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command.c
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/*
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 70+
*/
#include <stdio.h>
#include <string.h>
#include <stdarg.h>
#include <stdlib.h>
#include <ctype.h>
#include <inttypes.h>
#include "pigpio.h"
#include "command.h"
cmdInfo_t cmdInfo[]=
{
/* num str vfyt retv script*/
{PI_CMD_BC1, "BC1", 111, 1, 1}, // gpioWrite_Bits_0_31_Clear
{PI_CMD_BC2, "BC2", 111, 1, 1}, // gpioWrite_Bits_32_53_Clear
{PI_CMD_BI2CC, "BI2CC", 112, 0, 1}, // bbI2CClose
{PI_CMD_BI2CO, "BI2CO", 131, 0, 1}, // bbI2COpen
{PI_CMD_BI2CZ, "BI2CZ", 193, 6, 0}, // bbI2CZip
{PI_CMD_BR1, "BR1", 101, 3, 1}, // gpioRead_Bits_0_31
{PI_CMD_BR2, "BR2", 101, 3, 1}, // gpioRead_Bits_32_53
{PI_CMD_BS1, "BS1", 111, 1, 1}, // gpioWrite_Bits_0_31_Set
{PI_CMD_BS2, "BS2", 111, 1, 1}, // gpioWrite_Bits_32_53_Set
{PI_CMD_BSCX, "BSCX", 193, 8, 0}, // bscXfer
{PI_CMD_BSPIC, "BSPIC", 112, 0, 1}, // bbSPIClose
{PI_CMD_BSPIO, "BSPIO", 134, 0, 0}, // bbSPIOpen
{PI_CMD_BSPIX, "BSPIX", 193, 6, 0}, // bbSPIXfer
{PI_CMD_CF1, "CF1", 195, 2, 0}, // gpioCustom1
{PI_CMD_CF2, "CF2", 195, 6, 0}, // gpioCustom2
{PI_CMD_CGI, "CGI", 101, 4, 1}, // gpioCfgGetInternals
{PI_CMD_CSI, "CSI", 111, 1, 1}, // gpioCfgSetInternals
{PI_CMD_EVM, "EVM", 122, 1, 1}, // eventMonitor
{PI_CMD_EVT, "EVT", 112, 0, 1}, // eventTrigger
{PI_CMD_FC, "FC", 112, 0, 1}, // fileClose
{PI_CMD_FG, "FG", 121, 0, 1}, // gpioGlitchFilter
{PI_CMD_FL, "FL", 127, 6, 0}, // fileList
{PI_CMD_FN, "FN", 131, 0, 1}, // gpioNoiseFilter
{PI_CMD_FO, "FO", 127, 2, 0}, // fileOpen
{PI_CMD_FR, "FR", 121, 6, 0}, // fileRead
{PI_CMD_FS, "FS", 133, 2, 1}, // fileSeek
{PI_CMD_FW, "FW", 193, 0, 0}, // fileWrite
{PI_CMD_GDC, "GDC", 112, 2, 1}, // gpioGetPWMdutycycle
{PI_CMD_GPW, "GPW", 112, 2, 1}, // gpioGetServoPulsewidth
{PI_CMD_HELP, "H", 101, 5, 0}, // cmdUsage
{PI_CMD_HELP, "HELP", 101, 5, 0}, // cmdUsage
{PI_CMD_HC, "HC", 121, 0, 1}, // gpioHardwareClock
{PI_CMD_HP, "HP", 131, 0, 1}, // gpioHardwarePWM
{PI_CMD_HWVER, "HWVER", 101, 4, 1}, // gpioHardwareRevision
{PI_CMD_I2CC, "I2CC", 112, 0, 1}, // i2cClose
{PI_CMD_I2CO, "I2CO", 131, 2, 1}, // i2cOpen
{PI_CMD_I2CPC, "I2CPC", 131, 2, 1}, // i2cProcessCall
{PI_CMD_I2CPK, "I2CPK", 194, 6, 0}, // i2cBlockProcessCall
{PI_CMD_I2CRB, "I2CRB", 121, 2, 1}, // i2cReadByteData
{PI_CMD_I2CRD, "I2CRD", 121, 6, 0}, // i2cReadDevice
{PI_CMD_I2CRI, "I2CRI", 131, 6, 0}, // i2cReadI2CBlockData
{PI_CMD_I2CRK, "I2CRK", 121, 6, 0}, // i2cReadBlockData
{PI_CMD_I2CRS, "I2CRS", 112, 2, 1}, // i2cReadByte
{PI_CMD_I2CRW, "I2CRW", 121, 2, 1}, // i2cReadWordData
{PI_CMD_I2CWB, "I2CWB", 131, 0, 1}, // i2cWriteByteData
{PI_CMD_I2CWD, "I2CWD", 193, 0, 0}, // i2cWriteDevice
{PI_CMD_I2CWI, "I2CWI", 194, 0, 0}, // i2cWriteI2CBlockData
{PI_CMD_I2CWK, "I2CWK", 194, 0, 0}, // i2cWriteBlockData
{PI_CMD_I2CWQ, "I2CWQ", 121, 0, 1}, // i2cWriteQuick
{PI_CMD_I2CWS, "I2CWS", 121, 0, 1}, // i2cWriteByte
{PI_CMD_I2CWW, "I2CWW", 131, 0, 1}, // i2cWriteWordData
{PI_CMD_I2CZ, "I2CZ", 193, 6, 0}, // i2cZip
{PI_CMD_MICS, "MICS", 112, 0, 1}, // gpioDelay
{PI_CMD_MILS, "MILS", 112, 0, 1}, // gpioDelay
{PI_CMD_MODEG, "MG" , 112, 2, 1}, // gpioGetMode
{PI_CMD_MODEG, "MODEG", 112, 2, 1}, // gpioGetMode
{PI_CMD_MODES, "M", 125, 0, 1}, // gpioSetMode
{PI_CMD_MODES, "MODES", 125, 0, 1}, // gpioSetMode
{PI_CMD_NB, "NB", 122, 0, 1}, // gpioNotifyBegin
{PI_CMD_NC, "NC", 112, 0, 1}, // gpioNotifyClose
{PI_CMD_NO, "NO", 101, 2, 1}, // gpioNotifyOpen
{PI_CMD_NP, "NP", 112, 0, 1}, // gpioNotifyPause
{PI_CMD_PADG, "PADG", 112, 2, 1}, // gpioGetPad
{PI_CMD_PADS, "PADS", 121, 0, 1}, // gpioSetPad
{PI_CMD_PARSE, "PARSE", 115, 0, 0}, // cmdParseScript
{PI_CMD_PFG, "PFG", 112, 2, 1}, // gpioGetPWMfrequency
{PI_CMD_PFS, "PFS", 121, 2, 1}, // gpioSetPWMfrequency
{PI_CMD_PIGPV, "PIGPV", 101, 4, 1}, // gpioVersion
{PI_CMD_PRG, "PRG", 112, 2, 1}, // gpioGetPWMrange
{PI_CMD_PROC, "PROC", 115, 2, 0}, // gpioStoreScript
{PI_CMD_PROCD, "PROCD", 112, 0, 0}, // gpioDeleteScript
{PI_CMD_PROCP, "PROCP", 112, 7, 0}, // gpioScriptStatus
{PI_CMD_PROCR, "PROCR", 191, 0, 0}, // gpioRunScript
{PI_CMD_PROCS, "PROCS", 112, 0, 0}, // gpioStopScript
{PI_CMD_PROCU, "PROCU", 191, 0, 0}, // gpioUpdateScript
{PI_CMD_PRRG, "PRRG", 112, 2, 1}, // gpioGetPWMrealRange
{PI_CMD_PRS, "PRS", 121, 2, 1}, // gpioSetPWMrange
{PI_CMD_PUD, "PUD", 126, 0, 1}, // gpioSetPullUpDown
{PI_CMD_PWM, "P", 121, 0, 1}, // gpioPWM
{PI_CMD_PWM, "PWM", 121, 0, 1}, // gpioPWM
{PI_CMD_READ, "R", 112, 2, 1}, // gpioRead
{PI_CMD_READ, "READ", 112, 2, 1}, // gpioRead
{PI_CMD_SERC, "SERC", 112, 0, 1}, // serClose
{PI_CMD_SERDA, "SERDA", 112, 2, 1}, // serDataAvailable
{PI_CMD_SERO, "SERO", 132, 2, 0}, // serOpen
{PI_CMD_SERR, "SERR", 121, 6, 0}, // serRead
{PI_CMD_SERRB, "SERRB", 112, 2, 1}, // serReadByte
{PI_CMD_SERW, "SERW", 193, 0, 0}, // serWrite
{PI_CMD_SERWB, "SERWB", 121, 0, 1}, // serWriteByte
{PI_CMD_SERVO, "S", 121, 0, 1}, // gpioServo
{PI_CMD_SERVO, "SERVO", 121, 0, 1}, // gpioServo
{PI_CMD_SHELL, "SHELL", 128, 2, 0}, // shell
{PI_CMD_SLR, "SLR", 121, 6, 0}, // gpioSerialRead
{PI_CMD_SLRC, "SLRC", 112, 0, 1}, // gpioSerialReadClose
{PI_CMD_SLRO, "SLRO", 131, 0, 1}, // gpioSerialReadOpen
{PI_CMD_SLRI, "SLRI", 121, 0, 1}, // gpioSerialReadInvert
{PI_CMD_SPIC, "SPIC", 112, 0, 1}, // spiClose
{PI_CMD_SPIO, "SPIO", 131, 2, 1}, // spiOpen
{PI_CMD_SPIR, "SPIR", 121, 6, 0}, // spiRead
{PI_CMD_SPIW, "SPIW", 193, 0, 0}, // spiWrite
{PI_CMD_SPIX, "SPIX", 193, 6, 0}, // spiXfer
{PI_CMD_TICK, "T", 101, 4, 1}, // gpioTick
{PI_CMD_TICK, "TICK", 101, 4, 1}, // gpioTick
{PI_CMD_TRIG, "TRIG", 131, 0, 1}, // gpioTrigger
{PI_CMD_WDOG, "WDOG", 121, 0, 1}, // gpioSetWatchdog
{PI_CMD_WRITE, "W", 121, 0, 1}, // gpioWrite
{PI_CMD_WRITE, "WRITE", 121, 0, 1}, // gpioWrite
{PI_CMD_WVAG, "WVAG", 192, 2, 0}, // gpioWaveAddGeneric
{PI_CMD_WVAS, "WVAS", 196, 2, 0}, // gpioWaveAddSerial
{PI_CMD_WVBSY, "WVBSY", 101, 2, 1}, // gpioWaveTxBusy
{PI_CMD_WVCHA, "WVCHA", 197, 0, 0}, // gpioWaveChain
{PI_CMD_WVCLR, "WVCLR", 101, 0, 1}, // gpioWaveClear
{PI_CMD_WVCRE, "WVCRE", 101, 2, 1}, // gpioWaveCreate
{PI_CMD_WVDEL, "WVDEL", 112, 0, 1}, // gpioWaveDelete
{PI_CMD_WVGO, "WVGO" , 101, 2, 0}, // gpioWaveTxStart
{PI_CMD_WVGOR, "WVGOR", 101, 2, 0}, // gpioWaveTxStart
{PI_CMD_WVHLT, "WVHLT", 101, 0, 1}, // gpioWaveTxStop
{PI_CMD_WVNEW, "WVNEW", 101, 0, 1}, // gpioWaveAddNew
{PI_CMD_WVSC, "WVSC", 112, 2, 1}, // gpioWaveGet*Cbs
{PI_CMD_WVSM, "WVSM", 112, 2, 1}, // gpioWaveGet*Micros
{PI_CMD_WVSP, "WVSP", 112, 2, 1}, // gpioWaveGet*Pulses
{PI_CMD_WVTAT, "WVTAT", 101, 2, 1}, // gpioWaveTxAt
{PI_CMD_WVTX, "WVTX", 112, 2, 1}, // gpioWaveTxSend
{PI_CMD_WVTXM, "WVTXM", 121, 2, 1}, // gpioWaveTxSend
{PI_CMD_WVTXR, "WVTXR", 112, 2, 1}, // gpioWaveTxSend
{PI_CMD_ADD , "ADD" , 111, 0, 1},
{PI_CMD_AND , "AND" , 111, 0, 1},
{PI_CMD_CALL , "CALL" , 114, 0, 1},
{PI_CMD_CMDR ,"CMDR" , 111, 0, 1},
{PI_CMD_CMDW , "CMDW" , 111, 0, 1},
{PI_CMD_CMP , "CMP" , 111, 0, 1},
{PI_CMD_DCR , "DCR" , 113, 0, 1},
{PI_CMD_DCRA , "DCRA" , 101, 0, 1},
{PI_CMD_DIV , "DIV" , 111, 0, 1},
{PI_CMD_EVTWT, "EVTWT", 111, 0, 1},
{PI_CMD_HALT , "HALT" , 101, 0, 1},
{PI_CMD_INR , "INR" , 113, 0, 1},
{PI_CMD_INRA , "INRA" , 101, 0, 1},
{PI_CMD_JM , "JM" , 114, 0, 1},
{PI_CMD_JMP , "JMP" , 114, 0, 1},
{PI_CMD_JNZ , "JNZ" , 114, 0, 1},
{PI_CMD_JP , "JP" , 114, 0, 1},
{PI_CMD_JZ , "JZ" , 114, 0, 1},
{PI_CMD_LD , "LD" , 123, 0, 1},
{PI_CMD_LDA , "LDA" , 111, 0, 1},
{PI_CMD_LDAB , "LDAB" , 111, 0, 1},
{PI_CMD_MLT , "MLT" , 111, 0, 1},
{PI_CMD_MOD , "MOD" , 111, 0, 1},
{PI_CMD_NOP , "NOP" , 101, 0, 1},
{PI_CMD_OR , "OR" , 111, 0, 1},
{PI_CMD_POP , "POP" , 113, 0, 1},
{PI_CMD_POPA , "POPA" , 101, 0, 1},
{PI_CMD_PUSH , "PUSH" , 113, 0, 1},
{PI_CMD_PUSHA, "PUSHA", 101, 0, 1},
{PI_CMD_RET , "RET" , 101, 0, 1},
{PI_CMD_RL , "RL" , 123, 0, 1},
{PI_CMD_RLA , "RLA" , 111, 0, 1},
{PI_CMD_RR , "RR" , 123, 0, 1},
{PI_CMD_RRA , "RRA" , 111, 0, 1},
{PI_CMD_STA , "STA" , 113, 0, 1},
{PI_CMD_STAB , "STAB" , 111, 0, 1},
{PI_CMD_SUB , "SUB" , 111, 0, 1},
{PI_CMD_SYS , "SYS" , 116, 0, 1},
{PI_CMD_TAG , "TAG" , 114, 0, 1},
{PI_CMD_WAIT , "WAIT" , 111, 0, 1},
{PI_CMD_X , "X" , 124, 0, 1},
{PI_CMD_XA , "XA" , 113, 0, 1},
{PI_CMD_XOR , "XOR" , 111, 0, 1},
};
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\
PROCU sid ... Set script parameters\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 , "invalid hardware PWM frequency"},
{PI_BAD_HPWM_DUTY , "hardware PWM dutycycle not 0-1M"},
{PI_BAD_HCLK_FREQ , "invalid hardware clock frequency"},
{PI_BAD_HCLK_PASS , "need password to use hardware clock 1"},
{PI_HPWM_ILLEGAL , "illegal, PWM in use for main clock"},
{PI_BAD_DATABITS , "serial data bits not 1-32"},
{PI_BAD_STOPBITS , "serial (half) stop bits not 2-8"},
{PI_MSG_TOOBIG , "socket/pipe message too big"},
{PI_BAD_MALLOC_MODE , "bad memory allocation mode"},
{PI_TOO_MANY_SEGS , "too many I2C transaction segments"},
{PI_BAD_I2C_SEG , "an I2C transaction segment failed"},
{PI_BAD_SMBUS_CMD , "SMBus command not supported 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"},
{PI_CMD_INTERRUPTED , "command interrupted, Python"},
{PI_NOT_ON_BCM2711 , "not available on BCM2711"},
{PI_ONLY_ON_BCM2711 , "only available on BCM2711"},
};
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, uintptr_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];
static int intCmdIdx;
char *cmdStr(void)
{
return intCmdStr;
}
int cmdParse(
char *buf, uintptr_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;
uintptr_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);
intCmdIdx = idx;
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 PROCU
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)
{