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Help on module pigpio:
NAME
pigpio
FILE
/mnt/d/Users/guy/Projects/pigpio/pigpio.py
DESCRIPTION
pigpio is a Python module for the Raspberry which talks to
the pigpio daemon to allow control of the general purpose
input outputs (GPIO).
[http://abyz.me.uk/rpi/pigpio/python.html]
*Features*
o the pigpio Python module can run on Windows, Macs, or Linux
o controls one or more Pi's
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 creating and transmitting precisely timed waveforms
o reading/writing GPIO and setting their modes
o wrappers for I2C, SPI, and serial links
o creating and running scripts on the pigpio daemon
*GPIO*
ALL GPIO 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 10 us, default 5 us).
o the set of GPIO 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 GPIO 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 GPIO.
...
pi1 = pigpio.pi() # pi1 accesses the local Pi's GPIO
pi2 = pigpio.pi('tom') # pi2 accesses tom's GPIO
pi3 = pigpio.pi('dick') # pi3 accesses dick's GPIO
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
BASIC
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
PWM_(overrides_servo_commands_on_same_GPIO)
set_PWM_dutycycle Start/stop PWM pulses on a GPIO
set_PWM_frequency Set PWM frequency of a GPIO
set_PWM_range Configure PWM range of a GPIO
get_PWM_dutycycle Get PWM dutycycle set on a GPIO
get_PWM_frequency Get PWM frequency of a GPIO
get_PWM_range Get configured PWM range of a GPIO
get_PWM_real_range Get underlying PWM range for a GPIO
Servo_(overrides_PWM_commands_on_same_GPIO)
set_servo_pulsewidth Start/Stop servo pulses on a GPIO
get_servo_pulsewidth Get servo pulsewidth set on a GPIO
INTERMEDIATE
gpio_trigger Send a trigger pulse to a GPIO
set_watchdog Set a watchdog on a GPIO
read_bank_1 Read all bank 1 GPIO
read_bank_2 Read all bank 2 GPIO
clear_bank_1 Clear selected GPIO in bank 1
clear_bank_2 Clear selected GPIO in bank 2
set_bank_1 Set selected GPIO in bank 1
set_bank_2 Set selected GPIO in bank 2
callback Create GPIO level change callback
wait_for_edge Wait for GPIO level change
ADVANCED
notify_open Request a notification handle
notify_begin Start notifications for selected GPIO
notify_pause Pause notifications
notify_close Close a notification
hardware_clock Start hardware clock on supported GPIO
hardware_PWM Start hardware PWM on supported GPIO
set_glitch_filter Set a glitch filter on a GPIO
set_noise_filter Set a noise filter on a GPIO
set_pad_strength Sets a pads drive strength
get_pad_strength Gets a pads drive strength
shell Executes a shell command
Custom
custom_1 User custom function 1
custom_2 User custom function 2
Events
event_callback Sets a callback for an event
event_trigger Triggers an event
wait_for_event Wait for an event
Scripts
store_script Store a script
run_script Run a stored script
update_script Set a scripts parameters
script_status Get script status and parameters
stop_script Stop a running script
delete_script Delete a stored script
I2C
i2c_open Opens an I2C device
i2c_close Closes an I2C device
i2c_write_quick SMBus write quick
i2c_read_byte SMBus read byte
i2c_write_byte SMBus write byte
i2c_read_byte_data SMBus read byte data
i2c_write_byte_data SMBus write byte data
i2c_read_word_data SMBus read word data
i2c_write_word_data SMBus write word data
i2c_read_block_data SMBus read block data
i2c_write_block_data SMBus write block data
i2c_read_i2c_block_data SMBus read I2C block data
i2c_write_i2c_block_data SMBus write I2C block data
i2c_read_device Reads the raw I2C device
i2c_write_device Writes the raw I2C device
i2c_process_call SMBus process call
i2c_block_process_call SMBus block process call
i2c_zip Performs multiple I2C transactions
I2C_BIT_BANG
bb_i2c_open Opens GPIO for bit banging I2C
bb_i2c_close Closes GPIO for bit banging I2C
bb_i2c_zip Performs multiple bit banged I2C transactions
I2C/SPI_SLAVE
bsc_xfer I2C/SPI as slave transfer
bsc_i2c I2C as slave transfer
SERIAL
serial_open Opens a serial device
serial_close Closes a serial device
serial_read_byte Reads a byte from a serial device
serial_write_byte Writes a byte to a serial device
serial_read Reads bytes from a serial device
serial_write Writes bytes to a serial device
serial_data_available Returns number of bytes ready to be read
SERIAL_BIT_BANG_(read_only)
bb_serial_read_open Open a GPIO for bit bang serial reads
bb_serial_read_close Close a GPIO for bit bang serial reads
bb_serial_invert Invert serial logic (1 invert, 0 normal)
bb_serial_read Read bit bang serial data from a GPIO
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
SPI_BIT_BANG
bb_spi_open Opens GPIO for bit banging SPI
bb_spi_close Closes GPIO for bit banging SPI
bb_spi_xfer Transfers bytes with bit banging SPI
FILES
file_open Opens a file
file_close Closes a file
file_read Reads bytes from a file
file_write Writes bytes to a file
file_seek Seeks to a position within a file
file_list List files which match a pattern
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_create_and_pad Creates a waveform of fixed size from added data
wave_delete Deletes a waveform
wave_send_once Transmits a waveform once
wave_send_repeat Transmits a waveform repeatedly
wave_send_using_mode Transmits a waveform in the chosen mode
wave_chain Transmits a chain of waveforms
wave_tx_at Returns the current transmitting waveform
wave_tx_busy Checks to see if a waveform has ended
wave_tx_stop Aborts the current waveform
wave_get_cbs Length in cbs of the current waveform
wave_get_max_cbs Absolute maximum allowed cbs
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
UTILITIES
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
CLASSES
exceptions.Exception(exceptions.BaseException)
error
pi
pulse
class error(exceptions.Exception)
| pigpio module exception
|
| Method resolution order:
| error
| exceptions.Exception
| exceptions.BaseException
| __builtin__.object
|
| Methods defined here:
|
| __init__(self, value)
|
| __str__(self)
|
| ----------------------------------------------------------------------
| Data descriptors defined here:
|
| __weakref__
| list of weak references to the object (if defined)
|
| ----------------------------------------------------------------------
| Data and other attributes inherited from exceptions.Exception:
|
| __new__ = <built-in method __new__ of type object>
| T.__new__(S, ...) -> a new object with type S, a subtype of T
|
| ----------------------------------------------------------------------
| Methods inherited from exceptions.BaseException:
|
| __delattr__(...)
| x.__delattr__('name') <==> del x.name
|
| __getattribute__(...)
| x.__getattribute__('name') <==> x.name
|
| __getitem__(...)
| x.__getitem__(y) <==> x[y]
|
| __getslice__(...)
| x.__getslice__(i, j) <==> x[i:j]
|
| Use of negative indices is not supported.
|
| __reduce__(...)
|
| __repr__(...)
| x.__repr__() <==> repr(x)
|
| __setattr__(...)
| x.__setattr__('name', value) <==> x.name = value
|
| __setstate__(...)
|
| __unicode__(...)
|
| ----------------------------------------------------------------------
| Data descriptors inherited from exceptions.BaseException:
|
| __dict__
|
| args
|
| message
class pi
| Methods defined here:
|
| __init__(self, host='localhost', port=8888, show_errors=True)
| Grants access to a Pi's GPIO.
|
| 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.
|
| An instance attribute [*connected*] may be used to check the
| success of the connection. If the connection is established
| successfully [*connected*] will be True, otherwise False.
|
| ...
| pi = pigio.pi() # use defaults
| pi = pigpio.pi('mypi') # specify host, default port
| pi = pigpio.pi('mypi', 7777) # specify host and port
|
| pi = pigpio.pi() # exit script if no connection
| if not pi.connected:
| exit()
| ...
|
| __repr__(self)
|
| bb_i2c_close(self, SDA)
| This function stops bit banging I2C on a pair of GPIO
| previously opened with [*bb_i2c_open*].
|
| SDA:= 0-31, the SDA GPIO used in a prior call to [*bb_i2c_open*]
|
| Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO.
|
| ...
| pi.bb_i2c_close(SDA)
| ...
|
| bb_i2c_open(self, SDA, SCL, baud=100000)
| 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.
|
| ...
| h = pi.bb_i2c_open(4, 5, 50000) # bit bang on GPIO 4/5 at 50kbps
| ...
|
| bb_i2c_zip(self, SDA, data)
| This function executes a sequence of bit banged I2C operations.
| The operations to be performed are specified by the contents
| of data which contains the concatenated command codes and
| associated data.
|
| SDA:= 0-31 (as used in a prior call to [*bb_i2c_open*])
| data:= the concatenated I2C commands, see below
|
| 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_i2c_zip(
| SDA, [4, 0x53, 2, 7, 1, 0x32, 2, 6, 6, 3, 0])
| ...
|
| 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.
|
| Any read I2C data is concatenated in the returned bytearray.
|
| ...
| 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
| ...
|
| bb_serial_invert(self, user_gpio, invert)
| Invert serial logic.
|
| user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*])
| invert:= 0-1 (1 invert, 0 normal)
|
| ...
| status = pi.bb_serial_invert(17, 1)
| ...
|
| 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).
|
| The bytes returned for each character depend upon the number of
| data bits [*bb_bits*] specified in the [*bb_serial_read_open*]
| command.
|
| For [*bb_bits*] 1-8 there will be one byte per character.
| For [*bb_bits*] 9-16 there will be two bytes per character.
| For [*bb_bits*] 17-32 there will be four bytes per character.
|
| ...
| (count, data) = pi.bb_serial_read(4)
| ...
|
| 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)
| ...
|
| bb_serial_read_open(self, user_gpio, baud, bb_bits=8)
| Opens a GPIO for bit bang reading of serial data.
|
| user_gpio:= 0-31, the GPIO to use.
| baud:= 50-250000, the baud rate.
| bb_bits:= 1-32, the number of bits per word, default 8.
|
| 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)
| ...
|
| bb_spi_close(self, CS)
| This function stops bit banging SPI on a set of GPIO
| opened with [*bb_spi_open*].
|
| CS:= 0-31, the CS GPIO used in a prior call to [*bb_spi_open*]
|
| Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SPI_GPIO.
|
| ...
| pi.bb_spi_close(CS)
| ...
|
| bb_spi_open(self, CS, MISO, MOSI, SCLK, baud=100000, spi_flags=0)
| This function selects a set of GPIO for bit banging SPI at a
| specified baud rate.
|
| 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
| . .
|
| The following constants may be used to set the mode:
|
| . .
| pigpio.SPI_MODE_0
| pigpio.SPI_MODE_1
| pigpio.SPI_MODE_2
| pigpio.SPI_MODE_3
| . .
|
| Alternatively pigpio.SPI_CPOL and/or pigpio.SPI_CPHA
| may be used.
|
| p is 0 if CS is active low (default) and 1 for active high.
| pigpio.SPI_CS_HIGH_ACTIVE may be used to set this flag.
|
| T is 1 if the least significant bit is transmitted on MOSI first,
| the default (0) shifts the most significant bit out first.
| pigpio.SPI_TX_LSBFIRST may be used to set this flag.
|
| R is 1 if the least significant bit is received on MISO first,
| the default (0) receives the most significant bit first.
| pigpio.SPI_RX_LSBFIRST may be used to set this flag.
|
| The other bits in spiFlags 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.
|
| ...
| bb_spi_open(10, MISO, MOSI, SCLK, 10000, 0); // device 1
| bb_spi_open(11, MISO, MOSI, SCLK, 20000, 3); // device 2
| ...
|
| bb_spi_xfer(self, CS, data)
| This function executes a bit banged SPI transfer.
|
| CS:= 0-31 (as used in a prior call to [*bb_spi_open*])
| data:= data to be sent
|
| 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).
|
| ...
| #!/usr/bin/env python
|
| import pigpio
|
| CE0=5
| CE1=6
| MISO=13
| MOSI=19
| SCLK=12
|
| pi = pigpio.pi()
| if not pi.connected:
| exit()
|
| pi.bb_spi_open(CE0, MISO, MOSI, SCLK, 10000, 0) # MCP4251 DAC
| pi.bb_spi_open(CE1, MISO, MOSI, SCLK, 20000, 3) # MCP3008 ADC
|
| for i in range(256):
|
| count, data = pi.bb_spi_xfer(CE0, [0, i]) # Set DAC value
|
| if count == 2:
|
| count, data = pi.bb_spi_xfer(CE0, [12, 0]) # Read back DAC
|
| if count == 2:
|
| set_val = data[1]
|
| count, data = pi.bb_spi_xfer(CE1, [1, 128, 0]) # Read ADC
|
| if count == 3:
|
| read_val = ((data[1]&3)<<8) | data[2]
|
| print("{} {}".format(set_val, read_val))
|
| pi.bb_spi_close(CE0)
| pi.bb_spi_close(CE1)
|
| pi.stop()
| ...
|
| bsc_i2c(self, i2c_address, data=[])
| This function allows the Pi to act as a slave I2C device.
|
| This function is not available on the BCM2711 (e.g. as
| used in the Pi4B).
|
| The data bytes (if any) are written to the BSC transmit
| FIFO and the bytes in the BSC receive FIFO are returned.
|
| i2c_address:= the I2C slave address.
| data:= the data bytes to transmit.
|
| The returned value is a tuple of the status, the number
| of bytes read, and a bytearray containing the read bytes.
|
| See [*bsc_xfer*] for details of the status value.
|
| If there was an error the status will be less than zero
| (and will contain the error code).
|
| Note that an i2c_address of 0 may be used to close
| the BSC device and reassign the used GPIO as inputs.
|
| This example assumes GPIO 2/3 are connected to GPIO 18/19
| (GPIO 10/11 on the BCM2711).
|
| ...
| #!/usr/bin/env python
| import time
| import pigpio
|
| I2C_ADDR=0x13
|
| def i2c(id, tick):
| global pi
|
| s, b, d = pi.bsc_i2c(I2C_ADDR)
| if b:
| if d[0] == ord('t'): # 116 send 'HH:MM:SS*'
|
| print("sent={} FR={} received={} [{}]".
| format(s>>16, s&0xfff,b,d))
|
| s, b, d = pi.bsc_i2c(I2C_ADDR,
| "{}*".format(time.asctime()[11:19]))
|
| elif d[0] == ord('d'): # 100 send 'Sun Oct 30*'
|
| print("sent={} FR={} received={} [{}]".
| format(s>>16, s&0xfff,b,d))
|
| s, b, d = pi.bsc_i2c(I2C_ADDR,
| "{}*".format(time.asctime()[:10]))
|
| pi = pigpio.pi()
|
| if not pi.connected:
| exit()
|
| # Respond to BSC slave activity
|
| e = pi.event_callback(pigpio.EVENT_BSC, i2c)
|
| pi.bsc_i2c(I2C_ADDR) # Configure BSC as I2C slave
|
| time.sleep(600)
|
| e.cancel()
|
| pi.bsc_i2c(0) # Disable BSC peripheral
|
| pi.stop()
| ...
|
| While running the above.
|
| . .
| $ i2cdetect -y 1
| 0 1 2 3 4 5 6 7 8 9 a b c d e f
| 00: -- -- -- -- -- -- -- -- -- -- -- -- --
| 10: -- -- -- 13 -- -- -- -- -- -- -- -- -- -- -- --
| 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
| 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
| 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
| 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
| 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
| 70: -- -- -- -- -- -- -- --
|
| $ pigs i2co 1 0x13 0
| 0
|
| $ pigs i2cwd 0 116
| $ pigs i2crd 0 9 -a
| 9 10:13:58*
|
| $ pigs i2cwd 0 116
| $ pigs i2crd 0 9 -a
| 9 10:14:29*
|
| $ pigs i2cwd 0 100
| $ pigs i2crd 0 11 -a
| 11 Sun Oct 30*
|
| $ pigs i2cwd 0 100
| $ pigs i2crd 0 11 -a
| 11 Sun Oct 30*
|
| $ pigs i2cwd 0 116
| $ pigs i2crd 0 9 -a
| 9 10:23:16*
|
| $ pigs i2cwd 0 100
| $ pigs i2crd 0 11 -a
| 11 Sun Oct 30*
| . .
|
| bsc_xfer(self, bsc_control, data)
| 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_control:= see below
| data:= the data bytes to place in the transmit FIFO.
|
| The returned value is a tuple of the status (see below),
| the number of bytes read, and a bytearray containing the
| read bytes. If there was an error the status will be less
| than zero (and will contain the error code).
|
| 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.
|
| bsc_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 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
|
| ...
| (status, count, data) = pi.bsc_xfer(0x330305, "Hello!")
| ...
|
| callback(self, user_gpio, edge=0, 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.
|
| The user supplied callback receives three parameters, the GPIO,
| the 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
| . .
|
| If a user callback is not specified a default tally callback is
| provided which simply counts edges. The count may be retrieved
| by calling the tally function. The count may be reset to zero
| by calling the reset_tally function.
|
| The callback may be cancelled by calling the cancel function.
|
| A GPIO may have multiple callbacks (although I can't think of
| a reason to do so).
|
| The GPIO are sampled at a rate set when the pigpio daemon
| is started (default 5 us).
|
| 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
| . .
|
| GPIO level changes shorter than the sample rate may be missed.
|
| The daemon software which generates the callbacks is triggered
| 1000 times per second. The callbacks will be called once per
| level change since the last time they were called.
| i.e. The callbacks 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 [*read*].
| Remember the event that triggered the callback may have
| happened several milliseconds before and the GPIO may have
| changed level many times since then.
|
| ...
| 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())
|
| cb3.reset_tally()
|
| cb1.cancel() # To cancel callback cb1.
| ...
|
| clear_bank_1(self, bits)
| Clears GPIO 0-31 if the corresponding bit in bits is set.
|
| bits:= a 32 bit mask with 1 set if the corresponding GPIO is
| to be cleared.
|
| A returned status of PI_SOME_PERMITTED indicates that the user
| is not allowed to write to one or more of the GPIO.
|
| ...
| pi.clear_bank_1(int("111110010000",2))
| ...
|
| clear_bank_2(self, bits)
| Clears GPIO 32-53 if the corresponding bit (0-21) in bits is set.
|
| bits:= a 32 bit mask with 1 set if the corresponding GPIO is
| to be cleared.
|
| A returned status of PI_SOME_PERMITTED indicates that the user
| is not allowed to write to one or more of the GPIO.
|
| ...
| pi.clear_bank_2(0x1010)
| ...
|
| custom_1(self, arg1=0, arg2=0, argx=[])
| Calls a pigpio function customised by the user.
|
| arg1:= >=0, default 0.
| arg2:= >=0, default 0.
| argx:= extra arguments (each 0-255), default empty.
|
| The returned value is an integer which by convention
| should be >=0 for OK and <0 for error.
|
| ...
| value = pi.custom_1()
|
| value = pi.custom_1(23)
|
| value = pi.custom_1(0, 55)
|
| value = pi.custom_1(23, 56, [1, 5, 7])
|
| value = pi.custom_1(23, 56, b"hello")
|
| value = pi.custom_1(23, 56, "hello")
| ...
|
| custom_2(self, arg1=0, argx=[], retMax=8192)
| Calls a pigpio function customised by the user.
|
| arg1:= >=0, default 0.
| argx:= extra arguments (each 0-255), default empty.
| retMax:= >=0, maximum number of bytes to return, default 8192.
|
| The returned value is a tuple of the number of bytes
| returned 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.custom_2()
|
| (count, data) = pi.custom_2(23)
|
| (count, data) = pi.custom_2(23, [1, 5, 7])
|
| (count, data) = pi.custom_2(23, b"hello")
|
| (count, data) = pi.custom_2(23, "hello", 128)
| ...
|
| delete_script(self, script_id)
| Deletes a stored script.
|
| script_id:= id of stored script.
|
| ...
| status = pi.delete_script(sid)
| ...
|
| event_callback(self, event, func=None)
| Calls a user supplied function (a callback) whenever the
| specified event is signalled.
|
| event:= 0-31.
| func:= user supplied callback function.
|
| The user supplied callback receives two parameters, the event id,
| and the tick.
|
| If a user callback is not specified a default tally callback is
| provided which simply counts events. The count may be retrieved
| by calling the tally function. The count may be reset to zero
| by calling the reset_tally function.
|
| The callback may be cancelled by calling the event_cancel function.
|
| An event may have multiple callbacks (although I can't think of
| a reason to do so).
|
| ...
| def cbf(event, tick):
| print(event, tick)
|
| cb1 = pi.event_callback(22, cbf)
|
| cb2 = pi.event_callback(4)
|
| print(cb2.tally())
|
| cb2.reset_tally()
|
| cb1.event_cancel() # To cancel callback cb1.
| ...
|
| event_trigger(self, event)
| 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 [*event_callback*]) will
| be informed by a callback.
|
| One event, 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.
|
| ...
| pi.event_trigger(23)
| ...
|
| file_close(self, handle)
| Closes the file associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*file_open*]).
|
| ...
| pi.file_close(handle)
| ...
|
| file_list(self, fpattern)
| Returns a list of files which match a pattern.
|
| fpattern:= file pattern to match.
|
| Returns the number of returned bytes if OK, otherwise
| PI_NO_FILE_ACCESS, or PI_NO_FILE_MATCH.
|
| The pattern must match an entry in /opt/pigpio/access. The
| pattern may contain wildcards. See [*file_open*].
|
| NOTE
|
| The returned value is not the number of files, it is the number
| of bytes in the buffer. The file names are separated by newline
| characters.
|
| ...
| #!/usr/bin/env python
|
| import pigpio
|
| pi = pigpio.pi()
|
| if not pi.connected:
| exit()
|
| # Assumes /opt/pigpio/access contains the following line:
| # /ram/*.c r
|
| c, d = pi.file_list("/ram/p*.c")
| if c > 0:
| print(d)
|
| pi.stop()
| ...
|
| file_open(self, file_name, file_mode)
| This function returns a handle to a file opened in a specified mode.
|
| file_name:= the file to open.
| file_mode:= the file open mode.
|
| Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE,
| PI_NO_FILE_ACCESS, PI_BAD_FILE_MODE,
| PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR.
|
| ...
| h = pi.file_open("/home/pi/shared/dir_3/file.txt",
| pigpio.FILE_WRITE | pigpio.FILE_CREATE)
|
| pi.file_write(h, "Hello world")
|
| pi.file_close(h)
| ...
|
| File
|
| A file may only be opened if permission is granted by an entry
| in /opt/pigpio/access. This is intended to allow remote access
| to files in a more or less controlled manner.
|
| Each entry in /opt/pigpio/access takes the form of a file path
| which may contain wildcards followed by a single letter permission.
| The permission may be R for read, W for write, U for read/write,
| and N for no access.
|
| Where more than one entry matches a file the most specific rule
| applies. If no entry matches a file then access is denied.
|
| Suppose /opt/pigpio/access contains the following entries:
|
| . .
| /home/* n
| /home/pi/shared/dir_1/* w
| /home/pi/shared/dir_2/* r
| /home/pi/shared/dir_3/* u
| /home/pi/shared/dir_1/file.txt n
| . .
|
| Files may be written in directory dir_1 with the exception
| of file.txt.
|
| Files may be read in directory dir_2.
|
| Files may be read and written in directory dir_3.
|
| If a directory allows read, write, or read/write access then files
| may be created in that directory.
|
| In an attempt to prevent risky permissions the following paths are
| ignored in /opt/pigpio/access:
|
| . .
| a path containing ..
| a path containing only wildcards (*?)
| a path containing less than two non-wildcard parts
| . .
|
| Mode
|
| The mode may have the following values:
|
| Constant @ Value @ Meaning
| FILE_READ @ 1 @ open file for reading
| FILE_WRITE @ 2 @ open file for writing
| FILE_RW @ 3 @ open file for reading and writing
|
| The following values may be or'd into the mode:
|
| Name @ Value @ Meaning
| FILE_APPEND @ 4 @ All writes append data to the end of the file
| FILE_CREATE @ 8 @ The file is created if it doesn't exist
| FILE_TRUNC @ 16 @ The file is truncated
|
| Newly created files are owned by root with permissions owner
| read and write.
|
| ...
| #!/usr/bin/env python
|
| import pigpio
|
| pi = pigpio.pi()
|
| if not pi.connected:
| exit()
|
| # Assumes /opt/pigpio/access contains the following line:
| # /ram/*.c r
|
| handle = pi.file_open("/ram/pigpio.c", pigpio.FILE_READ)
|
| done = False
|
| while not done:
| c, d = pi.file_read(handle, 60000)
| if c > 0:
| print(d)
| else:
| done = True
|
| pi.file_close(handle)
|
| pi.stop()
| ...
|
| file_read(self, handle, count)
| Reads up to count bytes from the file associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*file_open*]).
| count:= >0, the number of bytes to read.
|
| The returned value is a tuple of the number of bytes read and a
| bytearray containing the bytes. If there was an error the
| number of bytes read will be less than zero (and will contain
| the error code).
|
| ...
| (b, d) = pi.file_read(h2, 100)
| if b > 0:
| # process read data
| ...
|
| file_seek(self, handle, seek_offset, seek_from)
| Seeks to a position relative to the start, current position,
| or end of the file. Returns the new position.
|
| handle:= >=0 (as returned by a prior call to [*file_open*]).
| seek_offset:= byte offset.
| seek_from:= FROM_START, FROM_CURRENT, or FROM_END.
|
| ...
| new_pos = pi.file_seek(h, 100, pigpio.FROM_START)
|
| cur_pos = pi.file_seek(h, 0, pigpio.FROM_CURRENT)
|
| file_size = pi.file_seek(h, 0, pigpio.FROM_END)
| ...
|
| file_write(self, handle, data)
| Writes the data bytes to the file associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*file_open*]).
| data:= the bytes to write.
|
| ...
| pi.file_write(h1, b'\x02\x03\x04')
|
| pi.file_write(h2, b'help')
|
| pi.file_write(h2, "hello")
|
| pi.file_write(h1, [2, 3, 4])
| ...
|
| get_PWM_dutycycle(self, user_gpio)
| Returns the PWM dutycycle being used on the GPIO.
|
| user_gpio:= 0-31.
|
| Returns the PWM dutycycle.
|
|
| For normal PWM the dutycycle will be out of the defined range
| for the GPIO (see [*get_PWM_range*]).
|
| If a hardware clock is active on the GPIO the reported
| dutycycle will be 500000 (500k) out of 1000000 (1M).
|
| If hardware PWM is active on the GPIO the reported dutycycle
| will be out of a 1000000 (1M).
|
| ...
| pi.set_PWM_dutycycle(4, 25)
| print(pi.get_PWM_dutycycle(4))
| 25
|
| pi.set_PWM_dutycycle(4, 203)
| print(pi.get_PWM_dutycycle(4))
| 203
| ...
|
| 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.
|
| For normal PWM the frequency will be that defined for the GPIO
| by [*set_PWM_frequency*].
|
| If a hardware clock is active on the GPIO the reported frequency
| will be that set by [*hardware_clock*].
|
| If hardware PWM is active on the GPIO the reported frequency
| will be that set by [*hardware_PWM*].
|
| ...
| 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
| ...
|
| get_PWM_range(self, user_gpio)
| Returns the range of PWM values being used on the GPIO.
|
| user_gpio:= 0-31.
|
| If a hardware clock or hardware PWM is active on the GPIO
| the reported range will be 1000000 (1M).
|
| ...
| pi.set_PWM_range(9, 500)
| print(pi.get_PWM_range(9))
| 500
| ...
|
| get_PWM_real_range(self, user_gpio)
| Returns the real (underlying) range of PWM values being
| used on the 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.
|
| ...
| pi.set_PWM_frequency(4, 800)
| print(pi.get_PWM_real_range(4))
| 250
| ...
|
| get_current_tick(self)
| Returns the current system tick.
|
| Tick is the number of microseconds since system boot. As an
| unsigned 32 bit quantity tick wraps around approximately
| every 71.6 minutes.
|
| ...
| t1 = pi.get_current_tick()
| time.sleep(1)
| t2 = pi.get_current_tick()
| ...
|
| get_hardware_revision(self)
| Returns the Pi's hardware revision number.
|
| 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.
|
| If the hardware revision can not be found or is not a valid
| hexadecimal number the function returns 0.
|
| ...
| print(pi.get_hardware_revision())
| 2
| ...
|
| get_mode(self, gpio)
| Returns the GPIO mode.
|
| gpio:= 0-53.
|
| Returns a value as follows
|
| . .
| 0 = INPUT
| 1 = OUTPUT
| 2 = ALT5
| 3 = ALT4
| 4 = ALT0
| 5 = ALT1
| 6 = ALT2
| 7 = ALT3
| . .
|
| ...
| print(pi.get_mode(0))
| 4
| ...
|
| get_pad_strength(self, pad)
| This function returns the pad drive strength in mA.
|
| pad:= 0-2, the pad to get.
|
| Returns the pad drive strength if OK, otherwise PI_BAD_PAD.
|
| Pad @ GPIO
| 0 @ 0-27
| 1 @ 28-45
| 2 @ 46-53
|
| ...
| strength = pi.get_pad_strength(0) # Get pad 0 strength.
| ...
|
| get_pigpio_version(self)
| Returns the pigpio software version.
|
| ...
| v = pi.get_pigpio_version()
| ...
|
| get_servo_pulsewidth(self, user_gpio)
| Returns the servo pulsewidth being used on the GPIO.
|
| user_gpio:= 0-31.
|
| Returns the servo pulsewidth.
|
| ...
| pi.set_servo_pulsewidth(4, 525)
| print(pi.get_servo_pulsewidth(4))
| 525
|
| pi.set_servo_pulsewidth(4, 2130)
| print(pi.get_servo_pulsewidth(4))
| 2130
| ...
|
| 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)
| ...
|
| hardware_PWM(self, gpio, PWMfreq, PWMduty)
| Starts hardware PWM on a GPIO at the specified frequency
| and dutycycle. Frequencies above 30MHz are unlikely to work.
|
| NOTE: Any waveform started by [*wave_send_once*],
| [*wave_send_repeat*], or [*wave_chain*] 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 when the
| pigpio daemon is started (option -t).
|
| gpio:= see descripton
| 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_NOT_PERMITTED, PI_BAD_GPIO,
| PI_NOT_HPWM_GPIO, PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ.
|
| 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.
|
| ...
| pi.hardware_PWM(18, 800, 250000) # 800Hz 25% dutycycle
|
| pi.hardware_PWM(18, 2000, 750000) # 2000Hz 75% dutycycle
| ...
|
| hardware_clock(self, gpio, clkfreq)
| 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_NOT_PERMITTED, 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.
|
| ...
| pi.hardware_clock(4, 5000) # 5 KHz clock on GPIO 4
|
| pi.hardware_clock(4, 40000000) # 40 MHz clock on GPIO 4
| ...
|
| 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.
|
| 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.
|
| SMBus 2.0 5.5.8 - Block write-block read.
| . .
| S Addr Wr [A] reg [A] len(data) [A] data0 [A] ... datan [A]
| S Addr Rd [A] [Count] A [Data] ... A P
| . .
|
| 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])
| ...
|
| 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)
| ...
|
| 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.
| i2c_address:= 0-0x7F.
| i2c_flags:= 0, no flags are currently defined.
|
| 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
|
| 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.
| reg (8 bits): Command 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.
| . .
|
| ...
| h = pi.i2c_open(1, 0x53) # open device at address 0x53 on bus 1
| ...
|
| 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.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| reg:= >=0, the device register.
| word_val:= 0-65535, the value to write.
|
| SMBus 2.0 5.5.6 - Process call.
| . .
| S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A]
| S Addr Rd [A] [DataLow] A [DataHigh] NA P
| . .
|
| ...
| r = pi.i2c_process_call(h, 4, 0x1231)
| r = pi.i2c_process_call(h, 6, 0)
| ...
|
| 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.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| reg:= >=0, the device register.
|
| SMBus 2.0 5.5.7 - Block read.
| . .
| S Addr Wr [A] reg [A]
| S Addr Rd [A] [Count] A [Data] A [Data] A ... A [Data] NA P
| . .
|
| 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
| ...
|
| i2c_read_byte(self, handle)
| Reads a single byte from the device associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
|
| SMBus 2.0 5.5.3 - Receive byte.
| . .
| S Addr Rd [A] [Data] NA P
| . .
|
| ...
| b = pi.i2c_read_byte(2) # read a byte from device 2
| ...
|
| i2c_read_byte_data(self, handle, reg)
| Reads a single byte from the specified register of the device
| associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| reg:= >=0, the device register.
|
| SMBus 2.0 5.5.5 - Read byte.
| . .
| S Addr Wr [A] reg [A] S Addr Rd [A] [Data] NA P
| . .
|
| ...
| # 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)
| ...
|
| 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.
|
| . .
| S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P
| . .
|
| 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)
| ...
|
| 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.
|
| . .
| S Addr Wr [A] reg [A]
| S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P
| . .
|
| 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
| ...
|
| i2c_read_word_data(self, handle, reg)
| Reads a single 16 bit word from the specified register of the
| device associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| reg:= >=0, the device register.
|
| SMBus 2.0 5.5.5 - Read word.
| . .
| S Addr Wr [A] reg [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P
| . .
|
| ...
| # 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)
| ...
|
| i2c_write_block_data(self, handle, reg, data)
| Writes up to 32 bytes to the specified register of the device
| associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| reg:= >=0, the device register.
| data:= the bytes to write.
|
| SMBus 2.0 5.5.7 - Block write.
| . .
| S Addr Wr [A] reg [A] len(data) [A] data0 [A] data1 [A] ... [A]
| datan [A] P
| . .
|
| ...
| 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])
| ...
|
| i2c_write_byte(self, handle, byte_val)
| Sends a single byte to the device associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| byte_val:= 0-255, the value to write.
|
| SMBus 2.0 5.5.2 - Send byte.
| . .
| S Addr Wr [A] byte_val [A] P
| . .
|
| ...
| pi.i2c_write_byte(1, 17) # send byte 17 to device 1
| pi.i2c_write_byte(2, 0x23) # send byte 0x23 to device 2
| ...
|
| i2c_write_byte_data(self, handle, reg, byte_val)
| Writes a single byte to the specified register of the device
| associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| reg:= >=0, the device register.
| byte_val:= 0-255, the value to write.
|
| SMBus 2.0 5.5.4 - Write byte.
| . .
| S Addr Wr [A] reg [A] byte_val [A] P
| . .
|
| ...
| # 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)
| ...
|
| 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.
|
| . .
| S Addr Wr [A] data0 [A] data1 [A] ... [A] datan [A] P
| . .
|
| ...
| 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])
| ...
|
| 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.
|
| . .
| S Addr Wr [A] reg [A] data0 [A] data1 [A] ... [A] datan [NA] P
| . .
|
| ...
| 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])
| ...
|
| i2c_write_quick(self, handle, bit)
| Sends a single bit to the device associated with handle.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| bit:= 0 or 1, the value to write.
|
| SMBus 2.0 5.5.1 - Quick command.
| . .
| S Addr bit [A] P
| . .
|
| ...
| pi.i2c_write_quick(0, 1) # send 1 to device 0
| pi.i2c_write_quick(3, 0) # send 0 to device 3
| ...
|
| 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.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| reg:= >=0, the device register.
| word_val:= 0-65535, the value to write.
|
| SMBus 2.0 5.5.4 - Write word.
| . .
| S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A] P
| . .
|
| ...
| # 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)
| ...
|
| i2c_zip(self, handle, data)
| This function executes a sequence of I2C operations. The
| operations to be performed are specified by the contents of data
| which contains the concatenated command codes and associated data.
|
| handle:= >=0 (as returned by a prior call to [*i2c_open*]).
| data:= the concatenated I2C commands, see below
|
| 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_zip(h, [4, 0x53, 7, 1, 0x32, 6, 6, 0])
| ...
|
| 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.
|
| Any read I2C data is concatenated in the returned bytearray.
|
| ...
| 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
| ...
|
| 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 GPIO to be notified.
|
| The notification sends state changes for each GPIO whose
| corresponding bit in bits is set.
|
| The following code starts notifications for GPIO 1, 4,
| 6, 7, and 10 (1234 = 0x04D2 = 0b0000010011010010).
|
| ...
| h = pi.notify_open()
| if h >= 0:
| pi.notify_begin(h, 1234)
| ...
|
| 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)
| ...
| ...
|
| 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:
|
| . .
| H seqno
| H flags
| I tick
| I level
| . .
|
| 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<<x is set
| then GPIO x is high.
|
| ...
| h = pi.notify_open()
| if h >= 0:
| pi.notify_begin(h, 1234)
| ...
|
| 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)
| ...
| ...
|
| read(self, gpio)
| Returns the GPIO level.
|
| gpio:= 0-53.
|
| ...
| pi.set_mode(23, pigpio.INPUT)
|
| pi.set_pull_up_down(23, pigpio.PUD_DOWN)
| print(pi.read(23))
| 0
|
| pi.set_pull_up_down(23, pigpio.PUD_UP)
| print(pi.read(23))
| 1
| ...
|
| read_bank_1(self)
| Returns the levels of the bank 1 GPIO (GPIO 0-31).
|
| The returned 32 bit integer has a bit set if the corresponding
| GPIO is high. GPIO n has bit value (1<<n).
|
| ...
| print(bin(pi.read_bank_1()))
| 0b10010100000011100100001001111
| ...
|
| read_bank_2(self)
| Returns the levels of the bank 2 GPIO (GPIO 32-53).
|
| The returned 32 bit integer has a bit set if the corresponding
| GPIO is high. GPIO n has bit value (1<<(n-32)).
|
| ...
| print(bin(pi.read_bank_2()))
| 0b1111110000000000000000
| ...
|
| 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])
| ...
|
| 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)
| ...
|
| 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)
| ...
|
| 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)
| ...
|
| serial_open(self, tty, baud, ser_flags=0)
| Returns a handle for the serial tty device opened
| at baud bits per second. The device name must start
| with /dev/tty or /dev/serial.
|
| tty:= the serial device to open.
| baud:= baud rate in bits per second, see below.
| 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.
|
| 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.
|
| ...
| h1 = pi.serial_open("/dev/ttyAMA0", 300)
|
| h2 = pi.serial_open("/dev/ttyUSB1", 19200, 0)
|
| h3 = pi.serial_open("/dev/serial0", 9600)
| ...
|
| serial_read(self, handle, count=1000)
| 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 (defaults to 1000).
|
| 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).
|
| If no data is ready a bytes read of zero is returned.
| ...
| (b, d) = pi.serial_read(h2, 100)
| if b > 0:
| # process read data
| ...
|
| 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*]).
|
| If no data is ready a negative error code will be returned.
|
| ...
| b = pi.serial_read_byte(h1)
| ...
|
| 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])
| ...
|
| 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'))
| ...
|
| set_PWM_dutycycle(self, user_gpio, dutycycle)
| Starts (non-zero dutycycle) or stops (0) PWM pulses on the GPIO.
|
| user_gpio:= 0-31.
| dutycycle:= 0-range (range defaults to 255).
|
| The [*set_PWM_range*] function can change the default range of 255.
|
| ...
| pi.set_PWM_dutycycle(4, 0) # PWM off
| pi.set_PWM_dutycycle(4, 64) # PWM 1/4 on
| pi.set_PWM_dutycycle(4, 128) # PWM 1/2 on
| pi.set_PWM_dutycycle(4, 192) # PWM 3/4 on
| pi.set_PWM_dutycycle(4, 255) # PWM full on
| ...
|
| set_PWM_frequency(self, user_gpio, frequency)
| Sets the frequency (in Hz) of the PWM to be used on the GPIO.
|
| user_gpio:= 0-31.
| frequency:= >=0 Hz
|
| Returns the numerically closest frequency if OK, otherwise
| PI_BAD_USER_GPIO or PI_NOT_PERMITTED.
|
| If PWM is currently active on the GPIO it will be switched
| off and then back on at the new frequency.
|
| Each GPIO can be independently set to one of 18 different
| PWM frequencies.
|
| The selectable frequencies depend upon the sample rate which
| may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The
| sample rate is set when the pigpio daemon is started.
|
| The frequencies for each sample rate are:
|
| . .
| Hertz
|
| 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600
| 1250 1000 800 500 400 250 200 100 50
|
| 2: 20000 10000 5000 4000 2500 2000 1250 1000 800
| 625 500 400 250 200 125 100 50 25
|
| 4: 10000 5000 2500 2000 1250 1000 625 500 400
| 313 250 200 125 100 63 50 25 13
| sample
| rate
| (us) 5: 8000 4000 2000 1600 1000 800 500 400 320
| 250 200 160 100 80 50 40 20 10
|
| 8: 5000 2500 1250 1000 625 500 313 250 200
| 156 125 100 63 50 31 25 13 6
|
| 10: 4000 2000 1000 800 500 400 250 200 160
| 125 100 80 50 40 25 20 10 5
| . .
|
| ...
| 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
| ...
|
| set_PWM_range(self, user_gpio, range_)
| Sets the range of PWM values to be used on the GPIO.
|
| user_gpio:= 0-31.
| range_:= 25-40000.
|
| ...
| pi.set_PWM_range(9, 100) # now 25 1/4, 50 1/2, 75 3/4 on
| pi.set_PWM_range(9, 500) # now 125 1/4, 250 1/2, 375 3/4 on
| pi.set_PWM_range(9, 3000) # now 750 1/4, 1500 1/2, 2250 3/4 on
| ...
|
| set_bank_1(self, bits)
| Sets GPIO 0-31 if the corresponding bit in bits is set.
|
| bits:= a 32 bit mask with 1 set if the corresponding GPIO is
| to be set.
|
| A returned status of PI_SOME_PERMITTED indicates that the user
| is not allowed to write to one or more of the GPIO.
|
| ...
| pi.set_bank_1(int("111110010000",2))
| ...
|
| set_bank_2(self, bits)
| Sets GPIO 32-53 if the corresponding bit (0-21) in bits is set.
|
| bits:= a 32 bit mask with 1 set if the corresponding GPIO is
| to be set.
|
| A returned status of PI_SOME_PERMITTED indicates that the user
| is not allowed to write to one or more of the GPIO.
|
| ...
| pi.set_bank_2(0x303)
| ...
|
| set_glitch_filter(self, user_gpio, steady)
| 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 [*callback*] and [*wait_for_edge*].
|
| It does not affect levels read by [*read*],
| [*read_bank_1*], or [*read_bank_2*].
|
| Each (stable) edge will be timestamped [*steady*]
| microseconds after it was first detected.
|
| ...
| pi.set_glitch_filter(23, 100)
| ...
|
| set_mode(self, gpio, mode)
| Sets the GPIO mode.
|
| gpio:= 0-53.
| mode:= INPUT, OUTPUT, ALT0, ALT1, ALT2, ALT3, ALT4, ALT5.
|
| ...
| pi.set_mode( 4, pigpio.INPUT) # GPIO 4 as input
| pi.set_mode(17, pigpio.OUTPUT) # GPIO 17 as output
| pi.set_mode(24, pigpio.ALT2) # GPIO 24 as ALT2
| ...
|
| set_noise_filter(self, user_gpio, steady, active)
| 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 [*callback*] and [*wait_for_edge*].
|
| It does not affect levels read by [*read*],
| [*read_bank_1*], or [*read_bank_2*].
|
| Level changes before and after the active period may
| be reported. Your software must be designed to cope with
| such reports.
|
| ...
| pi.set_noise_filter(23, 1000, 5000)
| ...
|
| set_pad_strength(self, pad, pad_strength)
| This function sets the pad drive strength in mA.
|
|
| pad:= 0-2, the pad to set.
| pad_strength:= 1-16 mA.
|
| Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH.
|
| Pad @ GPIO
| 0 @ 0-27
| 1 @ 28-45
| 2 @ 46-53
|
| ...
| pi.set_pad_strength(2, 14) # Set pad 2 to 14 mA.
| ...
|
| set_pull_up_down(self, gpio, pud)
| Sets or clears the internal GPIO pull-up/down resistor.
|
| gpio:= 0-53.
| pud:= PUD_UP, PUD_DOWN, PUD_OFF.
|
| ...
| pi.set_pull_up_down(17, pigpio.PUD_OFF)
| pi.set_pull_up_down(23, pigpio.PUD_UP)
| pi.set_pull_up_down(24, pigpio.PUD_DOWN)
| ...
|
| 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
| ...
|
| 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.
|
| Once a watchdog has been started callbacks for the GPIO
| will be triggered every timeout interval after the last
| GPIO activity.
|
| The callback will receive the special level TIMEOUT.
|
| ...
| pi.set_watchdog(23, 1000) # 1000 ms watchdog on GPIO 23
| pi.set_watchdog(23, 0) # cancel watchdog on GPIO 23
| ...
|
| shell(self, shellscr, pstring='')
| This function uses the system call to execute a shell script
| with the given string as its parameter.
|
| shellscr:= the name of the script, only alphanumerics,
| '-' and '_' are allowed in the name
| pstring := the parameter string to pass to the script
|
| The exit status of the system call is returned if OK,
| otherwise PI_BAD_SHELL_STATUS.
|
| [*shellscr*] must exist in /opt/pigpio/cgi and must be executable.
|
| The returned exit status is normally 256 times that set by
| the shell script exit function. If the script can't be
| found 32512 will be returned.
|
| The following table gives some example returned statuses:
|
| Script exit status @ Returned system call status
| 1 @ 256
| 5 @ 1280
| 10 @ 2560
| 200 @ 51200
| script not found @ 32512
|
| ...
| // pass two parameters, hello and world
| status = pi.shell("scr1", "hello world");
|
| // pass three parameters, hello, string with spaces, and world
| status = pi.shell("scr1", "hello 'string with spaces' world");
|
| // pass one parameter, hello string with spaces world
| status = pi.shell("scr1", "\"hello string with spaces world\"");
| ...
|
| 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)
| ...
|
| spi_open(self, spi_channel, baud, spi_flags=0)
| Returns a handle for the SPI device on the channel. Data
| will be transferred at baud bits per second. The flags
| may be used to modify the default behaviour of 4-wire
| operation, mode 0, active low chip select.
|
| The Pi has two SPI peripherals: main and auxiliary.
|
| The main SPI has two chip selects (channels), the auxiliary
| has three.
|
| The auxiliary SPI is available on all models but the A and B.
|
| The GPIO used are given in the following table.
|
| @ MISO @ MOSI @ SCLK @ CE0 @ CE1 @ CE2
| Main SPI @ 9 @ 10 @ 11 @ 8 @ 7 @ -
| Aux SPI @ 19 @ 20 @ 21 @ 18 @ 17 @ 16
|
| spi_channel:= 0-1 (0-2 for the auxiliary SPI).
| baud:= 32K-125M (values above 30M are unlikely to work).
| spi_flags:= see below.
|
| spi_flags consists of the least significant 22 bits.
|
| . .
| 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
| b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
| . .
|
| mm defines the SPI mode.
|
| WARNING: modes 1 and 3 do not appear to work on
| the auxiliary SPI.
|
| . .
| Mode POL PHA
| 0 0 0
| 1 0 1
| 2 1 0
| 3 1 1
| . .
|
| px is 0 if CEx is active low (default) and 1 for active high.
|
| ux is 0 if the CEx GPIO is reserved for SPI (default)
| and 1 otherwise.
|
| A is 0 for the main SPI, 1 for the auxiliary SPI.
|
| W is 0 if the device is not 3-wire, 1 if the device is 3-wire.
| Main SPI only.
|
| nnnn defines the number of bytes (0-15) to write before
| switching the MOSI line to MISO to read data. This field
| is ignored if W is not set. Main SPI only.
|
| T is 1 if the least significant bit is transmitted on MOSI
| first, the default (0) shifts the most significant bit out
| first. Auxiliary SPI only.
|
| R is 1 if the least significant bit is received on MISO
| first, the default (0) receives the most significant bit
| first. Auxiliary SPI only.
|
| bbbbbb defines the word size in bits (0-32). The default (0)
| sets 8 bits per word. Auxiliary SPI only.
|
| The [*spi_read*], [*spi_write*], and [*spi_xfer*] functions
| transfer data packed into 1, 2, or 4 bytes according to
| the word size in bits.
|
| For bits 1-8 there will be one byte per character.
| For bits 9-16 there will be two bytes per character.
| For bits 17-32 there will be four bytes per character.
|
| Multi-byte transfers are made in least significant byte
| first order.
|
| E.g. to transfer 32 11-bit words data should
| contain 64 bytes.
|
| 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.
|
| ...
| # open SPI device on channel 1 in mode 3 at 50000 bits per second
|
| h = pi.spi_open(1, 50000, 3)
| ...
|
| 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
| ...
|
| 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
| ...
|
| 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")
| ...
|
| stop(self)
| Release pigpio resources.
|
| ...
| pi.stop()
| ...
|
| stop_script(self, script_id)
| Stops a running script.
|
| script_id:= id of stored script.
|
| ...
| status = pi.stop_script(sid)
| ...
|
| store_script(self, script)
| Store a script for later execution.
|
| See [[http://abyz.me.uk/rpi/pigpio/pigs.html#Scripts]] for
| details.
|
| 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')
| ...
|
| update_script(self, script_id, params=None)
| Sets the parameters of a script. The script may or
| may not be running. The first parameters of the script are
| overwritten with the new values.
|
| script_id:= id of stored script.
| params:= up to 10 parameters required by the script.
|
| ...
| s = pi.update_script(sid, [par1, par2])
|
| s = pi.update_script(sid, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10])
| ...
|
| wait_for_edge(self, user_gpio, edge=0, 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 when the edge is detected or after
| the number of seconds specified by timeout has expired.
|
| Do not use this function for precise timing purposes,
| the edge is only checked 20 times a second. Whenever
| you need to know the accurate time of GPIO events use
| a [*callback*] function.
|
| 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")
| ...
|
| wait_for_event(self, event, wait_timeout=60.0)
| Wait for an event.
|
| event:= 0-31.
| wait_timeout:= >=0.0 (default 60.0).
|
| The function returns when the event is signalled or after
| the number of seconds specified by timeout has expired.
|
| The function returns True if the event is detected,
| otherwise False.
|
| ...
| if pi.wait_for_event(23):
| print("event detected")
| else:
| print("wait for event timed out")
| ...
|
| wave_add_generic(self, pulses)
| Adds a list of pulses to the current waveform.
|
| pulses:= list of pulses to add to the waveform.
|
| Returns the new total number of pulses in the current waveform.
|
| 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
| solely of a delay.
|
| ...
| G1=4
| G2=24
|
| pi.set_mode(G1, pigpio.OUTPUT)
| pi.set_mode(G2, pigpio.OUTPUT)
|
| flash_500=[] # flash every 500 ms
| flash_100=[] # flash every 100 ms
|
| # ON OFF DELAY
|
| flash_500.append(pigpio.pulse(1<<G1, 1<<G2, 500000))
| flash_500.append(pigpio.pulse(1<<G2, 1<<G1, 500000))
|
| flash_100.append(pigpio.pulse(1<<G1, 1<<G2, 100000))
| flash_100.append(pigpio.pulse(1<<G2, 1<<G1, 100000))
|
| pi.wave_clear() # clear any existing waveforms
|
| pi.wave_add_generic(flash_500) # 500 ms flashes
| f500 = pi.wave_create() # create and save id
|
| pi.wave_add_generic(flash_100) # 100 ms flashes
| f100 = pi.wave_create() # create and save id
|
| pi.wave_send_repeat(f500)
|
| time.sleep(4)
|
| pi.wave_send_repeat(f100)
|
| time.sleep(4)
|
| pi.wave_send_repeat(f500)
|
| time.sleep(4)
|
| pi.wave_tx_stop() # stop waveform
|
| pi.wave_clear() # clear all waveforms
| ...
|
| wave_add_new(self)
| Starts a new empty waveform.
|
| You would not normally need to call this function as it is
| automatically called after a waveform is created with the
| [*wave_create*] function.
|
| ...
| pi.wave_add_new()
| ...
|
| wave_add_serial(self, user_gpio, baud, data, offset=0, bb_bits=8, bb_stop=2)
| 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:= GPIO to transmit data. You must set the GPIO mode
| to output.
| baud:= 50-1000000 bits per second.
| data:= the bytes to write.
| offset:= number of microseconds from the start of the
| waveform, default 0.
| bb_bits:= number of data bits, default 8.
| bb_stop:= number of stop half bits, default 2.
|
| Returns the new total number of pulses in the current waveform.
|
| The serial data is formatted as one start bit, [*bb_bits*]
| data bits, and [*bb_stop*]/2 stop bits.
|
| It is legal to add serial data streams with different baud
| rates to the same waveform.
|
| The bytes required for each character depend upon [*bb_bits*].
|
| For [*bb_bits*] 1-8 there will be one byte per character.
| For [*bb_bits*] 9-16 there will be two bytes per character.
| For [*bb_bits*] 17-32 there will be four bytes per character.
|
| ...
| pi.wave_add_serial(4, 300, 'Hello world')
|
| pi.wave_add_serial(4, 300, b"Hello world")
|
| pi.wave_add_serial(4, 300, b'\x23\x01\x00\x45')
|
| pi.wave_add_serial(17, 38400, [23, 128, 234], 5000)
| ...
|
| wave_chain(self, data)
| This function transmits a chain of waveforms.
|
| NOTE: Any hardware PWM started by [*hardware_PWM*]
| will be cancelled.
|
| The waves to be transmitted are specified by the contents
| of data which contains an ordered list of [*wave_id*]s
| and optional command codes and related data.
|
| 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.
|
| ...
| #!/usr/bin/env python
|
| import time
| import pigpio
|
| WAVES=5
| GPIO=4
|
| wid=[0]*WAVES
|
| pi = pigpio.pi() # Connect to local Pi.
|
| pi.set_mode(GPIO, pigpio.OUTPUT);
|
| for i in range(WAVES):
| pi.wave_add_generic([
| pigpio.pulse(1<<GPIO, 0, 20),
| pigpio.pulse(0, 1<<GPIO, (i+1)*200)]);
|
| wid[i] = pi.wave_create();
|
| pi.wave_chain([
| wid[4], wid[3], wid[2], # transmit waves 4+3+2
| 255, 0, # loop start
| wid[0], wid[0], wid[0], # transmit waves 0+0+0
| 255, 0, # loop start
| wid[0], wid[1], # transmit waves 0+1
| 255, 2, 0x88, 0x13, # delay 5000us
| 255, 1, 30, 0, # loop end (repeat 30 times)
| 255, 0, # loop start
| wid[2], wid[3], wid[0], # transmit waves 2+3+0
| wid[3], wid[1], wid[2], # transmit waves 3+1+2
| 255, 1, 10, 0, # loop end (repeat 10 times)
| 255, 1, 5, 0, # loop end (repeat 5 times)
| wid[4], wid[4], wid[4], # transmit waves 4+4+4
| 255, 2, 0x20, 0x4E, # delay 20000us
| wid[0], wid[0], wid[0], # transmit waves 0+0+0
| ])
|
| while pi.wave_tx_busy():
| time.sleep(0.1);
|
| for i in range(WAVES):
| pi.wave_delete(wid[i])
|
| pi.stop()
| ...
|
| wave_clear(self)
| Clears all waveforms and any data added by calls to the
| [*wave_add_**] functions.
|
| ...
| pi.wave_clear()
| ...
|
| wave_create(self)
| Creates a waveform from the data provided by the prior calls
| to the [*wave_add_**] functions.
|
| Returns a wave id (>=0) if OK, otherwise PI_EMPTY_WAVEFORM,
| PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID.
|
| The data provided by the [*wave_add_**] functions is consumed by
| this function.
|
| As many waveforms may be created as there is space available.
| The wave id is passed to [*wave_send_**] to specify the waveform
| to transmit.
|
| Normal usage would be
|
| Step 1. [*wave_clear*] to clear all waveforms and added data.
|
| Step 2. [*wave_add_**] calls to supply the waveform data.
|
| Step 3. [*wave_create*] to create the waveform and get a unique id
|
| Repeat steps 2 and 3 as needed.
|
| Step 4. [*wave_send_**] with the id of the waveform to transmit.
|
| A waveform comprises one or more pulses.
|
| A pulse specifies
|
| 1) the GPIO to be switched on at the start of the pulse.
| 2) the GPIO to be switched off at the start of the pulse.
| 3) the delay in microseconds before the next pulse.
|
| Any or all the fields can be zero. It doesn't make any sense
| to set all the fields to zero (the pulse will be ignored).
|
| When a waveform is started each pulse is executed in order with
| the specified delay between the pulse and the next.
|
| ...
| wid = pi.wave_create()
| ...
|
| wave_create_and_pad(self, percent)
| This function creates a waveform like [*wave_create*] but pads the consumed
| resources. Where percent gives the percentage of the resources to use
| (in terms of the theoretical maximum, not the current amount free).
| This allows the reuse of deleted waves while a transmission is active.
|
| Upon success a wave id greater than or equal to 0 is returned, otherwise
| PI_EMPTY_WAVEFORM, PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID.
|
| . .
| percent: 0-100, size of waveform as percentage of maximum available.
| . .
|
| The data provided by the [*wave_add_**] functions are 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.
|
| A usage would be the creation of two waves where one is filled while the
| other is being transmitted. Each wave is assigned 50% of the resources.
| This buffer structure allows the transmission of infinite wave sequences.
|
| Normal usage:
|
| 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_and_pad*] to create a waveform of uniform size.
|
| Step 4. [*wave_send_**] with the id of the waveform to transmit.
|
| Repeat steps 2-4 as needed.
|
| Step 5. Any wave id can now be deleted and another wave of the same size
| can be created in its place.
|
| ...
| wid = pi.wave_create_and_pad(50)
| ...
|
| wave_delete(self, wave_id)
| This function deletes the waveform with id wave_id.
|
| wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
|
| Wave ids are allocated in order, 0, 1, 2, etc.
|
| The wave is flagged for deletion. The resources used by the wave
| will only be reused when either of the following apply.
|
| - all waves with higher numbered wave ids have been deleted or have
| been flagged for deletion.
|
| - a new wave is created which uses exactly the same resources as
| the current wave (see the C source for gpioWaveCreate for details).
|
| ...
| pi.wave_delete(6) # delete waveform with id 6
|
| pi.wave_delete(0) # delete waveform with id 0
| ...
|
| wave_get_cbs(self)
| Returns the length in DMA control blocks of the current
| waveform.
|
| ...
| cbs = pi.wave_get_cbs()
| ...
|
| wave_get_max_cbs(self)
| Returns the maximum possible size of a waveform in DMA
| control blocks.
|
| ...
| cbs = pi.wave_get_max_cbs()
| ...
|
| wave_get_max_micros(self)
| Returns the maximum possible size of a waveform in microseconds.
|
| ...
| micros = pi.wave_get_max_micros()
| ...
|
| wave_get_max_pulses(self)
| Returns the maximum possible size of a waveform in pulses.
|
| ...
| pulses = pi.wave_get_max_pulses()
| ...
|
| wave_get_micros(self)
| Returns the length in microseconds of the current waveform.
|
| ...
| micros = pi.wave_get_micros()
| ...
|
| wave_get_pulses(self)
| Returns the length in pulses of the current waveform.
|
| ...
| pulses = pi.wave_get_pulses()
| ...
|
| wave_send_once(self, wave_id)
| Transmits the waveform with id wave_id. The waveform is sent
| once.
|
| NOTE: Any hardware PWM started by [*hardware_PWM*] will
| be cancelled.
|
| wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
|
| Returns the number of DMA control blocks used in the waveform.
|
| ...
| cbs = pi.wave_send_once(wid)
| ...
|
| 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.
|
| NOTE: Any hardware PWM started by [*hardware_PWM*] will
| be cancelled.
|
| 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)
| ...
|
| wave_send_using_mode(self, wave_id, mode)
| Transmits the waveform with id wave_id using mode mode.
|
| wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
| mode:= WAVE_MODE_ONE_SHOT, WAVE_MODE_REPEAT,
| WAVE_MODE_ONE_SHOT_SYNC, or WAVE_MODE_REPEAT_SYNC.
|
| WAVE_MODE_ONE_SHOT: same as [*wave_send_once*].
|
| WAVE_MODE_REPEAT same as [*wave_send_repeat*].
|
| WAVE_MODE_ONE_SHOT_SYNC same as [*wave_send_once*] but tries
| to sync with the previous waveform.
|
| WAVE_MODE_REPEAT_SYNC same as [*wave_send_repeat*] but tries
| to sync with the previous 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 [*hardware_PWM*] will
| be cancelled.
|
| 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_using_mode(wid, WAVE_MODE_REPEAT_SYNC)
| ...
|
| wave_tx_at(self)
| Returns the id of the waveform currently being
| transmitted.
|
| Returns the waveform id or one of the following special
| values:
|
| WAVE_NOT_FOUND (9998) - transmitted wave not found.
| NO_TX_WAVE (9999) - no wave being transmitted.
|
| ...
| wid = pi.wave_tx_at()
| ...
|
| 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
| ...
|
| wave_tx_repeat(self)
| This function is deprecated and has beeen removed.
|
| Use [*wave_create*]/[*wave_send_**] instead.
|
| wave_tx_start(self)
| This function is deprecated and has been removed.
|
| Use [*wave_create*]/[*wave_send_**] instead.
|
| 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()
| ...
|
| write(self, gpio, level)
| Sets the GPIO level.
|
| GPIO:= 0-53.
| level:= 0, 1.
|
| If PWM or servo pulses are active on the GPIO they are
| switched off.
|
| ...
| pi.set_mode(17, pigpio.OUTPUT)
|
| pi.write(17,0)
| print(pi.read(17))
| 0
|
| pi.write(17,1)
| print(pi.read(17))
| 1
| ...
class pulse
| A class to store pulse information.
|
| Methods defined here:
|
| __init__(self, gpio_on, gpio_off, delay)
| Initialises a pulse.
|
| gpio_on:= the GPIO to switch on at the start of the pulse.
| gpio_off:= the GPIO to switch off at the start of the pulse.
| delay:= the delay in microseconds before the next pulse.
FUNCTIONS
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
...
tickDiff(t1, t2)
Returns the microsecond difference between two ticks.
t1:= the earlier tick
t2:= the later tick
...
print(pigpio.tickDiff(4294967272, 12))
36
...
u2i(uint32)
Converts a 32 bit unsigned number to signed.
uint32:= an unsigned 32 bit number
...
print(u2i(4294967272))
-24
print(u2i(37))
37
...
xref()
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.
argx:
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.
bb_bits: 1-32
The number of data bits to be used when adding serial data to a
waveform.
bb_stop: 2-8
The number of (half) stop bits to be used when adding serial data
to a waveform.
bit: 0-1
A value of 0 or 1.
bits: 32 bit number
A mask used to select GPIO 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<<n).
To select GPIO 1, 7, 23
bits = (1<<1) | (1<<7) | (1<<23)
bsc_control:
. .
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
. .
aaaaaaa defines the I2C slave address (only relevant in I2C mode)
Bits 0-13 are copied unchanged to the BSC CR register. See
pages 163-165 of the Broadcom peripherals document.
byte_val: 0-255
A whole number.
clkfreq: 4689-250M (13184-375M for the BCM2711)
The hardware clock frequency.
connected:
True if a connection was established, False otherwise.
count:
The number of bytes of data to be transferred.
CS:
The GPIO used for the slave select signal when bit banging SPI.
data:
Data to be transmitted, a series of bytes.
delay: >=1
The length of a pulse in microseconds.
dutycycle: 0-range_
A number between 0 and range_.
The dutycycle sets the proportion of time on versus time off during each
PWM cycle.
Dutycycle @ On time
0 @ Off
range_ * 0.25 @ 25% On
range_ * 0.50 @ 50% On
range_ * 0.75 @ 75% On
range_ @ Fully On
edge: 0-2
. .
EITHER_EDGE = 2
FALLING_EDGE = 1
RISING_EDGE = 0
. .
errnum: <0
. .
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_WDOG_TIMEOUT = -15
PI_BAD_DUTYRANGE = -21
PI_NO_HANDLE = -24
PI_BAD_HANDLE = -25
PI_BAD_WAVE_BAUD = -35
PI_TOO_MANY_PULSES = -36
PI_TOO_MANY_CHARS = -37
PI_NOT_SERIAL_GPIO = -38
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_SCRIPT_NOT_READY = -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_NO_AUX_SPI = -91
PI_NOT_PWM_GPIO = -92
PI_NOT_SERVO_GPIO = -93
PI_NOT_HCLK_GPIO = -94
PI_NOT_HPWM_GPIO = -95
PI_BAD_HPWM_FREQ = -96
PI_BAD_HPWM_DUTY = -97
PI_BAD_HCLK_FREQ = -98
PI_BAD_HCLK_PASS = -99
PI_HPWM_ILLEGAL = -100
PI_BAD_DATABITS = -101
PI_BAD_STOPBITS = -102
PI_MSG_TOOBIG = -103
PI_BAD_MALLOC_MODE = -104
PI_BAD_SMBUS_CMD = -107
PI_NOT_I2C_GPIO = -108
PI_BAD_I2C_WLEN = -109
PI_BAD_I2C_RLEN = -110
PI_BAD_I2C_CMD = -111
PI_BAD_I2C_BAUD = -112
PI_CHAIN_LOOP_CNT = -113
PI_BAD_CHAIN_LOOP = -114
PI_CHAIN_COUNTER = -115
PI_BAD_CHAIN_CMD = -116
PI_BAD_CHAIN_DELAY = -117
PI_CHAIN_NESTING = -118
PI_CHAIN_TOO_BIG = -119
PI_DEPRECATED = -120
PI_BAD_SER_INVERT = -121
PI_BAD_FOREVER = -124
PI_BAD_FILTER = -125
PI_BAD_PAD = -126
PI_BAD_STRENGTH = -127
PI_FIL_OPEN_FAILED = -128
PI_BAD_FILE_MODE = -129
PI_BAD_FILE_FLAG = -130
PI_BAD_FILE_READ = -131
PI_BAD_FILE_WRITE = -132
PI_FILE_NOT_ROPEN = -133
PI_FILE_NOT_WOPEN = -134
PI_BAD_FILE_SEEK = -135
PI_NO_FILE_MATCH = -136
PI_NO_FILE_ACCESS = -137
PI_FILE_IS_A_DIR = -138
PI_BAD_SHELL_STATUS = -139
PI_BAD_SCRIPT_NAME = -140
PI_BAD_SPI_BAUD = -141
PI_NOT_SPI_GPIO = -142
PI_BAD_EVENT_ID = -143
PI_CMD_INTERRUPTED = -144
PI_NOT_ON_BCM2711 = -145
PI_ONLY_ON_BCM2711 = -146
. .
event:0-31
An event is a signal used to inform one or more consumers
to start an action.
file_mode:
The mode may have the following values
. .
FILE_READ 1
FILE_WRITE 2
FILE_RW 3
. .
The following values can be or'd into the file open mode
. .
FILE_APPEND 4
FILE_CREATE 8
FILE_TRUNC 16
. .
file_name:
A full file path. To be accessible the path must match
an entry in /opt/pigpio/access.
fpattern:
A file path which may contain wildcards. To be accessible the path
must match an entry in /opt/pigpio/access.
frequency: 0-40000
Defines the frequency to be used for PWM on a GPIO.
The closest permitted frequency will be used.
func:
A user supplied callback function.
gpio: 0-53
A Broadcom numbered GPIO. All the user GPIO are in the range 0-31.
There are 54 General Purpose Input Outputs (GPIO) named GPIO0
through GPIO53.
They are split into two banks. Bank 1 consists of GPIO0
through GPIO31. Bank 2 consists of GPIO32 through GPIO53.
All the GPIO which are safe for the user to read and write are in
bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards
have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26.
See [*get_hardware_revision*].
The user GPIO are marked with an X in the following table
. .
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type 1 X X - - X - - X X X X X - - X X
Type 2 - - X X X - - X X X X X - - X X
Type 3 X X X X X X X X X X X X X X
16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Type 1 - X X - - X X X X X - - - - - -
Type 2 - X X - - - X X X X - X X X X X
Type 3 X X X X X X X X X X X X - - - -
. .
gpio_off:
A mask used to select GPIO to be operated on. See [*bits*].
This mask selects the GPIO to be switched off at the start
of a pulse.
gpio_on:
A mask used to select GPIO to be operated on. See [*bits*].
This mask selects the GPIO to be switched on at the start
of a pulse.
handle: >=0
A number referencing an object opened by one of the following
[*file_open*]
[*i2c_open*]
[*notify_open*]
[*serial_open*]
[*spi_open*]
host:
The name or IP address of the Pi running the pigpio daemon.
i2c_address: 0-0x7F
The address of a device on the I2C bus.
i2c_bus: >=0
An I2C bus number.
i2c_flags: 0
No I2C flags are currently defined.
invert: 0-1
A flag used to set normal or inverted bit bang serial data
level logic.
level: 0-1 (2)
. .
CLEAR = 0
HIGH = 1
LOW = 0
OFF = 0
ON = 1
SET = 1
TIMEOUT = 2 # only returned for a watchdog timeout
. .
MISO:
The GPIO used for the MISO signal when bit banging SPI.
mode:
1.The operational mode of a GPIO, normally INPUT or OUTPUT.
. .
ALT0 = 4
ALT1 = 5
ALT2 = 6
ALT3 = 7
ALT4 = 3
ALT5 = 2
INPUT = 0
OUTPUT = 1
. .
2. The mode of waveform transmission.
. .
WAVE_MODE_ONE_SHOT = 0
WAVE_MODE_REPEAT = 1
WAVE_MODE_ONE_SHOT_SYNC = 2
WAVE_MODE_REPEAT_SYNC = 3
. .
MOSI:
The GPIO used for the MOSI signal when bit banging SPI.
offset: >=0
The offset wave data starts from the beginning of the waveform
being currently defined.
pad: 0-2
A set of GPIO which share common drivers.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
pad_strength: 1-16
The mA which may be drawn from each GPIO whilst still guaranteeing the
high and low levels.
params: 32 bit number
When scripts are started they can receive up to 10 parameters
to define their operation.
percent:: 0-100
The size of waveform as percentage of maximum available.
port:
The port used by the pigpio daemon, defaults to 8888.
pstring:
The string to be passed to a [*shell*] script to be executed.
pud: 0-2
. .
PUD_DOWN = 1
PUD_OFF = 0
PUD_UP = 2
. .
pulse_len: 1-100
The length of the trigger pulse in microseconds.
pulses:
A list of class pulse objects defining the characteristics of a
waveform.
pulsewidth:
The servo pulsewidth in microseconds. 0 switches pulses off.
PWMduty: 0-1000000 (1M)
The hardware PWM dutycycle.
PWMfreq: 1-125M (1-187.5M for the BCM2711)
The hardware PWM frequency.
range_: 25-40000
Defines the limits for the [*dutycycle*] parameter.
range_ defaults to 255.
reg: 0-255
An I2C device register. The usable registers depend on the
actual device.
retMax: >=0
The maximum number of bytes a user customised function
should return, default 8192.
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:
The text of a script to store on the pigpio daemon.
script_id: >=0
A number referencing a script created by [*store_script*].
SDA:
The user GPIO to use for data when bit banging I2C.
seek_from: 0-2
Direction to seek for [*file_seek*].
. .
FROM_START=0
FROM_CURRENT=1
FROM_END=2
. .
seek_offset:
The number of bytes to move forward (positive) or backwards
(negative) from the seek position (start, current, or end of file).
ser_flags: 32 bit
No serial flags are currently defined.
serial_*:
One of the serial_ functions.
shellscr:
The name of a shell script. The script must exist
in /opt/pigpio/cgi and must be executable.
show_errors:
Controls the display of pigpio daemon connection failures.
The default of True prints the probable failure reasons to
standard output.
spi_channel: 0-2
A SPI channel.
spi_flags: 32 bit
See [*spi_open*].
steady: 0-300000
The number of microseconds level changes must be stable for
before reporting the level changed ([*set_glitch_filter*])
or triggering the active part of a noise filter
([*set_noise_filter*]).
t1:
A tick (earlier).
t2:
A tick (later).
tty:
A Pi serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0
uint32:
An unsigned 32 bit number.
user_gpio: 0-31
A Broadcom numbered GPIO.
All the user GPIO are in the range 0-31.
Not all the GPIO within this range are usable, some are reserved
for system use.
See [*gpio*].
wait_timeout: 0.0 -
The number of seconds to wait in [*wait_for_edge*] before timing out.
wave_add_*:
One of the following
[*wave_add_new*]
[*wave_add_generic*]
[*wave_add_serial*]
wave_id: >=0
A number referencing a wave created by [*wave_create*].
wave_send_*:
One of the following
[*wave_send_once*]
[*wave_send_repeat*]
wdog_timeout: 0-60000
Defines a GPIO watchdog timeout in milliseconds. If no level
change is detected on the GPIO for timeout millisecond a watchdog
timeout report is issued (with level TIMEOUT).
word_val: 0-65535
A whole number.
DATA
ALT0 = 4
ALT1 = 5
ALT2 = 6
ALT3 = 7
ALT4 = 3
ALT5 = 2
CLEAR = 0
EITHER_EDGE = 2
EVENT_BSC = 31
FALLING_EDGE = 1
FILE_APPEND = 4
FILE_CREATE = 8
FILE_READ = 1
FILE_RW = 3
FILE_TRUNC = 16
FILE_WRITE = 2
FROM_CURRENT = 1
FROM_END = 2
FROM_START = 0
HIGH = 1
INPUT = 0
LOW = 0
NO_TX_WAVE = 9999
NTFY_FLAGS_ALIVE = 64
NTFY_FLAGS_EVENT = 128
NTFY_FLAGS_GPIO = 31
NTFY_FLAGS_WDOG = 32
OFF = 0
ON = 1
OUTPUT = 1
PI_BAD_CHAIN_CMD = -116
PI_BAD_CHAIN_DELAY = -117
PI_BAD_CHAIN_LOOP = -114
PI_BAD_DATABITS = -101
PI_BAD_DUTYCYCLE = -8
PI_BAD_DUTYRANGE = -21
PI_BAD_EVENT_ID = -143
PI_BAD_FILE_FLAG = -130
PI_BAD_FILE_MODE = -129
PI_BAD_FILE_READ = -131
PI_BAD_FILE_SEEK = -135
PI_BAD_FILE_WRITE = -132
PI_BAD_FILTER = -125
PI_BAD_FLAGS = -77
PI_BAD_FOREVER = -124
PI_BAD_GPIO = -3
PI_BAD_HANDLE = -25
PI_BAD_HCLK_FREQ = -98
PI_BAD_HCLK_PASS = -99
PI_BAD_HPWM_DUTY = -97
PI_BAD_HPWM_FREQ = -96
PI_BAD_I2C_ADDR = -75
PI_BAD_I2C_BAUD = -112
PI_BAD_I2C_BUS = -74
PI_BAD_I2C_CMD = -111
PI_BAD_I2C_RLEN = -110
PI_BAD_I2C_WLEN = -109
PI_BAD_LEVEL = -5
PI_BAD_MALLOC_MODE = -104
PI_BAD_MICS_DELAY = -64
PI_BAD_MILS_DELAY = -65
PI_BAD_MODE = -4
PI_BAD_PAD = -126
PI_BAD_PARAM = -81
PI_BAD_PARAM_NUM = -52
PI_BAD_PUD = -6
PI_BAD_PULSELEN = -46
PI_BAD_PULSEWIDTH = -7
PI_BAD_SCRIPT = -47
PI_BAD_SCRIPT_CMD = -55
PI_BAD_SCRIPT_ID = -48
PI_BAD_SCRIPT_NAME = -140
PI_BAD_SERIAL_COUNT = -51
PI_BAD_SER_DEVICE = -79
PI_BAD_SER_INVERT = -121
PI_BAD_SER_OFFSET = -49
PI_BAD_SER_SPEED = -80
PI_BAD_SHELL_STATUS = -139
PI_BAD_SMBUS_CMD = -107
PI_BAD_SPI_BAUD = -141
PI_BAD_SPI_CHANNEL = -76
PI_BAD_SPI_COUNT = -84
PI_BAD_SPI_SPEED = -78
PI_BAD_STOPBITS = -102
PI_BAD_STRENGTH = -127
PI_BAD_TAG = -63
PI_BAD_USER_GPIO = -2
PI_BAD_VAR_NUM = -56
PI_BAD_WAVE_BAUD = -35
PI_BAD_WAVE_ID = -66
PI_BAD_WDOG_TIMEOUT = -15
PI_BAD_WVSC_COMMND = -43
PI_BAD_WVSM_COMMND = -44
PI_BAD_WVSP_COMMND = -45
PI_CHAIN_COUNTER = -115
PI_CHAIN_LOOP_CNT = -113
PI_CHAIN_NESTING = -118
PI_CHAIN_TOO_BIG = -119
PI_CMD_INTERRUPTED = -144
PI_DEPRECATED = -120
PI_DUP_TAG = -53
PI_EMPTY_WAVEFORM = -69
PI_FILE_IS_A_DIR = -138
PI_FILE_NOT_ROPEN = -133
PI_FILE_NOT_WOPEN = -134
PI_FIL_OPEN_FAILED = -128
PI_GPIO_IN_USE = -50
PI_HPWM_ILLEGAL = -100
PI_I2C_OPEN_FAILED = -71
PI_I2C_READ_FAILED = -83
PI_I2C_WRITE_FAILED = -82
PI_MSG_TOOBIG = -103
PI_NOT_HCLK_GPIO = -94
PI_NOT_HPWM_GPIO = -95
PI_NOT_I2C_GPIO = -108
PI_NOT_ON_BCM2711 = -145
PI_NOT_PERMITTED = -41
PI_NOT_PWM_GPIO = -92
PI_NOT_SERIAL_GPIO = -38
PI_NOT_SERVO_GPIO = -93
PI_NOT_SPI_GPIO = -142
PI_NO_AUX_SPI = -91
PI_NO_FILE_ACCESS = -137
PI_NO_FILE_MATCH = -136
PI_NO_HANDLE = -24
PI_NO_MEMORY = -58
PI_NO_SCRIPT_ROOM = -57
PI_NO_WAVEFORM_ID = -70
PI_ONLY_ON_BCM2711 = -146
PI_SCRIPT_FAILED = 4
PI_SCRIPT_HALTED = 1
PI_SCRIPT_INITING = 0
PI_SCRIPT_NOT_READY = -62
PI_SCRIPT_RUNNING = 2
PI_SCRIPT_WAITING = 3
PI_SER_OPEN_FAILED = -72
PI_SER_READ_FAILED = -86
PI_SER_READ_NO_DATA = -87
PI_SER_WRITE_FAILED = -85
PI_SOCK_READ_FAILED = -59
PI_SOCK_WRIT_FAILED = -60
PI_SOME_PERMITTED = -42
PI_SPI_OPEN_FAILED = -73
PI_SPI_XFER_FAILED = -89
PI_TOO_MANY_CBS = -67
PI_TOO_MANY_CHARS = -37
PI_TOO_MANY_OOL = -68
PI_TOO_MANY_PARAM = -61
PI_TOO_MANY_PULSES = -36
PI_TOO_MANY_TAGS = -54
PI_UNKNOWN_COMMAND = -88
PUD_DOWN = 1
PUD_OFF = 0
PUD_UP = 2
RISING_EDGE = 0
SET = 1
SPI_CPHA = 1
SPI_CPOL = 2
SPI_CS_HIGH_ACTIVE = 4
SPI_MODE_0 = 0
SPI_MODE_1 = 1
SPI_MODE_2 = 2
SPI_MODE_3 = 3
SPI_RX_LSBFIRST = 32768
SPI_TX_LSBFIRST = 16384
TIMEOUT = 2
VERSION = '1.46'
WAVE_MODE_ONE_SHOT = 0
WAVE_MODE_ONE_SHOT_SYNC = 2
WAVE_MODE_REPEAT = 1
WAVE_MODE_REPEAT_SYNC = 3
WAVE_NOT_FOUND = 9998
exceptions = True
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