Fully-featured version of the masterMACS driver

src/masterMacsAxis.h

@@ -70,7 +70,7 @@ class masterMacsAxis : public sinqAxis {
                       double max_velocity, double acceleration);
 
     /**
-     * @brief Implementation of the `atFirstPoll` function from sinqAxis.
+     * @brief Readout of some values from the controller at IOC startup
      *
      * The following steps are performed:
      * - Read out the motor status, motor position, velocity and acceleration
@@ -79,7 +79,7 @@ class masterMacsAxis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus atFirstPoll();
+    asynStatus init();
 
     /**
      * @brief Enable / disable the axis.
@@ -100,9 +100,10 @@ class masterMacsAxis : public sinqAxis {
   protected:
     masterMacsController *pC_;
     double lastSetSpeed_;
+    bool waitForHandshake_;
+    time_t timeAtHandshake_;
 
     asynStatus readConfig();
-    bool initial_poll_;
 
     /*
     The axis status and axis error of MasterMACS are given as an integer from
@@ -134,10 +135,7 @@ class masterMacsAxis : public sinqAxis {
      */
     bool switchedOn() { return axisStatus_[1]; }
 
-    /**
-     * @brief Read the property from axisStatus_
-     */
-    bool enabled() { return axisStatus_[2]; }
+    // Bit 2 is unused
 
     /**
      * @brief Read the property from axisStatus_
@@ -162,12 +160,9 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisStatus_
      */
-    bool newMoveCommandWhileMoving() { return axisStatus_[7]; }
+    bool warning() { return axisStatus_[7]; }
 
-    /**
-     * @brief Read the property from axisStatus_
-     */
-    bool isMoving() { return axisStatus_[8]; }
+    // Bit 8 is unused
 
     /**
      * @brief Read the property from axisStatus_
@@ -209,6 +204,76 @@ class masterMacsAxis : public sinqAxis {
     boolean.
     */
 
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool shortCircuit() { return axisError_[1]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool encoderError() { return axisError_[2]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool followingError() { return axisError_[3]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool communicationError() { return axisError_[4]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool feedbackError() { return axisError_[5]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool positiveLimitSwitch() { return axisError_[6]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool negativeLimitSwitch() { return axisError_[7]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool positiveSoftwareLimit() { return axisError_[8]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool negativeSoftwareLimit() { return axisError_[9]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool overCurrent() { return axisError_[10]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool overTemperature() { return axisError_[11]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool overVoltage() { return axisError_[12]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool underVoltage() { return axisError_[13]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool stoFault() { return axisError_[15]; }
+
   private:
     friend class masterMacsController;
 };