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pigpio.py
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pigpio.py
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"""
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.co.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
Beginner
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
set_PWM_dutycycle Start/stop PWM pulses on a GPIO
get_PWM_dutycycle Get PWM dutycycle set on a GPIO
set_servo_pulsewidth Start/Stop servo pulses on a GPIO
get_servo_pulsewidth Get servo pulsewidth set on a GPIO
callback Create GPIO level change callback
wait_for_edge Wait for GPIO level change
Intermediate
gpio_trigger Send a trigger pulse to a GPIO
set_watchdog Set a watchdog on a GPIO
set_PWM_range Configure PWM range of a GPIO
get_PWM_range Get configured PWM range of a GPIO
set_PWM_frequency Set PWM frequency of a GPIO
get_PWM_frequency Get PWM frequency of 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
Advanced
get_PWM_real_range Get underlying PWM range for a GPIO
notify_open Request a notification handle
notify_begin Start notifications for selected GPIO
notify_pause Pause notifications
notify_close Close a notification
bb_serial_read_open Open a GPIO for bit bang serial reads
bb_serial_read Read bit bang serial data from a GPIO
bb_serial_read_close Close a GPIO for bit bang serial reads
bb_serial_invert Invert serial logic (1 invert, 0 normal)
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
get_pad_strength Gets a pads drive strength
set_pad_strength Sets a pads drive strength
shell Executes a shell command
Scripts
store_script Store a script
run_script Run a stored script
script_status Get script status and parameters
stop_script Stop a running script
delete_script Delete a stored script
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_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_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
wave_get_cbs Length in cbs of the current waveform
wave_get_max_cbs Absolute maximum allowed cbs
I2C
i2c_open Opens an I2C device
i2c_close Closes an I2C device
i2c_write_quick SMBus write quick
i2c_write_byte SMBus write byte
i2c_read_byte SMBus read byte
i2c_write_byte_data SMBus write byte data
i2c_write_word_data SMBus write word data
i2c_read_byte_data SMBus read byte data
i2c_read_word_data SMBus read word data
i2c_process_call SMBus process call
i2c_write_block_data SMBus write block data
i2c_read_block_data SMBus read block data
i2c_block_process_call SMBus block process call
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_zip Performs multiple I2C transactions
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
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
Serial
serial_open Opens a serial device
serial_close Closes a serial device
serial_read Reads bytes from a serial device
serial_read_byte Reads a byte from a serial device
serial_write Writes bytes to a serial device
serial_write_byte Writes a byte to a serial device
serial_data_available Returns number of bytes ready to be read
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
Custom
custom_1 User custom function 1
custom_2 User custom function 2
Utility
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 = "1.32"
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_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
# 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
# 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
# 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 > 3"],
[_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 , "hardware PWM frequency not 1-125M"],
[PI_BAD_HPWM_DUTY , "hardware PWM dutycycle not 0-1M"],
[PI_BAD_HCLK_FREQ , "hardware clock frequency not 4689-250M"],
[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"],
]
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, rl=True):
"""
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).
"""
sl.l.acquire()
sl.s.send(struct.pack('IIII', cmd, p1, p2, 0))
dummy, res = struct.unpack('12sI', sl.s.recv(16))
if rl: sl.l.release()
return res
def _pigpio_command_ext(sl, cmd, p1, p2, p3, extents, rl=True):
"""
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)
sl.l.acquire()
sl.s.sendall(ext)
dummy, res = struct.unpack('12sI', sl.s.recv(16))
if rl: sl.l.release()
return res
class _callback_ADT:
"""An ADT class to hold callback information."""
def __init__(self, gpio, edge, func):
"""
Initialises a callback ADT.
gpio:= Broadcom GPIO number.
edge:= EITHER_EDGE, RISING_EDGE, or FALLING_EDGE.
func:= a user function taking three arguments (GPIO, level, tick).
"""
self.gpio = gpio
self.edge = edge
self.func = func
self.bit = 1<<gpio
class _callback_thread(threading.Thread):
"""A class to encapsulate pigpio notification callbacks."""
def __init__(self, control, host, port):
"""Initialises notifications."""
threading.Thread.__init__(self)
self.control = control
self.sl = _socklock()
self.go = False
self.daemon = True
self.monitor = 0
self.callbacks = []
self.sl.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sl.s.settimeout(None)
self.sl.s.connect((host, port))
self.handle = _pigpio_command(self.sl, _PI_CMD_NOIB, 0, 0)
self.go = True
self.start()
def stop(self):
"""Stops notifications."""
if self.go:
self.go = False
self.sl.s.send(struct.pack('IIII', _PI_CMD_NC, self.handle, 0, 0))
def append(self, callb):
"""Adds a callback to the notification thread."""
self.callbacks.append(callb)
self.monitor = self.monitor | callb.bit
_pigpio_command(self.control, _PI_CMD_NB, self.handle, self.monitor)
def remove(self, callb):
"""Removes a callback from the notification thread."""
if callb in self.callbacks:
self.callbacks.remove(callb)
newMonitor = 0
for c in self.callbacks:
newMonitor |= c.bit
if newMonitor != self.monitor:
self.monitor = newMonitor
_pigpio_command(
self.control, _PI_CMD_NB, self.handle, self.monitor)
def run(self):