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# 版本发布

Klipper版本发布。如何安装Klipper ，请查看installation。

## Klipper 0.11.0

Available on 20221128. Major changes in this release:

- Trinamic stepper motor driver "step on both edges" optimization.
- Support for Python3. The Klipper host code will run with either Python2 or Python3.
- Enhanced CAN bus support. Support for CAN bus on rp2040, stm32g0, stm32h7, same51, and same54 chips. Support for "USB to CAN bus bridge" mode.
- Support for CanBoot bootloader.
- Support for mpu9250 and mpu6050 accelerometers.
- Improved error handling for max31856, max31855, max31865, and max6675 temperature sensors.
- It is now possible to configure LEDs to update during long running G-Code commands using LED "template" support.
- Several micro-controller improvements. New support for stm32h743, stm32h750, stm32l412, stm32g0b1, same70, same51, and same54 chips. Support for i2c reads on atsamd and stm32f0. Hardware pwm support on stm32. Linux mcu signal based event dispatch. New rp2040 support for "make flash", i2c, and rp2040-e5 USB errata.
- New modules added: angle, dac084S085, exclude_object, led, mpu9250, pca9632, smart_effector, z_thermal_adjust. New deltesian kinematics added. New dump_mcu tool added.
- 几个错误的修复和代码的清理。

## Klipper 0.10.0

Available on 20210929. Major changes in this release:

- Support for "Multi-MCU Homing". It is now possible for a stepper motor and its endstop to be wired to separate micro-controllers. This simplifies wiring of Z probes on "toolhead boards".
- Klipper now has a Community Discord Server and a Community Discourse Server.
- The Klipper website now uses the "mkdocs" infrastructure. There is also a Klipper Translations project.
- Automated support for flashing firmware via sdcard on many boards.
- New kinematic support for "Hybrid CoreXY" and "Hybrid CoreXZ" printers.
- Klipper now uses `rotation_distance` to configure stepper motor travel distances.
- The main Klipper host code can now directly communicate with micro-controllers using CAN bus.
- New "motion analysis" system. Klipper's internal motion updates and sensor results can be tracked and logged for analysis.
- Trinamic stepper motor drivers are now continuously monitored for error conditions.
- Support for the rp2040 micro-controller (Raspberry Pi Pico boards).
- The "make menuconfig" system now utilizes kconfiglib.
- Many additional modules added: ds18b20, duplicate_pin_override, filament_motion_sensor, palette2, motion_report, pca9533, pulse_counter, save_variables, sdcard_loop, temperature_host, temperature_mcu
- 几个错误的修复和代码的清理。

## Klipper 0.9.0

发布于2020年10月20日，此版本更新内容:

- 支持使用“输入整形”功能 - 此功能主要作用是抵消打印机共振。它可以减少甚至消除打印中产生的“ringing”振纹。
- “Smooth Pressure Advance”全新的挤出算法机制。这实现了“Pressure Advance”(打印挤出）同时不会引起挤出速度瞬间的改变，相反会变得更加平滑。现在也可以使用“Tuning Tower”方法来调整“Pressure Advance”(打印挤出）。
- “webhooks”全新的API 服务器。 这次 Klipper 添加了可编程的 JSON 接口。
- 现在可以使用 Jinja2 模板语言配置 LCD 显示和菜单。
- 现在TMC2208 步进电机驱动器可以在 Klipper系统中 使用“standalone”模式。
- 支持并优化使用BL-Touch v3 。
- 改进了USB识别。Klipper现在有自己的USB识别代码，微控制器现在可以在USB识别期间报告其唯一的序列号。
- 对 "Rotary Delta "和 "CoreXZ "打印机的新运动学支持。
- 微控制器的改进：支持stm32f070，支持stm32f207，支持 "Linux MCU "的GPIO引脚，支持stm32 "HID启动引导程序"，支持Chitu启动引导程序，支持MKS Robin启动引导程序。
- 改进了对Python "垃圾收集 "事件的处理。
- 增加了许多额外的模块：adc_scaled, adxl345, bme280, display_status, extruder_stepper, fan_generic, hall_filament_width_sensor, htu21d, homing_heaters, input_shaper, lm75, print_stats, resonance_tester, shaper_calibrate, query_adc, graph_accelerometer, graph_extruder, graph_motion, graph_shaper, graph_temp_sensor, whconsole
- 几个错误的修复和代码的清理。

### Klipper 0.9.1

在20201028发布。只包含错误修复。

## Klipper 0.8.0

在20191021年发布。此版本的主要变化：

- 新的G-Code命令模板支持。配置文件中的G-Code现在可以用Jinja2模板语言进行编写。
- 对Trinamic步进驱动器的改进：
  - 新增对TMC2209和TMC5160驱动器的支持。
  - 改进了 DUMP_TMC、SET_TMC_CURRENT 和 INIT_TMC G-Code 命令。
  - 通过模拟一个多路复用器改进了对 TMC UART 处理的支持。
- 改进了对归位、探测和床位平整的支持：
  - 新增 manual_probe, bed_screws, screws_tilt_adjust, skew_correction, safe_z_home 模块。
  - 通过使用中位数、平均值和重试逻辑改进了多样本探测。
  - 改进了 BL-Touch、探针校准、限位校准、三角洲校准、无传感器归位和限位相位校准的文档。
  - 改进了长 Z 轴上的归位支持。
- 许多 Klipper 微控制器改进：
  - Klipper 被移植到：sam3x8c、sam4s8c、samd51、stm32f042和stm32f4
  - SAM3X、SAM4、STM32F4 上现在的使用了一个人新的 USB CDC 驱动程序实现。
  - 改进了对通过 USB 刷写 Klipper 的支持。
  - 支持软件 SPI。
  - 大大改善了 LPC176x 的温度滤波。
  - 可以在微控制器中配置初始引脚输出。
- Klipper 文档的新网站：http://klipper3d.org/
  - Klipper 现在有了一个标志。
- 对polar和"cable winch"运动学的实验性支持。
- 配置文件现在可以包括其他配置文件。
- 添加了许多新的模块：board_pins，controller_fan，delayed_gcode，dotstar，filament_switch_sensor，firmware_retraction，gcode_arcs，gcode_button，heater_generic，manual_stepper，mcp4018，mcp4728，neopixel，pause_resume，响应，temperature_sensor tsl1401cl_filament_width_sensor，tuning_tower
- 增加了许多命令：RESTORE_GCODE_STATE、SAVE_GCODE_STATE、SET_GCODE_VARIABLE、SET_HEATER_TEMPERATURE、SET_IDLE_TIMEOUT SET_TEMPERATURE_FAN_TARGET
- 几个错误的修复和代码的清理。

## Klipper 0.7.0

发布于2018年12月20日，此版本更新内容:

- Klipper 现在支持“网状”打印床调平
- 新增对“增强”三角洲校准的支持（校准三角洲打印机上的打印 x/y 尺寸）
- 支持运行时配置 Trinamic 步进电机驱动（tmc2130, tmc2208, tmc2660）
- 改进的温度传感器支持：MAX6675、MAX31855、MAX31856、MAX31865、定制热敏电阻、common pt100类传感器
- 几个新模块：temperature_fan, sx1509, force_move, mcp4451, z_tilt, quad_gantry_level, endstop_phase, bltouch
- 添加了几个新命令：SAVE_CONFIG、SET_PRESSURE_ADVANCE、SET_GCODE_OFFSET、SET_VELOCITY_LIMIT、STEPPER_BUZZ、TURN_OFF_HEATERS、M204、自定义G代码宏
- 扩展 LCD 显示支持：
  - Support for run-time menus
  - 新的显示屏图标
  - 对“uc1701”和“ssd1306”显示器的支持
- 支持更多的微控制器：
  - Klipper被移植到：LPC176x (Smoothieboards), SAM4E8E (Duet2), SAMD21 (Arduino Zero), STM32F103 ("Blue pill" devices), atmega32u4
  - 在AVR、LPC176x、SAMD21和STM32F103上实现了新的通用USB CDC驱动程序
  - 改善了在ARM处理器上运行时的性能
- 运动学代码被重写为使用"迭代求解器"
- 适用于 Klipper 主机软件的新自动测试用例
- 为常见的商品打印机提供了许多新的配置文件范例
- 更新了引导加载程序、基准测试、微控制器移植、配置检查、引脚映射、切片设置、打包等的文档
- 修复了几个错误并整理了代码

## Klipper 0.6.0

发布于2018年3月31日。此版本的重要变化：

- 改进了加热器和热敏电阻硬件故障检查
- 支持 Z 探针
- 初步支持对三角洲的自动参数校准（通过一个新的delta_calibrate命令）
- 最初支持打印床倾斜补偿（通过bed_tilt_calibrate命令）
- 初步支持 "安全归位 "和归位重写
- Initial support for displaying status on RepRapDiscount style 2004 and 12864 displays
- New multi-extruder improvements:
  - Support for shared heaters
  - Initial support for dual carriages
- Support for configuring multiple steppers per axis (eg, dual Z)
- Support for custom digital and pwm output pins (with a new SET_PIN command)
- Initial support for a "virtual sdcard" that allows printing directly from Klipper (helps on machines too slow to run OctoPrint well)
- Support for setting different arm lengths on each tower of a delta
- Support for G-Code M220/M221 commands (speed factor override / extrude factor override)
- Several documentation updates:
  - 为常见的商品打印机提供了许多新的配置文件范例
  - New multiple MCU config example
  - New bltouch sensor config example
  - New FAQ, config check, and G-Code documents
- Initial support for continuous integration testing on all github commits
- 修复了几个错误并整理了代码

## Klipper 0.5.0

Available on 20171025. Major changes in this release:

- Support for printers with multiple extruders.
- Initial support for running on the Beaglebone PRU. Initial support for the Replicape board.
- Initial support for running the micro-controller code in a real-time Linux process.
- Support for multiple micro-controllers. (For example, one could control an extruder with one micro-controller and the rest of the printer with another.) Software clock synchronization is implemented to coordinate actions between micro-controllers.
- Stepper performance improvements (20Mhz AVRs up to 189K steps per second).
- Support for controlling servos and support for defining nozzle cooling fans.
- 修复了几个错误并整理了代码

## Klipper 0.4.0

Available on 20170503. Major changes in this release:

- Improved installation on Raspberry Pi machines. Most of the install is now scripted.
- Support for corexy kinematics
- Documentation updates: New Kinematics document, new Pressure Advance tuning guide, new example config files, and more
- Stepper performance improvements (20Mhz AVRs over 175K steps per second, Arduino Due over 460K)
- Support for automatic micro-controller resets. Support for resets via toggling USB power on Raspberry Pi.
- The pressure advance algorithm now works with look-ahead to reduce pressure changes during cornering.
- Support for limiting the top speed of short zigzag moves
- Support for AD595 sensors
- 修复了几个错误并整理了代码

## Klipper 0.3.0

Available on 20161223. Major changes in this release:

- Improved documentation
- Support for robots with delta kinematics
- Support for Arduino Due micro-controller (ARM cortex-M3)
- Support for USB based AVR micro-controllers
- Support for "pressure advance" algorithm - it reduces ooze during prints.
- New "stepper phased based endstop" feature - enables higher precision on endstop homing.
- Support for "extended g-code" commands such as "help", "restart", and "status".
- Support for reloading the Klipper config and restarting the host software by issuing a "restart" command from the terminal.
- Stepper performance improvements (20Mhz AVRs up to 158K steps per second).
- Improved error reporting. Most errors now shown via the terminal along with help on how to resolve.
- 修复了几个错误并整理了代码

## Klipper 0.2.0

Initial release of Klipper. Available on 20160525. Major features available in the initial release include:

- Basic support for cartesian printers (steppers, extruder, heated bed, cooling fan).
- Support for common g-code commands. Support for interfacing with OctoPrint.
- Acceleration and lookahead handling
- Support for AVR micro-controllers via standard serial ports

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