Multiple fixes for MVP2001 driver

motorApp/MicroMoSrc/devMVP2001.cc

@@ -84,6 +84,8 @@ Last Modified:	$Date: 2008-06-06 17:16:51 $
  *			current limit is out of range) from 500mA to 100mA.
  * .06	02/13/04  rls	port to R3.14.x
  * .07	06/06/08  rls	Bug fix initializing driver twice.
+ * .08  03/18/11  kmp   Corrected the MVP2001_table structure; only the "GO"
+ *                      command causes the motor to move.
  *
  */
 
@@ -126,15 +128,15 @@ extern "C"{epicsExportAddress(dset, devMVP2001);}
 /* WARNING! this must match "motor_cmnd" in motor.h */
 
 static msg_types MVP2001_table[] = {
-    MOTION,         /* MOVE_ABS */
-    MOTION,         /* MOVE_REL */
-    MOTION,         /* HOME_FOR */
-    MOTION,         /* HOME_REV */
+    IMMEDIATE,      /* MOVE_ABS */
+    IMMEDIATE,      /* MOVE_REL */
+    IMMEDIATE,      /* HOME_FOR */
+    IMMEDIATE,      /* HOME_REV */
     IMMEDIATE,      /* LOAD_POS */
     IMMEDIATE,      /* SET_VEL_BASE */
     IMMEDIATE,      /* SET_VELOCITY */
     IMMEDIATE,      /* SET_ACCEL */
-    IMMEDIATE,      /* GO */
+    MOTION,         /* GO */
     IMMEDIATE,      /* SET_ENC_RATIO */
     INFO,           /* GET_INFO */
     MOVE_TERM,      /* STOP_AXIS */

motorApp/MicroMoSrc/drvMVP2001.cc

@@ -86,6 +86,8 @@ Last Modified:  $Date: 2009-09-08 18:26:32 $
  * .09 06/06/08  rls    - Bug fix setting RA_DONE based on inMotion.
  * .10 06/09/08  rls    - Controller workaround for comm. errors; delay after
  *                        each messages received for 0.1 second.
+ * .11 03/18/11  kmp    Set status.Bits.EA_POSITION properly in set_status() so
+ *                      the torque enable/disable button is accurate.
  */
 
 /*
@@ -395,8 +397,8 @@ static int set_status(int card, int signal)
     /* The MVP2001 doesn't have a home feature */
     status.Bits.RA_HOME = 0;
 
-    /* !!! Assume no closed-looped control!!! */
-    status.Bits.EA_POSITION = 0;
+    /* Set the enable-torque PV properly */
+    status.Bits.EA_POSITION = (mstat.Bits.NOT_power == false) ? 1 : 0;
 
     /* encoder status */
     status.Bits.EA_SLIP = 0;