Modifed SMC hydra support to set deceleration before aborting a move. Also added EOS config to SMC example.

iocBoot/iocWithAsyn/motor.cmd.SMChydra

@@ -12,6 +12,10 @@ asynSetTraceMask("serial5", 0, 1)
 # Leave ascii selected so traces can be turned on with a single click
 asynSetTraceIOMask("serial5", 0, 1)
 
+# Set end-of-string terminators
+asynOctetSetInputEos("serial5",0,"\r\n")
+asynOctetSetOutputEos("serial5",0,"\r\n")
+
 dbLoadTemplate("motor.substitutions.SMChydra")
 
 # SMChydraCreateController(

motorApp/MicosSrc/SMChydraDriver.cpp

@@ -267,6 +267,10 @@ asynStatus SMChydraAxis::stop(double acceleration )
   asynStatus status;
   //static const char *functionName = "SMChydraAxis::stop";
 
+  // Set stop deceleration (will be overridden by accel if accel is higher)
+  sprintf(pC_->outString_, "%f %i ssd", (acceleration * axisRes_), (axisNo_ + 1));
+  status = pC_->writeController();
+
   sprintf(pC_->outString_, "%i nabort", (axisNo_ + 1));
   status = pC_->writeController();
   return status;