Allow enabling / disabling the motor regardless of the status returned by the poll

Integrated the low level asyn IP Port driver from the Diamond Light
Source so that StreamDevices can use it as well.

Makefile

@@ -14,13 +14,15 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.7.0
+sinqMotor_VERSION=0.11.0
 
 # These headers allow to depend on this library for derived drivers.
+HEADERS += src/turboPmacAsynIPPort.h
 HEADERS += src/turboPmacAxis.h
 HEADERS += src/turboPmacController.h
 
 # Source files to build
+SOURCES += src/turboPmacAsynIPPort.c
 SOURCES += src/turboPmacAxis.cpp
 SOURCES += src/turboPmacController.cpp
 
@@ -30,4 +32,4 @@ TEMPLATES += db/turboPmac.db
 # This file registers the motor-specific functions in the IOC shell.
 DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+# USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings

README.md

@@ -1,5 +1,7 @@
 # turboPmac
 
+## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
+
 ## Overview
 
 This is a driver for the Turbo PMAC 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.
@@ -17,25 +19,45 @@ The folder "utils" contains utility scripts for working with pmac motor controll
 
 ### Usage in IOC shell
 
-turboPmac exposes the following IOC shell functions (all in turboPmacController.cpp):
+turboPmac exports the following IOC shell functions:
 - `turboPmacController`: Create a new controller object.
 - `turboPmacAxis`: Create a new axis object.
-These functions are parametrized as follows:
+
+The full turboPmacX.cmd file looks like this:
+
 ```
-turboPmacController(
+# Define the name of the controller and the corresponding port
-    "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
+epicsEnvSet("NAME","turboPmacX")
-    "$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
+epicsEnvSet("ASYN_PORT","p$(NAME)")
-    8, # Maximum number of axes
+
-    0.05, # Busy poll period in seconds
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
-    1, # Idle poll period in seconds
+drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
-    0.05 # Communication timeout in seconds
+
-    );
+# Create the controller object with the defined name and connect it to the socket via the port name.
-```
+# The other parameters are as follows:
-```
+# 8: Maximum number of axes
-turboPmacAxis(
+# 0.05: Busy poll period in seconds
-    "$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
+# 1: Idle poll period in seconds
-    1 # Index of the axis.
+# 1: Socket communication timeout in seconds
-    );
+turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+
+# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
+turboPmacAxis("$(NAME)",1);
+turboPmacAxis("$(NAME)",2);
+turboPmacAxis("$(NAME)",5);
+
+# Set the number of subsequent timeouts 
+setMaxSubsequentTimeouts("$(NAME)", 20);
+
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
+setThresholdComTimeout("$(NAME)", 300, 10);
+
+# Parametrize the EPICS record database with the substitution file named after the MCU.
+epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
 ### Versioning

src/turboPmac.dbd

@@ -3,3 +3,4 @@
 #---------------------------------------------
 registrar(turboPmacControllerRegister) 
 registrar(turboPmacAxisRegister) 
+registrar(pmacAsynIPPortRegister)

src/turboPmacAsynIPPort.c

@@ -0,0 +1,848 @@
+/*
+   NOTES
+
+   This driver is an asyn interpose driver intended for use with pmacAsynMotor
+   to allow communication over ethernet to a PMAC.
+
+   *** Ensure I3=2 and I6=1 on the PMAC before using this driver. ***
+
+   This driver supports sending ascii commands to the PMAC over asyn IP and
+   obtaining the response. The driver uses the PMAC ethernet packets
+   VR_PMAC_GETRESPONSE, VR_PMAC_READREADY and VR_PMAC_GETBUFFER to send commands
+   and get responses. The PMAC may send responses in several different formats.
+   1) PMAC ascii command responses for single/multiple commands (e.g. I113 I114
+   I130 I131 I133) are in an ACK terminated form as follows (CR seperates the
+   cmd responses): data<CR(13)>data<CR(13)>data<CR(13)><ACK(6)> 2) PMAC error
+   responses to ascii commands ARE NOT ACK terminated as follows:
+         <BELL(7)>ERRxxx<CR(13)>
+   3) PMAC may also return the following:
+         <STX(2)>data<CR(13)>
+
+   This driver can send ctrl commands (ctrl B/C/F/G/P/V) to the pmac (using
+   VR_CTRL_REPONSE packet) however because the resulting  response data is not
+   terminated as above the driver does not know when all the response data has
+   been received. The response data will therefore only be returned after the
+   asynUser.timeout has expired.
+
+   This driver supports the octet flush method and issues a VR_PMAC_FLUSH to the
+   PMAC.
+
+   This driver does NOT support large buffer transfers (VR_PMAC_WRITEBUFFER,
+   VR_FWDOWNLOAD) or set/get of DPRAM (VR_PMAC_SETMEM etc) or changing comms
+   setup (VR_IPADDRESS, VR_PMAC_PORT)
+
+
+   REVISION HISTORY
+
+   10 Aug 07 - Pete Leicester - Diamond Light Source
+   Modified to handle responses other than those ending in <ACK> (e.g. errors) -
+   No longer used asyn EOS.
+
+   9 Aug 07 - Pete Leicester - Diamond Light Source
+   Initial version reliant on asyn EOS to return <ACK> terminated responses.
+
+   2 Feb 09 - Matthew Pearson - Diamond Light Source
+   Ported to work with Asyn 4-10. Still compiles with pre Asyn4-10 versions but
+   does not work. Also added new config function, pmacAsynIPPortConfigureEos(),
+   to be used when disabling low level EOS handling in the Asyn IP layer. This
+   new function should be used with Asyn 4-10 and above (it is not compatible
+   with Asyn 4-9).
+*/
+
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <cantProceed.h>
+#include <epicsAssert.h>
+#include <epicsStdio.h>
+#include <epicsString.h>
+#include <iocsh.h>
+
+#include "asynDriver.h"
+#include "asynInterposeEos.h"
+#include "asynOctet.h"
+#include "drvAsynIPPort.h"
+#include "epicsThread.h"
+#include "turboPmacAsynIPPort.h"
+#include <epicsExport.h>
+
+#include <netinet/in.h>
+
+#define ETHERNET_DATA_SIZE 1492
+#define MAX_BUFFER_SIZE 2097152
+#define INPUT_SIZE                                                             \
+    (ETHERNET_DATA_SIZE + 1) /* +1 to allow space to add terminating ACK */
+#define STX '\2'
+#define CTRLB '\2'
+#define CTRLC '\3'
+#define ACK '\6'
+#define CTRLF '\6'
+#define BELL '\7'
+#define CTRLG '\7'
+#define CTRLP '\16'
+#define CTRLV '\22'
+#define CTRLX '\24'
+
+/* PMAC ethernet command structure */
+#pragma pack(1)
+typedef struct tagEthernetCmd {
+    unsigned char RequestType;
+    unsigned char Request;
+    unsigned short wValue;
+    unsigned short wIndex;
+    unsigned short wLength; /* length of bData */
+    unsigned char bData[ETHERNET_DATA_SIZE];
+} ethernetCmd;
+#pragma pack()
+
+#define ETHERNET_CMD_HEADER (sizeof(ethernetCmd) - ETHERNET_DATA_SIZE)
+
+/* PMAC ethernet commands - RequestType field */
+#define VR_UPLOAD 0xC0
+#define VR_DOWNLOAD 0x40
+
+/* PMAC ethernet commands - Request field */
+#define VR_PMAC_SENDLINE 0xB0
+#define VR_PMAC_GETLINE 0xB1
+#define VR_PMAC_FLUSH 0xB3
+#define VR_PMAC_GETMEM 0xB4
+#define VR_PMAC_SETMEN 0xB5
+#define VR_PMAC_SETBIT 0xBA
+#define VR_PMAC_SETBITS 0xBB
+#define VR_PMAC_PORT 0xBE
+#define VR_PMAC_GETRESPONSE 0xBF
+#define VR_PMAC_READREADY 0xC2
+#define VR_CTRL_RESPONSE 0xC4
+#define VR_PMAC_GETBUFFER 0xC5
+#define VR_PMAC_WRITEBUFFER 0xC6
+#define VR_PMAC_WRITEERROR 0xC7
+#define VR_FWDOWNLOAD 0xCB
+#define VR_IPADDRESS 0xE0
+
+/* PMAC control character commands (VR_CTRL_RESPONSE cmd) */
+static char ctrlCommands[] = {CTRLB, CTRLC, CTRLF, CTRLG, CTRLP, CTRLV};
+
+typedef struct pmacPvt {
+    char *portName;
+    int addr;
+    asynInterface pmacInterface;
+    asynOctet *poctet; /* The methods we're overriding */
+    void *octetPvt;
+    asynUser *pasynUser; /* For connect/disconnect reporting */
+    ethernetCmd *poutCmd;
+    ethernetCmd *pinCmd;
+    char *inBuf;
+    unsigned int inBufHead;
+    unsigned int inBufTail;
+} pmacPvt;
+
+/*
+   Notes on asyn
+   use asynUser.timeout to specify I/O request timeouts in seconds
+   asynStatus may return asynSuccess(0),asynTimeout(1),asynOverflow(2) or
+   asynError(3) eomReason may return ASYN_EOM_CNT (1:Request count reached),
+   ASYN_EOM_EOS (2:End of String detected), ASYN_EOM_END (4:End indicator
+   detected) asynError indicates that asynUser.errorMessage has been populated
+   by epicsSnprintf().
+*/
+
+/* Connect/disconnect handling */
+static void pmacInExceptionHandler(asynUser *pasynUser,
+                                   asynException exception);
+
+/* asynOctet methods */
+static asynStatus writeIt(void *ppvt, asynUser *pasynUser, const char *data,
+                          size_t numchars, size_t *nbytesTransfered);
+static asynStatus readIt(void *ppvt, asynUser *pasynUser, char *data,
+                         size_t maxchars, size_t *nbytesTransfered,
+                         int *eomReason);
+static asynStatus flushIt(void *ppvt, asynUser *pasynUser);
+static asynStatus registerInterruptUser(void *ppvt, asynUser *pasynUser,
+                                        interruptCallbackOctet callback,
+                                        void *userPvt, void **registrarPvt);
+static asynStatus cancelInterruptUser(void *drvPvt, asynUser *pasynUser,
+                                      void *registrarPvt);
+static asynStatus setInputEos(void *ppvt, asynUser *pasynUser, const char *eos,
+                              int eoslen);
+static asynStatus getInputEos(void *ppvt, asynUser *pasynUser, char *eos,
+                              int eossize, int *eoslen);
+static asynStatus setOutputEos(void *ppvt, asynUser *pasynUser, const char *eos,
+                               int eoslen);
+static asynStatus getOutputEos(void *ppvt, asynUser *pasynUser, char *eos,
+                               int eossize, int *eoslen);
+
+/* Declare asynOctet here, and assign functions later on
+(compatible with both Asyn 4-10 and pre 4-10 versions).*/
+static asynOctet octet;
+
+static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                               size_t maxchars, size_t *nbytesTransfered,
+                               int *eomReason);
+static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser);
+static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser);
+static int pmacAsynIPPortCommon(const char *portName, int addr,
+                                pmacPvt **pPmacPvt,
+                                asynInterface **plowerLevelInterface,
+                                asynUser **pasynUser);
+static int pmacAsynIPPortConfigureEos(const char *portName, int addr);
+static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                                    size_t maxchars, size_t *nbytesTransfered);
+
+/**
+ * Function that first initialises an Asyn IP port and then the PMAC Asyn IP
+ * interpose layer. It is a wrapper for drvAsynIPPort::drvAsynIPPortConfigure()
+ * and pmacAsynIPPort::pmacAsynIPPortConfigureEos().
+ *
+ * @param portName The Asyn Port name string.
+ * @param hostInfo The hostname or IP address followed by IP port (eg.
+ * 172.23.243.156:1025)
+ * @return status
+ */
+epicsShareFunc int pmacAsynIPConfigure(const char *portName,
+                                       const char *hostInfo) {
+    asynStatus status = 0;
+
+    if ((status = drvAsynIPPortConfigure(portName, hostInfo, 0, 0, 1)) != 0) {
+        printf("pmacAsynIPConfigure: error from drvAsynIPPortConfigure. Port: "
+               "%s\n",
+               portName);
+    }
+
+    if ((status = pmacAsynIPPortConfigureEos(portName, 0)) != 0) {
+        printf("pmacAsynIPConfigure: error from pmacAsynIPPortConfigureEos. "
+               "Port: %s\n",
+               portName);
+    }
+
+    return status;
+}
+
+/**
+ * This reimplements pmacAsynIPPort::pmacAsynIPPortConfigure(), but introduces
+ * EOS handling interpose layer above the PMAC IP layer.
+ *
+ * The setup of the Asyn IP port must set noProcessEos=1 to use this function.
+ *
+ * NOTE: The use of this function is not compatible with versions of Asyn before
+ * 4-10.
+ *
+ * @param portName The Asyn port name
+ * @param addr The Asyn address.
+ * @return status
+ */
+epicsShareFunc int pmacAsynIPPortConfigureEos(const char *portName, int addr) {
+    pmacPvt *pPmacPvt = NULL;
+    asynInterface *plowerLevelInterface = NULL;
+    asynStatus status = 0;
+    asynUser *pasynUser = NULL;
+
+    status = pmacAsynIPPortCommon(portName, addr, &pPmacPvt,
+                                  &plowerLevelInterface, &pasynUser);
+    if (status) {
+        asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                  "pmacAsynIPPortConfigureEos: error from pmacAsynIPPortCommon "
+                  "%s: %s\n",
+                  portName, pasynUser->errorMessage);
+    }
+
+    /*Now interpose EOS handling layer, above the PMAC IP layer.*/
+    asynInterposeEosConfig(portName, addr, 1, 1);
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "Done pmacAsynIPPortConfigureEos OK\n");
+    return (0);
+}
+
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName, int addr) {
+    pmacPvt *pPmacPvt = NULL;
+    asynInterface *plowerLevelInterface = NULL;
+    asynUser *pasynUser = NULL;
+    asynStatus status = 0;
+
+    status = pmacAsynIPPortCommon(portName, addr, &pPmacPvt,
+                                  &plowerLevelInterface, &pasynUser);
+
+    status =
+        pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, "\6", 1);
+    if (status) {
+        asynPrint(
+            pasynUser, ASYN_TRACE_ERROR,
+            "pmacAsynIPPortConfigure: unable to set input EOS on %s: %s\n",
+            portName, pasynUser->errorMessage);
+        return -1;
+    }
+    status =
+        pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, "\r", 1);
+    if (status) {
+        asynPrint(
+            pasynUser, ASYN_TRACE_ERROR,
+            "pmacAsynIPPortConfigure: unable to set output EOS on %s: %s\n",
+            portName, pasynUser->errorMessage);
+        return -1;
+    }
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "Done pmacAsynIPPortConfigure OK\n");
+    return (0);
+}
+
+/**
+ * Common code for both pmacAsynIPPortConfigure and pmacAsynIPPortConfigureEos.
+ * @param portName
+ * @param addr
+ * @param pPmacPvt pointer
+ * @param plowerLevelInterface pointer
+ * @param pasynUser pointer
+ * @return status
+ */
+static int pmacAsynIPPortCommon(const char *portName, int addr,
+                                pmacPvt **pPmacPvt,
+                                asynInterface **plowerLevelInterface,
+                                asynUser **pasynUser) {
+    asynStatus status;
+    size_t len;
+
+    /*Assign static asynOctet functions here.*/
+    octet.write = writeIt;
+    octet.read = readIt;
+    octet.flush = flushIt;
+    octet.setInputEos = setInputEos;
+    octet.setOutputEos = setOutputEos;
+    octet.getInputEos = getInputEos;
+    octet.getOutputEos = getOutputEos;
+    octet.registerInterruptUser = registerInterruptUser;
+    octet.cancelInterruptUser = cancelInterruptUser;
+
+    len = sizeof(pmacPvt) + strlen(portName) + 1;
+    *pPmacPvt = callocMustSucceed(
+        1, len,
+        "calloc pPmacPvt error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+    (*pPmacPvt)->portName = (char *)(*pPmacPvt + 1);
+    strcpy((*pPmacPvt)->portName, portName);
+    (*pPmacPvt)->addr = addr;
+    (*pPmacPvt)->pmacInterface.interfaceType = asynOctetType;
+    (*pPmacPvt)->pmacInterface.pinterface = &octet;
+    (*pPmacPvt)->pmacInterface.drvPvt = *pPmacPvt;
+    *pasynUser = pasynManager->createAsynUser(0, 0);
+    (*pPmacPvt)->pasynUser = *pasynUser;
+    (*pPmacPvt)->pasynUser->userPvt = *pPmacPvt;
+
+    status = pasynManager->connectDevice(*pasynUser, portName, addr);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s connectDevice failed\n", portName);
+        pasynManager->freeAsynUser(*pasynUser);
+        free(*pPmacPvt);
+        return -1;
+    }
+
+    status =
+        pasynManager->exceptionCallbackAdd(*pasynUser, pmacInExceptionHandler);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s exceptionCallbackAdd failed\n",
+               portName);
+        pasynManager->freeAsynUser(*pasynUser);
+        free(*pPmacPvt);
+        return -1;
+    }
+
+    status = pasynManager->interposeInterface(
+        portName, addr, &(*pPmacPvt)->pmacInterface, &(*plowerLevelInterface));
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
+               portName);
+        pasynManager->exceptionCallbackRemove(*pasynUser);
+        pasynManager->freeAsynUser(*pasynUser);
+        free(*pPmacPvt);
+        return -1;
+    }
+
+    (*pPmacPvt)->poctet = (asynOctet *)(*plowerLevelInterface)->pinterface;
+    (*pPmacPvt)->octetPvt = (*plowerLevelInterface)->drvPvt;
+
+    (*pPmacPvt)->poutCmd = callocMustSucceed(
+        1, sizeof(ethernetCmd),
+        "calloc poutCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+    (*pPmacPvt)->pinCmd = callocMustSucceed(
+        1, sizeof(ethernetCmd),
+        "calloc pinCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+
+    (*pPmacPvt)->inBuf = callocMustSucceed(
+        1, MAX_BUFFER_SIZE,
+        "calloc inBuf error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+
+    (*pPmacPvt)->inBufHead = 0;
+    (*pPmacPvt)->inBufTail = 0;
+
+    return status;
+}
+
+static void pmacInExceptionHandler(asynUser *pasynUser,
+                                   asynException exception) {
+    pmacPvt *pPmacPvt = (pmacPvt *)pasynUser->userPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacInExceptionHandler\n");
+
+    if (exception == asynExceptionConnect) {
+        pPmacPvt->inBufHead = 0;
+        pPmacPvt->inBufTail = 0;
+    }
+}
+
+/*
+    Read reponse data from PMAC into buffer pmacPvt.inBuf. If there is no data
+   in the asyn buffer then issue pmac GETBUFFER command to get any outstanding
+   data still on the PMAC.
+*/
+static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                               size_t maxchars, size_t *nbytesTransfered,
+                               int *eomReason) {
+    ethernetCmd *inCmd;
+    asynStatus status = asynSuccess;
+    size_t thisRead = 0;
+    *nbytesTransfered = 0;
+    if (maxchars > INPUT_SIZE)
+        maxchars = INPUT_SIZE;
+
+    asynPrint(
+        pasynUser, ASYN_TRACE_FLOW,
+        "pmacAsynIPPort::readResponse. Performing pPmacPvt->poctet->read().\n");
+
+    status =
+        pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, pPmacPvt->inBuf,
+                               maxchars, &thisRead, eomReason);
+
+    asynPrint(
+        pasynUser, ASYN_TRACE_FLOW,
+        "%s readResponse1 maxchars=%d, thisRead=%d, eomReason=%d, status=%d\n",
+        pPmacPvt->portName, maxchars, thisRead, *eomReason, status);
+    if (status == asynTimeout && thisRead == 0 && pasynUser->timeout > 0) {
+        /* failed to read as many characters as required into the input buffer,
+           check for more response data on the PMAC */
+        if (pmacReadReady(pPmacPvt, pasynUser)) {
+
+            status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
+                                       nbytesTransfered);
+            asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->pinCmd,
+                        ETHERNET_CMD_HEADER, "%s write GETBUFFER\n",
+                        pPmacPvt->portName);
+
+            /* We have nothing to return at the moment so read again */
+            status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser,
+                                            pPmacPvt->inBuf, maxchars,
+                                            &thisRead, eomReason);
+
+            asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                      "%s readResponse2 maxchars=%d, thisRead=%d, "
+                      "eomReason=%d, status=%d\n",
+                      pPmacPvt->portName, maxchars, thisRead, *eomReason,
+                      status);
+        }
+    }
+
+    if (thisRead > 0) {
+        if (status == asynTimeout)
+            status = asynSuccess;
+        *nbytesTransfered = thisRead;
+        pPmacPvt->inBufTail = 0;
+        pPmacPvt->inBufHead = thisRead;
+    }
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::readResponse. END\n");
+
+    return status;
+}
+
+/*
+   Send ReadReady command to PMAC to discover if there is any data to read from
+   it. Returns: 0 - no data available 1 - data available
+*/
+static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser) {
+    ethernetCmd cmd;
+    unsigned char data[2] = {0};
+    asynStatus status;
+    size_t thisRead = 0;
+    size_t nbytesTransfered = 0;
+    int eomReason = 0;
+    int retval = 0;
+
+    cmd.RequestType = VR_UPLOAD;
+    cmd.Request = VR_PMAC_READREADY;
+    cmd.wValue = 0;
+    cmd.wIndex = 0;
+    cmd.wLength = htons(2);
+
+    status =
+        pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
+                                ETHERNET_CMD_HEADER, &nbytesTransfered);
+
+    if (status != asynSuccess) {
+        asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
+                    ETHERNET_CMD_HEADER, "%s write pmacReadReady fail\n",
+                    pPmacPvt->portName);
+    }
+
+    status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 2,
+                                    &thisRead, &eomReason);
+
+    if (status == asynSuccess) {
+        if (thisRead == 2 && data[0] != 0) {
+            retval = 1;
+        }
+        asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, thisRead,
+                    "%s read pmacReadReady OK thisRead=%d\n",
+                    pPmacPvt->portName, thisRead);
+    } else {
+        asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                  "%s read pmacReadReady failed status=%d,retval=%d",
+                  pPmacPvt->portName, status, retval);
+    }
+    return retval;
+}
+
+/*
+   Send Flush command to PMAC and wait for confirmation ctrlX to be returned.
+   Returns: 0 - failed
+            1 - success
+*/
+static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser) {
+    ethernetCmd cmd;
+    unsigned char data[2];
+    asynStatus status = asynSuccess;
+    size_t thisRead;
+    size_t nbytesTransfered = 0;
+    int eomReason = 0;
+    int retval = 0;
+
+    cmd.RequestType = VR_DOWNLOAD;
+    cmd.Request = VR_PMAC_FLUSH;
+    cmd.wValue = 0;
+    cmd.wIndex = 0;
+    cmd.wLength = 0;
+
+    status =
+        pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
+                                ETHERNET_CMD_HEADER, &nbytesTransfered);
+
+    if (status != asynSuccess) {
+        asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
+                    ETHERNET_CMD_HEADER, "%s write pmacFlush fail\n",
+                    pPmacPvt->portName);
+    }
+
+    /* read flush acknowledgement character */
+    /* NB we don't check what the character is (manual sais ctrlX, we get 0x40
+     * i.e.VR_DOWNLOAD) */
+    status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 1,
+                                    &thisRead, &eomReason);
+
+    if (status == asynSuccess) {
+        asynPrint(pasynUser, ASYN_TRACE_FLOW, "%s read pmacFlush OK\n",
+                  pPmacPvt->portName);
+        retval = 1;
+    } else {
+        asynPrint(
+            pasynUser, ASYN_TRACE_ERROR,
+            "%s read pmacFlush failed - thisRead=%d, eomReason=%d, status=%d\n",
+            pPmacPvt->portName, thisRead, eomReason, status);
+    }
+
+    pPmacPvt->inBufTail = 0;
+    pPmacPvt->inBufHead = 0;
+
+    return retval;
+}
+
+/* asynOctet methods */
+
+/* This function sends either a ascii string command to the PMAC using
+   VR_PMAC_GETRESPONSE or a single control character (ctrl B/C/F/G/P/V) using
+   VR_CTRL_RESPONSE
+*/
+static asynStatus writeIt(void *ppvt, asynUser *pasynUser, const char *data,
+                          size_t numchars, size_t *nbytesTransfered) {
+    asynStatus status;
+    ethernetCmd *outCmd;
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    size_t nbytesActual = 0;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeIt\n");
+    assert(pPmacPvt);
+
+    /* NB currently we assume control characters arrive as individual
+       characters/calls to this routine. Idealy we should probably scan the data
+       buffer for control commands and do PMAC_GETRESPONSE and CTRL_RESPONSE
+       commands as necessary,  */
+    outCmd = pPmacPvt->poutCmd;
+    if (numchars == 1 && strchr(ctrlCommands, data[0])) {
+        outCmd->RequestType = VR_UPLOAD;
+        outCmd->Request = VR_CTRL_RESPONSE;
+        outCmd->wValue = data[0];
+        outCmd->wIndex = 0;
+        outCmd->wLength = htons(0);
+        status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
+                                         (char *)pPmacPvt->poutCmd,
+                                         ETHERNET_CMD_HEADER, &nbytesActual);
+        *nbytesTransfered =
+            (nbytesActual == ETHERNET_CMD_HEADER) ? numchars : 0;
+    } else {
+        if (numchars > ETHERNET_DATA_SIZE) {
+            /* NB large data should probably be sent using PMAC_WRITEBUFFER
+             * which isnt implemented yet - for the moment just truncate */
+            numchars = ETHERNET_DATA_SIZE;
+            asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                      "writeIt - ERROR TRUNCATED\n");
+        }
+        outCmd->RequestType = VR_DOWNLOAD;
+        outCmd->Request = VR_PMAC_GETRESPONSE;
+        outCmd->wValue = 0;
+        outCmd->wIndex = 0;
+        outCmd->wLength = htons(numchars);
+        memcpy(outCmd->bData, data, numchars);
+        status = pPmacPvt->poctet->write(
+            pPmacPvt->octetPvt, pasynUser, (char *)pPmacPvt->poutCmd,
+            numchars + ETHERNET_CMD_HEADER, &nbytesActual);
+        *nbytesTransfered = (nbytesActual > ETHERNET_CMD_HEADER)
+                                ? (nbytesActual - ETHERNET_CMD_HEADER)
+                                : 0;
+    }
+
+    asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->poutCmd,
+                numchars + ETHERNET_CMD_HEADER, "%s writeIt\n",
+                pPmacPvt->portName);
+
+    return status;
+}
+
+/* This function reads data using read() into a local buffer and then look for
+   message terminating characters and returns a complete response (or times
+   out), adding on ACK if neccessary. The PMAC command response may be any of
+   the following:- data<CR>data<CR>....data<CR><ACK> <BELL>data<CR> e.g. an
+   error <BELL>ERRxxx<CR> <STX>data<CR> (NB asyn EOS only allows one message
+   terminator to be specified. We add on ACK for the EOS layer above.)
+*/
+static asynStatus readIt(void *ppvt, asynUser *pasynUser, char *data,
+                         size_t maxchars, size_t *nbytesTransfered,
+                         int *eomReason) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynStatus status = asynSuccess;
+    size_t thisRead = 0;
+    size_t nRead = 0;
+    int bell = 0;
+    int initialRead = 1;
+    ethernetCmd *inCmd;
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readIt. START\n");
+    assert(pPmacPvt);
+
+    if (maxchars > 0) {
+        for (;;) {
+            if ((pPmacPvt->inBufTail != pPmacPvt->inBufHead)) {
+                *data = pPmacPvt->inBuf[pPmacPvt->inBufTail++];
+                if (*data == BELL || *data == STX)
+                    bell = 1;
+                if (*data == '\r' && bell) {
+                    /* <BELL>xxxxxx<CR> or <STX>xxxxx<CR> received - its
+                     * probably an error response (<BELL>ERRxxx<CR>) - assume
+                     * there is no more response data to come */
+                    nRead++; /* make sure the <CR> is passed to the client app
+                              */
+                    /*Add on ACK, because that's what we expect to be EOS in EOS
+                     * interpose layer.*/
+                    if ((nRead + 1) > maxchars) {
+                        /*If maxchars is reached overwrite <CR> with ACK, so
+                         * that no more reads will be done from EOS layer.*/
+                        *data = ACK;
+                    } else {
+                        data++;
+                        nRead++;
+                        *data = ACK;
+                    }
+                    break;
+                }
+                if (*data == ACK || *data == '\n') {
+                    /* <ACK> or <LF> received - assume there is no more response
+                     * data to come */
+                    /* If <LF>, replace with an ACK.*/
+                    if (*data == '\n') {
+                        *data = ACK;
+                    }
+                    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                              "Message was terminated with ACK in "
+                              "pmacAsynIPPort::readIt.\n");
+                    /*Pass ACK up to Asyn EOS handling layer.*/
+                    data++;
+                    nRead++;
+                    break;
+                }
+                data++;
+                nRead++;
+                if (nRead >= maxchars)
+                    break;
+                continue;
+            }
+
+            asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                      "pmacAsynIPPort::readIt. Calling readResponse().\n");
+            if (!initialRead) {
+                if (pmacReadReady(pPmacPvt, pasynUser)) {
+                    status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
+                                               nbytesTransfered);
+                }
+            }
+            status = readResponse(pPmacPvt, pasynUser, maxchars - nRead,
+                                  &thisRead, eomReason);
+            initialRead = 0;
+            if (status != asynSuccess || thisRead == 0)
+                break;
+        }
+    }
+    *nbytesTransfered = nRead;
+
+    asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, *nbytesTransfered,
+                "%s pmacAsynIPPort readIt nbytesTransfered=%d, eomReason=%d, "
+                "status=%d\n",
+                pPmacPvt->portName, *nbytesTransfered, *eomReason, status);
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readIt. END\n");
+
+    return status;
+}
+
+static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                                    size_t maxchars, size_t *nbytesTransfered) {
+    asynStatus status = 0;
+    ethernetCmd *inCmd = NULL;
+
+    inCmd = pPmacPvt->pinCmd;
+    inCmd->RequestType = VR_UPLOAD;
+    inCmd->Request = VR_PMAC_GETBUFFER;
+    inCmd->wValue = 0;
+    inCmd->wIndex = 0;
+    inCmd->wLength = htons(maxchars);
+    status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
+                                     (char *)pPmacPvt->pinCmd,
+                                     ETHERNET_CMD_HEADER, nbytesTransfered);
+
+    return status;
+}
+
+static asynStatus flushIt(void *ppvt, asynUser *pasynUser) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynStatus status = asynSuccess;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::flushIt\n");
+    assert(pPmacPvt);
+
+    pmacFlush(pPmacPvt, pasynUser);
+    status = pPmacPvt->poctet->flush(pPmacPvt->octetPvt, pasynUser);
+    return asynSuccess;
+}
+
+static asynStatus registerInterruptUser(void *ppvt, asynUser *pasynUser,
+                                        interruptCallbackOctet callback,
+                                        void *userPvt, void **registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::registerInterruptUser\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->registerInterruptUser(
+        pPmacPvt->octetPvt, pasynUser, callback, userPvt, registrarPvt);
+}
+
+static asynStatus cancelInterruptUser(void *drvPvt, asynUser *pasynUser,
+                                      void *registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::cancelInterruptUser\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->cancelInterruptUser(pPmacPvt->octetPvt, pasynUser,
+                                                 registrarPvt);
+}
+
+static asynStatus setInputEos(void *ppvt, asynUser *pasynUser, const char *eos,
+                              int eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setInputEos\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                         eoslen);
+}
+
+static asynStatus getInputEos(void *ppvt, asynUser *pasynUser, char *eos,
+                              int eossize, int *eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getInputEos\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->getInputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                         eossize, eoslen);
+}
+
+static asynStatus setOutputEos(void *ppvt, asynUser *pasynUser, const char *eos,
+                               int eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setOutputEos\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                          eoslen);
+}
+
+static asynStatus getOutputEos(void *ppvt, asynUser *pasynUser, char *eos,
+                               int eossize, int *eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getOutputEos\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->getOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                          eossize, eoslen);
+}
+
+/* register pmacAsynIPPortConfigure*/
+static const iocshArg pmacAsynIPPortConfigArg0 = {"portName", iocshArgString};
+static const iocshArg pmacAsynIPPortConfigArg1 = {"addr", iocshArgInt};
+static const iocshArg *pmacAsynIPPortConfigArgs[] = {&pmacAsynIPPortConfigArg0,
+                                                     &pmacAsynIPPortConfigArg1};
+static const iocshFuncDef pmacAsynIPPortConfigFuncDef = {
+    "pmacAsynIPPortConfigure", 2, pmacAsynIPPortConfigArgs};
+static void pmacAsynIPPortConfigCallFunc(const iocshArgBuf *args) {
+    pmacAsynIPPortConfigure(args[0].sval, args[1].ival);
+}
+
+/* Register pmacAsynIPPortConfigureEos.*/
+static const iocshArg pmacAsynIPPortConfigEosArg0 = {"portName",
+                                                     iocshArgString};
+static const iocshArg pmacAsynIPPortConfigEosArg1 = {"addr", iocshArgInt};
+static const iocshArg *pmacAsynIPPortConfigEosArgs[] = {
+    &pmacAsynIPPortConfigEosArg0, &pmacAsynIPPortConfigEosArg1};
+static const iocshFuncDef pmacAsynIPPortConfigEosFuncDef = {
+    "pmacAsynIPPortConfigureEos", 2, pmacAsynIPPortConfigEosArgs};
+static void pmacAsynIPPortConfigEosCallFunc(const iocshArgBuf *args) {
+    pmacAsynIPPortConfigureEos(args[0].sval, args[1].ival);
+}
+
+/* Register pmacAsynIPConfigure.*/
+static const iocshArg pmacAsynIPConfigureArg0 = {"portName", iocshArgString};
+static const iocshArg pmacAsynIPConfigureArg1 = {"hostInfo", iocshArgString};
+static const iocshArg *pmacAsynIPConfigureArgs[] = {&pmacAsynIPConfigureArg0,
+                                                    &pmacAsynIPConfigureArg1};
+static const iocshFuncDef pmacAsynIPConfigureFuncDef = {
+    "pmacAsynIPConfigure", 2, pmacAsynIPConfigureArgs};
+static void pmacAsynIPConfigureCallFunc(const iocshArgBuf *args) {
+    pmacAsynIPConfigure(args[0].sval, args[1].sval);
+}
+
+static void pmacAsynIPPortRegister(void) {
+    static int firstTime = 1;
+    if (firstTime) {
+        firstTime = 0;
+        iocshRegister(&pmacAsynIPPortConfigFuncDef,
+                      pmacAsynIPPortConfigCallFunc);
+        iocshRegister(&pmacAsynIPPortConfigEosFuncDef,
+                      pmacAsynIPPortConfigEosCallFunc);
+        iocshRegister(&pmacAsynIPConfigureFuncDef, pmacAsynIPConfigureCallFunc);
+    }
+}
+epicsExportRegistrar(pmacAsynIPPortRegister);

src/turboPmacAsynIPPort.h

@@ -0,0 +1,19 @@
+#ifndef asynInterposePmac_H
+#define asynInterposePmac_H
+
+#include <epicsExport.h>
+#include <shareLib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName, int addr);
+epicsShareFunc int pmacAsynIPConfigure(const char *portName,
+                                       const char *hostInfo);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* asynInterposePmac_H */

src/turboPmacAxis.h

@@ -3,7 +3,7 @@
 #include "sinqAxis.h"
 
 // Forward declaration of the controller class to resolve the cyclic dependency
-// between C804Controller.h and C804Axis.h. See
+// between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
 class turboPmacController;
 
@@ -15,7 +15,8 @@ class turboPmacAxis : public sinqAxis {
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
      */
-    turboPmacAxis(turboPmacController *pController, int axisNo);
+    turboPmacAxis(turboPmacController *pController, int axisNo,
+                  bool initialize = true);
 
     /**
      * @brief Destroy the turboPmacAxis
@@ -74,12 +75,20 @@ class turboPmacAxis : public sinqAxis {
      * The following steps are performed:
      * - Read out the motor status, motor position, velocity and acceleration
      * from the MCU and store this information in the parameter library.
-     * - Set the enable PV accordint to the initial status of the axis.
+     * - Set the enable PV according to the initial status of the axis.
      *
      * @return asynStatus
      */
     asynStatus init();
 
+    /**
+     * @brief Implementation of the `doReset` function from sinqAxis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus doReset();
+
     /**
      * @brief Enable / disable the axis.
      *
@@ -103,6 +112,16 @@ class turboPmacAxis : public sinqAxis {
      */
     asynStatus rereadEncoder();
 
+    /**
+     * @brief Interpret the error code and populate the user message accordingly
+     *
+     * @param error
+     * @param userMessage
+     * @param sizeUserMessage
+     * @return asynStatus
+     */
+    asynStatus handleError(int error, char *userMessage, int sizeUserMessage);
+
   protected:
     turboPmacController *pC_;
 
@@ -111,9 +130,6 @@ class turboPmacAxis : public sinqAxis {
 
     // The axis status is used when enabling / disabling the motor
     int axisStatus_;
-
-  private:
-    friend class turboPmacController;
 };
 
 #endif

src/turboPmacController.cpp

@@ -29,23 +29,11 @@ void adjustResponseForPrint(char *dst, const char *src, size_t buf_length) {
     }
 }
 
-/**
- * @brief Construct a new turboPmacController::turboPmacController object
- *
- * @param portName              See documentation of sinqController
- * @param ipPortConfigName      See documentation of sinqController
- * @param numAxes               See documentation of sinqController
- * @param movingPollPeriod      See documentation of sinqController
- * @param idlePollPeriod        See documentation of sinqController
- * @param comTimeout  Time after which a communication timeout error
- * is declared in writeRead (in seconds)
- * @param extraParams           See documentation of sinqController
- */
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
                                          int numAxes, double movingPollPeriod,
                                          double idlePollPeriod,
-                                         double comTimeout)
+                                         double comTimeout, int numExtraParams)
     : sinqController(
           portName, ipPortConfigName, numAxes, movingPollPeriod, idlePollPeriod,
           /*
@@ -53,7 +41,7 @@ turboPmacController::turboPmacController(const char *portName,
           - REREAD_ENCODER_POSITION
           - READ_CONFIG
           */
-          NUM_turboPmac_DRIVER_PARAMS)
+          numExtraParams + NUM_turboPmac_DRIVER_PARAMS)
 
 {
 
@@ -61,27 +49,12 @@ turboPmacController::turboPmacController(const char *portName,
     asynStatus status = asynSuccess;
 
     // Initialization of all member variables
-    lowLevelPortUser_ = nullptr;
     comTimeout_ = comTimeout;
 
     // Maximum allowed number of subsequent timeouts before the user is
     // informed.
     maxSubsequentTimeouts_ = 10;
 
-    // =========================================================================;
-
-    /*
-    We try to connect to the port via the port name provided by the constructor.
-    If this fails, the function is terminated via exit
-    */
-    pasynOctetSyncIO->connect(ipPortConfigName, 0, &lowLevelPortUser_, NULL);
-    if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
-        errlogPrintf("Controller \"%s\" => %s, line %d\nFATAL ERROR "
-                     "(cannot connect to MCU controller).\nTerminating IOC",
-                     portName, __PRETTY_FUNCTION__, __LINE__);
-        exit(-1);
-    }
-
     // =========================================================================
     // Create additional parameter library entries
 
@@ -115,15 +88,15 @@ turboPmacController::turboPmacController(const char *portName,
     const char *message_from_device =
         "\006"; // Hex-code for ACK (acknowledge) -> Each message from the MCU
                 // is terminated by this value
-    status = pasynOctetSyncIO->setInputEos(
+    status = pasynOctetSyncIO->setInputEos(ipPortUser_, message_from_device,
-        lowLevelPortUser_, message_from_device, strlen(message_from_device));
+                                           strlen(message_from_device));
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR "
                   "(setting input EOS failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        pasynOctetSyncIO->disconnect(ipPortUser_);
         exit(-1);
     }
 
@@ -135,7 +108,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        pasynOctetSyncIO->disconnect(ipPortUser_);
         exit(-1);
     }
 }
@@ -145,39 +118,18 @@ Access one of the axes of the controller via the axis adress stored in asynUser.
 If the axis does not exist or is not a Axis, a nullptr is returned and an
 error is emitted.
 */
-turboPmacAxis *turboPmacController::getAxis(asynUser *pasynUser) {
+turboPmacAxis *turboPmacController::getTurboPmacAxis(asynUser *pasynUser) {
     asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
-    return turboPmacController::castToAxis(asynAxis);
+    return dynamic_cast<turboPmacAxis *>(asynAxis);
 }
 
 /*
 Access one of the axes of the controller via the axis index.
 If the axis does not exist or is not a Axis, the function must return Null
 */
-turboPmacAxis *turboPmacController::getAxis(int axisNo) {
+turboPmacAxis *turboPmacController::getTurboPmacAxis(int axisNo) {
     asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
-    return turboPmacController::castToAxis(asynAxis);
+    return dynamic_cast<turboPmacAxis *>(asynAxis);
-}
-
-turboPmacAxis *turboPmacController::castToAxis(asynMotorAxis *asynAxis) {
-
-    // =========================================================================
-
-    // If the axis slot of the pAxes_ array is empty, a nullptr must be returned
-    if (asynAxis == nullptr) {
-        return nullptr;
-    }
-
-    // Here, an error is emitted since asyn_axis is not a nullptr but also not
-    // an instance of Axis
-    turboPmacAxis *axis = dynamic_cast<turboPmacAxis *>(asynAxis);
-    if (axis == nullptr) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d\nAxis is not "
-                  "an instance of turboPmacAxis",
-                  portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
-    }
-    return axis;
 }
 
 asynStatus turboPmacController::writeRead(int axisNo, const char *command,
@@ -188,7 +140,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     asynStatus status = asynSuccess;
     asynStatus paramLibStatus = asynSuccess;
     asynStatus timeoutStatus = asynSuccess;
-    char fullCommand[MAXBUF_] = {0};
+    // char fullCommand[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
     char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
@@ -216,66 +168,66 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // =========================================================================
 
-    turboPmacAxis *axis = getAxis(axisNo);
+    turboPmacAxis *axis = getTurboPmacAxis(axisNo);
     if (axis == nullptr) {
         // We already did the error logging directly in getAxis
         return asynError;
     }
-
-    /*
-    The message protocol of the turboPmac used at PSI looks as follows (all
-    characters immediately following each other without a newline):
-    0x40 (ASCII value of @) -> Request for download
-    0xBF (ASCII value of ¿) -> Select mode "get_response"
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    [message length in network byte order] -> Use the htons function for this
-    value [Actual message] It is not necessary to append a terminator, since
-    this protocol encodes the message length at the beginning. See Turbo PMAC
-    User Manual, page 418 in VR_PMAC_GETRESPONSE
-    x0D (ASCII value of carriage return) -> The controller needs a carriage
-    return at the end of a "send" command (a command were we transmit data via
-    =). For "request" commands (e.g. read status or position), this is not
-    necessary, but it doesn't hurt either, therefore we always add a carriage
-    return.
-
-    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.
-    */
-
     const size_t commandLength = strlen(command);
-    const int offset = 9;
 
-    // Positions 2 to 6 must have the value 0. Since fullCommand is initialized
+    // NOT NEEDED ANYMORE DUE TO THE LOW LEVEL DRIVER
-    // as an array of zeros, we don't need to set these bits manually.
+    // /*
-    fullCommand[0] = '\x40';
+    // The message protocol of the turboPmac used at PSI looks as follows (all
-    fullCommand[1] = '\xBF';
+    // characters immediately following each other without a newline):
+    // 0x40 (ASCII value of @) -> Request for download
+    // 0xBF (ASCII value of ¿) -> Select mode "get_response"
+    // 0x00 (ASCII value of 0)
+    // 0x00 (ASCII value of 0)
+    // 0x00 (ASCII value of 0)
+    // 0x00 (ASCII value of 0)
+    // 0x00 (ASCII value of 0)
+    // [message length in network byte order] -> Use the htons function for this
+    // value [Actual message] It is not necessary to append a terminator, since
+    // this protocol encodes the message length at the beginning. See Turbo PMAC
+    // User Manual, page 418 in VR_PMAC_GETRESPONSE
+    // x0D (ASCII value of carriage return) -> The controller needs a carriage
+    // return at the end of a "send" command (a command were we transmit data
+    // via
+    // =). For "request" commands (e.g. read status or position), this is not
+    // necessary, but it doesn't hurt either, therefore we always add a carriage
+    // return.
 
-    // The size of size_t is platform dependant (pointers-sized), while htons
+    // The message has to be build manually into the buffer fullCommand, since
-    // needs an unsigned int. The byte order is then converted from host to
+    // it contains NULL terminators in its middle, therefore the string
-    // network order. The offset "+1" is for the carriage return.
+    // manipulation methods of C don't work.
-    u_int16_t len = htons(static_cast<u_int16_t>(commandLength + 1));
+    // */
 
-    // Split up into the upper and the lower byte
+    //
-    fullCommand[7] = (char)(len >> 8);   // Shift the 8 higher bits to the right
+    // const int offset = 9;
-    fullCommand[8] = (char)(len & 0xFF); // Mask the higher bits
 
-    // Write the actual command behind the protocol
+    // // Positions 2 to 6 must have the value 0. Since fullCommand is
-    for (size_t i = 0; i < commandLength; i++) {
+    // initialized
-        fullCommand[i + offset] = command[i];
+    // // as an array of zeros, we don't need to set these bits manually.
-    }
+    // fullCommand[0] = '\x40';
-    fullCommand[offset + commandLength] = '\x0D';
+    // fullCommand[1] = '\xBF';
 
-    // +1 for the carriage return.
+    // // The size of size_t is platform dependant (pointers-sized), while htons
-    const size_t fullComandLength = offset + commandLength + 1;
+    // // needs an unsigned int. The byte order is then converted from host to
+    // // network order. The offset "+1" is for the carriage return.
+    // u_int16_t len = htons(static_cast<u_int16_t>(commandLength + 1));
 
-    asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+    // // Split up into the upper and the lower byte
-              "Controller \"%s\", axis %d => %s, line %d\nSending command %s",
+    // fullCommand[7] = (char)(len >> 8);   // Shift the 8 higher bits to the
-              portName, axisNo, __PRETTY_FUNCTION__, __LINE__, fullCommand);
+    // right fullCommand[8] = (char)(len & 0xFF); // Mask the higher bits
+
+    // // Write the actual command behind the protocol
+    // for (size_t i = 0; i < commandLength; i++) {
+    //     fullCommand[i + offset] = command[i];
+    // }
+    // fullCommand[offset + commandLength] = '\x0D';
+
+    // // +1 for the carriage return.
+    // const size_t fullComandLength = offset + commandLength + 1;
 
     /*
     We use separated write and read commands here, not the combined writeRead
@@ -291,15 +243,22 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     trying to reconnect. If the problem persists, ask them to call the support
     */
 
-    status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
+    status = pasynOctetSyncIO->write(ipPortUser_, command, commandLength,
-                                     fullComandLength, comTimeout_, &nbytesOut);
+                                     comTimeout_, &nbytesOut);
+
+    msgPrintControlKey writeKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
     if (status == asynTimeout) {
 
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
-                  "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+            asynPrint(
-                  "writing to the MCU\n",
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+                "writing to the MCU.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                msgPrintControl_.getSuffix());
+        }
 
         timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
                                                 sizeof(drvMessageText));
@@ -309,9 +268,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
+            status = pasynOctetSyncIO->write(
-                                             fullComandLength, comTimeout_,
+                ipPortUser_, command, commandLength, comTimeout_, &nbytesOut);
-                                             &nbytesOut);
             if (status != asynTimeout) {
                 asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
@@ -321,23 +279,35 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
-                  "Controller \"%s\", axis %d => %s, line %d\nError %s while "
+            asynPrint(
-                  "writing to the controller\n",
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
-                  stringifyAsynStatus(status));
+                "writing to the controller.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
+        }
+    } else {
+        msgPrintControl_.resetCount(writeKey, pasynUserSelf);
     }
 
     // Read the response from the MCU buffer
-    status = pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
+    status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_, comTimeout_,
-                                    comTimeout_, &nbytesIn, &eomReason);
+                                    &nbytesIn, &eomReason);
+
+    msgPrintControlKey readKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
     if (status == asynTimeout) {
 
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
-                  "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+            asynPrint(
-                  "reading from the MCU\n",
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+                "reading from the MCU.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                msgPrintControl_.getSuffix());
+        }
 
         // Add this event to the back of the timeout event counter
         timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
@@ -348,9 +318,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            status =
+            status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_,
-                pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
+                                            comTimeout_, &nbytesIn, &eomReason);
-                                       comTimeout_, &nbytesIn, &eomReason);
             if (status != asynTimeout) {
                 asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
@@ -360,11 +329,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
-                  "Controller \"%s\", axis %d => %s, line %d\nError %s while "
+            asynPrint(
-                  "reading from the controller\n",
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
-                  stringifyAsynStatus(status));
+                "reading from the controller.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
+        }
+    } else {
+        msgPrintControl_.resetCount(readKey, pasynUserSelf);
     }
 
     if (timeoutStatus == asynError) {
@@ -372,6 +346,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     }
 
     // The message should only ever terminate due to reason 2
+    msgPrintControlKey terminateKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
     if (eomReason != 2) {
         status = asynError;
 
@@ -379,10 +355,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  "Terminated message due to reason %d (should be 2).",
                  eomReason);
 
-        asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+        if (msgPrintControl_.shouldBePrinted(terminateKey, true,
-                  "Controller \"%s\", axis %d => %s, line %d\nMessage "
+                                             pasynUserSelf)) {
-                  "terminated due to reason %i\n",
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, eomReason);
+                      "Controller \"%s\", axis %d => %s, line %d\nMessage "
+                      "terminated due to reason %i.%s\n",
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                      eomReason, msgPrintControl_.getSuffix());
+        }
+    } else {
+        msgPrintControl_.resetCount(terminateKey, pasynUserSelf);
     }
 
     /*
@@ -394,20 +376,30 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             numReceivedResponses++;
         }
     }
+    msgPrintControlKey numResponsesKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
     if (numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+
-                  "Controller \"%s\", axis %d => %s, line %d\nUnexpected "
+        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
-                  "response '%s' (carriage returns are replaced with spaces) "
+                                             pasynUserSelf)) {
-                  "for command %s\n",
+            asynPrint(
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  command);
+                "Controller \"%s\", axis %d => %s, line %d\nUnexpected "
+                "response '%s' (carriage returns are replaced with spaces) "
+                "for command %s.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
+                command, msgPrintControl_.getSuffix());
+        }
+
         snprintf(drvMessageText, sizeof(drvMessageText),
                  "Received unexpected response '%s' (carriage returns "
                  "are replaced with spaces) for command %s. "
                  "Please call the support",
                  modResponse, command);
         status = asynError;
+    } else {
+        msgPrintControl_.resetCount(numResponsesKey, pasynUserSelf);
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -437,23 +429,12 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-
-        asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
-                  "Controller \"%s\", axis %d => %s, line %d\nDevice "
-                  "response: %s (carriage returns are replaced with spaces)\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse);
         paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
     } else {
-        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+        // Check if the axis already is in an error communication mode. If
-                  "Controller \"%s\", axis %d => %s, line %d\nCommunication "
+        // it is not, upstream the error. This is done to avoid "flooding"
-                  "failed for command %s (%s)\n",
+        // the user with different error messages if more than one error
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, fullCommand,
+        // ocurred before an error-free communication
-                  stringifyAsynStatus(status));
-
-        // Check if the axis already is in an error communication mode. If it is
-        // not, upstream the error. This is done to avoid "flooding" the user
-        // with different error messages if more than one error ocurred before
-        // an error-free communication
         paramLibStatus =
             getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
         if (paramLibStatus != asynSuccess) {
@@ -494,11 +475,7 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
 
     // =====================================================================
 
-    turboPmacAxis *axis = getAxis(pasynUser);
+    turboPmacAxis *axis = getTurboPmacAxis(pasynUser);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
 
     // Handle custom PVs
     if (function == rereadEncoderPosition_) {
@@ -510,22 +487,14 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
     }
 }
 
-asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+asynStatus turboPmacController::couldNotParseResponse(const char *command,
-    // PMACs can be disabled
+                                                      const char *response,
-    if (pasynUser->reason == motorCanDisable_) {
+                                                      int axisNo,
-        *value = 1;
+                                                      const char *functionName,
-        return asynSuccess;
+                                                      int lineNumber) {
-    } else {
-        return asynMotorController::readInt32(pasynUser, value);
-    }
-}
-
-asynStatus turboPmacController::errMsgCouldNotParseResponse(
-    const char *command, const char *response, int axisNo,
-    const char *functionName, int lineNumber) {
     char modifiedResponse[MAXBUF_] = {0};
     adjustResponseForPrint(modifiedResponse, response, MAXBUF_);
-    return sinqController::errMsgCouldNotParseResponse(
+    return sinqController::couldNotParseResponse(
         command, modifiedResponse, axisNo, functionName, lineNumber);
 }
 
@@ -549,8 +518,8 @@ asynStatus turboPmacCreateController(const char *portName,
     https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
     https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
 
-    The created object is registered in EPICS in its constructor and can safely
+    The created object is registered in EPICS in its constructor and can
-    be "leaked" here.
+    safely be "leaked" here.
     */
 #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 #pragma GCC diagnostic ignored "-Wunused-variable"
@@ -582,17 +551,17 @@ static const iocshArg CreateControllerArg5 = {"Communication timeout (s)",
 static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
-static const iocshFuncDef configturboPmacCreateController = {
+static const iocshFuncDef configTurboPmacCreateController = {
     "turboPmacController", 6, CreateControllerArgs};
 static void configTurboPmacCreateControllerCallFunc(const iocshArgBuf *args) {
     turboPmacCreateController(args[0].sval, args[1].sval, args[2].ival,
                               args[3].dval, args[4].dval, args[5].dval);
 }
 
-// This function is made known to EPICS in turboPmac.dbd and is called by EPICS
+// This function is made known to EPICS in turboPmac.dbd and is called by
-// in order to register both functions in the IOC shell
+// EPICS in order to register both functions in the IOC shell
 static void turboPmacControllerRegister(void) {
-    iocshRegister(&configturboPmacCreateController,
+    iocshRegister(&configTurboPmacCreateController,
                   configTurboPmacCreateControllerCallFunc);
 }
 epicsExportRegistrar(turboPmacControllerRegister);

src/turboPmacController.h

@@ -13,10 +13,10 @@
 #include "turboPmacAxis.h"
 
 class turboPmacController : public sinqController {
-
   public:
     /**
-     * @brief Construct a new turboPmacController object
+     * @brief Construct a new turboPmacController object. This function is meant
+    to be called from a child class constructor.
      *
      * @param portName            See sinqController constructor
      * @param ipPortConfigName    See sinqController constructor
@@ -26,10 +26,12 @@ class turboPmacController : public sinqController {
      * @param comTimeout          When trying to communicate with the device,
     the underlying asynOctetSyncIO interface waits for a response until this
     time (in seconds) has passed, then it declares a timeout.
+     * @param numExtraParams      Number of extra parameters from a child class
      */
     turboPmacController(const char *portName, const char *ipPortConfigName,
                         int numAxes, double movingPollPeriod,
-                        double idlePollPeriod, double comTimeout);
+                        double idlePollPeriod, double comTimeout,
+                        int numExtraParams = 0);
 
     /**
      * @brief Get the axis object
@@ -38,7 +40,7 @@ class turboPmacController : public sinqController {
      * @return turboPmacAxis*        If no axis could be found, this is a
      * nullptr
      */
-    turboPmacAxis *getAxis(asynUser *pasynUser);
+    turboPmacAxis *getTurboPmacAxis(asynUser *pasynUser);
 
     /**
      * @brief Get the axis object
@@ -47,7 +49,7 @@ class turboPmacController : public sinqController {
      * @return turboPmacAxis*        If no axis could be found, this is a
      * nullptr
      */
-    turboPmacAxis *getAxis(int axisNo);
+    turboPmacAxis *getTurboPmacAxis(int axisNo);
 
     /**
      * @brief Overloaded function of sinqController
@@ -58,10 +60,7 @@ class turboPmacController : public sinqController {
      * @param value               New value
      * @return asynStatus
      */
-    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
-
-  protected:
-    asynUser *lowLevelPortUser_;
 
     /**
      * @brief Send a command to the hardware and receive a response
@@ -83,22 +82,13 @@ class turboPmacController : public sinqController {
                          int numExpectedResponses);
 
     /**
-     * @brief Save cast of the given asynAxis pointer to a turboPmacAxis
+     * @brief Specialized version of sinqController::couldNotParseResponse
-     * pointer. If the cast fails, this function returns a nullptr.
-     *
-     * @param asynAxis
-     * @return turboPmacAxis*
-     */
-    turboPmacAxis *castToAxis(asynMotorAxis *asynAxis);
-
-    /**
-     * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
      * for turboPmac
      *
      * This is an overloaded version of
-     * sinqController::errMsgCouldNotParseResponse which calls
+     * sinqController::couldNotParseResponse which calls
      * adjustResponseForLogging on response before handing it over to
-     * sinqController::errMsgCouldNotParseResponse.
+     * sinqController::couldNotParseResponse.
      *
      * @param command             Command which led to the unparseable message
      * @param response            Response which wasn't parseable
@@ -109,17 +99,20 @@ class turboPmacController : public sinqController {
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns asynError.
      */
-    asynStatus errMsgCouldNotParseResponse(const char *command,
+    asynStatus couldNotParseResponse(const char *command, const char *response,
-                                           const char *response, int axisNo_,
+                                     int axisNo_, const char *functionName,
-                                           const char *functionName,
+                                     int lineNumber);
-                                           int lineNumber);
+
+    // Accessors for additional PVs
+    int rereadEncoderPosition() { return rereadEncoderPosition_; }
+    int readConfig() { return readConfig_; }
 
-  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 /
     // responses from it.
     static const uint32_t MAXBUF_ = 200;
 
+  protected:
     /*
     Timeout for the communication process in seconds
     */
@@ -132,8 +125,6 @@ class turboPmacController : public sinqController {
     int rereadEncoderPosition_;
     int readConfig_;
 #define LAST_turboPmac_PARAM readConfig_
-
-    friend class turboPmacAxis;
 };
 #define NUM_turboPmac_DRIVER_PARAMS                                            \
     (&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)