From 08c85129f32b97edfea8844236ea430bef234c1f Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Thu, 24 Jul 2025 11:16:37 +0200
Subject: [PATCH] Updated sinqMotor to 1.3.0

---
 sinqMotor             |  2 +-
 src/turboPmacAxis.cpp | 32 ++++++++++++++++++++++++++++----
 2 files changed, 29 insertions(+), 5 deletions(-)

diff --git a/sinqMotor b/sinqMotor
index 55a9fe6..1910eda 160000
--- a/sinqMotor
+++ b/sinqMotor
@@ -1 +1 @@
-Subproject commit 55a9fe6f3e02162f71ba54aab2d753066073f5ac
+Subproject commit 1910eda0b14e1a8143d7b82cb9d9529ec71dddf7
diff --git a/src/turboPmacAxis.cpp b/src/turboPmacAxis.cpp
index 644e3ee..6dec21c 100644
--- a/src/turboPmacAxis.cpp
+++ b/src/turboPmacAxis.cpp
@@ -265,6 +265,11 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     // Was the axis idle during the previous poll?
     int previousStatusDone = 1;
 
+    if (axisNo() == 1) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR, "START POLL: at %lli\n",
+                  timeInMilliseconds());
+    }
+
     // =========================================================================
 
     if (pTurboPmacA_->needInit) {
@@ -378,6 +383,15 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     // Store the axis status
     pTurboPmacA_->axisStatus = axStatus;
 
+    // if (axStatus == -3 || axStatus == -5) {
+    if (axisNo() == 1) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "POLL: Axis status %i at %lli\n", axStatus,
+                  timeInMilliseconds());
+    }
+
+    //}
+
     // Update the enablement PV
     setAxisParamChecked(this, motorEnableRBV,
                         (axStatus != -3 && axStatus != -5));
@@ -1115,6 +1129,9 @@ asynStatus turboPmacAxis::enable(bool on) {
         }
     }
 
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR, "Sending enable %i at %lli\n",
+              on, timeInMilliseconds());
+
     // Enable / disable the axis if it is not moving
     snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
     asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
@@ -1134,7 +1151,7 @@ asynStatus turboPmacAxis::enable(bool on) {
     while (time(NULL) < startTime + timeout_enable_disable) {
 
         // Read the axis status
-        usleep(100000);
+        // usleep(100000);
         status = pC_->writeRead(axisNo_, command, response, 1);
         if (status != asynSuccess) {
             return status;
@@ -1145,13 +1162,20 @@ asynStatus turboPmacAxis::enable(bool on) {
                                               __PRETTY_FUNCTION__, __LINE__);
         }
 
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Axis status %i at %lli\n", pTurboPmacA_->axisStatus,
+                  timeInMilliseconds());
+
         if ((pTurboPmacA_->axisStatus != -3) == on) {
             bool moving = false;
-            // Perform a poll to update the parameter library
-            poll(&moving);
+            forcedPoll(&moving);
+
+            int enabled = 0;
+            getAxisParamChecked(this, motorEnableRBV, &enabled);
 
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                      "Finished enable %i at %lli\n", on, timeInMilliseconds());
+                      "Finished enable %i at %lli, value motorEnableRBV = %i\n",
+                      on, timeInMilliseconds(), enabled);
 
             return asynSuccess;
         }