whitespace and update diego's contact info

1 files changed, 363 insertions, 364 deletions

diff --git a/navcom.c b/navcom.c
index 36a024c7..db2eac2d 100644
--- a/navcom.c
+++ b/navcom.c
@@ -25,10 +25,9 @@
  * 0xef: Clock Drift and Offset
  *
  * FIXME - I'm not too sure of the way I have computed the vertical positional error
- *         I have used FOM as a scaling factor for VDOP, thusly VRMS = FOM/HDOP*VDOP
+ *	 I have used FOM as a scaling factor for VDOP, thusly VRMS = FOM/HDOP*VDOP
  *
- * By Diego Berge. Contact via web form at http://www.nippur.net/survey/xuc/contact
- * (the form is in Catalan, but you'll figure it out)
+ * By Diego Berge. Contact via web form at http://www.navlost.eu/contact
  *
  */
 
@@ -55,20 +54,20 @@
 /* And just to be difficult, Navcom is little endian but the GPS data stream
    is big endian.  Some messages contain raw GPS data */
 #define getlesw_be(buf, off)	(int16_t)((((u_int16_t)getub(buf, (off)) << 8) \
-                                    | (u_int16_t)getub(buf, (off)+1)))
+				    | (u_int16_t)getub(buf, (off)+1)))
 #define getleuw_be(buf, off)	(u_int16_t)((((u_int16_t)getub(buf, (off)) << 8) \
-                                    | (u_int16_t)getub(buf, (off)+1)))
+				    | (u_int16_t)getub(buf, (off)+1)))
 #define getlesl_be(buf, off)	(int32_t)((((u_int16_t)getleuw_be(buf, (off)) << 16) \
-                                    | getleuw_be(buf, (off)+2)))
+				    | getleuw_be(buf, (off)+2)))
 #define getleul_be(buf, off)	(u_int32_t)((((u_int16_t)getleuw_be(buf, (off)) << 16) \
-                                    | getleuw_be(buf, (off)+2)))
+				    | getleuw_be(buf, (off)+2)))
 #define getlesL_be(buf, off)	(int64_t)((((u_int64_t)getleul_be(buf, (off)) << 32) \
-                                    | getleul_be(buf, (off)+4)))
+				    | getleul_be(buf, (off)+4)))
 #define getleuL_be(buf, off)	(u_int64_t)((((u_int64_t)getleul_be(buf, (off)) << 32) \
-                                    | getleul_be(buf, (off)+4)))
+				    | getleul_be(buf, (off)+4)))
 #define getlesl24_be(buf,off)     (int32_t)(((u_int32_t)getub((buf), (off))<<24 \
-                                    | (u_int32_t)getub((buf), (off)+1)<<16 \
-                                    | (u_int32_t)getub((buf), (off)+2)<<8)>>8)
+				    | (u_int32_t)getub((buf), (off)+1)<<16 \
+				    | (u_int32_t)getub((buf), (off)+2)<<8)>>8)
 
 #define NAVCOM_CHANNELS	12
 
@@ -109,9 +108,9 @@ static void navcom_cmd_0x20(struct gps_device_t *session, u_int8_t block_id, u_i
     putbyte(msg, 17, 0x03);
     (void)navcom_send_cmd(session, msg, 18);
     gpsd_report(LOG_PROG,
-                "Navcom: sent command 0x20 (Data Request) "
-                "- data block id = %02x at rate %02x\n",
-                block_id, rate);
+		"Navcom: sent command 0x20 (Data Request) "
+		"- data block id = %02x at rate %02x\n",
+		block_id, rate);
 }
 
 /*@ unused @*/
@@ -132,7 +131,7 @@ static void UNUSED navcom_cmd_0x3f(struct gps_device_t *session)
     putbyte(msg, 11, 0x03);
     (void)navcom_send_cmd(session, msg, 12);
     gpsd_report(LOG_PROG,
-                "Navcom: sent command 0x3f (LED Configuration Block)\n");
+		"Navcom: sent command 0x3f (LED Configuration Block)\n");
 }
 
 /* Test Support Block - Blinks the LEDs */
@@ -152,10 +151,10 @@ static void navcom_cmd_0x1c(struct gps_device_t *session, u_int8_t mode, u_int8_
     putbyte(msg, 11, 0x03);
     (void)navcom_send_cmd(session, msg, 12);
     gpsd_report(LOG_PROG,
-                "Navcom: sent command 0x1c (Test Support Block)\n");
+		"Navcom: sent command 0x1c (Test Support Block)\n");
     gpsd_report(LOG_IO,
-                "Navcom: command 0x1c mode = %02x, length = %u\n",
-                mode, length);
+		"Navcom: command 0x1c mode = %02x, length = %u\n",
+		mode, length);
 }
 
 /* Serial Port Configuration */
@@ -177,9 +176,9 @@ static void navcom_cmd_0x11(struct gps_device_t *session, u_int8_t port_selectio
     putbyte(msg, 11, 0x03);
     (void)navcom_send_cmd(session, msg, 12);
     gpsd_report(LOG_PROG,
-                "Navcom: sent command 0x11 (Serial Port Configuration)\n");
+		"Navcom: sent command 0x11 (Serial Port Configuration)\n");
     gpsd_report(LOG_IO,
-                "Navcom: serial port selection: 0x%02x\n", port_selection);
+		"Navcom: serial port selection: 0x%02x\n", port_selection);
 }
 
 static void navcom_probe_subtype(struct gps_device_t *session, unsigned int seq)
@@ -187,16 +186,16 @@ static void navcom_probe_subtype(struct gps_device_t *session, unsigned int seq)
     /* Request the following messages: */
     if (seq==0) {
 	/*@ +charint @*/
-        navcom_cmd_0x1c(session, 0x01, 5);      /* Blink LEDs on receiver */
-        navcom_cmd_0x20(session, 0xae, 0x1770); /* Identification Block - send every 10 min*/
-        navcom_cmd_0x20(session, 0xb1, 0x4000); /* PVT Block */
-        navcom_cmd_0x20(session, 0xb5, 0x00c8); /* Pseudorange Noise Statistics - send every 20s */
-        navcom_cmd_0x20(session, 0xb0, 0x4000); /* Raw Meas Data Block */
-        navcom_cmd_0x20(session, 0x81, 0x0000); /* Packed Ephemeris Data - send once */
-        navcom_cmd_0x20(session, 0x81, 0x4000); /* Packed Ephemeris Data */
-        navcom_cmd_0x20(session, 0x86, 0x4000); /* Channel Status */
-        navcom_cmd_0x20(session, 0x83, 0x4000); /* Ionosphere and UTC Data */
-        navcom_cmd_0x20(session, 0xef, 0x0bb8); /* Clock Drift - send every 5 min */
+	navcom_cmd_0x1c(session, 0x01, 5);      /* Blink LEDs on receiver */
+	navcom_cmd_0x20(session, 0xae, 0x1770); /* Identification Block - send every 10 min*/
+	navcom_cmd_0x20(session, 0xb1, 0x4000); /* PVT Block */
+	navcom_cmd_0x20(session, 0xb5, 0x00c8); /* Pseudorange Noise Statistics - send every 20s */
+	navcom_cmd_0x20(session, 0xb0, 0x4000); /* Raw Meas Data Block */
+	navcom_cmd_0x20(session, 0x81, 0x0000); /* Packed Ephemeris Data - send once */
+	navcom_cmd_0x20(session, 0x81, 0x4000); /* Packed Ephemeris Data */
+	navcom_cmd_0x20(session, 0x86, 0x4000); /* Channel Status */
+	navcom_cmd_0x20(session, 0x83, 0x4000); /* Ionosphere and UTC Data */
+	navcom_cmd_0x20(session, 0xef, 0x0bb8); /* Clock Drift - send every 5 min */
 	/*@ -charint @*/
     }
 }
@@ -204,12 +203,12 @@ static void navcom_probe_subtype(struct gps_device_t *session, unsigned int seq)
 static void navcom_ping(struct gps_device_t *session)
 {
 /* NOTE - This allows us to know into which of the unit's various
-          serial ports we are connected.
-          Its value gets updated every time we receive a 0x06 (Ack)
-          message.  Note that if commands are being fed into the
-          unit from more than one port (which is entirely possible
-          although not necessarily a bright idea), there is a good
-          chance that we might misidentify our port */
+	  serial ports we are connected.
+	  Its value gets updated every time we receive a 0x06 (Ack)
+	  message.  Note that if commands are being fed into the
+	  unit from more than one port (which is entirely possible
+	  although not necessarily a bright idea), there is a good
+	  chance that we might misidentify our port */
     /*@ -type @*/
     session->driver.navcom.physical_port = 0xFF;
 
@@ -225,51 +224,51 @@ static bool navcom_speed(struct gps_device_t *session, unsigned int speed)
     u_int8_t port_selection;
     u_int8_t baud;
     if (session->driver.navcom.physical_port == (unsigned char)0xFF) {
-        /* We still don't know which port we're connected to */
-        return false;
+	/* We still don't know which port we're connected to */
+	return false;
     }
     /*@ +charint @*/
     switch (speed) {
-        /* NOTE - The spec says that certain baud combinations
-                  on ports A and B are not allowed, those are
-                  1200/115200, 2400/57600, and 2400/115200.
-                  To try and minimise the possibility of those
-                  occurring, we do not allow baud rates below
-                  4800.  We could also disallow 57600 and 115200
-                  to totally prevent this, but I do not consider
-                  that reasonable.  Finding which baud speed the
-                  other port is set at would also be too much
-                  trouble, so we do not do it. */
-        case   4800:
-            baud = 0x04;
-            break;
-        case   9600:
-            baud = 0x06;
-            break;
-        case  19200:
-            baud = 0x08;
-            break;
-        case  38400:
-            baud = 0x0a;
-            break;
-        case  57600:
-            baud = 0x0c;
-            break;
-        case 115200:
-            baud = 0x0e;
-            break;
-        default:
-            /* Unsupported speed */
-            return false;
+	/* NOTE - The spec says that certain baud combinations
+		  on ports A and B are not allowed, those are
+		  1200/115200, 2400/57600, and 2400/115200.
+		  To try and minimise the possibility of those
+		  occurring, we do not allow baud rates below
+		  4800.  We could also disallow 57600 and 115200
+		  to totally prevent this, but I do not consider
+		  that reasonable.  Finding which baud speed the
+		  other port is set at would also be too much
+		  trouble, so we do not do it. */
+	case   4800:
+	    baud = 0x04;
+	    break;
+	case   9600:
+	    baud = 0x06;
+	    break;
+	case  19200:
+	    baud = 0x08;
+	    break;
+	case  38400:
+	    baud = 0x0a;
+	    break;
+	case  57600:
+	    baud = 0x0c;
+	    break;
+	case 115200:
+	    baud = 0x0e;
+	    break;
+	default:
+	    /* Unsupported speed */
+	    return false;
     }
     /*@ -charint @*/
-    
+
     /* Proceed to construct our message */
     port_selection = session->driver.navcom.physical_port | baud;
-    
+
     /* Send it off */
     navcom_cmd_0x11(session, port_selection);
-    
+
     /* And cheekily return true, even though we have
        no way to know if the speed change succeeded
        until and if we receive an ACK (message 0x06),
@@ -287,11 +286,11 @@ static bool navcom_speed(struct gps_device_t *session, unsigned int speed)
 static gps_mask_t handle_0x83(struct gps_device_t *session)
 {
     /* NOTE - At the present moment this is only being used
-              for determining the GPS-UTC time difference,
-              for which the iono data is not needed as far
-              as we are concerned.  However, I am still 
-              reporting it (if debuglevel >= LOG_IO) as a
-              matter of interest */
+	      for determining the GPS-UTC time difference,
+	      for which the iono data is not needed as far
+	      as we are concerned.  However, I am still 
+	      reporting it (if debuglevel >= LOG_IO) as a
+	      matter of interest */
 /* 2^-30 */
 #define SF_A0 (0.000000000931322574615478515625)
 /* 2^-50 */
@@ -337,42 +336,42 @@ static gps_mask_t handle_0x83(struct gps_device_t *session)
     /*@ +charint +relaxtypes @*/
     /* Ref.: ICD-GPS-200C 20.3.3.5.2.4 */
     if ((week%256)*604800+tow/1000.0 < wnlsf*604800+dn*86400) {
-        /* Effectivity time is in the future, use dtls */
-        session->context->leap_seconds = (int)dtls;
+	/* Effectivity time is in the future, use dtls */
+	session->context->leap_seconds = (int)dtls;
     } else {
-        /* Effectivity time is not in the future, use dtlsf */
-        session->context->leap_seconds = (int)dtlsf;
+	/* Effectivity time is not in the future, use dtlsf */
+	session->context->leap_seconds = (int)dtlsf;
     }
     /*@ -relaxtypes -charint @*/
-    
+
     session->gpsdata.sentence_time = gpstime_to_unix((int)week, tow/1000.0)
-            - session->context->leap_seconds;
-    
+	    - session->context->leap_seconds;
+
     gpsd_report(LOG_PROG,
-                "Navcom: received packet type 0x83 (Ionosphere and UTC Data)\n");
+		"Navcom: received packet type 0x83 (Ionosphere and UTC Data)\n");
     gpsd_report(LOG_IO,
-                "Navcom: Scaled parameters follow:\n");
+		"Navcom: Scaled parameters follow:\n");
     gpsd_report(LOG_IO,
-                "Navcom: GPS Week: %u, GPS Time of Week: %lu (GPS Time: %f)\n",
-                week, tow, week*604800+tow/1000.0);
+		"Navcom: GPS Week: %u, GPS Time of Week: %lu (GPS Time: %f)\n",
+		week, tow, week*604800+tow/1000.0);
     gpsd_report(LOG_IO,
-                "Navcom: a0: %12.4E, a1: %12.4E, a2: %12.4E, a3: %12.4E, "
-                "b0: %12.4E, b1: %12.4E, b2: %12.4E, b3: %12.4E\n",
-                (double)alpha0*SF_ALPHA0, (double)alpha1*SF_ALPHA1,
-                (double)alpha2*SF_ALPHA2, (double)alpha3*SF_ALPHA3,
-                (double)beta0*SF_BETA0, (double)beta1*SF_BETA1,
-                (double)beta2*SF_BETA2, (double)beta3*SF_BETA3);
+		"Navcom: a0: %12.4E, a1: %12.4E, a2: %12.4E, a3: %12.4E, "
+		"b0: %12.4E, b1: %12.4E, b2: %12.4E, b3: %12.4E\n",
+		(double)alpha0*SF_ALPHA0, (double)alpha1*SF_ALPHA1,
+		(double)alpha2*SF_ALPHA2, (double)alpha3*SF_ALPHA3,
+		(double)beta0*SF_BETA0, (double)beta1*SF_BETA1,
+		(double)beta2*SF_BETA2, (double)beta3*SF_BETA3);
     gpsd_report(LOG_IO,
-                "Navcom: A0: %19.12E, A1: %19.12E\n", (double)a0*SF_A0, (double)a1*SF_A1);
+		"Navcom: A0: %19.12E, A1: %19.12E\n", (double)a0*SF_A0, (double)a1*SF_A1);
     gpsd_report(LOG_IO,
-                "Navcom: UTC Ref. Time: %u, UTC Ref. Week: %u, dTls: %d\n",
-                (unsigned long)tot*SF_TOT, wnt, dtls);
+		"Navcom: UTC Ref. Time: %u, UTC Ref. Week: %u, dTls: %d\n",
+		(unsigned long)tot*SF_TOT, wnt, dtls);
     gpsd_report(LOG_IO,
-               "Navcom: Week of leap seconds: %u, Day number of leap seconds: %u, dTlsf: %d\n",
-               wnlsf, dn, dtlsf);
-    
+	       "Navcom: Week of leap seconds: %u, Day number of leap seconds: %u, dTlsf: %d\n",
+	       wnlsf, dn, dtlsf);
+
     return 0; /* No flag for update of leap seconds (Not part of a fix) */
-    
+
 #undef SF_A0
 #undef SF_A1
 #undef SF_TOT
@@ -394,11 +393,11 @@ static gps_mask_t handle_0x06(struct gps_device_t *session)
     u_int8_t port = getub(buf, 4);
     session->driver.navcom.physical_port = port; /* This tells us which serial port was used last */
     gpsd_report(LOG_PROG,
-                "Navcom: received packet type 0x06 (Acknowledgement (without error))\n");
+		"Navcom: received packet type 0x06 (Acknowledgement (without error))\n");
     /*@ -type @*/
     gpsd_report(LOG_IO,
-                "Navcom: acknowledged command id 0x%02x on port %c\n",
-                cmd_id, (port==0?'A':(port==1?'B':'?')));
+		"Navcom: acknowledged command id 0x%02x on port %c\n",
+		cmd_id, (port==0?'A':(port==1?'B':'?')));
     /*@ +type @*/
     return 0; /* Nothing updated */
 }
@@ -412,18 +411,18 @@ static gps_mask_t handle_0x15(struct gps_device_t *session)
     /*@ -type @*/
     u_int8_t port, cmd_id = getub(buf, 3);
     gpsd_report(LOG_PROG,
-                "Navcom: received packet type 0x15 (Negative Acknowledge)\n");
+		"Navcom: received packet type 0x15 (Negative Acknowledge)\n");
     for (n=4; n<(msg_len-2); n+=2) {
-        u_int8_t err_id = getub(buf, n);
-        u_int8_t err_desc = getub(buf, n+1);
-        gpsd_report(LOG_IO,
-                    "Navcom: error id = 0x%02x, error description = 0x%02x\n",
-                   err_id, err_desc);
+	u_int8_t err_id = getub(buf, n);
+	u_int8_t err_desc = getub(buf, n+1);
+	gpsd_report(LOG_IO,
+		    "Navcom: error id = 0x%02x, error description = 0x%02x\n",
+		   err_id, err_desc);
     }
     port = getub(buf, n);
     gpsd_report(LOG_IO,
-                "Navcom: negative acknowledge was for command id 0x%02x on port %c\n",
-                cmd_id, (port==0?'A':(port==1?'B':'?')));
+		"Navcom: negative acknowledge was for command id 0x%02x on port %c\n",
+		cmd_id, (port==0?'A':(port==1?'B':'?')));
     /*@ -type @*/
     return 0; /* Nothing updated */
 }
@@ -453,7 +452,7 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session)
     uint8_t fom, gdop, pdop, hdop, vdop, tdop, tfom;
     /* This value means "undefined" */
 #define DOP_UNDEFINED (255)
-    
+
     int16_t ant_height_adj;
     int32_t set_delta_up;
     /* Resolution of delta north, east, and up,
@@ -497,31 +496,31 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session)
     /* Nav mode */
     nav_mode = (uint8_t)getub(buf, 22);
     if (-nav_mode & 0x80) {
-        session->gpsdata.status = STATUS_NO_FIX;
-        session->gpsdata.fix.mode = MODE_NO_FIX;
+	session->gpsdata.status = STATUS_NO_FIX;
+	session->gpsdata.fix.mode = MODE_NO_FIX;
     } else {
-        session->gpsdata.fix.mode = (nav_mode & 0x40 ? MODE_3D : MODE_2D);
-        session->gpsdata.status = (nav_mode & 0x03 ? STATUS_DGPS_FIX : STATUS_FIX);
+	session->gpsdata.fix.mode = (nav_mode & 0x40 ? MODE_3D : MODE_2D);
+	session->gpsdata.status = (nav_mode & 0x03 ? STATUS_DGPS_FIX : STATUS_FIX);
     }
-    
+
     /* Height Data */
     ellips_height = getlesl(buf, 23);
     altitude = getlesl(buf, 27);
 
     ant_height_adj = getlesw(buf, 51);
     set_delta_up = getlesl(buf, 79);
-    
+
     session->gpsdata.fix.altitude = (double)(altitude * EL_RES)
-            + (ant_height_adj * D_RES) + (set_delta_up * D_RES);
+	    + (ant_height_adj * D_RES) + (set_delta_up * D_RES);
     session->gpsdata.separation = (double)(ellips_height - altitude)*EL_RES
-            + (ant_height_adj * D_RES) + (set_delta_up * D_RES);
+	    + (ant_height_adj * D_RES) + (set_delta_up * D_RES);
 
     /* Speed Data */
     vel_north = (double)getlesl24(buf, 31);
     vel_east = (double)getlesl24(buf, 34);
     /* vel_up = getlesl24(buf, 37); */
     vel_up = (double)getlesl24(buf, 37);
-    
+
     track = atan2(vel_east, vel_north);
     if (track < 0)
     	track += 2 * GPS_PI;
@@ -547,7 +546,7 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session)
 #ifndef S_SPLINT_S
     session->gpsdata.fix.eph = fom/100.0*1.96/*Two sigma*/;
     /* FIXME - Which units is tfom in (spec doesn't say) and
-               which units does gpsd require? (docs don't say) */
+	       which units does gpsd require? (docs don't say) */
     session->gpsdata.fix.ept = tfom*1.96/*Two sigma*/;
     /* FIXME This cannot possibly be right */
     /* I cannot find where to get VRMS from in the Navcom output, though,
@@ -555,54 +554,54 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session)
     session->gpsdata.fix.epv = (double)fom/(double)hdop*(double)vdop/100.0*1.96/*Two sigma*/;
 
     if (gdop == DOP_UNDEFINED)
-        session->gpsdata.gdop = NAN;
+	session->gpsdata.gdop = NAN;
     else
-        session->gpsdata.gdop = gdop/10.0;
+	session->gpsdata.gdop = gdop/10.0;
     if (pdop == DOP_UNDEFINED)
-        session->gpsdata.pdop = NAN;
+	session->gpsdata.pdop = NAN;
     else
-        session->gpsdata.pdop = pdop/10.0;
+	session->gpsdata.pdop = pdop/10.0;
     if (hdop == DOP_UNDEFINED)
-        session->gpsdata.hdop = NAN;
+	session->gpsdata.hdop = NAN;
     else
-        session->gpsdata.hdop = hdop/10.0;
+	session->gpsdata.hdop = hdop/10.0;
     if (vdop == DOP_UNDEFINED)
-        session->gpsdata.vdop = NAN;
+	session->gpsdata.vdop = NAN;
     else
-        session->gpsdata.vdop = vdop/10.0;
+	session->gpsdata.vdop = vdop/10.0;
     if (tdop == DOP_UNDEFINED)
-        session->gpsdata.tdop = NAN;
+	session->gpsdata.tdop = NAN;
     else
-        session->gpsdata.tdop = tdop/10.0;
+	session->gpsdata.tdop = tdop/10.0;
 #endif /* S_SPLINT_S */
 
     gpsd_report(LOG_PROG, "Navcom: received packet type 0xb1 (PVT Report)\n");
     gpsd_report(LOG_IO, "Navcom: navigation mode %s (0x%02x) - %s - %s\n",
-                (-nav_mode&0x80?"invalid":"valid"), nav_mode,
-                (nav_mode&0x40?"3D":"2D"), (nav_mode&0x03?"DGPS":"GPS"));
+		(-nav_mode&0x80?"invalid":"valid"), nav_mode,
+		(nav_mode&0x40?"3D":"2D"), (nav_mode&0x03?"DGPS":"GPS"));
     gpsd_report(LOG_IO, "Navcom: latitude = %f, longitude = %f, altitude = %f, geoid = %f\n",
-                session->gpsdata.fix.latitude, session->gpsdata.fix.longitude,
-                session->gpsdata.fix.altitude, session->gpsdata.separation);
+		session->gpsdata.fix.latitude, session->gpsdata.fix.longitude,
+		session->gpsdata.fix.altitude, session->gpsdata.separation);
     gpsd_report(LOG_IO,
-                "Navcom: velocities: north = %f, east = %f, up = %f (track = %f, speed = %f)\n",
-                vel_north*VEL_RES, vel_east*VEL_RES, vel_up*VEL_RES,
-                session->gpsdata.fix.track, session->gpsdata.fix.speed);
+		"Navcom: velocities: north = %f, east = %f, up = %f (track = %f, speed = %f)\n",
+		vel_north*VEL_RES, vel_east*VEL_RES, vel_up*VEL_RES,
+		session->gpsdata.fix.track, session->gpsdata.fix.speed);
     gpsd_report(LOG_IO,
-                "Navcom: hrms = %f, vrms = %f, gdop = %f, pdop = %f, "
-                "hdop = %f, vdop = %f, tdop = %f\n",
-                session->gpsdata.fix.eph, session->gpsdata.fix.epv,
-                session->gpsdata.gdop, session->gpsdata.pdop,
-                session->gpsdata.hdop, session->gpsdata.vdop, session->gpsdata.tdop);
+		"Navcom: hrms = %f, vrms = %f, gdop = %f, pdop = %f, "
+		"hdop = %f, vdop = %f, tdop = %f\n",
+		session->gpsdata.fix.eph, session->gpsdata.fix.epv,
+		session->gpsdata.gdop, session->gpsdata.pdop,
+		session->gpsdata.hdop, session->gpsdata.vdop, session->gpsdata.tdop);
 #undef D_RES
 #undef LL_RES
 #undef LL_FRAC_RES
 #undef EL_RES
 #undef VEL_RES
 #undef DOP_UNDEFINED
-    
+
     return LATLON_SET | ALTITUDE_SET | CLIMB_SET | SPEED_SET | TRACK_SET | TIME_SET
-        | STATUS_SET | MODE_SET | USED_SET | HERR_SET | VERR_SET | TIMERR_SET | DOP_SET 
-        | CYCLE_START_SET;
+	| STATUS_SET | MODE_SET | USED_SET | HERR_SET | VERR_SET | TIMERR_SET | DOP_SET 
+	| CYCLE_START_SET;
 }
 
 /* Packed Ephemeris Data */
@@ -624,11 +623,11 @@ static gps_mask_t handle_0x81(struct gps_device_t *session)
     /* 2^-43 */
 #define SF_DELTA_N   (.000000000000113686837721616029)
     /* 2^-31 */
-#define SF_M0        (.000000000465661287307739257812)
+#define SF_M0	(.000000000465661287307739257812)
     /* 2^-29 */
 #define SF_CUC       (.000000001862645149230957031250)
     /* 2^-33 */
-#define SF_E         (.000000000116415321826934814453)
+#define SF_E	 (.000000000116415321826934814453)
     /* 2^-29 */
 #define SF_CUS       (.000000001862645149230957031250)
     /* 2^-19 */
@@ -642,7 +641,7 @@ static gps_mask_t handle_0x81(struct gps_device_t *session)
     /* 2^-29 */
 #define SF_CIS       (.000000001862645149230957031250)
     /* 2^-31 */
-#define SF_I0        (.000000000465661287307739257812)
+#define SF_I0	(.000000000465661287307739257812)
     /* 2^-5 */
 #define SF_CRC       (.031250000000000000000000000000)
     /* 2^-31 */
@@ -702,36 +701,36 @@ static gps_mask_t handle_0x81(struct gps_device_t *session)
     /*@ +predboolothers @*/
     char time_str[24];
     (void)unix_to_iso8601(gpstime_to_unix((int)wn, (double)(toc*SF_TOC)), time_str, sizeof(time_str));
-    
+
     gpsd_report(LOG_PROG,
-                "Navcom: received packet type 0x81 (Packed Ephemeris Data)\n");
+		"Navcom: received packet type 0x81 (Packed Ephemeris Data)\n");
     gpsd_report(LOG_IO,
-                "Navcom: PRN: %u, Epoch: %u (%s), SV clock bias/drift/drift rate: %#19.12E/%#19.12E/%#19.12E\n",
-                prn, toc*SF_TOC, time_str, ((double)af0)*SF_AF0, ((double)af1)*SF_AF1, ((double)af2)*SF_AF2);
+		"Navcom: PRN: %u, Epoch: %u (%s), SV clock bias/drift/drift rate: %#19.12E/%#19.12E/%#19.12E\n",
+		prn, toc*SF_TOC, time_str, ((double)af0)*SF_AF0, ((double)af1)*SF_AF1, ((double)af2)*SF_AF2);
     gpsd_report(LOG_IO,
-                "Navcom: IODE (!AODE): %u Crs: %19.12e, Delta n: %19.12e, M0: %19.12e\n",
-                iode, (double)crs*SF_CRS, (double)delta_n*SF_DELTA_N*GPS_PI, (double)m0*SF_M0*GPS_PI);
+		"Navcom: IODE (!AODE): %u Crs: %19.12e, Delta n: %19.12e, M0: %19.12e\n",
+		iode, (double)crs*SF_CRS, (double)delta_n*SF_DELTA_N*GPS_PI, (double)m0*SF_M0*GPS_PI);
     gpsd_report(LOG_IO,
-                "Navcom: Cuc: %19.12e, Eccentricity: %19.12e, Cus: %19.12e, A^1/2: %19.12e\n",
-                (double)cuc*SF_CUC, (double)e*SF_E, (double)cus*SF_CUS, (double)sqrt_a*SF_SQRT_A);
+		"Navcom: Cuc: %19.12e, Eccentricity: %19.12e, Cus: %19.12e, A^1/2: %19.12e\n",
+		(double)cuc*SF_CUC, (double)e*SF_E, (double)cus*SF_CUS, (double)sqrt_a*SF_SQRT_A);
     gpsd_report(LOG_IO,
-                "Navcom: TOE: %u, Cic: %19.12e, Omega %19.12e, Cis: %19.12e\n",
-                toe*SF_TOE, (double)cic*SF_CIC, (double)Omega0*SF_OMEGA0*GPS_PI,
-                (double)cis*SF_CIS);
+		"Navcom: TOE: %u, Cic: %19.12e, Omega %19.12e, Cis: %19.12e\n",
+		toe*SF_TOE, (double)cic*SF_CIC, (double)Omega0*SF_OMEGA0*GPS_PI,
+		(double)cis*SF_CIS);
     gpsd_report(LOG_IO,
-                "Navcom: i0: %19.12e, Crc: %19.12e, omega: %19.12e, Omega dot: %19.12e\n",
-                (double)i0*SF_I0*GPS_PI, (double)crc*SF_CRC, (double)omega*SF_OMEGA*GPS_PI,
-                (double)Omegadot*SF_OMEGADOT*GPS_PI);
+		"Navcom: i0: %19.12e, Crc: %19.12e, omega: %19.12e, Omega dot: %19.12e\n",
+		(double)i0*SF_I0*GPS_PI, (double)crc*SF_CRC, (double)omega*SF_OMEGA*GPS_PI,
+		(double)Omegadot*SF_OMEGADOT*GPS_PI);
     gpsd_report(LOG_IO,
-                "Navcom: IDOT: %19.12e, Codes on L2: 0x%x, GPS Week: %u, L2 P data flag: %x\n",
-                (double)idot*SF_IDOT*GPS_PI, cl2, week-(week%1024)+wn, l2pd);
+		"Navcom: IDOT: %19.12e, Codes on L2: 0x%x, GPS Week: %u, L2 P data flag: %x\n",
+		(double)idot*SF_IDOT*GPS_PI, cl2, week-(week%1024)+wn, l2pd);
     gpsd_report(LOG_IO,
-                "Navcom: SV accuracy: 0x%x, SV health: 0x%x, TGD: %f, IODC (!AODC): %u\n",
-                ura, svh, (double)tgd*SF_TGD, iodc);
+		"Navcom: SV accuracy: 0x%x, SV health: 0x%x, TGD: %f, IODC (!AODC): %u\n",
+		ura, svh, (double)tgd*SF_TGD, iodc);
     gpsd_report(LOG_IO,
-                "Navcom: Transmission time: %u\n",
-                tow);
-    
+		"Navcom: Transmission time: %u\n",
+		tow);
+
 #undef SF_TGD
 #undef SF_TOC
 #undef SF_AF2
@@ -776,7 +775,7 @@ static gps_mask_t handle_0x86(struct gps_device_t *session)
 
     /* Timestamp and PDOP */
     session->gpsdata.sentence_time = gpstime_to_unix((int)week, tow/1000.0)
-            - session->context->leap_seconds;
+	    - session->context->leap_seconds;
     session->gpsdata.pdop = (int)pdop / 10.0;
 
     /* Satellite count */
@@ -798,56 +797,56 @@ static gps_mask_t handle_0x86(struct gps_device_t *session)
 
     /*@ -predboolothers @*/
     gpsd_report(LOG_PROG,
-               "Navcom: received packet type 0x86 (Channel Status) "
-               "- satellites: visible = %u, tracked = %u, used = %u\n",
+	       "Navcom: received packet type 0x86 (Channel Status) "
+	       "- satellites: visible = %u, tracked = %u, used = %u\n",
 	       sats_visible, sats_tracked, sats_used);
     gpsd_report(LOG_IO,
-               "Navcom: engine status = 0x%x, almanac = %s, time = 0x%x, pos = 0x%x\n",
-               eng_status&0x07, (eng_status&0x08?"valid":"invalid"),
-               eng_status&0x30>>4, eng_status&0xc0>>6);
+	       "Navcom: engine status = 0x%x, almanac = %s, time = 0x%x, pos = 0x%x\n",
+	       eng_status&0x07, (eng_status&0x08?"valid":"invalid"),
+	       eng_status&0x30>>4, eng_status&0xc0>>6);
     /*@ +predboolothers @*/
 
     /* Satellite details */
     i = 0;
     for(n = 17; n < msg_len; n += 14) {
 	if(i >= MAXCHANNELS) {
-            gpsd_report(LOG_ERROR,
-                        "Navcom: packet type 0x86: too many satellites!\n");
-            gpsd_zero_satellites(&session->gpsdata);
-            return ERROR_SET;
+	    gpsd_report(LOG_ERROR,
+			"Navcom: packet type 0x86: too many satellites!\n");
+	    gpsd_zero_satellites(&session->gpsdata);
+	    return ERROR_SET;
 	}
-        prn = getub(buf, n);
+	prn = getub(buf, n);
 	tracking_status = getub(buf, n+1);
-        log_channel = getub(buf, n+2);
+	log_channel = getub(buf, n+2);
 	ele = getub(buf, n+5);
 	azm =  getleuw(buf, n+6);
 	ca_snr = getub(buf, n+8);
 	p2_snr = getub(buf, n+10);
-        dgps_age = getleuw(buf, n+11);
+	dgps_age = getleuw(buf, n+11);
 	hw_channel = getub(buf, n+13);
 	/*@ -predboolothers +charint @*/
-        /* NOTE - In theory, I think one would check for hw channel number to
-           see if one is dealing with a GPS or other satellite, but the
-           channel numbers reported bear no resemblance to what the spec
-           says should be.  So I check for the fact that if all three 
-           values below are zero, one is not interested on this satellite */
-        if (!(ele == 0 && azm == 0 && dgps_age == 0)) {
-            session->gpsdata.PRN[i] = (int)prn;
-            session->gpsdata.elevation[i] = (int)ele;
-            session->gpsdata.azimuth[i] = (int)azm;
-            session->gpsdata.ss[i++] = (p2_snr ? p2_snr : ca_snr) / 4;
-        }
-        gpsd_report(LOG_IO,
-                    "Navcom: prn = %3u, ele = %02u, azm = %03u, snr = %d (%s), "
-                    "dgps age = %.1fs, log ch = %d, hw ch = 0x%02x\n",
-                    prn, ele, azm, session->gpsdata.ss, (p2_snr?"P2":"C/A"),
-                    (double)dgps_age*0.1, log_channel&0x3f, hw_channel);
-        gpsd_report(LOG_IO,
-                    "Navcom:            sol. valid = %c, clock = %s, pos. = %s, "
-                    "height = %s, err. code = 0x%x\n",
-                    (sol_status&0x01?'Y':'N'), (sol_status&0x02?"stable":"unstable"),
-                    (sol_status&0x04?"dgps":"unaided"), (sol_status&0x08?"solved":"constrained"),
-                    (sol_status&0x01?0x00:sol_status&0x0f00>>8));
+	/* NOTE - In theory, I think one would check for hw channel number to
+	   see if one is dealing with a GPS or other satellite, but the
+	   channel numbers reported bear no resemblance to what the spec
+	   says should be.  So I check for the fact that if all three 
+	   values below are zero, one is not interested on this satellite */
+	if (!(ele == 0 && azm == 0 && dgps_age == 0)) {
+	    session->gpsdata.PRN[i] = (int)prn;
+	    session->gpsdata.elevation[i] = (int)ele;
+	    session->gpsdata.azimuth[i] = (int)azm;
+	    session->gpsdata.ss[i++] = (p2_snr ? p2_snr : ca_snr) / 4;
+	}
+	gpsd_report(LOG_IO,
+		    "Navcom: prn = %3u, ele = %02u, azm = %03u, snr = %d (%s), "
+		    "dgps age = %.1fs, log ch = %d, hw ch = 0x%02x\n",
+		    prn, ele, azm, session->gpsdata.ss, (p2_snr?"P2":"C/A"),
+		    (double)dgps_age*0.1, log_channel&0x3f, hw_channel);
+	gpsd_report(LOG_IO,
+		    "Navcom:	    sol. valid = %c, clock = %s, pos. = %s, "
+		    "height = %s, err. code = 0x%x\n",
+		    (sol_status&0x01?'Y':'N'), (sol_status&0x02?"stable":"unstable"),
+		    (sol_status&0x04?"dgps":"unaided"), (sol_status&0x08?"solved":"constrained"),
+		    (sol_status&0x01?0x00:sol_status&0x0f00>>8));
 	/*@ +predboolothers -charint @*/
     }
 
@@ -866,50 +865,50 @@ static gps_mask_t handle_0xb0(struct gps_device_t *session)
     u_int32_t tow = getleul(buf, 5);
     u_int8_t tm_slew_acc = getub(buf, 9);
     u_int8_t status = getub(buf, 10);
-    
+
     char time_str[24];
     (void)unix_to_iso8601(gpstime_to_unix((int)week, (double)tow/1000.0), time_str, sizeof(time_str));
 
     gpsd_report(LOG_PROG,
-                "Navcom: received packet type 0xb0 (Raw Meas. Data Block)\n");
+		"Navcom: received packet type 0xb0 (Raw Meas. Data Block)\n");
     /*@ -predboolothers @*/
     gpsd_report(LOG_IO,
-                "Navcom: Epoch = %s, time slew accumulator = %u (1/1023mS), status = 0x%02x "
-                "(%sclock %s - %u blocks follow)\n",
-                time_str,
-                tm_slew_acc, status, (status&0x80?"channel time set - ":""),
-                (status&0x40?"stable":"not stable"), status&0x0f);
+		"Navcom: Epoch = %s, time slew accumulator = %u (1/1023mS), status = 0x%02x "
+		"(%sclock %s - %u blocks follow)\n",
+		time_str,
+		tm_slew_acc, status, (status&0x80?"channel time set - ":""),
+		(status&0x40?"stable":"not stable"), status&0x0f);
     /*@ +predboolothers @*/
     for (n=11; n<msg_len-1; n+=16) {
-        u_int8_t sv_status = getub(buf, n);
-        u_int8_t ch_status = getub(buf, n+1);
-        u_int32_t ca_pseudorange = getleul(buf, n+2);
+	u_int8_t sv_status = getub(buf, n);
+	u_int8_t ch_status = getub(buf, n+1);
+	u_int32_t ca_pseudorange = getleul(buf, n+2);
 	/* integer division by 16 is a sign-preserving right shift of 4 bits */
-        int32_t l1_phase = getlesl24(buf, n+6) / 16;
-        u_int8_t l1_slips = (u_int8_t)(getlesl24(buf, n+6) & 0x0f);
-        int16_t p1_ca_pseudorange = getlesw(buf, n+9);
-        int16_t p2_ca_pseudorange = getlesw(buf, n+11);
-        int32_t l2_phase = getlesl24(buf, n+13) / 16;
-        u_int8_t l2_slips = (u_int8_t)(getlesl24(buf, n+13) & 0x0f);
+	int32_t l1_phase = getlesl24(buf, n+6) / 16;
+	u_int8_t l1_slips = (u_int8_t)(getlesl24(buf, n+6) & 0x0f);
+	int16_t p1_ca_pseudorange = getlesw(buf, n+9);
+	int16_t p2_ca_pseudorange = getlesw(buf, n+11);
+	int32_t l2_phase = getlesl24(buf, n+13) / 16;
+	u_int8_t l2_slips = (u_int8_t)(getlesl24(buf, n+13) & 0x0f);
 	/*@ -predboolothers +charint @*/
-        double c1 = (sv_status&0x80? (double)ca_pseudorange/16.0*LAMBDA_L1 : NAN);
-        double l1 = (sv_status&0x80? (double)ca_pseudorange/16.0 + (double)l1_phase/256.0 : NAN);
-        double l2 = (sv_status&0x20? ((double)ca_pseudorange/16.0
-                    + (double)p2_ca_pseudorange/16.0)*(120.0/154.0)
-                    +(double)l2_phase/256.0 : NAN);
-        double p1 = (sv_status&0x40? c1 + (double)p1_ca_pseudorange/16.0*LAMBDA_L1 : NAN);
-        double p2 = (sv_status&0x20? c1 + (double)p2_ca_pseudorange/16.0*LAMBDA_L1 : NAN);
-        gpsd_report(LOG_IO+1,
-                    "Navcom: >> sv status = 0x%02x (PRN %u - C/A & L1 %s - P1 %s - P2 & L2 %s)\n",
-                    sv_status, (sv_status&0x1f), (sv_status&0x80?"valid":"invalid"),
-                    (sv_status&0x40?"valid":"invalid"), (sv_status&0x20?"valid":"invalid"));
-        gpsd_report(LOG_IO+1,
-                    "Navcom: >>> ch status = 0x%02x (Logical channel: %u - CA C/No: %u dBHz) "
-                    "sL1: %u, sL2: %u\n",
-                    ch_status, ch_status&0x0f, ((ch_status&0xf0)>>4)+35, l1_slips, l2_slips);
-        gpsd_report(LOG_IO+1,
-                    "Navcom: >>> C1: %14.3f, L1: %14.3f, L2: %14.3f, P1: %14.3f, P2: %14.3f\n",
-                    c1, l1, l2, p1, p2);
+	double c1 = (sv_status&0x80? (double)ca_pseudorange/16.0*LAMBDA_L1 : NAN);
+	double l1 = (sv_status&0x80? (double)ca_pseudorange/16.0 + (double)l1_phase/256.0 : NAN);
+	double l2 = (sv_status&0x20? ((double)ca_pseudorange/16.0
+		    + (double)p2_ca_pseudorange/16.0)*(120.0/154.0)
+		    +(double)l2_phase/256.0 : NAN);
+	double p1 = (sv_status&0x40? c1 + (double)p1_ca_pseudorange/16.0*LAMBDA_L1 : NAN);
+	double p2 = (sv_status&0x20? c1 + (double)p2_ca_pseudorange/16.0*LAMBDA_L1 : NAN);
+	gpsd_report(LOG_IO+1,
+		    "Navcom: >> sv status = 0x%02x (PRN %u - C/A & L1 %s - P1 %s - P2 & L2 %s)\n",
+		    sv_status, (sv_status&0x1f), (sv_status&0x80?"valid":"invalid"),
+		    (sv_status&0x40?"valid":"invalid"), (sv_status&0x20?"valid":"invalid"));
+	gpsd_report(LOG_IO+1,
+		    "Navcom: >>> ch status = 0x%02x (Logical channel: %u - CA C/No: %u dBHz) "
+		    "sL1: %u, sL2: %u\n",
+		    ch_status, ch_status&0x0f, ((ch_status&0xf0)>>4)+35, l1_slips, l2_slips);
+	gpsd_report(LOG_IO+1,
+		    "Navcom: >>> C1: %14.3f, L1: %14.3f, L2: %14.3f, P1: %14.3f, P2: %14.3f\n",
+		    c1, l1, l2, p1, p2);
 	/*@ +predboolothers -charint @*/
     }
 #undef LAMBDA_L1
@@ -920,45 +919,45 @@ static gps_mask_t handle_0xb0(struct gps_device_t *session)
 static gps_mask_t handle_0xb5(struct gps_device_t *session)
 {
     if(sizeof(double) == 8) {
-        union long_double l_d;
-        unsigned char *buf = session->packet.outbuffer + 3;
-        u_int16_t week = getleuw(buf, 3);
-        u_int32_t tow = getleul(buf, 5);
-        double rms = getled(buf, 9);
+	union long_double l_d;
+	unsigned char *buf = session->packet.outbuffer + 3;
+	u_int16_t week = getleuw(buf, 3);
+	u_int32_t tow = getleul(buf, 5);
+	double rms = getled(buf, 9);
 #ifdef __UNUSED__
-        /* Reason why it's unused is these figures do not agree
-        with those obtained from the PVT report (handle_0xb1).
-        The figures from 0xb1 do agree with the values reported
-        by Navcom's PC utility */
-        double ellips_maj = getled(buf, 17);
-        double ellips_min = getled(buf, 25);
-        double ellips_azm = getled(buf, 33);
-        double lat_sd = getled(buf, 41);
-        double lon_sd = getled(buf, 49);
-        double alt_sd = getled(buf, 57);
-        double hrms = sqrt(pow(lat_sd, 2) + pow(lon_sd, 2));
+	/* Reason why it's unused is these figures do not agree
+	with those obtained from the PVT report (handle_0xb1).
+	The figures from 0xb1 do agree with the values reported
+	by Navcom's PC utility */
+	double ellips_maj = getled(buf, 17);
+	double ellips_min = getled(buf, 25);
+	double ellips_azm = getled(buf, 33);
+	double lat_sd = getled(buf, 41);
+	double lon_sd = getled(buf, 49);
+	double alt_sd = getled(buf, 57);
+	double hrms = sqrt(pow(lat_sd, 2) + pow(lon_sd, 2));
 #endif /*  __UNUSED__ */
-        session->gpsdata.epe = rms*1.96;
+	session->gpsdata.epe = rms*1.96;
 #ifdef __UNUSED__
-        session->gpsdata.fix.eph = hrms*1.96;
-        session->gpsdata.fix.epv = alt_sd*1.96;
+	session->gpsdata.fix.eph = hrms*1.96;
+	session->gpsdata.fix.epv = alt_sd*1.96;
 #endif /*  __UNUSED__ */
-        session->gpsdata.sentence_time = gpstime_to_unix((int)week, tow/1000.0)
-                - session->context->leap_seconds;
-        gpsd_report(LOG_PROG,
-                    "Navcom: received packet type 0xb5 (Pseudorange Noise Statistics)\n");
-        gpsd_report(LOG_IO,
-                    "Navcom: epe = %f\n", session->gpsdata.epe);
-        return TIME_SET | PERR_SET;
+	session->gpsdata.sentence_time = gpstime_to_unix((int)week, tow/1000.0)
+		- session->context->leap_seconds;
+	gpsd_report(LOG_PROG,
+		    "Navcom: received packet type 0xb5 (Pseudorange Noise Statistics)\n");
+	gpsd_report(LOG_IO,
+		    "Navcom: epe = %f\n", session->gpsdata.epe);
+	return TIME_SET | PERR_SET;
     } else {
-        /* Ignore this message block */
-        if (!session->driver.navcom.warned) {
-            gpsd_report(LOG_WARN,
-                        "Navcom: received packet type 0xb5 (Pseudorange Noise Statistics) ignored "
-                                " - sizeof(double) == 64 bits required\n");
-            session->driver.navcom.warned = true;
-        }
-        return 0; /* Block ignored - wrong sizeof(double) */
+	/* Ignore this message block */
+	if (!session->driver.navcom.warned) {
+	    gpsd_report(LOG_WARN,
+			"Navcom: received packet type 0xb5 (Pseudorange Noise Statistics) ignored "
+				" - sizeof(double) == 64 bits required\n");
+	    session->driver.navcom.warned = true;
+	}
+	return 0; /* Block ignored - wrong sizeof(double) */
     }
 }
 
@@ -1001,104 +1000,104 @@ static gps_mask_t handle_0xae(struct gps_device_t *session)
     memcpy(softtm, &buf[13], 16);
     memcpy(bootstr, &buf[29], 16);
     if (msg_len == 0x0037) { /* No IOP */
-        slsbn = getub(buf, 53);
+	slsbn = getub(buf, 53);
     } else { /* IOP Present */
-        iopvermaj  = getub(buf, 53);
-        iopvermin  = getub(buf, 54);
-        memcpy(ioptm, &buf[55], 16);
-        picver     = getub(buf, 71);
-        slsbn      = getub(buf, 72);
-        iopsbn     = getub(buf, 73);
+	iopvermaj  = getub(buf, 53);
+	iopvermin  = getub(buf, 54);
+	memcpy(ioptm, &buf[55], 16);
+	picver     = getub(buf, 71);
+	slsbn      = getub(buf, 72);
+	iopsbn     = getub(buf, 73);
     }
 
     switch(engconf)
     {
     case 0x00:
-        engconfstr = "Unknown/Undefined";
-        break;
+	engconfstr = "Unknown/Undefined";
+	break;
     case 0x01:
-        engconfstr = "NCT 2000 S";
-        break;
+	engconfstr = "NCT 2000 S";
+	break;
     case 0x02:
-        engconfstr = "NCT 2000 D";
-        break;
+	engconfstr = "NCT 2000 D";
+	break;
     case 0x03:
-        engconfstr = "Startfire Single";
-        break;
+	engconfstr = "Startfire Single";
+	break;
     case 0x04:
-        engconfstr = "Starfire Dual";
-        break;
+	engconfstr = "Starfire Dual";
+	break;
     case 0x05:
-        engconfstr = "Pole Mount RTK (Internal Radio)";
-        break;
+	engconfstr = "Pole Mount RTK (Internal Radio)";
+	break;
     case 0x06:
-        engconfstr = "Pole Mount GIS (LBM)";
-        break;
+	engconfstr = "Pole Mount GIS (LBM)";
+	break;
     case 0x07:
-        engconfstr = "Black Box RTK (Internal Radio)";
-        break;
+	engconfstr = "Black Box RTK (Internal Radio)";
+	break;
     case 0x08:
-        engconfstr = "Black Box GIS (LBM)";
-        break;
+	engconfstr = "Black Box GIS (LBM)";
+	break;
     case 0x80:
-        engconfstr = "R100";
-        break;
+	engconfstr = "R100";
+	break;
     case 0x81:
-        engconfstr = "R200";
-        break;
+	engconfstr = "R200";
+	break;
     case 0x82:
-        engconfstr = "R210";
-        break;
+	engconfstr = "R210";
+	break;
     case 0x83:
-        engconfstr = "R300";
-        break;
+	engconfstr = "R300";
+	break;
     case 0x84:
-        engconfstr = "R310";
-        break;
+	engconfstr = "R310";
+	break;
     default:
-        engconfstr = "?";
+	engconfstr = "?";
     }
 
     switch(asic)
     {
     case 0x01:
-        asicstr = "A-ASIC";
-        break;
+	asicstr = "A-ASIC";
+	break;
     case 0x02:
-        asicstr = "B-ASIC";
-        break;
+	asicstr = "B-ASIC";
+	break;
     case 0x03:
-        asicstr = "C-ASIC";
-        break;
+	asicstr = "C-ASIC";
+	break;
     case 0x04:
-        asicstr = "M-ASIC";
-        break;
+	asicstr = "M-ASIC";
+	break;
     default:
-        asicstr = "?";
+	asicstr = "?";
     }
 
     gpsd_report(LOG_PROG, "Navcom: received packet type 0xae (Identification Block)\n");
     if(msg_len == 0x0037) {
-        gpsd_report(LOG_INF, "Navcom: ID Data: "
-                    "%s %s Ver. %u.%u.%u, DC S/N: %u.%u, RF S/N: %u.%u, "
-                    "Build ID: %s, Boot software: %s\n",
-                    engconfstr, asicstr, swvermaj, swvermin, slsbn, dcser, dcclass,
-                    rfcser, rfcclass, softtm, bootstr);
+	gpsd_report(LOG_INF, "Navcom: ID Data: "
+		    "%s %s Ver. %u.%u.%u, DC S/N: %u.%u, RF S/N: %u.%u, "
+		    "Build ID: %s, Boot software: %s\n",
+		    engconfstr, asicstr, swvermaj, swvermin, slsbn, dcser, dcclass,
+		    rfcser, rfcclass, softtm, bootstr);
     } else {
-        gpsd_report(LOG_INF, "Navcom: ID Data: "
-                    "%s %s Ver. %u.%u.%u, DC S/N: %u.%u, RF S/N: %u.%u, "
-                    "Build ID: %s, Boot software: %s, "
-                    "IOP Ver.: %u.%u.%u, PIC: %u, IOP Build ID: %s\n",
-                    engconfstr, asicstr, swvermaj, swvermin, slsbn, dcser, dcclass,
-                    rfcser, rfcclass, softtm, bootstr, iopvermaj, iopvermin, iopsbn,
-                    picver, ioptm);
+	gpsd_report(LOG_INF, "Navcom: ID Data: "
+		    "%s %s Ver. %u.%u.%u, DC S/N: %u.%u, RF S/N: %u.%u, "
+		    "Build ID: %s, Boot software: %s, "
+		    "IOP Ver.: %u.%u.%u, PIC: %u, IOP Build ID: %s\n",
+		    engconfstr, asicstr, swvermaj, swvermin, slsbn, dcser, dcclass,
+		    rfcser, rfcclass, softtm, bootstr, iopvermaj, iopvermin, iopsbn,
+		    picver, ioptm);
     }
 
     /*@ -formattype @*/
     (void)snprintf(session->subtype, sizeof(session->subtype),
-             "%s %s Ver. %u.%u.%u S/N %u.%u %u.%u",
-             engconfstr, asicstr, swvermaj, swvermin, slsbn, dcser, dcclass,
-             rfcser, rfcclass);
+	     "%s %s Ver. %u.%u.%u S/N %u.%u %u.%u",
+	     engconfstr, asicstr, swvermaj, swvermin, slsbn, dcser, dcclass,
+	     rfcser, rfcclass);
     /*@ +formattype @*/
     return DEVICEID_SET;
 }
@@ -1118,29 +1117,29 @@ static gps_mask_t handle_0xef(struct gps_device_t *session)
     float osc_filter_drift_est;
     int32_t time_slew = (int32_t)getlesl(buf, 27);
     if (sizeof(double) == 8) {
-        nav_clock_offset = getled(buf, 11);
+	nav_clock_offset = getled(buf, 11);
     } else {
-        nav_clock_offset = NAN;
+	nav_clock_offset = NAN;
     }
     if (sizeof(float) == 4) {    
-        nav_clock_drift = getlef(buf, 19);
-        osc_filter_drift_est = getlef(buf, 23);
+	nav_clock_drift = getlef(buf, 19);
+	osc_filter_drift_est = getlef(buf, 23);
     } else {
-        nav_clock_drift = NAN;
-        osc_filter_drift_est = NAN;
+	nav_clock_drift = NAN;
+	osc_filter_drift_est = NAN;
     }
-    
+
     session->gpsdata.sentence_time = gpstime_to_unix((int)week, tow/1000.0) 
-            - session->context->leap_seconds;
-    
+	    - session->context->leap_seconds;
+
     gpsd_report(LOG_PROG,
-                "Navcom: received packet type 0xef (Clock Drift and Offset)\n");
+		"Navcom: received packet type 0xef (Clock Drift and Offset)\n");
     gpsd_report(LOG_IO,
-                "Navcom: oscillator temp. = %d, nav. status = 0x%02x, "
-                "nav. clock offset = %f, nav. clock drift = %f, "
-                "osc. filter drift est. = %f, acc.time slew value = %f\n",
-                osc_temp, nav_status, nav_clock_offset, nav_clock_drift,
-                osc_filter_drift_est, time_slew);
+		"Navcom: oscillator temp. = %d, nav. status = 0x%02x, "
+		"nav. clock offset = %f, nav. clock drift = %f, "
+		"osc. filter drift est. = %f, acc.time slew value = %f\n",
+		osc_temp, nav_status, nav_clock_offset, nav_clock_drift,
+		osc_filter_drift_est, time_slew);
     return TIME_SET;
 }
 
@@ -1158,7 +1157,7 @@ gps_mask_t navcom_parse(struct gps_device_t *session, unsigned char *buf, size_t
     cmd_id = getub(buf, 3);
     payload = &buf[6];
     msg_len = getleuw(buf, 4);
-   
+
     /*@ -usedef -compdef @*/
     gpsd_report(LOG_RAW, "Navcom: packet type 0x%02x, length %d: %s\n",
 	cmd_id, msg_len, gpsd_hexdump_wrapper(buf, len, LOG_RAW));
@@ -1170,30 +1169,30 @@ gps_mask_t navcom_parse(struct gps_device_t *session, unsigned char *buf, size_t
     switch (cmd_id)
     {
     case 0x06:
-        return handle_0x06(session);
+	return handle_0x06(session);
     case 0x15:
 	return handle_0x15(session);
     case 0x81:
-        return handle_0x81(session);
+	return handle_0x81(session);
     case 0x83:
-        return handle_0x83(session);
+	return handle_0x83(session);
     case 0x86:
 	return handle_0x86(session);
     case 0xae:
-        return handle_0xae(session);
+	return handle_0xae(session);
     case 0xb0:
-        return handle_0xb0(session);
+	return handle_0xb0(session);
     case 0xb1:
 	return handle_0xb1(session);
     case 0xb5:
 	return handle_0xb5(session);
     case 0xd3:
-        return handle_0xd3(session);
+	return handle_0xd3(session);
     case 0xef:
-        return handle_0xef(session);
+	return handle_0xef(session);
     default:
-        gpsd_report(LOG_PROG,
-                    "Navcom: received packet type 0x%02x, length %d - unknown or unimplemented\n",
+	gpsd_report(LOG_PROG,
+		    "Navcom: received packet type 0x%02x, length %d - unknown or unimplemented\n",
 		    cmd_id, msg_len);
 	return 0;
     }
@@ -1223,7 +1222,7 @@ static gps_mask_t navcom_parse_input(struct gps_device_t *session)
 struct gps_type_t navcom_binary =
 {
     .type_name      = "Navcom binary",  	/* full name of type */
-    .trigger        = "\x02\x99\x66",           /* Every packet begins with this */
+    .trigger	= "\x02\x99\x66",	   /* Every packet begins with this */
     .channels       = NAVCOM_CHANNELS,		/* 12 L1 + 12 L2 + 2 Inmarsat L-Band */
     .probe_wakeup   = navcom_ping,		/* wakeup to be done before hunt */
     .probe_detect   = NULL,			/* no probe */
@@ -1239,10 +1238,10 @@ struct gps_type_t navcom_binary =
     .rate_switcher  = NULL,			/* no sample-rate switcher */
     .cycle_chars    = -1,			/* ignore, no rate switch */
 #ifdef ALLOW_RECONFIGURE
-    .revert         = NULL,			/* no reversion code */
+    .revert	 = NULL,			/* no reversion code */
 #endif /* ALLOW_RECONFIGURE */
-    .wrapup         = NULL,			/* ignore, no wrapup */
-    .cycle          = 1,			/* updates every second */
+    .wrapup	 = NULL,			/* ignore, no wrapup */
+    .cycle	  = 1,			/* updates every second */
 };
 
 #endif /* defined(NAVCOM_ENABLE) && defined(BINARY_ENABLE) */