Two state machines 1: rising edge

The control layer's state machine is four if-blocks inside PosSpeedCtlLoopTask (motor_ctl_sm.c:345–400), run once per position tick: ERROR / DISABLE / ENABLE. Its input motor_enable is written straight by set_app_Controlword. Enable is an edge: ENABLE only when motor_enable is 1 and last tick's motor_enable_last was 0, so writing 1 again does nothing (the real run shows no event at 1200 ms); before the switch, ModeCheckInInit resets the loops and sets the target to the current position. Disable is a level: a 0 on any tick means DISABLE at once, with the current loop's inputs zeroed. A 2 (quick stop) means nothing to this layer; the PP app ramps to zero speed and writes 0 itself (1331.05 ms). A bus sag to 10 V for 300 ms gives DISABLE, not ERROR: with the application layer in charge error_enable is 0, the control layer's own protection is masked, and the application layer's under-voltage check writes 0 after 200 ms. The only writer of ERROR is nFault: the break interrupt switches the outputs off and AppStatusScanSlow writes state −1, error 8 directly; the host's 1, 0, 3, 0, 1 afterwards are all rewritten to 0 by the application layer every tick, and only a reset clears it. Your turn: a 0 then a 1 between two ticks, and nothing happens.