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USB-HID
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UESTCsecurity 2024-04-11 12:54:06 +08:00
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## USB-HID
> 参考：[玩转USB HID系列：Linux下使用C语言和libusb开发USB HID_hid c++ usb linux-CSDN博客](https://blog.csdn.net/whstudio123/article/details/104348736)
#### 1、使用用途
​ USB-HID是USB的人体学输入设备(USB Human Input Device)，这是一种免驱动的USB通信方式，适合用于数据量较小的通信，例如机器人硬件驱动的控制、外置IMU、VR手柄类设备。这个仓库主要用于解决STM32和Linux、windows的通信问题。
​ 一般来说，STM32最常用的是采用串口通信，但是串口有可能存在驱动不兼容、相同串口插入主机后分不清的问题。所以，部分情况采用USB-HID能够解决串口驱动问题和相同串口干扰问题。
#### 2、代码编译
##### 2.1 windows
##### 2.2 Linux
##### 2.2.1 环境要求
```shell
sudo apt-get install libusb-1.0-0
```
##### 2.2.2 样例和编译
​ usb_test_show.cpp : 显示各个连接到主机的usb信息
```shell
# firefly RK3588已经集成libusb 1.0
gcc usb_test_show.cpp -o hid_test_show -lusb-1.0
# 运行
sudo ./hid_test_show
```
​ usb_test_show.cpp ：读取USB信息(IMU设备DEMO)并显示
```shell
gcc usb_read_data.cpp -o hid -lusb-1.0
# 执行
sudo ./hid
```

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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

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usb_read_data.cpp
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/******************** (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 <unistd.h>
#include <stdint.h> #include <stdint.h>
#include <stdio.h> #include <stdio.h>
#include <libusb-1.0/libusb.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) static void print_devs(libusb_device **devs)
{ {
libusb_device *dev; libusb_device *dev;
int i = 0; int i = 0;
while ((dev = devs[i++]) != NULL) { while ((dev = devs[i++]) != NULL)
{
struct libusb_device_descriptor desc; struct libusb_device_descriptor desc;
int r = libusb_get_device_descriptor(dev, &desc); int r = libusb_get_device_descriptor(dev, &desc);
if (r < 0) { if (r < 0)
fprintf(stderr, "failed to get device descriptor"); {
fprintf(stderr, "Failed to get device descriptor.");
return; return;
} }
printf("%04x:%04x (bus %d, device %d)\n", printf("USB Dev VID = %04x,PID = %04x (Bus %d, Device %d)\n",
desc.idVendor, desc.idProduct, desc.idVendor, desc.idProduct,
libusb_get_bus_number(dev), libusb_get_device_address(dev)); libusb_get_bus_number(dev), libusb_get_device_address(dev));
} }
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libusb_device_handle *dev_handle; // a device handle libusb_device_handle *dev_handle; // a device handle
libusb_device **devs; // devices libusb_device **devs; // devices
// libusb_context **ctx=NULL; // libusb_context **ctx=NULL;
r=libusb_init(NULL); //init 初始化libusb // 初始化libusb
if(r<0) { r = libusb_init(NULL);
if (r < 0)
{
printf("failed to init libusb\n"); printf("failed to init libusb\n");
return 1; return 1;
} }
cnt = libusb_get_device_list(NULL,&devs); //获取设备列表 // 获取设备列表
if (cnt < 0) { cnt = libusb_get_device_list(NULL, &devs);
if (cnt < 0)
{
printf("failed to get device list\n"); printf("failed to get device list\n");
return 1; return 1;
} }
// 打印usb设备信息
// print_devs(devs); // print_devs(devs);
dev_handle = libusb_open_device_with_vid_pid(NULL, 0x2833, 0x0002); dev_handle = libusb_open_device_with_vid_pid(NULL, 0x2833, 0x0002);
if(dev_handle == NULL){ if (dev_handle == NULL)
{
printf("Cannot open device\n"); printf("Cannot open device\n");
return 1; return 1;
}else }else{
printf("Device Opened\n"); printf("Device Opened\n");
}
libusb_free_device_list(devs, 1); //free the list, unref the devices in it // 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 if (libusb_kernel_driver_active(dev_handle, 0) == 1)
{ // find out if kernel driver is attached
printf("Kernel Driver Active\n"); printf("Kernel Driver Active\n");
if (libusb_detach_kernel_driver(dev_handle, 0) == 0) // detach it if (libusb_detach_kernel_driver(dev_handle, 0) == 0) // detach it
printf("Kernel Driver Detached!\n"); printf("Kernel Driver Detached!\n");
} }
r = libusb_claim_interface(dev_handle, 0); //claim interface 0 (the first) of device (mine had jsut 1) // claim interface 0 (the first) of device (mine had jsut 1)
r = libusb_claim_interface(dev_handle, 0);
if (r < 0){ if (r < 0){
printf("Cannot Claim Interface\n"); printf("Cannot Claim Interface\n");
return 1; return 1;
} }
printf("Claimed Interface\n"); printf("Claimed Interface\n");
sleep(1); sleep(1);
unsigned char data[2];
unsigned char tmp_char[64]; unsigned char data[64];
data[0]=0x02;data[1]=0x64;
int transferred; int transferred;
int actual; //used to find out how many bytes were written // 用于实际判断传输的数据长度
while(1){ int actual;
//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 while (1)
//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), data, 64, &transferred, 1000);
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 if (r == 0 && actual == 64) // we read the 64 bytes successfully
printf("Read Successful\n"); printf("Read Successful\n");
else else
printf("Read Error\n"); printf("Read Error\n");
printf("%i,%i\n", r, actual); printf("%i,%i\n", r, actual);
int16_t mx = *(int16_t *)(tmp_char+56); // 解析GeekIMU的磁力计信息
int16_t my = *(int16_t *)(tmp_char+58); int16_t mx = *(int16_t *)(data + 56);
int16_t mz = *(int16_t *)(tmp_char+60); int16_t my = *(int16_t *)(data + 58);
int16_t mz = *(int16_t *)(data + 60);
printf("mag:%d,%d,%d\n", mx, my, mz); printf("mag:%d,%d,%d\n", mx, my, mz);
usleep(1000*500); // 睡眠延时100ms
usleep(1000 * 100);
// 清屏
// printf("%s","\033[1H\033[2J");//clear display // printf("%s","\033[1H\033[2J");//clear display
} }
// 释放 the claimed interface
r = libusb_release_interface(dev_handle, 0); //release the claimed interface r = libusb_release_interface(dev_handle, 0);
if(r!=0) { if (r != 0)
{
printf("Cannot Release Interface\n"); printf("Cannot Release Interface\n");
return 1; return 1;
} }
printf("Released Interface\n"); printf("Released Interface\n");
// 关闭设备
libusb_close(dev_handle); //close the device we opened libusb_close(dev_handle);
libusb_exit(NULL); //needs to be called to end the // 结束时调用
libusb_exit(NULL);
return 0; return 0;
} }