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# detectorTower
## Overview
This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
## User guide
This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
## Developer guide
### Usage in IOC shell
turboPmac exposes the following IOC shell functions (all in turboPmacController.cpp):
- `turboPmacController`: Create a new controller object.
- `turboPmacAxis`: Create a new axis object.
These functions are parametrized as follows:
```
turboPmacController(
"$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
"$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
8, # Maximum number of axes
0.05, # Busy poll period in seconds
1, # Idle poll period in seconds
0.05 # Communication timeout in seconds
);
```
```
turboPmacAxis(
"$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
1 # Index of the axis.
);
```
### Versioning
Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
### How to build it
Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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