4 bit parallel ADC for spindle gear control

component gearshift "A component to operate an electronically controlled gearbox";
pin in float max-speed-##[32:personality] "The maximum speed in each gear";
pin in u32 bits-## [32:personality] "The pattern of output bits to set for the corresponding gear";
pin out bit gear-select-# [5] "The individual clutch outputs";
pin in float spindle-speed-in "The spindle speed command";
pin in bit spindle-ctrl-in "The spindle-is-on signal from motion";
pin out bit spindle-ctrl-out "The spindle-is-on signal passed to the motor";
pin out unsigned gear "The currently-selected gear";
option personality yes;

function _;

license "GPL";
author "andy pugh";

;;

FUNCTION(_){
    static int state = 0;

    switch (state) {
    case 0: // Idle
        if (spindle_speed_in > 0){
            state = 1;
        }
        break;
    case 1: // setting outputs
        for (gear = 0; spindle_speed_in > max_speed(gear) && gear < personality; gear++){
            rtapi_print("gear = %i max = %f\n", gear, max_speed(gear));
        }
        gear_select(0) = (bits(gear) & 0x01);
        gear_select(1) = (bits(gear) & 0x02);
        gear_select(2) = (bits(gear) & 0x04);
        gear_select(3) = (bits(gear) & 0x08);
        gear_select(4) = (bits(gear) & 0x10);
        state = 2;
    case 2: // wait for spindle on
        if (spindle_ctrl_in == 0) return;
        state = 3;
        break;
    case 3: // waiting for spindle-off to allow gearchange
        spindle_ctrl_out = spindle_ctrl_in;
        if (spindle_ctrl_in == 0){
            gear_select(0) = 0;
            gear_select(1) = 0;
            gear_select(2) = 0;
            gear_select(3) = 0;
            gear_select(4) = 0;
            gear = 0;
            state = 0;
        }
        break;
    }
}

sudo halcompile --install gearshift.comp