From 77b3a342cc057ba563b64d5b09517339263dbc88 Mon Sep 17 00:00:00 2001
From: Ron Sluiter <rsluiter@users.noreply.github.com>
Date: Fri, 5 Jul 2002 17:03:39 +0000
Subject: [PATCH] Restored SET_ENC_RATIO command.

---
 motorApp/V544Src/devV544.c | 49 ++++++++++++++++++++++++++++++++++++--
 1 file changed, 47 insertions(+), 2 deletions(-)

diff --git a/motorApp/V544Src/devV544.c b/motorApp/V544Src/devV544.c
index a489cd05..836d58df 100644
--- a/motorApp/V544Src/devV544.c
+++ b/motorApp/V544Src/devV544.c
@@ -129,6 +129,7 @@ static struct v544_motor_table v544_table[] = {
     {IMMEDIATE, -1, 1},		/* SET_VELO */
     {IMMEDIATE, -1, 1},		/* SET_ACCEL */
     {IMMEDIATE, CS_GO, 0},	/* GO */
+    {IMMEDIATE, -1, 2},		/* SET_ENC_RATIO - Not supported */
     {INFO, -1, 0},		/* GET_INFO */
     {MOVE_TERM, CS_IDLE, 0},	/* STOP_AXIS */
     {VELOCITY, -1, 1},		/* JOG */
@@ -228,10 +229,11 @@ STATIC long v544_init(int after)
 STATIC long v544_init_record(struct motorRecord * mr)
 {
     int card, signal;
-    int initPos;
+    int initEncoder, initPos;
     struct v544_trans *ptrans;
     MOTOR_AXIS_QUERY axis_query;
     MOTOR_CALL *motor_call;
+    double ep_mp[2];		/* encoder pulses, motor pulses */
     int rtnStat;
 
     Debug(1, "v544_init_record: entry...\n", 0);
@@ -306,10 +308,41 @@ STATIC long v544_init_record(struct motorRecord * mr)
     v544_cards[card].v544_axis[signal].in_use = YES;
 
 
+/*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.
+     */
+    if ((initEncoder = (mr->msta & EA_PRESENT)) && mr->ueip)
+    {
+	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)
+		;
+	    Debug(5, "oms58_init_record: ER mult = %d\n", m);
+	    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.;
+    }
+
+
     /* Program the device if an initial position is programmed or 
      * an encoder is present. */
 
-    if (initPos = (mr->dval && mr->mres))
+    if ((initPos = (mr->dval && mr->mres)) || initEncoder)
     {
 
 	/*
@@ -325,6 +358,17 @@ STATIC long v544_init_record(struct motorRecord * mr)
 	callbackSetCallback((void (*)(struct callbackPvt *)) v544_init_callback,
 			    &(motor_call->callback));
 
+	if (initEncoder)
+	{
+	    Debug(7, "v544_init_record: encoder pulses per EGU = %f\n", ep_mp[0]);
+	    Debug(7, "v544_init_record: motor pulses per EGU = %f\n", ep_mp[1]);
+
+	
+	    v544_start_trans(mr);
+	    v544_build_trans(SET_ENC_RATIO, ep_mp, mr);
+	    v544_end_trans(mr);
+	}
+
 	if (initPos)
         {
 	    double setPos = mr->dval / mr->mres;
@@ -521,6 +565,7 @@ STATIC long v544_build_trans(motor_cmnd command, double *parms, struct motorReco
 	    motor_call->cmndList[motor_call->cmndCnt].cmnd |= v544_table[command].command;
 	    motor_call->cmndCnt++;
 	    break;
+	case SET_ENC_RATIO:
 	case GET_INFO:
 	    motor_call->cmndCnt++;
 	    break;