Fixed scaling of the written motorVelocity value

commit d90869cbca
Author: smathis <stefan.mathis@psi.ch>
Date:   Tue Feb 10 13:18:43 2026 +0100

    Added reminder comment

commit eadce0f594
Author: smathis <stefan.mathis@psi.ch>
Date:   Tue Feb 10 12:31:01 2026 +0100

    Draft velocity mode

    See TODO in src/masterMacsAxis.cpp, line 552. The velocity readback is
    the only thing that doesn't work properly, everything else does work.
    Once a solution has been found here, this can be a new minor release.

commit 0e1f95a94b
Author: smathis <stefan.mathis@psi.ch>
Date:   Tue Feb 10 09:04:04 2026 +0100

    Updated sinqMotor and use setLimits

commit b01f398533
Author: smathis <stefan.mathis@psi.ch>
Date:   Tue Feb 10 09:00:58 2026 +0100

    Set move flag correctly in velocity / jog mode

commit 56d9d20c3a
Author: smathis <stefan.mathis@psi.ch>
Date:   Tue Feb 3 17:57:00 2026 +0100

    Simplified handling of velocity mode using standard EPICS motor record fields

commit 4634609891
Author: smathis <stefan.mathis@psi.ch>
Date:   Tue Feb 3 13:35:24 2026 +0100

    Rolled back to sinqMotor 1.5.7

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=7.2.2
+motorBase_VERSION=7.3.2
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

src/masterMacsAxis.cpp

@@ -11,6 +11,11 @@
 #include <string.h>
 #include <unistd.h>
 
+enum moveMode {
+    positionMode,
+    velocityMode,
+};
+
 struct masterMacsAxisImpl {
     /*
     The axis status and axis error of MasterMACS are given as an integer from
@@ -24,6 +29,7 @@ struct masterMacsAxisImpl {
     bool needInit = true;
     bool targetReachedUninitialized;
     bool dynamicLimits;
+    moveMode lastMoveCommand;
 };
 
 /*
@@ -94,6 +100,7 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
           .dynamicLimits = false,
+          .lastMoveCommand = positionMode,
       })) {
 
     asynStatus status = asynSuccess;
@@ -190,9 +197,7 @@ asynStatus masterMacsAxis::init() {
     double motVelocity = 0.0;
     double motVmax = 0.0;
     double motAccel = 0.0;
-    int motMode = 0;
     int dynamicLimits = 0;
-    int motCanSetMode = 0;
 
     // =========================================================================
 
@@ -262,7 +267,7 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status = setVeloFields(motVelocity, 0.0, motVmax);
+    status = setVeloFields(abs(motVelocity), 0.0, motVmax);
     if (status != asynSuccess) {
         return status;
     }
@@ -306,37 +311,6 @@ asynStatus masterMacsAxis::init() {
     }
     pMasterMacsA_->dynamicLimits = bool(dynamicLimits);
 
-    // Check the current motor mode
-    status = pC_->read(axisNo_, 07, response);
-    if (status != asynSuccess) {
-        return status;
-    }
-    nvals = sscanf(response, "%d", &motMode);
-    if (nvals != 1) {
-        return pC_->couldNotParseResponse("R07", response, axisNo_,
-                                          __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    // If the readback value from the controller is 3, it is in velocity mode,
-    // which sinqMotor encodes as a 1. Otherwise, it is in position mode.
-    setAxisParamChecked(this, motorMode, motMode == 3);
-
-    // Check if the motor can switch its mode
-    status = pC_->read(axisNo_, 31, response);
-    if (status != asynSuccess) {
-        return status;
-    }
-    nvals = sscanf(response, "%d", &motCanSetMode);
-    if (nvals != 1) {
-        return pC_->couldNotParseResponse("R31", response, axisNo_,
-                                          __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    // If the readback value from the controller is 3, the motor supports both
-    // velocity and position mode, otherwise just one of them (the one read out
-    // with motMode).
-    setAxisParamChecked(this, motorCanSetMode, motCanSetMode == 3);
-
     status = readEncoderType();
     if (status != asynSuccess) {
         return status;
@@ -419,10 +393,7 @@ asynStatus masterMacsAxis::readLimits() {
     highLimit = highLimit - limitsOffset;
     lowLimit = lowLimit + limitsOffset;
 
-    setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
-    setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
-
-    return status;
+    return setLimits(highLimit, lowLimit);
 }
 
 // Perform the actual poll
@@ -432,10 +403,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     asynStatus poll_status = asynSuccess;
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
+    asynStatus rwStatus = asynSuccess;
 
     // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
+    asynStatus plStatus = asynSuccess;
 
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -484,8 +455,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         pC_->read(axisNo_, 86, response);
-        if (rw_status != asynSuccess) {
-            return rw_status;
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
         }
 
         nvals = sscanf(response, "%lf", &handshakePerformed);
@@ -511,38 +482,20 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     // Read the previous motor position
-    pl_status = motorPosition(&previousPosition);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    plStatus = motorPosition(&previousPosition);
+    if (plStatus != asynSuccess) {
+        return plStatus;
     }
 
     // Update the axis status
-    rw_status = readAxisStatus();
-    if (rw_status != asynSuccess) {
-        return rw_status;
+    rwStatus = readAxisStatus();
+    if (rwStatus != asynSuccess) {
+        return rwStatus;
     }
 
-    // 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 {
-        if (targetReached() || !switchedOn()) {
-            *moving = false;
-        } else {
-            *moving = true;
-        }
-    }
-
-    if (targetReached()) {
-        pMasterMacsA_->targetReachedUninitialized = false;
-    }
-
-    // Read the current position
-    rw_status = pC_->read(axisNo_, 12, response);
-    if (rw_status != asynSuccess) {
-        return rw_status;
+    rwStatus = pC_->read(axisNo_, 12, response);
+    if (rwStatus != asynSuccess) {
+        return rwStatus;
     }
     nvals = sscanf(response, "%lf", &currentPosition);
     if (nvals != 1) {
@@ -550,12 +503,59 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
+    plStatus = setMotorPosition(currentPosition);
+    if (plStatus != asynSuccess) {
+        return plStatus;
+    }
+    setAxisParamChecked(this, motorEncoderPosition, currentPosition);
+
+    if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
+        double actualVelocity = 0.0;
+
+        rwStatus = pC_->read(axisNo_, 14, response);
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
+        }
+        nvals = sscanf(response, "%lf", &actualVelocity);
+        if (nvals != 1) {
+            return pC_->couldNotParseResponse("R14", response, axisNo_,
+                                              __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        // Writes the actual speed in steps per second to the paramLib. This
+        // value is then returned by the RVEL field of the motor record.
+        setAxisParamChecked(this, motorVelocity,
+                            actualVelocity / motorRecResolution);
+
+        // Motor is moving in velocity mode
+        *moving = true;
+
+    } else {
+
+        // 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 {
+            if (targetReached() || !switchedOn()) {
+                *moving = false;
+            } else {
+                *moving = true;
+            }
+        }
+
+        if (targetReached()) {
+            pMasterMacsA_->targetReachedUninitialized = false;
+        }
+    }
+
     /*
-    Read out the error if either a fault condition status flag has been set or
-    if a movement has just ended.
+    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();
+        rwStatus = readAxisError();
     }
 
     msgPrintControlKey keyError = msgPrintControlKey(
@@ -629,42 +629,83 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         /*
-        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 the motor is homing or has been homed, ignore limit switch errors.
+         */
+        int homing = 0;
+        int homed = 0;
+        getAxisParamChecked(this, motorStatusHome, &homing);
+        getAxisParamChecked(this, motorStatusHomed, &homed);
+
+        /*
+        Ignore limit switch errors when homing / motor has been homed or when
+        the motor is moving.
+
+        Background:
+        MasterMACS controllers move the motor outside the allowed range defined
+        by the "software limits" defined within the controllers because they
+        need to hit the physical end switch to determine the motor position. The
+        motor then rests close to the end switch, which might be outside the
+        controller-side software limits. This leads to this error, which is then
+        forwarded to the user even though nothing went wrong. The three checks
+        are here to prevent this:
+        - "homing": Is set at the start of a homing maneuver and removed once
+        the motor does not move anymore => Prevents the error from showing up
+        during the homing procedure
+        - "homed": Is set after a homing maneuver has been finished => Prevents
+        the error from showing up while the motor is resting idle outside the
+        software limits.
+        - "moving": Prevents the error from showing up when moving out of the
+        homing position.
+
+        If the motor hits the limits during normal operation, it is stopped by
+        the controller. Once stopped, moving is false and then the error is
+        shown to the user (because "homed" is not set).
+
+        Note: strictly speaking, it is not necessary to check homing because
+        moving would be set to true anyway. The check is here for clarity /
+        being explicit.
         */
-        if (positiveLimitSwitch() || negativeLimitSwitch() ||
-            positiveSoftwareLimit() || negativeSoftwareLimit()) {
+        if (!homing && !homed && !(*moving)) {
+            /*
+            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 the motor moved outside the limits while homing
+            (but in that case, the error is not shown, see previous
+            if-statement).
+            */
+            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.");
-            }
+                // 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.");
+                // 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;
+                poll_status = asynError;
+            }
         }
 
         if (overCurrent()) {
@@ -735,9 +776,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     // Read out the limits, if the motor is not moving and if the limits are
     // dynamic
     if (pMasterMacsA_->dynamicLimits && !(*moving)) {
-        rw_status = readLimits();
-        if (rw_status != asynSuccess) {
-            return rw_status;
+        rwStatus = readLimits();
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
         }
     }
 
@@ -762,16 +803,11 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     setAxisParamChecked(this, motorStatusDone, !(*moving));
     setAxisParamChecked(this, motorStatusDirection, direction);
 
-    pl_status = setMotorPosition(currentPosition);
-    if (pl_status != asynSuccess) {
-        return pl_status;
-    }
     return poll_status;
 }
 
-asynStatus masterMacsAxis::doMoveVelocity(double minVelocity,
-                                          double maxVelocity,
-                                          double acceleration) {
+asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
+                                        double acceleration) {
     // Suppress unused variable warning
     (void)minVelocity;
     (void)acceleration;
@@ -822,7 +858,14 @@ asynStatus masterMacsAxis::doMoveVelocity(double minVelocity,
 
     // Start the move. We do not use the MovTimeout watchdog here, because the
     // motor can move for any time in velocity mode.
-    return pC_->write(axisNo_, 00, "3", timeout);
+    status = pC_->write(axisNo_, 00, "3", timeout);
+    if (status != asynSuccess) {
+        return status;
+    }
+
+    // Cache the information that the current movement is in velocity mode
+    pMasterMacsA_->lastMoveCommand = velocityMode;
+    return status;
 }
 
 asynStatus masterMacsAxis::doMove(double position, int relative,
@@ -930,6 +973,8 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         return asynError;
     }
 
+    // Cache the information that the current movement is in position mode
+    pMasterMacsA_->lastMoveCommand = positionMode;
     return status;
 }
 
@@ -1230,8 +1275,8 @@ asynStatus masterMacsAxis::readAxisStatus() {
 
     // =========================================================================
 
-    asynStatus rw_status = pC_->read(axisNo_, 10, response);
-    if (rw_status == asynSuccess) {
+    asynStatus rwStatus = pC_->read(axisNo_, 10, response);
+    if (rwStatus == asynSuccess) {
 
         float axisStatus = 0;
         int nvals = sscanf(response, "%f", &axisStatus);
@@ -1243,7 +1288,7 @@ asynStatus masterMacsAxis::readAxisStatus() {
         pMasterMacsA_->axisStatus = toBitset(axisStatus);
     }
 
-    return rw_status;
+    return rwStatus;
 }
 
 asynStatus masterMacsAxis::readAxisError() {
@@ -1251,8 +1296,8 @@ asynStatus masterMacsAxis::readAxisError() {
 
     // =========================================================================
 
-    asynStatus rw_status = pC_->read(axisNo_, 11, response);
-    if (rw_status == asynSuccess) {
+    asynStatus rwStatus = pC_->read(axisNo_, 11, response);
+    if (rwStatus == asynSuccess) {
 
         float axisError = 0;
         int nvals = sscanf(response, "%f", &axisError);
@@ -1262,7 +1307,7 @@ asynStatus masterMacsAxis::readAxisError() {
         }
         pMasterMacsA_->axisError = toBitset(axisError);
     }
-    return rw_status;
+    return rwStatus;
 }
 
 bool masterMacsAxis::readyToBeSwitchedOn() {
@@ -1289,6 +1334,8 @@ bool masterMacsAxis::remoteMode() { return pMasterMacsA_->axisStatus[9]; }
 
 bool masterMacsAxis::targetReached() { return pMasterMacsA_->axisStatus[10]; }
 
+bool masterMacsAxis::speedEqualZero() { return pMasterMacsA_->axisStatus[12]; }
+
 bool masterMacsAxis::internalLimitActive() {
     return pMasterMacsA_->axisStatus[11];
 }

src/masterMacsAxis.h

@@ -52,17 +52,15 @@ class HIDDEN masterMacsAxis : public sinqAxis {
     asynStatus doPoll(bool *moving);
 
     /**
-     * @brief Implementation of the `doMoveVelocity` function from sinqAxis. The
-     * parameters are described in the documentation of
-     * `sinqAxis::doMoveVelocity`.
+     * @brief TODO
      *
      * @param minVelocity
      * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMoveVelocity(double minVelocity, double maxVelocity,
-                              double acceleration);
+    asynStatus moveVelocity(double minVelocity, double maxVelocity,
+                            double acceleration);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -252,6 +250,12 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     bool internalLimitActive();
 
+    /**
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
+     */
+    bool speedEqualZero();
+
     // Bits 12 and 13 are unused
 
     /**