heaters: Add "heaters/set_target_temperature" API endpoint

Add a mechanism for api clients to asynchronously set a target temperature. That is, a mechanism to set the temperature without needing to wait for G-Code commands to complete. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
heaters: Add 'temperature_wait' status to heaters object
2024-08-05 01:12:19 -04:00 · 2024-08-05 00:43:41 -04:00
586 changed files with 12029 additions and 160467 deletions
--- a/.github/workflows/build-test.yaml
+++ b/.github/workflows/build-test.yaml
@@ -4,7 +4,7 @@ on: [push, pull_request]

 jobs:
  build:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3

@@ -21,7 +21,7 @@ jobs:
      run: ./scripts/ci-build.sh 2>&1

    - name: Upload micro-controller data dictionaries
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v3
      with:
        name: data-dict
        path: ci_build/dict
--- a/README.md
+++ b/README.md
@@ -4,14 +4,15 @@ Welcome to the Klipper project!

 https://www.klipper3d.org/

-The Klipper firmware controls 3d-Printers. It combines the power of a
-general purpose computer with one or more micro-controllers. See the
+Klipper is a 3d-Printer firmware. It combines the power of a general
+purpose computer with one or more micro-controllers. See the
 [features document](https://www.klipper3d.org/Features.html) for more
-information on why you should use the Klipper software.
+information on why you should use Klipper.

-Start by [installing Klipper software](https://www.klipper3d.org/Installation.html).
+To begin using Klipper start by
+[installing](https://www.klipper3d.org/Installation.html) it.

-Klipper software is Free Software. See the [license](COPYING) or read
-the [documentation](https://www.klipper3d.org/Overview.html). We
-depend on the generous support from our
+Klipper is Free Software. See the [license](COPYING) or read the
+[documentation](https://www.klipper3d.org/Overview.html). We depend on
+the generous support from our
 [sponsors](https://www.klipper3d.org/Sponsors.html).
--- a/config/example-generic-caretesian.cfg
+++ b/config/example-generic-caretesian.cfg
@@ -1,138 +0,0 @@
-# This file is an example config file for cartesian style printers.
-# One may copy and edit this file to configure a new printer with
-# a generic cartesian kinematics.
-
-# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
-# FIRST. Incorrectly configured parameters may cause damage.
-
-# See docs/Config_Reference.md for a description of parameters.
-
-[carriage x]
-position_endstop: 0
-position_max: 300
-homing_speed: 50
-endstop_pin: ^PE5
-
-[carriage y]
-position_endstop: 0
-position_max: 200
-homing_speed: 50
-endstop_pin: ^PJ1
-
-[extra_carriage y1]
-primary_carriage: y
-endstop_pin: ^PB6
-
-[carriage z]
-position_endstop: 0.5
-position_max: 100
-endstop_pin: ^PD3
-
-[dual_carriage u]
-primary_carriage: x
-position_endstop: 300
-position_max: 300
-homing_speed: 50
-endstop_pin: ^PE4
-
-[stepper my_stepper_x]
-carriages: x+y
-step_pin: PF0
-dir_pin: PF1
-enable_pin: !PD7
-microsteps: 16
-rotation_distance: 40
-
-[stepper my_stepper_u]
-carriages: u-y1
-step_pin: PH1
-dir_pin: PH0
-enable_pin: !PA1
-microsteps: 16
-rotation_distance: 40
-
-[stepper my_stepper_y0]
-carriages: y
-step_pin: PF6
-dir_pin: !PF7
-enable_pin: !PF2
-microsteps: 16
-rotation_distance: 40
-
-[stepper my_stepper_y1]
-carriages: y1
-step_pin: PE3
-dir_pin: !PH6
-enable_pin: !PG5
-microsteps: 16
-rotation_distance: 40
-
-[stepper my_stepper_z0]
-carriages: z
-step_pin: PL3
-dir_pin: PL1
-enable_pin: !PK0
-microsteps: 16
-rotation_distance: 8
-
-[stepper my_stepper_z1]
-carriages: z
-step_pin: PG1
-dir_pin: PG0
-enable_pin: !PH3
-microsteps: 16
-rotation_distance: 8
-
-[extruder]
-step_pin: PA4
-dir_pin: PA6
-enable_pin: !PA2
-microsteps: 16
-rotation_distance: 33.5
-nozzle_diameter: 0.400
-filament_diameter: 1.750
-heater_pin: PB4
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK5
-control: pid
-pid_Kp: 22.2
-pid_Ki: 1.08
-pid_Kd: 114
-min_temp: 0
-max_temp: 250
-
-[extruder1]
-step_pin: PC1
-dir_pin: PC3
-enable_pin: !PC7
-microsteps: 16
-rotation_distance: 33.5
-nozzle_diameter: 0.400
-filament_diameter: 1.750
-heater_pin: PB5
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK7
-control: pid
-pid_Kp: 22.2
-pid_Ki: 1.08
-pid_Kd: 114
-min_temp: 0
-max_temp: 250
-
-[heater_bed]
-heater_pin: PH5
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK6
-control: watermark
-min_temp: 0
-max_temp: 110
-
-[mcu]
-serial: /dev/ttyACM0
-
-[printer]
-kinematics: generic_cartesian
-max_velocity: 500
-max_accel: 3000
-max_z_velocity: 20
-max_z_accel: 100
--- a/config/generic-bigtreetech-manta-m8p-v1.0.cfg
+++ b/config/generic-bigtreetech-manta-m8p-v1.0.cfg
@@ -39,7 +39,7 @@ position_max: 270
 # Motor4
 # The M8P only has 4 heater outputs which leaves an extra stepper
 # This can be used for a second Z stepper, dual_carriage, extruder co-stepper,
-# or other accessory such as an MMU
+# or other accesory such as an MMU
 #[stepper_]
 #step_pin: PD3
 #dir_pin: PD2
--- a/config/generic-bigtreetech-manta-m8p-v1.1.cfg
+++ b/config/generic-bigtreetech-manta-m8p-v1.1.cfg
@@ -40,7 +40,7 @@ position_max: 270
 # Motor4
 # The M8P only has 4 heater outputs which leaves an extra stepper
 # This can be used for a second Z stepper, dual_carriage, extruder co-stepper,
-# or other accessory such as an MMU
+# or other accesory such as an MMU
 #[stepper_]
 #step_pin: PD3
 #dir_pin: PD2
--- a/config/generic-bigtreetech-octopus-max-ez.cfg
+++ b/config/generic-bigtreetech-octopus-max-ez.cfg
@@ -43,7 +43,7 @@ position_max: 200
 # Motor-4
 # The Octopus only has 4 heater outputs which leaves an extra stepper
 # This can be used for a second Z stepper, dual_carriage, extruder co-stepper,
-# or other accessory such as an MMU
+# or other accesory such as an MMU
 #[stepper_]
 #step_pin: PB8
 #dir_pin: PB9
--- a/config/generic-bigtreetech-octopus-v1.1.cfg
+++ b/config/generic-bigtreetech-octopus-v1.1.cfg
@@ -52,7 +52,7 @@ position_max: 200
 # Driver3
 # The Octopus only has 4 heater outputs which leaves an extra stepper
 # This can be used for a second Z stepper, dual_carriage, extruder co-stepper,
-# or other accessory such as an MMU
+# or other accesory such as an MMU
 #[stepper_]
 #step_pin: PG4
 #dir_pin: PC1
--- a/config/generic-bigtreetech-skr-2.cfg
+++ b/config/generic-bigtreetech-skr-2.cfg
@@ -153,48 +153,3 @@ aliases:
 #uart_pin: PD12
 #run_current: 0.600
 #diag_pin:
-
-########################################
-# TMC2130 configuration
-########################################
-
-#[tmc2130 stepper_x]
-#cs_pin: PE0
-#spi_software_miso_pin: PA14
-#spi_software_mosi_pin: PE14
-#spi_software_sclk_pin: PE15
-#run_current: 0.800
-#diag1_pin: PC1
-
-#[tmc2130 stepper_y]
-#cs_pin: PD3
-#spi_software_miso_pin: PA14
-#spi_software_mosi_pin: PE14
-#spi_software_sclk_pin: PE15
-#run_current: 0.800
-#diag1_pin: PC3
-
-#[tmc2130 stepper_z]
-#cs_pin: PD0
-#spi_software_miso_pin: PA14
-#spi_software_mosi_pin: PE14
-#spi_software_sclk_pin: PE15
-#run_current: 0.800
-#diag1_pin: PC0
-
-#[tmc2130 extruder]
-#cs_pin: PC6
-#spi_software_miso_pin: PA14
-#spi_software_mosi_pin: PE14
-#spi_software_sclk_pin: PE15
-#run_current: 0.600
-#diag1_pin: PC2
-
-#[tmc2130 extruder1]
-#cs_pin: PD12
-#spi_software_miso_pin: PA14
-#spi_software_mosi_pin: PE14
-#spi_software_sclk_pin: PE15
-#run_current: 0.600
-#stealthchop_threshold: 999999
-#diag1_pin: PA0
--- a/config/generic-bigtreetech-skr-mini-mz.cfg
+++ b/config/generic-bigtreetech-skr-mini-mz.cfg
@@ -122,12 +122,6 @@ max_z_accel: 100
 [static_digital_output usb_pullup_enable]
 pins: !PA14

-#[neopixel my_neopixel]
-#pin: PA8
-
-[output_pin red_led]
-pin: PA13
-
 [board_pins]
 aliases:
    # EXP1 header
--- a/config/generic-creality-v4.2.7.cfg
+++ b/config/generic-creality-v4.2.7.cfg
@@ -95,4 +95,4 @@ max_z_accel: 100
 aliases:
  EXP1_1=PC6,EXP1_3=PB10,EXP1_5=PB14,EXP1_7=PB12,EXP1_9=<GND>,
  EXP1_2=PB2,EXP1_4=PB11,EXP1_6=PB13,EXP1_8=PB15,EXP1_10=<5V>,
-  PROBE_IN=PB0,PROBE_OUT=PB1,FIL_RUNOUT=PA4
+  PROBE_IN=PB0,PROBE_OUT=PB1,FIL_RUNOUT=PC6
--- a/config/generic-mellow-fly-e3-v2.cfg
+++ b/config/generic-mellow-fly-e3-v2.cfg
@@ -1,232 +0,0 @@
-# This file contains common pin mappings for the Mellow Fly-E3-v2.
-# To use this config, the firmware should be compiled for the
-# STM32F407 with a "32KiB bootloader".
-
-# The "make flash" command does not work on the Fly-E3-v2. Instead,
-# after running "make", copy the generated "out/klipper.bin" file to a
-# file named "firmware.bin" or "klipper.bin" on an SD card and then restart the Fly-E3-v2
-# with that SD card.
-
-# See docs/Config_Reference.md for a description of parameters.
-
-[mcu]
-serial: /dev/serial/by-id/usb-Klipper_stm32f407xx_27004A001851323333353137-if00
-
-[stepper_x]
-step_pin: PE5
-dir_pin: PC0
-enable_pin: !PC1
-microsteps: 16
-rotation_distance: 30
-full_steps_per_rotation: 200
-endstop_pin: PE7 #X-STOP
-position_endstop: 0
-position_max: 200
-homing_speed: 50
-second_homing_speed: 10
-homing_retract_dist: 5.0
-homing_positive_dir: false
-step_pulse_duration: 0.000004
-
-[stepper_y]
-step_pin: PE4
-dir_pin: !PC13
-enable_pin: !PC14
-microsteps: 16
-rotation_distance: 30
-full_steps_per_rotation: 200
-endstop_pin: PE8 #Y-STOP
-position_endstop: 0
-position_max: 200
-homing_speed: 50
-second_homing_speed: 10
-homing_retract_dist: 5.0
-homing_positive_dir: false
-step_pulse_duration: 0.000004
-
-[stepper_z]
-step_pin: PE1
-dir_pin: !PB7
-enable_pin: !PE3
-microsteps: 16
-rotation_distance: 30
-full_steps_per_rotation: 200
-endstop_pin: PE9 #Z-STOP
-position_min: 0
-position_endstop: 0
-position_max: 200
-homing_speed: 5
-second_homing_speed: 3
-homing_retract_dist: 5.0
-homing_positive_dir: false
-step_pulse_duration: 0.000004
-
-[extruder]
-step_pin: PE2
-dir_pin: PD5
-enable_pin: !PD6
-microsteps: 16
-rotation_distance: 33.500
-nozzle_diameter: 0.400
-filament_diameter: 1.750
-heater_pin: PC6 #E0
-
-########################################
-# Extruder 100K thermistor configuration
-########################################
-sensor_type: ATC Semitec 104GT-2
-sensor_pin: PC4 #T0 TEMP
-control: pid
-pid_Kp: 22.2
-pid_Ki: 1.08
-pid_Kd: 114
-min_temp: 0
-max_temp: 275
-########################################
-# Extruder MAX31865 PT100 2 wire config
-########################################
-# sensor_type: MAX31865
-# sensor_pin: PD15 #PT-100
-# spi_speed: 4000000
-# spi_software_sclk_pin: PD12
-# spi_software_mosi_pin: PD11
-# spi_software_miso_pin: PD13
-# rtd_nominal_r: 100
-# rtd_reference_r: 430
-# rtd_num_of_wires: 2
-# rtd_use_50Hz_filter: True
-min_temp: 0
-max_temp: 300
-
-#[extruder1]
-#step_pin: PE0
-#dir_pin: PD1
-#enable_pin: !PD3
-#microsteps: 16
-#heater_pin: PC7 #E1
-#sensor_pin: PC5 #T1 TEMP
-
-########################################
-# TMC2209 configuration
-########################################
-
-[tmc2209 stepper_x]
-uart_pin: PC15
-interpolate: False
-run_current: 0.3
-sense_resistor: 0.110
-stealthchop_threshold: 999999
-
-[tmc2209 stepper_y]
-uart_pin: PB6
-interpolate: False
-run_current: 0.3
-sense_resistor: 0.110
-stealthchop_threshold: 999999
-
-[tmc2209 stepper_z]
-uart_pin: PD7
-interpolate: False
-run_current: 0.4
-sense_resistor: 0.110
-stealthchop_threshold: 999999
-
-[tmc2209 extruder]
-uart_pin: PD4
-interpolate: False
-run_current: 0.27
-sense_resistor: 0.075
-stealthchop_threshold: 999999
-
-#[tmc2209 extruder1]
-#uart_pin: PD0
-#interpolate: False
-#run_current: 0.27
-#sense_resistor: 0.075
-#stealthchop_threshold: 999999
-
-
-#######################################
-# Heated Bed
-#######################################
-
-[heater_bed]
-heater_pin: PB0 #BED
-sensor_type: Generic 3950
-sensor_pin: PB1 #B-TEMP
-max_power: 1.0
-min_temp: 0
-max_temp: 120
-control: pid
-pid_kp: 58.437
-pid_ki: 2.347
-pid_kd: 363.769
-
-#######################################
-# LIGHTING
-#######################################
-
-#[led Toolhead]
-#white_pin: PA2 #FAN2
-#cycle_time: 0.010
-#initial_white: 0
-
-#######################################
-# COOLING
-#######################################
-
-[heater_fan hotend_fan]
-pin: PA1 #FAN1
-max_power: 1.0
-kick_start_time: 0.5
-heater: extruder
-heater_temp: 50
-fan_speed: 1.0
-
-[controller_fan controller_fan]
-pin: PA0 #FAN0
-max_power: 1.0
-kick_start_time: 0.5
-heater: extruder
-stepper: stepper_x, stepper_y, stepper_z
-fan_speed: 1.0
-idle_timeout: 60
-
-[fan]
-pin: PA3 #FAN3
-max_power: 1.0
-off_below: 0.2
-
-[temperature_sensor Mellow_Fly_E3_V2]
-sensor_type: temperature_mcu
-min_temp: 5
-max_temp: 80
-
-[printer]
-kinematics: cartesian
-max_velocity: 300
-max_accel: 3000
-max_z_velocity: 50
-max_z_accel: 100
-
-########################################
-# EXP1 / EXP2 (display) pins
-########################################
-[board_pins]
-aliases:
-    EXP1_1=PD10, EXP1_3=PA8,   EXP1_5=PE15,   EXP1_7=PA14,  EXP1_9=<GND>,
-    EXP1_2=PA9,  EXP1_4=PA10,  EXP1_6=PE14,   EXP1_8=PA13,  EXP1_10=<5V>,
-    # EXP2 header
-    EXP2_1=PA6, EXP2_3=PB11,  EXP2_5=PB10,  EXP2_7=PE13,   EXP2_9=<GND>,
-    EXP2_2=PA5, EXP2_4=PA4,   EXP2_6=PA7,   EXP2_8=<RST>, EXP2_10=<NC>,
-
-# See the sample-lcd.cfg file for definitions of common LCD displays.
-
-#######################################
-# BL-Touch
-#######################################
-
-#[bltouch]
-#sensor_pin: PC2
-#control_pin: PE6
-#z_offset: 0
--- a/config/generic-mightyboard.cfg
+++ b/config/generic-mightyboard.cfg
@@ -89,32 +89,32 @@ max_z_velocity: 5
 max_z_accel: 100

 [mcp4018 x_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PF3
+scl_pin: PJ5
+sda_pin: PF3
 wiper: 0.50
 scale: 0.773

 [mcp4018 y_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PF7
+scl_pin: PJ5
+sda_pin: PF7
 wiper: 0.50
 scale: 0.773

 [mcp4018 z_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PK3
+scl_pin: PJ5
+sda_pin: PK3
 wiper: 0.50
 scale: 0.773

 [mcp4018 a_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PA5
+scl_pin: PJ5
+sda_pin: PA5
 wiper: 0.50
 scale: 0.773

 [mcp4018 b_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PJ6
+scl_pin: PJ5
+sda_pin: PJ6
 wiper: 0.50
 scale: 0.773

--- a/config/kit-voron2-250mm.cfg
+++ b/config/kit-voron2-250mm.cfg
@@ -19,7 +19,7 @@
 # FSR switch (z endstop) location       [homing_override] section
 # FSR switch (z endstop) offset for Z0  [stepper_z] section
 # Probe points                          [quad_gantry_level] section
-# Min & Max gantry corner positions     [quad_gantry_level] section
+# Min & Max gantry corner postions      [quad_gantry_level] section
 # PID tune                              [extruder] and [heater_bed] sections
 # Fine tune E steps                     [extruder] section

--- a/config/kit-zav3d-2019.cfg
+++ b/config/kit-zav3d-2019.cfg
@@ -20,7 +20,7 @@
 # FSR switch (z endstop) location       [homing_override] section
 # FSR switch (z endstop) offset for Z0  [stepper_z] section
 # Probe points                          [quad_gantry_level] section
-# Min & Max gantry corner positions     [quad_gantry_level] section
+# Min & Max gantry corner postions      [quad_gantry_level] section
 # PID tune                              [extruder] and [heater_bed] sections
 # Fine tune E steps                     [extruder] section

--- a/config/printer-anycubic-kossel-2016.cfg
+++ b/config/printer-anycubic-kossel-2016.cfg
@@ -17,7 +17,7 @@ endstop_pin: ^PE4
 homing_speed: 60
 # The next parameter needs to be adjusted for
 # your printer. You may want to start with 280
-# and measure the distance from nozzle to bed.
+# and meassure the distance from nozzle to bed.
 # This value then needs to be added.
 position_endstop: 273.0
 arm_length: 229.4
--- a/config/printer-creality-cr10-v3-2020.cfg
+++ b/config/printer-creality-cr10-v3-2020.cfg
@@ -43,7 +43,7 @@ position_max: 400
 #Uncomment if you have a BL-Touch:
 #position_min: -4
 #endstop_pin: probe:z_virtual_endstop
-#and comment the following lines:
+#and comment the follwing lines:
 position_endstop: 0.0
 endstop_pin: ^PD3 #ar18

--- a/config/printer-creality-cr6se-2020.cfg
+++ b/config/printer-creality-cr6se-2020.cfg
@@ -1,5 +1,4 @@
-# This file contains pin mappings for the stock 2020 Creality CR6-SE
-# with the early 4.5.2 board only.
+# This file contains pin mappings for the stock 2020 Creality CR6-SE.
 # To use this config, during "make menuconfig" select the STM32F103
 # with a "28KiB bootloader" and serial (on USART1 PA10/PA9)
 # communication.
--- a/config/printer-creality-cr6se-2021.cfg
+++ b/config/printer-creality-cr6se-2021.cfg
@@ -1,6 +1,4 @@
-# This file contains pin mappings for the Creality CR6-SE
-# with Rev. 4.5.3 Motherboard (Late 2020/2021) as the heater pins changed.
-# This config also works for the CR-ERA_V1.1.0.3
+# This file contains pin mappings for the Creality CR6-SE with Rev. 4.5.3 Motherboard (Late 2020/2021) as the heater pins changed.
 # To use this config, during "make menuconfig" select the STM32F103
 # with a "28KiB bootloader" and serial (on USART1 PA10/PA9)
 # communication.
--- a/config/printer-creality-ender5-s1-2023.cfg
+++ b/config/printer-creality-ender5-s1-2023.cfg
@@ -81,7 +81,7 @@ pin: PA0
 kick_start_time: 0.5

 # Hotend fan
-# set fan running when extruder temperature is over 60
+# set fan runnig when extruder temperature is over 60
 [heater_fan heatbreak_fan]
 pin: PC0
 heater:extruder
--- a/config/printer-flashforge-creator-pro-2018.cfg
+++ b/config/printer-flashforge-creator-pro-2018.cfg
@@ -127,32 +127,32 @@ max_z_velocity: 5
 max_z_accel: 100

 [mcp4018 x_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PF3
+scl_pin: PJ5
+sda_pin: PF3
 wiper: 118
 scale: 127

 [mcp4018 y_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PF7
+scl_pin: PJ5
+sda_pin: PF7
 wiper: 118
 scale: 127

 [mcp4018 z_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PK3
+scl_pin: PJ5
+sda_pin: PK3
 wiper: 40
 scale: 127

 [mcp4018 a_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PA5
+scl_pin: PJ5
+sda_pin: PA5
 wiper: 118
 scale: 127

 [mcp4018 b_axis_pot]
-i2c_software_scl_pin: PJ5
-i2c_software_sda_pin: PJ6
+scl_pin: PJ5
+sda_pin: PJ6
 wiper: 118
 scale: 127

--- a/config/printer-geeetech-A10T-A20T-2021.cfg
+++ b/config/printer-geeetech-A10T-A20T-2021.cfg
@@ -1,256 +0,0 @@
-# This file contains common pin mappings for the Geeetech GT2560 v4.0 and v4.1b
-# boards. These boards use a firmware compiled for the AVR atmega2560.
-# For default Geeetech A10/A20  (1 extruder),
-#                      A10M/A20M (mixing 2 in 1 out),
-#                      A10T/A20T (mixing 3 in 1 out) printers
-# Installation: https://www.klipper3d.org/Installation.html
-# Always read for first start: https://www.klipper3d.org/Config_checks.html
-
-[mcu]
-# Might need to be changed: https://www.klipper3d.org/Installation.html
-serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
-
-[printer]
-kinematics: cartesian
-max_velocity: 200
-max_accel: 1500
-max_z_velocity: 20
-max_z_accel: 500
-
-# # uncomment for BLTouch/3DTouch
-# [bltouch]
-# sensor_pin: PC7 # there is an external pull up so no need in ^
-# control_pin: PB5
-# speed: 3.0
-# samples: 2
-# x_offset: -42.0
-# y_offset: -1.0
-#                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      z_offset: 1.0 # during calibration this line is commented out and new record added at the end of file
-
-[safe_z_home]
-home_xy_position: 100, 100  # Change coordinates to the center of your print bed
-speed: 50
-z_hop: 10  # Move up 10mm
-z_hop_speed: 5
-
-[stepper_x]
-enable_pin: !PC2
-dir_pin: !PG2
-step_pin: PC0
-microsteps: 16
-rotation_distance: 40
-endstop_pin: !PA2 # there are external pull ups
-position_endstop: 0
-position_max: 220 # for A10/M/T / change to 250 for A20/M/T
-homing_speed: 40
-
-[stepper_y]
-enable_pin: !PA7
-dir_pin: !PC4
-step_pin: PC6
-microsteps: 16
-rotation_distance: 40
-endstop_pin: !PA6 # there are external pull ups
-position_endstop: 0
-position_max: 220 # for A10/M/T / change to 250 for A20/M/T
-homing_speed: 40
-
-[stepper_z]
-enable_pin: !PA5
-dir_pin: PA1
-step_pin: PA3
-microsteps: 16
-rotation_distance: 8
-#endstop_pin: probe:z_virtual_endstop # uncomment for BLTouch/3DTouch
-endstop_pin: !PC7 # comment for BLTouch/3DTouch
-position_endstop: 0 # comment for BLTouch/3DTouch
-position_max: 230 # for A10/M/T / change to 250 for A20/M/T
-position_min: -5
-homing_speed: 20
-
-[extruder]
-enable_pin: !PB6
-dir_pin: PL5
-step_pin: PL3
-microsteps: 16
-rotation_distance: 8 # Needs to be optimized: https://www.klipper3d.org/Rotation_Distance.html#calibrating-rotation_distance-on-extruders
-nozzle_diameter: 0.4
-filament_diameter: 1.750
-heater_pin: PB4
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK3
-min_temp: 0
-max_temp: 250
-max_extrude_only_distance: 200.0
-# Parameters for stock hotend on A10M
-# Please recalibrate according to https://www.klipper3d.org/Config_checks.html#calibrate-pid-settings
-control: pid
-pid_kp: 54.722
-pid_ki: 4.800
-pid_kd: 155.958
-
-[extruder_stepper extruder_1]
-extruder:
-enable_pin: !PL1
-dir_pin: PL2
-step_pin: PL0
-microsteps: 16
-rotation_distance: 8 # Needs to be optimized: https://www.klipper3d.org/Rotation_Distance.html#calibrating-rotation_distance-on-extruders
-
-[extruder_stepper extruder_2]
-extruder:
-enable_pin: !PG0
-dir_pin: PL4
-step_pin: PL6
-microsteps: 16
-rotation_distance: 8 # Needs to be optimized: https://www.klipper3d.org/Rotation_Distance.html#calibrating-rotation_distance-on-extruders
-
-[heater_bed]
-heater_pin: PG5
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK2
-min_temp: 0
-max_temp: 120
-# Parameters for `SuperPlate` on A10M
-# Please recalibrate according to https://www.klipper3d.org/Config_checks.html#calibrate-pid-settings
-control: pid
-pid_kp: 70.936
-pid_ki: 1.785
-pid_kd: 704.924
-
-[fan]
-pin: PH6
-cycle_time: 0.150
-kick_start_time: 0.300
-
-# # for GT2560V4.0 with 20pin flat cable toward the display
-# [display]
-# lcd_type: hd44780
-# hd44780_protocol_init: True
-# rs_pin: PD1
-# e_pin: PH0
-# d4_pin: PH1
-# d5_pin: PD0
-# d6_pin: PE3
-# d7_pin: PC1
-# encoder_pins: ^PG1, ^PL7
-# click_pin: ^!PD2
-
-
-# for GT2560V4.1B with 12pin flat cable toward the display YHCB2004-06 ver3.0
-# the aip31068_spi driver was added to Klipper on 2024-12-02, commit aecb29d2
-[display]
-lcd_type: aip31068_spi
-latch_pin: PE3
-spi_software_sclk_pin: PD0
-spi_software_mosi_pin: PC1
-spi_software_miso_pin: PH7 # any unused pin
-encoder_pins: ^PH0, ^PH1
-click_pin: ^!PD2
-
-
-[filament_switch_sensor sensor_e0]
-switch_pin: !PK4
-
-[filament_switch_sensor sensor_e1]
-switch_pin: !PK5
-
-[filament_switch_sensor sensor_e2]
-# switch_pin: !PE2 # for GT2560V4.0
-switch_pin: !PF0 # for GT2560V4.1B
-
-# to enable M118 echo command
-[respond]
-
-# Specific macros for mixing colors.
-# Add in slicer new filament color and in filament start G-Code add desired mixing factor:
-#     M163 S0 P50 ; set extruder 0 to 50%
-#     M163 S1 P40 ; set extruder 1 to 40%
-#     M163 S2 P10 ; set extruder 2 to 10%
-#     M164 ; commit the mix factors
-[gcode_macro M163]
-description:  M163 [P<factor>] [S<index>] Set a single mix factor (in proportion to the sum total of all mix factors). The mix must be committed to a virtual tool by M164 before it takes effect.
-gcode:
-    {% if 'P' in params %}
-            {% set s = params.S|default(0)| int %}
-            {% if s == 0 %}
-                SET_GCODE_VARIABLE MACRO=M164 VARIABLE=e0_parts VALUE={params.P|default(0)|float}
-                M118 Set Mixing factor for extruder 0 to {params.P|default(0)|float}
-            {% elif s == 1 %}
-                SET_GCODE_VARIABLE MACRO=M164 VARIABLE=e1_parts VALUE={params.P|default(0)|float}
-                M118 Set Mixing factor for extruder 1 to {params.P|default(0)|float}
-            {% elif s == 2 %}
-                SET_GCODE_VARIABLE MACRO=M164 VARIABLE=e2_parts VALUE={params.P|default(0)|float}
-                M118 Set Mixing factor for extruder 2 to {params.P|default(0)|float}
-            {% endif %}
-    {% else %}
-        M118 No Mixing factor set, missing value for P
-    {% endif %}
-    M118 {e0_parts} {e1_parts} {e2_parts}
-
-
-[gcode_macro M164]
-description: Applies the set mixing factors to the extruders
-# default values:
-variable_e0_parts : 100
-variable_e1_parts : 0
-variable_e2_parts : 0
-gcode:
-    # normalize the parts to sum of 1
-    {% set e0 = e0_parts / (e0_parts + e1_parts + e2_parts) | float %}
-    {% set e1 = e1_parts / (e0_parts + e1_parts + e2_parts) | float %}
-    {% set e2 = e2_parts / (e0_parts + e1_parts + e2_parts) | float %}
-    M118 scaled rot-dist_e0 { printer.configfile.settings.extruder.rotation_distance / (e0 + 0.000001) | float }
-    M118 scaled rot-dist_e1 { printer.configfile.settings['extruder_stepper extruder_1'].rotation_distance / (e1 + 0.000001) | float }
-    M118 scaled rot-dist_e2 { printer.configfile.settings['extruder_stepper extruder_2'].rotation_distance / (e2 + 0.000001) |float }
-    # activate stepper percentages
-    SYNC_EXTRUDER_MOTION EXTRUDER=extruder MOTION_QUEUE=extruder
-    SYNC_EXTRUDER_MOTION EXTRUDER=extruder_1 MOTION_QUEUE=extruder
-    SYNC_EXTRUDER_MOTION EXTRUDER=extruder_2 MOTION_QUEUE=extruder
-    SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=extruder DISTANCE={ printer.configfile.settings.extruder.rotation_distance / (e0+0.000001)|float }
-    SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=extruder_1 DISTANCE={ printer.configfile.settings['extruder_stepper extruder_1'].rotation_distance / (e1+0.000001)|float }
-    SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=extruder_2 DISTANCE={ printer.configfile.settings['extruder_stepper extruder_2'].rotation_distance / (e2+0.000001)|float }
-    M118 Mixing factors {e0} {e1} {e2} are activated
-
-# In PrusaSlicer:
-#    - you can add as many extruders as mixing ratios you want
-#    - in Printer Settings -> Custom G-code -> Tool change G-code add:
-#        TOOL_CHANGE EXTRUDER={next_extruder}
-#    - in this config file add:
-#           [gcode_macro TOOL_CHANGE]
-#           description: Tool change macro with mix ratio setup for 11 extruders
-#           variable_extruder: 0
-#           gcode:
-#               {% set extruder = params.EXTRUDER|default(0)| int %}
-#               {% if extruder == 0 %}
-#                   M163 S0 P100
-#                   M163 S1 P0
-#                   M163 S2 P0
-#                   M164
-#                   M118 Switching to Extruder 0
-#               {% elif extruder == 1 %}
-#                   M163 S0 P90
-#                   M163 S1 P10
-#                   M163 S2P0
-#                   M164
-#                   M118 Switching to Extruder 1
-#               {% elif extruder == 2 %}
-#                   # and so on ...
-#               {% else %}
-#                   M118 Unknown extruder number: {extruder}
-#               {% endif %}
-
-# In OrcaSlicer:
-# you can add as many filaments as mixing ratios you want
-# in Material settings -> Advanced -> Filament start G-code add desired mixing ratio:
-#    ; filament start gcode
-#    M163 S0 P100 ; set extruder 0
-#    M163 S1 P0 ; set extruder 1
-#    M163 S2 P0 ; set extruder 2
-#    M164 ; commit the mix factors
-
-# For gradient over Z axis:
-# In `Printer -> Custom G-code -> After layer change G-code` add:
-#     M163 S0 P{ layer_num * 100 / total_layer_count } ; Gradient 0-100
-#     M163 S1 P{(total_layer_count-layer_num) * 100 / total_layer_count} ; Gradient 100-0
-#     M164 ; commit the mix factors
--- a/config/printer-lulzbot-mini1-2016.cfg
+++ b/config/printer-lulzbot-mini1-2016.cfg
@@ -195,7 +195,7 @@ samples_tolerance: 0.200
 samples_tolerance_retries: 2

 [bed_tilt]
-# Enable bed tilt measurements using the probe we defined above
+# Enable bed tilt measurments using the probe we defined above
 # Probe points using X0 Y0 offsets @ 0.01mm/step
 points: -2, -6
        156, -6
--- a/config/printer-lulzbot-taz6-dual-v3-2017.cfg
+++ b/config/printer-lulzbot-taz6-dual-v3-2017.cfg
@@ -183,7 +183,7 @@ samples: 2
 samples_tolerance: 0.100

 [bed_tilt]
-#Enable bed tilt measurements using the probe we defined above
+#Enable bed tilt measurments using the probe we defined above
 #Probe points using X0 Y0 offsets @ 0.01mm/step
 points: -3, -6
        282, -6
--- a/config/printer-robo3d-r2-2017.cfg
+++ b/config/printer-robo3d-r2-2017.cfg
@@ -37,7 +37,7 @@ microsteps: 16
 rotation_distance: 4
 # Required if not using probe for the virtual endstop
 # endstop_pin: ^PD3
-# position_endstop: 250 # Will need adjustment
+# position_endstop: 250 # Will need ajustment
 endstop_pin: probe:z_virtual_endstop
 homing_speed: 10.0
 position_max: 250
--- a/config/printer-seemecnc-rostock-max-v2-2015.cfg
+++ b/config/printer-seemecnc-rostock-max-v2-2015.cfg
@@ -1,4 +1,4 @@
-# This file contains the pin mappings for the SeeMeCNC Rostock Max
+# This file constains the pin mappings for the SeeMeCNC Rostock Max
 # (version 2) delta printer from 2015. To use this config, the
 # firmware should be compiled for the AVR atmega2560.

--- a/config/sample-corexyuv.cfg
+++ b/config/sample-corexyuv.cfg
@@ -1,177 +0,0 @@
-# This file contains a configuration snippet for a CoreXYUV
-# printer with an independent dual extruder moving over X and Y axes.
-
-# See docs/Config_Reference.md for a description of parameters.
-
-[carriage x]
-position_endstop: 0
-position_max: 300
-homing_speed: 50
-endstop_pin: ^PE5
-
-[carriage y]
-position_endstop: 0
-position_max: 200
-homing_speed: 50
-endstop_pin: ^PJ1
-
-[dual_carriage u]
-primary_carriage: x
-safe_distance: 70
-position_endstop: 300
-position_max: 300
-homing_speed: 50
-endstop_pin: ^PE4
-
-[dual_carriage v]
-primary_carriage: y
-safe_distance: 50
-position_endstop: 200
-position_max: 200
-homing_speed: 50
-endstop_pin: ^PD4
-
-[stepper a]
-carriages: x+y
-step_pin: PF0
-dir_pin: PF1
-enable_pin: !PD7
-microsteps: 16
-rotation_distance: 40
-
-[stepper b]
-carriages: u-v
-step_pin: PH1
-dir_pin: PH0
-enable_pin: !PA1
-microsteps: 16
-rotation_distance: 40
-
-[stepper c]
-carriages: x-y
-step_pin: PF6
-dir_pin: !PF7
-enable_pin: !PF2
-microsteps: 16
-rotation_distance: 40
-
-[stepper d]
-carriages: u+v
-step_pin: PE3
-dir_pin: !PH6
-enable_pin: !PG5
-microsteps: 16
-rotation_distance: 40
-
-[extruder]
-step_pin: PA4
-dir_pin: PA6
-enable_pin: !PA2
-microsteps: 16
-rotation_distance: 33.5
-nozzle_diameter: 0.400
-filament_diameter: 1.750
-heater_pin: PB4
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK5
-control: pid
-pid_Kp: 22.2
-pid_Ki: 1.08
-pid_Kd: 114
-min_temp: 0
-max_temp: 250
-
-[gcode_macro PARK_extruder]
-gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=x
-    SET_DUAL_CARRIAGE CARRIAGE=y
-    G90
-    G1 X0 Y0
-
-[gcode_macro T0]
-gcode:
-    PARK_{printer.toolhead.extruder}
-    ACTIVATE_EXTRUDER EXTRUDER=extruder
-    SET_DUAL_CARRIAGE CARRIAGE=x
-    SET_DUAL_CARRIAGE CARRIAGE=y
-
-[extruder1]
-step_pin: PC1
-dir_pin: PC3
-enable_pin: !PC7
-microsteps: 16
-rotation_distance: 33.5
-nozzle_diameter: 0.400
-filament_diameter: 1.750
-heater_pin: PB5
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK7
-control: pid
-pid_Kp: 22.2
-pid_Ki: 1.08
-pid_Kd: 114
-min_temp: 0
-max_temp: 250
-
-[gcode_macro PARK_extruder1]
-gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=u
-    SET_DUAL_CARRIAGE CARRIAGE=v
-    G90
-    G1 X300 Y200
-
-[gcode_macro T1]
-gcode:
-    PARK_{printer.toolhead.extruder}
-    ACTIVATE_EXTRUDER EXTRUDER=extruder1
-    SET_DUAL_CARRIAGE CARRIAGE=u
-    SET_DUAL_CARRIAGE CARRIAGE=v
-
-# A helper script to activate copy mode
-[gcode_macro ACTIVATE_COPY_MODE]
-gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
-    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
-    G1 X0 Y0
-    ACTIVATE_EXTRUDER EXTRUDER=extruder
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
-    G1 X150 Y100
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=COPY
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
-    SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
-
-# A helper script to activate mirror mode
-[gcode_macro ACTIVATE_MIRROR_MODE]
-gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
-    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
-    G1 X0 Y0
-    ACTIVATE_EXTRUDER EXTRUDER=extruder
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
-    G1 X300 Y100
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=MIRROR
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
-    SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
-
-[printer]
-kinematics: generic_cartesian
-max_velocity: 300
-max_accel: 3000
-max_z_velocity: 5
-max_z_accel: 100
-
-## An optional input shaper support
-#[input_shaper]
-## The section is intentionally empty
-#
-#[delayed_gcode init_shaper]
-#initial_duration: 0.1
-#gcode:
-#    SET_DUAL_CARRIAGE CARRIAGE=u
-#    SET_DUAL_CARRIAGE CARRIAGE=v
-#    SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<dual_carriage_y_shaper> SHAPER_FREQ_Y=<dual_carriage_y_freq>
-#    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
-#    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
-#    SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<primary_carriage_y_shaper> SHAPER_FREQ_Y=<primary_carriage_y_freq>
--- a/config/sample-duet3-1lc.cfg
+++ b/config/sample-duet3-1lc.cfg
@@ -6,7 +6,7 @@
 # Communication interface of "CAN bus (on PA25/PA24)"

 # To flash the board use a debugger, or use a raspberry pi and follow
-# the instructions at docs/Bootloaders.md for the SAMC21. You may
+# the instructions at docs/Bootloaders.md fot the SAMC21. You may
 # supply power to the 1LC by connecting the 3.3v rail on the Pi to the
 # 5v input of the SWD header on the 1LC.

@@ -77,14 +77,5 @@ heater_temp: 50.0
 pin: toolboard:PA9
 z_offset: 20

-[samd_sercom sercom_i2c]
-sercom: sercom1
-tx_pin: toolboard:PA16
-clk_pin: toolboard:PA17
-
-[lis3dh]
-i2c_mcu: toolboard
-i2c_bus: sercom1
-
 [mcu toolboard]
 canbus_uuid: 4b194673554e
--- a/config/sample-mmu2s-diy.cfg
+++ b/config/sample-mmu2s-diy.cfg
@@ -96,7 +96,7 @@ switch_pin: !P1.28 # P1.28 for X-max
 # variable_pause_z               : z lift when MMU2S need intervention and the printer is paused
 # variable_min_temp_extruder     : minimal required heater temperature to load/unload filament from the extruder gear to the nozzle
 # variable_extruder_eject_temp   : heater temperature used to eject filament during home if the filament is already loaded
-# variable_enable_5in1           : pass from MMU2S standard (0) to MMU2S-5in1 mode with splitter
+# variable_enable_5in1           : pass from MMU2S standart (0) to MMU2S-5in1 mode with splitter
 #
 ################################
 [gcode_macro VAR_MMU2S]
@@ -394,7 +394,7 @@ gcode:
    {% endif %}
    {% endif %}

-# Retry unload, try correct misalignment of bondtech gear
+# Retry unload, try correct misalignement of bondtech gear
 [gcode_macro RETRY_UNLOAD_FILAMENT_IN_EXTRUDER]
 gcode:
    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
@@ -444,7 +444,7 @@ gcode:
    {% endif %}
    {% endif %}

-# Ramming process for standard PLA, code extracted from slic3r gcode
+# Ramming process for standart PLA, code extracted from slic3r gcode
 [gcode_macro RAMMING_SLICER]
 gcode:
    G91
--- a/docs/API_Server.md
+++ b/docs/API_Server.md
@@ -282,6 +282,22 @@ window" interface. Parsing content from the G-Code terminal output is
 discouraged. Use the "objects/subscribe" endpoint to obtain updates on
 Klipper's state.

+### heaters/set_target_temperature
+
+This endpoint is used to asynchronously set the target temperature for
+a heater. For example:
+`{"id": 123, "method": "heaters/set_target_temperature", "params":
+{"heater":"heater_generic my_heater", "target": 100.3}}`
+
+This endpoint is similar to the `SET_HEATER_TEMPERATURE` G-Code
+command, but the target temperature takes effect immediately.  It does
+not wait for pending G-Code commands to complete.
+
+If this endpoint is issued for a heater while a `WAIT_TEMPERATURE`
+command (or `M109`, `M190`) is pending for that heater, then the
+requested target temperature will be set and the `WAIT_TEMPERATURE`
+command will exit with an error.
+
 ### motion_report/dump_stepper

 This endpoint is used to subscribe to Klipper's internal stepper
@@ -364,42 +380,35 @@ and might later produce asynchronous messages such as:
 The "header" field in the initial query response is used to describe
 the fields found in later "data" responses.

-### load_cell/dump_force
+### hx71x/dump_hx71x

-This endpoint is used to subscribe to force data produced by a load_cell.
-Using this endpoint may increase Klipper's system load.
+This endpoint is used to subscribe to raw HX711 and HX717 ADC data.
+Obtaining these low-level ADC updates may be useful for diagnostic
+and debugging purposes. Using this endpoint may increase Klipper's
+system load.

 A request may look like:
-`{"id": 123, "method":"load_cell/dump_force",
+`{"id": 123, "method":"hx71x/dump_hx71x",
 "params": {"sensor": "load_cell", "response_template": {}}}`
 and might return:
-`{"id": 123,"result":{"header":["time", "force (g)", "counts", "tare_counts"]}}`
+`{"id": 123,"result":{"header":["time","counts"]}}`
 and might later produce asynchronous messages such as:
-`{"params":{"data":[[3292.432935, 40.65, 562534, -234467]]}}`
+`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`

-The "header" field in the initial query response is used to describe
-the fields found in later "data" responses.
+### ads1220/dump_ads1220

-### load_cell_probe/dump_taps
-
-This endpoint is used to subscribe to details of probing "tap" events.
-Using this endpoint may increase Klipper's system load.
+This endpoint is used to subscribe to raw ADS1220 ADC data.
+Obtaining these low-level ADC updates may be useful for diagnostic
+and debugging purposes. Using this endpoint may increase Klipper's
+system load.

 A request may look like:
-`{"id": 123, "method":"load_cell/dump_force",
+`{"id": 123, "method":"ads1220/dump_ads1220",
 "params": {"sensor": "load_cell", "response_template": {}}}`
 and might return:
-`{"id": 123,"result":{"header":["probe_tap_event"]}}`
+`{"id": 123,"result":{"header":["time","counts"]}}`
 and might later produce asynchronous messages such as:
-```
-{"params":{"tap":'{
-   "time": [118032.28039, 118032.2834, ...],
-   "force": [-459.4213119680034, -458.1640702543264, ...],
-}}}
-```
-
-This data can be used to render:
-* The time/force graph
+`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`

 ### pause_resume/cancel

--- a/docs/Axis_Twist_Compensation.md
+++ b/docs/Axis_Twist_Compensation.md
@@ -1,6 +1,6 @@
 # Axis Twist Compensation

-This document describes the `[axis_twist_compensation]` module.
+This document describes the [axis_twist_compensation] module.

 Some printers may have a small twist in their X rail which can skew the results
 of a probe attached to the X carriage.
@@ -24,50 +24,27 @@ try to probe the bed without attaching the probe if you use it.
 > **Tip:** Make sure the [probe X and Y offsets](Config_Reference.md#probe) are
 > correctly set as they greatly influence calibration.

-### Basic Usage: X-Axis Calibration
-1. After setting up the `[axis_twist_compensation]` module, run:
-```
-AXIS_TWIST_COMPENSATION_CALIBRATE
-```
-This command will calibrate the X-axis by default.
-  - The calibration wizard will prompt you to measure the probe Z offset at
-    several points along the bed.
-  - By default, the calibration uses 3 points, but you can specify a different
-    number with the option:
-``
-SAMPLE_COUNT=<value>
-``
-
-2. **Adjust Your Z Offset:**
-After completing the calibration, be sure to
-[adjust your Z offset](Probe_Calibrate.md#calibrating-probe-z-offset).
-
-3. **Perform Bed Leveling Operations:**
-Use probe-based operations as needed, such as:
-  - [Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust)
-  - [Z Tilt Adjust](G-Codes.md#z_tilt_adjust)
-
-4. **Finalize the Setup:**
-  - Home all axes, and perform a [Bed Mesh](Bed_Mesh.md) if necessary.
-  - Run a test print, followed by any
-    [fine-tuning](Axis_Twist_Compensation.md#fine-tuning)
-    if needed.
-
-### For Y-Axis Calibration
-The calibration process for the Y-axis is similar to the X-axis. To calibrate
-the Y-axis, use:
-```
-AXIS_TWIST_COMPENSATION_CALIBRATE AXIS=Y
-```
-This will guide you through the same measuring process as for the X-axis.
+1. After setting up the [axis_twist_compensation] module,
+perform `AXIS_TWIST_COMPENSATION_CALIBRATE`
+* The calibration wizard will prompt you to measure the probe Z offset at a few
+points along the bed
+* The calibration defaults to 3 points but you can use the option
+`SAMPLE_COUNT=` to use a different number.
+2. [Adjust your Z offset](Probe_Calibrate.md#calibrating-probe-z-offset)
+3. Perform automatic/probe-based bed tramming operations, such as
+[Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust),
+[Z Tilt Adjust](G-Codes.md#z_tilt_adjust) etc
+4. Home all axis, then perform a [Bed Mesh](Bed_Mesh.md) if required
+5. Perform a test print, followed by any
+[fine-tuning](Axis_Twist_Compensation.md#fine-tuning) as desired

 > **Tip:** Bed temperature and nozzle temperature and size do not seem to have
 > an influence to the calibration process.

 ## [axis_twist_compensation] setup and commands

-Configuration options for `[axis_twist_compensation]` can be found in the
+Configuration options for [axis_twist_compensation] can be found in the
 [Configuration Reference](Config_Reference.md#axis_twist_compensation).

-Commands for `[axis_twist_compensation]` can be found in the
+Commands for [axis_twist_compensation] can be found in the
 [G-Codes Reference](G-Codes.md#axis_twist_compensation)
--- a/docs/Bed_Mesh.md
+++ b/docs/Bed_Mesh.md
@@ -267,9 +267,9 @@ by heat or interference.  This can make calculating the probe's z-offset
 challenging, particularly at different bed temperatures.  As such, some
 printers use an endstop for homing the Z axis and a probe for calibrating the
 mesh. In this configuration it is possible offset the mesh so that the (X, Y)
-`reference position` applies zero adjustment.  The `reference position` should
+`reference position` applies zero adjustment.  The `reference postion` should
 be the location on the bed where a
-[Z_ENDSTOP_CALIBRATE](./Manual_Level.md#calibrating-a-z-endstop)
+[Z_ENDSTOP_CALIBRATE](./Manual_Level#calibrating-a-z-endstop)
 paper test is performed.  The bed_mesh module provides the
 `zero_reference_position` option for specifying this coordinate:

@@ -292,6 +292,33 @@ probe_count: 5, 3
  z-offset.  Note that this coordinate must NOT be in a location specified as
  a `faulty_region` if a probe is necessary.

+#### The deprecated relative_reference_index
+
+Existing configurations using the `relative_reference_index` option must be
+updated to use the `zero_reference_position`.  The response to the
+[BED_MESH_OUTPUT PGP=1](#output) gcode command will include the (X, Y)
+coordinate associated with the index;  this position may be used as the value for
+the `zero_reference_position`. The output will look similar to the following:
+
+```
+// bed_mesh: generated points
+// Index | Tool Adjusted | Probe
+// 0 | (1.0, 1.0) | (24.0, 6.0)
+// 1 | (36.7, 1.0) | (59.7, 6.0)
+// 2 | (72.3, 1.0) | (95.3, 6.0)
+// 3 | (108.0, 1.0) | (131.0, 6.0)
+... (additional generated points)
+// bed_mesh: relative_reference_index 24 is (131.5, 108.0)
+```
+
+_Note:  The above output is also printed in `klippy.log` during initialization._
+
+Using the example above we see that the `relative_reference_index` is
+printed along with its coordinate.  Thus the `zero_reference_position`
+is `131.5, 108`.
+
+
+
 ### Faulty Regions

 It is possible for some areas of a bed to report inaccurate results when
@@ -470,8 +497,7 @@ _Default Adaptive Margin: 0_

 Initiates the probing procedure for Bed Mesh Calibration.

-The mesh will be immediately ready to use when the command completes and saved
-into a profile specified by the `PROFILE` parameter,
+The mesh will be saved into a profile specified by the `PROFILE` parameter,
 or `default` if unspecified. The `METHOD` parameter takes one of the following
 values:

@@ -535,10 +561,6 @@ load the `default` profile it is recommended to add
 `BED_MESH_PROFILE LOAD=default` to either their `START_PRINT` macro or their
 slicer's "Start G-Code" configuration, whichever is applicable.

-Note that this is not required if a new mesh is generated with
-`BED_MESH_CALIBRATE` in the `START_PRINT` macro or the slicer's "Start G-Code"
-and may produce unexpected results, especially with adaptive meshing.
-
 Alternatively the old behavior of loading a profile at startup can be
 restored with a `[delayed_gcode]`:

--- a/docs/Benchmarks.md
+++ b/docs/Benchmarks.md
@@ -250,22 +250,23 @@ results were obtained by running an STM32F407 binary on an STM32F446

 ### STM32H7 step rate benchmark

-The following configuration sequence is used on STM32H723:
+The following configuration sequence is used on a STM32H743VIT6:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=PA13 dir_pin=PB5 invert_step=-1 step_pulse_ticks=52
-config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=-1 step_pulse_ticks=52
-config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=-1 step_pulse_ticks=52
+config_stepper oid=0 step_pin=PD4 dir_pin=PD3 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PA15 dir_pin=PA8 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PE2 dir_pin=PE3 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```

-The test was last run on commit `554ae78d` with gcc version
-`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0`.
+The test was last run on commit `00191b5c` with gcc version
+`arm-none-eabi-gcc (15:8-2019-q3-1+b1) 8.3.1 20190703 (release)
+[gcc-8-branch revision 273027]`.

-| stm32h723            | ticks |
+| stm32h7              | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 70    |
-| 3 stepper            | 181   |
+| 1 stepper            | 44    |
+| 3 stepper            | 198   |

 ### STM32G0B1 step rate benchmark

@@ -286,25 +287,6 @@ The test was last run on commit `247cd753` with gcc version
 | 1 stepper        | 58    |
 | 3 stepper        | 243   |

-### STM32G4 step rate benchmark
-
-The following configuration sequence is used on the STM32G431:
-```
-allocate_oids count=3
-config_stepper oid=0 step_pin=PA0 dir_pin=PB5 invert_step=-1 step_pulse_ticks=17
-config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=-1 step_pulse_ticks=17
-config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=-1 step_pulse_ticks=17
-finalize_config crc=0
-```
-
-The test was last run on commit `cfa48fe3` with gcc version
-`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0`.
-
-| stm32g431        | ticks |
-| ---------------- | ----- |
-| 1 stepper        | 47    |
-| 3 stepper        | 208   |
-
 ### LPC176x step rate benchmark

 The following configuration sequence is used on the LPC176x:
@@ -372,26 +354,6 @@ micro-controller.
 | 1 stepper (200Mhz)   | 39    |
 | 3 stepper (200Mhz)   | 181   |

-### SAME70 step rate benchmark
-
-The following configuration sequence is used on the SAME70:
-```
-allocate_oids count=3
-config_stepper oid=0 step_pin=PC18 dir_pin=PB5 invert_step=-1 step_pulse_ticks=0
-config_stepper oid=1 step_pin=PC16 dir_pin=PD10 invert_step=-1 step_pulse_ticks=0
-config_stepper oid=2 step_pin=PC28 dir_pin=PA4 invert_step=-1 step_pulse_ticks=0
-finalize_config crc=0
-```
-
-The test was last run on commit `34e9ea55` with gcc version
-`arm-none-eabi-gcc (NixOS 10.3-2021.10) 10.3.1` on a SAME70Q20B
-micro-controller.
-
-| same70               | ticks |
-| -------------------- | ----- |
-| 1 stepper            | 45    |
-| 3 stepper            | 190   |
-
 ### AR100 step rate benchmark ###

 The following configuration sequence is used on AR100 CPU (Allwinner A64):
@@ -404,7 +366,7 @@ finalize_config crc=0

 ```

-The test was last run on commit `b7978d37` with gcc version
+The test was last run on commit `08d037c6` with gcc version
 `or1k-linux-musl-gcc (GCC) 9.2.0` on an Allwinner A64-H
 micro-controller.

@@ -413,9 +375,9 @@ micro-controller.
 | 1 stepper            | 85    |
 | 3 stepper            | 359   |

-### RPxxxx step rate benchmark
+### RP2040 step rate benchmark

-The following configuration sequence is used on the RP2040 and RP2350:
+The following configuration sequence is used on the RP2040:

 ```
 allocate_oids count=3
@@ -425,25 +387,14 @@ config_stepper oid=2 step_pin=gpio27 dir_pin=gpio5 invert_step=-1 step_pulse_tic
 finalize_config crc=0
 ```

-The test was last run on commit `14c105b8` with gcc version
-`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0` on Raspberry Pi
-Pico and Pico 2 boards.
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a Raspberry Pi
+Pico board.

-| rp2040 (*)           | ticks |
+| rp2040               | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 3     |
-| 3 stepper            | 14    |
-
-| rp2350               | ticks |
-| -------------------- | ----- |
-| 1 stepper            | 36    |
-| 3 stepper            | 169   |
-
-(*) Note that the reported rp2040 ticks are relative to a 12Mhz
-scheduling timer and do not correspond to its 200Mhz internal ARM
-processing rate. It is expected that 3 scheduling ticks corresponds to
-~42 ARM core cycles and 14 scheduling ticks corresponds to ~225 ARM
-core cycles.
+| 1 stepper            | 5     |
+| 3 stepper            | 22    |

 ### Linux MCU step rate benchmark

@@ -482,23 +433,18 @@ When the test completes, determine the difference between the clocks
 reported in the two "uptime" response messages. The total number of
 commands per second is then `100000 * mcu_frequency / clock_diff`.

-The USB tests may exceed the CPU capacity of a Raspberry Pi. If
-running on a Raspberry Pi, Beaglebone, or similar host computer then
-increase the delay (eg, `DELAY {clock + 20*freq} get_uptime`). Where
-applicable, the benchmarks below are with console.py running on a
-desktop class machine with the device connected via a super-speed hub.
-
-The CAN bus tests may saturate the USB host controller of a Raspberry
-Pi (when testing via a standard gs_usb USB to CAN bus adapter). Where
-applicable, the CAN bus benchmarks below are with console.py running
-on a desktop class machine with a USB to CAN bus adapter connected via
-a super-speed USB hub.
+Note that this test may saturate the USB/CPU capacity of a Raspberry
+Pi. If running on a Raspberry Pi, Beaglebone, or similar host computer
+then increase the delay (eg, `DELAY {clock + 20*freq} get_uptime`).
+Where applicable, the benchmarks below are with console.py running on
+a desktop class machine with the device connected via a high-speed
+hub.

 | MCU                 | Rate | Build    | Build compiler      |
 | ------------------- | ---- | -------- | ------------------- |
+| stm32f042 (CAN)     |  18K | c105adc8 | arm-none-eabi-gcc (GNU Tools 7-2018-q3-update) 7.3.1 |
 | atmega2560 (serial) |  23K | b161a69e | avr-gcc (GCC) 4.8.1 |
 | sam3x8e (serial)    |  23K | b161a69e | arm-none-eabi-gcc (Fedora 7.1.0-5.fc27) 7.1.0 |
-| rp2350 (CAN)        |  59K | 17b8ce4c | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
 | at90usb1286 (USB)   |  75K | 01d2183f | avr-gcc (GCC) 5.4.0 |
 | ar100 (serial)      | 138K | 08d037c6 | or1k-linux-musl-gcc 9.3.0 |
 | samd21 (USB)        | 223K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
@@ -510,8 +456,7 @@ a super-speed USB hub.
 | sam4s8c (USB)       | 650K | 8d4a5c16 | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | samd51 (USB)        | 864K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | stm32f446 (USB)     | 870K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
-| rp2040 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
-| rp2350 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
+| rp2040 (USB)        | 873K | c5667193 | arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0 |

 ## Host Benchmarks

--- a/docs/Bootloaders.md
+++ b/docs/Bootloaders.md
@@ -194,7 +194,7 @@ Alternatively, one can use a

 When using OpenOCD with the SAMC21, extra steps must be taken to first
 put the chip into Cold Plugging mode if the board makes use of the
-SWD pins for other purposes. If using OpenOCD on a Raspberry Pi, this
+SWD pins for other purposes. If using OpenOCD on a Rasberry Pi, this
 can be done by running the following commands before invoking OpenOCD.
 ```
 SWCLK=25
--- a/docs/CANBUS.md
+++ b/docs/CANBUS.md
@@ -125,14 +125,10 @@ iface can0 can static
  frequency. As a result, it is recommended to use a CAN bus frequency
  of 1000000 when using "USB to CAN bus bridge mode".

-* It is only valid to use USB to CAN bridge mode if there is a
-  functioning CAN bus with at least one other node available (in
-  addition to the bridge node itself). Use a standard USB
-  configuration if the goal is to communicate only with the single USB
-  device. Using USB to CAN bridge mode without a fully functioning CAN
-  bus (including terminating resistors and an additional node) may
-  result in sporadic errors even when communicating with the bridge
-  node.
+  Even at a CAN bus frequency of 1000000, there may not be sufficient
+  bandwidth to run a `SHAPER_CALIBRATE` test if both the XY steppers
+  and the accelerometer all communicate via a single "USB to CAN bus"
+  interface.

 * A USB to CAN bridge board will not appear as a USB serial device, it
  will not show up when running `ls /dev/serial/by-id`, and it can not
--- a/docs/CANBUS_Troubleshooting.md
+++ b/docs/CANBUS_Troubleshooting.md
@@ -37,36 +37,20 @@ hours or more frequently) then it is an indication of a severe
 problem.

 Incrementing `bytes_invalid` on a CAN bus connection is a symptom of
-reordered messages on the CAN bus. If seen, make sure to:
-* Use a Linux kernel version 6.6.0 or later.
-* If using a USB-to-CANBUS adapter running candlelight firmware, use
-  v2.0 or later of candleLight_fw.
-* If using Klipper's USB-to-CANBUS bridge mode, make sure the bridge
-  node is flashed with Klipper v0.12.0 or later.
+reordered messages on the CAN bus. There are two known causes of
+reordered messages:
+1. Old versions of the popular candlight_firmware for USB CAN adapters
+   had a bug that could cause reordered messages. If using a USB CAN
+   adapter running this firmware then make sure to update to the
+   latest firmware if incrementing `bytes_invalid` is observed.
+2. Some Linux kernel builds for embedded devices have been known to
+   reorder CAN bus messages. It may be necessary to use an alternative
+   Linux kernel or to use alternative hardware that supports
+   mainstream Linux kernels that do not exhibit this problem.

 Reordered messages is a severe problem that must be fixed. It will
 result in unstable behavior and can lead to confusing errors at any
-part of a print. An incrementing `bytes_invalid` is not caused by
-wiring or similar hardware issues and can only be fixed by identifying
-and updating the faulty software.
-
-Older versions of the Linux kernel had a bug in the gs_usb canbus
-driver code that could cause reordered canbus packets.  The issue is
-thought to be fixed in
-[Linux commit 24bc41b4](https://github.com/torvalds/linux/commit/24bc41b4558347672a3db61009c339b1f5692169)
-which was released in v6.6.0. In some cases, older Linux versions may
-not show the problem (due to how hardware interrupts are configured),
-however if problems are seen the recommended solution is to upgrade to
-a newer kernel.
-
-Older versions of candlelight firmware could reorder canbus packets,
-and the issue is thought to be fixed in
-[candlelight_fw commit 8b3a7b45](https://github.com/candle-usb/candleLight_fw/commit/8b3a7b4565a3c9521b762b154c94c72c5acb2bcf).
-
-Older versions of Klipper's USB-to-CANBUS bridge code could
-incorrectly drop canbus messages. This is not as severe as reordering
-messages, but it should still be fixed. It is thought to be fixed with
-[Klipper PR #6175](https://github.com/Klipper3d/klipper/pull/6175).
+part of a print.

 ## Use an appropriate txqueuelen setting

@@ -118,23 +102,6 @@ necessary to increase the `txqueuelen` above the recommended value
 of 128. However, as above, care should be taken when selecting a new
 value to avoid excessive round-trip-time latency.

-## Use `canbus_query.py` only to identify nodes never previously seen
-
-It is only valid to use the
-[`canbus_query.py` tool](CANBUS.md#finding-the-canbus_uuid-for-new-micro-controllers)
-to identify micro-controllers that have never been previously
-identified. Once all nodes on a bus are identified, record the
-resulting uuids in the printer.cfg, and avoid running the tool
-unnecessarily.
-
-The tool is implemented using a low-level mechanism that can cause
-nodes to internally observe bus errors. These internal errors may
-result in communication interruptions and may result is some nodes
-disconnecting from the bus.
-
-It is not valid to use the tool to "ping" if a node is connected. Do
-not run the tool during an active print.
-
 ## Obtaining candump logs

 The CAN bus messages sent to and from the micro-controller are handled
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -323,7 +323,7 @@ a month without updates.

 Once the requirements are met, you need to:

-1. update klipper-translations repository
+1. update klipper-tranlations repository
 [active_translations](https://github.com/Klipper3d/klipper-translations/blob/translations/active_translations)
 2. Optional: add a manual-index.md file in klipper-translations repository's
 `docs\locals\<lang>` folder to replace the language specific index.md (generated
--- a/docs/Code_Overview.md
+++ b/docs/Code_Overview.md
@@ -286,11 +286,6 @@ The following may also be useful:
  during the `load_config()` or "connect event" phases. Use either
  `raise config.error("my error")` or `raise printer.config_error("my
  error")` to report the error.
-* Do not store a reference to the `config` object in a class member
-  variable (nor in any similar location that may persist past initial
-  module loading). The `config` object is a reference to a "config
-  loading phase" class and it is not valid to invoke its methods after
-  the "config loading phase" has completed.
 * Use the "pins" module to configure a pin on a micro-controller. This
  is typically done with something similar to
  `printer.lookup_object("pins").setup_pin("pwm",
@@ -364,10 +359,10 @@ Useful steps:
   be efficient as it is typically only called during homing and
   probing operations.
 5. Other methods. Implement the `check_move()`, `get_status()`,
-   `get_steppers()`, `home()`, `clear_homing_state()`, and `set_position()`
-   methods. These functions are typically used to provide kinematic
-   specific checks. However, at the start of development one can use
-   boiler-plate code here.
+   `get_steppers()`, `home()`, and `set_position()` methods. These
+   functions are typically used to provide kinematic specific checks.
+   However, at the start of development one can use boiler-plate code
+   here.
 6. Implement test cases. Create a g-code file with a series of moves
   that can test important cases for the given kinematics. Follow the
   [debugging documentation](Debugging.md) to convert this g-code file
--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@@ -8,72 +8,6 @@ All dates in this document are approximate.

 ## Changes

-20250811: Support for the `max_accel_to_decel` parameter in the
-`[printer]` config section has been removed and support for the
-`ACCEL_TO_DECEL` parameter in the `SET_VELOCITY_LIMIT` command has
-been removed. These capabilities were deprecated on 20240313.
-
-20250721: The `[pca9632]` and `[mcp4018]` modules no longer accept the
-`scl_pin` and `sda_pin` options. Use `i2c_software_scl_pin` and
-`i2c_software_sda_pin` instead.
-
-20250428: The maximum `cycle_time` for pwm `[output_pin]`,
-`[pwm_cycle_time]`, `[pwm_tool]`, and similar config sections is now 3
-seconds (reduced from 5 seconds). The `maximum_mcu_duration` in
-`[pwm_tool]` is now also 3 seconds.
-
-20250418: The manual_stepper `STOP_ON_ENDSTOP` feature may now take
-less time to complete. Previously, the command would wait the entire
-time the move could possibly take even if the endstop triggered
-earlier. Now, the command finishes shortly after the endstop trigger.
-
-20250417: SPI devices using "software SPI" are now rate limited.
-Previously, the `spi_speed` in the config was ignored and the
-transmission speed was only limited by the processing speed of the
-micro-controller. Now, speeds are limited by the `spi_speed` config
-parameter (actual hardware speeds are likely to be lower than the
-configured value due to software overhead).
-
-20250411: Klipper v0.13.0 released.
-
-20250308: The `AUTO` parameter of the
-`AXIS_TWIST_COMPENSATION_CALIBRATE` command has been removed.
-
-20250131: Option `VARIABLE=<name>` in `SAVE_VARIABLE` requires lowercase
-value. For example, `extruder` instead of mixedcase `Extruder` or
-uppercase `EXTRUDER`. Using any uppercase letter will raise an error.
-
-20241203: The resonance test has been changed to include slow sweeping
-moves. This change requires that testing point(s) have some clearance
-in X/Y plane (+/- 30 mm from the test point should suffice when using
-the default settings). The new test should generally produce more
-accurate and reliable test results. However, if required, the previous
-test behavior can be restored by adding options `sweeping_period: 0` and
-`accel_per_hz: 75` to the `[resonance_tester]` config section.
-
-20241201: In some cases Klipper may have ignored leading characters or
-spaces in a traditional G-Code command. For example, "99M123" may have
-been interpreted as "M123" and "M 321" may have been interpreted as
-"M321". Klipper will now report these cases with an "Unknown command"
-warning.
-
-20241112: Option `CHIPS=<chip_name>` in `TEST_RESONANCES` and
-`SHAPER_CALIBRATE` requires specifying the full name(s) of the accel
-chip(s). For example, `adxl345 rpi` instead of short name - `rpi`.
-
-20240912: `SET_PIN`, `SET_SERVO`, `SET_FAN_SPEED`, `M106`, and `M107`
-commands are now collated. Previously, if many updates to the same
-object were issued faster than the minimum scheduling time (typically
-100ms) then actual updates could be queued far into the future. Now if
-many updates are issued in rapid succession then it is possible that
-only the latest request will be applied. If the previous behavior is
-required then consider adding explicit `G4` delay commands between
-updates.
-
-20240912: Support for `maximum_mcu_duration` and `static_value`
-parameters in `[output_pin]` config sections have been removed. These
-options have been deprecated since 20240123.
-
 20240415: The `on_error_gcode` parameter in the `[virtual_sdcard]`
 config section now has a default. If this parameter is not specified
 it now defaults to `TURN_OFF_HEATERS`. If the previous behavior is
@@ -140,7 +74,7 @@ carriage are exported as `printer.dual_carriage.carriage_0` and
 `printer.dual_carriage.carriage_1`.

 20230619: The `relative_reference_index` option has been deprecated
-and superseded by the `zero_reference_position` option.  Refer to the
+and superceded by the `zero_reference_position` option.  Refer to the
 [Bed Mesh Documentation](./Bed_Mesh.md#the-deprecated-relative_reference_index)
 for details on how to update the configuration.  With this deprecation
 the `RELATIVE_REFERENCE_INDEX` is no longer available as a parameter
@@ -374,7 +308,7 @@ endstop phases by running the ENDSTOP_PHASE_CALIBRATE command.
 `gear_ratio` for their rotary steppers, and they may no longer specify
 a `step_distance` parameter.  See the
 [config reference](Config_Reference.md#stepper) for the format of the
-new gear_ratio parameter.
+new gear_ratio paramter.

 20201213: It is not valid to specify a Z "position_endstop" when using
 "probe:z_virtual_endstop".  An error will now be raised if a Z
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -84,9 +84,8 @@ The printer section controls high level printer settings.
 [printer]
 kinematics:
 #   The type of printer in use. This option may be one of: cartesian,
-#   corexy, corexz, hybrid_corexy, hybrid_corexz, generic_cartesian,
-#   rotary_delta, delta, deltesian, polar, winch, or none.
-#   This parameter must be specified.
+#   corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
+#   deltesian, polar, winch, or none. This parameter must be specified.
 max_velocity:
 #   Maximum velocity (in mm/s) of the toolhead (relative to the
 #   print). This value may be changed at runtime using the
@@ -126,6 +125,8 @@ max_accel:
 #   decelerate to zero at each corner. The value specified here may be
 #   changed at runtime using the SET_VELOCITY_LIMIT command. The
 #   default is 5mm/s.
+#max_accel_to_decel:
+#   This parameter is deprecated and should no longer be used.
 ```

 ### [stepper]
@@ -711,171 +712,6 @@ anchor_z:
 #   These parameters must be provided.
 ```

-### Generic Cartesian Kinematics
-
-See [example-generic-cartesian.cfg](../config/example-generic-caretesian.cfg)
-for an example generic Cartesian kinematics config file.
-
-This printer kinematic class allows a user to define in a pretty flexible
-manner an arbitrary Cartesian-style kinematics. In principle, the regular
-cartesian, corexy, hybrid_corexy can be defined this way too. However,
-more importantly, various otherwise unsupported kinematics such as
-inverted hybrid_corexy or corexyuv can be defined using this kinematic.
-
-Notably, the definition of a generic Cartesian kinematic deviates
-significantly from the other kinematic types. It follows the following
-convention: a user defines a set of carriages with certain range of motion
-that can move independently from each other (they should move over the
-Cartesian axes X, Y, and Z, hence the name of the kinematic) and
-corresponding endstops that allow the firmware to determine the position
-of carriages during homing, as well as a set of steppers that move those
-carriages. The `[printer]` section must specify the kinematic and
-other printer-level settings same as the regular Cartesian kinematic:
-```
-[printer]
-kinematics: generic_cartesian
-max_velocity:
-max_accel:
-#minimum_cruise_ratio:
-#square_corner_velocity:
-#max_z_velocity:
-#max_z_accel:
-
-```
-
-Then a user must define the following three carriages: `[carriage x]`,
-`[carriage y]`, and `[carriage z]`, e.g.
-```
-[carriage x]
-endstop_pin:
-#   Endstop switch detection pin. If this endstop pin is on a
-#   different mcu than the stepper motor(s) moving this carriage,
-#   then it enables "multi-mcu homing". This parameter must be provided.
-#position_min: 0
-#   Minimum valid distance (in mm) the user may command the carriage to
-#   move to.  The default is 0mm.
-position_endstop:
-#   Location of the endstop (in mm). This parameter must be provided.
-position_max:
-#   Maximum valid distance (in mm) the user may command the stepper to
-#   move to. This parameter must be provided.
-#homing_speed: 5.0
-#   Maximum velocity (in mm/s) of the carriage when homing. The default
-#   is 5mm/s.
-#homing_retract_dist: 5.0
-#   Distance to backoff (in mm) before homing a second time during
-#   homing. Set this to zero to disable the second home. The default
-#   is 5mm.
-#homing_retract_speed:
-#   Speed to use on the retract move after homing in case this should
-#   be different from the homing speed, which is the default for this
-#   parameter
-#second_homing_speed:
-#   Velocity (in mm/s) of the carriage when performing the second home.
-#   The default is homing_speed/2.
-#homing_positive_dir:
-#   If true, homing will cause the carriage to move in a positive
-#   direction (away from zero); if false, home towards zero. It is
-#   better to use the default than to specify this parameter. The
-#   default is true if position_endstop is near position_max and false
-#   if near position_min.
-```
-
-Afterwards, a user specifies the stepper motors that move these carriages,
-for instance
-```
-[stepper my_stepper]
-carriages:
-#   A string describing the carriages the stepper moves. All defined
-#   carriages can be specified here, as well as their linear combinations,
-#   e.g. x, x+y, y-0.5*z, x-z, etc. This parameter must be provided.
-step_pin:
-dir_pin:
-enable_pin:
-rotation_distance:
-microsteps:
-#full_steps_per_rotation: 200
-#gear_ratio:
-#step_pulse_duration:
-```
-See [stepper](#stepper) section for more information on the regular
-stepper parameters. The `carriages` parameter defines how the stepper
-affects the motion of the carriages. For example, `x+y` indicates that
-the motion of the stepper in the positive direction by the distance `d`
-moves the carriages `x` and `y` by the same distance `d` in the positive
-direction, while `x-0.5*y` means the motion of the stepper in the positive
-direction by the distance `d` moves the carriage `x` by the distance `d`
-in the positive direction, but the carriage `y` will travel distance `d/2`
-in the negative direction.
-
-More than a single stepper motor can be defined to drive the same axis
-or belt. For example, on a CoreXY AWD setups two motors driving the same
-belt can be defined as
-```
-[carriage x]
-endstop_pin: ...
-...
-
-[carriage y]
-endstop_pin: ...
-...
-
-[stepper a0]
-carriages: x-y
-step_pin: ...
-dir_pin: ...
-enable_pin: ...
-rotation_distance: ...
-...
-
-[stepper a1]
-carriages: x-y
-step_pin: ...
-dir_pin: ...
-enable_pin: ...
-rotation_distance: ...
-...
-```
-with `a0` and `a1` steppers having their own control pins, but
-sharing the same `carriages` and corresponding endstops.
-
-There are situations when a user wants to have more than one endstop
-per axis. Examples of such configurations include Y axis driven by
-two independent stepper motors with belts attached to both ends of the
-X beam, with effectively two carriages on Y axis each having an
-independent endstop, and multi-stepper Z axis with each stepper having
-its own endstop (not to be confused with the configurations with
-multiple Z motors but only a single endstop). These configurations
-can be declared by specifying additional carriage(s) with their endstops:
-
-```
-[extra_carriage my_carriage]
-primary_carriage:
-#   The name of the primary carriage this carriage corresponds to.
-#   It also effectively defines the axis the carriage moves over.
-#   This parameter must be provided.
-endstop_pin:
-#   Endstop switch detection pin. This parameter must be provided.
-```
-
-and the corresponding stepper motors, for example:
-```
-[extra_carriage y1]
-primary_carriage: y
-endstop_pin: ...
-
-[stepper sy1]
-carriages: y1
-...
-```
-Notably, an `[extra_carriage]` does not define parameters such as
-`position_min`, `position_max`, and `position_endstop`, but instead
-inherits them from the specified `primary_carriage`, thus sharing
-the same range of motion with the primary carriage.
-
-For the references on how to configure IDEX setups, see the
-[dual carriage](#dual-carriage) section.
-
 ### None Kinematics

 It is possible to define a special "none" kinematics to disable
@@ -1833,34 +1669,14 @@ cs_pin:
 #   measurements.
 ```

-### [icm20948]
-
-Support for icm20948 accelerometers.
-
-```
-[icm20948]
-#i2c_address:
-#   Default is 104 (0x68). If AD0 is high, it would be 0x69 instead.
-#i2c_mcu:
-#i2c_bus:
-#i2c_software_scl_pin:
-#i2c_software_sda_pin:
-#i2c_speed: 400000
-#   See the "common I2C settings" section for a description of the
-#   above parameters. The default "i2c_speed" is 400000.
-#axes_map: x, y, z
-#   See the "adxl345" section for information on this parameter.
-```
-
 ### [lis2dw]

 Support for LIS2DW accelerometers.

 ```
 [lis2dw]
-#cs_pin:
-#   The SPI enable pin for the sensor. This parameter must be provided
-#   if using SPI.
+cs_pin:
+#   The SPI enable pin for the sensor. This parameter must be provided.
 #spi_speed: 5000000
 #   The SPI speed (in hz) to use when communicating with the chip.
 #   The default is 5000000.
@@ -1870,46 +1686,6 @@ Support for LIS2DW accelerometers.
 #spi_software_miso_pin:
 #   See the "common SPI settings" section for a description of the
 #   above parameters.
-#i2c_address:
-#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
-#i2c_mcu:
-#i2c_bus:
-#i2c_software_scl_pin:
-#i2c_software_sda_pin:
-#i2c_speed: 400000
-#   See the "common I2C settings" section for a description of the
-#   above parameters. The default "i2c_speed" is 400000.
-#axes_map: x, y, z
-#   See the "adxl345" section for information on this parameter.
-```
-
-### [lis3dh]
-
-Support for LIS3DH accelerometers.
-
-```
-[lis3dh]
-#cs_pin:
-#   The SPI enable pin for the sensor. This parameter must be provided
-#   if using SPI.
-#spi_speed: 5000000
-#   The SPI speed (in hz) to use when communicating with the chip.
-#   The default is 5000000.
-#spi_bus:
-#spi_software_sclk_pin:
-#spi_software_mosi_pin:
-#spi_software_miso_pin:
-#   See the "common SPI settings" section for a description of the
-#   above parameters.
-#i2c_address:
-#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
-#i2c_mcu:
-#i2c_bus:
-#i2c_software_scl_pin:
-#i2c_software_sda_pin:
-#i2c_speed: 400000
-#   See the "common I2C settings" section for a description of the
-#   above parameters. The default "i2c_speed" is 400000.
 #axes_map: x, y, z
 #   See the "adxl345" section for information on this parameter.
 ```
@@ -1973,14 +1749,11 @@ section of the measuring resonances guide for more information on
 #   auto-calibration (with 'SHAPER_CALIBRATE' command). By default no
 #   maximum smoothing is specified. Refer to Measuring_Resonances guide
 #   for more details on using this feature.
-#move_speed: 50
-#   The speed (in mm/s) to move the toolhead to and between test points
-#   during the calibration. The default is 50.
 #min_freq: 5
 #   Minimum frequency to test for resonances. The default is 5 Hz.
 #max_freq: 133.33
 #   Maximum frequency to test for resonances. The default is 133.33 Hz.
-#accel_per_hz: 60
+#accel_per_hz: 75
 #   This parameter is used to determine which acceleration to use to
 #   test a specific frequency: accel = accel_per_hz * freq. Higher the
 #   value, the higher is the energy of the oscillations. Can be set to
@@ -1994,13 +1767,6 @@ section of the measuring resonances guide for more information on
 #   hz_per_sec. Small values make the test slow, and the large values
 #   will decrease the precision of the test. The default value is 1.0
 #   (Hz/sec == sec^-2).
-#sweeping_accel: 400
-#   An acceleration of slow sweeping moves. The default is 400 mm/sec^2.
-#sweeping_period: 1.2
-#   A period of slow sweeping moves. Setting this parameter to 0
-#   disables slow sweeping moves. Avoid setting it to a too small
-#   non-zero value in order to not poison the measurements.
-#   The default is 1.2 sec which is a good all-round choice.
 ```

 ## Config file helpers
@@ -2248,9 +2014,6 @@ Support for eddy current inductive probes. One may define this section
 sensor_type: ldc1612
 #   The sensor chip used to perform eddy current measurements. This
 #   parameter must be provided and must be set to ldc1612.
-#frequency:
-#   The external crystal frequency (in Hz) of the LDC1612 chip.
-#   The default is 12000000.
 #intb_pin:
 #   MCU gpio pin connected to the ldc1612 sensor's INTB pin (if
 #   available). The default is to not use the INTB pin.
@@ -2279,9 +2042,9 @@ sensor_type: ldc1612

 ### [axis_twist_compensation]

-A tool to compensate for inaccurate probe readings due to twist in X or Y
-gantry. See the [Axis Twist Compensation Guide](Axis_Twist_Compensation.md)
-for more detailed information regarding symptoms, configuration and setup.
+A tool to compensate for inaccurate probe readings due to twist in X gantry. See
+the [Axis Twist Compensation Guide](Axis_Twist_Compensation.md) for more
+detailed information regarding symptoms, configuration and setup.

 ```
 [axis_twist_compensation]
@@ -2294,33 +2057,16 @@ for more detailed information regarding symptoms, configuration and setup.
 calibrate_start_x: 20
 #   Defines the minimum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the starting
-#   calibration position.
+#   calibration position. This parameter must be provided.
 calibrate_end_x: 200
 #   Defines the maximum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the ending
-#   calibration position.
+#   calibration position. This parameter must be provided.
 calibrate_y: 112.5
 #   Defines the Y coordinate of the calibration
 #   This should be the Y coordinate that positions the nozzle during the
-#   calibration process. This parameter is recommended to
+#   calibration process. This parameter must be provided and is recommended to
 #   be near the center of the bed
-
-# For Y-axis twist compensation, specify the following parameters:
-calibrate_start_y: ...
-#   Defines the minimum Y coordinate of the calibration
-#   This should be the Y coordinate that positions the nozzle at the starting
-#   calibration position for the Y axis. This parameter must be provided if
-#   compensating for Y axis twist.
-calibrate_end_y: ...
-#   Defines the maximum Y coordinate of the calibration
-#   This should be the Y coordinate that positions the nozzle at the ending
-#   calibration position for the Y axis. This parameter must be provided if
-#   compensating for Y axis twist.
-calibrate_x: ...
-#   Defines the X coordinate of the calibration for Y axis twist compensation
-#   This should be the X coordinate that positions the nozzle during the
-#   calibration process for Y axis twist compensation. This parameter must be
-#   provided and is recommended to be near the center of the bed.
 ```

 ## Additional stepper motors and extruders
@@ -2371,8 +2117,8 @@ for an example configuration.

 ### [dual_carriage]

-Support for cartesian, generic_cartesian and hybrid_corexy/z printers with
-dual carriages on a single axis. The carriage mode can be set via the
+Support for cartesian and hybrid_corexy/z printers with dual carriages
+on a single axis. The carriage mode can be set via the
 SET_DUAL_CARRIAGE extended g-code command. For example,
 "SET_DUAL_CARRIAGE CARRIAGE=1" command will activate the carriage defined
 in this section (CARRIAGE=0 will return activation to the primary carriage).
@@ -2399,7 +2145,7 @@ typically be achieved with
 or a similar command.

 See [sample-idex.cfg](../config/sample-idex.cfg) for an example
-configuration with a regular Cartesian kinematic.
+configuration.

 ```
 [dual_carriage]
@@ -2413,7 +2159,7 @@ axis:
 #   error. If safe_distance is not provided, it will be inferred from
 #   position_min and position_max for the dual and primary carriages. If set
 #   to 0 (or safe_distance is unset and position_min and position_max are
-#   identical for the primary and dual carriages), the carriages proximity
+#   identical for the primary and dual carraiges), the carriages proximity
 #   checks will be disabled.
 #step_pin:
 #dir_pin:
@@ -2427,83 +2173,6 @@ axis:
 #   See the "stepper" section for the definition of the above parameters.
 ```

-For an example of dual carriage configuration with `generic_cartesian`
-kinematic, see the following configuration
-[sample](../config/example-generic-caretesian.cfg).
-Please note that in this case the `[dual_carriage]` configuration deviates
-from the configuration described above:
-```
-[dual_carriage my_dc_carriage]
-primary_carriage:
-#   Defines the matching primary carriage of this dual carriage and
-#   the corresponding IDEX axis. Valid choices are x, y, z.
-#   This parameter must be provided.
-#safe_distance:
-#   The minimum distance (in mm) to enforce between the dual and the primary
-#   carriages. If a G-Code command is executed that will bring the carriages
-#   closer than the specified limit, such a command will be rejected with an
-#   error. If safe_distance is not provided, it will be inferred from
-#   position_min and position_max for the dual and primary carriages. If set
-#   to 0 (or safe_distance is unset and position_min and position_max are
-#   identical for the primary and dual carriages), the carriages proximity
-#   checks will be disabled.
-endstop_pin:
-#position_min:
-position_endstop:
-position_max:
-#homing_speed:
-#homing_retract_dist:
-#homing_retract_speed:
-#second_homing_speed:
-#homing_positive_dir:
-...
-```
-Refer to [generic cartesian](#generic-cartesian) section for more information
-on the regular `carriage` parameters.
-
-Then a user must define one or more stepper motors moving the dual carriage
-(and other carriages as appropriate), for instance
-```
-[carriage x]
-...
-
-[carriage y]
-...
-
-[dual_carriage u]
-primary_carriage: x
-...
-
-[stepper dc_stepper]
-carriages: u-y
-...
-```
-
-`[dual_carriage]` requires special configuration for the input shaper.
-In general, it is necessary to run input shaper calibration twice -
-for the `dual_carriage` and its `primary_carriage` for the axis they
-share. Then the input shaper can be configured as follows, assuming the
-example above:
-```
-[input_shaper]
-# Intentionally empty
-
-[delayed_gcode init_shaper]
-initial_duration: 0.1
-gcode:
-  SET_DUAL_CARRIAGE CARRIAGE=u
-  SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
-  SET_DUAL_CARRIAGE CARRIAGE=x
-  SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
-```
-Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` must be the same in both
-commands in this case, since the same motors drive Y axis when either
-of the `x` and `u` carriages are active.
-
-It is worth noting that `generic_cartesian` kinematic can support two
-dual carriages for X and Y axes. For reference, see for instance a
-[sample](../config/sample-corexyuv.cfg) of CoreXYUV configuration.
-
 ### [extruder_stepper]

 Support for additional steppers synchronized to the movement of an
@@ -2558,13 +2227,6 @@ printer kinematics.
 #   Endstop switch detection pin. If specified, then one may perform
 #   "homing moves" by adding a STOP_ON_ENDSTOP parameter to
 #   MANUAL_STEPPER movement commands.
-#position_min:
-#position_max:
-#   The minimum and maximum position the stepper can be commanded to
-#   move to. If specified then one may not command the stepper to move
-#   past the given position. Note that these limits do not prevent
-#   setting an arbitrary position with the `MANUAL_STEPPER
-#   SET_POSITION=x` command. The default is to not enforce a limit.
 ```

 ## Custom heaters and sensors
@@ -2796,10 +2458,6 @@ postfix for both sections.
 #   "calibration_extruder_temp" option is set.  Its recommended to heat
 #   the extruder some distance from the bed to minimize its impact on
 #   the probe coil temperature.  The default is 50.
-#max_validation_temp: 60.
-#   The maximum temperature used to validate the calibration.  It is
-#   recommended to set this to a value between 100 and 120 for enclosed
-#   printers.  The default is 60.
 ```

 ## Temperature sensors
@@ -3474,6 +3132,11 @@ PCA9632 LED support. The PCA9632 is used on the FlashForge Dreamer.
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
+#scl_pin:
+#sda_pin:
+#   Alternatively, if the pca9632 is not connected to a hardware I2C
+#   bus, then one may specify the "clock" (scl_pin) and "data"
+#   (sda_pin) pins. The default is to use hardware I2C.
 #color_order: RGBW
 #   Set the pixel order of the LED (using a string containing the
 #   letters R, G, B, W). The default is RGBW.
@@ -3543,10 +3206,6 @@ pin:
 #   A list of G-Code commands to execute when the button is released.
 #   G-Code templates are supported. The default is to not run any
 #   commands on a button release.
-#debounce_delay:
-#   A period of time in seconds to debounce events prior to running the
-#   button gcode. If the button is pressed and released during this
-#   delay, the entire button press is ignored. Default is 0.
 ```

 ### [output_pin]
@@ -3725,9 +3384,8 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. Note that the "sensorless homing"
-#   code may temporarily override this setting during homing
-#   operations. The default is 0, which disables "stealthChop" mode.
+#   velocity is below this value. The default is 0, which disables
+#   "stealthChop" mode.
 #coolstep_threshold:
 #   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
 #   threshold to. If set, the coolstep feature will be enabled when
@@ -3776,7 +3434,6 @@ run_current:
 #driver_PWM_FREQ: 1
 #driver_PWM_GRAD: 4
 #driver_PWM_AMPL: 128
-#driver_FREEWHEEL: 0
 #driver_SGT: 0
 #driver_SEMIN: 0
 #driver_SEUP: 0
@@ -3840,9 +3497,8 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. Note that the "sensorless homing"
-#   code may temporarily override this setting during homing
-#   operations. The default is 0, which disables "stealthChop" mode.
+#   velocity is below this value. The default is 0, which disables
+#   "stealthChop" mode.
 #driver_MULTISTEP_FILT: True
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 20
@@ -3857,7 +3513,6 @@ run_current:
 #driver_PWM_FREQ: 1
 #driver_PWM_GRAD: 14
 #driver_PWM_OFS: 36
-#driver_FREEWHEEL: 0
 #   Set the given register during the configuration of the TMC2208
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -3907,7 +3562,6 @@ run_current:
 #driver_PWM_FREQ: 1
 #driver_PWM_GRAD: 14
 #driver_PWM_OFS: 36
-#driver_FREEWHEEL: 0
 #driver_SGTHRS: 0
 #driver_SEMIN: 0
 #driver_SEUP: 0
@@ -4046,9 +3700,8 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. Note that the "sensorless homing"
-#   code may temporarily override this setting during homing
-#   operations. The default is 0, which disables "stealthChop" mode.
+#   velocity is below this value. The default is 0, which disables
+#   "stealthChop" mode.
 #coolstep_threshold:
 #   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
 #   threshold to. If set, the coolstep feature will be enabled when
@@ -4121,7 +3774,6 @@ run_current:
 #driver_SEIMIN: 0
 #driver_SFILT: 0
 #driver_SG4_ANGLE_OFFSET: 1
-#driver_SLOPE_CONTROL: 0
 #   Set the given register during the configuration of the TMC2240
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -4181,9 +3833,8 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. Note that the "sensorless homing"
-#   code may temporarily override this setting during homing
-#   operations. The default is 0, which disables "stealthChop" mode.
+#   velocity is below this value. The default is 0, which disables
+#   "stealthChop" mode.
 #coolstep_threshold:
 #   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
 #   threshold to. If set, the coolstep feature will be enabled when
@@ -4389,21 +4040,16 @@ prefix).

 ### [mcp4018]

-Statically configured MCP4018 digipot connected via i2c (one may
-define any number of sections with an "mcp4018" prefix).
+Statically configured MCP4018 digipot connected via two gpio "bit
+banging" pins (one may define any number of sections with an "mcp4018"
+prefix).

 ```
 [mcp4018 my_digipot]
-#i2c_address: 47
-#   The i2c address that the chip is using on the i2c bus. The default
-#   is 47.
-#i2c_mcu:
-#i2c_bus:
-#i2c_software_scl_pin:
-#i2c_software_sda_pin:
-#i2c_speed:
-#   See the "common I2C settings" section for a description of the
-#   above parameters.
+scl_pin:
+#   The SCL "clock" pin. This parameter must be provided.
+sda_pin:
+#   The SDA "data" pin. This parameter must be provided.
 wiper:
 #   The value to statically set the given MCP4018 "wiper" to. This is
 #   typically set to a number between 0.0 and 1.0 with 1.0 being the
@@ -4431,16 +4077,15 @@ Support for a display attached to the micro-controller.
 [display]
 lcd_type:
 #   The type of LCD chip in use. This may be "hd44780", "hd44780_spi",
-#   "aip31068_spi", "st7920", "emulated_st7920", "uc1701", "ssd1306", or
-#   "sh1106".
+#   "st7920", "emulated_st7920", "uc1701", "ssd1306", or "sh1106".
 #   See the display sections below for information on each type and
 #   additional parameters they provide. This parameter must be
 #   provided.
 #display_group:
 #   The name of the display_data group to show on the display. This
 #   controls the content of the screen (see the "display_data" section
-#   for more information). The default is _default_20x4 for hd44780 or
-#   aip31068_spi displays and _default_16x4 for other displays.
+#   for more information). The default is _default_20x4 for hd44780
+#   displays and _default_16x4 for other displays.
 #menu_timeout:
 #   Timeout for menu. Being inactive this amount of seconds will
 #   trigger menu exit or return to root menu when having autorun
@@ -4566,31 +4211,6 @@ spi_software_miso_pin:
 ...
 ```

-#### aip31068_spi display
-
-Information on configuring an aip31068_spi display - a very similar to hd44780_spi
-a 20x04 (20 symbols by 4 lines) display with slightly different internal
-protocol.
-
-```
-[display]
-lcd_type: aip31068_spi
-latch_pin:
-spi_software_sclk_pin:
-spi_software_mosi_pin:
-spi_software_miso_pin:
-#   The pins connected to the shift register controlling the display.
-#   The spi_software_miso_pin needs to be set to an unused pin of the
-#   printer mainboard as the shift register does not have a MISO pin,
-#   but the software spi implementation requires this pin to be
-#   configured.
-#line_length:
-#   Set the number of characters per line for an hd44780 type lcd.
-#   Possible values are 20 (default) and 16. The number of lines is
-#   fixed to 4.
-...
-```
-
 #### st7920 display

 Information on configuring st7920 displays (which is used in
@@ -4918,11 +4538,6 @@ more information.
 #   dispatch and execution of the runout_gcode. It may be useful to
 #   increase this delay if OctoPrint exhibits strange pause behavior.
 #   Default is 0.5 seconds.
-#debounce_delay:
-#   A period of time in seconds to debounce events prior to running the
-#   switch gcode. The switch must he held in a single state for at least
-#   this long to activate. If the switch is toggled on/off during this delay,
-#   the event is ignored. Default is 0.
 #switch_pin:
 #   The pin on which the switch is connected. This parameter must be
 #   provided.
@@ -5040,19 +4655,9 @@ scale.
 [load_cell]
 sensor_type:
 #   This must be one of the supported sensor types, see below.
-#counts_per_gram:
-#   The floating point number of sensor counts that indicates 1 gram of force.
-#   This value is calculated by the LOAD_CELL_CALIBRATE command.
-#reference_tare_counts:
-#   The integer tare value, in raw sensor counts, taken when LOAD_CELL_CALIBRATE
-#   is run. This is the default tare value when klipper starts up.
-#sensor_orientation:
-#   Change the sensor's orientation. Can be either 'normal' or 'inverted'.
-#   The default is 'normal'. Use 'inverted' if the sensor reports a
-#   decreasing force value when placed under load.
 ```

-#### HX711
+#### XH711
 This is a 24 bit low sample rate chip using "bit-bang" communications. It is
 suitable for filament scales.
 ```
@@ -5120,89 +4725,13 @@ data_ready_pin:
 #gain: 128
 #   Valid gain values are 128, 64, 32, 16, 8, 4, 2, 1
 #   The default is 128
-#pga_bypass: False
-#   Disable the internal Programmable Gain Amplifier. If
-#   True the PGA will be disabled for gains 1, 2, and 4. The PGA is always
-#   enabled for gain settings 8 to 128, regardless of the pga_bypass setting.
-#   If AVSS is used as an input pga_bypass is forced to True.
-#   The default is False.
 #sample_rate: 660
 #   This chip supports two ranges of sample rates, Normal and Turbo. In turbo
-#   mode the chip's internal clock runs twice as fast and the SPI communication
+#   mode the chips c internal clock runs twice as fast and the SPI communication
 #   speed is also doubled.
 #   Normal sample rates: 20, 45, 90, 175, 330, 600, 1000
 #   Turbo sample rates: 40, 90, 180, 350, 660, 1200, 2000
 #   The default is 660
-#input_mux:
-#   Input multiplexer configuration, select a pair of pins to use. The first pin
-#   is the positive, AINP, and the second pin is the negative, AINN. Valid
-#   values are: 'AIN0_AIN1', 'AIN0_AIN2', 'AIN0_AIN3', 'AIN1_AIN2', 'AIN1_AIN3',
-#   'AIN2_AIN3', 'AIN1_AIN0', 'AIN3_AIN2', 'AIN0_AVSS', 'AIN1_AVSS', 'AIN2_AVSS'
-#   and 'AIN3_AVSS'. If AVSS is used the PGA is bypassed and the pga_bypass
-#   setting will be forced to True.
-#   The default is AIN0_AIN1.
-#vref:
-#   The selected voltage reference. Valid values are: 'internal', 'REF0', 'REF1'
-#   and 'analog_supply'. Default is 'internal'.
-```
-
-### [load_cell_probe]
-Load Cell Probe. This combines the functionality of a [probe] and a [load_cell].
-
-```
-[load_cell_probe]
-sensor_type:
-#   This must be one of the supported bulk ADC sensor types and support
-#   load cell endstops on the mcu.
-#counts_per_gram:
-#reference_tare_counts:
-#sensor_orientation:
-#   These parameters must be configured before the probe will operate.
-#   See the [load_cell] section for further details.
-#force_safety_limit: 2000
-#   The safe limit for probing force relative to the reference_tare_counts on
-#   the load_cell. The default is +/-2Kg.
-#trigger_force: 75.0
-#   The force that the probe will trigger at. 75g is the default.
-#drift_filter_cutoff_frequency: 0.8
-#   Enable optional continuous taring while homing & probing to reject drift.
-#   The value is a frequency, in Hz, below which drift will be ignored. This
-#   option requires the SciPy library. Default: None
-#drift_filter_delay: 2
-#   The delay, or 'order', of the drift filter. This controls the number of
-#   samples required to make a trigger detection. Can be 1 or 2, the default
-#   is 2.
-#buzz_filter_cutoff_frequency: 100.0
-#   The value is a frequency, in Hz, above which high frequency noise in the
-#   load cell will be igfiltered outnored. This option requires the SciPy
-#   library. Default: None
-#buzz_filter_delay: 2
-#   The delay, or 'order', of the buzz filter. This controls the number of
-#   samples required to make a trigger detection. Can be 1 or 2, the default
-#   is 2.
-#notch_filter_frequencies: 50, 60
-#   1 or 2 frequencies, in Hz, to filter out of the load cell data. This is
-#   intended to reject power line noise. This option requires the SciPy
-#   library.  Default: None
-#notch_filter_quality: 2.0
-#   Controls how narrow the range of frequencies are that the notch filter
-#   removes. Larger numbers produce a narrower filter. Minimum value is 0.5 and
-#   maximum is 3.0. Default: 2.0
-#tare_time:
-#   The rime in seconds used for taring the load_cell before each probe. The
-#   default value is: 4 / 60 = 0.066. This collects samples from 4 cycles of
-#   60Hz mains power to cancel power line noise.
-#z_offset:
-#speed:
-#samples:
-#sample_retract_dist:
-#lift_speed:
-#samples_result:
-#samples_tolerance:
-#samples_tolerance_retries:
-#activate_gcode:
-#deactivate_gcode:
-#   See the "[probe]" section for a description of the above parameters.
 ```

 ## Board specific hardware support
@@ -5291,50 +4820,6 @@ vssa_pin:
 #   noise. The default is 2 seconds.
 ```

-### [ads1x1x]
-
-ADS1013, ADS1014, ADS1015, ADS1113, ADS1114 and ADS1115 are I2C based Analog to
-Digital Converters that can be used for temperature sensors. They provide 4
-analog input pins either as single line or as differential input.
-
-Note: Use caution if using this sensor to control heaters. The heater min_temp
-and max_temp are only verified in the host and only if the host is running and
-operating normally. (ADC inputs directly connected to the micro-controller
-verify min_temp and max_temp within the micro-controller and do not require a
-working connection to the host.)
-
-```
-[ads1x1x my_ads1x1x]
-chip: ADS1115
-#pga: 4.096V
-#   Default value is 4.096V. The maximum voltage range used for the input. This
-#   scales all values read from the ADC. Options are: 6.144V, 4.096V, 2.048V,
-#   1.024V, 0.512V, 0.256V
-#adc_voltage: 3.3
-#   The supply voltage for the device. This allows additional software scaling
-#   for all values read from the ADC.
-i2c_mcu: host
-i2c_bus: i2c.1
-#address_pin: GND
-#   Default value is GND.  There can be up to four addressed devices depending
-#   upon wiring of the device. Check the datasheet for details. The i2c_address
-#   can be specified directly instead of using the address_pin.
-```
-
-The chip provides pins that can be used on other sensors.
-
-```
-sensor_type: ...
-#   Can be any thermistor or adc_temperature.
-sensor_pin: my_ads1x1x:AIN0
-#   A combination of the name of the ads1x1x chip and the pin. Possible
-#   pin values are AIN0, AIN1, AIN2 and AIN3 for single ended lines and
-#   DIFF01, DIFF03, DIFF13 and DIFF23 for differential between their
-#   corresponding lines. For example
-#   DIFF03 measures the differential between line 0 and 3. Only specific
-#   combinations for the differentials are allowed.
-```
-
 ### [replicape]

 Replicape support - see the [beaglebone guide](Beaglebone.md) and the
@@ -5416,7 +4901,7 @@ Octoprint as they will conflict, and 1 will fail to initialize
 properly likely aborting your print.

 If you use Octoprint and stream gcode over the serial port instead of
-printing from virtual_sd, then remove **M1** and **M0** from *Pausing commands*
+printing from virtual_sd, then remo **M1** and **M0** from *Pausing commands*
 in *Settings > Serial Connection > Firmware & protocol* will prevent
 the need to start print on the Palette 2 and unpausing in Octoprint
 for your print to begin.
@@ -5440,9 +4925,8 @@ serial:
 ### [angle]

 Magnetic hall angle sensor support for reading stepper motor angle
-shaft measurements using a1333, as5047d, mt6816, mt6826s,
-or tle5012b SPI chips.
-The measurements are available via the [API Server](API_Server.md) and
+shaft measurements using a1333, as5047d, or tle5012b SPI chips.  The
+measurements are available via the [API Server](API_Server.md) and
 [motion analysis tool](Debugging.md#motion-analysis-and-data-logging).
 See the [G-Code reference](G-Codes.md#angle) for available commands.

@@ -5450,7 +4934,7 @@ See the [G-Code reference](G-Codes.md#angle) for available commands.
 [angle my_angle_sensor]
 sensor_type:
 #   The type of the magnetic hall sensor chip. Available choices are
-#   "a1333", "as5047d", "mt6816", "mt6826s", and "tle5012b". This parameter must be
+#   "a1333", "as5047d", and "tle5012b". This parameter must be
 #   specified.
 #sample_period: 0.000400
 #   The query period (in seconds) to use during measurements. The
@@ -5513,9 +4997,8 @@ Most Klipper micro-controller implementations only support an
 micro-controller supports a 400000 speed (*fast mode*, 400kbit/s), but it must be
 [set in the operating system](RPi_microcontroller.md#optional-enabling-i2c)
 and the `i2c_speed` parameter is otherwise ignored. The Klipper
-"RP2040" micro-controller and ATmega AVR family and some STM32
-(F0, G0, G4, L4, F7, H7) support a rate of 400000 via the `i2c_speed` parameter.
-All other Klipper micro-controllers use a
+"RP2040" micro-controller and ATmega AVR family support a rate of 400000
+via the `i2c_speed` parameter. All other Klipper micro-controllers use a
 100000 rate and ignore the `i2c_speed` parameter.

 ```
--- a/docs/Contact.md
+++ b/docs/Contact.md
@@ -132,10 +132,3 @@ There are several
 you have questions on the code then you can also ask in the
 [Klipper Discourse Forum](#discourse-forum) or on the
 [Klipper Discord Chat](#discord-chat).
-
-## Professional Services
-
-![](img/klipper-logo-small.png)
-
-Custom software development, software support, and solutions:
-[https://ko-fi.com/koconnor](https://ko-fi.com/koconnor)
--- a/docs/Eddy_Probe.md
+++ b/docs/Eddy_Probe.md
@@ -78,9 +78,7 @@ for further details on how to configure a `temperature_probe`.  It is
 advised to configure the `calibration_position`,
 `calibration_extruder_temp`, `extruder_heating_z`, and
 `calibration_bed_temp` options, as doing so will automate some of the
-steps outlined below.  If the printer to be calibrated is enclosed, it
-is strongly recommended to set the `max_validation_temp` option to a value
-between 100 and 120.
+steps outlined below.

 Eddy probe manufacturers may offer a stock drift calibration that can be
 manually added to `drift_calibration` option of the `[probe_eddy_current]`
--- a/docs/Features.md
+++ b/docs/Features.md
@@ -102,13 +102,11 @@ Klipper supports many standard 3d printer features:
  printers.

 * Automatic bed leveling support. Klipper can be configured for basic
-  bed tilt detection or full mesh bed leveling. The bed mesh can be
-  customized to the print size (adaptive bed mesh). If the bed uses
+  bed tilt detection or full mesh bed leveling. If the bed uses
  multiple Z steppers then Klipper can also level by independently
  manipulating the Z steppers. Most Z height probes are supported,
  including BL-Touch probes and servo activated probes. Probes may be
-  calibrated for axis twist compensation. If using an "eddy current
-  probe" then one can utilize fast bed mesh scanning,
+  calibrated for axis twist compensation.

 * Automatic delta calibration support. The calibration tool can
  perform basic height calibration as well as an enhanced X and Y
@@ -120,7 +118,7 @@ Klipper supports many standard 3d printer features:

 * Support for common temperature sensors (eg, common thermistors,
  AD595, AD597, AD849x, PT100, PT1000, MAX6675, MAX31855, MAX31856,
-  MAX31865, BME280, HTU21D, DS18B20, AHT10, SHT3x, and LM75). Custom
+  MAX31865, BME280, HTU21D, DS18B20, AHT10, and LM75). Custom
  thermistors and custom analog temperature sensors can also be
  configured. One can monitor the internal micro-controller
  temperature sensor and the internal temperature sensor of a
@@ -130,8 +128,7 @@ Klipper supports many standard 3d printer features:

 * Support for standard fans, nozzle fans, and temperature controlled
  fans. No need to keep fans running when the printer is idle. Fan
-  speed can be monitored on fans that have a tachometer. One can
-  assign a "math formula" to a fan for automatic fan speed updating.
+  speed can be monitored on fans that have a tachometer.

 * Support for run-time configuration of TMC2130, TMC2208/TMC2224,
  TMC2209, TMC2240, TMC2660, and TMC5160 stepper motor drivers. There
@@ -157,7 +154,7 @@ Klipper supports many standard 3d printer features:
  filament width sensors.

 * Support for measuring and recording acceleration using adxl345,
-  mpu9250, mpu6050, lis2dw12, lis3dh, and icm20948 accelerometers.
+  mpu9250, mpu6050, and lis2dw12 accelerometers.

 * Support for limiting the top speed of short "zigzag" moves to reduce
  printer vibration and noise. See the [kinematics](Kinematics.md)
@@ -187,16 +184,13 @@ represent total number of steps per second on the micro-controller.
 | SAM4S8C                         | 1690K             | 1385K             |
 | LPC1768                         | 1923K             | 1351K             |
 | LPC1769                         | 2353K             | 1622K             |
+| RP2040                          | 2400K             | 1636K             |
 | SAM4E8E                         | 2500K             | 1674K             |
 | SAMD51                          | 3077K             | 1885K             |
 | AR100                           | 3529K             | 2507K             |
-| STM32G431                       | 3617K             | 2452K             |
 | STM32F407                       | 3652K             | 2459K             |
 | STM32F446                       | 3913K             | 2634K             |
-| RP2040                          | 4000K             | 2571K             |
-| RP2350                          | 4167K             | 2663K             |
-| SAME70                          | 6667K             | 4737K             |
-| STM32H723                       | 7429K             | 8619K             |
+| STM32H743                       | 9091K             | 6061K             |

 If unsure of the micro-controller on a particular board, find the
 appropriate [config file](../config/), and look for the
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -127,14 +127,6 @@ use this tool the Python "numpy" package must be installed (see the
 [measuring resonance document](Measuring_Resonances.md#software-installation)
 for more information).

-#### ANGLE_CHIP_CALIBRATE
-`ANGLE_CHIP_CALIBRATE CHIP=<chip_name>`: Perform internal sensor calibration,
-if implemented (MT6826S/MT6835).
-
- **MT68XX**: The motor should be disconnected
-from any printer carriage before performing calibration.
-After calibration, the sensor should be reset by disconnecting the power.
-
 #### ANGLE_DEBUG_READ
 `ANGLE_DEBUG_READ CHIP=<config_name> REG=<register>`: Queries sensor
 register "register" (e.g. 44 or 0x2C). Can be useful for debugging
@@ -154,13 +146,9 @@ The following commands are available when the
 section](Config_Reference.md#axis_twist_compensation) is enabled.

 #### AXIS_TWIST_COMPENSATION_CALIBRATE
-`AXIS_TWIST_COMPENSATION_CALIBRATE [AXIS=<X|Y>] [SAMPLE_COUNT=<value>]`
-
-Calibrates axis twist compensation by specifying the target axis or
-enabling automatic calibration.
-
- **AXIS:** Define the axis (`X` or `Y`) for which the twist compensation
-will be calibrated. If not specified, the axis defaults to `'X'`.
+`AXIS_TWIST_COMPENSATION_CALIBRATE [SAMPLE_COUNT=<value>]`: Initiates the X
+twist calibration wizard. `SAMPLE_COUNT` specifies the number of points along
+the X axis to calibrate at and defaults to 3.

 ### [bed_mesh]

@@ -174,10 +162,8 @@ The following commands are available when the
 [ADAPTIVE_MARGIN=<value>]`: This command probes the bed using generated points
 specified by the parameters in the config. After probing, a mesh is generated
 and z-movement is adjusted according to the mesh.
-The mesh is immediately active after successful completion of `BED_MESH_CALIBRATE`.
 The mesh will be saved into a profile specified by the `PROFILE` parameter,
-or `default` if unspecified. If ADAPTIVE=1 is specified then the profile
-name will begin with `adaptive-` and should not be saved for reuse.
+or `default` if unspecified.
 See the PROBE command for details on the optional probe parameters. If
 METHOD=manual is specified then the manual probing tool is activated - see the
 MANUAL_PROBE command above for details on the additional commands available
@@ -343,18 +329,15 @@ The following command is available when the
 enabled.

 #### SET_DUAL_CARRIAGE
-`SET_DUAL_CARRIAGE CARRIAGE=<carriage> [MODE=[PRIMARY|COPY|MIRROR]]`:
+`SET_DUAL_CARRIAGE CARRIAGE=[0|1] [MODE=[PRIMARY|COPY|MIRROR]]`:
 This command will change the mode of the specified carriage.
-If no `MODE` is provided it defaults to `PRIMARY`. `<carriage>` must
-reference a defined primary or dual carriage for `generic_cartesian`
-kinematics or be 0 (for primary carriage) or 1 (for dual carriage)
-for all other kinematics supporting IDEX. Setting the mode to `PRIMARY`
-deactivates the other carriage and makes the specified carriage execute
-subsequent G-Code commands as-is. `COPY` and `MIRROR` modes are supported
-only for dual carriages. When set to either of these modes, dual carriage
-will then track the subsequent moves of its primary carriage and either
-copy relative movements of it (in `COPY` mode) or execute them in the
-opposite (mirror) direction (in `MIRROR` mode).
+If no `MODE` is provided it defaults to `PRIMARY`. Setting the mode
+to `PRIMARY` deactivates the other carriage and makes the specified
+carriage execute subsequent G-Code commands as-is. `COPY` and `MIRROR`
+modes are supported only for `CARRIAGE=1`. When set to either of these
+modes, carriage 1 will then track the subsequent moves of the carriage 0
+and either copy relative movements of it (in `COPY` mode) or execute them
+in the opposite (mirror) direction (in `MIRROR` mode).

 #### SAVE_DUAL_CARRIAGE_STATE
 `SAVE_DUAL_CARRIAGE_STATE [NAME=<state_name>]`: Save the current positions
@@ -372,7 +355,7 @@ restored and "MOVE_SPEED" is specified, then the toolhead moves will be
 performed with the given speed (in mm/s); otherwise the toolhead move will
 use the rail homing speed. Note that the carriages restore their positions
 only over their own axis, which may be necessary to correctly restore COPY
-and MIRROR mode of the dual carriage.
+and MIRROR mode of the dual carraige.

 ### [endstop_phase]

@@ -493,20 +476,6 @@ enabled.
 `SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets the
 speed of a fan. "speed" must be between 0.0 and 1.0.

-`SET_FAN_SPEED PIN=config_name TEMPLATE=<template_name>
-[<param_x>=<literal>]`: If `TEMPLATE` is specified then it assigns a
-[display_template](Config_Reference.md#display_template) to the given
-fan. For example, if one defined a `[display_template
-my_fan_template]` config section then one could assign
-`TEMPLATE=my_fan_template` here. The display_template should produce a
-string containing a floating point number with the desired value. The
-template will be continuously evaluated and the fan will be
-automatically set to the resulting speed. One may set display_template
-parameters to use during template evaluation (parameters will be
-parsed as Python literals). If TEMPLATE is an empty string then this
-command will clear any previous template assigned to the pin (one can
-then use `SET_FAN_SPEED` commands to manage the values directly).
-
 ### [filament_switch_sensor]

 The following command is available when a
@@ -584,51 +553,15 @@ state; issue a G28 afterwards to reset the kinematics. This command is
 intended for low-level diagnostics and debugging.

 #### SET_KINEMATIC_POSITION
-
-`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]
-[SET_HOMED=<[X][Y][Z]>] [CLEAR_HOMED=<[X][Y][Z]>]`: Force the
-low-level kinematic code to believe the toolhead is at the given
-cartesian position and set/clear homed status. This is a diagnostic
-and debugging command; use SET_GCODE_OFFSET and/or G92 for regular
-axis transformations. Setting an incorrect or invalid position may
-lead to internal software errors.
-
-The `X`, `Y`, and `Z` parameters are used to alter the low-level
-kinematic position tracking. If any of these parameters are not set
-then the position is not changed - for example `SET_KINEMATIC_POSITION
-Z=10` would set all axes as homed, set the internal Z position to 10,
-and leave the X and Y positions unchanged. Changing the internal
-position tracking is not dependent on the internal homing state - one
-may alter the position for both homed and not homed axes, and
-similarly one may set or clear the homing state of an axis without
-altering its internal position.
-
-The `SET_HOMED` parameter defaults to `XYZ` which instructs the
-kinematics to consider all axes as homed. A bare
-`SET_KINEMATIC_POSITION` command will result in all axes being
-considered homed (and not change its current position). If it is not
-desired to change the state of homed axes then assign `SET_HOMED` to
-an empty string - for example:
-`SET_KINEMATIC_POSITION SET_HOMED= X=10`. It is also possible to
-request an individual axis be considered homed (eg, `SET_HOMED=X`),
-but note that non-cartesian style kinematics (such as delta
-kinematics) may not support setting an individual axis as homed.
-
-The `CLEAR_HOMED` parameter instructs the kinematics to consider the
-given axes as not homed. For example, `CLEAR_HOMED=XYZ` would request
-all axes to be considered not homed (and thus require homing prior to
-movement on those axes). The default is `SET_HOMED=XYZ` even if
-`CLEAR_HOMED` is present, so the command `SET_KINEMATIC_POSITION
-CLEAR_HOMED=Z` will set X and Y as homed and clear the homing state
-for Z.  Use `SET_KINEMATIC_POSITION SET_HOMED= CLEAR_HOMED=Z` if the
-goal is to clear only the Z homing state. If an axis is specified in
-neither `SET_HOMED` nor `CLEAR_HOMED` then its homing state is not
-changed and if it is specified in both then `CLEAR_HOMED` has
-precedence. It is possible to request clearing of an individual axis,
-but on non-cartesian style kinematics (such as delta kinematics) doing
-so may result in clearing the homing state of additional axes. Note
-the `CLEAR` parameter is currently an alias for the `CLEAR_HOMED`
-parameter, but this alias will be removed in the future.
+`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
+the low-level kinematic code to believe the toolhead is at the given
+cartesian position. This is a diagnostic and debugging command; use
+SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
+axis is not specified then it will default to the position that the
+head was last commanded to. Setting an incorrect or invalid position
+may lead to internal software errors. This command may invalidate
+future boundary checks; issue a G28 afterwards to reset the
+kinematics.

 ### [gcode]

@@ -720,46 +653,6 @@ is specified then the toolhead move will be performed with the given
 speed (in mm/s); otherwise the toolhead move will use the restored
 g-code speed.

-### [generic_cartesian]
-The commands in this section become automatically available when
-`kinematics: generic_cartesian` is specified as the printer kinematics.
-
-#### SET_STEPPER_CARRIAGES
-`SET_STEPPER_CARRIAGES STEPPER=<stepper_name> CARRIAGES=<carriages>
-[DISABLE_CHECKS=[0|1]]`: Set or update the stepper carriages.
-`<stepper_name>` must reference an existing stepper defined in `printer.cfg`,
-and `<carriages>` describes the carriages the stepper moves. See
-[Generic Cartesian Kinematics](Config_Reference.md#generic-cartesian-kinematics)
-for a more detailed overview of the `carriages` parameter in the
-stepper configuration section. Note that it is only possible
-to change the coefficients or signs of the carriages with this
-command, but a user cannot add or remove the carriages that the stepper
-controls.
-
-`SET_STEPPER_CARRIAGES` is an advanced tool, and the user is advised
-to exercise an extreme caution using it, since specifying incorrect
-configuration may physically damage the printer.
-
-Note that `SET_STEPPER_CARRIAGES` performs certain internal validations
-of the new printer kinematics after the change. Keep in mind that if it
-detects an issue, it may leave printer kinematics in an invalid state.
-This means that if `SET_STEPPER_CARRIAGES` reports an error, it is unsafe
-to issue other GCode commands, and the user must inspect the error message
-and either fix the problem, or manually restore the previous stepper(s)
-configuration.
-
-Since `SET_STEPPER_CARRIAGES` can update a configuration of a single
-stepper at a time, some sequences of changes can lead to invalid
-intermediate kinematic configurations, even if the final configuration
-is valid. In such cases a user can pass `DISABLE_CHECKS=1` parameters to
-all but the last command to disable intermediate checks. For example,
-if `stepper a` and `stepper b` initially have `x-y` and `x+y` carriages
-correspondingly, then the following sequence of commands will let a user
-effectively swap the carriage controls:
-`SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=x+y DISABLE_CHECKS=1`
-and `SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=x-y`, while
-still validating the final kinematics state.
-
 ### [hall_filament_width_sensor]

 The following commands are available when the
@@ -838,116 +731,6 @@ together with either of SHAPER_TYPE_X and SHAPER_TYPE_Y parameters.
 See [config reference](Config_Reference.md#input_shaper) for more
 details on each of these parameters.

-### [led]
-
-The following command is available when any of the
-[led config sections](Config_Reference.md#leds) are enabled.
-
-#### SET_LED
-`SET_LED LED=<config_name> RED=<value> GREEN=<value> BLUE=<value>
-WHITE=<value> [INDEX=<index>] [TRANSMIT=0] [SYNC=1]`: This sets the
-LED output. Each color `<value>` must be between 0.0 and 1.0. The
-WHITE option is only valid on RGBW LEDs. If the LED supports multiple
-chips in a daisy-chain then one may specify INDEX to alter the color
-of just the given chip (1 for the first chip, 2 for the second,
-etc.). If INDEX is not provided then all LEDs in the daisy-chain will
-be set to the provided color. If TRANSMIT=0 is specified then the
-color change will only be made on the next SET_LED command that does
-not specify TRANSMIT=0; this may be useful in combination with the
-INDEX parameter to batch multiple updates in a daisy-chain. By
-default, the SET_LED command will sync it's changes with other ongoing
-gcode commands.  This can lead to undesirable behavior if LEDs are
-being set while the printer is not printing as it will reset the idle
-timeout. If careful timing is not needed, the optional SYNC=0
-parameter can be specified to apply the changes without resetting the
-idle timeout.
-
-#### SET_LED_TEMPLATE
-`SET_LED_TEMPLATE LED=<led_name> TEMPLATE=<template_name>
-[<param_x>=<literal>] [INDEX=<index>]`: Assign a
-[display_template](Config_Reference.md#display_template) to a given
-[LED](Config_Reference.md#leds). For example, if one defined a
-`[display_template my_led_template]` config section then one could
-assign `TEMPLATE=my_led_template` here. The display_template should
-produce a comma separated string containing four floating point
-numbers corresponding to red, green, blue, and white color settings.
-The template will be continuously evaluated and the LED will be
-automatically set to the resulting colors. One may set
-display_template parameters to use during template evaluation
-(parameters will be parsed as Python literals). If INDEX is not
-specified then all chips in the LED's daisy-chain will be set to the
-template, otherwise only the chip with the given index will be
-updated. If TEMPLATE is an empty string then this command will clear
-any previous template assigned to the LED (one can then use `SET_LED`
-commands to manage the LED's color settings).
-
-### [load_cell]
-
-The following commands are enabled if a
-[load_cell config section](Config_Reference.md#load_cell) has been enabled.
-
-### LOAD_CELL_DIAGNOSTIC
-`LOAD_CELL_DIAGNOSTIC [LOAD_CELL=<config_name>]`: This command collects 10
-seconds of load cell data and reports statistics that can help you verify proper
-operation of the load cell. This command can be run on both calibrated and
-uncalibrated load cells.
-
-### LOAD_CELL_CALIBRATE
-`LOAD_CELL_CALIBRATE [LOAD_CELL=<config_name>]`: Start the guided calibration
-utility. Calibration is a 3 step process:
-1. First you remove all load from the load cell and run the `TARE` command
-2. Next you apply a known load to the load cell and run the
-`CALIBRATE GRAMS=nnn` command
-3. Finally use the `ACCEPT` command to save the results
-
-You can cancel the calibration process at any time with `ABORT`.
-
-### LOAD_CELL_TARE
-`LOAD_CELL_TARE [LOAD_CELL=<config_name>]`: This works just like the tare button
-on digital scale. It sets the current raw reading of the load cell to be the
-zero point reference value. The response is the percentage of the sensors range
-that was read and the raw value in counts. If the load cell is calibrated a
-force in grams is also reported.
-
-### LOAD_CELL_READ load_cell="name"
-`LOAD_CELL_READ [LOAD_CELL=<config_name>]`:
-This command takes a reading from the load cell. The response is the percentage
-of the sensors range that was read and the raw value in counts. If the load cell
-is calibrated a force in grams is also reported.
-
-### [load_cell_probe]
-
-The following commands are enabled if a
-[load_cell config section](Config_Reference.md#load_cell_probe) has been
-enabled.
-
-### LOAD_CELL_TEST_TAP
-`LOAD_CELL_TEST_TAP [TAPS=<taps>] [TIMEOUT=<timeout>]`: Run a testing routine
-that reports taps on the load cell. The toolhead will not move but the load cell
-probe will sense taps just as if it was probing. This can be used as a
-sanity check to make sure that the probe works. This tool replaces
-QUERY_ENDSTOPS and QUERY_PROBE for load cell probes.
- `TAPS`: the number of taps the tool expects
- `TIMEOOUT`: the time, in seconds, that the tool waits for each tab before
-  aborting.
-
-### Load Cell Command Extensions
-Commands that perform probes, such as [`PROBE`](#probe),
-[`PROBE_ACCURACY`](#probe_accuracy),
-[`BED_MESH_CALIBRATE`](#bed_mesh_calibrate) etc. will accept additional
-parameters if a `[load_cell_probe]` is defined. The parameters override the
-corresponding settings from the
-[`[load_cell_probe]`](./Config_Reference.md#load_cell_probe) configuration:
- `FORCE_SAFETY_LIMIT=<grams>`
- `TRIGGER_FORCE=<grams>`
- `DRIFT_FILTER_CUTOFF_FREQUENCY=<frequency_hz>`
- `DRIFT_FILTER_DELAY=<1|2>`
- `BUZZ_FILTER_CUTOFF_FREQUENCY=<frequency_hz>`
- `BUZZ_FILTER_DELAY=<1|2>`
- `NOTCH_FILTER_FREQUENCIES=<list of frequency_hz>`
- `NOTCH_FILTER_QUALITY=<quality>`
- `TARE_TIME=<seconds>`
-
 ### [manual_probe]

 The manual_probe module is automatically loaded.
@@ -1004,25 +787,6 @@ scheduled to run after the stepper move completes, however if a manual
 stepper move uses SYNC=0 then future G-Code movement commands may run
 in parallel with the stepper movement.

-`MANUAL_STEPPER STEPPER=config_name GCODE_AXIS=[A-Z]
-[LIMIT_VELOCITY=<velocity>] [LIMIT_ACCEL=<accel>]
-[INSTANTANEOUS_CORNER_VELOCITY=<velocity>]`: If the `GCODE_AXIS`
-parameter is specified then it configures the stepper motor as an
-extra axis on `G1` move commands.  For example, if one were to issue a
-`MANUAL_STEPPER ... GCODE_AXIS=R` command then one could issue
-commands like `G1 X10 Y20 R30` to move the stepper motor.  The
-resulting moves will occur synchronously with the associated toolhead
-xyz movements.  If the motor is associated with a `GCODE_AXIS` then
-one may no longer issue movements using the above `MANUAL_STEPPER`
-command - one may unregister the stepper with a `MANUAL_STEPPER
-... GCODE_AXIS=` command to resume manual control of the motor. The
-`LIMIT_VELOCITY` and `LIMIT_ACCEL` parameters allow one to reduce the
-speed of `G1` moves if those moves would result in a velocity or
-acceleration above the specified limits. The
-`INSTANTANEOUS_CORNER_VELOCITY` specifies the maximum instantaneous
-velocity change (in mm/s) of the motor during the junction of two
-moves (the default is 1mm/s).
-
 ### [mcp4018]

 The following command is available when a
@@ -1037,6 +801,49 @@ be between 0.0 and 1.0, unless a 'scale' is defined in the config.
 When 'scale' is defined, then this value should be  between 0.0 and
 'scale'.

+### [led]
+
+The following command is available when any of the
+[led config sections](Config_Reference.md#leds) are enabled.
+
+#### SET_LED
+`SET_LED LED=<config_name> RED=<value> GREEN=<value> BLUE=<value>
+WHITE=<value> [INDEX=<index>] [TRANSMIT=0] [SYNC=1]`: This sets the
+LED output. Each color `<value>` must be between 0.0 and 1.0. The
+WHITE option is only valid on RGBW LEDs. If the LED supports multiple
+chips in a daisy-chain then one may specify INDEX to alter the color
+of just the given chip (1 for the first chip, 2 for the second,
+etc.). If INDEX is not provided then all LEDs in the daisy-chain will
+be set to the provided color. If TRANSMIT=0 is specified then the
+color change will only be made on the next SET_LED command that does
+not specify TRANSMIT=0; this may be useful in combination with the
+INDEX parameter to batch multiple updates in a daisy-chain. By
+default, the SET_LED command will sync it's changes with other ongoing
+gcode commands.  This can lead to undesirable behavior if LEDs are
+being set while the printer is not printing as it will reset the idle
+timeout. If careful timing is not needed, the optional SYNC=0
+parameter can be specified to apply the changes without resetting the
+idle timeout.
+
+#### SET_LED_TEMPLATE
+`SET_LED_TEMPLATE LED=<led_name> TEMPLATE=<template_name>
+[<param_x>=<literal>] [INDEX=<index>]`: Assign a
+[display_template](Config_Reference.md#display_template) to a given
+[LED](Config_Reference.md#leds). For example, if one defined a
+`[display_template my_led_template]` config section then one could
+assign `TEMPLATE=my_led_template` here. The display_template should
+produce a comma separated string containing four floating point
+numbers corresponding to red, green, blue, and white color settings.
+The template will be continuously evaluated and the LED will be
+automatically set to the resulting colors. One may set
+display_template parameters to use during template evaluation
+(parameters will be parsed as Python literals). If INDEX is not
+specified then all chips in the LED's daisy-chain will be set to the
+template, otherwise only the chip with the given index will be
+updated. If TEMPLATE is an empty string then this command will clear
+any previous template assigned to the LED (one can then use `SET_LED`
+commands to manage the LED's color settings).
+
 ### [output_pin]

 The following command is available when an
@@ -1050,20 +857,6 @@ output `VALUE`. VALUE should be 0 or 1 for "digital" output pins. For
 PWM pins, set to a value between 0.0 and 1.0, or between 0.0 and
 `scale` if a scale is configured in the output_pin config section.

-`SET_PIN PIN=config_name TEMPLATE=<template_name> [<param_x>=<literal>]`:
-If `TEMPLATE` is specified then it assigns a
-[display_template](Config_Reference.md#display_template) to the given
-pin. For example, if one defined a `[display_template
-my_pin_template]` config section then one could assign
-`TEMPLATE=my_pin_template` here. The display_template should produce a
-string containing a floating point number with the desired value. The
-template will be continuously evaluated and the pin will be
-automatically set to the resulting value. One may set display_template
-parameters to use during template evaluation (parameters will be
-parsed as Python literals). If TEMPLATE is an empty string then this
-command will clear any previous template assigned to the pin (one can
-then use `SET_PIN` commands to manage the values directly).
-
 ### [palette2]

 The following commands are available when the
@@ -1099,6 +892,20 @@ Palette 2 once the loading has been completed. This command is the
 same as pressing **Smart Load** directly on the Palette 2 screen after
 the filament load is complete.

+### [pid_calibrate]
+
+The pid_calibrate module is automatically loaded if a heater is defined
+in the config file.
+
+#### PID_CALIBRATE
+`PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
+[WRITE_FILE=1]`: Perform a PID calibration test. The specified heater
+will be enabled until the specified target temperature is reached, and
+then the heater will be turned off and on for several cycles. If the
+WRITE_FILE parameter is enabled, then the file /tmp/heattest.txt will
+be created with a log of all temperature samples taken during the
+test.
+
 ### [pause_resume]

 The following commands are available when the
@@ -1124,20 +931,6 @@ the paused state is fresh for each print.
 #### CANCEL_PRINT
 `CANCEL_PRINT`: Cancels the current print.

-### [pid_calibrate]
-
-The pid_calibrate module is automatically loaded if a heater is defined
-in the config file.
-
-#### PID_CALIBRATE
-`PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
-[WRITE_FILE=1]`: Perform a PID calibration test. The specified heater
-will be enabled until the specified target temperature is reached, and
-then the heater will be turned off and on for several cycles. If the
-WRITE_FILE parameter is enabled, then the file /tmp/heattest.txt will
-be created with a log of all temperature samples taken during the
-test.
-
 ### [print_stats]

 The print_stats module is automatically loaded.
@@ -1228,21 +1021,6 @@ CYCLE_TIME parameter is not stored between SET_PIN commands (any
 SET_PIN command without an explicit CYCLE_TIME parameter will use the
 `cycle_time` specified in the pwm_cycle_time config section).

-### [quad_gantry_level]
-
-The following commands are available when the
-[quad_gantry_level config section](Config_Reference.md#quad_gantry_level)
-is enabled.
-
-#### QUAD_GANTRY_LEVEL
-`QUAD_GANTRY_LEVEL [RETRIES=<value>] [RETRY_TOLERANCE=<value>]
-[HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This command
-will probe the points specified in the config and then make
-independent adjustments to each Z stepper to compensate for tilt. See
-the PROBE command for details on the optional probe parameters. The
-optional `RETRIES`, `RETRY_TOLERANCE`, and `HORIZONTAL_MOVE_Z` values
-override those options specified in the config file.
-
 ### [query_adc]

 The query_adc module is automatically loaded.
@@ -1278,19 +1056,20 @@ is enabled (also see the
 all enabled accelerometer chips.

 #### TEST_RESONANCES
-`TEST_RESONANCES AXIS=<axis> [OUTPUT=<resonances,raw_data>]
+`TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
 [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-[ACCEL_PER_HZ=<accel_per_hz>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<chip_name>]
-[POINT=x,y,z] [INPUT_SHAPING=<0:1>]`: Runs the resonance
+[HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
 test in all configured probe points for the requested "axis" and
 measures the acceleration using the accelerometer chips configured for
 the respective axis. "axis" can either be X or Y, or specify an
 arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
 point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
 `AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
-and `AXIS=-dx,-dy` is equivalent. `chip_name` can be one or
-more configured accel chips, delimited with comma, for example
-`CHIPS="adxl345, adxl345 rpi"`. If POINT is specified it will override the point(s)
+and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
+more configured adxl345 chip,delimited with comma, for example
+`CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
+named adxl345 chips. If POINT is specified it will override the point(s)
 configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
 disables input shaping for the resonance testing, because
 it is not valid to run the resonance testing with the input shaper
@@ -1307,9 +1086,8 @@ frequency response is calculated (across all probe points) and written into

 #### SHAPER_CALIBRATE
 `SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>] [FREQ_START=<min_freq>]
-[FREQ_END=<max_freq>] [ACCEL_PER_HZ=<accel_per_hz>][HZ_PER_SEC=<hz_per_sec>]
-[CHIPS=<chip_name>] [MAX_SMOOTHING=<max_smoothing>] [INPUT_SHAPING=<0:1>]`:
-Similarly to `TEST_RESONANCES`, runs
+[FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[MAX_SMOOTHING=<max_smoothing>]`: Similarly to `TEST_RESONANCES`, runs
 the resonance test as configured, and tries to find the optimal
 parameters for the input shaper for the requested axis (or both X and
 Y axes if `AXIS` parameter is unset). If `MAX_SMOOTHING` is unset, its
@@ -1359,9 +1137,8 @@ has been enabled.

 #### SAVE_VARIABLE
 `SAVE_VARIABLE VARIABLE=<name> VALUE=<value>`: Saves the variable to
-disk so that it can be used across restarts. The VARIABLE must be lowercase.
-All stored variables are loaded into the
-`printer.save_variables.variables` dict at startup and
+disk so that it can be used across restarts. All stored variables are
+loaded into the `printer.save_variables.variables` dict at startup and
 can be used in gcode macros. The provided VALUE is parsed as a Python
 literal.

@@ -1505,42 +1282,6 @@ temperature_fan. If a target is not supplied, it is set to the
 specified temperature in the config file. If speeds are not supplied,
 no change is applied.

-### [temperature_probe]
-
-The following commands are available when a
-[temperature_probe config section](Config_Reference.md#temperature_probe)
-is enabled.
-
-#### TEMPERATURE_PROBE_CALIBRATE
-`TEMPERATURE_PROBE_CALIBRATE [PROBE=<probe name>] [TARGET=<value>] [STEP=<value>]`:
-Initiates probe drift calibration for eddy current based probes.  The `TARGET`
-is a target temperature for the last sample.  When the temperature recorded
-during a sample exceeds the `TARGET` calibration will complete.  The `STEP`
-parameter sets temperature delta (in C) between samples. After a sample has
-been taken, this delta is used to schedule a call to `TEMPERATURE_PROBE_NEXT`.
-The default `STEP` is 2.
-
-#### TEMPERATURE_PROBE_NEXT
-`TEMPERATURE_PROBE_NEXT`: After calibration has started this command is run to
-take the next sample.  It is automatically scheduled to run when the delta
-specified by `STEP` has been reached, however its also possible to manually run
-this command to force a new sample.  This command is only available during
-calibration.
-
-#### TEMPERATURE_PROBE_COMPLETE:
-`TEMPERATURE_PROBE_COMPLETE`:  Can be used to end calibration and save the
-current result before the `TARGET` temperature is reached.  This command
-is only available during calibration.
-
-#### ABORT
-`ABORT`:  Aborts the calibration process, discarding the current results.
-This command is only available during drift calibration.
-
-### TEMPERATURE_PROBE_ENABLE
-`TEMPERATURE_PROBE_ENABLE ENABLE=[0|1]`: Sets temperature drift
-compensation on or off. If ENABLE is set to 0, drift compensation
-will be disabled, if set to 1 it is enabled.
-
 ### [tmcXXXX]

 The following commands are available when any of the
@@ -1669,10 +1410,44 @@ The following commands are available when the
 [z_tilt config section](Config_Reference.md#z_tilt) is enabled.

 #### Z_TILT_ADJUST
-`Z_TILT_ADJUST [RETRIES=<value>] [RETRY_TOLERANCE=<value>]
-[HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This command
-will probe the points specified in the config and then make
-independent adjustments to each Z stepper to compensate for tilt. See
-the PROBE command for details on the optional probe parameters. The
-optional `RETRIES`, `RETRY_TOLERANCE`, and `HORIZONTAL_MOVE_Z` values
-override those options specified in the config file.
+`Z_TILT_ADJUST [HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This
+command will probe the points specified in the config and then make independent
+adjustments to each Z stepper to compensate for tilt. See the PROBE command for
+details on the optional probe parameters. The optional `HORIZONTAL_MOVE_Z`
+value overrides the `horizontal_move_z` option specified in the config file.
+
+### [temperature_probe]
+
+The following commands are available when a
+[temperature_probe config section](Config_Reference.md#temperature_probe)
+is enabled.
+
+#### TEMPERATURE_PROBE_CALIBRATE
+`TEMPERATURE_PROBE_CALIBRATE [PROBE=<probe name>] [TARGET=<value>] [STEP=<value>]`:
+Initiates probe drift calibration for eddy current based probes.  The `TARGET`
+is a target temperature for the last sample.  When the temperature recorded
+during a sample exceeds the `TARGET` calibration will complete.  The `STEP`
+parameter sets temperature delta (in C) between samples. After a sample has
+been taken, this delta is used to schedule a call to `TEMPERATURE_PROBE_NEXT`.
+The default `STEP` is 2.
+
+#### TEMPERATURE_PROBE_NEXT
+`TEMPERATURE_PROBE_NEXT`: After calibration has started this command is run to
+take the next sample.  It is automatically scheduled to run when the delta
+specified by `STEP` has been reached, however its also possible to manually run
+this command to force a new sample.  This command is only available during
+calibration.
+
+#### TEMPERATURE_PROBE_COMPLETE:
+`TEMPERATURE_PROBE_COMPLETE`:  Can be used to end calibration and save the
+current result before the `TARGET` temperature is reached.  This command
+is only available during calibration.
+
+#### ABORT
+`ABORT`:  Aborts the calibration process, discarding the current results.
+This command is only available during drift calibration.
+
+### TEMPERATURE_PROBE_ENABLE
+`TEMPERATURE_PROBE_ENABLE ENABLE=[0|1]`: Sets temperature drift
+compensation on or off. If ENABLE is set to 0, drift compensation
+will be disabled, if set to 1 it is enabled.
--- a/docs/Installation.md
+++ b/docs/Installation.md
@@ -1,20 +1,15 @@
 # Installation

-These instructions assume the software will run on a Linux-based host
-running a Klipper-compatible front end. It is recommended that a
-SBC(Small Board Computer) such as a Raspberry Pi or Debian-based Linux
-device be used as the host machine (see the
+These instructions assume the software will run on a Raspberry Pi
+computer in conjunction with OctoPrint. It is recommended that a
+Raspberry Pi 2 (or later) be used as the host machine (see the
 [FAQ](FAQ.md#can-i-run-klipper-on-something-other-than-a-raspberry-pi-3)
-for other options).
-
-For the purposes of these instructions, host relates to the Linux device and
-mcu relates to the printer board. SBC relates to the term Small Board Computer
-such as the Raspberry Pi.
+for other machines).

 ## Obtain a Klipper Configuration File

 Most Klipper settings are determined by a "printer configuration file"
-printer.cfg, that will be stored on the host. An appropriate configuration
+that will be stored on the Raspberry Pi. An appropriate configuration
 file can often be found by looking in the Klipper
 [config directory](../config/) for a file starting with a "printer-"
 prefix that corresponds to the target printer. The Klipper
@@ -40,51 +35,38 @@ printer configuration file, then start with the closest example
 [config file](../config/) and use the Klipper
 [config reference](Config_Reference.md) for further information.

-## Interacting with Klipper
+## Prepping an OS image

-Klipper is a 3d printer firmware, so it needs some way for the user to
-interact with it.
+Start by installing [OctoPi](https://github.com/guysoft/OctoPi) on the
+Raspberry Pi computer. Use OctoPi v0.17.0 or later - see the
+[OctoPi releases](https://github.com/guysoft/OctoPi/releases) for
+release information. One should verify that OctoPi boots and that the
+OctoPrint web server works. After connecting to the OctoPrint web
+page, follow the prompt to upgrade OctoPrint to v1.4.2 or later.

-Currently the best choices are front ends that retrieve information through
-the [Moonraker web API](https://moonraker.readthedocs.io/) and there is also
-the option to use [Octoprint](https://octoprint.org/) to control Klipper.
+After installing OctoPi and upgrading OctoPrint, it will be necessary
+to ssh into the target machine to run a handful of system commands. If
+using a Linux or MacOS desktop, then the "ssh" software should already
+be installed on the desktop. There are free ssh clients available for
+other desktops (eg,
+[PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/)). Use the
+ssh utility to connect to the Raspberry Pi (`ssh pi@octopi` -- password
+is "raspberry") and run the following commands:

-The choice is up to the user on what to use, but the underlying Klipper is the
-same in all cases. We encourage users to research the options available and
-make an informed decision.
+```
+git clone https://github.com/Klipper3d/klipper
+./klipper/scripts/install-octopi.sh
+```

-## Obtaining an OS image for SBC's
-
-There are many ways to obtain an OS image for Klipper for SBC use, most depend on
-what front end you wish to use. Some manufacturers of these SBC boards also provide
-their own Klipper-centric images.
-
-The two main Moonraker-based front ends are [Fluidd](https://docs.fluidd.xyz/)
-and [Mainsail](https://docs.mainsail.xyz/), the latter of which has a premade install
-image ["MainsailOS"](https://docs-os.mainsail.xyz/), this has the option for Raspberry Pi
-and some OrangePi variants.
-
-Fluidd can be installed via KIAUH(Klipper Install And Update Helper), which
-is explained below and is a 3rd party installer for all things Klipper.
-
-OctoPrint can be installed via the popular OctoPi image or via KIAUH, this
-process is explained in [OctoPrint.md](OctoPrint.md)
-
-## Installing via KIAUH
-
-Normally you would start with a base image for your SBC, RPiOS Lite for example,
-or in the case of an x86 Linux device, Ubuntu Server. Please note that Desktop
-variants are not recommended due to certain helper programs that can stop some
-Klipper functions from working and even mask access to some printer boards.
-
-KIAUH can be used to install Klipper and its associated programs on a variety
-of Linux-based systems that run a form of Debian. More information can be found
-at https://github.com/dw-0/kiauh
+The above will download Klipper, install some system dependencies,
+setup Klipper to run at system startup, and start the Klipper host
+software. It will require an internet connection and it may take a few
+minutes to complete.

 ## Building and flashing the micro-controller

 To compile the micro-controller code, start by running these commands
-on your host device:
+on the Raspberry Pi:

 ```
 cd ~/klipper/
@@ -106,7 +88,7 @@ make
 If the comments at the top of the
 [printer configuration file](#obtain-a-klipper-configuration-file)
 describe custom steps for "flashing" the final image to the printer
-control board, then follow those steps and then proceed to
+control board then follow those steps and then proceed to
 [configuring OctoPrint](#configuring-octoprint-to-use-klipper).

 Otherwise, the following steps are often used to "flash" the printer
@@ -126,40 +108,10 @@ It should report something similar to the following:
 It's common for each printer to have its own unique serial port name.
 This unique name will be used when flashing the micro-controller. It's
 possible there may be multiple lines in the above output - if so,
-choose the line corresponding to the micro-controller. If many
-items are listed and the choice is ambiguous, unplug the board and
-run the command again, the missing item will be your print board(see the
+choose the line corresponding to the micro-controller (see the
 [FAQ](FAQ.md#wheres-my-serial-port) for more information).

-For common micro-controllers with STM32 or clone chips, LPC chips and
-others, it is usual that these need an initial Klipper flash via SD card.
-
-When flashing with this method, it is important to make sure that the
-print board is not connected with USB to the host, due to some boards
-being able to feed power back to the board and stopping a flash from
-occurring.
-
-Please note, that most print boards that use SD cards for flash will
-implement some kind of flash loop protection for when the sd card is left
-in place. There are two common methods:
-
-Filename Change Required (usually "stock" print boards):
-
-These boards require the firmware file to have a different name each
-time you flash (for example, firmware1.bin, firmware2.bin, etc.).
-If you reuse the same filename, the board may ignore it and not update.
-
-Automatic File Renaming (usually aftermarket print boards:
-
-Other boards allow using the same filename, commonly firmware.bin,
-but after flashing, the board renames the file to firmware.cur.
-This helps indicate the firmware was successfully flashed and prevents
-it from flashing again on the next startup.
-
-Before flashing, make sure to check which behavior your board follows.
-
-For common micro-controllers using Atmega chips, for example the 2560,
-the code can be flashed with something
+For common micro-controllers, the code can be flashed with something
 similar to:

 ```
@@ -171,38 +123,53 @@ sudo service klipper start
 Be sure to update the FLASH_DEVICE with the printer's unique serial
 port name.

-For common micro-controllers using RP2040 chips, the code can be flashed
-with something similar to:
+When flashing for the first time, make sure that OctoPrint is not
+connected directly to the printer (from the OctoPrint web page, under
+the "Connection" section, click "Disconnect").

-```
-sudo service klipper stop
-make flash FLASH_DEVICE=first
-sudo service klipper start
-```
+## Configuring OctoPrint to use Klipper

-It is important to note that RP2040 chips may need to be put into Boot mode
-before this operation.
+The OctoPrint web server needs to be configured to communicate with
+the Klipper host software. Using a web browser, login to the OctoPrint
+web page and then configure the following items:

+Navigate to the Settings tab (the wrench icon at the top of the
+page). Under "Serial Connection" in "Additional serial ports" add
+`/tmp/printer`. Then click "Save".
+
+Enter the Settings tab again and under "Serial Connection" change the
+"Serial Port" setting to `/tmp/printer`.
+
+In the Settings tab, navigate to the "Behavior" sub-tab and select the
+"Cancel any ongoing prints but stay connected to the printer"
+option. Click "Save".
+
+From the main page, under the "Connection" section (at the top left of
+the page) make sure the "Serial Port" is set to `/tmp/printer` and
+click "Connect". (If `/tmp/printer` is not an available selection then
+try reloading the page.)
+
+Once connected, navigate to the "Terminal" tab and type "status"
+(without the quotes) into the command entry box and click "Send". The
+terminal window will likely report there is an error opening the
+config file - that means OctoPrint is successfully communicating with
+Klipper. Proceed to the next section.

 ## Configuring Klipper

 The next step is to copy the
 [printer configuration file](#obtain-a-klipper-configuration-file) to
-the host.
+the Raspberry Pi.

-Arguably the easiest way to set the Klipper configuration file is using the
-built-in editors in Mainsail or Fluidd. These will allow the user to open
-the configuration examples and save them to be printer.cfg.
-
-Another option is to use a desktop editor that supports editing files
-over the "scp" and/or "sftp" protocols. There are freely available tools
-that support this (eg, Notepad++, WinSCP, and Cyberduck).
-Load the printer config file in the editor and then save it as a file
-named "printer.cfg" in the home directory of the pi user
-(ie, /home/pi/printer.cfg).
+Arguably the easiest way to set the Klipper configuration file is to
+use a desktop editor that supports editing files over the "scp" and/or
+"sftp" protocols. There are freely available tools that support this
+(eg, Notepad++, WinSCP, and Cyberduck). Load the printer config file
+in the editor and then save it as a file named `printer.cfg` in the
+home directory of the pi user (ie, `/home/pi/printer.cfg`).

 Alternatively, one can also copy and edit the file directly on the
-host via SSH. That may look something like the following (be
+Raspberry Pi via ssh. That may look something like the following (be
 sure to update the command to use the appropriate printer config
 filename):

@@ -233,9 +200,9 @@ the `[mcu]` section to look something similar to:
 serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
 ```

-After creating and editing the file, it will be necessary to issue a
-"restart" command in the command console to load the config. A
-"status" command will report that the printer is ready if the Klipper
+After creating and editing the file it will be necessary to issue a
+"restart" command in the OctoPrint web terminal to load the config. A
+"status" command will report the printer is ready if the Klipper
 config file is successfully read and the micro-controller is
 successfully found and configured.

@@ -244,10 +211,10 @@ Klipper to report a configuration error. If an error occurs, make any
 necessary corrections to the printer config file and issue "restart"
 until "status" reports the printer is ready.

-Klipper reports error messages via the command console and pop-ups in
-Fluidd and Mainsail. The "status" command can be used to re-report error
-messages. A log is available and usually located at
-`~/printer_data/logs/klippy.log`.
+Klipper reports error messages via the OctoPrint terminal tab. The
+"status" command can be used to re-report error messages. The default
+Klipper startup script also places a log in **/tmp/klippy.log** which
+provides more detailed information.

 After Klipper reports that the printer is ready, proceed to the
 [config check document](Config_checks.md) to perform some basic checks
--- a/docs/Load_Cell.md
+++ b/docs/Load_Cell.md
@@ -1,489 +0,0 @@
-# Load Cells
-
-This document describes Klipper's support for load cells. Basic load cell
-functionality can be used to read force data and to weigh things like filament.
-A calibrated force sensor is an important part of a load cell based probe.
-
-## Related Documentation
-
-* [load_cell Config Reference](Config_Reference.md#load_cell)
-* [load_cell G-Code Commands](G-Codes.md#load_cell)
-* [load_cell Status Reference](Status_Reference.md#load_cell)
-
-## Using `LOAD_CELL_DIAGNOSTIC`
-
-When you first connect a load cell its good practice to check for issues by
-running `LOAD_CELL_DIAGNOSTIC`. This tool collects 10 seconds of data from the
-load cell and resport statistics:
-
-```
-$ LOAD_CELL_DIAGNOSTIC
-// Collecting load cell data for 10 seconds...
-// Samples Collected: 3211
-// Measured samples per second: 332.0
-// Good samples: 3211, Saturated samples: 0, Unique values: 900
-// Sample range: [4.01% to 4.02%]
-// Sample range / sensor capacity: 0.00524%
-```
-
-Things you can check with this data:
-
-* The configured sample rate of the sensor should be close to the 'Measured
-  samples per second' value. If it is not you may have a configuration or wiring
-  issue.
-* 'Saturated samples' should be 0. If you have saturated samples it means the
-  load sell is seeing more force than it can measure.
-* 'Unique values' should be a large percentage of the 'Samples
-  Collected' value. If 'Unique values' is 1 it is very likely a wiring issue.
-* Tap or push on the sensor while `LOAD_CELL_DIAGNOSTIC` runs. If
-  things are working correctly this should increase the 'Sample range'.
-
-## Calibrating a Load Cell
-
-Load cells are calibrated using the `LOAD_CELL_CALIBRATE` command. This is an
-interactive calibration utility that walks you though a 3 step process:
-
-1. First use the `TARE` command to establish the zero force value. This is the
-   `reference_tare_counts` config value.
-2. Next you apply a known load or force to the load cell and run the
-   `CALIBRATE GRAMS=nnn` command. From this the `counts_per_gram` value is
-   calculated. See [the next section](#applying-a-known-force-or-load) for some
-   suggestions on how to do this.
-3. Finally, use the `ACCEPT` command to save the results.
-
-You can cancel the calibration process at any time with `ABORT`.
-
-### Applying a Known Force or Load
-
-The `CALIBRATE GRAMS=nnn` step can be accomplished in a number of ways. If your
-load cell is under a platform like a bed or filament holder it might be easiest
-to put a known mass on the platform. E.g. you could use a couple of 1KG filament
-spools.
-
-If your load cell is in the printer's toolhead a different approach is easier.
-Put a digital scale on the printers bed and gently lower the toolhead onto the
-scale (or raise the bed into the toolhead if your bed moves). You may be able to
-do this using the `FORCE_MOVE` command. But more likely you will have to
-manually moving the z axis with the motors off until the toolhead presses on the
-scale.
-
-A good calibration force would ideally be a large percentage of the load cell's
-rated capacity. E.g. if you have a 5Kg load cell you would ideally calibrate it
-with a 5kg mass. This might work well with under-bed sensors that have to
-support a lot of weight. For toolhead probes this may not be a load that your
-printer bed or toolhead can tolerate without damage. Do try to use at least 1Kg
-of force, most printers should tolerate this without issue.
-
-When calibrating make careful note of the values reported:
-
-```
-$ CALIBRATE GRAMS=555
-// Calibration value: -2.78% (-59803108), Counts/gram: 73039.78739,
-Total capacity: +/- 29.14Kg
-```
-
-The `Total capacity` should be close to the theoretical rating of the load cell
-based on the sensor's capacity. If it is much larger you could have used a
-higher gain setting in the sensor or a more sensitive load cell. This isn't as
-critical for 32bit and 24bit sensors but is much more critical for low bit width
-sensors.
-
-## Reading Force Data
-Force data can be read with a GCode command:
-
-```
-LOAD_CELL_READ
-// 10.6g (1.94%)
-```
-
-Data is also continuously read and can be consumed from the load_cell printer
-object in a macro:
-
-```
-{% set grams = printer.load_cell.force_g %}
-```
-
-This provides an average force over the last 1 second, similar to how
-temperature sensors work.
-
-## Taring a Load Cell
-Taring, sometimes called zeroing, sets the current weight reported by the
-load_cell to 0. This is useful for measuring relative to a known weight. e.g.
-when measuring a filament spool, using `LOAD_CELL_TARE` sets the weight to 0.
-Then as filament is printed the load_cell will report the weight of the
-filament used.
-
-```
-LOAD_CELL_TARE
-// Load cell tare value: 5.32% (445903)
-```
-
-The current tare value is reported in the printers status and can be read in
-a macro:
-
-```
-{% set tare_counts = printer.load_cell.tare_counts %}
-```
-
-# Load Cell Probes
-
-## Related Documentation
-
-* [load_cell_probe Config Reference](Config_Reference.md#load_cell_probe)
-* [load_cell_probe G-Code Commands](G-Codes.md#load_cell_probe)
-* [load_cell_probe Statuc Reference](Status_Reference.md#load_cell_probe)
-
-## Load Cell Probe Safety
-
-Because load cells are a direct nozzle contact probe there is a risk of
-damage to your printer if too much force is used. The load cell probing system
-includes a number of safety checks that try to keep your machine safe from
-excessive force to the toolhead. It's important to understand what they are
-and how they work as you can defeat most of them with poorly chosen config
-values.
-
-#### Calibration Check
-Every time a homing move starts, load_cell_probe checks
-that the load_cell is calibrated. If not it will stop the move with an error:
-`!! Load Cell not calibrated`.
-
-#### `counts_per_gram`
-This setting is used to convert raw sensor counts into grams. All the safety
-limits are in gram units for your convenience. If the `counts_per_gram`
-setting is not accurate you can easily exceed the safe force on the toolhead.
-You should never guess this value. Use `LOAD_CELL_CALIBRATE` to find your load
-cells actual `counts_per_gram`.
-
-#### `trigger_force`
-This is the force in grams that triggers the endstop to halt the homing move.
-When a homing move starts the endstop tares itself with the current reading
-from the load cell. `trigger_force` is measured from that tare value. There is
-always some overshoot of this value when the probe collides with the bed,
-so be conservative. e.g. a setting of 100g could result in 350g of peak force
-before the toolhead stops. This overshoot will increase with faster probing
-`speed`, a low ADC sample rate or [multi MCU homing](Multi_MCU_Homing.md).
-
-#### `reference_tare_counts`
-This is the baseline tare value that is set by `LOAD_CELL_CALIBRATE`.
-This value works with `force_safety_limit` to limit the maximum force on the
-toolhead.
-
-#### `force_safety_limit`
-This is the maximum absolute force, relative to `reference_tare_counts`,
-that the probe will allow while homing or probing. If the MCU sees this
-force exceeded it will shut down the printer with the error `!! Load cell
-endstop: too much force!`. There are a number of ways this can be triggered:
-
-The first risk this protects against is picking too large of a value for
-`drift_filter_cutoff_frequency`. This can cause the drift filter to filter out
-a probe event and continue the homing move. If this happens the
-`force_safety_limit` acts as a backup protection.
-
-The second problem is probing repeatedly in one place. Klipper does not retract
-the probe when doing a single `PROBE` command. This can result
-in force applied to the toolhead at the end of a probing cycle. Because
-external forces can vary greatly between probing locations,
-`load_cell_probe` performs a tare before beginning each probe. If you repeat
-the `PROBE` command, load_cell_probe will tare the endstop at the current force.
-Multiple cycles of this will result in ever-increasing force on the toolhead.
-`force_safety_limit` stops this cycle from running out of control.
-
-Another way this run-away can happen is damage to a strain gauge. If the metal
-part is permanently bent it will change the `reference_tare_counts` of the
-device. This puts the starting tare value much closer to the limit making it
-more likely to be violated. You want to be notified if this is happening
-because your hardware has been permanently damaged.
-
-The final way this can be triggered is due to temperature changes. If your
-strain gauges are heated their `reference_tare_counts` may be very different
-at ambient temperature vs operating temperature. In this case you may need
-to increase the `force_safety_limit` to allow for thermal changes.
-
-#### Load Cell Endstop Watchdog Task
-When homing the load_cell_endstop starts a task on the MCU to trac
-measurements arriving from the sensor. If the sensor fails to send
-measurements for 2 sample periods the watchdog will shut down the printer
-with an error `!! LoadCell Endstop timed out waiting on ADC data`.
-
-If this happens, the most likely cause is a fault from the ADC. Inadequate
-grounding of your printer can be the root cause. The frame, power supply
-case and pint bed should all be connected to ground. You may need to ground
-the frame in multiple places. Anodized aluminum extrusions do not conduct
-electricity well. You might need to sand the area where the grounding wire
-is attached to make good electrical contact.
-
-## Load Cell Probe Setup
-
-This section covers the process for commissioning a load cell probe.
-
-### Verify the Load Cell First
-
-A `[load_cell_probe]` is also a `[load_cell]` and G-code commands related to
-`[load_cell]` work with `[load_cell_probe]`. Before attempting to use a load
-cell probe, follow the directions for
-[calibrating the load cell](Load_Cell.md#calibrating-a-load-cell) with
-`CALIBRATE_LOAD_CELL` and checking its operation with `LOAD_CELL_DIAGNOSTIC`.
-
-### Verify Probe Operation With LOAD_CELL_TEST_TAP
-
-Use the command `LOAD_CELL_TEST_TAP` to test the operation of the load cell
-probe before actually trying to probe with it. This command detects taps,
-just like the PROBE command, but it does not move the z axis. By default, it
-listens for 3 taps before ending the test. You have 30 seconds to do each
-tap, if no taps are detected the command will time out.
-
-If this test fails, check your configuration and `LOAD_CELL_DIAGNOSTIC`
-carefully to look for issues.
-
-Load cell probes don't support the `QUERY_ENDSTOPS` or `QUERY_PROBE`
-commands. Use `LOAD_CELL_TEST_TAP` for testing functionality before probing.
-
-### Homing Macros
-
-Load cell probe is not an endstop and doesn't support `endstop:
-prove:z_virtual_endstop`. For the time being you'll need to configure your z
-axis with an MCU pin as its endstop. You won't actually be using the pin but
-for the time being you have to configure something.
-
-To home the axis with just the probe you need to set up a custom homing
-macro. This requires setting up
-[homing_override](Config_Reference.md#homing_override).
-
-Here is a simple macro that can accomplish this. Note that the
-`_HOME_Z_FROM_LAST_PROBE` macro has to be separate because of the way macros
-work. The sub-call is needed so that the `_HOME_Z_FROM_LAST_PROBE` macro can
-see the result of the probe in `printer.probe.last_z_result`.
-
-```gcode
-[gcode_macro _HOME_Z_FROM_LAST_PROBE]
-gcode:
-    {% set z_probed = printer.probe.last_z_result %}
-    {% set z_position = printer.toolhead.position[2] %}
-    {% set z_actual = z_position - z_probed %}
-    SET_KINEMATIC_POSITION Z={z_actual}
-
-[gcode_macro _HOME_Z]
-gcode:
-    SET_GCODE_OFFSET Z=0  # load cell probes dont need a Z offset
-    # position toolhead for homing Z, edit for your printers size
-    #G90  # absolute move
-    #G1 Y50 X50 F{5 * 60}  # move to X/Y position for homing
-
-    # soft home the z axis to its limit so it can be moved:
-    SET_KINEMATIC_POSITION Z={printer.toolhead.axis_maximum[2]}
-
-    # Fast approach and tap
-    PROBE PROBE_SPEED={5 * 60}  # override the speed for faster homing
-    _HOME_Z_FROM_LAST_PROBE
-
-    # lift z to 2mm
-    G91  # relative move
-    G1 Z2 F{5 * 60}
-
-    # probe at standard speed
-    PROBE
-    _HOME_Z_FROM_LAST_PROBE
-
-    # lift z to 10mm for clearance
-    G91  # relative move
-    G1 Z10 F{5 * 60}
-```
-
-### Suggested Probing Temperature
-
-Currently, we suggest keeping the nozzle temperature below the level that causes
-the filament to ooze while homing and probing. 140C is a good starting
-point. This temperature is also low enough not to scar PEI build surfaces.
-
-Fouling of the nozzle and the print bed due to oozing filament is the #1 source
-of probing error with the load cell probe. Klipper does not yet have a universal
-way to detect poor quality taps due to filament ooze. The existing code may
-decide that a tap is valid when it is of poor quality. Classifying these poor
-quality taps is an area of active research.
-
-Klipper also lacks support for re-locating a probe point if the
-location has become fouled by filament ooze. Modules like `quad_gantry_level`
-will repeatedly probe the same coordinates even if a probe previously failed
-there.
-
-Give the above it is strongly suggested not to probe at printing temperatures.
-
-### Hot Nozzle Protection
-
-The Voron project has a great macro for protecting your print surface from the
-hot nozzle. See [Voron Tap's
-`activate_gcode`](https://github.com/VoronDesign/Voron-Tap/blob/main/config/tap_klipper_instructions.md)
-
-It is highly suggested to add something like this to your config.
-
-### Nozzle Cleaning
-
-Before probing the nozzle should be clean. You could do this manually before
-every print. You can also implement a nozzle scrubber and automate the process.
-Here is a suggested sequence:
-
-1. Wait for the nozzle to heat up to probing temp (e.g. `M109 S140`)
-1. Home the machine (`G28`)
-1. Scrub the nozzle on a brush
-1. Heat soak the print bed
-1. Perform probing tasks: QGL, bed mesh etc.
-
-### Temperature Compensation for Nozzle Growth
-
-If you are probing at a safe temperature, the nozzle will expand after
-heating to printing temperatures. This will cause the nozzle to get longer
-and closer to the print surface. You can compensate for this with
-[[z_thermal_adjust]](Config_Reference.md#z_thermal_adjust). This adjustment will
-work across a range of printing
-temperatures from PLA to PC.
-
-#### Calculating the `temp_coeff` for `[z_thermal_adjust]`
-
-The easiest way to do this is to measure at 2 different temperatures.
-Ideally these should be the upper and lower limits of the printing
-temperature range. E.g. 180C and 290C. You can perform a `PROBE_ACCURACY` at
-both temperatures and then calculate the difference of the `average z` at both.
-
-The adjustment value is the change in nozzle length divided by the change in
-temperature. e.g.
-
-```
-temp_coeff = -0.05 / (290 - 180) = -0.00045455
-```
-
-The expected result is a negative number. Positive values for `temp_coeff` move
-the nozzle closer to the bed and negative values move it further away.
-Expect to have to move the nozzle further away as it gets longer when hot.
-
-#### Configure `[z_thermal_adjust]`
-Set up z_thermal_adjust to reference the `extruder` as the source of temperature
-data. E.g.:
-
-```
-[z_thermal_adjust nozzle]
-temp_coeff=-0.00045455
-sensor_type: temperature_combined
-sensor_list: extruder
-combination_method: max
-min_temp: 0
-max_temp: 400
-max_z_adjustment: 0.1
-```
-
-## Continuous Tare Filters for Toolhead Load Cells
-
-Klipper implements a configurable IIR filter on the MCU to provide continuous
-tareing of the load cell while probing. Continuous taring means the 0 value
-moves with drift caused by external factors like bowden tubes and thermal
-changes. This is aimed at toolhead sensors and moving beds that experience lots
-of external forces that change while probing.
-
-### Installing SciPy
-
-The filtering code uses the excellent [SciPy](https://scipy.org/) library to
-compute the filter coefficients based on the values your enter into the config.
-
-Pre-compiled SciPi builds are available for Python 3 on 32 bit Raspberry Pi
-systems. 32 bit + Python 3 is strongly recommended because it will streamline
-your installation experience. It does work with Python 2 but installation can
-take 30+ minutes and require installing additional tools.
-
-```bash
-~/klippy-env/bin/pip install scipy
-```
-
-### Filter Workbench
-
-The filter parameters should be selected based on drift seen on the printer
-during normal operation. A Jupyter notebook is provided in scripts,
-[filter_workbench.ipynb](../scripts/filter_workbench.ipynb), to perform a
-detailed investigation with real captured data and FFTs.
-
-### Filtering Suggestions
-
-For those just trying to get a filter working follow these suggestions:
-
-* The only essential option is `drift_filter_cutoff_frequency`. A conservative
-  starting value is `0.5`Hz. Prusa shipped the MK4 with a setting of `0.8`Hz and
-  the XL with `11.2`Hz. This is probably a safe range to experiment with. This
-  value should be increased only until normal drift due to bowden tube force is
-  eliminated. Setting this value too high will result in slow triggering and
-  excess force going through the toolhead.
-* Keep `trigger_force` low. The default is `75`g. The drift filter keeps the
-  internal grams value very close to 0 so a large trigger force is not needed.
-* Keep `force_safety_limit` to a conservative value. The default value is 2Kg
-  and should keep your toolhead safe while experimenting. If you hit this limit
-  the `drift_filter_cutoff_frequency` value may be too high.
-
-## Suggestions for Load Cell Tool Boards
-
-This section covers suggestions for those developing toolhead boards that want
-to support [load_cell_probe]
-
-### ADC Sensor Selection & Board Development Hints
-
-Ideally a sensor would meet these criteria:
-
-* At least 24 bits wide
-* Use SPI communications
-* Has a pin can be used to indicate sample ready without SPI communications.
-  This is often called the "data ready" or "DRDY" pin. Checking a pin is much
-  faster than running an SPI query.
-* Has a programmable gain amplifier gain setting of 128. This should eliminate
-  the need for a separate amplifier.
-* Indicates via SPI if the sensor has been reset. Detecting resets avoids
-  timing errors in homing and using noisy data at startup. It can also help
-  users
-  track down wiring and grounding issues.
-* A selectable sample rate between 350Hz and 2Khz. Very high sample rates don't
-  turn out to be beneficial in our 3D printers because they produce so much
-  noise
-  when moving fast. Sample rates below 250Hz will require slower probing speeds.
-  They also increase the force on the toolhead due to longer delays between
-  measurements. E.g. a 500Hz sensor moving at 5mm/s has the same safety factor
-  as
-  a 100Hz sensor moving at only 1mm/s.
-* If designing for under-bed applications, and you want to sense multiple load
-  cells, use a chip that can sample all of its inputs simultaneously. Multiplex
-  ADCs that require switching channels have a settling of several samples after
-  each channel switch making them unsuitable for probing applications.
-
-Implementing support for a new sensor chip is not particularly difficult with
-Klipper's `bulk_sensor` and `load_cell_endstop` infrastructure.
-
-### 5V Power Filtering
-
-It is strongly suggested to use larger capacitors than specified by the ADC chip
-manufacturer. ADC chips are usually targeted at low noise environments, like
-battery powered devices. Sensor manufacturers suggested application notes
-generally assume a quiet power supply. Treat their suggested capacitor values as
-minimums.
-
-3D printers put huge amounts of noise onto the 5V bus and this can ruin the
-sensor's accuracy. Test the sensor on the board with a typical 3D printer power
-supply and active stepper drivers before deciding on smoothing capacitor sizes.
-
-### Grounding & Ground Planes
-
-Analog ADC chips contain components that are very vulnerable to noise and
-ESD. A large ground plane on the first board layer under the chip can help with
-noise. Keep the chip away from power sections and DC to DC converters. The board
-should have proper grounding back to the DC supply.
-
-### HX711 and HX717 Notes
-
-This sensor is popular because of its low cost and availability in the
-supply chain. However, this is a sensor with some drawbacks:
-
-* The HX71x sensors use bit-bang communication which has a high overhead on the
-  MCU. Using a sensor that communicates via SPI would save resources on the tool
-  board's CPU.
-* The HX71x lacks a way to communicate reset events to the MCU. Klipper detects
-  resets with a timing heuristic but this is not ideal. Resets indicate a
-  problem with wiring or grounding.
-* For probing applications the HX717 version is strongly preferred because
-  of its higher sample rate (320 vs 80). Probing speed on the HX711 should be
-  limited to less than 2mm/s.
-* The sample rate on the HX71x cannot be set from klipper's config. If you have
-  the 10SPS version of the sensor (which is widely distributed) it needs to
-  be physically re-wired to run at 80SPS.
--- a/docs/Measuring_Resonances.md
+++ b/docs/Measuring_Resonances.md
@@ -1,26 +1,24 @@
 # Measuring Resonances

-Klipper has built-in support for the ADXL345, MPU-9250, LIS2DW and LIS3DH compatible
+Klipper has built-in support for the ADXL345, MPU-9250 and LIS2DW compatible
 accelerometers which can be used to measure resonance frequencies of the printer
 for different axes, and auto-tune [input shapers](Resonance_Compensation.md) to
 compensate for resonances. Note that using accelerometers requires some
-soldering and crimping. The ADXL345 can be connected to the SPI interface
+soldering and crimping. The ADXL345/LIS2DW can be connected to the SPI interface
 of a Raspberry Pi or MCU board (it needs to be reasonably fast). The MPU family can
 be connected to the I2C interface of a Raspberry Pi directly, or to an I2C
-interface of an MCU board that supports 400kbit/s *fast mode* in Klipper. The
-LIS2DW and LIS3DH can be connected to either SPI or I2C with the same considerations
-as above.
+interface of an MCU board that supports 400kbit/s *fast mode* in Klipper.

 When sourcing accelerometers, be aware that there are a variety of different PCB
 board designs and different clones of them. If it is going to be connected to a
 5V printer MCU ensure it has a voltage regulator and level shifters.

-For ADXL345s, make sure that the board supports SPI mode (a small number of
+For ADXL345s/LIS2DWs, make sure that the board supports SPI mode (a small number of
 boards appear to be hard-configured for I2C by pulling SDO to GND).

-For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500/ICM20948s and LIS2DW/LIS3DH there
-are also a variety of board designs and clones with different I2C pull-up resistors
-which will need supplementing.
+For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500s there are also a variety of
+board designs and clones with different I2C pull-up resistors which will need
+supplementing.

 ## MCUs with Klipper I2C *fast-mode* Support

@@ -29,7 +27,6 @@ which will need supplementing.
 | Raspberry Pi | 3B+, Pico | 3A, 3A+, 3B, 4 |
 | AVR ATmega | ATmega328p | ATmega32u4, ATmega128, ATmega168, ATmega328, ATmega644p, ATmega1280, ATmega1284, ATmega2560 |
 | AVR AT90 | - | AT90usb646, AT90usb1286 |
-| SAMD | SAMC21G18 | SAMC21G18, SAMD21G18, SAMD21E18, SAMD21J18, SAMD21E15, SAMD51G19, SAMD51J19, SAMD51N19, SAMD51P20, SAME51J19, SAME51N19, SAME54P20 |

 ## Installation instructions

@@ -136,7 +133,7 @@ GND+SCL

 Note that unlike a cable shield, any GND(s) should be connected at both ends.

-#### MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500/ICM20948
+#### MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500

 These accelerometers have been tested to work over I2C on the RPi, RP2040 (Pico)
 and AVR at 400kbit/s (*fast mode*). Some MPU accelerometer modules include
@@ -152,7 +149,7 @@ Recommended connection scheme for I2C on the Raspberry Pi:
 | SDA | 03 | GPIO02 (SDA1) |
 | SCL | 05 | GPIO03 (SCL1) |

-The RPi has built-in 1.8K pull-ups on both SCL and SDA.
+The RPi has buit-in 1.8K pull-ups on both SCL and SDA.

 ![MPU-9250 connected to Pi](img/mpu9250-PI-fritzing.png)

@@ -215,20 +212,12 @@ sudo apt install python3-numpy python3-matplotlib libatlas-base-dev libopenblas-

 Next, in order to install NumPy in the Klipper environment, run the command:
 ```
-~/klippy-env/bin/pip install -v "numpy<1.26"
+~/klippy-env/bin/pip install -v numpy
 ```
 Note that, depending on the performance of the CPU, it may take *a lot*
 of time, up to 10-20 minutes. Be patient and wait for the completion of
 the installation. On some occasions, if the board has too little RAM
-the installation may fail and you will need to enable swap. Also note
-the forced version, due to newer versions of NumPY having requirements
-that may not be satisfied in some klipper python environments.
-
-Once installed please check that no errors show from the command:
-```
-~/klippy-env/bin/python -c 'import numpy;'
-```
-The correct output should simply be a new line.
+the installation may fail and you will need to enable swap.

 #### Configure ADXL345 With RPi

@@ -316,7 +305,7 @@ you'll also want to modify your `printer.cfg` file to include this:

 Restart Klipper via the `RESTART` command.

-#### Configure LIS2DW series over SPI
+#### Configure LIS2DW series

 ```
 [mcu lis]
@@ -355,7 +344,6 @@ accel_chip: mpu9250
 probe_points:
    100, 100, 20  # an example
 ```
-If you are using the ICM20948, replace instances of "mpu9250" with "icm20948".

 #### Configure MPU-9520 Compatibles With Pico

@@ -378,7 +366,6 @@ probe_points:
 [static_digital_output pico_3V3pwm] # Improve power stability
 pins: pico:gpio23
 ```
-If you are using the ICM20948, replace instances of "mpu9250" with "icm20948".

 #### Configure MPU-9520 Compatibles with AVR

@@ -397,7 +384,6 @@ accel_chip: mpu9250
 probe_points:
    100, 100, 20  # an example
 ```
-If you are using the ICM20948, replace instances of "mpu9250" with "icm20948".

 Restart Klipper via the `RESTART` command.

@@ -697,24 +683,6 @@ If you are doing a shaper re-calibration and the reported smoothing for the
 suggested shaper configuration is almost the same as what you got during the
 previous calibration, this step can be skipped.

-### Unreliable measurements of resonance frequencies
-
-Sometimes the resonance measurements can produce bogus results, leading to
-the incorrect suggestions for the input shapers. This can be caused by a
-variety of reasons, including running fans on the toolhead, incorrect
-position or non-rigid mounting of the accelerometer, or mechanical problems
-such as loose belts or binding or bumpy axis. Keep in mind that all fans
-should be disabled for resonance testing, especially the noisy ones, and
-that the accelerometer should be rigidly mounted on the corresponding
-moving part (e.g. on the bed itself for the bed slinger, or on the extruder
-of the printer itself and not the carriage, and some people get better
-results by mounting the accelerometer on the nozzle itself). As for
-mechanical problems, the user should inspect if there is any fault that
-can be fixed with a moving axis (e.g. linear guide rails cleaned up and
-lubricated and V-slot wheels tension adjusted correctly). If none of that
-helps, a user may try the other shapers from the produced list besides the
-one recommended by default.
-
 ### Testing custom axes

 `TEST_RESONANCES` command supports custom axes. While this is not really
--- a/docs/OctoPrint.md
+++ b/docs/OctoPrint.md
@@ -1,79 +0,0 @@
-# OctoPrint for Klipper
-
-Klipper has a few options for its front ends, Octoprint was the first
-and original front end for Klipper. This document will give
-a brief overview of installing with this option.
-
-## Install with OctoPi
-
-Start by installing [OctoPi](https://github.com/guysoft/OctoPi) on the
-Raspberry Pi computer. Use OctoPi v0.17.0 or later - see the
-[OctoPi releases](https://github.com/guysoft/OctoPi/releases) for
-release information.
-
-One should verify that OctoPi boots and that the
-OctoPrint web server works. After connecting to the OctoPrint web
-page, follow the prompt to upgrade OctoPrint if needed.
-
-After installing OctoPi and upgrading OctoPrint, it will be necessary
-to ssh into the target machine to run a handful of system commands.
-
-Start by running these commands on your host device:
-
-__If you do not have git installed, please do so with:__
-```
-sudo apt install git
-```
-then proceed:
-```
-cd ~
-git clone https://github.com/Klipper3d/klipper
-./klipper/scripts/install-octopi.sh
-```
-
-The above will download Klipper, install the needed system dependencies,
-setup Klipper to run at system startup, and start the Klipper host
-software. It will require an internet connection and it may take a few
-minutes to complete.
-
-## Installing with KIAUH
-
-KIAUH can be used to install OctoPrint on a variety of Linux based systems
-that run a form of Debian. More information can be found
-at https://github.com/dw-0/kiauh
-
-## Configuring OctoPrint to use Klipper
-
-The OctoPrint web server needs to be configured to communicate with the Klipper
-host software. Using a web browser, login to the OctoPrint web page and then
-configure the following items:
-
-Navigate to the Settings tab (the wrench icon at the top of the page).
-Under "Serial Connection" in "Additional serial ports" add:
-
-```
-~/printer_data/comms/klippy.serial
-```
-Then click "Save".
-
-_In some older setups this address may be `/tmp/printer`_
-
-
-Enter the Settings tab again and under "Serial Connection" change the "Serial Port"
-setting to the one added above.
-
-In the Settings tab, navigate to the "Behavior" sub-tab and select the
-"Cancel any ongoing prints but stay connected to the printer" option. Click "Save".
-
-From the main page, under the "Connection" section (at the top left of the page)
-make sure the "Serial Port" is set to the new additional one added
-and click "Connect". (If it is not in the available selection then
-try reloading the page.)
-
-Once connected, navigate to the "Terminal" tab and type "status" (without the quotes)
-into the command entry box and click "Send". The terminal window will likely report
-there is an error opening the config file - that means OctoPrint is successfully
-communicating with Klipper.
-
-Please proceed to [Installation.md](Installation.md) and the
-_Building and flashing the micro-controller_ section
--- a/docs/Overview.md
+++ b/docs/Overview.md
@@ -17,7 +17,6 @@ communication with the Klipper developers.
 ## Installation and Configuration

 - [Installation](Installation.md): Guide to installing Klipper.
-  - [Octoprint](OctoPrint.md): Guide to installing Octoprint with Klipper.
 - [Config Reference](Config_Reference.md): Description of config
  parameters.
  - [Rotation Distance](Rotation_Distance.md): Calculating the
@@ -101,4 +100,3 @@ communication with the Klipper developers.
 - [TSL1401CL filament width sensor](TSL1401CL_Filament_Width_Sensor.md)
 - [Hall filament width sensor](Hall_Filament_Width_Sensor.md)
 - [Eddy Current Inductive probe](Eddy_Probe.md)
- [Load Cells](Load_Cell.md)
--- a/docs/Pressure_Advance.md
+++ b/docs/Pressure_Advance.md
@@ -22,7 +22,7 @@ Use a slicer to generate g-code for the large hollow square found in
 [docs/prints/square_tower.stl](prints/square_tower.stl). Use a high
 speed (eg, 100mm/s), zero infill, and a coarse layer height (the layer
 height should be around 75% of the nozzle diameter). Make sure any
-"dynamic acceleration control" and "scarf joint" seams are disabled in the slicer.
+"dynamic acceleration control" is disabled in the slicer.

 Prepare for the test by issuing the following G-Code command:
 ```
--- a/docs/Releases.md
+++ b/docs/Releases.md
@@ -3,35 +3,6 @@
 History of Klipper releases. Please see
 [installation](Installation.md) for information on installing Klipper.

-## Klipper 0.13.0
-
-Available on 20250411. Major changes in this release:
-* New "sweeping vibrations" resonance testing mechanism for input
-  shaper.
-* Fans and GPIO pins can now be assigned a formula (via Jinja2
-  "templates").
-* The bed_mesh code now supports "adaptive bed mesh". The area probed
-  can be adjusted for the size of the print.
-* A new `minimum_cruise_ratio` kinematic parameter has been added (it
-  replaces the previous `max_accel_to_decel` parameter).
-* Several new sensors added:
-  * Support for ldc1612 "eddy" current sensors. This includes probing
-    support, fast "scan" probing, and temperature calibration.
-  * New support for "load cell" measurements. Support for connecting
-    these load cells to hx71x and ads1220 ADC sensors.
-  * Support for BMP180, BMP388, and SHT3x temperature sensors. Support
-    for measuring temperature with ADS1x1x ADC chips.
-  * New lis3dh and icm20948 accelerometer support.
-  * Support for mt6816 and mt6826s "hall angle" sensors.
-* New micro-controller improvements:
-  * New support for rp2350 micro-controllers.
-  * Existing rp2040 chips now run at 200MHz (up from 125Mhz).
-  * The micro-controller code can now define many more commands (up to
-    16384 from 128).
-* Other modules added: aip31068_spi, canbus_stats, error_mcu,
-  garbage_collection, pwm_cycle_time, pwm_tool, garbage_collection.
-* Several bug fixes and code cleanups.
-
 ## Klipper 0.12.0

 Available on 20231110. Major changes in this release:
--- a/docs/Skew_Correction.md
+++ b/docs/Skew_Correction.md
@@ -31,7 +31,7 @@ AD do not include the flats on the corners that some test objects provide.
 ## Configure your skew

 Make sure `[skew_correction]` is in printer.cfg.  You may now use the `SET_SKEW`
-gcode to configure skew_correction.  For example, if your measured lengths
+gcode to configure skew_correcton.  For example, if your measured lengths
 along XY are as follows:

 ```
--- a/docs/Slicers.md
+++ b/docs/Slicers.md
@@ -121,5 +121,5 @@ M104 S0
 before the macro call. Also note that SuperSlicer has a
 "custom gcode only" button option, which achieves the same outcome.

-An example of a START_PRINT macro using these parameters can
+An example of a START_PRINT macro using these paramaters can
 be found in config/sample-macros.cfg
--- a/docs/Sponsors.md
+++ b/docs/Sponsors.md
@@ -17,6 +17,7 @@ serve the 3D printing community better. Follow them on
 ## Sponsors

 [<img src="./img/sponsors/obico-light-horizontal.png" width="200" style="margin:25px" />](https://obico.io/klipper.html?source=klipper_sponsor)
+[<img src="./img/sponsors/peopoly-logo.png" width="200" style="margin:25px" />](https://peopoly.net)

 ## Klipper Developers

--- a/docs/Status_Reference.md
+++ b/docs/Status_Reference.md
@@ -31,7 +31,7 @@ The following information is available in the
 ## bed_screws

 The following information is available in the
-[bed_screws](Config_Reference.md#bed_screws) object:
+`Config_Reference.md#bed_screws` object:
 - `is_active`: Returns True if the bed screws adjustment tool is currently
 active.
 - `state`: The bed screws adjustment tool state. It is one of
@@ -39,27 +39,6 @@ the following strings: "adjust", "fine".
 - `current_screw`: The index for the current screw being adjusted.
 - `accepted_screws`: The number of accepted screws.

-## canbus_stats
-
-The following information is available in the `canbus_stats
-some_mcu_name` object (this object is automatically available if an
-mcu is configured to use canbus):
- `rx_error`: The number of receive errors detected by the
-  micro-controller canbus hardware.
- `tx_error`: The number of transmit errors detected by the
-  micro-controller canbus hardware.
- `tx_retries`: The number of transmit attempts that were retried due
-  to bus contention or errors.
- `bus_state`: The status of the interface (typically "active" for a
-  bus in normal operation, "warn" for a bus with recent errors,
-  "passive" for a bus that will no longer transmit canbus error
-  frames, or "off" for a bus that will no longer transmit or receive
-  messages).
-
-Note that only the rp2XXX micro-controllers report a non-zero
-`tx_retries` field and the rp2XXX micro-controllers always report
-`tx_error` as zero and `bus_state` as "active".
-
 ## configfile

 The following information is available in the `configfile` object
@@ -242,8 +221,6 @@ The following information is available in the `gcode_move` object
 The following information is available in the
 [hall_filament_width_sensor](Config_Reference.md#hall_filament_width_sensor)
 object:
- all items from
-  [filament_switch_sensor](Status_Reference.md#filament_switch_sensor)
 - `is_active`: Returns True if the sensor is currently active.
 - `Diameter`: The last reading from the sensor in mm.
 - `Raw`: The last raw ADC reading from the sensor.
@@ -279,6 +256,11 @@ object is available if any heater is defined):
  e.g. `["tmc2240 stepper_x"]`.  While a temperature sensor is always
  available to read, a temperature monitor may not be available and
  will return null in such case.
+- `temperature_wait`: Indicates if G-Code processing is stalled
+  waiting for a requested temperature (typically via
+  `TEMPERATURE_WAIT`, `M109`, or `M190` commands). The value will
+  contain the name of the sensor that is causing the stall or `None`
+  if no wait is in progress.

 ## idle_timeout

@@ -291,9 +273,6 @@ is always available):
 - `printing_time`: The amount of time (in seconds) the printer has
  been in the "Printing" state (as tracked by the idle_timeout
  module).
- `idle_timeout`: The current 'timeout' (in seconds)
-   to wait for the gcode to be triggered.
-   (as set by [SET_IDLE_TIMEOUT](G-Codes.md#set_idle_timeout))

 ## led

@@ -303,31 +282,11 @@ The following information is available for each `[led led_name]`,
 - `color_data`: A list of color lists containing the RGBW values for a
  led in the chain. Each value is represented as a float from 0.0 to
  1.0. Each color list contains 4 items (red, green, blue, white) even
-  if the underlying LED supports fewer color channels. For example,
+  if the underyling LED supports fewer color channels. For example,
  the blue value (3rd item in color list) of the second neopixel in a
  chain could be accessed at
  `printer["neopixel <config_name>"].color_data[1][2]`.

-## load_cell
-
-The following information is available for each `[load_cell name]`:
- 'is_calibrated': True/False is the load cell calibrated
- 'counts_per_gram': The number of raw sensor counts that equals 1 gram of force
- 'reference_tare_counts': The reference number of raw sensor counts for 0 force
- 'tare_counts': The current number of raw sensor counts for 0 force
- 'force_g': The force in grams, averaged over the last polling period.
- 'min_force_g': The minimum force in grams, over the last polling period.
- 'max_force_g': The maximum force in grams, over the last polling period.
-
-## load_cell_probe
-
-The following information is available for `[load_cell_probe]`:
- all items from [load_cell](Status_Reference.md#load_cell)
- all items from [probe](Status_Reference.md#probe)
- 'endstop_tare_counts': the load cell probe keeps a tare value independent of
-the load cell. This re-set at the start of each probe.
- 'last_trigger_time': timestamp of the last homing trigger
-
 ## manual_probe

 The following information is available in the
@@ -472,12 +431,6 @@ The following information is available in
 - `printer["servo <config_name>"].value`: The last setting of the PWM
  pin (a value between 0.0 and 1.0) associated with the servo.

-## skew_correction.py
-
-The following information is available in the `skew_correction` object (this
-object is available if any skew_correction is defined):
- `current_profile_name`: Returns the name of the currently loaded SKEW_PROFILE.
-
 ## stepper_enable

 The following information is available in the `stepper_enable` object (this
@@ -582,12 +535,6 @@ on a cartesian, hybrid_corexy or hybrid_corexz robot
 - `carriage_1`: The mode of the carriage 1. Possible values are:
  "INACTIVE", "PRIMARY", "COPY", and "MIRROR".

-On a `generic_cartesian` kinematic, the following information is
-available in `dual_carriage`:
- `carriages["<carriage>"]`: The mode of the carriage `<carriage>`. Possible
-  values are "INACTIVE" and "PRIMARY" for the primary carriage and "INACTIVE",
-  "PRIMARY", "COPY", and "MIRROR" for the dual carriage.
-
 ## virtual_sdcard

 The following information is available in the
--- a/docs/TMC_Drivers.md
+++ b/docs/TMC_Drivers.md
@@ -83,10 +83,6 @@ setting `stealthchop_threshold` to 999999). Unfortunately, the drivers
 often produce poor and confusing results if the mode changes while the
 motor is at a non-zero velocity.

-Note that the `stealthchop_threshold` config option does not impact
-sensorless homing as Klipper automatically switches the TMC driver to
-an appropriate mode during sensorless homing operations.
-
 ## TMC interpolate setting introduces small position deviation

 The TMC driver `interpolate` setting may reduce the audible noise of
--- a/docs/_klipper3d/README
+++ b/docs/_klipper3d/README
@@ -8,13 +8,13 @@ directory, the docs/CNAME file also controls the website generation.
 To test deploy the main English site locally one can use commands
 similar to the following:

-virtualenv ~/mkdocs-env && ~/mkdocs-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
+virtualenv ~/mkdocs-env && ~/python-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
 cd ~/klipper && ~/mkdocs-env/bin/mkdocs serve --config-file ~/klipper/docs/_klipper3d/mkdocs.yml -a 0.0.0.0:8000

 To test deploy the multi-language site locally one can use commands
 similar to the following:

-virtualenv ~/mkdocs-env && ~/mkdocs-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
+virtualenv ~/mkdocs-env && ~/python-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
 source ~/mkdocs-env/bin/activate
 cd ~/klipper && ./docs/_klipper3d/build-translations.sh
 cd ~/klipper/site/ && python3 -m http.server 8000
--- a/docs/_klipper3d/mkdocs-requirements.txt
+++ b/docs/_klipper3d/mkdocs-requirements.txt
@@ -1,5 +1,5 @@
 # Python virtualenv module requirements for mkdocs
-jinja2==3.1.6
+jinja2==3.1.4
 mkdocs==1.2.4
 mkdocs-material==8.1.3
 mkdocs-simple-hooks==0.1.3
--- a/docs/_klipper3d/mkdocs.yml
+++ b/docs/_klipper3d/mkdocs.yml
@@ -88,9 +88,7 @@ nav:
  - Config_Changes.md
  - Contact.md
  - Installation and Configuration:
-    - Installation:
-      - Installation.md
-      - OctoPrint.md
+    - Installation.md
    - Configuration Reference:
      - Config_Reference.md
      - Rotation_Distance.md
@@ -141,5 +139,4 @@ nav:
    - TSL1401CL_Filament_Width_Sensor.md
    - Hall_Filament_Width_Sensor.md
    - Eddy_Probe.md
-    - Load_Cell.md
  - Sponsors.md
--- a/docs/img/klipper_pico_menuconfig.png
+++ b/docs/img/klipper_pico_menuconfig.png
--- a/docs/index.md
+++ b/docs/index.md
@@ -6,14 +6,13 @@ title: Welcome

 ![](img/klipper-logo.png){ .center-image }

-The Klipper firmware controls 3d-Printers. It combines the power of a
-general purpose computer with one or more micro-controllers. See the
-[features document](Features.md) for more information on why you
-should use the Klipper software.
+Klipper is a 3d-Printer firmware. It combines the power of a general
+purpose computer with one or more micro-controllers. See the
+[features](Features.md) document for more information on why you
+should use Klipper.

-Start by [installing Klipper software](Installation.md).
+To begin using Klipper start by [installing](Installation.md) it.

-Klipper software is Free Software. Read the
-[documentation](Overview.md), see the [license](../COPYING), or
-[download](https://github.com/Klipper3d/Klipper) the software. We
-depend on the generous support from our [sponsors](Sponsors.md).
+Klipper is Free Software. Read the [documentation](Overview.md) or
+view [the Klipper code on github](https://github.com/Klipper3d/klipper).
+We depend on the generous support from our [sponsors](Sponsors.md).
--- a/klippy/chelper/init.py
+++ b/klippy/chelper/init.py
@@ -17,16 +17,16 @@ COMPILE_ARGS = ("-Wall -g -O2 -shared -fPIC"
                " -o %s %s")
 SSE_FLAGS = "-mfpmath=sse -msse2"
 SOURCE_FILES = [
-    'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'steppersync.c',
-    'itersolve.c', 'trapq.c', 'pollreactor.c', 'msgblock.c', 'trdispatch.c',
+    'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
+    'pollreactor.c', 'msgblock.c', 'trdispatch.c',
    'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
    'kin_deltesian.c', 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c',
-    'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c', 'kin_generic.c'
+    'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c',
 ]
 DEST_LIB = "c_helper.so"
 OTHER_FILES = [
-    'list.h', 'serialqueue.h', 'stepcompress.h', 'steppersync.h',
-    'itersolve.h', 'pyhelper.h', 'trapq.h', 'pollreactor.h', 'msgblock.h'
+    'list.h', 'serialqueue.h', 'stepcompress.h', 'itersolve.h', 'pyhelper.h',
+    'trapq.h', 'pollreactor.h', 'msgblock.h'
 ]

 defs_stepcompress = """
@@ -54,28 +54,25 @@ defs_stepcompress = """
    int stepcompress_extract_old(struct stepcompress *sc
        , struct pull_history_steps *p, int max
        , uint64_t start_clock, uint64_t end_clock);
-    void stepcompress_set_stepper_kinematics(struct stepcompress *sc
-        , struct stepper_kinematics *sk);
-"""

-defs_steppersync = """
    struct steppersync *steppersync_alloc(struct serialqueue *sq
        , struct stepcompress **sc_list, int sc_num, int move_num);
    void steppersync_free(struct steppersync *ss);
    void steppersync_set_time(struct steppersync *ss
        , double time_offset, double mcu_freq);
-    int32_t steppersync_generate_steps(struct steppersync *ss
-        , double gen_steps_time, uint64_t flush_clock);
-    void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
-    int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
+    int steppersync_flush(struct steppersync *ss, uint64_t move_clock
+        , uint64_t clear_history_clock);
 """

 defs_itersolve = """
+    int32_t itersolve_generate_steps(struct stepper_kinematics *sk
+        , double flush_time);
    double itersolve_check_active(struct stepper_kinematics *sk
        , double flush_time);
    int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);
-    void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
-        , double step_dist);
+    void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
+    void itersolve_set_stepcompress(struct stepper_kinematics *sk
+        , struct stepcompress *sc, double step_dist);
    double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
        , double x, double y, double z);
    void itersolve_set_position(struct stepper_kinematics *sk
@@ -109,12 +106,6 @@ defs_trapq = """
 defs_kin_cartesian = """
    struct stepper_kinematics *cartesian_stepper_alloc(char axis);
 """
-defs_kin_generic_cartesian = """
-    struct stepper_kinematics *generic_cartesian_stepper_alloc(double a_x
-        , double a_y, double a_z);
-    void generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk
-        , double a_x, double a_y, double a_z);
-"""

 defs_kin_corexy = """
    struct stepper_kinematics *corexy_stepper_alloc(char type);
@@ -163,7 +154,6 @@ defs_kin_shaper = """
        , int n, double a[], double t[]);
    int input_shaper_set_sk(struct stepper_kinematics *sk
        , struct stepper_kinematics *orig_sk);
-    void input_shaper_update_sk(struct stepper_kinematics *sk);
    struct stepper_kinematics * input_shaper_alloc(void);
 """

@@ -185,7 +175,7 @@ defs_serialqueue = """
    };

    struct serialqueue *serialqueue_alloc(int serial_fd, char serial_fd_type
-        , int client_id, char name[16]);
+        , int client_id);
    void serialqueue_exit(struct serialqueue *sq);
    void serialqueue_free(struct serialqueue *sq);
    struct command_queue *serialqueue_alloc_commandqueue(void);
@@ -222,7 +212,6 @@ defs_trdispatch = """
 defs_pyhelper = """
    void set_python_logging_callback(void (*func)(const char *));
    double get_monotonic(void);
-    int set_thread_name(char name[16]);
 """

 defs_std = """
@@ -231,11 +220,10 @@ defs_std = """

 defs_all = [
    defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
-    defs_steppersync, defs_itersolve, defs_trapq, defs_trdispatch,
+    defs_itersolve, defs_trapq, defs_trdispatch,
    defs_kin_cartesian, defs_kin_corexy, defs_kin_corexz, defs_kin_delta,
    defs_kin_deltesian, defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch,
    defs_kin_extruder, defs_kin_shaper, defs_kin_idex,
-    defs_kin_generic_cartesian,
 ]

 # Update filenames to an absolute path
@@ -274,33 +262,11 @@ def do_build_code(cmd):
        logging.error(msg)
        raise Exception(msg)

-# Build the main c_helper.so c code library
-def check_build_c_library():
-    srcdir = os.path.dirname(os.path.realpath(__file__))
-    srcfiles = get_abs_files(srcdir, SOURCE_FILES)
-    ofiles = get_abs_files(srcdir, OTHER_FILES)
-    destlib = get_abs_files(srcdir, [DEST_LIB])[0]
-    if not check_build_code(srcfiles+ofiles+[__file__], destlib):
-        # Code already built
-        return destlib
-    # Select command line options
-    if check_gcc_option(SSE_FLAGS):
-        cmd = "%s %s %s" % (GCC_CMD, SSE_FLAGS, COMPILE_ARGS)
-    else:
-        cmd = "%s %s" % (GCC_CMD, COMPILE_ARGS)
-    # Invoke compiler
-    logging.info("Building C code module %s", DEST_LIB)
-    tempdestlib = get_abs_files(srcdir, ["_temp_" + DEST_LIB])[0]
-    do_build_code(cmd % (tempdestlib, ' '.join(srcfiles)))
-    # Rename from temporary file to final file name
-    os.rename(tempdestlib, destlib)
-    return destlib
-
 FFI_main = None
 FFI_lib = None
 pyhelper_logging_callback = None

-# Helper invoked from C errorf() code to log errors
+# Hepler invoked from C errorf() code to log errors
 def logging_callback(msg):
    logging.error(FFI_main.string(msg))

@@ -308,9 +274,17 @@ def logging_callback(msg):
 def get_ffi():
    global FFI_main, FFI_lib, pyhelper_logging_callback
    if FFI_lib is None:
-        # Check if library needs to be built, and build if so
-        destlib = check_build_c_library()
-        # Open library
+        srcdir = os.path.dirname(os.path.realpath(__file__))
+        srcfiles = get_abs_files(srcdir, SOURCE_FILES)
+        ofiles = get_abs_files(srcdir, OTHER_FILES)
+        destlib = get_abs_files(srcdir, [DEST_LIB])[0]
+        if check_build_code(srcfiles+ofiles+[__file__], destlib):
+            if check_gcc_option(SSE_FLAGS):
+                cmd = "%s %s %s" % (GCC_CMD, SSE_FLAGS, COMPILE_ARGS)
+            else:
+                cmd = "%s %s" % (GCC_CMD, COMPILE_ARGS)
+            logging.info("Building C code module %s", DEST_LIB)
+            do_build_code(cmd % (destlib, ' '.join(srcfiles)))
        FFI_main = cffi.FFI()
        for d in defs_all:
            FFI_main.cdef(d)
--- a/klippy/chelper/itersolve.c
+++ b/klippy/chelper/itersolve.c
@@ -26,8 +26,8 @@ struct timepos {

 // Generate step times for a portion of a move
 static int32_t
-itersolve_gen_steps_range(struct stepper_kinematics *sk, struct stepcompress *sc
-                          , struct move *m, double abs_start, double abs_end)
+itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
+                          , double abs_start, double abs_end)
 {
    sk_calc_callback calc_position_cb = sk->calc_position_cb;
    double half_step = .5 * sk->step_dist;
@@ -37,7 +37,7 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct stepcompress *sc
    if (end > m->move_t)
        end = m->move_t;
    struct timepos old_guess = {start, sk->commanded_pos}, guess = old_guess;
-    int sdir = stepcompress_get_step_dir(sc);
+    int sdir = stepcompress_get_step_dir(sk->sc);
    int is_dir_change = 0, have_bracket = 0, check_oscillate = 0;
    double target = sk->commanded_pos + (sdir ? half_step : -half_step);
    double last_time=start, low_time=start, high_time=start + SEEK_TIME_RESET;
@@ -99,13 +99,13 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct stepcompress *sc
            if (!have_bracket || high_time - low_time > .000000001) {
                if (!is_dir_change && rel_dist >= -half_step)
                    // Avoid rollback if stepper fully reaches step position
-                    stepcompress_commit(sc);
+                    stepcompress_commit(sk->sc);
                // Guess is not close enough - guess again with new time
                continue;
            }
        }
        // Found next step - submit it
-        int ret = stepcompress_append(sc, sdir, m->print_time, guess.time);
+        int ret = stepcompress_append(sk->sc, sdir, m->print_time, guess.time);
        if (ret)
            return ret;
        target = sdir ? target+half_step+half_step : target-half_step-half_step;
@@ -143,9 +143,8 @@ check_active(struct stepper_kinematics *sk, struct move *m)
 }

 // Generate step times for a range of moves on the trapq
-int32_t
-itersolve_generate_steps(struct stepper_kinematics *sk, struct stepcompress *sc
-                         , double flush_time)
+int32_t __visible
+itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
 {
    double last_flush_time = sk->last_flush_time;
    sk->last_flush_time = flush_time;
@@ -171,15 +170,15 @@ itersolve_generate_steps(struct stepper_kinematics *sk, struct stepcompress *sc
                while (--skip_count && pm->print_time > abs_start)
                    pm = list_prev_entry(pm, node);
                do {
-                    int32_t ret = itersolve_gen_steps_range(
-                        sk, sc, pm, abs_start, flush_time);
+                    int32_t ret = itersolve_gen_steps_range(sk, pm, abs_start
+                                                            , flush_time);
                    if (ret)
                        return ret;
                    pm = list_next_entry(pm, node);
                } while (pm != m);
            }
            // Generate steps for this move
-            int32_t ret = itersolve_gen_steps_range(sk, sc, m, last_flush_time
+            int32_t ret = itersolve_gen_steps_range(sk, m, last_flush_time
                                                    , flush_time);
            if (ret)
                return ret;
@@ -196,8 +195,8 @@ itersolve_generate_steps(struct stepper_kinematics *sk, struct stepcompress *sc
                double abs_end = force_steps_time;
                if (abs_end > flush_time)
                    abs_end = flush_time;
-                int32_t ret = itersolve_gen_steps_range(
-                    sk, sc, m, last_flush_time, abs_end);
+                int32_t ret = itersolve_gen_steps_range(sk, m, last_flush_time
+                                                        , abs_end);
                if (ret)
                    return ret;
                skip_count = 1;
@@ -241,10 +240,16 @@ itersolve_is_active_axis(struct stepper_kinematics *sk, char axis)
 }

 void __visible
-itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
-                    , double step_dist)
+itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq)
 {
    sk->tq = tq;
+}
+
+void __visible
+itersolve_set_stepcompress(struct stepper_kinematics *sk
+                           , struct stepcompress *sc, double step_dist)
+{
+    sk->sc = sc;
    sk->step_dist = step_dist;
 }

--- a/klippy/chelper/itersolve.h
+++ b/klippy/chelper/itersolve.h
@@ -26,11 +26,12 @@ struct stepper_kinematics {
 };

 int32_t itersolve_generate_steps(struct stepper_kinematics *sk
-                                 , struct stepcompress *sc, double flush_time);
+                                 , double flush_time);
 double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
 int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);
-void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
-                         , double step_dist);
+void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
+void itersolve_set_stepcompress(struct stepper_kinematics *sk
+                                , struct stepcompress *sc, double step_dist);
 double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
                                          , double x, double y, double z);
 void itersolve_set_position(struct stepper_kinematics *sk
--- a/klippy/chelper/kin_generic.c
+++ b/klippy/chelper/kin_generic.c
@@ -1,52 +0,0 @@
-// Generic cartesian kinematics stepper position calculation
-//
-// Copyright (C) 2024  Dmitry Butyugin <dmbutyugin@google.com>
-//
-// This file may be distributed under the terms of the GNU GPLv3 license.
-
-#include <stddef.h> // offsetof
-#include <stdlib.h> // malloc
-#include <string.h> // memset
-#include "compiler.h" // __visible
-#include "itersolve.h" // struct stepper_kinematics
-#include "trapq.h" // move_get_coord
-
-struct generic_cartesian_stepper {
-    struct stepper_kinematics sk;
-    struct coord a;
-};
-
-static double
-generic_cartesian_stepper_calc_position(struct stepper_kinematics *sk
-                                        , struct move *m, double move_time)
-{
-    struct generic_cartesian_stepper *cs = container_of(
-            sk, struct generic_cartesian_stepper, sk);
-    struct coord c = move_get_coord(m, move_time);
-    return cs->a.x * c.x + cs->a.y * c.y + cs->a.z * c.z;
-}
-
-void __visible
-generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk
-                                     , double a_x, double a_y, double a_z)
-{
-    struct generic_cartesian_stepper *cs = container_of(
-            sk, struct generic_cartesian_stepper, sk);
-    cs->a.x = a_x;
-    cs->a.y = a_y;
-    cs->a.z = a_z;
-    cs->sk.active_flags = 0;
-    if (a_x) cs->sk.active_flags |= AF_X;
-    if (a_y) cs->sk.active_flags |= AF_Y;
-    if (a_z) cs->sk.active_flags |= AF_Z;
-}
-
-struct stepper_kinematics * __visible
-generic_cartesian_stepper_alloc(double a_x, double a_y, double a_z)
-{
-    struct generic_cartesian_stepper *cs = malloc(sizeof(*cs));
-    memset(cs, 0, sizeof(*cs));
-    cs->sk.calc_position_cb = generic_cartesian_stepper_calc_position;
-    generic_cartesian_stepper_set_coeffs(&cs->sk, a_x, a_y, a_z);
-    return &cs->sk;
-}
--- a/klippy/chelper/kin_idex.c
+++ b/klippy/chelper/kin_idex.c
@@ -77,6 +77,5 @@ dual_carriage_alloc(void)
    struct dual_carriage_stepper *dc = malloc(sizeof(*dc));
    memset(dc, 0, sizeof(*dc));
    dc->m.move_t = 2. * DUMMY_T;
-    dc->x_scale = dc->y_scale = 1.0;
    return &dc->sk;
 }
--- a/klippy/chelper/kin_shaper.c
+++ b/klippy/chelper/kin_shaper.c
@@ -156,48 +156,6 @@ shaper_xy_calc_position(struct stepper_kinematics *sk, struct move *m
    return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
 }

-// A callback that forwards post_cb call to the original kinematics
-static void
-shaper_commanded_pos_post_fixup(struct stepper_kinematics *sk)
-{
-    struct input_shaper *is = container_of(sk, struct input_shaper, sk);
-    is->orig_sk->commanded_pos = sk->commanded_pos;
-    is->orig_sk->post_cb(is->orig_sk);
-    sk->commanded_pos = is->orig_sk->commanded_pos;
-}
-
-static void
-shaper_note_generation_time(struct input_shaper *is)
-{
-    double pre_active = 0., post_active = 0.;
-    if ((is->sk.active_flags & AF_X) && is->sx.num_pulses) {
-        pre_active = is->sx.pulses[is->sx.num_pulses-1].t;
-        post_active = -is->sx.pulses[0].t;
-    }
-    if ((is->sk.active_flags & AF_Y) && is->sy.num_pulses) {
-        pre_active = is->sy.pulses[is->sy.num_pulses-1].t > pre_active
-            ? is->sy.pulses[is->sy.num_pulses-1].t : pre_active;
-        post_active = -is->sy.pulses[0].t > post_active
-            ? -is->sy.pulses[0].t : post_active;
-    }
-    is->sk.gen_steps_pre_active = pre_active;
-    is->sk.gen_steps_post_active = post_active;
-}
-
-void __visible
-input_shaper_update_sk(struct stepper_kinematics *sk)
-{
-    struct input_shaper *is = container_of(sk, struct input_shaper, sk);
-    if ((is->orig_sk->active_flags & (AF_X | AF_Y)) == (AF_X | AF_Y))
-        is->sk.calc_position_cb = shaper_xy_calc_position;
-    else if (is->orig_sk->active_flags & AF_X)
-        is->sk.calc_position_cb = shaper_x_calc_position;
-    else if (is->orig_sk->active_flags & AF_Y)
-        is->sk.calc_position_cb = shaper_y_calc_position;
-    is->sk.active_flags = is->orig_sk->active_flags;
-    shaper_note_generation_time(is);
-}
-
 int __visible
 input_shaper_set_sk(struct stepper_kinematics *sk
                    , struct stepper_kinematics *orig_sk)
@@ -216,12 +174,27 @@ input_shaper_set_sk(struct stepper_kinematics *sk
    is->sk.commanded_pos = orig_sk->commanded_pos;
    is->sk.last_flush_time = orig_sk->last_flush_time;
    is->sk.last_move_time = orig_sk->last_move_time;
-    if (orig_sk->post_cb) {
-        is->sk.post_cb = shaper_commanded_pos_post_fixup;
-    }
    return 0;
 }

+static void
+shaper_note_generation_time(struct input_shaper *is)
+{
+    double pre_active = 0., post_active = 0.;
+    if ((is->sk.active_flags & AF_X) && is->sx.num_pulses) {
+        pre_active = is->sx.pulses[is->sx.num_pulses-1].t;
+        post_active = -is->sx.pulses[0].t;
+    }
+    if ((is->sk.active_flags & AF_Y) && is->sy.num_pulses) {
+        pre_active = is->sy.pulses[is->sy.num_pulses-1].t > pre_active
+            ? is->sy.pulses[is->sy.num_pulses-1].t : pre_active;
+        post_active = -is->sy.pulses[0].t > post_active
+            ? -is->sy.pulses[0].t : post_active;
+    }
+    is->sk.gen_steps_pre_active = pre_active;
+    is->sk.gen_steps_post_active = post_active;
+}
+
 int __visible
 input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
                               , int n, double a[], double t[])
--- a/klippy/chelper/pyhelper.c
+++ b/klippy/chelper/pyhelper.c
@@ -10,8 +10,6 @@
 #include <stdio.h> // fprintf
 #include <string.h> // strerror
 #include <time.h> // struct timespec
-#include <linux/prctl.h>  // PR_SET_NAME
-#include <sys/prctl.h>  // prctl
 #include "compiler.h" // __visible
 #include "pyhelper.h" // get_monotonic

@@ -94,10 +92,3 @@ dump_string(char *outbuf, int outbuf_size, char *inbuf, int inbuf_size)
    *o = '\0';
    return outbuf;
 }
-
-// Set custom thread names
-int __visible
-set_thread_name(char name[16])
-{
-    return prctl(PR_SET_NAME, name);
-}
--- a/klippy/chelper/pyhelper.h
+++ b/klippy/chelper/pyhelper.h
@@ -7,6 +7,5 @@ void set_python_logging_callback(void (*func)(const char *));
 void errorf(const char *fmt, ...) __attribute__ ((format (printf, 1, 2)));
 void report_errno(char *where, int rc);
 char *dump_string(char *outbuf, int outbuf_size, char *inbuf, int inbuf_size);
-int set_thread_name(char name[16]);

 #endif // pyhelper.h
--- a/klippy/chelper/serialqueue.c
+++ b/klippy/chelper/serialqueue.c
@@ -43,7 +43,6 @@ struct serialqueue {
    uint8_t need_sync;
    int input_pos;
    // Threading
-    char name[16];
    pthread_t tid;
    pthread_mutex_t lock; // protects variables below
    pthread_cond_t cond;
@@ -613,7 +612,6 @@ static void *
 background_thread(void *data)
 {
    struct serialqueue *sq = data;
-    set_thread_name(sq->name);
    pollreactor_run(sq->pr);

    pthread_mutex_lock(&sq->lock);
@@ -625,16 +623,13 @@ background_thread(void *data)

 // Create a new 'struct serialqueue' object
 struct serialqueue * __visible
-serialqueue_alloc(int serial_fd, char serial_fd_type, int client_id
-                  , char name[16])
+serialqueue_alloc(int serial_fd, char serial_fd_type, int client_id)
 {
    struct serialqueue *sq = malloc(sizeof(*sq));
    memset(sq, 0, sizeof(*sq));
    sq->serial_fd = serial_fd;
    sq->serial_fd_type = serial_fd_type;
    sq->client_id = client_id;
-    strncpy(sq->name, name, sizeof(sq->name));
-    sq->name[sizeof(sq->name)-1] = '\0';

    int ret = pipe(sq->pipe_fds);
    if (ret)
--- a/klippy/chelper/serialqueue.h
+++ b/klippy/chelper/serialqueue.h
@@ -27,7 +27,7 @@ struct pull_queue_message {

 struct serialqueue;
 struct serialqueue *serialqueue_alloc(int serial_fd, char serial_fd_type
-                                      , int client_id, char name[16]);
+                                      , int client_id);
 void serialqueue_exit(struct serialqueue *sq);
 void serialqueue_free(struct serialqueue *sq);
 struct command_queue *serialqueue_alloc_commandqueue(void);
--- a/klippy/chelper/stepcompress.c
+++ b/klippy/chelper/stepcompress.c
@@ -1,6 +1,6 @@
 // Stepper pulse schedule compression
 //
-// Copyright (C) 2016-2025  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.

@@ -21,7 +21,6 @@
 #include <stdlib.h> // malloc
 #include <string.h> // memset
 #include "compiler.h" // DIV_ROUND_UP
-#include "itersolve.h" // itersolve_generate_steps
 #include "pyhelper.h" // errorf
 #include "serialqueue.h" // struct queue_message
 #include "stepcompress.h" // stepcompress_alloc
@@ -47,8 +46,6 @@ struct stepcompress {
    // History tracking
    int64_t last_position;
    struct list_head history_list;
-    // Itersolve reference
-    struct stepper_kinematics *sk;
 };

 struct step_move {
@@ -279,9 +276,9 @@ stepcompress_set_invert_sdir(struct stepcompress *sc, uint32_t invert_sdir)
    }
 }

-// Expire the stepcompress history older than the given clock
-void
-stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock)
+// Helper to free items from the history_list
+static void
+free_history(struct stepcompress *sc, uint64_t end_clock)
 {
    while (!list_empty(&sc->history_list)) {
        struct history_steps *hs = list_last_entry(
@@ -293,6 +290,13 @@ stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock)
    }
 }

+// Expire the stepcompress history older than the given clock
+static void
+stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock)
+{
+    free_history(sc, end_clock);
+}
+
 // Free memory associated with a 'stepcompress' object
 void __visible
 stepcompress_free(struct stepcompress *sc)
@@ -301,7 +305,7 @@ stepcompress_free(struct stepcompress *sc)
        return;
    free(sc->queue);
    message_queue_free(&sc->msg_queue);
-    stepcompress_history_expire(sc, UINT64_MAX);
+    free_history(sc, UINT64_MAX);
    free(sc);
 }

@@ -317,12 +321,6 @@ stepcompress_get_step_dir(struct stepcompress *sc)
    return sc->next_step_dir;
 }

-struct list_head *
-stepcompress_get_msg_queue(struct stepcompress *sc)
-{
-    return &sc->msg_queue;
-}
-
 // Determine the "print time" of the last_step_clock
 static void
 calc_last_step_print_time(struct stepcompress *sc)
@@ -332,7 +330,7 @@ calc_last_step_print_time(struct stepcompress *sc)
 }

 // Set the conversion rate of 'print_time' to mcu clock
-void
+static void
 stepcompress_set_time(struct stepcompress *sc
                      , double time_offset, double mcu_freq)
 {
@@ -666,25 +664,164 @@ stepcompress_extract_old(struct stepcompress *sc, struct pull_history_steps *p
    return res;
 }

-// Store a reference to stepper_kinematics
-void __visible
-stepcompress_set_stepper_kinematics(struct stepcompress *sc
-                                    , struct stepper_kinematics *sk)
+
+/****************************************************************
+ * Step compress synchronization
+ ****************************************************************/
+
+// The steppersync object is used to synchronize the output of mcu
+// step commands.  The mcu can only queue a limited number of step
+// commands - this code tracks when items on the mcu step queue become
+// free so that new commands can be transmitted.  It also ensures the
+// mcu step queue is ordered between steppers so that no stepper
+// starves the other steppers of space in the mcu step queue.
+
+struct steppersync {
+    // Serial port
+    struct serialqueue *sq;
+    struct command_queue *cq;
+    // Storage for associated stepcompress objects
+    struct stepcompress **sc_list;
+    int sc_num;
+    // Storage for list of pending move clocks
+    uint64_t *move_clocks;
+    int num_move_clocks;
+};
+
+// Allocate a new 'steppersync' object
+struct steppersync * __visible
+steppersync_alloc(struct serialqueue *sq, struct stepcompress **sc_list
+                  , int sc_num, int move_num)
 {
-    sc->sk = sk;
+    struct steppersync *ss = malloc(sizeof(*ss));
+    memset(ss, 0, sizeof(*ss));
+    ss->sq = sq;
+    ss->cq = serialqueue_alloc_commandqueue();
+
+    ss->sc_list = malloc(sizeof(*sc_list)*sc_num);
+    memcpy(ss->sc_list, sc_list, sizeof(*sc_list)*sc_num);
+    ss->sc_num = sc_num;
+
+    ss->move_clocks = malloc(sizeof(*ss->move_clocks)*move_num);
+    memset(ss->move_clocks, 0, sizeof(*ss->move_clocks)*move_num);
+    ss->num_move_clocks = move_num;
+
+    return ss;
 }

-// Generate steps (via itersolve) and flush
-int32_t
-stepcompress_generate_steps(struct stepcompress *sc, double gen_steps_time
-                            , uint64_t flush_clock)
+// Free memory associated with a 'steppersync' object
+void __visible
+steppersync_free(struct steppersync *ss)
 {
-    if (!sc->sk)
-        return 0;
-    // Generate steps
-    int32_t ret = itersolve_generate_steps(sc->sk, sc, gen_steps_time);
-    if (ret)
-        return ret;
-    // Flush steps
-    return stepcompress_flush(sc, flush_clock);
+    if (!ss)
+        return;
+    free(ss->sc_list);
+    free(ss->move_clocks);
+    serialqueue_free_commandqueue(ss->cq);
+    free(ss);
+}
+
+// Set the conversion rate of 'print_time' to mcu clock
+void __visible
+steppersync_set_time(struct steppersync *ss, double time_offset
+                     , double mcu_freq)
+{
+    int i;
+    for (i=0; i<ss->sc_num; i++) {
+        struct stepcompress *sc = ss->sc_list[i];
+        stepcompress_set_time(sc, time_offset, mcu_freq);
+    }
+}
+
+// Expire the stepcompress history before the given clock time
+static void
+steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
+{
+    int i;
+    for (i = 0; i < ss->sc_num; i++)
+    {
+        struct stepcompress *sc = ss->sc_list[i];
+        stepcompress_history_expire(sc, end_clock);
+    }
+}
+
+// Implement a binary heap algorithm to track when the next available
+// 'struct move' in the mcu will be available
+static void
+heap_replace(struct steppersync *ss, uint64_t req_clock)
+{
+    uint64_t *mc = ss->move_clocks;
+    int nmc = ss->num_move_clocks, pos = 0;
+    for (;;) {
+        int child1_pos = 2*pos+1, child2_pos = 2*pos+2;
+        uint64_t child2_clock = child2_pos < nmc ? mc[child2_pos] : UINT64_MAX;
+        uint64_t child1_clock = child1_pos < nmc ? mc[child1_pos] : UINT64_MAX;
+        if (req_clock <= child1_clock && req_clock <= child2_clock) {
+            mc[pos] = req_clock;
+            break;
+        }
+        if (child1_clock < child2_clock) {
+            mc[pos] = child1_clock;
+            pos = child1_pos;
+        } else {
+            mc[pos] = child2_clock;
+            pos = child2_pos;
+        }
+    }
+}
+
+// Find and transmit any scheduled steps prior to the given 'move_clock'
+int __visible
+steppersync_flush(struct steppersync *ss, uint64_t move_clock
+                  , uint64_t clear_history_clock)
+{
+    // Flush each stepcompress to the specified move_clock
+    int i;
+    for (i=0; i<ss->sc_num; i++) {
+        int ret = stepcompress_flush(ss->sc_list[i], move_clock);
+        if (ret)
+            return ret;
+    }
+
+    // Order commands by the reqclock of each pending command
+    struct list_head msgs;
+    list_init(&msgs);
+    for (;;) {
+        // Find message with lowest reqclock
+        uint64_t req_clock = MAX_CLOCK;
+        struct queue_message *qm = NULL;
+        for (i=0; i<ss->sc_num; i++) {
+            struct stepcompress *sc = ss->sc_list[i];
+            if (!list_empty(&sc->msg_queue)) {
+                struct queue_message *m = list_first_entry(
+                    &sc->msg_queue, struct queue_message, node);
+                if (m->req_clock < req_clock) {
+                    qm = m;
+                    req_clock = m->req_clock;
+                }
+            }
+        }
+        if (!qm || (qm->min_clock && req_clock > move_clock))
+            break;
+
+        uint64_t next_avail = ss->move_clocks[0];
+        if (qm->min_clock)
+            // The qm->min_clock field is overloaded to indicate that
+            // the command uses the 'move queue' and to store the time
+            // that move queue item becomes available.
+            heap_replace(ss, qm->min_clock);
+        // Reset the min_clock to its normal meaning (minimum transmit time)
+        qm->min_clock = next_avail;
+
+        // Batch this command
+        list_del(&qm->node);
+        list_add_tail(&qm->node, &msgs);
+    }
+
+    // Transmit commands
+    if (!list_empty(&msgs))
+        serialqueue_send_batch(ss->sq, ss->cq, &msgs);
+
+    steppersync_history_expire(ss, clear_history_clock);
+    return 0;
 }
--- a/klippy/chelper/stepcompress.h
+++ b/klippy/chelper/stepcompress.h
@@ -17,13 +17,9 @@ void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
                       , int32_t set_next_step_dir_msgtag);
 void stepcompress_set_invert_sdir(struct stepcompress *sc
                                  , uint32_t invert_sdir);
-void stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock);
 void stepcompress_free(struct stepcompress *sc);
 uint32_t stepcompress_get_oid(struct stepcompress *sc);
 int stepcompress_get_step_dir(struct stepcompress *sc);
-struct list_head *stepcompress_get_msg_queue(struct stepcompress *sc);
-void stepcompress_set_time(struct stepcompress *sc
-                           , double time_offset, double mcu_freq);
 int stepcompress_append(struct stepcompress *sc, int sdir
                        , double print_time, double step_time);
 int stepcompress_commit(struct stepcompress *sc);
@@ -38,11 +34,15 @@ int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
 int stepcompress_extract_old(struct stepcompress *sc
                             , struct pull_history_steps *p, int max
                             , uint64_t start_clock, uint64_t end_clock);
-struct stepper_kinematics;
-void stepcompress_set_stepper_kinematics(struct stepcompress *sc
-                                         , struct stepper_kinematics *sk);
-int32_t stepcompress_generate_steps(struct stepcompress *sc
-                                    , double gen_steps_time
-                                    , uint64_t flush_clock);
+
+struct serialqueue;
+struct steppersync *steppersync_alloc(
+    struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
+    , int move_num);
+void steppersync_free(struct steppersync *ss);
+void steppersync_set_time(struct steppersync *ss, double time_offset
+                          , double mcu_freq);
+int steppersync_flush(struct steppersync *ss, uint64_t move_clock
+                      , uint64_t clear_history_clock);

 #endif // stepcompress.h
--- a/klippy/chelper/steppersync.c
+++ b/klippy/chelper/steppersync.c
@@ -1,177 +0,0 @@
-// Stepper step transmit synchronization
-//
-// Copyright (C) 2016-2025  Kevin O'Connor <kevin@koconnor.net>
-//
-// This file may be distributed under the terms of the GNU GPLv3 license.
-
-// The steppersync object is used to synchronize the output of mcu
-// step commands.  The mcu can only queue a limited number of step
-// commands - this code tracks when items on the mcu step queue become
-// free so that new commands can be transmitted.  It also ensures the
-// mcu step queue is ordered between steppers so that no stepper
-// starves the other steppers of space in the mcu step queue.
-
-#include <stddef.h> // offsetof
-#include <stdlib.h> // malloc
-#include <string.h> // memset
-#include "compiler.h" // __visible
-#include "serialqueue.h" // struct queue_message
-#include "stepcompress.h" // stepcompress_flush
-#include "steppersync.h" // steppersync_alloc
-
-struct steppersync {
-    // Serial port
-    struct serialqueue *sq;
-    struct command_queue *cq;
-    // Storage for associated stepcompress objects
-    struct stepcompress **sc_list;
-    int sc_num;
-    // Storage for list of pending move clocks
-    uint64_t *move_clocks;
-    int num_move_clocks;
-};
-
-// Allocate a new 'steppersync' object
-struct steppersync * __visible
-steppersync_alloc(struct serialqueue *sq, struct stepcompress **sc_list
-                  , int sc_num, int move_num)
-{
-    struct steppersync *ss = malloc(sizeof(*ss));
-    memset(ss, 0, sizeof(*ss));
-    ss->sq = sq;
-    ss->cq = serialqueue_alloc_commandqueue();
-
-    ss->sc_list = malloc(sizeof(*sc_list)*sc_num);
-    memcpy(ss->sc_list, sc_list, sizeof(*sc_list)*sc_num);
-    ss->sc_num = sc_num;
-
-    ss->move_clocks = malloc(sizeof(*ss->move_clocks)*move_num);
-    memset(ss->move_clocks, 0, sizeof(*ss->move_clocks)*move_num);
-    ss->num_move_clocks = move_num;
-
-    return ss;
-}
-
-// Free memory associated with a 'steppersync' object
-void __visible
-steppersync_free(struct steppersync *ss)
-{
-    if (!ss)
-        return;
-    free(ss->sc_list);
-    free(ss->move_clocks);
-    serialqueue_free_commandqueue(ss->cq);
-    free(ss);
-}
-
-// Set the conversion rate of 'print_time' to mcu clock
-void __visible
-steppersync_set_time(struct steppersync *ss, double time_offset
-                     , double mcu_freq)
-{
-    int i;
-    for (i=0; i<ss->sc_num; i++) {
-        struct stepcompress *sc = ss->sc_list[i];
-        stepcompress_set_time(sc, time_offset, mcu_freq);
-    }
-}
-
-// Generate steps and flush stepcompress objects
-int32_t __visible
-steppersync_generate_steps(struct steppersync *ss, double gen_steps_time
-                           , uint64_t flush_clock)
-{
-    int i;
-    for (i=0; i<ss->sc_num; i++) {
-        struct stepcompress *sc = ss->sc_list[i];
-        int32_t ret = stepcompress_generate_steps(sc, gen_steps_time
-                                                  , flush_clock);
-        if (ret)
-            return ret;
-    }
-    return 0;
-}
-
-// Expire the stepcompress history before the given clock time
-void __visible
-steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
-{
-    int i;
-    for (i = 0; i < ss->sc_num; i++) {
-        struct stepcompress *sc = ss->sc_list[i];
-        stepcompress_history_expire(sc, end_clock);
-    }
-}
-
-// Implement a binary heap algorithm to track when the next available
-// 'struct move' in the mcu will be available
-static void
-heap_replace(struct steppersync *ss, uint64_t req_clock)
-{
-    uint64_t *mc = ss->move_clocks;
-    int nmc = ss->num_move_clocks, pos = 0;
-    for (;;) {
-        int child1_pos = 2*pos+1, child2_pos = 2*pos+2;
-        uint64_t child2_clock = child2_pos < nmc ? mc[child2_pos] : UINT64_MAX;
-        uint64_t child1_clock = child1_pos < nmc ? mc[child1_pos] : UINT64_MAX;
-        if (req_clock <= child1_clock && req_clock <= child2_clock) {
-            mc[pos] = req_clock;
-            break;
-        }
-        if (child1_clock < child2_clock) {
-            mc[pos] = child1_clock;
-            pos = child1_pos;
-        } else {
-            mc[pos] = child2_clock;
-            pos = child2_pos;
-        }
-    }
-}
-
-// Find and transmit any scheduled steps prior to the given 'move_clock'
-int __visible
-steppersync_flush(struct steppersync *ss, uint64_t move_clock)
-{
-    // Order commands by the reqclock of each pending command
-    struct list_head msgs;
-    list_init(&msgs);
-    for (;;) {
-        // Find message with lowest reqclock
-        uint64_t req_clock = MAX_CLOCK;
-        struct queue_message *qm = NULL;
-        int i;
-        for (i=0; i<ss->sc_num; i++) {
-            struct stepcompress *sc = ss->sc_list[i];
-            struct list_head *sc_mq = stepcompress_get_msg_queue(sc);
-            if (!list_empty(sc_mq)) {
-                struct queue_message *m = list_first_entry(
-                    sc_mq, struct queue_message, node);
-                if (m->req_clock < req_clock) {
-                    qm = m;
-                    req_clock = m->req_clock;
-                }
-            }
-        }
-        if (!qm || (qm->min_clock && req_clock > move_clock))
-            break;
-
-        uint64_t next_avail = ss->move_clocks[0];
-        if (qm->min_clock)
-            // The qm->min_clock field is overloaded to indicate that
-            // the command uses the 'move queue' and to store the time
-            // that move queue item becomes available.
-            heap_replace(ss, qm->min_clock);
-        // Reset the min_clock to its normal meaning (minimum transmit time)
-        qm->min_clock = next_avail;
-
-        // Batch this command
-        list_del(&qm->node);
-        list_add_tail(&qm->node, &msgs);
-    }
-
-    // Transmit commands
-    if (!list_empty(&msgs))
-        serialqueue_send_batch(ss->sq, ss->cq, &msgs);
-
-    return 0;
-}
--- a/klippy/chelper/steppersync.h
+++ b/klippy/chelper/steppersync.h
@@ -1,18 +0,0 @@
-#ifndef STEPPERSYNC_H
-#define STEPPERSYNC_H
-
-#include <stdint.h> // uint64_t
-
-struct serialqueue;
-struct steppersync *steppersync_alloc(
-    struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
-    , int move_num);
-void steppersync_free(struct steppersync *ss);
-void steppersync_set_time(struct steppersync *ss, double time_offset
-                          , double mcu_freq);
-int32_t steppersync_generate_steps(struct steppersync *ss, double gen_steps_time
-                                   , uint64_t flush_clock);
-void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
-int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
-
-#endif // steppersync.h
--- a/klippy/configfile.py
+++ b/klippy/configfile.py
@@ -1,17 +1,12 @@
 # Code for reading and writing the Klipper config file
 #
-# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, os, glob, re, time, logging, configparser, io

 error = configparser.Error

-
-######################################################################
-# Config section parsing helper
-######################################################################
-
 class sentinel:
    pass

@@ -139,13 +134,30 @@ class ConfigWrapper:
        pconfig = self.printer.lookup_object("configfile")
        pconfig.deprecate(self.section, option, value, msg)

+AUTOSAVE_HEADER = """
+#*# <---------------------- SAVE_CONFIG ---------------------->
+#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
+#*#
+"""

-######################################################################
-# Config file parsing (with include file support)
-######################################################################
-
-class ConfigFileReader:
-    def read_config_file(self, filename):
+class PrinterConfig:
+    def __init__(self, printer):
+        self.printer = printer
+        self.autosave = None
+        self.deprecated = {}
+        self.runtime_warnings = []
+        self.deprecate_warnings = []
+        self.status_raw_config = {}
+        self.status_save_pending = {}
+        self.status_settings = {}
+        self.status_warnings = []
+        self.save_config_pending = False
+        gcode = self.printer.lookup_object('gcode')
+        gcode.register_command("SAVE_CONFIG", self.cmd_SAVE_CONFIG,
+                               desc=self.cmd_SAVE_CONFIG_help)
+    def get_printer(self):
+        return self.printer
+    def _read_config_file(self, filename):
        try:
            f = open(filename, 'r')
            data = f.read()
@@ -155,102 +167,6 @@ class ConfigFileReader:
            logging.exception(msg)
            raise error(msg)
        return data.replace('\r\n', '\n')
-    def build_config_string(self, fileconfig):
-        sfile = io.StringIO()
-        fileconfig.write(sfile)
-        return sfile.getvalue().strip()
-    def append_fileconfig(self, fileconfig, data, filename):
-        if not data:
-            return
-        # Strip trailing comments
-        lines = data.split('\n')
-        for i, line in enumerate(lines):
-            pos = line.find('#')
-            if pos >= 0:
-                lines[i] = line[:pos]
-        sbuffer = io.StringIO('\n'.join(lines))
-        if sys.version_info.major >= 3:
-            fileconfig.read_file(sbuffer, filename)
-        else:
-            fileconfig.readfp(sbuffer, filename)
-    def _create_fileconfig(self):
-        if sys.version_info.major >= 3:
-            fileconfig = configparser.RawConfigParser(
-                strict=False, inline_comment_prefixes=(';', '#'))
-        else:
-            fileconfig = configparser.RawConfigParser()
-        return fileconfig
-    def build_fileconfig(self, data, filename):
-        fileconfig = self._create_fileconfig()
-        self.append_fileconfig(fileconfig, data, filename)
-        return fileconfig
-    def _resolve_include(self, source_filename, include_spec, fileconfig,
-                         visited):
-        dirname = os.path.dirname(source_filename)
-        include_spec = include_spec.strip()
-        include_glob = os.path.join(dirname, include_spec)
-        include_filenames = glob.glob(include_glob)
-        if not include_filenames and not glob.has_magic(include_glob):
-            # Empty set is OK if wildcard but not for direct file reference
-            raise error("Include file '%s' does not exist" % (include_glob,))
-        include_filenames.sort()
-        for include_filename in include_filenames:
-            include_data = self.read_config_file(include_filename)
-            self._parse_config(include_data, include_filename, fileconfig,
-                               visited)
-        return include_filenames
-    def _parse_config(self, data, filename, fileconfig, visited):
-        path = os.path.abspath(filename)
-        if path in visited:
-            raise error("Recursive include of config file '%s'" % (filename))
-        visited.add(path)
-        lines = data.split('\n')
-        # Buffer lines between includes and parse as a unit so that overrides
-        # in includes apply linearly as they do within a single file
-        buf = []
-        for line in lines:
-            # Strip trailing comment
-            pos = line.find('#')
-            if pos >= 0:
-                line = line[:pos]
-            # Process include or buffer line
-            mo = configparser.RawConfigParser.SECTCRE.match(line)
-            header = mo and mo.group('header')
-            if header and header.startswith('include '):
-                self.append_fileconfig(fileconfig, '\n'.join(buf), filename)
-                del buf[:]
-                include_spec = header[8:].strip()
-                self._resolve_include(filename, include_spec, fileconfig,
-                                      visited)
-            else:
-                buf.append(line)
-        self.append_fileconfig(fileconfig, '\n'.join(buf), filename)
-        visited.remove(path)
-    def build_fileconfig_with_includes(self, data, filename):
-        fileconfig = self._create_fileconfig()
-        self._parse_config(data, filename, fileconfig, set())
-        return fileconfig
-
-
-######################################################################
-# Config auto save helper
-######################################################################
-
-AUTOSAVE_HEADER = """
-#*# <---------------------- SAVE_CONFIG ---------------------->
-#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
-#*#
-"""
-
-class ConfigAutoSave:
-    def __init__(self, printer):
-        self.printer = printer
-        self.fileconfig = None
-        self.status_save_pending = {}
-        self.save_config_pending = False
-        gcode = self.printer.lookup_object('gcode')
-        gcode.register_command("SAVE_CONFIG", self.cmd_SAVE_CONFIG,
-                               desc=self.cmd_SAVE_CONFIG_help)
    def _find_autosave_data(self, data):
        regular_data = data
        autosave_data = ""
@@ -259,7 +175,7 @@ class ConfigAutoSave:
            regular_data = data[:pos]
            autosave_data = data[pos + len(AUTOSAVE_HEADER):].strip()
        # Check for errors and strip line prefixes
-        if "\n#*# " in regular_data or autosave_data.find(AUTOSAVE_HEADER) >= 0:
+        if "\n#*# " in regular_data:
            logging.warning("Can't read autosave from config file"
                            " - autosave state corrupted")
            return data, ""
@@ -276,7 +192,7 @@ class ConfigAutoSave:
        return regular_data, "\n".join(out)
    comment_r = re.compile('[#;].*$')
    value_r = re.compile('[^A-Za-z0-9_].*$')
-    def _strip_duplicates(self, data, fileconfig):
+    def _strip_duplicates(self, data, config):
        # Comment out fields in 'data' that are defined in 'config'
        lines = data.split('\n')
        section = None
@@ -294,31 +210,152 @@ class ConfigAutoSave:
                section = pruned_line[1:-1].strip()
                continue
            field = self.value_r.sub('', pruned_line)
-            if fileconfig.has_option(section, field):
+            if config.fileconfig.has_option(section, field):
                is_dup_field = True
                lines[lineno] = '#' + lines[lineno]
        return "\n".join(lines)
-    def load_main_config(self):
+    def _parse_config_buffer(self, buffer, filename, fileconfig):
+        if not buffer:
+            return
+        data = '\n'.join(buffer)
+        del buffer[:]
+        sbuffer = io.StringIO(data)
+        if sys.version_info.major >= 3:
+            fileconfig.read_file(sbuffer, filename)
+        else:
+            fileconfig.readfp(sbuffer, filename)
+    def _resolve_include(self, source_filename, include_spec, fileconfig,
+                         visited):
+        dirname = os.path.dirname(source_filename)
+        include_spec = include_spec.strip()
+        include_glob = os.path.join(dirname, include_spec)
+        include_filenames = glob.glob(include_glob)
+        if not include_filenames and not glob.has_magic(include_glob):
+            # Empty set is OK if wildcard but not for direct file reference
+            raise error("Include file '%s' does not exist" % (include_glob,))
+        include_filenames.sort()
+        for include_filename in include_filenames:
+            include_data = self._read_config_file(include_filename)
+            self._parse_config(include_data, include_filename, fileconfig,
+                               visited)
+        return include_filenames
+    def _parse_config(self, data, filename, fileconfig, visited):
+        path = os.path.abspath(filename)
+        if path in visited:
+            raise error("Recursive include of config file '%s'" % (filename))
+        visited.add(path)
+        lines = data.split('\n')
+        # Buffer lines between includes and parse as a unit so that overrides
+        # in includes apply linearly as they do within a single file
+        buffer = []
+        for line in lines:
+            # Strip trailing comment
+            pos = line.find('#')
+            if pos >= 0:
+                line = line[:pos]
+            # Process include or buffer line
+            mo = configparser.RawConfigParser.SECTCRE.match(line)
+            header = mo and mo.group('header')
+            if header and header.startswith('include '):
+                self._parse_config_buffer(buffer, filename, fileconfig)
+                include_spec = header[8:].strip()
+                self._resolve_include(filename, include_spec, fileconfig,
+                                      visited)
+            else:
+                buffer.append(line)
+        self._parse_config_buffer(buffer, filename, fileconfig)
+        visited.remove(path)
+    def _build_config_wrapper(self, data, filename):
+        if sys.version_info.major >= 3:
+            fileconfig = configparser.RawConfigParser(
+                strict=False, inline_comment_prefixes=(';', '#'))
+        else:
+            fileconfig = configparser.RawConfigParser()
+        self._parse_config(data, filename, fileconfig, set())
+        return ConfigWrapper(self.printer, fileconfig, {}, 'printer')
+    def _build_config_string(self, config):
+        sfile = io.StringIO()
+        config.fileconfig.write(sfile)
+        return sfile.getvalue().strip()
+    def read_config(self, filename):
+        return self._build_config_wrapper(self._read_config_file(filename),
+                                          filename)
+    def read_main_config(self):
        filename = self.printer.get_start_args()['config_file']
-        cfgrdr = ConfigFileReader()
-        data = cfgrdr.read_config_file(filename)
+        data = self._read_config_file(filename)
        regular_data, autosave_data = self._find_autosave_data(data)
-        regular_fileconfig = cfgrdr.build_fileconfig_with_includes(
-            regular_data, filename)
-        autosave_data = self._strip_duplicates(autosave_data,
-                                               regular_fileconfig)
-        self.fileconfig = cfgrdr.build_fileconfig(autosave_data, filename)
-        cfgrdr.append_fileconfig(regular_fileconfig,
-                                 autosave_data, '*AUTOSAVE*')
-        return regular_fileconfig, self.fileconfig
+        regular_config = self._build_config_wrapper(regular_data, filename)
+        autosave_data = self._strip_duplicates(autosave_data, regular_config)
+        self.autosave = self._build_config_wrapper(autosave_data, filename)
+        cfg = self._build_config_wrapper(regular_data + autosave_data, filename)
+        return cfg
+    def check_unused_options(self, config):
+        fileconfig = config.fileconfig
+        objects = dict(self.printer.lookup_objects())
+        # Determine all the fields that have been accessed
+        access_tracking = dict(config.access_tracking)
+        for section in self.autosave.fileconfig.sections():
+            for option in self.autosave.fileconfig.options(section):
+                access_tracking[(section.lower(), option.lower())] = 1
+        # Validate that there are no undefined parameters in the config file
+        valid_sections = { s: 1 for s, o in access_tracking }
+        for section_name in fileconfig.sections():
+            section = section_name.lower()
+            if section not in valid_sections and section not in objects:
+                raise error("Section '%s' is not a valid config section"
+                            % (section,))
+            for option in fileconfig.options(section_name):
+                option = option.lower()
+                if (section, option) not in access_tracking:
+                    raise error("Option '%s' is not valid in section '%s'"
+                                % (option, section))
+        # Setup get_status()
+        self._build_status(config)
+    def log_config(self, config):
+        lines = ["===== Config file =====",
+                 self._build_config_string(config),
+                 "======================="]
+        self.printer.set_rollover_info("config", "\n".join(lines))
+    # Status reporting
+    def runtime_warning(self, msg):
+        logging.warning(msg)
+        res = {'type': 'runtime_warning', 'message': msg}
+        self.runtime_warnings.append(res)
+        self.status_warnings = self.runtime_warnings + self.deprecate_warnings
+    def deprecate(self, section, option, value=None, msg=None):
+        self.deprecated[(section, option, value)] = msg
+    def _build_status(self, config):
+        self.status_raw_config.clear()
+        for section in config.get_prefix_sections(''):
+            self.status_raw_config[section.get_name()] = section_status = {}
+            for option in section.get_prefix_options(''):
+                section_status[option] = section.get(option, note_valid=False)
+        self.status_settings = {}
+        for (section, option), value in config.access_tracking.items():
+            self.status_settings.setdefault(section, {})[option] = value
+        self.deprecate_warnings = []
+        for (section, option, value), msg in self.deprecated.items():
+            if value is None:
+                res = {'type': 'deprecated_option'}
+            else:
+                res = {'type': 'deprecated_value', 'value': value}
+            res['message'] = msg
+            res['section'] = section
+            res['option'] = option
+            self.deprecate_warnings.append(res)
+        self.status_warnings = self.runtime_warnings + self.deprecate_warnings
    def get_status(self, eventtime):
-        return {'save_config_pending': self.save_config_pending,
+        return {'config': self.status_raw_config,
+                'settings': self.status_settings,
+                'warnings': self.status_warnings,
+                'save_config_pending': self.save_config_pending,
                'save_config_pending_items': self.status_save_pending}
+    # Autosave functions
    def set(self, section, option, value):
-        if not self.fileconfig.has_section(section):
-            self.fileconfig.add_section(section)
+        if not self.autosave.fileconfig.has_section(section):
+            self.autosave.fileconfig.add_section(section)
        svalue = str(value)
-        self.fileconfig.set(section, option, svalue)
+        self.autosave.fileconfig.set(section, option, svalue)
        pending = dict(self.status_save_pending)
        if not section in pending or pending[section] is None:
            pending[section] = {}
@@ -329,8 +366,8 @@ class ConfigAutoSave:
        self.save_config_pending = True
        logging.info("save_config: set [%s] %s = %s", section, option, svalue)
    def remove_section(self, section):
-        if self.fileconfig.has_section(section):
-            self.fileconfig.remove_section(section)
+        if self.autosave.fileconfig.has_section(section):
+            self.autosave.fileconfig.remove_section(section)
            pending = dict(self.status_save_pending)
            pending[section] = None
            self.status_save_pending = pending
@@ -341,20 +378,21 @@ class ConfigAutoSave:
            del pending[section]
            self.status_save_pending = pending
            self.save_config_pending = True
-    def _disallow_include_conflicts(self, regular_fileconfig):
-        for section in self.fileconfig.sections():
-            for option in self.fileconfig.options(section):
-                if regular_fileconfig.has_option(section, option):
+    def _disallow_include_conflicts(self, regular_data, cfgname, gcode):
+        config = self._build_config_wrapper(regular_data, cfgname)
+        for section in self.autosave.fileconfig.sections():
+            for option in self.autosave.fileconfig.options(section):
+                if config.fileconfig.has_option(section, option):
                    msg = ("SAVE_CONFIG section '%s' option '%s' conflicts "
                           "with included value" % (section, option))
-                    raise self.printer.command_error(msg)
+                    raise gcode.error(msg)
    cmd_SAVE_CONFIG_help = "Overwrite config file and restart"
    def cmd_SAVE_CONFIG(self, gcmd):
-        if not self.fileconfig.sections():
+        if not self.autosave.fileconfig.sections():
            return
+        gcode = self.printer.lookup_object('gcode')
        # Create string containing autosave data
-        cfgrdr = ConfigFileReader()
-        autosave_data = cfgrdr.build_config_string(self.fileconfig)
+        autosave_data = self._build_config_string(self.autosave)
        lines = [('#*# ' + l).strip()
                 for l in autosave_data.split('\n')]
        lines.insert(0, "\n" + AUTOSAVE_HEADER.rstrip())
@@ -363,27 +401,16 @@ class ConfigAutoSave:
        # Read in and validate current config file
        cfgname = self.printer.get_start_args()['config_file']
        try:
-            data = cfgrdr.read_config_file(cfgname)
-        except error as e:
-            msg = "Unable to read existing config on SAVE_CONFIG"
-            logging.exception(msg)
-            raise gcmd.error(msg)
-        regular_data, old_autosave_data = self._find_autosave_data(data)
-        regular_data = self._strip_duplicates(regular_data, self.fileconfig)
-        data = regular_data.rstrip() + autosave_data
-        new_regular_data, new_autosave_data = self._find_autosave_data(data)
-        if not new_autosave_data:
-            raise gcmd.error(
-                "Existing config autosave is corrupted."
-                " Can't complete SAVE_CONFIG")
-        try:
-            regular_fileconfig = cfgrdr.build_fileconfig_with_includes(
-                new_regular_data, cfgname)
+            data = self._read_config_file(cfgname)
+            regular_data, old_autosave_data = self._find_autosave_data(data)
+            config = self._build_config_wrapper(regular_data, cfgname)
        except error as e:
            msg = "Unable to parse existing config on SAVE_CONFIG"
            logging.exception(msg)
-            raise gcmd.error(msg)
-        self._disallow_include_conflicts(regular_fileconfig)
+            raise gcode.error(msg)
+        regular_data = self._strip_duplicates(regular_data, self.autosave)
+        self._disallow_include_conflicts(regular_data, cfgname, gcode)
+        data = regular_data.rstrip() + autosave_data
        # Determine filenames
        datestr = time.strftime("-%Y%m%d_%H%M%S")
        backup_name = cfgname + datestr
@@ -403,135 +430,6 @@ class ConfigAutoSave:
        except:
            msg = "Unable to write config file during SAVE_CONFIG"
            logging.exception(msg)
-            raise gcmd.error(msg)
+            raise gcode.error(msg)
        # Request a restart
-        gcode = self.printer.lookup_object('gcode')
        gcode.request_restart('restart')
-
-
-######################################################################
-# Config validation (check for undefined options)
-######################################################################
-
-class ConfigValidate:
-    def __init__(self, printer):
-        self.printer = printer
-        self.status_settings = {}
-        self.access_tracking = {}
-        self.autosave_options = {}
-    def start_access_tracking(self, autosave_fileconfig):
-        # Note autosave options for use during undefined options check
-        self.autosave_options = {}
-        for section in autosave_fileconfig.sections():
-            for option in autosave_fileconfig.options(section):
-                self.autosave_options[(section.lower(), option.lower())] = 1
-        self.access_tracking = {}
-        return self.access_tracking
-    def check_unused(self, fileconfig):
-        # Don't warn on fields set in autosave segment
-        access_tracking = dict(self.access_tracking)
-        access_tracking.update(self.autosave_options)
-        # Note locally used sections
-        valid_sections = { s: 1 for s, o in self.printer.lookup_objects() }
-        valid_sections.update({ s: 1 for s, o in access_tracking })
-        # Validate that there are no undefined parameters in the config file
-        for section_name in fileconfig.sections():
-            section = section_name.lower()
-            if section not in valid_sections:
-                raise error("Section '%s' is not a valid config section"
-                            % (section,))
-            for option in fileconfig.options(section_name):
-                option = option.lower()
-                if (section, option) not in access_tracking:
-                    raise error("Option '%s' is not valid in section '%s'"
-                                % (option, section))
-        # Setup get_status()
-        self._build_status_settings()
-        # Clear tracking state
-        self.access_tracking.clear()
-        self.autosave_options.clear()
-    def _build_status_settings(self):
-        self.status_settings = {}
-        for (section, option), value in self.access_tracking.items():
-            self.status_settings.setdefault(section, {})[option] = value
-    def get_status(self, eventtime):
-        return {'settings': self.status_settings}
-
-
-######################################################################
-# Main printer config tracking
-######################################################################
-
-class PrinterConfig:
-    def __init__(self, printer):
-        self.printer = printer
-        self.autosave = ConfigAutoSave(printer)
-        self.validate = ConfigValidate(printer)
-        self.deprecated = {}
-        self.runtime_warnings = []
-        self.deprecate_warnings = []
-        self.status_raw_config = {}
-        self.status_warnings = []
-    def get_printer(self):
-        return self.printer
-    def read_config(self, filename):
-        cfgrdr = ConfigFileReader()
-        data = cfgrdr.read_config_file(filename)
-        fileconfig = cfgrdr.build_fileconfig(data, filename)
-        return ConfigWrapper(self.printer, fileconfig, {}, 'printer')
-    def read_main_config(self):
-        fileconfig, autosave_fileconfig = self.autosave.load_main_config()
-        access_tracking = self.validate.start_access_tracking(
-            autosave_fileconfig)
-        config = ConfigWrapper(self.printer, fileconfig,
-                               access_tracking, 'printer')
-        self._build_status_config(config)
-        return config
-    def log_config(self, config):
-        cfgrdr = ConfigFileReader()
-        lines = ["===== Config file =====",
-                 cfgrdr.build_config_string(config.fileconfig),
-                 "======================="]
-        self.printer.set_rollover_info("config", "\n".join(lines))
-    def check_unused_options(self, config):
-        self.validate.check_unused(config.fileconfig)
-    # Deprecation warnings
-    def runtime_warning(self, msg):
-        logging.warning(msg)
-        res = {'type': 'runtime_warning', 'message': msg}
-        self.runtime_warnings.append(res)
-        self.status_warnings = self.runtime_warnings + self.deprecate_warnings
-    def deprecate(self, section, option, value=None, msg=None):
-        key = (section, option, value)
-        if key in self.deprecated and self.deprecated[key] == msg:
-            return
-        self.deprecated[key] = msg
-        self.deprecate_warnings = []
-        for (section, option, value), msg in self.deprecated.items():
-            if value is None:
-                res = {'type': 'deprecated_option'}
-            else:
-                res = {'type': 'deprecated_value', 'value': value}
-            res['message'] = msg
-            res['section'] = section
-            res['option'] = option
-            self.deprecate_warnings.append(res)
-        self.status_warnings = self.runtime_warnings + self.deprecate_warnings
-    # Status reporting
-    def _build_status_config(self, config):
-        self.status_raw_config = {}
-        for section in config.get_prefix_sections(''):
-            self.status_raw_config[section.get_name()] = section_status = {}
-            for option in section.get_prefix_options(''):
-                section_status[option] = section.get(option, note_valid=False)
-    def get_status(self, eventtime):
-        status = {'config': self.status_raw_config,
-                  'warnings': self.status_warnings}
-        status.update(self.autosave.get_status(eventtime))
-        status.update(self.validate.get_status(eventtime))
-        return status
-    # Autosave functions
-    def set(self, section, option, value):
-        self.autosave.set(section, option, value)
-    def remove_section(self, section):
-        self.autosave.remove_section(section)
--- a/klippy/extras/ads1220.py
+++ b/klippy/extras/ads1220.py
@@ -24,7 +24,7 @@ def hexify(byte_array):
    return "[%s]" % (", ".join([hex(b) for b in byte_array]))


-class ADS1220:
+class ADS1220():
    def __init__(self, config):
        self.printer = printer = config.get_printer()
        self.name = config.get_name().split()[-1]
@@ -42,35 +42,8 @@ class ADS1220:
                          '660': 660, '1200': 1200, '2000': 2000}
        self.sps_options = self.sps_normal.copy()
        self.sps_options.update(self.sps_turbo)
-        self.sps = config.getchoice('sample_rate', self.sps_options,
-                                    default='660')
+        self.sps = config.getchoice('sps', self.sps_options, default='660')
        self.is_turbo = str(self.sps) in self.sps_turbo
-        # Input multiplexer: AINP and AINN
-        mux_options = {'AIN0_AIN1': 0b0000, 'AIN0_AIN2': 0b0001,
-                       'AIN0_AIN3': 0b0010, 'AIN1_AIN2': 0b0011,
-                       'AIN1_AIN3': 0b0100, 'AIN2_AIN3': 0b0101,
-                       'AIN1_AIN0': 0b0110, 'AIN3_AIN2': 0b0111,
-                       'AIN0_AVSS': 0b1000, 'AIN1_AVSS': 0b1001,
-                       'AIN2_AVSS': 0b1010, 'AIN3_AVSS': 0b1011}
-        self.mux = config.getchoice('input_mux', mux_options,
-                                    default='AIN0_AIN1')
-        # PGA Bypass
-        self.pga_bypass = config.getboolean('pga_bypass', default=False)
-        # bypass PGA when AVSS is the negative input
-        force_pga_bypass = self.mux >= 0b1000
-        self.pga_bypass = force_pga_bypass or self.pga_bypass
-        # Voltage Reference
-        self.vref_options = {'internal': 0b0, 'REF0': 0b01, 'REF1': 0b10,
-                             'analog_supply': 0b11}
-        self.vref = config.getchoice('vref', self.vref_options,
-                                     default='internal')
-        # check for conflict between REF1 and AIN0/AIN3
-        mux_conflict = [0b0000, 0b0001, 0b0010, 0b0100, 0b0101, 0b0110, 0b0111,
-                        0b1000, 0b1011]
-        if self.vref == 0b10 and self.mux in mux_conflict:
-            raise config.error("ADS1220 config error: AIN0/REFP1 and AIN3/REFN1"
-                               " cant be used as a voltage reference and"
-                               " an input at the same time")
        # SPI Setup
        spi_speed = 512000 if self.is_turbo else 256000
        self.spi = bus.MCU_SPI_from_config(config, 1, default_speed=spi_speed)
@@ -95,8 +68,11 @@ class ADS1220:
        self.batch_bulk = bulk_sensor.BatchBulkHelper(
            self.printer, self._process_batch, self._start_measurements,
            self._finish_measurements, UPDATE_INTERVAL)
+        # publish raw samples to the socket
+        self.batch_bulk.add_mux_endpoint("ads1220/dump_ads1220", "sensor",
+                                         self.name,
+                                         {'header': ('time', 'counts')})
        # Command Configuration
-        self.attach_probe_cmd = None
        mcu.add_config_cmd(
            "config_ads1220 oid=%d spi_oid=%d data_ready_pin=%s"
            % (self.oid, self.spi.get_oid(), self.data_ready_pin))
@@ -109,8 +85,6 @@ class ADS1220:
        cmdqueue = self.spi.get_command_queue()
        self.query_ads1220_cmd = self.mcu.lookup_command(
            "query_ads1220 oid=%c rest_ticks=%u", cq=cmdqueue)
-        self.attach_probe_cmd = self.mcu.lookup_command(
-            "ads1220_attach_load_cell_probe oid=%c load_cell_probe_oid=%c")
        self.ffreader.setup_query_command("query_ads1220_status oid=%c",
                                          oid=self.oid, cq=cmdqueue)

@@ -129,9 +103,6 @@ class ADS1220:
    def add_client(self, callback):
        self.batch_bulk.add_client(callback)

-    def attach_load_cell_probe(self, load_cell_probe_oid):
-        self.attach_probe_cmd.send([self.oid, load_cell_probe_oid])
-
    # Measurement decoding
    def _convert_samples(self, samples):
        adc_factor = 1. / (1 << 23)
@@ -186,10 +157,8 @@ class ADS1220:
        mode = 0x2 if self.is_turbo else 0x0  # turbo mode
        sps_list = self.sps_turbo if self.is_turbo else self.sps_normal
        data_rate = list(sps_list.keys()).index(str(self.sps))
-        reg_values = [(self.mux << 4) | (self.gain << 1) | int(self.pga_bypass),
-                      (data_rate << 5) | (mode << 3) | (continuous << 2),
-                      (self.vref << 6),
-                      0x0]
+        reg_values = [(self.gain << 1),
+                      (data_rate << 5) | (mode << 3) | (continuous << 2)]
        self.write_reg(0x0, reg_values)
        # start measurements immediately
        self.send_command(START_SYNC_CMD)
@@ -208,7 +177,7 @@ class ADS1220:
        write_command.extend(register_bytes)
        self.spi.spi_send(write_command)
        stored_val = self.read_reg(reg, len(register_bytes))
-        if bytearray(register_bytes) != stored_val:
+        if register_bytes != stored_val:
            raise self.printer.command_error(
                "Failed to set ADS1220 register [0x%x] to %s: got %s. "
                "This may be a connection problem (e.g. faulty wiring)" % (
--- a/klippy/extras/ads1x1x.py
+++ b/klippy/extras/ads1x1x.py
@@ -1,393 +0,0 @@
-# Support for I2C based ADS1013, ADS1014, ADS1015, ADS1113, ADS1114 and ADS1115
-#
-# Copyright (C) 2024 Konstantin Koch <korsarnek@gmail.com>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
-import pins
-from . import bus
-
-# Supported chip types
-ADS1X1X_CHIP_TYPE = {
-    'ADS1013': 3,
-    'ADS1014': 4,
-    'ADS1015': 5,
-    'ADS1113': 13,
-    'ADS1114': 14,
-    'ADS1115': 15
-}
-
-def isADS101X(chip):
-    return (chip == ADS1X1X_CHIP_TYPE['ADS1013'] \
-        or chip == ADS1X1X_CHIP_TYPE['ADS1014'] \
-        or chip == ADS1X1X_CHIP_TYPE['ADS1015'])
-
-def isADS111X(chip):
-    return (chip == ADS1X1X_CHIP_TYPE['ADS1113'] \
-        or chip == ADS1X1X_CHIP_TYPE['ADS1114'] \
-        or chip == ADS1X1X_CHIP_TYPE['ADS1115'])
-
-# Address is defined by how the address pin is wired
-ADS1X1X_CHIP_ADDR = {
-    'GND': 0x48,
-    'VCC': 0x49,
-    'SDA': 0x4a,
-    'SCL': 0x4b
-}
-
-# Chip "pointer" registers
-ADS1X1X_REG_POINTER_MASK = 0x03
-ADS1X1X_REG_POINTER = {
-    'CONVERSION': 0x00,
-    'CONFIG': 0x01,
-    'LO_THRESH': 0x02,
-    'HI_THRESH': 0x03
-}
-
-# Config register masks
-ADS1X1X_REG_CONFIG = {
-    'OS_MASK': 0x8000,
-    'MULTIPLEXER_MASK': 0x7000,
-    'PGA_MASK': 0x0E00,
-    'MODE_MASK': 0x0100,
-    'DATA_RATE_MASK': 0x00E0,
-    'COMPARATOR_MODE_MASK': 0x0010,
-    'COMPARATOR_POLARITY_MASK': 0x0008,
-    # Determines if ALERT/RDY pin latches once asserted
-    'COMPARATOR_LATCHING_MASK': 0x0004,
-    'COMPARATOR_QUEUE_MASK': 0x0003
-}
-
-#
-# The following enums are to be used with the configuration functions.
-#
-ADS1X1X_OS = {
-    'OS_IDLE': 0x8000,  # Device is not performing a conversion
-    'OS_SINGLE': 0x8000 # Single-conversion
-}
-
-ADS1X1X_MUX = {
-    'DIFF01': 0x0000,  # Differential P = AIN0, N = AIN1 0
-    'DIFF03': 0x1000,  # Differential P = AIN0, N = AIN3 4096
-    'DIFF13': 0x2000,  # Differential P = AIN1, N = AIN3 8192
-    'DIFF23': 0x3000,  # Differential P = AIN2, N = AIN3 12288
-    'AIN0': 0x4000,  # Single-ended (ADS1015: AIN0 16384)
-    'AIN1': 0x5000,  # Single-ended (ADS1015: AIN1 20480)
-    'AIN2': 0x6000,  # Single-ended (ADS1015: AIN2 24576)
-    'AIN3': 0x7000   # Single-ended (ADS1015: AIN3 28672)
-}
-
-ADS1X1X_PGA = {
-    '6.144V': 0x0000,  # +/-6.144V range = Gain 2/3
-    '4.096V': 0x0200,  # +/-4.096V range = Gain 1
-    '2.048V': 0x0400,  # +/-2.048V range = Gain 2
-    '1.024V': 0x0600,  # +/-1.024V range = Gain 4
-    '0.512V': 0x0800,  # +/-0.512V range = Gain 8
-    '0.256V': 0x0A00  # +/-0.256V range = Gain 16
-}
-ADS1X1X_PGA_VALUE = {
-    0x0000: 6.144,
-    0x0200: 4.096,
-    0x0400: 2.048,
-    0x0600: 1.024,
-    0x0800: 0.512,
-    0x0A00: 0.256,
-}
-ADS111X_RESOLUTION = 32767.0
-ADS111X_PGA_SCALAR = {
-    0x0000: 6.144 / ADS111X_RESOLUTION,  # +/-6.144V range = Gain 2/3
-    0x0200: 4.096 / ADS111X_RESOLUTION,  # +/-4.096V range = Gain 1
-    0x0400: 2.048 / ADS111X_RESOLUTION,  # +/-2.048V range = Gain 2
-    0x0600: 1.024 / ADS111X_RESOLUTION,  # +/-1.024V range = Gain 4
-    0x0800: 0.512 / ADS111X_RESOLUTION,  # +/-0.512V range = Gain 8
-    0x0A00: 0.256 / ADS111X_RESOLUTION  # +/-0.256V range = Gain 16
-}
-ADS101X_RESOLUTION = 2047.0
-ADS101X_PGA_SCALAR = {
-    0x0000: 6.144 / ADS101X_RESOLUTION,  # +/-6.144V range = Gain 2/3
-    0x0200: 4.096 / ADS101X_RESOLUTION,  # +/-4.096V range = Gain 1
-    0x0400: 2.048 / ADS101X_RESOLUTION,  # +/-2.048V range = Gain 2
-    0x0600: 1.024 / ADS101X_RESOLUTION,  # +/-1.024V range = Gain 4
-    0x0800: 0.512 / ADS101X_RESOLUTION,  # +/-0.512V range = Gain 8
-    0x0A00: 0.256 / ADS101X_RESOLUTION  # +/-0.256V range = Gain 16
-}
-ADS1X1X_MODE = {
-    'continuous': 0x0000,  # Continuous conversion mode
-    'single': 0x0100  # Power-down single-shot mode
-}
-
-# Lesser samples per second means it takes and averages more samples before
-# returning a result.
-ADS101X_SAMPLES_PER_SECOND = {
-    '128': 0x0000,  # 128 samples per second
-    '250': 0x0020,  # 250 samples per second
-    '490': 0x0040,  # 490 samples per second
-    '920': 0x0060,  # 920 samples per second
-    '1600': 0x0080,  # 1600 samples per second
-    '2400': 0x00a0,  # 2400 samples per second
-    '3300': 0x00c0,  # 3300 samples per second
-}
-
-ADS111X_SAMPLES_PER_SECOND = {
-    '8': 0x0000,  # 8 samples per second
-    '16': 0x0020,  # 16 samples per second
-    '32': 0x0040,  # 32 samples per second
-    '64': 0x0060,  # 64 samples per second
-    '128': 0x0080,  # 128 samples per second
-    '250': 0x00a0,  # 250 samples per second
-    '475': 0x00c0,  # 475 samples per second
-    '860': 0x00e0  # 860 samples per second
-}
-
-ADS1X1X_COMPARATOR_MODE = {
-    'TRADITIONAL': 0x0000,  # Traditional comparator with hysteresis
-    'WINDOW': 0x0010  # Window comparator
-}
-
-ADS1X1X_COMPARATOR_POLARITY = {
-    'ACTIVE_LO': 0x0000,  # ALERT/RDY pin is low when active
-    'ACTIVE_HI': 0x0008  # ALERT/RDY pin is high when active
-}
-
-ADS1X1X_COMPARATOR_LATCHING = {
-    'NON_LATCHING': 0x0000,  # Non-latching comparator
-    'LATCHING': 0x0004  # Latching comparator
-}
-
-ADS1X1X_COMPARATOR_QUEUE = {
-    'QUEUE_1': 0x0000,  # Assert ALERT/RDY after one conversions
-    'QUEUE_2': 0x0001,  # Assert ALERT/RDY after two conversions
-    'QUEUE_4': 0x0002,  # Assert ALERT/RDY after four conversions
-    'QUEUE_NONE': 0x0003  # Disable the comparator and put ALERT/RDY
-                        # in high state
-}
-
-ADS1X1_OPERATIONS = {
-    'SET_MUX': 0,
-    'READ_CONVERSION': 1
-}
-
-class ADS1X1X_chip:
-
-    def __init__(self, config):
-        self._printer = config.get_printer()
-        self._reactor = self._printer.get_reactor()
-
-        self.name = config.get_name().split()[-1]
-        self.chip = config.getchoice('chip', ADS1X1X_CHIP_TYPE)
-        address = ADS1X1X_CHIP_ADDR['GND']
-        # If none is specified, i2c_address can be used for a specific address
-        if config.get('address_pin', None) is not None:
-            address = config.getchoice('address_pin', ADS1X1X_CHIP_ADDR)
-
-        self._ppins = self._printer.lookup_object("pins")
-        self._ppins.register_chip(self.name, self)
-
-        self.pga = config.getchoice('pga', ADS1X1X_PGA, '4.096V')
-        self.adc_voltage = config.getfloat('adc_voltage', above=0., default=3.3)
-        # Comparators are not implemented, they would only be useful if the
-        # alert pin is used, which we haven't made configurable.
-        # But that wouldn't be useful for a normal temperature sensor anyway.
-        self.comp_mode = ADS1X1X_COMPARATOR_MODE['TRADITIONAL']
-        self.comp_polarity = ADS1X1X_COMPARATOR_POLARITY['ACTIVE_LO']
-        self.comp_latching = ADS1X1X_COMPARATOR_LATCHING['NON_LATCHING']
-        self.comp_queue = ADS1X1X_COMPARATOR_QUEUE['QUEUE_NONE']
-        self._i2c = bus.MCU_I2C_from_config(config, address)
-
-        self.mcu = self._i2c.get_mcu()
-
-        self._printer.add_object("ads1x1x " + self.name, self)
-        self._printer.register_event_handler("klippy:connect", \
-                                            self._handle_connect)
-
-        self._pins = {}
-        self._mutex = self._reactor.mutex()
-
-    def setup_pin(self, pin_type, pin_params):
-        pin = pin_params['pin']
-        if pin_type == 'adc':
-            if (pin not in ADS1X1X_MUX):
-                raise pins.error('ADS1x1x pin %s is not valid' % \
-                                 pin_params['pin'])
-
-            pcfg = 0
-            pcfg |= (ADS1X1X_OS['OS_SINGLE'] & \
-                     ADS1X1X_REG_CONFIG['OS_MASK'])
-            pcfg |= (ADS1X1X_MUX[pin_params['pin']] & \
-                     ADS1X1X_REG_CONFIG['MULTIPLEXER_MASK'])
-            pcfg |= (self.pga & ADS1X1X_REG_CONFIG['PGA_MASK'])
-            # Have to use single mode, because in continuous, it never reaches
-            # idle state, which we use to determine if the sampling is done.
-            pcfg |= (ADS1X1X_MODE['single'] & \
-                       ADS1X1X_REG_CONFIG['MODE_MASK'])
-            # lowest sample rate per default, until report time has been set in
-            # setup_adc_sample
-            pcfg |= (self.comp_mode \
-                     & ADS1X1X_REG_CONFIG['COMPARATOR_MODE_MASK'])
-            pcfg |= (self.comp_polarity \
-                     & ADS1X1X_REG_CONFIG['COMPARATOR_POLARITY_MASK'])
-            pcfg |= (self.comp_latching \
-                     & ADS1X1X_REG_CONFIG['COMPARATOR_LATCHING_MASK'])
-            pcfg |= (self.comp_queue \
-                     & ADS1X1X_REG_CONFIG['COMPARATOR_QUEUE_MASK'])
-
-            pin_obj = ADS1X1X_pin(self, pcfg)
-            if pin in self._pins:
-                raise pins.error(
-                    'pin %s for chip %s is used multiple times' \
-                        % (pin, self.name))
-            self._pins[pin] = pin_obj
-
-            return pin_obj
-        raise pins.error('Wrong pin or incompatible type: %s with type %s! ' % (
-            pin, pin_type))
-
-    def _handle_connect(self):
-        try:
-            # Init all devices on bus for this kind of device
-            self._i2c.i2c_write([0x06, 0x00, 0x00])
-        except Exception:
-            logging.exception("ADS1X1X: error while resetting device")
-
-    def is_ready(self):
-        cfg = self._read_register(ADS1X1X_REG_POINTER['CONFIG'])
-        return bool((cfg & ADS1X1X_REG_CONFIG['OS_MASK']) == \
-                    ADS1X1X_OS['OS_IDLE'])
-
-    def calculate_sample_rate(self):
-        pin_count = len(self._pins)
-        lowest_report_time = 1
-        for pin in self._pins.values():
-            lowest_report_time = min(lowest_report_time, pin.report_time)
-
-        sample_rate = 1 / lowest_report_time * pin_count
-        samples_per_second = ADS111X_SAMPLES_PER_SECOND
-        if isADS101X(self.chip):
-            samples_per_second = ADS101X_SAMPLES_PER_SECOND
-
-        # make sure the samples list is sorted correctly by number.
-        samples_per_second = sorted(samples_per_second.items(), \
-                                    key=lambda t: int(t[0]))
-        for rate, bits in samples_per_second:
-            rate_number = int(rate)
-            if sample_rate <= rate_number:
-                return (rate_number, bits)
-        logging.warning(
-            "ADS1X1X: requested sample rate %s is higher than supported by %s."\
-                % (sample_rate, self.name))
-        return (rate_number, bits)
-
-    def handle_report_time_update(self):
-        (sample_rate, sample_rate_bits) = self.calculate_sample_rate()
-
-        for pin in self._pins.values():
-            pin.pcfg = (pin.pcfg & ~ADS1X1X_REG_CONFIG['DATA_RATE_MASK']) \
-                | (sample_rate_bits & ADS1X1X_REG_CONFIG['DATA_RATE_MASK'])
-
-        self.delay = 1 / float(sample_rate)
-
-    def sample(self, pin):
-        with self._mutex:
-            try:
-                self._write_register(ADS1X1X_REG_POINTER['CONFIG'], pin.pcfg)
-                self._reactor.pause(self._reactor.monotonic() + self.delay)
-                start_time = self._reactor.monotonic()
-                while not self.is_ready():
-                    self._reactor.pause(self._reactor.monotonic() + 0.001)
-                    # if we waited twice the expected time, mark this an error
-                    if start_time + self.delay < self._reactor.monotonic():
-                        logging.warning("ADS1X1X: timeout during sampling")
-                        return None
-                return self._read_register(ADS1X1X_REG_POINTER['CONVERSION'])
-            except Exception as e:
-                logging.exception("ADS1X1X: error while sampling: %s" % str(e))
-                return None
-
-    def _read_register(self, reg):
-        # read a single register
-        params = self._i2c.i2c_read([reg], 2)
-        buff = bytearray(params['response'])
-        return (buff[0]<<8 | buff[1])
-
-    def _write_register(self, reg, data):
-        data = [
-            (reg & 0xFF), # Control register
-            ((data>>8) & 0xFF), # High byte
-            (data & 0xFF), # Lo byte
-        ]
-        self._i2c.i2c_write(data)
-
-class ADS1X1X_pin:
-    def __init__(self, chip, pcfg):
-        self.mcu = chip.mcu
-        self.chip = chip
-        self.pcfg = pcfg
-
-        self.invalid_count = 0
-
-        self.chip._printer.register_event_handler("klippy:connect", \
-                                                  self._handle_connect)
-
-    def _handle_connect(self):
-        self._reactor = self.chip._printer.get_reactor()
-        self._sample_timer = \
-            self._reactor.register_timer(self._process_sample, \
-                                         self._reactor.NOW)
-
-    def _process_sample(self, eventtime):
-        sample = self.chip.sample(self)
-        if sample is not None:
-            # The sample is encoded in the top 12 or full 16 bits
-            # Value's meaning is defined by ADS1X1X_REG_CONFIG['PGA_MASK']
-            if isADS101X(self.chip.chip):
-                sample >>= 4
-                target_value = sample / ADS101X_RESOLUTION
-            else:
-                target_value = sample / ADS111X_RESOLUTION
-
-            # Thermistors expect a value between 0 and 1 to work. If we use a
-            # PGA with 4.096V but supply only 3.3V, the reference voltage for
-            # voltage divider is only 3.3V, not 4.096V. So we remap the range
-            # from what the PGA allows as range to end up between 0 and 1 for
-            # the thermistor logic to work as expected.
-            target_value = target_value * (ADS1X1X_PGA_VALUE[self.chip.pga] / \
-                                           self.chip.adc_voltage)
-
-            if target_value > self.maxval or target_value < self.minval:
-                self.invalid_count = self.invalid_count + 1
-                logging.warning("ADS1X1X: temperature outside range")
-                self.check_invalid()
-            else:
-                self.invalid_count = 0
-
-            # Publish result
-            measured_time = self._reactor.monotonic()
-            self.callback(self.chip.mcu.estimated_print_time(measured_time),
-                        target_value)
-        else:
-            self.invalid_count = self.invalid_count + 1
-            self.check_invalid()
-
-        return eventtime + self.report_time
-
-    def check_invalid(self):
-        if self.invalid_count > self.range_check_count:
-            self.chip._printer.invoke_shutdown(
-                "ADS1X1X temperature check failed")
-
-    def get_mcu(self):
-        return self.mcu
-
-    def setup_adc_callback(self, report_time, callback):
-        self.report_time = report_time
-        self.callback = callback
-        self.chip.handle_report_time_update()
-
-    def setup_adc_sample(self, sample_time, sample_count,
-                         minval=0., maxval=1., range_check_count=0):
-        self.minval = minval
-        self.maxval = maxval
-        self.range_check_count = range_check_count
-
-def load_config_prefix(config):
-    return ADS1X1X_chip(config)
--- a/klippy/extras/adxl345.py
+++ b/klippy/extras/adxl345.py
@@ -166,12 +166,12 @@ class AccelCommandHelper:
                          % (accel_x, accel_y, accel_z))
    cmd_ACCELEROMETER_DEBUG_READ_help = "Query register (for debugging)"
    def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
-        reg = gcmd.get("REG", minval=0, maxval=127, parser=lambda x: int(x, 0))
+        reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
        val = self.chip.read_reg(reg)
        gcmd.respond_info("Accelerometer REG[0x%x] = 0x%x" % (reg, val))
    cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set register (for debugging)"
    def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
-        reg = gcmd.get("REG", minval=0, maxval=127, parser=lambda x: int(x, 0))
+        reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
        val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
        self.chip.set_reg(reg, val)

--- a/klippy/extras/angle.py
+++ b/klippy/extras/angle.py
@@ -97,7 +97,7 @@ class AngleCalibration:
                return None
        return self.mcu_stepper.mcu_to_commanded_position(self.mcu_pos_offset)
    def load_calibration(self, angles):
-        # Calculate linear interpolation calibration buckets by solving
+        # Calculate linear intepolation calibration buckets by solving
        # linear equations
        angle_max = 1 << ANGLE_BITS
        calibration_count = 1 << CALIBRATION_BITS
@@ -411,196 +411,6 @@ class HelperTLE5012B:
                       parser=lambda x: int(x, 0))
        self._write_reg(reg, val)

-class HelperMT6816:
-    SPI_MODE = 3
-    SPI_SPEED = 10000000
-    def __init__(self, config, spi, oid):
-        self.printer = config.get_printer()
-        self.spi = spi
-        self.oid = oid
-        self.mcu = spi.get_mcu()
-        self.mcu.register_config_callback(self._build_config)
-        self.spi_angle_transfer_cmd = None
-        self.is_tcode_absolute = False
-        self.last_temperature = None
-        name = config.get_name().split()[-1]
-        gcode = self.printer.lookup_object("gcode")
-        gcode.register_mux_command("ANGLE_DEBUG_READ", "CHIP", name,
-                                   self.cmd_ANGLE_DEBUG_READ,
-                                   desc=self.cmd_ANGLE_DEBUG_READ_help)
-    def _build_config(self):
-        cmdqueue = self.spi.get_command_queue()
-        self.spi_angle_transfer_cmd = self.mcu.lookup_query_command(
-            "spi_angle_transfer oid=%c data=%*s",
-            "spi_angle_transfer_response oid=%c clock=%u response=%*s",
-            oid=self.oid, cq=cmdqueue)
-    def _send_spi(self, msg):
-        return self.spi.spi_transfer(msg)
-    def get_static_delay(self):
-        return .000001
-    def _read_reg(self, reg):
-        msg = [reg, 0, 0]
-        params = self._send_spi(msg)
-        resp = bytearray(params['response'])
-        val =  (resp[1] << 8) | resp[2]
-        return val
-    def start(self):
-        pass
-    cmd_ANGLE_DEBUG_READ_help = "Query low-level angle sensor register"
-    def cmd_ANGLE_DEBUG_READ(self, gcmd):
-        reg = 0x83
-        val = self._read_reg(reg)
-        gcmd.respond_info("ANGLE REG[0x%02x] = 0x%04x" % (reg, val))
-        angle = val >> 2
-        parity = bin(val >> 1).count("1") % 2
-        gcmd.respond_info("Angle %i ~ %.2f" % (angle, angle * 360 / (1 << 14)))
-        gcmd.respond_info("No Mag: %i" % (val >> 1 & 0x1))
-        gcmd.respond_info("Parity: %i == %i" % (parity, val & 0x1))
-
-class HelperMT6826S:
-    SPI_MODE = 3
-    SPI_SPEED = 10000000
-    def __init__(self, config, spi, oid):
-        self.printer = config.get_printer()
-        self.stepper_name = config.get('stepper', None)
-        self.spi = spi
-        self.oid = oid
-        self.mcu = spi.get_mcu()
-        self.mcu.register_config_callback(self._build_config)
-        self.spi_angle_transfer_cmd = None
-        self.is_tcode_absolute = False
-        self.last_temperature = None
-        name = config.get_name().split()[-1]
-        gcode = self.printer.lookup_object("gcode")
-        gcode.register_mux_command("ANGLE_DEBUG_READ", "CHIP", name,
-                                   self.cmd_ANGLE_DEBUG_READ,
-                                   desc=self.cmd_ANGLE_DEBUG_READ_help)
-        gcode.register_mux_command("ANGLE_CHIP_CALIBRATE", "CHIP", name,
-                                   self.cmd_ANGLE_CHIP_CALIBRATE,
-                                   desc=self.cmd_ANGLE_CHIP_CALIBRATE_help)
-        self.status_map = {
-            0: "No Calibration",
-            1: "Running Calibration",
-            2: "Calibration Failed",
-            3: "Calibration Successful"
-        }
-    def _build_config(self):
-        cmdqueue = self.spi.get_command_queue()
-        self.spi_angle_transfer_cmd = self.mcu.lookup_query_command(
-            "spi_angle_transfer oid=%c data=%*s",
-            "spi_angle_transfer_response oid=%c clock=%u response=%*s",
-            oid=self.oid, cq=cmdqueue)
-    def _send_spi(self, msg):
-        params = self.spi.spi_transfer(msg)
-        return params
-    def get_static_delay(self):
-        return .00001
-    def _read_reg(self, reg):
-        reg = 0x3000 | reg
-        msg = [reg >> 8, reg & 0xff, 0]
-        params = self._send_spi(msg)
-        resp = bytearray(params['response'])
-        return resp[2]
-    def _write_reg(self, reg, data):
-        reg = 0x6000 | reg
-        msg = [reg >> 8, reg & 0xff, data]
-        self._send_spi(msg)
-    def crc8(self, data):
-        polynomial = 0x07
-        crc = 0x00
-        for byte in data:
-            crc ^= byte
-            for _ in range(8):
-                if crc & 0x80:
-                    crc = (crc << 1) ^ polynomial
-                else:
-                    crc <<= 1
-                crc &= 0xFF
-        return crc
-    def _read_angle(self, reg):
-        reg = 0x3000 | reg
-        msg = [reg >> 8, reg & 0xff, 0, 0, 0, 0]
-        params = self._send_spi(msg)
-        resp = bytearray(params['response'])
-        angle = (resp[2] << 7) | (resp[3] >> 1)
-        status = resp[4]
-        crc_computed = self.crc8([resp[2], resp[3], resp[4]])
-        crc = resp[5]
-        return angle, status, crc, crc_computed
-    def start(self):
-        val = self._read_reg(0x00d)
-        # Set histeresis to 0.003 degree
-        self._write_reg(0x00d, (val & 0xf8) | 0x5)
-    def get_microsteps(self):
-        configfile = self.printer.lookup_object('configfile')
-        sconfig = configfile.get_status(None)['settings']
-        stconfig = sconfig.get(self.stepper_name, {})
-        microsteps = stconfig['microsteps']
-        full_steps = stconfig['full_steps_per_rotation']
-        return microsteps, full_steps
-    cmd_ANGLE_CHIP_CALIBRATE_help = "Run MT6826s calibration sequence"
-    def cmd_ANGLE_CHIP_CALIBRATE(self, gcmd):
-        fmove = self.printer.lookup_object('force_move')
-        mcu_stepper = fmove.lookup_stepper(self.stepper_name)
-        if self.stepper_name is None:
-            gcmd.respond_info("stepper not defined")
-            return
-
-        gcmd.respond_info("MT6826S Run calibration sequence")
-        gcmd.respond_info("Motor will do 18+ rotations -" +
-                          " ensure pulley is disconnected")
-        req_freq = self._read_reg(0x00e) >> 4 & 0x7
-        # Minimal calibration speed
-        rpm = (3200 >> req_freq) + 1
-        rps = rpm / 60
-        move = fmove.manual_move
-        # Move stepper several turns (to allow internal sensor calibration)
-        microsteps, full_steps = self.get_microsteps()
-        step_dist = mcu_stepper.get_step_dist()
-        full_step_dist = step_dist * microsteps
-        rotation_dist = full_steps * full_step_dist
-        move(mcu_stepper, 2 * rotation_dist, rps * rotation_dist)
-        self._write_reg(0x155, 0x5e)
-        move(mcu_stepper, 20 * rotation_dist, rps * rotation_dist)
-        val = self._read_reg(0x113)
-        code = val >> 6
-        gcmd.respond_info("Status: %s" % (self.status_map[code]))
-        while code == 1:
-            move(mcu_stepper, 5 * rotation_dist, rps * rotation_dist)
-            val = self._read_reg(0x113)
-            code = val >> 6
-            gcmd.respond_info("Status: %s" % (self.status_map[code]))
-        if code == 2:
-            gcmd.respond_info("Calibration failed")
-        if code == 3:
-            gcmd.respond_info("Calibration success, please poweroff sensor")
-    cmd_ANGLE_DEBUG_READ_help = "Query low-level angle sensor register"
-    def cmd_ANGLE_DEBUG_READ(self, gcmd):
-        reg = gcmd.get("REG", minval=0, maxval=0x155,
-                       parser=lambda x: int(x, 0))
-        if reg == 0x003:
-            angle, status, crc1, crc2 = self._read_angle(reg)
-            gcmd.respond_info("ANGLE REG[0x003] = 0x%02x" %
-                              (angle >> 7))
-            gcmd.respond_info("ANGLE REG[0x004] = 0x%02x" %
-                              ((angle << 1) & 0xff))
-            gcmd.respond_info("Angle %i ~ %.2f" % (angle,
-                                                   angle * 360 / (1 << 15)))
-            gcmd.respond_info("Weak Mag: %i" % (status >> 1 & 0x1))
-            gcmd.respond_info("Under Voltage: %i" % (status >> 2 & 0x1))
-            gcmd.respond_info("CRC: 0x%02x == 0x%02x" % (crc1, crc2))
-        elif reg == 0x00e:
-            val = self._read_reg(reg)
-            gcmd.respond_info("GPIO_DS = %i" % (val >> 7))
-            gcmd.respond_info("AUTOCAL_FREQ = %i" % (val >> 4 & 0x7))
-        elif reg == 0x113:
-            val = self._read_reg(reg)
-            gcmd.respond_info("Status: %s" % (self.cal_status[val >> 6]))
-        else:
-            val = self._read_reg(reg)
-            gcmd.respond_info("REG[0x%04x] = 0x%02x" % (reg, val))
-
-
 BYTES_PER_SAMPLE = 3
 SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE

@@ -617,11 +427,8 @@ class Angle:
        self.start_clock = self.time_shift = self.sample_ticks = 0
        self.last_sequence = self.last_angle = 0
        # Sensor type
-        sensors = { "a1333": HelperA1333,
-                    "as5047d": HelperAS5047D,
-                    "tle5012b": HelperTLE5012B,
-                    "mt6816": HelperMT6816,
-                    "mt6826s": HelperMT6826S }
+        sensors = { "a1333": HelperA1333, "as5047d": HelperAS5047D,
+                    "tle5012b": HelperTLE5012B }
        sensor_type = config.getchoice('sensor_type', {s: s for s in sensors})
        sensor_class = sensors[sensor_type]
        self.spi = bus.MCU_SPI_from_config(config, sensor_class.SPI_MODE,
--- a/klippy/extras/axis_twist_compensation.py
+++ b/klippy/extras/axis_twist_compensation.py
@@ -23,27 +23,18 @@ class AxisTwistCompensation:
        self.horizontal_move_z = config.getfloat('horizontal_move_z',
                                                 DEFAULT_HORIZONTAL_MOVE_Z)
        self.speed = config.getfloat('speed', DEFAULT_SPEED)
-        self.calibrate_start_x = config.getfloat('calibrate_start_x',
-                                                default=None)
-        self.calibrate_end_x = config.getfloat('calibrate_end_x', default=None)
-        self.calibrate_y = config.getfloat('calibrate_y', default=None)
+        self.calibrate_start_x = config.getfloat('calibrate_start_x')
+        self.calibrate_end_x = config.getfloat('calibrate_end_x')
+        self.calibrate_y = config.getfloat('calibrate_y')
        self.z_compensations = config.getlists('z_compensations',
                                               default=[], parser=float)
        self.compensation_start_x = config.getfloat('compensation_start_x',
                                                    default=None)
-        self.compensation_end_x = config.getfloat('compensation_end_x',
+        self.compensation_end_x = config.getfloat('compensation_start_y',
                                                  default=None)

-        self.calibrate_start_y = config.getfloat('calibrate_start_y',
-                                                  default=None)
-        self.calibrate_end_y = config.getfloat('calibrate_end_y', default=None)
-        self.calibrate_x = config.getfloat('calibrate_x', default=None)
-        self.compensation_start_y = config.getfloat('compensation_start_y',
-                                                    default=None)
-        self.compensation_end_y = config.getfloat('compensation_end_y',
-                                                  default=None)
-        self.zy_compensations = config.getlists('zy_compensations',
-                                                default=[], parser=float)
+        self.m = None
+        self.b = None

        # setup calibrater
        self.calibrater = Calibrater(self, config)
@@ -52,46 +43,28 @@ class AxisTwistCompensation:
                                            self._update_z_compensation_value)

    def _update_z_compensation_value(self, pos):
-        if self.z_compensations:
-            pos[2] += self._get_interpolated_z_compensation(
-                pos[0], self.z_compensations,
-                self.compensation_start_x,
-                self.compensation_end_x
-                )
-
-        if self.zy_compensations:
-            pos[2] += self._get_interpolated_z_compensation(
-                pos[1], self.zy_compensations,
-                self.compensation_start_y,
-                self.compensation_end_y
-                )
-
-    def _get_interpolated_z_compensation(
-            self, coord, z_compensations,
-            comp_start,
-            comp_end
-            ):
+        if not self.z_compensations:
+            return

+        x_coord = pos[0]
+        z_compensations = self.z_compensations
        sample_count = len(z_compensations)
-        spacing = ((comp_end - comp_start)
+        spacing = ((self.calibrate_end_x - self.calibrate_start_x)
                   / (sample_count - 1))
-        interpolate_t = (coord - comp_start) / spacing
+        interpolate_t = (x_coord - self.calibrate_start_x) / spacing
        interpolate_i = int(math.floor(interpolate_t))
        interpolate_i = bed_mesh.constrain(interpolate_i, 0, sample_count - 2)
        interpolate_t -= interpolate_i
        interpolated_z_compensation = bed_mesh.lerp(
            interpolate_t, z_compensations[interpolate_i],
            z_compensations[interpolate_i + 1])
-        return interpolated_z_compensation
+        pos[2] += interpolated_z_compensation
+
+    def clear_compensations(self):
+        self.z_compensations = []
+        self.m = None
+        self.b = None

-    def clear_compensations(self, axis=None):
-        if axis is None:
-            self.z_compensations = []
-            self.zy_compensations = []
-        elif axis == 'X':
-            self.z_compensations = []
-        elif axis == 'Y':
-            self.zy_compensations = []

 class Calibrater:
    def __init__(self, compensation, config):
@@ -107,14 +80,10 @@ class Calibrater:
                                            self._handle_connect)
        self.speed = compensation.speed
        self.horizontal_move_z = compensation.horizontal_move_z
-        self.x_start_point = (compensation.calibrate_start_x,
+        self.start_point = (compensation.calibrate_start_x,
                            compensation.calibrate_y)
-        self.x_end_point = (compensation.calibrate_end_x,
+        self.end_point = (compensation.calibrate_end_x,
                          compensation.calibrate_y)
-        self.y_start_point = (compensation.calibrate_x,
-                            compensation.calibrate_start_y)
-        self.y_end_point = (compensation.calibrate_x,
-                            compensation.calibrate_end_y)
        self.results = None
        self.current_point_index = None
        self.gcmd = None
@@ -125,8 +94,9 @@ class Calibrater:

    def _handle_connect(self):
        self.probe = self.printer.lookup_object('probe', None)
-        if self.probe is None:
-            raise self.printer.config_error(
+        if (self.probe is None):
+            config = self.printer.lookup_object('configfile')
+            raise config.error(
                "AXIS_TWIST_COMPENSATION requires [probe] to be defined")
        self.lift_speed = self.probe.get_probe_params()['lift_speed']
        self.probe_x_offset, self.probe_y_offset, _ = \
@@ -149,75 +119,20 @@ class Calibrater:
    def cmd_AXIS_TWIST_COMPENSATION_CALIBRATE(self, gcmd):
        self.gcmd = gcmd
        sample_count = gcmd.get_int('SAMPLE_COUNT', DEFAULT_SAMPLE_COUNT)
-        axis = gcmd.get('AXIS', 'X')

        # check for valid sample_count
-        if sample_count < 2:
+        if sample_count is None or sample_count < 2:
            raise self.gcmd.error(
                "SAMPLE_COUNT to probe must be at least 2")

-        # calculate the points to put the probe at, returned as a list of tuples
-        nozzle_points = []
-
-        if axis == 'X':
-
-            self.compensation.clear_compensations('X')
-
-            if not all([
-                self.x_start_point[0],
-                self.x_end_point[0],
-                self.x_start_point[1]
-                ]):
-                raise self.gcmd.error(
-                    """AXIS_TWIST_COMPENSATION for X axis requires
-                    calibrate_start_x, calibrate_end_x and calibrate_y
-                    to be defined
-                    """
-                    )
-
-            start_point = self.x_start_point
-            end_point = self.x_end_point
-
-            x_axis_range = end_point[0] - start_point[0]
-            interval_dist = x_axis_range / (sample_count - 1)
-
-            for i in range(sample_count):
-                x = start_point[0] + i * interval_dist
-                y = start_point[1]
-                nozzle_points.append((x, y))
-
-        elif axis == 'Y':
-
-            self.compensation.clear_compensations('Y')
-
-            if not all([
-                self.y_start_point[0],
-                self.y_end_point[0],
-                self.y_start_point[1]
-                ]):
-                raise self.gcmd.error(
-                    """AXIS_TWIST_COMPENSATION for Y axis requires
-                    calibrate_start_y, calibrate_end_y and calibrate_x
-                    to be defined
-                    """
-                    )
-
-            start_point = self.y_start_point
-            end_point = self.y_end_point
-
-            y_axis_range = end_point[1] - start_point[1]
-            interval_dist = y_axis_range / (sample_count - 1)
-
-            for i in range(sample_count):
-                x = start_point[0]
-                y = start_point[1] + i * interval_dist
-                nozzle_points.append((x, y))
-
-        else:
-            raise self.gcmd.error(
-                "AXIS_TWIST_COMPENSATION_CALIBRATE: "
-                "Invalid axis.")
+        # clear the current config
+        self.compensation.clear_compensations()

+        # calculate some values
+        x_range = self.end_point[0] - self.start_point[0]
+        interval_dist = x_range / (sample_count - 1)
+        nozzle_points = self._calculate_nozzle_points(sample_count,
+                                                      interval_dist)
        probe_points = self._calculate_probe_points(
            nozzle_points, self.probe_x_offset, self.probe_y_offset)

@@ -227,9 +142,17 @@ class Calibrater:
        # begin calibration
        self.current_point_index = 0
        self.results = []
-        self.current_axis = axis
        self._calibration(probe_points, nozzle_points, interval_dist)

+    def _calculate_nozzle_points(self, sample_count, interval_dist):
+        # calculate the points to put the probe at, returned as a list of tuples
+        nozzle_points = []
+        for i in range(sample_count):
+            x = self.start_point[0] + i * interval_dist
+            y = self.start_point[1]
+            nozzle_points.append((x, y))
+        return nozzle_points
+
    def _calculate_probe_points(self, nozzle_points,
        probe_x_offset, probe_y_offset):
        # calculate the points to put the nozzle at
@@ -315,31 +238,14 @@ class Calibrater:
        configfile = self.printer.lookup_object('configfile')
        values_as_str = ', '.join(["{:.6f}".format(x)
                                   for x in self.results])
-
-        if(self.current_axis == 'X'):
-
-            configfile.set(self.configname, 'z_compensations', values_as_str)
-            configfile.set(self.configname, 'compensation_start_x',
-                        self.x_start_point[0])
-            configfile.set(self.configname, 'compensation_end_x',
-                        self.x_end_point[0])
-
-            self.compensation.z_compensations = self.results
-            self.compensation.compensation_start_x = self.x_start_point[0]
-            self.compensation.compensation_end_x = self.x_end_point[0]
-
-        elif(self.current_axis == 'Y'):
-
-            configfile.set(self.configname, 'zy_compensations', values_as_str)
-            configfile.set(self.configname, 'compensation_start_y',
-                        self.y_start_point[1])
-            configfile.set(self.configname, 'compensation_end_y',
-                        self.y_end_point[1])
-
-            self.compensation.zy_compensations = self.results
-            self.compensation.compensation_start_y = self.y_start_point[1]
-            self.compensation.compensation_end_y = self.y_end_point[1]
-
+        configfile.set(self.configname, 'z_compensations', values_as_str)
+        configfile.set(self.configname, 'compensation_start_x',
+                       self.start_point[0])
+        configfile.set(self.configname, 'compensation_end_x',
+                       self.end_point[0])
+        self.compensation.z_compensations = self.results
+        self.compensation.compensation_start_x = self.start_point[0]
+        self.compensation.compensation_end_x = self.end_point[0]
        self.gcode.respond_info(
            "AXIS_TWIST_COMPENSATION state has been saved "
            "for the current session.  The SAVE_CONFIG command will "
--- a/klippy/extras/bed_mesh.py
+++ b/klippy/extras/bed_mesh.py
@@ -34,7 +34,7 @@ def constrain(val, min_val, max_val):
 def lerp(t, v0, v1):
    return (1. - t) * v0 + t * v1

-# retrieve comma separated pair from config
+# retreive commma separated pair from config
 def parse_config_pair(config, option, default, minval=None, maxval=None):
    pair = config.getintlist(option, (default, default))
    if len(pair) != 2:
@@ -54,7 +54,7 @@ def parse_config_pair(config, option, default, minval=None, maxval=None):
                % (option, str(maxval)))
    return pair

-# retrieve comma separated pair from a g-code command
+# retreive commma separated pair from a g-code command
 def parse_gcmd_pair(gcmd, name, minval=None, maxval=None):
    try:
        pair = [int(v.strip()) for v in gcmd.get(name).split(',')]
@@ -74,7 +74,7 @@ def parse_gcmd_pair(gcmd, name, minval=None, maxval=None):
                             % (name, maxval))
    return pair

-# retrieve comma separated coordinate from a g-code command
+# retreive commma separated coordinate from a g-code command
 def parse_gcmd_coord(gcmd, name):
    try:
        v1, v2 = [float(v.strip()) for v in gcmd.get(name).split(',')]
@@ -133,7 +133,7 @@ class BedMesh:
        self.update_status()
    def handle_connect(self):
        self.toolhead = self.printer.lookup_object('toolhead')
-        self.bmc.print_generated_points(logging.info, truncate=True)
+        self.bmc.print_generated_points(logging.info)
    def set_mesh(self, mesh):
        if mesh is not None and self.fade_end != self.FADE_DISABLE:
            self.log_fade_complete = True
@@ -186,8 +186,7 @@ class BedMesh:
            self.last_position[2] -= self.fade_target
        else:
            # return current position minus the current z-adjustment
-            cur_pos = self.toolhead.get_position()
-            x, y, z = cur_pos[:3]
+            x, y, z, e = self.toolhead.get_position()
            max_adj = self.z_mesh.calc_z(x, y)
            factor = 1.
            z_adj = max_adj - self.fade_target
@@ -203,19 +202,19 @@ class BedMesh:
                          (self.fade_dist - z_adj))
                factor = constrain(factor, 0., 1.)
            final_z_adj = factor * z_adj + self.fade_target
-            self.last_position[:] = [x, y, z - final_z_adj] + cur_pos[3:]
+            self.last_position[:] = [x, y, z - final_z_adj, e]
        return list(self.last_position)
    def move(self, newpos, speed):
        factor = self.get_z_factor(newpos[2])
        if self.z_mesh is None or not factor:
            # No mesh calibrated, or mesh leveling phased out.
-            x, y, z = newpos[:3]
+            x, y, z, e = newpos
            if self.log_fade_complete:
                self.log_fade_complete = False
                logging.info(
                    "bed_mesh fade complete: Current Z: %.4f fade_target: %.4f "
                    % (z, self.fade_target))
-            self.toolhead.move([x, y, z + self.fade_target] + newpos[3:], speed)
+            self.toolhead.move([x, y, z + self.fade_target, e], speed)
        else:
            self.splitter.build_move(self.last_position, newpos, factor)
            while not self.splitter.traverse_complete:
@@ -347,7 +346,7 @@ class BedMeshCalibrate:
        self.gcode.register_command(
            'BED_MESH_CALIBRATE', self.cmd_BED_MESH_CALIBRATE,
            desc=self.cmd_BED_MESH_CALIBRATE_help)
-    def print_generated_points(self, print_func, truncate=False):
+    def print_generated_points(self, print_func):
        x_offset = y_offset = 0.
        probe = self.printer.lookup_object('probe', None)
        if probe is not None:
@@ -356,10 +355,6 @@ class BedMeshCalibrate:
                   " |  Tool Adjusted  |   Probe")
        points = self.probe_mgr.get_base_points()
        for i, (x, y) in enumerate(points):
-            if i >= 50 and truncate:
-                end = len(points) - 1
-                print_func("...points %d through %d truncated" % (i, end))
-                break
            adj_pt = "(%.1f, %.1f)" % (x - x_offset, y - y_offset)
            mesh_pt = "(%.1f, %.1f)" % (x, y)
            print_func(
@@ -618,6 +613,8 @@ class BedMeshCalibrate:
                self.mesh_config, self.mesh_min, self.mesh_max,
                self.radius, self.origin, probe_method
            )
+            gcmd.respond_info("Generating new points...")
+            self.print_generated_points(gcmd.respond_info)
            msg = "\n".join(["%s: %s" % (k, v)
                             for k, v in self.mesh_config.items()])
            logging.info("Updated Mesh Configuration:\n" + msg)
@@ -914,7 +911,7 @@ class ProbeManager:
        for i in range(y_cnt):
            for j in range(x_cnt):
                if not i % 2:
-                    # move in positive direction
+                    # move in positive directon
                    pos_x = min_x + j * x_dist
                else:
                    # move in negative direction
@@ -1164,7 +1161,7 @@ class ProbeManager:

    def _gen_arc(self, origin, radius, start, step, count):
        end = start + step * count
-        # create a segent for every 3 degrees of travel
+        # create a segent for every 3 degress of travel
        for angle in range(start, end, step):
            rad = math.radians(angle % 360)
            opp = math.sin(rad) * radius
@@ -1274,7 +1271,7 @@ class MoveSplitter:
        self.z_offset = self._calc_z_offset(prev_pos)
        self.traverse_complete = False
        self.distance_checked = 0.
-        axes_d = [np - pp for np, pp in zip(self.next_pos, self.prev_pos)]
+        axes_d = [self.next_pos[i] - self.prev_pos[i] for i in range(4)]
        self.total_move_length = math.sqrt(sum([d*d for d in axes_d[:3]]))
        self.axis_move = [not isclose(d, 0., abs_tol=1e-10) for d in axes_d]
    def _calc_z_offset(self, pos):
@@ -1287,7 +1284,7 @@ class MoveSplitter:
            raise self.gcode.error(
                "bed_mesh: Slice distance is negative "
                "or greater than entire move length")
-        for i in range(len(self.next_pos)):
+        for i in range(4):
            if self.axis_move[i]:
                self.current_pos[i] = lerp(
                    t, self.prev_pos[i], self.next_pos[i])
@@ -1302,9 +1299,9 @@ class MoveSplitter:
                    next_z = self._calc_z_offset(self.current_pos)
                    if abs(next_z - self.z_offset) >= self.split_delta_z:
                        self.z_offset = next_z
-                        newpos = list(self.current_pos)
-                        newpos[2] += self.z_offset
-                        return newpos
+                        return self.current_pos[0], self.current_pos[1], \
+                            self.current_pos[2] + self.z_offset, \
+                            self.current_pos[3]
            # end of move reached
            self.current_pos[:] = self.next_pos
            self.z_offset = self._calc_z_offset(self.current_pos)
--- a/klippy/extras/bed_tilt.py
+++ b/klippy/extras/bed_tilt.py
@@ -24,14 +24,12 @@ class BedTilt:
    def handle_connect(self):
        self.toolhead = self.printer.lookup_object('toolhead')
    def get_position(self):
-        pos = self.toolhead.get_position()
-        x, y, z = pos[:3]
-        z -= x*self.x_adjust + y*self.y_adjust + self.z_adjust
-        return [x, y, z] + pos[3:]
+        x, y, z, e = self.toolhead.get_position()
+        return [x, y, z - x*self.x_adjust - y*self.y_adjust - self.z_adjust, e]
    def move(self, newpos, speed):
-        x, y, z = newpos[:3]
-        z += x*self.x_adjust + y*self.y_adjust + self.z_adjust
-        self.toolhead.move([x, y, z] + newpos[3:], speed)
+        x, y, z, e = newpos
+        self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust
+                            + self.z_adjust, e], speed)
    def update_adjust(self, x_adjust, y_adjust, z_adjust):
        self.x_adjust = x_adjust
        self.y_adjust = y_adjust
--- a/klippy/extras/bltouch.py
+++ b/klippy/extras/bltouch.py
@@ -64,11 +64,7 @@ class BLTouchProbe:
        self.cmd_helper = probe.ProbeCommandHelper(
            config, self, self.mcu_endstop.query_endstop)
        self.probe_offsets = probe.ProbeOffsetsHelper(config)
-        self.param_helper = probe.ProbeParameterHelper(config)
-        self.homing_helper = probe.HomingViaProbeHelper(config, self,
-                                                        self.param_helper)
-        self.probe_session = probe.ProbeSessionHelper(
-            config, self.param_helper, self.homing_helper.start_probe_session)
+        self.probe_session = probe.ProbeSessionHelper(config, self)
        # Register BLTOUCH_DEBUG command
        self.gcode = self.printer.lookup_object('gcode')
        self.gcode.register_command("BLTOUCH_DEBUG", self.cmd_BLTOUCH_DEBUG,
@@ -79,7 +75,7 @@ class BLTouchProbe:
        self.printer.register_event_handler("klippy:connect",
                                            self.handle_connect)
    def get_probe_params(self, gcmd=None):
-        return self.param_helper.get_probe_params(gcmd)
+        return self.probe_session.get_probe_params(gcmd)
    def get_offsets(self):
        return self.probe_offsets.get_offsets()
    def get_status(self, eventtime):
@@ -195,6 +191,9 @@ class BLTouchProbe:
        self.verify_raise_probe()
        self.sync_print_time()
        self.multi = 'OFF'
+    def probing_move(self, pos, speed):
+        phoming = self.printer.lookup_object('homing')
+        return phoming.probing_move(self, pos, speed)
    def probe_prepare(self, hmove):
        if self.multi == 'OFF' or self.multi == 'FIRST':
            self.lower_probe()
--- a/klippy/extras/bme280.py
+++ b/klippy/extras/bme280.py
@@ -83,7 +83,6 @@ BMP180_REGS = {
 STATUS_MEASURING = 1 << 3
 STATUS_IM_UPDATE = 1
 MODE = 1
-MODE_PERIODIC = 3
 RUN_GAS = 1 << 4
 NB_CONV_0 = 0
 EAS_NEW_DATA = 1 << 7
@@ -144,7 +143,6 @@ class BME280:
            pow(2, self.os_temp - 1), pow(2, self.os_hum - 1),
            pow(2, self.os_pres - 1)))
        logging.info("BMxx80: IIR: %dx" % (pow(2, self.iir_filter) - 1))
-        self.iir_filter = self.iir_filter & 0x07

        self.temp = self.pressure = self.humidity = self.gas = self.t_fine = 0.
        self.min_temp = self.max_temp = self.range_switching_error = 0.
@@ -157,7 +155,6 @@ class BME280:
            return
        self.printer.register_event_handler("klippy:connect",
                                            self.handle_connect)
-        self.last_gas_time = 0

    def handle_connect(self):
        self._init_bmxx80()
@@ -296,15 +293,15 @@ class BME280:
                status = self.read_register('STATUS', 1)[0]

        if self.chip_type == 'BME680':
-            self.max_sample_time = \
-                    (1.25 + (2.3 * self.os_temp) + ((2.3 * self.os_pres) + .575)
-                     + ((2.3 * self.os_hum) + .575)) / 1000
+            self.max_sample_time = 0.5
            self.sample_timer = self.reactor.register_timer(self._sample_bme680)
            self.chip_registers = BME680_REGS
        elif self.chip_type == 'BMP180':
+            self.max_sample_time = (1.25 + ((2.3 * self.os_pres) + .575)) / 1000
            self.sample_timer = self.reactor.register_timer(self._sample_bmp180)
            self.chip_registers = BMP180_REGS
        elif self.chip_type == 'BMP388':
+            self.max_sample_time = 0.5
            self.chip_registers = BMP388_REGS
            self.write_register(
                "PWR_CTRL",
@@ -321,18 +318,15 @@ class BME280:
            self.write_register("INT_CTRL", [BMP388_REG_VAL_DRDY_EN])

            self.sample_timer = self.reactor.register_timer(self._sample_bmp388)
-        elif self.chip_type == 'BME280':
+        else:
            self.max_sample_time = \
                (1.25 + (2.3 * self.os_temp) + ((2.3 * self.os_pres) + .575)
                 + ((2.3 * self.os_hum) + .575)) / 1000
            self.sample_timer = self.reactor.register_timer(self._sample_bme280)
            self.chip_registers = BME280_REGS
-        else:
-            self.max_sample_time = \
-                (1.25 + (2.3 * self.os_temp)
-                + ((2.3 * self.os_pres) + .575)) / 1000
-            self.sample_timer = self.reactor.register_timer(self._sample_bme280)
-            self.chip_registers = BME280_REGS
+
+        if self.chip_type in ('BME680', 'BME280'):
+            self.write_register('CONFIG', (self.iir_filter & 0x07) << 2)

        # Read out and calculate the trimming parameters
        if self.chip_type == 'BMP180':
@@ -353,64 +347,21 @@ class BME280:
        elif self.chip_type == 'BMP388':
            self.dig = read_calibration_data_bmp388(cal_1)

-        if self.chip_type in ('BME280', 'BMP280'):
-            max_standby_time = REPORT_TIME - self.max_sample_time
-            # 0.5 ms
-            t_sb = 0
-            if self.chip_type == 'BME280':
-                if max_standby_time > 1:
-                    t_sb = 5
-                elif max_standby_time > 0.5:
-                    t_sb = 4
-                elif max_standby_time > 0.25:
-                    t_sb = 3
-                elif max_standby_time > 0.125:
-                    t_sb = 2
-                elif max_standby_time > 0.0625:
-                    t_sb = 1
-                elif max_standby_time > 0.020:
-                    t_sb = 7
-                elif max_standby_time > 0.010:
-                    t_sb = 6
-            else:
-                if max_standby_time > 4:
-                    t_sb = 7
-                elif max_standby_time > 2:
-                    t_sb = 6
-                elif max_standby_time > 1:
-                    t_sb = 5
-                elif max_standby_time > 0.5:
-                    t_sb = 4
-                elif max_standby_time > 0.25:
-                    t_sb = 3
-                elif max_standby_time > 0.125:
-                    t_sb = 2
-                elif max_standby_time > 0.0625:
-                    t_sb = 1
-
-            cfg = t_sb << 5 | self.iir_filter << 2
-            self.write_register('CONFIG', cfg)
-            if self.chip_type == 'BME280':
-                self.write_register('CTRL_HUM', self.os_hum)
-            # Enter normal (periodic) mode
-            meas = self.os_temp << 5 | self.os_pres << 2 | MODE_PERIODIC
-            self.write_register('CTRL_MEAS', meas)
-
-        if self.chip_type == 'BME680':
-            self.write_register('CONFIG', self.iir_filter << 2)
-            # Should be set once and reused on every mode register write
-            self.write_register('CTRL_HUM', self.os_hum & 0x07)
-            gas_wait_0 = self._calc_gas_heater_duration(self.gas_heat_duration)
-            self.write_register('GAS_WAIT_0', [gas_wait_0])
-            res_heat_0 = self._calc_gas_heater_resistance(self.gas_heat_temp)
-            self.write_register('RES_HEAT_0', [res_heat_0])
-            # Set initial heater current to reach Gas heater target on start
-            self.write_register('IDAC_HEAT_0', 96)
-
    def _sample_bme280(self, eventtime):
-        # In normal mode data shadowing is performed
-        # So reading can be done while measurements are in process
+        # Enter forced mode
+        if self.chip_type == 'BME280':
+            self.write_register('CTRL_HUM', self.os_hum)
+        meas = self.os_temp << 5 | self.os_pres << 2 | MODE
+        self.write_register('CTRL_MEAS', meas)
+
        try:
+            # wait until results are ready
+            status = self.read_register('STATUS', 1)[0]
+            while status & STATUS_MEASURING:
+                self.reactor.pause(
+                    self.reactor.monotonic() + self.max_sample_time)
+                status = self.read_register('STATUS', 1)[0]
+
            if self.chip_type == 'BME280':
                data = self.read_register('PRESSURE_MSB', 8)
            elif self.chip_type == 'BMP280':
@@ -511,40 +462,36 @@ class BME280:
        return comp_press

    def _sample_bme680(self, eventtime):
-        def data_ready(stat, run_gas):
+        self.write_register('CTRL_HUM', self.os_hum & 0x07)
+        meas = self.os_temp << 5 | self.os_pres << 2
+        self.write_register('CTRL_MEAS', [meas])
+
+        gas_wait_0 = self._calculate_gas_heater_duration(self.gas_heat_duration)
+        self.write_register('GAS_WAIT_0', [gas_wait_0])
+        res_heat_0 = self._calculate_gas_heater_resistance(self.gas_heat_temp)
+        self.write_register('RES_HEAT_0', [res_heat_0])
+        gas_config = RUN_GAS | NB_CONV_0
+        self.write_register('CTRL_GAS_1', [gas_config])
+
+        def data_ready(stat):
            new_data = (stat & EAS_NEW_DATA)
            gas_done = not (stat & GAS_DONE)
            meas_done = not (stat & MEASURE_DONE)
-            if not run_gas:
-                gas_done = True
            return new_data and gas_done and meas_done

-        run_gas = False
-        # Check VOC once a while
-        if self.reactor.monotonic() - self.last_gas_time > 3:
-            gas_config = RUN_GAS | NB_CONV_0
-            self.write_register('CTRL_GAS_1', [gas_config])
-            run_gas = True
-
        # Enter forced mode
-        meas = self.os_temp << 5 | self.os_pres << 2 | MODE
+        meas = meas | MODE
        self.write_register('CTRL_MEAS', meas)
-        max_sample_time = self.max_sample_time
-        if run_gas:
-            max_sample_time += self.gas_heat_duration / 1000
-        self.reactor.pause(self.reactor.monotonic() + max_sample_time)
        try:
            # wait until results are ready
            status = self.read_register('EAS_STATUS_0', 1)[0]
-            while not data_ready(status, run_gas):
+            while not data_ready(status):
                self.reactor.pause(
                    self.reactor.monotonic() + self.max_sample_time)
                status = self.read_register('EAS_STATUS_0', 1)[0]

            data = self.read_register('PRESSURE_MSB', 8)
-            gas_data = [0, 0]
-            if run_gas:
-                gas_data = self.read_register('GAS_R_MSB', 2)
+            gas_data = self.read_register('GAS_R_MSB', 2)
        except Exception:
            logging.exception("BME680: Error reading data")
            self.temp = self.pressure = self.humidity = self.gas = .0
@@ -568,10 +515,6 @@ class BME280:
            gas_raw = (gas_data[0] << 2) | ((gas_data[1] & 0xC0) >> 6)
            gas_range = (gas_data[1] & 0x0F)
            self.gas = self._compensate_gas(gas_raw, gas_range)
-            # Disable gas measurement on success
-            gas_config = NB_CONV_0
-            self.write_register('CTRL_GAS_1', [gas_config])
-            self.last_gas_time = self.reactor.monotonic()

        if self.temp < self.min_temp or self.temp > self.max_temp:
            self.printer.invoke_shutdown(
@@ -700,7 +643,7 @@ class BME280:
                gas_raw - 512. + var1)
        return gas

-    def _calc_gas_heater_resistance(self, target_temp):
+    def _calculate_gas_heater_resistance(self, target_temp):
        amb_temp = self.temp
        heater_data = self.read_register('RES_HEAT_VAL', 3)
        res_heat_val = get_signed_byte(heater_data[0])
@@ -715,7 +658,7 @@ class BME280:
                            * (1. / (1. + (res_heat_val * 0.002)))) - 25))
        return int(res_heat)

-    def _calc_gas_heater_duration(self, duration_ms):
+    def _calculate_gas_heater_duration(self, duration_ms):
        if duration_ms >= 4032:
            duration_reg = 0xff
        else:
--- a/klippy/extras/bus.py
+++ b/klippy/extras/bus.py
@@ -43,7 +43,6 @@ class MCU_SPI:
                 cs_active_high=False):
        self.mcu = mcu
        self.bus = bus
-        self.speed = speed
        # Config SPI object (set all CS pins high before spi_set_bus commands)
        self.oid = mcu.create_oid()
        if pin is None:
@@ -52,17 +51,11 @@ class MCU_SPI:
            mcu.add_config_cmd("config_spi oid=%d pin=%s cs_active_high=%d"
                               % (self.oid, pin, cs_active_high))
        # Generate SPI bus config message
-        self.config_fmt_ticks = None
        if sw_pins is not None:
            self.config_fmt = (
                "spi_set_software_bus oid=%d"
                " miso_pin=%s mosi_pin=%s sclk_pin=%s mode=%d rate=%d"
                % (self.oid, sw_pins[0], sw_pins[1], sw_pins[2], mode, speed))
-            self.config_fmt_ticks = (
-                "spi_set_sw_bus oid=%d"
-                " miso_pin=%s mosi_pin=%s sclk_pin=%s mode=%d pulse_ticks=%%d"
-                % (self.oid, sw_pins[0], sw_pins[1],
-                    sw_pins[2], mode))
        else:
            self.config_fmt = (
                "spi_set_bus oid=%d spi_bus=%%s mode=%d rate=%d"
@@ -85,12 +78,6 @@ class MCU_SPI:
        if '%' in self.config_fmt:
            bus = resolve_bus_name(self.mcu, "spi_bus", self.bus)
            self.config_fmt = self.config_fmt % (bus,)
-        if self.config_fmt_ticks:
-            if self.mcu.try_lookup_command("spi_set_sw_bus oid=%c miso_pin=%u "
-                                           "mosi_pin=%u sclk_pin=%u "
-                                           "mode=%u pulse_ticks=%u"):
-                pulse_ticks = self.mcu.seconds_to_clock(1./self.speed)
-                self.config_fmt = self.config_fmt_ticks % (pulse_ticks,)
        self.mcu.add_config_cmd(self.config_fmt)
        self.spi_send_cmd = self.mcu.lookup_command(
            "spi_send oid=%c data=%*s", cq=self.cmd_queue)
@@ -160,8 +147,6 @@ class MCU_I2C:
        self.bus = bus
        self.i2c_address = addr
        self.oid = self.mcu.create_oid()
-        self.speed = speed
-        self.config_fmt_ticks = None
        mcu.add_config_cmd("config_i2c oid=%d" % (self.oid,))
        # Generate I2C bus config message
        if sw_pins is not None:
@@ -169,24 +154,13 @@ class MCU_I2C:
                "i2c_set_software_bus oid=%d"
                " scl_pin=%s sda_pin=%s rate=%d address=%d"
                % (self.oid, sw_pins[0], sw_pins[1], speed, addr))
-            self.config_fmt_ticks = (
-                "i2c_set_sw_bus oid=%d"
-                " scl_pin=%s sda_pin=%s pulse_ticks=%%d address=%d"
-                % (self.oid, sw_pins[0], sw_pins[1], addr))
        else:
            self.config_fmt = (
                "i2c_set_bus oid=%d i2c_bus=%%s rate=%d address=%d"
                % (self.oid, speed, addr))
        self.cmd_queue = self.mcu.alloc_command_queue()
        self.mcu.register_config_callback(self.build_config)
-        self.i2c_write_cmd = self.i2c_read_cmd = None
-        printer = self.mcu.get_printer()
-        printer.register_event_handler("klippy:connect", self._handle_connect)
-        # backward support i2c_write inside the init section
-        self._to_write = []
-    def _handle_connect(self):
-        for data in self._to_write:
-            self.i2c_write(data)
+        self.i2c_write_cmd = self.i2c_read_cmd = self.i2c_modify_bits_cmd = None
    def get_oid(self):
        return self.oid
    def get_mcu(self):
@@ -199,12 +173,6 @@ class MCU_I2C:
        if '%' in self.config_fmt:
            bus = resolve_bus_name(self.mcu, "i2c_bus", self.bus)
            self.config_fmt = self.config_fmt % (bus,)
-        if self.config_fmt_ticks:
-            if self.mcu.try_lookup_command("i2c_set_sw_bus oid=%c"
-                                           " scl_pin=%u sda_pin=%u"
-                                           " pulse_ticks=%u address=%u"):
-                pulse_ticks = self.mcu.seconds_to_clock(1./self.speed/2)
-                self.config_fmt = self.config_fmt_ticks % (pulse_ticks,)
        self.mcu.add_config_cmd(self.config_fmt)
        self.i2c_write_cmd = self.mcu.lookup_command(
            "i2c_write oid=%c data=%*s", cq=self.cmd_queue)
@@ -212,14 +180,36 @@ class MCU_I2C:
            "i2c_read oid=%c reg=%*s read_len=%u",
            "i2c_read_response oid=%c response=%*s", oid=self.oid,
            cq=self.cmd_queue)
+        self.i2c_modify_bits_cmd = self.mcu.lookup_command(
+            "i2c_modify_bits oid=%c reg=%*s clear_set_bits=%*s",
+            cq=self.cmd_queue)
    def i2c_write(self, data, minclock=0, reqclock=0):
        if self.i2c_write_cmd is None:
-            self._to_write.append(data)
+            # Send setup message via mcu initialization
+            data_msg = "".join(["%02x" % (x,) for x in data])
+            self.mcu.add_config_cmd("i2c_write oid=%d data=%s" % (
+                self.oid, data_msg), is_init=True)
            return
+        self.i2c_write_cmd.send([self.oid, data],
+                                minclock=minclock, reqclock=reqclock)
+    def i2c_write_wait_ack(self, data, minclock=0, reqclock=0):
        self.i2c_write_cmd.send_wait_ack([self.oid, data],
-                                         minclock=minclock, reqclock=reqclock)
-    def i2c_read(self, write, read_len, retry=True):
-        return self.i2c_read_cmd.send([self.oid, write, read_len], retry)
+                                minclock=minclock, reqclock=reqclock)
+    def i2c_read(self, write, read_len):
+        return self.i2c_read_cmd.send([self.oid, write, read_len])
+    def i2c_modify_bits(self, reg, clear_bits, set_bits,
+                        minclock=0, reqclock=0):
+        clearset = clear_bits + set_bits
+        if self.i2c_modify_bits_cmd is None:
+            # Send setup message via mcu initialization
+            reg_msg = "".join(["%02x" % (x,) for x in reg])
+            clearset_msg = "".join(["%02x" % (x,) for x in clearset])
+            self.mcu.add_config_cmd(
+                "i2c_modify_bits oid=%d reg=%s clear_set_bits=%s" % (
+                    self.oid, reg_msg, clearset_msg), is_init=True)
+            return
+        self.i2c_modify_bits_cmd.send([self.oid, reg, clearset],
+                                      minclock=minclock, reqclock=reqclock)

 def MCU_I2C_from_config(config, default_addr=None, default_speed=100000):
    # Load bus parameters
--- a/klippy/extras/buttons.py
+++ b/klippy/extras/buttons.py
@@ -244,33 +244,6 @@ class HalfStepRotaryEncoder(BaseRotaryEncoder):
         BaseRotaryEncoder.R_START | BaseRotaryEncoder.R_DIR_CCW),
    )

-class DebounceButton:
-    def __init__(self, config, button_action):
-        self.printer = config.get_printer()
-        self.reactor = self.printer.get_reactor()
-        self.button_action = button_action
-        self.debounce_delay = config.getfloat('debounce_delay', 0., minval=0.)
-        self.logical_state = None
-        self.physical_state = None
-        self.latest_eventtime = None
-    def button_handler(self, eventtime, state):
-        self.physical_state = state
-        self.latest_eventtime = eventtime
-        # if there would be no state transition, ignore the event:
-        if self.logical_state == self.physical_state:
-            return
-        trigger_time = eventtime + self.debounce_delay
-        self.reactor.register_callback(self._debounce_event, trigger_time)
-    def _debounce_event(self, eventtime):
-        # if there would be no state transition, ignore the event:
-        if self.logical_state == self.physical_state:
-            return
-        # if there were more recent events, they supersede this one:
-        if (eventtime - self.debounce_delay) < self.latest_eventtime:
-            return
-        # enact state transition and trigger action
-        self.logical_state = self.physical_state
-        self.button_action(self.latest_eventtime, self.logical_state)

 ######################################################################
 # Button registration code
@@ -288,14 +261,6 @@ class PrinterButtons:
            self.adc_buttons[pin] = adc_buttons = MCU_ADC_buttons(
                self.printer, pin, pullup)
        adc_buttons.setup_button(min_val, max_val, callback)
-    def register_debounce_button(self, pin, callback, config):
-        debounce = DebounceButton(config, callback)
-        return self.register_buttons([pin], debounce.button_handler)
-    def register_debounce_adc_button(self, pin, min_val, max_val, pullup
-                                     , callback, config):
-        debounce = DebounceButton(config, callback)
-        return self.register_adc_button(pin, min_val, max_val, pullup
-                                        , debounce.button_handler)
    def register_adc_button_push(self, pin, min_val, max_val, pullup, callback):
        def helper(eventtime, state, callback=callback):
            if state:
--- a/klippy/extras/canbus_stats.py
+++ b/klippy/extras/canbus_stats.py
@@ -1,80 +0,0 @@
-# Report canbus connection status
-#
-# Copyright (C) 2025  Kevin O'Connor <kevin@koconnor.net>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
-
-class PrinterCANBusStats:
-    def __init__(self, config):
-        self.printer = config.get_printer()
-        self.reactor = self.printer.get_reactor()
-        self.name = config.get_name().split()[-1]
-        self.mcu = None
-        self.get_canbus_status_cmd = None
-        self.status = {'rx_error': None, 'tx_error': None, 'tx_retries': None,
-                       'bus_state': None}
-        self.printer.register_event_handler("klippy:connect",
-                                            self.handle_connect)
-        self.printer.register_event_handler("klippy:shutdown",
-                                            self.handle_shutdown)
-    def handle_shutdown(self):
-        status = self.status.copy()
-        if status['bus_state'] is not None:
-            # Clear bus_state on shutdown to note that the values may be stale
-            status['bus_state'] = 'unknown'
-            self.status = status
-    def handle_connect(self):
-        # Lookup mcu
-        mcu_name = self.name
-        if mcu_name != 'mcu':
-            mcu_name = 'mcu ' + mcu_name
-        self.mcu = self.printer.lookup_object(mcu_name)
-        # Lookup status query command
-        if self.mcu.try_lookup_command("get_canbus_status") is None:
-            return
-        self.get_canbus_status_cmd = self.mcu.lookup_query_command(
-            "get_canbus_status",
-            "canbus_status rx_error=%u tx_error=%u tx_retries=%u"
-            " canbus_bus_state=%u")
-        # Register usb_canbus_state message handling (for usb to canbus bridge)
-        self.mcu.register_response(self.handle_usb_canbus_state,
-                                   "usb_canbus_state")
-        # Register periodic query timer
-        self.reactor.register_timer(self.query_event, self.reactor.NOW)
-    def handle_usb_canbus_state(self, params):
-        discard = params['discard']
-        if discard:
-            logging.warning("USB CANBUS bridge '%s' is discarding!"
-                            % (self.name,))
-        else:
-            logging.warning("USB CANBUS bridge '%s' is no longer discarding."
-                            % (self.name,))
-    def query_event(self, eventtime):
-        prev_rx = self.status['rx_error']
-        prev_tx = self.status['tx_error']
-        prev_retries = self.status['tx_retries']
-        if prev_rx is None:
-            prev_rx = prev_tx = prev_retries = 0
-        params = self.get_canbus_status_cmd.send()
-        rx = prev_rx + ((params['rx_error'] - prev_rx) & 0xffffffff)
-        tx = prev_tx + ((params['tx_error'] - prev_tx) & 0xffffffff)
-        retries = prev_retries + ((params['tx_retries'] - prev_retries)
-                                  & 0xffffffff)
-        state = params['canbus_bus_state']
-        self.status = {'rx_error': rx, 'tx_error': tx, 'tx_retries': retries,
-                       'bus_state': state}
-        return self.reactor.monotonic() + 1.
-    def stats(self, eventtime):
-        status = self.status
-        if status['rx_error'] is None:
-            return (False, '')
-        return (False, 'canstat_%s: bus_state=%s rx_error=%d'
-                ' tx_error=%d tx_retries=%d'
-                % (self.name, status['bus_state'], status['rx_error'],
-                   status['tx_error'], status['tx_retries']))
-    def get_status(self, eventtime):
-        return self.status
-
-def load_config_prefix(config):
-    return PrinterCANBusStats(config)
--- a/klippy/extras/controller_fan.py
+++ b/klippy/extras/controller_fan.py
@@ -62,7 +62,9 @@ class ControllerFan:
            self.last_on += 1
        if speed != self.last_speed:
            self.last_speed = speed
-            self.fan.set_speed(speed)
+            curtime = self.printer.get_reactor().monotonic()
+            print_time = self.fan.get_mcu().estimated_print_time(curtime)
+            self.fan.set_speed(print_time + PIN_MIN_TIME, speed)
        return eventtime + 1.

 def load_config_prefix(config):
--- a/klippy/extras/display/init.py
+++ b/klippy/extras/display/init.py
@@ -12,7 +12,7 @@ def load_config_prefix(config):
    if not config.has_section('display'):
        raise config.error(
            "A primary [display] section must be defined in printer.cfg "
-            "to use auxiliary displays")
+            "to use auxilary displays")
    name = config.get_name().split()[-1]
    if name == "display":
        raise config.error(
--- a/klippy/extras/display/aip31068_spi.py
+++ b/klippy/extras/display/aip31068_spi.py
@@ -1,209 +0,0 @@
-# Support for YHCB2004 (20x4 text) LCD displays based on AiP31068 controller
-#
-# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
-# Copyright (C) 2018  Eric Callahan <arksine.code@gmail.com>
-# Copyright (C) 2021  Marc-Andre Denis <marcadenis@msn.com>
-# Copyright (C) 2024  Alexander Bazarov <oss@bazarov.dev>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-
-# This file is a modified version of hd44780_spi.py, introducing slightly
-# different protocol as implemented in Marlin FW (based on
-# https://github.com/red-scorp/LiquidCrystal_AIP31068 ).
-# In addition, a hack is used to send 8 commands, each 9 bits, at once,
-# allowing the transmission of a full 9 bytes.
-# This helps avoid modifying the SW_SPI driver to handle non-8-bit data.
-
-from .. import bus
-
-LINE_LENGTH_DEFAULT=20
-LINE_LENGTH_OPTIONS={16:16, 20:20}
-
-TextGlyphs = { 'right_arrow': b'\x7e' }
-
-# Each command is 9 bits long:
-#     1 bit for RS (Register Select) - 0 for command, 1 for data
-#     8 bits for the command/data
-# Command is a bitwise OR of CMND(=opcode) and flg_CMND(=parameters) multiplied
-# by 1 or 0 as En/Dis flag.
-#     cmd = CMND | flg_CMND.param0*0 | flg_CMND.param1*1
-# or just by OR with enabled flags:
-#     cmd = CMND | flg_CMND.param1
-class CMND:
-    CLR = 1             # Clear display
-    HOME = 2            # Return home
-    ENTERY_MODE = 2**2  # Entry mode set
-    DISPLAY = 2**3      # Display on/off control
-    SHIFT = 2**4        # Cursor or display shift
-    FUNCTION = 2**5     # Function set
-    CGRAM = 2**6        # Character Generator RAM
-    DDRAM = 2**7        # Display Data RAM
-    WRITE_RAM = 2**8    # Write to RAM
-
-# Define flags for all commands:
-class flg_ENTERY_MODE:
-    INC = 2**1      # Increment
-    SHIFT = 2**0    # Shift display
-
-class flg_DISPLAY:
-    ON = 2**2       # Display ON
-    CURSOR = 2**1   # Cursor ON
-    BLINK = 2**0    # Blink ON
-
-class flg_SHIFT:
-    WHOLE_DISPLAY = 2**3    # Shift whole display
-    RIGHT = 2**2            # Shift right
-
-class flg_FUNCTION:
-    TWO_LINES = 2**3        # 2-line display mode
-    FIVE_BY_ELEVEN = 2**2   # 5x11 dot character font
-
-class flg_CGRAM:
-    MASK = 0b00111111   # CGRAM address mask
-
-class flg_DDRAM:
-    MASK = 0b01111111   # DDRAM address mask
-
-class flg_WRITE_RAM:
-    MASK = 0b11111111   # Write RAM mask
-
-DISPLAY_INIT_CMNDS= [
-    # CMND.CLR - no need as framebuffer will rewrite all
-    CMND.HOME, # move cursor to home (0x00)
-    CMND.ENTERY_MODE | flg_ENTERY_MODE.INC, # increment cursor and no shift
-    CMND.DISPLAY | flg_DISPLAY.ON, # keep cursor and blinking off
-    CMND.SHIFT | flg_SHIFT.RIGHT, # shift right cursor only
-    CMND.FUNCTION | flg_FUNCTION.TWO_LINES, # 2-line display mode, 5x8 dots
-]
-
-class aip31068_spi:
-    def __init__(self, config):
-        self.printer = config.get_printer()
-        # spi config
-        self.spi = bus.MCU_SPI_from_config(
-            config, 0x00, pin_option="latch_pin") # (config, mode, cs_name)
-        self.mcu = self.spi.get_mcu()
-        self.icons = {}
-        self.line_length = config.getchoice('line_length', LINE_LENGTH_OPTIONS,
-                                            LINE_LENGTH_DEFAULT)
-        # each controller's line is 2 lines on the display and hence twice
-        # line length
-        self.text_framebuffers = [bytearray(b' '*2*self.line_length),
-                                  bytearray(b' '*2*self.line_length)]
-        self.glyph_framebuffer = bytearray(64)
-        # all_framebuffers - list of tuples per buffer type.
-        # Each tuple contains:
-        #   1. the updated framebuffer
-        #   2. a copy of the old framebuffer == data on the display
-        #   3. the command to send to write to this buffer
-        # Then flush() will compare new data with data on the display
-        # and send only the differences to the display controller
-        # and update the old framebuffer with the new data
-        # (immutable tuple is allowed to store mutable bytearray)
-        self.all_framebuffers = [
-            # Text framebuffers
-            (self.text_framebuffers[0], bytearray(b'~'*2*self.line_length),
-                CMND.DDRAM | (flg_DDRAM.MASK & 0x00) ),
-            (self.text_framebuffers[1], bytearray(b'~'*2*self.line_length),
-                CMND.DDRAM | (flg_DDRAM.MASK & 0x40) ),
-            # Glyph framebuffer
-            (self.glyph_framebuffer, bytearray(b'~'*64),
-                CMND.CGRAM | (flg_CGRAM.MASK & 0x00) ) ]
-    @staticmethod
-    def encode(data, width = 9):
-        encoded_bytes = []
-        accumulator = 0  # To accumulate bits
-        acc_bits = 0  # Count of bits in the accumulator
-        for num in data:
-            # check that num will fit in width bits
-            if num >= (1 << width):
-                raise ValueError("Number {} does not fit in {} bits".
-                                 format(num, width))
-            # Shift the current number into the accumulator from the right
-            accumulator = (accumulator << width) | num
-            acc_bits += width  # Update the count of bits in the accumulator
-            # While we have at least 8 bits, form a byte and append it
-            while acc_bits >= 8:
-                acc_bits -= 8  # Decrease bit count by 8
-                # Extract the 8 most significant bits to form a byte
-                byte = (accumulator >> acc_bits) & 0xFF
-                # Remove msb 8 bits from the accumulator
-                accumulator &= (1 << acc_bits) - 1
-                encoded_bytes.append(byte)
-        # Handle any remaining bits by padding them on the right to byte
-        if acc_bits > 0:
-            last_byte = accumulator << (8 - acc_bits)
-            encoded_bytes.append(last_byte)
-        return encoded_bytes
-    def send(self, data, minclock=0):
-        # different commands have different processing time
-        # to avoid timing violation pad with some fast command, e.g. ENTRY_MODE
-        # that has execution time of 39us (for comparison CLR is 1.53ms)
-        pad = CMND.ENTERY_MODE | flg_ENTERY_MODE.INC
-        for i in range(0, len(data), 8):
-            # Take a slice of 8 numbers
-            group = data[i:i+8]
-            # Pad the group if it has fewer than 8 elements
-            if len(group) < 8:
-                group.extend([pad] * (8 - len(group)))
-            self.spi.spi_send(self.encode(group), minclock)
-    def flush(self):
-        # Find all differences in the framebuffers and send them to the chip
-        for new_data, old_data, fb_cmnd in self.all_framebuffers:
-            if new_data == old_data:
-                continue
-            # Find the position of all changed bytes in this framebuffer
-            diffs = [[i, 1] for i, (n, o) in enumerate(zip(new_data, old_data))
-                     if n != o]
-            # Batch together changes that are close to each other
-            for i in range(len(diffs)-2, -1, -1):
-                pos, count = diffs[i]
-                nextpos, nextcount = diffs[i+1]
-                if pos + 4 >= nextpos and nextcount < 16:
-                    diffs[i][1] = nextcount + (nextpos - pos)
-                    del diffs[i+1]
-            # Transmit changes
-            for pos, count in diffs:
-                chip_pos = pos
-                self.send([fb_cmnd + chip_pos])
-                self.send([CMND.WRITE_RAM | byte for byte in
-                           new_data[pos:pos+count]])
-            old_data[:] = new_data
-    def init(self):
-        curtime = self.printer.get_reactor().monotonic()
-        print_time = self.mcu.estimated_print_time(curtime)
-        for i, cmds in enumerate(DISPLAY_INIT_CMNDS):
-            minclock = self.mcu.print_time_to_clock(print_time + i * .100)
-            self.send([cmds], minclock=minclock)
-        self.flush()
-    def write_text(self, x, y, data):
-        if x + len(data) > self.line_length:
-            data = data[:self.line_length - min(x, self.line_length)]
-        pos = x + ((y & 0x02) >> 1) * self.line_length
-        self.text_framebuffers[y & 1][pos:pos+len(data)] = data
-    def set_glyphs(self, glyphs):
-        for glyph_name, glyph_data in glyphs.items():
-            data = glyph_data.get('icon5x8')
-            if data is not None:
-                self.icons[glyph_name] = data
-    def write_glyph(self, x, y, glyph_name):
-        data = self.icons.get(glyph_name)
-        if data is not None:
-            slot, bits = data
-            self.write_text(x, y, [slot])
-            self.glyph_framebuffer[slot * 8:(slot + 1) * 8] = bits
-            return 1
-        char = TextGlyphs.get(glyph_name)
-        if char is not None:
-            # Draw character
-            self.write_text(x, y, char)
-            return 1
-        return 0
-    def write_graphics(self, x, y, data):
-        pass # this display supports only hardcoded or 8 user defined glyphs
-    def clear(self):
-        spaces = b' ' * 2*self.line_length
-        self.text_framebuffers[0][:] = spaces
-        self.text_framebuffers[1][:] = spaces
-    def get_dimensions(self):
-        return (self.line_length, 4)
--- a/klippy/extras/display/display.py
+++ b/klippy/extras/display/display.py
@@ -6,7 +6,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, os, ast
-from . import aip31068_spi, hd44780, hd44780_spi, st7920, uc1701, menu
+from . import hd44780, hd44780_spi, st7920, uc1701, menu

 # Normal time between each screen redraw
 REDRAW_TIME = 0.500
@@ -17,8 +17,7 @@ LCD_chips = {
    'st7920': st7920.ST7920, 'emulated_st7920': st7920.EmulatedST7920,
    'hd44780': hd44780.HD44780, 'uc1701': uc1701.UC1701,
    'ssd1306': uc1701.SSD1306, 'sh1106': uc1701.SH1106,
-    'hd44780_spi': hd44780_spi.hd44780_spi,
-    'aip31068_spi':aip31068_spi.aip31068_spi
+    'hd44780_spi': hd44780_spi.hd44780_spi
 }

 # Storage of [display_template my_template] config sections
--- a/klippy/extras/display/font8x14.py
+++ b/klippy/extras/display/font8x14.py
@@ -13,7 +13,7 @@
 # ftp://ftp.simtel.net/pub/simtelnet/msdos/screen/fntcol16.zip
 # (c) Joseph Gil
 #
-# Individual fonts are public domain
+# Indivdual fonts are public domain
 ######################################################################

 VGA_FONT = [
--- a/klippy/extras/dotstar.py
+++ b/klippy/extras/dotstar.py
@@ -1,9 +1,9 @@
 # Support for "dotstar" leds
 #
-# Copyright (C) 2019-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2019-2022  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import bus, led
+from . import bus

 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000

@@ -22,8 +22,9 @@ class PrinterDotstar:
        self.spi = bus.MCU_SPI(mcu, None, None, 0, 500000, sw_spi_pins)
        # Initialize color data
        self.chain_count = config.getint('chain_count', 1, minval=1)
-        self.led_helper = led.LEDHelper(config, self.update_leds,
-                                        self.chain_count)
+        pled = printer.load_object(config, "led")
+        self.led_helper = pled.setup_helper(config, self.update_leds,
+                                            self.chain_count)
        self.prev_data = None
        # Register commands
        printer.register_event_handler("klippy:connect", self.handle_connect)
--- a/klippy/extras/endstop_phase.py
+++ b/klippy/extras/endstop_phase.py
@@ -52,7 +52,7 @@ class PhaseCalc:
 class EndstopPhase:
    def __init__(self, config):
        self.printer = config.get_printer()
-        self.name = " ".join(config.get_name().split()[1:])
+        self.name = config.get_name().split()[1]
        # Obtain step_distance and microsteps from stepper config section
        sconfig = config.getsection(self.name)
        rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
@@ -118,7 +118,7 @@ class EndstopPhase:
        return delta * self.step_dist
    def handle_home_rails_end(self, homing_state, rails):
        for rail in rails:
-            stepper = rail.get_endstops()[0][0].get_steppers()[0]
+            stepper = rail.get_steppers()[0]
            if stepper.get_name() == self.name:
                trig_mcu_pos = homing_state.get_trigger_position(self.name)
                align = self.align_endstop(rail)
--- a/klippy/extras/exclude_object.py
+++ b/klippy/extras/exclude_object.py
@@ -82,25 +82,24 @@ class ExcludeObject:
        self._reset_state()
        self._unregister_transform()

-    def _get_extrusion_offsets(self, num_coord):
-        ename = self.toolhead.get_extruder().get_name()
-        offset = self.extrusion_offsets.get(ename)
+    def _get_extrusion_offsets(self):
+        offset = self.extrusion_offsets.get(
+            self.toolhead.get_extruder().get_name())
        if offset is None:
-            offset = [0.] * num_coord
-            self.extrusion_offsets[ename] = offset
-        if len(offset) < num_coord:
-            offset.extend([0.] * (len(num_coord) - len(offset)))
+            offset = [0., 0., 0., 0.]
+            self.extrusion_offsets[self.toolhead.get_extruder().get_name()] = \
+                offset
        return offset

    def get_position(self):
+        offset = self._get_extrusion_offsets()
        pos = self.next_transform.get_position()
-        offset = self._get_extrusion_offsets(len(pos))
-        for i in range(len(pos)):
+        for i in range(4):
            self.last_position[i] = pos[i] + offset[i]
        return list(self.last_position)

    def _normal_move(self, newpos, speed):
-        offset = self._get_extrusion_offsets(len(newpos))
+        offset = self._get_extrusion_offsets()

        if self.initial_extrusion_moves > 0 and \
            self.last_position[3] != newpos[3]:
@@ -123,9 +122,9 @@ class ExcludeObject:
        if (offset[0] != 0 or offset[1] != 0) and \
            (newpos[0] != self.last_position_excluded[0] or \
            newpos[1] != self.last_position_excluded[1]):
-            for i in range(len(newpos)):
-                if i != 3:
-                    offset[i] = 0
+            offset[0] = 0
+            offset[1] = 0
+            offset[2] = 0
            offset[3] += self.extruder_adj
            self.extruder_adj = 0

@@ -138,18 +137,17 @@ class ExcludeObject:
            self.extruder_adj = 0

        tx_pos = newpos[:]
-        for i in range(len(newpos)):
+        for i in range(4):
            tx_pos[i] = newpos[i] - offset[i]
        self.next_transform.move(tx_pos, speed)

    def _ignore_move(self, newpos, speed):
-        offset = self._get_extrusion_offsets(len(newpos))
-        for i in range(len(newpos)):
-            if i != 3:
-                offset[i] = newpos[i] - self.last_position_extruded[i]
+        offset = self._get_extrusion_offsets()
+        for i in range(3):
+            offset[i] = newpos[i] - self.last_position_extruded[i]
        offset[3] = offset[3] + newpos[3] - self.last_position[3]
        self.last_position[:] = newpos
-        self.last_position_excluded[:] = self.last_position
+        self.last_position_excluded[:] =self.last_position
        self.max_position_excluded = max(self.max_position_excluded, newpos[3])

    def _move_into_excluded_region(self, newpos, speed):
--- a/klippy/extras/fan.py
+++ b/klippy/extras/fan.py
@@ -1,14 +1,17 @@
 # Printer cooling fan
 #
-# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import pulse_counter, output_pin
+from . import pulse_counter
+
+FAN_MIN_TIME = 0.100

 class Fan:
    def __init__(self, config, default_shutdown_speed=0.):
        self.printer = config.get_printer()
-        self.last_fan_value = self.last_req_value = 0.
+        self.last_fan_value = 0.
+        self.last_fan_time = 0.
        # Read config
        self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
        self.kick_start_time = config.getfloat('kick_start_time', 0.1,
@@ -33,10 +36,6 @@ class Fan:
            self.enable_pin = ppins.setup_pin('digital_out', enable_pin)
            self.enable_pin.setup_max_duration(0.)

-        # Create gcode request queue
-        self.gcrq = output_pin.GCodeRequestQueue(config, self.mcu_fan.get_mcu(),
-                                                 self._apply_speed)
-
        # Setup tachometer
        self.tachometer = FanTachometer(config)

@@ -46,37 +45,37 @@ class Fan:

    def get_mcu(self):
        return self.mcu_fan.get_mcu()
-    def _apply_speed(self, print_time, value):
+    def set_speed(self, print_time, value):
        if value < self.off_below:
            value = 0.
        value = max(0., min(self.max_power, value * self.max_power))
        if value == self.last_fan_value:
-            return "discard", 0.
+            return
+        print_time = max(self.last_fan_time + FAN_MIN_TIME, print_time)
        if self.enable_pin:
            if value > 0 and self.last_fan_value == 0:
                self.enable_pin.set_digital(print_time, 1)
            elif value == 0 and self.last_fan_value > 0:
                self.enable_pin.set_digital(print_time, 0)
-        if (value and self.kick_start_time
+        if (value and value < self.max_power and self.kick_start_time
            and (not self.last_fan_value or value - self.last_fan_value > .5)):
            # Run fan at full speed for specified kick_start_time
-            self.last_req_value = value
-            self.last_fan_value = self.max_power
            self.mcu_fan.set_pwm(print_time, self.max_power)
-            return "delay", self.kick_start_time
-        self.last_fan_value = self.last_req_value = value
+            print_time += self.kick_start_time
        self.mcu_fan.set_pwm(print_time, value)
-    def set_speed(self, value, print_time=None):
-        self.gcrq.send_async_request(value, print_time)
+        self.last_fan_time = print_time
+        self.last_fan_value = value
    def set_speed_from_command(self, value):
-        self.gcrq.queue_gcode_request(value)
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.register_lookahead_callback((lambda pt:
+                                              self.set_speed(pt, value)))
    def _handle_request_restart(self, print_time):
-        self.set_speed(0., print_time)
+        self.set_speed(print_time, 0.)

    def get_status(self, eventtime):
        tachometer_status = self.tachometer.get_status(eventtime)
        return {
-            'speed': self.last_req_value,
+            'speed': self.last_fan_value,
            'rpm': tachometer_status['rpm'],
        }

--- a/klippy/extras/fan_generic.py
+++ b/klippy/extras/fan_generic.py
@@ -1,10 +1,9 @@
 # Support fans that are controlled by gcode
 #
-# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
-from . import fan, output_pin
+from . import fan

 class PrinterFanGeneric:
    cmd_SET_FAN_SPEED_help = "Sets the speed of a fan"
@@ -13,9 +12,6 @@ class PrinterFanGeneric:
        self.fan = fan.Fan(config, default_shutdown_speed=0.)
        self.fan_name = config.get_name().split()[-1]

-        # Template handling
-        self.template_eval = output_pin.lookup_template_eval(config)
-
        gcode = self.printer.lookup_object("gcode")
        gcode.register_mux_command("SET_FAN_SPEED", "FAN",
                                   self.fan_name,
@@ -24,22 +20,8 @@ class PrinterFanGeneric:

    def get_status(self, eventtime):
        return self.fan.get_status(eventtime)
-    def _template_update(self, text):
-        try:
-            value = float(text)
-        except ValueError as e:
-            logging.exception("fan_generic template render error")
-            value = 0.
-        self.fan.set_speed(value)
    def cmd_SET_FAN_SPEED(self, gcmd):
-        speed = gcmd.get_float('SPEED', None, 0.)
-        template = gcmd.get('TEMPLATE', None)
-        if (speed is None) == (template is None):
-            raise gcmd.error("SET_FAN_SPEED must specify SPEED or TEMPLATE")
-        # Check for template setting
-        if template is not None:
-            self.template_eval.set_template(gcmd, self._template_update)
-            return
+        speed = gcmd.get_float('SPEED', 0.)
        self.fan.set_speed_from_command(speed)

 def load_config_prefix(config):
--- a/klippy/extras/filament_motion_sensor.py
+++ b/klippy/extras/filament_motion_sensor.py
@@ -63,7 +63,7 @@ class EncoderSensor:
    def _extruder_pos_update_event(self, eventtime):
        extruder_pos = self._get_extruder_pos(eventtime)
        # Check for filament runout
-        self.runout_helper.note_filament_present(eventtime,
+        self.runout_helper.note_filament_present(
                extruder_pos < self.filament_runout_pos)
        return eventtime + CHECK_RUNOUT_TIMEOUT
    def encoder_event(self, eventtime, state):
@@ -71,7 +71,7 @@ class EncoderSensor:
            self._update_filament_runout_pos(eventtime)
            # Check for filament insertion
            # Filament is always assumed to be present on an encoder event
-            self.runout_helper.note_filament_present(eventtime, True)
+            self.runout_helper.note_filament_present(True)

 def load_config_prefix(config):
    return EncoderSensor(config)
--- a/klippy/extras/filament_switch_sensor.py
+++ b/klippy/extras/filament_switch_sensor.py
@@ -5,7 +5,6 @@
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging

-
 class RunoutHelper:
    def __init__(self, config):
        self.name = config.get_name().split()[-1]
@@ -25,7 +24,7 @@ class RunoutHelper:
            self.insert_gcode = gcode_macro.load_template(
                config, 'insert_gcode')
        self.pause_delay = config.getfloat('pause_delay', .5, above=.0)
-        self.event_delay = config.getfloat('event_delay', 3., minval=.0)
+        self.event_delay = config.getfloat('event_delay', 3., above=0.)
        # Internal state
        self.min_event_systime = self.reactor.NEVER
        self.filament_present = False
@@ -60,20 +59,19 @@ class RunoutHelper:
        except Exception:
            logging.exception("Script running error")
        self.min_event_systime = self.reactor.monotonic() + self.event_delay
-    def note_filament_present(self, eventtime, is_filament_present):
+    def note_filament_present(self, is_filament_present):
        if is_filament_present == self.filament_present:
            return
        self.filament_present = is_filament_present
-
+        eventtime = self.reactor.monotonic()
        if eventtime < self.min_event_systime or not self.sensor_enabled:
            # do not process during the initialization time, duplicates,
            # during the event delay time, while an event is running, or
            # when the sensor is disabled
            return
        # Determine "printing" status
-        now = self.reactor.monotonic()
        idle_timeout = self.printer.lookup_object("idle_timeout")
-        is_printing = idle_timeout.get_status(now)["state"] == "Printing"
+        is_printing = idle_timeout.get_status(eventtime)["state"] == "Printing"
        # Perform filament action associated with status change (if any)
        if is_filament_present:
            if not is_printing and self.insert_gcode is not None:
@@ -81,14 +79,14 @@ class RunoutHelper:
                self.min_event_systime = self.reactor.NEVER
                logging.info(
                    "Filament Sensor %s: insert event detected, Time %.2f" %
-                    (self.name, now))
+                    (self.name, eventtime))
                self.reactor.register_callback(self._insert_event_handler)
        elif is_printing and self.runout_gcode is not None:
            # runout detected
            self.min_event_systime = self.reactor.NEVER
            logging.info(
                "Filament Sensor %s: runout event detected, Time %.2f" %
-                (self.name, now))
+                (self.name, eventtime))
            self.reactor.register_callback(self._runout_event_handler)
    def get_status(self, eventtime):
        return {
@@ -110,12 +108,11 @@ class SwitchSensor:
        printer = config.get_printer()
        buttons = printer.load_object(config, 'buttons')
        switch_pin = config.get('switch_pin')
-        buttons.register_debounce_button(switch_pin, self._button_handler
-                                         , config)
+        buttons.register_buttons([switch_pin], self._button_handler)
        self.runout_helper = RunoutHelper(config)
        self.get_status = self.runout_helper.get_status
    def _button_handler(self, eventtime, state):
-        self.runout_helper.note_filament_present(eventtime, state)
+        self.runout_helper.note_filament_present(state)

 def load_config_prefix(config):
    return SwitchSensor(config)
--- a/klippy/extras/firmware_retraction.py
+++ b/klippy/extras/firmware_retraction.py
@@ -43,7 +43,7 @@ class FirmwareRetraction:
        self.unretract_length = (self.retract_length
                                 + self.unretract_extra_length)
        self.is_retracted = False
-    cmd_GET_RETRACTION_help = ("Report firmware retraction parameters")
+    cmd_GET_RETRACTION_help = ("Report firmware retraction paramters")
    def cmd_GET_RETRACTION(self, gcmd):
        gcmd.respond_info("RETRACT_LENGTH=%.5f RETRACT_SPEED=%.5f"
                          " UNRETRACT_EXTRA_LENGTH=%.5f UNRETRACT_SPEED=%.5f"
--- a/Show More
+++ b/Show More