heaters: Add "heaters/set_target_temperature" API endpoint

Add a mechanism for api clients to asynchronously set a target
temperature.  That is, a mechanism to set the temperature without
needing to wait for G-Code commands to complete.

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

.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'
@@ -60,54 +62,54 @@ jobs:
                 state: 'closed'
               });
             }
-  # Close tickets marked with "reviewer needed" label for 2+ weeks
-  close_reviewer_needed:
-    if: github.repository == 'Klipper3d/klipper'
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/github-script@v6
-        with:
-          script: |
-            const issues = await github.rest.issues.listForRepo({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              state: 'open',
-              labels: 'reviewer needed',
-              assignee: 'none',
-              per_page: 100,
-              page: 1
-            });
-            msg = "Unfortunately a reviewer has not assigned themselves to"
-                + " 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)"
-                + " server. Reviewers can reach out on that forum to let you"
-                + " know if they are interested and when they are available."
-                + "\n\n"
-                + "Best regards,\n"
-                + "~ Your friendly GitIssueBot"
-                + "\n\n"
-                + "PS: I'm just an automated script, not a human being.";
-            const expireMillis = 1000 * 60 * 60 * 24 * 14;
-            const curtime = new Date().getTime();
-            for (const issue of issues.data.values()) {
-              const updatetime = new Date(issue.updated_at).getTime();
-              if (curtime < updatetime + expireMillis)
-                continue;
-              await github.rest.issues.createComment({
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                issue_number: issue.number,
-                body: msg
-              });
-              await github.rest.issues.update({
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                issue_number: issue.number,
-                state: 'closed'
-              });
-            }
+#  # Close tickets marked with "reviewer needed" label for 2+ weeks
+#  close_reviewer_needed:
+#    if: github.repository == 'Klipper3d/klipper'
+#    runs-on: ubuntu-latest
+#    steps:
+#      - uses: actions/github-script@v6
+#        with:
+#          script: |
+#            const issues = await github.rest.issues.listForRepo({
+#              owner: context.repo.owner,
+#              repo: context.repo.repo,
+#              state: 'open',
+#              labels: 'reviewer needed',
+#              assignee: 'none',
+#              per_page: 100,
+#              page: 1
+#            });
+#            msg = "Unfortunately a reviewer has not assigned themselves to"
+#                + " 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#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"
+#                + "Best regards,\n"
+#                + "~ Your friendly GitIssueBot"
+#                + "\n\n"
+#                + "PS: I'm just an automated script, not a human being.";
+#            const expireMillis = 1000 * 60 * 60 * 24 * 14;
+#            const curtime = new Date().getTime();
+#            for (const issue of issues.data.values()) {
+#              const updatetime = new Date(issue.updated_at).getTime();
+#              if (curtime < updatetime + expireMillis)
+#                continue;
+#              await github.rest.issues.createComment({
+#                owner: context.repo.owner,
+#                repo: context.repo.repo,
+#                issue_number: issue.number,
+#                body: msg
+#              });
+#              await github.rest.issues.update({
+#                owner: context.repo.owner,
+#                repo: context.repo.repo,
+#                issue_number: issue.number,
+#                state: 'closed'
+#              });
+#            }
   # Mark unassigned PRs that are idle for 2 weeks
   mark_reviewer_needed:
     if: github.repository == 'Klipper3d/klipper'
@@ -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: ''

Makefile

@@ -29,10 +29,11 @@ dirs-y = src
 cc-option=$(shell if test -z "`$(1) $(2) -S -o /dev/null -xc /dev/null 2>&1`" \
     ; then echo "$(2)"; else echo "$(3)"; fi ;)
 
-CFLAGS := -I$(OUT) -Isrc -I$(OUT)board-generic/ -std=gnu11 -O2 -MD \
-    -Wall -Wold-style-definition $(call cc-option,$(CC),-Wtype-limits,) \
+CFLAGS := -iquote $(OUT) -iquote src -iquote $(OUT)board-generic/ \
+		-std=gnu11 -O2 -MD -Wall \
+		-Wold-style-definition $(call cc-option,$(CC),-Wtype-limits,) \
     -ffunction-sections -fdata-sections -fno-delete-null-pointer-checks
-CFLAGS += -flto -fwhole-program -fno-use-linker-plugin -ggdb3
+CFLAGS += -flto=auto -fwhole-program -fno-use-linker-plugin -ggdb3
 
 OBJS_klipper.elf = $(patsubst %.c, $(OUT)src/%.o,$(src-y))
 OBJS_klipper.elf += $(OUT)compile_time_request.o

config/generic-I3DBEEZ9.cfg

@@ -0,0 +1,223 @@
+# This file contains common pin mappings for the I3DBEEZ9 V1.0.
+# To use this config, the firmware should be compiled for the
+# STM32F407 with a "32KiB bootloader".
+
+# The "make flash" command does not work on the I3DBEEZ9. 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 I3DBEEZ9
+# with that SD card.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PE9
+dir_pin: PF1
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PB10
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PE11
+dir_pin: PE1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PE12
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PE13
+dir_pin: PC2
+enable_pin: !PC0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: PG8
+position_endstop: 0
+position_max: 200
+
+[extruder]
+step_pin: PE14
+dir_pin: PA0
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB1 # Heat0
+sensor_pin:  PF4 # T1 Header
+sensor_type: EPCOS 100K B57560G104F
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+#[extruder1]
+#step_pin: PD15
+#dir_pin: PE7
+#enable_pin: !PA3
+#heater_pin: PD14 # Heat1
+#sensor_pin: PF5 # T2
+#...
+
+#[extruder2]
+#step_pin: PD13
+#dir_pin: PG9
+#enable_pin: !PF0
+#heater_pin: PB0 # Heat2
+#sensor_pin: PF6 # T3
+#...
+
+#[stepper_z1]
+#step_pin: PE4
+#dir_pin: PE3
+#enable_pin: !PC13
+#microsteps: 16
+#rotation_distance: 8
+#endstop_pin: PD0
+#position_endstop: 0.5
+#position_max: 200
+
+[heater_bed]
+heater_pin: PD12
+sensor_pin: PF3 # T0
+sensor_type: ATC Semitec 104GT-2
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PC8
+
+[heater_fan fan1]
+pin: PE5
+
+#[heater_fan fan2]
+#pin: PE6
+
+[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
+
+
+########################################
+# TMC2208 configuration
+########################################
+
+#[tmc2208 stepper_x]
+#uart_pin: PA15
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2208 stepper_y]
+#uart_pin: PB8
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2208 stepper_z]
+#uart_pin: PB9
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2208 extruder]
+#uart_pin: PB3
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2208 extruder1]
+#uart_pin: PG15
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2208 extruder2]
+#uart_pin: PG12
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2208 stepper_z1]
+#uart_pin: PE2
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+########################################
+# TMC2130 configuration
+########################################
+
+#[tmc2130 stepper_x]
+#cs_pin: PA15
+#spi_bus: spi3a
+##diag1_pin: PB10
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_y]
+#cs_pin: PB8
+#spi_bus: spi3a
+##diag1_pin: PE12
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_z]
+#cs_pin: PB9
+#spi_bus: spi3a
+##diag1_pin: PG8
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder]
+#cs_pin: PB3
+#spi_bus: spi3a
+##diag1_pin: PE15
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder1]
+#cs_pin: PG15
+#spi_bus: spi3a
+##diag1_pin: PE10
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 extruder2]
+#cs_pin: PG12
+#spi_bus: spi3a
+##diag1_pin: PG5
+#run_current: 0.800
+#stealthchop_threshold: 999999
+
+#[tmc2130 stepper_z1]
+#cs_pin: PE2
+#spi_bus: spi3a
+##diag1_pin: PD0
+#run_current: 0.650
+#stealthchop_threshold: 999999
+
+
+########################################
+# EXP1 / EXP2 (display) pins
+########################################
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PG4, EXP1_3=PD11, EXP1_5=PG2, EXP1_7=PG6, EXP1_9=<GND>,
+    EXP1_2=PA8, EXP1_4=PD10, EXP1_6=PG3, EXP1_8=PG7, EXP1_10=<5V>,
+    # EXP2 header
+    EXP2_1=PB14, EXP2_3=PG10, EXP2_5=PF11, EXP2_7=PF12,  EXP2_9=<GND>,
+    EXP2_2=PB13, EXP2_4=PB12, EXP2_6=PB15, EXP2_8=<RST>, EXP2_10=PF13
+    # Pins EXP2_1, EXP2_6, EXP2_2 are also MISO, MOSI, SCK of bus "spi2"
+
+# See the sample-lcd.cfg file for definitions of common LCD displays.

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-mini-e3-v3.0.cfg

@@ -85,11 +85,10 @@ uart_pin: PC11
 tx_pin: PC10
 uart_address: 3
 run_current: 0.650
-stealthchop_threshold: 999999
 
 [heater_bed]
 heater_pin: PC9
-sensor_type: ATC Semitec 104GT-2
+sensor_type: EPCOS 100K B57560G104F
 sensor_pin: PC4
 control: pid
 pid_Kp: 54.027

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-ldo-leviathan-v1.2.cfg

@@ -0,0 +1,241 @@
+# This file contains common pin mappings for the LDO Leviathan v1.2.
+
+# To use this config, during "make menuconfig", select "Enable
+# low-level configuration options", select the STM32F446 micro-controller,
+# select a "32KiB bootloader", and select a "12Mhz crystal".
+
+# See docs/Config_Reference.md for a description of parameters.
+
+# HV-STEPPER-0
+[stepper_x]
+step_pin: PB10
+dir_pin: PB11
+enable_pin: !PG0
+microsteps: 32
+rotation_distance: 40
+endstop_pin: PC1 # X-ENDSTOP
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[tmc5160 stepper_x]
+spi_bus: spi4
+cs_pin: PE15
+#diag0_pin: PG1
+interpolate: False
+sense_resistor: 0.075
+run_current: 0.8
+stealthchop_threshold: 0
+
+# HV-STEPPER-1
+[stepper_y]
+step_pin: PF15
+dir_pin: PF14
+enable_pin: !PE9
+microsteps: 32
+rotation_distance: 40
+endstop_pin: PC2 # Y-ENDSTOP
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[tmc5160 stepper_y]
+spi_bus: spi4
+cs_pin: PE11
+#diag0_pin: PE10
+interpolate: False
+sense_resistor: 0.075
+run_current: 0.8
+stealthchop_threshold: 0
+
+# STEPPER-0
+[stepper_z]
+step_pin: PD4
+dir_pin: PD3
+enable_pin: !PD7
+microsteps: 32
+rotation_distance: 8
+endstop_pin: PC3 # Z-ENDSTOP
+position_endstop: 0
+position_max: 200
+
+[tmc2209 stepper_z]
+uart_pin: PD5
+#diag_pin: PD6
+interpolate: False
+run_current: 0.6
+stealthchop_threshold: 999999
+
+# The Leviathan was developed for Voron printers. It therefore has several
+# steppers for the z-axes, but only one heater for one extruder.
+
+# STEPPER-1
+#[stepper_z1]
+#step_pin: PC12
+#dir_pin: PC11
+#enable_pin: !PD2
+#microsteps: 32
+#rotation_distance: 8
+#
+#[tmc2209 stepper_z1]
+#uart_pin: PD5
+##diag_pin: PD6
+#interpolate: False
+#run_current: 0.6
+#stealthchop_threshold: 999999
+
+# STEPPER-2
+#[stepper_z2]
+#step_pin: PC9
+#dir_pin: PC8
+#enable_pin: !PC10
+#microsteps: 32
+#rotation_distance: 8
+#
+#[tmc2209 stepper_z2]
+#uart_pin: PA8
+##diag_pin: PA15
+#interpolate: False
+#run_current: 0.6
+#stealthchop_threshold: 999999
+
+# STEPPER-3
+#[stepper_z3]
+#step_pin: PG7
+#dir_pin: PG6
+#enable_pin: !PC7
+#microsteps: 32
+#rotation_distance: 8
+#
+#[tmc2209 stepper_z2]
+#uart_pin: PG8
+##diag_pin: PC6
+#interpolate: False
+#run_current: 0.6
+#stealthchop_threshold: 999999
+
+# STEPPER-4
+[extruder]
+step_pin: PD10
+dir_pin: PD9
+enable_pin: !PD13
+microsteps: 32
+rotation_distance: 22.67
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PG10 # HEATER
+sensor_pin:  PA2 # TH1
+sensor_type: ATC Semitec 104NT-4-R025H42G
+pullup_resistor: 2200
+control: pid
+pid_Kp: 36.787
+pid_Ki: 4.716
+pid_Kd: 71.735
+min_temp: 0
+max_temp: 250
+
+[tmc2209 stepper_z]
+uart_pin: PD11
+#diag_pin: PD12
+interpolate: False
+run_current: 0.5
+stealthchop_threshold: 0
+
+#[filament_switch_sensor material_0]
+#switch_pin: PC0 # FILAMENT-SENSOR
+
+[heater_bed]
+heater_pin: PG11 # HEATBED
+sensor_pin: PA1 # TH0
+sensor_type: ATC Semitec 104GT-2
+pullup_resistor: 2200
+control: pid
+pid_kp: 56.723
+pid_ki: 5.561
+pid_kd: 144.642
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PB7 # FAN0
+#tachometer_pin: PB0
+
+#[heater_fan fan1]
+#pin: PB3
+#tachometer_pin: PB4
+
+#[heater_fan fan2]
+#pin: PF7
+#tachometer_pin: PF6
+
+#[controller_fan fan3]
+#pin: PF9
+#tachometer_pin: PF8
+
+[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
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PG9, EXP1_2=PG12,
+    EXP1_3=PG13, EXP1_4=PG14,
+    EXP1_5=PC13, EXP1_6=PC14,
+    EXP1_7=PC15, EXP1_8=PF0,
+    EXP1_9=<GND>, EXP1_10=<5V>,
+
+    # EXP2 header
+    EXP2_1=PA6, EXP2_2=PA5,
+    EXP2_3=PE2, EXP2_4=PE4,
+    EXP2_5=PE3, EXP2_6=PA7,
+    EXP2_7=PE5, EXP2_8=<RST>,
+    EXP2_9=<GND>, EXP2_10=PE4,
+
+    # See the sample-lcd.cfg file for definitions of common LCD displays.
+
+    # EXTENSION PORT
+    EXP3_1=<5V>, EXP3_2=<5V>,       # max. 0.5A
+    EXP3_3=<GND>, EXP3_4=<GND>,
+    EXP3_5=<3.3V>, EXP3_6=<3.3V>,   # max. 0.5A
+    EXP3_7=PF5, EXP3_8=PF4,
+    EXP3_9=PF3, EXP3_10=PF2,
+    EXP3_11=PC4, EXP3_12=PC5,       # EXP3_11 and EXP3_12 are ADC inputs
+    EXP3_13=PB0, EXP3_14=PB1,       # EXP3_13 and EXP3_14 are ADC inputs
+    EXP3_15=PE8, EXP3_16=PE7,       # EXP3_15 is UART5_TX, EXP3_16 is UART5_RX
+    EXP3_17=PG5, EXP3_18=PG4,
+    EXP3_19=PG3, EXP3_20=PG2,
+    EXP3_21=PD15, EXP3_22=PD14,
+    EXP3_23=PB15, EXP3_24=PB14,     # EXP3_23 is SPI2_MOSI
+                                    # EXP3_24 is SPI2_MISO
+    EXP3_25=PB13, EXP3_26=PB12,     # EXP3_25 is SPI2_SCK + CAN2_TX
+                                    # EXP3_26 is SPI2_CS + CAN2_RX
+    EXP3_27=<GND>, EXP3_28=<GND>,
+    EXP3_29=<24V>, EXP3_30=<24V>,   # max. 0.5A
+
+#[probe]
+#sensor_pin: PF1 # Z-PROBE
+#z_offset: 0
+
+#[led my_led]
+#white_pin: PE6 # LED-Strip
+
+#[neopixel my_neopixel]
+#pin: PF10 # NEOPIXEL
+
+#[temperature_sensor TH2]
+#sensor_type: ATC Semitec 104GT-2
+#sensor_pin: PA0 # TH2
+#pullup_resistor: 2200
+
+#[temperature_sensor TH3]
+#sensor_type: ATC Semitec 104GT-2
+#sensor_pin: PA3 # TH3
+#pullup_resistor: 2200

config/generic-mini-rambo.cfg

@@ -84,7 +84,7 @@ pwm: True
 scale: 2.0
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.3
+value: 1.3
 
 [output_pin stepper_z_current]
 pin: PL4
@@ -92,7 +92,7 @@ pwm: True
 scale: 2.0
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.3
+value: 1.3
 
 [output_pin stepper_e_current]
 pin: PL5
@@ -100,7 +100,7 @@ pwm: True
 scale: 2.0
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.25
+value: 1.25
 
 [static_digital_output stepper_config]
 pins:

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/generic-ultimaker-ultimainboard-v2.cfg

@@ -97,7 +97,7 @@ max_z_accel: 30
 
 [output_pin case_light]
 pin: PH5
-static_value: 1.0
+value: 1.0
 
 # Motor current settings.
 [output_pin stepper_xy_current]
@@ -107,7 +107,7 @@ scale: 2.000
 # Max power setting.
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.200
+value: 1.200
 # Power adjustment setting.
 
 [output_pin stepper_z_current]
@@ -116,7 +116,7 @@ pwm: True
 scale: 2.000
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.200
+value: 1.200
 
 [output_pin stepper_e_current]
 pin: PL3
@@ -124,4 +124,4 @@ pwm: True
 scale: 2.000
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.250
+value: 1.250

config/printer-adimlab-2018.cfg

@@ -89,7 +89,7 @@ pwm: True
 scale: 2.0
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.3
+value: 1.3
 
 [output_pin stepper_z_current]
 pin: PL4
@@ -97,7 +97,7 @@ pwm: True
 scale: 2.0
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.3
+value: 1.3
 
 [output_pin stepper_e_current]
 pin: PL3
@@ -105,7 +105,7 @@ pwm: True
 scale: 2.0
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.25
+value: 1.25
 
 [display]
 lcd_type: st7920

config/printer-anycubic-4maxpro-2.0-2021.cfg

@@ -126,7 +126,6 @@ restart_method: arduino
 kinematics: cartesian
 max_velocity: 150
 max_accel: 3000
-max_accel_to_decel: 1500
 max_z_velocity: 7
 max_z_accel: 50
 square_corner_velocity: 5

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
+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
+#   - Clock Speed: 200 MHz
+#
+# 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
+
+[controller_fan controller_fan]
+pin: PA14
+heater: heater_bed
+
+[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-genius-pro-2022.cfg

@@ -0,0 +1,126 @@
+# This file contains pin mappings for the Artillery Genius Pro (2022)
+# with a Artillery_Ruby-v1.2 board. To use this config, during "make menuconfig"
+# select the STM32F401 with "No bootloader" and USB (on PA11/PA12)
+# communication.
+
+# To flash this firmware, set the physical bridge between +3.3V and Boot0 PIN
+# on Artillery_Ruby mainboard. Then run the command:
+#   make flash FLASH_DEVICE=/dev/serial/by-id/usb-Klipper_stm32f401xc_*-if00
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[extruder]
+max_extrude_only_distance: 700.0
+step_pin: PA7
+dir_pin: PA6
+enable_pin: !PC4
+microsteps: 16
+rotation_distance: 7.1910
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC9
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC0
+min_temp: 0
+max_temp: 250
+control: pid
+pid_Kp: 23.223
+pid_Ki: 1.518
+pid_Kd: 88.826
+
+[stepper_x]
+step_pin: !PB14
+dir_pin: PB13
+enable_pin: !PB15
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PA2
+position_endstop: 0
+position_max: 220
+homing_speed: 60
+
+[stepper_y]
+step_pin: PB10
+dir_pin: PB2
+enable_pin: !PB12
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PA1
+position_endstop: 0
+position_max: 220
+homing_speed: 60
+
+[stepper_z]
+step_pin: PB0
+dir_pin: !PC5
+enable_pin: !PB1
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe:z_virtual_endstop
+position_max: 250
+position_min: -5
+
+[heater_bed]
+heater_pin: PA8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC1
+min_temp: 0
+max_temp: 130
+control: pid
+pid_Kp: 23.223
+pid_Ki: 1.518
+pid_Kd: 88.826
+
+[bed_screws]
+screw1: 38,45
+screw2: 180,45
+screw3: 180,180
+screw4: 38,180
+
+[fan]
+pin: PC8
+off_below: 0.1
+
+[heater_fan hotend_fan]
+pin: PC7
+heater: extruder
+heater_temp: 50.0
+
+[controller_fan stepper_fan]
+pin: PC6
+idle_timeout: 300
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_stm32f401xc_
+
+[printer]
+kinematics: cartesian
+max_velocity: 500
+max_accel: 4000
+max_z_velocity: 50
+square_corner_velocity: 5.0
+max_z_accel: 100
+
+[bltouch]
+sensor_pin: PC2
+control_pin: PC3
+x_offset:27.25
+y_offset:-12.8
+z_offset: 0.25
+speed:10
+samples:1
+samples_result:average
+
+[bed_mesh]
+speed: 800
+mesh_min: 30, 20
+mesh_max: 210, 200
+probe_count: 5,5
+algorithm: bicubic
+move_check_distance: 3.0
+
+[safe_z_home]
+home_xy_position: 110,110
+speed: 100
+z_hop: 10
+z_hop_speed: 5

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-artillery-sidewinder-x3-plus-2024.cfg

@@ -0,0 +1,188 @@
+# For the Artillery Sidewinder X3 Pro/Plus that came factory installed with V1.29 firmware, follow these steps.
+#   - Compile with the processor model STM32F401.
+#   - Select the 48KiB bootloader,
+#   - Select USB PA11/PA12 for USB communication interface.
+#   - Select USART2 PA3/PA2 for UART communication via the Wi-Fi Tx/Rx pins
+# To set 48KiB bootloader, you need to make a change to make menuconfig Kconfig file
+# Here is a link to a how-to video: https://youtu.be/dpc76zN7Dh0
+# Rename klipper.bin to yuntu.bin
+# Copy the file out/yuntu.bin to an SD card and then restart the printer with that SD card
+#
+# For models that did not come with V1.29 installed
+#   - Compile with the processor model STM32F401.
+#   - Select the NO BOOTLOADER
+#   - Select USB PA11/PA12 for USB communication interface.
+#   - Select USART2 PA3/PA2 for UART communication via the Wi-Fi Tx/Rx pins
+#   - quit, save, make
+#   - Connect your printer to a computer running Pronterface, Octoprint, Repetier, BedLeveler5000 (anything with Console capability)
+#   - Power on the machine and send M997 through console into Marlin, this will put the board into "DFU" mode
+#   - DO NOT TURN OFF THE PRINTER
+#   - Connect your Linux/Klipper device to the USB port
+#   - Run lsusb and verify that the STM32 DFU device is visible (Bus 001 Device 006: ID 0483:df11 STMicroelectronics STM Device in DFU Mode)
+#   - Run sudo make flash 0483:df11
+#   - Run lsusb again and there should be two devices:
+#        Bus 001 Device 007: ID 1d50:614e OpenMoko, Inc. stm32f401xc
+#        Bus 001 Device 003: ID 0cf3:e010 Qualcomm Atheros Communications stm32f401xc
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu]
+serial: /dev/ttyACM0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 15
+max_z_accel: 100
+square_corner_velocity: 5
+
+[led LED_Light]
+white_pin: PC2
+initial_white: 1.0
+
+[neopixel hotend_neopixel]
+pin: PD2
+color_order: GRB
+initial_RED: 1.0
+initial_GREEN: 1.0
+initial_BLUE: 1.0
+
+[stepper_x]
+step_pin: PA8
+dir_pin: PC9
+enable_pin: !PA15
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PB9
+position_min: 0
+position_endstop: 0
+position_max: 315
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC7
+dir_pin: !PC6
+enable_pin: !PC8
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PB8
+position_endstop: 0
+position_max: 315
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB10
+dir_pin: !PA4
+enable_pin: !PC4
+rotation_distance: 8
+microsteps: 16
+position_min: -1
+position_max: 400
+endstop_pin: probe:z_virtual_endstop # Use Z- as endstop
+#homing_speed: 10.0
+
+[extruder]
+max_extrude_only_distance: 100.0
+step_pin: PC11
+dir_pin: !PC10
+enable_pin: !PC12
+microsteps: 64
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA6
+sensor_type: EPCOS 100K B57560G104F #Generic 3950
+sensor_pin: PC5
+min_extrude_temp: 170
+min_temp: 0
+max_temp: 300
+# Calibrate E-Steps https://www.klipper3d.org/Rotation_Distance.html#calibrating-rotation_distance-on-extruders
+rotation_distance: 17.75
+# Calibrate PID: https://www.klipper3d.org/Config_checks.html#calibrate-pid-settings
+#  - Example: PID_CALIBRATE HEATER=extruder TARGET=200
+control: pid
+pid_kp: 30.356
+pid_ki: 1.857
+pid_kd: 124.081
+# Calibrate PA: https://www.klipper3d.org/Pressure_Advance.html
+
+[heater_bed]
+heater_pin: PA7
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC0
+max_temp: 100
+min_temp: 0
+# Calibrate PID: https://www.klipper3d.org/Config_checks.html#calibrate-pid-settings
+#  - Example: PID_CALIBRATE HEATER=heater_bed TARGET=60
+control: pid
+pid_kp: 64.230
+pid_ki: 0.723
+pid_kd: 1425.905
+
+[heater_fan hotend_fan]
+pin: PB1
+heater: extruder
+heater_temp: 50.0
+
+[fan]
+pin: PB0
+
+[temperature_fan Artillery_MCU]
+sensor_type: temperature_mcu
+pin: PA5
+max_temp: 60.0
+target_temp: 40.0
+min_temp: 0
+shutdown_speed: 0.0
+kick_start_time: 0.5
+off_below: 0.19
+max_speed: 1.0
+min_speed: 0.0
+control: watermark
+
+[filament_switch_sensor filament_sensor]
+pause_on_runout: true
+switch_pin: PC1
+
+[probe]
+pin: PC14
+x_offset:45.2
+y_offset:11.6
+speed:5
+lift_speed:15
+z_offset: 2.350
+
+[safe_z_home]
+home_xy_position: 110, 145 #   X, Y coordinate (e.g. 100, 100) where the Z homing should be
+speed: 300.0
+z_hop: 10
+z_hop_speed: 15.0
+
+[bed_mesh]
+speed: 300
+horizontal_move_z: 6
+mesh_min: 46,15
+mesh_max: 300,300
+probe_count: 10, 10
+fade_start: 1.0
+fade_end: 0.0
+algorithm: bicubic
+
+[screws_tilt_adjust]
+screw1: 120, 153
+screw1_name: center reference
+screw2: 7, 45
+screw2_name: front left
+screw3: 210, 45
+screw3_name: front right
+screw4: 227, 145
+screw4_name: right center
+screw5: 210, 245
+screw5_name: rear right
+screw6: 7, 245
+screw6_name: rear left
+screw7: 7, 145
+screw7_name: left center
+horizontal_move_z: 8
+speed: 300
+screw_thread: CW-M4

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-cr30-2021.cfg

@@ -98,7 +98,6 @@ max_temp: 100
 
 [output_pin led]
 pin: PC14
-static_value: 0
 
 # Neopixel LED support
 # [neopixel led_neopixel]

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-cr6se-2020.cfg

@@ -98,6 +98,10 @@ z_offset: 0.0
 speed: 2.0
 samples: 5
 
+[safe_z_home]
+home_xy_position: 117, 117
+z_hop: 10
+
 [filament_switch_sensor filament_sensor]
 pause_on_runout: true
 switch_pin: ^!PA7

config/printer-creality-cr6se-2021.cfg

@@ -98,6 +98,10 @@ z_offset: 0.0
 speed: 2.0
 samples: 5
 
+[safe_z_home]
+home_xy_position: 117, 117
+z_hop: 10
+
 [filament_switch_sensor filament_sensor]
 pause_on_runout: true
 switch_pin: ^!PA7

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-creality-ender5-s1-2023.cfg

@@ -0,0 +1,170 @@
+# Creality Ender 5 S1 (HW version: CR4NS200141C13)
+#
+# printer_size: 220x220x280
+# To use this config, during "make menuconfig" select the STM32F401
+# with a "64KiB bootloader" and serial (on USART1 PA10/PA9)
+# communication.
+#
+# Flash this firmware by creating a directory named "STM32F4_UPDATE"
+# on an SD card, copying the "out/klipper.bin" to it and then turn
+# 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.
+
+[stepper_x]
+step_pin: PC2
+dir_pin: !PB9
+enable_pin: !PC3
+rotation_distance: 40
+microsteps: 16
+endstop_pin: !PA5
+position_endstop: 220
+position_max: 222
+homing_speed: 80
+
+[stepper_y]
+step_pin: PB8
+dir_pin: !PB7
+enable_pin: !PC3
+rotation_distance: 40
+microsteps: 16
+endstop_pin: !PA6
+position_endstop: 220
+position_max: 220
+homing_speed: 80
+
+[stepper_z]
+step_pin: PB6
+dir_pin: PB5
+enable_pin: !PC3
+rotation_distance: 8
+microsteps: 16
+endstop_pin: probe:z_virtual_endstop
+position_max: 280
+homing_speed: 20
+second_homing_speed: 1
+homing_retract_dist: 2.0
+
+[extruder]
+step_pin: PB4
+dir_pin: PB3
+enable_pin: !PC3
+rotation_distance: 7.5
+microsteps: 16
+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 210 degree Celsius target
+pid_kp: 20.749
+pid_ki: 1.064
+pid_kd: 101.153
+min_temp: 0
+max_temp: 305
+
+[heater_bed]
+heater_pin: PA7
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC4
+control: pid  # tuned for stock hardware with 60 degree Celsius target
+pid_kp: 66.566
+pid_ki: 0.958
+pid_kd: 1155.761
+min_temp: 0
+max_temp: 110
+
+# Part cooling fan
+[fan]
+pin: PA0
+kick_start_time: 0.5
+
+# Hotend fan
+# set fan runnig when extruder temperature is over 60
+[heater_fan heatbreak_fan]
+pin: PC0
+heater:extruder
+heater_temp: 60
+fan_speed: 0.8
+
+[filament_switch_sensor filament_sensor]
+pause_on_runout: true
+switch_pin: ^!PC15
+
+# Stock CR Touch bed sensor
+[bltouch]
+sensor_pin: ^PC14
+control_pin: PC13
+x_offset: -13
+y_offset: 27
+z_offset: 2.0
+speed: 10
+stow_on_each_sample: true    # Occasional bed crashes when false
+samples: 4
+sample_retract_dist: 2
+samples_result: average
+probe_with_touch_mode: true
+
+[bed_mesh]
+speed: 150
+mesh_min: 3,28         # need to handle head distance with bl_touch
+mesh_max: 205,218
+mesh_pps: 3
+probe_count: 4,4
+fade_start: 1
+fade_end: 10
+fade_target: 0
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[safe_z_home]
+home_xy_position: 123,83
+speed: 200
+z_hop: 10
+z_hop_speed: 10
+
+# Many Ender 5 S1 printers appear to suffer from a slight twist
+# in the X axis.  This twist can be measured, and compensated for
+# using the AXIS_TWIST_COMPENSATION_CALIBRATE G-Code command.  See
+# https://www.klipper3d.org/Axis_Twist_Compensation.html for more
+# information.  This section provides the setup for this optional
+# calibration step.
+[axis_twist_compensation]
+calibrate_start_x: 3
+calibrate_end_x: 207
+calibrate_y: 110
+
+# Probe locations for assisted bed screw adjustment.
+[screws_tilt_adjust]
+screw1: 38,6
+screw1_name: Front Left Screw
+screw2: 215,6
+screw2_name: Front Right Screw
+screw3: 215,175
+screw3_name: Rear Right Screw
+screw4: 38,175
+screw4_name: Rear Left Screw
+horizontal_move_z: 5
+speed: 100
+screw_thread: CW-M4
+
+[bed_screws]
+screw1: 25,25
+screw1_name: Front Left Screw
+screw2: 195,25
+screw2_name: Front Right Screw
+screw3: 195,195
+screw3_name: Rear Right Screw
+screw4: 25,195
+screw4_name: Rear Left Screw
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 5000
+max_z_velocity: 5
+max_z_accel: 100
+square_corner_velocity: 5.0

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-geeetech-301-2019.cfg

@@ -71,25 +71,21 @@ pid_Kp: 39
 pid_Ki: 2
 pid_Kd: 210
 
-[extruder1]
+[extruder_stepper e1]
+extruder:
 step_pin: PA0
 dir_pin: !PB6
 enable_pin: !PA1
 microsteps: 16
 rotation_distance: 32
-nozzle_diameter: 0.4
-filament_diameter: 1.75
-shared_heater: extruder
 
-[extruder2]
+[extruder_stepper e2]
+extruder:
 step_pin: PB2
 dir_pin: !PB11
 enable_pin: !PC4
 microsteps: 16
 rotation_distance: 32
-nozzle_diameter: 0.4
-filament_diameter: 1.75
-shared_heater: extruder
 
 [heater_bed]
 heater_pin: PB1

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-mini1-2016.cfg

@@ -125,7 +125,7 @@ pwm: True
 scale: 2.0
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.300
+value: 1.300
 
 [output_pin stepper_z_current]
 pin: PL4
@@ -133,7 +133,7 @@ pwm: True
 scale: 2.0
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.630
+value: 1.630
 
 [output_pin stepper_e_current]
 pin: PL5
@@ -141,7 +141,7 @@ pwm: True
 scale: 2.0
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.250
+value: 1.250
 
 [static_digital_output stepper_config]
 # Microstepping pins

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-modix-big60-2020.cfg

@@ -199,7 +199,6 @@ algorithm: bicubic
 bicubic_tension: 0.15
 fade_start: 0.5
 fade_end: 2.5
-relative_reference_index: 60
 
 [bed_screws]
 screw1: 0,0

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
+minimum_cruise_ratio: 0.0
+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: 220
+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: 220
+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: 250
+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: 27
+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-sovol-sv06-plus-2023.cfg

@@ -0,0 +1,147 @@
+# This file contains pin mappings for the stock Sovol SV06 Plus
+# 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.
+#
+# Note: The stock LCD display does not currently work with Klipper
+#
+# 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: 500
+max_accel: 2000
+max_z_velocity: 10
+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: 305
+homing_speed: 40
+homing_retract_dist: 0
+
+[tmc2209 stepper_x]
+uart_pin: PC1
+run_current: 0.860
+sense_resistor: 0.150
+uart_address: 3
+driver_SGTHRS: 86
+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: 305
+homing_speed: 40
+homing_retract_dist: 0
+
+[tmc2209 stepper_y]
+uart_pin: PC0
+run_current: 0.900
+sense_resistor: 0.150
+uart_address: 3
+driver_SGTHRS: 110
+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: 350
+homing_speed: 4
+
+[tmc2209 stepper_z]
+uart_pin: PA15
+run_current: 1.000
+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: 41.96
+pid_kp: 15.66
+pid_ki: 1.49
+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: 186.38
+pid_ki: 36.12
+pid_kd: 637.30
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA0
+
+[probe]
+pin: PB1
+x_offset: 28
+y_offset: -20
+z_offset: 0
+
+[safe_z_home]
+home_xy_position: 123,170
+z_hop: 10
+z_hop_speed: 5
+
+[bed_mesh]
+speed: 120
+mesh_min: 28, 20
+mesh_max: 270, 270
+probe_count: 5
+algorithm: bicubic
+fade_end: 10
+fade_target: 0
+
+[filament_switch_sensor filament_runout_sensor]
+switch_pin: PA4
+pause_on_runout: True

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-tronxy-crux1-2022.cfg

@@ -0,0 +1,138 @@
+# Klipper configuration for the TronXY Crux1 printer
+# CXY-V10.1-220921 mainboard, GD32F4XX or STM32F446 MCU
+#
+# =======================
+# BUILD AND FLASH OPTIONS
+# =======================
+#
+# MCU-architecture:  STMicroelectronics
+# Processor model:   STM32F446
+# Bootloader offset: 64KiB
+# Comms interface:   Serial on USART1 PA10/PA9
+#
+# Build the firmware with these options
+# Rename the resulting klipper.bin into fmw_tronxy.bin
+# Put the file into a directory called "update" on a FAT32 formatted SD card.
+# Turn off the printer, plug in the SD card and turn the printer back on
+# Flashing will start automatically and progress will be indicated on the LCD
+# Once the flashing is completed the display will get stuck on the white Tronxy logo bootscreen
+# The LCD display will NOT work anymore after flashing Klipper onto this printer
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 250
+max_accel: 1500
+square_corner_velocity: 5
+max_z_velocity: 15
+max_z_accel: 100
+
+[controller_fan drivers_fan]
+pin: PD7
+
+[pwm_cycle_time BEEPER_pin]
+pin: PA8
+value: 0
+shutdown_value: 0
+cycle_time: 0.001
+
+[safe_z_home]
+home_xy_position: 0, 0
+speed: 100
+z_hop: 10
+z_hop_speed: 5
+
+[stepper_x]
+step_pin: PE5
+dir_pin: PF1
+enable_pin: !PF0
+microsteps: 16
+rotation_distance: 20
+endstop_pin: ^!PC15
+position_endstop: -1
+position_min: -1
+position_max: 180
+homing_speed: 100
+homing_retract_dist: 10
+second_homing_speed: 25
+
+[stepper_y]
+step_pin: PF9
+dir_pin: !PF3
+enable_pin: !PF5
+microsteps: 16
+rotation_distance: 20
+endstop_pin: ^!PC14
+position_endstop: -3
+position_min: -3
+position_max: 180
+homing_retract_dist: 10
+homing_speed: 100
+second_homing_speed: 25
+
+[stepper_z]
+step_pin: PA6
+dir_pin: !PF15
+enable_pin: !PA5
+microsteps: 16
+rotation_distance: 4
+endstop_pin: ^!PC13
+position_endstop: 0
+position_max: 180
+position_min: 0
+
+[extruder]
+step_pin: PB1
+dir_pin: PF13
+enable_pin: !PF14
+microsteps: 16
+rotation_distance: 16.75
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PG7
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC3
+control: pid
+pid_kp: 22.2
+pid_ki: 1.08
+pid_kd: 114.00
+min_temp: 0
+max_temp: 250
+min_extrude_temp: 170
+max_extrude_only_distance: 450
+
+[heater_fan hotend_fan]
+heater: extruder
+heater_temp: 50.0
+pin: PG9
+
+[fan]
+pin: PG0
+
+[filament_switch_sensor filament_sensor]
+pause_on_runout: True
+switch_pin: ^!PE6
+
+[heater_bed]
+heater_pin: PE2
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC2
+min_temp: 0
+max_temp: 130
+control: pid
+pid_kp: 10.00
+pid_ki: 0.023
+pid_kd: 305.4
+
+[bed_screws]
+screw1: 17.5, 11
+screw1_name: front_left
+screw2: 162.5, 11
+screw2_name: front_right
+screw3: 162.5, 162.5
+screw3_name: back_right
+screw4: 17.5, 162.5
+screw4_name: back_left

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/printer-wanhao-duplicator-6-2016.cfg

@@ -86,7 +86,7 @@ pwm: True
 scale: 2.782
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.2
+value: 1.2
 
 [output_pin stepper_z_current]
 pin: PL4
@@ -94,7 +94,7 @@ pwm: True
 scale: 2.782
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.2
+value: 1.2
 
 [output_pin stepper_e_current]
 pin: PL3
@@ -102,7 +102,7 @@ pwm: True
 scale: 2.782
 cycle_time: .000030
 hardware_pwm: True
-static_value: 1.0
+value: 1.0
 
 [display]
 lcd_type: ssd1306

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:
@@ -61,12 +61,10 @@ gcode:
 #   P is the tone duration, S the tone frequency.
 # The frequency won't be pitch perfect.
 
-[output_pin BEEPER_pin]
+[pwm_cycle_time BEEPER_pin]
 pin: ar37
 #   Beeper pin. This parameter must be provided.
 #   ar37 is the default RAMPS/MKS pin.
-pwm: True
-#   A piezo beeper needs a PWM signal, a DC buzzer doesn't.
 value: 0
 #   Silent at power on, set to 1 if active low.
 shutdown_value: 0

config/sample-pwm-tool.cfg

@@ -2,9 +2,8 @@
 # such as a laser or spindle.
 # See docs/Using_PWM_Tools.md for a more detailed description.
 
-[output_pin TOOL]
+[pwm_tool TOOL]
 pin: !ar9       # use your fan's pin number
-pwm: True
 hardware_pwm: True
 cycle_time: 0.001
 shutdown_value: 0
@@ -36,9 +35,9 @@ gcode:
 
 [menu __main __control __toolonoff]
 type: input
-enable: {'output_pin TOOL' in printer}
+enable: {'pwm_tool TOOL' in printer}
 name: Fan: {'ON ' if menu.input else 'OFF'}
-input: {printer['output_pin TOOL'].value}
+input: {printer['pwm_tool TOOL'].value}
 input_min: 0
 input_max: 1
 input_step: 1
@@ -47,9 +46,9 @@ gcode:
 
 [menu __main __control __toolspeed]
 type: input
-enable: {'output_pin TOOL' in printer}
+enable: {'pwm_tool TOOL' in printer}
 name: Tool speed: {'%3d' % (menu.input*100)}%
-input: {printer['output_pin TOOL'].value}
+input: {printer['pwm_tool TOOL'].value}
 input_min: 0
 input_max: 1
 input_step: 0.01

docs/API_Server.md

@@ -282,6 +282,22 @@ window" interface. Parsing content from the G-Code terminal output is
 discouraged. Use the "objects/subscribe" endpoint to obtain updates on
 Klipper's state.
 
+### heaters/set_target_temperature
+
+This endpoint is used to asynchronously set the target temperature for
+a heater. For example:
+`{"id": 123, "method": "heaters/set_target_temperature", "params":
+{"heater":"heater_generic my_heater", "target": 100.3}}`
+
+This endpoint is similar to the `SET_HEATER_TEMPERATURE` G-Code
+command, but the target temperature takes effect immediately.  It does
+not wait for pending G-Code commands to complete.
+
+If this endpoint is issued for a heater while a `WAIT_TEMPERATURE`
+command (or `M109`, `M190`) is pending for that heater, then the
+requested target temperature will be set and the `WAIT_TEMPERATURE`
+command will exit with an error.
+
 ### motion_report/dump_stepper
 
 This endpoint is used to subscribe to Klipper's internal stepper
@@ -364,6 +380,36 @@ and might later produce asynchronous messages such as:
 The "header" field in the initial query response is used to describe
 the fields found in later "data" responses.
 
+### hx71x/dump_hx71x
+
+This endpoint is used to subscribe to raw HX711 and HX717 ADC data.
+Obtaining these low-level ADC updates may be useful for diagnostic
+and debugging purposes. Using this endpoint may increase Klipper's
+system load.
+
+A request may look like:
+`{"id": 123, "method":"hx71x/dump_hx71x",
+"params": {"sensor": "load_cell", "response_template": {}}}`
+and might return:
+`{"id": 123,"result":{"header":["time","counts"]}}`
+and might later produce asynchronous messages such as:
+`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`
+
+### ads1220/dump_ads1220
+
+This endpoint is used to subscribe to raw ADS1220 ADC data.
+Obtaining these low-level ADC updates may be useful for diagnostic
+and debugging purposes. Using this endpoint may increase Klipper's
+system load.
+
+A request may look like:
+`{"id": 123, "method":"ads1220/dump_ads1220",
+"params": {"sensor": "load_cell", "response_template": {}}}`
+and might return:
+`{"id": 123,"result":{"header":["time","counts"]}}`
+and might later produce asynchronous messages such as:
+`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`
+
 ### pause_resume/cancel
 
 This endpoint is similar to running the "PRINT_CANCEL" G-Code command.
@@ -401,3 +447,130 @@ might return:
 
 As with the "gcode/script" endpoint, this endpoint only completes
 after any pending G-Code commands complete.
+
+### bed_mesh/dump_mesh
+
+Dumps the configuration and state for the current mesh and all
+saved profiles.
+
+For example:
+`{"id": 123, "method": "bed_mesh/dump_mesh"}`
+
+might return:
+
+```
+{
+    "current_mesh": {
+        "name": "eddy-scan-test",
+        "probed_matrix": [...],
+        "mesh_matrix": [...],
+        "mesh_params": {
+            "x_count": 9,
+            "y_count": 9,
+            "mesh_x_pps": 2,
+            "mesh_y_pps": 2,
+            "algo": "bicubic",
+            "tension": 0.5,
+            "min_x": 20,
+            "max_x": 330,
+            "min_y": 30,
+            "max_y": 320
+        }
+    },
+    "profiles": {
+        "default": {
+            "points": [...],
+            "mesh_params": {
+                "min_x": 20,
+                "max_x": 330,
+                "min_y": 30,
+                "max_y": 320,
+                "x_count": 9,
+                "y_count": 9,
+                "mesh_x_pps": 2,
+                "mesh_y_pps": 2,
+                "algo": "bicubic",
+                "tension": 0.5
+            }
+        },
+        "eddy-scan-test": {
+            "points": [...],
+            "mesh_params": {
+                "x_count": 9,
+                "y_count": 9,
+                "mesh_x_pps": 2,
+                "mesh_y_pps": 2,
+                "algo": "bicubic",
+                "tension": 0.5,
+                "min_x": 20,
+                "max_x": 330,
+                "min_y": 30,
+                "max_y": 320
+            }
+        },
+        "eddy-rapid-test": {
+            "points": [...],
+            "mesh_params": {
+                "x_count": 9,
+                "y_count": 9,
+                "mesh_x_pps": 2,
+                "mesh_y_pps": 2,
+                "algo": "bicubic",
+                "tension": 0.5,
+                "min_x": 20,
+                "max_x": 330,
+                "min_y": 30,
+                "max_y": 320
+            }
+        }
+    },
+    "calibration": {
+        "points": [...],
+        "config": {
+            "x_count": 9,
+            "y_count": 9,
+            "mesh_x_pps": 2,
+            "mesh_y_pps": 2,
+            "algo": "bicubic",
+            "tension": 0.5,
+            "mesh_min": [
+                20,
+                30
+            ],
+            "mesh_max": [
+                330,
+                320
+            ],
+            "origin": null,
+            "radius": null
+        },
+        "probe_path": [...],
+        "rapid_path": [...]
+    },
+    "probe_offsets": [
+        0,
+        25,
+        0.5
+    ],
+    "axis_minimum": [
+        0,
+        0,
+        -5,
+        0
+    ],
+    "axis_maximum": [
+        351,
+        358,
+        330,
+        0
+    ]
+}
+```
+
+The `dump_mesh` endpoint takes one optional parameter, `mesh_args`.
+This parameter must be an object, where the keys and values are
+parameters available to [BED_MESH_CALIBRATE](#bed_mesh_calibrate).
+This will update the mesh configuration and probe points using the
+supplied parameters prior to returning the result.   It is recommended
+to omit mesh parameters unless it is desired to visualize the probe points
+and/or travel path before performing `BED_MESH_CALIBRATE`.

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/Beaglebone.md

@@ -6,23 +6,64 @@ PRU.
 ## Building an OS image
 
 Start by installing the
-[Debian 9.9 2019-08-03 4GB SD IoT](https://beagleboard.org/latest-images)
+[Debian 11.7 2023-09-02 4GB microSD IoT](https://beagleboard.org/latest-images)
 image. One may run the image from either a micro-SD card or from
 builtin eMMC. If using the eMMC, install it to eMMC now by following
 the instructions from the above link.
 
 Then ssh into the Beaglebone machine (`ssh debian@beaglebone` --
-password is `temppwd`) and install Klipper by running the following
+password is `temppwd`).
+
+Before start installing Klipper you need to free-up additional space.
+there are 3 options to do that:
+1. remove some BeagleBone "Demo" resources
+2. if you did boot from SD-Card, and it's bigger than 4Gb - you can expand
+current filesystem to take whole card space
+3. do option #1 and #2 together.
+
+To remove some BeagleBone "Demo" resources execute these commands
+```
+sudo apt remove bb-node-red-installer
+sudo apt remove bb-code-server
+```
+
+To expand filesystem to full size of your SD-Card execute this command, reboot is not required.
+```
+sudo growpart /dev/mmcblk0 1
+sudo resize2fs /dev/mmcblk0p1
+```
+
+
+Install Klipper by running the following
 commands:
 
 ```
-git clone https://github.com/Klipper3d/klipper
+git clone https://github.com/Klipper3d/klipper.git
 ./klipper/scripts/install-beaglebone.sh
 ```
 
-## Install Octoprint
+After installing Klipper you need to decide what kind of deployment do you need,
+but take a note that BeagleBone is 3.3v based hardware and in most cases you can't
+directly connect pins to 5v or 12v based hardware without conversion boards.
 
-One may then install Octoprint:
+As Klipper have multimodule architecture on BeagleBone you can achieve many different use cases,
+but general ones are following:
+
+Use case 1: Use BeagleBone only as a host system to run Klipper and additional software
+like OctoPrint/Fluidd + Moonraker/...  and this configuration will be driving
+external micro-controllers via serial/usb/canbus connections.
+
+Use case 2: Use BeagleBone with extension board (cape) like CRAMPS board.
+in this configuration BeagleBone will host Klipper + additional software, and
+it will drive extension board with BeagleBone PRU cores (2 additional cores 200Mh, 32Bit).
+
+Use case 3: It's same as "Use case 1" but additionally you want to drive
+BeagleBone GPIOs with high speed by utilizing PRU cores to offload main CPU.
+
+
+## Installing Octoprint
+
+One may then install Octoprint or fully skip this section if desired other software:
 ```
 git clone https://github.com/foosel/OctoPrint.git
 cd OctoPrint/
@@ -51,25 +92,89 @@ Then start the Octoprint service:
 ```
 sudo systemctl start octoprint
 ```
-
-Make sure the OctoPrint web server is accessible - it should be at:
+Wait 1-2 minutes and make sure the OctoPrint web server is accessible - it should be at:
 [http://beaglebone:5000/](http://beaglebone:5000/)
 
-## Building the micro-controller code
 
-To compile the Klipper micro-controller code, start by configuring it
-for the "Beaglebone PRU":
+## Building the BeagleBone PRU micro-controller code (PRU firmware)
+This section is required for "Use case 2" and "Use case 3" mentioned above,
+you should skip it for "Use case 1".
+
+Check that required devices are present
+
+```
+sudo beagle-version
+```
+You should check that output contains successful "remoteproc" drivers loading and presence of PRU cores,
+in Kernel 5.10 they should be "remoteproc1" and "remoteproc2" (4a334000.pru, 4a338000.pru)
+Also check that many GPIOs are loaded they will look like "Allocated GPIO id=0 name='P8_03'"
+Usually everything is fine and no hardware configuration is required.
+If something is missing - try to play with "uboot overlays" options or with cape-overlays
+Just for reference some output of working BeagleBone Black configuration with CRAMPS board:
+```
+model:[TI_AM335x_BeagleBone_Black]
+UBOOT: Booted Device-Tree:[am335x-boneblack-uboot-univ.dts]
+UBOOT: Loaded Overlay:[BB-ADC-00A0.bb.org-overlays]
+UBOOT: Loaded Overlay:[BB-BONE-eMMC1-01-00A0.bb.org-overlays]
+kernel:[5.10.168-ti-r71]
+/boot/uEnv.txt Settings:
+uboot_overlay_options:[enable_uboot_overlays=1]
+uboot_overlay_options:[disable_uboot_overlay_video=0]
+uboot_overlay_options:[disable_uboot_overlay_audio=1]
+uboot_overlay_options:[disable_uboot_overlay_wireless=1]
+uboot_overlay_options:[enable_uboot_cape_universal=1]
+pkg:[bb-cape-overlays]:[4.14.20210821.0-0~bullseye+20210821]
+pkg:[bb-customizations]:[1.20230720.1-0~bullseye+20230720]
+pkg:[bb-usb-gadgets]:[1.20230414.0-0~bullseye+20230414]
+pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~bullseye+20230414]
+.............
+.............
+
+```
+
+To compile the Klipper micro-controller code, start by configuring it for the "Beaglebone PRU",
+for "BeagleBone Black" additionally disable options "Support GPIO Bit-banging devices" and disable "Support LCD devices"
+inside the "Optional features" because they will not fit in 8Kb PRU firmware memory,
+then exit and save config:
 ```
 cd ~/klipper/
 make menuconfig
 ```
 
-To build and install the new micro-controller code, run:
+To build and install the new PRU micro-controller code, run:
 ```
 sudo service klipper stop
 make flash
 sudo service klipper start
 ```
+After previous commands was executed your PRU firmware should be ready and started
+to check if everything was fine you can execute following command
+```
+dmesg
+```
+and compare last messages with sample one which indicate that everything started properly:
+```
+[   71.105499] remoteproc remoteproc1: 4a334000.pru is available
+[   71.157155] remoteproc remoteproc2: 4a338000.pru is available
+[   73.256287] remoteproc remoteproc1: powering up 4a334000.pru
+[   73.279246] remoteproc remoteproc1: Booting fw image am335x-pru0-fw, size 97112
+[   73.285807]  remoteproc1#vdev0buffer: registered virtio0 (type 7)
+[   73.285836] remoteproc remoteproc1: remote processor 4a334000.pru is now up
+[   73.286322] remoteproc remoteproc2: powering up 4a338000.pru
+[   73.313717] remoteproc remoteproc2: Booting fw image am335x-pru1-fw, size 188560
+[   73.313753] remoteproc remoteproc2: header-less resource table
+[   73.329964] remoteproc remoteproc2: header-less resource table
+[   73.348321] remoteproc remoteproc2: remote processor 4a338000.pru is now up
+[   73.443355] virtio_rpmsg_bus virtio0: creating channel rpmsg-pru addr 0x1e
+[   73.443727] virtio_rpmsg_bus virtio0: msg received with no recipient
+[   73.444352] virtio_rpmsg_bus virtio0: rpmsg host is online
+[   73.540993] rpmsg_pru virtio0.rpmsg-pru.-1.30: new rpmsg_pru device: /dev/rpmsg_pru30
+```
+take a note about "/dev/rpmsg_pru30" - it's your future serial device for main mcu configuration
+this device is required to be present, if it's absent - your PRU cores did not start properly.
+
+## Building and installing Linux host micro-controller code
+This section is required for "Use case 2" and optional for "Use case 3" mentioned above
 
 It is also necessary to compile and install the micro-controller code
 for a Linux host process. Configure it a second time for a "Linux process":
@@ -83,12 +188,24 @@ sudo service klipper stop
 make flash
 sudo service klipper start
 ```
+take a note about "/tmp/klipper_host_mcu" - it will be your future serial device for "mcu host"
+if that file don't exist - refer to "scripts/klipper-mcu.service" file, it was installed by
+previous commands, and it's responsible for it.
+
+
+Take a note for "Use case 2" about following: when you will define printer configuration you should always
+use temperature sensors from "mcu host" because ADCs not present in default "mcu" (PRU cores).
+Sample configuration of "sensor_pin" for extruder and heated bed are available in "generic-cramps.cfg"
+You can use any other GPIO directly from "mcu host" by referencing them this way "host:gpiochip1/gpio17"
+but that should be avoided because it will be creating additional load on main CPU and most probably
+you can't use them for stepper control.
+
 
 ## Remaining configuration
 
-Complete the installation by configuring Klipper and Octoprint
+Complete the installation by configuring Klipper
 following the instructions in
-the main [Installation](Installation.md#configuring-klipper) document.
+the main [Installation](Installation.md#configuring-octoprint-to-use-klipper) document.
 
 ## Printing on the Beaglebone
 
@@ -97,4 +214,111 @@ OctoPrint well. Print stalls have been known to occur on complex
 prints (the printer may move faster than OctoPrint can send movement
 commands). If this occurs, consider using the "virtual_sdcard" feature
 (see [Config Reference](Config_Reference.md#virtual_sdcard) for
-details) to print directly from Klipper.
+details) to print directly from Klipper
+and disable any DEBUG or VERBOSE logging options if you did enable them.
+
+
+## AVR micro-controller code build
+This environment have everything to build necessary micro-controller code except AVR,
+AVR packages was removed because of conflict with PRU packages.
+if you still want to build AVR micro-controller code in this environment you need to remove
+PRU packages and install AVR packages by executing following commands
+
+```
+sudo apt-get remove gcc-pru
+sudo apt-get install avrdude gcc-avr binutils-avr avr-libc
+```
+if you need to restore PRU packages - then remove ARV packages before that
+```
+sudo apt-get remove avrdude gcc-avr binutils-avr avr-libc
+sudo apt-get install gcc-pru
+```
+
+
+## Hardware Pin designation
+BeagleBone is very flexible in terms of pin designation, same pin can be configured for different function
+but always single function for single pin, same function can be present on different pins.
+So you can't have multiple functions on single pin or have same function on multiple pins.
+Example:
+P9_20 - i2c2_sda/can0_tx/spi1_cs0/gpio0_12/uart1_ctsn
+P9_19 - i2c2_scl/can0_rx/spi1_cs1/gpio0_13/uart1_rtsn
+P9_24 - i2c1_scl/can1_rx/gpio0_15/uart1_tx
+P9_26 - i2c1_sda/can1_tx/gpio0_14/uart1_rx
+
+Pin designation is defined by using special "overlays" which will be loaded during linux boot
+they are configured by editing file /boot/uEnv.txt with elevated permissions
+```
+sudo editor /boot/uEnv.txt
+```
+and defining which functionality to load, for example to enable CAN1 you need to define overlay for it
+```
+uboot_overlay_addr4=/lib/firmware/BB-CAN1-00A0.dtbo
+```
+This overlay BB-CAN1-00A0.dtbo will reconfigure all required pins for CAN1 and create CAN device in Linux.
+Any change in overlays will require system reboot to be applied.
+If you need to understand which pins are involved in some overlay - you can analyze source files in
+this location: /opt/sources/bb.org-overlays/src/arm/
+or search info in BeagleBone forums.
+
+
+## Enabling hardware SPI
+BeagleBone usually have multiple hardware SPI buses, for example BeagleBone Black can have 2 of them,
+they can work up to 48Mhz, but usually they are limited to 16Mhz by Kernel Device-tree.
+By default, in BeagleBone Black some of SPI1 pins are configured for HDMI-Audio output,
+to fully enable 4-wire SPI1 you need to disable HDMI Audio and enable SPI1
+To do that edit file /boot/uEnv.txt with elevated permissions
+```
+sudo editor /boot/uEnv.txt
+```
+uncomment variable
+```
+disable_uboot_overlay_audio=1
+```
+
+next uncomment variable and define it this way
+```
+uboot_overlay_addr4=/lib/firmware/BB-SPIDEV1-00A0.dtbo
+```
+Save changes in /boot/uEnv.txt and reboot the board.
+Now you have SPI1 Enabled, to verify its presence execute command
+```
+ls /dev/spidev1.*
+```
+Take a note that BeagleBone usually is 3.3v based hardware and to use 5V SPI devices
+you need to add Level-Shifting chip, for example SN74CBTD3861, SN74LVC1G34 or similar.
+If you are using CRAMPS board - it already contains Level-Shifting chip and SPI1 pins
+will become available on P503 port, and they can accept 5v hardware,
+check CRAMPS board Schematics for pin references.
+
+## Enabling hardware I2C
+BeagleBone usually have multiple hardware I2C buses, for example BeagleBone Black can have 3 of them,
+they support speed up-to 400Kbit Fast mode.
+By default, in BeagleBone Black there are two of them (i2c-1 and i2c-2) usually both are already configured and
+present on P9, third ic2-0 usually reserved for internal use.
+If you are using CRAMPS board then i2c-2 is present on P303 port with 3.3v level,
+If you want to obtain I2c-1 in CRAMPS board - you can get them on Extruder1.Step, Extruder1.Dir pins,
+they also are 3.3v based, check CRAMPS board Schematics for pin references.
+Related overlays, for [Hardware Pin designation](#hardware-pin-designation):
+I2C1(100Kbit): BB-I2C1-00A0.dtbo
+I2C1(400Kbit): BB-I2C1-FAST-00A0.dtbo
+I2C2(100Kbit): BB-I2C2-00A0.dtbo
+I2C2(400Kbit): BB-I2C2-FAST-00A0.dtbo
+
+## Enabling hardware UART(Serial)/CAN
+BeagleBone have up to 6 hardware UART(Serial) buses (up to 3Mbit)
+and up to 2 hardware CAN(1Mbit) buses.
+UART1(RX,TX) and CAN1(TX,RX) and I2C2(SDA,SCL) are using same pins - so you need to chose what to use
+UART1(CTSN,RTSN) and CAN0(TX,RX) and I2C1(SDA,SCL) are using same pins - so you need to chose what to use
+All UART/CAN related pins are 3.3v based, so you will need to use Transceiver chips/boards like SN74LVC2G241DCUR (for UART),
+SN65HVD230 (for CAN), TTL-RS485 (for RS-485) or something similar which can convert 3.3v signals to appropriate levels.
+
+Related overlays, for [Hardware Pin designation](#hardware-pin-designation)
+CAN0: BB-CAN0-00A0.dtbo
+CAN1: BB-CAN1-00A0.dtbo
+UART0: - used for Console
+UART1(RX,TX):  BB-UART1-00A0.dtbo
+UART1(RTS,CTS): BB-UART1-RTSCTS-00A0.dtbo
+UART2(RX,TX): BB-UART2-00A0.dtbo
+UART3(RX,TX): BB-UART3-00A0.dtbo
+UART4(RS-485): BB-UART4-RS485-00A0.dtbo
+UART5(RX,TX): BB-UART5-00A0.dtbo

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
@@ -44,10 +44,9 @@ probe_count: 5, 3
 
 - `mesh_max: 240, 198`\
   _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
-  the probe's location.
+  The probed coordinate 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 coordinate is relative to the probe's location.
 
 - `probe_count: 5, 3`\
   _Default Value: 3, 3_\
@@ -101,7 +100,7 @@ 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 +113,7 @@ 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,
@@ -142,7 +141,7 @@ bicubic_tension: 0.2
   integer pair, and also may be specified a single integer that is applied
   to both axes.  In this example there are 4 segments along the X axis
   and 2 segments along the Y axis.  This evaluates to 8 interpolated
-  points along X, 6 interpolated points along Y, which results in a 13x8
+  points along X, 6 interpolated points along Y, which results in a 13x9
   mesh.  Note that if mesh_pps is set to 0 then mesh interpolation is
   disabled and the probed matrix will be sampled directly.
 
@@ -207,7 +206,7 @@ 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 +254,24 @@ 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 +279,45 @@ 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
 
@@ -343,21 +369,146 @@ are identified in green.
 
 ![bedmesh_interpolated](img/bedmesh_faulty_regions.svg)
 
+### Adaptive Meshes
+
+Adaptive bed meshing is a way to speed up the bed mesh generation by only probing
+the area of the bed used by the objects being printed. When used, the method will
+automatically adjust the mesh parameters based on the area occupied by the defined
+print objects.
+
+The adapted mesh area will be computed from the area defined by the boundaries of all
+the defined print objects so it covers every object, including any margins defined in
+the configuration. After the area is computed, the number of probe points will be
+scaled down based on the ratio of the default mesh area and the adapted mesh area. To
+illustrate this consider the following example:
+
+For a 150mmx150mm bed with `mesh_min` set to `25,25` and `mesh_max` set to `125,125`,
+the default mesh area is a 100mmx100mm square. An adapted mesh area of `50,50`
+means a ratio of `0.5x0.5` between the adapted area and default mesh area.
+
+If the `bed_mesh` configuration specified `probe_count` as `7x7`, the adapted bed
+mesh will use 4x4 probe points (7 * 0.5 rounded up).
+
+![adaptive_bedmesh](img/adaptive_bed_mesh.svg)
+
+```
+[bed_mesh]
+speed: 120
+horizontal_move_z: 5
+mesh_min: 35, 6
+mesh_max: 240, 198
+probe_count: 5, 3
+adaptive_margin: 5
+```
+
+- `adaptive_margin` \
+  _Default Value: 0_ \
+  Margin (in mm) to add around the area of the bed used by the defined objects. The diagram
+  below shows the adapted bed mesh area with an `adaptive_margin` of 5mm. The adapted mesh
+  area (area in green) is computed as the used bed area (area in blue) plus the defined margin.
+
+  ![adaptive_bedmesh_margin](img/adaptive_bed_mesh_margin.svg)
+
+By nature, adaptive bed meshes use the objects defined by the Gcode file being printed.
+Therefore, it is expected that each Gcode file will generate a mesh that probes a different
+area of the print bed. Therefore, adapted bed meshes should not be re-used. The expectation
+is that a new mesh will be generated for each print if adaptive meshing is used.
+
+It is also important to consider that adaptive bed meshing is best used on machines that can
+normally probe the entire bed and achieve a maximum variance less than or equal to 1 layer
+height. Machines with mechanical issues that a full bed mesh normally compensates for may
+have undesirable results when attempting print moves **outside** of the probed area. If a
+full bed mesh has a variance greater than 1 layer height, caution must be taken when using
+adaptive bed meshes and attempting print moves outside of the meshed area.
+
+## Surface Scans
+
+Some probes, such as the [Eddy Current Probe](./Eddy_Probe.md), are capable of
+"scanning" the surface of the bed.  That is, these probes can sample a mesh
+without lifting the tool between samples.  To activate scanning mode, the
+`METHOD=scan` or `METHOD=rapid_scan` probe parameter should be passed in the
+`BED_MESH_CALIBRATE` gcode command.
+
+### Scan Height
+
+The scan height is set by the `horizontal_move_z` option in `[bed_mesh]`.  In
+addition it can be supplied with the `BED_MESH_CALIBRATE` gcode command via the
+`HORIZONTAL_MOVE_Z` parameter.
+
+The scan height must be sufficiently low to avoid scanning errors.  Typically
+a height of 2mm (ie: `HORIZONTAL_MOVE_Z=2`) should work well, presuming that the
+probe is mounted correctly.
+
+It should be noted that if the probe is more than 4mm above the surface then the
+results will be invalid.  Thus, scanning is not possible on beds with severe
+surface deviation or beds with extreme tilt that hasn't been corrected.
+
+### Rapid (Continuous) Scanning
+
+When performing a `rapid_scan` one should keep in mind that the results will
+have some amount of error.  This error should be low enough to be useful on
+large print areas with reasonably thick layer heights.  Some probes may be
+more prone to error than others.
+
+It is not recommended that rapid mode be used to scan a "dense" mesh.  Some of
+the error introduced during a rapid scan may be gaussian noise from the sensor,
+and a dense mesh will reflect this noise (ie: there will be peaks and valleys).
+
+Bed Mesh will attempt to optimize the travel path to provide the best possible
+result based on the configuration.  This includes avoiding faulty regions
+when collecting samples and "overshooting" the mesh when changing direction.
+This overshoot improves sampling at the edges of a mesh, however it requires
+that the mesh be configured in a way that allows the tool to travel outside
+of the mesh.
+
+```
+[bed_mesh]
+speed: 120
+horizontal_move_z: 5
+mesh_min: 35, 6
+mesh_max: 240, 198
+probe_count: 5
+scan_overshoot: 8
+```
+
+- `scan_overshoot`
+  _Default Value: 0 (disabled)_\
+  The maximum amount of travel (in mm) available outside of the mesh.
+  For rectangular beds this applies to travel on the X axis, and for round beds
+  it applies to the entire radius.  The tool must be able to travel the amount
+  specified outside of the mesh.  This value is used to optimize the travel
+  path when performing a "rapid scan".  The minimum value that may be specified
+  is 1.  The default is no overshoot.
+
+If no scan overshoot is configured then travel path optimization will not
+be applied to changes in direction.
+
 ## Bed Mesh Gcodes
 
 ### Calibration
 
-`BED_MESH_CALIBRATE PROFILE=<name> METHOD=[manual | automatic] [<probe_parameter>=<value>]
- [<mesh_parameter>=<value>]`\
+`BED_MESH_CALIBRATE PROFILE=<name> METHOD=[manual | automatic | scan | rapid_scan] \
+[<probe_parameter>=<value>] [<mesh_parameter>=<value>] [ADAPTIVE=[0|1] \
+[ADAPTIVE_MARGIN=<value>]`\
 _Default Profile:  default_\
-_Default Method:  automatic if a probe is detected, otherwise manual_
+_Default Method:  automatic if a probe is detected, otherwise manual_ \
+_Default Adaptive: 0_ \
+_Default Adaptive Margin: 0_
 
 Initiates the probing procedure for Bed Mesh Calibration.
 
 The mesh will be saved into a profile specified by the `PROFILE` parameter,
-or `default` if unspecified. If `METHOD=manual` is selected then manual probing
-will occur.  When switching between automatic and manual probing the generated
-mesh points will automatically be adjusted.
+or `default` if unspecified. The `METHOD` parameter takes one of the following
+values:
+
+- `METHOD=manual`: enables manual probing using the nozzle and the paper test
+- `METHOD=automatic`:  Automatic (standard) probing.  This is the default.
+- `METHOD=scan`: Enables surface scanning.  The tool will pause over each position
+                 to collect a sample.
+- `METHOD=rapid_scan`: Enables continuous surface scanning.
+
+XY positions are automatically adjusted to include the X and/or Y offsets
+when a probing method other than `manual` is selected.
 
 It is possible to specify mesh parameters to modify the probed area.  The
 following parameters are available:
@@ -371,12 +522,15 @@ following parameters are available:
   - `MESH_ORIGIN`
   - `ROUND_PROBE_COUNT`
 - All beds:
-  - `RELATIVE_REFERNCE_INDEX`
+  - `MESH_PPS`
   - `ALGORITHM`
+  - `ADAPTIVE`
+  - `ADAPTIVE_MARGIN`
 
 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 +544,33 @@ 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]`
@@ -441,11 +613,207 @@ This gcode may be used to clear the internal mesh state.
 
 ### Apply X/Y offsets
 
-`BED_MESH_OFFSET [X=<value>] [Y=<value>]`
+`BED_MESH_OFFSET [X=<value>] [Y=<value>] [ZFADE=<value>]`
 
 This is useful for printers with multiple independent extruders, as an offset
 is necessary to produce correct Z adjustment after a tool change.  Offsets
 should be specified relative to the primary extruder.  That is, a positive
 X offset should be specified if the secondary extruder is mounted to the
-right of the primary extruder, and a positive Y offset should be specified
-if the secondary extruder is mounted "behind" the primary extruder.
+right of the primary extruder, a positive Y offset should be specified
+if the secondary extruder is mounted "behind" the primary extruder, and
+a positive ZFADE offset should be specified if the secondary extruder's
+nozzle is above the primary extruder's.
+
+Note that a ZFADE offset does *NOT* directly apply additional adjustment.  It
+is intended to compensate for a `gcode offset` when [mesh fade](#mesh-fade)
+is enabled.  For example, if a secondary extruder is higher than the primary
+and needs a negative gcode offset, ie: `SET_GCODE_OFFSET Z=-.2`, it can be
+accounted for in `bed_mesh` with `BED_MESH_OFFSET ZFADE=.2`.
+
+## Bed Mesh Webhooks APIs
+
+### Dumping mesh data
+
+`{"id": 123, "method": "bed_mesh/dump_mesh"}`
+
+Dumps the configuration and state for the current mesh and all
+saved profiles.
+
+The `dump_mesh` endpoint takes one optional parameter, `mesh_args`.
+This parameter must be an object, where the keys and values are
+parameters available to [BED_MESH_CALIBRATE](#bed_mesh_calibrate).
+This will update the mesh configuration and probe points using the
+supplied parameters prior to returning the result.   It is recommended
+to omit mesh parameters unless it is desired to visualize the probe points
+and/or travel path before performing `BED_MESH_CALIBRATE`.
+
+## Visualization and analysis
+
+Most users will likely find that the visualizers included with
+applications such as Mainsail, Fluidd, and Octoprint are sufficient
+for basic analysis.  However, Klipper's `scripts` folder contains the
+`graph_mesh.py` script that may be used to perform additional
+visualizations and more detailed analysis, particularly useful
+for debugging hardware or the results produced by `bed_mesh`:
+
+```
+usage: graph_mesh.py [-h] {list,plot,analyze,dump} ...
+
+Graph Bed Mesh Data
+
+positional arguments:
+  {list,plot,analyze,dump}
+    list                List available plot types
+    plot                Plot a specified type
+    analyze             Perform analysis on mesh data
+    dump                Dump API response to json file
+
+options:
+  -h, --help            show this help message and exit
+```
+
+### Pre-requisites
+
+Like most graphing tools provided by Klipper, `graph_mesh.py` requires
+the `matplotlib` and `numpy` python dependencies. In addition, connecting
+to Klipper via Moonraker's websocket requires the `websockets` python
+dependency.  While all visualizations can be output to an `svg` file, most of
+the visualizations offered by `graph_mesh.py` are better viewed in live
+preview mode on a desktop class PC. For example, the 3D visualizations may be
+rotated and zoomed in preview mode, and the path visualizations can optionally
+be animated in preview mode.
+
+### Plotting Mesh data
+
+The `graph_mesh.py` tool can plot several types of visualizations.
+Available types can be shown by running `graph_mesh.py list`:
+
+```
+graph_mesh.py list
+points    Plot original generated points
+path      Plot probe travel path
+rapid     Plot rapid scan travel path
+probedz   Plot probed Z values
+meshz     Plot mesh Z values
+overlay   Plots the current probed mesh overlaid with a profile
+delta     Plots the delta between current probed mesh and a profile
+```
+
+Several options are available when plotting visualizations:
+
+```
+usage: graph_mesh.py plot [-h] [-a] [-s] [-p PROFILE_NAME] [-o OUTPUT] <plot type> <input>
+
+positional arguments:
+  <plot type>           Type of data to graph
+  <input>               Path/url to Klipper Socket or path to json file
+
+options:
+  -h, --help            show this help message and exit
+  -a, --animate         Animate paths in live preview
+  -s, --scale-plot      Use axis limits reported by Klipper to scale plot X/Y
+  -p PROFILE_NAME, --profile-name PROFILE_NAME
+                        Optional name of a profile to plot for 'probedz'
+  -o OUTPUT, --output OUTPUT
+                        Output file path
+```
+
+Below is a description of each argument:
+
+- `plot type`: A required positional argument designating the type of
+  visualization to generate.  Must be one of the types output by the
+  `graph_mesh.py list` command.
+- `input`: A required positional argument containing a path or url
+  to the input source.  This must be one of the following:
+  - A path to Klipper's Unix Domain Socket
+  - A url to an instance of Moonraker
+  - A path to a json file produced by `graph_mesh.py dump <input>`
+- `-a`:  Optional animation for the `path` and `rapid` visualization types.
+  Animations only apply to a live preview.
+- `-s`:  Optionally scales a plot using the `axis_minimum` and `axis_maximum`
+  values reported by Klipper's `toolhead` object when the dump file was
+  generated.
+- `-p`: A profile name that may be specified when generating the
+  `probedz` 3D mesh visualization.  When generating an `overlay` or
+  `delta` visualization this argument must be provided.
+- `-o`: An optional file path indicating that the script should save the
+  visualization to this location rather than run in preview mode.  Images
+  are saved in `svg` format.
+
+For example, to plot an animated rapid path, connecting via Klipper's unix
+socket:
+
+```
+graph_mesh.py plot -a rapid ~/printer_data/comms/klippy.sock
+```
+
+Or to plot a 3d visualization of the mesh, connecting via Moonraker:
+
+```
+graph_mesh.py plot meshz http://my-printer.local
+```
+
+### Bed Mesh Analysis
+
+The `graph_mesh.py` tool may also be used to perform an analysis on the
+data provided by the [bed_mesh/dump_mesh](#dumping-mesh-data) API:
+
+```
+graph_mesh.py analyze <input>
+```
+
+As with the `plot` command, the `<input>` must be a path to Klipper's
+unix socket, a URL to an instance of Moonraker, or a path to a json file
+generated by the dump command.
+
+To begin, the analysis will perform various checks on the points and
+probe paths generated by `bed_mesh` at the time of the dump.  This
+includes the following:
+
+- The number of probe points generated, without any additions
+- The number of probe points generated including any points generated
+  as the result faulty regions and/or a configured zero reference position.
+- The number of probe points generated when performing a rapid scan.
+- The total number of moves generated for a rapid scan.
+- A validation that the probe points generated for a rapid scan are
+  identical to the probe points generated for a standard probing procedure.
+- A "backtracking" check for both the standard probe path and a rapid scan
+  path.  Backtracking can be defined as moving to the same position more than
+  once during the probing procedure.  Backtracking should never occur during a
+  standard probe.  Faulty regions *can* result in backtracking during a rapid
+  scan in an attempt to avoid entering a faulty region when approaching or
+  leaving a probe location, however should never occur otherwise.
+
+Next each probed mesh present in the dump will by analyzed, beginning with
+the mesh loaded at the time of the dump (if present) and followed by any
+saved profiles.  The following data is extracted:
+
+- Mesh shape (Min X,Y, Max X,Y Probe Count)
+- Mesh Z range, (Minimum Z, Maximum Z)
+- Mean Z value in the mesh
+- Standard Deviation of the Z values in the Mesh
+
+In addition to the above, a delta analysis is performed between meshes
+with the same shape, reporting the following:
+- The range of the delta between to meshes (Minimum and Maximum)
+- The mean delta
+- Standard Deviation of the delta
+- The absolute maximum difference
+- The absolute mean
+
+### Save mesh data to a file
+
+The `dump` command may be used to save the response to a file which
+can be shared for analysis when troubleshooting:
+
+```
+graph_mesh.py dump -o <output file name> <input>
+```
+
+The `<input>` should be a path to Klipper's unix socket or
+a URL to an instance of Moonraker.  The `-o` option may be used to
+specify the path to the output file.  If omitted, the file will be
+saved in the working directory, with a file name in the following
+format:
+
+`klipper-bedmesh-{year}{month}{day}{hour}{minute}{second}.json`

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
-    up ifconfig $IFACE txqueuelen 128
+    bitrate 1000000
+    up ip link set $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
-    up ifconfig $IFACE txqueuelen 128
+    bitrate 1000000
+    up ip link set $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 +1,190 @@
+# 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.
+
+## Use an appropriate txqueuelen setting
+
+The Klipper code uses the Linux kernel to manage CAN bus traffic. By
+default, the kernel will only queue 10 CAN transmit packets. It is
+recommended to [configure the can0 device](CANBUS.md#host-hardware)
+with a `txqueuelen 128` to increase that size.
+
+If Klipper transmits a packet and Linux has filled all of its transmit
+queue space then Linux will drop that packet and messages like the
+following will appear in the Klipper log:
+```
+Got error -1 in can write: (105)No buffer space available
+```
+Klipper will automatically retransmit the lost messages as part of its
+normal application level message retransmit system. Thus, this log
+message is a warning and it does not indicate an unrecoverable error.
+
+If a complete CAN bus failure occurs (such as a CAN wire break) then
+Linux will not be able to transmit any messages on the CAN bus and it
+is common to find the above message in the Klipper log. In this case,
+the log message is a symptom of a larger problem (the inability to
+transmit any messages) and is not directly related to Linux
+`txqueuelen`.
+
+One may check the current queue size by running the Linux command `ip
+link show can0`. It should report a bunch of text including the
+snippet `qlen 128`. If one sees something like `qlen 10` then it
+indicates the CAN device has not been properly configured.
+
+It is not recommended to use a `txqueuelen` significantly larger
+than 128. A CAN bus running at a frequency of 1000000 will typically
+take around 120us to transmit a CAN packet. Thus a queue of 128
+packets is likely to take around 15-20ms to drain. A substantially
+larger queue could cause excessive spikes in message round-trip-time
+which could lead to unrecoverable errors. Said another way, Klipper's
+application retransmit system is more robust if it does not have to
+wait for Linux to drain an excessively large queue of possibly stale
+data. This is analogous to the problem of
+[bufferbloat](https://en.wikipedia.org/wiki/Bufferbloat) on internet
+routers.
+
+Under normal circumstances Klipper may utilize ~25 queue slots per
+MCU - typically only utilizing more slots during retransmits.
+(Specifically, the Klipper host may transmit up to 192 bytes to each
+Klipper MCU before receiving an acknowledgment from that MCU.) If a
+single CAN bus has 5 or more Klipper MCUs on it, then it might be
+necessary to increase the `txqueuelen` above the recommended value
+of 128. However, as above, care should be taken when selecting a new
+value to avoid excessive round-trip-time latency.
+
+## 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/Code_Overview.md

@@ -136,8 +136,9 @@ provides further information on the mechanics of moves.
 
 * The ToolHead class (in toolhead.py) handles "look-ahead" and tracks
   the timing of printing actions. The main codepath for a move is:
-  `ToolHead.move() -> MoveQueue.add_move() -> MoveQueue.flush() ->
-  Move.set_junction() -> ToolHead._process_moves()`.
+  `ToolHead.move() -> LookAheadQueue.add_move() ->
+  LookAheadQueue.flush() -> Move.set_junction() ->
+  ToolHead._process_moves()`.
   * ToolHead.move() creates a Move() object with the parameters of the
   move (in cartesian space and in units of seconds and millimeters).
   * The kinematics class is given the opportunity to audit each move
@@ -146,10 +147,10 @@ provides further information on the mechanics of moves.
   may raise an error if the move is not valid. If check_move()
   completes successfully then the underlying kinematics must be able
   to handle the move.
-  * MoveQueue.add_move() places the move object on the "look-ahead"
-  queue.
-  * MoveQueue.flush() determines the start and end velocities of each
-  move.
+  * LookAheadQueue.add_move() places the move object on the
+  "look-ahead" queue.
+  * LookAheadQueue.flush() determines the start and end velocities of
+  each move.
   * Move.set_junction() implements the "trapezoid generator" on a
   move. The "trapezoid generator" breaks every move into three parts:
   a constant acceleration phase, followed by a constant velocity
@@ -170,17 +171,18 @@ provides further information on the mechanics of moves.
   placed on a "trapezoid motion queue": `ToolHead._process_moves() ->
   trapq_append()` (in klippy/chelper/trapq.c). The step times are then
   generated: `ToolHead._process_moves() ->
-  ToolHead._update_move_time() -> MCU_Stepper.generate_steps() ->
-  itersolve_generate_steps() -> itersolve_gen_steps_range()` (in
-  klippy/chelper/itersolve.c). The goal of the iterative solver is to
-  find step times given a function that calculates a stepper position
-  from a time. This is done by repeatedly "guessing" various times
-  until the stepper position formula returns the desired position of
-  the next step on the stepper. The feedback produced from each guess
-  is used to improve future guesses so that the process rapidly
-  converges to the desired time. The kinematic stepper position
-  formulas are located in the klippy/chelper/ directory (eg,
-  kin_cart.c, kin_corexy.c, kin_delta.c, kin_extruder.c).
+  ToolHead._advance_move_time() -> ToolHead._advance_flush_time() ->
+  MCU_Stepper.generate_steps() -> itersolve_generate_steps() ->
+  itersolve_gen_steps_range()` (in klippy/chelper/itersolve.c). The
+  goal of the iterative solver is to find step times given a function
+  that calculates a stepper position from a time. This is done by
+  repeatedly "guessing" various times until the stepper position
+  formula returns the desired position of the next step on the
+  stepper. The feedback produced from each guess is used to improve
+  future guesses so that the process rapidly converges to the desired
+  time. The kinematic stepper position formulas are located in the
+  klippy/chelper/ directory (eg, kin_cart.c, kin_corexy.c,
+  kin_delta.c, kin_extruder.c).
 
 * Note that the extruder is handled in its own kinematic class:
   `ToolHead._process_moves() -> PrinterExtruder.move()`. Since

docs/Config_Changes.md

@@ -8,6 +8,118 @@ All dates in this document are approximate.
 
 ## Changes
 
+20240415: The `on_error_gcode` parameter in the `[virtual_sdcard]`
+config section now has a default. If this parameter is not specified
+it now defaults to `TURN_OFF_HEATERS`. If the previous behavior is
+desired (take no default action on an error during a virtual_sdcard
+print) then define `on_error_gcode` with an empty value.
+
+20240313: The `max_accel_to_decel` parameter in the `[printer]` config
+section has been deprecated. The `ACCEL_TO_DECEL` parameter of the
+`SET_VELOCITY_LIMIT` command has been deprecated. The
+`printer.toolhead.max_accel_to_decel` status has been removed. Use the
+[minimum_cruise_ratio parameter](./Config_Reference.md#printer)
+instead. The deprecated features will be removed in the near future,
+and using them in the interim may result in subtly different behavior.
+
+20240215: Several deprecated features have been removed. Using "NTC
+100K beta 3950" as a thermistor name has been removed (deprecated on
+20211110). The `SYNC_STEPPER_TO_EXTRUDER` and
+`SET_EXTRUDER_STEP_DISTANCE` commands have been removed, and the
+extruder `shared_heater` config option has been removed (deprecated on
+20220210). The bed_mesh `relative_reference_index` option has been
+removed (deprecated on 20230619).
+
+20240123: The output_pin SET_PIN CYCLE_TIME parameter has been
+removed. Use the new
+[pwm_cycle_time](Config_Reference.md#pwm_cycle_time) module if it is
+necessary to dynamically change a pwm pin's cycle time.
+
+20240123: The output_pin `maximum_mcu_duration` parameter is
+deprecated. Use a [pwm_tool config section](Config_Reference.md#pwm_tool)
+instead. The option will be removed in the near future.
+
+20240123: The output_pin `static_value` parameter is deprecated.
+Replace with `value` and `shutdown_value` parameters.  The option will
+be removed in the near future.
+
+20231216: The `[hall_filament_width_sensor]` is changed to trigger filament runout
+when the thickness of the filament exceeds `max_diameter`. The maximum diameter
+defaults to `default_nominal_filament_diameter + max_difference`. See
+[[hall_filament_width_sensor] configuration
+reference](./Config_Reference.md#hall_filament_width_sensor) for more details.
+
+20231207: Several undocumented config parameters in the `[printer]`
+config section have been removed (the buffer_time_low,
+buffer_time_high, buffer_time_start, and move_flush_time parameters).
+
+20231110: Klipper v0.12.0 released.
+
+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_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/Eddy_Probe.md

@@ -0,0 +1,144 @@
+# Eddy Current Inductive probe
+
+This document describes how to use an
+[eddy current](https://en.wikipedia.org/wiki/Eddy_current) inductive
+probe in Klipper.
+
+Currently, an eddy current probe can not be used for Z homing. The
+sensor can only be used for Z probing.
+
+Start by declaring a
+[probe_eddy_current config section](Config_Reference.md#probe_eddy_current)
+in the printer.cfg file. It is recommended to set the `z_offset` to
+0.5mm. It is typical for the sensor to require an `x_offset` and
+`y_offset`. If these values are not known, one should estimate the
+values during initial calibration.
+
+The first step in calibration is to determine the appropriate
+DRIVE_CURRENT for the sensor. Home the printer and navigate the
+toolhead so that the sensor is near the center of the bed and is about
+20mm above the bed. Then issue an `LDC_CALIBRATE_DRIVE_CURRENT
+CHIP=<config_name>` command. For example, if the config section was
+named `[probe_eddy_current my_eddy_probe]` then one would run
+`LDC_CALIBRATE_DRIVE_CURRENT CHIP=my_eddy_probe`. This command should
+complete in a few seconds.  After it completes, issue a `SAVE_CONFIG`
+command to save the results to the printer.cfg and restart.
+
+The second step in calibration is to correlate the sensor readings to
+the corresponding Z heights. Home the printer and navigate the
+toolhead so that the nozzle is near the center of the bed. Then run an
+`PROBE_EDDY_CURRENT_CALIBRATE CHIP=my_eddy_probe` command. Once the
+tool starts, follow the steps described at
+["the paper test"](Bed_Level.md#the-paper-test) to determine the
+actual distance between the nozzle and bed at the given location. Once
+those steps are complete one can `ACCEPT` the position. The tool will
+then move the the toolhead so that the sensor is above the point where
+the nozzle used to be and run a series of movements to correlate the
+sensor to Z positions. This will take a couple of minutes. After the
+tool completes, issue a `SAVE_CONFIG` command to save the results to
+the printer.cfg and restart.
+
+After initial calibration it is a good idea to verify that the
+`x_offset` and `y_offset` are accurate. Follow the steps to
+[calibrate probe x and y offsets](Probe_Calibrate.md#calibrating-probe-x-and-y-offsets).
+If either the `x_offset` or `y_offset` is modified then be sure to run
+the `PROBE_EDDY_CURRENT_CALIBRATE` command (as described above) after
+making the change.
+
+Once calibration is complete, one may use all the standard Klipper
+tools that use a Z probe.
+
+Note that eddy current sensors (and inductive probes in general) are
+susceptible to "thermal drift". That is, changes in temperature can
+result in changes in reported Z height. Changes in either the bed
+surface temperature or sensor hardware temperature can skew the
+results. It is important that calibration and probing is only done
+when the printer is at a stable temperature.
+
+## Thermal Drift Calibration
+
+As with all inductive probes, eddy current probes are subject to
+significant thermal drift.  If the eddy probe has a temperature
+sensor on the coil it is possible to configure a `[temperature_probe]`
+to report coil temperature and enable software drift compensation. To
+link a temperature probe to an eddy current probe the
+`[temperature_probe]` section must share a name with the
+`[probe_eddy_current]` section.  For example:
+
+```
+[probe_eddy_current my_probe]
+# eddy probe configuration...
+
+[temperature_probe my_probe]
+# temperature probe configuration...
+```
+
+See the [configuration reference](Config_Reference.md#temperature_probe)
+for further details on how to configure a `temperature_probe`.  It is
+advised to configure the `calibration_position`,
+`calibration_extruder_temp`, `extruder_heating_z`, and
+`calibration_bed_temp` options, as doing so will automate some of the
+steps outlined below.
+
+Eddy probe manufacturers may offer a stock drift calibration that can be
+manually added to `drift_calibration` option of the `[probe_eddy_current]`
+section. If they do not, or if the stock calibration does not perform well on
+your system, the `temperature_probe` module offers a manual calibration
+procedure via the `TEMPERATURE_PROBE_CALIBRATE` gcode command.
+
+Prior to performing calibration the user should have an idea of what the
+maximum attainable temperature probe coil temperature is.  This temperature
+should be used to set the `TARGET` parameter of the
+`TEMPERATURE_PROBE_CALIBRATE` command.  The goal is to calibrate across the
+widest temperature range possible, thus its desirable to start with the printer
+cold and finish with the coil at the maximum temperature it can reach.
+
+Once a `[temperature_probe]` is configured, the following steps may be taken
+to perform thermal drift calibration:
+
+- The probe must be calibrated using `PROBE_EDDY_CURRENT_CALIBRATE`
+  when a `[temperature_probe]` is configured and linked.  This captures
+  the temperature during calibration which is necessary to perform
+  thermal drift compensation.
+- Make sure the nozzle is free of debris and filament.
+- The bed, nozzle, and probe coil should be cold prior to calibration.
+- The following steps are required if the `calibration_position`,
+  `calibration_extruder_temp`, and `extruder_heating_z` options in
+  `[temperature_probe]` are **NOT** configured:
+  - Move the tool to the center of the bed.  Z should be 30mm+ above the bed.
+  - Heat the extruder to a temperature above the maximum safe bed temperature.
+    150-170C should be sufficient for most configurations.  The purpose of
+    heating the extruder is to avoid nozzle expansion during calibration.
+  - When the extruder temperature has settled, move the Z axis down to about 1mm
+    above the bed.
+- Start drift calibration.  If the probe's name is `my_probe` and the maximum
+  probe temperature we can achieve is 80C, the appropriate gcode command is
+  `TEMPERATURE_PROBE_CALIBRATE PROBE=my_probe TARGET=80`.  If configured, the
+  tool will move to the X,Y coordinate specified by the `calibration_position`
+  and the Z value specified by `extruder_heating_z`.  After heating the extruder
+  to the specified temperature the tool will move to the Z value specified
+  by the`calibration_position`.
+- The procedure will request a manual probe.  Perform the manual probe with
+  the paper test and `ACCEPT`.  The calibration procedure will take the first
+  set of samples with the probe then park the probe in the heating position.
+- If the `calibration_bed_temp` is **NOT** configured turn on the bed heat
+  to the maximum safe temperature.  Otherwise this step will be performed
+  automatically.
+- By default the calibration procedure will request a manual probe every
+  2C between samples until the `TARGET` is reached.  The temperature delta
+  between samples can be customized by setting the `STEP` parameter in
+  `TEMPERATURE_PROBE_CALIBRATE`.  Care should be taken when setting a custom
+  `STEP` value, a value too high may request too few samples resulting in
+  a poor calibration.
+- The following additional gcode commands are available during drift
+  calibration:
+  - `TEMPERATURE_PROBE_NEXT` may be used to force a new sample before the step
+    delta has been reached.
+  - `TEMPERATURE_PROBE_COMPLETE` may be used to complete calibration before the
+    `TARGET` has been reached.
+  - `ABORT` may be used to end calibration and discard results.
+- When calibration is finished use `SAVE_CONFIG` to store the drift
+  calibration.
+
+As one may conclude, the calibration process outlined above is more challenging
+and time consuming than most other procedures.  It may require practice and several attempts to achieve an optimal calibration.

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

@@ -139,6 +139,17 @@ Writes raw "value" into register "register". Both "value" and
 and refer to sensor data sheet for the reference. This is only
 available for tle5012b chips.
 
+### [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.
+
 ### [bed_mesh]
 
 The following commands are available when the
@@ -146,14 +157,21 @@ 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 [PROFILE=<name>] [METHOD=manual] [HORIZONTAL_MOVE_Z=<value>]
+[<probe_parameter>=<value>] [<mesh_parameter>=<value>] [ADAPTIVE=1]
+[ADAPTIVE_MARGIN=<value>]`: This command probes the bed using generated points
+specified by the parameters in the config. After probing, a mesh is generated
+and z-movement is adjusted according to the mesh.
+The mesh will be saved into a profile specified by the `PROFILE` parameter,
+or `default` if unspecified.
+See the PROBE command for details on the optional probe parameters. If
+METHOD=manual is specified then the manual probing tool is activated - see the
+MANUAL_PROBE command above for details on the additional commands available
+while this tool is active. The optional `HORIZONTAL_MOVE_Z` value overrides the
+`horizontal_move_z` option specified in the config file. If ADAPTIVE=1 is
+specified then the objects defined by the Gcode file being printed will be used
+to define the probed area. The optional `ADAPTIVE_MARGIN` value overrides the
+`adaptive_margin` option specified in the config file.
 
 #### BED_MESH_OUTPUT
 `BED_MESH_OUTPUT PGP=[<0:1>]`: This command outputs the current probed
@@ -183,10 +201,12 @@ SAVE_CONFIG gcode must be run to make the changes to persistent memory
 permanent.
 
 #### BED_MESH_OFFSET
-`BED_MESH_OFFSET [X=<value>] [Y=<value>]`: Applies X and/or Y offsets
-to the mesh lookup. This is useful for printers with independent
-extruders, as an offset is necessary to produce correct Z adjustment
-after a tool change.
+`BED_MESH_OFFSET [X=<value>] [Y=<value>] [ZFADE=<value]`: Applies X, Y,
+and/or ZFADE offsets to the mesh lookup. This is useful for printers with
+independent extruders, as an offset is necessary to produce correct Z
+adjustment after a tool change.  Note that a ZFADE offset does not apply
+additional z-adjustment directly, it is used to correct the `fade`
+calculation when a `gcode offset` has been applied to the Z axis.
 
 ### [bed_screws]
 
@@ -207,13 +227,14 @@ 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 +283,14 @@ 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 +329,33 @@ 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]
 
@@ -420,12 +466,6 @@ MOTION_QUEUE (as defined in an [extruder](Config_Reference.md#extruder)
 config section). If MOTION_QUEUE is an empty string then the stepper
 will be desynchronized from all extruder movement.
 
-#### SET_EXTRUDER_STEP_DISTANCE
-This command is deprecated and will be removed in the near future.
-
-#### SYNC_STEPPER_TO_EXTRUDER
-This command is deprecated and will be removed in the near future.
-
 ### [fan_generic]
 
 The following command is available when a
@@ -549,8 +589,9 @@ 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]
 
@@ -806,13 +847,15 @@ commands to manage the LED's color settings).
 ### [output_pin]
 
 The following command is available when an
-[output_pin config section](Config_Reference.md#output_pin) is
+[output_pin config section](Config_Reference.md#output_pin) or
+[pwm_tool config section](Config_Reference.md#pwm_tool) is
 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>`: 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.
 
 ### [palette2]
 
@@ -941,6 +984,43 @@ babystepping), and subtract if from the probe's z_offset.  This acts
 to take a frequently used babystepping value, and "make it permanent".
 Requires a `SAVE_CONFIG` to take effect.
 
+### [probe_eddy_current]
+
+The following commands are available when a
+[probe_eddy_current config section](Config_Reference.md#probe_eddy_current)
+is enabled.
+
+#### PROBE_EDDY_CURRENT_CALIBRATE
+`PROBE_EDDY_CURRENT_CALIBRATE CHIP=<config_name>`: This starts a tool
+that calibrates the sensor resonance frequencies to corresponding Z
+heights. The tool will take a couple of minutes to complete. After
+completion, use the SAVE_CONFIG command to store the results in the
+printer.cfg file.
+
+#### LDC_CALIBRATE_DRIVE_CURRENT
+`LDC_CALIBRATE_DRIVE_CURRENT CHIP=<config_name>` This tool will
+calibrate the ldc1612 DRIVE_CURRENT0 register. Prior to using this
+tool, move the sensor so that it is near the center of the bed and
+about 20mm above the bed surface. Run this command to determine an
+appropriate DRIVE_CURRENT for the sensor. After running this command
+use the SAVE_CONFIG command to store that new setting in the
+printer.cfg config file.
+
+### [pwm_cycle_time]
+
+The following command is available when a
+[pwm_cycle_time config section](Config_Reference.md#pwm_cycle_time)
+is enabled.
+
+#### SET_PIN
+`SET_PIN PIN=config_name VALUE=<value> [CYCLE_TIME=<cycle_time>]`:
+This command works similarly to [output_pin](#output_pin) SET_PIN
+commands. The command here supports 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 pwm_cycle_time config section).
+
 ### [query_adc]
 
 The query_adc module is automatically loaded.
@@ -1006,7 +1086,7 @@ 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 +1100,9 @@ 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 +1151,17 @@ 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 +1289,9 @@ 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 +1301,22 @@ 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]
 
@@ -1234,8 +1324,11 @@ The toolhead module is automatically loaded.
 
 #### SET_VELOCITY_LIMIT
 `SET_VELOCITY_LIMIT [VELOCITY=<value>] [ACCEL=<value>]
-[ACCEL_TO_DECEL=<value>] [SQUARE_CORNER_VELOCITY=<value>]`: Modify the
-printer's velocity limits.
+[MINIMUM_CRUISE_RATIO=<value>] [SQUARE_CORNER_VELOCITY=<value>]`: This
+command can alter the velocity limits that were specified in the
+printer config file. See the
+[printer config section](Config_Reference.md#printer) for a
+description of each parameter.
 
 ### [tuning_tower]
 
@@ -1317,7 +1410,44 @@ The following commands are available when the
 [z_tilt config section](Config_Reference.md#z_tilt) is enabled.
 
 #### Z_TILT_ADJUST
-`Z_TILT_ADJUST [<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.
+
+### [temperature_probe]
+
+The following commands are available when a
+[temperature_probe config section](Config_Reference.md#temperature_probe)
+is enabled.
+
+#### TEMPERATURE_PROBE_CALIBRATE
+`TEMPERATURE_PROBE_CALIBRATE [PROBE=<probe name>] [TARGET=<value>] [STEP=<value>]`:
+Initiates probe drift calibration for eddy current based probes.  The `TARGET`
+is a target temperature for the last sample.  When the temperature recorded
+during a sample exceeds the `TARGET` calibration will complete.  The `STEP`
+parameter sets temperature delta (in C) between samples. After a sample has
+been taken, this delta is used to schedule a call to `TEMPERATURE_PROBE_NEXT`.
+The default `STEP` is 2.
+
+#### TEMPERATURE_PROBE_NEXT
+`TEMPERATURE_PROBE_NEXT`: After calibration has started this command is run to
+take the next sample.  It is automatically scheduled to run when the delta
+specified by `STEP` has been reached, however its also possible to manually run
+this command to force a new sample.  This command is only available during
+calibration.
+
+#### TEMPERATURE_PROBE_COMPLETE:
+`TEMPERATURE_PROBE_COMPLETE`:  Can be used to end calibration and save the
+current result before the `TARGET` temperature is reached.  This command
+is only available during calibration.
+
+#### ABORT
+`ABORT`:  Aborts the calibration process, discarding the current results.
+This command is only available during drift calibration.
+
+### TEMPERATURE_PROBE_ENABLE
+`TEMPERATURE_PROBE_ENABLE ENABLE=[0|1]`: Sets temperature drift
+compensation on or off. If ENABLE is set to 0, drift compensation
+will be disabled, if set to 1 it is enabled.

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/Installation.md

@@ -2,7 +2,7 @@
 
 These instructions assume the software will run on a Raspberry Pi
 computer in conjunction with OctoPrint. It is recommended that a
-Raspberry Pi 2, 3, or 4 computer be used as the host machine (see the
+Raspberry Pi 2 (or later) be used as the host machine (see the
 [FAQ](FAQ.md#can-i-run-klipper-on-something-other-than-a-raspberry-pi-3)
 for other machines).
 
@@ -50,7 +50,7 @@ using a Linux or MacOS desktop, then the "ssh" software should already
 be installed on the desktop. There are free ssh clients available for
 other desktops (eg,
 [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/)). Use the
-ssh utility to connect to the Raspberry Pi (ssh pi@octopi -- password
+ssh utility to connect to the Raspberry Pi (`ssh pi@octopi` -- password
 is "raspberry") and run the following commands:
 
 ```
@@ -135,18 +135,18 @@ web page and then configure the following items:
 
 Navigate to the Settings tab (the wrench icon at the top of the
 page). Under "Serial Connection" in "Additional serial ports" add
-"/tmp/printer". Then click "Save".
+`/tmp/printer`. Then click "Save".
 
 Enter the Settings tab again and under "Serial Connection" change the
-"Serial Port" setting to "/tmp/printer".
+"Serial Port" setting to `/tmp/printer`.
 
 In the Settings tab, navigate to the "Behavior" sub-tab and select the
 "Cancel any ongoing prints but stay connected to the printer"
 option. Click "Save".
 
 From the main page, under the "Connection" section (at the top left of
-the page) make sure the "Serial Port" is set to "/tmp/printer" and
-click "Connect". (If "/tmp/printer" is not an available selection then
+the page) make sure the "Serial Port" is set to `/tmp/printer` and
+click "Connect". (If `/tmp/printer` is not an available selection then
 try reloading the page.)
 
 Once connected, navigate to the "Terminal" tab and type "status"
@@ -165,8 +165,8 @@ Arguably the easiest way to set the Klipper configuration file is to
 use a desktop editor that supports editing files over the "scp" and/or
 "sftp" protocols. There are freely available tools that support this
 (eg, Notepad++, WinSCP, and Cyberduck). Load the printer config file
-in the editor and then save it as a file named "printer.cfg" in the
-home directory of the pi user (ie, /home/pi/printer.cfg).
+in the editor and then save it as a file named `printer.cfg` in the
+home directory of the pi user (ie, `/home/pi/printer.cfg`).
 
 Alternatively, one can also copy and edit the file directly on the
 Raspberry Pi via ssh. That may look something like the following (be

docs/Kinematics.md

@@ -96,7 +96,7 @@ Key formula for look-ahead:
 end_velocity^2 = start_velocity^2 + 2*accel*move_distance
 ```
 
-### Smoothed look-ahead
+### Minimum cruise ratio
 
 Klipper also implements a mechanism for smoothing out the motions of
 short "zigzag" moves. Consider the following moves:
@@ -105,21 +105,27 @@ short "zigzag" moves. Consider the following moves:
 
 In the above, the frequent changes from acceleration to deceleration
 can cause the machine to vibrate which causes stress on the machine
-and increases the noise. To reduce this, Klipper tracks both regular
-move acceleration as well as a virtual "acceleration to deceleration"
-rate. Using this system, the top speed of these short "zigzag" moves
-are limited to smooth out the printer motion:
+and increases the noise. Klipper implements a mechanism to ensure
+there is always some movement at a cruising speed between acceleration
+and deceleration. This is done by reducing the top speed of some moves
+(or sequence of moves) to ensure there is a minimum distance traveled
+at cruising speed relative to the distance traveled during
+acceleration and deceleration.
+
+Klipper implements this feature by tracking both a regular move
+acceleration as well as a virtual "acceleration to deceleration" rate:
 
 ![smoothed](img/smoothed.svg.png)
 
 Specifically, the code calculates what the velocity of each move would
 be if it were limited to this virtual "acceleration to deceleration"
-rate (half the normal acceleration rate by default). In the above
-picture the dashed gray lines represent this virtual acceleration rate
-for the first move. If a move can not reach its full cruising speed
-using this virtual acceleration rate then its top speed is reduced to
-the maximum speed it could obtain at this virtual acceleration
-rate. For most moves the limit will be at or above the move's existing
+rate. In the above picture the dashed gray lines represent this
+virtual acceleration rate for the first move. If a move can not reach
+its full cruising speed using this virtual acceleration rate then its
+top speed is reduced to the maximum speed it could obtain at this
+virtual acceleration rate.
+
+For most moves the limit will be at or above the move's existing
 limits and no change in behavior is induced. For short zigzag moves,
 however, this limit reduces the top speed. Note that it does not
 change the actual acceleration within the move - the move continues to