Actually added the files for msgPrintControl

message repetitions.

.gitlab-ci.yml

@@ -1,6 +1,6 @@
 default:
   image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-    
+
 stages:
   - lint
   - build
@@ -24,16 +24,6 @@ formatting:
   tags:
     - sinq
 
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
 build_module:
   stage: build
   script:
@@ -48,4 +38,4 @@ build_module:
     expire_in: 1 week
   when: always
   tags:
-    - sinq
+    - sinq

Makefile

@@ -6,17 +6,26 @@ BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
-# additional module dependencies
-REQUIRED+=asynMotor
+# Specify the version of asynMotor we want to build against
+asynMotor_VERSION=7.2.2
 
 # Source files to build
+SOURCES += src/msgPrintControl.cpp
 SOURCES += src/sinqAxis.cpp
 SOURCES += src/sinqController.cpp
 
 # Headers which allow using this library in concrete driver implementations
+HEADERS += src/msgPrintControl.h
 HEADERS += src/sinqAxis.h
 HEADERS += src/sinqController.h
 
-USR_CFLAGS += -Wall -Wextra # -Werror
+# Store the record files
+TEMPLATES += db/asynRecord.db
+TEMPLATES += db/sinqMotor.db
 
-# MISCS  would be the place to keep the stream device template files
+# This file registers the motor-specific functions in the IOC shell.
+DBDS += src/sinqMotor.dbd
+
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result # -Werror
+
+# MISCS would be the place to keep the stream device template files

README.md

@@ -2,42 +2,217 @@
 
 ## Overview
 
-This library offers base classes for EPICS motor drivers (`sinqAxis` and `sinqController`) of PSI SINQ. These classes are extensions of the classes `asynMotorAxis` and `asynMotorController` from the `asynMotor` framework (https://github.com/epics-modules/motor/tree/master/motorApp/MotorSrc) and bundle some common functionalities.
+This library offers base classes for EPICS motor drivers (`sinqAxis` and `sinqController`) of PSI SINQ. These classes are extensions of the classes `asynMotorAxis` and `asynMotorController` from the `asynMotor` framework (https://github.com/epics-modules/motor/tree/master/motorApp/MotorSrc) and bundle some common functionality.
 
-## Features
+## User guide
 
-sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-file. All of these functions can be overwritten manually if e.g. a completely different implementation of `poll` is required.
+### Architecture of EPICS motor drivers at SINQ
 
-### sinqController
+The asyn-framework offers two base classes `asynMotorAxis` and `asynMotorController`. At SINQ, we extend those classes by two children `sinqAxis` and `sinqController` which are not complete drivers on their own, but serve as an additional framework for writing drivers. The concrete drivers are then created as separated libraries, an example is the TurboPMAC-driver: https://git.psi.ch/sinq-epics-modules/turboPmac.
+
+The full inheritance chain for two different motor drivers "a" and "b" looks like this:
+`asynController -> sinqController -> aController`
+`asynAxis -> sinqAxis -> aAxis`
+
+`asynController -> sinqController -> bController`
+`asynAxis -> sinqAxis -> bAxis`
+
+Those inheritance chains are created at runtime by loading shared libraries. Therefore, it is important to load compatible versions. At SINQ, the versioning numbers follow the SemVer standard (https://semver.org/lang/de/). For example, if driver "a" depends on version 2.1.0 of "sinqMotor", then it is safe to use "sinqMotor" 2.5.3 since 2.5.3 is backwards compatible to 2.1.0. However, it is not allowed to use e.g. version 1.9.0 or 2.0.0 or 3.0.1 instead. For more details on SemVer, please refer to the official documentation.
+
+To find out which version of sinqMotor is needed by driver "a", refer to its Makefile (line `sinqMotor_VERSION=x.x.x`, where x.x.x is the minimum required version).
+
+### IOC startup script
+
+An EPICS IOC for motor control at SINQ is started by executing a script with the IOC shell. In its simplest form, an IOC for two controllers is a file looking like this:
+```
+#!/usr/local/bin/iocsh  
+
+# Load libraries needed for the IOC
+require sinqMotor, 1.0.0
+require turboPmac, 1.2.0
+
+# Define environment variables used later to parametrize the individual controllers
+epicsEnvSet("TOP","/ioc/sinq-ioc/sinqtest-ioc/")
+epicsEnvSet("INSTR","SQ:SINQTEST:")
+
+# Include other scripts for the controllers 1 and 2
+< mcu1.cmd 
+< mcu2.cmd 
+
+iocInit()
+```
+The first line is a so-called shebang which instructs Linux to execute the file with the executable located at the given path - the IOC shell in this case. The controller script "mcu1.cmd" looks like this:
+The script for controller 1 ("mcu1.cmd") for a Turbo PMAC (see https://git.psi.ch/sinq-epics-modules/turboPmac) has the following structure. The scripts for other controller types can be found in the README.md of their respective repositories.
+
+```
+# Define the name of the controller and the corresponding port
+epicsEnvSet("NAME","mcu1")
+epicsEnvSet("ASYN_PORT","p$(NAME)")
+
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
+drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
+
+# Create the controller object with the defined name and connect it to the socket via the port name.
+# The other parameters are as follows:
+# 8: Maximum number of axes
+# 0.05: Busy poll period in seconds
+# 1: Idle poll period in seconds
+# 1: Socket communication timeout in seconds
+turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+
+# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
+turboPmacAxis("$(NAME)",1);
+turboPmacAxis("$(NAME)",2);
+turboPmacAxis("$(NAME)",5);
+
+# Set the number of subsequent timeouts 
+setMaxSubsequentTimeouts("$(NAME)", 20);
+
+# Configure the timeout frequency watchdog:
+setThresholdComTimeout("$(NAME)", 100, 1);
+
+# Parametrize the EPICS record database with the substitution file named after the MCU.
+epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+```
+
+### Substitution file
+
+The substitution file is a table containing axis-specific information which is used to create the axis-specific PVs.
+To work with sinqMotor, "mcu1.substitutions" needs to look like this (the order of columns does not matter):
+```
+file "$(SINQDBPATH)"
+{
+pattern
+{ AXIS,      M, DESC,                              EGU, DIR, MRES,  MSGTEXTSIZE, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED }
+{ 1,    "lin1", "Linear motor doing whatever",      mm, Pos, 0.001,         200,                 1,          1.0,           1 }
+{ 2,    "rot1", "First rotary motor",           degree, Neg, 0.001,         200,                 0,          1.0,           0 }
+{ 3,    "rot2", "Second rotary motor",          degree, Pos, 0.001,         200,                 0,          0.0,           1 }
+{ 5,    "rot3", "Surprise: Third rotary motor", degree, Pos, 0.001,         200,                 1,          2.0,           0 }
+}
+```
+The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTemplate`.
+
+#### Mandatory parameters
+
+- `AXIS`: Index of the axis, corresponds to the physical connection of the axis to the MCU.
+- `M`: The full PV name is created by concatenating the variables INSTR, NAME and M. For example, the PV of the first axis would be "SQ:SINQTEST:mcu1:lin1".
+- `EGU`: Engineering units. For a linear motor, this is mm, for a rotaty motor, this is degree.
+- `DIR`: If set to "Neg", the axis direction is inverted.
+- `MRES`: This is a scaling factor determining the resolution of the position readback value. For example, 0.001 means a precision of 1 um. A detailed description can be found in section [Motor record resolution MRES](#motor-record-resolution-mres).
+
+#### Optional parameters
+The default values for those parameters are given for the individual records in db/sinqMotor.db
+- `DESC`: Description of the motor. This field is just for documentation and is not needed for operating a motor.
+- `MSGTEXTSIZE`: Buffer size for the motor message record in characters
+- `ENABLEMOVWATCHDOG`: Sets `setWatchdogEnabled` during IOC startup to the given value.
+- `LIMITSOFFSET`: If the motor limits are read out from the controller, they can 
+be further reduced by this offset in order to avoid errors due to slight overshoot 
+on the motor controller. For example, if this value is 1.0 and the read-out limits 
+are [-10.0 10.0], the EPICS limits are set to [-9.0 9.0]. This parameter uses engineering units (EGU).
+- `CANSETSPEED`: If set to 1, the motor speed can be modified by the user.
+
+### Motor record resolution MRES
+
+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 of 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 .
+- 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.
+
+## Developer guide
+
+### Base classes
+
+sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-files. All of these functions can be overwritten manually if e.g. a completely different implementation of `poll` is required. Some functions are marked as virtual, because they are called from other functions of sinqMotor and therefore need runtime polymorphism. Functions without that marker are not called anywhere in sinqMotor.
+
+#### sinqController.h
+- `errMsgCouldNotParseResponse`: Write a standardized message if parsing a device response failed.
+- `paramLibAccessFailed`: Write a standardized message if accessing the parameter library failed.
 - `stringifyAsynStatus`: Convert the enum `asynStatus` into a human-readable string.
-- `errMsgCouldNotParseResponse`: Write a standardized message if parsing a device response failed
-- `paramLibAccessFailed`: Write a standardized message if accessing the parameter library failed
+- `checkComTimeoutWatchdog`: Calculates the timeout frequency (number of timeouts in a given time) and informs the user if a specified limit has been exceeded.
+- `setThresholdComTimeout`: Set the maximum number of timeouts and the time window size for the timeout frequency limit.
+- `checkMaxSubsequentTimeouts`: Check if the number of subsequent timeouts exceeds a specified limit.
+- `setMaxSubsequentTimeouts`: Set the limit for the number of subsequent timeouts before the user is informed.
 
-### sinqAxis
-- `atFirstPoll`: This function is executed once before the first poll. If it returns anything but `asynSuccess`, it retries.
+#### sinqAxis.h
+- `enable`: This function is called if the "Enable" PV from db/sinqMotor.db is set. This is an empty function which should be overwritten by concrete driver implementations.
+- `move`: This function sets the absolute target position in the parameter library and then calls `doMove`.
+- `doMove`: This is an empty function which should be overwritten by concrete driver implementations.
+- `home`: This function sets the internal status flags for the homing process and then calls doHome.
+- `doHome`: This is an empty function which should be overwritten by concrete driver implementations.
 - `poll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
 
   Before calling `doPoll`:
-  - Try to execute `atFirstPoll` once (and retry, if that failed)
+  - Reset the status problem flag, the communication error flag and the error message.
 
   After calling `doPoll`:
+  - Call `checkMovTimeoutWatchdog`. If the movement timed out, create an error message for the user
+  - Update the readback-value for the axis enablement.
   - Reset `motorStatusProblem_`, `motorStatusCommsError_` and `motorMessageText_` if `doPoll` returned `asynSuccess`
   - Run `callParamCallbacks`
   - Return the status of `doPoll`
 - `doPoll`: This is an empty function which should be overwritten by concrete driver implementations.
-- `move`: This function sets the absolute target position in the parameter library and then calls `doMove`.
-- `doMove`: This is an empty function which should be overwritten by concrete driver implementations.
-- `movementTimeoutWatchdog`: Manages a watchdog mechanism for movement operations
+- `setVeloFields`: Populates the motor record fields VELO (actual velocity), VBAS (minimum allowed velocity) and VMAX (maximum allowed velocity) from the driver.
+- `setAcclField`: Populates the motor record field ACCL from the driver.
+- `startMovTimeoutWatchdog`: Starts a watchdog for the movement time. This watchdog compares the actual time spent in a movement operation with an expected time, which is calculated based on the distance of the current and the target position.
+- `checkMovTimeoutWatchdog`: Check if the watchdog timed out.
+- `setWatchdogEnabled`: Enables / disables the watchdog. This function is also available in the IOC shell.
+- `setOffsetMovTimeout`: Set a linear offset for the expected movement time. This function is also available in the IOC shell.
+- `setScaleMovTimeout`: Set a scaling factor for the expected movement time. This function is also available in the IOC shell.
 
+#### msgPrintControl.h
+In addition to the two extension classes this library also includes a mechanism which prevents excessive repetitions of the same error message to the IOC shell via the classes `msgPrintControl` and `msgPrintControlKey`. A detailed description of the mechanism can be found in the docstring of `msgPrintControl`. The implementation of the `poll` function of `sinqAxis` also contains an example how to use it. Using this feature in derived drivers is entirely optional.
 
-## Versioning
+### Versioning
 
 The versioning is done via git tags. Git tags are recognized by the PSI build system: If you tag a version as 1.0, it will be built into the directory /ioc/modules/sinqMotor/1.0. The tag is directly coupled to a commit so that it is always clear which source code was used to build which binary.
 
-All existing tags can be listed with `git tag` in the sinqMotor directory. Detailed information (author, data, commit number, commit message) regarding a specific tag can be shown with `git show X.X`, where X.X is the name of your version. To create a new tag, use `git tag X.X`. If the tag `X.X` is already used by another commit, git will show a corresponding error.
+All existing tags can be listed with `git tag` in the sinqMotor directory. Detailed information (author, data, commit number, commit message) regarding a specific tag can be shown with `git show x.x.x`, where `x.x.x` is the name of your version. To create a new tag, use `git tag x.x.x`. If the tag `x.x.x` is already used by another commit, git will show a corresponding error.
 
-## How to build it
+### How to build it
 
-The makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into `/ioc/modules` (using the PSI EPICS build system).Therefore it is sufficient to run `make install -f Makefile` from the terminal.
+This library is based on the PSI version of the EPICS motor record, which can be found here: `https://git.psi.ch/epics_driver_modules/motorBase`. We use a branch with a bugfix which is currently not merged into master due to resistance of the PSI userbase: `https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`. This library can be build with the following steps, assuming GCC and make are available:
+- `git clone https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`
+- `cd motorBase`
+- `git tag 7.2.2`. The latest version on master is currently 7.2.1, hence we increment the bugfix version counter by one
+- `make install`
 
-To use the library when writing a concrete motor driver, include it in the makefile of your application /library the same way as other libraries such as e.g. `asynMotor` by adding `REQUIRED+=sinqMotor` to your Makefile.
+To build sinqMotor itself, the makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into `/ioc/modules` (using the PSI EPICS build system). Therefore it is sufficient to clone this repository to a suitable location (`git clone https://git.psi.ch/sinq-epics-modules/sinqmotor/-/tree/main`). Afterwards, switch to the directory (`cd sinqmotor`) and run `make install`.
+
+To use the library when writing a concrete motor driver, include it in the makefile of your application / library the same way as other libraries such as e.g. `asynMotor` by adding `REQUIRED+=sinqMotor` to your Makefile. The version can be specified with `sinqMotor_VERSION=x.x.x.`

db/asynRecord.db

@@ -0,0 +1,9 @@
+record(asyn,"$(P)")
+{
+    field(DTYP,"asynRecordDevice")
+    field(PORT,"$(PORT)")
+    field(ADDR,"0")
+    field(OMAX,"80")
+    field(IMAX,"80")
+}
+

db/sinqMotor.db

@@ -0,0 +1,273 @@
+# The main asyn motor record. Some fields are populated from the substitution 
+# files via macros:
+# - INSTR: Name of the instrument, e.g. "SQ:SINQTEST:"
+# - M: Name of the motor in EPICS, e.g. "lin1"
+# - DESC: Short description of the motor. If not given, this is equal to M
+# - DIR: This value is usually set to "Pos". If the motor axis direction 
+# should be inverted, this value can be set to "Neg"
+# - CONTROLLER: Name of the motor controller, e.g. "mcu1"
+# - AXIS: Number of the axis, e.g. "1"
+# - MRES: Motor record resolution. See the README.md for a detailed discussion
+# - EGU: Engineering units. In case of a rotary axis, this is "degree", in 
+# case of a linear axis this is "mm".
+# - RTRY: The maximum number of times the motor record will try again to move to 
+# the desired position. When the retry limit is reached, the motor record will 
+# declare the motion finished. If the desired position was not reached, the 
+# field MISS will be set to 1 and NICOS will emit a warning "Did not reach 
+# target position". If this value is set to 0, the retry deadband is never 
+# applied and therefore MISS will always be 0. The error message "Did not reach 
+# target position" will therefore never appear.
+# - RDBD: Retry deadband: When the motor has finished a complete motion, 
+# possibly including backlash takeout, the motor record will compare its current 
+# position with the desired position. If the magnitude of the difference is 
+# greater than RDBD, the motor will try again, as if the user had requested a 
+# move from the now current position to the desired position. Only a limited 
+# number of retries will be performed (see RTRY). If the given value is smaller 
+# than MRES, it is set to MRES.
+record(motor,"$(INSTR)$(M)")
+{
+    field(DESC,"$(DESC=$(M))")
+    field(DTYP,"asynMotor")
+    field(DIR,"$(DIR=Pos)")
+    field(OUT,"@asyn($(CONTROLLER),$(AXIS))")
+    field(MRES,"$(MRES)")
+    field(EGU,"$(EGU)")
+    field(INIT,"")
+    field(PINI,"NO")
+    field(TWV,"1")
+    field(RTRY,"0")
+    field(RDBD,"0") 
+    field(BDST,"0") 
+    field(RMOD,"3") # Retry mode 3 ("In-Position"): This suppresses any retries from the motor record.
+}
+
+# This PV allows force-stopping the motor record from within the driver by setting
+# the motorForceStop_ value in the parameter library to 1. It should be reset to 0 by the driver afterwards.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorForceStop_ -> MOTOR_FORCE_STOP.
+record(longin, "$(INSTR)$(M):STOP_RBV")
+{
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_FORCE_STOP")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):Stop2Field")
+}
+record(longout, "$(INSTR)$(M):Stop2Field") {
+    field(DOL,  "$(INSTR)$(M):STOP_RBV CP")
+    field(OUT,  "$(INSTR)$(M).STOP")
+    field(OMSL, "closed_loop")
+}
+
+# This record forwards the motor record resolution MRES to the parameter library
+# entry "MOTOR_REC_RESOLUTION" (solution from https://epics.anl.gov/tech-talk/2020/msg00378.php)
+# The value of MRES is needed inside the driver for various calculations (e.g.
+# for calculating the estimated time of arrival inside the watchdog).
+record(ao,"$(INSTR)$(M):RecResolution") {
+    field(DESC, "$(M) resolution")
+    field(DOL,  "$(INSTR)$(M).MRES CP MS")
+    field(OMSL, "closed_loop")
+    field(DTYP, "asynFloat64")
+    field(OUT,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_REC_RESOLUTION")
+}
+
+# This record contains messages from the driver (usually error messages).
+# The macro MSGTEXTSIZE can be used to set the maximum length of the message.
+# if not provided, a default value of 200 is used.
+# This record is coupled to the parameter library via motorMessageText_ -> MOTOR_MESSAGE_TEXT.
+record(waveform, "$(INSTR)$(M)-MsgTxt") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_MESSAGE_TEXT")
+    field(FTVL, "CHAR")
+    field(NELM, "$(MSGTEXTSIZE=200)") # Should be the same as MAXBUF in the driver code
+    field(SCAN, "I/O Intr")
+}
+
+# User-writable switch which disables the motor for an input of zero and enables
+# it otherwise. Some motors can't be disabled in certain states (e.g. during 
+# movement). This behaviour has to be implemented inside the driver.
+# This record is coupled to the parameter library via motorEnable_ -> MOTOR_ENABLE.
+record(longout, "$(INSTR)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE")
+    field(PINI, "NO")
+}
+
+# Readback value which returns 1 if the motor is disabled and 0 otherwise.
+# This record is coupled to the parameter library via motorEnableRBV_ -> MOTOR_ENABLE_RBV.
+record(longin, "$(INSTR)$(M):EnableRBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE_RBV")
+    field(PINI, "NO")
+    field(SCAN, "I/O Intr")
+}
+
+# Some (older) motors cannot be disabled. This property has to be specified in
+# the driver by setting the corresponding parameter library entry motorCanDisable_
+# to 0 (its default value is 1).
+# This record is coupled to the parameter library via motorCanDisable_ -> MOTOR_CAN_DISABLE.
+record(longin, "$(INSTR)$(M):CanDisable") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_CAN_DISABLE")
+    field(PINI, "NO")
+    field(SCAN, "I/O Intr")
+}
+
+# For some motors, the user might be allowed to adjust the speed within the 
+# limits specified in the motor record as VBAS and VMAX. This functionality  can
+# be enabled by setting CANSETSPEED to 1. It is disabled by default.
+# This record is coupled to the parameter library via motorCanSetSpeed_ -> MOTOR_CAN_SET_SPEED.
+record(longout, "$(INSTR)$(M):CanSetSpeed") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_CAN_SET_SPEED")
+    field(PINI, "YES")
+    field(ASG, "READONLY") # Field is initialized during IOC startup
+    field(VAL, "$(CANSETSPEED=0)")
+}
+
+# The timeout mechanism for movements can be enabled / disabled by setting 
+# this PV to 1 / 0.
+# This record is coupled to the parameter library via motorEnableMovWatchdog -> MOTOR_ENABLE_MOV_WATCHDOG.
+record(longout, "$(INSTR)$(M):EnableMovWatchdog") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE_MOV_WATCHDOG")
+    field(PINI, "YES")
+    field(VAL, "$(ENABLEMOVWATCHDOG=0)")
+}
+
+# For modern controllers, the high and low limits of the axis are read out 
+# directly from the hardware. However, since the axis might slightly
+# "overshoot" when moving to a position next to the limits, the hardware might
+# go into a "limits hit" error state. To prevent this, this value allows adding
+# a small offset in EGU, which is  subtracted from the high limit and added to the
+# low limit.
+# This record is coupled to the parameter library via motorLimitsOffset_ -> MOTOR_LIMITS_OFFSET.
+record(ao, "$(INSTR)$(M):LimitsOffset") {
+    field(DTYP, "asynFloat64")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_LIMITS_OFFSET")
+    field(PINI, "YES")
+    field(ASG, "READONLY") # Field is initialized during IOC startup
+    field(VAL, "$(LIMITSOFFSET=0)")
+}
+
+# This record pair reads the parameter library value for "motorHighLimitFromDriver_"
+# and pushes it to the motor record field "DHLM". This can be used to read limits
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorHighLimitFromDriver_ -> MOTOR_HIGH_LIMIT_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):DHLM_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_HIGH_LIMIT_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushDHLM2Field")
+}
+record(ao, "$(INSTR)$(M):PushDHLM2Field") {
+    field(DOL,  "$(INSTR)$(M):DHLM_RBV CP")
+    field(OUT,  "$(INSTR)$(M).DHLM")
+    field(OMSL, "closed_loop")
+}
+
+# This record pair reads the parameter library value for "motorLowLimitFromDriver_"
+# and pushes it to the motor record field "DLLM". This can be used to read limits
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorLowLimitFromDriver_ -> MOTOR_LOW_LIMIT_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):DLLM_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_LOW_LIMIT_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushDLLM2Field")
+}
+record(ao, "$(INSTR)$(M):PushDLLM2Field") {
+    field(DOL,  "$(INSTR)$(M):DLLM_RBV CP")
+    field(OUT,  "$(INSTR)$(M).DLLM")
+    field(OMSL, "closed_loop")
+}
+
+# This record pair reads the parameter library value for "motorVeloFromDriver_"
+# and pushes it to the motor record field "VELO". This can be used to read the speed value
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorVeloFromDriver_ -> MOTOR_VELO_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):VELO_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VELO_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushVELO2Field")
+}
+record(ao, "$(INSTR)$(M):PushVELO2Field") {
+    field(DOL,  "$(INSTR)$(M):VELO_RBV CP")
+    field(OUT,  "$(INSTR)$(M).VELO")
+    field(OMSL, "closed_loop")
+}
+
+# This record pair reads the parameter library value for "motorVbasFromDriver_"
+# and pushes it to the motor record field "VBAS". This can be used to read the lower speed limit
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorVbasFromDriver_ -> MOTOR_VBAS_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):VBAS_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VBAS_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushVBAS2Field")
+}
+record(ao, "$(INSTR)$(M):PushVBAS2Field") {
+    field(DOL,  "$(INSTR)$(M):VBAS_RBV CP")
+    field(OUT,  "$(INSTR)$(M).VBAS")
+    field(OMSL, "closed_loop")
+}
+
+# This record pair reads the parameter library value for "motorVmaxFromDriver_"
+# and pushes it to the motor record field "VMAX". This can be used to read the upper speed limit
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorVmaxFromDriver_ -> MOTOR_VMAX_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):VMAX_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VMAX_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushVMAX2Field")
+}
+record(ao, "$(INSTR)$(M):PushVMAX2Field") {
+    field(DOL,  "$(INSTR)$(M):VMAX_RBV CP")
+    field(OUT,  "$(INSTR)$(M).VMAX")
+    field(OMSL, "closed_loop")
+}
+
+# This record pair reads the parameter library value for "motorAcclFromDriver_"
+# and pushes it to the motor record field "ACCL". This can be used to read the acceleration
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorAcclFromDriver_ -> MOTOR_ACCL_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):ACCL_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ACCL_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushACCL2Field")
+}
+record(ao, "$(INSTR)$(M):PushACCL2Field") {
+    field(DOL,  "$(INSTR)$(M):ACCL_RBV CP")
+    field(OUT,  "$(INSTR)$(M).ACCL")
+    field(OMSL, "closed_loop")
+}
+
+# Read out the encoder type in human-readable form. The output numbers are ASCII
+# codes and can be converted to chars in order to get the encoder type.
+# EPICS prepends the ASCII code with 80
+# The following encoder types are defined:
+# - "Absolute encoder" (array 80 65 98 115 111 108 117 116 101 32 101 110 99 111 100 101 114)
+# - "Incremental encoder" (array 80 73 110 99 114 101 109 101 110 116 97 108 32 101 110 99 111 100 101 114)
+# This record is coupled to the parameter library via encoderType -> ENCODER_TYPE.
+record(waveform, "$(INSTR)$(M):EncoderType") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
+    field(FTVL, "CHAR")
+    field(NELM, "80")
+    field(SCAN, "I/O Intr")
+}

src/msgPrintControl.cpp

@@ -0,0 +1,100 @@
+#include "msgPrintControl.h"
+#include <unordered_map>
+
+msgPrintControlKey::msgPrintControlKey(char *controller, int axisNo,
+                                       const char *functionName, int line) {
+    controller_ = controller;
+    axisNo_ = axisNo;
+    line_ = line;
+    functionName_ = functionName;
+}
+
+void msgPrintControlKey::format(char *buffer, size_t bufferSize) {
+    snprintf(buffer, bufferSize, "controller %s, axis %d, function %s, line %d",
+             controller_.c_str(), axisNo_, functionName_, line_);
+}
+
+// =============================================================================
+
+msgPrintControl::msgPrintControl(size_t maxRepetitions) {
+    maxRepetitions_ = maxRepetitions;
+}
+
+bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
+                                      asynUser *pasynUser) {
+
+    // Reset the suffix
+    suffix_[0] = 0;
+
+    if (wantToPrint) {
+        /*
+        We want to print the message associated with key -> Check if the number
+        of allowed repetitions is exceeded. If true, inform the user that
+        further output is suppressed.
+        */
+        if (map_.find(key) != map_.end()) {
+            size_t repetitions = map_[key];
+            if (repetitions < maxRepetitions_) {
+                // Number of allowed repetitions not exceeded -> Printing the
+                // message is ok.
+                map_[key] = repetitions + 1;
+                return true;
+            } else if (repetitions == maxRepetitions_) {
+                // Reached number of allowed repetitions -> Printing the message
+                // is ok, but further trys are rejected.
+                char formattedKey[100] = {0};
+                key.format(formattedKey, sizeof(formattedKey));
+                snprintf(suffix_, sizeof(suffix_),
+                         " Further repetition of this error message (key "
+                         "\"%s\") is suppressed.",
+                         formattedKey);
+                map_[key] = repetitions + 1;
+                return true;
+            } else {
+                // Exceeded number of allowed repetitions -> Do not print the
+                // message
+                return false;
+            }
+        } else {
+            // Message is not yet in map -> create an entry so it is watched in
+            // the future.
+            map_[key] = 1;
+            return true;
+        }
+
+    } else {
+        /*
+        We do not want to print the message associated with key -> If the key is
+        part of the map, set the counter back to zero.
+         */
+        if (map_.find(key) != map_.end()) {
+            if (map_[key] != 0) {
+                char formattedKey[100] = {0};
+                key.format(formattedKey, sizeof(formattedKey));
+                asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d  => %s, line %d\nError "
+                          "associated with key \"%s\" has been resolved.\n",
+                          key.controller_.c_str(), key.axisNo_,
+                          key.functionName_, key.line_, formattedKey);
+                map_[key] = 0;
+            }
+        }
+        return false;
+    }
+}
+
+bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
+                                      const char *functionName, int line,
+                                      bool wantToPrint, asynUser *pasynUser) {
+    msgPrintControlKey key =
+        msgPrintControlKey(portName, axisNo, functionName, __LINE__);
+    return shouldBePrinted(key, wantToPrint, pasynUser);
+}
+
+void msgPrintControl::resetCount(msgPrintControlKey &key) {
+    if (map_.find(key) != map_.end()) {
+        map_[key] = 0;
+    }
+}
+
+char *msgPrintControl::getSuffix() { return suffix_; }

src/msgPrintControl.h

@@ -0,0 +1,133 @@
+#ifndef msgPrintControl_H
+#define msgPrintControl_H
+
+#include <asynDriver.h>
+#include <string.h>
+#include <string>
+#include <unordered_map>
+
+/**
+ * @brief Class to identify a message print location. See the docstring of
+ * `msgPrintControl` on how to use this key.
+ *
+ */
+class msgPrintControlKey {
+  public:
+    std::string controller_;
+    // -1 is a non-axis specific message
+    int axisNo_;
+    const char *functionName_;
+    int line_;
+
+    msgPrintControlKey(char *controller_, int axisNo, const char *fileName,
+                       int line);
+
+    bool operator==(const msgPrintControlKey &other) const {
+        return axisNo_ == other.axisNo_ && line_ == other.line_ &&
+               strcmp(functionName_, other.functionName_) == 0 &&
+               controller_ == other.controller_;
+    }
+
+    void format(char *buffer, size_t bufferSize);
+};
+
+/**
+ * @brief Implementation of the hash functionality for msgPrintControlKey
+ *
+ */
+namespace std {
+template <> struct hash<msgPrintControlKey> {
+    size_t operator()(const msgPrintControlKey &obj) const {
+        // Combine the hashes of the members (x and y)
+        size_t h1 = std::hash<std::string>{}(obj.controller_);
+        size_t h2 = hash<int>{}(obj.axisNo_);
+        size_t h3 = std::hash<const char *>{}(obj.functionName_);
+        size_t h4 = hash<int>{}(obj.line_);
+        // Combine the hashes (simple XOR and shifting technique)
+        return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
+    }
+};
+} // namespace std
+
+/**
+ * @brief Class to control the number of repetitions of error messages
+ *
+ * This class is used to prevent excessive repetitions of identical error
+ * messages. For example, if the communication between a controller and an
+ * axis fails, a corresponding error message is created in each poll. This
+ * could "flood" the IOC shell with noise. To prevent this, this class keeps
+ * track of the number of subsequent error message repetition. Each message is
+ * uniquely identified by "msgPrintControlKey". The function shouldBePrinted
+ * can be used in order to see if a message should be printed or not:
+ *
+ * ```
+ * const char* controller = "MCU" // Name of the controller
+ * int axisNo = 0; // Number of the axis
+ * bool wantToPrint = evaluateConditions(...); *
+ * if (msgPrintControl.shouldBePrinted(controller, axisNo, __PRETTY_FUNCTION__,
+ * __LINE__, wantToPrint)) { asynPrint(...)
+ * }
+ *
+ * ```
+ */
+class msgPrintControl {
+  public:
+    msgPrintControl(size_t maxRepetitions);
+
+    /**
+     * @brief Checks if the error message associated with "key" has been printed
+     * more than "maxRepetitions_" times in a row. If yes, returns false,
+     * otherwise true. Counter is reset if wantToPrint is false.
+     *
+     * If the conditions for printing a message are met, "wantToPrint" must be
+     * set to true. The function then checks if "maxRepetitions_" has been
+     * exceeded. If yes, the function returns no, indicating that the message
+     * should not be printed. If no, the number of repetitions stored in the map
+     * is incremented and the function returns true, indicating that the message
+     * should be printed.
+     *
+     * If the conditions for printing a message are not met, "wantToPrint" must
+     * be set to false. This resets the map entry.
+     *
+     * @param key               Key associated with the message, used to
+     * identify individual messages
+     * @param wantToPrint       If the message associated with key should be
+     * printed, this value should be true, otherwise false.
+     * @return bool             If true, the message should be printed, if
+     * false, it should not.
+     */
+    bool shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
+                         asynUser *pasynUser);
+
+    /**
+     * @brief Like `shouldBePrinted(msgPrintControlKey key, bool wantToPrint)`,
+     * but constructs the key from the first four arguments.
+     *
+     * @param controller_
+     * @param axisNo
+     * @param fileName
+     * @param line
+     * @param wantToPrint
+     * @return true
+     * @return false
+     */
+    bool shouldBePrinted(char *controller, int axisNo, const char *functionName,
+                         int line, bool wantToPrint, asynUser *pasynUser);
+
+    void resetCount(msgPrintControlKey &key);
+
+    /**
+     * @brief Maximum number of times a message is printed before it is
+     * suppressed.
+     *
+     */
+    size_t maxRepetitions_;
+
+    char *getSuffix();
+
+  private:
+    std::unordered_map<msgPrintControlKey, size_t> map_;
+    char suffix_[200] = {0};
+};
+
+#endif

src/sinqAxis.cpp

@@ -1,49 +1,130 @@
 #include "sinqAxis.h"
+#include "epicsExport.h"
+#include "iocsh.h"
 #include "sinqController.h"
+#include <errlog.h>
 #include <math.h>
 #include <unistd.h>
 
-sinqAxis::sinqAxis(class sinqController *pC, int axis)
-    : asynMotorAxis((asynMotorController *)pC, axis), pC_(pC) {
+sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
+    : asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC) {
+    asynStatus status = asynSuccess;
 
-    initial_poll_ = true;
     watchdogMovActive_ = false;
-    init_poll_counter_ = 0;
-}
+    scaleMovTimeout_ = 2.0;
+    offsetMovTimeout_ = 30;
+    targetPosition_ = 0.0;
 
-asynStatus sinqAxis::atFirstPoll() { return asynSuccess; }
+    // Motor is assumed to be enabled
+    status = setIntegerParam(pC_->motorEnableRBV_, 1);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // By default, motors cannot be disabled
+    status = setIntegerParam(pC_->motorCanDisable_, 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // Provide a default value for the motor position.
+    status = setDoubleParam(pC_->motorPosition_, 0.0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // We assume that the motor has no status problems initially
+    status = setIntegerParam(pC_->motorStatusProblem_, 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // Set the homing-related flags
+    status = setIntegerParam(pC_->motorStatusHome_, 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+    status = setIntegerParam(pC_->motorStatusHomed_, 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+    status = setIntegerParam(pC_->motorStatusAtHome_, 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+}
 
 asynStatus sinqAxis::poll(bool *moving) {
     // Local variable declaration
     asynStatus pl_status = asynSuccess;
     asynStatus poll_status = asynSuccess;
+    int homing = 0;
+    int homed = 0;
 
-    // =========================================================================
+    /*
+    At the beginning of the poll, it is assumed that the axis has no status
+    problems and therefore all error indicators are reset. This does not affect
+    the PVs until callParamCallbacks has been called!
 
-    // If this poll is the initial poll, check if the parameter library has
-    // already been initialized. If not, force EPCIS to repeat the poll until
-    // the initialization is complete (or until a timeout is reached). Once the
-    // parameter library has been initialized, read configuration data from the
-    // motor controller into it.
-    if (initial_poll_) {
-        poll_status = atFirstPoll();
-        if (poll_status == asynSuccess) {
-            initial_poll_ = false;
-        } else {
-            // Send a message to the IOC shell every 10 trials.
-            init_poll_counter_ += 1;
-            if (init_poll_counter_ % 10 == 0) {
-                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "%s => line %d:\nRunning function 'atFirstPoll' "
-                          "failed %d times with error %s.",
-                          __PRETTY_FUNCTION__, __LINE__, init_poll_counter_,
-                          pC_->stringifyAsynStatus(poll_status));
-            }
-
-            // Wait for 100 ms until trying the entire poll again
-            usleep(100000);
-            return poll_status;
-        }
+    The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
+    */
+    pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
+    if (pl_status != asynSuccess) {
+        pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
+                                  __PRETTY_FUNCTION__, __LINE__);
+    }
+    pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
+    if (pl_status != asynSuccess) {
+        pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_", axisNo_,
+                                  __PRETTY_FUNCTION__, __LINE__);
+    }
+    pl_status = setStringParam(pC_->motorMessageText_, "");
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
+                                         axisNo_, __PRETTY_FUNCTION__,
+                                         __LINE__);
     }
 
     // The poll function is just a wrapper around doPoll and
@@ -52,38 +133,71 @@ asynStatus sinqAxis::poll(bool *moving) {
     // return.
     poll_status = doPoll(moving);
 
-    // If the poll status is ok, reset the error indicators in the parameter
-    // library
-    if (poll_status == asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
+    // The poll did not succeed: Something went wrong and the motor has a status
+    // problem.
+    if (poll_status != asynSuccess) {
+        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
         if (pl_status != asynSuccess) {
-            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                      __PRETTY_FUNCTION__, __LINE__);
-        }
-        pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
-        if (pl_status != asynSuccess) {
-            pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_",
+            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
                                       __PRETTY_FUNCTION__, __LINE__);
         }
+    }
 
-        pl_status = setStringParam(pC_->motorMessageText_, "");
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusHomed_, &homed);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorStatusHomed_",
+                                         axisNo_, __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusHome_, &homing);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorStatusHome_", axisNo_,
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    if (homing == 1 && !(*moving)) {
+
+        // Set the homing-related flags
+        pl_status = setIntegerParam(pC_->motorStatusHome_, 0);
         if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             __PRETTY_FUNCTION__, __LINE__);
+            return pC_->paramLibAccessFailed(pl_status, "motorStatusHome_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
         }
+        pl_status = setIntegerParam(pC_->motorStatusHomed_, 1);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorStatusHomed_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+        pl_status = setIntegerParam(pC_->motorStatusAtHome_, 1);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorStatusAtHome_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+    }
+
+    // Check and update the watchdog
+    if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
+        return asynError;
     }
 
     // According to the function documentation of asynMotorAxis::poll, this
     // function should be called at the end of a poll implementation.
     pl_status = callParamCallbacks();
-    if (pl_status != asynSuccess) {
-        // If we can't communicate with the parameter library, it doesn't make
-        // sense to try and upstream this to the user -> Just log the error
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "%s => line %d:\ncallParamCallbacks failed with %s for axis %d",
-            __PRETTY_FUNCTION__, __LINE__,
-            pC_->stringifyAsynStatus(poll_status), axisNo_);
+    bool wantToPrint = pl_status != asynSuccess;
+    if (pC_->msgPrintControl_.shouldBePrinted(
+            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, wantToPrint,
+            pC_->pasynUserSelf)) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line "
+                  "%d:\ncallParamCallbacks failed with %s.%s\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(poll_status),
+                  pC_->msgPrintControl_.getSuffix());
+    }
+    if (wantToPrint) {
         poll_status = pl_status;
     }
 
@@ -95,36 +209,35 @@ asynStatus sinqAxis::doPoll(bool *moving) { return asynSuccess; }
 asynStatus sinqAxis::move(double position, int relative, double minVelocity,
                           double maxVelocity, double acceleration) {
 
-    double motorRecResolution = 0.0;
-    double target_position = 0.0;
-
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
+    double motorRecResolution = 0.0;
 
     // =========================================================================
 
-    // Calculate the (absolute) target position
-    if (relative) {
-
-        double motorPosition = 0.0;
-        pl_status =
-            pC_->getDoubleParam(axisNo_, pC_->motorPosition_, &motorPosition);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorPosition_",
-                                             __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        target_position = position + motorPosition;
-    } else {
-        target_position = position;
-    }
-
-    // Set the target position
-    pl_status = setDoubleParam(pC_->motorTargetPosition_, target_position);
+    // When a new move is done, the motor is not homed anymore
+    pl_status = setIntegerParam(pC_->motorStatusHomed_, 0);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorTargetPosition_",
-                                         __PRETTY_FUNCTION__, __LINE__);
+        return pC_->paramLibAccessFailed(pl_status, "motorStatusHomed_",
+                                         axisNo_, __PRETTY_FUNCTION__,
+                                         __LINE__);
     }
+    pl_status = setIntegerParam(pC_->motorStatusAtHome_, 0);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorStatusAtHome_",
+                                         axisNo_, __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+                                    &motorRecResolution);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
+                                         axisNo_, __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+
+    // Store the target position internally
+    targetPosition_ = position * motorRecResolution;
 
     return doMove(position, relative, minVelocity, maxVelocity, acceleration);
 }
@@ -134,84 +247,487 @@ asynStatus sinqAxis::doMove(double position, int relative, double minVelocity,
     return asynSuccess;
 }
 
-asynStatus sinqAxis::movementTimeoutWatchdog(bool moving) {
-    asynStatus pl_status;
+asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
+                          double acceleration, int forwards) {
 
-    // Not moving -> Watchdog inactive
-    if (!moving) {
-        watchdogMovActive_ = false;
-        return asynSuccess;
+    asynStatus status = asynSuccess;
+
+    status = doHome(minVelocity, maxVelocity, acceleration, forwards);
+
+    if (status == asynSuccess) {
+
+        status = setStringParam(pC_->motorMessageText_, "Homing");
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        // Set the homing-related flags
+        status = setIntegerParam(pC_->motorStatusHome_, 1);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorStatusHome_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+        status = setIntegerParam(pC_->motorStatusHomed_, 0);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorStatusHomed_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+        status = setIntegerParam(pC_->motorStatusAtHome_, 0);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorStatusAtHome_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        // Update the motor record
+        return callParamCallbacks();
+
+    } else if (status == asynError) {
+        // asynError means that we tried to home an absolute encoder
+        status = setStringParam(pC_->motorMessageText_,
+                                "Can't home a motor with absolute encoder");
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        // Update the motor record
+        return callParamCallbacks();
+    } else {
+        // Bubble up all other problems
+        return status;
+    }
+}
+
+asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
+                            double acceleration, int forwards) {
+    return asynSuccess;
+}
+
+asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
+
+asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
+    asynStatus status = asynSuccess;
+    int variableSpeed = 0;
+
+    // Can the speed of the motor be varied?
+    status =
+        pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorCanSetSpeed_", axisNo_,
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+    if (variableSpeed == 1) {
+
+        // Check the inputs and create corresponding error messages
+        if (vbas > vmax) {
+            asynPrint(pC_->lowLevelPortUser_, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d => %s, line %d:\nLower speed "
+                      "limit vbas=%lf must not be smaller than upper limit "
+                      "vmax=%lf.\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      vbas, vmax);
+
+            status = setStringParam(
+                pC_->motorMessageText_,
+                "Lower speed limit must not be smaller than upper speed limit");
+            if (status != asynSuccess) {
+                return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                                 axisNo_, __PRETTY_FUNCTION__,
+                                                 __LINE__);
+            }
+            return asynError;
+        }
+        if (velo < vbas || velo > vmax) {
+            asynPrint(pC_->lowLevelPortUser_, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d => %s, line %d:\nActual "
+                      "speed velo=%lf must be between lower limit vbas=%lf and "
+                      "upper limit vmax=%lf.\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      velo, vbas, vmax);
+
+            status = setStringParam(pC_->motorMessageText_,
+                                    "Speed is not inside limits");
+            if (status != asynSuccess) {
+                return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                                 axisNo_, __PRETTY_FUNCTION__,
+                                                 __LINE__);
+            }
+            return asynError;
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, vbas);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVbasFromDriver_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVeloFromDriver_, velo);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVeloFromDriver_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver_, vmax);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+    } else {
+        // Set minimum and maximum speed equal to the set speed
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, velo);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVbasFromDriver_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVeloFromDriver_, velo);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVeloFromDriver_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver_, velo);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+    }
+    return status;
+}
+
+asynStatus sinqAxis::setAcclField(double accl) {
+
+    if (accl <= 0.0) {
+        return asynError;
     }
 
-    if (!watchdogMovActive_) {
+    asynStatus status = setDoubleParam(pC_->motorAcclFromDriver_, accl);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorAcclFromDriver_",
+                                         axisNo_, __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+    return status;
+}
 
+asynStatus sinqAxis::setWatchdogEnabled(bool enable) {
+    return setIntegerParam(pC_->motorEnableMovWatchdog_, enable);
+}
+
+asynStatus sinqAxis::startMovTimeoutWatchdog() {
+    asynStatus pl_status;
+    int enableMovWatchdog = 0;
+
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog_,
+                                     &enableMovWatchdog);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
+                                         axisNo_, __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+
+    if (enableMovWatchdog == 1) {
         // These parameters are only needed in this branch
         double motorPosition = 0.0;
-        double motorTargetPosition = 0.0;
-        double motorRecResolution = 0.0;
-        double motorVelBase = 0.0;
+        double motorPositionRec = 0.0;
+        double motorVelocity = 0.0;
+        double motorVelocityRec = 0.0;
         double motorAccel = 0.0;
+        double motorAccelRec = 0.0;
+        double motorRecResolution = 0.0;
         time_t timeContSpeed = 0;
         time_t timeAccel = 0;
 
         // Activate the watchdog
         watchdogMovActive_ = true;
 
-        pl_status =
-            pC_->getDoubleParam(axisNo_, pC_->motorPosition_, &motorPosition);
+        /*
+        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!
+        */
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+                                        &motorRecResolution);
         if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorPosition",
-                                             __PRETTY_FUNCTION__, __LINE__);
+            return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
         }
 
-        pl_status =
-            pC_->getDoubleParam(axisNo_, pC_->motorVelBase_, &motorVelBase);
-        // Only calculate timeContSpeed if the motorVelBase_ has been populated
-        // with a sensible value (e.g. > 0)
-        if (pl_status == asynSuccess && motorVelBase > 0.0) {
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorPosition_,
+                                        &motorPositionRec);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorPosition",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
 
-            pl_status = pC_->getDoubleParam(axisNo_, pC_->motorTargetPosition_,
-                                            &motorTargetPosition);
+        motorPosition = motorPositionRec * motorRecResolution;
+
+        /*
+        We use motorVelocity, which corresponds to the record field VELO.
+        From https://epics.anl.gov/docs/APS2015/14-Motor-Record.pdf:
+        * VELO = motorVelocity_ = Slew velocity
+        * VBAS = motorVelBase_ = Only used for stepper motors to minimize
+        resonance.
+        As documented in
+        https://epics.anl.gov/docs/APS2015/17-Motor-Driver.pdf, the
+        following relations apply: motorVelBase = VBAS / MRES motorVelocity
+        = VELO / MRES motorAccel = (motorVelocity - motorVelBase) / ACCL
+        Therefore, we need to correct the values from the parameter library.
+         */
+
+        // Read the velocity
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorVelocity_,
+                                        &motorVelocityRec);
+
+        // Only calculate timeContSpeed if the motorVelocity has been populated
+        // 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 * motorRecResolution;
             if (pl_status == asynSuccess) {
-                timeContSpeed =
-                    std::ceil(std::fabs(motorTargetPosition - motorPosition) /
-                              motorVelBase);
+
+                timeContSpeed = std::ceil(
+                    std::fabs(targetPosition_ - motorPosition) / motorVelocity);
             }
         }
 
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorAccel_, &motorAccel);
-        if (pl_status == asynSuccess && motorVelBase > 0.0 &&
-            motorAccel > 0.0) {
-            timeAccel = 2 * std::ceil(motorVelBase / motorAccel);
+        pl_status =
+            pC_->getDoubleParam(axisNo_, pC_->motorAccel_, &motorAccelRec);
+        if (pl_status == asynSuccess && motorVelocityRec > 0.0 &&
+            motorAccelRec > 0.0) {
+
+            // Convert back to the value in the ACCL field
+            motorAccel = motorVelocityRec / motorAccelRec;
+
+            // Calculate the time
+            timeAccel = 2 * std::ceil(motorVelocity / motorAccel);
         }
 
         // Calculate the expected arrival time
         expectedArrivalTime_ =
             time(NULL) + offsetMovTimeout_ +
             scaleMovTimeout_ * (timeContSpeed + 2 * timeAccel);
+    } else {
+        watchdogMovActive_ = false;
+    }
+    return asynSuccess;
+}
 
-    } else if (expectedArrivalTime_ < time(NULL)) {
+asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
+    asynStatus pl_status;
+    int enableMovWatchdog = 0;
+
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog_,
+                                     &enableMovWatchdog);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
+                                         axisNo_, __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+
+    // Not moving or watchdog not active / enabled
+    if (enableMovWatchdog == 0 || !moving || !watchdogMovActive_) {
+        watchdogMovActive_ = false;
+        return asynSuccess;
+    }
+
+    // Check if the expected time of arrival has been exceeded.
+    if (expectedArrivalTime_ < time(NULL)) {
         // Check the watchdog
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nAxis %d exceeded the expected arrival time "
-                  "(%ld).\n",
-                  __PRETTY_FUNCTION__, __LINE__, axisNo_, expectedArrivalTime_);
+                  "Controller \"%s\", axis %d => %s, line %d:\nExceeded "
+                  "expected arrival time %ld (current time is %ld).\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  expectedArrivalTime_, time(NULL));
 
         pl_status = setStringParam(
             pC_->motorMessageText_,
             "Exceeded expected arrival time. Check if the axis is blocked.");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             __PRETTY_FUNCTION__, __LINE__);
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
         }
 
         pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
         if (pl_status != asynSuccess) {
-            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
+            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
                                       __PRETTY_FUNCTION__, __LINE__);
         }
 
-        return asynError;
+        // Even if the movement timed out, the rest of the poll should continue.
+        return asynSuccess;
     }
     return asynSuccess;
-}
+}
+
+// =============================================================================
+// IOC shell functions
+extern "C" {
+
+/**
+ * @brief Enable / disable the watchdog (FFI implementation)
+ *
+ * @param portName                Name of the controller
+ * @param axisNo                  Axis number
+ * @param enable                  If 0, disable the watchdog, otherwise enable
+ * it
+ * @return asynStatus
+ */
+asynStatus setWatchdogEnabled(const char *portName, int axisNo, int enable) {
+
+    sinqController *pC;
+    pC = (sinqController *)findAsynPortDriver(portName);
+    if (pC == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
+    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+    if (axis == nullptr) {
+        errlogPrintf(
+            "Controller \"%s\", axis %d => %s, line %d:\nAxis does not "
+            "exist or is not an instance of sinqAxis.",
+            portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    return axis->setWatchdogEnabled(enable != 0);
+}
+
+static const iocshArg setWatchdogEnabledArg0 = {"Controller port name",
+                                                iocshArgString};
+static const iocshArg setWatchdogEnabledArg1 = {"Axis number", iocshArgInt};
+static const iocshArg setWatchdogEnabledArg2 = {
+    "Enabling / disabling the watchdog", iocshArgInt};
+static const iocshArg *const setWatchdogEnabledArgs[] = {
+    &setWatchdogEnabledArg0, &setWatchdogEnabledArg1, &setWatchdogEnabledArg2};
+static const iocshFuncDef setWatchdogEnabledDef = {"setWatchdogEnabled", 3,
+                                                   setWatchdogEnabledArgs};
+
+static void setWatchdogEnabledCallFunc(const iocshArgBuf *args) {
+    setWatchdogEnabled(args[0].sval, args[1].ival, args[2].ival);
+}
+
+// =============================================================================
+
+/**
+ * @brief Set the offsetMovTimeout (FFI implementation)
+ *
+ * @param portName                Name of the controller
+ * @param axisNo                  Axis number
+ * @param offsetMovTimeout        Offset (in seconds)
+ * @return asynStatus
+ */
+asynStatus setOffsetMovTimeout(const char *portName, int axisNo,
+                               double offsetMovTimeout) {
+
+    sinqController *pC;
+    pC = (sinqController *)findAsynPortDriver(portName);
+    if (pC == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
+    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+    if (axis == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nAxis %d does not "
+                     "exist or is not an "
+                     "instance of sinqAxis.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, axisNo);
+    }
+
+    return axis->setOffsetMovTimeout(offsetMovTimeout);
+}
+
+static const iocshArg setOffsetMovTimeoutArg0 = {"Controller port name",
+                                                 iocshArgString};
+static const iocshArg setOffsetMovTimeoutArg1 = {"Axis number", iocshArgInt};
+static const iocshArg setOffsetMovTimeoutArg2 = {"Offset timeout for movement",
+                                                 iocshArgDouble};
+static const iocshArg *const setOffsetMovTimeoutArgs[] = {
+    &setOffsetMovTimeoutArg0, &setOffsetMovTimeoutArg1,
+    &setOffsetMovTimeoutArg2};
+static const iocshFuncDef setOffsetMovTimeoutDef = {"setOffsetMovTimeout", 3,
+                                                    setOffsetMovTimeoutArgs};
+
+static void setOffsetMovTimeoutCallFunc(const iocshArgBuf *args) {
+    setOffsetMovTimeout(args[0].sval, args[1].ival, args[2].dval);
+}
+
+// =============================================================================
+
+/**
+ * @brief Set the setScaleMovTimeout (FFI implementation)
+ *
+ * @param portName                Name of the controller
+ * @param axisNo                  Axis number
+ * @param scaleMovTimeout         Scaling factor (in seconds)
+ * @return asynStatus
+ */
+asynStatus setScaleMovTimeout(const char *portName, int axisNo,
+                              double scaleMovTimeout) {
+
+    sinqController *pC;
+    pC = (sinqController *)findAsynPortDriver(portName);
+    if (pC == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
+    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+    if (axis == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nAxis %d does not "
+                     "exist or is not an "
+                     "instance of sinqAxis.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, axisNo);
+    }
+
+    return axis->setScaleMovTimeout(scaleMovTimeout);
+}
+
+static const iocshArg setScaleMovTimeoutArg0 = {"Controller port name",
+                                                iocshArgString};
+static const iocshArg setScaleMovTimeoutArg1 = {"Axis number", iocshArgInt};
+static const iocshArg setScaleMovTimeoutArg2 = {
+    "Multiplier for calculated move time", iocshArgDouble};
+static const iocshArg *const setScaleMovTimeoutArgs[] = {
+    &setScaleMovTimeoutArg0, &setScaleMovTimeoutArg1, &setScaleMovTimeoutArg2};
+static const iocshFuncDef setScaleMovTimeoutDef = {"setScaleMovTimeout", 3,
+                                                   setScaleMovTimeoutArgs};
+
+static void setScaleMovTimeoutCallFunc(const iocshArgBuf *args) {
+    setScaleMovTimeout(args[0].sval, args[1].ival, args[2].dval);
+}
+
+// =============================================================================
+
+// This function is made known to EPICS in sinqMotor.dbd and is called by EPICS
+// in order to register all functions in the IOC shell
+static void sinqAxisRegister(void) {
+    iocshRegister(&setOffsetMovTimeoutDef, setOffsetMovTimeoutCallFunc);
+    iocshRegister(&setScaleMovTimeoutDef, setScaleMovTimeoutCallFunc);
+    iocshRegister(&setWatchdogEnabledDef, setWatchdogEnabledCallFunc);
+}
+epicsExportRegistrar(sinqAxisRegister);
+
+} // extern C

src/sinqAxis.h

@@ -3,60 +3,228 @@ This class extends asynMotorAxis by some features used in SINQ.
 
 Stefan Mathis, November 2024
 */
-#ifndef __SINQDRIVER
-#define __SINQDRIVER
+
+#ifndef sinqAxis_H
+#define sinqAxis_H
 #include "asynMotorAxis.h"
 
 class epicsShareClass sinqAxis : public asynMotorAxis {
   public:
-    sinqAxis(class sinqController *pC_, int axis);
-
     /**
-    This function is executed at the very first poll after the IOC startup. If
-    it returns anything else than 'asynSuccess', the function is evaluated again
-    after 100 ms until it succeeds. Every 10 trials a warning is emitted.
+     * @brief Construct a new sinqAxis object
+     *
+     * @param pC_                 Pointer to the controller of the axis
+     * @param axis                Index of the axis
      */
-    asynStatus atFirstPoll();
+    sinqAxis(class sinqController *pC_, int axisNo);
 
     /**
-    Wrapper around doPoll which performs the following operations;
+     * @brief Perform some standardized operation before and after the concrete
+    `doPoll` implementation.
+     *
+     * Wrapper around doPoll which performs the following operations:
     Before calling doPoll:
+
     - Try to execute atFirstPoll once (and retry, if that failed)
 
     After calling doPoll:
+
     - Reset motorStatusProblem_, motorStatusCommsError_ and motorMessageText_ if
     doPoll returned asynSuccess
-    - Run `callParamCallbacks`
+
+    - If the movement timeout watchdog has been started, check it.
+
+    - The flags `motorStatusHome_`, `motorStatusHomed_` and
+    `motorStatusAtHome_` are set to their idle values (0, 1 and 1 respectively)
+    in the `poll()` method once the homing procedure is finished. See the
+    documentation of the `home()` method for more details.
+
+    - Run `callParamCallbacks()`
+
     - Return the status of `doPoll`
+     *
+     * @param moving              Forwarded to `doPoll`.
+     * @return asynStatus         Forward the status of `doPoll`, unless one of
+    the parameter library operation fails (in that case, returns the failed
+    operation status).
      */
     asynStatus poll(bool *moving);
 
     /**
-    Implementation of the "proper", device-specific poll method. This method
-    should be implemented by a child class of sinqAxis.
+     * @brief Implementation of the "proper", device-specific poll method. This
+    method should be implemented by a child class of sinqAxis.
+     *
+     * @param moving            Should be set to true, if the axis is moving,
+     * and false otherwise.
+     * @return asynStatus
      */
-    asynStatus doPoll(bool *moving);
+    virtual asynStatus doPoll(bool *moving);
 
     /**
-    Wrapper around move which calculates the (absolute) target position and
-    stores it in the parameter library. After that, it calls and returns doMove
+     * @brief Perform some standardized operation before and after the concrete
+    `doMove` implementation.
+
+    * Wrapper around `doMove` which calculates the (absolute) target position
+    and stores it in the parameter library. After that, it calls and returns
+    `doMove`.
+     *
+     * @param position            Forwarded to `doMove`.
+     * @param relative            Forwarded to `doMove`.
+     * @param minVelocity         Forwarded to `doMove`.
+     * @param maxVelocity         Forwarded to `doMove`.
+     * @param acceleration        Forwarded to `doMove`.
+     * @return asynStatus         Forward the status of `doMove`, unless one of
+    the parameter library operation fails (in that case, returns the failed
+    operation status).
      */
     asynStatus move(double position, int relative, double minVelocity,
                     double maxVelocity, double acceleration);
 
     /**
-    Implementation of the "proper", device-specific poll method. This method
-    should be implemented by a child class of sinqAxis.
-    */
-    asynStatus doMove(double position, int relative, double minVelocity,
-                      double maxVelocity, double acceleration);
+     * @brief Implementation of the "proper", device-specific move method. This
+    method should be implemented by a child class of sinqAxis.
+     *
+     * @param position            Target position `VAL` from the motor record
+     * @param relative            Specifies, whether the target position is
+    relative or absolute.
+     * @param minVelocity         Minimum velocity VMIN from the motor record
+     * @param maxVelocity         Maximum velocity VMAX from the motor record
+     * @param acceleration        Acceleration ACCEL from the motor record
+     * @return asynStatus
+     */
+    virtual asynStatus doMove(double position, int relative, double minVelocity,
+                              double maxVelocity, double acceleration);
 
     /**
+     * @brief Wrapper around doHome which handles the homing-related flags
+     *
+     * The homing procedure of the motor record is controlled by the following
+     * parameter library flags:
+     *
+     * - `motorMoveToHome_`: Setting this flag to `1` indicates to EPICS that a
+    homing procedure should start and can therefore be used to start homing from
+    within the driver.
+
+     * - `motorStatusHome_`: This flag should be set to `1` while the motor is
+    actively moving toward its home position and to `0` when the home position
+    is reached.
+     *
+     * - `motorStatusHomed_`: This flag should be set to `0` at the start of a
+    homing command and to 1 once the home position is reached.
+     *
+     * - `motorStatusAtHome_`: This flag is similar to `motorStatusHomed_`, but
+    in addition it should also be `1` when the motor is at its home position,
+    but wasn't actively homed in order to get there.
+     *
+     * This function performs the following operations in the given order:
+     *
+     * - Call `doHome()` and forward the parameters
+     *
+     * - If `doHome()` returned asynSuccess: Set `motorStatusHome_` to `1`,
+    `motorStatusHomed_` to `0` and `motorStatusAtHome_` to `0`.
+     *
+     * - If `doHome()` returned asynError: This means that the motor cannot be
+    homed because the encoder is absolute. Set a corresponding error message,
+    but return asynSuccess in order to avoid any automatic retries by asyn.
+
+     * - If `doHome()` returned anything else: Forward the status.
+     *
+     * The flags `motorStatusHome_`, `motorStatusHomed_` and
+    `motorStatusAtHome_` are set to their idle values (0, 1 and 1 respectively)
+    in the `poll()` method once the homing procedure is finished.
+     *
+     * @param minVelocity         Forwarded to `doHome`.
+     * @param maxVelocity         Forwarded to `doHome`.
+     * @param acceleration        Forwarded to `doHome`.
+     * @param forwards            Forwarded to `doHome`.
+     * @return asynStatus         Forward the status of `doHome`, unless one of
+    the parameter library operation fails (in that case, returns the failed
+    operation status).
+     */
+    asynStatus home(double minVelocity, double maxVelocity, double acceleration,
+                    int forwards);
+
+    /**
+     * @brief Implementation of the "proper", device-specific home method. This
+    method should be implemented by a child class of sinqAxis. If the motor
+    cannot be homed because it has an absolute encoder, this function should
+    return asynError.
+     *
+     * @param minVelocity         Minimum velocity VMIN from the motor record
+     * @param maxVelocity         Maximum velocity VMAX from the motor record
+     * @param acceleration        Acceleration ACCEL from the motor record
+     * @param forwards            Is 1, if the motor record field HOMF was used
+    to trigger the homing, and 0, if HOMR was used.
+     * @return asynStatus
+     */
+    virtual asynStatus doHome(double minVelocity, double maxVelocity,
+                              double acceleration, int forwards);
+
+    /**
+     * @brief This function enables / disables an axis. It should be implemented
+     * by a child class of sinqAxis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    virtual asynStatus enable(bool on);
+
+    /**
+     * @brief Populate the motor record fields VELO, VBAS and VMAX
+     *
+     * Populates the speed fields of the motor record. If the param lib
+     * entry motorCanSetSpeed_ (connected to the PV x:VariableSpeed) is set to
+     * 1, VBAS and VMAX are set to min and max respectively. Otherwise, they are
+     * set to val. Additionally, the speed itself is set to velo.
+     *
+     * The units of the inputs are engineering units (EGU) per second (e.g. mm/s
+     * if the EGU is mm).
+     *
+     * If the given configuration is invalid (min > max, velo < min, velo > max)
+     * and the motor is configured as a variable speed motor (param lib entry
+     * motorCanSetSpeed_ is 1), this function returns an asynError.
+     *
+     * @param velo                Actual velocity (EGU / s)
+     * @param vbas                Minimum allowed velocity (EGU / s)
+     * @param velo                Maximum allowed velocity (EGU / s)
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus setVeloFields(double velo, double vbas, double vmax);
+
+    /**
+     * @brief Populate the ACCL field of the motor record
+     *
+     * Populates the acceleration field of the motor record with the given
+     * value. If accl is not positive, this function does not set the value and
+     * returns an asynError.
+     *
+     * The unit of the input is engineering units (EGU) per second squared (e.g.
+     * mm/s^2 if the EGU is mm).
+     *
+     * @param accl                Actual acceleration (EGU / s^2)
+     * @return asynStatus
+     */
+    virtual asynStatus setAcclField(double accl);
+
+    /**
+     * @brief Start the watchdog for the movement, if the watchdog is not
+    disabled. See the documentation of checkMovTimeoutWatchdog for more details.
+     *
+     * @return asynStatus         If one of the parameter library operations
+    used to get the values for the timeout calculation failed, return that
+    status, otherwise return asynSuccess.
+     */
+    asynStatus startMovTimeoutWatchdog();
+
+    /**
+     * @brief Check if the watchdog timed out
+     *
     Manages a timeout mechanism for the movement:
-    If the movement takes too long, create an error message and return
-    asynError. The watchdog is started when moving switches from "false" to
-    "true" and stopped when moving switches from "true" to "false". At the
-    watchdog start, the estimated movement time is calculated as
+    If the axis is moving and the movement takes too long, create an error
+    message and return asynError. The watchdog is started when moving switches
+    from "false" to "true" and stopped when moving switches from "true" to
+    "false". At the watchdog start, the estimated movement time is calculated as
 
     t = offsetMovTimeout_ + scaleMovTime_ * [timeContSpeed + 2*timeAccel]
 
@@ -68,37 +236,71 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     The values motorTargetPosition, motorVelBase, motorAccel and
     positionAtMovementStart are taken from the parameter library. Therefore it
     is necessary to populate them before using this function. If they are not
-    given, both speed and velocity are assumed to be infinity. This means that
+    given, both speed and velocity are assumed to be infinite. This means that
     timeContSpeed and/or timeAcc are set to zero. motorTargetPosition is
     populated automatically when using the doMove function.
 
     The values offsetMovTimeout_ and scaleMovTimeout_ can be set directly from
     the IOC shell with the functions setScaleMovTimeout and setOffsetMovTimeout,
     if sinqMotor is loaded via the "require" mechanism.
+     *
+     * @param moving              Should be the "moving" status from `poll` /
+    `doPoll`.
+     * @return asynStatus         Return asynError, if the watchdog timed out,
+    and asynSuccess otherwise.
      */
-    asynStatus movementTimeoutWatchdog(bool moving);
+    asynStatus checkMovTimeoutWatchdog(bool moving);
 
-    // Setter for offsetMovTimeout
-    asynStatus setOffsetMovTimeout(time_t offsetMovTimeout) {
+    /**
+     * @brief Enable / disable the watchdog. Also available in the IOC shell
+     * (see "extern C" section in sinqController.cpp).
+     *
+     * If enable is set to false and the watchdog is currently running, this
+     * function stops it immediately.
+     *
+     * @param enabled
+     * @return asynStatus
+     */
+    virtual asynStatus setWatchdogEnabled(bool enable);
+
+    /**
+     * @brief Set the offsetMovTimeout. Also available in the IOC shell
+     * (see "extern C" section in sinqController.cpp).
+     *
+    See documentation of `checkMovTimeoutWatchdog` for details.
+     *
+     * @param offsetMovTimeout    Offset (in seconds)
+     * @return asynStatus
+     */
+    virtual asynStatus setOffsetMovTimeout(time_t offsetMovTimeout) {
         offsetMovTimeout_ = offsetMovTimeout;
+        return asynSuccess;
     }
 
-    // Setter for scaleMovTimeout
-    asynStatus setScaleMovTimeout(time_t scaleMovTimeout) {
+    /**
+     * @brief Set the scaleMovTimeout. Also available in the IOC shell
+     * (see "extern C" section in sinqController.cpp).
+     *
+    See documentation of `checkMovTimeoutWatchdog` for details.
+     *
+     * @param scaleMovTimeout     Scaling factor (in seconds)
+     * @return asynStatus
+     */
+    virtual asynStatus setScaleMovTimeout(time_t scaleMovTimeout) {
         scaleMovTimeout_ = scaleMovTimeout;
+        return asynSuccess;
     }
 
     friend class sinqController;
 
   protected:
-    bool initial_poll_;
-    int init_poll_counter_;
-
-    // Helper variables for movementTimeoutWatchdog
+    // Internal variables used in the movement timeout watchdog
     time_t expectedArrivalTime_;
     time_t offsetMovTimeout_;
     double scaleMovTimeout_;
     bool watchdogMovActive_;
+    // Store the motor target position for the movement time calculation
+    double targetPosition_;
 
   private:
     sinqController *pC_;

src/sinqController.cpp

@@ -1,62 +1,266 @@
-/*
-  This class contains the necessary changes to have an additional text fields
-  for messages with each axis.
-
-  Code lifted from Torsten Boegershausen ESS code.
-
-  Mark Koennecke, March 2017
-
-  Added code to manage an interMessageSleep
-
-  Mark Koennecke, February 2024
-*/
-
 #include "sinqController.h"
 #include "asynMotorController.h"
+#include "asynOctetSyncIO.h"
 #include "epicsExport.h"
 #include "iocsh.h"
 #include "sinqAxis.h"
 #include <errlog.h>
+#include <vector>
 
-sinqController::sinqController(const char *portName, const char *SINQPortName,
-                               int numAxes, const int &extraParams)
+/*
+Contains all instances of turboPmacAxis which have been created and is used in
+the initialization hook function.
+ */
+static std::vector<sinqController *> controller;
+
+/**
+ * @brief Hook function to perform certain actions during the IOC initialization
+ *
+ * @param iState
+ */
+void sinqController::epicsInithookFunction(initHookState iState) {
+    if (iState == initHookAfterIocRunning) {
+        // Iterate through all axes of each and call the initialization method
+        // on each one of them.
+        for (std::vector<sinqController *>::iterator itC = controller.begin();
+             itC != controller.end(); ++itC) {
+
+            sinqController *controller = *itC;
+            controller->startPoller(controller->movingPollPeriod_,
+                                    controller->idlePollPeriod_, 1);
+        }
+    }
+}
+
+sinqController::sinqController(const char *portName,
+                               const char *ipPortConfigName, int numAxes,
+                               double movingPollPeriod, double idlePollPeriod,
+                               int numExtraParams)
     : asynMotorController(
-          portName, numAxes + 1, NUM_MOTOR_DRIVER_PARAMS + extraParams,
+          portName,
+          // As described in the function documentation, an offset of 1 is
+          // added for better readability of the configuration.
+          numAxes + 1,
+          NUM_MOTOR_DRIVER_PARAMS + NUM_SINQMOTOR_DRIVER_PARAMS +
+              numExtraParams,
           0, // No additional interfaces beyond those in base class
           0, // No additional callback interfaces beyond those in base class
           ASYN_CANBLOCK | ASYN_MULTIDEVICE,
-          1,    // autoconnect
-          0, 0) // Default priority and stack size
-{
+          1,     // autoconnect
+          0, 0), // Default priority and stack size
+      msgPrintControl_(4) {
 
-    // Initialization of local variables
     asynStatus status = asynSuccess;
+    lowLevelPortUser_ = nullptr;
+
+    // Initial values for the average timeout mechanism, can be overwritten
+    // later by a FFI function
+    comTimeoutWindow_ = 3600;
+    maxNumberTimeouts_ = 60;
+    timeoutEvents_ = {};
+
+    // Inform the user after 10 timeouts in a row (default value)
+    maxSubsequentTimeouts_ = 10;
+    maxSubsequentTimeoutsExceeded_ = false;
+
+    // Store the poll period information. The poller itself will be started
+    // later (after the IOC is running in epicsInithookFunction)
+    movingPollPeriod_ = movingPollPeriod;
+    idlePollPeriod_ = idlePollPeriod;
 
     // =========================================================================;
 
-    // MOTOR_MESSAGE_TEXT corresponds to the PV definition inside
-    // sinqn_asyn_motor.db. This text is used to forward status messages to
-    // NICOS and in turn to the user.
+    /*
+    We try to connect to the port via the port name provided by the constructor.
+    If this fails, the function is terminated via exit.
+    */
+    pasynOctetSyncIO->connect(ipPortConfigName, 0, &lowLevelPortUser_, NULL);
+    if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
+                     "connect to MCU controller).\n"
+                     "Terminating IOC",
+                     portName, __PRETTY_FUNCTION__, __LINE__);
+        exit(-1);
+    }
+
+    // =========================================================================;
+
+    // MOTOR_MESSAGE_TEXT corresponds to the PV definition inside sinqMotor.db.
+    // This text is used to forward status messages to NICOS and in turn to the
+    // user.
     status =
         createParam("MOTOR_MESSAGE_TEXT", asynParamOctet, &motorMessageText_);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s)\n. Terminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
         exit(-1);
     }
 
-    // Internal parameter library entry which stores the movement target
-    status = createParam("MOTOR_TARGET_POSITION", asynParamOctet,
-                         &motorTargetPosition_);
+    status = createParam("MOTOR_ENABLE", asynParamInt32, &motorEnable_);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s)\n. Terminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
         exit(-1);
     }
+
+    status = createParam("MOTOR_ENABLE_RBV", asynParamInt32, &motorEnableRBV_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status =
+        createParam("MOTOR_CAN_DISABLE", asynParamInt32, &motorCanDisable_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status =
+        createParam("MOTOR_CAN_SET_SPEED", asynParamInt32, &motorCanSetSpeed_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_LIMITS_OFFSET", asynParamFloat64,
+                         &motorLimitsOffset_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    /*
+    We need to introduce 2 new parameters in order to write the limits from the
+    driver to the EPICS record. See the comment in sinqController.h next to
+    the declaration of motorHighLimitFromDriver_.
+    */
+    status = createParam("MOTOR_HIGH_LIMIT_FROM_DRIVER", asynParamFloat64,
+                         &motorHighLimitFromDriver_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_LOW_LIMIT_FROM_DRIVER", asynParamFloat64,
+                         &motorLowLimitFromDriver_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_ENABLE_MOV_WATCHDOG", asynParamInt32,
+                         &motorEnableMovWatchdog_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_VELO_FROM_DRIVER", asynParamFloat64,
+                         &motorVeloFromDriver_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_VBAS_FROM_DRIVER", asynParamFloat64,
+                         &motorVbasFromDriver_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_VMAX_FROM_DRIVER", asynParamFloat64,
+                         &motorVmaxFromDriver_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_ACCL_FROM_DRIVER", asynParamFloat64,
+                         &motorAcclFromDriver_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("ENCODER_TYPE", asynParamOctet, &encoderType_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_FORCE_STOP", asynParamInt32, &motorForceStop_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // Register the hook function during construction of the first axis object
+    if (controller.empty()) {
+        initHookRegister(&epicsInithookFunction);
+    }
+
+    // Collect all axes into this list which will be used in the hook function
+    controller.push_back(this);
 }
 
 sinqController::~sinqController(void) {
@@ -66,57 +270,253 @@ sinqController::~sinqController(void) {
     free(this->pAxes_);
 }
 
+msgPrintControl &sinqController::getMsgPrintControl() {
+    return msgPrintControl_;
+}
+
+asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
+    int function = pasynUser->reason;
+
+    // =====================================================================
+
+    asynMotorAxis *asynAxis = getAxis(pasynUser);
+    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+
+    if (axis == nullptr) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
+                  "instance of sinqAxis",
+                  portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        return asynError;
+    }
+
+    // Handle custom PVs
+    if (function == motorEnable_) {
+        return axis->enable(value != 0);
+    } else if (function == motorForceStop_) {
+        return axis->stop(0.0);
+    } else {
+        return asynMotorController::writeInt32(pasynUser, value);
+    }
+}
+
+asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+
+    // Casting into a sinqAxis is necessary to get access to the field axisNo_
+    asynMotorAxis *asynAxis = getAxis(pasynUser);
+    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+
+    if (axis == nullptr) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
+                  "instance of sinqAxis.\n",
+                  portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        return asynError;
+    }
+
+    if (pasynUser->reason == motorEnableRBV_) {
+        return getIntegerParam(axis->axisNo_, motorEnableRBV_, value);
+    } else if (pasynUser->reason == motorCanDisable_) {
+        return getIntegerParam(axis->axisNo_, motorCanDisable_, value);
+    } else {
+        return asynMotorController::readInt32(pasynUser, value);
+    }
+}
+
 asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
                                                        const char *response,
-                                                       int axisNo_,
+                                                       int axisNo,
                                                        const char *functionName,
-                                                       int lineNumber) {
-    asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
-              "%s => line %d:\n Could not interpret response %s for "
-              "command %s.\n",
-              functionName, lineNumber, response, command);
+                                                       int line) {
+    asynStatus pl_status = asynSuccess;
+
+    asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+              "Controller \"%s\", axis %d => %s, line %d:\nCould not interpret "
+              "response \"%s\" for command \"%s\".\n",
+              portName, axisNo, functionName, line, response, command);
+
+    pl_status = setStringParam(
+        motorMessageText_,
+        "Could not interpret controller response. Please call the support");
+    if (pl_status != asynSuccess) {
+        return paramLibAccessFailed(pl_status, "motorMessageText_", axisNo,
+                                    __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    pl_status = setIntegerParam(motorStatusCommsError_, 1);
+    if (pl_status != asynSuccess) {
+        return paramLibAccessFailed(pl_status, "motorStatusCommsError_", axisNo,
+                                    __PRETTY_FUNCTION__, __LINE__);
+    }
 
-    setStringParam(motorMessageText_,
-                   "Could not interpret MCU response. Please "
-                   "call the software support");
-    setIntegerParam(motorStatusCommsError_, 1);
     return asynError;
 }
 
 asynStatus sinqController::paramLibAccessFailed(asynStatus status,
                                                 const char *parameter,
+                                                int axisNo,
                                                 const char *functionName,
-                                                int lineNumber) {
+                                                int line) {
 
     if (status != asynSuccess) {
-        // Log the error message and try to propagate it
         asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
-                  "%s => line %d:\n Accessing the parameter library failed for "
-                  "parameter %s",
-                  functionName, lineNumber, parameter);
-        setStringParam(
-            motorMessageText_,
-            "Accessing paramLib failed. Please call the software support.");
+                  "Controller \"%s\", axis %d => %s, line %d:\n Accessing the "
+                  "parameter library failed for parameter %s with error %s.\n",
+                  portName, axisNo, functionName, line, parameter,
+                  stringifyAsynStatus(status));
+
+        // Log the error message and try to propagate it. If propagating fails,
+        // there is nothing we can do here anyway.
+        setStringParam(motorMessageText_,
+                       "Accessing paramLib failed. Please call the support.");
     }
 
     return status;
 }
 
+asynStatus sinqController::checkComTimeoutWatchdog(int axisNo,
+                                                   char *motorMessage,
+                                                   size_t motorMessageSize) {
+
+    asynStatus paramLibStatus = asynSuccess;
+
+    // Add a new timeout event to the queue
+    timeoutEvents_.push_back(time(NULL));
+
+    // Remove every event which is older than the time window from the deque
+    while (1) {
+        if (timeoutEvents_.empty()) {
+            break;
+        }
+        if (timeoutEvents_[0] + comTimeoutWindow_ <= time(NULL)) {
+            timeoutEvents_.pop_front();
+        } else {
+            break;
+        }
+    }
+
+    // Check if the maximum allowed number of events has been exceeded
+    bool wantToPrint = timeoutEvents_.size() > maxNumberTimeouts_;
+
+    if (msgPrintControl_.shouldBePrinted(portName, axisNo, __PRETTY_FUNCTION__,
+                                         __LINE__, wantToPrint,
+                                         pasynUserSelf)) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nMore than %ld "
+                  "communication timeouts in %ld "
+                  "seconds.%s\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                  maxNumberTimeouts_, comTimeoutWindow_,
+                  msgPrintControl_.getSuffix());
+    }
+
+    if (wantToPrint) {
+        snprintf(motorMessage, motorMessageSize,
+                 "More than %ld communication timeouts in %ld seconds. Please "
+                 "call the support.",
+                 maxNumberTimeouts_, comTimeoutWindow_);
+
+        paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
+        if (paramLibStatus != asynSuccess) {
+            return paramLibAccessFailed(paramLibStatus,
+                                        "motorStatusCommsError_", axisNo,
+                                        __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        return asynError;
+    } else {
+        return asynSuccess;
+    }
+}
+
+asynStatus sinqController::checkComTimeoutWatchdog(sinqAxis *axis) {
+
+    char motorMessage[200] = {0};
+
+    asynStatus status =
+        checkComTimeoutWatchdog(axis->axisNo_, motorMessage, 200);
+    if (status == asynError) {
+        status = axis->setStringParam(motorMessageText_, motorMessage);
+        if (status != asynSuccess) {
+            return paramLibAccessFailed(status, "motorMessageText_",
+                                        axis->axisNo_, __PRETTY_FUNCTION__,
+                                        __LINE__);
+        }
+    }
+    return status;
+}
+
+asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
+                                                      char *motorMessage,
+                                                      size_t motorMessageSize) {
+    asynStatus paramLibStatus = asynSuccess;
+
+    if (timeoutNo >= maxSubsequentTimeouts_) {
+        if (!maxSubsequentTimeoutsExceeded_) {
+            snprintf(motorMessage, motorMessageSize,
+                     "Communication timeout between IOC and motor controller. "
+                     "Trying to reconnect ...");
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d:\nMore than %d "
+                "subsequent communication "
+                "timeouts\n",
+                this->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                maxSubsequentTimeouts_);
+
+            paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
+            if (paramLibStatus != asynSuccess) {
+                return paramLibAccessFailed(paramLibStatus,
+                                            "motorStatusCommsError_", axisNo,
+                                            __PRETTY_FUNCTION__, __LINE__);
+            }
+            maxSubsequentTimeoutsExceeded_ = true;
+        }
+
+        return asynError;
+    } else {
+        maxSubsequentTimeoutsExceeded_ = false;
+        motorMessage[0] = '\0';
+        return asynSuccess;
+    }
+}
+
+asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo,
+                                                      sinqAxis *axis) {
+
+    char motorMessage[200] = {0};
+
+    asynStatus status =
+        checkMaxSubsequentTimeouts(axis->axisNo_, timeoutNo, motorMessage, 200);
+    if (status == asynError) {
+        status = axis->setStringParam(motorMessageText_, motorMessage);
+        if (status != asynSuccess) {
+            return paramLibAccessFailed(status, "motorMessageText_",
+                                        axis->axisNo_, __PRETTY_FUNCTION__,
+                                        __LINE__);
+        }
+    }
+    return status;
+}
+
 // Static pointers (valid for the entire lifetime of the IOC). The number behind
 // the strings gives the integer number of each variant (see also method
 // stringifyAsynStatus)
-const char *asynSuccessStringified = "success";                             // 0
-const char *asynTimeoutStringified = "timeout";                             // 1
-const char *asynOverflowStringified = "overflow";                           // 2
-const char *asynErrorStringified = "error";                                 // 3
-const char *asynDisconnectedStringified = "disconnected";                   // 4
-const char *asynDisabledStringified = "disabled";                           // 5
-const char *asynParamAlreadyExistsStringified = "parameter already exists"; // 6
-const char *asynParamNotFoundStringified = "parameter not found";           // 7
-const char *asynParamWrongTypeStringified = "wrong type";                   // 8
-const char *asynParamBadIndexStringified = "bad index";                     // 9
-const char *asynParamUndefinedStringified = "parameter undefined"; // 10
-const char *asynParamInvalidListStringified = "invalid list";      // 11
+const char asynSuccessStringified[] = "success";           // 0
+const char asynTimeoutStringified[] = "timeout";           // 1
+const char asynOverflowStringified[] = "overflow";         // 2
+const char asynErrorStringified[] = "error";               // 3
+const char asynDisconnectedStringified[] = "disconnected"; // 4
+const char asynDisabledStringified[] = "disabled";         // 5
+const char asynParamAlreadyExistsStringified[] =
+    "parameter already exists";                                     // 6
+const char asynParamNotFoundStringified[] = "parameter not found";  // 7
+const char asynParamWrongTypeStringified[] = "wrong type";          // 8
+const char asynParamBadIndexStringified[] = "bad index";            // 9
+const char asynParamUndefinedStringified[] = "parameter undefined"; // 10
+const char asynParamInvalidListStringified[] = "invalid list";      // 11
+const char inputDidNotMatchAsynStatus[] =
+    "Input did not match any variant of asynStatus";
 
 const char *sinqController::stringifyAsynStatus(asynStatus status) {
     // See
@@ -124,6 +524,9 @@ const char *sinqController::stringifyAsynStatus(asynStatus status) {
     // and
     // https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/paramErrors.h
     // for the definition of the error codes
+    // The pragma is necessary since the param lib error codes are "tacked onto"
+    // the enum, which results in compiler warnings otherwise.
+#pragma GCC diagnostic ignored "-Wswitch"
     switch (status) {
     case asynSuccess:
         return asynSuccessStringified;
@@ -151,93 +554,131 @@ const char *sinqController::stringifyAsynStatus(asynStatus status) {
         return asynParamInvalidListStringified;
     }
 
-    errlogPrintf("%s => line %d:\nReached unreachable code.",
-                 __PRETTY_FUNCTION__, __LINE__);
-    return "unreachable code reached";
+    asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
+              "%s, line %d:\nInput did not match any "
+              "variant of asynStatus.\n",
+              __PRETTY_FUNCTION__, __LINE__);
+
+    return inputDidNotMatchAsynStatus;
 }
 
 // =============================================================================
-// Provide the setters to IOC shell
+// IOC shell functions
 extern "C" {
 
-asynStatus setOffsetMovTimeout(const char *portName, int axisNo,
-                               double offsetMovTimeout) {
+// =============================================================================
+
+/**
+ * @brief Set the threshold for the communication timeout frequency (FFI
+ * implementation)
+ *
+ * @param comTimeoutWindow        Size of the time window used to calculate
+ * the moving average of timeout events. Set this value to 0 to deactivate
+ * the watchdog.
+ * @param maxNumberTimeouts       Maximum number of timeouts which may occur
+ * within the time window before the watchdog is triggered.
+ * @return asynStatus
+ */
+asynStatus setThresholdComTimeout(const char *portName, int comTimeoutWindow,
+                                  int maxNumberTimeouts) {
 
     sinqController *pC;
     pC = (sinqController *)findAsynPortDriver(portName);
     if (pC == nullptr) {
-        errlogPrintf("%s => line %d:\nPort %s not found.", __PRETTY_FUNCTION__,
-                     __LINE__, portName);
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
         return asynError;
     }
 
-    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
-    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
-    if (axis == nullptr) {
-        errlogPrintf("%s => line %d:\nPAxis %d does not exist or is not an "
-                     "instance of sinqAxis.",
-                     __PRETTY_FUNCTION__, __LINE__, portName, axisNo);
+    return pC->setThresholdComTimeout(comTimeoutWindow, maxNumberTimeouts);
+}
+
+static const iocshArg setThresholdComTimeoutArg0 = {"Controller port name",
+                                                    iocshArgString};
+static const iocshArg setThresholdComTimeoutArg1 = {
+    "Time window communication timeout frequency", iocshArgInt};
+static const iocshArg setThresholdComTimeoutArg2 = {
+    "Maximum allowed number of communication timeouts within the window",
+    iocshArgInt};
+static const iocshArg *const setThresholdComTimeoutArgs[] = {
+    &setThresholdComTimeoutArg0, &setThresholdComTimeoutArg1,
+    &setThresholdComTimeoutArg2};
+static const iocshFuncDef setThresholdComTimeoutDef = {
+    "setThresholdComTimeout", 3, setThresholdComTimeoutArgs};
+
+static void setThresholdComTimeoutCallFunc(const iocshArgBuf *args) {
+    setThresholdComTimeout(args[0].sval, args[1].ival, args[2].ival);
+}
+
+// =============================================================================
+
+/**
+ * @brief Set the maximum number of subsequent timeouts (FFI implementation)
+ *
+ * @param comTimeoutWindow        Size of the time window used to calculate
+ * the moving average of timeout events. Set this value to 0 to deactivate
+ * the watchdog.
+ * @param maxNumberTimeouts       Maximum number of timeouts which may occur
+ * within the time window before the watchdog is triggered.
+ * @return asynStatus
+ */
+asynStatus setMaxSubsequentTimeouts(const char *portName,
+                                    int maxSubsequentTimeouts) {
+    void *ptr = findAsynPortDriver(portName);
+    if (ptr == nullptr) {
+        /*
+        We can't use asynPrint here since this macro would require us
+        to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
+        However, the given pointer is a nullptr and therefore doesn't
+        have a lowLevelPortUser_! printf is an EPICS alternative which
+        works w/o that, but doesn't offer the comfort provided
+        by the asynTrace-facility
+        */
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
     }
+    // Unsafe cast of the pointer to an asynPortDriver
+    asynPortDriver *apd = (asynPortDriver *)(ptr);
 
-    return axis->setOffsetMovTimeout(offsetMovTimeout);
-}
-
-static const iocshArg setOffsetMovTimeoutArg0 = {"Controller port name",
-                                                 iocshArgString};
-static const iocshArg setOffsetMovTimeoutArg1 = {"Axis number", iocshArgInt};
-static const iocshArg setOffsetMovTimeoutArg2 = {"Offset timeout for movement",
-                                                 iocshArgDouble};
-static const iocshArg *const setOffsetMovTimeoutArgs[] = {
-    &setOffsetMovTimeoutArg0, &setOffsetMovTimeoutArg1,
-    &setOffsetMovTimeoutArg2};
-static const iocshFuncDef setOffsetMovTimeoutDef = {"setOffsetMovTimeout", 3,
-                                                    setOffsetMovTimeoutArgs};
-
-static void setOffsetMovTimeoutCallFunc(const iocshArgBuf *args) {
-    setOffsetMovTimeout(args[0].sval, args[1].ival, args[1].dval);
-}
-
-// ============================================================================
-
-asynStatus setScaleMovTimeout(const char *portName, int axisNo,
-                              double scaleMovTimeout) {
-
-    sinqController *pC;
-    pC = (sinqController *)findAsynPortDriver(portName);
+    // Safe downcast
+    sinqController *pC = dynamic_cast<sinqController *>(apd);
     if (pC == nullptr) {
-        errlogPrintf("%s => line %d:\nPort %s not found.", __PRETTY_FUNCTION__,
-                     __LINE__, portName);
+        errlogPrintf(
+            "Controller \"%s\" => %s, line %d:\ncontroller on port %s is not a "
+            "turboPmacController.",
+            portName, __PRETTY_FUNCTION__, __LINE__, portName);
         return asynError;
     }
 
-    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
-    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
-    if (axis == nullptr) {
-        errlogPrintf("%s => line %d:\nPAxis %d does not exist or is not an "
-                     "instance of sinqAxis.",
-                     __PRETTY_FUNCTION__, __LINE__, portName, axisNo);
-    }
+    // Set the new value
+    pC->setMaxSubsequentTimeouts(maxSubsequentTimeouts);
 
-    return axis->setScaleMovTimeout(scaleMovTimeout);
+    return asynSuccess;
 }
 
-static const iocshArg setScaleMovTimeoutArg0 = {"Controller port name",
-                                                iocshArgString};
-static const iocshArg setScaleMovTimeoutArg1 = {"Axis number", iocshArgInt};
-static const iocshArg setScaleMovTimeoutArg2 = {
-    "Multiplier for calculated move time", iocshArgDouble};
-static const iocshArg *const setScaleMovTimeoutArgs[] = {
-    &setScaleMovTimeoutArg0, &setScaleMovTimeoutArg1, &setScaleMovTimeoutArg2};
-static const iocshFuncDef setScaleMovTimeoutDef = {"setScaleMovTimeout", 3,
-                                                   setScaleMovTimeoutArgs};
-
-static void setScaleMovTimeoutCallFunc(const iocshArgBuf *args) {
-    setScaleMovTimeout(args[0].sval, args[1].ival, args[1].dval);
+static const iocshArg SetMaxSubsequentTimeoutsArg0 = {
+    "Controller name (e.g. mcu1)", iocshArgString};
+static const iocshArg SetMaxSubsequentTimeoutsArg1 = {
+    "Maximum number of subsequent timeouts before the user receives an error "
+    "message",
+    iocshArgInt};
+static const iocshArg *const SetMaxSubsequentTimeoutsArgs[] = {
+    &SetMaxSubsequentTimeoutsArg0, &SetMaxSubsequentTimeoutsArg1};
+static const iocshFuncDef setMaxSubsequentTimeoutsDef = {
+    "setMaxSubsequentTimeouts", 2, SetMaxSubsequentTimeoutsArgs};
+static void setMaxSubsequentTimeoutsCallFunc(const iocshArgBuf *args) {
+    setMaxSubsequentTimeouts(args[0].sval, args[1].ival);
 }
 
+// =============================================================================
+
+// This function is made known to EPICS in sinqMotor.dbd and is called by EPICS
+// in order to register all functions in the IOC shell
 static void sinqControllerRegister(void) {
-    iocshRegister(&setOffsetMovTimeoutDef, setOffsetMovTimeoutCallFunc);
-    iocshRegister(&setOffsetMovTimeoutDef, setOffsetMovTimeoutCallFunc);
+    iocshRegister(&setThresholdComTimeoutDef, setThresholdComTimeoutCallFunc);
+    iocshRegister(&setMaxSubsequentTimeoutsDef,
+                  setMaxSubsequentTimeoutsCallFunc);
 }
 epicsExportRegistrar(sinqControllerRegister);
 

src/sinqController.h

@@ -1,54 +1,277 @@
 /*
-  This class contains the necessary changes to have an additional text fields
-  for messages with each axis.
+This class extends asynMotorController by some features used in SINQ. See the
+README.md for details.
 
-  Code lifted from Torsten Boegershausens ESS code.
-
-  Mark Koennecke, March 2017
+Stefan Mathis, November 2024
 */
 
-#ifndef __sinqController
-#define __sinqController
+#ifndef sinqController_H
+#define sinqController_H
 #include "asynMotorController.h"
+#include "msgPrintControl.h"
+#include <deque>
+#include <initHooks.h>
+#include <unordered_map>
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
 #define motorMessageTextString "MOTOR_MESSAGE_TEXT"
+#define IncrementalEncoder "incremental"
+#define AbsoluteEncoder "absolute"
+#define NoEncoder "none"
 
 class epicsShareClass sinqController : public asynMotorController {
   public:
+    /**
+   * @brief Construct a new sinqController object
+   *
+   * @param portName              Controller can be found by findAsynPortDriver
+   * with this name
+   * @param ipPortConfigName      IP adress and port configuration of the
+   * controller unit, used to connect via pasynOctetSyncIO->connect
+   * @param numAxes               Pointers to the axes are stored in the array
+   pAxes_ which has the length specified here. When getting an axis, the
+   `getAxis` function indexes into this array. A length of 8 would therefore
+   mean that the axis slots 0 to 7 are available. However, in order to keep the
+   axis enumeration in sync with the electronics counting logic, we start
+   counting the axes with 1 and end at 8. Therefore, an offset of 1 is added
+   when forwarding this number to asynMotorController.
+   * @param movingPollPeriod      Time between polls when moving (in seconds)
+   * @param idlePollPeriod        Time between polls when not moving (in
+   seconds)
+   * @param extraParams           Number of extra parameter library entries
+   * created in a concrete driver implementation
+   */
     sinqController(const char *portName, const char *SINQPortName, int numAxes,
-                   const int &extraParams = 2);
-
-    friend class sinqAxis;
+                   double movingPollPeriod, double idlePollPeriod,
+                   int numExtraParams);
 
     /**
-    If accessing the parameter library failed (return status != asynSuccess),
-    calling this function writes a standardized message to both the IOC shell
-    and the motor message text PV. It then returns the input status.
+     * @brief Destroy the sinqController object
+     *
+     * In general, there is no real memory cleanup strategy in asynMotor,
+     * because objects are expected to be alive for the entire lifetime of the
+     * IOC. We just clean up the allocated axes array here.
+     */
+    virtual ~sinqController(void);
+
+    /**
+     * @brief Overloaded function of asynMotorController
+     *
+     * The function is overloaded to allow enabling / disabling the motor.
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @param value               New value
+     * @return asynStatus
+     */
+    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+
+    /**
+     * @brief Overloaded function of asynMotorController
+     *
+     * The function is overloaded to get readback values for the enabling /
+     * disabling status.
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @param value               Read-out value
+     * @return asynStatus
+     */
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+
+    /**
+     * @brief Error handling in case accessing the parameter library failed.
+     *
+     * If accessing the parameter library failed (return status !=
+    asynSuccess), calling this function writes a standardized message to both
+    the IOC shell and the motor message text PV. It then returns the input
+    status.
+     *
+     * @param status              Status of the failed parameter library access
+     * @param parameter           Name of the parameter, used to create the
+    error messages.
+     * @param functionName        Name of the caller function. It is recommended
+    to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
+     * @param line          Source code line where this function is
+    called. It is recommended to use a macro, e.g. __LINE__.
+     * @return asynStatus         Returns input status.
      */
     asynStatus paramLibAccessFailed(asynStatus status, const char *parameter,
-                                    const char *functionName, int lineNumber);
+                                    int axisNo, const char *functionName,
+                                    int line);
 
     /**
-    This function writes a standardized message to both the IOC shell and
+     * @brief Error handling in case parsing a command response failed.
+     *
+     * This function writes a standardized message to both the IOC shell and
     the motor message text PV in case parsing a response (e.g. via sscanf)
-    failed. It always returns asynError.
+    failed. It always returns asynError. This is convenience feature so the
+    function call can be used as a return value in an error handling branch.
+     *
+     * @param command             Command which led to the unparseable message
+     * @param response            Response which wasn't parseable
+     * @param axisNo_             Axis where the problem occurred
+     * @param functionName        Name of the caller function. It is recommended
+    to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
+     * @param line          Source code line where this function is
+    called. It is recommended to use a macro, e.g. __LINE__.
+     * @return asynStatus         Returns asynError.
      */
     asynStatus errMsgCouldNotParseResponse(const char *command,
-                                           const char *response, int axisNo_,
-                                           const char *functionName,
-                                           int lineNumber);
+                                           const char *response, int axisNo,
+                                           const char *functionName, int line);
 
     /**
-    Convert an asynStatus into a descriptive string. This string can then e.g.
-    be used to create debugging messages.
+     * @brief Convert an asynStatus into a descriptive string.
+     *
+     * @param status              Status which should be converted to a string.
+     * @return const char*
      */
     const char *stringifyAsynStatus(asynStatus status);
 
+    /**
+     * @brief This function should be called when a communication timeout
+    occured. It calculates the frequency of communication timeout events and
+    creates an error message, if an threshold has been exceeded.
+     *
+    Occasionally, communication timeouts between the IOC and the motor
+    controller may happen, usually because the controller takes too long to
+    respond. If this happens infrequently, this is not a problem. However, if it
+    happens very often, this may indicate a network problem and must therefore
+    be forwarded to the user. This is checked by calculating the moving average
+    of events and comparing it to a threshhold. Both the threshold and the time
+    window for the moving average can be configured in the IOC via the function
+    setThresholdCom.
+
+    This function exists in two variants: Either the error message can be
+    written into a buffer provided by the caller or it written directly into the
+    parameter library of the provided axis.
+
+     * @param axis                    Axis to which the error message is sent
+     *
+     * @return asynStatus             asynError, if the threshold has been
+    exceeded, asynSuccess otherwise
+     */
+    virtual asynStatus checkComTimeoutWatchdog(class sinqAxis *axis);
+
+    /**
+     * @brief See documentation of checkComTimeoutWatchdog(sinqAxis * axis)
+     *
+     * @param userMessage             Buffer for the user message
+     * @param userMessageSize         Buffer size in chars
+     * @return asynStatus
+     */
+    virtual asynStatus checkComTimeoutWatchdog(int axisNo, char *motorMessage,
+                                               size_t motorMessageSize);
+
+    /**
+     * @brief Set the threshold for the communication timeout mechanism
+     *
+     * @param comTimeoutWindow        Size of the time window used to calculate
+     * the moving average of timeout events. Set this value to 0 to deactivate
+     * the watchdog.
+     * @param maxNumberTimeouts       Maximum number of timeouts which may occur
+     * within the time window before the watchdog is triggered.
+     * @return asynStatus
+     */
+    virtual asynStatus setThresholdComTimeout(time_t comTimeoutWindow,
+                                              size_t maxNumberTimeouts) {
+        comTimeoutWindow_ = comTimeoutWindow;
+        maxNumberTimeouts_ = maxNumberTimeouts;
+        return asynSuccess;
+    }
+
+    /**
+     * @brief Inform the user, if the number of timeouts exceeds the threshold
+     * specified with setMaxSubsequentTimeouts
+     *
+     * @param timeoutNo             Number of subsequent timeouts which already
+     * happened.
+     * @param axis
+     * @return asynStatus
+     */
+    virtual asynStatus checkMaxSubsequentTimeouts(int timeoutNo,
+                                                  class sinqAxis *axis);
+
+    /**
+     * @brief See documentation of checkMaxSubsequentTimeouts(sinqAxis * axis)
+     *
+     * @param userMessage             Buffer for the user message
+     * @param userMessageSize         Buffer size in chars
+     * @return asynStatus
+     */
+    virtual asynStatus checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
+                                                  char *motorMessage,
+                                                  size_t motorMessageSize);
+
+    /**
+     * @brief Set the maximum number of subsequent timeouts before the user is
+     * informed.
+     *
+     * @param maxSubsequentTimeouts
+     * @return asynStatus
+     */
+    asynStatus setMaxSubsequentTimeouts(int maxSubsequentTimeouts) {
+        maxSubsequentTimeouts_ = maxSubsequentTimeouts;
+        return asynSuccess;
+    }
+
+    /**
+     * @brief Get a reference to the map used to control the maximum number of
+     * message repetitions. See the documentation of printRepetitionWatchdog in
+     * msgPrintControl.h for details.
+     *
+     * @return std::unordered_map<msgPrintControlKey, size_t>&
+     */
+    msgPrintControl &getMsgPrintControl();
+
+    friend class sinqAxis;
+
   protected:
     asynUser *lowLevelPortUser_;
+    double movingPollPeriod_;
+    double idlePollPeriod_;
+    msgPrintControl msgPrintControl_;
+
+    // Internal variables used in the communication timeout frequency watchdog
+    time_t comTimeoutWindow_;  // Size of the time window
+    size_t maxNumberTimeouts_; // Maximum acceptable number of events within the
+                               // time window
+    std::deque<time_t>
+        timeoutEvents_; // Deque holding the timestamps of the individual events
+
+    // Communicate a timeout to the user after it has happened this many times
+    // in a row
+    int maxSubsequentTimeouts_;
+    bool maxSubsequentTimeoutsExceeded_;
+
+#define FIRST_SINQMOTOR_PARAM motorMessageText_
     int motorMessageText_;
-    int motorTargetPosition_;
+    int motorEnable_;
+    int motorEnableRBV_;
+    int motorCanDisable_;
+    int motorEnableMovWatchdog_;
+    int motorCanSetSpeed_;
+    int motorLimitsOffset_;
+    int motorForceStop_;
+    /*
+    These parameters are here to write values from the hardware to the EPICS
+    motor record. Using motorHighLimit_ / motorLowLimit_ does not work:
+    https://epics.anl.gov/tech-talk/2023/msg00576.php. Therefore, some
+    additional records are introduced which read from these parameters and write
+    into the motor record.
+    */
+    int motorVeloFromDriver_;
+    int motorVbasFromDriver_;
+    int motorVmaxFromDriver_;
+    int motorAcclFromDriver_;
+    int motorHighLimitFromDriver_;
+    int motorLowLimitFromDriver_;
+    int encoderType_;
+#define LAST_SINQMOTOR_PARAM encoderType_
+
+  private:
+    static void epicsInithookFunction(initHookState iState);
 };
+#define NUM_SINQMOTOR_DRIVER_PARAMS                                            \
+    (&LAST_SINQMOTOR_PARAM - &FIRST_SINQMOTOR_PARAM + 1)
 
 #endif

src/sinqMotor.dbd

@@ -0,0 +1,5 @@
+#---------------------------------------------
+# SINQ specific DB definitions
+#---------------------------------------------
+registrar(sinqControllerRegister) 
+registrar(sinqAxisRegister)