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docs: Update Code_Overview.md to reflect recent steppersync changes

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2025-09-18 22:38:59 -04:00
parent 546976b1fe
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1 changed files with 12 additions and 11 deletions
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docs/Code_Overview.md
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@ -190,18 +190,19 @@ provides further information on the mechanics of moves.
stepper movements produced by the extruder class will be in sync
with head movement even though the code is kept separate.
* Klipper uses an
[iterative solver](https://en.wikipedia.org/wiki/Root-finding_algorithm)
to generate the step times for each stepper. For efficiency reasons,
the stepper pulse times are generated in C code in a thread per
stepper motor. The threads are notified of new activity by the
motion_queuing module (klippy/extras/motion_queuing.py):
* For efficiency reasons, stepper motion is generated in the C code in
a thread per stepper motor. The threads are notified when steps
should be generated by the motion_queuing module
(klippy/extras/motion_queuing.py):
`PrinterMotionQueuing._flush_handler() ->
PrinterMotionQueuing._advance_move_time() ->
steppersync_start_gen_steps() ->
stepcompress_start_gen_steps()`. The step times are then generated
from that thread (klippy/chelper/stepcompress.c):
`sc_background_thread() -> stepcompress_generate_steps() ->
steppersyncmgr_gen_steps() -> se_start_gen_steps()`.
* Klipper uses an
[iterative solver](https://en.wikipedia.org/wiki/Root-finding_algorithm)
to generate the step times for each stepper. The step times are
generated from the background thread (klippy/chelper/steppersync.c):
`se_background_thread() -> se_generate_steps() ->
itersolve_generate_steps() -> itersolve_gen_steps_range()` (in
klippy/chelper/itersolve.c). The goal of the iterative solver is to
find step times given a function that calculates a stepper position
@ -228,7 +229,7 @@ provides further information on the mechanics of moves.
commands that correspond to the list of stepper step times built in
the previous stage. These "queue_step" commands are then queued,
prioritized, and sent to the micro-controller (via
stepcompress.c:steppersync and serialqueue.c:serialqueue).
steppersync.c:steppersync and serialqueue.c:serialqueue).
* Processing of the queue_step commands on the micro-controller starts
in src/command.c which parses the command and calls