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Merge pull request #47 from sparkfun/Add_SPARTN
Add SPARTN and Septentrio SBF
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‎README.md

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SparkFun Extensible Message Parser
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========================================
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The SparkFun Extensible Message Parser provides a base set of routines to construct serial stream parsers. On top of this are several GNSS protocol parsers for NMEA, RTCM, u-blox and Unicore. Some of SparkFun's RTK products use these parsers. Users may add protocol parse routines to enable the base routines to parse other protocols. Examples are provided for various parse configurations.
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The SparkFun Extensible Message Parser provides a base set of routines to construct serial stream parsers. On top of this are several GNSS protocol parsers for NMEA, RTCM, u-blox UBX, SPARTN, Septentrio SBF and Unicore. Some of SparkFun's RTK products use these parsers. Users may add protocol parse routines to enable the base routines to parse other protocols. Examples are provided for various parse configurations.
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License Information
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-------------------

‎examples/Mixed_Parser/Mixed_Parser.ino

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/*
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SparkFun mixed parser example sketch
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This example demonstrates how to create a mixed parser -
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here we parse u-blox UBX and NMEA using a single mixed parser
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License: MIT. Please see LICENSE.md for more details
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*/
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‎examples/Multiple_Parsers/Multiple_Parsers.ino

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/*
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SparkFun multiple parser example sketch
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This example demonstrates how to use multiple parsers -
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here two separate parsers parse u-blox UBX and NMEA
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License: MIT. Please see LICENSE.md for more details
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*/
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‎examples/NMEA_Test/NMEA_Test.ino

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/*
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SparkFun NMEA test example sketch
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This example demonstrates how to parse a NMEA data stream
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License: MIT. Please see LICENSE.md for more details
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*/
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‎examples/RTCM_Test/RTCM_Test.ino

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/*
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SparkFun RTCM test example sketch
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This example demonstrates how to parse a RTCM data stream
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License: MIT. Please see LICENSE.md for more details
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*/
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‎examples/SBF_Test/SBF_TEST.ino

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/*
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SparkFun SBF test example sketch
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This example demonstrates how to parse a Septentrio SBF data stream
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License: MIT. Please see LICENSE.md for more details
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*/
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#include <SparkFun_Extensible_Message_Parser.h> //http://librarymanager/All#SparkFun_Extensible_Message_Parser
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//----------------------------------------
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// Constants
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//----------------------------------------
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// Build the table listing all of the parsers
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SEMP_PARSE_ROUTINE const parserTable[] =
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{
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sempSbfPreamble
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};
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const int parserCount = sizeof(parserTable) / sizeof(parserTable[0]);
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const char * const parserNames[] =
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{
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"SBF parser"
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};
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const int parserNameCount = sizeof(parserNames) / sizeof(parserNames[0]);
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// Provide some valid and invalid SBF messages
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const uint8_t rawDataStream[] =
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{
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// Invalid data - must skip over
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0, 1, 2, 3, 4, 5, 6, 7, // 0
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// SBF Block 5914 (ReceiverTime)
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0x24, 0x40, 0x06, 0xFE, 0x1A, 0x17, 0x18, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x80,
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0x80, 0x80, 0x80, 0x80, 0x12, 0x00, 0x00, 0x00,
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// SBF Block 5914 (ReceiverTime) - invalid length
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0x24, 0x40, 0x06, 0xFE, 0x1A, 0x17, 0x17, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x80,
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0x80, 0x80, 0x80, 0x80, 0x12, 0x00, 0x00, 0x00,
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// SBF Block 5914 (ReceiverTime) - invalid CRC
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0x24, 0x40, 0x06, 0xFE, 0x1A, 0x17, 0x18, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x80,
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0xFF, 0x80, 0x80, 0x80, 0x12, 0x00, 0x00, 0x00,
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// Invalid data - must skip over
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0, 1, 2, 3, 4, 5, 6, 7, // 0
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// SBF Block 4007 (PVTGeodetic)
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0x24, 0x40, 0xC4, 0x86, 0xA7, 0x4F, 0x60, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x01,
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0x00, 0x00, 0x00, 0x20, 0x5F, 0xA0, 0x12, 0xC2, 0x00, 0x00, 0x00, 0x20, 0x5F, 0xA0, 0x12, 0xC2,
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0x00, 0x00, 0x00, 0x20, 0x5F, 0xA0, 0x12, 0xC2, 0xF9, 0x02, 0x95, 0xD0, 0xF9, 0x02, 0x95, 0xD0,
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0xF9, 0x02, 0x95, 0xD0, 0xF9, 0x02, 0x95, 0xD0, 0xF9, 0x02, 0x95, 0xD0, 0x00, 0x00, 0x00, 0x20,
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0x5F, 0xA0, 0x12, 0xC2, 0xF9, 0x02, 0x95, 0xD0, 0xFF, 0xFF, 0xFF, 0x00, 0xFF, 0xFF, 0xFF, 0xFF,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00,
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};
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// Number of bytes in the rawDataStream
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#define RAW_DATA_BYTES (sizeof(rawDataStream) / sizeof(rawDataStream[0]))
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// Account for the largest SBF messages
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#define BUFFER_LENGTH 2048
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//----------------------------------------
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// Locals
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//----------------------------------------
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uint32_t dataOffset;
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SEMP_PARSE_STATE *parse;
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//----------------------------------------
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// Test routine
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//----------------------------------------
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// Initialize the system
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void setup()
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{
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delay(1000);
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Serial.begin(115200);
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Serial.println();
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Serial.println("SBF_Test example sketch");
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Serial.println();
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// Initialize the parser
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parse = sempBeginParser(parserTable, parserCount,
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parserNames, parserNameCount,
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0, BUFFER_LENGTH, processMessage, "SBF_Test");
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if (!parse)
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reportFatalError("Failed to initialize the parser");
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// Obtain a raw data stream from somewhere
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Serial.printf("Raw data stream: %d bytes\r\n", RAW_DATA_BYTES);
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// The raw data stream is passed to the parser one byte at a time
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sempEnableDebugOutput(parse);
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for (dataOffset = 0; dataOffset < RAW_DATA_BYTES; dataOffset++)
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// Update the parser state based on the incoming byte
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sempParseNextByte(parse, rawDataStream[dataOffset]);
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// Done parsing the data
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sempStopParser(&parse);
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}
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// Main loop processing after system is initialized
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void loop()
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{
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// Nothing to do here...
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}
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// Call back from within parser, for end of message
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// Process a complete message incoming from parser
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void processMessage(SEMP_PARSE_STATE *parse, uint16_t type)
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{
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SEMP_SCRATCH_PAD *scratchPad = (SEMP_SCRATCH_PAD *)parse->scratchPad;
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uint32_t offset;
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// Display the raw message
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Serial.println();
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offset = dataOffset + 1 - parse->length;
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Serial.printf("Valid SBF message block %d : %d bytes at 0x%08lx (%ld)\r\n",
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scratchPad->sbf.sbfID,
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parse->length, offset, offset);
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dumpBuffer(parse->buffer, parse->length);
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// Display Block Number
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Serial.print("SBF Block Number: ");
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Serial.println(sempSbfGetBlockNumber(parse));
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// If this is PVTGeodetic, extract some data
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if (sempSbfGetBlockNumber(parse) == 4007)
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{
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Serial.printf("TOW: %ld\r\n", sempSbfGetU4(parse, 8));
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Serial.printf("Mode: %d\r\n", sempSbfGetU1(parse, 14));
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Serial.printf("Error: %d\r\n", sempSbfGetU1(parse, 15));
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Serial.printf("Latitude: %.7g\r\n", sempSbfGetF8(parse, 16) * 180.0 / PI);
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Serial.printf("Longitude: %.7g\r\n", sempSbfGetF8(parse, 24) * 180.0 / PI);
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}
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// Display the parser state
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static bool displayOnce = true;
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if (displayOnce)
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{
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displayOnce = false;
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Serial.println();
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sempPrintParserConfiguration(parse, &Serial);
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}
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}
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// Display the contents of a buffer
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void dumpBuffer(const uint8_t *buffer, uint16_t length)
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{
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int bytes;
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const uint8_t *end;
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int index;
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uint32_t offset;
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end = &buffer[length];
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offset = 0;
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while (buffer < end)
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{
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// Determine the number of bytes to display on the line
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bytes = end - buffer;
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if (bytes > (16 - (offset & 0xf)))
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bytes = 16 - (offset & 0xf);
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// Display the offset
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Serial.printf("0x%08lx: ", offset);
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// Skip leading bytes
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for (index = 0; index < (offset & 0xf); index++)
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Serial.printf(" ");
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// Display the data bytes
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for (index = 0; index < bytes; index++)
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Serial.printf("%02x ", buffer[index]);
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// Separate the data bytes from the ASCII
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for (; index < (16 - (offset & 0xf)); index++)
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Serial.printf(" ");
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Serial.printf(" ");
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// Skip leading bytes
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for (index = 0; index < (offset & 0xf); index++)
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Serial.printf(" ");
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// Display the ASCII values
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for (index = 0; index < bytes; index++)
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Serial.printf("%c", ((buffer[index] < ' ') || (buffer[index] >= 0x7f)) ? '.' : buffer[index]);
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Serial.printf("\r\n");
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// Set the next line of data
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buffer += bytes;
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offset += bytes;
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}
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}
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// Print the error message every 15 seconds
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void reportFatalError(const char *errorMsg)
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{
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while (1)
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{
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Serial.print("HALTED: ");
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Serial.print(errorMsg);
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Serial.println();
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sleep(15);
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}
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}

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