diff --git a/GNUmakefile b/GNUmakefile
index a3c40212..3ce2f73d 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -1,8 +1,11 @@
 include /ioc/tools/driver.makefile
 MODULE = motorBase
 
-EXCLUDE_VERSIONS=3.13
-BUILDCLASSES+=vxWorks Linux WIN32
+EXCLUDE_VERSIONS=3.13 3.14 7.0.6
+BUILDCLASSES = Linux
+#ARCH_FILTER = %-ppc4xxFP
+ARCH_FILTER = eldk42-ppc4xxFP
+#ARCH_FILTER = eldk53-ppc4xxFP
 
 SOURCES += motorApp/MotorSrc/motorRecord.cc
 DBDS    += motorApp/MotorSrc/motorRecord.dbd
diff --git a/motorApp/MotorSrc/devMotorAsyn.c b/motorApp/MotorSrc/devMotorAsyn.c
index aa02f9e2..46af83b9 100644
--- a/motorApp/MotorSrc/devMotorAsyn.c
+++ b/motorApp/MotorSrc/devMotorAsyn.c
@@ -432,29 +432,30 @@ CALLBACK_VALUE update_values(struct motorRecord * pmr)
         pmr->name, pPvt->needUpdate);
     if ( pPvt->needUpdate )
     {
-        epicsInt32 rawvalue;
+        epicsFloat64 rawF64;
+        epicsInt32   rawI32;
 
-        rawvalue = (epicsInt32)floor(pPvt->status.position + 0.5);
-        if (pmr->rmp != rawvalue)
+        rawF64 = pPvt->status.position;
+        if (pmr->rmp != rawF64)
         {
-            pmr->rmp = rawvalue;
+            pmr->rmp = rawF64;
             db_post_events(pmr, &pmr->rmp, DBE_VAL_LOG);
         }
 
-        rawvalue = (epicsInt32)floor(pPvt->status.encoderPosition + 0.5);
-        if (pmr->rep != rawvalue)
+        rawF64 = pPvt->status.encoderPosition;
+        if (pmr->rep != rawF64)
         {
-            pmr->rep = rawvalue;
+            pmr->rep = rawF64;
             db_post_events(pmr, &pmr->rep, DBE_VAL_LOG);
         }
 
         /* Don't post MSTA changes here; motor record's process() function does efficent MSTA posting. */
         pmr->msta = pPvt->status.status;
 
-        rawvalue = (epicsInt32)floor(pPvt->status.velocity);
-        if (pmr->rvel != rawvalue)
+        rawI32 = (epicsInt32)floor(pPvt->status.velocity);
+        if (pmr->rvel != rawI32)
         {
-            pmr->rvel = rawvalue;
+            pmr->rvel = rawI32;
             db_post_events(pmr, &pmr->rvel, DBE_VAL_LOG);
         }
 
diff --git a/motorApp/MotorSrc/motorRecord.cc b/motorApp/MotorSrc/motorRecord.cc
index 03d83c6d..1ab4fa6b 100644
--- a/motorApp/MotorSrc/motorRecord.cc
+++ b/motorApp/MotorSrc/motorRecord.cc
@@ -637,7 +637,8 @@ static long init_record(dbCommon* arg, int pass)
         MARK(M_VAL);
         pmr->dval = pmr->drbv;
         MARK(M_DVAL);
-        pmr->rval = NINT(pmr->dval / pmr->mres);
+        pmr->rval = pmr->dval / pmr->mres;
+        //printf("RVAL_1: %g=%g/%g\n",pmr->rval,pmr->dval,pmr->mres);
         MARK(M_RVAL);
     }
 
@@ -654,7 +655,8 @@ static long init_record(dbCommon* arg, int pass)
     MARK(M_SPMG);
     pmr->diff = pmr->dval - pmr->drbv;
     MARK(M_DIFF);
-    pmr->rdif = NINT(pmr->diff / pmr->mres);
+    pmr->rdif = pmr->diff / pmr->mres;
+    //printf("RDIF_1: %g=%g/%g\n",pmr->rdif,pmr->diff,pmr->mres);
     MARK(M_RDIF);
     pmr->lval = pmr->val;
     pmr->ldvl = pmr->dval;
@@ -768,7 +770,8 @@ static long postProcess(motorRecord * pmr)
 #endif
         MARK(M_VAL);
         MARK(M_DVAL);
-        pmr->rval = NINT(pmr->dval / pmr->mres);
+        pmr->rval = pmr->dval / pmr->mres;
+        //printf("RVAL_2: %g=%g/%g\n",pmr->rval,pmr->dval,pmr->mres);
         MARK(M_RVAL);
         pmr->diff = 0.;
         MARK(M_DIFF);
@@ -892,7 +895,8 @@ static long postProcess(motorRecord * pmr)
                 {
                     double currpos = pmr->dval / pmr->mres;
                     double newpos = bpos + pmr->frac * (currpos - bpos);
-                    pmr->rval = NINT(newpos);
+                    pmr->rval = newpos;
+                    //printf("RVAL_3: %g=%g\n",pmr->dval,newpos);
                     WRITE_MSG(MOVE_ABS, &newpos);
                 }
                 pmr->mip = MIP_MOVE_BL;
@@ -941,7 +945,8 @@ static long postProcess(motorRecord * pmr)
         {
             double currpos = pmr->dval / pmr->mres;
             double newpos = bpos + pmr->frac * (currpos - bpos);
-            pmr->rval = NINT(newpos);
+            pmr->rval = newpos;
+            //printf("RVAL_4: %g=%g\n",pmr->dval,newpos);
             WRITE_MSG(MOVE_ABS, &newpos);
         }
         WRITE_MSG(GO, NULL);
@@ -1260,7 +1265,7 @@ static long process(dbCommon *arg)
             {
 
                 /* We're going in the wrong direction. Readback problem? */
-                printf("%s:tdir = %d\n", pmr->name, pmr->tdir);
+                //printf("%s:tdir = %d\n", pmr->name, pmr->tdir);
                 INIT_MSG();
                 WRITE_MSG(STOP_AXIS, NULL);
                 SEND_MSG();
@@ -2173,7 +2178,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
             MARK(M_DIFF);
         }
 
-        pmr->rdif = NINT(pmr->diff / pmr->mres);
+        pmr->rdif = pmr->diff / pmr->mres;
+        //printf("RDIF_2: %g=%g/%g\n",pmr->rdif,pmr->diff,pmr->mres);
         MARK(M_RDIF);
         if (set && !pmr->igset)
         {
@@ -2202,7 +2208,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
             double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
             double rbdst1 = 1.0 + (fabs(pmr->bdst) / fabs(pmr->mres));
             long rdbdpos = NINT(pmr->rdbd / fabs(pmr->mres)); /* retry deadband steps */
-            long rpos, npos, rtnstat;
+            long rtnstat;
             msta_field msta;
             msta.All = pmr->msta;
 
@@ -2221,18 +2227,17 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
             pmr->val = pmr->dval * dir + pmr->off;
             if (pmr->val != pmr->lval)
                 MARK(M_VAL);
-            pmr->rval = NINT(pmr->dval / pmr->mres);
+            pmr->rval = pmr->dval / pmr->mres;
+            //printf("RVAL_5: %g=%g/%g\n",pmr->rval,pmr->dval,pmr->mres);
             if (pmr->rval != pmr->lrvl)
                 MARK(M_RVAL);
 
             /* Don't move if we're within retry deadband. */
 
-            rpos = NINT(rbvpos);
-            npos = NINT(newpos);
             too_small = false;
             if ((pmr->mip & MIP_RETRY) == 0)
             {
-                if (abs(npos - rpos) < 1)
+                if (newpos==rbvpos)
                     too_small = true;
                 if (!too_small)
                 {
@@ -2247,9 +2252,10 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
                     }
                 }
             }
-            else if (abs(npos - rpos) < rdbdpos)
+            else if (abs(newpos - rbvpos) < rdbdpos)
                 too_small = true;
 
+            //printf("too_small: %u\n",(unsigned int)too_small);
             if (too_small == true)
             {
                 if (pmr->dmov == FALSE && (pmr->mip == MIP_DONE || pmr->mip == MIP_RETRY))
@@ -3723,7 +3729,8 @@ static void process_motor_info(motorRecord * pmr, bool initcall)
 
     pmr->diff = pmr->dval - pmr->drbv;
     MARK(M_DIFF);
-    pmr->rdif = NINT(pmr->diff / pmr->mres);
+    pmr->rdif = pmr->diff / pmr->mres;
+    //printf("RDIF_3: %g=%g/%g\n",pmr->rdif,pmr->diff,pmr->mres);
     MARK(M_RDIF);
 }
 
@@ -3735,9 +3742,10 @@ static void load_pos(motorRecord * pmr)
 
     pmr->ldvl = pmr->dval;
     pmr->lval = pmr->val;
-    if (pmr->rval != (epicsInt32) NINT(newpos))
+    if (pmr->rval != newpos)
         MARK(M_RVAL);
-    pmr->lrvl = pmr->rval = (epicsInt32) NINT(newpos);
+    pmr->lrvl = pmr->rval = newpos;
+    //printf("RVAL_6: %g=%g\n",pmr->rval,newpos);
 
     if (pmr->foff)
     {
@@ -4158,7 +4166,8 @@ static void syncTargetPosition(motorRecord *pmr)
     MARK(M_VAL);
     pmr->dval = pmr->ldvl = pmr->drbv;
     MARK(M_DVAL);
-    pmr->rval = pmr->lrvl = NINT(pmr->dval / pmr->mres);
+    pmr->rval = pmr->lrvl = pmr->dval / pmr->mres;
+    //printf("RVAL_7: %g=%g/%g\n",pmr->rval,pmr->dval,pmr->mres);
     MARK(M_RVAL);
 }
 
diff --git a/motorApp/MotorSrc/motorRecord.dbd b/motorApp/MotorSrc/motorRecord.dbd
index 05fd99b6..a2f22eea 100644
--- a/motorApp/MotorSrc/motorRecord.dbd
+++ b/motorApp/MotorSrc/motorRecord.dbd
@@ -533,13 +533,13 @@ recordtype(motor) {
                 special(SPC_NOMOD)
                 interest(1)
         }
-        field(RVAL,DBF_LONG) {
+        field(RVAL,DBF_DOUBLE) {
                 asl(ASL0)
                 prompt("Raw Desired Value (step")
                 special(SPC_MOD)
                 pp(TRUE)
         }
-        field(LRVL,DBF_LONG) {
+        field(LRVL,DBF_DOUBLE) {
                 prompt("Last Raw Des Val (steps")
                 special(SPC_NOMOD)
                 interest(1)
@@ -567,7 +567,7 @@ recordtype(motor) {
                 prompt("Difference dval-drbv")
                 special(SPC_NOMOD)
         }
-        field(RDIF,DBF_LONG) {
+        field(RDIF,DBF_DOUBLE) {
                 prompt("Difference rval-rrbv")
                 special(SPC_NOMOD)
         }
@@ -575,15 +575,15 @@ recordtype(motor) {
                 prompt("Raw cmnd direction")
                 special(SPC_NOMOD)
         }
-        field(RRBV,DBF_LONG) {
+        field(RRBV,DBF_DOUBLE) {
                 prompt("Raw Readback Value")
                 special(SPC_NOMOD)
         }
-        field(RMP,DBF_LONG) {
+        field(RMP,DBF_DOUBLE) {
                 prompt("Raw Motor Position")
                 special(SPC_NOMOD)
         }
-        field(REP,DBF_LONG) {
+        field(REP,DBF_DOUBLE) {
                 prompt("Raw Encoder Position")
                 special(SPC_NOMOD)
         }