repository beautification, part 2:

rename the packet drivers to driver_$(protocol).c

1 files changed, 473 insertions, 0 deletions

diff --git a/driver_rtcm3.c b/driver_rtcm3.c
new file mode 100644
index 00000000..807816de
--- /dev/null
+++ b/driver_rtcm3.c
@@ -0,0 +1,473 @@
+/*****************************************************************************
+
+This is a decoder for RTCM-104 3.x, a serial protocol used for
+broadcasting pseudorange corrections from differential-GPS reference
+stations.  The applicable specification is RTCM 10403.1: RTCM Paper
+177-2006-SC104-STD.  This obsolesces the esrlier RTCM-104 2.x
+specifications. The specification document is proprietary; ordering 
+instructions are accessible from <http://www.rtcm.org/>
+under "Publications".  
+
+Unike the RTCM 2.x protocol, RTCM3.x does not use the strange
+sliding-bit-window IS-GPS-200 protocol as a transport layer, but is a
+self-contained byte-oriented packet protocol.  Packet recognition is
+handled in the GPSD packet-getter state machine; this code is
+concerned with unpacking the packets into well-behaved C structures,
+coping with odd field lengths and fields that may overlap byte
+boudaries.  These report structures live in gps.h.
+
+Note that the unpacking this module does is probably useful only for
+RTCM reporting and diagnostic tools.  It is not necessary when
+passing RTCM corrections to a GPS, which normally should just be
+passed an entire correction packet for processing by their internal
+firmware.
+
+*****************************************************************************/
+
+#include <sys/types.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <assert.h>
+#include <arpa/inet.h>	/* for ntohl(3) and friends */
+
+#include "gpsd_config.h"
+#include "gpsd.h"
+#include "bits.h"
+
+#ifdef RTCM104V3_ENABLE
+
+/* scaling constants for RTCM3 real number types */
+#define PSEUDORANGE_RESOLUTION		0.2	/* DF011 */
+#define PSEUDORANGE_DIFF_RESOLUTION	0.0005	/* DF012 */
+#define CARRIER_NOISE_RATIO_UNITS	0.25	/* DF015 */
+#define ANTENNA_POSITION_RESOLUTION	0.0001	/* DF025-027 */
+#define ANTENNA_DEGREE_RESOLUTION	25e-6	/* DF062 */
+#define GPS_EPOCH_TIME_RESOLUTION	0.1	/* DF065 */
+#define PHASE_CORRECTION_RESOLUTION	0.5	/* DF069-070 */
+
+/* Other magic values */
+#define INVALID_PSEUDORANGE		0x80000	/* DF012 */
+
+/*@ -type @*/	/* re-enable when we're ready to take this live */
+
+void rtcm3_unpack(/*@out@*/struct rtcm3_t *rtcm, char *buf)
+/* break out the raw bits into the scaled report-structure fields */
+{
+    unsigned int bitcount = 0;
+    unsigned i;
+    signed long temp;
+
+    /*@ -evalorder -sefparams @*/    
+#define ugrab(width)	(bitcount += width, ubits(buf, bitcount-width, width))
+#define sgrab(width)	(bitcount += width, sbits(buf, bitcount-width, width))
+    assert(ugrab(8) == 0xD3);
+    assert(ugrab(6) == 0x00);
+
+    rtcm->length = (uint)ugrab(10);
+    rtcm->type = (uint)ugrab(12);
+
+    switch(rtcm->type) {
+	case 1001:
+	    rtcm->rtcmtypes.rtcm3_1001.header.msgnum     = (uint)ugrab(12);
+	    rtcm->rtcmtypes.rtcm3_1001.header.station_id = (uint)ugrab(12);
+	    rtcm->rtcmtypes.rtcm3_1001.header.tow        = (time_t)ugrab(30);
+	    rtcm->rtcmtypes.rtcm3_1001.header.sync       = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1001.header.satcount   = (ushort)ugrab(5);
+	    rtcm->rtcmtypes.rtcm3_1001.header.smoothing  = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1001.header.interval   = (ushort)ugrab(3);
+	    for (i = 0; i < rtcm->rtcmtypes.rtcm3_1001.header.satcount; i++) {
+		rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].ident = (ushort)ugrab(6);
+		rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].L1.indicator = (unsigned char)ugrab(1);
+		temp = (long)sgrab(24);
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].L1.pseudorange  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].L1.pseudorange  = temp * PSEUDORANGE_RESOLUTION;
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].L1.rangediff  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].L1.rangediff  = temp * PSEUDORANGE_DIFF_RESOLUTION;
+		rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].L1.locktime = (unsigned char)sgrab(7);
+	    }
+	    break;
+
+	case 1002:
+	    rtcm->rtcmtypes.rtcm3_1002.header.msgnum     = (uint)ugrab(12);
+	    rtcm->rtcmtypes.rtcm3_1002.header.station_id = (uint)ugrab(12);
+	    rtcm->rtcmtypes.rtcm3_1002.header.tow        = (time_t)ugrab(30);
+	    rtcm->rtcmtypes.rtcm3_1002.header.sync       = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1002.header.satcount   = (ushort)ugrab(5);
+	    rtcm->rtcmtypes.rtcm3_1002.header.smoothing  = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1002.header.interval   = (ushort)ugrab(3);
+	    for (i = 0; i < rtcm->rtcmtypes.rtcm3_1002.header.satcount; i++) {
+		rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].ident = (ushort)ugrab(6);
+		rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.indicator = (unsigned char)ugrab(1);
+		temp = (long)sgrab(24);
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.pseudorange  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.pseudorange  = temp * PSEUDORANGE_RESOLUTION;
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.rangediff  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.rangediff  = temp * PSEUDORANGE_DIFF_RESOLUTION;
+		rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.locktime = (unsigned char)sgrab(7);
+		rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.ambiguity = (bool)ugrab(8);
+		rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.CNR = (bool)ugrab(8) * CARRIER_NOISE_RATIO_UNITS;
+	    }
+	    break;
+
+	case 1003:
+	    rtcm->rtcmtypes.rtcm3_1003.header.msgnum     = (uint)ugrab(12);
+	    rtcm->rtcmtypes.rtcm3_1003.header.station_id = (uint)ugrab(12);
+	    rtcm->rtcmtypes.rtcm3_1003.header.tow        = (time_t)ugrab(30);
+	    rtcm->rtcmtypes.rtcm3_1003.header.sync       = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1003.header.satcount   = (ushort)ugrab(5);
+	    rtcm->rtcmtypes.rtcm3_1003.header.smoothing  = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1003.header.interval   = (ushort)ugrab(3);
+	    for (i = 0; i < rtcm->rtcmtypes.rtcm3_1003.header.satcount; i++) {
+		rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].ident = (ushort)ugrab(6);
+		rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.indicator = (unsigned char)ugrab(1);
+		temp = (long)sgrab(24);
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.pseudorange  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.pseudorange  = temp * PSEUDORANGE_RESOLUTION;
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.rangediff  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.rangediff  = temp * PSEUDORANGE_DIFF_RESOLUTION;
+		rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.locktime = (unsigned char)sgrab(7);
+		rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.indicator = (unsigned char)ugrab(2);
+		temp = (long)sgrab(24);
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.pseudorange  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.pseudorange  = temp * PSEUDORANGE_RESOLUTION;
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.rangediff  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.rangediff  = temp * PSEUDORANGE_DIFF_RESOLUTION;
+		rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.locktime = (unsigned char)sgrab(7);
+	    }
+	    break;
+
+	case 1004:
+	    rtcm->rtcmtypes.rtcm3_1004.header.msgnum     = (uint)ugrab(12);
+	    rtcm->rtcmtypes.rtcm3_1004.header.station_id = (uint)ugrab(12);
+	    rtcm->rtcmtypes.rtcm3_1004.header.tow        = (time_t)ugrab(30);
+	    rtcm->rtcmtypes.rtcm3_1004.header.sync       = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1004.header.satcount   = (ushort)ugrab(5);
+	    rtcm->rtcmtypes.rtcm3_1004.header.smoothing  = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1004.header.interval   = (ushort)ugrab(3);
+	    for (i = 0; i < rtcm->rtcmtypes.rtcm3_1004.header.satcount; i++) {
+		rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].ident = (ushort)ugrab(6);
+		rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.indicator = (bool)ugrab(1);
+		temp = (long)sgrab(24);
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.pseudorange  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.pseudorange  = temp * PSEUDORANGE_RESOLUTION;
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.rangediff  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.rangediff  = temp * PSEUDORANGE_DIFF_RESOLUTION;
+		rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.locktime = (unsigned char)sgrab(7);
+		rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.ambiguity = (bool)ugrab(8);
+		rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.CNR = (bool)ugrab(8) * CARRIER_NOISE_RATIO_UNITS;
+		rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.indicator = (unsigned char)ugrab(2);
+		temp = (long)sgrab(24);
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.pseudorange  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.pseudorange  = temp * PSEUDORANGE_RESOLUTION;
+		if (temp == INVALID_PSEUDORANGE)
+		    rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.rangediff  = 0;
+		else
+		    rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.rangediff  = temp * PSEUDORANGE_DIFF_RESOLUTION;
+		rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.locktime = (unsigned char)sgrab(7);
+		rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.ambiguity = (bool)ugrab(8);
+		rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.CNR = (bool)ugrab(8) * CARRIER_NOISE_RATIO_UNITS;
+	    }
+	    break;
+
+	case 1005:
+	    rtcm->rtcmtypes.rtcm3_1005.station_id = (unsigned short)ugrab(12);
+	    ugrab(6);	/* reserved */
+	    if ((bool)ugrab(1))
+		rtcm->rtcmtypes.rtcm3_1005.system = gps;
+	    else if ((bool)ugrab(1))
+		rtcm->rtcmtypes.rtcm3_1005.system = glonass;
+	    else if ((bool)ugrab(1))
+		rtcm->rtcmtypes.rtcm3_1005.system = galileo;
+	    rtcm->rtcmtypes.rtcm3_1005.reference_station = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1005.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
+	    rtcm->rtcmtypes.rtcm3_1005.single_receiver = ugrab(1);
+	    ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1005.ecef_y = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
+	    ugrab(2);
+	    rtcm->rtcmtypes.rtcm3_1005.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
+	    break;
+
+	case 1006:
+	    rtcm->rtcmtypes.rtcm3_1006.station_id = (unsigned short)ugrab(12);
+	    ugrab(6);	/* reserved */
+	    if ((bool)ugrab(1))
+		rtcm->rtcmtypes.rtcm3_1006.system = gps;
+	    else if ((bool)ugrab(1))
+		rtcm->rtcmtypes.rtcm3_1006.system = glonass;
+	    else if ((bool)ugrab(1))
+		rtcm->rtcmtypes.rtcm3_1006.system = galileo;
+	    rtcm->rtcmtypes.rtcm3_1006.reference_station = (bool)ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1006.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
+	    rtcm->rtcmtypes.rtcm3_1006.single_receiver = ugrab(1);
+	    ugrab(1);
+	    rtcm->rtcmtypes.rtcm3_1006.ecef_y = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
+	    ugrab(2);
+	    rtcm->rtcmtypes.rtcm3_1006.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
+	    rtcm->rtcmtypes.rtcm3_1006.height = ugrab(16) * ANTENNA_POSITION_RESOLUTION;
+	    break;
+
+	case 1007:
+	    break;
+
+	case 1008:
+	    break;
+
+	case 1009:
+	    break;
+
+	case 1010:
+	    break;
+
+	case 1011:
+	    break;
+
+	case 1012:
+	    break;
+
+	case 1013:
+	    break;
+
+	case 1014:
+	    break;
+
+	case 1015:
+	    break;
+
+	case 1016:
+	    break;
+
+	case 1017:
+	    break;
+
+	case 1018:
+	    break;
+
+	case 1019:
+	    break;
+
+	case 1020:
+	    break;
+
+	case 1029:
+	    break;
+    }
+#undef sgrab
+#undef ugrab
+    /*@ +evalorder +sefparams @*/    
+}
+
+void rtcm3_dump(struct rtcm3_t *rtcm, FILE *fp)
+/* dump the contents of a parsed RTCM104 message */
+{
+    int i;
+
+    char *systems[] = {"GPS", "Glonass", "Galileo", "unknown"};
+
+    (void)fprintf(fp, "%u (%u):\n", rtcm->type, rtcm->length);
+
+#define BOOL(c)	(c!=0 ? 't' : 'f')
+#define CODE(x) (unsigned int)(x)
+#define INT(x) (unsigned int)(x)
+    switch(rtcm->type) {
+	case 1001:
+	    (void)fprintf(fp, 
+			  "  #%u station_id=%u, tow=%d sync=%c smoothing=%c interval=%u satcount=%u", 
+			  rtcm->rtcmtypes.rtcm3_1001.header.msgnum,
+			  rtcm->rtcmtypes.rtcm3_1001.header.station_id,
+			  (int)rtcm->rtcmtypes.rtcm3_1001.header.tow,
+			  BOOL(rtcm->rtcmtypes.rtcm3_1001.header.sync),
+			  BOOL(rtcm->rtcmtypes.rtcm3_1001.header.smoothing),
+			  rtcm->rtcmtypes.rtcm3_1001.header.interval,
+			  rtcm->rtcmtypes.rtcm3_1001.header.satcount);
+	    for (i = 0; i < rtcm->rtcmtypes.rtcm3_1001.header.satcount; i++) {
+		(void)fprintf(fp, 
+			      "    ident=%u\n      L1: ind=%u prange=%8.1f delta=%6.4f lockt=%u\n", 
+			      rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].ident,
+			      CODE(rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.indicator),
+			      rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].L1.pseudorange,
+			      rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].L1.rangediff,
+			      INT(rtcm->rtcmtypes.rtcm3_1001.rtk_data[i].L1.locktime));
+	    }		
+	    break;
+
+	case 1002:
+	    (void)fprintf(fp, 
+			  "  #%u station_id=%u, tow=%d sync=%c smoothing=%c interval=%u satcount=%u", 
+			  rtcm->rtcmtypes.rtcm3_1002.header.msgnum,
+			  rtcm->rtcmtypes.rtcm3_1002.header.station_id,
+			  (int)rtcm->rtcmtypes.rtcm3_1002.header.tow,
+			  BOOL(rtcm->rtcmtypes.rtcm3_1002.header.sync),
+			  BOOL(rtcm->rtcmtypes.rtcm3_1002.header.smoothing),
+			  rtcm->rtcmtypes.rtcm3_1002.header.interval,
+			  rtcm->rtcmtypes.rtcm3_1002.header.satcount);	    
+	    for (i = 0; i < rtcm->rtcmtypes.rtcm3_1002.header.satcount; i++) {
+		(void)fprintf(fp, 
+			      "    ident=%u\n      L1: ind=%u prange=%8.1f delta=%6.4f lockt=%u amb=%u CNR=%.2f\n",
+			      rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].ident,
+			      CODE(rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.indicator),
+			      rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.pseudorange,
+			      rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.rangediff,
+			      INT(rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.locktime),
+			      INT(rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.ambiguity),
+			      rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.CNR);
+	    }		
+	    break;
+
+	case 1003:
+	    (void)fprintf(fp,
+			  "  #%u station_id=%u, tow=%d sync=%c smoothing=%c interval=%u satcount=%u", 
+			  rtcm->rtcmtypes.rtcm3_1003.header.msgnum,
+			  rtcm->rtcmtypes.rtcm3_1003.header.station_id,
+			  (int)rtcm->rtcmtypes.rtcm3_1003.header.tow,
+			  BOOL(rtcm->rtcmtypes.rtcm3_1003.header.sync),
+			  BOOL(rtcm->rtcmtypes.rtcm3_1003.header.smoothing),
+			  rtcm->rtcmtypes.rtcm3_1003.header.interval,
+			  rtcm->rtcmtypes.rtcm3_1003.header.satcount);	    
+	    for (i = 0; i < rtcm->rtcmtypes.rtcm3_1003.header.satcount; i++) {
+		(void)fprintf(fp, 
+			      "    ident=%u\n      L1: ind=%u prange=%8.1f delta=%6.4f lockt=%u\n      L2: ind=%u prange=%8.1f delta=%6.4f lockt=%u\n", 
+			      rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].ident,
+			      CODE(rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.indicator),
+			      rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.pseudorange,
+			      rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.rangediff,
+			      INT(rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L1.locktime),
+			      CODE(rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.indicator),
+			      rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.pseudorange,
+			      rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.rangediff,
+			      INT(rtcm->rtcmtypes.rtcm3_1003.rtk_data[i].L2.locktime));
+	    }		
+	    break;
+
+	case 1004:
+	    (void)fprintf(fp, 
+			  "  #%u station_id=%u, tow=%d sync=%c smoothing=%c interval=%u satcount=%u\n", 
+			  rtcm->rtcmtypes.rtcm3_1004.header.msgnum,
+			  rtcm->rtcmtypes.rtcm3_1004.header.station_id,
+			  (int)rtcm->rtcmtypes.rtcm3_1004.header.tow,
+			  BOOL(rtcm->rtcmtypes.rtcm3_1004.header.sync),
+			  BOOL(rtcm->rtcmtypes.rtcm3_1004.header.smoothing),
+			  rtcm->rtcmtypes.rtcm3_1004.header.interval,
+			  rtcm->rtcmtypes.rtcm3_1004.header.satcount);
+	    for (i = 0; i < rtcm->rtcmtypes.rtcm3_1004.header.satcount; i++) {
+		(void)fprintf(fp, 
+			      "    ident=%u\n      L1: ind=%u prange=%8.1f delta=%6.4f lockt=%u amb=%u CNR=%.2f\n      L2: ind=%u prange=%8.1f delta=%6.4f lockt=%u amb=%u CNR=%.2f\n", 
+			      rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].ident,
+			      CODE(rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.indicator),
+			      rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.pseudorange,
+			      rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.rangediff,
+			      INT(rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L1.locktime),
+			      INT(rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.ambiguity),
+			      rtcm->rtcmtypes.rtcm3_1002.rtk_data[i].L1.CNR,
+			      CODE(rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.indicator),
+			      rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.pseudorange,
+			      rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.rangediff,
+			      INT(rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.locktime),
+			      INT(rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.ambiguity),
+			      rtcm->rtcmtypes.rtcm3_1004.rtk_data[i].L2.CNR);
+	    }		
+	    break;
+
+	case 1005:
+	    (void)fprintf(fp, 
+			  "  station_id=%u, %s refstation=%c sro=%c x=%f y=%f z=%f\n", 
+			  rtcm->rtcmtypes.rtcm3_1005.station_id,
+			  systems[rtcm->rtcmtypes.rtcm3_1005.system],
+			  BOOL(rtcm->rtcmtypes.rtcm3_1005.reference_station),
+			  BOOL(rtcm->rtcmtypes.rtcm3_1005.single_receiver),
+			  rtcm->rtcmtypes.rtcm3_1005.ecef_x,
+			  rtcm->rtcmtypes.rtcm3_1005.ecef_y,
+			  rtcm->rtcmtypes.rtcm3_1005.ecef_z);
+	    break;
+
+	case 1006:
+	    (void)fprintf(fp, 
+			  "  station_id=%u, %s refstation=%c sro=%c x=%f y=%f z=%f a=%f\n", 
+			  rtcm->rtcmtypes.rtcm3_1006.station_id,
+			  systems[rtcm->rtcmtypes.rtcm3_1006.system],
+			  BOOL(rtcm->rtcmtypes.rtcm3_1006.reference_station),
+			  BOOL(rtcm->rtcmtypes.rtcm3_1006.single_receiver),
+			  rtcm->rtcmtypes.rtcm3_1006.ecef_x,
+			  rtcm->rtcmtypes.rtcm3_1006.ecef_y,
+			  rtcm->rtcmtypes.rtcm3_1006.ecef_z,
+			  rtcm->rtcmtypes.rtcm3_1006.height);
+	    break;
+
+	case 1007:
+	    break;
+
+	case 1008:
+	    break;
+
+	case 1009:
+	    break;
+
+	case 1010:
+	    break;
+
+	case 1011:
+	    break;
+
+	case 1012:
+	    break;
+
+	case 1013:
+	    break;
+
+	case 1014:
+	    break;
+
+	case 1015:
+	    break;
+
+	case 1016:
+	    break;
+
+	case 1017:
+	    break;
+
+	case 1018:
+	    break;
+
+	case 1019:
+	    break;
+
+	case 1020:
+	    break;
+
+	case 1029:
+	    (void)fprintf(fp, "    Unknown content\n"); 
+	    break;
+    }
+#undef CODE
+#undef BOOL
+#undef INT
+}
+
+/*@ +type @*/
+
+#endif /* RTCM104V3_ENABLE */