#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?

#include?


#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?


using?namespace?std;
using?namespace?cv;

#define?CAMERA	“/dev/video0“
#define?CAPTURE_FILE	“frame.yuv“

#define?BUFFER_COUNT?20


#define?CY_FX_UVC_XU_CAMERA_RW??????????????????????????????????0x01
#define?CY_FX_UVC_XU_HALF_RW??????????????????????????????????0x02
#define?CY_FX_UVC_XU_IMU_DATA_W??????????????????????????????????0x03
#define?CY_FX_UVC_XU_IMU_DATA_R??????????????????????????????????0x04
#define?CY_FX_UVC_XU_FILE_DATA_WR??????????????????????????????????0x05

//?set?to?1?for?a?bit?of?debug?output
#if?1
#define?__print?printf
#define?dbg?printf
#else
#define?dbg（fmt?...）
#endif

static??__u8?value[2000]?=?{0};
int?v4l2_dev=0;

struct?uvc_xu_control_query?xu_query?=
{
????.unit???????=?3??//?has?to?be?unit?3
????.selector???=?1
????.query??????=?UVC_SET_CUR
????.size???????=?6
????.data???????=?value
};

/**
?*??@brief??????error?handle.
?*??@param[out]?NULL.
?*??@return?????NULL.
?*/
void?error_handle（）
{
????int?res?=?errno;
????const?char?*err;

????switch?（res）
????{
????????case?ENOENT:
????????????err?=?“Extension?unit?or?control?not?found“;
????????????break;
????????case?ENOBUFS:
????????????err?=?“Buffer?size?does?not?match?control?size“;
????????????break;
????????case?EINVAL:
????????????err?=?“Invalid?request?code“;
????????????break;
????????case?EBADRQC:
????????????err?=?“Request?not?supported?by?control“;
????????????break;
????????default:
????????????err?=?strerror（res）;
????????????break;
????}
????dbg（“!!!!!!!!!!!!!!!!!!!!?%s.?（System?code:?%d）?\n\r“?err?res）;
????return;
}


unsigned?int?g_index?=?0;
unsigned?int?lb_index?=?0;
int?imudata;
/**
?*??@brief??????read?hardware?version?info.
?*??@param[out]?NULL.
?*??@return?????NULL.
?*/
short?write_imu_data_req（int?fd）
{

????unsigned?short?regval?=?0;

????static?int?length?=?1;
????unsigned?int?g_index?=?0;


????static?int?bri?=?1;
	//g_index?=?0;
????
????xu_query.selector?=?CY_FX_UVC_XU_IMU_DATA_W;
????xu_query.query?=?UVC_SET_CUR;
????xu_query.size?=?5;
	xu_query.data[0]?=?0x5a;
????xu_query.data[1]?=?（g_index>>24）&0x000000ff;
????xu_query.data[2]?=?（g_index>>16）&0x000000ff;
????xu_query.data[3]?=?（g_index>>8）&0x000000ff;
????xu_query.data[4]?=?g_index&0x000000ff;


????regval?=?ioctl（fd?UVCIOC_CTRL_QUERY?&xu_query）;
????if?（regval）
????{
????????error_handle（）;
	return?regval;
????}
	el

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-09-27?15:03??UVC_Extension\
?????文件???????10391??2018-09-21?15:17??UVC_Extension\CMakeCache.txt
?????目錄???????????0??2018-09-27?15:03??UVC_Extension\CMakeFiles\
?????目錄???????????0??2018-05-25?11:23??UVC_Extension\CMakeFiles\3.5.1\
?????文件????????2002??2018-04-26?18:20??UVC_Extension\CMakeFiles\3.5.1\CMakeCCompiler.cmake
?????文件????????4556??2018-04-26?18:20??UVC_Extension\CMakeFiles\3.5.1\CMakeCXXCompiler.cmake
?????文件????????8640??2018-04-26?18:20??UVC_Extension\CMakeFiles\3.5.1\CMakeDetermineCompilerABI_C.bin
?????文件????????8656??2018-04-26?18:20??UVC_Extension\CMakeFiles\3.5.1\CMakeDetermineCompilerABI_CXX.bin
?????文件?????????402??2018-04-26?18:20??UVC_Extension\CMakeFiles\3.5.1\CMakeSystem.cmake
?????目錄???????????0??2018-05-25?11:23??UVC_Extension\CMakeFiles\3.5.1\CompilerIdC\
?????文件???????16423??2018-04-26?18:20??UVC_Extension\CMakeFiles\3.5.1\CompilerIdC\CMakeCCompilerId.c
?????文件????????8800??2018-04-26?18:20??UVC_Extension\CMakeFiles\3.5.1\CompilerIdC\a.out
?????目錄???????????0??2018-05-25?11:23??UVC_Extension\CMakeFiles\3.5.1\CompilerIdCXX\
?????文件???????16406??2018-04-26?18:20??UVC_Extension\CMakeFiles\3.5.1\CompilerIdCXX\CMakeCXXCompilerId.cpp
?????文件????????8808??2018-04-26?18:20??UVC_Extension\CMakeFiles\3.5.1\CompilerIdCXX\a.out
?????文件?????????637??2018-09-21?15:17??UVC_Extension\CMakeFiles\CMakeDirectoryInformation.cmake
?????文件???????41093??2018-04-26?18:20??UVC_Extension\CMakeFiles\CMakeOutput.log
?????目錄???????????0??2018-09-27?16:10??UVC_Extension\CMakeFiles\CMakeTmp\
?????文件????????2120??2018-09-21?15:17??UVC_Extension\CMakeFiles\Makefile.cmake
?????文件????????3070??2018-09-21?15:17??UVC_Extension\CMakeFiles\Makefile2
?????文件?????????171??2018-09-21?15:17??UVC_Extension\CMakeFiles\TargetDirectories.txt
?????文件??????????85??2018-09-21?15:17??UVC_Extension\CMakeFiles\cmake.check_cache
?????文件???????12696??2018-04-26?18:20??UVC_Extension\CMakeFiles\feature_tests.bin
?????文件?????????688??2018-04-26?18:20??UVC_Extension\CMakeFiles\feature_tests.c
?????文件???????10011??2018-04-26?18:20??UVC_Extension\CMakeFiles\feature_tests.cxx
?????目錄???????????0??2018-09-27?15:03??UVC_Extension\CMakeFiles\play.dir\
?????文件???????31825??2018-09-27?15:03??UVC_Extension\CMakeFiles\play.dir\CXX.includecache
?????文件?????????630??2018-09-21?15:17??UVC_Extension\CMakeFiles\play.dir\DependInfo.cmake
?????文件????????5021??2018-09-21?15:17??UVC_Extension\CMakeFiles\play.dir\build.make
?????文件??????276424??2018-09-27?15:03??UVC_Extension\CMakeFiles\play.dir\capture.cpp.o
?????文件?????????233??2018-09-21?15:17??UVC_Extension\CMakeFiles\play.dir\cmake_clean.cmake
............此處省略51個(gè)文件信息