docs: Add backticks around commands in Firmware Commands
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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d7a1111955
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@ -42,13 +42,13 @@ in "cycle_ticks=16000" on a micro-controller with a 16Mhz clock.
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Common startup commands:
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* set_digital_out pin=%u value=%c : This command immediately
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* `set_digital_out pin=%u value=%c` : This command immediately
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configures the given pin as a digital out GPIO and it sets it to
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either a low level (value=0) or a high level (value=1). This command
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may be useful for configuring the initial value of LEDs and for
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configuring the initial value of stepper driver micro-stepping pins.
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* set_pwm_out pin=%u cycle_ticks=%u value=%c : This command will
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* `set_pwm_out pin=%u cycle_ticks=%u value=%c` : This command will
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immediately configure the given pin to use hardware based
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pulse-width-modulation (PWM) with the given number of
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cycle_ticks. The "cycle_ticks" is the number of MCU clock ticks each
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@ -58,7 +58,7 @@ Common startup commands:
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and 255 indicating a full on state. This command may be useful for
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enabling CPU and nozzle cooling fans.
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* send_spi_message pin=%u msg=%*s : This command can be used to
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* `send_spi_message pin=%u msg=%*s` : This command can be used to
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transmit messages to a serial-peripheral-interface (SPI) component
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connected to the micro-controller. It has been used to configure the
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startup settings of AD5206 digipots. The 'pin' parameter specifies
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@ -80,7 +80,7 @@ for more information). After the data dictionary is obtained the host
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will check if the firmware is in a "configured" state and configure it
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if not. Configuration involves the following phases:
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* get_config : The host starts by checking if the firmware is already
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* `get_config` : The host starts by checking if the firmware is already
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configured. The firmware responds to this command with a "config"
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response message. At micro-controller power-on the firmware always
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starts in an unconfigured state. It remains in this state until the
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@ -90,7 +90,7 @@ if not. Configuration involves the following phases:
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host/firmware session then no further action is needed by the host
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and the configuration process ends successfully.
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* allocate_oids count=%c : This command is issued to inform the
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* `allocate_oids count=%c` : This command is issued to inform the
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firmware the maximum number of object-ids (oid) that the host
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requires. It is only valid to issue this command once. An oid is an
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integer identifier allocated to each stepper, each endstop, and each
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@ -99,9 +99,9 @@ if not. Configuration involves the following phases:
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firmware so that the firmware may allocate sufficient memory to
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store a mapping from oid to internal firmware object.
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* config_XXX oid=%c ... : By convention any command starting with the
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"config_" prefix creates a new firmware object and assigns the given
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oid to it. For example, the config_digital_out command will
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* `config_XXX oid=%c ...` : By convention any command starting with
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the "config_" prefix creates a new firmware object and assigns the
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given oid to it. For example, the config_digital_out command will
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configure the specified pin as a digital output GPIO and create an
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internal object that the host can use to schedule changes to the
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given GPIO. The oid parameter passed into the config command is
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@ -111,9 +111,9 @@ if not. Configuration involves the following phases:
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the host sending finalize_config) and after the allocate_oids
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command has been sent.
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* finalize_config crc=%u : The finalize_config command transitions the
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firmware from an unconfigured state to a configured state. The crc
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parameter passed to the firmware is stored in the firmware and
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* `finalize_config crc=%u` : The finalize_config command transitions
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the firmware from an unconfigured state to a configured state. The
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crc parameter passed to the firmware is stored in the firmware and
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provided back to the host in "config" response messages. By
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convention, the host takes a 32bit CRC of the firmware configuration
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it will request and at the start of subsequent host/firmware
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@ -127,34 +127,34 @@ Common firmware objects
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This section lists some commonly used config commands.
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* config_digital_out oid=%c pin=%u default_value=%c max_duration=%u :
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This command creates an internal firmware object for the given GPIO
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'pin'. The pin will be configured in digital output mode and set to
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an initial value as specified by 'default_value' (0 for low, 1 for
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high). Creating a digital_out object allows the host to schedule
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GPIO updates for the given pin at specified times (see the
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schedule_digital_out command described below). Should the firmware
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go into shutdown mode then all configured digital_out objects will
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be set back to their default values. The 'max_duration' parameter is
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used to implement a safety check - if it is non-zero then it is the
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maximum number of clock ticks that the host may set the given GPIO
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to a non-default value without further updates. For example, if the
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default_value is zero and the max_duration is 16000 then if the host
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sets the gpio to a value of one then it must schedule another update
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to the gpio pin (to either zero or one) within 16000 clock
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ticks. This safety feature can be used with heater pins to ensure
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the host does not set the heater to a value of one and then go
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off-line.
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* `config_digital_out oid=%c pin=%u default_value=%c
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max_duration=%u` : This command creates an internal firmware object
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for the given GPIO 'pin'. The pin will be configured in digital
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output mode and set to an initial value as specified by
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'default_value' (0 for low, 1 for high). Creating a digital_out
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object allows the host to schedule GPIO updates for the given pin at
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specified times (see the schedule_digital_out command described
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below). Should the firmware go into shutdown mode then all
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configured digital_out objects will be set back to their default
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values. The 'max_duration' parameter is used to implement a safety
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check - if it is non-zero then it is the maximum number of clock
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ticks that the host may set the given GPIO to a non-default value
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without further updates. For example, if the default_value is zero
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and the max_duration is 16000 then if the host sets the gpio to a
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value of one then it must schedule another update to the gpio pin
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(to either zero or one) within 16000 clock ticks. This safety
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feature can be used with heater pins to ensure the host does not set
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the heater to a value of one and then go off-line.
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* config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c
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max_duration=%u : This command creates an internal object for
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* `config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c
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max_duration=%u` : This command creates an internal object for
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hardware based PWM pins that the host may schedule updates for. Its
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usage is analogous to config_digital_out - see the description of
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the 'set_pwm_out' and 'config_digital_out' commands for parameter
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description.
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* config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c
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max_duration=%u : This command creates an internal firmware object
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* `config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c
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max_duration=%u` : This command creates an internal firmware object
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for software implemented PWM. Unlike hardware pwm pins, a software
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pwm object does not require any special hardware support (other than
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the ability to configure the pin as a digital output GPIO). Because
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@ -163,13 +163,13 @@ This section lists some commonly used config commands.
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time of 10ms or greater. See the description of the 'set_pwm_out'
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and 'config_digital_out' commands for parameter description.
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* config_analog_in oid=%c pin=%u : This command is used to configure a
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pin in analog input sampling mode. Once configured, the pin can be
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* `config_analog_in oid=%c pin=%u` : This command is used to configure
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a pin in analog input sampling mode. Once configured, the pin can be
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sampled at regular interval using the query_analog_in command (see
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below).
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* config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u
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invert_step=%c : This command creates an internal stepper
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* `config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u
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invert_step=%c` : This command creates an internal stepper
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object. The 'step_pin' and 'dir_pin' parameters specify the step and
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direction pins respectively; this command will configure them in
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digital output mode. The 'invert_step' parameter specifies whether a
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@ -180,7 +180,7 @@ This section lists some commonly used config commands.
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ticks since the last step. It is used as a check on the maximum
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stepper velocity that a stepper may have before stopping.
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* config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c : This
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* `config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c` : This
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command creates an internal "endstop" object. It is used to specify
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the endstop pins and to enable "homing" operations (see the
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end_stop_home command below). The command will configure the
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@ -196,22 +196,22 @@ Common commands
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This section lists some commonly used run-time commands. It is likely
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only of interest to developers looking to gain insight into Klippy.
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* schedule_digital_out oid=%c clock=%u value=%c : This command will
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* `schedule_digital_out oid=%c clock=%u value=%c` : This command will
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schedule a change to a digital output GPIO pin at the given clock
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time. To use this command a 'config_digital_out' command with the
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same 'oid' parameter must have been issued during firmware
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configuration.
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* schedule_pwm_out oid=%c clock=%u value=%c : Schedules a change to a
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hardware PWM output pin. See the 'schedule_digital_out' and
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* `schedule_pwm_out oid=%c clock=%u value=%c` : Schedules a change to
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a hardware PWM output pin. See the 'schedule_digital_out' and
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'config_pwm_out' commands for more info.
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* schedule_soft_pwm_out oid=%c clock=%u value=%c : Schedules a change
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to a software PWM output pin. See the 'schedule_digital_out' and
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'config_soft_pwm_out' commands for more info.
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* `schedule_soft_pwm_out oid=%c clock=%u value=%c` : Schedules a
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change to a software PWM output pin. See the 'schedule_digital_out'
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and 'config_soft_pwm_out' commands for more info.
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* query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
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rest_ticks=%u min_value=%hu max_value=%hu : This command sets up a
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* `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
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rest_ticks=%u min_value=%hu max_value=%hu` : This command sets up a
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recurring schedule of analog input samples. To use this command a
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'config_analog_in' command with the same 'oid' parameter must have
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been issued during firmware configuration. The samples will start as
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@ -225,16 +225,16 @@ only of interest to developers looking to gain insight into Klippy.
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thermistors controlling heaters - it can be used to check that a
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heater is within a temperature range.
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* get_status : This command causes the firmware to generate a "status"
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response message. The host sends this command once a second to
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obtain the value of the micro-controller clock and to estimate the
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drift between host and micro-controller clocks. It enables the host
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to accurately estimate the micro-controller clock.
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* `get_status` : This command causes the firmware to generate a
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"status" response message. The host sends this command once a second
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to obtain the value of the micro-controller clock and to estimate
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the drift between host and micro-controller clocks. It enables the
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host to accurately estimate the micro-controller clock.
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Stepper commands
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----------------
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* queue_step oid=%c interval=%u count=%hu add=%hi : This command
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* `queue_step oid=%c interval=%u count=%hu add=%hi` : This command
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schedules 'count' number of steps for the given stepper, with
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'interval' number of clock ticks between each step. The first step
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will be 'interval' number of clock ticks since the last scheduled
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@ -248,21 +248,22 @@ Stepper commands
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queue potentially hundreds of thousands of steps - all with reliable
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and predictable schedule times.
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* set_next_step_dir oid=%c dir=%c : This command specifies the value
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* `set_next_step_dir oid=%c dir=%c` : This command specifies the value
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of the dir_pin that the next queue_step command will use.
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* reset_step_clock oid=%c clock=%u : Normally, step timing is relative
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to the last step for a given stepper. This command resets the clock
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so that the next step is relative to the supplied 'clock' time. The
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host usually only sends this command at the start of a print.
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* `reset_step_clock oid=%c clock=%u` : Normally, step timing is
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relative to the last step for a given stepper. This command resets
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the clock so that the next step is relative to the supplied 'clock'
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time. The host usually only sends this command at the start of a
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print.
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* stepper_get_position oid=%c : This command causes the firmware to
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* `stepper_get_position oid=%c` : This command causes the firmware to
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generate a "stepper_position" response message with the stepper's
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current position. The position is the total number of steps
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generated with dir=1 minus the total number of steps generated with
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dir=0.
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* end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c : This
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* `end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c` : This
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command is used during stepper "homing" operations. To use this
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command a 'config_end_stop' command with the same 'oid' parameter
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must have been issued during firmware configuration. When invoked,
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