Air724ugLora/demo/rtk/qxrtk/main.lua

PROJECT = "ADC"
VERSION = "2.0.0"

--加载日志功能模块，并且设置日志输出等级
--如果关闭调用log模块接口输出的日志，等级设置为log.LOG_SILENT即可
require "log"
LOG_LEVEL = log.LOGLEVEL_TRACE

require "sys"
require "gps"


rtos.on(rtos.MSG_RTK_INFO, function(msg)
    log.info("rtk",msg.id,msg.status,msg.data)
end)


local function nmeaCb(nmeaItem)
	-- log.info("rtk nmeaCb",nmeaItem)
	rtk.write(nmeaItem)
end


local function test()
	sys.wait(5000)

	--1 02-15 RXM-RAWX    16
	local cmd10 = string.char(0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x02, 0x15, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x28, 0x4E)
	--115200
	local cmd13 = string.char(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)
	--GPS+BD+QZSS
	local cmd15 = string.char(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)
	--NAV_PVT
	local cmd21 = string.char(0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x07, 0x01, 0x13, 0x51)
	--PPS
	local cmd23 = string.char(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)
	--5HZ
	local cmd24 = string.char(0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x01, 0x00, 0xDE, 0x6A)
	--sub-frame
	local cmd25 = string.char(0xb5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x02, 0x13, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x25, 0x3d)

	uart.setup(1,9600,8,uart.PAR_NONE,uart.STOP_1)
	sys.wait(100)
	uart.write(1, cmd10)
	sys.wait(100)
	uart.write(1, cmd15)
	sys.wait(100)
	uart.write(1, cmd25)
	sys.wait(100)
	uart.write(1, cmd21)
	sys.wait(100)
	uart.write(1, cmd23)
	sys.wait(100)
	uart.write(1, cmd13)
	sys.wait(100)
	uart.close(1)

	gps.setUart(1,115200,8,uart.PAR_NONE,uart.STOP_1)
	gps.setNmeaMode(2,nmeaCb)
	gps.open(gps.DEFAULT,{tag="rtk"})

    local para =
    {
        appKey = "A48k297jhqeo", 
        appSecret = "956f15a90a318e34",
		solMode = rtk.SOLMODE_RTK,
		solSec = rtk.SEC_5S,
		reqSec = rtk.SEC_5S
    }
	rtk.open(para);

	-- sys.wait(20000);

	-- rtk.close()
	-- para.reqFre = rtk.FRE_1S
	-- sys.wait(1000);
	-- rtk.open(para);
end

sys.taskInit(test)

--启动系统框架
sys.init(0, 0)
sys.run()