Finished up documentation

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## Overview ## Overview
![Physical setup](images/PhysicalSetup.svg) ![Coordinate systems](images/CoordinateSystems.svg)
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 four objects: 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 four objects:
- `detectorTowerController`: This is an expanded variant of `turboPmacController` provided by the Turbo PMAC library linked above.It is needed to operate a `detectorTowerAngleAxis`, but it can also be used to operate a "normal" `turboPmacAxis`. - `detectorTowerController`: This is an expanded variant of `turboPmacController` provided by the Turbo PMAC library linked above.It is needed to operate a `detectorTowerAngleAxis`, but it can also be used to operate a "normal" `turboPmacAxis`.
- `detectorTowerAngleAxis`: This is a virtual axis which controls multiple physical motors in order to provide a combined movement. Moving it results in a rotation of the entire beam around the support axis position. - `detectorTowerAngleAxis`: This is a virtual axis which controls multiple physical motors ($x$ and $z$) in order to provide a combined movement. Moving it results in a rotation of the entire beam around the support axis position ($\alpha$).
- `detectorTowerLiftAxis`: This is a virtual axis which controls multiple physical motors in order to provide a combined movement. Moving it results in a vertical lift. - `detectorTowerLiftAxis`: This is a virtual axis which controls multiple physical motors in order to provide a combined movement. Moving it results in a vertical lift ($z_{lift}$).
- `detectorTowerSupportAxis`: This is an axis at the rotation center of the beam which is part of the combined movements. Its origin can be shifted manually for small adjustments, resulting in a corresponding movement. Other than that, it is not meant to move on its own, hence setting a new value to the `VAL` field of the motor record won't cause it to move. - `detectorTowerSupportAxis`: This is an axis at the rotation center of the beam which is part of the combined movements. Its origin can be shifted manually for small adjustments, resulting in a corresponding movement. Other than that, it is not meant to move on its own, hence setting a new value to the `VAL` field of the motor record won't cause it to move.
## User guide ## User guide

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@ -152,7 +152,12 @@ asynStatus detectorTowerController::writeInt32(asynUser *pasynUser,
/* /*
Due to a bug which is currently not understood, the reset has to be handled Due to a bug which is currently not understood, the reset has to be handled
here rather than in sinqController. here rather than using the default implementation in sinqController. Piping
the motor reset request to sinqController causes segfaults. It might be due
to the fact that the default `reset` implementation of sinqAxis locks the
controller in order to perform some fast polls and that for some reason this
behaviour cannot be overwritten even by providing custom `reset` methods for
all three axes.
*/ */
if (pasynUser->reason == motorReset_) { if (pasynUser->reason == motorReset_) {
detectorTowerAngleAxis *aAxis = getDetectorTowerAngleAxis(pasynUser); detectorTowerAngleAxis *aAxis = getDetectorTowerAngleAxis(pasynUser);