使用系统调用操作USB设备

#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <ctype.h>

#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <pthread.h>

// 定义要打开的VID/PID, 若无需匹配PID则定义PID为0
uint16_t VID =  0x28e1;
uint16_t PID =  0;

struct hidraw_devinfo {
    unsigned int bustype;
    unsigned short vendor;
    unsigned short product;
};
#define HIDIOCGRAWINFO _IOR('H', 0x03, struct hidraw_devinfo)

int fds[10] = {0};
int fds_max = 0;
int router = 0;

// 按整齐的格式输出到stdout

void printArr(uint8_t  *arr, int len) {
    static char output[1024];
    int i, off = 0;
    for(i = 0; i < len; i++) {
        if (i%16==0)
            off += sprintf(output+off, "\n\t");

        if (i%4==0)
            off += sprintf(output+off, " ");

        off += sprintf(output+off, "%02x ", arr[i]); 

        {   // ==> characters
            static char str[20] = {0};

                sprintf(str+i%16, "%c", isprint(arr[i])?arr[i]:'.');

                if (i%16==15 || i==len-1) {
                off += sprintf(output+off, " > %s", str);

                memset(str, 0, 20);
            }
        }
    }
    printf("%s\n\t------\n", output);
}

void hid_open_dev(uint16_t  vendor_id, uint16_t  product_id)
{
    int i, fd = 0;
    char node[100];

    fds_max = 0;
    for (i = 0; i < 20; i++) {

        sprintf(node, "/dev/hidraw%d", i);
        fd = open(node, O_RDWR | O_NONBLOCK);

        if (fd > 0) {
            struct hidraw_devinfo rawinfo;

            ioctl(fd, HIDIOCGRAWINFO, &rawinfo);

            if ((vendor_id  == 0 || vendor_id  == rawinfo.vendor) &&

            (product_id == 0 || product_id == rawinfo.product)) {

                fds[fds_max++] = fd;

                printf("...... found hidraw%d, opened as fd=%d\n", i, fd);
            } else {

                close(fd);
                fd = 0;
            }
        }
    }
}

void hid_write_hidraw(uint8_t *cmd, int len) 
{

        int fd = fds[0];
        int ret = write(fd, cmd, 64);

        if (ret > 0) {
        printf("↓↓ raw[0] write %d bytes:", ret);

        printArr(cmd, ret);

        } else {
        printf("↓↓ raw[0] write fail? ret=%d.", ret);
    }    
}

void * hid_read_hidraw(void *arg) 

{
    int i = (long)arg, fd = fds[i];
    uint8_t redir[64] = {0xa1, 0x18};

    while(1) {
        uint8_t buf[64] = {0};

        int ret;
        usleep(1000);
        ret = read(fd, buf, 64);

        if (ret > 0) {
            printf("↑↑ raw[%d] read %d bytes:", i, ret);
            printArr(buf, ret);

        }

        if (errno == 5) {
            printf("dev disconnected.\n");
            exit(0);
        }

    }

}