add "comp", a program for writing HAL boilerplate

bin/.cvsignore

@@ -1,4 +1,5 @@
 classicladder
+comp
 emc_module_helper
 emcsh
 emcrsh
@@ -30,3 +31,4 @@ emctop
 keystick
 mdi
 xemc
+yapps

debian/control

@@ -3,12 +3,12 @@ Source: emc2
 Section: misc
 Priority: extra
 Maintainer: Chris Radek <chris@timeguy.com>
-Build-Depends: debhelper (>> 4.0.0),linux-headers-2.6.12-magma,g++,gcc-3.4,make,libc6-dev,tcl8.4-dev,tk8.4-dev,libgtk2.0-dev,pciutils-dev,libncurses-dev,gettext,libxaw7-dev,rtai-modules-2.6.12-magma,libreadline5-dev,lyx,lyx-qt,python,tetex-bin,latex2html
+Build-Depends: debhelper (>> 4.0.0),linux-headers-2.6.12-magma,g++,gcc-3.4,make,libc6-dev,tcl8.4-dev,tk8.4-dev,libgtk2.0-dev,pciutils-dev,libncurses-dev,gettext,libxaw7-dev,rtai-modules-2.6.12-magma,libreadline5-dev,lyx,lyx-qt,python,tetex-bin,latex2html,yapps2
 Standards-Version: 2.0.0-rc0
 
 Package: emc2
 Architecture: any
-Depends: ${shlibs:Depends},linux-image-2.6.12-magma,rtai-modules-2.6.12-magma,libgtk2.0,tcl8.4,tk8.4,bwidget,libncurses,libreadline5
+Depends: ${shlibs:Depends},linux-image-2.6.12-magma,rtai-modules-2.6.12-magma,libgtk2.0,tcl8.4,tk8.4,bwidget,libncurses,libreadline5,yapps2-runtime
 Provides: emc2
 Suggests: emc2-axis
 Description: PC based motion controller for real-time Linux.

debian/control.in

@@ -2,12 +2,12 @@ Source: emc2
 Section: misc
 Priority: extra
 Maintainer: Chris Radek <chris@timeguy.com>
-Build-Depends: debhelper (>> 4.0.0),linux-headers-@@KVERSION@@,g++,gcc-3.4,make,libc6-dev,tcl8.4-dev,tk8.4-dev,libgtk2.0-dev,pciutils-dev,libncurses-dev,gettext,libxaw7-dev,rtai-modules-2.6.12-magma,libreadline5-dev,lyx,lyx-qt,python,tetex-bin,latex2html
+Build-Depends: debhelper (>> 4.0.0),linux-headers-@@KVERSION@@,g++,gcc-3.4,make,libc6-dev,tcl8.4-dev,tk8.4-dev,libgtk2.0-dev,pciutils-dev,libncurses-dev,gettext,libxaw7-dev,rtai-modules-2.6.12-magma,libreadline5-dev,lyx,lyx-qt,python,tetex-bin,latex2html,yapps2
 Standards-Version: 2.0.0-rc0
 
 Package: emc2
 Architecture: any
-Depends: ${shlibs:Depends},linux-image-@@KVERSION@@,rtai-modules-@@KVERSION@@,libgtk2.0,tcl8.4,tk8.4,bwidget,libncurses,libreadline5
+Depends: ${shlibs:Depends},linux-image-@@KVERSION@@,rtai-modules-@@KVERSION@@,libgtk2.0,tcl8.4,tk8.4,bwidget,libncurses,libreadline5,yapps2-runtime
 Provides: emc2
 Suggests: emc2-axis
 Description: PC based motion controller for real-time Linux.

src/Makefile

@@ -417,6 +417,10 @@ $(call CONFILES,core_sim.hal): %/core_sim.hal: ../configs/common/core_sim.hal
  
 endif # userspace
 
+ifneq ($(KERNELRELEASE),)
+include $(BASEPWD)/hal/components/Submakefile
+endif
+
 # KERNELRELEASE is nonempty, therefore we are building modules using the
 # "kbuild" system.  $(BASEPWD) is used here, instead of relative paths, because
 # that's what kbuild seems to require

src/configure

@@ -312,7 +312,7 @@ ac_includes_default="\
 # include <unistd.h>
 #endif"
 
-ac_subst_vars='SHELL PATH_SEPARATOR PACKAGE_NAME PACKAGE_TARNAME PACKAGE_VERSION PACKAGE_STRING PACKAGE_BUGREPORT exec_prefix prefix program_transform_name bindir sbindir libexecdir datadir sysconfdir sharedstatedir localstatedir libdir includedir oldincludedir infodir mandir build_alias host_alias target_alias DEFS ECHO_C ECHO_N ECHO_T LIBS PACKAGE EMC2VERSION SIMULATOR RTNAME RTAI RTLINUX RTLINUXPRO RTPREFIX KERNELDIR RTFLAGS RTDIR EMC2_HOME AUTODIRS CC CFLAGS LDFLAGS CPPFLAGS ac_ct_CC EXEEXT OBJEXT CPP WFLAGS DEPSTYLE EGREP KERNEL_VERS MODEXT BUILD_SYS EXT_RTFLAGS MODULE_DIR RIP_MODULE_DIR RUN_IN_PLACE EMC2_BIN_DIR EMC2_TCL_DIR EMC2_HELP_DIR EMC2_RTLIB_DIR EMC2_LANG_DIR EMC2_CONFIG_PATH EMC2_NCFILES_DIR REALTIME EMC2_IMAGE_DIR GTK_VER GTK_LIBS GTK_CFLAGS CXX CXXFLAGS ac_ct_CXX SET_MAKE RANLIB ac_ct_RANLIB AR GREP INSTALL SED PS KILL WHOAMI AWK INSMOD RMMOD LSMOD PIDOF IPCS FUSER PYTHON LYX PDFLATEX LATEX2HTML EPSTOPDF BUILD_DOCS USE_LIBM USE_STUBS USE_RTLIBM MATHINC MATHLIB RTAI3_MOD RTAI_MOD RTL_MOD MODPATH_adeos MODPATH_rtai_hal MODPATH_rtai_ksched MODPATH_rtai_fifos MODPATH_rtai_shm MODPATH_rtai_sem MODPATH_rtai_math MODPATH_rtai MODPATH_rt_mem_mgr MODPATH_rtai_sched MODPATH_rtai_libm MODPATH_rtl MODPATH_mbuff MODPATH_rtl_time MODPATH_rtl_sched MODPATH_rtl_posixio MODPATH_rtl_fifo TCL_DBGX TK_DBGX TCL_CFLAGS TK_CFLAGS TCL_LIBS TK_LIBS DATE HAVE_XAW XAW_LIBS HAVE_READLINE READLINE_LIBS HAVE_NCURSES NCURSES_LIBS USE_NLS HAVE_LOCALE_H LANGUAGES HAVE_LIBINTL_H HAVE_LIBINTL LOCALEDIR XGETTEXT XGETTEXT_TCL_WORKS MSGFMT MSGFMT_TCL_WORKS BUILD_AXIS BUILD_PYTHON INCLUDEPY SITEPY LIBOBJS LTLIBOBJS'
+ac_subst_vars='SHELL PATH_SEPARATOR PACKAGE_NAME PACKAGE_TARNAME PACKAGE_VERSION PACKAGE_STRING PACKAGE_BUGREPORT exec_prefix prefix program_transform_name bindir sbindir libexecdir datadir sysconfdir sharedstatedir localstatedir libdir includedir oldincludedir infodir mandir build_alias host_alias target_alias DEFS ECHO_C ECHO_N ECHO_T LIBS PACKAGE EMC2VERSION SIMULATOR RTNAME RTAI RTLINUX RTLINUXPRO RTPREFIX KERNELDIR RTFLAGS RTDIR EMC2_HOME AUTODIRS CC CFLAGS LDFLAGS CPPFLAGS ac_ct_CC EXEEXT OBJEXT CPP WFLAGS DEPSTYLE EGREP KERNEL_VERS MODEXT BUILD_SYS EXT_RTFLAGS MODULE_DIR RIP_MODULE_DIR RUN_IN_PLACE EMC2_BIN_DIR EMC2_TCL_DIR EMC2_HELP_DIR EMC2_RTLIB_DIR EMC2_LANG_DIR EMC2_CONFIG_PATH EMC2_NCFILES_DIR REALTIME EMC2_IMAGE_DIR GTK_VER GTK_LIBS GTK_CFLAGS CXX CXXFLAGS ac_ct_CXX SET_MAKE RANLIB ac_ct_RANLIB AR GREP INSTALL SED PS KILL WHOAMI AWK INSMOD RMMOD LSMOD PIDOF IPCS FUSER PYTHON YAPPS LYX PDFLATEX LATEX2HTML EPSTOPDF BUILD_DOCS USE_LIBM USE_STUBS USE_RTLIBM MATHINC MATHLIB RTAI3_MOD RTAI_MOD RTL_MOD MODPATH_adeos MODPATH_rtai_hal MODPATH_rtai_ksched MODPATH_rtai_fifos MODPATH_rtai_shm MODPATH_rtai_sem MODPATH_rtai_math MODPATH_rtai MODPATH_rt_mem_mgr MODPATH_rtai_sched MODPATH_rtai_libm MODPATH_rtl MODPATH_mbuff MODPATH_rtl_time MODPATH_rtl_sched MODPATH_rtl_posixio MODPATH_rtl_fifo TCL_DBGX TK_DBGX TCL_CFLAGS TK_CFLAGS TCL_LIBS TK_LIBS DATE HAVE_XAW XAW_LIBS HAVE_READLINE READLINE_LIBS HAVE_NCURSES NCURSES_LIBS USE_NLS HAVE_LOCALE_H LANGUAGES HAVE_LIBINTL_H HAVE_LIBINTL LOCALEDIR XGETTEXT XGETTEXT_TCL_WORKS MSGFMT MSGFMT_TCL_WORKS BUILD_AXIS BUILD_PYTHON INCLUDEPY SITEPY LIBOBJS LTLIBOBJS'
 ac_subst_files=''
 
 # Initialize some variables set by options.
@@ -4615,6 +4615,61 @@ echo "${ECHO_T}no" >&6
 fi
 
 
+if test $PYTHON = "none"
+then
+    { { echo "$as_me:$LINENO: error: python not found" >&5
+echo "$as_me: error: python not found" >&2;}
+   { (exit 1); exit 1; }; }
+fi
+
+# Extract the first word of "yapps", so it can be a program name with args.
+set dummy yapps; ac_word=$2
+echo "$as_me:$LINENO: checking for $ac_word" >&5
+echo $ECHO_N "checking for $ac_word... $ECHO_C" >&6
+if test "${ac_cv_path_YAPPS+set}" = set; then
+  echo $ECHO_N "(cached) $ECHO_C" >&6
+else
+  case $YAPPS in
+  [\\/]* | ?:[\\/]*)
+  ac_cv_path_YAPPS="$YAPPS" # Let the user override the test with a path.
+  ;;
+  *)
+  as_save_IFS=$IFS; IFS=$PATH_SEPARATOR
+as_dummy="/bin:/usr/bin:/usr/local/bin"
+for as_dir in $as_dummy
+do
+  IFS=$as_save_IFS
+  test -z "$as_dir" && as_dir=.
+  for ac_exec_ext in '' $ac_executable_extensions; do
+  if $as_executable_p "$as_dir/$ac_word$ac_exec_ext"; then
+    ac_cv_path_YAPPS="$as_dir/$ac_word$ac_exec_ext"
+    echo "$as_me:$LINENO: found $as_dir/$ac_word$ac_exec_ext" >&5
+    break 2
+  fi
+done
+done
+
+  test -z "$ac_cv_path_YAPPS" && ac_cv_path_YAPPS=""none""
+  ;;
+esac
+fi
+YAPPS=$ac_cv_path_YAPPS
+
+if test -n "$YAPPS"; then
+  echo "$as_me:$LINENO: result: $YAPPS" >&5
+echo "${ECHO_T}$YAPPS" >&6
+else
+  echo "$as_me:$LINENO: result: no" >&5
+echo "${ECHO_T}no" >&6
+fi
+
+if test $YAPPS = "none"
+then
+    { { echo "$as_me:$LINENO: error: yapps not found -- install the 'yapps2' package" >&5
+echo "$as_me: error: yapps not found -- install the 'yapps2' package" >&2;}
+   { (exit 1); exit 1; }; }
+fi
+
 echo "$as_me:$LINENO: checking whether to build documentation" >&5
 echo $ECHO_N "checking whether to build documentation... $ECHO_C" >&6
 # Check whether --enable-build-documentation or --disable-build-documentation was given.
@@ -4848,13 +4903,6 @@ fi
 echo "$as_me: WARNING: no epstopdf, documentation will not be built" >&2;}
     fi
 fi
-if ( test "$BUILD_DOCS" = "yes" ) ; then
-    if ( test "none" = "$PYTHON" ) ; then
-	BUILD_DOCS=no
-	{ echo "$as_me:$LINENO: WARNING: no python, documentation will not be built" >&5
-echo "$as_me: WARNING: no python, documentation will not be built" >&2;}
-    fi
-fi
 
 
 #############################################################################
@@ -8660,6 +8708,7 @@ s,@PIDOF@,$PIDOF,;t t
 s,@IPCS@,$IPCS,;t t
 s,@FUSER@,$FUSER,;t t
 s,@PYTHON@,$PYTHON,;t t
+s,@YAPPS@,$YAPPS,;t t
 s,@LYX@,$LYX,;t t
 s,@PDFLATEX@,$PDFLATEX,;t t
 s,@LATEX2HTML@,$LATEX2HTML,;t t

src/configure.in

@@ -795,6 +795,17 @@ AC_ARG_WITH(python,
     ])
 AC_PATH_PROG(PYTHON,$PYTHON,"none", /bin:/usr/bin:/usr/local/bin)
 
+if test $PYTHON = "none"
+then
+    AC_MSG_ERROR([python not found])
+fi
+
+AC_PATH_PROG(YAPPS,yapps,"none", /bin:/usr/bin:/usr/local/bin)
+if test $YAPPS = "none"
+then
+    AC_MSG_ERROR([yapps not found -- install the 'yapps2' package])
+fi
+
 AC_MSG_CHECKING([whether to build documentation])
 AC_ARG_ENABLE(build-documentation,
     [  --disable-build-documentation   Do not build documentation automatcally],
@@ -855,12 +866,6 @@ if ( test "$BUILD_DOCS" = "yes" ) ; then
 	AC_MSG_WARN([no epstopdf, documentation will not be built])
     fi
 fi
-if ( test "$BUILD_DOCS" = "yes" ) ; then
-    if ( test "none" = "$PYTHON" ) ; then
-	BUILD_DOCS=no
-	AC_MSG_WARN([no python, documentation will not be built])
-    fi
-fi
 AC_SUBST(BUILD_DOCS)
 
 #############################################################################

src/emc/usr_intf/axis/Submakefile

@@ -39,7 +39,7 @@ $(TOGLMODULE): $(call TOOBJS, $(TOGLMODULESRCS))
 PYTARGETS += $(EMCMODULE) $(MINIGLMODULE) $(SETICONMODULE) $(TOGLMODULE)
 
 PYSCRIPTS := axis.py axis-remote.py emctop.py hal_manualtoolchange.py \
-	mdi.py image-to-gcode.py lintini.py
+	mdi.py image-to-gcode.py lintini.py comp.py
 
 PYTARGETS += $(patsubst %.py,../bin/%,$(PYSCRIPTS))
 
@@ -53,6 +53,9 @@ PYI18NSRCS := $(addprefix emc/usr_intf/axis/scripts/, $(PYSCRIPTS))  \
 	../lib/python/propertywindow.py \
 	../share/axis/tcl/axis.tcl
 
+%.py: %.g
+	$(YAPPS) $< $@
+
 po/axis.pot: $(PYI18NSRCS)
 	$(XGETTEXT) -k_ -o $@ $^
 PYTARGETS += po/axis.pot

src/emc/usr_intf/axis/scripts/.cvsignore

@@ -1,3 +1,4 @@
+comp.py
 .xvpics
 .xvpthumb
 dist

src/emc/usr_intf/axis/scripts/comp.g

@@ -0,0 +1,213 @@
+#!/usr/bin/python
+#    This is 'comp', a tool to write HAL boilerplate
+#    Copyright 2006 Jeff Epler <jepler@unpythonic.net>
+#
+#    This program is free software; you can redistribute it and/or modify
+#    it under the terms of the GNU General Public License as published by
+#    the Free Software Foundation; either version 2 of the License, or
+#    (at your option) any later version.
+#
+#    This program is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU General Public License for more details.
+#
+#    You should have received a copy of the GNU General Public License
+#    along with this program; if not, write to the Free Software
+#    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+import sys
+
+%%
+parser Hal:
+    ignore: "//.*"
+    ignore: "/[*](.|\n)*?[*]/"
+    ignore: "[ \t\r\n]+"
+
+    token END: ";;"
+    token DIRECTION: "r|w|rw"
+    token PINDIRECTION: "in|out|io"
+    token TYPE: "float|bit|u32|s32|u16|s16|u8|s8"
+    token NAME: "[a-zA-Z_][a-zA-Z0-9_]*"
+    token NUMBER: "[0-9]+|0x[0-9a-fA-F]+"
+
+    rule File: Declaration* "$" {{ return True }}
+    rule Declaration:
+        "component" NAME ";" {{ comp(NAME); }}
+      | "pin" NAME TYPE PINDIRECTION ";"  {{ pin(NAME, TYPE, PINDIRECTION) }}
+      | "param" NAME TYPE DIRECTION ";"{{ param(NAME, TYPE, DIRECTION) }}
+      | "function" NAME OptFP ";"       {{ function(NAME, OptFP) }}
+      | "option" NAME Value ";"   {{ option(NAME, Value) }}
+
+    rule OptFP: "fp" {{ return 1 }} | "nofp" {{ return 0 }} | {{ return 1 }}
+    rule Value: "yes" {{ return 1 }} | "no" {{ return 0 }}  
+                | NAME {{ return NAME }}
+                | NUMBER {{ return int(NUMBER,0) }}
+
+%%
+
+dirmap = {'r': 'HAL_RD_WR', 'w': 'HAL_WR', 'rw': 'HAL_RD_WR', 'in': 'HAL_RD', 'out': 'HAL_WR', 'io': 'HAL_RD_WR' }
+
+functions = []; params = []; pins = []; options = {}
+comp_name = None
+
+def comp(name):
+    global comp_name
+    comp_name = name;
+
+def pin(name, type, dir):
+    pins.append((name, type, dir))
+def param(name, type, dir):
+    params.append((name, type, dir))
+def function(name, fp):
+    functions.append((name, fp))
+def option(name, value):
+    options[name] = value
+
+def prologue(f):
+    print >> f, """\
+#include "rtapi.h"
+#include "rtapi_app.h"
+#include "hal.h"
+
+static int comp_id;
+
+#define FUNCTION(name) static void name(struct state *arg, long period)
+"""
+    names = {}
+
+    has_data = options.get("data")
+
+    print >>f
+    print >>f, "struct state {"
+    for name, type, dir in pins:
+        if names.has_key(name):
+            raise RuntimeError, "Duplicate pin name: %s" % name
+        print >>f, "    hal_%s_t *%s;" % (type, name)
+        names[name] = 1
+
+    for name, type, dir in params:
+        if names.has_key(name):
+            raise RuntimeError, "Duplicate param name: %s" % name
+        print >>f, "    hal_%s_t %s;" % (type, name)
+        names[name] = 1
+
+    if has_data:
+        print >>f, "    void *_data;"
+
+    print >>f, "};"
+    
+    print >>f
+    names = {}
+    for name, fp in functions:
+        if names.has_key(name):
+            raise RuntimeError, "Duplicate function name: %s" % name
+        print >>f, "static void %s(struct state *arg, long period);" % name
+        names[name] = 1
+
+    print >>f, "static int get_data_size(void);"
+
+    print >>f
+    print >>f, "static int export(char *prefix) {"
+    print >>f, "    char buf[HAL_NAME_LEN + 2];"
+    print >>f, "    int r = 0;"
+    print >>f, "    int sz = sizeof(struct state) + get_data_size();"
+    print >>f, "    struct state *arg = hal_malloc(sz);"
+    for name, type, dir in pins:
+        print >>f, "    r = hal_pin_%s_newf(%s, &(arg->%s), comp_id," % (
+            type, dirmap[dir], name)
+        print >>f, "        \"%%s.%s\", prefix);" % (name.replace("_", "-"))
+        print >>f, "    if(r != 0) return r;"
+
+    for name, type, dir in params:
+        print >>f, "    r = hal_param_%s_newf(%s, &(arg->%s), comp_id," % (
+            type, dirmap[dir], name)
+        print >>f, "        \"%%s.%s\", prefix);" % (name.replace("_", "-"))
+        print >>f, "    if(r != 0) return r;"
+
+    for name, fp in functions:
+        print >>f, "    rtapi_snprintf(buf, HAL_NAME_LEN, \"%%s.%s\", prefix);"\
+            % name
+        print >>f, "    r = hal_export_funct(buf, (void(*)(void *arg, long))%s, arg, %s, 0, comp_id);" % (
+            name, int(fp))
+        print >>f, "    if(r != 0) return r;"
+    print >>f, "    return 0;"
+    print >>f, "}"
+
+    if options.get("count_function"):
+        print >>f, "static int get_count(void);"
+
+    if options.get("rtapi_app", 1):
+        if not options.get("singleton") and not options.get("count_function") :
+            print >>f, "static int count = %s;" \
+                % options.get("default_count", 1)
+            print >>f, "MODULE_PARM(count, \"i\");"
+            print >>f, "MODULE_PARM_DESC(count, \"number of %s\");" % comp_name
+
+        print >>f, "int rtapi_app_main(void) {"
+        print >>f, "    int r = 0;"
+        if not options.get("singleton"):
+            print >>f, "    int i;"
+        if options.get("count_function"):
+            print >>f, "    int count = get_count();"
+        print >>f, "    comp_id = hal_init(\"%s\");" % comp_name
+        print >>f, "    if(comp_id < 0) return comp_id;"
+
+        if options.get("singleton"):
+            print >>f, "    r = export(\"%s\");" % \
+                    comp_name.replace("_", "-")
+        else:
+            print >>f, "    for(i=0; i<count; i++) {"
+            print >>f, "        char buf[HAL_NAME_LEN + 2];"
+            print >>f, "        rtapi_snprintf(buf, HAL_NAME_LEN, " \
+                                        "\"%s.%%d\", i);" % \
+                                    comp_name.replace("_", "-")
+            print >>f, "        r = export(buf);"
+            print >>f, "        if(r != 0) break;"
+            print >>f, "    }"
+        print >>f, "    if(r) hal_exit(comp_id);"
+        print >>f, "    return r;";
+        print >>f, "}"
+
+        print >>f
+        print >>f, "void rtapi_app_exit(void) { hal_exit(comp_id); }"
+
+    print >>f
+    if not options.get("no_convenience_defines"):
+        for name, type, dir in pins:
+            print >>f, "#define %s (*arg->%s)" % (name, name)
+        for name, type, dir in params:
+            print >>f, "#define %s (arg->%s)" % (name, name)
+        
+    if has_data:
+        print >>f, "#define data (*(%s*)&(arg->_data))" % options['data']
+    print >>f
+    print >>f
+
+def epilogue(f):
+    data = options.get('data')
+    print >>f
+    if data:
+        print >>f, "static int get_data_size(void) { return sizeof(%s); }" % data
+    else:
+        print >>f, "static int get_data_size(void) { return 0; }"
+import sys
+if len(sys.argv) > 1:
+    f = open(sys.argv[1])
+else:
+    f = sys.stdin
+
+f = f.read()
+a, b = f.split("\n;;\n", 1)
+
+p = parse('File', a)
+if not p: raise SyntaxError
+
+if len(sys.argv) > 2:
+    f = open(sys.argv[2], "w")
+else:
+    f = sys.stdout
+
+prologue(f)
+f.write(b)
+epilogue(f)

src/hal/components/Submakefile

@@ -0,0 +1,25 @@
+ifneq ($(KERNELRELEASE),)
+COMPS := $(patsubst $(BASEPWD)/%,%,$(wildcard $(BASEPWD)/hal/components/*.comp))
+include $(patsubst %.comp, $(BASEPWD)/objects/%.mak, $(COMPS))
+else
+P=
+COMPS := $(wildcard hal/components/*.comp)
+-include $(patsubst %.comp, objects/%.mak, $(COMPS))
+Makefile: $(patsubst %.comp, objects/%.mak, $(COMPS))
+endif
+
+obj-m += $(patsubst hal/components/%.comp, %.o, $(COMPS))
+
+objects/%.mak: %.comp
+	$(ECHO) "Creating $(notdir $@)"
+	@mkdir -p $(dir $@)
+	@echo $(notdir $*)-objs := objects/$*.o > $@.tmp
+	@echo ../rtlib/$(notdir $*).o: objects/$*.o >> $@.tmp
+	@mv -f $@.tmp $@
+
+objects/%.c: %.comp ../bin/comp
+	$(ECHO) "Preprocessing $(notdir $<)"
+	@mkdir -p $(dir $@)
+	@../bin/comp $< $@
+
+modules: $(patsubst %.comp, objects/%.c, $(COMPS))

src/hal/components/blend.comp

@@ -0,0 +1,18 @@
+component blend;
+
+pin in_1 float in;
+pin in_2 float in;
+pin select float in;
+pin out float out;
+
+param open bit w;
+
+function update;
+
+;;
+
+FUNCTION(update) {
+    double select_ = select;
+    if(!open) { if(select_ < 0) select_ = 0; if(select_ > 1) select_ = 1; }
+    out = in_1 * select_ + in_2 + (1 - select_);
+}

src/hal/components/charge_pump.comp

@@ -0,0 +1,24 @@
+//   This is a 'charge-pump' component for EMC2 HAL
+//   Copyright 2006 Jeff Epler <jepler@unpythonic.net>
+//
+//   This program is free software; you can redistribute it and/or modify
+//   it under the terms of the GNU General Public License as published by
+//   the Free Software Foundation; either version 2 of the License, or
+//   (at your option) any later version.
+//
+//   This program is distributed in the hope that it will be useful,
+//   but WITHOUT ANY WARRANTY; without even the implied warranty of
+//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//   GNU General Public License for more details.
+//
+//   You should have received a copy of the GNU General Public License
+//   along with this program; if not, write to the Free Software
+//   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+component charge_pump;
+option singleton yes;
+pin out bit out;
+function update nofp;
+;;
+MODULE_LICENSE("GPL");
+FUNCTION(update) { out = !out; }

src/hal/components/ddt.comp

@@ -0,0 +1,18 @@
+component ddt;
+
+pin in float in;
+pin out float out;
+
+option data ddt_data;
+
+function update;
+;;
+
+typedef struct { float old; } ddt_data;
+
+FUNCTION(update) {
+    float tmp = in;
+    out = (tmp - data.old) / (period * 1e-9);
+    data.old = tmp;
+}
+

src/hal/components/edge.comp

@@ -0,0 +1,32 @@
+component edge;
+
+pin in bit in;
+pin out bit out;
+pin out_invert bit out;
+
+param in_edge bit w;
+param out_width float w;
+
+param time_left float r;
+param last_in bit r;
+
+function update;
+;;
+
+FUNCTION(update){ 
+    float fperiod = period * 1e-9;
+    int new_in = in;
+    if(in_edge) new_in = ! new_in;
+    if(new_in && new_in != last_in) {
+        time_left = out_width;
+        out = 1; out_invert = 0;
+    } else if(time_left > 0) {
+        time_left -= fperiod;
+        out = 1; out_invert = 0;
+    } else {
+        time_left = 0;
+        out = 0; out_invert = 1;
+    }
+    last_in = new_in;
+}
+

src/hal/components/maj3.comp

@@ -0,0 +1,40 @@
+//   This is a 'majority-of-3' component for EMC2 HAL
+//   Copyright 2006 Jeff Epler <jepler@unpythonic.net>
+//
+//   This program is free software; you can redistribute it and/or modify
+//   it under the terms of the GNU General Public License as published by
+//   the Free Software Foundation; either version 2 of the License, or
+//   (at your option) any later version.
+//
+//   This program is distributed in the hope that it will be useful,
+//   but WITHOUT ANY WARRANTY; without even the implied warranty of
+//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//   GNU General Public License for more details.
+//
+//   You should have received a copy of the GNU General Public License
+//   along with this program; if not, write to the Free Software
+//   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+component maj3;
+
+pin in1 bit in;
+pin in2 bit in;
+pin in3 bit in;
+pin out bit out;
+
+param invert bit w;
+
+function update nofp;
+
+;;
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Jeff Epler");
+MODULE_DESCRIPTION("'Majority of 3' block for EMC HAL");
+
+FUNCTION(update) {
+    if(invert)
+        out = (in1 + in2 + in3) < 2;
+    else
+        out = (in1 + in2 + in3) >= 2;
+}

src/hal/components/offset.comp

@@ -0,0 +1,17 @@
+component offset;
+
+function update_output;
+function update_feedback;
+
+pin offset float in;
+
+pin in float in;
+pin out float out;
+
+pin fb_in float in;
+pin fb_out float out;
+
+;;
+
+FUNCTION(update_feedback) { fb_out = fb_in - offset; }
+FUNCTION(update_output)   { out = in + offset; }