Update

examples/Example16_Nanosecond_MaxOutput/Example16_Nanosecond_MaxOutput.ino

@@ -99,8 +99,8 @@ void loop()
     Serial.print(myGNSS.getMinute());
     Serial.print(":");
     Serial.print(myGNSS.getSecond());
-    Serial.print(".");
-    Serial.print(myGNSS.getNanosecond());
+    Serial.print(" nanoseconds: ");
+    Serial.print(myGNSS.getNanosecond()); // Nanoseconds can be negative
 
     myGNSS.flushPVT();
 

examples/Example16_PartialSecond_MaxOutput/Example16_PartialSecond_MaxOutput.ino

@@ -110,7 +110,7 @@ void loop()
       Serial.print("0");
     Serial.print(mseconds);
 
-    Serial.print(" nanoSeconds: ");
+    Serial.print(" nanoseconds: ");
     Serial.print(myGNSS.getNanosecond());
 
     Serial.println();

examples/Example24_GetUnixEpochAndMicros/Example24_GetUnixEpochAndMicros.ino

@@ -1,7 +1,7 @@
 /*
   Getting Unix Epoch Time and micros using u-blox commands
   By: UT2UH
-  Date: March 30th, 2021
+  Date: March 31th, 2021
   License: MIT. See license file for more information but you can
   basically do whatever you want with this code.
 
@@ -69,8 +69,11 @@ void loop()
     // getUnixEpoch marks the PVT data as stale so you will get Unix time and PVT time on alternate seconds
 
     uint32_t us;  //microseconds returned by getUnixEpoch()
-    uint32_t epoch = myGNSS.getUnixEpoch(us);
-    Serial.print("Unix Epoch: ");
+    uint32_t epoch = myGNSS.getUnixEpoch();
+    Serial.print("Unix Epoch rounded: ");
+    Serial.print(epoch, DEC);    
+    epoch = myGNSS.getUnixEpoch(us);
+    Serial.print("  Exact Unix Epoch: ");
     Serial.print(epoch, DEC);
     Serial.print("  micros: ");
     Serial.println(us, DEC);
@@ -105,4 +108,4 @@ void loop()
     Serial.print(F("  SIV: "));
     Serial.println(SIV);
   }
-}
+}

examples/Example26_End/Example26_End.ino

@@ -0,0 +1,91 @@
+/*
+  Demonstrating how to use "end"
+  By: Paul Clark
+  SparkFun Electronics
+  Date: April 1st, 2021
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to use the end function.
+  End will stop all automatic message processing and free (nearly) all used RAM.
+  The file buffer is deleted (if it exists).
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin();
+
+  //myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
+
+  if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  //myGNSS.saveConfiguration(); //Optional: Save the current settings to flash and BBR
+
+  myGNSS.end(); // Call end now just because we can - it won't do much as we haven't used any automatic messages
+}
+
+void loop()
+{
+  // Allocate 128 bytes for file storage - this checks that issue #20 has been resolved
+  // Allocating only 128 bytes will let this code run on the ATmega328P
+  // If your processor has plenty of RAM, you can increase this to something useful like 16KB
+  myGNSS.setFileBufferSize(128);
+
+  if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS not detected. Freezing."));
+    while (1);
+  }
+
+  Serial.print(F("The file buffer size is: "));
+  Serial.println(myGNSS.getFileBufferSize());    
+
+  // Request Position, Velocity, Time
+  // RAM will be allocated for PVT message processing
+  // getPVT will return true is fresh PVT data was received and processed
+  if (myGNSS.getPVT())
+  {
+    long latitude = myGNSS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGNSS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGNSS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.println(F(" (mm)"));
+  }
+
+  // Calling end will free the RAM allocated for file storage and PVT processing
+  // Calling end is optional. You can comment the next line if you want to.
+  myGNSS.end();
+}

examples/Example27_MultipleRates/Example27_MultipleRates.ino

@@ -0,0 +1,106 @@
+/*
+  Configuring the GNSS to produce multiple messages at different rates
+  By: Paul Clark
+  SparkFun Electronics
+  Date: April 1st, 2021
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the U-Blox GNSS to output multiple messages at different rates:
+  PVT is output every second;
+  POSECEF is output every five seconds;
+  VELNED is output every ten seconds.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin();
+
+  if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGNSS.setMeasurementRate(1000); //Produce a measurement every 1000ms
+  myGNSS.setNavigationRate(1); //Produce a navigation solution every measurement
+
+  myGNSS.setAutoPVTrate(1); //Tell the GNSS to send the PVT solution every measurement
+  myGNSS.setAutoNAVPOSECEFrate(5); //Tell the GNSS to send each POSECEF solution every 5th measurement
+  myGNSS.setAutoNAVVELNEDrate(10); //Tell the GNSS to send each VELNED solution every 10th measurement
+  //myGNSS.saveConfiguration(); //Optional: Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if (myGNSS.getPVT())
+  {
+    long latitude = myGNSS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGNSS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGNSS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.println(F(" (mm)"));
+  }
+
+  // Calling getNAVPOSECEF returns true if there actually is a fresh position solution available.
+  if (myGNSS.getNAVPOSECEF())
+  {
+    Serial.print(F("ecefX: "));
+    Serial.print((float)myGNSS.packetUBXNAVPOSECEF->data.ecefX / 100.0, 2); // convert ecefX to m
+
+    Serial.print(F(" ecefY: "));
+    Serial.print((float)myGNSS.packetUBXNAVPOSECEF->data.ecefY / 100.0, 2); // convert ecefY to m
+
+    Serial.print(F(" ecefZ: "));
+    Serial.print((float)myGNSS.packetUBXNAVPOSECEF->data.ecefZ / 100.0, 2); // convert ecefY to m
+    Serial.println(F(" (m)"));
+
+    myGNSS.flushNAVPOSECEF(); //Mark all the data as read/stale so we get fresh data next time
+  }
+
+  // Calling getNAVVELNED returns true if there actually is fresh velocity data available.
+  if (myGNSS.getNAVVELNED())
+  {
+    Serial.print(F("velN: "));
+    Serial.print((float)myGNSS.packetUBXNAVVELNED->data.velN / 100.0, 2); // convert velN to m/s
+
+    Serial.print(F(" velE: "));
+    Serial.print((float)myGNSS.packetUBXNAVVELNED->data.velE / 100.0, 2); // convert velE to m/s
+
+    Serial.print(F(" velD: "));
+    Serial.print((float)myGNSS.packetUBXNAVVELNED->data.velD / 100.0, 2); // convert velD to m/s
+    Serial.println(F(" (m/s)"));
+
+    myGNSS.flushNAVVELNED(); //Mark all the data as read/stale so we get fresh data next time
+  }
+}

examples/ZED-F9P/Example10_GetHighPrecisionPositionAndAccuracy/Example10_GetHighPrecisionPositionAndAccuracy.ino

@@ -115,11 +115,12 @@ void loop()
     Serial.print("Lat (deg): ");
     Serial.print(lat_int); // Print the integer part of the latitude
     Serial.print(".");
-    Serial.print(lat_frac); // Print the fractional part of the latitude
+    printFractional(lat_frac, 9); // Print the fractional part of the latitude with leading zeros
     Serial.print(", Lon (deg): ");
     Serial.print(lon_int); // Print the integer part of the latitude
     Serial.print(".");
-    Serial.println(lon_frac); // Print the fractional part of the latitude
+    printFractional(lon_frac, 9); // Print the fractional part of the latitude with leading zeros
+    Serial.println();
 
     // Now define float storage for the heights and accuracy
     float f_ellipsoid;
@@ -152,3 +153,20 @@ void loop()
     Serial.println(f_accuracy, 4); // Print the accuracy with 4 decimal places
   }
 }
+
+// Pretty-print the fractional part with leading zeros - without using printf
+// (Only works with positive numbers)
+void printFractional(int32_t fractional, uint8_t places)
+{
+  if (places > 1)
+  {
+    for (uint8_t place = places - 1; place > 0; place--)
+    {
+      if (fractional < pow(10, place))
+      {
+        Serial.print("0");
+      }
+    }
+  }
+  Serial.print(fractional);
+}