From ebcf99ac5608fec484e3d351b26df6033d90ad39 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Wed, 17 Sep 2025 12:34:47 +0200
Subject: [PATCH] Updated sinqMotor to 1.5.5

---
 sinqMotor              |  2 +-
 src/masterMacsAxis.cpp | 38 ++++++++++++++++++++++++++------------
 src/masterMacsAxis.h   |  8 ++++----
 3 files changed, 31 insertions(+), 17 deletions(-)

diff --git a/sinqMotor b/sinqMotor
index 902b18d..6dc2b13 160000
--- a/sinqMotor
+++ b/sinqMotor
@@ -1 +1 @@
-Subproject commit 902b18d03860e56e61f7875b48185881c7aad093
+Subproject commit 6dc2b131f7873d9408081430fa68a39cfe200ae6
diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index e1f6c92..e1c3270 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -85,7 +85,14 @@ void appendErrorMessage(char *fullMessage, size_t capacityFullMessage,
 }
 
 masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
-    : sinqAxis(pC, axisNo), pC_(pC) {
+    : sinqAxis(pC, axisNo), pC_(pC),
+      pMasterMacsA_(std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
+          .axisStatus = std::bitset<16>(0),
+          .axisError = std::bitset<16>(0),
+          .waitForHandshake = false,
+          .timeAtHandshake = 0,
+          .targetReachedUninitialized = true,
+      })) {
 
     asynStatus status = asynSuccess;
 
@@ -118,14 +125,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     // Collect all axes into this list which will be used in the hook function
     axes.push_back(this);
 
-    pMasterMacsA_ = std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
-        .axisStatus = std::bitset<16>(0),
-        .axisError = std::bitset<16>(0),
-        .waitForHandshake = false,
-        .timeAtHandshake = 0,
-        .targetReachedUninitialized = true,
-    });
-
     // masterMacs motors can always be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {
@@ -688,6 +687,11 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
                                   double minVelocity, double maxVelocity,
                                   double acceleration) {
 
+    // Suppress unused variable warning
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus status = asynSuccess;
 
@@ -790,6 +794,9 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
 asynStatus masterMacsAxis::stop(double acceleration) {
 
+    // Suppress unused variable warning
+    (void)acceleration;
+
     asynStatus status = pC_->write(axisNo_, 00, "8");
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
@@ -845,13 +852,19 @@ asynStatus masterMacsAxis::nodeReset() {
 /*
 Home the axis. On absolute encoder systems, this is a no-op
 */
-asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
+asynStatus masterMacsAxis::doHome(double minVelocity, double maxVelocity,
                                   double acceleration, int forwards) {
 
     char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
+    // Suppress unused variable warning
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+    (void)forwards;
+
     getAxisParamChecked(this, encoderType, &response);
 
     // Only send the home command if the axis has an incremental encoder
@@ -1246,8 +1259,9 @@ static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mmacs1)",
 static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
 static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
                                                  &CreateAxisArg1};
-static const iocshFuncDef configMasterMacsCreateAxis = {"masterMacsAxis", 2,
-                                                        CreateAxisArgs};
+static const iocshFuncDef configMasterMacsCreateAxis = {
+    "masterMacsAxis", 2, CreateAxisArgs,
+    "Create a new instance of a MasterMACS axis."};
 static void configMasterMacsCreateAxisCallFunc(const iocshArgBuf *args) {
     masterMacsCreateAxis(args[0].sval, args[1].ival);
 }
diff --git a/src/masterMacsAxis.h b/src/masterMacsAxis.h
index 6404f3e..30abab3 100644
--- a/src/masterMacsAxis.h
+++ b/src/masterMacsAxis.h
@@ -57,13 +57,13 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      *
      * @param position
      * @param relative
-     * @param min_velocity
-     * @param max_velocity
+     * @param minVelocity
+     * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
-                      double max_velocity, double acceleration);
+    asynStatus doMove(double position, int relative, double minVelocity,
+                      double maxVelocity, double acceleration);
 
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis