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Code_Overview.html

@@ -1697,18 +1697,20 @@ C code.</li>
   with head movement even though the code is kept separate.</li>
 </ul>
 <ul>
-<li>Klipper uses an
+<li>For efficiency reasons, stepper motion is generated in the C code in
-  <a href="https://en.wikipedia.org/wiki/Root-finding_algorithm">iterative solver</a>
+  a thread per stepper motor. The threads are notified when steps
-  to generate the step times for each stepper. For efficiency reasons,
+  should be generated by the motion_queuing module
-  the stepper pulse times are generated in C code in a thread per
+  (klippy/extras/motion_queuing.py):
-  stepper motor. The threads are notified of new activity by the
-  motion_queuing module (klippy/extras/motion_queuing.py):
   <code>PrinterMotionQueuing._flush_handler() -&gt;
   PrinterMotionQueuing._advance_move_time() -&gt;
-  steppersync_start_gen_steps() -&gt;
+  steppersyncmgr_gen_steps() -&gt; se_start_gen_steps()</code>.</li>
-  stepcompress_start_gen_steps()</code>. The step times are then generated
+</ul>
-  from that thread (klippy/chelper/stepcompress.c):
+<ul>
-  <code>sc_background_thread() -&gt; stepcompress_generate_steps() -&gt;
+<li>Klipper uses an
+  <a href="https://en.wikipedia.org/wiki/Root-finding_algorithm">iterative solver</a>
+  to generate the step times for each stepper. The step times are
+  generated from the background thread (klippy/chelper/steppersync.c):
+  <code>se_background_thread() -&gt; se_generate_steps() -&gt;
   itersolve_generate_steps() -&gt; itersolve_gen_steps_range()</code> (in
   klippy/chelper/itersolve.c). The goal of the iterative solver is to
   find step times given a function that calculates a stepper position
@@ -1737,7 +1739,7 @@ C code.</li>
   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).</li>
+  steppersync.c:steppersync and serialqueue.c:serialqueue).</li>
 </ul>
 <ul>
 <li>Processing of the queue_step commands on the micro-controller starts