diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 8a2322c..1a7970f 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -29,6 +29,26 @@ jobs:
       - name: Run linting checks
         run: pixi run lint
 
+  docs:
+    name: Build Docs
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          persist-credentials: false
+
+      - name: Setup pixi
+        uses: prefix-dev/setup-pixi@2253d9c9310442c09975d64615591b5b381da6e7  # v0.10.0
+        with:
+          pixi-version: v0.71.3
+          cache: false
+          frozen: true
+          environments: docs
+
+      - name: Build docs
+        run: pixi run -e docs build-docs
+
   build-and-test:
     name: Build and Test ADXSPD on EL${{ matrix.rhel_version }}
 
diff --git a/.gitignore b/.gitignore
index 1fa7ffd..cb10540 100644
--- a/.gitignore
+++ b/.gitignore
@@ -29,4 +29,6 @@ checkVar.sh
 setVar.sh
 coverage.info
 coverage-report/
+# rendered docs from `pixi run build-docs`
+build/
 __pycache__/
diff --git a/docs/ADXSPD/ADXSPD.rst b/docs/ADXSPD/ADXSPD.rst
new file mode 100644
index 0000000..d38c0b0
--- /dev/null
+++ b/docs/ADXSPD/ADXSPD.rst
@@ -0,0 +1,524 @@
+======================================
+ADXSPD
+======================================
+
+:author: Jakub Wlodek (Brookhaven National Laboratory)
+
+.. _ADDriver: https://areadetector.github.io/areaDetector/ADCore/ADDriver.html
+.. _areaDetector: https://areadetector.github.io/areaDetector/index.html
+.. _EPICS: https://epics-controls.org
+.. _X-Spectrum: https://x-spectrum.de
+.. _Lambda: https://x-spectrum.de/products/lambda/
+.. _ADDriverTemplate: https://github.com/NSLS2/ADDriverTemplate
+.. _cpr: https://github.com/libcpr/cpr
+.. _nlohmann/json: https://github.com/nlohmann/json
+.. _magic_enum: https://github.com/Neargye/magic_enum
+.. _ZeroMQ: https://zeromq.org
+.. _ADLambda: https://github.com/areaDetector/ADLambda
+
+.. contents:: Contents
+
+.. |br| raw:: html
+
+    <br>
+
+Introduction
+------------
+
+This is an `EPICS`_ `areaDetector`_ driver for the `Lambda`_ family of photon counting
+pixel detectors from `X-Spectrum`_. The driver communicates with the detector through
+XSPD, the X-Spectrum detector remote-control service, which exposes a REST API for control and a
+`ZeroMQ`_ publisher (the "data port") for streaming frames.
+
+.. note::
+
+   The `ADLambda`_ driver supports the same detector types, but must run on the control
+   computer provided by X-Spectrum, since it uses the C++ `libxsp` API directly.
+   Because ADXSPD talks to XSPD over the network (with XSPD handling the lower level `libxsp` interactions),
+   the IOC can instead run on any other host. This has several benefits:
+
+   * The IOC can run on a standard system configuration, managed the same way as your
+     other IOC hosts, rather than on the specific Debian-based server provided by X-Spectrum.
+   * The X-Spectrum control computer can be placed on a locked-down, dedicated detector
+     network, with only the IOC host able to reach it. This allows for a less strict policy
+     regarding software updates and patches on the host, which may improve stability and reduce maintenance overhead.
+   * Since all communication between the driver and XSPD is plain HTTP and ZeroMQ, it is
+     much simpler to simulate the detector. X-Spectrum provides a simulator for a
+     single-module detector as a container image, and this repository includes a
+     multi-module simulator in ``scripts/xspdSimulator.py``.
+
+   ADXSPD also currently supports some features that ADLambda does not, including beam
+   energy, flatfield correction, bit depth and ROI readout configuration. Adding these to
+   ADLambda is tracked in
+   `ADLambda issue #16 <https://github.com/areaDetector/ADLambda/issues/16>`__.
+
+The driver is made up of three layers:
+
+* ``XSPDAPI`` - a standalone C++ wrapper around the XSPD REST API. It uses `cpr`_ for HTTP,
+  `nlohmann/json`_ for parsing responses, and `magic_enum`_ to map XSPD string values to
+  C++ enumerations. It has no dependency on EPICS.
+* ``ADXSPD`` - the main areaDetector driver, which inherits from `ADDriver`_. It controls
+  detector-wide settings, runs an acquisition thread that reads frames from the ZeroMQ
+  data port into NDArrays, and runs a monitor thread that polls detector status.
+* ``ADXSPDModule`` - an ``asynPortDriver`` that is created automatically for each detector
+  module, and which exposes per-module information such as temperatures, humidity,
+  flatfield state and chip IDs.
+
+The driver requires XSPD version 1.6.0 or later. It was initially generated with
+`ADDriverTemplate`_.
+
+Acquisition overview
+~~~~~~~~~~~~~~~~~~~~
+
+When ``Acquire`` is set to 1, the driver sends the ``start`` command to XSPD. Each frame
+published on the data port is a 3-part ZeroMQ message; the driver copies the final part
+(the frame data) into an NDArray and passes it to any connected plugins. Acquisition stops
+automatically once ``NumImages`` frames have been received (or ``2 * NumImages`` when
+``CounterMode`` is ``Dual``). Setting ``Acquire`` to 0 sends the ``stop`` command.
+
+If XSPD is configured to compress frames, the driver can either pass the compressed data
+on as a compressed NDArray (with the ``codec`` field set so that ``NDPluginCodec`` or the
+HDF5 file plugin can handle it), or decompress the data itself. See
+:ref:`ADXSPD_compression` for details.
+
+Implementation of standard driver parameters
+--------------------------------------------
+
+The following table describes how the ADXSPD driver implements some of the standard
+driver parameters.
+
+.. cssclass:: table-bordered table-striped table-hover
+.. flat-table::
+  :header-rows: 2
+  :widths: 20 20 60
+
+  * - **Parameter Definitions in ADXSPD.cpp and EPICS Record Definitions in ADXSPD.template**
+  * - Parameter index variable
+    - EPICS record name
+    - Description
+  * - ADImageMode
+    - $(P)$(R)ImageMode
+    - Only ``Single`` and ``Multiple`` are supported. ``Continuous`` has been removed from the
+      record choices. Selecting ``Single`` sets the XSPD ``n_frames`` variable to 1.
+      The image mode is also updated automatically when ``NumImages`` is changed.
+  * - ADNumImages
+    - $(P)$(R)NumImages
+    - Sets the XSPD ``n_frames`` variable. The value must be between 1 and the smallest
+      ``MaxFrames_RBV`` reported by any of the detector modules.
+  * - ADTriggerMode
+    - $(P)$(R)TriggerMode
+    - Sets the XSPD ``trigger_mode`` variable. The choices are: |br|
+      ``Software`` - acquisition starts immediately. |br|
+      ``External Frames`` - each external trigger acquires a single frame. |br|
+      ``External Sequence`` - an external trigger starts the full sequence of frames. |br|
+      Cannot be changed while acquiring.
+  * - ADAcquireTime
+    - $(P)$(R)AcquireTime
+    - Sets the XSPD ``shutter_time`` variable. The record is in seconds; the driver converts
+      to milliseconds for XSPD. Cannot be changed while acquiring.
+  * - ADAcquire
+    - $(P)$(R)Acquire
+    - Sends the ``start`` or ``stop`` command to XSPD.
+  * - NDDataType
+    - $(P)$(R)DataType
+    - Disabled. The data type is set by the driver based on ``BitDepth``: 1 and 6 bit use
+      ``UInt8``, 12 bit uses ``UInt16``, and 24 bit uses ``UInt32``.
+  * - ADMaxSizeX, ADMaxSizeY, ADSizeX, ADSizeY
+    - $(P)$(R)MaxSizeX_RBV, $(P)$(R)MaxSizeY_RBV, $(P)$(R)SizeX_RBV, $(P)$(R)SizeY_RBV
+    - Read from the data port ``frame_width`` and ``frame_height`` variables at startup,
+      and whenever ``ROIRows`` is changed. The ``SizeX``, ``SizeY``, ``MinX``, ``MinY``,
+      ``BinX``, ``BinY``, ``ReverseX``, ``ReverseY`` and ``ColorMode`` output records are
+      disabled; use ``ROIRows`` to reduce the readout area.
+  * - ADSerialNumber, ADFirmwareVersion, ADSDKVersion, ADModel
+    - $(P)$(R)SerialNumber_RBV, $(P)$(R)FirmwareVersion_RBV, $(P)$(R)SDKVersion_RBV, $(P)$(R)Model_RBV
+    - Read from XSPD at startup. ``SDKVersion_RBV`` reports the libxsp version.
+  * - NDFilePath, NDFileName, NDFullFileName
+    - $(P)$(R)FilePath, $(P)$(R)FileName, $(P)$(R)FullFileName_RBV
+    - The driver loads ``NDFile.template``, but does not save image files itself. These
+      records are used to choose where HTTP request logs are written. See
+      :ref:`ADXSPD_request_logging`.
+
+ADXSPD specific parameters
+--------------------------
+
+The ADXSPD driver implements the following parameters in addition to those in
+``asynNDArrayDriver.h`` and ``ADDriver.h``. Parameters marked "Cannot be changed while
+acquiring" are rejected with an error if ``Acquire`` is 1.
+
+.. cssclass:: table-bordered table-striped table-hover
+.. flat-table::
+  :header-rows: 2
+  :widths: 55 15 20 10
+
+  * - **Parameter Definitions in ADXSPDParamDefs.h and EPICS Record Definitions in ADXSPD.template**
+  * - Description
+    - drvInfo string
+    - EPICS record name
+    - EPICS record type
+  * - :cspan:`3` **Version and system information**
+  * - XSPD REST API version in use.
+    - XSPD_API_VERSION
+    - $(P)$(R)APIVersion_RBV
+    - stringin
+  * - XSPD server version.
+    - XSPD_VERSION
+    - $(P)$(R)XSPDVersion_RBV
+    - stringin
+  * - Number of detector modules. One ``ADXSPDModule`` port is created for each module.
+    - XSPD_NUM_MODULES
+    - $(P)$(R)NumModules_RBV
+    - ai
+  * - Sensor material, read from the detector ``user_data/sensor_material`` variable. Empty,
+      with a warning printed at startup, if this has not been set in the XSPD user data.
+    - XSPD_SENSOR_MATERIAL
+    - $(P)$(R)SensorMaterial_RBV
+    - stringin
+  * - Sensor thickness, read from the detector ``user_data/sensor_thickness`` variable. 0 if
+      this has not been set in the XSPD user data.
+    - XSPD_SENSOR_THICKNESS
+    - $(P)$(R)SensorThickness_RBV
+    - ai
+  * - :cspan:`3` **Detector settings**
+  * - X-ray beam energy in keV (XSPD ``beam_energy``).
+    - XSPD_BEAM_ENERGY
+    - $(P)$(R)BeamEnergy, $(P)$(R)BeamEnergy_RBV
+    - ao, ai
+  * - Low energy threshold in keV. Written to XSPD as the first element of ``thresholds``.
+    - XSPD_LOW_THRESHOLD
+    - $(P)$(R)LowThreshold, $(P)$(R)LowThreshold_RBV
+    - ao, ai
+  * - High energy threshold in keV. Written to XSPD as the second element of ``thresholds``.
+      The low threshold must be set first.
+    - XSPD_HIGH_THRESHOLD
+    - $(P)$(R)HighThreshold, $(P)$(R)HighThreshold_RBV
+    - ao, ai
+  * - Counter bit depth. Choices are ``1 bit``, ``6 bit``, ``12 bit`` and ``24 bit``.
+      Changing this updates ``DataType`` and each module's ``MaxFrames_RBV``.
+      Cannot be changed while acquiring.
+    - XSPD_BIT_DEPTH
+    - $(P)$(R)BitDepth, $(P)$(R)BitDepth_RBV
+    - mbbo, mbbi
+  * - Counter mode. Choices are ``Single`` and ``Dual``. In ``Dual`` mode two frames are
+      read out per image. Changing this updates each module's ``MaxFrames_RBV`` and
+      flatfield state. Cannot be changed while acquiring.
+    - XSPD_COUNTER_MODE
+    - $(P)$(R)CounterMode, $(P)$(R)CounterMode_RBV
+    - bo, bi
+  * - Number of rows to read out from each module (XSPD ``roi_rows``). Choices are powers of
+      2 from 1 to 256. Changing this updates the frame size and each module's
+      ``MaxFrames_RBV``.
+    - XSPD_ROI_ROWS
+    - $(P)$(R)ROIRows, $(P)$(R)ROIRows_RBV
+    - mbbo, mbbi
+  * - Number of frames to sum in the detector (XSPD ``summed_frames``).
+    - XSPD_SUMMED_FRAMES
+    - $(P)$(R)SummedFrames, $(P)$(R)SummedFrames_RBV
+    - ao, ai
+  * - Enable or disable gating mode (XSPD ``gating_mode``).
+    - XSPD_GATING_MODE
+    - $(P)$(R)GatingMode, $(P)$(R)GatingMode_RBV
+    - bo, bi
+  * - Enable or disable charge summing (XSPD ``charge_summing``).
+    - XSPD_CHARGE_SUMMING
+    - $(P)$(R)ChargeSumming, $(P)$(R)ChargeSumming_RBV
+    - bo, bi
+  * - Enable or disable flatfield correction (XSPD ``flatfield_correction``).
+    - XSPD_F_F_CORRECTION
+    - $(P)$(R)FlatFieldCorrection, $(P)$(R)FlatFieldCorrection_RBV
+    - bo, bi
+  * - Enable or disable count rate correction (XSPD ``countrate_correction``).
+    - XSPD_CR_CORR
+    - $(P)$(R)CountrateCorrection, $(P)$(R)CountrateCorrection_RBV
+    - bo, bi
+  * - Enable or disable the saturation flag (XSPD ``saturation_flag``).
+    - XSPD_SATURATION_FLAG
+    - $(P)$(R)SaturationFlag, $(P)$(R)SaturationFlag_RBV
+    - bo, bi
+  * - :cspan:`3` **Compression and data handling**
+  * - Compressor used by XSPD for data port frames. Choices are ``none``, ``zlib``,
+      ``blosc/blosclz``, ``blosc/lz4``, ``blosc/lz4hc``, ``blosc/snappy``, ``blosc/zlib``
+      and ``blosc/zstd``. Read-only; configure the compressor in XSPD.
+    - XSPD_COMPRESSOR
+    - $(P)$(R)Compressor_RBV
+    - mbbi
+  * - Compression level (0-9) used by XSPD. Read-only.
+    - XSPD_COMPRESS_LEVEL
+    - $(P)$(R)CompressLevel_RBV
+    - mbbi
+  * - Blosc shuffle mode. Choices are ``None``, ``Byte Shuffle``, ``Bit Shuffle`` and
+      ``Auto``. Cannot be changed while acquiring.
+    - XSPD_SHUFFLE_MODE
+    - $(P)$(R)ShuffleMode, $(P)$(R)ShuffleMode_RBV
+    - mbbo, mbbi
+  * - If enabled, compressed frames are decompressed in the driver. If disabled, compressed
+      frames are passed on as compressed NDArrays.
+    - XSPD_DECOMPRESS
+    - $(P)$(R)Decompress, $(P)$(R)Decompress_RBV
+    - bo, bi
+  * - Number of threads used for Blosc decompression when ``Decompress`` is enabled.
+    - XSPD_BLOSC_NUM_THREADS
+    - $(P)$(R)BloscNumThreads, $(P)$(R)BloscNumThreads_RBV
+    - ao, ai
+  * - Number of frames queued on the data port and not yet sent (XSPD ``frames_queued``).
+    - XSPD_FRAMES_QUEUED
+    - $(P)$(R)FramesQueued_RBV
+    - ai
+  * - :cspan:`3` **Status monitoring**
+  * - Enable or disable the monitor thread, which polls the detector ``status`` and data port
+      ``frames_queued`` variables and updates ``DetectorState_RBV`` and ``FramesQueued_RBV``.
+    - XSPD_MONITOR_MODE
+    - $(P)$(R)MonitorMode, $(P)$(R)MonitorMode_RBV
+    - bo, bi
+  * - Interval in seconds between monitor thread polls. The minimum is 0.5 seconds.
+    - XSPD_MONITOR_INTERVAL
+    - $(P)$(R)MonitorInterval, $(P)$(R)MonitorInterval_RBV
+    - ao, ai
+  * - :cspan:`3` **Diagnostics**
+  * - Enable or disable logging of every HTTP request sent to XSPD. See
+      :ref:`ADXSPD_request_logging`.
+    - XSPD_LOG_REQUESTS
+    - $(P)$(R)LogRequests, $(P)$(R)LogRequests_RBV
+    - bo, bi
+  * - :cspan:`3` **Reserved (records exist but are not yet implemented by the driver)**
+  * - Reset the detector.
+    - XSPD_RESET
+    - $(P)$(R)Reset
+    - bo
+  * - Generate a new flatfield.
+    - XSPD_GENERATE_FLATFIELD
+    - $(P)$(R)GenerateFlatfield
+    - bo
+  * - Flatfield status message.
+    - XSPD_FLATFIELD_STATUS
+    - $(P)$(R)FlatfieldStatus_RBV
+    - waveform
+  * - Average board, FPGA and sensor temperatures across all modules.
+    - XSPD_AVG_BOARD_TEMP, XSPD_AVG_FPGA_TEMP, XSPD_AVG_SENSOR_TEMP
+    - $(P)$(R)AvgBoardTemp_RBV, $(P)$(R)AvgFPGATemp_RBV, $(P)$(R)AvgSensorTemp_RBV
+    - ai
+
+ADXSPDModule parameters
+-----------------------
+
+One ``ADXSPDModule`` asyn port is created for each detector module, named
+``<PORT>_MOD1``, ``<PORT>_MOD2``, etc. Load ``ADXSPDModule.template`` once for each module.
+Values are read from XSPD when the IOC starts. Module values are not currently polled by
+the monitor thread, because reading module status takes too long.
+
+.. cssclass:: table-bordered table-striped table-hover
+.. flat-table::
+  :header-rows: 2
+  :widths: 55 15 20 10
+
+  * - **Parameter Definitions in ADXSPDModuleParamDefs.h and EPICS Record Definitions in ADXSPDModule.template**
+  * - Description
+    - drvInfo string
+    - EPICS record name
+    - EPICS record type
+  * - Board, FPGA and humidity sensor temperatures in degrees C.
+    - XSPD_BOARD_TEMP, XSPD_FPGA_TEMP, XSPD_HUM_TEMP
+    - $(P)$(R)BoardTemp_RBV, $(P)$(R)FPGATemp_RBV, $(P)$(R)HumiditySensorTemp_RBV
+    - ai
+  * - Relative humidity in %.
+    - XSPD_HUM
+    - $(P)$(R)Humidity_RBV
+    - ai
+  * - Sensor high voltage in V. Only the readback is currently implemented.
+    - XSPD_VOLTAGE
+    - $(P)$(R)Voltage, $(P)$(R)Voltage_RBV
+    - ao, ai
+  * - Sensor current in uA.
+    - XSPD_SENS_CURR
+    - $(P)$(R)SensorCurrent_RBV
+    - ai
+  * - Pixel saturation threshold.
+    - XSPD_SAT_THRESH
+    - $(P)$(R)SaturationThresh_RBV
+    - ai
+  * - Module rotation (yaw, pitch, roll) in degrees.
+    - XSPD_ROT_YAW, XSPD_ROT_PITCH, XSPD_ROT_ROLL
+    - $(P)$(R)RotationYaw_RBV, $(P)$(R)RotationPitch_RBV, $(P)$(R)RotationRoll_RBV
+    - ai
+  * - Module position (X, Y, Z).
+    - XSPD_POS_X, XSPD_POS_Y, XSPD_POS_Z
+    - $(P)$(R)PositionX_RBV, $(P)$(R)PositionY_RBV, $(P)$(R)PositionZ_RBV
+    - ai
+  * - Maximum number of frames the module can buffer with the current settings. This limits
+      ``NumImages``, and is refreshed when ``BitDepth``, ``ROIRows`` or ``CounterMode``
+      change.
+    - XSPD_MAX_FRAMES
+    - $(P)$(R)MaxFrames_RBV
+    - ai
+  * - Number of sub-frames.
+    - XSPD_NUM_SUBFRAMES
+    - $(P)$(R)NumSubFrames_RBV
+    - ai
+  * - Number of connectors.
+    - XSPD_NUM_CONS
+    - $(P)$(R)NumConnectors_RBV
+    - ai
+  * - Whether pixel interpolation is enabled.
+    - XSPD_INTERP_MODE
+    - $(P)$(R)InterpolationMode_RBV
+    - bi
+  * - Bitmask of features supported by the module: |br|
+      bit 0 - ``FEAT_HV`` |br|
+      bit 1 - ``FEAT_1_6_BIT`` |br|
+      bit 2 - ``FEAT_MEDIPIX_DAC_IO`` |br|
+      bit 3 - ``FEAT_EXTENDED_GATING`` |br|
+      bit 4 - ``FEAT_ROI``
+    - XSPD_FEAT_BITMASK
+    - $(P)$(R)Features_RBV
+    - mbbiDirect
+  * - Module compressor and compression level.
+    - XSPD_COMPRESSOR, XSPD_COMPRESS_LEVEL
+    - $(P)$(R)Compressor_RBV, $(P)$(R)CompressLevel_RBV
+    - mbbi
+  * - Whether RAM has been allocated on the module.
+    - XSPD_RAM_ALLOCATED
+    - $(P)$(R)RamAllocated_RBV
+    - bi
+  * - Whether flatfield correction is enabled on the module.
+    - XSPD_FF_ENABLED
+    - $(P)$(R)FlatfieldEnabled_RBV
+    - bi
+  * - Flatfield status message.
+    - XSPD_FF_STATUS
+    - $(P)$(R)FlatfieldStatus_RBV
+    - waveform
+  * - Author and date of the low and high threshold flatfields.
+    - XSPD_LOW_THRESH_FF_AUTHOR, XSPD_HIGH_THRESH_FF_AUTHOR, XSPD_LOW_THRESH_FF_DATE,
+      XSPD_HIGH_THRESH_FF_DATE
+    - $(P)$(R)LowThreshFfAuthor_RBV, $(P)$(R)HighThreshFfAuthor_RBV,
+      $(P)$(R)LowThreshFfDate_RBV, $(P)$(R)HighThreshFfDate_RBV
+    - stringin
+  * - Number of frames queued on the module.
+    - XSPD_FRAMES_QUEUED
+    - $(P)$(R)FramesQueued_RBV
+    - ai
+  * - Whether the pixel mask is applied. Only the readback is currently implemented.
+    - XSPD_PIXEL_MASK
+    - $(P)$(R)PixelMask, $(P)$(R)PixelMask_RBV
+    - bo, bi
+  * - Module shuffle mode. Not currently implemented.
+    - XSPD_SHUFFLE_MODE
+    - $(P)$(R)ShuffleMode, $(P)$(R)ShuffleMode_RBV
+    - mbbo, mbbi
+  * - Number of chips on the module, and the ID of each chip (up to 12).
+    - XSPD_NUM_CHIPS, XSPD_CHIP1_ID ... XSPD_CHIP12_ID
+    - $(P)$(R)NumChips_RBV, $(P)$(R)Chip1ID_RBV ... $(P)$(R)Chip12ID_RBV
+    - ai, stringin
+
+.. _ADXSPD_compression:
+
+Compressed data
+---------------
+
+XSPD can compress frames before publishing them on the data port. The compressor and
+level are shown in ``Compressor_RBV`` and ``CompressLevel_RBV``. The ``Decompress``
+record controls how the driver handles compressed frames:
+
+* ``Decompress = Enabled``: the driver decompresses each frame with zlib or Blosc before
+  passing it to plugins. Blosc decompression uses ``BloscNumThreads`` threads.
+* ``Decompress = Disabled``: the compressed bytes are copied into the NDArray as-is, and the
+  NDArray ``codec`` field is set to ``zlib`` or ``blosc`` (with the Blosc sub-compressor,
+  level and ``ShuffleMode``). Plugins such as ``NDPluginCodec`` or ``NDFileHDF5`` can then
+  decompress or write the data directly. zlib-compressed NDArrays require ADCore R3-15 or
+  later.
+
+.. _ADXSPD_request_logging:
+
+HTTP request logging
+--------------------
+
+For debugging communication with XSPD, the driver can log every HTTP request it sends.
+Each log entry contains a timestamp, the HTTP method, the full URI, the HTTP status code
+(0 if no response was received) and the time taken in milliseconds, for example::
+
+    2026-09-30 12:00:00.123 | GET localhost:8008/api/v1/devices/lambda01/variables?path=lambda/status | status=200 | elapsed=1.842 ms
+
+Set ``LogRequests`` to ``Enabled`` to start logging. Where logs are written depends on the
+``NDFile.template`` records:
+
+* If ``FilePath`` is empty, logs are written to stdout.
+* Otherwise, logs are appended to ``FilePath`` + ``FileName``. If ``FileName`` is empty,
+  ``xspd_requests.log`` is used. ``FilePath`` must already exist; enabling logging fails
+  if it does not.
+* The full path of the log file is shown in ``FullFileName_RBV``.
+* Changing ``FilePath`` or ``FileName`` while logging is enabled switches to the new file.
+  If the new file cannot be opened, logging is disabled and an error is reported.
+
+Request logging can also be used directly from the ``XSPDAPI`` library with
+``XSPD::API::EnableRequestLogging(path)`` and ``XSPD::API::DisableRequestLogging()``.
+
+Configuration
+-------------
+
+The ADXSPD driver is created with the ``ADXSPDConfig`` command, either from C/C++ or from
+the EPICS IOC shell.
+
+::
+
+    int ADXSPDConfig(const char *portName, const char *ip, int portNum, const char *deviceId)
+
+.. cssclass:: table-bordered table-striped table-hover
+.. flat-table::
+  :header-rows: 1
+  :widths: 20 80
+
+  * - Argument
+    - Description
+  * - portName
+    - Name of the asyn port to create. Module ports are named ``<portName>_MOD1``,
+      ``<portName>_MOD2``, etc.
+  * - ip
+    - Hostname or IP address of the machine running XSPD.
+  * - portNum
+    - Port number of the XSPD REST API. If 0, the default of 8008 is used.
+  * - deviceId
+    - Optional. The XSPD device ID to connect to (e.g. ``lambda01``), or a single-digit index
+      into the list of devices. If omitted, the first device is used.
+
+Example st.cmd startup file
+---------------------------
+
+The following startup script is provided with ADXSPD.
+
+.. literalinclude:: ../../../ADXSPD/iocs/xspdIOC/iocBoot/iocXSPD/st_base.cmd
+
+Screens
+-------
+
+Phoebus screens are provided in ``xspdApp/op/bob``:
+
+* ``ADXSPD.bob`` - the main screen for controlling the detector.
+* ``ADXSPD_Module.bob`` - per-module status and information.
+
+Auto-generated screens covering every record in the database templates are in
+``xspdApp/op/bob/autogenerated``.
+
+Building
+--------
+
+ADXSPD depends on the following, in addition to EPICS base, asyn and ADCore:
+
+* `cpr`_, `nlohmann/json`_ and `magic_enum`_, which are included in ``xspdSupport``.
+  ``cpr`` requires libcurl; set ``CURL_EXTERNAL=YES`` in ``configure/CONFIG_SITE`` to use
+  the system libcurl.
+* `ZeroMQ`_ (``libzmq``). Set ``ZMQ_LIB`` to use a non-system build.
+* zlib and Blosc, which can be provided by ADSupport or the system.
+
+A C++17 compiler is required.
+
+Testing
+-------
+
+Unit tests for the API are in ``xspdApp/tests`` and use GoogleTest and GoogleMock. Set
+``BUILD_TESTS=YES`` in ``configure/CONFIG_SITE`` to build them, then run::
+
+    ./xspdApp/tests/O.linux-x86_64/TestADXSPD
+
+A simulator of the XSPD REST API and data port is provided in
+``scripts/xspdSimulator.py``, and can be started with::
+
+    pixi run simulator
diff --git a/pixi.lock b/pixi.lock
index 0b9e3a0..8742c2c 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -146,6 +146,76 @@ environments:
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+  docs:
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+    indexes:
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@@ -159,6 +229,9 @@ packages:
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+  run_exports:
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+  - sphinx-reredirects ; extra == 'doc'
+  - sphinxcontrib-towncrier ; extra == 'doc'
+  - sphinx-notfound-page>=1,<2 ; extra == 'doc'
+  - pyproject-hooks!=1.1 ; extra == 'doc'
+  - towncrier<24.7 ; extra == 'doc'
+  - packaging>=24.2 ; extra == 'core'
+  - more-itertools>=8.8 ; extra == 'core'
+  - jaraco-text>=3.7 ; extra == 'core'
+  - importlib-metadata>=6 ; python_full_version < '3.10' and extra == 'core'
+  - tomli>=2.0.1 ; python_full_version < '3.11' and extra == 'core'
+  - wheel>=0.43.0 ; extra == 'core'
+  - jaraco-functools>=4 ; extra == 'core'
+  - more-itertools ; extra == 'core'
+  - pytest-checkdocs>=2.14 ; extra == 'check'
+  - pytest-ruff>=0.2.1 ; sys_platform != 'cygwin' and extra == 'check'
+  - ruff>=0.13.0 ; sys_platform != 'cygwin' and extra == 'check'
+  - pytest-cov ; extra == 'cover'
+  - pytest-enabler>=3.4 ; extra == 'enabler'
+  - pytest-mypy>=1.0.1 ; platform_python_implementation != 'PyPy' and extra == 'type'
+  - mypy==1.18.* ; extra == 'type'
+  - importlib-metadata>=7.0.2 ; python_full_version < '3.10' and extra == 'type'
+  - jaraco-develop>=7.21 ; sys_platform != 'cygwin' and extra == 'type'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/95/ad/793c51946ac0a67d5ae10b4cf7ba1620aaa8488464be97d85ed2e9552eb7/linuxdoc-20260504-py3-none-any.whl
+  name: linuxdoc
+  version: '20260504'
+  sha256: cca33f1499a96ab30fdcab5296bfd28b0ae2371ae56e5dfe929f18b9a7dc7a2f
+  requires_dist:
+  - docutils
+  - fspath
+  - setuptools
+  - sphinx
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/b7/ce/149a00dd41f10bc29e5921b496af8b574d8413afcd5e30dfa0ed46c2cc5e/six-1.17.0-py2.py3-none-any.whl
+  name: six
+  version: 1.17.0
+  sha256: 4721f391ed90541fddacab5acf947aa0d3dc7d27b2e1e8eda2be8970586c3274
+  requires_python: '>=2.7,!=3.0.*,!=3.1.*,!=3.2.*'
 - pypi: https://files.pythonhosted.org/packages/c6/f3/ccadde3be7063fd2630908fe533ad8d9812d86c20996ba572196235ba78f/phoebusgen-3.2.0-py3-none-any.whl
   name: phoebusgen
   version: 3.2.0
diff --git a/pixi.toml b/pixi.toml
index bc2ebb6..2d9ff19 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -34,3 +34,17 @@ fastapi = ">=0.136.0,<0.137"
 [pypi-dependencies]
 epicsdbtools = { git = "https://github.com/jwlodek/epicsdbtools.git" }
 epicsdb2bob = { git = "https://github.com/NSLS2/epicsdb2bob.git" }
+
+[feature.docs.dependencies]
+python = ">=3.12,<3.13"
+sphinx = ">=9.1.0,<10"
+sphinx_rtd_theme = ">=3.1.0,<4"
+
+[feature.docs.pypi-dependencies]
+linuxdoc = ">=20260504"
+
+[feature.docs.tasks]
+build-docs = "sphinx-build -W --keep-going -c scripts/sphinx -b html docs build/docs/html"
+
+[environments]
+docs = { features = ["docs"], no-default-feature = true }
diff --git a/scripts/sphinx/conf.py b/scripts/sphinx/conf.py
new file mode 100644
index 0000000..056b717
--- /dev/null
+++ b/scripts/sphinx/conf.py
@@ -0,0 +1,16 @@
+# Standalone Sphinx config for previewing the ADXSPD docs outside of the areaDetector docs build.
+# Kept out of docs/ so it isn't merged into the areaDetector docs tree.
+
+project = "ADXSPD"
+author = "Jakub Wlodek"
+copyright = "2026, Brookhaven National Laboratory"
+
+extensions = ["linuxdoc.rstFlatTable"]
+
+root_doc = "ADXSPD/ADXSPD"
+source_suffix = {".rst": "restructuredtext"}
+exclude_patterns = ["_build"]
+
+pygments_style = "sphinx"
+html_theme = "sphinx_rtd_theme"
+html_title = "ADXSPD"