# Trigger a rereading of the encoder. This action is sometimes necessary for 
# absolute encoders after enabling them. For incremental encoders, this is a no-op.
# This record is coupled to the parameter library via rereadEncoderPosition_ -> REREAD_ENCODER_POSITION.
record(longout, "$(INSTR)$(M):RereadEncoder") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) REREAD_ENCODER_POSITION")
    field(PINI, "NO")
}

# The turboPmac driver reads certain configuration parameters (such as the velocity
# and the acceleration) directly from the MCU. This reading procedure is performed
# once at IOC startup during atFirstPoll. However, it can be triggered manually
# by setting this record value to 1.
# This record is coupled to the parameter library via readConfig_ -> READ_CONFIG.
record(longout, "$(INSTR)$(M):ReadConfig") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
    field(PINI, "NO")
}

# PMAC controllers can be "flushed" by setting a certain bit. This empties all
# communication buffers. Once the flush is done, the controller acknowledges
# this by sending an echo character. This procedure can take up to 10 ms (see 
# Turbo PMAC User Manual, p. 414) and should therefore not be done as part of
# "normal" communications (like the original pmacAsynIPPort driver from DLS 
# does). The SINQ driver for the Turbo PMAC controller therefore offers this PV
# in order to manually trigger a controller flush by writing any value to this PV.
record(longout, "$(INSTR)FlushHardware") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) FLUSH_HARDWARE")
    field(PINI, "NO")
    field(VAL, "1")
}

# If this PV is set to 1 (default), the position limits are read out from the 
# controller. Otherwise, the limits given in the substitution file (DHLM and
# DLLM) are used. 
# This record is coupled to the parameter library via limFromHardware -> LIM_FROM_HARDWARE.
record(longout, "$(INSTR)$(M):LimFromHardware") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) LIM_FROM_HARDWARE")
    field(PINI, "YES")
    field(VAL, "$(LIMFROMHARDWARE=1)")
}