# Encoder type
record(waveform, "$(P)$(M):Encoder_Type") {
    field(DTYP, "asynOctetRead")
    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
    field(FTVL, "CHAR")
    field(NELM, "80")
    field(SCAN, "I/O Intr")
}

# reread encoder
record(longout, "$(P)$(M):Reread_Encoder") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) REREAD_ENCODER_POSITION")
    field(PINI, "NO")
}

# reread encoder
record(longout, "$(P)$(M):Read_Config") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
    field(PINI, "NO")
}

# ===================================================================
# The following records read acceleration and velocity from the driver and 
# copy those values into the corresponding fields of the main motor record.
# This strategy is described here: https://epics.anl.gov/tech-talk/2022/msg00464.php

# Helper record for the high limit which is filled in by the driver
record(ai, "$(P)$(M):MOTOR_VELOCITY-RBV")
{
    field(DTYP, "asynFloat64")
    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VELOCITY_FROM_DRIVER")
    field(SCAN, "I/O Intr")
    field(FLNK, "$(P)$(M):PUSH_VELO_TO_FIELD")
}

# Push the value into the field of the main motor record
record(ao, "$(P)$(M):PUSH_VELO_TO_FIELD") {
    field(DOL,  "$(P)$(M):MOTOR_VELOCITY-RBV CP")
    field(OUT,  "$(P)$(M).VELO")
    field(OMSL, "closed_loop") # This configuration keeps the PV and the field in sync
}

# Helper record for the low limit which is filled in by the driver
record(ai, "$(P)$(M):MOTOR_ACCL-RBV")
{
    field(DTYP, "asynFloat64")
    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ACCEL_FROM_DRIVER")
    field(SCAN, "I/O Intr")
    field(FLNK, "$(P)$(M):PUSH_ACCL_TO_FIELD")
}

# Push the value into the field of the main motor record
record(ao, "$(P)$(M):PUSH_ACCL_TO_FIELD") {
    field(DOL,  "$(P)$(M):MOTOR_ACCL-RBV CP")
    field(OUT,  "$(P)$(M).ACCL")
    field(OMSL, "closed_loop") # This configuration keeps the PV and the field in sync
}