dannym wrote: I WISH being a coder would help. The HAL's concept of making gate primitives is more like VHDL for silicon than programming, only made exceptionally difficult. I mean I can't just say "A=(B | C) & (!D & !E) on servo_thread". Nooo... though this unambiguously could be interpreted into HAL literally, you need to add numbered/named NOT, AND, and OR gates, add to a thread, create nets and tie all this together into an unreadable, error-prone mess.
If you are a coder then it actually gets a lot easier. A lot of the HAL components are there so that users can do what they want without having to compile anything. If you consider that Linux requires any kernel module to be written in C, and that the realtime components are kernel modules, then HAL starts to look quite clever.
Your sample problem, as it happens, is easily handled by
LUT5LUT5
though I am not a fan of the docs of that function. LUT5 basically takes the 5 input bits as a binary index into to the bits of the function parameter and returns that bit.
If you are happy with C, then it is very easy to create your own HAL components. In fact a few minutes of reading up on C syntax is enough for very simple components:
linuxcnc.org/docs/2.7/html/hal/comp.html
