lin-epics-modules/detectortower
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Adjusted driver with auxiliary axes offsets

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mathis_s
2025-04-17 16:30:33 +02:00
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README.md
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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 three 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`.
- `auxiliaryAxis`: This is an auxiliary axis type attached to the main detector axis. Multiple instances of these axes are constructed automatically when creating a `detectorTowerAxis`.
- `detectorTowerAuxiliaryAxis`: This is an auxiliary axis type attached to the main detector axis. Multiple instances of these axes are constructed automatically when creating a `detectorTowerAxis`.
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
The centerpiece of this driver is the `detectorTowerAxis`, which controls the angle of the detector flight tube. Creating an instance of this axis type also creates multiple so-called `auxiliaryAxis`, which are used to perform secondary movements.
The centerpiece of this driver is the `detectorTowerAxis`, which controls the angle of the detector flight tube. Creating an instance of this axis type also creates multiple so-called `detectorTowerAuxiliaryAxis`, which are used to perform secondary movements.
The utilities provided in the `utils` folder of https://git.psi.ch/sinq-epics-modules/turboPmac work with this driver as well.
TODO: How to start combined movement
### Usage in IOC shell
detectorTower exports the following IOC shell functions:
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The code is designed around the `detectorTowerAxis`, which controls the angle of the beam guide and acts as a "master" axis. Other movements are realized as auxiliary axes (e.g. for the vertical lift offset and the tilt offset). The `detectorTowerAxis` has pointers to all associated auxiliary axes and (as described above) its IOC shell constructor also builds the associated auxiliary axes.
The `doPoll` implementation for `detectorTowerAxis` queries the status of both the `detectorTowerAxis` itself and all associated auxiliary axes. If any of the axes is moving, the `detectorTowerAxis` is set to "moving" as well. In turn, the `doPoll` implementation of a `auxiliaryAxis` checks if its associated `detectorTowerAxis` is moving and sets its own movement status accordingly.
The `doPoll` implementation for `detectorTowerAxis` queries the status of both the `detectorTowerAxis` itself and all associated auxiliary axes. If any of the axes is moving, the `detectorTowerAxis` is set to "moving" as well. In turn, the `doPoll` implementation of a `detectorTowerAuxiliaryAxis` checks if its associated `detectorTowerAxis` is moving and sets its own movement status accordingly.
The `detectorTowerController` is a thin wrapper around a `turboPmacController` which overwrites the `readInt32` and `writeInt32` in order to support the PVs "$(INSTR)$(M):ChangeState", "$(INSTR)$(M):PositionStateRBV" and "$(INSTR)$(M):ChangingStateRBV". Any calls to these two methods not concerning the aforementioned PVs are directly forwarded to `turboPmacController::readInt32` / `turboPmacController::writeInt32`.