Merge device changes from https://github.com/wheaney/xrealAirLinuxDriver

.gitmodules

@@ -1,3 +1,6 @@
-[submodule "modules/Fusion"]
-	path = modules/Fusion
-	url = https://github.com/TheJackiMonster/Fusion.git
+[submodule "interface_lib/Fusion"]
+	path = interface_lib/Fusion
+	url = https://github.com/xioTechnologies/Fusion.git
+[submodule "interface_lib/hidapi"]
+	path = interface_lib/hidapi
+	url = https://github.com/libusb/hidapi.git

CMakeLists.txt

@@ -3,10 +3,6 @@ project(nrealAirLinuxDriver C)
 
 set(CMAKE_C_STANDARD 17)
 
-add_subdirectory(modules/Fusion/Fusion)
-set(FUSION_INCLUDE_DIR ${CMAKE_SOURCE_DIR}/modules/Fusion)
-set(FUSION_LIBRARY Fusion)
-
 add_subdirectory(interface_lib)
 add_subdirectory(examples)
 
@@ -19,9 +15,9 @@ target_include_directories(nrealAirLinuxDriver
 )
 
 target_include_directories(nrealAirLinuxDriver
-		BEFORE PUBLIC ${NRA_INCLUDE_DIR}
+		BEFORE PUBLIC ${NREAL_AIR_INCLUDE_DIR}
 )
 
 target_link_libraries(nrealAirLinuxDriver
-		${NRA_LIBRARY} ${FUSION_LIBRARY}
+		${NREAL_AIR_LIBRARY} ${FUSION_LIBRARY}
 )

examples/debug_d3/CMakeLists.txt

@@ -9,9 +9,9 @@ add_executable(
 )
 
 target_include_directories(nrealAirDebugD3
-		BEFORE PUBLIC ${NRA_INCLUDE_DIR}
+		BEFORE PUBLIC ${NREAL_AIR_INCLUDE_DIR}
 )
 
 target_link_libraries(nrealAirDebugD3
-		${NRA_LIBRARY}
+		${NREAL_AIR_LIBRARY}
 )

examples/debug_d3/src/debug.c

@@ -56,7 +56,7 @@ int main(int argc, const char** argv) {
 	device3_clear(dev3);
 	
 	while (dev3) {
-		if (device3_read(dev3, -1) < 0) {
+		if (device3_read(dev3, -1, false) < 0) {
 			break;
 		}
 	}

examples/debug_d4/CMakeLists.txt

@@ -9,9 +9,9 @@ add_executable(
 )
 
 target_include_directories(nrealAirDebugD4
-		BEFORE PUBLIC ${NRA_INCLUDE_DIR}
+		BEFORE PUBLIC ${NREAL_AIR_INCLUDE_DIR}
 )
 
 target_link_libraries(nrealAirDebugD4
-		${NRA_LIBRARY}
+		${NREAL_AIR_LIBRARY}
 )

examples/mcu_firmware/CMakeLists.txt

@@ -9,9 +9,9 @@ add_executable(
 )
 
 target_include_directories(nrealAirUpgradeMCU
-		BEFORE PUBLIC ${NRA_INCLUDE_DIR}
+		BEFORE PUBLIC ${NREAL_AIR_INCLUDE_DIR}
 )
 
 target_link_libraries(nrealAirUpgradeMCU
-		${NRA_LIBRARY}
+		${NREAL_AIR_LIBRARY}
 )

interface_lib/CMakeLists.txt

@@ -3,8 +3,12 @@ project(nrealAirLibrary C)
 
 set(CMAKE_C_STANDARD 17)
 
-find_package(hidapi REQUIRED)
-find_package(json-c REQUIRED)
+add_subdirectory(hidapi)
+find_package(json-c REQUIRED CONFIG)
+
+add_subdirectory(Fusion/Fusion)
+set(FUSION_INCLUDE_DIR ${CMAKE_SOURCE_DIR}/interface_lib/Fusion)
+set(FUSION_LIBRARY Fusion)
 
 add_library(
 		nrealAirLibrary
@@ -13,17 +17,19 @@ add_library(
 		src/device4.c
 )
 
+target_compile_options(nrealAirLibrary PRIVATE -fPIC)
+
 target_include_directories(nrealAirLibrary
 		BEFORE PUBLIC include
 )
 
 target_include_directories(nrealAirLibrary
-		SYSTEM BEFORE PRIVATE ${FUSION_INCLUDE_DIR}
+		BEFORE PRIVATE ${FUSION_INCLUDE_DIR}
 )
 
 target_link_libraries(nrealAirLibrary
-		hidapi::hidapi json-c::json-c ${FUSION_LIBRARY} m
+		PRIVATE hidapi::hidapi json-c::json-c ${FUSION_LIBRARY}
 )
 
-set(NRA_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include PARENT_SCOPE)
-set(NRA_LIBRARY nrealAirLibrary PARENT_SCOPE)
+set(NREAL_AIR_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include PARENT_SCOPE)
+set(NREAL_AIR_LIBRARY nrealAirLibrary PARENT_SCOPE)

interface_lib/Fusion

@@ -0,0 +1 @@
+Subproject commit 0fd6785d3e3e2f8c358603db47ff5dadc0e338af

interface_lib/hidapi

@@ -0,0 +1 @@
+Subproject commit 09ab35ffa9dce60a993f4e55cdeaf0952645f9b7

interface_lib/include/device3.h

@@ -122,6 +122,8 @@ struct device3_t {
 	
 	device3_event_callback callback;
 	device3_calibration_type* calibration;
+
+	bool ready;
 };
 
 typedef struct device3_t device3_type;
@@ -138,7 +140,7 @@ void device3_clear(device3_type* device);
 
 int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet);
 
-int device3_read(device3_type* device, int timeout);
+int device3_read(device3_type* device, int timeout, bool silent);
 
 device3_vec3_type device3_get_earth_acceleration(const device3_ahrs_type* ahrs);
 

interface_lib/src/device3.c

@@ -26,12 +26,13 @@
 
 #include <stdio.h>
 #include <stdlib.h>
+#include <stdbool.h>
 #include <string.h>
 
 #include <Fusion/Fusion.h>
 #include <json-c/json.h>
 
-#include <hidapi/hidapi.h>
+#include <../hidapi/hidapi/hidapi.h>
 
 #include "crc32.h"
 
@@ -65,7 +66,7 @@ static bool send_payload(device3_type* device, uint8_t size, const uint8_t* payl
 	int transferred = hid_write(device->handle, payload, payload_size);
 	
 	if (transferred != payload_size) {
-		perror("ERROR: sending payload failed\n");
+		fprintf(stderr, "ERROR: sending payload failed\n");
 		return false;
 	}
 	
@@ -89,7 +90,7 @@ static bool recv_payload(device3_type* device, uint8_t size, uint8_t* payload) {
 	}
 	
 	if (transferred != payload_size) {
-		perror("ERROR: receiving payload failed\n");
+		fprintf(stderr, "ERROR: receiving payload failed\n");
 		return false;
 	}
 	
@@ -179,7 +180,6 @@ device3_type* device3_open(device3_event_callback callback) {
 	device3_type* device = (device3_type*) malloc(sizeof(device3_type));
 	
 	if (!device) {
-		perror("Not allocated!\n");
 		return NULL;
 	}
 	
@@ -189,7 +189,6 @@ device3_type* device3_open(device3_event_callback callback) {
 	device->callback 	= callback;
 	
 	if (0 != hid_init()) {
-		perror("Not initialized!\n");
 		return device;
 	}
 
@@ -211,14 +210,12 @@ device3_type* device3_open(device3_event_callback callback) {
 	hid_free_enumeration(info);
 	
 	if (!device->handle) {
-		perror("No handle!\n");
 		return device;
 	}
 
 	device3_clear(device);
 	
 	if (!send_payload_msg(device, DEVICE3_MSG_GET_STATIC_ID, 0, NULL)) {
-		perror("Failed sending payload to get static id!\n");
 		return device;
 	}
 	
@@ -233,7 +230,6 @@ device3_type* device3_open(device3_event_callback callback) {
 	device3_reset_calibration(device);
 	
 	if (!send_payload_msg(device, DEVICE3_MSG_GET_CAL_DATA_LENGTH, 0, NULL)) {
-		perror("Failed sending payload to get calibration data length!\n");
 		return device;
 	}
 	
@@ -287,7 +283,6 @@ device3_type* device3_open(device3_event_callback callback) {
 	}
 	
 	if (!send_payload_msg_signal(device, DEVICE3_MSG_START_IMU_DATA, 0x1)) {
-		perror("Failed sending payload to start imu data stream!\n");
 		return device;
 	}
 	
@@ -304,21 +299,24 @@ device3_type* device3_open(device3_event_callback callback) {
 			.gain = 0.5f,
 			.accelerationRejection = 10.0f,
 			.magneticRejection = 20.0f,
-			.rejectionTimeout = 5 * SAMPLE_RATE, /* 5 seconds */
+			.recoveryTriggerPeriod = 5 * SAMPLE_RATE, /* 5 seconds */
 	};
 	
 	FusionAhrsSetSettings((FusionAhrs*) device->ahrs, &settings);
+
+	device->ready = true;
+
 	return device;
 }
 
 void device3_reset_calibration(device3_type* device) {
 	if (!device) {
-		perror("No device!\n");
+		fprintf(stderr, "No device!\n");
 		return;
 	}
 	
 	if (!device->calibration) {
-		perror("Not allocated!\n");
+		fprintf(stderr, "Not allocated!\n");
 		return;
 	}
 	
@@ -343,18 +341,18 @@ void device3_reset_calibration(device3_type* device) {
 
 int device3_load_calibration(device3_type* device, const char* path) {
 	if (!device) {
-		perror("No device!\n");
+		fprintf(stderr, "No device!\n");
 		return -1;
 	}
 	
 	if (!device->calibration) {
-		perror("Not allocated!\n");
+		fprintf(stderr, "Not allocated!\n");
 		return -2;
 	}
 	
 	FILE* file = fopen(path, "rb");
 	if (!file) {
-		perror("No file opened!\n");
+		fprintf(stderr, "No file opened!\n");
 		return -3;
 	}
 	
@@ -362,11 +360,11 @@ int device3_load_calibration(device3_type* device, const char* path) {
 	count = fread(device->calibration, 1, sizeof(device3_calibration_type), file);
 	
 	if (sizeof(device3_calibration_type) != count) {
-		perror("Not fully loaded!\n");
+		fprintf(stderr, "Not fully loaded!\n");
 	}
 	
 	if (0 != fclose(file)) {
-		perror("No file closed!\n");
+		fprintf(stderr, "No file closed!\n");
 		return -4;
 	}
 	
@@ -375,18 +373,18 @@ int device3_load_calibration(device3_type* device, const char* path) {
 
 int device3_save_calibration(device3_type* device, const char* path) {
 	if (!device) {
-		perror("No device!\n");
+		fprintf(stderr, "No device!\n");
 		return -1;
 	}
 	
 	if (!device->calibration) {
-		perror("Not allocated!\n");
+		fprintf(stderr, "Not allocated!\n");
 		return -2;
 	}
 	
 	FILE* file = fopen(path, "wb");
 	if (!file) {
-		perror("No file opened!\n");
+		fprintf(stderr, "No file opened!\n");
 		return -3;
 	}
 	
@@ -394,11 +392,11 @@ int device3_save_calibration(device3_type* device, const char* path) {
 	count = fwrite(device->calibration, 1, sizeof(device3_calibration_type), file);
 	
 	if (sizeof(device3_calibration_type) != count) {
-		perror("Not fully saved!\n");
+		fprintf(stderr, "Not fully saved!\n");
 	}
 	
 	if (0 != fclose(file)) {
-		perror("No file closed!\n");
+		fprintf(stderr, "No file closed!\n");
 		return -4;
 	}
 	
@@ -600,17 +598,17 @@ static void apply_calibration(const device3_type* device,
 }
 
 void device3_clear(device3_type* device) {
-	device3_read(device, 10);
+	device3_read(device, 10, true);
 }
 
 int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet) {
 	if (!device) {
-		perror("No device!\n");
+		fprintf(stderr, "No device!\n");
 		return -1;
 	}
 	
 	if (MAX_PACKET_SIZE != sizeof(device3_packet_type)) {
-		perror("Not proper size!\n");
+		fprintf(stderr, "Not proper size!\n");
 		return -2;
 	}
 	
@@ -633,13 +631,18 @@ int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool
 			(uint8_t*) &packet, 
 			MAX_PACKET_SIZE
 		);
-		
+
+		if (transferred == -1) {
+			fprintf(stderr, "HID read error: device may be unplugged\n");
+			return -5;
+		}
+
 		if (transferred == 0) {
 			continue;
 		}
-		
+
 		if (MAX_PACKET_SIZE != transferred) {
-			perror("Not expected issue!\n");
+			fprintf(stderr, "HID read error: unexpected packet size\n");
 			return -3;
 		}
 		
@@ -714,14 +717,18 @@ int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool
 	return 0;
 }
 
-int device3_read(device3_type* device, int timeout) {
-	if (!device) {
-		perror("No device!\n");
+int device3_read(device3_type* device, int timeout, bool silent) {
+	if (!device || !device->ready) {
+		if (!silent) {
+			fprintf(stderr, "No device!\n");
+		}
 		return -1;
 	}
 	
 	if (MAX_PACKET_SIZE != sizeof(device3_packet_type)) {
-		perror("Not proper size!\n");
+		if (!silent) {
+			fprintf(stderr, "Not proper size!\n");
+		}
 		return -2;
 	}
 	
@@ -734,13 +741,22 @@ int device3_read(device3_type* device, int timeout) {
 		MAX_PACKET_SIZE,
 		timeout
 	);
+
+	if (transferred == -1) {
+		if (!silent) {
+			fprintf(stderr, "HID read error: device may be unplugged\n");
+		}
+		return -5;
+	}
 	
 	if (transferred == 0) {
 		return 1;
 	}
 	
 	if (MAX_PACKET_SIZE != transferred) {
-		perror("Not expected issue!\n");
+		if (!silent) {
+			fprintf(stderr, "HID read error: unexpected packet size\n");
+		}
 		return -3;
 	}
 	
@@ -752,7 +768,9 @@ int device3_read(device3_type* device, int timeout) {
 	}
 	
 	if ((packet.signature[0] != 0x01) || (packet.signature[1] != 0x02)) {
-		perror("Not matching signature!\n");
+		if (!silent) {
+			fprintf(stderr, "Mismatched signature! Try unplugging then replugging your device.\n");
+		}
 		return -4;
 	}
 	
@@ -782,8 +800,16 @@ int device3_read(device3_type* device, int timeout) {
 	//printf("M: %.2f %.2f %.2f\n", magnetometer.axis.x, magnetometer.axis.y, magnetometer.axis.z);
 	
 	if (device->ahrs) {
-		FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
-		//FusionAhrsUpdateNoMagnetometer((FusionAhrs*) device->ahrs, gyroscope, accelerometer, deltaTime);
+		FusionAhrsUpdateNoMagnetometer((FusionAhrs*) device->ahrs, gyroscope, accelerometer, deltaTime);
+
+		// TODO: fix detection of this case; quat.x as a nan value is only a side-effect of some issue with ahrs or
+		//       the gyro/accel/magnet readings
+		if (isnan(device3_get_orientation(device->ahrs).x)) {
+			if (!silent) {
+				fprintf(stderr, "Invalid device reading\n");
+			}
+			return -5;
+		}
 	}
 	
 	device3_callback(device, timestamp, DEVICE3_EVENT_UPDATE);
@@ -834,7 +860,6 @@ device3_vec3_type device3_get_euler(device3_quat_type quat) {
 
 void device3_close(device3_type* device) {
 	if (!device) {
-		perror("No device!\n");
 		return;
 	}
 	

interface_lib/src/device4.c

@@ -31,7 +31,7 @@
 #include <string.h>
 #include <time.h>
 
-#include <hidapi/hidapi.h>
+#include <../hidapi/hidapi/hidapi.h>
 
 #include "crc32.h"
 
@@ -47,7 +47,7 @@ static bool send_payload(device4_type* device, uint8_t size, const uint8_t* payl
 	int transferred = hid_write(device->handle, payload, payload_size);
 	
 	if (transferred != payload_size) {
-		perror("ERROR: sending payload failed\n");
+		fprintf(stderr, "ERROR: sending payload failed\n");
 		return false;
 	}
 	
@@ -71,7 +71,7 @@ static bool recv_payload(device4_type* device, uint8_t size, uint8_t* payload) {
 	}
 	
 	if (transferred != payload_size) {
-		perror("ERROR: receiving payload failed\n");
+		fprintf(stderr, "ERROR: receiving payload failed\n");
 		return false;
 	}
 	
@@ -160,7 +160,7 @@ device4_type* device4_open(device4_event_callback callback) {
 	device4_type* device = (device4_type*) malloc(sizeof(device4_type));
 	
 	if (!device) {
-		perror("Not allocated!\n");
+		fprintf(stderr, "Not allocated!\n");
 		return NULL;
 	}
 	
@@ -170,7 +170,7 @@ device4_type* device4_open(device4_event_callback callback) {
 	device->callback 	= callback;
 
 	if (0 != hid_init()) {
-		perror("Not initialized!\n");
+		fprintf(stderr, "Not initialized!\n");
 		return device;
 	}
 
@@ -192,57 +192,57 @@ device4_type* device4_open(device4_event_callback callback) {
 	hid_free_enumeration(info);
 
 	if (!device->handle) {
-		perror("No handle!\n");
+		fprintf(stderr, "No handle!\n");
 		return device;
 	}
 
 	device4_clear(device);
 
 	if (!send_payload_action(device, DEVICE4_MSG_R_ACTIVATION_TIME, 0, NULL)) {
-		perror("Requesting activation time failed!\n");
+		fprintf(stderr, "Requesting activation time failed!\n");
 		return device;
 	}
 
 	uint8_t activated;
 	if (!recv_payload_msg(device, DEVICE4_MSG_R_ACTIVATION_TIME, 1, &activated)) {
-		perror("Receiving activation time failed!\n");
+		fprintf(stderr, "Receiving activation time failed!\n");
 		return device;
 	}
 
 	device->activated = (activated != 0);
 
 	if (!device->activated) {
-		perror("Device is not activated!\n");
+		fprintf(stderr, "Device is not activated!\n");
 		return device;
 	}
 
 	if (!send_payload_action(device, DEVICE4_MSG_R_MCU_APP_FW_VERSION, 0, NULL)) {
-		perror("Requesting current MCU app firmware version!\n");
+		fprintf(stderr, "Requesting current MCU app firmware version!\n");
 		return device;
 	}
 
 	if (!recv_payload_msg(device, DEVICE4_MSG_R_MCU_APP_FW_VERSION, 41, (uint8_t*) device->mcu_app_fw_version)) {
-		perror("Receiving current MCU app firmware version failed!\n");
+		fprintf(stderr, "Receiving current MCU app firmware version failed!\n");
 		return device;
 	}
 
 	if (!send_payload_action(device, DEVICE4_MSG_R_DP7911_FW_VERSION, 0, NULL)) {
-		perror("Requesting current DP firmware version!\n");
+		fprintf(stderr, "Requesting current DP firmware version!\n");
 		return device;
 	}
 
 	if (!recv_payload_msg(device, DEVICE4_MSG_R_DP7911_FW_VERSION, 41, (uint8_t*) device->dp_fw_version)) {
-		perror("Receiving current DP firmware version failed!\n");
+		fprintf(stderr, "Receiving current DP firmware version failed!\n");
 		return device;
 	}
 
 	if (!send_payload_action(device, DEVICE4_MSG_R_DSP_APP_FW_VERSION, 0, NULL)) {
-		perror("Requesting current DSP app firmware version!\n");
+		fprintf(stderr, "Requesting current DSP app firmware version!\n");
 		return device;
 	}
 
 	if (!recv_payload_msg(device, DEVICE4_MSG_R_DSP_APP_FW_VERSION, 41, (uint8_t*) device->dsp_fw_version)) {
-		perror("Receiving current DSP app firmware version failed!\n");
+		fprintf(stderr, "Receiving current DSP app firmware version failed!\n");
 		return device;
 	}
 
@@ -253,22 +253,22 @@ device4_type* device4_open(device4_event_callback callback) {
 #endif
 
 	if (!send_payload_action(device, DEVICE4_MSG_R_BRIGHTNESS, 0, NULL)) {
-		perror("Requesting initial brightness failed!\n");
+		fprintf(stderr, "Requesting initial brightness failed!\n");
 		return device;
 	}
 
 	if (!recv_payload_msg(device, DEVICE4_MSG_R_BRIGHTNESS, 1, &device->brightness)) {
-		perror("Receiving initial brightness failed!\n");
+		fprintf(stderr, "Receiving initial brightness failed!\n");
 		return device;
 	}
 
 	if (!send_payload_action(device, DEVICE4_MSG_R_DISP_MODE, 0, NULL)) {
-		perror("Requesting display mode failed!\n");
+		fprintf(stderr, "Requesting display mode failed!\n");
 		return device;
 	}
 
 	if (!recv_payload_msg(device, DEVICE4_MSG_R_DISP_MODE, 1, &device->disp_mode)) {
-		perror("Receiving display mode failed!\n");
+		fprintf(stderr, "Receiving display mode failed!\n");
 		return device;
 	}
 
@@ -302,7 +302,7 @@ int device4_read(device4_type* device, int timeout) {
 	}
 	
 	if (MAX_PACKET_SIZE != sizeof(device4_packet_type)) {
-		perror("Not proper size!\n");
+		fprintf(stderr, "Not proper size!\n");
 		return -2;
 	}
 	
@@ -321,12 +321,12 @@ int device4_read(device4_type* device, int timeout) {
 	}
 	
 	if (MAX_PACKET_SIZE != transferred) {
-		perror("Reading failed!\n");
+		fprintf(stderr, "Reading failed!\n");
 		return -3;
 	}
 
 	if (packet.head != PACKET_HEAD) {
-		perror("Wrong packet!\n");
+		fprintf(stderr, "Wrong packet!\n");
 		return -4;
 	}
 
@@ -411,7 +411,7 @@ int device4_read(device4_type* device, int timeout) {
 			device->active = true;
 			
 			if (data_len + text_len != packet.length) {
-				perror("Not matching length!\n");
+				fprintf(stderr, "Not matching length!\n");
 				return -5;
 			}
 			
@@ -447,7 +447,7 @@ bool device4_update_mcu_firmware(device4_type* device, const char* path) {
 	}
 
 	if (!device->activated) {
-		perror("Device is not activated!\n");
+		fprintf(stderr, "Device is not activated!\n");
 		return false;
 	}
 
@@ -474,12 +474,12 @@ bool device4_update_mcu_firmware(device4_type* device, const char* path) {
 	printf("Prepare upload: %lu\n", firmware_len);
 
 	if (!do_payload_action(device, DEVICE4_MSG_W_UPDATE_MCU_APP_FW_PREPARE, 0, NULL)) {
-		perror("Failed preparing the device for MCU firmware update!\n");
+		fprintf(stderr, "Failed preparing the device for MCU firmware update!\n");
 		goto cleanup;
 	}
 
 	if (!do_payload_action(device, DEVICE4_MSG_W_MCU_APP_JUMP_TO_BOOT, 0, NULL)) {
-		perror("Failed mcu app jumping to boot!\n");
+		fprintf(stderr, "Failed mcu app jumping to boot!\n");
 		goto cleanup;
 	}
 
@@ -501,7 +501,7 @@ bool device4_update_mcu_firmware(device4_type* device, const char* path) {
 		}
 
 		if (!do_payload_action(device, msgid, len, firmware)) {
-			perror("Failed sending firmware upload!\n");
+			fprintf(stderr, "Failed sending firmware upload!\n");
 			goto jump_to_app;
 		}
 	}
@@ -509,7 +509,7 @@ bool device4_update_mcu_firmware(device4_type* device, const char* path) {
 	printf("Finish upload!\n");
 
 	if (!do_payload_action(device, DEVICE4_MSG_W_UPDATE_MCU_APP_FW_FINISH, 0, NULL)) {
-		perror("Failed finishing firmware upload!\n");
+		fprintf(stderr, "Failed finishing firmware upload!\n");
 		goto jump_to_app;
 	}
 
@@ -517,7 +517,7 @@ bool device4_update_mcu_firmware(device4_type* device, const char* path) {
 
 jump_to_app:
 	if (!do_payload_action(device, DEVICE4_MSG_W_BOOT_JUMP_TO_APP, 0, NULL)) {
-		perror("Failed boot jumping back to app!\n");
+		fprintf(stderr, "Failed boot jumping back to app!\n");
 		goto cleanup;
 	}
 

modules/Fusion

@@ -1 +0,0 @@
-Subproject commit f69fd25df008ca11e709579fea4b784537f8911e

src/driver.c

@@ -106,7 +106,7 @@ int main(int argc, const char** argv) {
 		device3_clear(dev3);
 		
 		while (dev3) {
-			if (device3_read(dev3, 0) < 0) {
+			if (device3_read(dev3, 0, false) < 0) {
 				break;
 			}
 		}