- Many improvements to the MasterMACS driver

- Slowing down the pmac driver
- Fixing a bug in the Nanotec driver which caused an IOC crash when the
  motor sends bad data

sinqEPICSApp/src/NanotecDriver.cpp

@@ -377,7 +377,7 @@ asynStatus NanotecAxis::poll(bool *moving)
   asynStatus comStatus;
   char command[COMLEN], reply[COMLEN];
   char *pPtr; 
-  int posVal, statVal;
+  int posVal, statVal, count = 0;
   double lowLim, highLim;
 
 
@@ -393,11 +393,12 @@ asynStatus NanotecAxis::poll(bool *moving)
   if(comStatus) goto skip;
 
   pPtr = strchr(reply,'C');
-  pPtr++;
   if(pPtr){
-    posVal = atoi(pPtr);
-  } else {
-    errlogPrintf("Invalid response %s for #C received for axis %d\n", reply, axisNo_);
+    pPtr++;
+    count = sscanf(pPtr,"%d", &posVal); 	  
+  } 
+  if(pPtr == NULL || count < 1) {
+    errlogPrintf("Invalid response %s for #C received for axis %d, address %d\n", reply, axisNo_, busAddress);
     return asynError;
   }
 
@@ -412,11 +413,12 @@ asynStatus NanotecAxis::poll(bool *moving)
   if(comStatus) goto skip;
 
   pPtr = strchr(reply,'$');
-  pPtr++;
   if(pPtr) {
-    statVal = atoi(pPtr);
-  } else {
-     errlogPrintf("Invalid response %s for #$ received for axis %d\n", reply, axisNo_);
+    pPtr++;
+    count = sscanf(pPtr, "%d", &statVal);	  
+  } 
+  if(pPtr == NULL || count < 1) {
+     errlogPrintf("Invalid response %s for #$ received for axis %d busAddress %d\n", reply, axisNo_, busAddress);
      return asynError;
   }        
   //errlogPrintf("Axis %d, reply %s, statVal = %d\n",