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

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]; } }