device on 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. An auxiliary SPI device is available on the B+ and may be selected by setting the A bit in the flags. The auxiliary device has 3 chip selects and a selectable word size in bits. spi_channel:= 0 or 1, the SPI channel. spi_baud:= >0, the transmission rate in bits per second. spi_flags:= see below. Normally you would only use the [*spi_**] functions if you are or will be connecting to the Pi over a network. If you will always run on the local Pi use the standard SPI module instead. spi_flags consists of the least significant 22 bits. . . 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m . . mm defines the SPI mode. . . 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 standard SPI device, 1 for the auxiliary SPI. The auxiliary device is only present on the B+. W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard SPI device 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. Standard SPI device 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 device 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 device only. bbbbbb defines the word size in bits (0-32). The default (0) sets 8 bits per word. Auxiliary SPI device only. The other bits in flags should be set to zero. ... # open SPI device on channel 1 in mode 3 at 20000 bits per second h = pi.spi_open(1, 20000, 3) ... """ # I p1 spi_channel # I p2 spi_baud # I p3 4 ## extension ## # I spi_flags extents = [struct.pack("I", spi_flags)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SPIO, spi_channel, spi_baud, 4, extents)) def spi_close(self, handle): """ Closes the SPI device associated with handle. handle:= >=0 (as returned by a prior call to [*spi_open*]). ... pi.spi_close(h) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SPIC, handle, 0)) def spi_read(self, handle, count): """ Reads count bytes from the SPI device associated with handle. handle:= >=0 (as returned by a prior call to [*spi_open*]). count:= >0, the number of bytes to read. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.spi_read(h, 60) # read 60 bytes from device h if b == 60: # process read data else: # error path ... """ # Don't raise exception. Must release lock. bytes = u2i(_pigpio_command( self.sl, _PI_CMD_SPIR, handle, count, False)) if bytes > 0: data = self._rxbuf(bytes) else: data = "" self.sl.l.release() return bytes, data def spi_write(self, handle, data): """ Writes the data bytes to the SPI device associated with handle. handle:= >=0 (as returned by a prior call to [*spi_open*]). data:= the bytes to write. ... pi.spi_write(0, b'\\x02\\xc0\\x80') # write 3 bytes to device 0 pi.spi_write(0, b'defgh') # write 5 bytes to device 0 pi.spi_write(0, "def") # write 3 bytes to device 0 pi.spi_write(1, [2, 192, 128]) # write 3 bytes to device 1 ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SPIW, handle, 0, len(data), [data])) def spi_xfer(self, handle, data): """ Writes the data bytes to the SPI device associated with handle, returning the data bytes read from the device. handle:= >=0 (as returned by a prior call to [*spi_open*]). data:= the bytes to write. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (count, rx_data) = pi.spi_xfer(h, b'\\x01\\x80\\x00') (count, rx_data) = pi.spi_xfer(h, [1, 128, 0]) (count, rx_data) = pi.spi_xfer(h, b"hello") (count, rx_data) = pi.spi_xfer(h, "hello") ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes # Don't raise exception. Must release lock. bytes = u2i(_pigpio_command_ext( self.sl, _PI_CMD_SPIX, handle, 0, len(data), [data], False)) if bytes > 0: data = self._rxbuf(bytes) else: data = "" self.sl.l.release() return bytes, data def serial_open(self, tty, ser_baud, ser_flags=0): """ Returns a handle for the serial tty device opened at ser_baud bits per second. tty:= the serial device to open. ser_baud:= baud rate ser_flags:= 0, no flags are currently defined. Normally you would only use the [*serial_**] functions if you are or will be connecting to the Pi over a network. If you will always run on the local Pi use the standard serial module instead. ... h1 = pi.serial_open("/dev/ttyAMA0", 300) h2 = pi.serial_open("/dev/ttyUSB1", 19200, 0) ... """ # I p1 ser_baud # I p2 ser_flags # I p3 len ## extension ## # s len data bytes return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SERO, ser_baud, ser_flags, len(tty), [tty])) def serial_close(self, handle): """ Closes the serial device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). ... pi.serial_close(h1) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SERC, handle, 0)) def serial_read_byte(self, handle): """ Returns a single byte from the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). ... b = pi.serial_read_byte(h1) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SERRB, handle, 0)) def serial_write_byte(self, handle, byte_val): """ Writes a single byte to the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). byte_val:= 0-255, the value to write. ... pi.serial_write_byte(h1, 23) pi.serial_write_byte(h1, ord('Z')) ... """ return _u2i( _pigpio_command(self.sl, _PI_CMD_SERWB, handle, byte_val)) def serial_read(self, handle, count): """ Reads up to count bytes from the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). count:= >0, the number of bytes to read. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.serial_read(h2, 100) if b > 0: # process read data ... """ # Don't raise exception. Must release lock. bytes = u2i( _pigpio_command(self.sl, _PI_CMD_SERR, handle, count, False)) if bytes > 0: data = self._rxbuf(bytes) else: data = "" self.sl.l.release() return bytes, data def serial_write(self, handle, data): """ Writes the data bytes to the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). data:= the bytes to write. ... pi.serial_write(h1, b'\\x02\\x03\\x04') pi.serial_write(h2, b'help') pi.serial_write(h2, "hello") pi.serial_write(h1, [2, 3, 4]) ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SERW, handle, 0, len(data), [data])) def serial_data_available(self, handle): """ Returns the number of bytes available to be read from the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). ... rdy = pi.serial_data_available(h1) if rdy > 0: (b, d) = pi.serial_read(h1, rdy) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SERDA, handle, 0)) def gpio_trigger(self, user_gpio, pulse_len=10, level=1): """ Send a trigger pulse to a gpio. The gpio is set to level for pulse_len microseconds and then reset to not level. user_gpio:= 0-31 pulse_len:= 1-100 level:= 0-1 ... pi.gpio_trigger(23, 10, 1) ... """ # pigpio message format # I p1 user_gpio # I p2 pulse_len # I p3 4 ## extension ## # I level extents = [struct.pack("I", level)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_TRIG, user_gpio, pulse_len, 4, extents)) def store_script(self, script): """ Store a script for later execution. script:= the script text as a series of bytes. Returns a >=0 script id if OK. ... sid = pi.store_script( b'tag 0 w 22 1 mils 100 w 22 0 mils 100 dcr p0 jp 0') ... """ # I p1 0 # I p2 0 # I p3 len ## extension ## # s len data bytes if len(script): return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_PROC, 0, 0, len(script), [script])) else: return 0 def run_script(self, script_id, params=None): """ Runs a stored script. script_id:= id of stored script. params:= up to 10 parameters required by the script. ... s = pi.run_script(sid, [par1, par2]) s = pi.run_script(sid) s = pi.run_script(sid, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]) ... """ # I p1 script id # I p2 0 # I p3 params * 4 (0-10 params) ## (optional) extension ## # I[] params if params is not None: ext = bytearray() for p in params: ext.extend(struct.pack("I", p)) nump = len(params) extents = [ext] else: nump = 0 extents = [] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_PROCR, script_id, 0, nump*4, extents)) def script_status(self, script_id): """ Returns the run status of a stored script as well as the current values of parameters 0 to 9. script_id:= id of stored script. The run status may be . . PI_SCRIPT_INITING PI_SCRIPT_HALTED PI_SCRIPT_RUNNING PI_SCRIPT_WAITING PI_SCRIPT_FAILED . . The return value is a tuple of run status and a list of the 10 parameters. On error the run status will be negative and the parameter list will be empty. ... (s, pars) = pi.script_status(sid) ... """ # Don't raise exception. Must release lock. bytes = u2i( _pigpio_command(self.sl, _PI_CMD_PROCP, script_id, 0, False)) if bytes > 0: data = self._rxbuf(bytes) pars = struct.unpack('11i', data) status = pars[0] params = pars[1:] else: status = bytes params = () self.sl.l.release() return status, params def stop_script(self, script_id): """ Stops a running script. script_id:= id of stored script. ... status = pi.stop_script(sid) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PROCS, script_id, 0)) def delete_script(self, script_id): """ Deletes a stored script. script_id:= id of stored script. ... status = pi.delete_script(sid) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PROCD, script_id, 0)) def bb_serial_read_open(self, user_gpio, bb_baud): """ Opens a gpio for bit bang reading of serial data. user_gpio:= 0-31, the gpio to use. bb_baud:= 300-250000, the baud rate. The serial data is held in a cyclic buffer and is read using bb_serial_read. It is the caller's responsibility to read data from the cyclic buffer in a timely fashion. ... status = pi.bb_serial_read_open(4, 19200) status = pi.bb_serial_read_open(17, 9600) ... """ return _u2i(_pigpio_command( self.sl, _PI_CMD_SLRO, user_gpio, bb_baud)) def bb_serial_read(self, user_gpio): """ Returns data from the bit bang serial cyclic buffer. user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*]) The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (count, data) = pi.bb_serial_read(4) ... """ # Don't raise exception. Must release lock. bytes = u2i( _pigpio_command(self.sl, _PI_CMD_SLR, user_gpio, 10000, False)) if bytes > 0: data = self._rxbuf(bytes) else: data = "" self.sl.l.release() return bytes, data def bb_serial_read_close(self, user_gpio): """ Closes a gpio for bit bang reading of serial data. user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*]) ... status = pi.bb_serial_read_close(17) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SLRC, user_gpio, 0)) def callback(self, user_gpio, edge=RISING_EDGE, func=None): """ Calls a user supplied function (a callback) whenever the specified gpio edge is detected. user_gpio:= 0-31. edge:= EITHER_EDGE, RISING_EDGE (default), or FALLING_EDGE. func:= user supplied callback function. If a user callback is not specified a default tally callback is provided which simply counts edges. The user supplied callback receives three parameters, the gpio, the level, and the tick. ... def cbf(gpio, level, tick): print(gpio, level, tick) cb1 = pi.callback(22, pigpio.EITHER_EDGE, cbf) cb2 = pi.callback(4, pigpio.EITHER_EDGE) cb3 = pi.callback(17) print(cb3.tally()) ... """ return _callback(self._notify, user_gpio, edge, func) def wait_for_edge(self, user_gpio, edge=RISING_EDGE, wait_timeout=60.0): """ Wait for an edge event on a gpio. user_gpio:= 0-31. edge:= EITHER_EDGE, RISING_EDGE (default), or FALLING_EDGE. wait_timeout:= 0.0- (default 60.0). The function returns as soon as the edge is detected or after the number of seconds specified by timeout has expired. The function returns True if the edge is detected, otherwise False. ... if pi.wait_for_edge(23): print("Rising edge detected") else: print("wait for edge timed out") if pi.wait_for_edge(23, pigpio.FALLING_EDGE, 5.0): print("Falling edge detected") else: print("wait for falling edge timed out") ... """ a = _wait_for_edge(self._notify, user_gpio, edge, wait_timeout) return a.trigger def __init__(self, host = os.getenv("PIGPIO_ADDR", ''), port = os.getenv("PIGPIO_PORT", 8888)): """ Grants access to a Pi's gpios. host:= the host name of the Pi on which the pigpio daemon is running. The default is localhost unless overridden by the PIGPIO_ADDR environment variable. port:= the port number on which the pigpio daemon is listening. The default is 8888 unless overridden by the PIGPIO_PORT environment variable. The pigpio daemon must have been started with the same port number. This connects to the pigpio daemon and reserves resources to be used for sending commands and receiving notifications. ... pi = pigio.pi() # use defaults pi = pigpio.pi('mypi') # specify host, default port pi = pigpio.pi('mypi', 7777) # specify host and port ... """ self.connected = True self.sl = _socklock() self._notify = None self._host = '' self._port = 8888 self._host = host self._port = int(port) self.sl.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # Disable the Nagle algorithm. self.sl.s.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) try: self.sl.s.connect((self._host, self._port)) self._notify = _callback_thread(self.sl, self._host, self._port) except socket.error: self.connected = False if self.sl.s is not None: self.sl.s = None if self._host == '': h = "localhost" else: h = self._host errStr = "Can't connect to pigpio on {}({})".format( str(h), str(self._port)) print("%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%") print(errStr) print("") print("Did you start the pigpio daemon? E.g. sudo pigpiod") print("") print("Did you specify the correct Pi host/port in the environment") print("variables PIGPIO_ADDR/PIGPIO_PORT?") print("E.g. export PIGPIO_ADDR=soft, export PIGPIO_PORT=8888") print("") print("Did you specify the correct Pi host/port in the") print("pigpio.pi() function? E.g. pigpio.pi('soft', 8888))") print("%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%") else: atexit.register(self.stop) def stop(self): """Release pigpio resources. ... pi.stop() ... """ if self._notify is not None: self._notify.stop() self._notify = None if self.sl.s is not None: self.sl.s.close() self.sl.s = None def xref(): """ bb_baud: 100 - 250000 The baud rate used for the transmission of bit bang serial data. bit: 0-1 A value of 0 or 1. bits: 32 bit number A mask used to select gpios to be operated on. If bit n is set then gpio n is selected. A convenient way of setting bit n is to bit or in the value (1<