diff options
Diffstat (limited to 'src/systemcmds')
-rw-r--r-- | src/systemcmds/pwm/pwm.c | 48 |
1 files changed, 42 insertions, 6 deletions
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index e150b5a74..c42a36c7f 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -180,7 +180,8 @@ pwm_main(int argc, char *argv[]) } /* iterate remaining arguments */ - unsigned channel = 0; + unsigned nchannels = 0; + unsigned channel[8] = {0}; while (argc--) { const char *arg = argv[0]; argv++; @@ -204,13 +205,15 @@ pwm_main(int argc, char *argv[]) } unsigned pwm_value = strtol(arg, &ep, 0); if (*ep == '\0') { - ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value); - if (ret != OK) - err(1, "PWM_SERVO_SET(%d)", channel); - channel++; + if (nchannels > sizeof(channel) / sizeof(channel[0])) + err(1, "too many pwm values (max %d)", sizeof(channel) / sizeof(channel[0])); + + channel[nchannels] = pwm_value; + nchannels++; + continue; } - usage("unrecognised option"); + usage("unrecognized option"); } /* print verbose info */ @@ -250,5 +253,38 @@ pwm_main(int argc, char *argv[]) } fflush(stdout); } + + /* perform PWM output */ + if (nchannels) { + + /* Open console directly to grab CTRL-C signal */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + if (!console) + err(1, "failed opening console"); + + warnx("Press CTRL-C or 'c' to abort."); + + while (1) { + for (int i = 0; i < nchannels; i++) { + ret = ioctl(fd, PWM_SERVO_SET(i), channel[i]); + if (ret != OK) + err(1, "PWM_SERVO_SET(%d)", i); + } + + /* abort on user request */ + char c; + if (read(console, &c, 1) == 1) { + if (c == 0x03 || c == 0x63 || c == 'q') { + warnx("User abort\n"); + close(console); + exit(0); + } + } + + /* rate limit to ~ 20 Hz */ + usleep(50000); + } + } + exit(0); }
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