From 93433865776be5271c79372d1cea359ed1dbda9d Mon Sep 17 00:00:00 2001
From: Freddie Akeroyd <freddie.akeroyd@stfc.ac.uk>
Date: Fri, 19 Jun 2026 00:25:03 +0100
Subject: [PATCH] Add kenematics

---
 .../iocBoot/iocGALIL-IOC-01/GALIL_01_kinematics.req  |  1 +
 GALIL/iocBoot/iocGALIL-IOC-01/st-common.cmd          | 12 +++++++++---
 2 files changed, 10 insertions(+), 3 deletions(-)
 create mode 100644 GALIL/iocBoot/iocGALIL-IOC-01/GALIL_01_kinematics.req

diff --git a/GALIL/iocBoot/iocGALIL-IOC-01/GALIL_01_kinematics.req b/GALIL/iocBoot/iocGALIL-IOC-01/GALIL_01_kinematics.req
new file mode 100644
index 000000000..baa9cfa49
--- /dev/null
+++ b/GALIL/iocBoot/iocGALIL-IOC-01/GALIL_01_kinematics.req
@@ -0,0 +1 @@
+file "GALIL_controller_kinematics.req" "P=$(P),CCP=$(CCP)"
diff --git a/GALIL/iocBoot/iocGALIL-IOC-01/st-common.cmd b/GALIL/iocBoot/iocGALIL-IOC-01/st-common.cmd
index d1c7b845d..3471b1b66 100644
--- a/GALIL/iocBoot/iocGALIL-IOC-01/st-common.cmd
+++ b/GALIL/iocBoot/iocGALIL-IOC-01/st-common.cmd
@@ -31,8 +31,8 @@ $(IFRECSIM) epicsEnvSet("GALILADDR", "127.0.0.1")
 ### Scan-support software
 # crate-resident scan.  This executes 1D, 2D, 3D, and 4D scans, and caches
 # 1D data, but it doesn't store anything to disk.  (See 'saveData' below for that.)
-#dbLoadRecords("$(SSCAN)/sscanApp/Db/standardScans.db","P=$(MYPVPREFIX)$(IOCNAME):,MAXPTS1=8000,MAXPTS2=1000,MAXPTS3=10,MAXPTS4=10,MAXPTSH=8000")
-#dbLoadRecords("$(SSCAN)/sscanApp/Db/saveData.db","P=$(MYPVPREFIX)$(IOCNAME):")
+$(IFNEWGALIL=#) dbLoadRecords("$(SSCAN)/sscanApp/Db/standardScans.db","P=$(MYPVPREFIX)$(IOCNAME):,MAXPTS1=8000,MAXPTS2=1000,MAXPTS3=10,MAXPTS4=10,MAXPTSH=8000")
+$(IFNEWGALIL=#) dbLoadRecords("$(SSCAN)/sscanApp/Db/saveData.db","P=$(MYPVPREFIX)$(IOCNAME):")
 
 ### autosave
 # specify additional directories in which to to search for included request files
@@ -43,6 +43,9 @@ set_requestfile_path("${SSCAN}/sscanApp/Db", "")
 ## as all Galils cd to GALIL-IOC-01 need to add this explicitly so info generated req files are found
 set_requestfile_path("${TOP}/iocBoot/iocGALIL-IOC-01", "")
 
+# restore kinematic equation character arrays in pass 1
+$(IFNEWGALIL=#) set_pass1_restoreFile("$(IOCNAME)_kinematics.sav")
+
 ## Make sure controller number is 2 digits long
 calc("MTRCTRL", "$(MTRCTRL)", 2, 2)
 
@@ -129,10 +132,13 @@ $(IFHASMTRCTRL) $(IFNOTDEVSIM) $(IFNOTRECSIM) create_monitor_set("$(IOCNAME)_pos
 # Save motor settings every 30 seconds
 $(IFHASMTRCTRL) $(IFNOTDEVSIM) $(IFNOTRECSIM) create_monitor_set("$(IOCNAME)_settings.req", 30, "P=$(MYPVPREFIX)MOT:,CCP=$(MTRCTRL)")
 
+# Save kinematics every 30 seconds
+$(IFNEWGALIL=#) $(IFNOTDEVSIM) $(IFNOTRECSIM) create_monitor_set("$(IOCNAME)_kinematics.req", 30,"P=$(MYPVPREFIX)MOT:,CCP=$(MTRCTRL)")
+
 $(IFHASMTRCTRL) $(IFMOTORCONFIG) create_manual_set("$(MOTORCONFIG=)Menu.req","P=$(MYPVPREFIX)MOT:,CMP=$(MYPVPREFIX)$(IOCNAME):CONFIG:,CONFIG=$(MOTORCONFIG=),IOCNAME=$(IOCNAME),MTRCTRL=$(MTRCTRL),CONFIGMENU=1")
 
 # Initialize saveData for step scans
-#saveData_Init("saveData.req", "P=$(MYPVPREFIX)$(IOCNAME):")
+$(IFNEWGALIL=#) saveData_Init("saveData.req", "P=$(MYPVPREFIX)$(IOCNAME):")
 
 ## Start any sequence programs
 #seq sncxxx,"user=icsHost"