Prototype for version 0.3

src/sinqAxis.cpp

@@ -393,54 +393,6 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         watchdogMovActive_ = true;
 
         /*
-        The motor record resolution (index motorRecResolution_ in the parameter
-        library, MRES in the motor record) is NOT a conversion factor between
-        user units (e.g. mm) and motor units (e.g. encoder steps), but a scaling
-        factor defining the resolution of the position readback field RRBV. This
-        is due to an implementation detail inside EPICS described here:
-        https://epics.anl.gov/tech-talk/2018/msg00089.php
-        https://github.com/epics-modules/motor/issues/8
-
-        Basically, the position value in the parameter library is a double which
-        is then truncated to an integer in devMotorAsyn.c (because it was
-        originally meant for converting from engineering units to encoder steps,
-        which are by definition integer values). Therefore, if we want a
-        precision of 1 millimeter, we need to set MRES to 1. If we want one of
-        1 micrometer, we need to set MRES to 0.001. The readback value needs to
-        be multiplied with MRES to get the actual value.
-
-        In the driver, we use user units. Therefore, when we interact with the
-        parameter library, we need to account for MRES. This means:
-        - When writing position or speed to the parameter library, we divide the
-        value by the motor record resolution.
-        - When reading position or speed from the parameter library, we multiply
-        the value with the motor record resolution.
-
-        Index and motor record field are coupled as follows:
-        The parameter motorRecResolution_ is coupled to the field MRES of the
-        motor record in the following manner:
-        - In sinqMotor.db, the PV (motor_record_pv_name) MOTOR_REC_RESOLUTION
-        is defined as a copy of the field (motor_record_pv_name).MRES:
-
-            record(ao,"$(P)$(M):Resolution") {
-                field(DESC, "$(M) resolution")
-                field(DOL,  "$(P)$(M).MRES CP MS")
-                field(OMSL, "closed_loop")
-                field(DTYP, "asynFloat64")
-                field(OUT,  "@asyn($(PORT),$(ADDR))MOTOR_REC_RESOLUTION")
-                field(PREC, "$(PREC)")
-            }
-
-        - The PV name MOTOR_REC_RESOLUTION is coupled in asynMotorController.h
-        to the constant motorRecResolutionString
-        - ... which in turn is assigned to motorRecResolution_ in
-        asynMotorController.cpp This way of making the field visible to the
-        driver is described here:
-        https://epics.anl.gov/tech-talk/2020/msg00378.php This is a one-way
-        coupling, changes to the parameter library via setDoubleParam are NOT
-        transferred to (motor_record_pv_name).MRES or to
-        (motor_record_pv_name):Resolution.
-
         NOTE: This function must not be called in the constructor (e.g. in order
         to save the read result to the member variable earlier), since the
         parameter library is updated at a later stage!

src/sinqController.cpp

@@ -251,7 +251,7 @@ asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
         return asynSuccess;
     } else if (pasynUser->reason == motorCanDisable_) {
         // By default, motors cannot be disabled
-        *value = 0;
+        *value = 1;
         return asynSuccess;
     } else {
         return asynMotorController::readInt32(pasynUser, value);

src/sinqController.h

@@ -67,7 +67,7 @@ class epicsShareClass sinqController : public asynMotorController {
      * @param value               Read-out value
      * @return asynStatus
      */
-    virtual asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
 
     /**
      * @brief Error handling in case accessing the parameter library failed.