diff options
Diffstat (limited to 'docs')
| -rw-r--r-- | docs/Benchmarks.md | 80 | ||||
| -rw-r--r-- | docs/G-Codes.md | 16 | ||||
| -rw-r--r-- | docs/MCU_Commands.md | 17 |
3 files changed, 53 insertions, 60 deletions
diff --git a/docs/Benchmarks.md b/docs/Benchmarks.md index ebec62f6..faf2ed1b 100644 --- a/docs/Benchmarks.md +++ b/docs/Benchmarks.md @@ -92,9 +92,9 @@ The following configuration sequence is used on AVR chips: ``` PINS arduino allocate_oids count=3 -config_stepper oid=0 step_pin=ar29 dir_pin=ar28 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=ar27 dir_pin=ar26 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=ar23 dir_pin=ar22 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=ar29 dir_pin=ar28 invert_step=0 +config_stepper oid=1 step_pin=ar27 dir_pin=ar26 invert_step=0 +config_stepper oid=2 step_pin=ar23 dir_pin=ar22 invert_step=0 finalize_config crc=0 ``` @@ -114,9 +114,9 @@ results match tests on both a 16Mhz at90usb and a 16Mhz atmega2560). The following configuration sequence is used on the Due: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PB27 dir_pin=PA21 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PB26 dir_pin=PC30 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PA21 dir_pin=PC30 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PB27 dir_pin=PA21 invert_step=0 +config_stepper oid=1 step_pin=PB26 dir_pin=PC30 invert_step=0 +config_stepper oid=2 step_pin=PA21 dir_pin=PC30 invert_step=0 finalize_config crc=0 ``` @@ -136,9 +136,9 @@ The test was last run on commit `8d4a5c16` with gcc version The following configuration sequence is used on the Duet Maestro: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PC26 dir_pin=PC18 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PC26 dir_pin=PA8 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PC26 dir_pin=PB4 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PC26 dir_pin=PC18 invert_step=0 +config_stepper oid=1 step_pin=PC26 dir_pin=PA8 invert_step=0 +config_stepper oid=2 step_pin=PC26 dir_pin=PB4 invert_step=0 finalize_config crc=0 ``` @@ -158,10 +158,10 @@ The test was last run on commit `8d4a5c16` with gcc version The following configuration sequence is used on the Duet Wifi: ``` allocate_oids count=4 -config_stepper oid=0 step_pin=PD6 dir_pin=PD11 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PD7 dir_pin=PD12 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PD8 dir_pin=PD13 min_stop_interval=0 invert_step=0 -config_stepper oid=3 step_pin=PD5 dir_pin=PA1 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PD6 dir_pin=PD11 invert_step=0 +config_stepper oid=1 step_pin=PD7 dir_pin=PD12 invert_step=0 +config_stepper oid=2 step_pin=PD8 dir_pin=PD13 invert_step=0 +config_stepper oid=3 step_pin=PD5 dir_pin=PA1 invert_step=0 finalize_config crc=0 ``` @@ -183,9 +183,9 @@ The following configuration sequence is used on the PRU: ``` PINS beaglebone allocate_oids count=3 -config_stepper oid=0 step_pin=P8_13 dir_pin=P8_12 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=P8_15 dir_pin=P8_14 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=P8_19 dir_pin=P8_18 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=P8_13 dir_pin=P8_12 invert_step=0 +config_stepper oid=1 step_pin=P8_15 dir_pin=P8_14 invert_step=0 +config_stepper oid=2 step_pin=P8_19 dir_pin=P8_18 invert_step=0 finalize_config crc=0 ``` @@ -203,9 +203,9 @@ The test was last run on commit `b161a69e` with gcc version `pru-gcc The following configuration sequence is used on the STM32F042: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PA1 dir_pin=PA2 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PA3 dir_pin=PA2 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PB8 dir_pin=PA2 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PA1 dir_pin=PA2 invert_step=0 +config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=0 +config_stepper oid=2 step_pin=PB8 dir_pin=PA2 invert_step=0 finalize_config crc=0 ``` @@ -223,9 +223,9 @@ The test was last run on commit `0b0c47c5` with gcc version The following configuration sequence is used on the STM32F103: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PC13 dir_pin=PB5 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PB3 dir_pin=PB6 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PA4 dir_pin=PB7 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PC13 dir_pin=PB5 invert_step=0 +config_stepper oid=1 step_pin=PB3 dir_pin=PB6 invert_step=0 +config_stepper oid=2 step_pin=PA4 dir_pin=PB7 invert_step=0 finalize_config crc=0 ``` @@ -245,10 +245,10 @@ The test was last run on commit `8d4a5c16` with gcc version The following configuration sequence is used on the STM32F4: ``` allocate_oids count=4 -config_stepper oid=0 step_pin=PA5 dir_pin=PB5 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PB2 dir_pin=PB6 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PB3 dir_pin=PB7 min_stop_interval=0 invert_step=0 -config_stepper oid=3 step_pin=PB3 dir_pin=PB8 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PA5 dir_pin=PB5 invert_step=0 +config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=0 +config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=0 +config_stepper oid=3 step_pin=PB3 dir_pin=PB8 invert_step=0 finalize_config crc=0 ``` @@ -280,9 +280,9 @@ using a 168Mhz clock). The following configuration sequence is used on the LPC176x: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 invert_step=0 +config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 invert_step=0 +config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 invert_step=0 finalize_config crc=0 ``` @@ -311,9 +311,9 @@ results were obtained by overclocking an LPC1768 to 120Mhz. The following configuration sequence is used on the SAMD21: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PA27 dir_pin=PA20 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PB3 dir_pin=PA21 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PA17 dir_pin=PA21 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PA27 dir_pin=PA20 invert_step=0 +config_stepper oid=1 step_pin=PB3 dir_pin=PA21 invert_step=0 +config_stepper oid=2 step_pin=PA17 dir_pin=PA21 invert_step=0 finalize_config crc=0 ``` @@ -334,11 +334,11 @@ micro-controller. The following configuration sequence is used on the SAMD51: ``` allocate_oids count=5 -config_stepper oid=0 step_pin=PA22 dir_pin=PA20 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PA22 dir_pin=PA21 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PA22 dir_pin=PA19 min_stop_interval=0 invert_step=0 -config_stepper oid=3 step_pin=PA22 dir_pin=PA18 min_stop_interval=0 invert_step=0 -config_stepper oid=4 step_pin=PA23 dir_pin=PA17 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PA22 dir_pin=PA20 invert_step=0 +config_stepper oid=1 step_pin=PA22 dir_pin=PA21 invert_step=0 +config_stepper oid=2 step_pin=PA22 dir_pin=PA19 invert_step=0 +config_stepper oid=3 step_pin=PA22 dir_pin=PA18 invert_step=0 +config_stepper oid=4 step_pin=PA23 dir_pin=PA17 invert_step=0 finalize_config crc=0 ``` @@ -365,9 +365,9 @@ micro-controller. The following configuration sequence is used on a Raspberry Pi: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=gpio6 dir_pin=gpio7 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 invert_step=0 +config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 invert_step=0 +config_stepper oid=2 step_pin=gpio6 dir_pin=gpio7 invert_step=0 finalize_config crc=0 ``` diff --git a/docs/G-Codes.md b/docs/G-Codes.md index b8b96636..2f012bf5 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -517,15 +517,13 @@ enabled: the given distance (in mm) at the given constant velocity (in mm/s). If ACCEL is specified and is greater than zero, then the given acceleration (in mm/s^2) will be used; otherwise no - acceleration is performed. If acceleration is not performed then it - can lead to the micro-controller reporting "No next step" errors - (avoid these errors by specifying an ACCEL value or use a very low - VELOCITY). No boundary checks are performed; no kinematic updates - are made; other parallel steppers on an axis will not be moved. Use - caution as an incorrect command could cause damage! Using this - command will almost certainly place the low-level kinematics in an - incorrect state; issue a G28 afterwards to reset the kinematics. - This command is intended for low-level diagnostics and debugging. + acceleration is performed. No boundary checks are performed; no + kinematic updates are made; other parallel steppers on an axis will + not be moved. Use caution as an incorrect command could cause + damage! Using this command will almost certainly place the low-level + kinematics in an incorrect state; issue a G28 afterwards to reset + the kinematics. This command is intended for low-level diagnostics + and debugging. - `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force the low-level kinematic code to believe the toolhead is at the given cartesian position. This is a diagnostic and debugging command; use diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md index e599ccff..1859f33a 100644 --- a/docs/MCU_Commands.md +++ b/docs/MCU_Commands.md @@ -138,17 +138,12 @@ 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 min_stop_interval=%u - 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). The 'min_stop_interval' implements a safety - feature - it is checked when the micro-controller finishes all moves - for a stepper - if it is non-zero it specifies the minimum number of - clock ticks since the last step. It is used as a check on the - maximum stepper velocity that a stepper may have before stopping. +* `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_endstop oid=%c pin=%c pull_up=%c stepper_count=%c` : This command creates an internal "endstop" object. It is used to specify |