not comp

Makefile

@@ -87,6 +87,7 @@ COMPS += shared/comps/scale.c
 COMPS += shared/comps/idx_home.c
 COMPS += shared/comps/move.c
 COMPS += shared/comps/ac.c
+COMPS += shared/comps/not.c
 COMPS += shared/comps/jog.c
 
 SOURCES += $(COMPS)

shared/comps/not.c

@@ -0,0 +1,27 @@
+#include "hal.h"
+
+HAL_COMP(not);
+
+HAL_PIN(in);
+HAL_PIN(out);
+
+static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+  struct not_pin_ctx_t *pins = (struct not_pin_ctx_t *)pin_ptr;
+
+  PIN(out) = PIN(in) <= 0.0;
+}
+
+const hal_comp_t not_comp_struct = {
+    .name      = "not",
+    .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 not_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};