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pigpiod_if2.3
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." Process this file with
." groff -man -Tascii pigpiod_if2.3
."
.TH pigpiod_if2 3 2012-2020 Linux "pigpio archive"
.SH NAME
pigpiod_if2 - A C library to interface to the pigpio daemon.
.SH SYNOPSIS
#include <pigpiod_if2.h>
gcc -Wall -pthread -o prog prog.c -lpigpiod_if2 -lrt
./prog
.SH DESCRIPTION
.ad l
.nh
.br
.br
pigpiod_if2 is a C library for the Raspberry which allows control
of the GPIO via the socket interface to the pigpio daemon.
.br
.br
.br
.SS Features
.br
.br
o hardware timed PWM on any of GPIO 0-31
.br
.br
o hardware timed servo pulses on any of GPIO 0-31
.br
.br
o callbacks when any of GPIO 0-31 change state
.br
.br
o callbacks at timed intervals
.br
.br
o reading/writing all of the GPIO in a bank as one operation
.br
.br
o individually setting GPIO modes, reading and writing
.br
.br
o notifications when any of GPIO 0-31 change state
.br
.br
o the construction of output waveforms with microsecond timing
.br
.br
o rudimentary permission control over GPIO
.br
.br
o a simple interface to start and stop new threads
.br
.br
o I2C, SPI, and serial link wrappers
.br
.br
o creating and running scripts on the pigpio daemon
.br
.br
.SS GPIO
.br
.br
ALL GPIO are identified by their Broadcom number.
.br
.br
.SS Notes
.br
.br
The PWM and servo pulses are timed using the DMA and PWM/PCM peripherals.
.br
.br
.SS Usage
.br
.br
Include <pigpiod_if2.h> in your source files.
.br
.br
Assuming your source is in prog.c use the following command to build
.br
.br
.EX
gcc -Wall -pthread -o prog prog.c -lpigpiod_if2 -lrt
.br
.EE
.br
.br
to run make sure the pigpio daemon is running
.br
.br
.EX
sudo pigpiod
.br
.br
./prog # sudo is not required to run programs linked to pigpiod_if2
.br
.EE
.br
.br
For examples see x_pigpiod_if2.c within the pigpio archive file.
.br
.br
.SS Notes
.br
.br
All the functions which return an int return < 0 on error
.br
.br
.SH OVERVIEW
.br
.SS ESSENTIAL
.br
.br
pigpio_start Connects to a pigpio daemon
.br
pigpio_stop Disconnects from a pigpio daemon
.br
.SS BASIC
.br
.br
set_mode Set a GPIO mode
.br
get_mode Get a GPIO mode
.br
.br
set_pull_up_down Set/clear GPIO pull up/down resistor
.br
.br
gpio_read Read a GPIO
.br
gpio_write Write a GPIO
.br
.SS PWM (overrides servo commands on same GPIO)
.br
.br
set_PWM_dutycycle Start/stop PWM pulses on a GPIO
.br
set_PWM_frequency Configure PWM frequency for a GPIO
.br
set_PWM_range Configure PWM range for a GPIO
.br
.br
get_PWM_dutycycle Get the PWM dutycycle in use on a GPIO
.br
get_PWM_frequency Get configured PWM frequency for a GPIO
.br
get_PWM_range Get configured PWM range for a GPIO
.br
.br
get_PWM_real_range Get underlying PWM range for a GPIO
.br
.SS Servo (overrides PWM commands on same GPIO)
.br
.br
set_servo_pulsewidth Start/stop servo pulses on a GPIO
.br
.br
get_servo_pulsewidth Get the servo pulsewidth in use on a GPIO
.br
.SS INTERMEDIATE
.br
.br
gpio_trigger Send a trigger pulse to a GPIO.
.br
.br
set_watchdog Set a watchdog on a GPIO.
.br
.br
read_bank_1 Read all GPIO in bank 1
.br
read_bank_2 Read all GPIO in bank 2
.br
.br
clear_bank_1 Clear selected GPIO in bank 1
.br
clear_bank_2 Clear selected GPIO in bank 2
.br
.br
set_bank_1 Set selected GPIO in bank 1
.br
set_bank_2 Set selected GPIO in bank 2
.br
.br
callback Create GPIO level change callback
.br
callback_ex Create GPIO level change callback, extended
.br
.br
callback_cancel Cancel a callback
.br
.br
wait_for_edge Wait for GPIO level change
.br
.br
start_thread Start a new thread
.br
stop_thread Stop a previously started thread
.br
.SS ADVANCED
.br
.br
notify_open Request a notification handle
.br
notify_begin Start notifications for selected GPIO
.br
notify_pause Pause notifications
.br
notify_close Close a notification
.br
.br
hardware_clock Start hardware clock on supported GPIO
.br
.br
hardware_PWM Start hardware PWM on supported GPIO
.br
.br
set_glitch_filter Set a glitch filter on a GPIO
.br
set_noise_filter Set a noise filter on a GPIO
.br
.br
set_pad_strength Sets a pads drive strength
.br
get_pad_strength Gets a pads drive strength
.br
.br
shell_ Executes a shell command
.br
.SS Custom
.br
.br
custom_1 User custom function 1
.br
custom_2 User custom function 2
.br
.SS Events
.br
.br
event_callback Sets a callback for an event
.br
event_callback_ex Sets a callback for an event, extended
.br
.br
event_callback_cancel Cancel an event callback
.br
.br
event_trigger Triggers an event
.br
.br
wait_for_event Wait for an event
.br
.SS Scripts
.br
.br
store_script Store a script
.br
run_script Run a stored script
.br
update_script Set a scripts parameters
.br
script_status Get script status and parameters
.br
stop_script Stop a running script
.br
delete_script Delete a stored script
.br
.SS I2C
.br
.br
i2c_open Opens an I2C device
.br
i2c_close Closes an I2C device
.br
.br
i2c_write_quick smbus write quick
.br
.br
i2c_read_byte smbus read byte
.br
i2c_write_byte smbus write byte
.br
.br
i2c_read_byte_data smbus read byte data
.br
i2c_write_byte_data smbus write byte data
.br
.br
i2c_read_word_data smbus read word data
.br
i2c_write_word_data smbus write word data
.br
.br
i2c_read_block_data smbus read block data
.br
i2c_write_block_data smbus write block data
.br
.br
i2c_read_i2c_block_data smbus read I2C block data
.br
i2c_write_i2c_block_data smbus write I2C block data
.br
.br
i2c_read_device Reads the raw I2C device
.br
i2c_write_device Writes the raw I2C device
.br
.br
i2c_process_call smbus process call
.br
i2c_block_process_call smbus block process call
.br
.br
i2c_zip Performs multiple I2C transactions
.br
.SS I2C BIT BANG
.br
.br
bb_i2c_open Opens GPIO for bit banging I2C
.br
bb_i2c_close Closes GPIO for bit banging I2C
.br
.br
bb_i2c_zip Performs bit banged I2C transactions
.br
.SS I2C/SPI SLAVE
.br
.br
bsc_xfer I2C/SPI as slave transfer
.br
bsc_i2c I2C as slave transfer
.br
.SS SERIAL
.br
.br
serial_open Opens a serial device
.br
serial_close Closes a serial device
.br
.br
serial_read_byte Reads a byte from a serial device
.br
serial_write_byte Writes a byte to a serial device
.br
.br
serial_read Reads bytes from a serial device
.br
serial_write Writes bytes to a serial device
.br
.br
serial_data_available Returns number of bytes ready to be read
.br
.SS SERIAL BIT BANG (read only)
.br
.br
bb_serial_read_open Opens a GPIO for bit bang serial reads
.br
bb_serial_read_close Closes a GPIO for bit bang serial reads
.br
.br
bb_serial_invert Invert serial logic (1 invert, 0 normal)
.br
.br
bb_serial_read Reads bit bang serial data from a GPIO
.br
.SS SPI
.br
.br
spi_open Opens a SPI device
.br
spi_close Closes a SPI device
.br
.br
spi_read Reads bytes from a SPI device
.br
spi_write Writes bytes to a SPI device
.br
spi_xfer Transfers bytes with a SPI device
.br
.SS SPI BIT BANG
.br
.br
bb_spi_open Opens GPIO for bit banging SPI
.br
bb_spi_close Closes GPIO for bit banging SPI
.br
.br
bb_spi_xfer Transfers bytes with bit banging SPI
.br
.SS FILES
.br
.br
file_open Opens a file
.br
file_close Closes a file
.br
.br
file_read Reads bytes from a file
.br
file_write Writes bytes to a file
.br
.br
file_seek Seeks to a position within a file
.br
.br
file_list List files which match a pattern
.br
.SS WAVES
.br
.br
wave_clear Deletes all waveforms
.br
.br
wave_add_new Starts a new waveform
.br
wave_add_generic Adds a series of pulses to the waveform
.br
wave_add_serial Adds serial data to the waveform
.br
.br
wave_create Creates a waveform from added data
.br
wave_create_and_pad Creates a waveform of fixed size from added data
.br
wave_delete Deletes one or more waveforms
.br
.br
wave_send_once Transmits a waveform once
.br
wave_send_repeat Transmits a waveform repeatedly
.br
wave_send_using_mode Transmits a waveform in the chosen mode
.br
.br
wave_chain Transmits a chain of waveforms
.br
.br
wave_tx_at Returns the current transmitting waveform
.br
.br
wave_tx_busy Checks to see if the waveform has ended
.br
.br
wave_tx_stop Aborts the current waveform
.br
.br
wave_get_cbs Length in cbs of the current waveform
.br
wave_get_high_cbs Length of longest waveform so far
.br
wave_get_max_cbs Absolute maximum allowed cbs
.br
.br
wave_get_micros Length in micros of the current waveform
.br
wave_get_high_micros Length of longest waveform so far
.br
wave_get_max_micros Absolute maximum allowed micros
.br
.br
wave_get_pulses Length in pulses of the current waveform
.br
wave_get_high_pulses Length of longest waveform so far
.br
wave_get_max_pulses Absolute maximum allowed pulses
.br
.SS UTILITIES
.br
.br
get_current_tick Get current tick (microseconds)
.br
.br
get_hardware_revision Get hardware revision
.br
get_pigpio_version Get the pigpio version
.br
pigpiod_if_version Get the pigpiod_if2 version
.br
.br
pigpio_error Get a text description of an error code.
.br
.br
time_sleep Sleeps for a float number of seconds
.br
time_time Float number of seconds since the epoch
.br
.SH FUNCTIONS
.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 delay.
.br
.EE
.IP "\fBchar *pigpio_error(int errnum)\fP"
.IP "" 4
Return a text description for an error code.
.br
.br
.EX
errnum: the error code.
.br
.EE
.IP "\fBunsigned pigpiod_if_version(void)\fP"
.IP "" 4
Return the pigpiod_if2 version.
.IP "\fBpthread_t *start_thread(gpioThreadFunc_t thread_func, void *userdata)\fP"
.IP "" 4
Starts a new thread of execution with thread_func as the main routine.
.br
.br
.EX
thread_func: the main function for the new thread.
.br
userdata: a pointer to an arbitrary argument.
.br
.EE
.br
.br
Returns a pointer to pthread_t if OK, otherwise NULL.
.br
.br
The function is passed the single argument userdata.
.br
.br
The thread can be cancelled by passing the pointer to pthread_t to
\fBstop_thread\fP.
.IP "\fBvoid stop_thread(pthread_t *pth)\fP"
.IP "" 4
Cancels the thread pointed at by pth.
.br
.br
.EX
pth: the thread to be stopped.
.br
.EE
.br
.br
No value is returned.
.br
.br
The thread to be stopped should have been started with \fBstart_thread\fP.
.IP "\fBint pigpio_start(char *addrStr, char *portStr)\fP"
.IP "" 4
Connect to the pigpio daemon. Reserving command and
notification streams.
.br
.br
.EX
addrStr: specifies the host or IP address of the Pi running the
.br
pigpio daemon. It may be NULL in which case localhost
.br
is used unless overridden by the PIGPIO_ADDR environment
.br
variable.
.br
.br
portStr: specifies the port address used by the Pi running the
.br
pigpio daemon. It may be NULL in which case "8888"
.br
is used unless overridden by the PIGPIO_PORT environment
.br
variable.
.br
.EE
.br
.br
Returns an integer value greater than or equal to zero if OK.
.br
.br
This value is passed to the GPIO routines to specify the Pi
to be operated on.
.IP "\fBvoid pigpio_stop(int pi)\fP"
.IP "" 4
Terminates the connection to a pigpio daemon and releases
resources used by the library.
.br
.br
.EX
pi: >=0 (as returned by \fBpigpio_start\fP).
.br
.EE
.IP "\fBint set_mode(int pi, unsigned gpio, unsigned mode)\fP"
.IP "" 4
Set the GPIO mode.
.br
.br
.EX
pi: >=0 (as returned by \fBpigpio_start\fP).
.br
gpio: 0-53.
.br
mode: PI_INPUT, PI_OUTPUT, PI_ALT0, PI_ALT1,
.br
PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5.
.br
.EE
.br
.br
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_MODE,
or PI_NOT_PERMITTED.
.IP "\fBint get_mode(int pi, unsigned gpio)\fP"
.IP "" 4
Get the GPIO mode.
.br
.br
.EX
pi: >=0 (as returned by \fBpigpio_start\fP).
.br
gpio: 0-53.
.br
.EE
.br
.br
Returns the GPIO mode if OK, otherwise PI_BAD_GPIO.
.IP "\fBint set_pull_up_down(int pi, unsigned gpio, unsigned pud)\fP"
.IP "" 4
Set or clear the GPIO pull-up/down resistor.
.br
.br
.EX
pi: >=0 (as returned by \fBpigpio_start\fP).
.br
gpio: 0-53.
.br
pud: PI_PUD_UP, PI_PUD_DOWN, PI_PUD_OFF.
.br
.EE
.br
.br
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_PUD,
or PI_NOT_PERMITTED.
.IP "\fBint gpio_read(int pi, unsigned gpio)\fP"
.IP "" 4
Read the GPIO level.
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.br
.EX
pi: >=0 (as returned by \fBpigpio_start\fP).
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gpio:0-53.
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.EE
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.br
Returns the GPIO level if OK, otherwise PI_BAD_GPIO.
.IP "\fBint gpio_write(int pi, unsigned gpio, unsigned level)\fP"
.IP "" 4
Write the GPIO level.
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.EX
pi: >=0 (as returned by \fBpigpio_start\fP).
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gpio: 0-53.
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level: 0, 1.
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.EE
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.br
Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_LEVEL,
or PI_NOT_PERMITTED.
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.br
Notes
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If PWM or servo pulses are active on the GPIO they are switched off.
.IP "\fBint set_PWM_dutycycle(int pi, unsigned user_gpio, unsigned dutycycle)\fP"
.IP "" 4
Start (non-zero dutycycle) or stop (0) PWM pulses on the GPIO.
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.EX
pi: >=0 (as returned by \fBpigpio_start\fP).
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user_gpio: 0-31.
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dutycycle: 0-range (range defaults to 255).
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.EE
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.br
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYCYCLE,
or PI_NOT_PERMITTED.
Notes
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The \fBset_PWM_range\fP function may be used to change the
default range of 255.
.IP "\fBint get_PWM_dutycycle(int pi, unsigned user_gpio)\fP"
.IP "" 4
Return the PWM dutycycle in use on a GPIO.
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.br
.EX
pi: >=0 (as returned by \fBpigpio_start\fP).
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user_gpio: 0-31.
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.EE
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.br
Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO.
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For normal PWM the dutycycle will be out of the defined range
for the GPIO (see \fBget_PWM_range\fP).
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If a hardware clock is active on the GPIO the reported dutycycle
will be 500000 (500k) out of 1000000 (1M).
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If hardware PWM is active on the GPIO the reported dutycycle
will be out of a 1000000 (1M).
.IP "\fBint set_PWM_range(int pi, unsigned user_gpio, unsigned range)\fP"
.IP "" 4
Set the range of PWM values to be used on the GPIO.
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.br
.EX
pi: >=0 (as returned by \fBpigpio_start\fP).
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user_gpio: 0-31.
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range: 25-40000.
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.EE
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.br
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYRANGE,
or PI_NOT_PERMITTED.
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Notes