From 2e2c24238b9500a282fe815b5a6a9f8caf621cf1 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Wed, 4 Dec 2024 13:39:36 +0100
Subject: [PATCH] Prototype for v0.2

---
 db/pmacv3.db             | 20 ++++++++++++++------
 src/pmacv3Controller.cpp | 10 ----------
 src/pmacv3Controller.h   | 11 -----------
 3 files changed, 14 insertions(+), 27 deletions(-)

diff --git a/db/pmacv3.db b/db/pmacv3.db
index 66eb5ca..9d6cd4c 100644
--- a/db/pmacv3.db
+++ b/db/pmacv3.db
@@ -1,5 +1,7 @@
-# Encoder type
-record(waveform, "$(P)$(M):Encoder_Type") {
+# Read out the encoder type in human-readable form. The output numbers can be 
+# interpreted as ASCII.
+# This record is coupled to the parameter library via motorEnable_ -> MOTOR_ENABLE.
+record(waveform, "$(INSTR)$(M):Encoder_Type") {
     field(DTYP, "asynOctetRead")
     field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
     field(FTVL, "CHAR")
@@ -7,15 +9,21 @@ record(waveform, "$(P)$(M):Encoder_Type") {
     field(SCAN, "I/O Intr")
 }
 
-# reread encoder
-record(longout, "$(P)$(M):Reread_Encoder") {
+# Trigger a rereading of the encoder. This action is sometimes necessary for 
+# absolute encoders after enabling them. For incremental encoders, this is a no-op.
+# This record is coupled to the parameter library via rereadEncoderPosition_ -> REREAD_ENCODER_POSITION.
+record(longout, "$(INSTR)$(M):Reread_Encoder") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) REREAD_ENCODER_POSITION")
     field(PINI, "NO")
 }
 
-# reread encoder
-record(longout, "$(P)$(M):Read_Config") {
+# The pmacV3 driver reads certain configuration parameters (such as the velocity
+# and the acceleration) directly from the MCU. This reading procedure is performed
+# once at IOC startup during atFirstPoll. However, it can be triggered manually
+# by setting this record value to 1.
+# This record is coupled to the parameter library via readConfig_ -> READ_CONFIG.
+record(longout, "$(INSTR)$(M):Read_Config") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
     field(PINI, "NO")
diff --git a/src/pmacv3Controller.cpp b/src/pmacv3Controller.cpp
index d88fc87..58bbd97 100644
--- a/src/pmacv3Controller.cpp
+++ b/src/pmacv3Controller.cpp
@@ -405,16 +405,6 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
     return asynSuccess;
 }
 
-asynStatus pmacv3Controller::readInt32(asynUser *pasynUser, epicsInt32 *value) {
-    if (pasynUser->reason == motorCanDisable_) {
-        // By default, motors cannot be disabled
-        *value = 1;
-        return asynSuccess;
-    } else {
-        return sinqController::readInt32(pasynUser, value);
-    }
-}
-
 asynStatus pmacv3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     int function = pasynUser->reason;
 
diff --git a/src/pmacv3Controller.h b/src/pmacv3Controller.h
index 22651c3..c4a474f 100644
--- a/src/pmacv3Controller.h
+++ b/src/pmacv3Controller.h
@@ -50,17 +50,6 @@ class pmacv3Controller : public sinqController {
      */
     pmacv3Axis *getAxis(int axisNo);
 
-    /**
-     * @brief Overloaded function of sinqController
-     *
-     * The function is overloaded to read the canDisable property.
-     *
-     * @param pasynUser           Specify the axis via the asynUser
-     * @param value               Read-out value
-     * @return asynStatus
-     */
-    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
-
     /**
      * @brief Overloaded function of sinqController
      *