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docs: Add backticks around commands in Firmware Commands 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2017-04-27 12:06:52 -04:00
parent d73340474b
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1 changed files with 60 additions and 59 deletions
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docs/Firmware_Commands.md
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@ -42,13 +42,13 @@ in "cycle_ticks=16000" on a micro-controller with a 16Mhz clock.
Common startup commands: Common startup commands:
* set_digital_out pin=%u value=%c : This command immediately * `set_digital_out pin=%u value=%c` : This command immediately
configures the given pin as a digital out GPIO and it sets it to configures the given pin as a digital out GPIO and it sets it to
either a low level (value=0) or a high level (value=1). This command either a low level (value=0) or a high level (value=1). This command
may be useful for configuring the initial value of LEDs and for may be useful for configuring the initial value of LEDs and for
configuring the initial value of stepper driver micro-stepping pins. configuring the initial value of stepper driver micro-stepping pins.
* set_pwm_out pin=%u cycle_ticks=%u value=%c : This command will * `set_pwm_out pin=%u cycle_ticks=%u value=%c` : This command will
immediately configure the given pin to use hardware based immediately configure the given pin to use hardware based
pulse-width-modulation (PWM) with the given number of pulse-width-modulation (PWM) with the given number of
cycle_ticks. The "cycle_ticks" is the number of MCU clock ticks each cycle_ticks. The "cycle_ticks" is the number of MCU clock ticks each
@ -58,7 +58,7 @@ Common startup commands:
and 255 indicating a full on state. This command may be useful for and 255 indicating a full on state. This command may be useful for
enabling CPU and nozzle cooling fans. enabling CPU and nozzle cooling fans.
* send_spi_message pin=%u msg=%*s : This command can be used to * `send_spi_message pin=%u msg=%*s` : This command can be used to
transmit messages to a serial-peripheral-interface (SPI) component transmit messages to a serial-peripheral-interface (SPI) component
connected to the micro-controller. It has been used to configure the connected to the micro-controller. It has been used to configure the
startup settings of AD5206 digipots. The 'pin' parameter specifies startup settings of AD5206 digipots. The 'pin' parameter specifies
@ -80,7 +80,7 @@ for more information). After the data dictionary is obtained the host
will check if the firmware is in a "configured" state and configure it will check if the firmware is in a "configured" state and configure it
if not. Configuration involves the following phases: if not. Configuration involves the following phases:
* get_config : The host starts by checking if the firmware is already * `get_config` : The host starts by checking if the firmware is already
configured. The firmware responds to this command with a "config" configured. The firmware responds to this command with a "config"
response message. At micro-controller power-on the firmware always response message. At micro-controller power-on the firmware always
starts in an unconfigured state. It remains in this state until the starts in an unconfigured state. It remains in this state until the
@ -90,7 +90,7 @@ if not. Configuration involves the following phases:
host/firmware session then no further action is needed by the host host/firmware session then no further action is needed by the host
and the configuration process ends successfully. and the configuration process ends successfully.
* allocate_oids count=%c : This command is issued to inform the * `allocate_oids count=%c` : This command is issued to inform the
firmware the maximum number of object-ids (oid) that the host firmware the maximum number of object-ids (oid) that the host
requires. It is only valid to issue this command once. An oid is an requires. It is only valid to issue this command once. An oid is an
integer identifier allocated to each stepper, each endstop, and each integer identifier allocated to each stepper, each endstop, and each
@ -99,9 +99,9 @@ if not. Configuration involves the following phases:
firmware so that the firmware may allocate sufficient memory to firmware so that the firmware may allocate sufficient memory to
store a mapping from oid to internal firmware object. store a mapping from oid to internal firmware object.
* config_XXX oid=%c ... : By convention any command starting with the * `config_XXX oid=%c ...` : By convention any command starting with
"config_" prefix creates a new firmware object and assigns the given the "config_" prefix creates a new firmware object and assigns the
oid to it. For example, the config_digital_out command will given oid to it. For example, the config_digital_out command will
configure the specified pin as a digital output GPIO and create an configure the specified pin as a digital output GPIO and create an
internal object that the host can use to schedule changes to the internal object that the host can use to schedule changes to the
given GPIO. The oid parameter passed into the config command is given GPIO. The oid parameter passed into the config command is
@ -111,9 +111,9 @@ if not. Configuration involves the following phases:
the host sending finalize_config) and after the allocate_oids the host sending finalize_config) and after the allocate_oids
command has been sent. command has been sent.
* finalize_config crc=%u : The finalize_config command transitions the * `finalize_config crc=%u` : The finalize_config command transitions
firmware from an unconfigured state to a configured state. The crc the firmware from an unconfigured state to a configured state. The
parameter passed to the firmware is stored in the firmware and crc parameter passed to the firmware is stored in the firmware and
provided back to the host in "config" response messages. By provided back to the host in "config" response messages. By
convention, the host takes a 32bit CRC of the firmware configuration convention, the host takes a 32bit CRC of the firmware configuration
it will request and at the start of subsequent host/firmware it will request and at the start of subsequent host/firmware
@ -127,34 +127,34 @@ Common firmware objects
This section lists some commonly used config commands. This section lists some commonly used config commands.
* config_digital_out oid=%c pin=%u default_value=%c max_duration=%u : * `config_digital_out oid=%c pin=%u default_value=%c
This command creates an internal firmware object for the given GPIO max_duration=%u` : This command creates an internal firmware object
'pin'. The pin will be configured in digital output mode and set to for the given GPIO 'pin'. The pin will be configured in digital
an initial value as specified by 'default_value' (0 for low, 1 for output mode and set to an initial value as specified by
high). Creating a digital_out object allows the host to schedule 'default_value' (0 for low, 1 for high). Creating a digital_out
GPIO updates for the given pin at specified times (see the object allows the host to schedule GPIO updates for the given pin at
schedule_digital_out command described below). Should the firmware specified times (see the schedule_digital_out command described
go into shutdown mode then all configured digital_out objects will below). Should the firmware go into shutdown mode then all
be set back to their default values. The 'max_duration' parameter is configured digital_out objects will be set back to their default
used to implement a safety check - if it is non-zero then it is the values. The 'max_duration' parameter is used to implement a safety
maximum number of clock ticks that the host may set the given GPIO check - if it is non-zero then it is the maximum number of clock
to a non-default value without further updates. For example, if the ticks that the host may set the given GPIO to a non-default value
default_value is zero and the max_duration is 16000 then if the host without further updates. For example, if the default_value is zero
sets the gpio to a value of one then it must schedule another update and the max_duration is 16000 then if the host sets the gpio to a
to the gpio pin (to either zero or one) within 16000 clock value of one then it must schedule another update to the gpio pin
ticks. This safety feature can be used with heater pins to ensure (to either zero or one) within 16000 clock ticks. This safety
the host does not set the heater to a value of one and then go feature can be used with heater pins to ensure the host does not set
off-line. the heater to a value of one and then go off-line.
* config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c * `config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c
max_duration=%u : This command creates an internal object for max_duration=%u` : This command creates an internal object for
hardware based PWM pins that the host may schedule updates for. Its hardware based PWM pins that the host may schedule updates for. Its
usage is analogous to config_digital_out - see the description of usage is analogous to config_digital_out - see the description of
the 'set_pwm_out' and 'config_digital_out' commands for parameter the 'set_pwm_out' and 'config_digital_out' commands for parameter
description. description.
* config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c * `config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c
max_duration=%u : This command creates an internal firmware object max_duration=%u` : This command creates an internal firmware object
for software implemented PWM. Unlike hardware pwm pins, a software for software implemented PWM. Unlike hardware pwm pins, a software
pwm object does not require any special hardware support (other than pwm object does not require any special hardware support (other than
the ability to configure the pin as a digital output GPIO). Because the ability to configure the pin as a digital output GPIO). Because
@ -163,13 +163,13 @@ This section lists some commonly used config commands.
time of 10ms or greater. See the description of the 'set_pwm_out' time of 10ms or greater. See the description of the 'set_pwm_out'
and 'config_digital_out' commands for parameter description. and 'config_digital_out' commands for parameter description.
* config_analog_in oid=%c pin=%u : This command is used to configure a * `config_analog_in oid=%c pin=%u` : This command is used to configure
pin in analog input sampling mode. Once configured, the pin can be a pin in analog input sampling mode. Once configured, the pin can be
sampled at regular interval using the query_analog_in command (see sampled at regular interval using the query_analog_in command (see
below). below).
* config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u * `config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u
invert_step=%c : This command creates an internal stepper invert_step=%c` : This command creates an internal stepper
object. The 'step_pin' and 'dir_pin' parameters specify the step and object. The 'step_pin' and 'dir_pin' parameters specify the step and
direction pins respectively; this command will configure them in direction pins respectively; this command will configure them in
digital output mode. The 'invert_step' parameter specifies whether a digital output mode. The 'invert_step' parameter specifies whether a
@ -180,7 +180,7 @@ This section lists some commonly used config commands.
ticks since the last step. It is used as a check on the maximum ticks since the last step. It is used as a check on the maximum
stepper velocity that a stepper may have before stopping. stepper velocity that a stepper may have before stopping.
* config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c : This * `config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c` : This
command creates an internal "endstop" object. It is used to specify command creates an internal "endstop" object. It is used to specify
the endstop pins and to enable "homing" operations (see the the endstop pins and to enable "homing" operations (see the
end_stop_home command below). The command will configure the end_stop_home command below). The command will configure the
@ -196,22 +196,22 @@ Common commands
This section lists some commonly used run-time commands. It is likely This section lists some commonly used run-time commands. It is likely
only of interest to developers looking to gain insight into Klippy. only of interest to developers looking to gain insight into Klippy.
* schedule_digital_out oid=%c clock=%u value=%c : This command will * `schedule_digital_out oid=%c clock=%u value=%c` : This command will
schedule a change to a digital output GPIO pin at the given clock schedule a change to a digital output GPIO pin at the given clock
time. To use this command a 'config_digital_out' command with the time. To use this command a 'config_digital_out' command with the
same 'oid' parameter must have been issued during firmware same 'oid' parameter must have been issued during firmware
configuration. configuration.
* schedule_pwm_out oid=%c clock=%u value=%c : Schedules a change to a * `schedule_pwm_out oid=%c clock=%u value=%c` : Schedules a change to
hardware PWM output pin. See the 'schedule_digital_out' and a hardware PWM output pin. See the 'schedule_digital_out' and
'config_pwm_out' commands for more info. 'config_pwm_out' commands for more info.
* schedule_soft_pwm_out oid=%c clock=%u value=%c : Schedules a change * `schedule_soft_pwm_out oid=%c clock=%u value=%c` : Schedules a
to a software PWM output pin. See the 'schedule_digital_out' and change to a software PWM output pin. See the 'schedule_digital_out'
'config_soft_pwm_out' commands for more info. and 'config_soft_pwm_out' commands for more info.
* query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c * `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
rest_ticks=%u min_value=%hu max_value=%hu : This command sets up a rest_ticks=%u min_value=%hu max_value=%hu` : This command sets up a
recurring schedule of analog input samples. To use this command a recurring schedule of analog input samples. To use this command a
'config_analog_in' command with the same 'oid' parameter must have 'config_analog_in' command with the same 'oid' parameter must have
been issued during firmware configuration. The samples will start as been issued during firmware configuration. The samples will start as
@ -225,16 +225,16 @@ only of interest to developers looking to gain insight into Klippy.
thermistors controlling heaters - it can be used to check that a thermistors controlling heaters - it can be used to check that a
heater is within a temperature range. heater is within a temperature range.
* get_status : This command causes the firmware to generate a "status" * `get_status` : This command causes the firmware to generate a
response message. The host sends this command once a second to "status" response message. The host sends this command once a second
obtain the value of the micro-controller clock and to estimate the to obtain the value of the micro-controller clock and to estimate
drift between host and micro-controller clocks. It enables the host the drift between host and micro-controller clocks. It enables the
to accurately estimate the micro-controller clock. host to accurately estimate the micro-controller clock.
Stepper commands Stepper commands
---------------- ----------------
* queue_step oid=%c interval=%u count=%hu add=%hi : This command * `queue_step oid=%c interval=%u count=%hu add=%hi` : This command
schedules 'count' number of steps for the given stepper, with schedules 'count' number of steps for the given stepper, with
'interval' number of clock ticks between each step. The first step 'interval' number of clock ticks between each step. The first step
will be 'interval' number of clock ticks since the last scheduled will be 'interval' number of clock ticks since the last scheduled
@ -248,21 +248,22 @@ Stepper commands
queue potentially hundreds of thousands of steps - all with reliable queue potentially hundreds of thousands of steps - all with reliable
and predictable schedule times. and predictable schedule times.
* set_next_step_dir oid=%c dir=%c : This command specifies the value * `set_next_step_dir oid=%c dir=%c` : This command specifies the value
of the dir_pin that the next queue_step command will use. of the dir_pin that the next queue_step command will use.
* reset_step_clock oid=%c clock=%u : Normally, step timing is relative * `reset_step_clock oid=%c clock=%u` : Normally, step timing is
to the last step for a given stepper. This command resets the clock relative to the last step for a given stepper. This command resets
so that the next step is relative to the supplied 'clock' time. The the clock so that the next step is relative to the supplied 'clock'
host usually only sends this command at the start of a print. 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 * `stepper_get_position oid=%c` : This command causes the firmware to
generate a "stepper_position" response message with the stepper's generate a "stepper_position" response message with the stepper's
current position. The position is the total number of steps current position. The position is the total number of steps
generated with dir=1 minus the total number of steps generated with generated with dir=1 minus the total number of steps generated with
dir=0. dir=0.
* end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c : This * `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 is used during stepper "homing" operations. To use this
command a 'config_end_stop' command with the same 'oid' parameter command a 'config_end_stop' command with the same 'oid' parameter
must have been issued during firmware configuration. When invoked, must have been issued during firmware configuration. When invoked,