Added functions to get/set motorPosition.

Changed to functions motorPosition and setMotorPosition in order to
retrieve / set motor positions from / to the paramLib.

Makefile

@@ -14,7 +14,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.8.0
+sinqMotor_VERSION=0.10.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/turboPmacAxis.h

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.
@@ -21,11 +23,11 @@ turboPmac exports the following IOC shell functions:
 - `turboPmacController`: Create a new controller object.
 - `turboPmacAxis`: Create a new axis object.
 
-The full mcu.cmd file looks like this:
+The full turboPmacX.cmd file looks like this:
 
 ```
 # Define the name of the controller and the corresponding port
-epicsEnvSet("NAME","mcu")
+epicsEnvSet("NAME","turboPmacX")
 epicsEnvSet("ASYN_PORT","p$(NAME)")
 
 # 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
@@ -47,8 +49,8 @@ turboPmacAxis("$(NAME)",5);
 # Set the number of subsequent timeouts 
 setMaxSubsequentTimeouts("$(NAME)", 20);
 
-# Configure the timeout frequency watchdog:
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
-setThresholdComTimeout("$(NAME)", 100, 1);
+setThresholdComTimeout("$(NAME)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")

src/turboPmacAxis.cpp

@@ -54,13 +54,13 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     line 40). However, we want the IOC creation to stop completely, since this
     is a configuration error.
     */
-    if (axisNo >= pC->numAxes_) {
+    if (axisNo >= pC->numAxes()) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d: FATAL ERROR: "
                   "Axis index %d must be smaller than the total number of axes "
                   "%d",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  axisNo_, pC->numAxes_);
+                  axisNo_, pC->numAxes());
         exit(-1);
     }
 
@@ -78,13 +78,14 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
 
     // Initialize all member variables
     waitForHandshake_ = false;
+    timeAtHandshake_ = 0;
     axisStatus_ = 0;
 
     // Provide initial values for some parameter library entries
-    status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition_, 0);
+    status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition(), 0);
     if (status != asynSuccess) {
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d:\nFATAL ERROR "
             "(setting a parameter value failed with %s)\n. Terminating IOC",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -93,10 +94,10 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     }
 
     // turboPmac motors can always be disabled
-    status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 1);
+    status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nFATAL ERROR "
             "(setting a parameter value failed with %s)\n. Terminating IOC",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -121,7 +122,7 @@ asynStatus turboPmacAxis::init() {
     char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
     int nvals = 0;
     double motorRecResolution = 0.0;
-    double motorPosition = 0.0;
+    double motorPos = 0.0;
     double motorVelocity = 0.0;
     double motorVmax = 0.0;
     double motorAccel = 0.0;
@@ -134,11 +135,11 @@ asynStatus turboPmacAxis::init() {
     time_t now = time(NULL);
     time_t maxInitTime = 60;
     while (1) {
-        status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+        status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
                                      &motorRecResolution);
         if (status == asynParamUndefined) {
             if (now + maxInitTime < time(NULL)) {
-                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nInitializing the parameter library failed.\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@@ -165,7 +166,7 @@ asynStatus turboPmacAxis::init() {
     if (status != asynSuccess) {
         return status;
     }
-    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPosition,
+    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
                    &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
@@ -177,17 +178,20 @@ asynStatus turboPmacAxis::init() {
     motorAccel = motorAccel * 1000;
 
     if (nvals != 6) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Transform from motor to parameter library coordinates
-    motorPosition = motorPosition / motorRecResolution;
-
     // Store these values in the parameter library
-    status = pC_->setDoubleParam(axisNo_, pC_->motorPosition_, motorPosition);
+    status = setMotorPosition(motorPos);
     if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo_,
+        return status;
+    }
+
+    // Initial motor status is idle
+    status = pC_->setIntegerParam(axisNo_, pC_->motorStatusDone(), 1);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorStatusDone_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -207,7 +211,7 @@ asynStatus turboPmacAxis::init() {
         // If we can't communicate with the parameter library, it doesn't make
         // sense to try and upstream this to the user -> Just log the error
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\ncallParamCallbacks "
             "failed with %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -245,11 +249,41 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     double lowLimit = 0.0;
     double limitsOffset = 0.0;
 
+    // Was the axis idle during the previous poll?
+    int previousStatusDone = 1;
+
     // =========================================================================
 
     // Are we currently waiting for a handshake?
     if (waitForHandshake_) {
 
+        // Check if the handshake takes too long and communicate an error in
+        // this case. A handshake should not take more than 5 seconds.
+        time_t currentTime = time(NULL);
+        bool timedOut = (currentTime > timeAtHandshake_ + 5);
+
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
+                pC_->asynUserSelf())) {
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nAsked for a "
+                      "handshake at %ld s and didn't get a positive reply yet "
+                      "(current time is %ld s).\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      timeAtHandshake_, currentTime);
+        }
+
+        if (timedOut) {
+            pl_status =
+                setStringParam(pC_->motorMessageText(),
+                               "Timed out while waiting for a handshake");
+            if (pl_status != asynSuccess) {
+                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
+                                                 axisNo_, __PRETTY_FUNCTION__,
+                                                 __LINE__);
+            }
+        }
+
         snprintf(command, sizeof(command), "P%2.2d23 P%2.2d01", axisNo_,
                  axisNo_);
         rw_status = pC_->writeRead(axisNo_, command, response, 2);
@@ -259,8 +293,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         nvals = sscanf(response, "%d %d", &handshakePerformed, &error);
         if (nvals != 2) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse(command, response, axisNo_,
-                command, response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         if (error != 0) {
@@ -277,14 +311,14 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
             // poll. This is already part of the movement procedure.
             *moving = true;
 
-            pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
+            pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
             if (pl_status != asynSuccess) {
                 return pC_->paramLibAccessFailed(pl_status,
                                                  "motorStatusMoving_", axisNo_,
                                                  __PRETTY_FUNCTION__, __LINE__);
             }
 
-            pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
+            pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
             if (pl_status != asynSuccess) {
                 return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_",
                                                  axisNo_, __PRETTY_FUNCTION__,
@@ -295,8 +329,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
-    // Motor resolution from parameter library
+    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
                                     &motorRecResolution);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@@ -305,16 +338,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     }
 
     // Read the previous motor position
-    pl_status =
+    pl_status = motorPosition(&previousPosition);
-        pC_->getDoubleParam(axisNo_, pC_->motorPosition_, &previousPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Transform from EPICS to motor coordinates (see comment in
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusDone(),
-    // turboPmacAxis::atFirstPoll)
+                                     &previousStatusDone);
-    previousPosition = previousPosition * motorRecResolution;
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
 
     // Query the axis status
     snprintf(command, sizeof(command),
@@ -328,8 +362,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     nvals = sscanf(response, "%d %lf %d %lf %lf", &axStatus, &currentPosition,
                    &error, &highLimit, &lowLimit);
     if (nvals != 5) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     /*
@@ -345,7 +379,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     by limitsOffset on both sides.
     */
     pl_status =
-        pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset_, &limitsOffset);
+        pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset(), &limitsOffset);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorLimitsOffset_",
                                          axisNo_, __PRETTY_FUNCTION__,
@@ -358,7 +392,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     axisStatus_ = axStatus;
 
     // Update the enablement PV
-    pl_status = setIntegerParam(pC_->motorEnableRBV_,
+    pl_status = setIntegerParam(pC_->motorEnableRBV(),
                                 (axStatus != -3 && axStatus != -5));
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_", axisNo_,
@@ -375,13 +409,19 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     switch (axStatus) {
     case -6:
         // Axis is stopping
-        *moving = true;
+
+        // If the axis was already idle during the last poll, it is not moving
+        if (previousStatusDone == 0) {
+            *moving = true;
+        } else {
+            *moving = false;
+        }
         break;
     case -5:
         // Axis is deactivated
         *moving = false;
 
-        pl_status = setStringParam(pC_->motorMessageText_, "Deactivated");
+        pl_status = setStringParam(pC_->motorMessageText(), "Deactivated");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -392,18 +432,18 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         // Emergency stop
         *moving = false;
 
-        if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
             asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
                 "activated.%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                pC_->msgPrintControl_.getSuffix());
+                pC_->getMsgPrintControl().getSuffix());
         }
         resetCountStatus = false;
 
-        pl_status = setStringParam(pC_->motorMessageText_, "Emergency stop");
+        pl_status = setStringParam(pC_->motorMessageText(), "Emergency stop");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -415,7 +455,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         // Disabled
         *moving = false;
 
-        pl_status = setStringParam(pC_->motorMessageText_, "Disabled");
+        pl_status = setStringParam(pC_->motorMessageText(), "Disabled");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -447,7 +487,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         *moving = true;
 
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+            pC_->asynUserSelf(), ASYN_TRACE_FLOW,
             "Controller \"%s\", axis %d  => %s, line %d\nAxis is moving\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
@@ -455,14 +495,14 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     default:
         *moving = false;
 
-        if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
 
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nReached "
                       "unreachable state P%2.2d00 = %d.%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      axisNo_, axStatus, pC_->msgPrintControl_.getSuffix());
+                      axisNo_, axStatus, pC_->getMsgPrintControl().getSuffix());
         }
         resetCountStatus = false;
 
@@ -470,7 +510,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                  "Unknown state P%2.2d00 = %d has been reached. Please call "
                  "the support.",
                  axisNo_, error);
-        pl_status = setStringParam(pC_->motorMessageText_, userMessage);
+        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -479,7 +519,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     }
 
     if (resetCountStatus) {
-        pC_->msgPrintControl_.resetCount(keyStatus);
+        pC_->getMsgPrintControl().resetCount(keyStatus, pC_->asynUserSelf());
     }
 
     if (*moving) {
@@ -504,17 +544,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     case 1:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nTarget "
                       "position would exceed user limits.%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      pC_->msgPrintControl_.getSuffix());
+                      pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
-        pl_status = setStringParam(pC_->motorMessageText_,
+        pl_status = setStringParam(pC_->motorMessageText(),
                                    "Target position would exceed software "
                                    "limits. Please call the support.");
         if (pl_status != asynSuccess) {
@@ -527,19 +567,19 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
     case 5:
         // Command not possible
-        if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
             asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
                 "still moving, but received another move command. EPICS "
                 "should prevent this, check if *moving is set correctly.%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                pC_->msgPrintControl_.getSuffix());
+                pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
-        pl_status = setStringParam(pC_->motorMessageText_,
+        pl_status = setStringParam(pC_->motorMessageText(),
                                    "Axis received move command while it is "
                                    "still moving. Please call the support.");
         if (pl_status != asynSuccess) {
@@ -551,13 +591,13 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         poll_status = asynError;
         break;
     case 8:
-        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nAir cushion "
                       "feedback stopped during movement (P%2.2d01 = %d).%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      axisNo_, error, pC_->msgPrintControl_.getSuffix());
+                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
@@ -566,7 +606,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                  "%d). Please call the support.",
                  axisNo_, error);
 
-        pl_status = setStringParam(pC_->motorMessageText_, userMessage);
+        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -574,14 +614,14 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
         break;
     case 9:
-        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
             asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
                 "feedback before movement start (P%2.2d01 = %d).%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-                error, pC_->msgPrintControl_.getSuffix());
+                error, pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
@@ -589,7 +629,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                  "No air cushion feedback before movement start (P%2.2d01 = "
                  "%d). Please call the support.",
                  axisNo_, error);
-        pl_status = setStringParam(pC_->motorMessageText_, userMessage);
+        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -604,14 +644,14 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         which is not properly homed or if a bug occured.
         */
 
-        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
             asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
                 "controller limits.%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                pC_->msgPrintControl_.getSuffix());
+                pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
@@ -622,7 +662,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                  "Otherwise please call the support.",
                  axisNo_, error);
 
-        pl_status = setStringParam(pC_->motorMessageText_, userMessage);
+        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -634,14 +674,14 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     case 11:
         // Following error
 
-        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
             asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
                 "following error exceeded.%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                pC_->msgPrintControl_.getSuffix());
+                pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
@@ -650,7 +690,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                  "Check if movement range is blocked. "
                  "Otherwise please call the support.",
                  axisNo_, error);
-        pl_status = setStringParam(pC_->motorMessageText_, command);
+        pl_status = setStringParam(pC_->motorMessageText(), command);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -661,13 +701,13 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
 
     case 12:
-        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nSecurity "
                       "input is triggered (P%2.2d01 = %d).%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      axisNo_, error, pC_->msgPrintControl_.getSuffix());
+                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
@@ -676,7 +716,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                  "for errors (if available). Otherwise please call "
                  "the support.",
                  axisNo_, error);
-        pl_status = setStringParam(pC_->motorMessageText_, command);
+        pl_status = setStringParam(pC_->motorMessageText(), command);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -689,13 +729,13 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     case 13:
         // Driver hardware error triggered
 
-        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nDriver "
                       "hardware error triggered.%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      pC_->msgPrintControl_.getSuffix());
+                      pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
@@ -703,7 +743,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                  "Driver hardware error (P%2.2d01 = 13). "
                  "Please call the support.",
                  axisNo_);
-        pl_status = setStringParam(pC_->motorMessageText_, command);
+        pl_status = setStringParam(pC_->motorMessageText(), command);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -716,13 +756,13 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
 
-        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nMove "
                       "command exceeds hardware limits (P%2.2d01 = %d).%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      axisNo_, error, pC_->msgPrintControl_.getSuffix());
+                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
@@ -730,7 +770,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                  "Move command exceeds hardware limits (P%2.2d01 = %d). Please "
                  "call the support.",
                  axisNo_, error);
-        pl_status = setStringParam(pC_->motorMessageText_, userMessage);
+        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -741,21 +781,21 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
     default:
 
-        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                  pC_->pasynUserSelf)) {
+                                                      pC_->asynUserSelf())) {
             asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nUnknown error "
                 "P%2.2d01 = %d.%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-                error, pC_->msgPrintControl_.getSuffix());
+                error, pC_->getMsgPrintControl().getSuffix());
         }
         resetError = false;
 
         snprintf(userMessage, sizeof(userMessage),
                  "Unknown error P%2.2d01 = %d. Please call the support.",
                  axisNo_, error);
-        pl_status = setStringParam(pC_->motorMessageText_, userMessage);
+        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -767,12 +807,12 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     }
 
     if (resetError) {
-        pC_->msgPrintControl_.resetCount(keyError);
+        pC_->getMsgPrintControl().resetCount(keyError, pC_->asynUserSelf());
     }
 
     // Update the parameter library
     if (error != 0) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -781,7 +821,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     }
 
     if (*moving == false) {
-        pl_status = setIntegerParam(pC_->motorMoveToHome_, 0);
+        pl_status = setIntegerParam(pC_->motorMoveToHome(), 0);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMoveToHome_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -789,28 +829,28 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
-    pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
+    pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
                                          axisNo_, __PRETTY_FUNCTION__,
                                          __LINE__);
     }
 
-    pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
+    pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    pl_status = setIntegerParam(pC_->motorStatusDirection_, direction);
+    pl_status = setIntegerParam(pC_->motorStatusDirection(), direction);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusDirection_",
                                          axisNo_, __PRETTY_FUNCTION__,
                                          __LINE__);
     }
 
-    pl_status =
+    pl_status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver(),
-        pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver_, highLimit);
+                                    highLimit);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorHighLimitFromDriver_",
                                          axisNo_, __PRETTY_FUNCTION__,
@@ -818,22 +858,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     }
 
     pl_status =
-        pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver_, lowLimit);
+        pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(), lowLimit);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Transform from motor to EPICS coordinates (see comment in
+    pl_status = setMotorPosition(currentPosition);
-    // turboPmacAxis::init())
-    currentPosition = currentPosition / motorRecResolution;
-
-    pl_status = setDoubleParam(pC_->motorPosition_, currentPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
-
     return poll_status;
 }
 
@@ -857,13 +891,13 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     // =========================================================================
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV_, &enabled);
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV(), &enabled);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
                                     &motorRecResolution);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@@ -873,7 +907,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     if (enabled == 0) {
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nAxis is disabled.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         return asynSuccess;
@@ -883,13 +917,13 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     motorCoordinatesPosition = position * motorRecResolution;
     motorVelocity = maxVelocity * motorRecResolution;
 
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\nStart of axis to "
               "position %lf.\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
 
     // Check if the speed is allowed to be changed
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_,
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed(),
                                      &motorCanSetSpeed);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorCanSetSpeed_",
@@ -905,7 +939,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
                  motorVelocity);
         writeOffset = strlen(command);
 
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
                   "Controller \"%s\", axis %d  => %s, line %d\nSetting speed "
                   "to %lf.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -929,12 +963,12 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     if (rw_status != asynSuccess) {
 
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
             "target position %lf failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
             motorCoordinatesPosition);
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -974,12 +1008,45 @@ asynStatus turboPmacAxis::stop(double acceleration) {
 
     if (rw_status != asynSuccess) {
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nStopping the movement "
             "failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+    }
+
+    return rw_status;
+}
+
+asynStatus turboPmacAxis::doReset() {
+
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+
+    // =========================================================================
+
+    // Reset the error for this axis manually
+    snprintf(command, sizeof(command), "P%2.2d01=0", axisNo_);
+    rw_status = pC_->writeRead(axisNo_, command, response, 0);
+
+    if (rw_status != asynSuccess) {
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d  => %s, line %d\nResetting the "
+                  "error failed\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -1006,7 +1073,7 @@ asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
 
     // =========================================================================
 
-    pl_status = pC_->getStringParam(axisNo_, pC_->encoderType_,
+    pl_status = pC_->getStringParam(axisNo_, pC_->encoderType(),
                                     sizeof(response), response);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
@@ -1022,14 +1089,14 @@ asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
             return rw_status;
         }
 
-        pl_status = setIntegerParam(pC_->motorMoveToHome_, 1);
+        pl_status = setIntegerParam(pC_->motorMoveToHome(), 1);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMoveToHome_",
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
 
-        pl_status = setStringParam(pC_->motorMessageText_, "Homing");
+        pl_status = setStringParam(pC_->motorMessageText(), "Homing");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -1037,7 +1104,7 @@ asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
         }
         return callParamCallbacks();
     } else {
-        pl_status = setStringParam(pC_->motorMessageText_,
+        pl_status = setStringParam(pC_->motorMessageText(),
                                    "Can't home a motor with absolute encoder");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -1075,16 +1142,16 @@ asynStatus turboPmacAxis::readEncoderType() {
 
     int reponse_length = strlen(response);
     if (reponse_length < 3) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // We are only interested in the last two digits and the last value in
     // the string before the terminator is \r
     nvals = sscanf(response + (reponse_length - 3), "%2X", &encoder_id);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     snprintf(command, sizeof(command), "P46");
@@ -1096,9 +1163,9 @@ asynStatus turboPmacAxis::readEncoderType() {
 
     // If true, the encoder is incremental
     if (encoder_id <= number_of_axes) {
-        pl_status = setStringParam(pC_->encoderType_, IncrementalEncoder);
+        pl_status = setStringParam(pC_->encoderType(), IncrementalEncoder);
     } else {
-        pl_status = setStringParam(pC_->encoderType_, AbsoluteEncoder);
+        pl_status = setStringParam(pC_->encoderType(), AbsoluteEncoder);
     }
 
     if (pl_status != asynSuccess) {
@@ -1135,7 +1202,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
     if (rw_status != asynSuccess) {
         return rw_status;
     }
-    pl_status = pC_->getStringParam(axisNo_, pC_->encoderType_,
+    pl_status = pC_->getStringParam(axisNo_, pC_->encoderType(),
                                     sizeof(encoderType), encoderType);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
@@ -1144,7 +1211,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
 
     // Abort if the axis is incremental
     if (strcmp(encoderType, IncrementalEncoder) == 0) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
                   "Controller \"%s\", axis %d  => %s, line %d\nEncoder is "
                   "not reread because it is incremental.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -1154,19 +1221,19 @@ asynStatus turboPmacAxis::rereadEncoder() {
     // Check if the axis is disabled. If not, inform the user that this
     // is necessary
     int enabled = 0;
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV_, &enabled);
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV(), &enabled);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     if (enabled == 1) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_WARNING,
                   "Controller \"%s\", axis %d  => %s, line %d\nAxis must be "
                   "disabled before rereading the encoder.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         pl_status = setStringParam(
-            pC_->motorMessageText_,
+            pC_->motorMessageText(),
             "Axis must be disabled before rereading the encoder.");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -1177,7 +1244,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
     } else {
         snprintf(command, sizeof(command), "M%2.2d=15", axisNo_);
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+            pC_->asynUserSelf(), ASYN_TRACE_FLOW,
             "Controller \"%s\", axis %d  => %s, line %d\nRereading absolute "
             "encoder via command %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, command);
@@ -1192,7 +1259,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
     // turn off parameter as finished rereading
     // this will only be immediately noticed in the read back variable
     // though
-    pl_status = pC_->setIntegerParam(pC_->rereadEncoderPosition_, 0);
+    pl_status = pC_->setIntegerParam(pC_->rereadEncoderPosition(), 0);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "rereadEncoderPosition_",
                                          axisNo_, __PRETTY_FUNCTION__,
@@ -1224,13 +1291,13 @@ asynStatus turboPmacAxis::enable(bool on) {
     // actually be disabled in this state!
     if (axisStatus_ == 1 || axisStatus_ == 2 || axisStatus_ == 3 ||
         axisStatus_ == 4 || axisStatus_ == 5) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d  => %s, line %d\nAxis is not "
                   "idle and can therefore not be enabled / disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
         pl_status =
-            setStringParam(pC_->motorMessageText_,
+            setStringParam(pC_->motorMessageText(),
                            "Axis cannot be disabled while it is moving.");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -1245,7 +1312,7 @@ asynStatus turboPmacAxis::enable(bool on) {
     // was sent => Do nothing
     if ((axisStatus_ != -3) == on) {
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_WARNING,
+            pC_->asynUserSelf(), ASYN_TRACE_WARNING,
             "Controller \"%s\", axis %d  => %s, line %d\nAxis is already %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
             on ? "enabled" : "disabled");
@@ -1262,14 +1329,14 @@ asynStatus turboPmacAxis::enable(bool on) {
 
     // 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,
+    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\n%s axis\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
               on ? "Enable" : "Disable");
     if (on == 0) {
-        pl_status = setStringParam(pC_->motorMessageText_, "Disabling ...");
+        pl_status = setStringParam(pC_->motorMessageText(), "Disabling ...");
     } else {
-        pl_status = setStringParam(pC_->motorMessageText_, "Enabling ...");
+        pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
     }
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -1295,8 +1362,8 @@ asynStatus turboPmacAxis::enable(bool on) {
         }
         nvals = sscanf(response, "%d", &axisStatus_);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse(command, response, axisNo_,
-                command, response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         if ((axisStatus_ != -3) == on) {
@@ -1309,7 +1376,7 @@ asynStatus turboPmacAxis::enable(bool on) {
 
     // Failed to change axis status within timeout_enable_disable => Send a
     // corresponding message
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\nFailed to %s axis "
               "within %d seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -1318,7 +1385,7 @@ asynStatus turboPmacAxis::enable(bool on) {
     // Output message to user
     snprintf(command, sizeof(command), "Failed to %s within %d seconds",
              on ? "enable" : "disable", timeout_enable_disable);
-    pl_status = setStringParam(pC_->motorMessageText_, "Enabling ...");
+    pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                          axisNo_, __PRETTY_FUNCTION__,
@@ -1354,9 +1421,9 @@ asynStatus turboPmacCreateAxis(const char *portName, int axis) {
     if (ptr == nullptr) {
         /*
         We can't use asynPrint here since this macro would require us
-        to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
+        to get an asynUser from a pointer to an asynPortDriver.
         However, the given pointer is a nullptr and therefore doesn't
-        have a lowLevelPortUser_! printf is an EPICS alternative which
+        have an asynUser! printf is an EPICS alternative which
         works w/o that, but doesn't offer the comfort provided
         by the asynTrace-facility
         */
@@ -1421,4 +1488,4 @@ static void turboPmacAxisRegister(void) {
 }
 epicsExportRegistrar(turboPmacAxisRegister);
 
-} // extern "C"
+} // extern "C"

src/turboPmacAxis.h

@@ -81,6 +81,14 @@ class turboPmacAxis : public sinqAxis {
      */
     asynStatus init();
 
+    /**
+     * @brief Implementation of the `doReset` function from sinqAxis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus doReset();
+
     /**
      * @brief Enable / disable the axis.
      *
@@ -112,9 +120,6 @@ class turboPmacAxis : public sinqAxis {
 
     // The axis status is used when enabling / disabling the motor
     int axisStatus_;
-
-  private:
-    friend class turboPmacController;
 };
 
 #endif

src/turboPmacController.cpp

@@ -49,27 +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
 
@@ -103,15 +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);
     }
 
@@ -123,7 +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);
     }
 }
@@ -254,8 +239,8 @@ 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_, fullCommand, fullComandLength,
-                                     fullComandLength, comTimeout_, &nbytesOut);
+                                     comTimeout_, &nbytesOut);
 
     msgPrintControlKey writeKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@@ -279,7 +264,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
+            status = pasynOctetSyncIO->write(ipPortUser_, fullCommand,
                                              fullComandLength, comTimeout_,
                                              &nbytesOut);
             if (status != asynTimeout) {
@@ -300,12 +285,12 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(writeKey);
+        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__);
@@ -330,9 +315,8 @@ 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 "
@@ -351,7 +335,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(readKey);
+        msgPrintControl_.resetCount(readKey, pasynUserSelf);
     }
 
     if (timeoutStatus == asynError) {
@@ -377,7 +361,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                       eomReason, msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(terminateKey);
+        msgPrintControl_.resetCount(terminateKey, pasynUserSelf);
     }
 
     /*
@@ -412,7 +396,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  modResponse, command);
         status = asynError;
     } else {
-        msgPrintControl_.resetCount(numResponsesKey);
+        msgPrintControl_.resetCount(numResponsesKey, pasynUserSelf);
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -511,12 +495,12 @@ asynStatus turboPmacController::readInt32(asynUser *pasynUser,
     }
 }
 
-asynStatus turboPmacController::errMsgCouldNotParseResponse(
+asynStatus turboPmacController::couldNotParseResponse(
     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);
 }
 

src/turboPmacController.h

@@ -73,9 +73,6 @@ class turboPmacController : public sinqController {
      */
     virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
 
-  protected:
-    asynUser *lowLevelPortUser_;
-
     /**
      * @brief Send a command to the hardware and receive a response
      *
@@ -96,13 +93,13 @@ class turboPmacController : public sinqController {
                          int numExpectedResponses);
 
     /**
-     * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
+     * @brief Specialized version of sinqController::couldNotParseResponse
      * 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
@@ -113,17 +110,21 @@ 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, int axisNo_,
                                            const char *functionName,
                                            int lineNumber);
 
-  protected:
+    // Accessors for additional PVs
+    int rereadEncoderPosition() { return rereadEncoderPosition_; }
+    int readConfig() { return readConfig_; }
+
     // 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
     */
@@ -136,8 +137,6 @@ 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)