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Diffstat (limited to 'docs/Code_Overview.md')
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1 files changed, 11 insertions, 9 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index 2b35688f..fff6d7c9 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -1,8 +1,10 @@ +# Code overview + This document describes the overall code layout and major code flow of Klipper. Directory Layout -================ +---------------- The **src/** directory contains the C source for the micro-controller code. The **src/atsam/**, **src/atsamd/**, **src/avr/**, @@ -39,7 +41,7 @@ object that is built is **out/klipper.elf.hex** on AVR and **out/klipper.bin** on ARM. Micro-controller code flow -========================== +-------------------------- Execution of the micro-controller code starts in architecture specific code (eg, **src/avr/main.c**) which ultimately calls sched_main() @@ -90,7 +92,7 @@ gpio functions are inlined into their callers, and there is no run-time cost to using them. Klippy code overview -==================== +-------------------- The host code (Klippy) is intended to run on a low-cost computer (such as a Raspberry Pi) paired with the micro-controller. The code is @@ -116,7 +118,7 @@ the log (see **klippy/queuelogger.py**) so that the other threads never block on log writes. Code flow of a move command -=========================== +--------------------------- A typical printer movement starts when a "G1" command is sent to the Klippy host and it completes when the corresponding step pulses are @@ -228,7 +230,7 @@ movements and their timings. The remaining parts of the processing is mostly just communication and plumbing. Adding a host module -==================== +-------------------- The Klippy host code has a dynamic module loading capability. If a config section named "[my_module]" is found in the printer config file @@ -308,7 +310,7 @@ The following may also be useful: existing modules for the preferred format. Adding new kinematics -===================== +--------------------- This section provides some tips on adding support to Klipper for additional types of printer kinematics. This type of activity requires @@ -348,7 +350,7 @@ Useful steps: cases and to check for regressions. Porting to a new micro-controller -================================= +--------------------------------- This section provides some tips on porting Klipper's micro-controller code to a new architecture. This type of activity requires good @@ -401,7 +403,7 @@ Useful steps: 9. Consider adding build test cases in the test/ directory. Coordinate Systems -================== +------------------ Internally, Klipper primarily tracks the position of the toolhead in cartesian coordinates that are relative to the coordinate system @@ -487,7 +489,7 @@ the config file) after a `G28` home command. The `SET_GCODE_OFFSET` command can alter this value. Time -==== +---- Fundamental to the operation of Klipper is the handling of clocks, times, and timestamps. Klipper executes actions on the printer by |