From fedf94a377eb8c883264b5cacb9d04d0bce92b90 Mon Sep 17 00:00:00 2001
From: kmpeters <kmpeters@anl.gov>
Date: Wed, 12 Dec 2012 21:50:20 +0000
Subject: [PATCH] Modifed SMC hydra support to set deceleration before aborting
 a move.  Also added EOS config to SMC example.

---
 iocBoot/iocWithAsyn/motor.cmd.SMChydra | 4 ++++
 motorApp/MicosSrc/SMChydraDriver.cpp   | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/iocBoot/iocWithAsyn/motor.cmd.SMChydra b/iocBoot/iocWithAsyn/motor.cmd.SMChydra
index 90130ec2..2921b2d2 100644
--- a/iocBoot/iocWithAsyn/motor.cmd.SMChydra
+++ b/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(
diff --git a/motorApp/MicosSrc/SMChydraDriver.cpp b/motorApp/MicosSrc/SMChydraDriver.cpp
index dab3174b..c82f25ed 100644
--- a/motorApp/MicosSrc/SMChydraDriver.cpp
+++ b/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;