diff options
| -rw-r--r-- | src/systemcmds/pwm/pwm.c | 19 |
1 files changed, 19 insertions, 0 deletions
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index 09a934400..898c04cd5 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -395,6 +395,17 @@ pwm_main(int argc, char *argv[]) if (pwm_value == 0) usage("no PWM value provided"); + /* get current servo values */ + struct pwm_output_values last_spos; + + for (unsigned i = 0; i < servo_count; i++) { + + + ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]); + if (ret != OK) + err(1, "PWM_SERVO_GET(%d)", i); + } + /* perform PWM output */ /* Open console directly to grab CTRL-C signal */ @@ -420,6 +431,14 @@ pwm_main(int argc, char *argv[]) read(0, &c, 1); if (c == 0x03 || c == 0x63 || c == 'q') { + /* reset output to the last value */ + for (unsigned i = 0; i < servo_count; i++) { + if (set_mask & 1<<i) { + ret = ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]); + if (ret != OK) + err(1, "PWM_SERVO_SET(%d)", i); + } + } warnx("User abort\n"); exit(0); } |