Current draft for the detector axis tower driver

2025-03-04 16:38:00 +01:00
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 # detectorTower

-TODO!
+This is a driver for the detector tower which is based on the Turbo PMAC driver (https://git.psi.ch/sinq-epics-modules/turboPmac). It consists of the following two objects:
+- `detectorTowerAxis`: This is a virtual axis which controls multiple physical motors in order to provide a synchronized movement.
+- `detectorTowerController`: This is an expanded variant of `turboPmacController` provided by the Turbo PMAC library linked above.It is needed to operate a `detectorTowerAxis`, but it can also be used to operate a "normal" `turboPmacAxis`.
+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 utilities provided in the `utils` folder of https://git.psi.ch/sinq-epics-modules/turboPmac work with this driver as well.
+
+## Developer guide
+
+### Usage in IOC shell
+
+detectorTower exports the following IOC shell functions:
+- `detectorTowerController`: Create a new controller object.
+- `detectorTowerAxis`: Create a new axis object.
+
+As mentioned above, also "normal" `turboPmacAxis` may be used together with this controller:
+
+```
+# 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
+detectorTowerController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+
+# Slot 1 is occupied by a detector tower axis, while the slots 2 and 3 are "normal" Turbo PMAC axes.
+detectorTowerAxis("$(NAME)",1);
+turboPmacAxis("$(NAME)",2);
+turboPmacAxis("$(NAME)",3);
+
+# Set the number of subsequent timeouts 
+setMaxSubsequentTimeouts("$(NAME)", 20);
+
+# Configure the timeout frequency watchdog:
+setThresholdComTimeout("$(NAME)", 100, 1);
+
+# Parametrize the EPICS record database with the substitution file named after the MCU.
+# Since this driver is based on Turbo PMAC, we need to parametrize turboPmac.db in addition to sinqMotor.db and detectorTower.db.
+epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+epicsEnvSet("SINQDBPATH","$(detectorTower_DB)/detectorTower.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.