""" pigpio is a Python module for the Raspberry which talks to the pigpio daemon to allow control of the general purpose input outputs (GPIO). [http://abyz.me.uk/rpi/pigpio/python.html] *Features* o the pigpio Python module can run on Windows, Macs, or Linux o controls one or more Pi's o hardware timed PWM on any of GPIO 0-31 o hardware timed servo pulses on any of GPIO 0-31 o callbacks when any of GPIO 0-31 change state o creating and transmitting precisely timed waveforms o reading/writing GPIO and setting their modes o wrappers for I2C, SPI, and serial links o creating and running scripts on the pigpio daemon *GPIO* ALL GPIO are identified by their Broadcom number. *Notes* Transmitted waveforms are accurate to a microsecond. Callback level changes are time-stamped and will be accurate to within a few microseconds. *Settings* A number of settings are determined when the pigpio daemon is started. o the sample rate (1, 2, 4, 5, 8, or 10 us, default 5 us). o the set of GPIO which may be updated (generally written to). The default set is those available on the Pi board revision. o the available PWM frequencies (see [*set_PWM_frequency*]). *Exceptions* By default a fatal exception is raised if you pass an invalid argument to a pigpio function. If you wish to handle the returned status yourself you should set pigpio.exceptions to False. You may prefer to check the returned status in only a few parts of your code. In that case do the following: ... pigpio.exceptions = False # Code where you want to test the error status. pigpio.exceptions = True ... *Usage* This module uses the services of the C pigpio library. pigpio must be running on the Pi(s) whose GPIO are to be manipulated. The normal way to start pigpio is as a daemon (during system start). sudo pigpiod Your Python program must import pigpio and create one or more instances of the pigpio.pi class. This class gives access to a specified Pi's GPIO. ... pi1 = pigpio.pi() # pi1 accesses the local Pi's GPIO pi2 = pigpio.pi('tom') # pi2 accesses tom's GPIO pi3 = pigpio.pi('dick') # pi3 accesses dick's GPIO pi1.write(4, 0) # set local Pi's GPIO 4 low pi2.write(4, 1) # set tom's GPIO 4 to high pi3.read(4) # get level of dick's GPIO 4 ... The later example code snippets assume that pi is an instance of the pigpio.pi class. OVERVIEW ESSENTIAL pigpio.pi Initialise Pi connection stop Stop a Pi connection BASIC set_mode Set a GPIO mode get_mode Get a GPIO mode set_pull_up_down Set/clear GPIO pull up/down resistor read Read a GPIO write Write a GPIO PWM_(overrides_servo_commands_on_same_GPIO) set_PWM_dutycycle Start/stop PWM pulses on a GPIO set_PWM_frequency Set PWM frequency of a GPIO set_PWM_range Configure PWM range of a GPIO get_PWM_dutycycle Get PWM dutycycle set on a GPIO get_PWM_frequency Get PWM frequency of a GPIO get_PWM_range Get configured PWM range of a GPIO get_PWM_real_range Get underlying PWM range for a GPIO Servo_(overrides_PWM_commands_on_same_GPIO) set_servo_pulsewidth Start/Stop servo pulses on a GPIO get_servo_pulsewidth Get servo pulsewidth set on a GPIO INTERMEDIATE gpio_trigger Send a trigger pulse to a GPIO set_watchdog Set a watchdog on a GPIO read_bank_1 Read all bank 1 GPIO read_bank_2 Read all bank 2 GPIO clear_bank_1 Clear selected GPIO in bank 1 clear_bank_2 Clear selected GPIO in bank 2 set_bank_1 Set selected GPIO in bank 1 set_bank_2 Set selected GPIO in bank 2 callback Create GPIO level change callback wait_for_edge Wait for GPIO level change ADVANCED notify_open Request a notification handle notify_begin Start notifications for selected GPIO notify_pause Pause notifications notify_close Close a notification hardware_clock Start hardware clock on supported GPIO hardware_PWM Start hardware PWM on supported GPIO set_glitch_filter Set a glitch filter on a GPIO set_noise_filter Set a noise filter on a GPIO set_pad_strength Sets a pads drive strength get_pad_strength Gets a pads drive strength shell Executes a shell command Custom custom_1 User custom function 1 custom_2 User custom function 2 Events event_callback Sets a callback for an event event_trigger Triggers an event wait_for_event Wait for an event Scripts store_script Store a script run_script Run a stored script update_script Set a scripts parameters script_status Get script status and parameters stop_script Stop a running script delete_script Delete a stored script I2C i2c_open Opens an I2C device i2c_close Closes an I2C device i2c_write_quick SMBus write quick i2c_read_byte SMBus read byte i2c_write_byte SMBus write byte i2c_read_byte_data SMBus read byte data i2c_write_byte_data SMBus write byte data i2c_read_word_data SMBus read word data i2c_write_word_data SMBus write word data i2c_read_block_data SMBus read block data i2c_write_block_data SMBus write block data i2c_read_i2c_block_data SMBus read I2C block data i2c_write_i2c_block_data SMBus write I2C block data i2c_read_device Reads the raw I2C device i2c_write_device Writes the raw I2C device i2c_process_call SMBus process call i2c_block_process_call SMBus block process call i2c_zip Performs multiple I2C transactions I2C_BIT_BANG bb_i2c_open Opens GPIO for bit banging I2C bb_i2c_close Closes GPIO for bit banging I2C bb_i2c_zip Performs multiple bit banged I2C transactions I2C/SPI_SLAVE bsc_xfer I2C/SPI as slave transfer bsc_i2c I2C as slave transfer SERIAL serial_open Opens a serial device serial_close Closes a serial device serial_read_byte Reads a byte from a serial device serial_write_byte Writes a byte to a serial device serial_read Reads bytes from a serial device serial_write Writes bytes to a serial device serial_data_available Returns number of bytes ready to be read SERIAL_BIT_BANG_(read_only) bb_serial_read_open Open a GPIO for bit bang serial reads bb_serial_read_close Close a GPIO for bit bang serial reads bb_serial_invert Invert serial logic (1 invert, 0 normal) bb_serial_read Read bit bang serial data from a GPIO SPI spi_open Opens a SPI device spi_close Closes a SPI device spi_read Reads bytes from a SPI device spi_write Writes bytes to a SPI device spi_xfer Transfers bytes with a SPI device SPI_BIT_BANG bb_spi_open Opens GPIO for bit banging SPI bb_spi_close Closes GPIO for bit banging SPI bb_spi_xfer Transfers bytes with bit banging SPI FILES file_open Opens a file file_close Closes a file file_read Reads bytes from a file file_write Writes bytes to a file file_seek Seeks to a position within a file file_list List files which match a pattern WAVES wave_clear Deletes all waveforms wave_add_new Starts a new waveform wave_add_generic Adds a series of pulses to the waveform wave_add_serial Adds serial data to the waveform wave_create Creates a waveform from added data wave_create_and_pad Creates a waveform of fixed size from added data wave_delete Deletes a waveform wave_send_once Transmits a waveform once wave_send_repeat Transmits a waveform repeatedly wave_send_using_mode Transmits a waveform in the chosen mode wave_chain Transmits a chain of waveforms wave_tx_at Returns the current transmitting waveform wave_tx_busy Checks to see if a waveform has ended wave_tx_stop Aborts the current waveform wave_get_cbs Length in cbs of the current waveform wave_get_max_cbs Absolute maximum allowed cbs wave_get_micros Length in microseconds of the current waveform wave_get_max_micros Absolute maximum allowed micros wave_get_pulses Length in pulses of the current waveform wave_get_max_pulses Absolute maximum allowed pulses UTILITIES get_current_tick Get current tick (microseconds) get_hardware_revision Get hardware revision get_pigpio_version Get the pigpio version pigpio.error_text Gets error text from error number pigpio.tickDiff Returns difference between two ticks """ import sys import socket import struct import time import threading import os import atexit VERSION = "1.78" # sync minor number to pigpio library version exceptions = True # GPIO levels OFF = 0 LOW = 0 CLEAR = 0 ON = 1 HIGH = 1 SET = 1 TIMEOUT = 2 # GPIO edges RISING_EDGE = 0 FALLING_EDGE = 1 EITHER_EDGE = 2 # GPIO modes INPUT = 0 OUTPUT = 1 ALT0 = 4 ALT1 = 5 ALT2 = 6 ALT3 = 7 ALT4 = 3 ALT5 = 2 # GPIO Pull Up Down PUD_OFF = 0 PUD_DOWN = 1 PUD_UP = 2 # script run status PI_SCRIPT_INITING=0 PI_SCRIPT_HALTED =1 PI_SCRIPT_RUNNING=2 PI_SCRIPT_WAITING=3 PI_SCRIPT_FAILED =4 # notification flags NTFY_FLAGS_EVENT = (1 << 7) NTFY_FLAGS_ALIVE = (1 << 6) NTFY_FLAGS_WDOG = (1 << 5) NTFY_FLAGS_GPIO = 31 # wave modes WAVE_MODE_ONE_SHOT =0 WAVE_MODE_REPEAT =1 WAVE_MODE_ONE_SHOT_SYNC=2 WAVE_MODE_REPEAT_SYNC =3 WAVE_NOT_FOUND = 9998 # Transmitted wave not found. NO_TX_WAVE = 9999 # No wave being transmitted. FILE_READ=1 FILE_WRITE=2 FILE_RW=3 FILE_APPEND=4 FILE_CREATE=8 FILE_TRUNC=16 FROM_START=0 FROM_CURRENT=1 FROM_END=2 SPI_MODE_0 = 0 SPI_MODE_1 = 1 SPI_MODE_2 = 2 SPI_MODE_3 = 3 SPI_CPHA = 1 << 0 SPI_CPOL = 1 << 1 SPI_CS_HIGH_ACTIVE = 1 << 2 SPI_TX_LSBFIRST = 1 << 14 SPI_RX_LSBFIRST = 1 << 15 EVENT_BSC = 31 _SOCK_CMD_LEN = 16 # pigpio command numbers _PI_CMD_MODES= 0 _PI_CMD_MODEG= 1 _PI_CMD_PUD= 2 _PI_CMD_READ= 3 _PI_CMD_WRITE= 4 _PI_CMD_PWM= 5 _PI_CMD_PRS= 6 _PI_CMD_PFS= 7 _PI_CMD_SERVO= 8 _PI_CMD_WDOG= 9 _PI_CMD_BR1= 10 _PI_CMD_BR2= 11 _PI_CMD_BC1= 12 _PI_CMD_BC2= 13 _PI_CMD_BS1= 14 _PI_CMD_BS2= 15 _PI_CMD_TICK= 16 _PI_CMD_HWVER=17 _PI_CMD_NO= 18 _PI_CMD_NB= 19 _PI_CMD_NP= 20 _PI_CMD_NC= 21 _PI_CMD_PRG= 22 _PI_CMD_PFG= 23 _PI_CMD_PRRG= 24 _PI_CMD_HELP= 25 _PI_CMD_PIGPV=26 _PI_CMD_WVCLR=27 _PI_CMD_WVAG= 28 _PI_CMD_WVAS= 29 _PI_CMD_WVGO= 30 _PI_CMD_WVGOR=31 _PI_CMD_WVBSY=32 _PI_CMD_WVHLT=33 _PI_CMD_WVSM= 34 _PI_CMD_WVSP= 35 _PI_CMD_WVSC= 36 _PI_CMD_TRIG= 37 _PI_CMD_PROC= 38 _PI_CMD_PROCD=39 _PI_CMD_PROCR=40 _PI_CMD_PROCS=41 _PI_CMD_SLRO= 42 _PI_CMD_SLR= 43 _PI_CMD_SLRC= 44 _PI_CMD_PROCP=45 _PI_CMD_MICRO=46 _PI_CMD_MILLI=47 _PI_CMD_PARSE=48 _PI_CMD_WVCRE=49 _PI_CMD_WVDEL=50 _PI_CMD_WVTX =51 _PI_CMD_WVTXR=52 _PI_CMD_WVNEW=53 _PI_CMD_I2CO =54 _PI_CMD_I2CC =55 _PI_CMD_I2CRD=56 _PI_CMD_I2CWD=57 _PI_CMD_I2CWQ=58 _PI_CMD_I2CRS=59 _PI_CMD_I2CWS=60 _PI_CMD_I2CRB=61 _PI_CMD_I2CWB=62 _PI_CMD_I2CRW=63 _PI_CMD_I2CWW=64 _PI_CMD_I2CRK=65 _PI_CMD_I2CWK=66 _PI_CMD_I2CRI=67 _PI_CMD_I2CWI=68 _PI_CMD_I2CPC=69 _PI_CMD_I2CPK=70 _PI_CMD_SPIO =71 _PI_CMD_SPIC =72 _PI_CMD_SPIR =73 _PI_CMD_SPIW =74 _PI_CMD_SPIX =75 _PI_CMD_SERO =76 _PI_CMD_SERC =77 _PI_CMD_SERRB=78 _PI_CMD_SERWB=79 _PI_CMD_SERR =80 _PI_CMD_SERW =81 _PI_CMD_SERDA=82 _PI_CMD_GDC =83 _PI_CMD_GPW =84 _PI_CMD_HC =85 _PI_CMD_HP =86 _PI_CMD_CF1 =87 _PI_CMD_CF2 =88 _PI_CMD_NOIB =99 _PI_CMD_BI2CC=89 _PI_CMD_BI2CO=90 _PI_CMD_BI2CZ=91 _PI_CMD_I2CZ =92 _PI_CMD_WVCHA=93 _PI_CMD_SLRI =94 _PI_CMD_CGI =95 _PI_CMD_CSI =96 _PI_CMD_FG =97 _PI_CMD_FN =98 _PI_CMD_WVTXM=100 _PI_CMD_WVTAT=101 _PI_CMD_PADS =102 _PI_CMD_PADG =103 _PI_CMD_FO =104 _PI_CMD_FC =105 _PI_CMD_FR =106 _PI_CMD_FW =107 _PI_CMD_FS =108 _PI_CMD_FL =109 _PI_CMD_SHELL=110 _PI_CMD_BSPIC=111 _PI_CMD_BSPIO=112 _PI_CMD_BSPIX=113 _PI_CMD_BSCX =114 _PI_CMD_EVM =115 _PI_CMD_EVT =116 _PI_CMD_PROCU=117 _PI_CMD_WVCAP=118 # pigpio error numbers _PI_INIT_FAILED =-1 PI_BAD_USER_GPIO =-2 PI_BAD_GPIO =-3 PI_BAD_MODE =-4 PI_BAD_LEVEL =-5 PI_BAD_PUD =-6 PI_BAD_PULSEWIDTH =-7 PI_BAD_DUTYCYCLE =-8 _PI_BAD_TIMER =-9 _PI_BAD_MS =-10 _PI_BAD_TIMETYPE =-11 _PI_BAD_SECONDS =-12 _PI_BAD_MICROS =-13 _PI_TIMER_FAILED =-14 PI_BAD_WDOG_TIMEOUT =-15 _PI_NO_ALERT_FUNC =-16 _PI_BAD_CLK_PERIPH =-17 _PI_BAD_CLK_SOURCE =-18 _PI_BAD_CLK_MICROS =-19 _PI_BAD_BUF_MILLIS =-20 PI_BAD_DUTYRANGE =-21 _PI_BAD_SIGNUM =-22 _PI_BAD_PATHNAME =-23 PI_NO_HANDLE =-24 PI_BAD_HANDLE =-25 _PI_BAD_IF_FLAGS =-26 _PI_BAD_CHANNEL =-27 _PI_BAD_PRIM_CHANNEL=-27 _PI_BAD_SOCKET_PORT =-28 _PI_BAD_FIFO_COMMAND=-29 _PI_BAD_SECO_CHANNEL=-30 _PI_NOT_INITIALISED =-31 _PI_INITIALISED =-32 _PI_BAD_WAVE_MODE =-33 _PI_BAD_CFG_INTERNAL=-34 PI_BAD_WAVE_BAUD =-35 PI_TOO_MANY_PULSES =-36 PI_TOO_MANY_CHARS =-37 PI_NOT_SERIAL_GPIO =-38 _PI_BAD_SERIAL_STRUC=-39 _PI_BAD_SERIAL_BUF =-40 PI_NOT_PERMITTED =-41 PI_SOME_PERMITTED =-42 PI_BAD_WVSC_COMMND =-43 PI_BAD_WVSM_COMMND =-44 PI_BAD_WVSP_COMMND =-45 PI_BAD_PULSELEN =-46 PI_BAD_SCRIPT =-47 PI_BAD_SCRIPT_ID =-48 PI_BAD_SER_OFFSET =-49 PI_GPIO_IN_USE =-50 PI_BAD_SERIAL_COUNT =-51 PI_BAD_PARAM_NUM =-52 PI_DUP_TAG =-53 PI_TOO_MANY_TAGS =-54 PI_BAD_SCRIPT_CMD =-55 PI_BAD_VAR_NUM =-56 PI_NO_SCRIPT_ROOM =-57 PI_NO_MEMORY =-58 PI_SOCK_READ_FAILED =-59 PI_SOCK_WRIT_FAILED =-60 PI_TOO_MANY_PARAM =-61 PI_SCRIPT_NOT_READY =-62 PI_BAD_TAG =-63 PI_BAD_MICS_DELAY =-64 PI_BAD_MILS_DELAY =-65 PI_BAD_WAVE_ID =-66 PI_TOO_MANY_CBS =-67 PI_TOO_MANY_OOL =-68 PI_EMPTY_WAVEFORM =-69 PI_NO_WAVEFORM_ID =-70 PI_I2C_OPEN_FAILED =-71 PI_SER_OPEN_FAILED =-72 PI_SPI_OPEN_FAILED =-73 PI_BAD_I2C_BUS =-74 PI_BAD_I2C_ADDR =-75 PI_BAD_SPI_CHANNEL =-76 PI_BAD_FLAGS =-77 PI_BAD_SPI_SPEED =-78 PI_BAD_SER_DEVICE =-79 PI_BAD_SER_SPEED =-80 PI_BAD_PARAM =-81 PI_I2C_WRITE_FAILED =-82 PI_I2C_READ_FAILED =-83 PI_BAD_SPI_COUNT =-84 PI_SER_WRITE_FAILED =-85 PI_SER_READ_FAILED =-86 PI_SER_READ_NO_DATA =-87 PI_UNKNOWN_COMMAND =-88 PI_SPI_XFER_FAILED =-89 _PI_BAD_POINTER =-90 PI_NO_AUX_SPI =-91 PI_NOT_PWM_GPIO =-92 PI_NOT_SERVO_GPIO =-93 PI_NOT_HCLK_GPIO =-94 PI_NOT_HPWM_GPIO =-95 PI_BAD_HPWM_FREQ =-96 PI_BAD_HPWM_DUTY =-97 PI_BAD_HCLK_FREQ =-98 PI_BAD_HCLK_PASS =-99 PI_HPWM_ILLEGAL =-100 PI_BAD_DATABITS =-101 PI_BAD_STOPBITS =-102 PI_MSG_TOOBIG =-103 PI_BAD_MALLOC_MODE =-104 _PI_TOO_MANY_SEGS =-105 _PI_BAD_I2C_SEG =-106 PI_BAD_SMBUS_CMD =-107 PI_NOT_I2C_GPIO =-108 PI_BAD_I2C_WLEN =-109 PI_BAD_I2C_RLEN =-110 PI_BAD_I2C_CMD =-111 PI_BAD_I2C_BAUD =-112 PI_CHAIN_LOOP_CNT =-113 PI_BAD_CHAIN_LOOP =-114 PI_CHAIN_COUNTER =-115 PI_BAD_CHAIN_CMD =-116 PI_BAD_CHAIN_DELAY =-117 PI_CHAIN_NESTING =-118 PI_CHAIN_TOO_BIG =-119 PI_DEPRECATED =-120 PI_BAD_SER_INVERT =-121 _PI_BAD_EDGE =-122 _PI_BAD_ISR_INIT =-123 PI_BAD_FOREVER =-124 PI_BAD_FILTER =-125 PI_BAD_PAD =-126 PI_BAD_STRENGTH =-127 PI_FIL_OPEN_FAILED =-128 PI_BAD_FILE_MODE =-129 PI_BAD_FILE_FLAG =-130 PI_BAD_FILE_READ =-131 PI_BAD_FILE_WRITE =-132 PI_FILE_NOT_ROPEN =-133 PI_FILE_NOT_WOPEN =-134 PI_BAD_FILE_SEEK =-135 PI_NO_FILE_MATCH =-136 PI_NO_FILE_ACCESS =-137 PI_FILE_IS_A_DIR =-138 PI_BAD_SHELL_STATUS =-139 PI_BAD_SCRIPT_NAME =-140 PI_BAD_SPI_BAUD =-141 PI_NOT_SPI_GPIO =-142 PI_BAD_EVENT_ID =-143 PI_CMD_INTERRUPTED =-144 PI_NOT_ON_BCM2711 =-145 PI_ONLY_ON_BCM2711 =-146 # pigpio error text _errors=[ [_PI_INIT_FAILED , "pigpio initialisation failed"], [PI_BAD_USER_GPIO , "GPIO not 0-31"], [PI_BAD_GPIO , "GPIO not 0-53"], [PI_BAD_MODE , "mode not 0-7"], [PI_BAD_LEVEL , "level not 0-1"], [PI_BAD_PUD , "pud not 0-2"], [PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"], [PI_BAD_DUTYCYCLE , "dutycycle not 0-range (default 255)"], [_PI_BAD_TIMER , "timer not 0-9"], [_PI_BAD_MS , "ms not 10-60000"], [_PI_BAD_TIMETYPE , "timetype not 0-1"], [_PI_BAD_SECONDS , "seconds < 0"], [_PI_BAD_MICROS , "micros not 0-999999"], [_PI_TIMER_FAILED , "gpioSetTimerFunc failed"], [PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"], [_PI_NO_ALERT_FUNC , "DEPRECATED"], [_PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"], [_PI_BAD_CLK_SOURCE , "DEPRECATED"], [_PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"], [_PI_BAD_BUF_MILLIS , "buf millis not 100-10000"], [PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"], [_PI_BAD_SIGNUM , "signum not 0-63"], [_PI_BAD_PATHNAME , "can't open pathname"], [PI_NO_HANDLE , "no handle available"], [PI_BAD_HANDLE , "unknown handle"], [_PI_BAD_IF_FLAGS , "ifFlags > 4"], [_PI_BAD_CHANNEL , "DMA channel not 0-14"], [_PI_BAD_SOCKET_PORT , "socket port not 1024-30000"], [_PI_BAD_FIFO_COMMAND , "unknown fifo command"], [_PI_BAD_SECO_CHANNEL , "DMA secondary channel not 0-14"], [_PI_NOT_INITIALISED , "function called before gpioInitialise"], [_PI_INITIALISED , "function called after gpioInitialise"], [_PI_BAD_WAVE_MODE , "waveform mode not 0-1"], [_PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"], [PI_BAD_WAVE_BAUD , "baud rate not 50-250000(RX)/1000000(TX)"], [PI_TOO_MANY_PULSES , "waveform has too many pulses"], [PI_TOO_MANY_CHARS , "waveform has too many chars"], [PI_NOT_SERIAL_GPIO , "no bit bang serial read in progress on GPIO"], [PI_NOT_PERMITTED , "no permission to update GPIO"], [PI_SOME_PERMITTED , "no permission to update one or more GPIO"], [PI_BAD_WVSC_COMMND , "bad WVSC subcommand"], [PI_BAD_WVSM_COMMND , "bad WVSM subcommand"], [PI_BAD_WVSP_COMMND , "bad WVSP subcommand"], [PI_BAD_PULSELEN , "trigger pulse length not 1-100"], [PI_BAD_SCRIPT , "invalid script"], [PI_BAD_SCRIPT_ID , "unknown script id"], [PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"], [PI_GPIO_IN_USE , "GPIO already in use"], [PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"], [PI_BAD_PARAM_NUM , "script parameter id not 0-9"], [PI_DUP_TAG , "script has duplicate tag"], [PI_TOO_MANY_TAGS , "script has too many tags"], [PI_BAD_SCRIPT_CMD , "illegal script command"], [PI_BAD_VAR_NUM , "script variable id not 0-149"], [PI_NO_SCRIPT_ROOM , "no more room for scripts"], [PI_NO_MEMORY , "can't allocate temporary memory"], [PI_SOCK_READ_FAILED , "socket read failed"], [PI_SOCK_WRIT_FAILED , "socket write failed"], [PI_TOO_MANY_PARAM , "too many script parameters (> 10)"], [PI_SCRIPT_NOT_READY , "script initialising"], [PI_BAD_TAG , "script has unresolved tag"], [PI_BAD_MICS_DELAY , "bad MICS delay (too large)"], [PI_BAD_MILS_DELAY , "bad MILS delay (too large)"], [PI_BAD_WAVE_ID , "non existent wave id"], [PI_TOO_MANY_CBS , "No more CBs for waveform"], [PI_TOO_MANY_OOL , "No more OOL for waveform"], [PI_EMPTY_WAVEFORM , "attempt to create an empty waveform"], [PI_NO_WAVEFORM_ID , "No more waveform ids"], [PI_I2C_OPEN_FAILED , "can't open I2C device"], [PI_SER_OPEN_FAILED , "can't open serial device"], [PI_SPI_OPEN_FAILED , "can't open SPI device"], [PI_BAD_I2C_BUS , "bad I2C bus"], [PI_BAD_I2C_ADDR , "bad I2C address"], [PI_BAD_SPI_CHANNEL , "bad SPI channel"], [PI_BAD_FLAGS , "bad i2c/spi/ser open flags"], [PI_BAD_SPI_SPEED , "bad SPI speed"], [PI_BAD_SER_DEVICE , "bad serial device name"], [PI_BAD_SER_SPEED , "bad serial baud rate"], [PI_BAD_PARAM , "bad i2c/spi/ser parameter"], [PI_I2C_WRITE_FAILED , "I2C write failed"], [PI_I2C_READ_FAILED , "I2C read failed"], [PI_BAD_SPI_COUNT , "bad SPI count"], [PI_SER_WRITE_FAILED , "ser write failed"], [PI_SER_READ_FAILED , "ser read failed"], [PI_SER_READ_NO_DATA , "ser read no data available"], [PI_UNKNOWN_COMMAND , "unknown command"], [PI_SPI_XFER_FAILED , "SPI xfer/read/write failed"], [_PI_BAD_POINTER , "bad (NULL) pointer"], [PI_NO_AUX_SPI , "no auxiliary SPI on Pi A or B"], [PI_NOT_PWM_GPIO , "GPIO is not in use for PWM"], [PI_NOT_SERVO_GPIO , "GPIO is not in use for servo pulses"], [PI_NOT_HCLK_GPIO , "GPIO has no hardware clock"], [PI_NOT_HPWM_GPIO , "GPIO has no hardware PWM"], [PI_BAD_HPWM_FREQ , "invalid hardware PWM frequency"], [PI_BAD_HPWM_DUTY , "hardware PWM dutycycle not 0-1M"], [PI_BAD_HCLK_FREQ , "invalid hardware clock frequency"], [PI_BAD_HCLK_PASS , "need password to use hardware clock 1"], [PI_HPWM_ILLEGAL , "illegal, PWM in use for main clock"], [PI_BAD_DATABITS , "serial data bits not 1-32"], [PI_BAD_STOPBITS , "serial (half) stop bits not 2-8"], [PI_MSG_TOOBIG , "socket/pipe message too big"], [PI_BAD_MALLOC_MODE , "bad memory allocation mode"], [_PI_TOO_MANY_SEGS , "too many I2C transaction segments"], [_PI_BAD_I2C_SEG , "an I2C transaction segment failed"], [PI_BAD_SMBUS_CMD , "SMBus command not supported"], [PI_NOT_I2C_GPIO , "no bit bang I2C in progress on GPIO"], [PI_BAD_I2C_WLEN , "bad I2C write length"], [PI_BAD_I2C_RLEN , "bad I2C read length"], [PI_BAD_I2C_CMD , "bad I2C command"], [PI_BAD_I2C_BAUD , "bad I2C baud rate, not 50-500k"], [PI_CHAIN_LOOP_CNT , "bad chain loop count"], [PI_BAD_CHAIN_LOOP , "empty chain loop"], [PI_CHAIN_COUNTER , "too many chain counters"], [PI_BAD_CHAIN_CMD , "bad chain command"], [PI_BAD_CHAIN_DELAY , "bad chain delay micros"], [PI_CHAIN_NESTING , "chain counters nested too deeply"], [PI_CHAIN_TOO_BIG , "chain is too long"], [PI_DEPRECATED , "deprecated function removed"], [PI_BAD_SER_INVERT , "bit bang serial invert not 0 or 1"], [_PI_BAD_EDGE , "bad ISR edge value, not 0-2"], [_PI_BAD_ISR_INIT , "bad ISR initialisation"], [PI_BAD_FOREVER , "loop forever must be last chain command"], [PI_BAD_FILTER , "bad filter parameter"], [PI_BAD_PAD , "bad pad number"], [PI_BAD_STRENGTH , "bad pad drive strength"], [PI_FIL_OPEN_FAILED , "file open failed"], [PI_BAD_FILE_MODE , "bad file mode"], [PI_BAD_FILE_FLAG , "bad file flag"], [PI_BAD_FILE_READ , "bad file read"], [PI_BAD_FILE_WRITE , "bad file write"], [PI_FILE_NOT_ROPEN , "file not open for read"], [PI_FILE_NOT_WOPEN , "file not open for write"], [PI_BAD_FILE_SEEK , "bad file seek"], [PI_NO_FILE_MATCH , "no files match pattern"], [PI_NO_FILE_ACCESS , "no permission to access file"], [PI_FILE_IS_A_DIR , "file is a directory"], [PI_BAD_SHELL_STATUS , "bad shell return status"], [PI_BAD_SCRIPT_NAME , "bad script name"], [PI_BAD_SPI_BAUD , "bad SPI baud rate, not 50-500k"], [PI_NOT_SPI_GPIO , "no bit bang SPI in progress on GPIO"], [PI_BAD_EVENT_ID , "bad event id"], [PI_CMD_INTERRUPTED , "pigpio command interrupted"], [PI_NOT_ON_BCM2711 , "not available on BCM2711"], [PI_ONLY_ON_BCM2711 , "only available on BCM2711"], ] _except_a = "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n{}" _except_z = "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%" _except_1 = """ Did you start the pigpio daemon? E.g. sudo pigpiod Did you specify the correct Pi host/port in the environment variables PIGPIO_ADDR/PIGPIO_PORT? E.g. export PIGPIO_ADDR=soft, export PIGPIO_PORT=8888 Did you specify the correct Pi host/port in the pigpio.pi() function? E.g. pigpio.pi('soft', 8888)""" _except_2 = """ Do you have permission to access the pigpio daemon? Perhaps it was started with sudo pigpiod -nlocalhost""" _except_3 = """ Can't create callback thread. Perhaps too many simultaneous pigpio connections.""" class _socklock: """ A class to store socket and lock. """ def __init__(self): self.s = None self.l = threading.Lock() class error(Exception): """pigpio module exception""" def __init__(self, value): self.value = value def __str__(self): return repr(self.value) class pulse: """ A class to store pulse information. """ def __init__(self, gpio_on, gpio_off, delay): """ Initialises a pulse. gpio_on:= the GPIO to switch on at the start of the pulse. gpio_off:= the GPIO to switch off at the start of the pulse. delay:= the delay in microseconds before the next pulse. """ self.gpio_on = gpio_on self.gpio_off = gpio_off self.delay = delay def error_text(errnum): """ Returns a text description of a pigpio error. errnum:= <0, the error number ... print(pigpio.error_text(-5)) level not 0-1 ... """ for e in _errors: if e[0] == errnum: return e[1] return "unknown error ({})".format(errnum) def tickDiff(t1, t2): """ Returns the microsecond difference between two ticks. t1:= the earlier tick t2:= the later tick ... print(pigpio.tickDiff(4294967272, 12)) 36 ... """ tDiff = t2 - t1 if tDiff < 0: tDiff += (1 << 32) return tDiff # A couple of hacks to cope with different string handling # between various Python versions # 3 != 2.7.8 != 2.7.3 if sys.hexversion < 0x03000000: def _b(x): return x else: def _b(x): return x.encode('latin-1') if sys.hexversion < 0x02070800: def _str(x): return buffer(x) else: def _str(x): return x def u2i(uint32): """ Converts a 32 bit unsigned number to signed. uint32:= an unsigned 32 bit number ... print(u2i(4294967272)) -24 print(u2i(37)) 37 ... """ mask = (2 ** 32) - 1 if uint32 & (1 << 31): v = uint32 | ~mask else: v = uint32 & mask return v def _u2i(uint32): """ Converts a 32 bit unsigned number to signed. If the number is negative it indicates an error. On error a pigpio exception will be raised if exceptions is True. """ v = u2i(uint32) if v < 0: if exceptions: raise error(error_text(v)) return v def _pigpio_command(sl, cmd, p1, p2): """ Runs a pigpio socket command. sl:= command socket and lock. cmd:= the command to be executed. p1:= command parameter 1 (if applicable). p2:= command parameter 2 (if applicable). """ res = PI_CMD_INTERRUPTED with sl.l: sl.s.send(struct.pack('IIII', cmd, p1, p2, 0)) dummy, res = struct.unpack('12sI', sl.s.recv(_SOCK_CMD_LEN)) return res def _pigpio_command_nolock(sl, cmd, p1, p2): """ Runs a pigpio socket command. sl:= command socket and lock. cmd:= the command to be executed. p1:= command parameter 1 (if applicable). p2:= command parameter 2 (if applicable). """ res = PI_CMD_INTERRUPTED sl.s.send(struct.pack('IIII', cmd, p1, p2, 0)) dummy, res = struct.unpack('12sI', sl.s.recv(_SOCK_CMD_LEN)) return res def _pigpio_command_ext(sl, cmd, p1, p2, p3, extents): """ Runs an extended pigpio socket command. sl:= command socket and lock. cmd:= the command to be executed. p1:= command parameter 1 (if applicable). p2:= command parameter 2 (if applicable). p3:= total size in bytes of following extents extents:= additional data blocks """ ext = bytearray(struct.pack('IIII', cmd, p1, p2, p3)) for x in extents: if type(x) == type(""): ext.extend(_b(x)) else: ext.extend(x) res = PI_CMD_INTERRUPTED with sl.l: sl.s.sendall(ext) dummy, res = struct.unpack('12sI', sl.s.recv(_SOCK_CMD_LEN)) return res def _pigpio_command_ext_nolock(sl, cmd, p1, p2, p3, extents): """ Runs an extended pigpio socket command. sl:= command socket and lock. cmd:= the command to be executed. p1:= command parameter 1 (if applicable). p2:= command parameter 2 (if applicable). p3:= total size in bytes of following extents extents:= additional data blocks """ res = PI_CMD_INTERRUPTED ext = bytearray(struct.pack('IIII', cmd, p1, p2, p3)) for x in extents: if type(x) == type(""): ext.extend(_b(x)) else: ext.extend(x) sl.s.sendall(ext) dummy, res = struct.unpack('12sI', sl.s.recv(_SOCK_CMD_LEN)) return res class _event_ADT: """ An ADT class to hold event callback information. """ def __init__(self, event, func): """ Initialises an event callback ADT. event:= the event id. func:= a user function taking one argument, the event id. """ self.event = event self.func = func self.bit = 1<= MSG_SIZ: msgbuf = buf[offset:offset + MSG_SIZ] offset += MSG_SIZ seq, flags, tick, level = (struct.unpack('HHII', msgbuf)) if flags == 0: changed = level ^ lastLevel lastLevel = level for cb in self.callbacks: if cb.bit & changed: newLevel = 0 if cb.bit & level: newLevel = 1 if (cb.edge ^ newLevel): cb.func(cb.gpio, newLevel, tick) else: if flags & NTFY_FLAGS_WDOG: gpio = flags & NTFY_FLAGS_GPIO for cb in self.callbacks: if cb.gpio == gpio: cb.func(gpio, TIMEOUT, tick) elif flags & NTFY_FLAGS_EVENT: event = flags & NTFY_FLAGS_GPIO for cb in self.events: if cb.event == event: cb.func(event, tick) buf = buf[offset:] self.sl.s.close() class _callback: """A class to provide GPIO level change callbacks.""" def __init__(self, notify, user_gpio, edge=RISING_EDGE, func=None): """ Initialise a callback and adds it to the notification thread. """ self._notify = notify self.count=0 self._reset = False if func is None: func=self._tally self.callb = _callback_ADT(user_gpio, edge, func) self._notify.append(self.callb) def cancel(self): """Cancels a callback by removing it from the notification thread.""" self._notify.remove(self.callb) def _tally(self, user_gpio, level, tick): """Increment the callback called count.""" if self._reset: self._reset = False self.count = 0 self.count += 1 def tally(self): """ Provides a count of how many times the default tally callback has triggered. The count will be zero if the user has supplied their own callback function. """ return self.count def reset_tally(self): """ Resets the tally count to zero. """ self._reset = True self.count = 0 class _event: """A class to provide event callbacks.""" def __init__(self, notify, event, func=None): """ Initialise an event and adds it to the notification thread. """ self._notify = notify self.count=0 self._reset = False if func is None: func=self._tally self.callb = _event_ADT(event, func) self._notify.append_event(self.callb) def cancel(self): """ Cancels a event callback by removing it from the notification thread. """ self._notify.remove_event(self.callb) def _tally(self, event, tick): """Increment the event callback called count.""" if self._reset: self._reset = False self.count = 0 self.count += 1 def tally(self): """ Provides a count of how many times the default tally callback has triggered. The count will be zero if the user has supplied their own callback function. """ return self.count def reset_tally(self): """ Resets the tally count to zero. """ self._reset = True self.count = 0 class _wait_for_edge: """Encapsulates waiting for GPIO edges.""" def __init__(self, notify, gpio, edge, timeout): """Initialises a wait_for_edge.""" self._notify = notify self.callb = _callback_ADT(gpio, edge, self.func) self.trigger = False self._notify.append(self.callb) self.start = time.time() while (self.trigger == False) and ((time.time()-self.start) < timeout): time.sleep(0.05) self._notify.remove(self.callb) def func(self, gpio, level, tick): """Sets wait_for_edge triggered.""" self.trigger = True class _wait_for_event: """Encapsulates waiting for an event.""" def __init__(self, notify, event, timeout): """Initialises wait_for_event.""" self._notify = notify self.callb = _event_ADT(event, self.func) self.trigger = False self._notify.append_event(self.callb) self.start = time.time() while (self.trigger == False) and ((time.time()-self.start) < timeout): time.sleep(0.05) self._notify.remove_event(self.callb) def func(self, event, tick): """Sets wait_for_event triggered.""" self.trigger = True class pi(): def _rxbuf(self, count): """Returns count bytes from the command socket.""" ext = bytearray(self.sl.s.recv(count)) while len(ext) < count: ext.extend(self.sl.s.recv(count - len(ext))) return ext def set_mode(self, gpio, mode): """ Sets the GPIO mode. gpio:= 0-53. mode:= INPUT, OUTPUT, ALT0, ALT1, ALT2, ALT3, ALT4, ALT5. ... pi.set_mode( 4, pigpio.INPUT) # GPIO 4 as input pi.set_mode(17, pigpio.OUTPUT) # GPIO 17 as output pi.set_mode(24, pigpio.ALT2) # GPIO 24 as ALT2 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_MODES, gpio, mode)) def get_mode(self, gpio): """ Returns the GPIO mode. gpio:= 0-53. Returns a value as follows . . 0 = INPUT 1 = OUTPUT 2 = ALT5 3 = ALT4 4 = ALT0 5 = ALT1 6 = ALT2 7 = ALT3 . . ... print(pi.get_mode(0)) 4 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_MODEG, gpio, 0)) def set_pull_up_down(self, gpio, pud): """ Sets or clears the internal GPIO pull-up/down resistor. gpio:= 0-53. pud:= PUD_UP, PUD_DOWN, PUD_OFF. ... pi.set_pull_up_down(17, pigpio.PUD_OFF) pi.set_pull_up_down(23, pigpio.PUD_UP) pi.set_pull_up_down(24, pigpio.PUD_DOWN) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PUD, gpio, pud)) def read(self, gpio): """ Returns the GPIO level. gpio:= 0-53. ... pi.set_mode(23, pigpio.INPUT) pi.set_pull_up_down(23, pigpio.PUD_DOWN) print(pi.read(23)) 0 pi.set_pull_up_down(23, pigpio.PUD_UP) print(pi.read(23)) 1 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_READ, gpio, 0)) def write(self, gpio, level): """ Sets the GPIO level. GPIO:= 0-53. level:= 0, 1. If PWM or servo pulses are active on the GPIO they are switched off. ... pi.set_mode(17, pigpio.OUTPUT) pi.write(17,0) print(pi.read(17)) 0 pi.write(17,1) print(pi.read(17)) 1 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WRITE, gpio, level)) def set_PWM_dutycycle(self, user_gpio, dutycycle): """ Starts (non-zero dutycycle) or stops (0) PWM pulses on the GPIO. user_gpio:= 0-31. dutycycle:= 0-range (range defaults to 255). The [*set_PWM_range*] function can change the default range of 255. ... pi.set_PWM_dutycycle(4, 0) # PWM off pi.set_PWM_dutycycle(4, 64) # PWM 1/4 on pi.set_PWM_dutycycle(4, 128) # PWM 1/2 on pi.set_PWM_dutycycle(4, 192) # PWM 3/4 on pi.set_PWM_dutycycle(4, 255) # PWM full on ... """ return _u2i(_pigpio_command( self.sl, _PI_CMD_PWM, user_gpio, int(dutycycle))) def get_PWM_dutycycle(self, user_gpio): """ Returns the PWM dutycycle being used on the GPIO. user_gpio:= 0-31. Returns the PWM dutycycle. For normal PWM the dutycycle will be out of the defined range for the GPIO (see [*get_PWM_range*]). If a hardware clock is active on the GPIO the reported dutycycle will be 500000 (500k) out of 1000000 (1M). If hardware PWM is active on the GPIO the reported dutycycle will be out of a 1000000 (1M). ... pi.set_PWM_dutycycle(4, 25) print(pi.get_PWM_dutycycle(4)) 25 pi.set_PWM_dutycycle(4, 203) print(pi.get_PWM_dutycycle(4)) 203 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_GDC, user_gpio, 0)) def set_PWM_range(self, user_gpio, range_): """ Sets the range of PWM values to be used on the GPIO. user_gpio:= 0-31. range_:= 25-40000. ... pi.set_PWM_range(9, 100) # now 25 1/4, 50 1/2, 75 3/4 on pi.set_PWM_range(9, 500) # now 125 1/4, 250 1/2, 375 3/4 on pi.set_PWM_range(9, 3000) # now 750 1/4, 1500 1/2, 2250 3/4 on ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PRS, user_gpio, range_)) def get_PWM_range(self, user_gpio): """ Returns the range of PWM values being used on the GPIO. user_gpio:= 0-31. If a hardware clock or hardware PWM is active on the GPIO the reported range will be 1000000 (1M). ... pi.set_PWM_range(9, 500) print(pi.get_PWM_range(9)) 500 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PRG, user_gpio, 0)) def get_PWM_real_range(self, user_gpio): """ Returns the real (underlying) range of PWM values being used on the GPIO. user_gpio:= 0-31. If a hardware clock is active on the GPIO the reported real range will be 1000000 (1M). If hardware PWM is active on the GPIO the reported real range will be approximately 250M divided by the set PWM frequency. ... pi.set_PWM_frequency(4, 800) print(pi.get_PWM_real_range(4)) 250 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PRRG, user_gpio, 0)) def set_PWM_frequency(self, user_gpio, frequency): """ Sets the frequency (in Hz) of the PWM to be used on the GPIO. user_gpio:= 0-31. frequency:= >=0 Hz Returns the numerically closest frequency if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_PERMITTED. If PWM is currently active on the GPIO it will be switched off and then back on at the new frequency. Each GPIO can be independently set to one of 18 different PWM frequencies. The selectable frequencies depend upon the sample rate which may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The sample rate is set when the pigpio daemon is started. The frequencies for each sample rate are: . . Hertz 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 1250 1000 800 500 400 250 200 100 50 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 625 500 400 250 200 125 100 50 25 4: 10000 5000 2500 2000 1250 1000 625 500 400 313 250 200 125 100 63 50 25 13 sample rate (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 250 200 160 100 80 50 40 20 10 8: 5000 2500 1250 1000 625 500 313 250 200 156 125 100 63 50 31 25 13 6 10: 4000 2000 1000 800 500 400 250 200 160 125 100 80 50 40 25 20 10 5 . . ... pi.set_PWM_frequency(4,0) print(pi.get_PWM_frequency(4)) 10 pi.set_PWM_frequency(4,100000) print(pi.get_PWM_frequency(4)) 8000 ... """ return _u2i( _pigpio_command(self.sl, _PI_CMD_PFS, user_gpio, frequency)) def get_PWM_frequency(self, user_gpio): """ Returns the frequency of PWM being used on the GPIO. user_gpio:= 0-31. Returns the frequency (in Hz) used for the GPIO. For normal PWM the frequency will be that defined for the GPIO by [*set_PWM_frequency*]. If a hardware clock is active on the GPIO the reported frequency will be that set by [*hardware_clock*]. If hardware PWM is active on the GPIO the reported frequency will be that set by [*hardware_PWM*]. ... pi.set_PWM_frequency(4,0) print(pi.get_PWM_frequency(4)) 10 pi.set_PWM_frequency(4, 800) print(pi.get_PWM_frequency(4)) 800 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PFG, user_gpio, 0)) def set_servo_pulsewidth(self, user_gpio, pulsewidth): """ Starts (500-2500) or stops (0) servo pulses on the GPIO. user_gpio:= 0-31. pulsewidth:= 0 (off), 500 (most anti-clockwise) - 2500 (most clockwise). The selected pulsewidth will continue to be transmitted until changed by a subsequent call to set_servo_pulsewidth. The pulsewidths supported by servos varies and should probably be determined by experiment. A value of 1500 should always be safe and represents the mid-point of rotation. You can DAMAGE a servo if you command it to move beyond its limits. ... pi.set_servo_pulsewidth(17, 0) # off pi.set_servo_pulsewidth(17, 1000) # safe anti-clockwise pi.set_servo_pulsewidth(17, 1500) # centre pi.set_servo_pulsewidth(17, 2000) # safe clockwise ... """ return _u2i(_pigpio_command( self.sl, _PI_CMD_SERVO, user_gpio, int(pulsewidth))) def get_servo_pulsewidth(self, user_gpio): """ Returns the servo pulsewidth being used on the GPIO. user_gpio:= 0-31. Returns the servo pulsewidth. ... pi.set_servo_pulsewidth(4, 525) print(pi.get_servo_pulsewidth(4)) 525 pi.set_servo_pulsewidth(4, 2130) print(pi.get_servo_pulsewidth(4)) 2130 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_GPW, user_gpio, 0)) def notify_open(self): """ Returns a notification handle (>=0). A notification is a method for being notified of GPIO state changes via a pipe. Pipes are only accessible from the local machine so this function serves no purpose if you are using Python from a remote machine. The in-built (socket) notifications provided by [*callback*] should be used instead. Notifications for handle x will be available at the pipe named /dev/pigpiox (where x is the handle number). E.g. if the function returns 15 then the notifications must be read from /dev/pigpio15. Notifications have the following structure: . . H seqno H flags I tick I level . . seqno: starts at 0 each time the handle is opened and then increments by one for each report. flags: three flags are defined, PI_NTFY_FLAGS_WDOG, PI_NTFY_FLAGS_ALIVE, and PI_NTFY_FLAGS_EVENT. If bit 5 is set (PI_NTFY_FLAGS_WDOG) then bits 0-4 of the flags indicate a GPIO which has had a watchdog timeout. If bit 6 is set (PI_NTFY_FLAGS_ALIVE) this indicates a keep alive signal on the pipe/socket and is sent once a minute in the absence of other notification activity. If bit 7 is set (PI_NTFY_FLAGS_EVENT) then bits 0-4 of the flags indicate an event which has been triggered. tick: the number of microseconds since system boot. It wraps around after 1h12m. level: indicates the level of each GPIO. If bit 1<= 0: pi.notify_begin(h, 1234) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_NO, 0, 0)) def notify_begin(self, handle, bits): """ Starts notifications on a handle. handle:= >=0 (as returned by a prior call to [*notify_open*]) bits:= a 32 bit mask indicating the GPIO to be notified. The notification sends state changes for each GPIO whose corresponding bit in bits is set. The following code starts notifications for GPIO 1, 4, 6, 7, and 10 (1234 = 0x04D2 = 0b0000010011010010). ... h = pi.notify_open() if h >= 0: pi.notify_begin(h, 1234) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_NB, handle, bits)) def notify_pause(self, handle): """ Pauses notifications on a handle. handle:= >=0 (as returned by a prior call to [*notify_open*]) Notifications for the handle are suspended until [*notify_begin*] is called again. ... h = pi.notify_open() if h >= 0: pi.notify_begin(h, 1234) ... pi.notify_pause(h) ... pi.notify_begin(h, 1234) ... ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_NB, handle, 0)) def notify_close(self, handle): """ Stops notifications on a handle and releases the handle for reuse. handle:= >=0 (as returned by a prior call to [*notify_open*]) ... h = pi.notify_open() if h >= 0: pi.notify_begin(h, 1234) ... pi.notify_close(h) ... ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_NC, handle, 0)) def set_watchdog(self, user_gpio, wdog_timeout): """ Sets a watchdog timeout for a GPIO. user_gpio:= 0-31. wdog_timeout:= 0-60000. The watchdog is nominally in milliseconds. Only one watchdog may be registered per GPIO. The watchdog may be cancelled by setting timeout to 0. Once a watchdog has been started callbacks for the GPIO will be triggered every timeout interval after the last GPIO activity. The callback will receive the special level TIMEOUT. ... pi.set_watchdog(23, 1000) # 1000 ms watchdog on GPIO 23 pi.set_watchdog(23, 0) # cancel watchdog on GPIO 23 ... """ return _u2i(_pigpio_command( self.sl, _PI_CMD_WDOG, user_gpio, int(wdog_timeout))) def read_bank_1(self): """ Returns the levels of the bank 1 GPIO (GPIO 0-31). The returned 32 bit integer has a bit set if the corresponding GPIO is high. GPIO n has bit value (1<=0) if OK, otherwise PI_EMPTY_WAVEFORM, PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID. The data provided by the [*wave_add_**] functions is consumed by this function. As many waveforms may be created as there is space available. The wave id is passed to [*wave_send_**] to specify the waveform to transmit. Normal usage would be Step 1. [*wave_clear*] to clear all waveforms and added data. Step 2. [*wave_add_**] calls to supply the waveform data. Step 3. [*wave_create*] to create the waveform and get a unique id Repeat steps 2 and 3 as needed. Step 4. [*wave_send_**] with the id of the waveform to transmit. A waveform comprises one or more pulses. A pulse specifies 1) the GPIO to be switched on at the start of the pulse. 2) the GPIO to be switched off at the start of the pulse. 3) the delay in microseconds before the next pulse. Any or all the fields can be zero. It doesn't make any sense to set all the fields to zero (the pulse will be ignored). When a waveform is started each pulse is executed in order with the specified delay between the pulse and the next. ... wid = pi.wave_create() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVCRE, 0, 0)) def wave_create_and_pad(self, percent): """ This function creates a waveform like [*wave_create*] but pads the consumed resources. Where percent gives the percentage of the resources to use (in terms of the theoretical maximum, not the current amount free). This allows the reuse of deleted waves while a transmission is active. Upon success a wave id greater than or equal to 0 is returned, otherwise PI_EMPTY_WAVEFORM, PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID. . . percent: 0-100, size of waveform as percentage of maximum available. . . The data provided by the [*wave_add_**] functions are consumed by this function. As many waveforms may be created as there is space available. The wave id is passed to [*wave_send_**] to specify the waveform to transmit. A usage would be the creation of two waves where one is filled while the other is being transmitted. Each wave is assigned 50% of the resources. This buffer structure allows the transmission of infinite wave sequences. Normal usage: Step 1. [*wave_clear*] to clear all waveforms and added data. Step 2. [*wave_add_**] calls to supply the waveform data. Step 3. [*wave_create_and_pad*] to create a waveform of uniform size. Step 4. [*wave_send_**] with the id of the waveform to transmit. Repeat steps 2-4 as needed. Step 5. Any wave id can now be deleted and another wave of the same size can be created in its place. ... wid = pi.wave_create_and_pad(50) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVCAP, percent, 0)) def wave_delete(self, wave_id): """ This function deletes the waveform with id wave_id. wave_id:= >=0 (as returned by a prior call to [*wave_create*]). Wave ids are allocated in order, 0, 1, 2, etc. The wave is flagged for deletion. The resources used by the wave will only be reused when either of the following apply. - all waves with higher numbered wave ids have been deleted or have been flagged for deletion. - a new wave is created which uses exactly the same resources as the current wave (see the C source for gpioWaveCreate for details). ... pi.wave_delete(6) # delete waveform with id 6 pi.wave_delete(0) # delete waveform with id 0 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVDEL, wave_id, 0)) def wave_tx_start(self): # DEPRECATED """ This function is deprecated and has been removed. Use [*wave_create*]/[*wave_send_**] instead. """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGO, 0, 0)) def wave_tx_repeat(self): # DEPRECATED """ This function is deprecated and has beeen removed. Use [*wave_create*]/[*wave_send_**] instead. """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGOR, 0, 0)) def wave_send_once(self, wave_id): """ Transmits the waveform with id wave_id. The waveform is sent once. NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. wave_id:= >=0 (as returned by a prior call to [*wave_create*]). Returns the number of DMA control blocks used in the waveform. ... cbs = pi.wave_send_once(wid) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTX, wave_id, 0)) def wave_send_repeat(self, wave_id): """ Transmits the waveform with id wave_id. The waveform repeats until wave_tx_stop is called or another call to [*wave_send_**] is made. NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. wave_id:= >=0 (as returned by a prior call to [*wave_create*]). Returns the number of DMA control blocks used in the waveform. ... cbs = pi.wave_send_repeat(wid) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTXR, wave_id, 0)) def wave_send_using_mode(self, wave_id, mode): """ Transmits the waveform with id wave_id using mode mode. wave_id:= >=0 (as returned by a prior call to [*wave_create*]). mode:= WAVE_MODE_ONE_SHOT, WAVE_MODE_REPEAT, WAVE_MODE_ONE_SHOT_SYNC, or WAVE_MODE_REPEAT_SYNC. WAVE_MODE_ONE_SHOT: same as [*wave_send_once*]. WAVE_MODE_REPEAT same as [*wave_send_repeat*]. WAVE_MODE_ONE_SHOT_SYNC same as [*wave_send_once*] but tries to sync with the previous waveform. WAVE_MODE_REPEAT_SYNC same as [*wave_send_repeat*] but tries to sync with the previous waveform. WARNING: bad things may happen if you delete the previous waveform before it has been synced to the new waveform. NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. wave_id:= >=0 (as returned by a prior call to [*wave_create*]). Returns the number of DMA control blocks used in the waveform. ... cbs = pi.wave_send_using_mode(wid, WAVE_MODE_REPEAT_SYNC) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTXM, wave_id, mode)) def wave_tx_at(self): """ Returns the id of the waveform currently being transmitted using [*wave_send**]. Chained waves are not supported. Returns the waveform id or one of the following special values: WAVE_NOT_FOUND (9998) - transmitted wave not found. NO_TX_WAVE (9999) - no wave being transmitted. ... wid = pi.wave_tx_at() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTAT, 0, 0)) def wave_tx_busy(self): """ Returns 1 if a waveform is currently being transmitted, otherwise 0. ... pi.wave_send_once(0) # send first waveform while pi.wave_tx_busy(): # wait for waveform to be sent time.sleep(0.1) pi.wave_send_once(1) # send next waveform ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVBSY, 0, 0)) def wave_tx_stop(self): """ Stops the transmission of the current waveform. This function is intended to stop a waveform started with wave_send_repeat. ... pi.wave_send_repeat(3) time.sleep(5) pi.wave_tx_stop() ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_WVHLT, 0, 0)) def wave_chain(self, data): """ This function transmits a chain of waveforms. NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. The waves to be transmitted are specified by the contents of data which contains an ordered list of [*wave_id*]s and optional command codes and related data. Returns 0 if OK, otherwise PI_CHAIN_NESTING, PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD, PI_CHAIN_COUNTER, PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG, or PI_BAD_WAVE_ID. Each wave is transmitted in the order specified. A wave may occur multiple times per chain. A blocks of waves may be transmitted multiple times by using the loop commands. The block is bracketed by loop start and end commands. Loops may be nested. Delays between waves may be added with the delay command. The following command codes are supported: Name @ Cmd & Data @ Meaning Loop Start @ 255 0 @ Identify start of a wave block Loop Repeat @ 255 1 x y @ loop x + y*256 times Delay @ 255 2 x y @ delay x + y*256 microseconds Loop Forever @ 255 3 @ loop forever If present Loop Forever must be the last entry in the chain. The code is currently dimensioned to support a chain with roughly 600 entries and 20 loop counters. ... #!/usr/bin/env python import time import pigpio WAVES=5 GPIO=4 wid=[0]*WAVES pi = pigpio.pi() # Connect to local Pi. pi.set_mode(GPIO, pigpio.OUTPUT); for i in range(WAVES): pi.wave_add_generic([ pigpio.pulse(1<=0) for the device at the I2C bus address. i2c_bus:= >=0. i2c_address:= 0-0x7F. i2c_flags:= 0, no flags are currently defined. Physically buses 0 and 1 are available on the Pi. Higher numbered buses will be available if a kernel supported bus multiplexor is being used. The GPIO used are given in the following table. @ SDA @ SCL I2C 0 @ 0 @ 1 I2C 1 @ 2 @ 3 For the SMBus commands the low level transactions are shown at the end of the function description. The following abbreviations are used: . . S (1 bit) : Start bit P (1 bit) : Stop bit Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0. A, NA (1 bit) : Accept and not accept bit. Addr (7 bits): I2C 7 bit address. reg (8 bits): Command byte, which often selects a register. Data (8 bits): A data byte. Count (8 bits): A byte defining the length of a block operation. [..]: Data sent by the device. . . ... h = pi.i2c_open(1, 0x53) # open device at address 0x53 on bus 1 ... """ # I p1 i2c_bus # I p2 i2c_addr # I p3 4 ## extension ## # I i2c_flags extents = [struct.pack("I", i2c_flags)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CO, i2c_bus, i2c_address, 4, extents)) def i2c_close(self, handle): """ Closes the I2C device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). ... pi.i2c_close(h) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CC, handle, 0)) def i2c_write_quick(self, handle, bit): """ Sends a single bit to the device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). bit:= 0 or 1, the value to write. SMBus 2.0 5.5.1 - Quick command. . . S Addr bit [A] P . . ... pi.i2c_write_quick(0, 1) # send 1 to device 0 pi.i2c_write_quick(3, 0) # send 0 to device 3 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CWQ, handle, bit)) def i2c_write_byte(self, handle, byte_val): """ Sends a single byte to the device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). byte_val:= 0-255, the value to write. SMBus 2.0 5.5.2 - Send byte. . . S Addr Wr [A] byte_val [A] P . . ... pi.i2c_write_byte(1, 17) # send byte 17 to device 1 pi.i2c_write_byte(2, 0x23) # send byte 0x23 to device 2 ... """ return _u2i( _pigpio_command(self.sl, _PI_CMD_I2CWS, handle, byte_val)) def i2c_read_byte(self, handle): """ Reads a single byte from the device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). SMBus 2.0 5.5.3 - Receive byte. . . S Addr Rd [A] [Data] NA P . . ... b = pi.i2c_read_byte(2) # read a byte from device 2 ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRS, handle, 0)) def i2c_write_byte_data(self, handle, reg, byte_val): """ Writes a single byte to the specified register of the device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. byte_val:= 0-255, the value to write. SMBus 2.0 5.5.4 - Write byte. . . S Addr Wr [A] reg [A] byte_val [A] P . . ... # send byte 0xC5 to reg 2 of device 1 pi.i2c_write_byte_data(1, 2, 0xC5) # send byte 9 to reg 4 of device 2 pi.i2c_write_byte_data(2, 4, 9) ... """ # I p1 handle # I p2 reg # I p3 4 ## extension ## # I byte_val extents = [struct.pack("I", byte_val)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWB, handle, reg, 4, extents)) def i2c_write_word_data(self, handle, reg, word_val): """ Writes a single 16 bit word to the specified register of the device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. word_val:= 0-65535, the value to write. SMBus 2.0 5.5.4 - Write word. . . S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A] P . . ... # send word 0xA0C5 to reg 5 of device 4 pi.i2c_write_word_data(4, 5, 0xA0C5) # send word 2 to reg 2 of device 5 pi.i2c_write_word_data(5, 2, 23) ... """ # I p1 handle # I p2 reg # I p3 4 ## extension ## # I word_val extents = [struct.pack("I", word_val)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWW, handle, reg, 4, extents)) def i2c_read_byte_data(self, handle, reg): """ Reads a single byte from the specified register of the device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. SMBus 2.0 5.5.5 - Read byte. . . S Addr Wr [A] reg [A] S Addr Rd [A] [Data] NA P . . ... # read byte from reg 17 of device 2 b = pi.i2c_read_byte_data(2, 17) # read byte from reg 1 of device 0 b = pi.i2c_read_byte_data(0, 1) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRB, handle, reg)) def i2c_read_word_data(self, handle, reg): """ Reads a single 16 bit word from the specified register of the device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. SMBus 2.0 5.5.5 - Read word. . . S Addr Wr [A] reg [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P . . ... # read word from reg 2 of device 3 w = pi.i2c_read_word_data(3, 2) # read word from reg 7 of device 2 w = pi.i2c_read_word_data(2, 7) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRW, handle, reg)) def i2c_process_call(self, handle, reg, word_val): """ Writes 16 bits of data to the specified register of the device associated with handle and reads 16 bits of data in return. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. word_val:= 0-65535, the value to write. SMBus 2.0 5.5.6 - Process call. . . S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P . . ... r = pi.i2c_process_call(h, 4, 0x1231) r = pi.i2c_process_call(h, 6, 0) ... """ # I p1 handle # I p2 reg # I p3 4 ## extension ## # I word_val extents = [struct.pack("I", word_val)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CPC, handle, reg, 4, extents)) def i2c_write_block_data(self, handle, reg, data): """ Writes up to 32 bytes to the specified register of the device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. data:= the bytes to write. SMBus 2.0 5.5.7 - Block write. . . S Addr Wr [A] reg [A] len(data) [A] data0 [A] data1 [A] ... [A] datan [A] P . . ... pi.i2c_write_block_data(4, 5, b'hello') pi.i2c_write_block_data(4, 5, "data bytes") pi.i2c_write_block_data(5, 0, b'\\x00\\x01\\x22') pi.i2c_write_block_data(6, 2, [0, 1, 0x22]) ... """ # I p1 handle # I p2 reg # I p3 len ## extension ## # s len data bytes if len(data): return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWK, handle, reg, len(data), [data])) else: return 0 def i2c_read_block_data(self, handle, reg): """ Reads a block of up to 32 bytes from the specified register of the device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. SMBus 2.0 5.5.7 - Block read. . . S Addr Wr [A] reg [A] S Addr Rd [A] [Count] A [Data] A [Data] A ... A [Data] NA P . . The amount of returned data is set by the device. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.i2c_read_block_data(h, 10) if b >= 0: # process data else: # process read failure ... """ bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_nolock( self.sl, _PI_CMD_I2CRK, handle, reg)) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def i2c_block_process_call(self, handle, reg, data): """ Writes data bytes to the specified register of the device associated with handle and reads a device specified number of bytes of data in return. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. data:= the bytes to write. The SMBus 2.0 documentation states that a minimum of 1 byte may be sent and a minimum of 1 byte may be received. The total number of bytes sent/received must be 32 or less. SMBus 2.0 5.5.8 - Block write-block read. . . S Addr Wr [A] reg [A] len(data) [A] data0 [A] ... datan [A] S Addr Rd [A] [Count] A [Data] ... A P . . The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.i2c_block_process_call(h, 10, b'\\x02\\x05\\x00') (b, d) = pi.i2c_block_process_call(h, 10, b'abcdr') (b, d) = pi.i2c_block_process_call(h, 10, "abracad") (b, d) = pi.i2c_block_process_call(h, 10, [2, 5, 16]) ... """ # I p1 handle # I p2 reg # I p3 len ## extension ## # s len data bytes bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_ext_nolock( self.sl, _PI_CMD_I2CPK, handle, reg, len(data), [data])) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def i2c_write_i2c_block_data(self, handle, reg, data): """ Writes data bytes to the specified register of the device associated with handle . 1-32 bytes may be written. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. data:= the bytes to write. . . S Addr Wr [A] reg [A] data0 [A] data1 [A] ... [A] datan [NA] P . . ... pi.i2c_write_i2c_block_data(4, 5, 'hello') pi.i2c_write_i2c_block_data(4, 5, b'hello') pi.i2c_write_i2c_block_data(5, 0, b'\\x00\\x01\\x22') pi.i2c_write_i2c_block_data(6, 2, [0, 1, 0x22]) ... """ # I p1 handle # I p2 reg # I p3 len ## extension ## # s len data bytes if len(data): return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWI, handle, reg, len(data), [data])) else: return 0 def i2c_read_i2c_block_data(self, handle, reg, count): """ Reads count bytes from the specified register of the device associated with handle . The count may be 1-32. handle:= >=0 (as returned by a prior call to [*i2c_open*]). reg:= >=0, the device register. count:= >0, the number of bytes to read. . . S Addr Wr [A] reg [A] S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P . . The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.i2c_read_i2c_block_data(h, 4, 32) if b >= 0: # process data else: # process read failure ... """ # I p1 handle # I p2 reg # I p3 4 ## extension ## # I count extents = [struct.pack("I", count)] bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_ext_nolock( self.sl, _PI_CMD_I2CRI, handle, reg, 4, extents)) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def i2c_read_device(self, handle, count): """ Returns count bytes read from the raw device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). count:= >0, the number of bytes to read. . . S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P . . The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (count, data) = pi.i2c_read_device(h, 12) ... """ bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i( _pigpio_command_nolock(self.sl, _PI_CMD_I2CRD, handle, count)) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def i2c_write_device(self, handle, data): """ Writes the data bytes to the raw device associated with handle. handle:= >=0 (as returned by a prior call to [*i2c_open*]). data:= the bytes to write. . . S Addr Wr [A] data0 [A] data1 [A] ... [A] datan [A] P . . ... pi.i2c_write_device(h, b"\\x12\\x34\\xA8") pi.i2c_write_device(h, b"help") pi.i2c_write_device(h, 'help') pi.i2c_write_device(h, [23, 56, 231]) ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes if len(data): return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_I2CWD, handle, 0, len(data), [data])) else: return 0 def i2c_zip(self, handle, data): """ This function executes a sequence of I2C operations. The operations to be performed are specified by the contents of data which contains the concatenated command codes and associated data. handle:= >=0 (as returned by a prior call to [*i2c_open*]). data:= the concatenated I2C commands, see below The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (count, data) = pi.i2c_zip(h, [4, 0x53, 7, 1, 0x32, 6, 6, 0]) ... The following command codes are supported: Name @ Cmd & Data @ Meaning End @ 0 @ No more commands Escape @ 1 @ Next P is two bytes On @ 2 @ Switch combined flag on Off @ 3 @ Switch combined flag off Address @ 4 P @ Set I2C address to P Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) Read @ 6 P @ Read P bytes of data Write @ 7 P ... @ Write P bytes of data The address, read, and write commands take a parameter P. Normally P is one byte (0-255). If the command is preceded by the Escape command then P is two bytes (0-65535, least significant byte first). The address defaults to that associated with the handle. The flags default to 0. The address and flags maintain their previous value until updated. Any read I2C data is concatenated in the returned bytearray. ... Set address 0x53, write 0x32, read 6 bytes Set address 0x1E, write 0x03, read 6 bytes Set address 0x68, write 0x1B, read 8 bytes End 0x04 0x53 0x07 0x01 0x32 0x06 0x06 0x04 0x1E 0x07 0x01 0x03 0x06 0x06 0x04 0x68 0x07 0x01 0x1B 0x06 0x08 0x00 ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_ext_nolock( self.sl, _PI_CMD_I2CZ, handle, 0, len(data), [data])) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def bb_spi_open(self, CS, MISO, MOSI, SCLK, baud=100000, spi_flags=0): """ This function selects a set of GPIO for bit banging SPI at a specified baud rate. CS := 0-31 MISO := 0-31 MOSI := 0-31 SCLK := 0-31 baud := 50-250000 spiFlags := see below spiFlags consists of the least significant 22 bits. . . 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 R T 0 0 0 0 0 0 0 0 0 0 0 p m m . . mm defines the SPI mode, defaults to 0 . . Mode CPOL CPHA 0 0 0 1 0 1 2 1 0 3 1 1 . . The following constants may be used to set the mode: . . pigpio.SPI_MODE_0 pigpio.SPI_MODE_1 pigpio.SPI_MODE_2 pigpio.SPI_MODE_3 . . Alternatively pigpio.SPI_CPOL and/or pigpio.SPI_CPHA may be used. p is 0 if CS is active low (default) and 1 for active high. pigpio.SPI_CS_HIGH_ACTIVE may be used to set this flag. T is 1 if the least significant bit is transmitted on MOSI first, the default (0) shifts the most significant bit out first. pigpio.SPI_TX_LSBFIRST may be used to set this flag. R is 1 if the least significant bit is received on MISO first, the default (0) receives the most significant bit first. pigpio.SPI_RX_LSBFIRST may be used to set this flag. The other bits in spiFlags should be set to zero. Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SPI_BAUD, or PI_GPIO_IN_USE. If more than one device is connected to the SPI bus (defined by SCLK, MOSI, and MISO) each must have its own CS. ... bb_spi_open(10, MISO, MOSI, SCLK, 10000, 0); // device 1 bb_spi_open(11, MISO, MOSI, SCLK, 20000, 3); // device 2 ... """ # I p1 CS # I p2 0 # I p3 20 ## extension ## # I MISO # I MOSI # I SCLK # I baud # I spi_flags extents = [struct.pack("IIIII", MISO, MOSI, SCLK, baud, spi_flags)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_BSPIO, CS, 0, 20, extents)) def bb_spi_close(self, CS): """ This function stops bit banging SPI on a set of GPIO opened with [*bb_spi_open*]. CS:= 0-31, the CS GPIO used in a prior call to [*bb_spi_open*] Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SPI_GPIO. ... pi.bb_spi_close(CS) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_BSPIC, CS, 0)) def bb_spi_xfer(self, CS, data): """ This function executes a bit banged SPI transfer. CS:= 0-31 (as used in a prior call to [*bb_spi_open*]) data:= data to be sent The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... #!/usr/bin/env python import pigpio CE0=5 CE1=6 MISO=13 MOSI=19 SCLK=12 pi = pigpio.pi() if not pi.connected: exit() pi.bb_spi_open(CE0, MISO, MOSI, SCLK, 10000, 0) # MCP4251 DAC pi.bb_spi_open(CE1, MISO, MOSI, SCLK, 20000, 3) # MCP3008 ADC for i in range(256): count, data = pi.bb_spi_xfer(CE0, [0, i]) # Set DAC value if count == 2: count, data = pi.bb_spi_xfer(CE0, [12, 0]) # Read back DAC if count == 2: set_val = data[1] count, data = pi.bb_spi_xfer(CE1, [1, 128, 0]) # Read ADC if count == 3: read_val = ((data[1]&3)<<8) | data[2] print("{} {}".format(set_val, read_val)) pi.bb_spi_close(CE0) pi.bb_spi_close(CE1) pi.stop() ... """ # I p1 CS # I p2 0 # I p3 len ## extension ## # s len data bytes bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_ext_nolock( self.sl, _PI_CMD_BSPIX, CS, 0, len(data), [data])) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def bb_i2c_open(self, SDA, SCL, baud=100000): """ This function selects a pair of GPIO for bit banging I2C at a specified baud rate. Bit banging I2C allows for certain operations which are not possible with the standard I2C driver. o baud rates as low as 50 o repeated starts o clock stretching o I2C on any pair of spare GPIO SDA:= 0-31 SCL:= 0-31 baud:= 50-500000 Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or PI_GPIO_IN_USE. NOTE: The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value. ... h = pi.bb_i2c_open(4, 5, 50000) # bit bang on GPIO 4/5 at 50kbps ... """ # I p1 SDA # I p2 SCL # I p3 4 ## extension ## # I baud extents = [struct.pack("I", baud)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_BI2CO, SDA, SCL, 4, extents)) def bb_i2c_close(self, SDA): """ This function stops bit banging I2C on a pair of GPIO previously opened with [*bb_i2c_open*]. SDA:= 0-31, the SDA GPIO used in a prior call to [*bb_i2c_open*] Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO. ... pi.bb_i2c_close(SDA) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_BI2CC, SDA, 0)) def bb_i2c_zip(self, SDA, data): """ This function executes a sequence of bit banged I2C operations. The operations to be performed are specified by the contents of data which contains the concatenated command codes and associated data. SDA:= 0-31 (as used in a prior call to [*bb_i2c_open*]) data:= the concatenated I2C commands, see below The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (count, data) = pi.bb_i2c_zip( SDA, [4, 0x53, 2, 7, 1, 0x32, 2, 6, 6, 3, 0]) ... The following command codes are supported: Name @ Cmd & Data @ Meaning End @ 0 @ No more commands Escape @ 1 @ Next P is two bytes Start @ 2 @ Start condition Stop @ 3 @ Stop condition Address @ 4 P @ Set I2C address to P Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) Read @ 6 P @ Read P bytes of data Write @ 7 P ... @ Write P bytes of data The address, read, and write commands take a parameter P. Normally P is one byte (0-255). If the command is preceded by the Escape command then P is two bytes (0-65535, least significant byte first). The address and flags default to 0. The address and flags maintain their previous value until updated. No flags are currently defined. Any read I2C data is concatenated in the returned bytearray. ... Set address 0x53 start, write 0x32, (re)start, read 6 bytes, stop Set address 0x1E start, write 0x03, (re)start, read 6 bytes, stop Set address 0x68 start, write 0x1B, (re)start, read 8 bytes, stop End 0x04 0x53 0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03 0x04 0x1E 0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03 0x04 0x68 0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03 0x00 ... """ # I p1 SDA # I p2 0 # I p3 len ## extension ## # s len data bytes bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_ext_nolock( self.sl, _PI_CMD_BI2CZ, SDA, 0, len(data), [data])) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def event_trigger(self, event): """ This function signals the occurrence of an event. event:= 0-31, the event Returns 0 if OK, otherwise PI_BAD_EVENT_ID. An event is a signal used to inform one or more consumers to start an action. Each consumer which has registered an interest in the event (e.g. by calling [*event_callback*]) will be informed by a callback. One event, EVENT_BSC (31) is predefined. This event is auto generated on BSC slave activity. The meaning of other events is arbitrary. Note that other than its id and its tick there is no data associated with an event. ... pi.event_trigger(23) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_EVT, event, 0)) def bsc_xfer(self, bsc_control, data): """ This function provides a low-level interface to the SPI/I2C Slave peripheral on the BCM chip. This peripheral allows the Pi to act as a hardware slave device on an I2C or SPI bus. This is not a bit bang version and as such is OS timing independent. The bus timing is handled directly by the chip. The output process is simple. You simply append data to the FIFO buffer on the chip. This works like a queue, you add data to the queue and the master removes it. I can't get SPI to work properly. I tried with a control word of 0x303 and swapped MISO and MOSI. The function sets the BSC mode, writes any data in the transmit buffer to the BSC transmit FIFO, and copies any data in the BSC receive FIFO to the receive buffer. bsc_control:= see below data:= the data bytes to place in the transmit FIFO. The returned value is a tuple of the status (see below), the number of bytes read, and a bytearray containing the read bytes. If there was an error the status will be less than zero (and will contain the error code). Note that the control word sets the BSC mode. The BSC will stay in that mode until a different control word is sent. GPIO used for models other than those based on the BCM2711. @ SDA @ SCL @ MOSI @ SCLK @ MISO @ CE I2C @ 18 @ 19 @ - @ - @ - @ - SPI @ - @ - @ 18 @ 19 @ 20 @ 21 GPIO used for models based on the BCM2711 (e.g. the Pi4B). @ SDA @ SCL @ MOSI @ SCLK @ MISO @ CE I2C @ 10 @ 11 @ - @ - @ - @ - SPI @ - @ - @ 10 @ 11 @ 9 @ 8 When a zero control word is received the used GPIO will be reset to INPUT mode. bsc_control consists of the following bits: . . 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 a a a a a a a - - IT HC TF IR RE TE BK EC ES PL PH I2 SP EN . . Bits 0-13 are copied unchanged to the BSC CR register. See pages 163-165 of the Broadcom peripherals document for full details. aaaaaaa @ defines the I2C slave address (only relevant in I2C mode) IT @ invert transmit status flags HC @ enable host control TF @ enable test FIFO IR @ invert receive status flags RE @ enable receive TE @ enable transmit BK @ abort operation and clear FIFOs EC @ send control register as first I2C byte ES @ send status register as first I2C byte PL @ set SPI polarity high PH @ set SPI phase high I2 @ enable I2C mode SP @ enable SPI mode EN @ enable BSC peripheral The status has the following format: . . 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 S S S S S R R R R R T T T T T RB TE RF TF RE TB . . Bits 0-15 are copied unchanged from the BSC FR register. See pages 165-166 of the Broadcom peripherals document for full details. SSSSS @ number of bytes successfully copied to transmit FIFO RRRRR @ number of bytes in receieve FIFO TTTTT @ number of bytes in transmit FIFO RB @ receive busy TE @ transmit FIFO empty RF @ receive FIFO full TF @ transmit FIFO full RE @ receive FIFO empty TB @ transmit busy ... (status, count, data) = pi.bsc_xfer(0x330305, "Hello!") ... """ # I p1 control # I p2 0 # I p3 len ## extension ## # s len data bytes status = PI_CMD_INTERRUPTED bytes = 0 rdata = bytearray(b'') with self.sl.l: bytes = u2i(_pigpio_command_ext_nolock( self.sl, _PI_CMD_BSCX, bsc_control, 0, len(data), [data])) if bytes > 0: rx = self._rxbuf(bytes) status = struct.unpack('I', rx[0:4])[0] bytes -= 4 rdata = rx[4:] else: status = bytes bytes = 0 return status, bytes, rdata def bsc_i2c(self, i2c_address, data=[]): """ This function allows the Pi to act as a slave I2C device. This function is not available on the BCM2711 (e.g. as used in the Pi4B). The data bytes (if any) are written to the BSC transmit FIFO and the bytes in the BSC receive FIFO are returned. i2c_address:= the I2C slave address. data:= the data bytes to transmit. The returned value is a tuple of the status, the number of bytes read, and a bytearray containing the read bytes. See [*bsc_xfer*] for details of the status value. If there was an error the status will be less than zero (and will contain the error code). Note that an i2c_address of 0 may be used to close the BSC device and reassign the used GPIO as inputs. This example assumes GPIO 2/3 are connected to GPIO 18/19 (GPIO 10/11 on the BCM2711). ... #!/usr/bin/env python import time import pigpio I2C_ADDR=0x13 def i2c(id, tick): global pi s, b, d = pi.bsc_i2c(I2C_ADDR) if b: if d[0] == ord('t'): # 116 send 'HH:MM:SS*' print("sent={} FR={} received={} [{}]". format(s>>16, s&0xfff,b,d)) s, b, d = pi.bsc_i2c(I2C_ADDR, "{}*".format(time.asctime()[11:19])) elif d[0] == ord('d'): # 100 send 'Sun Oct 30*' print("sent={} FR={} received={} [{}]". format(s>>16, s&0xfff,b,d)) s, b, d = pi.bsc_i2c(I2C_ADDR, "{}*".format(time.asctime()[:10])) pi = pigpio.pi() if not pi.connected: exit() # Respond to BSC slave activity e = pi.event_callback(pigpio.EVENT_BSC, i2c) pi.bsc_i2c(I2C_ADDR) # Configure BSC as I2C slave time.sleep(600) e.cancel() pi.bsc_i2c(0) # Disable BSC peripheral pi.stop() ... While running the above. . . $ i2cdetect -y 1 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- 13 -- -- -- -- -- -- -- -- -- -- -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 70: -- -- -- -- -- -- -- -- $ pigs i2co 1 0x13 0 0 $ pigs i2cwd 0 116 $ pigs i2crd 0 9 -a 9 10:13:58* $ pigs i2cwd 0 116 $ pigs i2crd 0 9 -a 9 10:14:29* $ pigs i2cwd 0 100 $ pigs i2crd 0 11 -a 11 Sun Oct 30* $ pigs i2cwd 0 100 $ pigs i2crd 0 11 -a 11 Sun Oct 30* $ pigs i2cwd 0 116 $ pigs i2crd 0 9 -a 9 10:23:16* $ pigs i2cwd 0 100 $ pigs i2crd 0 11 -a 11 Sun Oct 30* . . """ if i2c_address: control = (i2c_address<<16)|0x305 else: control = 0 return self.bsc_xfer(control, data) def spi_open(self, spi_channel, baud, spi_flags=0): """ Returns a handle for the SPI device on the channel. Data will be transferred at baud bits per second. The flags may be used to modify the default behaviour of 4-wire operation, mode 0, active low chip select. The Pi has two SPI peripherals: main and auxiliary. The main SPI has two chip selects (channels), the auxiliary has three. The auxiliary SPI is available on all models but the A and B. The GPIO used are given in the following table. @ MISO @ MOSI @ SCLK @ CE0 @ CE1 @ CE2 Main SPI @ 9 @ 10 @ 11 @ 8 @ 7 @ - Aux SPI @ 19 @ 20 @ 21 @ 18 @ 17 @ 16 spi_channel:= 0-1 (0-2 for the auxiliary SPI). baud:= 32K-125M (values above 30M are unlikely to work). spi_flags:= see below. spi_flags consists of the least significant 22 bits. . . 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m . . mm defines the SPI mode. WARNING: modes 1 and 3 do not appear to work on the auxiliary SPI. . . Mode POL PHA 0 0 0 1 0 1 2 1 0 3 1 1 . . px is 0 if CEx is active low (default) and 1 for active high. ux is 0 if the CEx GPIO is reserved for SPI (default) and 1 otherwise. A is 0 for the main SPI, 1 for the auxiliary SPI. W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Main SPI only. nnnn defines the number of bytes (0-15) to write before switching the MOSI line to MISO to read data. This field is ignored if W is not set. Main SPI only. T is 1 if the least significant bit is transmitted on MOSI first, the default (0) shifts the most significant bit out first. Auxiliary SPI only. R is 1 if the least significant bit is received on MISO first, the default (0) receives the most significant bit first. Auxiliary SPI only. bbbbbb defines the word size in bits (0-32). The default (0) sets 8 bits per word. Auxiliary SPI only. The [*spi_read*], [*spi_write*], and [*spi_xfer*] functions transfer data packed into 1, 2, or 4 bytes according to the word size in bits. For bits 1-8 there will be one byte per character. For bits 9-16 there will be two bytes per character. For bits 17-32 there will be four bytes per character. Multi-byte transfers are made in least significant byte first order. E.g. to transfer 32 11-bit words data should contain 64 bytes. E.g. to transfer the 14 bit value 0x1ABC send the bytes 0xBC followed by 0x1A. The other bits in flags should be set to zero. ... # open SPI device on channel 1 in mode 3 at 50000 bits per second h = pi.spi_open(1, 50000, 3) ... """ # I p1 spi_channel # I p2 baud # I p3 4 ## extension ## # I spi_flags extents = [struct.pack("I", spi_flags)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SPIO, spi_channel, baud, 4, extents)) def spi_close(self, handle): """ Closes the SPI device associated with handle. handle:= >=0 (as returned by a prior call to [*spi_open*]). ... pi.spi_close(h) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SPIC, handle, 0)) def spi_read(self, handle, count): """ Reads count bytes from the SPI device associated with handle. handle:= >=0 (as returned by a prior call to [*spi_open*]). count:= >0, the number of bytes to read. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.spi_read(h, 60) # read 60 bytes from device h if b == 60: # process read data else: # error path ... """ bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_nolock( self.sl, _PI_CMD_SPIR, handle, count)) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def spi_write(self, handle, data): """ Writes the data bytes to the SPI device associated with handle. handle:= >=0 (as returned by a prior call to [*spi_open*]). data:= the bytes to write. ... pi.spi_write(0, b'\\x02\\xc0\\x80') # write 3 bytes to device 0 pi.spi_write(0, b'defgh') # write 5 bytes to device 0 pi.spi_write(0, "def") # write 3 bytes to device 0 pi.spi_write(1, [2, 192, 128]) # write 3 bytes to device 1 ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SPIW, handle, 0, len(data), [data])) def spi_xfer(self, handle, data): """ Writes the data bytes to the SPI device associated with handle, returning the data bytes read from the device. handle:= >=0 (as returned by a prior call to [*spi_open*]). data:= the bytes to write. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (count, rx_data) = pi.spi_xfer(h, b'\\x01\\x80\\x00') (count, rx_data) = pi.spi_xfer(h, [1, 128, 0]) (count, rx_data) = pi.spi_xfer(h, b"hello") (count, rx_data) = pi.spi_xfer(h, "hello") ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_ext_nolock( self.sl, _PI_CMD_SPIX, handle, 0, len(data), [data])) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def serial_open(self, tty, baud, ser_flags=0): """ Returns a handle for the serial tty device opened at baud bits per second. The device name must start with /dev/tty or /dev/serial. tty:= the serial device to open. baud:= baud rate in bits per second, see below. ser_flags:= 0, no flags are currently defined. Normally you would only use the [*serial_**] functions if you are or will be connecting to the Pi over a network. If you will always run on the local Pi use the standard serial module instead. The baud rate must be one of 50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, 38400, 57600, 115200, or 230400. ... h1 = pi.serial_open("/dev/ttyAMA0", 300) h2 = pi.serial_open("/dev/ttyUSB1", 19200, 0) h3 = pi.serial_open("/dev/serial0", 9600) ... """ # I p1 baud # I p2 ser_flags # I p3 len ## extension ## # s len data bytes return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SERO, baud, ser_flags, len(tty), [tty])) def serial_close(self, handle): """ Closes the serial device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). ... pi.serial_close(h1) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SERC, handle, 0)) def serial_read_byte(self, handle): """ Returns a single byte from the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). If no data is ready a negative error code will be returned. ... b = pi.serial_read_byte(h1) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SERRB, handle, 0)) def serial_write_byte(self, handle, byte_val): """ Writes a single byte to the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). byte_val:= 0-255, the value to write. ... pi.serial_write_byte(h1, 23) pi.serial_write_byte(h1, ord('Z')) ... """ return _u2i( _pigpio_command(self.sl, _PI_CMD_SERWB, handle, byte_val)) def serial_read(self, handle, count=1000): """ Reads up to count bytes from the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). count:= >0, the number of bytes to read (defaults to 1000). The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). If no data is ready a bytes read of zero is returned. ... (b, d) = pi.serial_read(h2, 100) if b > 0: # process read data ... """ bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i( _pigpio_command_nolock(self.sl, _PI_CMD_SERR, handle, count)) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def serial_write(self, handle, data): """ Writes the data bytes to the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). data:= the bytes to write. ... pi.serial_write(h1, b'\\x02\\x03\\x04') pi.serial_write(h2, b'help') pi.serial_write(h2, "hello") pi.serial_write(h1, [2, 3, 4]) ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SERW, handle, 0, len(data), [data])) def serial_data_available(self, handle): """ Returns the number of bytes available to be read from the device associated with handle. handle:= >=0 (as returned by a prior call to [*serial_open*]). ... rdy = pi.serial_data_available(h1) if rdy > 0: (b, d) = pi.serial_read(h1, rdy) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SERDA, handle, 0)) def gpio_trigger(self, user_gpio, pulse_len=10, level=1): """ Send a trigger pulse to a GPIO. The GPIO is set to level for pulse_len microseconds and then reset to not level. user_gpio:= 0-31 pulse_len:= 1-100 level:= 0-1 ... pi.gpio_trigger(23, 10, 1) ... """ # pigpio message format # I p1 user_gpio # I p2 pulse_len # I p3 4 ## extension ## # I level extents = [struct.pack("I", level)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_TRIG, user_gpio, pulse_len, 4, extents)) def set_glitch_filter(self, user_gpio, steady): """ Sets a glitch filter on a GPIO. Level changes on the GPIO are not reported unless the level has been stable for at least [*steady*] microseconds. The level is then reported. Level changes of less than [*steady*] microseconds are ignored. user_gpio:= 0-31 steady:= 0-300000 Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. This filter affects the GPIO samples returned to callbacks set up with [*callback*] and [*wait_for_edge*]. It does not affect levels read by [*read*], [*read_bank_1*], or [*read_bank_2*]. Each (stable) edge will be timestamped [*steady*] microseconds after it was first detected. ... pi.set_glitch_filter(23, 100) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_FG, user_gpio, steady)) def set_noise_filter(self, user_gpio, steady, active): """ Sets a noise filter on a GPIO. Level changes on the GPIO are ignored until a level which has been stable for [*steady*] microseconds is detected. Level changes on the GPIO are then reported for [*active*] microseconds after which the process repeats. user_gpio:= 0-31 steady:= 0-300000 active:= 0-1000000 Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. This filter affects the GPIO samples returned to callbacks set up with [*callback*] and [*wait_for_edge*]. It does not affect levels read by [*read*], [*read_bank_1*], or [*read_bank_2*]. Level changes before and after the active period may be reported. Your software must be designed to cope with such reports. ... pi.set_noise_filter(23, 1000, 5000) ... """ # pigpio message format # I p1 user_gpio # I p2 steady # I p3 4 ## extension ## # I active extents = [struct.pack("I", active)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_FN, user_gpio, steady, 4, extents)) def store_script(self, script): """ Store a script for later execution. See [[http://abyz.me.uk/rpi/pigpio/pigs.html#Scripts]] for details. script:= the script text as a series of bytes. Returns a >=0 script id if OK. ... sid = pi.store_script( b'tag 0 w 22 1 mils 100 w 22 0 mils 100 dcr p0 jp 0') ... """ # I p1 0 # I p2 0 # I p3 len ## extension ## # s len data bytes if len(script): return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_PROC, 0, 0, len(script), [script])) else: return 0 def run_script(self, script_id, params=None): """ Runs a stored script. script_id:= id of stored script. params:= up to 10 parameters required by the script. ... s = pi.run_script(sid, [par1, par2]) s = pi.run_script(sid) s = pi.run_script(sid, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]) ... """ # I p1 script id # I p2 0 # I p3 params * 4 (0-10 params) ## (optional) extension ## # I[] params if params is not None: ext = bytearray() for p in params: ext.extend(struct.pack("I", p)) nump = len(params) extents = [ext] else: nump = 0 extents = [] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_PROCR, script_id, 0, nump*4, extents)) def update_script(self, script_id, params=None): """ Sets the parameters of a script. The script may or may not be running. The first parameters of the script are overwritten with the new values. script_id:= id of stored script. params:= up to 10 parameters required by the script. ... s = pi.update_script(sid, [par1, par2]) s = pi.update_script(sid, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]) ... """ # I p1 script id # I p2 0 # I p3 params * 4 (0-10 params) ## (optional) extension ## # I[] params if params is not None: ext = bytearray() for p in params: ext.extend(struct.pack("I", p)) nump = len(params) extents = [ext] else: nump = 0 extents = [] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_PROCU, script_id, 0, nump*4, extents)) def script_status(self, script_id): """ Returns the run status of a stored script as well as the current values of parameters 0 to 9. script_id:= id of stored script. The run status may be . . PI_SCRIPT_INITING PI_SCRIPT_HALTED PI_SCRIPT_RUNNING PI_SCRIPT_WAITING PI_SCRIPT_FAILED . . The return value is a tuple of run status and a list of the 10 parameters. On error the run status will be negative and the parameter list will be empty. ... (s, pars) = pi.script_status(sid) ... """ status = PI_CMD_INTERRUPTED params = () with self.sl.l: bytes = u2i( _pigpio_command_nolock(self.sl, _PI_CMD_PROCP, script_id, 0)) if bytes > 0: data = self._rxbuf(bytes) pars = struct.unpack('11i', _str(data)) status = pars[0] params = pars[1:] else: status = bytes return status, params def stop_script(self, script_id): """ Stops a running script. script_id:= id of stored script. ... status = pi.stop_script(sid) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PROCS, script_id, 0)) def delete_script(self, script_id): """ Deletes a stored script. script_id:= id of stored script. ... status = pi.delete_script(sid) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PROCD, script_id, 0)) def bb_serial_read_open(self, user_gpio, baud, bb_bits=8): """ Opens a GPIO for bit bang reading of serial data. user_gpio:= 0-31, the GPIO to use. baud:= 50-250000, the baud rate. bb_bits:= 1-32, the number of bits per word, default 8. The serial data is held in a cyclic buffer and is read using [*bb_serial_read*]. It is the caller's responsibility to read data from the cyclic buffer in a timely fashion. ... status = pi.bb_serial_read_open(4, 19200) status = pi.bb_serial_read_open(17, 9600) ... """ # pigpio message format # I p1 user_gpio # I p2 baud # I p3 4 ## extension ## # I bb_bits extents = [struct.pack("I", bb_bits)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SLRO, user_gpio, baud, 4, extents)) def bb_serial_read(self, user_gpio): """ Returns data from the bit bang serial cyclic buffer. user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*]) The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). The bytes returned for each character depend upon the number of data bits [*bb_bits*] specified in the [*bb_serial_read_open*] command. For [*bb_bits*] 1-8 there will be one byte per character. For [*bb_bits*] 9-16 there will be two bytes per character. For [*bb_bits*] 17-32 there will be four bytes per character. ... (count, data) = pi.bb_serial_read(4) ... """ bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i( _pigpio_command_nolock(self.sl, _PI_CMD_SLR, user_gpio, 10000)) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def bb_serial_read_close(self, user_gpio): """ Closes a GPIO for bit bang reading of serial data. user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*]) ... status = pi.bb_serial_read_close(17) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SLRC, user_gpio, 0)) def bb_serial_invert(self, user_gpio, invert): """ Invert serial logic. user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*]) invert:= 0-1 (1 invert, 0 normal) ... status = pi.bb_serial_invert(17, 1) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_SLRI, user_gpio, invert)) def custom_1(self, arg1=0, arg2=0, argx=[]): """ Calls a pigpio function customised by the user. arg1:= >=0, default 0. arg2:= >=0, default 0. argx:= extra arguments (each 0-255), default empty. The returned value is an integer which by convention should be >=0 for OK and <0 for error. ... value = pi.custom_1() value = pi.custom_1(23) value = pi.custom_1(0, 55) value = pi.custom_1(23, 56, [1, 5, 7]) value = pi.custom_1(23, 56, b"hello") value = pi.custom_1(23, 56, "hello") ... """ # I p1 arg1 # I p2 arg2 # I p3 len ## extension ## # s len argx bytes return u2i(_pigpio_command_ext( self.sl, _PI_CMD_CF1, arg1, arg2, len(argx), [argx])) def custom_2(self, arg1=0, argx=[], retMax=8192): """ Calls a pigpio function customised by the user. arg1:= >=0, default 0. argx:= extra arguments (each 0-255), default empty. retMax:= >=0, maximum number of bytes to return, default 8192. The returned value is a tuple of the number of bytes returned and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (count, data) = pi.custom_2() (count, data) = pi.custom_2(23) (count, data) = pi.custom_2(23, [1, 5, 7]) (count, data) = pi.custom_2(23, b"hello") (count, data) = pi.custom_2(23, "hello", 128) ... """ # I p1 arg1 # I p2 retMax # I p3 len ## extension ## # s len argx bytes bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_ext_nolock( self.sl, _PI_CMD_CF2, arg1, retMax, len(argx), [argx])) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def get_pad_strength(self, pad): """ This function returns the pad drive strength in mA. pad:= 0-2, the pad to get. Returns the pad drive strength if OK, otherwise PI_BAD_PAD. Pad @ GPIO 0 @ 0-27 1 @ 28-45 2 @ 46-53 ... strength = pi.get_pad_strength(0) # Get pad 0 strength. ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PADG, pad, 0)) def set_pad_strength(self, pad, pad_strength): """ This function sets the pad drive strength in mA. pad:= 0-2, the pad to set. pad_strength:= 1-16 mA. Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH. Pad @ GPIO 0 @ 0-27 1 @ 28-45 2 @ 46-53 ... pi.set_pad_strength(2, 14) # Set pad 2 to 14 mA. ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_PADS, pad, pad_strength)) def file_open(self, file_name, file_mode): """ This function returns a handle to a file opened in a specified mode. file_name:= the file to open. file_mode:= the file open mode. Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, PI_NO_FILE_ACCESS, PI_BAD_FILE_MODE, PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR. ... h = pi.file_open("/home/pi/shared/dir_3/file.txt", pigpio.FILE_WRITE | pigpio.FILE_CREATE) pi.file_write(h, "Hello world") pi.file_close(h) ... File A file may only be opened if permission is granted by an entry in /opt/pigpio/access. This is intended to allow remote access to files in a more or less controlled manner. Each entry in /opt/pigpio/access takes the form of a file path which may contain wildcards followed by a single letter permission. The permission may be R for read, W for write, U for read/write, and N for no access. Where more than one entry matches a file the most specific rule applies. If no entry matches a file then access is denied. Suppose /opt/pigpio/access contains the following entries: . . /home/* n /home/pi/shared/dir_1/* w /home/pi/shared/dir_2/* r /home/pi/shared/dir_3/* u /home/pi/shared/dir_1/file.txt n . . Files may be written in directory dir_1 with the exception of file.txt. Files may be read in directory dir_2. Files may be read and written in directory dir_3. If a directory allows read, write, or read/write access then files may be created in that directory. In an attempt to prevent risky permissions the following paths are ignored in /opt/pigpio/access: . . a path containing .. a path containing only wildcards (*?) a path containing less than two non-wildcard parts . . Mode The mode may have the following values: Constant @ Value @ Meaning FILE_READ @ 1 @ open file for reading FILE_WRITE @ 2 @ open file for writing FILE_RW @ 3 @ open file for reading and writing The following values may be or'd into the mode: Name @ Value @ Meaning FILE_APPEND @ 4 @ All writes append data to the end of the file FILE_CREATE @ 8 @ The file is created if it doesn't exist FILE_TRUNC @ 16 @ The file is truncated Newly created files are owned by root with permissions owner read and write. ... #!/usr/bin/env python import pigpio pi = pigpio.pi() if not pi.connected: exit() # Assumes /opt/pigpio/access contains the following line: # /ram/*.c r handle = pi.file_open("/ram/pigpio.c", pigpio.FILE_READ) done = False while not done: c, d = pi.file_read(handle, 60000) if c > 0: print(d) else: done = True pi.file_close(handle) pi.stop() ... """ # I p1 file_mode # I p2 0 # I p3 len ## extension ## # s len data bytes return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_FO, file_mode, 0, len(file_name), [file_name])) def file_close(self, handle): """ Closes the file associated with handle. handle:= >=0 (as returned by a prior call to [*file_open*]). ... pi.file_close(handle) ... """ return _u2i(_pigpio_command(self.sl, _PI_CMD_FC, handle, 0)) def file_read(self, handle, count): """ Reads up to count bytes from the file associated with handle. handle:= >=0 (as returned by a prior call to [*file_open*]). count:= >0, the number of bytes to read. The returned value is a tuple of the number of bytes read and a bytearray containing the bytes. If there was an error the number of bytes read will be less than zero (and will contain the error code). ... (b, d) = pi.file_read(h2, 100) if b > 0: # process read data ... """ bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i( _pigpio_command_nolock(self.sl, _PI_CMD_FR, handle, count)) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def file_write(self, handle, data): """ Writes the data bytes to the file associated with handle. handle:= >=0 (as returned by a prior call to [*file_open*]). data:= the bytes to write. ... pi.file_write(h1, b'\\x02\\x03\\x04') pi.file_write(h2, b'help') pi.file_write(h2, "hello") pi.file_write(h1, [2, 3, 4]) ... """ # I p1 handle # I p2 0 # I p3 len ## extension ## # s len data bytes return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_FW, handle, 0, len(data), [data])) def file_seek(self, handle, seek_offset, seek_from): """ Seeks to a position relative to the start, current position, or end of the file. Returns the new position. handle:= >=0 (as returned by a prior call to [*file_open*]). seek_offset:= byte offset. seek_from:= FROM_START, FROM_CURRENT, or FROM_END. ... new_pos = pi.file_seek(h, 100, pigpio.FROM_START) cur_pos = pi.file_seek(h, 0, pigpio.FROM_CURRENT) file_size = pi.file_seek(h, 0, pigpio.FROM_END) ... """ # I p1 handle # I p2 seek_offset # I p3 4 ## extension ## # I seek_from extents = [struct.pack("I", seek_from)] return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_FS, handle, seek_offset, 4, extents)) def file_list(self, fpattern): """ Returns a list of files which match a pattern. fpattern:= file pattern to match. Returns the number of returned bytes if OK, otherwise PI_NO_FILE_ACCESS, or PI_NO_FILE_MATCH. The pattern must match an entry in /opt/pigpio/access. The pattern may contain wildcards. See [*file_open*]. NOTE The returned value is not the number of files, it is the number of bytes in the buffer. The file names are separated by newline characters. ... #!/usr/bin/env python import pigpio pi = pigpio.pi() if not pi.connected: exit() # Assumes /opt/pigpio/access contains the following line: # /ram/*.c r c, d = pi.file_list("/ram/p*.c") if c > 0: print(d) pi.stop() ... """ # I p1 60000 # I p2 0 # I p3 len ## extension ## # s len data bytes bytes = PI_CMD_INTERRUPTED rdata = "" with self.sl.l: bytes = u2i(_pigpio_command_ext_nolock( self.sl, _PI_CMD_FL, 60000, 0, len(fpattern), [fpattern])) if bytes > 0: rdata = self._rxbuf(bytes) return bytes, rdata def shell(self, shellscr, pstring=""): """ This function uses the system call to execute a shell script with the given string as its parameter. shellscr:= the name of the script, only alphanumerics, '-' and '_' are allowed in the name pstring := the parameter string to pass to the script The exit status of the system call is returned if OK, otherwise PI_BAD_SHELL_STATUS. [*shellscr*] must exist in /opt/pigpio/cgi and must be executable. The returned exit status is normally 256 times that set by the shell script exit function. If the script can't be found 32512 will be returned. The following table gives some example returned statuses: Script exit status @ Returned system call status 1 @ 256 5 @ 1280 10 @ 2560 200 @ 51200 script not found @ 32512 ... // pass two parameters, hello and world status = pi.shell("scr1", "hello world"); // pass three parameters, hello, string with spaces, and world status = pi.shell("scr1", "hello 'string with spaces' world"); // pass one parameter, hello string with spaces world status = pi.shell("scr1", "\\"hello string with spaces world\\""); ... """ # I p1 len(shellscr) # I p2 0 # I p3 len(shellscr)+len(pstring)+1 ## extension ## # s len data bytes ls = len(shellscr) lp = len(pstring) return _u2i(_pigpio_command_ext( self.sl, _PI_CMD_SHELL, ls, 0, ls+lp+1, [shellscr+'\x00'+pstring])) def callback(self, user_gpio, edge=RISING_EDGE, func=None): """ Calls a user supplied function (a callback) whenever the specified GPIO edge is detected. user_gpio:= 0-31. edge:= EITHER_EDGE, RISING_EDGE (default), or FALLING_EDGE. func:= user supplied callback function. The user supplied callback receives three parameters, the GPIO, the level, and the tick. . . Parameter Value Meaning GPIO 0-31 The GPIO which has changed state level 0-2 0 = change to low (a falling edge) 1 = change to high (a rising edge) 2 = no level change (a watchdog timeout) tick 32 bit The number of microseconds since boot WARNING: this wraps around from 4294967295 to 0 roughly every 72 minutes . . If a user callback is not specified a default tally callback is provided which simply counts edges. The count may be retrieved by calling the tally function. The count may be reset to zero by calling the reset_tally function. The callback may be cancelled by calling the cancel function. A GPIO may have multiple callbacks (although I can't think of a reason to do so). The GPIO are sampled at a rate set when the pigpio daemon is started (default 5 us). The number of samples per second is given in the following table. . . samples per sec 1 1,000,000 2 500,000 sample 4 250,000 rate 5 200,000 (us) 8 125,000 10 100,000 . . GPIO level changes shorter than the sample rate may be missed. The daemon software which generates the callbacks is triggered 1000 times per second. The callbacks will be called once per level change since the last time they were called. i.e. The callbacks will get all level changes but there will be a latency. If you want to track the level of more than one GPIO do so by maintaining the state in the callback. Do not use [*read*]. Remember the event that triggered the callback may have happened several milliseconds before and the GPIO may have changed level many times since then. ... def cbf(gpio, level, tick): print(gpio, level, tick) cb1 = pi.callback(22, pigpio.EITHER_EDGE, cbf) cb2 = pi.callback(4, pigpio.EITHER_EDGE) cb3 = pi.callback(17) print(cb3.tally()) cb3.reset_tally() cb1.cancel() # To cancel callback cb1. ... """ return _callback(self._notify, user_gpio, edge, func) def event_callback(self, event, func=None): """ Calls a user supplied function (a callback) whenever the specified event is signalled. event:= 0-31. func:= user supplied callback function. The user supplied callback receives two parameters, the event id, and the tick. If a user callback is not specified a default tally callback is provided which simply counts events. The count may be retrieved by calling the tally function. The count may be reset to zero by calling the reset_tally function. The callback may be canceled by calling the cancel function. An event may have multiple callbacks (although I can't think of a reason to do so). ... def cbf(event, tick): print(event, tick) cb1 = pi.event_callback(22, cbf) cb2 = pi.event_callback(4) print(cb2.tally()) cb2.reset_tally() cb1.cancel() # To cancel callback cb1. ... """ return _event(self._notify, event, func) def wait_for_edge(self, user_gpio, edge=RISING_EDGE, wait_timeout=60.0): """ Wait for an edge event on a GPIO. user_gpio:= 0-31. edge:= EITHER_EDGE, RISING_EDGE (default), or FALLING_EDGE. wait_timeout:= >=0.0 (default 60.0). The function returns when the edge is detected or after the number of seconds specified by timeout has expired. Do not use this function for precise timing purposes, the edge is only checked 20 times a second. Whenever you need to know the accurate time of GPIO events use a [*callback*] function. The function returns True if the edge is detected, otherwise False. ... if pi.wait_for_edge(23): print("Rising edge detected") else: print("wait for edge timed out") if pi.wait_for_edge(23, pigpio.FALLING_EDGE, 5.0): print("Falling edge detected") else: print("wait for falling edge timed out") ... """ a = _wait_for_edge(self._notify, user_gpio, edge, wait_timeout) return a.trigger def wait_for_event(self, event, wait_timeout=60.0): """ Wait for an event. event:= 0-31. wait_timeout:= >=0.0 (default 60.0). The function returns when the event is signalled or after the number of seconds specified by timeout has expired. The function returns True if the event is detected, otherwise False. ... if pi.wait_for_event(23): print("event detected") else: print("wait for event timed out") ... """ a = _wait_for_event(self._notify, event, wait_timeout) return a.trigger def __init__(self, host = os.getenv("PIGPIO_ADDR", 'localhost'), port = os.getenv("PIGPIO_PORT", 8888), show_errors = True): """ Grants access to a Pi's GPIO. host:= the host name of the Pi on which the pigpio daemon is running. The default is localhost unless overridden by the PIGPIO_ADDR environment variable. port:= the port number on which the pigpio daemon is listening. The default is 8888 unless overridden by the PIGPIO_PORT environment variable. The pigpio daemon must have been started with the same port number. This connects to the pigpio daemon and reserves resources to be used for sending commands and receiving notifications. An instance attribute [*connected*] may be used to check the success of the connection. If the connection is established successfully [*connected*] will be True, otherwise False. ... pi = pigio.pi() # use defaults pi = pigpio.pi('mypi') # specify host, default port pi = pigpio.pi('mypi', 7777) # specify host and port pi = pigpio.pi() # exit script if no connection if not pi.connected: exit() ... """ self.connected = True self.sl = _socklock() self._notify = None port = int(port) if host == '': host = "localhost" self._host = host self._port = port try: self.sl.s = socket.create_connection((host, port), None) # Disable the Nagle algorithm. self.sl.s.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) self._notify = _callback_thread(self.sl, host, port) except socket.error: exception = 1 except struct.error: exception = 2 except error: # assumed to be no handle available exception = 3 else: exception = 0 atexit.register(self.stop) if exception != 0: self.connected = False if self.sl.s is not None: self.sl.s = None if show_errors: s = "Can't connect to pigpio at {}({})".format(host, str(port)) print(_except_a.format(s)) if exception == 1: print(_except_1) elif exception == 2: print(_except_2) else: print(_except_3) print(_except_z) def __repr__(self): return "".format(self._host, self._port) def stop(self): """Release pigpio resources. ... pi.stop() ... """ self.connected = False if self._notify is not None: self._notify.stop() self._notify = None if self.sl.s is not None: self.sl.s.close() self.sl.s = None def xref(): """ active: 0-1000000 The number of microseconds level changes are reported for once a noise filter has been triggered (by [*steady*] microseconds of a stable level). arg1: An unsigned argument passed to a user customised function. Its meaning is defined by the customiser. arg2: An unsigned argument passed to a user customised function. Its meaning is defined by the customiser. argx: An array of bytes passed to a user customised function. Its meaning and content is defined by the customiser. baud: The speed of serial communication (I2C, SPI, serial link, waves) in bits per second. bb_bits: 1-32 The number of data bits to be used when adding serial data to a waveform. bb_stop: 2-8 The number of (half) stop bits to be used when adding serial data to a waveform. bit: 0-1 A value of 0 or 1. bits: 32 bit number A mask used to select GPIO to be operated on. If bit n is set then GPIO n is selected. A convenient way of setting bit n is to bit or in the value (1<=1 The length of a pulse in microseconds. dutycycle: 0-range_ A number between 0 and range_. The dutycycle sets the proportion of time on versus time off during each PWM cycle. Dutycycle @ On time 0 @ Off range_ * 0.25 @ 25% On range_ * 0.50 @ 50% On range_ * 0.75 @ 75% On range_ @ Fully On edge: 0-2 . . EITHER_EDGE = 2 FALLING_EDGE = 1 RISING_EDGE = 0 . . errnum: <0 . . PI_BAD_USER_GPIO = -2 PI_BAD_GPIO = -3 PI_BAD_MODE = -4 PI_BAD_LEVEL = -5 PI_BAD_PUD = -6 PI_BAD_PULSEWIDTH = -7 PI_BAD_DUTYCYCLE = -8 PI_BAD_WDOG_TIMEOUT = -15 PI_BAD_DUTYRANGE = -21 PI_NO_HANDLE = -24 PI_BAD_HANDLE = -25 PI_BAD_WAVE_BAUD = -35 PI_TOO_MANY_PULSES = -36 PI_TOO_MANY_CHARS = -37 PI_NOT_SERIAL_GPIO = -38 PI_NOT_PERMITTED = -41 PI_SOME_PERMITTED = -42 PI_BAD_WVSC_COMMND = -43 PI_BAD_WVSM_COMMND = -44 PI_BAD_WVSP_COMMND = -45 PI_BAD_PULSELEN = -46 PI_BAD_SCRIPT = -47 PI_BAD_SCRIPT_ID = -48 PI_BAD_SER_OFFSET = -49 PI_GPIO_IN_USE = -50 PI_BAD_SERIAL_COUNT = -51 PI_BAD_PARAM_NUM = -52 PI_DUP_TAG = -53 PI_TOO_MANY_TAGS = -54 PI_BAD_SCRIPT_CMD = -55 PI_BAD_VAR_NUM = -56 PI_NO_SCRIPT_ROOM = -57 PI_NO_MEMORY = -58 PI_SOCK_READ_FAILED = -59 PI_SOCK_WRIT_FAILED = -60 PI_TOO_MANY_PARAM = -61 PI_SCRIPT_NOT_READY = -62 PI_BAD_TAG = -63 PI_BAD_MICS_DELAY = -64 PI_BAD_MILS_DELAY = -65 PI_BAD_WAVE_ID = -66 PI_TOO_MANY_CBS = -67 PI_TOO_MANY_OOL = -68 PI_EMPTY_WAVEFORM = -69 PI_NO_WAVEFORM_ID = -70 PI_I2C_OPEN_FAILED = -71 PI_SER_OPEN_FAILED = -72 PI_SPI_OPEN_FAILED = -73 PI_BAD_I2C_BUS = -74 PI_BAD_I2C_ADDR = -75 PI_BAD_SPI_CHANNEL = -76 PI_BAD_FLAGS = -77 PI_BAD_SPI_SPEED = -78 PI_BAD_SER_DEVICE = -79 PI_BAD_SER_SPEED = -80 PI_BAD_PARAM = -81 PI_I2C_WRITE_FAILED = -82 PI_I2C_READ_FAILED = -83 PI_BAD_SPI_COUNT = -84 PI_SER_WRITE_FAILED = -85 PI_SER_READ_FAILED = -86 PI_SER_READ_NO_DATA = -87 PI_UNKNOWN_COMMAND = -88 PI_SPI_XFER_FAILED = -89 PI_NO_AUX_SPI = -91 PI_NOT_PWM_GPIO = -92 PI_NOT_SERVO_GPIO = -93 PI_NOT_HCLK_GPIO = -94 PI_NOT_HPWM_GPIO = -95 PI_BAD_HPWM_FREQ = -96 PI_BAD_HPWM_DUTY = -97 PI_BAD_HCLK_FREQ = -98 PI_BAD_HCLK_PASS = -99 PI_HPWM_ILLEGAL = -100 PI_BAD_DATABITS = -101 PI_BAD_STOPBITS = -102 PI_MSG_TOOBIG = -103 PI_BAD_MALLOC_MODE = -104 PI_BAD_SMBUS_CMD = -107 PI_NOT_I2C_GPIO = -108 PI_BAD_I2C_WLEN = -109 PI_BAD_I2C_RLEN = -110 PI_BAD_I2C_CMD = -111 PI_BAD_I2C_BAUD = -112 PI_CHAIN_LOOP_CNT = -113 PI_BAD_CHAIN_LOOP = -114 PI_CHAIN_COUNTER = -115 PI_BAD_CHAIN_CMD = -116 PI_BAD_CHAIN_DELAY = -117 PI_CHAIN_NESTING = -118 PI_CHAIN_TOO_BIG = -119 PI_DEPRECATED = -120 PI_BAD_SER_INVERT = -121 PI_BAD_FOREVER = -124 PI_BAD_FILTER = -125 PI_BAD_PAD = -126 PI_BAD_STRENGTH = -127 PI_FIL_OPEN_FAILED = -128 PI_BAD_FILE_MODE = -129 PI_BAD_FILE_FLAG = -130 PI_BAD_FILE_READ = -131 PI_BAD_FILE_WRITE = -132 PI_FILE_NOT_ROPEN = -133 PI_FILE_NOT_WOPEN = -134 PI_BAD_FILE_SEEK = -135 PI_NO_FILE_MATCH = -136 PI_NO_FILE_ACCESS = -137 PI_FILE_IS_A_DIR = -138 PI_BAD_SHELL_STATUS = -139 PI_BAD_SCRIPT_NAME = -140 PI_BAD_SPI_BAUD = -141 PI_NOT_SPI_GPIO = -142 PI_BAD_EVENT_ID = -143 PI_CMD_INTERRUPTED = -144 PI_NOT_ON_BCM2711 = -145 PI_ONLY_ON_BCM2711 = -146 . . event:0-31 An event is a signal used to inform one or more consumers to start an action. file_mode: The mode may have the following values . . FILE_READ 1 FILE_WRITE 2 FILE_RW 3 . . The following values can be or'd into the file open mode . . FILE_APPEND 4 FILE_CREATE 8 FILE_TRUNC 16 . . file_name: A full file path. To be accessible the path must match an entry in /opt/pigpio/access. fpattern: A file path which may contain wildcards. To be accessible the path must match an entry in /opt/pigpio/access. frequency: 0-40000 Defines the frequency to be used for PWM on a GPIO. The closest permitted frequency will be used. func: A user supplied callback function. gpio: 0-53 A Broadcom numbered GPIO. All the user GPIO are in the range 0-31. There are 54 General Purpose Input Outputs (GPIO) named GPIO0 through GPIO53. They are split into two banks. Bank 1 consists of GPIO0 through GPIO31. Bank 2 consists of GPIO32 through GPIO53. All the GPIO which are safe for the user to read and write are in bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26. See [*get_hardware_revision*]. The user GPIO are marked with an X in the following table . . 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Type 1 X X - - X - - X X X X X - - X X Type 2 - - X X X - - X X X X X - - X X Type 3 X X X X X X X X X X X X X X 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Type 1 - X X - - X X X X X - - - - - - Type 2 - X X - - - X X X X - X X X X X Type 3 X X X X X X X X X X X X - - - - . . gpio_off: A mask used to select GPIO to be operated on. See [*bits*]. This mask selects the GPIO to be switched off at the start of a pulse. gpio_on: A mask used to select GPIO to be operated on. See [*bits*]. This mask selects the GPIO to be switched on at the start of a pulse. handle: >=0 A number referencing an object opened by one of the following [*file_open*] [*i2c_open*] [*notify_open*] [*serial_open*] [*spi_open*] host: The name or IP address of the Pi running the pigpio daemon. i2c_address: 0-0x7F The address of a device on the I2C bus. i2c_bus: >=0 An I2C bus number. i2c_flags: 0 No I2C flags are currently defined. invert: 0-1 A flag used to set normal or inverted bit bang serial data level logic. level: 0-1 (2) . . CLEAR = 0 HIGH = 1 LOW = 0 OFF = 0 ON = 1 SET = 1 TIMEOUT = 2 # only returned for a watchdog timeout . . MISO: The GPIO used for the MISO signal when bit banging SPI. mode: 1.The operational mode of a GPIO, normally INPUT or OUTPUT. . . ALT0 = 4 ALT1 = 5 ALT2 = 6 ALT3 = 7 ALT4 = 3 ALT5 = 2 INPUT = 0 OUTPUT = 1 . . 2. The mode of waveform transmission. . . WAVE_MODE_ONE_SHOT = 0 WAVE_MODE_REPEAT = 1 WAVE_MODE_ONE_SHOT_SYNC = 2 WAVE_MODE_REPEAT_SYNC = 3 . . MOSI: The GPIO used for the MOSI signal when bit banging SPI. offset: >=0 The offset wave data starts from the beginning of the waveform being currently defined. pad: 0-2 A set of GPIO which share common drivers. Pad @ GPIO 0 @ 0-27 1 @ 28-45 2 @ 46-53 pad_strength: 1-16 The mA which may be drawn from each GPIO whilst still guaranteeing the high and low levels. params: 32 bit number When scripts are started they can receive up to 10 parameters to define their operation. percent:: 0-100 The size of waveform as percentage of maximum available. port: The port used by the pigpio daemon, defaults to 8888. pstring: The string to be passed to a [*shell*] script to be executed. pud: 0-2 . . PUD_DOWN = 1 PUD_OFF = 0 PUD_UP = 2 . . pulse_len: 1-100 The length of the trigger pulse in microseconds. pulses: A list of class pulse objects defining the characteristics of a waveform. pulsewidth: The servo pulsewidth in microseconds. 0 switches pulses off. PWMduty: 0-1000000 (1M) The hardware PWM dutycycle. PWMfreq: 1-125M (1-187.5M for the BCM2711) The hardware PWM frequency. range_: 25-40000 Defines the limits for the [*dutycycle*] parameter. range_ defaults to 255. reg: 0-255 An I2C device register. The usable registers depend on the actual device. retMax: >=0 The maximum number of bytes a user customised function should return, default 8192. SCL: The user GPIO to use for the clock when bit banging I2C. SCLK:: The GPIO used for the SCLK signal when bit banging SPI. script: The text of a script to store on the pigpio daemon. script_id: >=0 A number referencing a script created by [*store_script*]. SDA: The user GPIO to use for data when bit banging I2C. seek_from: 0-2 Direction to seek for [*file_seek*]. . . FROM_START=0 FROM_CURRENT=1 FROM_END=2 . . seek_offset: The number of bytes to move forward (positive) or backwards (negative) from the seek position (start, current, or end of file). ser_flags: 32 bit No serial flags are currently defined. serial_*: One of the serial_ functions. shellscr: The name of a shell script. The script must exist in /opt/pigpio/cgi and must be executable. show_errors: Controls the display of pigpio daemon connection failures. The default of True prints the probable failure reasons to standard output. spi_channel: 0-2 A SPI channel. spi_flags: 32 bit See [*spi_open*]. steady: 0-300000 The number of microseconds level changes must be stable for before reporting the level changed ([*set_glitch_filter*]) or triggering the active part of a noise filter ([*set_noise_filter*]). t1: A tick (earlier). t2: A tick (later). tty: A Pi serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0 uint32: An unsigned 32 bit number. user_gpio: 0-31 A Broadcom numbered GPIO. All the user GPIO are in the range 0-31. Not all the GPIO within this range are usable, some are reserved for system use. See [*gpio*]. wait_timeout: 0.0 - The number of seconds to wait in [*wait_for_edge*] before timing out. wave_add_*: One of the following [*wave_add_new*] [*wave_add_generic*] [*wave_add_serial*] wave_id: >=0 A number referencing a wave created by [*wave_create*]. wave_send_*: One of the following [*wave_send_once*] [*wave_send_repeat*] wdog_timeout: 0-60000 Defines a GPIO watchdog timeout in milliseconds. If no level change is detected on the GPIO for timeout millisecond a watchdog timeout report is issued (with level TIMEOUT). word_val: 0-65535 A whole number. """ pass