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docs: Add information on the "move queue" to Firmware_Commands 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-02 12:13:52 -04:00
parent 2b7ab290b8
commit 5419c456ac
1 changed files with 15 additions and 3 deletions
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18
docs/Firmware_Commands.md
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@ -239,9 +239,9 @@ Stepper commands
queue. There may be hundreds of these sequences queued during normal
operation. New sequence are appended to the end of the queue and as
each sequence completes its 'count' number of steps it is popped
from the front of the queue. There may be tens of thousands of steps
queued in the firmware and every step will have a reliable and
predictable schedule time.
from the front of the queue. This system allows the firmware to
queue potentially hundreds of thousands of steps - all with reliable
and predictable schedule times.
* 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.
@ -264,3 +264,15 @@ Stepper commands
series of queue_step commands to the stepper to move it towards the
endstop. Once the stepper hits the endstop, the trigger will be
detected, the movement halted, and the host notified.
### Move queue
Each queue_step command utilizes an entry in the firmware "move
queue". The firmware allocates this queue when it receives the
"finalize_config" command, and it reports the number of available
queue entries in "config" response messages.
It is the responsibility of the host to ensure that there is available
space in the queue before sending a queue_step command. The host does
this by calculating when each queue_step command completes and
scheduling new queue_step commands accordingly.