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+Newport ESP300
+==============
+
+Serial communication using the GreensSpring XM Octal I/O.
+---------------------------------------------------------
+
+The GreensSpring XM Octal I/O has a 16 pin jumper block for each serial port.
+Assume (the manual does not define this) that the jumper pins are numbered
+from, top to bottom, and from left to right; i.e.,
+    1  2  3  4
+    5  6  7  8
+    9 10 11 12
+   13 14 15 16
+   
+Then the "Default jumbering ..." depicted in Fig. 2 of the GreensSpring XM
+Octal I/O manual is jumpered as follows; 1-5, 2-6, 9-13, 10-14.
+
+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.,