swift-nav/libswiftnav — pull request #6 by fnoble (2014-01-25 20:56:21+00:00)
Title: SBP refactor

SBP code was isolated from piksi_firmware and refactored to have a cleaner API for inclusion into libswiftnav. Unit tests have been added.

SBP protocol has been modified to have the following structure:

Byte | Value
--------|--------------------------
0 | Preamble (0x55)
1 | Message Type LSB
2 | Message Type MSB
3 | Sender ID LSB
4 | Sender ID MSB
5 | Payload Length (n)
6..5+n | Payload
6+n | CRC LSB
7+n | CRC MSB