USB-HID/usb_read_data.cpp

/******************** (C) COPYRIGHT 2024 UPBot***********************************
* File Name          : usb_read_data.cpp
* Current Version    : V1.0
* Author             : UPBot Group
* Date of Issued     : 2024.04.11
* Comments           : UWB USB-HID驱动
********************************************************************************/
#include <unistd.h>
#include <stdint.h>
#include <stdio.h>
#include <libusb-1.0/libusb.h>


/**---------------------------------------------------------------------
* Function    : print_devs
* Description : 列举usb设备信息，和ls usb功能差不多
* Date        : 2024/04/11 zhanli
*---------------------------------------------------------------------**/    
static void print_devs(libusb_device **devs)
{
	libusb_device *dev;
	int i = 0;

	while ((dev = devs[i++]) != NULL)
	{
		struct libusb_device_descriptor desc;
		int r = libusb_get_device_descriptor(dev, &desc);
		if (r < 0)
		{
			fprintf(stderr, "Failed to get device descriptor.");
			return;
		}

		printf("USB Dev VID = %04x,PID = %04x (Bus %d, Device %d)\n",
			   desc.idVendor, desc.idProduct,
			   libusb_get_bus_number(dev), libusb_get_device_address(dev));
	}
}

int main()
{
	int r;
	ssize_t cnt;
	libusb_device_handle *dev_handle; // a device handle
	libusb_device **devs;			  // devices
	// libusb_context **ctx=NULL;
	// 初始化libusb
	r = libusb_init(NULL); 
	if (r < 0)
	{
		printf("failed to init libusb\n");
		return 1;
	}
	// 获取设备列表
	cnt = libusb_get_device_list(NULL, &devs); 
	if (cnt < 0)
	{
		printf("failed to get device list\n");
		return 1;
	}
	// 打印usb设备信息
	// print_devs(devs);
	dev_handle = libusb_open_device_with_vid_pid(NULL, 0x0483, 0x5750);
	if (dev_handle == NULL)
	{
		printf("Cannot open device\n");
		return 1;
	}else{
		printf("Device Opened\n");
	}
		
	// free the list, unref the devices in it
	libusb_free_device_list(devs, 1); 

	if (libusb_kernel_driver_active(dev_handle, 0) == 1)
	{ // find out if kernel driver is attached
		printf("Kernel Driver Active\n");
		if (libusb_detach_kernel_driver(dev_handle, 0) == 0) // detach it
			printf("Kernel Driver Detached!\n");
	}
	// claim interface 0 (the first) of device (mine had jsut 1)
	r = libusb_claim_interface(dev_handle, 0); 
	if (r < 0){
		printf("Cannot Claim Interface\n");
		return 1;
	}
	printf("Claimed Interface\n");
	sleep(1);

	unsigned char data[64];
	int transferred;
	// 用于实际判断传输的数据长度
	int actual; 
	
	data[0] = 0x00;
	r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_OUT), data, 64, &transferred, 1000);
	if (r == 0 && actual == 127){
		// 解析GeekIMU的磁力计信息
		printf("Set Success.\n");	
	}else{
		printf("Set Error.\n");
	}
		
	while (1)
	{

		r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN), data, 64, &transferred, 1000);
		if (r == 0 && actual == 127){
			// 解析GeekIMU的磁力计信息
			int16_t mx = *(int16_t *)(data + 3);
			int16_t my = *(int16_t *)(data + 5);
			int16_t mz = *(int16_t *)(data + 7);
			printf("mag:%d,%d,%d\n", mx, my, mz);		
		}else{
			printf("Read Error\n");
		}
			
		//printf("%i,%i\n", r, actual);
		
		

		// 睡眠延时100ms
		usleep(1000 * 10);
		// 清屏
		// printf("%s","\033[1H\033[2J");//clear display
	}
	// 释放 the claimed interface
	r = libusb_release_interface(dev_handle, 0);
	if (r != 0)
	{
		printf("Cannot Release Interface\n");
		return 1;
	}
	printf("Released Interface\n");
	// 关闭设备
	libusb_close(dev_handle);
	// 结束时调用
	libusb_exit(NULL);

	return 0;
}