Allow enabling / disabling the motor regardless of the status returned

by the poll.
Added license file
2025-05-13 14:39:08 +02:00 · 2025-05-12 08:43:48 +02:00 · 2025-05-05 13:02:40 +02:00 · 2025-05-05 09:18:04 +02:00 · 2025-04-30 15:15:13 +02:00 · 2025-04-30 15:13:23 +02:00
11 changed files with 2234 additions and 551 deletions
--- a/LICENSE.txt
+++ b/LICENSE.txt
@ -0,0 +1,674 @@
                    GNU GENERAL PUBLIC LICENSE
                       Version 3, 29 June 2007
 Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
 Everyone is permitted to copy and distribute verbatim copies
 of this license document, but changing it is not allowed.
                            Preamble
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 Also add information on how to contact you by electronic and paper mail.
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 parts of the General Public License.  Of course, your program's commands
 might be different; for a GUI interface, you would use an "about box".
  You should also get your employer (if you work as a programmer) or school,
 if any, to sign a "copyright disclaimer" for the program, if necessary.
 For more information on this, and how to apply and follow the GNU GPL, see
 <http://www.gnu.org/licenses/>.
  The GNU General Public License does not permit incorporating your program
 into proprietary programs.  If your program is a subroutine library, you
 may consider it more useful to permit linking proprietary applications with
 the library.  If this is what you want to do, use the GNU Lesser General
 Public License instead of this License.  But first, please read
 <http://www.gnu.org/philosophy/why-not-lgpl.html>.
--- a/6
+++ b/6
@ -14,13 +14,15 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.10.0
+sinqMotor_VERSION=mathis_s
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/pmacAsynIPPort.h
 HEADERS += src/turboPmacAxis.h
 HEADERS += src/turboPmacController.h
 # Source files to build
 SOURCES += src/pmacAsynIPPort.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 -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
--- a/README.md
+++ b/README.md
@ -8,16 +8,15 @@ This is a driver for the Turbo PMAC motion controller with the SINQ communicatio
 ## User guide
-This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+This driver is a standard sinqMotor-derived which however uses a special low level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard `drvAsynIPPortConfigure`. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
 The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
 - writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
 - analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
 ## Developer guide
-### Usage in IOC shell
+### IOC startup script
 turboPmac exports the following IOC shell functions:
 - `turboPmacController`: Create a new controller object.
@ -27,11 +26,13 @@ The full turboPmacX.cmd file looks like this:
 ```
 # Define the name of the controller and the corresponding port
-epicsEnvSet("NAME","turboPmacX")
+epicsEnvSet("DRIVER_PORT","turboPmacX")
-epicsEnvSet("ASYN_PORT","p$(NAME)")
+epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
-# 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
+# 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.
-drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
+# We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
 # communicating with the controller directly.
 pmacAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
 # Create the controller object with the defined name and connect it to the socket via the port name.
 # The other parameters are as follows:
@ -39,27 +40,33 @@ drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
 # 0.05: Busy poll period in seconds
 # 1: Idle poll period in seconds
 # 1: Socket communication timeout in seconds
-turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+turboPmacController("$(DRIVER_PORT)", "$(IP_PORT)", 8, 0.05, 1, 1);
 # Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
-turboPmacAxis("$(NAME)",1);
+turboPmacAxis("$(DRIVER_PORT)",1);
-turboPmacAxis("$(NAME)",2);
+turboPmacAxis("$(DRIVER_PORT)",2);
-turboPmacAxis("$(NAME)",5);
+turboPmacAxis("$(DRIVER_PORT)",5);
 # Set the number of subsequent timeouts 
-setMaxSubsequentTimeouts("$(NAME)", 20);
+setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
 # Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
-setThresholdComTimeout("$(NAME)", 300, 10);
+setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
 # Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
-dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
 epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
-dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
 ```
 ### Additional records
 `turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
 ## Developer guide
 ### Versioning
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
--- a/db/turboPmac.db
+++ b/db/turboPmac.db
@ -16,4 +16,18 @@ record(longout, "$(INSTR)$(M):ReadConfig") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
    field(PINI, "NO")
-}
+}
 # PMAC controllers can be "flushed" by setting a certain bit. This empties all
 # communication buffers. Once the flush is done, the controller acknowledges
 # this by sending an echo character. This procedure can take up to 10 ms (see 
 # Turbo PMAC User Manual, p. 414) and should therefore not be done as part of
 # "normal" communications (like the original pmacAsynIPPort driver from DLS 
 # does). The SINQ driver for the Turbo PMAC controller therefore offers this PV
 # in order to manually trigger a controller flush by writing any value to this PV.
 record(longout, "$(INSTR)FlushHardware") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) FLUSH_HARDWARE")
    field(PINI, "NO")
    field(VAL, "1")
 }
--- a/src/pmacAsynIPPort.c
+++ b/src/pmacAsynIPPort.c
@ -0,0 +1,975 @@
 /*
 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 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).
 10 Apr 25 - Stefan Mathis - Paul Scherrer Institut
 Adjusted the driver to the requirements of SINQ:
 - Added a lot of comments, removed the predecessor of
 pmacAsynIPPortConfigureEos() since SINQ doesn't need it (see comment above)
 - Removed the call to `pmacFlush` from `flushItOctet`: We want to flush the
 communication buffer on the IOC side before each communication, but we do not
 want to flush the PMAC controller itself, since this stalls the controller for
 10 ms everytime (see Turbo PMAC User Manual, p. 414). Instead, a PV was added in
 the higher level `turboPmac` driver to manually call the `pmacFlush` function.
 */
 #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 <osiSock.h>
 #include "asynDriver.h"
 #include "asynInt32.h"
 #include "asynInterposeEos.h"
 #include "asynOctet.h"
 #include "drvAsynIPPort.h"
 #include "epicsThread.h"
 #include "pmacAsynIPPort.h"
 #include <epicsExport.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};
 /**
 * @brief PMAC_specific equivalent of the ioPvt struct from
 * asyn/interfaces/asynOctetSyncIo.c
 *
 */
 typedef struct pmacPvt {
    char *portName;
    int addr;
    asynInterface int32Interface;
    asynInt32 *pint32; /* The methods we're overriding */
    void *int32Pvt;
    asynInterface octetInterface;
    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);
 // =============================================================================
 /* Declare asynInt32 here, and assign functions later on
 (compatible with both Asyn 4-10 and pre 4-10 versions).*/
 static asynInt32 int32;
 /* Declare asynInt32 methods (they are defined down below) */
 static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
                             epicsInt32 value);
 static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
                            epicsInt32 *value);
 static asynStatus getBoundsInt32(void *drvPvt, asynUser *pasynUser,
                                 epicsInt32 *low, epicsInt32 *high);
 static asynStatus registerInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
                                             interruptCallbackInt32 callback,
                                             void *userPvt,
                                             void **registrarPvt);
 static asynStatus cancelInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
                                           void *registrarPvt);
 // =============================================================================
 /* Declare asynOctet here, and assign functions later on
 (compatible with both Asyn 4-10 and pre 4-10 versions).*/
 static asynOctet octet;
 /* Declare asynOctet methods (they are defined down below) */
 static asynStatus writeItOctet(void *drvPvt, asynUser *pasynUser,
                               const char *data, size_t numchars,
                               size_t *nbytesTransfered);
 static asynStatus readItOctet(void *drvPvt, asynUser *pasynUser, char *data,
                              size_t maxchars, size_t *nbytesTransfered,
                              int *eomReason);
 static asynStatus flushItOctet(void *drvPvt, asynUser *pasynUser);
 static asynStatus registerInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
                                             interruptCallbackOctet callback,
                                             void *userPvt,
                                             void **registrarPvt);
 static asynStatus cancelInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
                                           void *registrarPvt);
 static asynStatus setInputEosOctet(void *drvPvt, asynUser *pasynUser,
                                   const char *eos, int eoslen);
 static asynStatus getInputEosOctet(void *drvPvt, asynUser *pasynUser, char *eos,
                                   int eossize, int *eoslen);
 static asynStatus setOutputEosOctet(void *drvPvt, asynUser *pasynUser,
                                    const char *eos, int eoslen);
 static asynStatus getOutputEosOctet(void *drvPvt, asynUser *pasynUser,
                                    char *eos, int eossize, int *eoslen);
 // =============================================================================
 // Declare PMAC-specific functions (they are defined down below)
 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 asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
                                    size_t maxchars, size_t *nbytesTransfered);
 // =============================================================================
 epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
                                           const char *hostInfo) {
    asynStatus status = asynSuccess;
    asynInterface *int32LowerLevelInterface = NULL;
    asynInterface *octetLowerLevelInterface = NULL;
    asynUser *pasynUser = NULL;
    size_t len = 0;
    /*
    The asyn adress is always set to 0. This is taken verbatim from the DLS
    source code
    (https://github.com/DiamondLightSource/pmac/blob/afe81f8bb9179c3a20eff351f30bc6cfd1539ad9/pmacApp/pmacAsynIPPortSrc/pmacAsynIPPort.c#L192)
    */
    int addr = 0;
    /*
    This is the generic "parent" function of this function which is also
    exported in the IOC shell and used for drivers which don't use a specialized
    interpose layer.
    */
    if ((status = drvAsynIPPortConfigure(portName, hostInfo, 0, 0, 1)) != 0) {
        printf(
            "pmacAsynIPPortConfigure: error from drvAsynIPPortConfigure. Port: "
            "%s\n",
            portName);
    }
    /*
    Assign specialized versions of the methods from
    asyn/interfaces/asynInt32SyncIo.c
    */
    int32.write = writeInt32;
    int32.read = readInt32;
    int32.getBounds = getBoundsInt32;
    int32.registerInterruptUser = registerInterruptUserInt32;
    int32.cancelInterruptUser = cancelInterruptUserInt32;
    /*
    Assign specialized versions of the methods from
    asyn/interfaces/asynOctetSyncIO.c
    */
    octet.write = writeItOctet;
    octet.read = readItOctet;
    octet.flush = flushItOctet;
    octet.setInputEos = setInputEosOctet;
    octet.setOutputEos = setOutputEosOctet;
    octet.getInputEos = getInputEosOctet;
    octet.getOutputEos = getOutputEosOctet;
    octet.registerInterruptUser = registerInterruptUserOctet;
    octet.cancelInterruptUser = cancelInterruptUserOctet;
    len = sizeof(pmacPvt) + strlen(portName) + 1;
    pmacPvt *pPmacPvt = callocMustSucceed(
        1, len,
        "calloc pPmacPvt error in pmacAsynIPPort::pmacAsynIPPortConfigure.");
    pPmacPvt->portName = (char *)(pPmacPvt + 1);
    strcpy(pPmacPvt->portName, portName);
    pPmacPvt->addr = addr;
    pPmacPvt->int32Interface.interfaceType = asynInt32Type;
    pPmacPvt->int32Interface.pinterface = &int32;
    pPmacPvt->int32Interface.drvPvt = pPmacPvt;
    status = pasynInt32Base->initialize(pPmacPvt->portName,
                                        &pPmacPvt->int32Interface);
    if (status != asynSuccess) {
        printf("pmacAsynIPPortConfigure: Can't register int32.\n");
        pasynManager->freeAsynUser(pasynUser);
        free(pPmacPvt);
        return -1;
    }
    pPmacPvt->octetInterface.interfaceType = asynOctetType;
    pPmacPvt->octetInterface.pinterface = &octet;
    pPmacPvt->octetInterface.drvPvt = pPmacPvt;
    // We don't need to initialize the octet interface, since the interface type
    // asynOctetType has already been initialized in drvAsynIPPortConfigure(..).
    pasynUser = pasynManager->createAsynUser(0, 0);
    pPmacPvt->pasynUser = pasynUser;
    pPmacPvt->pasynUser->userPvt = pPmacPvt;
    // In case connecting to the given IP port fails, clean up the memory
    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->int32Interface, &(int32LowerLevelInterface));
    if (status != asynSuccess) {
        printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
               portName);
        pasynManager->exceptionCallbackRemove(pasynUser);
        pasynManager->freeAsynUser(pasynUser);
        free(pPmacPvt);
        return -1;
    }
    pPmacPvt->pint32 = (asynInt32 *)int32LowerLevelInterface->pinterface;
    pPmacPvt->int32Pvt = int32LowerLevelInterface->drvPvt;
    status = pasynManager->interposeInterface(
        portName, addr, &pPmacPvt->octetInterface, &(octetLowerLevelInterface));
    if (status != asynSuccess) {
        printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
               portName);
        pasynManager->exceptionCallbackRemove(pasynUser);
        pasynManager->freeAsynUser(pasynUser);
        free(pPmacPvt);
        return -1;
    }
    pPmacPvt->poctet = (asynOctet *)octetLowerLevelInterface->pinterface;
    pPmacPvt->octetPvt = octetLowerLevelInterface->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;
    // Interpose EOS handling layer, above the PMAC IP layer.
    asynInterposeEosConfig(portName, addr, 1, 1);
    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) {
    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=%zd, thisRead=%zd, eomReason=%d, "
              "status=%u\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=%zd, thisRead=%zd, "
                      "eomReason=%d, status=%u\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;
    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=%zd\n",
                    pPmacPvt->portName, thisRead);
    } else {
        asynPrint(pasynUser, ASYN_TRACE_ERROR,
                  "%s read pmacReadReady failed status=%d, retval=%d\n",
                  pPmacPvt->portName, status, retval);
    }
    return retval;
 }
 /**
 * @brief Flush the PMAC communication buffer
 *
 Send a Flush command to PMAC and wait for confirmation ctrlX to be returned
 according to the Turbo PMAC user manual, p. 414 Returns: 0 - failed 1 - success
 * @param pPmacPvt
 * @param pasynUser
 * @return int
 */
 static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser) {
    ethernetCmd cmd;
    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=%zd, eomReason=%d, "
                  "status=%d\n",
                  pPmacPvt->portName, thisRead, eomReason, status);
    }
    pPmacPvt->inBufTail = 0;
    pPmacPvt->inBufHead = 0;
    return retval;
 }
 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;
 }
 /*
 Implementation of asynInt32 methods
 Most of these implementations just redirect to the corresponding implementation
 in asyn/interfaces/asynInt32Base.c
 */
 // =============================================================================
 static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
                             epicsInt32 value) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeInt32\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    if (pasynUser->reason == FLUSH_HARDWARE) {
        /*
        According to the Turbo PMAC user manual, p. 414:
        0 - failed 1 - success
        */
        if (pmacFlush(pPmacPvt, pasynUser) == 1) {
            return asynSuccess;
        } else {
            return asynError;
        }
    } else {
        return pPmacPvt->pint32->write(pPmacPvt->int32Pvt, pasynUser, value);
    }
 }
 static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
                            epicsInt32 *value) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readInt32\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->pint32->read(pPmacPvt->int32Pvt, pasynUser, value);
 }
 static asynStatus getBoundsInt32(void *drvPvt, asynUser *pasynUser,
                                 epicsInt32 *low, epicsInt32 *high) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getBoundsInt32\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->pint32->getBounds(pPmacPvt->int32Pvt, pasynUser, low,
                                       high);
 }
 static asynStatus registerInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
                                             interruptCallbackInt32 callback,
                                             void *userPvt,
                                             void **registrarPvt) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW,
              "pmacAsynIPPort::registerInterruptUserInt32\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->pint32->registerInterruptUser(
        pPmacPvt->int32Pvt, pasynUser, callback, userPvt, registrarPvt);
 }
 static asynStatus cancelInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
                                           void *registrarPvt) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW,
              "pmacAsynIPPort::cancelInterruptUserInt32\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->pint32->cancelInterruptUser(pPmacPvt->int32Pvt, pasynUser,
                                                 registrarPvt);
 }
 /*
 Implementation of asynOctet methods
 Most of these implementations just redirect to the corresponding implementation
 in asyn/interfaces/asynOctetBase.c
 */
 // =============================================================================
 /* 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 writeItOctet(void *drvPvt, asynUser *pasynUser,
                               const char *data, size_t numchars,
                               size_t *nbytesTransfered) {
    asynStatus status;
    ethernetCmd *outCmd;
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    size_t nbytesActual = 0;
    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeItOctet\n");
    // Check that the given pointer is not NULL
    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,
                      "writeItOctet - ERROR TRUNCATED\n");
        }
        /*
        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.
        */
        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 writeItOctet\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 readItOctet(void *drvPvt, asynUser *pasynUser, char *data,
                              size_t maxchars, size_t *nbytesTransfered,
                              int *eomReason) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynStatus status = asynSuccess;
    size_t thisRead = 0;
    size_t nRead = 0;
    int bell = 0;
    int initialRead = 1;
    asynPrint(pasynUser, ASYN_TRACE_FLOW,
              "pmacAsynIPPort::readItOctet. START\n");
    // Check that the given pointer is not NULL
    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::readItOctet.\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::readItOctet. 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 readItOctet nbytesTransfered=%zd, eomReason=%d, "
        "status=%d\n",
        pPmacPvt->portName, *nbytesTransfered, *eomReason, status);
    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readItOctet. END\n");
    return status;
 }
 static asynStatus flushItOctet(void *drvPvt, asynUser *pasynUser) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynStatus status;
    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::flushItOctet\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    /*
    See changelog at the file header: We do not want to flush the controller
    during "normal" operation, since this stalls the controller.
    pmacFlush(pPmacPvt, pasynUser);
    */
    status = pPmacPvt->poctet->flush(pPmacPvt->octetPvt, pasynUser);
    return status;
 }
 static asynStatus registerInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
                                             interruptCallbackOctet callback,
                                             void *userPvt,
                                             void **registrarPvt) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW,
              "pmacAsynIPPort::registerInterruptUserOctet\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->poctet->registerInterruptUser(
        pPmacPvt->octetPvt, pasynUser, callback, userPvt, registrarPvt);
 }
 static asynStatus cancelInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
                                           void *registrarPvt) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW,
              "pmacAsynIPPort::cancelInterruptUserOctet\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->poctet->cancelInterruptUser(pPmacPvt->octetPvt, pasynUser,
                                                 registrarPvt);
 }
 static asynStatus setInputEosOctet(void *drvPvt, asynUser *pasynUser,
                                   const char *eos, int eoslen) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setInputEosOctet\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, eos,
                                         eoslen);
 }
 static asynStatus getInputEosOctet(void *drvPvt, asynUser *pasynUser, char *eos,
                                   int eossize, int *eoslen) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getInputEosOctet\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->poctet->getInputEos(pPmacPvt->octetPvt, pasynUser, eos,
                                         eossize, eoslen);
 }
 static asynStatus setOutputEosOctet(void *drvPvt, asynUser *pasynUser,
                                    const char *eos, int eoslen) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW,
              "pmacAsynIPPort::setOutputEosOctet\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
                                          eoslen);
 }
 static asynStatus getOutputEosOctet(void *drvPvt, asynUser *pasynUser,
                                    char *eos, int eossize, int *eoslen) {
    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
    asynPrint(pasynUser, ASYN_TRACE_FLOW,
              "pmacAsynIPPort::getOutputEosOctet\n");
    // Check that the given pointer is not NULL
    assert(pPmacPvt);
    return pPmacPvt->poctet->getOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
                                          eossize, eoslen);
 }
 // =============================================================================
 /* register pmacAsynIPPortConfigure*/
 static const iocshArg pmacAsynIPPortConfigureArg0 = {"portName",
                                                     iocshArgString};
 static const iocshArg pmacAsynIPPortConfigureArg1 = {"hostInfo",
                                                     iocshArgString};
 static const iocshArg *pmacAsynIPPortConfigureArgs[] = {
    &pmacAsynIPPortConfigureArg0, &pmacAsynIPPortConfigureArg1};
 static const iocshFuncDef pmacAsynIPPortConfigFuncDef = {
    "pmacAsynIPPortConfigure", 2, pmacAsynIPPortConfigureArgs, ""};
 static void pmacAsynIPPortConfigureCallFunc(const iocshArgBuf *args) {
    pmacAsynIPPortConfigure(args[0].sval, args[1].sval);
 }
 static void pmacAsynIPPortRegister(void) {
    static int firstTime = 1;
    if (firstTime) {
        firstTime = 0;
        iocshRegister(&pmacAsynIPPortConfigFuncDef,
                      pmacAsynIPPortConfigureCallFunc);
    }
 }
 epicsExportRegistrar(pmacAsynIPPortRegister);
--- a/src/pmacAsynIPPort.h
+++ b/src/pmacAsynIPPort.h
@ -0,0 +1,35 @@
 #ifndef asynInterposePmac_H
 #define asynInterposePmac_H
 #include <epicsExport.h>
 #include <shareLib.h>
 /*
 Value is chosen arbitrarily, it just needs to be unique
 */
 #define FLUSH_HARDWARE 1
 #ifdef __cplusplus
 extern "C" {
 #endif /* __cplusplus */
 /**
 * @brief Initialize a special asyn IP Port for PMAC controllers.
 *
 * 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 pmacAsynIPPortConfigure(const char *portName,
                                           const char *hostInfo);
 #ifdef __cplusplus
 }
 #endif /* __cplusplus */
 #endif /* asynInterposePmac_H */
--- a/src/turboPmac.dbd
+++ b/src/turboPmac.dbd
@ -2,4 +2,5 @@
 # SINQ specific DB definitions
 #---------------------------------------------
 registrar(turboPmacControllerRegister) 
-registrar(turboPmacAxisRegister) 
+registrar(turboPmacAxisRegister) 
 registrar(pmacAsynIPPortRegister)
--- a/src/turboPmacAxis.cpp
+++ b/src/turboPmacAxis.cpp
@ -2,6 +2,7 @@
 #include "asynOctetSyncIO.h"
 #include "epicsExport.h"
 #include "iocsh.h"
 #include "pmacAsynIPPort.h"
 #include "turboPmacController.h"
 #include <cmath>
 #include <errlog.h>
@ -41,29 +42,6 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
    asynStatus status = asynSuccess;
    /*
    The superclass constructor sinqAxis calls in turn its superclass constructor
    asynMotorAxis. In the latter, a pointer to the constructed object this is
    stored inside the array pAxes_:
        pC->pAxes_[axisNo] = this;
    Therefore, the axes are managed by the controller pC. If axisNo is out of
    bounds, asynMotorAxis prints an error (see
    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorAxis.cpp,
    line 40). However, we want the IOC creation to stop completely, since this
    is a configuration error.
    */
    if (axisNo >= pC->numAxes()) {
        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());
        exit(-1);
    }
    if (initialize) {
        // Register the hook function during construction of the first axis
        // object
@ -85,7 +63,7 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
    status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition(), 0);
    if (status != asynSuccess) {
        asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), 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__,
@ -96,13 +74,8 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
    // turboPmac motors can always be disabled
    status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
    if (status != asynSuccess) {
-        asynPrint(
+        pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                                  __PRETTY_FUNCTION__, __LINE__);
            "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__,
            pC_->stringifyAsynStatus(status));
        exit(-1);
    }
    // Default values for the watchdog timeout mechanism
@ -119,7 +92,8 @@ asynStatus turboPmacAxis::init() {
    // Local variable declaration
    asynStatus status = asynSuccess;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
    char response[pC_->MAXBUF_] = {0};
    int nvals = 0;
    double motorRecResolution = 0.0;
    double motorPos = 0.0;
@ -139,7 +113,7 @@ asynStatus turboPmacAxis::init() {
                                     &motorRecResolution);
        if (status == asynParamUndefined) {
            if (now + maxInitTime < time(NULL)) {
-                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                          "Controller \"%s\", axis %d  => %s, line "
                          "%d\nInitializing the parameter library failed.\n",
                          pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@ -164,7 +138,15 @@ asynStatus turboPmacAxis::init() {
             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
    status = pC_->writeRead(axisNo_, command, response, 6);
    if (status != asynSuccess) {
-        return status;
+        asynPrint(
            pC_->pasynUser(), ASYN_TRACE_ERROR,
            "Controller \"%s\", axis %d => %s, line %d\nCould not communicate "
            "with controller during IOC initialization. Check if you used "
            "\"pmacAsynIPPortConfigure\" instead of the standard "
            "\"drvAsynIPPortConfigure\" function in the .cmd file in order to "
            "create the port driver.\nTerminating IOC.\n",
            pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
        exit(-1);
    }
    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
@ -211,7 +193,7 @@ 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_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
            "Controller \"%s\", axis %d  => %s, line %d\ncallParamCallbacks "
            "failed with %s.\n",
            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -226,7 +208,7 @@ asynStatus turboPmacAxis::init() {
 asynStatus turboPmacAxis::doPoll(bool *moving) {
    // Return value for the poll
-    asynStatus poll_status = asynSuccess;
+    asynStatus errorStatus = asynSuccess;
    // Status of read-write-operations of ASCII commands to the controller
    asynStatus rw_status = asynSuccess;
@ -234,8 +216,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
    // Status of parameter library operations
    asynStatus pl_status = asynSuccess;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_],
+    char command[pC_->MAXBUF_] = {0};
-        userMessage[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
    char userMessage[pC_->MAXBUF_] = {0};
    int nvals = 0;
    int direction = 0;
@ -264,8 +247,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
        if (pC_->getMsgPrintControl().shouldBePrinted(
                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
-                pC_->asynUserSelf())) {
+                pC_->pasynUser())) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            asynPrint(pC_->pasynUser(), 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",
@ -409,13 +392,7 @@ 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
@ -433,9 +410,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
        *moving = false;
        if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
-                                                      pC_->asynUserSelf())) {
+                                                      pC_->pasynUser())) {
            asynPrint(
-                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                pC_->pasynUser(), ASYN_TRACE_ERROR,
                "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
                "activated.%s\n",
                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -487,7 +464,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
        *moving = true;
        asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+            pC_->pasynUser(), ASYN_TRACE_FLOW,
            "Controller \"%s\", axis %d  => %s, line %d\nAxis is moving\n",
            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@ -496,20 +473,20 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
        *moving = false;
        if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
-                                                      pC_->asynUserSelf())) {
+                                                      pC_->pasynUser())) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                      "Controller \"%s\", axis %d  => %s, line %d\nReached "
+                      "Controller \"%s\", axis %d  => %s, line %d\nUnknown "
-                      "unreachable state P%2.2d00 = %d.%s\n",
+                      "state P%2.2d00 = %d.%s\n",
                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                      axisNo_, axStatus, pC_->getMsgPrintControl().getSuffix());
        }
        resetCountStatus = false;
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(
-                 "Unknown state P%2.2d00 = %d has been reached. Please call "
+            userMessage, sizeof(userMessage),
-                 "the support.",
+            "Reached unknown state P%2.2d00 = %d. Please call the support.",
-                 axisNo_, error);
+            axisNo_, error);
        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@ -519,7 +496,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
    }
    if (resetCountStatus) {
-        pC_->getMsgPrintControl().resetCount(keyStatus, pC_->asynUserSelf());
+        pC_->getMsgPrintControl().resetCount(keyStatus, pC_->pasynUser());
    }
    if (*moving) {
@ -531,284 +508,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
        }
    }
-    // Create the unique callsite identifier manually so it can be used later in
+    errorStatus = handleError(error, userMessage, sizeof(userMessage));
    // the shouldBePrinted calls.
    msgPrintControlKey keyError = msgPrintControlKey(
        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
    bool resetError = true;
    switch (error) {
    case 0:
        // No error -> Reset the message repetition watchdog
        break;
    case 1:
        // EPICS should already prevent this issue in the first place,
        // since it contains the user limits
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->asynUserSelf())) {
            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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        pl_status = setStringParam(pC_->motorMessageText(),
                                   "Target position would exceed software "
                                   "limits. Please call the support.");
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        poll_status = asynError;
        break;
    case 5:
        // Command not possible
        if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
                                                      pC_->asynUserSelf())) {
            asynPrint(
                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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        pl_status = setStringParam(pC_->motorMessageText(),
                                   "Axis received move command while it is "
                                   "still moving. Please call the support.");
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        poll_status = asynError;
        break;
    case 8:
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->asynUserSelf())) {
            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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeof(userMessage),
                 "Air cushion feedback stopped during movement (P%2.2d01 = "
                 "%d). Please call the support.",
                 axisNo_, error);
        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        break;
    case 9:
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->asynUserSelf())) {
            asynPrint(
                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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeof(userMessage),
                 "No air cushion feedback before movement start (P%2.2d01 = "
                 "%d). Please call the support.",
                 axisNo_, error);
        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        break;
    case 10:
        /*
        Software limits of the controller have been hit. Since the EPICS limits
        are derived from the software limits and are a little bit smaller, this
        error case can only happen if either the axis has an incremental encoder
        which is not properly homed or if a bug occured.
        */
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->asynUserSelf())) {
            asynPrint(
                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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeof(userMessage),
                 "Software limits or end switch hit (P%2.2d01 = %d). Try "
                 "homing the motor, moving in the opposite direction or check "
                 "the SPS for errors (if available). "
                 "Otherwise please call the support.",
                 axisNo_, error);
        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        poll_status = asynError;
        break;
    case 11:
        // Following error
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->asynUserSelf())) {
            asynPrint(
                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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(command, sizeof(command),
                 "Maximum allowed following error exceeded (P%2.2d01 = %d). "
                 "Check if movement range is blocked. "
                 "Otherwise please call the support.",
                 axisNo_, error);
        pl_status = setStringParam(pC_->motorMessageText(), command);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        poll_status = asynError;
        break;
    case 12:
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->asynUserSelf())) {
            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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(command, sizeof(command),
                 "Security input is triggered (P%2.2d01 = %d). Check the SPS "
                 "for errors (if available). Otherwise please call "
                 "the support.",
                 axisNo_, error);
        pl_status = setStringParam(pC_->motorMessageText(), command);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        poll_status = asynError;
        break;
    case 13:
        // Driver hardware error triggered
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->asynUserSelf())) {
            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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(command, sizeof(command),
                 "Driver hardware error (P%2.2d01 = 13). "
                 "Please call the support.",
                 axisNo_);
        pl_status = setStringParam(pC_->motorMessageText(), command);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        poll_status = asynError;
        break;
    case 14:
        // EPICS should already prevent this issue in the first place,
        // since it contains the user limits
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->asynUserSelf())) {
            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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeof(userMessage),
                 "Move command exceeds hardware limits (P%2.2d01 = %d). Please "
                 "call the support.",
                 axisNo_, error);
        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        poll_status = asynError;
        break;
    default:
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->asynUserSelf())) {
            asynPrint(
                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_->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);
        if (pl_status != asynSuccess) {
            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        poll_status = asynError;
        break;
    }
    if (resetError) {
        pC_->getMsgPrintControl().resetCount(keyError, pC_->asynUserSelf());
    }
    // Update the parameter library
    if (error != 0) {
@ -868,7 +568,292 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
    if (pl_status != asynSuccess) {
        return pl_status;
    }
-    return poll_status;
+    return errorStatus;
 }
 asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                                      int sizeUserMessage) {
    asynStatus status = asynSuccess;
    // Create the unique callsite identifier manually so it can be used later in
    // the shouldBePrinted calls.
    msgPrintControlKey keyError = msgPrintControlKey(
        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
    bool resetError = true;
    switch (error) {
    case 0:
        // No error -> Reset the message repetition watchdog
        break;
    case 1:
        // EPICS should already prevent this issue in the first place,
        // since it contains the user limits
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(pC_->pasynUser(), 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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        status = setStringParam(pC_->motorMessageText(),
                                "Target position would exceed software "
                                "limits. Please call the support.");
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        status = asynError;
        break;
    case 5:
        // Command not possible
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(
                pC_->pasynUser(), 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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        status = setStringParam(pC_->motorMessageText(),
                                "Axis received move command while it is "
                                "still moving. Please call the support.");
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        status = asynError;
        break;
    case 8:
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(pC_->pasynUser(), 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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeUserMessage,
                 "Air cushion feedback stopped during movement (P%2.2d01 = "
                 "%d). Please call the support.",
                 axisNo_, error);
        status = setStringParam(pC_->motorMessageText(), userMessage);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        break;
    case 9:
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(
                pC_->pasynUser(), 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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeUserMessage,
                 "No air cushion feedback before movement start (P%2.2d01 = "
                 "%d). Please call the support.",
                 axisNo_, error);
        status = setStringParam(pC_->motorMessageText(), userMessage);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        break;
    case 10:
        /*
        Software limits of the controller have been hit. Since the EPICS limits
        are derived from the software limits and are a little bit smaller, this
        error case can only happen if either the axis has an incremental encoder
        which is not properly homed or if a bug occured.
        */
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(
                pC_->pasynUser(), ASYN_TRACE_ERROR,
                "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
                "controller limits.%s\n",
                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                pC_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeUserMessage,
                 "Software limits or end switch hit (P%2.2d01 = %d). Try "
                 "homing the motor, moving in the opposite direction or check "
                 "the SPS for errors (if available). "
                 "Otherwise please call the support.",
                 axisNo_, error);
        status = setStringParam(pC_->motorMessageText(), userMessage);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        status = asynError;
        break;
    case 11:
        // Following error
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(
                pC_->pasynUser(), ASYN_TRACE_ERROR,
                "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
                "following error exceeded.%s\n",
                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                pC_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeUserMessage,
                 "Maximum allowed following error exceeded (P%2.2d01 = %d). "
                 "Check if movement range is blocked. "
                 "Otherwise please call the support.",
                 axisNo_, error);
        status = setStringParam(pC_->motorMessageText(), userMessage);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        status = asynError;
        break;
    case 12:
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(pC_->pasynUser(), 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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeUserMessage,
                 "Security input is triggered (P%2.2d01 = %d). Check the SPS "
                 "for errors (if available). Otherwise please call "
                 "the support.",
                 axisNo_, error);
        status = setStringParam(pC_->motorMessageText(), userMessage);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        status = asynError;
        break;
    case 13:
        // Driver hardware error triggered
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                      "Controller \"%s\", axis %d  => %s, line %d\nDriver "
                      "hardware error triggered.%s\n",
                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                      pC_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeUserMessage,
                 "Driver hardware error (P%2.2d01 = 13). "
                 "Please call the support.",
                 axisNo_);
        status = setStringParam(pC_->motorMessageText(), userMessage);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        status = asynError;
        break;
    case 14:
        // EPICS should already prevent this issue in the first place,
        // since it contains the user limits
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(pC_->pasynUser(), 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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeUserMessage,
                 "Move command exceeds hardware limits (P%2.2d01 = %d). Please "
                 "call the support.",
                 axisNo_, error);
        status = setStringParam(pC_->motorMessageText(), userMessage);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        status = asynError;
        break;
    default:
        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
                                                      pC_->pasynUser())) {
            asynPrint(
                pC_->pasynUser(), 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_->getMsgPrintControl().getSuffix());
        }
        resetError = false;
        snprintf(userMessage, sizeUserMessage,
                 "Unknown error P%2.2d01 = %d. Please call the support.",
                 axisNo_, error);
        status = setStringParam(pC_->motorMessageText(), userMessage);
        if (status != asynSuccess) {
            return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                             axisNo_, __PRETTY_FUNCTION__,
                                             __LINE__);
        }
        status = asynError;
        break;
    }
    if (resetError) {
        pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
    }
    return status;
 }
 asynStatus turboPmacAxis::doMove(double position, int relative,
@ -881,7 +866,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
    // Status of parameter library operations
    asynStatus pl_status = asynSuccess;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
    char response[pC_->MAXBUF_] = {0};
    double motorCoordinatesPosition = 0.0;
    double motorRecResolution = 0.0;
    double motorVelocity = 0.0;
@ -907,7 +893,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
    if (enabled == 0) {
        asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
            "Controller \"%s\", axis %d  => %s, line %d\nAxis is disabled.\n",
            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
        return asynSuccess;
@ -917,7 +903,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
    motorCoordinatesPosition = position * motorRecResolution;
    motorVelocity = maxVelocity * motorRecResolution;
-    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
              "Controller \"%s\", axis %d  => %s, line %d\nStart of axis to "
              "position %lf.\n",
              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
@ -939,7 +925,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
                 motorVelocity);
        writeOffset = strlen(command);
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
                  "Controller \"%s\", axis %d  => %s, line %d\nSetting speed "
                  "to %lf.\n",
                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -963,7 +949,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
    if (rw_status != asynSuccess) {
        asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
            "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
            "target position %lf failed.\n",
            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -999,7 +985,8 @@ asynStatus turboPmacAxis::stop(double acceleration) {
    // Status of parameter library operations
    asynStatus pl_status = asynSuccess;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
    char response[pC_->MAXBUF_] = {0};
    // =========================================================================
@ -1008,7 +995,7 @@ asynStatus turboPmacAxis::stop(double acceleration) {
    if (rw_status != asynSuccess) {
        asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
            "Controller \"%s\", axis %d  => %s, line %d\nStopping the movement "
            "failed.\n",
            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@ -1032,7 +1019,8 @@ asynStatus turboPmacAxis::doReset() {
    // Status of parameter library operations
    asynStatus pl_status = asynSuccess;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
    char response[pC_->MAXBUF_] = {0};
    // =========================================================================
@ -1041,7 +1029,7 @@ asynStatus turboPmacAxis::doReset() {
    rw_status = pC_->writeRead(axisNo_, command, response, 0);
    if (rw_status != asynSuccess) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                  "Controller \"%s\", axis %d  => %s, line %d\nResetting the "
                  "error failed\n",
                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@ -1069,7 +1057,8 @@ asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
    // Status of parameter library operations
    asynStatus pl_status = asynSuccess;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
    char response[pC_->MAXBUF_] = {0};
    // =========================================================================
@ -1127,7 +1116,8 @@ asynStatus turboPmacAxis::readEncoderType() {
    // Status of parameter library operations
    asynStatus pl_status = asynSuccess;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
    char response[pC_->MAXBUF_] = {0};
    int nvals = 0;
    int encoder_id = 0;
@ -1211,7 +1201,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
    // Abort if the axis is incremental
    if (strcmp(encoderType, IncrementalEncoder) == 0) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+        asynPrint(pC_->pasynUser(), 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__);
@ -1228,7 +1218,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
    }
    if (enabled == 1) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_WARNING,
+        asynPrint(pC_->pasynUser(), 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__);
@ -1244,7 +1234,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
    } else {
        snprintf(command, sizeof(command), "M%2.2d=15", axisNo_);
        asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+            pC_->pasynUser(), ASYN_TRACE_FLOW,
            "Controller \"%s\", axis %d  => %s, line %d\nRereading absolute "
            "encoder via command %s.\n",
            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, command);
@ -1271,7 +1261,8 @@ asynStatus turboPmacAxis::rereadEncoder() {
 asynStatus turboPmacAxis::enable(bool on) {
    int timeout_enable_disable = 2;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
    char response[pC_->MAXBUF_] = {0};
    int nvals = 0;
    // Status of read-write-operations of ASCII commands to the controller
@ -1280,6 +1271,12 @@ asynStatus turboPmacAxis::enable(bool on) {
    // Status of parameter library operations
    asynStatus pl_status = asynSuccess;
    /*
    Continue regardless of the status returned by the poll; we just want to
    find out whether the motor is currently moving or not. If the poll
    function fails before it can determine that, it is assumed that the motor
    is not moving.
    */
    bool moving = false;
    doPoll(&moving);
@ -1291,7 +1288,7 @@ asynStatus turboPmacAxis::enable(bool on) {
    // actually be disabled in this state!
    if (axisStatus_ == 1 || axisStatus_ == 2 || axisStatus_ == 3 ||
        axisStatus_ == 4 || axisStatus_ == 5) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), 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__);
@ -1312,7 +1309,7 @@ asynStatus turboPmacAxis::enable(bool on) {
    // was sent => Do nothing
    if ((axisStatus_ != -3) == on) {
        asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_WARNING,
+            pC_->pasynUser(), ASYN_TRACE_WARNING,
            "Controller \"%s\", axis %d  => %s, line %d\nAxis is already %s.\n",
            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
            on ? "enabled" : "disabled");
@ -1329,7 +1326,7 @@ 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_->asynUserSelf(), ASYN_TRACE_FLOW,
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
              "Controller \"%s\", axis %d  => %s, line %d\n%s axis\n",
              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
              on ? "Enable" : "Disable");
@ -1376,7 +1373,7 @@ asynStatus turboPmacAxis::enable(bool on) {
    // Failed to change axis status within timeout_enable_disable => Send a
    // corresponding message
-    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
              "Controller \"%s\", axis %d  => %s, line %d\nFailed to %s axis "
              "within %d seconds\n",
              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -1474,8 +1471,11 @@ static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mcu1)",
 static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
 static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
                                                 &CreateAxisArg1};
-static const iocshFuncDef configTurboPmacCreateAxis = {"turboPmacAxis", 2,
+static const iocshFuncDef configTurboPmacCreateAxis = {
-                                                       CreateAxisArgs};
+    "turboPmacAxis", 2, CreateAxisArgs,
    "Create an instance of a turboPmac axis. The first argument is the "
    "controller this axis should be attached to, the second argument is the "
    "axis number."};
 static void configTurboPmacCreateAxisCallFunc(const iocshArgBuf *args) {
    turboPmacCreateAxis(args[0].sval, args[1].ival);
 }
--- a/src/turboPmacAxis.h
+++ b/src/turboPmacAxis.h
@ -112,6 +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_;
--- a/src/turboPmacController.cpp
+++ b/src/turboPmacController.cpp
@ -1,6 +1,8 @@
 #include "turboPmacController.h"
 #include "asynInt32SyncIO.h"
 #include "asynMotorController.h"
 #include "asynOctetSyncIO.h"
 #include "pmacAsynIPPort.h"
 #include "turboPmacAxis.h"
 #include <epicsExport.h>
 #include <errlog.h>
@ -61,7 +63,7 @@ turboPmacController::turboPmacController(const char *portName,
    status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
                         &rereadEncoderPosition_);
    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
                  "parameter failed with %s).\nTerminating IOC",
                  portName, __PRETTY_FUNCTION__, __LINE__,
@ -71,7 +73,17 @@ turboPmacController::turboPmacController(const char *portName,
    status = createParam("READ_CONFIG", asynParamInt32, &readConfig_);
    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
                  "parameter failed with %s).\nTerminating IOC",
                  portName, __PRETTY_FUNCTION__, __LINE__,
                  stringifyAsynStatus(status));
        exit(-1);
    }
    status = createParam("FLUSH_HARDWARE", asynParamInt32, &flushHardware_);
    if (status != asynSuccess) {
        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
                  "parameter failed with %s).\nTerminating IOC",
                  portName, __PRETTY_FUNCTION__, __LINE__,
@ -88,27 +100,44 @@ 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(ipPortUser_, message_from_device,
+    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort_,
                                           message_from_device,
                                           strlen(message_from_device));
    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(this->pasynUser(), 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(ipPortUser_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
        exit(-1);
    }
    status = callParamCallbacks();
    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                  "Controller \"%s\" => %s, line %d\nFATAL ERROR "
                  "(executing ParamLib callbacks failed "
                  "with %s).\nTerminating IOC",
                  portName, __PRETTY_FUNCTION__, __LINE__,
                  stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(ipPortUser_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
        exit(-1);
    }
    // =========================================================================;
    /*
    We try to connect to the port via the port name provided by the constructor.
    If this fails, the function is terminated via exit.
    */
    pasynInt32SyncIO->connect(ipPortConfigName, 0, &pasynInt32SyncIOipPort_,
                              NULL);
    if (status != asynSuccess || pasynInt32SyncIOipPort_ == nullptr) {
        errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
                     "connect to MCU controller).\n"
                     "Terminating IOC",
                     portName, __PRETTY_FUNCTION__, __LINE__);
        exit(-1);
    }
 }
@ -140,7 +169,7 @@ 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;
@ -173,85 +202,31 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
        // 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
    // as an array of zeros, we don't need to set these bits manually.
    fullCommand[0] = '\x40';
    fullCommand[1] = '\xBF';
    // The size of size_t is platform dependant (pointers-sized), while htons
    // 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));
    // Split up into the upper and the lower byte
    fullCommand[7] = (char)(len >> 8);   // Shift the 8 higher bits to the 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
+    The writeRead command performs the following steps:
-    method, because the latter is actually a flushWriteRead (see
+    1) Flush the socket buffer on the IOC side (not the controller!)
-    https://epics.anl.gov/modules/soft/asyn/R4-14/asynDriver.pdf, p. 31) ->
+    2) Write a command to the controller
-    Calls the flush command, then the write command, then the read command.
+    3) Read the response
    The flush itself reads repeatedly from the MCU until no messages are there
    anymore. (The Diamond Light Source driver first send a PMAC flush command
    and then does the same as the asyn flush). We don't want this behaviour.
    (https://www.slac.stanford.edu/grp/lcls/controls/global/doc/epics-modules/R3-14-12/asyn/asyn-R4-18-lcls2/asyn/interfaces/asynOctetBase.c)
    If a timeout occurs during writing or reading, inform the user that we're
    trying to reconnect. If the problem persists, ask them to call the support
    */
    status = pasynOctetSyncIO->writeRead(
        pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
        comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
-    status = pasynOctetSyncIO->write(ipPortUser_, fullCommand, fullComandLength,
+    msgPrintControlKey comKey =
                                     comTimeout_, &nbytesOut);
    msgPrintControlKey writeKey =
        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
    if (status == asynTimeout) {
-        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
+        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
            asynPrint(
-                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                this->pasynUser(), ASYN_TRACE_ERROR,
                "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
-                "writing to the MCU.%s\n",
+                "writing to the controller. Retrying ...%s\n",
                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
                msgPrintControl_.getSuffix());
        }
@ -264,11 +239,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
            checkMaxSubsequentTimeouts(timeoutCounter, axis);
            timeoutCounter += 1;
-            status = pasynOctetSyncIO->write(ipPortUser_, fullCommand,
+            if (maxSubsequentTimeoutsExceeded_) {
-                                             fullComandLength, comTimeout_,
+                break;
-                                             &nbytesOut);
+            }
            status = pasynOctetSyncIO->writeRead(
                pasynOctetSyncIOipPort(), command, commandLength, response,
                MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
            if (status != asynTimeout) {
-                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                          "Controller \"%s\", axis %d  => %s, line "
                          "%d\nReconnected after write timeout\n",
                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@ -276,66 +255,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
            }
        }
    } else if (status != asynSuccess) {
-        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
+        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
            asynPrint(
-                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                this->pasynUser(), ASYN_TRACE_ERROR,
                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
                "writing to the controller.%s\n",
                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
        }
    } else {
-        msgPrintControl_.resetCount(writeKey, pasynUserSelf);
+        msgPrintControl_.resetCount(comKey, pasynUser());
    }
    // Read the response from the MCU buffer
    status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_, comTimeout_,
                                    &nbytesIn, &eomReason);
    msgPrintControlKey readKey =
        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
    if (status == asynTimeout) {
        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
            asynPrint(
                this->pasynUserSelf, ASYN_TRACE_ERROR,
                "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,
                                                sizeof(drvMessageText));
        int timeoutCounter = 0;
        while (1) {
            checkMaxSubsequentTimeouts(timeoutCounter, axis);
            timeoutCounter += 1;
            status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_,
                                            comTimeout_, &nbytesIn, &eomReason);
            if (status != asynTimeout) {
                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                          "Controller \"%s\", axis %d  => %s, line "
                          "%d\nReconnected after read timeout\n",
                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
                break;
            }
        }
    } else if (status != asynSuccess) {
        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
            asynPrint(
                this->pasynUserSelf, ASYN_TRACE_ERROR,
                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
                "reading from the controller.%s\n",
                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
        }
    } else {
        msgPrintControl_.resetCount(readKey, pasynUserSelf);
    }
    if (timeoutStatus == asynError) {
@ -348,20 +277,40 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
    if (eomReason != 2) {
        status = asynError;
-        snprintf(drvMessageText, sizeof(drvMessageText),
+        char reasonStringified[30] = {0};
-                 "Terminated message due to reason %d (should be 2).",
+        switch (eomReason) {
-                 eomReason);
+        case 0:
            snprintf(reasonStringified, sizeof(reasonStringified), "Timeout");
            break;
        case 1:
            snprintf(reasonStringified, sizeof(reasonStringified),
                     "Request count reached");
            break;
        case 2:
            snprintf(reasonStringified, sizeof(reasonStringified),
                     "End of string detected");
            break;
        case 3:
            snprintf(reasonStringified, sizeof(reasonStringified),
                     "End indicator detected");
            break;
        }
-        if (msgPrintControl_.shouldBePrinted(terminateKey, true,
+        snprintf(drvMessageText, sizeof(drvMessageText),
-                                             pasynUserSelf)) {
+                 "Terminated message due to reason %s (should be \"End of "
-            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                 "string detected\"). Please call the support.",
                 reasonStringified);
        if (msgPrintControl_.shouldBePrinted(terminateKey, true, pasynUser())) {
            asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                      "Controller \"%s\", axis %d => %s, line %d\nMessage "
-                      "terminated due to reason %i.%s\n",
+                      "terminated due to reason %s.%s\n",
                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                      eomReason, msgPrintControl_.getSuffix());
+                      reasonStringified, msgPrintControl_.getSuffix());
        }
    } else {
-        msgPrintControl_.resetCount(terminateKey, pasynUserSelf);
+        msgPrintControl_.resetCount(terminateKey, pasynUser());
    }
    /*
@ -379,9 +328,9 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
        adjustResponseForPrint(modResponse, response, MAXBUF_);
        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
-                                             pasynUserSelf)) {
+                                             pasynUser())) {
            asynPrint(
-                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                this->pasynUser(), ASYN_TRACE_ERROR,
                "Controller \"%s\", axis %d => %s, line %d\nUnexpected "
                "response '%s' (carriage returns are replaced with spaces) "
                "for command %s.%s\n",
@ -396,7 +345,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 modResponse, command);
        status = asynError;
    } else {
-        msgPrintControl_.resetCount(numResponsesKey, pasynUserSelf);
+        msgPrintControl_.resetCount(numResponsesKey, pasynUser());
    }
    // Create custom error messages for different failure modes, if no error
@ -466,6 +415,22 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
    return status;
 }
 asynStatus turboPmacController::doFlushHardware() {
    /*
    Temporarily overwrite the "reason" field with the FLUSH_HARDWARE
    constant defined in pmacAsynIPPort.c. This reason is then used within
    the write method of pasynInt32SyncIO to select the flush function.
    */
    int temp = pasynInt32SyncIOipPort_->reason;
    pasynInt32SyncIOipPort_->reason = FLUSH_HARDWARE;
    asynStatus status = (asynStatus)pasynInt32SyncIO->write(
        pasynInt32SyncIOipPort_, 1, comTimeout_);
    // Reset the status afterwards
    pasynInt32SyncIOipPort_->reason = temp;
    return status;
 }
 asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
                                           epicsInt32 value) {
    int function = pasynUser->reason;
@ -479,25 +444,18 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
        return axis->rereadEncoder();
    } else if (function == readConfig_) {
        return axis->init();
    } else if (function == flushHardware_) {
        return doFlushHardware();
    } else {
        return sinqController::writeInt32(pasynUser, value);
    }
 }
-asynStatus turboPmacController::readInt32(asynUser *pasynUser,
+asynStatus turboPmacController::couldNotParseResponse(const char *command,
-                                          epicsInt32 *value) {
+                                                      const char *response,
-    // PMACs can be disabled
+                                                      int axisNo,
-    if (pasynUser->reason == motorCanDisable_) {
+                                                      const char *functionName,
-        *value = 1;
+                                                      int lineNumber) {
        return asynSuccess;
    } else {
        return sinqController::readInt32(pasynUser, value);
    }
 }
 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::couldNotParseResponse(
--- a/src/turboPmacController.h
+++ b/src/turboPmacController.h
@ -51,17 +51,6 @@ class turboPmacController : public sinqController {
     */
    turboPmacAxis *getTurboPmacAxis(int axisNo);
    /**
     * @brief Overloaded function of sinqController
     *
     * The function is overloaded in order to read motorCanDisable_.
     *
     * @param pasynUser
     * @param value
     * @return asynStatus
     */
    virtual asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
    /**
     * @brief Overloaded function of sinqController
     *
@ -110,20 +99,34 @@ class turboPmacController : public sinqController {
    called. It is recommended to use a macro, e.g. __LINE__.
     * @return asynStatus         Returns asynError.
     */
-    asynStatus couldNotParseResponse(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);
+
    /**
     * @brief Perform a hardware flush (clearing of communication buffers)
     *
     * The PMAC controllers hardware buffers can be flushed (see Turbo PMAC user
     * manual, p. 414). This "freezes" the PMAC for around 10 ms and should
     * therefore only be done if it is necessary (i.e. not as part of the
     * regular communication procedure).
     *
     * @return asynStatus
     */
    asynStatus doFlushHardware();
    // Accessors for additional PVs
    int rereadEncoderPosition() { return rereadEncoderPosition_; }
    int readConfig() { return readConfig_; }
    int flushHardware() { return flushHardware_; }
    // 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;
    asynUser *pasynInt32SyncIOipPort() { return pasynInt32SyncIOipPort_; }
  protected:
    /*
    Timeout for the communication process in seconds
@ -132,11 +135,15 @@ class turboPmacController : public sinqController {
    char lastResponse[MAXBUF_];
    // User for writing int32 values to the port driver.
    asynUser *pasynInt32SyncIOipPort_;
    // Indices of additional PVs
 #define FIRST_turboPmac_PARAM rereadEncoderPosition_
    int rereadEncoderPosition_;
    int readConfig_;
-#define LAST_turboPmac_PARAM readConfig_
+    int flushHardware_;
 #define LAST_turboPmac_PARAM flushHardware_
 };
 #define NUM_turboPmac_DRIVER_PARAMS                                            \
    (&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)
Author	SHA1	Message	Date
smathis	63a5fcd518	Allow enabling / disabling the motor regardless of the status returned by the poll.	2025-05-13 14:39:08 +02:00
smathis	8f11c52f95	Added license file	2025-05-12 08:43:48 +02:00
smathis	29590d808b	Removed unnecessary check for number of axes The check is already performed in the sinqAxis constructor	2025-05-05 13:02:40 +02:00
smathis	370aef212e	Fixed endless loop when communication times out and added diagnostics.	2025-05-05 09:18:04 +02:00
smathis	3b39d724db	Added space in asynPrint.	2025-04-30 15:15:13 +02:00
smathis	23c03353a1	Added carriage return at end of print command in pmacReadReady.	2025-04-30 15:13:23 +02:00
smathis	4743006880	Expanded README and recompiled against sinqMotor 0.14	2025-04-25 13:19:31 +02:00
smathis	0da78d2e72	Changed back to dev version	2025-04-22 15:04:22 +02:00
smathis	97a33cf92b	Fixed sinqMotor version for tagging	2025-04-22 15:02:56 +02:00
smathis	181ccdec56	Small renaming changes	2025-04-17 16:15:39 +02:00
smathis	e5a4af14ea	Added interpose driver from DLS Added a low-level interpose driver to allow usage of stream devices.	2025-04-17 09:25:42 +02:00
mathis_s	7b904e30db	Update README.md	2025-04-10 15:51:57 +02:00
smathis	d365db529b	Fixed typo	2025-04-10 15:44:56 +02:00
smathis	66f796cf70	Integrated low level IP Port driver from DLS Integrated the low level asyn IP Port driver from the Diamond Light Source so that StreamDevices can use it as well.	2025-04-10 15:44:05 +02:00
smathis	844ea3085d	Integrated low level IP Port driver from DLS Integrated the low level asyn IP Port driver from the Diamond Light Source so that StreamDevices can use it as well.	2025-04-10 15:44:05 +02:00
smathis	4b70676eb0	Integrated low level IP Port driver from DLS Integrated the low level asyn IP Port driver from the Diamond Light Source so that StreamDevices can use it as well.	2025-04-10 15:37:45 +02:00
smathis	295cd34993	Factored out error handling in a dedicated function This makes it possible to reuse the error handling of the base axis in derived axis types (e.g. seleneGuide driver).	2025-04-09 15:12:49 +02:00
smathis	b62a5fd699	Removed readInt32 method, since it is not needed.	2025-04-04 13:30:52 +02:00