mirror of https://github.com/joan2937/pigpio
7926 lines
110 KiB
Groff
7926 lines
110 KiB
Groff
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." Process this file with
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." groff -man -Tascii pigpio.3
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."
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.TH pigpio 3 2012-2014 Linux "pigpio archive"
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.SH NAME
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pigpio - A C library to manipulate the Pi's gpios.
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.SH SYNOPSIS
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gcc -o prog prog.c -lpigpio -lrt -lpthread
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sudo ./prog
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.SH DESCRIPTION
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.br
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.br
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pigpio is a C library for the Raspberry which allows control of the gpios.
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.br
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.br
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.SS Features
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.br
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.br
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o PWM on any of gpios 0-31
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o servo pulses on any of gpios 0-31
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o callbacks when any of gpios 0-31 change state
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o callbacks at timed intervals
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o reading/writing all of the gpios in a bank as one operation
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o individually setting gpio modes, reading and writing
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o notifications when any of gpios 0-31 change state
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o the construction of output waveforms with microsecond timing
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o rudimentary permission control over gpios
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o a simple interface to start and stop new threads
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o I2C, SPI, and serial link wrappers
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o creating and running scripts
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.SS gpios
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.br
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ALL gpios are identified by their Broadcom number.
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.br
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.SS Credits
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The PWM and servo pulses are timed using the DMA and PWM peripherals.
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.br
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This use was inspired by Richard Hirst's servoblaster kernel module.
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.br
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https://github.com/richardghirst/PiBits/tree/master/ServoBlaster
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.br
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.SS Usage
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.br
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Include <pigpio.h> in your source files.
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Assuming your source is in prog.c use the following command to build and
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run the executable.
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.EX
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gcc -o prog prog.c -lpigpio -lpthread -lrt
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.br
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sudo ./prog
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.br
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.EE
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.br
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.br
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For examples of usage see the C programs within the pigpio archive file.
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.br
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.SS Notes
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.br
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.br
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All the functions which return an int return < 0 on error.
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.br
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.br
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If the library is not initialised all but the \fBgpioCfg*\fP, \fBgpioVersion\fP,
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and \fBgpioHardwareRevision\fP functions will return PI_NOT_INITIALISED.
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.br
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.br
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If the library is initialised the \fBgpioCfg*\fP functions will
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return PI_INITIALISED.
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.br
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.br
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.SH FUNCTIONS
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.IP "\fBint gpioInitialise(void)\fP"
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.IP "" 4
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Initialises the library.
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.br
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.br
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Call before using the other library functions.
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.br
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.br
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Returns the pigpio version number if OK, otherwise PI_INIT_FAILED.
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.br
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.br
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The only exception is the optional \fBgpioCfg*\fP functions, see later.
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.br
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.br
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\fBExample\fP
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.br
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.EX
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if (gpioInitialise() < 0)
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.br
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{
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.br
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// pigpio initialisation failed.
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.br
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}
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.br
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else
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.br
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{
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.br
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// pigpio initialised okay.
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.br
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}
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.br
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.EE
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.IP "\fBvoid gpioTerminate(void)\fP"
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.IP "" 4
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Terminates the library.
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.br
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.br
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Returns nothing.
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.br
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.br
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Call before program exit.
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.br
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.br
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This function resets the used DMA channels, releases memory, and
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terminates any running threads.
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.br
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.br
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\fBExample\fP
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.br
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.EX
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gpioTerminate();
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.br
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.EE
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.IP "\fBint gpioSetMode(unsigned gpio, unsigned mode)\fP"
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.IP "" 4
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Sets the gpio mode, typically input or output.
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.br
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.br
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.EX
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gpio: 0-53
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.br
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mode: 0-7
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.br
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.EE
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.br
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.br
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Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_MODE.
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.br
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.br
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Arduino style: pinMode.
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.br
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.br
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\fBExample\fP
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.br
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.EX
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gpioSetMode(17, PI_INPUT); // Set gpio17 as input.
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.br
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.br
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gpioSetMode(18, PI_OUTPUT); // Set gpio18 as output.
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.br
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.br
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gpioSetMode(22,PI_ALT0); // Set gpio22 to alternative mode 0.
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.br
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.EE
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.IP "\fBint gpioGetMode(unsigned gpio)\fP"
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.IP "" 4
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Gets the gpio mode.
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.br
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.br
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.EX
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gpio: 0-53
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.br
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.EE
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.br
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.br
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Returns the gpio mode if OK, otherwise PI_BAD_GPIO.
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.br
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.br
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\fBExample\fP
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.br
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.EX
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if (gpioGetMode(17) != PI_ALT0)
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.br
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{
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.br
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gpioSetMode(17, PI_ALT0); // set gpio17 to ALT0
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.br
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}
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.br
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.EE
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.IP "\fBint gpioSetPullUpDown(unsigned gpio, unsigned pud)\fP"
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.IP "" 4
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Sets or clears resistor pull ups or downs on the gpio.
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.br
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.br
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.EX
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gpio: 0-53
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.br
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pud: 0-2
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.br
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.EE
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.br
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.br
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Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_PUD.
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.br
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.br
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\fBExample\fP
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.br
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.EX
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gpioSetPullUpDown(17, PI_PUD_UP); // Sets a pull-up.
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.br
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.br
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gpioSetPullUpDown(18, PI_PUD_DOWN); // Sets a pull-down.
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.br
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.br
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gpioSetPullUpDown(23, PI_PUD_OFF); // Clear any pull-ups/downs.
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.br
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.EE
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.IP "\fBint gpioRead(unsigned gpio)\fP"
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.IP "" 4
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Reads the gpio level, on or off.
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.br
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.br
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.EX
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gpio: 0-53
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.br
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.EE
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.br
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.br
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Returns the gpio level if OK, otherwise PI_BAD_GPIO.
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.br
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.br
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Arduino style: digitalRead.
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.br
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.br
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\fBExample\fP
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.br
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.EX
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printf("gpio24 is level %d\n", gpioRead(24));
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.br
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.EE
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.IP "\fBint gpioWrite(unsigned gpio, unsigned level)\fP"
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.IP "" 4
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Sets the gpio level, on or off.
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.br
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.br
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.EX
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gpio: 0-53
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.br
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level: 0,1
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.br
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.EE
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.br
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.br
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Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_LEVEL.
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.br
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.br
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If PWM or servo pulses are active on the gpio they are switched off.
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.br
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.br
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Arduino style: digitalWrite
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.br
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.br
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\fBExample\fP
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.br
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.EX
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gpioWrite(24, 1); // Set gpio24 high.
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.br
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.EE
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.IP "\fBint gpioPWM(unsigned user_gpio, unsigned dutycycle)\fP"
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.IP "" 4
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Starts PWM on the gpio, dutycycle between 0 (off) and range (fully on).
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Range defaults to 255.
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.br
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.br
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.EX
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user_gpio: 0-31
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.br
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dutycycle: 0-range
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.br
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.EE
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.br
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.br
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Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYCYCLE.
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.br
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.br
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Arduino style: analogWrite
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.br
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.br
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This and the servo functionality use the DMA and PWM or PCM peripherals
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to control and schedule the pulse lengths and dutycycles.
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.br
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.br
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The \fBgpioSetPWMrange\fP function may be used to change the default
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range of 255.
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.br
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.br
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\fBExample\fP
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.br
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.EX
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gpioPWM(17, 255); // Sets gpio17 full on.
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.br
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.br
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gpioPWM(18, 128); // Sets gpio18 half on.
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.br
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.br
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gpioPWM(23, 0); // Sets gpio23 full off.
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.br
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.EE
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.IP "\fBint gpioGetPWMdutycycle(unsigned user_gpio)\fP"
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.IP "" 4
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Returns the PWM dutycycle setting for the gpio.
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.br
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.br
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.EX
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user_gpio: 0-31
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.br
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.EE
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.br
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.br
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Returns between 0 (off) and range (fully on) if OK, otherwise
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PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO.
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.br
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.br
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For normal PWM the dutycycle will be out of the defined range
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for the gpio (see \fBgpioGetPWMrange\fP).
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.br
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.br
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If a hardware clock is active on the gpio the reported dutycycle
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will be 500000 (500k) out of 1000000 (1M).
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.br
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.br
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If hardware PWM is active on the gpio the reported dutycycle
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will be out of a 1000000 (1M).
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.br
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.br
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Normal PWM range defaults to 255.
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.IP "\fBint gpioSetPWMrange(unsigned user_gpio, unsigned range)\fP"
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.IP "" 4
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Selects the dutycycle range to be used for the gpio. Subsequent calls
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to gpioPWM will use a dutycycle between 0 (off) and range (fully on).
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.br
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.br
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.EX
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user_gpio: 0-31
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.br
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range: 25-40000
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.br
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.EE
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.br
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.br
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Returns the real range for the given gpio's frequency if OK,
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otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYRANGE.
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.br
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.br
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If PWM is currently active on the gpio its dutycycle will be scaled
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to reflect the new range.
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.br
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.br
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The real range, the number of steps between fully off and fully
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on for each frequency, is given in the following table.
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.br
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.br
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.EX
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25, 50, 100, 125, 200, 250, 400, 500, 625,
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.br
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800, 1000, 1250, 2000, 2500, 4000, 5000, 10000, 20000
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.br
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.EE
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.br
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.br
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The real value set by \fBgpioPWM\fP is (dutycycle * real range) / range.
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.br
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.br
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\fBExample\fP
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.br
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.EX
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gpioSetPWMrange(24, 2000); // Now 2000 is fully on
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.br
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// 1000 is half on
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.br
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// 500 is quarter on, etc.
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.br
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.EE
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.IP "\fBint gpioGetPWMrange(unsigned user_gpio)\fP"
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.IP "" 4
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Returns the dutycycle range used for the gpio if OK, otherwise
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PI_BAD_USER_GPIO.
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.br
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.br
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.EX
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user_gpio: 0-31
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.br
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.EE
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.br
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.br
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If a hardware clock or hardware PWM is active on the gpio
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the reported range will be 1000000 (1M).
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.br
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.br
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\fBExample\fP
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.br
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.EX
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r = gpioGetPWMrange(23);
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.br
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.EE
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.IP "\fBint gpioGetPWMrealRange(unsigned user_gpio)\fP"
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.IP "" 4
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Returns the real range used for the gpio if OK, otherwise
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PI_BAD_USER_GPIO.
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.br
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.br
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.EX
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user_gpio: 0-31
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.br
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.EE
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.br
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.br
|
|
If a hardware clock is active on the gpio the reported real
|
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range will be 1000000 (1M).
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.br
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.br
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|
If hardware PWM is active on the gpio the reported real range
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will be approximately 250M divided by the set PWM frequency.
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.br
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.br
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\fBExample\fP
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.br
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.EX
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rr = gpioGetPWMrealRange(17);
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.br
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.EE
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.IP "\fBint gpioSetPWMfrequency(unsigned user_gpio, unsigned frequency)\fP"
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.IP "" 4
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Sets the frequency in hertz to be used for the gpio.
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.br
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.br
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.EX
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user_gpio: 0-31
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.br
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frequency: >=0
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.br
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.EE
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.br
|
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|
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.br
|
|
Returns the numerically closest frequency if OK, otherwise
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PI_BAD_USER_GPIO.
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.br
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.br
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The selectable frequencies depend upon the sample rate which
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may be 1, 2, 4, 5, 8, or 10 microseconds (default 5).
|
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|
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.br
|
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|
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.br
|
|
Each gpio can be independently set to one of 18 different PWM
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frequencies.
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.br
|
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.br
|
|
If PWM is currently active on the gpio it will be
|
|
switched off and then back on at the new frequency.
|
|
|
|
.br
|
|
|
|
.br
|
|
The frequencies for each sample rate are:
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
Hertz
|
|
.br
|
|
|
|
.br
|
|
1: 40000 20000 10000 8000 5000 4000 2500 2000 1600
|
|
.br
|
|
1250 1000 800 500 400 250 200 100 50
|
|
.br
|
|
|
|
.br
|
|
2: 20000 10000 5000 4000 2500 2000 1250 1000 800
|
|
.br
|
|
625 500 400 250 200 125 100 50 25
|
|
.br
|
|
|
|
.br
|
|
4: 10000 5000 2500 2000 1250 1000 625 500 400
|
|
.br
|
|
313 250 200 125 100 63 50 25 13
|
|
.br
|
|
sample
|
|
.br
|
|
rate
|
|
.br
|
|
(us) 5: 8000 4000 2000 1600 1000 800 500 400 320
|
|
.br
|
|
250 200 160 100 80 50 40 20 10
|
|
.br
|
|
|
|
.br
|
|
8: 5000 2500 1250 1000 625 500 313 250 200
|
|
.br
|
|
156 125 100 63 50 31 25 13 6
|
|
.br
|
|
|
|
.br
|
|
10: 4000 2000 1000 800 500 400 250 200 160
|
|
.br
|
|
125 100 80 50 40 25 20 10 5
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
gpioSetPWMfrequency(23, 0); // Set gpio23 to lowest frequency.
|
|
.br
|
|
|
|
.br
|
|
gpioSetPWMfrequency(24, 500); // Set gpio24 to 500Hz.
|
|
.br
|
|
|
|
.br
|
|
gpioSetPWMfrequency(25, 100000); // Set gpio25 to highest frequency.
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioGetPWMfrequency(unsigned user_gpio)\fP"
|
|
.IP "" 4
|
|
Returns the frequency (in hertz) used for the gpio if OK, otherwise
|
|
PI_BAD_USER_GPIO.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
For normal PWM the frequency will be that defined for the gpio by
|
|
\fBgpioSetPWMfrequency\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
If a hardware clock is active on the gpio the reported frequency
|
|
will be that set by \fBgpioHardwareClock\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
If hardware PWM is active on the gpio the reported frequency
|
|
will be that set by \fBgpioHardwarePWM\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
f = gpioGetPWMfrequency(23); // Get frequency used for gpio23.
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioServo(unsigned user_gpio, unsigned pulsewidth)\fP"
|
|
.IP "" 4
|
|
Starts servo pulses on the gpio, 0 (off), 500 (most anti-clockwise) to
|
|
2500 (most clockwise).
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
pulsewidth: 0, 500-2500
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_PULSEWIDTH.
|
|
|
|
.br
|
|
|
|
.br
|
|
The range supported by servos varies and should probably be determined
|
|
by experiment. A value of 1500 should always be safe and represents
|
|
the mid-point of rotation. You can DAMAGE a servo if you command it
|
|
to move beyond its limits.
|
|
|
|
.br
|
|
|
|
.br
|
|
The following causes an on pulse of 1500 microseconds duration to be
|
|
transmitted on gpio 17 at a rate of 50 times per second. This will
|
|
command a servo connected to gpio 17 to rotate to its mid-point.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
gpioServo(17, 1000); // Move servo to safe position anti-clockwise.
|
|
.br
|
|
|
|
.br
|
|
gpioServo(23, 1500); // Move servo to centre position.
|
|
.br
|
|
|
|
.br
|
|
gpioServo(25, 2000); // Move servo to safe position clockwise.
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
OTHER UPDATE RATES:
|
|
|
|
.br
|
|
|
|
.br
|
|
This function updates servos at 50Hz. If you wish to use a different
|
|
update frequency you will have to use the PWM functions.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PWM Hz 50 100 200 400 500
|
|
.br
|
|
1E6/Hz 20000 10000 5000 2500 2000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Firstly set the desired PWM frequency using \fBgpioSetPWMfrequency\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
Then set the PWM range using \fBgpioSetPWMrange\fP to 1E6/frequency.
|
|
Doing this allows you to use units of microseconds when setting
|
|
the servo pulsewidth.
|
|
|
|
.br
|
|
|
|
.br
|
|
E.g. If you want to update a servo connected to gpio25 at 400Hz
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
gpioSetPWMfrequency(25, 400);
|
|
.br
|
|
|
|
.br
|
|
gpioSetPWMrange(25, 2500);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Thereafter use the PWM command to move the servo,
|
|
e.g. gpioPWM(25, 1500) will set a 1500 us pulse.
|
|
|
|
.IP "\fBint gpioGetServoPulsewidth(unsigned user_gpio)\fP"
|
|
.IP "" 4
|
|
Returns the servo pulsewidth setting for the gpio.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns , 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise)
|
|
if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO.
|
|
|
|
.IP "\fBint gpioSetAlertFunc(unsigned user_gpio, gpioAlertFunc_t f)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) when the specified
|
|
gpio changes state.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
f: the callback function
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO.
|
|
|
|
.br
|
|
|
|
.br
|
|
One function may be registered per gpio.
|
|
|
|
.br
|
|
|
|
.br
|
|
The function is passed the gpio, the new level, and the tick.
|
|
|
|
.br
|
|
|
|
.br
|
|
The alert may be cancelled by passing NULL as the function.
|
|
|
|
.br
|
|
|
|
.br
|
|
The gpios are sampled at a rate set when the library is started.
|
|
|
|
.br
|
|
|
|
.br
|
|
If a value isn't specifically set the default of 5 us is used.
|
|
|
|
.br
|
|
|
|
.br
|
|
The number of samples per second is given in the following table.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
samples
|
|
.br
|
|
per sec
|
|
.br
|
|
|
|
.br
|
|
1 1,000,000
|
|
.br
|
|
2 500,000
|
|
.br
|
|
sample 4 250,000
|
|
.br
|
|
rate 5 200,000
|
|
.br
|
|
(us) 8 125,000
|
|
.br
|
|
10 100,000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Level changes shorter than the sample rate may be missed.
|
|
|
|
.br
|
|
|
|
.br
|
|
The thread which calls the alert functions is triggered nominally
|
|
1000 times per second. The active alert functions will be called
|
|
once per level change since the last time the thread was activated.
|
|
i.e. The active alert functions will get all level changes but there
|
|
will be a latency.
|
|
|
|
.br
|
|
|
|
.br
|
|
The tick value is the time stamp of the sample in microseconds, see
|
|
\fBgpioTick\fP for more details.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
void aFunction(int gpio, int level, uint32_t tick)
|
|
.br
|
|
{
|
|
.br
|
|
printf("gpio %d became %d at %d\n", gpio, level, tick);
|
|
.br
|
|
}
|
|
.br
|
|
|
|
.br
|
|
// call aFunction whenever gpio 4 changes state
|
|
.br
|
|
|
|
.br
|
|
gpioSetAlertFunc(4F, aFunction);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioSetAlertFuncEx(unsigned user_gpio, gpioAlertFuncEx_t f, void *userdata)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) when the specified
|
|
gpio changes state.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
f: the callback function
|
|
.br
|
|
userdata: pointer to arbitrary user data
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO.
|
|
|
|
.br
|
|
|
|
.br
|
|
One function may be registered per gpio.
|
|
|
|
.br
|
|
|
|
.br
|
|
The function is passed the gpio, the new level, the tick, and
|
|
the userdata pointer.
|
|
|
|
.br
|
|
|
|
.br
|
|
Only one of \fBgpioSetAlertFunc\fP or \fBgpioSetAlertFuncEx\fP can be
|
|
registered per gpio.
|
|
|
|
.br
|
|
|
|
.br
|
|
See \fBgpioSetAlertFunc\fP for further details.
|
|
|
|
.IP "\fBint gpioSetISRFunc(unsigned user_gpio, unsigned edge, int timeout, gpioISRFunc_t f)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) whenever the specified
|
|
gpio interrupt occurs.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE
|
|
.br
|
|
timeout: interrupt timeout in milliseconds (<=0 to cancel)
|
|
.br
|
|
f: the callback function
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_EDGE,
|
|
or PI_BAD_ISR_INIT.
|
|
|
|
.br
|
|
|
|
.br
|
|
One function may be registered per gpio.
|
|
|
|
.br
|
|
|
|
.br
|
|
The function is passed the gpio, the current level, and the
|
|
current tick. The level will be PI_TIMEOUT if the optional
|
|
interrupt timeout expires.
|
|
|
|
.br
|
|
|
|
.br
|
|
The underlying Linux sysfs gpio interface is used to provide
|
|
the interrupt services.
|
|
|
|
.br
|
|
|
|
.br
|
|
The first time the function is called, with a non-NULL f, the
|
|
gpio is exported, set to be an input, and set to interrupt
|
|
on the given edge and timeout.
|
|
|
|
.br
|
|
|
|
.br
|
|
Subsequent calls, with a non-NULL f, can vary one or more of the
|
|
edge, timeout, or function.
|
|
|
|
.br
|
|
|
|
.br
|
|
The ISR may be cancelled by passing a NULL f, in which case the
|
|
gpio is unexported.
|
|
|
|
.br
|
|
|
|
.br
|
|
The tick is that read at the time the process was informed of
|
|
the interrupt. This will be a variable number of microseconds
|
|
after the interrupt occurred. Typically the latency will be of
|
|
the order of 50 microseconds. The latency is not guaranteed
|
|
and will vary with system load.
|
|
|
|
.br
|
|
|
|
.br
|
|
The level is that read at the time the process was informed of
|
|
the interrupt, or PI_TIMEOUT if the optional interrupt timeout
|
|
expired. It may not be the same as the expected edge as
|
|
interrupts happening in rapid succession may be missed by the
|
|
kernel (i.e. this mechanism can not be used to capture several
|
|
interrupts only a few microseconds apart).
|
|
|
|
.IP "\fBint gpioSetISRFuncEx(unsigned user_gpio, unsigned edge, int timeout, gpioISRFuncEx_t f, void *userdata)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) whenever the specified
|
|
gpio interrupt occurs.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE
|
|
.br
|
|
timeout: interrupt timeout in milliseconds (<=0 to cancel)
|
|
.br
|
|
f: the callback function
|
|
.br
|
|
userdata: pointer to arbitrary user data
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_EDGE,
|
|
or PI_BAD_ISR_INIT.
|
|
|
|
.br
|
|
|
|
.br
|
|
The function is passed the gpio, the current level, the
|
|
current tick, and the userdata pointer.
|
|
|
|
.br
|
|
|
|
.br
|
|
Only one of \fBgpioSetISRFunc\fP or \fBgpioSetISRFuncEx\fP can be
|
|
registered per gpio.
|
|
|
|
.br
|
|
|
|
.br
|
|
See \fBgpioSetISRFunc\fP for further details.
|
|
|
|
.IP "\fBint gpioNotifyOpen(void)\fP"
|
|
.IP "" 4
|
|
This function requests a free notification handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns a handle greater than or equal to zero if OK,
|
|
otherwise PI_NO_HANDLE.
|
|
|
|
.br
|
|
|
|
.br
|
|
A notification is a method for being notified of gpio state changes
|
|
via a pipe or socket.
|
|
|
|
.br
|
|
|
|
.br
|
|
Pipe notifications for handle x will be available at the pipe
|
|
named /dev/pigpiox (where x is the handle number). E.g. if the
|
|
function returns 15 then the notifications must be read
|
|
from /dev/pigpio15.
|
|
|
|
.br
|
|
|
|
.br
|
|
Socket notifications are returned to the socket which requested the
|
|
handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
h = gpioNotifyOpen();
|
|
.br
|
|
|
|
.br
|
|
if (h >= 0)
|
|
.br
|
|
{
|
|
.br
|
|
sprintf(str, "/dev/pigpio%d", h);
|
|
.br
|
|
|
|
.br
|
|
fd = open(str, "r");
|
|
.br
|
|
|
|
.br
|
|
if (fd >= 0)
|
|
.br
|
|
{
|
|
.br
|
|
// Okay.
|
|
.br
|
|
}
|
|
.br
|
|
else
|
|
.br
|
|
{
|
|
.br
|
|
// Error.
|
|
.br
|
|
}
|
|
.br
|
|
}
|
|
.br
|
|
else
|
|
.br
|
|
{
|
|
.br
|
|
// Error.
|
|
.br
|
|
}
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioNotifyBegin(unsigned handle, uint32_t bits)\fP"
|
|
.IP "" 4
|
|
This function starts notifications on a previously opened handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by \fBgpioNotifyOpen\fP
|
|
.br
|
|
bits: a bit mask indicating the gpios of interest
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
.br
|
|
|
|
.br
|
|
The notification sends state changes for each gpio whose corresponding
|
|
bit in bits is set.
|
|
|
|
.br
|
|
|
|
.br
|
|
Each notification occupies 12 bytes in the fifo and has the
|
|
following structure.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
typedef struct
|
|
.br
|
|
{
|
|
.br
|
|
uint16_t seqno;
|
|
.br
|
|
uint16_t flags;
|
|
.br
|
|
uint32_t tick;
|
|
.br
|
|
uint32_t level;
|
|
.br
|
|
} gpioReport_t;
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
seqno: starts at 0 each time the handle is opened and then increments
|
|
by one for each report.
|
|
|
|
.br
|
|
|
|
.br
|
|
flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE.
|
|
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.
|
|
|
|
.br
|
|
|
|
.br
|
|
tick: the number of microseconds since system boot. It wraps around
|
|
after 1h12m.
|
|
|
|
.br
|
|
|
|
.br
|
|
level: indicates the level of each gpio. If bit 1<<x is set then
|
|
gpio x is high.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
// Start notifications for gpios 1, 4, 6, 7, 10.
|
|
.br
|
|
|
|
.br
|
|
// 1
|
|
.br
|
|
// 0 76 4 1
|
|
.br
|
|
// (1234 = 0x04D2 = 0b0000010011010010)
|
|
.br
|
|
|
|
.br
|
|
gpioNotifyBegin(h, 1234);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioNotifyPause(unsigned handle)\fP"
|
|
.IP "" 4
|
|
This function pauses notifications on a previously opened handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by \fBgpioNotifyOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
.br
|
|
|
|
.br
|
|
Notifications for the handle are suspended until \fBgpioNotifyBegin\fP
|
|
is called again.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
gpioNotifyPause(h);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioNotifyClose(unsigned handle)\fP"
|
|
.IP "" 4
|
|
This function stops notifications on a previously opened handle
|
|
and releases the handle for reuse.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by \fBgpioNotifyOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
gpioNotifyClose(h);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioWaveClear(void)\fP"
|
|
.IP "" 4
|
|
This function clears all waveforms and any data added by calls to the
|
|
\fBgpioWaveAdd*\fP functions.
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
gpioWaveClear();
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioWaveAddNew(void)\fP"
|
|
.IP "" 4
|
|
This function starts a new empty waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
You wouldn't normally need to call this function as it is automatically
|
|
called after a waveform is created with the \fBgpioWaveCreate\fP function.
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
gpioWaveAddNew();
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioWaveAddGeneric(unsigned numPulses, gpioPulse_t *pulses)\fP"
|
|
.IP "" 4
|
|
This function adds a number of pulses to the current waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
numPulses: the number of pulses
|
|
.br
|
|
pulses: an array of pulses
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the new total number of pulses in the current waveform if OK,
|
|
otherwise PI_TOO_MANY_PULSES.
|
|
|
|
.br
|
|
|
|
.br
|
|
The pulses are interleaved in time order within the existing waveform
|
|
(if any).
|
|
|
|
.br
|
|
|
|
.br
|
|
Merging allows the waveform to be built in parts, that is the settings
|
|
for gpio#1 can be added, and then gpio#2 etc.
|
|
|
|
.br
|
|
|
|
.br
|
|
If the added waveform is intended to start after or within the existing
|
|
waveform then the first pulse should consist of a delay.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
// Construct and send a 30 microsecond square wave.
|
|
.br
|
|
|
|
.br
|
|
gpioSetMode(gpio, PI_OUTPUT);
|
|
.br
|
|
|
|
.br
|
|
pulse[0].gpioOn = (1<<gpio);
|
|
.br
|
|
pulse[0].gpioOff = 0;
|
|
.br
|
|
pulse[0].usDelay = 15;
|
|
.br
|
|
|
|
.br
|
|
pulse[1].gpioOn = 0;
|
|
.br
|
|
pulse[1].gpioOff = (1<<gpio);
|
|
.br
|
|
pulse[1].usDelay = 15;
|
|
.br
|
|
|
|
.br
|
|
gpioWaveAddNew();
|
|
.br
|
|
|
|
.br
|
|
gpioWaveAddGeneric(2, pulse);
|
|
.br
|
|
|
|
.br
|
|
wave_id = gpioWaveCreate();
|
|
.br
|
|
|
|
.br
|
|
if (wave_id >= 0)
|
|
.br
|
|
{
|
|
.br
|
|
gpioWaveTxSend(wave_id, PI_WAVE_MODE_REPEAT);
|
|
.br
|
|
|
|
.br
|
|
// Transmit for 30 seconds.
|
|
.br
|
|
|
|
.br
|
|
sleep(30);
|
|
.br
|
|
|
|
.br
|
|
gpioWaveTxStop();
|
|
.br
|
|
}
|
|
.br
|
|
else
|
|
.br
|
|
{
|
|
.br
|
|
// Wave create failed.
|
|
.br
|
|
}
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioWaveAddSerial(unsigned user_gpio, unsigned baud, unsigned data_bits, unsigned stop_bits, unsigned offset, unsigned numBytes, char *str)\fP"
|
|
.IP "" 4
|
|
This function adds a waveform representing serial data to the
|
|
existing waveform (if any). The serial data starts offset
|
|
microseconds from the start of the waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
baud: 50-1000000
|
|
.br
|
|
data_bits: 1-32
|
|
.br
|
|
stop_bits: 2-8
|
|
.br
|
|
offset: 0-
|
|
.br
|
|
numBytes: 1-
|
|
.br
|
|
str: an array of chars (which may contain nulls)
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the new total number of pulses in the current waveform if OK,
|
|
otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS,
|
|
PI_BAD_STOPBITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET,
|
|
or PI_TOO_MANY_PULSES.
|
|
|
|
.br
|
|
|
|
.br
|
|
NOTES:
|
|
|
|
.br
|
|
|
|
.br
|
|
The serial data is formatted as one start bit, data_bits data bits, and
|
|
stop_bits/2 stop bits.
|
|
|
|
.br
|
|
|
|
.br
|
|
It is legal to add serial data streams with different baud rates to
|
|
the same waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
numBytes is the number of bytes of data in str.
|
|
|
|
.br
|
|
|
|
.br
|
|
The bytes required for each character depend upon data_bits.
|
|
|
|
.br
|
|
|
|
.br
|
|
For data_bits 1-8 there will be one byte per character.
|
|
.br
|
|
For data_bits 9-16 there will be two bytes per character.
|
|
.br
|
|
For data_bits 17-32 there will be four bytes per character.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
#define MSG_LEN 8
|
|
.br
|
|
|
|
.br
|
|
int i;
|
|
.br
|
|
char *str;
|
|
.br
|
|
char data[MSG_LEN];
|
|
.br
|
|
|
|
.br
|
|
str = "Hello world!";
|
|
.br
|
|
|
|
.br
|
|
gpioWaveAddSerial(4, 9600, 8, 2, 0, strlen(str), str);
|
|
.br
|
|
|
|
.br
|
|
for (i=0; i<MSG_LEN; i++) data[i] = i;
|
|
.br
|
|
|
|
.br
|
|
// Data added is offset 1 second from the waveform start.
|
|
.br
|
|
gpioWaveAddSerial(4, 9600, 8, 2, 1000000, MSG_LEN, data);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioWaveCreate(void)\fP"
|
|
.IP "" 4
|
|
This function creates a waveform from the data provided by the prior
|
|
calls to the \fBgpioWaveAdd*\fP functions. Upon success a wave id
|
|
greater than or equal to 0 is returned, otherwise PI_EMPTY_WAVEFORM,
|
|
PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID.
|
|
|
|
.br
|
|
|
|
.br
|
|
The data provided by the \fBgpioWaveAdd*\fP functions is consumed by this
|
|
function.
|
|
|
|
.br
|
|
|
|
.br
|
|
As many waveforms may be created as there is space available. The
|
|
wave id is passed to \fBgpioWaveTxSend\fP to specify the waveform to transmit.
|
|
|
|
.br
|
|
|
|
.br
|
|
Normal usage would be
|
|
|
|
.br
|
|
|
|
.br
|
|
Step 1. \fBgpioWaveClear\fP to clear all waveforms and added data.
|
|
|
|
.br
|
|
|
|
.br
|
|
Step 2. \fBgpioWaveAdd*\fP calls to supply the waveform data.
|
|
|
|
.br
|
|
|
|
.br
|
|
Step 3. \fBgpioWaveCreate\fP to create the waveform and get a unique id
|
|
|
|
.br
|
|
|
|
.br
|
|
Repeat steps 2 and 3 as needed.
|
|
|
|
.br
|
|
|
|
.br
|
|
Step 4. \fBgpioWaveTxSend\fP with the id of the waveform to transmit.
|
|
|
|
.br
|
|
|
|
.br
|
|
A waveform comprises one of more pulses. Each pulse consists of a
|
|
\fBgpioPulse_t\fP structure.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
typedef struct
|
|
.br
|
|
{
|
|
.br
|
|
uint32_t gpioOn;
|
|
.br
|
|
uint32_t gpioOff;
|
|
.br
|
|
uint32_t usDelay;
|
|
.br
|
|
} gpioPulse_t;
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The fields specify
|
|
|
|
.br
|
|
|
|
.br
|
|
1) the gpios to be switched on at the start of the pulse.
|
|
.br
|
|
2) the gpios to be switched off at the start of the pulse.
|
|
.br
|
|
3) the delay in microseconds before the next pulse.
|
|
|
|
.br
|
|
|
|
.br
|
|
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).
|
|
|
|
.br
|
|
|
|
.br
|
|
When a waveform is started each pulse is executed in order with the
|
|
specified delay between the pulse and the next.
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the new waveform id if OK, otherwise PI_EMPTY_WAVEFORM,
|
|
PI_NO_WAVEFORM_ID, PI_TOO_MANY_CBS, or PI_TOO_MANY_OOL.
|
|
|
|
.IP "\fBint gpioWaveDelete(unsigned wave_id)\fP"
|
|
.IP "" 4
|
|
This function deletes the waveform with id wave_id.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
wave_id: >=0, as returned by \fBgpioWaveCreate\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Wave ids are allocated in order, 0, 1, 2, etc.
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_WAVE_ID.
|
|
|
|
.IP "\fBint gpioWaveTxSend(unsigned wave_id, unsigned wave_mode)\fP"
|
|
.IP "" 4
|
|
This function transmits the waveform with id wave_id. The mode
|
|
determines whether the waveform is sent once or cycles endlessly.
|
|
|
|
.br
|
|
|
|
.br
|
|
NOTE: Any hardware PWM started by \fBgpioHardwarePWM\fP will be cancelled.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
wave_id: >=0, as returned by \fBgpioWaveCreate\fP
|
|
.br
|
|
wave_mode: 0 (PI_WAVE_MODE_ONE_SHOT), 1 (PI_WAVE_MODE_REPEAT)
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of DMA control blocks in the waveform if OK,
|
|
otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE.
|
|
|
|
.IP "\fBint gpioWaveChain(char *buf, unsigned bufSize)\fP"
|
|
.IP "" 4
|
|
This function transmits a chain of waveforms.
|
|
|
|
.br
|
|
|
|
.br
|
|
NOTE: Any hardware PWM started by \fBgpioHardwarePWM\fP will be cancelled.
|
|
|
|
.br
|
|
|
|
.br
|
|
The waves to be transmitted are specified by the contents of buf
|
|
which contains an ordered list of \fBwave_id\fPs and optional command
|
|
codes and related data.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
buf: pointer to the wave_ids and optional command codes
|
|
.br
|
|
bufSize: the number of bytes in buf
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
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.
|
|
|
|
.br
|
|
|
|
.br
|
|
Each wave is transmitted in the order specified. A wave may
|
|
occur multiple times per chain.
|
|
|
|
.br
|
|
|
|
.br
|
|
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.
|
|
|
|
.br
|
|
|
|
.br
|
|
Delays between waves may be added with the delay command.
|
|
|
|
.br
|
|
|
|
.br
|
|
The following command codes are supported:
|
|
|
|
.br
|
|
|
|
.br
|
|
Name Cmd & Data Meaning
|
|
|
|
.br
|
|
Loop Start 255 0 Identify start of a wave block
|
|
|
|
.br
|
|
Loop Repeat 255 1 x y loop x + y*256 times
|
|
|
|
.br
|
|
Delay 255 2 x y delay x + y*256 microseconds
|
|
|
|
.br
|
|
Loop Forever 255 3 loop forever
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.br
|
|
If present Loop Forever must be the last entry in the chain.
|
|
|
|
.br
|
|
|
|
.br
|
|
The code is currently dimensioned to support a chain with roughly
|
|
600 entries and 20 loop counters.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
#include <stdio.h>
|
|
.br
|
|
#include <pigpio.h>
|
|
.br
|
|
|
|
.br
|
|
#define WAVES 5
|
|
.br
|
|
#define GPIO 4
|
|
.br
|
|
|
|
.br
|
|
int main(int argc, char *argv[])
|
|
.br
|
|
{
|
|
.br
|
|
int i, wid[WAVES];
|
|
.br
|
|
|
|
.br
|
|
if (gpioInitialise()<0) return -1;
|
|
.br
|
|
|
|
.br
|
|
gpioSetMode(GPIO, PI_OUTPUT);
|
|
.br
|
|
|
|
.br
|
|
printf("start piscope, press return\n"); getchar();
|
|
.br
|
|
|
|
.br
|
|
for (i=0; i<WAVES; i++)
|
|
.br
|
|
{
|
|
.br
|
|
gpioWaveAddGeneric(2, (gpioPulse_t[])
|
|
.br
|
|
{{1<<GPIO, 0, 20},
|
|
.br
|
|
{0, 1<<GPIO, (i+1)*200}});
|
|
.br
|
|
|
|
.br
|
|
wid[i] = gpioWaveCreate();
|
|
.br
|
|
}
|
|
.br
|
|
|
|
.br
|
|
gpioWaveChain((char []) {
|
|
.br
|
|
wid[4], wid[3], wid[2], // transmit waves 4+3+2
|
|
.br
|
|
255, 0, // loop start
|
|
.br
|
|
wid[0], wid[0], wid[0], // transmit waves 0+0+0
|
|
.br
|
|
255, 0, // loop start
|
|
.br
|
|
wid[0], wid[1], // transmit waves 0+1
|
|
.br
|
|
255, 2, 0x88, 0x13, // delay 5000us
|
|
.br
|
|
255, 1, 30, 0, // loop end (repeat 30 times)
|
|
.br
|
|
255, 0, // loop start
|
|
.br
|
|
wid[2], wid[3], wid[0], // transmit waves 2+3+0
|
|
.br
|
|
wid[3], wid[1], wid[2], // transmit waves 3+1+2
|
|
.br
|
|
255, 1, 10, 0, // loop end (repeat 10 times)
|
|
.br
|
|
255, 1, 5, 0, // loop end (repeat 5 times)
|
|
.br
|
|
wid[4], wid[4], wid[4], // transmit waves 4+4+4
|
|
.br
|
|
255, 2, 0x20, 0x4E, // delay 20000us
|
|
.br
|
|
wid[0], wid[0], wid[0], // transmit waves 0+0+0
|
|
.br
|
|
|
|
.br
|
|
}, 46);
|
|
.br
|
|
|
|
.br
|
|
while (gpioWaveTxBusy()) time_sleep(0.1);
|
|
.br
|
|
|
|
.br
|
|
for (i=0; i<WAVES; i++) gpioWaveDelete(wid[i]);
|
|
.br
|
|
|
|
.br
|
|
printf("stop piscope, press return\n"); getchar();
|
|
.br
|
|
|
|
.br
|
|
gpioTerminate();
|
|
.br
|
|
}
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioWaveTxBusy(void)\fP"
|
|
.IP "" 4
|
|
This function checks to see if a waveform is currently being
|
|
transmitted.
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 1 if a waveform is currently being transmitted, otherwise 0.
|
|
|
|
.IP "\fBint gpioWaveTxStop(void)\fP"
|
|
.IP "" 4
|
|
This function aborts the transmission of the current waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK.
|
|
|
|
.br
|
|
|
|
.br
|
|
This function is intended to stop a waveform started in repeat mode.
|
|
|
|
.IP "\fBint gpioWaveGetMicros(void)\fP"
|
|
.IP "" 4
|
|
This function returns the length in microseconds of the current
|
|
waveform.
|
|
|
|
.IP "\fBint gpioWaveGetHighMicros(void)\fP"
|
|
.IP "" 4
|
|
This function returns the length in microseconds of the longest waveform
|
|
created since \fBgpioInitialise\fP was called.
|
|
|
|
.IP "\fBint gpioWaveGetMaxMicros(void)\fP"
|
|
.IP "" 4
|
|
This function returns the maximum possible size of a waveform in
|
|
microseconds.
|
|
|
|
.IP "\fBint gpioWaveGetPulses(void)\fP"
|
|
.IP "" 4
|
|
This function returns the length in pulses of the current waveform.
|
|
|
|
.IP "\fBint gpioWaveGetHighPulses(void)\fP"
|
|
.IP "" 4
|
|
This function returns the length in pulses of the longest waveform
|
|
created since \fBgpioInitialise\fP was called.
|
|
|
|
.IP "\fBint gpioWaveGetMaxPulses(void)\fP"
|
|
.IP "" 4
|
|
This function returns the maximum possible size of a waveform in pulses.
|
|
|
|
.IP "\fBint gpioWaveGetCbs(void)\fP"
|
|
.IP "" 4
|
|
This function returns the length in DMA control blocks of the current
|
|
waveform.
|
|
|
|
.IP "\fBint gpioWaveGetHighCbs(void)\fP"
|
|
.IP "" 4
|
|
This function returns the length in DMA control blocks of the longest
|
|
waveform created since \fBgpioInitialise\fP was called.
|
|
|
|
.IP "\fBint gpioWaveGetMaxCbs(void)\fP"
|
|
.IP "" 4
|
|
This function returns the maximum possible size of a waveform in DMA
|
|
control blocks.
|
|
|
|
.IP "\fBint gpioSerialReadOpen(unsigned user_gpio, unsigned baud, unsigned data_bits)\fP"
|
|
.IP "" 4
|
|
This function opens a gpio for bit bang reading of serial data.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
baud: 50-250000
|
|
.br
|
|
data_bits: 1-32
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD,
|
|
PI_BAD_DATABITS, or PI_GPIO_IN_USE.
|
|
|
|
.br
|
|
|
|
.br
|
|
The serial data is returned in a cyclic buffer and is read using
|
|
\fBgpioSerialRead\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
It is the caller's responsibility to read data from the cyclic buffer
|
|
in a timely fashion.
|
|
|
|
.IP "\fBint gpioSerialReadInvert(unsigned user_gpio, unsigned invert)\fP"
|
|
.IP "" 4
|
|
This function configures the level logic for bit bang serial reads.
|
|
|
|
.br
|
|
|
|
.br
|
|
Pass PI_BB_SER_INVERT to invert the serial logic. Pass PI_BB_SER_NORMAL for
|
|
normal logic. Default is PI_BB_SER_NORMAL.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
invert: 0-1
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_GPIO_IN_USE,
|
|
PI_NOT_SERIAL_GPIO, or PI_BAD_SER_INVERT.
|
|
|
|
.br
|
|
|
|
.br
|
|
The gpio must be opened for bit bang reading of serial data using
|
|
\fBgpioSerialReadOpen\fP prior to calling this function.
|
|
|
|
.IP "\fBint gpioSerialRead(unsigned user_gpio, void *buf, size_t bufSize)\fP"
|
|
.IP "" 4
|
|
This function copies up to bufSize bytes of data read from the
|
|
bit bang serial cyclic buffer to the buffer starting at buf.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31, previously opened with \fBgpioSerialReadOpen\fP
|
|
.br
|
|
buf: an array to receive the read bytes
|
|
.br
|
|
bufSize: 0-
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO
|
|
or PI_NOT_SERIAL_GPIO.
|
|
|
|
.br
|
|
|
|
.br
|
|
The bytes returned for each character depend upon the number of
|
|
data bits \fBdata_bits\fP specified in the \fBgpioSerialReadOpen\fP command.
|
|
|
|
.br
|
|
|
|
.br
|
|
For \fBdata_bits\fP 1-8 there will be one byte per character.
|
|
.br
|
|
For \fBdata_bits\fP 9-16 there will be two bytes per character.
|
|
.br
|
|
For \fBdata_bits\fP 17-32 there will be four bytes per character.
|
|
|
|
.IP "\fBint gpioSerialReadClose(unsigned user_gpio)\fP"
|
|
.IP "" 4
|
|
This function closes a gpio for bit bang reading of serial data.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31, previously opened with \fBgpioSerialReadOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO.
|
|
|
|
.IP "\fBint i2cOpen(unsigned i2cBus, unsigned i2cAddr, unsigned i2cFlags)\fP"
|
|
.IP "" 4
|
|
This returns a handle for the device at the address on the I2C bus.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
i2cBus: 0-1
|
|
.br
|
|
i2cAddr: 0x00-0x7F
|
|
.br
|
|
i2cFlags: 0
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
No flags are currently defined. This parameter should be set to zero.
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR,
|
|
PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
For the SMBus commands the low level transactions are shown at the end
|
|
of the function description. The following abbreviations are used.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
S (1 bit) : Start bit
|
|
.br
|
|
P (1 bit) : Stop bit
|
|
.br
|
|
Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0.
|
|
.br
|
|
A, NA (1 bit) : Accept and not accept bit.
|
|
.br
|
|
.br
|
|
.br
|
|
Addr (7 bits): I2C 7 bit address.
|
|
.br
|
|
Comm (8 bits): Command byte, a data byte which often selects a register.
|
|
.br
|
|
Data (8 bits): A data byte.
|
|
.br
|
|
Count (8 bits): A data byte containing the length of a block operation.
|
|
.br
|
|
|
|
.br
|
|
[..]: Data sent by the device.
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cClose(unsigned handle)\fP"
|
|
.IP "" 4
|
|
This closes the I2C device associated with the handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
.IP "\fBint i2cWriteQuick(unsigned handle, unsigned bit)\fP"
|
|
.IP "" 4
|
|
This sends a single bit (in the Rd/Wr bit) to the device associated
|
|
with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
bit: 0-1, the value to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Quick command. SMBus 2.0 5.5.1
|
|
|
|
.EX
|
|
S Addr Rd/Wr [A] P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cWriteByte(unsigned handle, unsigned bVal)\fP"
|
|
.IP "" 4
|
|
This sends a single byte to the device associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
bVal: 0-0xFF, the value to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Send byte. SMBus 2.0 5.5.2
|
|
|
|
.EX
|
|
S Addr Wr [A] Data [A] P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cReadByte(unsigned handle)\fP"
|
|
.IP "" 4
|
|
This reads a single byte from the device associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
or PI_I2C_READ_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Receive byte. SMBus 2.0 5.5.3
|
|
|
|
.EX
|
|
S Addr Rd [A] [Data] NA P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cWriteByteData(unsigned handle, unsigned i2cReg, unsigned bVal)\fP"
|
|
.IP "" 4
|
|
This writes a single byte to the specified register of the device
|
|
associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to write
|
|
.br
|
|
bVal: 0-0xFF, the value to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Write byte. SMBus 2.0 5.5.4
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A] Data [A] P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cWriteWordData(unsigned handle, unsigned i2cReg, unsigned wVal)\fP"
|
|
.IP "" 4
|
|
This writes a single 16 bit word to the specified register of the device
|
|
associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to write
|
|
.br
|
|
wVal: 0-0xFFFF, the value to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Write word. SMBus 2.0 5.5.4
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A] DataLow [A] DataHigh [A] P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cReadByteData(unsigned handle, unsigned i2cReg)\fP"
|
|
.IP "" 4
|
|
This reads a single byte from the specified register of the device
|
|
associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to read
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Read byte. SMBus 2.0 5.5.5
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A] S Addr Rd [A] [Data] NA P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cReadWordData(unsigned handle, unsigned i2cReg)\fP"
|
|
.IP "" 4
|
|
This reads a single 16 bit word from the specified register of the device
|
|
associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to read
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Read word. SMBus 2.0 5.5.5
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cProcessCall(unsigned handle, unsigned i2cReg, unsigned wVal)\fP"
|
|
.IP "" 4
|
|
This writes 16 bits of data to the specified register of the device
|
|
associated with handle and reads 16 bits of data in return.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to write/read
|
|
.br
|
|
wVal: 0-0xFFFF, the value to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Process call. SMBus 2.0 5.5.6
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A] DataLow [A] DataHigh [A]
|
|
.br
|
|
S Addr Rd [A] [DataLow] A [DataHigh] NA P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cWriteBlockData(unsigned handle, unsigned i2cReg, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This writes up to 32 bytes to the specified register of the device
|
|
associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to write
|
|
.br
|
|
buf: an array with the data to send
|
|
.br
|
|
count: 1-32, the number of bytes to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Block write. SMBus 2.0 5.5.7
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A] Count [A] Data [A] Data [A] ... [A] Data [A] P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cReadBlockData(unsigned handle, unsigned i2cReg, char *buf)\fP"
|
|
.IP "" 4
|
|
This reads a block of up to 32 bytes from the specified register of
|
|
the device associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to read
|
|
.br
|
|
buf: an array to receive the read data
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The amount of returned data is set by the device.
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
Block read. SMBus 2.0 5.5.7
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A]
|
|
.br
|
|
S Addr Rd [A] [Count] A [Data] A [Data] A ... A [Data] NA P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cBlockProcessCall(unsigned handle, unsigned i2cReg, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This writes data bytes to the specified register of the device
|
|
associated with handle and reads a device specified number
|
|
of bytes of data in return.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to write/read
|
|
.br
|
|
buf: an array with the data to send and to receive the read data
|
|
.br
|
|
count: 1-32, the number of bytes to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
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.
|
|
|
|
.br
|
|
|
|
.br
|
|
Block write-block read. SMBus 2.0 5.5.8
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A] Count [A] Data [A] ...
|
|
.br
|
|
S Addr Rd [A] [Count] A [Data] ... A P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cReadI2CBlockData(unsigned handle, unsigned i2cReg, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This reads count bytes from the specified register of the device
|
|
associated with handle . The count may be 1-32.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to read
|
|
.br
|
|
buf: an array to receive the read data
|
|
.br
|
|
count: 1-32, the number of bytes to read
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE,
|
|
PI_BAD_PARAM, or PI_I2C_READ_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A]
|
|
.br
|
|
S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cWriteI2CBlockData(unsigned handle, unsigned i2cReg, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This writes 1 to 32 bytes to the specified register of the device
|
|
associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
i2cReg: 0-255, the register to write
|
|
.br
|
|
buf: the data to write
|
|
.br
|
|
count: 1-32, the number of bytes to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
S Addr Wr [A] Comm [A] Data [A] Data [A] ... [A] Data [A] P
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint i2cReadDevice(unsigned handle, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This reads count bytes from the raw device into buf.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
buf: an array to receive the read data bytes
|
|
.br
|
|
count: >0, the number of bytes to read
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_I2C_READ_FAILED.
|
|
|
|
.IP "\fBint i2cWriteDevice(unsigned handle, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This writes count bytes from buf to the raw device.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
buf: an array containing the data bytes to write
|
|
.br
|
|
count: >0, the number of bytes to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_I2C_WRITE_FAILED.
|
|
|
|
.IP "\fBvoid i2cSwitchCombined(int setting)\fP"
|
|
.IP "" 4
|
|
This sets the I2C (i2c-bcm2708) module "use combined transactions"
|
|
parameter on or off.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
setting: 0 to set the parameter off, non-zero to set it on
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.br
|
|
NOTE: when the flag is on a write followed by a read to the same
|
|
slave address will use a repeated start (rather than a stop/start).
|
|
|
|
.IP "\fBint i2cSegments(unsigned handle, pi_i2c_msg_t *segs, unsigned numSegs)\fP"
|
|
.IP "" 4
|
|
This function executes multiple I2C segments in one transaction by
|
|
calling the I2C_RDWR ioctl.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
segs: an array of I2C segments
|
|
.br
|
|
numSegs: >0, the number of I2C segments
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of segments if OK, otherwise PI_BAD_I2C_SEG.
|
|
|
|
.IP "\fBint i2cZip(unsigned handle, char *inBuf, unsigned inLen, char *outBuf, unsigned outLen)\fP"
|
|
.IP "" 4
|
|
This function executes a sequence of I2C operations. The
|
|
operations to be performed are specified by the contents of inBuf
|
|
which contains the concatenated command codes and associated data.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBi2cOpen\fP
|
|
.br
|
|
inBuf: pointer to the concatenated I2C commands, see below
|
|
.br
|
|
inLen: size of command buffer
|
|
.br
|
|
outBuf: pointer to buffer to hold returned data
|
|
.br
|
|
outLen: size of output buffer
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns >= 0 if OK (the number of bytes read), otherwise
|
|
PI_BAD_HANDLE, PI_BAD_POINTER, PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN.
|
|
PI_BAD_I2C_WLEN, or PI_BAD_I2C_SEG.
|
|
|
|
.br
|
|
|
|
.br
|
|
The following command codes are supported:
|
|
|
|
.br
|
|
|
|
.br
|
|
Name Cmd & Data Meaning
|
|
|
|
.br
|
|
End 0 No more commands
|
|
|
|
.br
|
|
Escape 1 Next P is two bytes
|
|
|
|
.br
|
|
On 2 Switch combined flag on
|
|
|
|
.br
|
|
Off 3 Switch combined flag off
|
|
|
|
.br
|
|
Address 4 P Set I2C address to P
|
|
|
|
.br
|
|
Flags 5 lsb msb Set I2C flags to lsb + (msb << 8)
|
|
|
|
.br
|
|
Read 6 P Read P bytes of data
|
|
|
|
.br
|
|
Write 7 P ... Write P bytes of data
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.br
|
|
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).
|
|
|
|
.br
|
|
|
|
.br
|
|
The address defaults to that associated with the handle.
|
|
The flags default to 0. The address and flags maintain their
|
|
previous value until updated.
|
|
|
|
.br
|
|
|
|
.br
|
|
The returned I2C data is stored in consecutive locations of outBuf.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
Set address 0x53, write 0x32, read 6 bytes
|
|
.br
|
|
Set address 0x1E, write 0x03, read 6 bytes
|
|
.br
|
|
Set address 0x68, write 0x1B, read 8 bytes
|
|
.br
|
|
End
|
|
.br
|
|
|
|
.br
|
|
0x04 0x53 0x07 0x01 0x32 0x06 0x06
|
|
.br
|
|
0x04 0x1E 0x07 0x01 0x03 0x06 0x06
|
|
.br
|
|
0x04 0x68 0x07 0x01 0x1B 0x06 0x08
|
|
.br
|
|
0x00
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint bbI2COpen(unsigned SDA, unsigned SCL, unsigned baud)\fP"
|
|
.IP "" 4
|
|
This function selects a pair of gpios for bit banging I2C at a
|
|
specified baud rate.
|
|
|
|
.br
|
|
|
|
.br
|
|
Bit banging I2C allows for certain operations which are not possible
|
|
with the standard I2C driver.
|
|
|
|
.br
|
|
|
|
.br
|
|
o baud rates as low as 50
|
|
.br
|
|
o repeated starts
|
|
.br
|
|
o clock stretching
|
|
.br
|
|
o I2C on any pair of spare gpios
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
SDA: 0-31
|
|
.br
|
|
SCL: 0-31
|
|
.br
|
|
baud: 50-500000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or
|
|
PI_GPIO_IN_USE.
|
|
|
|
.br
|
|
|
|
.br
|
|
NOTE:
|
|
|
|
.br
|
|
|
|
.br
|
|
The gpios 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.
|
|
|
|
.IP "\fBint bbI2CClose(unsigned SDA)\fP"
|
|
.IP "" 4
|
|
This function stops bit banging I2C on a pair of gpios previously
|
|
opened with \fBbbI2COpen\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
SDA: 0-31, the SDA gpio used in a prior call to \fBbbI2COpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO.
|
|
|
|
.IP "\fBint bbI2CZip(unsigned SDA, char *inBuf, unsigned inLen, char *outBuf, unsigned outLen)\fP"
|
|
.IP "" 4
|
|
This function executes a sequence of bit banged I2C operations. The
|
|
operations to be performed are specified by the contents of inBuf
|
|
which contains the concatenated command codes and associated data.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
SDA: 0-31 (as used in a prior call to \fBbbI2COpen\fP)
|
|
.br
|
|
inBuf: pointer to the concatenated I2C commands, see below
|
|
.br
|
|
inLen: size of command buffer
|
|
.br
|
|
outBuf: pointer to buffer to hold returned data
|
|
.br
|
|
outLen: size of output buffer
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns >= 0 if OK (the number of bytes read), otherwise
|
|
PI_BAD_USER_GPIO, PI_NOT_I2C_GPIO, PI_BAD_POINTER,
|
|
PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN, PI_BAD_I2C_WLEN,
|
|
PI_I2C_READ_FAILED, or PI_I2C_WRITE_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
The following command codes are supported:
|
|
|
|
.br
|
|
|
|
.br
|
|
Name Cmd & Data Meaning
|
|
|
|
.br
|
|
End 0 No more commands
|
|
|
|
.br
|
|
Escape 1 Next P is two bytes
|
|
|
|
.br
|
|
Start 2 Start condition
|
|
|
|
.br
|
|
Stop 3 Stop condition
|
|
|
|
.br
|
|
Address 4 P Set I2C address to P
|
|
|
|
.br
|
|
Flags 5 lsb msb Set I2C flags to lsb + (msb << 8)
|
|
|
|
.br
|
|
Read 6 P Read P bytes of data
|
|
|
|
.br
|
|
Write 7 P ... Write P bytes of data
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.br
|
|
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).
|
|
|
|
.br
|
|
|
|
.br
|
|
The address and flags default to 0. The address and flags maintain
|
|
their previous value until updated.
|
|
|
|
.br
|
|
|
|
.br
|
|
No flags are currently defined.
|
|
|
|
.br
|
|
|
|
.br
|
|
The returned I2C data is stored in consecutive locations of outBuf.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
Set address 0x53
|
|
.br
|
|
start, write 0x32, (re)start, read 6 bytes, stop
|
|
.br
|
|
Set address 0x1E
|
|
.br
|
|
start, write 0x03, (re)start, read 6 bytes, stop
|
|
.br
|
|
Set address 0x68
|
|
.br
|
|
start, write 0x1B, (re)start, read 8 bytes, stop
|
|
.br
|
|
End
|
|
.br
|
|
|
|
.br
|
|
0x04 0x53
|
|
.br
|
|
0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03
|
|
.br
|
|
|
|
.br
|
|
0x04 0x1E
|
|
.br
|
|
0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03
|
|
.br
|
|
|
|
.br
|
|
0x04 0x68
|
|
.br
|
|
0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03
|
|
.br
|
|
|
|
.br
|
|
0x00
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint spiOpen(unsigned spiChan, unsigned baud, unsigned spiFlags)\fP"
|
|
.IP "" 4
|
|
This function returns a handle for the SPI device on the channel.
|
|
Data will be transferred at baud bits per second. The flags may
|
|
be used to modify the default behaviour of 4-wire operation, mode 0,
|
|
active low chip select.
|
|
|
|
.br
|
|
|
|
.br
|
|
An auxiliary SPI device is available on the A+/B+/Pi2 and may be
|
|
selected by setting the A bit in the flags. The auxiliary
|
|
device has 3 chip selects and a selectable word size in bits.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
spiChan: 0-1 (0-2 for A+/B+/Pi2 auxiliary device)
|
|
.br
|
|
baud: 32K-125M (values above 30M are unlikely to work)
|
|
.br
|
|
spiFlags: see below
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL,
|
|
PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
spiFlags consists of the least significant 22 bits.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
|
|
.br
|
|
b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
mm defines the SPI mode.
|
|
|
|
.br
|
|
|
|
.br
|
|
Warning: modes 1 and 3 do not appear to work on the auxiliary device.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
Mode POL PHA
|
|
.br
|
|
0 0 0
|
|
.br
|
|
1 0 1
|
|
.br
|
|
2 1 0
|
|
.br
|
|
3 1 1
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
px is 0 if CEx is active low (default) and 1 for active high.
|
|
|
|
.br
|
|
|
|
.br
|
|
ux is 0 if the CEx gpio is reserved for SPI (default) and 1 otherwise.
|
|
|
|
.br
|
|
|
|
.br
|
|
A is 0 for the standard SPI device, 1 for the auxiliary SPI. The
|
|
auxiliary device is only present on the A+/B+/Pi2.
|
|
|
|
.br
|
|
|
|
.br
|
|
W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard
|
|
SPI device only.
|
|
|
|
.br
|
|
|
|
.br
|
|
nnnn defines the number of bytes (0-15) to write before switching
|
|
the MOSI line to MISO to read data. This field is ignored
|
|
if W is not set. Standard SPI device only.
|
|
|
|
.br
|
|
|
|
.br
|
|
T is 1 if the least significant bit is transmitted on MOSI first, the
|
|
default (0) shifts the most significant bit out first. Auxiliary SPI
|
|
device only.
|
|
|
|
.br
|
|
|
|
.br
|
|
R is 1 if the least significant bit is received on MISO first, the
|
|
default (0) receives the most significant bit first. Auxiliary SPI
|
|
device only.
|
|
|
|
.br
|
|
|
|
.br
|
|
bbbbbb defines the word size in bits (0-32). The default (0)
|
|
sets 8 bits per word. Auxiliary SPI device only.
|
|
|
|
.br
|
|
|
|
.br
|
|
The other bits in flags should be set to zero.
|
|
|
|
.IP "\fBint spiClose(unsigned handle)\fP"
|
|
.IP "" 4
|
|
This functions closes the SPI device identified by the handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBspiOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
.IP "\fBint spiRead(unsigned handle, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This function reads count bytes of data from the SPI
|
|
device associated with the handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBspiOpen\fP
|
|
.br
|
|
buf: an array to receive the read data bytes
|
|
.br
|
|
count: the number of bytes to read
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of bytes transferred if OK, otherwise
|
|
PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED.
|
|
|
|
.IP "\fBint spiWrite(unsigned handle, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This function writes count bytes of data from buf to the SPI
|
|
device associated with the handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBspiOpen\fP
|
|
.br
|
|
buf: the data bytes to write
|
|
.br
|
|
count: the number of bytes to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of bytes transferred if OK, otherwise
|
|
PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED.
|
|
|
|
.IP "\fBint spiXfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This function transfers count bytes of data from txBuf to the SPI
|
|
device associated with the handle. Simultaneously count bytes of
|
|
data are read from the device and placed in rxBuf.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBspiOpen\fP
|
|
.br
|
|
txBuf: the data bytes to write
|
|
.br
|
|
rxBuf: the received data bytes
|
|
.br
|
|
count: the number of bytes to transfer
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of bytes transferred if OK, otherwise
|
|
PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED.
|
|
|
|
.IP "\fBint serOpen(char *sertty, unsigned baud, unsigned serFlags)\fP"
|
|
.IP "" 4
|
|
This function opens a serial device at a specified baud rate
|
|
with specified flags.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
sertty: the serial device to open, /dev/tty*
|
|
.br
|
|
baud: the baud rate in bits per second, see below
|
|
.br
|
|
serFlags: 0
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or
|
|
PI_SER_OPEN_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
The baud rate must be one of 50, 75, 110, 134, 150,
|
|
200, 300, 600, 1200, 1800, 2400, 4800, 9500, 19200,
|
|
38400, 57600, 115200, or 230400.
|
|
|
|
.br
|
|
|
|
.br
|
|
No flags are currently defined. This parameter should be set to zero.
|
|
|
|
.IP "\fBint serClose(unsigned handle)\fP"
|
|
.IP "" 4
|
|
This function closes the serial device associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBserOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE.
|
|
|
|
.IP "\fBint serWriteByte(unsigned handle, unsigned bVal)\fP"
|
|
.IP "" 4
|
|
This function writes bVal to the serial port associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBserOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_SER_WRITE_FAILED.
|
|
|
|
.IP "\fBint serReadByte(unsigned handle)\fP"
|
|
.IP "" 4
|
|
This function reads a byte from the serial port associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBserOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE,
|
|
PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED.
|
|
|
|
.IP "\fBint serWrite(unsigned handle, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This function writes count bytes from buf to the the serial port
|
|
associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBserOpen\fP
|
|
.br
|
|
buf: the array of bytes to write
|
|
.br
|
|
count: the number of bytes to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or
|
|
PI_SER_WRITE_FAILED.
|
|
|
|
.IP "\fBint serRead(unsigned handle, char *buf, unsigned count)\fP"
|
|
.IP "" 4
|
|
This function reads up count bytes from the the serial port
|
|
associated with handle and writes them to buf.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to serial_open
|
|
.br
|
|
buf: an array to receive the read data
|
|
.br
|
|
count: the maximum number of bytes to read
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE,
|
|
PI_BAD_PARAM, PI_SER_READ_NO_DATA, or PI_SER_WRITE_FAILED.
|
|
|
|
.IP "\fBint serDataAvailable(unsigned handle)\fP"
|
|
.IP "" 4
|
|
This function returns the number of bytes available
|
|
to be read from the device associated with handle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
handle: >=0, as returned by a call to \fBserOpen\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the number of bytes of data available (>=0) if OK,
|
|
otherwise PI_BAD_HANDLE.
|
|
|
|
.IP "\fBint gpioTrigger(unsigned user_gpio, unsigned pulseLen, unsigned level)\fP"
|
|
.IP "" 4
|
|
This function sends a trigger pulse to a gpio. The gpio is set to
|
|
level for pulseLen microseconds and then reset to not level.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
pulseLen: 1-100
|
|
.br
|
|
level: 0,1
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_LEVEL,
|
|
or PI_BAD_PULSELEN.
|
|
|
|
.IP "\fBint gpioSetWatchdog(unsigned user_gpio, unsigned timeout)\fP"
|
|
.IP "" 4
|
|
Sets a watchdog for a gpio.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
user_gpio: 0-31
|
|
.br
|
|
timeout: 0-60000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_WDOG_TIMEOUT.
|
|
|
|
.br
|
|
|
|
.br
|
|
The watchdog is nominally in milliseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
One watchdog may be registered per gpio.
|
|
|
|
.br
|
|
|
|
.br
|
|
The watchdog may be cancelled by setting timeout to 0.
|
|
|
|
.br
|
|
|
|
.br
|
|
If no level change has been detected for the gpio for timeout
|
|
milliseconds:-
|
|
|
|
.br
|
|
|
|
.br
|
|
1) any registered alert function for the gpio is called with
|
|
the level set to PI_TIMEOUT.
|
|
.br
|
|
2) any notification for the gpio has a report written to the
|
|
fifo with the flags set to indicate a watchdog timeout.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
void aFunction(int gpio, int level, uint32_t tick)
|
|
.br
|
|
{
|
|
.br
|
|
printf("gpio %d became %d at %d\n", gpio, level, tick);
|
|
.br
|
|
}
|
|
.br
|
|
|
|
.br
|
|
// call aFunction whenever gpio 4 changes state
|
|
.br
|
|
gpioSetAlertFunc(4, aFunction);
|
|
.br
|
|
|
|
.br
|
|
// or approximately every 5 millis
|
|
.br
|
|
gpioSetWatchdog(4, 5);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioSetGetSamplesFunc(gpioGetSamplesFunc_t f, uint32_t bits)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) every millisecond
|
|
with the latest gpio samples.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
f: the function to call
|
|
.br
|
|
bits: the gpios of interest
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK.
|
|
|
|
.br
|
|
|
|
.br
|
|
The function is passed a pointer to the samples (an array of
|
|
\fBgpioSample_t\fP), and the number of samples.
|
|
|
|
.br
|
|
|
|
.br
|
|
Only one function can be registered.
|
|
|
|
.br
|
|
|
|
.br
|
|
The callback may be cancelled by passing NULL as the function.
|
|
|
|
.br
|
|
|
|
.br
|
|
The samples returned will be the union of bits, plus any active alerts,
|
|
plus any active notifications.
|
|
|
|
.br
|
|
|
|
.br
|
|
e.g. if there are alerts for gpios 7, 8, and 9, notifications for gpios
|
|
8, 10, 23, 24, and bits is (1<<23)|(1<<17) then samples for gpios
|
|
7, 8, 9, 10, 17, 23, and 24 will be reported.
|
|
|
|
.IP "\fBint gpioSetGetSamplesFuncEx(gpioGetSamplesFuncEx_t f, uint32_t bits, void *userdata)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) every millisecond
|
|
with the latest gpio samples.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
f: the function to call
|
|
.br
|
|
bits: the gpios of interest
|
|
.br
|
|
userdata: a pointer to arbitrary user data
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK.
|
|
|
|
.br
|
|
|
|
.br
|
|
The function is passed a pointer to the samples (an array of
|
|
\fBgpioSample_t\fP), the number of samples, and the userdata pointer.
|
|
|
|
.br
|
|
|
|
.br
|
|
Only one of \fBgpioGetSamplesFunc\fP or \fBgpioGetSamplesFuncEx\fP can be
|
|
registered.
|
|
|
|
.br
|
|
|
|
.br
|
|
See \fBgpioSetGetSamplesFunc\fP for further details.
|
|
|
|
.IP "\fBint gpioSetTimerFunc(unsigned timer, unsigned millis, gpioTimerFunc_t f)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) every millis milliseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
timer: 0-9
|
|
.br
|
|
millis: 10-60000
|
|
.br
|
|
f: the function to call
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
10 timers are supported numbered 0 to 9.
|
|
|
|
.br
|
|
|
|
.br
|
|
One function may be registered per timer.
|
|
|
|
.br
|
|
|
|
.br
|
|
The timer may be cancelled by passing NULL as the function.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
void bFunction(void)
|
|
.br
|
|
{
|
|
.br
|
|
printf("two seconds have elapsed\n");
|
|
.br
|
|
}
|
|
.br
|
|
|
|
.br
|
|
// call bFunction every 2000 milliseconds
|
|
.br
|
|
gpioSetTimerFunc(0, 2000, bFunction);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioSetTimerFuncEx(unsigned timer, unsigned millis, gpioTimerFuncEx_t f, void *userdata)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) every millis milliseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
timer: 0-9.
|
|
.br
|
|
millis: 10-60000
|
|
.br
|
|
f: the function to call
|
|
.br
|
|
userdata: a pointer to arbitrary user data
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED.
|
|
|
|
.br
|
|
|
|
.br
|
|
The function is passed the userdata pointer.
|
|
|
|
.br
|
|
|
|
.br
|
|
Only one of \fBgpioSetTimerFunc\fP or \fBgpioSetTimerFuncEx\fP can be
|
|
registered per timer.
|
|
|
|
.br
|
|
|
|
.br
|
|
See \fBgpioSetTimerFunc\fP for further details.
|
|
|
|
.IP "\fBpthread_t *gpioStartThread(gpioThreadFunc_t f, void *arg)\fP"
|
|
.IP "" 4
|
|
Starts a new thread of execution with f as the main routine.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
f: the main function for the new thread
|
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.br
|
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arg: a pointer to arbitrary user data
|
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.br
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.EE
|
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.br
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.br
|
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Returns a pointer to pthread_t if OK, otherwise NULL.
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.br
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.br
|
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The function is passed the single argument arg.
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|
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.br
|
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.br
|
|
The thread can be cancelled by passing the pointer to pthread_t to
|
|
\fBgpioStopThread\fP.
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|
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.br
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.br
|
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\fBExample\fP
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.br
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|
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.EX
|
|
#include <stdio.h>
|
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.br
|
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#include <pigpio.h>
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.br
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.br
|
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void *myfunc(void *arg)
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.br
|
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{
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.br
|
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while (1)
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.br
|
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{
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.br
|
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printf("%s\n", arg);
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.br
|
|
sleep(1);
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.br
|
|
}
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.br
|
|
}
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.br
|
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|
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.br
|
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int main(int argc, char *argv[])
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.br
|
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{
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.br
|
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pthread_t *p1, *p2, *p3;
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.br
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|
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.br
|
|
if (gpioInitialise() < 0) return 1;
|
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.br
|
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|
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.br
|
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p1 = gpioStartThread(myfunc, "thread 1"); sleep(3);
|
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.br
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.br
|
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p2 = gpioStartThread(myfunc, "thread 2"); sleep(3);
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.br
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|
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.br
|
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p3 = gpioStartThread(myfunc, "thread 3"); sleep(3);
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.br
|
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|
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.br
|
|
gpioStopThread(p3); sleep(3);
|
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.br
|
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|
|
.br
|
|
gpioStopThread(p2); sleep(3);
|
|
.br
|
|
|
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.br
|
|
gpioStopThread(p1); sleep(3);
|
|
.br
|
|
|
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.br
|
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gpioTerminate();
|
|
.br
|
|
}
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBvoid gpioStopThread(pthread_t *pth)\fP"
|
|
.IP "" 4
|
|
Cancels the thread pointed at by pth.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
pth: a thread pointer returned by \fBgpioStartThread\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
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|
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.br
|
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No value is returned.
|
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|
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.br
|
|
|
|
.br
|
|
The thread to be stopped should have been started with \fBgpioStartThread\fP.
|
|
|
|
.IP "\fBint gpioStoreScript(char *script)\fP"
|
|
.IP "" 4
|
|
This function stores a null terminated script for later execution.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
script: the text of the script
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The function returns a script id if the script is valid,
|
|
otherwise PI_BAD_SCRIPT.
|
|
|
|
.IP "\fBint gpioRunScript(unsigned script_id, unsigned numPar, uint32_t *param)\fP"
|
|
.IP "" 4
|
|
This function runs a stored script.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
script_id: >=0, as returned by \fBgpioStoreScript\fP
|
|
.br
|
|
numPar: 0-10, the number of parameters
|
|
.br
|
|
param: an array of parameters
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or
|
|
PI_TOO_MANY_PARAM.
|
|
|
|
.br
|
|
|
|
.br
|
|
param is an array of up to 10 parameters which may be referenced in
|
|
the script as p0 to p9.
|
|
|
|
.IP "\fBint gpioScriptStatus(unsigned script_id, uint32_t *param)\fP"
|
|
.IP "" 4
|
|
This function returns the run status of a stored script as well as
|
|
the current values of parameters 0 to 9.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
script_id: >=0, as returned by \fBgpioStoreScript\fP
|
|
.br
|
|
param: an array to hold the returned 10 parameters
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The function returns greater than or equal to 0 if OK,
|
|
otherwise PI_BAD_SCRIPT_ID.
|
|
|
|
.br
|
|
|
|
.br
|
|
The run status may be
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_SCRIPT_INITING
|
|
.br
|
|
PI_SCRIPT_HALTED
|
|
.br
|
|
PI_SCRIPT_RUNNING
|
|
.br
|
|
PI_SCRIPT_WAITING
|
|
.br
|
|
PI_SCRIPT_FAILED
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The current value of script parameters 0 to 9 are returned in param.
|
|
|
|
.IP "\fBint gpioStopScript(unsigned script_id)\fP"
|
|
.IP "" 4
|
|
This function stops a running script.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
script_id: >=0, as returned by \fBgpioStoreScript\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID.
|
|
|
|
.IP "\fBint gpioDeleteScript(unsigned script_id)\fP"
|
|
.IP "" 4
|
|
This function deletes a stored script.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
script_id: >=0, as returned by \fBgpioStoreScript\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID.
|
|
|
|
.IP "\fBint gpioSetSignalFunc(unsigned signum, gpioSignalFunc_t f)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) when a signal occurs.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
signum: 0-63
|
|
.br
|
|
f: the callback function
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_SIGNUM.
|
|
|
|
.br
|
|
|
|
.br
|
|
The function is passed the signal number.
|
|
|
|
.br
|
|
|
|
.br
|
|
One function may be registered per signal.
|
|
|
|
.br
|
|
|
|
.br
|
|
The callback may be cancelled by passing NULL.
|
|
|
|
.br
|
|
|
|
.br
|
|
By default all signals are treated as fatal and cause the library
|
|
to call gpioTerminate and then exit.
|
|
|
|
.IP "\fBint gpioSetSignalFuncEx(unsigned signum, gpioSignalFuncEx_t f, void *userdata)\fP"
|
|
.IP "" 4
|
|
Registers a function to be called (a callback) when a signal occurs.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
signum: 0-63
|
|
.br
|
|
f: the callback function
|
|
.br
|
|
userdata: a pointer to arbitrary user data
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_SIGNUM.
|
|
|
|
.br
|
|
|
|
.br
|
|
The function is passed the signal number and the userdata pointer.
|
|
|
|
.br
|
|
|
|
.br
|
|
Only one of gpioSetSignalFunc or gpioSetSignalFuncEx can be
|
|
registered per signal.
|
|
|
|
.br
|
|
|
|
.br
|
|
See gpioSetSignalFunc for further details.
|
|
|
|
.IP "\fBuint32_t gpioRead_Bits_0_31(void)\fP"
|
|
.IP "" 4
|
|
Returns the current level of gpios 0-31.
|
|
|
|
.IP "\fBuint32_t gpioRead_Bits_32_53(void)\fP"
|
|
.IP "" 4
|
|
Returns the current level of gpios 32-53.
|
|
|
|
.IP "\fBint gpioWrite_Bits_0_31_Clear(uint32_t bits)\fP"
|
|
.IP "" 4
|
|
Clears gpios 0-31 if the corresponding bit in bits is set.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
bits: a bit mask of gpios to clear
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
// To clear (set to 0) gpios 4, 7, and 15
|
|
.br
|
|
gpioWrite_Bits_0_31_Clear( (1<<4) | (1<<7) | (1<<15) );
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioWrite_Bits_32_53_Clear(uint32_t bits)\fP"
|
|
.IP "" 4
|
|
Clears gpios 32-53 if the corresponding bit (0-21) in bits is set.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
bits: a bit mask of gpios to clear
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK.
|
|
|
|
.IP "\fBint gpioWrite_Bits_0_31_Set(uint32_t bits)\fP"
|
|
.IP "" 4
|
|
Sets gpios 0-31 if the corresponding bit in bits is set.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
bits: a bit mask of gpios to set
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK.
|
|
|
|
.IP "\fBint gpioWrite_Bits_32_53_Set(uint32_t bits)\fP"
|
|
.IP "" 4
|
|
Sets gpios 32-53 if the corresponding bit (0-21) in bits is set.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
bits: a bit mask of gpios to set
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
// To set (set to 1) gpios 32, 40, and 53
|
|
.br
|
|
gpioWrite_Bits_32_53_Set((1<<(32-32)) | (1<<(40-32)) | (1<<(53-32)));
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioHardwareClock(unsigned gpio, unsigned clkfreq)\fP"
|
|
.IP "" 4
|
|
Starts a hardware clock on a gpio at the specified frequency.
|
|
Frequencies above 30MHz are unlikely to work.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
gpio: see description
|
|
.br
|
|
clkfreq: 0 (off) or 4689-250000000 (250M)
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HCLK_GPIO,
|
|
PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS.
|
|
|
|
.br
|
|
|
|
.br
|
|
The same clock is available on multiple gpios. The latest
|
|
frequency setting will be used by all gpios which share a clock.
|
|
|
|
.br
|
|
|
|
.br
|
|
The gpio must be one of the following.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
4 clock 0 All models
|
|
.br
|
|
5 clock 1 A+/B+/Pi2 and compute module only (reserved for system use)
|
|
.br
|
|
6 clock 2 A+/B+/Pi2 and compute module only
|
|
.br
|
|
20 clock 0 A+/B+/Pi2 and compute module only
|
|
.br
|
|
21 clock 1 All models but Rev.2 B (reserved for system use)
|
|
.br
|
|
|
|
.br
|
|
32 clock 0 Compute module only
|
|
.br
|
|
34 clock 0 Compute module only
|
|
.br
|
|
42 clock 1 Compute module only (reserved for system use)
|
|
.br
|
|
43 clock 2 Compute module only
|
|
.br
|
|
44 clock 1 Compute module only (reserved for system use)
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
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.
|
|
|
|
.IP "\fBint gpioHardwarePWM(unsigned gpio, unsigned PWMfreq, unsigned PWMduty)\fP"
|
|
.IP "" 4
|
|
Starts hardware PWM on a gpio at the specified frequency and dutycycle.
|
|
Frequencies above 30MHz are unlikely to work.
|
|
|
|
.br
|
|
|
|
.br
|
|
NOTE: Any waveform started by \fBgpioWaveTxSend\fP, or
|
|
\fBgpioWaveChain\fP will be cancelled.
|
|
|
|
.br
|
|
|
|
.br
|
|
This function is only valid if the pigpio main clock is PCM. The
|
|
main clock defaults to PCM but may be overridden by a call to
|
|
\fBgpioCfgClock\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
gpio: see description
|
|
.br
|
|
PWMfreq: 0 (off) or 1-125000000 (125M)
|
|
.br
|
|
PWMduty: 0 (off) to 1000000 (1M)(fully on)
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HPWM_GPIO,
|
|
PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ, or PI_HPWM_ILLEGAL.
|
|
|
|
.br
|
|
|
|
.br
|
|
The same PWM channel is available on multiple gpios. The latest
|
|
frequency and dutycycle setting will be used by all gpios which
|
|
share a PWM channel.
|
|
|
|
.br
|
|
|
|
.br
|
|
The gpio must be one of the following.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
12 PWM channel 0 A+/B+/Pi2 and compute module only
|
|
.br
|
|
13 PWM channel 1 A+/B+/Pi2 and compute module only
|
|
.br
|
|
18 PWM channel 0 All models
|
|
.br
|
|
19 PWM channel 1 A+/B+/Pi2 and compute module only
|
|
.br
|
|
|
|
.br
|
|
40 PWM channel 0 Compute module only
|
|
.br
|
|
41 PWM channel 1 Compute module only
|
|
.br
|
|
45 PWM channel 1 Compute module only
|
|
.br
|
|
52 PWM channel 0 Compute module only
|
|
.br
|
|
53 PWM channel 1 Compute module only
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioTime(unsigned timetype, int *seconds, int *micros)\fP"
|
|
.IP "" 4
|
|
Updates the seconds and micros variables with the current time.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
timetype: 0 (relative), 1 (absolute)
|
|
.br
|
|
seconds: a pointer to an int to hold seconds
|
|
.br
|
|
micros: a pointer to an int to hold microseconds
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_TIMETYPE.
|
|
|
|
.br
|
|
|
|
.br
|
|
If timetype is PI_TIME_ABSOLUTE updates seconds and micros with the
|
|
number of seconds and microseconds since the epoch (1st January 1970).
|
|
|
|
.br
|
|
|
|
.br
|
|
If timetype is PI_TIME_RELATIVE updates seconds and micros with the
|
|
number of seconds and microseconds since the library was initialised.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
int secs, mics;
|
|
.br
|
|
|
|
.br
|
|
// print the number of seconds since the library was started
|
|
.br
|
|
gpioTime(PI_TIME_RELATIVE, &secs, &mics);
|
|
.br
|
|
printf("library started %d.%03d seconds ago\n", secs, mics/1000);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioSleep(unsigned timetype, int seconds, int micros)\fP"
|
|
.IP "" 4
|
|
Sleeps for the number of seconds and microseconds specified by seconds
|
|
and micros.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
timetype: 0 (relative), 1 (absolute)
|
|
.br
|
|
seconds: seconds to sleep
|
|
.br
|
|
micros: microseconds to sleep
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns 0 if OK, otherwise PI_BAD_TIMETYPE, PI_BAD_SECONDS,
|
|
or PI_BAD_MICROS.
|
|
|
|
.br
|
|
|
|
.br
|
|
If timetype is PI_TIME_ABSOLUTE the sleep ends when the number of seconds
|
|
and microseconds since the epoch (1st January 1970) has elapsed. System
|
|
clock changes are taken into account.
|
|
|
|
.br
|
|
|
|
.br
|
|
If timetype is PI_TIME_RELATIVE the sleep is for the specified number
|
|
of seconds and microseconds. System clock changes do not effect the
|
|
sleep length.
|
|
|
|
.br
|
|
|
|
.br
|
|
For short delays (say, 50 microseonds or less) use \fBgpioDelay\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
gpioSleep(PI_TIME_RELATIVE, 2, 500000); // sleep for 2.5 seconds
|
|
.br
|
|
|
|
.br
|
|
gpioSleep(PI_TIME_RELATIVE, 0, 100000); // sleep for 0.1 seconds
|
|
.br
|
|
|
|
.br
|
|
gpioSleep(PI_TIME_RELATIVE, 60, 0); // sleep for one minute
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBuint32_t gpioDelay(uint32_t micros)\fP"
|
|
.IP "" 4
|
|
Delays for at least the number of microseconds specified by micros.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
micros: the number of microseconds to sleep
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the actual length of the delay in microseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
Delays of 100 microseconds or less use busy waits.
|
|
|
|
.IP "\fBuint32_t gpioTick(void)\fP"
|
|
.IP "" 4
|
|
Returns the current system tick.
|
|
|
|
.br
|
|
|
|
.br
|
|
Tick is the number of microseconds since system boot.
|
|
|
|
.br
|
|
|
|
.br
|
|
As tick is an unsigned 32 bit quantity it wraps around after
|
|
2^32 microseconds, which is approximately 1 hour 12 minutes.
|
|
|
|
.br
|
|
|
|
.br
|
|
You don't need to worry about the wrap around as long as you
|
|
take a tick (uint32_t) from another tick, i.e. the following
|
|
code will always provide the correct difference.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBExample\fP
|
|
.br
|
|
|
|
.EX
|
|
uint32_t startTick, endTick;
|
|
.br
|
|
int diffTick;
|
|
.br
|
|
|
|
.br
|
|
startTick = gpioTick();
|
|
.br
|
|
|
|
.br
|
|
// do some processing
|
|
.br
|
|
|
|
.br
|
|
endTick = gpioTick();
|
|
.br
|
|
|
|
.br
|
|
diffTick = endTick - startTick;
|
|
.br
|
|
|
|
.br
|
|
printf("some processing took %d microseconds\n", diffTick);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBunsigned gpioHardwareRevision(void)\fP"
|
|
.IP "" 4
|
|
Returns the hardware revision.
|
|
|
|
.br
|
|
|
|
.br
|
|
If the hardware revision can not be found or is not a valid hexadecimal
|
|
number the function returns 0.
|
|
|
|
.br
|
|
|
|
.br
|
|
The hardware revision is the last few characters on the Revision line of
|
|
/proc/cpuinfo.
|
|
|
|
.br
|
|
|
|
.br
|
|
The revision number can be used to determine the assignment of gpios
|
|
to pins (see \fBgpio\fP).
|
|
|
|
.br
|
|
|
|
.br
|
|
There are at least three types of board.
|
|
|
|
.br
|
|
|
|
.br
|
|
Type 1 boards have hardware revision numbers of 2 and 3.
|
|
|
|
.br
|
|
|
|
.br
|
|
Type 2 boards have hardware revision numbers of 4, 5, 6, and 15.
|
|
|
|
.br
|
|
|
|
.br
|
|
Type 3 boards have hardware revision numbers of 16 or greater.
|
|
|
|
.br
|
|
|
|
.br
|
|
for "Revision : 0002" the function returns 2.
|
|
.br
|
|
for "Revision : 000f" the function returns 15.
|
|
.br
|
|
for "Revision : 000g" the function returns 0.
|
|
|
|
.IP "\fBunsigned gpioVersion(void)\fP"
|
|
.IP "" 4
|
|
Returns the pigpio version.
|
|
|
|
.IP "\fBint gpioCfgBufferSize(unsigned cfgMillis)\fP"
|
|
.IP "" 4
|
|
Configures pigpio to buffer cfgMillis milliseconds of gpio samples.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
cfgMillis: 100-10000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The default setting is 120 milliseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
The intention is to allow for bursts of data and protection against
|
|
other processes hogging cpu time.
|
|
|
|
.br
|
|
|
|
.br
|
|
I haven't seen a process locked out for more than 100 milliseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
Making the buffer bigger uses a LOT of memory at the more frequent
|
|
sampling rates as shown in the following table in MBs.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
buffer milliseconds
|
|
.br
|
|
120 250 500 1sec 2sec 4sec 8sec
|
|
.br
|
|
|
|
.br
|
|
1 16 31 55 107 --- --- ---
|
|
.br
|
|
2 10 18 31 55 107 --- ---
|
|
.br
|
|
sample 4 8 12 18 31 55 107 ---
|
|
.br
|
|
rate 5 8 10 14 24 45 87 ---
|
|
.br
|
|
(us) 8 6 8 12 18 31 55 107
|
|
.br
|
|
10 6 8 10 14 24 45 87
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioCfgClock(unsigned cfgMicros, unsigned cfgPeripheral, unsigned cfgSource)\fP"
|
|
.IP "" 4
|
|
Configures pigpio to use a particular sample rate timed by a specified
|
|
peripheral.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
cfgMicros: 1, 2, 4, 5, 8, 10
|
|
.br
|
|
cfgPeripheral: 0 (PWM), 1 (PCM)
|
|
.br
|
|
cfgSource: deprecated, value is ignored
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The timings are provided by the specified peripheral (PWM or PCM).
|
|
|
|
.br
|
|
|
|
.br
|
|
The default setting is 5 microseconds using the PCM peripheral.
|
|
|
|
.br
|
|
|
|
.br
|
|
The approximate CPU percentage used for each sample rate is:
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
sample cpu
|
|
.br
|
|
rate %
|
|
.br
|
|
|
|
.br
|
|
1 25
|
|
.br
|
|
2 16
|
|
.br
|
|
4 11
|
|
.br
|
|
5 10
|
|
.br
|
|
8 15
|
|
.br
|
|
10 14
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
A sample rate of 5 microseconds seeems to be the sweet spot.
|
|
|
|
.IP "\fBint gpioCfgDMAchannel(unsigned DMAchannel)\fP"
|
|
.IP "" 4
|
|
Configures pigpio to use the specified DMA channel.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
DMAchannel: 0-14
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The default setting is to use channel 14.
|
|
|
|
.IP "\fBint gpioCfgDMAchannels(unsigned primaryChannel, unsigned secondaryChannel)\fP"
|
|
.IP "" 4
|
|
Configures pigpio to use the specified DMA channels.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
primaryChannel: 0-14
|
|
.br
|
|
secondaryChannel: 0-6
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The default setting is to use channel 14 for the primary channel and
|
|
channel 5 for the secondary channel.
|
|
|
|
.IP "\fBint gpioCfgPermissions(uint64_t updateMask)\fP"
|
|
.IP "" 4
|
|
Configures pigpio to only allow updates (writes or mode changes) for the
|
|
gpios specified by the mask.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
updateMask: bit (1<<n) is set for each gpio n which may be updated
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The default setting depends upon the board revision (Type 1, 2, or 3).
|
|
The user gpios are added to the mask. If the board revision is not
|
|
recognised then gpios 0-31 are allowed.
|
|
|
|
.br
|
|
|
|
.br
|
|
Unknown board PI_DEFAULT_UPDATE_MASK_R0 0xFFFFFFFF
|
|
.br
|
|
|
|
.br
|
|
Type 1 board PI_DEFAULT_UPDATE_MASK_R1 0x03E6CF93
|
|
.br
|
|
|
|
.br
|
|
Type 2 board PI_DEFAULT_UPDATE_MASK_R2 0xFBC6CF9C
|
|
|
|
.br
|
|
Type 3 board PI_DEFAULT_UPDATE_MASK_R3 0x0FFFFFFC
|
|
|
|
.br
|
|
|
|
.IP "\fBint gpioCfgSocketPort(unsigned port)\fP"
|
|
.IP "" 4
|
|
Configures pigpio to use the specified socket port.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
port: 1024-32000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The default setting is to use port 8888.
|
|
|
|
.IP "\fBint gpioCfgInterfaces(unsigned ifFlags)\fP"
|
|
.IP "" 4
|
|
Configures pigpio support of the fifo and socket interfaces.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
ifFlags: 0-3
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
The default setting (0) is that both interfaces are enabled.
|
|
|
|
.br
|
|
|
|
.br
|
|
Or in PI_DISABLE_FIFO_IF to disable the pipe interface.
|
|
Or in PI_DISABLE_SOCK_IF to disable the socket interface.
|
|
|
|
.IP "\fBint gpioCfgMemAlloc(unsigned memAllocMode)\fP"
|
|
.IP "" 4
|
|
Selects the method of DMA memory allocation.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
memAllocMode: 0-2
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
There are two methods of DMA memory allocation. The original method
|
|
uses the /proc/self/pagemap file to allocate bus memory. The new
|
|
method uses the mailbox property interface to allocate bus memory.
|
|
|
|
.br
|
|
|
|
.br
|
|
Auto will use the mailbox method unless a larger than default buffer
|
|
size is requested with \fBgpioCfgBufferSize\fP.
|
|
|
|
.IP "\fBint gpioCfgInternals(unsigned cfgWhat, unsigned cfgVal)\fP"
|
|
.IP "" 4
|
|
Used to tune internal settings.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
cfgWhat: see source code
|
|
.br
|
|
cfgVal: see source code
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBuint32_t gpioCfgGetInternals(void)\fP"
|
|
.IP "" 4
|
|
This function returns the current library internal configuration
|
|
settings.
|
|
|
|
.IP "\fBint gpioCfgSetInternals(uint32_t cfgVal)\fP"
|
|
.IP "" 4
|
|
This function sets the current library internal configuration
|
|
settings.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
cfgVal: see source code
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBint gpioCustom1(unsigned arg1, unsigned arg2, char *argx, unsigned argc)\fP"
|
|
.IP "" 4
|
|
This function is available for user customisation.
|
|
|
|
.br
|
|
|
|
.br
|
|
It returns a single integer value.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
arg1: >=0
|
|
.br
|
|
arg2: >=0
|
|
.br
|
|
argx: extra (byte) arguments
|
|
.br
|
|
argc: number of extra arguments
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns >= 0 if OK, less than 0 indicates a user defined error.
|
|
|
|
.IP "\fBint gpioCustom2(unsigned arg1, char *argx, unsigned argc, char *retBuf, unsigned retMax)\fP"
|
|
.IP "" 4
|
|
This function is available for user customisation.
|
|
|
|
.br
|
|
|
|
.br
|
|
It differs from gpioCustom1 in that it returns an array of bytes
|
|
rather than just an integer.
|
|
|
|
.br
|
|
|
|
.br
|
|
The returned value is an integer indicating the number of returned bytes.
|
|
|
|
.EX
|
|
arg1: >=0
|
|
.br
|
|
argx: extra (byte) arguments
|
|
.br
|
|
argc: number of extra arguments
|
|
.br
|
|
retBuf: buffer for returned bytes
|
|
.br
|
|
retMax: maximum number of bytes to return
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns >= 0 if OK, less than 0 indicates a user defined error.
|
|
|
|
.br
|
|
|
|
.br
|
|
The number of returned bytes must be retMax or less.
|
|
|
|
.IP "\fBint rawWaveAddSPI(rawSPI_t *spi, unsigned offset, unsigned spiSS, char *buf, unsigned spiTxBits, unsigned spiBitFirst, unsigned spiBitLast, unsigned spiBits)\fP"
|
|
.IP "" 4
|
|
This function adds a waveform representing SPI data to the
|
|
existing waveform (if any).
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
spi: a pointer to a spi object
|
|
.br
|
|
offset: microseconds from the start of the waveform
|
|
.br
|
|
spiSS: the slave select gpio
|
|
.br
|
|
buf: the bits to transmit, most significant bit first
|
|
.br
|
|
spiTxBits: the number of bits to write
|
|
.br
|
|
spiBitFirst: the first bit to read
|
|
.br
|
|
spiBitLast: the last bit to read
|
|
.br
|
|
spiBits: the number of bits to transfer
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the new total number of pulses in the current waveform if OK,
|
|
otherwise PI_BAD_USER_GPIO, PI_BAD_SER_OFFSET, or PI_TOO_MANY_PULSES.
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBint rawWaveAddGeneric(unsigned numPulses, rawWave_t *pulses)\fP"
|
|
.IP "" 4
|
|
This function adds a number of pulses to the current waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
numPulses: the number of pulses
|
|
.br
|
|
pulses: the array containing the pulses
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Returns the new total number of pulses in the current waveform if OK,
|
|
otherwise PI_TOO_MANY_PULSES.
|
|
|
|
.br
|
|
|
|
.br
|
|
The advantage of this function over gpioWaveAddGeneric is that it
|
|
allows the setting of the flags field.
|
|
|
|
.br
|
|
|
|
.br
|
|
The pulses are interleaved in time order within the existing waveform
|
|
(if any).
|
|
|
|
.br
|
|
|
|
.br
|
|
Merging allows the waveform to be built in parts, that is the settings
|
|
for gpio#1 can be added, and then gpio#2 etc.
|
|
|
|
.br
|
|
|
|
.br
|
|
If the added waveform is intended to start after or within the existing
|
|
waveform then the first pulse should consist of a delay.
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBunsigned rawWaveCB(void)\fP"
|
|
.IP "" 4
|
|
Returns the number of the cb being currently output.
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBrawCbs_t *rawWaveCBAdr(int cbNum)\fP"
|
|
.IP "" 4
|
|
Return the Linux address of contol block cbNum.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
cbNum: the cb of interest
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBuint32_t rawWaveGetOut(int pos)\fP"
|
|
.IP "" 4
|
|
Gets the wave output parameter stored at pos.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
pos: the position of interest.
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBvoid rawWaveSetOut(int pos, uint32_t lVal)\fP"
|
|
.IP "" 4
|
|
Sets the wave output parameter stored at pos to value.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
pos: the position of interest
|
|
.br
|
|
lVal: the value to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBuint32_t rawWaveGetIn(int pos)\fP"
|
|
.IP "" 4
|
|
Gets the wave input value parameter stored at pos.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
pos: the position of interest
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBvoid rawWaveSetIn(int pos, uint32_t lVal)\fP"
|
|
.IP "" 4
|
|
Sets the wave input value stored at pos to value.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
pos: the position of interest
|
|
.br
|
|
lVal: the value to write
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBrawWaveInfo_t rawWaveInfo(int wave_id)\fP"
|
|
.IP "" 4
|
|
Gets details about the wave with id wave_id.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
wave_id: the wave of interest
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBint getBitInBytes(int bitPos, char *buf, int numBits)\fP"
|
|
.IP "" 4
|
|
Returns the value of the bit bitPos bits from the start of buf. Returns
|
|
0 if bitPos is greater than or equal to numBits.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
bitPos: bit index from the start of buf
|
|
.br
|
|
buf: array of bits
|
|
.br
|
|
numBits: number of valid bits in buf
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBvoid putBitInBytes(int bitPos, char *buf, int bit)\fP"
|
|
.IP "" 4
|
|
Sets the bit bitPos bits from the start of buf to bit.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
bitPos: bit index from the start of buf
|
|
.br
|
|
buf: array of bits
|
|
.br
|
|
bit: 0-1, value to set
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBdouble time_time(void)\fP"
|
|
.IP "" 4
|
|
Return the current time in seconds since the Epoch.
|
|
|
|
.IP "\fBvoid time_sleep(double seconds)\fP"
|
|
.IP "" 4
|
|
Delay execution for a given number of seconds
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
seconds: the number of seconds to sleep
|
|
.br
|
|
|
|
.EE
|
|
|
|
.IP "\fBvoid rawDumpWave(void)\fP"
|
|
.IP "" 4
|
|
Used to print a readable version of the current waveform to stderr.
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
|
|
.IP "\fBvoid rawDumpScript(unsigned script_id)\fP"
|
|
.IP "" 4
|
|
Used to print a readable version of a script to stderr.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
script_id: >=0, a script_id returned by \fBgpioStoreScript\fP
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
Not intended for general use.
|
|
.SH PARAMETERS
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*arg\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A pointer to a void object passed to a thread started by gpioStartThread.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBarg1\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
An unsigned argument passed to a user customised function. Its
|
|
meaning is defined by the customiser.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBarg2\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
An unsigned argument passed to a user customised function. Its
|
|
meaning is defined by the customiser.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBargc\fP" 0
|
|
The count of bytes passed to a user customised function.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*argx\fP" 0
|
|
A pointer to an array of bytes passed to a user customised function.
|
|
Its meaning and content is defined by the customiser.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBbaud\fP" 0
|
|
The speed of serial communication (I2C, SPI, serial link, waves) in
|
|
bits per second.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBbit\fP" 0
|
|
A value of 0 or 1.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBbitPos\fP" 0
|
|
A bit position within a byte or word. The least significant bit is
|
|
position 0.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBbits\fP" 0
|
|
A value used to select gpios. If bit n of bits is set then gpio n is
|
|
selected.
|
|
|
|
.br
|
|
|
|
.br
|
|
A convenient way to set bit n is to or in (1<<n).
|
|
|
|
.br
|
|
|
|
.br
|
|
e.g. to select bits 5, 9, 23 you could use (1<<5) | (1<<9) | (1<<23).
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*buf\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A buffer to hold data being sent or being received.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBbufSize\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The size in bytes of a buffer.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBbVal\fP: 0-255 (Hex 0x0-0xFF, Octal 0-0377)" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
An 8-bit byte value.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBcbNum\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A number identifying a DMA contol block.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBcfgMicros\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The gpio sample rate in microseconds. The default is 5us, or 200 thousand
|
|
samples per second.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBcfgMillis\fP: 100-10000" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The size of the sample buffer in milliseconds. Generally this should be
|
|
left at the default of 120ms. If you expect intense bursts of signals it
|
|
might be necessary to increase the buffer size.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBcfgPeripheral\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
One of the PWM or PCM peripherals used to pace DMA transfers for timing
|
|
purposes.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBcfgSource\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
Deprecated.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBcfgVal\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A number specifying the value of a configuration item. See \fBcfgWhat\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBcfgWhat\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A number specifying a configuration item.
|
|
|
|
.br
|
|
|
|
.br
|
|
562484977: print enhanced statistics at termination.
|
|
.br
|
|
984762879: set the initial debug level.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBchar\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A single character, an 8 bit quantity able to store 0-255.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBclkfreq\fP: 4689-250M" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The hardware clock frequency.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_HW_CLK_MIN_FREQ 4689
|
|
.br
|
|
PI_HW_CLK_MAX_FREQ 250000000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBcount\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The number of bytes to be transferred in an I2C, SPI, or Serial
|
|
command.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBdata_bits\fP: 1-32" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The number of data bits to be used when adding serial data to a
|
|
waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_MIN_WAVE_DATABITS 1
|
|
.br
|
|
PI_MAX_WAVE_DATABITS 32
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBDMAchannel\fP: 0-14" 0
|
|
|
|
.EX
|
|
PI_MIN_DMA_CHANNEL 0
|
|
.br
|
|
PI_MAX_DMA_CHANNEL 14
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBdouble\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A floating point number.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBdutycycle\fP: 0-range" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A number representing the ratio of on time to off time for PWM.
|
|
|
|
.br
|
|
|
|
.br
|
|
The number may vary between 0 and range (default 255) where
|
|
0 is off and range is fully on.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBedge\fP: 0-2" 0
|
|
The type of gpio edge to generate an intrrupt. See\fBgpioSetISRFunc\fP,
|
|
and \fBgpioSetISRFuncEx\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
RISING_EDGE 0
|
|
.br
|
|
FALLING_EDGE 1
|
|
.br
|
|
EITHER_EDGE 2
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBf\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A function.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBfrequency\fP: 0-" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The number of times a gpio is swiched on and off per second. This
|
|
can be set per gpio and may be as little as 5Hz or as much as
|
|
40KHz. The gpio will be on for a proportion of the time as defined
|
|
by its dutycycle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpio\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A Broadcom numbered gpio, in the range 0-53.
|
|
|
|
.br
|
|
|
|
.br
|
|
There are 54 General Purpose Input Outputs (gpios) named gpio0 through
|
|
gpio53.
|
|
|
|
.br
|
|
|
|
.br
|
|
They are split into two banks. Bank 1 consists of gpio0 through
|
|
gpio31. Bank 2 consists of gpio32 through gpio53.
|
|
|
|
.br
|
|
|
|
.br
|
|
All the gpios which are safe for the user to read and write are in
|
|
bank 1. Not all gpios in bank 1 are safe though. Type 1 boards
|
|
have 17 safe gpios. Type 2 boards have 21. Type 3 boards have 26.
|
|
|
|
.br
|
|
|
|
.br
|
|
See \fBgpioHardwareRevision\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
The user gpios are marked with an X in the following table.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
|
|
.br
|
|
Type 1 X X - - X - - X X X X X - - X X
|
|
.br
|
|
Type 2 - - X X X - - X X X X X - - X X
|
|
.br
|
|
Type 3 X X X X X X X X X X X X X X
|
|
.br
|
|
|
|
.br
|
|
16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
|
|
.br
|
|
Type 1 - X X - - X X X X X - - - - - -
|
|
.br
|
|
Type 2 - X X - - - X X X X - X X X X X
|
|
.br
|
|
Type 3 X X X X X X X X X X X X - - - -
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioAlertFunc_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioAlertFunc_t) (int gpio, int level, uint32_t tick);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioAlertFuncEx_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioAlertFuncEx_t)
|
|
.br
|
|
(int gpio, int level, uint32_t tick, void *userdata);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioCfg*\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
One of
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBgpioCfgBufferSize\fP
|
|
.br
|
|
\fBgpioCfgClock\fP
|
|
.br
|
|
\fBgpioCfgDMAchannel\fP
|
|
.br
|
|
\fBgpioCfgDMAchannels\fP
|
|
.br
|
|
\fBgpioCfgPermissions\fP
|
|
.br
|
|
\fBgpioCfgInterfaces\fP
|
|
.br
|
|
\fBgpioCfgInternals\fP
|
|
.br
|
|
\fBgpioCfgSocketPort\fP
|
|
.br
|
|
\fBgpioCfgMemAlloc\fP
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioGetSamplesFunc_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioGetSamplesFunc_t)
|
|
.br
|
|
(const gpioSample_t *samples, int numSamples);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioGetSamplesFuncEx_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioGetSamplesFuncEx_t)
|
|
.br
|
|
(const gpioSample_t *samples, int numSamples, void *userdata);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioISRFunc_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioISRFunc_t)
|
|
.br
|
|
(int gpio, int level, uint32_t tick);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioISRFuncEx_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioISRFuncEx_t)
|
|
.br
|
|
(int gpio, int level, uint32_t tick, void *userdata);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioPulse_t\fP" 0
|
|
|
|
.EX
|
|
typedef struct
|
|
.br
|
|
{
|
|
.br
|
|
uint32_t gpioOn;
|
|
.br
|
|
uint32_t gpioOff;
|
|
.br
|
|
uint32_t usDelay;
|
|
.br
|
|
} gpioPulse_t;
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioSample_t\fP" 0
|
|
|
|
.EX
|
|
typedef struct
|
|
.br
|
|
{
|
|
.br
|
|
uint32_t tick;
|
|
.br
|
|
uint32_t level;
|
|
.br
|
|
} gpioSample_t;
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioSignalFunc_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioSignalFunc_t) (int signum);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioSignalFuncEx_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioSignalFuncEx_t) (int signum, void *userdata);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioThreadFunc_t\fP" 0
|
|
|
|
.EX
|
|
typedef void *(gpioThreadFunc_t) (void *);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioTimerFunc_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioTimerFunc_t) (void);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioTimerFuncEx_t\fP" 0
|
|
|
|
.EX
|
|
typedef void (*gpioTimerFuncEx_t) (void *userdata);
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBgpioWaveAdd*\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
One of
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBgpioWaveAddNew\fP
|
|
.br
|
|
\fBgpioWaveAddGeneric\fP
|
|
.br
|
|
\fBgpioWaveAddSerial\fP
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBhandle\fP: 0-" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A number referencing an object opened by one of
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBi2cOpen\fP
|
|
.br
|
|
\fBgpioNotifyOpen\fP
|
|
.br
|
|
\fBserOpen\fP
|
|
.br
|
|
\fBspiOpen\fP
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBi2cAddr\fP" 0
|
|
The address of a device on the I2C bus.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBi2cBus\fP: 0-1" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
An I2C bus, 0 or 1.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBi2cFlags\fP: 0" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
Flags which modify an I2C open command. None are currently defined.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBi2cReg\fP: 0-255" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A register of an I2C device.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBifFlags\fP: 0-3" 0
|
|
|
|
.EX
|
|
PI_DISABLE_FIFO_IF 1
|
|
.br
|
|
PI_DISABLE_SOCK_IF 2
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*inBuf\fP" 0
|
|
A buffer used to pass data to a function.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBinLen\fP" 0
|
|
The number of bytes of data in a buffer.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBint\fP" 0
|
|
A whole number, negative or positive.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBinvert\fP" 0
|
|
A flag used to set normal or inverted bit bang serial data level logic.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBlevel\fP" 0
|
|
The level of a gpio. Low or High.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_OFF 0
|
|
.br
|
|
PI_ON 1
|
|
.br
|
|
|
|
.br
|
|
PI_CLEAR 0
|
|
.br
|
|
PI_SET 1
|
|
.br
|
|
|
|
.br
|
|
PI_LOW 0
|
|
.br
|
|
PI_HIGH 1
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
There is one exception. If a watchdog expires on a gpio the level will be
|
|
reported as PI_TIMEOUT. See \fBgpioSetWatchdog\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_TIMEOUT 2
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBlVal\fP: 0-4294967295 (Hex 0x0-0xFFFFFFFF, Octal 0-37777777777)" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A 32-bit word value.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBmemAllocMode\fP: 0-2" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The DMA memory allocation mode.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_MEM_ALLOC_AUTO 0
|
|
.br
|
|
PI_MEM_ALLOC_PAGEMAP 1
|
|
.br
|
|
PI_MEM_ALLOC_MAILBOX 2
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*micros\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A value representing microseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBmicros\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A value representing microseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBmillis\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A value representing milliseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBmode\fP: 0-7" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The operational mode of a gpio, normally INPUT or OUTPUT.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_INPUT 0
|
|
.br
|
|
PI_OUTPUT 1
|
|
.br
|
|
PI_ALT0 4
|
|
.br
|
|
PI_ALT1 5
|
|
.br
|
|
PI_ALT2 6
|
|
.br
|
|
PI_ALT3 7
|
|
.br
|
|
PI_ALT4 3
|
|
.br
|
|
PI_ALT5 2
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBnumBits\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The number of bits stored in a buffer.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBnumBytes\fP" 0
|
|
The number of bytes used to store characters in a string. Depending
|
|
on the number of bits per character there may be 1, 2, or 4 bytes
|
|
per character.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBnumPar\fP: 0-10" 0
|
|
The number of parameters passed to a script.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBnumPulses\fP" 0
|
|
The number of pulses to be added to a waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBnumSegs\fP" 0
|
|
The number of segments in a combined I2C transaction.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBoffset\fP" 0
|
|
The associated data starts this number of microseconds from the start of
|
|
the waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*outBuf\fP" 0
|
|
A buffer used to return data from a function.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBoutLen\fP" 0
|
|
The size in bytes of an output buffer.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*param\fP" 0
|
|
An array of script parameters.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBpi_i2c_msg_t\fP" 0
|
|
|
|
.EX
|
|
typedef struct
|
|
.br
|
|
{
|
|
.br
|
|
uint16_t addr; // slave address
|
|
.br
|
|
uint16_t flags;
|
|
.br
|
|
uint16_t len; // msg length
|
|
.br
|
|
uint8_t *buf; // pointer to msg data
|
|
.br
|
|
} pi_i2c_msg_t;
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBport\fP: 1024-32000" 0
|
|
The port used to bind to the pigpio socket. Defaults to 8888.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBpos\fP" 0
|
|
The position of an item.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBprimaryChannel\fP: 0-14" 0
|
|
The DMA channel used to time the sampling of gpios and to time servo and
|
|
PWM pulses.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*pth\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A thread identifier, returned by \fBgpioStartThread\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBpthread_t\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A thread identifier.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBpud\fP: 0-2" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The setting of the pull up/down resistor for a gpio, which may be off,
|
|
pull-up, or pull-down.
|
|
|
|
.EX
|
|
PI_PUD_OFF 0
|
|
.br
|
|
PI_PUD_DOWN 1
|
|
.br
|
|
PI_PUD_UP 2
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBpulseLen\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
1-100, the length of a trigger pulse in microseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*pulses\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
An array of pulses to be added to a waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBpulsewidth\fP: 0, 500-2500" 0
|
|
|
|
.EX
|
|
PI_SERVO_OFF 0
|
|
.br
|
|
PI_MIN_SERVO_PULSEWIDTH 500
|
|
.br
|
|
PI_MAX_SERVO_PULSEWIDTH 2500
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBPWMduty\fP: 0-1000000 (1M)" 0
|
|
The hardware PWM dutycycle.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_HW_PWM_RANGE 1000000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBPWMfreq\fP: 5-250K" 0
|
|
The hardware PWM frequency.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_HW_PWM_MIN_FREQ 1
|
|
.br
|
|
PI_HW_PWM_MAX_FREQ 125000000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBrange\fP: 25-40000" 0
|
|
|
|
.EX
|
|
PI_MIN_DUTYCYCLE_RANGE 25
|
|
.br
|
|
PI_MAX_DUTYCYCLE_RANGE 40000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBrawCbs_t\fP" 0
|
|
|
|
.EX
|
|
typedef struct // linux/arch/arm/mach-bcm2708/include/mach/dma.h
|
|
.br
|
|
{
|
|
.br
|
|
unsigned long info;
|
|
.br
|
|
unsigned long src;
|
|
.br
|
|
unsigned long dst;
|
|
.br
|
|
unsigned long length;
|
|
.br
|
|
unsigned long stride;
|
|
.br
|
|
unsigned long next;
|
|
.br
|
|
unsigned long pad[2];
|
|
.br
|
|
} rawCbs_t;
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBrawSPI_t\fP" 0
|
|
|
|
.EX
|
|
typedef struct
|
|
.br
|
|
{
|
|
.br
|
|
int clk; // gpio for clock
|
|
.br
|
|
int mosi; // gpio for MOSI
|
|
.br
|
|
int miso; // gpio for MISO
|
|
.br
|
|
int ss_pol; // slave select off state
|
|
.br
|
|
int ss_us; // delay after slave select
|
|
.br
|
|
int clk_pol; // clock off state
|
|
.br
|
|
int clk_pha; // clock phase
|
|
.br
|
|
int clk_us; // clock micros
|
|
.br
|
|
} rawSPI_t;
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBrawWave_t\fP" 0
|
|
|
|
.EX
|
|
typedef struct
|
|
.br
|
|
{
|
|
.br
|
|
uint32_t gpioOn;
|
|
.br
|
|
uint32_t gpioOff;
|
|
.br
|
|
uint32_t usDelay;
|
|
.br
|
|
uint32_t flags;
|
|
.br
|
|
} rawWave_t;
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBrawWaveInfo_t\fP" 0
|
|
|
|
.EX
|
|
typedef struct
|
|
.br
|
|
{
|
|
.br
|
|
uint16_t botCB; // first CB used by wave
|
|
.br
|
|
uint16_t topCB; // last CB used by wave
|
|
.br
|
|
uint16_t botOOL; // last OOL used by wave
|
|
.br
|
|
uint16_t topOOL; // first OOL used by wave
|
|
.br
|
|
} rawWaveInfo_t;
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*retBuf\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A buffer to hold a number of bytes returned to a used customised function,
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBretMax\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The maximum number of bytes a user customised function should return.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*rxBuf\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A pointer to a buffer to receive data.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBSCL\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The user gpio to use for the clock when bit banging I2C.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*script\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A pointer to the text of a script.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBscript_id\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
An id of a stored script as returned by \fBgpioStoreScript\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBSDA\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The user gpio to use for data when bit banging I2C.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBsecondaryChannel\fP: 0-6" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The DMA channel used to time output waveforms.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*seconds\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A pointer to a uint32_t to store the second component of
|
|
a returned time.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBseconds\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The number of seconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*segs\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
An array of segments which make up a combined I2C transaction.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBserFlags\fP" 0
|
|
Flags which modify a serial open command. None are currently defined.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*sertty\fP" 0
|
|
The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBsetting\fP" 0
|
|
A value used to set a flag, 0 for false, non-zero for true.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBsignum\fP: 0-63" 0
|
|
|
|
.EX
|
|
PI_MIN_SIGNUM 0
|
|
.br
|
|
PI_MAX_SIGNUM 63
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBsize_t\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A standard type used to indicate the size of an object in bytes.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*spi\fP" 0
|
|
A pointer to a \fBrawSPI_t\fP structure.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBspiBitFirst\fP" 0
|
|
Gpio reads are made from spiBitFirst to spiBitLast.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBspiBitLast\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
Gpio reads are made from spiBitFirst to spiBitLast.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBspiBits\fP" 0
|
|
The number of bits to transfer in a raw SPI transaction.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBspiChan\fP" 0
|
|
A SPI channel, 0-2.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBspiFlags\fP" 0
|
|
See \fBspiOpen\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBspiSS\fP" 0
|
|
The SPI slave select gpio in a raw SPI transaction.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBspiTxBits\fP" 0
|
|
The number of bits to transfer dring a raw SPI transaction
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBstop_bits\fP: 2-8" 0
|
|
The number of (half) stop bits to be used when adding serial data
|
|
to a waveform.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_MIN_WAVE_HALFSTOPBITS 2
|
|
.br
|
|
PI_MAX_WAVE_HALFSTOPBITS 8
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*str\fP" 0
|
|
An array of characters.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBtimeout\fP" 0
|
|
A gpio level change timeout in milliseconds.
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBgpioSetWatchdog\fP
|
|
|
|
.EX
|
|
PI_MIN_WDOG_TIMEOUT 0
|
|
.br
|
|
PI_MAX_WDOG_TIMEOUT 60000
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
\fBgpioSetISRFunc\fP and \fBgpioSetISRFuncEx\fP
|
|
|
|
.EX
|
|
<=0 cancel timeout
|
|
.br
|
|
>0 timeout after specified milliseconds
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBtimer\fP" 0
|
|
|
|
.EX
|
|
PI_MIN_TIMER 0
|
|
.br
|
|
PI_MAX_TIMER 9
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBtimetype\fP" 0
|
|
|
|
.EX
|
|
PI_TIME_RELATIVE 0
|
|
.br
|
|
PI_TIME_ABSOLUTE 1
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*txBuf\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
An array of bytes to transmit.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBuint32_t\fP: 0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF)" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A 32-bit unsigned value.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBuint64_t\fP: 0-(2^64)-1" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A 64-bit unsigned value.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBunsigned\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A whole number >= 0.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBupdateMask\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A 64 bit mask indicating which gpios may be written to by the user.
|
|
|
|
.br
|
|
|
|
.br
|
|
If gpio#n may be written then bit (1<<n) is set.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBuser_gpio\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
0-31, a Broadcom numbered gpio.
|
|
|
|
.br
|
|
|
|
.br
|
|
See \fBgpio\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fB*userdata\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A pointer to arbitrary user data. This may be used to identify the instance.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBvoid\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
Denoting no parameter is required
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBwave_id\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A number identifying a waveform created by \fBgpioWaveCreate\fP.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBwave_mode\fP" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
The mode of waveform transmission, whether it is sent once or cycles
|
|
repeatedly.
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.EX
|
|
PI_WAVE_MODE_ONE_SHOT 0
|
|
.br
|
|
PI_WAVE_MODE_REPEAT 1
|
|
.br
|
|
|
|
.EE
|
|
|
|
.br
|
|
|
|
.br
|
|
|
|
.IP "\fBwVal\fP: 0-65535 (Hex 0x0-0xFFFF, Octal 0-0177777)" 0
|
|
|
|
.br
|
|
|
|
.br
|
|
A 16-bit word value.
|
|
|
|
.br
|
|
|
|
.br
|
|
.SH Socket Command Codes
|
|
|
|
.EX
|
|
|
|
.br
|
|
#define PI_CMD_MODES 0
|
|
.br
|
|
#define PI_CMD_MODEG 1
|
|
.br
|
|
#define PI_CMD_PUD 2
|
|
.br
|
|
#define PI_CMD_READ 3
|
|
.br
|
|
#define PI_CMD_WRITE 4
|
|
.br
|
|
#define PI_CMD_PWM 5
|
|
.br
|
|
#define PI_CMD_PRS 6
|
|
.br
|
|
#define PI_CMD_PFS 7
|
|
.br
|
|
#define PI_CMD_SERVO 8
|
|
.br
|
|
#define PI_CMD_WDOG 9
|
|
.br
|
|
#define PI_CMD_BR1 10
|
|
.br
|
|
#define PI_CMD_BR2 11
|
|
.br
|
|
#define PI_CMD_BC1 12
|
|
.br
|
|
#define PI_CMD_BC2 13
|
|
.br
|
|
#define PI_CMD_BS1 14
|
|
.br
|
|
#define PI_CMD_BS2 15
|
|
.br
|
|
#define PI_CMD_TICK 16
|
|
.br
|
|
#define PI_CMD_HWVER 17
|
|
.br
|
|
#define PI_CMD_NO 18
|
|
.br
|
|
#define PI_CMD_NB 19
|
|
.br
|
|
#define PI_CMD_NP 20
|
|
.br
|
|
#define PI_CMD_NC 21
|
|
.br
|
|
#define PI_CMD_PRG 22
|
|
.br
|
|
#define PI_CMD_PFG 23
|
|
.br
|
|
#define PI_CMD_PRRG 24
|
|
.br
|
|
#define PI_CMD_HELP 25
|
|
.br
|
|
#define PI_CMD_PIGPV 26
|
|
.br
|
|
#define PI_CMD_WVCLR 27
|
|
.br
|
|
#define PI_CMD_WVAG 28
|
|
.br
|
|
#define PI_CMD_WVAS 29
|
|
.br
|
|
#define PI_CMD_WVGO 30
|
|
.br
|
|
#define PI_CMD_WVGOR 31
|
|
.br
|
|
#define PI_CMD_WVBSY 32
|
|
.br
|
|
#define PI_CMD_WVHLT 33
|
|
.br
|
|
#define PI_CMD_WVSM 34
|
|
.br
|
|
#define PI_CMD_WVSP 35
|
|
.br
|
|
#define PI_CMD_WVSC 36
|
|
.br
|
|
#define PI_CMD_TRIG 37
|
|
.br
|
|
#define PI_CMD_PROC 38
|
|
.br
|
|
#define PI_CMD_PROCD 39
|
|
.br
|
|
#define PI_CMD_PROCR 40
|
|
.br
|
|
#define PI_CMD_PROCS 41
|
|
.br
|
|
#define PI_CMD_SLRO 42
|
|
.br
|
|
#define PI_CMD_SLR 43
|
|
.br
|
|
#define PI_CMD_SLRC 44
|
|
.br
|
|
#define PI_CMD_PROCP 45
|
|
.br
|
|
#define PI_CMD_MICS 46
|
|
.br
|
|
#define PI_CMD_MILS 47
|
|
.br
|
|
#define PI_CMD_PARSE 48
|
|
.br
|
|
#define PI_CMD_WVCRE 49
|
|
.br
|
|
#define PI_CMD_WVDEL 50
|
|
.br
|
|
#define PI_CMD_WVTX 51
|
|
.br
|
|
#define PI_CMD_WVTXR 52
|
|
.br
|
|
#define PI_CMD_WVNEW 53
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_I2CO 54
|
|
.br
|
|
#define PI_CMD_I2CC 55
|
|
.br
|
|
#define PI_CMD_I2CRD 56
|
|
.br
|
|
#define PI_CMD_I2CWD 57
|
|
.br
|
|
#define PI_CMD_I2CWQ 58
|
|
.br
|
|
#define PI_CMD_I2CRS 59
|
|
.br
|
|
#define PI_CMD_I2CWS 60
|
|
.br
|
|
#define PI_CMD_I2CRB 61
|
|
.br
|
|
#define PI_CMD_I2CWB 62
|
|
.br
|
|
#define PI_CMD_I2CRW 63
|
|
.br
|
|
#define PI_CMD_I2CWW 64
|
|
.br
|
|
#define PI_CMD_I2CRK 65
|
|
.br
|
|
#define PI_CMD_I2CWK 66
|
|
.br
|
|
#define PI_CMD_I2CRI 67
|
|
.br
|
|
#define PI_CMD_I2CWI 68
|
|
.br
|
|
#define PI_CMD_I2CPC 69
|
|
.br
|
|
#define PI_CMD_I2CPK 70
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_SPIO 71
|
|
.br
|
|
#define PI_CMD_SPIC 72
|
|
.br
|
|
#define PI_CMD_SPIR 73
|
|
.br
|
|
#define PI_CMD_SPIW 74
|
|
.br
|
|
#define PI_CMD_SPIX 75
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_SERO 76
|
|
.br
|
|
#define PI_CMD_SERC 77
|
|
.br
|
|
#define PI_CMD_SERRB 78
|
|
.br
|
|
#define PI_CMD_SERWB 79
|
|
.br
|
|
#define PI_CMD_SERR 80
|
|
.br
|
|
#define PI_CMD_SERW 81
|
|
.br
|
|
#define PI_CMD_SERDA 82
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_GDC 83
|
|
.br
|
|
#define PI_CMD_GPW 84
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_HC 85
|
|
.br
|
|
#define PI_CMD_HP 86
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_CF1 87
|
|
.br
|
|
#define PI_CMD_CF2 88
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_BI2CC 89
|
|
.br
|
|
#define PI_CMD_BI2CO 90
|
|
.br
|
|
#define PI_CMD_BI2CZ 91
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_I2CZ 92
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_WVCHA 93
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_SLRI 94
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_CGI 95
|
|
.br
|
|
#define PI_CMD_CSI 96
|
|
.br
|
|
|
|
.br
|
|
#define PI_CMD_NOIB 99
|
|
.br
|
|
|
|
.br
|
|
|
|
.EE
|
|
.SH Error Codes
|
|
|
|
.EX
|
|
|
|
.br
|
|
#define PI_INIT_FAILED -1 // gpioInitialise failed
|
|
.br
|
|
#define PI_BAD_USER_GPIO -2 // gpio not 0-31
|
|
.br
|
|
#define PI_BAD_GPIO -3 // gpio not 0-53
|
|
.br
|
|
#define PI_BAD_MODE -4 // mode not 0-7
|
|
.br
|
|
#define PI_BAD_LEVEL -5 // level not 0-1
|
|
.br
|
|
#define PI_BAD_PUD -6 // pud not 0-2
|
|
.br
|
|
#define PI_BAD_PULSEWIDTH -7 // pulsewidth not 0 or 500-2500
|
|
.br
|
|
#define PI_BAD_DUTYCYCLE -8 // dutycycle outside set range
|
|
.br
|
|
#define PI_BAD_TIMER -9 // timer not 0-9
|
|
.br
|
|
#define PI_BAD_MS -10 // ms not 10-60000
|
|
.br
|
|
#define PI_BAD_TIMETYPE -11 // timetype not 0-1
|
|
.br
|
|
#define PI_BAD_SECONDS -12 // seconds < 0
|
|
.br
|
|
#define PI_BAD_MICROS -13 // micros not 0-999999
|
|
.br
|
|
#define PI_TIMER_FAILED -14 // gpioSetTimerFunc failed
|
|
.br
|
|
#define PI_BAD_WDOG_TIMEOUT -15 // timeout not 0-60000
|
|
.br
|
|
#define PI_NO_ALERT_FUNC -16 // DEPRECATED
|
|
.br
|
|
#define PI_BAD_CLK_PERIPH -17 // clock peripheral not 0-1
|
|
.br
|
|
#define PI_BAD_CLK_SOURCE -18 // DEPRECATED
|
|
.br
|
|
#define PI_BAD_CLK_MICROS -19 // clock micros not 1, 2, 4, 5, 8, or 10
|
|
.br
|
|
#define PI_BAD_BUF_MILLIS -20 // buf millis not 100-10000
|
|
.br
|
|
#define PI_BAD_DUTYRANGE -21 // dutycycle range not 25-40000
|
|
.br
|
|
#define PI_BAD_DUTY_RANGE -21 // DEPRECATED (use PI_BAD_DUTYRANGE)
|
|
.br
|
|
#define PI_BAD_SIGNUM -22 // signum not 0-63
|
|
.br
|
|
#define PI_BAD_PATHNAME -23 // can't open pathname
|
|
.br
|
|
#define PI_NO_HANDLE -24 // no handle available
|
|
.br
|
|
#define PI_BAD_HANDLE -25 // unknown handle
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.br
|
|
#define PI_BAD_IF_FLAGS -26 // ifFlags > 3
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.br
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|
#define PI_BAD_CHANNEL -27 // DMA channel not 0-14
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.br
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|
#define PI_BAD_PRIM_CHANNEL -27 // DMA primary channel not 0-14
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.br
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#define PI_BAD_SOCKET_PORT -28 // socket port not 1024-32000
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.br
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|
#define PI_BAD_FIFO_COMMAND -29 // unrecognized fifo command
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.br
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|
#define PI_BAD_SECO_CHANNEL -30 // DMA secondary channel not 0-6
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.br
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#define PI_NOT_INITIALISED -31 // function called before gpioInitialise
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.br
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#define PI_INITIALISED -32 // function called after gpioInitialise
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.br
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#define PI_BAD_WAVE_MODE -33 // waveform mode not 0-1
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.br
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|
#define PI_BAD_CFG_INTERNAL -34 // bad parameter in gpioCfgInternals call
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.br
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|
#define PI_BAD_WAVE_BAUD -35 // baud rate not 50-250K(RX)/50-1M(TX)
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.br
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|
#define PI_TOO_MANY_PULSES -36 // waveform has too many pulses
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.br
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|
#define PI_TOO_MANY_CHARS -37 // waveform has too many chars
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.br
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#define PI_NOT_SERIAL_GPIO -38 // no bit bang serial read in progress on gpio
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.br
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|
#define PI_BAD_SERIAL_STRUC -39 // bad (null) serial structure parameter
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.br
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|
#define PI_BAD_SERIAL_BUF -40 // bad (null) serial buf parameter
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.br
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|
#define PI_NOT_PERMITTED -41 // gpio operation not permitted
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.br
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#define PI_SOME_PERMITTED -42 // one or more gpios not permitted
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.br
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#define PI_BAD_WVSC_COMMND -43 // bad WVSC subcommand
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.br
|
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#define PI_BAD_WVSM_COMMND -44 // bad WVSM subcommand
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.br
|
|
#define PI_BAD_WVSP_COMMND -45 // bad WVSP subcommand
|
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.br
|
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#define PI_BAD_PULSELEN -46 // trigger pulse length not 1-100
|
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.br
|
|
#define PI_BAD_SCRIPT -47 // invalid script
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.br
|
|
#define PI_BAD_SCRIPT_ID -48 // unknown script id
|
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.br
|
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#define PI_BAD_SER_OFFSET -49 // add serial data offset > 30 minutes
|
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.br
|
|
#define PI_GPIO_IN_USE -50 // gpio already in use
|
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.br
|
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#define PI_BAD_SERIAL_COUNT -51 // must read at least a byte at a time
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|
.br
|
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#define PI_BAD_PARAM_NUM -52 // script parameter id not 0-9
|
|
.br
|
|
#define PI_DUP_TAG -53 // script has duplicate tag
|
|
.br
|
|
#define PI_TOO_MANY_TAGS -54 // script has too many tags
|
|
.br
|
|
#define PI_BAD_SCRIPT_CMD -55 // illegal script command
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.br
|
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#define PI_BAD_VAR_NUM -56 // script variable id not 0-149
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|
.br
|
|
#define PI_NO_SCRIPT_ROOM -57 // no more room for scripts
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.br
|
|
#define PI_NO_MEMORY -58 // can't allocate temporary memory
|
|
.br
|
|
#define PI_SOCK_READ_FAILED -59 // socket read failed
|
|
.br
|
|
#define PI_SOCK_WRIT_FAILED -60 // socket write failed
|
|
.br
|
|
#define PI_TOO_MANY_PARAM -61 // too many script parameters (> 10)
|
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.br
|
|
#define PI_NOT_HALTED -62 // script already running or failed
|
|
.br
|
|
#define PI_BAD_TAG -63 // script has unresolved tag
|
|
.br
|
|
#define PI_BAD_MICS_DELAY -64 // bad MICS delay (too large)
|
|
.br
|
|
#define PI_BAD_MILS_DELAY -65 // bad MILS delay (too large)
|
|
.br
|
|
#define PI_BAD_WAVE_ID -66 // non existent wave id
|
|
.br
|
|
#define PI_TOO_MANY_CBS -67 // No more CBs for waveform
|
|
.br
|
|
#define PI_TOO_MANY_OOL -68 // No more OOL for waveform
|
|
.br
|
|
#define PI_EMPTY_WAVEFORM -69 // attempt to create an empty waveform
|
|
.br
|
|
#define PI_NO_WAVEFORM_ID -70 // no more waveforms
|
|
.br
|
|
#define PI_I2C_OPEN_FAILED -71 // can't open I2C device
|
|
.br
|
|
#define PI_SER_OPEN_FAILED -72 // can't open serial device
|
|
.br
|
|
#define PI_SPI_OPEN_FAILED -73 // can't open SPI device
|
|
.br
|
|
#define PI_BAD_I2C_BUS -74 // bad I2C bus
|
|
.br
|
|
#define PI_BAD_I2C_ADDR -75 // bad I2C address
|
|
.br
|
|
#define PI_BAD_SPI_CHANNEL -76 // bad SPI channel
|
|
.br
|
|
#define PI_BAD_FLAGS -77 // bad i2c/spi/ser open flags
|
|
.br
|
|
#define PI_BAD_SPI_SPEED -78 // bad SPI speed
|
|
.br
|
|
#define PI_BAD_SER_DEVICE -79 // bad serial device name
|
|
.br
|
|
#define PI_BAD_SER_SPEED -80 // bad serial baud rate
|
|
.br
|
|
#define PI_BAD_PARAM -81 // bad i2c/spi/ser parameter
|
|
.br
|
|
#define PI_I2C_WRITE_FAILED -82 // i2c write failed
|
|
.br
|
|
#define PI_I2C_READ_FAILED -83 // i2c read failed
|
|
.br
|
|
#define PI_BAD_SPI_COUNT -84 // bad SPI count
|
|
.br
|
|
#define PI_SER_WRITE_FAILED -85 // ser write failed
|
|
.br
|
|
#define PI_SER_READ_FAILED -86 // ser read failed
|
|
.br
|
|
#define PI_SER_READ_NO_DATA -87 // ser read no data available
|
|
.br
|
|
#define PI_UNKNOWN_COMMAND -88 // unknown command
|
|
.br
|
|
#define PI_SPI_XFER_FAILED -89 // spi xfer/read/write failed
|
|
.br
|
|
#define PI_BAD_POINTER -90 // bad (NULL) pointer
|
|
.br
|
|
#define PI_NO_AUX_SPI -91 // need a A+/B+/Pi2 for auxiliary SPI
|
|
.br
|
|
#define PI_NOT_PWM_GPIO -92 // gpio is not in use for PWM
|
|
.br
|
|
#define PI_NOT_SERVO_GPIO -93 // gpio is not in use for servo pulses
|
|
.br
|
|
#define PI_NOT_HCLK_GPIO -94 // gpio has no hardware clock
|
|
.br
|
|
#define PI_NOT_HPWM_GPIO -95 // gpio has no hardware PWM
|
|
.br
|
|
#define PI_BAD_HPWM_FREQ -96 // hardware PWM frequency not 1-125M
|
|
.br
|
|
#define PI_BAD_HPWM_DUTY -97 // hardware PWM dutycycle not 0-1M
|
|
.br
|
|
#define PI_BAD_HCLK_FREQ -98 // hardware clock frequency not 4689-250M
|
|
.br
|
|
#define PI_BAD_HCLK_PASS -99 // need password to use hardware clock 1
|
|
.br
|
|
#define PI_HPWM_ILLEGAL -100 // illegal, PWM in use for main clock
|
|
.br
|
|
#define PI_BAD_DATABITS -101 // serial data bits not 1-32
|
|
.br
|
|
#define PI_BAD_STOPBITS -102 // serial (half) stop bits not 2-8
|
|
.br
|
|
#define PI_MSG_TOOBIG -103 // socket/pipe message too big
|
|
.br
|
|
#define PI_BAD_MALLOC_MODE -104 // bad memory allocation mode
|
|
.br
|
|
#define PI_TOO_MANY_SEGS -105 // too many I2C transaction segments
|
|
.br
|
|
#define PI_BAD_I2C_SEG -106 // an I2C transaction segment failed
|
|
.br
|
|
#define PI_BAD_SMBUS_CMD -107 // SMBus command not supported by driver
|
|
.br
|
|
#define PI_NOT_I2C_GPIO -108 // no bit bang I2C in progress on gpio
|
|
.br
|
|
#define PI_BAD_I2C_WLEN -109 // bad I2C write length
|
|
.br
|
|
#define PI_BAD_I2C_RLEN -110 // bad I2C read length
|
|
.br
|
|
#define PI_BAD_I2C_CMD -111 // bad I2C command
|
|
.br
|
|
#define PI_BAD_I2C_BAUD -112 // bad I2C baud rate, not 50-500k
|
|
.br
|
|
#define PI_CHAIN_LOOP_CNT -113 // bad chain loop count
|
|
.br
|
|
#define PI_BAD_CHAIN_LOOP -114 // empty chain loop
|
|
.br
|
|
#define PI_CHAIN_COUNTER -115 // too many chain counters
|
|
.br
|
|
#define PI_BAD_CHAIN_CMD -116 // bad chain command
|
|
.br
|
|
#define PI_BAD_CHAIN_DELAY -117 // bad chain delay micros
|
|
.br
|
|
#define PI_CHAIN_NESTING -118 // chain counters nested too deeply
|
|
.br
|
|
#define PI_CHAIN_TOO_BIG -119 // chain is too long
|
|
.br
|
|
#define PI_DEPRECATED -120 // deprecated function removed
|
|
.br
|
|
#define PI_BAD_SER_INVERT -121 // bit bang serial invert not 0 or 1
|
|
.br
|
|
#define PI_BAD_EDGE -122 // bad ISR edge value, not 0-2
|
|
.br
|
|
#define PI_BAD_ISR_INIT -123 // bad ISR initialisation
|
|
.br
|
|
#define PI_BAD_FOREVER -124 // loop forever must be last chain command
|
|
.br
|
|
|
|
.br
|
|
#define PI_PIGIF_ERR_0 -2000
|
|
.br
|
|
#define PI_PIGIF_ERR_99 -2099
|
|
.br
|
|
|
|
.br
|
|
#define PI_CUSTOM_ERR_0 -3000
|
|
.br
|
|
#define PI_CUSTOM_ERR_999 -3999
|
|
.br
|
|
|
|
.br
|
|
|
|
.EE
|
|
.SH Defaults
|
|
|
|
.EX
|
|
|
|
.br
|
|
#define PI_DEFAULT_BUFFER_MILLIS 120
|
|
.br
|
|
#define PI_DEFAULT_CLK_MICROS 5
|
|
.br
|
|
#define PI_DEFAULT_CLK_PERIPHERAL PI_CLOCK_PCM
|
|
.br
|
|
#define PI_DEFAULT_IF_FLAGS 0
|
|
.br
|
|
#define PI_DEFAULT_DMA_CHANNEL 14
|
|
.br
|
|
#define PI_DEFAULT_DMA_PRIMARY_CHANNEL 14
|
|
.br
|
|
#define PI_DEFAULT_DMA_SECONDARY_CHANNEL 5
|
|
.br
|
|
#define PI_DEFAULT_SOCKET_PORT 8888
|
|
.br
|
|
#define PI_DEFAULT_SOCKET_PORT_STR "8888"
|
|
.br
|
|
#define PI_DEFAULT_SOCKET_ADDR_STR "127.0.0.1"
|
|
.br
|
|
#define PI_DEFAULT_UPDATE_MASK_R0 0xFFFFFFFF
|
|
.br
|
|
#define PI_DEFAULT_UPDATE_MASK_R1 0x03E7CF93
|
|
.br
|
|
#define PI_DEFAULT_UPDATE_MASK_R2 0xFBC7CF9C
|
|
.br
|
|
#define PI_DEFAULT_UPDATE_MASK_R3 0x0080480FFFFFFCLL
|
|
.br
|
|
#define PI_DEFAULT_UPDATE_MASK_COMPUTE 0x00FFFFFFFFFFFFLL
|
|
.br
|
|
#define PI_DEFAULT_MEM_ALLOC_MODE PI_MEM_ALLOC_AUTO
|
|
.br
|
|
|
|
.br
|
|
#define PI_DEFAULT_CFG_INTERNALS 0
|
|
.br
|
|
|
|
.br
|
|
|
|
.EE
|
|
|
|
.SH SEE ALSO
|
|
|
|
pigpiod(1), pig2vcd(1), pigs(1), pigpiod_if(3)
|
|
.SH AUTHOR
|
|
|
|
joan@abyz.co.uk
|