Merge pull request #111 from sparkfun/release_candidate

v2.2.1

Adding_New_Messages.md

@@ -129,21 +129,23 @@ See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Libra
 
 See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/b746d8e2742961ede95e2d06d5db3a3a557e571d) for the changes.
 
-#### Step 6.3: Update processUBXpacket()
+#### Step 6.3: Update getMaxPayloadSize()
+
+#### Step 6.4: Update processUBXpacket()
 
 Take time to double-check that you have used the correct data width, signed/unsigned and position for each field.
 
 See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/8eecdd5044f810b0e2b567150ff63a17c219fe8e) for the changes.
 
-#### Step 6.4: Update checkCallbacks()
+#### Step 6.5: Update checkCallbacks()
 
 See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/b53bffaa3ae12482cfb268f23796963d0b8519c9) for the changes.
 
-#### Step 6.5: Add the "auto" functions
+#### Step 6.6: Add the "auto" functions
 
 See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/e394ae003ad38117d150598774d0552059416473) for the changes.
 
-#### Step 6.6: Add the helper functions (if any)
+#### Step 6.7: Add the helper functions (if any)
 
 See [this commit](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/commit/318e76383e96d6676bbb57294c25e665c0d4a31f) for the changes.
 

README.md

@@ -21,9 +21,13 @@ u-blox makes some incredible GNSS receivers covering everything from low-cost, h
 
 This library can be installed via the Arduino Library manager. Search for **SparkFun u-blox GNSS**.
 
-## Automatic support for correction services like RTK2go, Emlid Caster and Skylark (Swift Navigation)
+## Automatic support for correction services like PointPerfect (u-blox), RTK2go, Emlid Caster and Skylark (Swift Navigation)
 
-RTK NTRIP corrections services often require you to send them your location in NMEA GPGGA format. v2.2 of the library makes this easy by providing get functions and automatic callbacks
+u-blox's PointPerfect GNSS augmentation service uses the secure MQTT protocol to download SPARTN format correction data, providing "3-6 cm accuracy and convergence within seconds". Please see the new [PointPerfect Client example](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/tree/main/examples/ZED-F9P/Example18_PointPerfectClient) for more details.
+
+v2.3 also supports L-band correction services using the new u-blox NEO-D9S correction data receiver. Please see the new [L-band Corrections example](https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/tree/main/examples/ZED-F9P/Example19_LBand_Corrections_with_NEO-D9S) for more details.
+
+Other RTK NTRIP corrections services often require you to send them your location in NMEA GPGGA format. v2.2 of the library makes this easy by providing get functions and automatic callbacks
 for both GPGGA and GNGGA messages. You can now instruct your module to output GPGGA (e.g.) every 10 seconds and then push it to the correction server directly from the callback. No more polling, no more parsing!
 
 v2.2 also includes two new functions useful for correction services:

examples/AssistNow/AssistNow_Autonomous/Example1_AssistNowAutonomous/Example1_AssistNowAutonomous.ino

@@ -42,22 +42,22 @@ SFE_UBLOX_GNSS myGNSS;
 //        |                 /               _____ You can use any name you like for the struct
 //        |                 |              /
 //        |                 |              |
-void printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
+void printSATdata(UBX_NAV_SAT_data_t *ubxDataStruct)
 {
   //Serial.println();
   
   Serial.print(F("UBX-NAV-SAT contains data for "));
-  Serial.print(ubxDataStruct.header.numSvs);
-  if (ubxDataStruct.header.numSvs == 1)
+  Serial.print(ubxDataStruct->header.numSvs);
+  if (ubxDataStruct->header.numSvs == 1)
     Serial.println(F(" SV"));
   else
     Serial.println(F(" SVs"));
 
   uint16_t numAopAvail = 0; // Count how many SVs have AssistNow Autonomous data available
     
-  for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
+  for (uint16_t block = 0; block < ubxDataStruct->header.numSvs; block++) // For each SV
   {
-    if (ubxDataStruct.blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
+    if (ubxDataStruct->blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
       numAopAvail++; // Increment the number of SVs
   }
 
@@ -78,12 +78,12 @@ void printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
 //        |                 /               _____ You can use any name you like for the struct
 //        |                 |              /
 //        |                 |              |
-void printAOPstatus(UBX_NAV_AOPSTATUS_data_t ubxDataStruct)
+void printAOPstatus(UBX_NAV_AOPSTATUS_data_t *ubxDataStruct)
 {
   //Serial.println();
   
   Serial.print(F("AOPSTATUS status is "));
-  Serial.println(ubxDataStruct.status);
+  Serial.println(ubxDataStruct->status);
 }
 
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
@@ -95,27 +95,27 @@ void printAOPstatus(UBX_NAV_AOPSTATUS_data_t ubxDataStruct)
 //        |                 /               _____ You can use any name you like for the struct
 //        |                 |              /
 //        |                 |              |
-void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
+void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 {
   // Print the UBX-NAV-PVT data so we can see how quickly the fixType goes to 3D
   
   Serial.println();
 
-  long latitude = ubxDataStruct.lat; // Print the latitude
+  long latitude = ubxDataStruct->lat; // Print the latitude
   Serial.print(F("Lat: "));
   Serial.print(latitude);
 
-  long longitude = ubxDataStruct.lon; // Print the longitude
+  long longitude = ubxDataStruct->lon; // Print the longitude
   Serial.print(F(" Long: "));
   Serial.print(longitude);
   Serial.print(F(" (degrees * 10^-7)"));
 
-  long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
+  long altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
   Serial.print(F(" Alt: "));
   Serial.print(altitude);
   Serial.print(F(" (mm)"));
 
-  byte fixType = ubxDataStruct.fixType; // Print the fix type
+  byte fixType = ubxDataStruct->fixType; // Print the fix type
   Serial.print(F(" Fix: "));
   if(fixType == 0) Serial.print(F("No fix"));
   else if(fixType == 1) Serial.print(F("Dead reckoning"));
@@ -171,9 +171,9 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one solution per second
 
-  myGNSS.setAutoNAVSATcallback(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
-  myGNSS.setAutoAOPSTATUScallback(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
-  myGNSS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
+  myGNSS.setAutoNAVSATcallbackPtr(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
+  myGNSS.setAutoAOPSTATUScallbackPtr(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
+  myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
 }
 
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=

examples/AssistNow/AssistNow_Autonomous/Example2_AssistNowAutonomous_DatabaseRead/Example2_AssistNowAutonomous_DatabaseRead.ino

@@ -35,22 +35,22 @@ SFE_UBLOX_GNSS myGNSS;
 //        |                 /               _____ You can use any name you like for the struct
 //        |                 |              /
 //        |                 |              |
-void printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
+void printSATdata(UBX_NAV_SAT_data_t *ubxDataStruct)
 {
   Serial.println();
   
   Serial.print(F("UBX-NAV-SAT contains data for "));
-  Serial.print(ubxDataStruct.header.numSvs);
-  if (ubxDataStruct.header.numSvs == 1)
+  Serial.print(ubxDataStruct->header.numSvs);
+  if (ubxDataStruct->header.numSvs == 1)
     Serial.println(F(" SV"));
   else
     Serial.println(F(" SVs"));
 
   uint16_t numAopAvail = 0; // Count how many SVs have AssistNow Autonomous data available
     
-  for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
+  for (uint16_t block = 0; block < ubxDataStruct->header.numSvs; block++) // For each SV
   {
-    if (ubxDataStruct.blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
+    if (ubxDataStruct->blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
       numAopAvail++; // Increment the number of SVs
   }
 
@@ -71,12 +71,12 @@ void printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
 //        |                 /               _____ You can use any name you like for the struct
 //        |                 |              /
 //        |                 |              |
-void printAOPstatus(UBX_NAV_AOPSTATUS_data_t ubxDataStruct)
+void printAOPstatus(UBX_NAV_AOPSTATUS_data_t *ubxDataStruct)
 {
   //Serial.println();
   
   Serial.print(F("AOPSTATUS status is "));
-  Serial.println(ubxDataStruct.status);
+  Serial.println(ubxDataStruct->status);
 }
 
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
@@ -126,8 +126,8 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one solution per second
 
-  myGNSS.setAutoNAVSATcallback(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
-  myGNSS.setAutoAOPSTATUScallback(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
+  myGNSS.setAutoNAVSATcallbackPtr(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
+  myGNSS.setAutoAOPSTATUScallbackPtr(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
 
   //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
   // Keep displaying NAV SAT and AOPSTATUS until the user presses a key

examples/Automatic_NMEA/Example2_NMEA_GGA_Callbacks/Example2_NMEA_GGA_Callbacks.ino

@@ -39,12 +39,12 @@ SFE_UBLOX_GNSS myGNSS;
 //        |              /           _____ You can use any name you like for the struct
 //        |              |          /
 //        |              |          |
-void printGPGGA(NMEA_GGA_data_t nmeaData)
+void printGPGGA(NMEA_GGA_data_t *nmeaData)
 {
     Serial.print(F("\r\nGPGGA: Length: "));
-    Serial.print(nmeaData.length);
+    Serial.print(nmeaData->length);
     Serial.print(F("\tData: "));
-    Serial.print((const char *)nmeaData.nmea); // .nmea is printable (NULL-terminated) and already has \r\n on the end
+    Serial.print((const char *)nmeaData->nmea); // .nmea is printable (NULL-terminated) and already has \r\n on the end
 }
 
 // Callback: printGNGGA will be called if new GNGGA NMEA data arrives
@@ -54,12 +54,12 @@ void printGPGGA(NMEA_GGA_data_t nmeaData)
 //        |              /           _____ You can use any name you like for the struct
 //        |              |          /
 //        |              |          |
-void printGNGGA(NMEA_GGA_data_t nmeaData)
+void printGNGGA(NMEA_GGA_data_t *nmeaData)
 {
     Serial.print(F("\r\nGNGGA: Length: "));
-    Serial.print(nmeaData.length);
+    Serial.print(nmeaData->length);
     Serial.print(F("\tData: "));
-    Serial.print((const char *)nmeaData.nmea); // .nmea is printable (NULL-terminated) and already has \r\n on the end
+    Serial.print((const char *)nmeaData->nmea); // .nmea is printable (NULL-terminated) and already has \r\n on the end
 }
 
 void setup()
@@ -101,10 +101,10 @@ void setup()
   //myGNSS.setNMEAOutputPort(Serial); // Uncomment this line to echo all NMEA data to Serial for debugging
 
   // Set up the callback for GPGGA
-  myGNSS.setNMEAGPGGAcallback(&printGPGGA);
+  myGNSS.setNMEAGPGGAcallbackPtr(&printGPGGA);
 
   // Set up the callback for GNGGA
-  myGNSS.setNMEAGNGGAcallback(&printGNGGA);
+  myGNSS.setNMEAGNGGAcallbackPtr(&printGNGGA);
 }
 
 void loop()

examples/Callbacks/CallbackExample1_NAV_PVT/CallbackExample1_NAV_PVT.ino

@@ -33,38 +33,38 @@ SFE_UBLOX_GNSS myGNSS;
 //        |                 /               _____ You can use any name you like for the struct
 //        |                 |              /
 //        |                 |              |
-void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
+void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 {
     Serial.println();
 
     Serial.print(F("Time: ")); // Print the time
-    uint8_t hms = ubxDataStruct.hour; // Print the hours
+    uint8_t hms = ubxDataStruct->hour; // Print the hours
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F(":"));
-    hms = ubxDataStruct.min; // Print the minutes
+    hms = ubxDataStruct->min; // Print the minutes
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F(":"));
-    hms = ubxDataStruct.sec; // Print the seconds
+    hms = ubxDataStruct->sec; // Print the seconds
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F("."));
-    unsigned long millisecs = ubxDataStruct.iTOW % 1000; // Print the milliseconds
+    unsigned long millisecs = ubxDataStruct->iTOW % 1000; // Print the milliseconds
     if (millisecs < 100) Serial.print(F("0")); // Print the trailing zeros correctly
     if (millisecs < 10) Serial.print(F("0"));
     Serial.print(millisecs);
 
-    long latitude = ubxDataStruct.lat; // Print the latitude
+    long latitude = ubxDataStruct->lat; // Print the latitude
     Serial.print(F(" Lat: "));
     Serial.print(latitude);
 
-    long longitude = ubxDataStruct.lon; // Print the longitude
+    long longitude = ubxDataStruct->lon; // Print the longitude
     Serial.print(F(" Long: "));
     Serial.print(longitude);
     Serial.print(F(" (degrees * 10^-7)"));
 
-    long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
+    long altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
     Serial.print(F(" Height above MSL: "));
     Serial.print(altitude);
     Serial.println(F(" (mm)"));
@@ -91,7 +91,7 @@ void setup()
 
   myGNSS.setNavigationFrequency(2); //Produce two solutions per second
 
-  myGNSS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
+  myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
 }
 
 void loop()

examples/Callbacks/CallbackExample2_NAV_ODO/CallbackExample2_NAV_ODO.ino

@@ -33,22 +33,22 @@ SFE_UBLOX_GNSS myGNSS;
 //        |                 /                   _____ You can use any name you like for the struct
 //        |                 |                  /
 //        |                 |                  |
-void printODOdata(UBX_NAV_ODO_data_t ubxDataStruct)
+void printODOdata(UBX_NAV_ODO_data_t *ubxDataStruct)
 {
     Serial.println();
 
     Serial.print(F("TOW: ")); // Print the Time Of Week
-    unsigned long iTOW = ubxDataStruct.iTOW; // iTOW is in milliseconds
+    unsigned long iTOW = ubxDataStruct->iTOW; // iTOW is in milliseconds
     Serial.print(iTOW);
     Serial.print(F(" (ms)"));
 
     Serial.print(F(" Distance: "));
-    unsigned long distance = ubxDataStruct.distance; // Print the distance
+    unsigned long distance = ubxDataStruct->distance; // Print the distance
     Serial.print(distance);
     Serial.print(F(" (m)"));
 
     Serial.print(F(" Total Distance: "));
-    unsigned long totalDistance = ubxDataStruct.totalDistance; // Print the total distance
+    unsigned long totalDistance = ubxDataStruct->totalDistance; // Print the total distance
     Serial.print(totalDistance);
     Serial.println(F(" (m)"));
 }
@@ -76,7 +76,7 @@ void setup()
 
   //myGNSS.resetOdometer(); //Uncomment this line to reset the odometer
 
-  myGNSS.setAutoNAVODOcallback(&printODOdata); // Enable automatic NAV ODO messages with callback to printODOdata
+  myGNSS.setAutoNAVODOcallbackPtr(&printODOdata); // Enable automatic NAV ODO messages with callback to printODOdata
 }
 
 void loop()

examples/Callbacks/CallbackExample3_TIM_TM2/CallbackExample3_TIM_TM2.ino

@@ -48,30 +48,30 @@ int dotsPrinted = 0; // Print dots in rows of 50 while waiting for a TIM TM2 mes
 //        |                 /                   _____ You can use any name you like for the struct
 //        |                 |                  /
 //        |                 |                  |
-void printTIMTM2data(UBX_TIM_TM2_data_t ubxDataStruct)
+void printTIMTM2data(UBX_TIM_TM2_data_t *ubxDataStruct)
 {
     Serial.println();
 
     Serial.print(F("newFallingEdge: ")); // 1 if a new falling edge was detected
-    Serial.print(ubxDataStruct.flags.bits.newFallingEdge);
+    Serial.print(ubxDataStruct->flags.bits.newFallingEdge);
 
     Serial.print(F(" newRisingEdge: ")); // 1 if a new rising edge was detected
-    Serial.print(ubxDataStruct.flags.bits.newRisingEdge);
+    Serial.print(ubxDataStruct->flags.bits.newRisingEdge);
 
     Serial.print(F(" Rising Edge Counter: ")); // Rising edge counter
-    Serial.print(ubxDataStruct.count);
+    Serial.print(ubxDataStruct->count);
 
     Serial.print(F(" towMsR: ")); // Time Of Week of rising edge (ms)
-    Serial.print(ubxDataStruct.towMsR);
+    Serial.print(ubxDataStruct->towMsR);
 
     Serial.print(F(" towSubMsR: ")); // Millisecond fraction of Time Of Week of rising edge in nanoseconds
-    Serial.print(ubxDataStruct.towSubMsR);
+    Serial.print(ubxDataStruct->towSubMsR);
 
     Serial.print(F(" towMsF: ")); // Time Of Week of falling edge (ms)
-    Serial.print(ubxDataStruct.towMsF);
+    Serial.print(ubxDataStruct->towMsF);
 
     Serial.print(F(" towSubMsF: ")); // Millisecond fraction of Time Of Week of falling edge in nanoseconds
-    Serial.println(ubxDataStruct.towSubMsF);
+    Serial.println(ubxDataStruct->towSubMsF);
 
     dotsPrinted = 0; // Reset dotsPrinted
 }
@@ -97,7 +97,7 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one solution per second
 
-  myGNSS.setAutoTIMTM2callback(&printTIMTM2data); // Enable automatic TIM TM2 messages with callback to printTIMTM2data
+  myGNSS.setAutoTIMTM2callbackPtr(&printTIMTM2data); // Enable automatic TIM TM2 messages with callback to printTIMTM2data
 }
 
 void loop()

examples/Callbacks/CallbackExample4_HNR/CallbackExample4_HNR.ino

@@ -38,39 +38,39 @@ SFE_UBLOX_GNSS myGNSS;
 //        |                 /                   _____ You can use any name you like for the struct
 //        |                 |                  /
 //        |                 |                  |
-void printHNRATTdata(UBX_HNR_ATT_data_t ubxDataStruct)
+void printHNRATTdata(UBX_HNR_ATT_data_t *ubxDataStruct)
 {
   Serial.println();
   Serial.print(F("Roll: ")); // Print selected data
-  Serial.print((float)ubxDataStruct.roll / 100000.0, 2); // Convert roll to degrees
+  Serial.print((float)ubxDataStruct->roll / 100000.0, 2); // Convert roll to degrees
   Serial.print(F(" Pitch: "));
-  Serial.print((float)ubxDataStruct.pitch / 100000.0, 2); // Convert pitch to degrees
+  Serial.print((float)ubxDataStruct->pitch / 100000.0, 2); // Convert pitch to degrees
   Serial.print(F(" Heading: "));
-  Serial.println((float)ubxDataStruct.heading / 100000.0, 2); // Convert heading to degrees
+  Serial.println((float)ubxDataStruct->heading / 100000.0, 2); // Convert heading to degrees
 }
 
 // Callback: printHNRINSdata will be called when new HNR INS data arrives
 // See u-blox_structs.h for the full definition of UBX_HNR_INS_data_t
-void printHNRINSdata(UBX_HNR_INS_data_t ubxDataStruct)
+void printHNRINSdata(UBX_HNR_INS_data_t *ubxDataStruct)
 {
   Serial.print(F("xAccel: ")); // Print selected data
-  Serial.print(ubxDataStruct.xAccel);
+  Serial.print(ubxDataStruct->xAccel);
   Serial.print(F(" yAccel: "));
-  Serial.print(ubxDataStruct.yAccel);
+  Serial.print(ubxDataStruct->yAccel);
   Serial.print(F(" zAccel: "));
-  Serial.println(ubxDataStruct.zAccel);
+  Serial.println(ubxDataStruct->zAccel);
 }
 
 // Callback: printHNRPVTdata will be called when new HNR PVT data arrives
 // See u-blox_structs.h for the full definition of UBX_HNR_PVT_data_t
-void printHNRPVTdata(UBX_HNR_PVT_data_t ubxDataStruct)
+void printHNRPVTdata(UBX_HNR_PVT_data_t *ubxDataStruct)
 {
   Serial.print(F("ns: ")); // Print selected data
-  Serial.print(ubxDataStruct.nano);
+  Serial.print(ubxDataStruct->nano);
   Serial.print(F(" Lat: "));
-  Serial.print(ubxDataStruct.lat);
+  Serial.print(ubxDataStruct->lat);
   Serial.print(F(" Lon: "));
-  Serial.println(ubxDataStruct.lon);
+  Serial.println(ubxDataStruct->lon);
 }
 
 void setup()
@@ -97,13 +97,13 @@ void setup()
   else
     Serial.println(F("setHNRNavigationRate was NOT successful"));
 
-  if (myGNSS.setAutoHNRATTcallback(&printHNRATTdata) == true) // Enable automatic HNR ATT messages with callback to printHNRATTdata
+  if (myGNSS.setAutoHNRATTcallbackPtr(&printHNRATTdata) == true) // Enable automatic HNR ATT messages with callback to printHNRATTdata
     Serial.println(F("setAutoHNRATTcallback successful"));
 
-  if (myGNSS.setAutoHNRINScallback(&printHNRINSdata) == true) // Enable automatic HNR INS messages with callback to printHNRINSdata
+  if (myGNSS.setAutoHNRINScallbackPtr(&printHNRINSdata) == true) // Enable automatic HNR INS messages with callback to printHNRINSdata
     Serial.println(F("setAutoHNRINScallback successful"));
 
-  if (myGNSS.setAutoHNRPVTcallback(&printHNRPVTdata) == true) // Enable automatic HNR PVT messages with callback to printHNRPVTdata
+  if (myGNSS.setAutoHNRPVTcallbackPtr(&printHNRPVTdata) == true) // Enable automatic HNR PVT messages with callback to printHNRPVTdata
     Serial.println(F("setAutoHNRPVTcallback successful"));
 }
 

examples/Callbacks/CallbackExample5_ESF/CallbackExample5_ESF.ino

@@ -35,39 +35,39 @@ SFE_UBLOX_GNSS myGNSS;
 //        |                 /                   _____ You can use any name you like for the struct
 //        |                 |                  /
 //        |                 |                  |
-void printESFALGdata(UBX_ESF_ALG_data_t ubxDataStruct)
+void printESFALGdata(UBX_ESF_ALG_data_t *ubxDataStruct)
 {
   Serial.println();
 
   Serial.print(F("TOW: ")); // Print the Time Of Week
-  unsigned long iTOW = ubxDataStruct.iTOW; // iTOW is in milliseconds
+  unsigned long iTOW = ubxDataStruct->iTOW; // iTOW is in milliseconds
   Serial.print(iTOW);
   Serial.print(F(" (ms)"));
 
   Serial.print(F(" Roll: ")); // Print selected data
-  Serial.print((float)ubxDataStruct.roll / 100.0, 2); // Convert roll to degrees
+  Serial.print((float)ubxDataStruct->roll / 100.0, 2); // Convert roll to degrees
 
   Serial.print(F(" Pitch: "));
-  Serial.print((float)ubxDataStruct.pitch / 100.0, 2); // Convert pitch to degrees
+  Serial.print((float)ubxDataStruct->pitch / 100.0, 2); // Convert pitch to degrees
 
   Serial.print(F(" Yaw: "));
-  Serial.print((float)ubxDataStruct.yaw / 100.0, 2); // Convert yaw to degrees
+  Serial.print((float)ubxDataStruct->yaw / 100.0, 2); // Convert yaw to degrees
 
   Serial.println(F(" (Degrees)"));
 }
 
 // Callback: printESFINSdata will be called when new ESF INS data arrives
 // See u-blox_structs.h for the full definition of UBX_ESF_INS_data_t
-void printESFINSdata(UBX_ESF_INS_data_t ubxDataStruct)
+void printESFINSdata(UBX_ESF_INS_data_t *ubxDataStruct)
 {
   Serial.print(F("xAccel: ")); // Print selected data
-  Serial.print(ubxDataStruct.xAccel);
+  Serial.print(ubxDataStruct->xAccel);
 
   Serial.print(F(" yAccel: "));
-  Serial.print(ubxDataStruct.yAccel);
+  Serial.print(ubxDataStruct->yAccel);
 
   Serial.print(F(" zAccel: "));
-  Serial.print(ubxDataStruct.zAccel);
+  Serial.print(ubxDataStruct->zAccel);
 
   Serial.println(F(" (m/s^2)"));
 }
@@ -75,23 +75,23 @@ void printESFINSdata(UBX_ESF_INS_data_t ubxDataStruct)
 // Callback: printESFMEASdata will be called when new ESF MEAS data arrives
 // See u-blox_structs.h for the full definition of UBX_ESF_MEAS_data_t
 // and UBX_ESF_MEAS_sensorData_t
-void printESFMEASdata(UBX_ESF_MEAS_data_t ubxDataStruct)
+void printESFMEASdata(UBX_ESF_MEAS_data_t *ubxDataStruct)
 {
   Serial.println();
 
   Serial.print(F("id: ")); // Print selected data
-  Serial.print(ubxDataStruct.id);
+  Serial.print(ubxDataStruct->id);
 
   Serial.print(F(" numMeas: "));
-  Serial.println(ubxDataStruct.flags.bits.numMeas);
+  Serial.println(ubxDataStruct->flags.bits.numMeas);
 
-  for (uint8_t num = 0; num < ubxDataStruct.flags.bits.numMeas; num++) // For each sensor
+  for (uint8_t num = 0; num < ubxDataStruct->flags.bits.numMeas; num++) // For each sensor
   {
     Serial.print(F("Sensor "));
     Serial.print(num);
 
     UBX_ESF_MEAS_sensorData_t sensorData;
-    myGNSS.getSensorFusionMeasurement(&sensorData, ubxDataStruct, num); // Extract the data for one sensor
+    myGNSS.getSensorFusionMeasurement(&sensorData, *ubxDataStruct, num); // Extract the data for one sensor
 
     Serial.print(F(": Type: "));
     Serial.print(sensorData.data.bits.dataType);
@@ -103,21 +103,21 @@ void printESFMEASdata(UBX_ESF_MEAS_data_t ubxDataStruct)
 // Callback: printESFSTATUSdata will be called when new ESF STATUS data arrives
 // See u-blox_structs.h for the full definition of UBX_ESF_STATUS_data_t
 // and UBX_ESF_STATUS_sensorStatus_t
-void printESFSTATUSdata(UBX_ESF_STATUS_data_t ubxDataStruct)
+void printESFSTATUSdata(UBX_ESF_STATUS_data_t *ubxDataStruct)
 {
   Serial.print(F("fusionMode: ")); // Print selected data
-  Serial.print(ubxDataStruct.fusionMode);
+  Serial.print(ubxDataStruct->fusionMode);
 
   Serial.print(F(" numSens: "));
-  Serial.println(ubxDataStruct.numSens);
+  Serial.println(ubxDataStruct->numSens);
 
-  for (uint8_t num = 0; num < ubxDataStruct.numSens; num++) // For each sensor
+  for (uint8_t num = 0; num < ubxDataStruct->numSens; num++) // For each sensor
   {
     Serial.print(F("Sensor "));
     Serial.print(num);
 
     UBX_ESF_STATUS_sensorStatus_t sensorStatus;
-    myGNSS.getSensorFusionStatus(&sensorStatus, ubxDataStruct, num); // Extract the data for one sensor
+    myGNSS.getSensorFusionStatus(&sensorStatus, *ubxDataStruct, num); // Extract the data for one sensor
 
     Serial.print(F(": Type: "));
     Serial.print(sensorStatus.sensStatus1.bits.type);
@@ -156,16 +156,16 @@ void setup()
 
   myGNSS.setI2CpollingWait(50); //Allow checkUblox to poll I2C data every 50ms to keep up with the ESF MEAS messages
 
-  if (myGNSS.setAutoESFALGcallback(&printESFALGdata) == true) // Enable automatic ESF ALG messages with callback to printESFALGdata
+  if (myGNSS.setAutoESFALGcallbackPtr(&printESFALGdata) == true) // Enable automatic ESF ALG messages with callback to printESFALGdata
     Serial.println(F("setAutoESFALGcallback successful"));
 
-  if (myGNSS.setAutoESFINScallback(&printESFINSdata) == true) // Enable automatic ESF INS messages with callback to printESFINSdata
+  if (myGNSS.setAutoESFINScallbackPtr(&printESFINSdata) == true) // Enable automatic ESF INS messages with callback to printESFINSdata
     Serial.println(F("setAutoESFINScallback successful"));
 
-  if (myGNSS.setAutoESFMEAScallback(&printESFMEASdata) == true) // Enable automatic ESF MEAS messages with callback to printESFMEASdata
+  if (myGNSS.setAutoESFMEAScallbackPtr(&printESFMEASdata) == true) // Enable automatic ESF MEAS messages with callback to printESFMEASdata
     Serial.println(F("setAutoESFMEAScallback successful"));
 
-  if (myGNSS.setAutoESFSTATUScallback(&printESFSTATUSdata) == true) // Enable automatic ESF STATUS messages with callback to printESFSTATUSdata
+  if (myGNSS.setAutoESFSTATUScallbackPtr(&printESFSTATUSdata) == true) // Enable automatic ESF STATUS messages with callback to printESFSTATUSdata
     Serial.println(F("setAutoESFSTATUScallback successful"));
 }
 

examples/Callbacks/CallbackExample6_RAWX/CallbackExample6_RAWX.ino

@@ -31,38 +31,38 @@ SFE_UBLOX_GNSS myGNSS;
 //        |            /                _____ You can use any name you like for the struct
 //        |            |               /
 //        |            |               |
-void newRAWX(UBX_RXM_RAWX_data_t ubxDataStruct)
+void newRAWX(UBX_RXM_RAWX_data_t *ubxDataStruct)
 {
   Serial.println();
 
   Serial.print(F("New RAWX data received. It contains "));
-  Serial.print(ubxDataStruct.header.numMeas); // Print numMeas (Number of measurements / blocks)
+  Serial.print(ubxDataStruct->header.numMeas); // Print numMeas (Number of measurements / blocks)
   Serial.println(F(" data blocks:"));
 
-  for (uint8_t block = 0; block < ubxDataStruct.header.numMeas; block++) // For each block
+  for (uint8_t block = 0; block < ubxDataStruct->header.numMeas; block++) // For each block
   {
     Serial.print(F("GNSS ID: "));
-    if (ubxDataStruct.blocks[block].gnssId < 100) Serial.print(F(" ")); // Align the gnssId
-    if (ubxDataStruct.blocks[block].gnssId < 10) Serial.print(F(" ")); // Align the gnssId
-    Serial.print(ubxDataStruct.blocks[block].gnssId);
+    if (ubxDataStruct->blocks[block].gnssId < 100) Serial.print(F(" ")); // Align the gnssId
+    if (ubxDataStruct->blocks[block].gnssId < 10) Serial.print(F(" ")); // Align the gnssId
+    Serial.print(ubxDataStruct->blocks[block].gnssId);
     Serial.print(F("  SV ID: "));
-    if (ubxDataStruct.blocks[block].svId < 100) Serial.print(F(" ")); // Align the svId
-    if (ubxDataStruct.blocks[block].svId < 10) Serial.print(F(" ")); // Align the svId
-    Serial.print(ubxDataStruct.blocks[block].svId);
+    if (ubxDataStruct->blocks[block].svId < 100) Serial.print(F(" ")); // Align the svId
+    if (ubxDataStruct->blocks[block].svId < 10) Serial.print(F(" ")); // Align the svId
+    Serial.print(ubxDataStruct->blocks[block].svId);
 
     if (sizeof(double) == 8) // Check if our processor supports 64-bit double
     {
       // Convert prMes from uint8_t[8] to 64-bit double
       // prMes is little-endian
       double pseudorange;
-      memcpy(&pseudorange, &ubxDataStruct.blocks[block].prMes, 8);
+      memcpy(&pseudorange, &ubxDataStruct->blocks[block].prMes, 8);
       Serial.print(F("  PR: "));
       Serial.print(pseudorange, 3);
 
       // Convert cpMes from uint8_t[8] to 64-bit double
       // cpMes is little-endian
       double carrierPhase;
-      memcpy(&carrierPhase, &ubxDataStruct.blocks[block].cpMes, 8);
+      memcpy(&carrierPhase, &ubxDataStruct->blocks[block].cpMes, 8);
       Serial.print(F(" m  CP: "));
       Serial.print(carrierPhase, 3);
       Serial.print(F(" cycles"));
@@ -94,7 +94,7 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one solution per second (RAWX produces a _lot_ of data!)
 
-  myGNSS.setAutoRXMRAWXcallback(&newRAWX); // Enable automatic RXM RAWX messages with callback to newRAWX
+  myGNSS.setAutoRXMRAWXcallbackPtr(&newRAWX); // Enable automatic RXM RAWX messages with callback to newRAWX
 }
 
 void loop()

examples/Callbacks/CallbackExample7_NAV_SAT/CallbackExample7_NAV_SAT.ino

@@ -31,21 +31,21 @@ SFE_UBLOX_GNSS myGNSS;
 //        |            /                _____ You can use any name you like for the struct
 //        |            |               /
 //        |            |               |
-void newNAVSAT(UBX_NAV_SAT_data_t ubxDataStruct)
+void newNAVSAT(UBX_NAV_SAT_data_t *ubxDataStruct)
 {
   Serial.println();
 
   Serial.print(F("New NAV SAT data received. It contains data for "));
-  Serial.print(ubxDataStruct.header.numSvs);
-  if (ubxDataStruct.header.numSvs == 1)
+  Serial.print(ubxDataStruct->header.numSvs);
+  if (ubxDataStruct->header.numSvs == 1)
     Serial.println(F(" SV."));
   else
     Serial.println(F(" SVs."));
 
   // Just for giggles, print the signal strength for each SV as a barchart
-  for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
+  for (uint16_t block = 0; block < ubxDataStruct->header.numSvs; block++) // For each SV
   {
-    switch (ubxDataStruct.blocks[block].gnssId) // Print the GNSS ID
+    switch (ubxDataStruct->blocks[block].gnssId) // Print the GNSS ID
     {
       case 0:
         Serial.print(F("GPS     "));
@@ -73,14 +73,14 @@ void newNAVSAT(UBX_NAV_SAT_data_t ubxDataStruct)
       break;      
     }
     
-    Serial.print(ubxDataStruct.blocks[block].svId); // Print the SV ID
+    Serial.print(ubxDataStruct->blocks[block].svId); // Print the SV ID
     
-    if (ubxDataStruct.blocks[block].svId < 10) Serial.print(F("   "));
-    else if (ubxDataStruct.blocks[block].svId < 100) Serial.print(F("  "));
+    if (ubxDataStruct->blocks[block].svId < 10) Serial.print(F("   "));
+    else if (ubxDataStruct->blocks[block].svId < 100) Serial.print(F("  "));
     else Serial.print(F(" "));
 
     // Print the signal strength as a bar chart
-    for (uint8_t cno = 0; cno < ubxDataStruct.blocks[block].cno; cno++)
+    for (uint8_t cno = 0; cno < ubxDataStruct->blocks[block].cno; cno++)
       Serial.print(F("="));
 
     Serial.println();
@@ -108,7 +108,7 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one solution per second
 
-  myGNSS.setAutoNAVSATcallback(&newNAVSAT); // Enable automatic NAV SAT messages with callback to newNAVSAT
+  myGNSS.setAutoNAVSATcallbackPtr(&newNAVSAT); // Enable automatic NAV SAT messages with callback to newNAVSAT
 }
 
 void loop()

examples/Data_Logging/DataLoggingExample1_NAV_PVT/DataLoggingExample1_NAV_PVT.ino

@@ -22,9 +22,7 @@
   Insert a formatted micro-SD card into the socket on the Carrier Board.
   Connect the Carrier Board to your computer using a USB-C cable.
   Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
-  This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
-   - Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
-   - We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
+  This code has been tested using version 2.2.0 of the Apollo3 boards on Arduino IDE 1.8.13.
   Select "Artemis MicroMod Processor" as the board type.
   Press upload to upload the code onto the Artemis.
   Open the Serial Monitor at 115200 baud to see the output.
@@ -69,6 +67,7 @@ File myFile; //File that all GNSS data is written to
 #endif
 
 #define packetLength 100 // NAV PVT is 92 + 8 bytes in length (including the sync chars, class, id, length and checksum bytes)
+uint8_t *myBuffer; // Use myBuffer to hold the data while we write it to SD card
 
 // Callback: printPVTdata will be called when new NAV PVT data arrives
 // See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
@@ -77,38 +76,38 @@ File myFile; //File that all GNSS data is written to
 //        |                 /               _____ You can use any name you like for the struct
 //        |                 |              /
 //        |                 |              |
-void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
+void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 {
     Serial.println();
 
     Serial.print(F("Time: ")); // Print the time
-    uint8_t hms = ubxDataStruct.hour; // Print the hours
+    uint8_t hms = ubxDataStruct->hour; // Print the hours
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F(":"));
-    hms = ubxDataStruct.min; // Print the minutes
+    hms = ubxDataStruct->min; // Print the minutes
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F(":"));
-    hms = ubxDataStruct.sec; // Print the seconds
+    hms = ubxDataStruct->sec; // Print the seconds
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F("."));
-    unsigned long millisecs = ubxDataStruct.iTOW % 1000; // Print the milliseconds
+    unsigned long millisecs = ubxDataStruct->iTOW % 1000; // Print the milliseconds
     if (millisecs < 100) Serial.print(F("0")); // Print the trailing zeros correctly
     if (millisecs < 10) Serial.print(F("0"));
     Serial.print(millisecs);
 
-    long latitude = ubxDataStruct.lat; // Print the latitude
+    long latitude = ubxDataStruct->lat; // Print the latitude
     Serial.print(F(" Lat: "));
     Serial.print(latitude);
 
-    long longitude = ubxDataStruct.lon; // Print the longitude
+    long longitude = ubxDataStruct->lon; // Print the longitude
     Serial.print(F(" Long: "));
     Serial.print(longitude);
     Serial.print(F(" (degrees * 10^-7)"));
 
-    long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
+    long altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
     Serial.print(F(" Height above MSL: "));
     Serial.print(altitude);
     Serial.println(F(" (mm)"));
@@ -200,10 +199,12 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one navigation solution per second
 
-  myGNSS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
+  myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
 
   myGNSS.logNAVPVT(); // Enable NAV PVT data logging
 
+  myBuffer = new uint8_t[packetLength]; // Create our own buffer to hold the data while we write it to SD card  
+
   Serial.println(F("Press any key to stop logging."));
 }
 
@@ -214,9 +215,7 @@ void loop()
 
   if (myGNSS.fileBufferAvailable() >= packetLength) // Check to see if a new packetLength-byte NAV PVT message has been stored
   {
-    uint8_t myBuffer[packetLength]; // Create our own buffer to hold the data while we write it to SD card
-
-    myGNSS.extractFileBufferData((uint8_t *)&myBuffer, packetLength); // Extract exactly packetLength bytes from the UBX file buffer and put them into myBuffer
+    myGNSS.extractFileBufferData(myBuffer, packetLength); // Extract exactly packetLength bytes from the UBX file buffer and put them into myBuffer
 
     myFile.write(myBuffer, packetLength); // Write exactly packetLength bytes from myBuffer to the ubxDataFile on the SD card
 

examples/Data_Logging/DataLoggingExample2_TIM_TM2/DataLoggingExample2_TIM_TM2.ino

@@ -22,9 +22,7 @@
   Insert a formatted micro-SD card into the socket on the Carrier Board.
   Connect the Carrier Board to your computer using a USB-C cable.
   Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
-  This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
-   - Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
-   - We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
+  This code has been tested using version 2.2.0 of the Apollo3 boards on Arduino IDE 1.8.13.
   Select "Artemis MicroMod Processor" as the board type.
   Press upload to upload the code onto the Artemis.
   Open the Serial Monitor at 115200 baud to see the output.
@@ -82,6 +80,7 @@ File myFile; //File that all GNSS data is written to
 #endif
 
 #define packetLength 36 // TIM TM2 is 28 + 8 bytes in length (including the sync chars, class, id, length and checksum bytes)
+uint8_t *myBuffer; // Use myBuffer to hold the data while we write it to SD card
 
 int dotsPrinted = 0; // Print dots in rows of 50 while waiting for a TIM TM2 message
 
@@ -92,30 +91,30 @@ int dotsPrinted = 0; // Print dots in rows of 50 while waiting for a TIM TM2 mes
 //        |                 /                   _____ You can use any name you like for the struct
 //        |                 |                  /
 //        |                 |                  |
-void printTIMTM2data(UBX_TIM_TM2_data_t ubxDataStruct)
+void printTIMTM2data(UBX_TIM_TM2_data_t *ubxDataStruct)
 {
   Serial.println();
 
   Serial.print(F("newFallingEdge: ")); // 1 if a new falling edge was detected
-  Serial.print(ubxDataStruct.flags.bits.newFallingEdge);
+  Serial.print(ubxDataStruct->flags.bits.newFallingEdge);
 
   Serial.print(F(" newRisingEdge: ")); // 1 if a new rising edge was detected
-  Serial.print(ubxDataStruct.flags.bits.newRisingEdge);
+  Serial.print(ubxDataStruct->flags.bits.newRisingEdge);
 
   Serial.print(F(" Rising Edge Counter: ")); // Rising edge counter
-  Serial.print(ubxDataStruct.count);
+  Serial.print(ubxDataStruct->count);
 
   Serial.print(F(" towMsR: ")); // Time Of Week of rising edge (ms)
-  Serial.print(ubxDataStruct.towMsR);
+  Serial.print(ubxDataStruct->towMsR);
 
   Serial.print(F(" towSubMsR: ")); // Millisecond fraction of Time Of Week of rising edge in nanoseconds
-  Serial.print(ubxDataStruct.towSubMsR);
+  Serial.print(ubxDataStruct->towSubMsR);
 
   Serial.print(F(" towMsF: ")); // Time Of Week of falling edge (ms)
-  Serial.print(ubxDataStruct.towMsF);
+  Serial.print(ubxDataStruct->towMsF);
 
   Serial.print(F(" towSubMsF: ")); // Millisecond fraction of Time Of Week of falling edge in nanoseconds
-  Serial.println(ubxDataStruct.towSubMsF);
+  Serial.println(ubxDataStruct->towSubMsF);
 
   dotsPrinted = 0; // Reset dotsPrinted
 }
@@ -206,10 +205,12 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one navigation solution per second
 
-  myGNSS.setAutoTIMTM2callback(&printTIMTM2data); // Enable automatic TIM TM2 messages with callback to printTIMTM2data
+  myGNSS.setAutoTIMTM2callbackPtr(&printTIMTM2data); // Enable automatic TIM TM2 messages with callback to printTIMTM2data
 
   myGNSS.logTIMTM2(); // Enable TIM TM2 data logging
 
+  myBuffer = new uint8_t[packetLength]; // Create our own buffer to hold the data while we write it to SD card  
+
   Serial.println(F("Press any key to stop logging."));
 }
 
@@ -220,9 +221,7 @@ void loop()
 
   if (myGNSS.fileBufferAvailable() >= packetLength) // Check to see if a new packetLength-byte TIM TM2 message has been stored
   {
-    uint8_t myBuffer[packetLength]; // Create our own buffer to hold the data while we write it to SD card
-
-    myGNSS.extractFileBufferData((uint8_t *)&myBuffer, packetLength); // Extract exactly packetLength bytes from the UBX file buffer and put them into myBuffer
+    myGNSS.extractFileBufferData(myBuffer, packetLength); // Extract exactly packetLength bytes from the UBX file buffer and put them into myBuffer
 
     myFile.write(myBuffer, packetLength); // Write exactly packetLength bytes from myBuffer to the ubxDataFile on the SD card
 

examples/Data_Logging/DataLoggingExample3_RXM_SFRBX_and_RAWX/DataLoggingExample3_RXM_SFRBX_and_RAWX.ino

@@ -34,9 +34,7 @@
   Insert a formatted micro-SD card into the socket on the Carrier Board.
   Connect the Carrier Board to your computer using a USB-C cable.
   Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
-  This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
-   - Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
-   - We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
+  This code has been tested using version 2.2.0 of the Apollo3 boards on Arduino IDE 1.8.13.
   Select "Artemis MicroMod Processor" as the board type.
   Press upload to upload the code onto the Artemis.
   Open the Serial Monitor at 115200 baud to see the output.
@@ -76,6 +74,7 @@ File myFile; //File that all GNSS data is written to
 
 #define sdWriteSize 512 // Write data to the SD card in blocks of 512 bytes
 #define fileBufferSize 16384 // Allocate 16KBytes of RAM for UBX message storage
+uint8_t *myBuffer; // Use myBuffer to hold the data while we write it to SD card
 
 unsigned long lastPrint; // Record when the last Serial print took place
 
@@ -90,10 +89,10 @@ int numRAWX = 0; // Keep count of how many RAWX message groups have been receive
 // See u-blox_structs.h for the full definition of UBX_RXMSFRBX_data_t
 //         _____  You can use any name you like for the callback. Use the same name when you call setAutoRXMSFRBXcallback
 //        /                  _____  This _must_ be UBX_RXM_SFRBX_data_t
-//        |                 /                   _____ You can use any name you like for the struct
-//        |                 |                  /
-//        |                 |                  |
-void newSFRBX(UBX_RXM_SFRBX_data_t ubxDataStruct)
+//        |                 /               _____ You can use any name you like for the struct
+//        |                 |              /
+//        |                 |              |
+void newSFRBX(UBX_RXM_SFRBX_data_t *ubxDataStruct)
 {
   numSFRBX++; // Increment the count
 }
@@ -105,7 +104,7 @@ void newSFRBX(UBX_RXM_SFRBX_data_t ubxDataStruct)
 //        |            /                _____ You can use any name you like for the struct
 //        |            |               /
 //        |            |               |
-void newRAWX(UBX_RXM_RAWX_data_t ubxDataStruct)
+void newRAWX(UBX_RXM_RAWX_data_t *ubxDataStruct)
 {
   numRAWX++; // Increment the count
 }
@@ -202,14 +201,16 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one navigation solution per second (that's plenty for Precise Point Positioning)
 
-  myGNSS.setAutoRXMSFRBXcallback(&newSFRBX); // Enable automatic RXM SFRBX messages with callback to newSFRBX
+  myGNSS.setAutoRXMSFRBXcallbackPtr(&newSFRBX); // Enable automatic RXM SFRBX messages with callback to newSFRBX
 
   myGNSS.logRXMSFRBX(); // Enable RXM SFRBX data logging
 
-  myGNSS.setAutoRXMRAWXcallback(&newRAWX); // Enable automatic RXM RAWX messages with callback to newRAWX
+  myGNSS.setAutoRXMRAWXcallbackPtr(&newRAWX); // Enable automatic RXM RAWX messages with callback to newRAWX
 
   myGNSS.logRXMRAWX(); // Enable RXM RAWX data logging
 
+  myBuffer = new uint8_t[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card  
+
   Serial.println(F("Press any key to stop logging."));
 
   lastPrint = millis(); // Initialize lastPrint
@@ -228,9 +229,7 @@ void loop()
   {
     digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN each time we write to the SD card
 
-    uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
-
-    myGNSS.extractFileBufferData((uint8_t *)&myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
+    myGNSS.extractFileBufferData(myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
 
     myFile.write(myBuffer, sdWriteSize); // Write exactly sdWriteSize bytes from myBuffer to the ubxDataFile on the SD card
 
@@ -273,15 +272,13 @@ void loop()
     {
       digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN while we write to the SD card
 
-      uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
-
       uint16_t bytesToWrite = remainingBytes; // Write the remaining bytes to SD card sdWriteSize bytes at a time
       if (bytesToWrite > sdWriteSize)
       {
         bytesToWrite = sdWriteSize;
       }
 
-      myGNSS.extractFileBufferData((uint8_t *)&myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
+      myGNSS.extractFileBufferData(myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
 
       myFile.write(myBuffer, bytesToWrite); // Write bytesToWrite bytes from myBuffer to the ubxDataFile on the SD card
 

examples/Data_Logging/DataLoggingExample4_RXM_without_Callbacks/DataLoggingExample4_RXM_without_Callbacks.ino

@@ -35,9 +35,7 @@
   Insert a formatted micro-SD card into the socket on the Carrier Board.
   Connect the Carrier Board to your computer using a USB-C cable.
   Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
-  This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
-   - Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
-   - We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
+  This code has been tested using version 2.2.0 of the Apollo3 boards on Arduino IDE 1.8.13.
   Select "Artemis MicroMod Processor" as the board type.
   Press upload to upload the code onto the Artemis.
   Open the Serial Monitor at 115200 baud to see the output.
@@ -77,6 +75,7 @@ File myFile; //File that all GNSS data is written to
 
 #define sdWriteSize 512 // Write data to the SD card in blocks of 512 bytes
 #define fileBufferSize 16384 // Allocate 16KBytes of RAM for UBX message storage
+uint8_t *myBuffer; // A buffer to hold the data while we write it to SD card
 
 unsigned long lastPrint; // Record when the last Serial print took place
 unsigned long bytesWritten = 0; // Record how many bytes have been written to SD card
@@ -181,6 +180,8 @@ void setup()
   
   myGNSS.logRXMRAWX(); // Enable RXM RAWX data logging
 
+  myBuffer = new uint8_t[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
+
   Serial.println(F("Press any key to stop logging."));
 
   lastPrint = millis(); // Initialize lastPrint
@@ -198,9 +199,7 @@ void loop()
   {
     digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN each time we write to the SD card
   
-    uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
-
-    myGNSS.extractFileBufferData((uint8_t *)&myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
+    myGNSS.extractFileBufferData(myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
 
     myFile.write(myBuffer, sdWriteSize); // Write exactly sdWriteSize bytes from myBuffer to the ubxDataFile on the SD card
 
@@ -242,15 +241,13 @@ void loop()
     {
       digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN while we write to the SD card
       
-      uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
-
       uint16_t bytesToWrite = remainingBytes; // Write the remaining bytes to SD card sdWriteSize bytes at a time
       if (bytesToWrite > sdWriteSize)
       {
         bytesToWrite = sdWriteSize;
       }
   
-      myGNSS.extractFileBufferData((uint8_t *)&myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
+      myGNSS.extractFileBufferData(myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
 
       myFile.write(myBuffer, bytesToWrite); // Write bytesToWrite bytes from myBuffer to the ubxDataFile on the SD card
 

examples/Data_Logging/DataLoggingExample5_Fast_RXM/DataLoggingExample5_Fast_RXM.ino

@@ -35,9 +35,7 @@
   Insert a formatted micro-SD card into the socket on the Carrier Board.
   Connect the Carrier Board to your computer using a USB-C cable.
   Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
-  This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
-   - Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
-   - We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
+  This code has been tested using version 2.2.0 of the Apollo3 boards on Arduino IDE 1.8.13.
   Select "Artemis MicroMod Processor" as the board type.
   Press upload to upload the code onto the Artemis.
   Open the Serial Monitor at 115200 baud to see the output.
@@ -77,6 +75,7 @@ File myFile; //File that all GNSS data is written to
 
 #define sdWriteSize 512 // Write data to the SD card in blocks of 512 bytes
 #define fileBufferSize 32768 // Allocate 32KBytes of RAM for UBX message storage
+uint8_t *myBuffer; // A buffer to hold the data while we write it to SD card
 
 unsigned long lastPrint; // Record when the last Serial print took place
 unsigned long bytesWritten = 0; // Record how many bytes have been written to SD card
@@ -196,6 +195,8 @@ void setup()
   
   myGNSS.logRXMRAWX(); // Enable RXM RAWX data logging
 
+  myBuffer = new uint8_t[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
+
   Serial.println(F("Press any key to stop logging."));
 
   lastPrint = millis(); // Initialize lastPrint
@@ -213,9 +214,7 @@ void loop()
   {
     digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN each time we write to the SD card
   
-    uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
-
-    myGNSS.extractFileBufferData((uint8_t *)&myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
+    myGNSS.extractFileBufferData(myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
 
     myFile.write(myBuffer, sdWriteSize); // Write exactly sdWriteSize bytes from myBuffer to the ubxDataFile on the SD card
 
@@ -263,15 +262,13 @@ void loop()
     {
       digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN while we write to the SD card
       
-      uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
-
       uint16_t bytesToWrite = remainingBytes; // Write the remaining bytes to SD card sdWriteSize bytes at a time
       if (bytesToWrite > sdWriteSize)
       {
         bytesToWrite = sdWriteSize;
       }
   
-      myGNSS.extractFileBufferData((uint8_t *)&myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
+      myGNSS.extractFileBufferData(myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
 
       myFile.write(myBuffer, bytesToWrite); // Write bytesToWrite bytes from myBuffer to the ubxDataFile on the SD card
 

examples/Data_Logging/DataLoggingExample6_NMEA/DataLoggingExample6_NMEA.ino

@@ -24,9 +24,7 @@
   Insert a formatted micro-SD card into the socket on the Carrier Board.
   Connect the Carrier Board to your computer using a USB-C cable.
   Ensure you have the SparkFun Apollo3 boards installed: http://boardsmanager/All#SparkFun_Apollo3
-  This code has been tested using version 2.1.0 of the Apollo3 boards on Arduino IDE 1.8.13.
-   - Version 2.1.1 of Apollo3 contains a feature which makes I2C communication with u-blox modules problematic
-   - We recommend using v2.1.0 of Apollo3 until v2.2.0 is released
+  This code has been tested using version 2.2.0 of the Apollo3 boards on Arduino IDE 1.8.13.
   Select "Artemis MicroMod Processor" as the board type.
   Press upload to upload the code onto the Artemis.
   Open the Serial Monitor at 115200 baud to see the output.
@@ -68,6 +66,7 @@ File myFile; //File that all GNSS data is written to
 
 #define sdWriteSize 512 // Write data to the SD card in blocks of 512 bytes
 #define fileBufferSize 16384 // Allocate 16KBytes of RAM for UBX message storage
+uint8_t *myBuffer; // A buffer to hold the data while we write it to SD card
 
 unsigned long lastPrint; // Record when the last Serial print took place
 unsigned long bytesWritten = 0; // Record how many bytes have been written to SD card
@@ -175,6 +174,8 @@ void setup()
   myGNSS.setNMEALoggingMask(SFE_UBLOX_FILTER_NMEA_ALL); // Enable logging of all enabled NMEA messages
   //myGNSS.setNMEALoggingMask(SFE_UBLOX_FILTER_NMEA_GGA | SFE_UBLOX_FILTER_NMEA_GSA); // Or we can, for example, log only GxGGA & GxGSA and ignore GxGSV
 
+  myBuffer = new uint8_t[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
+  
   Serial.println(F("Press any key to stop logging."));
 
   lastPrint = millis(); // Initialize lastPrint
@@ -192,9 +193,7 @@ void loop()
   {
     digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN each time we write to the SD card
   
-    uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
-
-    myGNSS.extractFileBufferData((uint8_t *)&myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
+    myGNSS.extractFileBufferData(myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
 
     myFile.write(myBuffer, sdWriteSize); // Write exactly sdWriteSize bytes from myBuffer to the ubxDataFile on the SD card
 
@@ -236,15 +235,13 @@ void loop()
     {
       digitalWrite(LED_BUILTIN, HIGH); // Flash LED_BUILTIN while we write to the SD card
       
-      uint8_t myBuffer[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card
-
       uint16_t bytesToWrite = remainingBytes; // Write the remaining bytes to SD card sdWriteSize bytes at a time
       if (bytesToWrite > sdWriteSize)
       {
         bytesToWrite = sdWriteSize;
       }
   
-      myGNSS.extractFileBufferData((uint8_t *)&myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
+      myGNSS.extractFileBufferData(myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
 
       myFile.write(myBuffer, bytesToWrite); // Write bytesToWrite bytes from myBuffer to the ubxDataFile on the SD card
 

examples/ZED-F9P/Example13_autoHPPOSLLH_with_Callback/Example13_autoHPPOSLLH_with_Callback.ino

@@ -41,27 +41,27 @@ SFE_UBLOX_GNSS myGNSS;
 //        |                 /                   _____ You can use any name you like for the struct
 //        |                 |                  /
 //        |                 |                  |
-void printHPdata(UBX_NAV_HPPOSLLH_data_t ubxDataStruct)
+void printHPdata(UBX_NAV_HPPOSLLH_data_t *ubxDataStruct)
 {
   Serial.println();
 
-  long highResLatitude = ubxDataStruct.lat;
+  long highResLatitude = ubxDataStruct->lat;
   Serial.print(F("Hi Res Lat: "));
   Serial.print(highResLatitude);
 
-  int highResLatitudeHp = ubxDataStruct.latHp;
+  int highResLatitudeHp = ubxDataStruct->latHp;
   Serial.print(F(" "));
   Serial.print(highResLatitudeHp);
 
-  long highResLongitude = ubxDataStruct.lon;
+  long highResLongitude = ubxDataStruct->lon;
   Serial.print(F(" Hi Res Long: "));
   Serial.print(highResLongitude);
 
-  int highResLongitudeHp = ubxDataStruct.lonHp;
+  int highResLongitudeHp = ubxDataStruct->lonHp;
   Serial.print(F(" "));
   Serial.print(highResLongitudeHp);
 
-  float horizAccuracy = ((float)ubxDataStruct.hAcc) / 10000.0; // Convert hAcc from mm*0.1 to m
+  float horizAccuracy = ((float)ubxDataStruct->hAcc) / 10000.0; // Convert hAcc from mm*0.1 to m
   Serial.print(F(" Horiz accuracy: "));
   Serial.println(horizAccuracy);
 }
@@ -73,38 +73,38 @@ void printHPdata(UBX_NAV_HPPOSLLH_data_t ubxDataStruct)
 //        |                 /                _____ You can use any name you like for the struct
 //        |                 |               /
 //        |                 |               |
-void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
+void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 {
     Serial.println();
 
     Serial.print(F("Time: ")); // Print the time
-    uint8_t hms = ubxDataStruct.hour; // Print the hours
+    uint8_t hms = ubxDataStruct->hour; // Print the hours
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F(":"));
-    hms = ubxDataStruct.min; // Print the minutes
+    hms = ubxDataStruct->min; // Print the minutes
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F(":"));
-    hms = ubxDataStruct.sec; // Print the seconds
+    hms = ubxDataStruct->sec; // Print the seconds
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F("."));
-    unsigned long millisecs = ubxDataStruct.iTOW % 1000; // Print the milliseconds
+    unsigned long millisecs = ubxDataStruct->iTOW % 1000; // Print the milliseconds
     if (millisecs < 100) Serial.print(F("0")); // Print the trailing zeros correctly
     if (millisecs < 10) Serial.print(F("0"));
     Serial.print(millisecs);
 
-    long latitude = ubxDataStruct.lat; // Print the latitude
+    long latitude = ubxDataStruct->lat; // Print the latitude
     Serial.print(F(" Lat: "));
     Serial.print(latitude);
 
-    long longitude = ubxDataStruct.lon; // Print the longitude
+    long longitude = ubxDataStruct->lon; // Print the longitude
     Serial.print(F(" Long: "));
     Serial.print(longitude);
     Serial.print(F(" (degrees * 10^-7)"));
 
-    long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
+    long altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
     Serial.print(F(" Height above MSL: "));
     Serial.print(altitude);
     Serial.println(F(" (mm)"));
@@ -135,9 +135,9 @@ void setup()
 
   myGNSS.setNavigationFrequency(2); //Produce two solutions per second
 
-  myGNSS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
+  myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
 
-  myGNSS.setAutoHPPOSLLHcallback(&printHPdata); // Enable automatic NAV HPPOSLLH messages with callback to printHPdata
+  myGNSS.setAutoHPPOSLLHcallbackPtr(&printHPdata); // Enable automatic NAV HPPOSLLH messages with callback to printHPdata
 }
 
 void loop()

examples/ZED-F9P/Example17_NTRIPClient_With_GGA_Callback/Example17_NTRIPClient_With_GGA_Callback.ino

@@ -69,16 +69,16 @@ WiFiClient ntripClient; // The WiFi connection to the NTRIP server. This is glob
 //        |              /           _____ You can use any name you like for the struct
 //        |              |          /
 //        |              |          |
-void pushGPGGA(NMEA_GGA_data_t nmeaData)
+void pushGPGGA(NMEA_GGA_data_t *nmeaData)
 {
   //Provide the caster with our current position as needed
   if ((ntripClient.connected() == true) && (transmitLocation == true))
   {
     Serial.print(F("Pushing GGA to server: "));
-    Serial.print((const char *)nmeaData.nmea); // .nmea is printable (NULL-terminated) and already has \r\n on the end
+    Serial.print((const char *)nmeaData->nmea); // .nmea is printable (NULL-terminated) and already has \r\n on the end
 
     //Push our current GGA sentence to caster
-    ntripClient.print((const char *)nmeaData.nmea);
+    ntripClient.print((const char *)nmeaData->nmea);
   }
 }
 
@@ -91,26 +91,21 @@ void pushGPGGA(NMEA_GGA_data_t nmeaData)
 //        |                 /               _____ You can use any name you like for the struct
 //        |                 |              /
 //        |                 |              |
-void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
+void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 {
-  long latitude = ubxDataStruct.lat; // Print the latitude
+  double latitude = ubxDataStruct->lat; // Print the latitude
   Serial.print(F("Lat: "));
-  Serial.print(latitude / 10000000L);
-  Serial.print(F("."));
-  Serial.print(abs(latitude % 10000000L));
+  Serial.print(latitude / 10000000.0, 7);
 
-  long longitude = ubxDataStruct.lon; // Print the longitude
+  double longitude = ubxDataStruct->lon; // Print the longitude
   Serial.print(F("  Long: "));
-  Serial.print(longitude / 10000000L);
-  Serial.print(F("."));
-  Serial.print(abs(longitude % 10000000L));
+  Serial.print(longitude / 10000000.0, 7);
 
-  long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
+  double altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
   Serial.print(F("  Height: "));
-  Serial.print(altitude);
-  Serial.print(F(" (mm)"));
+  Serial.print(altitude / 1000.0, 3);
 
-  uint8_t fixType = ubxDataStruct.fixType; // Print the fix type
+  uint8_t fixType = ubxDataStruct->fixType; // Print the fix type
   Serial.print(F("  Fix: "));
   Serial.print(fixType);
   if (fixType == 0)
@@ -128,7 +123,7 @@ void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
   else
     Serial.print(F(" (UNKNOWN)"));
 
-  uint8_t carrSoln = ubxDataStruct.flags.bits.carrSoln; // Print the carrier solution
+  uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln; // Print the carrier solution
   Serial.print(F("  Carrier Solution: "));
   Serial.print(carrSoln);
   if (carrSoln == 0)
@@ -140,7 +135,7 @@ void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
   else
     Serial.print(F(" (UNKNOWN)"));
 
-  uint32_t hAcc = ubxDataStruct.hAcc; // Print the horizontal accuracy estimate
+  uint32_t hAcc = ubxDataStruct->hAcc; // Print the horizontal accuracy estimate
   Serial.print(F("  Horizontal Accuracy Estimate: "));
   Serial.print(hAcc);
   Serial.print(F(" (mm)"));
@@ -159,9 +154,8 @@ void setup()
 
   while (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
   {
-    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring."));
     delay(2000);
-    //while (1);
   }
   Serial.println(F("u-blox module connected"));
 
@@ -175,11 +169,11 @@ void setup()
   // Set the Main Talker ID to "GP". The NMEA GGA messages will be GPGGA instead of GNGGA
   myGNSS.setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
 
-  myGNSS.setNMEAGPGGAcallback(&pushGPGGA); // Set up the callback for GPGGA
+  myGNSS.setNMEAGPGGAcallbackPtr(&pushGPGGA); // Set up the callback for GPGGA
 
   myGNSS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C, 10); // Tell the module to output GGA every 10 seconds
 
-  myGNSS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
+  myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
 
   //myGNSS.saveConfiguration(VAL_CFG_SUBSEC_IOPORT | VAL_CFG_SUBSEC_MSGCONF); //Optional: Save the ioPort and message settings to NVM
 

examples/ZED-F9P/Example18_PointPerfectClient/Example18_PointPerfectClient.ino

@@ -10,9 +10,9 @@
   It's confusing, but the Arduino is acting as a 'client' to the PointPerfect SSR correction service.
 
   You will need to have a valid u-blox Thingstream account and have a PointPerfect Thing and payed plan. 
-  Thingstream offers SSR corrections to SPARTN cabalble RTK receivers such as the u-blox ZED-F9 series 
-  in continental Europ and US. There Network is planned to be expanded to ther regions over next years. 
-  To see sign up go to https://portal.thingstream.io/app/location-services/things
+  Thingstream offers SSR corrections to SPARTN capable RTK receivers such as the u-blox ZED-F9 series 
+  in continental Europe and US. Their Network is planned to be expanded to other regions over the next years. 
+  To sign up, go to: https://portal.thingstream.io/app/location-services/things
 
   This is a proof of concept to show how to connect via MQTT to get SPARTN SSR correction. 
   Using WiFi for a rover is generally a bad idea because of limited WiFi range in the field. 
@@ -38,10 +38,10 @@
 */
 #include <WiFi.h>
 #include <WiFiClientSecure.h>
-#include <ArduinoMqttClient.h>  
+#include <ArduinoMqttClient.h> // Click here to get the library: http://librarymanager/All#ArduinoMqttClient
 #include "secrets.h"
 
-#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> // Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
 SFE_UBLOX_GNSS myGNSS;
     
 //Global variables
@@ -55,7 +55,7 @@ void setup()
   Serial.begin(115200);
   while (!Serial);
   Serial.println(F("PointPerfect testing"));
-  
+
   Wire.begin(); //Start I2C
 
   if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port

examples/ZED-F9P/Example19_LBand_Corrections_with_NEO-D9S/Example19_LBand_Corrections_with_NEO-D9S.ino

@@ -0,0 +1,212 @@
+/*
+  Use the NEO-D9S L-Band receiver to provide corrections to a ZED-F9x via UBX-RXM-PMP messages
+  By: SparkFun Electronics / Paul Clark
+  Based on original code by: u-blox AG / Michael Ammann
+  Date: February 7th, 2022
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to obtain SPARTN correction data from a NEO-D9S L-Band receiver and push it over I2C to a ZED-F9x.
+
+  This is a proof of concept to show how the UBX-RXM-PMP corrections control the accuracy.
+
+  You will need a Thingstream PointPerfect account to be able to access the SPARTN Credentials (IP Dynamic Keys).
+  Copy and paste the Current Key and Next Key into secrets.h.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/16481
+  NEO-D9S: Coming soon!
+
+  Hardware Connections:
+  Use Qwiic cables to connect the NEO-D9S and ZED-F9x GNSS to your board
+  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 "secrets.h" // <- Copy and paste the Current Key and Next Key into secrets.h
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS; // ZED-F9x
+SFE_UBLOX_GNSS myLBand; // NEO-D9S
+
+const uint32_t myLBandFreq = 1556290000; // Uncomment this line to use the US SPARTN 1.8 service
+//const uint32_t myLBandFreq = 1545260000; // Uncomment this line to use the EU SPARTN 1.8 service
+
+#define OK(ok) (ok ? F("  ->  OK") : F("  ->  ERROR!")) // Convert uint8_t into OK/ERROR
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+// Callback: pushRXMPMP will be called when new PMP data arrives
+// See u-blox_structs.h for the full definition of UBX_RXM_PMP_message_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setRXMPMPmessageCallbackPtr
+//        /               _____  This _must_ be UBX_RXM_PMP_message_data_t
+//        |              /              _____ You can use any name you like for the struct
+//        |              |             /
+//        |              |             |
+void pushRXMPMP(UBX_RXM_PMP_message_data_t *pmpData)
+{
+  //Extract the raw message payload length
+  uint16_t payloadLen = ((uint16_t)pmpData->lengthMSB << 8) | (uint16_t)pmpData->lengthLSB;
+  Serial.print(F("New RXM-PMP data received. Message payload length is "));
+  Serial.print(payloadLen);
+  Serial.println(F(" Bytes. Pushing it to the GNSS..."));
+  
+  //Push the PMP data to the GNSS
+  //The payload length could be variable, so we need to push the header and payload, then checksum
+  myGNSS.pushRawData(&pmpData->sync1, (size_t)payloadLen + 6); // Push the sync chars, class, ID, length and payload
+  myGNSS.pushRawData(&pmpData->checksumA, (size_t)2); // Push the checksum bytes
+}
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+// Callback: printPVTdata will be called when new NAV PVT data arrives
+// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setAutoPVTcallbackPtr
+//        /                  _____  This _must_ be UBX_NAV_PVT_data_t
+//        |                 /               _____ You can use any name you like for the struct
+//        |                 |              /
+//        |                 |              |
+void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
+{
+  double latitude = ubxDataStruct->lat; // Print the latitude
+  Serial.print(F("Lat: "));
+  Serial.print(latitude / 10000000.0, 7);
+
+  double longitude = ubxDataStruct->lon; // Print the longitude
+  Serial.print(F("  Long: "));
+  Serial.print(longitude / 10000000.0, 7);
+
+  double altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
+  Serial.print(F("  Height: "));
+  Serial.print(altitude / 1000.0, 3);
+
+  uint8_t fixType = ubxDataStruct->fixType; // Print the fix type
+  Serial.print(F("  Fix: "));
+  Serial.print(fixType);
+  if (fixType == 0)
+    Serial.print(F(" (None)"));
+  else if (fixType == 1)
+    Serial.print(F(" (Dead Reckoning)"));
+  else if (fixType == 2)
+    Serial.print(F(" (2D)"));
+  else if (fixType == 3)
+    Serial.print(F(" (3D)"));
+  else if (fixType == 3)
+    Serial.print(F(" (GNSS + Dead Reckoning)"));
+  else if (fixType == 5)
+    Serial.print(F(" (Time Only)"));
+  else
+    Serial.print(F(" (UNKNOWN)"));
+
+  uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln; // Print the carrier solution
+  Serial.print(F("  Carrier Solution: "));
+  Serial.print(carrSoln);
+  if (carrSoln == 0)
+    Serial.print(F(" (None)"));
+  else if (carrSoln == 1)
+    Serial.print(F(" (Floating)"));
+  else if (carrSoln == 2)
+    Serial.print(F(" (Fixed)"));
+  else
+    Serial.print(F(" (UNKNOWN)"));
+
+  uint32_t hAcc = ubxDataStruct->hAcc; // Print the horizontal accuracy estimate
+  Serial.print(F("  Horizontal Accuracy Estimate: "));
+  Serial.print(hAcc);
+  Serial.print(F(" (mm)"));
+
+  Serial.println();    
+}
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println(F("NEO-D9S SPARTN Corrections"));
+
+  Wire.begin(); //Start I2C
+
+  //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // Begin and configure the ZED-F9x
+
+  //myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
+
+  while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS module not detected at default I2C address. Please check wiring."));
+    delay(2000);
+  }
+  Serial.println(F("u-blox GNSS module connected"));
+
+  uint8_t ok = myGNSS.setI2COutput(COM_TYPE_UBX); //Turn off NMEA noise
+  if (ok) ok = myGNSS.setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_SPARTN); //Be sure SPARTN input is enabled
+
+  if (ok) ok = myGNSS.setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); // Set the differential mode - ambiguities are fixed whenever possible
+
+  if (ok) ok = myGNSS.setNavigationFrequency(1); //Set output in Hz.
+  
+  if (ok) ok = myGNSS.setVal8(UBLOX_CFG_SPARTN_USE_SOURCE, 1); // use LBAND PMP message
+  
+  //Configure the SPARTN IP Dynamic Keys
+  //"When the receiver boots, the host should send 'current' and 'next' keys in one message." - Use setDynamicSPARTNKeys for this.
+  //"Every time the 'current' key is expired, 'next' takes its place."
+  //"Therefore the host should then retrieve the new 'next' key and send only that." - Use setDynamicSPARTNKey for this.
+  // The key can be provided in binary (uint8_t) format or in ASCII Hex (char) format, but in both cases keyLengthBytes _must_ represent the binary key length in bytes.
+  if (ok) ok = myGNSS.setDynamicSPARTNKeys(currentKeyLengthBytes, currentKeyGPSWeek, currentKeyGPSToW, currentDynamicKey,
+                                           nextKeyLengthBytes, nextKeyGPSWeek, nextKeyGPSToW, nextDynamicKey);
+
+  //if (ok) ok = myGNSS.saveConfiguration(VAL_CFG_SUBSEC_IOPORT | VAL_CFG_SUBSEC_MSGCONF); //Optional: Save the ioPort and message settings to NVM
+  
+  Serial.print(F("GNSS: configuration "));
+  Serial.println(OK(ok));
+
+  myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
+
+  //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // Begin and configure the NEO-D9S L-Band receiver
+
+  //myLBand.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
+
+  while (myLBand.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9S using Wire port. The D9S default I2C address is 0x43 (not 0x42)
+  {
+    Serial.println(F("u-blox NEO-D9S not detected at default I2C address. Please check wiring."));
+    delay(2000);
+  }
+  Serial.println(F("u-blox NEO-D9S connected"));
+
+          ok = myLBand.setVal32(UBLOX_CFG_PMP_CENTER_FREQUENCY,   myLBandFreq); // Default 1539812500 Hz
+  if (ok) ok = myLBand.setVal16(UBLOX_CFG_PMP_SEARCH_WINDOW,      2200);        // Default 2200 Hz
+  if (ok) ok = myLBand.setVal8(UBLOX_CFG_PMP_USE_SERVICE_ID,      0);           // Default 1 
+  if (ok) ok = myLBand.setVal16(UBLOX_CFG_PMP_SERVICE_ID,         21845);       // Default 50821
+  if (ok) ok = myLBand.setVal16(UBLOX_CFG_PMP_DATA_RATE,          2400);        // Default 2400 bps
+  if (ok) ok = myLBand.setVal8(UBLOX_CFG_PMP_USE_DESCRAMBLER,     1);           // Default 1
+  if (ok) ok = myLBand.setVal16(UBLOX_CFG_PMP_DESCRAMBLER_INIT,   26969);       // Default 23560
+  if (ok) ok = myLBand.setVal8(UBLOX_CFG_PMP_USE_PRESCRAMBLING,   0);           // Default 0
+  if (ok) ok = myLBand.setVal64(UBLOX_CFG_PMP_UNIQUE_WORD,        16238547128276412563ull); 
+  if (ok) ok = myLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_I2C,   1); // Ensure UBX-RXM-PMP is enabled on the I2C port 
+  if (ok) ok = myLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART1, 1); // Output UBX-RXM-PMP on UART1
+  if (ok) ok = myLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART2, 1); // Output UBX-RXM-PMP on UART2
+  if (ok) ok = myLBand.setVal32(UBLOX_CFG_UART1_BAUDRATE,         38400); // match baudrate with ZED default
+  if (ok) ok = myLBand.setVal32(UBLOX_CFG_UART2_BAUDRATE,         38400); // match baudrate with ZED default
+  
+  Serial.print(F("L-Band: configuration "));
+  Serial.println(OK(ok));
+
+  myLBand.softwareResetGNSSOnly(); // Do a restart
+
+  myLBand.setRXMPMPmessageCallbackPtr(&pushRXMPMP); // Call pushRXMPMP when new PMP data arrives. Push it to the GNSS
+
+}
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+void loop()
+{
+  myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
+  myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.
+
+  myLBand.checkUblox(); // Check for the arrival of new PMP data and process it.
+  myLBand.checkCallbacks(); // Check if any LBand callbacks are waiting to be processed.
+}

examples/ZED-F9P/Example19_LBand_Corrections_with_NEO-D9S/secrets.h

@@ -0,0 +1,24 @@
+// You can set the information below after signing up with the u-blox Thingstream portal 
+// and adding a new New PointPerfect Thing
+// https://portal.thingstream.io/app/location-services/things
+// In the new PointPerfect Thing, you go to the credentials tab and copy and paste the IP Dynamic Keys here.
+//
+// The keys are valid from a particular GPS Week Number and Time of Week.
+// Looking at the credentials tab, the current key expires 23:59 Feb 11th 2022.
+// This means the next key is valid _from_ Midnight Feb 12th 2022.
+// That is GPS Week 2196. The GPS Time of Week in seconds is 518418.
+// Working backwards, the current key became valid exactly 4 weeks earlier (Midnight Jan 15th 2022).
+//
+// See: https://www.labsat.co.uk/index.php/en/gps-time-calculator
+//
+// The keys are given as: 32 hexadecimal digits = 128 bits = 16 Bytes
+
+const uint8_t currentKeyLengthBytes =   16; 
+const char currentDynamicKey[] =        "f742bd6b7248043177dd649141d8fb0b";
+const uint16_t currentKeyGPSWeek =      2192;
+const uint32_t currentKeyGPSToW =       518418;
+
+const uint8_t nextKeyLengthBytes =      16; 
+const char nextDynamicKey[] =           "8206........................29f4";
+const uint16_t nextKeyGPSWeek =         2196;
+const uint32_t nextKeyGPSToW =          518418;

keys/NEO-D9S_InterfaceDescription_UBX-19048765_keys_sorted.txt

@@ -0,0 +1,151 @@
+0x1041000d
+0x10410013
+0x10510002
+0x10510003
+0x10520005
+0x10530005
+0x10530006
+0x10640002
+0x10640003
+0x10640005
+0x10640006
+0x10650001
+0x10650002
+0x10710001
+0x10720001
+0x10730001
+0x10740001
+0x10750001
+0x10760001
+0x10770001
+0x10780001
+0x10790001
+0x107a0001
+0x10a20001
+0x10a20002
+0x10a3002e
+0x10a3002f
+0x10a30030
+0x10a30031
+0x10a30032
+0x10a30033
+0x10a30034
+0x10a30035
+0x10b10014
+0x10b10016
+0x10b10019
+0x10c70001
+0x10c70002
+0x10d0000c
+0x10d0000d
+0x10d0000e
+0x20210003
+0x20410001
+0x20410002
+0x20410010
+0x20510001
+0x20520002
+0x20520003
+0x20520004
+0x20530002
+0x20530003
+0x20530004
+0x20640001
+0x20910187
+0x20910188
+0x20910189
+0x2091018a
+0x2091018b
+0x20910196
+0x20910197
+0x20910198
+0x20910199
+0x2091019a
+0x2091019b
+0x2091019c
+0x2091019d
+0x2091019e
+0x2091019f
+0x209101a0
+0x209101a1
+0x209101a2
+0x209101a3
+0x209101a4
+0x209101a5
+0x209101a6
+0x209101a7
+0x209101a8
+0x209101a9
+0x209101b4
+0x209101b5
+0x209101b6
+0x209101b7
+0x209101b8
+0x209101b9
+0x209101ba
+0x209101bb
+0x209101bc
+0x209101bd
+0x20910231
+0x20910232
+0x20910233
+0x20910234
+0x20910235
+0x20910259
+0x2091025a
+0x2091025b
+0x2091025c
+0x2091025d
+0x2091031d
+0x2091031e
+0x2091031f
+0x20910320
+0x20910321
+0x20920001
+0x20920002
+0x20920003
+0x20920004
+0x20920005
+0x20920006
+0x20920007
+0x20920008
+0x20920009
+0x2092000a
+0x20a20003
+0x20a20005
+0x20a30036
+0x20a30037
+0x20a30038
+0x20c70003
+0x20d0000b
+0x30210001
+0x30210002
+0x3065000a
+0x3065000b
+0x3065000c
+0x30a20004
+0x30b10012
+0x30b10013
+0x30b10015
+0x30b10017
+0x40520001
+0x40530001
+0x40b10011
+0x40d0000f
+0x5065000d
+0x5065000e
+0x5065000f
+0x50650010
+0x50650011
+0x50650012
+0x50650013
+0x50650014
+0x50650015
+0x50650016
+0x50650017
+0x50650018
+0x50b1001a
+0x50c70004
+0x50c70005
+0x50c70006
+0x50c70007

keys/u-blox-F9-HPG-1.30_InterfaceDescription_UBX-21046737_keys_sorted.txt

@@ -6,6 +6,9 @@
 0x10110013
 0x10110025
 0x10110061
+0x101100d7
+0x10170001
+0x10170002
 0x10220001
 0x10220002
 0x10220003
@@ -47,7 +50,6 @@
 0x10510003
 0x10520005
 0x10530005
-0x10530006
 0x10640002
 0x10640003
 0x10640005
@@ -57,30 +59,35 @@
 0x10710001
 0x10710002
 0x10710004
+0x10710005
 0x10720001
 0x10720002
 0x10720004
 0x10730001
 0x10730002
 0x10730004
+0x10730005
 0x10740001
 0x10740002
 0x10740004
 0x10750001
 0x10750002
 0x10750004
+0x10750005
 0x10760001
 0x10760002
 0x10760004
 0x10770001
 0x10770002
 0x10770004
+0x10770005
 0x10780001
 0x10780002
 0x10780004
 0x10790001
 0x10790002
 0x10790004
+0x10790005
 0x107a0001
 0x107a0002
 0x107a0004
@@ -115,6 +122,7 @@
 0x10de0002
 0x10de0003
 0x10de0004
+0x10f60009
 0x20030001
 0x20030002
 0x20030006
@@ -126,6 +134,7 @@
 0x2005000c
 0x20050023
 0x20050030
+0x20050035
 0x20090009
 0x20110011
 0x2011001c
@@ -259,6 +268,11 @@
 0x20910080
 0x20910081
 0x20910082
+0x20910083
+0x20910084
+0x20910085
+0x20910086
+0x20910087
 0x20910088
 0x20910089
 0x2091008a
@@ -539,6 +553,176 @@
 0x20910402
 0x20910403
 0x20910404
+0x20910415
+0x20910416
+0x20910417
+0x20910418
+0x20910419
+0x20910430
+0x20910431
+0x20910432
+0x20910433
+0x20910434
+0x20910435
+0x20910436
+0x20910437
+0x20910438
+0x20910439
+0x20910465
+0x20910466
+0x20910467
+0x20910468
+0x20910469
+0x20910475
+0x20910476
+0x20910477
+0x20910478
+0x20910479
+0x20910480
+0x20910481
+0x20910482
+0x20910483
+0x20910484
+0x20910485
+0x20910486
+0x20910487
+0x20910488
+0x20910489
+0x20910490
+0x20910491
+0x20910492
+0x20910493
+0x20910494
+0x20910495
+0x20910496
+0x20910497
+0x20910498
+0x20910499
+0x20910500
+0x20910501
+0x20910502
+0x20910503
+0x20910504
+0x20910505
+0x20910506
+0x20910507
+0x20910508
+0x20910509
+0x20910510
+0x20910511
+0x20910512
+0x20910513
+0x20910514
+0x20910515
+0x20910516
+0x20910517
+0x20910518
+0x20910519
+0x20910520
+0x20910521
+0x20910522
+0x20910523
+0x20910524
+0x20910525
+0x20910526
+0x20910527
+0x20910528
+0x20910529
+0x20910530
+0x20910531
+0x20910532
+0x20910533
+0x20910534
+0x20910535
+0x20910536
+0x20910537
+0x20910538
+0x20910539
+0x20910540
+0x20910541
+0x20910542
+0x20910543
+0x20910544
+0x20910545
+0x20910546
+0x20910547
+0x20910548
+0x20910549
+0x20910550
+0x20910551
+0x20910552
+0x20910553
+0x20910554
+0x20910555
+0x20910556
+0x20910557
+0x20910558
+0x20910559
+0x20910560
+0x20910561
+0x20910562
+0x20910563
+0x20910564
+0x20910565
+0x20910566
+0x20910567
+0x20910568
+0x20910569
+0x20910575
+0x20910576
+0x20910577
+0x20910578
+0x20910579
+0x20910605
+0x20910606
+0x20910607
+0x20910608
+0x20910609
+0x20910652
+0x20910653
+0x20910654
+0x20910655
+0x20910656
+0x20910657
+0x20910658
+0x20910659
+0x2091065a
+0x2091065b
+0x2091065c
+0x2091065d
+0x2091065e
+0x2091065f
+0x20910660
+0x20910661
+0x20910662
+0x20910663
+0x20910664
+0x20910665
+0x20910666
+0x20910667
+0x20910668
+0x20910669
+0x2091066a
+0x20910670
+0x20910671
+0x20910672
+0x20910673
+0x20910674
+0x2091067f
+0x20910680
+0x20910681
+0x20910682
+0x20910683
+0x2091069d
+0x2091069e
+0x2091069f
+0x209106a0
+0x209106a1
+0x209106b6
+0x209106b7
+0x209106b8
+0x209106b9
+0x209106ba
 0x20920001
 0x20920002
 0x20920003
@@ -562,6 +746,7 @@
 0x20a30054
 0x20a30055
 0x20a30056
+0x20a70001
 0x20c70003
 0x30050001
 0x30090001
@@ -575,6 +760,7 @@
 0x30210001
 0x30210002
 0x3025003b
+0x30370008
 0x3065000a
 0x3065000b
 0x3065000c
@@ -583,6 +769,8 @@
 0x30de0005
 0x30de0006
 0x30de0007
+0x30f6000a
+0x30f6000b
 0x40030003
 0x40030004
 0x40030005

keys/u-blox_config_keys_sorted.txt

@@ -24,6 +24,7 @@
 0x10110019
 0x10110025
 0x10110061
+0x101100d7
 0x10170001
 0x10170002
 0x10220001
@@ -140,8 +141,14 @@
 0x10a30033
 0x10a30034
 0x10a30035
+0x10b10014
+0x10b10016
+0x10b10019
 0x10c70001
 0x10c70002
+0x10d0000c
+0x10d0000d
+0x10d0000e
 0x10de0002
 0x10de0003
 0x10de0004
@@ -567,6 +574,11 @@
 0x2091031a
 0x2091031b
 0x2091031c
+0x2091031d
+0x2091031e
+0x2091031f
+0x20910320
+0x20910321
 0x20910336
 0x20910337
 0x20910338
@@ -632,6 +644,11 @@
 0x20910402
 0x20910403
 0x20910404
+0x20910415
+0x20910416
+0x20910417
+0x20910418
+0x20910419
 0x20910430
 0x20910431
 0x20910432
@@ -682,11 +699,21 @@
 0x20910507
 0x20910508
 0x20910509
+0x20910510
+0x20910511
+0x20910512
+0x20910513
+0x20910514
 0x20910515
 0x20910516
 0x20910517
 0x20910518
 0x20910519
+0x20910520
+0x20910521
+0x20910522
+0x20910523
+0x20910524
 0x20910525
 0x20910526
 0x20910527
@@ -732,6 +759,11 @@
 0x20910567
 0x20910568
 0x20910569
+0x20910575
+0x20910576
+0x20910577
+0x20910578
+0x20910579
 0x20910590
 0x20910591
 0x20910592
@@ -797,6 +829,16 @@
 0x2091068b
 0x2091068c
 0x2091068d
+0x2091069d
+0x2091069e
+0x2091069f
+0x209106a0
+0x209106a1
+0x209106b6
+0x209106b7
+0x209106b8
+0x209106b9
+0x209106ba
 0x20920001
 0x20920002
 0x20920003
@@ -820,7 +862,9 @@
 0x20a30054
 0x20a30055
 0x20a30056
+0x20a70001
 0x20c70003
+0x20d0000b
 0x30050001
 0x30060007
 0x3006000a
@@ -842,11 +886,16 @@
 0x30210001
 0x30210002
 0x3025003b
+0x30370008
 0x3065000a
 0x3065000b
 0x3065000c
 0x30930033
 0x30a20004
+0x30b10012
+0x30b10013
+0x30b10015
+0x30b10017
 0x30de0005
 0x30de0006
 0x30de0007
@@ -902,6 +951,8 @@
 0x40240053
 0x40520001
 0x40530001
+0x40b10011
+0x40d0000f
 0x40de0008
 0x5005002a
 0x5005002b
@@ -922,6 +973,7 @@
 0x50650016
 0x50650017
 0x50650018
+0x50b1001a
 0x50c70004
 0x50c70005
 0x50c70006

keywords.txt

@@ -26,10 +26,15 @@ UBX_NAV_VELECEF_data_t	KEYWORD1
 UBX_NAV_VELNED_data_t	KEYWORD1
 UBX_NAV_HPPOSECEF_data_t	KEYWORD1
 UBX_NAV_HPPOSLLH_data_t	KEYWORD1
+UBX_NAV_PVAT_data_t	KEYWORD1
 UBX_NAV_CLOCK_data_t	KEYWORD1
+UBX_NAV_SAT_data_t	KEYWORD1
 UBX_NAV_RELPOSNED_data_t	KEYWORD1
 UBX_NAV_TIMELS_data_t	KEYWORD1
+UBX_NAV_AOPSTATUS_data_t	KEYWORD1
 
+UBX_RXM_PMP_data_t	KEYWORD1
+UBX_RXM_PMP_message_data_t	KEYWORD1
 UBX_RXM_SFRBX_data_t	KEYWORD1
 UBX_RXM_RAWX_data_t	KEYWORD1
 
@@ -45,6 +50,8 @@ UBX_HNR_PVT_data_t	KEYWORD1
 UBX_HNR_ATT_data_t	KEYWORD1
 UBX_HNR_INS_data_t	KEYWORD1
 
+NMEA_GGA_data_t	KEYWORD1
+
 #######################################
 # Methods and Functions (KEYWORD2)
 #######################################
@@ -118,6 +125,7 @@ setUART2Output	KEYWORD2
 setUSBOutput	KEYWORD2
 setSPIOutput	KEYWORD2
 setNMEAOutputPort	KEYWORD2
+setOutputPort	KEYWORD2
 
 factoryReset	KEYWORD2
 hardReset	KEYWORD2
@@ -178,29 +186,38 @@ setAckAiding	KEYWORD2
 getAopCfg	KEYWORD2
 setAopCfg	KEYWORD2
 
+setDynamicSPARTNKey	KEYWORD2
+setDynamicSPARTNKeys	KEYWORD2
+
 createKey	KEYWORD2
 getVal	KEYWORD2
 getVal8	KEYWORD2
 getVal16	KEYWORD2
 getVal32	KEYWORD2
+getVal64	KEYWORD2
 setVal	KEYWORD2
 setVal8	KEYWORD2
 setVal16	KEYWORD2
 setVal32	KEYWORD2
+setVal64	KEYWORD2
 newCfgValset8	KEYWORD2
 newCfgValset16	KEYWORD2
 newCfgValset32	KEYWORD2
+newCfgValset64	KEYWORD2
 addCfgValset8	KEYWORD2
 addCfgValset16	KEYWORD2
 addCfgValset32	KEYWORD2
+addCfgValset64	KEYWORD2
 sendCfgValset8	KEYWORD2
 sendCfgValset16	KEYWORD2
 sendCfgValset32	KEYWORD2
+sendCfgValset64	KEYWORD2
 
 getNAVPOSECEF	KEYWORD2
 setAutoNAVPOSECEF	KEYWORD2
 setAutoNAVPOSECEFrate	KEYWORD2
 setAutoNAVPOSECEFcallback	KEYWORD2
+setAutoNAVPOSECEFcallbackPtr	KEYWORD2
 assumeAutoNAVPOSECEF	KEYWORD2
 initPacketUBXNAVPOSECEF	KEYWORD2
 flushNAVPOSECEF	KEYWORD2
@@ -210,6 +227,7 @@ getNAVSTATUS	KEYWORD2
 setAutoNAVSTATUS	KEYWORD2
 setAutoNAVSTATUSrate	KEYWORD2
 setAutoNAVSTATUScallback	KEYWORD2
+setAutoNAVSTATUScallbackPtr	KEYWORD2
 assumeAutoNAVSTATUS	KEYWORD2
 initPacketUBXNAVSTATUS	KEYWORD2
 flushNAVSTATUS	KEYWORD2
@@ -219,6 +237,7 @@ getDOP	KEYWORD2
 setAutoDOP	KEYWORD2
 setAutoDOPrate	KEYWORD2
 setAutoDOPcallback	KEYWORD2
+setAutoDOPcallbackPtr	KEYWORD2
 assumeAutoDOP	KEYWORD2
 initPacketUBXNAVDOP	KEYWORD2
 flushDOP	KEYWORD2
@@ -229,6 +248,7 @@ getNAVATT	KEYWORD2
 setAutoNAVATT	KEYWORD2
 setAutoNAVATTrate	KEYWORD2
 setAutoNAVATTcallback	KEYWORD2
+setAutoNAVATTcallbackPtr	KEYWORD2
 assumeAutoNAVATT	KEYWORD2
 initPacketUBXNAVATT	KEYWORD2
 flushNAVATT	KEYWORD2
@@ -238,6 +258,7 @@ getPVT	KEYWORD2
 setAutoPVT	KEYWORD2
 setAutoPVTrate	KEYWORD2
 setAutoPVTcallback	KEYWORD2
+setAutoPVTcallbackPtr	KEYWORD2
 assumeAutoPVT	KEYWORD2
 initPacketUBXNAVPVT	KEYWORD2
 flushPVT	KEYWORD2
@@ -247,6 +268,7 @@ getNAVODO	KEYWORD2
 setAutoNAVODO	KEYWORD2
 setAutoNAVODOrate	KEYWORD2
 setAutoNAVODOcallback	KEYWORD2
+setAutoNAVODOcallbackPtr	KEYWORD2
 assumeAutoNAVODO	KEYWORD2
 initPacketUBXNAVODO	KEYWORD2
 flushNAVODO	KEYWORD2
@@ -256,6 +278,7 @@ getNAVVELECEF	KEYWORD2
 setAutoNAVVELECEF	KEYWORD2
 setAutoNAVVELECEFrate	KEYWORD2
 setAutoNAVVELECEFcallback	KEYWORD2
+setAutoNAVVELECEFcallbackPtr	KEYWORD2
 assumeAutoNAVVELECEF	KEYWORD2
 initPacketUBXNAVVELECEF	KEYWORD2
 flushNAVVELECEF	KEYWORD2
@@ -265,6 +288,7 @@ getNAVVELNED	KEYWORD2
 setAutoNAVVELNED	KEYWORD2
 setAutoNAVVELNEDrate	KEYWORD2
 setAutoNAVVELNEDcallback	KEYWORD2
+setAutoNAVVELNEDcallbackPtr	KEYWORD2
 assumeAutoNAVVELNED	KEYWORD2
 initPacketUBXNAVVELNED	KEYWORD2
 flushNAVVELNED	KEYWORD2
@@ -274,6 +298,7 @@ getNAVHPPOSECEF	KEYWORD2
 setAutoNAVHPPOSECEF	KEYWORD2
 setAutoNAVHPPOSECEFrate	KEYWORD2
 setAutoNAVHPPOSECEFcallback	KEYWORD2
+setAutoNAVHPPOSECEFcallbackPtr	KEYWORD2
 assumeAutoNAVHPPOSECEF	KEYWORD2
 initPacketUBXNAVHPPOSECEF	KEYWORD2
 flushNAVHPPOSECEF	KEYWORD2
@@ -283,6 +308,7 @@ getHPPOSLLH	KEYWORD2
 setAutoHPPOSLLH	KEYWORD2
 setAutoHPPOSLLHrate	KEYWORD2
 setAutoHPPOSLLHcallback	KEYWORD2
+setAutoHPPOSLLHcallbackPtr	KEYWORD2
 assumeAutoHPPOSLLH	KEYWORD2
 initPacketUBXNAVHPPOSLLH	KEYWORD2
 flushHPPOSLLH	KEYWORD2
@@ -293,6 +319,7 @@ setAutoNAVPVAT	KEYWORD2
 setAutoNAVPVAT	KEYWORD2
 setAutoNAVPVATrate	KEYWORD2
 setAutoNAVPVATcallback	KEYWORD2
+setAutoNAVPVATcallbackPtr	KEYWORD2
 assumeAutoNAVPVAT	KEYWORD2
 flushNAVPVAT	KEYWORD2
 logNAVPVAT	KEYWORD2
@@ -301,6 +328,7 @@ getNAVCLOCK	KEYWORD2
 setAutoNAVCLOCK	KEYWORD2
 setAutoNAVCLOCKrate	KEYWORD2
 setAutoNAVCLOCKcallback	KEYWORD2
+setAutoNAVCLOCKcallbackPtr	KEYWORD2
 assumeAutoNAVCLOCK	KEYWORD2
 initPacketUBXNAVCLOCK	KEYWORD2
 flushNAVCLOCK	KEYWORD2
@@ -318,6 +346,7 @@ getNAVSAT	KEYWORD2
 setAutoNAVSAT	KEYWORD2
 setAutoNAVSATrate	KEYWORD2
 setAutoNAVSATcallback	KEYWORD2
+setAutoNAVSATcallbackPtr	KEYWORD2
 assumeAutoNAVSAT	KEYWORD2
 initPacketUBXNAVSAT	KEYWORD2
 flushNAVSAT	KEYWORD2
@@ -327,6 +356,7 @@ getRELPOSNED	KEYWORD2
 setAutoRELPOSNED	KEYWORD2
 setAutoRELPOSNEDrate	KEYWORD2
 setAutoRELPOSNEDcallback	KEYWORD2
+setAutoRELPOSNEDcallbackPtr	KEYWORD2
 assumeAutoRELPOSNED	KEYWORD2
 initPacketUBXNAVRELPOSNED	KEYWORD2
 flushNAVRELPOSNED	KEYWORD2
@@ -336,15 +366,20 @@ getAOPSTATUS	KEYWORD2
 setAutoAOPSTATUS	KEYWORD2
 setAutoAOPSTATUSrate	KEYWORD2
 setAutoAOPSTATUScallback	KEYWORD2
+setAutoAOPSTATUScallbackPtr	KEYWORD2
 assumeAutoAOPSTATUS	KEYWORD2
 initPacketUBXAOPSTATUS	KEYWORD2
 flushAOPSTATUS	KEYWORD2
 logAOPSTATUS	KEYWORD2
 
+setRXMPMPcallbackPtr	KEYWORD2
+setRXMPMPmessageCallbackPtr	KEYWORD2
+
 getRXMSFRBX	KEYWORD2
 setAutoRXMSFRBX	KEYWORD2
 setAutoRXMSFRBXrate	KEYWORD2
 setAutoRXMSFRBXcallback	KEYWORD2
+setAutoRXMSFRBXcallbackPtr	KEYWORD2
 assumeAutoRXMSFRBX	KEYWORD2
 initPacketUBXRXMSFRBX	KEYWORD2
 flushRXMSFRBX	KEYWORD2
@@ -354,6 +389,7 @@ getRXMRAWX	KEYWORD2
 setAutoRXMRAWX	KEYWORD2
 setAutoRXMRAWXrate	KEYWORD2
 setAutoRXMRAWXcallback	KEYWORD2
+setAutoRXMRAWXcallbackPtr	KEYWORD2
 assumeAutoRXMRAWX	KEYWORD2
 initPacketUBXRXMRAWX	KEYWORD2
 flushRXMRAWX	KEYWORD2
@@ -363,6 +399,7 @@ getTIMTM2	KEYWORD2
 setAutoTIMTM2	KEYWORD2
 setAutoTIMTM2rate	KEYWORD2
 setAutoTIMTM2callback	KEYWORD2
+setAutoTIMTM2callbackPtr	KEYWORD2
 assumeAutoTIMTM2	KEYWORD2
 initPacketUBXTIMTM2	KEYWORD2
 flushTIMTM2	KEYWORD2
@@ -373,6 +410,7 @@ getESFALG	KEYWORD2
 setAutoESFALG	KEYWORD2
 setAutoESFALGrate	KEYWORD2
 setAutoESFALGcallback	KEYWORD2
+setAutoESFALGcallbackPtr	KEYWORD2
 assumeAutoESFALG	KEYWORD2
 initPacketUBXESFALG	KEYWORD2
 flushESFALG	KEYWORD2
@@ -383,6 +421,7 @@ getESFSTATUS	KEYWORD2
 setAutoESFSTATUS	KEYWORD2
 setAutoESFSTATUSrate	KEYWORD2
 setAutoESFSTATUScallback	KEYWORD2
+setAutoESFSTATUScallbackPtr	KEYWORD2
 assumeAutoESFSTATUS	KEYWORD2
 initPacketUBXESFSTATUS	KEYWORD2
 flushESFSTATUS	KEYWORD2
@@ -393,6 +432,7 @@ getESFINS	KEYWORD2
 setAutoESFINS	KEYWORD2
 setAutoESFINSrate	KEYWORD2
 setAutoESFINScallback	KEYWORD2
+setAutoESFINScallbackPtr	KEYWORD2
 assumeAutoESFINS	KEYWORD2
 initPacketUBXESFINS	KEYWORD2
 flushESFINS	KEYWORD2
@@ -403,6 +443,7 @@ getESFMEAS	KEYWORD2
 setAutoESFMEAS	KEYWORD2
 setAutoESFMEASrate	KEYWORD2
 setAutoESFMEAScallback	KEYWORD2
+setAutoESFMEAScallbackPtr	KEYWORD2
 assumeAutoESFMEAS	KEYWORD2
 initPacketUBXESFMEAS	KEYWORD2
 flushESFMEAS	KEYWORD2
@@ -413,6 +454,7 @@ getESFRAW	KEYWORD2
 setAutoESFRAW	KEYWORD2
 setAutoESFRAWrate	KEYWORD2
 setAutoESFRAWcallback	KEYWORD2
+setAutoESFRAWcallbackPtr	KEYWORD2
 assumeAutoESFRAW	KEYWORD2
 initPacketUBXESFRAW	KEYWORD2
 flushESFRAW	KEYWORD2
@@ -423,6 +465,7 @@ getHNRATT	KEYWORD2
 setAutoHNRATT	KEYWORD2
 setAutoHNRATTrate	KEYWORD2
 setAutoHNRATTcallback	KEYWORD2
+setAutoHNRATTcallbackPtr	KEYWORD2
 assumeAutoHNRATT	KEYWORD2
 initPacketUBXHNRATT	KEYWORD2
 flushHNRATT	KEYWORD2
@@ -433,6 +476,7 @@ getHNRINS	KEYWORD2
 setAutoHNRINS	KEYWORD2
 setAutoHNRINSrate	KEYWORD2
 setAutoHNRINScallback	KEYWORD2
+setAutoHNRINScallbackPtr	KEYWORD2
 assumeAutoHNRINS	KEYWORD2
 initPacketUBXHNRINS	KEYWORD2
 flushHNRINS	KEYWORD2
@@ -442,6 +486,7 @@ getHNRPVT	KEYWORD2
 setAutoHNRPVT	KEYWORD2
 setAutoHNRPVTrate	KEYWORD2
 setAutoHNRPVTcallback	KEYWORD2
+setAutoHNRPVTcallbackPtr	KEYWORD2
 assumeAutoHNRPVT	KEYWORD2
 initPacketUBXHNRPVT	KEYWORD2
 flushHNRPVT	KEYWORD2
@@ -565,8 +610,10 @@ setHighPrecisionMode	KEYWORD2
 
 getLatestNMEAGPGGA	KEYWORD2
 setNMEAGPGGAcallback	KEYWORD2
+setNMEAGPGGAcallbackPtr	KEYWORD2
 getLatestNMEAGNGGA	KEYWORD2
 setNMEAGNGGAcallback	KEYWORD2
+setNMEAGNGGAcallbackPtr	KEYWORD2
 
 extractLong	KEYWORD2
 extractSignedLong	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.2.0
+version=2.2.1
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>