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Add examples showing Galileo HAS/E6 reception
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‎examples/Example18_CheckConfig/Example18_CheckConfig.ino‎

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/*
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Checking if a config item is set
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By: Nathan Seidle
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SparkFun Electronics
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Date: May 9th, 2024
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License: MIT. Please see LICENSE.md for more information.
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This example shows how to query a UM980 GNSS module to see if a particular string
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shows up in the response to CONFIG.
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Below is an example response from the CONFIG command:
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$command,config,response: OK*54
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$CONFIG,ANTENNA,CONFIG ANTENNA POWERON*7A
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$CONFIG,NMEAVERSION,CONFIG NMEAVERSION V410*47
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$CONFIG,RTK,CONFIG RTK TIMEOUT 120*6C
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$CONFIG,RTK,CONFIG RTK RELIABILITY 3 1*76
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$CONFIG,PPP,CONFIG PPP TIMEOUT 120*6C
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$CONFIG,DGPS,CONFIG DGPS TIMEOUT 300*6C
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$CONFIG,RTCMB1CB2A,CONFIG RTCMB1CB2A ENABLE*25
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$CONFIG,ANTENNADELTAHEN,CONFIG ANTENNADELTAHEN 0.0000 0.0000 0.0000*3A
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$CONFIG,PPS,CONFIG PPS ENABLE GPS POSITIVE 500000 1000 0 0*6E
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$CONFIG,SIGNALGROUP,CONFIG SIGNALGROUP 2*16
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$CONFIG,ANTIJAM,CONFIG ANTIJAM AUTO*2B
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$CONFIG,AGNSS,CONFIG AGNSS DISABLE*70
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$CONFIG,BASEOBSFILTER,CONFIG BASEOBSFILTER DISABLE*70
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$CONFIG,COM1,CONFIG COM1 115200*23
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$CONFIG,COM2,CONFIG COM2 115200*23
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$CONFIG,COM3,CONFIG COM3 115200*23
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These examples are targeted for an ESP32 platform but any platform that has multiple
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serial UARTs should be compatible.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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SparkFun Triband GNSS RTK Breakout - UM980 (GPS-23286) https://www.sparkfun.com/products/23286
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Hardware Connections:
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Connect RX2 (green wire) of the UM980 to pin 4 on the ESP32
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Connect TX2 (orange wire) of the UM980 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 dual or triband GNSS antenna: https://www.sparkfun.com/products/21801
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*/
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int pin_UART1_TX = 4;
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int pin_UART1_RX = 13;
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#include <SparkFun_Unicore_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_Unicore_GNSS
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UM980 myGNSS;
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HardwareSerial SerialGNSS(1); //Use UART1 on the ESP32
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unsigned long lastCheck = 0;
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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 UM980 Example 18");
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//The CONFIG response can be ~500 bytes overrunning the ESP32 RX buffer of 256 bytes
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//Increase the size of the RX buffer
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SerialGNSS.setRxBufferSize(1024);
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//We must start the serial port before using it in the library
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SerialGNSS.begin(115200, SERIAL_8N1, pin_UART1_RX, pin_UART1_TX);
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//myGNSS.enableDebugging(); // 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("UM980 failed to respond. Check ports and baud rates. Freezing...");
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while (true);
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}
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Serial.println("UM980 detected!");
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//The library can't identify specific settings but we can see if a specific setting
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//is present in the response to the CONFIG command
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//See example response above
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if (myGNSS.isConfigurationPresent("COM3 115200") == true)
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Serial.println("COM3 set to 115200");
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else
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Serial.println("COM3 NOT set to 115200");
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if (myGNSS.isConfigurationPresent("CONFIG PPP ENABLE E6-HAS") == true)
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Serial.println("E6 Enabled");
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else
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Serial.println("E6 not enabled");
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if (myGNSS.isConfigurationPresent("CONFIG SIGNALGROUP 2") == true)
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Serial.println("Signal group 2 enabled");
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else
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Serial.println("Signal group 2 not enabled");
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}
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void loop()
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{
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}

‎examples/Example19_Enable_Galileo_HAS/Example19_Enable_Galileo_HAS.ino‎

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/*
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Enable Galileo High Accuracy Service: https://gssc.esa.int/navipedia/index.php/Galileo_High_Accuracy_Service_(HAS)
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By: Nathan Seidle
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SparkFun Electronics
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Date: May 9th, 2024
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License: MIT. Please see LICENSE.md for more information.
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The UM980 is capable of receiving the new Galileo E6 signal and obtain a sub 0.2m precision
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location fix. This example shows how to enable E6 and HAS
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These examples are targeted for an ESP32 platform but any platform that has multiple
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serial UARTs should be compatible.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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SparkFun Triband GNSS RTK Breakout - UM980 (GPS-23286) https://www.sparkfun.com/products/23286
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Hardware Connections:
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Connect RX2 (green wire) of the UM980 to pin 4 on the ESP32
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Connect TX2 (orange wire) of the UM980 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 dual or triband GNSS antenna: https://www.sparkfun.com/products/21801
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*/
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int pin_UART1_TX = 4;
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int pin_UART1_RX = 13;
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#include <SparkFun_Unicore_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_Unicore_GNSS
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UM980 myGNSS;
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HardwareSerial SerialGNSS(1); //Use UART1 on the ESP32
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unsigned long lastCheck = 0;
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unsigned long startTime = 0;
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unsigned long convergingStartTime = 0;
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unsigned long timeToConvergence = 0;
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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 UM980 Example 19");
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//The CONFIG response can be ~500 bytes over runing the ESP32 RX buffer of 256 bytes
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//Increase the size of the RX buffer
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SerialGNSS.setRxBufferSize(1024);
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//We must start the serial port before using it in the library
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SerialGNSS.begin(115200, SERIAL_8N1, pin_UART1_RX, pin_UART1_TX);
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//myGNSS.enableDebugging(); // 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("UM980 failed to respond. Check ports and baud rates. Freezing...");
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while (true);
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}
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Serial.println("UM980 detected!");
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//E6 reception requires version 11833 or greater
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int um980Version = String(myGNSS.getVersion()).toInt(); //Convert the string response to a value
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Serial.print("UM980 firmware version: v");
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Serial.println(um980Version);
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if (um980Version < 11833)
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{
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Serial.println("E6 requires 11833 or newer. Please update the firmware on your UM980. Freezing...");
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while (true);
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}
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else
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Serial.println("Firmware is E6-PPP compatible.");
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if (myGNSS.isConfigurationPresent("CONFIG SIGNALGROUP 2") == false)
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{
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if (myGNSS.sendCommand("CONFIG SIGNALGROUP 2") == false)
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Serial.println("Signal group 2 command failed");
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else
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{
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Serial.println("Enabling signal group 2 causes the UM980 to reboot. This can take a few seconds.");
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while (1)
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{
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delay(1000); //Wait for device to reboot
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if (myGNSS.isConnected() == true) break;
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else Serial.println("Device still rebooting");
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}
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Serial.println("UM980 has completed reboot.");
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}
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}
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else
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Serial.println("Signal group 2 already enabled");
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if (myGNSS.isConfigurationPresent("CONFIG PPP ENABLE E6-HAS") == false)
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{
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if (myGNSS.sendCommand("CONFIG PPP ENABLE E6-HAS") == true)
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Serial.println("E6 service enabled");
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else
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Serial.println("E6 config error");
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}
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else
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Serial.println("E6 service already enabled");
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startTime = millis();
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Serial.println("E6 PPP should now be enabled. Sit back and watch the LLA deviations decrease below 0.2m!");
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Serial.println("r) Reset ESP");
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Serial.println("R) Factory reset UM980");
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}
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void loop()
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{
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if (Serial.available())
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{
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byte incoming = Serial.read();
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if (incoming == 'r')
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ESP.restart();
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else if (incoming == 'R')
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um980Reset();
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}
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myGNSS.update(); //Regularly call to parse any new data
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if (millis() - lastCheck > 1000)
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{
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lastCheck = millis();
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printUpdate();
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}
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}
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void printUpdate()
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{
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Serial.print("Lat/Long/Alt: ");
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Serial.print(myGNSS.getLatitude(), 11); //Accurate 11 decimal places
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Serial.print("/");
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Serial.print(myGNSS.getLongitude(), 11);
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Serial.print("/");
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Serial.print(myGNSS.getAltitude(), 4); //Accurate to 4 decimal places
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Serial.println();
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Serial.print("Deviation of Lat/Long/Alt (m): ");
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Serial.print(myGNSS.getLatitudeDeviation(), 4);
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Serial.print("/");
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Serial.print(myGNSS.getLongitudeDeviation(), 4);
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Serial.print("/");
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Serial.println(myGNSS.getAltitudeDeviation(), 4);
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Serial.print("Satellites in view: ");
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Serial.print(myGNSS.getSIV());
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Serial.println();
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int positionType = myGNSS.getPositionType();
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Serial.print("Position Type: ");
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Serial.print(positionType);
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Serial.print(" - ");
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if (positionType == 0) Serial.print("No solution");
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else if (positionType == 8) Serial.print("Velocity computed using instantaneous Doppler");
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else if (positionType == 16) Serial.print("Single point positioning");
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else if (positionType == 17) Serial.print("Pseudorange differential solution");
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else if (positionType == 18) Serial.print("SBAS positioning");
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else if (positionType == 32) Serial.print("L1 float solution");
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else if (positionType == 33) Serial.print("Ionosphere-free float solution");
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else if (positionType == 34) Serial.print("Narrow-lane float solution");
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else if (positionType == 48) Serial.print("L1 fixed solution");
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else if (positionType == 49) Serial.print("Wide-lane fixed solution");
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else if (positionType == 50) Serial.print("Narrow-lane fixed solution");
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else if (positionType == 68)
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{
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Serial.print("PPP solution converging");
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if (convergingStartTime == 0) convergingStartTime = millis();
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if (convergingStartTime > 0)
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{
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Serial.print(" - Seconds in converging phase: ");
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Serial.print((millis() - (convergingStartTime - startTime)) / 1000.0, 0);
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Serial.print("s");
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}
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}
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else if (positionType == 69)
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{
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Serial.print("Precise Point Positioning");
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if (timeToConvergence == 0) timeToConvergence = millis();
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if (timeToConvergence > 0)
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{
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Serial.print(" - Seconds in converging phase: ");
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Serial.print((millis() - (convergingStartTime - startTime)) / 1000.0, 0);
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Serial.print("s");
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Serial.print(" - Total time to convergence: ");
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Serial.print((timeToConvergence - startTime) / 1000.0, 0);
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Serial.print("s");
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}
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}
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else Serial.print("Unknown");
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Serial.println();
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Serial.println();
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}
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void um980Reset()
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{
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while (Serial.available()) Serial.read(); //Clear RX buffer
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Serial.println("Press any key to factory reset the UM980");
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while (Serial.available() == 0) delay(1); //Wait for user to press a button
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// Clear saved configurations, satellite ephemerides, position information, and reset baud rate to 115200bps.
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if (myGNSS.factoryReset() == true)
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Serial.println("UM980 now reset to factory defaults");
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else
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Serial.println("Error resetting UM980 to factory defaults");
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Serial.println("Waiting for UM980 to reboot");
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while (1)
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{
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delay(1000); //Wait for device to reboot
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if (myGNSS.isConnected() == true) break;
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else Serial.println("Device still rebooting");
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}
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Serial.println("UM980 has completed reset");
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}

‎examples/Example3_ECEFAndStats/Example3_ECEFAndStats.ino‎

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else if (positionType == 48) Serial.print("L1 fixed solution");
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else if (positionType == 49) Serial.print("Wide-lane fixed solution");
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else if (positionType == 50) Serial.print("Narrow-lane fixed solution");
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else if (positionType == 68) Serial.print("PPP solution converging");
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else if (positionType == 69) Serial.print("Precise Point Positioning");
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else Serial.print("Unknown");
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Serial.println();
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