烧录Raspbian官方Linux固件版本，设置无线连接和远程登录（SSH）后开始集成千寻SDK。
此处如有问题请参考树莓派官方说明：
点击下载千寻位置树莓派SDK: https://bbs.qxwz.com/job.php?action=download&aid=1501
1、下载后解压
2. 编辑demo_main.c,将你申请到的千寻位置FindM Pro账号信息输入到这个文件里面
登录千寻位置官网控制中心（https://www.qxwz.com/），找到FindM Pro服务器实例，简单起见将设备服务号绑定方式设置为自动绑定，设备激活方式设置为自动激活。也可以按需设置。
DEVICE_ID和DEVICE_TYPE一行可以不变，也可以随意指定。如果在这个服务实例下面有多个账号，一个账号过期后如果需要继续使用另一个账号，需要在千寻位置账号端做解绑操作。
MC120_SERIAL_DEV为千寻开发板连接到树莓派的串口设备号，需通过如下命令获取：
保存退出
3. 编译SDK
4. 运行
如下图，是已经得到了高精度固定解：
/*
* Copyright (c) 2018 Qianxun SI Inc. All rights reserved.
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include "qxwz_sdk_hl.h"
//this is fake account info,please use the corrent to replace it.
#define APPKEY "123451"
#define APPSECRET "61377185f39e5abf7c1eb1dba30dc6224efaf368a70a89653abde13f991c84af"
#define DEVICE_ID "ID01"
#define DEVICE_TYPE "typeA"
#define MC120_TYPE_M 0
#define MC120_TYPE_A 1
//root working dir which QXWZ SDK has write/read permission
#define ROOT_DIR "./data/"
//NOTE:Magic Cube Device Node, please use the correct dev node according to your platform.
#define MC120_SERIAL_DEV "/dev/ttyUSB0"
#define DEFAULT_SERIAL_BAUT (115200)
#define DEFAULT_MC120M_BAUT (9600)
// since the MC120_TYPE_M device only ouput nmea sentence in 1HZ(1000ms).
#define SERIAL_TIME_OUT_MS (1050)
#define QXLOGI printf
#define QXLOGE printf
//commands to config ublox for MC120M, send these commands to MC120M before inject magic cubic data to QXWZ SDK
static unsigned char cmd10[] = { 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x02, 0x15, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x28, 0x4E }; //1 02-15 RXM-RAWX 16
static unsigned char cmd13[] = { 0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0xC2, 0x01, 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0x7E }; // 115200
//static unsigned char cmd15[] = { 0xB5, 0x62, 0x06, 0x3E, 0x34, 0x00, 0x00, 0x00, 0x20, 0x06, 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01, 0x03, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01, 0x14, 0xE1}; //GPS+BD
static unsigned char cmd15[] = { 0xB5, 0x62, 0x06, 0x3E, 0x3C, 0x00, 0x00, 0x00, 0x20, 0x07, 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01, 0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01, 0x03, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01, 0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01, 0x2E, 0x75}; //GPS+BD+QZSS
static unsigned char cmd22[] = { 0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x06, 0x01, 0x12, 0x4F }; //NAV_SOL
static unsigned char cmd23[] = { 0xB5,0x62,0x06,0x31,0x20,0x00,0x00,0x01,0x00,0x00,0x32,0x00,0x00,0x00,0x40,0x42,0x0F,0x00,0x40,0x42,0x0F,0x00,0x00,0x00,0x00,0x00,0xA0,0x86,0x01,0x00,0x00,0x00,0x00,0x00,0xF7,0x00,0x00,0x00,0xCA,0xB6 };//PPS
static unsigned char cmd24[] = {0xB5,0x62,0x06,0x08,0x06,0x00,0xC8,0x00,0x01,0x00,0x01,0x00,0xDE,0x6A};//5HZ
static unsigned char cmd25[] = {0xb5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x02, 0x13, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x25, 0x3d}; //sub-frame
static int g_serial_fd = 0;//handler of serial device.
static QXWZSdkConfig default_cfg = {0}; //default config of QXSDK.
static int hl_main_opt(const char *dev, int type);
static int do_sdk_loop(int serial_fd, QXWZSdkConfig *pcfg);
/**
* change baut rate and set flags.
*/
static int set_serial_opt(int fd, int nSpeed, int nBits, char nEvent, int nStop)
{
QXLOGI("Enter \n");
struct termios newtio = {0};
newtio.c_cflag |= CLOCAL | CREAD;
newtio.c_cflag &= ~CSIZE;
newtio.c_iflag &= ~( IXON | IXOFF | IXANY | ICRNL | INLCR | IGNCR );//for linux
switch ( nBits ) {
case 7:
newtio.c_cflag |= CS7;
break;
case 8:
newtio.c_cflag |= CS8;
break;
}
switch ( nEvent ) {
case 'O':
newtio.c_cflag |= PARENB;
newtio.c_cflag |= PARODD;
newtio.c_iflag |= (INPCK | ISTRIP);
break;
case 'E':
newtio.c_iflag |= (INPCK | ISTRIP);
newtio.c_cflag |= PARENB;
newtio.c_cflag &= ~PARODD;
break;
case 'N':
newtio.c_cflag &= ~PARENB;
break;
}
switch ( nSpeed ) {
case 2400:
cfsetispeed(&newtio, B2400);
cfsetospeed(&newtio, B2400);
break;
case 4800:
cfsetispeed(&newtio, B4800);
cfsetospeed(&newtio, B4800);
break;
case 9600:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
case 115200:
cfsetispeed(&newtio, B115200);
cfsetospeed(&newtio, B115200);
break;
case 230400:
cfsetispeed(&newtio, B230400);
cfsetospeed(&newtio, B230400);
break;
default:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
}
if ( nStop == 1 )
newtio.c_cflag &= ~CSTOPB;
else if ( nStop == 2 )
newtio.c_cflag |= CSTOPB;
newtio.c_cc[VTIME] = 0;
newtio.c_cc[VMIN] = 1;
newtio.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);//for linux
newtio.c_oflag &= ~OPOST;/*No Output Processing*/
tcflush(fd, TCIOFLUSH);
if ((tcsetattr(fd, TCSANOW, &newtio)) != 0) {
perror("com set error");
return -1;
}
QXLOGI("Leave \n");
return 0;
}
/**
* make sure send out the whole frame.
*/
static void send_cmd2mc(int fd, unsigned char *cmd, int len)
{
int offset = 0;
size_t wcnt = 0;
int total = len;
do {
wcnt = write(fd, cmd + offset, total);
if (wcnt <= 0) {
QXLOGI("write cmd to ublox failed....\n");
usleep(1000);
continue;
} else {
offset += wcnt;
total -= wcnt;
}
} while (total > 0);
}
/**
* read data from seiral in noblock mode,and inject the data to QX NSDK.
*/
static int serial_poll(int serial_fd, QXWZSdkInterface *sdk_hl)
{
fd_set input;
int max_fd;
int n;
unsigned char data[4096];
struct timeval tv;
while (1) {
/* Initialize the input set */
FD_ZERO(&input);
FD_SET(serial_fd, &input);
max_fd = serial_fd + 1;
tv.tv_sec = SERIAL_TIME_OUT_MS / 1000;
tv.tv_usec = (SERIAL_TIME_OUT_MS % 1000) * 1000;
/* Do the select */
n = select(max_fd, &input, NULL, NULL, &tv);
/* See if there was an error */
if (n < 0) {
perror("select failed");
// break;
continue;
} else if (n == 0) {
QXLOGE("serial read timeout in :%d (ms) \n", SERIAL_TIME_OUT_MS);
} else {
/* We have input */
if (FD_ISSET(serial_fd, &input)) {
size_t len = read(serial_fd, data, sizeof(data));
if (sdk_hl && (len > 0) ) {
sdk_hl->inject_gnss_data(data, len);
}
}
}
}
return 0;
}
/**
* @seiral_dev: the device name of the seiral in linux host.
* @type: MC120_TYPE_M or MC120_TYPE_A.
*/
static int hl_main_opt(const char *serial_dev, int type)
{
QXLOGI("Enter \n");
int ret;
int set_gps;
int serial_fd;
QXWZSdkConfig * pcfg = &default_cfg;
int baut = DEFAULT_SERIAL_BAUT;
default_cfg.size = sizeof(QXWZSdkConfig);
default_cfg.log_enable = 1;
default_cfg.apply_scenario = QXWZ_GNSS_APPLY_SCENE_AUTOROOF;//customer should set this args by their scenario.
sprintf(default_cfg.app_key, "%s", APPKEY);
sprintf(default_cfg.app_secret, "%s", APPSECRET);
sprintf(default_cfg.device_id, "%s", DEVICE_ID);
sprintf(default_cfg.device_type, "%s", DEVICE_TYPE);
sprintf(default_cfg.root_dir, "%s", ROOT_DIR);
sprintf(default_cfg.socket_dir, "%s", "/tmp");
sprintf(default_cfg.cfg_filename,"./%s","testCfg.ini");
QXLOGI("current account info: %s %s %s %s \n",
pcfg->app_key,
pcfg->app_secret,
pcfg->device_id,
pcfg->device_type);
QXLOGI("opening device :%s \n", serial_dev);
/* O_RDWR Read/Write access to serial port */
/* O_NOCTTY - No terminal will control the process */
/* O_NDELAY -Non Blocking Mode,Does not care about- */
/* -the status of DCD line,Open() returns immediatly */
serial_fd = open(serial_dev, O_RDWR | O_NONBLOCK | O_NOCTTY); //open serial
if (serial_fd == -1) {
QXLOGI("open :%s failed \n", serial_dev);
return -1;
}
/* NOTE: MUST CONFIG MC120M BY THESE COMMANDS BEFORE INJECT SERIAL DATA to QXWZ SDK */
if (type == MC120_TYPE_M) {
baut = DEFAULT_MC120M_BAUT;
QXLOGI("communicate baut is %d \n", baut);
set_gps = set_serial_opt(serial_fd, baut, 8, 'N', 1); //setting serial attribution
if (set_gps == -1) {
QXLOGI("config serial device failed on setting \n");
return -1;
}
QXLOGI("start reading... \n");
//configure for the MC120_TYPE_M module
QXLOGI("configure the device....\n");
sleep(1);
send_cmd2mc(serial_fd, cmd10, sizeof(cmd10));
usleep(100000);
send_cmd2mc(serial_fd, cmd15, sizeof(cmd15));
usleep(100000);
send_cmd2mc(serial_fd, cmd25, sizeof(cmd25));
usleep(100000);
send_cmd2mc(serial_fd, cmd22, sizeof(cmd22));
usleep(100000);
send_cmd2mc(serial_fd, cmd23, sizeof(cmd23));
usleep(100000);
send_cmd2mc(serial_fd, cmd13, sizeof(cmd13)); //change baud rate to 115200
sleep(1);
QXLOGI("configure over\n");
close(serial_fd);
QXLOGI("re-opening device %s\n", serial_dev);
serial_fd = open(serial_dev, O_RDWR | O_NONBLOCK | O_NOCTTY); //open serial
if (serial_fd == -1) {
QXLOGI("open :%s failed \n", serial_dev);
return -1;
}
}
baut = DEFAULT_SERIAL_BAUT;
QXLOGI("communicate baut is %d \n", baut);
set_gps = set_serial_opt(serial_fd, baut, 8, 'N', 1); //CHANG BUAD
if (set_gps == -1) {
QXLOGI("failed to change baut:%d \n", baut);
return -1;
}
g_serial_fd = serial_fd;
/* After setting serial device, here start to read data & inject data to QXSDK */
ret = do_sdk_loop(serial_fd, pcfg);
close(serial_fd);
g_serial_fd = 0;
QXLOGI("Leave");
return ret;
}
//TODO: User should implement this callback if want to get position information by NMEA
static void cb_fill_nmea_info(QXGnssUtcTime time, const char* nmea, int len)
{
if (nmea) {
QXLOGI("nmea:%s", nmea);
}
}
//TODO: User should implement this callback if want to get position information by paramter
static void cb_fill_position(QXWZGnssLocation *pos)
{
if (pos) {
QXLOGI("posflag:%d \n", pos->posflag);
}
}
//NOTE: Write raw data back to Magic Cube device
static void cb_fill_raw_data(unsigned char *buf, int len)
{
if (buf) {
QXLOGI("len:%d \n", len);
}
if (g_serial_fd > 0) {
send_cmd2mc(g_serial_fd, buf, len);
}
}
//Notify status of SDK
static void cb_status_response(QXWZSdkStatus status)
{
QXLOGI("status:%d \n", status);
}
/*
* This is demonstrating the API using.
*/
int do_sdk_loop(int serial_fd, QXWZSdkConfig* pcfg)
{
int ret;
const QXWZSdkInterface *sdk_hl = NULL;
QXWZSdkCallbacks cbs;
memset(&cbs, 0, sizeof(QXWZSdkCallbacks));
cbs.size = sizeof(cbs);
cbs.fill_nmea_info = cb_fill_nmea_info;
cbs.fill_position = cb_fill_position;
cbs.fill_raw_data = cb_fill_raw_data;
cbs.status_response = cb_status_response;
sdk_hl = getQXWZSdkInterface();
//User should notify SDK of network status immediately once the network changes.
//sdk_hl->update_conn_status(QXWZ_NET_TYPE_WIFI);
sdk_hl->init(&cbs, pcfg);
sdk_hl->start();
/* [raw] => [QXSDK] */
ret = serial_poll(serial_fd, (QXWZSdkInterface *)sdk_hl);
sdk_hl->stop();
sdk_hl->cleanup();
QXLOGI("Leave");
return ret;
}
/* This is a demo, Users need to operate UART of MC120A/MC120M, and inject data from UART to QXWZ SDK,
* and control the call sequence
*/
int main(int argc, char *argv[])
{
return hl_main_opt(MC120_SERIAL_DEV, MC120_TYPE_M);
}
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