142 lines
3.5 KiB
C++
142 lines
3.5 KiB
C++
/******************** (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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/**---------------------------------------------------------------------
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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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// 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, 0x0483, 0x5750);
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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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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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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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printf("Kernel Driver Detached!\n");
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}
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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[64];
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int transferred;
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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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data[0] = 0x00;
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r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_OUT), data, 64, &transferred, 1000);
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if (r == 0 && actual == 127){
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// 解析GeekIMU的磁力计信息
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printf("Set Success.\n");
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}else{
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printf("Set Error.\n");
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}
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while (1)
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{
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r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN), data, 64, &transferred, 1000);
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if (r == 0 && actual == 127){
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// 解析GeekIMU的磁力计信息
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int16_t mx = *(int16_t *)(data + 3);
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int16_t my = *(int16_t *)(data + 5);
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int16_t mz = *(int16_t *)(data + 7);
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printf("mag:%d,%d,%d\n", mx, my, mz);
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}else{
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printf("Read Error\n");
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}
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//printf("%i,%i\n", r, actual);
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// 睡眠延时100ms
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usleep(1000 * 10);
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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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return 0;
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}
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