diff --git a/Makefile b/Makefile
index 7ad421ab..caefea3f 100644
--- a/Makefile
+++ b/Makefile
@@ -88,6 +88,8 @@ COMPS += shared/comps/idx_home.c
 COMPS += shared/comps/move.c
 COMPS += shared/comps/ac.c
 COMPS += shared/comps/not.c
+COMPS += shared/comps/and.c
+COMPS += shared/comps/or.c
 COMPS += shared/comps/jog.c
 
 SOURCES += $(COMPS)
diff --git a/shared/comps/and.c b/shared/comps/and.c
new file mode 100644
index 00000000..316a160f
--- /dev/null
+++ b/shared/comps/and.c
@@ -0,0 +1,31 @@
+#include "hal.h"
+
+HAL_COMP(and);
+
+HAL_PIN(in0);
+HAL_PIN(in1);
+HAL_PIN(in2);
+HAL_PIN(in3);
+
+HAL_PIN(out);
+
+static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+  struct and_pin_ctx_t *pins = (struct and_pin_ctx_t *)pin_ptr;
+
+  PIN(out) = (PIN(in0) > 0.0) & (PIN(in1) > 0.0) & (PIN(in2) > 0.0) & (PIN(in3) > 0.0);
+}
+
+const hal_comp_t and_comp_struct = {
+    .name      = "and",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = 0,
+    .hw_init   = 0,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct and_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
diff --git a/shared/comps/or.c b/shared/comps/or.c
new file mode 100644
index 00000000..76de38e7
--- /dev/null
+++ b/shared/comps/or.c
@@ -0,0 +1,31 @@
+#include "hal.h"
+
+HAL_COMP(or);
+
+HAL_PIN(in0);
+HAL_PIN(in1);
+HAL_PIN(in2);
+HAL_PIN(in3);
+
+HAL_PIN(out);
+
+static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+  struct or_pin_ctx_t *pins = (struct or_pin_ctx_t *)pin_ptr;
+
+  PIN(out) = (PIN(in0) > 0.0) | (PIN(in1) > 0.0) | (PIN(in2) > 0.0) | (PIN(in3) > 0.0);
+}
+
+const hal_comp_t or_comp_struct = {
+    .name      = "or",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = 0,
+    .hw_init   = 0,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct or_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};