Fixed bug: Wrong scale used before

The correct scale from counts to engeering units is Qxx00.

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+name: Test And Build
+on: [push]
+
+jobs:
+  Lint:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+      - name: cppcheck
+        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+      - name: formatting
+        run: clang-format --style=file --Werror --dry-run src/*.cpp
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install

.gitlab-ci.yml

@@ -1,58 +0,0 @@
-default:
-  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-    
-stages:
-  - lint
-  - build
-  - test
-
-cppcheck:
-  stage: lint
-  script:
-    - cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-formatting:
-  stage: lint
-  script:
-    - clang-format --style=file --Werror --dry-run src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
-build_module:
-  stage: build
-  script:
-    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
-    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
-    - pushd sinqmotor
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
-    - make install
-    - popd
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/turboPmac/$(ls -U /ioc/modules/turboPmac/ | head -1)" "./turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

Makefile

@@ -34,4 +34,4 @@ TEMPLATES += db/turboPmac.db
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings

src/pmacAsynIPPort.c

@@ -230,8 +230,7 @@ static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
 
 // =============================================================================
 
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+int pmacAsynIPPortConfigure(const char *portName, const char *hostInfo) {
-                                           const char *hostInfo) {
     asynStatus status = asynSuccess;
     asynInterface *int32LowerLevelInterface = NULL;
     asynInterface *octetLowerLevelInterface = NULL;

src/pmacAsynIPPort.h

@@ -2,6 +2,7 @@
 #define asynInterposePmac_H
 
 #include <epicsExport.h>
+#include <macros.h>
 #include <shareLib.h>
 
 /*
@@ -25,8 +26,7 @@ extern "C" {
  * 172.23.243.156:1025)
  * @return status
  */
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+int HIDDEN pmacAsynIPPortConfigure(const char *portName, const char *hostInfo);
-                                           const char *hostInfo);
 
 #ifdef __cplusplus
 }

src/turboPmacAxis.cpp

@@ -15,6 +15,14 @@
 
 struct turboPmacAxisImpl {
     bool waitForHandshake;
+    /*
+    This flag is set to true, if the controller is currently enabling /
+    disabling the motor and false otherwise. This flag is used in the doPoll
+    method to check if the enableRBV PV should be set or not in order to prevent
+    a premature change of state (controller reports that the motor is already
+    enabled / disabled while it is not ready yet to receive new commands).
+    */
+    bool enableDisable;
     time_t timeAtHandshake;
     // The axis status is used when enabling / disabling the motor
     int axisStatus;
@@ -62,11 +70,13 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
         axes.push_back(this);
     }
 
-    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>(
+    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>((turboPmacAxisImpl){
-        (turboPmacAxisImpl){.waitForHandshake = false,
+        .waitForHandshake = false,
-                            .timeAtHandshake = 0,
+        .enableDisable = false,
-                            .axisStatus = 0,
+        .timeAtHandshake = 0,
-                            .needInit = false});
+        .axisStatus = 0,
+        .needInit = false,
+    });
 
     // Provide initial values for some parameter library entries
     status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition(), 0);
@@ -123,8 +133,16 @@ asynStatus turboPmacAxis::init() {
     double motorVelocity = 0.0;
     double motorVmax = 0.0;
     double motorAccel = 0.0;
-    int acoDelay = 0.0; // Offset time for the movement watchdog caused by
+
-                        // the air cushions in milliseconds.
+    // Conversion factor between engineering units (EU) and encoder counts
+    double counts_to_eu = 0.0;
+
+    // Deadband in counts. Can be a fraction of a count, hence double.
+    double deadband_counts = 0.0;
+
+    // Offset time for the movement watchdog caused by the air cushions in
+    // milliseconds.
+    int acoDelay = 0.0;
     int axStatus = 0;
 
     // The parameter library takes some time to be initialized. Therefore we
@@ -154,12 +172,16 @@ asynStatus turboPmacAxis::init() {
 
     /*
     Read out the axis status, the current position, current and maximum speed,
-    acceleration and the air cushion delay.
+    acceleration, the air cushion delay, the scaling factor between counts and
+    engineering units ([Qxx00] = engineering units / counts) and the deadband
+    Ixx65.
     */
     snprintf(command, sizeof(command),
-             "P%2.2d00 Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22", axisNo_,
+             "P%2.2d00 Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 "
-             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
+             "I%2.2d65",
-    status = pC_->writeRead(axisNo_, command, response, 6);
+             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_,
+             axisNo_);
+    status = pC_->writeRead(axisNo_, command, response, 8);
     if (status != asynSuccess) {
         asynPrint(
             pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -171,8 +193,9 @@ asynStatus turboPmacAxis::init() {
             pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
         pTurboPmacA_->needInit = true;
     }
-    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
+    nvals = sscanf(response, "%d %lf %lf %lf %lf %d %lf %lf", &axStatus,
-                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
+                   &motorPos, &motorVmax, &motorVelocity, &motorAccel,
+                   &acoDelay, &counts_to_eu, &deadband_counts);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
     setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
@@ -182,7 +205,7 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 6) {
+    if (nvals != 8) {
         return pC_->couldNotParseResponse(command, response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
@@ -206,6 +229,26 @@ asynStatus turboPmacAxis::init() {
         return status;
     }
 
+    /*
+    Check if the new target position is within the range current position +/-
+    deadband. If that is the case, no movement command should be sent. This
+    functionality is implemented within the motor record itself, we just need to
+    populate the field SPDP (see record PushSPDB2Field in db/turboPmac.db)
+
+    First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
+    160). This value then needs to be converted into counts (by dividing it by
+    16). After words, the deadband in counts then need to be converted into
+    engineering units. For this, the scaling factor Qxx10 needs to be applied
+    (see SINQ_2G_MCU_SW_manual_rev7, p. 17):
+    [Qxx10] = engineering units (eu) / counts
+    deadband_eu = Qxx10 * Ixx65 / 16
+
+    The values of Qxx10 and Ixx65 are read out during initialization and are
+    assumed to not change during operation.
+    */
+    setAxisParamChecked(this, motorPositionDeadband,
+                        counts_to_eu * deadband_counts / 16.0);
+
     // Update the parameter library immediately
     status = callParamCallbacks();
     if (status != asynSuccess) {
@@ -253,9 +296,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     double lowLimit = 0.0;
     double limitsOffset = 0.0;
 
-    // Was the axis idle during the previous poll?
-    int previousStatusDone = 1;
-
     // =========================================================================
 
     if (pTurboPmacA_->needInit) {
@@ -332,8 +372,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         return status;
     }
 
-    getAxisParamChecked(this, motorStatusDone, &previousStatusDone);
-
     // Query the axis status
     snprintf(command, sizeof(command),
              "P%2.2d00 Q%2.2d10 P%2.2d01 Q%2.2d13 Q%2.2d14", axisNo_, axisNo_,
@@ -369,9 +407,12 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     // Store the axis status
     pTurboPmacA_->axisStatus = axStatus;
 
-    // Update the enablement PV
+    // Update the enablement PV, if we are not in the middle of a enabling /
-    setAxisParamChecked(this, motorEnableRBV,
+    // disabling procedure.
-                        (axStatus != -3 && axStatus != -5));
+    if (!(pTurboPmacA_->enableDisable)) {
+        setAxisParamChecked(this, motorEnableRBV,
+                            (axStatus != -3 && axStatus != -5));
+    }
 
     // Create the unique callsite identifier manually so it can be used later in
     // the shouldBePrinted calls.
@@ -546,11 +587,6 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                                       int sizeUserMessage) {
     asynStatus status = asynError;
 
-    // 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__);
-
     switch (error) {
     case 0:
         status = asynSuccess;
@@ -559,8 +595,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 1:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nTarget "
                       "position would exceed user limits.%s\n",
@@ -572,8 +609,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
     case 5:
         // Command not possible
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
@@ -587,8 +625,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                             "moving. Please call the support.");
         break;
     case 8:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 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",
@@ -602,8 +641,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     case 9:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
@@ -626,8 +666,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         which is not properly homed or if a bug occured.
         */
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
@@ -646,8 +687,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 11:
         // Following error
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
@@ -664,8 +706,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
 
     case 12:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 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",
@@ -683,8 +726,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 13:
         // Driver hardware error triggered
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nDriver "
                       "hardware error triggered.%s\n",
@@ -700,8 +744,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 14:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 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",
@@ -716,8 +761,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
     default:
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUser())) {
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nUnknown error "
@@ -728,10 +774,6 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     }
-
-    if (status == asynSuccess) {
-        pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
-    }
     return status;
 }
 
@@ -744,7 +786,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
-    double motorCoordinatesPosition = 0.0;
+    double motorTargetPosition = 0.0;
     double motorRecResolution = 0.0;
     double motorVelocity = 0.0;
     int enabled = 0;
@@ -765,13 +807,14 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     }
 
     // Convert from EPICS to user / motor units
-    motorCoordinatesPosition = position * motorRecResolution;
+    motorTargetPosition = position * motorRecResolution;
     motorVelocity = maxVelocity * motorRecResolution;
 
     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);
+              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+              motorTargetPosition);
 
     // Check if the speed is allowed to be changed
     getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
@@ -796,11 +839,11 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     if (relative) {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2", axisNo_, axisNo_,
-                 motorCoordinatesPosition, axisNo_);
+                 motorTargetPosition, axisNo_);
     } else {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d01=%lf M%2.2d=1", axisNo_, axisNo_,
-                 motorCoordinatesPosition, axisNo_);
+                 motorTargetPosition, axisNo_);
     }
 
     // We don't expect an answer
@@ -812,7 +855,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
             "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
             "target position %lf failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-            motorCoordinatesPosition);
+            motorTargetPosition);
         setAxisParamChecked(this, motorStatusProblem, true);
         return status;
     }
@@ -833,7 +876,6 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
 asynStatus turboPmacAxis::stop(double acceleration) {
 
-    // Status of read-write-operations of ASCII commands to the controller
     asynStatus status = asynSuccess;
 
     char command[pC_->MAXBUF_] = {0};
@@ -857,6 +899,18 @@ asynStatus turboPmacAxis::stop(double acceleration) {
     // if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
+    /*
+    Stopping the motor results in a movement and further move commands have to
+    wait until the stopping movement is done. Therefore, we need to wait until
+    the poller "sees" the changed state (otherwise, we risk issuing move
+    commands while the motor is stopping). To ensure that at least one poll is
+    done, this thread (which also runs move commands) is paused for twice the
+    idle poll period.
+    */
+    unsigned int idlePollMicros =
+        (unsigned int)ceil(pC_->idlePollPeriod() * 1e6);
+    usleep(2 * idlePollMicros);
+
     return status;
 }
 
@@ -886,14 +940,8 @@ asynStatus turboPmacAxis::doReset() {
     // if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
-    // Disable the axis, if it is not in a moving state
+    // Disable the axis
-    int axStat = pTurboPmacA_->axisStatus;
+    return enable(false);
-    if (axStat == 0 || axStat == -6) {
-        snprintf(command, sizeof(command), "M%2.2d14=0", axisNo_);
-        status = pC_->writeRead(axisNo_, command, response, 0);
-    }
-
-    return status;
 }
 
 /*
@@ -1052,7 +1100,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
 
 asynStatus turboPmacAxis::enable(bool on) {
 
-    int timeout_enable_disable = 2;
+    int timeout_enable_disable = 5;
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -1080,13 +1128,16 @@ asynStatus turboPmacAxis::enable(bool on) {
         axStatus == 5 || axStatus == 6 || axStatus == 7 || axStatus == 8 ||
         axStatus == 9 || axStatus == 10 || axStatus == 11 || axStatus == 12 ||
         axStatus == 13 || axStatus == 15 || axStatus == 16) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is not "
+        asynPrint(
-                  "idle and can therefore not be enabled / disabled.\n",
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+            "Controller \"%s\", axis %d  => %s, line %d\nAxis is not "
+            "idle (status %d) and can therefore not be enabled / disabled.\n",
+            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axStatus);
 
         setAxisParamChecked(this, motorMessageText,
                             "Axis cannot be disabled while it is moving.");
+        pTurboPmacA_->enableDisable = false;
         return asynError;
     }
 
@@ -1109,7 +1160,10 @@ asynStatus turboPmacAxis::enable(bool on) {
         }
     }
 
-    // Enable / disable the axis if it is not moving
+    // Now the actual enabling / disabling starts
+    pTurboPmacA_->enableDisable = true;
+
+    // Enable / disable the axis
     snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
     asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\n%s axis\n",
@@ -1127,10 +1181,14 @@ asynStatus turboPmacAxis::enable(bool on) {
     int startTime = time(NULL);
     while (time(NULL) < startTime + timeout_enable_disable) {
 
+        // Wait a bit between status updates from the controller.
+        usleep(10000);
+
         // Read the axis status
-        usleep(100000);
         status = pC_->writeRead(axisNo_, command, response, 1);
         if (status != asynSuccess) {
+            // Enabling / disabling procedure failed
+            pTurboPmacA_->enableDisable = false;
             return status;
         }
         nvals = sscanf(response, "%d", &pTurboPmacA_->axisStatus);
@@ -1140,9 +1198,13 @@ asynStatus turboPmacAxis::enable(bool on) {
         }
 
         if ((pTurboPmacA_->axisStatus != -3) == on) {
+            usleep(500000);
+
             bool moving = false;
-            // Perform a poll to update the parameter library
+            forcedPoll(&moving);
-            poll(&moving);
+
+            // Enabling / disabling procedure is completed (successfully)
+            pTurboPmacA_->enableDisable = false;
             return asynSuccess;
         }
     }
@@ -1159,6 +1221,9 @@ asynStatus turboPmacAxis::enable(bool on) {
     snprintf(command, sizeof(command), "Failed to %s within %d seconds",
              on ? "enable" : "disable", timeout_enable_disable);
     setAxisParamChecked(this, motorMessageText, command);
+
+    // Enabling / disabling procedure failed
+    pTurboPmacA_->enableDisable = false;
     return asynError;
 }
 

src/turboPmacAxis.h

@@ -4,9 +4,9 @@
 #include "turboPmacController.h"
 #include <memory>
 
-struct turboPmacAxisImpl;
+struct HIDDEN turboPmacAxisImpl;
 
-class turboPmacAxis : public sinqAxis {
+class HIDDEN turboPmacAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new turboPmacAxis

src/turboPmacController.cpp

@@ -41,13 +41,13 @@ struct turboPmacControllerImpl {
     // User for writing int32 values to the port driver.
     asynUser *pasynInt32SyncIOipPort;
 
-    // Indices of additional PVs
+    // Indices of additional ParamLib entries
     int rereadEncoderPosition;
     int readConfig;
     int flushHardware;
     int limFromHardware;
 };
-#define NUM_turboPmac_DRIVER_PARAMS 3
+#define NUM_turboPmac_DRIVER_PARAMS 5
 
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
@@ -207,7 +207,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     // Definition of local variables.
     asynStatus status = asynSuccess;
     asynStatus timeoutStatus = asynSuccess;
-    // char fullCommand[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
     char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
@@ -255,6 +254,22 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
         pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
+    /*
+    If sth. is written to the controller, it needs some time to process the
+    command. However, the controller returns the acknowledgment via
+    pasynOctetSyncIO->writeRead immediately, signalling to the driver that it is
+    ready to receive the next command. In practice, this can result in commands
+    getting discarded on the driver side or in bringing the driver in undefined
+    states (e.g. stuck in status 1).
+
+    To prevent this, we wait for 20 ms after a write command to give the
+    controller enough time to process everything. A write command can be
+    identified by looking for the equal sign.
+    */
+    if (strchr(command, '=')) {
+        usleep(20000);
+    }
+
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 

src/turboPmacController.h

@@ -15,11 +15,11 @@
 // Forward declaration of the controller class to resolve the cyclic dependency
 // between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
-class turboPmacAxis;
+class HIDDEN turboPmacAxis;
 
-struct turboPmacControllerImpl;
+struct HIDDEN turboPmacControllerImpl;
 
-class turboPmacController : public sinqController {
+class HIDDEN turboPmacController : public sinqController {
   public:
     /**
      * @brief Construct a new turboPmacController object. This function is meant
@@ -93,7 +93,8 @@ class turboPmacController : public sinqController {
      * @return asynStatus
      */
     asynStatus writeRead(int axisNo, const char *command, char *response,
-                         int numExpectedResponses);
+                         int numExpectedResponses)
+        __attribute__((visibility("hidden")));
 
     /**
      * @brief Specialized version of sinqController::couldNotParseResponse