diff --git a/shared/comps/curpid.c b/shared/comps/curpid.c
index adf53021..fcfc8775 100644
--- a/shared/comps/curpid.c
+++ b/shared/comps/curpid.c
@@ -6,6 +6,9 @@
 
 HAL_COMP(curpid);
 
+// enable
+HAL_PIN(en);
+
 // current command
 HAL_PIN(id_cmd);
 HAL_PIN(iq_cmd);
@@ -102,13 +105,20 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
       ctx->iq_error_sum = LIMIT(ctx->iq_error_sum + kpq * kiq * iq_error, max_volt - uq);
    }
    else{
-      ctx->id_error_sum = 0;
-      ctx->iq_error_sum = 0;
+      ctx->id_error_sum = 0.0;
+      ctx->iq_error_sum = 0.0;
    }
 
    ud += ctx->id_error_sum;
    uq += ctx->iq_error_sum;
 
+   if(PIN(en) <= 0.0){
+      ud = 0.0;
+      uq = 0.0;
+      ctx->id_error_sum = 0.0;
+      ctx->iq_error_sum = 0.0;
+   }
+   
    PIN(ud) = ud;
    PIN(uq) = uq;
 
diff --git a/stm32f303/src/main.c b/stm32f303/src/main.c
index 41b8b614..7229a581 100644
--- a/stm32f303/src/main.c
+++ b/stm32f303/src/main.c
@@ -346,6 +346,7 @@ int main(void)
   hal_parse("curpid0.max_cur = ls0.max_cur");
   hal_parse("curpid0.pwm_volt = ls0.pwm_volt");
   hal_parse("curpid0.vel = ls0.vel");
+  hal_parse("curpid0.en = ls0.en");
 
   // hal parse config
   // hal_init_nrt();