Inline a header that is only used once. No code changes.

1 files changed, 442 insertions, 1 deletions

diff --git a/driver_rtcm2.c b/driver_rtcm2.c
index 2bb6a1f5..1d1be108 100644
--- a/driver_rtcm2.c
+++ b/driver_rtcm2.c
@@ -54,7 +54,448 @@ BSD terms apply: see the file COPYING in the distribution root for details.
 #include <string.h>
 
 #include "gpsd.h"
-#include "driver_rtcm2.h"
+
+/*
+ * Structures for interpreting words in an RTCM-104 2.x message (after
+ * parity checking and removing inversion).  Note, these structures
+ * are overlayed on the raw data in order to decode them into
+ * bitfields; this will fail horribly if your C compiler ever
+ * introduces padding between or before bit fields, or between
+ * 8-bit-aligned bitfields and character arrays.
+ *
+ * (In practice, the only class of machines on which this is likely
+ * to fail are word-aligned architectures without barrel shifters.
+ * Very few of these are left in 2008.)
+ *
+ * The RTCM 2.1 standard is less explicit than it should be about signed-integer
+ * representations.  Two's complement is specified for prc and rrc (msg1wX),
+ * but not everywhere.
+ */
+
+#define	ZCOUNT_SCALE	0.6	/* sec */
+#define	PCSMALL		0.02	/* meters */
+#define	PCLARGE		0.32	/* meters */
+#define	RRSMALL		0.002	/* meters/sec */
+#define	RRLARGE		0.032	/* meters/sec */
+
+#define MAXPCSMALL     (0x7FFF * PCSMALL)  /* 16-bits signed */
+#define MAXRRSMALL     (0x7F   * RRSMALL)  /*  8-bits signed */
+
+#define XYZ_SCALE	0.01	/* meters */
+#define DXYZ_SCALE	0.1	/* meters */
+#define	LA_SCALE	(90.0/32767.0)	/* degrees */
+#define	LO_SCALE	(180.0/32767.0)	/* degrees */
+#define	FREQ_SCALE	0.1	/* kHz */
+#define	FREQ_OFFSET	190.0	/* kHz */
+#define CNR_OFFSET	24	/* dB */
+#define TU_SCALE	5	/* minutes */
+
+#pragma pack(1)
+
+#ifndef WORDS_BIGENDIAN	/* little-endian, like x86 */
+
+struct rtcm2_msg_t {
+    struct rtcm2_msghw1 {			/* header word 1 */
+	uint            parity:6;
+	uint            refstaid:10;	/* reference station ID */
+	uint            msgtype:6;		/* RTCM message type */
+	uint            preamble:8;		/* fixed at 01100110 */
+	uint            _pad:2;
+    } w1;
+
+    struct rtcm2_msghw2 {			/* header word 2 */
+	uint            parity:6;
+	uint            stathlth:3;		/* station health */
+	uint            frmlen:5;
+	uint            sqnum:3;
+	uint            zcnt:13;
+	uint            _pad:2;
+    } w2;
+
+    union {
+	/* msg 1 - differential gps corrections */
+	struct rtcm2_msg1 {
+	    struct b_correction_t {
+		struct {			/* msg 1 word 3 */
+		    uint            parity:6;
+		    int             pc1:16;
+		    uint            satident1:5;	/* satellite ID */
+		    uint            udre1:2;
+		    uint            scale1:1;
+		    uint            _pad:2;
+		} w3;
+
+		struct {			/* msg 1 word 4 */
+		    uint            parity:6;
+		    uint            satident2:5;	/* satellite ID */
+		    uint            udre2:2;
+		    uint            scale2:1;
+		    uint            issuedata1:8;
+		    int             rangerate1:8;
+		    uint            _pad:2;
+		} w4;
+
+		struct {			/* msg 1 word 5 */
+		    uint            parity:6;
+		    int             rangerate2:8;
+		    int             pc2:16;
+		    uint            _pad:2;
+		} w5;
+
+		struct {			/* msg 1 word 6 */
+		    uint            parity:6;
+		    int             pc3_h:8;
+		    uint            satident3:5;	/* satellite ID */
+		    uint            udre3:2;
+		    uint            scale3:1;
+		    uint            issuedata2:8;
+		    uint            _pad:2;
+		} w6;
+
+		struct {			/* msg 1 word 7 */
+		    uint            parity:6;
+		    uint            issuedata3:8;
+		    int             rangerate3:8;
+		    uint            pc3_l:8;		/* NOTE: uint for low byte */
+		    uint            _pad:2;
+		} w7;
+	    } corrections[(RTCM2_WORDS_MAX - 2) / 5];
+	} type1;
+
+	/* msg 3 - reference station parameters */
+	struct rtcm2_msg3 {
+	    struct {
+		uint        parity:6;
+		uint	    x_h:24;
+		uint        _pad:2;
+	    } w3;
+	    struct {
+		uint        parity:6;
+		uint	    y_h:16;
+		uint	    x_l:8;
+		uint        _pad:2;
+	    } w4;
+	    struct {
+		uint        parity:6;
+		uint	    z_h:8;
+		uint	    y_l:16;
+		uint        _pad:2;
+	    } w5;
+
+	    struct {
+		uint        parity:6;
+		uint	    z_l:24;
+		uint        _pad:2;
+	    } w6;
+	} type3;
+
+	/* msg 4 - reference station datum */
+	struct rtcm2_msg4 {
+	    struct {
+		uint        parity:6;
+		uint	    datum_alpha_char2:8;
+		uint	    datum_alpha_char1:8;
+		uint	    spare:4;
+		uint	    dat:1;
+		uint	    dgnss:3;
+		uint        _pad:2;
+	    } w3;
+	    struct {
+		uint        parity:6;
+		uint	    datum_sub_div_char2:8;
+		uint	    datum_sub_div_char1:8;
+		uint	    datum_sub_div_char3:8;
+		uint        _pad:2;
+	    } w4;
+	    struct {
+		uint        parity:6;
+		uint	    dy_h:8;
+		uint	    dx:16;
+		uint        _pad:2;
+	    } w5;
+	    struct {
+		uint        parity:6;
+		uint	    dz:24;
+		uint	    dy_l:8;
+		uint        _pad:2;
+	    } w6;
+	} type4;
+
+	/* msg 5 - constellation health */
+	struct rtcm2_msg5 {
+	    struct b_health_t {
+		uint        parity:6;
+		uint	    unassigned:2;
+		uint	    time_unhealthy:4;
+		uint	    loss_warn:1;
+		uint	    new_nav_data:1;
+		uint	    health_enable:1;
+		uint	    cn0:5;
+		uint	    data_health:3;
+		uint	    issue_of_data_link:1;
+		uint	    sat_id:5;
+		uint	    reserved:1;
+		uint        _pad:2;
+	    } health[MAXHEALTH];
+	} type5;
+
+	/* msg 6 - null message */
+
+	/* msg 7 - beacon almanac */
+	struct rtcm2_msg7 {
+	    struct b_station_t {
+		struct {
+		    uint            parity:6;
+		    int	    	    lon_h:8;
+		    int	            lat:16;
+		    uint            _pad:2;
+		} w3;
+		struct {
+		    uint            parity:6;
+		    uint	    freq_h:6;
+		    uint	    range:10;
+		    uint	    lon_l:8;
+		    uint            _pad:2;
+		} w4;
+		struct {
+		    uint            parity:6;
+		    uint	    encoding:1;
+		    uint	    sync_type:1;
+		    uint	    mod_mode:1;
+		    uint	    bit_rate:3;
+		    /*
+		     * ITU-R M.823-2 page 9 and RTCM-SC104 v2.1 pages
+		     * 4-21 and 4-22 are in conflict over the next two
+		     * field sizes.  ITU says 9+3, RTCM says 10+2.
+		     * The latter correctly decodes the USCG station
+		     * id's so I'll use that one here. -wsr
+		     */
+		    uint	    station_id:10;
+		    uint	    health:2;
+		    uint	    freq_l:6;
+		    uint            _pad:2;
+		} w5;
+	    } almanac[(RTCM2_WORDS_MAX - 2)/3];
+	} type7;
+
+	/* msg 16 - text msg */
+	struct rtcm2_msg16 {
+	    struct {
+		uint        parity:6;
+		uint	    byte3:8;
+		uint	    byte2:8;
+		uint	    byte1:8;
+		uint        _pad:2;
+	    } txt[RTCM2_WORDS_MAX-2];
+	} type16;
+
+	/* unknown message */
+	isgps30bits_t	rtcm2_msgunk[RTCM2_WORDS_MAX-2];
+    } msg_type;
+};
+
+#endif /* LITTLE_ENDIAN */
+
+#ifdef WORDS_BIGENDIAN
+/* This struct was generated from the above using invert-bitfields.pl */
+#ifndef S_SPLINT_S	/* splint thinks it's a duplicate definition */
+
+struct rtcm2_msg_t {
+    struct rtcm2_msghw1 {			/* header word 1 */
+	uint            _pad:2;
+	uint            preamble:8;		/* fixed at 01100110 */
+	uint            msgtype:6;		/* RTCM message type */
+	uint            refstaid:10;	/* reference station ID */
+	uint            parity:6;
+    } w1;
+
+    struct rtcm2_msghw2 {			/* header word 2 */
+	uint            _pad:2;
+	uint            zcnt:13;
+	uint            sqnum:3;
+	uint            frmlen:5;
+	uint            stathlth:3;		/* station health */
+	uint            parity:6;
+    } w2;
+
+    union {
+	/* msg 1 - differential gps corrections */
+	struct rtcm2_msg1 {
+	    struct b_correction_t {
+		struct {			/* msg 1 word 3 */
+		    uint            _pad:2;
+		    uint            scale1:1;
+		    uint            udre1:2;
+		    uint            satident1:5;	/* satellite ID */
+		    int             pc1:16;
+		    uint            parity:6;
+		} w3;
+
+		struct {			/* msg 1 word 4 */
+		    uint            _pad:2;
+		    int             rangerate1:8;
+		    uint            issuedata1:8;
+		    uint            scale2:1;
+		    uint            udre2:2;
+		    uint            satident2:5;	/* satellite ID */
+		    uint            parity:6;
+		} w4;
+
+		struct {			/* msg 1 word 5 */
+		    uint            _pad:2;
+		    int             pc2:16;
+		    int             rangerate2:8;
+		    uint            parity:6;
+		} w5;
+
+		struct {			/* msg 1 word 6 */
+		    uint            _pad:2;
+		    uint            issuedata2:8;
+		    uint            scale3:1;
+		    uint            udre3:2;
+		    uint            satident3:5;	/* satellite ID */
+		    int             pc3_h:8;
+		    uint            parity:6;
+		} w6;
+
+		struct {			/* msg 1 word 7 */
+		    uint            _pad:2;
+		    uint            pc3_l:8;		/* NOTE: uint for low byte */
+		    int             rangerate3:8;
+		    uint            issuedata3:8;
+		    uint            parity:6;
+		} w7;
+	    } corrections[(RTCM2_WORDS_MAX - 2) / 5];
+	} type1;
+
+	/* msg 3 - reference station parameters */
+	struct rtcm2_msg3 {
+	    struct {
+		uint        _pad:2;
+		uint	    x_h:24;
+		uint        parity:6;
+	    } w3;
+	    struct {
+		uint        _pad:2;
+		uint	    x_l:8;
+		uint	    y_h:16;
+		uint        parity:6;
+	    } w4;
+	    struct {
+		uint        _pad:2;
+		uint	    y_l:16;
+		uint	    z_h:8;
+		uint        parity:6;
+	    } w5;
+
+	    struct {
+		uint        _pad:2;
+		uint	    z_l:24;
+		uint        parity:6;
+	    } w6;
+	} type3;
+
+	/* msg 4 - reference station datum */
+	struct rtcm2_msg4 {
+	    struct {
+		uint        _pad:2;
+		uint	    dgnss:3;
+		uint	    dat:1;
+		uint	    spare:4;
+		uint	    datum_alpha_char1:8;
+		uint	    datum_alpha_char2:8;
+		uint        parity:6;
+	    } w3;
+	    struct {
+		uint        _pad:2;
+		uint	    datum_sub_div_char3:8;
+		uint	    datum_sub_div_char1:8;
+		uint	    datum_sub_div_char2:8;
+		uint        parity:6;
+	    } w4;
+	    struct {
+		uint        _pad:2;
+		uint	    dx:16;
+		uint	    dy_h:8;
+		uint        parity:6;
+	    } w5;
+	    struct {
+		uint        _pad:2;
+		uint	    dy_l:8;
+		uint	    dz:24;
+		uint        parity:6;
+	    } w6;
+	} type4;
+
+	/* msg 5 - constellation health */
+	struct rtcm2_msg5 {
+	    struct b_health_t {
+		uint        _pad:2;
+		uint	    reserved:1;
+		uint	    sat_id:5;
+		uint	    issue_of_data_link:1;
+		uint	    data_health:3;
+		uint	    cn0:5;
+		uint	    health_enable:1;
+		uint	    new_nav_data:1;
+		uint	    loss_warn:1;
+		uint	    time_unhealthy:4;
+		uint	    unassigned:2;
+		uint        parity:6;
+	    } health[MAXHEALTH];
+	} type5;
+
+	/* msg 6 - null message */
+
+	/* msg 7 - beacon almanac */
+	struct rtcm2_msg7 {
+	    struct b_station_t {
+		struct {
+		    uint            _pad:2;
+		    int	            lat:16;
+		    int	    	    lon_h:8;
+		    uint            parity:6;
+		} w3;
+		struct {
+		    uint            _pad:2;
+		    uint	    lon_l:8;
+		    uint	    range:10;
+		    uint	    freq_h:6;
+		    uint            parity:6;
+		} w4;
+		struct {
+		    uint            _pad:2;
+		    uint	    freq_l:6;
+		    uint	    health:2;
+		    uint	    station_id:10;
+			     /* see comments in LE struct above. */
+		    uint	    bit_rate:3;
+		    uint	    mod_mode:1;
+		    uint	    sync_type:1;
+		    uint	    encoding:1;
+		    uint            parity:6;
+		} w5;
+	    } almanac[(RTCM2_WORDS_MAX - 2)/3];
+	} type7;
+
+	/* msg 16 - text msg */
+	struct rtcm2_msg16 {
+	    struct {
+		uint        _pad:2;
+		uint	    byte1:8;
+		uint	    byte2:8;
+		uint	    byte3:8;
+		uint        parity:6;
+	    } txt[RTCM2_WORDS_MAX-2];
+	} type16;
+
+	/* unknown message */
+	isgps30bits_t	rtcm2_msgunk[RTCM2_WORDS_MAX-2];
+    } msg_type;
+};
+
+#endif /* S_SPLINT_S */
+#endif /* BIG ENDIAN */
 
 #ifdef RTCM104V2_ENABLE