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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.me.uk/rpi/pigpio/python.html]
*Features*
o the pigpio Python module can run on Windows, Macs, or Linux
o controls one or more Pi's
o hardware timed PWM on any of GPIO 0-31
o hardware timed servo pulses on any of GPIO 0-31
o callbacks when any of GPIO 0-31 change state
o creating and transmitting precisely timed waveforms
o reading/writing GPIO and setting their modes
o wrappers for I2C, SPI, and serial links
o creating and running scripts on the pigpio daemon
*GPIO*
ALL GPIO are identified by their Broadcom number.
*Notes*
Transmitted waveforms are accurate to a microsecond.
Callback level changes are time-stamped and will be
accurate to within a few microseconds.
*Settings*
A number of settings are determined when the pigpio daemon is started.
o the sample rate (1, 2, 4, 5, 8, or 10 us, default 5 us).
o the set of GPIO which may be updated (generally written to). The
default set is those available on the Pi board revision.
o the available PWM frequencies (see [*set_PWM_frequency*]).
*Exceptions*
By default a fatal exception is raised if you pass an invalid
argument to a pigpio function.
If you wish to handle the returned status yourself you should set
pigpio.exceptions to False.
You may prefer to check the returned status in only a few parts
of your code. In that case do the following:
...
pigpio.exceptions = False
# Code where you want to test the error status.
pigpio.exceptions = True
...
*Usage*
This module uses the services of the C pigpio library. pigpio
must be running on the Pi(s) whose GPIO are to be manipulated.
The normal way to start pigpio is as a daemon (during system
start).
sudo pigpiod
Your Python program must import pigpio and create one or more
instances of the pigpio.pi class. This class gives access to
a specified Pi's GPIO.
...
pi1 = pigpio.pi() # pi1 accesses the local Pi's GPIO
pi2 = pigpio.pi('tom') # pi2 accesses tom's GPIO
pi3 = pigpio.pi('dick') # pi3 accesses dick's GPIO
pi1.write(4, 0) # set local Pi's GPIO 4 low
pi2.write(4, 1) # set tom's GPIO 4 to high
pi3.read(4) # get level of dick's GPIO 4
...
The later example code snippets assume that pi is an instance of
the pigpio.pi class.
OVERVIEW
ESSENTIAL
pigpio.pi Initialise Pi connection
stop Stop a Pi connection
BASIC
set_mode Set a GPIO mode
get_mode Get a GPIO mode
set_pull_up_down Set/clear GPIO pull up/down resistor
read Read a GPIO
write Write a GPIO
PWM_(overrides_servo_commands_on_same_GPIO)
set_PWM_dutycycle Start/stop PWM pulses on a GPIO
set_PWM_frequency Set PWM frequency of a GPIO
set_PWM_range Configure PWM range of a GPIO
get_PWM_dutycycle Get PWM dutycycle set on a GPIO
get_PWM_frequency Get PWM frequency of a GPIO
get_PWM_range Get configured PWM range of a GPIO
get_PWM_real_range Get underlying PWM range for a GPIO
Servo_(overrides_PWM_commands_on_same_GPIO)
set_servo_pulsewidth Start/Stop servo pulses on a GPIO
get_servo_pulsewidth Get servo pulsewidth set on a GPIO
INTERMEDIATE
gpio_trigger Send a trigger pulse to a GPIO
set_watchdog Set a watchdog on a GPIO
read_bank_1 Read all bank 1 GPIO
read_bank_2 Read all bank 2 GPIO
clear_bank_1 Clear selected GPIO in bank 1
clear_bank_2 Clear selected GPIO in bank 2
set_bank_1 Set selected GPIO in bank 1
set_bank_2 Set selected GPIO in bank 2
callback Create GPIO level change callback
wait_for_edge Wait for GPIO level change
ADVANCED
notify_open Request a notification handle
notify_begin Start notifications for selected GPIO
notify_pause Pause notifications
notify_close Close a notification
hardware_clock Start hardware clock on supported GPIO
hardware_PWM Start hardware PWM on supported GPIO
set_glitch_filter Set a glitch filter on a GPIO
set_noise_filter Set a noise filter on a GPIO
set_pad_strength Sets a pads drive strength
get_pad_strength Gets a pads drive strength
shell Executes a shell command
Custom
custom_1 User custom function 1
custom_2 User custom function 2
Events
event_callback Sets a callback for an event
event_trigger Triggers an event
wait_for_event Wait for an event
Scripts
store_script Store a script
run_script Run a stored script
update_script Set a scripts parameters
script_status Get script status and parameters
stop_script Stop a running script
delete_script Delete a stored script
I2C
i2c_open Opens an I2C device
i2c_close Closes an I2C device
i2c_write_quick SMBus write quick
i2c_read_byte SMBus read byte
i2c_write_byte SMBus write byte
i2c_read_byte_data SMBus read byte data
i2c_write_byte_data SMBus write byte data
i2c_read_word_data SMBus read word data
i2c_write_word_data SMBus write word data
i2c_read_block_data SMBus read block data
i2c_write_block_data SMBus write block data
i2c_read_i2c_block_data SMBus read I2C block data
i2c_write_i2c_block_data SMBus write I2C block data
i2c_read_device Reads the raw I2C device
i2c_write_device Writes the raw I2C device
i2c_process_call SMBus process call
i2c_block_process_call SMBus block process call
i2c_zip Performs multiple I2C transactions
I2C_BIT_BANG
bb_i2c_open Opens GPIO for bit banging I2C
bb_i2c_close Closes GPIO for bit banging I2C
bb_i2c_zip Performs multiple bit banged I2C transactions
I2C/SPI_SLAVE
bsc_xfer I2C/SPI as slave transfer
bsc_i2c I2C as slave transfer
SERIAL
serial_open Opens a serial device
serial_close Closes a serial device
serial_read_byte Reads a byte from a serial device
serial_write_byte Writes a byte to a serial device
serial_read Reads bytes from a serial device
serial_write Writes bytes to a serial device
serial_data_available Returns number of bytes ready to be read
SERIAL_BIT_BANG_(read_only)
bb_serial_read_open Open a GPIO for bit bang serial reads
bb_serial_read_close Close a GPIO for bit bang serial reads
bb_serial_invert Invert serial logic (1 invert, 0 normal)
bb_serial_read Read bit bang serial data from a GPIO
SPI
spi_open Opens a SPI device
spi_close Closes a SPI device
spi_read Reads bytes from a SPI device
spi_write Writes bytes to a SPI device
spi_xfer Transfers bytes with a SPI device
SPI_BIT_BANG
bb_spi_open Opens GPIO for bit banging SPI
bb_spi_close Closes GPIO for bit banging SPI
bb_spi_xfer Transfers bytes with bit banging SPI
FILES
file_open Opens a file
file_close Closes a file
file_read Reads bytes from a file
file_write Writes bytes to a file
file_seek Seeks to a position within a file
file_list List files which match a pattern
WAVES
wave_clear Deletes all waveforms
wave_add_new Starts a new waveform
wave_add_generic Adds a series of pulses to the waveform
wave_add_serial Adds serial data to the waveform
wave_create Creates a waveform from added data
wave_create_and_pad Creates a waveform of fixed size from added data
wave_delete Deletes a waveform
wave_send_once Transmits a waveform once
wave_send_repeat Transmits a waveform repeatedly
wave_send_using_mode Transmits a waveform in the chosen mode
wave_chain Transmits a chain of waveforms
wave_tx_at Returns the current transmitting waveform
wave_tx_busy Checks to see if a waveform has ended
wave_tx_stop Aborts the current waveform
wave_get_cbs Length in cbs of the current waveform
wave_get_max_cbs Absolute maximum allowed cbs
wave_get_micros Length in microseconds of the current waveform
wave_get_max_micros Absolute maximum allowed micros
wave_get_pulses Length in pulses of the current waveform
wave_get_max_pulses Absolute maximum allowed pulses
UTILITIES
get_current_tick Get current tick (microseconds)
get_hardware_revision Get hardware revision
get_pigpio_version Get the pigpio version
pigpio.error_text Gets error text from error number
pigpio.tickDiff Returns difference between two ticks
"""
import sys
import socket
import struct
import time
import threading
import os
import atexit
import warnings
from datetime import datetime
time_lock = threading.Lock()
VERSION = "1.78" # sync minor number to pigpio library version
exceptions = True
# GPIO levels
OFF = 0
LOW = 0
CLEAR = 0
ON = 1
HIGH = 1
SET = 1
TIMEOUT = 2
# GPIO edges
RISING_EDGE = 0
FALLING_EDGE = 1
EITHER_EDGE = 2
# GPIO modes
INPUT = 0
OUTPUT = 1
ALT0 = 4
ALT1 = 5
ALT2 = 6
ALT3 = 7
ALT4 = 3
ALT5 = 2
# GPIO Pull Up Down
PUD_OFF = 0
PUD_DOWN = 1
PUD_UP = 2
# script run status
PI_SCRIPT_INITING=0
PI_SCRIPT_HALTED =1
PI_SCRIPT_RUNNING=2
PI_SCRIPT_WAITING=3
PI_SCRIPT_FAILED =4
# time types for gpioTime and gpioTimeInt
PI_TIME_RELATIVE = 0
PI_TIME_ABSOLUTE = 1
# notification flags
NTFY_FLAGS_EVENT = (1 << 7)
NTFY_FLAGS_ALIVE = (1 << 6)
NTFY_FLAGS_WDOG = (1 << 5)
NTFY_FLAGS_GPIO = 31
# wave modes
WAVE_MODE_ONE_SHOT =0
WAVE_MODE_REPEAT =1
WAVE_MODE_ONE_SHOT_SYNC=2
WAVE_MODE_REPEAT_SYNC =3
WAVE_NOT_FOUND = 9998 # Transmitted wave not found.
NO_TX_WAVE = 9999 # No wave being transmitted.
FILE_READ=1
FILE_WRITE=2
FILE_RW=3
FILE_APPEND=4
FILE_CREATE=8
FILE_TRUNC=16
FROM_START=0
FROM_CURRENT=1
FROM_END=2
SPI_MODE_0 = 0
SPI_MODE_1 = 1
SPI_MODE_2 = 2
SPI_MODE_3 = 3
SPI_CPHA = 1 << 0
SPI_CPOL = 1 << 1
SPI_CS_HIGH_ACTIVE = 1 << 2
SPI_TX_LSBFIRST = 1 << 14
SPI_RX_LSBFIRST = 1 << 15
EVENT_BSC = 31
_SOCK_CMD_LEN = 16
# pigpio command numbers
_PI_CMD_MODES= 0
_PI_CMD_MODEG= 1
_PI_CMD_PUD= 2
_PI_CMD_READ= 3
_PI_CMD_WRITE= 4
_PI_CMD_PWM= 5
_PI_CMD_PRS= 6
_PI_CMD_PFS= 7
_PI_CMD_SERVO= 8
_PI_CMD_WDOG= 9
_PI_CMD_BR1= 10
_PI_CMD_BR2= 11
_PI_CMD_BC1= 12
_PI_CMD_BC2= 13
_PI_CMD_BS1= 14
_PI_CMD_BS2= 15
_PI_CMD_TICK= 16
_PI_CMD_HWVER=17
_PI_CMD_NO= 18
_PI_CMD_NB= 19
_PI_CMD_NP= 20
_PI_CMD_NC= 21
_PI_CMD_PRG= 22
_PI_CMD_PFG= 23
_PI_CMD_PRRG= 24
_PI_CMD_HELP= 25
_PI_CMD_PIGPV=26
_PI_CMD_WVCLR=27
_PI_CMD_WVAG= 28
_PI_CMD_WVAS= 29
_PI_CMD_WVGO= 30
_PI_CMD_WVGOR=31
_PI_CMD_WVBSY=32
_PI_CMD_WVHLT=33
_PI_CMD_WVSM= 34
_PI_CMD_WVSP= 35
_PI_CMD_WVSC= 36
_PI_CMD_TRIG= 37
_PI_CMD_PROC= 38
_PI_CMD_PROCD=39
_PI_CMD_PROCR=40
_PI_CMD_PROCS=41
_PI_CMD_SLRO= 42
_PI_CMD_SLR= 43
_PI_CMD_SLRC= 44
_PI_CMD_PROCP=45
_PI_CMD_MICRO=46
_PI_CMD_MILLI=47
_PI_CMD_PARSE=48
_PI_CMD_WVCRE=49
_PI_CMD_WVDEL=50
_PI_CMD_WVTX =51
_PI_CMD_WVTXR=52
_PI_CMD_WVNEW=53
_PI_CMD_I2CO =54
_PI_CMD_I2CC =55
_PI_CMD_I2CRD=56
_PI_CMD_I2CWD=57
_PI_CMD_I2CWQ=58
_PI_CMD_I2CRS=59
_PI_CMD_I2CWS=60
_PI_CMD_I2CRB=61
_PI_CMD_I2CWB=62
_PI_CMD_I2CRW=63
_PI_CMD_I2CWW=64
_PI_CMD_I2CRK=65
_PI_CMD_I2CWK=66
_PI_CMD_I2CRI=67
_PI_CMD_I2CWI=68
_PI_CMD_I2CPC=69
_PI_CMD_I2CPK=70
_PI_CMD_SPIO =71
_PI_CMD_SPIC =72
_PI_CMD_SPIR =73
_PI_CMD_SPIW =74
_PI_CMD_SPIX =75
_PI_CMD_SERO =76
_PI_CMD_SERC =77
_PI_CMD_SERRB=78
_PI_CMD_SERWB=79
_PI_CMD_SERR =80
_PI_CMD_SERW =81
_PI_CMD_SERDA=82
_PI_CMD_GDC =83
_PI_CMD_GPW =84
_PI_CMD_HC =85
_PI_CMD_HP =86
_PI_CMD_CF1 =87
_PI_CMD_CF2 =88
_PI_CMD_NOIB =99
_PI_CMD_BI2CC=89
_PI_CMD_BI2CO=90
_PI_CMD_BI2CZ=91
_PI_CMD_I2CZ =92
_PI_CMD_WVCHA=93
_PI_CMD_SLRI =94
_PI_CMD_CGI =95
_PI_CMD_CSI =96
_PI_CMD_FG =97
_PI_CMD_FN =98
_PI_CMD_WVTXM=100
_PI_CMD_WVTAT=101
_PI_CMD_PADS =102
_PI_CMD_PADG =103
_PI_CMD_FO =104
_PI_CMD_FC =105
_PI_CMD_FR =106
_PI_CMD_FW =107
_PI_CMD_FS =108
_PI_CMD_FL =109
_PI_CMD_SHELL=110
_PI_CMD_BSPIC=111
_PI_CMD_BSPIO=112
_PI_CMD_BSPIX=113
_PI_CMD_BSCX =114
_PI_CMD_EVM =115
_PI_CMD_EVT =116
_PI_CMD_PROCU=117
_PI_CMD_WVCAP=118
_PI_CMD_TIME1 =119
_PI_CMD_TIME2 =120
_PI_CMD_START_SEC = 121
_PI_CMD_START_MICROS = 122
_PI_CMD_TIMESYNC1 = 123
_PI_CMD_TIMESYNC2 = 124
_PI_CMD_TIMESYNC3 = 125
# pigpio error numbers
_PI_INIT_FAILED =-1
PI_BAD_USER_GPIO =-2
PI_BAD_GPIO =-3
PI_BAD_MODE =-4
PI_BAD_LEVEL =-5
PI_BAD_PUD =-6
PI_BAD_PULSEWIDTH =-7
PI_BAD_DUTYCYCLE =-8
_PI_BAD_TIMER =-9
_PI_BAD_MS =-10
_PI_BAD_TIMETYPE =-11
_PI_BAD_SECONDS =-12
_PI_BAD_MICROS =-13
_PI_TIMER_FAILED =-14
PI_BAD_WDOG_TIMEOUT =-15
_PI_NO_ALERT_FUNC =-16
_PI_BAD_CLK_PERIPH =-17
_PI_BAD_CLK_SOURCE =-18
_PI_BAD_CLK_MICROS =-19
_PI_BAD_BUF_MILLIS =-20
PI_BAD_DUTYRANGE =-21
_PI_BAD_SIGNUM =-22
_PI_BAD_PATHNAME =-23
PI_NO_HANDLE =-24
PI_BAD_HANDLE =-25
_PI_BAD_IF_FLAGS =-26
_PI_BAD_CHANNEL =-27
_PI_BAD_PRIM_CHANNEL=-27
_PI_BAD_SOCKET_PORT =-28
_PI_BAD_FIFO_COMMAND=-29
_PI_BAD_SECO_CHANNEL=-30
_PI_NOT_INITIALISED =-31
_PI_INITIALISED =-32
_PI_BAD_WAVE_MODE =-33
_PI_BAD_CFG_INTERNAL=-34
PI_BAD_WAVE_BAUD =-35
PI_TOO_MANY_PULSES =-36
PI_TOO_MANY_CHARS =-37
PI_NOT_SERIAL_GPIO =-38
_PI_BAD_SERIAL_STRUC=-39
_PI_BAD_SERIAL_BUF =-40
PI_NOT_PERMITTED =-41
PI_SOME_PERMITTED =-42
PI_BAD_WVSC_COMMND =-43
PI_BAD_WVSM_COMMND =-44
PI_BAD_WVSP_COMMND =-45
PI_BAD_PULSELEN =-46
PI_BAD_SCRIPT =-47
PI_BAD_SCRIPT_ID =-48
PI_BAD_SER_OFFSET =-49
PI_GPIO_IN_USE =-50
PI_BAD_SERIAL_COUNT =-51
PI_BAD_PARAM_NUM =-52
PI_DUP_TAG =-53
PI_TOO_MANY_TAGS =-54
PI_BAD_SCRIPT_CMD =-55
PI_BAD_VAR_NUM =-56
PI_NO_SCRIPT_ROOM =-57
PI_NO_MEMORY =-58
PI_SOCK_READ_FAILED =-59
PI_SOCK_WRIT_FAILED =-60
PI_TOO_MANY_PARAM =-61
PI_SCRIPT_NOT_READY =-62
PI_BAD_TAG =-63
PI_BAD_MICS_DELAY =-64
PI_BAD_MILS_DELAY =-65
PI_BAD_WAVE_ID =-66
PI_TOO_MANY_CBS =-67
PI_TOO_MANY_OOL =-68
PI_EMPTY_WAVEFORM =-69
PI_NO_WAVEFORM_ID =-70
PI_I2C_OPEN_FAILED =-71
PI_SER_OPEN_FAILED =-72
PI_SPI_OPEN_FAILED =-73
PI_BAD_I2C_BUS =-74
PI_BAD_I2C_ADDR =-75
PI_BAD_SPI_CHANNEL =-76
PI_BAD_FLAGS =-77
PI_BAD_SPI_SPEED =-78
PI_BAD_SER_DEVICE =-79
PI_BAD_SER_SPEED =-80
PI_BAD_PARAM =-81
PI_I2C_WRITE_FAILED =-82
PI_I2C_READ_FAILED =-83
PI_BAD_SPI_COUNT =-84
PI_SER_WRITE_FAILED =-85
PI_SER_READ_FAILED =-86
PI_SER_READ_NO_DATA =-87
PI_UNKNOWN_COMMAND =-88
PI_SPI_XFER_FAILED =-89
_PI_BAD_POINTER =-90
PI_NO_AUX_SPI =-91
PI_NOT_PWM_GPIO =-92
PI_NOT_SERVO_GPIO =-93
PI_NOT_HCLK_GPIO =-94
PI_NOT_HPWM_GPIO =-95
PI_BAD_HPWM_FREQ =-96
PI_BAD_HPWM_DUTY =-97
PI_BAD_HCLK_FREQ =-98
PI_BAD_HCLK_PASS =-99
PI_HPWM_ILLEGAL =-100
PI_BAD_DATABITS =-101
PI_BAD_STOPBITS =-102
PI_MSG_TOOBIG =-103
PI_BAD_MALLOC_MODE =-104
_PI_TOO_MANY_SEGS =-105
_PI_BAD_I2C_SEG =-106
PI_BAD_SMBUS_CMD =-107
PI_NOT_I2C_GPIO =-108
PI_BAD_I2C_WLEN =-109
PI_BAD_I2C_RLEN =-110
PI_BAD_I2C_CMD =-111
PI_BAD_I2C_BAUD =-112
PI_CHAIN_LOOP_CNT =-113
PI_BAD_CHAIN_LOOP =-114
PI_CHAIN_COUNTER =-115
PI_BAD_CHAIN_CMD =-116
PI_BAD_CHAIN_DELAY =-117
PI_CHAIN_NESTING =-118
PI_CHAIN_TOO_BIG =-119
PI_DEPRECATED =-120
PI_BAD_SER_INVERT =-121
_PI_BAD_EDGE =-122
_PI_BAD_ISR_INIT =-123
PI_BAD_FOREVER =-124
PI_BAD_FILTER =-125
PI_BAD_PAD =-126
PI_BAD_STRENGTH =-127
PI_FIL_OPEN_FAILED =-128
PI_BAD_FILE_MODE =-129
PI_BAD_FILE_FLAG =-130
PI_BAD_FILE_READ =-131
PI_BAD_FILE_WRITE =-132
PI_FILE_NOT_ROPEN =-133
PI_FILE_NOT_WOPEN =-134
PI_BAD_FILE_SEEK =-135
PI_NO_FILE_MATCH =-136
PI_NO_FILE_ACCESS =-137
PI_FILE_IS_A_DIR =-138
PI_BAD_SHELL_STATUS =-139
PI_BAD_SCRIPT_NAME =-140
PI_BAD_SPI_BAUD =-141
PI_NOT_SPI_GPIO =-142
PI_BAD_EVENT_ID =-143
PI_CMD_INTERRUPTED =-144
PI_NOT_ON_BCM2711 =-145
PI_ONLY_ON_BCM2711 =-146
# pigpio error text
_errors=[
[_PI_INIT_FAILED , "pigpio initialisation failed"],
[PI_BAD_USER_GPIO , "GPIO not 0-31"],
[PI_BAD_GPIO , "GPIO not 0-53"],
[PI_BAD_MODE , "mode not 0-7"],
[PI_BAD_LEVEL , "level not 0-1"],
[PI_BAD_PUD , "pud not 0-2"],
[PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"],
[PI_BAD_DUTYCYCLE , "dutycycle not 0-range (default 255)"],
[_PI_BAD_TIMER , "timer not 0-9"],
[_PI_BAD_MS , "ms not 10-60000"],
[_PI_BAD_TIMETYPE , "timetype not 0-1"],
[_PI_BAD_SECONDS , "seconds < 0"],
[_PI_BAD_MICROS , "micros not 0-999999"],
[_PI_TIMER_FAILED , "gpioSetTimerFunc failed"],
[PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"],
[_PI_NO_ALERT_FUNC , "DEPRECATED"],
[_PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"],
[_PI_BAD_CLK_SOURCE , "DEPRECATED"],
[_PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"],
[_PI_BAD_BUF_MILLIS , "buf millis not 100-10000"],
[PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"],
[_PI_BAD_SIGNUM , "signum not 0-63"],
[_PI_BAD_PATHNAME , "can't open pathname"],
[PI_NO_HANDLE , "no handle available"],
[PI_BAD_HANDLE , "unknown handle"],
[_PI_BAD_IF_FLAGS , "ifFlags > 4"],
[_PI_BAD_CHANNEL , "DMA channel not 0-14"],
[_PI_BAD_SOCKET_PORT , "socket port not 1024-30000"],
[_PI_BAD_FIFO_COMMAND , "unknown fifo command"],
[_PI_BAD_SECO_CHANNEL , "DMA secondary channel not 0-14"],
[_PI_NOT_INITIALISED , "function called before gpioInitialise"],
[_PI_INITIALISED , "function called after gpioInitialise"],
[_PI_BAD_WAVE_MODE , "waveform mode not 0-1"],
[_PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"],
[PI_BAD_WAVE_BAUD , "baud rate not 50-250000(RX)/1000000(TX)"],
[PI_TOO_MANY_PULSES , "waveform has too many pulses"],
[PI_TOO_MANY_CHARS , "waveform has too many chars"],
[PI_NOT_SERIAL_GPIO , "no bit bang serial read in progress on GPIO"],
[PI_NOT_PERMITTED , "no permission to update GPIO"],
[PI_SOME_PERMITTED , "no permission to update one or more GPIO"],
[PI_BAD_WVSC_COMMND , "bad WVSC subcommand"],
[PI_BAD_WVSM_COMMND , "bad WVSM subcommand"],
[PI_BAD_WVSP_COMMND , "bad WVSP subcommand"],
[PI_BAD_PULSELEN , "trigger pulse length not 1-100"],
[PI_BAD_SCRIPT , "invalid script"],
[PI_BAD_SCRIPT_ID , "unknown script id"],
[PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"],
[PI_GPIO_IN_USE , "GPIO already in use"],
[PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"],
[PI_BAD_PARAM_NUM , "script parameter id not 0-9"],
[PI_DUP_TAG , "script has duplicate tag"],
[PI_TOO_MANY_TAGS , "script has too many tags"],
[PI_BAD_SCRIPT_CMD , "illegal script command"],
[PI_BAD_VAR_NUM , "script variable id not 0-149"],
[PI_NO_SCRIPT_ROOM , "no more room for scripts"],
[PI_NO_MEMORY , "can't allocate temporary memory"],
[PI_SOCK_READ_FAILED , "socket read failed"],
[PI_SOCK_WRIT_FAILED , "socket write failed"],
[PI_TOO_MANY_PARAM , "too many script parameters (> 10)"],
[PI_SCRIPT_NOT_READY , "script initialising"],
[PI_BAD_TAG , "script has unresolved tag"],
[PI_BAD_MICS_DELAY , "bad MICS delay (too large)"],
[PI_BAD_MILS_DELAY , "bad MILS delay (too large)"],
[PI_BAD_WAVE_ID , "non existent wave id"],
[PI_TOO_MANY_CBS , "No more CBs for waveform"],
[PI_TOO_MANY_OOL , "No more OOL for waveform"],
[PI_EMPTY_WAVEFORM , "attempt to create an empty waveform"],
[PI_NO_WAVEFORM_ID , "No more waveform ids"],
[PI_I2C_OPEN_FAILED , "can't open I2C device"],
[PI_SER_OPEN_FAILED , "can't open serial device"],
[PI_SPI_OPEN_FAILED , "can't open SPI device"],
[PI_BAD_I2C_BUS , "bad I2C bus"],
[PI_BAD_I2C_ADDR , "bad I2C address"],
[PI_BAD_SPI_CHANNEL , "bad SPI channel"],
[PI_BAD_FLAGS , "bad i2c/spi/ser open flags"],
[PI_BAD_SPI_SPEED , "bad SPI speed"],
[PI_BAD_SER_DEVICE , "bad serial device name"],
[PI_BAD_SER_SPEED , "bad serial baud rate"],
[PI_BAD_PARAM , "bad i2c/spi/ser parameter"],
[PI_I2C_WRITE_FAILED , "I2C write failed"],
[PI_I2C_READ_FAILED , "I2C read failed"],
[PI_BAD_SPI_COUNT , "bad SPI count"],
[PI_SER_WRITE_FAILED , "ser write failed"],
[PI_SER_READ_FAILED , "ser read failed"],
[PI_SER_READ_NO_DATA , "ser read no data available"],
[PI_UNKNOWN_COMMAND , "unknown command"],
[PI_SPI_XFER_FAILED , "SPI xfer/read/write failed"],
[_PI_BAD_POINTER , "bad (NULL) pointer"],
[PI_NO_AUX_SPI , "no auxiliary SPI on Pi A or B"],
[PI_NOT_PWM_GPIO , "GPIO is not in use for PWM"],
[PI_NOT_SERVO_GPIO , "GPIO is not in use for servo pulses"],
[PI_NOT_HCLK_GPIO , "GPIO has no hardware clock"],
[PI_NOT_HPWM_GPIO , "GPIO has no hardware PWM"],
[PI_BAD_HPWM_FREQ , "invalid hardware PWM frequency"],
[PI_BAD_HPWM_DUTY , "hardware PWM dutycycle not 0-1M"],
[PI_BAD_HCLK_FREQ , "invalid hardware clock frequency"],
[PI_BAD_HCLK_PASS , "need password to use hardware clock 1"],
[PI_HPWM_ILLEGAL , "illegal, PWM in use for main clock"],
[PI_BAD_DATABITS , "serial data bits not 1-32"],
[PI_BAD_STOPBITS , "serial (half) stop bits not 2-8"],
[PI_MSG_TOOBIG , "socket/pipe message too big"],
[PI_BAD_MALLOC_MODE , "bad memory allocation mode"],
[_PI_TOO_MANY_SEGS , "too many I2C transaction segments"],
[_PI_BAD_I2C_SEG , "an I2C transaction segment failed"],
[PI_BAD_SMBUS_CMD , "SMBus command not supported"],
[PI_NOT_I2C_GPIO , "no bit bang I2C in progress on GPIO"],
[PI_BAD_I2C_WLEN , "bad I2C write length"],
[PI_BAD_I2C_RLEN , "bad I2C read length"],
[PI_BAD_I2C_CMD , "bad I2C command"],
[PI_BAD_I2C_BAUD , "bad I2C baud rate, not 50-500k"],
[PI_CHAIN_LOOP_CNT , "bad chain loop count"],
[PI_BAD_CHAIN_LOOP , "empty chain loop"],
[PI_CHAIN_COUNTER , "too many chain counters"],
[PI_BAD_CHAIN_CMD , "bad chain command"],
[PI_BAD_CHAIN_DELAY , "bad chain delay micros"],
[PI_CHAIN_NESTING , "chain counters nested too deeply"],
[PI_CHAIN_TOO_BIG , "chain is too long"],
[PI_DEPRECATED , "deprecated function removed"],
[PI_BAD_SER_INVERT , "bit bang serial invert not 0 or 1"],
[_PI_BAD_EDGE , "bad ISR edge value, not 0-2"],
[_PI_BAD_ISR_INIT , "bad ISR initialisation"],
[PI_BAD_FOREVER , "loop forever must be last chain command"],
[PI_BAD_FILTER , "bad filter parameter"],
[PI_BAD_PAD , "bad pad number"],
[PI_BAD_STRENGTH , "bad pad drive strength"],
[PI_FIL_OPEN_FAILED , "file open failed"],
[PI_BAD_FILE_MODE , "bad file mode"],
[PI_BAD_FILE_FLAG , "bad file flag"],
[PI_BAD_FILE_READ , "bad file read"],
[PI_BAD_FILE_WRITE , "bad file write"],
[PI_FILE_NOT_ROPEN , "file not open for read"],
[PI_FILE_NOT_WOPEN , "file not open for write"],
[PI_BAD_FILE_SEEK , "bad file seek"],
[PI_NO_FILE_MATCH , "no files match pattern"],
[PI_NO_FILE_ACCESS , "no permission to access file"],
[PI_FILE_IS_A_DIR , "file is a directory"],
[PI_BAD_SHELL_STATUS , "bad shell return status"],
[PI_BAD_SCRIPT_NAME , "bad script name"],
[PI_BAD_SPI_BAUD , "bad SPI baud rate, not 50-500k"],
[PI_NOT_SPI_GPIO , "no bit bang SPI in progress on GPIO"],
[PI_BAD_EVENT_ID , "bad event id"],
[PI_CMD_INTERRUPTED , "pigpio command interrupted"],
[PI_NOT_ON_BCM2711 , "not available on BCM2711"],
[PI_ONLY_ON_BCM2711 , "only available on BCM2711"],
]
_except_a = "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n{}"
_except_z = "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%"
_except_1 = """
Did you start the pigpio daemon? E.g. sudo pigpiod
Did you specify the correct Pi host/port in the environment
variables PIGPIO_ADDR/PIGPIO_PORT?
E.g. export PIGPIO_ADDR=soft, export PIGPIO_PORT=8888
Did you specify the correct Pi host/port in the
pigpio.pi() function? E.g. pigpio.pi('soft', 8888)"""
_except_2 = """
Do you have permission to access the pigpio daemon?
Perhaps it was started with sudo pigpiod -nlocalhost"""
_except_3 = """
Can't create callback thread.
Perhaps too many simultaneous pigpio connections."""
class _socklock:
"""
A class to store socket and lock.
"""
def __init__(self):
self.s = None
self.l = threading.Lock()
class error(Exception):
"""pigpio module exception"""
def __init__(self, value):
self.value = value
def __str__(self):
return repr(self.value)
class pulse:
"""
A class to store pulse information.
"""
def __init__(self, gpio_on, gpio_off, delay):
"""
Initialises a pulse.
gpio_on:= the GPIO to switch on at the start of the pulse.
gpio_off:= the GPIO to switch off at the start of the pulse.
delay:= the delay in microseconds before the next pulse.
"""
self.gpio_on = gpio_on
self.gpio_off = gpio_off
self.delay = delay
def error_text(errnum):
"""
Returns a text description of a pigpio error.
errnum:= <0, the error number
...
print(pigpio.error_text(-5))
level not 0-1
...
"""
for e in _errors:
if e[0] == errnum:
return e[1]
return "unknown error ({})".format(errnum)
def tickDiff(t1, t2):
"""
Returns the microsecond difference between two ticks.
t1:= the earlier tick
t2:= the later tick
...
print(pigpio.tickDiff(4294967272, 12))
36
...
"""
tDiff = t2 - t1
if tDiff < 0:
tDiff += (1 << 32)
return tDiff
# A couple of hacks to cope with different string handling
# between various Python versions
# 3 != 2.7.8 != 2.7.3
if sys.hexversion < 0x03000000:
def _b(x):
return x
else:
def _b(x):
return x.encode('latin-1')
if sys.hexversion < 0x02070800:
def _str(x):
return buffer(x)
else:
def _str(x):
return x