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Substantial rework of the driver after CAMEA testing showed various

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# pmacV3
# pmacv3
## Overview
This is a driver for the PMac V3 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.
This is a driver for the pmacV3 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.
## Usage in IOC shell
pmacV3 exposes the following IOC shell functions (all in pmacV3Controller.cpp):
- `pmacV3CreateController`: Create a new controller object.
- `pmacV3CreateAxis`: Create a new axis object.
The function arguments are documented directly within the source code.
pmacv3 exposes the following IOC shell functions (all in pmacv3Controller.cpp):
- `pmacv3Controller`: Create a new controller object.
- `pmacv3Axis`: Create a new axis object.
The function arguments are documented directly within the source code or are available from the help function of the IOC shell.
## Database
The pmacV3 module provides additional PVs in the database template db/pmacv3.db. It can be parametrized with the `dbLoadTemplate` function from the IOC shell:
```
require sinqMotor, y.y.y # The sinqMotor module is needed for the pmacv3 module. The version y.y.y is defined in the Makefile (line sinqMotor_VERSION=x.x.x)
require pmacv3, x.x.x # This is the three-digit version number of the pmacv3 module
dbLoadTemplate "motor.substitutions"
```
The substitutions file can be concatenated with that of sinqMotor:
```
file "$(sinqMotor_DB)/sinqMotor.db"
{
pattern
...
}
file "$(pmacv3_DB)/pmacv3.db"
{
pattern
{ AXIS, M}
{ 1, "lin1"}
{ 2, "rot1"}
}
```
The sinqMotor pattern "..." is documented in https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
The other parameters have the following meaning:
- `AXIS`: Index of the axis, corresponds to the physical connection of the axis to the MCU
- `M`: Name of the motor as shown in EPICS
The axis name should correspond to that of the sinqMotor pattern with the same respective index.
## Versioning