From bcb11ae5a79c3d84bd85ebc0ec21e6bb936e1ac9 Mon Sep 17 00:00:00 2001
From: Ron Sluiter <rsluiter@users.noreply.github.com>
Date: Wed, 24 Apr 2013 18:52:24 +0000
Subject: [PATCH] Added asyn motor driver support for actual raw velocity (RVEL
 field).

---
 motorApp/MotorSrc/drvMotorAsyn.c    | 5 +++--
 motorApp/MotorSrc/motor_interface.h | 1 +
 motorApp/MotorSrc/motordrvCom.h     | 2 +-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/motorApp/MotorSrc/drvMotorAsyn.c b/motorApp/MotorSrc/drvMotorAsyn.c
index 7a21029d..f75e72ab 100644
--- a/motorApp/MotorSrc/drvMotorAsyn.c
+++ b/motorApp/MotorSrc/drvMotorAsyn.c
@@ -88,6 +88,7 @@ typedef enum {
     motorLowLimit = motorAxisLowLimit,
     motorSetClosedLoop = motorAxisClosedLoop,
     motorEncoderPosition = motorAxisEncoderPosn,
+    motorActualVel = motorAxisActualVel,
     motorDeferMoves = motorAxisDeferMoves,
     motorMoveToHome = motorAxisMoveToHome,
     /* Status bits split out */
@@ -861,10 +862,10 @@ static void intCallback(void *axisPvt, unsigned int nChanged,
             (*pPvt->drvset->getDouble)(pAxis->axis, changed[i], 
                            &(pAxis->status.encoderPosition));
         }
-        /*    if (changed[i] == motorVelocity) {
+        if (changed[i] == motorAxisActualVel) {
             (*pPvt->drvset->getDouble)(pAxis->axis, changed[i], 
                            &(pAxis->status.velocity));
-                           }*/
+        }
     }
 
     /* Pass float64 interrupts */
diff --git a/motorApp/MotorSrc/motor_interface.h b/motorApp/MotorSrc/motor_interface.h
index 79601aae..ff1692ec 100644
--- a/motorApp/MotorSrc/motor_interface.h
+++ b/motorApp/MotorSrc/motor_interface.h
@@ -311,6 +311,7 @@ typedef enum
     motorAxisDGain,            /**< (double) The differential gain term for PID control in controller dependent units */
     motorAxisClosedLoop,       /**< (int)    Enables closed loop in the controller if non-zero */
     motorAxisEncoderPosn,      /**< (double, r/o) Current encoder position */
+    motorAxisActualVel,        /**< (double, r/o) Current actual velocity */
     motorAxisDirection,        /**< (int, r/o) last motion direction 0=Negative, 1=Positive */
     motorAxisDone,             /**< (int, r/o) a motion is complete */
     motorAxisHighHardLimit,    /**< (int, r/o) plus limit switch has been hit */
diff --git a/motorApp/MotorSrc/motordrvCom.h b/motorApp/MotorSrc/motordrvCom.h
index 82b7953f..c29c73a7 100644
--- a/motorApp/MotorSrc/motordrvCom.h
+++ b/motorApp/MotorSrc/motordrvCom.h
@@ -158,7 +158,7 @@ struct mess_info
     int encoder_present;		/* one YES/NO for each axis */
     epicsInt32 position;		/* one pos for each axis */
     epicsInt32 encoder_position;	/* one pos for each axis */
-    epicsInt32 velocity;		/* Raw velocity readback(not implemented) */
+    epicsInt32 velocity;		/* Raw velocity readback */
     int no_motion_count;
     epicsTime status_delay;     /* Insure 10ms delay between motion/velocity
 				 * commands and status query. */