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Add kinematics #974

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1 change: 1 addition & 0 deletions GALIL/iocBoot/iocGALIL-IOC-01/GALIL_01_kinematics.req
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
file "GALIL_controller_kinematics.req" "P=$(P),CCP=$(CCP)"
12 changes: 9 additions & 3 deletions GALIL/iocBoot/iocGALIL-IOC-01/st-common.cmd
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Expand Up @@ -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
Expand All @@ -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)

Expand Down Expand Up @@ -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"
Expand Down