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Replace SBF 4007 data in examples #75

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Merged
nseidle merged 2 commits into from
Feb 9, 2026
Merged

Replace SBF 4007 data in examples #75

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87893f4
Replace SBF 4007 data in examples
PaulZC Jan 30, 2026
6a71567
Merge branch 'release_candidate' into Update_SBF_examples
nseidle Feb 9, 2026
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74 changes: 64 additions & 10 deletions examples/SBF_Test/SBF_Test.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,62 @@
*/

#include <SparkFun_Extensible_Message_Parser.h> //http://librarymanager/All#SparkFun_Extensible_Message_Parser
#include "ESP32.h"
#include "SAMD21.h"
#include "SAMD51.h"

#include "../Common/output.ino"
#include "../Common/dumpBuffer.ino"
#include "../Common/reportFatalError.ino"

//----------------------------------------
// Constants
//----------------------------------------

// Build the table listing all of the parsers
SEMP_PARSER_DESCRIPTION * parserTable[] =
{
&sempSbfParserDescription
};
const int parserCount = sizeof(parserTable) / sizeof(parserTable[0]);

const char * const parserNames[] =
{
"SBF parser"
};
const int parserNameCount = sizeof(parserNames) / sizeof(parserNames[0]);

// Provide some valid and invalid SBF messages
const uint8_t rawDataStream[] =
{
// Invalid data - must skip over
0, 1, 2, 3, 4, 5, 6, 7, // 0

// SBF Block 5914 (ReceiverTime)
0x24, 0x40, 0x06, 0xFE, 0x1A, 0x17, 0x18, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x80,
0x80, 0x80, 0x80, 0x80, 0x12, 0x00, 0x00, 0x00,

// SBF Block 5914 (ReceiverTime) - invalid length
0x24, 0x40, 0x06, 0xFE, 0x1A, 0x17, 0x17, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x80,
0x80, 0x80, 0x80, 0x80, 0x12, 0x00, 0x00, 0x00,

// SBF Block 5914 (ReceiverTime) - invalid CRC
0x24, 0x40, 0x06, 0xFE, 0x1A, 0x17, 0x18, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x80,
0xFF, 0x80, 0x80, 0x80, 0x12, 0x00, 0x00, 0x00,

// Invalid data - must skip over
0, 1, 2, 3, 4, 5, 6, 7, // 0

// SBF Block 4007 (PVTGeodetic)
// Stonehenge : 0.8932412891, -0.03187402625 radians (51.17895595, -1.82624718 degrees)
0x24, 0x40, 0xC3, 0xF2, 0xa7, 0x4f, 0x60, 0x00, 0x80, 0x43, 0x6c, 0x1b, 0x63, 0x09, 0x03, 0x00,
0x5b, 0xe2, 0x83, 0xc1, 0x6e, 0x95, 0xec, 0x3f, 0x2d, 0xd3, 0xab, 0xd8, 0xca, 0x51, 0xa0, 0xbf,
0x98, 0x52, 0x34, 0xb8, 0xba, 0x79, 0x63, 0x40, 0x21, 0x72, 0x3e, 0x42, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf9, 0x02, 0x95, 0xd0, 0x46, 0x2d, 0x48, 0xd5,
0xdb, 0xce, 0xad, 0x3f, 0x07, 0x14, 0xab, 0x3d, 0x00, 0x00, 0x26, 0x00, 0xff, 0xff, 0xff, 0xff,
0x01, 0x01, 0x22, 0x10, 0x01, 0x00, 0x00, 0x00, 0x34, 0x00, 0xff, 0xff, 0xff, 0xff, 0x60, 0x00,

};

// Number of bytes in the rawDataStream
#define RAW_DATA_BYTES (sizeof(rawDataStream) / sizeof(rawDataStream[0]))

//----------------------------------------
// Locals
Expand Down Expand Up @@ -42,13 +95,14 @@ void loop()
// Determine if a character was input
if (Serial)
{
if (Serial.available())
{
Serial.read();

// If so, run the tests again
runTests = true;
}
sempPrintString(output, "TOW: ");
sempPrintDecimalI32Ln(output, sempSbfGetU4(parse, 8));
sempPrintString(output, "Mode: ");
sempPrintDecimalI32Ln(output, sempSbfGetU1(parse, 14));
sempPrintString(output, "Error: ");
sempPrintDecimalI32Ln(output, sempSbfGetU1(parse, 15));
Serial.printf("Latitude: %.8g\r\n", sempSbfGetF8(parse, 16) * 180.0 / PI);
Serial.printf("Longitude: %.8g\r\n", sempSbfGetF8(parse, 24) * 180.0 / PI);
}

// Run the tests when requested
Expand Down