# pmacv3

## Overview

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):
- `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

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.