machctl: r14 - sys

Author: vedge
Date: 2008-03-25 06:55:16 -0300 (Tue, 25 Mar 2008)
New Revision: 14

Added:
   sys/cnc.h
Log:
import missing file

Added: sys/cnc.h
===================================================================
--- sys/cnc.h	                        (rev 0)
+++ sys/cnc.h	2008-03-25 09:55:16 UTC (rev 14)
@@ -0,0 +1,135 @@
+/*	$OpenBSD$	*/
+/*	Public domain	*/
+
+#ifndef _SYS_CNC_H_
+#define _SYS_CNC_H_
+
+#include <sys/stdint.h>
+
+#define CNC_BUF_SIZE		1024		/* size of instruction buffer */
+#define CNC_MAX_AXES		3		/* max axes (min. 1) */
+#define CNC_NAXES		CNC_MAX_AXES
+#define CNC_MAX_SPINDLES	2		/* max spindles */
+#define CNC_MAX_ESTOPS		13		/* max e-stops/limit switches */
+
+enum cnc_axis {
+	CNC_X, CNC_Y, CNC_Z,
+	CNC_A, CNC_B, CNC_C
+};
+
+typedef uint64_t cnc_step_t;
+typedef int64_t cnc_pos_t;
+typedef int64_t cnc_time_t;
+
+enum cnc_insn_type {
+	/* servo(4) operations */
+	CNC_MOVE,			/* coordinated move to given position */
+	CNC_SET_INTERP,			/* set interpolation mode */
+	/* spindle(4) operations */
+	CNC_SPINDLE_DIR,		/* change current direction */
+	CNC_SPINDLE_SPEED,		/* set revolutions per minute */
+	CNC_SPINDLE_START,		/* start spindle rotation */
+	CNC_SPINDLE_STOP,		/* stop spindle rotation */
+	/* atc(4) operations */
+	CNC_ATC_PREPARE,		/* prepare tool for next change */
+	CNC_ATC_CHANGE,			/* change tool in spindle */
+	/* laser(4) operations */
+	CNC_LASER_ON,			/* TTL trigger high */
+	CNC_LASER_OFF,			/* TTL trigger low */
+	CNC_LASER_CURRENT,		/* set steady-state current */
+	/* pickplace(4) operations */
+	CNC_PICKPLACE_REEL,		/* advance specified reel */
+	CNC_PICKPLACE_SUCTION,		/* enable suction cup vacuum */
+	CNC_PICKPLACE_RELEASE,		/* release suction cup vacuum */
+	/* miscellaneous */
+	CNC_PREEMPT,			/* delay (with interrupts reenabled) */
+	CNC_DWELL,			/* precise delay (no interrupts) */
+	CNC_COOL_MIST,			/* toggle mist coolant */
+	CNC_COOL_FLOOD,			/* toggle flood or thru-tool coolant */
+	CNC_COOL_VORTEX,		/* toggle vortex tube */
+	CNC_LAST_INSN
+};
+
+/* Mode of interpolation between coordinates */
+enum cnc_interp_mode {
+	CNC_INTERP_LINEAR,		/* linear interpolation */
+	CNC_INTERP_LAST
+};
+
+/* Velocity curve generation algorithm */
+enum cnc_velocity_mode {
+	CNC_VEL_BLENDED_SCURVE,		/* blended s-curve (second-order) */
+	CNC_VEL_SQUARED_SINE,		/* squared sine (third-order) */
+};
+
+/* Position vector */
+typedef struct cnc_vector {
+	cnc_pos_t v[CNC_NAXES];
+} cnc_vec_t;
+
+/*
+ * Kinematic limits. These values must be adjusted based on the physical
+ * limits of the motors and of the load they are driving.
+ */
+struct cnc_kinematics {
+	int k_Ts;		/* third-order jerk limit (ms) */
+	int k_Vmax;		/* maximum velocity (steps/sec) */
+};
+
+/* Program instruction */
+struct cnc_insn {
+	enum cnc_insn_type i_type;
+	union {
+	struct {
+			cnc_vec_t i_pos; /* relative target coords */
+			u_long i_v0;	 /* minimum velocity (steps/s) */
+			u_long i_F;	 /* maximum velocity (steps/s) */
+			u_long i_Amax;	 /* max acceleration (steps/ms^2) */
+			u_long i_Jmax;	 /* max jerk (steps/ms^3) */
+		} i_move;
+		struct {
+			int i_id;	/* name of spindle */
+			int i_dir;	/* 1=CW, -1=CCW */
+			u_int i_speed;	/* speed in RPM */
+		} i_spindle;
+		enum cnc_interp_mode i_interp_mode; /* for SET_INTERP */
+		cnc_step_t i_delay;		    /* for DWELL and PREEMPT */
+		struct {
+			int i_atc_id;		/* name of ATC controller */
+			int i_tool_idx;		/* name of tool */
+			int i_tgt_spindle;	/* name of target spindle */
+		} i_atc;
+		int i_laser_current;		/* for LASER_CURRENT */
+		int i_pickplace_reel;		/* for PICKPLACE_REEL */
+	} i_arg;
+#define i_pos			i_arg.i_move.i_pos
+#define i_F			i_arg.i_move.i_F
+#define i_v0			i_arg.i_move.i_v0
+#define i_Amax			i_arg.i_move.i_Amax
+#define i_Jmax			i_arg.i_move.i_Jmax
+#define i_interp_mode		i_arg.i_interp_mode
+#define i_spindle_id		i_arg.i_spindle.i_id
+#define i_spindle_dir		i_arg.i_spindle.i_dir
+#define i_spindle_speed		i_arg.i_spindle.i_speed
+#define i_delay			i_arg.i_delay
+#define i_atc_id		i_arg.i_atc.i_atc_id
+#define i_atc_tool_idx		i_arg.i_atc.i_tool_idx
+#define i_atc_tgt_spindle	i_arg.i_atc.i_tgt_spindle
+#define i_laser_current		i_arg.i_laser_current
+	TAILQ_ENTRY(cnc_insn) prog;
+};
+
+#define CNC_EXECPROG		_IO('C', 0)
+#define CNC_RESETPROG		_IO('C', 1)
+#define CNC_GETPOS		_IOR('C', 2, struct cnc_vector)
+#define CNC_SETPOS		_IOWR('C', 3, struct cnc_vector)
+#define CNC_GETNSERVOS		_IOR('C', 4, int)
+#define CNC_GETNSPINDLES	_IOR('C', 5, int)
+#define CNC_GETKINLIMITS	_IOR('C', 6, struct cnc_kinematics)
+#define CNC_SETKINLIMITS	_IOWR('C', 7, struct cnc_kinematics)
+#define CNC_GETTIMEBASE		_IOR('C', 8, u_long)
+#define CNC_SETTIMEBASE		_IOWR('C', 9, u_long)
+#define CNC_CALTIMEBASE		_IOWR('C', 10, u_long)
+#define CNC_GETNESTOPS		_IOR('C', 11, int)
+
+#endif	/* !_SYS_CNC_H_ */