From a38437f378ece33cb762b482120be629c78d3540 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sun, 5 Mar 2017 15:00:15 -0500 Subject: stepper: Introduce stepper_get_position command and remove from endstop.c Move the logic to calculate and report the stepper's current position from endstop.c to stepper.c. This localizes the stepper code into stepper.c. Signed-off-by: Kevin O'Connor --- docs/Firmware_Commands.md | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'docs/Firmware_Commands.md') diff --git a/docs/Firmware_Commands.md b/docs/Firmware_Commands.md index a0f9a65c..63647c39 100644 --- a/docs/Firmware_Commands.md +++ b/docs/Firmware_Commands.md @@ -251,6 +251,12 @@ Stepper commands so that the next step is relative to the supplied 'clock' time. The host usually only sends this command at the start of a print. +* stepper_get_position oid=%c : This command causes the firmware to + generate a "stepper_position" response message with the stepper's + current position. The position is the total number of steps + generated with dir=1 minus the total number of steps generated with + dir=0. + * end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c : This command is used during stepper "homing" operations. To use this command a 'config_end_stop' command with the same 'oid' parameter -- cgit v1.2.3-70-g09d2