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pigs.1
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." Process this file with
." groff -man -Tascii foo.1
."
.TH pigs 1 2012-2020 Linux "pigpio archive"
.SH NAME
pigs - command line socket access to the pigpio daemon.
/dev/pigpio - command line pipe access to the pigpio daemon.
.SH SYNOPSIS
.B sudo pigpiod
then
.B pigs {command}+
or
.B "echo {command}+ >/dev/pigpio"
.SH DESCRIPTION
.ad l
.nh
.br
The socket and pipe interfaces allow control of the Pi's GPIO by
passing messages to the running pigpio library.
.br
The normal way to start the pigpio library would be as a daemon during boot.
.br
.EX
sudo pigpiod
.br
.EE
.br
.SS Features
.br
o hardware timed PWM on any of GPIO 0-31
.br
o hardware timed servo pulses on any of GPIO 0-31
.br
o reading/writing all of the GPIO in a bank as one operation
.br
o individually setting GPIO modes, reading and writing
.br
o notifications when any of GPIO 0-31 change state
.br
o the construction of output waveforms with microsecond timing
.br
o I2C, SPI, and serial link wrappers
.br
o creating and running scripts on the pigpio daemon
.br
.SS GPIO
.br
ALL GPIO are identified by their Broadcom number.
.br
.SS Usage
.br
pigs is a program and internally uses the socket interface to pigpio
whereas /dev/pigpio uses the pipe interface.
.br
pigs and the pipe interface share the same commands and are invoked in
a similar fashion from the command line.
.br
The pigpio library must be running, either by running a program linked
with the library or starting the pigpio daemon (sudo pigpiod).
.br
pigs {command}+
.br
echo "{command}+" >/dev/pigpio
.br
pigs will show the result of the command on screen.
.br
The pigs process returns an exit status (which can be displayed with
the command echo $?).
.br
.EX
PIGS_OK 0
.br
PIGS_CONNECT_ERR 255
.br
PIGS_OPTION_ERR 254
.br
PIGS_SCRIPT_ERR 253
.br
.br
.br
.EE
.br
The results of /dev/pigpio commands need to be read from /dev/pigout,
e.g. cat /dev/pigout (try cat /dev/pigout& so that all subsequent
results are shown on screen).
.br
In both cases if an error was detected a message will have been written
to /dev/pigerr (try cat /dev/pigerr&). This is likely to be more
informative than the message returned by pigs or the error code
returned by the pipe interface.
.br
Several commands may be entered on a line. If present PROC and PARSE must
be the last command on a line.
.br
E.g.
.br
.EX
pigs w 22 1 mils 1000 w 22 0
.br
.EE
.br
is equivalent to
.br
.EX
pigs w 22 1
.br
pigs mils 1000
.br
pigs w 22 0
.br
.EE
.br
and
.br
.EX
echo "m 4 w w 4 0 mils 250 m 4 r r 4" >/dev/pigpio
.br
.EE
.br
is equivalent to
.br
.EX
echo "m 4 w" >/dev/pigpio
.br
echo "w 4 0" >/dev/pigpio
.br
echo "mils 250" >/dev/pigpio
.br
echo "m 4 r" >/dev/pigpio
.br
echo "r 4" >/dev/pigpio
.br
.EE
.br
.SS Notes
.br
The examples from now on will show the pigs interface but the same
commands will also work on the pipe interface.
.br
pigs does not show the status of successful commands unless the
command itself returns data. The status (0) will be returned to
pigs but will be discarded.
.br
The status/data of each command sent to the pipe interface should
be read from /dev/pigout.
.br
When a command takes a number as a parameter it may be entered as hex
(precede by 0x), octal (precede by 0), or decimal.
.br
E.g. 23 is 23 decimal, 0x100 is 256 decimal, 070 is 56 decimal.
.br
Some commands can return a variable number of data bytes. By
default this data is displayed as decimal. The pigs -a option
can be used to force the display as ASCII and the pigs -x
option can be used to force the display as hex.
.br
E.g. assuming the transmitted serial data is the letters ABCDEONM
.br
.EX
$ pigs slr 4 100
.br
8 65 66 67 68 69 79 78 77
.br
.br
$ pigs -a slr 4 100
.br
8 ABCDEONM
.br
.br
$ pigs -x slr 4 100
.br
8 41 42 43 44 45 4f 4e 4d
.br
.EE
.br
.SH OVERVIEW
.SS BASIC
.B M/MODES g m
Set GPIO mode
.P
.B MG/MODEG g
Get GPIO mode
.P
.B PUD g p
Set GPIO pull up/down
.P
.B R/READ g
Read GPIO level
.P
.B W/WRITE g L
Write GPIO level
.P
.SS PWM (overrides servo commands on same GPIO)
.B P/PWM u v
Set GPIO PWM value
.P
.B PFS u v
Set GPIO PWM frequency
.P
.B PRS u v
Set GPIO PWM range
.P
.B GDC u
Get GPIO PWM dutycycle
.P
.B PFG u
Get GPIO PWM frequency
.P
.B PRG u
Get GPIO PWM range
.P
.B PRRG u
Get GPIO PWM real range
.P
.SS Servo (overrides PWM commands on same GPIO)
.B S/SERVO u v
Set GPIO servo pulsewidth
.P
.B GPW u
Get GPIO servo pulsewidth
.P
.SS INTERMEDIATE
.B TRIG u pl L
Send a trigger pulse
.P
.B WDOG u v
Set GPIO watchdog
.P
.B BR1
Read bank 1 GPIO
.P
.B BR2
Read bank 2 GPIO
.P
.B BC1 bits
Clear specified GPIO in bank 1
.P
.B BC2 bits
Clear specified GPIO in bank 2
.P
.B BS1 bits
Set specified GPIO in bank 1
.P
.B BS2 bits
Set specified GPIO in bank 2
.P
.SS ADVANCED
.B NO
Request a notification
.P
.B NC h
Close notification
.P
.B NB h bits
Start notification
.P
.B NP h
Pause notification
.P
.B HC g cf
Set hardware clock frequency
.P
.B HP g pf pdc
Set hardware PWM frequency and dutycycle
.P
.B FG u stdy
Set a glitch filter on a GPIO
.P
.B FN u stdy actv
Set a noise filter on a GPIO
.P
.B PADS pad padma
Set pad drive strength
.P
.B PADG pad
Get pad drive strength
.P
.B SHELL name str
Execute a shell command
.P
.SS Custom
.B CF1 uvs
Custom function 1
.P
.B CF2 uvs
Custom function 2
.P
.SS Events
.B EVM h bits
Set events to monitor
.P
.B EVT event
Trigger event
.P
.SS Scripts
.B PROC t
Store script
.P
.B PROCR sid pars
Run script
.P
.B PROCU sid pars
Set script parameters
.P
.B PROCP sid
Get script status and parameters
.P
.B PROCS sid
Stop script
.P
.B PROCD sid
Delete script
.P
.B PARSE t
Validate script
.P
.SS I2C
.B I2CO ib id if
Open I2C bus and device with flags
.P
.B I2CC h
Close I2C handle
.P
.B I2CWQ h bit
smb Write Quick: write bit
.P
.B I2CRS h
smb Read Byte: read byte
.P
.B I2CWS h bv
smb Write Byte: write byte
.P
.B I2CRB h r
smb Read Byte Data: read byte from register
.P
.B I2CWB h r bv
smb Write Byte Data: write byte to register
.P
.B I2CRW h r
smb Read Word Data: read word from register
.P
.B I2CWW h r wv
smb Write Word Data: write word to register
.P
.B I2CRK h r
smb Read Block Data: read data from register
.P
.B I2CWK h r bvs
smb Write Block Data: write data to register
.P
.B I2CWI h r bvs
smb Write I2C Block Data
.P
.B I2CRI h r num
smb Read I2C Block Data: read bytes from register
.P
.B I2CRD h num
i2c Read device
.P
.B I2CWD h bvs
i2c Write device
.P
.B I2CPC h r wv
smb Process Call: exchange register with word
.P
.B I2CPK h r bvs
smb Block Process Call: exchange data bytes with register
.P
.B I2CZ h bvs
Performs multiple I2C transactions
.P
.SS I2C BIT BANG
.B BI2CO sda scl b
Open bit bang I2C
.P
.B BI2CC sda
Close bit bang I2C
.P
.B BI2CZ sda bvs
I2C bit bang multiple transactions
.P
.SS I2C/SPI SLAVE
.B BSCX bctl bvs
BSC I2C/SPI transfer
.P
.SS SERIAL
.B SERO dev b sef
Open serial device dev at baud b with flags
.P
.B SERC h
Close serial handle
.P
.B SERRB
Read byte from serial handle
.P
.B SERWB h bv
Write byte to serial handle
.P
.B SERR h num
Read bytes from serial handle
.P
.B SERW h bvs
Write bytes to serial handle
.P
.B SERDA h
Check for serial data ready to read
.P
.SS SERIAL BIT BANG (read only)
.B SLRO u b db
Open GPIO for bit bang serial data
.P
.B SLRC u
Close GPIO for bit bang serial data
.P
.B SLRI u v
Sets bit bang serial data logic levels
.P
.B SLR u num
Read bit bang serial data from GPIO
.P
.SS SPI
.B SPIO c b spf
SPI open channel at baud b with flags
.P
.B SPIC h
SPI close handle
.P
.B SPIR h num
SPI read bytes from handle
.P
.B SPIW h bvs
SPI write bytes to handle
.P
.B SPIX h bvs
SPI transfer bytes to handle
.P
.SS SPI BIT BANG
.B BSPIO cs miso mosi sclk b spf
Open bit bang SPI
.P
.B BSPIC cs
Close bit bang SPI
.P
.B BSPIX cs bvs
SPI bit bang transfer
.P
.SS FILES
.B FO file mode
Open a file in mode
.P
.B FC h
Close file handle
.P
.B FR h num
Read bytes from file handle
.P
.B FW h bvs
Write bytes to file handle
.P
.B FS h num from
Seek to file handle position
.P
.B FL pat num
List files which match pattern
.P
.SS WAVES
.B WVCLR
Clear all waveforms
.P
.B WVNEW
Initialise a new waveform
.P
.B WVAG trips
Add generic pulses to waveform
.P
.B WVAS u b db sb o bvs
Add serial data to waveform
.P
.B WVCRE
Create a waveform
.P
.B WVDEL wid
Delete selected waveform
.P
.B WVTX wid
Transmits waveform once
.P
.B WVTXM wid wmde
Transmits waveform using mode
.P
.B WVTXR wid
Transmits waveform repeatedly
.P
.B WVCHA bvs
Transmits a chain of waveforms
.P
.B WVTAT
Returns the current transmitting waveform
.P
.B WVBSY
Check if waveform is being transmitted
.P
.B WVHLT
Stop waveform
.P
.B WVSC ws
Get waveform DMA CB stats
.P
.B WVSM ws
Get waveform time stats
.P
.B WVSP ws
Get waveform pulse stats
.P
.SS UTILITIES
.B H/HELP
Display command help
.P
.B HWVER
Get hardware version
.P
.B MICS v
Microseconds delay
.P
.B MILS v
Milliseconds delay
.P
.B PIGPV
Get pigpio library version
.P
.B T/TICK
Get current tick
.P
.SS CONFIGURATION
.B CGI
Configuration get internals
.P
.B CSI v
Configuration set internals
.P
.SH COMMANDS
.br
.IP "\fBBC1 bits\fP - Clear specified GPIO in bank 1"
.IP "" 4
This command clears (sets low) the GPIO specified by \fBbits\fP in bank 1.
Bank 1 consists of GPIO 0-31.
.br
Upon success nothing is returned. On error a negative status code
will be returned.
.br
\fBExample\fP
.br
.EX
$ pigs bc1 0x400010 # clear GPIO 4 (1<<4) and 22 (1<<22)
.br
.br
$ pigs bc1 32 # clear GPIO 5 (1<<5)
.br
-42
.br
ERROR: no permission to update one or more GPIO
.br
.EE
.br
.IP "\fBBC2 bits\fP - Clear specified GPIO in bank 2"
.IP "" 4
This command clears (sets low) the GPIO specified by \fBbits\fP in bank 2.
Bank 2 consists of GPIO 32-53.
.br
Upon success nothing is returned. On error a negative status code
will be returned.
.br
\fBExample\fP
.br
.EX
$ pigs bc2 0x8000 # clear GPIO 47 (activity LED on A+/B+/Pi2/Pi3)
.br
.br
$ pigs bc2 1 # clear GPIO 32 (first in bank 2)
.br
-42
.br
ERROR: no permission to update one or more GPIO
.br
.EE
.br
.IP "\fBBI2CC sda\fP - Close bit bang I2C"
.IP "" 4
This command signals that bit banging I2C on \fBsda\fP (and \fBscl\fP) is no
longer required.
.br
\fBExample\fP
.br
.EX
$ pigs bi2cc 5
.br
.EE
.br
.IP "\fBBI2CO sda scl b\fP - Open bit bang I2C"
.IP "" 4
This command signals that GPIO \fBsda\fP and \fBscl\fP are to be used
for bit banging I2C at \fBb\fP baud.
.br
Bit banging I2C allows for certain operations which are not possible
with the standard I2C driver.
.br
o baud rates as low as 50
.br
o repeated starts
.br
o clock stretching
.br
o I2C on any pair of spare GPIO
.br
The baud rate may be between 50 and 500000 bits per second.
.br
The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As
a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value.
.br
.IP "\fBBI2CZ sda bvs\fP - I2C bit bang multiple transactions"
.IP "" 4
This function executes a sequence of bit banged I2C operations. The
operations to be performed are specified by the contents of \fBbvs\fP
which contains the concatenated command codes and associated data.
.br
The following command codes are supported:
.br
.EX
Name Cmd & Data Meaning
End 0 No more commands
Escape 1 Next P is two bytes
Start 2 Start condition
Stop 3 Stop condition
Address 4 P Set I2C address to P
Flags 5 lsb msb Set I2C flags to lsb + (msb << 8)
Read 6 P Read P bytes of data
Write 7 P ... Write P bytes of data
.EE
.br
The address, read, and write commands take a parameter P.
Normally P is one byte (0-255). If the command is preceded by
the Escape command then P is two bytes (0-65535, least significant
byte first).
.br
The address and flags default to 0. The address and flags maintain
their previous value until updated.
.br
No flags are currently defined.
.br
\fBExample\fP
.br
.EX
Set address 0x53
.br
start, write 0x32, (re)start, read 6 bytes, stop
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Set address 0x1E
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start, write 0x03, (re)start, read 6 bytes, stop
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Set address 0x68
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start, write 0x1B, (re)start, read 8 bytes, stop
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End
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0x04 0x53
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0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03
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0x04 0x1E
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0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03
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.br
0x04 0x68
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0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03
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0x00
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.EE
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.IP "\fBBR1 \fP - Read bank 1 GPIO"
.IP "" 4
This command read GPIO 0-31 (bank 1) and returns the levels as a
32-bit hexadecimal value.
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\fBExample\fP
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.EX
$ pigs br1
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1001C1CF
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.EE
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.IP "\fBBR2 \fP - Read bank 2 GPIO"
.IP "" 4
This command read GPIO 32-53 (bank 2) and returns the levels as a
32-bit hexadecimal value.
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\fBExample\fP
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.EX
$ pigs br2
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003F0000
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.EE
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.IP "\fBBS1 bits\fP - Set specified GPIO in bank 1"
.IP "" 4
This command sets (sets high) the GPIO specified by \fBbits\fP in bank 1.
Bank 1 consists of GPIO 0-31.
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Upon success nothing is returned. On error a negative status code
will be returned.
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\fBExample\fP
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.EX
$ pigs bs1 16 # set GPIO 4 (1<<4)
.br
.br
$ pigs bs1 1 # set GPIO 1 (1<<0)
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-42
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ERROR: no permission to update one or more GPIO
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.EE
.br
.IP "\fBBS2 bits\fP - Set specified GPIO in bank 2"
.IP "" 4
This command sets (sets high) the GPIO specified by \fBbits\fP in bank 2.
Bank 2 consists of GPIO 32-53.
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Upon success nothing is returned. On error a negative status code
will be returned.
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\fBExample\fP
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.EX
$ pigs bs2 0x40 # set GPIO 38 (enable high current mode A+/B+/Pi2/Pi3)
.br
.br
$ pigs bs2 1 # set GPIO 32 (first in bank 2)
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-42
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ERROR: no permission to update one or more GPIO
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.EE
.br
.IP "\fBBSCX bctl bvs\fP - BSC I2C/SPI transfer"
.IP "" 4
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This command performs a BSC I2C/SPI slave transfer as defined by
\fBbctl\fP with data \fBbvs\fP.
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This function provides a low-level interface to the SPI/I2C Slave
peripheral on the BCM chip.
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This peripheral allows the Pi to act as a hardware slave device
on an I2C or SPI bus.
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This is not a bit bang version and as such is OS timing
independent. The bus timing is handled directly by the chip.
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The output process is simple. You simply append data to the FIFO
buffer on the chip. This works like a queue, you add data to the
queue and the master removes it.
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This function is not available on the BCM2711 (e.g. as
used in the Pi4B).
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I can't get SPI to work properly. I tried with a
control word of 0x303 and swapped MISO and MOSI.
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The command sets the BSC mode and writes any data \fBbvs\fP
to the BSC transmit FIFO. It returns the data count (at least 1
for the status word), the status word, followed by any data bytes
read from the BSC receive FIFO.
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Note that the control word sets the BSC mode. The BSC will stay in
that mode until a different control word is sent.
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For I2C use a control word of (I2C address << 16) + 0x305.
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E.g. to talk as I2C slave with address 0x13 use 0x130305.
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The BSC peripheral uses GPIO 18 (SDA) and 19 (SCL) in I2C mode
and GPIO 18 (MOSI), 19 (SCLK), 20 (MISO), and 21 (CE) in SPI mode. You
need to swap MISO/MOSI between master and slave.
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When a zero control word is received GPIO 18-21 will be reset
to INPUT mode.
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The control word consists of the following bits.
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.EX
22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
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a a a a a a a - - IT HC TF IR RE TE BK EC ES PL PH I2 SP EN
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.EE
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Bits 0-13 are copied unchanged to the BSC CR register. See
pages 163-165 of the Broadcom peripherals document for full
details.
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.EX
aaaaaaa defines the I2C slave address (only relevant in I2C mode)
IT invert transmit status flags
HC enable host control
TF enable test FIFO
IR invert receive status flags
RE enable receive
TE enable transmit
BK abort operation and clear FIFOs
EC send control register as first I2C byte
ES send status register as first I2C byte
PL set SPI polarity high
PH set SPI phase high
I2 enable I2C mode
SP enable SPI mode
EN enable BSC peripheral
.EE
.br