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

src/masterMacsAxis.cpp

@@ -29,8 +29,6 @@ struct masterMacsAxisImpl {
     bool needInit = true;
     bool targetReachedUninitialized;
     bool dynamicLimits;
-    bool canPositionMove;
-    bool canVelocityMove;
     moveMode lastMoveCommand;
 };
 
@@ -40,7 +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
@@ -102,8 +100,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
           .dynamicLimits = false,
-          .canPositionMove = true,
-          .canVelocityMove = false,
           .lastMoveCommand = positionMode,
       })) {
 
@@ -202,7 +198,6 @@ asynStatus masterMacsAxis::init() {
     double motVmax = 0.0;
     double motAccel = 0.0;
     int dynamicLimits = 0;
-    int possibleModes = 0;
 
     // =========================================================================
 
@@ -316,39 +311,6 @@ asynStatus masterMacsAxis::init() {
     }
     pMasterMacsA_->dynamicLimits = bool(dynamicLimits);
 
-    // Check if the motor can switch its mode
-    status = pC_->read(axisNo_, 31, response);
-    if (status != asynSuccess) {
-        return status;
-    }
-    nvals = sscanf(response, "%d", &possibleModes);
-    if (nvals != 1) {
-        return pC_->couldNotParseResponse("R31", response, axisNo_,
-                                          __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    switch (possibleModes) {
-    case 1:
-        pMasterMacsA_->canPositionMove = true;
-        pMasterMacsA_->canVelocityMove = false;
-        break;
-    case 2:
-        pMasterMacsA_->canPositionMove = false;
-        pMasterMacsA_->canVelocityMove = true;
-        break;
-    case 3:
-        pMasterMacsA_->canPositionMove = true;
-        pMasterMacsA_->canVelocityMove = true;
-        break;
-    default:
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line "
-                  "%d:\nunexpected answer %d for R31 (possible operation "
-                  "modes). Expected one of 1, 2 or 3.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  possibleModes);
-    }
-
     status = readEncoderType();
     if (status != asynSuccess) {
         return status;
@@ -548,9 +510,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     setAxisParamChecked(this, motorEncoderPosition, currentPosition);
 
     if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
-
-        // TODO: Not sure whether the RVEL field of the motor record does not
-        // work - has to be clarified
         double actualVelocity = 0.0;
 
         rwStatus = pC_->read(axisNo_, 14, response);
@@ -563,8 +522,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                               __PRETTY_FUNCTION__, __LINE__);
         }
 
-        // Write the actual velocity to the paramLib (TODO: does it though?)
-        setAxisParamChecked(this, motorVelocity, actualVelocity);
+        // 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;
@@ -668,42 +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()) {
@@ -821,18 +823,6 @@ asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
 
     // =========================================================================
 
-    // Can the motor be operated in velocity mode?
-    if (!pMasterMacsA_->canVelocityMove) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d:\nAxis cannot "
-                  "operate in velocity mode.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-        setAxisParamChecked(this, motorStatusProblem, true);
-        setAxisParamChecked(this, motorMessageText,
-                            "cannot operate in velocity mode");
-        return asynError;
-    }
-
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -898,18 +888,6 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // =========================================================================
 
-    // Can the motor be operated in position mode?
-    if (!pMasterMacsA_->canPositionMove) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d:\nAxis cannot "
-                  "operate in position mode.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-        setAxisParamChecked(this, motorStatusProblem, true);
-        setAxisParamChecked(this, motorMessageText,
-                            "cannot operate in position mode");
-        return asynError;
-    }
-
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -1141,7 +1119,6 @@ asynStatus masterMacsAxis::readEncoderType() {
 
 asynStatus masterMacsAxis::enable(bool on) {
 
-    int timeout_enable_disable = 2;
     char msg[pC_->MAXBUF_];
 
     // =========================================================================
@@ -1199,8 +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;
     }
 
@@ -1212,7 +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);
@@ -1229,17 +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_,