Included the possibility to vary the motor speed.

some records into sinqMotor

Makefile

@@ -11,7 +11,7 @@ REQUIRED+=asynMotor
 REQUIRED+=sinqMotor
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.3.0
+sinqMotor_VERSION=0.4.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/pmacv3Axis.h

README.md

@@ -4,50 +4,39 @@
 
 This is a driver for the pmacV3 motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
 
-## Usage in IOC shell
+## User guide
+
+This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+
+## Developer guide
+
+### Usage in IOC shell
 
 pmacv3 exposes the following IOC shell functions (all in pmacv3Controller.cpp):
 - `pmacv3Controller`: Create a new controller object.
 - `pmacv3Axis`: Create a new axis object.
-The function arguments are documented directly within the source code or are available from the help function of the IOC shell.
+These functions are parametrized as follows:
-
-## Database
-
-The pmacV3 module provides additional PVs in the database template  db/pmacv3.db. It can be parametrized with the `dbLoadTemplate` function from the IOC shell:
-
 ```
-require sinqMotor, y.y.y # The sinqMotor module is needed for the pmacv3 module. The version y.y.y is defined in the Makefile (line sinqMotor_VERSION=x.x.x)
+pmacv3Controller(
-require pmacv3, x.x.x # This is the three-digit version number of the pmacv3 module
+    "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
-dbLoadTemplate "motor.substitutions"
+    "$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
+    8, # Maximum number of axes
+    0.05, # Busy poll period in seconds
+    1, # Idle poll period in seconds
+    0.05 # Communication timeout in seconds
+    );
+```
+```
+pmacv3Axis(
+    "$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
+    1 # Index of the axis.
+    );
 ```
 
-The substitutions file can be concatenated with that of sinqMotor:
+### Versioning
-```
-file "$(sinqMotor_DB)/sinqMotor.db"
-{
-pattern
-...
-}
-
-file "$(pmacv3_DB)/pmacv3.db"
-{
-pattern
-{ AXIS,     M}
-{ 1,   "lin1"}
-{ 2,   "rot1"}
-}
-```
-The sinqMotor pattern "..." is documented in https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
-The other parameters have the following meaning:
-- `AXIS`: Index of the axis, corresponds to the physical connection of the axis to the MCU
-- `M`: Name of the motor as shown in EPICS
-
-The axis name should correspond to that of the sinqMotor pattern with the same respective index.
-
-## Versioning
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
 
-## How to build it
+### How to build it
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

db/pmacv3.db

@@ -1,5 +1,7 @@
-# Encoder type
+# Read out the encoder type in human-readable form. The output numbers can be 
-record(waveform, "$(P)$(M):Encoder_Type") {
+# interpreted as ASCII.
+# This record is coupled to the parameter library via encoderType -> ENCODER_TYPE.
+record(waveform, "$(INSTR)$(M):Encoder_Type") {
     field(DTYP, "asynOctetRead")
     field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
     field(FTVL, "CHAR")
@@ -7,53 +9,22 @@ record(waveform, "$(P)$(M):Encoder_Type") {
     field(SCAN, "I/O Intr")
 }
 
-# reread encoder
+# Trigger a rereading of the encoder. This action is sometimes necessary for 
-record(longout, "$(P)$(M):Reread_Encoder") {
+# 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
+# The pmacV3 driver reads certain configuration parameters (such as the velocity
-record(longout, "$(P)$(M):Read_Config") {
+# 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")
 }
-
-# ===================================================================
-# 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
-}

src/pmacv3Axis.cpp

@@ -87,6 +87,7 @@ asynStatus pmacv3Axis::readConfig() {
     double motorRecResolution = 0.0;
     double motorPosition = 0.0;
     double motorVelocity = 0.0;
+    double motorVmax = 0.0;
     double motorAccel = 0.0;
     int acoDelay = 0.0; // Offset time for the movement watchdog caused by
                         // the air cushions in milliseconds.
@@ -103,14 +104,14 @@ asynStatus pmacv3Axis::readConfig() {
 
     // Software limits and current position
     snprintf(command, sizeof(command),
-             "P%2.2d00 Q%2.2d10 Q%2.2d04 Q%2.2d06 P%2.2d22", axisNo_, axisNo_,
+             "P%2.2d00 Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22", axisNo_,
-             axisNo_, axisNo_, axisNo_);
+             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
-    status = pC_->writeRead(axisNo_, command, response, 5);
+    status = pC_->writeRead(axisNo_, command, response, 6);
     if (status != asynSuccess) {
         return status;
     }
-    nvals = sscanf(response, "%d %lf %lf %lf %d", &axStatus, &motorPosition,
+    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPosition,
-                   &motorVelocity, &motorAccel, &acoDelay);
+                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
     offsetMovTimeout_ = std::ceil(acoDelay / 1000.0);
@@ -120,7 +121,7 @@ asynStatus pmacv3Axis::readConfig() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 5) {
+    if (nvals != 6) {
         return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
                                                 __PRETTY_FUNCTION__, __LINE__);
     }
@@ -135,25 +136,14 @@ asynStatus pmacv3Axis::readConfig() {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status =
+    // Write to the motor record fields
-        pC_->setDoubleParam(axisNo_, pC_->motorVelocityRBV_, motorVelocity);
+    status = setVeloFields(motorVelocity, 0.0, motorVmax);
     if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorVelocityRBV_",
+        return status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
-
+    status = setAcclField(motorAccel);
-    status = pC_->setDoubleParam(axisNo_, pC_->motorAccelRBV_, motorAccel);
     if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorAccelRBV_",
+        return status;
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    // Set the initial enable based on the motor status value
-    status =
-        setIntegerParam(pC_->enableMotor_, (axStatus != -3 && axStatus != -5));
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "enableMotor_",
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Update the parameter library immediately
@@ -618,10 +608,10 @@ asynStatus pmacv3Axis::doPoll(bool *moving) {
         }
     }
 
-    pl_status = setIntegerParam(pC_->enableMotorRBV_,
+    pl_status = setIntegerParam(pC_->motorEnableRBV_,
                                 (axStatus != -3 && axStatus != -5));
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_",
+        return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_",
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -681,12 +671,15 @@ asynStatus pmacv3Axis::doMove(double position, int relative, double minVelocity,
 
     char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
     double motorCoordinatesPosition = 0.0;
-    int enabled = 0;
     double motorRecResolution = 0.0;
+    double motorVelocity = 0.0;
+    int enabled = 0;
+    int motorCanSetSpeed = 0;
+    int writeOffset = 0;
 
     // =========================================================================
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->enableMotorRBV_, &enabled);
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV_, &enabled);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_",
                                          __PRETTY_FUNCTION__, __LINE__);
@@ -708,18 +701,43 @@ asynStatus pmacv3Axis::doMove(double position, int relative, double minVelocity,
 
     // Convert from EPICS to user / motor units
     motorCoordinatesPosition = position * motorRecResolution;
+    motorVelocity = maxVelocity * motorRecResolution;
 
     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
               "%s => line %d:\nStart of axis %d to position %lf.\n",
               __PRETTY_FUNCTION__, __LINE__, axisNo_, position);
 
-    // Perform handshake, Set target position and start the move command
+    // Check if the speed is allowed to be changed
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_,
+                                     &motorCanSetSpeed);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorCanSetSpeed_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    // Prepend the new motor speed, if the user is allowed to set the speed.
+    // Mind the " " (space) before the closing "", as the command created here
+    // is prepended to the one down below.
+    if (motorCanSetSpeed != 0) {
+        snprintf(command, sizeof(command), "Q%2.2d04=%lf ", axisNo_,
+                 motorVelocity);
+        writeOffset = strlen(command);
+
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s => line %d:\nSetting speed of axis %d to %lf.\n",
+                  __PRETTY_FUNCTION__, __LINE__, axisNo_, motorVelocity);
+    }
+
+    // Perform handshake, Set target position (and speed, if allowed) and start
+    // the move command
     if (relative) {
-        snprintf(command, sizeof(command), "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2",
+        snprintf(&command[writeOffset], sizeof(command) - writeOffset,
-                 axisNo_, axisNo_, motorCoordinatesPosition, axisNo_);
+                 "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2", axisNo_, axisNo_,
+                 motorCoordinatesPosition, axisNo_);
     } else {
-        snprintf(command, sizeof(command), "P%2.2d23=0 Q%2.2d01=%lf M%2.2d=1",
+        snprintf(&command[writeOffset], sizeof(command) - writeOffset,
-                 axisNo_, axisNo_, motorCoordinatesPosition, axisNo_);
+                 "P%2.2d23=0 Q%2.2d01=%lf M%2.2d=1", axisNo_, axisNo_,
+                 motorCoordinatesPosition, axisNo_);
     }
 
     // We don't expect an answer
@@ -864,12 +882,8 @@ asynStatus pmacv3Axis::readEncoderType() {
 
     int reponse_length = strlen(response);
     if (reponse_length < 3) {
-        asynPrint(
+        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                                                __PRETTY_FUNCTION__, __LINE__);
-            "%s => line %d:\nUnexpected reponse '%s' from axis %d on "
-            "controller %s while reading the encoder type. Aborting....\n",
-            __PRETTY_FUNCTION__, __LINE__, response, axisNo_, pC_->portName);
-        return asynError;
     }
 
     // We are only interested in the last two digits and the last value in
@@ -937,24 +951,13 @@ asynStatus pmacv3Axis::rereadEncoder() {
 
     // Abort if the axis is incremental
     if (strcmp(encoderType, IncrementalEncoder) == 1) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
+        return asynSuccess;
-                  "%s => line %d:\nTrying to reread absolute encoder of "
-                  "axis %d on controller %s, but it is a relative encoder.\n",
-                  __PRETTY_FUNCTION__, __LINE__, axisNo_, pC_->portName);
-        pl_status = setStringParam(pC_->motorMessageText_,
-                                   "Cannot reread an incremental encoder.");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        return asynError;
     }
 
     // Check if the axis is disabled. If not, inform the user that this
     // is necessary
     int enabled = 0;
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->enableMotorRBV_, &enabled);
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV_, &enabled);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_",
                                          __PRETTY_FUNCTION__, __LINE__);
@@ -1035,13 +1038,6 @@ asynStatus pmacv3Axis::enable(bool on) {
                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
-        // Reset the value in the param lib.
-        pl_status = setIntegerParam(pC_->enableMotor_, 1);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "enableMotor_",
-                                             __PRETTY_FUNCTION__, __LINE__);
-        }
-
         return asynError;
     }
 
@@ -1055,6 +1051,14 @@ asynStatus pmacv3Axis::enable(bool on) {
         return asynSuccess;
     }
 
+    // Reread the encoder, if the axis is going to be enabled
+    if (on != 0) {
+        rw_status = rereadEncoder();
+        if (rw_status != asynSuccess) {
+            return rw_status;
+        }
+    }
+
     // Enable / disable the axis if it is not moving
     snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
@@ -1070,7 +1074,6 @@ asynStatus pmacv3Axis::enable(bool on) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                          __PRETTY_FUNCTION__, __LINE__);
     }
-
     rw_status = pC_->writeRead(axisNo_, command, response, 0);
     if (rw_status != asynSuccess) {
         return rw_status;

src/pmacv3Controller.cpp

@@ -1,3 +1,5 @@
+// Needed to use strcpy_s from string.h
+#define __STDC_WANT_LIB_EXT1__ 1
 
 #include "pmacv3Controller.h"
 #include "asynMotorController.h"
@@ -11,6 +13,24 @@
 #include <string.h>
 #include <unistd.h>
 
+/**
+ * @brief Copy src into dst and replace all carriage returns with spaces
+ *
+ * @param dst                 Buffer for the modified string
+ * @param src                 Original string
+ */
+void adjustResponseForPrint(char *dst, const char *src) {
+    // Needed to use strcpy_s from string.h
+#ifdef __STDC_LIB_EXT1__
+    strcpy_s(dst, src);
+    for (size_t i = 0; i < strlen(dst); i++) {
+        if (dst[i] == '\r') {
+            dst[i] = '_';
+        }
+    }
+#endif
+}
+
 /**
  * @brief Construct a new pmacv3Controller::pmacv3Controller object
  *
@@ -34,10 +54,9 @@ pmacv3Controller::pmacv3Controller(const char *portName,
           - ENCODER_TYPE
           - REREAD_ENCODER_POSITION
           - READ_CONFIG
-          - MOTOR_VELOCITY_FROM_DRIVER
+          - ACCEL_FROM_DRIVER
-          - MOTOR_ACCEL_FROM_DRIVER
           */
-          5)
+          4)
 
 {
 
@@ -94,26 +113,6 @@ pmacv3Controller::pmacv3Controller(const char *portName,
         exit(-1);
     }
 
-    status = createParam("MOTOR_VELOCITY_FROM_DRIVER", asynParamFloat64,
-                         &motorVelocityRBV_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
-    status = createParam("MOTOR_ACCEL_FROM_DRIVER", asynParamFloat64,
-                         &motorAccelRBV_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
     /*
     Define the end-of-string of a message coming from the device to EPICS.
     It is not necessary to append a terminator to outgoing messages, since
@@ -192,8 +191,9 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
     // Definition of local variables.
     asynStatus status = asynSuccess;
     asynStatus pl_status = asynSuccess;
-    char full_command[MAXBUF_] = {0};
+    char fullCommand[MAXBUF_] = {0};
-    char user_message[MAXBUF_] = {0};
+    char drvMessageText[MAXBUF_] = {0};
+    char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
     int numReceivedResponses = 0;
 
@@ -232,7 +232,7 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
     this protocol encodes the message length at the beginning. See Turbo PMAC
     User Manual, page 418 in VR_PMAC_GETRESPONSE
 
-    The message has to be build manually into the buffer full_command, since it
+    The message has to be build manually into the buffer fullCommand, since it
     contains NULL terminators in its middle, therefore the string manipulation
     methods of C don't work.
     */
@@ -242,20 +242,20 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
         strlen(command) + 1; // +1 because of the appended /r
     const int offset = 8;
 
-    // Positions 2 to 6 must have the value 0. Since full_command is initialized
+    // Positions 2 to 6 must have the value 0. Since fullCommand is initialized
     // as an array of zeros, we don't need to set these bits manually.
-    full_command[0] = '\x40';
+    fullCommand[0] = '\x40';
-    full_command[1] = '\xBF';
+    fullCommand[1] = '\xBF';
-    full_command[7] = commandLength;
+    fullCommand[7] = commandLength;
 
-    snprintf((char *)full_command + offset, MAXBUF_ - offset, "%s\r", command);
+    snprintf((char *)fullCommand + offset, MAXBUF_ - offset, "%s\r", command);
     asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
               "%s => line %d:\nSending command %s", __PRETTY_FUNCTION__,
-              __LINE__, full_command);
+              __LINE__, fullCommand);
 
     // Perform the actual writeRead
     status = pasynOctetSyncIO->writeRead(
-        lowLevelPortUser_, full_command, commandLength + offset, response,
+        lowLevelPortUser_, fullCommand, commandLength + offset, response,
         MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
 
     /*
@@ -291,7 +291,7 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
         if (status == asynSuccess) {
             // If flushing the MCU succeded, try to send the command again
             status = pasynOctetSyncIO->writeRead(
-                lowLevelPortUser_, full_command, commandLength + offset,
+                lowLevelPortUser_, fullCommand, commandLength + offset,
                 response, MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn,
                 &eomReason);
 
@@ -306,15 +306,18 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
 
             // Second check: If this fails, give up and propagate the error.
             if (numExpectedResponses != numReceivedResponses) {
-                asynPrint(
+
-                    this->pasynUserSelf, ASYN_TRACE_ERROR,
+                adjustResponseForPrint(modResponse, response);
-                    "%s => line %d:\nUnexpected response %s for command %s\n",
+                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                    __PRETTY_FUNCTION__, __LINE__, response, command);
+                          "%s => line %d:\nUnexpected response %s (_ are "
-                snprintf(user_message, sizeof(user_message),
+                          "carriage returns) for command %s\n",
-                         "Received unexpected response %s for command %s. "
+                          __PRETTY_FUNCTION__, __LINE__, modResponse, command);
+                snprintf(drvMessageText, sizeof(drvMessageText),
+                         "Received unexpected response %s (_ are "
+                         "carriage returns) for command %s. "
                          "Please call the support",
-                         response, command);
+                         modResponse, command);
-                pl_status = setStringParam(motorMessageText_, user_message);
+                pl_status = setStringParam(motorMessageText_, drvMessageText);
                 if (pl_status != asynSuccess) {
                     return paramLibAccessFailed(pl_status, "motorMessageText_",
                                                 __PRETTY_FUNCTION__, __LINE__);
@@ -330,23 +333,24 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
     }
 
     // Create custom error messages for different failure modes
-    if (strlen(user_message) == 0) {
+    if (strlen(drvMessageText) == 0) {
         switch (status) {
         case asynSuccess:
             break; // Communicate nothing
         case asynTimeout:
-            snprintf(user_message, sizeof(user_message),
+            snprintf(drvMessageText, sizeof(drvMessageText),
                      "connection timeout for axis %d", axisNo);
             break;
         case asynDisconnected:
-            snprintf(user_message, sizeof(user_message),
+            snprintf(drvMessageText, sizeof(drvMessageText),
                      "axis is not connected");
             break;
         case asynDisabled:
-            snprintf(user_message, sizeof(user_message), "axis is disabled");
+            snprintf(drvMessageText, sizeof(drvMessageText),
+                     "axis is disabled");
             break;
         default:
-            snprintf(user_message, sizeof(user_message),
+            snprintf(drvMessageText, sizeof(drvMessageText),
                      "Communication failed (%s)", stringifyAsynStatus(status));
             break;
         }
@@ -367,7 +371,7 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
 
         if (motorStatusProblem == 0) {
             pl_status =
-                axis->setStringParam(this->motorMessageText_, user_message);
+                axis->setStringParam(this->motorMessageText_, drvMessageText);
             if (pl_status != asynSuccess) {
                 return paramLibAccessFailed(pl_status, "motorMessageText_",
                                             __PRETTY_FUNCTION__, __LINE__);
@@ -377,16 +381,18 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
+
         asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
-                  "%s => line %d:\nDevice response: %s\n", __PRETTY_FUNCTION__,
+                  "%s => line %d:\nDevice response: %s (_ are "
-                  __LINE__, response);
+                  "carriage returns)\n",
+                  __PRETTY_FUNCTION__, __LINE__, modResponse);
         pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
     } else {
         if (status == asynSuccess) {
             asynPrint(
                 lowLevelPortUser_, ASYN_TRACE_ERROR,
                 "%s => line %d:\nCommunication failed for command %s (%s)\n",
-                __PRETTY_FUNCTION__, __LINE__, full_command,
+                __PRETTY_FUNCTION__, __LINE__, fullCommand,
                 stringifyAsynStatus(status));
             pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 1);
         }
@@ -420,6 +426,15 @@ asynStatus pmacv3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     }
 }
 
+asynStatus pmacv3Controller::errMsgCouldNotParseResponse(
+    const char *command, const char *response, int axisNo,
+    const char *functionName, int lineNumber) {
+    char modifiedResponse[MAXBUF_] = {0};
+    adjustResponseForPrint(modifiedResponse, response);
+    return sinqController::errMsgCouldNotParseResponse(
+        command, modifiedResponse, axisNo, functionName, lineNumber);
+}
+
 /*************************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */
@@ -533,9 +548,9 @@ types and then providing "factory" functions
 (configCreateControllerCallFunc). These factory functions are used to
 register the constructors during compilation.
 */
-static const iocshArg CreateControllerArg0 = {"Controller port name",
+static const iocshArg CreateControllerArg0 = {"Controller name (e.g. mcu1)",
                                               iocshArgString};
-static const iocshArg CreateControllerArg1 = {"Low level port name",
+static const iocshArg CreateControllerArg1 = {"Asyn IP port name (e.g. pmcu1)",
                                               iocshArgString};
 static const iocshArg CreateControllerArg2 = {"Number of axes", iocshArgInt};
 static const iocshArg CreateControllerArg3 = {"Moving poll rate (s)",
@@ -558,7 +573,8 @@ static void configPmacV3CreateControllerCallFunc(const iocshArgBuf *args) {
 Same procedure as for the CreateController function, but for the axis
 itself.
 */
-static const iocshArg CreateAxisArg0 = {"Controller port name", iocshArgString};
+static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mcu1)",
+                                        iocshArgString};
 static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
 static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
                                                  &CreateAxisArg1};

src/pmacv3Controller.h

@@ -51,10 +51,9 @@ class pmacv3Controller : public sinqController {
     pmacv3Axis *getAxis(int axisNo);
 
     /**
-     * @brief Overloaded function of asynMotorController
+     * @brief Overloaded function of sinqController
      *
-     * The function is overloaded to allow enabling / disabling the motor and
+     * The function is overloaded to allow rereading the encoder and config.
-     * rereading the encoder.
      *
      * @param pasynUser           Specify the axis via the asynUser
      * @param value               New value
@@ -93,6 +92,29 @@ class pmacv3Controller : public sinqController {
      */
     pmacv3Axis *castToAxis(asynMotorAxis *asynAxis);
 
+    /**
+     * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
+     * for pmacv3
+     *
+     * This is an overloaded version of
+     * sinqController::errMsgCouldNotParseResponse which calls
+     * adjustResponseForLogging on response before handing it over to
+     * sinqController::errMsgCouldNotParseResponse.
+     *
+     * @param command             Command which led to the unparseable message
+     * @param response            Response which wasn't parseable
+     * @param axisNo_             Axis where the problem occurred
+     * @param functionName        Name of the caller function. It is recommended
+    to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
+     * @param lineNumber          Source code line where this function is
+    called. It is recommended to use a macro, e.g. __LINE__.
+     * @return asynStatus         Returns asynError.
+     */
+    asynStatus errMsgCouldNotParseResponse(const char *command,
+                                           const char *response, int axisNo_,
+                                           const char *functionName,
+                                           int lineNumber);
+
   private:
     // Set the maximum buffer size. This is an empirical value which must be
     // large enough to avoid overflows for all commands to the device /
@@ -109,13 +131,6 @@ class pmacv3Controller : public sinqController {
     int readConfig_;
     int encoderType_;
 
-    /*
-    Same strategy as with the limits in sinqController -> Use additional PVs to
-    write speed and acceleration from the driver to the record.
-     */
-    int motorVelocityRBV_;
-    int motorAccelRBV_;
-
     friend class pmacv3Axis;
 };