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Merge pull request #12 from sparkfun/AddPPPNAVSupport
Add support for HAS and PPPNAV
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‎examples/10. PPP HAS Corrections/HAS_E6_Example/HAS_E6_Example.ino‎

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/*
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Enable HAS corrections
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By: Nathan Seidle and Mikal Hart
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Date: January 3, 2026
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License: Public domain - do whatever you'd like.
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This example shows how to enable and monitor the High Accuracy Service (HAS) convergence.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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LG290P Breakout: https://www.sparkfun.com/sparkfun-quadband-gnss-rtk-breakout-lg290p-qwiic.html
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LG290P PiHat: https://www.sparkfun.com/sparkfun-gnss-flex-phat-lg290p.html
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Hardware Connections:
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Connect RX3 (green wire) of the LG290P to pin 14 on the ESP32
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Connect TX3 (orange wire) of the LG290P to pin 13 on the ESP32
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To make this easier, a 4-pin locking JST cable can be purchased here: https://www.sparkfun.com/products/17240
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Note: Almost any ESP32 pins can be used for serial.
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Connect a multi-band GNSS antenna: https://www.sparkfun.com/products/21801
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*/
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#include <SparkFun_LG290P_GNSS.h> // Click here to get the library: http://librarymanager/All#SparkFun_LG290P
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// Adjust these values according to your configuration
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int pin_UART1_TX = 14;
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int pin_UART1_RX = 13;
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int gnss_baud = 460800;
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LG290P myGNSS;
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HardwareSerial SerialGNSS(1); // Use UART1 on the ESP32
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void setup()
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{
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Serial.begin(115200);
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delay(250);
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Serial.println();
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Serial.println("SparkFun LG290P HAS E6 example");
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Serial.println("Initializing device...");
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// Increase buffer size to handle high baud rate streams
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// SerialGNSS.setRxBufferSize(1024 * 4);
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SerialGNSS.begin(gnss_baud, SERIAL_8N1, pin_UART1_RX, pin_UART1_TX);
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//myGNSS.enableDebugging(Serial); // Print all debug to Serial
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if (myGNSS.begin(SerialGNSS) == false) // Give the serial port over to the library
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{
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Serial.println("LG290P failed to respond. Check ports and baud rates. Freezing...");
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while (true)
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;
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}
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Serial.println("LG290P detected!");
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Serial.println("Ensuring ROVER mode");
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myGNSS.ensureModeRover();
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if (myGNSS.setHighAccuracyService(2, 1) == true) // Enable HAS E6 corrections, use WGS84 datum
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Serial.println("HAS E6 corrections enabled.");
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else
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Serial.println("Failed to enable HAS E6 corrections.");
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delay(2000); // Wait before we read the settings
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int mode = 0;
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int datum = 0;
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int timeout = 0;
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float horstd = 0;
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float verstd = 0;
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if (myGNSS.getHighAccuracyService(mode, datum, timeout, horstd, verstd) == true)
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{
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Serial.print("HAS Service: mode=");
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Serial.print(mode);
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Serial.print(", datum=");
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Serial.print(datum);
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Serial.print(", timeout=");
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Serial.print(timeout);
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Serial.print(", horstd=");
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Serial.print(horstd);
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Serial.print(", verstd=");
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Serial.println(verstd);
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}
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else
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{
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Serial.println("Failed to get HAS service info.");
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}
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}
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void loop()
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{
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myGNSS.update(); // Must be called often to process incoming data
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if (myGNSS.getPppSolutionType() == 6 || myGNSS.getPppSolutionType() == 7)
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{
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if (myGNSS.getPppSolutionType() == 6)
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Serial.println("HAS Detected! PPP Solution: PPP Converging");
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else if (myGNSS.getPppSolutionType() == 7)
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Serial.println("HAS Converged! PPP Solution: PPP Converged");
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Serial.printf("DatumID: %d ", myGNSS.getDatumId());
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if(myGNSS.getDatumId() == 1)
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Serial.println("WGS84");
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else if(myGNSS.getDatumId() == 2)
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Serial.println("PPP Original");
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else if(myGNSS.getDatumId() == 3)
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Serial.println("CGCS2000");
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Serial.printf("Diff ID: %d ", myGNSS.getPppDifferentialId());
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if(myGNSS.getPppDifferentialId() == 9001)
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Serial.println("B2b PPP");
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else if(myGNSS.getPppDifferentialId() == 9002)
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Serial.println("HAS/E6");
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Serial.printf("Diff Age: %d seconds\r\n", myGNSS.getPppDifferentialAge());
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}
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else
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{
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Serial.printf("PPP Solution Type: %d ", myGNSS.getPppSolutionType());
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if(myGNSS.getPppSolutionType() == 1)
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Serial.println("Single");
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else if(myGNSS.getPppSolutionType() == 2)
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Serial.println("Differential (SBAS / DGPS)");
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}
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int horizontalPositionalAccuracy = myGNSS.get2DError() * 1000; // Convert meters to mm
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int threeDPositionalAccuracy = myGNSS.get3DError() * 1000;
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Serial.printf("2D Error: %dmm 3D Error: %dmm Sats Used: %d Sats in View: %d\r\n",
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horizontalPositionalAccuracy, threeDPositionalAccuracy, myGNSS.getSatellitesUsedCount(), myGNSS.getSatellitesInViewCount());
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Serial.println();
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// Generally speaking, delaying between checks is a bad idea because the LG290P is outputting so much serial.
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// Instead, call myGNSS.update() far more often in order to parse it all.
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// If you must do other things and delay a lot, then increase setRxBufferSize to 4096 before beginning the serial port (see above).
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delay(1000); // A bad delay to demonstrate the parsing issue
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}

‎keywords.txt‎

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@@ -157,6 +157,13 @@ getFirmwareVersion KEYWORD2
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getFirmwareVersionMajor KEYWORD2
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getFirmwareVersionMinor KEYWORD2
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getDatumId KEYWORD2
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getPppSolutionType KEYWORD2
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getPppDifferentialId KEYWORD2
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getPppDifferentialAge KEYWORD2
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setHighAccuracyService KEYWORD2
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getHighAccuracyService KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################

‎src/LG290P_structs.h‎

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@@ -72,6 +72,16 @@ struct PlDomain
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void clear() { *this = PlDomain(); }
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};
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struct PppNavDomain
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{
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int datumId = 0;
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int solType = 0;
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int diffId = 0;
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int diffAge = 0;
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void clear() { *this = PppNavDomain(); }
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};
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struct SvinStatusDomain
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{
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int validity = 0;

‎src/SparkFun_LG290P_GNSS.cpp‎

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@@ -137,9 +137,9 @@ bool LG290P::begin(HardwareSerial &serialPort, Print *parserDebug, Print *parser
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if (ok)
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{
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debugPrintf("Firmware version is %d.%d %s", firmwareVersionMajor, firmwareVersionMinor, firmwareVersionInt == 0 ? " (Unknown)" : "");
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debugPrintf("Starting with %s mode, GGA %d RMC %d EPE %d PVT %d PL %d SVIN %d GSV %d GST %d",
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debugPrintf("Starting with %s mode, GGA %d RMC %d EPE %d PVT %d PL %d SVIN %d GSV %d GST %d PPPNAV %d",
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devState.mode == BASEMODE ? "BASE" : "ROVER", devState.ggaRate, devState.rmcRate, devState.epeRate,
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devState.pvtRate, devState.plRate, devState.svinstatusRate, devState.gsvRate, devState.gstRate);
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devState.pvtRate, devState.plRate, devState.svinstatusRate, devState.gsvRate, devState.gstRate, devState.pppnavRate);
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}
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else
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{
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else if (str == "PQTMEPE") devState.epeRate = rate;
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else if (str == "GSV") devState.gsvRate = rate;
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else if (str == "GST") devState.gstRate = rate;
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else if (str == "PQTMPPPNAV") devState.pppnavRate = rate;
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}
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return ret;
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}
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else if (str == "PQTMEPE") devState.epeRate = rate;
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else if (str == "GSV") devState.gsvRate = rate;
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else if (str == "GST") devState.gstRate = rate;
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else if (str == "PQTMPPPNAV") devState.pppnavRate = rate;
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}
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return ret;
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}
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return ret;
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}
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bool LG290P::setHighAccuracyService(int mode, int datum, int timeout, float horstd, float verstd)
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{
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//CFGPPP does not require reset to take effect
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bool ret = true;
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if(mode == 0)
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ret = sendOkCommand("PQTMCFGPPP", ",W,0"); // $PQTMCFGPPP,W,0,0,0* throws error if other params sent
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else
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{
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char parms[100];
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snprintf(parms, sizeof parms, ",W,%d,%d,%d,%0.2f,%0.2f", mode, datum, timeout, horstd, verstd);
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ret = sendOkCommand("PQTMCFGPPP", parms);
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}
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return ret;
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}
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bool LG290P::getHighAccuracyService(int &mode, int &datum, int &timeout, float &horstd, float &verstd)
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{
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bool ret = sendCommand("PQTMCFGPPP", ",R");
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if (ret)
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{
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auto packet = getCommandResponse();
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ret = packet[1] == "OK";
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if (ret)
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{
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mode = atoi(packet[2].c_str());
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datum = atoi(packet[3].c_str());
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timeout = atoi(packet[4].c_str());
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horstd = atof(packet[5].c_str());
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verstd = atof(packet[6].c_str());
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}
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}
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return ret;
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}
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bool LG290P::scanForMsgsEnabled()
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{
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bool ok = getMessageRate("GGA", devState.ggaRate);
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ok = ok && getMessageRate("PQTMPVT", devState.pvtRate, 1);
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ok = ok && getMessageRate("PQTMPL", devState.plRate, 1);
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ok = ok && getMessageRate("GSV", devState.gsvRate);
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ok = ok && getMessageRate("PQTMPPPNAV", devState.pppnavRate, 1);
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// GST is not available on firmware < 4
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getMessageRate("GST", devState.gstRate);
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plDomain.protectionLevelTime = atof(nmea[14].c_str());
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}
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else if (id == "PQTMPPPNAV")
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{
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pppNavDomain.datumId = atoi(nmea[9].c_str());
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pppNavDomain.solType = atoi(nmea[11].c_str());
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pppNavDomain.diffId = atoi(nmea[24].c_str());
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pppNavDomain.diffAge = atoi(nmea[25].c_str());
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}
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#if false
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else if (!ptrLG290P->commandName.empty())
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{

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