Merge branch 'el737' into amorsim

Port the fix to the el737 driver into this branch
2017-08-24 13:50:06 +02:00 · 2017-08-14 14:53:35 +02:00 · 2017-08-09 16:52:12 +02:00 · 2017-08-09 16:48:39 +02:00
40 changed files with 578 additions and 3342 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,121 +0,0 @@
-# Took these from the https://github.com/github/gitignore project on October 21, 2011
-
-# **** 'Personal' entries don't belong in here - put them in your .git/info/exclude file ****
-
-# Ignore text editor (e.g. emacs) autosave files
-*~
-
-
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-*.d
-SICServer*
-
-# Compiled Dynamic libraries
-*.so
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-
-# Compiled python files
-*.py[co]
-
-# Eclipse-generated files
-*.pydevproject
-.project
-.metadata
-bin/**
-tmp/**
-tmp/**/*
-*.tmp
-*.bak
-*.swp
-*~.nib
-local.properties
-.classpath
-.settings/
-.loadpath
-
-# External tool builders
-.externalToolBuilders/
-
-# Locally stored "Eclipse launch configurations"
-*.launch
-
-# CDT-specific
-.cproject
-
-# PDT-specific
-.buildpath
-
-## Ignore Visual Studio temporary files, build results, and
-## files generated by popular Visual Studio add-ons.
-*.sln
-*.vcproj
-*.exe
-*.vcxproj
-*.filters
-
-# User-specific files
-*.suo
-*.user
-*.sln.docstates
-*.sdf
-
-#Test results
-*.log
-
-# Build results
-[Dd]ebug/
-[Rr]elease/
-*_i.c
-*_p.c
-*.ilk
-*.meta
-*.obj
-*.pch
-*.pdb
-*.pgc
-*.pgd
-*.rsp
-*.sbr
-*.tlb
-*.tli
-*.tlh
-*.tmp
-*.vspscc
-.builds
-
-
-# Visual C++ cache files
-ipch/
-*.aps
-*.ncb
-*.opensdf
-*.sdf
-
-# Visual Studio profiler
-*.psess
-*.vsp
-
-# ReSharper is a .NET coding add-in
-_ReSharper*
-
-
-
-# Others
-*.autosave
-
-
-# Windows image file caches
-Thumbs.db
-
-
-# Mac OS X Finder
-.DS_Store
-._*
--- a/10-llbDevices.rules
+++ b/10-llbDevices.rules
@@ -1 +0,0 @@
-SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="1002", MODE="0666" GROUP="plugdev", TAG+="uaccess"
--- a/MakeAutoSave.RHEL7
+++ b/MakeAutoSave.RHEL7
@@ -1,22 +0,0 @@
-# This Makefile has to be  executed in the synApps-xxx/support/autosave-xxx directory.
-# It creates a autosave module to load into iocsh
-include /ioc/tools/driver.makefile
-
-MODULE=autosave
-
-BUILDCLASSES=Linux
-
-USR_DEPENDENCIES=
-
-SOURCES += asApp/src/dbrestore.c 
-SOURCES += asApp/src/save_restore.c 
-SOURCES += asApp/src/initHooks.c
-SOURCES += asApp/src/fGetDateStr.c 
-SOURCES += asApp/src/configMenuSub.c
-SOURCES += asApp/src/verify.c
-SOURCES += asApp/src/asVerify.c
-SOURCES += asApp/src/os/Linux/osdNfs.c
-
-HEADERS += asApp/src/os/Linux/osdNfs.h
-
-DBDS += asApp/src/asSupport.dbd
--- a/MakeScaler.RHEL7
+++ b/MakeScaler.RHEL7
@@ -1,17 +0,0 @@
-include /ioc/tools/driver.makefile
-
-MODULE=scaler
-
-BUILDCLASSES=Linux
-
-USR_DEPENDENCIES = asyn,427.0.1
-
-SOURCES += stdApp/src/scalerRecord.c
-SOURCES += stdApp/src/devScalerAsyn.c
-SOURCES += stdApp/src/drvScalerSoft.c
-
-HEADERS += devScaler.h
-
-
-DBDS += stdApp/src/scalerRecord.dbd
-DBDS += stdApp/src/scalerSupport.dbd
--- a/Makefile.RHEL7
+++ b/Makefile.RHEL7
@@ -2,14 +2,12 @@
 include /ioc/tools/driver.makefile

 MODULE=sinq
-LIBVERSION=koennecke
+
 BUILDCLASSES=Linux
-EPICS_VERSIONS=3.14.12 7.0.4.1

 # additional module dependencies
 REQUIRED+=SynApps
 REQUIRED+=stream
-REQUIRED+=scaler

 # using a test version
 scaler_VERSION=koennecke
@@ -28,7 +26,6 @@ SOURCES += sinqEPICSApp/src/EL734Driver.cpp
 SOURCES += sinqEPICSApp/src/NanotecDriver.cpp
 SOURCES += sinqEPICSApp/src/stptok.cpp
 SOURCES += sinqEPICSApp/src/PhytronDriver.cpp
-SOURCES += sinqEPICSApp/src/EuroMoveDriver.cpp
 SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
 SOURCES += sinqEPICSApp/src/pmacAxis.cpp
 SOURCES += sinqEPICSApp/src/pmacController.cpp
--- a/Makefile.RHEL7.michele
+++ b/Makefile.RHEL7.michele
@@ -1,37 +0,0 @@
-# This build the sinq extensions for the PSI EPICS setup
-include /ioc/tools/driver.makefile
-
-MODULE=sinq
-LIBVERSION=brambilla_m
-BUILDCLASSES=Linux
-EPICS_VERSIONS=3.14.12 7.0.4.1
-ARCH_FILTER=RHEL7-x86_64
-
-# additional module dependencies
-REQUIRED+=SynApps
-REQUIRED+=stream
-REQUIRED+=scaler
-
-# using a test version
-scaler_VERSION=koennecke
-
-TEMPLATES += sinqEPICSApp/Db/dimetix.db
-TEMPLATES += sinqEPICSApp/Db/slsvme.db
-TEMPLATES += sinqEPICSApp/Db/spsamor.db
-
-DBDS += sinqEPICSApp/src/sinq.dbd
-
-# What we need at SINQ
-SOURCES += sinqEPICSApp/src/devScalerEL737.c
-SOURCES += sinqEPICSApp/src/SINQController.cpp
-SOURCES += sinqEPICSApp/src/SINQAxis.cpp
-SOURCES += sinqEPICSApp/src/EL734Driver.cpp
-SOURCES += sinqEPICSApp/src/NanotecDriver.cpp
-SOURCES += sinqEPICSApp/src/stptok.cpp
-SOURCES += sinqEPICSApp/src/PhytronDriver.cpp
-SOURCES += sinqEPICSApp/src/EuroMoveDriver.cpp
-SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
-SOURCES += sinqEPICSApp/src/pmacAxis.cpp
-SOURCES += sinqEPICSApp/src/pmacController.cpp
-
-# MISCS  would be the place to keep the stream device template files
--- a/README.md
+++ b/README.md
@@ -1,40 +0,0 @@
-# SinqEPICSApp
-
-This is an IOC application which contains the drivers for SINQ hardware. 
-EPICS purists may find it messy because it contains the drivers for all 
-SINQ stuff in one package rather then in separate modules. This is just 
-for ease of distribution. The idea being that all of SINQ shares one 
-module/IOC application and configures in its startup file what it needs 
-of it.  
-
-Drivers included:
-
- EL734 motor controller
- SINQ Delta Tau PMAC motor controller. This is a modified version of the Diamond 
-  PMAC code. The modification is necessary because PSI runs a different program in 
-  the MCU at SINQ then Diamond
- Nanotec bus motor driver
- Phytron MCU200 motor driver
- EL737 counter box driver through the scaler record
-
-There are some streamdevice protocol files provided:
- spss5: for the Siemens SPS5 with the PSI custom RS232 module
- slsvme: for the SLS magnet controllers managed by the SINQ special vmemaggi program
- el755: the old SINQ magnet controller
- dimetix: for the deimetix distance measurement device at AMOR
-
-There are two main branches here:
-
- Of course master from which you can build the PSI RHEL7 module and the EEE module
- The amorsim branch in which you can build the IOC application for ESS against the ICS 
-  setup. This is needed for the sinq-amorsim simulation.  This branch exists because of the 
-  political problem to get a module into the ICS EEE setup.
-
-Those political problems require a special development model:
-
-1. If you do something, do it in a separate branch
-2. When reasonably sure that what you did works, merge it both into master and amorsim
-
-Take care of the sinqEPICsApp/src/sinq.dbd file. This is the one which differs mostly between 
-amorsim and master branches. 
-
--- a/configure/RELEASE
+++ b/configure/RELEASE
@@ -25,20 +25,17 @@ TEMPLATE_TOP=$(EPICS_BASE)/templates/makeBaseApp/top
 #SNCSEQ=$(EPICS_BASE)/../modules/soft/seq

 # EPICS_BASE usually appears last so other apps can override stuff:
-
-#EPICS_BASE=
-#MODULES=/home/epics/modules
+EPICS_BASE=/opt/epics/bases/base-3.14.12.5

 # Set RULES here if you want to take build rules from somewhere
 # other than EPICS_BASE:
-##RULES=/path/to/epics/support/module/rules/x-y
-#MOTOR=/opt/epics/modules/motor/6.10.0/3.14.12.5
-#ASYN=/opt/epics/modules/asyn/4.27.0/3.14.12.5
-#SYNAPPSSTD=/opt/epics/modules/synAppsStd/3.4.1/3.14.12.5/
-##ANC=/usr/local/epics/anc350v17
-#STREAMS=/opt/epics/modules/streamdevice/2.6.0/3.14.12.5
-##LAKESHORE336=/usr/local/epics/support/lakeshore336
-#BUSY=/opt/epics/modules/busy/1.6.0/3.14.12.5
-##OXINSTCRYOJET=/usr/local/epics/support/OxInstCryojet-2-18-3
-#PCRE=/opt/epics/modules/pcre/8.36.0/3.14.12.5
-
+#RULES=/path/to/epics/support/module/rules/x-y
+MOTOR=/opt/epics/modules/motor/6.10.0/3.14.12.5
+ASYN=/opt/epics/modules/asyn/4.27.0/3.14.12.5
+SYNAPPSSTD=/opt/epics/modules/synAppsStd/3.4.1/3.14.12.5/
+#ANC=/usr/local/epics/anc350v17
+STREAMS=/opt/epics/modules/streamdevice/2.6.0/3.14.12.5
+#LAKESHORE336=/usr/local/epics/support/lakeshore336
+BUSY=/opt/epics/modules/busy/1.6.0/3.14.12.5
+#OXINSTCRYOJET=/usr/local/epics/support/OxInstCryojet-2-18-3
+PCRE=/opt/epics/modules/pcre/8.36.0/3.14.12.5
--- a/iocBoot/iocsinqEPICS/euromovetest.cmd
+++ b/iocBoot/iocsinqEPICS/euromovetest.cmd
@@ -1,23 +0,0 @@
-#!/usr/local/bin/iocsh
-
-require sinq,koennecke
-
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/iocBoot/iocsinqEPICS")
-epicsEnvSet("BASE","/afs/psi.ch/project/sinqdev/sinqepicsapp")
-
-cd ${TOP}
-
-
-
-drvAsynIPPortConfigure("serial1", "129.129.195.83:1234",0,0,0)
-#drvAsynIPPortConfigure("serial1", "amor-ts:3002",0,0,0)
-#drvAsynIPPortConfigure("serial1", "localhost:9090",0,0,0)
-EuroMoveCreateController("llb","serial1", 10, 1);
-
-### Motors
-
-dbLoadRecords("$(BASE)/sinqEPICSApp/Db/asynRecord.db","P=KM36:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
-dbLoadTemplate "motor.substitutions.eurollb"
-
-
-iocInit
--- a/iocBoot/iocsinqEPICS/motor.substitutions.el734
+++ b/iocBoot/iocsinqEPICS/motor.substitutions.el734
@@ -1,4 +1,4 @@
-qfile "$(MOTOR)/db/basic_asyn_motor.db"
+file "$(MOTOR)/db/basic_asyn_motor.db"
 {
 pattern
 {P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC,   DHLM, DLLM, INIT}
--- a/iocBoot/iocsinqEPICS/motor.substitutions.eurollb
+++ b/iocBoot/iocsinqEPICS/motor.substitutions.eurollb
@@ -1,13 +0,0 @@
-file "$(BASE)/sinqEPICSApp/Db/basic_asyn_motor.db"
-{
-pattern
-{P,        N,      M,        DTYP,   PORT, ADDR,  DESC,     EGU,     DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES,   PREC,  RDBD,  DHLM, DLLM, INIT}
-{KM36:llb:, 1, "m$(N)", "asynMotor",  llb,  1,    "m1",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,    .01,    3, 0.2,    1000,    0,    "1"}
-}
-
-file "$(BASE)/sinqEPICSApp/Db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{KM36:llb:, 1, "m$(N)",llb}
-}
--- a/iocBoot/iocsinqEPICS/motor.substitutions.phytron
+++ b/iocBoot/iocsinqEPICS/motor.substitutions.phytron
@@ -1,15 +1,7 @@
-file "$(BASE)/sinqEPICSApp/Db/basic_asyn_motor.db"
+file "$(MOTOR)/db/basic_asyn_motor.db"
 {
 pattern
-{P,        N,      M,        DTYP,   PORT, ADDR,  DESC,     EGU,     DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES,   PREC,  RDBD,  DHLM, DLLM, INIT}
-{KM36:phytron:, 1, "m$(N)", "asynMotor",  phy,  1,    "m1",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3, 0.2,    100,    -100,    "1"}
-{KM36:phytron:, 2, "m$(N)", "asynMotor",  phy,  2,    "m2",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3, 0.2,    100,    -100,    "10"}
+{P,        N,      M,        DTYP,   PORT, ADDR,  DESC,     EGU,     DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES,   PREC,   DHLM, DLLM, INIT}
+{KM36:phytron:, 1, "m$(N)", "asynMotor",  phy,  1,    "m1",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3,    100,    -100,    "1"}
+{KM36:phytron:, 2, "m$(N)", "asynMotor",  phy,  2,    "m2",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3,    100,    -100,    "10"}
 }
-
-file "$(BASE)/sinqEPICSApp/Db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{KM36:phytron:, 1, "m$(N)",phy}
-{KM36:phytron:, 2, "m$(N)",phy}
-}
--- a/iocBoot/iocsinqEPICS/phytest.cmd
+++ b/iocBoot/iocsinqEPICS/phytest.cmd
@@ -1,25 +0,0 @@
-#!/usr/local/bin/iocsh
-
-require sinq,koennecke
-
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/iocBoot/iocsinqEPICS")
-epicsEnvSet("BASE","/afs/psi.ch/project/sinqdev/sinqepicsapp")
-epicsEnvSet("dbPATH","${EPICS_BASE}/dbd:${ASYN}/dbd:${MOTOR}/dbd")
-
-cd ${TOP}
-
-## Register all support components
-dbLoadDatabase "../../dbd/sinqEPICS.dbd"
-
-
-drvAsynIPPortConfigure("serial1", "129.129.195.58:22222",0,0,0)
-#drvAsynIPPortConfigure("serial1", "localhost:9090",0,0,0)
-PhytronCreateController("phy","serial1","0",1,0);
-
-### Motors
-
-dbLoadRecords("$(BASE)/sinqEPICSApp/Db/asynRecord.db","P=KM36:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
-dbLoadTemplate "motor.substitutions.phytron"
-
-
-iocInit
--- a/iocBoot/iocsinqEPICS/phytrontest.cmd
+++ b/iocBoot/iocsinqEPICS/phytrontest.cmd
@@ -18,16 +18,19 @@ epicsEnvSet("dbPATH","${EPICS_BASE}/dbd::${ASYN}/dbd:${MOTOR}/dbd:${ANC}/dbd")
 cd ${TOP}

 ## Register all support components
-dbLoadDatabase "../../sinqEPICSApp/src/sinq.dbd"
+dbLoadDatabase "../../dbd/sinqEPICS.dbd"
+#dbLoadDatabase "dbd/sinq.dbd"
 sinqEPICS_registerRecordDeviceDriver pdbbase

+## Load record instances
+#dbLoadRecords("db/xxx.db","user=koenneckeHost")


 #---------- load Nanotec motor controller
 #drvAsynIPPortConfigure("serial1", "narziss-ts:3002",0,0,0)
 #drvAsynIPPortConfigure("serial1", "localhost:5050",0,0,0)
 drvAsynIPPortConfigure("serial1", "localhost:8080",0,0,0)
-PhytronCreateController("phy","serial1","0",1,1);
+PhytronCreateController("phy","serial1",1,1);

 ### Motors

--- a/iocBoot/iocsinqEPICS/slsvme.db
+++ b/iocBoot/iocsinqEPICS/slsvme.db
@@ -1,94 +0,0 @@
-# Database definition for the SLS VME magnets as installed at AMOR
-
-## 
-## Read the High Limit
-##  
-record(ai, "$(PREFIX)HighLim") {
-  field(DTYP, "stream")
-  field(DESC, "High Current Limit")
-  field(INP, "@slsvme.proto read($(NO),hl) slsvme 0")
-  field(SCAN, "1 second")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-## 
-## Read the High Limit
-##  
-record(ai, "$(PREFIX)LowLim") {
-  field(DTYP, "stream")
-  field(DESC, "Low Current Limit")
-  field(INP, "@slsvme.proto read($(NO),ll) slsvme 0")
-  field(SCAN, "1 second")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-## 
-## Read the Error code
-##  
-record(ai, "$(PREFIX)ErrCode") {
-  field(DTYP, "stream")
-  field(DESC, "Error Code")
-  field(INP, "@slsvme.proto read($(NO),err) slsvme 0")
-  field(SCAN, "1 second")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-## 
-## Read the textual representation of the error.
-##
-record(stringin, "$(PREFIX)ErrText") {
-  field(DTYP, "stream")
-  field(INP, "@slsvme.proto readErrTxt($(NO)) slsvme 0")
-  field(SCAN, "1 second")
-  field(PINI, "YES")
-}
-
-
-## 
-## Read the Current
-##  
-record(ai, "$(PREFIX)CurRBV") {
-  field(DTYP, "stream")
-  field(DESC, "Low Current Limit")
-  field(INP, "@slsvme.proto read($(NO),cur) slsvme 0")
-  field(SCAN, "1 second")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-## 
-## Set the current
-##
-record(ao, "$(PREFIX)CurSet") {
-  field(DTYP, "stream")
-  field(DESC, "Setpoint current")
-  field(OUT, "@slsvme.proto write($(NO),cur) slsvme 0")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-##
-## Read power status of the magnet
-##
-record(bi, "$(PREFIX)PowerStatusRBV") {
-  field(DESC, "Readback of the power status")
-  field(DTYP, "stream")
-  field(INP, "@slsvme.proto readonoff($(NO)) slsvme 0")
-  field(SCAN, "1 second")
-  field(ZNAM, "off")
-  field(ONAM, "on")
-}
-
-## 
-## Set the power status
-##
-record(bo, "$(PREFIX)PowerStatus") {
-  field(DESC, "Set the power status")
-  field(DTYP, "stream")
-  field(OUT, "@slsvme.proto setpower($(NO)) slsvme 0")
-  field(ZNAM, "on")
-  field(ONAM, "off")
-}
--- a/2
+++ b/2
@@ -4,4 +4,4 @@ set dir [pwd]

 cd /usr/local/ioc

-exec /usr/bin/tar czvf $dir/sinqepics.tgz modules/scaler modules/sinq modules/anc350 modules/autosave
+exec /usr/bin/tar czvf $dir/sinqepics.tgz modules/scaler modules/sinq modules/anc350
--- a/sinqEPICSApp/Db/asynRecord.db
+++ b/sinqEPICSApp/Db/asynRecord.db
@@ -1,9 +0,0 @@
-record(asyn,"$(P)$(R)")
-{
-    field(DTYP,"asynRecordDevice")
-    field(PORT,"$(PORT)")
-    field(ADDR,"$(ADDR)")
-    field(OMAX,"$(OMAX)")
-    field(IMAX,"$(IMAX)")
-}
-
--- a/sinqEPICSApp/Db/basic_asyn_motor.db
+++ b/sinqEPICSApp/Db/basic_asyn_motor.db
@@ -1,23 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(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,"$(RDBD)")
-        field(RTRY,"0")
-}
-
--- a/sinqEPICSApp/Db/basic_motor.db
+++ b/sinqEPICSApp/Db/basic_motor.db
@@ -1,21 +0,0 @@
-grecord(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"#C$(C) S$(S) @")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-}
-
--- a/sinqEPICSApp/Db/motorMessage.db
+++ b/sinqEPICSApp/Db/motorMessage.db
@@ -6,13 +6,4 @@ record(waveform, "$(P)$(M)-MsgTxt") {
    field(FTVL, "CHAR")
    field(NELM, "80")
    field(SCAN, "I/O Intr")
-}
-
-record(ao,"$(P)m$(N)-Resolution"){
-	field(DESC,"m$(N) Resolution")
-        field(DOL,"$(P)m$(N).MRES CP MS")
-	field(OMSL,"closed_loop")
-	field(DTYP,"asynFloat64")
-	field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
-	field(PREC,"3")
-}
+}
--- a/sinqEPICSApp/Db/motorSet.db
+++ b/sinqEPICSApp/Db/motorSet.db
@@ -1,13 +0,0 @@
-# workaround over set position
-record(ao, "$(P)$(M)-SetPosition") {
-    field(DTYP, "asynFloat64")
-    field(OUT, "@asyn($(PORT),$(N),1) SET_MOTOR_POSITION")
-    field(PINI, "YES")
-}
-
-# enable axis
-record(longout, "$(P)$(M):Enable") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
-    field(PINI, "YES")
-}
--- a/sinqEPICSApp/src/EL734Driver.cpp
+++ b/sinqEPICSApp/src/EL734Driver.cpp
@@ -41,6 +41,7 @@ EL734Controller::EL734Controller(const char *portName, const char *EL734PortName
 {
  int axis;
  asynStatus status;
+  EL734Axis *pAxis;
  static const char *functionName = "EL734Controller::EL734Controller";


@@ -57,7 +58,7 @@ EL734Controller::EL734Controller(const char *portName, const char *EL734PortName
  switchRemote();

  for (axis=0; axis<numAxes; axis++) {
-    new EL734Axis(this, axis+1);
+    pAxis = new EL734Axis(this, axis+1);
  }

  startPoller(1000./1000., IDLEPOLL, 2);
@@ -113,20 +114,21 @@ EL734Axis* EL734Controller::getAxis(int axisNo)
 void EL734Controller::switchRemote()
 {
  char command[COMLEN], reply[COMLEN];
+  int status;
  size_t in, out;
  int reason;

  strcpy(command,"RMT 1");
-  pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
+  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
  strcpy(command,"ECHO 0");
-  pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
+  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
  strcpy(command,"RMT 1");
-  pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
+  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
  strcpy(command,"ECHO 0");
-  pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
+  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
 }
 /**
@@ -147,7 +149,7 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
  pasynOctetSyncIO->flush(pasynUserController_);
  
  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,COMLEN, 2.,&out,&in,&reason); 
+				       reply,COMLEN, 1.,&out,&in,&reason); 
  if(status != asynSuccess){
    if(axis!= NULL){
      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
@@ -216,27 +218,6 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
 EL734Axis::EL734Axis(EL734Controller *pC, int axisNo)
  : SINQAxis(pC, axisNo), pC_(pC)
 {  
-  char command[COMLEN], reply[COMLEN];
-  asynStatus status;
-  int count = 0;
-  float low, high;
-
-  /*
-    get the hardware limits from the controller
-  */
-  sprintf(command,"H %d",axisNo_);
-  status = pC_->transactController(axisNo_,command,reply);
-  if(status == asynSuccess){
-    count = sscanf(reply,"%f %f",&low, &high);
-    if(count >= 2){
-          pC_->setDoubleParam(axisNo_,pC_->motorLowLimit_,low);
-          pC_->setDoubleParam(axisNo_,pC_->motorHighLimit_,high);
-    } else {
-      errlogPrintf("Bad response - %s - requesting limits at axis %d", reply, axisNo_);
-    }
-  } else {
-    errlogPrintf("Failed to read limits at axis %d", axisNo_);
-  }
 }


@@ -272,12 +253,8 @@ 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); 
  sprintf(command, "p %d %.3f", axisNo_, position/1000.);
  status = pC_->transactController(axisNo_,command,reply);
-  setIntegerParam(pC_->motorStatusProblem_, false);
-  updateMsgTxtFromDriver("");
  next_poll = -1;
  return status;
 }
@@ -290,10 +267,6 @@ asynStatus EL734Axis::home(double minVelocity, double maxVelocity, double accele

  // status = sendAccelAndVelocity(acceleration, maxVelocity);

-  setIntegerParam(pC_->motorStatusProblem_, false);
-  updateMsgTxtFromDriver("");
-  errorReported = 0;
-
  sprintf(command, "R %d", axisNo_);
  homing = 1;
  next_poll= -1;
@@ -312,7 +285,6 @@ asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, doubl
  //   functionName, minVelocity, maxVelocity, acceleration);
    

-  errorReported = 0;
  if (maxVelocity > 0.) {
    /* This is a positive move */
    sprintf(command, "FF %d", axisNo_);
@@ -321,24 +293,20 @@ asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, doubl
      sprintf(command, "FB %d", axisNo_);
  }
  status = pC_->transactController(axisNo_,command,reply);
-  setIntegerParam(pC_->motorStatusProblem_, false);
-  updateMsgTxtFromDriver("");
  next_poll = -1;
  return status;
 }

 asynStatus EL734Axis::stop(double acceleration )
 {
-  asynStatus status = asynSuccess;
+  asynStatus status;
  //static const char *functionName = "EL734Axis::stop";
  char command[COMLEN], reply[COMLEN];

-  if(errorReported == 0){
-      sprintf(command, "S %d", axisNo_);
-      status = pC_->transactController(axisNo_,command,reply);
-      errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
-      updateMsgTxtFromDriver("Axis interrupted");
-    }
+  sprintf(command, "S %d", axisNo_);
+  status = pC_->transactController(axisNo_,command,reply);
+  errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
+  updateMsgTxtFromDriver("Axis interrupted");

  return status;
 }
@@ -349,7 +317,7 @@ asynStatus EL734Axis::setPosition(double position)
  //static const char *functionName = "EL734Axis::setPosition";
  char command[COMLEN], reply[COMLEN];

-  sprintf(command, "U %d %f", axisNo_, position/1000.);
+  sprintf(command, "P %d %f", axisNo_, position/1000.);
  status = pC_->transactController(axisNo_,command,reply);
  next_poll = -1;

@@ -377,8 +345,10 @@ asynStatus EL734Axis::setClosedLoop(bool closedLoop)
 asynStatus EL734Axis::poll(bool *moving)
 { 
  int msr, count;
-  asynStatus comStatus = asynSuccess;
+  asynStatus comStatus;
  char command[COMLEN], reply[COMLEN], errTxt[256];
+  int driverError = 0;
+

  // protect against excessive polling
  if(time(NULL) < next_poll){
@@ -387,121 +357,97 @@ asynStatus EL734Axis::poll(bool *moving)
  }

  // Read the current motor position
-  setIntegerParam(pC_->motorStatusProblem_,false);
  sprintf(command,"u %d", axisNo_);
  comStatus = pC_->transactController(axisNo_,command,reply);
  if(comStatus == asynError){
-    setIntegerParam(pC_->motorStatusProblem_,true);
-    goto skip;
+     driverError = 1;
  }
+  if(comStatus) goto skip;
  if(strstr(reply,"*ES") != NULL){
    *moving = false;
    setIntegerParam(pC_->motorStatusDone_, true);
    setIntegerParam(pC_->motorStatusProblem_, true);
-    errorReported = 1;
    updateMsgTxtFromDriver("Emergency Stop Engaged");
-    comStatus = asynError;
+    driverError = 1;
    goto skip;
  } else if(strstr(reply,"?BSY") != NULL){
    *moving = true;
    setIntegerParam(pC_->motorStatusDone_, false);
+    updateMsgTxtFromDriver(NULL);
    goto skip;
  }
  count = sscanf(reply,"%lf", &position);
  if(count != 1) {
-    if(!homing) {
-      snprintf(errTxt,sizeof(errTxt),"Bad reply %s when reading position for %d", reply, axisNo_);
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      errorReported = 1;
-      updateMsgTxtFromDriver(errTxt);
-      comStatus = asynError;
-      goto skip;
-    }
-  } else {
-    errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
-    setDoubleParam(pC_->motorPosition_, position*1000);
-    //setDoubleParam(pC_->motorEncoderPosition_, position);
+    snprintf(errTxt,sizeof(errTxt),"Bad reply %s when reading position for %d", reply, axisNo_);
+    updateMsgTxtFromDriver(errTxt);
+    comStatus = asynError;
+    driverError =1;
+    goto skip;
  }
+  //errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
+  setDoubleParam(pC_->motorPosition_, position*1000);
+  //setDoubleParam(pC_->motorEncoderPosition_, position);
+  

  // Read the moving status of this motor
  sprintf(command,"msr %d",axisNo_);
  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError){
-    setIntegerParam(pC_->motorStatusProblem_,true);
-    goto skip;
-  }
+  if(comStatus) goto skip;
  sscanf(reply,"%x",&msr);
-
-  //errlogPrintf("Axis %d, reply %s, msr %d, oredmsr = %d, position = %lf\n", 
-  //	       axisNo_, reply, msr, oredMSR, position);
-
+  // errlogPrintf("Axis %d, reply %s, msr %d, position = %lf\n", 
+  // 	       axisNo_, reply, msr, position);
  oredMSR |= msr;
  if( (msr & 0x1) == 0){
    // done: check for trouble
    //errlogPrintf("Axis %d finished\n", axisNo_);
-    *moving = false;
-    setIntegerParam(pC_->motorStatusDone_, true);
-
    next_poll = time(NULL)+IDLEPOLL;
    if(oredMSR & 0x10){
      setIntegerParam(pC_->motorStatusLowLimit_, true);
      updateMsgTxtFromDriver("Lower Limit Hit");
-      errorReported = 1;
-      comStatus = asynError;
-      goto skip;
+      driverError = 1;
    }  else {
      setIntegerParam(pC_->motorStatusLowLimit_, false);
    }
    if(oredMSR & 0x20){
      setIntegerParam(pC_->motorStatusHighLimit_, true);
      updateMsgTxtFromDriver("Upper Limit Hit");
-      errorReported = 1;
-      comStatus = asynError;
-      goto skip;
+      driverError = 1;
    }  else {
      setIntegerParam(pC_->motorStatusHighLimit_, false);
    }
    if(homing){
      setIntegerParam(pC_->motorStatusAtHome_, true);
    }
-    if(oredMSR & 0x1000){
+    setIntegerParam(pC_->motorStatusProblem_, false);
+    if(oredMSR &0x1000){
      setIntegerParam(pC_->motorStatusProblem_, true);
-      //      errlogPrintf("Detected air cushion error on %d", axisNo_);
      errlogSevPrintf(errlogMajor, "Air cushion problem on %d", axisNo_);
      updateMsgTxtFromDriver("Air cushion error");
-      errorReported = 1;
-      comStatus = asynError;
-      goto skip;
+      driverError = 1;
    }
-    if(oredMSR & 0x100){
+    if(oredMSR &0x80){
      setIntegerParam(pC_->motorStatusProblem_, true);
-      errlogSevPrintf(errlogMajor, "Run failure at %d", axisNo_);
-      updateMsgTxtFromDriver("Run failure");
-      comStatus = asynError;
-      errorReported = 1;
-      goto skip;
+      errlogSevPrintf(errlogMajor, "Positioning fault at %d", axisNo_);
+      updateMsgTxtFromDriver("Positioning fault");
+      driverError = 1;
    }
-    if(oredMSR & 0x400){
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      errlogSevPrintf(errlogMajor, "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_);
-    } 
-    setIntegerParam(pC_->motorStatusProblem_, false);
-} else {
+    *moving = false;
+    setIntegerParam(pC_->motorStatusDone_, true);
+    //updateMsgTxtFromDriver("Believed to be on position");
+  } else {
    *moving = true;
    next_poll = -1;
    setIntegerParam(pC_->motorStatusDone_, false);
-}
+    //updateMsgTxtFromDriver("Creeping");
+  }

  skip:
+  if(driverError == 0){
+    updateMsgTxtFromDriver(NULL);
+  }
+  setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
  callParamCallbacks();
-  return comStatus;
+  return comStatus ? asynError : asynSuccess;
 }

 /** Code for iocsh registration */
--- a/sinqEPICSApp/src/EL734Driver.h
+++ b/sinqEPICSApp/src/EL734Driver.h
@@ -34,7 +34,9 @@ private:
  double position;
  int homing;
  time_t next_poll;
-  int errorReported;
+  int ErrTxtIdx;
+
+  void forwardErrorTxt(EL734Axis *axis);
  
 friend class EL734Controller;
 };
--- a/sinqEPICSApp/src/EuroMoveDriver.cpp
+++ b/sinqEPICSApp/src/EuroMoveDriver.cpp
@@ -1,678 +0,0 @@
-/*
-FILENAME... EuroMoveDriver.cpp
-USAGE...    Motor driver support for the EuroMove motor controller from LLB.
-
-This is a driver for the EuroMove motor controller from LLB. This device talks to us either via 
-GPIB or USB. The controller is fairly simple. It can control quite a number of motors. 
-
-Reworked in 06/2021 to work with the Prologix GPIV-Ethernet converter
-
-mark.koennecke@psi.ch
-*/
-
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <math.h>
-#include <ctype.h>
-#include <time.h>
-#include <unistd.h>
-
-#include <iocsh.h>
-#include <epicsThread.h>
-#include <errlog.h>
-
-#include <asynOctetSyncIO.h>
-
-#include "EuroMoveDriver.h"
-#include <epicsExport.h>
-
-#define IDLEPOLL 60
-
-/** Creates a new EuroMoveController object.
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] EuroMovePortName     The name of the drvAsynSerialPort that was created previously to connect to the EuroMove controller 
-  * \param[in] numAxes           The number of axes that this controller supports 
-  */
-EuroMoveController::EuroMoveController(const char *portName, const char *EuroMovePortName, int gpibAddr, int numAxis)
-  :  SINQController(portName, EuroMovePortName,numAxis+1) 
-{
-  asynStatus status;
-  static const char *functionName = "EuroMoveController::EuroMoveController";
-  size_t out, in;
-  int reason;
-  char command[80], reply[80];
-
-  /* Connect to EuroMove controller */
-  status = pasynOctetSyncIO->connect(EuroMovePortName, 0, &pasynUserController_, NULL);
-  if (status) {
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, 
-      "%s: cannot connect to EuroMove controller\n",
-      functionName);
-  }
-  const char *terminator = "\r\n";
-  pasynOctetSyncIO->setOutputEos(pasynUserController_,terminator,strlen(terminator));
-  const char *repTerminator = "\r";
-  pasynOctetSyncIO->setInputEos(pasynUserController_,repTerminator,strlen(repTerminator));
-
-  /* Save gpib address and prepare addr string */
-  this->gpibAddr = gpibAddr;
-  snprintf(this->addrCommand,sizeof(addrCommand), "++addr %d", gpibAddr);
-
-  /* 
-     Configure the Prologix interface to our liking
-     The thing sends no response on configuration commands
-  */
-  strcpy(command,"++mode 1"); /* Make it a controller */
-  status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out); 
-  strcpy(command,"++auto 1"); /* ask for response automatically */
-  status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out); 
-  strcpy(command,"++eos 1"); /* CR */
-  status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out); 
-  
-
-
-  for(int i = 0; i < numAxis; i++){ 
-    new EuroMoveAxis(this, i+1);
-  }
-  startPoller(1000./1000., IDLEPOLL, 2);
-}
-
-
-/** Creates a new EuroMoveController object.
-  * Configuration command, called directly or from iocsh
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] EuroMovePortName  The name of the drvAsynIPPPort that was created previously to connect to the EuroMove controller 
-  * \param[in] gpibAddr          The address of the controller on the GPIB bus
-  * \param[in] numAxes           The number of axes that this controller supports 
-  */
-extern "C" int EuroMoveCreateController(const char *portName, const char *EuroMovePortName, const int gpibAddr, const int numAxis)
-{
-  new EuroMoveController(portName, EuroMovePortName, gpibAddr, numAxis);
-  return(asynSuccess);
-}
-
-/** Reports on status of the driver
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * If details > 0 then information is printed about each axis.
-  * After printing controller-specific information it calls asynMotorController::report()
-  */
-void EuroMoveController::report(FILE *fp, int level)
-{
-  fprintf(fp, "EuroMove motor driver %s, numAxes=%d\n", 
-    this->portName, numAxes_);
-
-  // Call the base class method
-  asynMotorController::report(fp, level);
-}
-
-/** Returns a pointer to an EuroMoveAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
-EuroMoveAxis* EuroMoveController::getAxis(asynUser *pasynUser)
-{
-  return static_cast<EuroMoveAxis*>(asynMotorController::getAxis(pasynUser));
-}
-
-/** Returns a pointer to an EuroMoveAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] axisNo Axis index number. */
-EuroMoveAxis* EuroMoveController::getAxis(int axisNo)
-{
-  return static_cast<EuroMoveAxis*>(asynMotorController::getAxis(axisNo));
-}
-
-/**
- * send a command to the EuroMove and read the reply. Do test for errors.
- * \param[in] command The command to send
- * \param[out] reply The controllers reply
- */
-
-asynStatus EuroMoveController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
-{
-  asynStatus status;
-  SINQAxis *axis = getAxis(axisNo);
-  size_t out, in;
-  int reason, errCode, lCode;
-  char pDummy[50], lReply[50]; 
-  const char *lCommand = {"L"}; 
-
-
-
-  pasynOctetSyncIO->flush(pasynUserController_);
-  
-  /* set address first */
-  status = pasynOctetSyncIO->write(pasynUserController_, this->addrCommand, strlen(this->addrCommand), 2, &out); 
-  if(status != asynSuccess){
-    if(axis!= NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-      errlogPrintf("Lost connection to motor controller\n");
-    }
-    return status;
-  }
-  
-  /* now the actual command */
-  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,sizeof(reply), 10.,&out,&in,&reason); 
-  if(status != asynSuccess){
-    if(axis!= NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-      errlogPrintf("Lost connection to motor controller\n");
-    }
-    return status;
-  }
-  
-  if(strstr(reply,"ERROR") != NULL){
-    sscanf((const char *)reply, "%s %d", pDummy, &errCode);
-    switch(errCode){
-    case 0:
-      axis->updateMsgTxtFromDriver("Syntax error or parameter out of range");
-      errlogPrintf("Syntax error or parameter out or range on %d\n", axisNo);
-      break;
-    case 1:
-      axis->updateMsgTxtFromDriver("Timeout communicating with daughter board");
-      errlogPrintf("Timeout communicating with daughter board on %d\n", axisNo);
-      break;
-    case 2:
-      axis->updateMsgTxtFromDriver("This is not a drivable motor");
-      errlogPrintf("This is not a drivable motor on %d\n", axisNo);
-      break;
-    case 3:
-      axis->updateMsgTxtFromDriver("Encoder anomaly");
-      errlogPrintf("Encoder anomaly on %d\n", axisNo);
-      break;
-    case 4:
-      axis->updateMsgTxtFromDriver("Attempt to move across limit switch");
-      errlogPrintf("Attempt to move across limit switch on %d\n", axisNo);
-      break;
-    case 5:
-      axis->updateMsgTxtFromDriver("Badly configured relay system");
-      errlogPrintf("Badly configured relay system on %d\n", axisNo);
-      break;
-    case 6:
-      axis->updateMsgTxtFromDriver("Non valid backup");
-       errlogPrintf("Invalid backup on %d\n", axisNo);
-     break;
-    case 7:
-      axis->updateMsgTxtFromDriver("Backup failed");
-       errlogPrintf("Backup failed on %d\n", axisNo);
-      break;
-    }
-    return asynError;
-  }
-
-  /*
-    Test system status
-  */
-  status = pasynOctetSyncIO->writeRead(pasynUserController_, lCommand, strlen(lCommand),
-				       lReply,sizeof(lReply), 1.,&out,&in,&reason); 
-  if(status != asynSuccess){
-    if(axis!= NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-      errlogPrintf("Lost connection to motor controller\n");
-    }
-    return status;
-  }
-  sscanf(lReply, "%x", &lCode);
-  //errlogPrintf("System status returned %s, converted to %d\n", lReply, lCode);
-  if((lCode & 1) > 0){
-      axis->updateMsgTxtFromDriver("Syntax error or impossible to execute");
-      errlogPrintf("Syntax error or impossible to execute for %s on %d\n", command, axisNo);
-      return asynError;
-  }
-
-
-  return status;
-}
-
-
-asynStatus EuroMoveController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
-{
-  int function = pasynUser->reason;
-  asynStatus status = asynError;
-  EuroMoveAxis *pAxis = NULL;
-	
-  static const char *functionName = "EuroMoveController::writeFloat64";
-
-
-  pAxis = (EuroMoveAxis *)this->getAxis(pasynUser);
-  if (!pAxis) {
-    return asynError;
-  }
-
-
-  /* Set the parameter and readback in the parameter library. */
-  status = pAxis->setDoubleParam(function, value);
-
-  errlogPrintf("%s, reason %d, value %f\n",  functionName, function, value);
-
-  // TODO: somethign is really shitty here: lowLimit and highLimit cannot be on the command
-  if (function == motorResolution_) {
-    if(value > .0){
-      pAxis->resolution = (int)(1./value);
-    } else {
-      pAxis->resolution = 1;
-    }
-  } 
-
-  //Call base class method
-  //This will handle callCallbacks even if the function was handled here.
-  status = asynMotorController::writeFloat64(pasynUser, value);
-
-  return status;
-
-}
-
-// These are the EuroMoveAxis methods
-
-/** Creates a new EuroMoveAxis object.
-  * \param[in] pC Pointer to the EuroMoveController to which this axis belongs. 
-  * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
-  * 
-  * Initializes register numbers, etc.
-  */
-EuroMoveAxis::EuroMoveAxis(EuroMoveController *pC, int axisNo)
-  : SINQAxis(pC, axisNo),
-    pC_(pC)
-{  
-  motNo = axisNo;
-}
-
-
-
-/** Reports on status of the axis
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * After printing device-specific information calls asynMotorAxis::report()
-  */
-void EuroMoveAxis::report(FILE *fp, int level)
-{
-  if (level > 0) {
-    fprintf(fp, "  axis %d\n",
-            axisNo_);
-  }
-  asynMotorAxis::report(fp, level);
-}
-
-
-asynStatus EuroMoveAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
-{
-  asynStatus status;
-  //static const char *functionName = "EuroMoveAxis::move";
-  char command[COMLEN], reply[COMLEN];
-
-  updateMsgTxtFromDriver("");
-  
-  if (relative) {
-    position += this->position;
-  }
-  homingStatus = HomeIdle;
-  sprintf(command,"G%d=%d", motNo, (int)position);
-  status = pC_->transactController(motNo,command,reply);
-  next_poll = -1;
-  targetPosition = (int)position;
-  return status;
-}
-
-asynStatus EuroMoveAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
-{
-  asynStatus status = asynSuccess;
-  //static const char *functionName = "EuroMoveAxis::home";
-  char command[COMLEN], reply[COMLEN];
-
-  /*
-    The EuroMove controller does not have a built in homing mechanism. We simulate it by:
-
-    1). Running the motor in the appropriate end swicth at high speed
-    2) Stepping back three units
-    3) Run the motor again in the end switch at low speed for better accuracy
-    4) Set the limit position with the <I> command
-
-    The state of this operation is maintained in the homingStatus variable
-  */
-  homingDirection = forwards;
-  homingStatus = HomeFastRun;
-  if(homingDirection){
-    sprintf(command,"H%d=03", motNo);
-  } else {
-    sprintf(command,"H%d=07", motNo);
-  }
-
-  status = pC_->transactController(motNo,command,reply);
-  next_poll = -1;
-
-  return status;
-}
-
-asynStatus EuroMoveAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
-{
-  asynStatus status;
-  double target;
-
-  //static const char *functionName = "EuroMoveAxis::moveVelocity";
-
-  // asynPrint(pasynUser_, ASYN_TRACE_FLOW,
-  //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
-  //   functionName, minVelocity, maxVelocity, acceleration);
-    
-  updateMsgTxtFromDriver("");
-
-  if (maxVelocity > 0.) {
-    /* This is a positive move */
-    pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&target);
-  } else {
-      /* This is a negative move  */
-    pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&target);
-  }
-  status = move(target,0,0,0,0);
-  next_poll = -1;
-  return status;
-}
-
-asynStatus EuroMoveAxis::sendStop()
-{
-  asynStatus status;
-  char command[COMLEN], reply[COMLEN];
-
-  sprintf(command, "B%d", motNo);
-  status = pC_->transactController(axisNo_,command,reply);
-  return status;
-}
-
-asynStatus EuroMoveAxis::stop(double acceleration )
-{
-  asynStatus status;
-  // static const char *functionName = "EuroMoveAxis::stop";
-
-  status = sendStop();
-  errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
-  updateMsgTxtFromDriver("Axis interrupted");
-
-  return status;
-}
-
-asynStatus EuroMoveAxis::setPosition(double position)
-{
-  asynStatus status;
-  //static const char *functionName = "EuroMoveAxis::setPosition";
-  char command[COMLEN], reply[COMLEN];
-
-  errlogPrintf("EuroMoveAxis::setPosition called with %lf\n", position);
-
-  sprintf(command, "I%d=%d",motNo,(int)position);
-  status = pC_->transactController(axisNo_,command,reply);
-  next_poll = -1;
-
-  return status;
-}
-
-asynStatus EuroMoveAxis::setClosedLoop(bool closedLoop)
-{
-  //static const char *functionName = "EuroMoveAxis::setClosedLoop";
- 
-  /*
-    This belongs into the Kingdom of Electronics.
-    We do not do this.
-   */
-
-  return asynError;
-}
-
-/** Polls the axis.
-  * This function reads the motor position, the limit status, the home status, the moving status, 
-  * and the drive power-on status. 
-  * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
-  * and then calls callParamCallbacks() at the end.
-  * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
-asynStatus EuroMoveAxis::poll(bool *moving)
-{ 
-  asynStatus comStatus = asynSuccess;
-  char command[COMLEN], reply[COMLEN];
-  unsigned int axStatus;
-  double backStep, backPos, limit;
-
-  // protect against excessive polling
-  if(time(NULL) < next_poll){
-    *moving = false;
-    return asynSuccess;
-  }
-
-  setIntegerParam(pC_->motorStatusProblem_, false);
-    
-  /*
-    read the current position
-  */
-  sprintf(command,"A%d",motNo);
-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError) {
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    goto skip;
-  }
-  sscanf(reply,"%d",&position);
-  setDoubleParam(pC_->motorPosition_,(double)position);
-
-  // Read the moving status of this motor
-  sprintf(command,"E%d",motNo);
-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError){
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    goto skip;
-  }
-
-  /* errlogPrintf("Axis %d, status reply %s, position %d\n", axisNo_, reply, position); */
-  sscanf(reply, "%x", &axStatus);
-
-  if(homingStatus == HomeIdle){
-    if((axStatus & 128) > 0) { // test bit 8
-      *moving = true;
-      next_poll = -1;
-      setIntegerParam(pC_->motorStatusDone_, false);
-    } else { 
-      *moving = false;
-      next_poll = time(NULL)+IDLEPOLL;
-      setIntegerParam(pC_->motorStatusDone_, true);
-    }
-
-    /* Testing limit switches */
-    if((axStatus & 2) > 0){ // bit 2
-      if(targetPosition > position) {
-        /*
-	  Error codition only when we wish to move further
-	*/
-	setIntegerParam(pC_->motorStatusHighLimit_, true);
-	errlogPrintf("HighLimit detected on %d\n", motNo);
-	updateMsgTxtFromDriver("On high limit switch");
-	sendStop();
-      }
-    } else {
-      setIntegerParam(pC_->motorStatusHighLimit_, false);
-    }
-    if((axStatus & 1) > 0){ // bit 1
-      setIntegerParam(pC_->motorStatusLowLimit_, true);
-      if(targetPosition < position) {
-        /*
-	  Error treatment onlly when we want to go below the limits
-	*/
-	errlogPrintf("LowLimit detected on %d\n", motNo);
-	sendStop();
-	updateMsgTxtFromDriver("On low limit switch");
-      }
-    } else {
-      setIntegerParam(pC_->motorStatusLowLimit_, false);
-    }
-
-    /* there could be errors reported in the motor status */
-    if((axStatus & 8) > 0){ // bit 4
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      updateMsgTxtFromDriver("Internal timeout detected");
-      errlogPrintf("Internal timeout detected on %d\n", motNo);
-      comStatus = asynError;
-    } 
-    if((axStatus & 4) > 0){ // bit 3
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      updateMsgTxtFromDriver("Encoding anomaly");
-      errlogPrintf("Encoding anomaly on %d\n", motNo);
-      comStatus = asynError;
-    } 
-  } else {
-    next_poll = -1;
-    setIntegerParam(pC_->motorStatusDone_, false);
-    *moving = true;
-    switch(homingStatus){
-    case HomeIdle:
-      // handled above: this is here to silence the compiler
-      break;
-    case HomeFastRun:
-      //      errlogPrintf("HomeFastRun\n");
-      if(axStatus & 2 || axStatus & 1){
-	sendStop();
-	homingStatus = HomeFastStop;
-      }
-      break;
-    case HomeFastStop:
-      // errlogPrintf("HomeFastStop\n");
-      if((axStatus & 128) == 0){
-	backStep = 3 * resolution;
-	if(homingDirection){
-	  backPos = position - backStep;
-	} else {
-	  backPos = position + backStep;
-	}
-	sprintf(command,"G%d=%d", motNo, (int)backPos);
-	comStatus = pC_->transactController(motNo,command,reply);
-	if(comStatus == asynError){
-	  setIntegerParam(pC_->motorStatusProblem_, true);
-	  updateMsgTxtFromDriver("Homing problem when back stepping");
-	  errlogPrintf("Homing problem when back stepping: %s not accepted\n", command);
-	  *moving = false;
-	  setIntegerParam(pC_->motorStatusAtHome_, true);
-	  homingStatus = HomeIdle;
-	  setIntegerParam(pC_->motorStatusDone_, true);
-	  goto skip;
-	}
-	usleep(200);
-	homingStatus = HomeBackStep;
-      }
-      break;
-    case HomeBackStep:
-      //errlogPrintf("HomeBackStep\n");
-      if((axStatus & 128) == 0){
-	homingStatus = HomeSlowRun;
-	if(homingDirection){
-	  sprintf(command,"H%d=01", motNo);
-	} else {
-	  sprintf(command,"H%d=05", motNo);
-	}
-	comStatus = pC_->transactController(motNo,command,reply);
-	if(comStatus == asynError){
-	  setIntegerParam(pC_->motorStatusProblem_, true);
-	  updateMsgTxtFromDriver("Homing problem slow running");
-	  errlogPrintf("Homing problem when slow running: %s not accepted\n", command);
-	  *moving = false;
-	  setIntegerParam(pC_->motorStatusAtHome_, true);
-	  homingStatus = HomeIdle;
-	  setIntegerParam(pC_->motorStatusDone_, true);
-	  goto skip;
-	}
-      }
-      break;
-    case HomeSlowRun:
-      //errlogPrintf("HomeSlowRun\n");
-      if(axStatus & 2 || axStatus & 1){
-	sendStop();
-	homingStatus = HomeSlowStop;
-      }
-      break;
-    case HomeSlowStop:
-      //errlogPrintf("HomeSlowStop\n");
-      if((axStatus & 128) == 0) {
-	if(homingDirection) {
-	  pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&limit);
-	} else {
-	  pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&limit);
-	} 
-	setPosition(limit);
-	*moving = false;
-	setIntegerParam(pC_->motorStatusDone_, true);
-	next_poll = time(NULL)+IDLEPOLL;
-	setIntegerParam(pC_->motorStatusDone_, true);
-	setIntegerParam(pC_->motorStatusAtHome_, true);
-	homingStatus = HomeIdle;
-	setDoubleParam(pC_->motorPosition_,(double)limit);
-      }
-    }
-  }
-
-  skip:
-  callParamCallbacks();
-  return comStatus;
-}
-
-/** Code for configuring the motNo on axis **/
-extern "C" {
-  asynStatus EuroMoveConfigureAxis(const char *euroMoveName, unsigned int axisNo, unsigned int motNo)
-  {
-    EuroMoveController *pC = NULL;
-    EuroMoveAxis *pAxis = NULL;
-
-    pC = (EuroMoveController *)findAsynPortDriver(euroMoveName);
-    if(!pC){
-      errlogPrintf("%s driver not found", euroMoveName);
-      return asynError;
-    }
-    pC->unlock();
-
-    pAxis = (EuroMoveAxis *)pC->getAxis(axisNo);
-    if(!pAxis){
-      errlogPrintf("axis %d driver not found on %s", axisNo, euroMoveName);
-      return asynError;
-    }
-    pAxis->setMotNo(motNo);
-
-    return asynSuccess;
-  }
-}
-
-static const iocshArg EuroMoveConfigArg0 = {"Port name", iocshArgString};
-static const iocshArg EuroMoveConfigArg1 = {"Axis Index", iocshArgInt};
-static const iocshArg EuroMoveConfigArg2 = {"Motor number in EuroMove", iocshArgInt};
-static const iocshArg * const EuroMoveConfigArgs[] = {&EuroMoveConfigArg0,
-                                                      &EuroMoveConfigArg1,
-						      &EuroMoveConfigArg2
-};
-static const iocshFuncDef EuroMoveConfigDef = {"EuroMoveConfigureAxis", 3, EuroMoveConfigArgs};
-static void EuroMoveConfigCallFunc(const iocshArgBuf *args)
-{
-  EuroMoveConfigureAxis(args[0].sval, (unsigned int)args[1].ival, (unsigned int)args[2].ival);
-}
-
-
-/** Code for iocsh registration */
-static const iocshArg EuroMoveCreateControllerArg0 = {"Port name", iocshArgString};
-static const iocshArg EuroMoveCreateControllerArg1 = {"EuroMove port name", iocshArgString};
-static const iocshArg EuroMoveCreateControllerArg2 = {"GPIB Address", iocshArgInt};
-static const iocshArg EuroMoveCreateControllerArg3 = {"Number of axis", iocshArgInt};
-static const iocshArg * const EuroMoveCreateControllerArgs[] = {&EuroMoveCreateControllerArg0,
-                                                             &EuroMoveCreateControllerArg1,
-								&EuroMoveCreateControllerArg2,
-								&EuroMoveCreateControllerArg3
-};
-static const iocshFuncDef EuroMoveCreateControllerDef = {"EuroMoveCreateController", 4, EuroMoveCreateControllerArgs};
-static void EuroMoveCreateControllerCallFunc(const iocshArgBuf *args)
-{
-  EuroMoveCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival);
-}
-
-static void EuroMoveRegister(void)
-{
-  iocshRegister(&EuroMoveCreateControllerDef, EuroMoveCreateControllerCallFunc);
-  iocshRegister(&EuroMoveConfigDef, EuroMoveConfigCallFunc);
-}
-
-extern "C" {
-epicsExportRegistrar(EuroMoveRegister);
-}
--- a/sinqEPICSApp/src/EuroMoveDriver.h
+++ b/sinqEPICSApp/src/EuroMoveDriver.h
@@ -1,72 +0,0 @@
-/*
-FILENAME...   EuroMoveDriver.h
-USAGE...      Motor driver support for the LLB EuroMove controller
-
-Mark Koennecke
-January 2020
-
-*/
-
-#include "SINQController.h"
-#include "SINQAxis.h"
-
-#define COMLEN 80
-
-typedef enum {
-  HomeIdle,
-  HomeFastRun,
-  HomeFastStop,
-  HomeBackStep,
-  HomeSlowRun,
-  HomeSlowStop,
-} HomingStatus;
-
-class EuroMoveAxis : public SINQAxis
-{
-public:
-  /* These are the methods we override from the base class */
-  EuroMoveAxis(class EuroMoveController *pC, int axis);
-  void report(FILE *fp, int level);
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-  asynStatus stop(double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus setPosition(double position);
-  asynStatus setClosedLoop(bool closedLoop);
-  void setMotNo(unsigned int no){
-    motNo = no;
-  }
-
-private:
-  EuroMoveController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
-                                   *   Abbreviated because it is used very frequently */
-  time_t next_poll;
-  int motNo; // motor number in the EuroMove controller
-  int position;
-  HomingStatus homingStatus;
-  int homingDirection; // 1 = forward, 0 backwards 
-  asynStatus sendStop();
-  int resolution;
-  friend class EuroMoveController;
-  int targetPosition;
-};
-
-class EuroMoveController : public SINQController {
-public:
-  EuroMoveController(const char *portName, const char *EuroMovePortName, const int gpibAddr, const int nAxis);
-
-  void report(FILE *fp, int level);
-  EuroMoveAxis* getAxis(asynUser *pasynUser);
-  EuroMoveAxis* getAxis(int axisNo);
-  asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
-
-friend class EuroMoveAxis;
- private:
- asynUser *pasynUserController_;
- unsigned int gpibAddr;
- char addrCommand[50];
-
- asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
-
-};
--- a/sinqEPICSApp/src/Makefile
+++ b/sinqEPICSApp/src/Makefile
@@ -28,7 +28,6 @@ sinqEPICS_SRCS += EL734Driver.cpp devScalerEL737.c pmacAsynIPPort.c SINQAxis.cpp
 sinqEPICS_SRCS += pmacController.cpp pmacAxis.cpp
 sinqEPICS_SRCS += NanotecDriver.cpp stptok.cpp
 sinqEPICS_SRCS += PhytronDriver.cpp 
-sinqEPICS_SRCS += EuroMoveDriver.cpp 


 # Build the main IOC entry point on workstation OSs.
--- a/sinqEPICSApp/src/NanotecDriver.cpp
+++ b/sinqEPICSApp/src/NanotecDriver.cpp
@@ -14,9 +14,6 @@ list to the motor controller constructor.
 Mark Koennecke
 July 2015

-Modified to use the MsgTxt field for SINQ
-
-Mark Koennecke, January 2019
 */


@@ -46,7 +43,12 @@ Mark Koennecke, January 2019
  * \param[in] NanotecPortName     The name of the drvAsynSerialPort that was created previously to connect to the Nanotec controller 
  */
 NanotecController::NanotecController(const char *portName, const char *NanotecPortName, int motCount, const char *bus)
-  :  SINQController(portName, NanotecPortName, motCount+1)  
+  :  asynMotorController(portName, motCount+1, 0, 
+                         0, // No additional interfaces beyond those in base class
+                         0, // No additional callback interfaces beyond those in base class
+                         ASYN_CANBLOCK | ASYN_MULTIDEVICE, 
+                         1, // autoconnect
+                         0, 0)  // Default priority and stack size
 {
  int axis, busAddress;
  asynStatus status;
@@ -134,7 +136,7 @@ NanotecAxis* NanotecController::getAxis(int axisNo)
  * Initializes register numbers, etc.
  */
 NanotecAxis::NanotecAxis(NanotecController *pC, int axisNo, int busAddress)
-  : SINQAxis(pC, axisNo),
+  : asynMotorAxis(pC, axisNo),
    pC_(pC)
 {  
  this->busAddress = busAddress;
@@ -160,21 +162,17 @@ void NanotecAxis::report(FILE *fp, int level)
  //asynMotorAxis::report(fp, level);
 }

-asynStatus NanotecController::transactController(int axisNo, char command[COMLEN], char reply[COMLEN])
+asynStatus NanotecController::transactController(char command[COMLEN], char reply[COMLEN])
 {
  asynStatus status;
  size_t in, out;
  int reason;
-  SINQAxis *axis = getAxis(axisNo);

  pasynOctetSyncIO->flush(pasynUserController_);
  
  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
  if(status != asynSuccess){
-    if(axis != NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-    }
    return status;
  }

@@ -202,8 +200,6 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
  size_t in, out;
  int reason;

-  updateMsgTxtFromDriver("");
-
  // status = sendAccelAndVelocity(acceleration, maxVelocity);
  
  if (relative) {
@@ -219,7 +215,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
    set mode
  */
  snprintf(command,sizeof(command),"#%dp2",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  if(status != asynSuccess){
    return status;
  }
@@ -228,7 +224,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
    set target
  */
  snprintf(command,sizeof(command),"#%ds%d",busAddress, (int)position);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  if(status != asynSuccess){
    return status;
  }
@@ -237,7 +233,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
    and start..
  */
  snprintf(command,sizeof(command),"#%dA",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  if(status != asynSuccess){
    return status;
  }
@@ -254,13 +250,11 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce

  setIntegerParam(pC_->motorStatusAtHome_, false);

-  updateMsgTxtFromDriver("");
-
  /*
    reset positioning errors
  */
  snprintf(command,sizeof(command),"#%dD",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  if(status != asynSuccess){
    return status;
  }
@@ -269,7 +263,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
    set mode
  */
  snprintf(command,sizeof(command),"#%dp4",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  if(status != asynSuccess){
    return status;
  }
@@ -279,7 +273,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
    set direction
  */
  snprintf(command,sizeof(command),"#%dd0",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  if(status != asynSuccess){
    return status;
  }
@@ -289,7 +283,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
    and start..
  */
  snprintf(command,sizeof(command),"#%dA",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  if(status != asynSuccess){
    return status;
  }
@@ -310,7 +304,6 @@ asynStatus NanotecAxis::moveVelocity(double minVelocity, double maxVelocity, dou
  //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
  //   functionName, minVelocity, maxVelocity, acceleration);
    
-  updateMsgTxtFromDriver("");


  if (maxVelocity > 0.) {
@@ -333,7 +326,7 @@ asynStatus NanotecAxis::stop(double acceleration )
  char command[COMLEN], reply[COMLEN];

  sprintf(command, "#%dS1", busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  errlogPrintf("Sent STOP on Axis %d\n", axisNo_);

  return status;
@@ -345,10 +338,8 @@ asynStatus NanotecAxis::setPosition(double position)
  //static const char *functionName = "NanotecAxis::setPosition";
  char command[COMLEN], reply[COMLEN];

-  updateMsgTxtFromDriver("");
-
  sprintf(command, "#%dD%d", busAddress, (int)position);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  next_poll = -1;

  return status;
@@ -389,28 +380,28 @@ asynStatus NanotecAxis::poll(bool *moving)
 
  // Read the current motor position
  sprintf(command,"#%dC", busAddress);
-  comStatus = pC_->transactController(axisNo_,command,reply);
+  comStatus = pC_->transactController(command,reply);
  if(comStatus) goto skip;

  pPtr = strchr(reply,'C');
  pPtr++;
  posVal = atoi(pPtr);

-  //errlogPrintf("Axis %d, reply %s, position %d\n", axisNo_, reply, posVal);
+  errlogPrintf("Axis %d, reply %s, position %d\n", axisNo_, reply, posVal);
  setDoubleParam(pC_->motorPosition_, (double)posVal);
  //setDoubleParam(pC_->motorEncoderPosition_, position);
  

  // Read the moving status of this motor
  sprintf(command,"#%d$",busAddress);
-  comStatus = pC_->transactController(axisNo_,command,reply);
+  comStatus = pC_->transactController(command,reply);
  if(comStatus) goto skip;

  pPtr = strchr(reply,'$');
  pPtr++;
  statVal = atoi(pPtr);
-  //errlogPrintf("Axis %d, reply %s, statVal = %d\n", 
-  // 	       axisNo_, reply, statVal);
+  errlogPrintf("Axis %d, reply %s, statVal = %d\n", 
+   	       axisNo_, reply, statVal);

  setIntegerParam(pC_->motorStatusDone_, false);
  *moving = true;
@@ -447,13 +438,10 @@ asynStatus NanotecAxis::poll(bool *moving)
 	setIntegerParam(pC_->motorStatusDone_, true);
 	setIntegerParam(pC_->motorStatusProblem_, true);
 	errlogSevPrintf(errlogMajor, "Limit or other positioning problem at %d", axisNo_);
-	updateMsgTxtFromDriver("Positioning problem");
 	if(ABS(posVal - lowLim) < ABS(posVal - highLim)){
 	  setIntegerParam(pC_->motorStatusLowLimit_, true);
-	  updateMsgTxtFromDriver("Low Limit Hit");
 	} else {
 	  setIntegerParam(pC_->motorStatusHighLimit_, true);
-	  updateMsgTxtFromDriver("High Limit Hit");
 	}
 	*moving = false;
      } 
--- a/sinqEPICSApp/src/NanotecDriver.h
+++ b/sinqEPICSApp/src/NanotecDriver.h
@@ -5,18 +5,15 @@ USAGE...      Motor driver support for the Nanotec SMCI controller.
 Mark Koennecke
 July 2015

-Modified to use the MsgTxt field for SINQ
-
-Mark Koennecke, January 2019
 */

-#include "SINQController.h"
-#include "SINQAxis.h"
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"

 #define COMLEN 80
 #define MAXMOT 99

-class NanotecAxis : public SINQAxis
+class NanotecAxis : public asynMotorAxis
 {
 public:
  /* These are the methods we override from the base class */
@@ -41,7 +38,7 @@ private:
 friend class NanotecController;
 };

-class NanotecController : public SINQController {
+class NanotecController : public asynMotorController {
 public:
  NanotecController(const char *portName, const char *NanotecPortName, int numMot, const char *busAddresses);

@@ -53,7 +50,7 @@ friend class NanotecAxis;
 private:
 asynUser *pasynUserController_;

- asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
+ asynStatus transactController(char command[COMLEN], char reply[COMLEN]);



--- a/sinqEPICSApp/src/PhytronDriver.cpp
+++ b/sinqEPICSApp/src/PhytronDriver.cpp
@@ -23,12 +23,6 @@ Though this driver has been written in 2016, the MCC-2 version used is probably
 Mark Koennecke
 September 2016

-Updated to use the new MsgTxt field through SINQAxis
-Added a selector to support multiple phytrons on a connection
-
-Mark Koennecke
-January 2019
-
 */


@@ -55,16 +49,19 @@ January 2019
  * \param[in] PhytronPortName     The name of the drvAsynSerialPort that was created previously to connect to the Phytron controller 
  * \param[in] numAxes           The number of axes that this controller supports 
  */
-PhytronController::PhytronController(const char *portName, const char *PhytronPortName, const char *sel ,
-				     int encX, int encY)
-  :  SINQController(portName, PhytronPortName,2) 
+PhytronController::PhytronController(const char *portName, const char *PhytronPortName, int encX, int encY)
+  :  asynMotorController(portName, 3, 0, 
+                         0, // No additional interfaces beyond those in base class
+                         0, // No additional callback interfaces beyond those in base class
+                         ASYN_CANBLOCK | ASYN_MULTIDEVICE, 
+                         1, // autoconnect
+                         0, 0)  // Default priority and stack size
 {
  asynStatus status;
+  PhytronAxis *pAxis;
  static const char *functionName = "PhytronController::PhytronController";
  char etx[2];

-  selector = strdup(sel);
-
  /* Connect to Phytron controller */
  status = pasynOctetSyncIO->connect(PhytronPortName, 0, &pasynUserController_, NULL);
  if (status) {
@@ -77,8 +74,8 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
  pasynOctetSyncIO->setOutputEos(pasynUserController_,etx,strlen(etx));
  pasynOctetSyncIO->setInputEos(pasynUserController_,etx,strlen(etx));

-  new PhytronAxis(this, 1, encX);
-  new PhytronAxis(this, 2, encY);
+  pAxis = new PhytronAxis(this, 1, encX);
+  pAxis = new PhytronAxis(this, 2, encY);

  startPoller(1000./1000., IDLEPOLL, 2);
 }
@@ -90,10 +87,11 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
  * \param[in] PhytronPortName       The name of the drvAsynIPPPort that was created previously to connect to the Phytron controller 
  * \param[in] numAxes           The number of axes that this controller supports 
  */
-extern "C" int PhytronCreateController(const char *portName, const char *PhytronPortName, const char *selector,
-				       int encX, int encY)
+extern "C" int PhytronCreateController(const char *portName, const char *PhytronPortName, int encX, int encY)
 {
-  new PhytronController(portName, PhytronPortName,selector, encX, encY);
+  PhytronController *pPhytronController
+    = new PhytronController(portName, PhytronPortName, encX, encY);
+  pPhytronController = NULL;
  return(asynSuccess);
 }

@@ -136,14 +134,12 @@ PhytronAxis* PhytronController::getAxis(int axisNo)
 * \param[out] reply The controllers reply
 */

-asynStatus PhytronController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
+asynStatus PhytronController::transactController(char command[COMLEN], char reply[COMLEN])
 {
  asynStatus status;
  size_t in, out;
  int reason;
  char myReply[COMLEN+10], myCommand[COMLEN+10], *pPtr;
-  SINQAxis *axis = getAxis(axisNo);
-

  pasynOctetSyncIO->flush(pasynUserController_);
  
@@ -159,9 +155,6 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
  status = pasynOctetSyncIO->writeRead(pasynUserController_, myCommand, strlen(myCommand),
 				       myReply,sizeof(myReply), 1.,&out,&in,&reason); 
  if(status != asynSuccess){
-    if(axis!= NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-    }
    return status;
  }

@@ -183,7 +176,7 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
    I may need to replace the ETX. But I am not sure if asyn did 
    not remove it for me.
  */
-  strncat(reply,pPtr,COMLEN-1);
+  strncat(reply,pPtr,sizeof(reply));
  

  return status;
@@ -198,7 +191,7 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
  * Initializes register numbers, etc.
  */
 PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
-  : SINQAxis(pC, axisNo),
+  : asynMotorAxis(pC, axisNo),
    pC_(pC)
 {  
  encoder = enc;
@@ -207,20 +200,10 @@ PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
  } else {
    phytronChar = 'Y';
  }
-  haveBrake = 0;
-  brakeIO = -1;
+
 }

-int PhytronAxis::setBrake(int brakeNO)
-{
-  if(brakeNO < 1 || brakeNO > 8) {
-    return 0;
-  }
-  
-  haveBrake = 1;
-  brakeIO = brakeNO; 
-  return 1;
-}
+

 /** Reports on status of the axis
  * \param[in] fp The file pointer on which report information will be written
@@ -246,46 +229,15 @@ asynStatus PhytronAxis::move(double position, int relative, double minVelocity,
  //static const char *functionName = "PhytronAxis::move";
  char command[COMLEN], reply[COMLEN];

-  updateMsgTxtFromDriver("");
-
-  /*
-    deal with brake
-  */
-  if(haveBrake) {
-    sprintf(command,"%sA%dS", pC_->selector, brakeIO);
-    status = pC_->transactController(axisNo_,command,reply);
-    if(strstr(reply,"NACK") != NULL){
-      errlogSevPrintf(errlogMajor, "Failed to release brake on %d", axisNo_);
-      updateMsgTxtFromDriver("Failed to release brake");
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      return asynError;
-    }
-  }
  
-  /*
-    set speed
-  */
-  sprintf(command, "%s%cP14S%f", pC_->selector, phytronChar, maxVelocity);
-  status = pC_->transactController(axisNo_,command,reply);
-  if(strstr(reply,"NACK") != NULL){
-    errlogSevPrintf(errlogMajor, "Speed not accepted on  %d", axisNo_);
-    updateMsgTxtFromDriver("Invalid speed");
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    return asynError;
-  }
-
-  /*
-    actually send a move command
-  */
  if (relative) {
    position += this->position;
  }
  homing = 0;
-  sprintf(command, "%s%cA%f", pC_->selector,phytronChar,position/1000.);
-  status = pC_->transactController(axisNo_,command,reply);
+  sprintf(command, "0%cA%f", phytronChar,position/1000.);
+  status = pC_->transactController(command,reply);
  if(strstr(reply,"NACK") != NULL){
    errlogSevPrintf(errlogMajor, "Drive command not acknowledged on %d", axisNo_);
-    updateMsgTxtFromDriver("Drive command not acknowledged");
    setIntegerParam(pC_->motorStatusProblem_, true);
    return asynError;
  }
@@ -299,47 +251,13 @@ asynStatus PhytronAxis::home(double minVelocity, double maxVelocity, double acce
  //static const char *functionName = "PhytronAxis::home";
  char command[COMLEN], reply[COMLEN];

-  updateMsgTxtFromDriver("");
-
-  /*
-    handle the fucking brake
-  */
-  if(haveBrake) {
-    sprintf(command,"%sA%dS", pC_->selector, brakeIO);
-    status = pC_->transactController(axisNo_,command,reply);
-    if(strstr(reply,"NACK") != NULL){
-      errlogSevPrintf(errlogMajor, "Failed to release brake on %d", axisNo_);
-      updateMsgTxtFromDriver("Failed to release brake");
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      return asynError;
-    }
-  }
-
-  /*
-    set speed
-  */
-  sprintf(command, "%s%cP14S%f", pC_->selector, phytronChar, maxVelocity);
-  status = pC_->transactController(axisNo_,command,reply);
-  if(strstr(reply,"NACK") != NULL){
-    errlogSevPrintf(errlogMajor, "Speed not accepted on  %d", axisNo_);
-    updateMsgTxtFromDriver("Invalid speed");
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    return asynError;
-  }
-
-  homing_direction = forwards;
-  if(forwards){
-    sprintf(command, "%s%c0+",pC_->selector,phytronChar);
-  } else {
-    sprintf(command, "%s%c0-",pC_->selector,phytronChar);
-  }
+  sprintf(command, "0%cO-",phytronChar);
  homing = 1;
  next_poll= -1;
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
  if(strstr(reply,"NACK") != NULL){
    errlogSevPrintf(errlogMajor, "Home command not acknowledged on %d", axisNo_);
    setIntegerParam(pC_->motorStatusProblem_, true);
-    updateMsgTxtFromDriver("Home command not acknowledged");
    return asynError;
  }
  return status;
@@ -356,7 +274,6 @@ asynStatus PhytronAxis::moveVelocity(double minVelocity, double maxVelocity, dou
  //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
  //   functionName, minVelocity, maxVelocity, acceleration);
    
-  updateMsgTxtFromDriver("");


  if (maxVelocity > 0.) {
@@ -377,10 +294,9 @@ asynStatus PhytronAxis::stop(double acceleration )
  //static const char *functionName = "PhytronAxis::stop";
  char command[COMLEN], reply[COMLEN];

-  sprintf(command, "%s%cSN", pC_->selector,phytronChar);
-  status = pC_->transactController(axisNo_,command,reply);
+  sprintf(command, "0%cSN", phytronChar);
+  status = pC_->transactController(command,reply);
  errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
-  updateMsgTxtFromDriver("Axis interrupted");

  return status;
 }
@@ -391,12 +307,10 @@ asynStatus PhytronAxis::setPosition(double position)
  //static const char *functionName = "PhytronAxis::setPosition";
  char command[COMLEN], reply[COMLEN];

-  errlogPrintf("PhytronAxis::setPosition called with %lf\n", position);
-
-  sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.);
-  status = pC_->transactController(axisNo_,command,reply);
-  sprintf(command, "%s%cP20S%f", pC_->selector,phytronChar, position/1000.);
-  status = pC_->transactController(axisNo_,command,reply);
+  sprintf(command, "0%cP22S%f", phytronChar, position/1000.);
+  status = pC_->transactController(command,reply);
+  sprintf(command, "0%cP20S%f", phytronChar, position/1000.);
+  status = pC_->transactController(command,reply);
  next_poll = -1;

  return status;
@@ -422,7 +336,7 @@ asynStatus PhytronAxis::setClosedLoop(bool closedLoop)
  * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
 asynStatus PhytronAxis::poll(bool *moving)
 { 
-  asynStatus comStatus = asynSuccess;
+  asynStatus comStatus;
  char command[COMLEN], reply[COMLEN];
  double lowlim;

@@ -433,24 +347,19 @@ asynStatus PhytronAxis::poll(bool *moving)
    return asynSuccess;
  }

-  setIntegerParam(pC_->motorStatusProblem_, false);
  // Read the current motor position
  if(encoder) {
-    sprintf(command,"%s%cP22R",pC_->selector,phytronChar);
+    sprintf(command,"0%cP22R",phytronChar);
  } else {
-    sprintf(command,"%s%cP20R",pC_->selector,phytronChar);
+    sprintf(command,"0%cP20R",phytronChar);
  }

-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError) {
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    updateMsgTxtFromDriver("No connection to phytron controller");
-    goto skip;
-  }
+  comStatus = pC_->transactController(command,reply);
+  if(comStatus) goto skip;
+
  if(strstr(reply,"NACK") != NULL){
    setIntegerParam(pC_->motorStatusProblem_, true);
    errlogSevPrintf(errlogMajor, "Bad reply for position on %d", axisNo_);
-    updateMsgTxtFromDriver("Bad reply reading position");
    goto skip;
  }
  /*
@@ -463,13 +372,9 @@ asynStatus PhytronAxis::poll(bool *moving)


  // Read the moving status of this motor
-  sprintf(command,"%s%c=H",pC_->selector,phytronChar);
-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError){
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    updateMsgTxtFromDriver("No connection to phytron controller");
-    goto skip;
-  }
+  sprintf(command,"0%c=H",phytronChar);
+  comStatus = pC_->transactController(command,reply);
+  if(comStatus) goto skip;
  /* errlogPrintf("Axis %d, status reply %s, position %lf\n", axisNo_, reply, position); */
  if(strstr(reply,"ACKN") != NULL){
    *moving = true;
@@ -479,45 +384,23 @@ asynStatus PhytronAxis::poll(bool *moving)
    *moving = false;
    next_poll = time(NULL)+IDLEPOLL;
    setIntegerParam(pC_->motorStatusDone_, true);
-    
-    if(haveBrake) {
-      sprintf(command,"%sA%dR", pC_->selector, brakeIO);
-      comStatus = pC_->transactController(axisNo_,command,reply);
-      if(strstr(reply,"NACK") != NULL){
-	errlogSevPrintf(errlogMajor, "Failed to set brake on %d", axisNo_);
-	updateMsgTxtFromDriver("Failed to set brake");
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	return asynError;
-      }
-    }
  }


  if(!*moving) {
    if(homing){
-      if(homing_direction) {
-	    pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&lowlim);
-      } else {
-	    pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowlim);
-      } 
+      pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowlim);
      setPosition(lowlim);
      setIntegerParam(pC_->motorStatusAtHome_, true);
    } else {
      /* 
 	 check limits and errors, upper
      */
-      sprintf(command,"%s%c=I+",pC_->selector,phytronChar);
-      comStatus = pC_->transactController(axisNo_,command,reply);
-      if(comStatus == asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	updateMsgTxtFromDriver("No connection to phytron controller");
-	goto skip;
-      }
+      sprintf(command,"0%c=I+",phytronChar);
+      comStatus = pC_->transactController(command,reply);
+      if(comStatus) goto skip;
      if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusHighLimit_, true);
-	updateMsgTxtFromDriver("Hit High Limit");
-	comStatus = asynError;
-	goto skip;
      } else {
 	setIntegerParam(pC_->motorStatusHighLimit_, false);
      }
@@ -525,18 +408,11 @@ asynStatus PhytronAxis::poll(bool *moving)
      /*
 	lower limit
      */
-      sprintf(command,"%s%c=I-",pC_->selector,phytronChar);
-      comStatus = pC_->transactController(axisNo_,command,reply);
-      if(comStatus == asynError){
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	updateMsgTxtFromDriver("No connection to phytron controller");
-	goto skip;
-      }
+      sprintf(command,"0%c=I-",phytronChar);
+      comStatus = pC_->transactController(command,reply);
+      if(comStatus) goto skip;
      if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusLowLimit_, true);
-	updateMsgTxtFromDriver("Low Limit Hit");
-	comStatus = asynError;
-	goto skip;
      } else {
 	setIntegerParam(pC_->motorStatusLowLimit_, false);
      }
@@ -544,19 +420,12 @@ asynStatus PhytronAxis::poll(bool *moving)
      /*
 	error
      */
-      sprintf(command,"%s%c=E",pC_->selector,phytronChar);
-      comStatus = pC_->transactController(axisNo_,command,reply);
-      if(comStatus == asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	updateMsgTxtFromDriver("No connection to phytron controller");
-	goto skip;
-      }
+      sprintf(command,"0%c=E",phytronChar);
+      comStatus = pC_->transactController(command,reply);
+      if(comStatus) goto skip;
      if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusProblem_, true);
 	errlogSevPrintf(errlogMajor, "Electronics on %d", axisNo_);
-	updateMsgTxtFromDriver("Electronics error");
-	comStatus = asynError;
-	goto skip; 
      } else {
 	setIntegerParam(pC_->motorStatusProblem_, false);
      }
@@ -565,76 +434,29 @@ asynStatus PhytronAxis::poll(bool *moving)


  skip:
+  setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
  callParamCallbacks();
-  return comStatus;
-}
-
-extern "C" asynStatus PhytronConfBrake(const char *port,         /* specify which controller by port name */
-				       int axis,                 /* axis: 0, 1 */
-				       int brakeNO)              /* brakeIO No, 1-8 */      
-{
-  PhytronController *pC;
-  PhytronAxis *pAxis;
-  int status;
-  
-  static const char *functionName = "PhytronConfBrake";
-
-  pC = (PhytronController*) findAsynPortDriver(port);
-  if (!pC) {
-    printf("%s:%s: Error port %s not found\n",
-           "PhytronDriver", functionName, port);
-    return asynError;
-  }
-  
-  pC->lock();
-  pAxis = pC->getAxis(axis);
-  status = pAxis->setBrake(brakeNO);
-  pC->unlock();
-  if(!status) {
-     printf("%s:%s:%s requested brake IO out of range\n",
-           "PhytronDriver", functionName, port);
-    return asynError;
- }
-  return asynSuccess;
+  return comStatus ? asynError : asynSuccess;
 }

 /** Code for iocsh registration */
 static const iocshArg PhytronCreateControllerArg0 = {"Port name", iocshArgString};
 static const iocshArg PhytronCreateControllerArg1 = {"Phytron port name", iocshArgString};
-static const iocshArg PhytronCreateControllerArg2 = {"Phytron Selector", iocshArgString};
-static const iocshArg PhytronCreateControllerArg3 = {"EncoderX", iocshArgInt};
-static const iocshArg PhytronCreateControllerArg4 = {"EncoderY", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg2 = {"EnoderX", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg3 = {"EnoderY", iocshArgInt};
 static const iocshArg * const PhytronCreateControllerArgs[] = {&PhytronCreateControllerArg0,
                                                             &PhytronCreateControllerArg1,
 							       &PhytronCreateControllerArg2,
-							       &PhytronCreateControllerArg3,
-                                                             &PhytronCreateControllerArg4};
-static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 5, PhytronCreateControllerArgs};
+                                                             &PhytronCreateControllerArg3};
+static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 4, PhytronCreateControllerArgs};
 static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
 {
-  PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
+  PhytronCreateController(args[0].sval, args[1].sval, args[2].ival,args[3].ival);
 }

-
-/* PhytronConfigureBrake */
-static const iocshArg phytronBrakeArg0 = {"Controller port name", iocshArgString};
-static const iocshArg phytronBrakeArg1 = {"Axis number", iocshArgInt};
-static const iocshArg phytronBrakeArg2 = {"Brake IO number", iocshArgInt};
-static const iocshArg * const phytronBrakeArgs[] = {&phytronBrakeArg0,
-						    &phytronBrakeArg1,
-                                                    &phytronBrakeArg2};
-static const iocshFuncDef phytronBrakeDef = {"PhytronConfigureBrake", 3, phytronBrakeArgs};
-
-static void phytronBrakeCallFunc(const iocshArgBuf *args)
-{
-  PhytronConfBrake(args[0].sval, args[1].ival, args[2].ival);
-}
-
-
 static void PhytronRegister(void)
 {
  iocshRegister(&PhytronCreateControllerDef, PhytronCreateContollerCallFunc);
-  iocshRegister(&phytronBrakeDef, phytronBrakeCallFunc);
 }

 extern "C" {
--- a/sinqEPICSApp/src/PhytronDriver.h
+++ b/sinqEPICSApp/src/PhytronDriver.h
@@ -5,19 +5,14 @@ USAGE...      Motor driver support for the Phytron MCC-2 motor controller.
 Mark Koennecke
 September 2016

-
-Updated to go through SINQAxis for -MsgTxt support
-Added a selector to support multiple phytrons on a connection
-
-Mark Koennecke, January 2019
 */

-#include "SINQController.h"
-#include "SINQAxis.h"
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"

 #define COMLEN 80

-class PhytronAxis : public SINQAxis
+class PhytronAxis : public asynMotorAxis
 {
 public:
  /* These are the methods we override from the base class */
@@ -30,7 +25,6 @@ public:
  asynStatus poll(bool *moving);
  asynStatus setPosition(double position);
  asynStatus setClosedLoop(bool closedLoop);
-  int setBrake(int brakeIO);

 private:
  char phytronChar;
@@ -38,19 +32,15 @@ private:
                                   *   Abbreviated because it is used very frequently */
  double position;
  int homing;
-  int homing_direction; /*1 forward, 0 backwards */
  time_t next_poll;
  int encoder;
-  int haveBrake;
-  int brakeIO;
  
 friend class PhytronController;
 };

-class PhytronController : public SINQController {
+class PhytronController : public asynMotorController {
 public:
-  PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
-		    int encX, int encY);
+  PhytronController(const char *portName, const char *PhytronPortName, int encX, int encY);

  void report(FILE *fp, int level);
  PhytronAxis* getAxis(asynUser *pasynUser);
@@ -60,8 +50,7 @@ friend class PhytronAxis;
 private:
 asynUser *pasynUserController_;

- asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
+ asynStatus transactController(char command[COMLEN], char reply[COMLEN]);

- const char *selector;

 };
--- a/sinqEPICSApp/src/SINQAxis.cpp
+++ b/sinqEPICSApp/src/SINQAxis.cpp
@@ -12,7 +12,6 @@ SINQAxis::SINQAxis(class SINQController *pC, int axis)
  : asynMotorAxis((asynMotorController *)pC, axis),
    pC_(pC)
 {
-  updateMsgTxtFromDriver("");
 }


@@ -23,7 +22,6 @@ void SINQAxis::updateMsgTxtFromDriver(const char *value)
    setStringParam(pC_->motorMessageText_,value);
  } else {
    pC_->setIntegerParam(axisNo_,pC_->motorMessageIsFromDriver_, 0);
-    setStringParam(pC_->motorMessageText_,"");
  }  
 }

--- a/sinqEPICSApp/src/SINQController.cpp
+++ b/sinqEPICSApp/src/SINQController.cpp
@@ -10,8 +10,8 @@
 #include "SINQController.h"
 #include "asynMotorController.h"

-SINQController::SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams)
-  :  asynMotorController(portName, numAxes+1, NUM_MOTOR_DRIVER_PARAMS+extraParams,
+SINQController::SINQController(const char *portName, const char *SINQPortName, int numAxes)
+  :  asynMotorController(portName, numAxes+1, NUM_MOTOR_DRIVER_PARAMS+2,
                         0, // No additional interfaces beyond those in base class
                         0, // No additional callback interfaces beyond those in base class
                         ASYN_CANBLOCK | ASYN_MULTIDEVICE, 
--- a/sinqEPICSApp/src/SINQController.h
+++ b/sinqEPICSApp/src/SINQController.h
@@ -17,7 +17,7 @@
 class epicsShareClass SINQController : public asynMotorController
 {
 public:
-  SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams=2);
+  SINQController(const char *portName, const char *SINQPortName, int numAxes);

  friend class SINQAxis;
 protected:
--- a/sinqEPICSApp/src/devScalerEL737.c
+++ b/sinqEPICSApp/src/devScalerEL737.c
@@ -27,7 +27,7 @@
 *
 * Mark Koennecke, February 2013
 *
- * Enhanced by adding an addtional external pause and status flag in the database and code in here 
+ * Enhanced by adding an addtional external pause and status flag in the databse and code in here 
 * to handle this. Moreover an external MsgTxt field in the DB can be filled with an error message.
 *
 * Mark Koennecke, July 2017
@@ -163,7 +163,7 @@ static void connectSlaveRecords(EL737priv *priv)
    errlogPrintf("dbNameToAddr failed for %s with %s\n", slaveName, errName);
    priv->dbInit = 0;
  } else {
-    errlogPrintf("dbNameToAddr succeded for %s, record access %s\n",slaveName, priv->threshCounter.precord->name); 
+    errlogPrintf("dbNameToAddr succeded for %s, record access %s\n",slaveName, priv->status.precord->name); 
  }

  snprintf(slaveName,sizeof(slaveName),"%s:Threshold", priv->psr->name);
@@ -174,9 +174,9 @@ static void connectSlaveRecords(EL737priv *priv)
    errlogPrintf("dbNameToAddr failed for %s with %s\n", slaveName, errName);
    priv->dbInit = 0;
  } else {
-    errlogPrintf("dbNameToAddr succeded for %s, record access %s\n",slaveName, priv->threshold.precord->name); 
+    errlogPrintf("dbNameToAddr succeded for %s, record access %s\n",slaveName, priv->status.precord->name); 
  }
-  priv->thresholdValue = -999;
+
 }

 static long el737_init_record(scalerRecord *psr, CALLBACK *pcallback)
@@ -225,14 +225,14 @@ static long el737_init_record(scalerRecord *psr, CALLBACK *pcallback)
  status = pasynOctetSyncIO->connect(port, 0, &priv->asynContext, NULL);
  if (status) {
    asynPrint(dummyUser, ASYN_TRACE_ERROR, 
-      "%s: cannot connect to EL737 controller\n",
+      "%s: cannot connect to EL734 controller\n",
      "el737_init_scaler");
    psr->pact = 1;
    return 0;
  }
  pasynOctetSyncIO->setOutputEos(priv->asynContext,"\r",strlen("\r"));
  pasynOctetSyncIO->setInputEos(priv->asynContext,"\r",strlen("\r"));
-  priv->asynContext->timeout =  2.0;
+  priv->asynContext->timeout =  1.0;
  strcpy(command,"RMT 1");
  pasynOctetSyncIO->writeRead(priv->asynContext, command, strlen(command),
 			      reply,sizeof(reply), 1.,&out,&in,&reason); 
@@ -343,7 +343,7 @@ static asynStatus el737_transactCommand(EL737priv *priv,char command[COMLEN],cha

  pasynOctetSyncIO->flush(priv->asynContext);
  
-  strcpy(message,"");
+  strcpy(message,"OK");
  status = pasynOctetSyncIO->writeRead(priv->asynContext, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
  if(status == asynSuccess){
@@ -414,7 +414,7 @@ static void runEvents(EL737priv *priv)
    This is the better way to set the threshold rather then the old way below which uses 
    presets for that function. This one uses separate fields. 
  */
-  if(priv->dbInit == 1 && priv->sendThreshold) {
+  if(priv->dbInit == 1) {
    dbStatus = dbGetField(&priv->threshold,DBR_LONG,&myThreshold,&options, &nElements,NULL);
    if(dbStatus != 0){
 	  errSymLookup(dbStatus,errName,sizeof(errName));
@@ -425,16 +425,13 @@ static void runEvents(EL737priv *priv)
 	  we have to set the threshold
 	*/
 	dbStatus = dbGetField(&priv->threshCounter,DBR_LONG,&threshCounter, &options, &nElements,NULL);
-	if(dbStatus != 0) {
+	if(dbStatus != 0){
 	  errSymLookup(dbStatus,errName,sizeof(errName));
 	  errlogPrintf("Reading thresholdCounter failed with %s\n", errName);
 	} else {
-	  if(threshCounter == 0){
-	    threshCounter = 1;
-          }
 	  sprintf(command,"DL %d %d", (int)threshCounter,
 		  (int)myThreshold);
-	  errlogPrintf("Sending threshold command %s\n", command);
+	  //errlogPrintf("Sending threshold command %s\n", command);
 	  status = el737_transactCommand(priv,command,reply);
 	  sprintf(command,"DR %d", (int)threshCounter);
 	  status = el737_transactCommand(priv, command,reply);
@@ -445,22 +442,17 @@ static void runEvents(EL737priv *priv)
 	}
      }
    }
-  } 
+  }

-  if(priv->sendThreshold == 1) {
-    // fallback when we do not have the DB fields or threshCounter is invalid
-    if(priv->presets[THRESHMON] <= 0) {
-      errlogPrintf("Invalid threshold preset monitor %ld, no threshold sent", priv->presets[THRESHMON]); 
-    } else {
-      sprintf(command,"DL %d %d", (int)priv->presets[THRESHMON],
-	      (int)priv->presets[THRESHVAL]);
-      errlogPrintf("Sending threshold from presets, command %s\n", command);
-      status = el737_transactCommand(priv,command,reply);
-      sprintf(command,"DR %d", (int)priv->presets[THRESHMON]);
-      status = el737_transactCommand(priv, command,reply);
-      if(status == asynSuccess) {
-	priv->sendThreshold  = 0;
-      }
+  if(priv->sendThreshold == 1){
+    sprintf(command,"DL %d %d", (int)priv->presets[THRESHMON],
+	    (int)priv->presets[THRESHVAL]);
+    //errlogPrintf("Sending threshold command %s\n", command);
+    status = el737_transactCommand(priv,command,reply);
+    sprintf(command,"DR %d", (int)priv->presets[THRESHMON]);
+    status = el737_transactCommand(priv, command,reply);
+    if(status == asynSuccess){
+      priv->sendThreshold  = 0;
    }
  }
  
@@ -550,6 +542,7 @@ static void el737Thread(void *param)
    evStatus = epicsEventWaitWithTimeout(priv->wakeUp,timeout);
    //errlogPrintf("EL737 thread woke up with %d\n", evStatus);

+
    if(evStatus == epicsEventWaitOK) {
      /*
 	FEAR: we received a command!!!!
--- a/sinqEPICSApp/src/pmacAxis.cpp
+++ b/sinqEPICSApp/src/pmacAxis.cpp
--- a/sinqEPICSApp/src/pmacAxis.h
+++ b/sinqEPICSApp/src/pmacAxis.h
@@ -7,28 +7,21 @@
 *  Matthew Pearson
 *  23 May 2012
 * 
- * Modified to use the MsgTxt field for SINQ
- *
- * Mark Koennecke, January 2019
- *
- * EXtended with special motor axis for the Selene 
- * guide, Mark Koennecke, February 2020
 ********************************************/

 #ifndef pmacAxis_H
 #define pmacAxis_H

-#include "SINQController.h"
-#include "SINQAxis.h"
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"

 class pmacController;
-class SeleneController;

-class pmacAxis : public SINQAxis
+class pmacAxis : public asynMotorAxis
 {
  public:
  /* These are the methods we override from the base class */
-  pmacAxis(pmacController *pController, int axisNo, bool enable=true);
+  pmacAxis(pmacController *pController, int axisNo);
  virtual ~pmacAxis();
  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
@@ -36,9 +29,8 @@ class pmacAxis : public SINQAxis
  asynStatus stop(double acceleration);
  asynStatus poll(bool *moving);
  asynStatus setPosition(double position);
-  asynStatus enable(int on);
-
-protected:
+  
+  private:
  pmacController *pC_;
  
  asynStatus getAxisStatus(bool *moving);
@@ -61,100 +53,9 @@ protected:
  time_t status6Time;
  int starting;
  int homing;
-  double statusPos;
-
-  time_t next_poll;
-
-  bool autoEnable;
-  
-  friend class pmacController;
-  friend class pmacV3Controller;
-};
-/*----------------------------------------------------------------------------------------------*/
-class pmacHRPTAxis : public pmacAxis
-{
- public: 
- pmacHRPTAxis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo) {};
-  /**
-   * Override getAxisStatus in order to read the special parameter indicating a
-   * slit blade crash at HRPT
-   */
-  asynStatus getAxisStatus(bool *moving);
-
- protected:
-  friend class pmacController;
-  
-};
-
-/*--------------------------------------------------------------------------------------------*/
-class SeleneAxis : public pmacAxis
-{
-  public:
-   SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
-   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-   asynStatus setPosition(double position);
-   asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-
- protected:
-  friend class SeleneController;
-  friend class pmacController;
-
- private:
-  double limitTarget;
-  asynStatus getSeleneAxisInitialStatus(void);
-
-};
-
-/*
-  Yet another special set of motors for the Selene Guide at AMOR. Each segment can be lifted or tilted. This is 
-  two motors. One acts as a slave and only writes a new target, the other also sets a new target and sends the 
-  actual movement command. Both motors are coordianted in the motor controller in order to avoid tension on 
-  the guide elements. This gaves rise to the function code LIFTSLAVE and LIFTMASTER.
-
-  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6 get new values and one of them 
-  sends the drive command. This causes all 6 motors to drive synchronously to their new targets. This is 
-  implemented through the LIFTSEGMENT function code. 
-
-  Mark Koennecke, February 2020 
-
-  The axis should not be enabled automatically
-
-  Michele Brambilla, February 2020 
-
- */
-class LiftAxis : public pmacAxis
-{
- public:
- LiftAxis(pmacController *pController, int axisNo) : pmacAxis((pmacController *)pController,axisNo) {};
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus stop(double acceleration);
- private:
-  int waitStart;
-};
-
- /********************************************
- * Protocol version 3 requires just some minor change
- *
- * Michele Brambilla, February 2022
- ********************************************/
-
-class pmacV3Axis : public pmacAxis {
-public:
-
-  pmacV3Axis(pmacController *pController, int axisNo);
-
-  asynStatus move(double position, int relative, double min_velocity,
-                  double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
- protected:
-  int IsEnable;
-  double Speed;
-
-  asynStatus getAxisStatus(bool *moving);

  friend class pmacController;
-  friend class pmacV3Controller;
- };
+};
+

 #endif /* pmacAxis_H */
--- a/sinqEPICSApp/src/pmacController.cpp
+++ b/sinqEPICSApp/src/pmacController.cpp
@@ -13,11 +13,6 @@
 * This affects also the commands they understand. 
 *
 * Mark Koennecke, February 2013 
- *
- * Updated to use the MsgTxt field for error messages as 
- * used at ESS and SINQ 
- *
- * Mark Koennecke, January 2019
 ********************************************/


@@ -32,19 +27,17 @@
 using std::cout;
 using std::endl;

-#include "epicsTime.h"
+#include <epicsTime.h>
 #include <epicsThread.h>
 #include <epicsExport.h>
 #include <epicsString.h>
 #include <iocsh.h>
 #include <drvSup.h>
 #include <registryFunction.h>
-#include <errlog.h>

 #include "asynOctetSyncIO.h"

 #include "pmacController.h"
-#include "pmacAxis.h"

 #define MULT 1000.

@@ -131,23 +124,25 @@ const epicsUInt32 pmacController::PMAX_AXIS_GENERAL_PROB2 = (PMAC_STATUS2_DESIRE
 extern "C" {
  asynStatus pmacCreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
 					 int numAxes, int movingPollPeriod, int idlePollPeriod);
-  asynStatus SeleneCreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
-					 int numAxes, int movingPollPeriod, int idlePollPeriod);
-  asynStatus pmacV3CreateController(const char *portName,
-                                  const char *lowLevelPortName,
-                                  int lowLevelPortAddress, int numAxes,
-                                  int movingPollPeriod, int idlePollPeriod);
+  
  asynStatus pmacCreateAxis(const char *pmacName, int axis);
  asynStatus pmacCreateAxis(const char *pmacName, int numAxis);
  
 }

 pmacController::pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
-			       int numAxes, double movingPollPeriod, double idlePollPeriod, const int& extraParams)
-  : SINQController(portName, lowLevelPortName, numAxes+1, extraParams)
+			       int numAxes, double movingPollPeriod, double idlePollPeriod)
+  : asynMotorController(portName, numAxes+1, NUM_MOTOR_DRIVER_PARAMS,
+			0, // No additional interfaces
+			0, // No addition interrupt interfaces
+			ASYN_CANBLOCK | ASYN_MULTIDEVICE, 
+			1, // autoconnect
+			0, 0)  // Default priority and stack size
 {
  static const char *functionName = "pmacController::pmacController";

+  printf("  Constructor: %s\n", functionName);
+
  //Initialize non static data members
  lowLevelPortUser_ = NULL;
  debugFlag_ = 0;
@@ -158,7 +153,7 @@ pmacController::pmacController(const char *portName, const char *lowLevelPortNam
  createParam(PMAC_C_CommsErrorString,         asynParamInt32, &PMAC_C_CommsError_);

  // Connect our Asyn user to the low level port that is a parameter to this constructor
-  if (lowLevelPortConnect(lowLevelPortName, lowLevelPortAddress, &lowLevelPortUser_, "\006", (char *)"\r") != asynSuccess) {
+  if (lowLevelPortConnect(lowLevelPortName, lowLevelPortAddress, &lowLevelPortUser_, "\006", "\r") != asynSuccess) {
    printf("%s: Failed to connect to low level asynOctetSyncIO port %s\n", functionName, lowLevelPortName);
        setIntegerParam(PMAC_C_CommsError_, 1);
  } else {
@@ -256,7 +251,7 @@ asynStatus pmacController::printConnectedStatus()
 * @param command - String command to send.
 * @response response - String response back.
 */
-asynStatus pmacController::lowLevelWriteRead(int axisNo, const char *command, char *response)
+asynStatus pmacController::lowLevelWriteRead(const char *command, char *response)
 {
  asynStatus status = asynSuccess;

@@ -265,7 +260,6 @@ asynStatus pmacController::lowLevelWriteRead(int axisNo, const char *command, ch
   size_t nread = 0;
   int commsError = 0;
   static const char *functionName = "pmacController::lowLevelWriteRead";
-   pmacAxis *axis = getAxis(axisNo);

   debugFlow(functionName);

@@ -292,9 +286,6 @@ asynStatus pmacController::lowLevelWriteRead(int axisNo, const char *command, ch
     if (status) {
       asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR, "%s: Error from pasynOctetSyncIO->writeRead. command: %s\n", functionName, command);
       setIntegerParam(this->motorStatusCommsError_, 1);
-       if(axis!= NULL){
-	 axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-       }
     } else {
       setIntegerParam(this->motorStatusCommsError_, 0);
     }
@@ -348,6 +339,8 @@ asynStatus pmacController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
  pmacAxis *pAxis = NULL;
  char command[64] = {0};
  char response[64] = {0};
+  double encRatio = 1.0;
+  epicsInt32 encposition = 0;
  char message[132];
 	
  static const char *functionName = "pmacController::writeFloat64";
@@ -415,7 +408,6 @@ asynStatus pmacController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
  //   bool moving = true;
  //   pAxis->getAxisStatus(&moving);
  // } else 
-  /*
  if (function == motorLowLimit_) {
    sprintf(command, "I%d14=%d", pAxis->axisNo_, (int)(value/pAxis->scale_/MULT));
    asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
@@ -430,9 +422,8 @@ asynStatus pmacController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)

  //Execute the command.
  if (command[0] != 0 && status == asynSuccess) {
-    status = lowLevelWriteRead(pAxis->axisNo_,command, response);
+    status = lowLevelWriteRead(command, response);
  }
-  */

  //Call base class method
  //This will handle callCallbacks even if the function was handled here.
@@ -470,6 +461,7 @@ asynStatus pmacController::writeInt32(asynUser *pasynUser, epicsInt32 value)

 }

+
 /** Returns a pointer to an pmacAxis object.
  * Returns NULL if the axis number encoded in pasynUser is invalid.
  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
@@ -535,92 +527,18 @@ asynStatus pmacCreateController(const char *portName, const char *lowLevelPortNa
    return asynSuccess;
 }

-asynStatus SeleneCreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
-				int numAxes, int movingPollPeriod, int idlePollPeriod)
-{
-
-    SeleneController *ppmacController
-      = new SeleneController(portName, lowLevelPortName, lowLevelPortAddress, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
-    ppmacController = NULL;
-
-    return asynSuccess;
-}
-
-asynStatus pmacV3CreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
-				  int numAxes, int movingPollPeriod, int idlePollPeriod)
-{
-
-    pmacController *ppmacController = new pmacV3Controller(portName, lowLevelPortName, lowLevelPortAddress, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
-    ppmacController = NULL;
-
-    return asynSuccess;
-}
-
-  /*---------------------------------------------------------------------------------------------------------------------*/
-SeleneController::SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
-				     int numAxes, double movingPollPeriod, double idlePollPeriod) : pmacController(portName,
-														   lowLevelPortName,
-														   lowLevelPortAddress,
-														   numAxes,
-														   movingPollPeriod,
-														   idlePollPeriod, 3) {
-    static const char *functionName = "seleneController::seleneController";
-    createParam(MotorSetPositionString,                asynParamFloat64,         &setMotorPosition_);
-    callParamCallbacks();
-}
-
-  pmacV3Controller::pmacV3Controller(const char *portName,
-                                     const char *lowLevelPortName,
-                                     int lowLevelPortAddress, int numAxes,
-                                     double movingPollPeriod,
-                                     double idlePollPeriod,
-                                     const int &extraParams) :
-    pmacController(portName, lowLevelPortName, lowLevelPortAddress, numAxes, movingPollPeriod, idlePollPeriod, extraParams) {
-      static const char *functionName = "pmacV3Controller::pmacV3Controller";
-      createParam(EnableAxisString, asynParamInt32, &enableAxis_);
-      createParam(AxisEnabledString, asynParamInt32, &axisEnabled_);
-      callParamCallbacks();
-  }
-
-  /**
-   * C wrapper for the pmacAxis constructor.
-   * See pmacAxis::pmacAxis.
-   *
-   */
-  asynStatus pmacCreateAxis(
-      const char *pmacName, /* specify which controller by port name */
-      int axis)             /* axis number (start from 1). */
-  {
-    pmacController *pC;
-    pmacAxis *pAxis;
-
-    static const char *functionName = "pmacCreateAxis";
-
-    pC = (pmacController *)findAsynPortDriver(pmacName);
-    if (!pC) {
-      printf("%s:%s: Error port %s not found\n", driverName, functionName,
-             pmacName);
-      return asynError;
-    }
-
-    pC->lock();
-    pAxis = new pmacAxis(pC, axis);
-    pAxis = NULL;
-    pC->unlock();
-    return asynSuccess;
-  }
 /**
- * C wrapper for the pmacHRPTAxis constructor.
- * See pmacHRPTAxis::pmacHRPTAxis.
+ * C wrapper for the pmacAxis constructor.
+ * See pmacAxis::pmacAxis.
 *
 */
-asynStatus pmacCreateHRPTAxis(const char *pmacName,         /* specify which controller by port name */
+asynStatus pmacCreateAxis(const char *pmacName,         /* specify which controller by port name */
 			  int axis)                    /* axis number (start from 1). */
 {
  pmacController *pC;
  pmacAxis *pAxis;

-  static const char *functionName = "pmacCreateHRPTAxis";
+  static const char *functionName = "pmacCreateAxis";

  pC = (pmacController*) findAsynPortDriver(pmacName);
  if (!pC) {
@@ -630,97 +548,14 @@ asynStatus pmacCreateHRPTAxis(const char *pmacName,         /* specify which con
  }
  
  pC->lock();
-  pAxis = new pmacHRPTAxis(pC, axis);
+  pAxis = new pmacAxis(pC, axis);
  pAxis = NULL;
  pC->unlock();
  return asynSuccess;
 }

 /**
- * C wrapper for the SeleneAxis constructor.
- * See SeleneAxis::SeleneAxis.
- *
- */
-asynStatus SeleneCreateAxis(const char *pmacName,         /* specify which controller by port name */
-			    int axis,        /* axis number (start from 1). */
-                            double limitTarget)
-{
-  SeleneController *pC;
-  SeleneAxis *pAxis;
-
-  static const char *functionName = "SeleneCreateAxis";
-
-  pC = (SeleneController*) findAsynPortDriver(pmacName);
-  if (!pC) {
-    printf("%s:%s: Error port %s not found\n",
-           driverName, functionName, pmacName);
-    return asynError;
-  }
-  
-  pC->lock();
-  pAxis = new SeleneAxis(pC, axis, limitTarget);
-  pAxis = NULL;
-  pC->unlock();
-  return asynSuccess;
-}
-
-/**
- * C wrapper for the Selene LiftAxis constructor.
- * See LiftAxis::LiftAxis.
- *
- */
-asynStatus LiftCreateAxis(const char *pmacName,         /* specify which controller by port name */
-			  int axis)        /* axis number (start from 1). */
-{
-  pmacController *pC;
-  LiftAxis *pAxis;
-
-  static const char *functionName = "LiftCreateAxis";
-
-  pC = (pmacController*) findAsynPortDriver(pmacName);
-  if (!pC) {
-    printf("%s:%s: Error port %s not found\n",
-           driverName, functionName, pmacName);
-    return asynError;
-  }
-  
-  pC->lock();
-  pAxis = new LiftAxis(pC, axis);
-  pAxis = NULL;
-  pC->unlock();
-  return asynSuccess;
-}
-
-  /**
-   * C wrapper for the pmacV3Axis constructor.
-   * See pmacAxis::pmacV3Axis.
-   *
-   */
-  asynStatus pmacV3CreateAxis(
-      const char *pmacName, /* specify which controller by port name */
-      int axis)             /* axis number (start from 1). */
-  {
-    pmacController *pC;
-    pmacAxis *pAxis;
-
-    static const char *functionName = "pmacV3CreateAxis";
-
-    pC = (pmacController *)findAsynPortDriver(pmacName);
-    if (!pC) {
-      printf("%s:%s: Error port %s not found\n", driverName, functionName,
-             pmacName);
-      return asynError;
-    }
-
-    pC->lock();
-    pAxis = new pmacV3Axis(pC, axis);
-    pAxis = NULL;
-    pC->unlock();
-    return asynSuccess;
-  }
-
-/**
- * C Wrapper function for pmacHRPTAxis constructor.
+ * C Wrapper function for pmacAxis constructor.
 * See pmacAxis::pmacAxis.
 * This function allows creation of multiple pmacAxis objects with axis numbers 1 to numAxes.
 * @param pmacName Asyn port name for the controller (const char *)
@@ -751,137 +586,6 @@ asynStatus pmacCreateAxes(const char *pmacName,
  return asynSuccess;
 }

-
-
-/*================================ SeleneController ===============================================*/
-
-asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
-{
-  int function = pasynUser->reason;
-  asynStatus status = asynError;
-  SeleneAxis *pAxis = NULL;
-  char command[64] = {0};
-  char response[64] = {0};
-  char message[132];
-	
-  static const char *functionName = "SeleneController::writeFloat64";
-
-  sprintf(message,"%s, reason %d",  functionName, function);
-
-  pAxis = (SeleneAxis *)this->getAxis(pasynUser);
-  if (!pAxis) {
-    return asynError;
-  }
-
-
-  /* Set the parameter and readback in the parameter library. */
-  status = pAxis->setDoubleParam(function, value);
-
-  if (function == motorLowLimit_) {
-    sprintf(command, "Q%d54=%f", pAxis->axisNo_, (float)value/(float)MULT);
-    // sprintf(command, "Q%d54=%d", pAxis->axisNo_, (int)(value/pAxis->scale_/MULT));
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
-	      "%s: Setting low limit on controller %s, axis %d to %f\n",
-	      functionName, portName, pAxis->axisNo_, value);
-    errlogPrintf("Setting low limit of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
-  } else if (function == motorHighLimit_) {
-  sprintf(command, "Q%d53=%f", pAxis->axisNo_, (float)value/(float)MULT);
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
-	      "%s: Setting high limit on controller %s, axis %d to %f\n",
-	      functionName, portName, pAxis->axisNo_, value);
-    errlogPrintf("Setting high limit of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
-  } else if(function == setMotorPosition_){
-    snprintf(command,sizeof(command),"Q%d59=%f", pAxis->axisNo_, value);
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
-	      "%s: Defining position of axis%d to %f\n",
-	      functionName, pAxis->axisNo_, value);
-    errlogPrintf("Defining position of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
-  }
-
-  //Execute the command.
-  if (command[0] != 0 && status == asynSuccess) {
-    status = lowLevelWriteRead(pAxis->axisNo_,command, response);
-  }
-
-  // What if now status != asynSuccess
-
-  //Call base class method
-  //This will handle callCallbacks even if the function was handled here.
-  status = asynMotorController::writeFloat64(pasynUser, value);
-
-  return status;
-
-}
-
-
-asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
-  int function = pasynUser->reason;
-  asynStatus status = asynSuccess;
-  pmacV3Axis *pAxis = NULL;
-  char command[64] = {0};
-  char response[64] = {0};
-  static const char *functionName = "pmacV3Controller::writeInt32";
-
-  debugFlow(functionName);
-
-  pAxis = (pmacV3Axis*)this->getAxis(pasynUser);
-  if (!pAxis) {
-    return asynError;
-  }
-
-  /* Set the parameter and readback in the parameter library.  This may be
-   * overwritten when we read back the status at the end, but that's OK */
-  pAxis->setIntegerParam(function, value);
-
-  if (function == enableAxis_) {
-    if(value == 1) {
-      sprintf(command, "M%2.2d=15\n", pAxis->axisNo_);
-      lowLevelWriteRead(pAxis->axisNo_, command, response);
-    }
-    sprintf(command, "M%2.2d14=%d\n", pAxis->axisNo_, value);
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
-              "%s: Enable axis on controller %s, axis %d enable=%d\n",
-              functionName, portName, pAxis->axisNo_, value);
-    if(value){
-      pAxis->updateMsgTxtFromDriver("");
-    }
-  } 
-
-  // Execute the command.
-  if (command[0] != 0 && status == asynSuccess) {
-    lowLevelWriteRead(pAxis->axisNo_, command, response);
-  }
-
-  return pmacController::writeInt32(pasynUser, value);
-}
-
-asynStatus pmacV3Controller::readInt32(asynUser *pasynUser, epicsInt32 *value) {
-
-  int function = pasynUser->reason;
-  asynStatus status = asynError;
-  pmacV3Axis *pAxis = NULL;
-  static const char *functionName = "pmacV3Controller::readInt32";
-  char command[128];
-  char response[128];
-
-  debugFlow(functionName);
-
-  pAxis = (pmacV3Axis*)(this->getAxis(pasynUser));
-  if (!pAxis) {
-    return asynError;
-  }
-  if (function == axisEnabled_) {
-    snprintf(command, sizeof(command), "P%2.2d00", pAxis->axisNo_);
-    status = this->lowLevelWriteRead(pAxis->axisNo_, command, response);
-    *value = strtol(response, NULL, 10);
-    
-    int st = setIntegerParam(axisEnabled_, *value);
-    callParamCallbacks();
-  }
-  return pmacController::readInt32(pasynUser, value);
-}
-
-
 /* Code for iocsh registration */

 #ifdef vxWorks
@@ -906,18 +610,6 @@ static void configpmacCreateControllerCallFunc(const iocshArgBuf *args)
  pmacCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
 }

-static const iocshFuncDef configSeleneCreateController = {"SeleneCreateController", 6, pmacCreateControllerArgs};
-static void configSeleneCreateControllerCallFunc(const iocshArgBuf *args)
-{
-  SeleneCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
-}
-static const iocshFuncDef configpmacV3CreateController = {
-    "pmacV3CreateController", 6, pmacCreateControllerArgs
-};
-static void configpmacV3CreateControllerCallFunc(const iocshArgBuf *args) {
-  pmacV3CreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival,
-                         args[4].ival, args[5].ival);
-}

 /* pmacCreateAxis */
 static const iocshArg pmacCreateAxisArg0 = {"Controller port name", iocshArgString};
@@ -931,58 +623,6 @@ static void configpmacAxisCallFunc(const iocshArgBuf *args)
  pmacCreateAxis(args[0].sval, args[1].ival);
 }

-/* pmacCreateHRPTAxis */
-static const iocshArg pmacCreateHRPTAxisArg0 = {"Controller port name", iocshArgString};
-static const iocshArg pmacCreateHRPTAxisArg1 = {"Axis number", iocshArgInt};
-static const iocshArg * const pmacCreateHRPTAxisArgs[] = {&pmacCreateAxisArg0,
-                                                     &pmacCreateAxisArg1};
-static const iocshFuncDef configpmacHRPTAxis = {"pmacCreateHRPTAxis", 2, pmacCreateHRPTAxisArgs};
-
-static void configpmacHRPTAxisCallFunc(const iocshArgBuf *args)
-{
-  pmacCreateHRPTAxis(args[0].sval, args[1].ival);
-}
-
-
-/* SeleneCreateAxis */
-static const iocshArg SeleneCreateAxisArg0 = {"Controller port name", iocshArgString};
-static const iocshArg SeleneCreateAxisArg1 = {"Axis number", iocshArgInt};
-static const iocshArg SeleneCreateAxisArg2 = {"limitTraget", iocshArgDouble};
-  static const iocshArg * const SeleneCreateAxisArgs[] = {&SeleneCreateAxisArg0,
-							  &SeleneCreateAxisArg1,
-                                                          &SeleneCreateAxisArg2};
-static const iocshFuncDef configSeleneCreateAxis = {"SeleneCreateAxis", 3, SeleneCreateAxisArgs};
-
-static void configSeleneCreateAxisCallFunc(const iocshArgBuf *args)
-{
-  SeleneCreateAxis(args[0].sval, args[1].ival,args[2].dval);
-}
-
-/* LiftCreateAxis */
-static const iocshArg LiftCreateAxisArg0 = {"Controller port name", iocshArgString};
-static const iocshArg LiftCreateAxisArg1 = {"Axis number", iocshArgInt};
-static const iocshArg * const LiftCreateAxisArgs[] = {&LiftCreateAxisArg0,
-                                                     &LiftCreateAxisArg1};
-static const iocshFuncDef configLiftAxis = {"LiftCreateAxis", 2, LiftCreateAxisArgs};
-
-static void configLiftAxisCallFunc(const iocshArgBuf *args)
-{
-  LiftCreateAxis(args[0].sval, args[1].ival);
-}
-
-/* pmacV3CreateAxis */
-static const iocshArg pmacV3CreateAxisArg0 = {"Controller port name",
-                                              iocshArgString};
-static const iocshArg pmacV3CreateAxisArg1 = {"Axis number", iocshArgInt};
-static const iocshArg *const pmacV3CreateAxisArgs[] = {&pmacV3CreateAxisArg0,
-                                                       &pmacV3CreateAxisArg1};
-static const iocshFuncDef configpmacV3Axis = {"pmacV3CreateAxis", 2,
-                                              pmacV3CreateAxisArgs};
-
-static void configpmacV3AxisCallFunc(const iocshArgBuf *args) {
-  pmacV3CreateAxis(args[0].sval, args[1].ival);
-}
-
 /* pmacCreateAxes */
 static const iocshArg pmacCreateAxesArg0 = {"Controller port name", iocshArgString};
 static const iocshArg pmacCreateAxesArg1 = {"Num Axes", iocshArgInt};
@@ -1000,13 +640,7 @@ static void configpmacAxesCallFunc(const iocshArgBuf *args)
 static void pmacControllerRegister(void)
 {
  iocshRegister(&configpmacCreateController,   configpmacCreateControllerCallFunc);
-  iocshRegister(&configSeleneCreateController, configSeleneCreateControllerCallFunc);
-  iocshRegister(&configpmacV3CreateController, configpmacV3CreateControllerCallFunc);
  iocshRegister(&configpmacAxis,               configpmacAxisCallFunc);
-  iocshRegister(&configpmacHRPTAxis,           configpmacHRPTAxisCallFunc);
-  iocshRegister(&configSeleneCreateAxis,       configSeleneCreateAxisCallFunc);
-  iocshRegister(&configLiftAxis,               configLiftAxisCallFunc);
-  iocshRegister(&configpmacV3Axis,             configpmacV3AxisCallFunc);
  iocshRegister(&configpmacAxes,               configpmacAxesCallFunc);
 }
 epicsExportRegistrar(pmacControllerRegister);
@@ -1015,4 +649,3 @@ epicsExportRegistrar(pmacControllerRegister);

 } // extern "C"

-
--- a/sinqEPICSApp/src/pmacController.h
+++ b/sinqEPICSApp/src/pmacController.h
@@ -7,27 +7,23 @@
 *  Matthew Pearson
 *  23 May 2012
 * 
- *
- * Modified to use the MsgTxt field for SINQ
- *
- * Mark Koennecke, January 2019
 ********************************************/

 #ifndef pmacController_H
 #define pmacController_H

-#include "SINQController.h"
+#include "asynMotorController.h"
 #include "asynMotorAxis.h"
 #include "pmacAxis.h"

 #define PMAC_C_GlobalStatusString "PMAC_C_GLOBALSTATUS"
 #define PMAC_C_CommsErrorString "PMAC_C_COMMSERROR"

-class pmacController : public SINQController {
+class pmacController : public asynMotorController {

 public:
- pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod, 
-		 double idlePollPeriod, const int& extraParams=2);
+  pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod, 
+		 double idlePollPeriod);

  virtual ~pmacController();

@@ -49,13 +45,13 @@ class pmacController : public SINQController {
  int PMAC_C_GlobalStatus_;
  int PMAC_C_CommsError_;
  #define LAST_PMAC_PARAM PMAC_C_CommsError__
-  void debugFlow(const char *message);
-  asynStatus lowLevelWriteRead(int axisNo, const char *command, char *response);

 private:
  asynUser* lowLevelPortUser_;
  epicsUInt32 debugFlag_;
+  asynStatus lowLevelWriteRead(const char *command, char *response);
  int lowLevelPortConnect(const char *port, int addr, asynUser **ppasynUser, char *inputEos, char *outputEos);
+  void debugFlow(const char *message);

  //static class data members

@@ -136,57 +132,9 @@ class pmacController : public SINQController {
  static const epicsUInt32 PMAX_AXIS_GENERAL_PROB2;

  friend class pmacAxis;
-  friend class pmacHRPTAxis;
-  friend class SeleneAxis;
-  friend class LiftAxis;
-  friend class pmacV3Axis;
+
 };

 #define NUM_PMAC_PARAMS (&LAST_PMAC_PARAM - &FIRST_PMAC_PARAM + 1)

-#define MotorSetPositionString                "SET_MOTOR_POSITION"
-
-class SeleneController : public pmacController {
- public:
-  SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
-  		   int numAxes, double movingPollPeriod, double idlePollPeriod);
-  
-  ~SeleneController(void) { }
-  
-  // overloaded because we have a different command to set the limits
-  asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value); 
-
-  friend class SeleneAxis;
-  friend class pmacAxis;
-
- protected:
-  int setMotorPosition_;
-    
-};
-
-#define EnableAxisString "ENABLE_AXIS"
-#define AxisEnabledString "AXIS_ENABLED"
-
-class pmacV3Controller : public pmacController {
-public:
-  pmacV3Controller(const char *portName, const char *lowLevelPortName,
-                 int lowLevelPortAddress, int numAxes, double movingPollPeriod,
-                 double idlePollPeriod, const int &extraParams = 2);
-
-  // overloaded because we want to enable/disable the motor
-  asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
-
-  // overloaded because we want to read the axis state
-  asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
-  
-  friend class pmacV3Axis;
-  friend class pmacAxis;
-
-protected:
-  pmacV3Axis **pAxes_;       /**< Array of pointers to axis objects */
-
-  int enableAxis_;
-  int axisEnabled_;
-};
-
 #endif /* pmacController_H */
--- a/sinqEPICSApp/src/sinq.dbd
+++ b/sinqEPICSApp/src/sinq.dbd
@@ -2,23 +2,21 @@
 # SINQ specific DB definitions
 #---------------------------------------------
 registrar(EL734Register) 
-registrar(PhytronRegister) 
-registrar(EuroMoveRegister) 
 registrar(NanotecRegister) 
-registrar(pmacControllerRegister) 
-registrar(pmacAsynIPPortRegister) 
-
-#--------------------------------------------------------
-# With the PSI module build system, including these items actually 
-# hurts. It causes missing symbols when loading the shared lib. 
-#------------------------------------------------------------------ 
-#include "/ioc/modules/asyn/427.0.1/R3.14.12/dbd/asyn.dbd"
-#include "/ioc/modules/motorBase/6.9.12/R3.14.12/dbd/motorBase.dbd"
-#include "/ioc/modules/SynApps/1.13.0/R3.14.12/dbd/SynApps.dbd"
-#include "/ioc/modules/scaler/koennecke/R3.14.12/dbd/scaler.dbd"
+addpath "/opt/epics/modules/asyn/4.27.0/3.14.12.5/dbd"
+addpath "/opt/epics/bases/base-3.14.12.5/dbd"
+addpath "/opt/epics/modules/motor/6.10.0/3.14.12.5/dbd"
+#addpath "/usr/local/epics/support/std-3-1/dbd"
+addpath "/opt/epics/modules/synAppsStd/3.4.1/3.14.12.5/dbd"
+include "asyn.dbd"
+include "motor.dbd"
+#include "motorSupport.dbd"

+include "synAppsStd.dbd"
 device(scaler,INST_IO,devScalerEL737,"asynScalerEL737")

-#--------- For lakeshore and magnets
-#include "/ioc/modules/stream/2.7.9/R3.14.12/dbd/stream.dbd"
-#include "busy.dbd"
+#--------- For lakeshore
+addpath "/opt/epics/modules/streamdevice/2.6.0/3.14.12.5/dbd"
+include "streamdevice.dbd"
+addpath "/opt/epics/modules/busy/1.6.0/3.14.12.5/dbd"
+include "busy.dbd"
--- a/testEuroMoveUsb.py
+++ b/testEuroMoveUsb.py
@@ -1,88 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: iso-8859-1 -*-
-"""
-Created on Thur Feb 06 10:22:42 2020
- 
-@author: gaston emmanuel exil
-"""
-
-#pip install pyusb
-#sudo cp 10-llbDevices.rules /etc/udev/rules.d/
-#sudo udevadm control --reload-rules && udevadm trigger
-#reboot
-
-import sys
-import usb.core
-import usb.util
-from time import sleep
-
-# 1. Device
-llbVendorID=0x04B4
-llbProductID=0x1002
-
-# 2. Configuration 
-CONFIGURATION_EV3 = 1       # 1-based
-# 3. Interface
-INTERFACE_EV3 = 0           # 0-based
-# 4. Alternate setting
-SETTING_EV3 = 0             # 0-based
-# 5. Endpoint
-ENDPOINT_EV3 = 1            # 0-based
-
-# find our device
-device = usb.core.find(idVendor=llbVendorID, idProduct=llbProductID)
-
-# was it found?
-if device is None:
-    raise ValueError('Device not found')
-    sys.exit(1)
-else:
-    if device._manufacturer is None:
-        device._manufacturer = usb.util.get_string(device, device.iManufacturer)
-    print("manufacturer: ", str(device._manufacturer))
-    if device._product is None:
-        device._product = usb.util.get_string(device, device.iProduct)
-    print("product: ", str(device._product))
-
-
-# By default, the kernel will claim the device and make it available via
-# /dev/usb/hiddevN and /dev/hidrawN which also prevents us
-# from communicating otherwise. This removes these kernel devices.
-# Yes, it is weird to specify an interface before we get to a configuration.
-
-if device.is_kernel_driver_active(INTERFACE_EV3):
-    print("Detaching kernel driver")
-    device.detach_kernel_driver(INTERFACE_EV3)
-    
-    # claim the device
-    usb.util.claim_interface(device, INTERFACE_EV3)
-
-# write endpoint
-endpoint_BulkOut = device[0][(0,0)][0]
-# Read endpoint
-endpoint_BulkIn = device[0][(0,0)][2]
-try:
-    command = "L"+chr(13)
-    assert device.write(endpoint_BulkOut, command.encode('utf-8'), 100) == len(command)
-    ret = device.read(endpoint_BulkIn, endpoint_BulkIn.wMaxPacketSize, timeout=30000)
-    print(ret)
-    #byte_str = "".join(chr(n) for n in ret)
-    print(ret.tostring())
-    
-
-    
-    command = "A1,4"+chr(13)
-    assert device.write(endpoint_BulkOut, command.encode('utf-8'), 100) == len(command)
-    ret = device.read(endpoint_BulkIn, endpoint_BulkIn.wMaxPacketSize, timeout=30000)
-    print(ret)
-    byte_str = "".join(chr(n) for n in ret)
-    print(ret.tostring())
-    
-except Exception as e:
-    print(e)
-
-
-# release the device
-usb.util.release_interface(device, INTERFACE_EV3)
-# reattach the device to the OS kernel
-#device.attach_kernel_driver(INTERFACE_EV3)
Author	SHA1	Message	Date
koennecke	cc88331652	Merge branch 'el737' into amorsim	2017-08-24 13:50:06 +02:00
koennecke	c445af75c1	Merge branch 'el737' into amorsim Port the fix to the el737 driver into this branch	2017-08-14 14:53:35 +02:00
koennecke	ebc3de1bd2	Merge branch 'master' into amorsim	2017-08-09 16:52:12 +02:00
koennecke	73c9c98329	Recovered the sinq.dbdb file for the SINQ ioc to work again	2017-08-09 16:48:39 +02:00
				`@@ -1 +0,0 @@`
				`SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="1002", MODE="0666" GROUP="plugdev", TAG+="uaccess"`