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# RPi microcontroller

This document describes the process of running Klipper on a RPi and use the same RPi as secondary mcu.

## Why use RPi as a secondary MCU?

Often the MCUs dedicated to controlling 3D printers have a limited and pre-configured number of exposed pins to manage the main printing functions (thermal resistors, extruders, steppers ...). Using the RPi where Klipper is installed as a secondary MCU gives the possibility to directly use the GPIOs and the buses (i2c, spi) of the RPi inside klipper without using Octoprint plugins (if used) or external programs giving the ability to control everything within the print GCODE.

Warning: If your platform is a Beaglebone and you have correctly followed the installation steps, the linux mcu is already installed and configured for your system.

## Install the rc script

If you want to use the host as a secondary MCU the klipper_mcu process must run before the klippy process.

After installing Klipper, install the script. run:

    cd ~/klipper/
    sudo cp "./scripts/klipper-mcu-start.sh" /etc/init.d/klipper_mcu
    sudo update-rc.d klipper_mcu defaults

## Building the micro-controller code

To compile the Klipper micro-controller code, start by configuring it for the "Linux process":

    cd ~/klipper/
    make menuconfig

In the menu, set "Microcontroller Architecture" to "Linux process," then save and exit.

To build and install the new micro-controller code, run:

    sudo service klipper stop
    make flash
    sudo service klipper start

If klippy.log reports a "Permission denied" error when attempting to connect to `/tmp/klipper_host_mcu` then you need to add your user to the tty group. The following command will add the "pi" user to the tty group:

    sudo usermod -a -G tty pi

## Remaining configuration

Complete the installation by configuring Klipper secondary MCU following the instructions in RaspberryPi sample config and Multi MCU sample config.

## Optional: Enabling SPI

Make sure the Linux SPI driver is enabled by running `sudo raspi-config` and enabling SPI under the "Interfacing options" menu.

## Optional: Enabling I2C

Make sure the Linux I2C driver is enabled by running `sudo raspi-config` and enabling I2C under the "Interfacing options" menu. If planning to use I2C for the MPU accelerometer, it is also required to set the baud rate to 400000 by: adding/uncommenting `dtparam=i2c_arm=on,i2c_arm_baudrate=400000` in `/boot/config.txt` (or `/boot/firmware/config.txt` in some distros).

## Optional: Identify the correct gpiochip

On Raspberry Pi and on many clones the pins exposed on the GPIO belong to the first gpiochip. They can therefore be used on klipper simply by referring them with the name `gpio0..n`. However, there are cases in which the exposed pins belong to gpiochips other than the first. For example in the case of some OrangePi models or if a Port Expander is used. In these cases it is useful to use the commands to access the Linux GPIO character device to verify the configuration.

To install the Linux GPIO character device - binary on a debian based distro like octopi run:

    sudo apt-get install gpiod

To check available gpiochip run:

    gpiodetect

To check the pin number and the pin availability tun:

    gpioinfo

The chosen pin can thus be used within the configuration as `gpiochip<n>/gpio<o>` where n is the chip number as seen by the `gpiodetect` command and o is the line number seen by the`gpioinfo` command.

Warning: only gpio marked as `unused` can be used. It is not possible for a line to be used by multiple processes simultaneously.

For example on a RPi 3B+ where klipper use the GPIO20 for a switch:

    $ gpiodetect
    gpiochip0 [pinctrl-bcm2835] (54 lines)
    gpiochip1 [raspberrypi-exp-gpio] (8 lines)

    $ gpioinfo
    gpiochip0 - 54 lines:
            line   0:      unnamed       unused   input  active-high
            line   1:      unnamed       unused   input  active-high
            line   2:      unnamed       unused   input  active-high
            line   3:      unnamed       unused   input  active-high
            line   4:      unnamed       unused   input  active-high
            line   5:      unnamed       unused   input  active-high
            line   6:      unnamed       unused   input  active-high
            line   7:      unnamed       unused   input  active-high
            line   8:      unnamed       unused   input  active-high
            line   9:      unnamed       unused   input  active-high
            line  10:      unnamed       unused   input  active-high
            line  11:      unnamed       unused   input  active-high
            line  12:      unnamed       unused   input  active-high
            line  13:      unnamed       unused   input  active-high
            line  14:      unnamed       unused   input  active-high
            line  15:      unnamed       unused   input  active-high
            line  16:      unnamed       unused   input  active-high
            line  17:      unnamed       unused   input  active-high
            line  18:      unnamed       unused   input  active-high
            line  19:      unnamed       unused   input  active-high
            line  20:      unnamed    "klipper"  output  active-high [used]
            line  21:      unnamed       unused   input  active-high
            line  22:      unnamed       unused   input  active-high
            line  23:      unnamed       unused   input  active-high
            line  24:      unnamed       unused   input  active-high
            line  25:      unnamed       unused   input  active-high
            line  26:      unnamed       unused   input  active-high
            line  27:      unnamed       unused   input  active-high
            line  28:      unnamed       unused   input  active-high
            line  29:      unnamed       "led0"  output  active-high [used]
            line  30:      unnamed       unused   input  active-high
            line  31:      unnamed       unused   input  active-high
            line  32:      unnamed       unused   input  active-high
            line  33:      unnamed       unused   input  active-high
            line  34:      unnamed       unused   input  active-high
            line  35:      unnamed       unused   input  active-high
            line  36:      unnamed       unused   input  active-high
            line  37:      unnamed       unused   input  active-high
            line  38:      unnamed       unused   input  active-high
            line  39:      unnamed       unused   input  active-high
            line  40:      unnamed       unused   input  active-high
            line  41:      unnamed       unused   input  active-high
            line  42:      unnamed       unused   input  active-high
            line  43:      unnamed       unused   input  active-high
            line  44:      unnamed       unused   input  active-high
            line  45:      unnamed       unused   input  active-high
            line  46:      unnamed       unused   input  active-high
            line  47:      unnamed       unused   input  active-high
            line  48:      unnamed       unused   input  active-high
            line  49:      unnamed       unused   input  active-high
            line  50:      unnamed       unused   input  active-high
            line  51:      unnamed       unused   input  active-high
            line  52:      unnamed       unused   input  active-high
            line  53:      unnamed       unused   input  active-high
    gpiochip1 - 8 lines:
            line   0:      unnamed       unused   input  active-high
            line   1:      unnamed       unused   input  active-high
            line   2:      unnamed       "led1"  output   active-low [used]
            line   3:      unnamed       unused   input  active-high
            line   4:      unnamed       unused   input  active-high
            line   5:      unnamed       unused   input  active-high
            line   6:      unnamed       unused   input  active-high
            line   7:      unnamed       unused   input  active-high

## Optional: Hardware PWM

Raspberry Pi's have two PWM channels (PWM0 and PWM1) which are exposed on the header or if not, can be routed to existing gpio pins. The Linux mcu daemon uses the pwmchip sysfs interface to control hardware pwm devices on Linux hosts. The pwm sysfs interface is not exposed by default on a Raspberry and can be activated by adding a line to `/boot/config.txt`:

    # Enable pwmchip sysfs interface
    dtoverlay=pwm,pin=12,func=4

This example enables only PWM0 and routes it to gpio12. If both PWM channels need to be enabled you can use `pwm-2chan`.

The overlay does not expose the pwm line on sysfs on boot and needs to be exported by echo'ing the number of the pwm channel to `/sys/class/pwm/pwmchip0/export`:

    echo 0 > /sys/class/pwm/pwmchip0/export

This will create device `/sys/class/pwm/pwmchip0/pwm0` in the filesystem. The easiest way to do this is by adding this to `/etc/rc.local` before the `exit 0` line.

With the sysfs in place, you can now use either the pwm channel(s) by adding the following piece of configuration to your `printer.cfg`:

    [output_pin caselight]
    pin: host:pwmchip0/pwm0
    pwm: True
    hardware_pwm: True
    cycle_time: 0.000001

This will add hardware pwm control to gpio12 on the Pi (because the overlay was configured to route pwm0 to pin=12).

PWM0 can be routed to gpio12 and gpio18, PWM1 can be routed to gpio13 and gpio19:

PWM | gpio PIN | Func
--- | --- | ---
0 | 12 | 4
0 | 18 | 2
1 | 13 | 4
1 | 19 | 2

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