The block will output 'true' when input positive >= input negative.

	new file:   block/block_comparator.c
	modified:   block/build.mk

	modified:   controller/controller_load.c

We now interpret it as 'from this point on, zero or more arguments of any type
will do'.

	modified:   controller/controller_load.c

used to verify the arguments and types of block create functions, etc., but
start by validating parameters for now. This helps a lot when writing .ctrl
files as the parser will now stop with a sensible error instead of a segfault
when arguments are mismatched.

Some example output:
ERROR: Invalid number of arguments! Expecting 1 argument instead of 3.
ERROR: Argument mismatch while trying to set 'divider' param on block 'heater'
ERROR: pand-test.ctrl:169: Error setting parameter

ERROR: Argument mismatch in argument 1. Expected argument of type 'int' instead of 'char*'
ERROR: Argument mismatch while trying to set 'divider' param on block 'heater'
ERROR: pand-test.ctrl:169: Error setting parameter

	modified:   controller/controller_load.c

	modified:   controller/controller_load.c

This prevents copy/paste errors in a .ctrl file where a user would create two
blocks with the exact same name.
Since the functions returns void, we'll bail out using errx() here.

	modified:   controller/controller_block.c

	modified:   ec/block_beckhoff_el3xxx.c

This allows the user to specify e.g. 'rtd_element_input1' => 'PT1000' in the
params list of a .ctrl file.

	modified:   ec/block_beckhoff_el3xxx.c

Remove my *.il2c.c clean-up code now we've merged Jeroen's version.

Conflicts:
	Makefile

There's now only a single function left to set all 'check' bits of each input,
instead of having 8 nearly identical functions, one for each input.

	modified:   controller/ec/block_beckhoff_el3xxx.c

This way we can use one function to set a number of params. All blocks
(including the il2c generator) have been updated with the extra argument.

	modified:   Makefile
	modified:   controller/am335x/block_am335x_adc.c
	modified:   controller/am335x/block_am335x_pwm.c
	modified:   controller/am335x/block_am335x_qed.c
	modified:   controller/block/block_bridge_pwm.c
	modified:   controller/block/block_counter.c
	modified:   controller/block/block_filter_iir.c
	modified:   controller/block/block_filter_lp.c
	modified:   controller/block/block_friction.c
	modified:   controller/block/block_gain.c
	modified:   controller/block/block_inverse_proportional.c
	modified:   controller/block/block_limit.c
	modified:   controller/block/block_limit_2nd.c
	modified:   controller/block/block_limit_var.c
	modified:   controller/block/block_matrix_2x2.c
	modified:   controller/block/block_pid.c
	modified:   controller/block/block_pid_aw.c
	modified:   controller/block/block_quantize.c
	modified:   controller/block/block_rangecheck.c
	modified:   controller/block/block_servo_state.c
	modified:   controller/block/block_setpoint_generator_1d.c
	modified:   controller/block/block_setpoint_generator_3d.c
	modified:   controller/block/block_sine.c
	modified:   controller/block/block_state_machine.c
	modified:   controller/block/block_trajectplayer.c
	modified:   controller/block/block_trigger.c
	modified:   controller/block/block_value.c
	modified:   controller/block/block_value_bool.c
	modified:   controller/block/block_value_uint32.c
	modified:   controller/block/il2c/il2c.c
	modified:   controller/controller/controller_block.h
	modified:   controller/controller/controller_block_param.c
	modified:   controller/dt_azimuth/dt_az_safety.c
	modified:   controller/dt_elevation/dt_el_safety.c
	modified:   controller/ec/block_beckhoff_el2xxx.c
	modified:   controller/ec/block_beckhoff_el3xxx.c
	modified:   controller/ec/block_beckhoff_el4xxx.c
	modified:   controller/ec/block_ec.c
	modified:   controller/ec/block_ec_sim.c
	modified:   controller/test/block_test_command.c
	modified:   controller/test/block_test_input_bool.c
	modified:   controller/test/block_test_input_float.c
	modified:   controller/test/block_test_input_uint32.c
	modified:   controller/test/block_test_output_bool.c
	modified:   controller/test/block_test_output_float.c
	modified:   controller/test/block_test_output_uint32.c

Add module code in controller_module
Introduce new test for module
Use module in azimuth and elevation simulators
Remove dedicated simulator blocks

inputs that don't exist. We do this by reversing the order of the params list
and feeding the ..param_list_add() function the params list, starting at the
first check_input param that actually exists on the current hardware.

	modified:   controller/ec/block_beckhoff_el3xxx.c

	modified:   controller/ec/block_beckhoff_el3xxx.c

(No functional changes.)

	modified:   controller/ec/block_beckhoff_el3xxx.c

o Add heaps of links to documentation.
o Add a list of devices that are still missing if this driver really wants
  to support all EL3*** blocks.
o Implement a number of missing (and needed) calculate functions.

	modified:   controller/ec/block_beckhoff_el3xxx.c

in the *_create() function.
This makes it painfully visible that most blocks are missing code.
(No functional changes.)

	modified:   controller/ec/block_beckhoff_el3xxx.c

(No functional changes.)

	modified:   controller/ec/block_beckhoff_el3xxx.c

o Make the code halt in all unsupported cases where we would wind up without
  a calculate function.
o Switch a number of blocks to 'unverified' that have obvious errors in their
  gain/offset table entries.
o Document where we've found the data for the corrected table entries.

This is an unfinished work in progress. Half of the blocks I have either don't
work at all right now, or their output values are way off.

o Introduce a first piece of code to test the selection of different
  temperature sensors on the EL3204 / EL3204-0200. This will eventually grow
  into parameters that allow the user to select different resistor curves per
  input channel.

	modified:   controller/ec/block_beckhoff_el3xxx.c

It was already enabled in the ethercat code, but that changed.

This is a forward-port of a commit made today to a project that is based on
a version of the DT code from ~2012. The EL5101 has a 'C' input that can
accept an index pulse from the encoder. Enable this input so the counter is
actually reset to 0 on every pulse of the index pin.
Note: Although by far most registers on Ethercat blocks are volatile, this
register is non-volatile. When set to '1' once, this register will remain '1',
even after cycling the block's power. (According to the documentation, all
0x8000:* and 0x8001:* registers are non-volatile.)

	modified:   ec/block_beckhoff_el5101.c

Cleaning only the block directory is not enough, there might be (and are) more.

	modified:   common/log/log.c

dev->tx_pdo_watchdog == true.
Manually setting dev->tx_pdo_watchdog to false in individual blocks now allows
the outputs of the blocks to remain active when the control loop is stopped.
(We need this before we can safely connect our mains supply relays to Ethercat
outputs..)

Fix time code to properly recognize invallid combinations and return -1
Add new lowest common multiple calculation.
(Subsample number now has a maximum of 10000, but this is an arbitrary limit)
Add code to add frequency domain to .dot dump files.

Yesterday's fix was wrong. The variable 't' wasn't missing, but it was a
misspelling of 'tn'.

	modified:   controller/trigger/trigger_prestart.c

one recipe to be specified per target. When multiple recipes are defined for
the same target, only the last one will be executed.
This change makes executing the 'all' target in the controller/ or
controller/block/ directory actually only build files inside these directories
instead of starting a full build at the top level directory.

Making 'clean' in either of these directories still cleans the entire build
starting from the top level directory. I think this eventually deserves a
second commit. I would like to be able to only 'clean' a subdirectory.

	modified:   controller/Makefile
	modified:   controller/block/Makefile

	modified:   Makefile

actually work again after the introduction of the BLOCK_CREATE() macro.

	modified:   controller/ec/block_beckhoff_el4xxx.c

(Only worked if actuall number of slaves was also 0, not for any other number)

Add realloc function to controller_mem
Move reallocs in blocks to new controller_mem functions
Add test case for block_state_machine.

	modified:   controller/dt_ctrl.c

o Add include for 'controller_time.h' for the definition of the
  controller_time_process() function.
o Make it more clear that we want the function to return 0 on success.

	modified:   controller/trigger/trigger_prestart.c

Add missing 't' variable when compiling on FreeBSD.

	modified:   Makefile

Remove test now that commit mails are working.

	modified:   Makefile

Commit mail test.

	modified:   Makefile

Commit mail test.