Fixed handshake detection and reset bugs

A "normal" error reset should not trigger a node reset. However, this
option is still available via a dedicated PV xx:NodeReset and a
corresponding function in masterMacsAxis.

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+name: Test And Build
+on: [push]
+
+jobs:
+  Lint:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+      - name: cppcheck
+        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+      - name: formatting
+        run: clang-format --style=file --Werror --dry-run src/*.cpp
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install

.gitlab-ci.yml

@@ -1,48 +0,0 @@
-default:
-  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-
-stages:
-  - lint
-  - build
-  - test
-
-cppcheck:
-  stage: lint
-  script:
-    - cppcheck --std=c++17 --addon=cert --addon=misc --suppress=cert-STR07-C --error-exitcode=1 src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-formatting:
-  stage: lint
-  script:
-    - clang-format --style=file --Werror --dry-run src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-build_module:
-  stage: build
-  script:
-    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
-    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
-    - pushd sinqmotor
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
-    - make install
-    - popd
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/masterMacs/$(ls -U /ioc/modules/masterMacs/ | head -1)" "./masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

Makefile

@@ -23,6 +23,7 @@ SOURCES += src/masterMacsController.cpp
 # Store the record files
 TEMPLATES += sinqMotor/db/asynRecord.db
 TEMPLATES += sinqMotor/db/sinqMotor.db
+TEMPLATES += db/masterMacs.db
 
 # This file registers the motor-specific functions in the IOC shell.
 DBDS += sinqMotor/src/sinqMotor.dbd

README.md

@@ -55,11 +55,11 @@ setMaxSubsequentTimeouts("$(NAME)", 20);
 setThresholdComTimeout("$(NAME)", 100, 1);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
-epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/sinqMotor.db")
 dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
 epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/masterMacs.db")
 dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+dbLoadRecords("$(masterMacs_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
 ### Versioning

db/masterMacs.db

@@ -0,0 +1,7 @@
+# Call the nodeReset function of the corresponding masterMacsAxis.
+# This record is coupled to the parameter library via nodeReset_ -> NODE_RESET.
+record(longout, "$(INSTR)$(M):NodeReset") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) NODE_RESET")
+    field(PINI, "NO")
+}

src/masterMacsAxis.cpp

@@ -19,7 +19,6 @@ struct masterMacsAxisImpl {
     std::bitset<16> axisStatus;
     std::bitset<16> axisError;
 
-    double lastSetSpeed;
     bool waitForHandshake;
     time_t timeAtHandshake;
     bool needInit = true;
@@ -122,7 +121,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     pMasterMacsA_ = std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
         .axisStatus = std::bitset<16>(0),
         .axisError = std::bitset<16>(0),
-        .lastSetSpeed = 0.0,
         .waitForHandshake = false,
         .timeAtHandshake = 0,
         .targetReachedUninitialized = true,
@@ -262,11 +260,6 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Cache the motor speed. If this value differs from the one in the motor
-    // record at the start of a movement, the motor record value is sent to
-    // MasterMACS.
-    pMasterMacsA_->lastSetSpeed = motorVelocity;
-
     // Store the motor position in the parameter library
     pl_status = setMotorPosition(motorPosition);
     if (pl_status != asynSuccess) {
@@ -364,7 +357,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
         if (timedOut) {
             setAxisParamChecked(this, motorMessageText,
-                                "Timed out while waiting for a handshake");
+                                "Timed out while waiting for a handshake. "
+                                "Please call the support.");
+
+            poll_status = asynError;
         }
 
         pC_->read(axisNo_, 86, response);
@@ -384,14 +380,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             pMasterMacsA_->waitForHandshake = false;
             pMasterMacsA_->targetReachedUninitialized = false;
         } else {
-            // Still waiting for the handshake - try again in the next busy
-            // poll. This is already part of the movement procedure.
             *moving = true;
-
             setAxisParamChecked(this, motorStatusMoving, *moving);
             setAxisParamChecked(this, motorStatusDone, !(*moving));
-
-            return asynSuccess;
+            return poll_status;
         }
     }
 
@@ -410,6 +402,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         return rw_status;
     }
 
+    // If we wait for a handshake, but the motor was moving in its last poll
+    // cycle and has reached its target, it is not moving. Otherwise it is
+    // considered moving, even if we're still waiting for the handshake.
     if (pMasterMacsA_->targetReachedUninitialized) {
         *moving = false;
     } else {
@@ -439,184 +434,181 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     Read out the error if either a fault condition status flag has been set or
     if a movement has just ended.
      */
+    if (faultConditionSet() || !(*moving)) {
+        rw_status = readAxisError();
+    }
+
     msgPrintControlKey keyError = msgPrintControlKey(
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
-    if (faultConditionSet() || !(*moving)) {
-        rw_status = readAxisError();
+    /*
+    A communication error is a special case. If a communication between
+    controller and axis error occurred, all subsequent errors are ignored,
+    since this information is not reliable.
+     */
+    if (communicationError()) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->pasynUser())) {
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line "
+                      "%d\nCommunication error.%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      pC_->getMsgPrintControl().getSuffix());
+        }
+
+        setAxisParamChecked(this, motorMessageText,
+                            "Communication error between PC and motor "
+                            "controller. Please call the support.");
+
+        poll_status = asynError;
+    } else {
+
+        // This buffer must be initialized to zero because we build the
+        // error message by appending strings.
+        char errorMessage[pC_->MAXBUF_] = {0};
+        char shellMessage[pC_->MAXBUF_] = {0};
+
+        // Concatenate all other errors
+        if (shortCircuit()) {
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
+                               "Short circuit fault.");
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
+                               "Short circuit error. Please call the support.");
+
+            poll_status = asynError;
+        }
+
+        if (encoderError()) {
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
+                               "Encoder error.");
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
+                               "Encoder error. Please call the support.");
+
+            poll_status = asynError;
+        }
+
+        if (followingError()) {
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
+                               "Maximum callowed following error exceeded.");
+            appendErrorMessage(
+                errorMessage, sizeof(errorMessage),
+                "Maximum allowed following error exceeded.Check if "
+                "movement range is blocked. Otherwise please call the "
+                "support.");
+
+            poll_status = asynError;
+        }
+
+        if (feedbackError()) {
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
+                               "Feedback error.");
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
+                               "Feedback error. Please call the support.");
+
+            poll_status = asynError;
+        }
 
         /*
-        A communication error is a special case. If a communication between
-        controller and axis error occurred, all subsequent errors are ignored,
-        since this information is not reliable.
-         */
-        if (communicationError()) {
+        Either the software limits or the end switches of the controller
+        have been hit. Since the EPICS limits are derived from the software
+        limits and are a little bit smaller, these error cases can only
+        happen if either the axis has an incremental encoder which is not
+        properly homed or if a bug occured.
+        */
+        if (positiveLimitSwitch() || negativeLimitSwitch() ||
+            positiveSoftwareLimit() || negativeSoftwareLimit()) {
+
+            // Distinction for developers
+            if (positiveLimitSwitch()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Positive limit switch.");
+            }
+            if (negativeLimitSwitch()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Negative limit switch.");
+            }
+            if (positiveSoftwareLimit()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Positive software limit.");
+            }
+            if (negativeSoftwareLimit()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Negative software limit.");
+            }
+
+            // Generic error message for user
+            appendErrorMessage(
+                errorMessage, sizeof(errorMessage),
+                "Software limits or end switch hit. Try homing the motor, "
+                "moving in the opposite direction or check the SPS for "
+                "errors (if available). Otherwise please call the "
+                "support.");
+
+            poll_status = asynError;
+        }
+
+        if (overCurrent()) {
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
+                               "Overcurrent error.");
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
+                               "Overcurrent error. Please call the support.");
+
+            poll_status = asynError;
+        }
+
+        if (overTemperature()) {
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
+                               "Overtemperature error.");
+            appendErrorMessage(
+                errorMessage, sizeof(errorMessage),
+                "Overtemperature error. Please call the support.");
+
+            poll_status = asynError;
+        }
+
+        if (overVoltage()) {
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
+                               "Overvoltage error.");
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
+                               "Overvoltage error. Please call the support.");
+
+            poll_status = asynError;
+        }
+
+        if (underVoltage()) {
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
+                               "Undervoltage error.");
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
+                               "Undervoltage error. Please call the support.");
+
+            poll_status = asynError;
+        }
+
+        if (stoFault()) {
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
+                               "STO input is on disable state.");
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
+                               "STO fault. Please call the support.");
+
+            poll_status = asynError;
+        }
+
+        if (strlen(shellMessage) > 0) {
             if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                           pC_->pasynUser())) {
                 asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
-                          "%d\nCommunication error.%s\n",
+                          "%d\n%s%s\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                          pC_->getMsgPrintControl().getSuffix());
+                          shellMessage, pC_->getMsgPrintControl().getSuffix());
             }
-
-            setAxisParamChecked(this, motorMessageText,
-                                "Communication error between PC and motor "
-                                "controller. Please call the support.");
-
-            poll_status = asynError;
-        } else {
-
-            // This buffer must be initialized to zero because we build the
-            // error message by appending strings.
-            char errorMessage[pC_->MAXBUF_] = {0};
-            char shellMessage[pC_->MAXBUF_] = {0};
-
-            // Concatenate all other errors
-            if (shortCircuit()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Short circuit fault.");
-                appendErrorMessage(
-                    errorMessage, sizeof(errorMessage),
-                    "Short circuit error. Please call the support.");
-
-                poll_status = asynError;
-            }
-
-            if (encoderError()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Encoder error.");
-                appendErrorMessage(errorMessage, sizeof(errorMessage),
-                                   "Encoder error. Please call the support.");
-
-                poll_status = asynError;
-            }
-
-            if (followingError()) {
-                appendErrorMessage(
-                    shellMessage, sizeof(shellMessage),
-                    "Maximum callowed following error exceeded.");
-                appendErrorMessage(
-                    errorMessage, sizeof(errorMessage),
-                    "Maximum allowed following error exceeded.Check if "
-                    "movement range is blocked. Otherwise please call the "
-                    "support.");
-
-                poll_status = asynError;
-            }
-
-            if (feedbackError()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Feedback error.");
-                appendErrorMessage(errorMessage, sizeof(errorMessage),
-                                   "Feedback error. Please call the support.");
-
-                poll_status = asynError;
-            }
-
-            /*
-            Either the software limits or the end switches of the controller
-            have been hit. Since the EPICS limits are derived from the software
-            limits and are a little bit smaller, these error cases can only
-            happen if either the axis has an incremental encoder which is not
-            properly homed or if a bug occured.
-            */
-            if (positiveLimitSwitch() || negativeLimitSwitch() ||
-                positiveSoftwareLimit() || negativeSoftwareLimit()) {
-
-                // Distinction for developers
-                if (positiveLimitSwitch()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Positive limit switch.");
-                }
-                if (negativeLimitSwitch()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Negative limit switch.");
-                }
-                if (positiveSoftwareLimit()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Positive software limit.");
-                }
-                if (negativeSoftwareLimit()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Negative software limit.");
-                }
-
-                // Generic error message for user
-                appendErrorMessage(
-                    errorMessage, sizeof(errorMessage),
-                    "Software limits or end switch hit. Try homing the motor, "
-                    "moving in the opposite direction or check the SPS for "
-                    "errors (if available). Otherwise please call the "
-                    "support.");
-
-                poll_status = asynError;
-            }
-
-            if (overCurrent()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Overcurrent error.");
-                appendErrorMessage(
-                    errorMessage, sizeof(errorMessage),
-                    "Overcurrent error. Please call the support.");
-
-                poll_status = asynError;
-            }
-
-            if (overTemperature()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Overtemperature error.");
-                appendErrorMessage(
-                    errorMessage, sizeof(errorMessage),
-                    "Overtemperature error. Please call the support.");
-
-                poll_status = asynError;
-            }
-
-            if (overVoltage()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Overvoltage error.");
-                appendErrorMessage(
-                    errorMessage, sizeof(errorMessage),
-                    "Overvoltage error. Please call the support.");
-
-                poll_status = asynError;
-            }
-
-            if (underVoltage()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Undervoltage error.");
-                appendErrorMessage(
-                    errorMessage, sizeof(errorMessage),
-                    "Undervoltage error. Please call the support.");
-
-                poll_status = asynError;
-            }
-
-            if (stoFault()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "STO input is on disable state.");
-                appendErrorMessage(errorMessage, sizeof(errorMessage),
-                                   "STO fault. Please call the support.");
-
-                poll_status = asynError;
-            }
-
-            if (strlen(shellMessage) > 0) {
-                if (pC_->getMsgPrintControl().shouldBePrinted(
-                        keyError, true, pC_->pasynUser())) {
-                    asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                              "Controller \"%s\", axis %d  => %s, line "
-                              "%d\n%s%s\n",
-                              pC_->portName, axisNo_, __PRETTY_FUNCTION__,
-                              __LINE__, shellMessage,
-                              pC_->getMsgPrintControl().getSuffix());
-                }
-            }
-
-            setAxisParamChecked(this, motorMessageText, errorMessage);
         }
-    } else {
+
+        setAxisParamChecked(this, motorMessageText, errorMessage);
+    }
+
+    // No error has been detected -> Reset the error count
+    if (poll_status == asynSuccess) {
         pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
     }
 
@@ -689,7 +681,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     if (pl_status != asynSuccess) {
         return pl_status;
     }
-
     return poll_status;
 }
 
@@ -741,9 +732,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // Set the new motor speed, if the user is allowed to do so and if the
     // motor speed changed since the last move command.
-    if (motorCanSetSpeed != 0 && pMasterMacsA_->lastSetSpeed != motorVelocity) {
-
-        pMasterMacsA_->lastSetSpeed = motorVelocity;
+    if (motorCanSetSpeed != 0) {
 
         snprintf(value, sizeof(value), "%lf", motorVelocity);
         status = pC_->write(axisNo_, 05, value);
@@ -815,16 +804,42 @@ asynStatus masterMacsAxis::stop(double acceleration) {
 
 asynStatus masterMacsAxis::doReset() {
 
-    asynStatus status = pC_->write(axisNo_, 17, "");
+    asynStatus status = asynSuccess;
+
+    // Reset any errors
+    status = pC_->write(axisNo_, 17, "");
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset the driver to idle state and move out of the handshake wait loop,
-    // if we're currently inside it.
+    // Move out of the handshake wait loop, if we're currently inside it.
     pMasterMacsA_->waitForHandshake = false;
 
-    return status;
+    // Disable the axis
+    return enable(false);
+}
+
+asynStatus masterMacsAxis::nodeReset() {
+
+    asynStatus status = asynSuccess;
+
+    // Reset the controller ("node reset"). Since the node reset results in a
+    // power cycle, we use the corresponding timeout.
+    status = pC_->write(axisNo_, 16, "", PowerCycleTimeout);
+    if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
+    }
+
+    // Move out of the handshake wait loop, if we're currently inside it.
+    pMasterMacsA_->waitForHandshake = false;
+
+    // Reinitialize the axis
+    status = masterMacsAxis::init();
+    if (status != asynSuccess) {
+        return status;
+    }
+    bool moving = false;
+    return forcedPoll(&moving);
 }
 
 /*
@@ -990,7 +1005,7 @@ asynStatus masterMacsAxis::enable(bool on) {
         if (switchedOn() == on) {
             bool moving = false;
             // Perform a poll to update the parameter library
-            poll(&moving);
+            forcedPoll(&moving);
             return asynSuccess;
         }
     }

src/masterMacsAxis.h

@@ -4,9 +4,9 @@
 #include "sinqAxis.h"
 #include <memory>
 
-struct masterMacsAxisImpl;
+struct HIDDEN masterMacsAxisImpl;
 
-class masterMacsAxis : public sinqAxis {
+class HIDDEN masterMacsAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new masterMacsAxis
@@ -75,12 +75,27 @@ class masterMacsAxis : public sinqAxis {
      */
     asynStatus doReset();
 
+    /**
+     * @brief Performs a "node reset" on the axis as defined in the CANopen
+     * standard
+     *
+     * A "node reset" is a factory reset on the axis which completely deletes
+     * all configured information (e.g. limits or speed) from the axis. The
+     * MasterMACS controller then reapplies the initial configuration to this
+     * axis. It can therefore be seen as a "hard" version of the normal error
+     * reset performed by the `doReset` method.
+     *
+     * @return asynStatus
+     */
+    asynStatus nodeReset();
+
     /**
      * @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
-     * from the MCU and store this information in the parameter library.
+     * - Read out the motor status, motor position, velocity and
+     * acceleration from the MCU and store this information in the parameter
+     * library.
      * - Set the enable PV accordint to the initial status of the axis.
      *
      * @return asynStatus
@@ -96,8 +111,8 @@ class masterMacsAxis : public sinqAxis {
     asynStatus enable(bool on);
 
     /**
-     * @brief Read the encoder type (incremental or absolute) for this axis from
-     * the MCU and store the information in the PV ENCODER_TYPE.
+     * @brief Read the encoder type (incremental or absolute) for this axis
+     * from the MCU and store the information in the PV ENCODER_TYPE.
      *
      * @return asynStatus
      */
@@ -112,7 +127,8 @@ class masterMacsAxis : public sinqAxis {
     bool needInit();
 
     /**
-     * @brief Instruct the axis to run its init() function during the next poll
+     * @brief Instruct the axis to run its init() function during the next
+     * poll
      *
      * @param needInit
      */
@@ -124,8 +140,8 @@ class masterMacsAxis : public sinqAxis {
     virtual masterMacsController *pController() override { return pC_; };
 
     /**
-     * @brief Read the Master MACS status with the xR10 command and store the
-     * result in axisStatus_
+     * @brief Read the Master MACS status with the xR10 command and store
+     * the result in axisStatus_
      *
      */
     asynStatus readAxisStatus();
@@ -203,8 +219,8 @@ class masterMacsAxis : public sinqAxis {
     bool powerEnabled();
 
     /**
-     * @brief Read the Master MACS status with the xR10 command and store the
-     * result in axisStatus_
+     * @brief Read the Master MACS status with the xR10 command and store
+     * the result in axisStatus_
      *
      */
     asynStatus readAxisError();

src/masterMacsController.cpp

@@ -14,6 +14,9 @@
 
 struct masterMacsControllerImpl {
     double comTimeout;
+
+    // Indices of additional ParamLib entries
+    int nodeReset;
 };
 
 /**
@@ -68,6 +71,20 @@ masterMacsController::masterMacsController(const char *portName,
             .comTimeout = comTimeout,
         });
 
+    // =========================================================================
+    // Create additional parameter library entries
+
+    status =
+        createParam("NODE_RESET", asynParamInt32, &pMasterMacsC_->nodeReset);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     // =========================================================================
 
     /*
@@ -120,6 +137,22 @@ masterMacsAxis *masterMacsController::getMasterMacsAxis(int axisNo) {
     return dynamic_cast<masterMacsAxis *>(asynAxis);
 }
 
+asynStatus masterMacsController::writeInt32(asynUser *pasynUser,
+                                            epicsInt32 value) {
+    int function = pasynUser->reason;
+
+    // =====================================================================
+
+    masterMacsAxis *axis = getMasterMacsAxis(pasynUser);
+
+    // Handle custom PVs
+    if (function == nodeReset()) {
+        return axis->nodeReset();
+    } else {
+        return sinqController::writeInt32(pasynUser, value);
+    }
+}
+
 asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response,
                                       double comTimeout) {
     return writeRead(axisNo, tcpCmd, NULL, response);
@@ -459,6 +492,8 @@ asynStatus masterMacsController::readInt32(asynUser *pasynUser,
 
 double masterMacsController::comTimeout() { return pMasterMacsC_->comTimeout; }
 
+int masterMacsController::nodeReset() { return pMasterMacsC_->nodeReset; }
+
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */

src/masterMacsController.h

@@ -15,11 +15,11 @@
 // Forward declaration of the controller class to resolve the cyclic dependency
 // between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
-class masterMacsAxis;
+class HIDDEN masterMacsAxis;
 
-struct masterMacsControllerImpl;
+struct HIDDEN masterMacsControllerImpl;
 
-class masterMacsController : public sinqController {
+class HIDDEN masterMacsController : public sinqController {
 
   public:
     /**
@@ -65,6 +65,17 @@ class masterMacsController : public sinqController {
      */
     masterMacsAxis *getMasterMacsAxis(int axisNo);
 
+    /**
+     * @brief Overloaded function of sinqController
+     *
+     * The function is overloaded to allow resetting the node
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @param value               New value
+     * @return asynStatus
+     */
+    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+
     /**
      * @brief Send a command to the hardware (S mode)
      *
@@ -141,6 +152,9 @@ class masterMacsController : public sinqController {
      */
     double comTimeout();
 
+    // Accessors for additional PVs
+    int nodeReset();
+
   private:
     std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
 };