Added compiler flags for the C++ code and formatted README

The correct scale from counts to engeering units is Qxx00.

.gitmodules

@@ -1,3 +1,6 @@
+[submodule "sinqmotor"]
+	path = sinqmotor
+	url = https://gitea.psi.ch/lin-epics-modules/sinqmotor
 [submodule "sinqMotor"]
 	path = sinqMotor
 	url = https://gitea.psi.ch/lin-epics-modules/sinqMotor

README.md

@@ -33,7 +33,7 @@ turboPmac exports the following IOC shell functions:
 
 The full turboPmacX.cmd file looks like this:
 
-```bash
+```
 # Define the name of the controller and the corresponding port
 epicsEnvSet("DRIVER_PORT","turboPmacX")
 epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
@@ -94,39 +94,3 @@ repository is checked out AND the change is commited (`git status` shows no
 non-committed changes). Please see the section "Usage as static dependency" in
 https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md for
 more details.
-
-## FAQ
-### Axis hardware error at startup
-
-If at IOC startup you are met with the following errors:
-```
-2026/02/02 16:56:49.470 Controller "turboPmac1", axis 3  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
-Driver hardware error triggered.
-2026/02/02 16:56:49.485 Controller "turboPmac1", axis 7  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
-Driver hardware error triggered.
-2026/02/02 16:56:49.492 Controller "turboPmac1", axis 8  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
-Driver hardware error triggered.
-```
-You may need to reset to do a axis reset. This can be done with 
-`utils/writeRead.py`. The following example does so for axis 3.
-
-Confirm the hardware error:
-```
-utils/writeRead.py 172.28.87.24:1025 P0301 # 03 specifies axis 3, 01 is the command to read out the error.
-# If it returns 13 it's a hardware error.
-# For the full list of errors see TurboPMAC_manual.pdf or src/turboPmacAxis.cpp, function "handleError".
-```
-Reset the axis:
-```
-utils/writeRead.py 172.28.87.24:1025 P0301=0
-```
-Check if the error has appeared again:
-```
-utils/writeRead.py 172.28.87.24:1025 P0301
-```
-If the console output is not 0, the error has been deleted, but appeared
-immediately again. In this case, the error cannot be reset remotely.
-If it is an error such as 10 (limit switches hit), the motor needs to be
-moved away from the limits, this resets the error automatically.
-Other errors like 13 represent an actual issue on the hardware which
-needs to be resolved by the electronics motion engineers.

src/turboPmacAxis.cpp

@@ -179,38 +179,22 @@ asynStatus turboPmacAxis::init() {
              "Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 I%2.2d65",
              axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
     status = pC_->writeRead(axisNo_, command, response, 7);
-
-    msgPrintControlKey keyDisconnected = msgPrintControlKey(
-        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 1);
-
     if (status != asynSuccess) {
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyDisconnected, true,
-                                                      pC_->pasynUser())) {
         asynPrint(
             pC_->pasynUser(), ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d => %s, line %d\nCould not "
+            "Controller \"%s\", axis %d => %s, line %d\nCould not communicate "
-                "communicate with controller during IOC initialization (error "
+            "with controller during IOC initialization. Check if you used "
-                "%s). Did you use \"drvAsynIPPortConfigure\" instead of "
+            "\"pmacAsynIPPortConfigure\" instead of the standard "
-                "\"pmacAsynIPPortConfigure\" in the .cmd file to create the "
+            "\"drvAsynIPPortConfigure\" function in the .cmd file in order to "
-                "port driver?\n",
+            "create the port driver.\n",
-                pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__,
+            pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
-                pC_->stringifyAsynStatus(status));
-        }
         pTurboPmacA_->needInit = true;
-        return status;
     }
-
-    // No error has been detected -> Reset the error count
-    if (status == asynSuccess) {
-        pC_->getMsgPrintControl().resetCount(keyDisconnected, pC_->pasynUser());
-    }
-
     nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf", &motorPos,
                    &motorVmax, &motorVelocity, &motorAccel, &acoDelay,
                    &counts_to_eu, &deadband_counts);
 
-    // The acoDelay is given in milliseconds -> Convert to seconds, rounded
+    // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
-    // up
     setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
 
     // The PMAC electronic specifies the acceleration in m/s^2. Since we
@@ -218,7 +202,7 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 7) {
+    if (nvals != 8) {
         return pC_->couldNotParseResponse(command, response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
@@ -243,18 +227,18 @@ asynStatus turboPmacAxis::init() {
     }
 
     /*
-    Check if the new target position is within the range current position
+    Check if the new target position is within the range current position +/-
-    +/- deadband. If that is the case, no movement command should be sent.
+    deadband. If that is the case, no movement command should be sent. This
-    This functionality is implemented within the motor record itself, we
+    functionality is implemented within the motor record itself, we just need to
-    just need to populate the field SPDP (see record PushSPDB2Field in
+    populate the field SPDP (see record PushSPDB2Field in db/turboPmac.db)
-    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
+    160). This value then needs to be converted into counts (by dividing it by
-    by 16). After words, the deadband in counts then need to be converted
+    16). After words, the deadband in counts then need to be converted into
-    into engineering units. For this, the scaling factor Qxx10 needs to be
+    engineering units. For this, the scaling factor Qxx10 needs to be applied
-    applied (see SINQ_2G_MCU_SW_manual_rev7, p. 17): [Qxx10] = engineering
+    (see SINQ_2G_MCU_SW_manual_rev7, p. 17):
-    units (eu) / counts deadband_eu = Qxx10 * Ixx65 / 16
+    [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.
@@ -265,12 +249,11 @@ asynStatus turboPmacAxis::init() {
     // Update the parameter library immediately
     status = callParamCallbacks();
     if (status != asynSuccess) {
-        // If we can't communicate with the parameter library, it doesn't
+        // If we can't communicate with the parameter library, it doesn't make
-        // make sense to try and upstream this to the user -> Just log the
+        // sense to try and upstream this to the user -> Just log the error
-        // error
+        asynPrint(
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line "
+            "Controller \"%s\", axis %d  => %s, line %d\ncallParamCallbacks "
-                  "%d\ncallParamCallbacks "
             "failed with %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
             pC_->stringifyAsynStatus(status));
@@ -358,13 +341,13 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
 
         if (error != 0) {
-            // If an error occurred while waiting for the handshake, abort
+            // If an error occurred while waiting for the handshake, abort the
-            // the waiting procedure and continue with the poll in order to
+            // waiting procedure and continue with the poll in order to handle
-            // handle the error.
+            // the error.
             pTurboPmacA_->waitForHandshake = false;
         } else if (handshakePerformed == 1) {
-            // Handshake has been performed successfully -> Continue with
+            // Handshake has been performed successfully -> Continue with the
-            // the poll
+            // poll
             pTurboPmacA_->waitForHandshake = false;
         } else {
             // Still waiting for the handshake - try again in the next busy
@@ -404,16 +387,15 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     /*
     The axis limits are set as: ({[]})
-    where [] are the positive and negative limits set in EPICS/NICOS, {} are
+    where [] are the positive and negative limits set in EPICS/NICOS, {} are the
-    the software limits set on the MCU and () are the hardware limit
+    software limits set on the MCU and () are the hardware limit switches. In
-    switches. In other words, the EPICS/NICOS limits should be stricter than
+    other words, the EPICS/NICOS limits should be stricter than the software
-    the software limits on the MCU which in turn should be stricter than the
+    limits on the MCU which in turn should be stricter than the hardware limit
-    hardware limit switches. For example, if the hardware limit switches are
+    switches. For example, if the hardware limit switches are at [-10, 10], the
-    at [-10, 10], the software limits could be at [-9, 9] and the EPICS /
+    software limits could be at [-9, 9] and the EPICS / NICOS limits could be at
-    NICOS limits could be at
     [-8, 8]. Therefore, we cannot use the software limits read from the MCU
-    directly, but need to shrink them a bit. In this case, we're shrinking
+    directly, but need to shrink them a bit. In this case, we're shrinking them
-    them by limitsOffset on both sides.
+    by limitsOffset on both sides.
     */
     getAxisParamChecked(this, motorLimitsOffset, &limitsOffset);
     highLimit = highLimit - limitsOffset;
@@ -429,8 +411,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                             (axStatus != -3 && axStatus != -5));
     }
 
-    // Create the unique callsite identifier manually so it can be used
+    // Create the unique callsite identifier manually so it can be used later in
-    // later in the shouldBePrinted calls.
+    // the shouldBePrinted calls.
     msgPrintControlKey keyStatus = msgPrintControlKey(
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
     bool resetCountStatus = true;
@@ -451,9 +433,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
                                                       pC_->pasynUser())) {
-            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+            asynPrint(
-                      "Controller \"%s\", axis %d  => %s, line "
+                pC_->pasynUser(), ASYN_TRACE_ERROR,
-                      "%d\nEmergency stop "
+                "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
                 "activated.%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                 pC_->getMsgPrintControl().getSuffix());
@@ -526,8 +508,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         *moving = false;
         break;
     case 15:
-        // Move is interrupted, but the motor is not ready to receive
+        // Move is interrupted, but the motor is not ready to receive another
-        // another move command. Therefore it is treated as still moving.
+        // move command. Therefore it is treated as still moving.
         *moving = true;
         break;
     case 16:
@@ -582,10 +564,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, limFromHardware, &limFromHardware);
 
     if (limFromHardware != 0) {
-        status = setLimits(highLimit, lowLimit);
+        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
-        if (status != asynSuccess) {
+        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
-            return status;
-        }
     }
 
     status = setMotorPosition(currentPosition);
@@ -624,11 +604,11 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+            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 "
+                "should prevent this, check if *moving is set correctly.%s\n",
-                      "correctly.%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                 pC_->getMsgPrintControl().getSuffix());
         }
@@ -640,17 +620,14 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nAir cushion "
-                "Controller \"%s\", axis %d  => %s, line %d\nLost feedback "
+                      "feedback stopped during movement (P%2.2d01 = %d).%s\n",
-                "from auxiliary device during movement (P%2.2d01 = "
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                "%d).%s\n",
+                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-                error, pC_->getMsgPrintControl().getSuffix());
         }
         snprintf(userMessage, sizeUserMessage,
-                 "Lost feedback from auxiliary device during movement "
+                 "Air cushion feedback stopped during movement (P%2.2d01 = "
-                 "(P%2.2d01 = "
                  "%d). Please call the support.",
                  axisNo_, error);
         setAxisParamChecked(this, motorMessageText, userMessage);
@@ -659,27 +636,26 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+            asynPrint(
-                      "Controller \"%s\", axis %d  => %s, line %d\nNo feedback "
+                pC_->pasynUser(), ASYN_TRACE_ERROR,
-                      "from "
+                "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
-                      "auxiliary device before movement (P%2.2d01 = %d).%s\n",
+                "feedback before movement start (P%2.2d01 = %d).%s\n",
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
+                error, pC_->getMsgPrintControl().getSuffix());
         }
 
-        snprintf(
+        snprintf(userMessage, sizeUserMessage,
-            userMessage, sizeUserMessage,
+                 "No air cushion feedback before movement start (P%2.2d01 = "
-            "No feedback from auxiliary device before movement (P%2.2d01 = "
                  "%d). Please call the support.",
                  axisNo_, error);
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     case 10:
         /*
-        Software limits of the controller have been hit. Since the EPICS
+        Software limits of the controller have been hit. Since the EPICS limits
-        limits are derived from the software limits and are a little bit
+        are derived from the software limits and are a little bit smaller, this
-        smaller, this error case can only happen if either the axis has an
+        error case can only happen if either the axis has an incremental encoder
-        incremental encoder which is not properly homed or if a bug occured.
+        which is not properly homed or if a bug occured.
         */
 
         if (pC_->getMsgPrintControl().shouldBePrinted(
@@ -706,9 +682,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+            asynPrint(
-                      "Controller \"%s\", axis %d  => %s, line %d\nMaximum "
+                pC_->pasynUser(), ASYN_TRACE_ERROR,
-                      "allowed "
+                "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
                 "following error exceeded.%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                 pC_->getMsgPrintControl().getSuffix());
@@ -751,9 +727,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
         }
-        snprintf(userMessage, sizeUserMessage,
+        snprintf(
-                 "Driver hardware error (P%2.2d01 = 13). Please call the "
+            userMessage, sizeUserMessage,
-                 "support.",
+            "Driver hardware error (P%2.2d01 = 13). Please call the support.",
             axisNo_);
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
@@ -819,9 +795,9 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     if (enabled == 0) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+        asynPrint(
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "disabled.\n",
+            "Controller \"%s\", axis %d  => %s, line %d\nAxis is disabled.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         return asynSuccess;
     }
@@ -840,8 +816,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
 
     // Prepend the new motor speed, if the user is allowed to set the speed.
-    // Mind the " " (space) before the closing "", as the command created
+    // Mind the " " (space) before the closing "", as the command created here
-    // here is prepended to the one down below.
+    // is prepended to the one down below.
     if (motorCanSetSpeed != 0) {
         snprintf(command, sizeof(command), "Q%2.2d04=%lf ", axisNo_,
                  motorVelocity);
@@ -854,8 +830,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
                   motorVelocity);
     }
 
-    // Perform handshake, Set target position (and speed, if allowed) and
+    // Perform handshake, Set target position (and speed, if allowed) and start
-    // start the move command
+    // the move command
     if (relative) {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2", axisNo_, axisNo_,
@@ -870,9 +846,9 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     status = pC_->writeRead(axisNo_, command, response, 0);
     if (status != asynSuccess) {
 
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+        asynPrint(
-                  "Controller \"%s\", axis %d  => %s, line %d\nStarting "
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "movement to "
+            "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
             "target position %lf failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
             motorTargetPosition);
@@ -880,8 +856,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
         return status;
     }
 
-    // In the next poll, we will check if the handshake has been performed
+    // In the next poll, we will check if the handshake has been performed in a
-    // in a reasonable time
+    // reasonable time
     pTurboPmacA_->waitForHandshake = true;
     pTurboPmacA_->timeAtHandshake = time(NULL);
 
@@ -910,25 +886,25 @@ asynStatus turboPmacAxis::stop(double acceleration) {
     status = pC_->writeRead(axisNo_, command, response, 0);
 
     if (status != asynSuccess) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+        asynPrint(
-                  "Controller \"%s\", axis %d  => %s, line %d\nStopping "
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "the movement "
+            "Controller \"%s\", axis %d  => %s, line %d\nStopping the movement "
             "failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset the driver to idle state and move out of the handshake wait
+    // Reset the driver to idle state and move out of the handshake wait loop,
-    // loop, if we're currently inside it.
+    // if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
     /*
-    Stopping the motor results in a movement and further move commands have
+    Stopping the motor results in a movement and further move commands have to
-    to wait until the stopping movement is done. Therefore, we need to wait
+    wait until the stopping movement is done. Therefore, we need to wait until
-    until the poller "sees" the changed state (otherwise, we risk issuing
+    the poller "sees" the changed state (otherwise, we risk issuing move
-    move commands while the motor is stopping). To ensure that at least one
+    commands while the motor is stopping). To ensure that at least one poll is
-    poll is done, this thread (which also runs move commands) is paused for
+    done, this thread (which also runs move commands) is paused for twice the
-    twice the idle poll period.
+    idle poll period.
     */
     unsigned int idlePollMicros =
         (unsigned int)ceil(pC_->idlePollPeriod() * 1e6);
@@ -959,8 +935,8 @@ asynStatus turboPmacAxis::doReset() {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset the driver to idle state and move out of the handshake wait
+    // Reset the driver to idle state and move out of the handshake wait loop,
-    // loop, if we're currently inside it.
+    // if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
     // Disable the axis
@@ -1058,14 +1034,13 @@ asynStatus turboPmacAxis::readEncoderType() {
 }
 
 /*
-This is not a command that can always be run when enabling a motor as it
+This is not a command that can always be run when enabling a motor as it also
-also causes relative encoders to reread a position necessitating
+causes relative encoders to reread a position necessitating recalibration. We
-recalibration. We only want it to run on absolute encoders. We also want it
+only want it to run on absolute encoders. We also want it to be clear to
-to be clear to instrument scientists, that power has to be cut to the motor,
+instrument scientists, that power has to be cut to the motor, in order to reread
-in order to reread the encoder as not all motors have breaks and they may
+the encoder as not all motors have breaks and they may start to move when
-start to move when disabled. For that reason, we don't automatically disable
+disabled. For that reason, we don't automatically disable the motors to run the
-the motors to run the command and instead require that the scientists first
+command and instead require that the scientists first disable the motor.
-disable the motor.
 */
 asynStatus turboPmacAxis::rereadEncoder() {
     char command[pC_->MAXBUF_] = {0};
@@ -1109,12 +1084,11 @@ asynStatus turboPmacAxis::rereadEncoder() {
         return asynError;
     } else {
         snprintf(command, sizeof(command), "M%2.2d=15", axisNo_);
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
+        asynPrint(
-                  "Controller \"%s\", axis %d  => %s, line %d\nRereading "
+            pC_->pasynUser(), ASYN_TRACE_FLOW,
-                  "absolute "
+            "Controller \"%s\", axis %d  => %s, line %d\nRereading absolute "
             "encoder via command %s.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, command);
-                  command);
         pC_->writeRead(axisNo_, command, response, 0);
     }
 
@@ -1123,8 +1097,8 @@ asynStatus turboPmacAxis::rereadEncoder() {
     // it is actually finished, so we instead wait for 0.5 seconds.
     usleep(500000);
 
-    // Turn off parameter as finished rereading, this will only be
+    // Turn off parameter as finished rereading, this will only be immediately
-    // immediately noticed in the read back variable though
+    // noticed in the read back variable though
     setAxisParamChecked(this, rereadEncoderPosition, false);
     return asynSuccess;
 }
@@ -1144,28 +1118,27 @@ asynStatus turboPmacAxis::enable(bool on) {
     /*
     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
+    function fails before it can determine that, it is assumed that the motor
-    motor is not moving.
+    is not moving.
     */
     bool moving = false;
     doPoll(&moving);
 
     // If the axis is currently moving, it cannot be disabled. Ignore the
-    // command and inform the user. We check the last known status of the
+    // command and inform the user. We check the last known status of the axis
-    // axis instead of "moving", since status -6 is also moving, but the
+    // instead of "moving", since status -6 is also moving, but the motor can
-    // motor can actually be disabled in this state!
+    // actually be disabled in this state!
     int axStatus = pTurboPmacA_->axisStatus;
     if (axStatus == 1 || axStatus == 2 || axStatus == 3 || axStatus == 4 ||
         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,
+        asynPrint(
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nAxis is not "
-                  "idle (status %d) and can therefore not be enabled / "
+            "idle (status %d) and can therefore not be enabled / disabled.\n",
-                  "disabled.\n",
+            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axStatus);
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  axStatus);
 
         setAxisParamChecked(this, motorMessageText,
                             "Axis cannot be disabled while it is moving.");
@@ -1176,9 +1149,9 @@ asynStatus turboPmacAxis::enable(bool on) {
     // Axis is already enabled / disabled and a new enable / disable command
     // was sent => Do nothing
     if ((axStatus != -3) == on) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_WARNING,
+        asynPrint(
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
+            pC_->pasynUser(), ASYN_TRACE_WARNING,
-                  "already %s.\n",
+            "Controller \"%s\", axis %d  => %s, line %d\nAxis is already %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
             on ? "enabled" : "disabled");
         return asynSuccess;
@@ -1329,8 +1302,8 @@ asynStatus turboPmacCreateAxis(const char *portName, int axis) {
     https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
     https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
 
-    The created object is registered in EPICS in its constructor and can
+    The created object is registered in EPICS in its constructor and can safely
-    safely be "leaked" here.
+    be "leaked" here.
     */
 #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 #pragma GCC diagnostic ignored "-Wunused-variable"
@@ -1353,15 +1326,14 @@ static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
 static const iocshFuncDef configTurboPmacCreateAxis = {
     "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 "
+    "controller this axis should be attached to, the second argument is the "
-    "the "
     "axis number."};
 static void configTurboPmacCreateAxisCallFunc(const iocshArgBuf *args) {
     turboPmacCreateAxis(args[0].sval, args[1].ival);
 }
 
-// This function is made known to EPICS in turboPmac.dbd and is called by
+// This function is made known to EPICS in turboPmac.dbd and is called by EPICS
-// EPICS in order to register both functions in the IOC shell
+// in order to register both functions in the IOC shell
 static void turboPmacAxisRegister(void) {
     iocshRegister(&configTurboPmacCreateAxis,
                   configTurboPmacCreateAxisCallFunc);

src/turboPmacController.cpp

@@ -206,6 +206,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Definition of local variables.
     asynStatus status = asynSuccess;
+    asynStatus timeoutStatus = asynSuccess;
     char drvMessageText[MAXBUF_] = {0};
     char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
@@ -283,7 +284,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 getMsgPrintControl().getSuffix());
         }
 
-        checkComTimeoutWatchdog(axisNo, drvMessageText, sizeof(drvMessageText));
+        timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
+                                                sizeof(drvMessageText));
 
         int timeoutCounter = 0;
         while (1) {
@@ -331,10 +333,14 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         axis->setNeedInit(true);
     }
 
+    if (timeoutStatus == asynError) {
+        status = asynError;
+    }
+
     // The message should only ever terminate due to reason 2
     msgPrintControlKey terminateKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-    if (status == asynSuccess && eomReason != 2) {
+    if (eomReason != 2) {
         status = asynError;
 
         char reasonStringified[30] = {0};
@@ -385,7 +391,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     }
     msgPrintControlKey numResponsesKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-    if (status == asynSuccess && numExpectedResponses != numReceivedResponses) {
+    if (numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
         if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,