更新注释
UESTCsecurity
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## USB-HID
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> 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)
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#### 1、使用用途
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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。
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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。
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#### 2、代码编译
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##### 2.1 windows
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##### 2.2 Linux
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##### 2.2.1 环境要求
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```shell
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sudo apt-get install libusb-1.0-0
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```
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##### 2.2.2 样例和编译
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usb_test_show.cpp : 显示各个连接到主机的usb信息
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```shell
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# firefly RK3588已经集成libusb 1.0
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gcc usb_test_show.cpp -o hid_test_show -lusb-1.0
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# 运行
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sudo ./hid_test_show
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```
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usb_test_show.cpp ：读取USB信息(IMU设备DEMO)并显示
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```shell
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gcc usb_read_data.cpp -o hid -lusb-1.0
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# 执行
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sudo ./hid
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```
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5
readme
5
readme
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usb-hid
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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
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rk3588 and read Tracker sucessful.
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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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@ -1,108 +1,128 @@
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/******************** (C) COPYRIGHT 2024 UPBot***********************************
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* File Name : usb_read_data.cpp
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* Current Version : V1.0
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* Author : UPBot Group
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* Date of Issued : 2024.04.11
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* Comments : UWB USB-HID驱动
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********************************************************************************/
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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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/**---------------------------------------------------------------------
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* Function : print_devs
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* Description : 列举usb设备信息，和ls usb功能差不多
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* Date : 2024/04/11 zhanli
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*---------------------------------------------------------------------**/
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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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{
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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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{
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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("USB Dev VID = %04x,PID = %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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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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// 初始化libusb
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r = libusb_init(NULL);
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if (r < 0)
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{
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printf("failed to init libusb\n");
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return 1;
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}
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// 获取设备列表
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cnt = libusb_get_device_list(NULL, &devs);
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if (cnt < 0)
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{
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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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// 打印usb设备信息
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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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{
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printf("Cannot open device\n");
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return 1;
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}else
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}else{
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printf("Device Opened\n");
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}
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// free the list, unref the devices in it
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libusb_free_device_list(devs, 1);
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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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if (libusb_kernel_driver_active(dev_handle, 0) == 1)
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{ // 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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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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// claim interface 0 (the first) of device (mine had jsut 1)
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r = libusb_claim_interface(dev_handle, 0);
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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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sleep(1);
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unsigned char tmp_char[64];
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data[0]=0x02;data[1]=0x64;
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unsigned char data[64];
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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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// 用于实际判断传输的数据长度
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int actual;
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while (1)
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{
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r = libusb_bulk_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN), data, 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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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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// 解析GeekIMU的磁力计信息
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int16_t mx = *(int16_t *)(data + 56);
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int16_t my = *(int16_t *)(data + 58);
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int16_t mz = *(int16_t *)(data + 60);
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printf("mag:%d,%d,%d\n", mx, my, mz);
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// 睡眠延时100ms
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usleep(1000 * 100);
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// 清屏
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// printf("%s","\033[1H\033[2J");//clear display
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}
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// 释放 the claimed interface
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r = libusb_release_interface(dev_handle, 0);
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if (r != 0)
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{
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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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// 关闭设备
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libusb_close(dev_handle);
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// 结束时调用
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libusb_exit(NULL);
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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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}
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