# masterMacs

## Overview

This is a driver for the masterMacs 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 masterMacs motor controllers:
- decodeStatus.py: Take the return message of a R10 (read status) command and print it in human-readable form.

## Developer guide

### Usage in IOC shell

masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):
- `masterMacsController`: Create a new controller object.
- `masterMacsAxis`: Create a new axis object.

The full mcu.cmd file looks like this:

```
# Define the name of the controller and the corresponding port
epicsEnvSet("NAME","mcu")
epicsEnvSet("ASYN_PORT","p$(NAME)")

# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")

# Create the controller object with the defined name and connect it to the socket via the port name.
# The other parameters are as follows:
# 8: Maximum number of axes
# 0.05: Busy poll period in seconds
# 1: Idle poll period in seconds
# 1: Socket communication timeout in seconds
masterMacsController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);

# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
masterMacsAxis("$(NAME)",1);
masterMacsAxis("$(NAME)",2);
masterMacsAxis("$(NAME)",5);

# Set the number of subsequent timeouts 
setMaxSubsequentTimeouts("$(NAME)", 20);

# Configure the timeout frequency watchdog:
setThresholdComTimeout("$(NAME)", 100, 1);

# Parametrize the EPICS record database with the substitution file named after the MCU.
epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/masterMacs.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
```

### 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.