github: Add a stale ticket tracker for github PRs

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

.github/workflows/build-test.yaml

@@ -21,7 +21,7 @@ jobs:
       run: ./scripts/ci-build.sh 2>&1
 
     - name: Upload micro-controller data dictionaries
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         name: data-dict
         path: ci_build/dict

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

@@ -11,16 +11,14 @@ jobs:
     steps:
     - uses: actions/stale@v8
       with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        stale-pr-message: |
-        stale-issue-message: |
           Hello,
 
           It looks like there hasn't been any recent updates on this
-          Klipper github issue.  If you created this issue and no
+          github ticket.  We prefer to only list tickets as "open" if
-          longer consider it open, then please login to github and
+          they are actively being worked on.  Feel free to provide an
-          close the issue.  Otherwise, if there is no further activity
+          update on this ticket.  Otherwise the ticket will be
-          on this thread then it will be automatically closed in a few
+          automatically closed in a few days.
-          days.
 
           Best regards,
 
@@ -29,10 +27,10 @@ jobs:
           PS: I'm just an automated script, not a human being.
 
         exempt-issue-labels: 'enhancement,bug'
-        days-before-stale: 35
+        days-before-stale: 60
         days-before-close: 7
-        days-before-pr-stale: -1
+        days-before-issue-stale: -1
-        days-before-pr-close: -1
+        days-before-issue-close: -1
   # Close tickets marked with "not on github" label
   close_not_on_github:
     if: github.repository == 'Klipper3d/klipper'
@@ -62,54 +60,54 @@ jobs:
                 state: 'closed'
               });
             }
-  # Close tickets marked with "reviewer needed" label for 2+ weeks
+#  # Close tickets marked with "reviewer needed" label for 2+ weeks
-  close_reviewer_needed:
+#  close_reviewer_needed:
-    if: github.repository == 'Klipper3d/klipper'
+#    if: github.repository == 'Klipper3d/klipper'
-    runs-on: ubuntu-latest
+#    runs-on: ubuntu-latest
-    steps:
+#    steps:
-      - uses: actions/github-script@v6
+#      - uses: actions/github-script@v6
-        with:
+#        with:
-          script: |
+#          script: |
-            const issues = await github.rest.issues.listForRepo({
+#            const issues = await github.rest.issues.listForRepo({
-              owner: context.repo.owner,
+#              owner: context.repo.owner,
-              repo: context.repo.repo,
+#              repo: context.repo.repo,
-              state: 'open',
+#              state: 'open',
-              labels: 'reviewer needed',
+#              labels: 'reviewer needed',
-              assignee: 'none',
+#              assignee: 'none',
-              per_page: 100,
+#              per_page: 100,
-              page: 1
+#              page: 1
-            });
+#            });
-            msg = "Unfortunately a reviewer has not assigned themselves to"
+#            msg = "Unfortunately a reviewer has not assigned themselves to"
-                + " this GitHub Pull Request and it is therefore being"
+#                + " this GitHub Pull Request and it is therefore being"
-                + " closed. It is a good idea to move"
+#                + " closed. It is a good idea to move"
-                + " further discussion to the [Klipper Discourse]"
+#                + " further discussion to the [Klipper Discourse]"
-                + "(https://www.klipper3d.org/Contact.html#discourse-forum)"
+#                + "(https://www.klipper3d.org/Contact.html#discourse-forum)"
-                + " server. Reviewers can reach out on that forum to let you"
+#                + " server. Reviewers can reach out on that forum to let you"
-                + " know if they are interested and when they are available."
+#                + " know if they are interested and when they are available."
-                + "\n\n"
+#                + "\n\n"
-                + "Best regards,\n"
+#                + "Best regards,\n"
-                + "~ Your friendly GitIssueBot"
+#                + "~ Your friendly GitIssueBot"
-                + "\n\n"
+#                + "\n\n"
-                + "PS: I'm just an automated script, not a human being.";
+#                + "PS: I'm just an automated script, not a human being.";
-            const expireMillis = 1000 * 60 * 60 * 24 * 14;
+#            const expireMillis = 1000 * 60 * 60 * 24 * 14;
-            const curtime = new Date().getTime();
+#            const curtime = new Date().getTime();
-            for (const issue of issues.data.values()) {
+#            for (const issue of issues.data.values()) {
-              const updatetime = new Date(issue.updated_at).getTime();
+#              const updatetime = new Date(issue.updated_at).getTime();
-              if (curtime < updatetime + expireMillis)
+#              if (curtime < updatetime + expireMillis)
-                continue;
+#                continue;
-              await github.rest.issues.createComment({
+#              await github.rest.issues.createComment({
-                owner: context.repo.owner,
+#                owner: context.repo.owner,
-                repo: context.repo.repo,
+#                repo: context.repo.repo,
-                issue_number: issue.number,
+#                issue_number: issue.number,
-                body: msg
+#                body: msg
-              });
+#              });
-              await github.rest.issues.update({
+#              await github.rest.issues.update({
-                owner: context.repo.owner,
+#                owner: context.repo.owner,
-                repo: context.repo.repo,
+#                repo: context.repo.repo,
-                issue_number: issue.number,
+#                issue_number: issue.number,
-                state: 'closed'
+#                state: 'closed'
-              });
+#              });
-            }
+#            }
   # Mark unassigned PRs that are idle for 2 weeks
   mark_reviewer_needed:
     if: github.repository == 'Klipper3d/klipper'
@@ -330,7 +328,7 @@ jobs:
             }
   # Lock closed issues after 6 months of inactivity and PRs after 1 year.
   lock:
-    name: Lock Closed Issues
+    name: Lock Closed Tickets
     if: github.repository == 'Klipper3d/klipper'
     runs-on: ubuntu-latest
     steps:

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 \
+CFLAGS := -iquote $(OUT) -iquote src -iquote $(OUT)board-generic/ \
-    -Wall -Wold-style-definition $(call cc-option,$(CC),-Wtype-limits,) \
+		-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

README.md

@@ -4,15 +4,14 @@ Welcome to the Klipper project!
 
 https://www.klipper3d.org/
 
-Klipper is a 3d-Printer firmware. It combines the power of a general
+The Klipper firmware controls 3d-Printers. It combines the power of a
-purpose computer with one or more micro-controllers. See the
+general purpose computer with one or more micro-controllers. See the
 [features document](https://www.klipper3d.org/Features.html) for more
-information on why you should use Klipper.
+information on why you should use the Klipper software.
 
-To begin using Klipper start by
+Start by [installing Klipper software](https://www.klipper3d.org/Installation.html).
-[installing](https://www.klipper3d.org/Installation.html) it.
 
-Klipper is Free Software. See the [license](COPYING) or read the
+Klipper software is Free Software. See the [license](COPYING) or read
-[documentation](https://www.klipper3d.org/Overview.html). We depend on
+the [documentation](https://www.klipper3d.org/Overview.html). We
-the generous support from our
+depend on the generous support from our
 [sponsors](https://www.klipper3d.org/Sponsors.html).

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-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-creality-v4.2.7.cfg

@@ -95,4 +95,4 @@ max_z_accel: 100
 aliases:
   EXP1_1=PC6,EXP1_3=PB10,EXP1_5=PB14,EXP1_7=PB12,EXP1_9=<GND>,
   EXP1_2=PB2,EXP1_4=PB11,EXP1_6=PB13,EXP1_8=PB15,EXP1_10=<5V>,
-  PROBE_IN=PB0,PROBE_OUT=PB1,FIL_RUNOUT=PC6
+  PROBE_IN=PB0,PROBE_OUT=PB1,FIL_RUNOUT=PA4

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-mellow-fly-e3-v2.cfg

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

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-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

@@ -118,7 +118,7 @@ cycle_time: 0.00005 #20kHz
 
 [output_pin enable_pin]
 pin: PB6
-static_value: 1
+value: 1
     #This pin enables the bed, hotend, extruder fan, part fan.
 
 [mcu]

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

@@ -14,6 +14,7 @@
 # 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.
@@ -144,10 +145,9 @@ max_temp: 120
 pause_on_runout: True
 switch_pin: !PC13
 
-[heater_fan controller_fan]
+[controller_fan controller_fan]
 pin: PA14
 heater: heater_bed
-heater_temp: 45.0
 
 [heater_fan hotend_fan]
 pin: PA13

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-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-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-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-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-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-geeetech-A10T-A20T-2021.cfg

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

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-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-sovol-sv05-2022.cfg

@@ -19,7 +19,7 @@ restart_method: command
 kinematics: cartesian
 max_velocity: 300
 max_accel: 1000
-max_accel_to_decel: 1000
+minimum_cruise_ratio: 0.0
 max_z_velocity: 5
 max_z_accel: 100
 

config/printer-sovol-sv06-2022.cfg

@@ -28,7 +28,7 @@ microsteps: 16
 rotation_distance: 40
 endstop_pin: tmc2209_stepper_x:virtual_endstop
 position_endstop: 0
-position_max: 225
+position_max: 220
 homing_speed: 40
 homing_retract_dist: 0
 
@@ -50,7 +50,7 @@ microsteps: 16
 rotation_distance: 40
 endstop_pin: tmc2209_stepper_y:virtual_endstop
 position_endstop: 0
-position_max: 225
+position_max: 220
 homing_speed: 40
 homing_retract_dist: 0
 
@@ -72,7 +72,7 @@ microsteps: 16
 rotation_distance: 4
 endstop_pin: probe:z_virtual_endstop
 position_min: -4
-position_max: 261
+position_max: 250
 homing_speed: 4
 
 [tmc2209 stepper_z]
@@ -127,7 +127,7 @@ pin: PA0
 
 [probe]
 pin: PB1
-x_offset: 28
+x_offset: 27
 y_offset: -20
 z_offset: 0
 samples: 2

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-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-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-duet3-1lc.cfg

@@ -77,5 +77,14 @@ heater_temp: 50.0
 pin: toolboard:PA9
 z_offset: 20
 
+[samd_sercom sercom_i2c]
+sercom: sercom1
+tx_pin: toolboard:PA16
+clk_pin: toolboard:PA17
+
+[lis3dh]
+i2c_mcu: toolboard
+i2c_bus: sercom1
+
 [mcu toolboard]
 canbus_uuid: 4b194673554e

config/sample-macros.cfg

@@ -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

@@ -364,6 +364,38 @@ 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","value"]}}`
+and might later produce asynchronous messages such as:
+`{"params":{"data":[[3292.432935, 562534, 0.067059278],
+[3292.4394937, 5625322, 0.670590639]]}}`
+
+### 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","value"]}}`
+and might later produce asynchronous messages such as:
+`{"params":{"data":[[3292.432935, 562534, 0.067059278],
+[3292.4394937, 5625322, 0.670590639]]}}`
+
 ### pause_resume/cancel
 
 This endpoint is similar to running the "PRINT_CANCEL" G-Code command.
@@ -401,3 +433,130 @@ 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

@@ -24,19 +24,51 @@ try to probe the bed without attaching the probe if you use it.
 > **Tip:** Make sure the [probe X and Y offsets](Config_Reference.md#probe) are
 > correctly set as they greatly influence calibration.
 
-1. After setting up the [axis_twist_compensation] module,
+### Basic Usage: X-Axis Calibration
-perform `AXIS_TWIST_COMPENSATION_CALIBRATE`
+1. After setting up the ```[axis_twist_compensation]``` module, run:
-* The calibration wizard will prompt you to measure the probe Z offset at a few
+```
-points along the bed
+AXIS_TWIST_COMPENSATION_CALIBRATE
-* The calibration defaults to 3 points but you can use the option
+```
-`SAMPLE_COUNT=` to use a different number.
+This command will calibrate the X-axis by default.
-2. [Adjust your Z offset](Probe_Calibrate.md#calibrating-probe-z-offset)
+    - The calibration wizard will prompt you to measure the probe Z offset at
-3. Perform automatic/probe-based bed tramming operations, such as
+    several points along the bed.
-[Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust),
+    - By default, the calibration uses 3 points, but you can specify a different
-[Z Tilt Adjust](G-Codes.md#z_tilt_adjust) etc
+    number with the option:
-4. Home all axis, then perform a [Bed Mesh](Bed_Mesh.md) if required
+``
-5. Perform a test print, followed by any
+SAMPLE_COUNT=<value>
-[fine-tuning](Axis_Twist_Compensation.md#fine-tuning) as desired
+``
+
+2. **Adjust Your Z Offset:**
+After completing the calibration, be sure to [adjust your Z offset]
+(Probe_Calibrate.md#calibrating-probe-z-offset).
+
+3. **Perform Bed Leveling Operations:**
+Use probe-based operations as needed, such as:
+    - [Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust)
+    - [Z Tilt Adjust](G-Codes.md#z_tilt_adjust)
+
+4. **Finalize the Setup:**
+    - Home all axes, and perform a [Bed Mesh](Bed_Mesh.md) if necessary.
+    - Run a test print, followed by any
+    [fine-tuning](Axis_Twist_Compensation.md#fine-tuning)
+    if needed.
+
+### For Y-Axis Calibration
+The calibration process for the Y-axis is similar to the X-axis. To calibrate
+the Y-axis, use:
+```
+AXIS_TWIST_COMPENSATION_CALIBRATE AXIS=Y
+```
+This will guide you through the same measuring process as for the X-axis.
+
+### Automatic Calibration for Both Axes
+To perform automatic calibration for both the X and Y axes without manual
+intervention, use:
+```
+AXIS_TWIST_COMPENSATION_CALIBRATE AUTO=True
+```
+In this mode, the calibration process will run for both axes automatically.
+
 
 > **Tip:** Bed temperature and nozzle temperature and size do not seem to have
 > an influence to the calibration process.

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
 ```
-
+Wait 1-2 minutes and make sure the OctoPrint web server is accessible - it should be at:
-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
+## Building the BeagleBone PRU micro-controller code (PRU firmware)
-for the "Beaglebone PRU":
+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

@@ -44,10 +44,9 @@ probe_count: 5, 3
 
 - `mesh_max: 240, 198`\
   _Required_\
-  The probed coordinate farthest farthest from the origin.  This is not
+  The probed coordinate farthest from the origin.  This is not necessarily
-  necessarily the last point probed, as the probing process occurs in a
+  the last point probed, as the probing process occurs in a zig-zag fashion.
-  zig-zag fashion.  As with `mesh_min`, this coordinate is relative to
+  As with `mesh_min`, this coordinate is relative to the probe's location.
-  the probe's location.
 
 - `probe_count: 5, 3`\
   _Default Value: 3, 3_\
@@ -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.
 
@@ -270,7 +269,7 @@ 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)
+[Z_ENDSTOP_CALIBRATE](./Manual_Level.md#calibrating-a-z-endstop)
 paper test is performed.  The bed_mesh module provides the
 `zero_reference_position` option for specifying this coordinate:
 
@@ -370,21 +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>]
+`BED_MESH_CALIBRATE PROFILE=<name> METHOD=[manual | automatic | scan | rapid_scan] \
- [<mesh_parameter>=<value>]`\
+[<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
+or `default` if unspecified. The `METHOD` parameter takes one of the following
-will occur.  When switching between automatic and manual probing the generated
+values:
-mesh points will automatically be adjusted.
+
+- `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:
@@ -398,7 +522,10 @@ following parameters are available:
   - `MESH_ORIGIN`
   - `ROUND_PROBE_COUNT`
 - All beds:
+  - `MESH_PPS`
   - `ALGORITHM`
+  - `ADAPTIVE`
+  - `ADAPTIVE_MARGIN`
 
 See the configuration documentation above for details on how each parameter
 applies to the mesh.
@@ -486,11 +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
+right of the primary extruder, a positive Y offset should be specified
-if the secondary extruder is mounted "behind" the primary extruder.
+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 +354,26 @@ micro-controller.
 | 1 stepper (200Mhz)   | 39    |
 | 3 stepper (200Mhz)   | 181   |
 
+### SAME70 step rate benchmark
+
+The following configuration sequence is used on the SAME70:
+```
+allocate_oids count=3
+config_stepper oid=0 step_pin=PC18 dir_pin=PB5 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PC16 dir_pin=PD10 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PC28 dir_pin=PA4 invert_step=-1 step_pulse_ticks=0
+finalize_config crc=0
+```
+
+The test was last run on commit `34e9ea55` with gcc version
+`arm-none-eabi-gcc (NixOS 10.3-2021.10) 10.3.1` on a SAME70Q20B
+micro-controller.
+
+| same70               | ticks |
+| -------------------- | ----- |
+| 1 stepper            | 45    |
+| 3 stepper            | 190   |
+
 ### AR100 step rate benchmark ###
 
 The following configuration sequence is used on AR100 CPU (Allwinner A64):
@@ -366,7 +386,7 @@ finalize_config crc=0
 
 ```
 
-The test was last run on commit `08d037c6` with gcc version
+The test was last run on commit `b7978d37` with gcc version
 `or1k-linux-musl-gcc (GCC) 9.2.0` on an Allwinner A64-H
 micro-controller.
 
@@ -375,9 +395,9 @@ micro-controller.
 | 1 stepper            | 85    |
 | 3 stepper            | 359   |
 
-### RP2040 step rate benchmark
+### RPxxxx step rate benchmark
 
-The following configuration sequence is used on the RP2040:
+The following configuration sequence is used on the RP2040 and RP2350:
 
 ```
 allocate_oids count=3
@@ -387,15 +407,26 @@ config_stepper oid=2 step_pin=gpio27 dir_pin=gpio5 invert_step=-1 step_pulse_tic
 finalize_config crc=0
 ```
 
-The test was last run on commit `59314d99` with gcc version
+The test was last run on commit `f6718291` with gcc version
-`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a Raspberry Pi
+`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0` on Raspberry Pi
-Pico board.
+Pico and Pico 2 boards.
 
-| rp2040               | ticks |
+| rp2040 (*)           | ticks |
 | -------------------- | ----- |
 | 1 stepper            | 5     |
 | 3 stepper            | 22    |
 
+| rp2350               | ticks |
+| -------------------- | ----- |
+| 1 stepper            | 36    |
+| 3 stepper            | 169   |
+
+(*) Note that the reported rp2040 ticks are relative to a 12Mhz
+scheduling timer and do not correspond to its 125Mhz internal ARM
+processing rate. It is expected that 5 scheduling ticks corresponds to
+~47 ARM core cycles and 22 scheduling ticks corresponds to ~224 ARM
+core cycles.
+
 ### Linux MCU step rate benchmark
 
 The following configuration sequence is used on a Raspberry Pi:
@@ -456,7 +487,8 @@ hub.
 | sam4s8c (USB)       | 650K | 8d4a5c16 | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | samd51 (USB)        | 864K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | stm32f446 (USB)     | 870K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
-| rp2040 (USB)        | 873K | c5667193 | arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0 |
+| rp2040 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
+| rp2350 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
 
 ## Host Benchmarks
 

docs/CANBUS.md

@@ -31,7 +31,7 @@ adapter. This is typically done by creating a new file named
 allow-hotplug can0
 iface can0 can static
     bitrate 1000000
-    up ifconfig $IFACE txqueuelen 128
+    up ip link set $IFACE txqueuelen 128
 ```
 
 ## Terminating Resistors
@@ -113,7 +113,7 @@ Some important notes when using this mode:
 allow-hotplug can0
 iface can0 can static
     bitrate 1000000
-    up ifconfig $IFACE txqueuelen 128
+    up ip link set $IFACE txqueuelen 128
 ```
 
 * The "bridge mcu" is not actually on the CAN bus. Messages to and

docs/CANBUS_Troubleshooting.md

@@ -52,6 +52,56 @@ 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

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() ->
+  `ToolHead.move() -> LookAheadQueue.add_move() ->
-  Move.set_junction() -> ToolHead._process_moves()`.
+  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"
+  * LookAheadQueue.add_move() places the move object on the
-  queue.
+  "look-ahead" queue.
-  * MoveQueue.flush() determines the start and end velocities of each
+  * LookAheadQueue.flush() determines the start and end velocities of
-  move.
+  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() ->
+  ToolHead._advance_move_time() -> ToolHead._advance_flush_time() ->
-  itersolve_generate_steps() -> itersolve_gen_steps_range()` (in
+  MCU_Stepper.generate_steps() -> itersolve_generate_steps() ->
-  klippy/chelper/itersolve.c). The goal of the iterative solver is to
+  itersolve_gen_steps_range()` (in klippy/chelper/itersolve.c). The
-  find step times given a function that calculates a stepper position
+  goal of the iterative solver is to find step times given a function
-  from a time. This is done by repeatedly "guessing" various times
+  that calculates a stepper position from a time. This is done by
-  until the stepper position formula returns the desired position of
+  repeatedly "guessing" various times until the stepper position
-  the next step on the stepper. The feedback produced from each guess
+  formula returns the desired position of the next step on the
-  is used to improve future guesses so that the process rapidly
+  stepper. The feedback produced from each guess is used to improve
-  converges to the desired time. The kinematic stepper position
+  future guesses so that the process rapidly converges to the desired
-  formulas are located in the klippy/chelper/ directory (eg,
+  time. The kinematic stepper position formulas are located in the
-  kin_cart.c, kin_corexy.c, kin_delta.c, kin_extruder.c).
+  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
@@ -357,10 +359,10 @@ Useful steps:
    be efficient as it is typically only called during homing and
    probing operations.
 5. Other methods. Implement the `check_move()`, `get_status()`,
-   `get_steppers()`, `home()`, and `set_position()` methods. These
+   `get_steppers()`, `home()`, `clear_homing_state()`, and `set_position()`
-   functions are typically used to provide kinematic specific checks.
+   methods. These functions are typically used to provide kinematic
-   However, at the start of development one can use boiler-plate code
+   specific checks. However, at the start of development one can use
-   here.
+   boiler-plate code here.
 6. Implement test cases. Create a g-code file with a series of moves
    that can test important cases for the given kinematics. Follow the
    [debugging documentation](Debugging.md) to convert this g-code file

docs/Config_Changes.md

@@ -8,6 +8,84 @@ All dates in this document are approximate.
 
 ## Changes
 
+20241203: The resonance test has been changed to include slow sweeping
+moves. This change requires that testing point(s) have some clearance
+in X/Y plane (+/- 30 mm from the test point should suffice when using
+the default settings). The new test should generally produce more
+accurate and reliable test results. However, if required, the previous
+test behavior can be restored by adding options `sweeping_period: 0` and
+`accel_per_hz: 75` to the `[resonance_tester]` config section.
+
+20241201: In some cases Klipper may have ignored leading characters or
+spaces in a traditional G-Code command. For example, "99M123" may have
+been interpreted as "M123" and "M 321" may have been interpreted as
+"M321". Klipper will now report these cases with an "Unknown command"
+warning.
+
+20241112: Option `CHIPS=<chip_name>` in `TEST_RESONANCES` and
+`SHAPER_CALIBRATE` requires specifying the full name(s) of the accel
+chip(s). For example, `adxl345 rpi` instead of short name - `rpi`.
+
+20240912: `SET_PIN`, `SET_SERVO`, `SET_FAN_SPEED`, `M106`, and `M107`
+commands are now collated. Previously, if many updates to the same
+object were issued faster than the minimum scheduling time (typically
+100ms) then actual updates could be queued far into the future. Now if
+many updates are issued in rapid succession then it is possible that
+only the latest request will be applied. If the previous behavior is
+requried then consider adding explicit `G4` delay commands between
+updates.
+
+20240912: Support for `maximum_mcu_duration` and `static_value`
+parameters in `[output_pin]` config sections have been removed. These
+options have been deprecated since 20240123.
+
+20240415: The `on_error_gcode` parameter in the `[virtual_sdcard]`
+config section now has a default. If this parameter is not specified
+it now defaults to `TURN_OFF_HEATERS`. If the previous behavior is
+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

docs/Config_Reference.md

@@ -88,16 +88,31 @@ kinematics:
 #   deltesian, polar, winch, or none. This parameter must be specified.
 max_velocity:
 #   Maximum velocity (in mm/s) of the toolhead (relative to the
-#   print). This parameter must be specified.
+#   print). This value may be changed at runtime using the
+#   SET_VELOCITY_LIMIT command. This parameter must be specified.
 max_accel:
 #   Maximum acceleration (in mm/s^2) of the toolhead (relative to the
-#   print). This parameter must be specified.
+#   print). Although this parameter is described as a "maximum"
-#max_accel_to_decel:
+#   acceleration, in practice most moves that accelerate or decelerate
-#   A pseudo acceleration (in mm/s^2) controlling how fast the
+#   will do so at the rate specified here. The value specified here
-#   toolhead may go from acceleration to deceleration. It is used to
+#   may be changed at runtime using the SET_VELOCITY_LIMIT command.
-#   reduce the top speed of short zig-zag moves (and thus reduce
+#   This parameter must be specified.
-#   printer vibration from these moves). The default is half of
+#minimum_cruise_ratio: 0.5
-#   max_accel.
+#   Most moves will accelerate to a cruising speed, travel at that
+#   cruising speed, and then decelerate. However, some moves that
+#   travel a short distance could nominally accelerate and then
+#   immediately decelerate. This option reduces the top speed of these
+#   moves to ensure there is always a minimum distance traveled at a
+#   cruising speed. That is, it enforces a minimum distance traveled
+#   at cruising speed relative to the total distance traveled. It is
+#   intended to reduce the top speed of short zigzag moves (and thus
+#   reduce printer vibration from these moves). For example, a
+#   minimum_cruise_ratio of 0.5 would ensure that a standalone 1.5mm
+#   move would have a minimum cruising distance of 0.75mm. Specify a
+#   ratio of 0.0 to disable this feature (there would be no minimum
+#   cruising distance enforced between acceleration and deceleration).
+#   The value specified here may be changed at runtime using the
+#   SET_VELOCITY_LIMIT command. The default is 0.5.
 #square_corner_velocity: 5.0
 #   The maximum velocity (in mm/s) that the toolhead may travel a 90
 #   degree corner at. A non-zero value can reduce changes in extruder
@@ -107,7 +122,11 @@ max_accel:
 #   larger than 90 degrees will have a higher cornering velocity while
 #   corners with angles less than 90 degrees will have a lower
 #   cornering velocity. If this is set to zero then the toolhead will
-#   decelerate to zero at each corner. The default is 5mm/s.
+#   decelerate to zero at each corner. The value specified here may be
+#   changed at runtime using the SET_VELOCITY_LIMIT command. The
+#   default is 5mm/s.
+#max_accel_to_decel:
+#   This parameter is deprecated and should no longer be used.
 ```
 
 ### [stepper]
@@ -971,18 +990,21 @@ Visual Examples:
 #   where Z = 0.  When this option is specified the mesh will be offset
 #   so that zero Z adjustment occurs at this location.  The default is
 #   no zero reference.
-#relative_reference_index:
-#   **DEPRECATED, use the "zero_reference_position" option**
-#   The legacy option superceded by the "zero reference position".
-#   Rather than a coordinate this option takes an integer "index" that
-#   refers to the location of one of the generated points. It is recommended
-#   to use the "zero_reference_position" instead of this option for new
-#   configurations. The default is no relative reference index.
 #faulty_region_1_min:
 #faulty_region_1_max:
 #   Optional points that define a faulty region.  See docs/Bed_Mesh.md
 #   for details on faulty regions.  Up to 99 faulty regions may be added.
 #   By default no faulty regions are set.
+#adaptive_margin:
+#   An optional margin (in mm) to be added around the bed area used by
+#   the defined print objects when generating an adaptive mesh.
+#scan_overshoot:
+#  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.
 ```
 
 ### [bed_tilt]
@@ -1457,7 +1479,8 @@ path:
 #   be provided.
 #on_error_gcode:
 #   A list of G-Code commands to execute when an error is reported.
-
+#   See docs/Command_Templates.md for G-Code format. The default is to
+#   run TURN_OFF_HEATERS.
 ```
 
 ### [sdcard_loop]
@@ -1652,8 +1675,9 @@ Support for LIS2DW accelerometers.
 
 ```
 [lis2dw]
-cs_pin:
+#cs_pin:
-#   The SPI enable pin for the sensor. This parameter must be provided.
+#   The SPI enable pin for the sensor. This parameter must be provided
+#   if using SPI.
 #spi_speed: 5000000
 #   The SPI speed (in hz) to use when communicating with the chip.
 #   The default is 5000000.
@@ -1663,6 +1687,46 @@ cs_pin:
 #spi_software_miso_pin:
 #   See the "common SPI settings" section for a description of the
 #   above parameters.
+#i2c_address:
+#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed: 400000
+#   See the "common I2C settings" section for a description of the
+#   above parameters. The default "i2c_speed" is 400000.
+#axes_map: x, y, z
+#   See the "adxl345" section for information on this parameter.
+```
+
+### [lis3dh]
+
+Support for LIS3DH accelerometers.
+
+```
+[lis3dh]
+#cs_pin:
+#   The SPI enable pin for the sensor. This parameter must be provided
+#   if using SPI.
+#spi_speed: 5000000
+#   The SPI speed (in hz) to use when communicating with the chip.
+#   The default is 5000000.
+#spi_bus:
+#spi_software_sclk_pin:
+#spi_software_mosi_pin:
+#spi_software_miso_pin:
+#   See the "common SPI settings" section for a description of the
+#   above parameters.
+#i2c_address:
+#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed: 400000
+#   See the "common I2C settings" section for a description of the
+#   above parameters. The default "i2c_speed" is 400000.
 #axes_map: x, y, z
 #   See the "adxl345" section for information on this parameter.
 ```
@@ -1726,11 +1790,14 @@ section of the measuring resonances guide for more information on
 #   auto-calibration (with 'SHAPER_CALIBRATE' command). By default no
 #   maximum smoothing is specified. Refer to Measuring_Resonances guide
 #   for more details on using this feature.
+#move_speed: 50
+#   The speed (in mm/s) to move the toolhead to and between test points
+#   during the calibration. The default is 50.
 #min_freq: 5
 #   Minimum frequency to test for resonances. The default is 5 Hz.
 #max_freq: 133.33
 #   Maximum frequency to test for resonances. The default is 133.33 Hz.
-#accel_per_hz: 75
+#accel_per_hz: 60
 #   This parameter is used to determine which acceleration to use to
 #   test a specific frequency: accel = accel_per_hz * freq. Higher the
 #   value, the higher is the energy of the oscillations. Can be set to
@@ -1744,6 +1811,13 @@ section of the measuring resonances guide for more information on
 #   hz_per_sec. Small values make the test slow, and the large values
 #   will decrease the precision of the test. The default value is 1.0
 #   (Hz/sec == sec^-2).
+#sweeping_accel: 400
+#   An acceleration of slow sweeping moves. The default is 400 mm/sec^2.
+#sweeping_period: 1.2
+#   A period of slow sweeping moves. Setting this parameter to 0
+#   disables slow sweeping moves. Avoid setting it to a too small
+#   non-zero value in order to not poison the measurements.
+#   The default is 1.2 sec which is a good all-round choice.
 ```
 
 ## Config file helpers
@@ -1980,11 +2054,48 @@ z_offset:
 #   See the "probe" section for more information on the parameters above.
 ```
 
+### [probe_eddy_current]
+
+Support for eddy current inductive probes. One may define this section
+(instead of a probe section) to enable this probe. See the
+[command reference](G-Codes.md#probe_eddy_current) for further information.
+
+```
+[probe_eddy_current my_eddy_probe]
+sensor_type: ldc1612
+#   The sensor chip used to perform eddy current measurements. This
+#   parameter must be provided and must be set to ldc1612.
+#intb_pin:
+#   MCU gpio pin connected to the ldc1612 sensor's INTB pin (if
+#   available). The default is to not use the INTB pin.
+#z_offset:
+#   The nominal distance (in mm) between the nozzle and bed that a
+#   probing attempt should stop at. This parameter must be provided.
+#i2c_address:
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed:
+#   The i2c settings for the sensor chip. See the "common I2C
+#   settings" section for a description of the above parameters.
+#x_offset:
+#y_offset:
+#speed:
+#lift_speed:
+#samples:
+#sample_retract_dist:
+#samples_result:
+#samples_tolerance:
+#samples_tolerance_retries:
+#   See the "probe" section for information on these parameters.
+```
+
 ### [axis_twist_compensation]
 
-A tool to compensate for inaccurate probe readings due to twist in X gantry. See
+A tool to compensate for inaccurate probe readings due to twist in X or Y
-the [Axis Twist Compensation Guide](Axis_Twist_Compensation.md) for more
+gantry. See the [Axis Twist Compensation Guide](Axis_Twist_Compensation.md)
-detailed information regarding symptoms, configuration and setup.
+for more detailed information regarding symptoms, configuration and setup.
 
 ```
 [axis_twist_compensation]
@@ -1997,16 +2108,33 @@ detailed information regarding symptoms, configuration and setup.
 calibrate_start_x: 20
 #   Defines the minimum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the starting
-#   calibration position. This parameter must be provided.
+#   calibration position.
 calibrate_end_x: 200
 #   Defines the maximum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the ending
-#   calibration position. This parameter must be provided.
+#   calibration position.
 calibrate_y: 112.5
 #   Defines the Y coordinate of the calibration
 #   This should be the Y coordinate that positions the nozzle during the
-#   calibration process. This parameter must be provided and is recommended to
+#   calibration process. This parameter is recommended to
 #   be near the center of the bed
+
+# For Y-axis twist compensation, specify the following parameters:
+calibrate_start_y: ...
+#   Defines the minimum Y coordinate of the calibration
+#   This should be the Y coordinate that positions the nozzle at the starting
+#   calibration position for the Y axis. This parameter must be provided if
+#   compensating for Y axis twist.
+calibrate_end_y: ...
+#   Defines the maximum Y coordinate of the calibration
+#   This should be the Y coordinate that positions the nozzle at the ending
+#   calibration position for the Y axis. This parameter must be provided if
+#   compensating for Y axis twist.
+calibrate_x: ...
+#   Defines the X coordinate of the calibration for Y axis twist compensation
+#   This should be the X coordinate that positions the nozzle during the
+#   calibration process for Y axis twist compensation. This parameter must be
+#   provided and is recommended to be near the center of the bed.
 ```
 
 ## Additional stepper motors and extruders
@@ -2341,6 +2469,69 @@ temperature sensors that are reported via the M105 command.
 #   parameter.
 ```
 
+### [temperature_probe]
+
+Reports probe coil temperature.  Includes optional thermal drift
+calibration for eddy current based probes.   A `[temperature_probe]`
+section may be linked to a `[probe_eddy_current]` by using the same
+postfix for both sections.
+
+```
+[temperature_probe my_probe]
+#sensor_type:
+#sensor_pin:
+#min_temp:
+#max_temp:
+#   Temperature sensor configuration.
+#   See the "extruder" section for the definition of the above
+#   parameters.
+#smooth_time:
+#   A time value (in seconds) over which temperature measurements will
+#   be smoothed to reduce the impact of measurement noise. The default
+#   is 2.0 seconds.
+#gcode_id:
+#   See the "heater_generic" section for the definition of this
+#   parameter.
+#speed:
+#   The travel speed [mm/s] for xy moves during calibration.  Default
+#   is the speed defined by the probe.
+#horizontal_move_z:
+#   The z distance [mm] from the bed at which xy moves will occur
+#   during calibration. Default is 2mm.
+#resting_z:
+#   The z distance [mm] from the bed at which the tool will rest
+#   to heat the probe coil during calibration.  Default is .4mm
+#calibration_position:
+#   The X, Y, Z position where the tool should be moved when
+#   probe drift calibration initializes.  This is the location
+#   where the first manual probe will occur.  If omitted, the
+#   default behavior is not to move the tool prior to the first
+#   manual probe.
+#calibration_bed_temp:
+#   The maximum safe bed temperature (in C) used to heat the probe
+#   during probe drift calibration.  When set, the calibration
+#   procedure will turn on the bed after the first sample is
+#   taken.  When the calibration procedure is complete the bed
+#   temperature will be set to zero.  When omitted the default
+#   behavior is not to set the bed temperature.
+#calibration_extruder_temp:
+#   The extruder temperature (in C) set probe during drift calibration.
+#   When this option is supplied the procedure will wait for until the
+#   specified temperature is reached before requesting the first manual
+#   probe.  When the calibration procedure is complete the extruder
+#   temperature will be set to 0.  When omitted the default behavior is
+#   not to set the extruder temperature.
+#extruder_heating_z: 50.
+#   The Z location where extruder heating will occur if the
+#   "calibration_extruder_temp" option is set.  Its recommended to heat
+#   the extruder some distance from the bed to minimize its impact on
+#   the probe coil temperature.  The default is 50.
+#max_validation_temp: 60.
+#   The maximum temperature used to validate the calibration.  It is
+#   recommended to set this to a value between 100 and 120 for enclosed
+#   printers.  The default is 60.
+```
+
 ## Temperature sensors
 
 Klipper includes definitions for many types of temperature sensors.
@@ -2440,9 +2631,9 @@ sensor_pin:
 #   name in the above list.
 ```
 
-### BMP280/BME280/BME680 temperature sensor
+### BMP180/BMP280/BME280/BMP388/BME680 temperature sensor
 
-BMP280/BME280/BME680 two wire interface (I2C) environmental sensors.
+BMP180/BMP280/BME280/BMP388/BME680 two wire interface (I2C) environmental sensors.
 Note that these sensors are not intended for use with extruders and
 heater beds, but rather for monitoring ambient temperature (C),
 pressure (hPa), relative humidity and in case of the BME680 gas level.
@@ -2453,8 +2644,8 @@ temperature.
 ```
 sensor_type: BME280
 #i2c_address:
-#   Default is 118 (0x76). Some BME280 sensors have an address of 119
+#   Default is 118 (0x76). The BMP180, BMP388 and some BME280 sensors
-#   (0x77).
+#   have an address of 119 (0x77).
 #i2c_mcu:
 #i2c_bus:
 #i2c_software_scl_pin:
@@ -2525,6 +2716,25 @@ sensor_type:
 #   Interval in seconds between readings. Default is 30
 ```
 
+### SHT3X sensor
+
+SHT3X family two wire interface (I2C) environmental sensor. These sensors
+have a range of -55~125 C, so are usable for e.g. chamber temperature
+monitoring. They can also function as simple fan/heater controllers.
+
+```
+sensor_type: SHT3X
+#i2c_address:
+#   Default is 68 (0x44).
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed:
+#   See the "common I2C settings" section for a description of the
+#   above parameters.
+```
+
 ### LM75 temperature sensor
 
 LM75/LM75A two wire (I2C) connected temperature sensors. These sensors
@@ -2551,7 +2761,7 @@ sensor_type: LM75
 
 ### Builtin micro-controller temperature sensor
 
-The atsam, atsamd, and stm32 micro-controllers contain an internal
+The atsam, atsamd, stm32 and rp2040 micro-controllers contain an internal
 temperature sensor. One can use the "temperature_mcu" sensor to
 monitor these temperatures.
 
@@ -3088,24 +3298,12 @@ pin:
 #   If this is true, the value fields should be between 0 and 1; if it
 #   is false the value fields should be either 0 or 1. The default is
 #   False.
-#static_value:
-#   If this is set, then the pin is assigned to this value at startup
-#   and the pin can not be changed during runtime. A static pin uses
-#   slightly less ram in the micro-controller. The default is to use
-#   runtime configuration of pins.
 #value:
 #   The value to initially set the pin to during MCU configuration.
 #   The default is 0 (for low voltage).
 #shutdown_value:
 #   The value to set the pin to on an MCU shutdown event. The default
 #   is 0 (for low voltage).
-#maximum_mcu_duration:
-#   The maximum duration a non-shutdown value may be driven by the MCU
-#   without an acknowledge from the host.
-#   If host can not keep up with an update, the MCU will shutdown
-#   and set all pins to their respective shutdown values.
-#   Default: 0 (disabled)
-#   Usual values are around 5 seconds.
 #cycle_time: 0.100
 #   The amount of time (in seconds) per PWM cycle. It is recommended
 #   this be 10 milliseconds or greater when using software based PWM.
@@ -3125,6 +3323,54 @@ pin:
 #   then the 'value' parameter can be specified using the desired
 #   amperage for the stepper. The default is to not scale the 'value'
 #   parameter.
+#maximum_mcu_duration:
+#static_value:
+#   These options are deprecated and should no longer be specified.
+```
+
+### [pwm_tool]
+
+Pulse width modulation digital output pins capable of high speed
+updates (one may define any number of sections with an "output_pin"
+prefix). Pins configured here will be setup as output pins and one may
+modify them at run-time using "SET_PIN PIN=my_pin VALUE=.1" type
+extended [g-code commands](G-Codes.md#output_pin).
+
+```
+[pwm_tool my_tool]
+pin:
+#   The pin to configure as an output. This parameter must be provided.
+#maximum_mcu_duration:
+#   The maximum duration a non-shutdown value may be driven by the MCU
+#   without an acknowledge from the host.
+#   If host can not keep up with an update, the MCU will shutdown
+#   and set all pins to their respective shutdown values.
+#   Default: 0 (disabled)
+#   Usual values are around 5 seconds.
+#value:
+#shutdown_value:
+#cycle_time: 0.100
+#hardware_pwm: False
+#scale:
+#   See the "output_pin" section for the definition of these parameters.
+```
+
+### [pwm_cycle_time]
+
+Run-time configurable output pins with dynamic pwm cycle timing (one
+may define any number of sections with an "pwm_cycle_time" prefix).
+Pins configured here will be setup as output pins and one may modify
+them at run-time using "SET_PIN PIN=my_pin VALUE=.1 CYCLE_TIME=0.100"
+type extended [g-code commands](G-Codes.md#pwm_cycle_time).
+
+```
+[pwm_cycle_time my_pin]
+pin:
+#value:
+#shutdown_value:
+#cycle_time: 0.100
+#scale:
+#   See the "output_pin" section for information on these parameters.
 ```
 
 ### [static_digital_output]
@@ -3212,6 +3458,18 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#coolstep_threshold:
+#   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
+#   threshold to. If set, the coolstep feature will be enabled when
+#   the stepper motor velocity is near or above this value. Important
+#   - if coolstep_threshold is set and "sensorless homing" is used,
+#   then one must ensure that the homing speed is above the coolstep
+#   threshold! The default is to not enable the coolstep feature.
+#high_velocity_threshold:
+#   The velocity (in mm/s) to set the TMC driver internal "high
+#   velocity" threshold (THIGH) to. This is typically used to disable
+#   the "CoolStep" feature at high speeds. The default is to not set a
+#   TMC "high velocity" threshold.
 #driver_MSLUT0: 2863314260
 #driver_MSLUT1: 1251300522
 #driver_MSLUT2: 608774441
@@ -3242,11 +3500,19 @@ run_current:
 #driver_TOFF: 4
 #driver_HEND: 7
 #driver_HSTRT: 0
+#driver_VHIGHFS: 0
+#driver_VHIGHCHM: 0
 #driver_PWM_AUTOSCALE: True
 #driver_PWM_FREQ: 1
 #driver_PWM_GRAD: 4
 #driver_PWM_AMPL: 128
 #driver_SGT: 0
+#driver_SEMIN: 0
+#driver_SEUP: 0
+#driver_SEMAX: 0
+#driver_SEDN: 0
+#driver_SEIMIN: 0
+#driver_SFILT: 0
 #   Set the given register during the configuration of the TMC2130
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -3343,6 +3609,13 @@ run_current:
 #sense_resistor: 0.110
 #stealthchop_threshold: 0
 #   See the "tmc2208" section for the definition of these parameters.
+#coolstep_threshold:
+#   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
+#   threshold to. If set, the coolstep feature will be enabled when
+#   the stepper motor velocity is near or above this value. Important
+#   - if coolstep_threshold is set and "sensorless homing" is used,
+#   then one must ensure that the homing speed is above the coolstep
+#   threshold! The default is to not enable the coolstep feature.
 #uart_address:
 #   The address of the TMC2209 chip for UART messages (an integer
 #   between 0 and 3). This is typically used when multiple TMC2209
@@ -3362,6 +3635,11 @@ run_current:
 #driver_PWM_GRAD: 14
 #driver_PWM_OFS: 36
 #driver_SGTHRS: 0
+#driver_SEMIN: 0
+#driver_SEUP: 0
+#driver_SEMAX: 0
+#driver_SEDN: 0
+#driver_SEIMIN: 0
 #   Set the given register during the configuration of the TMC2209
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -3496,6 +3774,18 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#coolstep_threshold:
+#   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
+#   threshold to. If set, the coolstep feature will be enabled when
+#   the stepper motor velocity is near or above this value. Important
+#   - if coolstep_threshold is set and "sensorless homing" is used,
+#   then one must ensure that the homing speed is above the coolstep
+#   threshold! The default is to not enable the coolstep feature.
+#high_velocity_threshold:
+#   The velocity (in mm/s) to set the TMC driver internal "high
+#   velocity" threshold (THIGH) to. This is typically used to disable
+#   the "CoolStep" feature at high speeds. The default is to not set a
+#   TMC "high velocity" threshold.
 #driver_MSLUT0: 2863314260
 #driver_MSLUT1: 1251300522
 #driver_MSLUT2: 608774441
@@ -3556,6 +3846,7 @@ run_current:
 #driver_SEIMIN: 0
 #driver_SFILT: 0
 #driver_SG4_ANGLE_OFFSET: 1
+#driver_SLOPE_CONTROL: 0
 #   Set the given register during the configuration of the TMC2240
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -3617,6 +3908,18 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#coolstep_threshold:
+#   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
+#   threshold to. If set, the coolstep feature will be enabled when
+#   the stepper motor velocity is near or above this value. Important
+#   - if coolstep_threshold is set and "sensorless homing" is used,
+#   then one must ensure that the homing speed is above the coolstep
+#   threshold! The default is to not enable the coolstep feature.
+#high_velocity_threshold:
+#   The velocity (in mm/s) to set the TMC driver internal "high
+#   velocity" threshold (THIGH) to. This is typically used to disable
+#   the "CoolStep" feature at high speeds. The default is to not set a
+#   TMC "high velocity" threshold.
 #driver_MSLUT0: 2863314260
 #driver_MSLUT1: 1251300522
 #driver_MSLUT2: 608774441
@@ -3847,15 +4150,16 @@ Support for a display attached to the micro-controller.
 [display]
 lcd_type:
 #   The type of LCD chip in use. This may be "hd44780", "hd44780_spi",
-#   "st7920", "emulated_st7920", "uc1701", "ssd1306", or "sh1106".
+#   "aip31068_spi", "st7920", "emulated_st7920", "uc1701", "ssd1306", or
+#   "sh1106".
 #   See the display sections below for information on each type and
 #   additional parameters they provide. This parameter must be
 #   provided.
 #display_group:
 #   The name of the display_data group to show on the display. This
 #   controls the content of the screen (see the "display_data" section
-#   for more information). The default is _default_20x4 for hd44780
+#   for more information). The default is _default_20x4 for hd44780 or
-#   displays and _default_16x4 for other displays.
+#   aip31068_spi displays and _default_16x4 for other displays.
 #menu_timeout:
 #   Timeout for menu. Being inactive this amount of seconds will
 #   trigger menu exit or return to root menu when having autorun
@@ -3981,6 +4285,31 @@ spi_software_miso_pin:
 ...
 ```
 
+#### aip31068_spi display
+
+Information on configuring an aip31068_spi display - a very similar to hd44780_spi
+a 20x04 (20 symbols by 4 lines) display with slightly different internal
+protocol.
+
+```
+[display]
+lcd_type: aip31068_spi
+latch_pin:
+spi_software_sclk_pin:
+spi_software_mosi_pin:
+spi_software_miso_pin:
+#   The pins connected to the shift register controlling the display.
+#   The spi_software_miso_pin needs to be set to an unused pin of the
+#   printer mainboard as the shift register does not have a MISO pin,
+#   but the software spi implementation requires this pin to be
+#   configured.
+#line_length:
+#   Set the number of characters per line for an hd44780 type lcd.
+#   Possible values are 20 (default) and 16. The number of lines is
+#   fixed to 4.
+...
+```
+
 #### st7920 display
 
 Information on configuring st7920 displays (which is used in
@@ -4400,6 +4729,9 @@ adc2:
 #   command.
 #min_diameter: 1.0
 #   Minimal diameter for trigger virtual filament_switch_sensor.
+#max_diameter:
+#   Maximum diameter for triggering virtual filament_switch_sensor.
+#   The default is default_nominal_filament_diameter + max_difference.
 #use_current_dia_while_delay: False
 #   Use the current diameter instead of the nominal diameter while
 #   the measurement delay has not run through.
@@ -4412,6 +4744,112 @@ adc2:
 #   above parameters.
 ```
 
+## Load Cells
+
+### [load_cell]
+Load Cell. Uses an ADC sensor attached to a load cell to create a digital
+scale.
+
+```
+[load_cell]
+sensor_type:
+#   This must be one of the supported sensor types, see below.
+```
+
+#### HX711
+This is a 24 bit low sample rate chip using "bit-bang" communications. It is
+suitable for filament scales.
+```
+[load_cell]
+sensor_type: hx711
+sclk_pin:
+#   The pin connected to the HX711 clock line. This parameter must be provided.
+dout_pin:
+#   The pin connected to the HX711 data output line. This parameter must be
+#   provided.
+#gain: A-128
+#   Valid values for gain are: A-128, A-64, B-32. The default is A-128.
+#   'A' denotes the input channel and the number denotes the gain. Only the 3
+#   listed combinations are supported by the chip. Note that changing the gain
+#   setting also selects the channel being read.
+#sample_rate: 80
+#   Valid values for sample_rate are 80 or 10. The default value is 80.
+#   This must match the wiring of the chip. The sample rate cannot be changed
+#   in software.
+```
+
+#### HX717
+This is the 4x higher sample rate version of the HX711, suitable for probing.
+```
+[load_cell]
+sensor_type: hx717
+sclk_pin:
+#   The pin connected to the HX717 clock line. This parameter must be provided.
+dout_pin:
+#   The pin connected to the HX717 data output line. This parameter must be
+#   provided.
+#gain: A-128
+#   Valid values for gain are A-128, B-64, A-64, B-8.
+#   'A' denotes the input channel and the number denotes the gain setting.
+#   Only the 4 listed combinations are supported by the chip. Note that
+#   changing the gain setting also selects the channel being read.
+#sample_rate: 320
+#   Valid values for sample_rate are: 10, 20, 80, 320. The default is 320.
+#   This must match the wiring of the chip. The sample rate cannot be changed
+#   in software.
+```
+
+#### ADS1220
+The ADS1220 is a 24 bit ADC supporting up to a 2Khz sample rate configurable in
+software.
+```
+[load_cell]
+sensor_type: ads1220
+cs_pin:
+#   The pin connected to the ADS1220 chip select line. This parameter must
+#   be provided.
+#spi_speed: 512000
+#   This chip supports 2 speeds: 256000 or 512000. The faster speed is only
+#   enabled when one of the Turbo sample rates is used. The correct spi_speed
+#   is selected based on the sample rate.
+#spi_bus:
+#spi_software_sclk_pin:
+#spi_software_mosi_pin:
+#spi_software_miso_pin:
+#   See the "common SPI settings" section for a description of the
+#   above parameters.
+data_ready_pin:
+#   Pin connected to the ADS1220 data ready line. This parameter must be
+#   provided.
+#gain: 128
+#   Valid gain values are 128, 64, 32, 16, 8, 4, 2, 1
+#   The default is 128
+#pga_bypass: False
+#   Disable the internal Programmable Gain Amplifier. If
+#   True the PGA will be disabled for gains 1, 2, and 4. The PGA is always
+#   enabled for gain settings 8 to 128, regardless of the pga_bypass setting.
+#   If AVSS is used as an input pga_bypass is forced to True.
+#   The default is False.
+#sample_rate: 660
+#   This chip supports two ranges of sample rates, Normal and Turbo. In turbo
+#   mode the chip's internal clock runs twice as fast and the SPI communication
+#   speed is also doubled.
+#   Normal sample rates: 20, 45, 90, 175, 330, 600, 1000
+#   Turbo sample rates: 40, 90, 180, 350, 660, 1200, 2000
+#   The default is 660
+#input_mux:
+#   Input multiplexer configuration, select a pair of pins to use. The first pin
+#   is the positive, AINP, and the second pin is the negative, AINN. Valid
+#   values are: 'AIN0_AIN1', 'AIN0_AIN2', 'AIN0_AIN3', 'AIN1_AIN2', 'AIN1_AIN3',
+#   'AIN2_AIN3', 'AIN1_AIN0', 'AIN3_AIN2', 'AIN0_AVSS', 'AIN1_AVSS', 'AIN2_AVSS'
+#   and 'AIN3_AVSS'. If AVSS is used the PGA is bypassed and the pga_bypass
+#   setting will be forced to True.
+#   The default is AIN0_AIN1.
+#vref:
+#   The selected voltage reference. Valid values are: 'internal', 'REF0', 'REF1'
+#   and 'analog_supply'. Default is 'internal'.
+```
+
 ## Board specific hardware support
 
 ### [sx1509]
@@ -4498,6 +4936,50 @@ vssa_pin:
 #   noise. The default is 2 seconds.
 ```
 
+### [ads1x1x]
+
+ADS1013, ADS1014, ADS1015, ADS1113, ADS1114 and ADS1115 are I2C based Analog to
+Digital Converters that can be used for temperature sensors. They provide 4
+analog input pins either as single line or as differential input.
+
+Note: Use caution if using this sensor to control heaters. The heater min_temp
+and max_temp are only verified in the host and only if the host is running and
+operating normally. (ADC inputs directly connected to the micro-controller
+verify min_temp and max_temp within the micro-controller and do not require a
+working connection to the host.)
+
+```
+[ads1x1x my_ads1x1x]
+chip: ADS1115
+#pga: 4.096V
+#   Default value is 4.096V. The maximum voltage range used for the input. This
+#   scales all values read from the ADC. Options are: 6.144V, 4.096V, 2.048V,
+#   1.024V, 0.512V, 0.256V
+#adc_voltage: 3.3
+#   The suppy voltage for the device. This allows additional software scaling
+#   for all values read from the ADC.
+i2c_mcu: host
+i2c_bus: i2c.1
+#address_pin: GND
+#   Default value is GND.  There can be up to four addressed devices depending
+#   upon wiring of the device. Check the datasheet for details. The i2c_address
+#   can be specified directly instead of using the address_pin.
+```
+
+The chip provides pins that can be used on other sensors.
+
+```
+sensor_type: ...
+#   Can be any thermistor or adc_temperature.
+sensor_pin: my_ads1x1x:AIN0
+#   A combination of the name of the ads1x1x chip and the pin. Possible
+#   pin values are AIN0, AIN1, AIN2 and AIN3 for single ended lines and
+#   DIFF01, DIFF03, DIFF13 and DIFF23 for differential between their
+#   correspoding lines. For example
+#   DIFF03 measures the differential between line 0 and 3. Only specific
+#   combinations for the differentials are allowed.
+```
+
 ### [replicape]
 
 Replicape support - see the [beaglebone guide](Beaglebone.md) and the
@@ -4603,8 +5085,9 @@ serial:
 ### [angle]
 
 Magnetic hall angle sensor support for reading stepper motor angle
-shaft measurements using a1333, as5047d, or tle5012b SPI chips.  The
+shaft measurements using a1333, as5047d, mt6816, mt6826s,
-measurements are available via the [API Server](API_Server.md) and
+or tle5012b SPI chips.
+The measurements are available via the [API Server](API_Server.md) and
 [motion analysis tool](Debugging.md#motion-analysis-and-data-logging).
 See the [G-Code reference](G-Codes.md#angle) for available commands.
 
@@ -4612,7 +5095,7 @@ See the [G-Code reference](G-Codes.md#angle) for available commands.
 [angle my_angle_sensor]
 sensor_type:
 #   The type of the magnetic hall sensor chip. Available choices are
-#   "a1333", "as5047d", and "tle5012b". This parameter must be
+#   "a1333", "as5047d", "mt6816", "mt6826s", and "tle5012b". This parameter must be
 #   specified.
 #sample_period: 0.000400
 #   The query period (in seconds) to use during measurements. The
@@ -4675,8 +5158,9 @@ Most Klipper micro-controller implementations only support an
 micro-controller supports a 400000 speed (*fast mode*, 400kbit/s), but it must be
 [set in the operating system](RPi_microcontroller.md#optional-enabling-i2c)
 and the `i2c_speed` parameter is otherwise ignored. The Klipper
-"RP2040" micro-controller and ATmega AVR family support a rate of 400000
+"RP2040" micro-controller and ATmega AVR family and some STM32
-via the `i2c_speed` parameter. All other Klipper micro-controllers use a
+(F0, G0, G4, L4, F7, H7) support a rate of 400000 via the `i2c_speed` parameter.
+All other Klipper micro-controllers use a
 100000 rate and ignore the `i2c_speed` parameter.
 
 ```

docs/Contact.md

@@ -132,3 +132,10 @@ There are several
 you have questions on the code then you can also ask in the
 [Klipper Discourse Forum](#discourse-forum) or on the
 [Klipper Discord Chat](#discord-chat).
+
+## Professional Services
+
+![](img/klipper-logo-small.png)
+
+Custom software development, software support, and solutions:
+[https://ko-fi.com/koconnor](https://ko-fi.com/koconnor)

docs/Eddy_Probe.md

@@ -0,0 +1,146 @@
+# 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.  If the printer to be calibrated is enclosed, it
+is strongly recommended to set the `max_validation_temp` option to a value
+between 100 and 120.
+
+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

@@ -190,6 +190,8 @@ represent total number of steps per second on the micro-controller.
 | AR100                           | 3529K             | 2507K             |
 | STM32F407                       | 3652K             | 2459K             |
 | STM32F446                       | 3913K             | 2634K             |
+| RP2350                          | 4167K             | 2663K             |
+| SAME70                          | 6667K             | 4737K             |
 | STM32H743                       | 9091K             | 6061K             |
 
 If unsure of the micro-controller on a particular board, find the

docs/G-Codes.md

@@ -127,6 +127,14 @@ use this tool the Python "numpy" package must be installed (see the
 [measuring resonance document](Measuring_Resonances.md#software-installation)
 for more information).
 
+#### ANGLE_CHIP_CALIBRATE
+`ANGLE_CHIP_CALIBRATE CHIP=<chip_name>`: Perform internal sensor calibration,
+if implemented (MT6826S/MT6835).
+
+- **MT68XX**: The motor should be disconnected
+from any printer carriage before performing calibration.
+After calibration, the sensor should be reset by disconnecting the power.
+
 #### ANGLE_DEBUG_READ
 `ANGLE_DEBUG_READ CHIP=<config_name> REG=<register>`: Queries sensor
 register "register" (e.g. 44 or 0x2C). Can be useful for debugging
@@ -139,6 +147,27 @@ 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 [AXIS=<X|Y>] [AUTO=<True|False>]
+[SAMPLE_COUNT=<value>]`
+
+Calibrates axis twist compensation by specifying the target axis or
+enabling automatic calibration.
+
+- **AXIS:** Define the axis (`X` or `Y`) for which the twist compensation
+will be calibrated. If not specified, the axis defaults to `'X'`.
+
+- **AUTO:** Enables automatic calibration mode. When `AUTO=True`, the
+calibration will run for both the X and Y axes. In this mode, `AXIS`
+cannot be specified. If both `AXIS` and `AUTO` are provided, an error
+will be raised.
+
 ### [bed_mesh]
 
 The following commands are available when the
@@ -146,15 +175,21 @@ The following commands are available when the
 (also see the [bed mesh guide](Bed_Mesh.md)).
 
 #### BED_MESH_CALIBRATE
-`BED_MESH_CALIBRATE [METHOD=manual] [HORIZONTAL_MOVE_Z=<value>]
+`BED_MESH_CALIBRATE [PROFILE=<name>] [METHOD=manual] [HORIZONTAL_MOVE_Z=<value>]
-[<probe_parameter>=<value>] [<mesh_parameter>=<value>]`: This command probes
+[<probe_parameter>=<value>] [<mesh_parameter>=<value>] [ADAPTIVE=1]
-the bed using generated points specified by the parameters in the config. After
+[ADAPTIVE_MARGIN=<value>]`: This command probes the bed using generated points
-probing, a mesh is generated and z-movement is adjusted according to the mesh.
+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.
+`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
@@ -184,10 +219,12 @@ 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
+`BED_MESH_OFFSET [X=<value>] [Y=<value>] [ZFADE=<value]`: Applies X, Y,
-to the mesh lookup. This is useful for printers with independent
+and/or ZFADE offsets to the mesh lookup. This is useful for printers with
-extruders, as an offset is necessary to produce correct Z adjustment
+independent extruders, as an offset is necessary to produce correct Z
-after a tool change.
+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]
 
@@ -447,12 +484,6 @@ 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
@@ -463,6 +494,20 @@ enabled.
 `SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets the
 speed of a fan. "speed" must be between 0.0 and 1.0.
 
+`SET_FAN_SPEED PIN=config_name TEMPLATE=<template_name>
+[<param_x>=<literal>]`: If `TEMPLATE` is specified then it assigns a
+[display_template](Config_Reference.md#display_template) to the given
+fan. For example, if one defined a `[display_template
+my_fan_template]` config section then one could assign
+`TEMPLATE=my_fan_template` here. The display_template should produce a
+string containing a floating point number with the desired value. The
+template will be continuously evaluated and the fan will be
+automatically set to the resulting speed. One may set display_template
+parameters to use during template evaluation (parameters will be
+parsed as Python literals). If TEMPLATE is an empty string then this
+command will clear any previous template assigned to the pin (one can
+then use `SET_FAN_SPEED` commands to manage the values directly).
+
 ### [filament_switch_sensor]
 
 The following command is available when a
@@ -540,15 +585,18 @@ state; issue a G28 afterwards to reset the kinematics. This command is
 intended for low-level diagnostics and debugging.
 
 #### SET_KINEMATIC_POSITION
-`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
+`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]
-the low-level kinematic code to believe the toolhead is at the given
+[CLEAR=<[X][Y][Z]>]`: Force the low-level kinematic code to believe the
-cartesian position. This is a diagnostic and debugging command; use
+toolhead is at the given cartesian position. This is a diagnostic and
-SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
+debugging command; use SET_GCODE_OFFSET and/or G92 for regular axis
-axis is not specified then it will default to the position that the
+transformations. If an axis is not specified then it will default to the
-head was last commanded to. Setting an incorrect or invalid position
+position that the head was last commanded to. Setting an incorrect or
-may lead to internal software errors. This command may invalidate
+invalid position may lead to internal software errors. Use the CLEAR
-future boundary checks; issue a G28 afterwards to reset the
+parameter to forget the homing state for the given axes. Note that CLEAR
-kinematics.
+will not override the previous functionality; if an axis is not specified
+to CLEAR it will have its kinematic position set as per above. This
+command may invalidate future boundary checks; issue a G28 afterwards to
+reset the kinematics.
 
 ### [gcode]
 
@@ -834,21 +882,29 @@ 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>]`: Set
+`SET_PIN PIN=config_name VALUE=<value>`: Set the pin to the given
-the pin to the given output `VALUE`. VALUE should be 0 or 1 for
+output `VALUE`. VALUE should be 0 or 1 for "digital" output pins. For
-"digital" output pins. For PWM pins, set to a value between 0.0 and
+PWM pins, set to a value between 0.0 and 1.0, or between 0.0 and
-1.0, or between 0.0 and `scale` if a scale is configured in the
+`scale` if a scale is configured in the output_pin config section.
-output_pin config section.
 
-Some pins (currently only "soft PWM" pins) support setting an explicit
+`SET_PIN PIN=config_name TEMPLATE=<template_name> [<param_x>=<literal>]`:
-cycle time using the CYCLE_TIME parameter (specified in seconds). Note
+If `TEMPLATE` is specified then it assigns a
-that the CYCLE_TIME parameter is not stored between SET_PIN commands
+[display_template](Config_Reference.md#display_template) to the given
-(any SET_PIN command without an explicit CYCLE_TIME parameter will use
+pin. For example, if one defined a `[display_template
-the `cycle_time` specified in the output_pin config section).
+my_pin_template]` config section then one could assign
+`TEMPLATE=my_pin_template` here. The display_template should produce a
+string containing a floating point number with the desired value. The
+template will be continuously evaluated and the pin will be
+automatically set to the resulting value. One may set display_template
+parameters to use during template evaluation (parameters will be
+parsed as Python literals). If TEMPLATE is an empty string then this
+command will clear any previous template assigned to the pin (one can
+then use `SET_PIN` commands to manage the values directly).
 
 ### [palette2]
 
@@ -977,6 +1033,58 @@ 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).
+
+### [quad_gantry_level]
+
+The following commands are available when the
+[quad_gantry_level config section](Config_Reference.md#quad_gantry_level)
+is enabled.
+
+#### QUAD_GANTRY_LEVEL
+`QUAD_GANTRY_LEVEL [RETRIES=<value>] [RETRY_TOLERANCE=<value>]
+[HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This command
+will probe the points specified in the config and then make
+independent adjustments to each Z stepper to compensate for tilt. See
+the PROBE command for details on the optional probe parameters. The
+optional `RETRIES`, `RETRY_TOLERANCE`, and `HORIZONTAL_MOVE_Z` values
+override those options specified in the config file.
+
 ### [query_adc]
 
 The query_adc module is automatically loaded.
@@ -1012,20 +1120,19 @@ is enabled (also see the
 all enabled accelerometer chips.
 
 #### TEST_RESONANCES
-`TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
+`TEST_RESONANCES AXIS=<axis> [OUTPUT=<resonances,raw_data>]
 [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-[HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[ACCEL_PER_HZ=<accel_per_hz>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<chip_name>]
-[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
+[POINT=x,y,z] [INPUT_SHAPING=<0:1>]`: Runs the resonance
 test in all configured probe points for the requested "axis" and
 measures the acceleration using the accelerometer chips configured for
 the respective axis. "axis" can either be X or Y, or specify an
 arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
 point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
 `AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
-and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
+and `AXIS=-dx,-dy` is equivalent. `chip_name` can be one or
-more configured adxl345 chip,delimited with comma, for example
+more configured accel chips, delimited with comma, for example
-`CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
+`CHIPS="adxl345, adxl345 rpi"`. If POINT is specified it will override the point(s)
-named adxl345 chips. If POINT is specified it will override the point(s)
 configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
 disables input shaping for the resonance testing, because
 it is not valid to run the resonance testing with the input shaper
@@ -1042,8 +1149,9 @@ 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>] [CHIPS=<adxl345_chip_name>]
+[FREQ_END=<max_freq>] [ACCEL_PER_HZ=<accel_per_hz>][HZ_PER_SEC=<hz_per_sec>]
-[MAX_SMOOTHING=<max_smoothing>]`: Similarly to `TEST_RESONANCES`, runs
+[CHIPS=<chip_name>] [MAX_SMOOTHING=<max_smoothing>] [INPUT_SHAPING=<0:1>]`:
+Similarly to `TEST_RESONANCES`, runs
 the resonance test as configured, and tries to find the optimal
 parameters for the input shaper for the requested axis (or both X and
 Y axes if `AXIS` parameter is unset). If `MAX_SMOOTHING` is unset, its
@@ -1280,8 +1388,11 @@ 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
+[MINIMUM_CRUISE_RATIO=<value>] [SQUARE_CORNER_VELOCITY=<value>]`: This
-printer's velocity limits.
+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]
 
@@ -1339,17 +1450,6 @@ print.
 #### SDCARD_RESET_FILE
 `SDCARD_RESET_FILE`: Unload file and clear SD state.
 
-### [axis_twist_compensation]
-
-The following commands are available when the
-[axis_twist_compensation config
-section](Config_Reference.md#axis_twist_compensation) is enabled.
-
-#### AXIS_TWIST_COMPENSATION_CALIBRATE
-`AXIS_TWIST_COMPENSATION_CALIBRATE [SAMPLE_COUNT=<value>]`: Initiates the X
-twist calibration wizard. `SAMPLE_COUNT` specifies the number of points along
-the X axis to calibrate at and defaults to 3.
-
 ### [z_thermal_adjust]
 
 The following commands are available when the
@@ -1374,8 +1474,46 @@ The following commands are available when the
 [z_tilt config section](Config_Reference.md#z_tilt) is enabled.
 
 #### Z_TILT_ADJUST
-`Z_TILT_ADJUST [HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This
+`Z_TILT_ADJUST [RETRIES=<value>] [RETRY_TOLERANCE=<value>]
-command will probe the points specified in the config and then make independent
+[HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This command
-adjustments to each Z stepper to compensate for tilt. See the PROBE command for
+will probe the points specified in the config and then make
-details on the optional probe parameters. The optional `HORIZONTAL_MOVE_Z`
+independent adjustments to each Z stepper to compensate for tilt. See
-value overrides the `horizontal_move_z` option specified in the config file.
+the PROBE command for details on the optional probe parameters. The
+optional `RETRIES`, `RETRY_TOLERANCE`, and `HORIZONTAL_MOVE_Z` values
+override those options specified in the config file.
+
+### [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/Installation.md

@@ -1,15 +1,20 @@
 # Installation
 
-These instructions assume the software will run on a Raspberry Pi
+These instructions assume the software will run on a linux based host
-computer in conjunction with OctoPrint. It is recommended that a
+running a Klipper compatible front end. It is recommended that a
-Raspberry Pi 2, 3, or 4 computer be used as the host machine (see the
+SBC(Small Board Computer) such as a Raspberry Pi or Debian based Linux
+device 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).
+for other options).
+
+For the purposes of these instructions host relates to the Linux device and
+mcu relates to the printboard. SBC relates to the term Small Board Computer
+such as the Raspberry Pi.
 
 ## Obtain a Klipper Configuration File
 
 Most Klipper settings are determined by a "printer configuration file"
-that will be stored on the Raspberry Pi. An appropriate configuration
+printer.cfg, that will be stored on the host. An appropriate configuration
 file can often be found by looking in the Klipper
 [config directory](../config/) for a file starting with a "printer-"
 prefix that corresponds to the target printer. The Klipper
@@ -35,38 +40,51 @@ printer configuration file, then start with the closest example
 [config file](../config/) and use the Klipper
 [config reference](Config_Reference.md) for further information.
 
-## Prepping an OS image
+## Interacting with Klipper
 
-Start by installing [OctoPi](https://github.com/guysoft/OctoPi) on the
+Klipper is a 3d printer firmware, so it needs some way for the user to
-Raspberry Pi computer. Use OctoPi v0.17.0 or later - see the
+interact with it.
-[OctoPi releases](https://github.com/guysoft/OctoPi/releases) for
-release information. One should verify that OctoPi boots and that the
-OctoPrint web server works. After connecting to the OctoPrint web
-page, follow the prompt to upgrade OctoPrint to v1.4.2 or later.
 
-After installing OctoPi and upgrading OctoPrint, it will be necessary
+Currently the best choices are front ends that retrieve information through
-to ssh into the target machine to run a handful of system commands. If
+the [Moonraker web API](https://moonraker.readthedocs.io/) and there is also
-using a Linux or MacOS desktop, then the "ssh" software should already
+the option to use [Octoprint](https://octoprint.org/) to control Klipper.
-be installed on the desktop. There are free ssh clients available for
-other desktops (eg,
-[PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/)). Use the
-ssh utility to connect to the Raspberry Pi (ssh pi@octopi -- password
-is "raspberry") and run the following commands:
 
-```
+The choice is up to the user on what to use, but the underlying Klipper is the
-git clone https://github.com/Klipper3d/klipper
+same in all cases. We encourage users to research the options available and
-./klipper/scripts/install-octopi.sh
+make an informed decision.
-```
 
-The above will download Klipper, install some system dependencies,
+## Obtaining an OS image for SBC's
-setup Klipper to run at system startup, and start the Klipper host
+
-software. It will require an internet connection and it may take a few
+There are many ways to obtain an OS image for Klipper for SBC use, most depend on
-minutes to complete.
+what front end you wish to use. Some manafactures of these SBC boards also provide
+their own Klipper-centric images.
+
+The two main Moonraker based front ends are [Fluidd](https://docs.fluidd.xyz/)
+and [Mainsail](https://docs.mainsail.xyz/), the latter of which has a premade install
+image ["MainsailOS"](http://docs.mainsailOS.xyz), this has the option for Raspberry Pi
+and some OrangePi varianta.
+
+Fluidd can be installed via KIAUH(Klipper Install And Update Helper), which
+is explained below and is a 3rd party installer for all things Klipper.
+
+OctoPrint can be installed via the popular OctoPi image or via KIAUH, this
+process is explained in [OctoPrint.md](OctoPrint.md)
+
+## Installing via KIAUH
+
+Normally you would start with a base image for your SBC, RPiOS Lite for example,
+or in the case of a x86 Linux device, Ubuntu Server. Please note that Desktop
+variants are not recommended due to certain helper programs that can stop some
+Klipper functions working and even mask access to some print boards.
+
+KIAUH can be used to install Klipper and its associated programs on a variety
+of Linux based systems that run a form of Debian. More information can be found
+at https://github.com/dw-0/kiauh
 
 ## Building and flashing the micro-controller
 
 To compile the micro-controller code, start by running these commands
-on the Raspberry Pi:
+on your host device:
 
 ```
 cd ~/klipper/
@@ -108,10 +126,21 @@ It should report something similar to the following:
 It's common for each printer to have its own unique serial port name.
 This unique name will be used when flashing the micro-controller. It's
 possible there may be multiple lines in the above output - if so,
-choose the line corresponding to the micro-controller (see the
+choose the line corresponding to the micro-controller. If many
+items are listed and the choice is ambiguous, unplug the board and
+run the command again, the missing item will be your print board(see the
 [FAQ](FAQ.md#wheres-my-serial-port) for more information).
 
-For common micro-controllers, the code can be flashed with something
+For common micro-controllers with STM32 or clone chips, LPC chips and
+others it is usual that these need an initial Klipper flash via SD card.
+
+When flashing with this method, it is important to make sure that the
+print board is not connected with USB to the host, due to some boards
+being able to feed power back to the board and stopping a flash from
+occuring.
+
+For common micro-controllers using Atmega chips, for example the 2560,
+the code can be flashed with something
 similar to:
 
 ```
@@ -123,53 +152,38 @@ sudo service klipper start
 Be sure to update the FLASH_DEVICE with the printer's unique serial
 port name.
 
-When flashing for the first time, make sure that OctoPrint is not
+For common micro-controllers using RP2040 chips, the code can be flashed
-connected directly to the printer (from the OctoPrint web page, under
+with something similar to:
-the "Connection" section, click "Disconnect").
 
-## Configuring OctoPrint to use Klipper
+```
+sudo service klipper stop
+make flash FLASH_DEVICE=first
+sudo service klipper start
+```
 
-The OctoPrint web server needs to be configured to communicate with
+It is important to note that RP2040 chips may need to be put into Boot mode
-the Klipper host software. Using a web browser, login to the OctoPrint
+before this operation.
-web page and then configure the following items:
 
-Navigate to the Settings tab (the wrench icon at the top of the
-page). Under "Serial Connection" in "Additional serial ports" add
-"/tmp/printer". Then click "Save".
-
-Enter the Settings tab again and under "Serial Connection" change the
-"Serial Port" setting to "/tmp/printer".
-
-In the Settings tab, navigate to the "Behavior" sub-tab and select the
-"Cancel any ongoing prints but stay connected to the printer"
-option. Click "Save".
-
-From the main page, under the "Connection" section (at the top left of
-the page) make sure the "Serial Port" is set to "/tmp/printer" and
-click "Connect". (If "/tmp/printer" is not an available selection then
-try reloading the page.)
-
-Once connected, navigate to the "Terminal" tab and type "status"
-(without the quotes) into the command entry box and click "Send". The
-terminal window will likely report there is an error opening the
-config file - that means OctoPrint is successfully communicating with
-Klipper. Proceed to the next section.
 
 ## Configuring Klipper
 
 The next step is to copy the
 [printer configuration file](#obtain-a-klipper-configuration-file) to
-the Raspberry Pi.
+the host.
 
-Arguably the easiest way to set the Klipper configuration file is to
+Arguably the easiest way to set the Klipper configuration file is using the
-use a desktop editor that supports editing files over the "scp" and/or
+built in editors in Mainsail or Fluidd. These will allow the user to open
-"sftp" protocols. There are freely available tools that support this
+the configuration examples and save them to be printer.cfg.
-(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
+Another option is to use a desktop editor that supports editing files
-home directory of the pi user (ie, /home/pi/printer.cfg).
+over the "scp" and/or "sftp" protocols. There are freely available tools
+that support this (eg, Notepad++, WinSCP, and Cyberduck).
+Load the printer config file in the editor and then save it as a file
+named "printer.cfg" in the home directory of the pi user
+(ie, /home/pi/printer.cfg).
 
 Alternatively, one can also copy and edit the file directly on the
-Raspberry Pi via ssh. That may look something like the following (be
+host via ssh. That may look something like the following (be
 sure to update the command to use the appropriate printer config
 filename):
 
@@ -201,7 +215,7 @@ serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
 ```
 
 After creating and editing the file it will be necessary to issue a
-"restart" command in the OctoPrint web terminal to load the config. A
+"restart" command in the command console to load the config. A
 "status" command will report the printer is ready if the Klipper
 config file is successfully read and the micro-controller is
 successfully found and configured.
@@ -211,10 +225,10 @@ Klipper to report a configuration error. If an error occurs, make any
 necessary corrections to the printer config file and issue "restart"
 until "status" reports the printer is ready.
 
-Klipper reports error messages via the OctoPrint terminal tab. The
+Klipper reports error messages via the command console and via pop up in
-"status" command can be used to re-report error messages. The default
+Fluidd and Mainsail. The "status" command can be used to re-report error
-Klipper startup script also places a log in **/tmp/klippy.log** which
+messages. A log is available and usually located in ~/printer_data/logs
-provides more detailed information.
+this is named klippy.log
 
 After Klipper reports that the printer is ready, proceed to the
 [config check document](Config_checks.md) to perform some basic checks

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
+and increases the noise. Klipper implements a mechanism to ensure
-move acceleration as well as a virtual "acceleration to deceleration"
+there is always some movement at a cruising speed between acceleration
-rate. Using this system, the top speed of these short "zigzag" moves
+and deceleration. This is done by reducing the top speed of some moves
-are limited to smooth out the printer motion:
+(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
+rate. In the above picture the dashed gray lines represent this
-picture the dashed gray lines represent this virtual acceleration rate
+virtual acceleration rate for the first move. If a move can not reach
-for the first move. If a move can not reach its full cruising speed
+its full cruising speed using this virtual acceleration rate then its
-using this virtual acceleration rate then its top speed is reduced to
+top speed is reduced to the maximum speed it could obtain at this
-the maximum speed it could obtain at this virtual acceleration
+virtual acceleration rate.
-rate. For most moves the limit will be at or above the move's existing
+
+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

docs/Measuring_Resonances.md

@@ -1,24 +1,26 @@
 # Measuring Resonances
 
-Klipper has built-in support for the ADXL345, MPU-9250 and LIS2DW compatible
+Klipper has built-in support for the ADXL345, MPU-9250, LIS2DW and LIS3DH compatible
 accelerometers which can be used to measure resonance frequencies of the printer
 for different axes, and auto-tune [input shapers](Resonance_Compensation.md) to
 compensate for resonances. Note that using accelerometers requires some
-soldering and crimping. The ADXL345/LIS2DW can be connected to the SPI interface
+soldering and crimping. The ADXL345 can be connected to the SPI interface
 of a Raspberry Pi or MCU board (it needs to be reasonably fast). The MPU family can
 be connected to the I2C interface of a Raspberry Pi directly, or to an I2C
-interface of an MCU board that supports 400kbit/s *fast mode* in Klipper.
+interface of an MCU board that supports 400kbit/s *fast mode* in Klipper. The
+LIS2DW and LIS3DH can be connected to either SPI or I2C with the same considerations
+as above.
 
 When sourcing accelerometers, be aware that there are a variety of different PCB
 board designs and different clones of them. If it is going to be connected to a
 5V printer MCU ensure it has a voltage regulator and level shifters.
 
-For ADXL345s/LIS2DWs, make sure that the board supports SPI mode (a small number of
+For ADXL345s, make sure that the board supports SPI mode (a small number of
 boards appear to be hard-configured for I2C by pulling SDO to GND).
 
-For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500s there are also a variety of
+For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500s and LIS2DW/LIS3DH there are also
-board designs and clones with different I2C pull-up resistors which will need
+a variety of board designs and clones with different I2C pull-up resistors which
-supplementing.
+will need supplementing.
 
 ## MCUs with Klipper I2C *fast-mode* Support
 
@@ -27,6 +29,7 @@ supplementing.
 | Raspberry Pi | 3B+, Pico | 3A, 3A+, 3B, 4 |
 | AVR ATmega | ATmega328p | ATmega32u4, ATmega128, ATmega168, ATmega328, ATmega644p, ATmega1280, ATmega1284, ATmega2560 |
 | AVR AT90 | - | AT90usb646, AT90usb1286 |
+| SAMD | SAMC21G18 | SAMC21G18, SAMD21G18, SAMD21E18, SAMD21J18, SAMD21E15, SAMD51G19, SAMD51J19, SAMD51N19, SAMD51P20, SAME51J19, SAME51N19, SAME54P20 |
 
 ## Installation instructions
 
@@ -207,17 +210,25 @@ software dependencies not installed by default. First, run on your Raspberry Pi
 the following commands:
 ```
 sudo apt update
-sudo apt install python3-numpy python3-matplotlib libatlas-base-dev
+sudo apt install python3-numpy python3-matplotlib libatlas-base-dev libopenblas-dev
 ```
 
 Next, in order to install NumPy in the Klipper environment, run the command:
 ```
-~/klippy-env/bin/pip install -v numpy
+~/klippy-env/bin/pip install -v "numpy<1.26"
 ```
 Note that, depending on the performance of the CPU, it may take *a lot*
 of time, up to 10-20 minutes. Be patient and wait for the completion of
 the installation. On some occasions, if the board has too little RAM
-the installation may fail and you will need to enable swap.
+the installation may fail and you will need to enable swap. Also note
+the forced version, due to newer versions of NumPY having requirements
+that may not be satisfied in some klipper python environments.
+
+Once installed please check that no errors show from the command:
+```
+~/klippy-env/bin/python -c 'import numpy;'
+```
+The correct output should simply be a new line.
 
 #### Configure ADXL345 With RPi
 
@@ -305,7 +316,7 @@ you'll also want to modify your `printer.cfg` file to include this:
 
 Restart Klipper via the `RESTART` command.
 
-#### Configure LIS2DW series
+#### Configure LIS2DW series over SPI
 
 ```
 [mcu lis]
@@ -450,7 +461,11 @@ TEST_RESONANCES AXIS=Y
 ```
 This will generate 2 CSV files (`/tmp/resonances_x_*.csv` and
 `/tmp/resonances_y_*.csv`). These files can be processed with the stand-alone
-script on a Raspberry Pi. To do that, run the following commands:
+script on a Raspberry Pi. This script is intended to be run with a single CSV
+file for each axis measured, although it can be used with multiple CSV files
+if you desire to average the results. Averaging results can be useful, for
+example, if resonance tests were done at multiple test points. Delete the extra
+CSV files if you do not desire to average them.
 ```
 ~/klipper/scripts/calibrate_shaper.py /tmp/resonances_x_*.csv -o /tmp/shaper_calibrate_x.png
 ~/klipper/scripts/calibrate_shaper.py /tmp/resonances_y_*.csv -o /tmp/shaper_calibrate_y.png
@@ -662,10 +677,41 @@ The same notice applies to the input shaper
 `max_accel` value after the auto-calibration, and the suggested acceleration
 limits will not be applied automatically.
 
+Keep in mind that the maximum acceleration without too much smoothing depends
+on the `square_corner_velocity`. The general recommendation is not to change
+it from its default value 5.0, and this is the value used by default by the
+`calibrate_shaper.py` script. If you did change it though, you should inform
+the script about it by passing `--square_corner_velocity=...` parameter, e.g.
+```
+~/klipper/scripts/calibrate_shaper.py /tmp/resonances_x_*.csv -o /tmp/shaper_calibrate_x.png --square_corner_velocity=10.0
+```
+so that it can calculate the maximum acceleration recommendations correctly.
+Note that the `SHAPER_CALIBRATE` command already takes the configured
+`square_corner_velocity` parameter into account, and there is no need
+to specify it explicitly.
+
 If you are doing a shaper re-calibration and the reported smoothing for the
 suggested shaper configuration is almost the same as what you got during the
 previous calibration, this step can be skipped.
 
+### Unreliable measurements of resonance frequencies
+
+Sometimes the resonance measurements can produce bogus results, leading to
+the incorrect suggestions for the input shapers. This can be caused by a
+variety of reasons, including running fans on the toolhead, incorrect
+position or non-rigid mounting of the accelerometer, or mechanical problems
+such as loose belts or binding or bumpy axis. Keep in mind that all fans
+should be disabled for resonance testing, especially the noisy ones, and
+that the accelerometer should be rigidly mounted on the corresponding
+moving part (e.g. on the bed itself for the bed slinger, or on the extruder
+of the printer itself and not the carriage, and some people get better
+results by mounting the accelerometer on the nozzle itself). As for
+mechanical problems, the user should inspect if there is any fault that
+can be fixed with a moving axis (e.g. linear guide rails cleaned up and
+lubricated and V-slot wheels tension adjusted correctly). If none of that
+helps, a user may try the other shapers from the produced list besides the
+one recommended by default.
+
 ### Testing custom axes
 
 `TEST_RESONANCES` command supports custom axes. While this is not really

docs/Multi_MCU_Homing.md

@@ -31,9 +31,15 @@ overshoot and account for it in its calculations. However, it is
 important that the hardware design is capable of handling overshoot
 without causing damage to the machine.
 
-Should Klipper detect a communication issue between micro-controllers
+In order to use this "multi-mcu homing" capability the hardware must
-during multi-mcu homing then it will raise a "Communication timeout
+have predictably low latency between the host computer and all of the
-during homing" error.
+micro-controllers. Typically the round-trip time must be consistently
+less than 10ms. High latency (even for short periods) is likely to
+result in homing failures.
+
+Should high latency result in a failure (or if some other
+communication issue is detected) then Klipper will raise a
+"Communication timeout during homing" error.
 
 Note that an axis with multiple steppers (eg, `stepper_z` and
 `stepper_z1`) need to be on the same micro-controller in order to use

docs/OctoPrint.md

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

docs/Overview.md

@@ -17,6 +17,7 @@ communication with the Klipper developers.
 ## Installation and Configuration
 
 - [Installation](Installation.md): Guide to installing Klipper.
+  - [Octoprint](OctoPrint.md): Guide to installing Octoprint with Klipper.
 - [Config Reference](Config_Reference.md): Description of config
   parameters.
   - [Rotation Distance](Rotation_Distance.md): Calculating the
@@ -99,3 +100,4 @@ communication with the Klipper developers.
     troubleshooting CAN bus.
 - [TSL1401CL filament width sensor](TSL1401CL_Filament_Width_Sensor.md)
 - [Hall filament width sensor](Hall_Filament_Width_Sensor.md)
+- [Eddy Current Inductive probe](Eddy_Probe.md)

docs/Probe_Calibrate.md

@@ -64,7 +64,7 @@ automatic probe point, then `ABORT` the manual probe tool and perform
 the XY probe offset calibration described above.
 
 Once the manual probe tool starts, follow the steps described at
-["the paper test"](Bed_Level.md#the-paper-test)) to determine the
+["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 and save the
 results to the config file with:

docs/Resonance_Compensation.md

@@ -48,8 +48,8 @@ First, measure the **ringing frequency**.
    to 5.0. It is not advised to increase it when using input shaper
    because it can cause more smoothing in parts - it is better to use
    higher acceleration value instead.
-2. Increase `max_accel_to_decel` by issuing the following command:
+2. Disable the `minimum_cruise_ratio` feature by issuing the following
-   `SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000`
+   command: `SET_VELOCITY_LIMIT MINIMUM_CRUISE_RATIO=0`
 3. Disable Pressure Advance: `SET_PRESSURE_ADVANCE ADVANCE=0`
 4. If you have already added `[input_shaper]` section to the printer.cfg,
    execute `SET_INPUT_SHAPER SHAPER_FREQ_X=0 SHAPER_FREQ_Y=0` command. If you
@@ -149,7 +149,7 @@ a few other related parameters.
 Print the ringing test model as follows:
 
 1. Restart the firmware: `RESTART`
-2. Prepare for test: `SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000`
+2. Prepare for test: `SET_VELOCITY_LIMIT MINIMUM_CRUISE_RATIO=0`
 3. Disable Pressure Advance: `SET_PRESSURE_ADVANCE ADVANCE=0`
 4. Execute: `SET_INPUT_SHAPER SHAPER_TYPE=MZV`
 5. Execute the command:
@@ -270,7 +270,7 @@ frequencies after enabling [input_shaper], this section will not help with that.
 Assuming that you have sliced the ringing model with suggested
 parameters, complete the following steps for each of the axes X and Y:
 
-1. Prepare for test: `SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000`
+1. Prepare for test: `SET_VELOCITY_LIMIT MINIMUM_CRUISE_RATIO=0`
 2. Make sure Pressure Advance is disabled: `SET_PRESSURE_ADVANCE ADVANCE=0`
 3. Execute: `SET_INPUT_SHAPER SHAPER_TYPE=ZV`
 4. From the existing ringing test model with your chosen input shaper select
@@ -331,7 +331,7 @@ with suggested parameters, print the test model 3 times as
 follows. First time, prior to printing, run
 
 1. `RESTART`
-2. `SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000`
+2. `SET_VELOCITY_LIMIT MINIMUM_CRUISE_RATIO=0`
 3. `SET_PRESSURE_ADVANCE ADVANCE=0`
 4. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=60 SHAPER_FREQ_Y=60`
 5. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5`

docs/Skew_Correction.md

@@ -21,7 +21,7 @@ or by issuing a `SET_SKEW CLEAR=1` gcode.
 
 ## Take your measurements
 
-The `[skew_correcton]` module requires 3 measurements for each plane you want
+The `[skew_correction]` module requires 3 measurements for each plane you want
 to correct; the length from Corner A to Corner C, the length from Corner B
 to Corner D, and the length from Corner A to Corner D.  When measuring length
 AD do not include the flats on the corners that some test objects provide.

docs/Sponsors.md

@@ -17,7 +17,6 @@ serve the 3D printing community better. Follow them on
 ## Sponsors
 
 [<img src="./img/sponsors/obico-light-horizontal.png" width="200" style="margin:25px" />](https://obico.io/klipper.html?source=klipper_sponsor)
-[<img src="./img/sponsors/peopoly-logo.png" width="200" style="margin:25px" />](https://peopoly.net)
 
 ## Klipper Developers
 

docs/Status_Reference.md

@@ -168,6 +168,12 @@ The following information is available in the
   module. These settings may differ from the config file if a
   `SET_RETRACTION` command alters them.
 
+## gcode
+
+The following information is available in the `gcode` object:
+- `commands`: Returns a list of all currently available commands. For each
+  command, if a help string is defined it will also be provided.
+
 ## gcode_button
 
 The following information is available in
@@ -318,7 +324,8 @@ is defined):
 ## output_pin
 
 The following information is available in
-[output_pin some_name](Config_Reference.md#output_pin) objects:
+[output_pin some_name](Config_Reference.md#output_pin) and
+[pwm_tool some_name](Config_Reference.md#pwm_tool) objects:
 - `value`: The "value" of the pin, as set by a `SET_PIN` command.
 
 ## palette2
@@ -367,6 +374,13 @@ is defined):
   template expansion, the PROBE (or similar) command must be run prior
   to the macro containing this reference.
 
+## pwm_cycle_time
+
+The following information is available in
+[pwm_cycle_time some_name](Config_Reference.md#pwm_cycle_time)
+objects:
+- `value`: The "value" of the pin, as set by a `SET_PIN` command.
+
 ## quad_gantry_level
 
 The following information is available in the `quad_gantry_level` object
@@ -431,6 +445,7 @@ The following information is available in
 
 [bme280 config_section_name](Config_Reference.md#bmp280bme280bme680-temperature-sensor),
 [htu21d config_section_name](Config_Reference.md#htu21d-sensor),
+[sht3x config_section_name](Config_Reference.md#sht31-sensor),
 [lm75 config_section_name](Config_Reference.md#lm75-temperature-sensor),
 [temperature_host config_section_name](Config_Reference.md#host-temperature-sensor)
 and
@@ -438,7 +453,7 @@ and
 objects:
 - `temperature`: The last read temperature from the sensor.
 - `humidity`, `pressure`, `gas`: The last read values from the sensor
-  (only on bme280, htu21d, and lm75 sensors).
+  (only on bme280, htu21d, sht3x and lm75 sensors).
 
 ## temperature_fan
 
@@ -497,7 +512,7 @@ The following information is available in the `toolhead` object
   limit value (eg, `axis_minimum.x`, `axis_maximum.z`).
 - For Delta printers the `cone_start_z` is the max z height at
   maximum radius (`printer.toolhead.cone_start_z`).
-- `max_velocity`, `max_accel`, `max_accel_to_decel`,
+- `max_velocity`, `max_accel`, `minimum_cruise_ratio`,
   `square_corner_velocity`: The current printing limits that are in
   effect. This may differ from the config file settings if a
   `SET_VELOCITY_LIMIT` (or `M204`) command alters them at run-time.

docs/Using_PWM_Tools.md

@@ -1,7 +1,7 @@
 # Using PWM tools
 
 This document describes how to setup a PWM-controlled laser or spindle
-using `output_pin` and some macros.
+using `pwm_tool` and some macros.
 
 ## How does it work?
 
@@ -26,14 +26,6 @@ so that when your host or MCU encounters an error, the tool will stop.
 
 For an example configuration, see [config/sample-pwm-tool.cfg](/config/sample-pwm-tool.cfg).
 
-## Current Limitations
-
-There is a limitation of how frequent PWM updates may occur.
-While being very precise, a PWM update may only occur every 0.1 seconds,
-rendering it almost useless for raster engraving.
-However, there exists an [experimental branch](https://github.com/Cirromulus/klipper/tree/laser_tool) with its own tradeoffs.
-In long term, it is planned to add this functionality to main-line klipper.
-
 ## Commands
 
 `M3/M4 S<value>` : Set PWM duty-cycle. Values between 0 and 255.

docs/_klipper3d/mkdocs-requirements.txt

@@ -1,6 +1,6 @@
 # Python virtualenv module requirements for mkdocs
-jinja2==3.0.3
+jinja2==3.1.4
-mkdocs==1.2.3
+mkdocs==1.2.4
 mkdocs-material==8.1.3
 mkdocs-simple-hooks==0.1.3
 mkdocs-exclude==1.0.2

docs/_klipper3d/mkdocs.yml

@@ -71,7 +71,7 @@ extra:
   # https://squidfunk.github.io/mkdocs-material/setup/setting-up-site-analytics/#site-search-tracking
   analytics:
     provider: google
-    property: UA-138371409-1
+    property: G-VEN1PGNQL4
   # Language Selection
   alternate:
     - name: English
@@ -88,7 +88,9 @@ nav:
   - Config_Changes.md
   - Contact.md
   - Installation and Configuration:
+    - Installation:
       - Installation.md
+      - OctoPrint.md
     - Configuration Reference:
       - Config_Reference.md
       - Rotation_Distance.md
@@ -138,4 +140,5 @@ nav:
     - CANBUS_Troubleshooting.md
     - TSL1401CL_Filament_Width_Sensor.md
     - Hall_Filament_Width_Sensor.md
+    - Eddy_Probe.md
   - Sponsors.md

docs/index.md

@@ -6,13 +6,16 @@ title: Welcome
 
 ![](img/klipper-logo.png){ .center-image }
 
-Klipper is a 3d-Printer firmware. It combines the power of a general
+The Klipper firmware controls 3d-Printers. It combines the power of a
-purpose computer with one or more micro-controllers. See the
+general purpose computer with one or more micro-controllers. See the
-[features](Features.md) document for more information on why you
+[features document](https://www.klipper3d.org/Features.html) for more
-should use Klipper.
+information on why you should use the Klipper software.
 
-To begin using Klipper start by [installing](Installation.md) it.
+Start by [installing Klipper software](https://www.klipper3d.org/Installation.html).
 
-Klipper is Free Software. Read the [documentation](Overview.md) or
+Klipper software is Free Software. Read the
-view [the Klipper code on github](https://github.com/Klipper3d/klipper).
+[documentation](https://www.klipper3d.org/Overview.html), see the
-We depend on the generous support from our [sponsors](Sponsors.md).
+[license](COPYING), or
+[download](https://github.com/Klipper3d/Klipper) the software. We
+depend on the generous support from our
+[sponsors](https://www.klipper3d.org/Sponsors.html).

klippy/chelper/__init__.py

@@ -49,6 +49,8 @@ defs_stepcompress = """
         , uint64_t clock);
     int stepcompress_queue_msg(struct stepcompress *sc
         , uint32_t *data, int len);
+    int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
+        , uint32_t *data, int len);
     int stepcompress_extract_old(struct stepcompress *sc
         , struct pull_history_steps *p, int max
         , uint64_t start_clock, uint64_t end_clock);
@@ -58,7 +60,8 @@ defs_stepcompress = """
     void steppersync_free(struct steppersync *ss);
     void steppersync_set_time(struct steppersync *ss
         , double time_offset, double mcu_freq);
-    int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
+    int steppersync_flush(struct steppersync *ss, uint64_t move_clock
+        , uint64_t clear_history_clock);
 """
 
 defs_itersolve = """
@@ -92,7 +95,8 @@ defs_trapq = """
         , double start_pos_x, double start_pos_y, double start_pos_z
         , double axes_r_x, double axes_r_y, double axes_r_z
         , double start_v, double cruise_v, double accel);
-    void trapq_finalize_moves(struct trapq *tq, double print_time);
+    void trapq_finalize_moves(struct trapq *tq, double print_time
+        , double clear_history_time);
     void trapq_set_position(struct trapq *tq, double print_time
         , double pos_x, double pos_y, double pos_z);
     int trapq_extract_old(struct trapq *tq, struct pull_move *p, int max
@@ -138,8 +142,9 @@ defs_kin_winch = """
 
 defs_kin_extruder = """
     struct stepper_kinematics *extruder_stepper_alloc(void);
+    void extruder_stepper_free(struct stepper_kinematics *sk);
     void extruder_set_pressure_advance(struct stepper_kinematics *sk
-        , double pressure_advance, double smooth_time);
+        , double print_time, double pressure_advance, double smooth_time);
 """
 
 defs_kin_shaper = """

klippy/chelper/kin_extruder.c

@@ -9,9 +9,15 @@
 #include <string.h> // memset
 #include "compiler.h" // __visible
 #include "itersolve.h" // struct stepper_kinematics
+#include "list.h" // list_node
 #include "pyhelper.h" // errorf
 #include "trapq.h" // move_get_distance
 
+struct pa_params {
+    double pressure_advance, active_print_time;
+    struct list_node node;
+};
+
 // Without pressure advance, the extruder stepper position is:
 //     extruder_position(t) = nominal_position(t)
 // When pressure advance is enabled, additional filament is pushed
@@ -52,17 +58,25 @@ extruder_integrate_time(double base, double start_v, double half_accel
 
 // Calculate the definitive integral of extruder for a given move
 static double
-pa_move_integrate(struct move *m, double pressure_advance
+pa_move_integrate(struct move *m, struct list_head *pa_list
                   , double base, double start, double end, double time_offset)
 {
     if (start < 0.)
         start = 0.;
     if (end > m->move_t)
         end = m->move_t;
-    // Calculate base position and velocity with pressure advance
+    // Determine pressure_advance value
     int can_pressure_advance = m->axes_r.y != 0.;
-    if (!can_pressure_advance)
+    double pressure_advance = 0.;
-        pressure_advance = 0.;
+    if (can_pressure_advance) {
+        struct pa_params *pa = list_last_entry(pa_list, struct pa_params, node);
+        while (unlikely(pa->active_print_time > m->print_time) &&
+                !list_is_first(&pa->node, pa_list)) {
+            pa = list_prev_entry(pa, node);
+        }
+        pressure_advance = pa->pressure_advance;
+    }
+    // Calculate base position and velocity with pressure advance
     base += pressure_advance * m->start_v;
     double start_v = m->start_v + pressure_advance * 2. * m->half_accel;
     // Calculate definitive integral
@@ -75,20 +89,20 @@ pa_move_integrate(struct move *m, double pressure_advance
 // Calculate the definitive integral of the extruder over a range of moves
 static double
 pa_range_integrate(struct move *m, double move_time
-                   , double pressure_advance, double hst)
+                   , struct list_head *pa_list, double hst)
 {
     // Calculate integral for the current move
     double res = 0., start = move_time - hst, end = move_time + hst;
     double start_base = m->start_pos.x;
-    res += pa_move_integrate(m, pressure_advance, 0., start, move_time, start);
+    res += pa_move_integrate(m, pa_list, 0., start, move_time, start);
-    res -= pa_move_integrate(m, pressure_advance, 0., move_time, end, end);
+    res -= pa_move_integrate(m, pa_list, 0., move_time, end, end);
     // Integrate over previous moves
     struct move *prev = m;
     while (unlikely(start < 0.)) {
         prev = list_prev_entry(prev, node);
         start += prev->move_t;
         double base = prev->start_pos.x - start_base;
-        res += pa_move_integrate(prev, pressure_advance, base, start
+        res += pa_move_integrate(prev, pa_list, base, start
                                  , prev->move_t, start);
     }
     // Integrate over future moves
@@ -96,14 +110,15 @@ pa_range_integrate(struct move *m, double move_time
         end -= m->move_t;
         m = list_next_entry(m, node);
         double base = m->start_pos.x - start_base;
-        res -= pa_move_integrate(m, pressure_advance, base, 0., end, end);
+        res -= pa_move_integrate(m, pa_list, base, 0., end, end);
     }
     return res;
 }
 
 struct extruder_stepper {
     struct stepper_kinematics sk;
-    double pressure_advance, half_smooth_time, inv_half_smooth_time2;
+    struct list_head pa_list;
+    double half_smooth_time, inv_half_smooth_time2;
 };
 
 static double
@@ -116,22 +131,45 @@ extruder_calc_position(struct stepper_kinematics *sk, struct move *m
         // Pressure advance not enabled
         return m->start_pos.x + move_get_distance(m, move_time);
     // Apply pressure advance and average over smooth_time
-    double area = pa_range_integrate(m, move_time, es->pressure_advance, hst);
+    double area = pa_range_integrate(m, move_time, &es->pa_list, hst);
     return m->start_pos.x + area * es->inv_half_smooth_time2;
 }
 
 void __visible
-extruder_set_pressure_advance(struct stepper_kinematics *sk
+extruder_set_pressure_advance(struct stepper_kinematics *sk, double print_time
                               , double pressure_advance, double smooth_time)
 {
     struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
-    double hst = smooth_time * .5;
+    double hst = smooth_time * .5, old_hst = es->half_smooth_time;
     es->half_smooth_time = hst;
     es->sk.gen_steps_pre_active = es->sk.gen_steps_post_active = hst;
+
+    // Cleanup old pressure advance parameters
+    double cleanup_time = sk->last_flush_time - (old_hst > hst ? old_hst : hst);
+    struct pa_params *first_pa = list_first_entry(
+            &es->pa_list, struct pa_params, node);
+    while (!list_is_last(&first_pa->node, &es->pa_list)) {
+        struct pa_params *next_pa = list_next_entry(first_pa, node);
+        if (next_pa->active_print_time >= cleanup_time) break;
+        list_del(&first_pa->node);
+        first_pa = next_pa;
+    }
+
     if (! hst)
         return;
     es->inv_half_smooth_time2 = 1. / (hst * hst);
-    es->pressure_advance = pressure_advance;
+
+    if (list_last_entry(&es->pa_list, struct pa_params, node)->pressure_advance
+            == pressure_advance) {
+        // Retain old pa_params
+        return;
+    }
+    // Add new pressure advance parameters
+    struct pa_params *pa = malloc(sizeof(*pa));
+    memset(pa, 0, sizeof(*pa));
+    pa->pressure_advance = pressure_advance;
+    pa->active_print_time = print_time;
+    list_add_tail(&pa->node, &es->pa_list);
 }
 
 struct stepper_kinematics * __visible
@@ -141,5 +179,22 @@ extruder_stepper_alloc(void)
     memset(es, 0, sizeof(*es));
     es->sk.calc_position_cb = extruder_calc_position;
     es->sk.active_flags = AF_X;
+    list_init(&es->pa_list);
+    struct pa_params *pa = malloc(sizeof(*pa));
+    memset(pa, 0, sizeof(*pa));
+    list_add_tail(&pa->node, &es->pa_list);
     return &es->sk;
 }
+
+void __visible
+extruder_stepper_free(struct stepper_kinematics *sk)
+{
+    struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
+    while (!list_empty(&es->pa_list)) {
+        struct pa_params *pa = list_first_entry(
+                &es->pa_list, struct pa_params, node);
+        list_del(&pa->node);
+        free(pa);
+    }
+    free(sk);
+}

klippy/chelper/serialqueue.c

@@ -222,12 +222,11 @@ handle_message(struct serialqueue *sq, double eventtime, int len)
     pthread_mutex_lock(&sq->lock);
 
     // Calculate receive sequence number
-    uint64_t rseq = ((sq->receive_seq & ~MESSAGE_SEQ_MASK)
+    uint32_t rseq_delta = ((sq->input_buf[MESSAGE_POS_SEQ] - sq->receive_seq)
-                     | (sq->input_buf[MESSAGE_POS_SEQ] & MESSAGE_SEQ_MASK));
+                           & MESSAGE_SEQ_MASK);
+    uint64_t rseq = sq->receive_seq + rseq_delta;
     if (rseq != sq->receive_seq) {
         // New sequence number
-        if (rseq < sq->receive_seq)
-            rseq += MESSAGE_SEQ_MASK+1;
         if (rseq > sq->send_seq && sq->receive_seq != 1) {
             // An ack for a message not sent?  Out of order message?
             sq->bytes_invalid += len;

klippy/chelper/stepcompress.c

@@ -54,8 +54,6 @@ struct step_move {
     int16_t add;
 };
 
-#define HISTORY_EXPIRE (30.0)
-
 struct history_steps {
     struct list_node node;
     uint64_t first_clock, last_clock;
@@ -292,6 +290,13 @@ free_history(struct stepcompress *sc, uint64_t end_clock)
     }
 }
 
+// Expire the stepcompress history older than the given clock
+static void
+stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock)
+{
+    free_history(sc, end_clock);
+}
+
 // Free memory associated with a 'stepcompress' object
 void __visible
 stepcompress_free(struct stepcompress *sc)
@@ -322,9 +327,6 @@ calc_last_step_print_time(struct stepcompress *sc)
 {
     double lsc = sc->last_step_clock;
     sc->last_step_print_time = sc->mcu_time_offset + (lsc - .5) / sc->mcu_freq;
-
-    if (lsc > sc->mcu_freq * HISTORY_EXPIRE)
-        free_history(sc, lsc - sc->mcu_freq * HISTORY_EXPIRE);
 }
 
 // Set the conversion rate of 'print_time' to mcu clock
@@ -623,6 +625,21 @@ stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
     return 0;
 }
 
+// Queue an mcu command that will consume space in the mcu move queue
+int __visible
+stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
+                          , uint32_t *data, int len)
+{
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
+
+    struct queue_message *qm = message_alloc_and_encode(data, len);
+    qm->min_clock = qm->req_clock = req_clock;
+    list_add_tail(&qm->node, &sc->msg_queue);
+    return 0;
+}
+
 // Return history of queue_step commands
 int __visible
 stepcompress_extract_old(struct stepcompress *sc, struct pull_history_steps *p
@@ -716,6 +733,18 @@ steppersync_set_time(struct steppersync *ss, double time_offset
     }
 }
 
+// Expire the stepcompress history before the given clock time
+static void
+steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
+{
+    int i;
+    for (i = 0; i < ss->sc_num; i++)
+    {
+        struct stepcompress *sc = ss->sc_list[i];
+        stepcompress_history_expire(sc, end_clock);
+    }
+}
+
 // Implement a binary heap algorithm to track when the next available
 // 'struct move' in the mcu will be available
 static void
@@ -743,7 +772,8 @@ heap_replace(struct steppersync *ss, uint64_t req_clock)
 
 // Find and transmit any scheduled steps prior to the given 'move_clock'
 int __visible
-steppersync_flush(struct steppersync *ss, uint64_t move_clock)
+steppersync_flush(struct steppersync *ss, uint64_t move_clock
+                  , uint64_t clear_history_clock)
 {
     // Flush each stepcompress to the specified move_clock
     int i;
@@ -791,5 +821,7 @@ steppersync_flush(struct steppersync *ss, uint64_t move_clock)
     // Transmit commands
     if (!list_empty(&msgs))
         serialqueue_send_batch(ss->sq, ss->cq, &msgs);
+
+    steppersync_history_expire(ss, clear_history_clock);
     return 0;
 }

klippy/chelper/stepcompress.h

@@ -29,6 +29,8 @@ int stepcompress_set_last_position(struct stepcompress *sc, uint64_t clock
 int64_t stepcompress_find_past_position(struct stepcompress *sc
                                         , uint64_t clock);
 int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
+int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
+                              , uint32_t *data, int len);
 int stepcompress_extract_old(struct stepcompress *sc
                              , struct pull_history_steps *p, int max
                              , uint64_t start_clock, uint64_t end_clock);
@@ -40,6 +42,7 @@ struct steppersync *steppersync_alloc(
 void steppersync_free(struct steppersync *ss);
 void steppersync_set_time(struct steppersync *ss, double time_offset
                           , double mcu_freq);
-int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
+int steppersync_flush(struct steppersync *ss, uint64_t move_clock
+                      , uint64_t clear_history_clock);
 
 #endif // stepcompress.h

klippy/chelper/trapq.c

@@ -163,11 +163,10 @@ trapq_append(struct trapq *tq, double print_time
     }
 }
 
-#define HISTORY_EXPIRE (30.0)
-
 // Expire any moves older than `print_time` from the trapezoid velocity queue
 void __visible
-trapq_finalize_moves(struct trapq *tq, double print_time)
+trapq_finalize_moves(struct trapq *tq, double print_time
+                     , double clear_history_time)
 {
     struct move *head_sentinel = list_first_entry(&tq->moves, struct move,node);
     struct move *tail_sentinel = list_last_entry(&tq->moves, struct move, node);
@@ -190,10 +189,9 @@ trapq_finalize_moves(struct trapq *tq, double print_time)
     if (list_empty(&tq->history))
         return;
     struct move *latest = list_first_entry(&tq->history, struct move, node);
-    double expire_time = latest->print_time + latest->move_t - HISTORY_EXPIRE;
     for (;;) {
         struct move *m = list_last_entry(&tq->history, struct move, node);
-        if (m == latest || m->print_time + m->move_t > expire_time)
+        if (m == latest || m->print_time + m->move_t > clear_history_time)
             break;
         list_del(&m->node);
         free(m);
@@ -206,7 +204,7 @@ trapq_set_position(struct trapq *tq, double print_time
                    , double pos_x, double pos_y, double pos_z)
 {
     // Flush all moves from trapq
-    trapq_finalize_moves(tq, NEVER_TIME);
+    trapq_finalize_moves(tq, NEVER_TIME, 0);
 
     // Prune any moves in the trapq history that were interrupted
     while (!list_empty(&tq->history)) {

klippy/chelper/trapq.h

@@ -43,7 +43,8 @@ void trapq_append(struct trapq *tq, double print_time
                   , double start_pos_x, double start_pos_y, double start_pos_z
                   , double axes_r_x, double axes_r_y, double axes_r_z
                   , double start_v, double cruise_v, double accel);
-void trapq_finalize_moves(struct trapq *tq, double print_time);
+void trapq_finalize_moves(struct trapq *tq, double print_time
+                          , double clear_history_time);
 void trapq_set_position(struct trapq *tq, double print_time
                         , double pos_x, double pos_y, double pos_z);
 int trapq_extract_old(struct trapq *tq, struct pull_move *p, int max

klippy/clocksync.py

@@ -66,10 +66,8 @@ class ClockSync:
         self.queries_pending = 0
         # Extend clock to 64bit
         last_clock = self.last_clock
-        clock = (last_clock & ~0xffffffff) | params['clock']
+        clock_delta = (params['clock'] - last_clock) & 0xffffffff
-        if clock < last_clock:
+        self.last_clock = clock = last_clock + clock_delta
-            clock += 0x100000000
-        self.last_clock = clock
         # Check if this is the best round-trip-time seen so far
         sent_time = params['#sent_time']
         if not sent_time:
@@ -138,10 +136,9 @@ class ClockSync:
     # misc commands
     def clock32_to_clock64(self, clock32):
         last_clock = self.last_clock
-        clock_diff = (last_clock - clock32) & 0xffffffff
+        clock_diff = (clock32 - last_clock) & 0xffffffff
-        if clock_diff & 0x80000000:
+        clock_diff -= (clock_diff & 0x80000000) << 1
-            return last_clock + 0x100000000 - clock_diff
+        return last_clock + clock_diff
-        return last_clock - clock_diff
     def is_active(self):
         return self.queries_pending <= 4
     def dump_debug(self):

klippy/configfile.py

@@ -1,12 +1,17 @@
 # Code for reading and writing the Klipper config file
 #
-# Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, os, glob, re, time, logging, configparser, io
 
 error = configparser.Error
 
+
+######################################################################
+# Config section parsing helper
+######################################################################
+
 class sentinel:
     pass
 
@@ -69,6 +74,8 @@ class ConfigWrapper:
         return self._get_wrapper(self.fileconfig.getboolean, option, default,
                                  note_valid=note_valid)
     def getchoice(self, option, choices, default=sentinel, note_valid=True):
+        if type(choices) == type([]):
+            choices = {i: i for i in choices}
         if choices and type(list(choices.keys())[0]) == int:
             c = self.getint(option, default, note_valid=note_valid)
         else:
@@ -132,28 +139,13 @@ class ConfigWrapper:
         pconfig = self.printer.lookup_object("configfile")
         pconfig.deprecate(self.section, option, value, msg)
 
-AUTOSAVE_HEADER = """
-#*# <---------------------- SAVE_CONFIG ---------------------->
-#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
-#*#
-"""
 
-class PrinterConfig:
+######################################################################
-    def __init__(self, printer):
+# Config file parsing (with include file support)
-        self.printer = printer
+######################################################################
-        self.autosave = None
+
-        self.deprecated = {}
+class ConfigFileReader:
-        self.status_raw_config = {}
+    def read_config_file(self, filename):
-        self.status_save_pending = {}
-        self.status_settings = {}
-        self.status_warnings = []
-        self.save_config_pending = False
-        gcode = self.printer.lookup_object('gcode')
-        gcode.register_command("SAVE_CONFIG", self.cmd_SAVE_CONFIG,
-                               desc=self.cmd_SAVE_CONFIG_help)
-    def get_printer(self):
-        return self.printer
-    def _read_config_file(self, filename):
         try:
             f = open(filename, 'r')
             data = f.read()
@@ -163,6 +155,102 @@ class PrinterConfig:
             logging.exception(msg)
             raise error(msg)
         return data.replace('\r\n', '\n')
+    def build_config_string(self, fileconfig):
+        sfile = io.StringIO()
+        fileconfig.write(sfile)
+        return sfile.getvalue().strip()
+    def append_fileconfig(self, fileconfig, data, filename):
+        if not data:
+            return
+        # Strip trailing comments
+        lines = data.split('\n')
+        for i, line in enumerate(lines):
+            pos = line.find('#')
+            if pos >= 0:
+                lines[i] = line[:pos]
+        sbuffer = io.StringIO('\n'.join(lines))
+        if sys.version_info.major >= 3:
+            fileconfig.read_file(sbuffer, filename)
+        else:
+            fileconfig.readfp(sbuffer, filename)
+    def _create_fileconfig(self):
+        if sys.version_info.major >= 3:
+            fileconfig = configparser.RawConfigParser(
+                strict=False, inline_comment_prefixes=(';', '#'))
+        else:
+            fileconfig = configparser.RawConfigParser()
+        return fileconfig
+    def build_fileconfig(self, data, filename):
+        fileconfig = self._create_fileconfig()
+        self.append_fileconfig(fileconfig, data, filename)
+        return fileconfig
+    def _resolve_include(self, source_filename, include_spec, fileconfig,
+                         visited):
+        dirname = os.path.dirname(source_filename)
+        include_spec = include_spec.strip()
+        include_glob = os.path.join(dirname, include_spec)
+        include_filenames = glob.glob(include_glob)
+        if not include_filenames and not glob.has_magic(include_glob):
+            # Empty set is OK if wildcard but not for direct file reference
+            raise error("Include file '%s' does not exist" % (include_glob,))
+        include_filenames.sort()
+        for include_filename in include_filenames:
+            include_data = self.read_config_file(include_filename)
+            self._parse_config(include_data, include_filename, fileconfig,
+                               visited)
+        return include_filenames
+    def _parse_config(self, data, filename, fileconfig, visited):
+        path = os.path.abspath(filename)
+        if path in visited:
+            raise error("Recursive include of config file '%s'" % (filename))
+        visited.add(path)
+        lines = data.split('\n')
+        # Buffer lines between includes and parse as a unit so that overrides
+        # in includes apply linearly as they do within a single file
+        buf = []
+        for line in lines:
+            # Strip trailing comment
+            pos = line.find('#')
+            if pos >= 0:
+                line = line[:pos]
+            # Process include or buffer line
+            mo = configparser.RawConfigParser.SECTCRE.match(line)
+            header = mo and mo.group('header')
+            if header and header.startswith('include '):
+                self.append_fileconfig(fileconfig, '\n'.join(buf), filename)
+                del buf[:]
+                include_spec = header[8:].strip()
+                self._resolve_include(filename, include_spec, fileconfig,
+                                      visited)
+            else:
+                buf.append(line)
+        self.append_fileconfig(fileconfig, '\n'.join(buf), filename)
+        visited.remove(path)
+    def build_fileconfig_with_includes(self, data, filename):
+        fileconfig = self._create_fileconfig()
+        self._parse_config(data, filename, fileconfig, set())
+        return fileconfig
+
+
+######################################################################
+# Config auto save helper
+######################################################################
+
+AUTOSAVE_HEADER = """
+#*# <---------------------- SAVE_CONFIG ---------------------->
+#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
+#*#
+"""
+
+class ConfigAutoSave:
+    def __init__(self, printer):
+        self.printer = printer
+        self.fileconfig = None
+        self.status_save_pending = {}
+        self.save_config_pending = False
+        gcode = self.printer.lookup_object('gcode')
+        gcode.register_command("SAVE_CONFIG", self.cmd_SAVE_CONFIG,
+                               desc=self.cmd_SAVE_CONFIG_help)
     def _find_autosave_data(self, data):
         regular_data = data
         autosave_data = ""
@@ -171,8 +259,8 @@ class PrinterConfig:
             regular_data = data[:pos]
             autosave_data = data[pos + len(AUTOSAVE_HEADER):].strip()
         # Check for errors and strip line prefixes
-        if "\n#*# " in regular_data:
+        if "\n#*# " in regular_data or autosave_data.find(AUTOSAVE_HEADER) >= 0:
-            logging.warn("Can't read autosave from config file"
+            logging.warning("Can't read autosave from config file"
                             " - autosave state corrupted")
             return data, ""
         out = [""]
@@ -180,7 +268,7 @@ class PrinterConfig:
             if ((not line.startswith("#*#")
                  or (len(line) >= 4 and not line.startswith("#*# ")))
                 and autosave_data):
-                logging.warn("Can't read autosave from config file"
+                logging.warning("Can't read autosave from config file"
                                 " - modifications after header")
                 return data, ""
             out.append(line[4:])
@@ -188,8 +276,7 @@ class PrinterConfig:
         return regular_data, "\n".join(out)
     comment_r = re.compile('[#;].*$')
     value_r = re.compile('[^A-Za-z0-9_].*$')
-    def _strip_duplicates(self, data, config):
+    def _strip_duplicates(self, data, fileconfig):
-        fileconfig = config.fileconfig
         # Comment out fields in 'data' that are defined in 'config'
         lines = data.split('\n')
         section = None
@@ -207,143 +294,31 @@ class PrinterConfig:
                 section = pruned_line[1:-1].strip()
                 continue
             field = self.value_r.sub('', pruned_line)
-            if config.fileconfig.has_option(section, field):
+            if fileconfig.has_option(section, field):
                 is_dup_field = True
                 lines[lineno] = '#' + lines[lineno]
         return "\n".join(lines)
-    def _parse_config_buffer(self, buffer, filename, fileconfig):
+    def load_main_config(self):
-        if not buffer:
-            return
-        data = '\n'.join(buffer)
-        del buffer[:]
-        sbuffer = io.StringIO(data)
-        fileconfig.readfp(sbuffer, filename)
-    def _resolve_include(self, source_filename, include_spec, fileconfig,
-                         visited):
-        dirname = os.path.dirname(source_filename)
-        include_spec = include_spec.strip()
-        include_glob = os.path.join(dirname, include_spec)
-        include_filenames = glob.glob(include_glob)
-        if not include_filenames and not glob.has_magic(include_glob):
-            # Empty set is OK if wildcard but not for direct file reference
-            raise error("Include file '%s' does not exist" % (include_glob,))
-        include_filenames.sort()
-        for include_filename in include_filenames:
-            include_data = self._read_config_file(include_filename)
-            self._parse_config(include_data, include_filename, fileconfig,
-                               visited)
-        return include_filenames
-    def _parse_config(self, data, filename, fileconfig, visited):
-        path = os.path.abspath(filename)
-        if path in visited:
-            raise error("Recursive include of config file '%s'" % (filename))
-        visited.add(path)
-        lines = data.split('\n')
-        # Buffer lines between includes and parse as a unit so that overrides
-        # in includes apply linearly as they do within a single file
-        buffer = []
-        for line in lines:
-            # Strip trailing comment
-            pos = line.find('#')
-            if pos >= 0:
-                line = line[:pos]
-            # Process include or buffer line
-            mo = configparser.RawConfigParser.SECTCRE.match(line)
-            header = mo and mo.group('header')
-            if header and header.startswith('include '):
-                self._parse_config_buffer(buffer, filename, fileconfig)
-                include_spec = header[8:].strip()
-                self._resolve_include(filename, include_spec, fileconfig,
-                                      visited)
-            else:
-                buffer.append(line)
-        self._parse_config_buffer(buffer, filename, fileconfig)
-        visited.remove(path)
-    def _build_config_wrapper(self, data, filename):
-        if sys.version_info.major >= 3:
-            fileconfig = configparser.RawConfigParser(
-                strict=False, inline_comment_prefixes=(';', '#'))
-        else:
-            fileconfig = configparser.RawConfigParser()
-        self._parse_config(data, filename, fileconfig, set())
-        return ConfigWrapper(self.printer, fileconfig, {}, 'printer')
-    def _build_config_string(self, config):
-        sfile = io.StringIO()
-        config.fileconfig.write(sfile)
-        return sfile.getvalue().strip()
-    def read_config(self, filename):
-        return self._build_config_wrapper(self._read_config_file(filename),
-                                          filename)
-    def read_main_config(self):
         filename = self.printer.get_start_args()['config_file']
-        data = self._read_config_file(filename)
+        cfgrdr = ConfigFileReader()
+        data = cfgrdr.read_config_file(filename)
         regular_data, autosave_data = self._find_autosave_data(data)
-        regular_config = self._build_config_wrapper(regular_data, filename)
+        regular_fileconfig = cfgrdr.build_fileconfig_with_includes(
-        autosave_data = self._strip_duplicates(autosave_data, regular_config)
+            regular_data, filename)
-        self.autosave = self._build_config_wrapper(autosave_data, filename)
+        autosave_data = self._strip_duplicates(autosave_data,
-        cfg = self._build_config_wrapper(regular_data + autosave_data, filename)
+                                               regular_fileconfig)
-        return cfg
+        self.fileconfig = cfgrdr.build_fileconfig(autosave_data, filename)
-    def check_unused_options(self, config):
+        cfgrdr.append_fileconfig(regular_fileconfig,
-        fileconfig = config.fileconfig
+                                 autosave_data, '*AUTOSAVE*')
-        objects = dict(self.printer.lookup_objects())
+        return regular_fileconfig, self.fileconfig
-        # Determine all the fields that have been accessed
-        access_tracking = dict(config.access_tracking)
-        for section in self.autosave.fileconfig.sections():
-            for option in self.autosave.fileconfig.options(section):
-                access_tracking[(section.lower(), option.lower())] = 1
-        # Validate that there are no undefined parameters in the config file
-        valid_sections = { s: 1 for s, o in access_tracking }
-        for section_name in fileconfig.sections():
-            section = section_name.lower()
-            if section not in valid_sections and section not in objects:
-                raise error("Section '%s' is not a valid config section"
-                            % (section,))
-            for option in fileconfig.options(section_name):
-                option = option.lower()
-                if (section, option) not in access_tracking:
-                    raise error("Option '%s' is not valid in section '%s'"
-                                % (option, section))
-        # Setup get_status()
-        self._build_status(config)
-    def log_config(self, config):
-        lines = ["===== Config file =====",
-                 self._build_config_string(config),
-                 "======================="]
-        self.printer.set_rollover_info("config", "\n".join(lines))
-    # Status reporting
-    def deprecate(self, section, option, value=None, msg=None):
-        self.deprecated[(section, option, value)] = msg
-    def _build_status(self, config):
-        self.status_raw_config.clear()
-        for section in config.get_prefix_sections(''):
-            self.status_raw_config[section.get_name()] = section_status = {}
-            for option in section.get_prefix_options(''):
-                section_status[option] = section.get(option, note_valid=False)
-        self.status_settings = {}
-        for (section, option), value in config.access_tracking.items():
-            self.status_settings.setdefault(section, {})[option] = value
-        self.status_warnings = []
-        for (section, option, value), msg in self.deprecated.items():
-            if value is None:
-                res = {'type': 'deprecated_option'}
-            else:
-                res = {'type': 'deprecated_value', 'value': value}
-            res['message'] = msg
-            res['section'] = section
-            res['option'] = option
-            self.status_warnings.append(res)
     def get_status(self, eventtime):
-        return {'config': self.status_raw_config,
+        return {'save_config_pending': self.save_config_pending,
-                'settings': self.status_settings,
-                'warnings': self.status_warnings,
-                'save_config_pending': self.save_config_pending,
                 'save_config_pending_items': self.status_save_pending}
-    # Autosave functions
     def set(self, section, option, value):
-        if not self.autosave.fileconfig.has_section(section):
+        if not self.fileconfig.has_section(section):
-            self.autosave.fileconfig.add_section(section)
+            self.fileconfig.add_section(section)
         svalue = str(value)
-        self.autosave.fileconfig.set(section, option, svalue)
+        self.fileconfig.set(section, option, svalue)
         pending = dict(self.status_save_pending)
         if not section in pending or pending[section] is None:
             pending[section] = {}
@@ -354,8 +329,8 @@ class PrinterConfig:
         self.save_config_pending = True
         logging.info("save_config: set [%s] %s = %s", section, option, svalue)
     def remove_section(self, section):
-        if self.autosave.fileconfig.has_section(section):
+        if self.fileconfig.has_section(section):
-            self.autosave.fileconfig.remove_section(section)
+            self.fileconfig.remove_section(section)
             pending = dict(self.status_save_pending)
             pending[section] = None
             self.status_save_pending = pending
@@ -366,21 +341,20 @@ class PrinterConfig:
             del pending[section]
             self.status_save_pending = pending
             self.save_config_pending = True
-    def _disallow_include_conflicts(self, regular_data, cfgname, gcode):
+    def _disallow_include_conflicts(self, regular_fileconfig):
-        config = self._build_config_wrapper(regular_data, cfgname)
+        for section in self.fileconfig.sections():
-        for section in self.autosave.fileconfig.sections():
+            for option in self.fileconfig.options(section):
-            for option in self.autosave.fileconfig.options(section):
+                if regular_fileconfig.has_option(section, option):
-                if config.fileconfig.has_option(section, option):
                     msg = ("SAVE_CONFIG section '%s' option '%s' conflicts "
                            "with included value" % (section, option))
-                    raise gcode.error(msg)
+                    raise self.printer.command_error(msg)
     cmd_SAVE_CONFIG_help = "Overwrite config file and restart"
     def cmd_SAVE_CONFIG(self, gcmd):
-        if not self.autosave.fileconfig.sections():
+        if not self.fileconfig.sections():
             return
-        gcode = self.printer.lookup_object('gcode')
         # Create string containing autosave data
-        autosave_data = self._build_config_string(self.autosave)
+        cfgrdr = ConfigFileReader()
+        autosave_data = cfgrdr.build_config_string(self.fileconfig)
         lines = [('#*# ' + l).strip()
                  for l in autosave_data.split('\n')]
         lines.insert(0, "\n" + AUTOSAVE_HEADER.rstrip())
@@ -389,16 +363,27 @@ class PrinterConfig:
         # Read in and validate current config file
         cfgname = self.printer.get_start_args()['config_file']
         try:
-            data = self._read_config_file(cfgname)
+            data = cfgrdr.read_config_file(cfgname)
+        except error as e:
+            msg = "Unable to read existing config on SAVE_CONFIG"
+            logging.exception(msg)
+            raise gcmd.error(msg)
         regular_data, old_autosave_data = self._find_autosave_data(data)
-            config = self._build_config_wrapper(regular_data, cfgname)
+        regular_data = self._strip_duplicates(regular_data, self.fileconfig)
+        data = regular_data.rstrip() + autosave_data
+        new_regular_data, new_autosave_data = self._find_autosave_data(data)
+        if not new_autosave_data:
+            raise gcmd.error(
+                "Existing config autosave is corrupted."
+                " Can't complete SAVE_CONFIG")
+        try:
+            regular_fileconfig = cfgrdr.build_fileconfig_with_includes(
+                new_regular_data, cfgname)
         except error as e:
             msg = "Unable to parse existing config on SAVE_CONFIG"
             logging.exception(msg)
-            raise gcode.error(msg)
+            raise gcmd.error(msg)
-        regular_data = self._strip_duplicates(regular_data, self.autosave)
+        self._disallow_include_conflicts(regular_fileconfig)
-        self._disallow_include_conflicts(regular_data, cfgname, gcode)
-        data = regular_data.rstrip() + autosave_data
         # Determine filenames
         datestr = time.strftime("-%Y%m%d_%H%M%S")
         backup_name = cfgname + datestr
@@ -418,6 +403,135 @@ class PrinterConfig:
         except:
             msg = "Unable to write config file during SAVE_CONFIG"
             logging.exception(msg)
-            raise gcode.error(msg)
+            raise gcmd.error(msg)
         # Request a restart
+        gcode = self.printer.lookup_object('gcode')
         gcode.request_restart('restart')
+
+
+######################################################################
+# Config validation (check for undefined options)
+######################################################################
+
+class ConfigValidate:
+    def __init__(self, printer):
+        self.printer = printer
+        self.status_settings = {}
+        self.access_tracking = {}
+        self.autosave_options = {}
+    def start_access_tracking(self, autosave_fileconfig):
+        # Note autosave options for use during undefined options check
+        self.autosave_options = {}
+        for section in autosave_fileconfig.sections():
+            for option in autosave_fileconfig.options(section):
+                self.autosave_options[(section.lower(), option.lower())] = 1
+        self.access_tracking = {}
+        return self.access_tracking
+    def check_unused(self, fileconfig):
+        # Don't warn on fields set in autosave segment
+        access_tracking = dict(self.access_tracking)
+        access_tracking.update(self.autosave_options)
+        # Note locally used sections
+        valid_sections = { s: 1 for s, o in self.printer.lookup_objects() }
+        valid_sections.update({ s: 1 for s, o in access_tracking })
+        # Validate that there are no undefined parameters in the config file
+        for section_name in fileconfig.sections():
+            section = section_name.lower()
+            if section not in valid_sections:
+                raise error("Section '%s' is not a valid config section"
+                            % (section,))
+            for option in fileconfig.options(section_name):
+                option = option.lower()
+                if (section, option) not in access_tracking:
+                    raise error("Option '%s' is not valid in section '%s'"
+                                % (option, section))
+        # Setup get_status()
+        self._build_status_settings()
+        # Clear tracking state
+        self.access_tracking.clear()
+        self.autosave_options.clear()
+    def _build_status_settings(self):
+        self.status_settings = {}
+        for (section, option), value in self.access_tracking.items():
+            self.status_settings.setdefault(section, {})[option] = value
+    def get_status(self, eventtime):
+        return {'settings': self.status_settings}
+
+
+######################################################################
+# Main printer config tracking
+######################################################################
+
+class PrinterConfig:
+    def __init__(self, printer):
+        self.printer = printer
+        self.autosave = ConfigAutoSave(printer)
+        self.validate = ConfigValidate(printer)
+        self.deprecated = {}
+        self.runtime_warnings = []
+        self.deprecate_warnings = []
+        self.status_raw_config = {}
+        self.status_warnings = []
+    def get_printer(self):
+        return self.printer
+    def read_config(self, filename):
+        cfgrdr = ConfigFileReader()
+        data = cfgrdr.read_config_file(filename)
+        fileconfig = cfgrdr.build_fileconfig(data, filename)
+        return ConfigWrapper(self.printer, fileconfig, {}, 'printer')
+    def read_main_config(self):
+        fileconfig, autosave_fileconfig = self.autosave.load_main_config()
+        access_tracking = self.validate.start_access_tracking(
+            autosave_fileconfig)
+        config = ConfigWrapper(self.printer, fileconfig,
+                               access_tracking, 'printer')
+        self._build_status_config(config)
+        return config
+    def log_config(self, config):
+        cfgrdr = ConfigFileReader()
+        lines = ["===== Config file =====",
+                 cfgrdr.build_config_string(config.fileconfig),
+                 "======================="]
+        self.printer.set_rollover_info("config", "\n".join(lines))
+    def check_unused_options(self, config):
+        self.validate.check_unused(config.fileconfig)
+    # Deprecation warnings
+    def runtime_warning(self, msg):
+        logging.warning(msg)
+        res = {'type': 'runtime_warning', 'message': msg}
+        self.runtime_warnings.append(res)
+        self.status_warnings = self.runtime_warnings + self.deprecate_warnings
+    def deprecate(self, section, option, value=None, msg=None):
+        key = (section, option, value)
+        if key in self.deprecated and self.deprecated[key] == msg:
+            return
+        self.deprecated[key] = msg
+        self.deprecate_warnings = []
+        for (section, option, value), msg in self.deprecated.items():
+            if value is None:
+                res = {'type': 'deprecated_option'}
+            else:
+                res = {'type': 'deprecated_value', 'value': value}
+            res['message'] = msg
+            res['section'] = section
+            res['option'] = option
+            self.deprecate_warnings.append(res)
+        self.status_warnings = self.runtime_warnings + self.deprecate_warnings
+    # Status reporting
+    def _build_status_config(self, config):
+        self.status_raw_config = {}
+        for section in config.get_prefix_sections(''):
+            self.status_raw_config[section.get_name()] = section_status = {}
+            for option in section.get_prefix_options(''):
+                section_status[option] = section.get(option, note_valid=False)
+    def get_status(self, eventtime):
+        status = {'config': self.status_raw_config,
+                  'warnings': self.status_warnings}
+        status.update(self.autosave.get_status(eventtime))
+        status.update(self.validate.get_status(eventtime))
+        return status
+    # Autosave functions
+    def set(self, section, option, value):
+        self.autosave.set(section, option, value)
+    def remove_section(self, section):
+        self.autosave.remove_section(section)

klippy/extras/adc_scaled.py

@@ -7,7 +7,6 @@
 SAMPLE_TIME = 0.001
 SAMPLE_COUNT = 8
 REPORT_TIME = 0.300
-RANGE_CHECK_COUNT = 4
 
 class MCU_scaled_adc:
     def __init__(self, main, pin_params):
@@ -18,7 +17,7 @@ class MCU_scaled_adc:
         qname = main.name + ":" + pin_params['pin']
         query_adc.register_adc(qname, self._mcu_adc)
         self._callback = None
-        self.setup_minmax = self._mcu_adc.setup_minmax
+        self.setup_adc_sample = self._mcu_adc.setup_adc_sample
         self.get_mcu = self._mcu_adc.get_mcu
     def _handle_callback(self, read_time, read_value):
         max_adc = self._main.last_vref[1]
@@ -54,8 +53,7 @@ class PrinterADCScaled:
         ppins = self.printer.lookup_object('pins')
         mcu_adc = ppins.setup_pin('adc', pin_name)
         mcu_adc.setup_adc_callback(REPORT_TIME, callback)
-        mcu_adc.setup_minmax(SAMPLE_TIME, SAMPLE_COUNT, minval=0., maxval=1.,
+        mcu_adc.setup_adc_sample(SAMPLE_TIME, SAMPLE_COUNT)
-                             range_check_count=RANGE_CHECK_COUNT)
         query_adc = config.get_printer().load_object(config, 'query_adc')
         query_adc.register_adc(self.name + ":" + name, mcu_adc)
         return mcu_adc

klippy/extras/adc_temperature.py

@@ -1,6 +1,6 @@
 # Obtain temperature using linear interpolation of ADC values
 #
-# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, bisect
@@ -22,8 +22,8 @@ class PrinterADCtoTemperature:
         ppins = config.get_printer().lookup_object('pins')
         self.mcu_adc = ppins.setup_pin('adc', config.get('sensor_pin'))
         self.mcu_adc.setup_adc_callback(REPORT_TIME, self.adc_callback)
-        query_adc = config.get_printer().load_object(config, 'query_adc')
+        self.diag_helper = HelperTemperatureDiagnostics(
-        query_adc.register_adc(config.get_name(), self.mcu_adc)
+            config, self.mcu_adc, adc_convert.calc_temp)
     def setup_callback(self, temperature_callback):
         self.temperature_callback = temperature_callback
     def get_report_time_delta(self):
@@ -32,10 +32,44 @@ class PrinterADCtoTemperature:
         temp = self.adc_convert.calc_temp(read_value)
         self.temperature_callback(read_time + SAMPLE_COUNT * SAMPLE_TIME, temp)
     def setup_minmax(self, min_temp, max_temp):
-        adc_range = [self.adc_convert.calc_adc(t) for t in [min_temp, max_temp]]
+        arange = [self.adc_convert.calc_adc(t) for t in [min_temp, max_temp]]
-        self.mcu_adc.setup_minmax(SAMPLE_TIME, SAMPLE_COUNT,
+        min_adc, max_adc = sorted(arange)
-                                  minval=min(adc_range), maxval=max(adc_range),
+        self.mcu_adc.setup_adc_sample(SAMPLE_TIME, SAMPLE_COUNT,
+                                      minval=min_adc, maxval=max_adc,
                                       range_check_count=RANGE_CHECK_COUNT)
+        self.diag_helper.setup_diag_minmax(min_temp, max_temp, min_adc, max_adc)
+
+# Tool to register with query_adc and report extra info on ADC range errors
+class HelperTemperatureDiagnostics:
+    def __init__(self, config, mcu_adc, calc_temp_cb):
+        self.printer = config.get_printer()
+        self.name = config.get_name()
+        self.mcu_adc = mcu_adc
+        self.calc_temp_cb = calc_temp_cb
+        self.min_temp = self.max_temp = self.min_adc = self.max_adc = None
+        query_adc = self.printer.load_object(config, 'query_adc')
+        query_adc.register_adc(self.name, self.mcu_adc)
+        error_mcu = self.printer.load_object(config, 'error_mcu')
+        error_mcu.add_clarify("ADC out of range", self._clarify_adc_range)
+    def setup_diag_minmax(self, min_temp, max_temp, min_adc, max_adc):
+        self.min_temp, self.max_temp = min_temp, max_temp
+        self.min_adc, self.max_adc = min_adc, max_adc
+    def _clarify_adc_range(self, msg, details):
+        if self.min_temp is None:
+            return None
+        last_value, last_read_time = self.mcu_adc.get_last_value()
+        if not last_read_time:
+            return None
+        if last_value >= self.min_adc and last_value <= self.max_adc:
+            return None
+        tempstr = "?"
+        try:
+            last_temp = self.calc_temp_cb(last_value)
+            tempstr = "%.3f" % (last_temp,)
+        except e:
+            logging.exception("Error in calc_temp callback")
+        return ("Sensor '%s' temperature %s not in range %.3f:%.3f"
+                % (self.name, tempstr, self.min_temp, self.max_temp))
 
 
 ######################################################################
@@ -95,7 +129,7 @@ class LinearVoltage:
         for temp, volt in params:
             adc = (volt - voltage_offset) / adc_voltage
             if adc < 0. or adc > 1.:
-                logging.warn("Ignoring adc sample %.3f/%.3f in heater %s",
+                logging.warning("Ignoring adc sample %.3f/%.3f in heater %s",
                                 temp, volt, config.get_name())
                 continue
             samples.append((adc, temp))

klippy/extras/ads1220.py

@@ -0,0 +1,216 @@
+# ADS1220 Support
+#
+# Copyright (C) 2024 Gareth Farrington <gareth@waves.ky>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+from . import bulk_sensor, bus
+
+#
+# Constants
+#
+BYTES_PER_SAMPLE = 4  # samples are 4 byte wide unsigned integers
+MAX_SAMPLES_PER_MESSAGE = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
+UPDATE_INTERVAL = 0.10
+RESET_CMD = 0x06
+START_SYNC_CMD = 0x08
+RREG_CMD = 0x20
+WREG_CMD = 0x40
+NOOP_CMD = 0x0
+RESET_STATE = bytearray([0x0, 0x0, 0x0, 0x0])
+
+# turn bytearrays into pretty hex strings: [0xff, 0x1]
+def hexify(byte_array):
+    return "[%s]" % (", ".join([hex(b) for b in byte_array]))
+
+
+class ADS1220:
+    def __init__(self, config):
+        self.printer = printer = config.get_printer()
+        self.name = config.get_name().split()[-1]
+        self.last_error_count = 0
+        self.consecutive_fails = 0
+        # Chip options
+        # Gain
+        self.gain_options = {'1': 0x0, '2': 0x1, '4': 0x2, '8': 0x3, '16': 0x4,
+                             '32': 0x5, '64': 0x6, '128': 0x7}
+        self.gain = config.getchoice('gain', self.gain_options, default='128')
+        # Sample rate
+        self.sps_normal = {'20': 20, '45': 45, '90': 90, '175': 175,
+                           '330': 330, '600': 600, '1000': 1000}
+        self.sps_turbo = {'40': 40, '90': 90, '180': 180, '350': 350,
+                          '660': 660, '1200': 1200, '2000': 2000}
+        self.sps_options = self.sps_normal.copy()
+        self.sps_options.update(self.sps_turbo)
+        self.sps = config.getchoice('sample_rate', self.sps_options,
+                                    default='660')
+        self.is_turbo = str(self.sps) in self.sps_turbo
+        # Input multiplexer: AINP and AINN
+        mux_options = {'AIN0_AIN1': 0b0000, 'AIN0_AIN2': 0b0001,
+                       'AIN0_AIN3': 0b0010, 'AIN1_AIN2': 0b0011,
+                       'AIN1_AIN3': 0b0100, 'AIN2_AIN3': 0b0101,
+                       'AIN1_AIN0': 0b0110, 'AIN3_AIN2': 0b0111,
+                       'AIN0_AVSS': 0b1000, 'AIN1_AVSS': 0b1001,
+                       'AIN2_AVSS': 0b1010, 'AIN3_AVSS': 0b1011}
+        self.mux = config.getchoice('input_mux', mux_options,
+                                    default='AIN0_AIN1')
+        # PGA Bypass
+        self.pga_bypass = config.getboolean('pga_bypass', default=False)
+        # bypass PGA when AVSS is the negative input
+        force_pga_bypass = self.mux >= 0b1000
+        self.pga_bypass = force_pga_bypass or self.pga_bypass
+        # Voltage Reference
+        self.vref_options = {'internal': 0b0, 'REF0': 0b01, 'REF1': 0b10,
+                             'analog_supply': 0b11}
+        self.vref = config.getchoice('vref', self.vref_options,
+                                     default='internal')
+        # check for conflict between REF1 and AIN0/AIN3
+        mux_conflict = [0b0000, 0b0001, 0b0010, 0b0100, 0b0101, 0b0110, 0b0111,
+                        0b1000, 0b1011]
+        if self.vref == 0b10 and self.mux in mux_conflict:
+            raise config.error("ADS1220 config error: AIN0/REFP1 and AIN3/REFN1"
+                               " cant be used as a voltage reference and"
+                               " an input at the same time")
+        # SPI Setup
+        spi_speed = 512000 if self.is_turbo else 256000
+        self.spi = bus.MCU_SPI_from_config(config, 1, default_speed=spi_speed)
+        self.mcu = mcu = self.spi.get_mcu()
+        self.oid = mcu.create_oid()
+        # Data Ready (DRDY) Pin
+        drdy_pin = config.get('data_ready_pin')
+        ppins = printer.lookup_object('pins')
+        drdy_ppin = ppins.lookup_pin(drdy_pin)
+        self.data_ready_pin = drdy_ppin['pin']
+        drdy_pin_mcu = drdy_ppin['chip']
+        if drdy_pin_mcu != self.mcu:
+            raise config.error("ADS1220 config error: SPI communication and"
+                               " data_ready_pin must be on the same MCU")
+        # Bulk Sensor Setup
+        self.bulk_queue = bulk_sensor.BulkDataQueue(self.mcu, oid=self.oid)
+        # Clock tracking
+        chip_smooth = self.sps * UPDATE_INTERVAL * 2
+        # Measurement conversion
+        self.ffreader = bulk_sensor.FixedFreqReader(mcu, chip_smooth, "<i")
+        # Process messages in batches
+        self.batch_bulk = bulk_sensor.BatchBulkHelper(
+            self.printer, self._process_batch, self._start_measurements,
+            self._finish_measurements, UPDATE_INTERVAL)
+        # publish raw samples to the socket
+        hdr = {'header': ('time', 'counts', 'value')}
+        self.batch_bulk.add_mux_endpoint("ads1220/dump_ads1220", "sensor",
+                                         self.name, hdr)
+        # Command Configuration
+        mcu.add_config_cmd(
+            "config_ads1220 oid=%d spi_oid=%d data_ready_pin=%s"
+            % (self.oid, self.spi.get_oid(), self.data_ready_pin))
+        mcu.add_config_cmd("query_ads1220 oid=%d rest_ticks=0"
+                           % (self.oid,), on_restart=True)
+        mcu.register_config_callback(self._build_config)
+        self.query_ads1220_cmd = None
+
+    def _build_config(self):
+        cmdqueue = self.spi.get_command_queue()
+        self.query_ads1220_cmd = self.mcu.lookup_command(
+            "query_ads1220 oid=%c rest_ticks=%u", cq=cmdqueue)
+        self.ffreader.setup_query_command("query_ads1220_status oid=%c",
+                                          oid=self.oid, cq=cmdqueue)
+
+    def get_mcu(self):
+        return self.mcu
+
+    def get_samples_per_second(self):
+        return self.sps
+
+    # returns a tuple of the minimum and maximum value of the sensor, used to
+    # detect if a data value is saturated
+    def get_range(self):
+        return -0x800000, 0x7FFFFF
+
+    # add_client interface, direct pass through to bulk_sensor API
+    def add_client(self, callback):
+        self.batch_bulk.add_client(callback)
+
+    # Measurement decoding
+    def _convert_samples(self, samples):
+        adc_factor = 1. / (1 << 23)
+        count = 0
+        for ptime, val in samples:
+            samples[count] = (round(ptime, 6), val, round(val * adc_factor, 9))
+            count += 1
+        del samples[count:]
+
+    # Start, stop, and process message batches
+    def _start_measurements(self):
+        self.last_error_count = 0
+        self.consecutive_fails = 0
+        # Start bulk reading
+        self.reset_chip()
+        self.setup_chip()
+        rest_ticks = self.mcu.seconds_to_clock(1. / (10. * self.sps))
+        self.query_ads1220_cmd.send([self.oid, rest_ticks])
+        logging.info("ADS1220 starting '%s' measurements", self.name)
+        # Initialize clock tracking
+        self.ffreader.note_start()
+
+    def _finish_measurements(self):
+        # don't use serial connection after shutdown
+        if self.printer.is_shutdown():
+            return
+        # Halt bulk reading
+        self.query_ads1220_cmd.send_wait_ack([self.oid, 0])
+        self.ffreader.note_end()
+        logging.info("ADS1220 finished '%s' measurements", self.name)
+
+    def _process_batch(self, eventtime):
+        samples = self.ffreader.pull_samples()
+        self._convert_samples(samples)
+        return {'data': samples, 'errors': self.last_error_count,
+                'overflows': self.ffreader.get_last_overflows()}
+
+    def reset_chip(self):
+        # the reset command takes 50us to complete
+        self.send_command(RESET_CMD)
+        # read startup register state and validate
+        val = self.read_reg(0x0, 4)
+        if val != RESET_STATE:
+            raise self.printer.command_error(
+                "Invalid ads1220 reset state (got %s vs %s).\n"
+                "This is generally indicative of connection problems\n"
+                "(e.g. faulty wiring) or a faulty ADS1220 chip."
+                % (hexify(val), hexify(RESET_STATE)))
+
+    def setup_chip(self):
+        continuous = 0x1  # enable continuous conversions
+        mode = 0x2 if self.is_turbo else 0x0  # turbo mode
+        sps_list = self.sps_turbo if self.is_turbo else self.sps_normal
+        data_rate = list(sps_list.keys()).index(str(self.sps))
+        reg_values = [(self.mux << 4) | (self.gain << 1) | int(self.pga_bypass),
+                      (data_rate << 5) | (mode << 3) | (continuous << 2),
+                      (self.vref << 6),
+                      0x0]
+        self.write_reg(0x0, reg_values)
+        # start measurements immediately
+        self.send_command(START_SYNC_CMD)
+
+    def read_reg(self, reg, byte_count):
+        read_command = [RREG_CMD | (reg << 2) | (byte_count - 1)]
+        read_command += [NOOP_CMD] * byte_count
+        params = self.spi.spi_transfer(read_command)
+        return bytearray(params['response'][1:])
+
+    def send_command(self, cmd):
+        self.spi.spi_send([cmd])
+
+    def write_reg(self, reg, register_bytes):
+        write_command = [WREG_CMD | (reg << 2) | (len(register_bytes) - 1)]
+        write_command.extend(register_bytes)
+        self.spi.spi_send(write_command)
+        stored_val = self.read_reg(reg, len(register_bytes))
+        if bytearray(register_bytes) != stored_val:
+            raise self.printer.command_error(
+                "Failed to set ADS1220 register [0x%x] to %s: got %s. "
+                "This may be a connection problem (e.g. faulty wiring)" % (
+                    reg, hexify(register_bytes), hexify(stored_val)))
+
+
+ADS1220_SENSOR_TYPE = {"ads1220": ADS1220}

klippy/extras/ads1x1x.py

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

klippy/extras/adxl345.py

@@ -1,10 +1,10 @@
 # Support for reading acceleration data from an adxl345 chip
 #
-# Copyright (C) 2020-2021  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2020-2023  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import logging, time, collections, threading, multiprocessing, os
+import logging, time, collections, multiprocessing, os
-from . import bus, motion_report
+from . import bus, bulk_sensor
 
 # ADXL345 registers
 REG_DEVID = 0x00
@@ -32,26 +32,29 @@ Accel_Measurement = collections.namedtuple(
 
 # Helper class to obtain measurements
 class AccelQueryHelper:
-    def __init__(self, printer, cconn):
+    def __init__(self, printer):
         self.printer = printer
-        self.cconn = cconn
+        self.is_finished = False
         print_time = printer.lookup_object('toolhead').get_last_move_time()
         self.request_start_time = self.request_end_time = print_time
-        self.samples = self.raw_samples = []
+        self.msgs = []
+        self.samples = []
     def finish_measurements(self):
         toolhead = self.printer.lookup_object('toolhead')
         self.request_end_time = toolhead.get_last_move_time()
         toolhead.wait_moves()
-        self.cconn.finalize()
+        self.is_finished = True
-    def _get_raw_samples(self):
+    def handle_batch(self, msg):
-        raw_samples = self.cconn.get_messages()
+        if self.is_finished:
-        if raw_samples:
+            return False
-            self.raw_samples = raw_samples
+        if len(self.msgs) >= 10000:
-        return self.raw_samples
+            # Avoid filling up memory with too many samples
+            return False
+        self.msgs.append(msg)
+        return True
     def has_valid_samples(self):
-        raw_samples = self._get_raw_samples()
+        for msg in self.msgs:
-        for msg in raw_samples:
+            data = msg['data']
-            data = msg['params']['data']
             first_sample_time = data[0][0]
             last_sample_time = data[-1][0]
             if (first_sample_time > self.request_end_time
@@ -60,21 +63,20 @@ class AccelQueryHelper:
             # The time intervals [first_sample_time, last_sample_time]
             # and [request_start_time, request_end_time] have non-zero
             # intersection. It is still theoretically possible that none
-            # of the samples from raw_samples fall into the time interval
+            # of the samples from msgs fall into the time interval
             # [request_start_time, request_end_time] if it is too narrow
             # or on very heavy data losses. In practice, that interval
             # is at least 1 second, so this possibility is negligible.
             return True
         return False
     def get_samples(self):
-        raw_samples = self._get_raw_samples()
+        if not self.msgs:
-        if not raw_samples:
             return self.samples
-        total = sum([len(m['params']['data']) for m in raw_samples])
+        total = sum([len(m['data']) for m in self.msgs])
         count = 0
         self.samples = samples = [None] * total
-        for msg in raw_samples:
+        for msg in self.msgs:
-            for samp_time, x, y, z in msg['params']['data']:
+            for samp_time, x, y, z in msg['data']:
                 if samp_time < self.request_start_time:
                     continue
                 if samp_time > self.request_end_time:
@@ -173,112 +175,54 @@ class AccelCommandHelper:
         val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
         self.chip.set_reg(reg, val)
 
-# Helper class for chip clock synchronization via linear regression
+# Helper to read the axes_map parameter from the config
-class ClockSyncRegression:
+def read_axes_map(config, scale_x, scale_y, scale_z):
-    def __init__(self, mcu, chip_clock_smooth, decay = 1. / 20.):
+    am = {'x': (0, scale_x), 'y': (1, scale_y), 'z': (2, scale_z),
-        self.mcu = mcu
+          '-x': (0, -scale_x), '-y': (1, -scale_y), '-z': (2, -scale_z)}
-        self.chip_clock_smooth = chip_clock_smooth
+    axes_map = config.getlist('axes_map', ('x','y','z'), count=3)
-        self.decay = decay
+    if any([a not in am for a in axes_map]):
-        self.last_chip_clock = self.last_exp_mcu_clock = 0.
+        raise config.error("Invalid axes_map parameter")
-        self.mcu_clock_avg = self.mcu_clock_variance = 0.
+    return [am[a.strip()] for a in axes_map]
-        self.chip_clock_avg = self.chip_clock_covariance = 0.
-    def reset(self, mcu_clock, chip_clock):
-        self.mcu_clock_avg = self.last_mcu_clock = mcu_clock
-        self.chip_clock_avg = chip_clock
-        self.mcu_clock_variance = self.chip_clock_covariance = 0.
-        self.last_chip_clock = self.last_exp_mcu_clock = 0.
-    def update(self, mcu_clock, chip_clock):
-        # Update linear regression
-        decay = self.decay
-        diff_mcu_clock = mcu_clock - self.mcu_clock_avg
-        self.mcu_clock_avg += decay * diff_mcu_clock
-        self.mcu_clock_variance = (1. - decay) * (
-            self.mcu_clock_variance + diff_mcu_clock**2 * decay)
-        diff_chip_clock = chip_clock - self.chip_clock_avg
-        self.chip_clock_avg += decay * diff_chip_clock
-        self.chip_clock_covariance = (1. - decay) * (
-            self.chip_clock_covariance + diff_mcu_clock*diff_chip_clock*decay)
-    def set_last_chip_clock(self, chip_clock):
-        base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
-        self.last_chip_clock = chip_clock
-        self.last_exp_mcu_clock = base_mcu + (chip_clock-base_chip) * inv_cfreq
-    def get_clock_translation(self):
-        inv_chip_freq = self.mcu_clock_variance / self.chip_clock_covariance
-        if not self.last_chip_clock:
-            return self.mcu_clock_avg, self.chip_clock_avg, inv_chip_freq
-        # Find mcu clock associated with future chip_clock
-        s_chip_clock = self.last_chip_clock + self.chip_clock_smooth
-        scdiff = s_chip_clock - self.chip_clock_avg
-        s_mcu_clock = self.mcu_clock_avg + scdiff * inv_chip_freq
-        # Calculate frequency to converge at future point
-        mdiff = s_mcu_clock - self.last_exp_mcu_clock
-        s_inv_chip_freq = mdiff / self.chip_clock_smooth
-        return self.last_exp_mcu_clock, self.last_chip_clock, s_inv_chip_freq
-    def get_time_translation(self):
-        base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
-        clock_to_print_time = self.mcu.clock_to_print_time
-        base_time = clock_to_print_time(base_mcu)
-        inv_freq = clock_to_print_time(base_mcu + inv_cfreq) - base_time
-        return base_time, base_chip, inv_freq
 
-MIN_MSG_TIME = 0.100
+BATCH_UPDATES = 0.100
-
-BYTES_PER_SAMPLE = 5
-SAMPLES_PER_BLOCK = 10
 
 # Printer class that controls ADXL345 chip
 class ADXL345:
     def __init__(self, config):
         self.printer = config.get_printer()
         AccelCommandHelper(config, self)
-        self.query_rate = 0
+        self.axes_map = read_axes_map(config, SCALE_XY, SCALE_XY, SCALE_Z)
-        am = {'x': (0, SCALE_XY), 'y': (1, SCALE_XY), 'z': (2, SCALE_Z),
-              '-x': (0, -SCALE_XY), '-y': (1, -SCALE_XY), '-z': (2, -SCALE_Z)}
-        axes_map = config.getlist('axes_map', ('x','y','z'), count=3)
-        if any([a not in am for a in axes_map]):
-            raise config.error("Invalid adxl345 axes_map parameter")
-        self.axes_map = [am[a.strip()] for a in axes_map]
         self.data_rate = config.getint('rate', 3200)
         if self.data_rate not in QUERY_RATES:
             raise config.error("Invalid rate parameter: %d" % (self.data_rate,))
-        # Measurement storage (accessed from background thread)
-        self.lock = threading.Lock()
-        self.raw_samples = []
         # Setup mcu sensor_adxl345 bulk query code
         self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
         self.mcu = mcu = self.spi.get_mcu()
         self.oid = oid = mcu.create_oid()
-        self.query_adxl345_cmd = self.query_adxl345_end_cmd = None
+        self.query_adxl345_cmd = None
-        self.query_adxl345_status_cmd = None
         mcu.add_config_cmd("config_adxl345 oid=%d spi_oid=%d"
                            % (oid, self.spi.get_oid()))
-        mcu.add_config_cmd("query_adxl345 oid=%d clock=0 rest_ticks=0"
+        mcu.add_config_cmd("query_adxl345 oid=%d rest_ticks=0"
                            % (oid,), on_restart=True)
         mcu.register_config_callback(self._build_config)
-        mcu.register_response(self._handle_adxl345_data, "adxl345_data", oid)
+        # Bulk sample message reading
-        # Clock tracking
+        chip_smooth = self.data_rate * BATCH_UPDATES * 2
-        self.last_sequence = self.max_query_duration = 0
+        self.ffreader = bulk_sensor.FixedFreqReader(mcu, chip_smooth, "BBBBB")
-        self.last_limit_count = self.last_error_count = 0
+        self.last_error_count = 0
-        self.clock_sync = ClockSyncRegression(self.mcu, 640)
+        # Process messages in batches
-        # API server endpoints
+        self.batch_bulk = bulk_sensor.BatchBulkHelper(
-        self.api_dump = motion_report.APIDumpHelper(
+            self.printer, self._process_batch,
-            self.printer, self._api_update, self._api_startstop, 0.100)
+            self._start_measurements, self._finish_measurements, BATCH_UPDATES)
         self.name = config.get_name().split()[-1]
-        wh = self.printer.lookup_object('webhooks')
+        hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration')
-        wh.register_mux_endpoint("adxl345/dump_adxl345", "sensor", self.name,
+        self.batch_bulk.add_mux_endpoint("adxl345/dump_adxl345", "sensor",
-                                 self._handle_dump_adxl345)
+                                         self.name, {'header': hdr})
     def _build_config(self):
         cmdqueue = self.spi.get_command_queue()
         self.query_adxl345_cmd = self.mcu.lookup_command(
-            "query_adxl345 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
+            "query_adxl345 oid=%c rest_ticks=%u", cq=cmdqueue)
-        self.query_adxl345_end_cmd = self.mcu.lookup_query_command(
+        self.ffreader.setup_query_command("query_adxl345_status oid=%c",
-            "query_adxl345 oid=%c clock=%u rest_ticks=%u",
+                                          oid=self.oid, cq=cmdqueue)
-            "adxl345_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
-            " buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
-        self.query_adxl345_status_cmd = self.mcu.lookup_query_command(
-            "query_adxl345_status oid=%c",
-            "adxl345_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
-            " buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
     def read_reg(self, reg):
         params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
         response = bytearray(params['response'])
@@ -292,29 +236,15 @@ class ADXL345:
                     "This is generally indicative of connection problems "
                     "(e.g. faulty wiring) or a faulty adxl345 chip." % (
                         reg, val, stored_val))
-    # Measurement collection
+    def start_internal_client(self):
-    def is_measuring(self):
+        aqh = AccelQueryHelper(self.printer)
-        return self.query_rate > 0
+        self.batch_bulk.add_client(aqh.handle_batch)
-    def _handle_adxl345_data(self, params):
+        return aqh
-        with self.lock:
+    # Measurement decoding
-            self.raw_samples.append(params)
+    def _convert_samples(self, samples):
-    def _extract_samples(self, raw_samples):
-        # Load variables to optimize inner loop below
         (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
-        last_sequence = self.last_sequence
+        count = 0
-        time_base, chip_base, inv_freq = self.clock_sync.get_time_translation()
+        for ptime, xlow, ylow, zlow, xzhigh, yzhigh in samples:
-        # Process every message in raw_samples
-        count = seq = 0
-        samples = [None] * (len(raw_samples) * SAMPLES_PER_BLOCK)
-        for params in raw_samples:
-            seq_diff = (last_sequence - params['sequence']) & 0xffff
-            seq_diff -= (seq_diff & 0x8000) << 1
-            seq = last_sequence - seq_diff
-            d = bytearray(params['data'])
-            msg_cdiff = seq * SAMPLES_PER_BLOCK - chip_base
-            for i in range(len(d) // BYTES_PER_SAMPLE):
-                d_xyz = d[i*BYTES_PER_SAMPLE:(i+1)*BYTES_PER_SAMPLE]
-                xlow, ylow, zlow, xzhigh, yzhigh = d_xyz
             if yzhigh & 0x80:
                 self.last_error_count += 1
                 continue
@@ -326,49 +256,11 @@ class ADXL345:
             x = round(raw_xyz[x_pos] * x_scale, 6)
             y = round(raw_xyz[y_pos] * y_scale, 6)
             z = round(raw_xyz[z_pos] * z_scale, 6)
-                ptime = round(time_base + (msg_cdiff + i) * inv_freq, 6)
+            samples[count] = (round(ptime, 6), x, y, z)
-                samples[count] = (ptime, x, y, z)
             count += 1
-        self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
         del samples[count:]
-        return samples
+    # Start, stop, and process message batches
-    def _update_clock(self, minclock=0):
-        # Query current state
-        for retry in range(5):
-            params = self.query_adxl345_status_cmd.send([self.oid],
-                                                        minclock=minclock)
-            fifo = params['fifo'] & 0x7f
-            if fifo <= 32:
-                break
-        else:
-            raise self.printer.command_error("Unable to query adxl345 fifo")
-        mcu_clock = self.mcu.clock32_to_clock64(params['clock'])
-        sequence = (self.last_sequence & ~0xffff) | params['next_sequence']
-        if sequence < self.last_sequence:
-            sequence += 0x10000
-        self.last_sequence = sequence
-        buffered = params['buffered']
-        limit_count = (self.last_limit_count & ~0xffff) | params['limit_count']
-        if limit_count < self.last_limit_count:
-            limit_count += 0x10000
-        self.last_limit_count = limit_count
-        duration = params['query_ticks']
-        if duration > self.max_query_duration:
-            # Skip measurement as a high query time could skew clock tracking
-            self.max_query_duration = max(2 * self.max_query_duration,
-                                          self.mcu.seconds_to_clock(.000005))
-            return
-        self.max_query_duration = 2 * duration
-        msg_count = (sequence * SAMPLES_PER_BLOCK
-                     + buffered // BYTES_PER_SAMPLE + fifo)
-        # The "chip clock" is the message counter plus .5 for average
-        # inaccuracy of query responses and plus .5 for assumed offset
-        # of adxl345 hw processing time.
-        chip_clock = msg_count + 1
-        self.clock_sync.update(mcu_clock + duration // 2, chip_clock)
     def _start_measurements(self):
-        if self.is_measuring():
-            return
         # In case of miswiring, testing ADXL345 device ID prevents treating
         # noise or wrong signal as a correctly initialized device
         dev_id = self.read_reg(REG_DEVID)
@@ -384,59 +276,27 @@ class ADXL345:
         self.set_reg(REG_FIFO_CTL, 0x00)
         self.set_reg(REG_BW_RATE, QUERY_RATES[self.data_rate])
         self.set_reg(REG_FIFO_CTL, SET_FIFO_CTL)
-        # Setup samples
-        with self.lock:
-            self.raw_samples = []
         # Start bulk reading
-        systime = self.printer.get_reactor().monotonic()
-        print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
-        reqclock = self.mcu.print_time_to_clock(print_time)
         rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
-        self.query_rate = self.data_rate
+        self.query_adxl345_cmd.send([self.oid, rest_ticks])
-        self.query_adxl345_cmd.send([self.oid, reqclock, rest_ticks],
+        self.set_reg(REG_POWER_CTL, 0x08)
-                                    reqclock=reqclock)
         logging.info("ADXL345 starting '%s' measurements", self.name)
         # Initialize clock tracking
-        self.last_sequence = 0
+        self.ffreader.note_start()
-        self.last_limit_count = self.last_error_count = 0
+        self.last_error_count = 0
-        self.clock_sync.reset(reqclock, 0)
-        self.max_query_duration = 1 << 31
-        self._update_clock(minclock=reqclock)
-        self.max_query_duration = 1 << 31
     def _finish_measurements(self):
-        if not self.is_measuring():
-            return
         # Halt bulk reading
-        params = self.query_adxl345_end_cmd.send([self.oid, 0, 0])
+        self.set_reg(REG_POWER_CTL, 0x00)
-        self.query_rate = 0
+        self.query_adxl345_cmd.send_wait_ack([self.oid, 0])
-        with self.lock:
+        self.ffreader.note_end()
-            self.raw_samples = []
         logging.info("ADXL345 finished '%s' measurements", self.name)
-    # API interface
+    def _process_batch(self, eventtime):
-    def _api_update(self, eventtime):
+        samples = self.ffreader.pull_samples()
-        self._update_clock()
+        self._convert_samples(samples)
-        with self.lock:
-            raw_samples = self.raw_samples
-            self.raw_samples = []
-        if not raw_samples:
-            return {}
-        samples = self._extract_samples(raw_samples)
         if not samples:
             return {}
         return {'data': samples, 'errors': self.last_error_count,
-                'overflows': self.last_limit_count}
+                'overflows': self.ffreader.get_last_overflows()}
-    def _api_startstop(self, is_start):
-        if is_start:
-            self._start_measurements()
-        else:
-            self._finish_measurements()
-    def _handle_dump_adxl345(self, web_request):
-        self.api_dump.add_client(web_request)
-        hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration')
-        web_request.send({'header': hdr})
-    def start_internal_client(self):
-        cconn = self.api_dump.add_internal_client()
-        return AccelQueryHelper(self.printer, cconn)
 
 def load_config(config):
     return ADXL345(config)

klippy/extras/angle.py

@@ -3,8 +3,8 @@
 # Copyright (C) 2021,2022  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import logging, math, threading
+import logging, math
-from . import bus, motion_report
+from . import bus, bulk_sensor
 
 MIN_MSG_TIME = 0.100
 TCODE_ERROR = 0xff
@@ -85,9 +85,9 @@ class AngleCalibration:
             cal2 = calibration[bucket + 1]
             adj = (angle & interp_mask) * (cal2 - cal1)
             adj = cal1 + ((adj + interp_round) >> interp_bits)
-            angle_diff = (angle - adj) & 0xffff
+            angle_diff = (adj - angle) & 0xffff
             angle_diff -= (angle_diff & 0x8000) << 1
-            new_angle = angle - angle_diff
+            new_angle = angle + angle_diff
             if calibration_reversed:
                 new_angle = -new_angle
             samples[i] = (samp_time, new_angle)
@@ -157,8 +157,14 @@ class AngleCalibration:
     def do_calibration_moves(self):
         move = self.printer.lookup_object('force_move').manual_move
         # Start data collection
-        angle_sensor = self.printer.lookup_object(self.name)
+        msgs = []
-        cconn = angle_sensor.start_internal_client()
+        is_finished = False
+        def handle_batch(msg):
+            if is_finished:
+                return False
+            msgs.append(msg)
+            return True
+        self.printer.lookup_object(self.name).add_client(handle_batch)
         # Move stepper several turns (to allow internal sensor calibration)
         microsteps, full_steps = self.get_microsteps()
         mcu_stepper = self.mcu_stepper
@@ -190,13 +196,12 @@ class AngleCalibration:
         move(mcu_stepper, .5*rotation_dist + align_dist, move_speed)
         toolhead.wait_moves()
         # Finish data collection
-        cconn.finalize()
+        is_finished = True
-        msgs = cconn.get_messages()
         # Correlate query responses
         cal = {}
         step = 0
         for msg in msgs:
-            for query_time, pos in msg['params']['data']:
+            for query_time, pos in msg['data']:
                 # Add to step tracking
                 while step < len(times) and query_time > times[step][1]:
                     step += 1
@@ -375,9 +380,9 @@ class HelperTLE5012B:
         mcu_clock, chip_clock = self._query_clock()
         mdiff = mcu_clock - self.last_chip_mcu_clock
         chip_mclock = self.last_chip_clock + int(mdiff * self.chip_freq + .5)
-        cdiff = (chip_mclock - chip_clock) & 0xffff
+        cdiff = (chip_clock - chip_mclock) & 0xffff
         cdiff -= (cdiff & 0x8000) << 1
-        new_chip_clock = chip_mclock - cdiff
+        new_chip_clock = chip_mclock + cdiff
         self.chip_freq = float(new_chip_clock - self.last_chip_clock) / mdiff
         self.last_chip_clock = new_chip_clock
         self.last_chip_mcu_clock = mcu_clock
@@ -406,7 +411,201 @@ class HelperTLE5012B:
                        parser=lambda x: int(x, 0))
         self._write_reg(reg, val)
 
+class HelperMT6816:
+    SPI_MODE = 3
+    SPI_SPEED = 10000000
+    def __init__(self, config, spi, oid):
+        self.printer = config.get_printer()
+        self.spi = spi
+        self.oid = oid
+        self.mcu = spi.get_mcu()
+        self.mcu.register_config_callback(self._build_config)
+        self.spi_angle_transfer_cmd = None
+        self.is_tcode_absolute = False
+        self.last_temperature = None
+        name = config.get_name().split()[-1]
+        gcode = self.printer.lookup_object("gcode")
+        gcode.register_mux_command("ANGLE_DEBUG_READ", "CHIP", name,
+                                   self.cmd_ANGLE_DEBUG_READ,
+                                   desc=self.cmd_ANGLE_DEBUG_READ_help)
+    def _build_config(self):
+        cmdqueue = self.spi.get_command_queue()
+        self.spi_angle_transfer_cmd = self.mcu.lookup_query_command(
+            "spi_angle_transfer oid=%c data=%*s",
+            "spi_angle_transfer_response oid=%c clock=%u response=%*s",
+            oid=self.oid, cq=cmdqueue)
+    def _send_spi(self, msg):
+        return self.spi.spi_transfer(msg)
+    def get_static_delay(self):
+        return .000001
+    def _read_reg(self, reg):
+        msg = [reg, 0, 0]
+        params = self._send_spi(msg)
+        resp = bytearray(params['response'])
+        val =  (resp[1] << 8) | resp[2]
+        return val
+    def start(self):
+        pass
+    cmd_ANGLE_DEBUG_READ_help = "Query low-level angle sensor register"
+    def cmd_ANGLE_DEBUG_READ(self, gcmd):
+        reg = 0x83
+        val = self._read_reg(reg)
+        gcmd.respond_info("ANGLE REG[0x%02x] = 0x%04x" % (reg, val))
+        angle = val >> 2
+        parity = bin(val >> 1).count("1") % 2
+        gcmd.respond_info("Angle %i ~ %.2f" % (angle, angle * 360 / (1 << 14)))
+        gcmd.respond_info("No Mag: %i" % (val >> 1 & 0x1))
+        gcmd.respond_info("Parity: %i == %i" % (parity, val & 0x1))
+
+class HelperMT6826S:
+    SPI_MODE = 3
+    SPI_SPEED = 10000000
+    def __init__(self, config, spi, oid):
+        self.printer = config.get_printer()
+        self.stepper_name = config.get('stepper', None)
+        self.spi = spi
+        self.oid = oid
+        self.mcu = spi.get_mcu()
+        self.mcu.register_config_callback(self._build_config)
+        self.spi_angle_transfer_cmd = None
+        self.is_tcode_absolute = False
+        self.last_temperature = None
+        name = config.get_name().split()[-1]
+        gcode = self.printer.lookup_object("gcode")
+        gcode.register_mux_command("ANGLE_DEBUG_READ", "CHIP", name,
+                                   self.cmd_ANGLE_DEBUG_READ,
+                                   desc=self.cmd_ANGLE_DEBUG_READ_help)
+        gcode.register_mux_command("ANGLE_CHIP_CALIBRATE", "CHIP", name,
+                                   self.cmd_ANGLE_CHIP_CALIBRATE,
+                                   desc=self.cmd_ANGLE_CHIP_CALIBRATE_help)
+        self.status_map = {
+            0: "No Calibration",
+            1: "Running Calibration",
+            2: "Calibration Failed",
+            3: "Calibration Successful"
+        }
+    def _build_config(self):
+        cmdqueue = self.spi.get_command_queue()
+        self.spi_angle_transfer_cmd = self.mcu.lookup_query_command(
+            "spi_angle_transfer oid=%c data=%*s",
+            "spi_angle_transfer_response oid=%c clock=%u response=%*s",
+            oid=self.oid, cq=cmdqueue)
+    def _send_spi(self, msg):
+        params = self.spi.spi_transfer(msg)
+        return params
+    def get_static_delay(self):
+        return .00001
+    def _read_reg(self, reg):
+        reg = 0x3000 | reg
+        msg = [reg >> 8, reg & 0xff, 0]
+        params = self._send_spi(msg)
+        resp = bytearray(params['response'])
+        return resp[2]
+    def _write_reg(self, reg, data):
+        reg = 0x6000 | reg
+        msg = [reg >> 8, reg & 0xff, data]
+        self._send_spi(msg)
+    def crc8(self, data):
+        polynomial = 0x07
+        crc = 0x00
+        for byte in data:
+            crc ^= byte
+            for _ in range(8):
+                if crc & 0x80:
+                    crc = (crc << 1) ^ polynomial
+                else:
+                    crc <<= 1
+                crc &= 0xFF
+        return crc
+    def _read_angle(self, reg):
+        reg = 0x3000 | reg
+        msg = [reg >> 8, reg & 0xff, 0, 0, 0, 0]
+        params = self._send_spi(msg)
+        resp = bytearray(params['response'])
+        angle = (resp[2] << 7) | (resp[3] >> 1)
+        status = resp[4]
+        crc_computed = self.crc8([resp[2], resp[3], resp[4]])
+        crc = resp[5]
+        return angle, status, crc, crc_computed
+    def start(self):
+        val = self._read_reg(0x00d)
+        # Set histeresis to 0.003 degree
+        self._write_reg(0x00d, (val & 0xf8) | 0x5)
+    def get_microsteps(self):
+        configfile = self.printer.lookup_object('configfile')
+        sconfig = configfile.get_status(None)['settings']
+        stconfig = sconfig.get(self.stepper_name, {})
+        microsteps = stconfig['microsteps']
+        full_steps = stconfig['full_steps_per_rotation']
+        return microsteps, full_steps
+    cmd_ANGLE_CHIP_CALIBRATE_help = "Run MT6826s calibration sequence"
+    def cmd_ANGLE_CHIP_CALIBRATE(self, gcmd):
+        fmove = self.printer.lookup_object('force_move')
+        mcu_stepper = fmove.lookup_stepper(self.stepper_name)
+        if self.stepper_name is None:
+            gcmd.respond_info("stepper not defined")
+            return
+
+        gcmd.respond_info("MT6826S Run calibration sequence")
+        gcmd.respond_info("Motor will do 18+ rotations -" +
+                          " ensure pulley is disconnected")
+        req_freq = self._read_reg(0x00e) >> 4 & 0x7
+        # Minimal calibration speed
+        rpm = (3200 >> req_freq) + 1
+        rps = rpm / 60
+        move = fmove.manual_move
+        # Move stepper several turns (to allow internal sensor calibration)
+        microsteps, full_steps = self.get_microsteps()
+        step_dist = mcu_stepper.get_step_dist()
+        full_step_dist = step_dist * microsteps
+        rotation_dist = full_steps * full_step_dist
+        move(mcu_stepper, 2 * rotation_dist, rps * rotation_dist)
+        self._write_reg(0x155, 0x5e)
+        move(mcu_stepper, 20 * rotation_dist, rps * rotation_dist)
+        val = self._read_reg(0x113)
+        code = val >> 6
+        gcmd.respond_info("Status: %s" % (self.status_map[code]))
+        while code == 1:
+            move(mcu_stepper, 5 * rotation_dist, rps * rotation_dist)
+            val = self._read_reg(0x113)
+            code = val >> 6
+            gcmd.respond_info("Status: %s" % (self.status_map[code]))
+        if code == 2:
+            gcmd.respond_info("Calibration failed")
+        if code == 3:
+            gcmd.respond_info("Calibration success, please poweroff sensor")
+    cmd_ANGLE_DEBUG_READ_help = "Query low-level angle sensor register"
+    def cmd_ANGLE_DEBUG_READ(self, gcmd):
+        reg = gcmd.get("REG", minval=0, maxval=0x155,
+                       parser=lambda x: int(x, 0))
+        if reg == 0x003:
+            angle, status, crc1, crc2 = self._read_angle(reg)
+            gcmd.respond_info("ANGLE REG[0x003] = 0x%02x" %
+                              (angle >> 7))
+            gcmd.respond_info("ANGLE REG[0x004] = 0x%02x" %
+                              ((angle << 1) & 0xff))
+            gcmd.respond_info("Angle %i ~ %.2f" % (angle,
+                                                   angle * 360 / (1 << 15)))
+            gcmd.respond_info("Weak Mag: %i" % (status >> 1 & 0x1))
+            gcmd.respond_info("Under Voltage: %i" % (status >> 2 & 0x1))
+            gcmd.respond_info("CRC: 0x%02x == 0x%02x" % (crc1, crc2))
+        elif reg == 0x00e:
+            val = self._read_reg(reg)
+            gcmd.respond_info("GPIO_DS = %i" % (val >> 7))
+            gcmd.respond_info("AUTOCAL_FREQ = %i" % (val >> 4 & 0x7))
+        elif reg == 0x113:
+            val = self._read_reg(reg)
+            gcmd.respond_info("Status: %s" % (self.cal_status[val >> 6]))
+        else:
+            val = self._read_reg(reg)
+            gcmd.respond_info("REG[0x%04x] = 0x%02x" % (reg, val))
+
+
+BYTES_PER_SAMPLE = 3
+SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
+
 SAMPLE_PERIOD = 0.000400
+BATCH_UPDATES = 0.100
 
 class Angle:
     def __init__(self, config):
@@ -417,12 +616,12 @@ class Angle:
         # Measurement conversion
         self.start_clock = self.time_shift = self.sample_ticks = 0
         self.last_sequence = self.last_angle = 0
-        # Measurement storage (accessed from background thread)
-        self.lock = threading.Lock()
-        self.raw_samples = []
         # Sensor type
-        sensors = { "a1333": HelperA1333, "as5047d": HelperAS5047D,
+        sensors = { "a1333": HelperA1333,
-                    "tle5012b": HelperTLE5012B }
+                    "as5047d": HelperAS5047D,
+                    "tle5012b": HelperTLE5012B,
+                    "mt6816": HelperMT6816,
+                    "mt6826s": HelperMT6826S }
         sensor_type = config.getchoice('sensor_type', {s: s for s in sensors})
         sensor_class = sensors[sensor_type]
         self.spi = bus.MCU_SPI_from_config(config, sensor_class.SPI_MODE,
@@ -431,7 +630,7 @@ class Angle:
         self.oid = oid = mcu.create_oid()
         self.sensor_helper = sensor_class(config, self.spi, oid)
         # Setup mcu sensor_spi_angle bulk query code
-        self.query_spi_angle_cmd = self.query_spi_angle_end_cmd = None
+        self.query_spi_angle_cmd = None
         mcu.add_config_cmd(
             "config_spi_angle oid=%d spi_oid=%d spi_angle_type=%s"
             % (oid, self.spi.get_oid(), sensor_type))
@@ -439,15 +638,15 @@ class Angle:
             "query_spi_angle oid=%d clock=0 rest_ticks=0 time_shift=0"
             % (oid,), on_restart=True)
         mcu.register_config_callback(self._build_config)
-        mcu.register_response(self._handle_spi_angle_data,
+        self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
-                              "spi_angle_data", oid)
+        # Process messages in batches
-        # API server endpoints
+        self.batch_bulk = bulk_sensor.BatchBulkHelper(
-        self.api_dump = motion_report.APIDumpHelper(
+            self.printer, self._process_batch,
-            self.printer, self._api_update, self._api_startstop, 0.100)
+            self._start_measurements, self._finish_measurements, BATCH_UPDATES)
         self.name = config.get_name().split()[1]
-        wh = self.printer.lookup_object('webhooks')
+        api_resp = {'header': ('time', 'angle')}
-        wh.register_mux_endpoint("angle/dump_angle", "sensor", self.name,
+        self.batch_bulk.add_mux_endpoint("angle/dump_angle",
-                                 self._handle_dump_angle)
+                                         "sensor", self.name, api_resp)
     def _build_config(self):
         freq = self.mcu.seconds_to_clock(1.)
         while float(TCODE_ERROR << self.time_shift) / freq < 0.002:
@@ -456,17 +655,11 @@ class Angle:
         self.query_spi_angle_cmd = self.mcu.lookup_command(
             "query_spi_angle oid=%c clock=%u rest_ticks=%u time_shift=%c",
             cq=cmdqueue)
-        self.query_spi_angle_end_cmd = self.mcu.lookup_query_command(
-            "query_spi_angle oid=%c clock=%u rest_ticks=%u time_shift=%c",
-            "spi_angle_end oid=%c sequence=%hu", oid=self.oid, cq=cmdqueue)
     def get_status(self, eventtime=None):
         return {'temperature': self.sensor_helper.last_temperature}
-    # Measurement collection
+    def add_client(self, client_cb):
-    def is_measuring(self):
+        self.batch_bulk.add_client(client_cb)
-        return self.start_clock != 0
+    # Measurement decoding
-    def _handle_spi_angle_data(self, params):
-        with self.lock:
-            self.raw_samples.append(params)
     def _extract_samples(self, raw_samples):
         # Load variables to optimize inner loop below
         sample_ticks = self.sample_ticks
@@ -487,23 +680,23 @@ class Angle:
             static_delay = self.sensor_helper.get_static_delay()
         # Process every message in raw_samples
         count = error_count = 0
-        samples = [None] * (len(raw_samples) * 16)
+        samples = [None] * (len(raw_samples) * SAMPLES_PER_BLOCK)
         for params in raw_samples:
-            seq = (last_sequence & ~0xffff) | params['sequence']
+            seq_diff = (params['sequence'] - last_sequence) & 0xffff
-            if seq < last_sequence:
+            last_sequence += seq_diff
-                seq += 0x10000
+            samp_count = last_sequence * SAMPLES_PER_BLOCK
-            last_sequence = seq
+            msg_mclock = start_clock + samp_count*sample_ticks
             d = bytearray(params['data'])
-            msg_mclock = start_clock + seq*16*sample_ticks
+            for i in range(len(d) // BYTES_PER_SAMPLE):
-            for i in range(len(d) // 3):
+                d_ta = d[i*BYTES_PER_SAMPLE:(i+1)*BYTES_PER_SAMPLE]
-                tcode = d[i*3]
+                tcode = d_ta[0]
                 if tcode == TCODE_ERROR:
                     error_count += 1
                     continue
-                raw_angle = d[i*3 + 1] | (d[i*3 + 2] << 8)
+                raw_angle = d_ta[1] | (d_ta[2] << 8)
-                angle_diff = (last_angle - raw_angle) & 0xffff
+                angle_diff = (raw_angle - last_angle) & 0xffff
                 angle_diff -= (angle_diff & 0x8000) << 1
-                last_angle -= angle_diff
+                last_angle += angle_diff
                 mclock = msg_mclock + i*sample_ticks
                 if is_tcode_absolute:
                     # tcode is tle5012b frame counter
@@ -522,29 +715,14 @@ class Angle:
         self.last_angle = last_angle
         del samples[count:]
         return samples, error_count
-    # API interface
+    # Start, stop, and process message batches
-    def _api_update(self, eventtime):
+    def _is_measuring(self):
-        if self.sensor_helper.is_tcode_absolute:
+        return self.start_clock != 0
-            self.sensor_helper.update_clock()
-        with self.lock:
-            raw_samples = self.raw_samples
-            self.raw_samples = []
-        if not raw_samples:
-            return {}
-        samples, error_count = self._extract_samples(raw_samples)
-        if not samples:
-            return {}
-        offset = self.calibration.apply_calibration(samples)
-        return {'data': samples, 'errors': error_count,
-                'position_offset': offset}
     def _start_measurements(self):
-        if self.is_measuring():
-            return
         logging.info("Starting angle '%s' measurements", self.name)
         self.sensor_helper.start()
         # Start bulk reading
-        with self.lock:
+        self.bulk_queue.clear_queue()
-            self.raw_samples = []
         self.last_sequence = 0
         systime = self.printer.get_reactor().monotonic()
         print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
@@ -554,26 +732,23 @@ class Angle:
         self.query_spi_angle_cmd.send([self.oid, reqclock, rest_ticks,
                                        self.time_shift], reqclock=reqclock)
     def _finish_measurements(self):
-        if not self.is_measuring():
-            return
         # Halt bulk reading
-        params = self.query_spi_angle_end_cmd.send([self.oid, 0, 0, 0])
+        self.query_spi_angle_cmd.send_wait_ack([self.oid, 0, 0, 0])
-        self.start_clock = 0
+        self.bulk_queue.clear_queue()
-        with self.lock:
-            self.raw_samples = []
         self.sensor_helper.last_temperature = None
         logging.info("Stopped angle '%s' measurements", self.name)
-    def _api_startstop(self, is_start):
+    def _process_batch(self, eventtime):
-        if is_start:
+        if self.sensor_helper.is_tcode_absolute:
-            self._start_measurements()
+            self.sensor_helper.update_clock()
-        else:
+        raw_samples = self.bulk_queue.pull_queue()
-            self._finish_measurements()
+        if not raw_samples:
-    def _handle_dump_angle(self, web_request):
+            return {}
-        self.api_dump.add_client(web_request)
+        samples, error_count = self._extract_samples(raw_samples)
-        hdr = ('time', 'angle')
+        if not samples:
-        web_request.send({'header': hdr})
+            return {}
-    def start_internal_client(self):
+        offset = self.calibration.apply_calibration(samples)
-        return self.api_dump.add_internal_client()
+        return {'data': samples, 'errors': error_count,
+                'position_offset': offset}
 
 def load_config_prefix(config):
     return Angle(config)

klippy/extras/axis_twist_compensation.py

@@ -5,7 +5,7 @@
 # This file may be distributed under the terms of the GNU GPLv3 license.
 
 import math
-from . import manual_probe as ManualProbe, bed_mesh as BedMesh
+from . import manual_probe, bed_mesh, probe
 
 
 DEFAULT_SAMPLE_COUNT = 3
@@ -23,45 +23,75 @@ class AxisTwistCompensation:
         self.horizontal_move_z = config.getfloat('horizontal_move_z',
                                                  DEFAULT_HORIZONTAL_MOVE_Z)
         self.speed = config.getfloat('speed', DEFAULT_SPEED)
-        self.calibrate_start_x = config.getfloat('calibrate_start_x')
+        self.calibrate_start_x = config.getfloat('calibrate_start_x',
-        self.calibrate_end_x = config.getfloat('calibrate_end_x')
+                                                default=None)
-        self.calibrate_y = config.getfloat('calibrate_y')
+        self.calibrate_end_x = config.getfloat('calibrate_end_x', default=None)
+        self.calibrate_y = config.getfloat('calibrate_y', default=None)
         self.z_compensations = config.getlists('z_compensations',
                                                default=[], parser=float)
         self.compensation_start_x = config.getfloat('compensation_start_x',
                                                     default=None)
-        self.compensation_end_x = config.getfloat('compensation_start_y',
+        self.compensation_end_x = config.getfloat('compensation_end_x',
                                                   default=None)
 
-        self.m = None
+        self.calibrate_start_y = config.getfloat('calibrate_start_y',
-        self.b = None
+                                                  default=None)
+        self.calibrate_end_y = config.getfloat('calibrate_end_y', default=None)
+        self.calibrate_x = config.getfloat('calibrate_x', default=None)
+        self.compensation_start_y = config.getfloat('compensation_start_y',
+                                                    default=None)
+        self.compensation_end_y = config.getfloat('compensation_end_y',
+                                                  default=None)
+        self.zy_compensations = config.getlists('zy_compensations',
+                                                default=[], parser=float)
 
         # setup calibrater
         self.calibrater = Calibrater(self, config)
+        # register events
+        self.printer.register_event_handler("probe:update_results",
+                                            self._update_z_compensation_value)
 
-    def get_z_compensation_value(self, pos):
+    def _update_z_compensation_value(self, pos):
-        if not self.z_compensations:
+        if self.z_compensations:
-            return 0
+            pos[2] += self._get_interpolated_z_compensation(
+                pos[0], self.z_compensations,
+                self.compensation_start_x,
+                self.compensation_end_x
+                )
+
+        if self.zy_compensations:
+            pos[2] += self._get_interpolated_z_compensation(
+                pos[1], self.zy_compensations,
+                self.compensation_start_y,
+                self.compensation_end_y
+                )
+
+    def _get_interpolated_z_compensation(
+            self, coord, z_compensations,
+            comp_start,
+            comp_end
+            ):
 
-        x_coord = pos[0]
-        z_compensations = self.z_compensations
         sample_count = len(z_compensations)
-        spacing = ((self.calibrate_end_x - self.calibrate_start_x)
+        spacing = ((comp_end - comp_start)
                    / (sample_count - 1))
-        interpolate_t = (x_coord - self.calibrate_start_x) / spacing
+        interpolate_t = (coord - comp_start) / spacing
         interpolate_i = int(math.floor(interpolate_t))
-        interpolate_i = BedMesh.constrain(interpolate_i, 0, sample_count - 2)
+        interpolate_i = bed_mesh.constrain(interpolate_i, 0, sample_count - 2)
         interpolate_t -= interpolate_i
-        interpolated_z_compensation = BedMesh.lerp(
+        interpolated_z_compensation = bed_mesh.lerp(
             interpolate_t, z_compensations[interpolate_i],
             z_compensations[interpolate_i + 1])
         return interpolated_z_compensation
 
-    def clear_compensations(self):
+    def clear_compensations(self, axis=None):
+        if axis is None:
             self.z_compensations = []
-        self.m = None
+            self.zy_compensations = []
-        self.b = None
+        elif axis == 'X':
-
+            self.z_compensations = []
+        elif axis == 'Y':
+            self.zy_compensations = []
 
 class Calibrater:
     def __init__(self, compensation, config):
@@ -77,10 +107,14 @@ class Calibrater:
                                             self._handle_connect)
         self.speed = compensation.speed
         self.horizontal_move_z = compensation.horizontal_move_z
-        self.start_point = (compensation.calibrate_start_x,
+        self.x_start_point = (compensation.calibrate_start_x,
                             compensation.calibrate_y)
-        self.end_point = (compensation.calibrate_end_x,
+        self.x_end_point = (compensation.calibrate_end_x,
                           compensation.calibrate_y)
+        self.y_start_point = (compensation.calibrate_x,
+                            compensation.calibrate_start_y)
+        self.y_end_point = (compensation.calibrate_x,
+                            compensation.calibrate_end_y)
         self.results = None
         self.current_point_index = None
         self.gcmd = None
@@ -95,7 +129,7 @@ class Calibrater:
             config = self.printer.lookup_object('configfile')
             raise config.error(
                 "AXIS_TWIST_COMPENSATION requires [probe] to be defined")
-        self.lift_speed = self.probe.get_lift_speed()
+        self.lift_speed = self.probe.get_probe_params()['lift_speed']
         self.probe_x_offset, self.probe_y_offset, _ = \
             self.probe.get_offsets()
 
@@ -116,39 +150,246 @@ class Calibrater:
     def cmd_AXIS_TWIST_COMPENSATION_CALIBRATE(self, gcmd):
         self.gcmd = gcmd
         sample_count = gcmd.get_int('SAMPLE_COUNT', DEFAULT_SAMPLE_COUNT)
+        axis = gcmd.get('AXIS', None)
+        auto = gcmd.get('AUTO', False)
+
+        if axis is not None and auto:
+            raise self.gcmd.error(
+                "Cannot use both 'AXIS' and 'AUTO' at the same time."
+            )
+
+        if auto:
+            self._start_autocalibration(sample_count)
+            return
+
+        if axis is None and not auto:
+            axis = 'X'
+
+        # check for valid sample_count
+        if sample_count < 2:
+            raise self.gcmd.error(
+                "SAMPLE_COUNT to probe must be at least 2")
+
+        # calculate the points to put the probe at, returned as a list of tuples
+        nozzle_points = []
+
+        if axis == 'X':
+
+            self.compensation.clear_compensations('X')
+
+            if not all([
+                self.x_start_point[0],
+                self.x_end_point[0],
+                self.x_start_point[1]
+                ]):
+                raise self.gcmd.error(
+                    """AXIS_TWIST_COMPENSATION for X axis requires
+                    calibrate_start_x, calibrate_end_x and calibrate_y
+                    to be defined
+                    """
+                    )
+
+            start_point = self.x_start_point
+            end_point = self.x_end_point
+
+            x_axis_range = end_point[0] - start_point[0]
+            interval_dist = x_axis_range / (sample_count - 1)
+
+            for i in range(sample_count):
+                x = start_point[0] + i * interval_dist
+                y = start_point[1]
+                nozzle_points.append((x, y))
+
+        elif axis == 'Y':
+
+            self.compensation.clear_compensations('Y')
+
+            if not all([
+                self.y_start_point[0],
+                self.y_end_point[0],
+                self.y_start_point[1]
+                ]):
+                raise self.gcmd.error(
+                    """AXIS_TWIST_COMPENSATION for Y axis requires
+                    calibrate_start_y, calibrate_end_y and calibrate_x
+                    to be defined
+                    """
+                    )
+
+            start_point = self.y_start_point
+            end_point = self.y_end_point
+
+            y_axis_range = end_point[1] - start_point[1]
+            interval_dist = y_axis_range / (sample_count - 1)
+
+            for i in range(sample_count):
+                x = start_point[0]
+                y = start_point[1] + i * interval_dist
+                nozzle_points.append((x, y))
+
+        else:
+            raise self.gcmd.error(
+                "AXIS_TWIST_COMPENSATION_CALIBRATE: "
+                "Invalid axis.")
+
+        probe_points = self._calculate_probe_points(
+            nozzle_points, self.probe_x_offset, self.probe_y_offset)
+
+        # verify no other manual probe is in progress
+        manual_probe.verify_no_manual_probe(self.printer)
+
+        # begin calibration
+        self.current_point_index = 0
+        self.results = []
+        self.current_axis = axis
+        self._calibration(probe_points, nozzle_points, interval_dist)
+
+    def _calculate_corrections(self, coordinates):
+        # Extracting x, y, and z values from coordinates
+        x_coords = [coord[0] for coord in coordinates]
+        y_coords = [coord[1] for coord in coordinates]
+        z_coords = [coord[2] for coord in coordinates]
+
+        # Calculate the desired point (average of all corner points in z)
+        # For a general case, we should extract the unique
+        # combinations of corner points
+        z_corners = [z_coords[i] for i, coord in enumerate(coordinates)
+                        if (coord[0] in [x_coords[0], x_coords[-1]])
+                        and (coord[1] in [y_coords[0], y_coords[-1]])]
+        z_desired = sum(z_corners) / len(z_corners)
+
+
+        # Calculate average deformation per axis
+        unique_x_coords = sorted(set(x_coords))
+        unique_y_coords = sorted(set(y_coords))
+
+        avg_z_x = []
+        for x in unique_x_coords:
+            indices = [i for i, coord in enumerate(coordinates)
+                        if coord[0] == x]
+            avg_z = sum(z_coords[i] for i in indices) / len(indices)
+            avg_z_x.append(avg_z)
+
+        avg_z_y = []
+        for y in unique_y_coords:
+            indices = [i for i, coord in enumerate(coordinates)
+                        if coord[1] == y]
+            avg_z = sum(z_coords[i] for i in indices) / len(indices)
+            avg_z_y.append(avg_z)
+
+        # Calculate corrections to reach the desired point
+        x_corrections = [z_desired - avg for avg in avg_z_x]
+        y_corrections = [z_desired - avg for avg in avg_z_y]
+
+        return x_corrections, y_corrections
+
+    def _start_autocalibration(self, sample_count):
+
+        if not all([
+                self.x_start_point[0],
+                self.x_end_point[0],
+                self.y_start_point[0],
+                self.y_end_point[0]
+                ]):
+                raise self.gcmd.error(
+                    """AXIS_TWIST_COMPENSATION_AUTOCALIBRATE requires
+                    calibrate_start_x, calibrate_end_x, calibrate_start_y
+                    and calibrate_end_y to be defined
+                    """
+                    )
 
         # check for valid sample_count
         if sample_count is None or sample_count < 2:
             raise self.gcmd.error(
                 "SAMPLE_COUNT to probe must be at least 2")
 
+        # verify no other manual probe is in progress
+        manual_probe.verify_no_manual_probe(self.printer)
+
         # clear the current config
         self.compensation.clear_compensations()
 
-        # calculate some values
+        min_x = self.x_start_point[0]
-        x_range = self.end_point[0] - self.start_point[0]
+        max_x = self.x_end_point[0]
-        interval_dist = x_range / (sample_count - 1)
+        min_y = self.y_start_point[1]
-        nozzle_points = self._calculate_nozzle_points(sample_count,
+        max_y = self.y_end_point[1]
-                                                      interval_dist)
-        probe_points = self._calculate_probe_points(
-            nozzle_points, self.probe_x_offset, self.probe_y_offset)
 
-        # verify no other manual probe is in progress
+        # calculate x positions
-        ManualProbe.verify_no_manual_probe(self.printer)
+        interval_x = (max_x - min_x) / (sample_count - 1)
+        xps = [min_x + interval_x * i for i in range(sample_count)]
 
-        # begin calibration
+        # Calculate points array
-        self.current_point_index = 0
+        interval_y = (max_y - min_y) / (sample_count - 1)
-        self.results = []
+        flip = False
-        self._calibration(probe_points, nozzle_points, interval_dist)
 
-    def _calculate_nozzle_points(self, sample_count, interval_dist):
+        points = []
-        # calculate the points to put the probe at, returned as a list of tuples
-        nozzle_points = []
         for i in range(sample_count):
-            x = self.start_point[0] + i * interval_dist
+            for j in range(sample_count):
-            y = self.start_point[1]
+                if(not flip):
-            nozzle_points.append((x, y))
+                    idx = j
-        return nozzle_points
+                else:
+                    idx = sample_count -1 - j
+                points.append([xps[i], min_y + interval_y * idx ])
+            flip = not flip
+
+
+        # calculate the points to put the nozzle at, and probe
+        probe_points = []
+
+        for i in range(len(points)):
+            x = points[i][0] - self.probe_x_offset
+            y = points[i][1] - self.probe_y_offset
+            probe_points.append([x, y, self._auto_calibration((x,y))[2]])
+
+        # calculate corrections
+        x_corr, y_corr = self._calculate_corrections(probe_points)
+
+        x_corr_str = ', '.join(["{:.6f}".format(x)
+                                    for x in x_corr])
+
+        y_corr_str = ', '.join(["{:.6f}".format(x)
+                                    for x in y_corr])
+
+        # finalize
+        configfile = self.printer.lookup_object('configfile')
+        configfile.set(self.configname, 'z_compensations', x_corr_str)
+        configfile.set(self.configname, 'compensation_start_x',
+                    self.x_start_point[0])
+        configfile.set(self.configname, 'compensation_end_x',
+                    self.x_end_point[0])
+
+
+        configfile.set(self.configname, 'zy_compensations', y_corr_str)
+        configfile.set(self.configname, 'compensation_start_y',
+                    self.y_start_point[1])
+        configfile.set(self.configname, 'compensation_end_y',
+                    self.y_end_point[1])
+
+        self.gcode.respond_info(
+            "AXIS_TWIST_COMPENSATION state has been saved "
+            "for the current session.  The SAVE_CONFIG command will "
+            "update the printer config file and restart the printer.")
+        # output result
+        self.gcmd.respond_info(
+            "AXIS_TWIST_COMPENSATION_AUTOCALIBRATE: Calibration complete: ")
+        self.gcmd.respond_info("\n".join(map(str, [x_corr, y_corr])), log=False)
+
+    def _auto_calibration(self, probe_point):
+
+        # horizontal_move_z (to prevent probe trigger or hitting bed)
+        self._move_helper((None, None, self.horizontal_move_z))
+
+        # move to point to probe
+        self._move_helper((probe_point[0],
+                            probe_point[1], None))
+
+        # probe the point
+        pos = probe.run_single_probe(self.probe, self.gcmd)
+
+        # horizontal_move_z (to prevent probe trigger or hitting bed)
+        self._move_helper((None, None, self.horizontal_move_z))
+
+        return pos
 
     def _calculate_probe_points(self, nozzle_points,
         probe_x_offset, probe_y_offset):
@@ -186,7 +427,8 @@ class Calibrater:
                            probe_points[self.current_point_index][1], None))
 
         # probe the point
-        self.current_measured_z = self.probe.run_probe(self.gcmd)[2]
+        pos = probe.run_single_probe(self.probe, self.gcmd)
+        self.current_measured_z = pos[2]
 
         # horizontal_move_z (to prevent probe trigger or hitting bed)
         self._move_helper((None, None, self.horizontal_move_z))
@@ -195,7 +437,7 @@ class Calibrater:
         self._move_helper((nozzle_points[self.current_point_index]))
 
         # start the manual (nozzle) probe
-        ManualProbe.ManualProbeHelper(
+        manual_probe.ManualProbeHelper(
             self.printer, self.gcmd,
             self._manual_probe_callback_factory(
                 probe_points, nozzle_points, interval))
@@ -234,14 +476,31 @@ class Calibrater:
         configfile = self.printer.lookup_object('configfile')
         values_as_str = ', '.join(["{:.6f}".format(x)
                                    for x in self.results])
+
+        if(self.current_axis == 'X'):
+
             configfile.set(self.configname, 'z_compensations', values_as_str)
             configfile.set(self.configname, 'compensation_start_x',
-                       self.start_point[0])
+                        self.x_start_point[0])
             configfile.set(self.configname, 'compensation_end_x',
-                       self.end_point[0])
+                        self.x_end_point[0])
+
             self.compensation.z_compensations = self.results
-        self.compensation.compensation_start_x = self.start_point[0]
+            self.compensation.compensation_start_x = self.x_start_point[0]
-        self.compensation.compensation_end_x = self.end_point[0]
+            self.compensation.compensation_end_x = self.x_end_point[0]
+
+        elif(self.current_axis == 'Y'):
+
+            configfile.set(self.configname, 'zy_compensations', values_as_str)
+            configfile.set(self.configname, 'compensation_start_y',
+                        self.y_start_point[1])
+            configfile.set(self.configname, 'compensation_end_y',
+                        self.y_end_point[1])
+
+            self.compensation.zy_compensations = self.results
+            self.compensation.compensation_start_y = self.y_start_point[1]
+            self.compensation.compensation_end_y = self.y_end_point[1]
+
         self.gcode.respond_info(
             "AXIS_TWIST_COMPENSATION state has been saved "
             "for the current session.  The SAVE_CONFIG command will "

klippy/extras/bltouch.py

@@ -1,6 +1,6 @@
 # BLTouch support
 #
-# Copyright (C) 2018-2021  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2018-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
@@ -23,13 +23,9 @@ Commands = {
 }
 
 # BLTouch "endstop" wrapper
-class BLTouchEndstopWrapper:
+class BLTouchProbe:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.printer.register_event_handler("klippy:connect",
-                                            self.handle_connect)
-        self.printer.register_event_handler('klippy:mcu_identify',
-                                            self.handle_mcu_identify)
         self.position_endstop = config.getfloat('z_offset', minval=0.)
         self.stow_on_each_sample = config.getboolean('stow_on_each_sample',
                                                      True)
@@ -44,12 +40,9 @@ class BLTouchEndstopWrapper:
         self.next_cmd_time = self.action_end_time = 0.
         self.finish_home_complete = self.wait_trigger_complete = None
         # Create an "endstop" object to handle the sensor pin
-        pin = config.get('sensor_pin')
+        self.mcu_endstop = ppins.setup_pin('endstop', config.get('sensor_pin'))
-        pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
-        mcu = pin_params['chip']
-        self.mcu_endstop = mcu.setup_pin('endstop', pin_params)
         # output mode
-        omodes = {'5V': '5V', 'OD': 'OD', None: None}
+        omodes = ['5V', 'OD', None]
         self.output_mode = config.getchoice('set_output_mode', omodes, None)
         # Setup for sensor test
         self.next_test_time = 0.
@@ -65,19 +58,30 @@ class BLTouchEndstopWrapper:
         self.get_steppers = self.mcu_endstop.get_steppers
         self.home_wait = self.mcu_endstop.home_wait
         self.query_endstop = self.mcu_endstop.query_endstop
+        # multi probes state
+        self.multi = 'OFF'
+        # Common probe implementation helpers
+        self.cmd_helper = probe.ProbeCommandHelper(
+            config, self, self.mcu_endstop.query_endstop)
+        self.probe_offsets = probe.ProbeOffsetsHelper(config)
+        self.probe_session = probe.ProbeSessionHelper(config, self)
         # Register BLTOUCH_DEBUG command
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command("BLTOUCH_DEBUG", self.cmd_BLTOUCH_DEBUG,
                                     desc=self.cmd_BLTOUCH_DEBUG_help)
         self.gcode.register_command("BLTOUCH_STORE", self.cmd_BLTOUCH_STORE,
                                     desc=self.cmd_BLTOUCH_STORE_help)
-        # multi probes state
+        # Register events
-        self.multi = 'OFF'
+        self.printer.register_event_handler("klippy:connect",
-    def handle_mcu_identify(self):
+                                            self.handle_connect)
-        kin = self.printer.lookup_object('toolhead').get_kinematics()
+    def get_probe_params(self, gcmd=None):
-        for stepper in kin.get_steppers():
+        return self.probe_session.get_probe_params(gcmd)
-            if stepper.is_active_axis('z'):
+    def get_offsets(self):
-                self.add_stepper(stepper)
+        return self.probe_offsets.get_offsets()
+    def get_status(self, eventtime):
+        return self.cmd_helper.get_status(eventtime)
+    def start_probe_session(self, gcmd):
+        return self.probe_session.start_probe_session(gcmd)
     def handle_connect(self):
         self.sync_mcu_print_time()
         self.next_cmd_time += 0.200
@@ -116,7 +120,11 @@ class BLTouchEndstopWrapper:
         self.mcu_endstop.home_start(self.action_end_time, ENDSTOP_SAMPLE_TIME,
                                     ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
                                     triggered=triggered)
-        trigger_time = self.mcu_endstop.home_wait(self.action_end_time + 0.100)
+        try:
+            trigger_time = self.mcu_endstop.home_wait(
+                self.action_end_time + 0.100)
+        except self.printer.command_error as e:
+            return False
         return trigger_time > 0.
     def raise_probe(self):
         self.sync_mcu_print_time()
@@ -183,6 +191,9 @@ class BLTouchEndstopWrapper:
         self.verify_raise_probe()
         self.sync_print_time()
         self.multi = 'OFF'
+    def probing_move(self, pos, speed):
+        phoming = self.printer.lookup_object('homing')
+        return phoming.probing_move(self, pos, speed)
     def probe_prepare(self, hmove):
         if self.multi == 'OFF' or self.multi == 'FIRST':
             self.lower_probe()
@@ -271,6 +282,6 @@ class BLTouchEndstopWrapper:
         self.sync_print_time()
 
 def load_config(config):
-    blt = BLTouchEndstopWrapper(config)
+    blt = BLTouchProbe(config)
-    config.get_printer().add_object('probe', probe.PrinterProbe(config, blt))
+    config.get_printer().add_object('probe', blt)
     return blt

klippy/extras/bme280.py

@@ -8,6 +8,7 @@ from . import bus
 
 REPORT_TIME = .8
 BME280_CHIP_ADDR = 0x76
+
 BME280_REGS = {
     'RESET': 0xE0, 'CTRL_HUM': 0xF2,
     'STATUS': 0xF3, 'CTRL_MEAS': 0xF4, 'CONFIG': 0xF5,
@@ -16,6 +17,29 @@ BME280_REGS = {
     'HUM_MSB': 0xFD, 'HUM_LSB': 0xFE, 'CAL_1': 0x88, 'CAL_2': 0xE1
 }
 
+BMP388_REGS = {
+    "CMD": 0x7E,
+    "STATUS": 0x03,
+    "PWR_CTRL": 0x1B,
+    "OSR": 0x1C,
+    "ORD": 0x1D,
+    "INT_CTRL": 0x19,
+    "CAL_1": 0x31,
+    "TEMP_MSB": 0x09,
+    "TEMP_LSB": 0x08,
+    "TEMP_XLSB": 0x07,
+    "PRESS_MSB": 0x06,
+    "PRESS_LSB": 0x05,
+    "PRESS_XLSB": 0x04,
+}
+BMP388_REG_VAL_PRESS_EN = 0x01
+BMP388_REG_VAL_TEMP_EN = 0x02
+BMP388_REG_VAL_PRESS_OS_NO = 0b000
+BMP388_REG_VAL_TEMP_OS_NO = 0b000000
+BMP388_REG_VAL_ODR_50_HZ = 0x02
+BMP388_REG_VAL_DRDY_EN = 0b100000
+BMP388_REG_VAL_NORMAL_MODE = 0x30
+
 BME680_REGS = {
     'RESET': 0xE0, 'CTRL_HUM': 0x72, 'CTRL_GAS_1': 0x71, 'CTRL_GAS_0': 0x70,
     'GAS_WAIT_0': 0x64, 'RES_HEAT_0': 0x5A, 'IDAC_HEAT_0': 0x50,
@@ -46,9 +70,20 @@ BME680_GAS_CONSTANTS = {
     15: (1., 244.140625)
 }
 
+BMP180_REGS = {
+    'RESET': 0xE0,
+    'CAL_1': 0xAA,
+    'CTRL_MEAS': 0xF4,
+    'REG_MSB': 0xF6,
+    'REG_LSB': 0xF7,
+    'CRV_TEMP': 0x2E,
+    'CRV_PRES': 0x34
+}
+
 STATUS_MEASURING = 1 << 3
 STATUS_IM_UPDATE = 1
 MODE = 1
+MODE_PERIODIC = 3
 RUN_GAS = 1 << 4
 NB_CONV_0 = 0
 EAS_NEW_DATA = 1 << 7
@@ -57,9 +92,11 @@ MEASURE_DONE = 1 << 5
 RESET_CHIP_VALUE = 0xB6
 
 BME_CHIPS = {
-    0x58: 'BMP280', 0x60: 'BME280', 0x61: 'BME680'
+    0x58: 'BMP280', 0x60: 'BME280', 0x61: 'BME680', 0x55: 'BMP180',
+    0x50: 'BMP388'
 }
 BME_CHIP_ID_REG = 0xD0
+BMP3_CHIP_ID_REG = 0x00
 
 
 def get_twos_complement(val, bit_size):
@@ -81,6 +118,14 @@ def get_signed_byte(bits):
     return get_twos_complement(bits, 8)
 
 
+def get_unsigned_short_msb(bits):
+    return bits[0] << 8 | bits[1]
+
+
+def get_signed_short_msb(bits):
+    val = get_unsigned_short_msb(bits)
+    return get_twos_complement(val, 16)
+
 class BME280:
     def __init__(self, config):
         self.printer = config.get_printer()
@@ -99,6 +144,7 @@ class BME280:
             pow(2, self.os_temp - 1), pow(2, self.os_hum - 1),
             pow(2, self.os_pres - 1)))
         logging.info("BMxx80: IIR: %dx" % (pow(2, self.iir_filter) - 1))
+        self.iir_filter = self.iir_filter & 0x07
 
         self.temp = self.pressure = self.humidity = self.gas = self.t_fine = 0.
         self.min_temp = self.max_temp = self.range_switching_error = 0.
@@ -111,6 +157,7 @@ class BME280:
             return
         self.printer.register_event_handler("klippy:connect",
                                             self.handle_connect)
+        self.last_gas_time = 0
 
     def handle_connect(self):
         self._init_bmxx80()
@@ -144,6 +191,29 @@ class BME280:
             dig['P9'] = get_signed_short(calib_data_1[22:24])
             return dig
 
+        def read_calibration_data_bmp388(calib_data_1):
+            dig = {}
+            dig["T1"] = get_unsigned_short(calib_data_1[0:2]) / 0.00390625
+            dig["T2"] = get_unsigned_short(calib_data_1[2:4]) / 1073741824.0
+            dig["T3"] = get_signed_byte(calib_data_1[4]) / 281474976710656.0
+
+            dig["P1"] = get_signed_short(calib_data_1[5:7]) - 16384
+            dig["P1"] /= 1048576.0
+            dig["P2"] = get_signed_short(calib_data_1[7:9]) - 16384
+            dig["P2"] /= 536870912.0
+            dig["P3"] = get_signed_byte(calib_data_1[9]) / 4294967296.0
+            dig["P4"] = get_signed_byte(calib_data_1[10]) / 137438953472.0
+            dig["P5"] = get_unsigned_short(calib_data_1[11:13]) / 0.125
+            dig["P6"] = get_unsigned_short(calib_data_1[13:15]) / 64.0
+            dig["P7"] = get_signed_byte(calib_data_1[15]) / 256.0
+            dig["P8"] = get_signed_byte(calib_data_1[16]) / 32768.0
+            dig["P9"] = get_signed_short(calib_data_1[17:19])
+            dig["P9"] /= 281474976710656.0
+            dig["P10"] = get_signed_byte(calib_data_1[19]) / 281474976710656.0
+            dig["P11"] = get_signed_byte(calib_data_1[20])
+            dig["P11"] /= 36893488147419103232.0
+            return dig
+
         def read_calibration_data_bme280(calib_data_1, calib_data_2):
             dig = read_calibration_data_bmp280(calib_data_1)
             dig['H1'] = calib_data_1[25] & 0xFF
@@ -188,7 +258,24 @@ class BME280:
             dig['G3'] = get_signed_byte(calib_data_2[13])
             return dig
 
-        chip_id = self.read_id()
+        def read_calibration_data_bmp180(calib_data_1):
+            dig = {}
+            dig['AC1'] = get_signed_short_msb(calib_data_1[0:2])
+            dig['AC2'] = get_signed_short_msb(calib_data_1[2:4])
+            dig['AC3'] = get_signed_short_msb(calib_data_1[4:6])
+            dig['AC4'] = get_unsigned_short_msb(calib_data_1[6:8])
+            dig['AC5'] = get_unsigned_short_msb(calib_data_1[8:10])
+            dig['AC6'] = get_unsigned_short_msb(calib_data_1[10:12])
+
+            dig['B1'] = get_signed_short_msb(calib_data_1[12:14])
+            dig['B2'] = get_signed_short_msb(calib_data_1[14:16])
+
+            dig['MB'] = get_signed_short_msb(calib_data_1[16:18])
+            dig['MC'] = get_signed_short_msb(calib_data_1[18:20])
+            dig['MD'] = get_signed_short_msb(calib_data_1[20:22])
+            return dig
+
+        chip_id = self.read_id() or self.read_bmp3_id()
         if chip_id not in BME_CHIPS.keys():
             logging.info("bme280: Unknown Chip ID received %#x" % chip_id)
         else:
@@ -197,30 +284,62 @@ class BME280:
                 self.chip_type, self.i2c.i2c_address))
 
         # Reset chip
-        self.write_register('RESET', [RESET_CHIP_VALUE])
+        self.write_register('RESET', [RESET_CHIP_VALUE], wait=True)
         self.reactor.pause(self.reactor.monotonic() + .5)
 
         # Make sure non-volatile memory has been copied to registers
+        if self.chip_type != 'BMP180':
+            # BMP180 has no status register available
             status = self.read_register('STATUS', 1)[0]
             while status & STATUS_IM_UPDATE:
                 self.reactor.pause(self.reactor.monotonic() + .01)
                 status = self.read_register('STATUS', 1)[0]
 
         if self.chip_type == 'BME680':
-            self.max_sample_time = 0.5
+            self.max_sample_time = \
+                    (1.25 + (2.3 * self.os_temp) + ((2.3 * self.os_pres) + .575)
+                     + ((2.3 * self.os_hum) + .575)) / 1000
             self.sample_timer = self.reactor.register_timer(self._sample_bme680)
             self.chip_registers = BME680_REGS
-        else:
+        elif self.chip_type == 'BMP180':
+            self.sample_timer = self.reactor.register_timer(self._sample_bmp180)
+            self.chip_registers = BMP180_REGS
+        elif self.chip_type == 'BMP388':
+            self.chip_registers = BMP388_REGS
+            self.write_register(
+                "PWR_CTRL",
+                [
+                    BMP388_REG_VAL_PRESS_EN
+                    | BMP388_REG_VAL_TEMP_EN
+                    | BMP388_REG_VAL_NORMAL_MODE
+                ],
+            )
+            self.write_register(
+                "OSR", [BMP388_REG_VAL_PRESS_OS_NO | BMP388_REG_VAL_TEMP_OS_NO]
+            )
+            self.write_register("ORD", [BMP388_REG_VAL_ODR_50_HZ])
+            self.write_register("INT_CTRL", [BMP388_REG_VAL_DRDY_EN])
+
+            self.sample_timer = self.reactor.register_timer(self._sample_bmp388)
+        elif self.chip_type == 'BME280':
             self.max_sample_time = \
                 (1.25 + (2.3 * self.os_temp) + ((2.3 * self.os_pres) + .575)
                  + ((2.3 * self.os_hum) + .575)) / 1000
             self.sample_timer = self.reactor.register_timer(self._sample_bme280)
             self.chip_registers = BME280_REGS
-
+        else:
-        if self.chip_type in ('BME680', 'BME280'):
+            self.max_sample_time = \
-            self.write_register('CONFIG', (self.iir_filter & 0x07) << 2)
+                (1.25 + (2.3 * self.os_temp)
+                + ((2.3 * self.os_pres) + .575)) / 1000
+            self.sample_timer = self.reactor.register_timer(self._sample_bme280)
+            self.chip_registers = BME280_REGS
 
         # Read out and calculate the trimming parameters
+        if self.chip_type == 'BMP180':
+            cal_1 = self.read_register('CAL_1', 22)
+        elif self.chip_type == 'BMP388':
+            cal_1 = self.read_register('CAL_1', 21)
+        else:
             cal_1 = self.read_register('CAL_1', 26)
             cal_2 = self.read_register('CAL_2', 16)
         if self.chip_type == 'BME280':
@@ -229,22 +348,69 @@ class BME280:
             self.dig = read_calibration_data_bmp280(cal_1)
         elif self.chip_type == 'BME680':
             self.dig = read_calibration_data_bme680(cal_1, cal_2)
+        elif self.chip_type == 'BMP180':
+            self.dig = read_calibration_data_bmp180(cal_1)
+        elif self.chip_type == 'BMP388':
+            self.dig = read_calibration_data_bmp388(cal_1)
 
-    def _sample_bme280(self, eventtime):
+        if self.chip_type in ('BME280', 'BMP280'):
-        # Enter forced mode
+            max_standby_time = REPORT_TIME - self.max_sample_time
+            # 0.5 ms
+            t_sb = 0
+            if self.chip_type == 'BME280':
+                if max_standby_time > 1:
+                    t_sb = 5
+                elif max_standby_time > 0.5:
+                    t_sb = 4
+                elif max_standby_time > 0.25:
+                    t_sb = 3
+                elif max_standby_time > 0.125:
+                    t_sb = 2
+                elif max_standby_time > 0.0625:
+                    t_sb = 1
+                elif max_standby_time > 0.020:
+                    t_sb = 7
+                elif max_standby_time > 0.010:
+                    t_sb = 6
+            else:
+                if max_standby_time > 4:
+                    t_sb = 7
+                elif max_standby_time > 2:
+                    t_sb = 6
+                elif max_standby_time > 1:
+                    t_sb = 5
+                elif max_standby_time > 0.5:
+                    t_sb = 4
+                elif max_standby_time > 0.25:
+                    t_sb = 3
+                elif max_standby_time > 0.125:
+                    t_sb = 2
+                elif max_standby_time > 0.0625:
+                    t_sb = 1
+
+            cfg = t_sb << 5 | self.iir_filter << 2
+            self.write_register('CONFIG', cfg)
             if self.chip_type == 'BME280':
                 self.write_register('CTRL_HUM', self.os_hum)
-        meas = self.os_temp << 5 | self.os_pres << 2 | MODE
+            # Enter normal (periodic) mode
-        self.write_register('CTRL_MEAS', meas)
+            meas = self.os_temp << 5 | self.os_pres << 2 | MODE_PERIODIC
+            self.write_register('CTRL_MEAS', meas, wait=True)
 
+        if self.chip_type == 'BME680':
+            self.write_register('CONFIG', self.iir_filter << 2)
+            # Should be set once and reused on every mode register write
+            self.write_register('CTRL_HUM', self.os_hum & 0x07)
+            gas_wait_0 = self._calc_gas_heater_duration(self.gas_heat_duration)
+            self.write_register('GAS_WAIT_0', [gas_wait_0])
+            res_heat_0 = self._calc_gas_heater_resistance(self.gas_heat_temp)
+            self.write_register('RES_HEAT_0', [res_heat_0])
+            # Set initial heater current to reach Gas heater target on start
+            self.write_register('IDAC_HEAT_0', 96)
+
+    def _sample_bme280(self, eventtime):
+        # In normal mode data shadowing is performed
+        # So reading can be done while measurements are in process
         try:
-            # wait until results are ready
-            status = self.read_register('STATUS', 1)[0]
-            while status & STATUS_MEASURING:
-                self.reactor.pause(
-                    self.reactor.monotonic() + self.max_sample_time)
-                status = self.read_register('STATUS', 1)[0]
-
             if self.chip_type == 'BME280':
                 data = self.read_register('PRESSURE_MSB', 8)
             elif self.chip_type == 'BMP280':
@@ -271,36 +437,113 @@ class BME280:
         self._callback(self.mcu.estimated_print_time(measured_time), self.temp)
         return measured_time + REPORT_TIME
 
+    def _sample_bmp388(self, eventtime):
+        status = self.read_register("STATUS", 1)
+        if status[0] & 0b100000:
+            self.temp = self._sample_bmp388_temp()
+            if self.temp < self.min_temp or self.temp > self.max_temp:
+                self.printer.invoke_shutdown(
+                    "BME280 temperature %0.1f outside range of %0.1f:%.01f"
+                    % (self.temp, self.min_temp, self.max_temp)
+                )
+
+        if status[0] & 0b010000:
+            self.pressure = self._sample_bmp388_press() / 100.0
+
+        measured_time = self.reactor.monotonic()
+        self._callback(self.mcu.estimated_print_time(measured_time), self.temp)
+        return measured_time + REPORT_TIME
+
+    def _sample_bmp388_temp(self):
+        xlsb = self.read_register("TEMP_XLSB", 1)
+        lsb = self.read_register("TEMP_LSB", 1)
+        msb = self.read_register("TEMP_MSB", 1)
+        adc_T = (msb[0] << 16) + (lsb[0] << 8) + (xlsb[0])
+
+        partial_data1 = adc_T - self.dig["T1"]
+        partial_data2 = self.dig["T2"] * partial_data1
+
+        self.t_fine = partial_data2
+        self.t_fine += (partial_data1 * partial_data1) * self.dig["T3"]
+
+        if self.t_fine < -40.0:
+            self.t_fine = -40.0
+
+        if self.t_fine > 85.0:
+            self.t_fine = 85.0
+
+        return self.t_fine
+
+    def _sample_bmp388_press(self):
+        xlsb = self.read_register("PRESS_XLSB", 1)
+        lsb = self.read_register("PRESS_LSB", 1)
+        msb = self.read_register("PRESS_MSB", 1)
+        adc_P = (msb[0] << 16) + (lsb[0] << 8) + (xlsb[0])
+
+        partial_data1 = self.dig["P6"] * self.t_fine
+        partial_data2 = self.dig["P7"] * (self.t_fine * self.t_fine)
+        partial_data3 = self.dig["P8"]
+        partial_data3 *= self.t_fine * self.t_fine * self.t_fine
+        partial_out1 = self.dig["P5"]
+        partial_out1 += partial_data1 + partial_data2 + partial_data3
+
+        partial_data1 = self.dig["P2"] * self.t_fine
+        partial_data2 = self.dig["P3"] * (self.t_fine * self.t_fine)
+        partial_data3 = self.dig["P4"]
+        partial_data3 *= (self.t_fine * self.t_fine * self.t_fine)
+        partial_out2 = adc_P * (
+            self.dig["P1"] + partial_data1 + partial_data2 + partial_data3
+        )
+
+        partial_data1 = adc_P * adc_P
+        partial_data2 = self.dig["P9"] + (self.dig["P10"] * self.t_fine)
+        partial_data3 = partial_data1 * partial_data2
+        partial_data4 = partial_data3 + adc_P * adc_P * adc_P * self.dig["P11"]
+
+        comp_press = partial_out1 + partial_out2 + partial_data4
+
+        if comp_press < 30000:
+            comp_press = 30000
+
+        if comp_press > 125000:
+            comp_press = 125000
+
+        return comp_press
+
     def _sample_bme680(self, eventtime):
-        self.write_register('CTRL_HUM', self.os_hum & 0x07)
+        def data_ready(stat, run_gas):
-        meas = self.os_temp << 5 | self.os_pres << 2
-        self.write_register('CTRL_MEAS', [meas])
-
-        gas_wait_0 = self._calculate_gas_heater_duration(self.gas_heat_duration)
-        self.write_register('GAS_WAIT_0', [gas_wait_0])
-        res_heat_0 = self._calculate_gas_heater_resistance(self.gas_heat_temp)
-        self.write_register('RES_HEAT_0', [res_heat_0])
-        gas_config = RUN_GAS | NB_CONV_0
-        self.write_register('CTRL_GAS_1', [gas_config])
-
-        def data_ready(stat):
             new_data = (stat & EAS_NEW_DATA)
             gas_done = not (stat & GAS_DONE)
             meas_done = not (stat & MEASURE_DONE)
+            if not run_gas:
+                gas_done = True
             return new_data and gas_done and meas_done
 
+        run_gas = False
+        # Check VOC once a while
+        if self.reactor.monotonic() - self.last_gas_time > 3:
+            gas_config = RUN_GAS | NB_CONV_0
+            self.write_register('CTRL_GAS_1', [gas_config])
+            run_gas = True
+
         # Enter forced mode
-        meas = meas | MODE
+        meas = self.os_temp << 5 | self.os_pres << 2 | MODE
-        self.write_register('CTRL_MEAS', meas)
+        self.write_register('CTRL_MEAS', meas, wait=True)
+        max_sample_time = self.max_sample_time
+        if run_gas:
+            max_sample_time += self.gas_heat_duration / 1000
+        self.reactor.pause(self.reactor.monotonic() + max_sample_time)
         try:
             # wait until results are ready
             status = self.read_register('EAS_STATUS_0', 1)[0]
-            while not data_ready(status):
+            while not data_ready(status, run_gas):
                 self.reactor.pause(
                     self.reactor.monotonic() + self.max_sample_time)
                 status = self.read_register('EAS_STATUS_0', 1)[0]
 
             data = self.read_register('PRESSURE_MSB', 8)
+            gas_data = [0, 0]
+            if run_gas:
                 gas_data = self.read_register('GAS_R_MSB', 2)
         except Exception:
             logging.exception("BME680: Error reading data")
@@ -325,6 +568,10 @@ class BME280:
             gas_raw = (gas_data[0] << 2) | ((gas_data[1] & 0xC0) >> 6)
             gas_range = (gas_data[1] & 0x0F)
             self.gas = self._compensate_gas(gas_raw, gas_range)
+            # Disable gas measurement on success
+            gas_config = NB_CONV_0
+            self.write_register('CTRL_GAS_1', [gas_config])
+            self.last_gas_time = self.reactor.monotonic()
 
         if self.temp < self.min_temp or self.temp > self.max_temp:
             self.printer.invoke_shutdown(
@@ -334,6 +581,43 @@ class BME280:
         self._callback(self.mcu.estimated_print_time(measured_time), self.temp)
         return measured_time + REPORT_TIME
 
+    def _sample_bmp180(self, eventtime):
+        meas = self.chip_registers['CRV_TEMP']
+        self.write_register('CTRL_MEAS', meas)
+
+        try:
+            self.reactor.pause(self.reactor.monotonic() + .01)
+            data = self.read_register('REG_MSB', 2)
+            temp_raw = (data[0] << 8) | data[1]
+        except Exception:
+            logging.exception("BMP180: Error reading temperature")
+            self.temp = self.pressure = .0
+            return self.reactor.NEVER
+
+        meas = self.chip_registers['CRV_PRES'] | (self.os_pres << 6)
+        self.write_register('CTRL_MEAS', meas)
+
+        try:
+            self.reactor.pause(self.reactor.monotonic() + .01)
+            data = self.read_register('REG_MSB', 3)
+            pressure_raw = \
+                ((data[0] << 16)|(data[1] << 8)|data[2]) >> (8 - self.os_pres)
+        except Exception:
+            logging.exception("BMP180: Error reading pressure")
+            self.temp = self.pressure = .0
+            return self.reactor.NEVER
+
+        self.temp = self._compensate_temp_bmp180(temp_raw)
+        self.pressure = self._compensate_pressure_bmp180(pressure_raw) / 100.
+        if self.temp < self.min_temp or self.temp > self.max_temp:
+            self.printer.invoke_shutdown(
+                "BMP180 temperature %0.1f outside range of %0.1f:%.01f"
+                % (self.temp, self.min_temp, self.max_temp))
+        measured_time = self.reactor.monotonic()
+        self._callback(self.mcu.estimated_print_time(measured_time), self.temp)
+        return measured_time + REPORT_TIME
+
+
     def _compensate_temp(self, raw_temp):
         dig = self.dig
         var1 = ((raw_temp / 16384. - (dig['T1'] / 1024.)) * dig['T2'])
@@ -416,7 +700,7 @@ class BME280:
                 gas_raw - 512. + var1)
         return gas
 
-    def _calculate_gas_heater_resistance(self, target_temp):
+    def _calc_gas_heater_resistance(self, target_temp):
         amb_temp = self.temp
         heater_data = self.read_register('RES_HEAT_VAL', 3)
         res_heat_val = get_signed_byte(heater_data[0])
@@ -431,7 +715,7 @@ class BME280:
                             * (1. / (1. + (res_heat_val * 0.002)))) - 25))
         return int(res_heat)
 
-    def _calculate_gas_heater_duration(self, duration_ms):
+    def _calc_gas_heater_duration(self, duration_ms):
         if duration_ms >= 4032:
             duration_reg = 0xff
         else:
@@ -443,24 +727,64 @@ class BME280:
 
         return duration_reg
 
+    def _compensate_temp_bmp180(self, raw_temp):
+        dig = self.dig
+        x1 = (raw_temp - dig['AC6']) * dig['AC5'] / 32768.
+        x2 = dig['MC'] * 2048 / (x1 + dig['MD'])
+        b5 = x1 + x2
+        self.t_fine = b5
+        return (b5 + 8)/16./10.
+
+    def _compensate_pressure_bmp180(self, raw_pressure):
+        dig = self.dig
+        b5 = self.t_fine
+        b6 = b5 - 4000
+        x1 = (dig['B2'] * (b6 * b6 / 4096)) / 2048
+        x2 = dig['AC2'] * b6 / 2048
+        x3 = x1 + x2
+        b3 = ((int(dig['AC1'] * 4 + x3) << self.os_pres) + 2) / 4
+        x1 = dig['AC3'] * b6 / 8192
+        x2 = (dig['B1'] * (b6 * b6 / 4096)) / 65536
+        x3 = ((x1 + x2) + 2) / 4
+        b4 = dig['AC4'] * (x3 + 32768) / 32768
+        b7 = (raw_pressure - b3) * (50000 >> self.os_pres)
+        if (b7 < 0x80000000):
+            p = (b7 * 2) / b4
+        else:
+            p = (b7 / b4) * 2
+        x1 = (p / 256) * (p / 256)
+        x1 = (x1 * 3038) / 65536
+        x2 = (-7357 * p) / 65536
+        p = p + (x1 + x2 + 3791) / 16.
+        return p
+
     def read_id(self):
         # read chip id register
         regs = [BME_CHIP_ID_REG]
         params = self.i2c.i2c_read(regs, 1)
         return bytearray(params['response'])[0]
 
+    def read_bmp3_id(self):
+        # read chip id register
+        regs = [BMP3_CHIP_ID_REG]
+        params = self.i2c.i2c_read(regs, 1)
+        return bytearray(params['response'])[0]
+
     def read_register(self, reg_name, read_len):
         # read a single register
         regs = [self.chip_registers[reg_name]]
         params = self.i2c.i2c_read(regs, read_len)
         return bytearray(params['response'])
 
-    def write_register(self, reg_name, data):
+    def write_register(self, reg_name, data, wait = False):
         if type(data) is not list:
             data = [data]
         reg = self.chip_registers[reg_name]
         data.insert(0, reg)
+        if not wait:
             self.i2c.i2c_write(data)
+        else:
+            self.i2c.i2c_write_wait_ack(data)
 
     def get_status(self, eventtime):
         data = {

klippy/extras/bulk_sensor.py

@@ -0,0 +1,297 @@
+# Tools for reading bulk sensor data from the mcu
+#
+# Copyright (C) 2020-2023  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging, threading, struct
+
+# This "bulk sensor" module facilitates the processing of sensor chip
+# measurements that do not require the host to respond with low
+# latency.  This module helps collect these measurements into batches
+# that are then processed periodically by the host code (as specified
+# by BatchBulkHelper.batch_interval).  It supports the collection of
+# thousands of sensor measurements per second.
+#
+# Processing measurements in batches reduces load on the mcu, reduces
+# bandwidth to/from the mcu, and reduces load on the host.  It also
+# makes it easier to export the raw measurements via the webhooks
+# system (aka API Server).
+
+BATCH_INTERVAL = 0.500
+
+# Helper to process accumulated messages in periodic batches
+class BatchBulkHelper:
+    def __init__(self, printer, batch_cb, start_cb=None, stop_cb=None,
+                 batch_interval=BATCH_INTERVAL):
+        self.printer = printer
+        self.batch_cb = batch_cb
+        if start_cb is None:
+            start_cb = (lambda: None)
+        self.start_cb = start_cb
+        if stop_cb is None:
+            stop_cb = (lambda: None)
+        self.stop_cb = stop_cb
+        self.is_started = False
+        self.batch_interval = batch_interval
+        self.batch_timer = None
+        self.client_cbs = []
+        self.webhooks_start_resp = {}
+    # Periodic batch processing
+    def _start(self):
+        if self.is_started:
+            return
+        self.is_started = True
+        try:
+            self.start_cb()
+        except self.printer.command_error as e:
+            logging.exception("BatchBulkHelper start callback error")
+            self.is_started = False
+            del self.client_cbs[:]
+            raise
+        reactor = self.printer.get_reactor()
+        systime = reactor.monotonic()
+        waketime = systime + self.batch_interval
+        self.batch_timer = reactor.register_timer(self._proc_batch, waketime)
+    def _stop(self):
+        del self.client_cbs[:]
+        self.printer.get_reactor().unregister_timer(self.batch_timer)
+        self.batch_timer = None
+        if not self.is_started:
+            return
+        try:
+            self.stop_cb()
+        except self.printer.command_error as e:
+            logging.exception("BatchBulkHelper stop callback error")
+            del self.client_cbs[:]
+        self.is_started = False
+        if self.client_cbs:
+            # New client started while in process of stopping
+            self._start()
+    def _proc_batch(self, eventtime):
+        try:
+            msg = self.batch_cb(eventtime)
+        except self.printer.command_error as e:
+            logging.exception("BatchBulkHelper batch callback error")
+            self._stop()
+            return self.printer.get_reactor().NEVER
+        if not msg:
+            return eventtime + self.batch_interval
+        for client_cb in list(self.client_cbs):
+            res = client_cb(msg)
+            if not res:
+                # This client no longer needs updates - unregister it
+                self.client_cbs.remove(client_cb)
+                if not self.client_cbs:
+                    self._stop()
+                    return self.printer.get_reactor().NEVER
+        return eventtime + self.batch_interval
+    # Client registration
+    def add_client(self, client_cb):
+        self.client_cbs.append(client_cb)
+        self._start()
+    # Webhooks registration
+    def _add_api_client(self, web_request):
+        whbatch = BatchWebhooksClient(web_request)
+        self.add_client(whbatch.handle_batch)
+        web_request.send(self.webhooks_start_resp)
+    def add_mux_endpoint(self, path, key, value, webhooks_start_resp):
+        self.webhooks_start_resp = webhooks_start_resp
+        wh = self.printer.lookup_object('webhooks')
+        wh.register_mux_endpoint(path, key, value, self._add_api_client)
+
+# A webhooks wrapper for use by BatchBulkHelper
+class BatchWebhooksClient:
+    def __init__(self, web_request):
+        self.cconn = web_request.get_client_connection()
+        self.template = web_request.get_dict('response_template', {})
+    def handle_batch(self, msg):
+        if self.cconn.is_closed():
+            return False
+        tmp = dict(self.template)
+        tmp['params'] = msg
+        self.cconn.send(tmp)
+        return True
+
+# Helper class to store incoming messages in a queue
+class BulkDataQueue:
+    def __init__(self, mcu, msg_name="sensor_bulk_data", oid=None):
+        # Measurement storage (accessed from background thread)
+        self.lock = threading.Lock()
+        self.raw_samples = []
+        # Register callback with mcu
+        mcu.register_response(self._handle_data, msg_name, oid)
+    def _handle_data(self, params):
+        with self.lock:
+            self.raw_samples.append(params)
+    def pull_queue(self):
+        with self.lock:
+            raw_samples = self.raw_samples
+            self.raw_samples = []
+        return raw_samples
+    def clear_queue(self):
+        self.pull_queue()
+
+
+######################################################################
+# Clock synchronization
+######################################################################
+
+# It is common for sensors to produce measurements at a fixed
+# frequency.  If the mcu can reliably obtain all of these
+# measurements, then the code here can calculate a precision timestamp
+# for them.  That is, it can determine the actual sensor measurement
+# frequency, the time of the first measurement, and thus a precise
+# time for all measurements.
+#
+# This system works by having the mcu periodically report a precision
+# timestamp along with the total number of measurements the sensor has
+# taken as of that time.  In brief, knowing the total number of
+# measurements taken over an extended period provides an accurate
+# estimate of measurement frequency, which can then also be utilized
+# to determine the time of the first measurement.
+
+# Helper class for chip clock synchronization via linear regression
+class ClockSyncRegression:
+    def __init__(self, mcu, chip_clock_smooth, decay = 1. / 20.):
+        self.mcu = mcu
+        self.chip_clock_smooth = chip_clock_smooth
+        self.decay = decay
+        self.last_chip_clock = self.last_exp_mcu_clock = 0.
+        self.mcu_clock_avg = self.mcu_clock_variance = 0.
+        self.chip_clock_avg = self.chip_clock_covariance = 0.
+    def reset(self, mcu_clock, chip_clock):
+        self.mcu_clock_avg = self.last_mcu_clock = mcu_clock
+        self.chip_clock_avg = chip_clock
+        self.mcu_clock_variance = self.chip_clock_covariance = 0.
+        self.last_chip_clock = self.last_exp_mcu_clock = 0.
+    def update(self, mcu_clock, chip_clock):
+        # Update linear regression
+        decay = self.decay
+        diff_mcu_clock = mcu_clock - self.mcu_clock_avg
+        self.mcu_clock_avg += decay * diff_mcu_clock
+        self.mcu_clock_variance = (1. - decay) * (
+            self.mcu_clock_variance + diff_mcu_clock**2 * decay)
+        diff_chip_clock = chip_clock - self.chip_clock_avg
+        self.chip_clock_avg += decay * diff_chip_clock
+        self.chip_clock_covariance = (1. - decay) * (
+            self.chip_clock_covariance + diff_mcu_clock*diff_chip_clock*decay)
+    def set_last_chip_clock(self, chip_clock):
+        base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
+        self.last_chip_clock = chip_clock
+        self.last_exp_mcu_clock = base_mcu + (chip_clock-base_chip) * inv_cfreq
+    def get_clock_translation(self):
+        inv_chip_freq = self.mcu_clock_variance / self.chip_clock_covariance
+        if not self.last_chip_clock:
+            return self.mcu_clock_avg, self.chip_clock_avg, inv_chip_freq
+        # Find mcu clock associated with future chip_clock
+        s_chip_clock = self.last_chip_clock + self.chip_clock_smooth
+        scdiff = s_chip_clock - self.chip_clock_avg
+        s_mcu_clock = self.mcu_clock_avg + scdiff * inv_chip_freq
+        # Calculate frequency to converge at future point
+        mdiff = s_mcu_clock - self.last_exp_mcu_clock
+        s_inv_chip_freq = mdiff / self.chip_clock_smooth
+        return self.last_exp_mcu_clock, self.last_chip_clock, s_inv_chip_freq
+    def get_time_translation(self):
+        base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
+        clock_to_print_time = self.mcu.clock_to_print_time
+        base_time = clock_to_print_time(base_mcu)
+        inv_freq = clock_to_print_time(base_mcu + inv_cfreq) - base_time
+        return base_time, base_chip, inv_freq
+
+MAX_BULK_MSG_SIZE = 51
+
+# Read sensor_bulk_data and calculate timestamps for devices that take
+# samples at a fixed frequency (and produce fixed data size samples).
+class FixedFreqReader:
+    def __init__(self, mcu, chip_clock_smooth, unpack_fmt):
+        self.mcu = mcu
+        self.clock_sync = ClockSyncRegression(mcu, chip_clock_smooth)
+        unpack = struct.Struct(unpack_fmt)
+        self.unpack_from = unpack.unpack_from
+        self.bytes_per_sample = unpack.size
+        self.samples_per_block = MAX_BULK_MSG_SIZE // self.bytes_per_sample
+        self.last_sequence = self.max_query_duration = 0
+        self.last_overflows = 0
+        self.bulk_queue = self.oid = self.query_status_cmd = None
+    def setup_query_command(self, msgformat, oid, cq):
+        # Lookup sensor query command (that responds with sensor_bulk_status)
+        self.oid = oid
+        self.query_status_cmd = self.mcu.lookup_query_command(
+            msgformat, "sensor_bulk_status oid=%c clock=%u query_ticks=%u"
+            " next_sequence=%hu buffered=%u possible_overflows=%hu",
+            oid=oid, cq=cq)
+        # Read sensor_bulk_data messages and store in a queue
+        self.bulk_queue = BulkDataQueue(self.mcu, oid=oid)
+    def get_last_overflows(self):
+        return self.last_overflows
+    def _clear_duration_filter(self):
+        self.max_query_duration = 1 << 31
+    def note_start(self):
+        self.last_sequence = 0
+        self.last_overflows = 0
+        # Clear local queue (clear any stale samples from previous session)
+        self.bulk_queue.clear_queue()
+        # Set initial clock
+        self._clear_duration_filter()
+        self._update_clock(is_reset=True)
+        self._clear_duration_filter()
+    def note_end(self):
+        # Clear local queue (free no longer needed memory)
+        self.bulk_queue.clear_queue()
+    def _update_clock(self, is_reset=False):
+        params = self.query_status_cmd.send([self.oid])
+        mcu_clock = self.mcu.clock32_to_clock64(params['clock'])
+        seq_diff = (params['next_sequence'] - self.last_sequence) & 0xffff
+        self.last_sequence += seq_diff
+        buffered = params['buffered']
+        po_diff = (params['possible_overflows'] - self.last_overflows) & 0xffff
+        self.last_overflows += po_diff
+        duration = params['query_ticks']
+        if duration > self.max_query_duration:
+            # Skip measurement as a high query time could skew clock tracking
+            self.max_query_duration = max(2 * self.max_query_duration,
+                                          self.mcu.seconds_to_clock(.000005))
+            return
+        self.max_query_duration = 2 * duration
+        msg_count = (self.last_sequence * self.samples_per_block
+                     + buffered // self.bytes_per_sample)
+        # The "chip clock" is the message counter plus .5 for average
+        # inaccuracy of query responses and plus .5 for assumed offset
+        # of hardware processing time.
+        chip_clock = msg_count + 1
+        avg_mcu_clock = mcu_clock + duration // 2
+        if is_reset:
+            self.clock_sync.reset(avg_mcu_clock, chip_clock)
+        else:
+            self.clock_sync.update(avg_mcu_clock, chip_clock)
+    # Convert sensor_bulk_data responses into list of samples
+    def pull_samples(self):
+        # Query MCU for sample timing and update clock synchronization
+        self._update_clock()
+        # Pull sensor_bulk_data messages from local queue
+        raw_samples = self.bulk_queue.pull_queue()
+        if not raw_samples:
+            return []
+        # Load variables to optimize inner loop below
+        last_sequence = self.last_sequence
+        time_base, chip_base, inv_freq = self.clock_sync.get_time_translation()
+        unpack_from = self.unpack_from
+        bytes_per_sample = self.bytes_per_sample
+        samples_per_block = self.samples_per_block
+        # Process every message in raw_samples
+        count = seq = 0
+        samples = [None] * (len(raw_samples) * samples_per_block)
+        for params in raw_samples:
+            seq_diff = (params['sequence'] - last_sequence) & 0xffff
+            seq_diff -= (seq_diff & 0x8000) << 1
+            seq = last_sequence + seq_diff
+            msg_cdiff = seq * samples_per_block - chip_base
+            data = params['data']
+            for i in range(len(data) // bytes_per_sample):
+                ptime = time_base + (msg_cdiff + i) * inv_freq
+                udata = unpack_from(data, i * bytes_per_sample)
+                samples[count] = (ptime,) + udata
+                count += 1
+        self.clock_sync.set_last_chip_clock(seq * samples_per_block + i)
+        del samples[count:]
+        return samples

klippy/extras/bus.py

@@ -160,7 +160,7 @@ class MCU_I2C:
                 % (self.oid, speed, addr))
         self.cmd_queue = self.mcu.alloc_command_queue()
         self.mcu.register_config_callback(self.build_config)
-        self.i2c_write_cmd = self.i2c_read_cmd = self.i2c_modify_bits_cmd = None
+        self.i2c_write_cmd = self.i2c_read_cmd = None
     def get_oid(self):
         return self.oid
     def get_mcu(self):
@@ -180,9 +180,6 @@ class MCU_I2C:
             "i2c_read oid=%c reg=%*s read_len=%u",
             "i2c_read_response oid=%c response=%*s", oid=self.oid,
             cq=self.cmd_queue)
-        self.i2c_modify_bits_cmd = self.mcu.lookup_command(
-            "i2c_modify_bits oid=%c reg=%*s clear_set_bits=%*s",
-            cq=self.cmd_queue)
     def i2c_write(self, data, minclock=0, reqclock=0):
         if self.i2c_write_cmd is None:
             # Send setup message via mcu initialization
@@ -192,21 +189,11 @@ class MCU_I2C:
             return
         self.i2c_write_cmd.send([self.oid, data],
                                 minclock=minclock, reqclock=reqclock)
+    def i2c_write_wait_ack(self, data, minclock=0, reqclock=0):
+        self.i2c_write_cmd.send_wait_ack([self.oid, data],
+                                minclock=minclock, reqclock=reqclock)
     def i2c_read(self, write, read_len):
         return self.i2c_read_cmd.send([self.oid, write, read_len])
-    def i2c_modify_bits(self, reg, clear_bits, set_bits,
-                        minclock=0, reqclock=0):
-        clearset = clear_bits + set_bits
-        if self.i2c_modify_bits_cmd is None:
-            # Send setup message via mcu initialization
-            reg_msg = "".join(["%02x" % (x,) for x in reg])
-            clearset_msg = "".join(["%02x" % (x,) for x in clearset])
-            self.mcu.add_config_cmd(
-                "i2c_modify_bits oid=%d reg=%s clear_set_bits=%s" % (
-                    self.oid, reg_msg, clearset_msg), is_init=True)
-            return
-        self.i2c_modify_bits_cmd.send([self.oid, reg, clearset],
-                                      minclock=minclock, reqclock=reqclock)
 
 def MCU_I2C_from_config(config, default_addr=None, default_speed=100000):
     # Load bus parameters

klippy/extras/buttons.py

@@ -1,6 +1,6 @@
 # Support for button detection and callbacks
 #
-# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2018-2023  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
@@ -57,10 +57,9 @@ class MCU_buttons:
     def handle_buttons_state(self, params):
         # Expand the message ack_count from 8-bit
         ack_count = self.ack_count
-        ack_diff = (ack_count - params['ack_count']) & 0xff
+        ack_diff = (params['ack_count'] - ack_count) & 0xff
-        if ack_diff & 0x80:
+        ack_diff -= (ack_diff & 0x80) << 1
-            ack_diff -= 0x100
+        msg_ack_count = ack_count + ack_diff
-        msg_ack_count = ack_count - ack_diff
         # Determine new buttons
         buttons = bytearray(params['state'])
         new_count = msg_ack_count + len(buttons) - self.ack_count
@@ -70,17 +69,17 @@ class MCU_buttons:
         # Send ack to MCU
         self.ack_cmd.send([self.oid, new_count])
         self.ack_count += new_count
-        # Call self.handle_button() with this event in main thread
+        # Invoke callbacks with this event in main thread
-        for nb in new_buttons:
+        btime = params['#receive_time']
-            self.reactor.register_async_callback(
+        for button in new_buttons:
-                (lambda e, s=self, b=nb: s.handle_button(e, b)))
-    def handle_button(self, eventtime, button):
             button ^= self.invert
             changed = button ^ self.last_button
+            self.last_button = button
             for mask, shift, callback in self.callbacks:
                 if changed & mask:
-                callback(eventtime, (button & mask) >> shift)
+                    state = (button & mask) >> shift
-        self.last_button = button
+                    self.reactor.register_async_callback(
+                        (lambda et, c=callback, bt=btime, s=state: c(bt, s)))
 
 
 ######################################################################
@@ -105,7 +104,7 @@ class MCU_ADC_buttons:
         self.max_value = 0.
         ppins = printer.lookup_object('pins')
         self.mcu_adc = ppins.setup_pin('adc', self.pin)
-        self.mcu_adc.setup_minmax(ADC_SAMPLE_TIME, ADC_SAMPLE_COUNT)
+        self.mcu_adc.setup_adc_sample(ADC_SAMPLE_TIME, ADC_SAMPLE_COUNT)
         self.mcu_adc.setup_adc_callback(ADC_REPORT_TIME, self.adc_callback)
         query_adc = printer.lookup_object('query_adc')
         query_adc.register_adc('adc_button:' + pin.strip(), self.mcu_adc)

klippy/extras/controller_fan.py

@@ -62,9 +62,7 @@ class ControllerFan:
             self.last_on += 1
         if speed != self.last_speed:
             self.last_speed = speed
-            curtime = self.printer.get_reactor().monotonic()
+            self.fan.set_speed(speed)
-            print_time = self.fan.get_mcu().estimated_print_time(curtime)
-            self.fan.set_speed(print_time + PIN_MIN_TIME, speed)
         return eventtime + 1.
 
 def load_config_prefix(config):

klippy/extras/display/aip31068_spi.py

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

klippy/extras/display/display.py

@@ -6,7 +6,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, os, ast
-from . import hd44780, hd44780_spi, st7920, uc1701, menu
+from . import aip31068_spi, hd44780, hd44780_spi, st7920, uc1701, menu
 
 # Normal time between each screen redraw
 REDRAW_TIME = 0.500
@@ -17,7 +17,8 @@ LCD_chips = {
     'st7920': st7920.ST7920, 'emulated_st7920': st7920.EmulatedST7920,
     'hd44780': hd44780.HD44780, 'uc1701': uc1701.UC1701,
     'ssd1306': uc1701.SSD1306, 'sh1106': uc1701.SH1106,
-    'hd44780_spi': hd44780_spi.hd44780_spi
+    'hd44780_spi': hd44780_spi.hd44780_spi,
+    'aip31068_spi':aip31068_spi.aip31068_spi
 }
 
 # Storage of [display_template my_template] config sections

klippy/extras/display/hd44780.py

@@ -8,7 +8,7 @@ import logging
 
 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000
 LINE_LENGTH_DEFAULT=20
-LINE_LENGTH_OPTIONS={16:16, 20:20}
+LINE_LENGTH_OPTIONS=[16, 20]
 
 TextGlyphs = { 'right_arrow': b'\x7e' }
 

klippy/extras/display/hd44780_spi.py

@@ -9,7 +9,7 @@ import logging
 from .. import bus
 
 LINE_LENGTH_DEFAULT=20
-LINE_LENGTH_OPTIONS={16:16, 20:20}
+LINE_LENGTH_OPTIONS=[16, 20]
 
 TextGlyphs = { 'right_arrow': b'\x7e' }
 

klippy/extras/display/menu_keys.py

@@ -18,7 +18,7 @@ class MenuKeys:
         # Register rotary encoder
         encoder_pins = config.get('encoder_pins', None)
         encoder_steps_per_detent = config.getchoice('encoder_steps_per_detent',
-                                                    {2: 2, 4: 4}, 4)
+                                                    [2, 4], 4)
         if encoder_pins is not None:
             try:
                 pin1, pin2 = encoder_pins.split(',')

klippy/extras/dotstar.py

@@ -1,16 +1,15 @@
 # Support for "dotstar" leds
 #
-# Copyright (C) 2019-2022  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2019-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import bus
+from . import bus, led
 
 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000
 
 class PrinterDotstar:
     def __init__(self, config):
         self.printer = printer = config.get_printer()
-        name = config.get_name().split()[1]
         # Configure a software spi bus
         ppins = printer.lookup_object('pins')
         data_pin_params = ppins.lookup_pin(config.get('data_pin'))
@@ -23,8 +22,7 @@ class PrinterDotstar:
         self.spi = bus.MCU_SPI(mcu, None, None, 0, 500000, sw_spi_pins)
         # Initialize color data
         self.chain_count = config.getint('chain_count', 1, minval=1)
-        pled = printer.load_object(config, "led")
+        self.led_helper = led.LEDHelper(config, self.update_leds,
-        self.led_helper = pled.setup_helper(config, self.update_leds,
                                         self.chain_count)
         self.prev_data = None
         # Register commands

klippy/extras/endstop_phase.py

@@ -191,7 +191,6 @@ class EndstopPhases:
     def generate_stats(self, stepper_name, phase_calc):
         phase_history = phase_calc.phase_history
         wph = phase_history + phase_history
-        count = sum(phase_history)
         phases = len(phase_history)
         half_phases = phases // 2
         res = []

klippy/extras/error_mcu.py

@@ -0,0 +1,133 @@
+# More verbose information on micro-controller errors
+#
+# Copyright (C) 2024  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+
+message_shutdown = """
+Once the underlying issue is corrected, use the
+"FIRMWARE_RESTART" command to reset the firmware, reload the
+config, and restart the host software.
+Printer is shutdown
+"""
+
+message_protocol_error1 = """
+This is frequently caused by running an older version of the
+firmware on the MCU(s). Fix by recompiling and flashing the
+firmware.
+"""
+
+message_protocol_error2 = """
+Once the underlying issue is corrected, use the "RESTART"
+command to reload the config and restart the host software.
+"""
+
+message_mcu_connect_error = """
+Once the underlying issue is corrected, use the
+"FIRMWARE_RESTART" command to reset the firmware, reload the
+config, and restart the host software.
+Error configuring printer
+"""
+
+Common_MCU_errors = {
+    ("Timer too close",): """
+This often indicates the host computer is overloaded. Check
+for other processes consuming excessive CPU time, high swap
+usage, disk errors, overheating, unstable voltage, or
+similar system problems on the host computer.""",
+    ("Missed scheduling of next ",): """
+This is generally indicative of an intermittent
+communication failure between micro-controller and host.""",
+    ("ADC out of range",): """
+This generally occurs when a heater temperature exceeds
+its configured min_temp or max_temp.""",
+    ("Rescheduled timer in the past", "Stepper too far in past"): """
+This generally occurs when the micro-controller has been
+requested to step at a rate higher than it is capable of
+obtaining.""",
+    ("Command request",): """
+This generally occurs in response to an M112 G-Code command
+or in response to an internal error in the host software.""",
+}
+
+def error_hint(msg):
+    for prefixes, help_msg in Common_MCU_errors.items():
+        for prefix in prefixes:
+            if msg.startswith(prefix):
+                return help_msg
+    return ""
+
+class PrinterMCUError:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.clarify_callbacks = {}
+        self.printer.register_event_handler("klippy:notify_mcu_shutdown",
+                                            self._handle_notify_mcu_shutdown)
+        self.printer.register_event_handler("klippy:notify_mcu_error",
+                                            self._handle_notify_mcu_error)
+    def add_clarify(self, msg, callback):
+        self.clarify_callbacks.setdefault(msg, []).append(callback)
+    def _check_mcu_shutdown(self, msg, details):
+        mcu_name = details['mcu']
+        mcu_msg = details['reason']
+        event_type = details['event_type']
+        prefix = "MCU '%s' shutdown: " % (mcu_name,)
+        if event_type == 'is_shutdown':
+            prefix = "Previous MCU '%s' shutdown: " % (mcu_name,)
+        # Lookup generic hint
+        hint = error_hint(mcu_msg)
+        # Add per instance help
+        clarify = [cb(msg, details)
+                   for cb in self.clarify_callbacks.get(mcu_msg, [])]
+        clarify = [cm for cm in clarify if cm is not None]
+        clarify_msg = ""
+        if clarify:
+            clarify_msg = "\n".join(["", ""] + clarify + [""])
+        # Update error message
+        newmsg = "%s%s%s%s%s" % (prefix, mcu_msg, clarify_msg,
+                                 hint, message_shutdown)
+        self.printer.update_error_msg(msg, newmsg)
+    def _handle_notify_mcu_shutdown(self, msg, details):
+        if msg == "MCU shutdown":
+            self._check_mcu_shutdown(msg, details)
+        else:
+            self.printer.update_error_msg(msg, "%s%s" % (msg, message_shutdown))
+    def _check_protocol_error(self, msg, details):
+        host_version = self.printer.start_args['software_version']
+        msg_update = []
+        msg_updated = []
+        for mcu_name, mcu in self.printer.lookup_objects('mcu'):
+            try:
+                mcu_version = mcu.get_status()['mcu_version']
+            except:
+                logging.exception("Unable to retrieve mcu_version from mcu")
+                continue
+            if mcu_version != host_version:
+                msg_update.append("%s: Current version %s"
+                                  % (mcu_name.split()[-1], mcu_version))
+            else:
+                msg_updated.append("%s: Current version %s"
+                                   % (mcu_name.split()[-1], mcu_version))
+        if not msg_update:
+            msg_update.append("<none>")
+        if not msg_updated:
+            msg_updated.append("<none>")
+        newmsg = ["MCU Protocol error",
+                  message_protocol_error1,
+                  "Your Klipper version is: %s" % (host_version,),
+                  "MCU(s) which should be updated:"]
+        newmsg += msg_update + ["Up-to-date MCU(s):"] + msg_updated
+        newmsg += [message_protocol_error2, details['error']]
+        self.printer.update_error_msg(msg, "\n".join(newmsg))
+    def _check_mcu_connect_error(self, msg, details):
+        newmsg = "%s%s" % (details['error'], message_mcu_connect_error)
+        self.printer.update_error_msg(msg, newmsg)
+    def _handle_notify_mcu_error(self, msg, details):
+        if msg == "Protocol error":
+            self._check_protocol_error(msg, details)
+        elif msg == "MCU error during connect":
+            self._check_mcu_connect_error(msg, details)
+
+def load_config(config):
+    return PrinterMCUError(config)

klippy/extras/exclude_object.py

@@ -234,7 +234,7 @@ class ExcludeObject:
 
         elif current:
             if not self.current_object:
-                gcmd.respond_error('There is no current object to cancel')
+                raise self.gcode.error('There is no current object to cancel')
 
             else:
                 self._exclude_object(self.current_object)

klippy/extras/fan.py

@@ -1,17 +1,14 @@
 # Printer cooling fan
 #
-# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import pulse_counter
+from . import pulse_counter, output_pin
-
-FAN_MIN_TIME = 0.100
 
 class Fan:
     def __init__(self, config, default_shutdown_speed=0.):
         self.printer = config.get_printer()
-        self.last_fan_value = 0.
+        self.last_fan_value = self.last_req_value = 0.
-        self.last_fan_time = 0.
         # Read config
         self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
         self.kick_start_time = config.getfloat('kick_start_time', 0.1,
@@ -36,6 +33,10 @@ class Fan:
             self.enable_pin = ppins.setup_pin('digital_out', enable_pin)
             self.enable_pin.setup_max_duration(0.)
 
+        # Create gcode request queue
+        self.gcrq = output_pin.GCodeRequestQueue(config, self.mcu_fan.get_mcu(),
+                                                 self._apply_speed)
+
         # Setup tachometer
         self.tachometer = FanTachometer(config)
 
@@ -45,37 +46,37 @@ class Fan:
 
     def get_mcu(self):
         return self.mcu_fan.get_mcu()
-    def set_speed(self, print_time, value):
+    def _apply_speed(self, print_time, value):
         if value < self.off_below:
             value = 0.
         value = max(0., min(self.max_power, value * self.max_power))
         if value == self.last_fan_value:
-            return
+            return "discard", 0.
-        print_time = max(self.last_fan_time + FAN_MIN_TIME, print_time)
         if self.enable_pin:
             if value > 0 and self.last_fan_value == 0:
                 self.enable_pin.set_digital(print_time, 1)
             elif value == 0 and self.last_fan_value > 0:
                 self.enable_pin.set_digital(print_time, 0)
-        if (value and value < self.max_power and self.kick_start_time
+        if (value and self.kick_start_time
             and (not self.last_fan_value or value - self.last_fan_value > .5)):
             # Run fan at full speed for specified kick_start_time
+            self.last_req_value = value
+            self.last_fan_value = self.max_power
             self.mcu_fan.set_pwm(print_time, self.max_power)
-            print_time += self.kick_start_time
+            return "delay", self.kick_start_time
+        self.last_fan_value = self.last_req_value = value
         self.mcu_fan.set_pwm(print_time, value)
-        self.last_fan_time = print_time
+    def set_speed(self, value, print_time=None):
-        self.last_fan_value = value
+        self.gcrq.send_async_request(value, print_time)
     def set_speed_from_command(self, value):
-        toolhead = self.printer.lookup_object('toolhead')
+        self.gcrq.queue_gcode_request(value)
-        toolhead.register_lookahead_callback((lambda pt:
-                                              self.set_speed(pt, value)))
     def _handle_request_restart(self, print_time):
-        self.set_speed(print_time, 0.)
+        self.set_speed(0., print_time)
 
     def get_status(self, eventtime):
         tachometer_status = self.tachometer.get_status(eventtime)
         return {
-            'speed': self.last_fan_value,
+            'speed': self.last_req_value,
             'rpm': tachometer_status['rpm'],
         }
 

klippy/extras/fan_generic.py

@@ -1,9 +1,10 @@
 # Support fans that are controlled by gcode
 #
-# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import fan
+import logging
+from . import fan, output_pin
 
 class PrinterFanGeneric:
     cmd_SET_FAN_SPEED_help = "Sets the speed of a fan"
@@ -12,6 +13,9 @@ class PrinterFanGeneric:
         self.fan = fan.Fan(config, default_shutdown_speed=0.)
         self.fan_name = config.get_name().split()[-1]
 
+        # Template handling
+        self.template_eval = output_pin.lookup_template_eval(config)
+
         gcode = self.printer.lookup_object("gcode")
         gcode.register_mux_command("SET_FAN_SPEED", "FAN",
                                    self.fan_name,
@@ -20,8 +24,21 @@ class PrinterFanGeneric:
 
     def get_status(self, eventtime):
         return self.fan.get_status(eventtime)
+    def _template_update(self, text):
+        try:
+            value = float(text)
+        except ValueError as e:
+            logging.exception("fan_generic template render error")
+        self.fan.set_speed(value)
     def cmd_SET_FAN_SPEED(self, gcmd):
-        speed = gcmd.get_float('SPEED', 0.)
+        speed = gcmd.get_float('SPEED', None, 0.)
+        template = gcmd.get('TEMPLATE', None)
+        if (speed is None) == (template is None):
+            raise gcmd.error("SET_FAN_SPEED must specify SPEED or TEMPLATE")
+        # Check for template setting
+        if template is not None:
+            self.template_eval.set_template(gcmd, self._template_update)
+            return
         self.fan.set_speed_from_command(speed)
 
 def load_config_prefix(config):

klippy/extras/force_move.py

@@ -86,11 +86,13 @@ class ForceMove:
                           0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
         print_time = print_time + accel_t + cruise_t + accel_t
         stepper.generate_steps(print_time)
-        self.trapq_finalize_moves(self.trapq, print_time + 99999.9)
+        self.trapq_finalize_moves(self.trapq, print_time + 99999.9,
+                                  print_time + 99999.9)
         stepper.set_trapq(prev_trapq)
         stepper.set_stepper_kinematics(prev_sk)
-        toolhead.note_kinematic_activity(print_time)
+        toolhead.note_mcu_movequeue_activity(print_time)
         toolhead.dwell(accel_t + cruise_t + accel_t)
+        toolhead.flush_step_generation()
     def _lookup_stepper(self, gcmd):
         name = gcmd.get('STEPPER')
         if name not in self.steppers:
@@ -129,8 +131,12 @@ class ForceMove:
         x = gcmd.get_float('X', curpos[0])
         y = gcmd.get_float('Y', curpos[1])
         z = gcmd.get_float('Z', curpos[2])
-        logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
+        clear = gcmd.get('CLEAR', '').lower()
-        toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
+        clear_axes = "".join([a for a in "xyz" if a in clear])
+        logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f clear=%s",
+                     x, y, z, clear_axes)
+        toolhead.set_position([x, y, z, curpos[3]], homing_axes="xyz")
+        toolhead.get_kinematics().clear_homing_state(clear_axes)
 
 def load_config(config):
     return ForceMove(config)