mirror of https://github.com/Desuuuu/klipper.git
docs: Add Firmware_Commands.md with information on common firmware commands
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
9edf60ffc6
commit
98ce7dc465
|
|
@ -0,0 +1,268 @@
|
|||
This document provides high-level information on common firmware
|
||||
commands. It is not an authoritative reference for these commands, nor
|
||||
is it an exclusive list of all available firmware commands.
|
||||
|
||||
This document may be useful for users needing to configure a set of
|
||||
hardware actions that their printer may require at startup (via the
|
||||
"custom" field in the printer config file), and it may be useful for
|
||||
developers wishing to obtain a high-level feel for available firmware
|
||||
commands.
|
||||
|
||||
See the [protocol](Protocol.md) document for more information on the
|
||||
format of commands and their low-level transmission. The commands here
|
||||
are described using their "printf" style syntax - for those unfamiliar
|
||||
with that format, just note that where a '%...' sequence is seen it
|
||||
should be replaced with an actual integer.
|
||||
|
||||
Startup Commands
|
||||
================
|
||||
|
||||
It may be necessary to take certain one-time actions to configure the
|
||||
micro-controller and its peripherals. This section lists common
|
||||
commands available for that purpose. Unlike other firmware commands,
|
||||
these commands run as soon as they are received by the firmware and
|
||||
they do not require any particular setup.
|
||||
|
||||
These commands are most useful in the "custom" block of the "mcu"
|
||||
section of the printer configuration file. This feature is typically
|
||||
used to configure the initial settings of LEDs, to configure
|
||||
micro-stepping pins, to configure a digipot, etc.
|
||||
|
||||
Several of these commands will take a "pin=%u" parameter. The
|
||||
low-level firmware uses integer encodings of the hardware pin numbers,
|
||||
but to make things more readable the host will translate human
|
||||
readable pin names (eg, "PA3") to their equivalent integer
|
||||
encodings. By convention, any parameter named "pin" or that has a
|
||||
"_pin" suffix will use pin name translation by the host.
|
||||
|
||||
Common startup commands:
|
||||
|
||||
* set_digital_out pin=%u value=%c : This command immediately
|
||||
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
|
||||
may be useful for configuring the initial value of LEDs and for
|
||||
configuring the initial value of stepper driver micro-stepping pins.
|
||||
|
||||
* set_pwm_out pin=%u cycle_ticks=%u value=%c : This command will
|
||||
immediately configure the given pin to use hardware based
|
||||
pulse-width-modulation (PWM) with the given number of
|
||||
cycle_ticks. The "cycle_ticks" is the amount of time (in MCU clock
|
||||
ticks) in a complete power on and power off cycle. A cycle_ticks
|
||||
value of 1 can be used to request the fastest possible cycle
|
||||
time. The specified "value" is between 0 and 255 with 0 indicating a
|
||||
full off state and 255 indicating a full on state. This command may
|
||||
be useful for enabling CPU and nozzle cooling fans.
|
||||
|
||||
* send_spi_message pin=%u msg=%*s : This command can be used to
|
||||
transmit messages to a serial-peripheral-interface (SPI) component
|
||||
connected to the micro-controller. It has been used to configure the
|
||||
startup settings of AD5206 digipots. The 'pin' parameter specifies
|
||||
the chip select line to use during the transmission. The 'msg'
|
||||
indicates the binary message to transmit to the given chip.
|
||||
|
||||
Firmware configuration
|
||||
======================
|
||||
|
||||
Most commands in the firmware require an initial setup before they can
|
||||
be successfully invoked. This section provides a high-level overview
|
||||
of the micro-controller configuration process. This section and the
|
||||
following sections are likely only of interest to developers
|
||||
interested in the internal details of Klipper.
|
||||
|
||||
When the host first connects to the firmware it always starts by
|
||||
obtaining the firmware's data dictionary (see [protocol](Protocol.md)
|
||||
for more information). After the data dictionary is obtained the host
|
||||
will check if the firmware is in a "configured" state and configure it
|
||||
if not. Configuration involves the following phases:
|
||||
|
||||
* get_config : The host starts by checking if the firmware is already
|
||||
configured. The firmware responds to this command with a "config"
|
||||
response message. At micro-controller power-on the firmware always
|
||||
starts in an unconfigured state. It remains in this state until the
|
||||
host completes the configuration processes (by issuing a
|
||||
finalize_config command). If the firmware is already configured (and
|
||||
is configured with the desired settings) from a previous
|
||||
host/firmware session then no further action is needed by the host
|
||||
and the configuration process ends successfully.
|
||||
|
||||
* allocate_oids count=%c : This command is issued to inform the
|
||||
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
|
||||
integer identifier allocated to each stepper, each endstop, and each
|
||||
schedulable gpio pin. The host determines in advance the number of
|
||||
oids it will require to operate the hardware and passes this to the
|
||||
firmware so that the firmware may allocate sufficient memory to
|
||||
store a mapping from oid to internal firmware object.
|
||||
|
||||
* config_XXX oid=%c ... : By convention any command starting with the
|
||||
"config_" prefix creates a new firmware object and assigns the given
|
||||
oid to it. For example, the config_digital_out command will
|
||||
configure the specified pin as a digital output GPIO and create an
|
||||
internal object that the host can use to schedule changes to the
|
||||
given GPIO. The oid parameter passed into the config command is
|
||||
selected by the host and must be between zero and the maximum count
|
||||
supplied in the allocate_oids command. The config commands may only
|
||||
be run when the firmware is not in a configured state (ie, prior to
|
||||
the host sending finalize_config) and after the allocate_oids
|
||||
command has been sent.
|
||||
|
||||
* finalize_config crc=%u : The finalize_config command transitions the
|
||||
firmware from an unconfigured state to a configured state. The crc
|
||||
parameter passed to the firmware is stored in the firmware and
|
||||
provided back to the host in "config" response messages. By
|
||||
convention, the host takes a 32bit CRC of the firmware configuration
|
||||
it will request and at the start of subsequent host/firmware
|
||||
communication sessions it checks that the CRC stored in the firmware
|
||||
exactly matches its desired CRC. If the CRC does not match then the
|
||||
host knows the firmware has not been configured in the state desired
|
||||
by the host.
|
||||
|
||||
Common firmware objects
|
||||
-----------------------
|
||||
|
||||
This section lists some commonly used config commands.
|
||||
|
||||
* config_digital_out oid=%c pin=%u default_value=%c max_duration=%u :
|
||||
This command creates an internal firmware object for the given GPIO
|
||||
'pin'. The pin will be configured in digital output mode and set to
|
||||
an initial value as specified by 'default_value' (0 for low, 1 for
|
||||
high). Creating a digital_out object allows the host to schedule
|
||||
GPIO updates for the given pin at specified times (see the
|
||||
schedule_digital_out command described below). Should the firmware
|
||||
go into shutdown mode then all configured digital_out objects will
|
||||
be set back to their default values. The 'max_duration' parameter is
|
||||
used to implement a safety check - if it is non-zero then it is the
|
||||
maximum number of clock ticks that the host may set the given GPIO
|
||||
to a non-default value without further updates. For example, if the
|
||||
default_value is zero and the max_duration is 16000 then if the host
|
||||
sets the gpio to a value of one then it must schedule another update
|
||||
to the gpio pin (to either zero or one) within 16000 clock
|
||||
ticks. This safety feature can be used with heater pins to ensure
|
||||
the host does not set 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
|
||||
max_duration=%u : This command creates an internal object for
|
||||
hardware based PWM pins that the host may schedule updates for. Its
|
||||
usage is analogous to config_digital_out - see the description of
|
||||
the 'set_pwm_out' and 'config_digital_out' commands for parameter
|
||||
description.
|
||||
|
||||
* config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c
|
||||
max_duration=%u : This command creates an internal firmware object
|
||||
for software implemented PWM. Unlike hardware pwm pins, a software
|
||||
pwm object does not require any special hardware support (other than
|
||||
the ability to configure the pin as a digital output GPIO). Because
|
||||
the output switching is implemented in the software of the firmware,
|
||||
it is recommended that the cycle_ticks parameter correspond to a
|
||||
time of 10ms or greater. See the description of the 'set_pwm_out'
|
||||
and 'config_digital_out' commands for parameter description.
|
||||
|
||||
* config_analog_in oid=%c pin=%u : This command is used to configure a
|
||||
pin in analog input sampling mode. Once configured, the pin can be
|
||||
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 firmware 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_end_stop oid=%c pin=%c pull_up=%c stepper_oid=%c : This
|
||||
command creates an internal "endstop" object. It is used to specify
|
||||
the endstop pins and to enable "homing" operations (see the
|
||||
end_stop_home command below). The command will configure the
|
||||
specified pin in digital input mode. The 'pull_up' parameter
|
||||
determines whether hardware provided pullup resistors for the pin
|
||||
(if available) will be enabled. The 'stepper_oid' parameter
|
||||
specifies the oid of an associated stepper for the given endstop -
|
||||
it is used during homing operations.
|
||||
|
||||
Common commands
|
||||
===============
|
||||
|
||||
This section lists some commonly used run-time commands. It is likely
|
||||
only of interest to developers looking to gain insight into Klippy.
|
||||
|
||||
* 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
|
||||
time. To use this command a 'config_digital_out' command with the
|
||||
same 'oid' parameter must have been issued during firmware
|
||||
configuration.
|
||||
|
||||
* schedule_pwm_out oid=%c clock=%u value=%c : Schedules a change to a
|
||||
hardware PWM output pin. See the 'schedule_digital_out' and
|
||||
'config_pwm_out' commands for more info.
|
||||
|
||||
* schedule_soft_pwm_out oid=%c clock=%u value=%c : Schedules a change
|
||||
to a software PWM output pin. See the 'schedule_digital_out' and
|
||||
'config_soft_pwm_out' commands for more info.
|
||||
|
||||
* 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
|
||||
recurring schedule of analog input samples. To use this command a
|
||||
'config_analog_in' command with the same 'oid' parameter must have
|
||||
been issued during firmware configuration. The samples will start as
|
||||
of 'clock' time, it will report on the obtained value every
|
||||
'rest_ticks' clock ticks, it will over-sample 'sample_count' number
|
||||
of times, and it will pause 'sample_ticks' number of clock ticks
|
||||
between over-sample samples. The 'min_value' and 'max_value'
|
||||
parameters implement a safety feature - the firmware will verify the
|
||||
sampled value (after any oversampling) is always between the
|
||||
supplied range. This is intended for use with pins attached to
|
||||
thermistors controlling heaters - it can be used to check that a
|
||||
heater is within a temperature range.
|
||||
|
||||
* get_status : This command causes the firmware to generate a "status"
|
||||
response message. The host sends this command once a second to
|
||||
obtain the value of the micro-controller clock and to estimate the
|
||||
drift between host and micro-controller clocks. It enables the host
|
||||
to accurately estimate the micro-controller clock.
|
||||
|
||||
Stepper commands
|
||||
----------------
|
||||
|
||||
* queue_step oid=%c interval=%u count=%hu add=%hi : This command
|
||||
schedules 'count' number of steps for the given stepper, with
|
||||
'interval' number of clock ticks between each step. The first step
|
||||
will be 'interval' number of clock ticks since the last scheduled
|
||||
step for the given stepper. If 'add' is non-zero then the interval
|
||||
will be adjusted by 'add' amount after each step. This command
|
||||
appends the given interval/count/add sequence to a per-stepper
|
||||
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.
|
||||
|
||||
* 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.
|
||||
|
||||
* reset_step_clock oid=%c clock=%u : Normally, step timing is relative
|
||||
to the last step for a given stepper. This command resets the clock
|
||||
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 or
|
||||
after a long idle period for the stepper (for example a Z stepper
|
||||
move after printing an extensive layer).
|
||||
|
||||
* 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
|
||||
must have been issued during firmware configuration. When invoked,
|
||||
the firmware will sample the endstop pin every 'rest_ticks' clock
|
||||
ticks and check if it has a value equal to 'pin_value'. If the value
|
||||
matches then the movement queue for the associated stepper will be
|
||||
cleared and the stepper will come to an immediate halt. The host
|
||||
uses this command to implement homing - the host instructs the
|
||||
endstop to sample for the endstop trigger and then it issues a
|
||||
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.
|
||||
|
|
@ -5,7 +5,9 @@ See [code overview](Code_Overview.md) for developer information on the
|
|||
structure and layout of the Klipper code.
|
||||
|
||||
See [protocol](Protocol.md) for developer information on the messaging
|
||||
protocol between host and firmware.
|
||||
protocol between host and firmware. See also
|
||||
[firmware commands](Firmware_Commands.md) for a high-level description
|
||||
of some commands implemented in the firmware.
|
||||
|
||||
See [debugging](Debugging.md) for developer information on how to test
|
||||
and debug Klipper.
|
||||
|
|
|
|||
Loading…
Reference in New Issue