Change and block from il to C.

Add and4 variant.
Fix memory allocator alignment, it was to enthousiastic.

controller/block/block_and2.il

-(* A simple and port with 2 inputs *)
-PROGRAM and2
-
-VAR_INPUT
-	a:	BOOL;
-	b:	BOOL;
-END_VAR
-
-VAR_OUTPUT
-	q:	BOOL;
-END_VAR
-
-	LD	a
-	AND	b
-	ST	q

controller/block/build.mk

@@ -5,6 +5,7 @@ $(eval $(call SUBDIR,il2c))
 
 BLOCKS := \
 	add \
+	and \
 	bridge_pwm \
 	command_bool \
 	command_float \
@@ -49,7 +50,6 @@ BLOCKS := \
 	oneshot
 
 BLOCKS_IL := \
-	and2 \
 	not \
 	or2 \
 	or3 \
@@ -57,6 +57,10 @@ BLOCKS_IL := \
 	register \
 	setreset
 
+BLOCKS_NO_C := \
+	and2 \
+	and4
+
 ifneq ($(OS), FreeBSD)
 BLOCKS+= \
 	joystick
@@ -79,7 +83,7 @@ $(LIBDIR)/libblock.la: libcontroller.la liblog.la
 $(LIBDIR)/libblock.la: $(BLOCK_OBJS)
 	$(LIB_LINK)
 
-CTRL_BLOCKS += $(BLOCKS) $(BLOCKS_IL)
+CTRL_BLOCKS += $(BLOCKS) $(BLOCKS_IL) $(BLOCKS_NO_C)
 CTRL_BLOCK_LIBS += libblock.la
 
 TARGETS += $(BLOCK_TARGETS)

controller/controller/controller_mem.c

@@ -91,10 +91,20 @@ void *controller_mem_calloc(int flags, size_t nmemb, size_t size)
 		return calloc(nmemb, size);
 	}
 	
+#if defined(__x86_64__)
+	align = 16;
+#else
 	align = size & 15;
-	if (!align)
-		align = 16;
-	
+	switch (align) {
+		case 0:
+			align=16;
+			break;
+		default:
+			align=8;
+			break;
+	}
+#endif
+
 	total += sz;
 	if (flags & CONTROLLER_MEM_PERIODIC_WRITE)
 		total_w += sz;

controller/dt_ctrl.ctrl

@@ -35,7 +35,7 @@ import "dt_ctrl_ec_sim.ctrl"
 blocks ($(frequency), $(delay)) {
 	{ "setpoint_generator_3d", "azimuth_spg", 	"Azimuth_Setpoint", "rad" }
 	{ "servo_state",           "azimuth_servo_state"           }
-	{ "and2",                  "azimuth_safe_and"              }
+	{ "and4",                  "azimuth_safe_and"              }
 	{ "subtract",	           "azimuth_setpoint_error"	   }
 	{ "subtract",              "azimuth_error"		   }
 	{ "pid_aw",	           "azimuth_pid"		   }
@@ -118,6 +118,8 @@ links {
 	{ "azimuth_spg",                    "a",          "azimuth_servo_state",              "spg_a"        , true }
 	{ "azimuth_position_range",         "q",          "azimuth_safe_and",                 "a"            , true }
 	{ "ethercat",                       "operational","azimuth_safe_and",                 "b"            , true }
+	{ $<Azimuth_Drive_Safety_p270>,                   "azimuth_safe_and",                 "c"            , true }
+	{ $<Azimuth_Drive_Safety_m270>,                   "azimuth_safe_and",                 "d"            , true }
 	{ "azimuth_safe_and",               "q",          "azimuth_servo_state",              "safe"         , true }
 	{ "azimuth_recover",                "value",      "azimuth_servo_state",              "override"     , true }
 	{ "azimuth_recover",                "value",      "azimuth_range_limit",              "enable",        true }