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docs: Use hash marks for header lines
Consistently use leading hash marks (#) to note section headers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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This document describes the overall code layout and major code flow of
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Klipper.
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Directory Layout
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----------------
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## Directory Layout
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The **src/** directory contains the C source for the micro-controller
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code. The **src/atsam/**, **src/atsamd/**, **src/avr/**,
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@ -40,8 +39,7 @@ contains temporary build time objects. The final micro-controller
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object that is built is **out/klipper.elf.hex** on AVR and
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**out/klipper.bin** on ARM.
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Micro-controller code flow
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--------------------------
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## Micro-controller code flow
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Execution of the micro-controller code starts in architecture specific
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code (eg, **src/avr/main.c**) which ultimately calls sched_main()
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@ -91,8 +89,7 @@ inlining functions across compilation units, so most of these tiny
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gpio functions are inlined into their callers, and there is no
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run-time cost to using them.
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Klippy code overview
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--------------------
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## Klippy code overview
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The host code (Klippy) is intended to run on a low-cost computer (such
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as a Raspberry Pi) paired with the micro-controller. The code is
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@ -117,8 +114,7 @@ response messages from the micro-controller in the Python code (see
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the log (see **klippy/queuelogger.py**) so that the other threads
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never block on log writes.
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Code flow of a move command
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---------------------------
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## Code flow of a move command
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A typical printer movement starts when a "G1" command is sent to the
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Klippy host and it completes when the corresponding step pulses are
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movements and their timings. The remaining parts of the processing is
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mostly just communication and plumbing.
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Adding a host module
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--------------------
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## Adding a host module
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The Klippy host code has a dynamic module loading capability. If a
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config section named "[my_module]" is found in the printer config file
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sure to place a copyright notice at the top of the module. See the
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existing modules for the preferred format.
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Adding new kinematics
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---------------------
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## Adding new kinematics
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This section provides some tips on adding support to Klipper for
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additional types of printer kinematics. This type of activity requires
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to micro-controller commands. This is useful to exercise corner
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cases and to check for regressions.
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Porting to a new micro-controller
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---------------------------------
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## Porting to a new micro-controller
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This section provides some tips on porting Klipper's micro-controller
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code to a new architecture. This type of activity requires good
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the micro-controller with the main klippy.py program.
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9. Consider adding build test cases in the test/ directory.
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Coordinate Systems
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------------------
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## Coordinate Systems
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Internally, Klipper primarily tracks the position of the toolhead in
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cartesian coordinates that are relative to the coordinate system
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the config file) after a `G28` home command. The `SET_GCODE_OFFSET`
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command can alter this value.
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Time
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----
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## Time
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Fundamental to the operation of Klipper is the handling of clocks,
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times, and timestamps. Klipper executes actions on the printer by
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