Bugfix

If the byte 15 is encountered in the message, the parseResponse function
must return asynDisconnected (instead of asynSuccess) so the state of
the axis is accounted for properly.

Makefile

@@ -7,7 +7,7 @@ EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
 # Specify the version of asynMotor we want to build against
-motorBase_VERSION=7.4
+motorBase_VERSION=7.3.2
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

src/masterMacsAxis.cpp

@@ -38,7 +38,7 @@ A special communication timeout is used in the following two cases:
 2) First move command after enabling the motor
 This is due to MasterMACS running a powerup cycle, which can delay the answer.
  */
-#define PowerCycleTimeout 10.0 // Value in seconds
+#define PowerCycleTimeout 6.0 // Value in seconds
 
 /*
 Contains all instances of turboPmacAxis which have been created and is used in
@@ -1119,7 +1119,6 @@ asynStatus masterMacsAxis::readEncoderType() {
 
 asynStatus masterMacsAxis::enable(bool on) {
 
-    int timeout_enable_disable = 2;
     char msg[pC_->MAXBUF_];
 
     // =========================================================================
@@ -1177,8 +1176,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     // hence we wait for a custom timespan in seconds instead of
     // pC_->comTimeout_
     double timeout = pC_->comTimeout();
-    if (pMasterMacsA_->targetReachedUninitialized &&
-        timeout < PowerCycleTimeout) {
+    if (timeout < PowerCycleTimeout) {
         timeout = PowerCycleTimeout;
     }
 
@@ -1190,7 +1188,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     // Query the axis status every few milliseconds until the axis has been
     // enabled or until the timeout has been reached
     int startTime = time(NULL);
-    while (time(NULL) < startTime + timeout_enable_disable) {
+    while (time(NULL) < startTime + PowerCycleTimeout) {
 
         // Read the axis status
         usleep(100000);
@@ -1207,17 +1205,17 @@ asynStatus masterMacsAxis::enable(bool on) {
         }
     }
 
-    // Failed to change axis status within timeout_enable_disable => Send a
+    // Failed to change axis status within PowerCycleTimeout => Send a
     // corresponding message
     asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d => %s, line %d:\nFailed to %s axis "
-              "within %d seconds\n",
+              "within %f seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-              on ? "enable" : "disable", timeout_enable_disable);
+              on ? "enable" : "disable", PowerCycleTimeout);
 
     // Output message to user
-    snprintf(msg, sizeof(msg), "Failed to %s within %d seconds",
-             on ? "enable" : "disable", timeout_enable_disable);
+    snprintf(msg, sizeof(msg), "Failed to %s within %f seconds",
+             on ? "enable" : "disable", PowerCycleTimeout);
 
     setAxisParamChecked(this, motorMessageText, msg);
     return asynError;

src/masterMacsController.cpp

@@ -493,7 +493,7 @@ asynStatus masterMacsController::parseResponse(
                     }
                 }
             }
-            break;
+            return asynDisconnected;
         } else if (fullResponse[i] == '\x18') {
             // CAN
             snprintf(drvMessageText, MAXBUF_,