Add callback Example6 - RAWX. Note:

 PR (pseudorange) and CP (carrier phase) will only be displayed if your processor supports 64-bit double

Author: PaulZC

examples/Callbacks/CallbackExample6_RAWX/CallbackExample6_RAWX.ino

@@ -0,0 +1,107 @@
+/*
+  Configuring the GNSS to automatically send RXM RZWX reports over I2C and display them using a callback
+  By: Paul Clark
+  SparkFun Electronics
+  Date: March 11th, 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 send RXM RAWX reports automatically
+  and access the data via a callback. No more polling!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+// Callback: newRAWX will be called when new RXM RAWX data arrives
+// See u-blox_structs.h for the full definition of UBX_RXMRAWX_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setAutoRXMRAWXcallback
+//        /             _____  This _must_ be UBX_RXM_RAWX_data_t
+//        |            /                _____ You can use any name you like for the struct
+//        |            |               /
+//        |            |               |
+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.println(F(" data blocks:"));
+
+  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);
+    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 (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);
+      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);
+      Serial.print(F(" m  CP: "));
+      Serial.print(carrierPhase, 3);
+      Serial.print(F(" cycles"));
+    }
+    Serial.println();
+  }
+}
+
+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
+
+  myGNSS.disableUBX7Fcheck(); // RAWX data can legitimately contain 0x7F, so we need to disable the "7F" check in checkUbloxI2C
+
+  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.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
+
+  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
+}
+
+void loop()
+{
+  myGNSS.checkUblox(); // Check for the arrival of new data and process it.
+  myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
+
+  Serial.print(".");
+  delay(50);
+}

src/u-blox_structs.h

@@ -1052,7 +1052,7 @@ typedef struct
   uint8_t rcvTow[8]; // Measurement time of week in receiver local time [64-bit float]
   uint16_t week; // GPS week number
   int8_t leapS; // GPS leap seconds
-  uint8_t numMeas; // Numnber of measurements to follow
+  uint8_t numMeas; // Number of measurements to follow
   union
   {
     uint8_t all;