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1.1 root 1: /*-
2: * Copyright (c) 1982, 1986, 1991 The Regents of the University of California.
3: * All rights reserved.
4: *
5: * Redistribution and use in source and binary forms, with or without
6: * modification, are permitted provided that the following conditions
7: * are met:
8: * 1. Redistributions of source code must retain the above copyright
9: * notice, this list of conditions and the following disclaimer.
10: * 2. Redistributions in binary form must reproduce the above copyright
11: * notice, this list of conditions and the following disclaimer in the
12: * documentation and/or other materials provided with the distribution.
13: * 3. All advertising materials mentioning features or use of this software
14: * must display the following acknowledgement:
15: * This product includes software developed by the University of
16: * California, Berkeley and its contributors.
17: * 4. Neither the name of the University nor the names of its contributors
18: * may be used to endorse or promote products derived from this software
19: * without specific prior written permission.
20: *
21: * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND
22: * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23: * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
24: * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE
25: * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
26: * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
27: * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
28: * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
29: * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
30: * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
31: * SUCH DAMAGE.
32: *
33: * @(#)tty_tb.c 7.7 (Berkeley) 5/9/91
34: */
35:
36: #include "tb.h"
37: #if NTB > 0
38:
39: /*
40: * Line discipline for RS232 tablets;
41: * supplies binary coordinate data.
42: */
43: #include "param.h"
44: #include "tablet.h"
45: #include "tty.h"
46:
47: /*
48: * Tablet configuration table.
49: */
50: struct tbconf {
51: short tbc_recsize; /* input record size in bytes */
52: short tbc_uiosize; /* size of data record returned user */
53: int tbc_sync; /* mask for finding sync byte/bit */
54: int (*tbc_decode)();/* decoding routine */
55: char *tbc_run; /* enter run mode sequence */
56: char *tbc_point; /* enter point mode sequence */
57: char *tbc_stop; /* stop sequence */
58: char *tbc_start; /* start/restart sequence */
59: int tbc_flags;
60: #define TBF_POL 0x1 /* polhemus hack */
61: #define TBF_INPROX 0x2 /* tablet has proximity info */
62: };
63:
64: static int tbdecode(), gtcodecode(), poldecode();
65: static int tblresdecode(), tbhresdecode();
66:
67: struct tbconf tbconf[TBTYPE] = {
68: { 0 },
69: { 5, sizeof (struct tbpos), 0200, tbdecode, "6", "4" },
70: { 5, sizeof (struct tbpos), 0200, tbdecode, "\1CN", "\1RT", "\2", "\4" },
71: { 8, sizeof (struct gtcopos), 0200, gtcodecode },
72: {17, sizeof (struct polpos), 0200, poldecode, 0, 0, "\21", "\5\22\2\23",
73: TBF_POL },
74: { 5, sizeof (struct tbpos), 0100, tblresdecode, "\1CN", "\1PT", "\2", "\4",
75: TBF_INPROX },
76: { 6, sizeof (struct tbpos), 0200, tbhresdecode, "\1CN", "\1PT", "\2", "\4",
77: TBF_INPROX },
78: { 5, sizeof (struct tbpos), 0100, tblresdecode, "\1CL\33", "\1PT\33", 0, 0},
79: { 6, sizeof (struct tbpos), 0200, tbhresdecode, "\1CL\33", "\1PT\33", 0, 0},
80: };
81:
82: /*
83: * Tablet state
84: */
85: struct tb {
86: int tbflags; /* mode & type bits */
87: #define TBMAXREC 17 /* max input record size */
88: char cbuf[TBMAXREC]; /* input buffer */
89: union {
90: struct tbpos tbpos;
91: struct gtcopos gtcopos;
92: struct polpos polpos;
93: } rets; /* processed state */
94: #define NTBS 16
95: } tb[NTBS];
96:
97: /*
98: * Open as tablet discipline; called on discipline change.
99: */
100: /*ARGSUSED*/
101: tbopen(dev, tp)
102: dev_t dev;
103: register struct tty *tp;
104: {
105: register struct tb *tbp;
106:
107: if (tp->t_line == TABLDISC)
108: return (ENODEV);
109: ttywflush(tp);
110: for (tbp = tb; tbp < &tb[NTBS]; tbp++)
111: if (tbp->tbflags == 0)
112: break;
113: if (tbp >= &tb[NTBS])
114: return (EBUSY);
115: tbp->tbflags = TBTIGER|TBPOINT; /* default */
116: tp->t_cp = tbp->cbuf;
117: tp->t_inbuf = 0;
118: bzero((caddr_t)&tbp->rets, sizeof (tbp->rets));
119: tp->T_LINEP = (caddr_t)tbp;
120: tp->t_flags |= LITOUT;
121: return (0);
122: }
123:
124: /*
125: * Line discipline change or last device close.
126: */
127: tbclose(tp)
128: register struct tty *tp;
129: {
130: register int s;
131: int modebits = TBPOINT|TBSTOP;
132:
133: tbioctl(tp, BIOSMODE, &modebits, 0);
134: s = spltty();
135: ((struct tb *)tp->T_LINEP)->tbflags = 0;
136: tp->t_cp = 0;
137: tp->t_inbuf = 0;
138: tp->t_rawq.c_cc = 0; /* clear queues -- paranoid */
139: tp->t_canq.c_cc = 0;
140: tp->t_line = 0; /* paranoid: avoid races */
141: splx(s);
142: }
143:
144: /*
145: * Read from a tablet line.
146: * Characters have been buffered in a buffer and decoded.
147: */
148: tbread(tp, uio)
149: register struct tty *tp;
150: struct uio *uio;
151: {
152: register struct tb *tbp = (struct tb *)tp->T_LINEP;
153: register struct tbconf *tc = &tbconf[tbp->tbflags & TBTYPE];
154: int ret;
155:
156: if ((tp->t_state&TS_CARR_ON) == 0)
157: return (EIO);
158: ret = uiomove(&tbp->rets, tc->tbc_uiosize, uio);
159: if (tc->tbc_flags&TBF_POL)
160: tbp->rets.polpos.p_key = ' ';
161: return (ret);
162: }
163:
164: /*
165: * Low level character input routine.
166: * Stuff the character in the buffer, and decode
167: * if all the chars are there.
168: *
169: * This routine could be expanded in-line in the receiver
170: * interrupt routine to make it run as fast as possible.
171: */
172: tbinput(c, tp)
173: register int c;
174: register struct tty *tp;
175: {
176: register struct tb *tbp = (struct tb *)tp->T_LINEP;
177: register struct tbconf *tc = &tbconf[tbp->tbflags & TBTYPE];
178:
179: if (tc->tbc_recsize == 0 || tc->tbc_decode == 0) /* paranoid? */
180: return;
181: /*
182: * Locate sync bit/byte or reset input buffer.
183: */
184: if (c&tc->tbc_sync || tp->t_inbuf == tc->tbc_recsize) {
185: tp->t_cp = tbp->cbuf;
186: tp->t_inbuf = 0;
187: }
188: *tp->t_cp++ = c&0177;
189: /*
190: * Call decode routine only if a full record has been collected.
191: */
192: if (++tp->t_inbuf == tc->tbc_recsize)
193: (*tc->tbc_decode)(tc, tbp->cbuf, &tbp->rets);
194: }
195:
196: /*
197: * Decode GTCO 8 byte format (high res, tilt, and pressure).
198: */
199: static
200: gtcodecode(tc, cp, tbpos)
201: struct tbconf *tc;
202: register char *cp;
203: register struct gtcopos *tbpos;
204: {
205:
206: tbpos->pressure = *cp >> 2;
207: tbpos->status = (tbpos->pressure > 16) | TBINPROX; /* half way down */
208: tbpos->xpos = (*cp++ & 03) << 14;
209: tbpos->xpos |= *cp++ << 7;
210: tbpos->xpos |= *cp++;
211: tbpos->ypos = (*cp++ & 03) << 14;
212: tbpos->ypos |= *cp++ << 7;
213: tbpos->ypos |= *cp++;
214: tbpos->xtilt = *cp++;
215: tbpos->ytilt = *cp++;
216: tbpos->scount++;
217: }
218:
219: /*
220: * Decode old Hitachi 5 byte format (low res).
221: */
222: static
223: tbdecode(tc, cp, tbpos)
224: struct tbconf *tc;
225: register char *cp;
226: register struct tbpos *tbpos;
227: {
228: register char byte;
229:
230: byte = *cp++;
231: tbpos->status = (byte&0100) ? TBINPROX : 0;
232: byte &= ~0100;
233: if (byte > 036)
234: tbpos->status |= 1 << ((byte-040)/2);
235: tbpos->xpos = *cp++ << 7;
236: tbpos->xpos |= *cp++;
237: if (tbpos->xpos < 256) /* tablet wraps around at 256 */
238: tbpos->status &= ~TBINPROX; /* make it out of proximity */
239: tbpos->ypos = *cp++ << 7;
240: tbpos->ypos |= *cp++;
241: tbpos->scount++;
242: }
243:
244: /*
245: * Decode new Hitach 5-byte format (low res).
246: */
247: static
248: tblresdecode(tc, cp, tbpos)
249: struct tbconf *tc;
250: register char *cp;
251: register struct tbpos *tbpos;
252: {
253:
254: *cp &= ~0100; /* mask sync bit */
255: tbpos->status = (*cp++ >> 2) | TBINPROX;
256: if (tc->tbc_flags&TBF_INPROX && tbpos->status&020)
257: tbpos->status &= ~(020|TBINPROX);
258: tbpos->xpos = *cp++;
259: tbpos->xpos |= *cp++ << 6;
260: tbpos->ypos = *cp++;
261: tbpos->ypos |= *cp++ << 6;
262: tbpos->scount++;
263: }
264:
265: /*
266: * Decode new Hitach 6-byte format (high res).
267: */
268: static
269: tbhresdecode(tc, cp, tbpos)
270: struct tbconf *tc;
271: register char *cp;
272: register struct tbpos *tbpos;
273: {
274: char byte;
275:
276: byte = *cp++;
277: tbpos->xpos = (byte & 03) << 14;
278: tbpos->xpos |= *cp++ << 7;
279: tbpos->xpos |= *cp++;
280: tbpos->ypos = *cp++ << 14;
281: tbpos->ypos |= *cp++ << 7;
282: tbpos->ypos |= *cp++;
283: tbpos->status = (byte >> 2) | TBINPROX;
284: if (tc->tbc_flags&TBF_INPROX && tbpos->status&020)
285: tbpos->status &= ~(020|TBINPROX);
286: tbpos->scount++;
287: }
288:
289: /*
290: * Polhemus decode.
291: */
292: static
293: poldecode(tc, cp, polpos)
294: struct tbconf *tc;
295: register char *cp;
296: register struct polpos *polpos;
297: {
298:
299: polpos->p_x = cp[4] | cp[3]<<7 | (cp[9] & 0x03) << 14;
300: polpos->p_y = cp[6] | cp[5]<<7 | (cp[9] & 0x0c) << 12;
301: polpos->p_z = cp[8] | cp[7]<<7 | (cp[9] & 0x30) << 10;
302: polpos->p_azi = cp[11] | cp[10]<<7 | (cp[16] & 0x03) << 14;
303: polpos->p_pit = cp[13] | cp[12]<<7 | (cp[16] & 0x0c) << 12;
304: polpos->p_rol = cp[15] | cp[14]<<7 | (cp[16] & 0x30) << 10;
305: polpos->p_stat = cp[1] | cp[0]<<7;
306: if (cp[2] != ' ')
307: polpos->p_key = cp[2];
308: }
309:
310: /*ARGSUSED*/
311: tbioctl(tp, cmd, data, flag)
312: struct tty *tp;
313: caddr_t data;
314: {
315: register struct tb *tbp = (struct tb *)tp->T_LINEP;
316:
317: switch (cmd) {
318:
319: case BIOGMODE:
320: *(int *)data = tbp->tbflags & TBMODE;
321: break;
322:
323: case BIOSTYPE:
324: if (tbconf[*(int *)data & TBTYPE].tbc_recsize == 0 ||
325: tbconf[*(int *)data & TBTYPE].tbc_decode == 0)
326: return (EINVAL);
327: tbp->tbflags &= ~TBTYPE;
328: tbp->tbflags |= *(int *)data & TBTYPE;
329: /* fall thru... to set mode bits */
330:
331: case BIOSMODE: {
332: register struct tbconf *tc;
333:
334: tbp->tbflags &= ~TBMODE;
335: tbp->tbflags |= *(int *)data & TBMODE;
336: tc = &tbconf[tbp->tbflags & TBTYPE];
337: if (tbp->tbflags&TBSTOP) {
338: if (tc->tbc_stop)
339: ttyout(tc->tbc_stop, tp);
340: } else if (tc->tbc_start)
341: ttyout(tc->tbc_start, tp);
342: if (tbp->tbflags&TBPOINT) {
343: if (tc->tbc_point)
344: ttyout(tc->tbc_point, tp);
345: } else if (tc->tbc_run)
346: ttyout(tc->tbc_run, tp);
347: ttstart(tp);
348: break;
349: }
350:
351: case BIOGTYPE:
352: *(int *)data = tbp->tbflags & TBTYPE;
353: break;
354:
355: case TIOCSETD:
356: case TIOCGETD:
357: case TIOCGETP:
358: case TIOCGETC:
359: return (-1); /* pass thru... */
360:
361: default:
362: return (ENOTTY);
363: }
364: return (0);
365: }
366: #endif
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