SpaceNavigator driver for QNX

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thomasth
Posts: 3
Joined: Tue Jan 17, 2017 7:33 am

SpaceNavigator driver for QNX

Post by thomasth » Tue Jan 17, 2017 8:25 am

Hello everyone!

I am currently working on integrating the SpaceNavigator Joystick into my programm, running on QNX (realtime-OS) on a Beaglebone Black. My current goal is to simply read in the SpaceNavigators sensor values into my C program.

Unfortunately, I am not very experienced with USB driver programming. Is there by chance something like a Programmers' Guide or an example (c-) driver that I can use?
Anything helps! :)

Thanks,
Thomas

PS: I am especially interested in the structure of the Data, which is sent to the host from the Spacenavigator. How many bytes are sent? How are x/y/z/rx/ry/rz encoded and so on.

thomasth
Posts: 3
Joined: Tue Jan 17, 2017 7:33 am

Re: SpaceNavigator driver for QNX

Post by thomasth » Thu Jan 19, 2017 8:19 am

I ultimately managed to get a working piece of code, derived from https://www.ram.ewi.utwente.nl/ECSSoftw ... ource.html. Unfortunately I can only read three values, representing X,Y and Z. Does anyone know what I have to change in my Code to be able to read out the rotations as well?

Here is my adapted code:

Code: Select all

#include <stdlib.h>
#include <stdio.h>
#include <sys/neutrino.h>
#include <sys/hiddi.h>
#include <sys/hidut.h>
#include <unistd.h>
#include <errno.h>

struct hidd_connection *d_connection;

int16_t x, y, z, rx, ry, rz; //SpaceNavigator orientation variables

void dump(struct hidd_connection *connection, struct hidd_report *handle, void *report_data, _Uint32t report_len, _Uint32t flags, void *user)
{
	x =  ((int16_t*) report_data)[0];
	y =  ((int16_t*) report_data)[1];
	z =  ((int16_t*) report_data)[2];
	rx =  ((int16_t*) report_data)[3];
	ry =  ((int16_t*) report_data)[4];
	rz =  ((int16_t*) report_data)[5];
}

//This function is called when the USB device is inserted:
void oninsertion(struct hidd_connection *connection,hidd_device_instance_t *device_instance) {
	struct hidd_collection **hidd_collections, **hidd_mcollections;
	struct hidd_report_instance *report_instance;
	struct hidd_report *report;
	_uint16 num_col, num_mcol;
	_uint16 usage_page, usage;
	_uint16 max_but;
	int i;

	// Get root level HID collections
	hidd_get_collections( device_instance, NULL, &hidd_collections, &num_col);

	// for each top level collection
	for(i = 0; i < num_col; i++)
	{
		// Get usage for the collection
		hidd_collection_usage( hidd_collections[i], &usage_page, &usage);

		// Ignore collection if it doesn't describe joystick functionality
		if( usage_page != HIDD_PAGE_DESKTOP || usage != HIDD_USAGE_JOYSTICK)
			continue;

		// *** The following is a bad hack. Fix it as recursive search for report ****
		hidd_get_collections( NULL, hidd_collections[i], &hidd_mcollections, &num_mcol);

		if ( num_col && hidd_get_report_instance( hidd_mcollections[0], 0 , HID_INPUT_REPORT,
				&report_instance ) == 0 )
		{
			hidd_num_buttons( report_instance, &max_but );

			if( hidd_report_attach( connection, device_instance, report_instance, 0,
					(max_but * sizeof(_int32)) , &report ) == 0 )
			{
				break;
			}
		}

	} // end for

}


int main(int argc, char *argv[]) {

	/*... here I usually have some more code, nothing to do with my problem...*/

       //set up device identifier (0x256f=3dconnexion, 0xc641=Space Navigator)
	hidd_device_ident_t interest = {0x256f,0xc641,(_uint32)HIDD_CONNECT_WILDCARD};

        //set up usb functions
	hidd_funcs_t funcs = {_HIDDI_NFUNCS, &oninsertion, NULL, &dump, NULL};

	hidd_connect_parm_t parm = {NULL,
			HID_VERSION,
			HIDD_VERSION,
			0,
			0,
			&interest,
			&funcs,
			HIDD_CONNECT_WAIT};


	if(hidd_connect(&parm, &d_connection)!=0)
        {
           printf("hidd_connect() error\n");
           return EXIT_FAILURE;
        }

	while(1)
	{
		sleep(1);
		printf("X:%i\t Y:%i\t Z:%i\t rX:%i\t rY:%i\t rZ:%i\n", x, y, z, rx, ry, rz);

	}

	return EXIT_SUCCESS;
}
When I run this code i get nice values for X,Y and Z, rX, rY and rZ continuously stay on zero.
What am I doing wrong? As usual, any help is appreciated!

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