estop.hal

# estop

addf estop-latch.0 servo-thread
addf and2.0 servo-thread
addf debounce.0 servo-thread

# First debounce physical estop button
setp debounce.0.delay 50

net estop-button hm2_5i25.0.gpio.003.in and2.0.in0 
net machine-is-on and2.0.in1
net estop-remote-out and2.0.out debounce.0.0.in

net estop-input estop-latch.0.fault-in debounce.0.0.out

#reset signal - UI 
net estop-reset-iocontrol iocontrol.0.user-request-enable halui.estop.reset

# Connect to estop_latch
net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-reset-iocontrol estop-latch.0.reset