Adding autoHPPOSLLH. Tested on the ZED-F9P.

examples/ZED-F9P/Example11_autoHPPOSLLH/Example11_autoHPPOSLLH.ino

@@ -0,0 +1,149 @@
+/*
+ Configuring the GPS to automatically send HPPOSLLH position reports over I2C
+ By: Paul Clark
+ Date: October 27th 2020
+
+ Based on an earlier example:
+ By: Nathan Seidle and Thorsten von Eicken
+ SparkFun Electronics
+ Date: January 3rd, 2019
+ License: MIT. See license file for more information but you can
+ basically do whatever you want with this code.
+
+ This example shows how to configure the U-Blox GPS the send navigation reports automatically
+ and retrieving the latest one via getHPPOSLLH. This eliminates the blocking in getHPPOSLLH while the GPS
+ produces a fresh navigation solution at the expense of returning a slighly old solution.
+
+ This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
+ simply outputs the UBX_NAV_HPPOSLLH packet. With I2C it queues it into its internal I2C buffer (4KB in
+ size?) where it can be retrieved in the next I2C poll.
+
+ Feel like supporting open source hardware?
+ Buy a board from SparkFun!
+ ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+ NEO-M8P RTK: https://www.sparkfun.com/products/15005
+
+ Hardware Connections:
+ Plug a Qwiic cable into the GPS and a BlackBoard
+ If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+ Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+ Serial.begin(115200);
+ while (!Serial); //Wait for user to open terminal
+ Serial.println("SparkFun Ublox Example");
+
+ Wire.begin();
+
+ //myGPS.enableDebugging(); // Uncomment this line to enable lots of helpful debug messages
+
+ if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+ {
+ Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+ while (1);
+ }
+
+ // Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
+ //myGPS.factoryDefault(); delay(5000);
+
+ myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+ myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
+
+ myGPS.setNavigationFrequency(1); //Produce one solution per second
+
+
+ // The acid test: all four of these combinations should work seamlessly :-)
+
+ //myGPS.setAutoPVT(false); // Library will poll each reading
+ //myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
+
+ //myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
+ //myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
+
+ // This combination causes the PVT data to be overwritten by HPPOSLLH.
+ // But that's OK. Both sets of readings are still extracted OK.
+ //myGPS.setAutoPVT(false); // Library will poll each reading
+ //myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
+
+ myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
+ myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
+
+}
+
+void loop()
+{
+ Serial.println();
+
+ // PVT first
+
+ long latitude = myGPS.getLatitude();
+ Serial.print(F("Lat: "));
+ Serial.print(latitude);
+
+ long longitude = myGPS.getLongitude();
+ Serial.print(F(" Long: "));
+ Serial.print(longitude);
+
+ long highResLatitude = myGPS.getHighResLatitude();
+ Serial.print(F(" Hi Res Lat: "));
+ Serial.print(highResLatitude);
+
+ int highResLatitudeHp = myGPS.getHighResLatitudeHp();
+ Serial.print(F(" "));
+ Serial.print(highResLatitudeHp);
+
+ long highResLongitude = myGPS.getHighResLongitude();
+ Serial.print(F(" Hi Res Long: "));
+ Serial.print(highResLongitude);
+
+ int highResLongitudeHp = myGPS.getHighResLongitudeHp();
+ Serial.print(F(" "));
+ Serial.print(highResLongitudeHp);
+
+ unsigned long horizAccuracy = myGPS.getHorizontalAccuracy();
+ Serial.print(F(" Horiz accuracy: "));
+ Serial.println(horizAccuracy);
+
+ delay(750);
+
+ Serial.println();
+
+ // HPPOSLLH first
+
+ highResLatitude = myGPS.getHighResLatitude();
+ Serial.print(F("Hi Res Lat: "));
+ Serial.print(highResLatitude);
+
+ highResLatitudeHp = myGPS.getHighResLatitudeHp();
+ Serial.print(F(" "));
+ Serial.print(highResLatitudeHp);
+
+ highResLongitude = myGPS.getHighResLongitude();
+ Serial.print(F(" Hi Res Long: "));
+ Serial.print(highResLongitude);
+
+ highResLongitudeHp = myGPS.getHighResLongitudeHp();
+ Serial.print(F(" "));
+ Serial.print(highResLongitudeHp);
+
+ horizAccuracy = myGPS.getHorizontalAccuracy();
+ Serial.print(F(" Horiz accuracy: "));
+ Serial.print(horizAccuracy);
+
+ latitude = myGPS.getLatitude();
+ Serial.print(F(" Lat: "));
+ Serial.print(latitude);
+
+ longitude = myGPS.getLongitude();
+ Serial.print(F(" Long: "));
+ Serial.println(longitude);
+
+ delay(750);
+}

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -3013,6 +3013,15 @@ boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait)
  if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
  return (true);
 
+ if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_HPPOSLLH))
+ {
+ if (_printDebug == true)
+ {
+ _debugSerial->println(F("getPVT: data was OVERWRITTEN by HPPOSLLH (but that's OK)"));
+ }
+ return (true);
+ }
+
  if (_printDebug == true)
  {
  _debugSerial->print(F("getPVT retVal: "));
@@ -3180,6 +3189,15 @@ boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait)
  if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
  return (true);
 
+ if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_PVT))
+ {
+ if (_printDebug == true)
+ {
+ _debugSerial->println(F("getHPPOSLLH: data was OVERWRITTEN by PVT (but that's OK)"));
+ }
+ return (true);
+ }
+
  if (_printDebug == true)
  {
  _debugSerial->print(F("getHPPOSLLH retVal: "));