rtcm.c is properly refactored, with the bitfield layouts hidden.

1 files changed, 29 insertions, 112 deletions

diff --git a/rtcm.h b/rtcm.h
index 6a082076..53495fb2 100644
--- a/rtcm.h
+++ b/rtcm.h
@@ -11,114 +11,8 @@
  * of the 30-word msg.
  */
 
-
 typedef /*@unsignedintegraltype@*/ unsigned int RTCMWORD;
 
-#define	ZCOUNT_SCALE	0.6	/* sec */
-#define	PCSMALL		0.02	/* metres */
-#define	PCLARGE		0.32	/* metres */
-#define	RRSMALL		0.002	/* metres/sec */
-#define	RRLARGE		0.032	/* metres/sec */
-
-#define XYZ_SCALE	0.01	/* metres */
-#define DXYZ_SCALE	0.1	/* metres */
-#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 */
-
-struct rtcm_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;
-};
-
-struct rtcm_msghw2 {			/* header word 2 */
-    uint            parity:6;
-    uint            stathlth:3;		/* station health */
-    uint            frmlen:5;
-    uint            sqnum:3;
-    uint            zcnt:13;
-    uint            _pad:2;
-};
-
-struct rtcm_msg1w3 {			/* msg 1 word 3 */
-    uint            parity:6;
-    int             pc1:16;
-    uint            satident1:5;	/* satellite ID */
-    uint            udre1:2;
-    uint            scale1:1;
-    uint            _pad:2;
-};
-
-struct rtcm_msg1w4 {			/* 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;
-};
-
-struct rtcm_msg1w5 {			/* msg 1 word 5 */
-    uint            parity:6;
-    int             rangerate2:8;
-    int             pc2:16;
-    uint            _pad:2;
-};
-
-
-struct rtcm_msg1w6 {			/* 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;
-};
-
-struct rtcm_msg1w7 {			/* 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;
-};
-
-struct rtcm_msghdr {
-    struct rtcm_msghw1   w1;
-    struct rtcm_msghw2   w2;
-};
-
-struct rtcm_msg1 {
-    struct rtcm_msghw1   w1;
-    struct rtcm_msghw2   w2;
-
-    struct rtcm_msg1w3   w3;		/* clump #1 of 5-corrections each */
-    struct rtcm_msg1w4   w4;
-    struct rtcm_msg1w5   w5;
-    struct rtcm_msg1w6   w6;
-    struct rtcm_msg1w7   w7;
-
-    struct rtcm_msg1w3   w8;		/* clump #2 of 5-corrections each */
-    struct rtcm_msg1w4   w9;
-    struct rtcm_msg1w5   w10;
-    struct rtcm_msg1w6   w11;
-    struct rtcm_msg1w7   w12;
-
-    struct rtcm_msg1w3   w13;		/* clump #2 of 5-corrections each */
-    struct rtcm_msg1w4   w14;
-    struct rtcm_msg1w5   w15;
-    struct rtcm_msg1w6   w16;
-    struct rtcm_msg1w7   w17;
-};
-
 /*  
  * From the RCTM104 standard:
  *
@@ -134,7 +28,29 @@ struct rtcm_msg1 {
  */
 #define RTCM_WORDS_MAX	33
 
-struct rtcm_ctx {
+#define MAXCORRECTIONS	15	/* max correction count in type 1 or 9 */
+
+struct rtcm_t {
+    /* header contents */
+    unsigned type;	/* RTCM message type */
+    unsigned length;	/* length (words) */
+    double   zcount;	/* time within hour -- GPS time, no leap seconds */
+    unsigned refstaid;	/* reference station ID */
+    unsigned seqnum;	/* nessage sequence number (modulo 8) */
+    unsigned stathlth;	/* station health */
+
+    /* message data in decoded form */
+    union {
+	struct {		/* data for messages 1 and 9 */
+	    unsigned satident;	/* satellite ID */
+	    unsigned udre;	/* user differential range error */
+	    unsigned issuedata;	/* issue of data */
+	    double rangerr;	/* range error */
+	    double rangerate;	/* range error rate */
+	} ranges[MAXCORRECTIONS];
+    };
+
+    /* this is the decoding context */
     bool            locked;
     int             curr_offset;
     RTCMWORD        curr_word;
@@ -142,13 +58,14 @@ struct rtcm_ctx {
     unsigned int    bufindex;
 };
 
-#define RTCM_NO_SYNC	(struct rtcm_msghdr *)0
-#define RTCM_SYNC	(struct rtcm_msghdr *)-1
+enum rtcmstat_t {
+    RTCM_NO_SYNC, RTCM_SYNC, RTCM_STRUCTURE,
+};
 
 #define RTCM_ERRLEVEL_BASE	5
 
-extern void rtcm_init(/*@out@*/struct rtcm_ctx *);
-extern /*@null@*//*@observer@*/ struct rtcm_msghdr *rtcm_decode(struct rtcm_ctx *, unsigned int);
-extern void rtcm_dump(struct rtcm_msghdr *, /*@out@*/char[], size_t);
+extern void rtcm_init(/*@out@*/struct rtcm_t *);
+extern enum rtcmstat_t rtcm_decode(struct rtcm_t *, unsigned int);
+extern void rtcm_dump(struct rtcm_t *, /*@out@*/char[], size_t);
 
 /* end */