init, have brushed and brushless sim and gnuplot viz, also some usb hid testingHEADmaster

1 files changed, 264 insertions, 0 deletions

diff --git a/wheel_uhid.c b/wheel_uhid.c
new file mode 100644
index 0000000..563125b
--- /dev/null
+++ b/wheel_uhid.c
@@ -0,0 +1,264 @@
+#include <errno.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <termios.h>
+#include <unistd.h>
+#include <linux/uhid.h>
+#include <stdint.h>
+
+static unsigned char rdesc[] = {
+    #include "wheel_hid_report_desc.h"
+};
+
+static int uhid_write(int fd, const struct uhid_event *ev)
+{
+	ssize_t ret;
+
+	ret = write(fd, ev, sizeof(*ev));
+	if (ret < 0) {
+		fprintf(stderr, "Cannot write to uhid: %m\n");
+		return -errno;
+	} else if (ret != sizeof(*ev)) {
+		fprintf(stderr, "Wrong size written to uhid: %zd != %zu\n",
+			ret, sizeof(ev));
+		return -EFAULT;
+	} else {
+		return 0;
+	}
+}
+
+static int create(int fd)
+{
+	struct uhid_event ev;
+
+	memset(&ev, 0, sizeof(ev));
+	ev.type = UHID_CREATE;
+	strcpy((char*)ev.u.create.name, "test-uhid-device");
+	ev.u.create.rd_data = rdesc;
+	ev.u.create.rd_size = sizeof(rdesc);
+	ev.u.create.bus = BUS_USB;
+	ev.u.create.vendor = 0x15d9;
+	ev.u.create.product = 0x0a37;
+	ev.u.create.version = 0;
+	ev.u.create.country = 0;
+
+	return uhid_write(fd, &ev);
+}
+
+static void destroy(int fd)
+{
+	struct uhid_event ev;
+
+	memset(&ev, 0, sizeof(ev));
+	ev.type = UHID_DESTROY;
+
+	uhid_write(fd, &ev);
+}
+
+/* This parses raw output reports sent by the kernel to the device. A normal
+ * uhid program shouldn't do this but instead just forward the raw report.
+ * However, for ducomentational purposes, we try to detect LED events here and
+ * print debug messages for it. */
+static void handle_output(struct uhid_event *ev)
+{
+	/* LED messages are adverised via OUTPUT reports; ignore the rest */
+	if (ev->u.output.rtype != UHID_OUTPUT_REPORT)
+		return;
+	/* LED reports have length 2 bytes */
+	if (ev->u.output.size != 2)
+		return;
+	/* first byte is report-id which is 0x02 for LEDs in our rdesc */
+	if (ev->u.output.data[0] != 0x2)
+		return;
+
+	/* print flags payload */
+	fprintf(stderr, "LED output report received with flags %x\n",
+		ev->u.output.data[1]);
+}
+
+static int event(int fd)
+{
+	struct uhid_event ev;
+	ssize_t ret;
+
+	memset(&ev, 0, sizeof(ev));
+	ret = read(fd, &ev, sizeof(ev));
+	if (ret == 0) {
+		fprintf(stderr, "Read HUP on uhid-cdev\n");
+		return -EFAULT;
+	} else if (ret < 0) {
+		fprintf(stderr, "Cannot read uhid-cdev: %m\n");
+		return -errno;
+	} else if (ret != sizeof(ev)) {
+		fprintf(stderr, "Invalid size read from uhid-dev: %zd != %zu\n",
+			ret, sizeof(ev));
+		return -EFAULT;
+	}
+
+	switch (ev.type) {
+	case UHID_START:
+		fprintf(stderr, "UHID_START from uhid-dev\n");
+		break;
+	case UHID_STOP:
+		fprintf(stderr, "UHID_STOP from uhid-dev\n");
+		break;
+	case UHID_OPEN:
+		fprintf(stderr, "UHID_OPEN from uhid-dev\n");
+		break;
+	case UHID_CLOSE:
+		fprintf(stderr, "UHID_CLOSE from uhid-dev\n");
+		break;
+	case UHID_OUTPUT:
+		fprintf(stderr, "UHID_OUTPUT from uhid-dev\n");
+		handle_output(&ev);
+		break;
+	case UHID_OUTPUT_EV:
+		fprintf(stderr, "UHID_OUTPUT_EV from uhid-dev\n");
+		break;
+	default:
+		fprintf(stderr, "Invalid event from uhid-dev: %u\n", ev.type);
+ 	}
+
+	return 0;
+}
+
+struct my_report {
+    uint8_t reportid;
+    int8_t a[4];
+    uint16_t rest;
+} __attribute__((packed)) r = {1};
+
+static int send_event(int fd)
+{
+	struct uhid_event ev;
+
+	memset(&ev, 0, sizeof(ev));
+	ev.type = UHID_INPUT;
+	ev.u.input.size = sizeof(r);
+    memcpy(ev.u.input.data, &r, sizeof(r));
+    
+    printf("\n");
+    for(size_t i = 0; i < sizeof(r); i++) {
+        printf("0x%x ", ev.u.input.data[i]);
+    }
+    printf("\n");
+
+    printf("Sending event\n");
+	return uhid_write(fd, &ev);
+}
+
+static int keyboard(int fd)
+{
+    static int axisidx = 0;
+	char buf[128];
+
+	ssize_t ret = read(STDIN_FILENO, buf, sizeof(buf));
+	if (ret == 0) {
+		fprintf(stderr, "Read HUP on stdin\n");
+		return -EFAULT;
+	} else if (ret < 0) {
+		fprintf(stderr, "Cannot read stdin: %m\n");
+		return -errno;
+	}
+
+    for(size_t i = 0; i < ret; ++i) {
+        if(buf[i] >= '1' && buf[i] <= '8') {
+            axisidx = buf[i] - '0' - 1;
+            continue;
+        }
+        
+        switch(buf[i]) {
+        case 'u': r.a[axisidx] += 2; send_event(fd); break;
+        case 'd': r.a[axisidx] -= 2; send_event(fd); break;
+        case 'q': return -ECANCELED;
+        default:
+            fprintf(stderr, "Unknown command %c\n", buf[i]);
+        }
+    }
+    
+	return 0;
+}
+
+int main(int argc, char **argv)
+{
+	int fd;
+	const char *path = "/dev/uhid";
+	struct pollfd pfds[2];
+	int ret;
+	struct termios state;
+
+	ret = tcgetattr(STDIN_FILENO, &state);
+	if (ret) {
+		fprintf(stderr, "Cannot get tty state\n");
+	} else {
+		state.c_lflag &= ~ICANON;
+		state.c_cc[VMIN] = 1;
+		ret = tcsetattr(STDIN_FILENO, TCSANOW, &state);
+		if (ret)
+			fprintf(stderr, "Cannot set tty state\n");
+	}
+
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "-h") || !strcmp(argv[1], "--help")) {
+			fprintf(stderr, "Usage: %s [%s]\n", argv[0], path);
+			return EXIT_SUCCESS;
+		} else {
+			path = argv[1];
+		}
+	}
+
+	fprintf(stderr, "Open uhid-cdev %s\n", path);
+	fd = open(path, O_RDWR | O_CLOEXEC);
+	if (fd < 0) {
+		fprintf(stderr, "Cannot open uhid-cdev %s: %m\n", path);
+		return EXIT_FAILURE;
+	}
+
+	fprintf(stderr, "Create uhid device\n");
+	ret = create(fd);
+	if (ret) {
+		close(fd);
+		return EXIT_FAILURE;
+	}
+
+	pfds[0].fd = STDIN_FILENO;
+	pfds[0].events = POLLIN;
+	pfds[1].fd = fd;
+	pfds[1].events = POLLIN;
+
+	fprintf(stderr, "Press 'q' to quit...\n");
+	while (1) {
+		ret = poll(pfds, 2, -1);
+		if (ret < 0) {
+			fprintf(stderr, "Cannot poll for fds: %m\n");
+			break;
+		}
+		if (pfds[0].revents & POLLHUP) {
+			fprintf(stderr, "Received HUP on stdin\n");
+			break;
+		}
+		if (pfds[1].revents & POLLHUP) {
+			fprintf(stderr, "Received HUP on uhid-cdev\n");
+			break;
+		}
+
+		if (pfds[0].revents & POLLIN) {
+			ret = keyboard(fd);
+			if (ret)
+				break;
+		}
+		if (pfds[1].revents & POLLIN) {
+			ret = event(fd);
+			if (ret)
+				break;
+		}
+	}
+
+	fprintf(stderr, "Destroy uhid device\n");
+	destroy(fd);
+	return EXIT_SUCCESS;
+}