3 * Swiss-Army-Knife, Set-UID command-line interface to the Raspberry
5 * Copyright (c) 2012 Gordon Henderson
6 ***********************************************************************
7 * This file is part of wiringPi:
8 * https://projects.drogon.net/raspberry-pi/wiringpi/
10 * wiringPi is free software: you can redistribute it and/or modify
11 * it under the terms of the GNU Lesser General Public License as published by
12 * the Free Software Foundation, either version 3 of the License, or
13 * (at your option) any later version.
15 * wiringPi is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Lesser General Public License for more details.
20 * You should have received a copy of the GNU Lesser General Public License
21 * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
22 ***********************************************************************
32 #include <sys/types.h>
36 #include <gertboard.h>
38 extern int wiringPiDebug ;
49 char *usage = "Usage: gpio -v\n"
51 " gpio [-g] <read/write/wb/pwm/mode> ...\n"
52 " gpio [-p] <read/write/wb> ...\n"
54 " gpio unexportall/exports ...\n"
55 " gpio export/edge/unexport ...\n"
56 " gpio drive <group> <value>\n"
57 " gpio pwm-bal/pwm-ms \n"
58 " gpio pwmr <range> \n"
59 " gpio pwmc <divider> \n"
60 " gpio load spi/i2c\n"
61 " gpio gbr <channel>\n"
62 " gpio gbw <channel> <value>" ; // No trailing newline needed here.
67 * Change the ownership of the file to the real userId of the calling
68 * program so we can access it.
69 *********************************************************************************
72 static void changeOwner (char *cmd, char *file)
74 uid_t uid = getuid () ;
75 uid_t gid = getgid () ;
77 if (chown (file, uid, gid) != 0)
79 if (errno == ENOENT) // Warn that it's not there
80 fprintf (stderr, "%s: Warning: File not present: %s\n", cmd, file) ;
83 fprintf (stderr, "%s: Unable to change ownership of %s: %s\n", cmd, file, strerror (errno)) ;
92 * Return true/false if the supplied module is loaded
93 *********************************************************************************
96 static int moduleLoaded (char *modName)
98 int len = strlen (modName) ;
100 FILE *fd = fopen ("/proc/modules", "r") ;
105 fprintf (stderr, "gpio: Unable to check modules: %s\n", strerror (errno)) ;
109 while (fgets (line, 80, fd) != NULL)
111 if (strncmp (line, modName, len) != 0)
126 * Load either the spi or i2c modules and change device ownerships, etc.
127 *********************************************************************************
130 static void _doLoadUsage (char *argv [])
132 fprintf (stderr, "Usage: %s load <spi/i2c> [bufferSize in KB for spi]\n", argv [0]) ;
136 static void doLoad (int argc, char *argv [])
138 char *module1, *module2 ;
140 char *file1, *file2 ;
144 _doLoadUsage (argv) ;
148 /**/ if (strcasecmp (argv [2], "spi") == 0)
151 module2 = "spi_bcm2708" ;
152 file1 = "/dev/spidev0.0" ;
153 file2 = "/dev/spidev0.1" ;
155 sprintf (spiBuf, " bufsize=%d", atoi (argv [3]) * 1024) ;
157 _doLoadUsage (argv) ;
160 else if (strcasecmp (argv [2], "i2c") == 0)
162 module1 = "i2c_dev" ;
163 module2 = "i2c_bcm2708" ;
164 file1 = "/dev/i2c-0" ;
165 file2 = "/dev/i2c-1" ;
168 _doLoadUsage (argv) ;
170 if (!moduleLoaded (module1))
172 sprintf (cmd, "modprobe %s%s", module1, spiBuf) ;
176 if (!moduleLoaded (module2))
178 sprintf (cmd, "modprobe %s", module2) ;
182 if (!moduleLoaded (module2))
184 fprintf (stderr, "%s: Unable to load %s\n", argv [0], module2) ;
188 sleep (1) ; // To let things get settled
190 changeOwner (argv [0], file1) ;
191 changeOwner (argv [0], file2) ;
197 * Read all the GPIO pins
198 *********************************************************************************
201 static char *pinNames [] =
226 static void doReadall (void)
230 printf ("+----------+------+--------+-------+\n") ;
231 printf ("| wiringPi | GPIO | Name | Value |\n") ;
232 printf ("+----------+------+--------+-------+\n") ;
234 for (pin = 0 ; pin < NUM_PINS ; ++pin)
235 printf ("| %6d | %3d | %s | %s |\n",
236 pin, wpiPinToGpio (pin),
238 digitalRead (pin) == HIGH ? "High" : "Low ") ;
240 printf ("+----------+------+--------+-------+\n") ;
242 if (piBoardRev () == 1)
245 for (pin = 17 ; pin <= 20 ; ++pin)
246 printf ("| %6d | %3d | %s | %s |\n",
247 pin, wpiPinToGpio (pin),
249 digitalRead (pin) == HIGH ? "High" : "Low ") ;
251 printf ("+----------+------+--------+-------+\n") ;
257 * List all GPIO exports
258 *********************************************************************************
261 static void doExports (int argc, char *argv [])
268 // Rather crude, but who knows what others are up to...
270 for (first = 0, i = 0 ; i < 64 ; ++i)
273 // Try to read the direction
275 sprintf (fName, "/sys/class/gpio/gpio%d/direction", i) ;
276 if ((fd = open (fName, O_RDONLY)) == -1)
282 printf ("GPIO Pins exported:\n") ;
285 printf ("%4d: ", i) ;
287 if ((l = read (fd, buf, 16)) == 0)
288 sprintf (buf, "%s", "?") ;
291 if ((buf [strlen (buf) - 1]) == '\n')
292 buf [strlen (buf) - 1] = 0 ;
294 printf ("%-3s", buf) ;
298 // Try to Read the value
300 sprintf (fName, "/sys/class/gpio/gpio%d/value", i) ;
301 if ((fd = open (fName, O_RDONLY)) == -1)
303 printf ("No Value file (huh?)\n") ;
307 if ((l = read (fd, buf, 16)) == 0)
308 sprintf (buf, "%s", "?") ;
311 if ((buf [strlen (buf) - 1]) == '\n')
312 buf [strlen (buf) - 1] = 0 ;
314 printf (" %s", buf) ;
316 // Read any edge trigger file
318 sprintf (fName, "/sys/class/gpio/gpio%d/edge", i) ;
319 if ((fd = open (fName, O_RDONLY)) == -1)
325 if ((l = read (fd, buf, 16)) == 0)
326 sprintf (buf, "%s", "?") ;
329 if ((buf [strlen (buf) - 1]) == '\n')
330 buf [strlen (buf) - 1] = 0 ;
332 printf (" %-8s\n", buf) ;
341 * gpio export pin mode
342 * This uses the /sys/class/gpio device interface.
343 *********************************************************************************
346 void doExport (int argc, char *argv [])
355 fprintf (stderr, "Usage: %s export pin mode\n", argv [0]) ;
359 pin = atoi (argv [2]) ;
363 if ((fd = fopen ("/sys/class/gpio/export", "w")) == NULL)
365 fprintf (stderr, "%s: Unable to open GPIO export interface: %s\n", argv [0], strerror (errno)) ;
369 fprintf (fd, "%d\n", pin) ;
372 sprintf (fName, "/sys/class/gpio/gpio%d/direction", pin) ;
373 if ((fd = fopen (fName, "w")) == NULL)
375 fprintf (stderr, "%s: Unable to open GPIO direction interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ;
379 /**/ if ((strcasecmp (mode, "in") == 0) || (strcasecmp (mode, "input") == 0))
380 fprintf (fd, "in\n") ;
381 else if ((strcasecmp (mode, "out") == 0) || (strcasecmp (mode, "output") == 0))
382 fprintf (fd, "out\n") ;
385 fprintf (stderr, "%s: Invalid mode: %s. Should be in or out\n", argv [1], mode) ;
391 // Change ownership so the current user can actually use it!
393 sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
394 changeOwner (argv [0], fName) ;
396 sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ;
397 changeOwner (argv [0], fName) ;
405 * Easy access to changing the edge trigger on a GPIO pin
406 * This uses the /sys/class/gpio device interface.
407 *********************************************************************************
410 void doEdge (int argc, char *argv [])
419 fprintf (stderr, "Usage: %s edge pin mode\n", argv [0]) ;
423 pin = atoi (argv [2]) ;
426 // Export the pin and set direction to input
428 if ((fd = fopen ("/sys/class/gpio/export", "w")) == NULL)
430 fprintf (stderr, "%s: Unable to open GPIO export interface: %s\n", argv [0], strerror (errno)) ;
434 fprintf (fd, "%d\n", pin) ;
437 sprintf (fName, "/sys/class/gpio/gpio%d/direction", pin) ;
438 if ((fd = fopen (fName, "w")) == NULL)
440 fprintf (stderr, "%s: Unable to open GPIO direction interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ;
444 fprintf (fd, "in\n") ;
447 sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ;
448 if ((fd = fopen (fName, "w")) == NULL)
450 fprintf (stderr, "%s: Unable to open GPIO edge interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ;
454 /**/ if (strcasecmp (mode, "none") == 0) fprintf (fd, "none\n") ;
455 else if (strcasecmp (mode, "rising") == 0) fprintf (fd, "rising\n") ;
456 else if (strcasecmp (mode, "falling") == 0) fprintf (fd, "falling\n") ;
457 else if (strcasecmp (mode, "both") == 0) fprintf (fd, "both\n") ;
460 fprintf (stderr, "%s: Invalid mode: %s. Should be none, rising, falling or both\n", argv [1], mode) ;
464 // Change ownership of the value and edge files, so the current user can actually use it!
466 sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
467 changeOwner (argv [0], fName) ;
469 sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ;
470 changeOwner (argv [0], fName) ;
479 * This uses the /sys/class/gpio device interface.
480 *********************************************************************************
483 void doUnexport (int argc, char *argv [])
490 fprintf (stderr, "Usage: %s unexport pin\n", argv [0]) ;
494 pin = atoi (argv [2]) ;
496 if ((fd = fopen ("/sys/class/gpio/unexport", "w")) == NULL)
498 fprintf (stderr, "%s: Unable to open GPIO export interface\n", argv [0]) ;
502 fprintf (fd, "%d\n", pin) ;
510 * Un-Export all the GPIO pins.
511 * This uses the /sys/class/gpio device interface.
512 *********************************************************************************
515 void doUnexportall (int argc, char *argv [])
520 for (pin = 0 ; pin < 63 ; ++pin)
522 if ((fd = fopen ("/sys/class/gpio/unexport", "w")) == NULL)
524 fprintf (stderr, "%s: Unable to open GPIO export interface\n", argv [0]) ;
527 fprintf (fd, "%d\n", pin) ;
535 * gpio mode pin mode ...
536 *********************************************************************************
539 void doMode (int argc, char *argv [])
546 fprintf (stderr, "Usage: %s mode pin mode\n", argv [0]) ;
550 pin = atoi (argv [2]) ;
552 if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS)))
557 /**/ if (strcasecmp (mode, "in") == 0) pinMode (pin, INPUT) ;
558 else if (strcasecmp (mode, "out") == 0) pinMode (pin, OUTPUT) ;
559 else if (strcasecmp (mode, "pwm") == 0) pinMode (pin, PWM_OUTPUT) ;
560 else if (strcasecmp (mode, "up") == 0) pullUpDnControl (pin, PUD_UP) ;
561 else if (strcasecmp (mode, "down") == 0) pullUpDnControl (pin, PUD_DOWN) ;
562 else if (strcasecmp (mode, "tri") == 0) pullUpDnControl (pin, PUD_OFF) ;
565 fprintf (stderr, "%s: Invalid mode: %s. Should be in/out/pwm/up/down/tri\n", argv [1], mode) ;
573 * gpio drive group value
574 *********************************************************************************
577 static void doPadDrive (int argc, char *argv [])
583 fprintf (stderr, "Usage: %s drive group value\n", argv [0]) ;
587 group = atoi (argv [2]) ;
588 val = atoi (argv [3]) ;
590 if ((group < 0) || (group > 2))
592 fprintf (stderr, "%s: drive group not 0, 1 or 2: %d\n", argv [0], group) ;
596 if ((val < 0) || (val > 7))
598 fprintf (stderr, "%s: drive value not 0-7: %d\n", argv [0], val) ;
602 setPadDrive (group, val) ;
608 * gpio gbw channel value
609 * Gertboard Write - To the Analog output
610 *********************************************************************************
613 static void doGbw (int argc, char *argv [])
619 fprintf (stderr, "Usage: %s gbr <channel> <value>\n", argv [0]) ;
623 channel = atoi (argv [2]) ;
624 value = atoi (argv [3]) ;
626 if ((channel < 0) || (channel > 1))
628 fprintf (stderr, "%s: channel must be 0 or 1\n", argv [0]) ;
632 if ((value < 0) || (value > 1023))
634 fprintf (stderr, "%s: value must be from 0 to 255\n", argv [0]) ;
638 if (gertboardSPISetup () == -1)
640 fprintf (stderr, "Unable to initialise the Gertboard SPI interface: %s\n", strerror (errno)) ;
644 gertboardAnalogWrite (channel, value) ;
651 * From the analog input
652 *********************************************************************************
655 static void doGbr (int argc, char *argv [])
661 fprintf (stderr, "Usage: %s gbr <channel>\n", argv [0]) ;
665 channel = atoi (argv [2]) ;
667 if ((channel < 0) || (channel > 1))
669 fprintf (stderr, "%s: channel must be 0 or 1\n", argv [0]) ;
673 if (gertboardSPISetup () == -1)
675 fprintf (stderr, "Unable to initialise the Gertboard SPI interface: %s\n", strerror (errno)) ;
679 printf ("%d\n",gertboardAnalogRead (channel)) ;
686 * gpio write pin value
687 *********************************************************************************
690 static void doWrite (int argc, char *argv [])
696 fprintf (stderr, "Usage: %s write pin value\n", argv [0]) ;
700 pin = atoi (argv [2]) ;
702 if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS)))
705 /**/ if ((strcasecmp (argv [3], "up") == 0) || (strcasecmp (argv [3], "on") == 0))
707 else if ((strcasecmp (argv [3], "down") == 0) || (strcasecmp (argv [3], "off") == 0))
710 val = atoi (argv [3]) ;
713 digitalWrite (pin, LOW) ;
715 digitalWrite (pin, HIGH) ;
721 *********************************************************************************
724 static void doWriteByte (int argc, char *argv [])
730 fprintf (stderr, "Usage: %s wb value\n", argv [0]) ;
734 val = (int)strtol (argv [2], NULL, 0) ;
736 digitalWriteByte (val) ;
742 * Read a pin and return the value
743 *********************************************************************************
746 void doRead (int argc, char *argv [])
752 fprintf (stderr, "Usage: %s read pin\n", argv [0]) ;
756 pin = atoi (argv [2]) ;
758 if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS)))
764 val = digitalRead (pin) ;
766 printf ("%s\n", val == 0 ? "0" : "1") ;
772 * Output a PWM value on a pin
773 *********************************************************************************
776 void doPwm (int argc, char *argv [])
782 fprintf (stderr, "Usage: %s pwm <pin> <value>\n", argv [0]) ;
786 pin = atoi (argv [2]) ;
788 if ((wpMode == WPI_MODE_PINS) && ((pin < 0) || (pin >= NUM_PINS)))
791 val = atoi (argv [3]) ;
793 pwmWrite (pin, val) ;
798 * doPwmMode: doPwmRange: doPwmClock:
799 * Change the PWM mode, range and clock divider values
800 *********************************************************************************
803 static void doPwmMode (int mode)
808 static void doPwmRange (int argc, char *argv [])
814 fprintf (stderr, "Usage: %s pwmr <range>\n", argv [0]) ;
818 range = (unsigned int)strtoul (argv [2], NULL, 10) ;
822 fprintf (stderr, "%s: range must be > 0\n", argv [0]) ;
826 pwmSetRange (range) ;
829 static void doPwmClock (int argc, char *argv [])
835 fprintf (stderr, "Usage: %s pwmc <clock>\n", argv [0]) ;
839 clock = (unsigned int)strtoul (argv [2], NULL, 10) ;
841 if ((clock < 1) || (clock > 4095))
843 fprintf (stderr, "%s: clock must be between 0 and 4096\n", argv [0]) ;
847 pwmSetClock (clock) ;
854 *********************************************************************************
857 int main (int argc, char *argv [])
861 if (getenv ("WIRINGPI_DEBUG") != NULL)
863 printf ("gpio: wiringPi debug mode enabled\n") ;
864 wiringPiDebug = TRUE ;
869 fprintf (stderr, "%s\n", usage) ;
873 if (strcasecmp (argv [1], "-h") == 0)
875 printf ("%s: %s\n", argv [0], usage) ;
879 if (strcasecmp (argv [1], "-v") == 0)
881 printf ("gpio version: %s\n", VERSION) ;
882 printf ("Copyright (c) 2012 Gordon Henderson\n") ;
883 printf ("This is free software with ABSOLUTELY NO WARRANTY.\n") ;
884 printf ("For details type: %s -warranty\n", argv [0]) ;
886 printf ("This Raspberry Pi is a revision %d board.\n", piBoardRev ()) ;
890 if (strcasecmp (argv [1], "-warranty") == 0)
892 printf ("gpio version: %s\n", VERSION) ;
893 printf ("Copyright (c) 2012 Gordon Henderson\n") ;
895 printf (" This program is free software; you can redistribute it and/or modify\n") ;
896 printf (" it under the terms of the GNU Leser General Public License as published\n") ;
897 printf (" by the Free Software Foundation, either version 3 of the License, or\n") ;
898 printf (" (at your option) any later version.\n") ;
900 printf (" This program is distributed in the hope that it will be useful,\n") ;
901 printf (" but WITHOUT ANY WARRANTY; without even the implied warranty of\n") ;
902 printf (" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n") ;
903 printf (" GNU Lesser General Public License for more details.\n") ;
905 printf (" You should have received a copy of the GNU Lesser General Public License\n") ;
906 printf (" along with this program. If not, see <http://www.gnu.org/licenses/>.\n") ;
913 fprintf (stderr, "%s: Must be root to run. Program should be suid root. This is an error.\n", argv [0]) ;
917 // Initial test for /sys/class/gpio operations:
919 /**/ if (strcasecmp (argv [1], "exports" ) == 0) { doExports (argc, argv) ; return 0 ; }
920 else if (strcasecmp (argv [1], "export" ) == 0) { doExport (argc, argv) ; return 0 ; }
921 else if (strcasecmp (argv [1], "edge" ) == 0) { doEdge (argc, argv) ; return 0 ; }
922 else if (strcasecmp (argv [1], "unexportall") == 0) { doUnexportall (argc, argv) ; return 0 ; }
923 else if (strcasecmp (argv [1], "unexport" ) == 0) { doUnexport (argc, argv) ; return 0 ; }
925 // Check for load command:
927 if (strcasecmp (argv [1], "load" ) == 0) { doLoad (argc, argv) ; return 0 ; }
929 // Gertboard commands
931 if (strcasecmp (argv [1], "gbr" ) == 0) { doGbr (argc, argv) ; return 0 ; }
932 if (strcasecmp (argv [1], "gbw" ) == 0) { doGbw (argc, argv) ; return 0 ; }
934 // Check for -g argument
936 if (strcasecmp (argv [1], "-g") == 0)
938 if (wiringPiSetupGpio () == -1)
940 fprintf (stderr, "%s: Unable to initialise GPIO mode.\n", argv [0]) ;
944 for (i = 2 ; i < argc ; ++i)
945 argv [i - 1] = argv [i] ;
947 wpMode = WPI_MODE_GPIO ;
950 // Check for -p argument for PiFace
952 else if (strcasecmp (argv [1], "-p") == 0)
954 if (wiringPiSetupPiFaceForGpioProg () == -1)
956 fprintf (stderr, "%s: Unable to initialise PiFace.\n", argv [0]) ;
960 for (i = 2 ; i < argc ; ++i)
961 argv [i - 1] = argv [i] ;
963 wpMode = WPI_MODE_PIFACE ;
966 // Default to wiringPi mode
970 if (wiringPiSetup () == -1)
972 fprintf (stderr, "%s: Unable to initialise wiringPi mode\n", argv [0]) ;
975 wpMode = WPI_MODE_PINS ;
978 // Check for PWM or Pad Drive operations
980 if (wpMode != WPI_MODE_PIFACE)
982 if (strcasecmp (argv [1], "pwm-bal") == 0) { doPwmMode (PWM_MODE_BAL) ; return 0 ; }
983 if (strcasecmp (argv [1], "pwm-ms") == 0) { doPwmMode (PWM_MODE_MS) ; return 0 ; }
984 if (strcasecmp (argv [1], "pwmr") == 0) { doPwmRange (argc, argv) ; return 0 ; }
985 if (strcasecmp (argv [1], "pwmc") == 0) { doPwmClock (argc, argv) ; return 0 ; }
986 if (strcasecmp (argv [1], "drive") == 0) { doPadDrive (argc, argv) ; return 0 ; }
989 // Check for wiring commands
991 /**/ if (strcasecmp (argv [1], "readall" ) == 0) doReadall () ;
992 else if (strcasecmp (argv [1], "read" ) == 0) doRead (argc, argv) ;
993 else if (strcasecmp (argv [1], "write") == 0) doWrite (argc, argv) ;
994 else if (strcasecmp (argv [1], "wb") == 0) doWriteByte (argc, argv) ;
995 else if (strcasecmp (argv [1], "pwm" ) == 0) doPwm (argc, argv) ;
996 else if (strcasecmp (argv [1], "mode" ) == 0) doMode (argc, argv) ;
999 fprintf (stderr, "%s: Unknown command: %s.\n", argv [0], argv [1]) ;