diff options
Diffstat (limited to 'pigpio.h')
| -rw-r--r-- | pigpio.h | 2671 |
1 files changed, 1747 insertions, 924 deletions
@@ -25,72 +25,83 @@ OTHER DEALINGS IN THE SOFTWARE. For more information, please refer to <http://unlicense.org/> */ -/* -This version is for pigpio version 16 -*/ - #ifndef PIGPIO_H #define PIGPIO_H #include <stdint.h> #include <pthread.h> -#define PIGPIO_VERSION 16 +#define PIGPIO_VERSION 17 + +/*TEXT + +pigpio is a C library for the Raspberry which allows control of the gpios. + +*Features* + +o PWM on any of gpios 0-31 + +o servo pulses on any of gpios 0-31 -/* INTRO +o callbacks when any of gpios 0-31 change state -pigpio is a C library for the Raspberry Pi which allows -control of the gpios. +o callbacks at timed intervals -Its main features are: +o reading/writing all of the gpios in a bank as one operation + +o individually setting gpio modes, reading and writing + +o notifications when any of gpios 0-31 change state + +o the construction of output waveforms with microsecond timing + +o rudimentary permission control over gpios + +o a simple interface to start and stop new threads -o PWM on any of gpios 0-31 -o servo pulses on any of gpios 0-31 -o callbacks when any of gpios 0-31 change state -o callbacks at timed intervals -o reading/writing all of the gpios in a bank as one operation -o individually setting gpio modes, reading and writing -o notifications when any of gpios 0-31 change state -o the construction of output waveforms with microsecond timing -o rudimentary permission control over gpios -o a simple interface to start and stop new threads o I2C, SPI, and serial link wrappers +o creating and running scripts + +*gpios* + ALL gpios are identified by their Broadcom number. +*Credits* + The PWM and servo pulses are timed using the DMA and PWM peripherals. -This use was inspired by Richard Hirst's servoblaster kernel module. -See https://github.com/richardghirst/PiBits -Tag rgh on the Raspberry Pi forums http://www.raspberrypi.org/phpBB3/ +This use was inspired by Richard Hirst's servoblaster kernel module. -INTRO */ +[https://github.com/richardghirst/PiBits/tree/master/ServoBlaster] -/* USAGE -Usage +*Usage* Include <pigpio.h> in your source files. -Assuming your source is in example.c use the following command to build +Assuming your source is in prog.c use the following command to build and +run the executable. . . -gcc -o example example.c -lpigpio -lpthread -lrt +gcc -o prog prog.c -lpigpio -lpthread -lrt +sudo ./prog . . -For examples see checklib.c, demolib.c, pigpio.c, pigpiod.c, pig2vcd.c, -and pigs.c +For examples of usage see the C programs within the pigpio archive file. + +*Notes* All the functions which return an int return < 0 on error. -If the library isn't initialised all but the gpioCfg*, gpioVersion, -and gpioHardwareRevision functions will return error PI_NOT_INITIALISED. +If the library isn't initialised all but the [*gpioCfg**], [*gpioVersion*], +and [*gpioHardwareRevision*] functions will return PI_NOT_INITIALISED. -If the library is initialised the gpioCfg* functions will -return error PI_INITIALISED. +If the library is initialised the [*gpioCfg**] functions will +return PI_INITIALISED. -USAGE */ +TEXT*/ -/* OVERVIEW +/*OVERVIEW ESSENTIAL @@ -283,7 +294,7 @@ rawWaveSetIn Not intended for general use rawDumpWave Not intended for general use rawDumpScript Not intended for general use -OVERVIEW */ +OVERVIEW*/ #define PI_INPFIFO "/dev/pigpio" #define PI_OUTFIFO "/dev/pigout" @@ -393,23 +404,202 @@ typedef void (*gpioGetSamplesFuncEx_t) (const gpioSample_t *samples, typedef void *(gpioThreadFunc_t) (void *); -/* FUNC */ +/* gpio: 0-53 */ + +#define PI_MIN_GPIO 0 +#define PI_MAX_GPIO 53 + +/* user_gpio: 0-31 */ + +#define PI_MAX_USER_GPIO 31 + +/* level: 0-1 */ + +#define PI_OFF 0 +#define PI_ON 1 + +#define PI_CLEAR 0 +#define PI_SET 1 + +#define PI_LOW 0 +#define PI_HIGH 1 + +/* level: only reported for gpio timeout, see gpioSetWatchdog */ + +#define PI_TIMEOUT 2 + +/* mode: 0-7 */ + +#define PI_INPUT 0 +#define PI_OUTPUT 1 +#define PI_ALT0 4 +#define PI_ALT1 5 +#define PI_ALT2 6 +#define PI_ALT3 7 +#define PI_ALT4 3 +#define PI_ALT5 2 + +/* pud: 0-2 */ + +#define PI_PUD_OFF 0 +#define PI_PUD_DOWN 1 +#define PI_PUD_UP 2 + +/* dutycycle: 0-range */ + +#define PI_DEFAULT_DUTYCYCLE_RANGE 255 + +/* range: 25-40000 */ + +#define PI_MIN_DUTYCYCLE_RANGE 25 +#define PI_MAX_DUTYCYCLE_RANGE 40000 + +/* pulsewidth: 0, 500-2500 */ + +#define PI_SERVO_OFF 0 +#define PI_MIN_SERVO_PULSEWIDTH 500 +#define PI_MAX_SERVO_PULSEWIDTH 2500 + +#define PI_NOTIFY_SLOTS 32 + +#define PI_NTFY_FLAGS_WDOG (1 <<5) +#define PI_NTFY_FLAGS_BIT(x) (((x)<<0)&31) + +#define PI_WAVE_BLOCKS 4 +#define PI_WAVE_MAX_PULSES (PI_WAVE_BLOCKS * 3000) +#define PI_WAVE_MAX_CHARS (PI_WAVE_BLOCKS * 256) + +#define PI_WAVE_MIN_BAUD 100 +#define PI_WAVE_MAX_BAUD 250000 + +#define PI_WAVE_MAX_MICROS (30 * 60 * 1000000) /* half an hour */ + +#define PI_MAX_WAVES 512 + +/* wave tx mode */ + +#define PI_WAVE_MODE_ONE_SHOT 0 +#define PI_WAVE_MODE_REPEAT 1 + +#define PI_I2C_SLOTS 32 +#define PI_SPI_SLOTS 4 +#define PI_SER_SLOTS 4 + + +#define PI_NUM_I2C_BUS 2 +#define PI_NUM_SPI_CHANNEL 2 + +#define PI_MAX_I2C_DEVICE_COUNT 8192 +#define PI_MAX_SPI_DEVICE_COUNT 8192 + +#define PI_MAX_PULSELEN 50 + +/* timeout: 0-60000 */ + +#define PI_MIN_WDOG_TIMEOUT 0 +#define PI_MAX_WDOG_TIMEOUT 60000 + +/* timer: 0-9 */ + +#define PI_MIN_TIMER 0 +#define PI_MAX_TIMER 9 + +/* millis: 10-60000 */ + +#define PI_MIN_MS 10 +#define PI_MAX_MS 60000 + +#define PI_MAX_SCRIPTS 32 + +#define PI_MAX_SCRIPT_TAGS 50 +#define PI_MAX_SCRIPT_VARS 150 +#define PI_MAX_SCRIPT_PARAMS 10 + +/* script status */ + +#define PI_SCRIPT_INITING 0 +#define PI_SCRIPT_HALTED 1 +#define PI_SCRIPT_RUNNING 2 +#define PI_SCRIPT_WAITING 3 +#define PI_SCRIPT_FAILED 4 + +/* signum: 0-63 */ + +#define PI_MIN_SIGNUM 0 +#define PI_MAX_SIGNUM 63 + +/* timetype: 0-1 */ + +#define PI_TIME_RELATIVE 0 +#define PI_TIME_ABSOLUTE 1 + +#define PI_MAX_MICS_DELAY 1000000 /* 1 second */ +#define PI_MAX_MILS_DELAY 60000 /* 60 seconds */ + +/* cfgMillis */ + +#define PI_BUF_MILLIS_MIN 100 +#define PI_BUF_MILLIS_MAX 10000 + +/* cfgMicros: 1, 2, 4, 5, 8, or 10 */ + +/* cfgPeripheral: 0-1 */ + +#define PI_CLOCK_PWM 0 +#define PI_CLOCK_PCM 1 + +/* cfgSource: 0-1 */ + +#define PI_CLOCK_OSC 0 +#define PI_CLOCK_PLLD 1 + +/* DMA channel: 0-14 */ + +#define PI_MIN_DMA_CHANNEL 0 +#define PI_MAX_DMA_CHANNEL 14 + +#define PI_MAX_PRIMARY_CHANNEL 14 +#define PI_MAX_SECONDARY_CHANNEL 6 + +/* port */ + +#define PI_MIN_SOCKET_PORT 1024 +#define PI_MAX_SOCKET_PORT 32000 + + +/* ifFlags: */ + +#define PI_DISABLE_FIFO_IF 1 +#define PI_DISABLE_SOCK_IF 2 + + +/*F*/ int gpioInitialise(void); -/* DESC +/*D Initialises the library. Call before using the other library functions. Returns the pigpio version number if OK, otherwise PI_INIT_FAILED. -The only exception is the optional gpioCfg* functions, see later. -DESC */ +The only exception is the optional [*gpioCfg**] functions, see later. +... +if (gpioInitialise() < 0) +{ + // pigpio initialisation failed. +} +else +{ + // pigpio initialised okay. +} +... +D*/ -/* FUNC */ +/*F*/ void gpioTerminate(void); -/* DESC +/*D Terminates the library. Returns nothing. @@ -418,49 +608,46 @@ Call before program exit. This function resets the DMA and PWM peripherals, releases memory, and terminates any running threads. -DESC */ +... +gpioTerminate(); +... +D*/ -/* FUNC */ +/*F*/ int gpioSetMode(unsigned gpio, unsigned mode); -/* DESC +/*D Sets the gpio mode, typically input or output. +. . +gpio: 0-53 +mode: 0-7 +. . + Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_MODE. Arduino style: pinMode. ... -gpioSetMode(17, PI_INPUT); // set gpio17 as input -gpioSetMode(18, PI_OUTPUT); // set gpio18 as output -gpioSetMode(22,PI_ALT0); // set gpio22 to alternative mode 0 -... -DESC */ - -/* gpio: 0-53 */ - -#define PI_MIN_GPIO 0 -#define PI_MAX_GPIO 53 - -/* mode: 0-7 */ +gpioSetMode(17, PI_INPUT); // Set gpio17 as input. -#define PI_INPUT 0 -#define PI_OUTPUT 1 -#define PI_ALT0 4 -#define PI_ALT1 5 -#define PI_ALT2 6 -#define PI_ALT3 7 -#define PI_ALT4 3 -#define PI_ALT5 2 +gpioSetMode(18, PI_OUTPUT); // Set gpio18 as output. +gpioSetMode(22,PI_ALT0); // Set gpio22 to alternative mode 0. +... +D*/ -/* FUNC */ +/*F*/ int gpioGetMode(unsigned gpio); -/* DESC +/*D Gets the gpio mode. +. . +gpio: 0-53 +. . + Returns the gpio mode if OK, otherwise PI_BAD_GPIO. ... @@ -469,37 +656,40 @@ if (gpioGetMode(17) != PI_ALT0) gpioSetMode(17, PI_ALT0); // set gpio17 to ALT0 } ... -DESC */ - +D*/ -/* FUNC */ +/*F*/ int gpioSetPullUpDown(unsigned gpio, unsigned pud); -/* DESC +/*D Sets or clears resistor pull ups or downs on the gpio. +. . +gpio: 0-53 + pud: 0-2 +. . + Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_PUD. ... -gpioSetPullUpDown(17, PI_PUD_UP); // sets a pull-up on gpio17 -gpioSetPullUpDown(18, PI_PUD_DOWN); // sets a pull-down on gpio18 -gpioSetPullUpDown(23, PI_PUD_OFF); // clear pull-ups/downs on gpio23 -... -DESC */ - -/* pud: 0-2 */ +gpioSetPullUpDown(17, PI_PUD_UP); // Sets a pull-up. -#define PI_PUD_OFF 0 -#define PI_PUD_DOWN 1 -#define PI_PUD_UP 2 +gpioSetPullUpDown(18, PI_PUD_DOWN); // Sets a pull-down. +gpioSetPullUpDown(23, PI_PUD_OFF); // Clear any pull-ups/downs. +... +D*/ -/* FUNC */ +/*F*/ int gpioRead (unsigned gpio); -/* DESC +/*D Reads the gpio level, on or off. +. . +gpio: 0-53 +. . + Returns the gpio level if OK, otherwise PI_BAD_GPIO. Arduino style: digitalRead. @@ -507,30 +697,19 @@ Arduino style: digitalRead. ... printf("gpio24 is level %d\n", gpioRead(24)); ... -DESC */ - -/* level: 0-1 */ - -#define PI_OFF 0 -#define PI_ON 1 - -#define PI_CLEAR 0 -#define PI_SET 1 - -#define PI_LOW 0 -#define PI_HIGH 1 +D*/ -/* level: only reported for gpio timeout, see gpioSetWatchdogTimeout */ -#define PI_TIMEOUT 2 - - - -/* FUNC */ +/*F*/ int gpioWrite(unsigned gpio, unsigned level); -/* DESC +/*D Sets the gpio level, on or off. +. . + gpio: 0-53 +level: 0,1 +. . + Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_LEVEL. If PWM or servo pulses are active on the gpio they are switched off. @@ -538,18 +717,22 @@ If PWM or servo pulses are active on the gpio they are switched off. Arduino style: digitalWrite ... -gpioWrite(24, 1); // sets gpio24 high +gpioWrite(24, 1); // Set gpio24 high. ... -DESC */ - +D*/ -/* FUNC */ +/*F*/ int gpioPWM(unsigned user_gpio, unsigned dutycycle); -/* DESC +/*D Starts PWM on the gpio, dutycycle between 0 (off) and range (fully on). Range defaults to 255. +. . +user_gpio: 0-31 +dutycycle: 0-range +. . + Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYCYCLE. Arduino style: analogWrite @@ -557,31 +740,30 @@ Arduino style: analogWrite This and the servo functionality use the DMA and PWM or PCM peripherals to control and schedule the pulse lengths and duty cycles. -The gpioSetPWMrange funtion can change the default range of 255. +The [*gpioSetPWMrange*] function may be used to change the default +range of 255. ... -gpioPWM(17, 255); // sets gpio17 full on -gpioPWM(18, 128); // sets gpio18 half on -gpioPWM(23, 0); // sets gpio23 full off -... -DESC */ - -/* user_gpio: 0-31 */ - -#define PI_MAX_USER_GPIO 31 - -/* dutycycle: 0-range */ +gpioPWM(17, 255); // Sets gpio17 full on. -#define PI_DEFAULT_DUTYCYCLE_RANGE 255 +gpioPWM(18, 128); // Sets gpio18 half on. +gpioPWM(23, 0); // Sets gpio23 full off. +... +D*/ -/* FUNC */ +/*F*/ int gpioSetPWMrange(unsigned user_gpio, unsigned range); -/* DESC +/*D Selects the dutycycle range to be used for the gpio. Subsequent calls to gpioPWM will use a dutycycle between 0 (off) and range (fully on). +. . +user_gpio: 0-31 + range: 25-40000 +. . + Returns the real range for the given gpio's frequency if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYRANGE. @@ -596,45 +778,58 @@ on for each frequency, is given in the following table. 800, 1000, 1250, 2000, 2500, 4000, 5000, 10000, 20000 . . -The real value set by gpioPWM is - -(dutycycle * real range) / range. +The real value set by [*gpioPWM*] is (dutycycle * real range) / range. ... -gpioSetPWMrange(24, 2000); // now 2000 is fully on, 1000 is half on etc. +gpioSetPWMrange(24, 2000); // Now 2000 is fully on + // 1000 is half on + // 500 is quarter on, etc. ... -DESC */ - -/* range: 25-40000 */ - -#define PI_MIN_DUTYCYCLE_RANGE 25 -#define PI_MAX_DUTYCYCLE_RANGE 40000 +D*/ - -/* FUNC */ +/*F*/ int gpioGetPWMrange(unsigned user_gpio); -/* DESC +/*D Returns the dutycycle range used for the gpio if OK, otherwise PI_BAD_USER_GPIO. -DESC */ +. . +user_gpio: 0-31 +. . + +... +r = gpioGetPWMrange(23); +... +D*/ -/* FUNC */ +/*F*/ int gpioGetPWMrealRange(unsigned user_gpio); -/* DESC +/*D Returns the real range used for the gpio if OK, otherwise PI_BAD_USER_GPIO. -DESC */ +. . +user_gpio: 0-31 +. . +... +rr = gpioGetPWMrealRange(17); +... +D*/ -/* FUNC */ + +/*F*/ int gpioSetPWMfrequency(unsigned user_gpio, unsigned frequency); -/* DESC +/*D Sets the frequency in hertz to be used for the gpio. +. . +user_gpio: 0-31 +frequency: >=0 +. . + Returns the numerically closest frequency if OK, otherwise PI_BAD_USER_GPIO. @@ -671,25 +866,44 @@ sample 10: 4000 2000 1000 800 500 400 250 200 160 125 100 80 50 40 25 20 10 5 . . -DESC */ +... +gpioSetPWMfrequency(23, 0); // Set gpio23 to lowest frequency. + +gpioSetPWMfrequency(24, 500); // Set gpio24 to 500Hz. +gpioSetPWMfrequency(25, 100000); // Set gpio25 to highest frequency. +... +D*/ -/* FUNC */ + +/*F*/ int gpioGetPWMfrequency(unsigned user_gpio); -/* DESC +/*D Returns the frequency (in hertz) used for the gpio if OK, otherwise PI_BAD_USER_GPIO. -DESC */ +. . +user_gpio: 0-31 +. . + +... +f = gpioGetPWMfrequency(23); // Get frequency used for gpio23. +... +D*/ -/* FUNC */ +/*F*/ int gpioServo(unsigned user_gpio, unsigned pulsewidth); -/* DESC +/*D Starts servo pulses on the gpio, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise). +. . + user_gpio: 0-31 +pulsewidth: 0, 500-2500 +. . + Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_PULSEWIDTH. The range supported by servos varies and should probably be determined @@ -699,10 +913,14 @@ to move beyond its limits. The following causes an on pulse of 1500 microseconds duration to be transmitted on gpio 17 at a rate of 50 times per second. This will - command a servo connected to gpio 17 to rotate to its mid-point. +command a servo connected to gpio 17 to rotate to its mid-point. ... -gpioServo(17, 1500); +gpioServo(17, 1000); // Move servo to safe position anti-clockwise. + +gpioServo(23, 1500); // Move servo to centre position. + +gpioServo(25, 2000); // Move servo to safe position clockwise. ... OTHER UPDATE RATES: @@ -715,37 +933,36 @@ PWM Hz 50 100 200 400 500 1E6/Hz 20000 10000 5000 2500 2000 . . -Firstly set the desired PWM frequency using gpioSetPWMfrequency. +Firstly set the desired PWM frequency using [*gpioSetPWMfrequency*]. -Then set the PWM range using gpioSetPWMrange to 1E6/frequency. +Then set the PWM range using [*gpioSetPWMrange*] to 1E6/frequency. Doing this allows you to use units of microseconds when setting the servo pulse width. -E.g. If you want to update a servo connected to gpio 25 at 400Hz +E.g. If you want to update a servo connected to gpio25 at 400Hz . . gpioSetPWMfrequency(25, 400); + gpioSetPWMrange(25, 2500); . . Thereafter use the PWM command to move the servo, e.g. gpioPWM(25, 1500) will set a 1500 us pulse. - -DESC */ - -/* pulsewidth: 0, 500-2500 */ - -#define PI_SERVO_OFF 0 -#define PI_MIN_SERVO_PULSEWIDTH 500 -#define PI_MAX_SERVO_PULSEWIDTH 2500 +D*/ -/* FUNC */ +/*F*/ int gpioSetAlertFunc(unsigned user_gpio, gpioAlertFunc_t f); -/* DESC +/*D Registers a function to be called (a callback) when the specified gpio changes state. +. . +user_gpio: 0-31 + f: the callback function +. . + Returns 0 if OK, otherwise PI_BAD_USER_GPIO. One function may be registered per gpio. @@ -772,7 +989,7 @@ rate 5 200,000 10 100,000 . . -Level changes of length less than the sample rate may be missed. +Level changes shorter than the sample rate may be missed. The thread which calls the alert functions is triggered nominally 1000 times per second. The active alert functions will be called @@ -781,7 +998,7 @@ i.e. The active alert functions will get all level changes but there will be a latency. The tick value is the time stamp of the sample in microseconds, see -gpioTick for more details. +[*gpioTick*] for more details. ... void aFunction(int gpio, int level, uint32_t tick) @@ -790,18 +1007,25 @@ void aFunction(int gpio, int level, uint32_t tick) } // call aFunction whenever gpio 4 changes state + gpioSetAlertFunc(4, aFunction); ... -DESC */ +D*/ -/* FUNC */ +/*F*/ int gpioSetAlertFuncEx( unsigned user_gpio, gpioAlertFuncEx_t f, void *userdata); -/* DESC +/*D Registers a function to be called (a callback) when the specified gpio changes state. +. . +user_gpio: 0-31 + f: the callback function + userdata: pointer to arbitrary user data +. . + Returns 0 if OK, otherwise PI_BAD_USER_GPIO. One function may be registered per gpio. @@ -809,17 +1033,16 @@ One function may be registered per gpio. The function is passed the gpio, the new level, the tick, and the userdata pointer. -Only one of gpioSetAlertFunc or gpioSetAlertFuncEx can be +Only one of [*gpioSetAlertFunc*] or [*gpioSetAlertFuncEx*] can be registered per gpio. -See gpioSetAlertFunc for further details. -DESC */ - +See [*gpioSetAlertFunc*] for further details. +D*/ -/* FUNC */ +/*F*/ int gpioNotifyOpen(void); -/* DESC +/*D This function requests a free notification handle. Returns a handle greater than or equal to zero if OK, @@ -835,17 +1058,43 @@ from /dev/pigpio15. Socket notifications are returned to the socket which requested the handle. -DESC */ -#define PI_NOTIFY_SLOTS 32 +... +h = gpioNotifyOpen(); + +if (h >= 0) +{ + sprintf(str, "/dev/pigpio%d", h); + + fd = open(str, "r"); + if (fd >= 0) + { + // Okay. + } + else + { + // Error. + } +} +else +{ + // Error. +} +... +D*/ -/* FUNC */ +/*F*/ int gpioNotifyBegin(unsigned handle, uint32_t bits); -/* DESC +/*D This function starts notifications on a previously opened handle. +. . +handle: >=0, as returned by [*gpioNotifyOpen*] + bits: a bit mask indicating the gpios of interest +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE. The notification sends state changes for each gpio whose corresponding @@ -875,69 +1124,95 @@ tick is the number of microseconds since system boot. level indicates the level of each gpio. ... -// start notifications for gpios 1, 4, 6, 7, 10 +// Start notifications for gpios 1, 4, 6, 7, 10. + +// 1 +// 0 76 4 1 // (1234 = 0x04D2 = 0b0000010011010010) -gpioNotifyBegin(0, 1234); +gpioNotifyBegin(h, 1234); ... -DESC */ +D*/ -#define PI_NTFY_FLAGS_WDOG (1 <<5) -#define PI_NTFY_FLAGS_BIT(x) (((x)<<0)&31) - - -/* FUNC */ +/*F*/ int gpioNotifyPause(unsigned handle); -/* DESC +/*D This function pauses notifications on a previously opened handle. +. . +handle: >=0, as returned by [*gpioNotifyOpen*] +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE. -Notifications for the handle are suspended until gpioNotifyBegin +Notifications for the handle are suspended until [*gpioNotifyBegin*] is called again. -DESC */ +... +gpioNotifyPause(h); +... +D*/ -/* FUNC */ +/*F*/ int gpioNotifyClose(unsigned handle); -/* DESC +/*D This function stops notifications on a previously opened handle and releases the handle for reuse. +. . +handle: >=0, as returned by [*gpioNotifyOpen*] +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE. -DESC */ +... +gpioNotifyClose(h); +... +D*/ -/* FUNC */ + +/*F*/ int gpioWaveClear(void); -/* DESC +/*D This function clears all waveforms and any data added by calls to the -gpioWaveAdd* functions. +[*gpioWaveAdd**] functions. Returns 0 if OK. -DESC */ +... +gpioWaveClear(); +... +D*/ -/* FUNC */ +/*F*/ int gpioWaveAddNew(void); -/* DESC -This function starts a new empty waveform. You wouldn't normally need -to call this function as it is automatically called after a waveform is -created with the gpioWaveCreate function. +/*D +This function starts a new empty waveform. + +You wouldn't normally need to call this function as it is automatically +called after a waveform is created with the [*gpioWaveCreate*] function. Returns 0 if OK. -DESC */ +... +gpioWaveAddNew(); +... +D*/ -/* FUNC */ +/*F*/ int gpioWaveAddGeneric(unsigned numPulses, gpioPulse_t *pulses); -/* DESC +/*D This function adds a number of pulses to the current waveform. +. . +numPulses: the number of pulses + pulses: an array of pulses +. . + Returns the new total number of pulses in the current waveform if OK, otherwise PI_TOO_MANY_PULSES. @@ -949,21 +1224,64 @@ for gpio#1 can be added, and then gpio#2 etc. If the added waveform is intended to start after or within the existing waveform then the first pulse should consist of a delay. -DESC */ +... +// Construct and send a 30 microsecond square wave. + +gpioSetMode(gpio, PI_OUTPUT); + +pulse[0].gpioOn = (1<<gpio); +pulse[0].gpioOff = 0; +pulse[0].usDelay = 15; + +pulse[1].gpioOn = 0; +pulse[1].gpioOff = (1<<gpio); +pulse[1].usDelay = 15; + +gpioWaveAddNew(); + +gpioWaveAddGeneric(2, pulse); + +wave_id = gpioWaveCreate(); + +if (wave_id >= 0) +{ + gpioWaveTxSend(wave_id, PI_WAVE_MODE_REPEAT); + + // Transmit for 30 seconds. + + sleep(30); + + gpioWaveTxStop(); +} +else +{ + // Wave create failed. +} +... +D*/ -/* FUNC */ -int gpioWaveAddSerial(unsigned user_gpio, - unsigned bbBaud, - unsigned offset, - unsigned numChar, - char *str); -/* DESC +/*F*/ +int gpioWaveAddSerial + (unsigned user_gpio, + unsigned bbBaud, + unsigned offset, + unsigned numChar, + char *str); +/*D This function adds a waveform representing serial data to the existing waveform (if any). The serial data starts offset microseconds from the start of the waveform. +. . +user_gpio: 0-31 + bbBaud: 100-250000 + offset: 0- + numChar: 1- + str: an array of chars (which may contain nulls) +. . + Returns the new total number of pulses in the current waveform if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET, or PI_TOO_MANY_PULSES. @@ -973,59 +1291,67 @@ stop bit. It is legal to add serial data streams with different baud rates to the same waveform. -DESC */ -#define PI_WAVE_BLOCKS 4 -#define PI_WAVE_MAX_PULSES (PI_WAVE_BLOCKS * 3000) -#define PI_WAVE_MAX_CHARS (PI_WAVE_BLOCKS * 256) +... +#define MSG_LEN 8 -#define PI_WAVE_MIN_BAUD 100 -#define PI_WAVE_MAX_BAUD 250000 +int i; +char *str; +char data[MSG_LEN]; -#define PI_WAVE_MAX_MICROS (30 * 60 * 1000000) /* half an hour */ +str = "Hello world!"; -#define PI_MAX_WAVES 512 +gpioWaveAddSerial(4, 9600, 0, strlen(str), str); + +for (i=0; i<MSG_LEN; i++) data[i] = i; + +// Data added is offset 1 second from the waveform start. +gpioWaveAddSerial(4, 9600, 1000000, MSG_LEN, data); +... +D*/ -/* FUNC */ +/*F*/ int gpioWaveCreate(void); -/* DESC +/*D This function creates a waveform from the data provided by the prior -calls to the gpioWaveAdd* functions. Upon success a positive wave id +calls to the [*gpioWaveAdd**] functions. Upon success a positive wave id is returned. -The data provided by the gpioWaveAdd* functions is consumed by this +The data provided by the [*gpioWaveAdd**] functions is consumed by this function. As many waveforms may be created as there is space available. The -wave id is passed to gpioWaveTxSend to specify the waveform to transmit. +wave id is passed to [*gpioWaveTxSend*] to specify the waveform to transmit. Normal usage would be -Step 1. gpioWaveClear to clear all waveforms and added data. +Step 1. [*gpioWaveClear*] to clear all waveforms and added data. -Step 2. gpioWaveAdd* calls to supply the waveform data. +Step 2. [*gpioWaveAdd**] calls to supply the waveform data. -Step 3. gpioWaveCreate to create the waveform and get a unique id +Step 3. [*gpioWaveCreate*] to create the waveform and get a unique id Repeat steps 2 and 3 as needed. -Step 4. gpioWaveTxSend with the id of the waveform to transmit. +Step 4. [*gpioWaveTxSend*] with the id of the waveform to transmit. A waveform comprises one of more pulses. Each pulse consists of a -gpioPulse_t structure. +[*gpioPulse_t*] structure. +. . typedef struct { uint32_t gpioOn; uint32_t gpioOff; uint32_t usDelay; } gpioPulse_t; +. . The fields specify -1) the gpios to be switched on at the start of the pulse. -2) the gpios to be switched off at the start of the pulse. +1) the gpios to be switched on at the start of the pulse. +2) the gpios to be switched off at the start of the pulse. 3) the delay in microseconds before the next pulse. Any or all the fields can be zero. It doesn't make any sense to @@ -1036,349 +1362,464 @@ specified delay between the pulse and the next. Returns the new waveform id if OK, otherwise PI_EMPTY_WAVEFORM, PI_NO_WAVEFORM_ID, PI_TOO_MANY_CBS, or PI_TOO_MANY_OOL. -DESC */ +D*/ -/* FUNC */ +/*F*/ int gpioWaveDelete(unsigned wave_id); -/* DESC +/*D This function deletes all created waveforms with ids greater than or equal to wave_id. +. . +wave_id: >=0, as returned by [*gpioWaveCreate*] +. . + Wave ids are allocated in order, 0, 1, 2, etc. Returns 0 if OK, otherwise PI_BAD_WAVE_ID. -DESC */ +D*/ -/* FUNC */ -int gpioWaveTxStart(unsigned mode); /* DEPRECATED */ -/* DESC +/*F*/ +int gpioWaveTxStart(unsigned wave_mode); /* DEPRECATED */ +/*D This function creates and then transmits a waveform. The mode determines whether the waveform is sent once or cycles endlessly. +. . +wave_mode: 0 (PI_WAVE_MODE_ONE_SHOT), 1 (PI_WAVE_MODE_REPEAT) +. . + This function is deprecated and should no longer be used. Use -gpioWaveCreate/gpioWaveTxSend instead. +[*gpioWaveCreate*] and [*gpioWaveTxSend*] instead. Returns the number of DMA control blocks in the waveform if OK, otherwise PI_BAD_WAVE_MODE. -DESC */ +D*/ -/* FUNC */ -int gpioWaveTxSend(unsigned wave_id, unsigned mode); -/* DESC + +/*F*/ +int gpioWaveTxSend(unsigned wave_id, unsigned wave_mode); +/*D This function transmits the waveform with id wave_id. The mode determines whether the waveform is sent once or cycles endlessly. +. . + wave_id: >=0, as returned by [*gpioWaveCreate*] +wave_mode: 0 (PI_WAVE_MODE_ONE_SHOT), 1 (PI_WAVE_MODE_REPEAT) +. . + Returns the number of DMA control blocks in the waveform if OK, otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. -DESC */ - -#define PI_WAVE_MODE_ONE_SHOT 0 -#define PI_WAVE_MODE_REPEAT 1 - +D*/ -/* FUNC */ +/*F*/ int gpioWaveTxBusy(void); -/* DESC +/*D This function checks to see if a waveform is currently being transmitted. Returns 1 if a waveform is currently being transmitted, otherwise 0. -DESC */ +D*/ - -/* FUNC */ +/*F*/ int gpioWaveTxStop(void); -/* DESC +/*D This function aborts the transmission of the current waveform. Returns 0 if OK. This function is intended to stop a waveform started in repeat mode. -DESC */ - +D*/ -/* FUNC */ +/*F*/ int gpioWaveGetMicros(void); -/* DESC +/*D This function returns the length in microseconds of the current waveform. -DESC */ +D*/ - -/* FUNC */ +/*F*/ int gpioWaveGetHighMicros(void); -/* DESC +/*D This function returns the length in microseconds of the longest waveform -created since gpioInitialise was called. -DESC */ - +created since [*gpioInitialise*] was called. +D*/ -/* FUNC */ +/*F*/ int gpioWaveGetMaxMicros(void); -/* DESC +/*D This function returns the maximum possible size of a waveform in microseconds. -DESC */ +D*/ - -/* FUNC */ +/*F*/ int gpioWaveGetPulses(void); -/* DESC +/*D This function returns the length in pulses of the current waveform. -DESC */ - +D*/ -/* FUNC */ +/*F*/ int gpioWaveGetHighPulses(void); -/* DESC +/*D This function returns the length in pulses of the longest waveform -created since gpioInitialise was called. -DESC */ +created since [*gpioInitialise*] was called. +D*/ - -/* FUNC */ +/*F*/ int gpioWaveGetMaxPulses(void); -/* DESC +/*D This function returns the maximum possible size of a waveform in pulses. -DESC */ - +D*/ -/* FUNC */ +/*F*/ int gpioWaveGetCbs(void); -/* DESC +/*D This function returns the length in DMA control blocks of the current waveform. -DESC */ - +D*/ -/* FUNC */ +/*F*/ int gpioWaveGetHighCbs(void); -/* DESC +/*D This function returns the length in DMA control blocks of the longest -waveform created since gpioInitialise was called. -DESC */ +waveform created since [*gpioInitialise*] was called. +D*/ - -/* FUNC */ +/*F*/ int gpioWaveGetMaxCbs(void); -/* DESC +/*D This function returns the maximum possible size of a waveform in DMA control blocks. -DESC */ - +D*/ -/* FUNC */ +/*F*/ int gpioSerialReadOpen(unsigned user_gpio, unsigned bbBaud); -/* DESC -This function opens a gpio for reading serial data. +/*D +This function opens a gpio for bit bang reading of serial data. + +. . +user_gpio: 0-31 + bbBaud: 100-250000 +. . Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, or PI_GPIO_IN_USE. The serial data is returned in a cyclic buffer and is read using -gpioSerialRead(). +[*gpioSerialRead*]. It is the caller's responsibility to read data from the cyclic buffer in a timely fashion. -DESC */ - +D*/ -/* FUNC */ +/*F*/ int gpioSerialRead(unsigned user_gpio, void *buf, size_t bufSize); -/* DESC +/*D This function copies up to bufSize bytes of data read from the -serial cyclic buffer to the buffer starting at buf. +bit bang serial cyclic buffer to the buffer starting at buf. + +. . +user_gpio: 0-31, previously opened with [*gpioSerialReadOpen*] + buf: an array to receive the read bytes + bufSize: 0- +. . Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERIAL_GPIO. -DESC */ - +D*/ -/* FUNC */ +/*F*/ int gpioSerialReadClose(unsigned user_gpio); -/* DESC -This function closes a gpio for reading serial data. - -Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. -DESC */ - -#define PI_I2C_SLOTS 32 -#define PI_SPI_SLOTS 4 -#define PI_SER_SLOTS 4 - +/*D +This function closes a gpio for bit bang reading of serial data. -#define PI_NUM_I2C_BUS 2 -#define PI_NUM_SPI_CHANNEL 2 +. . +user_gpio: 0-31, previously opened with [*gpioSerialReadOpen*] +. . -#define PI_MAX_I2C_DEVICE_COUNT 1024 -#define PI_MAX_SPI_DEVICE_COUNT 1024 +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. +D*/ -/* FUNC */ +/*F*/ int i2cOpen(unsigned i2cBus, unsigned i2cAddr, unsigned i2cFlags); -/* DESC +/*D This returns a handle for the device at the address on the I2C bus. +. . + i2cBus: 0-1 + i2cAddr: 0x08-0x77 +i2cFlags: 0 +. . + No flags are currently defined. This parameter should be set to zero. Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR, PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED. -DESC */ +D*/ -/* FUNC */ + +/*F*/ int i2cClose(unsigned handle); -/* DESC +/*D This closes the I2C device associated with the handle. +. . +handle: >=0, as returned by a call to [*i2cOpen*] +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE. -DESC */ +D*/ + -/* FUNC */ +/*F*/ int i2cReadDevice(unsigned handle, char *buf, unsigned count); -/* DESC +/*D This reads count bytes from the raw device into buf. +. . +handle: >=0, as returned by a call to [*i2cOpen*] + buf: an array to receive the read data bytes + count: >0, the number of bytes to read +. . + Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_READ_FAILED. -DESC */ +D*/ + -/* FUNC */ +/*F*/ int i2cWriteDevice(unsigned handle, char *buf, unsigned count); -/* DESC +/*D This writes count bytes from buf to the raw device. +. . +handle: >=0, as returned by a call to [*i2cOpen*] + buf: an array containing the data bytes to write + count: >0, the number of bytes to write +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_WRITE_FAILED. -DESC */ +D*/ + -/* FUNC */ +/*F*/ int i2cWriteQuick(unsigned handle, unsigned bit); -/* DESC -Sends a single bit to the device associated with handle -(smbus 2.0 5.5.1: Quick command). +/*D +This sends a single bit (in the Rd/Wr bit) to the device associated +with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] + bit: 0-1, the value to write +. . Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_WRITE_FAILED. -DESC */ -/* FUNC */ +Quick command. smbus 2.0 5.5.1 +D*/ + + +/*F*/ int i2cWriteByte(unsigned handle, unsigned bVal); -/* DESC -Sends a single byte to the device associated with handle -(smbus 2.0 5.5.2: Send byte). +/*D +This sends a single byte to the device associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] + bVal: 0-0xFF, the value to write +. . Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_WRITE_FAILED. -DESC */ -/* FUNC */ +Send byte. smbus 2.0 5.5.2 +D*/ + + +/*F*/ int i2cReadByte(unsigned handle); -/* DESC -Reads a single byte from the device associated with handle -(smbus 2.0 5.5.3: Receive byte). +/*D +This reads a single byte from the device associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +. . Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, or PI_I2C_READ_FAILED. -DESC */ -/* FUNC */ -int i2cWriteByteData(unsigned handle, unsigned reg, unsigned bVal); -/* DESC -Writes a single byte to the specified register of the device -associated with handle (smbus 2.0 5.5.4: Write byte). +Receive byte. smbus 2.0 5.5.3 +D*/ + + +/*F*/ +int i2cWriteByteData(unsigned handle, unsigned i2cReg, unsigned bVal); +/*D +This writes a single byte to the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write + bVal: 0-0xFF, the value to write +. . Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_WRITE_FAILED. -DESC */ -/* FUNC */ -int i2cWriteWordData(unsigned handle, unsigned reg, unsigned wVal); -/* DESC -Writes a single 16 bit word to the specified register of the device -associated with handle (smbus 2.0 5.5.4: Write word). +Write byte. smbus 2.0 5.5.4 +D*/ + + +/*F*/ +int i2cWriteWordData(unsigned handle, unsigned i2cReg, unsigned wVal); +/*D +This writes a single 16 bit word to the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write + wVal: 0-0xFFFF, the value to write +. . Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_WRITE_FAILED. -DESC */ -/* FUNC */ -int i2cReadByteData(unsigned handle, unsigned reg); -/* DESC -Reads a single byte from the specified register of the device -associated with handle (smbus 2.0 5.5.5: Read byte). +Write word. smbus 2.0 5.5.4 +D*/ + + +/*F*/ +int i2cReadByteData(unsigned handle, unsigned i2cReg); +/*D +This reads a single byte from the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to read +. . Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_READ_FAILED. -DESC */ -/* FUNC */ -int i2cReadWordData(unsigned handle, unsigned reg); -/* DESC -Reads a single 16 bit word from the specified register of the device -associated with handle (smbus 2.0 5.5.5: Read word). +Read byte. smbus 2.0 5.5.5 +D*/ + + +/*F*/ +int i2cReadWordData(unsigned handle, unsigned i2cReg); +/*D +This reads a single 16 bit word from the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to read +. . Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_READ_FAILED. -DESC */ -/* FUNC */ -int i2cProcessCall(unsigned handle, unsigned reg, unsigned wVal); -/* DESC -Writes 16 bits of data to the specified register of the device -associated with handle and and reads 16 bits of data in return -(smbus 2.0 5.5.6: Process call). +Read word. smbus 2.0 5.5.5 +D*/ + + +/*F*/ +int i2cProcessCall(unsigned handle, unsigned i2cReg, unsigned wVal); +/*D +This writes 16 bits of data to the specified register of the device +associated with handle and and reads 16 bits of data in return. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write/read + wVal: 0-0xFFFF, the value to write +. . Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_READ_FAILED. -DESC */ -/* FUNC */ +Process call. smbus 2.0 5.5.6 +D*/ + + +/*F*/ int i2cWriteBlockData( -unsigned handle, unsigned reg, char *buf, unsigned count); -/* DESC -Writes up to 32 bytes to the specified register of the device -associated with handle (smbus 2.0 5.5.7: Block write). +unsigned handle, unsigned i2cReg, char *buf, unsigned count); +/*D +This writes up to 32 bytes to the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write + buf: an array with the data to send + count: 1-32, the number of bytes to write +. . Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_WRITE_FAILED. -DESC */ -/* FUNC */ -int i2cReadBlockData(unsigned handle, unsigned reg, char *buf); -/* DESC -Reads a block of up to 32 bytes from the specified register of -the device associated with handle (smbus 2.0 5.5.7: Block read). +Block write. smbus 2.0 5.5.7 +D*/ + + +/*F*/ +int i2cReadBlockData(unsigned handle, unsigned i2cReg, char *buf); +/*D +This reads a block of up to 32 bytes from the specified register of +the device associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to read + buf: an array to receive the read data +. . The amount of returned data is set by the device. Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_READ_FAILED. -DESC */ -/* FUNC */ +Block read. smbus 2.0 5.5.7 +D*/ + + +/*F*/ int i2cBlockProcessCall( -unsigned handle, unsigned reg, char *buf, unsigned count); -/* DESC -Writes data bytes to the specified register of the device +unsigned handle, unsigned i2cReg, char *buf, unsigned count); +/*D +This writes data bytes to the specified register of the device associated with handle and reads a device specified number -of bytes of data in return (smbus 2.0 5.5.8: -Block write-block read). +of bytes of data in return. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write/read + buf: an array with the data to send and to receive the read data + count: 1-32, the number of bytes to write +. . Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_READ_FAILED. @@ -1386,38 +1827,64 @@ PI_BAD_PARAM, or PI_I2C_READ_FAILED. 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. -DESC */ +Block write-block read. smbus 2.0 5.5.8 +D*/ -/* FUNC */ + +/*F*/ int i2cReadI2CBlockData( -unsigned handle, unsigned reg, char *buf, unsigned count); -/* DESC -Reads count bytes from the specified register of the device +unsigned handle, unsigned i2cReg, char *buf, unsigned count); +/*D +This reads count bytes from the specified register of the device associated with handle . The count may be 1-32. -Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to read + buf: an array to receive the read data + count: 1-32, the number of bytes to read +. . + +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_READ_FAILED. -DESC */ +D*/ -/* FUNC */ +/*F*/ int i2cWriteI2CBlockData( -unsigned handle, unsigned reg, char *buf, unsigned count); -/* DESC -Writes data bytes to the specified register of the device -associated with handle . 1-32 bytes may be written. +unsigned handle, unsigned i2cReg, char *buf, unsigned count); +/*D +This writes 1 to 32 bytes to the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write + buf: the data to write + count: 1-32, the number of bytes to write +. . Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_I2C_WRITE_FAILED. -DESC */ +D*/ -/* FUNC */ + +/*F*/ int spiOpen(unsigned spiChan, unsigned spiBaud, unsigned spiFlags); -/* DESC +/*D This function returns a handle for the SPI device on the channel Data will be transferred at baud bits per second. +. . + spiChan: 0-1 + spiBaud: >1 +spiFlags: 0-3 +. . + +Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, +PI_BAD_SPI_SPEED, PI_BAD_FLAGS, or PI_SPI_OPEN_FAILED. + The least significant two bits of flags define the SPI mode. . . @@ -1429,138 +1896,206 @@ Mode POL PHA . . The other bits in flags should be set to zero. +D*/ -Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, -PI_BAD_SPI_SPEED, PI_BAD_FLAGS, or PI_SPI_OPEN_FAILED. -DESC */ - -/* FUNC */ +/*F*/ int spiClose(unsigned handle); -/* DESC +/*D This functions closes the SPI device identified by the handle. +. . +handle: >=0, as returned by a call to [*spiOpen*] +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE. -DESC */ +D*/ + -/* FUNC */ +/*F*/ int spiRead(unsigned handle, char *buf, unsigned count); -/* DESC +/*D This function reads count bytes of data from the SPI device associated with the handle. +. . +handle: >=0, as returned by a call to [*spiOpen*] + buf: an array to receive the read data bytes + count: the number of bytes to read +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. -DESC */ +D*/ -/* FUNC */ + +/*F*/ int spiWrite(unsigned handle, char *buf, unsigned count); -/* DESC +/*D This function writes count bytes of data from buf to the SPI device associated with the handle. +. . +handle: >=0, as returned by a call to [*spiOpen*] + buf: the data bytes to write + count: the number of bytes to write +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. -DESC */ +D*/ -/* FUNC */ +/*F*/ int spiXfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count); -/* DESC +/*D This function transfers count bytes of data from txBuf to the SPI -device associated with the handle. +device associated with the handle. Simultaneously count bytes of +data are read from the device and placed in rxBuf. + +. . +handle: >=0, as returned by a call to [*spiOpen*] + txBuf: the data bytes to write + rxBuf: the received data bytes + count: the number of bytes to transfer +. . Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ -The data read from the device is written to rxBuf. -DESC */ -/* FUNC */ -int serOpen(char *tty, unsigned serBaud, unsigned serFlags); -/* DESC -This function open the serial device named tty at baud -bits per second. +/*F*/ +int serOpen(char *sertty, unsigned serBaud, unsigned serFlags); +/*D +This function opens a serial device at a specified baud rate +with specified flags. -No flags are currently defined. This parameter should be set to zero. +. . + sertty: the serial device to open, /dev/tty* + serBaud: the baud rate to use +serFlags: 0 +. . Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or PI_SER_OPEN_FAILED. -DESC */ -/* FUNC */ +No flags are currently defined. This parameter should be set to zero. +D*/ + + +/*F*/ int serClose(unsigned handle); -/* DESC +/*D This function closes the serial device associated with handle. +. . +handle: >=0, as returned by a call to [*serOpen*] +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE. -DESC */ +D*/ -/* FUNC */ +/*F*/ int serWriteByte(unsigned handle, unsigned bVal); -/* DESC +/*D This function writes bVal to the serial port associated with handle. +. . +handle: >=0, as returned by a call to [*serOpen*] +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_SER_WRITE_FAILED. -DESC */ +D*/ -/* FUNC */ +/*F*/ int serReadByte(unsigned handle); -/* DESC +/*D This function reads a byte from the serial port associated with handle. +. . +handle: >=0, as returned by a call to [*serOpen*] +. . + Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE, PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED. -DESC */ +D*/ -/* FUNC */ +/*F*/ int serWrite(unsigned handle, char *buf, unsigned count); -/* DESC +/*D This function writes count bytes from buf to the the serial port associated with handle. +. . +handle: >=0, as returned by a call to [*serOpen*] + buf: the array of bytes to write + count: the number of bytes to write +. . + Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or PI_SER_WRITE_FAILED. -DESC */ +D*/ + -/* FUNC */ +/*F*/ int serRead(unsigned handle, char *buf, unsigned count); -/* DESC -This function reads count bytes from the the serial port +/*D +This function reads up count bytes from the the serial port associated with handle and writes them to buf. +. . +handle: >=0, as returned by a call to serial_open + buf: an array to receive the read data + count: the maximum number of bytes to read +. . + Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, PI_SER_READ_NO_DATA, or PI_SER_WRITE_FAILED. -DESC */ +D*/ -/* FUNC */ + +/*F*/ int serDataAvailable(unsigned handle); -/* DESC -This function returns the number of bytes of serial data available -to be read from the serial device associated with handle. +/*D +This function returns the number of bytes available +to be read from the device associated with handle. + +. . +handle: >=0, as returned by a call to [*serOpen*] +. . Returns the number of bytes of data available (>=0) if OK, otherwise PI_BAD_HANDLE. -DESC */ +D*/ -/* FUNC */ +/*F*/ int gpioTrigger(unsigned user_gpio, unsigned pulseLen, unsigned level); -/* DESC +/*D This function sends a trigger pulse to a gpio. The gpio is set to level for pulseLen microseconds and then reset to not level. +. . +user_gpio: 0-31 + pulseLen: 1-50 + level: 0,1 +. . + Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_LEVEL, or PI_BAD_PULSELEN. -DESC */ - -#define PI_MAX_PULSELEN 50 +D*/ -/* FUNC */ +/*F*/ int gpioSetWatchdog(unsigned user_gpio, unsigned timeout); -/* DESC +/*D Sets a watchdog for a gpio. +. . +user_gpio: 0-31 + timeout: 0-60000 +. . + Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_WDOG_TIMEOUT. The watchdog is nominally in milliseconds. @@ -1587,24 +2122,22 @@ void aFunction(int gpio, int level, uint32_t tick) gpioSetAlertFunc(4, aFunction); // or approximately every 5 millis -gpioSetWatchdogTimeout(4, 5); +gpioSetWatchdog(4, 5); ... +D*/ -DESC */ - -/* timeout: 0-60000 */ -#define PI_MIN_WDOG_TIMEOUT 0 -#define PI_MAX_WDOG_TIMEOUT 60000 - - - -/* FUNC */ +/*F*/ int gpioSetGetSamplesFunc(gpioGetSamplesFunc_t f, uint32_t bits); -/* DESC +/*D Registers a function to be called (a callback) every millisecond with the latest gpio samples. +. . + f: the function to call +bits: the gpios of interest +. . + Returns 0 if OK. The function is passed a pointer to the samples and the number @@ -1620,35 +2153,45 @@ plus any active notifications. e.g. if there are alerts for gpios 7, 8, and 9, notifications for gpios 8, 10, 23, 24, and bits is (1<<23)|(1<<17) then samples for gpios 7, 8, 9, 10, 17, 23, and 24 will be reported. -DESC */ +D*/ - -/* FUNC */ +/*F*/ int gpioSetGetSamplesFuncEx( gpioGetSamplesFuncEx_t f, uint32_t bits, void *userdata); -/* DESC +/*D Registers a function to be called (a callback) every millisecond with the latest gpio samples. +. . + f: the function to call + bits: the gpios of interest +userdata: a pointer to arbitrary user data +. . + Returns 0 if OK. The function is passed a pointer to the samples, the number of samples, and the userdata pointer. -Only one of gpioGetSamplesFunc or gpioGetSamplesFuncEx can be +Only one of [*gpioGetSamplesFunc*] or [*gpioGetSamplesFuncEx*] can be registered. -See gpioSetGetSamplesFunc for further details. -DESC */ +See [*gpioSetGetSamplesFunc*] for further details. +D*/ - -/* FUNC */ +/*F*/ int gpioSetTimerFunc(unsigned timer, unsigned millis, gpioTimerFunc_t f); -/* DESC +/*D Registers a function to be called (a callback) every millis milliseconds. +. . + timer: 0-9 +millis: 10-60000 + f: the function to call +. . + Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. 10 timers are supported numbered 0 to 9. @@ -1666,49 +2209,49 @@ void bFunction(void) // call bFunction every 2000 milliseconds gpioSetTimerFunc(0, 2000, bFunction); ... -DESC */ - -/* timer: 0-9 */ - -#define PI_MIN_TIMER 0 -#define PI_MAX_TIMER 9 +D*/ -/* millis: 10-60000 */ -#define PI_MIN_MS 10 -#define PI_MAX_MS 60000 - - - -/* FUNC */ +/*F*/ int gpioSetTimerFuncEx( unsigned timer, unsigned millis, gpioTimerFuncEx_t f, void *userdata); -/* DESC +/*D Registers a function to be called (a callback) every millis milliseconds. +. . + timer: 0-9. + millis: 10-60000 + f: the function to call +userdata: a pointer to arbitrary user data +. . + Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. The function is passed the userdata pointer. -Only one of gpioSetTimerFunc or gpioSetTimerFuncEx can be +Only one of [*gpioSetTimerFunc*] or [*gpioSetTimerFuncEx*] can be registered per timer. -See gpioSetTimerFunc for further details. -DESC */ +See [*gpioSetTimerFunc*] for further details. +D*/ - -/* FUNC */ +/*F*/ pthread_t *gpioStartThread(gpioThreadFunc_t f, void *arg); -/* DESC +/*D Starts a new thread of execution with f as the main routine. +. . + f: the main function for the new thread +arg: a pointer to arbitrary user data +. . + Returns a pointer to pthread_t if OK, otherwise NULL. The function is passed the single argument arg. The thread can be cancelled by passing the pointer to pthread_t to -gpioStopThread(). +[*gpioStopThread*]. ... #include <stdio.h> @@ -1744,104 +2287,121 @@ int main(int argc, char *argv[]) gpioTerminate(); } ... -DESC */ +D*/ - -/* FUNC */ +/*F*/ void gpioStopThread(pthread_t *pth); -/* DESC +/*D Cancels the thread pointed at by pth. +. . +pth: a thread pointer returned by [*gpioStartThread*] +. . + No value is returned. -The thread to be stopped should have been started with gpioStartThread(). -DESC */ +The thread to be stopped should have been started with [*gpioStartThread*]. +D*/ -/* FUNC */ +/*F*/ int gpioStoreScript(char *script); -/* DESC +/*D This function stores a null terminated script for later execution. +. . +script: the text of the script +. . + The function returns a script id if the script is valid, otherwise PI_BAD_SCRIPT. -DESC */ +D*/ -#define PI_MAX_SCRIPTS 32 -#define PI_MAX_SCRIPT_TAGS 50 -#define PI_MAX_SCRIPT_VARS 150 -#define PI_MAX_SCRIPT_PARAMS 10 - - -/* FUNC */ -int gpioRunScript(unsigned script_id, unsigned numParam, uint32_t *param); -/* DESC +/*F*/ +int gpioRunScript(unsigned script_id, unsigned numPar, uint32_t *param); +/*D This function runs a stored script. +. . +script_id: >=0, as returned by [*gpioStoreScript*] + numPar: 0-10, the number of parameters + param: an array of parameters +. . + The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or PI_TOO_MANY_PARAM. param is an array of up to 10 parameters which may be referenced in -the script as param 0 to param 9. -DESC */ - +the script as p0 to p9. +D*/ -/* FUNC */ +/*F*/ int gpioScriptStatus(unsigned script_id, uint32_t *param); -/* DESC +/*D This function returns the run status of a stored script as well as the current values of parameters 0 to 9. +. . +script_id: >=0, as returned by [*gpioStoreScript*] + param: an array to hold the returned 10 parameters +. . + The function returns greater than or equal to 0 if OK, otherwise PI_BAD_SCRIPT_ID. The run status may be +. . +PI_SCRIPT_INITING PI_SCRIPT_HALTED PI_SCRIPT_RUNNING PI_SCRIPT_WAITING PI_SCRIPT_FAILED +. . The current value of script parameters 0 to 9 are returned in param. -DESC */ - -/* script status */ - -#define PI_SCRIPT_HALTED 0 -#define PI_SCRIPT_RUNNING 1 -#define PI_SCRIPT_WAITING 2 -#define PI_SCRIPT_FAILED 3 +D*/ - -/* FUNC */ +/*F*/ int gpioStopScript(unsigned script_id); -/* DESC +/*D This function stops a running script. -The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. -DESC */ +. . +script_id: >=0, as returned by [*gpioStoreScript*] +. . +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. +D*/ -/* FUNC */ +/*F*/ int gpioDeleteScript(unsigned script_id); -/* DESC +/*D This function deletes a stored script. -The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. -DESC */ +. . +script_id: >=0, as returned by [*gpioStoreScript*] +. . +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. +D*/ -/* FUNC */ +/*F*/ int gpioSetSignalFunc(unsigned signum, gpioSignalFunc_t f); -/* DESC +/*D Registers a function to be called (a callback) when a signal occurs. +. . +signum: 0-63 + f: the callback function +. . + Returns 0 if OK, otherwise PI_BAD_SIGNUM. The function is passed the signal number. @@ -1852,21 +2412,21 @@ The callback may be cancelled by passing NULL. By default all signals are treated as fatal and cause the library to call gpioTerminate and then exit. -DESC */ - -/* signum: 0-63 */ - -#define PI_MIN_SIGNUM 0 -#define PI_MAX_SIGNUM 63 +D*/ - -/* FUNC */ +/*F*/ int gpioSetSignalFuncEx( unsigned signum, gpioSignalFuncEx_t f, void *userdata); -/* DESC +/*D Registers a function to be called (a callback) when a signal occurs. +. . + signum: 0-63 + f: the callback function +userdata: a pointer to arbitrary user data +. . + Returns 0 if OK, otherwise PI_BAD_SIGNUM. The function is passed the signal number and the userdata pointer. @@ -1875,80 +2435,96 @@ Only one of gpioSetSignalFunc or gpioSetSignalFuncEx can be registered per signal. See gpioSetSignalFunc for further details. -DESC */ +D*/ - -/* FUNC */ +/*F*/ uint32_t gpioRead_Bits_0_31(void); -/* DESC +/*D Returns the current level of gpios 0-31. -DESC */ - +D*/ -/* FUNC */ +/*F*/ uint32_t gpioRead_Bits_32_53(void); -/* DESC +/*D Returns the current level of gpios 32-53. -DESC */ +D*/ - -/* FUNC */ +/*F*/ int gpioWrite_Bits_0_31_Clear(uint32_t bits); -/* DESC +/*D Clears gpios 0-31 if the corresponding bit in bits is set. +. . +bits: a bit mask of gpios to clear +. . + Returns 0 if OK. ... // To clear (set to 0) gpios 4, 7, and 15 gpioWrite_Bits_0_31_Clear( (1<<4) | (1<<7) | (1<<15) ); ... -DESC */ +D*/ - -/* FUNC */ +/*F*/ int gpioWrite_Bits_32_53_Clear(uint32_t bits); -/* DESC +/*D Clears gpios 32-53 if the corresponding bit (0-21) in bits is set. -Returns 0 if OK. -DESC */ +. . +bits: a bit mask of gpios to clear +. . +Returns 0 if OK. +D*/ -/* FUNC */ +/*F*/ int gpioWrite_Bits_0_31_Set(uint32_t bits); -/* DESC +/*D Sets gpios 0-31 if the corresponding bit in bits is set. -Returns 0 if OK. -DESC */ +. . +bits: a bit mask of gpios to set +. . +Returns 0 if OK. +D*/ -/* FUNC */ +/*F*/ int gpioWrite_Bits_32_53_Set(uint32_t bits); -/* DESC +/*D Sets gpios 32-53 if the corresponding bit (0-21) in bits is set. +. . +bits: a bit mask of gpios to set +. . + Returns 0 if OK. ... // To set (set to 1) gpios 32, 40, and 53 -gpioWrite_Bits_32_53_Set( (1<<(32-32)) | (1<<(40-32)) | (1<<(53-32)) ); +gpioWrite_Bits_32_53_Set((1<<(32-32)) | (1<<(40-32)) | (1<<(53-32))); ... -DESC */ +D*/ -/* FUNC */ +/*F*/ int gpioTime(unsigned timetype, int *seconds, int *micros); -/* DESC +/*D Updates the seconds and micros variables with the current time. +. . +timetype: 0 (relative), 1 (absolute) + seconds: a pointer to an int to hold seconds + micros: a pointer to an int to hold microseconds +. . + Returns 0 if OK, otherwise PI_BAD_TIMETYPE. If timetype is PI_TIME_ABSOLUTE updates seconds and micros with the @@ -1964,21 +2540,21 @@ int secs, mics; gpioTime(PI_TIME_RELATIVE, &secs, &mics); printf("library started %d.%03d seconds ago\n", secs, mics/1000); ... -DESC */ - -/* timetype: 0-1 */ - -#define PI_TIME_RELATIVE 0 -#define PI_TIME_ABSOLUTE 1 +D*/ - -/* FUNC */ +/*F*/ int gpioSleep(unsigned timetype, int seconds, int micros); -/* DESC +/*D Sleeps for the number of seconds and microseconds specified by seconds and micros. +. . +timetype: 0 (relative), 1 (absolute) + seconds: seconds to sleep + micros: microseconds to sleep +. . + Returns 0 if OK, otherwise PI_BAD_TIMETYPE, PI_BAD_SECONDS, or PI_BAD_MICROS. @@ -1990,33 +2566,36 @@ If timetype is PI_TIME_RELATIVE the sleep is for the specified number of seconds and microseconds. System clock changes do not effect the sleep length. -For short delays (say, 50 microseonds or less) use gpioDelayMicroseconds. +For short delays (say, 50 microseonds or less) use [*gpioDelay*]. ... gpioSleep(PI_TIME_RELATIVE, 2, 500000); // sleep for 2.5 seconds -gpioSleep(PI_TIME_RELATIVE, 0, 100000); // sleep for 1/10th of a second +gpioSleep(PI_TIME_RELATIVE, 0, 100000); // sleep for 0.1 seconds gpioSleep(PI_TIME_RELATIVE, 60, 0); // sleep for one minute ... -DESC */ +D*/ - -/* FUNC */ +/*F*/ uint32_t gpioDelay(uint32_t micros); -/* DESC +/*D Delays for at least the number of microseconds specified by micros. +. . +micros: the number of microseconds to sleep +. . + Returns the actual length of the delay in microseconds. -DESC */ -#define PI_MAX_MICS_DELAY 1000000 /* 1 second */ -#define PI_MAX_MILS_DELAY 60000 /* 60 seconds */ +Delays of 50 microseconds or less use busy waits. +D*/ -/* FUNC */ + +/*F*/ uint32_t gpioTick(void); -/* DESC +/*D Returns the current system tick. Tick is the number of microseconds since system boot. @@ -2042,13 +2621,12 @@ diffTick = endTick - startTick; printf("some processing took %d microseconds\n", diffTick); ... -DESC */ - +D*/ -/* FUNC */ +/*F*/ unsigned gpioHardwareRevision(void); -/* DESC +/*D Returns the hardware revision. If the hardware revision can not be found or is not a valid hexadecimal @@ -2060,36 +2638,43 @@ The hardware revision is the last 4 characters on the Revision line of The revision number can be used to determine the assignment of gpios to pins. -There are at least two types of board. +There are at least three types of board. Type 1 has gpio 0 on P1-3, gpio 1 on P1-5, and gpio 21 on P1-13. Type 2 has gpio 2 on P1-3, gpio 3 on P1-5, gpio 27 on P1-13, and gpios 28-31 on P5. +Type 3 has a 40 pin connector rather than the 26 pin connector of +the earlier boards. Gpios 0 to 27 are brought out to the connector. + Type 1 boards have hardware revision numbers of 2 and 3. Type 2 boards have hardware revision numbers of 4, 5, 6, and 15. +Type 3 boards have hardware revision number 16. + for "Revision : 0002" the function returns 2. for "Revision : 000f" the function returns 15. for "Revision : 000g" the function returns 0. -DESC */ - +D*/ -/* FUNC */ +/*F*/ unsigned gpioVersion(void); -/* DESC +/*D Returns the pigpio version. -DESC */ +D*/ +/*F*/ +int gpioCfgBufferSize(unsigned cfgMillis); +/*D +Configures pigpio to buffer cfgMillis milliseconds of gpio samples. -/* FUNC */ -int gpioCfgBufferSize(unsigned millis); -/* DESC -Configures pigpio to buffer millis milliseconds of gpio samples. +. . +cfgMillis: 100-10000 +. . The default setting is 120 milliseconds. @@ -2112,21 +2697,21 @@ sample 4 8 12 18 31 55 107 --- (us) 8 6 8 12 18 31 55 107 10 6 8 10 14 24 45 87 . . -DESC */ - -/* millis */ - -#define PI_BUF_MILLIS_MIN 100 -#define PI_BUF_MILLIS_MAX 10000 +D*/ - -/* FUNC */ +/*F*/ int gpioCfgClock( - unsigned micros, unsigned peripheral, unsigned source); -/* DESC -Configures pigpio to use a sample rate of micros microseconds, -permitted values are 1, 2, 4, 5, 8 and 10. + unsigned cfgMicros, unsigned cfgPeripheral, unsigned cfgSource); +/*D +Configures pigpio to use a particualar sample rate timed by a specified +peripheral and clock source. + +. . + cfgMicros: 1, 2, 4, 5, 8, 10 +cfgPeripheral: 0 (PWM), 1 (PCM) + cfgSource: 0 (OSC), 1 (PLLD) +. . The timings are provided by the specified peripheral (PWM or PCM) using the frequency source (OSC or PLLD). @@ -2149,116 +2734,103 @@ sample cpu . . A sample rate of 5 microseconds seeems to be the sweet spot. -DESC */ - -/* micros: 1, 2, 4, 5, 8, or 10 */ - -/* peripheral: 0-1 */ - -#define PI_CLOCK_PWM 0 -#define PI_CLOCK_PCM 1 +D*/ -/* source: 0-1 */ -#define PI_CLOCK_OSC 0 -#define PI_CLOCK_PLLD 1 - - - -/* FUNC */ +/*F*/ int gpioCfgDMAchannel(unsigned DMAchannel); /* DEPRECATED */ -/* DESC +/*D Configures pigpio to use the specified DMA channel. -The default setting is to use channel 14. -DESC */ - -/* DMA channel: 0-14 */ - -#define PI_MIN_DMA_CHANNEL 0 -#define PI_MAX_DMA_CHANNEL 14 +. . +DMAchannel: 0-14 +. . +The default setting is to use channel 14. +D*/ -/* FUNC */ +/*F*/ int gpioCfgDMAchannels( unsigned primaryChannel, unsigned secondaryChannel); -/* DESC +/*D Configures pigpio to use the specified DMA channels. +. . + primaryChannel: 0-14 +secondaryChannel: 0-6 +. . + The default setting is to use channel 14 for the primary channel and channel 5 for the secondary channel. -DESC */ - -#define PI_MAX_PRIMARY_CHANNEL 14 -#define PI_MAX_SECONDARY_CHANNEL 6 - +D*/ -/* FUNC */ +/*F*/ int gpioCfgPermissions(uint64_t updateMask); -/* DESC +/*D Configures pigpio to only allow updates (writes or mode changes) for the gpios specified by the mask. -The default setting depends upon the board revision (Type 1 or Type 2). -The user gpios are added to the mask. If the board revision is not -recognised then the mask is formed by or'ing the bits for the two -board revisions. - -Unknown board . . -PI_DEFAULT_UPDATE_MASK_R0 0xFBE6CF9F +updateMask: bit (1<<n) is set for each gpio n which may be updated . . -Type 1 board -. . -PI_DEFAULT_UPDATE_MASK_R1 0x03E6CF93 -. . -Type 2 board -. . -PI_DEFAULT_UPDATE_MASK_R2 0xFBC6CF9C -. . -DESC */ +The default setting depends upon the board revision (Type 1, 2, or 3). +The user gpios are added to the mask. If the board revision is not +recognised then gpios 0-31 are allowed. + +Unknown board @ PI_DEFAULT_UPDATE_MASK_R0 @ 0xFFFFFFFF +Type 1 board @ PI_DEFAULT_UPDATE_MASK_R1 @ 0x03E6CF93 +Type 2 board @ PI_DEFAULT_UPDATE_MASK_R2 @ 0xFBC6CF9C +Type 3 board @ PI_DEFAULT_UPDATE_MASK_R3 @ 0x0FFFFFFC +D*/ -/* FUNC */ +/*F*/ int gpioCfgSocketPort(unsigned port); -/* DESC +/*D Configures pigpio to use the specified socket port. -The default setting is to use port 8888. -DESC */ - -/* port: 1024-9999 */ - -#define PI_MIN_SOCKET_PORT 1024 -#define PI_MAX_SOCKET_PORT 32000 +. . +port: 1024-32000 +. . +The default setting is to use port 8888. +D*/ -/* FUNC */ +/*F*/ int gpioCfgInterfaces(unsigned ifFlags); -/* DESC +/*D Configures pigpio support of the fifo and socket interfaces. -The default setting is that both interfaces are enabled. -DESC */ +. . +ifFlags: 0-3 +. . + +The default setting (0) is that both interfaces are enabled. -/* ifFlags: */ +Or in PI_DISABLE_FIFO_IF to disable the pipe interface. +Or in PI_DISABLE_SOCK_IF to disable the socket interface. +D*/ -#define PI_DISABLE_FIFO_IF 1 -#define PI_DISABLE_SOCK_IF 2 -/* FUNC */ +/*F*/ int gpioCfgInternals(unsigned cfgWhat, int cfgVal); -/* DESC +/*D Used to tune internal settings. +. . +cfgWhat: see source code + cfgVal: see source code +. . + Not intended for general use. -DESC */ +D*/ -/* FUNC */ + +/*F*/ int rawWaveAddSPI( rawSPI_t *spi, unsigned offset, @@ -2268,28 +2840,37 @@ int rawWaveAddSPI( unsigned spiBitFirst, unsigned spiBitLast, unsigned spiBits); -/* DESC +/*D This function adds a waveform representing SPI data to the existing waveform (if any). -The SPI data starts offset microseconds from the start of the -waveform. spiSS is the slave select gpio. spiBits bits -are transferred. spiTxBits are transmitted starting at the -first bit. The bits to transmit are read, most significant bit -first, from buf. Gpio reads are made from spiBitFirst to -spiBitLast. +. . + spi: a pointer to a spi object + offset: microseconds from the start of the waveform + spiSS: the slave select gpio + buf: the bits to transmit, most significant bit first + spiTxBits: the number of bits to write +spiBitFirst: the first bit to read + spiBitLast: the last bit to read + spiBits: the number of bits to transfer +. . Returns the new total number of pulses in the current waveform if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SER_OFFSET, or PI_TOO_MANY_PULSES. Not intended for general use. -DESC */ +D*/ -/* FUNC */ +/*F*/ int rawWaveAddGeneric(unsigned numPulses, rawWave_t *pulses); -/* DESC +/*D This function adds a number of pulses to the current waveform. +. . +numPulses: the number of pulses + pulses: the array containing the pulses +. . + Returns the new total number of pulses in the current waveform if OK, otherwise PI_TOO_MANY_PULSES. @@ -2306,129 +2887,178 @@ If the added waveform is intended to start after or within the existing waveform then the first pulse should consist of a delay. Not intended for general use. -DESC */ +D*/ -/* FUNC */ +/*F*/ unsigned rawWaveCB(void); -/* DESC +/*D Returns the number of the cb being currently output. Not intended for general use. -DESC */ +D*/ -/* FUNC */ -rawCbs_t *rawWaveCBAdr(int n); -/* DESC -Return the Linux address of contol block n. +/*F*/ +rawCbs_t *rawWaveCBAdr(int cbNum); +/*D +Return the Linux address of contol block cbNum. + +. . +cbNum: the cb of interest +. . Not intended for general use. -DESC */ +D*/ -/* FUNC */ +/*F*/ uint32_t rawWaveGetOut(int pos); -/* DESC +/*D Gets the wave output parameter stored at pos. +. . +pos: the position of interest. +. . + Not intended for general use. -DESC */ +D*/ -/* FUNC */ -void rawWaveSetOut(int pos, uint32_t value); -/* DESC +/*F*/ +void rawWaveSetOut(int pos, uint32_t lVal); +/*D Sets the wave output parameter stored at pos to value. +. . + pos: the position of interest +lVal: the value to write +. . + Not intended for general use. -DESC */ +D*/ -/* FUNC */ +/*F*/ uint32_t rawWaveGetIn(int pos); -/* DESC +/*D Gets the wave input value parameter stored at pos. +. . +pos: the position of interest +. . + Not intended for general use. -DESC */ +D*/ -/* FUNC */ -void rawWaveSetIn(int pos, uint32_t value); -/* DESC +/*F*/ +void rawWaveSetIn(int pos, uint32_t lVal); +/*D Sets the wave input value stored at pos to value. +. . + pos: the position of interest +lVal: the value to write +. . + Not intended for general use. -DESC */ +D*/ -/* FUNC */ +/*F*/ int getBitInBytes(int bitPos, char *buf, int numBits); -/* DESC +/*D Returns the value of the bit bitPos bits from the start of buf. Returns 0 if bitPos is greater than or equal to numBits. -DESC */ -/* FUNC */ +. . + bitPos: bit index from the start of buf + buf: array of bits +numBits: number of valid bits in buf +. . + +D*/ + +/*F*/ void putBitInBytes(int bitPos, char *buf, int bit); -/* DESC +/*D Sets the bit bitPos bits from the start of buf to bit. -DESC */ -/* FUNC */ +. . +bitPos: bit index from the start of buf + buf: array of bits + bit: 0-1, value to set +. . + +D*/ + +/*F*/ double time_time(void); -/* DESC +/*D Return the current time in seconds since the Epoch. -DESC */ +D*/ -/* FUNC */ +/*F*/ void time_sleep(double seconds); -/* DESC +/*D Delay execution for a given number of seconds -DESC */ + +. . +seconds: the number of seconds to sleep +. . +D*/ -/* FUNC */ +/*F*/ void rawDumpWave(void); -/* DESC +/*D Used to print a readable version of the current waveform to stderr. Not intended for general use. -DESC */ +D*/ -/* FUNC */ +/*F*/ void rawDumpScript(unsigned script_id); -/* DESC +/*D Used to print a readable version of a script to stderr. +. . +script_id: >=0, a script_id returned by [*gpioStoreScript*] +. . + Not intended for general use. -DESC */ +D*/ #ifdef __cplusplus } #endif -/* PARAMS +/*PARAMS *arg:: + A pointer to a void object passed to a thread started by gpioStartThread. -bbBaud::100-250000 +bbBaud:: + The baud rate used for the transmission and reception of bit banged serial data. -... +. . PI_WAVE_MIN_BAUD 100 PI_WAVE_MAX_BAUD 250000 -... +. . + +bit:: -bit::0-1 A value of 0 or 1. bitPos:: + A bit position within a byte or word. The least significant bit is position 0. bits:: + A value used to select gpios. If bit n of bits is set then gpio n is selected. @@ -2437,66 +3067,126 @@ A convenient way to set bit n is to or in (1<<n). e.g. to select bits 5, 9, 23 you could use (1<<5) | (1<<9) | (1<<23). *buf:: + A buffer to hold data being sent or being received. bufSize:: + The size in bytes of a buffer. -bVal::0-255 -A byte value, 0-255. +bVal::0-255 (Hex 0x0-0xFF, Octal 0-0377) + +An 8-bit byte value. + +cbNum:: + +A number identifying a DMA contol block. + +cfgMicros:: + +The gpio sample rate in microseconds. The default is 5us, or 200 thousand +samples per second. + +cfgMillis:: 100-10000 + +The size of the sample buffer in milliseconds. Gnerally this should be +left at the default of 120ms. If you expect intense bursts of signals it +might be necessary to increase the buffer size. + +cfgPeripheral:: + +One of the PWM or PCM peripherals used to pace DMA transfers for timing +purposes. + +cfgSource:: + +The clock source used for the timing of DMA transfers. May be the 19.2MHz +crystal or the 500MHz PLL. +. . +PI_CLOCK_OSC 0 +PI_CLOCK_PLLD 1 +. . + +cfgVal:: + +A number specifying the value of a configuration item. See [*cfgWhat*]. + +cfgWhat:: + +A number specifying a configuration item. + +562484977: print enhanced statistics at termination. +984762879: set the initial debug level. char:: + A single character, an 8 bit quantity able to store 0-255. count:: -The number of bytes to be transferred in aN I2C, SPI, or Serial + +The number of bytes to be transferred in an I2C, SPI, or Serial command. DMAchannel::0-14 -... -#define PI_MIN_DMA_CHANNEL 0 -#define PI_MAX_DMA_CHANNEL 14 -... +. . +PI_MIN_DMA_CHANNEL 0 +PI_MAX_DMA_CHANNEL 14 +. . + double:: + A floating point number. dutycycle::0-range + A number representing the ratio of on time to off time for PWM. The number may vary between 0 and range (default 255) where -0 is off and 255 is fully on. +0 is off and range is fully on. f:: + A function. frequency::0- + The number of times a gpio is swiched on and off per second. This can be set per gpio and may be as little as 5Hz or as much as 40KHz. The gpio will be on for a proportion of the time as defined by its dutycycle. -gpio::0-53 +gpio:: + A Broadcom numbered gpio, in the range 0-53. +gpioAlertFunc_t:: +. . +typedef void (*gpioAlertFunc_t) (int gpio, int level, uint32_t tick); +. . + gpioAlertFuncEx_t:: . . typedef void (*gpioAlertFuncEx_t) (int gpio, int level, uint32_t tick, void *userdata); . . -gpioAlertFunc_t:: -. . -typedef void (*gpioAlertFunc_t) (int gpio, int level, uint32_t tick); -. . +gpioCfg*:: + +One of -gpioExtent_t:: +[*gpioCfgBufferSize*] +[*gpioCfgClock*] +[*gpioCfgDMAchannel*] +[*gpioCfgDMAchannels*] +[*gpioCfgPermissions*] +[*gpioCfgInterfaces*] +[*gpioCfgInternals*] +[*gpioCfgSocketPort*] + +gpioGetSamplesFunc_t:: . . -typedef struct -{ - size_t size; - void *ptr; - uint32_t data; -} gpioExtent_t; +typedef void (*gpioGetSamplesFunc_t) + (const gpioSample_t *samples, int numSamples); . . gpioGetSamplesFuncEx_t:: @@ -2505,12 +3195,6 @@ typedef void (*gpioGetSamplesFuncEx_t) (const gpioSample_t *samples, int numSamples, void *userdata); . . -gpioGetSamplesFunc_t:: -. . -typedef void (*gpioGetSamplesFunc_t) - (const gpioSample_t *samples, int numSamples); -. . - gpioPulse_t:: . . typedef struct @@ -2521,14 +3205,14 @@ typedef struct } gpioPulse_t; . . -gpioSignalFuncEx_t:: +gpioSignalFunc_t:: . . -typedef void (*gpioSignalFuncEx_t) (int signum, void *userdata); +typedef void (*gpioSignalFunc_t) (int signum); . . -gpioSignalFunc_t:: +gpioSignalFuncEx_t:: . . -typedef void (*gpioSignalFunc_t) (int signum); +typedef void (*gpioSignalFuncEx_t) (int signum, void *userdata); . . gpioThreadFunc_t:: @@ -2536,17 +3220,26 @@ gpioThreadFunc_t:: typedef void *(gpioThreadFunc_t) (void *); . . -gpioTimerFuncEx_t:: +gpioTimerFunc_t:: . . -typedef void (*gpioTimerFuncEx_t) (void *userdata); +typedef void (*gpioTimerFunc_t) (void); . . -gpioTimerFunc_t:: +gpioTimerFuncEx_t:: . . -typedef void (*gpioTimerFunc_t) (void); +typedef void (*gpioTimerFuncEx_t) (void *userdata); . . +gpioWaveAdd*:: + +One of + +[*gpioWaveAddNew*] +[*gpioWaveAddGeneric*] +[*gpioWaveAddSerial*] + handle::0- + A number referencing an object opened by one of [*i2cOpen*] @@ -2555,14 +3248,21 @@ A number referencing an object opened by one of [*spiOpen*] i2cAddr::0x08-0x77 + The address of a device on the I2C bus (0x08 - 0x77) i2cBus::0-1 + An I2C bus, 0 or 1. i2cFlags::0 + Flags which modify an I2C open command. None are currently defined. +i2cReg:: 0-255 + +A register of an I2C device. + ifFlags::0-3 . . PI_DISABLE_FIFO_IF 1 @@ -2570,9 +3270,13 @@ PI_DISABLE_SOCK_IF 2 . . int:: + A whole number, negative or positive. -level::0-1 +level:: + +The level of a gpio. Low or High. + . . PI_OFF 0 PI_ON 1 @@ -2584,17 +3288,34 @@ PI_LOW 0 PI_HIGH 1 . . +There is one exception. If a watchdog expires on a gpio the level will be +reported as PI_TIMEOUT. See [*gpioSetWatchdog*]. + +. . +PI_TIMEOUT 2 +. . + + +lVal::0-4294967295 (Hex 0x0-0xFFFFFFFF, Octal 0-37777777777) + +A 32-bit word value. + *micros:: + A value representing microseconds. micros:: + A value representing microseconds. millis:: + A value representing milliseconds. mode::0-7 + The operational mode of a gpio, normally INPUT or OUTPUT. + . . PI_INPUT 0 PI_OUTPUT 1 @@ -2608,40 +3329,69 @@ PI_ALT5 2 numBits:: +The number of bits stored in a buffer. + numChar:: -numParam:: +The number of characters in a string (used when the string might contain +null characters, which would normally terminate the string). + +numPar:: 0-10 + +The number of parameters passed to a script. numPulses:: -spiTxBits:: +The number of pulses to be added to a waveform. offset:: +The associated data starts this number of microseconds from the start of +tghe waveform. + *param:: -peripheral:: +An array of script parameters. -port:: +port:: 1024-32000 + +The port used to bind to the pigpio socket. Defaults to 8888. pos:: -primaryChannel:: +The position of an item. + +primaryChannel:: 0-14 + +The DMA channel used to time the sampling of gpios and to time servo and +PWM pulses. *pth:: + +A thread identifier, returned by [*gpioStartThread*]. + pthread_t:: +A thread identifier. + pud::0-2 + +The setting of the pull up/down resistor for a gpio, which may be off, +pull-up, or pull-down. . . PI_PUD_OFF 0 PI_PUD_DOWN 1 PI_PUD_UP 2 . . + pulseLen:: + 1-50, the length of a trigger pulse in microseconds. *pulses:: +An array of pulsed to be added to a waveform. + pulsewidth::0, 500-2500 . . PI_SERVO_OFF 0 @@ -2695,20 +3445,21 @@ typedef struct } rawWave_t; . . -reg:: - *rxBuf:: -spiBitFirst:: - -spiBitLast:: +A pointer to a buffer to receive data. *script:: +A pointer to the text of a script. + script_id:: -An id of a stored script as returned by gpioStoreScript. -secondaryChannel:: +An id of a stored script as returned by [*gpioStoreScript*]. + +secondaryChannel:: 0-6 + +The DMA channel used to time output waveforms. *seconds:: @@ -2717,84 +3468,149 @@ a returned time. seconds:: +The number of seconds. + +serBaud:: + +The baud rate to use on the serial link. + +It must be one of 50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, +4800, 9600, 19200, 38400, 57600, 115200, 230400. + serFlags:: + Flags which modify a serial open command. None are currently defined. +*sertty:: + +The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1. + signum::0-63 . . PI_MIN_SIGNUM 0 PI_MAX_SIGNUM 63 . . + size_t:: -source:: -. . -PI_CLOCK_OSC 0 -PI_CLOCK_PLLD 1 -. . -speed:: +A standard type used to indicate the size of an object in bytes. + *spi:: -spi_chan:: +A pointer to a [*rawSPI_t*] structure. + +spiBaud:: + +The speed in bits per second to use for the SPI device. + +spiBitFirst:: + +Gpio reads are made from spiBitFirst to spiBitLast. + +spiBitLast:: + +Gpio reads are made from spiBitFirst to spiBitLast. + +spiBits:: + +The number of bits to transfer in a raw SPI transaction. + +spiChan:: + A SPI channel, 0 or 1. spiFlags:: + Flags which modify a SPI open command. The two least significant bits define the SPI mode. The other bits are undefined. spiSS:: + +The SPI slave select gpio in a raw SPI transaction. + +spiTxBits:: + +The number of bits to transfer dring a raw SPI transaction + *str:: - A pointer to a null terminated ASCII string. + +An array of characters. + timeout:: + +A gpio watchdog timeout in milliseconds. . . PI_MIN_WDOG_TIMEOUT 0 PI_MAX_WDOG_TIMEOUT 60000 . . + timer:: . . PI_MIN_TIMER 0 PI_MAX_TIMER 9 . . + timetype:: . . PI_TIME_RELATIVE 0 PI_TIME_ABSOLUTE 1 . . -*tty:: -A Pi serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0 *txBuf:: -uint32_t:: -A whole number in the range 0-4,294,967,295 +An array of bytes to transmit. + +uint32_t::0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF) + +A 32-bit unsigned value. + +uint64_t::0-(2^64)-1 -uint64_t:: -A whole number in the range 0-(2^64)-1. +A 64-bit unsigned value. unsigned:: + A whole number >= 0. updateMask:: + A 64 bit mask indicating which gpios may be written to by the user. If gpio#n may be written then bit (1<<n) is set. user_gpio:: + 0-31, a Broadcom numbered gpio. *userdata:: -bVal:: - -value:: +A pointer to arbitrary user data. This may be used to identify the instance. void:: +Denoting no parameter is required + wave_id:: + A number representing a waveform created by [*gpioWaveCreate*]. -what:: -PARAMS */ +wave_mode:: + +The mode of waveform transmission, whether it is sent once or cycles +repeatedly. + +. . +PI_WAVE_MODE_ONE_SHOT 0 +PI_WAVE_MODE_REPEAT 1 +. . + +wVal::0-65535 (Hex 0x0-0xFFFF, Octal 0-0177777) + +A 16-bit word value. + +PARAMS*/ + +/*DEF_S Socket Command Codes*/ #define PI_CMD_MODES 0 #define PI_CMD_MODEG 1 @@ -2883,8 +3699,12 @@ PARAMS */ #define PI_CMD_SERW 81 #define PI_CMD_SERDA 82 +#define PI_CMD_NOIB 99 + +/*DEF_E*/ + /* -The following command only works on the socket interface. +PI CMD_NOIB only works on the socket interface. It returns a spare notification handle. Notifications for that handle will be sent to the socket (rather than a /dev/pigpiox pipe). @@ -2893,8 +3713,6 @@ The socket should be dedicated to receiving notifications after this command is issued. */ -#define PI_CMD_NOIB 99 - /* pseudo commands */ #define PI_CMD_SCRIPT 800 @@ -2942,102 +3760,104 @@ after this command is issued. #define PI_CMD_XA 840 #define PI_CMD_XOR 841 -/* error numbers reported by functions */ - -#define PI_INIT_FAILED -1 /* gpioInitialise failed */ -#define PI_BAD_USER_GPIO -2 /* gpio not 0-31 */ -#define PI_BAD_GPIO -3 /* gpio not 0-53 */ -#define PI_BAD_MODE -4 /* mode not 0-7 */ -#define PI_BAD_LEVEL -5 /* level not 0-1 */ -#define PI_BAD_PUD -6 /* pud not 0-2 */ -#define PI_BAD_PULSEWIDTH -7 /* pulsewidth not 0 or 500-2500 */ -#define PI_BAD_DUTYCYCLE -8 /* dutycycle outside set range */ -#define PI_BAD_TIMER -9 /* timer not 0-9 */ -#define PI_BAD_MS -10 /* ms not 10-60000 */ -#define PI_BAD_TIMETYPE -11 /* timetype not 0-1 */ -#define PI_BAD_SECONDS -12 /* seconds < 0 */ -#define PI_BAD_MICROS -13 /* micros not 0-999999 */ -#define PI_TIMER_FAILED -14 /* gpioSetTimerFunc failed */ -#define PI_BAD_WDOG_TIMEOUT -15 /* timeout not 0-60000 */ -#define PI_NO_ALERT_FUNC -16 /* DEPRECATED */ -#define PI_BAD_CLK_PERIPH -17 /* clock peripheral not 0-1 */ -#define PI_BAD_CLK_SOURCE -18 /* clock source not 0-1 */ -#define PI_BAD_CLK_MICROS -19 /* clock micros not 1, 2, 4, 5, 8, or 10 */ -#define PI_BAD_BUF_MILLIS -20 /* buf millis not 100-10000 */ -#define PI_BAD_DUTYRANGE -21 /* dutycycle range not 25-40000 */ -#define PI_BAD_DUTY_RANGE -21 /* DEPRECATED (use PI_BAD_DUTYRANGE) */ -#define PI_BAD_SIGNUM -22 /* signum not 0-63 */ -#define PI_BAD_PATHNAME -23 /* can't open pathname */ -#define PI_NO_HANDLE -24 /* no handle available */ -#define PI_BAD_HANDLE -25 /* unknown notify handle */ -#define PI_BAD_IF_FLAGS -26 /* ifFlags > 3 */ -#define PI_BAD_CHANNEL -27 /* DMA channel not 0-14 */ -#define PI_BAD_PRIM_CHANNEL -27 /* DMA primary channel not 0-14 */ -#define PI_BAD_SOCKET_PORT -28 /* socket port not 1024-32000 */ -#define PI_BAD_FIFO_COMMAND -29 /* unrecognized fifo command */ -#define PI_BAD_SECO_CHANNEL -30 /* DMA secondary channel not 0-6 */ -#define PI_NOT_INITIALISED -31 /* function called before gpioInitialise */ -#define PI_INITIALISED -32 /* function called after gpioInitialise */ -#define PI_BAD_WAVE_MODE -33 /* waveform mode not 0-1 */ -#define PI_BAD_CFG_INTERNAL -34 /* bad parameter in gpioCfgInternals call */ -#define PI_BAD_WAVE_BAUD -35 /* baud rate not 100-250000 */ -#define PI_TOO_MANY_PULSES -36 /* waveform has too many pulses */ -#define PI_TOO_MANY_CHARS -37 /* waveform has too many chars */ -#define PI_NOT_SERIAL_GPIO -38 /* no serial read in progress on gpio */ -#define PI_BAD_SERIAL_STRUC -39 /* bad (null) serial structure parameter */ -#define PI_BAD_SERIAL_BUF -40 /* bad (null) serial buf parameter */ -#define PI_NOT_PERMITTED -41 /* gpio operation not permitted */ -#define PI_SOME_PERMITTED -42 /* one or more gpios not permitted */ -#define PI_BAD_WVSC_COMMND -43 /* bad WVSC subcommand */ -#define PI_BAD_WVSM_COMMND -44 /* bad WVSM subcommand */ -#define PI_BAD_WVSP_COMMND -45 /* bad WVSP subcommand */ -#define PI_BAD_PULSELEN -46 /* trigger pulse length > 50 */ -#define PI_BAD_SCRIPT -47 /* invalid script */ -#define PI_BAD_SCRIPT_ID -48 /* unknown script id */ -#define PI_BAD_SER_OFFSET -49 /* add serial data offset > 30 minutes */ -#define PI_GPIO_IN_USE -50 /* gpio already in use */ -#define PI_BAD_SERIAL_COUNT -51 /* must read at least a byte at a time */ -#define PI_BAD_PARAM_NUM -52 /* script parameter must be 0-9 */ -#define PI_DUP_TAG -53 /* script has duplicate tag */ -#define PI_TOO_MANY_TAGS -54 /* script has too many tags */ -#define PI_BAD_SCRIPT_CMD -55 /* illegal script command */ -#define PI_BAD_VAR_NUM -56 /* script variable must be 0-149 */ -#define PI_NO_SCRIPT_ROOM -57 /* no more room for scripts */ -#define PI_NO_MEMORY -58 /* can't allocate temporary memory */ -#define PI_SOCK_READ_FAILED -59 /* socket read failed */ -#define PI_SOCK_WRIT_FAILED -60 /* socket write failed */ -#define PI_TOO_MANY_PARAM -61 /* too many script parameters > 10 */ -#define PI_NOT_HALTED -62 /* script already running or failed */ -#define PI_BAD_TAG -63 /* script has unresolved tag */ -#define PI_BAD_MICS_DELAY -64 /* bad MICS delay (too large) */ -#define PI_BAD_MILS_DELAY -65 /* bad MILS delay (too large) */ -#define PI_BAD_WAVE_ID -66 /* non existent wave id */ -#define PI_TOO_MANY_CBS -67 /* No more CBs for waveform */ -#define PI_TOO_MANY_OOL -68 /* No more OOL for waveform */ -#define PI_EMPTY_WAVEFORM -69 /* attempt to create an empty waveform */ -#define PI_NO_WAVEFORM_ID -70 /* no more waveforms */ -#define PI_I2C_OPEN_FAILED -71 /* can't open I2C device */ -#define PI_SER_OPEN_FAILED -72 /* can't open serial device */ -#define PI_SPI_OPEN_FAILED -73 /* can't open SPI device */ -#define PI_BAD_I2C_BUS -74 /* bad I2C bus */ -#define PI_BAD_I2C_ADDR -75 /* bad I2C address */ -#define PI_BAD_SPI_CHANNEL -76 /* bad SPI channel */ -#define PI_BAD_FLAGS -77 /* bad i2c/spi/ser open flags */ -#define PI_BAD_SPI_SPEED -78 /* bad SPI speed */ -#define PI_BAD_SER_DEVICE -79 /* bad serial device name */ -#define PI_BAD_SER_SPEED -80 /* bad serial baud rate */ -#define PI_BAD_PARAM -81 /* bad i2c/spi/ser parameter */ -#define PI_I2C_WRITE_FAILED -82 /* i2c write failed */ -#define PI_I2C_READ_FAILED -83 /* i2c read failed */ -#define PI_BAD_SPI_COUNT -84 /* bad SPI count */ -#define PI_SER_WRITE_FAILED -85 /* ser write failed */ -#define PI_SER_READ_FAILED -86 /* ser read failed */ -#define PI_SER_READ_NO_DATA -87 /* ser read no data available */ -#define PI_UNKNOWN_COMMAND -88 /* unknown command */ -#define PI_SPI_XFER_FAILED -89 /* spi xfer/read/write failed */ -#define PI_BAD_POINTER -90 /* bad (NULL) pointer */ - - +/*DEF_S Error Codes*/ + +#define PI_INIT_FAILED -1 // gpioInitialise failed +#define PI_BAD_USER_GPIO -2 // gpio not 0-31 +#define PI_BAD_GPIO -3 // gpio not 0-53 +#define PI_BAD_MODE -4 // mode not 0-7 +#define PI_BAD_LEVEL -5 // level not 0-1 +#define PI_BAD_PUD -6 // pud not 0-2 +#define PI_BAD_PULSEWIDTH -7 // pulsewidth not 0 or 500-2500 +#define PI_BAD_DUTYCYCLE -8 // dutycycle outside set range +#define PI_BAD_TIMER -9 // timer not 0-9 +#define PI_BAD_MS -10 // ms not 10-60000 +#define PI_BAD_TIMETYPE -11 // timetype not 0-1 +#define PI_BAD_SECONDS -12 // seconds < 0 +#define PI_BAD_MICROS -13 // micros not 0-999999 +#define PI_TIMER_FAILED -14 // gpioSetTimerFunc failed +#define PI_BAD_WDOG_TIMEOUT -15 // timeout not 0-60000 +#define PI_NO_ALERT_FUNC -16 // DEPRECATED +#define PI_BAD_CLK_PERIPH -17 // clock peripheral not 0-1 +#define PI_BAD_CLK_SOURCE -18 // clock source not 0-1 +#define PI_BAD_CLK_MICROS -19 // clock micros not 1, 2, 4, 5, 8, or 10 +#define PI_BAD_BUF_MILLIS -20 // buf millis not 100-10000 +#define PI_BAD_DUTYRANGE -21 // dutycycle range not 25-40000 +#define PI_BAD_DUTY_RANGE -21 // DEPRECATED (use PI_BAD_DUTYRANGE) +#define PI_BAD_SIGNUM -22 // signum not 0-63 +#define PI_BAD_PATHNAME -23 // can't open pathname +#define PI_NO_HANDLE -24 // no handle available +#define PI_BAD_HANDLE -25 // unknown handle +#define PI_BAD_IF_FLAGS -26 // ifFlags > 3 +#define PI_BAD_CHANNEL -27 // DMA channel not 0-14 +#define PI_BAD_PRIM_CHANNEL -27 // DMA primary channel not 0-14 +#define PI_BAD_SOCKET_PORT -28 // socket port not 1024-32000 +#define PI_BAD_FIFO_COMMAND -29 // unrecognized fifo command +#define PI_BAD_SECO_CHANNEL -30 // DMA secondary channel not 0-6 +#define PI_NOT_INITIALISED -31 // function called before gpioInitialise +#define PI_INITIALISED -32 // function called after gpioInitialise +#define PI_BAD_WAVE_MODE -33 // waveform mode not 0-1 +#define PI_BAD_CFG_INTERNAL -34 // bad parameter in gpioCfgInternals call +#define PI_BAD_WAVE_BAUD -35 // baud rate not 100-250000 +#define PI_TOO_MANY_PULSES -36 // waveform has too many pulses +#define PI_TOO_MANY_CHARS -37 // waveform has too many chars +#define PI_NOT_SERIAL_GPIO -38 // no serial read in progress on gpio +#define PI_BAD_SERIAL_STRUC -39 // bad (null) serial structure parameter +#define PI_BAD_SERIAL_BUF -40 // bad (null) serial buf parameter +#define PI_NOT_PERMITTED -41 // gpio operation not permitted +#define PI_SOME_PERMITTED -42 // one or more gpios not permitted +#define PI_BAD_WVSC_COMMND -43 // bad WVSC subcommand +#define PI_BAD_WVSM_COMMND -44 // bad WVSM subcommand +#define PI_BAD_WVSP_COMMND -45 // bad WVSP subcommand +#define PI_BAD_PULSELEN -46 // trigger pulse length > 50 +#define PI_BAD_SCRIPT -47 // invalid script +#define PI_BAD_SCRIPT_ID -48 // unknown script id +#define PI_BAD_SER_OFFSET -49 // add serial data offset > 30 minutes +#define PI_GPIO_IN_USE -50 // gpio already in use +#define PI_BAD_SERIAL_COUNT -51 // must read at least a byte at a time +#define PI_BAD_PARAM_NUM -52 // script parameter must be 0-9 +#define PI_DUP_TAG -53 // script has duplicate tag +#define PI_TOO_MANY_TAGS -54 // script has too many tags +#define PI_BAD_SCRIPT_CMD -55 // illegal script command +#define PI_BAD_VAR_NUM -56 // script variable must be 0-149 +#define PI_NO_SCRIPT_ROOM -57 // no more room for scripts +#define PI_NO_MEMORY -58 // can't allocate temporary memory +#define PI_SOCK_READ_FAILED -59 // socket read failed +#define PI_SOCK_WRIT_FAILED -60 // socket write failed +#define PI_TOO_MANY_PARAM -61 // too many script parameters > 10 +#define PI_NOT_HALTED -62 // script already running or failed +#define PI_BAD_TAG -63 // script has unresolved tag +#define PI_BAD_MICS_DELAY -64 // bad MICS delay (too large) +#define PI_BAD_MILS_DELAY -65 // bad MILS delay (too large) +#define PI_BAD_WAVE_ID -66 // non existent wave id +#define PI_TOO_MANY_CBS -67 // No more CBs for waveform +#define PI_TOO_MANY_OOL -68 // No more OOL for waveform +#define PI_EMPTY_WAVEFORM -69 // attempt to create an empty waveform +#define PI_NO_WAVEFORM_ID -70 // no more waveforms +#define PI_I2C_OPEN_FAILED -71 // can't open I2C device +#define PI_SER_OPEN_FAILED -72 // can't open serial device +#define PI_SPI_OPEN_FAILED -73 // can't open SPI device +#define PI_BAD_I2C_BUS -74 // bad I2C bus +#define PI_BAD_I2C_ADDR -75 // bad I2C address +#define PI_BAD_SPI_CHANNEL -76 // bad SPI channel +#define PI_BAD_FLAGS -77 // bad i2c/spi/ser open flags +#define PI_BAD_SPI_SPEED -78 // bad SPI speed +#define PI_BAD_SER_DEVICE -79 // bad serial device name +#define PI_BAD_SER_SPEED -80 // bad serial baud rate +#define PI_BAD_PARAM -81 // bad i2c/spi/ser parameter +#define PI_I2C_WRITE_FAILED -82 // i2c write failed +#define PI_I2C_READ_FAILED -83 // i2c read failed +#define PI_BAD_SPI_COUNT -84 // bad SPI count +#define PI_SER_WRITE_FAILED -85 // ser write failed +#define PI_SER_READ_FAILED -86 // ser read failed +#define PI_SER_READ_NO_DATA -87 // ser read no data available +#define PI_UNKNOWN_COMMAND -88 // unknown command +#define PI_SPI_XFER_FAILED -89 // spi xfer/read/write failed +#define PI_BAD_POINTER -90 // bad (NULL) pointer + +/*DEF_E*/ + +/*DEF_S Defaults*/ #define PI_DEFAULT_BUFFER_MILLIS 120 #define PI_DEFAULT_CLK_MICROS 5 @@ -3050,9 +3870,12 @@ after this command is issued. #define PI_DEFAULT_SOCKET_PORT 8888 #define PI_DEFAULT_SOCKET_PORT_STR "8888" #define PI_DEFAULT_SOCKET_ADDR_STR "127.0.0.1" -#define PI_DEFAULT_UPDATE_MASK_R0 0xFBE6CF9F -#define PI_DEFAULT_UPDATE_MASK_R1 0x03E6CF93 -#define PI_DEFAULT_UPDATE_MASK_R2 0xFBC6CF9C +#define PI_DEFAULT_UPDATE_MASK_R0 0xFFFFFFFF +#define PI_DEFAULT_UPDATE_MASK_R1 0x03E7CF93 +#define PI_DEFAULT_UPDATE_MASK_R2 0xFBC7CF9C +#define PI_DEFAULT_UPDATE_MASK_R3 0x80400FFFFFFCLL + +/*DEF_E*/ #endif |