init upload

readme

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+usb-hid 
+1. build the sample read usb-hid device gcc usb_test_show.cpp -o hid_test_show -lusb-1.0, this is have been test in 
+rk3588 and read Tracker sucessful.
+2. build cmd gcc usb_read_data.cpp -o hid -lusb-1.0 and run "sudo ./hid" or you will cannot open dev
+

usb_read_data.cpp

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+#include <unistd.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <libusb-1.0/libusb.h>
+
+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("%04x:%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;	
+	r=libusb_init(NULL);                          //init 初始化libusb
+        if(r<0) {
+            printf("failed to init libusb\n");
+            return 1;
+        }
+	cnt = libusb_get_device_list(NULL,&devs);      //获取设备列表
+        if (cnt < 0) {
+            printf("failed to get device list\n");  
+            return 1;
+        }
+	//print_devs(devs);
+        dev_handle = libusb_open_device_with_vid_pid(NULL, 0x2833, 0x0002); 
+	if(dev_handle == NULL){
+		printf("Cannot open device\n");
+		return 1;
+	}else
+		printf("Device Opened\n");
+
+	libusb_free_device_list(devs, 1);             //free the list, unref the devices in it
+	
+	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");
+	}
+	r = libusb_claim_interface(dev_handle, 0);         //claim interface 0 (the first) of device (mine had jsut 1)
+	if(r < 0) {
+		printf("Cannot Claim Interface\n");
+		return 1;
+	}
+	printf("Claimed Interface\n");
+	sleep(1);	
+	unsigned char data[2];
+
+	unsigned char tmp_char[64];
+	data[0]=0x02;data[1]=0x64;
+	int transferred;
+	int actual; //used to find out how many bytes were written
+	while(1){
+		//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
+		//if(r == 0 && actual == 2) //we wrote the 2 bytes successfully
+			//printf("Writing Successful\n");
+		//else
+		//	printf("Write Error\n");
+	
+		//r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN),tmp_char,64,&actual, 1000);//pay attion
+		
+		r = libusb_bulk_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN), tmp_char, 64, &transferred,1000);
+		if(r == 0 && actual == 64) //we read the 64 bytes successfully
+			printf("Read Successful\n");
+		else
+			printf("Read Error\n");
+		printf("%i,%i\n",r,actual);
+
+		int16_t mx = *(int16_t *)(tmp_char+56);
+		int16_t my = *(int16_t *)(tmp_char+58);
+		int16_t mz = *(int16_t *)(tmp_char+60);
+		printf("mag:%d,%d,%d\n",mx,my,mz);
+		usleep(1000*500);		
+		//printf("%s","\033[1H\033[2J");//clear display
+		
+	}	
+	
+	r = libusb_release_interface(dev_handle, 0); //release the claimed interface
+	if(r!=0) {
+		printf("Cannot Release Interface\n");
+		return 1;
+	}
+	printf("Released Interface\n");
+
+	libusb_close(dev_handle);                    //close the device we opened
+	libusb_exit(NULL);                            //needs to be called to end the
+	
+	return 0;
+}
+
+

usb_test_show.cpp

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+#include <unistd.h>
+#include <stdio.h>
+#include <libusb-1.0/libusb.h>
+
+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("%04x:%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 **devs;                         //devices
+	r=libusb_init(NULL);                          //init 初始化libusb
+        if(r<0) {
+            printf("failed to init libusb\n");
+            return 1;
+        }
+	cnt = libusb_get_device_list(NULL,&devs);      //获取设备列表
+        if (cnt < 0) {
+            printf("failed to get device list\n");  
+            return 1;
+        }
+	print_devs(devs);
+	return 0;
+}
+