addf hm2_7i76e.0.read         servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_7i76e.0.write        servo-thread
addf estop-latch.0            servo-thread
addf estop-latch.1            servo-thread
addf estop-latch.2            servo-thread
addf near.0             servo-thread
addf mux8.0 		servo-thread
addf ilowpass.0 	servo-thread
addf ilowpass.1 	servo-thread
addf mult2.0 		servo-thread
addf mult2.1 		servo-thread
addf mult2.2 		servo-thread
addf conv-float-s32.0 	servo-thread
addf conv-float-s32.1 	servo-thread
addf conv-float-s32.2 	servo-thread
addf sum2.0 		servo-thread
addf or2.0		servo-thread
addf or2.1		servo-thread
addf or2.2		servo-thread
addf or2.3		servo-thread
addf or2.4		servo-thread
addf or2.5		servo-thread
addf and2.0		servo-thread
addf and2.1		servo-thread
addf and2.2		servo-thread
addf and2.3		servo-thread
addf and2.4		servo-thread
addf and2.5		servo-thread
addf toggle2nist.0	servo-thread
addf toggle.0		servo-thread
addf debounce.0 	servo-thread
addf homingpos		servo-thread
addf not.0 		servo-thread
addf not.1 		servo-thread
addf mux2.0 		servo-thread
addf mux2.1 		servo-thread
addf mux2.2 		servo-thread
addf mux2.3 		servo-thread
addf mux2.4 		servo-thread


setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1


# --- ESTOP CHAIN STARTS ---

net latch-reset iocontrol.0.user-request-enable 
net latch0-ok-in iocontrol.0.user-enable-out 

net latch0-ok-in => estop-latch.0.ok-in
net latch0-out <= estop-latch.0.ok-out 
net latch0-out => estop-latch.1.ok-in
net latch1-out <= estop-latch.1.ok-out hm2_7i76e.0.7i76.0.0.output-15
net latch1-out => estop-latch.2.ok-in

net latch-reset => estop-latch.0.reset
net latch-reset => estop-latch.1.reset
net latch-reset => estop-latch.2.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.2.ok-out hm2_7i76e.0.7i76.0.0.output-14
net estop-out estop-latch.2.fault-out

# --- EXTERNAL ESTOP SWITCH ---
net external-estop <= hm2_7i76e.0.7i76.0.0.input-31-not

net external-estop => estop-latch.0.fault-in 


# --- ESTOP CHAIN ENDS ---