docs: Note the release of v0.12.0

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

.github/workflows/build-test.yaml

@@ -4,12 +4,12 @@ on: [push, pull_request]
 
 jobs:
   build:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Setup cache
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: ci_cache
         key: ${{ runner.os }}-build-${{ hashFiles('scripts/ci-install.sh') }}
@@ -21,7 +21,7 @@ jobs:
       run: ./scripts/ci-build.sh 2>&1
 
     - name: Upload micro-controller data dictionaries
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       with:
         name: data-dict
         path: ci_build/dict

.github/workflows/klipper3d-deploy.yaml

@@ -12,12 +12,12 @@ jobs:
   deploy:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Setup python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: '3.8'
-      - uses: actions/cache@v2
+      - uses: actions/cache@v3
         with:
           path: ~/.cache/pip
           key: ${{ runner.os }}-pip-${{ hashFiles('docs/_klipper3d/mkdocs-requirements.txt') }}
@@ -28,7 +28,7 @@ jobs:
       - name: Build MkDocs Pages
         run: docs/_klipper3d/build-translations.sh
       - name: Deploy
-        uses: JamesIves/github-pages-deploy-action@v4.2.5
+        uses: JamesIves/github-pages-deploy-action@v4.4.3
         with:
           branch: gh-pages # The branch the action should deploy to.
           folder: site # The folder the action should deploy.

.github/workflows/reviewer-needed-label.yaml

@@ -34,7 +34,7 @@ jobs:
                 + " bulk of a review has already been completed."
                 + "\n"
                 + "2. Consider opening a topic on the [Klipper Discourse]"
-                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + "(https://www.klipper3d.org/Contact.html#discourse-forum)"
                 + " server to discuss this work. The Discourse server is a good"
                 + " place to discuss development ideas and to engage users"
                 + " interested in testing. Reviewers are more likely to"
@@ -50,7 +50,7 @@ jobs:
                 + " this GitHub Pull Request then it will be automatically"
                 + " closed. If this happens, then it is a good idea to move"
                 + " further discussion to the [Klipper Discourse]"
-                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + "(https://www.klipper3d.org/Contact.html#discourse-forum)"
                 + " server. Reviewers can reach out on that forum to let you"
                 + " know if they are interested and when they are available."
                 + "\n\n"

.github/workflows/stale-issue-bot.yaml

@@ -9,7 +9,7 @@ jobs:
     if: github.repository == 'Klipper3d/klipper'
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/stale@v3
+    - uses: actions/stale@v8
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         stale-issue-message: |
@@ -31,6 +31,8 @@ jobs:
         exempt-issue-labels: 'enhancement,bug'
         days-before-stale: 35
         days-before-close: 7
+        days-before-pr-stale: -1
+        days-before-pr-close: -1
   # Close tickets marked with "not on github" label
   close_not_on_github:
     if: github.repository == 'Klipper3d/klipper'
@@ -81,7 +83,7 @@ jobs:
                 + " this GitHub Pull Request and it is therefore being"
                 + " closed. It is a good idea to move"
                 + " further discussion to the [Klipper Discourse]"
-                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + "(https://www.klipper3d.org/Contact.html#discourse-forum)"
                 + " server. Reviewers can reach out on that forum to let you"
                 + " know if they are interested and when they are available."
                 + "\n\n"
@@ -135,7 +137,7 @@ jobs:
                 + " bulk of a review has already been completed."
                 + "\n"
                 + "2. Consider opening a topic on the [Klipper Discourse]"
-                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + "(https://www.klipper3d.org/Contact.html#discourse-forum)"
                 + " server to discuss this work. The Discourse server is a good"
                 + " place to discuss development ideas and to engage users"
                 + " interested in testing. Reviewers are more likely to"
@@ -151,7 +153,7 @@ jobs:
                 + " this GitHub Pull Request then it will be automatically"
                 + " closed. If this happens, then it is a good idea to move"
                 + " further discussion to the [Klipper Discourse]"
-                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + "(https://www.klipper3d.org/Contact.html#discourse-forum)"
                 + " server. Reviewers can reach out on that forum to let you"
                 + " know if they are interested and when they are available."
                 + "\n\n"
@@ -332,7 +334,7 @@ jobs:
     if: github.repository == 'Klipper3d/klipper'
     runs-on: ubuntu-latest
     steps:
-    - uses: dessant/lock-threads@v3
+    - uses: dessant/lock-threads@v4
       with:
         issue-inactive-days: '180'
         issue-lock-reason: ''

config/generic-bigtreetech-manta-e3ez.cfg

@@ -0,0 +1,200 @@
+# This file contains common pin mappings for the BIGTREETECH Manta E3EZ
+# To use this config, the firmware should be compiled for the
+# STM32G0B1 with a "8KiB bootloader" "8 MHz crystal"
+# and "USB (on PA11/PA12)" or "CAN bus (on PB12/PB13)".
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PA14
+dir_pin: !PA10
+enable_pin: !PA13
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PC4
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC8
+dir_pin: !PA15
+enable_pin: !PC14
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PB0
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[stepper_z]
+step_pin: PD2
+dir_pin: PD4
+enable_pin: !PD3
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PC6
+position_endstop: 0
+position_max: 270
+
+[extruder]
+step_pin: PD5
+dir_pin: !PD6
+enable_pin: !PB3
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB11 #HE0
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA4 #TH0
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 250
+
+#[filament_switch_sensor material_0]
+#switch_pin: PC5
+
+#[extruder1]
+#step_pin: PB7
+#dir_pin: PB6
+#enable_pin: !PB4
+#heater_pin: PB10 # HE1
+#sensor_pin: PA5 # T1
+
+#[filament_switch_sensor material_1]
+#switch_pin: PB1
+
+[heater_bed]
+heater_pin: PB2 #HB
+sensor_type: EPCOS 100K B57560G104F #Generic 3950
+sensor_pin: PA3 #TB
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA8
+
+#[heater_fan fan1]
+#pin: PB15
+
+#[heater_fan fan2]
+#pin: PB14
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PB8
+##diag_pin: PC4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_y]
+#uart_pin: PC9
+##diag_pin: PB0
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_z]
+#uart_pin: PD0
+##diag_pin: PC6
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder]
+#uart_pin: PD1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder1]
+#uart_pin: PB5
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+########################################
+# TMC2130 configuration
+########################################
+
+#[tmc2130 stepper_x]
+#cs_pin: PB8
+#spi_software_miso_pin: PC11
+#spi_software_mosi_pin: PC12
+#spi_software_sclk_pin: PC10
+##diag1_pin: PF3
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_y]
+#cs_pin: PC9
+#spi_software_miso_pin: PC11
+#spi_software_mosi_pin: PC12
+#spi_software_sclk_pin: PC10
+##diag1_pin: PF4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_z]
+#cs_pin: PD0
+#spi_software_miso_pin: PC11
+#spi_software_mosi_pin: PC12
+#spi_software_sclk_pin: PC10
+##diag1_pin: PF5
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder]
+#cs_pin: PD1
+#spi_software_miso_pin: PC11
+#spi_software_mosi_pin: PC12
+#spi_software_sclk_pin: PC10
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder1]
+#cs_pin: PB5
+#spi_software_miso_pin: PC11
+#spi_software_mosi_pin: PC12
+#spi_software_sclk_pin: PC10
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PC1, EXP1_3=PC3, EXP1_5=PC0, EXP1_7=PA2, EXP1_9=<GND>,
+    EXP1_2=PC2,  EXP1_4=<RST>, EXP1_6=PA0, EXP1_8=PA1, EXP1_10=<5V>
+
+#[bltouch]
+#sensor_pin: PA6
+#control_pin: PA7
+
+#[output_pin PS_ON]
+#pin: PA9
+
+#[output_pin pb9_pin]
+#pin: PB9
+
+#[neopixel my_neopixel]
+#pin: PC7
+
+#[adxl345]
+#cs_pin: PC15
+#spi_software_miso_pin: PC11
+#spi_software_mosi_pin: PC12
+#spi_software_sclk_pin: PC10

config/generic-bigtreetech-manta-m4p.cfg

@@ -75,8 +75,8 @@ pin: PD2
 #pin: PD4
 
 #[heater_fan SoC_fan]
-#pin: CB1: gpio79
-#pin: RPI: gpio26
+#pin: CB1:gpio79
+#pin: RPI:gpio26
 
 [mcu]
 serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00

config/generic-bigtreetech-manta-m5p.cfg

@@ -0,0 +1,199 @@
+# This file contains common pin mappings for the BIGTREETECH Manta M5P
+# To use this config, the firmware should be compiled for the
+# STM32G0B1 with a "8KiB bootloader" "8 MHz crystal"
+# and "USB (on PA11/PA12)" or "CAN bus (on PD0/PD1)".
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC8
+dir_pin: !PC9
+enable_pin: !PA15
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PD3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PA10
+dir_pin: !PA14
+enable_pin: !PA13
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PD2
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PC6
+dir_pin: PC7
+enable_pin: !PA9
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PC3
+position_endstop: 0.0
+position_max: 200
+
+[extruder]
+step_pin: PB12
+dir_pin: !PB11
+enable_pin: !PA8
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA1
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 250
+
+#sensor_type:MAX31865
+#sensor_pin: PA4
+#spi_bus: spi1
+#rtd_nominal_r: 100
+#rtd_reference_r: 430
+#rtd_num_of_wires: 2
+
+#[filament_switch_sensor material_0]
+#switch_pin: PC2
+
+#[extruder1]
+#step_pin: PB0
+#dir_pin: PB1
+#enable_pin: !PC4
+#heater_pin: PA7
+#sensor_pin: PA2
+#...
+
+[heater_bed]
+heater_pin: PA5
+sensor_type: Generic 3950
+sensor_pin: PA0
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA4
+
+#[heater_fan fan1]
+#pin: PA3
+
+#[heater_fan SoC_fan]
+#pin: CB1:gpio79
+#pin: RPI:gpio26
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PD9
+#run_current: 0.800
+#diag_pin: PD3
+
+#[tmc2209 stepper_y]
+#uart_pin: PD8
+#run_current: 0.800
+#diag_pin: PD2
+
+#[tmc2209 stepper_z]
+#uart_pin: PB10
+#run_current: 0.800
+#diag_pin: PC3
+
+#[tmc2209 extruder]
+#uart_pin: PB2
+#run_current: 0.600
+#diag_pin: PC2
+
+#[tmc2209 extruder1]
+#uart_pin: PA6
+#run_current: 0.600
+#diag_pin:
+
+########################################
+# TMC2130 configuration
+########################################
+
+#[tmc2130 stepper_x]
+#cs_pin: PD9
+#spi_bus: spi2
+#run_current: 0.800
+#stealthchop_threshold: 999999
+#diag1_pin: PD3
+
+#[tmc2130 stepper_y]
+#cs_pin: PD8
+#spi_bus: spi2
+#run_current: 0.800
+#stealthchop_threshold: 999999
+#diag1_pin: PD2
+
+#[tmc2130 stepper_z]
+#cs_pin: PB10
+#spi_bus: spi2
+#run_current: 0.650
+#stealthchop_threshold: 999999
+#diag1_pin: PC3
+
+#[tmc2130 extruder]
+#cs_pin: PB2
+#spi_bus: spi2
+#run_current: 0.800
+#stealthchop_threshold: 999999
+#diag1_pin: PC2
+
+#[tmc2130 extruder1]
+#cs_pin: PA6
+#spi_bus: spi2
+#run_current: 0.800
+#stealthchop_threshold: 999999
+#diag1_pin:
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PD5, EXP1_3=PB3, EXP1_5=PB5, EXP1_7=PB7, EXP1_9=<GND>,
+    EXP1_2=PD4,  EXP1_4=PD6, EXP1_6=PB4, EXP1_8=PB6, EXP1_10=<5V>,
+    # EXP2 header
+    EXP2_1=PB14, EXP2_3=PB8, EXP2_5=PC10, EXP2_7=PC12,  EXP2_9=<GND>,
+    EXP2_2=PB13, EXP2_4=PB9, EXP2_6=PB15, EXP2_8=<RST>, EXP2_10=<NC>
+
+# See the sample-lcd.cfg file for definitions of common LCD displays.
+
+#[bltouch]
+#sensor_pin: PC13
+#control_pin: PC15
+
+# Proximity switch
+#[probe]
+#pin: PC15
+
+#[neopixel my_neopixel1]
+#pin: PC11
+
+#[neopixel my_neopixel2]
+#pin: PC14
+
+#[adxl345]
+#cs_pin: PC0
+#spi_bus: spi2

config/generic-bigtreetech-manta-m8p-v1.0.cfg

@@ -43,7 +43,7 @@ position_max: 270
 #[stepper_]
 #step_pin: PD3
 #dir_pin: PD2
-#enable_pin: PD5
+#enable_pin: !PD5
 #endstop_pin: PC0
 #...
 
@@ -258,7 +258,7 @@ aliases:
     EXP2_3=PF7, EXP2_4=PB12,
     EXP2_5=PE7, EXP2_6=PB11,      # Slot in the socket on this side
     EXP2_7=PE8, EXP2_8=<RST>,
-    EXP2_9=<GND>, EXP2_10=PC5
+    EXP2_9=<GND>, EXP2_10=<NC>
 
 # See the sample-lcd.cfg file for definitions of common LCD displays.
 
@@ -282,3 +282,7 @@ aliases:
 #[hall_filament_width_sensor]
 #adc1: PC5
 #adc2: PB0
+
+#[adxl345]
+#cs_pin: PB15
+#spi_bus: spi1

config/generic-bigtreetech-manta-m8p-v1.1.cfg

@@ -0,0 +1,295 @@
+# This file contains common pin mappings for the BIGTREETECH Manta M8P
+# To use this config, the firmware should be compiled for the
+# STM32G0B1 with a "8KiB bootloader" "8 MHz crystal"
+# and "USB (on PA11/PA12)" or "CAN bus (on PD12/PD13)".
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PE2
+dir_pin: PB4
+enable_pin: !PC11
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PF3
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF12
+dir_pin: PF11
+enable_pin: !PB3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PF4
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[stepper_z]
+step_pin: PD7
+dir_pin: !PD6
+enable_pin: !PF10
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PF5
+position_endstop: 0
+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 accesory such as an MMU
+#[stepper_]
+#step_pin: PD3
+#dir_pin: PD2
+#enable_pin: !PD5
+#endstop_pin: PC0
+#...
+
+[extruder]
+step_pin: PC9
+dir_pin: PC8
+enable_pin: !PD1
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.4
+filament_diameter: 1.75
+heater_pin: PE3 # HE0
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA1 # T0
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+#[filament_switch_sensor material_0]
+#switch_pin: PC1
+
+# Motor6
+#[extruder1]
+#step_pin: PA10
+#dir_pin: PA14
+#enable_pin: !PA15
+#heater_pin: PB5 # HE1
+#sensor_pin: PA2 # T1
+#...
+
+#[filament_switch_sensor material_1]
+#switch_pin: PC2
+
+# Motor7
+#[extruder2]
+#step_pin: PD11
+#dir_pin: PD9
+#enable_pin: !PD15
+#heater_pin: PB6 # HE2
+#sensor_pin: PA3 # T2
+#...
+
+# Motor8
+#[extruder3]
+#step_pin: PD8
+#dir_pin: PC6
+#enable_pin: !PC7
+#heater_pin: PE1 # HE3
+#sensor_pin: PA4 # T3
+#...
+
+[heater_bed]
+heater_pin: PB7
+sensor_type: Generic 3950
+sensor_pin: PA0 # TB
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PE6
+
+#[heater_fan fan1]
+#pin: PE0
+
+#[heater_fan fan2]
+#pin: PC12
+
+#[heater_fan fan3]
+#pin: PE5
+
+#[heater_fan fan4]
+#pin: PE4
+
+#[heater_fan fan5]
+#pin: PB8
+#tachometer_pin: PC14
+
+#[heater_fan fan6]
+#pin: PB9
+#tachometer_pin: PC15
+
+#[heater_fan SoC_fan]
+#pin: CB1:gpio79
+#pin: RPI:gpio26
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PC10
+##diag_pin: PF3
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_y]
+#uart_pin: PF13
+##diag_pin: PF4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_z]
+#uart_pin: PF9
+##diag_pin: PF5
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_]
+#uart_pin: PD4
+##diag_pin: PC0
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder]
+#uart_pin: PD0
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder1]
+#uart_pin: PF8
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder2]
+#uart_pin: PD14
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder3]
+#uart_pin: PD10
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+########################################
+# TMC2130 configuration
+########################################
+
+#[tmc2130 stepper_x]
+#cs_pin: PC10
+#spi_bus: spi1
+##diag1_pin: PF3
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_y]
+#cs_pin: PF13
+#spi_bus: spi1
+##diag1_pin: PF4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_z]
+#cs_pin: PF9
+#spi_bus: spi1
+##diag1_pin: PF5
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_]
+#cs_pin: PD4
+#spi_bus: spi1
+##diag1_pin: PC0
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder]
+#cs_pin: PD0
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder1]
+#cs_pin: PF8
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder2]
+#cs_pin: PD14
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder3]
+#cs_pin: PD10
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PE9, EXP1_2=PE10,
+    EXP1_3=PE11, EXP1_4=PE12,
+    EXP1_5=PE13, EXP1_6=PE14,    # Slot in the socket on this side
+    EXP1_7=PE15, EXP1_8=PB10,
+    EXP1_9=<GND>, EXP1_10=<5V>,
+
+    # EXP2 header
+    EXP2_1=PB14, EXP2_2=PB13,
+    EXP2_3=PF7, EXP2_4=PB12,
+    EXP2_5=PE7, EXP2_6=PB11,      # Slot in the socket on this side
+    EXP2_7=PE8, EXP2_8=<RST>,
+    EXP2_9=<GND>, EXP2_10=<NC>
+
+# See the sample-lcd.cfg file for definitions of common LCD displays.
+
+#[bltouch]
+#sensor_pin: PB2
+#control_pin: PB1
+
+# Proximity switch
+#[probe]
+#pin: PF6
+
+#[output_pin ps_on_pin]
+#pin: PC3
+
+#[output_pin pc13_pin]
+#pin: PC13
+
+#[neopixel my_neopixel_1]
+#pin: PA9
+
+#[neopixel my_neopixel_2]
+#pin: PB15
+
+#[hall_filament_width_sensor]
+#adc1: PC5
+#adc2: PB0
+
+#[adxl345]
+#cs_pin: PC4
+#spi_bus: spi1

config/generic-bigtreetech-octopus-max-ez.cfg

@@ -0,0 +1,332 @@
+# This file contains common pin mappings for the BIGTREETECH Octopus Max EZ.
+# To use this config, the firmware should be compiled for the
+# STM32H723 with a "128KiB bootloader" "25 MHz crystal"
+# and "USB (on PA11/PA12)" or "CAN bus (on PD0/PD1)".
+
+# See docs/Config_Reference.md for a description of parameters.
+
+# Motor-1
+[stepper_x]
+step_pin: PC13
+dir_pin: PC14
+enable_pin: !PE6
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PF0
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+# Motor-2
+[stepper_y]
+step_pin: PE4
+dir_pin: PE5
+enable_pin: !PE3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PF2
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+# Motor-3
+[stepper_z]
+step_pin: PE1
+dir_pin: PE0
+enable_pin: !PE2
+microsteps: 16
+rotation_distance: 8
+endstop_pin: PF4
+position_endstop: 0.5
+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 accesory such as an MMU
+#[stepper_]
+#step_pin: PB8
+#dir_pin: PB9
+#enable_pin: PB7
+#endstop_pin: PF3
+#...
+
+# Motor-5
+[extruder]
+step_pin: PB5
+dir_pin: PB4
+enable_pin: !PB6
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PF6 # HE0
+sensor_pin:  PB0 # T0
+sensor_type: EPCOS 100K B57560G104F
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+#[filament_switch_sensor material_0]
+#switch_pin: PF1
+
+# Motor-6
+#[extruder1]
+#step_pin: PG15
+#dir_pin: PB3
+#enable_pin: !PD5
+#heater_pin: PA0 # HE1
+#sensor_pin: PC5 # T1
+#...
+
+#[filament_switch_sensor material_1]
+#switch_pin: PC15
+
+# Motor-7
+#[extruder2]
+#step_pin: PD3
+#dir_pin: PD2
+#enable_pin: !PD4
+#heater_pin: PF9 # HE2
+#sensor_pin: PC4 # T2
+#...
+
+# Motor-8
+#[extruder3]
+#step_pin: PA10
+#dir_pin: PA9
+#enable_pin: !PA15
+#heater_pin: PF7 # HE3
+#sensor_pin: PA7 # T3
+#...
+
+# Motor-9
+#[extruder4]
+#step_pin: PA8
+#dir_pin: PC7
+#enable_pin: !PC9
+#...
+
+# Motor-10
+#[extruder5]
+#step_pin: PG6
+#dir_pin: PC6
+#enable_pin: !PC8
+#...
+
+[heater_bed]
+heater_pin: PF5
+sensor_pin: PB1 # TB
+sensor_type: ATC Semitec 104GT-2
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA6
+
+#[heater_fan fan1]
+#pin: PA5
+
+#[heater_fan fan2]
+#pin: PA4
+
+#[heater_fan fan3]
+#pin: PA3
+
+#[heater_fan fan4]
+#pin: PA1
+#tachometer_pin: PC3
+
+#[heater_fan fan5]
+#pin: PF8
+#tachometer_pin: PC1
+
+#[heater_fan fan6]
+#pin: PA2
+#tachometer_pin: PC2
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PG14
+##diag_pin: PF0
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_y]
+#uart_pin: PG13
+##diag_pin: PF2
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_z]
+#uart_pin: PG12
+##diag_pin: PF4
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_]
+#uart_pin: PG11
+##diag_pin: PF3
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder]
+#uart_pin: PG10
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder1]
+#uart_pin: PG9
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder2]
+#uart_pin: PD7
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder3]
+#uart_pin: PD6
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder4]
+#uart_pin: PG8
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder5]
+#uart_pin: PG7
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+########################################
+# TMC2130 configuration
+########################################
+
+#[tmc2130 stepper_x]
+#cs_pin: PG14
+#spi_bus: spi4
+##diag1_pin: PF0
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_y]
+#cs_pin: PG13
+#spi_bus: spi4
+##diag1_pin: PF2
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_z]
+#cs_pin: PG12
+#spi_bus: spi4
+##diag1_pin: PF4
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_]
+#cs_pin: PG11
+#spi_bus: spi4
+##diag1_pin: PF3
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder]
+#cs_pin: PG10
+#spi_bus: spi4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder1]
+#cs_pin: PG9
+#spi_bus: spi4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder2]
+#cs_pin: PD7
+#spi_bus: spi4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder3]
+#cs_pin: PD6
+#spi_bus: spi4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder4]
+#cs_pin: PG8
+#spi_bus: spi4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder5]
+#cs_pin: PG7
+#spi_bus: spi4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+[board_pins]
+aliases:
+    # FPC header, Aliases EXP1 & EXP2 for mini12864
+    EXP1_1=PG2, EXP1_2=PD15,
+    EXP1_3=PD14, EXP1_4=PD13,
+    EXP1_5=PD12, EXP1_6=PD11,
+    EXP1_7=PD10, EXP1_8=PE15,
+    EXP1_9=<GND>, EXP1_10=<5V>,
+
+    # EXP2 header
+    EXP2_1=PE13, EXP2_2=PE12,
+    EXP2_3=PG5, EXP2_4=PE11,
+    EXP2_5=PG4, EXP2_6=PE14,
+    EXP2_7=PG3, EXP2_8=<RST>,
+    EXP2_9=<GND>, EXP2_10=<NC>
+
+# See the sample-lcd.cfg file for definitions of common LCD displays.
+
+#[bltouch]
+#sensor_pin: ^PB15
+#control_pin: PB14
+
+# Proximity switch
+#[probe]
+#pin: PF11
+
+#[output_pin ps_on_pin]
+#pin: PF13
+
+#[output_pin pf12_pin]
+#pin: PF12
+
+#[neopixel my_neopixel_1]
+#pin: PE10
+
+#[neopixel my_neopixel_2]
+#pin: PE9
+
+#[hall_filament_width_sensor]
+#adc1: PC0
+#adc2: PF10
+
+#[adxl345]
+#cs_pin: PF14
+#spi_bus: spi4

config/generic-bigtreetech-octopus-pro-v1.0.cfg

@@ -0,0 +1,289 @@
+# This file contains common pin mappings for the BigTreeTech Octopus
+# Pro v1.0 board.
+
+# Important! Do not use this config with an Octopus Pro v1.1 board as
+# doing so could result in a heater being inadvertently enabled.
+
+# To use this config, start by identifying the micro-controller on the
+# board - it may be an STM32F446, STM32F429, or an STM32H723.  Select
+# the appropriate micro-controller in "make menuconfig" and select
+# "Enable low-level configuration options". For STM32F446 boards the
+# firmware should be compiled with a "32KiB bootloader" and a "12MHz
+# crystal" clock reference. For STM32F429 boards use a "32KiB
+# bootloader" and an "8MHz crystal". For STM32H723 boards use a
+# "128KiB bootloader" and a "25Mhz crystal".
+
+# See docs/Config_Reference.md for a description of parameters.
+
+# Driver0
+[stepper_x]
+step_pin: PF13
+dir_pin: PF12
+enable_pin: !PF14
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PG6
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+# Driver1
+[stepper_y]
+step_pin: PG0
+dir_pin: PG1
+enable_pin: !PF15
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PG9
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+# Driver2
+[stepper_z]
+step_pin: PF11
+dir_pin: PG3
+enable_pin: !PG5
+microsteps: 16
+rotation_distance: 8
+endstop_pin: PG10
+position_endstop: 0.5
+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 accesory such as an MMU
+#[stepper_]
+#step_pin: PG4
+#dir_pin: PC1
+#enable_pin: !PA0
+#endstop_pin: PG11
+#...
+
+# Driver4
+[extruder]
+step_pin: PF9
+dir_pin: PF10
+enable_pin: !PG2
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA2 # HE0
+sensor_pin:  PF4 # T0
+sensor_type: EPCOS 100K B57560G104F
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+#[filament_switch_sensor material_0]
+#switch_pin: PG12
+
+# Driver5
+#[extruder1]
+#step_pin: PC13
+#dir_pin: PF0
+#enable_pin: !PF1
+#heater_pin: PA3 # HE1
+#sensor_pin: PF5 # T1
+#...
+
+#[filament_switch_sensor material_1]
+#switch_pin: PG13
+
+# Driver6
+#[extruder2]
+#step_pin: PE2
+#dir_pin: PE3
+#enable_pin: !PD4
+#heater_pin: PB10 # HE2
+#sensor_pin: PF6 # T2
+#...
+
+#[filament_switch_sensor material_2]
+#switch_pin: PG14
+
+# Driver7
+#[extruder3]
+#step_pin: PE6
+#dir_pin: PA14
+#enable_pin: !PE0
+#heater_pin: PB11 # HE3
+#sensor_pin: PF7 # T3
+#...
+
+#[filament_switch_sensor material_3]
+#switch_pin: PG15
+
+[heater_bed]
+heater_pin: PA1
+sensor_pin: PF3 # TB
+sensor_type: ATC Semitec 104GT-2
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA8
+
+#[heater_fan fan1]
+#pin: PE5
+
+#[heater_fan fan2]
+#pin: PD12
+
+#[heater_fan fan3]
+#pin: PD13
+
+#[heater_fan fan4]
+#pin: PD14
+
+#[controller_fan fan5]
+#pin: PD15
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+# CAN bus is also available on this board
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PC4
+##diag_pin: PG6
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_y]
+#uart_pin: PD11
+##diag_pin: PG9
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_z]
+#uart_pin: PC6
+##diag_pin: PG10
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_]
+#uart_pin: PC7
+##diag_pin: PG11
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder]
+#uart_pin: PF2
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder1]
+#uart_pin: PE4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder2]
+#uart_pin: PE1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder3]
+#uart_pin: PD3
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+########################################
+# TMC2130 configuration
+########################################
+
+#[tmc2130 stepper_x]
+#cs_pin: PC4
+#spi_bus: spi1
+##diag1_pin: PG6
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_y]
+#cs_pin: PD11
+#spi_bus: spi1
+##diag1_pin: PG9
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_z]
+#cs_pin: PC6
+#spi_bus: spi1
+##diag1_pin: PG10
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_]
+#cs_pin: PC7
+#spi_bus: spi1
+##diag1_pin: PG11
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder]
+#cs_pin: PF2
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder1]
+#cs_pin: PE4
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder2]
+#cs_pin: PE1
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder3]
+#cs_pin: PD3
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PE8, EXP1_2=PE7,
+    EXP1_3=PE9, EXP1_4=PE10,
+    EXP1_5=PE12, EXP1_6=PE13,    # Slot in the socket on this side
+    EXP1_7=PE14, EXP1_8=PE15,
+    EXP1_9=<GND>, EXP1_10=<5V>,
+
+    # EXP2 header
+    EXP2_1=PA6, EXP2_2=PA5,
+    EXP2_3=PB1, EXP2_4=PA4,
+    EXP2_5=PB2, EXP2_6=PA7,      # Slot in the socket on this side
+    EXP2_7=PC15, EXP2_8=<RST>,
+    EXP2_9=<GND>, EXP2_10=PC5
+
+# See the sample-lcd.cfg file for definitions of common LCD displays.
+
+# A [probe] section can be defined instead with a pin: setting identical
+# to the sensor_pin: for a bltouch
+#[bltouch]
+#sensor_pin: PB7
+#control_pin: PB6
+#z_offset: 0
+
+#[neopixel my_neopixel]
+#pin: PB0

config/generic-bigtreetech-octopus-pro-v1.1.cfg

@@ -1,6 +1,13 @@
-# This file contains common pin mappings for the BigTreeTech Octopus.
-# To use this config, the firmware should be compiled for the
-# STM32F446 with a "32KiB bootloader" and a "12MHz crystal" clock reference.
+# This file contains common pin mappings for the BigTreeTech Octopus
+# Pro v1.1 board.
+
+# Important! Do not use this config with an Octopus Pro v1.0 board nor
+# non-Pro board.
+
+# To use this config, during "make menuconfig", select "Enable
+# low-level configuration options", select the STM32H723
+# micro-controller, select a "128KiB bootloader", and select a "25Mhz
+# crystal".
 
 # See docs/Config_Reference.md for a description of parameters.
 
@@ -46,7 +53,7 @@ position_max: 200
 #[stepper_]
 #step_pin: PG4
 #dir_pin: PC1
-#enable_pin: PA0
+#enable_pin: !PA2
 #endstop_pin: PG11
 #...
 
@@ -59,7 +66,7 @@ microsteps: 16
 rotation_distance: 33.500
 nozzle_diameter: 0.400
 filament_diameter: 1.750
-heater_pin: PA2 # HE0
+heater_pin: PA0 # HE0
 sensor_pin:  PF4 # T0
 sensor_type: EPCOS 100K B57560G104F
 control: pid
@@ -89,7 +96,7 @@ max_temp: 250
 #step_pin: PE2
 #dir_pin: PE3
 #enable_pin: !PD4
-#heater_pin: PB10 # HE2
+#heater_pin: PB0 # HE2
 #sensor_pin: PF6 # T2
 #...
 
@@ -275,4 +282,4 @@ aliases:
 #z_offset: 0
 
 #[neopixel my_neopixel]
-#pin: PB0
+#pin: PB10

config/generic-bigtreetech-octopus-v1.1.cfg

@@ -0,0 +1,288 @@
+# This file contains common pin mappings for the BigTreeTech Octopus
+# (non-Pro) boards.
+
+# Important! Do not use this config with an Octopus Pro v1.1 board as
+# doing so could result in a heater being inadvertently enabled.
+
+# To use this config, start by identifying the micro-controller on the
+# board - it may be an STM32F446, or STM32F429.  Select the
+# appropriate micro-controller in "make menuconfig" and select "Enable
+# low-level configuration options". For STM32F446 boards the firmware
+# should be compiled with a "32KiB bootloader" and a "12MHz crystal"
+# clock reference. For STM32F429 boards use a "32KiB bootloader" and
+# an "8MHz crystal".
+
+# See docs/Config_Reference.md for a description of parameters.
+
+# Driver0
+[stepper_x]
+step_pin: PF13
+dir_pin: PF12
+enable_pin: !PF14
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PG6
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+# Driver1
+[stepper_y]
+step_pin: PG0
+dir_pin: PG1
+enable_pin: !PF15
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PG9
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+# Driver2
+[stepper_z]
+step_pin: PF11
+dir_pin: PG3
+enable_pin: !PG5
+microsteps: 16
+rotation_distance: 8
+endstop_pin: PG10
+position_endstop: 0.5
+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 accesory such as an MMU
+#[stepper_]
+#step_pin: PG4
+#dir_pin: PC1
+#enable_pin: !PA0
+#endstop_pin: PG11
+#...
+
+# Driver4
+[extruder]
+step_pin: PF9
+dir_pin: PF10
+enable_pin: !PG2
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA2 # HE0
+sensor_pin:  PF4 # T0
+sensor_type: EPCOS 100K B57560G104F
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+#[filament_switch_sensor material_0]
+#switch_pin: PG12
+
+# Driver5
+#[extruder1]
+#step_pin: PC13
+#dir_pin: PF0
+#enable_pin: !PF1
+#heater_pin: PA3 # HE1
+#sensor_pin: PF5 # T1
+#...
+
+#[filament_switch_sensor material_1]
+#switch_pin: PG13
+
+# Driver6
+#[extruder2]
+#step_pin: PE2
+#dir_pin: PE3
+#enable_pin: !PD4
+#heater_pin: PB10 # HE2
+#sensor_pin: PF6 # T2
+#...
+
+#[filament_switch_sensor material_2]
+#switch_pin: PG14
+
+# Driver7
+#[extruder3]
+#step_pin: PE6
+#dir_pin: PA14
+#enable_pin: !PE0
+#heater_pin: PB11 # HE3
+#sensor_pin: PF7 # T3
+#...
+
+#[filament_switch_sensor material_3]
+#switch_pin: PG15
+
+[heater_bed]
+heater_pin: PA1
+sensor_pin: PF3 # TB
+sensor_type: ATC Semitec 104GT-2
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA8
+
+#[heater_fan fan1]
+#pin: PE5
+
+#[heater_fan fan2]
+#pin: PD12
+
+#[heater_fan fan3]
+#pin: PD13
+
+#[heater_fan fan4]
+#pin: PD14
+
+#[controller_fan fan5]
+#pin: PD15
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+# CAN bus is also available on this board
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PC4
+##diag_pin: PG6
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_y]
+#uart_pin: PD11
+##diag_pin: PG9
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_z]
+#uart_pin: PC6
+##diag_pin: PG10
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_]
+#uart_pin: PC7
+##diag_pin: PG11
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder]
+#uart_pin: PF2
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder1]
+#uart_pin: PE4
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder2]
+#uart_pin: PE1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder3]
+#uart_pin: PD3
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+########################################
+# TMC2130 configuration
+########################################
+
+#[tmc2130 stepper_x]
+#cs_pin: PC4
+#spi_bus: spi1
+##diag1_pin: PG6
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_y]
+#cs_pin: PD11
+#spi_bus: spi1
+##diag1_pin: PG9
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_z]
+#cs_pin: PC6
+#spi_bus: spi1
+##diag1_pin: PG10
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_]
+#cs_pin: PC7
+#spi_bus: spi1
+##diag1_pin: PG11
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder]
+#cs_pin: PF2
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder1]
+#cs_pin: PE4
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder2]
+#cs_pin: PE1
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder3]
+#cs_pin: PD3
+#spi_bus: spi1
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PE8, EXP1_2=PE7,
+    EXP1_3=PE9, EXP1_4=PE10,
+    EXP1_5=PE12, EXP1_6=PE13,    # Slot in the socket on this side
+    EXP1_7=PE14, EXP1_8=PE15,
+    EXP1_9=<GND>, EXP1_10=<5V>,
+
+    # EXP2 header
+    EXP2_1=PA6, EXP2_2=PA5,
+    EXP2_3=PB1, EXP2_4=PA4,
+    EXP2_5=PB2, EXP2_6=PA7,      # Slot in the socket on this side
+    EXP2_7=PC15, EXP2_8=<RST>,
+    EXP2_9=<GND>, EXP2_10=PC5
+
+# See the sample-lcd.cfg file for definitions of common LCD displays.
+
+# A [probe] section can be defined instead with a pin: setting identical
+# to the sensor_pin: for a bltouch
+#[bltouch]
+#sensor_pin: PB7
+#control_pin: PB6
+#z_offset: 0
+
+#[neopixel my_neopixel]
+#pin: PB0

config/generic-bigtreetech-skr-3.cfg

@@ -1,6 +1,8 @@
 # This file contains common pin mappings for the BigTreeTech SKR 3.
+# This board can ship with one of two chips, STM32H743 or STM32H723.
 # To use this config, during "make menuconfig" enable "low-level
-# options", "STM32H743", "128KiB bootloader", and "25MHz clock".
+# options", "STM32H743" or "STM32H723", "128KiB bootloader",
+# and "25MHz clock".
 
 # See docs/Config_Reference.md for a description of parameters.
 

config/generic-bigtreetech-skr-pico-v1.0.cfg

@@ -106,6 +106,9 @@ pin: gpio18
 [heater_fan controller_fan]
 pin: gpio20
 
+[temperature_sensor pico]
+sensor_type: temperature_mcu
+
 [mcu]
 serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
 

config/generic-duet3-6hc.cfg

@@ -0,0 +1,152 @@
+# This file contains common pin mappings for the Duet3 6HC. To use
+# this config, the firmware should be compiled for the SAME70Q20B.
+
+# To flash the board, erase the existing firmware by jumpering the erase jumper.
+# Boot the board, wait for reset to complete, remove the jumper, and then reboot the board,
+# as described in Duet's documentation:
+#    https://docs.duet3d.com/en/User_manual/RepRapFirmware/Updating_firmware#all-other-duet-boards
+# Then run: make flash FLASH_DEVICE=/dev/ttyACM0
+
+# See docs/Config_Reference.md for a description of parameters.
+
+
+# Pins for reference, v1.02 board:
+# Driver Step Pins - 0:PC18 1:PC16 2:PC28 3:PC1  4:PC4 5:PC9
+# Driver Dir Pins  - 0:PB5  1:PD10 2:PA4  3:PA22 4:PC3 5:PD14
+# Driver Enable - !PA9
+# Driver CS - PD17
+# Thermistor Pins - TEMP0:PC15 TEMP1:PC29 TEMP2:PC30 TEMP3:PC31
+# Pullup Resistor - 2200
+# Vssa Sense:PC13 | Vref Sense:PC0
+# Current Sense resistor for drivers - 0.05ohm
+# SPI lines:{PC25} -> SPIMosi:PC27 SPIMiso:PC26 SPISCLK:PC24
+# Vin Monitor:PA20
+# CAN Pins - TX0:PB2 RX0:PB3 TX1:PD12 RX1:PC12
+# Heaters - Out0:PA7 Out1:PA24 Out2:PA16 Out3:PA11
+# Fan outputs - Out4:PA15 Out5:PC5 Out6:PA8 Out7:PC11 Out8:PC8 Out9:PA12 | Out9 is shared with VFD_Out
+# Tach Pins for Fans - Out4.Tach:PC7 Out5.Tach:PD23 Out6.Tach:PA1
+# GPIO_out - IO0:PD26 IO1:PD16 IO2:PD27 IO3:PA3 IO4:PE0  IO5:PD21 IO6:PA0  IO7:PD23 IO8:PE1
+# GPIO_in -  IO0:PD25 IO1:PD15 IO2:PD28 IO3:PE5 IO4:PD30 IO5:PA19 IO6:PA18 IO7:PA17 IO8:PE3
+# Driver Diag - 0:PD29 1:PC17 2:PD13 3:PC2 4:PD31 5:PC10
+
+[stepper_x]
+#driver 0
+step_pin: PC18
+dir_pin: PB5
+enable_pin: !PA9
+microsteps: 128
+rotation_distance: 40
+endstop_pin: PD25 #IO0
+position_endstop: 0
+position_max: 450
+
+[tmc5160 stepper_x]
+cs_pin: PD17
+spi_bus: usart1
+chain_position: 1
+chain_length: 6
+interpolate: False
+run_current: 1
+sense_resistor: 0.05
+
+[stepper_y]
+#driver 1
+step_pin: PC16
+dir_pin: PD10
+enable_pin: !PA9
+microsteps: 128
+rotation_distance: 40
+endstop_pin: PD15 #IO1
+position_endstop: 0
+position_max: 450
+
+[tmc5160 stepper_y]
+cs_pin: PD17
+chain_position: 2
+chain_length: 6
+interpolate: False
+run_current: 1.0
+sense_resistor: 0.05
+
+[stepper_z]
+#driver2
+step_pin: PC28
+dir_pin: PA4
+enable_pin: !PA9
+microsteps: 64
+rotation_distance: 8
+endstop_pin: PD28 #IO2
+position_endstop: 0
+position_min: 0
+position_max: 400
+
+[tmc5160 stepper_z]
+cs_pin: PD17
+chain_position: 3
+chain_length: 6
+interpolate: False
+run_current: 1.0
+sense_resistor: 0.05
+
+[adc_scaled vref_scaled]
+vref_pin: PC0
+vssa_pin: PC13
+
+[extruder]
+#driver3
+step_pin: PC1
+dir_pin: PA22
+enable_pin: !PA9
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA24 #Out1
+sensor_type: ATC Semitec 104GT-2
+pullup_resistor: 2200
+sensor_pin: vref_scaled:PC29 #Temp1
+control: pid
+pid_Kp: 30.089
+pid_Ki: 2.229
+pid_Kd: 101.550
+min_temp: 0
+max_temp: 285
+
+[tmc5160 extruder]
+cs_pin: PD17
+chain_position: 4
+chain_length: 6
+interpolate: False
+run_current: .6
+sense_resistor: 0.05
+
+[heater_fan heatbreak_fan]
+pin: PC8 #Out8
+heater: extruder
+heater_temp: 50.0
+
+[heater_bed]
+heater_pin: PA7 #Out0
+sensor_type: Generic 3950
+sensor_pin: vref_scaled:PC15 #Temp0
+control: pid
+pullup_resistor: 2200
+pid_Kp: 61.049
+pid_Ki: 2.339
+pid_Kd: 398.344
+min_temp: 0
+max_temp: 130
+
+[heater_fan heatbreak_fan]
+pin: PA15 #Out4
+
+[fan]
+pin: PC5 #Out5
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 350
+max_accel: 3000

config/generic-duet3-6xd.cfg

@@ -0,0 +1,108 @@
+# This file contains common pin mappings for the Duet3 6XD. To use
+# this config, the firmware should be compiled for the SAME70Q20B.
+
+# To flash the board, erase the existing firmware by jumpering the erase jumper.
+# Boot the board, wait for reset to complete, remove the jumper, and then reboot the board,
+# as described in Duet's documentation:
+#    https://docs.duet3d.com/en/User_manual/RepRapFirmware/Updating_firmware#all-other-duet-boards
+# Then run: make flash FLASH_DEVICE=/dev/ttyACM0
+
+# See docs/Config_Reference.md for a description of parameters.
+
+
+# Pins for reference, v1.0 board:
+# Driver Step Pins - 0:PC18 1:PC16 2:PC28 3:PC1  4:PC4  5:PC9
+# Driver Dir Pins  - 0:PB5  1:PD10 2:PA4  3:PA22 4:PC3  5:PD14
+# Driver En  Pins  - 0:PB4  1:PA21 2:PC20 3:PA23 4:PA2  5:PD17
+# Driver Err Pins  - 0:PD29 1:PC17 2:PD13 3:PC2  4:PD31 5:PC10
+# Thermistor Pins - TEMP0:PC15 TEMP1:PC29 TEMP2:PC0 TEMP3:PC31
+# Pullup Resistor - 2200
+# Vssa Sense:PC13 | Vref Sense:PC30
+# SPI0:{PD19, PA5, PA6, PD20, PC22} -> SPIMosi:PB1 SPIMiso:PB0 SPISCLK:PB13
+# SPI1:{PC25} -> SPIMosi:PC27 SPIMiso:PC26 SPISCLK:PC24 DATA_RDY:PE2
+# Vin Monitor:PA20
+# LED's - Diag:PB6, Act:PB7
+# CAN Pins - TX0:PB2 RX0:PB3 TX1:PD12 RX1:PC12
+# Heaters - Out0:PA24 Out1:PA16 Out2:PA11
+# Fan outputs - Out3:PA15 Out4:PC5 Out5:PA8 Out6:PC11 Out7:PC8 Out8:PA12
+# Tach Pins for Fans - Out3.Tach:PC7 Out4.Tach:PD23 Out5.Tach:PA1
+# VFD - PA7
+# GPIO_out - IO0:PD26 IO1:PD16 IO2:PD27 IO3:PA3 IO4:PE0  IO5:PD21 IO6:PA0  IO7:PD23 IO8:PE1
+# GPIO_in -  IO0:PD25 IO1:PD15 IO2:PD28 IO3:PE5 IO4:PD30 IO5:PA19 IO6:PA18 IO7:PA17 IO8:PE3
+
+[stepper_x]
+#driver 0
+step_pin: PC18
+dir_pin: PB5
+enable_pin: PB4
+microsteps: 128
+rotation_distance: 40
+endstop_pin: PD25 #IO0
+position_endstop: 0
+position_max: 450
+
+[stepper_y]
+#driver 1
+step_pin: PC16
+dir_pin: PD10
+enable_pin: PA21
+microsteps: 128
+rotation_distance: 40
+endstop_pin: PD15 #IO1
+position_endstop: 0
+position_max: 450
+
+[stepper_z]
+#driver2
+step_pin: PC28
+dir_pin: PA4
+enable_pin: PC20
+microsteps: 64
+rotation_distance: 8
+endstop_pin: PD28 #IO2
+position_endstop: 0
+position_min: 0
+position_max: 400
+
+[adc_scaled vref_scaled]
+vref_pin: PC30
+vssa_pin: PC13
+
+[extruder]
+#driver3
+step_pin: PC1
+dir_pin: PA22
+enable_pin: PA23
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA24 #Out0
+sensor_type: ATC Semitec 104GT-2
+pullup_resistor: 2200
+sensor_pin: vref_scaled:PC29 #Temp1
+control: pid
+pid_Kp: 30.089
+pid_Ki: 2.229
+pid_Kd: 101.550
+min_temp: 0
+max_temp: 285
+
+[heater_fan heatbreak_fan]
+pin: PC8 #Out7
+heater: extruder
+heater_temp: 50.0
+
+[heater_fan heatbreak_fan]
+pin: PA15 #Out3
+
+[fan]
+pin: PC5 #Out4
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 350
+max_accel: 3000

config/generic-fysetc-cheetah-v2.0.cfg

@@ -0,0 +1,138 @@
+# This file contains common pin mappings for the Fysetc Cheetah V2.0
+# To use this config, the firmware should be compiled for the
+# STM32F401 with a "32KiB bootloader".
+
+# Rename "klipper.bin" to "firmware.bin", copy to Sdcard and insert in motherboard
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC0
+dir_pin: PC1
+enable_pin: !PA8
+rotation_distance: 40
+microsteps: 64
+endstop_pin: ^PB4
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[tmc2209 stepper_x]
+uart_pin: PA3
+tx_pin: PA2
+uart_address: 0
+run_current: 0.800
+interpolate: false
+stealthchop_threshold: 0
+
+[stepper_y]
+step_pin: PC14
+dir_pin: !PC13
+enable_pin: !PC15
+rotation_distance: 40
+microsteps: 64
+endstop_pin: ^PC8
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[tmc2209 stepper_y]
+uart_pin: PA3
+tx_pin: PA2
+uart_address: 2
+run_current: 0.800
+interpolate: false
+stealthchop_threshold: 0
+
+[stepper_z]
+step_pin: PB9
+dir_pin: PB8
+enable_pin: !PC2
+rotation_distance: 8
+microsteps: 64
+endstop_pin: ^PB1
+position_endstop: 0
+position_max: 200
+
+[tmc2209 stepper_z]
+uart_pin: PA3
+tx_pin: PA2
+uart_address: 1
+run_current: 0.800
+interpolate: false
+stealthchop_threshold: 0
+
+[extruder]
+step_pin: PB2
+dir_pin: !PA15
+enable_pin: !PD2
+rotation_distance: 33.500
+microsteps: 16
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC6
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC4
+control: pid
+pid_kp: 21.527
+pid_ki: 1.063
+pid_kd: 108.982
+min_temp: 0
+max_temp: 250
+
+[tmc2209 extruder]
+uart_pin: PA3
+tx_pin: PA2
+uart_address: 3
+run_current: 0.800
+interpolate: false
+stealthchop_threshold: 0
+
+[heater_bed]
+heater_pin: PC7
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC5
+control: pid
+pid_kp: 54.027
+pid_ki: 0.770
+pid_kd: 948.182
+min_temp: 0
+max_temp: 120
+
+[fan]
+pin: PA1
+
+[heater_fan my_hotend_fan]
+pin: PA13
+heater: extruder
+heater_temp: 50.0
+
+[controller_fan my_controller_fan]
+pin: PA14
+heater: extruder, heater_bed
+stepper: stepper_x, stepper_y, stepper_z, extruder
+
+[printer]
+kinematics: cartesian
+max_velocity: 500
+max_accel: 5000
+max_z_velocity: 5
+max_z_accel: 1000
+
+[mcu]
+serial: INSERTSERIALIDHERE
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=<5V>,  EXP1_3=<RST>, EXP1_5=PA7,  EXP1_7=PA4,  EXP1_9=PA5,
+    EXP1_2=<GND>, EXP1_4=PC3,   EXP1_6=PC11, EXP1_8=PC10, EXP1_10=PA6,
+
+    # EXP2 header
+    EXP2_1=<5V>,  EXP2_3=PB7, EXP2_5=PB14, EXP2_7=PB12, EXP2_9=PC12,
+    EXP2_2=<GND>, EXP2_4=PB6, EXP2_6=PB13, EXP2_8=PB15, EXP2_10=PC9,
+
+    # EXP3 header
+    EXP3_1=PC9,  EXP3_3=PC10, EXP3_5=PC11, EXP3_7=PB12, EXP3_9=<GND>,
+    EXP3_2=PC12, EXP3_4=PB14, EXP3_6=PB13, EXP3_8=PB15, EXP3_10=<5V>
+    # Pins EXP1_4, EXP1_8, EXP1_6 are also MISO, MOSI, SCK of bus "spi2"

config/generic-fysetc-f6.cfg

@@ -78,7 +78,7 @@ max_temp: 130
 pin: PL5
 
 #fan for hotend FAN1
-#[heater_fan my_nozzle_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PL4
 #shutdown_speed: 1
 

config/generic-fysetc-s6-v2.cfg

@@ -80,7 +80,7 @@ max_temp: 130
 pin: PB0
 
 #fan for hotend FAN1
-#[heater_fan my_nozzle_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PB1
 #shutdown_speed: 1
 

config/generic-fysetc-s6.cfg

@@ -80,7 +80,7 @@ max_temp: 130
 pin: PB0
 
 #fan for hotend FAN1
-#[heater_fan my_nozzle_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PB1
 #shutdown_speed: 1
 

config/generic-fysetc-spider.cfg

@@ -91,7 +91,7 @@ max_temp: 130
 pin: PB0
 
 #fan for hotend FAN1
-#[heater_fan my_nozzle_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PB1
 #shutdown_speed: 1
 

config/generic-mks-monster8.cfg

@@ -0,0 +1,268 @@
+# This file contains common pin mappings for MKS Monster8
+# boards. To use this config, the firmware should be compiled for the
+# stm32f407. When running "make menuconfig", select the 48KiB
+# bootloader, and enable "USB for communication".
+
+# The "make flash" command does not work on the MKS Monster8. Instead,
+# after running "make", copy the generated "out/klipper.bin" file to a
+# file named "mks_monster8.bin" on an SD card or Udisk and then restart the
+# MKS Monster8 with that SD card or Udisk.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC14
+dir_pin: PC13
+enable_pin: !PC15
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PA14  # PA13 for X-max; endstop have'!' is NO
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PE5
+dir_pin: !PE4
+enable_pin: !PC15
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PA15  # PC5 for Y-max; endstop have'!' is NO
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PE1
+dir_pin: PE0
+enable_pin: !PE2
+microsteps: 16
+rotation_distance: 8
+endstop_pin: !PB13  # PB12 for Z-max; endstop have'!' is NO
+position_endstop: 0
+position_max: 220
+
+[extruder]
+step_pin: PB5
+dir_pin: !PB4
+enable_pin: !PB6
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC1
+control: pid
+pid_Kp: 22
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 260
+
+#[extruder1]
+#step_pin: PD6
+#dir_pin: !PD5
+#enable_pin: !PD7
+#heater_pin: PB0
+#sensor_pin: PC2
+
+#[extruder2]
+#step_pin: PD2
+#dir_pin: !PD1
+#enable_pin: !PD3
+#heater_pin: PA3
+#sensor_pin: PC3
+
+#[extruder3]
+#step_pin: PC7
+#dir_pin: PC6
+#enable_pin: !PC8
+
+#[extruder4]
+#step_pin: PD13
+#dir_pin: !PD12
+#enable_pin: !PD14
+
+[heater_bed]
+heater_pin: PB10
+sensor_type: NTC 100K MGB18-104F39050L32
+sensor_pin: PC0
+max_power: 1.0
+control: pid
+pid_kp: 71.039
+pid_ki: 2.223
+pid_kd: 567.421
+min_temp: 0
+max_temp: 200
+
+#fan for printed model FAN0
+[fan]
+pin: PA2
+
+#fan for hotend FAN1
+#[heater_fan my_nozzle_fan]
+[heater_fan fan1]
+pin: PA1
+shutdown_speed: 1
+
+#fan for control board FAN2
+#[heater_fan my_control_fan]
+[heater_fan fan2]
+pin: PA0
+shutdown_speed: 1
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_stm32f407xx_4D0045001850314335393520-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 10000
+max_accel: 20000
+max_z_velocity: 100
+max_z_accel: 1000
+
+#####################################################################
+# LED Control
+#####################################################################
+
+#[output_pin caselight ](Use PA9)
+##  Chamber Lighting - In 5V-RGB Position
+#pin: PA9
+#pwm: true
+#shutdown_value: 0
+#value:100
+#cycle_time: 0.01
+
+########################################
+# TMC UART configuration
+########################################
+
+#[tmc2208 stepper_x]
+#uart_pin: PE6
+#run_current: 0.8
+#hold_current: 0.5
+#stealthchop_threshold: 999999
+
+#[tmc2208 stepper_y]
+#uart_pin: PE3
+#run_current: 0.8
+#hold_current: 0.5
+#stealthchop_threshold: 999999
+
+#[tmc2208 stepper_z]
+#uart_pin: PB7
+#run_current: 0.8
+#hold_current: 0.5
+#stealthchop_threshold: 999999
+
+#[tmc2208 extruder]
+#uart_pin: PB3
+#run_current: 0.8
+#hold_current: 0.5
+#sense_resistor: 0.110
+#stealthchop_threshold: 999999
+
+#[tmc2208 extruder1]
+#uart_pin: PD4
+#run_current: 0.8
+#hold_current: 0.5
+#stealthchop_threshold: 999999
+
+#[tmc2208 extruder2]
+#uart_pin: PD0
+#run_current: 0.8
+#hold_current: 0.5
+#stealthchop_threshold: 999999
+
+#[tmc2208 extruder3]
+#uart_pin: PD15
+#run_current: 0.8
+#hold_current: 0.5
+#stealthchop_threshold: 999999
+
+#[tmc2208 extruder4]
+#uart_pin: PD11
+#run_current: 0.8
+#hold_current: 0.5
+#stealthchop_threshold: 999999
+
+########################################
+# TMC SPI configuration
+########################################
+
+#[tmc2130 stepper_x]
+#spi_bus: spi4
+#cs_pin: PE6
+#diag1_pin: PA14
+#run_current: 0.800
+#hold_current: 0.500
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_y]
+#spi_bus: spi4
+#cs_pin: PE3
+#diag1_pin: PA15
+#run_current: 0.800
+#hold_current: 0.500
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_z]
+#spi_bus: spi4
+#cs_pin: PB7
+#diag1_pin: PB13
+#run_current: 0.800
+#hold_current: 0.500
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder]
+#spi_bus: spi4
+#cs_pin: PB3
+#diag1_pin: PA13
+#run_current: 0.800
+#hold_current: 0.500
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder1]
+#spi_bus: spi4
+#cs_pin: PD4
+#diag1_pin: PC5
+#run_current: 0.800
+#hold_current: 0.500
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder2]
+#spi_bus: spi4
+#cs_pin: PD0
+#diag1_pin: PB12
+#run_current: 0.800
+#hold_current: 0.500
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder3]
+#spi_bus: spi4
+#cs_pin: PD15
+#run_current: 0.800
+#hold_current: 0.500
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder4]
+#spi_bus: spi4
+#cs_pin: PD11
+#run_current: 0.800
+#hold_current: 0.500
+#stealthchop_threshold: 999999
+
+########################################
+# EXP1 / EXP2 (display) pins
+########################################
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PB2,  EXP1_3=PE11, EXP1_5=PD9, EXP1_7=PE15, EXP1_9=<GND>,
+    EXP1_2=PE10, EXP1_4=PD10, EXP1_6=PD8, EXP1_8=PE7,  EXP1_10=<5V>,
+    # EXP2 header
+    EXP2_1=PA6, EXP2_3=PE9, EXP2_5=PE8, EXP2_7=PB11,  EXP2_9=<GND>,
+    EXP2_2=PA5, EXP2_4=PA4, EXP2_6=PA7, EXP2_8=<RST>, EXP2_10=<3.3v>
+    # Pins EXP2_1, EXP2_6, EXP2_2 are also MISO, MOSI, SCK of bus "ssp1"

config/generic-remram.cfg

@@ -0,0 +1,117 @@
+# This file contains common pin mappings for remram boards. To use this
+# config, the firmware should be compiled for the ST stm32f765.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[stepper_x]
+step_pin: PA15
+dir_pin: PC10
+enable_pin: !PC12
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^!PB12  # X_MIN
+position_endstop: 0
+position_max: 200
+homing_speed: 10
+
+[tmc2130 stepper_x]
+cs_pin: PB1
+spi_bus: spi1
+run_current: 0.600
+stealthchop_threshold: 999999
+diag1_pin: ^!PC11
+
+[stepper_y]
+step_pin: PB3
+dir_pin: !PD6
+enable_pin: !PD4
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^!PB14  # Y_MIN
+position_endstop: 0
+position_max: 200
+homing_speed: 10
+
+[tmc2130 stepper_y]
+cs_pin: PB0
+spi_bus: spi1
+run_current: 0.600
+stealthchop_threshold: 999999
+diag1_pin: ^!PD5
+
+[stepper_z]
+step_pin: PB10
+dir_pin: PE13
+enable_pin: !PE15
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^!PD8  # Z_MIN
+position_endstop: 0.5
+position_max: 200
+homing_speed: 10
+
+[tmc2130 stepper_z]
+cs_pin: PC5
+spi_bus: spi1
+run_current: 0.600
+stealthchop_threshold: 999999
+diag1_pin: ^!PE14
+
+[extruder]
+step_pin: PB11
+dir_pin: PE10
+enable_pin: !PE11
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA3  # HEATER
+sensor_type: Generic 3950
+sensor_pin: PC1  # TEMP2
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[tmc2130 extruder]
+cs_pin: PC4
+spi_bus: spi1
+run_current: 0.600
+stealthchop_threshold: 999999
+diag1_pin: ^!PE12
+
+[heater_fan hotend_fan]
+pin: PA2  # FAN2
+
+[heater_bed]
+heater_pin: PA1  # BED OUT
+sensor_type: Generic 3950
+sensor_pin: PC0  # TEMP1
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]  # Print cooling fan.
+pin: PA0  # FAN1
+
+# [temperature_sensor temp3]
+# sensor_type: Generic 3950
+# sensor_pin: PC2  # TEMP3
+# min_temp: 0
+# max_temp: 300
+# gcode_id: temp3
+
+[static_digital_output yellow_led]
+pins: !PD0  # STATUS LED

config/generic-th3d-ezboard-v2.0.cfg

@@ -1,4 +1,4 @@
-# This file contains common pin mappings for the TH3D EZBoard Lite v2.
+# This file contains common pin mappings for the TH3D EZBoard v2.
 # To use this config, check "Enable extra low-level configuration options"
 # and compile the firmware for the STM32F405 with 12mhz Crystal,
 # 48KiB Bootloader, and USB communication.

config/printer-anycubic-kobra-go-2022.cfg

@@ -0,0 +1,133 @@
+# This file contains a configuration for the Anycubic Kobra Go printer.
+#
+# See docs/Config_Reference.md for a description of parameters.
+#
+# To build the firmware, use the following configuration:
+#   - Micro-controller: Huada Semiconductor HC32F460
+#   - Communication interface: Serial (PA3 & PA2) - Anycubic
+#
+# Installation:
+#  1. Rename the klipper bin to `firmware.bin` and copy it to an SD Card.
+#  2. Power off the Printer, insert the SD Card and power it on.
+#  3. The the LCD will be stuck on the Firmware-update screen.
+#     Just Wait for 3-5 minutes to ensure the firmware is flashed.
+#  4. After waiting, shutdown the printer and remove the SD Card.
+
+[stepper_x]
+step_pin: PA12
+dir_pin: PA11
+enable_pin: !PA15
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PH2
+position_endstop: -13
+position_min:-13
+position_max: 236
+homing_speed: 50
+
+[stepper_y]
+step_pin: PA9
+dir_pin: PA8
+enable_pin: !PA15
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^!PC13
+position_endstop: -9
+position_min:-9
+position_max: 230
+homing_speed: 50
+
+[stepper_z]
+step_pin: PC7
+dir_pin: !PC6
+enable_pin: !PA15
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PC14
+position_endstop: 0
+position_min: -10
+position_max: 255
+homing_speed: 5
+
+[extruder]
+step_pin: PB15
+dir_pin: PB14
+enable_pin: !PA15
+microsteps: 16
+rotation_distance: 31.07
+max_extrude_only_velocity: 25
+max_extrude_only_accel: 1000
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB8
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PC3
+min_extrude_temp: 170
+min_temp: 0
+max_temp: 250
+control: pid
+pid_kp: 19.56
+pid_ki: 1.62
+pid_kd: 200.00
+
+[heater_bed]
+heater_pin: PB9
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC1
+min_temp: 0
+max_temp: 120
+control: pid
+pid_kp: 97.1
+pid_ki: 1.41
+pid_kd: 1675.16
+
+[bed_mesh]
+speed: 200
+horizontal_move_z: 2.5
+mesh_min: 5, 5
+mesh_max: 215, 215
+probe_count: 5, 5
+
+[probe]
+pin: PA1
+x_offset: -20.8
+y_offset: 0
+z_offset: 0
+samples: 3
+samples_result: average
+samples_tolerance_retries: 3
+sample_retract_dist: 0.5
+speed: 2
+lift_speed: 4
+
+[safe_z_home]
+home_xy_position: 0, 0
+speed: 5
+z_hop: 10
+z_hop_speed: 15
+
+[controller_fan controller_fan]
+pin: PB12
+
+[heater_fan extruder_fan]
+pin: PB13
+
+[fan]
+pin: PB5
+cycle_time: 0.00005 #20kHz
+
+[output_pin enable_pin]
+pin: PB6
+static_value: 1
+    #This pin enables the bed, hotend, extruder fan, part fan.
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 500
+max_z_velocity: 4
+max_z_accel: 100

config/printer-anycubic-kobra-plus-2022.cfg

@@ -0,0 +1,197 @@
+# This file contains a configuration for the Anycubic Kobra Plus printer.
+#
+# The Kobra Plus mainboard must be modified to correct conflicting UART
+# addresses. As delivered, the X stepper and E0 stepper use UART address 0.
+# To correct, move resistor R65 to R66. This moves the X stepper to address 3.
+#
+# After making this modification, any future firmwares will need to use the new
+# address for the X stepper. To revert to the stock firmware, either undo the
+# modification, or recompile the stock firmware using the correct addresses for
+# X_SLAVE_ADDRESS and E0_SLAVE_ADDRESS.
+#
+# See docs/Config_Reference.md for a description of parameters.
+#
+# To build the firmware, use the following configuration:
+#   - Micro-controller: Huada Semiconductor HC32F460
+#   - Communication interface: Serial (PA3 & PA2) - Anycube
+#
+# Installation:
+#  1. Rename the klipper bin to `firmware.bin` and copy it to an SD Card.
+#  2. Power off the Printer, insert the SD Card and power it on.
+#  3. The printer should beep several times and the LCD will be stuck on the
+#     Splash screen.
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 1800
+max_z_velocity: 40
+max_z_accel: 100
+
+[stepper_x]
+step_pin: PA5
+dir_pin: PA4
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PA6
+position_min: -4
+position_endstop: -4
+position_max: 304
+homing_speed: 100
+
+[tmc2209 stepper_x]
+uart_pin: PA15
+tx_pin: PA9
+sense_resistor: 0.100
+run_current: 0.9
+uart_address: 3
+stealthchop_threshold: 999999
+
+[stepper_y]
+step_pin: PC4
+dir_pin: PA7
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 32
+endstop_pin: !PC5
+position_min: -6
+position_endstop: -6
+position_max: 300
+homing_speed: 100
+
+[tmc2209 stepper_y]
+uart_pin: PA15
+tx_pin: PA9
+sense_resistor: 0.100
+run_current: 0.9
+uart_address: 1
+stealthchop_threshold: 999999
+
+[stepper_z]
+step_pin: PC7
+dir_pin: !PC6
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 8
+endstop_pin: PA8
+position_endstop: 0
+position_min: -15
+position_max: 350
+homing_speed: 10
+
+[tmc2209 stepper_z]
+uart_pin: PA15
+tx_pin: PA9
+sense_resistor: 0.100
+run_current: 0.9
+uart_address: 2
+stealthchop_threshold: 999999
+
+[stepper_z1]
+step_pin: PB1
+dir_pin: !PB0
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 8
+
+[extruder]
+max_extrude_only_distance: 200
+max_extrude_only_velocity: 60
+max_extrude_only_accel: 3000
+step_pin: PC14
+dir_pin: !PC15
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 7.71
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC1
+min_extrude_temp: 170
+control: pid
+pid_kp: 22.20
+pid_ki: 1.08
+pid_kd: 119.0
+min_temp: 0
+max_temp: 275
+
+[tmc2208 extruder]
+uart_pin: PA15
+tx_pin: PA9
+sense_resistor: 0.100
+run_current: 0.8
+uart_address: 0
+stealthchop_threshold: 999999
+
+[heater_bed]
+heater_pin: PA0
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC0
+control: pid
+pid_kp: 97.1
+pid_ki: 1.41
+pid_kd: 1675.16
+min_temp: 0
+max_temp: 120
+
+[filament_switch_sensor runout]
+pause_on_runout: True
+switch_pin: !PC13
+
+[heater_fan controller_fan]
+pin: PA14
+heater: heater_bed
+heater_temp: 45.0
+
+[heater_fan hotend_fan]
+pin: PA13
+
+[fan]
+pin: PB9
+
+[probe]
+pin: !PB6
+speed: 2.0
+lift_speed: 4.0
+samples: 2
+sample_retract_dist: 5
+samples_tolerance_retries: 3
+z_offset: 0.2
+activate_gcode: probe_reset
+
+[output_pin probe_reset_pin]
+pin: PB7
+value: 1
+
+[safe_z_home]
+home_xy_position: 0, 0
+speed: 100
+z_hop: 10
+z_hop_speed: 15
+move_to_previous: False
+
+[bed_mesh]
+speed: 100
+mesh_min: 10, 10
+mesh_max: 290, 290
+algorithm: bicubic
+probe_count: 5, 5
+
+[gcode_macro probe_reset]
+gcode:
+  SET_PIN PIN=probe_reset_pin VALUE=0
+  G4 P300
+  SET_PIN PIN=probe_reset_pin VALUE=1
+  G4 P100
+
+[output_pin LED]
+pin: PB8
+
+[output_pin beeper]
+pin: PB5

config/printer-anycubic-vyper-2021.cfg

@@ -102,6 +102,10 @@ max_temp: 110
 [fan]
 pin: PA0
 
+[controller_fan controller_fan]
+pin: PA14
+stepper: stepper_x,stepper_y,stepper_z,stepper_z1
+
 [probe]
 pin: !PB12
 z_offset: 0

config/printer-artillery-sidewinder-x2-2022.cfg

@@ -132,9 +132,9 @@ screw1_name: front left
 screw2: 223,63
 screw2_name: front right
 screw3: 223,263
-screw3_name: back left
+screw3_name: back right
 screw4: 23,263
-screw4_name: back right
+screw4_name: back left
 speed: 100.0
 screw_thread: CW-M5
 

config/printer-creality-cr10-smart-pro-2022.cfg

@@ -6,7 +6,8 @@
 # communication. Enable PA0 GPIO pin on startup.
 #
 # Flash this firmware on the MCU by copying "out/klipper.bin" to an SD
-# card and turning the printer on with the card inserted. The firmware
+# card and turning the printer on by pressing and holding the power
+# button with the card inserted for 10-20 seconds. The firmware
 # filename must end in ".bin" and must not match the last filename
 # that was flashed.
 #

config/printer-creality-cr10s-pro-v2-2020.cfg

@@ -0,0 +1,154 @@
+# This file contains pin mappings for the Creality CR-10S Pro V2. To use
+# this config, the firmware should be compiled for the AVR atmega2560.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+## General Config
+[mcu]
+serial: /dev/serial/by-id/<YOUR_USB_ID>
+
+[printer]
+kinematics: cartesian
+max_velocity: 200
+max_accel: 1500
+max_z_velocity: 10
+max_z_accel: 100
+
+## Stepper Motors and Extruder
+[stepper_x]
+step_pin: PF0 #ar54
+dir_pin: PF1 #ar55
+enable_pin: !PD7 #!ar38
+rotation_distance: 40
+microsteps: 16
+full_steps_per_rotation: 200
+endstop_pin: ^PE5 #^ar3
+position_endstop: 0
+position_min: 0
+position_max: 300
+homing_speed: 50
+homing_retract_dist: 5
+
+[stepper_y]
+step_pin: PF6 #ar60
+dir_pin: !PF7 #ar61
+enable_pin: !PF2 #!ar56
+rotation_distance: 40
+microsteps: 16
+full_steps_per_rotation: 200
+endstop_pin: ^PJ1 #^ar14
+position_endstop: 0
+position_min: 0
+position_max: 310
+homing_speed: 50
+homing_retract_dist: 5
+
+[stepper_z]
+step_pin: PL3 #ar46
+dir_pin: !PL1 #!ar48
+enable_pin: !PK0 #!ar62
+rotation_distance: 8
+microsteps: 16
+full_steps_per_rotation: 200
+endstop_pin: probe:z_virtual_endstop
+position_min: -3
+position_max: 363 # you can go higher but then the cables crimp
+
+[extruder]
+step_pin: PA4 # ar26
+dir_pin: PA6 # !ar28
+enable_pin: !PA2 # !ar24
+rotation_distance: 22.900
+microsteps: 16
+full_steps_per_rotation: 200
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+max_extrude_only_distance: 500.0
+max_extrude_only_velocity: 70.0
+max_extrude_only_accel: 1000.0
+heater_pin: PB4 #ar10
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5 #analog13
+control: pid #calibrated in Klipper, you will need to run this for your machine
+pid_kp: 28.359
+pid_ki: 1.616
+pid_kd: 124.426
+min_extrude_temp: 170
+min_temp: 5
+max_temp: 275
+
+[fan]
+pin: PH6 #ar9
+
+[heater_bed]
+heater_pin: PH5 #ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6 #analog14
+control: pid #calibrated in Klipper, you will need to run this for your machine
+pid_kp: 70.936
+pid_ki: 1.151
+pid_kd: 1093.298
+min_temp: 5
+max_temp: 140
+
+## BLTouch and Safe Z Settings
+[bltouch]
+sensor_pin: ^PD2
+control_pin: PB5
+stow_on_each_sample: False # Be careful
+probe_with_touch_mode: True
+x_offset: -27
+y_offset: -2
+z_offset: 2 # you will need to calibrate this in Klipper
+speed: 4.0
+samples: 2
+sample_retract_dist: 3.0
+
+[safe_z_home]
+home_xy_position: 177,155
+speed: 80.0
+z_hop: 10.0
+z_hop_speed: 5.0
+
+[bed_mesh]
+speed: 120
+horizontal_move_z: 5
+mesh_min: 5, 5
+mesh_max: 268, 305
+probe_count: 5,5
+fade_start: 1
+fade_end: 10
+
+[filament_switch_sensor e0_sensor]
+switch_pin: PE4 #ar2
+pause_on_runout: False
+runout_gcode:
+  PAUSE_PARK
+
+## Calibrating the Bed
+# this is for the bltouch to calibrate the bed
+[screws_tilt_adjust]
+screw1: 40,40
+screw1_name: front left screw
+screw2: 295,40
+screw2_name: front right screw
+screw3: 295,280
+screw3_name: rear right screw
+screw4: 40,280
+screw4_name: rear left screw
+speed: 50
+horizontal_move_z: 10
+screw_thread: CW-M3
+
+[bed_screws]
+screw1: 13,38
+screw1_name: front left screw
+screw2: 268,38
+screw2_name: front right screw
+screw3: 268,278
+screw3_name: rear right screw
+screw4: 13,38
+screw4_name: rear left screw
+horizontal_move_z: 5
+
+[pause_resume]

config/printer-creality-cr5pro-ht-2022.cfg

@@ -0,0 +1,152 @@
+# This file contains common pin mappings for the Creality CR5 Pro HT.
+# The mainboard is a Creality 3D v2.5.1 (8-bit mainboard with
+# ATMega2560). To use this config, the firmware should be compiled for
+# the AVR atmega2560.
+
+# See docs/Config_Reference.md for a description of parameters.
+[stepper_x]
+step_pin: PF0 #ar54
+dir_pin: !PF1 #ar55
+enable_pin: !PD7 #!ar38
+microsteps: 16
+rotation_distance: 40 # 16 microsteps * 200 steps/rotation / 80 steps/mm
+endstop_pin: ^!PE5 #^ar3
+position_min: 0
+position_max: 300
+position_endstop: 0
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6 #ar60
+dir_pin: !PF7 #ar61
+enable_pin: !PF2 #!ar56
+microsteps: 16
+rotation_distance: 40 # 16 microsteps * 200 steps/rotation / 80 steps/mm
+endstop_pin: ^!PJ1 #^ar14
+position_endstop: 0
+position_max: 220
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3 #ar46
+dir_pin: !PL1 #!ar48
+enable_pin: !PK0 #!ar62
+microsteps: 16
+rotation_distance: 4 # 16 microsteps * 200 steps/rotation / 800 steps/mm
+position_max: 380
+position_min: -10
+endstop_pin: probe:z_virtual_endstop
+
+[safe_z_home]
+home_xy_position: 140, 110
+speed: 80
+z_hop: 10
+z_hop_speed: 10
+
+[extruder]
+step_pin: PA4 # ar26
+dir_pin: !PA6 # !ar28
+enable_pin: !PA2 # !ar24
+microsteps: 16
+rotation_distance: 23.24736 # 16 microsteps * 200 steps/rotation / 137.65 steps/mm
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4 #ar10
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5 #analog13
+control: pid
+pid_kp: 17.647
+pid_ki: 1.079
+pid_kd: 72.131
+min_temp: 0
+max_temp: 300
+
+[heater_bed]
+heater_pin: PH5 #ar8
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PK6 #analog14
+control: pid
+pid_kp: 75.501
+pid_ki: 2.542
+pid_kd: 560.598
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PH6 #ar9
+
+[mcu]
+serial: /dev/ttyUSB0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 2000
+max_z_velocity: 5
+max_z_accel: 100
+
+#[display]
+# DWIN screen currently unsupported
+
+[bltouch]
+sensor_pin: ^PD2 #^ar19
+control_pin: PB5 #ar11
+set_output_mode: 5V
+pin_move_time: 0.4
+x_offset: 37.0
+y_offset: 0.0
+z_offset: 2.40
+samples: 2
+sample_retract_dist: 2
+samples_result: average
+
+[bed_mesh]
+speed: 50
+horizontal_move_z: 6
+mesh_min: 47,10
+mesh_max: 270,210
+probe_count: 7,7
+algorithm: bicubic
+
+[pause_resume]
+recover_velocity: 50
+
+[filament_switch_sensor fil_runout_sensor]
+pause_on_runout: True
+switch_pin: !PE4 #ar2
+
+[bed_screws]
+screw1: 8,5
+screw1_name: front left screw
+screw2: 8,210
+screw2_name: rear left screw
+screw3: 218,210
+screw3_name: rear right screw
+screw4: 218,5
+screw4_name: front right screw
+
+[screws_tilt_adjust]
+screw1: 8,5
+screw1_name: front left screw
+screw2: 8,210
+screw2_name: rear left screw
+screw3: 218,210
+screw3_name: rear right screw
+screw4: 218,5
+screw4_name: front right screw
+speed: 50
+horizontal_move_z: 10
+screw_thread: CW-M4
+
+[output_pin case_light]
+pin: PH4 #ar7
+value: 1
+
+[gcode_macro CASE_LIGHT_ON]
+gcode:
+    SET_PIN PIN=case_light VALUE=1
+
+[gcode_macro CASE_LIGHT_OFF]
+gcode:
+    SET_PIN PIN=case_light VALUE=0

config/printer-creality-ender2pro-2021.cfg

@@ -5,7 +5,7 @@
 
 # If you prefer a direct serial connection, in "make menuconfig"
 # select "Enable extra low-level configuration options" and select
-# serial (on USART3 PB11/PB10), which is broken out on the 10 pin IDC
+# serial (on USART2 PA3/PA2), which is broken out on the 10 pin IDC
 # cable used for the LCD module as follows:
 # 3: Tx, 4: Rx, 9: GND, 10: VCC
 

config/printer-creality-ender2pro-hc32-2022.cfg

@@ -0,0 +1,95 @@
+# This file contains pin mappings for the Creality Ender2 Pro
+#  with the HC32F460. The board is CR-FDM-v2.5.S4.170
+# To use this config, during "make menuconfig" select HC32F460
+
+# Flash this firmware by copying "out/klipper.bin" to a SD card
+# as /user/firmware.bin
+# Turn on the printer with the card inserted.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC1
+dir_pin: PC0
+enable_pin: !PC2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA5
+position_min: -20
+position_endstop: -20
+position_max: 165
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB9
+dir_pin: PB8
+enable_pin: !PH2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA6
+position_min: -5
+position_endstop: -5
+position_max: 165
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB6
+dir_pin: !PB5
+enable_pin: !PB7
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PB0
+position_endstop: 0.0
+position_max: 180
+
+[extruder]
+max_extrude_only_distance: 100.0
+step_pin: PB3
+dir_pin: PA15
+enable_pin: !PB4
+microsteps: 16
+rotation_distance: 27.53480577
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA1
+sensor_pin: PC5
+sensor_type: Generic 3950
+control: pid
+pid_Kp: 29.634
+pid_Ki: 2.102
+pid_Kd: 104.459
+min_temp: 0
+max_temp: 260
+
+[heater_bed]
+heater_pin: PB10
+sensor_type: Generic 3950
+sensor_pin: PC4
+control: pid
+pid_Kp: 72.921
+pid_Ki: 1.594
+pid_Kd: 834.031
+min_temp: 0
+max_temp: 80
+
+[fan]
+pin: PA0
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[display]
+lcd_type: st7920
+cs_pin: PB15
+sclk_pin: PB14
+sid_pin: PB12
+encoder_pins: ^PB13,^PA2
+click_pin: ^!PC7

config/printer-creality-ender3-s1-2021.cfg

@@ -110,8 +110,8 @@ stow_on_each_sample: false
 
 [bed_mesh]
 speed: 120
-mesh_min: 20, 20
-mesh_max: 200, 197
+mesh_min: 10, 10
+mesh_max: 200, 194
 probe_count: 4,4
 algorithm: bicubic
 
@@ -120,7 +120,6 @@ home_xy_position: 147, 154
 speed: 75
 z_hop: 10
 z_hop_speed: 5
-move_to_previous: true
 
 [filament_switch_sensor e0_sensor]
 switch_pin: !PC15
@@ -129,3 +128,9 @@ runout_gcode: PAUSE
 
 [pause_resume]
 recover_velocity: 25
+
+[bed_screws]
+screw1: 20, 29
+screw2: 195, 29
+screw3: 195, 198
+screw4: 20, 198

config/printer-creality-ender3-s1plus-2022.cfg

@@ -120,7 +120,6 @@ home_xy_position: 187, 192
 speed: 75
 z_hop: 10
 z_hop_speed: 5
-move_to_previous: true
 
 [filament_switch_sensor e0_sensor]
 switch_pin: !PC15

config/printer-creality-ender3-v2-neo-2022.cfg

@@ -0,0 +1,155 @@
+# This file contains pin mappings for the stock 2022 Creality Ender 3
+# V2 Neo. To use this config, during "make menuconfig" select the
+# STM32F103 with a "28KiB bootloader" and serial (on USART1 PA10/PA9)
+# communication.
+
+# If you prefer a direct serial connection, in "make menuconfig"
+# select "Enable extra low-level configuration options" and select
+# serial (on USART3 PB11/PB10), which is broken out on the 10 pin IDC
+# cable used for the LCD module as follows:
+# 3: Tx, 4: Rx, 9: GND, 10: VCC
+
+# Flash this firmware by copying "out/klipper.bin" to a SD card and
+# turning on the printer with the card inserted. The firmware
+# filename must end in ".bin" and must not match the last filename
+# that was flashed.
+
+# This also works for the GD32F303 based Creality 4.2.2 board.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC2
+dir_pin: PB9
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA5
+position_endstop: 0
+position_max: 235
+homing_speed: 80
+
+[stepper_y]
+step_pin: PB8
+dir_pin: PB7
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA6
+position_endstop: 0
+position_max: 235
+homing_speed: 80
+
+[stepper_z]
+step_pin: PB6
+dir_pin: !PB5
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe:z_virtual_endstop
+position_max: 250
+homing_speed: 4
+second_homing_speed: 1
+homing_retract_dist: 2.0
+
+[extruder]
+max_extrude_only_distance: 100.0
+step_pin: PB4
+dir_pin: PB3
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 34.406
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC5
+control: pid
+# tuned for stock hardware with 200 degree Celsius target
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PA2
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC4
+control: pid
+# tuned for stock hardware with 70 degree Celsius target
+pid_kp: 70.405
+pid_ki: 1.229
+pid_kd: 1008.553
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA0
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 5000
+max_z_velocity: 5
+square_corner_velocity: 5.0
+max_z_accel: 100
+
+[bltouch]
+sensor_pin: ^PB1
+control_pin: PB0
+x_offset: -45.0
+y_offset: -10.0
+z_offset: 0
+speed: 20
+samples: 1
+sample_retract_dist: 8.0
+
+[safe_z_home]
+home_xy_position: 160,120
+speed: 150
+z_hop: 10
+z_hop_speed: 10
+
+[bed_mesh]
+speed: 120
+mesh_min: 30,30         # Need to handle head distance with cr-touch (bl_touch)
+mesh_max: 189,189       # Max probe range
+probe_count: 5,5
+fade_start: 1
+fade_end: 10
+fade_target: 0
+algorithm: bicubic
+
+[bed_screws]
+screw1:30,25
+screw1_name:1
+screw2:200,25
+screw2_name:2
+screw3:200,195
+screw3_name:3
+screw4:30,195
+screw4_name:4
+
+[screws_tilt_adjust]
+screw1: 67, 42
+screw1_name: front left screw
+screw2: 237.60, 42
+screw2_name: front right screw
+screw3: 237.60, 212
+screw3_name: rear right screw
+screw4: 67.60, 212
+screw4_name: rear left screw
+horizontal_move_z: 10
+speed: 200
+screw_thread: CW-M4 # Use CW for Clockwise and CCW for Counter Clockwise
+
+# [display]
+# The Ender 3 v2 Neo's 4.3" LCD display is not supported by klipper
+
+[output_pin beeper]
+pin: PB13

config/printer-creality-ender5-2019.cfg

@@ -1,10 +1,12 @@
 # This file contains common pin mappings for the 2019 Creality
 # Ender 5. To use this config, the firmware should be compiled for the
-# AVR atmega1284p.
+# AVR atmega1284p. This also works for the v1.1.5 silent boards.
 
 # Note, a number of Melzi boards are shipped with a bootloader that
 # requires the following command to flash the board:
 #  avrdude -p atmega1284p -c arduino -b 57600 -P /dev/ttyUSB0 -U out/klipper.elf.hex
+# For v1.1.5 silent boards, the following command is used:
+#  avrdude -p atmega1284p -c arduino -P /dev/ttyUSB0 -b 115200 -U flash:w:out/klipper.elf.hex
 # If the above command does not work and "make flash" does not work
 # then one may need to flash a bootloader to the board - see the
 # Klipper docs/Bootloaders.md file for more information.
@@ -80,6 +82,8 @@ pin: PB4
 
 [mcu]
 serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
+# Silent boards tend to have the exact same serial ID, except without USB2.0, using USB instead.
+# e.g. /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
 
 [printer]
 kinematics: cartesian

config/printer-elegoo-neptune3-pro-2023.cfg

@@ -0,0 +1,126 @@
+# This file contains pin mappings for the stock Elegoo Neptune 3 Pro (ZNP Robin Nano_DW V2.2)
+# To use this config, during "make menuconfig" select the  STM32F401 with a
+# "32KiB bootloader" and serial (on USART1 PA10/PA9) communication.
+
+# Note that the "make flash" command does not work with ZNP Robin boards.
+# After running "make", rename the out/klipper.bin file to out/ZNP_ROBIN_NANO.bin
+# Copy the file out/ZNP_ROBIN_NANO.bin to an SD card formatted to FAT32
+# and then restart the printer with the SD card inserted.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+# Core
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+# Steppers
+
+[stepper_x]
+step_pin: PC12
+dir_pin: PB3
+enable_pin: !PD2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PA13
+position_min: -5
+position_endstop: -5
+position_max: 235
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC11
+dir_pin: PA15
+enable_pin: !PC10
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PB8
+position_endstop: 0
+position_max: 234
+homing_speed: 50
+
+[stepper_z]
+step_pin: PC7
+dir_pin: !PC9
+enable_pin: !PC8
+microsteps: 16
+rotation_distance: 8
+position_min: -0.8
+endstop_pin: probe:z_virtual_endstop
+position_max: 283
+homing_speed: 10
+
+[probe]
+pin: PA8
+# NOTE: Set this to a value based on your printer and bed.
+z_offset: 0
+x_offset: -28.5
+y_offset: 22
+
+[extruder]
+step_pin: PB10
+dir_pin: PB1
+enable_pin: !PC6
+microsteps: 16
+rotation_distance: 8.42
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA6
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC1
+control: pid
+# NOTE: These settings are for PETG, thus 240C at 30% fan.
+pid_Kp: 26.27
+pid_Ki: 1.607
+pid_Kd: 107.380
+min_temp: 0
+max_temp: 260
+max_extrude_only_distance: 100
+
+[heater_bed]
+heater_pin: PA5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC0
+control: pid
+# NOTE: These settings are for PETG, thus 80C bed temperature.
+pid_Kp: 70.173
+pid_Ki: 1.418
+pid_Kd: 868.388
+min_temp: 0
+max_temp: 100
+
+# Coooling
+
+[fan]
+pin: PA7
+
+[heater_fan hotend_fan]
+pin: PB0
+
+# Rest
+
+# This is put on the FAN3 pin.
+[led top_LEDs]
+white_pin: PB9
+cycle_time: 0.005
+
+[filament_switch_sensor filament_runout_sensor]
+switch_pin: PB4
+
+[safe_z_home]
+home_xy_position: 143.5, 93
+
+[bed_mesh]
+mesh_min: 10, 25
+mesh_max: 205, 220
+probe_count: 6, 6
+algorithm: bicubic
+speed: 100

config/printer-kingroon-kp3s-2020.cfg

@@ -0,0 +1,108 @@
+# This file contains common pin mappings for the Kingroon KP3S printer,
+# which uses a modified MKS Robin board.
+# To use this config, the firmware should be compiled for the
+# STM32F103. When running "make menuconfig", enable "extra low-level
+# configuration setup", select the 28KiB bootloader, and serial (on
+# USART3 PB11/PB10) communication. Also, select "Enable extra low-level
+# configuration options" and configure "GPIO pins to set at
+# micro-controller startup" to "!PC6,!PD13" to disable the LCD as it is not
+# compatible with klipper
+
+# Note that the "make flash" command does not work with MKS Robin
+# boards. After running "make", run the following command:
+#   ./scripts/update_mks_robin.py out/klipper.bin out/Robin_nano.bin
+# Copy the file out/Robin_nano.bin to an SD card and then restart the
+# printer with that SD card.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PE3
+dir_pin: !PE2
+enable_pin: !PE4
+microsteps: 32
+rotation_distance: 40
+endstop_pin: !PA15
+position_endstop: 0
+position_max: 180
+homing_speed: 50
+
+[stepper_y]
+step_pin: PE0
+dir_pin: !PB9
+enable_pin: !PE1
+microsteps: 32
+rotation_distance: 40
+endstop_pin: !PA12
+position_endstop: 0
+position_max: 180
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB5
+dir_pin: PB4
+enable_pin: !PB8
+microsteps: 32
+rotation_distance: 8
+endstop_pin: !PA11
+position_endstop: 0.5
+position_max: 180
+
+[safe_z_home]
+home_xy_position: 90,90
+z_hop: 10
+
+[thermistor Kingroon_B3950]
+temperature1: 25.0
+resistance1: 103180.0
+temperature2: 150.0
+resistance2: 1366.2
+temperature3: 250.0
+resistance3: 168.6
+
+[extruder]
+step_pin: PD6
+dir_pin: !PD3
+enable_pin: !PB3
+microsteps: 32
+gear_ratio: 3:1
+rotation_distance: 23.244
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC3
+sensor_type: Kingroon_B3950
+sensor_pin: PC1
+control: pid
+pid_kp: 27.057
+pid_ki: 1.171
+pid_kd: 156.254
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PA0
+sensor_type: Kingroon_B3950
+sensor_pin: PC0
+control: pid
+pid_kp: 61.779
+pid_ki: 1.572
+pid_kd: 606.980
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PB1
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 250
+max_accel: 2000
+max_z_velocity: 25
+max_z_accel: 100
+
+[static_digital_output display_reset]
+pins: !PC6, !PD13

config/printer-longer-lk4x-2022.cfg

@@ -0,0 +1,118 @@
+# This file contains pin mappings for the stock 2022 LONGER3D LK4 X
+# with the 32-bit LGT_KIT_V2_X board. To use this config, during
+# "make menuconfig" select the STM32F103 with a "32KiB bootloader" and
+# serial (on USART1 PA10/PA9) communication.
+
+# Flash this firmware by copying "out/klipper.bin" to a SD card,
+# then rename it to "firmware.bin"and turning on the printer with
+# the card inserted.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 4000
+max_z_velocity: 5
+max_z_accel: 100
+
+[stepper_x]
+step_pin: PD3
+dir_pin: PD2
+enable_pin: !PD4
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^!PE6
+position_endstop: 0
+position_max: 265
+homing_speed: 80
+
+[stepper_y]
+step_pin: PD6
+dir_pin: PD5
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^!PE4
+position_endstop: 0
+position_max: 220
+homing_speed: 80
+
+[stepper_z]
+step_pin: PB4
+dir_pin: !PB3
+enable_pin: !PB5
+microsteps: 16
+rotation_distance: 8
+# Without BLTouch
+# endstop_pin: ^!PE2
+# With BLTouch
+endstop_pin: probe: z_virtual_endstop
+# position_endstop: 0.0
+position_min: -5
+position_max: 250
+
+[extruder]
+max_extrude_only_distance: 200
+step_pin: PB9
+dir_pin: PB8
+enable_pin: !PE0
+microsteps: 16
+rotation_distance: 4.4504
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA7
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC1
+control: pid
+# tuned for stock hardware with 200 degree Celsius target
+pid_Kp: 25.011
+pid_Ki: 1.463
+pid_Kd: 106.922
+min_temp: 0
+max_temp: 260
+
+[heater_bed]
+heater_pin: PA0
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC0
+control: pid
+# tuned for stock hardware with 60 degree Celsius target
+pid_Kp: 69.370
+pid_Ki: 1.526
+pid_Kd: 788.215
+min_temp: 0
+max_temp: 110
+
+[fan]
+pin: PA1
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[bed_screws]
+screw1: 30,30
+screw2: 190,30
+screw3: 190,190
+screw4: 30,190
+
+# Pin mappings for BL_T port
+[bltouch]
+sensor_pin: ^PE1
+control_pin: PA8
+x_offset: -51
+y_offset: -8
+z_offset: 0 # You need to adjust this for your printer
+
+[bed_mesh]
+speed: 120
+mesh_min: 10, 10
+mesh_max: 210, 210
+probe_count: 4, 4
+
+[safe_z_home]
+home_xy_position: 161, 118
+speed: 80
+z_hop: 10                 # Move up 10mm
+z_hop_speed: 5

config/printer-lulzbot-mini2-2018.cfg

@@ -0,0 +1,157 @@
+#This file contains pin mappings for the stock Lulzbot Mini 2 which uses
+#EinsyRetro mainboard and SingleExtruder(0.5mm) hotend.
+#To use this config, the firmware should be compiled for the AVR atmega2560.
+
+# Pin numbers checked against Lulzbot fork of Marlin pins_EINSYRETRO.h
+# https://gitlab.com/lulzbot3d/marlin/-/blob/master/Marlin/src/pins/rambo/
+#pins_EINSY_RETRO.h
+# validated against https://github.com/ultimachine/EinsyRetro/blob/1.0b/board/
+#Project%20Outputs%20for%20EinsyRetro/Schematic%20Prints_EinsyRetro_1.0b.PDF
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 2000
+max_z_velocity: 40
+max_z_accel: 100
+
+[stepper_x]
+step_pin: PC0
+dir_pin: !PL0
+enable_pin: !PA7
+rotation_distance: 32
+microsteps: 16
+endstop_pin: tmc2130_stepper_x:virtual_endstop
+position_endstop: -7
+position_min: -7
+position_max: 168
+homing_retract_dist: 0
+homing_speed: 30
+
+[stepper_y]
+step_pin: PC1
+dir_pin: !PL1
+enable_pin: !PA6
+rotation_distance: 32
+microsteps: 16
+endstop_pin: tmc2130_stepper_y:virtual_endstop
+position_endstop: -5
+position_min: -5
+position_max: 192
+homing_retract_dist: 0
+homing_speed: 30
+
+[stepper_z]
+step_pin: PC2
+dir_pin: !PL2
+enable_pin: !PA5
+rotation_distance: 32
+microsteps: 16
+endstop_pin: PH4
+position_endstop: 183
+position_max: 185
+position_min: -2
+
+[extruder]
+step_pin: PC3
+dir_pin: PL6
+enable_pin: !PA4
+microsteps: 16
+rotation_distance: 7.465
+nozzle_diameter: 0.5
+filament_diameter: 2.85
+heater_pin: PE5
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PF0
+min_temp: 0
+max_temp: 280
+control: pid
+pid_kp: 24.121
+pid_ki: 1.079
+pid_kd: 134.779
+
+[heater_bed]
+heater_pin: PG5
+sensor_type: Honeywell 100K 135-104LAG-J01
+sensor_pin: PF2
+min_temp: 0
+max_temp: 130
+control: pid
+pid_kp: 71.304
+pid_ki: 1.662
+pid_kd: 764.734
+
+[fan]
+pin: PH5
+
+[heater_fan nozzle_cooling_fan]
+pin: PH3
+
+[probe]
+pin: ^!PB4
+z_offset: 1.377
+#z offset will need to be adjusted if you use the magnetic bed upgrade as the
+#washer thickness will apply a different offset between the nozzle and true
+#bed level.
+samples: 3
+sample_retract_dist: 1.0
+samples_tolerance: 0.200
+
+[bed_tilt]
+points: -5, 22
+        -5, 190
+        160, 190
+        160, 22
+speed: 30
+horizontal_move_z: 5
+
+[tmc2130 stepper_x]
+cs_pin: PG0
+run_current: 0.975
+diag0_pin: ^!PK2
+driver_SGT: 4
+sense_resistor: 0.120
+
+[tmc2130 stepper_y]
+cs_pin: PG2
+run_current: 0.975
+diag0_pin: ^!PK7
+driver_SGT: 4
+sense_resistor: 0.120
+
+[tmc2130 stepper_z]
+cs_pin: PK5
+run_current: 0.960
+diag0_pin: ^!PK6
+stealthchop_threshold: 999999
+sense_resistor: 0.120
+
+[tmc2130 extruder]
+cs_pin: PK4
+run_current: 0.960
+diag0_pin: ^!PK3
+stealthchop_threshold: 999999
+sense_resistor: 0.120
+
+[static_digital_output sd_card]
+pins: PB0
+
+[safe_z_home]
+home_xy_position:  75, 75
+speed: 30.0
+z_hop: 5
+
+[display]
+lcd_type: st7920
+cs_pin: PD5
+sclk_pin: PD2
+sid_pin: PD3
+menu_timeout: 5
+encoder_pins: ^PJ1,^PJ2
+encoder_steps_per_detent: 2
+click_pin: ^!PH6

config/printer-ratrig-v-minion-2021.cfg

@@ -0,0 +1,180 @@
+# This file contains pin mappings for a full Ratrig V-Minion kit
+# with an Octopus Pro v1.1 board.
+#
+# This will not work with RatOS
+#
+# To use this config, during "make menuconfig" select the STM32F446
+# with a "32KiB bootloader", USB (on PA11/PA12) communication, and
+# a "12MHZ Crystal"
+#
+# Flash this firmware on the MCU by copying "out/klipper.bin" to an SD
+# card and turning the printer on with the card inserted. The firmware
+# filename must be named "firmware.bin"
+#
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PF13
+dir_pin: !PF12
+enable_pin: !PF14
+endstop_pin: ^PG6
+rotation_distance: 40
+microsteps: 64
+position_max: 180
+position_min: 0
+homing_speed: 60
+position_endstop: 0
+
+[tmc2209 stepper_x]
+uart_pin: PC4
+run_current: 0.8
+interpolate: false
+stealthchop_threshold: 0
+
+[stepper_y]
+step_pin: PG0
+dir_pin: PG1
+enable_pin: !PF15
+endstop_pin: ^PG9
+rotation_distance: 40
+microsteps: 64
+position_max: 180
+position_min: 0
+homing_speed: 60
+position_endstop: 0
+
+[tmc2209 stepper_y]
+uart_pin: PD11
+run_current: 0.8
+interpolate: false
+stealthchop_threshold: 0
+
+[stepper_z]
+step_pin: PC13
+dir_pin: !PF0
+enable_pin: !PF1
+endstop_pin: probe:z_virtual_endstop
+rotation_distance: 4
+position_min: -5
+microsteps: 64
+position_max: 180
+
+[tmc2209 stepper_z]
+uart_pin: PE4
+run_current: 0.8
+interpolate: false
+stealthchop_threshold: 0
+
+[extruder]
+rotation_distance: 5.57
+full_steps_per_rotation: 200
+filament_diameter: 1.750
+step_pin: PF11
+dir_pin: !PG3
+enable_pin: !PG5
+microsteps: 64
+nozzle_diameter: 0.4
+heater_pin: PA2
+sensor_type: Generic 3950
+sensor_pin: PF4
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+
+min_temp: 0
+max_temp: 290
+
+[tmc2209 extruder]
+uart_pin: PC6
+run_current: 0.70
+stealthchop_threshold: 0
+interpolate: False
+
+[probe]
+pin: ^PB7
+x_offset: -24.0
+y_offset: -13.0
+z_offset: 0.0
+speed: 5
+samples: 2
+sample_retract_dist: 2
+lift_speed: 5.0
+samples_result: median
+samples_tolerance: 0.02
+samples_tolerance_retries: 5
+
+[bed_mesh]
+speed: 300
+horizontal_move_z: 5
+mesh_min: 15,15
+mesh_max: 150,160
+probe_count: 5,5
+fade_start: 1.0
+fade_end: 10.0
+mesh_pps: 2,2
+algorithm: bicubic
+bicubic_tension: .2
+
+[screws_tilt_adjust]
+screw1: 80, 108
+screw1_name: Left Screw
+screw2: 155, 72
+screw2_name: Front Right Screw
+screw3: 155, 147
+screw3_name: Rear Right Screw
+horizontal_move_z: 10
+speed: 300
+screw_thread: CCW-M4
+
+[safe_z_home]
+home_xy_position: 90,90
+z_hop: 5
+speed: 300
+
+[heater_bed]
+heater_pin: PA1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF3
+control: pid
+pid_kp: 54.027
+pid_ki: 0.770
+pid_kd: 948.182
+min_temp: 0
+max_temp: 120
+
+[fan]
+pin: PA8
+shutdown_speed: 0.0
+
+[heater_fan hotend_cooling_fan]
+pin: PE5
+fan_speed: 1.0
+heater: extruder
+heater_temp: 50.0
+
+[controller_fan controller_fan]
+pin: PD12
+fan_speed: 1.0
+stepper: stepper_x, stepper_y, stepper_z
+
+[printer]
+kinematics: cartesian
+max_velocity: 500
+max_accel: 20000
+max_z_velocity: 15
+max_z_accel: 2000
+
+[mcu]
+serial: INSERTSERIALIDHERE
+
+[board_pins octopus_11_tmc2209]
+aliases:
+## Expansion ports
+  # EXP1 header
+  EXP1_1=PE8, EXP1_3=PE9, EXP1_5=PE12, EXP1_7=PE14, EXP1_9=<GND>,
+  EXP1_2=PE7, EXP1_4=PE10, EXP1_6=PE13, EXP1_8=PE15, EXP1_10=<5V>,
+  # EXP2 header
+  EXP2_1=PA6, EXP2_3=PB1, EXP2_5=PB2, EXP2_7=PC15,  EXP2_9=<GND>,
+  EXP2_2=PA5, EXP2_4=PA4, EXP2_6=PA7, EXP2_8=<RST>, EXP2_10=PC5,
+  # Pins EXP2_1, EXP2_6, EXP2_2 are also MISO, MOSI, SCK of bus "spi2"

config/printer-sovol-sv05-2022.cfg

@@ -0,0 +1,144 @@
+# This file contains pin mappings for the stock 2022 Sovol SV05
+# with the 32-bit Creality 4.2.2 board.
+#
+# To use this config, during "make menuconfig" select the STM32F103
+# with a "28KiB bootloader" and serial (on USART1 PA10/PA9)
+# communication.
+#
+# Flash this firmware by copying "out/klipper.bin" to a SD card and
+# turning on the printer with the card inserted. The firmware
+# filename must end in ".bin" and must not match the last filename
+# that was flashed. Might need a renaming if printer dosnt flash.
+
+# See docs/Config_Reference.md for a description of parameters.
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 1000
+max_accel_to_decel: 1000
+max_z_velocity: 5
+max_z_accel: 100
+
+[stepper_x]
+step_pin: PC2
+dir_pin: PB9
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA5
+position_endstop: 220
+position_max: 220
+homing_speed: 50
+position_min: -4
+
+[stepper_y]
+step_pin: PB8
+dir_pin: PB7
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA6
+position_endstop: 220
+position_max: 220
+position_min: -4
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB6
+dir_pin: PB5
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe:z_virtual_endstop
+position_max: 300
+position_min: -3
+
+[heater_bed]
+heater_pin: PA2
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC4
+min_temp: 0
+max_temp: 130
+control: pid
+pid_kp: 64.742
+pid_ki: 0.827
+pid_kd: 1267.326
+
+[fan]
+pin: PA0
+
+[safe_z_home]
+home_xy_position: 70, 103
+speed: 100
+z_hop: 10
+z_hop_speed: 20
+
+[extruder]
+step_pin: PB4
+dir_pin: PB3
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 7.394
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+max_extrude_only_distance: 100.0
+heater_pin: PA1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC5
+min_temp: 0
+max_temp: 280
+control: pid
+pid_kp: 28.850
+pid_ki: 1.658
+pid_kd: 125.496
+
+[bltouch]
+sensor_pin: ^PB1
+control_pin: PB0
+z_offset: 0
+x_offset: 40
+y_offset: 7
+samples: 2
+samples_tolerance: 0.015
+samples_tolerance_retries: 5
+
+[bed_mesh]
+speed: 100
+horizontal_move_z: 5
+mesh_min: 40, 7
+mesh_max: 220, 220
+probe_count: 5, 5
+algorithm: bicubic
+fade_start: 1
+fade_end: 10
+
+[bed_screws]
+screw1: 25,28
+screw2: 195,28
+screw3: 195,197
+screw4: 25,197
+
+[screws_tilt_adjust]
+screw1: -4,21
+screw1_name: front left screw
+screw2: 155,21
+screw2_name: front right screw
+screw3: 155,190
+screw3_name: rear right screw
+screw4: -4,190
+screw4_name: rear left screw
+horizontal_move_z: 10
+speed: 50
+screw_thread: CW-M4
+
+[display]
+lcd_type: st7920
+cs_pin: PB12
+sclk_pin: PB13
+sid_pin: PB15
+encoder_pins: ^PB14, ^PB10
+click_pin: ^!PB2

config/printer-sovol-sv06-2022.cfg

@@ -0,0 +1,159 @@
+# This file contains pin mappings for the stock Sovol SV06
+# To use this config, during "make menuconfig" select the
+# STM32F103 with a "28KiB bootloader" and serial (on USART1 PA10/PA9) communication.
+# Also, since it is using the GD32F103, please select Disable SWD at startup
+#
+# Flash this firmware by copying "out/klipper.bin" to a SD card and
+# turning on the printer with the card inserted. The firmware
+# filename must end in ".bin" and must not match the last filename
+# that was flashed.
+#
+# See docs/Config_Reference.md for a description of parameters.
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[stepper_x]
+step_pin: PC2
+dir_pin: !PB9
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: tmc2209_stepper_x:virtual_endstop
+position_endstop: 0
+position_max: 225
+homing_speed: 40
+homing_retract_dist: 0
+
+[tmc2209 stepper_x]
+uart_pin: PC1
+run_current: 0.860
+stealthchop_threshold: 0
+interpolate: False
+sense_resistor: 0.150
+uart_address: 3
+driver_SGTHRS: 81
+diag_pin: PA5
+
+[stepper_y]
+step_pin: PB8
+dir_pin: PB7
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: tmc2209_stepper_y:virtual_endstop
+position_endstop: 0
+position_max: 225
+homing_speed: 40
+homing_retract_dist: 0
+
+[tmc2209 stepper_y]
+uart_pin: PC0
+run_current: 0.900
+stealthchop_threshold: 0
+interpolate: False
+sense_resistor: 0.150
+uart_address: 3
+driver_SGTHRS: 82
+diag_pin: PA6
+
+[stepper_z]
+step_pin: PB6
+dir_pin: !PB5
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 4
+endstop_pin: probe:z_virtual_endstop
+position_min: -4
+position_max: 261
+homing_speed: 4
+
+[tmc2209 stepper_z]
+uart_pin: PA15
+run_current: 1.000
+stealthchop_threshold: 0
+interpolate: False
+sense_resistor: 0.150
+uart_address: 3
+diag_pin: PA7
+
+[extruder]
+max_extrude_only_distance: 100.0
+step_pin: PB4
+dir_pin: !PB3
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 4.56
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC5
+control: pid
+pid_kd: 86.991
+pid_kp: 21.479
+pid_ki: 1.326
+min_temp: 0
+max_temp: 300
+
+[tmc2209 extruder]
+uart_pin: PC14
+run_current: 0.550
+stealthchop_threshold: 0
+interpolate: False
+sense_resistor: 0.150
+uart_address: 3
+
+[heater_bed]
+heater_pin: PA2
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC4
+control: pid
+pid_kp: 64.440
+pid_ki: 0.773
+pid_kd: 1343.571
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA0
+
+[probe]
+pin: PB1
+x_offset: 28
+y_offset: -20
+z_offset: 0
+samples: 2
+samples_tolerance: 0.015
+samples_tolerance_retries: 5
+
+[safe_z_home]
+home_xy_position: 85,135
+z_hop: 10
+z_hop_speed: 5
+
+[bed_mesh]
+speed: 120
+horizontal_move_z: 5
+mesh_min: 28, 20
+mesh_max: 210, 205
+probe_count: 10
+algorithm: bicubic
+fade_start: 1
+fade_end: 10
+fade_target: 0
+
+[display]
+lcd_type: st7920
+cs_pin: PB12
+sclk_pin: PB13
+sid_pin: PB15
+encoder_pins: ^PB14, ^PB10
+click_pin: ^!PB2

config/printer-sunlu-t3-2022.cfg

@@ -0,0 +1,198 @@
+# This file contains common pin mappings for the SUNLU Terminator T3 board
+
+# To use this config, the firmware should be compiled for the
+# STM32F103 with a "28KiB bootloader" and USB communication.
+# Select "Disable SWD at startup (for GigaDevice stmf32f103 clones)"
+# Also, select "Enable extra low-level configuration options" and configure
+# "GPIO pins to set at micro-controller startup" to "!PA14".
+
+# The "make flash" command does not work on the SUNLU Terminator T3 board. Instead,
+# after running "make", copy the generated "out/klipper.bin" file to a
+# file named "firmware.bin" on an SD card and then restart the board with that SD card.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+# Rename the file to printer.cfg
+
+##################################################################
+# Printer
+##################################################################
+
+[mcu]
+#obtain your MCU id using ls /dev/serial/by-path/*
+serial: dev/serial/by-id/usb-Klipper_stm32f103xe_00000000000
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[static_digital_output usb_pullup_enable]
+pins: !PA14
+
+[bltouch]
+sensor_pin: PC14
+control_pin: PA1
+x_offset: -28.45
+y_offset: 4
+z_offset: 1.915
+pin_up_touch_mode_reports_triggered: FALSE #needed bc of the bltouch clone used by sunlu
+
+[safe_z_home]
+home_xy_position: 115,115
+speed: 75
+z_hop: 10
+z_hop_speed: 5
+
+[bed_mesh]
+speed: 120
+horizontal_move_z: 5
+mesh_min: 10, 10
+mesh_max: 190, 220
+probe_count: 5,5
+fade_start: 1
+fade_end: 10
+
+[bed_screws]
+#for BED_SCREWS_ADJUST
+screw1: 31,38 #X,Y Position
+screw1_name: Front Left
+screw2: 201,38 #X,Y Position
+screw2_name: Front Right
+screw3: 201,204 #X,Y Position
+screw3_name: Rear Right
+screw4: 31,204 #X,Y Position
+screw4_name: Rear Left
+
+##IMPORTANT. If using the filament sensor add CLEAR_PAUSE to your slicer's start gcode or to your print start macro.##
+##The act of loading and unloading filament will trigger a paused state##
+[filament_motion_sensor Filament_Sensor]
+detection_length: 7.0
+extruder: extruder
+switch_pin: !PC15
+pause_on_runout: FALSE
+runout_gcode: PAUSE
+
+#########################################################
+# Motion Axis
+#########################################################
+
+[stepper_x]
+step_pin: PB13
+dir_pin: !PB12
+enable_pin: !PB14
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PC0
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB10
+dir_pin: !PB2
+enable_pin: !PB11
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PC1
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB0
+dir_pin: PC5
+enable_pin: !PB1
+microsteps: 16
+rotation_distance: 4
+position_max: 250
+endstop_pin: probe:z_virtual_endstop
+
+###################################################
+# Heaters
+###################################################
+
+[extruder]
+step_pin: PB3
+dir_pin: !PB4
+enable_pin: !PD2
+microsteps: 16
+rotation_distance: 23.18840579710145
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA0
+control: pid
+pid_Kp: 19.479
+pid_Ki: 1.073
+pid_Kd: 88.385
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PC9
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC3
+control: pid
+pid_Kp: 62.673
+pid_Ki: 1.530
+pid_Kd: 641.619
+min_temp: 0
+max_temp: 130
+
+#########################################
+# Fans
+#########################################
+
+[heater_fan Hotend]
+pin: PC7
+heater: extruder
+heater_temp: 50.0
+
+[fan]
+pin: PC6
+
+###############################################
+# Stock Screen
+###############################################
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PB5,  EXP1_3=PA9,   EXP1_5=PA10, EXP1_7=PB8,  EXP1_9=<GND>,
+    EXP1_2=PA15, EXP1_4=<RST>, EXP1_6=PB9,  EXP1_8=PB15, EXP1_10=<5V>
+
+[display]
+lcd_type: st7920
+cs_pin: PB8               #EXP1_7
+sclk_pin: PB9             #EXP1_6
+sid_pin: PB15             #EXP1_8
+encoder_pins: ^PA10, ^PA9 #^EXP1_5, ^EXP1_3
+click_pin: ^!PA15         #^!EXP1_2
+
+[output_pin beeper]
+pin: PB5    #EXP1_1
+pwm: True
+value: 0
+shutdown_value: 0
+cycle_time: 0.001
+scale: 1
+[gcode_macro M300]
+gcode:
+  {% set S = params.S|default(1000)|int %} ; S sets the tone frequency
+  {% set P = params.P|default(100)|int %} ; P sets the tone duration
+  {% set L = 0.5 %} ; L varies the PWM on time, close to 0 or 1 the tone gets a bit quieter. 0.5 is a symmetric waveform
+  {% if S <= 0 %} ; dont divide through zero
+  {% set F = 1 %}
+  {% set L = 0 %}
+  {% elif S >= 10000 %} ;max frequency set to 10kHz
+  {% set F = 0 %}
+  {% else %}
+  {% set F = 1/S %} ;convert frequency to seconds
+  {% endif %}
+    SET_PIN PIN=beeper VALUE={L} CYCLE_TIME={F} ;Play tone
+  G4 P{P} ;tone duration
+    SET_PIN PIN=beeper VALUE=0

config/printer-tevo-flash-2018.cfg

@@ -78,7 +78,7 @@ pid_Kd: 698.838
 min_temp: 0
 max_temp: 70
 
-[heater_fan my_nozzle_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PH4
 
 [fan]

config/printer-voxelab-aquila-2021.cfg

@@ -0,0 +1,84 @@
+# This file contains pin mappings for the Voxelab Aquila
+# with the FFP0173 1.0.1 mainboard. To use this config, during
+# "make menuconfig" select the STM32F103 for STM32/G32, or
+# Nation N32G452 for N32 version, 28KB boot, serial PA9/PA10.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC2
+dir_pin: PB9
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA5
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB8
+dir_pin: PB7
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA6
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB6
+dir_pin: !PB5
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PA7
+position_endstop: 0.0
+position_max: 250
+
+[extruder]
+max_extrude_only_distance: 100.0
+step_pin: PB4
+dir_pin: PB3
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 34.406
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC5
+control: pid
+# tuned for stock hardware with 200 degree Celsius target
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PA2
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC4
+control: pid
+# tuned for stock hardware with 50 degree Celsius target
+pid_Kp: 54.027
+pid_Ki: 0.770
+pid_Kd: 948.182
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA0
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

config/sample-bigtreetech-ebb-canbus-v1.0.cfg

@@ -10,21 +10,21 @@ serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
 #canbus_uuid: 0e0d81e4210c
 
 [adxl345]
-cs_pin: EBBCan: PB12
+cs_pin: EBBCan:PB12
 spi_bus: spi2
 axes_map: x,y,z
 
 [extruder]
-step_pin: EBBCan: PA9
-dir_pin: !EBBCan: PA8
-enable_pin: !EBBCan: PA10
+step_pin: EBBCan:PA9
+dir_pin: !EBBCan:PA8
+enable_pin: !EBBCan:PA10
 microsteps: 16
 rotation_distance: 33.500
 nozzle_diameter: 0.400
 filament_diameter: 1.750
-heater_pin: EBBCan: PB1
+heater_pin: EBBCan:PB1
 sensor_type: EPCOS 100K B57560G104F
-sensor_pin: EBBCan: PA0
+sensor_pin: EBBCan:PA0
 control: pid
 pid_Kp: 21.527
 pid_Ki: 1.063
@@ -33,22 +33,22 @@ min_temp: 0
 max_temp: 250
 
 #sensor_type:MAX31865
-#sensor_pin: EBBCan: PA15
+#sensor_pin: EBBCan:PA15
 #spi_bus: spi1a
 #rtd_nominal_r: 100
 #rtd_reference_r: 430
 #rtd_num_of_wires: 2
 
 [tmc2209 extruder]
-uart_pin: EBBCan: PA13
+uart_pin: EBBCan:PA13
 run_current: 0.650
 stealthchop_threshold: 999999
 
 [fan]
-pin: EBBCan: PA1
+pin: EBBCan:PA1
 
 [heater_fan hotend_fan]
-pin: EBBCan: PA2
+pin: EBBCan:PA2
 heater: extruder
 heater_temp: 50.0
 

config/sample-bigtreetech-ebb-canbus-v1.1.cfg

@@ -10,23 +10,23 @@ serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
 #canbus_uuid: 0e0d81e4210c
 
 [adxl345]
-cs_pin: EBBCan: PB12
-spi_software_sclk_pin: EBBCan: PB10
-spi_software_mosi_pin: EBBCan: PB11
-spi_software_miso_pin: EBBCan: PB2
+cs_pin: EBBCan:PB12
+spi_software_sclk_pin: EBBCan:PB10
+spi_software_mosi_pin: EBBCan:PB11
+spi_software_miso_pin: EBBCan:PB2
 axes_map: x,y,z
 
 [extruder]
-step_pin: EBBCan: PD0
-dir_pin: !EBBCan: PD1
-enable_pin: !EBBCan: PD2
+step_pin: EBBCan:PD0
+dir_pin: !EBBCan:PD1
+enable_pin: !EBBCan:PD2
 microsteps: 16
 rotation_distance: 33.500
 nozzle_diameter: 0.400
 filament_diameter: 1.750
-heater_pin: EBBCan: PA2
+heater_pin: EBBCan:PA2
 sensor_type: EPCOS 100K B57560G104F
-sensor_pin: EBBCan: PA3
+sensor_pin: EBBCan:PA3
 control: pid
 pid_Kp: 21.527
 pid_Ki: 1.063
@@ -35,22 +35,22 @@ min_temp: 0
 max_temp: 250
 
 # sensor_type:MAX31865
-# sensor_pin: EBBCan: PA4
+# sensor_pin: EBBCan:PA4
 # spi_bus: spi1
 # rtd_nominal_r: 100
 # rtd_reference_r: 430
 # rtd_num_of_wires: 2
 
 [tmc2209 extruder]
-uart_pin: EBBCan: PA15
+uart_pin: EBBCan:PA15
 run_current: 0.650
 stealthchop_threshold: 999999
 
 [fan]
-pin: EBBCan: PA0
+pin: EBBCan:PA0
 
 [heater_fan hotend_fan]
-pin: EBBCan: PA1
+pin: EBBCan:PA1
 heater: extruder
 heater_temp: 50.0
 

config/sample-bigtreetech-ebb-canbus-v1.2.cfg

@@ -0,0 +1,68 @@
+# This file contains common pin mappings for the BIGTREETECH EBBCan
+# Canbus board. To use this config, the firmware should be compiled for the
+# STM32G0B1 with "8 MHz crystal" and "USB (on PA11/PA12)" or "CAN bus (on PB0/PB1)".
+# The "EBB Can" micro-controller will be used to control the components on the nozzle.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu EBBCan]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+#canbus_uuid: 0e0d81e4210c
+
+[adxl345]
+cs_pin: EBBCan:PB12
+spi_software_sclk_pin: EBBCan:PB10
+spi_software_mosi_pin: EBBCan:PB11
+spi_software_miso_pin: EBBCan:PB2
+axes_map: x,y,z
+
+[extruder]
+step_pin: EBBCan:PD0
+dir_pin: !EBBCan:PD1
+enable_pin: !EBBCan:PD2
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: EBBCan:PB13
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: EBBCan:PA3
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 250
+
+# sensor_type:MAX31865
+# sensor_pin: EBBCan:PA4
+# spi_bus: spi1
+# rtd_nominal_r: 100
+# rtd_reference_r: 430
+# rtd_num_of_wires: 2
+
+[tmc2209 extruder]
+uart_pin: EBBCan:PA15
+run_current: 0.650
+stealthchop_threshold: 999999
+
+[fan]
+pin: EBBCan:PA0
+
+[heater_fan hotend_fan]
+pin: EBBCan:PA1
+heater: extruder
+heater_temp: 50.0
+
+#[neopixel hotend_rgb]
+#pin: EBBCan:PD3
+
+#[bltouch]
+#sensor_pin: ^EBBCan:PB8
+#control_pin: EBBCan:PB9
+
+#[filament_switch_sensor switch_sensor]
+#switch_pin: EBBCan:PB4
+
+#[filament_motion_sensor motion_sensor]
+#switch_pin: ^EBBCan:PB3

config/sample-bigtreetech-ebb-sb-canbus-v1.0.cfg

@@ -0,0 +1,84 @@
+# This file contains common pin mappings for the BIGTREETECH EBBCan
+# Canbus board. To use this config, the firmware should be compiled for the
+# STM32G0B1 with "8 MHz crystal" and "USB (on PA11/PA12)" or "CAN bus (on PB0/PB1)".
+# The "EBB Can" micro-controller will be used to control the components on the nozzle.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu EBBCan]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+#canbus_uuid: 0e0d81e4210c
+
+[temperature_sensor EBB_NTC]
+sensor_type: Generic 3950
+sensor_pin: EBBCan:PA2
+
+[adxl345]
+cs_pin: EBBCan:PB12
+spi_software_sclk_pin: EBBCan:PB10
+spi_software_mosi_pin: EBBCan:PB11
+spi_software_miso_pin: EBBCan:PB2
+axes_map: x,y,z
+
+[extruder]
+step_pin: EBBCan:PD0
+dir_pin: !EBBCan:PD1
+enable_pin: !EBBCan:PD2
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: EBBCan:PB13
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: EBBCan:PA3
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 250
+
+# sensor_type:MAX31865
+# sensor_pin: EBBCan:PA4
+# spi_bus: spi1
+# rtd_nominal_r: 100
+# rtd_reference_r: 430
+# rtd_num_of_wires: 2
+
+[tmc2209 extruder]
+uart_pin: EBBCan:PA15
+run_current: 0.650
+stealthchop_threshold: 999999
+
+[fan]
+pin: EBBCan:PA0
+
+[heater_fan hotend_fan]
+pin: EBBCan:PA1
+heater: extruder
+heater_temp: 50.0
+
+#[heater_fan 4W_FAN0]
+#pin: EBBCan:PB14
+#tachometer_pin: EBBCan:PB15
+#tachometer_ppr: 1
+
+#[neopixel hotend_rgb]
+#pin: EBBCan:PD3
+
+#[bltouch]
+#sensor_pin: ^EBBCan:PB8
+#control_pin: EBBCan:PB9
+
+## NPN and PNP proximity switch types can be set by jumper
+#[probe]
+#pin: ^EBBCan:PC13
+
+#[output_pin PB5]
+#pin: EBBCan:PB5
+
+#[output_pin PB7]
+#pin: EBBCan:PB7
+
+#[output_pin PB6]
+#pin: EBBCan:PB6

config/sample-bigtreetech-hermit-crab-canbus.cfg

@@ -10,21 +10,21 @@ serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
 #canbus_uuid: 0e0d81e4210c
 
 [adxl345]
-cs_pin: HermitCrab: PB12
+cs_pin: HermitCrab:PB12
 spi_bus: spi2
 axes_map: y,z,-x
 
 [extruder]
-step_pin: HermitCrab: PA6
-dir_pin: !HermitCrab: PA7
-enable_pin: !HermitCrab: PA5
+step_pin: HermitCrab:PA6
+dir_pin: !HermitCrab:PA7
+enable_pin: !HermitCrab:PA5
 microsteps: 16
 rotation_distance: 33.500
 nozzle_diameter: 0.400
 filament_diameter: 1.750
-heater_pin: HermitCrab: PA2
+heater_pin: HermitCrab:PA2
 sensor_type: EPCOS 100K B57560G104F
-sensor_pin: HermitCrab: PA1
+sensor_pin: HermitCrab:PA1
 control: pid
 pid_Kp: 21.527
 pid_Ki: 1.063
@@ -33,15 +33,15 @@ min_temp: 0
 max_temp: 250
 
 [tmc2209 extruder]
-uart_pin: HermitCrab: PB0
+uart_pin: HermitCrab:PB0
 run_current: 0.650
 stealthchop_threshold: 999999
 
 [fan]
-pin: HermitCrab: PA4
+pin: HermitCrab:PA4
 
 [heater_fan hotend_fan]
-pin: HermitCrab: PA3
+pin: HermitCrab:PA3
 heater: extruder
 heater_temp: 50.0
 

config/sample-duet3-1lc.cfg

@@ -0,0 +1,81 @@
+# This file contains common pin mappings for the Duet3 1LC. To use
+# this config, the firmware should be compiled for the SAMC21G18 with:
+# Bootloader offset of "No Bootloader"
+# Clock Reference of "25 Mhz crystal" if the board version is v1.1 or later
+# Clock Reference of "12 Mhz crystal" if the board version is v1.0 or earlier
+# 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 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.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+
+# Pins for reference, v1.3 board:
+# Driver Step Pin - PA27
+# Driver Dir Pin  - PA28
+# Driver Enable - !PB2
+# Thermistor Pins - TEMP0:PB9 TEMP1:PA2
+# Pullup Resistor - 2200
+# Vssa Sense:PA6 | Vref Sense:PA7
+# Current Sense resistor for drivers - 0.091ohm
+# CAN Pins - CAN0_TX:PA24 CAN0_RX:PA25
+# Heaters - OUT_0:PA11
+# Fan outputs - OUT_1:PA10 OUT_2:PB11
+# Tach Pins for Fans - OUT_1_TACHO:PA13 OUT_2_TACHO:PB10
+# GPIO_out - IO0:PA12
+# GPIO_in -  IO0:PA9 IO1:PA21 IO2:PA18
+# Driver Diag - 0:PB3
+
+[adc_scaled toolboard_vref_scaled]
+vref_pin: toolboard:PA7
+vssa_pin: toolboard:PA6
+
+[extruder]
+step_pin: toolboard:PA27
+dir_pin: toolboard:PA28
+enable_pin: !toolboard:PB2
+rotation_distance: 23.1336867485061
+gear_ratio: 50:10
+microsteps: 64
+full_steps_per_rotation: 200
+nozzle_diameter: 0.400
+filament_diameter: 1.75
+heater_pin: toolboard:PA11
+sensor_type: PT1000
+sensor_pin: toolboard_vref_scaled:PB9
+pullup_resistor: 2200
+min_temp: 0
+max_temp: 280
+max_power: 1.0
+control: pid
+pwm_cycle_time: 0.01666
+pid_Kp: 26.454
+pid_Ki: 1.357
+pid_Kd: 128.955
+
+[tmc2209 extruder]
+uart_pin: toolboard:PA20
+tx_pin: toolboard:PA22
+interpolate: False
+run_current: 0.35
+sense_resistor: 0.091
+
+[fan]
+pin: toolboard:PA10
+tachometer_pin: toolboard:PA13
+
+[heater_fan hotend_fan]
+pin: toolboard:PB11
+tachometer_pin: toolboard:PB10
+heater: extruder
+heater_temp: 50.0
+
+[probe]
+pin: toolboard:PA9
+z_offset: 20
+
+[mcu toolboard]
+canbus_uuid: 4b194673554e

config/sample-huvud-v0.61.cfg

@@ -19,15 +19,15 @@ canbus_uuid: ac20f0bbda05
 # ~/klippy-env/bin/python ~/klipper/scripts/canbus_query.py can0
 
 [extruder]
-step_pin: huvud: PB3
-dir_pin: huvud: PB4
-enable_pin: !huvud: PB5
+step_pin: huvud:PB3
+dir_pin: huvud:PB4
+enable_pin: !huvud:PB5
 rotation_distance: 22.52453125
 nozzle_diameter: 0.400
 filament_diameter: 1.75
-heater_pin: huvud: PA6
+heater_pin: huvud:PA6
 sensor_type: NTC 100K MGB18-104F39050L32
-sensor_pin: huvud: PA0
+sensor_pin: huvud:PA0
 pullup_resistor: 2200
 min_temp: 0
 max_temp: 300
@@ -37,22 +37,22 @@ pid_ki: 1.304
 pid_kd: 131.721
 
 [tmc2209 extruder]
-uart_pin: huvud: PA10
-tx_pin: huvud: PA9
+uart_pin: huvud:PA10
+tx_pin: huvud:PA9
 run_current: 0.35
 
 [probe]
-pin: huvud: PB12
+pin: huvud:PB12
 z_offset: 0
 
 [fan]
-pin: huvud: PA8
+pin: huvud:PA8
 
 [heater_fan extruder_fan]
-pin: huvud: PA7
+pin: huvud:PA7
 
 [adxl345]
 cs_pin: PB1
 
 [led huvud_led]
-blue_pin: huvud: PC13
+blue_pin: huvud:PC13

config/sample-idex.cfg

@@ -62,6 +62,8 @@ endstop_pin: ^ar2
 position_endstop: 200
 position_max: 200
 homing_speed: 50
+# A minimum distance between the carriages to enforce
+safe_distance: 40
 
 [extruder1]
 step_pin: ar36
@@ -94,3 +96,37 @@ gcode:
     ACTIVATE_EXTRUDER EXTRUDER=extruder1
     SET_DUAL_CARRIAGE CARRIAGE=1
     SET_GCODE_OFFSET Y=15
+
+# A helper script to activate copy mode
+[gcode_macro ACTIVATE_COPY_MODE]
+gcode:
+    SET_DUAL_CARRIAGE CARRIAGE=0 MODE=PRIMARY
+    G1 X0
+    ACTIVATE_EXTRUDER EXTRUDER=extruder
+    SET_DUAL_CARRIAGE CARRIAGE=1 MODE=PRIMARY
+    G1 X100
+    SET_DUAL_CARRIAGE CARRIAGE=1 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=0 MODE=PRIMARY
+    G1 X0
+    ACTIVATE_EXTRUDER EXTRUDER=extruder
+    SET_DUAL_CARRIAGE CARRIAGE=1 MODE=PRIMARY
+    G1 X200
+    SET_DUAL_CARRIAGE CARRIAGE=1 MODE=MIRROR
+    SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
+
+## 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=1
+#    SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_shaper> SHAPER_FREQ_X=<dual_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
+#    SET_DUAL_CARRIAGE CARRIAGE=0
+#    SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_shaper> SHAPER_FREQ_X=<primary_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>

config/sample-macros.cfg

@@ -10,7 +10,7 @@
 ######################################################################
 
 # Replace the slicer's custom start and end g-code scripts with
-# START_PRINT and END_PRINT.
+# START_PRINT and END_PRINT. See docs/Slicers.md for more information on using these macros.
 
 [gcode_macro START_PRINT]
 gcode:

docs/Axis_Twist_Compensation.md

@@ -0,0 +1,50 @@
+# Axis Twist Compensation
+
+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.
+This is common in printers with designs like the Prusa MK3, Sovol SV06 etc and is
+further described under [probe location
+bias](Probe_Calibrate.md#location-bias-check). It may result in
+probe operations such as [Bed Mesh](Bed_Mesh.md),
+[Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust),
+[Z Tilt Adjust](G-Codes.md#z_tilt_adjust) etc returning inaccurate
+representations of the bed.
+
+This module uses manual measurements by the user to correct the probe's results.
+Note that if your axis is significantly twisted it is strongly recommended to
+first use mechanical means to fix it prior to applying software corrections.
+
+**Warning**: This module is not compatible with dockable probes yet and will
+try to probe the bed without attaching the probe if you use it.
+
+## Overview of compensation usage
+
+> **Tip:** Make sure the [probe X and Y offsets](Config_Reference.md#probe) are
+> correctly set as they greatly influence calibration.
+
+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 Reference](Config_Reference.md#axis_twist_compensation).
+
+Commands for [axis_twist_compensation] can be found in the
+[G-Codes Reference](G-Codes.md#axis_twist_compensation)

docs/Bed_Mesh.md

@@ -1,8 +1,8 @@
 # Bed Mesh
 
-The Bed Mesh module may be used to compensate for bed surface irregularties to
-achieve a better first layer across the entire bed.  It should be noted that
-software based correction will not achieve perfect results, it can only
+The Bed Mesh module may be used to compensate for bed surface irregularities
+to achieve a better first layer across the entire bed.  It should be noted
+that software based correction will not achieve perfect results, it can only
 approximate the shape of the bed.  Bed Mesh also cannot compensate for
 mechanical and electrical issues.  If an axis is skewed or a probe is not
 accurate then the bed_mesh module will not receive accurate results from
@@ -46,7 +46,7 @@ probe_count: 5, 3
   _Required_\
   The probed coordinate farthest farthest from the origin.  This is not
   necessarily the last point probed, as the probing process occurs in a
-  zig-zag fashion.  As with `mesh_min`, this coordiante is relative to
+  zig-zag fashion.  As with `mesh_min`, this coordinate is relative to
   the probe's location.
 
 - `probe_count: 5, 3`\
@@ -101,7 +101,7 @@ round_probe_count: 5
   that the center of the mesh is probed.
 
 The illustration below shows how the probed points are generated.  As you can see,
-setting the `mesh_origin` to (-10, 0) allows us to specifiy a larger mesh radius
+setting the `mesh_origin` to (-10, 0) allows us to specify a larger mesh radius
 of 85.
 
 ![bedmesh_round_basic](img/bedmesh_round_basic.svg)
@@ -114,7 +114,7 @@ Each of the advanced options apply to round beds in the same manner.
 
 ### Mesh Interpolation
 
-While its possible to sample the probed matrix directly using simple bilinear
+While its possible to sample the probed matrix directly using simple bi-linear
 interpolation to determine the Z-Values between probed points, it is often
 useful to interpolate extra points using more advanced interpolation algorithms
 to increase mesh density.  These algorithms add curvature to the mesh,
@@ -207,7 +207,7 @@ split_delta_z: .025
 Generally the default values for these options are sufficient, in fact the
 default value of 5mm for the `move_check_distance` may be overkill. However an
 advanced user may wish to experiment with these options in an effort to squeeze
-out the optimial first layer.
+out the optimal first layer.
 
 ### Mesh Fade
 
@@ -255,19 +255,24 @@ fade_target: 0
   example,  lets assume your homing position on the bed is an outlier, its
   .2 mm lower than the average probed height of the bed.  If the `fade_target`
   is 0, fade will shrink the print by an average of .2 mm across the bed.  By
-  setting the `fade_target` to .2, the homed area will expand by .2 mm, however
-  the rest of the bed will have an accurately sized.  Generally its a good idea
+  setting the `fade_target` to .2, the homed area will expand by .2 mm, however,
+  the rest of the bed will be accurately sized.  Generally its a good idea
   to leave `fade_target` out of the configuration so the average height of the
   mesh is used, however it may be desirable to manually adjust the fade target
   if one wants to print on a specific portion of the bed.
 
-### The Relative Reference Index
+### Configuring the zero reference position
 
-Most probes are suceptible to drift, ie: inaccuracies in probing introduced by
-heat or interference.  This can make calculating the probe's z-offset
-challenging, particuarly at different bed temperatures.  As such, some printers
-use an endstop for homing the Z axis, and a probe for calibrating the mesh.
-These printers can benefit from configuring the relative reference index.
+Many probes are susceptible to "drift", ie: inaccuracies in probing introduced
+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 postion` should
+be the location on the bed where a
+[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:
 
 ```
 [bed_mesh]
@@ -275,23 +280,45 @@ speed: 120
 horizontal_move_z: 5
 mesh_min: 35, 6
 mesh_max: 240, 198
+zero_reference_position: 125, 110
 probe_count: 5, 3
-relative_reference_index: 7
+```
+- `zero_reference_position: `\
+  _Default Value: None (disabled)_\
+  The `zero_reference_position` expects an (X, Y) coordinate matching that
+  of the `reference position` described above.  If the coordinate lies within
+  the mesh then the mesh will be offset so the reference position applies zero
+  adjustment.  If the coordinate lies outside of the mesh then the coordinate
+  will be probed after calibration, with the resulting z-value used as the
+  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)
 ```
 
-- `relative_reference_index: 7`\
-  _Default Value: None (disabled)_\
-  When the probed points are generated they are each assigned an index.  You
-  can look up this index in klippy.log or by using BED_MESH_OUTPUT (see the
-  section on Bed Mesh GCodes below for more information).  If you assign an
-  index to the `relative_reference_index` option, the value probed at this
-  coordinate will replace the probe's z_offset.  This effectively makes
-  this coordinate the "zero" reference for the mesh.
+_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`.
+
 
-When using the relative reference index, you should choose the index nearest
-to the spot on the bed where Z endstop calibration was done.  Note that
-when looking up the index using the log or BED_MESH_OUTPUT, you should use
-the coordinates listed under the "Probe" header to find the correct index.
 
 ### Faulty Regions
 
@@ -371,12 +398,12 @@ following parameters are available:
   - `MESH_ORIGIN`
   - `ROUND_PROBE_COUNT`
 - All beds:
-  - `RELATIVE_REFERNCE_INDEX`
   - `ALGORITHM`
 
 See the configuration documentation above for details on how each parameter
 applies to the mesh.
 
+
 ### Profiles
 
 `BED_MESH_PROFILE SAVE=<name> LOAD=<name> REMOVE=<name>`
@@ -390,15 +417,33 @@ to write the profile to printer.cfg.
 Profiles can be loaded by executing `BED_MESH_PROFILE LOAD=<name>`.
 
 It should be noted that each time a BED_MESH_CALIBRATE occurs, the current
-state is automatically saved to the _default_ profile.  If this profile
-exists it is automatically loaded when Klipper starts.  If this behavior
-is not desirable the _default_ profile can be removed as follows:
+state is automatically saved to the _default_ profile. The _default_ profile can be removed as follows:
 
 `BED_MESH_PROFILE REMOVE=default`
 
 Any other saved profile can be removed in the same fashion, replacing
 _default_ with the named profile you wish to remove.
 
+
+#### Loading the default profile
+
+Previous versions of `bed_mesh` always loaded the profile named _default_
+on startup if it was present.  This behavior has been removed in favor of
+allowing the user to determine when a profile is loaded.  If a user wishes to
+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.
+
+Alternatively the old behavior of loading a profile at startup can be
+restored with a `[delayed_gcode]`:
+
+```ini
+[delayed_gcode bed_mesh_init]
+initial_duration: .01
+gcode:
+  BED_MESH_PROFILE LOAD=default
+```
+
 ### Output
 
 `BED_MESH_OUTPUT PGP=[0 | 1]`

docs/Benchmarks.md

@@ -354,6 +354,27 @@ micro-controller.
 | 1 stepper (200Mhz)   | 39    |
 | 3 stepper (200Mhz)   | 181   |
 
+### AR100 step rate benchmark ###
+
+The following configuration sequence is used on AR100 CPU (Allwinner A64):
+```
+allocate_oids count=3
+config_stepper oid=0 step_pin=PL10 dir_pin=PE14 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PL11 dir_pin=PE15 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PL12 dir_pin=PE16 invert_step=-1 step_pulse_ticks=0
+finalize_config crc=0
+
+```
+
+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.
+
+| AR100 R_PIO          | ticks |
+| -------------------- | ----- |
+| 1 stepper            | 85    |
+| 3 stepper            | 359   |
+
 ### RP2040 step rate benchmark
 
 The following configuration sequence is used on the RP2040:
@@ -425,6 +446,7 @@ hub.
 | 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 |
 | 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 |
 | pru (shared memory) | 260K | c5968a08 | pru-gcc (GCC) 8.0.0 20170530 (experimental) |
 | stm32f103 (USB)     | 355K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |

docs/Bootloader_Entry.md

@@ -0,0 +1,125 @@
+# Bootloader Entry
+
+Klipper can be instructed to reboot into a [Bootloader](Bootloaders.md) in one
+of the following ways:
+
+## Requesting the bootloader
+
+### Virtual Serial
+
+If a virtual (USB-ACM) serial port is in use, pulsing DTR while at 1200 baud
+will request the bootloader.
+
+#### Python (with `flash_usb`)
+
+To enter the bootloader using python (using `flash_usb`):
+
+```shell
+> cd klipper/scripts
+> python3 -c 'import flash_usb as u; u.enter_bootloader("<DEVICE>")'
+Entering bootloader on <DEVICE>
+```
+
+Where `<DEVICE>` is your serial device, such as
+`/dev/serial.by-id/usb-Klipper[...]` or `/dev/ttyACM0`
+
+Note that if this fails, no output will be printed, success is indicated by
+printing `Entering bootloader on <DEVICE>`.
+
+#### Picocom
+
+```shell
+picocom -b 1200 <DEVICE>
+<Ctrl-A><Ctrl-P>
+```
+
+Where `<DEVICE>` is your serial device, such as
+`/dev/serial.by-id/usb-Klipper[...]` or `/dev/ttyACM0`
+
+`<Ctrl-A><Ctrl-P>` means
+holding `Ctrl`, pressing and releasing `a`, pressing and releasing `p`, then
+releasing `Ctrl`
+
+### Physical serial
+
+If a physical serial port is being used on the MCU (even if a USB serial adapter
+is being used to connect to it), sending the string
+`<SPACE><FS><SPACE>Request Serial Bootloader!!<SPACE>~` requests the bootloader.
+
+`<SPACE>` is an ASCII literal space, 0x20.
+
+`<FS>` is the ASCII File Separator,
+0x1c.
+
+Note that this is not a valid message as per the
+[MCU Protocol](Protocol.md#micro-controller-interface), but sync characters(`~`)
+are still respected.
+
+Because this message must be the only thing in the "block"
+it is received in, prefixing an extra sync character can increase reliability if
+other tools were previously accessing the serial port.
+
+#### Shell
+
+```shell
+stty <BAUD> < /dev/<DEVICE>
+echo $'~ \x1c Request Serial Bootloader!! ~' >> /dev/<DEVICE>
+```
+
+Where `<DEVICE>` is your serial port, such as `/dev/ttyS0`, or
+`/dev/serial/by-id/gpio-serial2`, and
+
+`<BAUD>` is the baud rate of the serial
+port, such as `115200`.
+
+### CANBUS
+
+If CANBUS is in use, a special
+[admin message](CANBUS_protocol.md#admin-messages) will request the bootloader.
+This message will be respected even if the device already has a nodeid, and will
+also be processed if the mcu is shutdown.
+
+This method also applies to devices operating in
+[CANBridge](CANBUS.md#usb-to-can-bus-bridge-mode) mode.
+
+#### Katapult's flashtool.py
+
+```shell
+python3 ./katapult/scripts/flashtool.py -i <CAN_IFACE> -u <UUID> -r
+```
+
+Where `<CAN_IFACE>` is the can interface to use. If using `can0`, both the `-i`
+and `<CAN_IFACE>` may be omitted.
+
+`<UUID>` is the UUID of your CAN device.
+
+See the
+[CANBUS Documentation](CANBUS.md#finding-the-canbus_uuid-for-new-micro-controllers)
+for information on finding the CAN UUID of your devices.
+
+## Entering the bootloader
+
+When klipper receives one of the above bootloader requests:
+
+If Katapult (formerly known as CANBoot) is available, klipper will request that
+Katapult stay active on the next boot, then reset the MCU (therefore entering
+Katapult).
+
+If Katapult is not available, klipper will then try to enter a
+platform-specific bootloader, such as STM32's DFU
+mode([see note](#stm32-dfu-warning)).
+
+In short, Klipper will reboot to Katapult if installed, then a hardware specific
+bootloader if available.
+
+For details about the specific bootloaders on various platforms see
+[Bootloaders](Bootloaders.md)
+
+## Notes
+
+### STM32 DFU Warning
+
+Note that on some boards, like the Octopus Pro v1, entering DFU mode can cause
+undesired actions (such as powering the heater while in DFU mode). It is
+recommended to disconnect heaters, and otherwise prevent undesired operations
+when using DFU mode. Consult the documentation for your board for more details.

docs/Bootloaders.md

@@ -185,6 +185,50 @@ To flash an application use something like:
 bossac --port=/dev/ttyACM0 -b -U -e -w -v -R out/klipper.bin
 ```
 
+## SAMDC21 micro-controllers (Duet3D Toolboard 1LC)
+
+The SAMC21 is flashed via the ARM Serial Wire Debug (SWD) interface.
+This is commonly done with a dedicated SWD hardware dongle.
+Alternatively, one can use a
+[Raspberry Pi with OpenOCD](#running-openocd-on-the-raspberry-pi).
+
+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 Rasberry Pi, this
+can be done by running the following commands before invoking OpenOCD.
+```
+SWCLK=25
+SWDIO=24
+SRST=18
+
+echo "Exporting SWCLK and SRST pins."
+echo $SWCLK > /sys/class/gpio/export
+echo $SRST > /sys/class/gpio/export
+echo "out" > /sys/class/gpio/gpio$SWCLK/direction
+echo "out" > /sys/class/gpio/gpio$SRST/direction
+
+echo "Setting SWCLK low and pulsing SRST."
+echo "0" > /sys/class/gpio/gpio$SWCLK/value
+echo "0" > /sys/class/gpio/gpio$SRST/value
+echo "1" > /sys/class/gpio/gpio$SRST/value
+
+echo "Unexporting SWCLK and SRST pins."
+echo $SWCLK > /sys/class/gpio/unexport
+echo $SRST > /sys/class/gpio/unexport
+```
+
+To flash a program with OpenOCD use the following chip config:
+```
+source [find target/at91samdXX.cfg]
+```
+Obtain a program; for instance, klipper can be built for this chip.
+Flash with OpenOCD commands similar to:
+```
+at91samd chip-erase
+at91samd bootloader 0
+program out/klipper.elf verify
+```
+
 ## SAMD21 micro-controllers (Arduino Zero)
 
 The SAMD21 bootloader is flashed via the ARM Serial Wire Debug (SWD)
@@ -305,7 +349,7 @@ is a [fork with builds specific to the SKR Mini E3 1.2](
   https://github.com/Arksine/STM32_HID_Bootloader/releases/latest).
 
 For generic STM32F103 boards such as the blue pill it is possible to flash
-the bootloader via 3.3v serial using stm32flash as noted in the stm32duino
+the bootloader via 3.3V serial using stm32flash as noted in the stm32duino
 section above, substituting the file name for the desired hid bootloader binary
 (ie: hid_generic_pc13.bin for the blue pill).
 
@@ -382,7 +426,7 @@ make flash FLASH_DEVICE=/dev/ttyACM0
 It may be necessary to manually enter the bootloader, this can be done by
 setting "boot 0" low and "boot 1" high.  On the SKR Mini E3 "Boot 1" is
 not available, so it may be done by setting pin PA2 low if you flashed
-"hid_btt_skr_mini_e3.bin".  This pin is labeld "TX0" on the TFT header in
+"hid_btt_skr_mini_e3.bin".  This pin is labeled "TX0" on the TFT header in
 the SKR Mini E3's "PIN" document. There is a ground pin next to PA2
 which you can use to pull PA2 low.
 
@@ -390,7 +434,7 @@ which you can use to pull PA2 low.
 
 The [MSC bootloader](https://github.com/Telekatz/MSC-stm32f103-bootloader) is a driverless bootloader capable of flashing over USB.
 
-It is possible to flash the bootloader via 3.3v serial using stm32flash as noted
+It is possible to flash the bootloader via 3.3V serial using stm32flash as noted
 in the stm32duino section above, substituting the file name for the desired
 MSC bootloader binary (ie: MSCboot-Bluepill.bin for the blue pill).
 
@@ -419,7 +463,7 @@ It is recommended to use a ST-Link Programmer to flash CanBoot, however it
 should be possible to flash using `stm32flash` on STM32F103 devices, and
 `dfu-util` on STM32F042/STM32F072 devices.  See the previous sections in this
 document for instructions on these flashing methods, substituting `canboot.bin`
-for the file name where appropriate.  The CanBoot repo linked above provides
+for the file name where appropriate.  The CanBoot repository linked above provides
 instructions for building the bootloader.
 
 The first time CanBoot has been flashed it should detect that no application
@@ -448,8 +492,8 @@ When building Klipper for use with CanBoot, select the 8 KiB Bootloader option.
 
 ## STM32F4 micro-controllers (SKR Pro 1.1)
 
-STM32F4 microcontrollers come equipped with a built-in system bootloader
-capable of flashing over USB (via DFU), 3.3v Serial, and various other
+STM32F4 micro-controllers come equipped with a built-in system bootloader
+capable of flashing over USB (via DFU), 3.3V Serial, and various other
 methods (see STM Document AN2606 for more information).  Some
 STM32F4 boards, such as the SKR Pro 1.1, are not able to enter the DFU
 bootloader.  The HID bootloader is available for STM32F405/407
@@ -458,8 +502,8 @@ Note that you may need to configure and build a version specific to your
 board, a [build for the SKR Pro 1.1 is available here](
   https://github.com/Arksine/STM32_HID_Bootloader/releases/latest).
 
-Unless your board is DFU capable the most accessable flashing method
-is likely via 3.3v serial, which follows the same procedure as
+Unless your board is DFU capable the most accessible flashing method
+is likely via 3.3V serial, which follows the same procedure as
 [flashing the STM32F103 using stm32flash](#stm32f103-micro-controllers-blue-pill-devices).
 For example:
 ```

docs/CANBUS.md

@@ -4,7 +4,7 @@ This document describes Klipper's CAN bus support.
 
 ## Device Hardware
 
-Klipper currently supports CAN on stm32, same5x, and rp2040 chips. In
+Klipper currently supports CAN on stm32, SAME5x, and rp2040 chips. In
 addition, the micro-controller chip must be on a board that has a CAN
 transceiver.
 
@@ -14,44 +14,35 @@ and flash it to the target board.
 
 ## Host Hardware
 
-In order to use a CAN bus, it is necessary to have a host adapter.
-There are currently two common options:
-
-1. Use a
-   [Waveshare Raspberry Pi CAN hat](https://www.waveshare.com/rs485-can-hat.htm)
-   or one of its many clones.
-
-2. Use a USB CAN adapter (for example
-   [https://hacker-gadgets.com/product/cantact-usb-can-adapter/](https://hacker-gadgets.com/product/cantact-usb-can-adapter/)). There
-   are many different USB to CAN adapters available - when choosing
-   one, we recommend verifying it can run the
-   [candlelight firmware](https://github.com/candle-usb/candleLight_fw).
-   (Unfortunately, we've found some USB adapters run defective
-   firmware and are locked down, so verify before purchasing.)
+In order to use a CAN bus, it is necessary to have a host adapter. It
+is recommended to use a "USB to CAN adapter". There are many different
+USB to CAN adapters available from different manufacturers. When
+choosing one, we recommend verifying that the firmware can be updated
+on it. (Unfortunately, we've found some USB adapters run defective
+firmware and are locked down, so verify before purchasing.) Look for
+adapters that can run Klipper directly (in its "USB to CAN bridge
+mode") or that run the
+[candlelight firmware](https://github.com/candle-usb/candleLight_fw).
 
 It is also necessary to configure the host operating system to use the
 adapter. This is typically done by creating a new file named
 `/etc/network/interfaces.d/can0` with the following contents:
 ```
-auto can0
+allow-hotplug can0
 iface can0 can static
-    bitrate 500000
+    bitrate 1000000
     up ifconfig $IFACE txqueuelen 128
 ```
 
-Note that the "Raspberry Pi CAN hat" also requires
-[changes to config.txt](https://www.waveshare.com/wiki/RS485_CAN_HAT).
-
 ## Terminating Resistors
 
 A CAN bus should have two 120 ohm resistors between the CANH and CANL
 wires. Ideally, one resistor located at each the end of the bus.
 
-Note that some devices have a builtin 120 ohm resistor (for example,
-the "Waveshare Raspberry Pi CAN hat" has a soldered on resistor that
-can not be easily removed). Some devices do not include a resistor at
-all. Other devices have a mechanism to select the resistor (typically
-by connecting a "pin jumper"). Be sure to check the schematics of all
+Note that some devices have a builtin 120 ohm resistor that can not be
+easily removed. Some devices do not include a resistor at all. Other
+devices have a mechanism to select the resistor (typically by
+connecting a "pin jumper"). Be sure to check the schematics of all
 devices on the CAN bus to verify that there are two and only two 120
 Ohm resistors on the bus.
 
@@ -95,22 +86,18 @@ canbus_uuid: 11aa22bb33cc
 ## USB to CAN bus bridge mode
 
 Some micro-controllers support selecting "USB to CAN bus bridge" mode
-during "make menuconfig". This mode may allow one to use a
+during Klipper's "make menuconfig". This mode may allow one to use a
 micro-controller as both a "USB to CAN bus adapter" and as a Klipper
 node.
 
 When Klipper uses this mode the micro-controller appears as a "USB CAN
 bus adapter" under Linux. The "Klipper bridge mcu" itself will appear
-as if was on this CAN bus - it can be identified via `canbus_query.py`
-and configured like other CAN bus Klipper nodes. It will appear
-alongside other devices that are actually on the CAN bus.
+as if it was on this CAN bus - it can be identified via
+`canbus_query.py` and it must be configured like other CAN bus Klipper
+nodes.
 
 Some important notes when using this mode:
 
-* The "bridge mcu" is not actually on the CAN bus. Messages to and
-  from it do not consume bandwidth on the CAN bus. The mcu can not be
-  seen by other adapters that may be on the CAN bus.
-
 * It is necessary to configure the `can0` (or similar) interface in
   Linux in order to communicate with the bus. However, Linux CAN bus
   speed and CAN bus bit-timing options are ignored by Klipper.
@@ -119,12 +106,36 @@ Some important notes when using this mode:
 
 * Whenever the "bridge mcu" is reset, Linux will disable the
   corresponding `can0` interface. To ensure proper handling of
-  FIRMWARE_RESTART and RESTART commands, it is recommended to replace
-  `auto` with `allow-hotplug` in the `/etc/network/interfaces.d/can0`
-  file. For example:
+  FIRMWARE_RESTART and RESTART commands, it is recommended to use
+  `allow-hotplug` in the `/etc/network/interfaces.d/can0` file. For
+  example:
 ```
 allow-hotplug can0
 iface can0 can static
-    bitrate 500000
+    bitrate 1000000
     up ifconfig $IFACE txqueuelen 128
 ```
+
+* The "bridge mcu" is not actually on the CAN bus. Messages to and
+  from the bridge mcu will not be seen by other adapters that may be
+  on the CAN bus.
+
+* The available bandwidth to both the "bridge mcu" itself and all
+  devices on the CAN bus is effectively limited by the CAN bus
+  frequency. As a result, it is recommended to use a CAN bus frequency
+  of 1000000 when using "USB to CAN bus bridge mode".
+
+  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
+  be configured in Klipper's printer.cfg file with a `serial:`
+  parameter. The bridge board appears as a "USB CAN adapter" and it is
+  configured in the printer.cfg as a [CAN node](#configuring-klipper).
+
+## Tips for troubleshooting
+
+See the [CAN bus troubleshooting](CANBUS_Troubleshooting.md) document.

docs/CANBUS_Troubleshooting.md

@@ -0,0 +1,140 @@
+# CANBUS Troubleshooting
+
+This document provides information on troubleshooting communication
+issues when using [Klipper with CAN bus](CANBUS.md).
+
+## Verify CAN bus wiring
+
+The first step in troubleshooting communication issues is to verify
+the CAN bus wiring.
+
+Be sure there are exactly two 120 Ohm [terminating
+resistors](CANBUS.md#terminating-resistors) on the CAN bus. If the
+resistors are not properly installed then messages may not be able to
+be sent at all or the connection may have sporadic instability.
+
+The CANH and CANL bus wiring should be twisted around each other. At a
+minimum, the wiring should have a twist every few centimeters. Avoid
+twisting the CANH and CANL wiring around power wires and ensure that
+power wires that travel parallel to the CANH and CANL wires do not
+have the same amount of twists.
+
+Verify that all plugs and wire crimps on the CAN bus wiring are fully
+secured. Movement of the printer toolhead may jostle the CAN bus
+wiring causing a bad wire crimp or unsecured plug to result in
+intermittent communication errors.
+
+## Check for incrementing bytes_invalid counter
+
+The Klipper log file will report a `Stats` line once a second when the
+printer is active. These "Stats" lines will have a `bytes_invalid`
+counter for each micro-controller. This counter should not increment
+during normal printer operation (it is normal for the counter to be
+non-zero after a RESTART and it is not a concern if the counter
+increments once a month or so). If this counter increments on a CAN
+bus micro-controller during normal printing (it increments every few
+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. 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.
+
+## Obtaining candump logs
+
+The CAN bus messages sent to and from the micro-controller are handled
+by the Linux kernel. It is possible to capture these messages from the
+kernel for debugging purposes. A log of these messages may be of use
+in diagnostics.
+
+The Linux [can-utils](https://github.com/linux-can/can-utils) tool
+provides the capture software. It is typically installed on a machine
+by running:
+```
+sudo apt-get update && sudo apt-get install can-utils
+```
+
+Once installed, one may obtain a capture of all CAN bus messages on an
+interface with the following command:
+```
+candump -tz -Ddex can0,#FFFFFFFF > mycanlog
+```
+
+One can view the resulting log file (`mycanlog` in the example above)
+to see each raw CAN bus message that was sent and received by Klipper.
+Understanding the content of these messages will likely require
+low-level knowledge of Klipper's [CANBUS protocol](CANBUS_protocol.md)
+and Klipper's [MCU commands](MCU_Commands.md).
+
+### Parsing Klipper messages in a candump log
+
+One may use the `parsecandump.py` tool to parse the low-level Klipper
+micro-controller messages contained in a candump log. Using this tool
+is an advanced topic that requires knowledge of Klipper
+[MCU commands](MCU_Commands.md). For example:
+```
+./scripts/parsecandump.py mycanlog 108 ./out/klipper.dict
+```
+
+This tool produces output similar to the [parsedump
+tool](Debugging.md#translating-gcode-files-to-micro-controller-commands). See
+the documentation for that tool for information on generating the
+Klipper micro-controller data dictionary.
+
+In the above example, `108` is the [CAN bus
+id](CANBUS_protocol.md#micro-controller-id-assignment). It is a
+hexadecimal number. The id `108` is assigned by Klipper to the first
+micro-controller. If the CAN bus has multiple micro-controllers on it,
+then the second micro-controller would be `10a`, the third would be
+`10c`, and so on.
+
+The candump log must be produced using the `-tz -Ddex` command-line
+arguments (for example: `candump -tz -Ddex can0,#FFFFFFFF`) in order
+to use the `parsecandump.py` tool.
+
+## Using a logic analyzer on the canbus wiring
+
+The [Sigrok Pulseview](https://sigrok.org/wiki/PulseView) software
+along with a low-cost
+[logic analyzer](https://en.wikipedia.org/wiki/Logic_analyzer) can be
+useful for diagnosing CAN bus signaling. This is an advanced topic
+likely only of interest to experts.
+
+One can often find "USB logic analyzers" for under $15 (US pricing as
+of 2023). These devices are often listed as "Saleae logic clones" or
+as "24MHz 8 channel USB logic analyzers".
+
+![pulseview-canbus](img/pulseview-canbus.png)
+
+The above picture was taken while using Pulseview with a "Saleae
+clone" logic analyzer. The Sigrok and Pulseview software was installed
+on a desktop machine (also install the "fx2lafw" firmware if that is
+packaged separately). The CH0 pin on the logic analyzer was routed to
+the CAN Rx line, the CH1 pin was wired to the CAN Tx pin, and GND was
+wired to GND. Pulseview was configured to only display the D0 and D1
+lines (red "probe" icon center top toolbar). The number of samples was
+set to 5 million (top toolbar) and the sample rate was set to 24Mhz
+(top toolbar). The CAN decoder was added (yellow and green "bubble
+icon" right top toolbar). The D0 channel was labeled as RX and set to
+trigger on a falling edge (click on black D0 label at left). The D1
+channel was labeled as TX (click on brown D1 label at left). The CAN
+decoder was configured for 1Mbit rate (click on green CAN label at
+left). The CAN decoder was moved to the top of the display (click and
+drag green CAN label). Finally, the capture was started (click "Run"
+at top left) and a packet was transmitted on the CAN bus (`cansend
+can0 123#121212121212`).
+
+The logic analyzer provides an independent tool for capturing packets
+and verifying bit timing.

docs/CONTRIBUTING.md

@@ -253,8 +253,8 @@ The Klipper "reviewers" are:
 | ---------------------- | ----------------- | ----------------- |
 | Dmitry Butyugin        | @dmbutyugin       | Input shaping, resonance testing, kinematics |
 | Eric Callahan          | @Arksine          | Bed leveling, MCU flashing |
+| James Hartley          | @JamesH1978       | Configuration files |
 | Kevin O'Connor         | @KevinOConnor     | Core motion system, Micro-controller code |
-| Paul McGowan           | @mental405        | Configuration files, documentation |
 
 Please do not "ping" any of the reviewers and please do not direct
 submissions at them. All of the reviewers monitor the forums and PRs,

docs/Config_Changes.md

@@ -8,6 +8,71 @@ All dates in this document are approximate.
 
 ## Changes
 
+20230826: If `safe_distance` is set or calculated to be 0 in `[dual_carriage]`,
+the carriages proximity checks will be disabled as per documentation. A user
+may wish to configure `safe_distance` explicitly to prevent accidental crashes
+of the carriages with each other. Additionally, the homing order of the primary
+and the dual carriage is changed in some configurations (certain configurations
+when both carriages home in the same direction, see
+[[dual_carriage] configuration reference](./Config_Reference.md#dual_carriage)
+for more details).
+
+20230810: The flash-sdcard.sh script now supports both variants of the
+Bigtreetech SKR-3, STM32H743 and STM32H723. For this, the original tag
+of btt-skr-3 now has changed to be either btt-skr-3-h743 or btt-skr-3-h723.
+
+20230729: The exported status for `dual_carriage` is changed. Instead of
+exporting `mode` and `active_carriage`, the individual modes for each
+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 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
+for the `BED_MESH_CALIBRATE` gcode command.
+
+20230530: The default canbus frequency in "make menuconfig" is
+now 1000000. If using canbus and using canbus with some other
+frequency is required, then be sure to select "Enable extra low-level
+configuration options" and specify the desired "CAN bus speed" in
+"make menuconfig" when compiling and flashing the micro-controller.
+
+20230525: `SHAPER_CALIBRATE` command immediately applies input shaper
+parameters if `[input_shaper]` was enabled already.
+
+20230407: The `stalled_bytes` counter in the log and in the
+`printer.mcu.last_stats` field has been renamed to `upcoming_bytes`.
+
+20230323: On tmc5160 drivers `multistep_filt` is now enabled by default. Set
+`driver_MULTISTEP_FILT: False` in the tmc5160 config for the previous behavior.
+
+20230304: The `SET_TMC_CURRENT` command now properly adjusts the globalscaler
+register for drivers that have it. This removes a limitation where on tmc5160,
+the currents could not be raised higher with `SET_TMC_CURRENT` than the
+`run_current` value set in the config file.
+However, this has a side effect: After running `SET_TMC_CURRENT`, the stepper
+must be held at standstill for >130ms in case StealthChop2 is used so that the
+AT#1 calibration gets executed by the driver.
+
+20230202: The format of the `printer.screws_tilt_adjust` status
+information has changed. The information is now stored as a dictionary of
+screws with the resulting measurements. See the
+[status reference](Status_Reference.md#screws_tilt_adjust) for details.
+
+20230201:  The `[bed_mesh]` module no longer loads the `default` profile
+on startup.  It is recommended that users who use the `default` profile
+add `BED_MESH_PROFILE LOAD=default` to their `START_PRINT` macro (or
+to their slicer's "Start G-Code" configuration when applicable).
+
+20230103: It is now possible with the flash-sdcard.sh script to flash
+both variants of the Bigtreetech SKR-2, STM32F407 and STM32F429.
+This means that the original tag of btt-skr2 now has changed to either
+btt-skr-2-f407 or btt-skr-2-f429.
+
+20221128: Klipper v0.11.0 released.
+
 20221122: Previously, with safe_z_home, it was possible that the
 z_hop after the g28 homing would go in the negative z direction.
 Now, a z_hop is performed after g28 only if it results in a positive

docs/Config_Reference.md

@@ -346,7 +346,7 @@ max_z_velocity:
 #min_angle: 5
 #   This represents the minimum angle (in degrees) relative to horizontal
 #   that the deltesian arms are allowed to achieve. This parameter is
-#   intended to restrict the arms from becomming completely horizontal,
+#   intended to restrict the arms from becoming completely horizontal,
 #   which would risk accidental inversion of the XZ axis. The default is 5.
 #print_width:
 #   The distance (in mm) of valid toolhead X coordinates. One may use
@@ -383,7 +383,7 @@ arm_x_length:
 #   for stepper_right, this parameter defaults to the value specified for
 #   stepper_left.
 
-# The stepper_right section is used to desribe the stepper controlling the
+# The stepper_right section is used to describe the stepper controlling the
 # right tower.
 [stepper_right]
 
@@ -966,10 +966,18 @@ Visual Examples:
 #   be applied to change the amount of slope interpolated. Larger
 #   numbers will increase the amount of slope, which results in more
 #   curvature in the mesh. Default is .2.
+#zero_reference_position:
+#   An optional X,Y coordinate that specifies the location on the bed
+#   where Z = 0.  When this option is specified the mesh will be offset
+#   so that zero Z adjustment occurs at this location.  The default is
+#   no zero reference.
 #relative_reference_index:
-#   A point index in the mesh to reference all z values to. Enabling
-#   this parameter produces a mesh relative to the probed z position
-#   at the provided index.
+#   **DEPRECATED, use the "zero_reference_position" option**
+#   The legacy option superceded by the "zero reference position".
+#   Rather than a coordinate this option takes an integer "index" that
+#   refers to the location of one of the generated points. It is recommended
+#   to use the "zero_reference_position" instead of this option for new
+#   configurations. The default is no relative reference index.
 #faulty_region_1_min:
 #faulty_region_1_max:
 #   Optional points that define a faulty region.  See docs/Bed_Mesh.md
@@ -1093,12 +1101,12 @@ information.
 #   The height (in mm) that the head should be commanded to move to
 #   just prior to starting a probe operation. The default is 5.
 #screw_thread: CW-M3
-#   The type of screw used for bed level, M3, M4 or M5 and the
-#   direction of the knob used to level the bed, clockwise decrease
-#   counter-clockwise decrease.
+#   The type of screw used for bed leveling, M3, M4, or M5, and the
+#   rotation direction of the knob that is used to level the bed.
 #   Accepted values: CW-M3, CCW-M3, CW-M4, CCW-M4, CW-M5, CCW-M5.
-#   Default value is CW-M3, most printers use an M3 screw and
-#   turning the knob clockwise decrease distance.
+#   Default value is CW-M3 which most printers use. A clockwise
+#   rotation of the knob decreases the gap between the nozzle and the
+#   bed. Conversely, a counter-clockwise rotation increases the gap.
 ```
 
 ### [z_tilt]
@@ -1638,9 +1646,30 @@ cs_pin:
 #   measurements.
 ```
 
+### [lis2dw]
+
+Support for LIS2DW accelerometers.
+
+```
+[lis2dw]
+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.
+#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.
+#axes_map: x, y, z
+#   See the "adxl345" section for information on this parameter.
+```
+
 ### [mpu9250]
 
-Support for MPU-9250, MPU-9255, MPU-9255, MPU-6050, and MPU-6500
+Support for MPU-9250, MPU-9255, MPU-6515, MPU-6050, and MPU-6500
 accelerometers (one may define any number of sections with an
 "mpu9250" prefix).
 
@@ -1650,6 +1679,8 @@ accelerometers (one may define any number of sections with an
 #   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.
@@ -1949,6 +1980,35 @@ z_offset:
 #   See the "probe" section for more information on the parameters above.
 ```
 
+### [axis_twist_compensation]
+
+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]
+#speed: 50
+#   The speed (in mm/s) of non-probing moves during the calibration.
+#   The default is 50.
+#horizontal_move_z: 5
+#   The height (in mm) that the head should be commanded to move to
+#   just prior to starting a probe operation. The default is 5.
+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. 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. 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 must be provided and is recommended to
+#   be near the center of the bed
+```
+
 ## Additional stepper motors and extruders
 
 ### [stepper_z1]
@@ -1997,14 +2057,32 @@ for an example configuration.
 
 ### [dual_carriage]
 
-Support for cartesian printers with dual carriages on a single
-axis. The active carriage is set via the SET_DUAL_CARRIAGE extended
-g-code command. The "SET_DUAL_CARRIAGE CARRIAGE=1" command will
-activate the carriage defined in this section (CARRIAGE=0 will return
-activation to the primary carriage). Dual carriage support is
-typically combined with extra extruders - the SET_DUAL_CARRIAGE
-command is often called at the same time as the ACTIVATE_EXTRUDER
-command. Be sure to park the carriages during deactivation.
+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).
+Dual carriage support is typically combined with extra extruders - the
+SET_DUAL_CARRIAGE command is often called at the same time as the
+ACTIVATE_EXTRUDER command. Be sure to park the carriages during deactivation.
+Note that during G28 homing, typically the primary carriage is homed first
+followed by the carriage defined in the `[dual_carriage]` config section.
+However, the `[dual_carriage]` carriage will be homed first if both carriages
+home in a positive direction and the [dual_carriage] carriage has a
+`position_endstop` greater than the primary carriage, or if both carriages home
+in a negative direction and the `[dual_carriage]` carriage has a
+`position_endstop` less than the primary carriage.
+
+Additionally, one could use "SET_DUAL_CARRIAGE CARRIAGE=1 MODE=COPY" or
+"SET_DUAL_CARRIAGE CARRIAGE=1 MODE=MIRROR" commands to activate either copying
+or mirroring mode of the dual carriage, in which case it will follow the
+motion of the carriage 0 accordingly. These commands can be used to print
+two parts simultaneously - either two identical parts (in COPY mode) or
+mirrored parts (in MIRROR mode). Note that COPY and MIRROR modes also require
+appropriate configuration of the extruder on the dual carriage, which can
+typically be achieved with
+"SYNC_EXTRUDER_MOTION MOTION_QUEUE=extruder EXTRUDER=<dual_carriage_extruder>"
+or a similar command.
 
 See [sample-idex.cfg](../config/sample-idex.cfg) for an example
 configuration.
@@ -2014,6 +2092,15 @@ configuration.
 axis:
 #   The axis this extra carriage is on (either x or y). 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 carraiges), the carriages proximity
+#   checks will be disabled.
 #step_pin:
 #dir_pin:
 #enable_pin:
@@ -2370,11 +2457,37 @@ sensor_type: BME280
 #   (0x77).
 #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.
 ```
 
+### AHT10/AHT20/AHT21 temperature sensor
+
+AHT10/AHT20/AHT21 two wire interface (I2C) environmental sensors.
+Note that these sensors are not intended for use with extruders and
+heater beds, but rather for monitoring ambient temperature (C) and
+relative humidity. See
+[sample-macros.cfg](../config/sample-macros.cfg) for a gcode_macro
+that may be used to report humidity in addition to temperature.
+
+```
+sensor_type: AHT10
+#   Also use AHT10 for AHT20 and AHT21 sensors.
+#i2c_address:
+#   Default is 56 (0x38). Some AHT10 sensors give the option to use
+#   57 (0x39) by moving a resistor.
+#i2c_mcu:
+#i2c_bus:
+#i2c_speed:
+#   See the "common I2C settings" section for a description of the
+#   above parameters.
+#aht10_report_time:
+#   Interval in seconds between readings. Default is 30, minimum is 5
+```
+
 ### HTU21D sensor
 
 HTU21D family two wire interface (I2C) environmental sensor. Note that
@@ -2391,6 +2504,8 @@ sensor_type:
 #   Default is 64 (0x40).
 #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.
@@ -2424,6 +2539,8 @@ sensor_type: LM75
 #   (usually with jumpers or hard wired).
 #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.
@@ -2495,6 +2612,24 @@ serial_no:
 #   The micro-controller to read from. Must be the host_mcu
 ```
 
+### Combined temperature sensor
+
+Combined temperature sensor is a virtual temperature sensor based on several other sensors. This sensor can be used with extruders, heater_generic and heater beds.
+
+```
+sensor_type: temperature_combined
+#sensor_list:
+#   Must be provided. List of sensors to combine to new "virtual"
+#   sensor.
+#   E.g. 'temperature_sensor sensor1,extruder,heater_bed'
+#combination_method:
+#   Must be provided. Combination method used for the sensor.
+#   Available options are 'max', 'min', 'mean'.
+#maximum_deviation:
+#   Must be provided. Maximum permissible deviation between the sensors
+#   to combine (e.g. 5 degrees). To disable it, use a large value (e.g. 999.9)
+```
+
 ## Fans
 
 ### [fan]
@@ -2576,7 +2711,7 @@ whenever its associated heater is active. By default, a heater_fan has
 a shutdown_speed equal to max_power.
 
 ```
-[heater_fan my_nozzle_fan]
+[heater_fan heatbreak_cooling_fan]
 #pin:
 #max_power:
 #shutdown_speed:
@@ -2831,6 +2966,8 @@ PCA9533 LED support. The PCA9533 is used on the mightyboard.
 #   the PCA9533/1, 99 for the PCA9533/2. The default is 98.
 #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.
@@ -2852,6 +2989,8 @@ PCA9632 LED support. The PCA9632 is used on the FlashForge Dreamer.
 #   96, 97, 98, or 99.  The default is 98.
 #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.
@@ -3073,6 +3212,30 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 0
 #driver_TBL: 1
@@ -3142,6 +3305,7 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MULTISTEP_FILT: True
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 20
 #driver_TBL: 2
@@ -3183,6 +3347,7 @@ run_current:
 #   The address of the TMC2209 chip for UART messages (an integer
 #   between 0 and 3). This is typically used when multiple TMC2209
 #   chips are connected to the same UART pin. The default is zero.
+#driver_MULTISTEP_FILT: True
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 20
 #driver_TBL: 2
@@ -3283,6 +3448,130 @@ run_current:
 #   HDEC) is interpreted as the MSB of HSTRT in this case).
 ```
 
+### [tmc2240]
+
+Configure a TMC2240 stepper motor driver via SPI bus or UART. To use this
+feature, define a config section with a "tmc2240" prefix followed by
+the name of the corresponding stepper config section (for example,
+"[tmc2240 stepper_x]").
+
+```
+[tmc2240 stepper_x]
+cs_pin:
+#   The pin corresponding to the TMC2240 chip select line. This pin
+#   will be set to low at the start of SPI messages and raised to high
+#   after the message completes. This parameter must be provided.
+#spi_speed:
+#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.
+#uart_pin:
+#   The pin connected to the TMC2240 DIAG1/SW line. If this parameter
+#   is provided UART communication is used rather then SPI.
+#chain_position:
+#chain_length:
+#   These parameters configure an SPI daisy chain. The two parameters
+#   define the stepper position in the chain and the total chain length.
+#   Position 1 corresponds to the stepper that connects to the MOSI signal.
+#   The default is to not use an SPI daisy chain.
+#interpolate: True
+#   If true, enable step interpolation (the driver will internally
+#   step at a rate of 256 micro-steps). The default is True.
+run_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during stepper movement. This parameter must be provided.
+#hold_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   when the stepper is not moving. Setting a hold_current is not
+#   recommended (see TMC_Drivers.md for details). The default is to
+#   not reduce the current.
+#rref: 12000
+#   The resistance (in ohms) of the resistor between IREF and GND. The
+#   default is 12000.
+#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. The default is 0, which disables
+#   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#driver_OFFSET_SIN90: 0
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
+#   Additionally, this driver also has the OFFSET_SIN90 field which can be used
+#   to tune a motor with unbalanced coils. See the `Sine Wave Lookup Table`
+#   section in the datasheet for information about this field and how to tune
+#   it.
+#driver_MULTISTEP_FILT: True
+#driver_IHOLDDELAY: 6
+#driver_IRUNDELAY: 4
+#driver_TPOWERDOWN: 10
+#driver_TBL: 2
+#driver_TOFF: 3
+#driver_HEND: 2
+#driver_HSTRT: 5
+#driver_FD3: 0
+#driver_TPFD: 4
+#driver_CHM: 0
+#driver_VHIGHFS: 0
+#driver_VHIGHCHM: 0
+#driver_DISS2G: 0
+#driver_DISS2VS: 0
+#driver_PWM_AUTOSCALE: True
+#driver_PWM_AUTOGRAD: True
+#driver_PWM_FREQ: 0
+#driver_FREEWHEEL: 0
+#driver_PWM_GRAD: 0
+#driver_PWM_OFS: 29
+#driver_PWM_REG: 4
+#driver_PWM_LIM: 12
+#driver_SGT: 0
+#driver_SEMIN: 0
+#driver_SEUP: 0
+#driver_SEMAX: 0
+#driver_SEDN: 0
+#driver_SEIMIN: 0
+#driver_SFILT: 0
+#driver_SG4_ANGLE_OFFSET: 1
+#   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
+#   above list.
+#diag0_pin:
+#diag1_pin:
+#   The micro-controller pin attached to one of the DIAG lines of the
+#   TMC2240 chip. Only a single diag pin should be specified. The pin
+#   is "active low" and is thus normally prefaced with "^!". Setting
+#   this creates a "tmc2240_stepper_x:virtual_endstop" virtual pin
+#   which may be used as the stepper's endstop_pin. Doing this enables
+#   "sensorless homing". (Be sure to also set driver_SGT to an
+#   appropriate sensitivity value.) The default is to not enable
+#   sensorless homing.
+```
+
 ### [tmc5160]
 
 Configure a TMC5160 stepper motor driver via SPI bus. To use this
@@ -3328,6 +3617,31 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
+#driver_MULTISTEP_FILT: True
 #driver_IHOLDDELAY: 6
 #driver_TPOWERDOWN: 10
 #driver_TBL: 2
@@ -3356,6 +3670,10 @@ run_current:
 #driver_SEDN: 0
 #driver_SEIMIN: 0
 #driver_SFILT: 0
+#driver_DRVSTRENGTH: 0
+#driver_BBMCLKS: 4
+#driver_BBMTIME: 0
+#driver_FILT_ISENSE: 0
 #   Set the given register during the configuration of the TMC5160
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -3426,6 +3744,8 @@ i2c_address:
 #   parameter must be provided.
 #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.
@@ -3462,6 +3782,8 @@ prefix).
 #   is 96.
 #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.
@@ -3732,6 +4054,8 @@ lcd_type:
 #   Set to either "ssd1306" or "sh1106" for the given display type.
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed:
 #   Optional parameters available for displays connected via an i2c
 #   bus. See the "common I2C settings" section for a description of
@@ -4112,13 +4436,11 @@ i2c_address:
 #   113. This parameter must be provided.
 #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.
-#i2c_bus:
-#   If the I2C implementation of your micro-controller supports
-#   multiple I2C busses, you may specify the bus name here. The
-#   default is to use the default micro-controller i2c bus.
 ```
 
 ### [samd_sercom]
@@ -4275,7 +4597,7 @@ serial:
 #auto_load_speed: 2
 #   Extrude feedrate when autoloading, default is 2 (mm/s)
 #auto_cancel_variation: 0.1
-#   Auto cancel print when ping varation is above this threshold
+#   Auto cancel print when ping variation is above this threshold
 ```
 
 ### [angle]
@@ -4341,20 +4663,20 @@ SPI bus.
 The following parameters are generally available for devices using an
 I2C bus.
 
-Note that Klipper's current micro-controller support for i2c is
-generally not tolerant to line noise. Unexpected errors on the i2c
+Note that Klipper's current micro-controller support for I2C is
+generally not tolerant to line noise. Unexpected errors on the I2C
 wires may result in Klipper raising a run-time error. Klipper's
 support for error recovery varies between each micro-controller type.
-It is generally recommended to only use i2c devices that are on the
+It is generally recommended to only use I2C devices that are on the
 same printed circuit board as the micro-controller.
 
 Most Klipper micro-controller implementations only support an
-`i2c_speed` of 100000. The Klipper "linux" micro-controller supports a
-400000 speed, but it must be
+`i2c_speed` of 100000 (*standard mode*, 100kbit/s). The Klipper "Linux"
+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 supports 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.
 
 ```
@@ -4368,9 +4690,16 @@ and the `i2c_speed` parameter is otherwise ignored. The Klipper
 #   If the micro-controller supports multiple I2C busses then one may
 #   specify the micro-controller bus name here. The default depends on
 #   the type of micro-controller.
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#   Specify these parameters to use micro-controller software based
+#   I2C "bit-banging" support. The two parameters should the two pins
+#   on the micro-controller to use for the scl and sda wires. The
+#   default is to use hardware based I2C support as specified by the
+#   i2c_bus parameter.
 #i2c_speed:
 #   The I2C speed (in Hz) to use when communicating with the device.
 #   The Klipper implementation on most micro-controllers is hard-coded
 #   to 100000 and changing this value has no effect. The default is
-#   100000.
+#   100000. Linux, RP2040 and ATmega support 400000.
 ```

docs/Config_checks.md

@@ -15,10 +15,7 @@ config file is successfully loaded.
 ## Verify temperature
 
 Start by verifying that temperatures are being properly reported.
-Navigate to the Octoprint temperature tab.
-
-![octoprint-temperature](img/octoprint-temperature.png)
-
+Navigate to the temperature graph section in the user interface.
 Verify that the temperature of the nozzle and bed (if applicable) are
 present and not increasing. If it is increasing, remove power from the
 printer. If the temperatures are not accurate, review the
@@ -26,28 +23,25 @@ printer. If the temperatures are not accurate, review the
 
 ## Verify M112
 
-Navigate to the Octoprint terminal tab and issue an M112 command in
-the terminal box. This command requests Klipper to go into a
-"shutdown" state. It will cause Octoprint to disconnect from Klipper -
-navigate to the Connection area and click on "Connect" to cause
-Octoprint to reconnect. Then navigate to the Octoprint temperature tab
-and verify that temperatures continue to update and the temperatures
-are not increasing. If temperatures are increasing, remove power from
-the printer.
-
-The M112 command causes Klipper to go into a "shutdown" state. To
-clear this state, issue a FIRMWARE_RESTART command in the Octoprint
-terminal tab.
+Navigate to the command console and issue an M112
+command in the terminal box. This command requests Klipper to go into a
+"shutdown" state. It will cause an error to show,
+which can be cleared with a FIRMWARE_RESTART command in the
+command console. Octoprint will also require a reconnect. Then navigate
+to the temperature graph section and verify that temperatures continue
+to update and the temperatures are not increasing.
+If temperatures are increasing, remove power from the printer.
 
 ## Verify heaters
 
-Navigate to the Octoprint temperature tab and type in 50 followed by
-enter in the "Tool" temperature box. The extruder temperature in the
-graph should start to increase (within about 30 seconds or so). Then
-go to the "Tool" temperature drop-down box and select "Off". After
-several minutes the temperature should start to return to its initial
-room temperature value. If the temperature does not increase then
-verify the "heater_pin" setting in the config.
+Navigate to the temperature graph section and type in 50 followed by
+enter in the extruder/tool temperature box.
+The extruder temperature in the graph should start to increase
+(within about 30 seconds or so). Then go to the extruder temperature
+drop-down box and select "Off". After several minutes the temperature
+should start to return to its initial room temperature value. If the
+temperature does not increase then verify the "heater_pin" setting
+in the config.
 
 If the printer has a heated bed then perform the above test again with
 the bed.
@@ -60,21 +54,20 @@ the motors. If any of the axes still can not move freely, then verify
 the stepper "enable_pin" configuration for the given axis. On most
 commodity stepper motor drivers, the motor enable pin is "active low"
 and therefore the enable pin should have a "!" before the pin (for
-example, "enable_pin: !ar38").
+example, "enable_pin: !PA1").
 
 ## Verify endstops
 
 Manually move all the printer axes so that none of them are in contact
-with an endstop. Send a QUERY_ENDSTOPS command via the Octoprint
-terminal tab. It should respond with the current state of all of the
-configured endstops and they should all report a state of "open". For
-each of the endstops, rerun the QUERY_ENDSTOPS command while manually
-triggering the endstop. The QUERY_ENDSTOPS command should report the
-endstop as "TRIGGERED".
+with an endstop. Send a QUERY_ENDSTOPS command via the command console.
+It should respond with the current state of all of the configured endstops
+and they should all report a state of "open". For each of the endstops,
+rerun the QUERY_ENDSTOPS command while manually triggering the endstop.
+The QUERY_ENDSTOPS command should report the endstop as "TRIGGERED".
 
 If the endstop appears inverted (it reports "open" when triggered and
 vice-versa) then add a "!" to the pin definition (for example,
-"endstop_pin: ^!ar3"), or remove the "!" if there is already one
+"endstop_pin: ^!PA2"), or remove the "!" if there is already one
 present.
 
 If the endstop does not change at all then it generally indicates that
@@ -87,12 +80,13 @@ resistor and the '^' should be present).
 
 Use the STEPPER_BUZZ command to verify the connectivity of each
 stepper motor. Start by manually positioning the given axis to a
-midway point and then run `STEPPER_BUZZ STEPPER=stepper_x`. The
-STEPPER_BUZZ command will cause the given stepper to move one
-millimeter in a positive direction and then it will return to its
-starting position. (If the endstop is defined at position_endstop=0
-then at the start of each movement the stepper will move away from the
-endstop.) It will perform this oscillation ten times.
+midway point and then run `STEPPER_BUZZ STEPPER=stepper_x` in the
+command console. The STEPPER_BUZZ command will cause the given
+stepper to move one millimeter in a positive direction and then it
+will return to its starting position. (If the endstop is defined at
+position_endstop=0 then at the start of each movement the stepper
+will move away from the endstop.) It will perform this oscillation
+ten times.
 
 If the stepper does not move at all, then verify the "enable_pin" and
 "step_pin" settings for the stepper. If the stepper motor moves but
@@ -119,11 +113,11 @@ Rerun the endstop and stepper motor verification steps if necessary.
 ## Verify extruder motor
 
 To test the extruder motor it will be necessary to heat the extruder
-to a printing temperature. Navigate to the Octoprint temperature tab
+to a printing temperature. Navigate to the temperature graph section
 and select a target temperature from the temperature drop-down box (or
 manually enter an appropriate temperature). Wait for the printer to
-reach the desired temperature. Then navigate to the Octoprint control
-tab and click the "Extrude" button. Verify that the extruder motor
+reach the desired temperature. Then navigate to the command console and
+click the "Extrude" button. Verify that the extruder motor
 turns in the correct direction. If it does not, see the
 troubleshooting tips in the previous section to confirm the
 "enable_pin", "step_pin", and "dir_pin" settings for the extruder.
@@ -137,8 +131,8 @@ necessary to calibrate the PID settings on each printer (PID settings
 found in other firmwares or in the example configuration files often
 work poorly).
 
-To calibrate the extruder, navigate to the OctoPrint terminal tab and
-run the PID_CALIBRATE command. For example: `PID_CALIBRATE
+To calibrate the extruder, navigate to the command console
+and run the PID_CALIBRATE command. For example: `PID_CALIBRATE
 HEATER=extruder TARGET=170`
 
 At the completion of the tuning test run `SAVE_CONFIG` to update the

docs/Contact.md

@@ -2,25 +2,18 @@
 
 This document provides contact information for Klipper.
 
-1. [Community Forum](#community-forum)
-2. [Discord Chat](#discord-chat)
-3. [I have a question about Klipper](#i-have-a-question-about-klipper)
-4. [I have a feature request](#i-have-a-feature-request)
-5. [Help! It doesn't work!](#help-it-doesnt-work)
-6. [I found a bug in the Klipper software](#i-found-a-bug-in-the-klipper-software)
-7. [I am making changes that I'd like to include in Klipper](#i-am-making-changes-that-id-like-to-include-in-klipper)
-8. [Klipper github](#klipper-github)
-
-## Community Forum
+## Discourse Forum
 
 There is a
 [Klipper Community Discourse server](https://community.klipper3d.org)
-for discussions on Klipper.
+for "forum" style discussions on Klipper. Note that Discourse is not
+Discord.
 
 ## Discord Chat
 
 There is a Discord server dedicated to Klipper at:
-[https://discord.klipper3d.org](https://discord.klipper3d.org).
+[https://discord.klipper3d.org](https://discord.klipper3d.org). Note
+that Discord is not Discourse.
 
 This server is run by a community of Klipper enthusiasts dedicated to
 discussions on Klipper. It allows users to chat with other users in
@@ -33,37 +26,29 @@ Many questions we receive are already answered in the
 documentation and follow the directions provided there.
 
 It is also possible to search for similar questions in the
-[Klipper Community Forum](#community-forum).
+[Klipper Discourse Forum](#discourse-forum).
 
 If you are interested in sharing your knowledge and experience with
 other Klipper users then you can join the
-[Klipper Community Forum](#community-forum) or
+[Klipper Discourse Forum](#discourse-forum) or
 [Klipper Discord Chat](#discord-chat). Both are communities where
 Klipper users can discuss Klipper with other users.
 
-Many questions we receive are general 3d-printing questions that are
-not specific to Klipper. If you have a general question or are
-experiencing general printing problems, then you will likely get a
-better response by asking in a general 3d-printing forum or a forum
-dedicated to your printer hardware.
+If you have a general question or are experiencing general printing
+problems, then also consider a general 3d-printing forum or a forum
+dedicated to the printer hardware.
 
 ## I have a feature request
 
 All new features require someone interested and able to implement that
 feature. If you are interested in helping to implement or test a new
 feature, you can search for ongoing developments in the
-[Klipper Community Forum](#community-forum). There is also
+[Klipper Discourse Forum](#discourse-forum). There is also
 [Klipper Discord Chat](#discord-chat) for discussions between
 collaborators.
 
 ## Help! It doesn't work!
 
-Unfortunately, we receive many more requests for help than we could
-possibly answer. Most problem reports we see are eventually tracked
-down to:
-1. Subtle errors in the hardware, or
-2. Not following all the steps described in the Klipper documentation.
-
 If you are experiencing problems we recommend you carefully read the
 [Klipper documentation](Overview.md) and double check that all steps
 were followed.
@@ -72,16 +57,15 @@ If you are experiencing a printing problem, then we recommend
 carefully inspecting the printer hardware (all joints, wires, screws,
 etc.) and verify nothing is abnormal. We find most printing problems
 are not related to the Klipper software. If you do find a problem with
-the printer hardware then you will likely get a better response by
-searching in a general 3d-printing forum or in a forum dedicated to
-your printer hardware.
+the printer hardware then consider searching general 3d-printing
+forums or forums dedicated to the printer hardware.
 
 It is also possible to search for similar issues in the
-[Klipper Community Forum](#community-forum).
+[Klipper Discourse Forum](#discourse-forum).
 
 If you are interested in sharing your knowledge and experience with
 other Klipper users then you can join the
-[Klipper Community Forum](#community-forum) or
+[Klipper Discourse Forum](#discourse-forum) or
 [Klipper Discord Chat](#discord-chat). Both are communities where
 Klipper users can discuss Klipper with other users.
 
@@ -91,7 +75,7 @@ Klipper is an open-source project and we appreciate when collaborators
 diagnose errors in the software.
 
 Problems should be reported in the
-[Klipper Community Forum](#community-forum).
+[Klipper Discourse Forum](#discourse-forum).
 
 There is important information that will be needed in order to fix a
 bug. Please follow these steps:
@@ -110,23 +94,28 @@ bug. Please follow these steps:
    about the software and its environment (software version, hardware
    type, configuration, event timing, and hundreds of other
    questions).
-   1. The Klipper log file is located in `/tmp/klippy.log` on the
-      Klipper "host" computer (the Raspberry Pi).
-   2. An "scp" or "sftp" utility is needed to copy this log file to
-      your desktop computer. The "scp" utility comes standard with
-      Linux and MacOS desktops. There are freely available scp
-      utilities for other desktops (eg, WinSCP). If using a graphical
-      scp utility that can not directly copy `/tmp/klippy.log` then
-      repeatedly click on `..` or `parent folder` until you get to the
-      root directory, click on the `tmp` folder, and then select the
-      `klippy.log` file.
-   3. Copy the log file to your desktop so that it can be attached to
+   1. Dedicated Klipper web interfaces have the ability to directly
+      obtain the Klipper log file. It's the easiest way to obtain the
+      log when using one of these interfaces. Otherwise, an "scp" or
+      "sftp" utility is needed to copy the log file to your desktop
+      computer. The "scp" utility comes standard with Linux and MacOS
+      desktops. There are freely available scp utilities for other
+      desktops (eg, WinSCP). The log file may be located in the
+      `~/printer_data/logs/klippy.log` file (if using a graphical scp
+      utility, look for the "printer_data" folder, then the "logs"
+      folder under that, then the `klippy.log` file). The log file may
+      alternatively be located in the `/tmp/klippy.log` file (if using
+      a graphical scp utility that can not directly copy
+      `/tmp/klippy.log` then repeatedly click on `..` or
+      "parent folder" until reaching the root directory, click on
+      the `tmp` folder, and then select the `klippy.log` file).
+   2. Copy the log file to your desktop so that it can be attached to
       an issue report.
-   4. Do not modify the log file in any way; do not provide a snippet
+   3. Do not modify the log file in any way; do not provide a snippet
       of the log. Only the full unmodified log file provides the
       necessary information.
-   5. It is a good idea to compress the log file with zip or gzip.
-5. Open a new topic on the [Klipper Community Forum](#community-forum)
+   4. It is a good idea to compress the log file with zip or gzip.
+5. Open a new topic on the [Klipper Discourse Forum](#discourse-forum)
    and provide a clear description of the problem. Other Klipper
    contributors will need to understand what steps were taken, what
    the desired outcome was, and what outcome actually occurred. The
@@ -136,22 +125,10 @@ bug. Please follow these steps:
 
 Klipper is open-source software and we appreciate new contributions.
 
-New contributions (for both code and documentation) are submitted via
-Github Pull Requests. See the [CONTRIBUTING document](CONTRIBUTING.md)
-for important information.
+See the [CONTRIBUTING document](CONTRIBUTING.md) for information.
 
 There are several
 [documents for developers](Overview.md#developer-documentation). If
 you have questions on the code then you can also ask in the
-[Klipper Community Forum](#community-forum) or on the
-[Klipper Community Discord](#discord-chat).
-
-## Klipper github
-
-Klipper github may be used by contributors to share the status of
-their work to improve Klipper. It is expected that the person opening
-a github ticket is actively working on the given task and will be the
-one performing all the work necessary to accomplish it. The Klipper
-github is not used for requests, nor to report bugs, nor to ask
-questions. Use the [Klipper Community Forum](#community-forum) or the
-[Klipper Community Discord](#discord-chat) instead.
+[Klipper Discourse Forum](#discourse-forum) or on the
+[Klipper Discord Chat](#discord-chat).

docs/Debugging.md

@@ -216,7 +216,7 @@ after the above compilation:
 ```
 ls ./build/pysimulavr/_pysimulavr.*.so
 ```
-This commmand should report a specific file (e.g.
+This command should report a specific file (e.g.
 **./build/pysimulavr/_pysimulavr.cpython-39-x86_64-linux-gnu.so**) and
 not an error.
 

docs/Features.md

@@ -15,7 +15,7 @@ Klipper has several compelling features:
   movement provides quieter and more stable printer operation.
 
 * Best in class performance. Klipper is able to achieve high stepping
-  rates on both new and old micro-controllers. Even old 8bit
+  rates on both new and old micro-controllers. Even old 8-bit
   micro-controllers can obtain rates over 175K steps per second. On
   more recent micro-controllers, several million steps per second are
   possible. Higher stepper rates enable higher print velocities. The
@@ -60,7 +60,7 @@ Klipper has several compelling features:
   if it is unable to). This makes it easier to use available hardware,
   to upgrade to new hardware, and to have confidence in the hardware.
 
-* Portable code. Klipper works on ARM, AVR, and PRU based
+* Portable code. Klipper works on ARM, AVR, PRU, and other
   micro-controllers. Existing "reprap" style printers can run Klipper
   without hardware modification - just add a Raspberry Pi. Klipper's
   internal code layout makes it easier to support other
@@ -105,7 +105,8 @@ Klipper supports many standard 3d printer features:
   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.
+  including BL-Touch probes and servo activated probes. Probes may be
+  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
@@ -117,10 +118,11 @@ 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, 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 Raspberry Pi.
+  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
+  Raspberry Pi.
 
 * Basic thermal heater protection enabled by default.
 
@@ -129,9 +131,9 @@ Klipper supports many standard 3d printer features:
   speed can be monitored on fans that have a tachometer.
 
 * Support for run-time configuration of TMC2130, TMC2208/TMC2224,
-  TMC2209, TMC2660, and TMC5160 stepper motor drivers. There is also
-  support for current control of traditional stepper drivers via
-  AD5206, DAC084S085, MCP4451, MCP4728, MCP4018, and PWM pins.
+  TMC2209, TMC2240, TMC2660, and TMC5160 stepper motor drivers. There
+  is also support for current control of traditional stepper drivers
+  via AD5206, DAC084S085, MCP4451, MCP4728, MCP4018, and PWM pins.
 
 * Support for common LCD displays attached directly to the printer. A
   default menu is also available. The contents of the display and menu
@@ -151,8 +153,8 @@ Klipper supports many standard 3d printer features:
 * Support for filament presence sensors, filament motion sensors, and
   filament width sensors.
 
-* Support for measuring and recording acceleration using an adxl345,
-  mpu9250, and mpu6050 accelerometers.
+* Support for measuring and recording acceleration using adxl345,
+  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)
@@ -185,6 +187,7 @@ represent total number of steps per second on the micro-controller.
 | RP2040                          | 2400K             | 1636K             |
 | SAM4E8E                         | 2500K             | 1674K             |
 | SAMD51                          | 3077K             | 1885K             |
+| AR100                           | 3529K             | 2507K             |
 | STM32F407                       | 3652K             | 2459K             |
 | STM32F446                       | 3913K             | 2634K             |
 | STM32H743                       | 9091K             | 6061K             |

docs/G-Codes.md

@@ -146,14 +146,15 @@ The following commands are available when the
 (also see the [bed mesh guide](Bed_Mesh.md)).
 
 #### BED_MESH_CALIBRATE
-`BED_MESH_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]
-[<mesh_parameter>=<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. 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 while this tool is active.
+`BED_MESH_CALIBRATE [METHOD=manual] [HORIZONTAL_MOVE_Z=<value>]
+[<probe_parameter>=<value>] [<mesh_parameter>=<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.
+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
+while this tool is active. The optional `HORIZONTAL_MOVE_Z` value overrides the
+`horizontal_move_z` option specified in the config file.
 
 #### BED_MESH_OUTPUT
 `BED_MESH_OUTPUT PGP=[<0:1>]`: This command outputs the current probed
@@ -207,13 +208,14 @@ The following commands are available when the
 [bed_tilt config section](Config_Reference.md#bed_tilt) is enabled.
 
 #### BED_TILT_CALIBRATE
-`BED_TILT_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
-command will probe the points specified in the config and then
-recommend updated x and y tilt adjustments. 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 while this tool is active.
+`BED_TILT_CALIBRATE [METHOD=manual] [HORIZONTAL_MOVE_Z=<value>]
+[<probe_parameter>=<value>]`: This command will probe the points specified in
+the config and then recommend updated x and y tilt adjustments. 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 while this tool
+is active. The optional `HORIZONTAL_MOVE_Z` value overrides the
+`horizontal_move_z` option specified in the config file.
 
 ### [bltouch]
 
@@ -262,13 +264,14 @@ The following commands are available when the
 is enabled (also see the [delta calibrate guide](Delta_Calibrate.md)).
 
 #### DELTA_CALIBRATE
-`DELTA_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
-command will probe seven points on the bed and recommend updated
-endstop positions, tower angles, and radius. 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 while this tool is active.
+`DELTA_CALIBRATE [METHOD=manual] [HORIZONTAL_MOVE_Z=<value>]
+[<probe_parameter>=<value>]`: This command will probe seven points on the bed
+and recommend updated endstop positions, tower angles, and radius. 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 while this tool
+is active. The optional `HORIZONTAL_MOVE_Z` value overrides the
+`horizontal_move_z` option specified in the config file.
 
 #### DELTA_ANALYZE
 `DELTA_ANALYZE`: This command is used during enhanced delta
@@ -307,9 +310,33 @@ The following command is available when the
 enabled.
 
 #### SET_DUAL_CARRIAGE
-`SET_DUAL_CARRIAGE CARRIAGE=[0|1]`: This command will set the active
-carriage. It is typically invoked from the activate_gcode and
-deactivate_gcode fields in a multiple extruder configuration.
+`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`. 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
+of the dual carriages and their modes. Saving and restoring DUAL_CARRIAGE
+state can be useful in scripts and macros, as well as in homing routine
+overrides. If NAME is provided it allows one to name the saved state
+to the given string. If NAME is not provided it defaults to "default".
+
+#### RESTORE_DUAL_CARRIAGE_STATE
+`RESTORE_DUAL_CARRIAGE_STATE [NAME=<state_name>] [MOVE=[0|1] [MOVE_SPEED=<speed>]]`:
+Restore the previously saved positions of the dual carriages and their modes,
+unless "MOVE=0" is specified, in which case only the saved modes will be
+restored, but not the positions of the carriages. If positions are being
+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 carraige.
 
 ### [endstop_phase]
 
@@ -549,8 +576,9 @@ clears any error state from the micro-controller.
 The following standard G-Code commands are available if a
 [gcode_arcs config section](Config_Reference.md#gcode_arcs) is
 enabled:
-- Controlled Arc Move (G2 or G3): `G2 [X<pos>] [Y<pos>] [Z<pos>]
-  [E<pos>] [F<speed>] I<value> J<value>`
+- Arc Move Clockwise (G2), Arc Move Counter-clockwise (G3): `G2|G3 [X<pos>] [Y<pos>] [Z<pos>]
+  [E<pos>] [F<speed>] I<value> J<value>|I<value> K<value>|J<value> K<value>`
+- Arc Plane Select: G17 (XY plane), G18 (XZ plane), G19 (YZ plane)
 
 ### [gcode_macro]
 
@@ -810,9 +838,17 @@ The following command is available when an
 enabled.
 
 #### SET_PIN
-`SET_PIN PIN=config_name VALUE=<value> CYCLE_TIME=<cycle_time>`:
-Note - hardware PWM does not currently support the CYCLE_TIME
-parameter and will use the cycle time defined in the config.
+`SET_PIN PIN=config_name VALUE=<value> [CYCLE_TIME=<cycle_time>]`: Set
+the pin to the given 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.
+
+Some pins (currently only "soft PWM" pins) support setting an explicit
+cycle time using the CYCLE_TIME parameter (specified in seconds). Note
+that the 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 output_pin config section).
 
 ### [palette2]
 
@@ -1006,7 +1042,7 @@ 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>] [HZ_PER_SEC=<hz_per_sec>]
+[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
@@ -1020,7 +1056,9 @@ frequency responses and the different input shapers values are written
 to a CSV file(s) `/tmp/calibration_data_<axis>_<name>.csv`. Unless
 specified, NAME defaults to the current time in "YYYYMMDD_HHMMSS"
 format. Note that the suggested input shaper parameters can be
-persisted in the config by issuing `SAVE_CONFIG` command.
+persisted in the config by issuing `SAVE_CONFIG` command, and if
+`[input_shaper]` was already enabled previously, these parameters
+take effect immediately.
 
 ### [respond]
 
@@ -1069,16 +1107,17 @@ is enabled (also see the
 
 #### SCREWS_TILT_CALCULATE
 `SCREWS_TILT_CALCULATE [DIRECTION=CW|CCW] [MAX_DEVIATION=<value>]
-[<probe_parameter>=<value>]`: This command will invoke the bed screws
-adjustment tool. It will command the nozzle to different locations (as
-defined in the config file) probing the z height and calculate the
-number of knob turns to adjust the bed level. If DIRECTION is
-specified, the knob turns will all be in the same direction, clockwise
-(CW) or counterclockwise (CCW). See the PROBE command for details on
-the optional probe parameters. IMPORTANT: You MUST always do a G28
-before using this command. If MAX_DEVIATION is specified, the command
-will raise a gcode error if any difference in the screw height
-relative to the base screw height is greater than the value provided.
+[HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This command will
+invoke the bed screws adjustment tool. It will command the nozzle to different
+locations (as defined in the config file) probing the z height and calculate
+the number of knob turns to adjust the bed level. If DIRECTION is specified,
+the knob turns will all be in the same direction, clockwise (CW) or
+counterclockwise (CCW). See the PROBE command for details on the optional probe
+parameters. IMPORTANT: You MUST always do a G28 before using this command. If
+MAX_DEVIATION is specified, the command will raise a gcode error if any
+difference in the screw height relative to the base screw height is greater
+than the value provided. The optional `HORIZONTAL_MOVE_Z` value overrides the
+`horizontal_move_z` option specified in the config file.
 
 ### [sdcard_loop]
 
@@ -1206,8 +1245,9 @@ The following commands are available when any of the
 are enabled.
 
 #### DUMP_TMC
-`DUMP_TMC STEPPER=<name>`: This command will read the TMC driver
-registers and report their values.
+`DUMP_TMC STEPPER=<name> [REGISTER=<name>]`: This command will read all TMC
+driver registers and report their values. If a REGISTER is provided, only
+the specified register will be dumped.
 
 #### INIT_TMC
 `INIT_TMC STEPPER=<name>`: This command will initialize the TMC
@@ -1217,16 +1257,22 @@ turned off then back on.
 #### SET_TMC_CURRENT
 `SET_TMC_CURRENT STEPPER=<name> CURRENT=<amps> HOLDCURRENT=<amps>`:
 This will adjust the run and hold currents of the TMC driver.
-(HOLDCURRENT is not applicable to tmc2660 drivers.)
+`HOLDCURRENT` is not applicable to tmc2660 drivers.
+When used on a driver which has the `globalscaler` field (tmc5160 and tmc2240),
+if StealthChop2 is used, the stepper must be held at standstill for >130ms so
+that the driver executes the AT#1 calibration.
 
 #### SET_TMC_FIELD
-`SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>`: This will
-alter the value of the specified register field of the TMC driver.
+`SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value> VELOCITY=<value>`:
+This will alter the value of the specified register field of the TMC driver.
 This command is intended for low-level diagnostics and debugging only
 because changing the fields during run-time can lead to undesired and
 potentially dangerous behavior of your printer. Permanent changes
 should be made using the printer configuration file instead. No sanity
 checks are performed for the given values.
+A VELOCITY can also be specified instead of a VALUE. This velocity is
+converted to the 20bit TSTEP based value representation. Only use the VELOCITY
+argument for fields that represent velocities.
 
 ### [toolhead]
 
@@ -1293,6 +1339,17 @@ print.
 #### SDCARD_RESET_FILE
 `SDCARD_RESET_FILE`: Unload file and clear SD state.
 
+### [axis_twist_compensation]
+
+The following commands are available when the
+[axis_twist_compensation config
+section](Config_Reference.md#axis_twist_compensation) is enabled.
+
+#### AXIS_TWIST_COMPENSATION_CALIBRATE
+`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.
+
 ### [z_thermal_adjust]
 
 The following commands are available when the
@@ -1317,7 +1374,8 @@ The following commands are available when the
 [z_tilt config section](Config_Reference.md#z_tilt) is enabled.
 
 #### Z_TILT_ADJUST
-`Z_TILT_ADJUST [<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.
+`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.

docs/Hall_Filament_Width_Sensor.md

@@ -2,7 +2,7 @@
 
 This document describes Filament Width Sensor host module. Hardware used for
 developing this host module is based on two Hall linear sensors (ss49e for
-example). Sensors in the body are located opposite sides. Principle of operation:
+example). Sensors in the body are located on opposite sides. Principle of operation:
 two hall sensors work in differential mode, temperature drift same for sensor.
 Special temperature compensation not needed.
 
@@ -18,9 +18,9 @@ To use Hall filament width sensor, read
 
 Sensor generates two analog output based on calculated filament width. Sum of
 output voltage always equals to detected filament width. Host module monitors
-voltage changes and adjusts extrusion multiplier. I use aux2 connector on
-ramps-like board analog11 and analog12 pins. You can use different pins and
-differenr boards.
+voltage changes and adjusts extrusion multiplier. I use the aux2 connector on
+a ramps-like board with the analog11 and analog12 pins. You can use different pins
+and different boards.
 
 ## Template for menu variables
 

docs/Measuring_Resonances.md

@@ -1,35 +1,60 @@
 # Measuring Resonances
 
-Klipper has built-in support for ADXL345 accelerometer, 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 ADXL345 requires some soldering and crimping. ADXL345 can be
-connected to a Raspberry Pi directly, or to an SPI interface of an MCU
-board (it needs to be reasonably fast).
+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/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.
 
-When sourcing ADXL345, be aware that there is a variety of different PCB
-board designs and different clones of them. Make sure that the board supports
-SPI mode (small number of boards appear to be hard-configured for I2C by
-pulling SDO to GND), and, if it is going to be connected to a 5V printer MCU,
-that it has a voltage regulator and a level shifter.
+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/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-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
+
+| MCU Family | MCU(s) Tested | MCU(s) with Support |
+|:--:|:--|:--|
+| Raspberry Pi | 3B+, Pico | 3A, 3A+, 3B, 4 |
+| AVR ATmega | ATmega328p | ATmega32u4, ATmega128, ATmega168, ATmega328, ATmega644p, ATmega1280, ATmega1284, ATmega2560 |
+| AVR AT90 | - | AT90usb646, AT90usb1286 |
 
 ## Installation instructions
 
 ### Wiring
 
 An ethernet cable with shielded twisted pairs (cat5e or better) is recommended
-for signal integrety over a long distance. If you still experience signal integrity
-issues (SPI/I2C errors), shorten the cable.
+for signal integrity over a long distance. If you still experience signal
+integrity issues (SPI/I2C errors):
 
-Connect ethernet cable shielding to the controller board/RPI ground.
+- Double check the wiring with a digital multimeter for:
+  - Correct connections when turned off (continuity)
+  - Correct power and ground voltages
+- I2C only:
+  - Check the SCL and SDA lines' resistances to 3.3V are in the range of 900
+    ohms to 1.8K
+  - For full technical details consult [chapter 7 of the I2C-bus specification
+    and user manual UM10204](https://www.pololu.com/file/0J435/UM10204.pdf)
+    for *fast-mode*
+- Shorten the cable
+
+Connect ethernet cable shielding only to the MCU board/Pi ground.
 
 ***Double-check your wiring before powering up to prevent
 damaging your MCU/Raspberry Pi or the accelerometer.***
 
-#### SPI Accelerometers
+### SPI Accelerometers
 
-Suggested twisted pair order:
+Suggested twisted pair order for three twisted pairs:
 
 ```
 GND+MISO
@@ -37,11 +62,15 @@ GND+MISO
 SCLK+CS
 ```
 
-##### ADXL345
+Note that unlike a cable shield, GND must be connected at both ends.
 
+#### ADXL345
 
-**Note: Many MCUs will work with an ADXL345 in SPI mode(eg Pi Pico), wiring and
-configuration will vary according to your specific board and avaliable pins.**
+##### Direct to Raspberry Pi
+
+**Note: Many MCUs will work with an ADXL345 in SPI mode (e.g. Pi Pico), wiring
+and configuration will vary according to your specific board and available
+pins.**
 
 You need to connect ADXL345 to your Raspberry Pi via SPI. Note that the I2C
 connection, which is suggested by ADXL345 documentation, has too low throughput
@@ -49,7 +78,7 @@ and **will not work**. The recommended connection scheme:
 
 | ADXL345 pin | RPi pin | RPi pin name |
 |:--:|:--:|:--:|
-| 3V3 (or VCC) | 01 | 3.3v DC power |
+| 3V3 (or VCC) | 01 | 3.3V DC power |
 | GND | 06 | Ground |
 | CS | 24 | GPIO08 (SPI0_CE0_N) |
 | SDO | 21 | GPIO09 (SPI0_MISO) |
@@ -60,20 +89,56 @@ Fritzing wiring diagrams for some of the ADXL345 boards:
 
 ![ADXL345-Rpi](img/adxl345-fritzing.png)
 
-#### I2C Accelerometers
+##### Using Raspberry Pi Pico
 
-Suggested twisted pair order:
+You may connect the ADXL345 to your Raspberry Pi Pico and then connect the
+Pico to your Raspberry Pi via USB. This makes it easy to reuse the
+accelerometer on other Klipper devices, as you can connect via USB instead
+of GPIO. The Pico does not have much processing power, so make sure it is
+only running the accelerometer and not performing any other duties.
+
+In order to avoid damage to your RPi make sure to connect the ADXL345 to 3.3V
+only. Depending on the board's layout, a level shifter may be present, which
+makes 5V dangerous for your RPi.
+
+| ADXL345 pin | Pico pin | Pico pin name |
+|:--:|:--:|:--:|
+| 3V3 (or VCC) | 36 | 3.3V DC power |
+| GND | 38 | Ground |
+| CS | 2 | GP1 (SPI0_CSn) |
+| SDO | 1 | GP0 (SPI0_RX) |
+| SDA | 5 | GP3 (SPI0_TX) |
+| SCL | 4 | GP2 (SPI0_SCK) |
+
+Wiring diagrams for some of the ADXL345 boards:
+
+![ADXL345-Pico](img/adxl345-pico.png)
+
+### I2C Accelerometers
+
+Suggested twisted pair order for three pairs (preferred):
+
+```
+3.3V+GND
+SDA+GND
+SCL+GND
+```
+
+or for two pairs:
 
 ```
 3.3V+SDA
 GND+SCL
 ```
 
-##### MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500
+Note that unlike a cable shield, any GND(s) should be connected at both ends.
 
-Alternatives to the ADXL345 are MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500.
-These accelerometers have been tested to work over I2C on the RPi or RP2040(pico)
-at 400kbaud.
+#### 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
+pull-ups, but some are too large at 10K and must be changed or supplemented by
+smaller parallel resistors.
 
 Recommended connection scheme for I2C on the Raspberry Pi:
 
@@ -84,18 +149,34 @@ Recommended connection scheme for I2C on the Raspberry Pi:
 | SDA | 03 | GPIO02 (SDA1) |
 | SCL | 05 | GPIO03 (SCL1) |
 
-![MPU-9250 connected to RPI](img/mpu9250-PI-fritzing.png)
+The RPi has buit-in 1.8K pull-ups on both SCL and SDA.
 
-Recommended connection scheme for I2C(i2c0a) on the RP2040:
+![MPU-9250 connected to Pi](img/mpu9250-PI-fritzing.png)
 
-| MPU-9250 pin | RP2040 pin | RPi pin name |
+Recommended connection scheme for I2C (i2c0a) on the RP2040:
+
+| MPU-9250 pin | RP2040 pin | RP2040 pin name |
 |:--:|:--:|:--:|
-| VCC | 39 | 3v3 |
+| VCC | 36 | 3v3 |
 | GND | 38 | Ground |
 | SDA | 01 | GP0 (I2C0 SDA) |
 | SCL | 02 | GP1 (I2C0 SCL) |
 
-![MPU-9250 connected to PICO](img/mpu9250-PICO-fritzing.png)
+The Pico does not include any built-in I2C pull-up resistors.
+
+![MPU-9250 connected to Pico](img/mpu9250-PICO-fritzing.png)
+
+##### Recommended connection scheme for I2C(TWI) on the AVR ATmega328P Arduino Nano:
+
+| MPU-9250 pin | Atmega328P TQFP32 pin | Atmega328P pin name | Arduino Nano pin |
+|:--:|:--:|:--:|:--:|
+| VCC | 39 | - | - |
+| GND | 38 | Ground | GND |
+| SDA | 27 | SDA | A4 |
+| SCL | 28 | SCL | A5 |
+
+The Arduino Nano does not include any built-in pull-up resistors nor a 3.3V
+power pin.
 
 ### Mounting the accelerometer
 
@@ -138,12 +219,13 @@ 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.
 
-Afterwards, check and follow the instructions in the
-[RPi Microcontroller document](RPi_microcontroller.md) to setup the
-"linux mcu" on the Raspberry Pi.
-
 #### Configure ADXL345 With RPi
 
+First, check and follow the instructions in the
+[RPi Microcontroller document](RPi_microcontroller.md) to setup the
+"linux mcu" on the Raspberry Pi. This will configure a second Klipper
+instance that runs on your Pi.
+
 Make sure the Linux SPI driver is enabled by running `sudo
 raspi-config` and enabling SPI under the "Interfacing options" menu.
 
@@ -164,6 +246,85 @@ probe_points:
 It is advised to start with 1 probe point, in the middle of the print bed,
 slightly above it.
 
+#### Configure ADXL345 With Pi Pico
+
+##### Flash the Pico Firmware
+
+On your Raspberry Pi, compile the firmware for the Pico.
+
+```
+cd ~/klipper
+make clean
+make menuconfig
+```
+![Pico menuconfig](img/klipper_pico_menuconfig.png)
+
+Now, while holding down the `BOOTSEL` button on the Pico, connect the Pico to
+the Raspberry Pi via USB. Compile and flash the firmware.
+```
+make flash FLASH_DEVICE=first
+```
+
+If that fails, you will be told which `FLASH_DEVICE` to use. In this example,
+that's ```make flash FLASH_DEVICE=2e8a:0003```.
+![Determine flash device](img/flash_rp2040_FLASH_DEVICE.png)
+
+##### Configure the Connection
+
+The Pico will now reboot with the new firmware and should show up as a serial
+device. Find the pico serial device with `ls /dev/serial/by-id/*`. You can
+now add an `adxl.cfg` file with the following settings:
+
+```
+[mcu adxl]
+# Change <mySerial> to whatever you found above. For example,
+# usb-Klipper_rp2040_E661640843545B2E-if00
+serial: /dev/serial/by-id/usb-Klipper_rp2040_<mySerial>
+
+[adxl345]
+cs_pin: adxl:gpio1
+spi_bus: spi0a
+axes_map: x,z,y
+
+[resonance_tester]
+accel_chip: adxl345
+probe_points:
+    # Somewhere slightly above the middle of your print bed
+    147,154, 20
+
+[output_pin power_mode] # Improve power stability
+pin: adxl:gpio23
+```
+
+If setting up the ADXL345 configuration in a separate file, as shown above,
+you'll also want to modify your `printer.cfg` file to include this:
+
+```
+[include adxl.cfg] # Comment this out when you disconnect the accelerometer
+```
+
+Restart Klipper via the `RESTART` command.
+
+#### Configure LIS2DW series
+
+```
+[mcu lis]
+# Change <mySerial> to whatever you found above. For example,
+# usb-Klipper_rp2040_E661640843545B2E-if00
+serial: /dev/serial/by-id/usb-Klipper_rp2040_<mySerial>
+
+[lis2dw]
+cs_pin: lis:gpio1
+spi_bus: spi0a
+axes_map: x,z,y
+
+[resonance_tester]
+accel_chip: lis2dw
+probe_points:
+    # Somewhere slightly above the middle of your print bed
+    147,154, 20
+```
+
 #### Configure MPU-6000/9000 series With RPi
 
 Make sure the Linux I2C driver is enabled and the baud rate is
@@ -184,18 +345,18 @@ probe_points:
     100, 100, 20  # an example
 ```
 
-#### Configure MPU-6000/9000 series With PICO
+#### Configure MPU-9520 Compatibles With Pico
 
-PICO I2C is set to 400000 on default. Simply add the following to the
+Pico I2C is set to 400000 on default. Simply add the following to the
 printer.cfg:
 
 ```
 [mcu pico]
-serial: /dev/serial/by-id/<your PICO's serial ID>
+serial: /dev/serial/by-id/<your Pico's serial ID>
 
 [mpu9250]
 i2c_mcu: pico
-i2c_bus: i2c1a
+i2c_bus: i2c0a
 
 [resonance_tester]
 accel_chip: mpu9250
@@ -203,7 +364,25 @@ probe_points:
     100, 100, 20  # an example
 
 [static_digital_output pico_3V3pwm] # Improve power stability
-pin: pico:gpio23
+pins: pico:gpio23
+```
+
+#### Configure MPU-9520 Compatibles with AVR
+
+AVR I2C will be set to 400000 by the mpu9250 option. Simply add the following
+to the printer.cfg:
+
+```
+[mcu nano]
+serial: /dev/serial/by-id/<your nano's serial ID>
+
+[mpu9250]
+i2c_mcu: nano
+
+[resonance_tester]
+accel_chip: mpu9250
+probe_points:
+    100, 100, 20  # an example
 ```
 
 Restart Klipper via the `RESTART` command.
@@ -228,12 +407,14 @@ Recv: // adxl345 values (x, y, z): 470.719200, 941.438400, 9728.196800
 ```
 
 If you get an error like `Invalid adxl345 id (got xx vs e5)`, where `xx`
-is some other ID, it is indicative of the connection problem with ADXL345,
+is some other ID, immediately try again. There's an issue with SPI
+initialization. If you still get an error, it is indicative of the connection
+problem with ADXL345,
 or the faulty sensor. Double-check the power, the wiring (that it matches
 the schematics, no wire is broken or loose, etc.), and soldering quality.
 
-**If you are using MPU-6000/9000 series accelerometer and it show up as `mpu-unknown`, use with
-caution! They are probably refurbished chips!**
+**If you are using a MPU-9250 compatible accelerometer and it shows up as
+`mpu-unknown`, use with caution! They are probably refurbished chips!**
 
 Next, try running `MEASURE_AXES_NOISE` in Octoprint, you should get some
 baseline numbers for the noise of accelerometer on the axes (should be
@@ -310,7 +491,7 @@ or you can choose some other configuration yourself based on the generated
 charts: peaks in the power spectral density on the charts correspond to
 the resonance frequencies of the printer.
 
-Note that alternatively you can run the input shaper autocalibration
+Note that alternatively you can run the input shaper auto-calibration
 from Klipper [directly](#input-shaper-auto-calibration), which can be
 convenient, for example, for the input shaper
 [re-calibration](#input-shaper-re-calibration).
@@ -322,10 +503,11 @@ of the accelerometer between the measurements for X and Y axes: measure the
 resonances of X axis with the accelerometer attached to the toolhead and the
 resonances of Y axis - to the bed (the usual bed slinger setup).
 
-However, you can also connect two accelerometers simultaneously, though they
-must be connected to different boards (say, to an RPi and printer MCU board), or
-to two different physical SPI interfaces on the same board (rarely available).
-Then they can be configured in the following manner:
+However, you can also connect two accelerometers simultaneously, though the
+ADXL345 must be connected to different boards (say, to an RPi and printer MCU
+board), or to two different physical SPI interfaces on the same board (rarely
+available). Then they can be configured in the following manner:
+
 ```
 [adxl345 hotend]
 # Assuming `hotend` chip is connected to an RPi
@@ -342,6 +524,30 @@ accel_chip_y: adxl345 bed
 probe_points: ...
 ```
 
+Two MPUs can share one I2C bus, but they **cannot** measure simultaneously as
+the 400kbit/s I2C bus is not fast enough. One must have its AD0 pin pulled-down
+to 0V (address 104) and the other its AD0 pin pulled-up to 3.3V (address 105):
+
+```
+[mpu9250 hotend]
+i2c_mcu: rpi
+i2c_bus: i2c.1
+i2c_address: 104 # This MPU has pin AD0 pulled low
+
+[mpu9250 bed]
+i2c_mcu: rpi
+i2c_bus: i2c.1
+i2c_address: 105 # This MPU has pin AD0 pulled high
+
+[resonance_tester]
+# Assuming the typical setup of the bed slinger printer
+accel_chip_x: mpu9250 hotend
+accel_chip_y: mpu9250 bed
+probe_points: ...
+```
+[Test with each MPU individually before connecting both to the bus for easy
+debugging.]
+
 Then the commands `TEST_RESONANCES AXIS=X` and `TEST_RESONANCES AXIS=Y`
 will use the correct accelerometer for each axis.
 
@@ -550,9 +756,9 @@ supplying `AXIS=` parameter, like
 SHAPER_CALIBRATE AXIS=X
 ```
 
-**Warning!** It is not advisable to run the shaper autocalibration very
+**Warning!** It is not advisable to run the shaper auto-calibration very
 frequently (e.g. before every print, or every day). In order to determine
-resonance frequencies, autocalibration creates intensive vibrations on each of
+resonance frequencies, auto-calibration creates intensive vibrations on each of
 the axes. Generally, 3D printers are not designed to withstand a prolonged
 exposure to vibrations near the resonance frequencies. Doing so may increase
 wear of the printer components and reduce their lifespan. There is also an

docs/Overview.md

@@ -35,6 +35,8 @@ communication with the Klipper developers.
     locations.
   - [Endstop phase](Endstop_Phase.md): Stepper assisted Z endstop
     positioning.
+  - [Axis Twist Compensation](Axis_Twist_Compensation.md): A tool to compensate
+    for inaccurate probe readings due to twist in X gantry.
 - [Resonance compensation](Resonance_Compensation.md): A tool to
   reduce ringing in prints.
   - [Measuring resonances](Measuring_Resonances.md): Information on
@@ -54,7 +56,7 @@ communication with the Klipper developers.
   perfectly square.
 - [PWM tools](Using_PWM_Tools.md): Guide on how to use PWM controlled
   tools such as lasers or spindles.
-- [Exclude Object](Exclude_Object.md): The guide to the Exclude Objecs
+- [Exclude Object](Exclude_Object.md): The guide to the Exclude Objects
   implementation.
 
 ## Developer Documentation
@@ -91,6 +93,9 @@ communication with the Klipper developers.
   Beaglebone PRU.
 - [Bootloaders](Bootloaders.md): Developer information on
   micro-controller flashing.
+- [Bootloader Entry](Bootloader_Entry.md): Requesting the bootloader.
 - [CAN bus](CANBUS.md): Information on using CAN bus with Klipper.
+  - [CAN bus troubleshooting](CANBUS_Troubleshooting.md): Tips for
+    troubleshooting CAN bus.
 - [TSL1401CL filament width sensor](TSL1401CL_Filament_Width_Sensor.md)
 - [Hall filament width sensor](Hall_Filament_Width_Sensor.md)

docs/Packaging.md

@@ -27,4 +27,4 @@ follows: `python2 scripts/make_version.py YOURDISTRONAME > klippy/.version`.
 ## Sample packaging script
 
 klipper-git is packaged for Arch Linux, and has a PKGBUILD (package build
-script) available at [Arch User Repositiory](https://aur.archlinux.org/cgit/aur.git/tree/PKGBUILD?h=klipper-git).
+script) available at [Arch User Repository](https://aur.archlinux.org/cgit/aur.git/tree/PKGBUILD?h=klipper-git).

docs/RPi_microcontroller.md

@@ -25,8 +25,8 @@ must run before the klippy process.
 After installing Klipper, install the script. run:
 ```
 cd ~/klipper/
-sudo cp "./scripts/klipper-mcu-start.sh" /etc/init.d/klipper_mcu
-sudo update-rc.d klipper_mcu defaults
+sudo cp ./scripts/klipper-mcu.service /etc/systemd/system/
+sudo systemctl enable klipper-mcu.service
 ```
 
 ## Building the micro-controller code
@@ -198,18 +198,28 @@ default on a Raspberry and can be activated by adding a line to
 dtoverlay=pwm,pin=12,func=4
 ```
 This example enables only PWM0 and routes it to gpio12. If both PWM
-channels need to be enabled you can use `pwm-2chan`.
+channels need to be enabled you can use `pwm-2chan`:
+```
+# Enable pwmchip sysfs interface
+dtoverlay=pwm-2chan,pin=12,func=4,pin2=13,func2=4
+```
+This example additionally enables PWM1 and routes it to gpio13.
 
 The overlay does not expose the pwm line on sysfs on boot and needs to
 be exported by echo'ing the number of the pwm channel to
-`/sys/class/pwm/pwmchip0/export`:
+`/sys/class/pwm/pwmchip0/export`. This will create device `/sys/class/pwm/pwmchip0/pwm0` in the
+filesystem. The easiest way to do this is by adding this to
+`/etc/rc.local` before the `exit 0` line:
 ```
+# Enable pwmchip sysfs interface
 echo 0 > /sys/class/pwm/pwmchip0/export
 ```
-
-This will create device `/sys/class/pwm/pwmchip0/pwm0` in the
-filesystem. The easiest way to do this is by adding this to
-`/etc/rc.local` before the `exit 0` line.
+When using both PWM channels, the number of the second channel needs to be echo'd as well:
+```
+# Enable pwmchip sysfs interface
+echo 0 > /sys/class/pwm/pwmchip0/export
+echo 1 > /sys/class/pwm/pwmchip0/export
+```
 
 With the sysfs in place, you can now use either the pwm channel(s) by
 adding the following piece of configuration to your `printer.cfg`:
@@ -219,9 +229,17 @@ pin: host:pwmchip0/pwm0
 pwm: True
 hardware_pwm: True
 cycle_time: 0.000001
+
+[output_pin beeper]
+pin: host:pwmchip0/pwm1
+pwm: True
+hardware_pwm: True
+value: 0
+shutdown_value: 0
+cycle_time: 0.0005
 ```
-This will add hardware pwm control to gpio12 on the Pi (because the
-overlay was configured to route pwm0 to pin=12).
+This will add hardware pwm control to gpio12 and gpio13 on the Pi (because the
+overlay was configured to route pwm0 to pin=12 and pwm1 to pin=13).
 
 PWM0 can be routed to gpio12 and gpio18, PWM1 can be routed to gpio13
 and gpio19:

docs/Releases.md

@@ -3,6 +3,24 @@
 History of Klipper releases. Please see
 [installation](Installation.md) for information on installing Klipper.
 
+## Klipper 0.12.0
+
+Available on 20231110. Major changes in this release:
+* Support for COPY and MIRROR modes on IDEX printers.
+* Several micro-controller improvements:
+  * Support for new ar100 and hc32f460 architectures.
+  * Support for stm32f7, stm32g0b0, stm32g07x, stm32g4, stm32h723,
+    n32g45x, samc21, and samd21j18 chip variants.
+  * Improved DFU and Katapult reboot handling.
+  * Improved performance on USB to CANbus bridge mode.
+  * Improved performance on "linux mcu".
+  * New support for software based i2c.
+* New hardware support for tmc2240 stepper motor drivers, lis2dw12
+  accelerometers, and aht10 temperature sensors.
+* New axis_twist_compensation and temperature_combined modules added.
+* New support for gcode arcs in XY, XZ, and YZ planes.
+* Several bug fixes and code cleanups.
+
 ## Klipper 0.11.0
 
 Available on 20221128. Major changes in this release:

docs/Resonance_Compensation.md

@@ -418,18 +418,34 @@ if necessary.
 
 ### Is dual carriage setup supported with input shapers?
 
-There is no dedicated support for dual carriages with input shapers, but it does
-not mean this setup will not work. One should run the tuning twice for each
-of the carriages, and calculate the ringing frequencies for X and Y axes for
-each of the carriages independently. Then put the values for carriage 0 into
-[input_shaper] section, and change the values on the fly when changing
-carriages, e.g. as a part of some macro:
-```
-SET_DUAL_CARRIAGE CARRIAGE=1
-SET_INPUT_SHAPER SHAPER_FREQ_X=... SHAPER_FREQ_Y=...
+Yes. In this case, one should measure the resonances twice for each carriage.
+For example, if the second (dual) carriage is installed on X axis, it is
+possible to set different input shapers for X axis for the primary and dual
+carriages. However, the input shaper for Y axis should be the same for both
+carriages (as ultimately this axis is driven by one or more stepper motors each
+commanded to perform exactly the same steps). One possibility to configure
+the input shaper for such setups is to keep `[input_shaper]` section empty and
+additionally define a `[delayed_gcode]` section in the `printer.cfg` as follows:
 ```
+[input_shaper]
+# Intentionally empty
 
-And similarly when switching back to carriage 0.
+[delayed_gcode init_shaper]
+initial_duration: 0.1
+gcode:
+  SET_DUAL_CARRIAGE CARRIAGE=1
+  SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_shaper> SHAPER_FREQ_X=<dual_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
+  SET_DUAL_CARRIAGE CARRIAGE=0
+  SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_shaper> SHAPER_FREQ_X=<primary_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
+```
+Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` should be the same in both
+commands. It is also possible to put a similar snippet into the start g-code
+in the slicer, however then the shaper will not be enabled until any print
+is started.
+
+Note that the input shaper only needs to be configured once. Subsequent changes
+of the carriages or their modes via `SET_DUAL_CARRIAGE` command will preserve
+the configured input shaper parameters.
 
 ### Does input_shaper affect print time?
 

docs/SDCard_Updates.md

@@ -127,13 +127,13 @@ BOARD_DEFS = {
 ```
 
 The following fields may be specified:
-- `mcu`: The mcu type.  This can be retrevied after configuring the build
+- `mcu`: The mcu type.  This can be retrieved after configuring the build
   via `make menuconfig` by running `cat .config | grep CONFIG_MCU`.  This
   field is required.
-- `spi_bus`:  The SPI bus connected to the SD Card.  This should be retreived
+- `spi_bus`:  The SPI bus connected to the SD Card.  This should be retrieved
   from the board's schematic.  This field is required.
 - `cs_pin`: The Chip Select Pin connected to the SD Card.  This should be
-  retreived from the board schematic.  This field is required.
+  retrieved from the board schematic.  This field is required.
 - `firmware_path`: The path on the SD Card where firmware should be
   transferred.  The default is `firmware.bin`.
 - `current_firmware_path`: The path on the SD Card where the renamed firmware
@@ -170,7 +170,7 @@ BOARD_ALIASES = {
 
 If you need a new board definition and you are uncomfortable with the
 procedure outlined above it is recommended that you request one in
-the [Klipper Community Discord](Contact.md#discord).
+the [Klipper Discord](Contact.md).
 
 ## Flashing Boards that use SDIO
 

docs/Slicers.md

@@ -87,3 +87,39 @@ Klipper's maximum extrusion cross-section check.
 
 In contrast, it is okay (and often helpful) to use a slicer's
 "retract" setting, "wipe" setting, and/or "wipe on retract" setting.
+
+## START_PRINT macros
+
+When using a START_PRINT macro or similar, it is useful to sometimes
+pass through parameters from the slicer variables to the macro.
+
+In Cura, to pass through temperatures, the following start gcode
+would be used:
+
+```
+START_PRINT BED_TEMP={material_bed_temperature_layer_0} EXTRUDER_TEMP={material_print_temperature_layer_0}
+```
+
+In slic3r derivatives such as PrusaSlicer and SuperSlicer, the
+following would be used:
+
+```
+START_PRINT EXTRUDER_TEMP=[first_layer_temperature] BED_TEMP=[first_layer_bed_temperature]
+```
+
+Also note that these slicers will insert their own heating codes when
+certain conditions are not met. In Cura, the existence of the
+`{material_bed_temperature_layer_0}` and `{material_print_temperature_layer_0}`
+variables is enough to mitigate this. In slic3r derivatives,
+you would use:
+
+```
+M140 S0
+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 paramaters can
+be found in config/sample-macros.cfg

docs/Sponsors.md

@@ -6,7 +6,7 @@ sponsors.
 
 ## BIGTREETECH
 
-[<img src="./img/sponsors/BTT_BTT.png" width="200" />](https://bigtree-tech.com/collections/all-products)
+[<img src="./img/sponsors/BTT_BTT.png" width="200" style="margin:25px"/>](https://bigtree-tech.com/collections/all-products)
 
 BIGTREETECH is the official mainboard sponsor of Klipper. BIGTREETECH
 is committed to developing innovative and competitive products to
@@ -14,6 +14,11 @@ serve the 3D printing community better. Follow them on
 [Facebook](https://www.facebook.com/BIGTREETECH) or
 [Twitter](https://twitter.com/BigTreeTech).
 
+## 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
 
 ### Kevin O'Connor

docs/Status_Reference.md

@@ -126,6 +126,9 @@ The following information is available for extruder_stepper objects (as well as
 [extruder](Config_Reference.md#extruder) objects):
 - `pressure_advance`: The current [pressure advance](Pressure_Advance.md) value.
 - `smooth_time`: The current pressure advance smooth time.
+- `motion_queue`: The name of the extruder that this extruder stepper is
+  currently synchronized to.  This is reported as `None` if the extruder stepper
+  is not currently associated with an extruder.
 
 ## fan
 
@@ -165,6 +168,12 @@ The following information is available in the
   module. These settings may differ from the config file if a
   `SET_RETRACTION` command alters them.
 
+## gcode_button
+
+The following information is available in
+[gcode_button some_name](Config_Reference.md#gcode_button) objects:
+- `state`: The current button state returned as "PRESSED" or "RELEASED"
+
 ## gcode_macro
 
 The following information is available in
@@ -236,6 +245,11 @@ object is available if any heater is defined):
   temperature sensors by their full config section names,
   e.g. `["extruder", "heater_bed", "heater_generic my_custom_heater",
   "temperature_sensor electronics_temp"]`.
+- `available_monitors`: Returns a list of all currently available
+  temperature monitors by their full config section names,
+  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.
 
 ## idle_timeout
 
@@ -343,6 +357,7 @@ The following information is available in the
 [probe](Config_Reference.md#probe) object (this object is also
 available if a [bltouch](Config_Reference.md#bltouch) config section
 is defined):
+- `name`: Returns the name of the probe in use.
 - `last_query`: Returns True if the probe was reported as "triggered"
   during the last QUERY_PROBE command. Note, if this is used in a
   macro, due to the order of template expansion, the QUERY_PROBE
@@ -369,6 +384,27 @@ The following information is available in the `query_endstops` object
   the QUERY_ENDSTOP command must be run prior to the macro containing
   this reference.
 
+## screws_tilt_adjust
+
+The following information is available in the `screws_tilt_adjust`
+object:
+- `error`: Returns True if the most recent `SCREWS_TILT_CALCULATE`
+  command included the `MAX_DEVIATION` parameter and any of the probed
+  screw points exceeded the specified `MAX_DEVIATION`.
+- `max_deviation`: Return the last `MAX_DEVIATION` value of the most
+  recent `SCREWS_TILT_CALCULATE` command.
+- `results["<screw>"]`: A dictionary containing the following keys:
+  - `z`: The measured Z height of the screw location.
+  - `sign`: A string specifying the direction to turn to screw for the
+    necessary adjustment. Either "CW" for clockwise or "CCW" for
+    counterclockwise.
+  - `adjust`: The number of screw turns to adjust the screw, given in
+    the format "HH:MM," where "HH" is the number of full screw turns
+    and "MM" is the number of "minutes of a clock face" representing
+    a partial screw turn. (E.g. "01:15" would mean to turn the screw
+    one and a quarter revolutions.)
+  - `is_base`: Returns True if this is the base screw.
+
 ## servo
 
 The following information is available in
@@ -376,6 +412,12 @@ 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.
 
+## stepper_enable
+
+The following information is available in the `stepper_enable` object (this
+object is available if any stepper is defined):
+- `steppers["<stepper>"]`: Returns True if the given stepper is enabled.
+
 ## system_stats
 
 The following information is available in the `system_stats` object
@@ -390,8 +432,9 @@ The following information is available in
 [bme280 config_section_name](Config_Reference.md#bmp280bme280bme680-temperature-sensor),
 [htu21d config_section_name](Config_Reference.md#htu21d-sensor),
 [lm75 config_section_name](Config_Reference.md#lm75-temperature-sensor),
-and
 [temperature_host config_section_name](Config_Reference.md#host-temperature-sensor)
+and
+[temperature_combined config_section_name](Config_Reference.md#combined-temperature-sensor)
 objects:
 - `temperature`: The last read temperature from the sensor.
 - `humidity`, `pressure`, `gas`: The last read values from the sensor
@@ -429,6 +472,9 @@ objects (eg, `[tmc2208 stepper_x]`):
 - `drv_status`: The results of the last driver status query. (Only
   non-zero fields are reported.) This field will be null if the driver
   is not enabled (and thus is not periodically queried).
+- `temperature`: The internal temperature reported by the driver. This
+  field will be null if the driver is not enabled or if the driver
+  does not support temperature reporting.
 - `run_current`: The currently set run current.
 - `hold_current`: The currently set hold current.
 
@@ -463,10 +509,11 @@ The following information is available in the `toolhead` object
 
 The following information is available in
 [dual_carriage](Config_Reference.md#dual_carriage)
-on a hybrid_corexy or hybrid_corexz robot
-- `mode`: The current mode. Possible values are: "FULL_CONTROL"
-- `active_carriage`: The current active carriage.
-Possible values are: "CARRIAGE_0", "CARRIAGE_1"
+on a cartesian, hybrid_corexy or hybrid_corexz robot
+- `carriage_0`: The mode of the carriage 0. Possible values are:
+  "INACTIVE" and "PRIMARY".
+- `carriage_1`: The mode of the carriage 1. Possible values are:
+  "INACTIVE", "PRIMARY", "COPY", and "MIRROR".
 
 ## virtual_sdcard
 

docs/TMC_Drivers.md

@@ -544,7 +544,7 @@ hot. Typical solutions are to decrease the stepper motor current,
 increase cooling on the stepper motor driver, and/or increase cooling
 on the stepper motor.
 
-#### TMC reports error: `... ShortToGND` OR `LowSideShort`
+#### TMC reports error: `... ShortToGND` OR `ShortToSupply`
 
 This indicates the driver has disabled itself because it detected very
 high current passing through the driver. This may indicate a loose or

docs/_klipper3d/mkdocs.yml

@@ -101,6 +101,7 @@ nav:
       - Manual_Level.md
       - Bed_Mesh.md
       - Endstop_Phase.md
+      - Axis_Twist_Compensation.md
     - Resonance Compensation:
       - Resonance_Compensation.md
       - Measuring_Resonances.md
@@ -132,7 +133,9 @@ nav:
     - RPi_microcontroller.md
     - Beaglebone.md
     - Bootloaders.md
+    - Bootloader_Entry.md
     - CANBUS.md
+    - CANBUS_Troubleshooting.md
     - TSL1401CL_Filament_Width_Sensor.md
     - Hall_Filament_Width_Sensor.md
   - Sponsors.md

klippy/chelper/__init__.py

@@ -21,7 +21,7 @@ SOURCE_FILES = [
     '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_extruder.c', 'kin_shaper.c', 'kin_idex.c',
 ]
 DEST_LIB = "c_helper.so"
 OTHER_FILES = [
@@ -85,13 +85,13 @@ defs_trapq = """
         double x_r, y_r, z_r;
     };
 
+    struct trapq *trapq_alloc(void);
+    void trapq_free(struct trapq *tq);
     void trapq_append(struct trapq *tq, double print_time
         , double accel_t, double cruise_t, double decel_t
         , double start_pos_x, double start_pos_y, double start_pos_z
         , double axes_r_x, double axes_r_y, double axes_r_z
         , double start_v, double cruise_v, double accel);
-    struct trapq *trapq_alloc(void);
-    void trapq_free(struct trapq *tq);
     void trapq_finalize_moves(struct trapq *tq, double print_time);
     void trapq_set_position(struct trapq *tq, double print_time
         , double pos_x, double pos_y, double pos_z);
@@ -101,7 +101,6 @@ defs_trapq = """
 
 defs_kin_cartesian = """
     struct stepper_kinematics *cartesian_stepper_alloc(char axis);
-    struct stepper_kinematics *cartesian_reverse_stepper_alloc(char axis);
 """
 
 defs_kin_corexy = """
@@ -144,8 +143,8 @@ defs_kin_extruder = """
 """
 
 defs_kin_shaper = """
-    double input_shaper_get_step_generation_window(int n, double a[]
-        , double t[]);
+    double input_shaper_get_step_generation_window(
+        struct stepper_kinematics *sk);
     int input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
         , int n, double a[], double t[]);
     int input_shaper_set_sk(struct stepper_kinematics *sk
@@ -153,6 +152,14 @@ defs_kin_shaper = """
     struct stepper_kinematics * input_shaper_alloc(void);
 """
 
+defs_kin_idex = """
+    void dual_carriage_set_sk(struct stepper_kinematics *sk
+        , struct stepper_kinematics *orig_sk);
+    int dual_carriage_set_transform(struct stepper_kinematics *sk
+        , char axis, double scale, double offs);
+    struct stepper_kinematics * dual_carriage_alloc(void);
+"""
+
 defs_serialqueue = """
     #define MESSAGE_MAX 64
     struct pull_queue_message {
@@ -211,7 +218,7 @@ defs_all = [
     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_extruder, defs_kin_shaper, defs_kin_idex,
 ]
 
 # Update filenames to an absolute path

klippy/chelper/kin_cartesian.c

@@ -49,42 +49,3 @@ cartesian_stepper_alloc(char axis)
     }
     return sk;
 }
-
-static double
-cart_reverse_stepper_x_calc_position(struct stepper_kinematics *sk
-                             , struct move *m, double move_time)
-{
-    return -move_get_coord(m, move_time).x;
-}
-
-static double
-cart_reverse_stepper_y_calc_position(struct stepper_kinematics *sk
-                             , struct move *m, double move_time)
-{
-    return -move_get_coord(m, move_time).y;
-}
-
-static double
-cart_reverse_stepper_z_calc_position(struct stepper_kinematics *sk
-                             , struct move *m, double move_time)
-{
-    return -move_get_coord(m, move_time).z;
-}
-
-struct stepper_kinematics * __visible
-cartesian_reverse_stepper_alloc(char axis)
-{
-    struct stepper_kinematics *sk = malloc(sizeof(*sk));
-    memset(sk, 0, sizeof(*sk));
-    if (axis == 'x') {
-        sk->calc_position_cb = cart_reverse_stepper_x_calc_position;
-        sk->active_flags = AF_X;
-    } else if (axis == 'y') {
-        sk->calc_position_cb = cart_reverse_stepper_y_calc_position;
-        sk->active_flags = AF_Y;
-    } else if (axis == 'z') {
-        sk->calc_position_cb = cart_reverse_stepper_z_calc_position;
-        sk->active_flags = AF_Z;
-    }
-    return sk;
-}

klippy/chelper/kin_idex.c

@@ -0,0 +1,81 @@
+// Idex dual carriage kinematics
+//
+// Copyright (C) 2023  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" // struct move
+
+#define DUMMY_T 500.0
+
+struct dual_carriage_stepper {
+    struct stepper_kinematics sk;
+    struct stepper_kinematics *orig_sk;
+    struct move m;
+    double x_scale, x_offs, y_scale, y_offs;
+};
+
+double
+dual_carriage_calc_position(struct stepper_kinematics *sk, struct move *m
+                            , double move_time)
+{
+    struct dual_carriage_stepper *dc = container_of(
+            sk, struct dual_carriage_stepper, sk);
+    struct coord pos = move_get_coord(m, move_time);
+    dc->m.start_pos.x = pos.x * dc->x_scale + dc->x_offs;
+    dc->m.start_pos.y = pos.y * dc->y_scale + dc->y_offs;
+    dc->m.start_pos.z = pos.z;
+    return dc->orig_sk->calc_position_cb(dc->orig_sk, &dc->m, DUMMY_T);
+}
+
+void __visible
+dual_carriage_set_sk(struct stepper_kinematics *sk
+                     , struct stepper_kinematics *orig_sk)
+{
+    struct dual_carriage_stepper *dc = container_of(
+            sk, struct dual_carriage_stepper, sk);
+    dc->sk.calc_position_cb = dual_carriage_calc_position;
+    dc->sk.active_flags = orig_sk->active_flags;
+    dc->orig_sk = orig_sk;
+}
+
+int __visible
+dual_carriage_set_transform(struct stepper_kinematics *sk, char axis
+                            , double scale, double offs)
+{
+    struct dual_carriage_stepper *dc = container_of(
+            sk, struct dual_carriage_stepper, sk);
+    if (axis == 'x') {
+        dc->x_scale = scale;
+        dc->x_offs = offs;
+        if (!scale)
+            dc->sk.active_flags &= ~AF_X;
+        else if (scale && dc->orig_sk->active_flags & AF_X)
+            dc->sk.active_flags |= AF_X;
+        return 0;
+    }
+    if (axis == 'y') {
+        dc->y_scale = scale;
+        dc->y_offs = offs;
+        if (!scale)
+            dc->sk.active_flags &= ~AF_Y;
+        else if (scale && dc->orig_sk->active_flags & AF_Y)
+            dc->sk.active_flags |= AF_Y;
+        return 0;
+    }
+    return -1;
+}
+
+struct stepper_kinematics * __visible
+dual_carriage_alloc(void)
+{
+    struct dual_carriage_stepper *dc = malloc(sizeof(*dc));
+    memset(dc, 0, sizeof(*dc));
+    dc->m.move_t = 2. * DUMMY_T;
+    return &dc->sk;
+}

klippy/chelper/kin_shaper.c

@@ -171,6 +171,9 @@ input_shaper_set_sk(struct stepper_kinematics *sk
         return -1;
     is->sk.active_flags = orig_sk->active_flags;
     is->orig_sk = orig_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;
     return 0;
 }
 
@@ -201,25 +204,20 @@ input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
     struct input_shaper *is = container_of(sk, struct input_shaper, sk);
     struct shaper_pulses *sp = axis == 'x' ? &is->sx : &is->sy;
     int status = 0;
-    if (is->orig_sk->active_flags & (axis == 'x' ? AF_X : AF_Y))
+    // Ignore input shaper update if the axis is not active
+    if (is->orig_sk->active_flags & (axis == 'x' ? AF_X : AF_Y)) {
         status = init_shaper(n, a, t, sp);
-    else
-        sp->num_pulses = 0;
-    shaper_note_generation_time(is);
+        shaper_note_generation_time(is);
+    }
     return status;
 }
 
 double __visible
-input_shaper_get_step_generation_window(int n, double a[], double t[])
+input_shaper_get_step_generation_window(struct stepper_kinematics *sk)
 {
-    struct shaper_pulses sp;
-    init_shaper(n, a, t, &sp);
-    if (!sp.num_pulses)
-        return 0.;
-    double window = -sp.pulses[0].t;
-    if (sp.pulses[sp.num_pulses-1].t > window)
-        window = sp.pulses[sp.num_pulses-1].t;
-    return window;
+    struct input_shaper *is = container_of(sk, struct input_shaper, sk);
+    return is->sk.gen_steps_pre_active > is->sk.gen_steps_post_active
+         ? is->sk.gen_steps_pre_active : is->sk.gen_steps_post_active;
 }
 
 struct stepper_kinematics * __visible

klippy/chelper/serialqueue.c

@@ -30,7 +30,7 @@
 #include "serialqueue.h" // struct queue_message
 
 struct command_queue {
-    struct list_head stalled_queue, ready_queue;
+    struct list_head upcoming_queue, ready_queue;
     struct list_node node;
 };
 
@@ -59,9 +59,10 @@ struct serialqueue {
     double srtt, rttvar, rto;
     // Pending transmission message queues
     struct list_head pending_queues;
-    int ready_bytes, stalled_bytes, need_ack_bytes, last_ack_bytes;
+    int ready_bytes, upcoming_bytes, need_ack_bytes, last_ack_bytes;
     uint64_t need_kick_clock;
     struct list_head notify_queue;
+    double last_write_fail_time;
     // Received messages
     struct list_head receive_queue;
     // Fastreader support
@@ -356,6 +357,7 @@ kick_event(struct serialqueue *sq, double eventtime)
     pollreactor_update_timer(sq->pr, SQPT_COMMAND, PR_NOW);
 }
 
+// OS write of data to be sent to the mcu
 static void
 do_write(struct serialqueue *sq, void *buf, int buflen)
 {
@@ -375,8 +377,16 @@ do_write(struct serialqueue *sq, void *buf, int buflen)
         int ret = write(sq->serial_fd, &cf, sizeof(cf));
         if (ret < 0) {
             report_errno("can write", ret);
+            double curtime = get_monotonic();
+            if (!sq->last_write_fail_time) {
+                sq->last_write_fail_time = curtime;
+            } else if (curtime > sq->last_write_fail_time + 10.0) {
+                errorf("Halting reads due to CAN write errors.");
+                pollreactor_do_exit(sq->pr);
+            }
             return;
         }
+        sq->last_write_fail_time = 0.0;
         buf += size;
         buflen -= size;
     }
@@ -457,7 +467,7 @@ build_and_send_command(struct serialqueue *sq, uint8_t *buf, int pending
         if (len + qm->len > MESSAGE_MAX - MESSAGE_TRAILER_SIZE)
             break;
         list_del(&qm->node);
-        if (list_empty(&cq->ready_queue) && list_empty(&cq->stalled_queue))
+        if (list_empty(&cq->ready_queue) && list_empty(&cq->upcoming_queue))
             list_del(&cq->node);
         memcpy(&buf[len], qm->msg, qm->len);
         len += qm->len;
@@ -522,10 +532,10 @@ check_send_command(struct serialqueue *sq, int pending, double eventtime)
     uint64_t min_stalled_clock = MAX_CLOCK, min_ready_clock = MAX_CLOCK;
     struct command_queue *cq;
     list_for_each_entry(cq, &sq->pending_queues, node) {
-        // Move messages from the stalled_queue to the ready_queue
-        while (!list_empty(&cq->stalled_queue)) {
+        // Move messages from the upcoming_queue to the ready_queue
+        while (!list_empty(&cq->upcoming_queue)) {
             struct queue_message *qm = list_first_entry(
-                &cq->stalled_queue, struct queue_message, node);
+                &cq->upcoming_queue, struct queue_message, node);
             if (ack_clock < qm->min_clock) {
                 if (qm->min_clock < min_stalled_clock)
                     min_stalled_clock = qm->min_clock;
@@ -533,7 +543,7 @@ check_send_command(struct serialqueue *sq, int pending, double eventtime)
             }
             list_del(&qm->node);
             list_add_tail(&qm->node, &cq->ready_queue);
-            sq->stalled_bytes -= qm->len;
+            sq->upcoming_bytes -= qm->len;
             sq->ready_bytes += qm->len;
         }
         // Update min_ready_clock
@@ -713,7 +723,7 @@ serialqueue_free(struct serialqueue *sq)
             &sq->pending_queues, struct command_queue, node);
         list_del(&cq->node);
         message_queue_free(&cq->ready_queue);
-        message_queue_free(&cq->stalled_queue);
+        message_queue_free(&cq->upcoming_queue);
     }
     pthread_mutex_unlock(&sq->lock);
     pollreactor_free(sq->pr);
@@ -727,7 +737,7 @@ serialqueue_alloc_commandqueue(void)
     struct command_queue *cq = malloc(sizeof(*cq));
     memset(cq, 0, sizeof(*cq));
     list_init(&cq->ready_queue);
-    list_init(&cq->stalled_queue);
+    list_init(&cq->upcoming_queue);
     return cq;
 }
 
@@ -737,7 +747,7 @@ serialqueue_free_commandqueue(struct command_queue *cq)
 {
     if (!cq)
         return;
-    if (!list_empty(&cq->ready_queue) || !list_empty(&cq->stalled_queue)) {
+    if (!list_empty(&cq->ready_queue) || !list_empty(&cq->upcoming_queue)) {
         errorf("Memory leak! Can't free non-empty commandqueue");
         return;
     }
@@ -783,12 +793,12 @@ serialqueue_send_batch(struct serialqueue *sq, struct command_queue *cq
         return;
     qm = list_first_entry(msgs, struct queue_message, node);
 
-    // Add list to cq->stalled_queue
+    // Add list to cq->upcoming_queue
     pthread_mutex_lock(&sq->lock);
-    if (list_empty(&cq->ready_queue) && list_empty(&cq->stalled_queue))
+    if (list_empty(&cq->ready_queue) && list_empty(&cq->upcoming_queue))
         list_add_tail(&cq->node, &sq->pending_queues);
-    list_join_tail(msgs, &cq->stalled_queue);
-    sq->stalled_bytes += len;
+    list_join_tail(msgs, &cq->upcoming_queue);
+    sq->upcoming_bytes += len;
     int mustwake = 0;
     if (qm->min_clock < sq->need_kick_clock) {
         sq->need_kick_clock = 0;
@@ -924,13 +934,13 @@ serialqueue_get_stats(struct serialqueue *sq, char *buf, int len)
              " bytes_retransmit=%u bytes_invalid=%u"
              " send_seq=%u receive_seq=%u retransmit_seq=%u"
              " srtt=%.3f rttvar=%.3f rto=%.3f"
-             " ready_bytes=%u stalled_bytes=%u"
+             " ready_bytes=%u upcoming_bytes=%u"
              , stats.bytes_write, stats.bytes_read
              , stats.bytes_retransmit, stats.bytes_invalid
              , (int)stats.send_seq, (int)stats.receive_seq
              , (int)stats.retransmit_seq
              , stats.srtt, stats.rttvar, stats.rto
-             , stats.ready_bytes, stats.stalled_bytes);
+             , stats.ready_bytes, stats.upcoming_bytes);
 }
 
 // Extract old messages stored in the debug queues

klippy/chelper/trapq.c

@@ -20,54 +20,6 @@ move_alloc(void)
     return m;
 }
 
-// Fill and add a move to the trapezoid velocity queue
-void __visible
-trapq_append(struct trapq *tq, double print_time
-             , double accel_t, double cruise_t, double decel_t
-             , double start_pos_x, double start_pos_y, double start_pos_z
-             , double axes_r_x, double axes_r_y, double axes_r_z
-             , double start_v, double cruise_v, double accel)
-{
-    struct coord start_pos = { .x=start_pos_x, .y=start_pos_y, .z=start_pos_z };
-    struct coord axes_r = { .x=axes_r_x, .y=axes_r_y, .z=axes_r_z };
-    if (accel_t) {
-        struct move *m = move_alloc();
-        m->print_time = print_time;
-        m->move_t = accel_t;
-        m->start_v = start_v;
-        m->half_accel = .5 * accel;
-        m->start_pos = start_pos;
-        m->axes_r = axes_r;
-        trapq_add_move(tq, m);
-
-        print_time += accel_t;
-        start_pos = move_get_coord(m, accel_t);
-    }
-    if (cruise_t) {
-        struct move *m = move_alloc();
-        m->print_time = print_time;
-        m->move_t = cruise_t;
-        m->start_v = cruise_v;
-        m->half_accel = 0.;
-        m->start_pos = start_pos;
-        m->axes_r = axes_r;
-        trapq_add_move(tq, m);
-
-        print_time += cruise_t;
-        start_pos = move_get_coord(m, cruise_t);
-    }
-    if (decel_t) {
-        struct move *m = move_alloc();
-        m->print_time = print_time;
-        m->move_t = decel_t;
-        m->start_v = cruise_v;
-        m->half_accel = -.5 * accel;
-        m->start_pos = start_pos;
-        m->axes_r = axes_r;
-        trapq_add_move(tq, m);
-    }
-}
-
 // Return the distance moved given a time in a move
 inline double
 move_get_distance(struct move *m, double move_time)
@@ -163,6 +115,54 @@ trapq_add_move(struct trapq *tq, struct move *m)
     tail_sentinel->print_time = 0.;
 }
 
+// Fill and add a move to the trapezoid velocity queue
+void __visible
+trapq_append(struct trapq *tq, double print_time
+             , double accel_t, double cruise_t, double decel_t
+             , double start_pos_x, double start_pos_y, double start_pos_z
+             , double axes_r_x, double axes_r_y, double axes_r_z
+             , double start_v, double cruise_v, double accel)
+{
+    struct coord start_pos = { .x=start_pos_x, .y=start_pos_y, .z=start_pos_z };
+    struct coord axes_r = { .x=axes_r_x, .y=axes_r_y, .z=axes_r_z };
+    if (accel_t) {
+        struct move *m = move_alloc();
+        m->print_time = print_time;
+        m->move_t = accel_t;
+        m->start_v = start_v;
+        m->half_accel = .5 * accel;
+        m->start_pos = start_pos;
+        m->axes_r = axes_r;
+        trapq_add_move(tq, m);
+
+        print_time += accel_t;
+        start_pos = move_get_coord(m, accel_t);
+    }
+    if (cruise_t) {
+        struct move *m = move_alloc();
+        m->print_time = print_time;
+        m->move_t = cruise_t;
+        m->start_v = cruise_v;
+        m->half_accel = 0.;
+        m->start_pos = start_pos;
+        m->axes_r = axes_r;
+        trapq_add_move(tq, m);
+
+        print_time += cruise_t;
+        start_pos = move_get_coord(m, cruise_t);
+    }
+    if (decel_t) {
+        struct move *m = move_alloc();
+        m->print_time = print_time;
+        m->move_t = decel_t;
+        m->start_v = cruise_v;
+        m->half_accel = -.5 * accel;
+        m->start_pos = start_pos;
+        m->axes_r = axes_r;
+        trapq_add_move(tq, m);
+    }
+}
+
 #define HISTORY_EXPIRE (30.0)
 
 // Expire any moves older than `print_time` from the trapezoid velocity queue

klippy/chelper/trapq.h

@@ -32,17 +32,17 @@ struct pull_move {
 };
 
 struct move *move_alloc(void);
-void trapq_append(struct trapq *tq, double print_time
-                  , double accel_t, double cruise_t, double decel_t
-                  , double start_pos_x, double start_pos_y, double start_pos_z
-                  , double axes_r_x, double axes_r_y, double axes_r_z
-                  , double start_v, double cruise_v, double accel);
 double move_get_distance(struct move *m, double move_time);
 struct coord move_get_coord(struct move *m, double move_time);
 struct trapq *trapq_alloc(void);
 void trapq_free(struct trapq *tq);
 void trapq_check_sentinels(struct trapq *tq);
 void trapq_add_move(struct trapq *tq, struct move *m);
+void trapq_append(struct trapq *tq, double print_time
+                  , double accel_t, double cruise_t, double decel_t
+                  , double start_pos_x, double start_pos_y, double start_pos_z
+                  , double axes_r_x, double axes_r_y, double axes_r_z
+                  , double start_v, double cruise_v, double accel);
 void trapq_finalize_moves(struct trapq *tq, double print_time);
 void trapq_set_position(struct trapq *tq, double print_time
                         , double pos_x, double pos_y, double pos_z);

klippy/configfile.py

@@ -80,11 +80,15 @@ class ConfigWrapper:
     def getlists(self, option, default=sentinel, seps=(',',), count=None,
                  parser=str, note_valid=True):
         def lparser(value, pos):
+            if len(value.strip()) == 0:
+                # Return an empty list instead of [''] for empty string
+                parts = []
+            else:
+                parts = [p.strip() for p in value.split(seps[pos])]
             if pos:
                 # Nested list
-                parts = [p.strip() for p in value.split(seps[pos])]
                 return tuple([lparser(p, pos - 1) for p in parts if p])
-            res = [parser(p.strip()) for p in value.split(seps[pos])]
+            res = [parser(p) for p in parts]
             if count is not None and len(res) != count:
                 raise error("Option '%s' in section '%s' must have %d elements"
                             % (option, self.section, count))

klippy/console.py

@@ -5,7 +5,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, optparse, os, re, logging
-import util, reactor, serialhdl, pins, msgproto, clocksync
+import util, reactor, serialhdl, msgproto, clocksync
 
 help_txt = """
   This is a debugging console for the Klipper micro-controller.
@@ -43,7 +43,6 @@ class KeyboardReader:
         self.fd = sys.stdin.fileno()
         util.set_nonblock(self.fd)
         self.mcu_freq = 0
-        self.pins = pins.PinResolver(validate_aliases=False)
         self.data = ""
         reactor.register_fd(self.fd, self.process_kbd)
         reactor.register_callback(self.connect)
@@ -223,11 +222,7 @@ class KeyboardReader:
                 return None
             line = ''.join(evalparts)
             self.output("Eval: %s" % (line,))
-        try:
-            line = self.pins.update_command(line).strip()
-        except:
-            self.output("Unable to map pin: %s" % (line,))
-            return None
+        line = line.strip()
         if line:
             parts = line.split()
             if parts[0] in self.local_commands: