Add kinematics

GALIL/GALIL-IOC-01App/Db/Makefile

@@ -19,6 +19,7 @@ DB += galil_motors.db galil_motor_extras.db galil_dmc_ctrl.db galil_userdef_reco
 DB += galil_profileMoveController.db galil_profileMoveAxis.db galil_analog_ports.db 
 DB += galil_digital_ports.db galil_user_array.db galil_csmotor_kinematics.db
 DB += galil_coordinate_systems.db galil_csmotor_extras.db galil_homing_routines.db
+#DB += galil_quadAmpStatus.db
 
 include $(TOP)/configure/RULES
 #----------------------------------------

GALIL/GALIL-IOC-01App/Db/galil_quadAmpStatus.substitutions

@@ -0,0 +1,34 @@
+# Description
+# Substitution file for Galil internal quad amplifier status monitoring
+# 
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# Licence as published by the Free Software Foundation; either
+# version 2.1 of the Licence, or (at your option) any later version.
+#
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# Lesser General Public Licence for more details.
+#
+# You should have received a copy of the GNU Lesser General Public
+# Licence along with this library; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
+# 
+# Contact details:
+# Mark Clift
+# email: padmoz@tpg.com.au
+
+# AMP - "AD" or "EH"
+# ADDR - Axis number 0-1
+
+file "$(GALIL)/GalilSup/Db/galil_quadAmpStatus.template"
+{
+pattern
+{   P, PORT, AMP,  ADDR   }
+# Delete rows as necessary for controller
+ {  "\$(P)", "\$(PORT)", "AD", 0 }
+ {  "\$(P)", "\$(PORT)", "EH", 1 }
+}
+
+# end

GALIL/iocBoot/iocGALIL-IOC-01/GALIL_01_kinematics.req

@@ -0,0 +1 @@
+file "GALIL_controller_kinematics.req" "P=$(P),CCP=$(CCP)"

GALIL/iocBoot/iocGALIL-IOC-01/galildb.cmd

@@ -9,6 +9,9 @@ dbLoadRecords("$(TOP)/db/galil_motors.db", "GPORT=$(GALIL_MTR_PORT),P=$(MYPVPREF
 #Load extra functionality, untop of motorRecord features for axis/motors (eg. runtime gear ratio changes between master & slaves)
 dbLoadRecords("$(TOP)/db/galil_dmc_ctrl.db", "P=$(MYPVPREFIX)MOT:,CCP=$(MTRCTRL)")
 
+#Load Amplifier status monitors (eg. Overtemperature, OverVoltage, ELO, etc)
+#dbLoadTemplate("$(TOP)/db/galil_quadAmpStatus.db", "P=$(MYPVPREFIX)MOT:,CCP=$(MTRCTRL)")
+
 #Load extra features for real axis/motors (eg. Motor type, encoder type)
 dbLoadRecords("$(TOP)/db/galil_motor_extras.db", "P=$(MYPVPREFIX)MOT:,CCP=$(MTRCTRL),PVPREFIX=$(MYPVPREFIX),ASG01=$(ASG01=DEFAULT),ASG02=$(ASG02=DEFAULT),ASG03=$(ASG03=DEFAULT),ASG04=$(ASG04=DEFAULT),ASG05=$(ASG05=DEFAULT),ASG06=$(ASG06=DEFAULT),ASG07=$(ASG07=DEFAULT),ASG08=$(ASG08=DEFAULT),ENCAVNSAMP=$(ENCAVNSAMP=10),IOCNAME=$(IOCNAME)")
 

GALIL/iocBoot/iocGALIL-IOC-01/st-common.cmd

@@ -16,6 +16,9 @@ epicsEnvSet("IFIOC_GALIL_10", "#")
 epicsEnvSet("IFNEWGALIL", " ")
 epicsEnvSet("IFNOTNEWGALIL", "#")
 
+## we wish to control some of autosave defined in common autosave.cmd 
+epicsEnvSet("AUTOSAVEREQ","#")
+
 < $(IOCSTARTUP)/init.cmd
 
 ## whether to use autosaved SP for jaws on IOC restart
@@ -31,8 +34,8 @@ $(IFRECSIM) epicsEnvSet("GALILADDR", "127.0.0.1")
 ### Scan-support software
 # crate-resident scan.  This executes 1D, 2D, 3D, and 4D scans, and caches
 # 1D data, but it doesn't store anything to disk.  (See 'saveData' below for that.)
-#dbLoadRecords("$(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)MOT:DMC$(MTRCTRL):,MAXPTS1=8000,MAXPTS2=1000,MAXPTS3=10,MAXPTS4=10,MAXPTSH=8000")
+$(IFNEWGALIL=#) dbLoadRecords("$(SSCAN)/sscanApp/Db/saveData.db","P=$(MYPVPREFIX)MOT:DMC$(MTRCTRL):")
 
 ### autosave
 # specify additional directories in which to to search for included request files
@@ -43,6 +46,14 @@ 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 positions in pass 0 so motors don't move
+set_pass0_restoreFile("$(IOCNAME)_positions.sav")
+# restore settings in pass 0 so encoder ratio is set correctly for position restore in device support init
+set_pass0_restoreFile("$(IOCNAME)_settings.sav")
+$(IFOLDGALIL=#) set_pass1_restoreFile("$(IOCNAME)_settings.sav")
+# 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)
 
@@ -129,17 +140,16 @@ $(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)MOT:DMC$(MTRCTRL):")
 
 ## Start any sequence programs
 #seq sncxxx,"user=icsHost"
 
 #asynSetTraceIOMask("GALILSYNC0", -1, 0x2)
 #asynSetTraceMask("GALILSYNC0", -1, 0x9)
-
-## if using hardware flow control on GALIL will need this
-## do not enable software flow control - see comments in GalilController.cpp
-#asynSetOption("GALILSYNC0", 0, "crtscts", "Y");