Moved version definition in Makefile

The expected version can now be set in the Makefile via USR_CXXFLAGS.
Additionally, the README.md has received documentation regarding the
version check. Lastly, the version check can now be disabled by omitting
the flags or setting one of them to a negative value.

Makefile

@@ -23,9 +23,14 @@ 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
 DBDS += src/masterMacs.dbd
 
 USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror
+
+# These flags define the expected firmware version. See README.md, section
+# "Firmware version checking" for details.
+USR_CXXFLAGS += -DFIRMWARE_MAJOR_VERSION=2 -DFIRMWARE_MINOR_VERSION=2

README.md

@@ -66,6 +66,32 @@ dbLoadRecords("$(masterMacs_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PO
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
 
+### Firmware version checking
+
+This driver expects a certain version of the firmware running on the controller itself.
+This is checked at IOC startup by reading the version directly from the hardware.
+If the firmware version is incompatible to the driver, the IOC will be shut down.
+If the firmware version cannot be read (e.g. because the variable used to do so
+does not exist yet on old firmware versions), the firmware is assumed to be compatible
+to the driver.
+
+The version check is separated into a check of the major and the minor firmware
+version against expected values. The firmware is seen as compatible if the following conditions hold:
+- Read-out major version == Expected major version
+- Read-out read major version >= Expected minor version
+
+The expected versions are defined via compiler flags in `Makefile`:
+
+```
+USR_CXXFLAGS += -DFIRMWARE_MAJOR_VERSION=1 -DFIRMWARE_MINOR_VERSION=0
+```
+Be aware that these flags are only used to compile C++-files (.cpp, .cxx) and not
+C-files (.c). For C-files, the Makefile variable `USR_CFLAGS` must be used.
+
+In order to disable the checks, the flags can be set to -1 or just be removed
+entirely. If one of the flags is not given, both the major and the minor version 
+checks are deactivated.
+
 ### How to build it
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

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

@@ -357,7 +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);
@@ -377,14 +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 poll_status;
-            return asynSuccess;
         }
     }
 
@@ -403,6 +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 {
@@ -679,7 +681,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     if (pl_status != asynSuccess) {
         return pl_status;
     }
-
     return poll_status;
 }
 
@@ -805,15 +806,26 @@ asynStatus masterMacsAxis::doReset() {
 
     asynStatus status = asynSuccess;
 
-    // Reset the controller ("node reset")
+    // Reset any errors
-    status = pC_->write(axisNo_, 16, "");
+    status = pC_->write(axisNo_, 17, "");
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset any errors in the controller. Since the node reset results in a
+    // Move out of the handshake wait loop, if we're currently inside it.
+    pMasterMacsA_->waitForHandshake = false;
+
+    // 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_, 17, "", PowerCycleTimeout);
+    status = pC_->write(axisNo_, 16, "", PowerCycleTimeout);
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
     }

src/masterMacsAxis.h

@@ -75,12 +75,27 @@ class HIDDEN 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
+     * - Read out the motor status, motor position, velocity and
-     * from the MCU and store this information in the parameter library.
+     * 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 HIDDEN masterMacsAxis : public sinqAxis {
     asynStatus enable(bool on);
 
     /**
-     * @brief Read the encoder type (incremental or absolute) for this axis from
+     * @brief Read the encoder type (incremental or absolute) for this axis
-     * the MCU and store the information in the PV ENCODER_TYPE.
+     * from the MCU and store the information in the PV ENCODER_TYPE.
      *
      * @return asynStatus
      */
@@ -112,7 +127,8 @@ class HIDDEN 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 HIDDEN masterMacsAxis : public sinqAxis {
     virtual masterMacsController *pController() override { return pC_; };
 
     /**
-     * @brief Read the Master MACS status with the xR10 command and store the
+     * @brief Read the Master MACS status with the xR10 command and store
-     * result in axisStatus_
+     * the result in axisStatus_
      *
      */
     asynStatus readAxisStatus();
@@ -203,8 +219,8 @@ class HIDDEN masterMacsAxis : public sinqAxis {
     bool powerEnabled();
 
     /**
-     * @brief Read the Master MACS status with the xR10 command and store the
+     * @brief Read the Master MACS status with the xR10 command and store
-     * result in axisStatus_
+     * the result in axisStatus_
      *
      */
     asynStatus readAxisError();

src/masterMacsController.cpp

@@ -12,8 +12,33 @@
 #include <string>
 #include <unistd.h>
 
+/*
+These functions are used to read out the compiler flags defining the major and
+minor versions. See README.md, section "Firmware version checking" for
+details. If these flags are not given, a default value of -1 is used, which
+disables the version checks (it suffices to have one of these at -1 to disable
+both major and minor version check)
+ */
+constexpr int firmware_major_version() {
+#ifdef FIRMWARE_MAJOR_VERSION
+    return FIRMWARE_MAJOR_VERSION;
+#else
+    return -1;
+#endif
+}
+constexpr int firmware_minor_version() {
+#ifdef FIRMWARE_MINOR_VERSION
+    return FIRMWARE_MINOR_VERSION;
+#else
+    return -1;
+#endif
+}
+
 struct masterMacsControllerImpl {
     double comTimeout;
+
+    // Indices of additional ParamLib entries
+    int nodeReset;
 };
 
 /**
@@ -62,12 +87,27 @@ masterMacsController::masterMacsController(const char *portName,
 
     // Initialization of local variables
     asynStatus status = asynSuccess;
+    char response[MAXBUF_] = {0};
 
     pMasterMacsC_ =
         std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
             .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);
+    }
+
     // =========================================================================
 
     /*
@@ -99,6 +139,60 @@ masterMacsController::masterMacsController(const char *portName,
         pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
+
+    // =========================================================================
+
+    if (firmware_major_version() >= 0 && firmware_minor_version() >= 0) {
+        // Check the firmware version according to the conditions outlined in
+        // README.md
+        status = read(0, 99, response);
+
+        if (status == asynSuccess) {
+
+            // Just interpret the version if the variable already exists
+            double versionRaw = 0.0;
+            int nvals = sscanf(response, "%lf", &versionRaw);
+            if (nvals == 1 && versionRaw != 0.0) {
+                // Discard decimal part
+                long long versionInt = (long long)versionRaw;
+
+                // Extract bugfix (last 3 digits)
+                // Currently not used, just here for completions sake
+                // int bugfix = versionInt % 1000;
+                versionInt /= 1000;
+
+                // Extract minor (next 3 digits)
+                int minor = versionInt % 1000;
+                versionInt /= 1000;
+
+                // Remaining is major
+                int major = (int)versionInt;
+
+                // Compare to target values
+                if (firmware_major_version() != major ||
+                    firmware_minor_version() > minor) {
+                    asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                              "Controller \"%s\" => %s, line %d\nFATAL ERROR "
+                              "(Incorrect "
+                              "version number of firmware: Expected major "
+                              "version equal "
+                              "to %d, got %d. Expected minor version equal to "
+                              "or larger "
+                              "than %d, got %d).\nTerminating IOC",
+                              portName, __PRETTY_FUNCTION__, __LINE__,
+                              firmware_major_version(), major,
+                              firmware_minor_version(), minor);
+                    exit(-1);
+                }
+            }
+        } else {
+            asynPrint(
+                this->pasynUser(), ASYN_TRACE_ERROR,
+                "Controller \"%s\" => %s, line %d\nCould not read firmware "
+                "version\n",
+                portName, __PRETTY_FUNCTION__, __LINE__);
+        }
+    }
 }
 
 /*
@@ -120,6 +214,22 @@ 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);
@@ -166,12 +276,6 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         comTimeout = pMasterMacsC_->comTimeout;
     }
 
-    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
-
     // Build the full command depending on the inputs to this function
     if (isRead) {
         snprintf(fullCommand, MAXBUF_ - 1, "%dR%02d\x0D", axisNo, tcpCmd);
@@ -253,32 +357,39 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     }
 
     // Log the overall status (communication successfull or not)
-    if (status == asynSuccess) {
+    if (axisNo != 0) {
-        setAxisParamChecked(axis, motorStatusCommsError, false);
+        masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    } else {
+        if (axis == nullptr) {
+            // We already did the error logging directly in getAxis
+            return asynError;
+        }
 
-        /*
+        if (status == asynSuccess) {
-        Since the communication failed, there is the possibility that the
-        controller is not connected at all to the network. In that case, we
-        cannot be sure that the information read out in the init method of the
-        axis is still up-to-date the next time we get a connection. Therefore,
-        an info flag is set which the axis object can use at the start of its
-        poll method to try to initialize itself.
-        */
-        axis->setNeedInit(true);
-
-        /*
-        Check if the axis already is in an error communication mode. If
-        it is not, upstream the error. This is done to avoid "flooding"
-        the user with different error messages if more than one error
-        ocurred before an error-free communication
-        */
-        getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
-
-        if (motorStatusProblem == 0) {
-            setAxisParamChecked(axis, motorMessageText, drvMessageText);
-            setAxisParamChecked(axis, motorStatusProblem, true);
             setAxisParamChecked(axis, motorStatusCommsError, false);
+        } else {
+            /*
+            Since the communication failed, there is the possibility that the
+            controller is not connected at all to the network. In that case, we
+            cannot be sure that the information read out in the init method of
+            the axis is still up-to-date the next time we get a connection.
+            Therefore, an info flag is set which the axis object can use at the
+            start of its poll method to try to initialize itself.
+            */
+            axis->setNeedInit(true);
+
+            /*
+            Check if the axis already is in an error communication mode. If
+            it is not, upstream the error. This is done to avoid "flooding"
+            the user with different error messages if more than one error
+            ocurred before an error-free communication
+            */
+            getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
+
+            if (motorStatusProblem == 0) {
+                setAxisParamChecked(axis, motorMessageText, drvMessageText);
+                setAxisParamChecked(axis, motorStatusProblem, true);
+                setAxisParamChecked(axis, motorStatusCommsError, false);
+            }
         }
     }
 
@@ -301,7 +412,7 @@ asynStatus masterMacsController::parseResponse(
     bool responseValid = false;
     int responseStart = 0;
     asynStatus status = asynSuccess;
-    int prevConnected = 0;
+    int prevConnected = 1;
     char printableCommand[MAXBUF_] = {0};
     char printableResponse[MAXBUF_] = {0};
 
@@ -309,12 +420,14 @@ asynStatus masterMacsController::parseResponse(
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
     masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    if (axis == nullptr) {
+    if (axisNo != 0 && axis == nullptr) {
         return asynError;
     }
 
     // Was the motor previously connected?
-    getAxisParamChecked(axis, motorConnected, &prevConnected);
+    if (axis != nullptr) {
+        getAxisParamChecked(axis, motorConnected, &prevConnected);
+    }
 
     // We don't use strlen here since the C string terminator 0x00
     // occurs in the middle of the char array.
@@ -338,14 +451,17 @@ asynStatus masterMacsController::parseResponse(
                           "connected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                setAxisParamChecked(axis, motorConnected, true);
+                if (axis != nullptr) {
-                status = callParamCallbacks();
+                    setAxisParamChecked(axis, motorConnected, true);
-                if (status != asynSuccess) {
+                    status = callParamCallbacks();
-                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                    if (status != asynSuccess) {
-                              "Controller \"%s\", axis %d => %s, line "
+                        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                              "%d:\nCould not update parameter library\n",
+                                  "Controller \"%s\", axis %d => %s, line "
-                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                                  "%d:\nCould not update parameter library\n",
-                    return status;
+                                  portName, axisNo, __PRETTY_FUNCTION__,
+                                  __LINE__);
+                        return status;
+                    }
                 }
             }
 
@@ -366,14 +482,17 @@ asynStatus masterMacsController::parseResponse(
                           "disconnected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                setAxisParamChecked(axis, motorConnected, false);
+                if (axis != nullptr) {
-                status = callParamCallbacks();
+                    setAxisParamChecked(axis, motorConnected, false);
-                if (status != asynSuccess) {
+                    status = callParamCallbacks();
-                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                    if (status != asynSuccess) {
-                              "Controller \"%s\", axis %d => %s, line "
+                        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                              "%d:\nCould not update parameter library\n",
+                                  "Controller \"%s\", axis %d => %s, line "
-                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                                  "%d:\nCould not update parameter library\n",
-                    return status;
+                                  portName, axisNo, __PRETTY_FUNCTION__,
+                                  __LINE__);
+                        return status;
+                    }
                 }
             }
             break;
@@ -459,6 +578,8 @@ 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

@@ -65,6 +65,17 @@ class HIDDEN 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 HIDDEN masterMacsController : public sinqController {
      */
     double comTimeout();
 
+    // Accessors for additional PVs
+    int nodeReset();
+
   private:
     std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
 };