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README
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# SPDX-License-Identifier: CC-BY-SA-4.0
# SPDX-FileCopyrightText: 2017-2023 Bartosz Golaszewski <[email protected]>
libgpiod
========
libgpiod - C library and tools for interacting with the linux GPIO
character device (gpiod stands for GPIO device)
Since linux 4.8 the GPIO sysfs interface is deprecated. User space should use
the character device instead. This library encapsulates the ioctl calls and
data structures behind a straightforward API.
RATIONALE
---------
The new character device interface guarantees all allocated resources are
freed after closing the device file descriptor and adds several new features
that are not present in the obsolete sysfs interface (like event polling,
setting/reading multiple values at once or open-source and open-drain GPIOs).
Unfortunately interacting with the linux device file can no longer be done
using only standard command-line tools. This is the reason for creating a
library encapsulating the cumbersome, ioctl-based kernel-userspace interaction
in a set of convenient functions and opaque data structures.
Additionally this project contains a set of command-line tools that should
allow an easy conversion of user scripts to using the character device.
BUILDING
--------
This is a pretty standard autotools project. The core C library does not have
any external dependencies other than the standard C library with GNU extensions.
The command-line tools optionally depend on libedit for the interactive feature.
To build the project (including command-line utilities) run:
./autogen.sh --enable-tools=yes --prefix=<install path>
make
make install
The autogen script will execute ./configure and pass all the command-line
arguments to it.
If building from release tarballs, the configure script is already provided and
there's no need to invoke autogen.sh.
For all configure features, see: ./configure --help.
TOOLS
-----
There are currently six command-line tools available:
* gpiodetect - list all gpiochips present on the system, their names, labels
and number of GPIO lines
* gpioinfo - list lines, their gpiochip, offset, name, and direction, and
if in use then the consumer name and any other configured
attributes, such as active state, bias, drive, edge detection
and debounce period
* gpioget - read values of specified GPIO lines
* gpioset - set values of specified GPIO lines, holding the lines until the
process is killed or otherwise exits
* gpiomon - wait for edge events on GPIO lines, specify which edges to watch
for, how many events to process before exiting, or if the events
should be reported to the console
* gpionotify - wait for changed to the info for GPIO lines, specify which
changes to watch for, how many events to process before exiting,
or if the events should be reported to the console
Examples:
(using a Raspberry Pi 4B)
# Detect the available gpiochips.
$ gpiodetect
gpiochip0 [pinctrl-bcm2711] (58 lines)
gpiochip1 [raspberrypi-exp-gpio] (8 lines)
# Read the info for all the lines on a gpiochip.
$ gpioinfo -c 1
gpiochip1 - 8 lines:
line 0: "BT_ON" output
line 1: "WL_ON" output
line 2: "PWR_LED_OFF" output active-low consumer="led1"
line 3: "GLOBAL_RESET" output
line 4: "VDD_SD_IO_SEL" output consumer="vdd-sd-io"
line 5: "CAM_GPIO" output consumer="cam1_regulator"
line 6: "SD_PWR_ON" output consumer="sd_vcc_reg"
line 7: "SD_OC_N" input
# Read the info for particular lines.
$ ./gpioinfo PWR_LED_OFF STATUS_LED_G_CLK GLOBAL_RESET
gpiochip0 42 "STATUS_LED_G_CLK" output consumer="led0"
gpiochip1 2 "PWR_LED_OFF" output active-low consumer="led1"
gpiochip1 3 "GLOBAL_RESET" output
# Read the value of a single GPIO line by name.
$ gpioget RXD1
"RXD1"=active
# Read the value of a single GPIO line by chip and offset.
$ gpioget -c 0 15
"15"=active
# Read the value of a single GPIO line as a numeric value.
$ gpioget --numeric RXD1
1
# Read two values at the same time. Set the active state of the lines
# to low and without quoted names.
$ gpioget --active-low --unquoted GPIO23 GPIO24
GPIO23=active GPIO24=active
# Set the value of a line and hold the line until killed.
$ gpioset GPIO23=1
# Set values of two lines, then daemonize and hold the lines.
$ gpioset --daemonize GPIO23=1 GPIO24=0
# Set the value of a single line, hold it for 20ms, then exit.
$ gpioset --hold-period 20ms -t0 GPIO23=1
# Blink an LED on GPIO22 at 1Hz
$ gpioset -t500ms GPIO22=1
# Blink an LED on GPIO22 at 1Hz with a 20% duty cycle
$ gpioset -t200ms,800ms GPIO22=1
# Set some lines interactively (requires --enable-gpioset-interative)
$ gpioset --interactive --unquoted GPIO23=inactive GPIO24=active
gpioset> get
GPIO23=inactive GPIO24=active
gpioset> toggle
gpioset> get
GPIO23=active GPIO24=inactive
gpioset> set GPIO24=1
gpioset> get
GPIO23=active GPIO24=active
gpioset> toggle
gpioset> get
GPIO23=inactive GPIO24=inactive
gpioset> toggle GPIO23
gpioset> get
GPIO23=active GPIO24=inactive
gpioset> exit
# Wait for three rising edge events on a single GPIO line, then exit.
$ gpiomon --num-events=3 --edges=rising GPIO22
10002.907638045 rising "GPIO22"
10037.132562259 rising "GPIO22"
10047.179790748 rising "GPIO22"
# Wait for three edge events on a single GPIO line, with time in local time
# and with unquoted line name, then exit.
$ gpiomon --num-events=3 --edges=both --localtime --unquoted GPIO22
2022-11-15T10:36:59.109615508 rising GPIO22
2022-11-15T10:36:59.129681898 falling GPIO22
2022-11-15T10:36:59.698971886 rising GPIO22
# Wait for falling edge events with a custom output format.
$ gpiomon --format="%e %c %o %l %S" --edges=falling -c gpiochip0 22
2 gpiochip0 22 GPIO22 10946.693481859
2 gpiochip0 22 GPIO22 10947.025347604
2 gpiochip0 22 GPIO22 10947.283716669
2 gpiochip0 22 GPIO22 10947.570109430
...
# Block until an edge event occurs. Don't print anything.
$ gpiomon --num-events=1 --quiet GPIO22
# Monitor multiple lines, exit after the first edge event.
$ gpiomon --quiet --num-events=1 GPIO5 GPIO6 GPIO12 GPIO17
# Monitor a line for changes to info.
$ gpionotify GPIO23
11571.816473718 requested "GPIO23"
11571.816535124 released "GPIO23"
11572.722894029 requested "GPIO23"
11572.722932843 released "GPIO23"
11573.222998598 requested "GPIO23"
...
# Monitor a line for requests, reporting UTC time and unquoted line name.
$ gpionotify --utc --unquoted GPIO23
2022-11-15T03:05:23.807090687Z requested GPIO23
2022-11-15T03:05:23.807151390Z released GPIO23
2022-11-15T03:05:24.784984280Z requested GPIO23
2022-11-15T03:05:24.785023873Z released GPIO23
...
# Monitor multiple lines, exit after the first is requested.
$ gpionotify --quiet --num-events=1 --event=requested GPIO5 GPIO6 GPIO12 GPIO17
# Block until a line is released.
$ gpionotify --quiet --num-events=1 --event=released GPIO6
BINDINGS
--------
High-level, object-oriented bindings for C++, python3 and Rust are provided.
They can be enabled by passing --enable-bindings-cxx, --enable-bindings-python
and --enable-bindings-rust arguments respectively to configure.
C++ bindings require C++11 support and autoconf-archive collection if building
from git.
Python bindings require python3 support and libpython development files. Care
must be taken when cross-compiling python bindings: users usually must specify
the PYTHON_CPPFLAGS and PYTHON_LIBS variables in order to point the build
system to the correct locations. During native builds, the configure script
can auto-detect the location of the development files.
Rust bindings require cargo support.
TESTING
-------
A comprehensive testing framework is included with the library and can be
used to test both the core library code as well as the kernel-to-user-space
interface.
The minimum kernel version required to run the tests can be checked in the
tests/gpiod-test.c source file (it's subject to change if new features are
added to the kernel). The tests work together with the gpio-sim kernel module
which must either be built-in or available for loading using kmod. A helper
library - libgpiosim - is included to enable straightforward interaction with
the module.
To build the testing executable add the '--enable-tests' option when running
the configure script. If enabled, the tests will be installed next to
gpio-tools.
As opposed to standard autotools projects, libgpiod doesn't execute any tests
when invoking 'make check'. Instead the user must run them manually with
superuser privileges.
The testing framework uses the GLib unit testing library so development package
for GLib must be installed.
The gpio-tools programs can be tested separately using the gpio-tools-test.bats
script. It requires bats[1] to run and assumes that the tested executables are
in the same directory as the script.
C++, Rust and Python bindings also include their own test-suites. All three
reuse the libgpiosim library to avoid code duplication when interacting with
gpio-sim.
Python test-suite uses the standard unittest package. C++ tests use an external
testing framework - Catch2 - which must be installed in the system. Rust
bindings use the standard tests module layout and the #[test] attribute.
DOCUMENTATION
-------------
All API symbols exposed by the core C API and C++ bindings are documented with
doxygen markup blocks. Doxygen documentation can be generated by executing
'make doc' given that the doxygen executable is available in the system.
Python bindings contain help strings that can be accessed with the help
builtin.
Rust bindings use rustdoc.
Man pages for command-line programs are generated automatically if gpio-tools
were selected and help2man is available in the system.
CONTRIBUTING
------------
Contributions are welcome - please send patches and bug reports to
[email protected] (add the [libgpiod] prefix to the e-mail subject
line) and stick to the linux kernel coding style when submitting new code.
[1] https://github.com/bats-core/bats-core