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on the Raspberry Pi Zero, 1, 2, 3 or 4.\n\npigpio supports Node.js versions 10, 12, 14, 15 and 16.\n\n## Contents\n\n * [Features](#features)\n * [Installation](#installation)\n * [Usage](#usage)\n   * [Pulse an LED with PWM](#pulse-an-led-with-pwm)\n   * [Buttons and Interrupt Handling](#buttons-and-interrupt-handling)\n   * [Servo Control](#servo-control)\n   * [Measure Distance with a HC-SR04 Ultrasonic Sensor](#measure-distance-with-a-hc-sr04-ultrasonic-sensor)\n   * [Determine the Width of a Pulse with Alerts](#determine-the-width-of-a-pulse-with-alerts)\n   * [Debounce a Button](#debounce-a-button)\n   * [Generate a waveform](#generate-a-waveform)\n   * [Sending a wavechain](#sending-a-wavechain)\n * [API Documentation](#api-documentation)\n * [Limitations](#limitations)\n * [Troubleshooting](#troubleshooting)\n * [Related Packages](#related-packages)\n\n## Features\n\n * Digital IO\n   * Up to 3.5 million digital reads per second <sup>*)</sup>\n   * Up to 2.5 million digital writes per second <sup>*)</sup>\n * PWM on any of GPIOs 0 through 31\n   * Multiple frequencies and duty cycle ranges supported\n * Servo control on any of GPIOs 0 through 31\n   * Jitter free\n * Alerts when any of GPIOs 0 through 31 change state\n   * The time of the state change is available accurate to a few microseconds\n * Notification streams for monitoring state changes on any of GPIOs 0 through 31 concurrently\n   * The time of the state changes are available accurate to a few microseconds\n * Low latency interrupt handlers\n   * Handle up to 20000 interrupts per second <sup>*)</sup>\n * Read or write up to 32 GPIOs as one operation with banked GPIO\n * Trigger pulse generation\n * Pull up/down resistor configuration\n * Waveforms to generate GPIO level changes (time accurate to a few µs)\n\n*) On a Raspberry Pi 4 Model B running Raspberry Pi OS 2021-03-04 (Buster\n10.8) with pigpio v3.3.1, Node.js v16.0.0 and V79 of the pigpio C library.\n\n## Installation\n\n#### Step 1 - Install the pigpio C library\n\nThe [pigpio C library](https://github.com/joan2937/pigpio) is a prerequisite\nfor the pigpio Node.js module.\n\nRun the following command to determine which version of the pigpio C library\nis installed:\n\n```\npigpiod -v\n```\n\nFor the Raspberry Pi Zero, 1, 2 and 3 V41 or higher of the pigpio C library is\nrequired. For the Raspberry Pi 4 V69 or higher is required.\n\nIf the pigpio C library is not installed or if the installed version is too\nold, the latest version can be installed with the following commands:\n\n```\nsudo apt-get update\nsudo apt-get install pigpio\n```\n\nAlternative installation instructions for the pigpio C library can be found\n[here](http://abyz.me.uk/rpi/pigpio/download.html).\n\n**Warning:** The pigpio C library contains a number of utilities. One of these\nutilities is pigpiod which launches the pigpio C library as a daemon. This\nutility should not be used as the pigpio Node.js package uses the C library\ndirectly.\n\n#### Step 2 - Install the pigpio Node.js package\n\n```\nnpm install pigpio\n```\n\n## Usage\n\nAssume there's an LED connected to GPIO17 (pin 11) and a momentary push button\nconnected to GPIO4 (pin 7).\n\n<img src=\"https://raw.githubusercontent.com/fivdi/pigpio/master/example/led-button.png\">\n\n#### Pulse an LED with PWM\n\nUse PWM to pulse the LED connected to GPIO17 from fully off to fully on\ncontinuously.\n\n```js\nconst Gpio = require('pigpio').Gpio;\n\nconst led = new Gpio(17, {mode: Gpio.OUTPUT});\n\nlet dutyCycle = 0;\n\nsetInterval(() => {\n  led.pwmWrite(dutyCycle);\n\n  dutyCycle += 5;\n  if (dutyCycle > 255) {\n    dutyCycle = 0;\n  }\n}, 20);\n```\n\n#### Buttons and Interrupt Handling\n\nTurn the LED connected to GPIO17 on when the momentary push button connected to\nGPIO4 is pressed. Turn the LED off when the button is released.\n\n```js\nconst Gpio = require('pigpio').Gpio;\n\nconst led = new Gpio(17, {mode: Gpio.OUTPUT});\nconst button = new Gpio(4, {\n  mode: Gpio.INPUT,\n  pullUpDown: Gpio.PUD_DOWN,\n  edge: Gpio.EITHER_EDGE\n});\n\nbutton.on('interrupt', (level) => {\n  led.digitalWrite(level);\n});\n```\n\n#### Servo Control\n\nContinuously move a servo connected to GPIO10 clockwise and anti-clockwise.\n\n<img src=\"https://raw.githubusercontent.com/fivdi/pigpio/master/example/servo.png\">\n\n```js\nconst Gpio = require('pigpio').Gpio;\n\nconst motor = new Gpio(10, {mode: Gpio.OUTPUT});\n\nlet pulseWidth = 1000;\nlet increment = 100;\n\nsetInterval(() => {\n  motor.servoWrite(pulseWidth);\n\n  pulseWidth += increment;\n  if (pulseWidth >= 2000) {\n    increment = -100;\n  } else if (pulseWidth <= 1000) {\n    increment = 100;\n  }\n}, 1000);\n```\n\n#### Measure Distance with a HC-SR04 Ultrasonic Sensor\n\nThe `trigger` function can be used to generate a pulse on a GPIO and alerts can\nbe used to determine the time of a GPIO state change accurate to a few\nmicroseconds. These two features can be combined to measure distance using a\nHC-SR04 ultrasonic sensor.\n\n<img src=\"https://raw.githubusercontent.com/fivdi/pigpio/master/example/distance-hc-sr04.png\">\n\n```js\nconst Gpio = require('pigpio').Gpio;\n\n// The number of microseconds it takes sound to travel 1cm at 20 degrees celcius\nconst MICROSECDONDS_PER_CM = 1e6/34321;\n\nconst trigger = new Gpio(23, {mode: Gpio.OUTPUT});\nconst echo = new Gpio(24, {mode: Gpio.INPUT, alert: true});\n\ntrigger.digitalWrite(0); // Make sure trigger is low\n\nconst watchHCSR04 = () => {\n  let startTick;\n\n  echo.on('alert', (level, tick) => {\n    if (level == 1) {\n      startTick = tick;\n    } else {\n      const endTick = tick;\n      const diff = (endTick >> 0) - (startTick >> 0); // Unsigned 32 bit arithmetic\n      console.log(diff / 2 / MICROSECDONDS_PER_CM);\n    }\n  });\n};\n\nwatchHCSR04();\n\n// Trigger a distance measurement once per second\nsetInterval(() => {\n  trigger.trigger(10, 1); // Set trigger high for 10 microseconds\n}, 1000);\n```\n\n#### Determine the Width of a Pulse with Alerts\n\nAlerts can be used to determine the time of a GPIO state change accurate to a\nfew microseconds. Typically, alerts will be used for GPIO inputs but they can\nalso be used for outputs. In this example, the `trigger` method is used to\npulse the LED connected to GPIO17 on for 15 microseconds once per second.\nAlerts are used to measure the length of the pulse.\n\n```js\n// Assumption: the LED is off when the program is started\n\nconst Gpio = require('pigpio').Gpio;\n\nconst led = new Gpio(17, {\n  mode: Gpio.OUTPUT,\n  alert: true\n});\n\nconst watchLed = () => {\n  let startTick;\n\n  // Use alerts to determine how long the LED was turned on\n  led.on('alert', (level, tick) => {\n    if (level == 1) {\n      startTick = tick;\n    } else {\n      const endTick = tick;\n      const diff = (endTick >> 0) - (startTick >> 0); // Unsigned 32 bit arithmetic\n      console.log(diff);\n    }\n  });\n};\n\nwatchLed();\n\n// Turn the LED on for 15 microseconds once per second\nsetInterval(() => {\n  led.trigger(15, 1);\n}, 1000);\n```\n\nHere's an example of the typical output to the console:\n\n```\n15\n15\n15\n15\n15\n15\n20\n15\n15\n15\n15\n```\n\n#### Debounce a Button\nThe GPIO glitch filter will prevent alert events from being emitted if the\ncorresponding level change is not stable for at least a specified number of\nmicroseconds. This can be used to filter out unwanted noise from an input\nsignal. In this example, a glitch filter is applied to filter out the contact\nbounce of a push button.\n\n![Button debounce circuit](example/button-debounce.png)\n\n```js\nconst Gpio = require('pigpio').Gpio;\n\nconst button = new Gpio(23, {\n  mode: Gpio.INPUT,\n  pullUpDown: Gpio.PUD_UP,\n  alert: true\n});\n\nlet count = 0;\n\n// Level must be stable for 10 ms before an alert event is emitted.\nbutton.glitchFilter(10000);\n\nbutton.on('alert', (level, tick) => {\n  if (level === 0) {\n    console.log(++count);\n  }\n});\n```\n\n#### Generate a waveform\n\nWaveforms can be used to time and execute Gpio level changes with an accuracy up to 1 microsecond. The following example generates a waveform that starts with a 1µs pulse, then has a 2µs pause, followed by a 3µs pulse and so on.\nThe waveform definition is a simple Array where each entry is an object with the properties gpioOn, gpioOff and usDelay.\n\nThe basic workflow to generate and execute waveforms is as follows:\n\nFirst, we usually clear previous wave entries with the `waveClear` method.\nThen we can add pulses with the `waveAddGeneric` method to the cleared waveform.\nWe then create a waveId by calling the `waveCreate` method.\nTo execute the waveform, we call the `waveTxSend` method.\nOnce the wave is sent, we can delete the wave by calling the `waveDelete` method.\n\n```js\nconst pigpio = require('pigpio');\nconst Gpio = pigpio.Gpio;\n\nconst outPin = 17;\n\nconst output = new Gpio(outPin, {mode: Gpio.OUTPUT});\n\noutput.digitalWrite(0);\npigpio.waveClear();\n\nlet waveform = [];\n\nfor (let x = 0; x < 20; x++) {\n  if (x % 2 === 1) {\n    waveform.push({ gpioOn: outPin, gpioOff: 0, usDelay: x + 1 });\n  } else {\n    waveform.push({ gpioOn: 0, gpioOff: outPin, usDelay: x + 1 });\n  }\n}\n\npigpio.waveAddGeneric(waveform);\n\nlet waveId = pigpio.waveCreate();\n\nif (waveId >= 0) {\n  pigpio.waveTxSend(waveId, pigpio.WAVE_MODE_ONE_SHOT);\n}\n\nwhile (pigpio.waveTxBusy()) {}\n\npigpio.waveDelete(waveId);\n```\n#### Sending a wavechain\n\nThe `waveChain` method allows you to chain multiple waveforms together.\nA chain is basically just an array with several waveId's. However you can insert different modifiers as described [here](https://github.com/fivdi/pigpio/blob/master/doc/global.md#wavechainchain).\n\nIn the example the `chain` consists of two waves. The first waveform is transmitted normally, then the second waveform is repeated 3 times.\n```js\nconst pigpio = require('pigpio');\nconst Gpio = pigpio.Gpio;\n\nconst outPin = 17;\nconst output = new Gpio(outPin, {mode: Gpio.OUTPUT});\n\noutput.digitalWrite(0);\npigpio.waveClear();\n\nlet firstWaveForm = [];\nlet secondWaveForm = [];\n\nfor (let x = 0; x < 10; x++) {\n  if (x % 2 === 0) {\n    firstWaveForm.push({ gpioOn: outPin, gpioOff: 0, usDelay: 10 });\n  } else {\n    firstWaveForm.push({ gpioOn: 0, gpioOff: outPin, usDelay: 10 });\n  }\n}\n\npigpio.waveAddGeneric(firstWaveForm);\nlet firstWaveId = pigpio.waveCreate();\n\nfor (let x = 0; x < 10; x++) {\n  if (x % 2 === 0) {\n    secondWaveForm.push({ gpioOn: outPin, gpioOff: 0, usDelay: 20 });\n  } else {\n    secondWaveForm.push({ gpioOn: 0, gpioOff: outPin, usDelay: 20 });\n  }\n}\n\npigpio.waveAddGeneric(secondWaveForm);\nlet secondWaveId = pigpio.waveCreate();\n\nif (firstWaveId >= 0 && secondWaveId >= 0) {\n  let chain = [firstWaveId, 255, 0, secondWaveId, 255, 1, 3, 0];\n  pigpio.waveChain(chain);\n}\n\nwhile (pigpio.waveTxBusy()) {}\n\npigpio.waveDelete(firstWaveId);\npigpio.waveDelete(secondWaveId);\n```\n\n## API Documentation\n\n### Classes\n\n- [Gpio](https://github.com/fivdi/pigpio/blob/master/doc/gpio.md) - General Purpose Input Output\n- [GpioBank](https://github.com/fivdi/pigpio/blob/master/doc/gpiobank.md) - Banked General Purpose Input Output\n- [Notifier](https://github.com/fivdi/pigpio/blob/master/doc/notifier.md) - Notification Stream\n\n### pigpio Module\n\n- [Global](https://github.com/fivdi/pigpio/blob/master/doc/global.md) - Module Globals\n\n### Configuring pigpio\n\n- [Configuration](https://github.com/fivdi/pigpio/blob/master/doc/configuration.md) - pigpio configuration\n\n## Limitations\n\n * The pigpio Node.js package is a wrapper for the\n   [pigpio C library](https://github.com/joan2937/pigpio). A limitation of the\n   pigpio C library is that it can only be used by a single running process.\n * The pigpio C library and therefore the pigpio Node.js package requires\n   root/sudo privileges to access hardware peripherals.\n   \n## Troubleshooting\nIf you have a problem with the library, before you remove it from your code and start trying something else, please check the [troubleshooting page](https://github.com/fivdi/pigpio/blob/master/doc/troubleshooting.md) first. Some problems are solvable and documented.\n\n## Related Packages\n\nHere are a few links to other hardware specific Node.js packages that may be of interest.\n\n- [onoff](https://github.com/fivdi/onoff) - GPIO access and interrupt detection\n- [i2c-bus](https://github.com/fivdi/i2c-bus) - I2C serial bus access\n- [spi-device](https://github.com/fivdi/spi-device) - SPI serial bus access\n- [mcp-spi-adc](https://github.com/fivdi/mcp-spi-adc) - Analog to digital conversion with the MCP3002/4/8, MCP3202/4/8 and MCP3304\n- [pigpio-dht](https://github.com/depuits/pigpio-dht) - Implements logic to read DHT11 or DHT22/AM2302 temperature and relative humidity sensor\n- [pigpio-mock](https://github.com/deepsyx/pigpio-mock) - A pigpio mock library for development on your local machine\n\n","maintainers":[{"name":"fivdi","email":"bdscooke@gmail.com"}],"time":{"modified":"2022-06-23T23:14:46.165Z","created":"2015-10-13T22:00:45.441Z","0.0.0":"2015-10-13T22:00:45.441Z","0.0.1":"2015-10-31T20:53:16.166Z","0.0.2":"2015-11-01T17:01:45.846Z","0.0.3":"2015-11-01T22:00:57.168Z","0.0.4":"2015-11-02T15:02:48.419Z","0.0.5":"2015-11-03T12:22:05.608Z","0.0.7":"2015-11-03T19:41:24.587Z","0.0.8":"2015-11-08T07:37:30.172Z","0.1.0":"2015-11-28T07:31:01.758Z","0.1.1":"2015-11-28T07:43:20.196Z","0.1.2":"2015-12-05T07:34:04.346Z","0.1.3":"2015-12-05T10:02:29.716Z","0.2.0":"2015-12-13T11:04:55.410Z","0.3.0":"2016-02-14T10:41:28.630Z","0.3.1":"2016-02-21T10:14:06.576Z","0.3.2":"2016-02-21T19:12:25.206Z","0.3.3":"2016-05-03T22:05:00.727Z","0.3.4":"2016-05-15T17:24:47.648Z","0.4.0":"2016-09-25T09:59:02.389Z","0.5.1":"2017-04-13T20:14:09.789Z","0.6.0":"2017-06-10T04:11:46.808Z","0.6.1":"2017-07-15T06:22:17.652Z","0.6.2":"2017-09-18T20:05:36.680Z","0.6.3":"2017-11-04T09:55:41.300Z","0.6.4":"2017-12-24T20:15:03.686Z","0.7.0":"2018-02-25T17:32:57.449Z","1.0.0":"2018-04-07T07:00:00.370Z","1.1.0":"2018-05-20T16:28:39.686Z","1.1.1":"2018-07-22T20:24:19.450Z","1.1.2":"2018-07-27T17:47:34.230Z","1.1.3":"2018-09-29T14:26:39.886Z","1.1.4":"2018-10-13T07:04:33.775Z","1.2.0":"2018-11-25T08:37:19.457Z","1.2.1":"2018-12-19T09:59:45.992Z","1.2.2":"2019-03-16T12:39:25.687Z","1.2.3":"2019-06-16T07:24:35.292Z","1.3.0":"2019-09-06T21:36:09.816Z","2.0.0":"2019-09-07T09:34:58.782Z","2.0.1":"2019-09-22T06:15:41.113Z","3.0.0":"2020-01-12T09:21:02.123Z","3.1.0":"2020-04-08T08:06:41.828Z","3.1.1":"2020-04-24T19:32:05.976Z","3.2.0":"2020-05-02T06:53:39.972Z","3.2.1":"2020-05-02T19:54:34.699Z","3.2.2":"2020-05-08T20:50:31.572Z","3.2.3":"2020-05-11T19:37:39.589Z","3.2.4":"2020-09-26T05:39:09.786Z","3.3.0":"2021-01-06T08:12:46.043Z","3.3.1":"2021-04-30T17:18:10.442Z"},"homepage":"https://github.com/fivdi/pigpio#readme","keywords":["gpio","pwm","servo","iot","interrupt","raspberry","raspi","rpi","pi"],"repository":{"type":"git","url":"git+https://github.com/fivdi/pigpio.git"},"author":{"name":"fivdi"},"bugs":{"url":"https://github.com/fivdi/pigpio/issues"},"license":"MIT","readmeFilename":"README.md","users":{"lights0123":true,"rbultitude":true,"carlo.curinga":true,"dosevader":true,"cristiandley":true,"toszter":true,"tdamdouni":true,"nilz3ro":true,"gadicc":true,"bhaskarmelkani":true,"aaronchan":true}}