Notices of SVN commits for Machctl, a daemon for controlling machine-tools and robots

MachCtl-SVN | 25 Mar 09:34

machctl: r24 - sys

Author: vedge
Date: 2009-03-25 05:34:44 -0300 (Wed, 25 Mar 2009)
New Revision: 24

Added:
   sys/cnc_fixunssfdi.c
   sys/cnc_quad.h
Modified:
   sys/cnc.c
   sys/cnc.h
   sys/cnc_device.c
   sys/cnc_devicevar.h
   sys/cnc_estop.c
   sys/cnc_estopvar.h
   sys/cnc_math.c
   sys/cnc_math.h
   sys/cnc_servo.c
   sys/cnc_servovar.h
   sys/cnc_spindle.c
   sys/cnc_spindlevar.h
   sys/files.cnc
Log:
- rewrite MOVE op for proper n-axis support.
- implement JOG op (using registered mpg(4) devices).
- report execution status to cnclcd(4) and cncstatled(4) devices.
- new ioctls CNC_{GET,SET,CAL}TIMINGS.


Modified: sys/cnc.c
===================================================================

(Continue reading)

MachCtl-SVN | 25 Mar 09:24

machctl: r23 - sys

Author: vedge
Date: 2009-03-25 05:24:59 -0300 (Wed, 25 Mar 2009)
New Revision: 23

Added:
   sys/cnc_statled.c
   sys/cnc_statledvar.h
Log:
driver for general-purpose status LED

Added: sys/cnc_statled.c
===================================================================
--- sys/cnc_statled.c	                        (rev 0)
+++ sys/cnc_statled.c	2009-03-25 08:24:59 UTC (rev 23)
@@ -0,0 +1,127 @@
+/*
+ * Copyright (c) 2009 Hypertriton, Inc. <http://www.hypertriton.com/>
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

(Continue reading)

MachCtl-SVN | 25 Mar 09:24

machctl: r22 - sys

Author: vedge
Date: 2009-03-25 05:24:10 -0300 (Wed, 25 Mar 2009)
New Revision: 22

Modified:
   sys/cncvar.h
Log:
+ CNC_MAP_{OUTPUT,INPUT}

Modified: sys/cncvar.h
===================================================================
--- sys/cncvar.h	2009-03-25 08:18:53 UTC (rev 21)
+++ sys/cncvar.h	2009-03-25 08:24:10 UTC (rev 22)
@@ -1,18 +1,29 @@
-/*	$OpenBSD$	*/
 /*	Public domain	*/

 #include "cnc_math.h"
 #include "cnc_quintic.h"

+extern const char *cnc_axis_names[];
 extern const char *cnc_insn_names[];
-extern struct cnc_device *cnc_servos[CNC_NAXES];
-extern struct cnc_device *cnc_spindles[CNC_MAX_SPINDLES];
-extern struct cnc_device *cnc_estops[CNC_MAX_ESTOPS];
+extern struct cnc_kinlimits cnc_kinlimits;
+
+extern struct servo_softc      *cnc_servos[CNC_NAXES];
+extern struct spindle_softc    *cnc_spindles[CNC_MAX_SPINDLES];
+extern struct estop_softc      *cnc_estops[CNC_MAX_ESTOPS];

(Continue reading)

MachCtl-SVN | 25 Mar 09:18

machctl: r21 - sys

Author: vedge
Date: 2009-03-25 05:18:53 -0300 (Wed, 25 Mar 2009)
New Revision: 21

Added:
   sys/cnc_lcd.c
   sys/cnc_lcd_isa.c
   sys/cnc_lcdvar.h
Log:
driver for LCDs via RS-232 interface; unlike the standard com driver we do not
use interrupts so it is suitable for displaying real-time program status.

Added: sys/cnc_lcd.c
===================================================================
--- sys/cnc_lcd.c	                        (rev 0)
+++ sys/cnc_lcd.c	2009-03-25 08:18:53 UTC (rev 21)
@@ -0,0 +1,545 @@
+/*
+ * Copyright (c) 2009 Hypertriton, Inc. <http://www.hypertriton.com/>
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *

(Continue reading)

MachCtl-SVN | 25 Mar 09:13

machctl: r20 - sys

Author: vedge
Date: 2009-03-25 05:13:48 -0300 (Wed, 25 Mar 2009)
New Revision: 20

Added:
   sys/cnc_encoder.c
   sys/cnc_encodervar.h
Log:
driver for quadrature signal optical encoders.

Added: sys/cnc_encoder.c
===================================================================
--- sys/cnc_encoder.c	                        (rev 0)
+++ sys/cnc_encoder.c	2009-03-25 08:13:48 UTC (rev 20)
@@ -0,0 +1,140 @@
+/*
+ * Copyright (c) 2009 Hypertriton, Inc. <http://www.hypertriton.com/>
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

(Continue reading)

MachCtl-SVN | 25 Mar 09:12

machctl: r19 - sys

Author: vedge
Date: 2009-03-25 05:12:18 -0300 (Wed, 25 Mar 2009)
New Revision: 19

Added:
   sys/cnc_mpg.c
   sys/cnc_mpgvar.h
Log:
driver for manual pulse generators

Added: sys/cnc_mpg.c
===================================================================
--- sys/cnc_mpg.c	                        (rev 0)
+++ sys/cnc_mpg.c	2009-03-25 08:12:18 UTC (rev 19)
@@ -0,0 +1,236 @@
+/*
+ * Copyright (c) 2009 Hypertriton, Inc. <http://www.hypertriton.com/>
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

(Continue reading)

MachCtl-SVN | 25 Mar 09:01

machctl: r18 - sys

Author: vedge
Date: 2009-03-25 05:01:55 -0300 (Wed, 25 Mar 2009)
New Revision: 18

Modified:
   sys/cnc_quintic.c
   sys/cnc_quintic.h
Log:
- fix typo in case evaluation
- small optimizations in cnc_quintic_init()

Modified: sys/cnc_quintic.c
===================================================================
--- sys/cnc_quintic.c	2009-02-09 14:05:57 UTC (rev 17)
+++ sys/cnc_quintic.c	2009-03-25 08:01:55 UTC (rev 18)
@@ -1,6 +1,5 @@
-/*	$OpenBSD$	*/
 /*
- * Copyright (c) 2007 Hypertriton, Inc. <http://www.hypertriton.com/>
+ * Copyright (c) 2007-2009 Hypertriton, Inc. <http://www.hypertriton.com/>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -50,94 +49,96 @@
  * velocity profile under acceleration and jerk constraints.
  */
 int
-cnc_quintic_init(struct cnc_quintic_profile *q, const struct cnc_insn *insn,
-    cnc_real_t L)
+cnc_quintic_init(struct cnc_quintic_profile *q, cnc_real_t L, cnc_real_t v0,

(Continue reading)

MachCtl-SVN | 9 Feb 15:05

machctl: r17 - /

Author: vedge
Date: 2009-02-09 10:05:57 -0400 (Mon, 09 Feb 2009)
New Revision: 17

Added:
   patch-OpenBSD_4.4
Log:
patch for OpenBSD-4.4 kernel

Added: patch-OpenBSD_4.4
===================================================================
--- patch-OpenBSD_4.4	                        (rev 0)
+++ patch-OpenBSD_4.4	2009-02-09 14:05:57 UTC (rev 17)
@@ -0,0 +1,91 @@
+diff -uNr --exclude=CVS /usr/src/sys.ORIG/arch/i386/conf/GENERIC /usr/src/sys/arch/i386/conf/GENERIC
+--- /usr/src/sys.ORIG/arch/i386/conf/GENERIC	Sat Aug  2 10:50:04 2008
++++ /usr/src/sys/arch/i386/conf/GENERIC	Wed Sep 20 17:29:48 2006
+@@ -779,6 +779,13 @@
+ owsbm*	at onewire?		# Smart Battery Monitor
+ owtemp* at onewire?		# Temperature
+ 
++# Motion control devices
++#option MOTIONCONTROL			# Real-time motion control extensions
++#servo0 at gpio1 offset 0 mask 0x3	# Servo / stepper motor controller
++#cncpanel0 at gpio1 offset 0 mask 0x3	# Control panel for machine-tool
++#estop0 at gpio1 offset 0 mask 0x1	# Software emergency stop (e-stop)
++#encoder0 at gpio1 offset 0 mask 0x3	# Position-sensing encoder (quadrature)
++
+ pseudo-device	pctr		1
+ pseudo-device	mtrr		1	# Memory range attributes control

(Continue reading)

MachCtl-SVN | 13 Dec 15:35

machctl: r15 - sys

Author: vedge
Date: 2008-12-13 10:35:20 -0400 (Sat, 13 Dec 2008)
New Revision: 15

Modified:
   sys/patch-OpenBSD_4.0
Log:
remove new files from patch


Modified: sys/patch-OpenBSD_4.0
===================================================================
--- sys/patch-OpenBSD_4.0	2008-03-25 09:55:16 UTC (rev 14)
+++ sys/patch-OpenBSD_4.0	2008-12-13 14:35:20 UTC (rev 15)
 <at>  <at>  -60,2439 +60,6  <at>  <at> 
  
  # clonable devices
  pseudo-device	bpfilter 	# packet filter
-diff -uNr --exclude=.svn sys.ORIG/dev/cnc/cnc.c sys/dev/cnc/cnc.c
---- sys.ORIG/dev/cnc/cnc.c	Wed Dec 31 20:00:00 1969
-+++ sys/dev/cnc/cnc.c	Fri Jun  8 07:00:53 2007
- <at>  <at>  -0,0 +1,597  <at>  <at> 
-+/*	$OpenBSD$	*/
-+
-+/*
-+ * Copyright (c) 2007 Hypertriton, Inc. <http://www.hypertriton.com/>
-+ * All rights reserved.
-+ *
-+ * Redistribution and use in source and binary forms, with or without
-+ * modification, are permitted provided that the following conditions

(Continue reading)

MachCtl-SVN | 25 Mar 10:55

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,

(Continue reading)

Julien Nadeau | 6 Mar 02:07

test


test

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machctl: r24 - sys (25 Mar 09:34)
machctl: r23 - sys (25 Mar 09:24)
machctl: r22 - sys (25 Mar 09:24)
machctl: r21 - sys (25 Mar 09:18)
machctl: r20 - sys (25 Mar 09:13)
machctl: r19 - sys (25 Mar 09:12)
machctl: r18 - sys (25 Mar 09:01)
machctl: r17 - / (9 Feb 15:05)
machctl: r15 - sys (13 Dec 15:35)
machctl: r14 - sys (25 Mar 10:55)
test (6 Mar 02:07)

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