Added scaffolding for velocity mode

Added records to support detection of the current operation mode
(position or velocity), whether one is allowed to change between the two
and a record to actually change between the two. Also added a
doMoveVelocity method which should be implemented by derived drivers if
they support velocity mode.

src/sinqAxis.cpp

@@ -333,18 +333,49 @@ asynStatus sinqAxis::doPoll(bool *moving) {
     return asynSuccess;
 }
 
+asynStatus sinqAxis::moveVelocity(double minVelocity, double maxVelocity,
+                                  double acceleration) {
+
+    int motMode = 0;
+
+    // If the motor is not in velocity mode, do nothing
+    getAxisParamChecked(this, motorMode, &motMode);
+    if (motMode != 0) {
+        return asynSuccess;
+    }
+
+    return doMoveVelocity(minVelocity, maxVelocity, acceleration);
+}
+
+asynStatus sinqAxis::doMoveVelocity(double minVelocity, double maxVelocity,
+                                    double acceleration) {
+    // Suppress unused variable warning - this is just a default fallback
+    // function.
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+    return asynSuccess;
+}
+
 asynStatus sinqAxis::move(double position, int relative, double minVelocity,
                           double maxVelocity, double acceleration) {
 
     // Status of parameter library operations
     asynStatus status = asynSuccess;
-    double motorRecRes = 0.0;
+    double motRecRes = 0.0;
+    int motMode = 0;
 
     // =========================================================================
 
+    // If the motor is not in position mode, do nothing
+    getAxisParamChecked(this, motorMode, &motMode);
+    if (motMode != 0) {
+        return asynSuccess;
+    }
+
     // Store the target position internally
-    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
-    pSinqA_->targetPosition = position * motorRecRes;
+    getAxisParamChecked(this, motorRecResolution, &motRecRes);
+    pSinqA_->targetPosition = position * motRecRes;
 
     status = doMove(position, relative, minVelocity, maxVelocity, acceleration);
     if (status != asynSuccess) {
@@ -455,9 +486,9 @@ asynStatus sinqAxis::enable(bool on) {
 
 asynStatus sinqAxis::motorPosition(double *motorPos) {
     asynStatus status = asynSuccess;
-    double motorRecRes = 0.0;
+    double motRecRes = 0.0;
 
-    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+    getAxisParamChecked(this, motorRecResolution, &motRecRes);
 
     /*
     We cannot use getAxisParamChecked checked here, since the name of the index
@@ -470,16 +501,16 @@ asynStatus sinqAxis::motorPosition(double *motorPos) {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    *motorPos = *motorPos * motorRecRes;
+    *motorPos = *motorPos * motRecRes;
     return status;
 }
 
 asynStatus sinqAxis::setMotorPosition(double motorPos) {
     asynStatus status = asynSuccess;
-    double motorRecRes = 0.0;
+    double motRecRes = 0.0;
 
-    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
-    setAxisParamChecked(this, motorPosition, motorPos / motorRecRes);
+    getAxisParamChecked(this, motorRecResolution, &motRecRes);
+    setAxisParamChecked(this, motorPosition, motorPos / motRecRes);
 
     return status;
 }
@@ -573,7 +604,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         double motorVelocityRec = 0.0;
         double motorAccel = 0.0;
         double motorAccelRec = 0.0;
-        double motorRecRes = 0.0;
+        double motRecRes = 0.0;
         time_t timeContSpeed = 0;
         time_t timeAccel = 0;
 
@@ -602,7 +633,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         = VELO / MRES motorAccel = (motorVelocity - motorVelBase) / ACCL
         Therefore, we need to correct the values from the parameter library.
          */
-        getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+        getAxisParamChecked(this, motorRecResolution, &motRecRes);
 
         // Read the velocity
         getAxisParamChecked(this, motorVelocity, &motorVelocityRec);
@@ -611,7 +642,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         // with a sensible value (e.g. > 0)
         if (pl_status == asynSuccess && motorVelocityRec > 0.0) {
             // Convert back to the value in the VELO field
-            motorVelocity = motorVelocityRec * motorRecRes;
+            motorVelocity = motorVelocityRec * motRecRes;
             if (pl_status == asynSuccess) {
 
                 timeContSpeed =