Writing a needet HAL Component

component runner "LinuxCNC runner";

description
"""
Example:

loadrt u32runner [count=N|names=name1[,name2...]]

runner.N.run bit in => run
runner.N.from u32 in => Number to start =>(just nice to have)
runner.N.to u32 in => Number to count to =>(if there is no "from" this can also be "THE" number)
runner.N.speed s32 in => count speed =>(must have - can also be an u32 if in ms)
runner.N.cycle bit in => repeat yes/no =>(must have)
runner.N.rev bit in => count backwards =>(just nice to have)
runner.N.warp bit in => one way or up and down =>(one way is need, up and down is nice to have)
runner.N.out u32 out => output =>(need of course)
""";

author "Rod Webster";

// Example Calibration Data: 0v = 122.9 kHz, 10v = 925.7 Khz should be entered as 122900 and 925700
pin in  bit run          			"count if true";
pin in  signed from                 "number to count from";
pin in  signed to                   "number to count to";
pin in  signed speed = 1          "number of cycles between counts (default = 1 = one servo thread cycle)";
pin in  bit cycle = 1               "if true, start again or stop";
pin in  bit warp                    "if true, count up and then back down";
pin out unsigned out                "the number to output";


function _;
license "GPL";
;;
#include <rtapi_math.h>


FUNCTION(_) {
	static int first_pass = 1;
	static int this_cycle = 0;
	static int step = 1;
	static int counter = 0;
	static int is_warping = 0;
	
	if(first_pass){
		//set up
		if(cycle < 1){
			cycle == 1;
			first_pass = 0;
		}
	}
	if(run){
		do{
			this_cycle++;
		}while(this_cycle < cycle);
		this_cycle = 0;
		if(!is_warping){
			if(from > to)		// Set the direction to count 
				step = -1;
			else
				step = 1;
			counter += step;
			if(step == from){	// we go to the destination
				counter = from;	// stop counting
				if(warp){
					is_warping = 1;
					if(step > 0)
						step = -1;
					else
						step = 0;
				}
			}
		}
		else{
			if(counter == 0){
				counter = from;
				is_warping = 0;
					if(step > 0)
						step = -1;
					else
						step = 0;				
			}
		}
	}
}