WiringPi comes with a separate program to help manage the on-board GPIO interface as well as additional modules such as the PiFace and other devices like the Gertboard as well as generic GPIO expander type devices.
This program, called gpio, can also be used in scripts to manipulate the GPIO pins – set outputs and read inputs. It’s even possible to write entire programs just using the gpio command in a shell-script, although it’s not terribly efficient doing it that way… Another way to call it is using the system() function in C/C++ or it’s equivalent in other programming languages.
- The gpio command is designed to be installed as a setuid program and called by a normal user without using the sudo command or logging in as root.
In addition to using the gpio utility to control, read and write the GPIO pins, you can:
- Export/Unexport pins via the /sys/class/gpio interface, where they will then be available to user programs (that then do not need to be run as root or with sudo)
- Export pins to enable edge-triggered interrupts via the /sys/class/gpio interface.
- Load SPI and I2C modules and set /dev/ permissions to enable read/write by the user running the gpio program.
- Run the i2cdetect program with appropriate flags for your Raspberry Pi board revision.
- Set the SPI buffer size and I2C baud rate (when loading the modules)
- Determine your Raspberry Pi board hardware revision.
See the man page for the gpio program to see what all the features are by typing
at the command prompt.
From the Linux command line:
- gpio -v
This prints the version.
- gpio -g …
The optional -g flag causes pin numbers to be interpreted as BCM_GPIO pin numbers rather than standard wiringPi pin numbers.
- gpio -1 …
The optional -1 flag causes pin numbers to be interpreted as hardware pin numbers – this works for the P1 connector only.
- gpio -p …
The optional -p flag causes the gpio program to assume there is a PiFace board fitted to the Rasberry Pi and subsequent commands are interpreted as pins on the PiFace. Note: Pins on the PiFace are 200 through 207 for both reading and writing, with pins 208 through 215 reading the state of the output latch register (ie. you can read the state of the output pins)
- gpio -x …
The optional -x flag causes the gpio program to initialise an additional expansion module. Expansion modules are defined with their name (e.g. mcp23s17), and a set of parameters separated by colons. The first parameter is always the base pin number for this expansion module. See the documentation for each module type to determine the additional parameter values and functions.
Standard input and output commands
- gpio mode <pin> in/out/pwm/clock/up/down/tri
This sets the mode of a pin to be input, output, pwm or clock mode, and additionally can set the internal pull-up/down resistors to pull-up, pull-down or none.
- gpio write <pin> 0/1
This sets an output pin to high (1) or low (0)
- gpio pwm <pin> <value>
Set the pin to a PWM value (0-1023 is supported)
- gpio read <pin>
Reads and prints the logic value of the given pin. It will print 0 (low) or 1 (high).
- gpio awrite <pin> <value>
This performs an analog read from the given pin. The Pi has no on-board analog hardware so you need to specify an external module using the -x flag.
- gpio aread <pin>
This read the analog value on the given pin. The has no on-board analog hardware so you need to specify an external module using the -x flag.
- gpio readall
This reads all the normally accessible pins and prints a table of their numbers (wiringPi, BCM_GPIO and physical pin numbers), so makes for a handy cross-reference chart), along with their modes and current values.
- gpio wfi <pin> rising/falling/both
This causes GPIO to perform a non-busy wait on a single GPIO pin until it changes state to that indicated.
Kernel module Load Commands
- gpio load spi [buffer size in KB]
This loads the SPI kernel modules and optionally sets the internal buffer to the given size in KB (multiples of 1024). The default is 4KB and is usually more than enough for most application which only exchange a byte or 2 at a time over the SPI bus.
The /dev/spi* entries are set to be owned by the person using the gpio program, so there is no need to run subsequent programs as root (unless they use other wiringPi functions)
- gpio load i2c [baud rate in Kb/sec]
This loads the I2C kernel modules and optionally sets the baud rate to the given speed in Kb/sec (multiples of 1000). The default is 100Kb/sec.
The /dev/I2c* entries are set to be owned by the person using the gpio program, so there is no need to run subsequent programs as root (unless they use other wiringPi functions)
- gpio i2cdetect
This runs the i2cdetect command, but passes in the correct parameters for the I2C bus for the Pi’s hardware revision. ie. it runs i2cdetect -y 0 on a Rev. 1 Pi, and i2cdetect -y 1 on a Rev. 2 Pi. (You can shorten i2cdetect to i2cd)
/sys/class/gpio mode commands
- gpio export <pin> in/out
This exports the given pin (BCM-GPIO pin number) as an input or output and makes it available for a user program running as the same user to use.
- gpio unexport <pin>
Removes the export of the given pin.
- gpio unexportall
Removes all /sys/class/gpio exports.
- gpio exports
This prints a list of all gpio pins which have been exported via the /sys/class/gpio interface and their modes.
- gpio edge <pin> rising/falling/both/none
This enables the given pin for edge interrupt triggering on the rising, falling or both edges. (Or none which disables it)
Note: The pin numbers in the sys mode are always BCM-GPIO pin numbers.
gpio mode 0 out gpio write 0 1
The above uses the wiringPi pin numbers to set pin 0 as an output and then sets the pin to a logic 1.
gpio -g mode 17 out gpio -g write 17 1
This uses the BCM_GPIO pin numbering scheme and performs the same operation as above.
gpio -1 mode 11 out gpio -1 write 11 1
This uses the physical P1 pin numbering scheme and performs the same operation as above.
Internal pull up/down resistors
The GPIO lines have internal pull up or pull-down resistors which can be controlled via software when a pin is in input mode.
gpio mode 0 up gpio mode 0 down gpio mode 0 tri
These set the resistors to pull-up, pull-down and none respectively on wiringPi pin 0.