Use MRES rather than controller resolution to do EGUtoRAWbacktoEGU conversion.

motorApp/NewportSrc/README

@@ -21,56 +21,11 @@ The correct jumpering for the ESP300 is; 1-5, 2-6, 9-13, 10-11, 15-16.
 Setting the motor resolution (MRES) field.
 ------------------------------------------
 
-For DC motors, set MRES to the ESP300's response to the SU? command.
-
-If there is no other mechanism (e.g., generic serial record, dumb terminal,
-etc.) to communicate to the ESP300, the response to the SU? command can be
-determined by following this procedure;
-
-1 - uncomment the "USR_CFLAGS += -DDEBUG" line in the NewportSrc/Makefile.Vx
-    file (This selects the diagnostic messages to be compiled).
-2 - "cd <motor>/motorApp/NewportSrc; gnumake clean; gnumake"; this re-compiles
-    the device drivers with the diagnostic messages selected.
-3 - Rebuild your IOC; "cd <IOC>; gnumake".
-4 - Add "drvESP300debug = 4" to the IOC's st.cmd file before "iocInit".
-5 - Connect to the VxWorks shell and reboot the IOC.
-
-The VxWorks shell output should contain lines like the following;
-
-+++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-Starting iocInit
-recv_mess(): message = ""
-send_mess(): message = VE?
-recv_mess(): message = "ESP300 Version 3.03 04/13/00"
-send_mess(): message = ZU
-recv_mess(): message = "0H"
-send_mess(): message = 01ST
-send_mess(): message = 02ST
-send_mess(): message = 03ST
-send_mess(): message = 01SU?
-recv_mess(): message = "0.00005101"
-send_mess(): message = 01MD
-recv_mess(): message = "1"
-send_mess(): message = 01TP
-recv_mess(): message = "0.00000"
-send_mess(): message = 01PH
-recv_mess(): message = "18000000H, 7H"
-send_mess(): message = 01MO?
-recv_mess(): message = "0"
-send_mess(): message = 02SU?
-recv_mess(): message = "0.00005101"
-send_mess(): message = 02MD
-recv_mess(): message = "1"
-+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-Note the response to the SU? commands and set MRES to that value.
-
-6 - Turn off diagnostic messages. Either set drvESP300debug = 0 in the st.cmd
-    file (there is a very small amount of CPU overhead associated with leaving
-    the diagnostic messages loaded), or go to step #1, and reverse the steps;
-    comment out the "USR_CFLAGS += -DDEBUG" line in the NewportSrc/Makefile.Vx,
-    etc., etc.,
-    
+Set the MRES like any other motor; i.e., to the precision of the stage.
+(Prior to motor module R6.8, the driver used the controllers resolution
+to scale the EGUtoRAWbacktoEGU conversion done between motor record and
+device driver support. With R6.8 the driver uses the motor record's MRES
+to scale the conversion).
 
 Newport ESP100
 ==============

motorApp/NewportSrc/devESP300.cc

@@ -37,6 +37,7 @@ Last Modified:	$Date: 2008-03-14 20:17:14 $
  * -----------------
  * .01  05-23-03 rls Converted to R3.14.x.
  * .02  10-28-03 rls User must set MRES to drive resolution.
+ * .03  13-22-02 rls Use MRES rather than drive resolution.
  */
 
 #include <string.h>
@@ -187,7 +188,7 @@ static RTN_STATUS ESP300_build_trans(motor_cmnd command, double *parms, struct m
 	return(rtnval = ERROR);
 
     cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
-    cntrl_units = dval * cntrl->drive_resolution[axis - 1];
+    cntrl_units = dval * mr->mres;
 
     if (ESP300_table[command] > motor_call->type)
 	motor_call->type = ESP300_table[command];

motorApp/NewportSrc/drvESP300.cc

@@ -53,12 +53,14 @@ HeadURL:        $URL$
  *            extern "C" linkage.
  * .09 08/07/06 rls - GPIB under ASYN only allows 1 input EOS character.
  *                    No output EOS. Adjustments accordingly.
+ * .10 02/22/13 rls - Scrap driver resolution, use MRES.
  */
 
 
 #include <string.h>
 #include <epicsThread.h>
 #include <drvSup.h>
+#include "motorRecord.h"
 #include "motor.h"
 #include "NewportRegister.h"
 #include "drvMMCom.h"
@@ -216,13 +218,22 @@ static int set_status(int card, int signal)
     char inbuff[BUFF_SIZE], outbuff[BUFF_SIZE];
     int rtn_state, charcnt;
     long mstatus;
-    double motorData;
+    double motorData, MRES;
     bool power, plusdir, ls_active = false;
     msta_field status;
+    struct motorRecord *mr;
 
     cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
     motor_info = &(motor_state[card]->motor_info[signal]);
     nodeptr = motor_info->motor_motion;
+    if (nodeptr != NULL)
+    {
+	mr = (struct motorRecord *) nodeptr->mrecord;
+        MRES = mr->mres;
+    }
+    else
+	MRES = 1.0;
+
     status.All = motor_info->status.All;
 
     sprintf(outbuff, "%.2dMD", signal + 1);
@@ -259,7 +270,7 @@ static int set_status(int card, int signal)
     send_mess(card, outbuff, (char) NULL);
     charcnt = recv_mess(card, inbuff, 1);
 
-    motorData = atof(inbuff) / cntrl->drive_resolution[signal];
+    motorData = atof(inbuff) / MRES;
 
     if (motorData == motor_info->position)
     {
@@ -664,12 +675,6 @@ errexit:
             {
                 struct mess_info *motor_info = &brdptr->motor_info[motor_index];
 
-                /* Set axis resolution. */
-                sprintf(buff, "%.2dSU?", motor_index + 1);
-                send_mess(card_index, buff, 0);
-                recv_mess(card_index, buff, 1);
-                cntrl->drive_resolution[motor_index] = atof(&buff[0]);
-
                 motor_info->status.All = 0;
                 motor_info->no_motion_count = 0;
                 motor_info->encoder_position = 0;