Fixed bug: Wrong scale used before

The correct scale from counts to engeering units is Qxx00.
Updated to sinqMotor 1.5 to get deadband feature
2025-09-10 11:52:51 +02:00 · 2025-09-09 16:52:19 +02:00 · 2025-09-09 13:43:11 +02:00 · 2025-08-22 15:27:28 +02:00 · 2025-08-22 15:25:31 +02:00 · 2025-08-14 17:21:58 +02:00
10 changed files with 194 additions and 148 deletions
--- a/.gitea/workflows/action.yaml
+++ b/.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
--- a/.gitlab-ci.yml
+++ b/.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
--- a/2
+++ b/2
@@ -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
--- a/2
+++ b/2
--- a/src/pmacAsynIPPort.c
+++ b/src/pmacAsynIPPort.c
@@ -230,8 +230,7 @@ static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,

 // =============================================================================

-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
-                                           const char *hostInfo) {
+int pmacAsynIPPortConfigure(const char *portName, const char *hostInfo) {
    asynStatus status = asynSuccess;
    asynInterface *int32LowerLevelInterface = NULL;
    asynInterface *octetLowerLevelInterface = NULL;
--- a/src/pmacAsynIPPort.h
+++ b/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,
-                                           const char *hostInfo);
+int HIDDEN pmacAsynIPPortConfigure(const char *portName, const char *hostInfo);

 #ifdef __cplusplus
 }
--- a/src/turboPmacAxis.cpp
+++ b/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>(
-        (turboPmacAxisImpl){.waitForHandshake = false,
-                            .timeAtHandshake = 0,
-                            .axisStatus = 0,
-                            .needInit = false});
+    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>((turboPmacAxisImpl){
+        .waitForHandshake = false,
+        .enableDisable = false,
+        .timeAtHandshake = 0,
+        .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_,
-             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
-    status = pC_->writeRead(axisNo_, command, response, 6);
+             "P%2.2d00 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_,
+             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,
-                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
+    nvals = sscanf(response, "%d %lf %lf %lf %lf %d %lf %lf", &axStatus,
+                   &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
-    setAxisParamChecked(this, motorEnableRBV,
-                        (axStatus != -3 && axStatus != -5));
+    // Update the enablement PV, if we are not in the middle of a enabling /
+    // disabling procedure.
+    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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                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
-    int axStat = pTurboPmacA_->axisStatus;
-    if (axStat == 0 || axStat == -6) {
-        snprintf(command, sizeof(command), "M%2.2d14=0", axisNo_);
-        status = pC_->writeRead(axisNo_, command, response, 0);
-    }
-
-    return status;
+    // Disable the axis
+    return enable(false);
 }

 /*
@@ -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 "
-                  "idle and can therefore not be enabled / disabled.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+
+        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 / 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
-            poll(&moving);
+            forcedPoll(&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;
 }

--- a/src/turboPmacAxis.h
+++ b/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
--- a/src/turboPmacController.cpp
+++ b/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__);

--- a/src/turboPmacController.h
+++ b/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
Author	SHA1	Message	Date
smathis	7a96ed2b71	Fixed bug: Wrong scale used before Some checks failed Test And Build / Lint (push) Failing after 3s Details Test And Build / Build (push) Successful in 8s Details The correct scale from counts to engeering units is Qxx00.	2025-09-10 11:52:51 +02:00
smathis	cf43a1c57a	Updated to sinqMotor 1.5 to get deadband feature Some checks failed Test And Build / Lint (push) Failing after 3s Details Test And Build / Build (push) Successful in 7s Details	2025-09-09 16:52:19 +02:00
smathis	85317e24cd	Deadband check in driver code	2025-09-09 13:43:11 +02:00
smathis	1ee483f8e9	Removed C++ only flag from USR_CFLAGS Some checks failed Test And Build / Lint (push) Failing after 3s Details Test And Build / Build (push) Successful in 7s Details USR_CFLAGS only applies to .c files, which are compiled with a C compiler, therefore the C++ flag is not applied, resulting in a warning during compilation.	2025-08-22 15:27:28 +02:00
smathis	002b5d2616	Fixed bug with errorprint to ioc console The previous setup created one print key for all error types. The problem with that is that if an error directly followed another error (without an error = 0 in between), the MsgPrintControl prevented printing of the new error. Now every error has its own key.	2025-08-22 15:25:31 +02:00
smathis	ce80426790	Updated sinqMotor to fix bug in forcedPoll Some checks failed Test And Build / Lint (push) Failing after 4s Details Test And Build / Build (push) Successful in 7s Details	2025-08-14 17:21:58 +02:00
smathis	72f3965881	Fixed imprecise comment Some checks failed Test And Build / Lint (push) Failing after 3s Details Test And Build / Build (push) Successful in 8s Details	2025-08-12 15:42:43 +02:00
smathis	d41e7bf054	Updated to sinqMotor 1.4.0 Some checks failed Test And Build / Lint (push) Failing after 3s Details Test And Build / Build (push) Successful in 8s Details	2025-08-12 09:14:38 +02:00
smathis	30bfa1cac5	Hide visibility of classes to avoid symbol clashes	2025-08-12 09:00:42 +02:00
smathis	235816fd20	Hide symbols via compilerflag	2025-08-11 16:46:22 +02:00
smathis	bd0966d2c9	Added flag to see whether we are in the middle of enabling / disabling Some checks failed Test And Build / Lint (push) Failing after 9s Details Test And Build / Build (push) Successful in 13s Details	2025-08-11 15:47:27 +02:00
smathis	9d5d90574a	Added sleep after write commands See comment in writeRead for explanation.	2025-08-11 15:47:27 +02:00
smathis	6effc5e906	Updated sinqMotor to latest version	2025-08-11 15:47:27 +02:00
Edward Wall	bc5de11b16	remove unneeded line Some checks failed Test And Build / Lint (push) Failing after 3s Details Test And Build / Build (push) Successful in 8s Details	2025-07-04 14:16:48 +02:00
Edward Wall	aa488627f9	remove old pipeline file Some checks failed Test And Build / Lint (push) Failing after 3s Details Test And Build / Build (push) Successful in 9s Details	2025-07-04 14:12:54 +02:00
Edward Wall	ccaee6c5d1	no newline Some checks failed Test And Build / Lint (push) Failing after 4s Details Test And Build / Build (push) Successful in 8s Details	2025-07-04 14:07:20 +02:00
Edward Wall	323b030581	adds IGNORE_SUBMODULES as other makefile tries to pull everything anew Some checks failed Test And Build / Lint (push) Failing after 12s Details Test And Build / Build (push) Failing after 3s Details	2025-07-04 13:54:24 +02:00
Edward Wall	b206012df2	time to build Some checks failed Test And Build / Build (push) Failing after 5s Details	2025-07-04 12:57:23 +02:00
Edward Wall	21ec7e8467	time to build Some checks failed Test And Build / Build (push) Failing after 5s Details	2025-07-04 12:55:24 +02:00
Edward Wall	398bc8241a	time to build Some checks failed Test And Build / Build (push) Failing after 4s Details	2025-07-04 12:53:13 +02:00
Edward Wall	8ca684604d	typo All checks were successful Test And Build / Build (push) Successful in 3s Details	2025-07-04 12:51:04 +02:00
Edward Wall	72fe2b3681	it should already be there it is now a submodule... Some checks failed Test And Build / Build (push) Failing after 3s Details	2025-07-04 12:50:28 +02:00
Edward Wall	5911e62029	:) Some checks failed Test And Build / Build (push) Failing after 40s Details	2025-07-04 12:45:16 +02:00
Edward Wall	682024091f	is the url wrong ? Some checks failed Test And Build / Build (push) Failing after 31s Details	2025-07-04 12:43:33 +02:00
Edward Wall	335de72bc5	maybe a key is necessary Some checks failed Test And Build / Build (push) Failing after 39s Details	2025-07-04 12:38:57 +02:00
Edward Wall	8e5055d6b8	Can I check out another repository? Some checks failed Test And Build / Build (push) Failing after 31s Details	2025-07-04 12:31:40 +02:00
Edward Wall	1cab6e14ff	Can I check out another repository? Some checks failed Test And Build / Lint (push) Failing after 3s Details Test And Build / Build (push) Failing after 40s Details	2025-07-04 12:30:53 +02:00