diff --git a/motorApp/AerotechSrc/devSoloist.cc b/motorApp/AerotechSrc/devSoloist.cc
old mode 100755
new mode 100644
index ff3d85d8..daa1cee0
--- a/motorApp/AerotechSrc/devSoloist.cc
+++ b/motorApp/AerotechSrc/devSoloist.cc
@@ -1,10 +1,12 @@
 /*
-*	FILENAME... devSoloist.cc
-*	USAGE... Motor record device level support for Aerotech Soloist.
+* FILENAME... devSoloist.cc
+* USAGE... Motor record device level support for Aerotech Soloist.
+*
+* Version:        $Revision$
+* Modified By:    $Author$
+* Last Modified:  $Date$
+* HeadURL:        $URL$
 *
-* Version:			1.1
-* Modified By:		cbonnell
-* Last Modified:	2009/07/07 01:46:08 PM
 */
 
 /*
diff --git a/motorApp/AerotechSrc/drvEnsemble.h b/motorApp/AerotechSrc/drvEnsemble.h
index c2152eba..b8e5fd56 100644
--- a/motorApp/AerotechSrc/drvEnsemble.h
+++ b/motorApp/AerotechSrc/drvEnsemble.h
@@ -2,9 +2,10 @@
 FILENAME...     drvEnsemble.h
 USAGE... This file contains Aerotech Ensemble driver "include" information.
 
-Version:        $Revision: 1.3 $
-Modified By:    $Author: sluiter $
-Last Modified:  $Date: 2009-05-01 18:13:42 $
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
diff --git a/motorApp/AerotechSrc/drvEnsembleAsyn.cc b/motorApp/AerotechSrc/drvEnsembleAsyn.cc
old mode 100755
new mode 100644
diff --git a/motorApp/AerotechSrc/drvEnsembleAsyn.h b/motorApp/AerotechSrc/drvEnsembleAsyn.h
old mode 100755
new mode 100644
diff --git a/motorApp/AerotechSrc/drvSoloist.cc b/motorApp/AerotechSrc/drvSoloist.cc
old mode 100755
new mode 100644
index 35dcd6fc..fb65ea3f
--- a/motorApp/AerotechSrc/drvSoloist.cc
+++ b/motorApp/AerotechSrc/drvSoloist.cc
@@ -1,760 +1,761 @@
-/*
-* FILENAME... drvSoloist.cc
-* USAGE...    Motor record driver level support for Aerotech Soloist.
-*
-* Version:			1.1
-* Modified By:		cbonnell
-* Last Modified:	2009/07/07 03:00:23 PM
-*/
-
-/*
-*	Original Author: Hong Fung
-*	Date: 04/29/09
-*	Current Author: Aerotech, Inc.
-*
-*	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	04-29-09 hcf - initialized from drvEnsemble.cc (Aerotech)
-* .02	07-07-09 cjb - merged fixes from Ensemble code (drvEnsemble.cc) in R6-4-4
-*/
-
-
-#include <string.h>
-#include <math.h>
-#include <stdio.h>
-#include <epicsThread.h>
-#include <epicsString.h>
-#include <drvSup.h>
-#include "motor.h"
-#include "drvSoloist.h"
-#include "asynOctetSyncIO.h"
-#include "epicsExport.h"
-
-/* Status byte bits */
-#define ENABLED_BIT		0x00000001
-#define IN_POSITION_BIT	0x00000004
-#define IN_MOTION_BIT	0x00000008
-#define DIRECTION_BIT	0x00000200
-#define HOME_LIMIT_BIT  0x01000000
-#define HOME_MARKER_BIT 0x02000000
-
-/* Fault status bits */
-#define CW_FAULT_BIT	0x004
-#define CCW_FAULT_BIT   0x008
-
-// This can really be any number, because there isn't any theoretical
-// restriction on the number of Soloist that can be on a network.
-// However, a relatively low number was picked for practical purposes
-#define Soloist_NUM_CARDS    10
-
-// Due to the way some of the commands are implemented in the Soloist,
-// such as HOME, the command response is not returned until the command
-// has actually finished executing. This requires a fairly large timeout
-// value. However, even a large value will not guarantee that the response will
-// be sent back in the time alloted.
-#define TIMEOUT 20.0 /* Command timeout in sec. */
-
-/*----------------debugging-----------------*/
-#ifdef __GNUG__
-#ifdef  DEBUG
-#define Debug(l, f, args...) { if (l<=drvSoloistdebug) printf(f,## args); }
-#else
-#define Debug(l, f, args...)
-#endif
-#else
-#define Debug()
-#endif
-volatile int drvSoloistdebug = 0;
-extern "C" {epicsExportAddress(int, drvSoloistdebug);}
-
-/* --- Local data. --- */
-int Soloist_num_cards = 0;
-int Soloist_num_cmds = 0;
-
-/* 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 *name);
-static int set_status(int card, int signal);
-static long report(int level);
-static long init();
-static int motor_init();
-static void query_done(int, int, struct mess_node *);
-
-/*----------------functions-----------------*/
-
-struct driver_table Soloist_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,
-	NULL
-};
-
-struct
-{
-	long number;
-	long (*report) (int);
-	long (*init) (void);
-} drvSoloist = {2, report, init};
-
-extern "C" {epicsExportAddress(drvet, drvSoloist);}
-
-static struct thread_args targs = {SCAN_RATE, &Soloist_access, 0.0};
-
-/*********************************************************
-* Print out driver status report
-*********************************************************/
-static long report(int level)
-{
-	int card;
-
-	if (Soloist_num_cards <=0)
-		printf("    No Soloist controllers configured.\n");
-	else
-	{
-		for (card = 0; card < Soloist_num_cards; card++)
-		{
-			struct controller *brdptr = motor_state[card];
-
-			if (brdptr == NULL)
-				printf("    Soloist controller %d connection failed.\n", card);
-			else
-			{
-				struct Soloistcontroller *cntrl;
-
-				cntrl = (struct Soloistcontroller *) brdptr->DevicePrivate;
-				printf("    Soloist controller %d, port=%s, address=%d, id: %s \n",
-					card, cntrl->asyn_port, cntrl->asyn_address,
-					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 (Soloist_num_cards <= 0)
-	{
-		Debug(1, "init(): Soloist driver disabled. SoloistSetup() missing from startup script.\n");
-	}
-	return((long) 0);
-}
-
-
-static void query_done(int card, int axis, struct mess_node *nodeptr)
-{
-}
-
-
-/**************************************************************
-* Parse status and position strings for a card and signal
-* set_status()
-************************************************************/
-
-static int set_status(int card, int signal)
-{
-	struct Soloistcontroller *cntrl;
-	struct mess_node *nodeptr;
-	register struct mess_info *motor_info;
-	double motorData, pfbk;
-	bool plusdir, ls_active = false;
-	msta_field status;
-	int rtn_state, comm_status, axis_status;
-	char buff[BUFF_SIZE];
-
-	cntrl = (struct Soloistcontroller *) motor_state[card]->DevicePrivate;
-	motor_info = &(motor_state[card]->motor_info[signal]);
-	status.All = motor_info->status.All;
-
-	// get the axis status
-	sprintf(buff, "AXISSTATUS()");
-	send_mess(card, buff, (char) NULL);
-	comm_status = recv_mess(card, buff, 1);
-	if (comm_status > 0 && buff[0] == ASCII_ACK_CHAR)
-	{
-		cntrl->status = NORMAL;
-		status.Bits.CNTRL_COMM_ERR = 0;
-	}
-	else if (comm_status <= 0)
-	{
-		if (cntrl->status == NORMAL)
-		{
-			cntrl->status = RETRY;
-			rtn_state = OK;
-		}
-		else
-		{
-			cntrl->status = COMM_ERR;
-			status.Bits.CNTRL_COMM_ERR = 1;
-			status.Bits.RA_PROBLEM = 1;
-			rtn_state = 1;
-		}
-		goto exit;
-	}
-	else if (buff[0] != ASCII_ACK_CHAR)
-	{
-		cntrl->status = COMM_ERR;
-		status.Bits.CNTRL_COMM_ERR = 1;
-		status.Bits.RA_PROBLEM = 1;
-		rtn_state = 1;
-		goto exit;
-	}
-
-	cntrl->status = NORMAL;
-	status.Bits.CNTRL_COMM_ERR = 0;
-
-	// convert to an integer
-	axis_status = atoi(&buff[1]);
-
-	nodeptr = motor_info->motor_motion;
-
-	status.Bits.EA_SLIP = 0;
-	status.Bits.EA_SLIP_STALL = 0;
-
-	// fill in the status
-	status.Bits.RA_DIRECTION = axis_status & DIRECTION_BIT	 ? 1 : 0;
-	status.Bits.RA_DONE		 = axis_status & IN_POSITION_BIT ? 1 : 0;
-	status.Bits.RA_HOME		 = axis_status & HOME_LIMIT_BIT	 ? 1 : 0;
-	status.Bits.EA_POSITION	 = axis_status & ENABLED_BIT	 ? 1 : 0;
-	status.Bits.EA_HOME		 = axis_status & HOME_MARKER_BIT ? 1 : 0;
-	status.Bits.RA_MOVING	 = axis_status & IN_MOTION_BIT	 ? 1 : 0;
-
-	/* get the axis fault status */
-	sprintf(buff, "AXISFAULT()");
-	send_mess(card, buff, (char) NULL);
-	comm_status = recv_mess(card, buff, 1);
-	axis_status = atoi(&buff[1]);
-	status.Bits.RA_PLUS_LS   = axis_status & CW_FAULT_BIT ? 1 : 0;
-	status.Bits.RA_MINUS_LS  = axis_status & CCW_FAULT_BIT ? 1 : 0;
-
-	plusdir = status.Bits.RA_DIRECTION ? true : false;
-	if ((status.Bits.RA_PLUS_LS && plusdir) || (status.Bits.RA_MINUS_LS && !plusdir))
-	{
-		ls_active = true;
-	}
-
-	// get the position
-	sprintf(buff, "PFBKPROG()");
-	send_mess(card, buff, (char) NULL);
-	recv_mess(card, buff, 1);
-	if (buff[0] == ASCII_ACK_CHAR)
-	{
-		// convert to an integer
-		pfbk = atof(&buff[1]);
-	}
-	else
-	{
-		pfbk = 0;
-	}
-
-	// fill in the position
-	motorData = pfbk / cntrl->drive_resolution[signal];
-
-	if (motorData == motor_info->position)
-	{
-		// only increment the counter if the motor is moving
-		if (nodeptr != 0)
-		{
-			motor_info->no_motion_count++;
-		}
-	}
-	else
-	{
-		motor_info->position = NINT(motorData);
-		if (motor_info->encoder_present == YES)
-		{
-			motor_info->encoder_position = NINT(motorData);
-		}
-		else
-		{
-			motor_info->encoder_position = 0;
-		}
-
-		motor_info->no_motion_count = 0;
-	}
-
-	// velocity is not used, so don't bother doing a command down
-	// to the controller to get it
-	motor_info->velocity = 0;
-
-	// do this "last", so that we know no errors occurred
-	status.Bits.RA_PROBLEM = 0;
-
-	rtn_state = (!motor_info->no_motion_count || ls_active ||
-		status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
-
-	// test for post-move string
-	if ((status.Bits.RA_DONE || ls_active) && 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 Soloist board            */
-/* send_mess()                               */
-/*****************************************************/
-static RTN_STATUS send_mess(int card, char const *com, char *name)
-{
-	struct Soloistcontroller *cntrl;
-	int size;
-	size_t nwrite;
-	char *eos_tok, com_cpy[BUFF_SIZE];
-	asynStatus status;
-
-	size = strlen(com);
-
-	if (size > MAX_MSG_SIZE)
-	{
-		errlogMessage("drvSoloist.c:send_mess(); message size violation.\n");
-		return(ERROR);
-	}
-	else if (size == 0)
-	{
-		return(OK);
-	}
-
-	if (!motor_state[card])
-	{
-		errlogMessage("drvSoloist.c:send_mess() - invalid card #%d\n");
-		return(ERROR);
-	}
-
-	if (name != NULL)
-	{
-		errlogMessage("drvSoloist.c:send_mess() - invalid argument = %s\n");
-		return(ERROR);
-	}
-
-	Debug(2, "send_mess(): message = %s\n", com);
-
-	// We need to track the number of individual Soloist commands that are
-	// being sent, so that we can read back the same number of responses.
-	// This is necessary, because the Soloist will send individual responses
-	// terminated by the EOS char for each command sent, even if those commands
-	// were all sent as part of one motor record command, such as LOAD_POS
-
-	Soloist_num_cmds = 0;
-	strcpy(com_cpy, com);
-	eos_tok = strtok(com_cpy, ASCII_EOS_STR);
-	while (eos_tok != NULL)
-	{
-		Soloist_num_cmds++;
-		eos_tok = strtok(NULL, ASCII_EOS_STR);
-	}
-
-	cntrl = (struct Soloistcontroller *) motor_state[card]->DevicePrivate;
-
-	status = pasynOctetSyncIO->write(cntrl->pasynUser, com, size, TIMEOUT, &nwrite);
-
-	if (status != asynSuccess || nwrite <= 0)
-	{
-		errlogMessage(cntrl->pasynUser->errorMessage);
-		return(ERROR);
-	}
-
-	return(OK);
-}
-
-
-/*
-* FUNCTION... recv_mess(int card, char *com, int flag)
-*
-* INPUT ARGUMENTS...
-*  card - controller card # (0,1,...).
-*  *com - caller's response buffer.
-*  flag    | FLUSH  = flush controller's output buffer; set timeout = 0.
-*      | !FLUSH = retrieve response into caller's buffer; set timeout.
-*
-* LOGIC...
-*  IF controller card does not exist.
-*  ERROR RETURN.
-*  ENDIF
-*  NORMAL RETURN.
-*/
-
-static int recv_mess(int card, char *com, int flag)
-{
-	struct Soloistcontroller *cntrl;
-	double timeout = 0;
-	size_t nread = 0;
-	asynStatus status;
-	int eomReason, i;
-	char buff[BUFF_SIZE];
-
-	if (!motor_state[card])
-	{
-		return(ERROR);
-	}
-
-	cntrl = (struct Soloistcontroller *) motor_state[card]->DevicePrivate;
-
-	timeout = TIMEOUT;
-	com[0] = '\0';
-	for (i = 0; i < Soloist_num_cmds; i++)
-	{
-		status = pasynOctetSyncIO->read(cntrl->pasynUser, buff, BUFF_SIZE, timeout, &nread, &eomReason);
-
-		if (status == asynSuccess && nread > 0)
-		{
-			strcat(com, buff);
-		}
-		else
-		{
-			com[0] = '\0';
-			nread = 0;
-			break;
-		}
-	}	
-
-	Debug(2, "recv_mess(): message = \"%s\"\n", com);
-	return(nread);
-}
-
-
-/*****************************************************/
-/* Setup system configuration                        */
-/* SoloistSetup()                                     */
-/*****************************************************/
-RTN_STATUS SoloistSetup(int num_cards,  /* maximum number of controllers in system.  */
-						int scan_rate)  /* polling rate - 1/60 sec units.  */
-{
-	int i;
-
-	if (num_cards < 1 || num_cards > Soloist_NUM_CARDS)
-	{
-		Soloist_num_cards = Soloist_NUM_CARDS;
-	}
-	else
-	{
-		Soloist_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 SoloistConfig 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(Soloist_num_cards * sizeof(struct controller *));
-
-	for (i = 0; i < Soloist_num_cards; i++)
-	{
-		motor_state[i] = (struct controller *) NULL;
-	}
-
-	return(OK);
-}
-
-
-/*****************************************************/
-/* Configure a controller                            */
-/* SoloistConfig()                                    */
-/*****************************************************/
-RTN_STATUS SoloistConfig(int card,      /* card being configured */
-						 const char *name,   /* asyn port name */
-						 int addr)           /* asyn address (GPIB) */
-{
-	struct Soloistcontroller *cntrl;
-
-	if (card < 0 || card >= Soloist_num_cards)
-	{
-		return(ERROR);
-	}
-
-	motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
-	motor_state[card]->DevicePrivate = malloc(sizeof(struct Soloistcontroller));
-	cntrl = (struct Soloistcontroller *) 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 Soloistcontroller *cntrl;
-	int card_index, motor_index, status, digits;
-	char buff[BUFF_SIZE];
-	asynStatus success_rtn;
-
-	// Indicates that the driver is initialized
-	initialized = true;
-
-	if (Soloist_num_cards <= 0)
-	{
-		return(ERROR);
-	}
-
-	for (card_index = 0; card_index < Soloist_num_cards; card_index++)
-	{
-		if (!motor_state[card_index])
-		{
-			continue;
-		}
-
-		brdptr = motor_state[card_index];
-		brdptr->cmnd_response = true;
-		total_cards = card_index + 1;
-		cntrl = (struct Soloistcontroller *)brdptr->DevicePrivate;
-
-		// Initialize communications channel
-		success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, cntrl->asyn_address, &cntrl->pasynUser, NULL);
-
-		if (success_rtn == asynSuccess)
-		{
-			int retry = 0;
-
-			// Send a message to the baord, see if it exists
-			// flush any junk at input port - should not be any data available
-			pasynOctetSyncIO->flush(cntrl->pasynUser);
-
-			do
-			{
-				// we only care if we get a response
-				// so we don't need to send a valid command
-				strcpy(buff, "NONE");
-				send_mess(card_index, buff, (char) NULL);
-				status = recv_mess(card_index, buff, 1);
-
-				retry++;
-			} while (!status && retry < 3);
-
-			if (status > 0)
-			{
-				brdptr->localaddr = (char *) NULL;
-				brdptr->motor_in_motion = 0;
-				// Read controller ID string
-				strcpy(buff, "GETPARM(265)"); //UserString1
-				send_mess(card_index, buff, (char) NULL);
-				recv_mess(card_index, buff, 1);
-				if (buff[0] == ASCII_ACK_CHAR)
-				{
-					strcpy(brdptr->ident, &buff[1]);
-				}
-				else
-				{
-					sprintf(brdptr->ident, "Soloist%d", card_index);
-				}
-
-				// Get the number of axes
-				brdptr->total_axis = 0;
-				for (motor_index = 0; motor_index < 1; motor_index++)  // one motor (axis) per card
-				{
-					// Does this axis actually exist?
-					sprintf(buff, "GETPARM(257)"); //AxisName
-					send_mess(card_index, buff, (char) NULL);
-					recv_mess(card_index, buff, 1);
-
-					// We know the axis exists if we got an ACK response
-					if (buff[0] == ASCII_ACK_CHAR)
-					{
-						cntrl->axes[motor_index] = 1;
-						brdptr->total_axis++;
-					}
-				}
-
-				for (motor_index = 0; motor_index < 1; motor_index++)  // one motor (axis) per card
-				{
-					if (cntrl->axes[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;
-
-						// Determine if encoder present based on open/closed loop mode.
-						sprintf(buff, "GETPARM(58)"); //CfgFbkPosType
-						send_mess(card_index, buff, (char) NULL);
-						recv_mess(card_index, buff, 1);
-						if (buff[0] == ASCII_ACK_CHAR)
-						{
-							if (atoi(&buff[1]) > 0)
-							{
-								motor_info->encoder_present = YES;
-								motor_info->status.Bits.EA_PRESENT = 1;
-							}
-						}
-
-						// Determine if gains are supported based on the motor type.
-						sprintf(buff, "GETPARM(33)"); //CfgMotType
-						send_mess(card_index, buff, (char) NULL);
-						recv_mess(card_index, buff, 1);
-						if (buff[0] == ASCII_ACK_CHAR)
-						{
-							if (atoi(&buff[1]) != 3)
-							{
-								motor_info->pid_present = YES;
-								motor_info->status.Bits.GAIN_SUPPORT = 1;
-							}
-						}
-
-						// Stop all motors
-						sprintf(buff, "ABORT");
-						send_mess(card_index, buff, (char) NULL);
-						recv_mess(card_index, buff, 1);
-
-						// Determine drive resolution
-						sprintf(buff, "GETPARM(3)"); //PosScaleFactor
-						send_mess(card_index, buff, (char) NULL);
-						recv_mess(card_index, buff, 1);
-						if (buff[0] == ASCII_ACK_CHAR)
-						{
-							cntrl->drive_resolution[motor_index] = 1 / fabs(atof(&buff[1]));
-						}
-						else
-						{
-							cntrl->drive_resolution[motor_index] = 1;
-						}
-
-						digits = (int) -log10(cntrl->drive_resolution[motor_index]) + 2;
-						if (digits < 1)
-						{
-							digits = 1;
-						}
-						cntrl->res_decpts[motor_index] = digits;
-
-						// Save home preset position
-						sprintf(buff, "GETPARM(108)"); //HomeOffset
-						send_mess(card_index, buff, (char) NULL);
-						recv_mess(card_index, buff, 1);
-						if (buff[0] == ASCII_ACK_CHAR)
-						{
-							cntrl->home_preset[motor_index] = atof(&buff[1]);
-						}
-
-						// Determine low limit
-						sprintf(buff, "GETPARM(47)"); //ThresholdSoftCCW
-						send_mess(card_index, buff, (char) NULL);
-						recv_mess(card_index, buff, 1);
-						if (buff[0] == ASCII_ACK_CHAR)
-						{
-							motor_info->low_limit = atof(&buff[1]);
-						}
-
-						// Determine high limit
-						sprintf(buff, "GETPARM(48)"); //ThresholdSoftCW
-						send_mess(card_index, buff, (char) NULL);
-						recv_mess(card_index, buff, 1);
-						if (buff[0] == ASCII_ACK_CHAR)
-						{
-							motor_info->high_limit = atof(&buff[1]);
-						}
-
-						// Save the HomeDirection parameter
-						sprintf(buff, "GETPARM(106)"); //HomeDirection
-						send_mess(card_index, buff, (char) NULL);
-						recv_mess(card_index, buff, 1);
-						if (buff[0] == ASCII_ACK_CHAR)
-						{
-							cntrl->home_dparam[motor_index] = atoi(&buff[1]);
-						}
-
-						// Read status of each motor
-						set_status(card_index, motor_index);
-					}
-				}
-			}
-			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 *) "Soloist_motor",
-		epicsThreadPriorityMedium,
-		epicsThreadGetStackSize(epicsThreadStackMedium),
-		(EPICSTHREADFUNC) motor_task, (void *) &targs);
-
-	return(OK);
-}
-
+/*
+* FILENAME... drvSoloist.cc
+* USAGE...    Motor record driver level support for Aerotech Soloist.
+*
+* Version:        $Revision$
+* Modified By:    $Author$
+* Last Modified:  $Date$
+* HeadURL:        $URL$
+*/
+
+/*
+*	Original Author: Hong Fung
+*	Date: 04/29/09
+*	Current Author: Aerotech, Inc.
+*
+*	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	04-29-09 hcf - initialized from drvEnsemble.cc (Aerotech)
+* .02	07-07-09 cjb - merged fixes from Ensemble code (drvEnsemble.cc) in R6-4-4
+*/
+
+
+#include <string.h>
+#include <math.h>
+#include <stdio.h>
+#include <epicsThread.h>
+#include <epicsString.h>
+#include <drvSup.h>
+#include "motor.h"
+#include "drvSoloist.h"
+#include "asynOctetSyncIO.h"
+#include "epicsExport.h"
+
+/* Status byte bits */
+#define ENABLED_BIT		0x00000001
+#define IN_POSITION_BIT	0x00000004
+#define IN_MOTION_BIT	0x00000008
+#define DIRECTION_BIT	0x00000200
+#define HOME_LIMIT_BIT  0x01000000
+#define HOME_MARKER_BIT 0x02000000
+
+/* Fault status bits */
+#define CW_FAULT_BIT	0x004
+#define CCW_FAULT_BIT   0x008
+
+// This can really be any number, because there isn't any theoretical
+// restriction on the number of Soloist that can be on a network.
+// However, a relatively low number was picked for practical purposes
+#define Soloist_NUM_CARDS    10
+
+// Due to the way some of the commands are implemented in the Soloist,
+// such as HOME, the command response is not returned until the command
+// has actually finished executing. This requires a fairly large timeout
+// value. However, even a large value will not guarantee that the response will
+// be sent back in the time alloted.
+#define TIMEOUT 20.0 /* Command timeout in sec. */
+
+/*----------------debugging-----------------*/
+#ifdef __GNUG__
+#ifdef  DEBUG
+#define Debug(l, f, args...) { if (l<=drvSoloistdebug) printf(f,## args); }
+#else
+#define Debug(l, f, args...)
+#endif
+#else
+#define Debug()
+#endif
+volatile int drvSoloistdebug = 0;
+extern "C" {epicsExportAddress(int, drvSoloistdebug);}
+
+/* --- Local data. --- */
+int Soloist_num_cards = 0;
+int Soloist_num_cmds = 0;
+
+/* 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 *name);
+static int set_status(int card, int signal);
+static long report(int level);
+static long init();
+static int motor_init();
+static void query_done(int, int, struct mess_node *);
+
+/*----------------functions-----------------*/
+
+struct driver_table Soloist_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,
+	NULL
+};
+
+struct
+{
+	long number;
+	long (*report) (int);
+	long (*init) (void);
+} drvSoloist = {2, report, init};
+
+extern "C" {epicsExportAddress(drvet, drvSoloist);}
+
+static struct thread_args targs = {SCAN_RATE, &Soloist_access, 0.0};
+
+/*********************************************************
+* Print out driver status report
+*********************************************************/
+static long report(int level)
+{
+	int card;
+
+	if (Soloist_num_cards <=0)
+		printf("    No Soloist controllers configured.\n");
+	else
+	{
+		for (card = 0; card < Soloist_num_cards; card++)
+		{
+			struct controller *brdptr = motor_state[card];
+
+			if (brdptr == NULL)
+				printf("    Soloist controller %d connection failed.\n", card);
+			else
+			{
+				struct Soloistcontroller *cntrl;
+
+				cntrl = (struct Soloistcontroller *) brdptr->DevicePrivate;
+				printf("    Soloist controller %d, port=%s, address=%d, id: %s \n",
+					card, cntrl->asyn_port, cntrl->asyn_address,
+					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 (Soloist_num_cards <= 0)
+	{
+		Debug(1, "init(): Soloist driver disabled. SoloistSetup() missing from startup script.\n");
+	}
+	return((long) 0);
+}
+
+
+static void query_done(int card, int axis, struct mess_node *nodeptr)
+{
+}
+
+
+/**************************************************************
+* Parse status and position strings for a card and signal
+* set_status()
+************************************************************/
+
+static int set_status(int card, int signal)
+{
+	struct Soloistcontroller *cntrl;
+	struct mess_node *nodeptr;
+	register struct mess_info *motor_info;
+	double motorData, pfbk;
+	bool plusdir, ls_active = false;
+	msta_field status;
+	int rtn_state, comm_status, axis_status;
+	char buff[BUFF_SIZE];
+
+	cntrl = (struct Soloistcontroller *) motor_state[card]->DevicePrivate;
+	motor_info = &(motor_state[card]->motor_info[signal]);
+	status.All = motor_info->status.All;
+
+	// get the axis status
+	sprintf(buff, "AXISSTATUS()");
+	send_mess(card, buff, (char) NULL);
+	comm_status = recv_mess(card, buff, 1);
+	if (comm_status > 0 && buff[0] == ASCII_ACK_CHAR)
+	{
+		cntrl->status = NORMAL;
+		status.Bits.CNTRL_COMM_ERR = 0;
+	}
+	else if (comm_status <= 0)
+	{
+		if (cntrl->status == NORMAL)
+		{
+			cntrl->status = RETRY;
+			rtn_state = OK;
+		}
+		else
+		{
+			cntrl->status = COMM_ERR;
+			status.Bits.CNTRL_COMM_ERR = 1;
+			status.Bits.RA_PROBLEM = 1;
+			rtn_state = 1;
+		}
+		goto exit;
+	}
+	else if (buff[0] != ASCII_ACK_CHAR)
+	{
+		cntrl->status = COMM_ERR;
+		status.Bits.CNTRL_COMM_ERR = 1;
+		status.Bits.RA_PROBLEM = 1;
+		rtn_state = 1;
+		goto exit;
+	}
+
+	cntrl->status = NORMAL;
+	status.Bits.CNTRL_COMM_ERR = 0;
+
+	// convert to an integer
+	axis_status = atoi(&buff[1]);
+
+	nodeptr = motor_info->motor_motion;
+
+	status.Bits.EA_SLIP = 0;
+	status.Bits.EA_SLIP_STALL = 0;
+
+	// fill in the status
+	status.Bits.RA_DIRECTION = axis_status & DIRECTION_BIT	 ? 1 : 0;
+	status.Bits.RA_DONE		 = axis_status & IN_POSITION_BIT ? 1 : 0;
+	status.Bits.RA_HOME		 = axis_status & HOME_LIMIT_BIT	 ? 1 : 0;
+	status.Bits.EA_POSITION	 = axis_status & ENABLED_BIT	 ? 1 : 0;
+	status.Bits.EA_HOME		 = axis_status & HOME_MARKER_BIT ? 1 : 0;
+	status.Bits.RA_MOVING	 = axis_status & IN_MOTION_BIT	 ? 1 : 0;
+
+	/* get the axis fault status */
+	sprintf(buff, "AXISFAULT()");
+	send_mess(card, buff, (char) NULL);
+	comm_status = recv_mess(card, buff, 1);
+	axis_status = atoi(&buff[1]);
+	status.Bits.RA_PLUS_LS   = axis_status & CW_FAULT_BIT ? 1 : 0;
+	status.Bits.RA_MINUS_LS  = axis_status & CCW_FAULT_BIT ? 1 : 0;
+
+	plusdir = status.Bits.RA_DIRECTION ? true : false;
+	if ((status.Bits.RA_PLUS_LS && plusdir) || (status.Bits.RA_MINUS_LS && !plusdir))
+	{
+		ls_active = true;
+	}
+
+	// get the position
+	sprintf(buff, "PFBKPROG()");
+	send_mess(card, buff, (char) NULL);
+	recv_mess(card, buff, 1);
+	if (buff[0] == ASCII_ACK_CHAR)
+	{
+		// convert to an integer
+		pfbk = atof(&buff[1]);
+	}
+	else
+	{
+		pfbk = 0;
+	}
+
+	// fill in the position
+	motorData = pfbk / cntrl->drive_resolution[signal];
+
+	if (motorData == motor_info->position)
+	{
+		// only increment the counter if the motor is moving
+		if (nodeptr != 0)
+		{
+			motor_info->no_motion_count++;
+		}
+	}
+	else
+	{
+		motor_info->position = NINT(motorData);
+		if (motor_info->encoder_present == YES)
+		{
+			motor_info->encoder_position = NINT(motorData);
+		}
+		else
+		{
+			motor_info->encoder_position = 0;
+		}
+
+		motor_info->no_motion_count = 0;
+	}
+
+	// velocity is not used, so don't bother doing a command down
+	// to the controller to get it
+	motor_info->velocity = 0;
+
+	// do this "last", so that we know no errors occurred
+	status.Bits.RA_PROBLEM = 0;
+
+	rtn_state = (!motor_info->no_motion_count || ls_active ||
+		status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
+
+	// test for post-move string
+	if ((status.Bits.RA_DONE || ls_active) && 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 Soloist board            */
+/* send_mess()                               */
+/*****************************************************/
+static RTN_STATUS send_mess(int card, char const *com, char *name)
+{
+	struct Soloistcontroller *cntrl;
+	int size;
+	size_t nwrite;
+	char *eos_tok, com_cpy[BUFF_SIZE];
+	asynStatus status;
+
+	size = strlen(com);
+
+	if (size > MAX_MSG_SIZE)
+	{
+		errlogMessage("drvSoloist.c:send_mess(); message size violation.\n");
+		return(ERROR);
+	}
+	else if (size == 0)
+	{
+		return(OK);
+	}
+
+	if (!motor_state[card])
+	{
+		errlogMessage("drvSoloist.c:send_mess() - invalid card #%d\n");
+		return(ERROR);
+	}
+
+	if (name != NULL)
+	{
+		errlogMessage("drvSoloist.c:send_mess() - invalid argument = %s\n");
+		return(ERROR);
+	}
+
+	Debug(2, "send_mess(): message = %s\n", com);
+
+	// We need to track the number of individual Soloist commands that are
+	// being sent, so that we can read back the same number of responses.
+	// This is necessary, because the Soloist will send individual responses
+	// terminated by the EOS char for each command sent, even if those commands
+	// were all sent as part of one motor record command, such as LOAD_POS
+
+	Soloist_num_cmds = 0;
+	strcpy(com_cpy, com);
+	eos_tok = strtok(com_cpy, ASCII_EOS_STR);
+	while (eos_tok != NULL)
+	{
+		Soloist_num_cmds++;
+		eos_tok = strtok(NULL, ASCII_EOS_STR);
+	}
+
+	cntrl = (struct Soloistcontroller *) motor_state[card]->DevicePrivate;
+
+	status = pasynOctetSyncIO->write(cntrl->pasynUser, com, size, TIMEOUT, &nwrite);
+
+	if (status != asynSuccess || nwrite <= 0)
+	{
+		errlogMessage(cntrl->pasynUser->errorMessage);
+		return(ERROR);
+	}
+
+	return(OK);
+}
+
+
+/*
+* FUNCTION... recv_mess(int card, char *com, int flag)
+*
+* INPUT ARGUMENTS...
+*  card - controller card # (0,1,...).
+*  *com - caller's response buffer.
+*  flag    | FLUSH  = flush controller's output buffer; set timeout = 0.
+*      | !FLUSH = retrieve response into caller's buffer; set timeout.
+*
+* LOGIC...
+*  IF controller card does not exist.
+*  ERROR RETURN.
+*  ENDIF
+*  NORMAL RETURN.
+*/
+
+static int recv_mess(int card, char *com, int flag)
+{
+	struct Soloistcontroller *cntrl;
+	double timeout = 0;
+	size_t nread = 0;
+	asynStatus status;
+	int eomReason, i;
+	char buff[BUFF_SIZE];
+
+	if (!motor_state[card])
+	{
+		return(ERROR);
+	}
+
+	cntrl = (struct Soloistcontroller *) motor_state[card]->DevicePrivate;
+
+	timeout = TIMEOUT;
+	com[0] = '\0';
+	for (i = 0; i < Soloist_num_cmds; i++)
+	{
+		status = pasynOctetSyncIO->read(cntrl->pasynUser, buff, BUFF_SIZE, timeout, &nread, &eomReason);
+
+		if (status == asynSuccess && nread > 0)
+		{
+			strcat(com, buff);
+		}
+		else
+		{
+			com[0] = '\0';
+			nread = 0;
+			break;
+		}
+	}	
+
+	Debug(2, "recv_mess(): message = \"%s\"\n", com);
+	return(nread);
+}
+
+
+/*****************************************************/
+/* Setup system configuration                        */
+/* SoloistSetup()                                     */
+/*****************************************************/
+RTN_STATUS SoloistSetup(int num_cards,  /* maximum number of controllers in system.  */
+						int scan_rate)  /* polling rate - 1/60 sec units.  */
+{
+	int i;
+
+	if (num_cards < 1 || num_cards > Soloist_NUM_CARDS)
+	{
+		Soloist_num_cards = Soloist_NUM_CARDS;
+	}
+	else
+	{
+		Soloist_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 SoloistConfig 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(Soloist_num_cards * sizeof(struct controller *));
+
+	for (i = 0; i < Soloist_num_cards; i++)
+	{
+		motor_state[i] = (struct controller *) NULL;
+	}
+
+	return(OK);
+}
+
+
+/*****************************************************/
+/* Configure a controller                            */
+/* SoloistConfig()                                    */
+/*****************************************************/
+RTN_STATUS SoloistConfig(int card,      /* card being configured */
+						 const char *name,   /* asyn port name */
+						 int addr)           /* asyn address (GPIB) */
+{
+	struct Soloistcontroller *cntrl;
+
+	if (card < 0 || card >= Soloist_num_cards)
+	{
+		return(ERROR);
+	}
+
+	motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
+	motor_state[card]->DevicePrivate = malloc(sizeof(struct Soloistcontroller));
+	cntrl = (struct Soloistcontroller *) 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 Soloistcontroller *cntrl;
+	int card_index, motor_index, status, digits;
+	char buff[BUFF_SIZE];
+	asynStatus success_rtn;
+
+	// Indicates that the driver is initialized
+	initialized = true;
+
+	if (Soloist_num_cards <= 0)
+	{
+		return(ERROR);
+	}
+
+	for (card_index = 0; card_index < Soloist_num_cards; card_index++)
+	{
+		if (!motor_state[card_index])
+		{
+			continue;
+		}
+
+		brdptr = motor_state[card_index];
+		brdptr->cmnd_response = true;
+		total_cards = card_index + 1;
+		cntrl = (struct Soloistcontroller *)brdptr->DevicePrivate;
+
+		// Initialize communications channel
+		success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, cntrl->asyn_address, &cntrl->pasynUser, NULL);
+
+		if (success_rtn == asynSuccess)
+		{
+			int retry = 0;
+
+			// Send a message to the baord, see if it exists
+			// flush any junk at input port - should not be any data available
+			pasynOctetSyncIO->flush(cntrl->pasynUser);
+
+			do
+			{
+				// we only care if we get a response
+				// so we don't need to send a valid command
+				strcpy(buff, "NONE");
+				send_mess(card_index, buff, (char) NULL);
+				status = recv_mess(card_index, buff, 1);
+
+				retry++;
+			} while (!status && retry < 3);
+
+			if (status > 0)
+			{
+				brdptr->localaddr = (char *) NULL;
+				brdptr->motor_in_motion = 0;
+				// Read controller ID string
+				strcpy(buff, "GETPARM(265)"); //UserString1
+				send_mess(card_index, buff, (char) NULL);
+				recv_mess(card_index, buff, 1);
+				if (buff[0] == ASCII_ACK_CHAR)
+				{
+					strcpy(brdptr->ident, &buff[1]);
+				}
+				else
+				{
+					sprintf(brdptr->ident, "Soloist%d", card_index);
+				}
+
+				// Get the number of axes
+				brdptr->total_axis = 0;
+				for (motor_index = 0; motor_index < 1; motor_index++)  // one motor (axis) per card
+				{
+					// Does this axis actually exist?
+					sprintf(buff, "GETPARM(257)"); //AxisName
+					send_mess(card_index, buff, (char) NULL);
+					recv_mess(card_index, buff, 1);
+
+					// We know the axis exists if we got an ACK response
+					if (buff[0] == ASCII_ACK_CHAR)
+					{
+						cntrl->axes[motor_index] = 1;
+						brdptr->total_axis++;
+					}
+				}
+
+				for (motor_index = 0; motor_index < 1; motor_index++)  // one motor (axis) per card
+				{
+					if (cntrl->axes[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;
+
+						// Determine if encoder present based on open/closed loop mode.
+						sprintf(buff, "GETPARM(58)"); //CfgFbkPosType
+						send_mess(card_index, buff, (char) NULL);
+						recv_mess(card_index, buff, 1);
+						if (buff[0] == ASCII_ACK_CHAR)
+						{
+							if (atoi(&buff[1]) > 0)
+							{
+								motor_info->encoder_present = YES;
+								motor_info->status.Bits.EA_PRESENT = 1;
+							}
+						}
+
+						// Determine if gains are supported based on the motor type.
+						sprintf(buff, "GETPARM(33)"); //CfgMotType
+						send_mess(card_index, buff, (char) NULL);
+						recv_mess(card_index, buff, 1);
+						if (buff[0] == ASCII_ACK_CHAR)
+						{
+							if (atoi(&buff[1]) != 3)
+							{
+								motor_info->pid_present = YES;
+								motor_info->status.Bits.GAIN_SUPPORT = 1;
+							}
+						}
+
+						// Stop all motors
+						sprintf(buff, "ABORT");
+						send_mess(card_index, buff, (char) NULL);
+						recv_mess(card_index, buff, 1);
+
+						// Determine drive resolution
+						sprintf(buff, "GETPARM(3)"); //PosScaleFactor
+						send_mess(card_index, buff, (char) NULL);
+						recv_mess(card_index, buff, 1);
+						if (buff[0] == ASCII_ACK_CHAR)
+						{
+							cntrl->drive_resolution[motor_index] = 1 / fabs(atof(&buff[1]));
+						}
+						else
+						{
+							cntrl->drive_resolution[motor_index] = 1;
+						}
+
+						digits = (int) -log10(cntrl->drive_resolution[motor_index]) + 2;
+						if (digits < 1)
+						{
+							digits = 1;
+						}
+						cntrl->res_decpts[motor_index] = digits;
+
+						// Save home preset position
+						sprintf(buff, "GETPARM(108)"); //HomeOffset
+						send_mess(card_index, buff, (char) NULL);
+						recv_mess(card_index, buff, 1);
+						if (buff[0] == ASCII_ACK_CHAR)
+						{
+							cntrl->home_preset[motor_index] = atof(&buff[1]);
+						}
+
+						// Determine low limit
+						sprintf(buff, "GETPARM(47)"); //ThresholdSoftCCW
+						send_mess(card_index, buff, (char) NULL);
+						recv_mess(card_index, buff, 1);
+						if (buff[0] == ASCII_ACK_CHAR)
+						{
+							motor_info->low_limit = atof(&buff[1]);
+						}
+
+						// Determine high limit
+						sprintf(buff, "GETPARM(48)"); //ThresholdSoftCW
+						send_mess(card_index, buff, (char) NULL);
+						recv_mess(card_index, buff, 1);
+						if (buff[0] == ASCII_ACK_CHAR)
+						{
+							motor_info->high_limit = atof(&buff[1]);
+						}
+
+						// Save the HomeDirection parameter
+						sprintf(buff, "GETPARM(106)"); //HomeDirection
+						send_mess(card_index, buff, (char) NULL);
+						recv_mess(card_index, buff, 1);
+						if (buff[0] == ASCII_ACK_CHAR)
+						{
+							cntrl->home_dparam[motor_index] = atoi(&buff[1]);
+						}
+
+						// Read status of each motor
+						set_status(card_index, motor_index);
+					}
+				}
+			}
+			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 *) "Soloist_motor",
+		epicsThreadPriorityMedium,
+		epicsThreadGetStackSize(epicsThreadStackMedium),
+		(EPICSTHREADFUNC) motor_task, (void *) &targs);
+
+	return(OK);
+}
+
diff --git a/motorApp/AerotechSrc/drvSoloist.h b/motorApp/AerotechSrc/drvSoloist.h
old mode 100755
new mode 100644
index a564b0be..b207c5fc
--- a/motorApp/AerotechSrc/drvSoloist.h
+++ b/motorApp/AerotechSrc/drvSoloist.h
@@ -2,9 +2,10 @@
 FILENAME...	drvSoloist.h
 USAGE... This file contains Aerotech Soloist driver "include" information.
 
-Version:	1.0
-Modified By:	cbonnell
-Last Modified:	2009/07/07 03:06:56 PM
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
diff --git a/motorApp/OmsSrc/devMAXv.cc b/motorApp/OmsSrc/devMAXv.cc
index 71368fb0..11103f9d 100644
--- a/motorApp/OmsSrc/devMAXv.cc
+++ b/motorApp/OmsSrc/devMAXv.cc
@@ -2,9 +2,10 @@
 FILENAME...	devMAXV.cc
 USAGE... Device level support for OMS MAXv model.
 
-Version:	$Revision: 1.3 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2008-03-14 20:19:06 $
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
diff --git a/motorApp/OmsSrc/devOms.cc b/motorApp/OmsSrc/devOms.cc
index 9e167ba6..2082333b 100644
--- a/motorApp/OmsSrc/devOms.cc
+++ b/motorApp/OmsSrc/devOms.cc
@@ -2,9 +2,11 @@
 FILENAME...	devOms.cc
 USAGE... Device level support for OMS VME8 and VME44 models.
 
-Version:	$Revision: 1.8 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2008-03-14 20:19:06 $
+
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
diff --git a/motorApp/OmsSrc/devOms58.cc b/motorApp/OmsSrc/devOms58.cc
index a8fdc097..6fd2b30e 100644
--- a/motorApp/OmsSrc/devOms58.cc
+++ b/motorApp/OmsSrc/devOms58.cc
@@ -2,9 +2,10 @@
 FILENAME...	devOms58.c
 USAGE...	Motor record device level support for OMS VME58.
 
-Version:	$Revision: 1.7 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2008-03-14 20:19:06 $
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
diff --git a/motorApp/OmsSrc/devOmsCom.cc b/motorApp/OmsSrc/devOmsCom.cc
index 0eae90ad..4f0ee93f 100644
--- a/motorApp/OmsSrc/devOmsCom.cc
+++ b/motorApp/OmsSrc/devOmsCom.cc
@@ -2,9 +2,10 @@
 FILENAME...     devOmsCom.cc
 USAGE... Data and functions common to all OMS device level support.
 
-Version:        $Revision: 1.16 $
-Modified By:    $Author: sluiter $
-Last Modified:  $Date: 2008-09-09 18:19:45 $
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
diff --git a/motorApp/OmsSrc/devOmsCom.h b/motorApp/OmsSrc/devOmsCom.h
index 4bd6e793..c8664aaf 100644
--- a/motorApp/OmsSrc/devOmsCom.h
+++ b/motorApp/OmsSrc/devOmsCom.h
@@ -4,9 +4,10 @@ FILENAME..	devOmsCom.h
 USAGE... 	This file contains OMS device information that is
 		common to all OMS device support modules.
 
-Version:	$Revision: 1.4 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-02-03 17:15:21 $
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
diff --git a/motorApp/OmsSrc/devOmsPC68.cc b/motorApp/OmsSrc/devOmsPC68.cc
index 0eb60abf..7781e5aa 100644
--- a/motorApp/OmsSrc/devOmsPC68.cc
+++ b/motorApp/OmsSrc/devOmsPC68.cc
@@ -2,9 +2,10 @@
 FILENAME...     devOmsPC68.c
 USAGE...        Motor record device level support for OMS VME58.
 
-Version:	$Revision: 1.2 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2008-03-14 20:19:06 $
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
diff --git a/motorApp/OmsSrc/drvMAXv.h b/motorApp/OmsSrc/drvMAXv.h
index 941c8421..7aefb2bb 100644
--- a/motorApp/OmsSrc/drvMAXv.h
+++ b/motorApp/OmsSrc/drvMAXv.h
@@ -3,9 +3,10 @@ FILENAME...	drvMAXv.h
 USAGE...	OMS driver level "include" information that is specific to OMS
 		model MAXv.
 
-Version:	$Revision: 1.3 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2008-06-03 18:58:25 $
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
diff --git a/motorApp/OmsSrc/drvOms.h b/motorApp/OmsSrc/drvOms.h
index 5bcbfd29..89e298a1 100644
--- a/motorApp/OmsSrc/drvOms.h
+++ b/motorApp/OmsSrc/drvOms.h
@@ -3,9 +3,9 @@ FILENAME...	drvOms.h
 USAGE... This file contains OMS driver "include" information that is
 		specific to OMS models VME8 and VME44.
 
-Version:	$Revision: 1.5 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2008-03-14 20:36:10 $
+Version:	$Revision$
+Modified By:	$Author$
+Last Modified:	$Date$
 */
 
 /*
diff --git a/motorApp/OmsSrc/drvOms58.h b/motorApp/OmsSrc/drvOms58.h
index 3ef4d0b4..1859e834 100644
--- a/motorApp/OmsSrc/drvOms58.h
+++ b/motorApp/OmsSrc/drvOms58.h
@@ -3,9 +3,9 @@ FILENAME...	drvOms58.h
 USAGE...	OMS driver level "include" information that is specific to OMS
 		model VME58.
 
-Version:	$Revision: 1.4 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2005-03-21 18:14:12 $
+Version:	$Revision$
+Modified By:	$Author$
+Last Modified:	$Date$
 */
 
 /*
diff --git a/motorApp/OmsSrc/drvOmsCom.h b/motorApp/OmsSrc/drvOmsCom.h
index d9398a54..228a34b1 100644
--- a/motorApp/OmsSrc/drvOmsCom.h
+++ b/motorApp/OmsSrc/drvOmsCom.h
@@ -3,9 +3,9 @@ FILENAME...	drvOmsCom.h
 USAGE... 	This file contains OMS driver "include" information
 		that is common to all OMS models.
 
-Version:	$Revision: 1.4 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2008-03-14 20:38:02 $
+Version:	$Revision$
+Modified By:	$Author$
+Last Modified:	$Date$
 */
 
 /*
diff --git a/motorApp/OmsSrc/drvOmsPC68.cc b/motorApp/OmsSrc/drvOmsPC68.cc
index 3f02c1c2..384a8010 100644
--- a/motorApp/OmsSrc/drvOmsPC68.cc
+++ b/motorApp/OmsSrc/drvOmsPC68.cc
@@ -2,9 +2,9 @@
 FILENAME...     drvOmsPC68.cc
 USAGE...        Motor record driver level support for OMS PC68 serial device.
 
-Version:	$Revision: 1.8 $
-Modified By:	$Author: dkline $
-Last Modified:	$Date: 2008-02-15 12:38:57 $
+Version:	$Revision$
+Modified By:	$Author$
+Last Modified:	$Date$
 */
 
 /*
diff --git a/motorApp/OmsSrc/drvOmsPC68Com.h b/motorApp/OmsSrc/drvOmsPC68Com.h
index 6a7dd15a..a10dcf5e 100644
--- a/motorApp/OmsSrc/drvOmsPC68Com.h
+++ b/motorApp/OmsSrc/drvOmsPC68Com.h
@@ -2,9 +2,9 @@
 FILENAME...     drvOmsPC68Com.h
 USAGE... This file contains information common to all OMS PC68/78 controllers.
 
-Version:	$Revision: 1.2 $
-Modified By:	$Author: dkline $
-Last Modified:	$Date: 2007-02-13 13:02:27 $
+Version:	$Revision$
+Modified By:	$Author$
+Last Modified:	$Date$
 */
 
 /*