最近有一个需求，需要检测一个物体的运动速度，经过研究我决定使用激光距离传感器来完成这个要求。在模块选择的问题上，我再次遇到了“面粉比面包贵” 的问题—–激光测距模块价格比成品要高。最终选择的是带有USB接口的优利德 UT395B。
最远可以达到150米，我选择的是可以达到70米的
他自带一个软件可以在 Windows 下获得距离，因此可以使用 USBlyzer 来抓取通讯数据数据分析协议。首先抓取Descriptor：
USB 输入设备
| Connection Status | Device connected |
| Current Configuration | 1 |
| Speed | Full (12 Mbit/s) |
| Device Address | 12 |
| Number Of Open Pipes | 2 |
Device Descriptor SDWAY
| Offset | Field | Size | Value | Description |
| 0 | bLength | 1 | 12h | |
| 1 | bDescriptorType | 1 | 01h | Device |
| 2 | bcdUSB | 2 | 0200h | USB Spec 2.0 |
| 4 | bDeviceClass | 1 | 00h | Class info in Ifc Descriptors |
| 5 | bDeviceSubClass | 1 | 00h | |
| 6 | bDeviceProtocol | 1 | 00h | |
| 7 | bMaxPacketSize0 | 1 | 40h | 64 bytes |
| 8 | idVendor | 2 | 0483h | SGS Thomson Microelectronics |
| 10 | idProduct | 2 | 5751h | |
| 12 | bcdDevice | 2 | 0200h | 2.00 |
| 14 | iManufacturer | 1 | 01h | “MyUSB_HID” |
| 15 | iProduct | 1 | 02h | ” SDWAY “ |
| 16 | iSerialNumber | 1 | 03h | |
| 17 | bNumConfigurations | 1 | 01h |
Configuration Descriptor 1
| Offset | Field | Size | Value | Description |
| 0 | bLength | 1 | 09h | |
| 1 | bDescriptorType | 1 | 02h | Configuration |
| 2 | wTotalLength | 2 | 0029h | |
| 4 | bNumInterfaces | 1 | 01h | |
| 5 | bConfigurationValue | 1 | 01h | |
| 6 | iConfiguration | 1 | 00h | |
| 7 | bmAttributes | 1 | C0h | Self Powered |
| 4..0: Reserved | …00000 | |||
| 5: Remote Wakeup | ..0….. | No | ||
| 6: Self Powered | .1…… | Yes | ||
| 7: Reserved (set to one) (bus-powered for 1.0) |
1……. | |||
| 8 | bMaxPower | 1 | C0h | 384 mA |
Interface Descriptor 0/0 HID, 2 Endpoints
| Offset | Field | Size | Value | Description |
| 0 | bLength | 1 | 09h | |
| 1 | bDescriptorType | 1 | 04h | Interface |
| 2 | bInterfaceNumber | 1 | 00h | |
| 3 | bAlternateSetting | 1 | 00h | |
| 4 | bNumEndpoints | 1 | 02h | |
| 5 | bInterfaceClass | 1 | 03h | HID |
| 6 | bInterfaceSubClass | 1 | 00h | |
| 7 | bInterfaceProtocol | 1 | 00h | |
| 8 | iInterface | 1 | 00h |
HID Descriptor
| Offset | Field | Size | Value | Description |
| 0 | bLength | 1 | 09h | |
| 1 | bDescriptorType | 1 | 21h | HID |
| 2 | bcdHID | 2 | 0110h | 1.10 |
| 4 | bCountryCode | 1 | 00h | |
| 5 | bNumDescriptors | 1 | 01h | |
| 6 | bDescriptorType | 1 | 22h | Report |
| 7 | wDescriptorLength | 2 | 0021h | 33 bytes |
Endpoint Descriptor 82 2 In, Interrupt, 10 ms
| Offset | Field | Size | Value | Description |
| 0 | bLength | 1 | 07h | |
| 1 | bDescriptorType | 1 | 05h | Endpoint |
| 2 | bEndpointAddress | 1 | 82h | 2 In |
| 3 | bmAttributes | 1 | 03h | Interrupt |
| 1..0: Transfer Type | ……11 | Interrupt | ||
| 7..2: Reserved | 000000.. | |||
| 4 | wMaxPacketSize | 2 | 0040h | 64 bytes |
| 6 | bInterval | 1 | 0Ah | 10 ms |
Endpoint Descriptor 01 1 Out, Interrupt, 16 ms
| Offset | Field | Size | Value | Description |
| 0 | bLength | 1 | 07h | |
| 1 | bDescriptorType | 1 | 05h | Endpoint |
| 2 | bEndpointAddress | 1 | 01h | 1 Out |
| 3 | bmAttributes | 1 | 03h | Interrupt |
| 1..0: Transfer Type | ……11 | Interrupt | ||
| 7..2: Reserved | 000000.. | |||
| 4 | wMaxPacketSize | 2 | 0040h | 64 bytes |
| 6 | bInterval | 1 | 10h | 16 ms |
Interface 0 HID Report Descriptor
| Item Tag (Value) | Raw Data |
| Usage Page (Bar Code Scanner) | 05 8C |
| Usage | 09 01 |
| Collection (Application) | A1 01 |
| Usage | 09 03 |
| Logical Minimum (0) | 15 00 |
| Logical Maximum (-256) | 26 00 FF |
| Report Size (8) | 75 08 |
| Report Count (24) | 95 18 |
| Input (Data,Var,Abs,NWrp,Lin,Pref,NNul,Bit) | 81 02 |
| Usage | 09 04 |
| Logical Minimum (0) | 15 00 |
| Logical Maximum (-256) | 26 00 FF |
| Report Size (8) | 75 08 |
| Report Count (24) | 95 18 |
| Output (Data,Var,Abs,NWrp,Lin,Pref,NNul,NVol,Bit) | 91 02 |
| End Collection | C0 |
从上面的结果可以看出这个设备是一个自定义的 HID设备，因此，需要进步一抓取通讯数据。
上面是一次完整的获得测量距离的过程，一共有8笔数据，4 笔是主机发送给设备，4笔是设备的返回值。 OUTPUT Report是主机发送给 UT395B的数据。第一个数据包： 41 54 4B 30 30 31 23 00 00 00 00 41 00 00 00 54 00 00 00 44 00 00 00 00
发送到设备之后，设备会打开激光（手册上说这是打开瞄准的功能）。第5笔数据和第1笔数据相同，设备会关闭激光。
经过研发总结： 41 54 4B 30 30 31 23 …….这个命令是打开/关闭激光。 41 54 44 30 30 31 23 …….是主机要求返回距离信息的命令。
上面8个数据的含义如下：
- 主机要求打开激光
- 设备 ECHO
- 主机要求获得上一笔数据
- 设备返回上一笔数据
- 主机要求关闭激光
- 设备 ECHO
- 主机要求获得距离数据
- 设备返回数据，就是我们需要的距离信息
一个典型的返回值：
41 54 44 00 00 3A E8 00 …… 其中的 3A E8 就是距离信息。0x3AE8=15080 对应显示在屏幕上的距离是1.508米。经过多次实验，显示小数点后3位的数值，但是实际上的数据是小数点后4位，最后一位会进行四舍五入。
最终编写 Windows 下 Console 代码如下：
//http://blog.csdn.net/xuxinhua/article/details/6329182
#include "stdafx.h"
#include <stdio.h>
#include <tchar.h>
#include <windows.h>
#include <setupapi.h>
extern "C" {
void __stdcall
HidD_GetHidGuid (
OUT LPGUID HidGuid
);
typedef struct _HIDD_ATTRIBUTES {
ULONG Size; // = sizeof (struct _HIDD_ATTRIBUTES)
//
// Vendor ids of this hid device
//
USHORT VendorID;
USHORT ProductID;
USHORT VersionNumber;
//
// Additional fields will be added to the end of this structure.
//
} HIDD_ATTRIBUTES, *PHIDD_ATTRIBUTES;
BOOLEAN __stdcall
HidD_GetAttributes (
IN HANDLE HidDeviceObject,
OUT PHIDD_ATTRIBUTES Attributes
);
BOOLEAN __stdcall
HidD_SetFeature(
_In_ HANDLE HidDeviceObject,
_In_reads_bytes_(ReportBufferLength) PVOID ReportBuffer,
_In_ ULONG ReportBufferLength
);
}
#pragma comment( lib, "hid.lib" )
#pragma comment( lib, "setupapi.lib" )
void Switch(HANDLE hUsb)
{
BOOL Result;
//Output DataµÄ»º³åÇø£¬ÒòΪÏÂÃæ·¢ËÍ HID ±¨ÎÄÐèÒª9×Ö½Ú£¬ËùÒÔÕâÀïÖ±½Ó°´ÕÕ×î´óµÄ¶¨Òå
UCHAR WriteReportBuffer[25];
WriteReportBuffer[00] = 0x00;
WriteReportBuffer[1] = 0x41;
WriteReportBuffer[2] = 0x54;
WriteReportBuffer[3] = 0x4b;
WriteReportBuffer[4] = 0x30;
WriteReportBuffer[5] = 0x30;
WriteReportBuffer[6] = 0x31;
WriteReportBuffer[7] = 0x23;
WriteReportBuffer[8] = 0x00;
WriteReportBuffer[9] = 0x00;
WriteReportBuffer[10] = 0x00;
WriteReportBuffer[11] = 0x00;
WriteReportBuffer[12] = 0x41;
WriteReportBuffer[13] = 0x00;
WriteReportBuffer[14] = 0x00;
WriteReportBuffer[15] = 0x00;
WriteReportBuffer[16] = 0x54;
WriteReportBuffer[17] = 0x00;
WriteReportBuffer[18] = 0x00;
WriteReportBuffer[19] = 0x00;
WriteReportBuffer[20] = 0x44;
WriteReportBuffer[21] = 0x00;
WriteReportBuffer[22] = 0x00;
WriteReportBuffer[23] = 0x00;
WriteReportBuffer[24] = 0x00;
DWORD lpNumberOfBytesWritten;
//µ÷ÓÃWriteFileº¯Êý·¢ËÍÊý¾Ý
//±¨Îij¤¶ÈÊÇ9×Ö½Ú
Result = WriteFile(hUsb,
WriteReportBuffer,
25,
&lpNumberOfBytesWritten,
NULL);
printf("Written %d bytes Result [%d]\n", lpNumberOfBytesWritten, Result);
}
void SendData(HANDLE hUsb)
{
BOOL Result;
//Output DataµÄ»º³åÇø£¬ÒòΪÏÂÃæ·¢ËÍ HID ±¨ÎÄÐèÒª9×Ö½Ú£¬ËùÒÔÕâÀïÖ±½Ó°´ÕÕ×î´óµÄ¶¨Òå
UCHAR WriteReportBuffer[25];
WriteReportBuffer[00] = 0x00;
WriteReportBuffer[1] = 0x41;
WriteReportBuffer[2] = 0x54;
WriteReportBuffer[3] = 0x44;
WriteReportBuffer[4] = 0x30;
WriteReportBuffer[5] = 0x30;
WriteReportBuffer[6] = 0x31;
WriteReportBuffer[7] = 0x23;
WriteReportBuffer[8] = 0x00;
WriteReportBuffer[9] = 0x00;
WriteReportBuffer[10] = 0x00;
WriteReportBuffer[11] = 0x00;
WriteReportBuffer[12] = 0x41;
WriteReportBuffer[13] = 0x00;
WriteReportBuffer[14] = 0x00;
WriteReportBuffer[15] = 0x00;
WriteReportBuffer[16] = 0x54;
WriteReportBuffer[17] = 0x00;
WriteReportBuffer[18] = 0x00;
WriteReportBuffer[19] = 0x00;
WriteReportBuffer[20] = 0x44;
WriteReportBuffer[21] = 0x00;
WriteReportBuffer[22] = 0x00;
WriteReportBuffer[23] = 0x00;
WriteReportBuffer[24] = 0x00;
DWORD lpNumberOfBytesWritten;
//µ÷ÓÃWriteFileº¯Êý·¢ËÍÊý¾Ý
//±¨Îij¤¶ÈÊÇ9×Ö½Ú
Result = WriteFile(hUsb,
WriteReportBuffer,
25,
&lpNumberOfBytesWritten,
NULL);
printf("Written %d bytes Result [%d]\n", lpNumberOfBytesWritten, Result);
}
void GetData(HANDLE hUsb)
{
//½ÓÊÕ±¨¸æµÄ»º³åÇø£¬1×Ö½Ú±¨¸æID+8×Ö½Ú±¨¸æÊý¾Ý¡£
UCHAR ReadReportBuffer[25];
DWORD lpNumberOfBytesRead;
UINT LastError;
BOOL Result;
DWORD tmp;
//µ÷ÓÃReadFile ½ÓÊÕÊý¾Ý
Result = ReadFile(
hUsb,
ReadReportBuffer,
25,
&lpNumberOfBytesRead,
NULL);
//printf("Read %d bytes\n", lpNumberOfBytesRead);
//Èç¹ûº¯Êý·µ»Øʧ°Ü£¬Ôò¿ÉÄÜÊÇÕæµÄʧ°Ü£¬Ò²¿ÉÄÜÊÇIO¹ÒÆð
if (Result == FALSE)
{
//»ñÈ¡×îºó´íÎó´úÂë
LastError = GetLastError();
//¿´ÊÇ·ñÊÇÕæµÄIO¹Ò
if ((LastError == ERROR_IO_PENDING) || (LastError == ERROR_SUCCESS))
{
exit;
}
//·ñÔò£¬ÊǺ¯Êýµ÷ÓÃʱ·¢Éú´íÎó£¬ÏÔʾ´íÎó´úÂë
else
{
printf("Sending error£º%d \n", LastError);
//Èç¹û×îºó´íÎóΪ1£¬ËµÃ÷¸ÃÉ豸²»Ö§³Ö¸Ãº¯Êý¡£
if (LastError == 1)
{
printf("This device doesn't support WriteFile function \n");
}
}
}
else //Õý³£¶ÁÈ¡
{
for (DWORD Index = 0; Index < lpNumberOfBytesRead; Index++) {
printf("%02X ", ReadReportBuffer[Index]);
}
printf("\n");
if (0x44 == ReadReportBuffer[0x03]) {
tmp = (ReadReportBuffer[0x06] << 8) + ReadReportBuffer[0x07];
printf("%d.%d\n", tmp / 10000, (tmp - tmp /10000 * 10000 +5)/10);
}
}
printf("\n");
}
int main(array<System::String ^> ^args)
{
GUID HidGuid;
BOOL Result;
int counter=-1;
//»ñÈ¡HIDÉ豸µÄ½Ó¿ÚÀàGUDI
HidD_GetHidGuid(&HidGuid);
//Êä³öһϿ´¿´GUID
printf("HID GUID: {%08X-%04X-%04X-%02X%02X-%02X%02X%02X%02X%02X%02X}\n"
, HidGuid.Data1, HidGuid.Data2, HidGuid.Data3
, HidGuid.Data4[0], HidGuid.Data4[1], HidGuid.Data4[2], HidGuid.Data4[3], HidGuid.Data4[4]
, HidGuid.Data4[5], HidGuid.Data4[6], HidGuid.Data4[7] );
//¸ù¾Ý»ñµÃµÄGUIDö¾ÙHIDÉ豸
HDEVINFO hDevInfo = SetupDiGetClassDevs( &HidGuid, NULL, 0, DIGCF_PRESENT|DIGCF_DEVICEINTERFACE );
if( INVALID_HANDLE_VALUE != hDevInfo )
{
SP_DEVICE_INTERFACE_DATA strtInterfaceData = { sizeof(SP_DEVICE_INTERFACE_DATA) };
for( DWORD index=0; SetupDiEnumDeviceInterfaces(hDevInfo,NULL,&HidGuid,index,&strtInterfaceData); ++index )
{
char buf[1000];
SP_DEVICE_INTERFACE_DETAIL_DATA& strtDetailData = (SP_DEVICE_INTERFACE_DETAIL_DATA&)buf[0];
strtDetailData.cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
if( SetupDiGetDeviceInterfaceDetail(hDevInfo,&strtInterfaceData,&strtDetailData,_countof(buf),NULL,NULL) )
{
printf("[%d] path: %ls\n", index, strtDetailData.DevicePath);
//ÕâÀï´ò¿ªµÄÓпÉÄÜÊÇUSB¼üÅÌÊó±êÕâÑù±È½ÏÌرðµÄÉ豸£¨Ö»Äܲéѯ£©
HANDLE hUsb = CreateFile( strtDetailData.DevicePath,
NULL, FILE_SHARE_WRITE,
NULL, OPEN_EXISTING,
FILE_ATTRIBUTE_NORMAL,
NULL );
// ²éѯÉ豸±êʶ
HIDD_ATTRIBUTES strtAttrib = { sizeof(HIDD_ATTRIBUTES) };
Result=HidD_GetAttributes(hUsb,&strtAttrib);
//ËùÒÔÕâÀïÒª¹Ø±Õһϣ¬ºóÃæÕÒµ½ÎÒÃÇ×Ô¼ºµÄÉ豸ȷ¶¨¿ÉÒÔдÈëÔÙ´ò¿ªÒ»´Î
CloseHandle( hUsb );
if(TRUE==Result)
{
if ((0x0483 == strtAttrib.VendorID) &&
(0x5751 == strtAttrib.ProductID)) //ÕÒµ½ÎÒÃÇ×Ô¼ºµÄÉ豸
{
printf("VendorID : %hX\n", strtAttrib.VendorID);
printf("ProductID: %hX\n", strtAttrib.ProductID);
printf("VerNumber: %hX\n", strtAttrib.VersionNumber);
//È·¶¨ÊÇÎÒÃÇ×Ô¼ºµÄÉ豸£¬ÔÙ´ò¿ªÒ»´Î,×¢ÒâÎÒÃÇÕâÀïʹÓõÄÊÇͬ²½·¢ËÍ
hUsb = CreateFile(strtDetailData.DevicePath,
GENERIC_READ | GENERIC_WRITE, FILE_SHARE_WRITE,
NULL, OPEN_EXISTING,
FILE_ATTRIBUTE_NORMAL, NULL);
Switch(hUsb); GetData(hUsb);
//Sleep(100);
SendData(hUsb); GetData(hUsb);
Switch(hUsb); GetData(hUsb);
SendData(hUsb); GetData(hUsb);
CloseHandle( hUsb );
}//if ((0x8888==strtAttrib.VendorID) &&
} //if(TRUE==Result)
} // if( SetupDiGetDeviceInterfaceDetail(hDevInfo,&strtInterfaceData,&strtDetailData,_countof(buf),NULL,NULL) )
} //for( DWORD index=0;
if( GetLastError() != ERROR_NO_MORE_ITEMS )
{printf("No more items!\n"); }
SetupDiDestroyDeviceInfoList( hDevInfo );
} //if( INVALID_HANDLE_VALUE != hDevInfo )
system("PAUSE");
return 0;
}
运行结果：
