# Add following to your hal file

loadrt estop_latch
addf estop-latch.0 servo-thread

# Connect Mesa input to estop fault-in
net estop-ext hm2_7i95.0.gpio.001.in_not => estop-latch.0.fault-in

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

loadrt scale names=fo-scale
addf fo-scale.0 servo-thread

# Read raw analog voltage (0–5V or 0–10V depending on your setup)
net fo-raw hm2_7i95.0.analogin00 => fo-scale.0.in

# Scale to 0.0–1.0 range for feed override
setp fo-scale.0.gain 0.2  # Adjust based on voltage range
net fo-scaled fo-scale.0.out => halui.feed-override.value