Substantial rework of the driver after CAMEA testing showed various

flaws.

db/pmacv3.db

@@ -0,0 +1,59 @@
+# Encoder type
+record(waveform, "$(P)$(M):Encoder_Type") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
+    field(FTVL, "CHAR")
+    field(NELM, "80")
+    field(SCAN, "I/O Intr")
+}
+
+# reread encoder
+record(longout, "$(P)$(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") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
+    field(PINI, "NO")
+}
+
+# ===================================================================
+# The following records read acceleration and velocity from the driver and 
+# copy those values into the corresponding fields of the main motor record.
+# This strategy is described here: https://epics.anl.gov/tech-talk/2022/msg00464.php
+
+# Helper record for the high limit which is filled in by the driver
+record(ai, "$(P)$(M):MOTOR_VELOCITY-RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VELOCITY_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(P)$(M):PUSH_VELO_TO_FIELD")
+}
+
+# Push the value into the field of the main motor record
+record(ao, "$(P)$(M):PUSH_VELO_TO_FIELD") {
+    field(DOL,  "$(P)$(M):MOTOR_VELOCITY-RBV CP")
+    field(OUT,  "$(P)$(M).VELO")
+    field(OMSL, "closed_loop") # This configuration keeps the PV and the field in sync
+}
+
+# Helper record for the low limit which is filled in by the driver
+record(ai, "$(P)$(M):MOTOR_ACCL-RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ACCEL_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(P)$(M):PUSH_ACCL_TO_FIELD")
+}
+
+# Push the value into the field of the main motor record
+record(ao, "$(P)$(M):PUSH_ACCL_TO_FIELD") {
+    field(DOL,  "$(P)$(M):MOTOR_ACCL-RBV CP")
+    field(OUT,  "$(P)$(M).ACCL")
+    field(OMSL, "closed_loop") # This configuration keeps the PV and the field in sync
+}