diff -uNr --exclude=.svn sys.ORIG/arch/i386/conf/GENERIC sys/arch/i386/conf/GENERIC
--- sys.ORIG/arch/i386/conf/GENERIC	Sat Sep 16 15:01:30 2006
+++ sys/arch/i386/conf/GENERIC	Tue Apr 17 04:43:15 2007
@@ -683,6 +683,13 @@
 #owid*	at onewire?			# ID
 #owtemp* at onewire?			# Temperature
 
+# Motion control for robotics and machinery
+#option MOTIONCONTROL			# Real-time motion control extensions
+#servo0 at gpio1 offset 0 mask 0x3	# Motor with clock/direction interface
+#cncpanel0 at gpio1 offset 0 mask 0x3	# Machine tool control panel
+#estop0 at gpio1 offset 0 mask 0x1	# Emergency stop or limit switch
+#encoder0 at gpio1 offset 0 mask 0x3	# Position encoder (quadrature signal)
+
 pseudo-device	pctr		1
 pseudo-device	mtrr		1	# Memory range attributes control
 pseudo-device	nvram		1
diff -uNr --exclude=.svn sys.ORIG/arch/i386/conf/files.i386 sys/arch/i386/conf/files.i386
--- sys.ORIG/arch/i386/conf/files.i386	Tue Aug  1 07:13:25 2006
+++ sys/arch/i386/conf/files.i386	Sat Apr 21 00:46:37 2007
@@ -406,6 +406,11 @@
 #
 include "dev/sdmmc/files.sdmmc"
 
+#
+# Machine-independent CNC drivers
+#
+include "dev/cnc/files.cnc"
+
 include "../../../dev/acpi/files.acpi"
 file	arch/i386/i386/acpi_machdep.c		acpi
 
diff -uNr --exclude=.svn sys.ORIG/arch/i386/i386/conf.c sys/arch/i386/i386/conf.c
--- sys.ORIG/arch/i386/i386/conf.c	Tue Aug  1 07:13:25 2006
+++ sys/arch/i386/i386/conf.c	Thu Apr 26 08:49:30 2007
@@ -204,6 +204,7 @@
 #include "pf.h"
 #include "hotplug.h"
 #include "gpio.h"
+#include "cnc.h"
 
 struct cdevsw	cdevsw[] =
 {
@@ -317,6 +318,7 @@
 	cdev_gpio_init(NGPIO,gpio),	/* 83: GPIO interface */
 	cdev_nvram_init(NNVRAM,nvram),	/* 84: NVRAM interface */
 	cdev_acpi_init(NACPI,acpi),	/* 85: ACPI */
+	cdev_cnc_init(NCNC,cnc),	/* 86: CNC control interface */
 };
 int	nchrdev = sizeof(cdevsw) / sizeof(cdevsw[0]);
 
diff -uNr --exclude=.svn sys.ORIG/conf/GENERIC sys/conf/GENERIC
--- sys.ORIG/conf/GENERIC	Thu Aug  3 16:59:34 2006
+++ sys/conf/GENERIC	Thu Apr 26 08:47:47 2007
@@ -81,6 +81,7 @@
 pseudo-device	ccd	4	# concatenated disk devices
 pseudo-device	ksyms	1	# kernel symbols device
 pseudo-device	systrace 1	# system call tracing device
+#pseudo-device	cnc	1	# controller for machinery and robots
 
 # clonable devices
 pseudo-device	bpfilter 	# packet filter
diff -uNr --exclude=.svn sys.ORIG/sys/conf.h sys/sys/conf.h
--- sys.ORIG/sys/conf.h	Tue Aug  1 07:14:38 2006
+++ sys/sys/conf.h	Thu Apr 26 08:51:48 2007
@@ -476,6 +476,12 @@
 	(dev_type_stop((*))) enodev, 0, (dev_type_poll((*))) enodev, \
 	(dev_type_mmap((*))) enodev }
 
+/* open, close, write, ioctl */
+#define cdev_cnc_init(c,n) { \
+	dev_init(c,n,open), dev_init(c,n,close), (dev_type_read((*))) enodev, \
+	dev_init(c,n,write), dev_init(c,n,ioctl), (dev_type_stop((*))) enodev, \
+	0, seltrue, (dev_type_mmap((*))) enodev }
+
 #endif
 
 /*
@@ -630,6 +636,7 @@
 
 cdev_decl(hotplug);
 cdev_decl(gpio);
+cdev_decl(cnc);
 
 #endif