109 lines
3.3 KiB
C++
109 lines
3.3 KiB
C++
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#include <unistd.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <libusb-1.0/libusb.h>
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static void print_devs(libusb_device **devs)
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{
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libusb_device *dev;
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int i = 0;
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while ((dev = devs[i++]) != NULL) {
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struct libusb_device_descriptor desc;
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int r = libusb_get_device_descriptor(dev, &desc);
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if (r < 0) {
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fprintf(stderr, "failed to get device descriptor");
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return;
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}
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printf("%04x:%04x (bus %d, device %d)\n",
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desc.idVendor, desc.idProduct,
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libusb_get_bus_number(dev), libusb_get_device_address(dev));
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}
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}
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int main()
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{
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int r;
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ssize_t cnt;
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libusb_device_handle *dev_handle; //a device handle
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libusb_device **devs; //devices
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//libusb_context **ctx=NULL;
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r=libusb_init(NULL); //init 初始化libusb
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if(r<0) {
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printf("failed to init libusb\n");
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return 1;
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}
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cnt = libusb_get_device_list(NULL,&devs); //获取设备列表
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if (cnt < 0) {
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printf("failed to get device list\n");
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return 1;
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}
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//print_devs(devs);
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dev_handle = libusb_open_device_with_vid_pid(NULL, 0x2833, 0x0002);
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if(dev_handle == NULL){
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printf("Cannot open device\n");
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return 1;
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}else
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printf("Device Opened\n");
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libusb_free_device_list(devs, 1); //free the list, unref the devices in it
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if(libusb_kernel_driver_active(dev_handle, 0) == 1) { //find out if kernel driver is attached
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printf("Kernel Driver Active\n");
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if(libusb_detach_kernel_driver(dev_handle, 0) == 0) //detach it
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printf("Kernel Driver Detached!\n");
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}
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r = libusb_claim_interface(dev_handle, 0); //claim interface 0 (the first) of device (mine had jsut 1)
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if(r < 0) {
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printf("Cannot Claim Interface\n");
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return 1;
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}
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printf("Claimed Interface\n");
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sleep(1);
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unsigned char data[2];
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unsigned char tmp_char[64];
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data[0]=0x02;data[1]=0x64;
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int transferred;
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int actual; //used to find out how many bytes were written
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while(1){
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//r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_OUT), data, 2, &actual, 0); //my device's out endpoint was 1, found with trial- the device had 2 endpoints: 2 and 129
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//if(r == 0 && actual == 2) //we wrote the 2 bytes successfully
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//printf("Writing Successful\n");
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//else
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// printf("Write Error\n");
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//r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN),tmp_char,64,&actual, 1000);//pay attion
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r = libusb_bulk_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN), tmp_char, 64, &transferred,1000);
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if(r == 0 && actual == 64) //we read the 64 bytes successfully
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printf("Read Successful\n");
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else
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printf("Read Error\n");
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printf("%i,%i\n",r,actual);
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int16_t mx = *(int16_t *)(tmp_char+56);
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int16_t my = *(int16_t *)(tmp_char+58);
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int16_t mz = *(int16_t *)(tmp_char+60);
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printf("mag:%d,%d,%d\n",mx,my,mz);
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usleep(1000*500);
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//printf("%s","\033[1H\033[2J");//clear display
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}
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r = libusb_release_interface(dev_handle, 0); //release the claimed interface
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if(r!=0) {
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printf("Cannot Release Interface\n");
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return 1;
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}
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printf("Released Interface\n");
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libusb_close(dev_handle); //close the device we opened
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libusb_exit(NULL); //needs to be called to end the
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return 0;
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}
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