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
 pseudo-device	nvram		1

diff -uNr --exclude=CVS /usr/src/sys.ORIG/arch/i386/conf/files.i386 /usr/src/sys/arch/i386/conf/files.i386
--- /usr/src/sys.ORIG/arch/i386/conf/files.i386	Tue Jul  8 19:16:29 2008
+++ /usr/src/sys/arch/i386/conf/files.i386	Wed Sep 20 17:31:51 2006
@@ -418,6 +418,11 @@
 include "dev/sdmmc/files.sdmmc"
 
 #
+# Machine-independent motion control drivers
+#
+include "dev/cnc/files.cnc"
+
+#
 # Machine-independent Bluetooth drivers
 #
 include "dev/bluetooth/files.bluetooth"

diff -uNr --exclude=CVS /usr/src/sys.ORIG/arch/i386/i386/conf.c /usr/src/sys/arch/i386/i386/conf.c
--- /usr/src/sys.ORIG/arch/i386/i386/conf.c	Mon Jun 16 13:28:41 2008
+++ /usr/src/sys/arch/i386/i386/conf.c	Wed Sep 20 17:33:39 2006
@@ -198,6 +198,7 @@
 #include "hotplug.h"
 #include "gpio.h"
 #include "amdmsr.h"
+#include "cnc.h"
 
 struct cdevsw	cdevsw[] =
 {
@@ -314,7 +315,8 @@
 	cdev_bthub_init(NBTHUB,bthub),	/* 86: bthub */
 	cdev_agp_init(NAGP,agp),	/* 87: agp */
 	cdev_drm_init(NDRMBASE,drm),	/* 88: drm */
-	cdev_amdmsr_init(NAMDMSR,amdmsr)	/* 89: amdmsr */
+	cdev_amdmsr_init(NAMDMSR,amdmsr),	/* 89: amdmsr */
+	cdev_cnc_init(NCNC,cnc),	/* 90: motion control interface */
 };
 int	nchrdev = sizeof(cdevsw) / sizeof(cdevsw[0]);
 
diff -uNr --exclude=CVS /usr/src/sys.ORIG/conf/GENERIC /usr/src/sys/conf/GENERIC
--- /usr/src/sys.ORIG/conf/GENERIC	Mon Jul 28 16:04:00 2008
+++ /usr/src/sys/conf/GENERIC	Wed Sep 20 17:34:31 2006
@@ -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	# motion control for machinery and robots
 
 # clonable devices
 pseudo-device	bpfilter 	# packet filter

diff -uNr --exclude=CVS /usr/src/sys.ORIG/sys/conf.h /usr/src/sys/sys/conf.h
--- /usr/src/sys.ORIG/sys/conf.h	Mon Jun 16 13:29:45 2008
+++ /usr/src/sys/sys/conf.h	Wed Sep 20 17:37:10 2006
@@ -525,6 +525,12 @@
 	(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
 
 /*
@@ -682,6 +688,7 @@
 cdev_decl(hotplug);
 cdev_decl(gpio);
 cdev_decl(amdmsr);
+cdev_decl(cnc);
 
 #endif