# This file was automatically generated by SWIG (https://www.swig.org).
# Version 4.1.0
#
# Do not make changes to this file unless you know what you are doing - modify
# the SWIG interface file instead.
"""
[http://abyz.me.uk/lg/py_lgpio.html]
lgpio is a Python module which allows control of the GPIO
of a Linux SBC.
*Features*
o reading and writing GPIO singly and in groups
o software timed PWM and waves
o GPIO callbacks
o pipe notification of GPIO alerts
o I2C wrapper
o SPI wrapper
o serial link wrapper
*Exceptions*
By default a fatal exception is raised if you pass an invalid
argument to a lgpio function.
If you wish to handle the returned status yourself you should set
lgpio.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:
...
lgpio.exceptions = False
# Code where you want to test the error status
lgpio.exceptions = True
...
*Licence*
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/>
OVERVIEW
GPIO
gpiochip_open Opens a gpiochip device
gpiochip_close Closes a gpiochip device
gpio_get_chip_info Get information about a gpiochip
gpio_get_line_info Get information about a gpiochip line
gpio_get_mode Gets the mode of a GPIO
gpio_claim_input Claims a GPIO for input
gpio_claim_output Claims a GPIO for output
gpio_claim_alert Claims a GPIO for alerts
gpio_free Frees a GPIO
group_claim_input Claims a group of GPIO for inputs
group_claim_output Claims a group of GPIO for outputs
group_free Frees a group of GPIO
gpio_read Reads a GPIO
gpio_write Writes a GPIO
group_read Reads a group of GPIO
group_write Writes a group of GPIO
tx_pulse Starts pulses on a GPIO
tx_pwm Starts PWM on a GPIO
tx_servo Starts servo pulses on a GPIO
tx_wave Starts a wave on a group of GPIO
tx_busy See if tx is active on a GPIO or group
tx_room See if more room for tx on a GPIO or group
gpio_set_debounce_micros Sets the debounce time for a GPIO
gpio_set_watchdog_micros Sets the watchdog time for a GPIO
callback Starts a GPIO callback
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
NOTIFICATIONS
notify_open Request a notification handle
notify_close Close a notification
notify_pause Pause notifications
notify_resume Resume notifications
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
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
UTILITIES
get_internal Get an internal configuration value
set_internal Set an internal configuration value
get_module_version Get the lgpio Python module version
error_text Get the error text for an error code
"""
from sys import version_info as _swig_python_version_info
# Import the low-level C/C++ module
if __package__ or "." in __name__:
from . import _lgpio
else:
import _lgpio
try:
import builtins as __builtin__
except ImportError:
import __builtin__
def _swig_repr(self):
try:
strthis = "proxy of " + self.this.__repr__()
except __builtin__.Exception:
strthis = ""
return "<%s.%s; %s >" % (self.__class__.__module__, self.__class__.__name__, strthis,)
def _swig_setattr_nondynamic_instance_variable(set):
def set_instance_attr(self, name, value):
if name == "this":
set(self, name, value)
elif name == "thisown":
self.this.own(value)
elif hasattr(self, name) and isinstance(getattr(type(self), name), property):
set(self, name, value)
else:
raise AttributeError("You cannot add instance attributes to %s" % self)
return set_instance_attr
def _swig_setattr_nondynamic_class_variable(set):
def set_class_attr(cls, name, value):
if hasattr(cls, name) and not isinstance(getattr(cls, name), property):
set(cls, name, value)
else:
raise AttributeError("You cannot add class attributes to %s" % cls)
return set_class_attr
def _swig_add_metaclass(metaclass):
"""Class decorator for adding a metaclass to a SWIG wrapped class - a slimmed down version of six.add_metaclass"""
def wrapper(cls):
return metaclass(cls.__name__, cls.__bases__, cls.__dict__.copy())
return wrapper
class _SwigNonDynamicMeta(type):
"""Meta class to enforce nondynamic attributes (no new attributes) for a class"""
__setattr__ = _swig_setattr_nondynamic_class_variable(type.__setattr__)
import os
import socket
import struct
import sys
import threading
import time
LGPIO_PY_VERSION = 0x00020200
exceptions = True
# GPIO levels
OFF = 0
LOW = 0
CLEAR = 0
ON = 1
HIGH = 1
SET = 1
TIMEOUT = 2
GROUP_ALL = 0xffffffffffffffff
# GPIO line flags
SET_ACTIVE_LOW = 4
SET_OPEN_DRAIN = 8
SET_OPEN_SOURCE = 16
SET_PULL_UP = 32
SET_PULL_DOWN = 64
SET_PULL_NONE = 128
# GPIO event flags
RISING_EDGE = 1
FALLING_EDGE = 2
BOTH_EDGES = 3
# tx constants
TX_PWM = 0
TX_WAVE = 1
SPI_MODE_0 = 0
SPI_MODE_1 = 1
SPI_MODE_2 = 2
SPI_MODE_3 = 3
# lgpio error numbers
OKAY = 0
INIT_FAILED = -1
BAD_MICROS = -2
BAD_PATHNAME = -3
NO_HANDLE = -4
BAD_HANDLE = -5
BAD_SOCKET_PORT = -6
NOT_PERMITTED = -7
SOME_PERMITTED = -8
BAD_SCRIPT = -9
BAD_TX_TYPE = -10
GPIO_IN_USE = -11
BAD_PARAM_NUM = -12
DUP_TAG = -13
TOO_MANY_TAGS = -14
BAD_SCRIPT_CMD = -15
BAD_VAR_NUM = -16
NO_SCRIPT_ROOM = -17
NO_MEMORY = -18
SOCK_READ_FAILED = -19
SOCK_WRIT_FAILED = -20
TOO_MANY_PARAM = -21
SCRIPT_NOT_READY = -22
BAD_TAG = -23
BAD_MICS_DELAY = -24
BAD_MILS_DELAY = -25
I2C_OPEN_FAILED = -26
SERIAL_OPEN_FAILED = -27
SPI_OPEN_FAILED = -28
BAD_I2C_BUS = -29
BAD_I2C_ADDR = -30
BAD_SPI_CHANNEL = -31
BAD_I2C_FLAGS = -32
BAD_SPI_FLAGS = -33
BAD_SERIAL_FLAGS = -34
BAD_SPI_SPEED = -35
BAD_SERIAL_DEVICE = -36
BAD_SERIAL_SPEED = -37
BAD_FILE_PARAM = -38
BAD_I2C_PARAM = -39
BAD_SERIAL_PARAM = -40
I2C_WRITE_FAILED = -41
I2C_READ_FAILED = -42
BAD_SPI_COUNT = -43
SERIAL_WRITE_FAILED = -44
SERIAL_READ_FAILED = -45
SERIAL_READ_NO_DATA = -46
UNKNOWN_COMMAND = -47
SPI_XFER_FAILED = -48
BAD_POINTER = -49
MSG_TOOBIG = -50
BAD_MALLOC_MODE = -51
TOO_MANY_SEGS = -52
BAD_I2C_SEG = -53
BAD_SMBUS_CMD = -54
BAD_I2C_WLEN = -55
BAD_I2C_RLEN = -56
BAD_I2C_CMD = -57
FILE_OPEN_FAILED = -58
BAD_FILE_MODE = -59
BAD_FILE_FLAG = -60
BAD_FILE_READ = -61
BAD_FILE_WRITE = -62
FILE_NOT_ROPEN = -63
FILE_NOT_WOPEN = -64
BAD_FILE_SEEK = -65
NO_FILE_MATCH = -66
NO_FILE_ACCESS = -67
FILE_IS_A_DIR = -68
BAD_SHELL_STATUS = -69
BAD_SCRIPT_NAME = -70
CMD_INTERRUPTED = -71
BAD_EVENT_REQUEST = -72
BAD_GPIO_NUMBER = -73
BAD_GROUP_SIZE = -74
BAD_LINEINFO_IOCTL = -75
BAD_READ = -76
BAD_WRITE = -77
CANNOT_OPEN_CHIP = -78
GPIO_BUSY = -79
GPIO_NOT_ALLOCATED = -80
NOT_A_GPIOCHIP = -81
NOT_ENOUGH_MEMORY = -82
POLL_FAILED = -83
TOO_MANY_GPIOS = -84
UNEGPECTED_ERROR = -85
BAD_PWM_MICROS = -86
NOT_GROUP_LEADER = -87
SPI_IOCTL_FAILED = -88
BAD_GPIOCHIP = -89
BAD_CHIPINFO_IOCTL = -90
BAD_CONFIG_FILE = -91
BAD_CONFIG_VALUE = -92
NO_PERMISSIONS = -93
BAD_USERNAME = -94
BAD_SECRET = -95
TX_QUEUE_FULL = -96
BAD_CONFIG_ID = -97
BAD_DEBOUNCE_MICS = -98
BAD_WATCHDOG_MICS = -99
BAD_SERVO_FREQ = -100
BAD_SERVO_WIDTH = -101
BAD_PWM_FREQ = -102
BAD_PWM_DUTY = -103
GPIO_NOT_AN_OUTPUT = -104
INVALID_GROUP_ALERT = -105
class error(Exception):
"""
rgpio 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, group_bits, group_mask, pulse_delay):
"""
Initialises a pulse.
group_bits:= the levels to set if the corresponding bit in
group_mask is set.
group_mask:= a mask indicating the group GPIO to be updated.
delay:= the delay in microseconds before the next pulse.
"""
self.group_bits = group_bits
self.group_mask = group_mask
self.pulse_delay = pulse_delay
def _tobuf(x):
if isinstance(x, (bytes, bytearray)):
return x
elif isinstance(x, (str)):
return x.encode('latin-1')
elif isinstance(x, (list, tuple)):
return bytearray(x)
else:
raise error("can't convert to bytes")
def u2i(uint32):
"""
Converts a 32 bit unsigned number to signed.
uint32:= an unsigned 32 bit number
Returns a signed 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(status):
"""
If the status is negative it indicates an error. On error
a lgpio exception will be raised if exceptions is True.
"""
v = u2i(status)
if v < 0:
if exceptions:
raise error(error_text(v))
return v
def _u2i_list(lst):
"""
Checks a returned list. The first member is the status.
If the status is negative it indicates an error. On error
a lgpio exception will be raised if exceptions is True.
"""
lst[0] = u2i(lst[0])
if lst[0] < 0:
if exceptions:
raise error(error_text(lst[0]))
return lst
class _callback_ADT:
"""
A class to hold callback information.
"""
def __init__(self, gpiochip, gpio, edge, func):
"""
Initialises a callback.
gpiochip:= gpiochip device number.
gpio:= gpio number in device.
edge:= BOTH_EDGES, RISING_EDGE, or FALLING_EDGE.
func:= a user function taking four arguments
(gpiochip, gpio, level, tick).
"""
self.chip = gpiochip
self.gpio = gpio
self.edge = edge
self.func = func
class _callback_thread(threading.Thread):
"""
A class to encapsulate lgpio notification callbacks.
"""
def __init__(self):
"""
Initialises notifications.
"""
threading.Thread.__init__(self)
self._notify = _lgpio._notify_open()
self._file = open('.lgd-nfy{}'.format(self._notify), 'rb')
self.go = False
self.daemon = True
self.callbacks = []
self.go = True
self.start()
def stop(self):
"""
Stops notifications.
"""
if self.go:
self.go = False
def append(self, callb):
"""
Adds a callback to the notification thread.
"""
self.callbacks.append(callb)
def remove(self, callb):
"""
Removes a callback from the notification thread.
"""
if callb in self.callbacks:
self.callbacks.remove(callb)
def run(self):
"""
Runs the notification thread.
"""
RECV_SIZ = 16
MSG_SIZ = 16 # 4 bytes of padding in each message
buf = bytes()
while self.go:
buf += self._file.read(RECV_SIZ)
offset = 0
while self.go and (len(buf) - offset) >= MSG_SIZ:
msgbuf = buf[offset:offset + MSG_SIZ]
offset += MSG_SIZ
tick, chip, gpio, level, flags, pad = (
struct.unpack('QBBBBI', msgbuf))
if flags == 0:
for cb in self.callbacks:
if cb.chip == chip and cb.gpio == gpio:
cb.func(chip, gpio, level, tick)
else: # no flags currently defined, ignore.
pass
buf = buf[offset:]
self._file.close()
_notify_thread = _callback_thread()
class _callback:
"""
A class to provide GPIO level change callbacks.
"""
def __init__(self, chip, gpio, edge=RISING_EDGE, func=None):
"""
Initialise a callback and adds it to the notification thread.
"""
self.count=0
self._reset = False
if func is None:
func=self._tally
self.callb = _callback_ADT(chip, gpio, edge, func)
_notify_thread.append(self.callb)
def cancel(self):
"""
Cancels a callback by removing it from the notification thread.
"""
_notify_thread.remove(self.callb)
def _tally(self, chip, gpio, level, tick):
"""
Increment the callback called count.
"""
if self._reset:
self._reset = False
self.count = 0
self.count += 1
def tally(self):
"""
"""
return self.count
def reset_tally(self):
"""
"""
self._reset = True
self.count = 0
def get_module_version():
"""
Returns the version number of the lgpio Python module as a dotted
quad.
A.B.C.D
A. API major version, changed if breaks previous API
B. API minor version, changed when new function added
C. bug fix
D. documentation change
"""
return "lgpio.py_{}.{}.{}.{}".format(
(LGPIO_PY_VERSION>>24)&0xff, (LGPIO_PY_VERSION>>16)&0xff,
(LGPIO_PY_VERSION>>8)&0xff, LGPIO_PY_VERSION&0xff)
# GPIO
def gpiochip_open(gpiochip):
"""
This returns a handle to a gpiochip device.
gpiochip:= >= 0
If OK returns a handle (>= 0).
On failure returns a negative error code.
...
h = gpiochip_open(0) # open /dev/gpiochip0
if h >= 0:
open okay
else:
open error
...
"""
handle = u2i(_lgpio._gpiochip_open(gpiochip))
if handle >= 0:
handle = handle | (gpiochip << 16)
return _u2i(handle)
def gpiochip_close(handle):
"""
This closes a gpiochip device.
handle:= >= 0 (as returned by [*gpiochip_open*]).
If OK returns 0.
On failure returns a negative error code.
...
sbc.gpiochip_close(h)
...
"""
return _u2i(_lgpio._gpiochip_close(handle&0xffff))
def gpio_get_chip_info(handle):
"""
This returns summary information of an opened gpiochip.
handle:= >= 0 (as returned by [*gpiochip_open*]).
If OK returns a list of okay status, number of
lines, name, and label.
On failure returns a negative error code.
"""
return _u2i_list(_lgpio._gpio_get_chip_info(handle&0xffff))
def gpio_get_line_info(handle, gpio):
"""
This returns detailed information of a GPIO of
an opened gpiochip.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO.
If OK returns a list of okay status, GPIO number,
line flags, name, and user.
The meaning of the line flags bits are as given for the mode
by [*gpio_get_mode*].
On failure returns a negative error code.
"""
return _u2i_list(_lgpio._gpio_get_line_info(handle&0xffff, gpio))
def gpio_get_mode(handle, gpio):
"""
This returns the mode of a GPIO.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO.
If OK returns the mode of the GPIO.
On failure returns a negative error code.
Bit @ Value @ Meaning
0 @ 1 @ Kernel: In use by the kernel
1 @ 2 @ Kernel: Output
2 @ 4 @ Kernel: Active low
3 @ 8 @ Kernel: Open drain
4 @ 16 @ Kernel: Open source
5 @ 32 @ Kernel: Pull up set
6 @ 64 @ Kernel: Pull down set
7 @ 128 @ Kernel: Pulls off set
8 @ 256 @ LG: Input
9 @ 512 @ LG: Output
10 @ 1024 @ LG: Alert
11 @ 2048 @ LG: Group
12 @ 4096 @ LG: ---
13 @ 8192 @ LG: ---
14 @ 16384 @ LG: ---
15 @ 32768 @ LG: ---
16 @ 65536 @ Kernel: Input
17 @ 1<<17 @ Kernel: Rising edge alert
18 @ 1<<18 @ Kernel: Falling edge alert
19 @ 1<<19 @ Kernel: Realtime clock alert
The LG bits are only set if the query was made by the process
that owns the GPIO.
"""
return _u2i(_lgpio._gpio_get_mode(handle&0xffff, gpio))
def gpio_claim_input(handle, gpio, lFlags=0):
"""
This claims a GPIO for input.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be claimed.
lFlags:= line flags for the GPIO.
If OK returns 0.
On failure returns a negative error code.
The line flags may be used to set the GPIO
as active low, open drain, open source,
pull up, pull down, pull off.
...
sbc.gpio_claim_input(h, 23) # open GPIO 23 for input.
...
"""
return _u2i(_lgpio._gpio_claim_input(handle&0xffff, lFlags, gpio))
def gpio_claim_output(handle, gpio, level=0, lFlags=0):
"""
This claims a GPIO for output.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be claimed.
level:= the initial value for the GPIO.
lFlags:= line flags for the GPIO.
If OK returns 0.
On failure returns a negative error code.
The line flags may be used to set the GPIO
as active low, open drain, open source,
pull up, pull down, pull off.
If level is zero the GPIO will be initialised low (0). If any other
value is used the GPIO will be initialised high (1).
...
sbc.gpio_claim_output(h, 3) # open GPIO 3 for low output.
...
"""
return _u2i(_lgpio._gpio_claim_output(handle&0xffff, lFlags, gpio, level))
def gpio_free(handle, gpio):
"""
This frees a GPIO.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be freed.
If OK returns 0.
On failure returns a negative error code.
The GPIO may now be claimed by another user or for
a different purpose.
"""
return _u2i(_lgpio._gpio_free(handle&0xffff, gpio))
def group_claim_input(handle, gpio, lFlags=0):
"""
This claims a group of GPIO for inputs.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpios:= a list of GPIO to be claimed.
lFlags:= line flags for the group of GPIO.
If OK returns 0.
On failure returns a negative error code.
The line flags may be used to set the group
as active low, open drain, open source,
pull up, pull down, pull off.
gpio is a list of one or more GPIO. The first GPIO in the
list is called the group leader and is used to reference the
group as a whole.
"""
if len(gpio):
GPIO = bytearray()
for g in gpio:
GPIO.extend(struct.pack("I", g))
return _u2i(_lgpio._group_claim_input(handle&0xffff, lFlags, GPIO))
else:
return 0
def group_claim_output(handle, gpio, levels=[0], lFlags=0):
"""
This claims a group of GPIO for outputs.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= a list of GPIO to be claimed.
levels:= a list of the initial value for each GPIO.
lFlags:= line flags for the group of GPIO.
If OK returns 0.
On failure returns a negative error code.
The line flags may be used to set the group
as active low, open drain, open source,
pull up, pull down, pull off.
gpio is a list of one or more GPIO. The first GPIO in the list is
called the group leader and is used to reference the group as a whole.
levels is a list of initialisation values for the GPIO. If a value is
zero the corresponding GPIO will be initialised low (0). If any other
value is used the corresponding GPIO will be initialised high (1).
"""
if len(gpio):
diff = len(gpio)-len(levels)
if diff > 0:
levels = levels + [0]*diff
GPIO = bytearray()
for g in gpio:
GPIO.extend(struct.pack("I", g))
LEVELS = bytearray()
for l in levels:
LEVELS.extend(struct.pack("I", l))
return _u2i(_lgpio._group_claim_output(
handle&0xffff, lFlags, GPIO, LEVELS))
else:
return 0
def group_free(handle, gpio):
"""
This frees all the GPIO associated with a group.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the group leader.
If OK returns 0.
On failure returns a negative error code.
The GPIO may now be claimed by another user or for a different purpose.
"""
return _u2i(_lgpio._group_free(handle&0xffff, gpio))
def gpio_read(handle, gpio):
"""
This returns the level of a GPIO.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be read.
If OK returns 0 (low) or 1 (high).
On failure returns a negative error code.
This command will work for any claimed GPIO (even if a member
of a group). For an output GPIO the value returned
will be that last written to the GPIO.
"""
return _u2i(_lgpio._gpio_read(handle&0xffff, gpio))
def gpio_write(handle, gpio, level):
"""
This sets the level of an output GPIO.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be written.
level:= the value to write.
If OK returns 0.
On failure returns a negative error code.
This command will work for any GPIO claimed as an output
(even if a member of a group).
If level is zero the GPIO will be set low (0).
If any other value is used the GPIO will be set high (1).
"""
return _u2i(_lgpio._gpio_write(handle&0xffff, gpio, level))
def group_read(handle, gpio):
"""
This returns the levels read from a group.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the group to be read.
If OK returns a list of group size and levels.
On failure returns a list of negative error code and a dummy.
This command will work for an output group as well as an input
group. For an output group the value returned
will be that last written to the group GPIO.
Note that this command will also work on an individual GPIO claimed
as an input or output as that is treated as a group with one member.
After a successful read levels is set as follows.
Bit 0 is the level of the group leader.
Bit 1 is the level of the second GPIO in the group.
Bit x is the level of GPIO x+1 of the group.
"""
return _u2i_list(_lgpio._group_read(handle&0xffff, gpio))
def group_write(handle, gpio, group_bits, group_mask=GROUP_ALL):
"""
This sets the levels of an output group.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the group to be written.
group_bits:= the level to set if the corresponding bit in
group_mask is set.
group_mask:= a mask indicating the group GPIO to be updated.
If OK returns 0.
On failure returns a negative error code.
The values of each GPIO of the group are set according to the bits
of group_bits.
Bit 0 sets the level of the group leader.
Bit 1 sets the level of the second GPIO in the group.
Bit x sets the level of GPIO x+1 in the group.
However this may be overridden by the group_mask. A GPIO is only
updated if the corresponding bit in the mask is 1.
"""
return _u2i(_lgpio._group_write(
handle&0xffff, gpio, group_bits, group_mask))
def tx_pulse(handle, gpio,
pulse_on, pulse_off, pulse_offset=0, pulse_cycles=0):
"""
This starts software timed pulses on an output GPIO.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be pulsed.
pulse_on:= pulse high time in microseconds.
pulse_off:= pulse low time in microsseconds.
pulse_offset:= offset from nominal pulse start position.
pulse_cycles:= the number of cycles to be sent, 0 for infinite.
If OK returns the number of entries left in the PWM queue for the GPIO.
On failure returns a negative error code.
If both pulse_on and pulse_off are zero pulses will be
switched off for that GPIO. The active pulse, if any,
will be stopped and any queued pulses will be deleted.
Each successful call to this function consumes one PWM queue entry.
pulse_cycles cycles are transmitted (0 means infinite). Each
cycle consists of pulse_on microseconds of GPIO high followed by
pulse_off microseconds of GPIO low.
PWM is characterised by two values, its frequency (number of cycles
per second) and its dutycycle (percentage of high time per cycle).
The set frequency will be 1000000 / (pulse_on + pulse_off) Hz.
The set dutycycle will be pulse_on / (pulse_on + pulse_off) * 100 %.
E.g. if pulse_on is 50 and pulse_off is 100 the frequency will be
6666.67 Hz and the dutycycle will be 33.33 %.
pulse_offset is a microsecond offset from the natural start of
the pulse cycle.
For instance if the PWM frequency is 10 Hz the natural start of each
cycle is at seconds 0, then 0.1, 0.2, 0.3 etc. In this case if
the offset is 20000 microseconds the cycle will start at seconds
0.02, 0.12, 0.22, 0.32 etc.
Another pulse command may be issued to the GPIO before the last
has finished.
If the last pulse had infinite cycles (pulse_cycles of 0) then it
will be replaced by the new settings at the end of the current
cycle. Otherwise it will be replaced by the new settings at
the end of pulse_cycles cycles.
Multiple pulse settings may be queued in this way.
"""
return _u2i(_lgpio._tx_pulse(
handle&0xffff, gpio, pulse_on, pulse_off, pulse_offset, pulse_cycles))
def tx_pwm(handle, gpio,
pwm_frequency, pwm_duty_cycle, pulse_offset=0, pulse_cycles=0):
"""
This starts software timed PWM on an output GPIO.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be pulsed.
pwm_frequency:= PWM frequency in Hz (0=off, 0.1-10000).
pwm_duty_cycle:= PWM duty cycle in % (0-100).
pulse_offset:= offset from nominal pulse start position.
pulse_cycles:= the number of cycles to be sent, 0 for infinite.
If OK returns the number of entries left in the PWM queue for the GPIO.
On failure returns a negative error code.
Each successful call to this function consumes one PWM queue entry.
pulse_cycles cycles are transmitted (0 means infinite).
PWM is characterised by two values, its frequency (number of cycles
per second) and its dutycycle (percentage of high time per cycle).
pulse_offset is a microsecond offset from the natural start of
the pulse cycle.
For instance if the PWM frequency is 10 Hz the natural start of each
cycle is at seconds 0, then 0.1, 0.2, 0.3 etc. In this case if
the offset is 20000 microseconds the cycle will start at seconds
0.02, 0.12, 0.22, 0.32 etc.
Another PWM command may be issued to the GPIO before the last
has finished.
If the last pulse had infinite cycles then it will be replaced by
the new settings at the end of the current cycle. Otherwise it will
be replaced by the new settings when all its cycles are complete.
Multiple pulse settings may be queued in this way.
"""
return _u2i(_lgpio._tx_pwm(
handle&0xffff, gpio, pwm_frequency, pwm_duty_cycle,
pulse_offset, pulse_cycles))
def tx_servo(handle, gpio, pulse_width,
servo_frequency=50, pulse_offset=0, pulse_cycles=0):
"""
This starts software timed servo pulses on an output GPIO.
I would only use software timed servo pulses for testing
purposes. The timing jitter will cause the servo to fidget.
This may cause it to overheat and wear out prematurely.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be pulsed.
pulse_width:= pulse high time in microseconds (0=off, 500-2500).
servo_frequency:= the number of pulses per second (40-500).
pulse_offset:= offset from nominal pulse start position.
pulse_cycles:= the number of cycles to be sent, 0 for infinite.
If OK returns the number of entries left in the PWM queue for the GPIO.
On failure returns a negative error code.
Each successful call to this function consumes one PWM queue entry.
pulse_cycles cycles are transmitted (0 means infinite).
pulse_offset is a microsecond offset from the natural start of
the pulse cycle.
Another servo command may be issued to the GPIO before the last
has finished.
If the last pulse had infinite cycles then it will be replaced by
the new settings at the end of the current cycle. Otherwise it will
be replaced by the new settings when all its cycles are compete.
Multiple servo settings may be queued in this way.
"""
return _u2i(_lgpio._tx_servo(
handle&0xffff, gpio, pulse_width, servo_frequency,
pulse_offset, pulse_cycles)
)
def tx_wave(handle, gpio, pulses):
"""
This starts a software timed wave on an output group.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the group to be pulsed.
pulses:= the pulses to transmit.
If OK returns the number of entries left in the wave queue
for the group.
On failure returns a negative error code.
Each successful call to this function consumes one wave queue entry.
This command starts a wave of pulses.
pulses is an array of pulses to be transmitted on the group.
Each pulse is defined by the following triplet:
bits: the levels to set for the selected GPIO
mask: the GPIO to select
delay: the delay in microseconds before the next pulse
Another wave command may be issued to the group before the
last has finished transmission. The new wave will start when
the previous wave has competed.
Multiple waves may be queued in this way.
"""
if len(pulses):
PULSES = bytearray()
for p in pulses:
PULSES.extend(struct.pack(
"QQQ", p.group_bits, p.group_mask, p.pulse_delay))
return _u2i(_lgpio._tx_wave(handle&0xffff, gpio, PULSES)
)
else:
return 0
def tx_busy(handle, gpio, kind):
"""
This returns true if transmissions of the specified kind
are active on the GPIO or group.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO or group to be checked.
kind:= TX_PWM or TX_WAVE.
If OK returns 1 for busy and 0 for not busy.
On failure returns a negative error code.
"""
return _u2i(_lgpio._tx_busy(handle&0xffff, gpio, kind))
def tx_room(handle, gpio, kind):
"""
This returns the number of slots there are to queue further
transmissions of the specified kind on a GPIO or group.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO or group to be checked.
kind:= TX_PWM or TX_WAVE.
If OK returns the number of free entries (0 for none).
On failure returns a negative error code.
"""
return _u2i(_lgpio._tx_room(handle&0xffff, gpio, kind))
def gpio_set_debounce_micros(handle, gpio, debounce_micros):
"""
This sets the debounce time for a GPIO.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be configured.
debounce_micros:= the value to set.
If OK returns 0.
On failure returns a negative error code.
This only affects alerts.
An alert will only be issued if the edge has been stable for
at least debounce microseconds.
Generally this is used to debounce mechanical switches
(e.g. contact bounce).
Suppose that a square wave at 5 Hz is being generated on a GPIO.
Each edge will last 100000 microseconds. If a debounce time
of 100001 is set no alerts will be generated, If a debounce
time of 99999 is set 10 alerts will be generated per second.
Note that level changes will be timestamped debounce microseconds
after the actual level change.
"""
return _u2i(_lgpio._gpio_set_debounce_micros(
handle&0xffff, gpio, debounce_micros))
def gpio_set_watchdog_micros(handle, gpio, watchdog_micros):
"""
This sets the watchdog time for a GPIO.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= the GPIO to be configured.
watchdog_micros:= the value to set.
If OK returns 0.
On failure returns a negative error code.
This only affects alerts.
A watchdog alert will be sent if no edge alert has been issued
for that GPIO in the previous watchdog microseconds.
Note that only one watchdog alert will be sent per stream of
edge alerts. The watchdog is reset by the sending of a new
edge alert.
The level is set to TIMEOUT (2) for a watchdog alert.
"""
return _u2i(_lgpio._gpio_set_watchdog_micros(
handle&0xffff, gpio, watchdog_micros))
def gpio_claim_alert(
handle, gpio, eFlags, lFlags=0, notify_handle=None):
"""
This claims a GPIO to be used as a source of alerts on level changes.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= >= 0, as legal for the gpiochip.
eFlags:= event flags for the GPIO.
lFlags:= line flags for the GPIO.
notifiy_handle:= >=0 (as returned by [*notify_open*]).
If OK returns 0.
On failure returns a negative error code.
The event flags are used to generate alerts for a rising edge,
falling edge, or both edges.
The line flags may be used to set the GPIO
as active low, open drain, open source,
pull up, pull down, pull off.
Use the default notification handle of None unless you plan
to read the alerts from a notification pipe you have opened.
"""
if notify_handle is None:
notify_handle = _notify_thread._notify
return _u2i(_lgpio._gpio_claim_alert(
handle&0xffff, lFlags, eFlags, gpio, notify_handle))
def callback(handle, gpio, edge=RISING_EDGE, func=None):
"""
Calls a user supplied function (a callback) whenever the
specified GPIO edge is detected.
handle:= >= 0 (as returned by [*gpiochip_open*]).
gpio:= >= 0, as legal for the gpiochip.
edge:= BOTH_EDGES, RISING_EDGE (default), or FALLING_EDGE.
func:= user supplied callback function.
Returns a callback instance.
The user supplied callback receives four parameters, the chip,
the GPIO, the level, and the timestamp.
The reported level will be one of
0: change to low (a falling edge)
1: change to high (a rising edge)
2: no level change (a watchdog timeout)
Early kernels used to provide a timestamp as the number of nanoseconds
since the Epoch (start of 1970). Later kernels use the number of
nanoseconds since boot. It's probably best not to make any assumption
as to the timestamp origin.
If a user callback is not specified a default tally callback is
provided which simply counts edges. The count may be retrieved
by calling the callback instance's tally() method. The count may
be reset to zero by calling the callback instance's reset_tally()
method.
The callback may be cancelled by calling the callback
instance's cancel() method.
A GPIO may have multiple callbacks (although I can't think of
a reason to do so).
If you want to track the level of more than one GPIO do so by
maintaining the state in the callback. Do not use [*gpio_read*].
Remember the alert that triggered the callback may have
happened several milliseconds before and the GPIO may have
changed level many times since then.
...
def cbf(chip, gpio, level, timestamp):
print(chip, gpio, level, timestamp)
cb1 = sbc.callback(0, 22, lgpio.BOTH_EDGES, cbf)
cb2 = sbc.callback(0, 4, lgpio.BOTH_EDGES)
cb3 = sbc.callback(0, 17)
print(cb3.tally())
cb3.reset_tally()
cb1.cancel() # To cancel callback cb1.
...
"""
return _callback(handle>>16, gpio, edge, func)
# I2C
def i2c_open(i2c_bus, i2c_address, i2c_flags=0):
"""
Returns a handle (>= 0) for the device at the I2C bus address.
i2c_bus:= >= 0.
i2c_address:= 0-0x7F.
i2c_flags:= 0, no flags are currently defined.
If OK returns a handle (>= 0).
On failure returns a negative error code.
For the SMBus commands the low level transactions are shown
at the end of the function description. The following
abbreviations are used:
. .
S (1 bit) : Start bit
P (1 bit) : Stop bit
Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0.
A, NA (1 bit) : Accept and not accept bit.
Addr (7 bits): I2C 7 bit address.
reg (8 bits): Command byte, which often selects a register.
Data (8 bits): A data byte.
Count (8 bits): A byte defining the length of a block operation.
[..]: Data sent by the device.
. .
...
h = sbc.i2c_open(1, 0x53) # open device at address 0x53 on bus 1
...
"""
return _u2i(_lgpio._i2c_open(i2c_bus, i2c_address, i2c_flags))
def i2c_close(handle):
"""
Closes the I2C device.
handle:= >= 0 (as returned by [*i2c_open*]).
If OK returns 0.
On failure returns a negative error code.
...
sbc.i2c_close(h)
...
"""
return _u2i(_lgpio._i2c_close(handle))
def i2c_write_quick(handle, bit):
"""
Sends a single bit to the device.
handle:= >= 0 (as returned by [*i2c_open*]).
bit:= 0 or 1, the value to write.
If OK returns 0.
On failure returns a negative error code.
SMBus 2.0 5.5.1 - Quick command.
. .
S Addr bit [A] P
. .
...
sbc.i2c_write_quick(0, 1) # send 1 to handle 0
sbc.i2c_write_quick(3, 0) # send 0 to handle 3
...
"""
return _u2i(_lgpio._i2c_write_quick(handle, bit))
def i2c_write_byte(handle, byte_val):
"""
Sends a single byte to the device.
handle:= >= 0 (as returned by [*i2c_open*]).
byte_val:= 0-255, the value to write.
If OK returns 0.
On failure returns a negative error code.
SMBus 2.0 5.5.2 - Send byte.
. .
S Addr Wr [A] byte_val [A] P
. .
...
sbc.i2c_write_byte(1, 17) # send byte 17 to handle 1
sbc.i2c_write_byte(2, 0x23) # send byte 0x23 to handle 2
...
"""
return _u2i(_lgpio._i2c_write_byte(handle, byte_val))
def i2c_read_byte(handle):
"""
Reads a single byte from the device.
handle:= >= 0 (as returned by [*i2c_open*]).
If OK returns the read byte (0-255).
On failure returns a negative error code.
SMBus 2.0 5.5.3 - Receive byte.
. .
S Addr Rd [A] [Data] NA P
. .
...
b = sbc.i2c_read_byte(2) # read a byte from handle 2
...
"""
return _u2i(_lgpio._i2c_read_byte(handle))
def i2c_write_byte_data(handle, reg, byte_val):
"""
Writes a single byte to the specified register of the device.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
byte_val:= 0-255, the value to write.
If OK returns 0.
On failure returns a negative error code.
SMBus 2.0 5.5.4 - Write byte.
. .
S Addr Wr [A] reg [A] byte_val [A] P
. .
...
sbc.i2c_write_byte_data(1, 2, 0xC5)
sbc.i2c_write_byte_data(2, 4, 9)
...
"""
return _u2i(_lgpio._i2c_write_byte_data(handle, reg, byte_val))
def i2c_write_word_data(handle, reg, word_val):
"""
Writes a single 16 bit word to the specified register of the
device.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
word_val:= 0-65535, the value to write.
If OK returns 0.
On failure returns a negative error code.
SMBus 2.0 5.5.4 - Write word.
. .
S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A] P
. .
...
sbc.i2c_write_word_data(4, 5, 0xA0C5)
sbc.i2c_write_word_data(5, 2, 23)
...
"""
return _u2i(_lgpio._i2c_WriteWordData(handle, reg, word_val))
def i2c_read_byte_data(handle, reg):
"""
Reads a single byte from the specified register of the device.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
If OK returns the read byte (0-255).
On failure returns a negative error code.
SMBus 2.0 5.5.5 - Read byte.
. .
S Addr Wr [A] reg [A] S Addr Rd [A] [Data] NA P
. .
...
b = sbc.i2c_read_byte_data(2, 17)
b = sbc.i2c_read_byte_data(0, 1)
...
"""
return _u2i(_lgpio._i2c_read_byte_data(handle, reg))
def i2c_read_word_data(handle, reg):
"""
Reads a single 16 bit word from the specified register of the
device.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
If OK returns the read word (0-65535).
On failure returns a negative error code.
SMBus 2.0 5.5.5 - Read word.
. .
S Addr Wr [A] reg [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P
. .
...
w = sbc.i2c_read_word_data(3, 2)
w = sbc.i2c_read_word_data(2, 7)
...
"""
return _u2i(_lgpio._i2c_read_word_data(handle, reg))
def i2c_process_call(handle, reg, word_val):
"""
Writes 16 bits of data to the specified register of the device
and reads 16 bits of data in return.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
word_val:= 0-65535, the value to write.
If OK returns the read word (0-65535).
On failure returns a negative error code.
SMBus 2.0 5.5.6 - Process call.
. .
S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A]
S Addr Rd [A] [DataLow] A [DataHigh] NA P
. .
...
r = sbc.i2c_process_call(h, 4, 0x1231)
r = sbc.i2c_process_call(h, 6, 0)
...
"""
return _u2i(_lgpio._i2c_process_call(handle, reg, word_val))
def i2c_write_block_data(handle, reg, data):
"""
Writes up to 32 bytes to the specified register of the device.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
data:= the bytes to write.
If OK returns 0.
On failure returns a negative error code.
SMBus 2.0 5.5.7 - Block write.
. .
S Addr Wr [A] reg [A] len(data) [A] data0 [A] data1 [A] ... [A]
datan [A] P
. .
...
sbc.i2c_write_block_data(4, 5, b'hello')
sbc.i2c_write_block_data(4, 5, "data bytes")
sbc.i2c_write_block_data(5, 0, b'\\x00\\x01\\x22')
sbc.i2c_write_block_data(6, 2, [0, 1, 0x22])
...
"""
return _u2i(_lgpio._i2c_write_block_data(handle, reg, _tobuf(data)))
def i2c_read_block_data(handle, reg):
"""
Reads a block of up to 32 bytes from the specified register of
the device.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
If OK returns a list of the number of bytes read and a
bytearray containing the bytes.
On failure returns a list of a negative error code and
a null string.
The amount of returned data is set by the device.
SMBus 2.0 5.5.7 - Block read.
. .
S Addr Wr [A] reg [A]
S Addr Rd [A] [Count] A [Data] A [Data] A ... A [Data] NA P
. .
...
(b, d) = sbc.i2c_read_block_data(h, 10)
if b >= 0:
process data
else:
process read failure
...
"""
return _u2i_list(_lgpio._i2c_read_block_data(handle, reg))
def i2c_block_process_call(handle, reg, data):
"""
Writes data bytes to the specified register of the device
and reads a device specified number of bytes of data in return.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
data:= the bytes to write.
If OK returns a list of the number of bytes read and a
bytearray containing the bytes.
On failure returns a list of a negative error code and
a null string.
The SMBus 2.0 documentation states that a minimum of 1 byte may
be sent and a minimum of 1 byte may be received. The total
number of bytes sent/received must be 32 or less.
SMBus 2.0 5.5.8 - Block write-block read.
. .
S Addr Wr [A] reg [A] len(data) [A] data0 [A] ... datan [A]
S Addr Rd [A] [Count] A [Data] ... A P
. .
...
(b, d) = sbc.i2c_block_process_call(h, 10, b'\\x02\\x05\\x00')
(b, d) = sbc.i2c_block_process_call(h, 10, b'abcdr')
(b, d) = sbc.i2c_block_process_call(h, 10, "abracad")
(b, d) = sbc.i2c_block_process_call(h, 10, [2, 5, 16])
...
"""
return _u2i_list(_lgpio._i2c_block_process_call(handle, reg, _tobuf(data)))
def i2c_write_i2c_block_data(handle, reg, data):
"""
Writes data bytes to the specified register of the device.
1-32 bytes may be written.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
data:= the bytes to write.
If OK returns 0.
On failure returns a negative error code.
. .
S Addr Wr [A] reg [A] data0 [A] data1 [A] ... [A] datan [NA] P
. .
...
sbc.i2c_write_i2c_block_data(4, 5, 'hello')
sbc.i2c_write_i2c_block_data(4, 5, b'hello')
sbc.i2c_write_i2c_block_data(5, 0, b'\\x00\\x01\\x22')
sbc.i2c_write_i2c_block_data(6, 2, [0, 1, 0x22])
...
"""
return _u2i(_lgpio._i2c_write_i2c_block_data(
handle, reg, _tobuf(data)))
def i2c_read_i2c_block_data(handle, reg, count):
"""
Reads count bytes from the specified register of the device.
The count may be 1-32.
handle:= >= 0 (as returned by [*i2c_open*]).
reg:= >= 0, the device register.
count:= >0, the number of bytes to read.
If OK returns a list of the number of bytes read and a
bytearray containing the bytes.
On failure returns a list of a negative error code and
a null string.
. .
S Addr Wr [A] reg [A]
S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P
. .
...
(b, d) = sbc.i2c_read_i2c_block_data(h, 4, 32)
if b >= 0:
process data
else:
process read failure
...
"""
return _u2i_list(_lgpio._i2c_read_i2c_block_data(handle, reg, count))
def i2c_read_device(handle, count):
"""
Returns count bytes read from the raw device associated
with handle.
handle:= >= 0 (as returned by [*i2c_open*]).
count:= >0, the number of bytes to read.
If OK returns a list of the number of bytes read and a
bytearray containing the bytes.
On failure returns a list of a negative error code and
a null string.
. .
S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P
. .
...
(count, data) = sbc.i2c_read_device(h, 12)
...
"""
return _u2i_list(_lgpio._i2c_read_device(handle, count))
def i2c_write_device(handle, data):
"""
Writes the data bytes to the raw device.
handle:= >= 0 (as returned by [*i2c_open*]).
data:= the bytes to write.
If OK returns 0.
On failure returns a negative error code.
. .
S Addr Wr [A] data0 [A] data1 [A] ... [A] datan [A] P
. .
...
sbc.i2c_write_device(h, b"\\x12\\x34\\xA8")
sbc.i2c_write_device(h, b"help")
sbc.i2c_write_device(h, 'help')
sbc.i2c_write_device(h, [23, 56, 231])
...
"""
return _u2i(_lgpio._i2c_write_device(handle, _tobuf(data)))
def i2c_zip(handle, data):
"""
This function executes a sequence of I2C operations. The
operations to be performed are specified by the contents of data
which contains the concatenated command codes and associated data.
handle:= >= 0 (as returned by [*i2c_open*]).
data:= the concatenated I2C commands, see below
If OK returns a list of the number of bytes read and a
bytearray containing the bytes.
On failure returns a list of a negative error code and
a null string.
...
(count, data) = sbc.i2c_zip(h, [4, 0x53, 7, 1, 0x32, 6, 6, 0])
...
The following command codes are supported:
Name @ Cmd & Data @ Meaning
End @ 0 @ No more commands
Escape @ 1 @ Next P is two bytes
Address @ 2 P @ Set I2C address to P
Flags @ 3 lsb msb @ Set I2C flags to lsb + (msb << 8)
Read @ 4 P @ Read P bytes of data
Write @ 5 P ... @ Write P bytes of data
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).
The address defaults to that associated with the handle.
The flags default to 0. The address and flags maintain their
previous value until updated.
Any read I2C data is concatenated in the returned bytearray.
...
Set address 0x53, write 0x32, read 6 bytes
Set address 0x1E, write 0x03, read 6 bytes
Set address 0x68, write 0x1B, read 8 bytes
End
2 0x53 5 1 0x32 4 6
2 0x1E 5 1 0x03 4 6
2 0x68 5 1 0x1B 4 8
0
...
"""
return _u2i_list(_lgpio._i2c_zip(handle, _tobuf(data)))
# NOTIFICATIONS
def notify_open():
"""
Opens a notification pipe.
If OK returns a handle (>= 0).
On failure returns a negative error code.
A notification is a method for being notified of GPIO
alerts via a pipe.
Pipes are only accessible from the local machine so this
function serves no purpose if you are using Python from a
remote machine. The in-built (socket) notifications
provided by [*callback*] should be used instead.
The pipes are created in the library's working directory.
Notifications for handle x will be available at the pipe
named .lgd-nfyx (where x is the handle number).
E.g. if the function returns 15 then the notifications must be
read from .lgd-nfy15.
Notifications have the following structure:
. .
Q timestamp
B chip
B gpio
B level
B flags
. .
timestamp: the number of nanoseconds since a kernel dependent origin.
Early kernels used to provide a timestamp as the number of nanoseconds
since the Epoch (start of 1970). Later kernels use the number of
nanoseconds since boot. It's probably best not to make any assumption
as to the timestamp origin.
chip: the gpiochip device number (NOT the handle).
gpio: the GPIO.
level: indicates the level of the GPIO (0=low, 1=high, 2=timeout).
flags: no flags are currently defined.
...
h = sbc.notify_open()
if h >= 0:
sbc.notify_resume(h)
...
"""
return _u2i(_lgpio._notify_open())
def notify_pause(handle):
"""
Pauses notifications on a handle.
handle:= >= 0 (as returned by [*notify_open*])
If OK returns 0.
On failure returns a negative error code.
Notifications for the handle are suspended until
[*notify_resume*] is called.
...
h = sbc.notify_open()
if h >= 0:
sbc.notify_resume(h)
...
sbc.notify_pause(h)
...
sbc.notify_resume(h)
...
...
"""
return _u2i(_lgpio._notify_pause(handle))
def notify_resume(handle):
"""
Resumes notifications on a handle.
handle:= >= 0 (as returned by [*notify_open*])
If OK returns 0.
On failure returns a negative error code.
...
h = sbc.notify_open()
if h >= 0:
sbc.notify_resume(h)
...
"""
return _u2i(_lgpio._notify_resume(handle))
def notify_close(handle):
"""
Stops notifications on a handle and frees the handle for reuse.
handle:= >= 0 (as returned by [*notify_open*])
If OK returns 0.
On failure returns a negative error code.
...
h = sbc.notify_open()
if h >= 0:
sbc.notify_resume(h)
...
sbc.notify_close(h)
...
...
"""
return _u2i(_lgpio._notify_close(handle))
# SERIAL
def serial_open(tty, baud, ser_flags=0):
"""
Returns a handle for the serial tty device opened
at baud bits per second.
tty:= the serial device to open.
baud:= baud rate in bits per second, see below.
ser_flags:= 0, no flags are currently defined.
If OK returns a handle (>= 0).
On failure returns a negative error code.
The baud rate must be one of 50, 75, 110, 134, 150,
200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200,
38400, 57600, 115200, or 230400.
...
h1 = sbc.serial_open("/dev/ttyAMA0", 300)
h2 = sbc.serial_open("/dev/ttyUSB1", 19200, 0)
h3 = sbc.serial_open("/dev/serial0", 9600)
...
"""
return _u2i(_lgpio._serial_open(tty, baud, ser_flags))
def serial_close(handle):
"""
Closes the serial device.
handle:= >= 0 (as returned by [*serial_open*]).
If OK returns 0.
On failure returns a negative error code.
...
sbc.serial_close(h1)
...
"""
return _u2i(_lgpio._serial_close(handle))
def serial_read_byte(handle):
"""
Returns a single byte from the device.
handle:= >= 0 (as returned by [*serial_open*]).
If OK returns the read byte (0-255).
On failure returns a negative error code.
...
b = sbc.serial_read_byte(h1)
...
"""
return _u2i(_lgpio._serial_read_byte(handle))
def serial_write_byte(handle, byte_val):
"""
Writes a single byte to the device.
handle:= >= 0 (as returned by [*serial_open*]).
byte_val:= 0-255, the value to write.
If OK returns 0.
On failure returns a negative error code.
...
sbc.serial_write_byte(h1, 23)
sbc.serial_write_byte(h1, ord('Z'))
...
"""
return _u2i(_lgpio._serial_write_byte(handle, byte_val))
def serial_read(handle, count=1000):
"""
Reads up to count bytes from the device.
handle:= >= 0 (as returned by [*serial_open*]).
count:= >0, the number of bytes to read (defaults to 1000).
If OK returns a list of the number of bytes read and
a bytearray containing the bytes.
On failure returns a list of negative error code and
a null string.
If no data is ready a bytes read of zero is returned.
...
(b, d) = sbc.serial_read(h2, 100)
if b > 0:
process read data
...
"""
return _u2i_list(_lgpio._serial_read(handle, count))
def serial_write(handle, data):
"""
Writes the data bytes to the device.
handle:= >= 0 (as returned by [*serial_open*]).
data:= the bytes to write.
If OK returns 0.
On failure returns a negative error code.
...
sbc.serial_write(h1, b'\\x02\\x03\\x04')
sbc.serial_write(h2, b'help')
sbc.serial_write(h2, "hello")
sbc.serial_write(h1, [2, 3, 4])
...
"""
return _u2i(_lgpio._serial_write(handle, _tobuf(data)))
def serial_data_available(handle):
"""
Returns the number of bytes available to be read from the
device.
handle:= >= 0 (as returned by [*serial_open*]).
If OK returns the count of bytes available (>= 0).
On failure returns a negative error code.
...
rdy = sbc.serial_data_available(h1)
if rdy > 0:
(b, d) = sbc.serial_read(h1, rdy)
...
"""
return _u2i(_lgpio._serial_data_available(handle))
# SPI
def spi_open(spi_device, spi_channel, baud, spi_flags=0):
"""
Returns a handle for the SPI device on the channel. Data
will be transferred at baud bits per second. The flags
may be used to modify the default behaviour.
spi_device:= >= 0.
spi_channel:= >= 0.
baud:= speed to use.
spi_flags:= see below.
If OK returns a handle (>= 0).
On failure returns a negative error code.
spi_flags consists of the least significant 2 bits.
. .
1 0
m m
. .
mm defines the SPI mode.
. .
Mode POL PHA
0 0 0
1 0 1
2 1 0
3 1 1
. .
The other bits in flags should be set to zero.
...
h = sbc.spi_open(1, 50000, 3)
...
"""
return _u2i(_lgpio._spi_open(spi_device, spi_channel, baud, spi_flags))
def spi_close(handle):
"""
Closes the SPI device.
handle:= >= 0 (as returned by [*spi_open*]).
If OK returns 0.
On failure returns a negative error code.
...
sbc.spi_close(h)
...
"""
return _u2i(_lgpio._spi_close(handle))
def spi_read(handle, count):
"""
Reads count bytes from the SPI device.
handle:= >= 0 (as returned by [*spi_open*]).
count:= >0, the number of bytes to read.
If OK returns a list of the number of bytes read and a
bytearray containing the bytes.
On failure returns a list of negative error code and
a null string.
...
(b, d) = sbc.spi_read(h, 60) # read 60 bytes from handle h
if b == 60:
process read data
else:
error path
...
"""
return _u2i_list(_lgpio._spi_read(handle, count))
def spi_write(handle, data):
"""
Writes the data bytes to the SPI device.
handle:= >= 0 (as returned by [*spi_open*]).
data:= the bytes to write.
If OK returns 0.
On failure returns a negative error code.
...
sbc.spi_write(0, b'\\x02\\xc0\\x80') # write 3 bytes to handle 0
sbc.spi_write(0, b'defgh') # write 5 bytes to handle 0
sbc.spi_write(0, "def") # write 3 bytes to handle 0
sbc.spi_write(1, [2, 192, 128]) # write 3 bytes to handle 1
...
"""
return _u2i(_lgpio._spi_write(handle, _tobuf(data)))
def spi_xfer(handle, data):
"""
Writes the data bytes to the SPI device,
returning the data bytes read from the device.
handle:= >= 0 (as returned by [*spi_open*]).
data:= the bytes to write.
If OK returns a list of the number of bytes read and a
bytearray containing the bytes.
On failure returns a list of negative error code and
a null string.
...
(count, rx_data) = sbc.spi_xfer(h, b'\\x01\\x80\\x00')
(count, rx_data) = sbc.spi_xfer(h, [1, 128, 0])
(count, rx_data) = sbc.spi_xfer(h, b"hello")
(count, rx_data) = sbc.spi_xfer(h, "hello")
...
"""
return _u2i_list(_lgpio._spi_xfer(handle, _tobuf(data)))
# UTILITIES
def get_internal(config_id):
"""
Returns the value of a configuration item.
If OK returns a list of 0 (OK) and the item's value.
On failure returns a list of negative error code and None.
config_id:= the configuration item.
...
cfg = sbc.get_internal(0)
print(cfg)
...
"""
return _u2i_list(_lgpio._get_internal(config_id))
def set_internal(config_id, config_value):
"""
Sets the value of a configuration item.
config_id:= the configuration item.
config_value:= the value to set.
If OK returns 0.
On failure returns a negative error code.
...
sbc.set_internal(0, 255)
cfg = sbc.get_internal()
print(cfg)
...
"""
return _u2i(_lgpio._set_internal(config_id, config_value))
def error_text(errnum):
"""
Returns a description of an error number.
errnum:= <0, the error number
...
print(sbc.error_text(-5))
level not 0-1
...
"""
return _lgpio._error_text(errnum)
def xref():
"""
baud:
The speed of serial communication (I2C, SPI, serial link)
in bits per second.
bit: 0-1
A value of 0 or 1.
byte_val: 0-255
A whole number.
config_id:
A number identifying a configuration item.
. .
CFG_ID_DEBUG_LEVEL 0
CFG_ID_MIN_DELAY 1
. .
config_value:
The value of a configurtion item.
count:
The number of bytes of data to be transferred.
data:
Data to be transmitted, a series of bytes.
debounce_micros:
The debounce time in microseconds.
edge:
. .
RISING_EDGE
FALLING_EDGE
BOTH_EDGES
. .
eFlags:
Alert request flags for the GPIO.
The following values may be or'd to form the value.
. .
RISING_EDGE
FALLING_EDGE
BOTH_EDGES
. .
errnum: <0
Indicates an error. Use [*lgpio.error_text*] for the error text.
func:
A user supplied callback function.
gpio:
The 0 based offset of a GPIO from the start of a gpiochip.
gpiochip: >= 0
The number of a gpiochip device.
group_bits:
A 64-bit value used to set the levels of a group.
Set bit x to set GPIO x of the group high.
Clear bit x to set GPIO x of the group low.
group_mask:
A 64-bit value used to determine which members of a group
should be updated.
Set bit x to update GPIO x of the group.
Clear bit x to leave GPIO x of the group unaltered.
handle: >= 0
A number referencing an object opened by one of the following
[*gpiochip_open*]
[*i2c_open*]
[*notify_open*]
[*serial_open*]
[*spi_open*]
i2c_address: 0-0x7F
The address of a device on the I2C bus.
i2c_bus: >= 0
An I2C bus number.
i2c_flags: 0
No I2C flags are currently defined.
kind: TX_PWM or TX_WAVE
A type of transmission.
level: 0 or 1
A GPIO level.
levels:
A list of GPIO levels.
lFlags:
Line modifiers for the GPIO.
The following values may be or'd to form the value.
. .
SET_ACTIVE_LOW
SET_OPEN_DRAIN
SET_OPEN_SOURCE
SET_PULL_UP
SET_PULL_DOWN
SET_PULL_NONE
. .
notify_handle:
This associates a notification with a GPIO alert.
pulse_cycles: >= 0
The number of pulses to generate. A value of 0 means infinite.
pulse_delay:
The delay in microseconds before the next wave pulse.
pulse_off: >= 0
The off period for a pulse in microseconds.
pulse_offset: >= 0
The offset in microseconds from the nominal pulse start.
pulse_on: >= 0
The on period for a pulse in microseconds.
pulse_width: 0, 500-2500 microseconds
Servo pulse width
pulses:
pulses is a list of pulse objects. A pulse object is a container
class with the following members.
group_bits - the levels to set if the corresponding bit in
group_mask is set.
group_mask - a mask indicating the group GPIO to be updated.
pulse_delay - the delay in microseconds before the next pulse.
pwm_duty_cycle: 0-100 %
PWM duty cycle %
pwm_frequency: 0.1-10000 Hz
PWM frequency
reg: 0-255
An I2C device register. The usable registers depend on the
actual device.
ser_flags: 32 bit
No serial flags are currently defined.
servo_frequency:: 40-500 Hz
Servo pulse frequency
spi_channel: >= 0
A SPI channel.
spi_device: >= 0
A SPI device.
spi_flags: 32 bit
See [*spi_open*].
tty:
A serial device, e.g. /dev/ttyAMA0, /dev/ttyUSB0
uint32:
An unsigned 32 bit number.
watchdog_micros:
The watchdog time in microseconds.
word_val: 0-65535
A whole number.
"""
pass
def _gpiochip_open(gpioDev):
return _lgpio._gpiochip_open(gpioDev)
def _gpiochip_close(handle):
return _lgpio._gpiochip_close(handle)
def _gpio_get_chip_info(handle):
return _lgpio._gpio_get_chip_info(handle)
def _gpio_get_line_info(handle, gpio):
return _lgpio._gpio_get_line_info(handle, gpio)
def _gpio_get_mode(handle, gpio):
return _lgpio._gpio_get_mode(handle, gpio)
def _gpio_claim_input(handle, lFlags, gpio):
return _lgpio._gpio_claim_input(handle, lFlags, gpio)
def _gpio_claim_output(handle, lFlags, gpio, level):
return _lgpio._gpio_claim_output(handle, lFlags, gpio, level)
def _gpio_claim_alert(handle, lFlags, eFlags, gpio, nfyHandle):
return _lgpio._gpio_claim_alert(handle, lFlags, eFlags, gpio, nfyHandle)
def _gpio_free(handle, gpio):
return _lgpio._gpio_free(handle, gpio)
def _group_claim_input(handle, lFlags, count):
return _lgpio._group_claim_input(handle, lFlags, count)
def _group_claim_output(handle, lFlags, count, levels):
return _lgpio._group_claim_output(handle, lFlags, count, levels)
def _group_free(handle, gpio):
return _lgpio._group_free(handle, gpio)
def _gpio_read(handle, gpio):
return _lgpio._gpio_read(handle, gpio)
def _gpio_write(handle, gpio, level):
return _lgpio._gpio_write(handle, gpio, level)
def _group_read(handle, gpio):
return _lgpio._group_read(handle, gpio)
def _group_write(handle, gpio, groupBits, groupMask):
return _lgpio._group_write(handle, gpio, groupBits, groupMask)
def _tx_pulse(handle, gpio, pulseOn, pulseOff, pulseOffset, pulseCycles):
return _lgpio._tx_pulse(handle, gpio, pulseOn, pulseOff, pulseOffset, pulseCycles)
def _tx_pwm(handle, gpio, pwmFrequency, pwmDutyCycle, pwmOffset, pwmCycles):
return _lgpio._tx_pwm(handle, gpio, pwmFrequency, pwmDutyCycle, pwmOffset, pwmCycles)
def _tx_servo(handle, gpio, pulseWidth, servoFrequency, servoOffset, servoCycles):
return _lgpio._tx_servo(handle, gpio, pulseWidth, servoFrequency, servoOffset, servoCycles)
def _tx_wave(handle, gpio, count):
return _lgpio._tx_wave(handle, gpio, count)
def _tx_busy(handle, gpio, kind):
return _lgpio._tx_busy(handle, gpio, kind)
def _tx_room(handle, gpio, kind):
return _lgpio._tx_room(handle, gpio, kind)
def _gpio_set_debounce_micros(handle, gpio, debounce_us):
return _lgpio._gpio_set_debounce_micros(handle, gpio, debounce_us)
def _gpio_set_watchdog_micros(handle, gpio, watchdog_us):
return _lgpio._gpio_set_watchdog_micros(handle, gpio, watchdog_us)
def _notify_open():
return _lgpio._notify_open()
def _notify_resume(handle):
return _lgpio._notify_resume(handle)
def _notify_pause(handle):
return _lgpio._notify_pause(handle)
def _notify_close(handle):
return _lgpio._notify_close(handle)
def _i2c_open(i2cDev, i2cAddr, i2cFlags):
return _lgpio._i2c_open(i2cDev, i2cAddr, i2cFlags)
def _i2c_close(handle):
return _lgpio._i2c_close(handle)
def _i2c_write_quick(handle, bitVal):
return _lgpio._i2c_write_quick(handle, bitVal)
def _i2c_write_byte(handle, byteVal):
return _lgpio._i2c_write_byte(handle, byteVal)
def _i2c_read_byte(handle):
return _lgpio._i2c_read_byte(handle)
def _i2c_write_byte_data(handle, i2cReg, byteVal):
return _lgpio._i2c_write_byte_data(handle, i2cReg, byteVal)
def _i2c_WriteWordData(handle, i2cReg, wordVal):
return _lgpio._i2c_WriteWordData(handle, i2cReg, wordVal)
def _i2c_read_byte_data(handle, i2cReg):
return _lgpio._i2c_read_byte_data(handle, i2cReg)
def _i2c_read_word_data(handle, i2cReg):
return _lgpio._i2c_read_word_data(handle, i2cReg)
def _i2c_process_call(handle, i2cReg, wordVal):
return _lgpio._i2c_process_call(handle, i2cReg, wordVal)
def _i2c_write_block_data(handle, i2cReg, txBuf):
return _lgpio._i2c_write_block_data(handle, i2cReg, txBuf)
def _i2c_read_block_data(handle, i2cReg):
return _lgpio._i2c_read_block_data(handle, i2cReg)
def _i2c_block_process_call(handle, i2cReg, ioBuf):
return _lgpio._i2c_block_process_call(handle, i2cReg, ioBuf)
def _i2c_read_i2c_block_data(handle, i2cReg, rxBuf):
return _lgpio._i2c_read_i2c_block_data(handle, i2cReg, rxBuf)
def _i2c_write_i2c_block_data(handle, i2cReg, txBuf):
return _lgpio._i2c_write_i2c_block_data(handle, i2cReg, txBuf)
def _i2c_read_device(handle, rxBuf):
return _lgpio._i2c_read_device(handle, rxBuf)
def _i2c_write_device(handle, txBuf):
return _lgpio._i2c_write_device(handle, txBuf)
def _i2c_segments(handle, segs, count):
return _lgpio._i2c_segments(handle, segs, count)
def _i2c_zip(handle, txBuf):
return _lgpio._i2c_zip(handle, txBuf)
def _serial_open(serDev, serBaud, serFlags):
return _lgpio._serial_open(serDev, serBaud, serFlags)
def _serial_close(handle):
return _lgpio._serial_close(handle)
def _serial_write_byte(handle, byteVal):
return _lgpio._serial_write_byte(handle, byteVal)
def _serial_read_byte(handle):
return _lgpio._serial_read_byte(handle)
def _serial_write(handle, txBuf):
return _lgpio._serial_write(handle, txBuf)
def _serial_read(handle, rxBuf):
return _lgpio._serial_read(handle, rxBuf)
def _serial_data_available(handle):
return _lgpio._serial_data_available(handle)
def _spi_open(spiDev, spiChan, spiBaud, spiFlags):
return _lgpio._spi_open(spiDev, spiChan, spiBaud, spiFlags)
def _spi_close(handle):
return _lgpio._spi_close(handle)
def _spi_read(handle, rxBuf):
return _lgpio._spi_read(handle, rxBuf)
def _spi_write(handle, txBuf):
return _lgpio._spi_write(handle, txBuf)
def _spi_xfer(handle, txBuf):
return _lgpio._spi_xfer(handle, txBuf)
def _get_lg_version():
return _lgpio._get_lg_version()
def _get_internal(cfgId):
return _lgpio._get_internal(cfgId)
def _set_internal(cfgId, cfgVal):
return _lgpio._set_internal(cfgId, cfgVal)
def _error_text(error):
return _lgpio._error_text(error)