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.