diff --git a/devexec.c b/devexec.c
index 9c7fd293..60848781 100644
--- a/devexec.c
+++ b/devexec.c
@@ -431,11 +431,15 @@
                         }   
                         break;                                     
            case HWBusy:
-                        if(pCountInt)
+                        if(pCountInt != NULL  && pDrivInt != NULL)
                         {
+                          SetStatus(eCountDrive);
+                        }
+			else if(pCountInt != NULL && pDrivInt == NULL)
+			{
                           SetStatus(eCounting);
                         }
-                        else if(pDrivInt)
+                        else if(pDrivInt != NULL && pCountInt == NULL)
                         {
                           SetStatus(eDriving);
                         }
diff --git a/hkl.c b/hkl.c
index 3fce290e..05edaa5d 100644
--- a/hkl.c
+++ b/hkl.c
@@ -603,12 +603,23 @@ static int calculateBisecting(MATRIX z1, pHKL self, SConnection *pCon,
   }
 
   /*
-    giving up!
+    giving up! But calculate one more time in order to show Jurg where 
+    he should be. 
   */
-  for(i = 0; i < 4; i++)
-  {
-    fSet[i] = .0;
+  z1mToBisecting(self->fLambda,z1,&stt,&om,&chi,&phi);
+  if(iRetry == 1){
+    rotatePsi(om,chi,phi,psi,&ompsi,&chipsi,&phipsi);
+    fSet[0] = (float)stt;
+    fSet[1] = (float)ompsi;
+    fSet[2] = (float)chipsi;
+    fSet[3]= (float)phipsi;
+  } else {
+    fSet[0] = (float)stt;
+    fSet[1] = (float)om;
+    fSet[2] = (float)chi;
+    fSet[3]= (float)phi;
   }
+
   return 0;
 }
 /*----------------------------------------------------------------------*/
@@ -1203,6 +1214,7 @@ ente:
      char pBueffel[512];
      float fUB[9], fPsi, fVal;
      float fHKL[3], fSet[4];
+     double dVal;
      pHKL self = NULL;
      CommandList *pCom = NULL;
      pDummy pDum = NULL;
@@ -1269,6 +1281,34 @@ ente:
            return 1;
         }                        
      }
+     else if(strcmp(argv[1],"fromangles") == 0)
+     {
+	 if(argc < 6)
+	 {
+	     SCWrite(pCon,
+              "ERROR: need stt, om, chi,phi to calculate HKL from angles",
+		     eError);
+	     return 0;
+         }
+         for(i = 0; i < 4; i++)
+	 {
+	     iRet = Tcl_GetDouble(InterpGetTcl(pSics),argv[i+2],&dVal);
+	     if(iRet != TCL_OK)
+	     {
+		 snprintf(pBueffel,511,"ERROR: failed to convert %s to number",
+			  argv[i+2]);
+		 SCWrite(pCon,pBueffel,eError);
+		 return 0;
+             }
+	     fSet[i] = (float)dVal;
+         }
+         angle2HKL(self,(double)fSet[0],(double)fSet[1],
+                    (double)fSet[2],(double)fSet[3],fHKL);
+         sprintf(pBueffel,"HKL from angles:  %8.4f %8.4f %8.4f ",
+                   fHKL[0], fHKL[1],fHKL[2]);
+         SCWrite(pCon,pBueffel,eValue);
+         return 1;
+     }
 /*------------- lambda */
      else if(strcmp(argv[1],"lambda") == 0)
      {
diff --git a/motreg.c b/motreg.c
index 348f833b..f47bc4ed 100644
--- a/motreg.c
+++ b/motreg.c
@@ -10,7 +10,7 @@
   Mark Koennecke, August 2002
 -----------------------------------------------------------------------*/
 #include <stdlib.h>
-#include <assert.h>
+#include <assert.h> 
 #include "fortify.h"
 #include "motreg.h"
 
diff --git a/napi5.c b/napi5.c
index 46c0b065..35e1173a 100644
--- a/napi5.c
+++ b/napi5.c
@@ -53,6 +53,11 @@
         char iAccess[2];
   } NexusFile5, *pNexusFile5;
 
+/* 
+   forward declaration of NX5closegroup in order to get rid of a nasty
+   warning
+*/
+NXstatus CALLING_STYLE NX5closegroup (NXhandle fid);
   
   /*--------------------------------------------------------------------*/
 
@@ -116,14 +121,12 @@
   unsigned int vers_major, vers_minor, vers_release, am1 ;
   hid_t fapl;     
   int mdc_nelmts;
-  unsigned long rdcc_nelmts;
+  int rdcc_nelmts;
   size_t rdcc_nbytes;
   double rdcc_w0;
 
-  /* turn off the automatic HDF error handling */
-  
-  H5Eset_auto(NULL,NULL);
-  
+  /* turn off the automatic HDF error handling */  
+    H5Eset_auto(NULL,NULL); 
 #ifdef USE_FTIME
     struct timeb timeb_struct;
 #endif 
@@ -193,6 +196,12 @@
        iRet=H5Pget_cache(fapl,&mdc_nelmts,&rdcc_nelmts,&rdcc_nbytes,&rdcc_w0);
        rdcc_nbytes=(size_t)cacheSize;
        iRet = H5Pset_cache(fapl,mdc_nelmts,rdcc_nelmts,rdcc_nbytes,rdcc_w0);
+       /*
+	 setting the close degree is absolutely necessary in HDF5 
+         versions > 1.6. If you use a lessere version and the compiler 
+        complains, comment it out but keep this in mind.
+       */
+       H5Pset_fclose_degree(fapl,H5F_CLOSE_STRONG);
        am1 = H5F_ACC_TRUNC;
        pNew->iFID = H5Fcreate (filename, am1, H5P_DEFAULT, fapl);
     } else {
@@ -331,7 +340,8 @@
     pNexusFile5 pFile = NULL;
     int iRet;
  
-     pFile=NXI5assert(*fid);
+    pFile=NXI5assert(*fid);
+
     iRet=0;
     iRet = H5Fclose(pFile->iFID);
     if (iRet < 0) {
@@ -347,6 +357,7 @@
     }
     free (pFile);
     *fid = NULL;
+    H5garbage_collect();
     return NX_OK;
   }
 
@@ -1139,7 +1150,68 @@
     }
     return 1; 
   }
+  /* --------------------------------------------------------------------- */
 
+  /* Operator function. */
+
+  herr_t group_info1(hid_t loc_id, const char *name, void *opdata)
+  {
+    NexusFile5 self;
+    H5G_stat_t statbuf;
+    self.iNX = *((int*)opdata);
+    H5Gget_objinfo(loc_id, name, 0, &statbuf);
+    
+    switch (statbuf.type) 
+    {
+      case H5G_GROUP: 
+        self.iNX++;
+        *((int*)opdata)=self.iNX;
+        break;
+      case H5G_DATASET:
+        self.iNX++;
+        *((int*)opdata)=self.iNX;
+        break;
+    }
+    return 0; 
+  }
+  
+  /*-------------------------------------------------------------------------*/
+
+  NXstatus CALLING_STYLE NX5getgroupinfo (NXhandle fid, int *iN, NXname pName, NXname pClass)
+  {
+    pNexusFile5 pFile;
+    hid_t atype,attr_id;
+    char data[64];
+    int iRet;
+        
+    pFile = NXI5assert (fid);
+    /* check if there is a group open */
+    if (pFile->iCurrentG == 0) {
+       strcpy (pName, "root");
+       strcpy (pClass, "NXroot");
+       pFile->iNX=0;
+       iRet=H5Giterate(pFile->iFID,"/",0,group_info1,&pFile->iNX);
+       *iN=pFile->iNX;
+    }
+    else {
+      strcpy (pName,pFile->name_ref);
+      attr_id = H5Aopen_name(pFile->iCurrentG,"NX_class");
+      if (attr_id<0) {
+         strcpy(pClass,"non");
+      } else {
+        atype=H5Tcopy(H5T_C_S1);
+        H5Tset_size(atype,64);  
+        H5Aread(attr_id, atype, data);
+        strcpy(pClass,data);
+        pFile->iNX=0;
+        iRet=H5Giterate(pFile->iFID,pFile->name_ref,0,group_info1, &pFile->iNX);
+        *iN=pFile->iNX;
+        H5Aclose(attr_id);
+      }
+    }
+    return NX_OK;
+  }
+ 
   /*-------------------------------------------------------------------------*/
 
   NXstatus CALLING_STYLE NX5getnextentry (NXhandle fid,NXname name, NXname nxclass, int *datatype)
@@ -1151,6 +1223,7 @@
     char data[128];
     char ph_name[1024];
     info_type op_data;
+    int iRet_iNX=-1;
      
     pFile = NXI5assert (fid);
     op_data.iname = NULL;
@@ -1161,6 +1234,18 @@
     }  
     iRet=H5Giterate(pFile->iFID,pFile->name_ref,&idx,nxgroup_info,&op_data);
     strcpy(nxclass,"");
+   
+    if (pFile->iCurrentG == 0) {
+       pFile->iNX=0;
+       iRet_iNX = H5Giterate(pFile->iFID,"/",0,group_info1,&pFile->iNX);
+    } else {
+      pFile->iNX=0;
+      iRet_iNX = H5Giterate(pFile->iFID,pFile->name_ref,0,group_info1, &pFile->iNX);
+    }
+    if (idx == pFile->iNX) {
+       iRet_iNX = 2;   
+    } 
+         
     if (iRet > 0)
       {
         pFile->iStack5[pFile->iStackPtr].iCurrentIDX++;
@@ -1245,23 +1330,22 @@
            H5Tclose(atype);
            H5Dclose(grp);
         }
-        return NX_OK;
-      }
-      else if (iRet==0)
-      {
-        if (op_data.iname != NULL) {
-           free(op_data.iname);
-        }
-        pFile->iStack5[pFile->iStackPtr].iCurrentIDX = 0;   
-        return NX_EOD;
-      }
+         return NX_OK;
+      } 
       else
       { 
+         if (iRet_iNX == 2) {
+           if (op_data.iname != NULL) {
+              free(op_data.iname);
+           }
+           pFile->iStack5[pFile->iStackPtr].iCurrentIDX = 0;   
+           return NX_EOD;
+        } 
         if (op_data.iname != NULL) {
            free(op_data.iname);
         } 
         NXIReportError (NXpData, 
-                           "ERROR: Iteration was not successful");
+                           "ERROR: Iteration (directory) was not successful");
         return NX_ERROR;              
       }
   }
@@ -1567,16 +1651,42 @@
     int iPType,rank;
     char *iname = NULL; 
     unsigned int idx;
+    int intern_idx=-1;
       
     pFile = NXI5assert (fileid);
     idx=pFile->iAtt5.iCurrentIDX;
+    iRet=0;
     if ((pFile->iCurrentD == 0) && (pFile->iCurrentG==0)) 
     {
     /* global attribute */
        pFile->iVID=H5Gopen(pFile->iFID,"/");
-       iRet=H5Aiterate(pFile->iVID,&idx,attr_info,&iname);
+       intern_idx=H5Aget_num_attrs(pFile->iVID);
+       if (intern_idx > idx) {
+          iRet=H5Aiterate(pFile->iVID,&idx,attr_info,&iname);
+       } 
+       else
+       {
+	 iRet=0;
+       } 
+       intern_idx=-1;
+       if (iRet < 0) {
+          NXIReportError (NXpData, "ERROR iterating through ROOT Attr. list!");
+          return NX_ERROR;  
+       } 
     } else { 
-       iRet=H5Aiterate(pFile->iCurrentD,&idx,attr_info,&iname);
+       intern_idx=H5Aget_num_attrs(pFile->iCurrentD);
+       if (intern_idx > idx) {
+          iRet=H5Aiterate(pFile->iCurrentD,&idx,attr_info,&iname);
+       } 
+       else
+       {
+	 iRet=0;
+       } 
+       intern_idx=-1;
+       if (iRet < 0) {
+          NXIReportError (NXpData, "ERROR iterating through Attr. list!");
+          return NX_ERROR;  
+       }
     }
     if (iRet>0)
       {
@@ -1650,31 +1760,28 @@
         H5Tclose(atype);
         H5Sclose(aspace);
         H5Aclose(pFile->iCurrentA);
-        if ((pFile->iCurrentD == 0) && (pFile->iCurrentG==0))
-        {
-        /* close group for global attribute */
-        H5Gclose(pFile->iVID);
-        } 
         return NX_OK;
-      }
-      else if (iRet==0)
-      {
-        if (iname != NULL) {
-           free(iname);
-        } 
-        if (idx == 0)
-        {
-	   pFile->iAtt5.iCurrentIDX = 0;
-           return NX_EOD;
-        }
-        pFile->iAtt5.iCurrentIDX = 0;        
-        return NX_EOD;
-      }
+      }      
       else
       { 
-        if (iname != NULL) {
-           free(iname);
-        } 
+	if ((pFile->iCurrentD == 0) && (pFile->iCurrentG==0)) 
+        {
+           /* global attribute */
+           intern_idx=H5Aget_num_attrs(pFile->iVID);
+        } else {
+           if (pFile->iCurrentD>0){
+              intern_idx=H5Aget_num_attrs(pFile->iCurrentD);
+	   } else {
+              intern_idx=H5Aget_num_attrs(pFile->iCurrentG);
+	   }
+	}
+        if ((intern_idx == 0)||(intern_idx == idx)) {
+            pFile->iAtt5.iCurrentIDX = 0;
+            if (iname != NULL) {
+               free(iname);
+            } 
+            return NX_EOD;
+        }
         NXIReportError (NXpData, 
                            "ERROR: Iteration was not successful");
         return NX_ERROR;              
@@ -1792,33 +1899,42 @@
     pNexusFile5 pFile;
     char *iname = NULL; 
     unsigned int idx;
-    int iRet;
+    herr_t iRet;
      
     pFile = NXI5assert (fid);
     idx=0;
+    *iN = idx;
     if (pFile->iCurrentD == 0 && pFile->iCurrentG == 0) {
       /*
 	global attribute
       */
        pFile->iVID=H5Gopen(pFile->iFID,"/");
        iRet = H5Aiterate(pFile->iVID,&idx,attr_info,&iname);
-       iRet = 1;
-       while (iRet != 0) {
-          iRet = H5Aiterate(pFile->iVID,&idx,attr_info,&iname);
-       }
+       if (iRet < 0) {
+          NXIReportError (NXpData, "iterating ERROR!");
+          return NX_ERROR;  
+       }      
+       idx=H5Aget_num_attrs(pFile->iVID);
+
        if (idx > 0) {
 	 *iN = idx;
        } else {
  	 *iN = 1;   
        }
+       /*
        if (iname != NULL) {
            free(iname);
-       }  
+       } 
+       */ 
        return NX_OK;
     } 
     else
     {
-       iRet=H5Aiterate(pFile->iCurrentD,&idx,attr_info,&iname);
+      if (pFile->iCurrentD>0) {
+        iRet=H5Aiterate(pFile->iCurrentD,&idx,attr_info,&iname);
+      } else {
+        iRet=H5Aiterate(pFile->iCurrentG,&idx,attr_info,&iname);
+      }
     }
     if (iRet<0) {
       NXIReportError (NXpData, "Attribute number cannot be fixed!");
@@ -1828,84 +1944,17 @@
        *iN=idx;
        return NX_OK;
     }
-    iRet = 1;
-    while (iRet != 0) {
-      iRet = H5Aiterate(pFile->iCurrentD,&idx,attr_info,&iname);
-      }
+      idx=H5Aget_num_attrs(pFile->iCurrentD);
       if (idx > 0) {
 	 *iN = idx;
       } else {
  	 *iN = 1;   
       }
-    if (iname != NULL) {
-           free(iname);
-       }  
     return NX_OK;
     
   }
 
-  /* --------------------------------------------------------------------- */
 
-  /* Operator function. */
-
-  herr_t group_info1(hid_t loc_id, const char *name, void *opdata)
-  {
-    NexusFile5 self;
-    H5G_stat_t statbuf;
-    self.iNX = *((int*)opdata);
-    H5Gget_objinfo(loc_id, name, 0, &statbuf);
-    
-    switch (statbuf.type) 
-    {
-      case H5G_GROUP: 
-        self.iNX++;
-        *((int*)opdata)=self.iNX;
-        break;
-      case H5G_DATASET:
-        self.iNX++;
-        *((int*)opdata)=self.iNX;
-        break;
-    }
-    return 0; 
-  }
-  
-  /*-------------------------------------------------------------------------*/
-
-  NXstatus CALLING_STYLE NX5getgroupinfo (NXhandle fid, int *iN, NXname pName, NXname pClass)
-  {
-    pNexusFile5 pFile;
-    hid_t atype,attr_id;
-    char data[64];
-    int iRet;
-        
-    pFile = NXI5assert (fid);
-    /* check if there is a group open */
-    if (pFile->iCurrentG == 0) {
-       strcpy (pName, "root");
-       strcpy (pClass, "NXroot");
-       pFile->iNX=0;
-       iRet=H5Giterate(pFile->iFID,"/",0,group_info1,&pFile->iNX);
-       *iN=pFile->iNX;
-    }
-    else {
-      strcpy (pName,pFile->name_ref);
-      attr_id = H5Aopen_name(pFile->iCurrentG,"NX_class");
-      if (attr_id<0) {
-         strcpy(pClass,"non");
-      } else {
-        atype=H5Tcopy(H5T_C_S1);
-        H5Tset_size(atype,64);  
-        H5Aread(attr_id, atype, data);
-        strcpy(pClass,data);
-        pFile->iNX=0;
-        iRet=H5Giterate(pFile->iFID,pFile->name_ref,0,group_info1, &pFile->iNX);
-        *iN=pFile->iNX;
-        H5Aclose(attr_id);
-      }
-    }
-    return NX_OK;
-  }
- 
   /*-------------------------------------------------------------------------*/
 
   NXstatus CALLING_STYLE NX5getgroupID (NXhandle fileid, NXlink* sRes)
diff --git a/status.c b/status.c
index 1e8ecf7e..27fc8063 100644
--- a/status.c
+++ b/status.c
@@ -64,6 +64,7 @@
                 "Halted",
                 "Dead",
                 "Waiting for User Input",
+                "Counting/Driving",
                 NULL }; 
 
      static char *iText[] = {
@@ -80,6 +81,7 @@
                               "halt",
                               "dead",
                               "input",
+			      "count/drive",
                               NULL };
                               
     static pICallBack pCall = NULL;
diff --git a/status.h b/status.h
index 1d924560..d54c893b 100644
--- a/status.h
+++ b/status.h
@@ -21,7 +21,8 @@
                 eBatch,
                 eHalted,
                 eDead,
-                eInput              
+                eInput,
+		eCountDrive
                 } Status;
    
    /* for status display */