132 lines
3.2 KiB
C++
132 lines
3.2 KiB
C++
/******************** (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;
|
||
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;
|
||
}
|