The cl-gpio Reference Manual

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The cl-gpio Reference Manual

This is the cl-gpio Reference Manual, version 1.1.0, generated automatically by Declt version 2.3 "Robert April" on Tue Feb 20 08:05:19 2018 GMT+0.


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1 Introduction

About cl-gpio

This is a bindings library for the Linux GPIO kernel module as described on https://www.kernel.org/doc/Documentation/gpio/sysfs.txt. It provides both primitive access and more sophisticated constructs to work with interrupts and such.

How To

Enumerate a list of all available GPIO pins on your system:

(gpio:pins)

You can then access the direction, edge, and active-low of each pin:

(setf (gpio:direction 0) :out)
(gpio:active-low 0)

If you try to read or set a PIN's value, its direction is automatically adjusted as necessary:

(gpio:value 0)
(setf (gpio:value 0) T)

On SBCL you can also wait for values:

(progn (gpio:await-value 0)
       (format T "Whoah, 0's edge is ~a to ~:[0~;1~]" (edge 0) (value 0)))

Or even install handlers:

(defun pin-value-handler (pin value)
  (format T "~& ~a changed value to ~a." pin value))
(gpio:with-pin-handler (#'pin-value-handler 0 :falling)
  (format T "Waiting for a change on 0...")
  (loop (sleep 0.001)))

Naturally you'll have to refer to your particular board/system's specification to be able to tell which pins are supposed to be used for what. For the Raspberry Pi 2/3, it would be:

rpi23-pin-mapping

(Source)


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2 Systems

The main system appears first, followed by any subsystem dependency.


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2.1 cl-gpio

Maintainer

Nicolas Hafner <shinmera@tymoon.eu>

Author

Nicolas Hafner <shinmera@tymoon.eu>

Home Page

https://github.com/Shinmera/cl-gpio

License

Artistic

Description

A library for the Linux GPIO kernel module as used on hobby kits such as the Raspberry Pi

Version

1.1.0

Dependencies
Source

cl-gpio.asd (file)

Components

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3 Files

Files are sorted by type and then listed depth-first from the systems components trees.


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3.1 Lisp


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3.1.1 cl-gpio.asd

Location

cl-gpio.asd

Systems

cl-gpio (system)


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3.1.2 cl-gpio/package.lisp

Parent

cl-gpio (system)

Location

package.lisp

Packages

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3.1.3 cl-gpio/low-level.lisp

Dependency

package.lisp (file)

Parent

cl-gpio (system)

Location

low-level.lisp

Exported Definitions
Internal Definitions

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3.1.4 cl-gpio/wrapper.lisp

Dependency

low-level.lisp (file)

Parent

cl-gpio (system)

Location

wrapper.lisp

Exported Definitions
Internal Definitions

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3.1.5 cl-gpio/documentation.lisp

Dependency

wrapper.lisp (file)

Parent

cl-gpio (system)

Location

documentation.lisp


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4 Packages

Packages are listed by definition order.


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4.1 cl-gpio

Source

package.lisp (file)

Nicknames
Use List

common-lisp

Exported Definitions
Internal Definitions

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4.2 cl-gpio-lli

Source

package.lisp (file)

Nickname

org.shirakumo.gpio.lli

Use List

common-lisp

Exported Definitions
Internal Definitions

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5 Definitions

Definitions are sorted by export status, category, package, and then by lexicographic order.


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5.1 Exported definitions


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5.1.1 Special variables

Special Variable: *gpio-root*

The root directory of the GPIO system devices. Should be /sys/class/gpio/

Package

cl-gpio-lli

Source

low-level.lisp (file)


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5.1.2 Macros

Macro: with-pin-handler (HANDLER PIN &optional EDGE ACTIVE-LOW) &body BODY

Shorthand to call a handler function on PIN value change during the evaluation of BODY.

See CALL-WITH-PIN-HANDLER

Package

cl-gpio

Source

wrapper.lisp (file)


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5.1.3 Compiler macros

Compiler Macro: value PIN
Package

cl-gpio

Source

wrapper.lisp (file)


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5.1.4 Functions

Function: active-low PIN

Accesses the pin’s I/O active-low.

If the pin does not yet exist or is not exported, it will be. The system GPIO’s value is not adjusted if the cached value is already the same as the value attempted to be set with this.

See ENSURE-PIN
See CL-GPIO-LLI:ACTIVE-LOW
See PIN-ACTIVE-LOW

Package

cl-gpio

Source

wrapper.lisp (file)

Writer

(setf active-low) (function)

Function: (setf active-low) ACTIVE-LOW PIN
Package

cl-gpio

Source

wrapper.lisp (file)

Reader

active-low (function)

Function: active-low PIN

Accessor to whether the GPIO pin has an active low.

The value should be either NIL or T.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Writer

(setf active-low) (function)

Function: (setf active-low) VALUE PIN
Package

cl-gpio-lli

Source

low-level.lisp (file)

Reader

active-low (function)

Function: all-pins ()

Returns a list of PIN instances for all pins on the system.

See CL-GPIO-LLI:AVAILABLE-PINS
See ENSURE-PIN

Package

cl-gpio

Source

wrapper.lisp (file)

Function: available-pins ()

Return a list of all available GPIO pins on the system.

Note that the pins are not necessarily accessible; they may need to be exported first.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: await-value PIN &optional TIMEOUT

Wait until the pin has a value that we can read.

If TIMEOUT is specified and reached before a value becomes accessible, NIL is returned. Otherwise, true is returned.

This function is available on the following implementations: * SBCL

See ENSURE-PIN

Package

cl-gpio

Source

wrapper.lisp (file)

Function: base CHIP

Return the GPIO chip’s base pin number.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: call-with-pin-handler FUNCTION HANDLER PIN &optional EDGE ACTIVE-LOW

Make the HANDLER function be called if the PIN changes value during the evaluation of FUNCTION.

The HANDLER is called with the corresponding PIN instance
and the new value as arguments.

This function is available on the following implementations:
* SBCL

See ENSURE-PIN
See EDGE
See ACTIVE-LOW

Package

cl-gpio

Source

wrapper.lisp (file)

Function: chip PIN

Returns the pin’s chip device name.

See PIN-CHIP

Package

cl-gpio

Source

wrapper.lisp (file)

Function: chip-file CHIP SUB

Returns a file for the specified GPIO chip.

See GPIO-FILE

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: chip-pins CHIP

Return a list of GPIO pin numbers on the chip.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: chips ()

Returns a list of known GPIO chips.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: direction PIN

Accesses the pin’s I/O direction.

If the pin does not yet exist or is not exported, it will be. The system GPIO’s value is not adjusted if the cached value is already the same as the value attempted to be set with this.

See ENSURE-PIN
See CL-GPIO-LLI:DIRECTION
See PIN-DIRECTION

Package

cl-gpio

Source

wrapper.lisp (file)

Writer

(setf direction) (function)

Function: (setf direction) DIRECTION PIN
Package

cl-gpio

Source

wrapper.lisp (file)

Reader

direction (function)

Function: direction PIN

Accessor to the GPIO pin’s direction.

The value should be either :IN or :OUT.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Writer

(setf direction) (function)

Function: (setf direction) VALUE PIN
Package

cl-gpio-lli

Source

low-level.lisp (file)

Reader

direction (function)

Function: edge PIN

Accesses the pin’s I/O edge.

If the pin does not yet exist or is not exported, it will be. The system GPIO’s value is not adjusted if the cached value is already the same as the value attempted to be set with this.

See ENSURE-PIN
See CL-GPIO-LLI:EDGE
See PIN-EDGE

Package

cl-gpio

Source

wrapper.lisp (file)

Writer

(setf edge) (function)

Function: (setf edge) EDGE PIN
Package

cl-gpio

Source

wrapper.lisp (file)

Reader

edge (function)

Function: edge PIN

Accessor to the GPIO pin’s interrupt edge.

The value should be one of :NONE :RISING :FALLING :BOTH

Package

cl-gpio-lli

Source

low-level.lisp (file)

Writer

(setf edge) (function)

Function: (setf edge) VALUE PIN
Package

cl-gpio-lli

Source

low-level.lisp (file)

Reader

edge (function)

Function: ensure-pin PIN &optional REFRESH

Ensure to get a PIN instance in return.

Accepts either a pin’s name/id number or a pin instance. If REFRESH is true, a fresh PIN instance is returned that has its values taken from the system’s GPIO values.

See *PIN-CACHE*
See MAKE-PIN
See PIN

Package

cl-gpio

Source

wrapper.lisp (file)

Function: export &rest PINS

Export the specified pins and return a list of according PIN instances.

See ENSURE-PIN
See CL-GPIO-LLI:EXPORT-PIN

Package

cl-gpio

Source

wrapper.lisp (file)

Function: export-pin &rest PINS

Export the specified pins so that they may be accessed from userspace.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: exported-pins ()

Returns a list of GPIO pins that are accessible.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: gpio-file SUB

Returns an absolute path to the requested gpio file.

See *GPIO-ROOT*

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: label CHIP

Return the GPIO chip’s label.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: name PIN

Returns the pin’s name or ID.

See PIN-NAME

Package

cl-gpio

Source

wrapper.lisp (file)

Function: ngpio CHIP

Return the number of GPIO pins on the chip.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: pin-file PIN SUB

Returns a file for the specified GPIO pin.

See GPIO-FILE

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: pins ()

Returns a list of available/exported PIN instances.

See CL-GPIO-LLI:EXPORTED-PINS
See ENSURE-PIN

Package

cl-gpio

Source

wrapper.lisp (file)

Function: unexport &rest PINS

Unexport the specified pins and invalidate their cache.

See *PIN-CACHE*
See CL-GPIO-LLI:UNEXPORT-PIN

Package

cl-gpio

Source

wrapper.lisp (file)

Function: unexport-pin &rest PINS

Unexport the specified pins so that they can no longer be accessed from userspace.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: value PIN

Accesses the pin’s I/O value.

If the pin does not yet exist or is not exported, it will be. The pin’s I/O direction is automatically adjusted if necessary depending on whether the value is read or set by setf.
The value returned by this is never cached.

See ENSURE-PIN
See CL-GPIO-LLI:VALUE

Package

cl-gpio

Source

wrapper.lisp (file)

Writer

(setf value) (function)

Function: (setf value) VALUE PIN
Package

cl-gpio

Source

wrapper.lisp (file)

Reader

value (function)

Function: value PIN

Accessor to the GPIO pin’s value.

When reading, the pin’s direction should be :IN When setting, the pin’s direction should be :OUT

The value should be either NIL or T.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Writer

(setf value) (function)

Function: (setf value) VALUE PIN
Package

cl-gpio-lli

Source

low-level.lisp (file)

Reader

value (function)


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5.1.5 Structures

Structure: pin ()

Representative type to encapsulate a GPIO pin.

This will cache current pin properties. Note that it will not be updated automatically should changes to the pin occur from elsewhere in the system. Only updates done through this high-level interface will be tracked.

See MAKE-PIN
See ENSURE-PIN
See NAME
See CHIP
See DIRECTION
See EDGE
See ACTIVE-LOW
See VALUE

Package

cl-gpio

Source

wrapper.lisp (file)

Direct superclasses

structure-object (structure)

Direct methods

print-object (method)

Direct slots
Slot: name
Type

integer

Initform

-1

Readers

pin-name (function)

Writers

(setf pin-name) (function)

Slot: chip
Type

string

Initform

""

Readers

pin-chip (function)

Writers

(setf pin-chip) (function)

Slot: direction
Type

(member :in :out)

Initform

:in

Readers

pin-direction (function)

Writers

(setf pin-direction) (function)

Slot: edge
Type

(member :none :rising :falling :both)

Initform

:none

Readers

pin-edge (function)

Writers

(setf pin-edge) (function)

Slot: active-low
Type

boolean

Readers

pin-active-low (function)

Writers

(setf pin-active-low) (function)


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5.2 Internal definitions


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5.2.1 Special variables

Special Variable: *pin-cache*

Hash table to store cached PIN instances.

See PIN
See ENSURE-PIN

Package

cl-gpio

Source

wrapper.lisp (file)


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5.2.2 Macros

Macro: define-pin-accessor NAME FILE &rest VALUES

Wrapper to define an accessor function for a GPIO pin property.

Package

cl-gpio-lli

Source

low-level.lisp (file)


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5.2.3 Compiler macros

Compiler Macro: write-to-file STRING FILE
Package

cl-gpio-lli

Source

low-level.lisp (file)


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5.2.4 Functions

Function: %make-pin &key (NAME NAME) (CHIP CHIP) (DIRECTION DIRECTION) (EDGE EDGE) (ACTIVE-LOW ACTIVE-LOW)

Direct constructor to make a PIN instance.

See PIN
See MAKE-PIN

Package

cl-gpio

Source

wrapper.lisp (file)

Function: %write-to-file SEQUENCE LENGTH FILE
Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: cclose STREAM
Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: copen FILENAME MODE
Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: copy-pin INSTANCE
Package

cl-gpio

Source

wrapper.lisp (file)

Function: cread STREAM BUFFER LENGTH
Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: cwrite STREAM BUFFER LENGTH
Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: directory-name PATHNAME

Returns the name of the topmost directory, if any.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: getc STREAM
Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: make-pin PIN

Construct a new PIN instance.

If the pin has not been exported yet, it will be. If the pin does not exist, an error is signalled. The GPIO pin’s current properties are read out and stored into the respective slots of the pin instance.

See CL-GPIO-LLI:LABEL
See CL-GPIO-LLI:DIRECTION
See CL-GPIO-LLI:EDGE
See CL-GPIO-LLI:ACTIVE-LOW

Package

cl-gpio

Source

wrapper.lisp (file)

Function: pin-active-low INSTANCE

Direct accessor to the pin’s active-low.

Value must be a boolean.

See PIN
See ACTIVE-LOW

Package

cl-gpio

Source

wrapper.lisp (file)

Writer

(setf pin-active-low) (function)

Function: (setf pin-active-low) VALUE INSTANCE
Package

cl-gpio

Source

wrapper.lisp (file)

Reader

pin-active-low (function)

Function: pin-chip INSTANCE

Direct reader for the pin’s chip (or its label).

Value must be a string.

See PIN
See CHIP

Package

cl-gpio

Source

wrapper.lisp (file)

Function: pin-direction INSTANCE

Direct accessor to the pin’s I/O direction.

Value must be one of :IN :OUT

See PIN
See DIRECTION

Package

cl-gpio

Source

wrapper.lisp (file)

Writer

(setf pin-direction) (function)

Function: (setf pin-direction) VALUE INSTANCE
Package

cl-gpio

Source

wrapper.lisp (file)

Reader

pin-direction (function)

Function: pin-edge INSTANCE

Direct accessor to the pin’s edge.

Value must be one of :NONE :RISING :FALLING :BOTH

See PIN
See EDGE

Package

cl-gpio

Source

wrapper.lisp (file)

Writer

(setf pin-edge) (function)

Function: (setf pin-edge) VALUE INSTANCE
Package

cl-gpio

Source

wrapper.lisp (file)

Reader

pin-edge (function)

Function: pin-name INSTANCE

Direct reader for the pin’s ID or name.

Value must be an integer.

See PIN
See NAME

Package

cl-gpio

Source

wrapper.lisp (file)

Function: pin-p OBJECT
Package

cl-gpio

Source

wrapper.lisp (file)

Function: pin-value PIN
Function: (setf pin-value) VALUE PIN
Package

cl-gpio

Source

wrapper.lisp (file)

Function: read-byte-from-file FILE
Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: read-from-file FILE

Read the file into a string, trimmed from whitespace.

Package

cl-gpio-lli

Source

low-level.lisp (file)

Function: write-to-file STRING FILE

Write the sequence to the specified file.

Package

cl-gpio-lli

Source

low-level.lisp (file)


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Appendix A Indexes


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A.1 Concepts

Jump to:   C   F   L  
Index Entry  Section

C
cl-gpio.asd: The cl-gpio<dot>asd file
cl-gpio/documentation.lisp: The cl-gpio/documentation<dot>lisp file
cl-gpio/low-level.lisp: The cl-gpio/low-level<dot>lisp file
cl-gpio/package.lisp: The cl-gpio/package<dot>lisp file
cl-gpio/wrapper.lisp: The cl-gpio/wrapper<dot>lisp file

F
File, Lisp, cl-gpio.asd: The cl-gpio<dot>asd file
File, Lisp, cl-gpio/documentation.lisp: The cl-gpio/documentation<dot>lisp file
File, Lisp, cl-gpio/low-level.lisp: The cl-gpio/low-level<dot>lisp file
File, Lisp, cl-gpio/package.lisp: The cl-gpio/package<dot>lisp file
File, Lisp, cl-gpio/wrapper.lisp: The cl-gpio/wrapper<dot>lisp file

L
Lisp File, cl-gpio.asd: The cl-gpio<dot>asd file
Lisp File, cl-gpio/documentation.lisp: The cl-gpio/documentation<dot>lisp file
Lisp File, cl-gpio/low-level.lisp: The cl-gpio/low-level<dot>lisp file
Lisp File, cl-gpio/package.lisp: The cl-gpio/package<dot>lisp file
Lisp File, cl-gpio/wrapper.lisp: The cl-gpio/wrapper<dot>lisp file

Jump to:   C   F   L  

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A.2 Functions

Jump to:   %   (  
A   B   C   D   E   F   G   L   M   N   P   R   U   V   W  
Index Entry  Section

%
%make-pin: Internal functions
%write-to-file: Internal functions

(
(setf active-low): Exported functions
(setf active-low): Exported functions
(setf direction): Exported functions
(setf direction): Exported functions
(setf edge): Exported functions
(setf edge): Exported functions
(setf pin-active-low): Internal functions
(setf pin-direction): Internal functions
(setf pin-edge): Internal functions
(setf pin-value): Internal functions
(setf value): Exported functions
(setf value): Exported functions

A
active-low: Exported functions
active-low: Exported functions
all-pins: Exported functions
available-pins: Exported functions
await-value: Exported functions

B
base: Exported functions

C
call-with-pin-handler: Exported functions
cclose: Internal functions
chip: Exported functions
chip-file: Exported functions
chip-pins: Exported functions
chips: Exported functions
Compiler Macro, value: Exported compiler macros
Compiler Macro, write-to-file: Internal compiler macros
copen: Internal functions
copy-pin: Internal functions
cread: Internal functions
cwrite: Internal functions

D
define-pin-accessor: Internal macros
direction: Exported functions
direction: Exported functions
directory-name: Internal functions

E
edge: Exported functions
edge: Exported functions
ensure-pin: Exported functions
export: Exported functions
export-pin: Exported functions
exported-pins: Exported functions

F
Function, %make-pin: Internal functions
Function, %write-to-file: Internal functions
Function, (setf active-low): Exported functions
Function, (setf active-low): Exported functions
Function, (setf direction): Exported functions
Function, (setf direction): Exported functions
Function, (setf edge): Exported functions
Function, (setf edge): Exported functions
Function, (setf pin-active-low): Internal functions
Function, (setf pin-direction): Internal functions
Function, (setf pin-edge): Internal functions
Function, (setf pin-value): Internal functions
Function, (setf value): Exported functions
Function, (setf value): Exported functions
Function, active-low: Exported functions
Function, active-low: Exported functions
Function, all-pins: Exported functions
Function, available-pins: Exported functions
Function, await-value: Exported functions
Function, base: Exported functions
Function, call-with-pin-handler: Exported functions
Function, cclose: Internal functions
Function, chip: Exported functions
Function, chip-file: Exported functions
Function, chip-pins: Exported functions
Function, chips: Exported functions
Function, copen: Internal functions
Function, copy-pin: Internal functions
Function, cread: Internal functions
Function, cwrite: Internal functions
Function, direction: Exported functions
Function, direction: Exported functions
Function, directory-name: Internal functions
Function, edge: Exported functions
Function, edge: Exported functions
Function, ensure-pin: Exported functions
Function, export: Exported functions
Function, export-pin: Exported functions
Function, exported-pins: Exported functions
Function, getc: Internal functions
Function, gpio-file: Exported functions
Function, label: Exported functions
Function, make-pin: Internal functions
Function, name: Exported functions
Function, ngpio: Exported functions
Function, pin-active-low: Internal functions
Function, pin-chip: Internal functions
Function, pin-direction: Internal functions
Function, pin-edge: Internal functions
Function, pin-file: Exported functions
Function, pin-name: Internal functions
Function, pin-p: Internal functions
Function, pin-value: Internal functions
Function, pins: Exported functions
Function, read-byte-from-file: Internal functions
Function, read-from-file: Internal functions
Function, unexport: Exported functions
Function, unexport-pin: Exported functions
Function, value: Exported functions
Function, value: Exported functions
Function, write-to-file: Internal functions

G
getc: Internal functions
gpio-file: Exported functions

L
label: Exported functions

M
Macro, define-pin-accessor: Internal macros
Macro, with-pin-handler: Exported macros
make-pin: Internal functions

N
name: Exported functions
ngpio: Exported functions

P
pin-active-low: Internal functions
pin-chip: Internal functions
pin-direction: Internal functions
pin-edge: Internal functions
pin-file: Exported functions
pin-name: Internal functions
pin-p: Internal functions
pin-value: Internal functions
pins: Exported functions

R
read-byte-from-file: Internal functions
read-from-file: Internal functions

U
unexport: Exported functions
unexport-pin: Exported functions

V
value: Exported compiler macros
value: Exported functions
value: Exported functions

W
with-pin-handler: Exported macros
write-to-file: Internal compiler macros
write-to-file: Internal functions

Jump to:   %   (  
A   B   C   D   E   F   G   L   M   N   P   R   U   V   W  

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A.3 Variables

Jump to:   *  
A   C   D   E   N   S  
Index Entry  Section

*
*gpio-root*: Exported special variables
*pin-cache*: Internal special variables

A
active-low: Exported structures

C
chip: Exported structures

D
direction: Exported structures

E
edge: Exported structures

N
name: Exported structures

S
Slot, active-low: Exported structures
Slot, chip: Exported structures
Slot, direction: Exported structures
Slot, edge: Exported structures
Slot, name: Exported structures
Special Variable, *gpio-root*: Exported special variables
Special Variable, *pin-cache*: Internal special variables

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A.4 Data types

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Index Entry  Section

C
cl-gpio: The cl-gpio system
cl-gpio: The cl-gpio package
cl-gpio-lli: The cl-gpio-lli package

P
Package, cl-gpio: The cl-gpio package
Package, cl-gpio-lli: The cl-gpio-lli package
pin: Exported structures

S
Structure, pin: Exported structures
System, cl-gpio: The cl-gpio system

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