forked from joan2937/pigpio
-
Notifications
You must be signed in to change notification settings - Fork 0
/
command.c
1403 lines (1152 loc) · 44.1 KB
/
command.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or
distribute this software, either in source code form or as a compiled
binary, for any purpose, commercial or non-commercial, and by any
means.
In jurisdictions that recognize copyright laws, the author or authors
of this software dedicate any and all copyright interest in the
software to the public domain. We make this dedication for the benefit
of the public at large and to the detriment of our heirs and
successors. We intend this dedication to be an overt act of
relinquishment in perpetuity of all present and future rights to this
software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to <http://unlicense.org/>
*/
/*
This version is for pigpio version 65+
*/
#include <stdio.h>
#include <string.h>
#include <stdarg.h>
#include <stdlib.h>
#include <ctype.h>
#include "pigpio.h"
#include "command.h"
cmdInfo_t cmdInfo[]=
{
/* num str vfyt retv */
{PI_CMD_BC1, "BC1", 111, 1}, // gpioWrite_Bits_0_31_Clear
{PI_CMD_BC2, "BC2", 111, 1}, // gpioWrite_Bits_32_53_Clear
{PI_CMD_BI2CC, "BI2CC", 112, 0}, // bbI2CClose
{PI_CMD_BI2CO, "BI2CO", 131, 0}, // bbI2COpen
{PI_CMD_BI2CZ, "BI2CZ", 193, 6}, // bbI2CZip
{PI_CMD_BR1, "BR1", 101, 3}, // gpioRead_Bits_0_31
{PI_CMD_BR2, "BR2", 101, 3}, // gpioRead_Bits_32_53
{PI_CMD_BS1, "BS1", 111, 1}, // gpioWrite_Bits_0_31_Set
{PI_CMD_BS2, "BS2", 111, 1}, // gpioWrite_Bits_32_53_Set
{PI_CMD_BSCX, "BSCX", 193, 8}, // bscXfer
{PI_CMD_BSPIC, "BSPIC", 112, 0}, // bbSPIClose
{PI_CMD_BSPIO, "BSPIO", 134, 0}, // bbSPIOpen
{PI_CMD_BSPIX, "BSPIX", 193, 6}, // bbSPIXfer
{PI_CMD_CF1, "CF1", 195, 2}, // gpioCustom1
{PI_CMD_CF2, "CF2", 195, 6}, // gpioCustom2
{PI_CMD_CGI, "CGI", 101, 4}, // gpioCfgGetInternals
{PI_CMD_CSI, "CSI", 111, 1}, // gpioCfgSetInternals
{PI_CMD_EVM, "EVM", 122, 1}, // eventMonitor
{PI_CMD_EVT, "EVT", 112, 0}, // eventTrigger
{PI_CMD_FC, "FC", 112, 0}, // fileClose
{PI_CMD_FG, "FG", 121, 0}, // gpioGlitchFilter
{PI_CMD_FL, "FL", 127, 6}, // fileList
{PI_CMD_FN, "FN", 131, 0}, // gpioNoiseFilter
{PI_CMD_FO, "FO", 127, 2}, // fileOpen
{PI_CMD_FR, "FR", 121, 6}, // fileRead
{PI_CMD_FS, "FS", 133, 2}, // fileSeek
{PI_CMD_FW, "FW", 193, 0}, // fileWrite
{PI_CMD_GDC, "GDC", 112, 2}, // gpioGetPWMdutycycle
{PI_CMD_GPW, "GPW", 112, 2}, // gpioGetServoPulsewidth
{PI_CMD_HELP, "H", 101, 5}, // cmdUsage
{PI_CMD_HELP, "HELP", 101, 5}, // cmdUsage
{PI_CMD_HC, "HC", 121, 0}, // gpioHardwareClock
{PI_CMD_HP, "HP", 131, 0}, // gpioHardwarePWM
{PI_CMD_HWVER, "HWVER", 101, 4}, // gpioHardwareRevision
{PI_CMD_I2CC, "I2CC", 112, 0}, // i2cClose
{PI_CMD_I2CO, "I2CO", 131, 2}, // i2cOpen
{PI_CMD_I2CPC, "I2CPC", 131, 2}, // i2cProcessCall
{PI_CMD_I2CPK, "I2CPK", 194, 6}, // i2cBlockProcessCall
{PI_CMD_I2CRB, "I2CRB", 121, 2}, // i2cReadByteData
{PI_CMD_I2CRD, "I2CRD", 121, 6}, // i2cReadDevice
{PI_CMD_I2CRI, "I2CRI", 131, 6}, // i2cReadI2CBlockData
{PI_CMD_I2CRK, "I2CRK", 121, 6}, // i2cReadBlockData
{PI_CMD_I2CRS, "I2CRS", 112, 2}, // i2cReadByte
{PI_CMD_I2CRW, "I2CRW", 121, 2}, // i2cReadWordData
{PI_CMD_I2CWB, "I2CWB", 131, 0}, // i2cWriteByteData
{PI_CMD_I2CWD, "I2CWD", 193, 0}, // i2cWriteDevice
{PI_CMD_I2CWI, "I2CWI", 194, 0}, // i2cWriteI2CBlockData
{PI_CMD_I2CWK, "I2CWK", 194, 0}, // i2cWriteBlockData
{PI_CMD_I2CWQ, "I2CWQ", 121, 0}, // i2cWriteQuick
{PI_CMD_I2CWS, "I2CWS", 121, 0}, // i2cWriteByte
{PI_CMD_I2CWW, "I2CWW", 131, 0}, // i2cWriteWordData
{PI_CMD_I2CZ, "I2CZ", 193, 6}, // i2cZip
{PI_CMD_MICS, "MICS", 112, 0}, // gpioDelay
{PI_CMD_MILS, "MILS", 112, 0}, // gpioDelay
{PI_CMD_MODEG, "MG" , 112, 2}, // gpioGetMode
{PI_CMD_MODEG, "MODEG", 112, 2}, // gpioGetMode
{PI_CMD_MODES, "M", 125, 0}, // gpioSetMode
{PI_CMD_MODES, "MODES", 125, 0}, // gpioSetMode
{PI_CMD_NB, "NB", 122, 0}, // gpioNotifyBegin
{PI_CMD_NC, "NC", 112, 0}, // gpioNotifyClose
{PI_CMD_NO, "NO", 101, 2}, // gpioNotifyOpen
{PI_CMD_NP, "NP", 112, 0}, // gpioNotifyPause
{PI_CMD_PADG, "PADG", 112, 2}, // gpioGetPad
{PI_CMD_PADS, "PADS", 121, 0}, // gpioSetPad
{PI_CMD_PARSE, "PARSE", 115, 0}, // cmdParseScript
{PI_CMD_PFG, "PFG", 112, 2}, // gpioGetPWMfrequency
{PI_CMD_PFS, "PFS", 121, 2}, // gpioSetPWMfrequency
{PI_CMD_PIGPV, "PIGPV", 101, 4}, // gpioVersion
{PI_CMD_PRG, "PRG", 112, 2}, // gpioGetPWMrange
{PI_CMD_PROC, "PROC", 115, 2}, // gpioStoreScript
{PI_CMD_PROCD, "PROCD", 112, 0}, // gpioDeleteScript
{PI_CMD_PROCP, "PROCP", 112, 7}, // gpioScriptStatus
{PI_CMD_PROCR, "PROCR", 191, 0}, // gpioRunScript
{PI_CMD_PROCS, "PROCS", 112, 0}, // gpioStopScript
{PI_CMD_PRRG, "PRRG", 112, 2}, // gpioGetPWMrealRange
{PI_CMD_PRS, "PRS", 121, 2}, // gpioSetPWMrange
{PI_CMD_PUD, "PUD", 126, 0}, // gpioSetPullUpDown
{PI_CMD_PWM, "P", 121, 0}, // gpioPWM
{PI_CMD_PWM, "PWM", 121, 0}, // gpioPWM
{PI_CMD_READ, "R", 112, 2}, // gpioRead
{PI_CMD_READ, "READ", 112, 2}, // gpioRead
{PI_CMD_SERRB, "SERRB", 112, 2}, // serReadByte
{PI_CMD_SERWB, "SERWB", 121, 0}, // serWriteByte
{PI_CMD_SERC, "SERC", 112, 0}, // serClose
{PI_CMD_SERDA, "SERDA", 112, 2}, // serDataAvailable
{PI_CMD_SERO, "SERO", 132, 2}, // serOpen
{PI_CMD_SERR, "SERR", 121, 6}, // serRead
{PI_CMD_SERW, "SERW", 193, 0}, // serWrite
{PI_CMD_SERVO, "S", 121, 0}, // gpioServo
{PI_CMD_SERVO, "SERVO", 121, 0}, // gpioServo
{PI_CMD_SHELL, "SHELL", 128, 2}, // shell
{PI_CMD_SLR, "SLR", 121, 6}, // gpioSerialRead
{PI_CMD_SLRC, "SLRC", 112, 0}, // gpioSerialReadClose
{PI_CMD_SLRO, "SLRO", 131, 0}, // gpioSerialReadOpen
{PI_CMD_SLRI, "SLRI", 121, 0}, // gpioSerialReadInvert
{PI_CMD_SPIC, "SPIC", 112, 0}, // spiClose
{PI_CMD_SPIO, "SPIO", 131, 2}, // spiOpen
{PI_CMD_SPIR, "SPIR", 121, 6}, // spiRead
{PI_CMD_SPIW, "SPIW", 193, 0}, // spiWrite
{PI_CMD_SPIX, "SPIX", 193, 6}, // spiXfer
{PI_CMD_TICK, "T", 101, 4}, // gpioTick
{PI_CMD_TICK, "TICK", 101, 4}, // gpioTick
{PI_CMD_TRIG, "TRIG", 131, 0}, // gpioTrigger
{PI_CMD_WDOG, "WDOG", 121, 0}, // gpioSetWatchdog
{PI_CMD_WRITE, "W", 121, 0}, // gpioWrite
{PI_CMD_WRITE, "WRITE", 121, 0}, // gpioWrite
{PI_CMD_WVAG, "WVAG", 192, 2}, // gpioWaveAddGeneric
{PI_CMD_WVAS, "WVAS", 196, 2}, // gpioWaveAddSerial
{PI_CMD_WVTAT, "WVTAT", 101, 2}, // gpioWaveTxAt
{PI_CMD_WVBSY, "WVBSY", 101, 2}, // gpioWaveTxBusy
{PI_CMD_WVCHA, "WVCHA", 197, 0}, // gpioWaveChain
{PI_CMD_WVCLR, "WVCLR", 101, 0}, // gpioWaveClear
{PI_CMD_WVCRE, "WVCRE", 101, 2}, // gpioWaveCreate
{PI_CMD_WVDEL, "WVDEL", 112, 0}, // gpioWaveDelete
{PI_CMD_WVGO, "WVGO" , 101, 2}, // gpioWaveTxStart
{PI_CMD_WVGOR, "WVGOR", 101, 2}, // gpioWaveTxStart
{PI_CMD_WVHLT, "WVHLT", 101, 0}, // gpioWaveTxStop
{PI_CMD_WVNEW, "WVNEW", 101, 0}, // gpioWaveAddNew
{PI_CMD_WVSC, "WVSC", 112, 2}, // gpioWaveGet*Cbs
{PI_CMD_WVSM, "WVSM", 112, 2}, // gpioWaveGet*Micros
{PI_CMD_WVSP, "WVSP", 112, 2}, // gpioWaveGet*Pulses
{PI_CMD_WVTX, "WVTX", 112, 2}, // gpioWaveTxSend
{PI_CMD_WVTXM, "WVTXM", 121, 2}, // gpioWaveTxSend
{PI_CMD_WVTXR, "WVTXR", 112, 2}, // gpioWaveTxSend
{PI_CMD_ADD , "ADD" , 111, 0},
{PI_CMD_AND , "AND" , 111, 0},
{PI_CMD_CALL , "CALL" , 114, 0},
{PI_CMD_CMDR ,"CMDR" , 111, 0},
{PI_CMD_CMDW , "CMDW" , 111, 0},
{PI_CMD_CMP , "CMP" , 111, 0},
{PI_CMD_DCR , "DCR" , 113, 0},
{PI_CMD_DCRA , "DCRA" , 101, 0},
{PI_CMD_DIV , "DIV" , 111, 0},
{PI_CMD_EVTWT, "EVTWT", 111, 0},
{PI_CMD_HALT , "HALT" , 101, 0},
{PI_CMD_INR , "INR" , 113, 0},
{PI_CMD_INRA , "INRA" , 101, 0},
{PI_CMD_JM , "JM" , 114, 0},
{PI_CMD_JMP , "JMP" , 114, 0},
{PI_CMD_JNZ , "JNZ" , 114, 0},
{PI_CMD_JP , "JP" , 114, 0},
{PI_CMD_JZ , "JZ" , 114, 0},
{PI_CMD_LD , "LD" , 123, 0},
{PI_CMD_LDA , "LDA" , 111, 0},
{PI_CMD_LDAB , "LDAB" , 111, 0},
{PI_CMD_MLT , "MLT" , 111, 0},
{PI_CMD_MOD , "MOD" , 111, 0},
{PI_CMD_NOP , "NOP" , 101, 0},
{PI_CMD_OR , "OR" , 111, 0},
{PI_CMD_POP , "POP" , 113, 0},
{PI_CMD_POPA , "POPA" , 101, 0},
{PI_CMD_PUSH , "PUSH" , 113, 0},
{PI_CMD_PUSHA, "PUSHA", 101, 0},
{PI_CMD_RET , "RET" , 101, 0},
{PI_CMD_RL , "RL" , 123, 0},
{PI_CMD_RLA , "RLA" , 111, 0},
{PI_CMD_RR , "RR" , 123, 0},
{PI_CMD_RRA , "RRA" , 111, 0},
{PI_CMD_STA , "STA" , 113, 0},
{PI_CMD_STAB , "STAB" , 111, 0},
{PI_CMD_SUB , "SUB" , 111, 0},
{PI_CMD_SYS , "SYS" , 116, 0},
{PI_CMD_TAG , "TAG" , 114, 0},
{PI_CMD_WAIT , "WAIT" , 111, 0},
{PI_CMD_X , "X" , 124, 0},
{PI_CMD_XA , "XA" , 113, 0},
{PI_CMD_XOR , "XOR" , 111, 0},
};
char * cmdUsage = "\n\
BC1 bits Clear GPIO in bank 1\n\
BC2 bits Clear GPIO in bank 2\n\
BI2CC sda Close bit bang I2C\n\
BI2CO sda scl baud | Open bit bang I2C\n\
BI2CZ sda ... I2C bit bang multiple transactions\n\
\n\
BSPIC cs Close bit bang SPI\n\
BSPIO cs miso mosi sclk baud flag | Open bit bang SPI\n\
BSPIX cs ... SPI bit bang transfer\n\
\n\
BR1 Read bank 1 GPIO\n\
BR2 Read bank 2 GPIO\n\
\n\
BS1 bits Set GPIO in bank 1\n\
BS2 bits Set GPIO in bank 2\n\
\n\
BSCX bctl bvs BSC I2C/SPI transfer\n\
\n\
CF1 ... Custom function 1\n\
CF2 ... Custom function 2\n\
\n\
CGI Configuration get internals\n\
CSI v Configuration set internals\n\
\n\
EVM h bits Set events to monitor\n\
EVT n Trigger event\n\
\n\
FC h Close file handle\n\
FG g steady Set glitch filter on GPIO\n\
FL pat n List files which match pattern\n\
FN g steady active | Set noise filter on GPIO\n\
FO file mode Open a file in mode\n\
FR h n Read bytes from file handle\n\
FS h n from Seek to file handle position\n\
FW h ... Write bytes to file handle\n\
\n\
GDC g Get PWM dutycycle for GPIO\n\
GPW g Get servo pulsewidth for GPIO\n\
\n\
H/HELP Display command help\n\
HC g f Set hardware clock frequency\n\
HP g f dc Set hardware PWM frequency and dutycycle\n\
HWVER Get hardware version\n\
\n\
I2CC h Close I2C handle\n\
I2CO bus device flags | Open I2C bus and device with flags\n\
I2CPC h r word SMBus Process Call: exchange register with word\n\
I2CPK h r ... SMBus Block Process Call: exchange data bytes with register\n\
I2CRB h r SMBus Read Byte Data: read byte from register\n\
I2CRD h n I2C Read bytes\n\
I2CRI h r n SMBus Read I2C Block Data: read bytes from register\n\
I2CRK h r SMBus Read Block Data: read data from register\n\
I2CRS h SMBus Read Byte: read byte\n\
I2CRW h r SMBus Read Word Data: read word from register\n\
I2CWB h r byte SMBus Write Byte Data: write byte to register\n\
I2CWD h ... I2C Write data\n\
I2CWI h r ... SMBus Write I2C Block Data\n\
I2CWK h r ... SMBus Write Block Data: write data to register\n\
I2CWQ h b SMBus Write Quick: write bit\n\
I2CWS h b SMBus Write Byte: write byte\n\
I2CWW h r word SMBus Write Word Data: write word to register\n\
I2CZ h ... I2C multiple transactions\n\
\n\
M/MODES g mode Set GPIO mode\n\
MG/MODEG g Get GPIO mode\n\
MICS n Delay for microseconds\n\
MILS n Delay for milliseconds\n\
\n\
NB h bits Start notification\n\
NC h Close notification\n\
NO Request a notification\n\
NP h Pause notification\n\
\n\
P/PWM g v Set GPIO PWM value\n\
PADG pad Get pad drive strength\n\
PADS pad v Set pad drive strength\n\
PARSE text Validate script\n\
PFG g Get GPIO PWM frequency\n\
PFS g v Set GPIO PWM frequency\n\
PIGPV Get pigpio library version\n\
PRG g Get GPIO PWM range\n\
PROC text Store script\n\
PROCD sid Delete script\n\
PROCP sid Get script status and parameters\n\
PROCR sid ... Run script\n\
PROCS sid Stop script\n\
PRRG g Get GPIO PWM real range\n\
PRS g v Set GPIO PWM range\n\
PUD g pud Set GPIO pull up/down\n\
\n\
R/READ g Read GPIO level\n\
\n\
S/SERVO g v Set GPIO servo pulsewidth\n\
SERC h Close serial handle\n\
SERDA h Check for serial data ready to read\n\
SERO text baud flags | Open serial device at baud with flags\n\
SERR h n Read bytes from serial handle\n\
SERRB h Read byte from serial handle\n\
SERW h ... Write bytes to serial handle\n\
SERWB h byte Write byte to serial handle\n\
SHELL name str Execute a shell command\n\
SLR g v Read bit bang serial data from GPIO\n\
SLRC g Close GPIO for bit bang serial data\n\
SLRO g baud bitlen | Open GPIO for bit bang serial data\n\
SLRI g invert Invert serial logic (1 invert, 0 normal)\n\
SPIC h SPI close handle\n\
SPIO channel baud flags | SPI open channel at baud with flags\n\
SPIR h v SPI read bytes from handle\n\
SPIW h ... SPI write bytes to handle\n\
SPIX h ... SPI transfer bytes to handle\n\
\n\
T/TICK Get current tick\n\
TRIG g micros l Trigger level for micros on GPIO\n\
\n\
W/WRITE g l Write level to GPIO\n\
WDOG g millis Set millisecond watchdog on GPIO\n\
WVAG triplets Wave add generic pulses\n\
WVAS g baud bitlen stopbits offset ... | Wave add serial data\n\
WVBSY Check if wave busy\n\
WVCHA Transmit a chain of waves\n\
WVCLR Wave clear\n\
WVCRE Create wave from added pulses\n\
WVDEL wid Delete waves w and higher\n\
WVGO Wave transmit (DEPRECATED)\n\
WVGOR Wave transmit repeatedly (DEPRECATED)\n\
WVHLT Wave stop\n\
WVNEW Start a new empty wave\n\
WVSC 0,1,2 Wave get DMA control block stats\n\
WVSM 0,1,2 Wave get micros stats\n\
WVSP 0,1,2 Wave get pulses stats\n\
WVTAT Returns the current transmitting wave\n\
WVTX wid Transmit wave as one-shot\n\
WVTXM wid wmde Transmit wave using mode\n\
WVTXR wid Transmit wave repeatedly\n\
\n\
Numbers may be entered as hex (prefix 0x), octal (prefix 0),\n\
otherwise they are assumed to be decimal.\n\
\n\
Examples\n\
\n\
pigs w 4 1 # set GPIO 4 high\n\
pigs r 5 # read GPIO 5\n\
pigs t # get current tick\n\
pigs i2co 1 0x20 0 # get handle to device 0x20 on I2C bus 1\n\
\n\
man pigs for full details.\n\
\n";
typedef struct
{
int error;
char * str;
} errInfo_t;
static errInfo_t errInfo[]=
{
{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 50-250K(RX)/50-1M(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_BAD_SERIAL_STRUC , "bad (null) serial structure parameter"},
{PI_BAD_SERIAL_BUF , "bad (null) serial buf parameter"},
{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 by driver"},
{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, not 1, 1, or 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"},
};
static char * fmtMdeStr="RW540123";
static char * fmtPudStr="ODU";
static int cmdMatch(char *str)
{
int i;
for (i=0; i<(sizeof(cmdInfo)/sizeof(cmdInfo_t)); i++)
{
if (strcasecmp(str, cmdInfo[i].name) == 0) return i;
}
return CMD_UNKNOWN_CMD;
}
static int getNum(char *str, uint32_t *val, int8_t *opt)
{
int f, n;
intmax_t v;
*opt = 0;
f = sscanf(str, " %ji %n", &v, &n);
if (f == 1)
{
*val = v;
*opt = CMD_NUMERIC;
return n;
}
f = sscanf(str, " v%ji %n", &v, &n);
if (f == 1)
{
*val = v;
if (v < PI_MAX_SCRIPT_VARS) *opt = CMD_VAR;
else *opt = -CMD_VAR;
return n;
}
f = sscanf(str, " p%ji %n", &v, &n);
if (f == 1)
{
*val = v;
if (v < PI_MAX_SCRIPT_PARAMS) *opt = CMD_PAR;
else *opt = -CMD_PAR;
return n;
}
return 0;
}
static char intCmdStr[32];
char *cmdStr(void)
{
return intCmdStr;
}
int cmdParse(
char *buf, uint32_t *p, unsigned ext_len, char *ext, cmdCtlParse_t *ctl)
{
int f, valid, idx, val, pp, pars, n, n2;
char *p8;
int32_t *p32;
char c;
uint32_t tp1=0, tp2=0, tp3=0, tp4=0, tp5=0;
int8_t to1, to2, to3, to4, to5;
int eaten;
/* Check that ext is big enough for the largest message. */
if (ext_len < (4 * CMD_MAX_PARAM)) return CMD_EXT_TOO_SMALL;
bzero(&ctl->opt, sizeof(ctl->opt));
sscanf(buf+ctl->eaten, " %31s %n", intCmdStr, &pp);
ctl->eaten += pp;
p[0] = -1;
idx = cmdMatch(intCmdStr);
if (idx < 0) return idx;
valid = 0;
p[0] = cmdInfo[idx].cmd;
p[1] = 0;
p[2] = 0;
p[3] = 0;
switch (cmdInfo[idx].vt)
{
case 101: /* BR1 BR2 CGI H HELP HWVER
DCRA HALT INRA NO
PIGPV POPA PUSHA RET T TICK WVBSY WVCLR
WVCRE WVGO WVGOR WVHLT WVNEW
No parameters, always valid.
*/
valid = 1;
break;
case 111: /* ADD AND BC1 BC2 BS1 BS2
CMP CSI DIV LDA LDAB MLT
MOD OR RLA RRA STAB SUB WAIT XOR
One parameter, any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if (ctl->opt[1] > 0) valid = 1;
break;
case 112: /* BI2CC FC GDC GPW I2CC I2CRB
MG MICS MILS MODEG NC NP PADG PFG PRG
PROCD PROCP PROCS PRRG R READ SLRC SPIC
WVDEL WVSC WVSM WVSP WVTX WVTXR BSPIC
One positive parameter.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0)) valid = 1;
break;
case 113: /* DCR INR POP PUSH STA XA
One register parameter.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if ((ctl->opt[1] > 0) && (p[1] < PI_MAX_SCRIPT_VARS)) valid = 1;
break;
case 114: /* CALL JM JMP JNZ JP JZ TAG
One numeric parameter, any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if (ctl->opt[1] == CMD_NUMERIC) valid = 1;
break;
case 115: /* PARSE PROC
One parameter, string (rest of input).
*/
p[3] = strlen(buf+ctl->eaten);
memcpy(ext, buf+ctl->eaten, p[3]);
ctl->eaten += p[3];
valid = 1;
break;
case 116: /* SYS
One parameter, a string.
*/
f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2);
if ((f >= 0) && n)
{
p[3] = n;
ctl->opt[3] = CMD_NUMERIC;
memcpy(ext, buf+ctl->eaten, n);
ctl->eaten += n2;
valid = 1;
}
break;
case 121: /* HC FR I2CRD I2CRR I2CRW I2CWB I2CWQ P
PADS PFS PRS PWM S SERVO SLR SLRI W
WDOG WRITE WVTXM
Two positive parameters.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0) && ((int)p[2] >= 0)) valid = 1;
break;
case 122: /* NB
Two parameters, first positive, second any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0)) valid = 1;
break;
case 123: /* LD RL RR
Two parameters, first register, second any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) &&
(p[1] < PI_MAX_SCRIPT_VARS) &&
(ctl->opt[2] > 0)) valid = 1;
break;
case 124: /* X
Two register parameters.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) && (p[1] < PI_MAX_SCRIPT_VARS) &&
(ctl->opt[2] > 0) && (p[2] < PI_MAX_SCRIPT_VARS)) valid = 1;
break;
case 125: /* M MODES
Two parameters, first positive, second in 'RW540123'.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
f = sscanf(buf+ctl->eaten, " %c %n", &c, &n);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && (f >= 1))
{
ctl->eaten += n;
val = toupper(c);
p8 = strchr(fmtMdeStr, val);
if (p8 != NULL)
{
val = p8 - fmtMdeStr;
p[2] = val;
valid = 1;
}
}
break;
case 126: /* PUD
Two parameters, first positive, second in 'ODU'.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
f = sscanf(buf+ctl->eaten, " %c %n", &c, &n);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && (f >= 1))
{
ctl->eaten += n;
val = toupper(c);
p8 = strchr(fmtPudStr, val);
if (p8 != NULL)
{
val = p8 - fmtPudStr;
p[2] = val;
valid = 1;
}
}
break;
case 127: /* FL FO
Two parameters, first a string, other positive.
*/
f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2);
if ((f >= 0) && n)
{
p[3] = n;
ctl->opt[2] = CMD_NUMERIC;
memcpy(ext, buf+ctl->eaten, n);
ctl->eaten += n2;
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0))
valid = 1;
}
break;
case 128: /* SHELL
Two string parameters, the first space teminated.
The second arbitrary.
*/
f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2);
if ((f >= 0) && n)
{
valid = 1;
p[1] = n;
memcpy(ext, buf+ctl->eaten, n);
ctl->eaten += n;
ext[n] = 0; /* terminate first string */
n2 = strlen(buf+ctl->eaten+1);
memcpy(ext+n+1, buf+ctl->eaten+1, n2);
ctl->eaten += n2;
ctl->eaten ++;
p[3] = p[1] + n2 + 1;
}
break;
case 131: /* BI2CO HP I2CO I2CPC I2CRI I2CWB I2CWW
SLRO SPIO TRIG
Three positive parameters.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &ctl->opt[3]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0) && ((int)p[2] >= 0) &&
(ctl->opt[3] > 0) && ((int)tp1 >= 0))
{
p[3] = 4;
memcpy(ext, &tp1, 4);
valid = 1;
}
break;
case 132: /* SERO
Three parameters, first a string, rest >=0
*/
f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2);
if ((f >= 0) && n)
{
p[3] = n;
ctl->opt[2] = CMD_NUMERIC;
memcpy(ext, buf+ctl->eaten, n);
ctl->eaten += n2;
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0) && ((int)p[2] >= 0))
valid = 1;
}
break;
case 133: /* FS
Three parameters. First and third positive.
Second may be negative when interpreted as an int.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0) &&
(to1 == CMD_NUMERIC) && ((int)tp1 >= 0))
{
p[3] = 4;
memcpy(ext, &tp1, 4);
valid = 1;
}
break;
case 134: /* BSPIO
Six parameters. First to Fifth positive.
Sixth may be negative when interpreted as an int.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
ctl->eaten += getNum(buf+ctl->eaten, &tp2, &to2);
ctl->eaten += getNum(buf+ctl->eaten, &tp3, &to3);
ctl->eaten += getNum(buf+ctl->eaten, &tp4, &to4);
ctl->eaten += getNum(buf+ctl->eaten, &tp5, &to5);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(to1 == CMD_NUMERIC) && ((int)tp1 >= 0) &&
(to2 == CMD_NUMERIC) && ((int)tp2 >= 0) &&
(to3 == CMD_NUMERIC) && ((int)tp3 >= 0) &&
(to4 == CMD_NUMERIC) && ((int)tp4 >= 0) &&
(to5 == CMD_NUMERIC))
{
p[3] = 5 * 4;
memcpy(ext+ 0, &tp1, 4);
memcpy(ext+ 4, &tp2, 4);
memcpy(ext+ 8, &tp3, 4);
memcpy(ext+12, &tp4, 4);
memcpy(ext+16, &tp5, 4);
valid = 1;
}
break;
case 191: /* PROCR
One to 11 parameters, first positive,
optional remainder, any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if ((ctl->opt[1] == CMD_NUMERIC) && ((int)p[1] >= 0))
{
pars = 0;
p32 = (int32_t *)ext;
while (pars < PI_MAX_SCRIPT_PARAMS)
{
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
if (to1 == CMD_NUMERIC)
{
pars++;
*p32++ = tp1;
}
else break;
}