xref: /csrg-svn/sys/kern/tty_tb.c (revision 29947)

/*
 * Copyright (c) 1982, 1986 Regents of the University of California.
 * All rights reserved.  The Berkeley software License Agreement
 * specifies the terms and conditions for redistribution.
 *
 *	@(#)tty_tb.c	7.2 (Berkeley) 11/03/86
 */

#include "tb.h"
#if NTB > 0

/*
 * Line discipline for RS232 tablets;
 * supplies binary coordinate data.
 */
#include "param.h"
#include "systm.h"
#include "dir.h"
#include "user.h"
#include "tablet.h"
#include "tty.h"
#include "proc.h"
#include "inode.h"
#include "file.h"
#include "buf.h"
#include "uio.h"

/*
 * Tablet configuration table.
 */
struct	tbconf {
	short	tbc_recsize;	/* input record size in bytes */
	short	tbc_uiosize;	/* size of data record returned user */
	int	tbc_sync;	/* mask for finding sync byte/bit */
	int	(*tbc_decode)();/* decoding routine */
	char	*tbc_run;	/* enter run mode sequence */
	char	*tbc_point;	/* enter point mode sequence */
	char	*tbc_stop;	/* stop sequence */
	char	*tbc_start;	/* start/restart sequence */
	int	tbc_flags;
#define	TBF_POL	0x1	/* polhemus hack */
};

static	int tbdecode(), gtcodecode(), poldecode();
static	int tblresdecode(), tbhresdecode();

struct	tbconf tbconf[TBTYPE] = {
{ 0 },
{ 5, sizeof (struct tbpos), 0200, tbdecode, "6", "4" },
{ 5, sizeof (struct tbpos), 0200, tbdecode, "\1CN", "\1RT", "\2", "\4" },
{ 8, sizeof (struct gtcopos), 0200, gtcodecode },
{17, sizeof (struct polpos), 0200, poldecode, 0, 0, "\21", "\5\22\2\23",
 TBF_POL },
{ 5, sizeof (struct tbpos), 0100, tblresdecode, "\1CN", "\1PT", "\2", "\4"},
{ 6, sizeof (struct tbpos), 0200, tbhresdecode, "\1CN", "\1PT", "\2", "\4"},
};

/*
 * Tablet state
 */
struct tb {
	int	tbflags;		/* mode & type bits */
#define	TBMAXREC	17	/* max input record size */
	char	cbuf[TBMAXREC];		/* input buffer */
	union {
		struct	tbpos tbpos;
		struct	gtcopos gtcopos;
		struct	polpos polpos;
	} rets;				/* processed state */
#define NTBS	16
} tb[NTBS];

/*
 * Open as tablet discipline; called on discipline change.
 */
/*ARGSUSED*/
tbopen(dev, tp)
	dev_t dev;
	register struct tty *tp;
{
	register struct tb *tbp;

	if (tp->t_line == TABLDISC)
		return (ENODEV);
	ttywflush(tp);
	for (tbp = tb; tbp < &tb[NTBS]; tbp++)
		if (tbp->tbflags == 0)
			break;
	if (tbp >= &tb[NTBS])
		return (EBUSY);
	tbp->tbflags = TBTIGER|TBPOINT;		/* default */
	tp->t_cp = tbp->cbuf;
	tp->t_inbuf = 0;
	bzero((caddr_t)&tbp->rets, sizeof (tbp->rets));
	tp->T_LINEP = (caddr_t)tbp;
	tp->t_flags |= LITOUT;
	return (0);
}

/*
 * Line discipline change or last device close.
 */
tbclose(tp)
	register struct tty *tp;
{
	register int s;
	int modebits = TBPOINT|TBSTOP;

	tbioctl(tp, BIOSMODE, &modebits, 0);
	s = spltty();
	((struct tb *)tp->T_LINEP)->tbflags = 0;
	tp->t_cp = 0;
	tp->t_inbuf = 0;
	tp->t_rawq.c_cc = 0;		/* clear queues -- paranoid */
	tp->t_canq.c_cc = 0;
	tp->t_line = 0;			/* paranoid: avoid races */
	splx(s);
}

/*
 * Read from a tablet line.
 * Characters have been buffered in a buffer and decoded.
 */
tbread(tp, uio)
	register struct tty *tp;
	struct uio *uio;
{
	register struct tb *tbp = (struct tb *)tp->T_LINEP;
	register struct tbconf *tc = &tbconf[tbp->tbflags & TBTYPE];
	int ret;

	if ((tp->t_state&TS_CARR_ON) == 0)
		return (EIO);
	ret = uiomove(&tbp->rets, tc->tbc_uiosize, UIO_READ, uio);
	if (tc->tbc_flags&TBF_POL)
		tbp->rets.polpos.p_key = ' ';
	return (ret);
}

/*
 * Low level character input routine.
 * Stuff the character in the buffer, and decode
 * if all the chars are there.
 *
 * This routine could be expanded in-line in the receiver
 * interrupt routine to make it run as fast as possible.
 */
tbinput(c, tp)
	register int c;
	register struct tty *tp;
{
	register struct tb *tbp = (struct tb *)tp->T_LINEP;
	register struct tbconf *tc = &tbconf[tbp->tbflags & TBTYPE];

	if (tc->tbc_recsize == 0 || tc->tbc_decode == 0)	/* paranoid? */
		return;
	/*
	 * Locate sync bit/byte or reset input buffer.
	 */
	if (c&tc->tbc_sync || tp->t_inbuf == tc->tbc_recsize) {
		tp->t_cp = tbp->cbuf;
		tp->t_inbuf = 0;
	}
	*tp->t_cp++ = c&0177;
	/*
	 * Call decode routine only if a full record has been collected.
	 */
	if (++tp->t_inbuf == tc->tbc_recsize)
		(*tc->tbc_decode)(tbp->cbuf, &tbp->rets);
}

/*
 * Decode GTCO 8 byte format (high res, tilt, and pressure).
 */
static
gtcodecode(cp, tbpos)
	register char *cp;
	register struct gtcopos *tbpos;
{

	tbpos->pressure = *cp >> 2;
	tbpos->status = (tbpos->pressure > 16) | TBINPROX; /* half way down */
	tbpos->xpos = (*cp++ & 03) << 14;
	tbpos->xpos |= *cp++ << 7;
	tbpos->xpos |= *cp++;
	tbpos->ypos = (*cp++ & 03) << 14;
	tbpos->ypos |= *cp++ << 7;
	tbpos->ypos |= *cp++;
	tbpos->xtilt = *cp++;
	tbpos->ytilt = *cp++;
	tbpos->scount++;
}

/*
 * Decode old Hitachi 5 byte format (low res).
 */
static
tbdecode(cp, tbpos)
	register char *cp;
	register struct tbpos *tbpos;
{
	register char byte;

	byte = *cp++;
	tbpos->status = (byte&0100) ? TBINPROX : 0;
	byte &= ~0100;
	if (byte > 036)
		tbpos->status |= 1 << ((byte-040)/2);
	tbpos->xpos = *cp++ << 7;
	tbpos->xpos |= *cp++;
	if (tbpos->xpos < 256)			/* tablet wraps around at 256 */
		tbpos->status &= ~TBINPROX;	/* make it out of proximity */
	tbpos->ypos = *cp++ << 7;
	tbpos->ypos |= *cp++;
	tbpos->scount++;
}

/*
 * Decode new Hitach 5-byte format (low res).
 */
static
tblresdecode(cp, tbpos)
	register char *cp;
	register struct tbpos *tbpos;
{

	*cp &= ~0100;		/* mask sync bit */
	tbpos->status = (*cp++ >> 2) | TBINPROX;
	tbpos->xpos = *cp++;
	tbpos->xpos |= *cp++ << 6;
	tbpos->ypos = *cp++;
	tbpos->ypos |= *cp++ << 6;
	tbpos->scount++;
}

/*
 * Decode new Hitach 6-byte format (high res).
 */
static
tbhresdecode(cp, tbpos)
	register char *cp;
	register struct tbpos *tbpos;
{
	char byte;

	byte = *cp++;
	tbpos->xpos = (byte & 03) << 14;
	tbpos->xpos |= *cp++ << 7;
	tbpos->xpos |= *cp++;
	tbpos->ypos = *cp++ << 14;
	tbpos->ypos |= *cp++ << 7;
	tbpos->ypos |= *cp++;
	tbpos->status = (byte >> 2) | TBINPROX;
	tbpos->scount++;
}

/*
 * Polhemus decode.
 */
static
poldecode(cp, polpos)
	register char *cp;
	register struct polpos *polpos;
{

	polpos->p_x = cp[4] | cp[3]<<7 | (cp[9] & 0x03) << 14;
	polpos->p_y = cp[6] | cp[5]<<7 | (cp[9] & 0x0c) << 12;
	polpos->p_z = cp[8] | cp[7]<<7 | (cp[9] & 0x30) << 10;
	polpos->p_azi = cp[11] | cp[10]<<7 | (cp[16] & 0x03) << 14;
	polpos->p_pit = cp[13] | cp[12]<<7 | (cp[16] & 0x0c) << 12;
	polpos->p_rol = cp[15] | cp[14]<<7 | (cp[16] & 0x30) << 10;
	polpos->p_stat = cp[1] | cp[0]<<7;
	if (cp[2] != ' ')
		polpos->p_key = cp[2];
}

/*ARGSUSED*/
tbioctl(tp, cmd, data, flag)
	struct tty *tp;
	caddr_t data;
{
	register struct tb *tbp = (struct tb *)tp->T_LINEP;

	switch (cmd) {

	case BIOGMODE:
		*(int *)data = tbp->tbflags & TBMODE;
		break;

	case BIOSTYPE:
		if (tbconf[*(int *)data & TBTYPE].tbc_recsize == 0 ||
		    tbconf[*(int *)data & TBTYPE].tbc_decode == 0)
			return (EINVAL);
		tbp->tbflags &= ~TBTYPE;
		tbp->tbflags |= *(int *)data & TBTYPE;
		/* fall thru... to set mode bits */

	case BIOSMODE: {
		register struct tbconf *tc;

		tbp->tbflags &= ~TBMODE;
		tbp->tbflags |= *(int *)data & TBMODE;
		tc = &tbconf[tbp->tbflags & TBTYPE];
		if (tbp->tbflags&TBSTOP) {
			if (tc->tbc_stop)
				ttyout(tc->tbc_stop, tp);
		} else if (tc->tbc_start)
			ttyout(tc->tbc_start, tp);
		if (tbp->tbflags&TBPOINT) {
			if (tc->tbc_point)
				ttyout(tc->tbc_point, tp);
		} else if (tc->tbc_run)
			ttyout(tc->tbc_run, tp);
		ttstart(tp);
		break;
	}

	case BIOGTYPE:
		*(int *)data = tbp->tbflags & TBTYPE;
		break;

	case TIOCSETD:
	case TIOCGETD:
	case TIOCGETP:
	case TIOCGETC:
		return (-1);		/* pass thru... */

	default:
		return (ENOTTY);
	}
	return (0);
}
#endif