- Fix to various drivers due to changes in rs232controller

- hkl now searches psi in .5 steps
- first point of fastscan is driven normally

el734hp.c

@@ -105,20 +105,24 @@ static int transactEL734(prs232 self, void *send, int sendLen,
     message only at the second try. This is the logic below.
   */
   status = transactRS232(self,send,sendLen,reply,replylen);
-  if(status == 1){
+  if(status >= 1){
     pReply = (char *)reply;
     if(strstr(pReply,"*ES") != NULL){
       if(availableRS232(self)){
 	len = replylen;
 	readRS232TillTerm(self,reply,&len);
       }
-      return transactRS232(self,send,sendLen,reply,replylen);
+      status = transactRS232(self,send,sendLen,reply,replylen);
+      if(status >= 1){
+	return 1;
+      }
     } else {
-      return status;
+      return 1;
     }
   } else {
     return status;
   }
+  return 0; /* not reached */
 }
 /*-------------------------------------------------------------------
   If we get an empty reply when we expect some response data, then, maybe,
@@ -272,12 +276,26 @@ static int decodeMSR(pEL734Driv self, int msr){
     */
     if(msr & 0x80){
       self->runCount++;
+    }else if(msr & 0x20){
+    	self->errorCode = HILIM;
+    	return HWFault;
+    }else if(msr & 0x10){
+    	self->errorCode = LOWLIM;
+    	return HWFault;
+    }else if(msr & 0x1000){
+    	self->errorCode = BADCUSHION;
+    	return HWFault;
+    }else if(msr & 0x40){
+    	self->errorCode = BADSTP;
+    	return HWFault;
     } else if(msr & 0x200) {
       self->posCount++;
     } else if(msr & 0x100) {
-      self->posCount++;
+      self->errorCode = POSFAULT;
+      return HWFault;
     } else if(msr & 0x400) {
-      self->posCount++;
+      self->errorCode = POSFAULT;
+      return HWFault;	
     }
     
     return HWBusy;
@@ -521,6 +539,11 @@ static int EL734SetPar(void *pData, SConnection *pCon,
     }
     self->fLower = newValue;
     snprintf(pCommand,79,"H %d %8.3f %8.3f\r",self->iMotor,self->fLower, self->fUpper);
+  } else if(strcmp(name,"forcepos") == 0){
+    if(!SCMatchRights(pCon,usMugger)){
+      return 0;
+    }
+    snprintf(pCommand,79,"U %d %8.3f\r",self->iMotor,newValue);
   }
   if(strlen(pCommand) > 1){
     status = transactEL734(self->controller,pCommand,strlen(pCommand),