Renamed "ipPortUser_" to "ipPortAsynOctetSyncIO_"

I learned that there might be multiple asynUsers connected to the same port for different types (asynInt32, asynOctet, ...). Therefore I renamed "ipPortUser_" to better reflect this.
Small detail improvements from code review
2025-04-15 17:15:34 +02:00 · 2025-04-09 16:39:36 +02:00 · 2025-04-04 13:29:49 +02:00 · 2025-03-31 10:42:07 +02:00 · 2025-03-19 15:01:20 +01:00 · 2025-03-10 16:53:45 +01:00
8 changed files with 476 additions and 195 deletions
--- a/README.md
+++ b/README.md
@ -8,7 +8,7 @@ This library offers base classes for EPICS motor drivers (`sinqAxis` and `sinqCo

 ### Architecture of EPICS motor drivers at SINQ

-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 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 a framework extension 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`
@ -36,17 +36,17 @@ epicsEnvSet("TOP","/ioc/sinq-ioc/sinqtest-ioc/")
 epicsEnvSet("INSTR","SQ:SINQTEST:")

 # Include other scripts for the controllers 1 and 2
-< mcu1.cmd 
-< mcu2.cmd 
+< turboPmac1.cmd 
+< turboPmac2.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.
+The script for controller 1 ("turboPmac1.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("NAME","turboPmac1")
 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
@ -60,7 +60,7 @@ drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
 # 1: Socket communication timeout in seconds
 turboPmacController("$(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!
+# Define some axes for the specified motor controller at the given slot (1, 2 and 5). No slot may be used twice!
 turboPmacAxis("$(NAME)",1);
 turboPmacAxis("$(NAME)",2);
 turboPmacAxis("$(NAME)",5);
@ -68,10 +68,10 @@ turboPmacAxis("$(NAME)",5);
 # Set the number of subsequent timeouts 
 setMaxSubsequentTimeouts("$(NAME)", 20);

-# Configure the timeout frequency watchdog:
-setThresholdComTimeout("$(NAME)", 100, 1);
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
+setThresholdComTimeout("$(NAME)", 300, 10);

-# Parametrize the EPICS record database with the substitution file named after the MCU.
+# Parametrize the EPICS record database with the substitution file named after the motor controller.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
 dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
 epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
@ -106,14 +106,14 @@ The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTempl

 #### 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.
+- `DESC`: Description of the motor. This field is just for documentation and is not needed for operating a motor. Defaults to the motor name.
+- `MSGTEXTSIZE`: Buffer size for the motor message record in characters. Defaults to 200 characters
+- `ENABLEMOVWATCHDOG`: Sets `setWatchdogEnabled` during IOC startup to the given value. Defaults to 0.
 - `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.
+are [-10.0 10.0], the EPICS limits are set to [-9.0 9.0]. This parameter uses engineering units (EGU). Defaults to 0.0.
+- `CANSETSPEED`: If set to 1, the motor speed can be modified by the user. Defaults to 0.

 ### Motor record resolution MRES

@ -162,7 +162,7 @@ transferred to (motor_record_pv_name).MRES or to
 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.
+- `couldNotParseResponse`: 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.
 - `checkComTimeoutWatchdog`: Calculates the timeout frequency (number of timeouts in a given time) and informs the user if a specified limit has been exceeded.
@ -171,7 +171,11 @@ sinqMotor offers a variety of additional methods for children classes to standar
 - `setMaxSubsequentTimeouts`: Set the limit for the number of subsequent timeouts before the user is informed.

 #### 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.
+- `enable`: This function is called if the `$(INSTR)$(M):Enable` PV from db/sinqMotor.db is set. 
+This is an empty function which should be overwritten by concrete driver implementations.
+- `reset`: This function is called when the `$(INSTR)$(M):Reset` PV from db/sinqMotor.db is set. 
+It calls `doReset` and performs some fast polls after `doReset` returns.
+- `doReset`: 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.
@ -187,7 +191,8 @@ sinqMotor offers a variety of additional methods for children classes to standar
  - 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.
+- `motorPosition`: Returns the parameter library value of the motor position, accounted for the motor record resolution (see section "Motor record resolution MRES")
+- `setMotorPosition`: Writes the given value into the parameter library, accounted for the motor record resolution (see section "Motor record resolution MRES")
 - `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.
--- a/db/sinqMotor.db
+++ b/db/sinqMotor.db
@ -41,11 +41,27 @@ record(motor,"$(INSTR)$(M)")
    field(RMOD,"3") # Retry mode 3 ("In-Position"): This suppresses any retries from the motor record.
 }

+# This PV reads out the 10th bit of the MSTA field of the motor record, which
+# is the "motorStatusProblem_" bit.
+record(calc, "$(INSTR)$(M):StatusProblem")
+{
+    field(INPA,  "$(INSTR)$(M).MSTA CP")
+    field(CALC, "A >> 9")
+}
+
+# Call the reset function of the corresponding sinqAxis
+# This record is coupled to the parameter library via motorReset_ -> MOTOR_RESET.
+record(longout, "$(INSTR)$(M):Reset") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_RESET")
+    field(PINI, "NO")
+}
+
 # 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")
+record(longin, "$(INSTR)$(M):StopRBV")
 {
    field(DTYP, "asynInt32")
    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_FORCE_STOP")
@ -53,7 +69,7 @@ record(longin, "$(INSTR)$(M):STOP_RBV")
    field(FLNK, "$(INSTR)$(M):Stop2Field")
 }
 record(longout, "$(INSTR)$(M):Stop2Field") {
-    field(DOL,  "$(INSTR)$(M):STOP_RBV CP")
+    field(DOL,  "$(INSTR)$(M):StopRBV NPP")
    field(OUT,  "$(INSTR)$(M).STOP")
    field(OMSL, "closed_loop")
 }
@ -64,7 +80,7 @@ record(longout, "$(INSTR)$(M):Stop2Field") {
 # for calculating the estimated time of arrival inside the watchdog).
 record(ao,"$(INSTR)$(M):RecResolution") {
    field(DESC, "$(M) resolution")
-    field(DOL,  "$(INSTR)$(M).MRES CP MS")
+    field(DOL,  "$(INSTR)$(M).MRES CP")
    field(OMSL, "closed_loop")
    field(DTYP, "asynFloat64")
    field(OUT,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_REC_RESOLUTION")
@ -157,12 +173,13 @@ record(ao, "$(INSTR)$(M):LimitsOffset") {
 record(ai, "$(INSTR)$(M):DHLM_RBV")
 {
    field(DTYP, "asynFloat64")
+    field(VAL, "$(DHLM=0)")
    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(DOL,  "$(INSTR)$(M):DHLM_RBV NPP")
    field(OUT,  "$(INSTR)$(M).DHLM")
    field(OMSL, "closed_loop")
 }
@ -175,12 +192,13 @@ record(ao, "$(INSTR)$(M):PushDHLM2Field") {
 record(ai, "$(INSTR)$(M):DLLM_RBV")
 {
    field(DTYP, "asynFloat64")
+    field(VAL, "$(DLLM=0)")
    field(INP,  "@asyn($(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)$(M):DLLM_RBV CP")
+    field(DOL,  "$(INSTR)$(M):DLLM_RBV NPP")
    field(OUT,  "$(INSTR)$(M).DLLM")
    field(OMSL, "closed_loop")
 }
@ -198,7 +216,7 @@ record(ai, "$(INSTR)$(M):VELO_RBV")
    field(FLNK, "$(INSTR)$(M):PushVELO2Field")
 }
 record(ao, "$(INSTR)$(M):PushVELO2Field") {
-    field(DOL,  "$(INSTR)$(M):VELO_RBV CP")
+    field(DOL,  "$(INSTR)$(M):VELO_RBV NPP")
    field(OUT,  "$(INSTR)$(M).VELO")
    field(OMSL, "closed_loop")
 }
@ -216,7 +234,7 @@ record(ai, "$(INSTR)$(M):VBAS_RBV")
    field(FLNK, "$(INSTR)$(M):PushVBAS2Field")
 }
 record(ao, "$(INSTR)$(M):PushVBAS2Field") {
-    field(DOL,  "$(INSTR)$(M):VBAS_RBV CP")
+    field(DOL,  "$(INSTR)$(M):VBAS_RBV NPP")
    field(OUT,  "$(INSTR)$(M).VBAS")
    field(OMSL, "closed_loop")
 }
@ -234,7 +252,7 @@ record(ai, "$(INSTR)$(M):VMAX_RBV")
    field(FLNK, "$(INSTR)$(M):PushVMAX2Field")
 }
 record(ao, "$(INSTR)$(M):PushVMAX2Field") {
-    field(DOL,  "$(INSTR)$(M):VMAX_RBV CP")
+    field(DOL,  "$(INSTR)$(M):VMAX_RBV NPP")
    field(OUT,  "$(INSTR)$(M).VMAX")
    field(OMSL, "closed_loop")
 }
@ -252,7 +270,7 @@ record(ai, "$(INSTR)$(M):ACCL_RBV")
    field(FLNK, "$(INSTR)$(M):PushACCL2Field")
 }
 record(ao, "$(INSTR)$(M):PushACCL2Field") {
-    field(DOL,  "$(INSTR)$(M):ACCL_RBV CP")
+    field(DOL,  "$(INSTR)$(M):ACCL_RBV NPP")
    field(OUT,  "$(INSTR)$(M).ACCL")
    field(OMSL, "closed_loop")
 }
@ -270,4 +288,4 @@ record(waveform, "$(INSTR)$(M):EncoderType") {
    field(FTVL, "CHAR")
    field(NELM, "80")
    field(SCAN, "I/O Intr")
-}
+}
--- a/src/msgPrintControl.cpp
+++ b/src/msgPrintControl.cpp
@ -69,13 +69,16 @@ bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
         */
        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);
+                if (pasynUser != nullptr) {
+                    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;
            }
        }
@ -91,9 +94,20 @@ bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
    return shouldBePrinted(key, wantToPrint, pasynUser);
 }

-void msgPrintControl::resetCount(msgPrintControlKey &key) {
+void msgPrintControl::resetCount(msgPrintControlKey &key, asynUser *pasynUser) {
    if (map_.find(key) != map_.end()) {
-        map_[key] = 0;
+        if (map_[key] != 0) {
+            if (pasynUser != nullptr) {
+                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;
+        }
    }
 }

--- a/src/msgPrintControl.h
+++ b/src/msgPrintControl.h
@ -14,8 +14,10 @@
 class msgPrintControlKey {
  public:
    std::string controller_;
-    // -1 is a non-axis specific message
+
+    // -1 indicates a non-axis specific message
    int axisNo_;
+
    const char *functionName_;
    int line_;

@ -32,7 +34,7 @@ class msgPrintControlKey {
 };

 /**
- * @brief Implementation of the hash functionality for msgPrintControlKey
+ * @brief Implementation of the hash functionality for `msgPrintControlKey`
 *
 */
 namespace std {
@ -57,7 +59,7 @@ template <> struct hash<msgPrintControlKey> {
 * 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
+ * uniquely identified by `msgPrintControlKey`. The function `shouldBePrinted`
 * can be used in order to see if a message should be printed or not:
 *
 * ```
@ -67,7 +69,6 @@ template <> struct hash<msgPrintControlKey> {
 * if (msgPrintControl.shouldBePrinted(controller, axisNo, __PRETTY_FUNCTION__,
 * __LINE__, wantToPrint)) { asynPrint(...)
 * }
- *
 * ```
 */
 class msgPrintControl {
@ -76,23 +77,26 @@ class msgPrintControl {

    /**
     * @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.
+     * more than `this->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
+     * 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
+     * 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.
+     * @param pasynUser         If the problem has been resolved (wantToPrint =
+     * false), a corresponding status message is printed using the given
+     * asynUser. If this pointer is a nullptr, no message is printed.
     * @return bool             If true, the message should be printed, if
     * false, it should not.
     */
@ -108,13 +112,22 @@ class msgPrintControl {
     * @param fileName
     * @param line
     * @param wantToPrint
-     * @return true
-     * @return false
+     * @param pasynUser
     */
    bool shouldBePrinted(char *controller, int axisNo, const char *functionName,
                         int line, bool wantToPrint, asynUser *pasynUser);

-    void resetCount(msgPrintControlKey &key);
+    /**
+     * @brief Reset the error message count incremented in `shouldBePrinted` for
+     * the given key
+     *
+     * @param key               Key associated with the message, used to
+     * identify individual messages
+     * @param pasynUser         If the problem has been resolved (`wantToPrint =
+     * false`), a corresponding status message is printed using the given
+     * asynUser. If this pointer is a nullptr, no message is printed.
+     */
+    void resetCount(msgPrintControlKey &key, asynUser *pasynUser);

    /**
     * @brief Maximum number of times a message is printed before it is
@ -127,7 +140,7 @@ class msgPrintControl {

  private:
    std::unordered_map<msgPrintControlKey, size_t> map_;
-    char suffix_[200] = {0};
+    char suffix_[300] = {0};
 };

 #endif
--- a/src/sinqAxis.cpp
+++ b/src/sinqAxis.cpp
@ -15,10 +15,23 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
    offsetMovTimeout_ = 30;
    targetPosition_ = 0.0;

+    // This check is also done in asynMotorAxis, but there the IOC continues
+    // running even though the configuration is incorrect. When failing this
+    // check, the IOC is stopped, since this is definitely a configuration
+    // problem.
+    if ((axisNo < 0) || (axisNo >= pC->numAxes())) {
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(axis index %d is not in range 0 to %d)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo,
+                  pC->numAxes() - 1);
+        exit(-1);
+    }
+
    // Motor is assumed to be enabled
-    status = setIntegerParam(pC_->motorEnableRBV_, 1);
+    status = setIntegerParam(pC_->motorEnableRBV(), 1);
    if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                  "(setting a parameter value failed "
                  "with %s)\n. Terminating IOC",
@ -28,9 +41,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
    }

    // By default, motors cannot be disabled
-    status = setIntegerParam(pC_->motorCanDisable_, 0);
+    status = setIntegerParam(pC_->motorCanDisable(), 0);
    if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                  "(setting a parameter value failed "
                  "with %s)\n. Terminating IOC",
@ -40,9 +53,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
    }

    // Provide a default value for the motor position.
-    status = setDoubleParam(pC_->motorPosition_, 0.0);
+    status = setDoubleParam(pC_->motorPosition(), 0.0);
    if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                  "(setting a parameter value failed "
                  "with %s)\n. Terminating IOC",
@ -52,9 +65,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
    }

    // We assume that the motor has no status problems initially
-    status = setIntegerParam(pC_->motorStatusProblem_, 0);
+    status = setIntegerParam(pC_->motorStatusProblem(), 0);
    if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                  "(setting a parameter value failed "
                  "with %s)\n. Terminating IOC",
@ -64,9 +77,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
    }

    // Set the homing-related flags
-    status = setIntegerParam(pC_->motorStatusHome_, 0);
+    status = setIntegerParam(pC_->motorStatusHome(), 0);
    if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                  "(setting a parameter value failed "
                  "with %s)\n. Terminating IOC",
@ -74,9 +87,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
                  pC_->stringifyAsynStatus(status));
        exit(-1);
    }
-    status = setIntegerParam(pC_->motorStatusHomed_, 0);
+    status = setIntegerParam(pC_->motorStatusHomed(), 0);
    if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                  "(setting a parameter value failed "
                  "with %s)\n. Terminating IOC",
@ -84,9 +97,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
                  pC_->stringifyAsynStatus(status));
        exit(-1);
    }
-    status = setIntegerParam(pC_->motorStatusAtHome_, 0);
+    status = setIntegerParam(pC_->motorStatusAtHome(), 0);
    if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                  "(setting a parameter value failed "
                  "with %s)\n. Terminating IOC",
@ -110,17 +123,17 @@ asynStatus sinqAxis::poll(bool *moving) {

    The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
    */
-    pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
+    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);
+    pl_status = setIntegerParam(pC_->motorStatusCommsError(), false);
    if (pl_status != asynSuccess) {
        pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_", axisNo_,
                                  __PRETTY_FUNCTION__, __LINE__);
    }
-    pl_status = setStringParam(pC_->motorMessageText_, "");
+    pl_status = setStringParam(pC_->motorMessageText(), "");
    if (pl_status != asynSuccess) {
        return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                         axisNo_, __PRETTY_FUNCTION__,
@ -136,20 +149,20 @@ asynStatus sinqAxis::poll(bool *moving) {
    // 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);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
        if (pl_status != asynSuccess) {
            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
                                      __PRETTY_FUNCTION__, __LINE__);
        }
    }

-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusHomed_, &homed);
+    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);
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusHome(), &homing);
    if (pl_status != asynSuccess) {
        return pC_->paramLibAccessFailed(pl_status, "motorStatusHome_", axisNo_,
                                         __PRETTY_FUNCTION__, __LINE__);
@ -158,19 +171,19 @@ asynStatus sinqAxis::poll(bool *moving) {
    if (homing == 1 && !(*moving)) {

        // Set the homing-related flags
-        pl_status = setIntegerParam(pC_->motorStatusHome_, 0);
+        pl_status = setIntegerParam(pC_->motorStatusHome(), 0);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorStatusHome_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
-        pl_status = setIntegerParam(pC_->motorStatusHomed_, 1);
+        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);
+        pl_status = setIntegerParam(pC_->motorStatusAtHome(), 1);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorStatusAtHome_",
                                             axisNo_, __PRETTY_FUNCTION__,
@ -187,15 +200,15 @@ asynStatus sinqAxis::poll(bool *moving) {
    // function should be called at the end of a poll implementation.
    pl_status = callParamCallbacks();
    bool wantToPrint = pl_status != asynSuccess;
-    if (pC_->msgPrintControl_.shouldBePrinted(
+    if (pC_->getMsgPrintControl().shouldBePrinted(
            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, wantToPrint,
-            pC_->pasynUserSelf)) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf())) {
+        asynPrint(pC_->asynUserSelf(), 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());
+                  pC_->getMsgPrintControl().getSuffix());
    }
    if (wantToPrint) {
        poll_status = pl_status;
@ -216,19 +229,19 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
    // =========================================================================

    // When a new move is done, the motor is not homed anymore
-    pl_status = setIntegerParam(pC_->motorStatusHomed_, 0);
+    pl_status = setIntegerParam(pC_->motorStatusHomed(), 0);
    if (pl_status != asynSuccess) {
        return pC_->paramLibAccessFailed(pl_status, "motorStatusHomed_",
                                         axisNo_, __PRETTY_FUNCTION__,
                                         __LINE__);
    }
-    pl_status = setIntegerParam(pC_->motorStatusAtHome_, 0);
+    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_,
+    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
                                    &motorRecResolution);
    if (pl_status != asynSuccess) {
        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@ -256,7 +269,7 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,

    if (status == asynSuccess) {

-        status = setStringParam(pC_->motorMessageText_, "Homing");
+        status = setStringParam(pC_->motorMessageText(), "Homing");
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
@ -264,19 +277,20 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
        }

        // Set the homing-related flags
-        status = setIntegerParam(pC_->motorStatusHome_, 1);
+        status = setIntegerParam(pC_->motorStatusHome(), 1);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorStatusHome_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
-        status = setIntegerParam(pC_->motorStatusHomed_, 0);
+        // Set field ATHM to zero
+        status = setIntegerParam(pC_->motorStatusHomed(), 0);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorStatusHomed_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
-        status = setIntegerParam(pC_->motorStatusAtHome_, 0);
+        status = setIntegerParam(pC_->motorStatusAtHome(), 0);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorStatusAtHome_",
                                             axisNo_, __PRETTY_FUNCTION__,
@ -288,7 +302,7 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,

    } else if (status == asynError) {
        // asynError means that we tried to home an absolute encoder
-        status = setStringParam(pC_->motorMessageText_,
+        status = setStringParam(pC_->motorMessageText(),
                                "Can't home a motor with absolute encoder");
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
@ -309,15 +323,80 @@ asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
    return asynSuccess;
 }

+asynStatus sinqAxis::reset() {
+    asynStatus status = doReset();
+    if (status == asynSuccess) {
+        // Perform some fast polls
+        pC_->lock();
+        bool moving = false;
+        for (int i = 0; i < 5; i++) {
+            epicsThreadSleep(pC_->movingPollPeriod());
+            if (poll(&moving) == asynSuccess) {
+                break;
+            }
+        }
+        pC_->unlock();
+    }
+    return status;
+}
+
+asynStatus sinqAxis::doReset() { return asynError; }
+
 asynStatus sinqAxis::enable(bool on) { return asynSuccess; }

+asynStatus sinqAxis::motorPosition(double *motorPosition) {
+    asynStatus status = asynSuccess;
+    double motorRecResolution = 0.0;
+
+    status = pC_->getDoubleParam(axisNo(), pC_->motorRecResolution(),
+                                 &motorRecResolution);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorRecResolution_",
+                                         axisNo(), __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+
+    status = pC_->getDoubleParam(axisNo(), pC_->motorPosition(), motorPosition);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo(),
+                                         __PRETTY_FUNCTION__,
+
+                                         __LINE__);
+    }
+    *motorPosition = *motorPosition * motorRecResolution;
+    return status;
+}
+
+asynStatus sinqAxis::setMotorPosition(double motorPosition) {
+    asynStatus status = asynSuccess;
+    double motorRecResolution = 0.0;
+
+    status = pC_->getDoubleParam(axisNo(), pC_->motorRecResolution(),
+                                 &motorRecResolution);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorRecResolution_",
+                                         axisNo(), __PRETTY_FUNCTION__,
+                                         __LINE__);
+    }
+
+    status = setDoubleParam(pC_->motorPosition(),
+                            motorPosition / motorRecResolution);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo(),
+                                         __PRETTY_FUNCTION__,
+
+                                         __LINE__);
+    }
+    return status;
+}
+
 asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
    asynStatus status = asynSuccess;
    int variableSpeed = 0;

    // Can the speed of the motor be varied?
    status =
-        pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed);
+        pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed(), &variableSpeed);
    if (status != asynSuccess) {
        return pC_->paramLibAccessFailed(status, "motorCanSetSpeed_", axisNo_,
                                         __PRETTY_FUNCTION__, __LINE__);
@ -326,7 +405,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {

        // Check the inputs and create corresponding error messages
        if (vbas > vmax) {
-            asynPrint(pC_->lowLevelPortUser_, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), 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",
@ -334,7 +413,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                      vbas, vmax);

            status = setStringParam(
-                pC_->motorMessageText_,
+                pC_->motorMessageText(),
                "Lower speed limit must not be smaller than upper speed limit");
            if (status != asynSuccess) {
                return pC_->paramLibAccessFailed(status, "motorMessageText_",
@ -344,14 +423,14 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
            return asynError;
        }
        if (velo < vbas || velo > vmax) {
-            asynPrint(pC_->lowLevelPortUser_, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), 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_,
+            status = setStringParam(pC_->motorMessageText(),
                                    "Speed is not inside limits");
            if (status != asynSuccess) {
                return pC_->paramLibAccessFailed(status, "motorMessageText_",
@ -361,21 +440,21 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
            return asynError;
        }

-        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, vbas);
+        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);
+        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);
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver(), vmax);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
                                             axisNo_, __PRETTY_FUNCTION__,
@ -383,21 +462,21 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
        }
    } else {
        // Set minimum and maximum speed equal to the set speed
-        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, velo);
+        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);
+        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);
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver(), velo);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
                                             axisNo_, __PRETTY_FUNCTION__,
@ -413,7 +492,7 @@ asynStatus sinqAxis::setAcclField(double accl) {
        return asynError;
    }

-    asynStatus status = setDoubleParam(pC_->motorAcclFromDriver_, accl);
+    asynStatus status = setDoubleParam(pC_->motorAcclFromDriver(), accl);
    if (status != asynSuccess) {
        return pC_->paramLibAccessFailed(status, "motorAcclFromDriver_",
                                         axisNo_, __PRETTY_FUNCTION__,
@ -423,14 +502,14 @@ asynStatus sinqAxis::setAcclField(double accl) {
 }

 asynStatus sinqAxis::setWatchdogEnabled(bool enable) {
-    return setIntegerParam(pC_->motorEnableMovWatchdog_, enable);
+    return setIntegerParam(pC_->motorEnableMovWatchdog(), enable);
 }

 asynStatus sinqAxis::startMovTimeoutWatchdog() {
    asynStatus pl_status;
    int enableMovWatchdog = 0;

-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog_,
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog(),
                                     &enableMovWatchdog);
    if (pl_status != asynSuccess) {
        return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
@ -440,8 +519,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {

    if (enableMovWatchdog == 1) {
        // These parameters are only needed in this branch
-        double motorPosition = 0.0;
-        double motorPositionRec = 0.0;
+        double motorPos = 0.0;
        double motorVelocity = 0.0;
        double motorVelocityRec = 0.0;
        double motorAccel = 0.0;
@ -458,24 +536,11 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
        to save the read result to the member variable earlier), since the
        parameter library is updated at a later stage!
        */
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
-                                        &motorRecResolution);
+        pl_status = motorPosition(&motorPos);
        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
+            return pl_status;
        }

-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorPosition_,
-                                        &motorPositionRec);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorPosition",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        motorPosition = motorPositionRec * motorRecResolution;
-
        /*
        We use motorVelocity, which corresponds to the record field VELO.
        From https://epics.anl.gov/docs/APS2015/14-Motor-Record.pdf:
@ -488,9 +553,16 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
        = VELO / MRES motorAccel = (motorVelocity - motorVelBase) / ACCL
        Therefore, we need to correct the values from the parameter library.
         */
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
+                                        &motorRecResolution);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }

        // Read the velocity
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorVelocity_,
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorVelocity(),
                                        &motorVelocityRec);

        // Only calculate timeContSpeed if the motorVelocity has been populated
@ -501,12 +573,12 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
            if (pl_status == asynSuccess) {

                timeContSpeed = std::ceil(
-                    std::fabs(targetPosition_ - motorPosition) / motorVelocity);
+                    std::fabs(targetPosition_ - motorPos) / motorVelocity);
            }
        }

        pl_status =
-            pC_->getDoubleParam(axisNo_, pC_->motorAccel_, &motorAccelRec);
+            pC_->getDoubleParam(axisNo_, pC_->motorAccel(), &motorAccelRec);
        if (pl_status == asynSuccess && motorVelocityRec > 0.0 &&
            motorAccelRec > 0.0) {

@ -531,7 +603,7 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
    asynStatus pl_status;
    int enableMovWatchdog = 0;

-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog_,
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog(),
                                     &enableMovWatchdog);
    if (pl_status != asynSuccess) {
        return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
@ -548,14 +620,14 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
    // Check if the expected time of arrival has been exceeded.
    if (expectedArrivalTime_ < time(NULL)) {
        // Check the watchdog
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                  "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_,
+            pC_->motorMessageText(),
            "Exceeded expected arrival time. Check if the axis is blocked.");
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@ -563,7 +635,7 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
                                             __LINE__);
        }

-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
        if (pl_status != asynSuccess) {
            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
                                      __PRETTY_FUNCTION__, __LINE__);
@ -590,8 +662,7 @@ extern "C" {
 */
 asynStatus setWatchdogEnabled(const char *portName, int axisNo, int enable) {

-    sinqController *pC;
-    pC = (sinqController *)findAsynPortDriver(portName);
+    sinqController *pC = (sinqController *)findAsynPortDriver(portName);
    if (pC == nullptr) {
        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
@ -697,9 +768,9 @@ asynStatus setScaleMovTimeout(const char *portName, int 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.",
+                     "exist or is not an instance of sinqAxis.",
                     portName, __PRETTY_FUNCTION__, __LINE__, axisNo);
+        return asynError;
    }

    return axis->setScaleMovTimeout(scaleMovTimeout);
--- a/src/sinqAxis.h
+++ b/src/sinqAxis.h
@ -19,15 +19,12 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
    sinqAxis(class sinqController *pC_, int axisNo);

    /**
-     * @brief Perform some standardized operation before and after the concrete
+     * @brief Perform some standardized operations before and after the concrete
    `doPoll` implementation.
     *
-     * Wrapper around doPoll which performs the following operations:
-    Before calling doPoll:
+     * Wrapper around `doPoll` which performs the following operations:

-    - Try to execute atFirstPoll once (and retry, if that failed)
-
-    After calling doPoll:
+    - Call the `doPoll` method

    - Reset motorStatusProblem_, motorStatusCommsError_ and motorMessageText_ if
    doPoll returned asynSuccess
@ -45,8 +42,8 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     *
     * @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).
+    the parameter library operation fails (in that case, returns the status of
+    the failed operation.
     */
    asynStatus poll(bool *moving);

@ -61,11 +58,12 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
    virtual asynStatus doPoll(bool *moving);

    /**
-     * @brief Perform some standardized operation before and after the concrete
+     * @brief Perform some standardized operations 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
+    and stores it in the member variable `targetPosition_`. This member variable
+    is e.g. used for the movement watchdog. Afterwards, it calls and returns
    `doMove`.
     *
     * @param position            Forwarded to `doMove`.
@ -160,10 +158,33 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
    virtual asynStatus doHome(double minVelocity, double maxVelocity,
                              double acceleration, int forwards);

+    /**
+     * @brief This function is called when the PV "$(INSTR)$(M):Reset" is set to
+     * any value. It calls `doReset` (which ought to be implemented by a child
+     * class) and then performs da defined number of consecutive fast polls. If
+     * one of the polls returns asynSuccess, it returns immediately.
+     *
+     * @return asynStatus
+     */
+    asynStatus reset();
+
+    /**
+     * @brief Implementation of the "proper", device-specific `reset` method.
+     This method should be implemented by a child class of sinqAxis. If the
+     motor cannot be reset, this function should return asynError.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus doReset();
+
    /**
     * @brief This function enables / disables an axis. It should be implemented
     * by a child class of sinqAxis.
     *
+     * The concrete implementation should (but doesn't need to) follow the
+     * convention that a value of 0 disables the axis and any other value
+     * enables it.
+     *
     * @param on
     * @return asynStatus
     */
@ -175,7 +196,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     * 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.
+     * 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).
@ -230,15 +251,15 @@ class epicsShareClass sinqAxis : public asynMotorAxis {

    with

-    timeContSpeed = abs(motorTargetPosition - motorPosition) / motorVelBase
+    timeContSpeed = abs(targetPosition - motorPosition) / motorVelBase
    timeAcc = motorVelBase / motorAccel

-    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 infinite. This means that
-    timeContSpeed and/or timeAcc are set to zero. motorTargetPosition is
-    populated automatically when using the doMove function.
+    The values 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 infinite. This means that timeContSpeed and/or timeAcc are
+    set to zero. targetPosition 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,
@ -267,7 +288,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     * @brief Set the offsetMovTimeout. Also available in the IOC shell
     * (see "extern C" section in sinqController.cpp).
     *
-    See documentation of `checkMovTimeoutWatchdog` for details.
+     * See documentation of `checkMovTimeoutWatchdog` for details.
     *
     * @param offsetMovTimeout    Offset (in seconds)
     * @return asynStatus
@ -291,7 +312,40 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
        return asynSuccess;
    }

-    friend class sinqController;
+    /**
+     * @brief Return the axis number of this axis
+     *
+     * @return int
+     */
+    int axisNo() { return axisNo_; }
+
+    /**
+     * @brief Read the motor position from the paramLib, adjusted for the
+     * motorRecResolution
+     *
+     * The motorPosition value in the paramLib is the encoder position
+     * divided by the motorRecResolution (see README.md). This function
+     * fetches the paramLib value and multiplies it with motorRecResolution
+     * (also fetched from the paramLib).
+     *
+     * @param motorPositon
+     * @return asynStatus
+     */
+    asynStatus motorPosition(double *motorPositon);
+
+    /**
+     * @brief Write the motor position in the paramLib, adjusted for the
+     * motorRecResolution
+     *
+     * The motorPosition value in the paramLib is the encoder position
+     * divided by the motorRecResolution (see README.md). This function takes
+     * the input value and divides it with motorRecResolution (fetched from
+     * the paramLib).
+     *
+     * @param motorPosition
+     * @return asynStatus
+     */
+    asynStatus setMotorPosition(double motorPosition);

  protected:
    // Internal variables used in the movement timeout watchdog
--- a/src/sinqController.cpp
+++ b/src/sinqController.cpp
@ -51,12 +51,19 @@ sinqController::sinqController(const char *portName,
      msgPrintControl_(4) {

    asynStatus status = asynSuccess;
-    lowLevelPortUser_ = nullptr;
+
+    // Handle to the asynUser of the IP port asyn driver
+    ipPortAsynOctetSyncIO_ = nullptr;

    // Initial values for the average timeout mechanism, can be overwritten
    // later by a FFI function
-    comTimeoutWindow_ = 3600;
+    comTimeoutWindow_ = 3600; // seconds
+
+    // Number of timeouts which may occur before an error is forwarded to the
+    // user
    maxNumberTimeouts_ = 60;
+
+    // Queue holding the timeout event timestamps
    timeoutEvents_ = {};

    // Inform the user after 10 timeouts in a row (default value)
@ -74,8 +81,9 @@ sinqController::sinqController(const char *portName,
    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) {
+    pasynOctetSyncIO->connect(ipPortConfigName, 0, &ipPortAsynOctetSyncIO_,
+                              NULL);
+    if (status != asynSuccess || ipPortAsynOctetSyncIO_ == nullptr) {
        errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
                     "connect to MCU controller).\n"
                     "Terminating IOC",
@ -109,6 +117,16 @@ sinqController::sinqController(const char *portName,
        exit(-1);
    }

+    status = createParam("MOTOR_RESET", asynParamInt32, &motorReset_);
+    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_RBV", asynParamInt32, &motorEnableRBV_);
    if (status != asynSuccess) {
        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@ -264,9 +282,15 @@ sinqController::sinqController(const char *portName,
 }

 sinqController::~sinqController(void) {
-    /*
-    Cleanup of the memory allocated in the asynMotorController constructor
-    */
+
+    // Free all axes
+    for (int axisNo = 0; axisNo < numAxes_; axisNo++) {
+        if (pAxes_[axisNo] != nullptr) {
+            delete pAxes_[axisNo];
+        }
+    }
+
+    // Cleanup of the array allocated in the asynMotorController constructor
    free(this->pAxes_);
 }

@ -286,13 +310,15 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
        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__);
+                  portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
        return asynError;
    }

    // Handle custom PVs
    if (function == motorEnable_) {
        return axis->enable(value != 0);
+    } else if (function == motorReset_) {
+        return axis->reset();
    } else if (function == motorForceStop_) {
        return axis->stop(0.0);
    } else {
@ -302,7 +328,7 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {

 asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {

-    // Casting into a sinqAxis is necessary to get access to the field axisNo_
+    // Casting into a sinqAxis is necessary to get access to the field axisNo()
    asynMotorAxis *asynAxis = getAxis(pasynUser);
    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);

@ -310,27 +336,27 @@ asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
        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__);
+                  portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
        return asynError;
    }

    if (pasynUser->reason == motorEnableRBV_) {
-        return getIntegerParam(axis->axisNo_, motorEnableRBV_, value);
+        return getIntegerParam(axis->axisNo(), motorEnableRBV_, value);
    } else if (pasynUser->reason == motorCanDisable_) {
-        return getIntegerParam(axis->axisNo_, motorCanDisable_, value);
+        return getIntegerParam(axis->axisNo(), motorCanDisable_, value);
    } else {
        return asynMotorController::readInt32(pasynUser, value);
    }
 }

-asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
-                                                       const char *response,
-                                                       int axisNo,
-                                                       const char *functionName,
-                                                       int line) {
+asynStatus sinqController::couldNotParseResponse(const char *command,
+                                                 const char *response,
+                                                 int axisNo,
+                                                 const char *functionName,
+                                                 int line) {
    asynStatus pl_status = asynSuccess;

-    asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+    asynPrint(ipPortAsynOctetSyncIO_, 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);
@ -359,7 +385,7 @@ asynStatus sinqController::paramLibAccessFailed(asynStatus status,
                                                int line) {

    if (status != asynSuccess) {
-        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+        asynPrint(ipPortAsynOctetSyncIO_, ASYN_TRACE_ERROR,
                  "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,
@ -434,12 +460,12 @@ asynStatus sinqController::checkComTimeoutWatchdog(sinqAxis *axis) {
    char motorMessage[200] = {0};

    asynStatus status =
-        checkComTimeoutWatchdog(axis->axisNo_, motorMessage, 200);
+        checkComTimeoutWatchdog(axis->axisNo(), motorMessage, 200);
    if (status == asynError) {
        status = axis->setStringParam(motorMessageText_, motorMessage);
        if (status != asynSuccess) {
            return paramLibAccessFailed(status, "motorMessageText_",
-                                        axis->axisNo_, __PRETTY_FUNCTION__,
+                                        axis->axisNo(), __PRETTY_FUNCTION__,
                                        __LINE__);
        }
    }
@ -486,13 +512,13 @@ asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo,

    char motorMessage[200] = {0};

-    asynStatus status =
-        checkMaxSubsequentTimeouts(axis->axisNo_, timeoutNo, motorMessage, 200);
+    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__,
+                                        axis->axisNo(), __PRETTY_FUNCTION__,
                                        __LINE__);
        }
    }
@ -573,8 +599,8 @@ extern "C" {
 * 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.
+ * the moving average of timeout events in seconds. 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
@ -628,9 +654,9 @@ asynStatus setMaxSubsequentTimeouts(const char *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.
+        to get a ipPortAsynOctetSyncIO_ 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
+        have a ipPortAsynOctetSyncIO_! printf is an EPICS alternative which
        works w/o that, but doesn't offer the comfort provided
        by the asynTrace-facility
        */
--- a/src/sinqController.h
+++ b/src/sinqController.h
@ -32,17 +32,17 @@ class epicsShareClass sinqController : public asynMotorController {
   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.
+   axis enumeration identical to that of the hardware, 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,
-                   double movingPollPeriod, double idlePollPeriod,
+    sinqController(const char *portName, const char *ipPortConfigName,
+                   int numAxes, double movingPollPeriod, double idlePollPeriod,
                   int numExtraParams);

    /**
@ -82,7 +82,7 @@ class epicsShareClass sinqController : public asynMotorController {
     *
     * 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
+    the IOC shell and the motorMessageText PV. It then returns the input
    status.
     *
     * @param status              Status of the failed parameter library access
@ -90,7 +90,7 @@ class epicsShareClass sinqController : public asynMotorController {
    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
+     * @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.
     */
@ -115,9 +115,9 @@ class epicsShareClass sinqController : public asynMotorController {
    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 line);
+    asynStatus couldNotParseResponse(const char *command, const char *response,
+                                     int axisNo, const char *functionName,
+                                     int line);

    /**
     * @brief Convert an asynStatus into a descriptive string.
@ -131,7 +131,7 @@ class epicsShareClass sinqController : public asynMotorController {
     * @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
@ -181,7 +181,7 @@ class epicsShareClass sinqController : public asynMotorController {

    /**
     * @brief Inform the user, if the number of timeouts exceeds the threshold
-     * specified with setMaxSubsequentTimeouts
+     * specified with `setMaxSubsequentTimeouts`.
     *
     * @param timeoutNo             Number of subsequent timeouts which already
     * happened.
@ -192,10 +192,10 @@ class epicsShareClass sinqController : public asynMotorController {
                                                  class sinqAxis *axis);

    /**
-     * @brief See documentation of checkMaxSubsequentTimeouts(sinqAxis * axis)
+     * @brief See documentation of `checkMaxSubsequentTimeouts(sinqAxis * axis)`
     *
-     * @param userMessage             Buffer for the user message
-     * @param userMessageSize         Buffer size in chars
+     * @param userMessage           Buffer for the user message
+     * @param userMessageSize       Buffer size in chars
     * @return asynStatus
     */
    virtual asynStatus checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
@ -216,17 +216,96 @@ class epicsShareClass sinqController : public asynMotorController {

    /**
     * @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>&
+     * message repetitions. See the documentation of `printRepetitionWatchdog`
+     * in msgPrintControl.h for details.
     */
    msgPrintControl &getMsgPrintControl();

-    friend class sinqAxis;
+    // =========================================================================
+    // Public getters for protected members
+
+    // Accessors for double parameters
+    int motorMoveRel() { return motorMoveRel_; }
+    int motorMoveAbs() { return motorMoveAbs_; }
+    int motorMoveVel() { return motorMoveVel_; }
+    int motorHome() { return motorHome_; }
+    int motorStop() { return motorStop_; }
+    int motorVelocity() { return motorVelocity_; }
+    int motorVelBase() { return motorVelBase_; }
+    int motorAccel() { return motorAccel_; }
+    int motorPosition() { return motorPosition_; }
+    int motorEncoderPosition() { return motorEncoderPosition_; }
+    int motorDeferMoves() { return motorDeferMoves_; }
+    int motorMoveToHome() { return motorMoveToHome_; }
+    int motorResolution() { return motorResolution_; }
+    int motorEncoderRatio() { return motorEncoderRatio_; }
+    int motorPGain() { return motorPGain_; }
+    int motorIGain() { return motorIGain_; }
+    int motorDGain() { return motorDGain_; }
+    int motorHighLimit() { return motorHighLimit_; }
+    int motorLowLimit() { return motorLowLimit_; }
+    int motorClosedLoop() { return motorClosedLoop_; }
+    int motorPowerAutoOnOff() { return motorPowerAutoOnOff_; }
+    int motorPowerOnDelay() { return motorPowerOnDelay_; }
+    int motorPowerOffDelay() { return motorPowerOffDelay_; }
+    int motorPowerOffFraction() { return motorPowerOffFraction_; }
+    int motorPostMoveDelay() { return motorPostMoveDelay_; }
+    int motorStatus() { return motorStatus_; }
+    int motorUpdateStatus() { return motorUpdateStatus_; }
+
+    // Accessors for status bits (integers)
+    int motorStatusDirection() { return motorStatusDirection_; }
+    int motorStatusDone() { return motorStatusDone_; }
+    int motorStatusHighLimit() { return motorStatusHighLimit_; }
+    int motorStatusAtHome() { return motorStatusAtHome_; }
+    int motorStatusSlip() { return motorStatusSlip_; }
+    int motorStatusPowerOn() { return motorStatusPowerOn_; }
+    int motorStatusFollowingError() { return motorStatusFollowingError_; }
+    int motorStatusHome() { return motorStatusHome_; }
+    int motorStatusHasEncoder() { return motorStatusHasEncoder_; }
+    int motorStatusProblem() { return motorStatusProblem_; }
+    int motorStatusMoving() { return motorStatusMoving_; }
+    int motorStatusGainSupport() { return motorStatusGainSupport_; }
+    int motorStatusCommsError() { return motorStatusCommsError_; }
+    int motorStatusLowLimit() { return motorStatusLowLimit_; }
+    int motorStatusHomed() { return motorStatusHomed_; }
+
+    // Parameters for passing additional motor record information to the driver
+    int motorRecResolution() { return motorRecResolution_; }
+    int motorRecDirection() { return motorRecDirection_; }
+    int motorRecOffset() { return motorRecOffset_; }
+
+    // Accessors for additional PVs defined in sinqController
+    int motorMessageText() { return motorMessageText_; }
+    int motorReset() { return motorReset_; }
+    int motorEnable() { return motorEnable_; }
+    int motorEnableRBV() { return motorEnableRBV_; }
+    int motorCanDisable() { return motorCanDisable_; }
+    int motorEnableMovWatchdog() { return motorEnableMovWatchdog_; }
+    int motorCanSetSpeed() { return motorCanSetSpeed_; }
+    int motorLimitsOffset() { return motorLimitsOffset_; }
+    int motorForceStop() { return motorForceStop_; }
+    int motorVeloFromDriver() { return motorVeloFromDriver_; }
+    int motorVbasFromDriver() { return motorVbasFromDriver_; }
+    int motorVmaxFromDriver() { return motorVmaxFromDriver_; }
+    int motorAcclFromDriver() { return motorAcclFromDriver_; }
+    int motorHighLimitFromDriver() { return motorHighLimitFromDriver_; }
+    int motorLowLimitFromDriver() { return motorLowLimitFromDriver_; }
+    int encoderType() { return encoderType_; }
+
+    // Additional members
+    int numAxes() { return numAxes_; }
+    double idlePollPeriod() { return idlePollPeriod_; }
+    double movingPollPeriod() { return movingPollPeriod_; }
+    asynUser *asynUserSelf() { return pasynUserSelf; }
+    asynUser *ipPortAsynOctetSyncIO() { return ipPortAsynOctetSyncIO_; }
+
+    // =========================================================================

  protected:
-    asynUser *lowLevelPortUser_;
+    // Pointer to the port user which is specified by the char array
+    // `ipPortConfigName` in the constructor
+    asynUser *ipPortAsynOctetSyncIO_;
    double movingPollPeriod_;
    double idlePollPeriod_;
    msgPrintControl msgPrintControl_;
@ -245,6 +324,7 @@ class epicsShareClass sinqController : public asynMotorController {

 #define FIRST_SINQMOTOR_PARAM motorMessageText_
    int motorMessageText_;
+    int motorReset_;
    int motorEnable_;
    int motorEnableRBV_;
    int motorCanDisable_;
Author	SHA1	Message	Date
smathis	4c3254687d	Renamed "ipPortUser_" to "ipPortAsynOctetSyncIO_" I learned that there might be multiple asynUsers connected to the same port for different types (asynInt32, asynOctet, ...). Therefore I renamed "ipPortUser_" to better reflect this.	2025-04-15 17:15:34 +02:00
smathis	eb94379efe	Small detail improvements from code review In a code review with Edward and Alex, some optimization potential in the sinqMotor.db file was discovered. This patch implements those improvements.	2025-04-09 16:39:36 +02:00
smathis	1dd132c709	Added the ability to set the limits from the substitution file	2025-04-04 13:29:49 +02:00
smathis	7729eceb28	Added doReset wrapper around reset and added two functions to set and retrieve the motor position which handle the conversion via motorRecResolution.	2025-03-31 10:42:07 +02:00
smathis	828e9bc59c	Fixed a bug in msgPrintControl	2025-03-19 15:01:20 +01:00
smathis	f26d1bb612	Added public accessors for all status library indices and some other properties. This also enabled the removal of "friend classes".	2025-03-10 16:53:45 +01:00
smathis	bed245b010	Added PVs for error reset and status problem reporting and fixed a bug in msgPrintControl	2025-03-10 14:28:24 +01:00