Developers guide

Instant reaction implementation

Klipper cannot normally move steppers immediately in reaction to an event. The host has to be informed of the event and then to buffer instructions for steppers. This generally takes around 250ms with default settings in the code. However, on thin material, piercing time can be neglected and motion should start immediately after transfer.

To aim this issue, Klipper plasma introduces a clock shift mechanism. In short, the host buffers the motion that would immediately follow the event. Then it sends a plasma_start command that turns plasma on and freeze all time primitives on the MCU. MCU waits for transfer event or a timeout. When it happens, time primitives are unfrozen and the MCU sends the time it has spent sleeping for the host update their respective clock differential.

To be continued…

THC

ToDo

JIT input

ToDo

USB watchdog

ToDo