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diff --git a/sys/dev/firewire/fwcam.h b/sys/dev/firewire/fwcam.h
--- a/sys/dev/firewire/fwcam.h
+++ b/sys/dev/firewire/fwcam.h
@@ -200,6 +200,70 @@
#define FWCAM_STATE_STREAMING 2
#define FWCAM_STATE_DETACHING 3
+/* IIDC format/mode/rate/feature/state name tables for userland and driver */
+#define FWCAM_FMT_NMAX 8
+#define FWCAM_RATE_NMAX 8
+
+static const char * const fwcam_fmt_names[FWCAM_FMT_NMAX] = {
+ "VGA (Format_0)",
+ "Super VGA 1 (Format_1)",
+ "Super VGA 2 (Format_2)",
+ "Reserved",
+ "Reserved",
+ "Reserved",
+ "Still Image (Format_6)",
+ "Partial Image (Format_7)",
+};
+
+static const char * const fwcam_rate_names[FWCAM_RATE_NMAX] = {
+ "1.875 fps", "3.75 fps", "7.5 fps", "15 fps",
+ "30 fps", "60 fps", "120 fps", "240 fps",
+};
+
+static const char * const fwcam_feat_names[FWCAM_FEAT_MAX] = {
+ [FWCAM_FEAT_BRIGHTNESS] = "brightness",
+ [FWCAM_FEAT_AUTO_EXPOSURE] = "auto_exposure",
+ [FWCAM_FEAT_SHARPNESS] = "sharpness",
+ [FWCAM_FEAT_WHITE_BALANCE] = "white_balance",
+ [FWCAM_FEAT_HUE] = "hue",
+ [FWCAM_FEAT_SATURATION] = "saturation",
+ [FWCAM_FEAT_GAMMA] = "gamma",
+ [FWCAM_FEAT_SHUTTER] = "shutter",
+ [FWCAM_FEAT_GAIN] = "gain",
+ [FWCAM_FEAT_IRIS] = "iris",
+ [FWCAM_FEAT_FOCUS] = "focus",
+ [FWCAM_FEAT_TEMPERATURE] = "temperature",
+ [FWCAM_FEAT_TRIGGER] = "trigger",
+ [FWCAM_FEAT_ZOOM] = "zoom",
+ [FWCAM_FEAT_PAN] = "pan",
+ [FWCAM_FEAT_TILT] = "tilt",
+};
+
+static const char * const fwcam_state_names[] = {
+ [FWCAM_STATE_IDLE] = "idle",
+ [FWCAM_STATE_PROBED] = "probed",
+ [FWCAM_STATE_STREAMING] = "streaming",
+ [FWCAM_STATE_DETACHING] = "detaching",
+};
+
+/* Format_0 (VGA non-compressed) mode geometry */
+struct fwcam_fmt0_mode {
+ int w, h;
+ const char *pixfmt;
+};
+
+#define FWCAM_FMT0_NMODES 7
+
+static const struct fwcam_fmt0_mode fwcam_fmt0_modes[FWCAM_FMT0_NMODES] = {
+ { 160, 120, "YUV444" }, /* mode 0 */
+ { 320, 240, "YUV422" }, /* mode 1 */
+ { 640, 480, "YUV411" }, /* mode 2 */
+ { 640, 480, "YUV422" }, /* mode 3 */
+ { 640, 480, "RGB8" }, /* mode 4 */
+ { 640, 480, "Mono8" }, /* mode 5 */
+ { 640, 480, "Mono16" }, /* mode 6 */
+};
+
/*
* Internal constants
*/
diff --git a/sys/dev/firewire/fwcam.c b/sys/dev/firewire/fwcam.c
--- a/sys/dev/firewire/fwcam.c
+++ b/sys/dev/firewire/fwcam.c
@@ -149,27 +149,6 @@
return (err);
}
-#if 0
-static const char *
-fwcam_format_name(int format)
-{
- static const char *names[] = {
- "VGA (Format_0)",
- "Super VGA 1 (Format_1)",
- "Super VGA 2 (Format_2)",
- "Reserved",
- "Reserved",
- "Reserved",
- "Still Image (Format_6)",
- "Partial Image (Format_7)",
- };
-
- if (format >= 0 && format <= 7)
- return (names[format]);
- return ("Unknown");
-}
-#endif
-
static int
fwcam_read_capabilities(struct fwcam_softc *sc)
{
diff --git a/usr.sbin/Makefile b/usr.sbin/Makefile
--- a/usr.sbin/Makefile
+++ b/usr.sbin/Makefile
@@ -27,6 +27,7 @@
extattrctl \
fifolog \
fstyp \
+ fwcamctl \
fwcontrol \
fwget \
getfmac \
diff --git a/usr.sbin/fwcamctl/Makefile b/usr.sbin/fwcamctl/Makefile
new file mode 100644
--- /dev/null
+++ b/usr.sbin/fwcamctl/Makefile
@@ -0,0 +1,9 @@
+PROG= fwcamctl
+SRCS= fwcamctl.c
+MAN= fwcamctl.8
+WARNS?= 3
+
+SDIR= ${SRCTOP}/sys
+CFLAGS+= -I${SDIR}
+
+.include <bsd.prog.mk>
diff --git a/usr.sbin/fwcamctl/fwcamctl.8 b/usr.sbin/fwcamctl/fwcamctl.8
new file mode 100644
--- /dev/null
+++ b/usr.sbin/fwcamctl/fwcamctl.8
@@ -0,0 +1,156 @@
+.\" Copyright (c) 2026 Abdelkader Boudih <freebsd@seuros.com>
+.\"
+.\" SPDX-License-Identifier: BSD-2-Clause
+.\"
+.Dd May 27, 2026
+.Dt FWCAMCTL 8
+.Os
+.Sh NAME
+.Nm fwcamctl
+.Nd control utility for IIDC FireWire cameras
+.Sh SYNOPSIS
+.Nm
+.Op Fl f Ar device
+.Cm info
+.Nm
+.Op Fl f Ar device
+.Cm snap
+.Op Fl o Ar output.ppm
+.Op Fl s Ar skip
+.Nm
+.Op Fl f Ar device
+.Cm mode
+.Ar format mode rate
+.Nm
+.Op Fl f Ar device
+.Cm feat get
+.Ar id
+.Nm
+.Op Fl f Ar device
+.Cm feat set
+.Ar id value Op Ar value2
+.Sh DESCRIPTION
+The
+.Nm
+utility controls IIDC 1394-based digital cameras via the
+.Xr fwcam 4
+driver.
+.Pp
+The following options are available:
+.Bl -tag -width indent
+.It Fl f Ar device
+Specify the camera device.
+Defaults to
+.Pa /dev/fwcam0 .
+.El
+.Pp
+The subcommands are:
+.Bl -tag -width indent
+.It Cm info
+Display camera state, current format/mode/framerate, supported formats,
+basic function capabilities, and present features.
+.It Cm snap Op Fl o Ar output.ppm Op Fl s Ar skip
+Capture a single video frame and write it as a PPM image.
+.Pp
+.Bl -tag -width indent -compact
+.It Fl o Ar output.ppm
+Output file path.
+Use
+.Sq -
+for stdout.
+Defaults to
+.Pa snap.ppm .
+.It Fl s Ar skip
+Number of frames to skip before capturing, to allow auto-exposure
+and auto-white-balance to settle.
+Defaults to 5.
+.El
+.Pp
+Supported pixel formats: YUV444, YUV422, YUV411, RGB8, Mono8.
+The frame is converted to RGB24 and written as a binary PPM (P6).
+.It Cm mode Ar format mode rate
+Set the camera video format, mode, and frame rate.
+All arguments are integer indices per the IIDC specification.
+Only Format_0 (VGA) is currently supported by the
+.Xr fwcam 4
+frame assembly path.
+.Pp
+Format_0 modes:
+.Bl -column "Mode" "Resolution" "Pixel format" -compact
+.It Em Mode Ta Em Resolution Ta Em Pixel format
+.It 0 Ta 160x120 Ta YUV444
+.It 1 Ta 320x240 Ta YUV422
+.It 2 Ta 640x480 Ta YUV411
+.It 3 Ta 640x480 Ta YUV422
+.It 4 Ta 640x480 Ta RGB8
+.It 5 Ta 640x480 Ta Mono8
+.El
+.Pp
+Frame rates: 0=1.875 1=3.75 2=7.5 3=15 4=30 5=60 fps.
+.It Cm feat get Ar id
+Query the camera feature with the given numeric ID and display its
+inquiry (presence, on/off, auto, manual, range) and current value.
+.It Cm feat set Ar id value Op Ar value2
+Set the camera feature with the given numeric ID to
+.Ar value .
+For the
+.Sq white_balance
+feature (id 3),
+.Ar value
+is the U/B component and
+.Ar value2
+is the V/R component.
+.El
+.Pp
+Feature IDs:
+.Bl -column "ID" "Name" -compact
+.It Em ID Ta Em Name
+.It 0 Ta brightness
+.It 1 Ta auto_exposure
+.It 2 Ta sharpness
+.It 3 Ta white_balance
+.It 4 Ta hue
+.It 5 Ta saturation
+.It 6 Ta gamma
+.It 7 Ta shutter
+.It 8 Ta gain
+.It 9 Ta iris
+.It 10 Ta focus
+.It 11 Ta temperature
+.It 12 Ta trigger
+.It 13 Ta zoom
+.It 14 Ta pan
+.It 15 Ta tilt
+.El
+.Sh EXAMPLES
+Show camera information:
+.Bd -literal -offset indent
+fwcamctl info
+.Ed
+.Pp
+Capture a photo to
+.Pa photo.ppm ,
+skipping 10 frames for AE to settle:
+.Bd -literal -offset indent
+fwcamctl snap -o photo.ppm -s 10
+.Ed
+.Pp
+Switch to 320x240 YUV422 at 30 fps:
+.Bd -literal -offset indent
+fwcamctl mode 0 1 4
+.Ed
+.Pp
+Read the current gain value:
+.Bd -literal -offset indent
+fwcamctl feat get 8
+.Ed
+.Pp
+Set brightness to 200:
+.Bd -literal -offset indent
+fwcamctl feat set 0 200
+.Ed
+.Sh SEE ALSO
+.Xr fwcam 4 ,
+.Xr fwcontrol 8
+.Sh AUTHORS
+.An Abdelkader Boudih Aq Mt freebsd@seuros.com
diff --git a/usr.sbin/fwcamctl/fwcamctl.c b/usr.sbin/fwcamctl/fwcamctl.c
new file mode 100644
--- /dev/null
+++ b/usr.sbin/fwcamctl/fwcamctl.c
@@ -0,0 +1,450 @@
+/*
+ * Copyright (c) 2026 Abdelkader Boudih <freebsd@seuros.com>
+ *
+ * SPDX-License-Identifier: BSD-2-Clause
+ *
+ * fwcamctl - control utility for fwcam(4) IIDC FireWire cameras
+ */
+
+#include <sys/param.h>
+#include <sys/types.h>
+#include <sys/ioctl.h>
+
+#include <err.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <dev/firewire/fwcam.h>
+
+static const char *default_dev = "/dev/fwcam0";
+
+static void
+usage(void)
+{
+ fprintf(stderr,
+ "usage: fwcamctl [-f device] info\n"
+ " fwcamctl [-f device] snap [-o output.ppm] [-s skip]\n"
+ " fwcamctl [-f device] mode <format> <mode> <rate>\n"
+ " fwcamctl [-f device] feat get <id>\n"
+ " fwcamctl [-f device] feat set <id> <value> [value2]\n"
+ "\n"
+ " Feature IDs: 0=brightness 1=auto_exposure 2=sharpness\n"
+ " 3=white_balance 4=hue 5=saturation 6=gamma\n"
+ " 7=shutter 8=gain 9=iris 10=focus 11=temperature\n"
+ " 12=trigger 13=zoom 14=pan 15=tilt\n");
+ exit(1);
+}
+
+static inline int
+clamp_u8(int v)
+{
+ if (v < 0) return (0);
+ if (v > 255) return (255);
+ return (v);
+}
+
+/*
+ * IIDC YUV 4:2:2 → RGB24
+ * IIDC spec layout: U0 Y0 V0 Y1 (UYVY, 2 pixels per 4 bytes)
+ */
+static void
+yuv422_to_rgb(const uint8_t *src, uint8_t *dst, int w, int h)
+{
+ int i, n = w * h / 2;
+
+ for (i = 0; i < n; i++) {
+ int cb = src[0] - 128;
+ int y0 = src[1];
+ int cr = src[2] - 128;
+ int y1 = src[3];
+ src += 4;
+
+ /* pixel 0 */
+ dst[0] = clamp_u8(y0 + (int)(1.402f * cr));
+ dst[1] = clamp_u8(y0 - (int)(0.34414f * cb) - (int)(0.71414f * cr));
+ dst[2] = clamp_u8(y0 + (int)(1.772f * cb));
+ /* pixel 1 */
+ dst[3] = clamp_u8(y1 + (int)(1.402f * cr));
+ dst[4] = clamp_u8(y1 - (int)(0.34414f * cb) - (int)(0.71414f * cr));
+ dst[5] = clamp_u8(y1 + (int)(1.772f * cb));
+ dst += 6;
+ }
+}
+
+/*
+ * IIDC YUV 4:1:1 → RGB24
+ * Layout: U0 Y0 Y1 V0 Y2 Y3 (4 pixels per 6 bytes)
+ */
+static void
+yuv411_to_rgb(const uint8_t *src, uint8_t *dst, int w, int h)
+{
+ int i, j, n = w * h / 4;
+
+ for (i = 0; i < n; i++) {
+ int cb = src[0] - 128;
+ int y[4];
+ y[0] = src[1];
+ y[1] = src[2];
+ int cr = src[3] - 128;
+ y[2] = src[4];
+ y[3] = src[5];
+ src += 6;
+
+ for (j = 0; j < 4; j++) {
+ *dst++ = clamp_u8(y[j] + (int)(1.402f * cr));
+ *dst++ = clamp_u8(y[j] - (int)(0.34414f * cb) - (int)(0.71414f * cr));
+ *dst++ = clamp_u8(y[j] + (int)(1.772f * cb));
+ }
+ }
+}
+
+/*
+ * IIDC YUV 4:4:4 → RGB24
+ * Layout: U Y V (3 bytes/pixel)
+ */
+static void
+yuv444_to_rgb(const uint8_t *src, uint8_t *dst, int w, int h)
+{
+ int i, n = w * h;
+
+ for (i = 0; i < n; i++) {
+ int cb = src[0] - 128;
+ int y = src[1];
+ int cr = src[2] - 128;
+ src += 3;
+
+ *dst++ = clamp_u8(y + (int)(1.402f * cr));
+ *dst++ = clamp_u8(y - (int)(0.34414f * cb) - (int)(0.71414f * cr));
+ *dst++ = clamp_u8(y + (int)(1.772f * cb));
+ }
+}
+
+static int
+write_ppm(const char *path, const uint8_t *rgb, int w, int h)
+{
+ FILE *f;
+
+ if (strcmp(path, "-") == 0) {
+ f = stdout;
+ } else {
+ f = fopen(path, "wb");
+ if (f == NULL) {
+ warn("fopen %s", path);
+ return (-1);
+ }
+ }
+
+ fprintf(f, "P6\n%d %d\n255\n", w, h);
+ if (fwrite(rgb, 1, (size_t)(w * h * 3), f) != (size_t)(w * h * 3)) {
+ warn("fwrite");
+ if (f != stdout)
+ fclose(f);
+ return (-1);
+ }
+
+ if (f != stdout)
+ fclose(f);
+ return (0);
+}
+
+static int
+do_snap(int fd, const char *outpath, int skip)
+{
+ struct fwcam_info info;
+ uint8_t *frame_buf, *rgb_buf;
+ uint32_t rgb_size;
+ ssize_t n;
+ int w, h, i;
+ const char *pixfmt;
+
+ if (ioctl(fd, FWCAM_GINFO, &info) < 0)
+ err(1, "FWCAM_GINFO");
+
+ if (info.frame_size == 0)
+ errx(1, "frame_size is 0 — camera not yet probed?");
+
+ if (info.cur_format != IIDC_FMT_VGA ||
+ info.cur_mode >= nitems(fwcam_fmt0_modes))
+ errx(1, "unsupported format %d mode %d for snap "
+ "(only Format_0 VGA supported)",
+ info.cur_format, info.cur_mode);
+
+ w = fwcam_fmt0_modes[info.cur_mode].w;
+ h = fwcam_fmt0_modes[info.cur_mode].h;
+ pixfmt = fwcam_fmt0_modes[info.cur_mode].pixfmt;
+
+ if (strcmp(pixfmt, "Mono16") == 0)
+ errx(1, "Mono16 not supported for PPM output");
+
+ rgb_size = (uint32_t)(w * h * 3);
+ frame_buf = malloc(info.frame_size);
+ rgb_buf = malloc(rgb_size);
+ if (frame_buf == NULL || rgb_buf == NULL)
+ err(1, "malloc");
+
+ /* Read frames; skip the first N to let AE/AWB settle */
+ for (i = 0; i <= skip; i++) {
+ n = read(fd, frame_buf, info.frame_size);
+ if (n < 0)
+ err(1, "read");
+ if ((uint32_t)n < info.frame_size)
+ errx(1, "short read: got %zd of %u bytes",
+ n, info.frame_size);
+ if (i < skip)
+ fprintf(stderr, "skipping frame %d/%d...\n", i + 1, skip);
+ }
+
+ /* Convert to RGB24 */
+ if (strcmp(pixfmt, "YUV422") == 0) {
+ yuv422_to_rgb(frame_buf, rgb_buf, w, h);
+ } else if (strcmp(pixfmt, "YUV411") == 0) {
+ yuv411_to_rgb(frame_buf, rgb_buf, w, h);
+ } else if (strcmp(pixfmt, "YUV444") == 0) {
+ yuv444_to_rgb(frame_buf, rgb_buf, w, h);
+ } else if (strcmp(pixfmt, "RGB8") == 0) {
+ memcpy(rgb_buf, frame_buf, rgb_size);
+ } else if (strcmp(pixfmt, "Mono8") == 0) {
+ for (i = 0; i < w * h; i++) {
+ rgb_buf[i * 3 + 0] = frame_buf[i];
+ rgb_buf[i * 3 + 1] = frame_buf[i];
+ rgb_buf[i * 3 + 2] = frame_buf[i];
+ }
+ } else {
+ errx(1, "no converter for pixel format %s", pixfmt);
+ }
+
+ if (write_ppm(outpath, rgb_buf, w, h) < 0) {
+ free(frame_buf);
+ free(rgb_buf);
+ return (1);
+ }
+
+ fprintf(stderr, "saved %s (%dx%d %s, %u bytes raw)\n",
+ outpath, w, h, pixfmt, info.frame_size);
+
+ free(frame_buf);
+ free(rgb_buf);
+ return (0);
+}
+
+static void
+do_info(int fd)
+{
+ struct fwcam_info info;
+ int i;
+
+ if (ioctl(fd, FWCAM_GINFO, &info) < 0)
+ err(1, "FWCAM_GINFO");
+
+ printf("state: %s\n",
+ info.state < nitems(fwcam_state_names) ?
+ fwcam_state_names[info.state] : "unknown");
+ printf("cur format: %d (%s)\n", info.cur_format,
+ info.cur_format < nitems(fwcam_fmt_names) ?
+ fwcam_fmt_names[info.cur_format] : "?");
+
+ if (info.cur_format == IIDC_FMT_VGA &&
+ info.cur_mode < nitems(fwcam_fmt0_modes)) {
+ printf("cur mode: %d (%dx%d %s)\n", info.cur_mode,
+ fwcam_fmt0_modes[info.cur_mode].w,
+ fwcam_fmt0_modes[info.cur_mode].h,
+ fwcam_fmt0_modes[info.cur_mode].pixfmt);
+ } else {
+ printf("cur mode: %d\n", info.cur_mode);
+ }
+
+ printf("cur rate: %d (%s)\n", info.cur_framerate,
+ info.cur_framerate < nitems(fwcam_rate_names) ?
+ fwcam_rate_names[info.cur_framerate] : "?");
+ printf("iso_channel: %u\n", info.iso_channel);
+ printf("frame_size: %u bytes\n", info.frame_size);
+ printf("dropped: %u frames\n", info.frame_dropped);
+
+ printf("formats: 0x%08x (", info.formats);
+ for (i = 0; i < 8; i++) {
+ if (info.formats & (1 << (31 - i)))
+ printf("F%d ", i);
+ }
+ printf(")\n");
+
+ printf("basic_func: 0x%08x", info.basic_func);
+ if (info.basic_func & IIDC_CAM_POWER_CTRL) printf(" [power_ctrl]");
+ if (info.basic_func & IIDC_ONE_SHOT_INQ) printf(" [one_shot]");
+ if (info.basic_func & IIDC_MULTI_SHOT_INQ) printf(" [multi_shot]");
+ printf("\n");
+
+ printf("features: hi=0x%08x lo=0x%08x\n",
+ info.features_hi, info.features_lo);
+ if (info.features_hi) {
+ printf(" ");
+ if (info.features_hi & IIDC_HAS_BRIGHTNESS) printf("brightness ");
+ if (info.features_hi & IIDC_HAS_AUTO_EXPOSURE) printf("auto_exp ");
+ if (info.features_hi & IIDC_HAS_SHARPNESS) printf("sharpness ");
+ if (info.features_hi & IIDC_HAS_WHITE_BALANCE) printf("white_bal ");
+ if (info.features_hi & IIDC_HAS_HUE) printf("hue ");
+ if (info.features_hi & IIDC_HAS_SATURATION) printf("saturation ");
+ if (info.features_hi & IIDC_HAS_GAMMA) printf("gamma ");
+ if (info.features_hi & IIDC_HAS_SHUTTER) printf("shutter ");
+ if (info.features_hi & IIDC_HAS_GAIN) printf("gain ");
+ if (info.features_hi & IIDC_HAS_IRIS) printf("iris ");
+ if (info.features_hi & IIDC_HAS_FOCUS) printf("focus ");
+ if (info.features_hi & IIDC_HAS_TEMPERATURE) printf("temperature ");
+ if (info.features_hi & IIDC_HAS_TRIGGER) printf("trigger ");
+ printf("\n");
+ }
+}
+
+static void
+do_mode(int fd, int argc, char **argv)
+{
+ struct fwcam_mode mode;
+
+ if (argc < 3)
+ usage();
+
+ mode.format = (uint8_t)atoi(argv[0]);
+ mode.mode = (uint8_t)atoi(argv[1]);
+ mode.framerate = (uint8_t)atoi(argv[2]);
+ mode.frame_size = 0;
+ mode._pad = 0;
+
+ if (ioctl(fd, FWCAM_SMODE, &mode) < 0)
+ err(1, "FWCAM_SMODE");
+
+ printf("mode set: format=%d mode=%d framerate=%d frame_size=%u\n",
+ mode.format, mode.mode, mode.framerate, mode.frame_size);
+}
+
+static void
+do_feat_get(int fd, int feat_id)
+{
+ struct fwcam_feature feat;
+
+ if (feat_id < 0 || feat_id >= FWCAM_FEAT_MAX)
+ errx(1, "invalid feature id %d (0-%d)", feat_id, FWCAM_FEAT_MAX - 1);
+
+ memset(&feat, 0, sizeof(feat));
+ feat.id = (uint32_t)feat_id;
+
+ if (ioctl(fd, FWCAM_GFEAT, &feat) < 0)
+ err(1, "FWCAM_GFEAT");
+
+ printf("feature %d (%s):\n", feat_id,
+ fwcam_feat_names[feat_id] != NULL ? fwcam_feat_names[feat_id] : "?");
+ printf(" present: %s\n",
+ (feat.flags & FWCAM_FEATF_PRESENT) ? "yes" : "no");
+ printf(" flags: 0x%x", feat.flags);
+ if (feat.flags & FWCAM_FEATF_ONOFF) printf(" [on/off]");
+ if (feat.flags & FWCAM_FEATF_AUTO) printf(" [auto]");
+ if (feat.flags & FWCAM_FEATF_MANUAL) printf(" [manual]");
+ printf("\n");
+ printf(" range: %u - %u\n", feat.min, feat.max);
+
+ if (feat_id == FWCAM_FEAT_WHITE_BALANCE)
+ printf(" value: U/B=%u V/R=%u\n", feat.value, feat.value2);
+ else
+ printf(" value: %u\n", feat.value);
+}
+
+static void
+do_feat_set(int fd, int feat_id, uint32_t value, uint32_t value2)
+{
+ struct fwcam_feature feat;
+
+ if (feat_id < 0 || feat_id >= FWCAM_FEAT_MAX)
+ errx(1, "invalid feature id %d (0-%d)", feat_id, FWCAM_FEAT_MAX - 1);
+
+ memset(&feat, 0, sizeof(feat));
+ feat.id = (uint32_t)feat_id;
+ feat.value = value;
+ feat.value2 = value2;
+
+ if (ioctl(fd, FWCAM_SFEAT, &feat) < 0)
+ err(1, "FWCAM_SFEAT");
+
+ printf("feature %d (%s) set to %u\n", feat_id,
+ fwcam_feat_names[feat_id] != NULL ? fwcam_feat_names[feat_id] : "?", value);
+}
+
+int
+main(int argc, char *argv[])
+{
+ const char *devpath = default_dev;
+ int fd, ch;
+
+ while ((ch = getopt(argc, argv, "f:")) != -1) {
+ switch (ch) {
+ case 'f':
+ devpath = optarg;
+ break;
+ default:
+ usage();
+ }
+ }
+ argc -= optind;
+ argv += optind;
+
+ if (argc < 1)
+ usage();
+
+ fd = open(devpath, O_RDWR);
+ if (fd < 0)
+ err(1, "open %s", devpath);
+
+ if (strcmp(argv[0], "info") == 0) {
+ do_info(fd);
+
+ } else if (strcmp(argv[0], "snap") == 0) {
+ const char *out = "snap.ppm";
+ int skip = 5;
+
+ /* re-parse the snap subcommand's own flags */
+ optreset = 1;
+ optind = 1;
+ while ((ch = getopt(argc, argv, "o:s:")) != -1) {
+ switch (ch) {
+ case 'o':
+ out = optarg;
+ break;
+ case 's':
+ skip = atoi(optarg);
+ break;
+ default:
+ usage();
+ }
+ }
+ do_snap(fd, out, skip);
+
+ } else if (strcmp(argv[0], "mode") == 0) {
+ do_mode(fd, argc - 1, argv + 1);
+
+ } else if (strcmp(argv[0], "feat") == 0) {
+ if (argc < 3)
+ usage();
+
+ int feat_id = atoi(argv[2]);
+
+ if (strcmp(argv[1], "get") == 0) {
+ do_feat_get(fd, feat_id);
+ } else if (strcmp(argv[1], "set") == 0) {
+ if (argc < 4)
+ usage();
+ uint32_t val = (uint32_t)atoi(argv[3]);
+ uint32_t val2 = (argc > 4) ? (uint32_t)atoi(argv[4]) : 0;
+ do_feat_set(fd, feat_id, val, val2);
+ } else {
+ usage();
+ }
+
+ } else {
+ warnx("unknown command: %s", argv[0]);
+ usage();
+ }
+
+ close(fd);
+ return (0);
+}

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