/*	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_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];
extern struct encoder_softc    *cnc_encoders[CNC_MAX_ENCODERS];
extern struct mpg_softc        *cnc_mpgs[CNC_MAX_MPGS];
extern struct cnclcd_softc     *cnc_lcds[CNC_MAX_LCDS];
extern struct cncstatled_softc *cnc_status_led;

extern int cnc_nservos;
extern int cnc_nspindles;
extern int cnc_nestops;
extern int cnc_nencoders;
extern int cnc_nmpgs;
extern int cnc_nlcds;

extern struct cnc_vector cnc_pos;

int cncopen(dev_t, int, int, struct proc *);
int cncclose(dev_t, int, int, struct proc *);
int cncioctl(dev_t, u_long, caddr_t, int, struct proc *);
int cncwrite(dev_t, struct uio *, int);
void cncattach(int);
int cncdetach(struct device *, int);
int cncactivate(struct device *, enum devact);
void cnc_message(const char *);

int cnc_move(struct cnc_insn *);
int cnc_move_jog(struct cnc_insn *, int);
int cnc_move_jog_singlestep(struct cnc_insn *);

void cnc_cal_update(void *);
int cnc_prog_exec(void);
void cnc_prog_reset(void);
void cnc_move_axis(enum cnc_axis, int);

cnc_utime_t cnc_calibrate_hz(void);
cnc_utime_t cnc_calibrate_move_jog(void);

int cnc_update(void);