Added doReset wrapper around reset and added two functions to set and

retrieve the motor position which handle the conversion via
motorRecResolution.

src/sinqAxis.cpp

@@ -283,6 +283,7 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
+        // Set field ATHM to zero
         status = setIntegerParam(pC_->motorStatusHomed(), 0);
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorStatusHomed_",
@@ -322,10 +323,73 @@ asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
     return asynSuccess;
 }
 
-asynStatus sinqAxis::reset() { return asynSuccess; }
+asynStatus sinqAxis::reset() {
+    asynStatus status = doReset();
+    if (status == asynSuccess) {
+        // Perform some fast polls
+        pC_->lock();
+        bool moving = false;
+        for (int i = 0; i < 5; i++) {
+            epicsThreadSleep(pC_->movingPollPeriod());
+            if (poll(&moving) == asynSuccess) {
+                break;
+            }
+        }
+        pC_->unlock();
+    }
+    return status;
+}
+
+asynStatus sinqAxis::doReset() { return asynError; }
 
 asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
 
+asynStatus sinqAxis::motorPosition(double *motorPosition) {
+    asynStatus status = asynSuccess;
+    double motorRecResolution = 0.0;
+
+    status = pC_->getDoubleParam(axisNo(), pC_->motorRecResolution(),
+                                 &motorRecResolution);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorRecResolution_",
+                                         axisNo(), __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+
+    status = pC_->getDoubleParam(axisNo(), pC_->motorPosition(), motorPosition);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo(),
+                                         __PRETTY_FUNCTION__,
+
+                                         __LINE__);
+    }
+    *motorPosition = *motorPosition * motorRecResolution;
+    return status;
+}
+
+asynStatus sinqAxis::setMotorPosition(double motorPosition) {
+    asynStatus status = asynSuccess;
+    double motorRecResolution = 0.0;
+
+    status = pC_->getDoubleParam(axisNo(), pC_->motorRecResolution(),
+                                 &motorRecResolution);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorRecResolution_",
+                                         axisNo(), __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+
+    status = setDoubleParam(pC_->motorPosition(),
+                            motorPosition / motorRecResolution);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo(),
+                                         __PRETTY_FUNCTION__,
+
+                                         __LINE__);
+    }
+    return status;
+}
+
 asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
     asynStatus status = asynSuccess;
     int variableSpeed = 0;
@@ -455,8 +519,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
 
     if (enableMovWatchdog == 1) {
         // These parameters are only needed in this branch
-        double motorPosition = 0.0;
-        double motorPositionRec = 0.0;
+        double motorPos = 0.0;
         double motorVelocity = 0.0;
         double motorVelocityRec = 0.0;
         double motorAccel = 0.0;
@@ -473,24 +536,11 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         to save the read result to the member variable earlier), since the
         parameter library is updated at a later stage!
         */
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
-                                        &motorRecResolution);
+        pl_status = motorPosition(&motorPos);
         if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
+            return pl_status;
         }
 
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorPosition(),
-                                        &motorPositionRec);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorPosition",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        motorPosition = motorPositionRec * motorRecResolution;
-
         /*
         We use motorVelocity, which corresponds to the record field VELO.
         From https://epics.anl.gov/docs/APS2015/14-Motor-Record.pdf:
@@ -503,6 +553,13 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         = VELO / MRES motorAccel = (motorVelocity - motorVelBase) / ACCL
         Therefore, we need to correct the values from the parameter library.
          */
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
+                                        &motorRecResolution);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
 
         // Read the velocity
         pl_status = pC_->getDoubleParam(axisNo_, pC_->motorVelocity(),
@@ -516,7 +573,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
             if (pl_status == asynSuccess) {
 
                 timeContSpeed = std::ceil(
-                    std::fabs(targetPosition_ - motorPosition) / motorVelocity);
+                    std::fabs(targetPosition_ - motorPos) / motorVelocity);
             }
         }