Initial commit of source code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

docs/Code_Overview.md

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+This document describes the overall code layout and major code flow of
+Klipper.
+
+Directory Layout
+================
+
+The **src/** directory contains the C source for the micro-controller
+code. The **src/avr/** directory contains specific code for Atmel
+ATmega micro-controllers. The **src/simulator/** contains code stubs
+that allow the micro-controller to be test compiled on other
+architectures.
+
+The **klippy/** directory contains the C and Python source for the
+host part of the firmware.
+
+The **config/** directory contains example printer configuration
+files.
+
+The **scripts/** directory contains build-time scripts useful for
+compiling the micro-controller code.
+
+During compilation, the build may create an **out/** directory. This
+contains temporary build time objects. The final micro-controller
+object that is built is in **out/klipper.elf.hex**
+
+Micro-controller code flow
+==========================
+
+Execution of the micro-controller code starts in **src/avr/main.c**
+which calls sched_main() located in **src/sched.c**. The sched_main()
+code starts by running all functions that have been tagged with the
+DECL_INIT() macro. It then goes on to repeatedly run all functions
+tagged with the DECL_TASK() macro.
+
+One of the main task functions is command_task() located in
+**src/command.c**. This function processes incoming serial commands
+and runs the associated command function for them. Command functions
+are declared using the DECL_COMMAND() macro.
+
+Task, init, and command functions always run with interrupts enabled
+(however, they can temporarily disable interrupts if needed). These
+functions should never pause, delay, or do any work that lasts more
+than a few micro-seconds. These functions schedule work at specific
+times by scheduling timers.
+
+Timer functions are scheduled by calling sched_timer() (located in
+**src/sched.c**). The scheduler code will arrange for the given
+function to be called at the requested clock time. Timer interrupts
+are initially handled in an interrupt handler in **src/avr/timer.c**,
+but this just calls sched_timer_kick() located in **src/sched.c**. The
+timer interrupt leads to execution of schedule timer functions.  Timer
+functions always run with interrupts disabled. The timer functions
+should always complete within a few micro-seconds. At completion of
+the timer event, the function may choose to reschedule itself.
+
+In the event an error is detected the code can invoke shutdown() (a
+macro which calls sched_shutdown() located in **src/sched.c**).
+Invoking shutdown() causes all functions tagged with the
+DECL_SHUTDOWN() macro to be run. Shutdown functions always run with
+interrupts disabled.
+
+Much of the functionality of the micro-controller involves working
+with General-Purpose Input/Output pins (GPIO). In order to abstract
+the low-level architecture specific code from the high-level task
+code, all GPIO events are implemented via wrappers. These wrappers are
+located in **src/avr/gpio.c**. The code is compiled with gcc's "-flto
+-fwhole-program" optimization which does an excellent job of inlining
+functions across compilation units, so most of these tiny gpio
+functions are inlined into their callers, and there is no run-time
+cost to using them.
+
+Klippy code overview
+====================
+
+The host code (Klippy) is intended to run on a low-cost computer (such
+as a Raspberry Pi) paired with the micro-controller. The code is
+primarily written in Python, however it does use CFFI to implement
+some functionality in C code.
+
+Initial execution starts in **klippy/klippy.py**. This reads the
+command-line arguments, opens the printer config file, instantiates
+the main printer objects, and starts the serial connection. The main
+execution of gcode commands is in the process_commands() method in
+**klippy/gcode.py**. This code translates the gcode commands into
+printer object calls, which frequently translate the actions to
+commands to be executed on the micro-controller (as declared via the
+DECL_COMMAND macro in the micro-controller code).
+
+There are three threads in the Klippy host code. The main thread
+handles incoming gcode commands. A second thread (which resides
+entirely in the **klippy/serialqueue.c** C code) handles low-level IO
+with the serial port. The third thread is used to process response
+messages from the micro-controller in the Python code.