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fixing iocontrol_data.user_request_enable #3782

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Merged
andypugh merged 3 commits into from
Feb 3, 2026
+6 −1
Merged

fixing iocontrol_data.user_request_enable #3782

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ce5b8bd
fixing iocontrol_data.user_request_enable
Feb 3, 2026
93891bb
fixing iocontrol_data.user_request_enable
Feb 3, 2026
7fcb29c
fixing iocontrol_data.user_request_enable
Feb 3, 2026
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7 changes: 6 additions & 1 deletion src/emc/task/taskclass.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -375,6 +375,7 @@ int Task::emcAuxEstopOn()//EMC_AUX_ESTOP_ON_TYPE
{
/* assert an ESTOP to the outside world (thru HAL) */
iocontrol_data.user_enable_out = 0; //disable on ESTOP_ON
iocontrol_data.user_request_enable = 0;
hal_init_pins(); //resets all HAL pins to safe valuea
return 0;
}
Expand Down Expand Up @@ -648,6 +649,10 @@ void Task::run(){ // called periodically from emctaskmain.cc
tool_status = read_tool_inputs();
if (iocontrol_data.emc_enable_in == 0) //check for estop from HW
emcioStatus.aux.estop = 1;
else
else {
emcioStatus.aux.estop = 0;
if (iocontrol_data.user_request_enable == 1) {
iocontrol_data.user_request_enable = 0;
}
}
}
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