machctl: r14 - sys

MachCtl-SVN — 2008-03-25T09:55:28

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.h2008-03-25 09:55:16 UTC (rev 14) < at >< at > -0,0 +1,135 < at >< at > +/*$OpenBSD$*/ +/*Public domain*/ + +#ifndef _SYS_CNC_H_ +#define _SYS_CNC_H_ + +#include + +#define CNC_BUF_SIZE1024/* size of instruction buffer */ +#define CNC_MAX_AXES3/* max axes (min. 1) */ +#define CNC_NAXESCNC_MAX_AXES +#define CNC_MAX_SPINDLES2/* max spindles */ +#define CNC_MAX_ESTOPS13/* 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_posi_arg.i_move.i_pos +#define i_Fi_arg.i_move.i_F +#define i_v0i_arg.i_move.i_v0 +#define i_Amaxi_arg.i_move.i_Amax +#define i_Jmaxi_arg.i_move.i_Jmax +#define i_interp_modei_arg.i_interp_mode +#define i_spindle_idi_arg.i_spindle.i_id +#define i_spindle_diri_arg.i_spindle.i_dir +#define i_spindle_speedi_arg.i_spindle.i_speed +#define i_delayi_arg.i_delay +#define i_atc_idi_arg.i_atc.i_atc_id +#define i_atc_tool_idxi_arg.i_atc.i_tool_idx +#define i_atc_tgt_spindlei_arg.i_atc.i_tgt_spindle +#define i_laser_currenti_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_ */

gmane.comp.hardware.machctl.scm

machctl: r14 - sys