From a7626beeb781513adcf8cc23666507ce6d4140c1 Mon Sep 17 00:00:00 2001
From: Markus Zolliker <markus.zolliker@psi.ch>
Date: Fri, 7 Apr 2017 10:01:03 +0200
Subject: [PATCH] - arrobj.c: fixed bug when format sepcifier in array content
 - fsm.c: fixed bug - ipsdriv.c: fixed problem with old PS: no negative field,
 resolution

---
 arrobj.c  |  2 +-
 fsm.c     |  4 +---
 ipsdriv.c | 16 ++++++++++++++--
 3 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/arrobj.c b/arrobj.c
index c3529a3..cf78f0c 100644
--- a/arrobj.c
+++ b/arrobj.c
@@ -138,7 +138,7 @@ static int ArrayItems(void *object, void *arg, int argc, char *argv[])
     if (p > result)
       p--;
     *p = '\0';
-    ParPrintf(object, eValue, result);
+    ParPrintf(object, eValue, "%s", result);
     free(result);
   }
   return 1;
diff --git a/fsm.c b/fsm.c
index 15828f2..dacd5c3 100644
--- a/fsm.c
+++ b/fsm.c
@@ -156,10 +156,8 @@ int FsmStop(Fsm * task, FsmFunc func)
   if (i == task->sp) {          /* not found on stack */
     if (func != task->func)
       return 0;                /* is also not running function */\
-    /*
     task->sp = 0;
-    task->func = task->stack[0].func; */ /* pretty unsure about this */
-
+    task->func = task->stack[0].func; /* pretty unsure about this */
   } else {
     task->sp = i;               /* unwind stack to level i */
   }
diff --git a/ipsdriv.c b/ipsdriv.c
index 4e57349..2a7343c 100644
--- a/ipsdriv.c
+++ b/ipsdriv.c
@@ -194,7 +194,11 @@ void IpsParDef(void *object)
       ParPrintf(drv, eWarning, "limit is too high, set back to %.5g\n",
                 drv->maxlimit);
     }
-    drv->d.lowerLimit = -drv->d.upperLimit;
+    if (drv->d.b.syntax) { /* IPS */
+      drv->d.lowerLimit = -drv->d.upperLimit;
+    } else { /* PS */
+      drv->d.lowerLimit = 0;
+    }
   }
 
   ParName("ramp");
@@ -609,8 +613,10 @@ static long IpsStart(long pc, void *object)
   case __LINE__:                 /**********************************/
     if (0 == strncmp(eab->version, "IPS120", 6)) {
       eab->syntax = 1;
+      drv->d.lowerLimit = -drv->d.upperLimit;
     } else if (0 == strncmp(eab->version, "PS", 2)) {
       eab->syntax = 0;
+      drv->d.lowerLimit = 0;
     } else {
       snprintf(msg, sizeof msg,
                "unknown power supply version: %s", eab->version);
@@ -699,6 +705,7 @@ static long IpsChangeField(long pc, void *object)
   float fld;
   float step;
   float ramp;
+  float eps;
   time_t delay;
 
   switch (pc) {
@@ -905,7 +912,12 @@ static long IpsChangeField(long pc, void *object)
       fld = drv->current - step;
     } else {
       fld = drv->d.targetValue;
-      if (fabs(drv->current - drv->d.targetValue) < 1e-5)
+      if (eab->syntax) {
+        eps = 7.0e-5; /* IPS has 4 digits after decimal point */
+      } else {
+        eps = 7.0e-4; /* PS has 3 digits after decimal point */
+      }
+      if (fabs(drv->current - drv->d.targetValue) < eps)
         goto target_reached;
     }
     if (fabs(fld) >= drv->trainedTo) {