Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.

gear = input_1 + 2*input_B + 3*input_C + 4*input_D + 5*input_E + 5*high_gear -1;

component gearbox3 "LinuxCNC HAL component for Tecno's gearbox";
author "Rod Webster Håkan Båstedt";

pin   in  bit input_a      "input a";
pin   in  bit input_b      "input b";
pin   in  bit input_c      "input c";
pin   in  bit input_d      "input d";
pin   in  bit input_e      "input e";
pin   in  bit higear       "true if in high gear";
pin   in float speed      "Spindle speed in RPM as in Sxxx";
pin   out bit gearshift   "Need to shift gear, true if high";
pin   out int wantedgear  "Shift to this gear if told so";
pin   out float speedratio "max RPM for machine divided by maximum RPM for gear";
param rw  float maxrpm     "maximum RPM for machine";


function _;
license "GPL";
;;

#include <rtapi_math.h>


FUNCTION(_) {

    static double speeds[7][2] = {
        { 160.0, 80.0}
        { 270.0, 160.0},
        { 450.0, 270.0},
        { 750.0, 450.0},
        {1250.0, 750.0},
        {1500.0, 1250.0},
        {2500.0, 1500.0},
    };
    // Gears are number from 1 (lowest) to 7
    
    // Check which gear to use with this speed Sxxx
    int geartouse = -1;
    for (int i=0; i<7; i++) {
       if (speed <= speeds[i][0] && speed > speeds[i][1])
     geartouse = i+1;
    }

    // Which gear is engaged
    int gearengaged = 1*input_a + 2*input_b + 3*input_c + 4*inpud_d + 5*input_e + 5*higear;

    if (geartouse == gearengaged) { // Everything ok
      gearshift = 0;
      wantedgear = gearengaged;
      speedratio = speed/speeds[gearenaged-1][0];
    } else {                        // Should change gear
      gearshift = 1;
      wantedgear = geartouse;
      speedratio = speed/speeds[geartouse-1][0];
    }
}

bengt@debian:~/linuxcnc/configs/sim.gmoccapy$ halcompile --install gearbox3.compmake KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=`pwd` CC=gcc V=0 modules
make[1]: Entering directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
  CC [M]  /tmp/tmpxFPQ1m/gearbox3.o
gearbox3.comp: In function ‘_’:
gearbox3.comp:39:5: error: ‘for’ loop initial declarations are only allowed in C99 mode
gearbox3.comp:39:5: note: use option -std=c99 or -std=gnu99 to compile your code
gearbox3.comp:45:5: warning: ISO C90 forbids mixed declarations and code [-Wdeclaration-after-statement]
gearbox3.comp:50:33: error: ‘gearenaged’ undeclared (first use in this function)
gearbox3.comp:50:33: note: each undeclared identifier is reported only once for each function it appears in
make[4]: *** [/tmp/tmpxFPQ1m/gearbox3.o] Fel 1
make[3]: *** [_module_/tmp/tmpxFPQ1m] Fel 2
make[2]: *** [sub-make] Fel 2
make[1]: *** [all] Fel 2
make[1]: Leaving directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
make: *** [modules] Fel 2
bengt@debian:~/linuxcnc/configs/sim.gmoccapy$ 

FUNCTION(_) {

    static double speeds[7][2] = {
        { 160.0, 80.0},
        { 270.0, 160.0},
        { 450.0, 270.0},
        { 750.0, 450.0},
        {1250.0, 750.0},
        {1500.0, 1250.0},
        {2500.0, 1500.0},
    };
    // Gears are number from 1 (lowest) to 7
    
    // Check which gear to use with this speed Sxxx
    long geartouse = -1;
    int i;
    for (i=0; i<7; i++) {
       if (speed <= speeds[i][0] && speed > speeds[i][1])
     geartouse = (long) i+1L;
    }

    // Which gear is engaged
    int gearengaged = 1*input_a + 2*input_b + 3*input_c + 4*input_d + 5*input_e + 5*higear;

    if (geartouse == gearengaged) { // Everything ok
      gearshift = 0;
      wantedgear = gearengaged;
      speedratio = speed/speeds[gearenaged-1][0];
    } else {                        // Should change gear
      gearshift = 1;
      wantedgear = geartouse;
      speedratio = speed/speeds[(int)geartouse-1][0];
    }
}