Final version of the SINQ EPICS module for RHEL7 in 2023

- Fixes to MasterMACS, mostly.
- Minor changes

Makefile.RHEL7

@@ -2,7 +2,6 @@
 include /ioc/tools/driver.makefile
 
 MODULE=sinq
-LIBVERSION=koennecke
 BUILDCLASSES=Linux
 EPICS_VERSIONS=3.14.12 7.0.4.1
 

sinqEPICSApp/Db/sinq_asyn_motor.db

@@ -0,0 +1,48 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VMAX,"$(VMAX=$(VELO))")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(ACCL)")
+	field(BDST,"$(BDST)")
+	field(BVEL,"$(BVEL)")
+	field(BACC,"$(BACC)")
+	field(OUT,"@asyn($(PORT),$(ADDR))")
+	field(MRES,"$(MRES)")
+	field(PREC,"$(PREC)")
+	field(EGU,"$(EGU)")
+	field(DHLM,"$(DHLM)")
+	field(DLLM,"$(DLLM)")
+	field(INIT,"$(INIT)")
+	field(TWV,"1")
+	field(RDBD,"$(RDBD)")
+}
+
+
+# The message text
+record(waveform, "$(P)$(M)-MsgTxt") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(PORT),$(N),1) MOTOR_MESSAGE_TEXT")
+    field(FTVL, "CHAR")
+    field(NELM, "80")
+    field(SCAN, "I/O Intr")
+}
+
+# enable axis
+record(longout, "$(P)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
+    field(PINI, "YES")
+}
+
+# enable axis
+record(longin, "$(P)$(M):Enable_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
+    field(PINI, "YES")
+    field(SCAN, "1 second")
+}
+

sinqEPICSApp/src/EL734Driver.cpp

@@ -181,21 +181,21 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
   }
   if(strstr(myReply,"?cmd") != NULL){
     snprintf(errTxt,sizeof(errTxt), "Bad command %s at axis %d", command, axisNo);
-    errlogSevPrintf(errlogMajor, errTxt);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
     if(axis!= NULL){
       axis->updateMsgTxtFromDriver(errTxt);
     }
     return asynError;
   } else if(strstr(myReply,"?par") != NULL){
     snprintf(errTxt,sizeof(errTxt), "Bad parameter in command %s", command);
-    errlogSevPrintf(errlogMajor, errTxt);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
     if(axis!= NULL){
       axis->updateMsgTxtFromDriver(errTxt);
     }
     return asynError;
   } else if(strstr(myReply,"?rng") != NULL){
     snprintf(errTxt,sizeof(errTxt), "Parameter out of range in command %s", command);
-    errlogSevPrintf(errlogMajor, errTxt);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
     if(axis!= NULL){
       axis->updateMsgTxtFromDriver(errTxt);
     }
@@ -233,10 +233,12 @@ EL734Axis::EL734Axis(EL734Controller *pC, int axisNo)
           pC_->setDoubleParam(axisNo_,pC_->motorHighLimit_,high);
           callParamCallbacks();
     } else {
-      errlogPrintf("Bad response - %s - requesting limits at axis %d", reply, axisNo_);
+         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, 
+                 "Bad response - %s - requesting limits at axis %d", reply, axisNo_);
     }
   } else {
-    errlogPrintf("Failed to read limits at axis %d", axisNo_);
+       asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, 
+               "Failed to read limits at axis %d", axisNo_);
   }
 }
 
@@ -282,7 +284,8 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
   oredMSR = 0;
   homing = 0;
   errorReported = 0;
-  errlogPrintf("Starting axis %d with destination %f", axisNo_,position/1000); 
+  asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, 
+          "Starting axis %d with destination %f", axisNo_,position/1000); 
   sprintf(command, "p %d %.3f", axisNo_, position/1000.);
   status = pC_->transactController(axisNo_,command,reply);
   setIntegerParam(pC_->motorStatusProblem_, false);
@@ -347,7 +350,7 @@ asynStatus EL734Axis::stop(double acceleration )
   if(moving && errorReported == 0){
       sprintf(command, "S %d", axisNo_);
       status = pC_->transactController(axisNo_,command,reply);
-      errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Sent STOP on Axis %d\n", axisNo_);
       updateMsgTxtFromDriver("Axis interrupted");
       errorReported = 1;
     }
@@ -443,7 +446,8 @@ asynStatus EL734Axis::poll(bool *moving)
       goto skip;
     }
   } else {
-    errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, 
+            "Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
     setDoubleParam(pC_->motorPosition_, position*1000);
     //setDoubleParam(pC_->motorEncoderPosition_, position);
   }
@@ -492,7 +496,7 @@ asynStatus EL734Axis::poll(bool *moving)
     if(oredMSR & 0x1000){
       setIntegerParam(pC_->motorStatusProblem_, true);
       //      errlogPrintf("Detected air cushion error on %d", axisNo_);
-      errlogSevPrintf(errlogMajor, "Air cushion problem on %d", axisNo_);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Air cushion problem on %d", axisNo_);
       updateMsgTxtFromDriver("Air cushion error");
       errorReported = 1;
       comStatus = asynError;
@@ -500,7 +504,7 @@ asynStatus EL734Axis::poll(bool *moving)
     }
     if(oredMSR & 0x100){
       setIntegerParam(pC_->motorStatusProblem_, true);
-      errlogSevPrintf(errlogMajor, "Run failure at %d", axisNo_);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Run failure at %d", axisNo_);
       updateMsgTxtFromDriver("Run failure");
       comStatus = asynError;
       errorReported = 1;
@@ -508,14 +512,14 @@ asynStatus EL734Axis::poll(bool *moving)
     }
     if(oredMSR & 0x400){
       setIntegerParam(pC_->motorStatusProblem_, true);
-      errlogSevPrintf(errlogMajor, "Positioning failure at %d", axisNo_);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Positioning failure at %d", axisNo_);
       updateMsgTxtFromDriver("Positioning failure");
       comStatus = asynError;
       errorReported = 1;
       goto skip;
     }
     if(oredMSR & 0x200 || oredMSR & 0x80) {
-      errlogSevPrintf(errlogMinor, "Positioning fault at %d", axisNo_);
+       asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING, "Positioning fault at %d", axisNo_);
     } 
     setIntegerParam(pC_->motorStatusProblem_, false);
 } else {

sinqEPICSApp/src/MasterMACSDriver.cpp

@@ -269,15 +269,18 @@ asynStatus
      * overwritten when we read back the status at the end, but that's OK */
     pAxis->setIntegerParam(function, value);
 
+    if(function == motorStop_){
+        errlogPrintf("Stop called with value %d\n", value);
+        double accel;
+        getDoubleParam(pAxis->axisNo_, motorAccel_, &accel);
+        status = pAxis->stop(accel);
+        return status;
+    }
     if (function == enableAxis_) {
         /*
         * Read the status in order to prevent execssive commands
         */
         devStatus = pAxis->readStatus();
-        if(devStatus < 900){
-	    errlogPrintf("MMACS: Motor %d not ready to switch on\n", pAxis->axisNo_);		
-            return asynError;
-        }
         if (value == 1 && !pAxis->isOn(devStatus) ) {
 	        /* download parameters, does not work as of now */
 	        /*
@@ -309,6 +312,7 @@ asynStatus
 		if(pAxis->isOn(devStatus) == value){
             pAxis->active = true;
 			pAxis->poll(&moving); // to update the Enable_RBV field
+            pAxis->active = false;
 			return asynSuccess;
 		}
                 usleep(200);
@@ -388,12 +392,11 @@ asynStatus
     MasterMACSAxis::move(double position, int relative, double minVelocity,
 			 double maxVelocity, double acceleration)
 {
-    asynStatus status;
+    asynStatus status = asynSuccess;
     char command[COMLEN], reply[COMLEN];
     int devStatus;
 
-    errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity,
+    //errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity, maxVelocity);
-		 maxVelocity);
     memset(command, 0, COMLEN * sizeof(char));
 
     /* clear motor error message */
@@ -409,18 +412,9 @@ asynStatus
     }
 
     /*
-     * test if the thing is On
+     * only start if the thing is On
      */
     devStatus = readStatus();
-    if(devStatus < 900) {
-       return asynError;
-    }
-    if (!isOn(devStatus)) {
-	    setIntegerParam(pC_->motorStatusProblem_, true);
-	    updateMsgTxtFromDriver("Motor disabled");
-	    errlogPrintf("ERROR: trying to start disabled axis %d\n", axisNo_);
-	    return asynError;
-    }
 
     /*
      * set speed
@@ -431,30 +425,38 @@ asynStatus
     */
 
     if (relative) {
-	position += this->position;
+	    position += this->position;
-    }
-    errlogPrintf("Starting axis %d with destination %f", axisNo_,
-		 position / 1000.);
-
-    /* send target position */
-    sprintf(command, "%dS02= %.3f", axisNo_, position / 1000.);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status == asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	return status;
     }
 
-    /* send move command */
+    if(isOn(devStatus) && active == false) {
-    sprintf(command, "%dS00=1", axisNo_);
+        errlogPrintf("Starting axis %d with destination %f\n", axisNo_,
-    status = pC_->transactController(axisNo_, command, reply);
+		             position / 1000.);
-    if (status == asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	return status;
-    }
-    hasStarted = true;
-    homing = 0;
-    active = true;
 
+        /* send target position */
+        sprintf(command, "%dS02= %.3f", axisNo_, position / 1000.);
+        status = pC_->transactController(axisNo_, command, reply);
+        if (status == asynError) {
+            errlogPrintf("MMACS: failed to set target on %d\n", axisNo_);
+	        updateMsgTxtFromDriver("Failed to send target position");
+	        return status;
+        }
+
+        /* send move command */
+        sprintf(command, "%dS00=1", axisNo_);
+        status = pC_->transactController(axisNo_, command, reply);
+        if (status == asynError) {
+	        errlogPrintf("MMACS: failed to start axis %d\n", axisNo_);
+	        updateMsgTxtFromDriver("Failed to start axis");
+	        return status;
+        }
+        hasStarted = true;
+        homing = 0;
+        active = true;
+        usleep(500);
+        lastPositionUpdate = time(NULL);
+    } else {
+        errlogPrintf("MMACS: axis %d disabled, cannot start\n", axisNo_);
+    }
     return status;
 }
 
@@ -472,26 +474,20 @@ asynStatus
      * test if the thing is On
      */
     devStatus = readStatus();
-    if(devStatus < 900) {
-       return asynError;
-    }
-    if (!isOn(devStatus)) {
-        setIntegerParam(pC_->motorStatusProblem_, true);
-	    updateMsgTxtFromDriver("Motor disabled");
-	    errlogPrintf("ERROR: trying to home disabled axis %d\n", axisNo_);
-	    return asynError;
-    }
-
-    setIntegerParam(pC_->motorStatusProblem_, false);
     updateMsgTxtFromDriver("");
 
-
+    if(isOn(devStatus)){
-    sprintf(command, "%dS00=9", axisNo_);
+        sprintf(command, "%dS00=9", axisNo_);
-    homing = 1;
+        homing = 1;
-    status = pC_->transactController(axisNo_, command, reply);
+        status = pC_->transactController(axisNo_, command, reply);
-    hasStarted = true;
+        hasStarted = true;
-    active = true;
+        active = true;
-    return status;
+        lastPositionUpdate = time(NULL);
+        return status;
+    } else {
+        errlogPrintf("MMACS: cannot home disabled axis %d\n", axisNo_);
+        return asynError;
+    }
 }
 
 asynStatus
@@ -552,9 +548,8 @@ asynStatus MasterMACSAxis::poll(bool * moving)
 {
     asynStatus comStatus = asynSuccess;
     char command[COMLEN], reply[COMLEN], *pPtr, buffer[80];
-    float errStatus;
     unsigned int errCode, derCode, devStatus;
-
+    float errStatus;
     struct tm* tm_info;
     time_t timer;
 
@@ -574,6 +569,7 @@ asynStatus MasterMACSAxis::poll(bool * moving)
     strftime(buffer, 26, "%Y-%m-%d %H:%M:%S", tm_info);
     errlogPrintf("poll called at %s on axis %d \n", 
 		 buffer, axisNo_ );
+    lastPoll = time(NULL);
 
     setIntegerParam(pC_->motorStatusProblem_, false);
     memset(command, 0, COMLEN * sizeof(char));
@@ -581,48 +577,51 @@ asynStatus MasterMACSAxis::poll(bool * moving)
     // Read the current motor position
     sprintf(command, "%dR12", axisNo_);
     comStatus = pC_->transactController(axisNo_, command, reply);
-    if (comStatus == asynError) {
+    if(comStatus != asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
+        pPtr = strstr(reply, "=");
-	goto skip;
+        if(pPtr) {
-    }
+	        sscanf(pPtr + 1, "%lf", &position);
-    pPtr = strstr(reply, "=");
+            setDoubleParam(pC_->motorPosition_, position * 1000.);
-    if (pPtr) {
+            setDoubleParam(pC_->motorEncoderPosition_, position * 1000.);
-	sscanf(pPtr + 1, "%lf", &position);
+            /* 
+            * keep track of position in order to check for a stuck motor later
+            */
+            if(ABS(position - oldPosition) > 1){
+                oldPosition = position;
+                lastPositionUpdate = time(NULL);
+            }
+       } else {
+            errlogPrintf("MMACS: Invalid response asking position on %d\n", axisNo_); 
+       }
     } else {
-	errlogPrintf("Received malformed reply: Axis %d, reply %s\n",
+        errlogPrintf("MMACS: communication problem reading axis %d position\n", axisNo_);
-		     axisNo_, reply + 4);
-	comStatus = asynError;
-	goto skip;
-    }
-
-    setDoubleParam(pC_->motorPosition_, position * 1000.);
-    setDoubleParam(pC_->motorEncoderPosition_, position * 1000.);
-
-    /* 
-     * keep track of position in order to check for a stuck motor later
-     */
-    if(ABS(position - oldPosition) > 1){
-        oldPosition = position;
-        lastPositionUpdate = time(NULL);
     }
 
     // Read the overall  status of this motor */
     devStatus = readStatus();
-    if(devStatus < 900) {
-        setIntegerParam(pC_->motorStatusProblem_, true);
-        goto skip;
-    }
-
     if(debug) {
     	errlogPrintf("Axis %d, position %lf, devStatus %d\n", axisNo_,
 	             position, devStatus);
     }
 
+    // Check for the thing being in a bad state
+    if(CHECK_BIT(devStatus, 6)) {
+        *moving = false;
+        active = false;
+ 	    setIntegerParam(pC_->motorStatusDone_, true);
+        updateMsgTxtFromDriver("AXIS dead");
+        goto skip;
+    }
+
+
+    setIntegerParam(pC_->enableAxis_, isOn(devStatus));
     setIntegerParam(pC_->axisEnabled_, isOn(devStatus));
+
+    // Check if the motor is disabled
     if (!isOn(devStatus)) {
-	    setIntegerParam(pC_->motorStatusProblem_, true);
+	    updateMsgTxtFromDriver("Axis disabled");
-	    updateMsgTxtFromDriver("Motor disabled");
 	    *moving = false;
+        active = false;
 	    setIntegerParam(pC_->motorStatusDone_, true);
 	    goto skip;
     }
@@ -631,9 +630,10 @@ asynStatus MasterMACSAxis::poll(bool * moving)
      * if the motor has never run, the status bit 10 is invalid
      */
     if (!hasStarted) {
-	*moving = false;
+    	*moving = false;
-	setIntegerParam(pC_->motorStatusDone_, true);
+	    setIntegerParam(pC_->motorStatusDone_, true);
-	goto skip;
+        active = false;
+	    goto skip;
     }
 
     /*
@@ -643,11 +643,13 @@ asynStatus MasterMACSAxis::poll(bool * moving)
     	/* we are still creeping along .... */
 	    *moving = true;
 	    setIntegerParam(pC_->motorStatusDone_, false);
-        if(time(NULL) > lastPositionUpdate + 60) {
+        if(time(NULL) > lastPositionUpdate + 120) {
             // we are detecting a stuck motor
             errlogPrintf("MMACS: axis %d is STUCK!!\n", axisNo_);
             updateMsgTxtFromDriver("Axis STUCK!!");
-	        setIntegerParam(pC_->motorStatusProblem_, true);
+    	    setIntegerParam(pC_->motorStatusDone_, true);
+           *moving = false;
+            active = false;
         }
 	    goto skip;
     }
@@ -657,29 +659,25 @@ asynStatus MasterMACSAxis::poll(bool * moving)
     *moving = false;
     active = false;
     setIntegerParam(pC_->motorStatusDone_, true);
+    updateMsgTxtFromDriver("");
 
     /* when homing, set the proper flag */
     if (homing) {
-	setIntegerParam(pC_->motorStatusAtHome_, true);
+	    setIntegerParam(pC_->motorStatusAtHome_, true);
     }
 
     /* check for limit switches*/
     setIntegerParam(pC_->motorStatusLowLimit_, false);
     setIntegerParam(pC_->motorStatusHighLimit_, false);
     if (CHECK_BIT(devStatus, 11)) {
-	    setIntegerParam(pC_->motorStatusProblem_, true);
+	    errlogSevPrintf(errlogMajor, "Limit bit in status code %d", axisNo_);
-	    errlogSevPrintf(errlogMajor,
-			    "Limit bit in status code %d",
-			    axisNo_);
 	    /* guessing which limit has been hit ... */
 	    if (position > 0) {
-		updateMsgTxtFromDriver("Hit positive limit switch");
+		    updateMsgTxtFromDriver("Hit positive limit switch");
-		setIntegerParam(pC_->motorStatusHighLimit_, true);
+		    setIntegerParam(pC_->motorStatusHighLimit_, true);
-		setIntegerParam(pC_->motorStatusProblem_, false);
 	    } else {
-		updateMsgTxtFromDriver("Hit negative limit switch");
+		    updateMsgTxtFromDriver("Hit negative limit switch");
-		setIntegerParam(pC_->motorStatusLowLimit_, true);
+		    setIntegerParam(pC_->motorStatusLowLimit_, true);
-		setIntegerParam(pC_->motorStatusProblem_, false);
 	    }
 	    goto skip;
 	}
@@ -689,44 +687,45 @@ asynStatus MasterMACSAxis::poll(bool * moving)
         /* read error codes */
         sprintf(command, "%dR11", axisNo_);
         comStatus = pC_->transactController(axisNo_, command, reply);
-        if (comStatus == asynError) {
+        if (comStatus != asynError) {
-	        setIntegerParam(pC_->motorStatusProblem_, true);
+         pPtr = strstr(reply, "=");
-	        goto skip;
+            if(pPtr) {
-        }
+                sscanf(pPtr + 1, "%f", &errStatus);
-        pPtr = strstr(reply, "=");
+                errCode = (unsigned int) errStatus;
-        if(pPtr) {
+            
-            sscanf(pPtr + 1, "%f", &errStatus);
+            } else {
-            errCode = (unsigned int) errStatus;
+                errlogPrintf("MMACS: axis %d received invalid reply asking for error code \n", axisNo_);
+                errCode = 0;
+                goto skip;
+            }
         } else {
-            errlogPrintf("MMACS: axis %d received invalid reply asking for error code \n", axisNo_);
+            errlogPrintf("MMACS: axis %d failed reading error code \n", axisNo_);
-            updateMsgTxtFromDriver("Invalid reply asking error code R11");
-            errCode = 0;
             goto skip;
         }
+
         sprintf(command, "%dR18", axisNo_);
         comStatus = pC_->transactController(axisNo_, command, reply);
-        if (comStatus == asynError) {
+        if (comStatus != asynError) {
-	        setIntegerParam(pC_->motorStatusProblem_, true);
+            pPtr = strstr(reply, "=");
-	        goto skip;
+            if(pPtr) {
-        }
+                sscanf(pPtr + 1, "%f", &errStatus);
-        pPtr = strstr(reply, "=");
+                derCode = (unsigned int) errStatus;
-        if(pPtr) {
+            } else {
-            sscanf(pPtr + 1, "%f", &errStatus);
+                errlogPrintf("MMACS: malformed reply for R18: %s, on axis %d\n", reply, axisNo_);
-            derCode = (unsigned int) errStatus;
+                derCode = 0;
+                goto skip;
+            }
         } else {
-            errlogPrintf("MMACS: malformed reply for R18: %s, on axis %d\n", reply, axisNo_);
+            errlogPrintf("MMACS: axis %d failed reading extended error code R18 \n", axisNo_);
-            derCode = 0;
+            goto skip;
-            updateMsgTxtFromDriver("Invalid reply asking error code R18");
         }
 
         if(debug) {
 		errlogPrintf("Axis %d, errCode(R11) %d, derCode(R18) %d\n", axisNo_,
 		             errCode, derCode);
-	}
+    	}
 
-        setIntegerParam(pC_->motorStatusProblem_, true);
         if (errCode == 0) {
-	        setIntegerParam(pC_->motorStatusProblem_, true);
 	        errlogSevPrintf(errlogMajor,
 			    "Fault bit in status code, but no error code on %d\n", axisNo_);
 	        updateMsgTxtFromDriver ("Fault bit in status code without error code");

sinqEPICSApp/src/MasterMACSDriver.h

@@ -7,7 +7,7 @@
   drvAsynMMACSPort.c. The driver will not work with a standard asyn IPPort, 
   only with the special one.
 
-  Mark Koennecke, March 2023
+  Mark Koennecke, March, August, 2023
 */
 
 #include "SINQController.h"

sinqEPICSApp/src/devScalerEL737.c

@@ -41,6 +41,7 @@
 
 #include <string.h>
 #include <errno.h>
+#include <unistd.h>
 #include <asynOctetSyncIO.h>
 #include <epicsEvent.h>
 #include <epicsThread.h>
@@ -484,9 +485,7 @@ static void runEvents(EL737priv *priv)
       // errlogPrintf("EL737: Starting preset timer\n");
     }
     status = el737_transactCommand(priv,command,reply);
-    if(status == asynSuccess){
+    priv->counting = 1;
-      priv->counting = 1;
-    }
   } else {
     if(priv->counting) {
       /* Stop */
@@ -568,7 +567,8 @@ static void el737Thread(void *param)
       */
       runEvents(priv);
       if(priv->counting == 1){
-	timeout = .2;
+	    timeout = .2;
+        usleep(500);
       }
     } else {
       /*

sinqEPICSApp/src/pmacAxis.cpp

@@ -287,7 +287,7 @@ asynStatus pmacAxis::setPosition(double position) {
 }
 
 asynStatus pmacAxis::stop(double acceleration) {
-  asynStatus status = asynError;
+  asynStatus status = asynSuccess;
   static const char *functionName = "pmacAxis::stopAxis";
   bool moving = false;
 
@@ -489,7 +489,6 @@ asynStatus pmacAxis::getAxisStatus(bool *moving) {
     *moving = false;
     setIntegerParam(pC_->motorStatusMoving_, false);
     setIntegerParam(pC_->motorStatusDone_, true);
-    setIntegerParam(pC_->motorStatusProblem_, true);
     errlogPrintf("Axis %d did not start within 10 seconds!! BROKEN\n", axisNo_);
     updateMsgTxtFromDriver("Axis did not start within 10 seconds");
     starting = 0;
@@ -614,7 +613,6 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving) {
     *moving = false;
     setIntegerParam(pC_->motorStatusMoving_, false);
     setIntegerParam(pC_->motorStatusDone_, true);
-    setIntegerParam(pC_->motorStatusProblem_, true);
   }
   return result;
 }
@@ -955,7 +953,8 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   pmacV3Controller *p3C_ = (pmacV3Controller *)pC_;
   IsEnable = axStat != -3;
 
-  asynStatus st = setIntegerParam(p3C_->axisEnabled_, IsEnable);
+  setIntegerParam(p3C_->axisEnabled_, IsEnable);
+  asynStatus st = setIntegerParam(p3C_->enableAxis_, IsEnable);
   cmdStatus = cmdStatus > st ? cmdStatus : st;
 
   int direction = 0;
@@ -993,7 +992,7 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   // /*
   //   code to test against too long status 5 or 6
   // */
-  int EstimatedTimeOfArrival = 60;
+  int EstimatedTimeOfArrival = 120;
   if (axStat == 5 || axStat == 6) {
     if (status6Time == 0) {
       status6Time = time(NULL);
@@ -1472,7 +1471,6 @@ asynStatus AmorDetectorAxis::poll(bool *moving)
        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
               "AmorDetectorAxis::poll: %s", errorMessage);
       updateMsgTxtFromDriver(errorMessage);
-      setIntegerParam(pC_->motorStatusProblem_, true);
       status = asynError;
     }
   }

testel737.cmd

@@ -0,0 +1,11 @@
+#!/usr/local/bin/iocsh
+
+require sinq,koennecke
+
+epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp")
+
+#--------- load EL737 counter box
+drvAsynIPPortConfigure("cter1","localhost:62000",0,0,0)
+dbLoadRecords("$(TOP)/db/asynRecord.db","P=KM36:,R=cter1,PORT=cter1,ADDR=0,OMAX=80,IMAX=80")
+dbLoadRecords("${TOP}/db/el737Record.db","P=KM36:counter,PORT=cter1,DESC=SANSCounter")
+

utils/syncMasterMAC.py

@@ -59,7 +59,7 @@ def scan_substitution_file(filename):
     # import pdb; pdb.set_trace()
     with open(filename, 'r') as fin:
         rawline = fin.readline()
-        import pdb; pdb.set_trace()
+        # import pdb; pdb.set_trace()
         while rawline:
             line = rawline.replace(' ','')
             line = line.strip('{}')