- Restored SET_ENC_RATIO command.

- Instead of calling process() directly from motor_callback(),
call dbProcess().

motorApp/MotorSrc/motordevCom.c

@@ -3,9 +3,9 @@ FILENAME: motordevCom.c
 USAGE... This file contains device functions that are common to all motor
     record device support modules.
 
-Version:	$Revision: 1.6 $
+Version:	$Revision: 1.7 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2002-04-01 22:45:33 $
+Last Modified:	$Date: 2002-07-05 18:52:58 $
 */
 
 /*
@@ -41,7 +41,6 @@ Last Modified:	$Date: 2002-04-01 22:45:33 $
  * .03  03-19-96 tmm v1.10: modified encoder-ratio calculation
  * .04  11-26-96 jps allow for bumpless-reboot on position
  * .04a 02-19-97 tmm fixed for EPICS 3.13
- * .05  04-01-02 rls Eliminated SET_ENC_RATIO.
  */
 
 
@@ -138,16 +137,29 @@ LOGIC...
     Update MSTA.
     Set axis assigned to a motor record indicator ON.
 
+    Set Initialize encoder indicator based on (MSTA indicates an encoder is
+	present, AND, UEIP set to YES).
+
+    IF Initialize encoder indicator is ON.
+	...
+	...
+    ELSE
+	Set local encoder ratio to unity.
+    ENDIF
+
     Set Initialize position indicator based on (DVEL != 0, AND, MRES != 0,
 	AND, the above "get_axis_info()" position == 0) [NOTE: non-zero controller
 	position takes precedence over autorestore position].
     Set Command Primitive Initialization string indicator based on (non-NULL "init"
 	pointer, AND, non-zero string length.
 
-    IF (Initialize position, OR, string indicators are ON)
+    IF (Initialize position, OR, encoder, OR, string indicators are ON)
 	Create initialization semaphore.
 	...
 	...
+	IF Initialize encoder indicator is ON.
+	    Send Set Encoder Ratio command to controller.
+	ENDIF
 	IF Initialize position indicator is ON.
 	    Send Load Position command to controller.
 	ENDIF
@@ -171,10 +183,11 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
     struct motor_dset *pdset = (struct motor_dset *) (mr->dset);
     struct board_stat *brdptr;
     int card, signal;
-    BOOLEAN initPos, initString;
+    BOOLEAN initEncoder, initPos, initString;
     struct motor_trans *ptrans;
     MOTOR_AXIS_QUERY axis_query;
     struct mess_node *motor_call;
+    double ep_mp[2];		/* encoder pulses, motor pulses */
     int rtnStat;
 
     /* allocate space for private field - an motor_trans structure */
@@ -240,12 +253,40 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
     mr->msta = axis_query.status;	/* status info */
     brdptr->axis_stat[signal].in_use = ON;
 
+/*jps: setting the encoder ratio was moved from init_record() remove  callbacks during iocInit */
+    /*
+     * Set the encoder ratio.  Note this is blatantly device dependent.
+     * Determine the number of encoder pulses and the number of motor pulses
+     * per engineering unit (EGU).  Send an array containing this information
+     * to device support.
+     */
+    initEncoder = ((mr->msta & EA_PRESENT) && mr->ueip) ? ON : OFF;
+    if (initEncoder == ON)
+    {
+	if (fabs(mr->mres) < 1.e-9)
+	    mr->mres = 1.;
+	if (fabs(mr->eres) < 1.e-9)
+	    mr->eres = mr->mres;
+	{
+	    int m;
+	    for (m = 10000000; (m > 1) && (fabs(m / mr->eres) > 1.e6 ||
+			fabs(m / mr->mres) > 1.e6); m /= 10);
+	    ep_mp[0] = m / mr->eres;	/* encoder pulses per ... */
+	    ep_mp[1] = m / mr->mres;	/* motor pulses */
+	}
+    }
+    else
+    {
+	ep_mp[0] = 1.;
+	ep_mp[1] = 1.;
+    }
+
     initPos = (mr->dval != 0 && mr->mres != 0 && axis_query.position == 0) ? ON : OFF;
     /* Test for command primitive initialization string. */
     initString = (mr->init != NULL && strlen(mr->init)) ? ON : OFF;
     
     /* Program the device if an encoder is present */
-    if (initPos == ON || initString == ON)
+    if (initPos == ON || initEncoder == ON || initString == ON)
     {
 	/* Semaphore used to hold initialization until device is programmed - cleared by callback. */
 	ptrans->initSem = semBCreate(SEM_Q_FIFO, SEM_EMPTY);
@@ -253,6 +294,13 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
 	/* Switch to special init callback so that record will not be processed during iocInit. */
 	callbackSetCallback((void (*)(struct callbackPvt *)) motor_init_callback,
 			    &(motor_call->callback));
+	if (initEncoder == ON)
+	{
+	    (*pdset->start_trans)(mr);
+	    (*pdset->build_trans)(SET_ENC_RATIO, ep_mp, mr);
+	    (*pdset->end_trans)(mr);
+	}
+
 	if (initPos == ON)
 	{
 	    double setPos = mr->dval / mr->mres;
@@ -432,7 +480,7 @@ static void motor_callback(struct mess_node * motor_return)
     (ptrans->tabptr->free) (motor_return, ptrans->tabptr);
 
     dbScanLock((struct dbCommon *) mr);
-    (*prset->process) ((struct dbCommon *) mr);
+    dbProcess((struct dbCommon *) mr);	/* Process the motor record. */
     dbScanUnlock((struct dbCommon *) mr);
     return;
 }