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()