diff options
Diffstat (limited to 'src/systemcmds/pwm')
-rw-r--r-- | src/systemcmds/pwm/pwm.c | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index 0c984d69f..f8da686cd 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -337,13 +337,19 @@ pwm_main(int argc, char *argv[]) if (pwm_value == 0) warnx("reading disarmed value of zero, disabling disarmed PWM"); - struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0}; + struct pwm_output_values pwm_values; + /* first get current state before modifying it */ + ret = ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (long unsigned int)&pwm_values.values); + if (ret != OK) { + errx(ret, "failed get disarmed values"); + } for (unsigned i = 0; i < servo_count; i++) { if (set_mask & 1<<i) { pwm_values.values[i] = pwm_value; - if (print_verbose) - warnx("channel %d: disarmed PWM: %d", i+1, pwm_value); + if (print_verbose) { + warnx("chan %d: disarmed PWM: %d", i+1, pwm_value); + } } pwm_values.channel_count++; } @@ -353,8 +359,9 @@ pwm_main(int argc, char *argv[]) } else { ret = ioctl(fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values); - if (ret != OK) + if (ret != OK) { errx(ret, "failed setting disarmed values"); + } } exit(0); |