| rgs(1) | lg archive | rgs(1) |
rgs - a shell command to manipulate a remote SBC's GPIO.
rgpiod &
then
rgs {command}+
rgs is a program which allows remote control of the GPIO and other functions of Linux SBCs running the rgpiod daemon.
The rgpiod daemon must be running on the SBCs you wish to control.
o reading and writing GPIO singly and in groups
o software timed PWM and waves
o GPIO callbacks
o pipe notification of GPIO events
o I2C wrapper
o SPI wrapper
o serial link wrapper
o simple file handling
o creating and running scripts on the rgpiod daemon
rgs {command}+
rgs will show the result of the command on screen.
The rgs process returns an exit status (which can be displayed with the command echo $?).
RGS_OK 0
RGS_CONNECT_ERR 255
RGS_OPTION_ERR 254
RGS_SCRIPT_ERR 253
If an error was detected a message will have been written to stderr. This is likely to be more informative than the message returned by rgs.
Several commands may be entered on a line. If present PROC and PARSE must be the last command on a line.
rgs does not show the status of successful commands unless the command itself returns data. The status (0) will be returned to rgs but will be discarded.
When a command takes a number as a parameter it may be entered as hex (precede by 0x), octal (precede by 0), or decimal.
E.g. 23 is 23 decimal, 0x100 is 256 decimal, 070 is 56 decimal.
Some commands can return a variable number of data bytes. By default this data is displayed as decimal. The rgs -a option can be used to force the display as ASCII and the rgs -x option can be used to force the display as hex.
E.g. assuming the transmitted serial data is the letters ABCDEONM
$ rgs serr 4 100 # assumes serial data available from handle 4
8 65 66 67 68 69 79 78 77
$ rgs -a serr 4 100
8 ABCDEONM
$ rgs -x serr 4 100
8 41 42 43 44 45 4f 4e 4d
Generally objects created on the rgpiod daemon exist for the duration of the socket connection.
For a Python script this will be for the duration of the script. For a program linked with rgpio this will be for the duration of the program.
For rgs it is the command line.
This means that the following command will achieve little
rgs go 0 # get handle to gpiochip 0
The daemon will delete the handle as soon as the rgs command has finished.
To preserve the handle it must be shared.
A lot of the examples will show the command c 1 (use share id 1). This means the handle is preserved and may be used in subsequent commands.
rgs c 1 go 0 # get and preserve handle to gpiochip 0
If the LG_SHARE environment variable exists that share will be automatically used in rgs commands.
E.g. export LG_SHARE=12 will automatically use share id 12.
If a command is privileged it is indicated in the notes for the command. The examples given here assume the daemon access control system is not active (so any user can use privileged commands).
If the LG_USER environment variable exists that user will be automatically used in rgs commands. This only has an effect if the rgpiod daemon is running with access control enabled.
E.g. export LG_USER=joan will automatically use user joan.
FO file mode File open
FC h File close
FR h num File read
FW h bvs File write
FS h num from File seek
FL pat num File list
GO gc gpiochip open device
GC h gpiochip close device
GIC h gpiochip information
GIL h g gpiochip line information
GMODE h g GPIO get mode
GSI h g GPIO claim for input (simple)
GSIX h lf g GPIO claim for input
GSO h g GPIO claim for output (simple)
GSOX h lf g v GPIO claim for output
GSA h g nfyh GPIO claim for alerts (simple)
GSAX h lf ef g nfyh GPIO claim for alerts
GSF h g GPIO free
GSGI h g* GPIO group claim for inputs (simple)
GSGIX h lf g* GPIO group claim for inputs
GSGO h g* GPIO group claim for outputs (simple)
GSGOX h lf g* v* GPIO group claim for outputs
GSGF h g GPIO group free
GR h g GPIO read
GW h g v GPIO write
GGR h g GPIO group read
GGW h g gbits GPIO group write (simple)
GGWX h g gbits gmask GPIO group write
GP h g mon moff GPIO tx pulse (simple)
GPX h g mon moff off cyc GPIO tx pulse
P h g pf pdc GPIO tx PWM (simple)
PX h g pf pdc off cyc GPIO tx PWM
S h g spw GPIO tx servo pulses (simple)
SX h g spw sf off cyc GPIO tx servo pulses
GWAVE h g p* GPIO group tx wave
GBUSY h g k GPIO or group tx busy
GROOM h g k GPIO or group tx entries
GDEB h g us GPIO debounce time
GWDOG h g us GPIO watchdog time
I2CO ib id if I2C open device
I2CC h I2C close device
I2CWQ h bit SMB Write Quick: write bit
I2CRS h SMB Read Byte: read byte
I2CWS h bv SMB Write Byte: write byte
I2CRB h r SMB Read Byte Data: read byte from register
I2CWB h r bv SMB Write Byte Data: write byte to register
I2CRW h r SMB Read Word Data: read word from register
I2CWW h r wv SMB Write Word Data: write word to register
I2CRK h r SMB Read Block Data: read data from register
I2CWK h r bvs SMB Write Block Data: write data to register
I2CWI h r bvs SMB Write I2C Block Data
I2CRI h r num SMB Read I2C Block Data: read bytes from register
I2CRD h num I2C read device
I2CWD h bvs I2C write device
I2CPC h r wv SMB Process Call: exchange register with word
I2CPK h r bvs SMB Block Process Call: exchange data bytes with register
I2CZ h bvs I2C zip
NO Notification open
NC h Notification close
NP h Notification pause
NR h Notification resume
PROC t Script store
PROCR h pars Script run
PROCU h pars Script update parameters
PROCP h Script get status and parameters
PROCS h Script stop
PROCD h Script delete
PARSE t Script validate
SERO dev b sef Serial open device
SERC h Serial close device
SERRB Serial read byte
SERWB h bv Serial write byte
SERR h num Serial read bytes
SERW h bvs Serial write bytes
SERDA h Serial data available
SHELL name str Execute a shell command
SPIO spd spc b spf SPI open device
SPIC h SPI close device
SPIR h num SPI read bytes
SPIW h bvs SPI write bytes
SPIX h bvs SPI transfer bytes
LGV Get lg library version
SBC Get SBC's host name
CGI cid Get internal configuration setting
CSI cid v Set internal configuration setting
T/TICK Get nanoseconds since the epoch
MICS v Microseconds delay
MILS v Milliseconds delay
U/USER Set user
C/SHARE Set share
LCFG Reload permits configuration file
PCD Print daemon configuration directory
PWD Print daemon working directory
This function returns a handle to a file opened in a specified mode.
Upon success a handle (>=0) is returned. On error a negative status code will be returned.
The mode may have the following values.
Value Meaning
READ 1 open file for reading
WRITE 2 open file for writing
RW 3 open file for reading and writing
The following values may be or'd into the mode.
Value Meaning
APPEND 4 All writes append data to the end of the file
CREATE 8 The file is created if it doesn't exist
TRUNC 16 The file is truncated
Newly created files are owned by the user that launched the daemon with permissions owner read and write.
Example
ls /ram/*.c
/ram/q.c /ram/qdhtxx.c /ram/q-errcod.c /ram/q_t1.c
/ram/q-c1.c /ram/Q-err.c /ram/q-group.c /ram/q_t2.c
$ rgs c 1 fo /ram/q.c 1 # read access
1
$ rgs c 1 fo /ram/new.c 1 # file does not exist
-58
ERROR: file open failed
$rgs c 1 fo /ram/new.c 9 # can not create file
-67
ERROR: no permission to access file
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 fc 1 # First close okay.
$ rgs c 1 fc 1 # Second fails.
-5
ERROR: unknown handle
Upon success the count of returned bytes followed by the bytes themselves is returned. On error a negative status code will be returned.
Example
$ rgs c 1 fr 0 10
5 48 49 128 144 255
$ rgs c 1 fr 0 10
0
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 fw 0 23 45 67 89
The number of bytes to move is num. Positive offsets move forward, negative offsets backwards. The move start position is determined by from as follows.
From
0 start
1 current position
2 end
Upon success the new byte position within the file (>=0) is returned. On error a negative status code will be returned.
Example
$ rgs c 1 fs 0 200 0 # Seek to start of file plus 200
200
$ rgs c 1 fs 0 0 1 # Return current position
200
$ rgs c 1 fs 0 0 2 # Seek to end of file, return size
296235
Upon success the count of returned bytes followed by the matching files is returned. On error a negative status code will be returned.
A newline (0x0a) character separates each file name.
This is a privileged command. See permits.
Example
$ rgs -a fl "/sys/bus/w1/devices/28*/w1_slave" 5000
90 /sys/bus/w1/devices/28-000005d34cd2/w1_slave
/sys/bus/w1/devices/28-001414abbeff/w1_slave
$ rgs -a fl "/sys/bus/*" 5000
ERROR: no permission to access file
-67
This is a privileged command. See permits.
This command opens a gpiochip.
Example
$ rgs c 1 go 0 # open /dev/gpiochip0
1
$ rgs c 1 go 23 # try to open /dev/gpiochip23
-78
ERROR: can not open gpiochip
This command closes a gpiochip previously opened by GO.
Example
$ rgs c 1 gc 1 # first close ok
$ rgs c 1 gc 1 # already closed
-5
ERROR: unknown handle
This command gets information for an opened gpiochip. In particular it gets the number of GPIO on the gpiochip, its name, and its usage.
Example
$ rgs c 1 gic 1
54 "gpiochip0" "pinctrl-bcm2835"
This command gets information for GPIO g of an opened gpiochip. In particular it gets the GPIO number, line flags, its user, and its purpose.
The meaning of the line flags bits are as given for the mode by GMODE.
The user and purpose fields are filled in by the software which has claimed the GPIO and may be blank.
Example
$ for ((i=2; i<10; i++)); do rgs c 1 gil 1 $i; done
2 65536 "SDA1" ""
3 65536 "SCL1" ""
4 65536 "GPIO_GCLK" ""
5 65536 "GPIO5" ""
6 65536 "GPIO6" ""
7 7 "SPI_CE1_N" "spi0 CS1"
8 7 "SPI_CE0_N" "spi0 CS0"
9 65536 "SPI_MISO" ""
This command gets the mode for GPIO g of an opened gpiochip.
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.
This command claims GPIO g for input.
Example
$ rgs c 1 gsi 1 23 # claim GPIO 23 for input.
This command claims GPIO g for input.
The line flags lf may be used to set the GPIO as active low, open drain, open source, pull up, pull down, pull off.
Example
$ rgs c 1 gsi 1 0 23 # claim GPIO 23 for input.
This command claims GPIO g for output.
The GPIO will be initialised low.
Example
$ rgs c 1 gso 1 25 # claim GPIO 25 for low output.
This command claims GPIO g for output.
The line flags lf may be used to set the GPIO as active low, open drain, open source, pull up, pull down, pull off.
If v is zero the GPIO will be initialised low. If any other value is used the GPIO will be initialised high.
Example
$ rgs c 1 gso 1 0 25 # claim GPIO 25 for high output.
This command claims GPIO g for alerts.
Alerts will be generated for both edges.
The alerts will be sent to a previously opened notification pipe nfyh.
This command claims GPIO g for alerts.
The line flags lf may be used to set the GPIO as active low, open drain, open source, pull up, pull down, pull off.
The event flags ef specify whether alerts should be generated on a rising edge, falling edge, or both edges.
The alerts will be sent to a previously opened notification pipe nfyh.
This command releases GPIO g. The GPIO may now be claimed by another user or for a different purpose.
This command claims a group of GPIO for inputs.
g* 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.
Example
$ rgs c 1 gsgi 1 16 17 18 19 20 21
This command claims a group of GPIO for inputs. All the GPIO share the same line flag setting.
The line flags lf may be used to set the GPIO as active low, open drain, open source, pull up, pull down, pull off.
g* 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.
Example
$ rgs c 1 gsgix 1 0 16 17 18 19 20 21
This command claims a group of GPIO for outputs.
g* 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.
The GPIO will be initialised low.
Example
$ rgs c 1 gsgo 1 22 23 24 25
This command claims a group of GPIO for outputs. All the GPIO and share the same line flag setting.
The line flags lf may be used to set the GPIO as active low, open drain, open source, pull up, pull down, pull off.
g* 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.
v* is a list of initialisation values for the GPIO. If a value is zero the corresponding GPIO will be initialised low. If any other value is used the corresponding GPIO will be initialised high.
Example
$ rgs c 1 gsgox 1 0 22 23 24 25 1 1 1 1
This command releases the group of GPIO identified by the group leader g. The GPIO may now be claimed by another user or for a different purpose.
Example
rgs c 1 gsgf 1 22
This command returns the current value (0 or 1) of GPIO g.
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.
Example
$ rgs c 1 gr 1 22
1
This command sets the value (0 or 1) of GPIO g.
This command will work for any GPIO claimed as an output (even if a member of a group).
If v is zero the GPIO will be set low. If any other value is used the GPIO will be set high.
This command reads a group of GPIO identified by group leader g.
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.
Two values are returned. The first is the group size (the number of GPIO in the group). The second is the group bits as a decimal value.
Bit 0 is the level of the group leader.
Bit 1 is the level of the second GPIO in the group.
Bit g is the level of GPIO g+1 in the group.
Example
$ rgs c 1 gsgi 1 0 16 17 18 19 20 21
$ rgs c 1 ggr 1 16
6 49 # six GPIO, group leader (16) high, 17-19 low, 20-21 high
This command writes a group of GPIO identified by group leader g.
The values of each GPIO of the group are set according to the
bits
of gbits.
Bit 0 sets the level of the group leader.
Bit 1 sets the level of the second GPIO in the group.
Bit g sets the level of GPIO g+1 in the group.
Example
$ rgs c 1 ggr 1 22
4 15
$ rgs c 1 ggw 1 22 5
$ rgs c 1 ggr 1 22
4 5
$ rgs c 1 ggw 1 22 10
$ rgs c 1 ggr 1 22
4 10
This command writes a group of GPIO identified by group leader g.
The values of each GPIO of the group are set according to the
bits
of gbits.
Bit 0 sets the level of the group leader.
Bit 1 sets the level of the second GPIO in the group.
Bit g sets the level of GPIO g+1 in the group.
However this may be modified by the gmask. A GPIO is only updated if the corresponding bit in the mask is 1.
Example
$ rgs c 1 ggr 1 22
4 15
$ rgs c 1 ggw 1 22 5 15
$ rgs c 1 ggr 1 22
4 5
$ rgs c 1 ggw 1 22 10 0
$ rgs c 1 ggr 1 22
4 5
$ rgs c 1 ggw 1 22 10 15
$ rgs c 1 ggr 1 22
4 10
This command starts software timed pulses on GPIO g .
Each cycle consists of mon microseconds of GPIO high followed by moff microseconds of GPIO low.
PWM is characterised by two values, its frequency (number of cycles per second) and its duty cycle (percentage of high time per cycle).
The set frequency will be 1000000 / (mon + moff) Hz.
The set duty cycle will be mon / (mon + moff) * 100 %.
E.g. if mon is 50 and moff is 100 the frequency will be 6666.67 Hz and the duty cycle will be 33.33 %.
This command starts software timed pulses on GPIO g .
cyc cycles are transmitted (0 means infinite). Each cycle consists of mon microseconds of GPIO high followed by moff microseconds of GPIO low.
PWM is characterised by two values, its frequency (number of cycles per second) and its duty cycle (percentage of high time per cycle).
The set frequency will be 1000000 / (mon + moff) Hz.
The set duty cycle will be mon / (mon + moff) * 100 %.
E.g. if mon is 50 and moff is 100 the frequency will be 6666.67 Hz and the duty cycle will be 33.33 %.
off is a microsecond offset from the natural start of the PWM 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 command may be issued to the GPIO before the last has finished.
If the last command had infinite cycles (cyc 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 cyc cycles.
Multiple pulse settings may be queued in this way.
This command starts software timed PWM on GPIO g .
PWM is characterised by two values, its frequency (number of cycles per second) and its duty cycle (percentage of high time per cycle).
This command starts software timed PWM on GPIO g .
PWM is characterised by two values, its frequency (number of cycles per second) and its duty cycle (percentage of high time per cycle).
off is a microsecond offset from the natural start of the PWM 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 PWM had infinite cycles (cyc 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 cyc cycles.
Multiple PWM settings may be queued in this way.
This command starts software timed servo pulses on GPIO g .
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.
This command starts software timed servo pulses on GPIO g .
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.
Another servo command may be issued to the GPIO before the last has finished.
If the last command had infinite cycles (cyc 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 cyc cycles.
Multiple servo settings may be queued in this way.
This command starts a wave on GPIO group g .
p is a series of pulses to be transmitted on the GPIO group.
Each pulse is defined by the following triplet:
gbits the levels to set for the selected GPIO
gmask the GPIO to select
us the delay in microseconds before the next pulse
Another wave command may be issued to the GPIO group before the last has finished transmission.
Multiple waves may be queued in this way.
This command checks to see if a specified kind k of transmission is ongoing on a GPIO or GPIO group g .
The command returns 1 if transmission is ongoing, otherwise 0.
This returns the number of slots there are to queue further transmissions of a specified kind k in the tx queue for GPIO or GPIO group g.
The command returns the number of free slots (0 for no free slots).
This command sets the debounce time for GPIO g to us microseconds.
This command is only effective when the GPIO is being used as a source of alerts.
Any level changes shorter than the debounce setting will be discarded, i.e. they will not generate an alert.
Reported level changes will be timestamped us microseconds after the level change.
This command sets the watchdog time for GPIO g
to us microseconds.
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 2 for a watchdog alert.
This is a privileged command. See permits.
This command returns a handle to access device id on I2C bus ib. The device is opened with flags if.
No flags are currently defined. The parameter if should be 0.
Upon success the next free handle (>=0) is returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2co 1 0x70 0 # Bus 1, device 0x70, flags 0.
0
$ rgs c 1 i2co 1 0x53 0 # Bus 1, device 0x53, flags 0.
1
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2cc 0 # First close okay.
$ rgs c 1 i2cc 0 # Second fails.
-25
ERROR: unknown handle
This command writes a single bit to the I2C device.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2cwq 0 1
This command returns a single byte read from the I2C device.
Upon success a value between 0 and 255 will be returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2crs 0
0
This command writes a single byte bv to the I2C device.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2cws 0 0x12
$ rgs c 1 i2cws 0 0xff
-82
ERROR: I2C write failed
This command returns a single byte read from register r of the I2C device.
Upon success a value between 0 and 255 will be returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2crb 0 0
6
This command writes a single byte bv to register r of the I2C device.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2cwb 0 10 0x54
This command returns a single 16 bit word read from register r of the I2C device.
Upon success a value between 0 and 65535 will be returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2crw 0 0
6150
This command writes a single 16 bit word wv to register r of the I2C device.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2cww 0 0 0xffff
This command returns between 1 and 32 bytes read from register r of the I2C device.
Upon success the count of returned bytes followed by the bytes themselves is returned. On error a negative status code will be returned.
The number of bytes of returned data is specific to the device and register.
Example
$ rgs c 1 i2crk 0 0
6 0 0 0 0 0 0
$ rgs c 1 i2crk 0 1
24 0 0 0 0 0 0 0 0 0 0 0 0 120 222 105 215 128 87 195 217 0 0 0 0
This command writes between 1 and 32 bytes bvs to register r of the I2C device.
Upon success nothing is returned. On error a negative status code will be returned.
Example
rgs c 1 i2cwk 0 4 0x01 0x04 0xc0
This command returns num bytes from register r of the I2C device.
Upon success the count of returned bytes followed by the bytes themselves is returned. On error a negative status code will be returned.
The parameter num may be 1-32.
Example
$ rgs c 1 i2cri 0 0 16
16 237 155 155 155 155 155 155 155 155 155 155 155 155 155 155 155
This command writes between 1 and 32 bytes bvs to register r of the I2C device.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2cwi 0 4 0x01 0x04 0xc0
This command returns num bytes read from the I2C device.
Upon success the count of returned bytes followed by the bytes themselves is returned. On error a negative status code will be returned.
This command operates on the raw I2C device. The maximum value of the parameter num is dependent on the I2C drivers and the device itself. rgs imposes a limit of about 8000 bytes.
Example
$ rgs c 1 i2crd 0 16
16 6 24 0 0 0 0 0 0 0 0 0 0 0 0 32 78
This command writes a block of bytes bvs to the I2C device.
Upon success nothing is returned. On error a negative status code will be returned.
The number of bytes which may be written in one transaction is dependent on the I2C drivers and the device itself. rgs imposes a limit of about 500 bytes.
This command operates on the raw I2C device.
Example
$ rgs c 1 i2cwd 0 0x01 0x02 0x03 0x04
Upon success a value between 0 and 65535 will be returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2cpc 0 37 43210
39933
$ rgs c 1 i2cpc 0 256 43210
ERROR: bad i2c/spi/ser parameter
-81
This command writes the data bytes bvs to register r of the I2C device and returns a device specific number of bytes.
Upon success the count of returned bytes followed by the bytes themselves is returned. On error a negative status code will be returned.
Example
$ rgs c 1 i2cpk 0 0 0x11 0x12
6 0 0 0 0 0 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 h. The flags default to 0. The address and flags maintain their previous value until updated.
Example
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
This is a privileged command. See permits.
This command requests a free notification handle.
A notification is a method for being notified of GPIO state changes via a pipe.
Upon success the command returns a handle greater than or equal to zero. On error a negative status code will be returned.
The pipes are created in the daemon's working directory (the command pwd will show the 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 command returns 15 then the notifications must be read from .lgd-nfy15.
Example
$ rgs c 1 no
0
This command closes a notification previously opened by NO.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 nc 0 # First call succeeds.
$ rgs c 1 nc 1 # Second call fails.
-5
ERROR: unknown handle
This command pauses notifications.
Upon success nothing is returned. On error a negative status code will be returned.
Notifications for the handle are paused until a NR command.
Example
$ rgs c 1 np 0
This command resumes notifications.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs c 1 nr 0
$ rgs c 1 nr 1
-5
ERROR: unknown handle
This is a privileged command. See permits.
This command stores a script t for later execution.
If the script is valid a handle (>=0) is returned which is passed to the other script commands. On error a negative status code will be returned.
Example
$ rgs proc tag 123 w 4 0 mils 200 w 4 1 mils 300 dcr p0 jp 123
0
$ rgs proc tag 123 w 4 0 mils 5 w 4 1 mils 5 jmp 12
ERROR: script has unresolved tag
-63
This command runs stored script h passing it up to 10 optional parameters.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs proc tag 123 w 4 0 mils 200 w 4 1 mils 300 dcr p0 jp 123
0
$ rgs procr 0 50 # Run script 0 with parameter 0 of 50.
$ rgs procp 0
2 44 0 0 0 0 0 0 0 0 0
$ rgs procp 0
2 37 0 0 0 0 0 0 0 0 0
$ rgs procp 0
2 10 0 0 0 0 0 0 0 0 0
$ rgs procp 0
2 5 0 0 0 0 0 0 0 0 0
$ rgs procp 0
2 2 0 0 0 0 0 0 0 0 0
$ rgs procp 0
1 -1 0 0 0 0 0 0 0 0 0
This command sets the parameters of a stored script h passing it up to 10 parameters.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs proc tag 0 hp 18 p0 p1 mils 1000 jmp 0
0
$ rgs procu 0 50 500000
$ rgs procr 0
$ rgs procu 0 100
$ rgs procu 0 200
$ rgs procu 0 200 100000
This command returns the status of script h as well as the current value of its 10 parameters.
Upon success the script status and parameters are returned. On error a negative status code will be returned.
The script status may be one of
0 being initialised
1 ready
2 running
3 waiting
4 ended
5 halted
6 failed
Example
$ rgs procp 0
1 0 0 0 0 0 0 0 0 0 0
This command stops a running script h.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs procs 0
$ rgs procs 1
-5
ERROR: unknown handle
This command deletes script h.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs procd 1
$ rgs procd 1
ERROR: unknown handle
-5
Validates the text t of a script without storing the script.
Upon success nothing is returned. On error a list of detected script errors will be given.
This command may be used to find script syntax faults.
Example
$ rgs parse tag 100 w 22 1 mils 200 w 22 0 mils 800 jmp 100
$ rgs parse tag 0 w 22 1 mills 50 w 22 0 dcr p10 jp 99
Unknown command: mills
Unknown command: 50
Bad parameter to dcr
Can't resolve tag 99
This is a privileged command. See permits.
This command opens the serial dev at b bits per second.
No flags are currently defined. sef should be set to zero.
Upon success a handle (>=0) is returned. On error a negative status code will be returned.
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.
Example
$ rgs sero /dev/ttyAMA0 9600 0
0
$ rgs sero /dev/tty1 38400 0
1
This command closes a serial device previously opened by SERO.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs serc 0 # First close okay.
$ rgs serc 0 # Second close gives error.
-25
ERROR: unknown handle
This command returns a byte of data read from the serial device.
Upon success a number between 0 and 255 is returned. On error a negative status code will be returned.
Example
$ rgs serrb 0
23
$ rgs serrb 0
45
This command writes a single byte bv to the serial device.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs serwb 0 23
$ rgs serwb 0 0xf0
This command returns up to num bytes of data read from the serial device.
Upon success the count of returned bytes followed by the bytes themselves is returned. On error a negative status code will be returned.
Example
$ rgs serr 0 10
5 48 49 128 144 255
$ rgs serr 0 10
0
This command writes bytes bvs to the serial device.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs serw 0 23 45 67 89
This command returns the number of bytes of data available to be read from the serial device.
Upon success the count of bytes available to be read is returned (which may be 0). On error a negative status code will be returned.
Example
$ rgs serda 0
0
This is a privileged command. See permits.
This command uses the system call to execute a shell script name with the given string str as its parameter.
Upon success the exit status of the system call is returned. On error a negative status code will be returned.
name must exist in a directory named cgi in the daemon's configuration directory and must be executable.
The returned exit status is normally 256 times that set by the shell script exit function. If the script can't be found 32512 will be returned.
The following table gives some example returned statuses.
Script exit status Returned system call status
1 256
5 1280
10 2560
200 51200
script not found 32512
Example
# pass two parameters, hello and world
$ rgs shell scr1 hello world
256
# pass three parameters, hello, string with spaces, and world
$ rgs shell scr1 "hello 'string with spaces' world"
256
# pass one parameter, hello string with spaces world
$ rgs shell scr1 "
256
# non-existent script
$ rgs shell scr78 par1
32512
This is a privileged command. See permits.
Upon success a handle is returned. On error a negative status code will be returned.
Data will be transferred at b bits per second. The flags spf may be used to modify the default behaviour.
The 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
This command closes a SPI device previously opened by SPIO.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs spic 1
$ rgs spic 1
-25
ERROR: unknown handle
This command returns num bytes read from the SPI device.
Upon success the count of returned bytes followed by the bytes themselves is returned. On error a negative status code will be returned.
Example
$ rgs spir 0 10 # Read 10 bytes from the SPI device.
10 0 0 0 0 0 0 0 0 0 0
This command writes bytes bvs to the SPI device.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs spiw 0 0x22 0x33 0xcc 0xff
This command writes bytes bvs to the SPI device.
It returns the same number of bytes read from the device.
Upon success the count of returned bytes followed by the bytes themselves is returned. On error a negative status code will be returned.
Example
$ rgs spix 0 0x22 0x33 0xcc 0xff
4 0 0 0 0
This command returns the lg library version.
Example
$ rgs lgv
lg_0.1.0.0
This command returns the rgpiod daemon server name.
Example
$ rgs sbc
venus
This is a privileged command. See permits.
This command returns the value of an internal library configuration setting cid.
Example
$ rgs cgi 0
1
This is a privileged command. See permits.
This command sets the value of the internal library configuration setting cid to v.
Example
$ rgs csi 0 3
$ rgs cgi 0
3
T and TICK are synonyms.
This command returns the number of nanoseconds since the epoch (start of 1970).
Example
$ rgs t
1601838936723095901
$ rgs tick
1601838940792322758
Upon success nothing is returned. On error a negative status code will be returned.
The main use of this command is expected to be within scripts.
Example
$ rgs mics 20 # Delay 20 microseconds.
$ rgs mics 1000000 # Delay 1 second.
$ rgs mics 5100000 # Delay 5.1 seconds.
-24
ERROR: bad MICS delay (too large)
This command delays execution for v milliseconds.
Upon success nothing is returned. On error a negative status code will be returned.
Example
$ rgs mils 2000 # Delay 2 seconds.
$ rgs mils 301000 # Delay 301 seconds.
-25
ERROR: bad MILS delay (too large)
U and USER are synonyms.
This command sets the current user and associated permissions.
Example
$ rgs u test1 # set user test1
$ rgs user test1 # set user test1
$ rgs u testx # unknown user
-95
ERROR: bad secret for user
C and SHARE are synonyms.
This command sets the share for handles.
The command has two uses. Firstly it sets the share id for any subsequently created handles on the current command line. Secondly it sets the share id to use to access any previously created handles on this or earlier command lines.
Example
rgs c 1 # use share id 1
rgs share 1 # use share id 1
rgs c 0 # switch off sharing
rgs share 867 # use share id 867
This is a privileged command. See permits.
This command reloads the permits configuration file
Example
$ rgs lcfg
$ rgs lcfg
-93
ERROR: no permission to perform action
$ rgs lcfg
-93
ERROR: no permission to perform action
This command prints the daemon configuration directory
Example
rgs pcd
/home/joan/LG/TEST
This command prints the daemon working directory
Example
rgs pwd
/home/joan/LG
cid meaning
0 debug level
1 minimum transmission period for PWM and waves
/dev/ttyAMA0
/dev/ttyUSB0
/dev/tty0
/dev/serial0
The following values may be or'd to form the event flags.
Value Meaning
1 Rising edge
2 Falling edge
3 Both edges
From
0 start
1 current position
2 end
Bit 0 represents the level of the group leader.
Bit 1 represents the level of the second GPIO in the group.
Bit g represents the level of GPIO g+1 in the group.
Bit 0 of the mask indicates item 1
Bit 1 of the mask indicates item 2
Bit g of the mask indicates item g+1
For example suppose the items are GPIO 5, 10, 23, 25, 11.
Bit 0 of the mask indicates GPIO 5
Bit 1 of the mask indicates GPIO 10
Bit 2 of the mask indicates GPIO 23
Bit 3 of the mask indicates GPIO 25
Bit 4 of the mask indicates GPIO 11
If a bit of the mask is high the corresponding GPIO will be selected.
E.g. in the above example if the mask has the value 17 GPIO 5 and GPIO 11 will be selected.
A handle is a number referencing an object opened by one of FO, I2CO, NO, PROC, SERO, SPIO, GO.
0 = PWM
1 = WAVE
The following values may be or'd to form the line flags.
Value Meaning
4 Active low
8 Open drain
16 Open source
32 Pull up
64 Pull down
128 Pull none
Value Meaning
READ 1 open file for reading
WRITE 2 open file for writing
RW 3 open file for reading and writing
The following values can be or'd into the mode.
Value Meaning
APPEND 4 All writes append data to the end of the file
CREATE 8 The file is created if it doesn't exist
TRUNC 16 The file is truncated
Only alphanumeric characters, '-' and '_' are allowed in the name.
This associates a notification with a GPIO event.
For the I2C and SPI commands the requested number of bytes will always be returned.
For the serial and file commands the smaller of the number of bytes available to be read (which may be zero) and num bytes will be returned.
The offset in microseconds from the nominal PWM pulse start.
rgpiod(1), lgpio(3), rgpio(3)
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