diff options
| -rw-r--r-- | docs/MCU_Commands.md | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md index 12e3f65c..9b8a4eb6 100644 --- a/docs/MCU_Commands.md +++ b/docs/MCU_Commands.md @@ -137,12 +137,17 @@ This section lists some commonly used config commands. sampled at regular interval using the query_analog_in command (see below). -* `config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c` : This - command creates an internal stepper object. The 'step_pin' and - 'dir_pin' parameters specify the step and direction pins - respectively; this command will configure them in digital output - mode. The 'invert_step' parameter specifies whether a step occurs on - a rising edge (invert_step=0) or falling edge (invert_step=1). +* `config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c + step_pulse_ticks=%u` : This command creates an internal stepper + object. The 'step_pin' and 'dir_pin' parameters specify the step and + direction pins respectively; this command will configure them in + digital output mode. The 'invert_step' parameter specifies whether a + step occurs on a rising edge (invert_step=0) or falling edge + (invert_step=1). The 'step_pulse_ticks' parameter specifies the + minimum duration of the step pulse. If the mcu exports the constant + 'STEPPER_BOTH_EDGE=1' then setting step_pulse_ticks=0 and + invert_step=-1 will setup for stepping on both the rising and + falling edges of the step pin. * `config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c` : This command creates an internal "endstop" object. It is used to specify |