Add gpsd API into third_party

gps.h is required by the geolocation implementation in Chrome to use GPS devices (where available).
(blocking http://codereview.chromium.org/2032010)

BUG=43868
TEST=none

Review URL: http://codereview.chromium.org/2061002

git-svn-id: svn://svn.chromium.org/chrome/trunk/src@48377 0039d316-1c4b-4281-b951-d872f2087c98

4 files changed, 1817 insertions, 0 deletions

diff --git a/third_party/gpsd/COPYING b/third_party/gpsd/COPYING
new file mode 100644
index 0000000..0765386
--- /dev/null
+++ b/third_party/gpsd/COPYING
@@ -0,0 +1,38 @@
+			COPYRIGHTS
+
+Compilation copyright is held by the GPSD project.  All rights reserved.
+
+GPSD project copyrights are assigned to the project lead, currently
+Eric S. Raymond. Other portions of the GPSD code are Copyright (c)
+1997, 1998, 1999, 2000, 2001, 2002 by Remco Treffkorn, and others
+Copyright (c) 2005 by Eric S. Raymond.  For other copyrights, see
+individual files.
+
+			BSD LICENSE
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:<P>
+
+Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.<P>
+
+Redistributions in binary form must reproduce the above copyright
+notice, this list of conditions and the following disclaimer in the
+documentation and/or other materials provided with the distribution.<P>
+
+Neither name of the GPSD project nor the names of its contributors
+may be used to endorse or promote products derived from this software
+without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE REGENTS OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/gpsd/README.chromium b/third_party/gpsd/README.chromium
new file mode 100644
index 0000000..c48086e
--- /dev/null
+++ b/third_party/gpsd/README.chromium
@@ -0,0 +1,17 @@
+URL: http://git.berlios.de/cgi-bin/gitweb.cgi?p=gpsd;a=summary
+InfoURL: http://gpsd.berlios.de/
+Version: 2.38, 2.94
+License: BSD
+
+Description:
+gpsd is a service daemon that monitors one or more GPSes or AIS receivers
+attached to a host computer through serial or USB ports, making all data on the
+location/course/velocity of the sensors available to be queried on TCP port
+2947 of the host computer. 
+
+Local Modifications:
+No modifications.
+Only the gps.h file is imported, as the client library (libgps.so) is
+dynamically loaded (where present). We import 2 versions as the older (2.38) is
+needed for Chrome OS and the newer for tip of tree builds (using the new client
+API that aims to maintain binary compatibility across future releases).
diff --git a/third_party/gpsd/release-2.38/gps.h b/third_party/gpsd/release-2.38/gps.h
new file mode 100644
index 0000000..79cfab8
--- /dev/null
+++ b/third_party/gpsd/release-2.38/gps.h
@@ -0,0 +1,651 @@
+/* $Id$ */
+#ifndef _GPSD_GPS_H_
+#define _GPSD_GPS_H_
+
+/* gps.h -- interface of the libgps library */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <sys/types.h>
+#include <sys/time.h>
+#include <stdbool.h>
+#include <inttypes.h>	/* stdint.h would be smaller but not all have it */ 
+#include <limits.h>
+#include <time.h>
+#include <signal.h>
+#ifndef S_SPLINT_S
+#include <pthread.h>	/* pacifies OpenBSD's compiler */
+#endif
+
+#define MAXTAGLEN	8	/* maximum length of sentence tag name */
+#define MAXCHANNELS	20	/* maximum GPS channels (*not* satellites!) */
+#define SIRF_CHANNELS	12	/* max channels allowed in SiRF format */
+#define GPS_PRNMAX	32	/* above this number are SBAS satellites */
+
+/* 
+ * The structure describing an uncertainty volume in kinematic space.
+ * This is what GPSes are meant to produce; all the other info is 
+ * technical impedimenta.
+ *
+ * All double values use NAN to indicate data not available.
+ *
+ * Usually all the information in this structure was considered valid
+ * by the GPS at the time of update.  This will be so if you are using
+ * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary.
+ * This covers over 80% of GPS products in early 2005.
+ *
+ * If you are using a chipset that speaks NMEA, this structure is updated
+ * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL 
+ * (lat/lon), and GPGSA (eph, epv).  Most NMEA GPSes take a single fix
+ * at the beginning of a 1-second cycle and report the same timestamp in
+ * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly
+ * synced to the time member, but you'll get different stages of the same 
+ * update depending on where in the cycle you poll.  A very few GPSes, 
+ * like the Garmin 48, take a new fix before more than one of of 
+ * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different 
+ * timestamps and some data in this structure can be up to 1 cycle (usually
+ * 1 second) older than the fix time.
+ *
+ * Error estimates are at 95% confidence.
+ */
+struct gps_fix_t {
+    double time;	/* Time of update, seconds since Unix epoch */
+    int    mode;	/* Mode of fix */
+#define MODE_NOT_SEEN	0	/* mode update not seen yet */
+#define MODE_NO_FIX	1	/* none */
+#define MODE_2D  	2	/* good for latitude/longitude */
+#define MODE_3D  	3	/* good for altitude/climb too */
+    double ept;		/* Expected time uncertainty */
+    double latitude;	/* Latitude in degrees (valid if mode >= 2) */
+    double longitude;	/* Longitude in degrees (valid if mode >= 2) */
+    double eph;  	/* Horizontal position uncertainty, meters */
+    double altitude;	/* Altitude in meters (valid if mode == 3) */
+    double epv;  	/* Vertical position uncertainty, meters */
+    double track;	/* Course made good (relative to true north) */
+    double epd;		/* Track uncertainty, degrees */
+    double speed;	/* Speed over ground, meters/sec */
+    double eps;		/* Speed uncertainty, meters/sec */
+    double climb;       /* Vertical speed, meters/sec */
+    double epc;		/* Vertical speed uncertainty */
+};
+
+/*  
+ * From the RCTM104 2.x standard:
+ *
+ * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz
+ * transmission rate provides a convenient timing capability where the
+ * times of word boundaries are a rational multiple of 0.6 seconds."
+ *
+ * "Each frame is N+2 words long, where N is the number of message data
+ * words. For example, a filler message (type 6 or 34) with no message
+ * data will have N=0, and will consist only of two header words. The
+ * maximum number of data words allowed by the format is 31, so that
+ * the longest possible message will have a total of 33 words."
+ */
+#define RTCM2_WORDS_MAX	33
+#define MAXCORRECTIONS	18	/* max correction count in type 1 or 9 */
+#define MAXSTATIONS	10	/* maximum stations in almanac, type 5 */
+/* RTCM104 doesn't specify this, so give it the largest reasonable value */
+#define MAXHEALTH	(RTCM2_WORDS_MAX-2)	
+
+#ifndef S_SPLINT_S 
+/*
+ * A nominally 30-bit word (24 bits of data, 6 bits of parity)
+ * used both in the GPS downlink protocol described in IS-GPS-200
+ * and in the format for DGPS corrections used in RTCM-104v2.
+ */
+typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t;
+#endif /* S_SPLINT_S */
+
+    typedef enum {gps, glonass, galileo, unknown} navsystem;
+
+struct rtcm2_t {
+    /* header contents */
+    unsigned type;	/* RTCM message type */
+    unsigned length;	/* length (words) */
+    double   zcount;	/* time within hour: GPS time, no leap secs */
+    unsigned refstaid;	/* reference station ID */
+    unsigned seqnum;	/* message sequence number (modulo 8) */
+    unsigned stathlth;	/* station health */
+
+    /* message data in decoded form */
+    union {
+	struct {
+	    unsigned int nentries;
+	    struct rangesat_t {		/* data from messages 1 & 9 */
+		unsigned ident;		/* satellite ID */
+		unsigned udre;		/* user diff. range error */
+		unsigned issuedata;	/* issue of data */
+		double rangerr;		/* range error */
+		double rangerate;	/* range error rate */
+	    } sat[MAXCORRECTIONS];
+	} ranges;
+	struct {		/* data for type 3 messages */
+	    bool valid;		/* is message well-formed? */
+	    double x, y, z;
+	} ecef;
+	struct {		/* data from type 4 messages */
+	    bool valid;		/* is message well-formed? */
+	    navsystem system;
+	    enum {local, global, invalid} sense;
+	    char datum[6];
+	    double dx, dy, dz;
+	} reference;
+	struct {		/* data from type 5 messages */
+	    unsigned int nentries;
+	    struct consat_t {
+		unsigned ident;		/* satellite ID */
+		bool iodl;		/* issue of data */
+		unsigned int health;	/* is satellite healthy? */
+#define HEALTH_NORMAL		(0)	/* Radiobeacon operation normal */
+#define HEALTH_UNMONITORED	(1)	/* No integrity monitor operating */
+#define HEALTH_NOINFO		(2)	/* No information available */
+#define HEALTH_DONOTUSE		(3)	/* Do not use this radiobeacon */
+	       int snr;			/* signal-to-noise ratio, dB */
+#define SNR_BAD	-1			/* not reported */
+		unsigned int health_en;	/* health enabled */
+		bool new_data;		/* new data? */
+		bool los_warning;	/* line-of-sight warning */
+		unsigned int tou;	/* time to unhealth, seconds */
+	    } sat[MAXHEALTH];
+	} conhealth;
+	struct {		/* data from type 7 messages */
+	    unsigned int nentries;
+	    struct station_t {
+		double latitude, longitude;	/* location */
+		unsigned int range;		/* range in km */
+		double frequency;		/* broadcast freq */
+		unsigned int health;		/* station health */
+		unsigned int station_id;	/* of the transmitter */
+		unsigned int bitrate;		/* of station transmissions */
+	    } station[MAXSTATIONS];
+	} almanac;
+	/* data from type 16 messages */
+	char message[(RTCM2_WORDS_MAX-2) * sizeof(isgps30bits_t)];
+	/* data from messages of unknown type */
+	isgps30bits_t	words[RTCM2_WORDS_MAX-2];
+    } msg_data;
+};
+
+/* RTCM3 report structures begin here */
+
+#define RTCM3_MAX_SATELLITES	64
+#define RTCM3_MAX_DESCRIPTOR	31
+#define RTCM3_MAX_ANNOUNCEMENTS	32
+
+struct rtcm3_rtk_hdr {		/* header data from 1001, 1002, 1003, 1004 */
+    /* Used for both GPS and GLONASS, but their timebases differ */
+    unsigned int msgnum;	/* Message number */
+    unsigned int station_id;	/* Reference Station ID */
+    time_t tow;			/* GPS Epoch Time (TOW) in ms, 
+				   or GLONASS Epoch Time in ms */
+    bool sync;			/* Synchronous GNSS Message Flag */
+    ushort satcount;		/* # Satellite Signals Processed */
+    bool smoothing;		/* Divergence-free Smoothing Indicator */
+    ushort interval;		/* Smoothing Interval */
+};
+
+struct rtcm3_basic_rtk {
+    unsigned char indicator;	/* Indicator */
+    unsigned char channel;	/* Satellite Frequency Channel Number 
+				   (GLONASS only) */
+    double pseudorange;		/* Pseudorange */
+    double rangediff;		/* PhaseRange – Pseudorange in meters */
+    unsigned char locktime;	/* Lock time Indicator */
+};
+
+struct rtcm3_extended_rtk {
+    unsigned char indicator;		/* Indicator */
+    unsigned char channel;	/* Satellite Frequency Channel Number 
+				   (GLONASS only) */
+    double pseudorange;		/* Pseudorange */
+    double rangediff;		/* PhaseRange – L1 Pseudorange */
+    unsigned char locktime;	/* Lock time Indicator */
+    unsigned char ambiguity;	/* Integer Pseudorange 
+					   Modulus Ambiguity */
+    double CNR;		/* Carrier-to-Noise Ratio */
+};
+
+struct rtcm3_network_rtk_header {
+    unsigned int msgnum;	/* Message number */
+    unsigned int network_id;	/* Network ID */
+    unsigned int subnetwork_id;	/* Subnetwork ID */
+    time_t time;		/* GPS Epoch Time (TOW) in ms */
+    bool multimesg;		/* GPS Multiple Message Indicator */
+    unsigned master_id;		/* Master Reference Station ID */
+    unsigned aux_id;		/* Auxilary Reference Station ID */
+    unsigned char satcount;	/* count of GPS satellites */
+};
+
+struct rtcm3_correction_diff {
+    unsigned char ident;	/* satellite ID */
+    enum {reserved, correct, widelane, uncertain} ambiguity;
+    unsigned char nonsync;
+    double geometric_diff;	/* Geometric Carrier Phase 
+				   Correction Difference (1016, 1017) */
+    unsigned char iode;		/* GPS IODE (1016, 1017) */
+    double ionospheric_diff;	/* Ionospheric Carrier Phase 
+				   Correction Difference (1015, 1017) */
+};
+
+struct rtcm3_t {
+    /* header contents */
+    unsigned type;	/* RTCM 3.x message type */
+    unsigned length;	/* payload length, inclusive of checksum */
+
+    union {
+	/* 1001-1013 were present in the 3.0 version */
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;		/* Satellite ID */
+		struct rtcm3_basic_rtk L1;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1001;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;		/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1002;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_basic_rtk L1;
+		struct rtcm3_basic_rtk L2;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1003;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+		struct rtcm3_extended_rtk L2;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1004;
+	struct {
+	    unsigned int station_id;	/* Reference Station ID */
+	    navsystem system;		/* Which system is it? */
+	    bool reference_station;	/* Reference-station indicator */
+	    bool single_receiver;	/* Single Receiver Oscillator */
+	    double ecef_x, ecef_y, ecef_z;	/* ECEF antenna location */
+	} rtcm3_1005;
+	struct {
+	    unsigned int station_id;	/* Reference Station ID */
+	    navsystem system;		/* Which system is it? */
+	    bool reference_station;	/* Reference-station indicator */
+	    bool single_receiver;	/* Single Receiver Oscillator */
+	    double ecef_x, ecef_y, ecef_z;	/* ECEF antenna location */
+	    double height;			/* Antenna height */
+	} rtcm3_1006;
+	struct {
+	    unsigned int station_id;	/* Reference Station ID */
+	    char descriptor[RTCM3_MAX_DESCRIPTOR+1];	/* Description string */
+	    unsigned char setup_id;
+	} rtcm3_1007;
+	struct {
+	    unsigned int station_id;	/* Reference Station ID */
+	    char descriptor[RTCM3_MAX_DESCRIPTOR+1];	/* Description string */
+	    unsigned char setup_id;
+	    char serial[RTCM3_MAX_DESCRIPTOR+1];	/* Serial # string */
+	} rtcm3_1008;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;		/* Satellite ID */
+		struct rtcm3_basic_rtk L1;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1009;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;		/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1010;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+		struct rtcm3_extended_rtk L2;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1011;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+		struct rtcm3_extended_rtk L2;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1012;
+	struct {
+	    unsigned int msgnum;	/* Message number */
+	    unsigned int station_id;	/* Reference Station ID */
+	    unsigned short mjd;		/* Modified Julian Day (MJD) Number */
+	    unsigned int sod;		/* Seconds of Day (UTC) */
+	    unsigned char leapsecs;	/* Leap Seconds, GPS-UTC */
+	    unsigned char ncount;	/* Count of announcements to follow */
+	    struct {
+		unsigned short id;
+		bool sync;
+		unsigned short interval;
+	    } announcements[RTCM3_MAX_ANNOUNCEMENTS];
+	} rtcm3_1013;
+	/* 1014-1017 were added in the 3.1 version */
+	struct {
+	    unsigned int msgnum;	/* Message number */
+	    unsigned int network_id;	/* Network ID */
+	    unsigned int subnetwork_id;	/* Subnetwork ID */
+	    unsigned char stationcount;	/* # auxiliary stations transmitted */
+	    unsigned int master_id;	/* Master Reference Station ID */
+	    unsigned int aux_id;	/* Auxilary Reference Station ID */
+	    double d_lat, d_lon, d_alt;	/* Aux-master location delta */
+	} rtcm3_1014;
+	struct {
+	    struct rtcm3_network_rtk_header	header;
+	    struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
+	} rtcm3_1015;
+	struct {
+	    struct rtcm3_network_rtk_header	header;
+	    struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
+	} rtcm3_1016;
+	struct {
+	    struct rtcm3_network_rtk_header	header;
+	    struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
+	} rtcm3_1017;
+	struct {
+	    unsigned int msgnum;	/* Message number */
+	    unsigned int ident;		/* Satellite ID */
+	    unsigned int week;		/* GPS Week Number */
+	    unsigned char sv_accuracy;	/* GPS SV ACCURACY */
+	    enum {reserved_code, p, ca, l2c} code;
+	    double idot;
+	    unsigned char iode;
+	    /* ephemeris fields, not scaled */
+	    unsigned int t_sub_oc;
+	    signed int a_sub_f2;
+	    signed int a_sub_f1;
+	    signed int a_sub_f0;
+	    unsigned int iodc;
+	    signed int C_sub_rs;
+	    signed int delta_sub_n;
+	    signed int M_sub_0;
+	    signed int C_sub_uc;
+	    unsigned int e;
+	    signed int C_sub_us;
+	    unsigned int sqrt_sub_A;
+	    unsigned int t_sub_oe;
+	    signed int C_sub_ic;
+	    signed int OMEGA_sub_0;
+	    signed int C_sub_is;
+	    signed int i_sub_0;
+	    signed int C_sub_rc;
+	    signed int argument_of_perigee;
+	    signed int omegadot;
+	    signed int t_sub_GD;
+	    unsigned char sv_health;
+	    bool p_data;
+	    bool fit_interval;
+	} rtcm3_1019;
+	struct {
+	    unsigned int msgnum;	/* Message number */
+	    unsigned int ident;		/* Satellite ID */
+	    unsigned short channel;	/* Satellite Frequency Channel Number */
+	    /* ephemeris fields, not scaled */
+	    bool C_sub_n;
+	    bool health_avAilability_indicator;
+	    unsigned char P1;
+	    unsigned short t_sub_k;
+	    bool msb_of_B_sub_n;
+	    bool P2;
+	    bool t_sub_b;
+	    signed int x_sub_n_t_of_t_sub_b_prime;
+	    signed int x_sub_n_t_of_t_sub_b;
+	    signed int x_sub_n_t_of_t_sub_b_prime_prime;
+	    signed int y_sub_n_t_of_t_sub_b_prime;
+	    signed int y_sub_n_t_of_t_sub_b;
+	    signed int y_sub_n_t_of_t_sub_b_prime_prime;
+	    signed int z_sub_n_t_of_t_sub_b_prime;
+	    signed int z_sub_n_t_of_t_sub_b;
+	    signed int z_sub_n_t_of_t_sub_b_prime_prime;
+	    bool P3;
+	    signed int gamma_sub_n_of_t_sub_b;
+	    unsigned char MP;
+	    bool Ml_n;
+	    signed int tau_n_of_t_sub_b;
+	    signed int M_delta_tau_sub_n;
+	    unsigned int E_sub_n;
+	    bool MP4;
+	    unsigned char MF_sub_T;
+	    unsigned char MN_sub_T;
+	    unsigned char MM;
+	    bool additioinal_data_availability;
+	    unsigned int N_sup_A;
+	    unsigned int tau_sub_c;
+	    unsigned int M_N_sub_4;
+	    signed int M_tau_sub_GPS;
+	    bool M_l_sub_n;
+	} rtcm3_1020;
+	struct {
+	    unsigned int msgnum;	/* Message number */
+	    unsigned int station_id;	/* Reference Station ID */
+	    unsigned short mjd;		/* Modified Julian Day (MJD) Number */
+	    unsigned int sod;		/* Seconds of Day (UTC) */
+	    unsigned char len;		/* # Chars to follow */
+	    unsigned char unicode_units;
+	    unsigned char text[128];
+	} rtcm3_1029;
+    } rtcmtypes;
+};
+
+typedef /*@unsignedintegraltype@*/ unsigned int gps_mask_t;
+
+struct gps_data_t {
+    gps_mask_t set;	/* has field been set since this was last cleared? */
+#define ONLINE_SET	0x00000001u
+#define TIME_SET	0x00000002u
+#define TIMERR_SET	0x00000004u
+#define LATLON_SET	0x00000008u
+#define ALTITUDE_SET	0x00000010u
+#define SPEED_SET	0x00000020u
+#define TRACK_SET	0x00000040u
+#define CLIMB_SET	0x00000080u
+#define STATUS_SET	0x00000100u
+#define MODE_SET	0x00000200u
+#define HDOP_SET  	0x00000400u
+#define VDOP_SET  	0x00000800u
+#define PDOP_SET  	0x00001000u
+#define TDOP_SET	0x00002000u
+#define GDOP_SET	0x00004000u
+#define DOP_SET		(HDOP_SET|VDOP_SET|PDOP_SET|TDOP_SET|GDOP_SET)
+#define HERR_SET	0x00008000u
+#define VERR_SET	0x00010000u
+#define PERR_SET	0x00020000u
+#define ERR_SET		(HERR_SET | VERR_SET | PERR_SET)
+#define SATELLITE_SET	0x00040000u
+#define PSEUDORANGE_SET	0x00080000u
+#define USED_SET	0x00100000u
+#define SPEEDERR_SET	0x00200000u
+#define TRACKERR_SET	0x00400000u
+#define CLIMBERR_SET	0x00800000u
+#define DEVICE_SET	0x01000000u
+#define DEVICELIST_SET	0x02000000u
+#define DEVICEID_SET	0x04000000u
+#define ERROR_SET	0x08000000u
+#define CYCLE_START_SET	0x10000000u
+#define RTCM2_SET	0x20000000u
+#define RTCM3_SET	0x40000000u
+#define FIX_SET		(TIME_SET|MODE_SET|TIMERR_SET|LATLON_SET|HERR_SET|ALTITUDE_SET|VERR_SET|TRACK_SET|TRACKERR_SET|SPEED_SET|SPEEDERR_SET|CLIMB_SET|CLIMBERR_SET)
+    double online;		/* NZ if GPS is on line, 0 if not.
+				 *
+				 * Note: gpsd clears this flag when sentences
+				 * fail to show up within the GPS's normal
+				 * send cycle time. If the host-to-GPS 
+				 * link is lossy enough to drop entire
+				 * sentences, this flag will be
+				 * prone to false negatives.
+				 */
+
+    struct gps_fix_t	fix;		/* accumulated PVT data */
+
+    double separation;		/* Geoidal separation, MSL - WGS84 (Meters) */
+
+    /* GPS status -- always valid */
+    int    status;		/* Do we have a fix? */
+#define STATUS_NO_FIX	0	/* no */
+#define STATUS_FIX	1	/* yes, without DGPS */
+#define STATUS_DGPS_FIX	2	/* yes, with DGPS */
+
+    /* precision of fix -- valid if satellites_used > 0 */
+    int satellites_used;	/* Number of satellites used in solution */
+    int used[MAXCHANNELS];	/* PRNs of satellites used in solution */
+    double pdop, hdop, vdop, tdop, gdop;	/* Dilution of precision */
+
+    /* redundant with the estimate elments in the fix structure */
+    double epe;  /* spherical position error, 95% confidence (meters)  */
+
+    /* satellite status -- valid when satellites > 0 */
+    int satellites;		/* # of satellites in view */
+    int PRN[MAXCHANNELS];	/* PRNs of satellite */
+    int elevation[MAXCHANNELS];	/* elevation of satellite */
+    int azimuth[MAXCHANNELS];	/* azimuth */
+    int ss[MAXCHANNELS];	/* signal-to-noise ratio (dB) */
+
+#if 0	/* not yet used or filled in */
+    /* measurement data */
+    double pseudorange[MAXCHANNELS];	/* meters */
+    double deltarange[MAXCHANNELS];	/* meters/sec */
+    double doppler[MAXCHANNELS];	/* Hz */
+    unsigned satstat[MAXCHANNELS];	/* tracking status */
+#define SAT_ACQUIRED	0x01		/* satellite acquired */
+#define SAT_CODE_TRACK	0x02		/* code-tracking loop acquired */
+#define SAT_CARR_TRACK	0x04		/* carrier-tracking loop acquired */
+#define SAT_DATA_SYNC	0x08		/* data-bit synchronization done */
+#define SAT_FRAME_SYNC	0x10		/* frame synchronization done */
+#define SAT_EPHEMERIS	0x20		/* ephemeris collected */
+#define SAT_FIX_USED	0x40		/* used for position fix */
+#endif
+
+#if defined(TNT_ENABLE) || defined(OCEANSERVER_ENABLE)
+    /* compass status -- TrueNorth (and any similar) devices only */
+    char headingStatus;
+    char pitchStatus;
+    char rollStatus;
+    double horzField;   /* Magnitude of horizontal magnetic field */
+#endif
+
+#ifdef OCEANSERVER_ENABLE
+    double magnetic_length; /* unitvector sqrt(x^2 + y^2 +z^2) */
+    double magnetic_field_x;
+    double magnetic_field_y;
+    double magnetic_field_z;
+    double acceleration_length; /* unitvector sqrt(x^2 + y^2 +z^2) */
+    double acceleration_field_x;
+    double acceleration_field_y;
+    double acceleration_field_z;
+    double gyro_output_x;
+    double gyro_output_y;
+    double temperature;
+#endif
+
+    /* where and what gpsd thinks the device is */
+    char	gps_device[PATH_MAX];	/* only valid if non-null. */
+    char	*gps_id;	/* only valid if non-null. */
+    unsigned int baudrate, parity, stopbits;	/* RS232 link parameters */
+    unsigned int driver_mode;	/* whether driver is in native mode or not */
+
+    /* RTCM-104 data */
+    struct rtcm2_t	rtcm2;
+    struct rtcm3_t	rtcm3;
+    
+    /* device list */
+    int ndevices;		/* count of available devices */
+    char **devicelist;		/* list of pathnames */
+
+    /* profiling data for last sentence */
+    bool profiling;		/* profiling enabled? */
+    char tag[MAXTAGLEN+1];	/* tag of last sentence processed */
+    size_t sentence_length;	/* character count of last sentence */
+    double sentence_time;	/* sentence timestamp */
+    double d_xmit_time;		/* beginning of sentence transmission */
+    double d_recv_time;		/* daemon receipt time (-> E1+T1) */
+    double d_decode_time;	/* daemon end-of-decode time (-> D1) */
+    double poll_time;		/* daemon poll time (-> W) */
+    double emit_time;		/* emission time (-> E2) */
+    double c_recv_time;		/* client receipt time (-> T2) */
+    double c_decode_time;	/* client end-of-decode time (-> D2) */
+    double cycle, mincycle;	/* refresh cycle time in seconds */
+
+    /* these members are private */
+    int gps_fd;			/* socket or file descriptor to GPS */
+    void (*raw_hook)(struct gps_data_t *, char *, size_t len, int level);/* Raw-mode hook for GPS data. */
+    void (*thread_hook)(struct gps_data_t *, char *, size_t len, int level);/* Thread-callback hook for GPS data. */
+};
+
+extern /*@null@*/ struct gps_data_t *gps_open(const char *host, const char *port);
+int gps_close(struct gps_data_t *);
+int gps_query(struct gps_data_t *gpsdata, const char *fmt, ... );
+int gps_poll(struct gps_data_t *gpsdata);
+void gps_set_raw_hook(struct gps_data_t *gpsdata, void (*hook)(struct gps_data_t *sentence, char *buf, size_t len, int level));
+int gps_set_callback(struct gps_data_t *gpsdata, void (*callback)(struct gps_data_t *sentence, char *buf, size_t len, int level), pthread_t *handler);
+int gps_del_callback(struct gps_data_t *gpsdata, pthread_t *handler);
+
+enum unit {unspecified, imperial, nautical, metric};
+enum unit gpsd_units(void);
+enum deg_str_type { deg_dd, deg_ddmm, deg_ddmmss };
+extern /*@observer@*/ char *deg_to_str( enum deg_str_type type,  double f);
+
+extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *);
+extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *, 
+			  gps_mask_t,
+			  /*@ in @*/struct gps_fix_t *);
+extern unsigned int gps_valid_fields(/*@ in @*/struct gps_fix_t *);
+extern char *gps_show_transfer(int);
+
+extern time_t mkgmtime(register struct tm *);
+extern double timestamp(void);
+extern double iso8601_to_unix(char *);
+extern /*@observer@*/char *unix_to_iso8601(double t, /*@ out @*/char[], size_t len);
+extern double gpstime_to_unix(int, double);
+extern void unix_to_gpstime(double, /*@out@*/int *, /*@out@*/double *);
+extern double earth_distance(double, double, double, double);
+extern double wgs84_separation(double, double);
+
+/* some multipliers for interpreting GPS output */
+#define METERS_TO_FEET	3.2808399	/* Meters to U.S./British feet */
+#define METERS_TO_MILES	0.00062137119	/* Meters to miles */
+#define KNOTS_TO_MPH	1.1507794	/* Knots to miles per hour */
+#define KNOTS_TO_KPH	1.852		/* Knots to kilometers per hour */
+#define KNOTS_TO_MPS	0.51444444	/* Knots to meters per second */
+#define MPS_TO_KPH	3.6		/* Meters per second to klicks/hr */
+#define MPS_TO_MPH	2.2369363	/* Meters/second to miles per hour */
+#define MPS_TO_KNOTS	1.9438445	/* Meters per second to knots */
+/* miles and knots are both the international standard versions of the units */
+
+/* angle conversion multipliers */
+#define GPS_PI      	3.1415926535897932384626433832795029
+#define RAD_2_DEG	57.2957795130823208767981548141051703
+#define DEG_2_RAD	0.0174532925199432957692369076848861271
+
+/* gps_open() errno return values */
+#define NL_NOSERVICE	-1	/* can't get service entry */
+#define NL_NOHOST	-2	/* can't get host entry */
+#define NL_NOPROTO	-3	/* can't get protocol entry */
+#define NL_NOSOCK	-4	/* can't create socket */
+#define NL_NOSOCKOPT	-5	/* error SETSOCKOPT SO_REUSEADDR */
+#define NL_NOCONNECT	-6	/* can't connect to host */
+
+#define DEFAULT_GPSD_PORT	"2947"	/* IANA assignment */
+#define DEFAULT_RTCM_PORT	"2101"	/* IANA assignment */
+
+#ifdef __cplusplus
+}  /* End of the 'extern "C"' block */
+#endif
+
+/* gps.h ends here */
+#endif /* _GPSD_GPS_H_ */
diff --git a/third_party/gpsd/release-2.94/gps.h b/third_party/gpsd/release-2.94/gps.h
new file mode 100644
index 0000000..901365f
--- /dev/null
+++ b/third_party/gpsd/release-2.94/gps.h
@@ -0,0 +1,1111 @@
+/*
+ * This file is Copyright (c) 2010 by the GPSD project
+ * BSD terms apply: see the file COPYING in the distribution root for details.
+ */
+#ifndef _GPSD_GPS_H_
+#define _GPSD_GPS_H_
+
+/* gps.h -- interface of the libgps library */
+
+#ifdef _WIN32
+#define strtok_r(s,d,p) strtok_s(s,d,p)
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Macro for declaring function arguments unused. */
+#if defined(__GNUC__)
+#  define UNUSED __attribute__((unused)) /* Flag variable as unused */
+#else /* not __GNUC__ */
+#  define UNUSED
+#endif
+
+
+#include <sys/types.h>
+#include <sys/time.h>
+#include <stdbool.h>
+#include <inttypes.h>	/* stdint.h would be smaller but not all have it */
+#include <limits.h>
+#include <time.h>
+#include <signal.h>
+#include <stdio.h>
+#ifndef S_SPLINT_S
+#include <pthread.h>	/* pacifies OpenBSD's compiler */
+#endif
+
+#define GPSD_API_MAJOR_VERSION	4	/* bump on incompatible changes */
+#define GPSD_API_MINOR_VERSION	1	/* bump on compatible changes */
+
+#define MAXTAGLEN	8	/* maximum length of sentence tag name */
+#define MAXCHANNELS	20	/* maximum GPS channels (*not* satellites!) */
+#define GPS_PRNMAX	32	/* above this number are SBAS satellites */
+#define GPS_PATH_MAX	64	/* dev files usually have short names */
+#define MAXUSERDEVS	4	/* max devices per user */
+
+/* 
+ * The structure describing an uncertainty volume in kinematic space.
+ * This is what GPSes are meant to produce; all the other info is 
+ * technical impedimenta.
+ *
+ * All double values use NAN to indicate data not available.
+ *
+ * Usually all the information in this structure was considered valid
+ * by the GPS at the time of update.  This will be so if you are using
+ * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary.
+ * This covers over 80% of GPS products in early 2005.
+ *
+ * If you are using a chipset that speaks NMEA, this structure is updated
+ * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL 
+ * (lat/lon), and GPGSA (eph, epv).  Most NMEA GPSes take a single fix
+ * at the beginning of a 1-second cycle and report the same timestamp in
+ * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly
+ * synced to the time member, but you'll get different stages of the same 
+ * update depending on where in the cycle you poll.  A very few GPSes, 
+ * like the Garmin 48, take a new fix before more than one of of 
+ * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different 
+ * timestamps and some data in this structure can be up to 1 cycle (usually
+ * 1 second) older than the fix time.
+ *
+ * Error estimates are at 95% confidence.
+ */
+struct gps_fix_t {
+    double time;	/* Time of update, seconds since Unix epoch */
+    int    mode;	/* Mode of fix */
+#define MODE_NOT_SEEN	0	/* mode update not seen yet */
+#define MODE_NO_FIX	1	/* none */
+#define MODE_2D  	2	/* good for latitude/longitude */
+#define MODE_3D  	3	/* good for altitude/climb too */
+    double ept;		/* Expected time uncertainty */
+    double latitude;	/* Latitude in degrees (valid if mode >= 2) */
+    double epy;  	/* Latitude position uncertainty, meters */
+    double longitude;	/* Longitude in degrees (valid if mode >= 2) */
+    double epx;  	/* Longitude position uncertainty, meters */
+    double altitude;	/* Altitude in meters (valid if mode == 3) */
+    double epv;  	/* Vertical position uncertainty, meters */
+    double track;	/* Course made good (relative to true north) */
+    double epd;		/* Track uncertainty, degrees */
+    double speed;	/* Speed over ground, meters/sec */
+    double eps;		/* Speed uncertainty, meters/sec */
+    double climb;       /* Vertical speed, meters/sec */
+    double epc;		/* Vertical speed uncertainty */
+};
+
+/*  
+ * From the RCTM104 2.x standard:
+ *
+ * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz
+ * transmission rate provides a convenient timing capability where the
+ * times of word boundaries are a rational multiple of 0.6 seconds."
+ *
+ * "Each frame is N+2 words long, where N is the number of message data
+ * words. For example, a filler message (type 6 or 34) with no message
+ * data will have N=0, and will consist only of two header words. The
+ * maximum number of data words allowed by the format is 31, so that
+ * the longest possible message will have a total of 33 words."
+ */
+#define RTCM2_WORDS_MAX	33
+#define MAXCORRECTIONS	18	/* max correction count in type 1 or 9 */
+#define MAXSTATIONS	10	/* maximum stations in almanac, type 5 */
+/* RTCM104 doesn't specify this, so give it the largest reasonable value */
+#define MAXHEALTH	(RTCM2_WORDS_MAX-2)
+
+#ifndef S_SPLINT_S 
+/*
+ * A nominally 30-bit word (24 bits of data, 6 bits of parity)
+ * used both in the GPS downlink protocol described in IS-GPS-200
+ * and in the format for DGPS corrections used in RTCM-104v2.
+ */
+typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t;
+#endif /* S_SPLINT_S */
+
+/* 
+ * Values for "system" fields.  Note, the encoding logic is senstive to the 
+ * actual values of these; it's not sufficient that they're distinct.
+ */
+#define NAVSYSTEM_GPS   	0
+#define NAVSYSTEM_GLONASS	1
+#define NAVSYSTEM_GALILEO	2
+#define NAVSYSTEM_UNKNOWN	3
+
+struct rtcm2_t {
+    /* header contents */
+    unsigned type;	/* RTCM message type */
+    unsigned length;	/* length (words) */
+    double   zcount;	/* time within hour: GPS time, no leap secs */
+    unsigned refstaid;	/* reference station ID */
+    unsigned seqnum;	/* message sequence number (modulo 8) */
+    unsigned stathlth;	/* station health */
+
+    /* message data in decoded form */
+    union {
+	struct {
+	    unsigned int nentries;
+	    struct rangesat_t {		/* data from messages 1 & 9 */
+		unsigned ident;		/* satellite ID */
+		unsigned udre;		/* user diff. range error */
+		unsigned issuedata;	/* issue of data */
+		double rangerr;		/* range error */
+		double rangerate;	/* range error rate */
+	    } sat[MAXCORRECTIONS];
+	} ranges;
+	struct {		/* data for type 3 messages */
+	    bool valid;		/* is message well-formed? */
+	    double x, y, z;
+	} ecef;
+	struct {		/* data from type 4 messages */
+	    bool valid;		/* is message well-formed? */
+	    int system;
+	    int sense;
+#define SENSE_INVALID	0
+#define SENSE_GLOBAL	1
+#define SENSE_LOCAL   	2
+	    char datum[6];
+	    double dx, dy, dz;
+	} reference;
+	struct {		/* data from type 5 messages */
+	    unsigned int nentries;
+	    struct consat_t {
+		unsigned ident;		/* satellite ID */
+		bool iodl;		/* issue of data */
+		unsigned int health;	/* is satellite healthy? */
+#define HEALTH_NORMAL		(0)	/* Radiobeacon operation normal */
+#define HEALTH_UNMONITORED	(1)	/* No integrity monitor operating */
+#define HEALTH_NOINFO		(2)	/* No information available */
+#define HEALTH_DONOTUSE		(3)	/* Do not use this radiobeacon */
+	       int snr;			/* signal-to-noise ratio, dB */
+#define SNR_BAD	-1			/* not reported */
+		bool health_en; 	/* health enabled */
+		bool new_data;		/* new data? */
+		bool los_warning;	/* line-of-sight warning */
+		unsigned int tou;	/* time to unhealth, seconds */
+	    } sat[MAXHEALTH];
+	} conhealth;
+	struct {		/* data from type 7 messages */
+	    unsigned int nentries;
+	    struct station_t {
+		double latitude, longitude;	/* location */
+		unsigned int range;		/* range in km */
+		double frequency;		/* broadcast freq */
+		unsigned int health;		/* station health */
+		unsigned int station_id;	/* of the transmitter */
+		unsigned int bitrate;		/* of station transmissions */
+	    } station[MAXSTATIONS];
+	} almanac;
+	/* data from type 16 messages */
+	char message[(RTCM2_WORDS_MAX-2) * sizeof(isgps30bits_t)];
+	/* data from messages of unknown type */
+	isgps30bits_t	words[RTCM2_WORDS_MAX-2];
+    };
+};
+
+/* RTCM3 report structures begin here */
+
+#define RTCM3_MAX_SATELLITES	64
+#define RTCM3_MAX_DESCRIPTOR	31
+#define RTCM3_MAX_ANNOUNCEMENTS	32
+
+struct rtcm3_rtk_hdr {		/* header data from 1001, 1002, 1003, 1004 */
+    /* Used for both GPS and GLONASS, but their timebases differ */
+    unsigned int station_id;	/* Reference Station ID */
+    time_t tow;			/* GPS Epoch Time (TOW) in ms, 
+				   or GLONASS Epoch Time in ms */
+    bool sync;			/* Synchronous GNSS Message Flag */
+    unsigned short satcount;	/* # Satellite Signals Processed */
+    bool smoothing;		/* Divergence-free Smoothing Indicator */
+    unsigned short interval;	/* Smoothing Interval */
+};
+
+struct rtcm3_basic_rtk {
+    unsigned char indicator;	/* Indicator */
+    unsigned char channel;	/* Satellite Frequency Channel Number 
+				   (GLONASS only) */
+    double pseudorange;		/* Pseudorange */
+    double rangediff;		/* PhaseRange – Pseudorange in meters */
+    unsigned char locktime;	/* Lock time Indicator */
+};
+
+struct rtcm3_extended_rtk {
+    unsigned char indicator;	/* Indicator */
+    unsigned char channel;	/* Satellite Frequency Channel Number 
+				   (GLONASS only) */
+    double pseudorange;		/* Pseudorange */
+    double rangediff;		/* PhaseRange – L1 Pseudorange */
+    unsigned char locktime;	/* Lock time Indicator */
+    unsigned char ambiguity;	/* Integer Pseudorange 
+					   Modulus Ambiguity */
+    double CNR;			/* Carrier-to-Noise Ratio */
+};
+
+struct rtcm3_network_rtk_header {
+    unsigned int network_id;	/* Network ID */
+    unsigned int subnetwork_id;	/* Subnetwork ID */
+    time_t time;		/* GPS Epoch Time (TOW) in ms */
+    bool multimesg;		/* GPS Multiple Message Indicator */
+    unsigned master_id;		/* Master Reference Station ID */
+    unsigned aux_id;		/* Auxilary Reference Station ID */
+    unsigned char satcount;	/* count of GPS satellites */
+};
+
+struct rtcm3_correction_diff {
+    unsigned char ident;	/* satellite ID */
+    enum {reserved, correct, widelane, uncertain} ambiguity;
+    unsigned char nonsync;
+    double geometric_diff;	/* Geometric Carrier Phase 
+				   Correction Difference (1016, 1017) */
+    unsigned char iode;		/* GPS IODE (1016, 1017) */
+    double ionospheric_diff;	/* Ionospheric Carrier Phase 
+				   Correction Difference (1015, 1017) */
+};
+
+struct rtcm3_t {
+    /* header contents */
+    unsigned type;	/* RTCM 3.x message type */
+    unsigned length;	/* payload length, inclusive of checksum */
+
+    union {
+	/* 1001-1013 were present in the 3.0 version */
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_basic_rtk L1;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1001;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1002;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_basic_rtk L1;
+		struct rtcm3_basic_rtk L2;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1003;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+		struct rtcm3_extended_rtk L2;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1004;
+	struct {
+	    unsigned int station_id;		/* Reference Station ID */
+	    int system;				/* Which system is it? */
+	    bool reference_station;		/* Reference-station indicator */
+	    bool single_receiver;		/* Single Receiver Oscillator */
+	    double ecef_x, ecef_y, ecef_z;	/* ECEF antenna location */
+	} rtcm3_1005;
+	struct {
+	    unsigned int station_id;		/* Reference Station ID */
+	    int system;				/* Which system is it? */
+	    bool reference_station;		/* Reference-station indicator */
+	    bool single_receiver;		/* Single Receiver Oscillator */
+	    double ecef_x, ecef_y, ecef_z;	/* ECEF antenna location */
+	    double height;			/* Antenna height */
+	} rtcm3_1006;
+	struct {
+	    unsigned int station_id;			/* Reference Station ID */
+	    char descriptor[RTCM3_MAX_DESCRIPTOR+1];	/* Description string */
+	    unsigned char setup_id;
+	} rtcm3_1007;
+	struct {
+	    unsigned int station_id;			/* Reference Station ID */
+	    char descriptor[RTCM3_MAX_DESCRIPTOR+1];	/* Description string */
+	    unsigned char setup_id;
+	    char serial[RTCM3_MAX_DESCRIPTOR+1];	/* Serial # string */
+	} rtcm3_1008;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;		/* Satellite ID */
+		struct rtcm3_basic_rtk L1;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1009;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;		/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1010;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+		struct rtcm3_extended_rtk L2;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1011;
+	struct {
+	    struct rtcm3_rtk_hdr	header;
+	    struct {
+		unsigned ident;			/* Satellite ID */
+		struct rtcm3_extended_rtk L1;
+		struct rtcm3_extended_rtk L2;
+	    } rtk_data[RTCM3_MAX_SATELLITES];
+	} rtcm3_1012;
+	struct {
+	    unsigned int station_id;	/* Reference Station ID */
+	    unsigned short mjd;		/* Modified Julian Day (MJD) Number */
+	    unsigned int sod;		/* Seconds of Day (UTC) */
+	    unsigned char leapsecs;	/* Leap Seconds, GPS-UTC */
+	    unsigned char ncount;	/* Count of announcements to follow */
+	    struct {
+		unsigned short id;
+		bool sync;
+		unsigned short interval;
+	    } announcements[RTCM3_MAX_ANNOUNCEMENTS];
+	} rtcm3_1013;
+	/* 1014-1017 were added in the 3.1 version */
+	struct {
+	    unsigned int network_id;	/* Network ID */
+	    unsigned int subnetwork_id;	/* Subnetwork ID */
+	    unsigned char stationcount;	/* # auxiliary stations transmitted */
+	    unsigned int master_id;	/* Master Reference Station ID */
+	    unsigned int aux_id;	/* Auxilary Reference Station ID */
+	    double d_lat, d_lon, d_alt;	/* Aux-master location delta */
+	} rtcm3_1014;
+	struct {
+	    struct rtcm3_network_rtk_header	header;
+	    struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
+	} rtcm3_1015;
+	struct {
+	    struct rtcm3_network_rtk_header	header;
+	    struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
+	} rtcm3_1016;
+	struct {
+	    struct rtcm3_network_rtk_header	header;
+	    struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
+	} rtcm3_1017;
+	/* 1018-1029 were in the 3.0 version */
+	struct {
+	    unsigned int ident;		/* Satellite ID */
+	    unsigned int week;		/* GPS Week Number */
+	    unsigned char sv_accuracy;	/* GPS SV ACCURACY */
+	    enum {reserved_code, p, ca, l2c} code;
+	    double idot;
+	    unsigned char iode;
+	    /* ephemeris fields, not scaled */
+	    unsigned int t_sub_oc;
+	    signed int a_sub_f2;
+	    signed int a_sub_f1;
+	    signed int a_sub_f0;
+	    unsigned int iodc;
+	    signed int C_sub_rs;
+	    signed int delta_sub_n;
+	    signed int M_sub_0;
+	    signed int C_sub_uc;
+	    unsigned int e;
+	    signed int C_sub_us;
+	    unsigned int sqrt_sub_A;
+	    unsigned int t_sub_oe;
+	    signed int C_sub_ic;
+	    signed int OMEGA_sub_0;
+	    signed int C_sub_is;
+	    signed int i_sub_0;
+	    signed int C_sub_rc;
+	    signed int argument_of_perigee;
+	    signed int omegadot;
+	    signed int t_sub_GD;
+	    unsigned char sv_health;
+	    bool p_data;
+	    bool fit_interval;
+	} rtcm3_1019;
+	struct {
+	    unsigned int ident;		/* Satellite ID */
+	    unsigned short channel;	/* Satellite Frequency Channel Number */
+	    /* ephemeris fields, not scaled */
+	    bool C_sub_n;
+	    bool health_avAilability_indicator;
+	    unsigned char P1;
+	    unsigned short t_sub_k;
+	    bool msb_of_B_sub_n;
+	    bool P2;
+	    bool t_sub_b;
+	    signed int x_sub_n_t_of_t_sub_b_prime;
+	    signed int x_sub_n_t_of_t_sub_b;
+	    signed int x_sub_n_t_of_t_sub_b_prime_prime;
+	    signed int y_sub_n_t_of_t_sub_b_prime;
+	    signed int y_sub_n_t_of_t_sub_b;
+	    signed int y_sub_n_t_of_t_sub_b_prime_prime;
+	    signed int z_sub_n_t_of_t_sub_b_prime;
+	    signed int z_sub_n_t_of_t_sub_b;
+	    signed int z_sub_n_t_of_t_sub_b_prime_prime;
+	    bool P3;
+	    signed int gamma_sub_n_of_t_sub_b;
+	    unsigned char MP;
+	    bool Ml_n;
+	    signed int tau_n_of_t_sub_b;
+	    signed int M_delta_tau_sub_n;
+	    unsigned int E_sub_n;
+	    bool MP4;
+	    unsigned char MF_sub_T;
+	    unsigned char MN_sub_T;
+	    unsigned char MM;
+	    bool additioinal_data_availability;
+	    unsigned int N_sup_A;
+	    unsigned int tau_sub_c;
+	    unsigned int M_N_sub_4;
+	    signed int M_tau_sub_GPS;
+	    bool M_l_sub_n;
+	} rtcm3_1020;
+	struct {
+	    unsigned int station_id;	/* Reference Station ID */
+	    unsigned short mjd;		/* Modified Julian Day (MJD) Number */
+	    unsigned int sod;		/* Seconds of Day (UTC) */
+	    unsigned char len;		/* # Chars to follow */
+	    unsigned char unicode_units;
+	    unsigned char text[128];
+	} rtcm3_1029;
+    } rtcmtypes;
+};
+
+typedef /*@unsignedintegraltype@*/ unsigned int gps_mask_t;
+
+/* 
+ * Is an MMSI number that of an auxiliary associated with a mother ship?
+ * We need to be able to test this for decoding AIS Type 24 messages.
+ * According to <http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format>,
+ * auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country 
+ * code and XXXX the vessel ID.
+ */
+#define AIS_AUXILIARY_MMSI(n)	((n) / 10000000 == 98)
+
+struct ais_t
+{
+    unsigned int	type;		/* message type */
+    unsigned int    	repeat;		/* Repeat indicator */
+    unsigned int	mmsi;		/* MMSI */
+    union {
+	/* Types 1-3 Common navigation info */
+	struct {
+	    unsigned int status;		/* navigation status */
+	    signed turn;			/* rate of turn */
+#define AIS_TURN_HARD_LEFT	-127
+#define AIS_TURN_HARD_RIGHT	127
+#define AIS_TURN_NOT_AVAILABLE	128
+	    unsigned int speed;			/* speed over ground in deciknots */
+#define AIS_SPEED_NOT_AVAILABLE	1023
+#define AIS_SPEED_FAST_MOVER	1022		/* >= 102.2 knots */
+	    bool accuracy;			/* position accuracy */
+#define AIS_LATLON_SCALE	600000.0
+	    int lon;				/* longitude */
+#define AIS_LON_NOT_AVAILABLE	0x6791AC0
+	    int lat;				/* latitude */
+#define AIS_LAT_NOT_AVAILABLE	0x3412140
+	    unsigned int course;		/* course over ground */
+#define AIS_COURSE_NOT_AVAILABLE	3600
+	    unsigned int heading;		/* true heading */
+#define AIS_HEADING_NOT_AVAILABLE	511
+	    unsigned int second;		/* seconds of UTC timestamp */
+#define AIS_SEC_NOT_AVAILABLE	60
+#define AIS_SEC_MANUAL		61
+#define AIS_SEC_ESTIMATED	62
+#define AIS_SEC_INOPERATIVE	63
+	    unsigned int maneuver;	/* maneuver indicator */
+	    //unsigned int spare;	spare bits */
+	    bool raim;			/* RAIM flag */
+	    unsigned int radio;		/* radio status bits */
+	} type1;
+	/* Type 4 - Base Station Report & Type 11 - UTC and Date Response */
+	struct {
+	    unsigned int year;			/* UTC year */
+#define AIS_YEAR_NOT_AVAILABLE	0
+	    unsigned int month;			/* UTC month */
+#define AIS_MONTH_NOT_AVAILABLE	0
+	    unsigned int day;			/* UTC day */
+#define AIS_DAY_NOT_AVAILABLE	0
+	    unsigned int hour;			/* UTC hour */
+#define AIS_HOUR_NOT_AVAILABLE	24
+	    unsigned int minute;		/* UTC minute */
+#define AIS_MINUTE_NOT_AVAILABLE	60
+	    unsigned int second;		/* UTC second */
+#define AIS_SECOND_NOT_AVAILABLE	60
+	    bool accuracy;		/* fix quality */
+	    int lon;			/* longitude */
+	    int lat;			/* latitude */
+	    unsigned int epfd;		/* type of position fix device */
+	    //unsigned int spare;	spare bits */
+	    bool raim;			/* RAIM flag */
+	    unsigned int radio;		/* radio status bits */
+	} type4;
+	/* Type 5 - Ship static and voyage related data */
+	struct {
+	    unsigned int ais_version;	/* AIS version level */
+	    unsigned int imo;		/* IMO identification */
+	    char callsign[8];		/* callsign */ 
+#define AIS_SHIPNAME_MAXLEN	20
+	    char shipname[AIS_SHIPNAME_MAXLEN+1];	/* vessel name */
+	    unsigned int shiptype;	/* ship type code */
+	    unsigned int to_bow;	/* dimension to bow */
+	    unsigned int to_stern;	/* dimension to stern */
+	    unsigned int to_port;	/* dimension to port */
+	    unsigned int to_starboard;	/* dimension to starboard */
+	    unsigned int epfd;		/* type of position fix deviuce */
+	    unsigned int month;		/* UTC month */
+	    unsigned int day;		/* UTC day */
+	    unsigned int hour;		/* UTC hour */
+	    unsigned int minute;	/* UTC minute */
+	    unsigned int draught;	/* draft in meters */
+	    char destination[21];	/* ship destination */
+	    unsigned int dte;		/* data terminal enable */
+	    //unsigned int spare;	spare bits */
+	} type5;
+	/* Type 6 - Addressed Binary Message */
+	struct {
+	    unsigned int seqno;		/* sequence number */
+	    unsigned int dest_mmsi;	/* destination MMSI */
+	    bool retransmit;		/* retransmit flag */
+	    //unsigned int spare;	spare bit(s) */
+	    unsigned int app_id;        /* Application ID */
+#define AIS_TYPE6_BINARY_MAX	920	/* 920 bits */
+	    size_t bitcount;		/* bit count of the data */
+	    char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8];
+	} type6;
+	/* Type 7 - Binary Acknowledge */
+	struct {
+	    unsigned int mmsi1;
+	    unsigned int mmsi2;
+	    unsigned int mmsi3;
+	    unsigned int mmsi4;
+	    /* spares ignored, they're only padding here */
+	} type7;
+	/* Type 8 - Broadcast Binary Message */
+	struct {
+	    //unsigned int spare;	spare bit(s) */
+	    unsigned int app_id;       	/* Application ID */
+#define AIS_TYPE8_BINARY_MAX	952	/* 952 bits */
+	    size_t bitcount;		/* bit count of the data */
+	    char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8];
+	} type8;
+	/* Type 9 - Standard SAR Aircraft Position Report */
+	struct {
+	    unsigned int alt;		/* altitude in meters */
+#define AIS_ALT_NOT_AVAILABLE	4095
+#define AIS_ALT_HIGH    	4094	/* 4094 meters or higher */
+	    unsigned int speed;		/* speed over ground in deciknots */
+#define AIS_SAR_SPEED_NOT_AVAILABLE	1023
+#define AIS_SAR_FAST_MOVER  	1022
+	    bool accuracy;		/* position accuracy */
+	    int lon;			/* longitude */
+	    int lat;			/* latitude */
+	    unsigned int course;	/* course over ground */
+	    unsigned int second;	/* seconds of UTC timestamp */
+	    unsigned int regional;	/* regional reserved */
+	    unsigned int dte;		/* data terminal enable */
+	    //unsigned int spare;	spare bits */
+	    bool assigned;		/* assigned-mode flag */
+	    bool raim;			/* RAIM flag */
+	    unsigned int radio;		/* radio status bits */
+	} type9;
+	/* Type 10 - UTC/Date Inquiry */
+	struct {
+	    //unsigned int spare;
+	    unsigned int dest_mmsi;	/* destination MMSI */
+	    //unsigned int spare2;
+	} type10;
+	/* Type 12 - Safety-Related Message */
+	struct {
+	    unsigned int seqno;		/* sequence number */
+	    unsigned int dest_mmsi;	/* destination MMSI */
+	    bool retransmit;		/* retransmit flag */
+	    //unsigned int spare;	spare bit(s) */
+#define AIS_TYPE12_TEXT_MAX	157	/* 936 bits of six-bit, plus NUL */
+	    char text[AIS_TYPE12_TEXT_MAX];
+	} type12;
+	/* Type 14 - Safety-Related Broadcast Message */
+	struct {
+	    //unsigned int spare;	spare bit(s) */
+#define AIS_TYPE14_TEXT_MAX	161	/* 952 bits of six-bit, plus NUL */
+	    char text[AIS_TYPE14_TEXT_MAX];
+	} type14;
+	/* Type 15 - Interrogation */
+	struct {
+	    //unsigned int spare;	spare bit(s) */
+	    unsigned int mmsi1;
+	    unsigned int type1_1;
+	    unsigned int offset1_1;
+	    //unsigned int spare2;	spare bit(s) */
+	    unsigned int type1_2;
+	    unsigned int offset1_2;
+	    //unsigned int spare3;	spare bit(s) */
+	    unsigned int mmsi2;
+	    unsigned int type2_1;
+	    unsigned int offset2_1;
+	    //unsigned int spare4;	spare bit(s) */
+	} type15;
+	/* Type 16 - Assigned Mode Command */
+	struct {
+	    //unsigned int spare;	spare bit(s) */
+	    unsigned int mmsi1;
+	    unsigned int offset1;
+	    unsigned int increment1;
+	    unsigned int mmsi2;
+	    unsigned int offset2;
+	    unsigned int increment2;
+	} type16;
+	/* Type 17 - GNSS Broadcast Binary Message */
+	struct {
+	    //unsigned int spare;	spare bit(s) */
+#define AIS_GNSS_LATLON_SCALE	600.0
+	    int lon;			/* longitude */
+	    int lat;			/* latitude */
+	    //unsigned int spare2;	spare bit(s) */
+#define AIS_TYPE17_BINARY_MAX	736	/* 920 bits */
+	    size_t bitcount;		/* bit count of the data */
+	    char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8];
+	} type17;
+	/* Type 18 - Standard Class B CS Position Report */
+	struct {
+	    unsigned int reserved;	/* altitude in meters */
+	    unsigned int speed;		/* speed over ground in deciknots */
+	    bool accuracy;		/* position accuracy */
+	    int lon;			/* longitude */
+#define AIS_GNS_LON_NOT_AVAILABLE	0x1a838
+	    int lat;			/* latitude */
+#define AIS_GNS_LAT_NOT_AVAILABLE	0xd548
+	    unsigned int course;	/* course over ground */
+	    unsigned int heading;	/* true heading */
+	    unsigned int second;	/* seconds of UTC timestamp */
+	    unsigned int regional;	/* regional reserved */
+	    bool cs;     		/* carrier sense unit flag */
+	    bool display;		/* unit has attached display? */
+	    bool dsc;   		/* unit attached to radio with DSC? */
+	    bool band;   		/* unit can switch frequency bands? */
+	    bool msg22;	        	/* can accept Message 22 management? */
+	    bool assigned;		/* assigned-mode flag */
+	    bool raim;			/* RAIM flag */
+	    unsigned int radio;		/* radio status bits */
+	} type18;
+	/* Type 19 - Extended Class B CS Position Report */
+	struct {
+	    unsigned int reserved;	/* altitude in meters */
+	    unsigned int speed;		/* speed over ground in deciknots */
+	    bool accuracy;		/* position accuracy */
+	    int lon;			/* longitude */
+	    int lat;			/* latitude */
+	    unsigned int course;	/* course over ground */
+	    unsigned int heading;	/* true heading */
+	    unsigned int second;	/* seconds of UTC timestamp */
+	    unsigned int regional;	/* regional reserved */
+	    char shipname[AIS_SHIPNAME_MAXLEN+1];		/* ship name */
+	    unsigned int shiptype;	/* ship type code */
+	    unsigned int to_bow;	/* dimension to bow */
+	    unsigned int to_stern;	/* dimension to stern */
+	    unsigned int to_port;	/* dimension to port */
+	    unsigned int to_starboard;	/* dimension to starboard */
+	    unsigned int epfd;		/* type of position fix deviuce */
+	    bool raim;			/* RAIM flag */
+	    unsigned int dte;    	/* date terminal enable */
+	    bool assigned;		/* assigned-mode flag */
+	    //unsigned int spare;	spare bits */
+	} type19;
+	/* Type 20 - Data Link Management Message */
+	struct {
+	    //unsigned int spare;	spare bit(s) */
+	    unsigned int offset1;	/* TDMA slot offset */
+	    unsigned int number1;	/* number of xlots to allocate */
+	    unsigned int timeout1;	/* allocation timeout */
+	    unsigned int increment1;	/* repeat increment */
+	    unsigned int offset2;	/* TDMA slot offset */
+	    unsigned int number2;	/* number of xlots to allocate */
+	    unsigned int timeout2;	/* allocation timeout */
+	    unsigned int increment2;	/* repeat increment */
+	    unsigned int offset3;	/* TDMA slot offset */
+	    unsigned int number3;	/* number of xlots to allocate */
+	    unsigned int timeout3;	/* allocation timeout */
+	    unsigned int increment3;	/* repeat increment */
+	    unsigned int offset4;	/* TDMA slot offset */
+	    unsigned int number4;	/* number of xlots to allocate */
+	    unsigned int timeout4;	/* allocation timeout */
+	    unsigned int increment4;	/* repeat increment */
+	} type20;
+	/* Type 21 - Aids to Navigation Report */
+	struct {
+	    unsigned int aid_type;	/* aid type */
+	    char name[35];		/* name of aid to navigation */
+	    bool accuracy;		/* position accuracy */
+	    int lon;			/* longitude */
+	    int lat;			/* latitude */
+	    unsigned int to_bow;	/* dimension to bow */
+	    unsigned int to_stern;	/* dimension to stern */
+	    unsigned int to_port;	/* dimension to port */
+	    unsigned int to_starboard;	/* dimension to starboard */
+	    unsigned int epfd;		/* type of EPFD */
+	    unsigned int second;	/* second of UTC timestamp */
+	    bool off_position;		/* off-position indicator */
+	    unsigned int regional;	/* regional reserved field */
+	    bool raim;			/* RAIM flag */
+	    bool virtual_aid;		/* is virtual station? */
+	    bool assigned;		/* assigned-mode flag */
+	    //unsigned int spare;	unused */
+	} type21;
+	/* Type 22 - Channel Management */
+	struct {
+	    //unsigned int spare;	spare bit(s) */
+	    unsigned int channel_a;	/* Channel A number */
+	    unsigned int channel_b;	/* Channel B number */
+	    unsigned int txrx;		/* transmit/receive mode */
+	    bool power;			/* high-power flag */
+#define AIS_CHANNEL_LATLON_SCALE	600.0
+	    union {
+		struct {
+		    int ne_lon;		/* NE corner longitude */
+		    int ne_lat;		/* NE corner latitude */
+		    int sw_lon;		/* SW corner longitude */
+		    int sw_lat;		/* SW corner latitude */
+		} area;
+		struct {
+		    unsigned int dest1;	/* addressed station MMSI 1 */
+		    unsigned int dest2;	/* addressed station MMSI 2 */
+		} mmsi;
+	    };
+	    bool addressed;		/* addressed vs. broadast flag */
+	    bool band_a;		/* fix 1.5kHz band for channel A */
+	    bool band_b;		/* fix 1.5kHz band for channel B */
+	    unsigned int zonesize;	/* size of transitional zone */
+	} type22;
+	/* Type 23 - Group Assignment Command */
+	struct {
+	    int ne_lon;			/* NE corner longitude */
+	    int ne_lat;			/* NE corner latitude */
+	    int sw_lon;			/* SW corner longitude */
+	    int sw_lat;			/* SW corner latitude */
+	    //unsigned int spare;	spare bit(s) */
+	    unsigned int stationtype;	/* station type code */
+	    unsigned int shiptype;	/* ship type code */
+	    //unsigned int spare2;	spare bit(s) */
+	    unsigned int txrx;		/* transmit-enable code */
+	    unsigned int interval;	/* report interval */
+	    unsigned int quiet;		/* quiet time */
+	    //unsigned int spare3;	spare bit(s) */
+	} type23;
+	/* Type 24 - Class B CS Static Data Report */
+	struct {
+	    char shipname[AIS_SHIPNAME_MAXLEN+1];	/* vessel name */
+	    unsigned int shiptype;	/* ship type code */
+	    char vendorid[8];		/* vendor ID */
+	    char callsign[8];		/* callsign */
+	    union {
+		unsigned int mothership_mmsi;	/* MMSI of main vessel */
+		struct {
+		    unsigned int to_bow;	/* dimension to bow */
+		    unsigned int to_stern;	/* dimension to stern */
+		    unsigned int to_port;	/* dimension to port */
+		    unsigned int to_starboard;	/* dimension to starboard */
+		} dim;
+	    };
+	} type24;
+	/* Type 25 - Addressed Binary Message */
+	struct {
+	    bool addressed;		/* addressed-vs.broadcast flag */
+	    bool structured;		/* structured-binary flag */
+	    unsigned int dest_mmsi;	/* destination MMSI */
+	    unsigned int app_id;        /* Application ID */
+#define AIS_TYPE25_BINARY_MAX	128	/* Up to 128 bits */
+	    size_t bitcount;		/* bit count of the data */
+	    char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8];
+	} type25;
+	/* Type 26 - Addressed Binary Message */
+	struct {
+	    bool addressed;		/* addressed-vs.broadcast flag */
+	    bool structured;		/* structured-binary flag */
+	    unsigned int dest_mmsi;	/* destination MMSI */
+	    unsigned int app_id;        /* Application ID */
+#define AIS_TYPE26_BINARY_MAX	1004	/* Up to 128 bits */
+	    size_t bitcount;		/* bit count of the data */
+	    char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8];
+	    unsigned int radio;		/* radio status bits */
+	} type26;
+    };
+};
+
+struct attitude_t {
+    double heading;
+    double pitch;
+    double roll;
+    double yaw;
+    double dip;
+    double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
+    double mag_x;
+    double mag_y;
+    double mag_z;
+    double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
+    double acc_x;
+    double acc_y;
+    double acc_z;
+    double gyro_x;
+    double gyro_y;
+    double temp;
+    double depth;
+    /* compass status -- TrueNorth (and any similar) devices only */
+    char mag_st;
+    char pitch_st;
+    char roll_st;
+    char yaw_st;
+};
+
+struct dop_t {
+    /* Dilution of precision factors */
+    double xdop, ydop, pdop, hdop, vdop, tdop, gdop;
+};
+
+struct rawdata_t {
+    /* raw measurement data */
+    double codephase[MAXCHANNELS];	/* meters */
+    double carrierphase[MAXCHANNELS];	/* meters */
+    double pseudorange[MAXCHANNELS];	/* meters */
+    double deltarange[MAXCHANNELS];	/* meters/sec */
+    double doppler[MAXCHANNELS];	/* Hz */
+    double mtime[MAXCHANNELS];		/* sec */
+    unsigned satstat[MAXCHANNELS];	/* tracking status */
+#define SAT_ACQUIRED	0x01		/* satellite acquired */
+#define SAT_CODE_TRACK	0x02		/* code-tracking loop acquired */
+#define SAT_CARR_TRACK	0x04		/* carrier-tracking loop acquired */
+#define SAT_DATA_SYNC	0x08		/* data-bit synchronization done */
+#define SAT_FRAME_SYNC	0x10		/* frame synchronization done */
+#define SAT_EPHEMERIS	0x20		/* ephemeris collected */
+#define SAT_FIX_USED	0x40		/* used for position fix */
+};
+
+struct version_t {
+    char release[64];			/* external version */
+    char rev[64];			/* internal revision ID */
+    int proto_major, proto_minor;	/* API major and minor versions */
+};
+
+struct devconfig_t {
+    char path[GPS_PATH_MAX];
+    int flags;
+#define SEEN_GPS 	0x01
+#define SEEN_RTCM2	0x02
+#define SEEN_RTCM3	0x04
+#define SEEN_AIS 	0x08
+    char driver[64];
+    char subtype[64];
+    double activated;
+    unsigned int baudrate, stopbits;	/* RS232 link parameters */
+    char parity;			/* 'N', 'O', or 'E' */
+    double cycle, mincycle;     	/* refresh cycle time in seconds */
+    int driver_mode;    		/* is driver in native mode or not? */
+};
+
+struct policy_t {
+    bool watcher;			/* is watcher mode on? */
+    bool json;				/* requesting JSON? */
+    bool nmea;				/* requesting dumping as NMEA? */
+    int raw;				/* requesting raw data? */
+    bool scaled;			/* requesting report scaling? */ 
+    bool timing;			/* requesting timing info */
+    char devpath[GPS_PATH_MAX];		/* specific device to watch */   
+};
+
+/* 
+ * Someday we may support Windows, under which socket_t is a separate type.
+ * In the meantime, having a typedef for this semantic kind is no bad thing,
+ * as it makes clearer what some declarations are doing without breaking
+ * binary compatibility. 
+ */
+typedef int socket_t;
+
+/* mode flags for setting streaming policy */
+#define WATCH_ENABLE	0x0001u	/* enable streaming */
+#define WATCH_JSON	0x0002u	/* enable JSON output */
+#define WATCH_NMEA	0x0004u	/* enable output in NMEA */
+#define WATCH_RARE	0x0008u	/* enable output of packets in hex */
+#define WATCH_RAW	0x0010u	/* enable output of raw packets */
+#define WATCH_SCALED	0x0020u	/* scale output to floats, when applicable */ 
+#define WATCH_NEWSTYLE	0x0040u	/* force JSON streaming */
+#define WATCH_OLDSTYLE	0x0080u	/* force old-style streaming */
+#define WATCH_DEVICE	0x0100u	/* watch specific device */
+#define WATCH_DISABLE	0x0200u	/* disable watching */
+#define POLL_NONBLOCK	0x1000u	/* set non-blocking poll (experimental!) */
+
+/* 
+ * Main structure that includes all previous substructures
+ */
+
+struct gps_data_t {
+    gps_mask_t set;	/* has field been set since this was last cleared? */
+#define ONLINE_SET	0x00000001u
+#define TIME_SET	0x00000002u
+#define TIMERR_SET	0x00000004u
+#define LATLON_SET	0x00000008u
+#define ALTITUDE_SET	0x00000010u
+#define SPEED_SET	0x00000020u
+#define TRACK_SET	0x00000040u
+#define CLIMB_SET	0x00000080u
+#define STATUS_SET	0x00000100u
+#define MODE_SET	0x00000200u
+#define DOP_SET  	0x00000400u
+#define VERSION_SET	0x00000800u
+#define HERR_SET	0x00001000u
+#define VERR_SET	0x00002000u
+#define ATTITUDE_SET	0x00004000u
+#define POLICY_SET	0x00008000u
+#define SATELLITE_SET	0x00010000u
+#define RAW_SET		0x00020000u
+#define USED_SET	0x00040000u
+#define SPEEDERR_SET	0x00080000u
+#define TRACKERR_SET	0x00100000u
+#define CLIMBERR_SET	0x00200000u
+#define DEVICE_SET	0x00400000u
+#define DEVICELIST_SET	0x00800000u
+#define DEVICEID_SET	0x01000000u
+#define ERROR_SET	0x02000000u
+#define RTCM2_SET	0x04000000u
+#define RTCM3_SET	0x08000000u
+#define AIS_SET 	0x10000000u
+#define PACKET_SET	0x20000000u
+#define AUXDATA_SET	0x80000000u	/* reserved */
+    double online;		/* NZ if GPS is on line, 0 if not.
+				 *
+				 * Note: gpsd clears this time when sentences
+				 * fail to show up within the GPS's normal
+				 * send cycle time. If the host-to-GPS 
+				 * link is lossy enough to drop entire
+				 * sentences, this field will be
+				 * prone to false zero values.
+				 */
+
+#ifndef USE_QT
+    socket_t gps_fd;		/* socket or file descriptor to GPS */
+#else
+    void* gps_fd;
+#endif
+    struct gps_fix_t	fix;	/* accumulated PVT data */
+
+    double separation;		/* Geoidal separation, MSL - WGS84 (Meters) */
+
+    /* GPS status -- always valid */
+    int    status;		/* Do we have a fix? */
+#define STATUS_NO_FIX	0	/* no */
+#define STATUS_FIX	1	/* yes, without DGPS */
+#define STATUS_DGPS_FIX	2	/* yes, with DGPS */
+
+    /* precision of fix -- valid if satellites_used > 0 */
+    int satellites_used;	/* Number of satellites used in solution */
+    int used[MAXCHANNELS];	/* PRNs of satellites used in solution */
+    struct dop_t dop;
+
+    /* redundant with the estimate elements in the fix structure */
+    double epe;  /* spherical position error, 95% confidence (meters)  */
+
+    /* satellite status -- valid when satellites_visible > 0 */
+    double skyview_time;	/* skyview timestamp */
+    int satellites_visible;	/* # of satellites in view */
+    int PRN[MAXCHANNELS];	/* PRNs of satellite */
+    int elevation[MAXCHANNELS];	/* elevation of satellite */
+    int azimuth[MAXCHANNELS];	/* azimuth */
+    double ss[MAXCHANNELS];	/* signal-to-noise ratio (dB) */
+
+    struct devconfig_t dev;	/* device that shipped last update */
+
+    struct policy_t policy;	/* our listening policy */
+
+    char tag[MAXTAGLEN+1];	/* tag of last sentence processed */
+
+    void (*raw_hook)(struct gps_data_t *, char *, size_t len);	/* Raw-mode hook for GPS data. */
+
+    /* pack things never reported together to reduce structure size */ 
+#define UNION_SET	(RTCM2_SET|RTCM3_SET|AIS_SET|VERSION_SET|DEVICELIST_SET|ERROR_SET)
+    union {
+	/* unusual forms of sensor data that might come up the pipe */ 
+	struct rtcm2_t	rtcm2;
+	struct rtcm3_t	rtcm3;
+	struct ais_t ais;
+	struct attitude_t attitude;
+	struct rawdata_t raw;
+	/* "artificial" structures for various protocol responses */
+	struct version_t version;
+	struct {
+	    double time;
+	    int ndevices;
+	    struct devconfig_t list[MAXUSERDEVS];
+	} devices;
+	char error[80];
+    };
+
+    /* Private data - client code must not set this */
+    void *privdata;
+};
+
+extern int gps_open_r(const char *host, const char *, 
+		      /*@out@*/struct gps_data_t *);
+extern /*@null@*/struct gps_data_t *gps_open(const char *, const char *);
+extern int gps_close(struct gps_data_t *);
+extern int gps_send(struct gps_data_t *, const char *, ... );
+extern int gps_poll(struct gps_data_t *);
+extern bool gps_waiting(struct gps_data_t *);
+extern int gps_stream(struct gps_data_t *, unsigned int, /*@null@*/void *);
+extern void gps_set_raw_hook(struct gps_data_t *, 
+			     void (*)(struct gps_data_t *, char *, size_t));
+extern char /*@observer@*/ *gps_errstr(const int);
+
+/* this only needs to be visible for the unit tests */
+extern int gps_unpack(char *, struct gps_data_t *);
+
+/* dependencies on struct gpsdata_t end hrere */
+
+extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *);
+extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *,
+			  gps_mask_t,
+			  /*@ in @*/struct gps_fix_t *);
+extern void gps_enable_debug(int, FILE *);
+extern /*@observer@*/const char *gps_maskdump(gps_mask_t);
+
+extern time_t mkgmtime(register struct tm *);
+extern double timestamp(void);
+extern double iso8601_to_unix(char *);
+extern /*@observer@*/char *unix_to_iso8601(double t, /*@ out @*/char[], size_t len);
+extern double gpstime_to_unix(int, double);
+extern void unix_to_gpstime(double, /*@out@*/int *, /*@out@*/double *);
+extern double earth_distance(double, double, double, double);
+extern double wgs84_separation(double, double);
+
+/* some multipliers for interpreting GPS output */
+#define METERS_TO_FEET	3.2808399	/* Meters to U.S./British feet */
+#define METERS_TO_MILES	0.00062137119	/* Meters to miles */
+#define KNOTS_TO_MPH	1.1507794	/* Knots to miles per hour */
+#define KNOTS_TO_KPH	1.852		/* Knots to kilometers per hour */
+#define KNOTS_TO_MPS	0.51444444	/* Knots to meters per second */
+#define MPS_TO_KPH	3.6		/* Meters per second to klicks/hr */
+#define MPS_TO_MPH	2.2369363	/* Meters/second to miles per hour */
+#define MPS_TO_KNOTS	1.9438445	/* Meters per second to knots */
+/* miles and knots are both the international standard versions of the units */
+
+/* angle conversion multipliers */
+#define GPS_PI      	3.1415926535897932384626433832795029
+#define RAD_2_DEG	57.2957795130823208767981548141051703
+#define DEG_2_RAD	0.0174532925199432957692369076848861271
+
+/* geodetic constants */
+#define WGS84A 6378137		/* equatorial radius */
+#define WGS84F 298.257223563	/* flattening */
+#define WGS84B 6356752.3142	/* polar radius */
+
+/* gps_open() errno return values */
+#define NL_NOSERVICE	-1	/* can't get service entry */
+#define NL_NOHOST	-2	/* can't get host entry */
+#define NL_NOPROTO	-3	/* can't get protocol entry */
+#define NL_NOSOCK	-4	/* can't create socket */
+#define NL_NOSOCKOPT	-5	/* error SETSOCKOPT SO_REUSEADDR */
+#define NL_NOCONNECT	-6	/* can't connect to host/socket pair */
+
+#define DEFAULT_GPSD_PORT	"2947"	/* IANA assignment */
+#define DEFAULT_RTCM_PORT	"2101"	/* IANA assignment */
+
+#ifdef __cplusplus
+}  /* End of the 'extern "C"' block */
+#endif
+
+/* gps.h ends here */
+#endif /* _GPSD_GPS_H_ */