Merge branch 'master' of github.com:epics-modules/motor

2017-08-28 18:09:33 -05:00
commit d827ae8a51
@@ -0,0 +1,164 @@
+#!/bin/sh
+set -e -x
+
+SUPPORT=$HOME/.cache/support
+
+install -d $SUPPORT
+
+# Conditionally build IPAC
+if [ -n "$IPAC" ]; then
+    IPAC_PATH=$SUPPORT/ipac
+else
+    IPAC_PATH=
+fi
+
+RELEASE_PATH=$TRAVIS_BUILD_DIR/configure/RELEASE
+EPICS_BASE=$SUPPORT/epics-base
+
+cat << EOF > $RELEASE_PATH
+IPAC=$IPAC_PATH
+SNCSEQ=$SUPPORT/seq
+ASYN=$SUPPORT/asyn
+EPICS_BASE=$SUPPORT/epics-base
+EOF
+
+# use default selection for MSI
+sed -i -e '/MSI/d' configure/CONFIG_SITE
+
+if [ ! -e "$EPICS_BASE/built" ] 
+then
+
+    git clone --depth 10 --branch $BASE https://github.com/epics-base/epics-base.git $EPICS_BASE
+
+    EPICS_HOST_ARCH=`sh $EPICS_BASE/startup/EpicsHostArch`
+
+    case "$STATIC" in
+    static)
+        cat << EOF >> "$EPICS_BASE/configure/CONFIG_SITE"
+SHARED_LIBRARIES=NO
+STATIC_BUILD=YES
+EOF
+        ;;
+    *) ;;
+    esac
+
+    case "$CMPLR" in
+    clang)
+      echo "Host compiler is clang"
+      cat << EOF >> $EPICS_BASE/configure/os/CONFIG_SITE.Common.$EPICS_HOST_ARCH
+GNU         = NO
+CMPLR_CLASS = clang
+CC          = clang
+CCC         = clang++
+EOF
+      ;;
+    *) echo "Host compiler is default";;
+    esac
+
+    # requires wine and g++-mingw-w64-i686
+    if [ "$WINE" = "32" ]
+    then
+      echo "Cross mingw32"
+      sed -i -e '/CMPLR_PREFIX/d' $EPICS_BASE/configure/os/CONFIG_SITE.linux-x86.win32-x86-mingw
+      cat << EOF >> $EPICS_BASE/configure/os/CONFIG_SITE.linux-x86.win32-x86-mingw
+CMPLR_PREFIX=i686-w64-mingw32-
+EOF
+      cat << EOF >> $EPICS_BASE/configure/CONFIG_SITE
+CROSS_COMPILER_TARGET_ARCHS+=win32-x86-mingw
+EOF
+    fi
+
+    # set RTEMS to eg. "4.9" or "4.10"
+    if [ -n "$RTEMS" ]
+    then
+      echo "Cross RTEMS${RTEMS} for pc386"
+      install -d /home/travis/.cache
+      curl -L "https://github.com/mdavidsaver/rsb/releases/download/travis-20160306-2/rtems${RTEMS}-i386-trusty-20190306-2.tar.gz" \
+      | tar -C /home/travis/.cache -xj
+
+      sed -i -e '/^RTEMS_VERSION/d' -e '/^RTEMS_BASE/d' $EPICS_BASE/configure/os/CONFIG_SITE.Common.RTEMS
+      cat << EOF >> $EPICS_BASE/configure/os/CONFIG_SITE.Common.RTEMS
+RTEMS_VERSION=$RTEMS
+RTEMS_BASE=/home/travis/.cache/rtems${RTEMS}-i386
+EOF
+      cat << EOF >> $EPICS_BASE/configure/CONFIG_SITE
+CROSS_COMPILER_TARGET_ARCHS+=RTEMS-pc386
+EOF
+
+    fi
+
+    make -C "$EPICS_BASE" -j2
+    # get MSI for 3.14
+    case "$BASE" in
+    3.14*)
+        echo "Build MSI"
+        install -d "$HOME/msi/extensions/src"
+        curl https://www.aps.anl.gov/epics/download/extensions/extensionsTop_20120904.tar.gz | tar -C "$HOME/msi" -xvz
+        curl https://www.aps.anl.gov/epics/download/extensions/msi1-7.tar.gz | tar -C "$HOME/msi/extensions/src" -xvz
+        mv "$HOME/msi/extensions/src/msi1-7" "$HOME/msi/extensions/src/msi"
+
+        cat << EOF > "$HOME/msi/extensions/configure/RELEASE"
+EPICS_BASE=$EPICS_BASE
+EPICS_EXTENSIONS=\$(TOP)
+EOF
+        make -C "$HOME/msi/extensions"
+        cp "$HOME/msi/extensions/bin/$EPICS_HOST_ARCH/msi" "$EPICS_BASE/bin/$EPICS_HOST_ARCH/"
+        echo 'MSI:=$(EPICS_BASE)/bin/$(EPICS_HOST_ARCH)/msi' >> "$EPICS_BASE/configure/CONFIG_SITE"
+
+        cat <<EOF >> configure/CONFIG_SITE
+MSI = \$(EPICS_BASE)/bin/\$(EPICS_HOST_ARCH)/msi
+EOF
+
+      ;;
+    *) echo "Use MSI from Base"
+      ;;
+    esac
+
+    touch $EPICS_BASE/built
+else
+    echo "Using cached epics-base!"
+fi
+
+# IPAC
+if [ -n "$IPAC" ]; then
+    if [ ! -e "$SUPPORT/ipac/built" ]; then
+        echo "Build ipac"
+        install -d $SUPPORT/ipac
+        git clone --depth 10 --branch $IPAC https://github.com/epics-modules/ipac.git $SUPPORT/ipac
+        cat << EOF > $SUPPORT/ipac/configure/RELEASE
+EPICS_BASE=$SUPPORT/epics-base
+EOF
+        make -C $SUPPORT/ipac
+        touch $SUPPORT/ipac/built
+    else
+        echo "Using cached ipac"
+    fi
+else
+    echo "Skipping ipac"
+fi
+
+
+# sequencer
+if [ ! -e "$SUPPORT/seq/built" ]; then
+    echo "Build sequencer"
+    install -d $SUPPORT/seq
+    curl -L "http://www-csr.bessy.de/control/SoftDist/sequencer/releases/seq-${SEQ}.tar.gz" | tar -C $SUPPORT/seq -xvz --strip-components=1
+    cp $RELEASE_PATH $SUPPORT/seq/configure/RELEASE
+    make -C $SUPPORT/seq
+    touch $SUPPORT/seq/built
+else
+    echo "Using cached seq"
+fi
+
+
+# asyn
+if [ ! -e "$SUPPORT/asyn/built" ]; then
+    echo "Build asyn"
+    install -d $SUPPORT/asyn
+    curl -L "https://www.aps.anl.gov/epics/download/modules/asyn${ASYN}.tar.gz" | tar -C $SUPPORT/asyn -xvz --strip-components=1
+    cp $RELEASE_PATH $SUPPORT/asyn/configure/RELEASE
+    make -C "$SUPPORT/asyn" -j2
+    touch $SUPPORT/asyn/built
+else
+    echo "Using cached asyn"
+fi
@@ -0,0 +1,27 @@
+sudo: false
+dist: trusty
+language: c
+compiler:
+  - gcc
+cache:
+  directories:
+    - $HOME/.cache
+addons:
+  apt:
+    packages:
+    - libreadline6-dev
+    - libncurses5-dev
+    - perl
+    - clang
+    - g++-mingw-w64-i686
+    - re2c
+env:
+ - BASE=3.14 STATIC=shared SEQ=2.2.4 ASYN=4-31 IPAC=2.14
+ - BASE=3.14 STATIC=static SEQ=2.2.4 ASYN=4-31 IPAC=2.14
+ - BASE=3.15 STATIC=shared SEQ=2.2.4 ASYN=4-31 IPAC=2.14
+ - BASE=3.15 STATIC=static SEQ=2.2.4 ASYN=4-31 IPAC=2.14
+ - BASE=3.16 STATIC=shared RTEMS=4.10 SEQ=2.2.4 ASYN=4-31 IPAC=2.14
+ - BASE=3.16 STATIC=shared CMPLR=clang WINE=32 SEQ=2.2.4 ASYN=4-31 IPAC=
+ - BASE=3.16 STATIC=static WINE=32 SEQ=2.2.4 ASYN=4-31 IPAC=
+install: ./.ci/travis-prepare.sh
+script: make
@@ -786,7 +786,7 @@ static long postProcess(motorRecord * pmr)
            double vbase = pmr->vbas / fabs(pmr->mres);
            double hpos = 0;
            double hvel =  pmr->hvel / fabs(pmr->mres);
-            double acc = (hvel - vbase) / pmr->accl;
+            double acc = (hvel - vbase) > 0 ? ((hvel - vbase)/ pmr->accl): (hvel / pmr->accl);

            motor_cmnd command;

@@ -858,7 +858,7 @@ static long postProcess(motorRecord * pmr)

            if (pmr->mip & MIP_JOG_STOP)
            {
-                double acc = (vel - vbase) / pmr->accl;
+                double acc = (vel - vbase) > 0 ? ((vel - vbase)/ pmr->accl) : (vel / pmr->accl);

                if (vel <= vbase)
                    vel = vbase + 1;
@@ -875,7 +875,7 @@ static long postProcess(motorRecord * pmr)
            else
            {
                double bvel = pmr->bvel / fabs(pmr->mres);
-                double bacc = (bvel - vbase) / pmr->bacc;
+                double bacc = (bvel - vbase) > 0 ? ((bvel - vbase)/ pmr->bacc) : (bvel / pmr->bacc);

                if (bvel <= vbase)
                    bvel = vbase + 1;
@@ -911,7 +911,7 @@ static long postProcess(motorRecord * pmr)
        /* First part of jog done. Do backlash correction. */
        double bvel = pmr->bvel / fabs(pmr->mres);
        double vbase = pmr->vbas / fabs(pmr->mres);
-        double bacc = (bvel - vbase) / pmr->bacc;
+        double bacc = (bvel - vbase) > 0 ? ((bvel - vbase)/ pmr->bacc) : (bvel / pmr->bacc);
        double bpos = (pmr->dval - pmr->bdst) / pmr->mres;

        /* Use if encoder or ReadbackLink is in use. */
@@ -1935,7 +1935,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)

                vbase = pmr->vbas / fabs(pmr->mres);
                hvel  = pmr->hvel / fabs(pmr->mres);
-                acc   = (hvel - vbase) / pmr->accl;
+                acc   = (hvel - vbase) > 0 ? ((hvel - vbase) / pmr->accl) : (hvel / pmr->accl);
                hpos = 0;

                INIT_MSG();
@@ -2147,13 +2147,13 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
            double newpos = pmr->dval / pmr->mres;      /* where to go     */
            double vbase = pmr->vbas / fabs(pmr->mres); /* base speed      */
            double vel = pmr->velo / fabs(pmr->mres);   /* normal speed    */
-            double acc = (vel - vbase) / pmr->accl;     /* normal accel.   */
+            double acc = (vel - vbase) > 0 ? ((vel - vbase) / pmr->accl) : (vel / pmr->accl);     /* normal accel.   */
            /*
             * 'bpos' is one backlash distance away from 'newpos'.
             */
            double bpos = (pmr->dval - pmr->bdst) / pmr->mres;
            double bvel = pmr->bvel / fabs(pmr->mres);  /* backlash speed  */
-            double bacc = (bvel - vbase) / pmr->bacc;   /* backlash accel. */
+            double bacc = (bvel - vbase) > 0 ? ((bvel - vbase) / pmr->bacc) : (bvel / pmr->bacc);   /* backlash accel. */
            bool use_rel, preferred_dir, too_small;
            double relpos = pmr->diff / pmr->mres;
            double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -19,6 +19,7 @@ SRCS += devPIC862.cc drvPIC862.cc PIC862Register.cc
 SRCS += devPIC663.cc drvPIC663.cc PIC663Register.cc
 SRCS += devPIE710.cc drvPIE710.cc PIE710Register.cc
 SRCS += devPIE516.cc drvPIE516.cc PIE516Register.cc
+SRCS += devPIE517.cc drvPIE517.cc PIE517Register.cc
 SRCS += devPIE816.cc drvPIE816.cc PIE816Register.cc


@@ -0,0 +1,68 @@
+/*
+FILENAME...	PIE517Register.cc
+USAGE...	Register PI motor device driver shell commands.
+
+Version:	$Revision: 1.1 $
+Modified By:	$Author: sullivan $
+Last Modified:	$Date: 2007-03-30 20:01:05 $
+*/
+
+/*****************************************************************
+                          COPYRIGHT NOTIFICATION
+*****************************************************************
+
+(C)  COPYRIGHT 1993 UNIVERSITY OF CHICAGO
+
+This software was developed under a United States Government license
+described on the COPYRIGHT_UniversityOfChicago file included as part
+of this distribution.
+**********************************************************************/
+
+#include <stdlib.h>
+#include <stddef.h>
+#include <string.h>
+#include <stdio.h>
+#include <iocsh.h>
+#include "motor.h"
+#include "drvPIE517.h"
+#include "epicsExport.h"
+
+extern "C"
+{
+
+// Pi Setup arguments
+static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
+static const iocshArg setupArg1 = {"Polling rate", iocshArgInt};
+// Pi Config arguments
+static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
+static const iocshArg configArg1 = {"asyn port name", iocshArgString};
+static const iocshArg configArg2 = {"asyn address (GPIB)", iocshArgInt};
+
+static const iocshArg * const PIE517SetupArgs[2]  = {&setupArg0, &setupArg1};
+static const iocshArg * const PIE517ConfigArgs[3] = {&configArg0, &configArg1,
+						     &configArg2};
+
+static const iocshFuncDef  setupPIE517 = {"PIE517Setup",  2, PIE517SetupArgs};
+static const iocshFuncDef configPIE517 = {"PIE517Config", 3, PIE517ConfigArgs};
+
+static void setupPIE517CallFunc(const iocshArgBuf *args)
+{
+    PIE517Setup(args[0].ival, args[1].ival);
+}
+
+
+static void configPIE517CallFunc(const iocshArgBuf *args)
+{
+    PIE517Config(args[0].ival, args[1].sval, args[2].ival);
+}
+
+
+static void PIE517motorRegister(void)
+{
+    iocshRegister(&setupPIE517,  setupPIE517CallFunc);
+    iocshRegister(&configPIE517, configPIE517CallFunc);
+}
+
+epicsExportRegistrar(PIE517motorRegister);
+
+} // extern "C"
@@ -0,0 +1,316 @@
+/*
+FILENAME...	devPIE517.cc
+USAGE...	Motor record device level support for Physik Instrumente (PI)
+		GmbH & Co. E-516 motor controller.
+
+Version:	$Revision: 1.2 $
+Modified By:	$Author: sluiter $
+Last Modified:	$Date: 2008-03-14 20:21:37 $
+*/
+
+/*
+ *      Original Author: Ron Sluiter
+ *      Date: 12/17/03
+ *      Current Author: Joe Sullivan
+ *
+ *      Experimental Physics and Industrial Control System (EPICS)
+ *
+ *      Copyright 1991, the Regents of the University of California,
+ *      and the University of Chicago Board of Governors.
+ *
+ *      This software was produced under  U.S. Government contracts:
+ *      (W-7405-ENG-36) at the Los Alamos National Laboratory,
+ *      and (W-31-109-ENG-38) at Argonne National Laboratory.
+ *
+ *      Initial development by:
+ *	      The Controls and Automation Group (AT-8)
+ *	      Ground Test Accelerator
+ *	      Accelerator Technology Division
+ *	      Los Alamos National Laboratory
+ *
+ *      Co-developed with
+ *	      The Controls and Computing Group
+ *	      Accelerator Systems Division
+ *	      Advanced Photon Source
+ *	      Argonne National Laboratory
+ *
+ * Modification Log:
+ * -----------------
+ * .01 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from devPIE516.cc
+ * .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller
+ */							      
+
+
+#include <string.h>
+#include "motorRecord.h"
+#include "motor.h"
+#include "motordevCom.h"
+#include "drvPIE517.h"
+#include "epicsExport.h"
+
+extern struct driver_table PIE517_access;
+
+/* ----------------Create the dsets for devPIE517----------------- */
+static struct driver_table *drvtabptr;
+static long PIE517_init(void *);
+static long PIE517_init_record(void *);
+static long PIE517_start_trans(struct motorRecord *);
+static RTN_STATUS PIE517_build_trans(motor_cmnd, double *, struct motorRecord *);
+static RTN_STATUS PIE517_end_trans(struct motorRecord *);
+
+struct motor_dset devPIE517 =
+{
+    {8, NULL, (DEVSUPFUN) PIE517_init, (DEVSUPFUN) PIE517_init_record, NULL},
+    motor_update_values,
+    PIE517_start_trans,
+    PIE517_build_trans,
+    PIE517_end_trans
+};
+
+extern "C" {epicsExportAddress(dset,devPIE517);}
+
+/* --------------------------- program data --------------------- */
+
+/* This table is used to define the command types */
+/* WARNING! this must match "motor_cmnd" in motor.h */
+
+static msg_types PIE517_table[] = {
+    MOTION, 	/* MOVE_ABS */
+    MOTION, 	/* MOVE_REL */
+    MOTION, 	/* HOME_FOR */
+    MOTION, 	/* HOME_REV */
+    IMMEDIATE,	/* LOAD_POS */
+    IMMEDIATE,	/* SET_VEL_BASE */
+    IMMEDIATE,	/* SET_VELOCITY */
+    IMMEDIATE,	/* SET_ACCEL */
+    IMMEDIATE,	/* GO */
+    IMMEDIATE,	/* SET_ENC_RATIO */
+    INFO,	/* GET_INFO */
+    MOVE_TERM,	/* STOP_AXIS */
+    VELOCITY,	/* JOG */
+    IMMEDIATE,	/* SET_PGAIN */
+    IMMEDIATE,	/* SET_IGAIN */
+    IMMEDIATE,	/* SET_DGAIN */
+    IMMEDIATE,	/* ENABLE_TORQUE */
+    IMMEDIATE,	/* DISABL_TORQUE */
+    IMMEDIATE,	/* PRIMITIVE */
+    IMMEDIATE,	/* SET_HIGH_LIMIT */
+    IMMEDIATE,	/* SET_LOW_LIMIT */
+    VELOCITY	/* JOG_VELOCITY */
+};
+
+
+static struct board_stat **PIE517_cards;
+
+/* --------------------------- program data --------------------- */
+
+
+/* initialize device support for PIE517 stepper motor */
+static long PIE517_init(void *arg)
+{
+    long rtnval;
+    int after = (arg == 0) ? 0 : 1;
+
+    if (after == 0)
+    {
+	drvtabptr = &PIE517_access;
+	(drvtabptr->init)();
+    }
+
+    rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIE517_cards);
+    return(rtnval);
+}
+
+
+/* initialize a record instance */
+static long PIE517_init_record(void *arg)
+{
+    struct motorRecord *mr = (struct motorRecord *) arg;
+    /* Disable change of direction testing in record support */
+    /* This is a closed-loop device */
+    mr->ntm = menuYesNoNO;
+    return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIE517_cards));
+}
+
+
+/* start building a transaction */
+static long PIE517_start_trans(struct motorRecord *mr)
+{
+    motor_start_trans_com(mr, PIE517_cards);
+    return(OK);
+}
+
+
+/* end building a transaction */
+static RTN_STATUS PIE517_end_trans(struct motorRecord *mr)
+{
+    motor_end_trans_com(mr, drvtabptr);
+    return(OK);
+}
+
+
+/* add a part to the transaction */
+static RTN_STATUS PIE517_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
+{
+    struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
+    struct mess_node *motor_call;
+    struct controller *brdptr;
+    struct PIE517controller *cntrl;
+    char buff[110];
+    int card, maxdigits;
+    unsigned int size;
+    double dval, cntrl_units, res;
+    RTN_STATUS rtnval;
+    bool send;
+
+    send = true;		/* Default to send motor command. */
+    rtnval = OK;
+    buff[0] = '\0';
+    
+    /* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
+    dval = (parms == NULL) ? 0.0 : *parms;
+    
+    rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIE517_cards); 
+
+    motor_call = &(trans->motor_call);
+    card = motor_call->card;
+    brdptr = (*trans->tabptr->card_array)[card];
+    if (brdptr == NULL)
+	return(rtnval = ERROR);
+
+    cntrl = (struct PIE517controller *) brdptr->DevicePrivate;
+    res = cntrl->drive_resolution[motor_call->signal];
+    cntrl_units = dval;
+    maxdigits = 3;
+    
+    if (PIE517_table[command] > motor_call->type)
+	motor_call->type = PIE517_table[command];
+
+    if (trans->state != BUILD_STATE)
+	return(rtnval = ERROR);
+
+    if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
+	strcat(motor_call->message, mr->init);
+
+    switch (command)
+    {
+	case MOVE_ABS:
+	case MOVE_REL:
+	case HOME_FOR:
+	case HOME_REV:
+	case JOG:
+	    if (strlen(mr->prem) != 0)
+	    {
+		strcat(motor_call->message, mr->prem);
+		strcat(motor_call->message, EOL_E517);
+	    }
+	    if (strlen(mr->post) != 0)
+		motor_call->postmsgptr = (char *) &mr->post;
+	    break;
+        
+	default:
+	    break;
+    }
+
+
+    switch (command)
+    {
+	case MOVE_ABS:
+	    sprintf(buff, "MOV # %.*f", maxdigits, (cntrl_units * res));
+	    strcat(buff, EOL_E517);
+	    break;
+	
+	case MOVE_REL:
+	    sprintf(buff, "MVR # %.*f", maxdigits, (cntrl_units * res));
+	    strcat(buff, EOL_E517);
+	    break;
+	
+	case HOME_FOR:
+	case HOME_REV:
+	    rtnval = ERROR;
+	    break;
+	
+	case LOAD_POS:
+	    rtnval = ERROR;
+	    break;
+	
+	case SET_VEL_BASE:
+	    send = false;	/* DC motor; not base velocity. */
+	    break;
+	
+	case SET_VELOCITY:
+	    sprintf(buff, "VEL # %.*f", maxdigits, (cntrl_units * res));
+	    strcat(buff, EOL_E517);
+	    break;
+	
+	case ENABLE_TORQUE:
+	    strcpy(buff, "SVO #1");
+	    strcat(buff, EOL_E517);
+	    break;
+
+	case DISABL_TORQUE:
+	    strcpy(buff, "SVO #0");
+	    strcat(buff, EOL_E517);
+	    break;
+
+	case SET_ACCEL:
+	    /* The PIE517 does not support acceleration commands. */
+	case GO:
+	    /* The PIE517 starts moving immediately on move commands, GO command
+	     * does nothing. */
+	    send = false;
+	    break;
+	
+	case PRIMITIVE:
+	case GET_INFO:
+	    /* These commands are not actually done by sending a message, but
+	       rather they will indirectly cause the driver to read the status
+	       of all motors */
+	    break;
+	
+	case STOP_AXIS:
+	  /* No stop command available - use move relative 0 */
+	    sprintf(buff, "STP #");
+	    strcat(buff, EOL_E517);
+	    break;
+	
+	case JOG_VELOCITY:
+	case JOG:
+ 	    sprintf(buff, "VEL # %.*f", maxdigits, cntrl_units);
+	    strcat(buff, EOL_E517);
+	    break;
+	
+	case SET_PGAIN:
+	    send = false;
+	    break;
+	case SET_IGAIN:
+	    send = false;
+	    break;
+	case SET_DGAIN:
+	    send = false;
+	    break;
+	
+	case SET_HIGH_LIMIT:
+	case SET_LOW_LIMIT:
+	case SET_ENC_RATIO:
+	    trans->state = IDLE_STATE;	/* No command sent to the controller. */
+	    send = false;
+	    break;
+	
+	default:
+	    send = false;
+	    rtnval = ERROR;
+    }
+
+    size = strlen(buff);
+    if (send == false)
+	return(rtnval);
+    else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
+	errlogMessage("PIE517_build_trans(): buffer overflow.\n");
+    else
+    {
+	strcat(motor_call->message, buff);
+        rtnval = motor_end_trans_com(mr, drvtabptr);
+    }
+    return(rtnval);
+}
@@ -46,6 +46,12 @@ driver(drvPIE516)
 registrar(PIE516motorRegister)
 variable(drvPIE516debug)

+# Physik Instrumente (PI) GmbH & Co. E-517 driver support.
+device(motor,VME_IO,devPIE517,"PIE517")
+driver(drvPIE517)
+registrar(PIE517motorRegister)
+variable(drvPIE517debug)
+
 # Physik Instrumente (PI) GmbH & Co. E-816 driver support.
 device(motor,VME_IO,devPIE816,"PIE816")
 driver(drvPIE816)
@@ -0,0 +1,680 @@
+/*
+FILENAME...	drvPIE517.cc
+USAGE...	Motor record driver level support for Physik Instrumente (PI)
+	        GmbH & Co. E-516 motor controller.
+
+Version:	$Revision: 1.1 $
+Modified By:	$Author: sullivan $
+Last Modified:	$Date: 2007-03-30 20:01:05 $
+*/
+
+/*
+ *      Original Author: Ron Sluiter
+ *      Date: 10/18/05
+ *      Current Author: Joe Sullivan
+ *
+ *      Experimental Physics and Industrial Control System (EPICS)
+ *
+ *      Copyright 1991, the Regents of the University of California,
+ *      and the University of Chicago Board of Governors.
+ *
+ *      This software was produced under  U.S. Government contracts:
+ *      (W-7405-ENG-36) at the Los Alamos National Laboratory,
+ *      and (W-31-109-ENG-38) at Argonne National Laboratory.
+ *
+ *      Initial development by:
+ *	      The Controls and Automation Group (AT-8)
+ *	      Ground Test Accelerator
+ *	      Accelerator Technology Division
+ *	      Los Alamos National Laboratory
+ *
+ *      Co-developed with
+ *	      The Controls and Computing Group
+ *	      Accelerator Systems Division
+ *	      Advanced Photon Source
+ *	      Argonne National Laboratory
+ *
+ * Modification Log:
+ * -----------------
+ * .01 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from devPIE516.cc.
+ * .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller.
+ * 	Tested on PI VER:
+ * 	FW_DSP: 02.034 
+ * 	FW_FPGA: 02.040 
+ * 	FW_MCU: 1.22.6
+ */
+
+/*
+DESIGN LIMITATIONS...
+    1 - Like all controllers, the PIE517 must be powered-on when EPICS is first
+    booted up.
+*/
+
+#include <string.h>
+#include <epicsThread.h>
+#include <drvSup.h>
+#include "motorRecord.h"
+#include "motor.h"
+#include "drvPIE517.h"
+#include "epicsExport.h"
+
+#define GET_IDENT     "VER?"       
+#define SET_ONLINE    "ONL # 1"      /* Set Online Mode ON */
+#define SET_VELCTRL   "VCO # 1"     /* Set Velocity Control Mode - Required for DONE */
+#define READ_ONLINE   "ONL? #"       /* Read Online Mode */
+#define READ_POS      "POS? #"     /* Read position */
+#define READ_OVERFLOW "OVF? #"     /* Read Servo Overflow Status */
+#define READ_ONTARGET "ONT? #"     /* Read Position ON Target */
+#define READ_SERVO    "SVO? #"     /* Read Servo Enable Status */
+
+
+#define PIE517_NUM_CARDS	10
+#define MAX_AXES		3
+#define BUFF_SIZE 100		/* Maximum length of string to/from PIE517 */
+
+/*----------------debugging-----------------*/
+volatile int drvPIE517debug = 0;
+extern "C" {epicsExportAddress(int, drvPIE517debug);}
+static inline void Debug(int level, const char *format, ...) {
+  #ifdef DEBUG
+    if (level < drvPIE517debug) {
+      va_list pVar;
+      va_start(pVar, format);
+      vprintf(format, pVar);
+      va_end(pVar);
+    }
+  #endif
+}
+
+/* --- Local data. --- */
+int PIE517_num_cards = 0;
+static char *PIE517_axis[] = {"1 ", "2 ", "3 "}; //{"A", "B", "C"};
+
+/* Local data required for every driver; see "motordrvComCode.h" */
+#include	"motordrvComCode.h"
+
+
+/*----------------functions-----------------*/
+static int recv_mess(int, char *, int);
+static RTN_STATUS send_mess(int, char const *, char *);
+static int set_status(int, int);
+static long report(int);
+static long init();
+static int motor_init();
+static void query_done(int, int, struct mess_node *);
+
+/*----------------functions-----------------*/
+
+struct driver_table PIE517_access =
+{
+    motor_init,
+    motor_send,
+    motor_free,
+    motor_card_info,
+    motor_axis_info,
+    &mess_queue,
+    &queue_lock,
+    &free_list,
+    &freelist_lock,
+    &motor_sem,
+    &motor_state,
+    &total_cards,
+    &any_motor_in_motion,
+    send_mess,
+    recv_mess,
+    set_status,
+    query_done,
+    NULL,
+    &initialized,
+    PIE517_axis
+};
+
+struct
+{
+    long number;
+    long (*report) (int);
+    long (*init) (void);
+} drvPIE517 = {2, report, init};
+
+extern "C" {epicsExportAddress(drvet, drvPIE517);}
+
+static struct thread_args targs = {SCAN_RATE, &PIE517_access, 0.0};
+
+/*********************************************************
+ * Print out driver status report
+ *********************************************************/
+static long report(int level)
+{
+    int card;
+
+    if (PIE517_num_cards <=0)
+	printf("    No PIE517 controllers configured.\n");
+    else
+    {
+	for (card = 0; card < PIE517_num_cards; card++)
+	{
+	    struct controller *brdptr = motor_state[card];
+
+	    if (brdptr == NULL)
+		printf("    PIE517 controller %d connection failed.\n", card);
+	    else
+	    {
+		struct PIE517controller *cntrl;
+
+		cntrl = (struct PIE517controller *) brdptr->DevicePrivate;
+		printf("    PIE517 controller #%d, port=%s, id: %s \n", card,
+		       cntrl->asyn_port, brdptr->ident);
+	    }
+	}
+    }
+    return(OK);
+}
+
+
+static long init()
+{
+    /* 
+     * We cannot call motor_init() here, because that function can do GPIB I/O,
+     * and hence requires that the drvGPIB have already been initialized.
+     * That cannot be guaranteed, so we need to call motor_init from device
+     * support
+     */
+    /* Check for setup */
+    if (PIE517_num_cards <= 0)
+    {
+	Debug(1, "init(): PIE517 driver disabled. PIE517Setup() missing from startup script.\n");
+    }
+    return((long) 0);
+}
+
+
+static void query_done(int card, int axis, struct mess_node *nodeptr)
+{
+}
+
+
+/********************************************************************************
+*										*
+* FUNCTION NAME: set_status							*
+*										*
+* LOGIC:									*
+*   Initialize.									*
+*   Send "Moving Status" query.							*
+*   Read response.								*
+*   IF normal response to query.						*
+*	Set communication status to NORMAL.					*
+*   ELSE									*
+*	IF communication status is NORMAL.					*
+*	    Set communication status to RETRY.					*
+*	    NORMAL EXIT.							*
+*	ELSE									*
+*	    Set communication status error.					*
+*	    ERROR EXIT.								*
+*	ENDIF									*
+*   ENDIF									*
+*										*
+*   IF "Moving Status" indicates any motion (i.e. status != 0).			*
+*	Clear "Done Moving" status bit.						*
+*   ELSE									*
+*	Set "Done Moving" status bit.						*
+*   ENDIF									*
+*										*
+*   										*
+********************************************************************************/
+
+static int set_status(int card, int signal)
+{
+    struct PIE517controller *cntrl;
+    struct mess_node *nodeptr;
+    struct mess_info *motor_info;
+    struct motorRecord *mr;
+    /* Message parsing variables */
+    char buff[BUFF_SIZE];
+    int rtn_state;
+    unsigned int overflow_status, ontarget_status, servo_status, online_status;
+    epicsInt32 motorData;
+    bool plusdir, ls_active, plusLS, minusLS;
+    bool readOK; 
+    msta_field status;
+
+    cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate;
+    motor_info = &(motor_state[card]->motor_info[signal]);
+    nodeptr = motor_info->motor_motion;
+    if (nodeptr != NULL)
+	mr = (struct motorRecord *) nodeptr->mrecord;
+    else
+	mr = NULL;
+    status.All = motor_info->status.All;
+
+    recv_mess(card, buff, FLUSH);
+
+    readOK = false;   
+//    send_mess(card, READ_ONLINE, PIE517_axis[signal]);
+//    if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &online_status))
+//      {
+//	if (!online_status)
+//	  {
+//	    /* Assume Controller Reboot - Set ONLINE and Velocity Control ON */
+//	    send_mess(card, SET_ONLINE, PIE517_axis[signal]);
+//	    //send_mess(card, SET_VELCTRL, (char) NULL);
+//	  }
+
+	send_mess(card, READ_ONTARGET, PIE517_axis[signal]);
+	if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &ontarget_status))
+	  {
+	    send_mess(card, READ_OVERFLOW, PIE517_axis[signal]);
+	    if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &overflow_status))
+	      {
+		send_mess(card, READ_SERVO, PIE517_axis[signal]);
+		if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &servo_status))
+		  {
+		    send_mess(card, READ_POS, PIE517_axis[signal]);
+		    if (recv_mess(card, buff, 1))
+		      {
+			motorData = NINT(atof(buff) / cntrl->drive_resolution[signal]);
+			readOK = true;
+		      }
+		  }
+	      }
+	  }
+//      }
+
+    if (readOK)
+    {
+		cntrl->status = NORMAL;
+		status.Bits.CNTRL_COMM_ERR = 0;
+    }
+    else
+    {
+	if (cntrl->status == NORMAL)
+	{
+	    cntrl->status = RETRY;
+	    rtn_state = OK;
+	    goto exit;
+	}
+	else
+	{
+	    cntrl->status = COMM_ERR;
+	    status.Bits.CNTRL_COMM_ERR = 1;
+	    status.Bits.RA_PROBLEM     = 1;
+	    rtn_state = 1;
+	    goto exit;
+	}
+    }
+
+
+    /* Always DONE if torque disabled */
+    status.Bits.RA_DONE = (ontarget_status) ? 1 : 0;
+    status.Bits.RA_HOME = status.Bits.RA_DONE;
+
+    status.Bits.EA_POSITION = (servo_status) ? 1 : 0;  /* Torgue disabled flag */
+
+    ls_active = plusLS = minusLS = false;
+
+    /* LS status may be true but servo is not within position error - keep updating */
+    /* No Limit switches but if the Servo Controller overflows indicate with a + LS */
+    if (status.Bits.RA_DONE)
+	plusLS  = overflow_status ? true : false;
+
+    if (motorData == motor_info->position)
+    {
+		if (nodeptr != 0)   /* Increment counter only if motor is moving. */
+			motor_info->no_motion_count++;
+    }
+    else
+    {
+		status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
+		motor_info->position =  motor_info->encoder_position = motorData;
+		motor_info->no_motion_count = 0;
+    }
+
+    plusdir = (status.Bits.RA_DIRECTION) ? true : false;
+
+    /* Set limit switch error indicators. */
+    if (plusLS == true)
+    {
+	status.Bits.RA_PLUS_LS = 1;
+	if (plusdir == true)
+	    ls_active = true;
+    }
+    else
+	status.Bits.RA_PLUS_LS = 0;
+
+    if (minusLS == true)
+    {
+	status.Bits.RA_MINUS_LS = 1;
+	if (plusdir == false)
+	    ls_active = true;
+    }
+    else
+	status.Bits.RA_MINUS_LS	= 0;
+
+    /* encoder status */
+    status.Bits.EA_SLIP       = 0;
+    status.Bits.EA_SLIP_STALL = 0;
+    status.Bits.EA_HOME       = 0;
+
+    status.Bits.RA_PROBLEM  = 0;
+
+    /* Parse motor velocity? */
+    /* NEEDS WORK */
+
+    motor_info->velocity = 0;
+
+    if (!status.Bits.RA_DIRECTION)
+	motor_info->velocity *= -1;
+
+    rtn_state = (!motor_info->no_motion_count || ls_active == true ||
+		 status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
+
+    /* Test for post-move string. */
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
+	nodeptr->postmsgptr != 0)
+    {
+	strcpy(buff, nodeptr->postmsgptr);
+	send_mess(card, buff, (char) NULL);
+	nodeptr->postmsgptr = NULL;
+    }
+
+exit:
+    motor_info->status.All = status.All;
+    return(rtn_state);
+}
+
+
+/*****************************************************/
+/* send a message to the PIE517 board		     */
+/* send_mess()			                     */
+/*****************************************************/
+static RTN_STATUS send_mess(int card, char const *com, char *name)
+{
+    char local_buff[MAX_MSG_SIZE];
+    char *pbuff;
+    struct PIE517controller *cntrl;
+    int comsize, namesize;
+    size_t nwrite;
+
+    comsize = (com == NULL) ? 0 : strlen(com);
+    namesize = (name == NULL) ? 0 : strlen(name);
+
+    if ((comsize + namesize) > MAX_MSG_SIZE)
+    {
+	errlogMessage("drvPIE517.cc:send_mess(); message size violation.\n");
+	return(ERROR);
+    }
+    else if (comsize == 0)  /* Normal exit on empty input message. */
+	return(OK);
+
+    if (!motor_state[card])
+    {
+	errlogPrintf("drvPIE517.cc:send_mess() - invalid card #%d\n", card);
+	return(ERROR);
+    }
+
+    local_buff[0] = (char) NULL;    /* Terminate local buffer. */
+
+    if (name == NULL)
+	strcat(local_buff, com);    /* Make a local copy of the string. */
+    else
+    {
+	strcpy(local_buff, com);
+	pbuff = strchr(local_buff, '#');
+        if (pbuff != NULL)
+	  *pbuff = *name;
+	else
+	  Debug(1, "send_mess(): NAME ERROR: message = %s\n", local_buff);	  
+    }
+
+    Debug(2, "send_mess(): message = %s\n", local_buff);
+
+    cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate;
+    pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
+			    COMM_TIMEOUT, &nwrite);
+
+    return(OK);
+}
+
+
+/*****************************************************/
+/* receive a message from the PIE517 board           */
+/* recv_mess()			                     */
+/*****************************************************/
+static int recv_mess(int card, char *com, int flag)
+{
+    struct PIE517controller *cntrl;
+    size_t nread = 0;
+    asynStatus status = asynError;
+    int eomReason;
+    char *pos;
+
+    /* Check that card exists */
+    if (!motor_state[card])
+	return(ERROR);
+
+    cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate;
+
+    if (flag == FLUSH)
+	pasynOctetSyncIO->flush(cntrl->pasynUser);
+    else
+	status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
+					COMM_TIMEOUT, &nread, &eomReason);
+    pos=strchr(com,'=');
+    if(pos != NULL)
+        strcpy(com,&pos[1]);
+
+    if ((status != asynSuccess) || (nread <= 0))
+    {
+	com[0] = '\0';
+	nread = 0;
+    }
+
+    Debug(2, "recv_mess(): message = \"%s\"\n", com);
+    return(nread);
+}
+
+
+/*****************************************************/
+/* Setup system configuration                        */
+/* PIE517Setup()                                     */
+/*****************************************************/
+RTN_STATUS
+PIE517Setup(int num_cards,  /* maximum number of controllers in system.  */
+	    int scan_rate)  /* polling rate - 1/60 sec units.  */
+{
+    int itera;
+
+    if (num_cards < 1 || num_cards > PIE517_NUM_CARDS)
+	PIE517_num_cards = PIE517_NUM_CARDS;
+    else
+	PIE517_num_cards = num_cards;
+
+    /* Set motor polling task rate */
+    if (scan_rate >= 1 && scan_rate <= 60)
+	targs.motor_scan_rate = scan_rate;
+    else
+	targs.motor_scan_rate = SCAN_RATE;
+
+    /* 
+     * Allocate space for motor_state structures.  Note this must be done
+     * before PIE517Config is called, so it cannot be done in motor_init()
+     * This means that we must allocate space for a card without knowing
+     * if it really exists, which is not a serious problem
+     */
+    motor_state = (struct controller **) malloc(PIE517_num_cards *
+						sizeof(struct controller *));
+
+    for (itera = 0; itera < PIE517_num_cards; itera++)
+	motor_state[itera] = (struct controller *) NULL;
+
+    return(OK);
+}
+
+
+/*****************************************************/
+/* Configure a controller                            */
+/* PIE517Config()                                    */
+/*****************************************************/
+RTN_STATUS
+PIE517Config(int card,	     /* card being configured */
+	     const char *name,	 /* asyn port name */
+	     int addr)		 /* asyn address (GPIB) */
+{
+    struct PIE517controller *cntrl;
+
+    if (card < 0 || card >= PIE517_num_cards)
+	return(ERROR);
+
+    motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
+    motor_state[card]->DevicePrivate = malloc(sizeof(struct PIE517controller));
+    cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate;
+
+    strcpy(cntrl->asyn_port, name);
+    cntrl->asyn_address = addr;
+    return(OK);
+}
+
+
+/*****************************************************/
+/* initialize all software and hardware		     */
+/* This is called from the initialization routine in */
+/* device support.                                   */
+/* motor_init()			                     */
+/*****************************************************/
+static int motor_init()
+{
+    struct controller *brdptr;
+    struct PIE517controller *cntrl;
+    int card_index, motor_index;
+    char buff[BUFF_SIZE], *pbuff;
+    int total_axis;
+    int status;
+    int version;
+    bool online; 
+    asynStatus success_rtn;
+    static const char output_terminator[] = EOL_E517;
+    static const char  input_terminator[] = EOL_E517;
+
+    initialized = true;	/* Indicate that driver is initialized. */
+
+    /* Check for setup */
+    if (PIE517_num_cards <= 0)
+	return(ERROR);
+
+    for (card_index = 0; card_index < PIE517_num_cards; card_index++)
+    {
+	if (!motor_state[card_index])
+	    continue;
+
+	brdptr = motor_state[card_index];
+	brdptr->ident[0] = (char) NULL;	/* No controller identification message. */
+	brdptr->cmnd_response = false;
+	total_cards = card_index + 1;
+	cntrl = (struct PIE517controller *) brdptr->DevicePrivate;
+
+        status = version = 0;
+
+	/* Initialize communications channel */
+	success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
+						&cntrl->pasynUser, NULL);
+	if (success_rtn == asynSuccess)
+	{
+	    //int retry = 0;
+
+	    pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
+					   strlen(output_terminator));
+	    pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
+					  strlen(input_terminator));
+
+	    /* Send a message to the board, see if it exists */
+	    /* flush any junk at input port - should not be any data available */
+	    pasynOctetSyncIO->flush(cntrl->pasynUser);
+
+	    /* Assure that Controller is ONLINE */
+	    online = true;
+	    //do
+	    //{
+	    //  online = false;
+	    //  /* Set Controller to ONLINE mode */
+	    //  send_mess(card_index, SET_ONLINE, (char) NULL);
+	    //  send_mess(card_index, READ_ONLINE, (char) NULL);
+	    //  if ((status = recv_mess(card_index, buff, 1)))
+		//online = (atoi(buff)==1) ? true : false;
+	    //  else
+		//retry++;
+	    //} while (online == false && retry < 3);
+
+	    //send_mess(card_index, GET_IDENT, (char) NULL);
+	    //status = recv_mess(card_index, buff, 1);
+	    
+	    /* Parse out E517 revision (2 decimal places) and convert to int */
+	    if ((pbuff = strchr(buff, 'V')))
+	      version = NINT(atof(pbuff+1) * 100);
+	    else
+	      version = 0;
+	}
+
+	if (success_rtn == asynSuccess && online == true)
+	{
+	    strcpy(brdptr->ident, buff);
+	    brdptr->localaddr = (char *) NULL;
+	    brdptr->motor_in_motion = 0;
+
+	    /* Check for E517 versions that need the status word shifted up 8 bits */
+	    /*if (version >= 311)
+	      cntrl->versionSupport = true;
+	    else
+	      cntrl->versionSupport = false;*/
+
+            /* Determine # of axes. Request stage name.  See if it responds */
+	    for (total_axis = 0; total_axis < MAX_AXES; total_axis++)
+	    {
+			send_mess(card_index, READ_POS, PIE517_axis[total_axis]);
+			status = recv_mess(card_index, buff, 1);
+			if (!status)
+		    	break;
+	    }
+	    brdptr->total_axis = total_axis;
+
+	    /* Turn ON velocity control mode  - All axis */
+	    //send_mess(card_index, SET_VELCTRL, (char) NULL);
+
+	    for (motor_index = 0; motor_index < total_axis; motor_index++)
+	    {
+		struct mess_info *motor_info = &brdptr->motor_info[motor_index];
+
+		motor_info->status.All = 0;
+		motor_info->no_motion_count = 0;
+		motor_info->encoder_position = 0;
+		motor_info->position = 0;
+		brdptr->motor_info[motor_index].motor_motion = NULL;
+		/* PIE517 has DC motor support only */
+		motor_info->encoder_present = YES;
+		motor_info->status.Bits.EA_PRESENT = 1;
+		motor_info->pid_present = NO;
+		motor_info->status.Bits.GAIN_SUPPORT = 1;
+
+		cntrl->drive_resolution[motor_index] = POS_RES;
+
+		set_status(card_index, motor_index);  /* Read status of each motor */
+	    }
+	}
+	else
+	    motor_state[card_index] = (struct controller *) NULL;
+    }
+
+    any_motor_in_motion = 0;
+
+    mess_queue.head = (struct mess_node *) NULL;
+    mess_queue.tail = (struct mess_node *) NULL;
+
+    free_list.head = (struct mess_node *) NULL;
+    free_list.tail = (struct mess_node *) NULL;
+
+    epicsThreadCreate((char *) "PIE517_motor", epicsThreadPriorityMedium,
+		      epicsThreadGetStackSize(epicsThreadStackMedium),
+		      (EPICSTHREADFUNC) motor_task, (void *) &targs);
+
+    return(OK);
+}
+
+
@@ -0,0 +1,75 @@
+/* File: drvPIE516.h             */
+
+
+/* Device Driver Support definitions for motor */
+/*
+ *      Original Author: Ron Sluiter
+ *      Current Author: Joe Sullivan
+ *      Date: 09/20/2005
+ *
+ * Modification Log:
+ * -----------------
+ * .01  08/10/16  Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from drvPIE516.h
+ * .02  08/10/16  Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller
+ */
+
+#ifndef	INCdrvPIE517h
+#define	INCdrvPIE517h 1
+
+#include "motordrvCom.h"
+#include "asynDriver.h"
+#include "asynDriver.h"
+#include "asynOctetSyncIO.h"
+
+#define COMM_TIMEOUT 2		/* Timeout in seconds. */
+#define POS_RES 0.001		/* Position resolution. */
+
+#define EOL_E517    "\n"        /* Command End-Of-Line = LF (0x10) */
+
+struct PIE517controller
+{
+    asynUser *pasynUser;	/* asynUser structure */
+    int asyn_address;		/* Use for GPIB or other address with asyn */
+    CommStatus status;		/* Controller communication status. */
+    double drive_resolution[4];
+    bool versionSupport;        /* Track supported Versions - include in Report */
+    char asyn_port[80];		/* asyn port name */
+};
+
+
+typedef union
+{
+    epicsUInt16 All;
+    struct
+    {
+#ifdef MSB_First
+        unsigned int cmnd_err		:1; /* 15 - Command Error */
+        unsigned int na6		:1; /* 14 - */
+        unsigned int autozero	        :1; /* 13 - AutoZero function is running */
+	unsigned int plus_ls		:1; /* 12 - Positive limit switch flag. */
+	unsigned int minus_ls		:1; /* 11 - Negative limit switch flag. */
+        unsigned int moving		:1; /* 10 - Moving indicator - position error outside tolerance */
+        unsigned int volt_limit	        :1; /* 9 - piezo voltage limit reached */
+        unsigned int torque		:1; /* 8 - Servo-control status */
+        unsigned int nabyte             :8;     
+
+#else
+        unsigned int nabyte             :8;     
+        unsigned int torque		:1; /* 8 - Servo-control status */
+        unsigned int volt_limit	        :1; /* 9 - piezo voltage limit reached */
+        unsigned int moving		:1; /* 10 - Moving indicator - position error outside tolerance */
+	unsigned int minus_ls		:1; /* 11 - Negative limit switch flag. */
+	unsigned int plus_ls		:1; /* 12 - Positive limit switch flag. */
+        unsigned int autozero	        :1; /* 13 - AutoZero function is running */
+        unsigned int na6		:1; /* 14 - */
+        unsigned int cmnd_err		:1; /* 15 - Command Error */
+#endif
+    } Bits;                                
+} E517_Status_Reg;
+
+
+/* Function prototypes. */
+extern RTN_STATUS PIE517Setup(int, int);
+extern RTN_STATUS PIE517Config(int, const char *, int);
+
+#endif	/* INCdrvPIE517h */
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
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+    <y>0</y>
+    <width>352</width>
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+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="caInclude" name="cainclude">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M1)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_2">
+    <property name="geometry">
+     <rect>
+      <x>176</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M2)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caInclude</class>
+   <extends>QWidget</extends>
+   <header>caInclude</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
@@ -0,0 +1,76 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>528</width>
+    <height>282</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="caInclude" name="cainclude">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M1)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_2">
+    <property name="geometry">
+     <rect>
+      <x>176</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M2)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_3">
+    <property name="geometry">
+     <rect>
+      <x>352</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M3)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caInclude</class>
+   <extends>QWidget</extends>
+   <header>caInclude</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
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+    <y>0</y>
+    <width>704</width>
+    <height>282</height>
+   </rect>
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+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="caInclude" name="cainclude">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M1)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_2">
+    <property name="geometry">
+     <rect>
+      <x>176</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M2)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_3">
+    <property name="geometry">
+     <rect>
+      <x>352</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M3)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_4">
+    <property name="geometry">
+     <rect>
+      <x>528</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M4)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caInclude</class>
+   <extends>QWidget</extends>
+   <header>caInclude</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
@@ -0,0 +1,108 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>880</width>
+    <height>282</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="caInclude" name="cainclude">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M1)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_2">
+    <property name="geometry">
+     <rect>
+      <x>176</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M2)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_3">
+    <property name="geometry">
+     <rect>
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+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M3)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_4">
+    <property name="geometry">
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+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M5)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_5">
+    <property name="geometry">
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+     </rect>
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+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M5)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caInclude</class>
+   <extends>QWidget</extends>
+   <header>caInclude</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
@@ -0,0 +1,124 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
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+    <y>0</y>
+    <width>528</width>
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+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="caInclude" name="cainclude">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
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+     </rect>
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+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M1)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_2">
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+     </rect>
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+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M2)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_3">
+    <property name="geometry">
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+     <string notr="true">P=$(P),M=$(M3)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_4">
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+     <string notr="true">P=$(P),M=$(M4)</string>
+    </property>
+    <property name="filename" stdset="0">
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+     </rect>
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+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M5)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_6">
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+     <string notr="true">P=$(P),M=$(M6)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caInclude</class>
+   <extends>QWidget</extends>
+   <header>caInclude</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
@@ -0,0 +1,140 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
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+  <property name="windowTitle">
+   <string>MainWindow</string>
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+   <widget class="caInclude" name="cainclude">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
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+      <width>176</width>
+      <height>282</height>
+     </rect>
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+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M1)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_2">
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+     </rect>
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+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M2)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
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+     <string notr="true">P=$(P),M=$(M3)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
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+     <string notr="true">P=$(P),M=$(M4)</string>
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+    <property name="filename" stdset="0">
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+     <string notr="true">P=$(P),M=$(M6)</string>
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+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
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+      <width>176</width>
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+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M7)</string>
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+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caInclude</class>
+   <extends>QWidget</extends>
+   <header>caInclude</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
@@ -0,0 +1,156 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
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+    <width>704</width>
+    <height>564</height>
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+  <property name="windowTitle">
+   <string>MainWindow</string>
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+  <widget class="QWidget" name="centralwidget">
+   <widget class="caInclude" name="cainclude">
+    <property name="geometry">
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+      <width>176</width>
+      <height>282</height>
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+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M1)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
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+   </widget>
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+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M2)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_3">
+    <property name="geometry">
+     <rect>
+      <x>352</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M3)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_4">
+    <property name="geometry">
+     <rect>
+      <x>528</x>
+      <y>0</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M4)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_5">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>282</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M5)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_6">
+    <property name="geometry">
+     <rect>
+      <x>176</x>
+      <y>282</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M6)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_7">
+    <property name="geometry">
+     <rect>
+      <x>352</x>
+      <y>282</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M7)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+   <widget class="caInclude" name="cainclude_8">
+    <property name="geometry">
+     <rect>
+      <x>528</x>
+      <y>282</y>
+      <width>176</width>
+      <height>282</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">P=$(P),M=$(M8)</string>
+    </property>
+    <property name="filename" stdset="0">
+     <string notr="true">motorxU.ui</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caInclude</class>
+   <extends>QWidget</extends>
+   <header>caInclude</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>