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.\" Process this file with
.\" groff -man -Tascii lgd_if.3
.\"
.TH rgpio 3 2020-2023 Linux "lg archive"
.SH NAME
rgpio - A C library to manipulate a remote SBC's GPIO.
.SH SYNOPSIS
#include <rgpio.h>
gcc -Wall -o prog prog.c -lrgpio
\&./prog
.SH DESCRIPTION
.ad l
.nh
.br
.br
rgpio is a C library which allows remote control of the GPIO and
other functions of Linux SBCs running the rgpiod daemon.
.br
.br
The rgpiod daemon must be running on the SBCs you wish to control.
.br
.br
.SS Features
.br
.br
.br
o reading and writing GPIO singly and in groups
.br
o software timed PWM and waves
.br
o GPIO callbacks
.br
o pipe notification of GPIO alerts
.br
o I2C wrapper
.br
o SPI wrapper
.br
o serial link wrapper
.br
o simple file handling
.br
o creating and running scripts on the rgpiod daemon
.br
o a simple interface to start and stop new threads
.br
.br
.SS Usage
.br
.br
Include <rgpio.h> in your source files.
.br
.br
Assuming your source is in prog.c use the following command to build
.br
.br
.EX
gcc -Wall -o prog prog.c -lrgpio
.br
.EE
.br
.br
to run make sure the rgpiod daemon is running
.br
.br
.EX
rgpiod&
.br
.br
./prog
.br
.EE
.br
.br
For examples see the lg archive file.
.br
.br
.SS Notes
.br
.br
All the functions which return an int return < 0 on error
.br
.br
.SH OVERVIEW
.br
.SS ESSENTIAL
.br
.br
rgpiod_start Connects to a rgpiod daemon
.br
rgpiod_stop Disconnects from a rgpiod daemon
.br
.SS FILES
.br
.br
file_open Opens a file
.br
file_close Closes a file
.br
.br
file_read Reads bytes from a file
.br
file_write Writes bytes to a file
.br
.br
file_seek Seeks to a position within a file
.br
.br
file_list List files which match a pattern
.br
.SS GPIO
.br
.br
gpiochip_open Opens a gpiochip device
.br
gpiochip_close Closes a gpiochip device
.br
.br
gpio_get_chip_info Gets gpiochip information
.br
gpio_get_line_info Gets gpiochip line information
.br
gpio_get_mode Gets the mode of a GPIO
.br
.br
gpio_claim_input Claims a GPIO for input
.br
gpio_claim_output Claims a GPIO for output
.br
gpio_claim_alert Claims a GPIO for alerts
.br
gpio_free Frees a GPIO
.br
.br
group_claim_input Claims a group of GPIO for inputs
.br
group_claim_output Claims a group of GPIO for outputs
.br
group_free Frees a group of GPIO
.br
.br
gpio_read Reads a GPIO
.br
gpio_write Writes a GPIO
.br
.br
group_read Reads a group of GPIO
.br
group_write Writes a group of GPIO
.br
.br
tx_pulse Starts pulses on a GPIO
.br
tx_pwm Starts PWM on a GPIO
.br
tx_servo Starts servo pulses on a GPIO.
.br
tx_wave Starts a wave on a group of GPIO
.br
tx_busy See if tx is active on a GPIO or group
.br
tx_room See if more room for tx on a GPIO or group
.br
.br
gpio_set_debounce_time Sets the debounce time for a GPIO
.br
gpio_set_watchdog_time Sets the watchdog time for a GPIO
.br
.br
callback Starts a GPIO callback
.br
callback_cancel Stops a GPIO callback
.br
.SS I2C
.br
.br
i2c_open Opens an I2C device
.br
i2c_close Closes an I2C device
.br
.br
i2c_write_quick smbus write quick
.br
.br
i2c_read_byte smbus read byte
.br
i2c_write_byte smbus write byte
.br
.br
i2c_read_byte_data smbus read byte data
.br
i2c_write_byte_data smbus write byte data
.br
.br
i2c_read_word_data smbus read word data
.br
i2c_write_word_data smbus write word data
.br
.br
i2c_read_block_data smbus read block data
.br
i2c_write_block_data smbus write block data
.br
.br
i2c_read_i2c_block_data smbus read I2C block data
.br
i2c_write_i2c_block_data smbus write I2C block data
.br
.br
i2c_read_device Reads the raw I2C device
.br
i2c_write_device Writes the raw I2C device
.br
.br
i2c_process_call smbus process call
.br
i2c_block_process_call smbus block process call
.br
.br
i2c_zip Performs multiple I2C transactions
.br
.SS NOTIFICATIONS
.br
.br
notify_open Request a notification handle
.br
notify_close Close a notification
.br
notify_pause Pause notifications
.br
notify_resume Start notifications for selected GPIO
.br
.SS SCRIPTS
.br
.br
script_store Store a script
.br
script_run Run a stored script
.br
script_update Set a scripts parameters
.br
script_status Get script status and parameters
.br
script_stop Stop a running script
.br
script_delete Delete a stored script
.br
.SS SERIAL
.br
.br
serial_open Opens a serial device
.br
serial_close Closes a serial device
.br
.br
serial_read_byte Reads a byte from a serial device
.br
serial_write_byte Writes a byte to a serial device
.br
.br
serial_read Reads bytes from a serial device
.br
serial_write Writes bytes to a serial device
.br
.br
serial_data_available Returns number of bytes ready to be read
.br
.SS SHELL
.br
.br
shell Executes a shell command
.br
.SS SPI
.br
.br
spi_open Opens a SPI device
.br
spi_close Closes a SPI device
.br
.br
spi_read Reads bytes from a SPI device
.br
spi_write Writes bytes to a SPI device
.br
spi_xfer Transfers bytes with a SPI device
.br
.SS THREADS
.br
.br
thread_start Start a new thread
.br
thread_stop Stop a previously started thread
.br
.SS UTILITIES
.br
.br
lgu_get_sbc_name Get the SBC name
.br
.br
lgu_get_internal Get a SBC configuration value
.br
lgu_set_internal Set a SBC configuration value
.br
.br
lgu_time Returns the number of seconds since the Epoch
.br
lgu_timestamp Returns the number of nanoseconds since the Epoch
.br
.br
lgu_sleep Sleeps for a number of seconds
.br
.br
lgu_set_user Set the user (and associated permissions)
.br
.br
lgu_set_share_id Set the share id for a resource
.br
lgu_use_share_id Use this share id when asking for a resource
.br
.br
lgu_rgpio_version Get the rgpio library version
.br
lgu_error_text Get the error text for an error code
.br
.SH FUNCTIONS
.IP "\fBint rgpiod_start(const char *addrStr, const char *portStr)\fP"
.IP "" 4
Connect to the rgpiod daemon. Reserving command and
notification streams.
.br
.br
.EX
addrStr: specifies the host or IP address of the SBC running the
.br
rgpiod daemon. It may be NULL in which case localhost
.br
is used unless overridden by the LG_ADDR environment
.br
variable.
.br
.br
portStr: specifies the port address used by the SBC running the
.br
rgpiod daemon. It may be NULL in which case "8889"
.br
is used unless overridden by the LG_PORT environment
.br
variable.
.br
.EE
.br
.br
If OK returns a sbc (>= 0).
.br
.br
On failure returns a negative error code.
.br
.br
This sbc value is passed to the other functions to specify
the SBC to be used.
.br
.br
If the LG_USER environment variable exists that user will be
"logged in" using \fBlgu_set_user\fP. This only has an effect if
the rgpiod daemon is running with access control enabled.
.IP "\fBvoid rgpiod_stop(int sbc)\fP"
.IP "" 4
Terminates the connection to a rgpiod daemon and frees
resources used by the library.
.br
.br
.EX
sbc: >= 0 (as returned by \fBrgpiod_start\fP).
.br
.EE
.IP "\fBint file_open(int sbc, const char *file, int mode)\fP"
.IP "" 4
This function returns a handle to a file opened in a specified mode.
.br
.br
This is a privileged command. See \fBpermits\fP.
.br
.br
.EX
sbc: >= 0 (as returned by \fBrgpiod_start\fP).
.br
file: the file to open.
.br
mode: the file open mode.
.br
.EE
.br
.br
If OK returns a handle (>= 0).
.br
.br
On failure returns a negative error code.
.br
.br
File
.br
.br
A file may only be opened if permission is granted by an entry in
the [files] section of the permits file. This is intended to allow
remote access to files in a controlled manner.
.br
.br
Mode
.br
.br
The mode may have the following values.
.br
.br
Macro Value Meaning
.br
LG_FILE_READ 1 open file for reading
.br
LG_FILE_WRITE 2 open file for writing
.br
LG_FILE_RW 3 open file for reading and writing
.br
.br
.br
The following values may be or'd into the mode.
.br
.br
Macro Value Meaning
.br
LG_FILE_APPEND 4 Writes append data to the end of the file
.br
LG_FILE_CREATE 8 The file is created if it doesn't exist
.br
LG_FILE_TRUNC 16 The file is truncated
.br
.br
.br
Newly created files are owned by the user who launched the daemon
with permissions owner read and write.
.br
.br
\fBExample\fP
.br
.EX
#include <stdio.h>
.br
#include <rgpio.h>
.br
.br
int main(int argc, char *argv[])
.br
{
.br
int sbc, handle, c;
.br
char buf[60000];
.br
.br
sbc = rgpiod_start(NULL, NULL);
.br
.br
if (sbc < 0) return 1;
.br
.br
handle = file_open(sbc, "/ram/lg.c", LG_FILE_READ);
.br
.br
if (handle >= 0)
.br
{
.br
while ((c=file_read(sbc, handle, buf, sizeof(buf)-1)))
.br
{
.br
buf[c] = 0;
.br
printf("%s", buf);
.br
}
.br
.br
file_close(sbc, handle);
.br
}
.br
.br
rgpiod_stop(sbc);
.br
}
.br
.EE
.IP "\fBint file_close(int sbc, int handle)\fP"
.IP "" 4
This function closes the file.
.br
.br
.EX
sbc: >= 0 (as returned by \fBrgpiod_start\fP).
.br
handle: >= 0 (as returned by \fBfile_open\fP).
.br
.EE
.br
.br
If OK returns 0.
.br
.br
On failure returns a negative error code.
.br
.br
\fBExample\fP
.br
.EX
file_close(sbc, handle);
.br
.EE
.IP "\fBint file_write(int sbc, int handle, const char *buf, int count)\fP"
.IP "" 4
This function writes count bytes from buf to the the file.
.br
.br
.EX
sbc: >= 0 (as returned by \fBrgpiod_start\fP).
.br
handle: >= 0 (as returned by \fBfile_open\fP).
.br
buf: the array of bytes to write.
.br
count: the number of bytes to write.
.br
.EE
.br
.br
If OK returns 0.
.br
.br
On failure returns a negative error code.
.br
.br
\fBExample\fP
.br
.EX
if (file_write(sbc, handle, buf, 100) == 0)
.br
{
.br
// file written okay
.br
}
.br
else
.br
{
.br
// error
.br
}
.br
.EE
.IP "\fBint file_read(int sbc, int handle, char *buf, int count)\fP"
.IP "" 4
This function reads up to count bytes from the the file.
.br
.br
.EX
sbc: >= 0 (as returned by \fBrgpiod_start\fP).
.br
handle: >= 0 (as returned by \fBfile_open\fP).
.br
buf: an array to receive the read data.
.br
count: the maximum number of bytes to read.
.br
.EE
.br
.br
If OK returns the count of bytes read and updates buf.
.br
.br
On failure returns a negative error code.
.br
.br
\fBExample\fP
.br
.EX
bytes = file_read(sbc, handle, buf, sizeof(buf));
.br
.br
if (bytes >= 0)
.br
{
.br
// process read data
.br
}
.br
.EE
.IP "\fBint file_seek(int sbc, int handle, int32_t seekOffset, int seekFrom)\fP"
.IP "" 4
This function seeks to a position within the file.
.br
.br
.EX
sbc: >= 0 (as returned by \fBrgpiod_start\fP).
.br
handle: >= 0 (as returned by \fBfile_open\fP).
.br
seekOffset: the number of bytes to move. Positive offsets
.br
move forward, negative offsets backwards.
.br
seekFrom: one of LG_FROM_START (0), LG_FROM_CURRENT (1),
.br
or LG_FROM_END (2).
.br
.EE
.br
.br
If OK returns the new file position.
.br
.br
On failure returns a negative error code.
.br
.br
\fBExample\fP
.br
.EX
file_seek(sbc, handle, 123, LG_FROM_START); // Start plus 123
.br
.br
size = file_seek(sbc, handle, 0, LG_FROM_END); // End, return size
.br
.br
pos = file_seek(sbc, handle, 0, LG_FROM_CURRENT); // Current position
.br
.EE
.IP "\fBint file_list(int sbc, const char *fpat, char *buf, int count)\fP"
.IP "" 4
This function returns a list of files which match a pattern.
.br
.br
.EX
sbc: >= 0 (as returned by \fBrgpiod_start\fP).
.br
fpat: file pattern to match.
.br
buf: an array to receive the matching file names.
.br
count: the maximum number of bytes to read.
.br
.EE
.br
.br
If OK returns the count of bytes read and updates buf with
the matching filenames (the filenames are separated by newline
characters).
.br
.br
On failure returns a negative error code.
.br
.br
\fBExample\fP
.br
.EX
#include <stdio.h>
.br
#include <rgpio.h>
.br
.br
int main(int argc, char *argv[])
.br
{
.br
int sbc, handle, c;
.br
char buf[60000];
.br
.br
sbc = rgpiod_start(NULL, NULL);
.br
.br
if (sbc < 0) return 1;
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.br
c = file_list(sbc, "/ram/p*.c", buf, sizeof(buf));
.br
.br
if (c >= 0)
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{
.br
buf[c] = 0;
.br
printf("%s", buf);
.br
}
.br
.br
rgpiod_stop(sbc);
.br
}
.br
.EE
.IP "\fBint gpiochip_open(int sbc, int gpioDev)\fP"
.IP "" 4
This returns a handle to a gpiochip device.
.br
.br
This is a privileged command. See \fBpermits\fP.
.br
.br
.EX
sbc: >= 0 (as returned by \fBrgpiod_start\fP).
.br
gpioDev: >= 0
.br
.EE
.br
.br
If OK returns a handle (>= 0).
.br
.br
On failure returns a negative error code.
.br
.br
\fBExample\fP
.br
.EX
h = gpiochip_open(sbc, 0); // open gpiochip0
.br
.br
if (h >= 0)
.br
{
.br
// open ok
.br
}
.br
else
.br
{
.br
// open error
.br
}
.br
.EE
.br
.br
.IP "\fBint gpiochip_close(int sbc, int handle)\fP"
.IP "" 4
This closes a gpiochip device.
.br
.br