Changed to the "motorPosition" and "setMotorPosition" functions provided

by sinqMotor.

Makefile

@@ -13,7 +13,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.9.0
+sinqMotor_VERSION=mathis_s
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

README.md

@@ -1,5 +1,7 @@
 # masterMacs
 
+## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
+
 ## Overview
 
 This is a driver for the masterMacs motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.

src/masterMacsAxis.cpp

@@ -190,7 +190,7 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorPosition);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R12", response, axisNo_,
+        return pC_->couldNotParseResponse("R12", response, axisNo_,
                                                 __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -201,7 +201,7 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorVelocity);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R05", response, axisNo_,
+        return pC_->couldNotParseResponse("R05", response, axisNo_,
                                                 __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -212,7 +212,7 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorVmax);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R26", response, axisNo_,
+        return pC_->couldNotParseResponse("R26", response, axisNo_,
                                                 __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -223,7 +223,7 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorAccel);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R06", response, axisNo_,
+        return pC_->couldNotParseResponse("R06", response, axisNo_,
                                                 __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -232,15 +232,10 @@ asynStatus masterMacsAxis::init() {
     // MasterMACS.
     lastSetSpeed_ = motorVelocity;
 
-    // Transform from motor to parameter library coordinates
+    // Store the motor position in the parameter library
-    motorPosition = motorPosition / motorRecResolution;
+    pl_status = setMotorPosition(motorPosition);
-
-    // Store these values in the parameter library
-    pl_status =
-        pC_->setDoubleParam(axisNo_, pC_->motorPosition(), motorPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Write to the motor record fields
@@ -338,7 +333,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
         nvals = sscanf(response, "%lf", &handshakePerformed);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse(
                 "R86", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         }
 
@@ -379,17 +374,11 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     }
 
     // Read the previous motor position
-    pl_status =
+    pl_status = motorPosition(&previousPosition);
-        pC_->getDoubleParam(axisNo_, pC_->motorPosition(), &previousPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Transform from EPICS to motor coordinates (see comment in
-    // masterMacsAxis::readConfig())
-    previousPosition = previousPosition * motorRecResolution;
-
     // Update the axis status
     rw_status = readAxisStatus();
     if (rw_status != asynSuccess) {
@@ -411,7 +400,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     }
     nvals = sscanf(response, "%lf", &currentPosition);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R12", response, axisNo_,
+        return pC_->couldNotParseResponse("R12", response, axisNo_,
                                                 __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -619,7 +608,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
         nvals = sscanf(response, "%lf", &lowLimit);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse(
                 "R34", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         }
 
@@ -629,7 +618,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
         nvals = sscanf(response, "%lf", &highLimit);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse(
                 "R33", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         }
 
@@ -719,14 +708,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                          __LINE__);
     }
 
-    // Transform from motor to EPICS coordinates (see comment in
+    pl_status = setMotorPosition(currentPosition);
-    // masterMacsAxis::init())
-    currentPosition = currentPosition / motorRecResolution;
-
-    pl_status = setDoubleParam(pC_->motorPosition(), currentPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
     return poll_status;
@@ -894,7 +878,7 @@ asynStatus masterMacsAxis::stop(double acceleration) {
     return rw_status;
 }
 
-asynStatus masterMacsAxis::reset() {
+asynStatus masterMacsAxis::doReset() {
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus rw_status = asynSuccess;
 
@@ -994,7 +978,7 @@ asynStatus masterMacsAxis::readEncoderType() {
 
     nvals = sscanf(response, "%d", &encoder_id);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
                                                 __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -1154,7 +1138,7 @@ asynStatus masterMacsAxis::readAxisStatus() {
         float axisStatus = 0;
         int nvals = sscanf(response, "%f", &axisStatus);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse(
                 "R10", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         }
 
@@ -1175,7 +1159,7 @@ asynStatus masterMacsAxis::readAxisError() {
         float axisError = 0;
         int nvals = sscanf(response, "%f", &axisError);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse(
                 "R11", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         }
         axisError_ = toBitset(axisError);

src/masterMacsAxis.h

@@ -70,12 +70,12 @@ class masterMacsAxis : public sinqAxis {
     asynStatus stop(double acceleration);
 
     /**
-     * @brief Reset the axis error
+     * @brief Implementation of the `doReset` function from sinqAxis.
      *
      * @param on
      * @return asynStatus
      */
-    asynStatus reset();
+    asynStatus doReset();
 
     /**
      * @brief Readout of some values from the controller at IOC startup