From e53a205927be6d154f362ecc01910c8beb99eb94 Mon Sep 17 00:00:00 2001
From: Jens Eden <jens.eden@ptb.de>
Date: Wed, 17 Dec 2014 16:31:53 +0000
Subject: [PATCH] avoid command error, if new velocity is less than previous
 base velocity or new base velocity is greater than previous velocity

---
 motorApp/OmsAsynSrc/omsBaseAxis.cpp | 23 +++++++++++++++++++----
 motorApp/OmsAsynSrc/omsBaseAxis.h   |  1 +
 2 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/motorApp/OmsAsynSrc/omsBaseAxis.cpp b/motorApp/OmsAsynSrc/omsBaseAxis.cpp
index 2ddf7b74..cc6d1377 100644
--- a/motorApp/OmsAsynSrc/omsBaseAxis.cpp
+++ b/motorApp/OmsAsynSrc/omsBaseAxis.cpp
@@ -31,6 +31,7 @@ omsBaseAxis::omsBaseAxis(omsBaseController *pController, int axis, char axisChar
     pC_ = pController;
     stepper = 1;
     invertLimit = 0;
+    lastminvelo = 0;
 }
 
 asynStatus omsBaseAxis::move(double position, int relative, double min_velocity, double max_velocity, double acceleration)
@@ -75,7 +76,12 @@ asynStatus omsBaseAxis::move(double position, int relative, double min_velocity,
         acc = 1;
 
     /* move to the specified position */
-    sprintf(buff, "A%1c AC%d; VB%d; VL%d; %s%d; GO ID", axisChar, acc, minvelo, velo, relabs[rela], pos);
+    if (velo < lastminvelo)
+        sprintf(buff, "A%1c;AC%d;VB%d;VL%d;%s%d;GO;ID;", axisChar, acc, minvelo, velo, relabs[rela], pos);
+    else
+        sprintf(buff, "A%1c;AC%d;VL%d;VB%d;%s%d;GO;ID;", axisChar, acc, velo, minvelo, relabs[rela], pos);
+    lastminvelo = minvelo;
+
     status = pC_->sendOnlyLock(buff);
 
     asynPrint(pasynUser_, ASYN_TRACE_FLOW,
@@ -92,7 +98,7 @@ asynStatus omsBaseAxis::home(double min_velocity, double max_velocity, double ac
     asynStatus status = asynError;
     char buff[60];
     char *direction[2] = {(char*) "HR", (char*) "HM"};
-    epicsInt32 velo, acc, fw = 0;
+    epicsInt32 minvelo, velo, acc, fw = 0;
 
     if (forwards) fw = 1;
 
@@ -100,14 +106,23 @@ asynStatus omsBaseAxis::home(double min_velocity, double max_velocity, double ac
     if (velo < 1) velo = 1;
     else if (velo > 1000000) velo = 1000000;
 
-    acc = abs((epicsInt32) acceleration);
+    minvelo = (epicsInt32) (min_velocity + 0.5);
+    if (minvelo < 0) minvelo = 0;
+    else if (minvelo >= velo) minvelo = velo - 1;
+
+     acc = abs((epicsInt32) acceleration);
     if (acc > 8000000)
         acc = 8000000;
     else if (acc < 1)
         acc = 1;
 
     /* do a home run and move to the home position */
-    sprintf(buff, "A%1c AC%d; VL%d; %s; MA0 GO ID", axisChar, acc, velo, direction[forwards]);
+    if (velo < lastminvelo)
+        sprintf(buff, "A%1c;AC%d;VB%d;VL%d;%s;MA0;GO;ID;", axisChar, acc, minvelo, velo, direction[forwards]);
+    else
+        sprintf(buff, "A%1c;AC%d;VL%d;VB%d;%s;MA0;GO;ID;", axisChar, acc, velo, minvelo, direction[forwards]);
+    lastminvelo = minvelo;
+
     status = pC_->sendOnlyLock(buff);
 
     homing = 1;
diff --git a/motorApp/OmsAsynSrc/omsBaseAxis.h b/motorApp/OmsAsynSrc/omsBaseAxis.h
index c8936abc..0f5dc6d1 100644
--- a/motorApp/OmsAsynSrc/omsBaseAxis.h
+++ b/motorApp/OmsAsynSrc/omsBaseAxis.h
@@ -48,6 +48,7 @@ private:
     omsBaseController *pC_;
     int stepper;
     int invertLimit;
+    epicsInt32 lastminvelo;
 
 friend class omsBaseController;
 };