1 /*-
2 * Copyright (c) 1982, 1986, 1991, 1993
3 * The Regents of the University of California. All rights reserved.
4 *
5 * %sccs.include.redist.c%
6 *
7 * @(#)tty_tb.c 8.2 (Berkeley) 01/09/95
8 */
9
10 #include "tb.h"
11 #if NTB > 0
12
13 /*
14 * Line discipline for RS232 tablets;
15 * supplies binary coordinate data.
16 */
17 #include <sys/param.h>
18 #include <sys/tablet.h>
19 #include <sys/tty.h>
20
21 /*
22 * Tablet configuration table.
23 */
24 struct tbconf {
25 short tbc_recsize; /* input record size in bytes */
26 short tbc_uiosize; /* size of data record returned user */
27 int tbc_sync; /* mask for finding sync byte/bit */
28 int (*tbc_decode)();/* decoding routine */
29 char *tbc_run; /* enter run mode sequence */
30 char *tbc_point; /* enter point mode sequence */
31 char *tbc_stop; /* stop sequence */
32 char *tbc_start; /* start/restart sequence */
33 int tbc_flags;
34 #define TBF_POL 0x1 /* polhemus hack */
35 #define TBF_INPROX 0x2 /* tablet has proximity info */
36 };
37
38 static int tbdecode(), gtcodecode(), poldecode();
39 static int tblresdecode(), tbhresdecode();
40
41 struct tbconf tbconf[TBTYPE] = {
42 { 0 },
43 { 5, sizeof (struct tbpos), 0200, tbdecode, "6", "4" },
44 { 5, sizeof (struct tbpos), 0200, tbdecode, "\1CN", "\1RT", "\2", "\4" },
45 { 8, sizeof (struct gtcopos), 0200, gtcodecode },
46 {17, sizeof (struct polpos), 0200, poldecode, 0, 0, "\21", "\5\22\2\23",
47 TBF_POL },
48 { 5, sizeof (struct tbpos), 0100, tblresdecode, "\1CN", "\1PT", "\2", "\4",
49 TBF_INPROX },
50 { 6, sizeof (struct tbpos), 0200, tbhresdecode, "\1CN", "\1PT", "\2", "\4",
51 TBF_INPROX },
52 { 5, sizeof (struct tbpos), 0100, tblresdecode, "\1CL\33", "\1PT\33", 0, 0},
53 { 6, sizeof (struct tbpos), 0200, tbhresdecode, "\1CL\33", "\1PT\33", 0, 0},
54 };
55
56 /*
57 * Tablet state
58 */
59 struct tb {
60 int tbflags; /* mode & type bits */
61 #define TBMAXREC 17 /* max input record size */
62 char cbuf[TBMAXREC]; /* input buffer */
63 union {
64 struct tbpos tbpos;
65 struct gtcopos gtcopos;
66 struct polpos polpos;
67 } rets; /* processed state */
68 #define NTBS 16
69 } tb[NTBS];
70
71 /*
72 * Open as tablet discipline; called on discipline change.
73 */
74 /*ARGSUSED*/
tbopen(dev,tp)75 tbopen(dev, tp)
76 dev_t dev;
77 register struct tty *tp;
78 {
79 register struct tb *tbp;
80
81 if (tp->t_line == TABLDISC)
82 return (ENODEV);
83 ttywflush(tp);
84 for (tbp = tb; tbp < &tb[NTBS]; tbp++)
85 if (tbp->tbflags == 0)
86 break;
87 if (tbp >= &tb[NTBS])
88 return (EBUSY);
89 tbp->tbflags = TBTIGER|TBPOINT; /* default */
90 tp->t_cp = tbp->cbuf;
91 tp->t_inbuf = 0;
92 bzero((caddr_t)&tbp->rets, sizeof (tbp->rets));
93 tp->T_LINEP = (caddr_t)tbp;
94 tp->t_flags |= LITOUT;
95 return (0);
96 }
97
98 /*
99 * Line discipline change or last device close.
100 */
tbclose(tp)101 tbclose(tp)
102 register struct tty *tp;
103 {
104 register int s;
105 int modebits = TBPOINT|TBSTOP;
106
107 tbioctl(tp, BIOSMODE, &modebits, 0);
108 s = spltty();
109 ((struct tb *)tp->T_LINEP)->tbflags = 0;
110 tp->t_cp = 0;
111 tp->t_inbuf = 0;
112 tp->t_rawq.c_cc = 0; /* clear queues -- paranoid */
113 tp->t_canq.c_cc = 0;
114 tp->t_line = 0; /* paranoid: avoid races */
115 splx(s);
116 }
117
118 /*
119 * Read from a tablet line.
120 * Characters have been buffered in a buffer and decoded.
121 */
tbread(tp,uio)122 tbread(tp, uio)
123 register struct tty *tp;
124 struct uio *uio;
125 {
126 register struct tb *tbp = (struct tb *)tp->T_LINEP;
127 register struct tbconf *tc = &tbconf[tbp->tbflags & TBTYPE];
128 int ret;
129
130 if ((tp->t_state&TS_CARR_ON) == 0)
131 return (EIO);
132 ret = uiomove(&tbp->rets, tc->tbc_uiosize, uio);
133 if (tc->tbc_flags&TBF_POL)
134 tbp->rets.polpos.p_key = ' ';
135 return (ret);
136 }
137
138 /*
139 * Low level character input routine.
140 * Stuff the character in the buffer, and decode
141 * if all the chars are there.
142 *
143 * This routine could be expanded in-line in the receiver
144 * interrupt routine to make it run as fast as possible.
145 */
tbinput(c,tp)146 tbinput(c, tp)
147 register int c;
148 register struct tty *tp;
149 {
150 register struct tb *tbp = (struct tb *)tp->T_LINEP;
151 register struct tbconf *tc = &tbconf[tbp->tbflags & TBTYPE];
152
153 if (tc->tbc_recsize == 0 || tc->tbc_decode == 0) /* paranoid? */
154 return;
155 /*
156 * Locate sync bit/byte or reset input buffer.
157 */
158 if (c&tc->tbc_sync || tp->t_inbuf == tc->tbc_recsize) {
159 tp->t_cp = tbp->cbuf;
160 tp->t_inbuf = 0;
161 }
162 *tp->t_cp++ = c&0177;
163 /*
164 * Call decode routine only if a full record has been collected.
165 */
166 if (++tp->t_inbuf == tc->tbc_recsize)
167 (*tc->tbc_decode)(tc, tbp->cbuf, &tbp->rets);
168 }
169
170 /*
171 * Decode GTCO 8 byte format (high res, tilt, and pressure).
172 */
173 static
174 gtcodecode(tc, cp, tbpos)
175 struct tbconf *tc;
176 register char *cp;
177 register struct gtcopos *tbpos;
178 {
179
180 tbpos->pressure = *cp >> 2;
181 tbpos->status = (tbpos->pressure > 16) | TBINPROX; /* half way down */
182 tbpos->xpos = (*cp++ & 03) << 14;
183 tbpos->xpos |= *cp++ << 7;
184 tbpos->xpos |= *cp++;
185 tbpos->ypos = (*cp++ & 03) << 14;
186 tbpos->ypos |= *cp++ << 7;
187 tbpos->ypos |= *cp++;
188 tbpos->xtilt = *cp++;
189 tbpos->ytilt = *cp++;
190 tbpos->scount++;
191 }
192
193 /*
194 * Decode old Hitachi 5 byte format (low res).
195 */
196 static
197 tbdecode(tc, cp, tbpos)
198 struct tbconf *tc;
199 register char *cp;
200 register struct tbpos *tbpos;
201 {
202 register char byte;
203
204 byte = *cp++;
205 tbpos->status = (byte&0100) ? TBINPROX : 0;
206 byte &= ~0100;
207 if (byte > 036)
208 tbpos->status |= 1 << ((byte-040)/2);
209 tbpos->xpos = *cp++ << 7;
210 tbpos->xpos |= *cp++;
211 if (tbpos->xpos < 256) /* tablet wraps around at 256 */
212 tbpos->status &= ~TBINPROX; /* make it out of proximity */
213 tbpos->ypos = *cp++ << 7;
214 tbpos->ypos |= *cp++;
215 tbpos->scount++;
216 }
217
218 /*
219 * Decode new Hitach 5-byte format (low res).
220 */
221 static
222 tblresdecode(tc, cp, tbpos)
223 struct tbconf *tc;
224 register char *cp;
225 register struct tbpos *tbpos;
226 {
227
228 *cp &= ~0100; /* mask sync bit */
229 tbpos->status = (*cp++ >> 2) | TBINPROX;
230 if (tc->tbc_flags&TBF_INPROX && tbpos->status&020)
231 tbpos->status &= ~(020|TBINPROX);
232 tbpos->xpos = *cp++;
233 tbpos->xpos |= *cp++ << 6;
234 tbpos->ypos = *cp++;
235 tbpos->ypos |= *cp++ << 6;
236 tbpos->scount++;
237 }
238
239 /*
240 * Decode new Hitach 6-byte format (high res).
241 */
242 static
243 tbhresdecode(tc, cp, tbpos)
244 struct tbconf *tc;
245 register char *cp;
246 register struct tbpos *tbpos;
247 {
248 char byte;
249
250 byte = *cp++;
251 tbpos->xpos = (byte & 03) << 14;
252 tbpos->xpos |= *cp++ << 7;
253 tbpos->xpos |= *cp++;
254 tbpos->ypos = *cp++ << 14;
255 tbpos->ypos |= *cp++ << 7;
256 tbpos->ypos |= *cp++;
257 tbpos->status = (byte >> 2) | TBINPROX;
258 if (tc->tbc_flags&TBF_INPROX && tbpos->status&020)
259 tbpos->status &= ~(020|TBINPROX);
260 tbpos->scount++;
261 }
262
263 /*
264 * Polhemus decode.
265 */
266 static
267 poldecode(tc, cp, polpos)
268 struct tbconf *tc;
269 register char *cp;
270 register struct polpos *polpos;
271 {
272
273 polpos->p_x = cp[4] | cp[3]<<7 | (cp[9] & 0x03) << 14;
274 polpos->p_y = cp[6] | cp[5]<<7 | (cp[9] & 0x0c) << 12;
275 polpos->p_z = cp[8] | cp[7]<<7 | (cp[9] & 0x30) << 10;
276 polpos->p_azi = cp[11] | cp[10]<<7 | (cp[16] & 0x03) << 14;
277 polpos->p_pit = cp[13] | cp[12]<<7 | (cp[16] & 0x0c) << 12;
278 polpos->p_rol = cp[15] | cp[14]<<7 | (cp[16] & 0x30) << 10;
279 polpos->p_stat = cp[1] | cp[0]<<7;
280 if (cp[2] != ' ')
281 polpos->p_key = cp[2];
282 }
283
284 /*ARGSUSED*/
285 tbioctl(tp, cmd, data, flag)
286 struct tty *tp;
287 u_long cmd;
288 caddr_t data;
289 int flag;
290 {
291 register struct tb *tbp = (struct tb *)tp->T_LINEP;
292
293 switch (cmd) {
294
295 case BIOGMODE:
296 *(int *)data = tbp->tbflags & TBMODE;
297 break;
298
299 case BIOSTYPE:
300 if (tbconf[*(int *)data & TBTYPE].tbc_recsize == 0 ||
301 tbconf[*(int *)data & TBTYPE].tbc_decode == 0)
302 return (EINVAL);
303 tbp->tbflags &= ~TBTYPE;
304 tbp->tbflags |= *(int *)data & TBTYPE;
305 /* fall thru... to set mode bits */
306
307 case BIOSMODE: {
308 register struct tbconf *tc;
309
310 tbp->tbflags &= ~TBMODE;
311 tbp->tbflags |= *(int *)data & TBMODE;
312 tc = &tbconf[tbp->tbflags & TBTYPE];
313 if (tbp->tbflags&TBSTOP) {
314 if (tc->tbc_stop)
315 ttyout(tc->tbc_stop, tp);
316 } else if (tc->tbc_start)
317 ttyout(tc->tbc_start, tp);
318 if (tbp->tbflags&TBPOINT) {
319 if (tc->tbc_point)
320 ttyout(tc->tbc_point, tp);
321 } else if (tc->tbc_run)
322 ttyout(tc->tbc_run, tp);
323 ttstart(tp);
324 break;
325 }
326
327 case BIOGTYPE:
328 *(int *)data = tbp->tbflags & TBTYPE;
329 break;
330
331 case TIOCSETD:
332 case TIOCGETD:
333 case TIOCGETP:
334 case TIOCGETC:
335 return (-1); /* pass thru... */
336
337 default:
338 return (ENOTTY);
339 }
340 return (0);
341 }
342 #endif
343