docs: Update release notes for v0.6.0 release

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

.travis.yml

@@ -0,0 +1,13 @@
+# This is a travis-ci.org continuous integration configuration file.
+language: c
+
+addons:
+    apt:
+        packages:
+            - gcc-avr
+            - avr-libc
+            - wget
+
+install: ./scripts/travis-install.sh
+
+script: ./scripts/travis-build.sh

Makefile

@@ -80,12 +80,12 @@ $(OUT)%.o.ctr: $(OUT)%.o
 $(OUT)compile_time_request.o: $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) ./scripts/buildcommands.py
 	@echo "  Building $@"
 	$(Q)cat $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) > $(OUT)klipper.compile_time_request
-	$(Q)$(PYTHON) ./scripts/buildcommands.py -d $(OUT)klipper.dict $(OUT)klipper.compile_time_request $(OUT)compile_time_request.c
+	$(Q)$(PYTHON) ./scripts/buildcommands.py -d $(OUT)klipper.dict -t "$(CC);$(AS);$(LD);$(OBJCOPY);$(OBJDUMP);$(STRIP)" $(OUT)klipper.compile_time_request $(OUT)compile_time_request.c
 	$(Q)$(CC) $(CFLAGS) -c $(OUT)compile_time_request.c -o $@
 
 $(OUT)klipper.elf: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o
 	@echo "  Linking $@"
-	$(Q)$(CC) $(CFLAGS_klipper.elf) $^ -o $@
+	$(Q)$(CC) $^ $(CFLAGS_klipper.elf) -o $@
 
 ################ Kconfig rules
 

config/avrsim.cfg

@@ -46,7 +46,7 @@ nozzle_diameter: 0.500
 filament_diameter: 3.500
 heater_pin: ar4
 sensor_type: EPCOS 100K B57560G104F
-sensor_pin: analog1
+sensor_pin: analog7
 control: pid
 pid_Kp: 22.2
 pid_Ki: 1.08

config/example-corexy.cfg

@@ -35,7 +35,7 @@ homing_speed: 50
 step_pin: ar46
 dir_pin: ar48
 enable_pin: !ar62
-step_distance: .01
+step_distance: .0025
 endstop_pin: ^ar18
 position_endstop: 0.5
 position_max: 200

config/example-delta.cfg

@@ -16,12 +16,22 @@ dir_pin: ar55
 enable_pin: !ar38
 step_distance: .01
 endstop_pin: ^ar2
+homing_speed: 50
 position_endstop: 297.05
+#   Distance (in mm) between the nozzle and the bed when the nozzle is
+#   in the center of the build area and the endstop triggers. This
+#   parameter must be provided for stepper_a; for stepper_b and
+#   stepper_c this parameter defaults to the value specified for
+#   stepper_a.
+arm_length: 333.0
+#   Length (in mm) of the diagonal rod that connects this tower to the
+#   print head. This parameter must be provided for stepper_a; for
+#   stepper_b and stepper_c this parameter defaults to the value
+#   specified for stepper_a.
 #angle:
 #   This option specifies the angle (in degrees) that the tower is
 #   at. The default is 210 for stepper_a, 330 for stepper_b, and 90
 #   for stepper_c.
-homing_speed: 50
 
 # The stepper_b section describes the stepper controlling the front
 # right tower (at 330 degrees).
@@ -31,7 +41,6 @@ dir_pin: ar61
 enable_pin: !ar56
 step_distance: .01
 endstop_pin: ^ar15
-position_endstop: 297.05
 
 # The stepper_c section describes the stepper controlling the rear
 # tower (at 90 degrees).
@@ -41,7 +50,6 @@ dir_pin: ar48
 enable_pin: !ar62
 step_distance: .01
 endstop_pin: ^ar19
-position_endstop: 297.05
 
 [extruder]
 step_pin: ar26
@@ -91,11 +99,33 @@ max_z_velocity: 150
 #   maximum speed of up/down moves (which require a higher step rate
 #   than other moves on a delta printer). The default is to use
 #   max_velocity for max_z_velocity.
-delta_arm_length: 333.0
+#minimum_z_position: 0
-#   Length (in mm) of the diagonal rods that connect the linear axes
+#   The minimum Z position that the user may command the head to move
-#   to the print head. This parameter must be provided.
+#   to.  The default is 0.
 delta_radius: 174.75
 #   Radius (in mm) of the horizontal circle formed by the three linear
 #   axis towers. This parameter may also be calculated as:
 #    delta_radius = smooth_rod_offset - effector_offset - carriage_offset
 #   This parameter must be provided.
+
+# The delta_calibrate section enables a DELTA_CALIBRATE extended
+# g-code command that can calibrate the tower endstop positions and
+# angles.
+[delta_calibrate]
+radius: 50
+#   Radius (in mm) of the area that may be probed. This is typically
+#   the size of the printer bed. This parameter must be provided.
+#speed: 50
+#   The speed (in mm/s) of non-probing moves during the
+#   calibration. The default is 50.
+#horizontal_move_z: 5
+#   The height (in mm) that the head should be commanded to move to
+#   just prior to starting a probe operation. The default is 5.
+#manual_probe:
+#   If true, then DELTA_CALIBRATE will perform manual probing. If
+#   false, then a PROBE command will be run at each probe
+#   point. Manual probing is accomplished by manually jogging the Z
+#   position of the print head at each probe point and then issuing a
+#   NEXT extended g-code command to record the position at that
+#   point. The default is false if a [probe] config section is present
+#   and true otherwise.

config/example-extras.cfg

@@ -2,6 +2,67 @@
 # additional devices that may be configured on a printer. The snippets
 # in this file may be copied into the main printer.cfg file. See the
 # "example.cfg" file for description of common config parameters.
+#
+# Note, where an extra config section creates additional pins, the
+# section defining the pins must be listed in the config file before
+# any sections using those pins.
+
+
+# Z height probe. One may define this section to enable Z height
+# probing hardware. When this section is enabled, PROBE and
+# QUERY_PROBE extended g-code commands become available. The probe
+# section also creates a virtual probe:z_virtual_endstop pin. One may
+# set the stepper_z endstop_pin to this virtual pin on cartesian style
+# printers that use the probe in place of a z endstop.
+#[probe]
+#pin: ar15
+#   Probe detection pin. This parameter must be provided.
+#z_offset:
+#   The distance (in mm) between the bed and the nozzle when the probe
+#   triggers. This parameter must be provided.
+#speed: 5.0
+#   Speed (in mm/s) of the Z axis when probing. The default is 5mm/s.
+#activate_gcode:
+#   A list of G-Code commands (one per line) to execute prior to each
+#   probe attempt. This may be useful if the probe needs to be
+#   activated in some way. The default is to not run any special
+#   G-Code commands on activation.
+#deactivate_gcode:
+#   A list of G-Code commands (one per line) to execute after each
+#   probe attempt completes. The default is to not run any special
+#   G-Code commands on deactivation.
+
+
+# Bed tilt compensation. One may define a [bed_tilt] config section to
+# enable move transformations that account for a tilted bed.
+#[bed_tilt]
+#x_adjust: 0
+#   The amount to add to each move's Z height for each mm on the X
+#   axis. The default is 0.
+#y_adjust: 0
+#   The amount to add to each move's Z height for each mm on the Y
+#   axis. The default is 0.
+# The remaining parameters control a BED_TILT_CALIBRATE extended
+# g-code command that may be used to calibrate appropriate x and y
+# adjustment parameters.
+#points:
+#    A newline separated list of X,Y points that should be probed
+#    during a BED_TILT_CALIBRATE command. The default is to not enable
+#    the command.
+#speed: 50
+#   The speed (in mm/s) of non-probing moves during the
+#   calibration. The default is 50.
+#horizontal_move_z: 5
+#   The height (in mm) that the head should be commanded to move to
+#   just prior to starting a probe operation. The default is 5.
+#manual_probe:
+#   If true, then BED_TILT_CALIBRATE will perform manual probing. If
+#   false, then a PROBE command will be run at each probe
+#   point. Manual probing is accomplished by manually jogging the Z
+#   position of the print head at each probe point and then issuing a
+#   NEXT extended g-code command to record the position at that
+#   point. The default is false if a [probe] config section is present
+#   and true otherwise.
 
 
 # In a multi-extruder printer add an additional extruder section for
@@ -13,6 +74,13 @@
 #step_pin: ar36
 #dir_pin: ar34
 #...
+#shared_heater:
+#   If this extruder uses the same heater already defined for another
+#   extruder then place the name of that extruder here.  For example,
+#   should extruder3 and extruder4 share a heater then the extruder3
+#   config section should define the heater and the extruder4 section
+#   should specify "shared_heater: extruder3". The default is to not
+#   reuse an existing heater.
 #deactivate_gcode:
 #   A list of G-Code commands (one per line) to execute on a G-Code
 #   tool change command (eg, "T1") that deactivates this extruder and
@@ -27,6 +95,102 @@
 #   activation.
 
 
+# Support for cartesian printers with dual carriages on a single
+# axis. The active carriage is set via the SET_DUAL_CARRIAGE extended
+# g-code command. The "SET_DUAL_CARRIAGE CARRIAGE=1" command will
+# activate the carriage defined in this section (CARRIAGE=0 will
+# return activation to the primary carriage). Dual carriage support is
+# typically combined with extra extruders - use the SET_DUAL_CARRIAGE
+# command in the activate_gcode / deactivate_gcode section of the
+# appropriate extruder. Be sure to also use that mechanism to park the
+# carriages during deactivation.
+#[dual_carriage]
+#axis:
+#   The axis this extra carriage is on (either x or y). This parameter
+#   must be provided.
+#step_pin:
+#dir_pin:
+#enable_pin:
+#step_distance:
+#endstop_pin:
+#position_endstop:
+#position_min:
+#position_max:
+#   See the example.cfg for the definition of the above parameters.
+
+
+# Heater and temperature sensor verification. Heater verification is
+# automatically enabled for each heater that is configured on the
+# printer. Use verify_heater sections to change the default settings.
+#[verify_heater heater_config_name]
+#heating_gain: 2
+#   The minimum temperature (in Celsius) that the heater must increase
+#   by when approaching a new target temperature. The default is 2.
+#check_gain_time:
+#   The amount of time (in seconds) that the heating_gain must be met
+#   in before an error is raised. The default is 20 seconds for
+#   extruders and 60 seconds for heater_bed.
+#hysteresis: 5
+#   The difference between the target temperature and the current
+#   temperature for the heater to be considered within range of the
+#   target temperature. The default is 5.
+#max_error: 120
+#   The maximum temperature difference a heater that falls outside the
+#   target temperature range may accumulate before an error is
+#   raised. For example, if the target temperature is 200, the
+#   hysteresis is 5, the max_error is 120, and the temperature is
+#   reported at 185 degrees for 12 seconds then an error would be
+#   raised (or 24 seconds at 190, or 120 seconds at 194, etc.). The
+#   default is 120.
+
+
+# Multi-stepper axes. On a cartesian style printer, the stepper
+# controlling a given axis may have additional config blocks defining
+# steppers that should be stepped in concert with the primary
+# stepper. One may define any number of sections with a numeric suffix
+# starting at 1 (for example, "stepper_z1", "stepper_z2", etc.).
+#[stepper_z1]
+#step_pin: ar36
+#dir_pin: ar34
+#enable_pin: !ar30
+#step_distance: .005
+#   See the example.cfg for the definition of the above parameters.
+#endstop_pin: ^ar19
+#   If an endstop_pin is defined for the additional stepper then the
+#   stepper will home until the endstop is triggered. Otherwise, the
+#   endstop will home until the endstop on the primary stepper for the
+#   axis is triggered.
+
+
+# Stepper phase adjusted endstops. The following additional parameters
+# may be added to a stepper axis definition to improve the accuracy of
+# endstop switches.
+#[stepper_z]
+#homing_stepper_phases:
+#   One may set this to the number of phases of the stepper motor
+#   driver (which is the number of micro-steps multiplied by
+#   four). This parameter must be provided if using stepper phase
+#   adjustments.
+#homing_endstop_accuracy: 0.200
+#   Sets the expected accuracy (in mm) of the endstop. This represents
+#   the maximum error distance the endstop may trigger (eg, if an
+#   endstop may occasionally trigger 100um early or up to 100um late
+#   then set this to 0.200 for 200um). The default is
+#   homing_stepper_phases*step_distance.
+#homing_endstop_phase:
+#   This specifies the phase of the stepper motor driver to expect
+#   when hitting the endstop. Only set this value if one is sure the
+#   stepper motor driver is reset every time the mcu is reset. If this
+#   is not set, then the stepper phase will be detected on the first
+#   home and that phase will be used on all subsequent homes.
+#homing_endstop_align_zero: False
+#   If true then the code will arrange for the zero position on the
+#   axis to occur at a full step on the stepper motor. (If used on the
+#   Z axis and the print layer height is a multiple of a full step
+#   distance then every layer will occur on a full step.) The default
+#   is False.
+
+
 # Heater cooling fans (one may define any number of sections with a
 # "heater_fan" prefix). A "heater fan" is a fan that will be enabled
 # whenever its associated heater is active. In the event of an MCU
@@ -79,7 +243,8 @@
 
 # Statically configured digital output pins (one may define any number
 # of sections with a "static_digital_output" prefix). Pins configured
-# here will be setup as a GPIO output during MCU configuration.
+# here will be setup as a GPIO output during MCU configuration. They
+# can not be changed at run-time.
 #[static_digital_output my_output_pins]
 #pins:
 #   A comma separated list of pins to be set as GPIO output pins. The
@@ -87,35 +252,60 @@
 #   with "!". This parameter must be provided.
 
 
-# Statically configured PWM output pins (one may define any number of
+# Run-time configurable output pins (one may define any number of
-# sections with a "static_pwm_output" prefix). Pins configured here
+# sections with an "output_pin" prefix). Pins configured here will be
-# will be setup as PWM outputs during MCU configuration.
+# setup as output pins and one may modify them at run-time using the
-#[static_pwm_output my_output_pwm]
+# "SET_PIN PIN=my_pin VALUE=.1" extended g-code command.
+#[output_pin my_pin]
 #pin:
-#   The pin to configure as PWM output. This parameter must be
+#   The pin to configure as an output. This parameter must be
 #   provided.
+#pwm: False
+#   Set if the output pin should be capable of
+#   pulse-width-modulation. 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 statically set the PWM output to. This is typically
+#   The value to initially set the pin to during MCU
-#   set to a number between 0.0 and 1.0 with 1.0 being full on and 0.0
+#   configuration. The default is 0 (for low voltage).
-#   being full off. However, the range may be changed with the 'scale'
+#shutdown_value:
-#   parameter (see below). This parameter must be provided.
+#   The value to set the pin to on an MCU shutdown event. The default
-#hard_pwm:
+#   is 0 (for low voltage).
-#   Set this value to force hardware PWM instead of software PWM. Set
-#   to 1 to force a hardware PWM at the fastest rate; set to a higher
-#   number to force hardware PWM with the given cycle time in clock
-#   ticks. The default is to use software PWM.
 #cycle_time: 0.100
-#   The amount of time (in seconds) per PWM cycle when using software
+#   The amount of time (in seconds) per PWM cycle. It is recommended
-#   based PWM. The default is 0.100 seconds.
+#   this be 10 milliseconds or greater when using software based
+#   PWM. The default is 0.100 seconds for pwm pins.
+#hardware_pwm: False
+#   Enable this to use hardware PWM instead of software PWM. The
+#   default is False.
 #scale:
-#   This parameter can be used to alter how the 'value' parameter is
+#   This parameter can be used to alter how the 'value' and
-#   interpreted. If provided, then the 'value' parameter should be
+#   'shutdown_value' parameters are interpreted for pwm pins. If
-#   between 0.0 and 'scale'. This may be useful when configuring a PWM
+#   provided, then the 'value' parameter should be between 0.0 and
-#   pin that controls a stepper voltage reference. The 'scale' can be
+#   'scale'. This may be useful when configuring a PWM pin that
-#   set to the equivalent stepper amperage if the PWM were fully
+#   controls a stepper voltage reference. The 'scale' can be set to
-#   enabled, and then the 'value' parameter can be specified using the
+#   the equivalent stepper amperage if the PWM were fully enabled, and
-#   desired amperage for the stepper. The default is to not scale the
+#   then the 'value' parameter can be specified using the desired
-#   'value' parameter.
+#   amperage for the stepper. The default is to not scale the 'value'
+#   parameter.
+
+
+# Multiple pin outputs (one may define any number of sections with a
+# "multi_pin" prefix). A multi_pin output creates an internal pin
+# alias that can modify multiple output pins each time the alias pin
+# is set. For example, one could define a "[multi_pin my_fan]" object
+# containing two pins and then set "pin=multi_pin:my_fan" in the
+# "[fan]" section - on each fan change both output pins would be
+# updated. These aliases may not be used with stepper motor pins.
+#[multi_pin my_multi_pin]
+#pins:
+#   A comma separated list of pins associated with this alias. This
+#   parameter must be provided.
 
 
 # Statically configured AD5206 digipots connected via SPI bus (one may
@@ -148,6 +338,63 @@
 #   default is to not scale the 'channel_x' parameters.
 
 
+# Homing override. One may use this mechanism to run a series of
+# g-code commands in place of a G28 found in the normal g-code input.
+# This may be useful on printers that require a specific procedure to
+# home the machine.
+#[homing_override]
+#gcode:
+#   A list of G-Code commands (one per line) to execute in place of
+#   all G28 commands found in the normal g-code input. If a G28 is
+#   contained in this list of commands then it will invoke the normal
+#   homing procedure for the printer. The commands listed here must
+#   home all axes. This parameter must be provided.
+#set_position_x:
+#set_position_y:
+#set_position_z:
+#   If specified, the printer will assume the axis is at the specified
+#   position prior to running the above g-code commands. Setting this
+#   disables homing checks for that axis. This may be useful if the
+#   head must move prior to invoking the normal G28 mechanism for an
+#   axis. The default is to not force a position for an axis.
+
+
+# A virtual sdcard may be useful if the host machine is not fast
+# enough to run OctoPrint well. It allows the Klipper host software to
+# directly print gcode files stored in a directory on the host using
+# standard sdcard G-Code commands (eg, M24).
+#[virtual_sdcard]
+#path: ~/.octoprint/uploads/
+#   The path of the local directory on the host machine to look for
+#   g-code files. This is a read-only directory (sdcard file writes
+#   are not supported). One may point this to OctoPrint's upload
+#   directory (generally ~/.octoprint/uploads/ ). This parameter must
+#   be provided.
+
+
+# Support for a display attached to the micro-controller.
+#[display]
+#lcd_type:
+#    The type of LCD chip in use. This may be either "hd44780" (which
+#    is used in "RepRapDiscount 2004 Smart Controller" type displays)
+#    or "st7920" (which is used in "RepRapDiscount 12864 Full Graphic
+#    Smart Controller" type displays). This parameter must be
+#    provided.
+#rs_pin:
+#e_pin:
+#d4_pin:
+#d5_pin:
+#d6_pin:
+#d7_pin:
+#    The pins connected to an hd44780 type lcd. These parameters must
+#    be provided when using an hd44780 display.
+#cs_pin:
+#sclk_pin:
+#sid_pin:
+#    The pins connected to an st7920 type lcd. These parameters must
+#    be provided when using an st7920 display.
+
+
 # Replicape support - see the generic-replicape.cfg file for further
 # details.
 #[replicape]

config/example-multi-mcu.cfg

@@ -0,0 +1,87 @@
+# This file contains an example configuration with three
+# micro-controllers simultaneously controlling a single printer.
+
+# See both the example.cfg and example-extras.cfg file for a
+# description of available parameters.
+
+
+# The main micro-controller is used as the timing source for all the
+# micro-controllers on the printer. Typically, both the X and Y axes
+# are connected to the main micro-controller.
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+# The "zboard" micro-controller will be used to control the Z axis.
+[mcu zboard]
+serial: /dev/ttyACM1
+pin_map: arduino
+
+# The "auxboard" micro-controller will be used to control the heaters.
+[mcu auxboard]
+serial: /dev/ttyACM2
+pin_map: arduino
+
+[stepper_x]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: .0125
+endstop_pin: ^ar3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: ar60
+dir_pin: !ar61
+enable_pin: !ar56
+step_distance: .0125
+endstop_pin: ^ar14
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: zboard:ar46
+dir_pin: zboard:ar48
+enable_pin: !zboard:ar62
+step_distance: .0025
+endstop_pin: ^zboard:ar18
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: auxboard:ar26
+dir_pin: auxboard:ar28
+enable_pin: !auxboard:ar24
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: auxboard:ar10
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: auxboard:analog13
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: auxboard:ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: auxboard:analog14
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: auxboard:ar9
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

config/example.cfg

@@ -57,26 +57,6 @@ position_max: 200
 #   direction (away from zero); if false, home towards zero. The
 #   default is true if position_endstop is near position_max and false
 #   if near position_min.
-#homing_stepper_phases: 0
-#   One may optionally set this to the number of phases of the stepper
-#   motor driver (which is the number of micro-steps multiplied by
-#   four). When set, the phase of the stepper driver will be used
-#   during homing to improve the accuracy of the endstop switch.
-#homing_endstop_accuracy: 0.200
-#   Sets the expected accuracy (in mm) of the endstop. This represents
-#   the maximum error distance the endstop may trigger (eg, if an
-#   endstop may occasionally trigger 100um early or up to 100um late
-#   then set this to 0.200 for 200um). This setting is used with
-#   homing_stepper_phases and is only useful if that parameter is also
-#   configured.
-#homing_endstop_phase: 0
-#   This specifies the phase of the stepper motor driver to expect
-#   when hitting the endstop. This setting is only meaningful if
-#   homing_stepper_phases is also set. Only set this value if one is
-#   sure the stepper motor driver is reset every time the mcu is
-#   reset. If this is not set, but homing_stepper_phases is set, then
-#   the stepper phase will be detected on the first home and that
-#   phase will be used on all subsequent homes.
 
 # The stepper_y section is used to describe the stepper controlling
 # the Y axis in a cartesian robot. It has the same settings as the
@@ -197,15 +177,24 @@ pid_Kd: 114
 #pid_integral_max:
 #   The maximum "windup" the integral term may accumulate. The default
 #   is to use the same value as max_power.
+#pwm_cycle_time: 0.100
+#   Time in seconds for each software PWM cycle of the heater. It is
+#   not recommended to set this unless there is an electrical
+#   requirement to switch the heater faster than 10 times a second.
+#   The default is 0.100 seconds.
 #min_extrude_temp: 170
 #   The minimum temperature (in Celsius) at which extruder move
 #   commands may be issued. The default is 170 Celsius.
 min_temp: 0
-#   Minimum temperature in Celsius (mcu will shutdown if not
-#   met). This parameter must be provided.
 max_temp: 210
-#   Maximum temperature (mcu will shutdown if temperature is above
+#   The maximum range of valid temperatures (in Celsius) that the
-#   this value). This parameter must be provided.
+#   heater must remain within. This controls a safety feature
+#   implemented in the micro-controller code - should the measured
+#   temperature ever fall outside this range then the micro-controller
+#   will go into a shutdown state. This check can help detect some
+#   heater and sensor hardware failures. Set this range just wide
+#   enough so that reasonable temperatures do not result in an
+#   error. These parameters must be provided.
 
 # The heater_bed section describes a heated bed (if present - omit
 # section if not present).
@@ -234,12 +223,13 @@ pin: ar9
 #   pin to be enabled for no more than half the time. This setting may
 #   be used to limit the total power output (over extended periods) to
 #   the fan. The default is 1.0.
-#hard_pwm: 0
+#cycle_time: 0.010
-#   Set this value to force hardware PWM instead of software PWM. Set
+#   The amount of time (in seconds) for each PWM power cycle to the
-#   to 1 to force a hardware PWM at the fastest rate; set to a higher
+#   fan. It is recommended this be 10 milliseconds or greater when
-#   number to force hardware PWM with the given cycle time in clock
+#   using software based PWM. The default is 0.010 seconds.
-#   ticks. The default is 0 which enables software PWM with a cycle
+#hardware_pwm: False
-#   time of 10ms.
+#   Enable this to use hardware PWM instead of software PWM. The
+#   default is False.
 #kick_start_time: 0.100
 #   Time (in seconds) to run the fan at full speed when first enabling
 #   it (helps get the fan spinning). The default is 0.100 seconds.
@@ -253,7 +243,7 @@ serial: /dev/ttyACM0
 pin_map: arduino
 #   This option may be used to enable Arduino pin name aliases. The
 #   default is to not enable the aliases.
-#restart_method: arduino
+#restart_method:
 #   This controls the mechanism the host will use to reset the
 #   micro-controller. The choices are 'arduino', 'rpi_usb', and
 #   'command'. The 'arduino' method (toggle DTR) is common on Arduino
@@ -262,7 +252,8 @@ pin_map: arduino
 #   disables power to all USB ports to accomplish a micro-controller
 #   reset. The 'command' method involves sending a Klipper command to
 #   the micro-controller so that it can reset itself. The default is
-#   'arduino'.
+#   'arduino' if the micro-controller communicates over a serial port,
+#   'command' otherwise.
 
 # The printer section controls high level printer settings.
 [printer]
@@ -298,3 +289,6 @@ max_z_accel: 30
 #   centripetal velocity cornering algorithm. A larger number will
 #   permit higher "cornering speeds" at the junction of two moves. The
 #   default is 0.02mm.
+
+
+# Looking for more options? Check the example-extras.cfg file.

config/generic-cramps.cfg

@@ -34,7 +34,7 @@ homing_speed: 50
 step_pin: P8_19
 dir_pin: P8_18
 enable_pin: !P9_14
-step_distance: 0.00025
+step_distance: .0025
 endstop_pin: ^P9_13
 position_endstop: 0
 position_max: 200
@@ -48,6 +48,7 @@ nozzle_diameter: 0.400
 filament_diameter: 1.750
 heater_pin: P9_15
 sensor_type: EPCOS 100K B57560G104F
+pullup_resistor: 2000
 sensor_pin: P9_36
 control: pid
 pid_Kp: 22.2
@@ -59,6 +60,7 @@ max_temp: 250
 [heater_bed]
 heater_pin: P8_11
 sensor_type: EPCOS 100K B57560G104F
+pullup_resistor: 2000
 sensor_pin: P9_33
 control: watermark
 min_temp: 0
@@ -77,3 +79,8 @@ max_velocity: 300
 max_accel: 3000
 max_z_velocity: 5
 max_z_accel: 100
+
+[output_pin machine_enable]
+pin: P9_23
+value: 1
+shutdown_value: 0

config/generic-melzi.cfg

@@ -2,9 +2,12 @@
 # this config, the firmware should be compiled for the AVR
 # atmega1284p.
 
-# Note that the "make flash" command does not work with Melzi
+# Note, a number of Melzi boards are shipped without a bootloader. In
-# boards. The boards are typically flashed with this command:
+# that case, an external programmer will be needed to flash a
-#  avrdude -p atmega1284p -c avrisp -P /dev/ttyUSB0 -U flash:w:out/klipper.elf.hex
+# bootloader to the board (for example, see
+# http://www.instructables.com/id/Flashing-a-Bootloader-to-the-CR-10/
+# ). Once that is done, one should be able to use the standard "make
+# flash" command to flash Klipper.
 
 # See the example.cfg file for a description of available parameters.
 
@@ -32,7 +35,7 @@ homing_speed: 50
 step_pin: PB3
 dir_pin: !PB2
 enable_pin: !PA5
-step_distance: 0.00025
+step_distance: .0025
 endstop_pin: ^!PC4
 position_endstop: 0.5
 position_max: 200

config/generic-mini-rambo.cfg

@@ -0,0 +1,109 @@
+# This file contains common pin mappings for Mini-RAMBo boards. To use
+# this config, the firmware should be compiled for the AVR atmega2560.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: PC0
+dir_pin: PL1
+enable_pin: !PA7
+step_distance: .005
+endstop_pin: ^PB6
+#endstop_pin: ^PC7
+position_endstop: 0
+position_max: 250
+
+[stepper_y]
+step_pin: PC1
+dir_pin: !PL0
+enable_pin: !PA6
+step_distance: .005
+endstop_pin: ^PB5
+#endstop_pin: ^PA2
+position_endstop: 0
+position_max: 210
+
+[stepper_z]
+step_pin: PC2
+dir_pin: PL2
+enable_pin: !PA5
+step_distance: .0025
+endstop_pin: ^PB4
+#endstop_pin: ^PA1
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PC3
+dir_pin: PL6
+enable_pin: !PA4
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PE5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF0
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PG5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF2
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PH5
+
+#[heater_fan nozzle_cooling_fan]
+#pin: PH3
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[output_pin stepper_xy_current]
+pin: PL3
+pwm: True
+scale: 2.0
+cycle_time: .002
+hardware_pwm: True
+static_value: 1.3
+
+[output_pin stepper_z_current]
+pin: PL4
+pwm: True
+scale: 2.0
+cycle_time: .002
+hardware_pwm: True
+static_value: 1.3
+
+[output_pin stepper_e_current]
+pin: PL5
+pwm: True
+scale: 2.0
+cycle_time: .002
+hardware_pwm: True
+static_value: 1.25
+
+[static_digital_output stepper_config]
+pins:
+    PG1, PG0,
+    PK7, PG2,
+    PK6, PK5,
+    PK3, PK4
+
+[static_digital_output yellow_led]
+pins: !PB7

config/generic-printrboard.cfg

@@ -0,0 +1,76 @@
+# This file contains common pin mappings for Printrboard boards (rev B
+# through D). To use this config the firmware should be compiled for
+# the AVR at90usb1286.
+
+# Note that the "make flash" command is unlikely to work on the
+# Printrboard. See the RepRap Printrboard wiki page for instructions
+# on flashing.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: PA0
+dir_pin: !PA1
+enable_pin: !PE7
+step_distance: .0125
+endstop_pin: ^PE3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PA2
+dir_pin: PA3
+enable_pin: !PE6
+step_distance: .0125
+endstop_pin: ^PB0
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PA4
+dir_pin: !PA5
+enable_pin: !PC7
+step_distance: .0025
+endstop_pin: ^PE4
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA6
+dir_pin: PA7
+enable_pin: !PC3
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF1
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PC4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF0
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PC6
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

config/generic-rambo.cfg

@@ -29,7 +29,7 @@ homing_speed: 50
 step_pin: PC2
 dir_pin: PL2
 enable_pin: !PA5
-step_distance: 0.00025
+step_distance: .0025
 endstop_pin: ^PB4
 #endstop_pin: ^PC7
 position_endstop: 0.5
@@ -103,7 +103,24 @@ pins:
     PK7, PG2,
     PK6, PK5,
     PK3, PK4,
-    PK2, PK1
+    PK1, PK2
 
 [static_digital_output yellow_led]
 pins: !PB7
+
+# "RepRapDiscount 2004 Smart Controller" type displays
+#[display]
+#lcd_type: hd44780
+#rs_pin: PG4
+#e_pin: PG3
+#d4_pin: PJ2
+#d5_pin: PJ3
+#d6_pin: PJ7
+#d7_pin: PJ4
+
+# "RepRapDiscount 128x64 Full Graphic Smart Controller" type displays
+#[display]
+#lcd_type: st7920
+#cs_pin: PG4
+#sclk_pin: PJ2
+#sid_pin: PG3

config/generic-ramps.cfg

@@ -30,7 +30,7 @@ homing_speed: 50
 step_pin: ar46
 dir_pin: ar48
 enable_pin: !ar62
-step_distance: 0.00025
+step_distance: .0025
 endstop_pin: ^ar18
 #endstop_pin: ^ar19
 position_endstop: 0.5
@@ -82,3 +82,20 @@ max_velocity: 300
 max_accel: 3000
 max_z_velocity: 5
 max_z_accel: 100
+
+# "RepRapDiscount 2004 Smart Controller" type displays
+#[display]
+#lcd_type: hd44780
+#rs_pin: ar16
+#e_pin: ar17
+#d4_pin: ar23
+#d5_pin: ar25
+#d6_pin: ar27
+#d7_pin: ar29
+
+# "RepRapDiscount 128x64 Full Graphic Smart Controller" type displays
+#[display]
+#lcd_type: st7920
+#cs_pin: ar16
+#sclk_pin: ar23
+#sid_pin: ar17

config/generic-replicape.cfg

@@ -13,6 +13,62 @@
 
 # See the example.cfg file for a description of available parameters.
 
+[mcu]
+serial: /dev/rpmsg_pru30
+pin_map: beaglebone
+
+[mcu host]
+serial: /tmp/klipper_host_mcu
+
+# The "replicape" config section adds "replicape:stepper_x_enable"
+# virtual stepper enable pins (for steppers x, y, z, e, and h) and
+# "replicape:power_x" PWM output pins (for hotbed, e, h, fan0, fan1,
+# fan2, and fan3) that may then be used elsewhere in the config file.
+[replicape]
+revision: B3
+#   The replicape hardware revision. Currently only revision "B3" is
+#   supported. This parameter must be provided.
+#enable_pin: !P9_41
+#   The replicape global enable pin. The default is !P9_41.
+host_mcu: host
+#   The name of the mcu config section that communicates with the
+#   Klipper "linux process" mcu instance. This parameter must be
+#   provided.
+#standstill_power_down: False
+#   This parameter controls the CFG6_ENN line on all stepper
+#   motors. True sets the enable lines to "open". The default is
+#   False.
+#servo0_enable: False
+#   This parameter controls whether end_stop_X_2 is used for endstops
+#   (via P9_11) or for servo_0 (via P9_14). The default is False.
+#servo1_enable: False
+#   This parameter controls whether end_stop_Y_2 is used for endstops
+#   (via P9_28) or for servo_1 (via P9_16). The default is False.
+stepper_x_microstep_mode: spread16
+#   This parameter controls the CFG1 and CFG2 pins of the given
+#   stepper motor driver. Available options are: disable, 1, 2,
+#   spread2, 4, 16, spread4, spread16, stealth4, and stealth16. The
+#   default is disable.
+stepper_x_current: 0.5
+#   The configured maximum current (in Amps) of the stepper motor
+#   driver. This parameter must be provided if the stepper is not in a
+#   disable mode.
+#stepper_x_chopper_off_time_high: False
+#   This parameter controls the CFG0 pin of the stepper motor driver
+#   (True sets CFG0 high, False sets it low). The default is False.
+#stepper_x_chopper_hysteresis_high: False
+#   This parameter controls the CFG4 pin of the stepper motor driver
+#   (True sets CFG4 high, False sets it low). The default is False.
+#stepper_x_chopper_blank_time_high: True
+#   This parameter controls the CFG5 pin of the stepper motor driver
+#   (True sets CFG5 high, False sets it low). The default is True.
+stepper_y_microstep_mode: spread16
+stepper_y_current: 0.5
+stepper_z_microstep_mode: spread16
+stepper_z_current: 0.5
+stepper_e_microstep_mode: 16
+stepper_e_current: 0.5
+
 [stepper_x]
 step_pin: P8_17
 dir_pin: P8_26
@@ -37,11 +93,18 @@ homing_speed: 50
 step_pin: P8_13
 dir_pin: P8_14
 enable_pin: replicape:stepper_z_enable
-step_distance: 0.00025
+step_distance: .0025
 endstop_pin: ^P9_13
 position_endstop: 0
 position_max: 200
 
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 25
+max_z_accel: 30
+
 [extruder]
 step_pin: P9_12
 dir_pin: P8_15
@@ -69,56 +132,3 @@ max_temp: 130
 
 [fan]
 pin: replicape:power_fan0
-
-[mcu]
-serial: /dev/rpmsg_pru30
-pin_map: beaglebone
-
-[printer]
-kinematics: cartesian
-max_velocity: 300
-max_accel: 3000
-max_z_velocity: 25
-max_z_accel: 30
-
-[mcu host]
-serial: /tmp/klipper_host_mcu
-
-# The "replicape" config section adds "replicape:stepper_x_enable"
-# virtual stepper enable pins (for steppers x, y, z, e, and h) and
-# "replicape:power_x" PWM output pins (for hotbed, e, h, fan0, fan1,
-# fan2, and fan3) that may then be used elsewhere in the config file.
-[replicape]
-revision: B3
-#   The replicape hardware revision. Currently only revision "B3" is
-#   supported. This parameter must be provided.
-#enable_pin: !P9_41
-#   The replicape global enable pin. The default is !P9_41.
-host_mcu: host
-#   The name of the mcu config section that communicates with the
-#   Klipper "linux process" mcu instance. This parameter must be
-#   provided.
-stepper_x_microstep_mode: spread16
-#   This parameter controls the CFG1 and CFG2 pins of the given
-#   stepper motor driver. Available options are: disable, 1, 2,
-#   spread2, 4, 16, spread4, spread16, stealth4, and stealth16. The
-#   default is disable.
-stepper_x_current: 0.5
-#   The configured maximum current (in Amps) of the stepper motor
-#   driver. This parameter must be provided if the stepper is not in a
-#   disable mode.
-#stepper_x_chopper_off_time_high: False
-#   This parameter controls the CFG0 pin of the stepper motor driver
-#   (True sets CFG0 high, False sets it low). The default is False.
-#stepper_x_chopper_hysteresis_high: False
-#   This parameter controls the CFG4 pin of the stepper motor driver
-#   (True sets CFG4 high, False sets it low). The default is False.
-#stepper_x_chopper_blank_time_high: True
-#   This parameter controls the CFG5 pin of the stepper motor driver
-#   (True sets CFG5 high, False sets it low). The default is True.
-stepper_y_microstep_mode: spread16
-stepper_y_current: 0.5
-stepper_z_microstep_mode: spread16
-stepper_z_current: 0.5
-stepper_e_microstep_mode: 16
-stepper_e_current: 0.5

config/printer-anet-a8-2017.cfg

@@ -0,0 +1,79 @@
+# This file contains common pin mappings for Anet A8 printer from 2016
+# and 2017. To use this config, the firmware should be compiled for
+# the AVR atmega1284p.
+
+# Note that the "make flash" command does not work with Anet boards -
+# the boards are typically flashed with this command:
+#  avrdude -p atmega1284p -c arduino -b 57600 -P /dev/ttyUSB0 -U out/klipper.elf.hex
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: PD7
+dir_pin: PC5
+enable_pin: !PD6
+step_distance: .01
+endstop_pin: ^!PC2
+position_endstop: -30
+position_max: 220
+position_min: -30
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC6
+dir_pin: PC7
+enable_pin: !PD6
+step_distance: .01
+endstop_pin: ^!PC3
+position_endstop: -8
+position_min: -8
+position_max: 220
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB3
+dir_pin: !PB2
+enable_pin: !PA5
+step_distance: .0025
+endstop_pin: ^!PC4
+position_endstop: 0.5
+position_max: 240
+homing_speed: 20
+
+[extruder]
+step_pin: PB1
+dir_pin: PB0
+enable_pin: !PD6
+step_distance: .0105
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PD5
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PA7
+control: pid
+pid_Kp: 2.151492
+pid_Ki: 0.633897
+pid_Kd: 230.042965
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PD4
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PA6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PB4
+
+[mcu]
+serial: /dev/ttyUSB0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 1000
+max_z_velocity: 20
+max_z_accel: 100

config/printer-anycubic-i3-mega-2017.cfg

@@ -0,0 +1,93 @@
+# This file contains pin mappings for the Anycubic i3 Mega with
+# Ultrabase from 2017. (This config may work on an Anycubic i3 Mega v1
+# prior to the Ultrabase if you comment out the definition of the
+# endstop_pin in the stepper_z1 section.) To use this config, the
+# firmware should be compiled for the AVR atmega2560.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: ar54
+dir_pin: !ar55
+enable_pin: !ar38
+step_distance: .0125
+endstop_pin: ^!ar3
+position_min: -5
+position_endstop: -5
+position_max: 210
+homing_speed: 30.0
+
+[stepper_y]
+step_pin: ar60
+dir_pin: ar61
+enable_pin: !ar56
+step_distance: .0125
+endstop_pin: ^!ar42
+position_endstop: 0
+position_max: 210
+homing_speed: 30.0
+
+[stepper_z]
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
+step_distance: .0025
+endstop_pin: ^!ar18
+position_endstop: 0.0
+position_max: 205
+homing_speed: 5.0
+
+[stepper_z1]
+step_pin: ar36
+dir_pin: ar34
+enable_pin: !ar30
+step_distance: .0025
+endstop_pin: ^!ar43
+
+[extruder]
+step_pin: ar26
+dir_pin: ar28
+enable_pin: !ar24
+step_distance: .010799
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: ar10
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: analog13
+control: pid
+pid_Kp: 15.717
+pid_Ki: 0.569
+pid_Kd: 108.451
+min_temp: 0
+max_temp: 245
+
+[heater_fan extruder_fan]
+pin: ar44
+
+[heater_bed]
+heater_pin: ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog14
+control: pid
+pid_Kp: 74.883
+pid_Ki: 1.809
+pid_Kd: 775.038
+min_temp: 0
+max_temp: 110
+
+[fan]
+pin: ar9
+
+[mcu]
+serial: /dev/ttyUSB0
+pin_map: arduino
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 10
+max_z_accel: 60
+
+[heater_fan stepstick_fan]
+pin: ar7

config/printer-creality-cr10-2017.cfg

@@ -0,0 +1,88 @@
+# This file contains common pin mappings for the 2017 Creality
+# CR-10. To use this config, the firmware should be compiled for the
+# AVR atmega1284p.
+
+# Note, a number of Melzi boards are shipped without a bootloader. In
+# that case, an external programmer will be needed to flash a
+# bootloader to the board (for example, see
+# http://www.instructables.com/id/Flashing-a-Bootloader-to-the-CR-10/
+# ). Once that is done, one should be able to use the standard "make
+# flash" command to flash Klipper.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: PD7
+dir_pin: !PC5
+enable_pin: !PD6
+step_distance: .0125
+endstop_pin: ^PC2
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC6
+dir_pin: !PC7
+enable_pin: !PD6
+step_distance: .0125
+endstop_pin: ^PC3
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB3
+dir_pin: PB2
+enable_pin: !PA5
+step_distance: .0025
+endstop_pin: ^PC4
+position_endstop: 0.0
+position_max: 400
+
+[extruder]
+step_pin: PB1
+dir_pin: !PB0
+enable_pin: !PD6
+step_distance: 0.010526
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PD5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA7
+control: pid
+pid_Kp: 22.57
+pid_Ki: 1.72
+pid_Kd: 73.96
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PD4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA6
+control: pid
+pid_Kp: 426.68
+pid_Ki: 78.92
+pid_Kd: 576.71
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PB4
+
+[mcu]
+serial: /dev/ttyUSB0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[display]
+lcd_type: st7920
+cs_pin: PA3
+sclk_pin: PA1
+sid_pin: PC1

config/printer-creality-cr10s-2017.cfg

@@ -0,0 +1,75 @@
+# This file contains pin mappings for the 2017 Creality CR-10S. To use
+# this config, the firmware should be compiled for the AVR atmega2560.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: .0125
+endstop_pin: ^ar3
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+
+[stepper_y]
+step_pin: ar60
+dir_pin: ar61
+enable_pin: !ar56
+step_distance: .0125
+endstop_pin: ^ar14
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+
+[stepper_z]
+step_pin: ar46
+dir_pin: !ar48
+enable_pin: !ar62
+step_distance: .0025
+endstop_pin: ^ar18
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: ar26
+dir_pin: ar28
+enable_pin: !ar24
+step_distance: .010526
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: ar10
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog13
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog14
+control: pid
+pid_Kp: 690.34
+pid_Ki: 111.47
+pid_Kd: 1068.83
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: ar9
+
+[mcu]
+serial: /dev/ttyUSB0
+pin_map: arduino
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

config/printer-lulzbot-taz6-2017.cfg

@@ -0,0 +1,116 @@
+# This file contains pin mappings for the Lulzbot TAZ 6 circa 2017. To
+# use this config, the firmware should be compiled for the AVR
+# atmega2560.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: PC0
+dir_pin: PL1
+enable_pin: !PA7
+step_distance: .010000
+endstop_pin: ^PB6
+position_endstop: -20
+position_min: -20
+position_max: 300
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC1
+dir_pin: !PL0
+enable_pin: !PA6
+step_distance: .010000
+endstop_pin: ^PA1
+position_endstop: 306
+position_min: -20
+position_max: 306
+homing_speed: 50
+
+[stepper_z]
+step_pin: PC2
+dir_pin: PL2
+enable_pin: !PA5
+step_distance: 0.000625
+endstop_pin: ^!PB4
+position_endstop: -0.7
+position_min: -1.5
+position_max: 270
+homing_speed: 1
+
+[extruder]
+step_pin: PC3
+dir_pin: !PL6
+enable_pin: !PA4
+step_distance: 0.001182
+nozzle_diameter: 0.400
+filament_diameter: 2.920
+heater_pin: PH6
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PF0
+control: pid
+pid_Kp: 28.79
+pid_Ki: 1.91
+pid_Kd: 108.51
+min_temp: 0
+max_temp: 300
+min_extrude_temp: 140
+
+#[extruder1]
+#step_pin: PC4
+#dir_pin: PL7
+#enable_pin: !PA3
+#heater_pin: PH4
+#sensor_pin: PF1
+#...
+
+[heater_bed]
+heater_pin: PE5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF2
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PH5
+
+[heater_fan nozzle_cooling_fan]
+pin: PH3
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 2
+max_z_accel: 10
+
+[ad5206 stepper_digipot]
+enable_pin: PD7
+scale: 2.08
+# Channel 1 is E0, 2 is E1, 3 is unused, 4 is Z, 5 is X, 6 is Y
+channel_1: 1.34
+channel_2: 1.0
+channel_4: 1.1
+channel_5: 1.1
+channel_6: 1.1
+
+# Enable 16 micro-steps on steppers X, Y, Z, E0, E1
+[static_digital_output stepper_config]
+pins:
+    PG1, PG0,
+    PK7, PG2,
+    PK6, PK5,
+    PK3, PK4,
+    PK1, PK2
+
+[static_digital_output yellow_led]
+pins: !PB7
+
+[display]
+lcd_type: st7920
+cs_pin: PG4
+sclk_pin: PJ2
+sid_pin: PG3

config/printer-makergear-m2-2012.cfg

@@ -72,7 +72,8 @@ pin: PH5
 [heater_fan nozzle_fan]
 pin: PH3
 max_power: 0.61
-hard_pwm: 1
+cycle_time: .000030
+hardware_pwm: True
 
 [mcu]
 serial: /dev/ttyACM0

config/printer-seemecnc-rostock-max-v2-2015.cfg

@@ -0,0 +1,94 @@
+# This file constains the pin mappings for the SeeMeCNC Rostock Max
+# (version 2) delta printer from 2015. To use this config, the
+# firmware should be compiled for the AVR atmega2560.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_a]
+step_pin: PC0
+dir_pin: !PL1
+enable_pin: !PA7
+step_distance: .0125
+endstop_pin: ^PA2
+homing_speed: 50
+position_endstop: 380
+arm_length: 290.800
+
+[stepper_b]
+step_pin: PC1
+dir_pin: PL0
+enable_pin: !PA6
+step_distance: .0125
+endstop_pin: ^PA1
+
+[stepper_c]
+step_pin: PC2
+dir_pin: !PL2
+enable_pin: !PA5
+step_distance: .0125
+endstop_pin: ^PC7
+
+[extruder]
+step_pin: PC3
+dir_pin: !PL6
+enable_pin: !PA4
+step_distance: .010793
+nozzle_diameter: 0.500
+filament_diameter: 1.750
+heater_pin: PH6
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PF0
+control: pid
+pid_Kp: 20.9700
+pid_Ki: 1.3400
+pid_Kd: 80.5600
+min_temp: 0
+max_temp: 300
+
+[heater_bed]
+heater_pin: PE5
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PF2
+control: pid
+pid_Kp: 46.510
+pid_Ki: 1.040
+pid_Kd: 500.000
+min_temp: 0
+max_temp: 300
+
+[fan]
+pin: PH5
+
+[heater_fan nozzle_cooling_fan]
+pin: PH4
+heater: extruder
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: delta
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 150
+delta_radius: 174.75
+
+[ad5206 stepper_digipot]
+enable_pin: PD7
+scale: 2.08
+channel_1: 1.34
+channel_2: 1.0
+channel_4: 1.1
+channel_5: 1.1
+channel_6: 1.1
+
+[static_digital_output stepper_config]
+pins:
+    PG1, PG0,
+    PK7, PG2,
+    PK6, PK5,
+    PK3, PK4,
+    PK1, PK2
+
+[static_digital_output yellow_led]
+pins: !PB7

config/printer-tronxy-x5s-2017.cfg

@@ -0,0 +1,89 @@
+# This file contains pin mappings for the Tronxy X5S (circa 2017). To
+# use this config, the firmware should be compiled for the AVR
+# atmega1284p.
+
+# Note, a number of Melzi boards are shipped without a bootloader. In
+# that case, an external programmer will be needed to flash a
+# bootloader to the board (for example, see
+# http://www.instructables.com/id/Flashing-a-Bootloader-to-the-CR-10/
+# ). Once that is done, one should be able to use the standard "make
+# flash" command to flash Klipper.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: PD7
+dir_pin: !PC5
+enable_pin: !PD6
+step_distance: .0125
+endstop_pin: ^!PC2
+position_endstop: 0
+position_max: 330
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC6
+dir_pin: !PC7
+enable_pin: !PD6
+step_distance: .0125
+endstop_pin: ^!PC3
+position_endstop: 0
+position_max: 310
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB3
+dir_pin: PB2
+enable_pin: !PD6
+step_distance: .0025
+endstop_pin: ^!PC4
+position_endstop: 0.5
+position_max: 400
+
+[extruder]
+step_pin: PB1
+dir_pin: PB0
+enable_pin: !PD6
+step_distance: .0111
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PD5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA7
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 275
+
+[heater_bed]
+heater_pin: PD4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA6
+control: watermark
+min_temp: 0
+max_temp: 150
+
+[fan]
+pin: PB4
+
+[mcu]
+serial: /dev/ttyUSB0
+
+[printer]
+kinematics: corexy
+max_velocity: 300
+max_accel: 1000
+max_z_velocity: 20
+max_z_accel: 100
+
+[display]
+lcd_type: st7920
+cs_pin: PA1
+sclk_pin: PC0
+sid_pin: PA3
+
+# buttons are:
+# PD2, PD3: encoder
+# PA5: click

config/printer-wanhao-duplicator-i3-plus-2017.cfg

@@ -0,0 +1,78 @@
+# This file contains pin mappings for the Wanhao Duplicator i3 Plus
+# (circa 2017).  To use this config, the firmware should be compiled
+# for the AVR atmega2560.
+# Pin numbers and other parameters were extracted from the
+# official Marlin source available at:
+# https://github.com/garychen99/Duplicator-i3-plus
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: PF7
+dir_pin: !PK0
+enable_pin: !PF6
+step_distance: .0125
+endstop_pin: ^!PF0
+position_endstop: 0
+position_max: 200
+homing_speed: 30.0
+
+[stepper_y]
+step_pin: PK2
+dir_pin: !PK3
+enable_pin: !PK1
+step_distance: .0125
+endstop_pin: ^!PA2
+position_endstop: 0
+position_max: 200
+homing_speed: 30.0
+
+[stepper_z]
+step_pin: PK5
+dir_pin: PK7
+enable_pin: !PK4
+step_distance: .0025
+endstop_pin: ^!PA1
+position_endstop: 0.5
+position_max: 180
+
+[extruder]
+step_pin: PF4
+dir_pin: PF5
+enable_pin: !PF3
+step_distance: 0.010417
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PG5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF1
+control: pid
+pid_Kp: 30.850721
+pid_Ki: .208175
+pid_Kd: 192.298728
+min_temp: 0
+max_temp: 260
+
+[heater_bed]
+heater_pin: PE5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: pid
+pid_Kp: 64.095903
+pid_Ki: 1.649830
+pid_Kd: 622.531455
+min_temp: 0
+max_temp: 110
+
+[fan]
+pin: PE3
+
+[mcu]
+serial: /dev/ttyUSB0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 800
+max_z_velocity: 5
+max_z_accel: 100

config/printer-wanhao-duplicator-i3-v2.1-2017.cfg

@@ -0,0 +1,159 @@
+# This file contains pin mappings and other appropriate default parameters
+# for a Wanhao Duplicator i3 v2.1 and its clones
+# (Monoprice Maker Select, Cocoon Create, etc.)
+# See the files example.cfg and example-extras.cfg for a description of available parameters.
+#
+# This will probably work on older revisions (v1.0, v2.0) of the printer
+# but is untested on those versions.
+#
+# For best results with klipper and the Wanhao Duplicator i3, follow these
+# guidelines:
+#
+# - Flash a bootloader to the Melzi board in the printer
+#   See http://www.instructables.com/id/Using-an-Arduino-to-Flash-the-Melzi-Board-Wanhao-I/
+#
+# - Make sure the auto-reset jumper is *enabled* on the Melzi board
+#   (See step 1 in the bootloader tutorial above)
+#
+# - Locate the USB serial port for your printer in /dev/serial/by-id/ format.
+#   See https://github.com/KevinOConnor/klipper/blob/master/docs/FAQ.md#wheres-my-serial-port
+#   It will be something like:
+#   /dev/serial/by-id/usb-FTDI_FT232R_USB_UART_ABCD1234-if00-port0
+#
+# - Configure klipper to compile firmware for the AVR atmega1284p
+#
+# - At this point, "make flash FLASH_DEVICE=..." should successfully
+#   flash your printer board. Use the /dev/serial/by-id/ format for
+#   FLASH_DEVICE to ensure consistent results.
+#   See https://github.com/KevinOConnor/klipper/blob/master/docs/FAQ.md#the-make-flash-command-doesnt-work
+#   if you have problems.
+#
+# - Copy this sample file you are currently reading to ~/printer.cfg,
+#   and customize the following parameters:
+#   * [extruder] > step_distance
+#
+#     This is the inverse of "E steps" (extruder steps per mm) from the stock
+#     Wanhao Repetier-based firmware.
+#     (See https://3dprinterwiki.info/extruder-steps/ )
+#
+#     For example, if your E-steps are set to 107.0 steps per mm,
+#     then step_distance should be (1 / 107.0) ~= .009346
+#
+#   * [extruder] > PID parameters (pid_Kp, pid_Ki, pid_Kd)
+#   * [heater_bed] > PID parameters (pid_Kp, pid_Ki, pid_Kd)
+#
+#     PID values from stock Wanhao firmware (Repetier) do not
+#     translate directly to klipper. You will need to run klipper's
+#     PID autotune function for the extruder and bed. After getting the
+#     klipper firmware up and running, run the PID_CALIBRATE procedures
+#     by sending these commands via octoprint terminal (one per autotune):
+#
+#        extruder:   PID_CALIBRATE HEATER=extruder TARGET=<temp>
+#        heated bed: PID_CALIBRATE HEATER=heater_bed TARGET=<temp>
+#
+#     After the autotune process completes, PID parameter results
+#     can be found in the Octoprint terminal tab (if you're quick)
+#     or in /tmp/klippy.log.
+#
+#     Enter the PID parameters into the appropriate sections of ~/printer.cfg .
+#
+#   * [extruder] > max_temp
+#   * [heater_bed] > max_temp
+#
+#     The max temps included in this printer config are limited to 230 for extruder
+#     and 70 for heated bed. If your printer has been modified to handle higher temps
+#     (like an upgraded hot end or a separate MOSFET for your heated bed), you may
+#     want to increase these values.
+#
+#   * [mcu] > serial
+#
+#     Enter the USB serial port of the printer in /dev/serial/by-id/ format
+#     for best results.
+#
+# - Power cycle the Wanhao Duplicator i3
+#
+# - Issue the command "RESTART" via the Octoprint terminal tab (similar to
+#   how you would send a manual gcode command, but send the word RESTART).
+#   This tells klipper to reload its config file and do an internal reset.
+#   You should then see a status screen appear on the printer's LCD.
+#
+# - Be sure to follow these instructions before attempting any prints:
+#   https://github.com/KevinOConnor/klipper/blob/master/docs/Config_checks.md
+
+[stepper_x]
+step_pin: PD7
+dir_pin: PC5
+enable_pin: !PD6
+step_distance: .0125
+endstop_pin: ^!PC2
+position_endstop: 0
+position_max: 200
+homing_speed: 40
+
+[stepper_y]
+step_pin: PC6
+dir_pin: PC7
+enable_pin: !PD6
+step_distance: .0125
+endstop_pin: ^!PC3
+position_endstop: 0
+position_max: 200
+homing_speed: 40
+
+[stepper_z]
+step_pin: PB3
+dir_pin: !PB2
+enable_pin: !PA5
+step_distance: 0.0025
+endstop_pin: ^!PC4
+position_endstop: 0.5
+position_max: 180
+homing_speed: 2
+
+[extruder]
+step_pin: PB1
+dir_pin: !PB0
+enable_pin: !PD6
+step_distance: .009346
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PD5
+sensor_type: NTC 100K beta 3950
+sensor_pin: PA7
+control: pid
+pid_Kp: 18.214030
+pid_Ki: 0.616380
+pid_Kd: 134.556146
+min_temp: 0
+max_temp: 230
+
+[heater_bed]
+heater_pin: PD4
+sensor_type: NTC 100K beta 3950
+sensor_pin: PA6
+control: pid
+pid_Kp: 71.321
+pid_Ki: 1.989
+pid_Kd: 639.210
+min_temp: 0
+max_temp: 70
+
+[fan]
+pin: PB4
+
+[mcu]
+serial: /dev/ttyUSB0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 200
+max_accel: 1000
+max_z_velocity: 2
+max_z_accel: 100
+
+[display]
+lcd_type: st7920
+cs_pin: PC1
+sclk_pin: PD3
+sid_pin: PC0

config/sample-bltouch.cfg

@@ -0,0 +1,56 @@
+# This file provides example config file settings for the BLTouch
+# automatic bed leveling sensor. This file is just a "snippet" of
+# sections specific to the BLTouch - it must be added to a config file
+# containing the configuration of the rest of the printer.
+
+# Be sure to review and update this config with the appropriate pins
+# and coordinates for your printer.
+
+# See the "example.cfg" and "example-extras.cfg" files for a
+# description of config parameters.
+
+# Define the BLTouch servo
+[servo bltouch]
+pin: ar32
+maximum_servo_angle: 180
+minimum_pulse_width: 0.0006
+maximum_pulse_width: 0.0024
+
+# Define a probe using the BLTouch
+[probe]
+pin: ar30
+activate_gcode:
+    SET_SERVO SERVO=bltouch ANGLE=10
+    SET_SERVO SERVO=bltouch ANGLE=60
+    G4 P200
+deactivate_gcode:
+    SET_SERVO SERVO=bltouch ANGLE=90
+
+# Example bed_tilt config section
+[bed_tilt]
+#x_adjust:
+#y_adjust:
+points:
+    100,100
+    10,10
+    10,100
+    10,190
+    100,10
+    100,190
+    190,10
+    190,100
+    190,190
+probe_z_offset: 2.345
+
+# If the BLTouch is used to home the Z axis, then define a
+# homing_override section, use probe:z_virtual_endstop as the
+# endstop_pin in the stepper_z section, and set the endstop_position
+# in the stepper_z section to match the probe's probe_z_offset.
+#[homing_override]
+#set_position_z: 5
+#gcode:
+#    ; G90   ; Uncomment these 2 lines to blindly lift the Z 2mm at start
+#    ; G1 Z7 F600
+#    G28 X0 Y0
+#    G1 X100 Y100 F3600
+#    G28 Z0

docs/CONTRIBUTING.md

@@ -0,0 +1,38 @@
+# Contributing to Klipper
+
+Thank you for contributing to Klipper! Please take a moment to read
+this document.
+
+## Creating a new issue
+
+Please see the [contact page](Contact.md) for information on creating
+an issue. In particular, **we need the klippy.log file** attached to
+bug reports. Also, be sure to read the [FAQ](FAQ.md) to see if a
+similar issue has already been raised.
+
+## Submitting a pull request
+
+Contributions of Code and documentation are managed through github
+pull requests.  Each commit should have a commit message formatted
+similar to the following:
+
+```
+module: Capitalized, short (50 chars or less) summary
+
+More detailed explanatory text, if necessary.  Wrap it to about 75
+characters or so.  In some contexts, the first line is treated as the
+subject of an email and the rest of the text as the body.  The blank
+line separating the summary from the body is critical (unless you omit
+the body entirely); tools like rebase can get confused if you run the
+two together.
+
+Further paragraphs come after blank lines..
+
+Signed-off-by: My Name <myemail@example.org>
+```
+
+It is important to have a "Signed-off-by" line on each commit - it
+certifies that you agree to the
+[developer certificate of origin](developer-certificate-of-origin). It
+must contain your real name (sorry, no pseudonyms or anonymous
+contributions) and contain a current email address.

docs/Code_Overview.md

@@ -29,6 +29,8 @@ files.
 The **scripts/** directory contains build-time scripts useful for
 compiling the micro-controller code.
 
+The **test/** directory contains automated test cases.
+
 During compilation, the build may create an **out/** directory. This
 contains temporary build time objects. The final micro-controller
 object that is built is **out/klipper.elf.hex** on AVR and
@@ -77,7 +79,7 @@ interrupts disabled.
 Much of the functionality of the micro-controller involves working
 with General-Purpose Input/Output pins (GPIO). In order to abstract
 the low-level architecture specific code from the high-level task
-code, all GPIO events are implemented in architectures specific
+code, all GPIO events are implemented in architecture specific
 wrappers (eg, **src/avr/gpio.c**). The code is compiled with gcc's
 "-flto -fwhole-program" optimization which does an excellent job of
 inlining functions across compilation units, so most of these tiny
@@ -212,6 +214,162 @@ ToolHead and kinematic classes. It's this part of the code which
 specifies the movements and their timings. The remaining parts of the
 processing is mostly just communication and plumbing.
 
+Adding a host module
+====================
+
+The Klippy host code has a dynamic module loading capability. If a
+config section named "[my_module]" is found in the printer config file
+then the software will automatically attempt to load the python module
+klippy/extras/my_module.py . This module system is the preferred
+method for adding new functionality to Klipper.
+
+The easiest way to add a new module is to use an existing module as a
+reference - see **klippy/extras/servo.py** as an example.
+
+The following may also be useful:
+* Execution of the module starts in the module level `load_config()`
+  function (for config sections of the form [my_module]) or in
+  `load_config_prefix()` (for config sections of the form
+  [my_module my_name]). This function is passed a "config" object and
+  it must return a new "printer object" associated with the given
+  config section.
+* During the process of instantiating a new printer object, the config
+  object can be used to read parameters from the given config
+  section. This is done using `config.get()`, `config.getfloat()`,
+  `config.getint()`, etc. methods. Be sure to read all values from the
+  config during the construction of the printer object - if the user
+  specifies a config parameter that is not read during this phase then
+  it will be assumed it is a typo in the config and an error will be
+  raised.
+* Use the `config.get_printer()` method to obtain a reference to the
+  main "printer" class. This "printer" class stores references to all
+  the "printer objects" that have been instantiated. Use the
+  `printer.lookup_object()` method to find references to other printer
+  objects. Almost all functionality (even core kinematic modules) are
+  encapsulated in one of these printer objects. Note, though, that
+  when a new module is instantiated, not all other printer objects
+  will have been instantiated. The "gcode" and "pins" modules will
+  always be available, but for other modules it is a good idea to
+  defer the lookup.
+* Define a `printer_state()` method if the code needs to be called
+  during printer setup and/or shutdown. This method is called twice
+  during setup (with "connect" and then "ready") and may also be
+  called at run-time (with "shutdown" or "disconnect"). It is common
+  to perform "printer object" lookup during the "connect" and "ready"
+  phases.
+* If there is an error in the user's config, be sure to raise it
+  during the `load_config()` or `printer_state("connect")` phases. Use
+  either `raise config.error("my error")` or `raise
+  printer.config_error("my error")` to report the error.
+* Use the "pins" module to configure a pin on a micro-controller. This
+  is typically done with something similar to
+  `printer.lookup_object("pins").setup_pin("pwm",
+  config.get("my_pin"))`. The returned object can then be commanded at
+  run-time.
+* If the module needs access to system timing or external file
+  descriptors then use `printer.get_reactor()` to obtain access to the
+  global "event reactor" class. This reactor class allows one to
+  schedule timers, wait for input on file descriptors, and to "sleep"
+  the host code.
+* Do not use global variables. All state should be stored in the
+  printer object returned from the `load_config()` function. This is
+  important as otherwise the RESTART command may not perform as
+  expected. Also, for similar reasons, if any external files (or
+  sockets) are opened then be sure to close them from the
+  `printer_state("disconnect")` callback.
+* Avoid accessing the internal member variables (or calling methods
+  that start with an underscore) of other printer objects. Observing
+  this convention makes it easier to manage future changes.
+* If submitting the module for inclusion in the main Klipper code, be
+  sure to place a copyright notice at the top of the module. See the
+  existing modules for the preferred format.
+
+Adding new kinematics
+=====================
+
+This section provides some tips on adding support to Klipper for
+additional types of printer kinematics. This type of activity requires
+excellent understanding of the math formulas for the target
+kinematics. It also requires software development skills - though one
+should only need to update the host software (which is written in
+Python).
+
+Useful steps:
+1. Start by studying the [above section](#code-flow-of-a-move-command)
+   and the [Kinematics document](Kinematics.md).
+2. Review the existing kinematic classes in cartesian.py, corexy.py,
+   and delta.py. The kinematic classes are tasked with converting a
+   move in cartesian coordinates to the movement on each stepper. One
+   should be able to copy one of these files as a starting point.
+3. Implement the `get_postion()` method in the new kinematics
+   class. This method converts the current stepper position of each
+   stepper axis (stored in millimeters) to a position in cartesian
+   space (also in millimeters).
+4. Implement the `set_postion()` method. This is the inverse of
+   get_position() - it sets each axis position (in millimeters) given
+   a position in cartesian coordinates.
+5. Implement the `move()` method. The goal of the move() method is to
+   convert a move defined in cartesian space to a series of stepper
+   step times that implement the requested movement.
+   * The `move()` method is passed a "print_time" parameter (which
+     stores a time in seconds) and a "move" class instance that fully
+     defines the movement. The goal is to repeatedly invoke the
+     `stepper.step()` method with the time (relative to print_time)
+     that each stepper should step at to obtain the desired motion.
+   * One "trick" to help with the movement calculations is to imagine
+     there is a physical rail between `move.start_pos` and
+     `move.end_pos` that confines the print head so that it can only
+     move along this straight line of motion. Then, if the head is
+     confined to that imaginary rail, the head is at `move.start_pos`,
+     only one stepper is enabled (all other steppers can move freely),
+     and the given stepper is stepped a single step, then one can
+     imagine that the head will move along the line of movement some
+     distance. Determine the formula converting this step distance to
+     distance along the line of movement. Once one has the distance
+     along the line of movement, one can figure out the time that the
+     head should be at that position (using the standard formulas for
+     velocity and acceleration). This time is the ideal step time for
+     the given stepper and it can be passed to the `stepper.step()`
+     method.
+   * The `stepper.step()` method must always be called with an
+     increasing time for a given stepper (steps must be scheduled in
+     the order they are to be executed). A common error during
+     kinematic development is to receive an "Internal error in
+     stepcompress" failure - this is generally due to the step()
+     method being invoked with a time earlier than the last scheduled
+     step. For example, if the last step in move1 is scheduled at a
+     time greater than the first step in move2 it will generally
+     result in the above error.
+   * Fractional steps. Be aware that a move request is given in
+     cartesian space and it is not confined to discreet
+     locations. Thus a move's start and end locations may translate to
+     a location on a stepper axis that is between two steps (a
+     fractional step). The code must handle this. The preferred
+     approach is to schedule the next step at the time a move would
+     position the stepper axis at least half way towards the next
+     possible step location. Incorrect handling of fractional steps is
+     a common cause of "Internal error in stepcompress" failures.
+6. Other methods. The `home()`, `check_move()`, and other methods
+   should also be implemented. However, at the start of development
+   one can use empty code here.
+7. 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
+   to micro-controller commands. This is useful to exercise corner
+   cases and to check for regressions.
+8. Optimize if needed. One may notice that the existing kinematic
+   classes do not call `stepper.step()`. This is purely an
+   optimization - the inner loop of the kinematic calculations were
+   moved to C to reduce load on the host cpu. All of the existing
+   kinematic classes started development using `stepper.step()` and
+   then were later optimized. The g-code to mcu command translation
+   (described in the previous step) is a useful tool during
+   optimization - if a code change is purely an optimization then it
+   should not impact the resulting text representation of the mcu
+   commands (though minor changes in output due to floating point
+   rounding are possible). So, one can use this system to detect
+   regressions.
+
 Time
 ====
 

docs/Config_checks.md

@@ -0,0 +1,147 @@
+This document provides a list of steps to help confirm the pin
+settings in the Klipper printer.cfg file.  It is a good idea to run
+through these steps after following the steps in the
+[installation document](Installation.md).
+
+During this guide, it may be necessary to make changes to the Klipper
+config file. Be sure to issue a RESTART command after every change to
+the config file to ensure that the change takes effect (type "restart"
+in the Octoprint terminal tab and then click "Send"). It's also a good
+idea to issue a STATUS command after every RESTART to verify that the
+config file is successfully loaded.
+
+### Verify temperature
+
+Start by verifying that temperatures are being properly
+reported. Navigate to the Octoprint temperature tab.
+
+![octoprint-temperature](img/octoprint-temperature.png)
+
+Verify that the temperature of the nozzle and bed (if applicable) are
+present and not increasing. If it is increasing, remove power from the
+printer. If the temperatures are not accurate, review the
+"sensor_type" and "sensor_pin" settings for the nozzle and/or bed.
+
+### Verify M112
+
+Navigate to the Octoprint terminal tab and issue an M112 command in
+the terminal box. This command requests Klipper to go into a
+"shutdown" state. It will cause Octoprint to disconnect from Klipper -
+navigate to the Connection area and click on "Connect" to cause
+Octoprint to reconnect. Then navigate to the Octoprint temperature tab
+and verify that temperatures continue to update and the temperatures
+are not increasing. If temperatures are increasing, remove power from
+the printer.
+
+The M112 command causes Klipper to go into a "shutdown" state. To
+clear this state, issue a FIRMWARE_RESTART command in the Octoprint
+terminal tab.
+
+### Verify heaters
+
+Navigate to the Octoprint temperature tab and type in 50 followed by
+enter in the "Tool" temperature box. The extruder temperature in the
+graph should start to increase (within about 30 seconds or so). Then
+go to the "Tool" temperature drop-down box and select "Off". After
+several minutes the temperature should start to return to its initial
+room temperature value. If the temperature does not increase then
+verify the "heater_pin" setting in the config.
+
+If the printer has a heated bed then perform the above test again with
+the bed.
+
+### Verify stepper motor enable pin
+
+Verify that all of the printer axes can manually move freely (the
+stepper motors are disabled). If not, issue an M84 command to disable
+the motors. If any of the axes still can not move freely, then verify
+the stepper "enable_pin" configuration for the given axis. On most
+commodity stepper motor drivers, the motor enable pin is "active low"
+and therefore the enable pin should have a "!" before the pin (for
+example, "enable_pin: !ar38").
+
+### Verify endstops
+
+Manually move all the printer axes so that none of them are in contact
+with an endstop. Send a QUERY_ENDSTOPS command via the Octoprint
+terminal tab. It should respond with the current state of all of the
+configured endstops and they should all report a state of "open". For
+each of the endstops, rerun the QUERY_ENDSTOPS command while manually
+triggering the endstop. The QUERY_ENDSTOPS command should report the
+endstop as "TRIGGERED".
+
+If the endstop appears inverted (it reports "open" when triggered and
+vice-versa) then add a "!" to the pin definition (for example,
+"endstop_pin: ^!ar3"), or remove the "!" if there is already one
+present.
+
+If the endstop does not change at all then it generally indicates that
+the endstop is connected to a different pin. However, it may also
+require a change to the pullup setting of the pin (the '^' at the
+start of the endstop_pin name - most printers will use a pullup
+resistor and the '^' should be present).
+
+### Verify stepper motor direction
+
+Make sure the printer.cfg file does not have "homing_speed" set for
+any axis (or set it to a value of 5 or less).
+
+On cartesian style printers, manually move the X axis to a midway
+point, issue a G28X0 command, and verify that the X motor moves slowly
+towards the endstop defined for that axis. If the motor moves in the
+wrong direction issue an M112 command to abort the move. A wrong
+direction generally indicates that the "dir_pin" for the axis needs to
+be inverted. This is done by adding a '!' to the "dir_pin" in the
+printer config file (or removing it if one is already there). For
+example, change "dir_pin: xyz" to "dir_pin: !xyz". Then RESTART and
+retest the axis. If the axis does not move at all, then verify the
+"enable_pin" and "step_pin" settings for the axis. For cartesian style
+printers, repeat the test for the Y and Z axis with G28Y0 and G28Z0.
+
+For delta style printers, manually move all three carriages to a
+midway point and then issue a G28 command. Verify all three motors
+move simultaneously upwards. If not, issue an M112 command and follow
+the troubleshooting steps in the preceding paragraph.
+
+### Verify extruder motor
+
+To test the extruder motor it will be necessary to heat the extruder
+to a printing temperature. Navigate to the Octoprint temperature tab
+and select a target temperature from the temperature drop-down box (or
+manually enter an appropriate temperature). Wait for the printer to
+reach the desired temperature. Then navigate to the Octoprint control
+tab and click the "Extrude" button. Verify that the extruder motor
+turns in the correct direction. If it does not, see the
+troubleshooting tips in the previous section to confirm the
+"enable_pin", "step_pin", and "dir_pin" settings for the extruder.
+
+### Calibrate PID settings
+
+Klipper supports
+[PID control](https://en.wikipedia.org/wiki/PID_controller) for the
+extruder and bed heaters. In order to use this control mechanism it is
+necessary to calibrate the PID settings on each printer. (PID settings
+found in other firmwares or in the example configuration files often
+work poorly.)
+
+To calibrate the extruder, navigate to the OctoPrint terminal tab and
+run the PID_CALIBRATE command. For example: `PID_CALIBRATE
+HEATER=extruder TARGET=170`
+
+At the completion of the tuning test, update the printer.cfg file with
+the recommended pid_Kp, pid_Ki, and pid_Kd values.
+
+If the printer has a heated bed and it supports being driven by PWM
+(Pulse Width Modulation) then it is recommended to use PID control for
+the bed. (When the bed heater is controlled using the PID algorithm it
+may turn on and off ten times a second, which may not be suitable for
+heaters using a mechanical switch.) A typical bed PID calibration
+command is: `PID_CALIBRATE HEATER=heater_bed TARGET=60`
+
+### Next steps
+
+This guide is intended to help with basic verification of pin settings
+in the Klipper configuration file. It may be necessary to perform
+detailed printer calibration - a number of guides are available online
+to help with this (for example, do a web search for "3d printer
+calibration").

docs/Contact.md

@@ -1,25 +1,29 @@
 This page provides information on how to contact the Klipper
 developers.
 
-Bug reporting
+Issue reporting
-=============
+===============
 
-Bug reports are submitted through github issues.  All bug reports must
+In order to report a problem or request a change in behavior, it is
+necessary to collect the Klipper log file. The first step is to
+**issue an M112 command** in the OctoPrint terminal window immediately
+after the undesirable event occurs. This causes Klipper to go into a
+"shutdown state" and it will cause additional debugging information to
+be written to the log file.
+
+Issue requests are submitted through Github.  **All issues must
 include the full /tmp/klippy.log log file from the session that
-produced the error.  To acquire this log file, ssh into the computer
+produced the error.** An "scp" and/or "sftp" utility is needed to
-running the klipper host software, and run:
+acquire this log file. The "scp" utility comes standard with Linux and
+MacOS desktops. There are freely available scp utilities for other
+desktops (eg, WinSCP).
 
-```
+Use the scp utility to copy the `/tmp/klippy.log` file from the host
-gzip -k /tmp/klippy.log
+machine to your desktop. It is a good idea to compress the klippy.log
-```
+file before posting it (eg, using zip or gzip). Open a new issue at
-
+https://github.com/KevinOConnor/klipper/issues , provide a description
-Then scp the resulting `/tmp/klippy.log.gz` file from the host machine
+of the problem, and **attach the `klippy.log` file to the issue**:
-to your desktop. (If your desktop does not have scp installed, there
+![attach-issue](img/attach-issue.png)
-are a number of free scp programs available - just do a web search for
-`windows scp` to find one.) Open a new issue at
-https://github.com/KevinOConnor/klipper/issues , attach the
-`klippy.log.gz` file to that issue, and provide a description of the
-problem.
 
 Mailing list
 ============

docs/Debugging.md

@@ -115,17 +115,20 @@ gtkwave avrsim.vcd
 ```
 
 Manually sending commands to the micro-controller
--------------------------------------------------
+=================================================
 
-Normally, Klippy would be used to translate gcode commands to Klipper
+Normally, the host klippy.py process would be used to translate gcode
-commands. However, it's also possible to manually send Klipper
+commands to Klipper micro-controller commands. However, it's also
-commands (functions marked with the DECL_COMMAND() macro in the
+possible to manually send these MCU commands (functions marked with
-Klipper source code). To do so, run:
+the DECL_COMMAND() macro in the Klipper source code). To do so, run:
 
 ```
 ~/klippy-env/bin/python ./klippy/console.py /tmp/pseudoserial 250000
 ```
 
+See the "HELP" command within the tool for more information on its
+functionality.
+
 Generating load graphs
 ======================
 
@@ -148,3 +151,23 @@ Then graphs can be produced with:
 ```
 
 One can then view the resulting **loadgraph.png** file.
+
+Extracting information from the klippy.log file
+===============================================
+
+The Klippy log file (/tmp/klippy.log) also contains debugging
+information. There is a logextract.py script that may be useful when
+analyzing a micro-controller shutdown or similar problem. It is
+typically run with something like:
+
+```
+mkdir work_directory
+cd work_directory
+cp /tmp/klippy.log .
+~/klipper/scripts/logextract.py ./klippy.log
+```
+
+The script will extract the printer config file and will extract MCU
+shutdown information. The information dumps from an MCU shutdown (if
+present) will be reordered by timestamp to assist in diagnosing cause
+and effect scenarios.

docs/FAQ.md

@@ -0,0 +1,252 @@
+Frequently asked questions
+==========================
+
+1. [How can I donate to the project?](#how-can-i-donate-to-the-project)
+2. [How do I calculate the step_distance parameter in the printer config file?](#how-do-i-calculate-the-step_distance-parameter-in-the-printer-config-file)
+3. [Where's my serial port?](#wheres-my-serial-port)
+4. [The "make flash" command doesn't work](#the-make-flash-command-doesnt-work)
+5. [How do I change the serial baud rate?](#how-do-i-change-the-serial-baud-rate)
+6. [Can I run Klipper on something other than a Raspberry Pi 3?](#can-i-run-klipper-on-something-other-than-a-raspberry-pi-3)
+7. [Why can't I move the stepper before homing the printer?](#why-cant-i-move-the-stepper-before-homing-the-printer)
+8. [Why is the Z position_endstop set to 0.5 in the default configs?](#why-is-the-z-position_endstop-set-to-05-in-the-default-configs)
+9. [I converted my config from Marlin and the X/Y axes work fine, but I just get a screeching noise when homing the Z axis](#i-converted-my-config-from-marlin-and-the-xy-axes-work-fine-but-i-just-get-a-screeching-noise-when-homing-the-z-axis)
+10. [When I set "restart_method=command" my AVR device just hangs on a restart](#when-i-set-restart_methodcommand-my-avr-device-just-hangs-on-a-restart)
+11. [Will the heaters be left on if the Raspberry Pi crashes?](#will-the-heaters-be-left-on-if-the-raspberry-pi-crashes)
+12. [How do I upgrade to the latest software?](#how-do-i-upgrade-to-the-latest-software)
+
+### How can I donate to the project?
+
+Thanks. Kevin has a Patreon page at: https://www.patreon.com/koconnor
+
+### How do I calculate the step_distance parameter in the printer config file?
+
+If you know the steps per millimeter for the axis then use a
+calculator to divide 1.0 by steps_per_mm. Then round this number to
+six decimal places and place it in the config (six decimal places is
+nano-meter precision).
+
+The step_distance defines the distance that the axis will travel on
+each motor driver pulse. It can also be calculated from the axis
+pitch, motor step angle, and driver microstepping. If unsure, do a web
+search for "calculate steps per mm" to find an online calculator.
+
+### Where's my serial port?
+
+The general way to find a USB serial port is to run `ls -l
+/dev/serial/by-id/` from an ssh terminal on the host machine. It will
+likely produce output similar to the following:
+```
+lrwxrwxrwx 1 root root 13 Jan 3 22:15 usb-UltiMachine__ultimachine.com__RAMBo_12345678912345678912-if00 -> ../../ttyACM0
+```
+
+The name found in the above command is stable and it is possible to
+use it in the config file and while flashing the micro-controller
+code. For example, a flash command might look similar to:
+```
+sudo service klipper stop
+make flash FLASH_DEVICE=/dev/serial/by-id/usb-UltiMachine__ultimachine.com__RAMBo_12345678912345678912-if00
+sudo service klipper start
+```
+and the updated config might look like:
+```
+[mcu]
+serial: /dev/serial/by-id/usb-UltiMachine__ultimachine.com__RAMBo_12345678912345678912-if00
+```
+
+Be sure to copy-and-paste the name from the "ls" command that you ran
+above as the name will be different for each printer.
+
+### The "make flash" command doesn't work
+
+The code attempts to flash the device using the most common method for
+each platform. Unfortunately, there is a lot of variance in flashing
+methods, so the "make flash" command may not work on all boards.
+
+If you're having an intermittent failure or you do have a standard
+setup, then double check that Klipper isn't running when flashing
+(sudo service klipper stop), make sure OctoPrint isn't trying to
+connect directly to the device (open the Connection tab in the web
+page and click Disconnect if the Serial Port is set to the device),
+and make sure FLASH_DEVICE is set correctly for your board (see the
+[question above](#wheres-my-serial-port)).
+
+However, if "make flash" just doesn't work for your board, then you
+will need to manually flash. See if there is a config file in the
+[config directory](../config) with specific instructions for flashing
+the device. Also, check the board manufacturer's documentation to see
+if it describes how to flash the device. Finally, on AVR devices, it
+may be possible to manually flash the device using
+[avrdude](http://www.nongnu.org/avrdude/) with custom command-line
+parameters - see the avrdude documentation for further information.
+
+### How do I change the serial baud rate?
+
+The default baud rate is 250000 in both the Klipper micro-controller
+configuration and in the Klipper host software. This works on almost
+all micro-controllers and it is the recommended setting. (Most online
+guides that refer to a baud rate of 115200 are outdated.)
+
+If you need to change the baud rate, then the new rate will need to be
+configured in the micro-controller (during **make menuconfig**) and
+that updated code will need to be flashed to the micro-controller. The
+Klipper printer.cfg file will also need to be updated to match that
+baud rate (see the example.cfg file for details).  For example:
+```
+[mcu]
+baud: 250000
+```
+
+The baud rate shown on the OctoPrint web page has no impact on the
+internal Klipper micro-controller baud rate. Always set the OctoPrint
+baud rate to 250000 when using Klipper.
+
+### Can I run Klipper on something other than a Raspberry Pi 3?
+
+The recommended hardware is a Raspberry Pi 2 or a Raspberry
+Pi 3.
+
+Klipper will run on a Raspberry Pi 1 and on the Raspberry Pi Zero, but
+these boards don't have enough processing power to run OctoPrint
+well. It's not uncommon for print stalls to occur on these slower
+machines (the printer may move faster than OctoPrint can send movement
+commands) when printing directly from OctoPrint. If you wish to run on
+one one of these slower boards anyway, consider using the
+"virtual_sdcard" feature (see
+[config/example-extras.cfg](../config/example-extras.cfg) for details)
+when printing.
+
+For running on the Beaglebone, see the
+[Beaglebone specific installation instructions](beaglebone.md).
+
+Klipper has been run on other machines.  The Klipper host software
+only requires Python running on a Linux (or similar)
+computer. However, if you wish to run it on a different machine you
+will need Linux admin knowledge to install the system prerequisites
+for that particular machine. See the
+[install-octopi.sh](../scripts/install-octopi.sh) script for further
+information on the necessary Linux admin steps.
+
+### Why can't I move the stepper before homing the printer?
+
+The code does this to reduce the chance of accidentally commanding the
+head into the bed or a wall. Once the printer is homed the software
+attempts to verify each move is within the position_min/max defined in
+the config file. If the motors are disabled (via an M84 or M18
+command) then the motors will need to be homed again prior to
+movement.
+
+If you want to move the head after canceling a print via OctoPrint,
+consider changing the OctoPrint cancel sequence to do that for
+you. It's configured in OctoPrint via a web browser under:
+Settings->GCODE Scripts
+
+If you want to move the head after a print finishes, consider adding
+the desired movement to the "custom g-code" section of your slicer.
+
+### Why is the Z position_endstop set to 0.5 in the default configs?
+
+For cartesian style printers the Z position_endstop specifies how far
+the nozzle is from the bed when the endstop triggers. If possible, it
+is recommended to use a Z-max endstop and home away from the bed (as
+this reduces the potential for bed collisions). However, if one must
+home towards the bed then it is recommended to position the endstop so
+it triggers when the nozzle is still a small distance away from the
+bed. This way, when homing the axis, it will stop before the nozzle
+touches the bed.
+
+Almost all mechanical switches can still move a small distance
+(eg, 0.5mm) after they are triggered. So, for example, if the
+position_endstop is set to 0.5mm then one may still command the
+printer to move to Z0.2. The position_min config setting (which
+defaults to 0) is used to specify the minimum Z position one may
+command the printer to move to.
+
+Note, the Z position_endstop specifies the distance from the nozzle to
+the bed when the nozzle and bed (if applicable) are hot. It is typical
+for thermal expansion to cause nozzle expansion of around .1mm, which
+is also the typical thickness of a sheet of printer paper. Thus, it is
+common to use the "paper test" to confirm calibration of the Z
+height - check that the bed and nozzle are at room temperature, check
+that there is no plastic on the head or bed, home the printer, place a
+piece of paper between the nozzle and bed, and repeatedly command the
+head to move closer to the bed checking each time if you feel a small
+amount of friction when sliding the paper between bed and nozzle - if
+all is calibrated well a small amount of friction would be felt when
+the height is at Z0.
+
+### I converted my config from Marlin and the X/Y axes work fine, but I just get a screeching noise when homing the Z axis
+
+Short answer: Try reducing the max_z_velocity setting in the printer
+config. Also, if the Z stepper is moving in the wrong direction, try
+inverting the dir_pin setting in the config (eg, "dir_pin: !xyz"
+instead of "dir_pin: xyz").
+
+Long answer: In practice Marlin can typically only step at a rate of
+around 10000 steps per second. If it is requested to move at a speed
+that would require a higher step rate then Marlin will generally just
+step as fast as it can. Klipper is able to achieve much higher step
+rates, but the stepper motor may not have sufficient torque to move at
+a higher speed. So, for a Z axis with a very precise step_distance the
+actual obtainable max_z_velocity may be smaller than what is
+configured in Marlin.
+
+### When I set "restart_method=command" my AVR device just hangs on a restart
+
+Some old versions of the AVR bootloader have a known bug in watchdog
+event handling. This typically manifests when the printer.cfg file has
+restart_method set to "command". When the bug occurs, the AVR device
+will be unresponsive until power is removed and reapplied to the
+device (the power or status LEDs may also blink repeatedly until the
+power is removed).
+
+The workaround is to use a restart_method other than "command" or to
+flash an updated bootloader to the AVR device. Flashing a new
+bootloader is a one time step that typically requires an external
+programmer - search the web to find the instructions for your
+particular device.
+
+### Will the heaters be left on if the Raspberry Pi crashes?
+
+The software has been designed to prevent that. Once the host enables
+a heater, the host software needs to confirm that enablement every 5
+seconds. If the micro-controller does not receive a confirmation every
+5 seconds it goes into a "shutdown" state which is designed to turn
+off all heaters and stepper motors.
+
+See the "config_digital_out" command in the
+[MCU commands](MCU_Commands.md) document for further details.
+
+### How do I upgrade to the latest software?
+
+The general way to upgrade is to ssh into the Raspberry Pi and run:
+
+```
+cd ~/klipper
+git pull
+~/klipper/scripts/install-octopi.sh
+```
+
+Then one can recompile and flash the micro-controller code. For
+example:
+
+```
+sudo service klipper stop
+make flash FLASH_DEVICE=/dev/ttyACM0
+sudo service klipper start
+```
+
+However, it's often the case that only the host software changes. In
+this case, one can update and restart just the host software with:
+
+```
+cd ~/klipper
+git pull
+sudo service klipper restart
+```
+
+If after using this shortcut the software warns about needing to
+reflash the micro-controller or some other unusual error occurs, then
+follow the full upgrade steps outlined above. Note that the RESTART
+and FIRMWARE_RESTART g-code commands do not load new software - the
+above "sudo service klipper restart" and "make flash" commands are
+needed for a software change to take effect.

docs/G-Codes.md

@@ -0,0 +1,131 @@
+This document describes the commands that Klipper supports. These are
+commands that one may enter into the OctoPrint terminal tab.
+
+# G-Code commands
+
+Klipper supports the following standard G-Code commands:
+- Move (G0 or G1): `G1 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>] [F<speed>]`
+- Dwell: `G4 P<milliseconds>`
+- Move to origin: `G28 [X] [Y] [Z]`
+- Turn off motors: `M18` or `M84`
+- Wait for current moves to finish: `M400`
+- Select tool: `T<index>`
+- Use absolute/relative distances for extrusion: `M82`, `M83`
+- Use absolute/relative coordinates: `G90`, `G91`
+- Set position: `G92 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>]`
+- Set speed factor override percentage: `M220 S<percent>`
+- Set extrude factor override percentage: `M221 S<percent>`
+- Get extruder temperature: `M105`
+- Set extruder temperature: `M104 [T<index>] [S<temperature>]`
+- Set extruder temperature and wait: `M109 [T<index>] S<temperature>`
+- Set bed temperature: `M140 [S<temperature>]`
+- Set bed temperature and wait: `M190 S<temperature>`
+- Set fan speed: `M106 S<value>`
+- Turn fan off: `M107`
+- Emergency stop: `M112`
+- Get current position: `M114`
+- Get firmware version: `M115`
+- Set home offset: `M206 [X<pos>] [Y<pos>] [Z<pos>]`
+
+For further details on the above commands see the
+[RepRap G-Code documentation](http://reprap.org/wiki/G-code).
+
+Klipper's goal is to support the G-Code commands produced by common
+3rd party software (eg, OctoPrint, Printrun, Slic3r, Cura, etc.) in
+their standard configurations. It is not a goal to support every
+possible G-Code command. Instead, Klipper prefers human readable
+["extended G-Code commands"](#extended-g-code-commands).
+
+## G-Code SD card commands
+
+Klipper also supports the following standard G-Code commands if the
+"virtual_sdcard" config section is enabled:
+- List SD card: `M20`
+- Initialize SD card: `M21`
+- Select SD file: `M23 <filename>`
+- Start/resume SD print: `M24`
+- Pause SD print: `M25`
+- Set SD position: `M26 S<offset>`
+- Report SD print status: `M27`
+
+# Extended G-Code Commands
+
+Klipper uses "extended" G-Code commands for general configuration and
+status.  These extended commands all follow a similar format - they
+start with a command name and may be followed by one or more
+parameters. For example: `SET_SERVO SERVO=myservo ANGLE=5.3`. In this
+document, the commands and parameters are shown in uppercase, however
+they are not case sensitive. (So, "SET_SERVO" and "set_servo" both run
+the same command.)
+
+The following standard commands are supported:
+- `QUERY_ENDSTOPS`: Probe the axis endstops and report if they are
+  "triggered" or in an "open" state. This command is typically used to
+  verify that an endstop is working correctly.
+- `GET_POSITION`: Return information on the current location of the
+  toolhead.
+- `PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
+  [WRITE_FILE=1]`: Perform a PID calibration test. The specified
+  heater will be enabled until the specified target temperature is
+  reached, and then the heater will be turned off and on for several
+  cycles. If the WRITE_FILE parameter is enabled, then the file
+  /tmp/heattest.txt will be created with a log of all temperature
+  samples taken during the test.
+- `RESTART`: This will cause the host software to reload its config
+  and perform an internal reset. This command will not clear error
+  state from the micro-controller (see FIRMWARE_RESTART) nor will it
+  load new software (see
+  [the FAQ](FAQ.md#how-do-i-upgrade-to-the-latest-software)).
+- `FIRMWARE_RESTART`: This is similar to a RESTART command, but it
+  also clears any error state from the micro-controller.
+- `STATUS`: Report the Klipper host software status.
+- `HELP`: Report the list of available extended G-Code commands.
+
+## Custom Pin Commands
+
+The following command is available when an "output_pin" config section
+is enabled:
+- `SET_PIN PIN=config_name VALUE=<value>`
+
+## Servo Commands
+
+The following commands are available when a "servo" config section is
+enabled:
+- `SET_SERVO SERVO=config_name WIDTH=<seconds>`
+- `SET_SERVO SERVO=config_name ANGLE=<degrees>`
+
+## Probe
+
+The following commands are available when a "probe" config section is
+enabled:
+- `PROBE`: Move the nozzle downwards until the probe triggers.
+- `QUERY_PROBE`: Report the current status of the probe ("triggered"
+  or "open").
+
+## Delta Calibration
+
+The following commands are available when the "delta_calibrate" config
+section is enabled:
+- `DELTA_CALIBRATE`: This command will probe seven points on the bed
+  and recommend updated endstop positions, tower angles, and radius.
+  - `NEXT`: If manual bed probing is enabled, then one can use this
+    command to move to the next probing point during a DELTA_CALIBRATE
+    operation.
+
+## Bed Tilt
+
+The following commands are available when the "bed_tilt" config
+section is enabled:
+- `BED_TILT_CALIBRATE`: This command will probe the points specified
+  in the config and then recommend updated x and y tilt adjustments.
+  - `NEXT`: If manual bed probing is enabled, then one can use this
+    command to move to the next probing point during a
+    BED_TILT_CALIBRATE operation.
+
+## Dual Carriages
+
+The following command is available when the "dual_carriage" config
+section is enabled:
+- `SET_DUAL_CARRIAGE CARRIAGE=[0|1]`: This command will set the active
+  carriage. It is typically invoked from the activate_gcode and
+  deactivate_gcode fields in a multiple extruder configuration.

docs/Installation.md

@@ -1,13 +1,9 @@
 These instructions assume the software will run on a Raspberry Pi
-computer in conjunction with OctoPrint. (See the
+computer in conjunction with OctoPrint. It is recommended that a
-[Beaglebone specific instructions](beaglebone.md) if using a
+Raspberry Pi 2 or Raspberry Pi 3 computer be used as the host machine
-Beaglebone.) It is recommended that a Raspberry Pi 2 or Raspberry Pi 3
+(see the
-computer be used as the host machine.
+[FAQ](FAQ.md#can-i-run-klipper-on-something-other-than-a-raspberry-pi-3)
-
+for other machines).
-It should be possible to run the Klipper host software on any computer
-running a recent Linux distribution, but doing so will require Linux
-admin knowledge to translate these installation instructions to the
-particulars of that machine.
 
 Klipper currently supports Atmel ATmega based micro-controllers,
 Arduino Due (Atmel SAM3x8e ARM micro-controller), and
@@ -23,9 +19,14 @@ 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 v1.3.5 or later.
 
-After installing OctoPi and upgrading OctoPrint, ssh into the target
+After installing OctoPi and upgrading OctoPrint, it will be necessary
-machine (ssh pi@octopi -- password is "raspberry") and run the
+to ssh into the target machine to run a handful of system commands. If
-following commands:
+using a Linux or MacOS desktop, then the "ssh" software should already
+be installed on the desktop. There are free ssh clients available for
+other desktops (eg,
+[PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/)). Use the
+ssh utility to connect to the Raspberry Pi (ssh pi@octopi -- password
+is "raspberry") and run the following commands:
 
 ```
 git clone https://github.com/KevinOConnor/klipper
@@ -40,15 +41,18 @@ minutes to complete.
 Building and flashing the micro-controller
 ==========================================
 
-To compile the micro-controller code, start by configuring it:
+To compile the micro-controller code, start by running these commands
+on the Raspberry Pi:
 
 ```
 cd ~/klipper/
 make menuconfig
 ```
 
-Select the appropriate micro-controller and serial baud rate. Once
+Select the appropriate micro-controller and review any other options
-configured, run:
+provided. For boards with serial ports, the default baud rate is
+250000 (see the [FAQ](FAQ.md#how-do-i-change-the-serial-baud-rate) if
+changing). Once configured, run:
 
 ```
 make
@@ -62,25 +66,11 @@ make flash FLASH_DEVICE=/dev/ttyACM0
 sudo service klipper start
 ```
 
-Configuring Klipper
+When flashing for the first time, make sure that OctoPrint is not
-===================
+connected directly to the printer (from the OctoPrint web page, under
-
+the "Connection" section, click "Disconnect"). The most common
-The Klipper configuration is stored in a text file on the Raspberry
+communication device is **/dev/ttyACM0** - see the
-Pi. Take a look at the example config files in the
+[FAQ](FAQ.md#wheres-my-serial-port) for other possibilities.
-[config directory](../config/). The
-[example.cfg](../config/example.cfg) file contains documentation on
-command parameters and it can also be used as an initial config file
-template. However, for most printers, one of the other config files
-may be a more concise starting point. The next step is to copy and
-edit one of these config files - for example:
-
-```
-cp ~/klipper/config/example.cfg ~/printer.cfg
-nano ~/printer.cfg
-```
-
-Make sure to review and update each setting that is appropriate for
-the hardware.
 
 Configuring OctoPrint to use Klipper
 ====================================
@@ -105,13 +95,47 @@ 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 - issue a "restart" command in the OctoPrint terminal to
+config file - that means OctoPrint is successfully communicating with
-load the config. A "status" command will report the printer is ready
+Klipper. Proceed to the next section.
-if the Klipper config file is successfully read and the
+
-micro-controller is successfully found and configured. It is not
+Configuring Klipper
-unusual to have configuration errors during the initial setup - update
+===================
-the printer config file and issue "restart" until "status" reports the
+
-printer is ready.
+The Klipper configuration is stored in a text file on the Raspberry
+Pi. Take a look at the example config files in the
+[config directory](../config/). The
+[example.cfg](../config/example.cfg) file contains documentation on
+command parameters and it can also be used as an initial config file
+template. However, for most printers, one of the other config files
+may be a more concise starting point.
+
+Arguably the easiest way to update the Klipper configuration file is
+to use a desktop editor that supports editing files over the "scp"
+and/or "sftp" protocols. There are freely available tools that support
+this (eg, Notepad++, WinSCP, and Cyberduck). Use one of the example
+config files as a starting point and 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 - for example:
+
+```
+cp ~/klipper/config/example.cfg ~/printer.cfg
+nano ~/printer.cfg
+```
+
+Make sure to review and update each setting that is appropriate for
+the hardware.
+
+After creating and editing the file it will be necessary to issue a
+"restart" command in the OctoPrint web terminal to load the config. A
+"status" command will report the printer is ready if the Klipper
+config file is successfully read and the micro-controller is
+successfully found and configured. It is not unusual to have
+configuration errors during the initial setup - update the printer
+config file and issue "restart" until "status" reports the printer is
+ready.
 
 Klipper reports error messages via the OctoPrint terminal tab. The
 "status" command can be used to re-report error messages. The default
@@ -122,7 +146,13 @@ In addition to common g-code commands, Klipper supports a few extended
 commands - "status" and "restart" are examples of these commands. Use
 the "help" command to get a list of other extended commands.
 
+After Klipper reports that the "printer is ready" go on to the
+[config check document](Config_checks.md) to perform some basic checks
+on the pin definitions in the config file.
+
 Contacting the developers
 =========================
 
-See the [contact page](Contact.md) to ask questions or report a bug.
+Be sure to see the [FAQ](FAQ.md) for answers to some common questions.
+See the [contact page](Contact.md) to report a bug or to contact the
+developers.

docs/Overview.md

@@ -4,7 +4,9 @@ machine. The host code is intended to run on a low-cost
 general-purpose machine such as a Raspberry Pi, while the
 micro-controller code is intended to run on commodity micro-controller
 chips. Read [features](Features.md) for reasons to use Klipper. See
-[installation](Installation.md) to get started with Klipper.
+[installation](Installation.md) to get started with Klipper. See
+[config checks](Config_checks.md) for a guide to verify basic pin
+settings in the config file.
 
 The Klipper configuration is stored in a simple text file on the host
 machine. The [config/example.cfg](../config/example.cfg) file serves
@@ -13,7 +15,9 @@ as a reference for the config file. The
 on tuning the pressure advance config.
 
 The [kinematics](Kinematics.md) document provides some technical
-details on how Klipper implements motion.
+details on how Klipper implements motion. The [FAQ](FAQ.md) answers
+some common questions. The [G-Codes](G-Codes.md) document lists
+currently supported run-time commands.
 
 The history of Klipper releases is available at
 [releases](Releases.md). See [contact](Contact.md) for information on
@@ -25,7 +29,8 @@ Developer Documentation
 There are also several documents available for developers interested
 in understanding how Klipper works. Start with the
 [code overview](Code_Overview.md) document - it provides information
-on the structure and layout of the Klipper code.
+on the structure and layout of the Klipper code. See the
+[contributing](CONTRIBUTING.md) document to submit improvements to Klipper.
 
 See [protocol](Protocol.md) for information on the low-level messaging
 protocol between host and micro-controller. See also

docs/Pressure_Advance.md

@@ -63,7 +63,10 @@ in good quality corners:
 ![corner-good](img/corner-good.jpg)
 
 Typical pressure_advance values are between 0.05 and 0.20 (the high
-end usually only with bowden extruders).
+end usually only with bowden extruders). If there is no significant
+improvement seen after increasing pressure_advance to 0.20, then
+pressure advance is unlikely to improve the quality of prints. Return
+to a default configuration with pressure_advance disabled.
 
 It is not unusual for one corner of the test print to be consistently
 different than the other three corners. This typically occurs when the

docs/Releases.md

@@ -1,6 +1,37 @@
 History of Klipper releases. Please see
 [installation](Installation.md) for information on installing Klipper.
 
+Klipper 0.6.0
+=============
+
+Available on 20180331. Major changes in this release:
+* Enhanced heater and thermistor hardware failure checks
+* Support for Z probes
+* Initial support for automatic parameter calibration on deltas (via a
+  new delta_calibrate command)
+* Initial support for bed tilt compensation (via bed_tilt_calibrate
+  command)
+* Initial support for "safe homing" and homing overrides
+* Initial support for displaying status on RepRapDiscount style 2004
+  and 12864 displays
+* New multi-extruder improvements:
+  * Support for shared heaters
+  * Initial support for dual carriages
+* Support for configuring multiple steppers per axis (eg, dual Z)
+* Support for custom digital and pwm output pins (with a new SET_PIN command)
+* Initial support for a "virtual sdcard" that allows printing directly
+  from Klipper (helps on machines too slow to run OctoPrint well)
+* Support for setting different arm lengths on each tower of a delta
+* Support for G-Code M220/M221 commands (speed factor override /
+  extrude factor override)
+* Several documentation updates:
+  * Many new example config files for common off-the-shelf printers
+  * New multiple MCU config example
+  * New bltouch sensor config example
+  * New FAQ, config check, and G-Code documents
+* Initial support for continuous integration testing on all github commits
+* Several bug fixes and code cleanups
+
 Klipper 0.5.0
 =============
 

docs/Todo.md

@@ -44,10 +44,6 @@ Safety features
    endstop detection is a good idea because of spurious signals caused
    by electrical noise.)
 
-* Support validating that heaters are heating at expected rates. This
-  can be useful to detect a sensor failure (eg, thermistor short) that
-  could otherwise cause the PID to command excessive heating.
-
 Testing features
 ================
 
@@ -71,10 +67,6 @@ Hardware features
 
 * Support for additional kinematics: scara, etc.
 
-* Support shared motor enable GPIO lines.
-
-* Support for bed-level probes.
-
 * Possible support for touch panels attached to the micro-controller.
   (In general, it would be preferable to attach touch panels to the
   host system and have octoprint interact with the panel directly, but

docs/beaglebone.md

@@ -54,7 +54,6 @@ sudo systemctl start octoprint
 Make sure the octoprint web server is accessible - it should be at:
 [http://beaglebone:5000/](http://beaglebone:5000/)
 
-
 Building the micro-controller code
 ==================================
 
@@ -92,3 +91,13 @@ Remaining configuration
 Complete the installation by configuring Klipper and Octoprint
 following the instructions in
 [the main installation document](Installation.md#configuring-klipper).
+
+Printing on the Beaglebone
+==========================
+
+Unfortunately, the Beaglebone processor can sometimes struggle to run
+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/example-extras.cfg](../config/example-extras.cfg) for
+details) to print directly from Klipper.

docs/developer-certificate-of-origin

@@ -0,0 +1,37 @@
+Developer Certificate of Origin
+Version 1.1
+
+Copyright (C) 2004, 2006 The Linux Foundation and its contributors.
+1 Letterman Drive
+Suite D4700
+San Francisco, CA, 94129
+
+Everyone is permitted to copy and distribute verbatim copies of this
+license document, but changing it is not allowed.
+
+
+Developer's Certificate of Origin 1.1
+
+By making a contribution to this project, I certify that:
+
+(a) The contribution was created in whole or in part by me and I
+    have the right to submit it under the open source license
+    indicated in the file; or
+
+(b) The contribution is based upon previous work that, to the best
+    of my knowledge, is covered under an appropriate open source
+    license and I have the right under that license to submit that
+    work with modifications, whether created in whole or in part
+    by me, under the same open source license (unless I am
+    permitted to submit under a different license), as indicated
+    in the file; or
+
+(c) The contribution was provided directly to me by some other
+    person who certified (a), (b) or (c) and I have not modified
+    it.
+
+(d) I understand and agree that this project and the contribution
+    are public and that a record of the contribution (including all
+    personal information I submit with it, including my sign-off) is
+    maintained indefinitely and may be redistributed consistent with
+    this project or the open source license(s) involved.

docs/issue_template.md

@@ -0,0 +1,2 @@
+<!-- Klipper do something undesirable? YOU MUST ATTACH THE KLIPPER LOG FILE.
+See: https://github.com/KevinOConnor/klipper/blob/master/docs/Contact.md -->

docs/prints/square.scad

@@ -7,10 +7,39 @@ square_width = 5;
 square_size = 60;
 square_height = 5;
 
-difference() {
+module hollow_square() {
+    difference() {
         cube([square_size, square_size, square_height]);
         translate([square_width, square_width, -1])
-    cube([square_size-2*square_width, square_size-2*square_width, square_height+2]);
+            cube([square_size-2*square_width, square_size-2*square_width,
-  translate([-.5, square_size/2 - 4, -1])
+                  square_height+2]);
-    cube([1, 2, square_height+2]);
+    }
 }
+
+module notch() {
+    CUT = 0.01;
+    depth = .5;
+    width = 1;
+    translate([-depth, -width, -CUT])
+        cube([2*depth, 2*width, square_height + 2*CUT]);
+}
+
+module square_with_notches() {
+    difference() {
+        // Start with initial square
+        hollow_square();
+        // Remove four notches on inside perimeter
+        translate([square_width, square_size/2 - 4, 0])
+            notch();
+        translate([square_size/2, square_size - square_width, 0])
+            rotate([0, 0, 90])
+                notch();
+        translate([square_size - square_width, square_size/2, 0])
+            notch();
+        translate([square_size/2, square_width, 0])
+            rotate([0, 0, 90])
+                notch();
+    }
+}
+
+square_with_notches();

docs/prints/square.stl

@@ -2,20 +2,6 @@ solid OpenSCAD_Model
   facet normal -1 0 0
     outer loop
       vertex 0 0 0
-      vertex 0 26 5
-      vertex 0 26 0
-    endloop
-  endfacet
-  facet normal -1 -0 0
-    outer loop
-      vertex 0 26 5
-      vertex 0 0 0
-      vertex 0 0 5
-    endloop
-  endfacet
-  facet normal -1 0 0
-    outer loop
-      vertex 0 28 0
       vertex 0 60 5
       vertex 0 60 0
     endloop
@@ -23,92 +9,176 @@ solid OpenSCAD_Model
   facet normal -1 -0 0
     outer loop
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+      vertex 55.5 29 5
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+      vertex 29 4.5 5
+      vertex 0 0 5
+      vertex 60 0 5
+    endloop
+  endfacet
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+    outer loop
+      vertex 4.5 25 5
+      vertex 0 0 5
+      vertex 5 5 5
+    endloop
+  endfacet
+  facet normal 0 0 1
+    outer loop
+      vertex 55.5 31 5
       vertex 55 55 5
-    endloop
+      vertex 55 31 5
-  endfacet
-  facet normal -0 0 1
-    outer loop
-      vertex 5 5 5
-      vertex 60 0 5
-      vertex 55 5 5
-    endloop
-  endfacet
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-      vertex 0 26 5
-      vertex 5 5 5
-      vertex 0.5 26 5
     endloop
   endfacet
   facet normal 0 0 1
     outer loop
-      vertex 5 5 5
+      vertex 55 55 5
-      vertex 0 0 5
+      vertex 31 55.5 5
-      vertex 60 0 5
+      vertex 31 55 5
-    endloop
-  endfacet
-  facet normal 0 0 1
-    outer loop
-      vertex 0 0 5
-      vertex 5 5 5
-      vertex 0 26 5
     endloop
   endfacet
   facet normal 1 -0 0
@@ -139,88 +209,172 @@ solid OpenSCAD_Model
       vertex 0 60 0
     endloop
   endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 5 27 0
+      vertex 4.5 27 0
+      vertex 5 55 0
+    endloop
+  endfacet
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+    outer loop
+      vertex 29 55 0
+      vertex 5 55 0
+      vertex 29 55.5 0
+    endloop
+  endfacet
   facet normal 0 0 -1
     outer loop
       vertex 60 0 0
-      vertex 55 5 0
+      vertex 55.5 29 0
       vertex 60 60 0
     endloop
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   facet normal 0 0 -1
     outer loop
       vertex 60 0 0
-      vertex 5 5 0
+      vertex 55 5 0
+      vertex 55.5 29 0
+    endloop
+  endfacet
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+    outer loop
+      vertex 60 0 0
+      vertex 31 4.5 0
       vertex 55 5 0
     endloop
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 0.5 28 0
+      vertex 60 0 0
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+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 29 4.5 0
       vertex 5 5 0
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+      vertex 29 5 0
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   facet normal 0 0 -1
     outer loop
       vertex 0 0 0
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       vertex 60 0 0
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   facet normal 0 0 -1
     outer loop
-      vertex 0 26 0
       vertex 5 5 0
+      vertex 4.5 25 0
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+    outer loop
+      vertex 29 4.5 0
+      vertex 0 0 0
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+  endfacet
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+      vertex 55 55 0
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+      vertex 55.5 31 0
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+      vertex 60 60 0
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+    outer loop
+      vertex 31 55.5 0
+      vertex 55 55 0
+      vertex 31 55 0
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+  endfacet
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+    outer loop
+      vertex 55 55 0
+      vertex 31 55.5 0
+      vertex 60 60 0
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 29 55.5 0
+      vertex 60 60 0
+      vertex 31 55.5 0
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 0 60 0
+      vertex 29 55.5 0
+      vertex 5 55 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 0 60 0
+      vertex 4.5 27 0
       vertex 0 0 0
     endloop
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 5 5 0
+      vertex 29 55.5 0
-      vertex 0 26 0
-      vertex 0.5 26 0
-    endloop
-  endfacet
-  facet normal 0 0 -1
-    outer loop
-      vertex 55 55 0
-      vertex 60 60 0
-      vertex 55 5 0
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-      vertex 0.5 28 0
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-  endfacet
-  facet normal 0 0 -1
-    outer loop
-      vertex 0 28 0
-      vertex 5 55 0
-      vertex 0.5 28 0
-    endloop
-  endfacet
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-    outer loop
-      vertex 5 55 0
       vertex 0 60 0
       vertex 60 60 0
     endloop
   endfacet
   facet normal 0 0 -1
     outer loop
+      vertex 4.5 27 0
       vertex 0 60 0
       vertex 5 55 0
-      vertex 0 28 0
+    endloop
+  endfacet
+  facet normal -0 0 -1
+    outer loop
+      vertex 55.5 29 0
+      vertex 55 5 0
+      vertex 55 29 0
+    endloop
+  endfacet
+  facet normal -0 0 -1
+    outer loop
+      vertex 55 5 0
+      vertex 31 4.5 0
+      vertex 31 5 0
     endloop
   endfacet
   facet normal 0 -1 0
@@ -240,6 +394,20 @@ solid OpenSCAD_Model
   facet normal 1 -0 0
     outer loop
       vertex 5 5 5
+      vertex 5 25 0
+      vertex 5 25 5
+    endloop
+  endfacet
+  facet normal 1 0 0
+    outer loop
+      vertex 5 25 0
+      vertex 5 5 5
+      vertex 5 5 0
+    endloop
+  endfacet
+  facet normal 1 -0 0
+    outer loop
+      vertex 5 27 5
       vertex 5 55 0
       vertex 5 55 5
     endloop
@@ -247,13 +415,27 @@ solid OpenSCAD_Model
   facet normal 1 0 0
     outer loop
       vertex 5 55 0
-      vertex 5 5 5
+      vertex 5 27 5
-      vertex 5 5 0
+      vertex 5 27 0
     endloop
   endfacet
   facet normal -1 0 0
     outer loop
       vertex 55 5 0
+      vertex 55 29 5
+      vertex 55 29 0
+    endloop
+  endfacet
+  facet normal -1 -0 0
+    outer loop
+      vertex 55 29 5
+      vertex 55 5 0
+      vertex 55 5 5
+    endloop
+  endfacet
+  facet normal -1 0 0
+    outer loop
+      vertex 55 31 0
       vertex 55 55 5
       vertex 55 55 0
     endloop
@@ -261,78 +443,232 @@ solid OpenSCAD_Model
   facet normal -1 -0 0
     outer loop
       vertex 55 55 5
+      vertex 55 31 0
+      vertex 55 31 5
+    endloop
+  endfacet
+  facet normal 0 1 -0
+    outer loop
+      vertex 29 5 0
+      vertex 5 5 5
+      vertex 29 5 5
+    endloop
+  endfacet
+  facet normal 0 1 0
+    outer loop
+      vertex 5 5 5
+      vertex 29 5 0
+      vertex 5 5 0
+    endloop
+  endfacet
+  facet normal 0 1 -0
+    outer loop
       vertex 55 5 0
+      vertex 31 5 5
       vertex 55 5 5
     endloop
   endfacet
+  facet normal 0 1 0
+    outer loop
+      vertex 31 5 5
+      vertex 55 5 0
+      vertex 31 5 0
+    endloop
+  endfacet
   facet normal 0 -1 0
     outer loop
       vertex 5 55 0
-      vertex 55 55 5
+      vertex 29 55 5
       vertex 5 55 5
     endloop
   endfacet
   facet normal 0 -1 -0
     outer loop
-      vertex 55 55 5
+      vertex 29 55 5
       vertex 5 55 0
-      vertex 55 55 0
+      vertex 29 55 0
-    endloop
-  endfacet
-  facet normal 0 1 -0
-    outer loop
-      vertex 55 5 0
-      vertex 5 5 5
-      vertex 55 5 5
-    endloop
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     endloop
   endfacet
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     outer loop
-      vertex 0 28 0
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-      vertex 0 28 5
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     endloop
   endfacet
   facet normal 0 -1 -0
     outer loop
-      vertex 0.5 28 5
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+      vertex 31 55 0
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+  endfacet
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     outer loop
-      vertex 0.5 26 0
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     endloop
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   facet normal 0 1 0
     outer loop
-      vertex 0 26 5
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+    endloop
+  endfacet
+  facet normal 0 -1 0
+    outer loop
+      vertex 29 55.5 0
+      vertex 31 55.5 5
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+  endfacet
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+    outer loop
+      vertex 31 55.5 5
+      vertex 29 55.5 0
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+    outer loop
+      vertex 29 55 5
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+    outer loop
+      vertex 29 55.5 0
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+    outer loop
+      vertex 31 55 0
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+      vertex 31 55.5 0
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+    outer loop
+      vertex 31 55.5 5
+      vertex 31 55 0
+      vertex 31 55 5
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+    outer loop
+      vertex 55.5 29 0
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+      vertex 55 31 0
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+    outer loop
+      vertex 55.5 29 0
+      vertex 55 29 5
+      vertex 55.5 29 5
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+  endfacet
+  facet normal 0 1 0
+    outer loop
+      vertex 55 29 5
+      vertex 55.5 29 0
+      vertex 55 29 0
+    endloop
+  endfacet
+  facet normal 0 1 -0
+    outer loop
+      vertex 31 4.5 0
+      vertex 29 4.5 5
+      vertex 31 4.5 5
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+  endfacet
+  facet normal 0 1 0
+    outer loop
+      vertex 29 4.5 5
+      vertex 31 4.5 0
+      vertex 29 4.5 0
+    endloop
+  endfacet
+  facet normal -1 0 0
+    outer loop
+      vertex 31 4.5 0
+      vertex 31 5 5
+      vertex 31 5 0
+    endloop
+  endfacet
+  facet normal -1 -0 0
+    outer loop
+      vertex 31 5 5
+      vertex 31 4.5 0
+      vertex 31 4.5 5
+    endloop
+  endfacet
+  facet normal 1 -0 0
+    outer loop
+      vertex 29 4.5 5
+      vertex 29 5 0
+      vertex 29 5 5
+    endloop
+  endfacet
+  facet normal 1 0 0
+    outer loop
+      vertex 29 5 0
+      vertex 29 4.5 5
+      vertex 29 4.5 0
     endloop
   endfacet
 endsolid OpenSCAD_Model

klippy/cartesian.py

@@ -10,8 +10,9 @@ StepList = (0, 1, 2)
 
 class CartKinematics:
     def __init__(self, toolhead, printer, config):
-        self.steppers = [stepper.PrinterHomingStepper(
+        self.printer = printer
-            printer, config.getsection('stepper_' + n), n)
+        self.steppers = [stepper.LookupMultiHomingStepper(
+            printer, config.getsection('stepper_' + n))
                          for n in ['x', 'y', 'z']]
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -26,14 +27,34 @@ class CartKinematics:
         self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
         self.steppers[2].set_max_jerk(
             min(max_halt_velocity, self.max_z_velocity), max_accel)
-    def set_position(self, newpos):
+        # Check for dual carriage support
+        self.dual_carriage_axis = None
+        self.dual_carriage_steppers = []
+        if config.has_section('dual_carriage'):
+            dc_config = config.getsection('dual_carriage')
+            self.dual_carriage_axis = dc_config.getchoice(
+                'axis', {'x': 0, 'y': 1})
+            dc_stepper = stepper.LookupMultiHomingStepper(printer, dc_config)
+            dc_stepper.set_max_jerk(max_halt_velocity, max_accel)
+            self.dual_carriage_steppers = [
+                self.steppers[self.dual_carriage_axis], dc_stepper]
+            printer.lookup_object('gcode').register_command(
+                'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
+                desc=self.cmd_SET_DUAL_CARRIAGE_help)
+    def get_steppers(self, flags=""):
+        if flags == "Z":
+            return [self.steppers[2]]
+        return list(self.steppers)
+    def get_position(self):
+        return [s.mcu_stepper.get_commanded_position() for s in self.steppers]
+    def set_position(self, newpos, homing_axes):
         for i in StepList:
-            self.steppers[i].mcu_stepper.set_position(newpos[i])
+            s = self.steppers[i]
-    def home(self, homing_state):
+            s.set_position(newpos[i])
-        # Each axis is homed independently and in order
+            if i in homing_axes:
-        for axis in homing_state.get_axes():
+                self.limits[i] = (s.position_min, s.position_max)
-            s = self.steppers[axis]
+    def _home_axis(self, homing_state, axis, stepper):
-            self.limits[axis] = (s.position_min, s.position_max)
+        s = stepper
         # Determine moves
         if s.homing_positive_dir:
             pos = s.position_endstop - 1.5*(
@@ -46,28 +67,43 @@ class CartKinematics:
             rpos = s.position_endstop + s.homing_retract_dist
             r2pos = rpos + s.homing_retract_dist
         # Initial homing
-            homing_speed = s.get_homing_speed()
+        homing_speed = s.homing_speed
+        if axis == 2:
+            homing_speed = min(homing_speed, self.max_z_velocity)
         homepos = [None, None, None, None]
         homepos[axis] = s.position_endstop
         coord = [None, None, None, None]
         coord[axis] = pos
-            homing_state.home(list(coord), homepos, [s], homing_speed)
+        homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
         # Retract
         coord[axis] = rpos
-            homing_state.retract(list(coord), homing_speed)
+        homing_state.retract(coord, homing_speed)
         # Home again
         coord[axis] = r2pos
-            homing_state.home(
+        homing_state.home(coord, homepos, s.get_endstops(),
-                list(coord), homepos, [s], homing_speed/2.0, second_home=True)
+                          homing_speed/2.0, second_home=True)
         # Set final homed position
         coord[axis] = s.position_endstop + s.get_homed_offset()
         homing_state.set_homed_position(coord)
-    def query_endstops(self, print_time, query_flags):
+    def home(self, homing_state):
-        return homing.query_endstops(print_time, query_flags, self.steppers)
+        # Each axis is homed independently and in order
+        for axis in homing_state.get_axes():
+            if axis == self.dual_carriage_axis:
+                dc1, dc2 = self.dual_carriage_steppers
+                altc = self.steppers[axis] == dc2
+                self._activate_carriage(0)
+                self._home_axis(homing_state, axis, dc1)
+                self._activate_carriage(1)
+                self._home_axis(homing_state, axis, dc2)
+                self._activate_carriage(altc)
+            else:
+                self._home_axis(homing_state, axis, self.steppers[axis])
     def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
             stepper.motor_enable(print_time, 0)
+        for stepper in self.dual_carriage_steppers:
+            stepper.motor_enable(print_time, 0)
         self.need_motor_enable = True
     def _check_motor_enable(self, print_time, move):
         need_motor_enable = False
@@ -107,7 +143,7 @@ class CartKinematics:
             axis_d = move.axes_d[i]
             if not axis_d:
                 continue
-            mcu_stepper = self.steppers[i].mcu_stepper
+            step_const = self.steppers[i].step_const
             move_time = print_time
             start_pos = move.start_pos[i]
             axis_r = abs(axis_d) / move.move_d
@@ -117,19 +153,38 @@ class CartKinematics:
             # Acceleration steps
             if move.accel_r:
                 accel_d = move.accel_r * axis_d
-                mcu_stepper.step_const(
+                step_const(move_time, start_pos, accel_d,
-                    move_time, start_pos, accel_d, move.start_v * axis_r, accel)
+                           move.start_v * axis_r, accel)
                 start_pos += accel_d
                 move_time += move.accel_t
             # Cruising steps
             if move.cruise_r:
                 cruise_d = move.cruise_r * axis_d
-                mcu_stepper.step_const(
+                step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
-                    move_time, start_pos, cruise_d, cruise_v, 0.)
                 start_pos += cruise_d
                 move_time += move.cruise_t
             # Deceleration steps
             if move.decel_r:
                 decel_d = move.decel_r * axis_d
-                mcu_stepper.step_const(
+                step_const(move_time, start_pos, decel_d, cruise_v, -accel)
-                    move_time, start_pos, decel_d, cruise_v, -accel)
+    # Dual carriage support
+    def _activate_carriage(self, carriage):
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.get_last_move_time()
+        dc_stepper = self.dual_carriage_steppers[carriage]
+        dc_axis = self.dual_carriage_axis
+        self.steppers[dc_axis] = dc_stepper
+        extruder_pos = toolhead.get_position()[3]
+        toolhead.set_position(self.get_position() + [extruder_pos])
+        if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
+            self.limits[dc_axis] = (
+                dc_stepper.position_min, dc_stepper.position_max)
+        self.need_motor_enable = True
+    cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
+    def cmd_SET_DUAL_CARRIAGE(self, params):
+        gcode = self.printer.lookup_object('gcode')
+        carriage = gcode.get_int('CARRIAGE', params)
+        if carriage not in (0, 1):
+            raise gcode.error("Invalid carriage")
+        self._activate_carriage(carriage)
+        gcode.reset_last_position()

klippy/chipmisc.py

@@ -1,296 +0,0 @@
-# Code to configure miscellaneous chips
-#
-# Copyright (C) 2017  Kevin O'Connor <kevin@koconnor.net>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import pins, mcu
-
-
-######################################################################
-# Statically configured output pins
-######################################################################
-
-class PrinterStaticDigitalOut:
-    def __init__(self, printer, config):
-        pin_list = [pin.strip() for pin in config.get('pins').split(',')]
-        for pin_desc in pin_list:
-            mcu_pin = pins.setup_pin(printer, 'digital_out', pin_desc)
-            mcu_pin.setup_static()
-
-class PrinterStaticPWM:
-    def __init__(self, printer, config):
-        mcu_pwm = pins.setup_pin(printer, 'pwm', config.get('pin'))
-        mcu_pwm.setup_max_duration(0.)
-        hard_pwm = config.getint('hard_pwm', None, minval=1)
-        if hard_pwm is None:
-            mcu_pwm.setup_cycle_time(config.getfloat(
-                'cycle_time', 0.100, above=0.))
-        else:
-            mcu_pwm.setup_hard_pwm(hard_pwm)
-        scale = config.getfloat('scale', 1., above=0.)
-        value = config.getfloat('value', minval=0., maxval=scale)
-        mcu_pwm.setup_static_pwm(value / scale)
-
-
-######################################################################
-# Servos
-######################################################################
-
-SERVO_MIN_TIME = 0.100
-SERVO_SIGNAL_PERIOD = 0.020
-
-class PrinterServo:
-    def __init__(self, printer, config):
-        self.mcu_servo = pins.setup_pin(printer, 'pwm', config.get('pin'))
-        self.mcu_servo.setup_max_duration(0.)
-        self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
-        self.min_width = config.getfloat(
-            'minimum_pulse_width', .001, above=0., below=SERVO_SIGNAL_PERIOD)
-        self.max_width = config.getfloat(
-            'maximum_pulse_width', .002
-            , above=self.min_width, below=SERVO_SIGNAL_PERIOD)
-        self.max_angle = config.getfloat('maximum_servo_angle', 180.)
-        self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
-        self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
-        self.last_value = self.last_value_time = 0.
-    def set_pwm(self, print_time, value):
-        if value == self.last_value:
-            return
-        print_time = max(self.last_value_time + SERVO_MIN_TIME, print_time)
-        self.mcu_servo.set_pwm(print_time, value)
-        self.last_value = value
-        self.last_value_time = print_time
-    # External commands
-    def set_angle(self, print_time, angle):
-        angle = max(0., min(self.max_angle, angle))
-        width = self.min_width + angle * self.angle_to_width
-        self.set_pwm(print_time, width * self.width_to_value)
-    def set_pulse_width(self, print_time, width):
-        width = max(self.min_width, min(self.max_width, width))
-        self.set_pwm(print_time, width * self.width_to_value)
-
-def get_printer_servo(printer, name):
-    return printer.objects.get('servo ' + name)
-
-
-######################################################################
-# AD5206 digipot
-######################################################################
-
-class ad5206:
-    def __init__(self, printer, config):
-        enable_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
-            config.get('enable_pin'))
-        self.mcu = enable_pin_params['chip']
-        self.pin = enable_pin_params['pin']
-        self.mcu.add_config_object(self)
-        scale = config.getfloat('scale', 1., above=0.)
-        self.channels = [None] * 6
-        for i in range(len(self.channels)):
-            val = config.getfloat('channel_%d' % (i+1,), None,
-                                  minval=0., maxval=scale)
-            if val is not None:
-                self.channels[i] = int(val * 256. / scale + .5)
-    def build_config(self):
-        for i, val in enumerate(self.channels):
-            if val is not None:
-                self.mcu.add_config_cmd(
-                    "send_spi_message pin=%s msg=%02x%02x" % (self.pin, i, val))
-
-
-######################################################################
-# Replicape board
-######################################################################
-
-REPLICAPE_MAX_CURRENT = 3.84
-REPLICAPE_SHIFT_REGISTER_BUS = 1
-REPLICAPE_SHIFT_REGISTER_DEVICE = 1
-REPLICAPE_PCA9685_BUS = 2
-REPLICAPE_PCA9685_ADDRESS = 0x70
-REPLICAPE_PCA9685_CYCLE_TIME = .001
-
-class pca9685_pwm:
-    def __init__(self, replicape, channel, pin_params):
-        self._replicape = replicape
-        self._channel = channel
-        if pin_params['type'] not in ['digital_out', 'pwm']:
-            raise pins.error("Pin type not supported on replicape")
-        self._mcu = replicape.host_mcu
-        self._mcu.add_config_object(self)
-        self._bus = REPLICAPE_PCA9685_BUS
-        self._address = REPLICAPE_PCA9685_ADDRESS
-        self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME
-        self._max_duration = 2.
-        self._oid = None
-        self._invert = pin_params['invert']
-        self._shutdown_value = float(self._invert)
-        self._last_clock = 0
-        self._pwm_max = 0.
-        self._cmd_queue = self._mcu.alloc_command_queue()
-        self._set_cmd = None
-        self._static_value = None
-    def get_mcu(self):
-        return self._mcu
-    def setup_max_duration(self, max_duration):
-        self._max_duration = max_duration
-    def setup_cycle_time(self, cycle_time):
-        pass
-    def setup_hard_pwm(self, hard_cycle_ticks):
-        if hard_cycle_ticks:
-            raise pins.error("pca9685 does not support hard_pwm parameter")
-    def setup_static_pwm(self, value):
-        if self._invert:
-            value = 1. - value
-        self._static_value = max(0., min(1., value))
-    def setup_shutdown_value(self, value):
-        if self._invert:
-            value = 1. - value
-        self._shutdown_value = max(0., min(1., value))
-        if self._shutdown_value:
-            self._replicape.note_enable_on_shutdown()
-    def build_config(self):
-        self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
-        cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
-        if self._static_value is not None:
-            value = int(self._static_value * self._pwm_max + 0.5)
-            self._mcu.add_config_cmd(
-                "set_pca9685_out bus=%d addr=%d channel=%d"
-                " cycle_ticks=%d value=%d" % (
-                    self._bus, self._address, self._channel,
-                    cycle_ticks, value))
-            return
-        self._oid = self._mcu.create_oid()
-        self._mcu.add_config_cmd(
-            "config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
-            " value=%d default_value=%d max_duration=%d" % (
-                self._oid, self._bus, self._address, self._channel, cycle_ticks,
-                self._invert * self._pwm_max,
-                self._shutdown_value * self._pwm_max,
-                self._mcu.seconds_to_clock(self._max_duration)))
-        self._set_cmd = self._mcu.lookup_command(
-            "schedule_pca9685_out oid=%c clock=%u value=%hu")
-    def set_pwm(self, print_time, value):
-        clock = self._mcu.print_time_to_clock(print_time)
-        if self._invert:
-            value = 1. - value
-        value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
-        self._replicape.note_enable(print_time, self._channel, not not value)
-        msg = self._set_cmd.encode(self._oid, clock, value)
-        self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
-                      , cq=self._cmd_queue)
-        self._last_clock = clock
-    def set_digital(self, print_time, value):
-        if value:
-            self.set_pwm(print_time, 1.)
-        else:
-            self.set_pwm(print_time, 0.)
-
-class ReplicapeDACEnable:
-    def __init__(self, replicape, channel, pin_params):
-        if pin_params['type'] != 'digital_out':
-            raise pins.error("Replicape virtual enable pin must be digital_out")
-        if pin_params['invert']:
-            raise pins.error("Replicape virtual enable pin can not be inverted")
-        self.mcu = replicape.host_mcu
-        self.value = replicape.stepper_dacs[channel]
-        self.pwm = pca9685_pwm(replicape, channel, pin_params)
-        self.last = 0
-    def get_mcu(self):
-        return self.mcu
-    def setup_max_duration(self, max_duration):
-        self.pwm.setup_max_duration(max_duration)
-    def set_digital(self, print_time, value):
-        if value:
-            self.pwm.set_pwm(print_time, self.value)
-        else:
-            self.pwm.set_pwm(print_time, 0.)
-        self.last = value
-    def get_last_setting(self):
-        return self.last
-
-ReplicapeStepConfig = {
-    'disable': None,
-    '1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
-    '4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4),
-    'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6),
-    'stealth16': 0
-}
-
-class Replicape:
-    def __init__(self, printer, config):
-        pins.get_printer_pins(printer).register_chip('replicape', self)
-        revisions = {'B3': 'B3'}
-        config.getchoice('revision', revisions)
-        self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
-        # Setup enable pin
-        self.mcu_enable = pins.setup_pin(
-            printer, 'digital_out', config.get('enable_pin', '!P9_41'))
-        self.mcu_enable.setup_max_duration(0.)
-        self.enabled_channels = {}
-        # Setup power pins
-        self.pins = {
-            "power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
-            "power_hotbed": (pca9685_pwm, 4),
-            "power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
-            "power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
-        # Setup stepper config
-        self.stepper_dacs = {}
-        shift_registers = [1] * 5
-        for port, name in enumerate('xyzeh'):
-            prefix = 'stepper_%s_' % (name,)
-            sc = config.getchoice(
-                prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
-            if sc is None:
-                continue
-            if config.getboolean(prefix + 'chopper_off_time_high', False):
-                sc |= 1<<3
-            if config.getboolean(prefix + 'chopper_hysteresis_high', False):
-                sc |= 1<<2
-            if config.getboolean(prefix + 'chopper_blank_time_high', True):
-                sc |= 1<<1
-            shift_registers[port] = sc
-            channel = port + 11
-            cur = config.getfloat(
-                prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
-            self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
-            self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
-        shift_registers.reverse()
-        self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
-            REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
-            "".join(["%02x" % (x,) for x in shift_registers])))
-    def note_enable_on_shutdown(self):
-        self.mcu_enable.setup_shutdown_value(1)
-    def note_enable(self, print_time, channel, is_enable):
-        if is_enable:
-            is_off = not self.enabled_channels
-            self.enabled_channels[channel] = 1
-            if is_off:
-                self.mcu_enable.set_digital(print_time, 1)
-        elif channel in self.enabled_channels:
-            del self.enabled_channels[channel]
-            if not self.enabled_channels:
-                self.mcu_enable.set_digital(print_time, 0)
-    def setup_pin(self, pin_params):
-        pin = pin_params['pin']
-        if pin not in self.pins:
-            raise pins.error("Unknown replicape pin %s" % (pin,))
-        pclass, channel = self.pins[pin]
-        return pclass(self, channel, pin_params)
-
-
-######################################################################
-# Setup
-######################################################################
-
-def add_printer_objects(printer, config):
-    if config.has_section('replicape'):
-        printer.add_object('replicape', Replicape(
-            printer, config.getsection('replicape')))
-    for s in config.get_prefix_sections('static_digital_output '):
-        printer.add_object(s.section, PrinterStaticDigitalOut(printer, s))
-    for s in config.get_prefix_sections('static_pwm_output '):
-        printer.add_object(s.section, PrinterStaticPWM(printer, s))
-    for s in config.get_prefix_sections('servo '):
-        printer.add_object(s.section, PrinterServo(printer, s))
-    for s in config.get_prefix_sections('ad5206 '):
-        printer.add_object(s.section, ad5206(printer, s))

klippy/clocksync.py

@@ -7,7 +7,7 @@ import logging, threading, math
 
 COMM_TIMEOUT = 3.5
 RTT_AGE = .000010 / (60. * 60.)
-DECAY = 1. / (2. * 60.)
+DECAY = 1. / 30.
 TRANSMIT_EXTRA = .001
 
 class ClockSync:
@@ -29,20 +29,19 @@ class ClockSync:
         self.last_prediction_time = 0.
     def connect(self, serial):
         self.serial = serial
-        msgparser = serial.msgparser
+        self.mcu_freq = serial.msgparser.get_constant_float('CLOCK_FREQ')
-        self.mcu_freq = msgparser.get_constant_float('CLOCK_FREQ')
         # Load initial clock and frequency
-        uptime_msg = msgparser.create_command('get_uptime')
+        get_uptime_cmd = serial.lookup_command('get_uptime')
-        params = serial.send_with_response(uptime_msg, 'uptime')
+        params = get_uptime_cmd.send_with_response(response='uptime')
         self.last_clock = (params['high'] << 32) | params['clock']
         self.clock_avg = self.last_clock
         self.time_avg = params['#sent_time']
         self.clock_est = (self.time_avg, self.clock_avg, self.mcu_freq)
         self.prediction_variance = (.001 * self.mcu_freq)**2
         # Enable periodic get_status timer
-        self.status_cmd = msgparser.create_command('get_status')
+        self.status_cmd = serial.lookup_command('get_status')
         for i in range(8):
-            params = serial.send_with_response(self.status_cmd, 'status')
+            params = self.status_cmd.send_with_response(response='status')
             self._handle_status(params)
             self.reactor.pause(0.100)
         serial.register_callback(self._handle_status, 'status')
@@ -57,7 +56,7 @@ class ClockSync:
         serial.set_clock_est(freq, self.reactor.monotonic(), 0)
     # MCU clock querying (status callback invoked from background thread)
     def _status_event(self, eventtime):
-        self.serial.send(self.status_cmd)
+        self.status_cmd.send()
         return eventtime + 1.0
     def _handle_status(self, params):
         # Extend clock to 64bit
@@ -113,7 +112,7 @@ class ClockSync:
         pred_stddev = math.sqrt(self.prediction_variance)
         self.serial.set_clock_est(new_freq, self.time_avg + TRANSMIT_EXTRA,
                                   int(self.clock_avg - 3. * pred_stddev))
-        self.clock_est = (self.time_avg - self.min_half_rtt,
+        self.clock_est = (self.time_avg + self.min_half_rtt,
                           self.clock_avg, new_freq)
         #logging.debug("regr %.3f: freq=%.3f d=%d(%.3f)",
         #              sent_time, new_freq, clock - exp_clock, pred_stddev)
@@ -165,6 +164,7 @@ class SecondarySync(ClockSync):
         ClockSync.__init__(self, reactor)
         self.main_sync = main_sync
         self.clock_adj = (0., 1.)
+        self.last_sync_time = 0.
     def connect(self, serial):
         ClockSync.connect(self, serial)
         self.clock_adj = (0., self.mcu_freq)
@@ -195,18 +195,25 @@ class SecondarySync(ClockSync):
         adjusted_offset, adjusted_freq = self.clock_adj
         return "%s adj=%d" % (ClockSync.stats(self, eventtime), adjusted_freq)
     def calibrate_clock(self, print_time, eventtime):
+        # Calculate: est_print_time = main_sync.estimatated_print_time()
         ser_time, ser_clock, ser_freq = self.main_sync.clock_est
         main_mcu_freq = self.main_sync.mcu_freq
-
+        est_main_clock = (eventtime - ser_time) * ser_freq + ser_clock
-        main_clock = (eventtime - ser_time) * ser_freq + ser_clock
+        est_print_time = est_main_clock / main_mcu_freq
-        print_time = max(print_time, main_clock / main_mcu_freq)
+        # Determine sync1_print_time and sync2_print_time
-        main_sync_clock = (print_time + 4.) * main_mcu_freq
+        sync1_print_time = max(print_time, est_print_time)
-        sync_time = ser_time + (main_sync_clock - ser_clock) / ser_freq
+        sync2_print_time = max(sync1_print_time + 4., self.last_sync_time,
-
+                               print_time + 2.5 * (print_time - est_print_time))
-        print_clock = self.print_time_to_clock(print_time)
+        # Calc sync2_sys_time (inverse of main_sync.estimatated_print_time)
-        sync_clock = self.get_clock(sync_time)
+        sync2_main_clock = sync2_print_time * main_mcu_freq
-        adjusted_freq = .25 * (sync_clock - print_clock)
+        sync2_sys_time = ser_time + (sync2_main_clock - ser_clock) / ser_freq
-        adjusted_offset = print_time - print_clock / adjusted_freq
+        # Adjust freq so estimated print_time will match at sync2_print_time
-
+        sync1_clock = self.print_time_to_clock(sync1_print_time)
+        sync2_clock = self.get_clock(sync2_sys_time)
+        adjusted_freq = ((sync2_clock - sync1_clock)
+                         / (sync2_print_time - sync1_print_time))
+        adjusted_offset = sync1_print_time - sync1_clock / adjusted_freq
+        # Apply new values
         self.clock_adj = (adjusted_offset, adjusted_freq)
+        self.last_sync_time = sync2_print_time
         return self.clock_adj

klippy/console.py

@@ -55,8 +55,8 @@ class KeyboardReader:
         self.clocksync.connect(self.ser)
         self.ser.handle_default = self.handle_default
         self.mcu_freq = self.ser.msgparser.get_constant_float('CLOCK_FREQ')
-        mcu = self.ser.msgparser.get_constant('MCU')
+        mcu_type = self.ser.msgparser.get_constant('MCU')
-        self.pins = pins.get_pin_map(mcu)
+        self.pins = pins.PinResolver(mcu_type, validate_aliases=False)
         self.reactor.unregister_timer(self.connect_timer)
         self.output("="*20 + "       connected       " + "="*20)
         return self.reactor.NEVER
@@ -71,8 +71,7 @@ class KeyboardReader:
         self.eval_globals['freq'] = self.mcu_freq
         self.eval_globals['clock'] = self.clocksync.get_clock(eventtime)
     def command_PINS(self, parts):
-        mcu = self.ser.msgparser.get_constant('MCU')
+        self.pins.update_aliases(parts[1])
-        self.pins = pins.get_pin_map(mcu, parts[1])
     def command_SET(self, parts):
         val = parts[2]
         try:
@@ -87,11 +86,10 @@ class KeyboardReader:
             self.output("Error: %s" % (str(e),))
             return
         try:
-            msg = self.ser.msgparser.create_command(' '.join(parts[2:]))
+            self.ser.send(' '.join(parts[2:]), minclock=val)
         except msgproto.error as e:
             self.output("Error: %s" % (str(e),))
             return
-        self.ser.send(msg, minclock=val)
     def command_FLOOD(self, parts):
         try:
             count = int(parts[1])
@@ -99,18 +97,18 @@ class KeyboardReader:
         except ValueError as e:
             self.output("Error: %s" % (str(e),))
             return
-        try:
+        msg = ' '.join(parts[3:])
-            msg = self.ser.msgparser.create_command(' '.join(parts[3:]))
-        except msgproto.error as e:
-            self.output("Error: %s" % (str(e),))
-            return
         delay_clock = int(delay * self.mcu_freq)
         msg_clock = int(self.clocksync.get_clock(self.reactor.monotonic())
                         + self.mcu_freq * .200)
+        try:
             for i in range(count):
                 next_clock = msg_clock + delay_clock
                 self.ser.send(msg, minclock=msg_clock, reqclock=next_clock)
                 msg_clock = next_clock
+        except msgproto.error as e:
+            self.output("Error: %s" % (str(e),))
+            return
     def command_SUPPRESS(self, parts):
         oid = None
         try:
@@ -156,7 +154,7 @@ class KeyboardReader:
             self.output("Eval: %s" % (line,))
         if self.pins is not None:
             try:
-                line = pins.update_command(line, self.pins).strip()
+                line = self.pins.update_command(line).strip()
             except:
                 self.output("Unable to map pin: %s" % (line,))
                 return None
@@ -165,12 +163,7 @@ class KeyboardReader:
             if parts[0] in self.local_commands:
                 self.local_commands[parts[0]](parts)
                 return None
-        try:
+        return line
-            msg = self.ser.msgparser.create_command(line)
-        except msgproto.error as e:
-            self.output("Error: %s" % (str(e),))
-            return None
-        return msg
     def process_kbd(self, eventtime):
         self.data += os.read(self.fd, 4096)
 
@@ -185,7 +178,11 @@ class KeyboardReader:
             msg = self.translate(line.strip(), eventtime)
             if msg is None:
                 continue
+            try:
                 self.ser.send(msg)
+            except msgproto.error as e:
+                self.output("Error: %s" % (str(e),))
+                return None
         self.data = kbdlines[-1]
 
 def main():

klippy/corexy.py

@@ -10,9 +10,13 @@ StepList = (0, 1, 2)
 
 class CoreXYKinematics:
     def __init__(self, toolhead, printer, config):
-        self.steppers = [stepper.PrinterHomingStepper(
+        self.steppers = [
-            printer, config.getsection('stepper_' + n), n)
+            stepper.PrinterHomingStepper(
-                         for n in ['x', 'y', 'z']]
+                printer, config.getsection('stepper_x')),
+            stepper.PrinterHomingStepper(
+                printer, config.getsection('stepper_y')),
+            stepper.LookupMultiHomingStepper(
+                printer, config.getsection('stepper_z'))]
         self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
         self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
         max_velocity, max_accel = toolhead.get_max_velocity()
@@ -29,15 +33,24 @@ class CoreXYKinematics:
         self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
         self.steppers[2].set_max_jerk(
             min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
-    def set_position(self, newpos):
+    def get_steppers(self, flags=""):
+        if flags == "Z":
+            return [self.steppers[2]]
+        return list(self.steppers)
+    def get_position(self):
+        pos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
+        return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
+    def set_position(self, newpos, homing_axes):
         pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
         for i in StepList:
-            self.steppers[i].mcu_stepper.set_position(pos[i])
+            s = self.steppers[i]
+            s.set_position(pos[i])
+            if i in homing_axes:
+                self.limits[i] = (s.position_min, s.position_max)
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
             s = self.steppers[axis]
-            self.limits[axis] = (s.position_min, s.position_max)
             # Determine moves
             if s.homing_positive_dir:
                 pos = s.position_endstop - 1.5*(
@@ -50,25 +63,25 @@ class CoreXYKinematics:
                 rpos = s.position_endstop + s.homing_retract_dist
                 r2pos = rpos + s.homing_retract_dist
             # Initial homing
-            homing_speed = s.get_homing_speed()
+            homing_speed = s.homing_speed
+            if axis == 2:
+                homing_speed = min(homing_speed, self.max_z_velocity)
             homepos = [None, None, None, None]
             homepos[axis] = s.position_endstop
             coord = [None, None, None, None]
             coord[axis] = pos
-            homing_state.home(list(coord), homepos, [s], homing_speed)
+            homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
             # Retract
             coord[axis] = rpos
-            homing_state.retract(list(coord), homing_speed)
+            homing_state.retract(coord, homing_speed)
             # Home again
             coord[axis] = r2pos
-            homing_state.home(
+            homing_state.home(coord, homepos, s.get_endstops(),
-                list(coord), homepos, [s], homing_speed/2.0, second_home=True)
+                              homing_speed/2.0, second_home=True)
             if axis == 2:
                 # Support endstop phase detection on Z axis
                 coord[axis] = s.position_endstop + s.get_homed_offset()
                 homing_state.set_homed_position(coord)
-    def query_endstops(self, print_time, query_flags):
-        return homing.query_endstops(print_time, query_flags, self.steppers)
     def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
@@ -122,7 +135,7 @@ class CoreXYKinematics:
             axis_d = axes_d[i]
             if not axis_d:
                 continue
-            mcu_stepper = self.steppers[i].mcu_stepper
+            step_const = self.steppers[i].step_const
             move_time = print_time
             start_pos = move_start_pos[i]
             axis_r = abs(axis_d) / move.move_d
@@ -132,19 +145,17 @@ class CoreXYKinematics:
             # Acceleration steps
             if move.accel_r:
                 accel_d = move.accel_r * axis_d
-                mcu_stepper.step_const(
+                step_const(move_time, start_pos, accel_d,
-                    move_time, start_pos, accel_d, move.start_v * axis_r, accel)
+                           move.start_v * axis_r, accel)
                 start_pos += accel_d
                 move_time += move.accel_t
             # Cruising steps
             if move.cruise_r:
                 cruise_d = move.cruise_r * axis_d
-                mcu_stepper.step_const(
+                step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
-                    move_time, start_pos, cruise_d, cruise_v, 0.)
                 start_pos += cruise_d
                 move_time += move.cruise_t
             # Deceleration steps
             if move.decel_r:
                 decel_d = move.decel_r * axis_d
-                mcu_stepper.step_const(
+                step_const(move_time, start_pos, decel_d, cruise_v, -accel)
-                    move_time, start_pos, decel_d, cruise_v, -accel)

klippy/delta.py

@@ -13,17 +13,30 @@ SLOW_RATIO = 3.
 
 class DeltaKinematics:
     def __init__(self, toolhead, printer, config):
-        self.steppers = [stepper.PrinterHomingStepper(
+        stepper_configs = [config.getsection('stepper_' + n)
-            printer, config.getsection('stepper_' + n), n)
                            for n in ['a', 'b', 'c']]
+        stepper_a = stepper.PrinterHomingStepper(printer, stepper_configs[0])
+        stepper_b = stepper.PrinterHomingStepper(
+            printer, stepper_configs[1],
+            default_position=stepper_a.position_endstop)
+        stepper_c = stepper.PrinterHomingStepper(
+            printer, stepper_configs[2],
+            default_position=stepper_a.position_endstop)
+        self.steppers = [stepper_a, stepper_b, stepper_c]
         self.need_motor_enable = self.need_home = True
-        radius = config.getfloat('delta_radius', above=0.)
+        self.radius = radius = config.getfloat('delta_radius', above=0.)
-        arm_length = config.getfloat('delta_arm_length', above=radius)
+        arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius)
-        self.arm_length2 = arm_length**2
+        self.arm_lengths = arm_lengths = [
+            sconfig.getfloat('arm_length', arm_length_a, above=radius)
+            for sconfig in stepper_configs]
+        self.arm2 = [arm**2 for arm in arm_lengths]
+        self.endstops = [s.position_endstop + math.sqrt(arm2 - radius**2)
+                         for s, arm2 in zip(self.steppers, self.arm2)]
         self.limit_xy2 = -1.
-        tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
         self.max_z = min([s.position_endstop for s in self.steppers])
-        self.limit_z = self.max_z - (arm_length - tower_height_at_zeros)
+        self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
+        self.limit_z = min([ep - arm
+                            for ep, arm in zip(self.endstops, arm_lengths)])
         logging.info(
             "Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
                 self.max_z, self.limit_z))
@@ -36,95 +49,69 @@ class DeltaKinematics:
         for s in self.steppers:
             s.set_max_jerk(max_halt_velocity, self.max_accel)
         # Determine tower locations in cartesian space
-        angles = [config.getsection('stepper_a').getfloat('angle', 210.),
+        self.angles = [sconfig.getfloat('angle', angle)
-                  config.getsection('stepper_b').getfloat('angle', 330.),
+                       for sconfig, angle in zip(stepper_configs,
-                  config.getsection('stepper_c').getfloat('angle', 90.)]
+                                                 [210., 330., 90.])]
         self.towers = [(math.cos(math.radians(angle)) * radius,
                         math.sin(math.radians(angle)) * radius)
-                       for angle in angles]
+                       for angle in self.angles]
         # Find the point where an XY move could result in excessive
         # tower movement
         half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5
+        min_arm_length = min(arm_lengths)
         def ratio_to_dist(ratio):
-            return (ratio * math.sqrt(self.arm_length2 / (ratio**2 + 1.)
+            return (ratio * math.sqrt(min_arm_length**2 / (ratio**2 + 1.)
                                       - half_min_step_dist**2)
                     + half_min_step_dist)
         self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
         self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
-        self.max_xy2 = min(radius, arm_length - radius,
+        self.max_xy2 = min(radius, min_arm_length - radius,
                            ratio_to_dist(4. * SLOW_RATIO) - radius)**2
         logging.info(
             "Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
             % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
                math.sqrt(self.very_slow_xy2)))
-        self.set_position([0., 0., 0.])
+        self.set_position([0., 0., 0.], ())
+    def get_steppers(self, flags=""):
+        return list(self.steppers)
     def _cartesian_to_actuator(self, coord):
-        return [math.sqrt(self.arm_length2
+        return [math.sqrt(self.arm2[i] - (self.towers[i][0] - coord[0])**2
-                          - (self.towers[i][0] - coord[0])**2
                           - (self.towers[i][1] - coord[1])**2) + coord[2]
                 for i in StepList]
     def _actuator_to_cartesian(self, pos):
-        # Based on code from Smoothieware
+        return actuator_to_cartesian(self.towers, self.arm2, pos)
-        tower1 = list(self.towers[0]) + [pos[0]]
+    def get_position(self):
-        tower2 = list(self.towers[1]) + [pos[1]]
+        spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
-        tower3 = list(self.towers[2]) + [pos[2]]
+        return self._actuator_to_cartesian(spos)
-
+    def set_position(self, newpos, homing_axes):
-        s12 = matrix_sub(tower1, tower2)
-        s23 = matrix_sub(tower2, tower3)
-        s13 = matrix_sub(tower1, tower3)
-
-        normal = matrix_cross(s12, s23)
-
-        magsq_s12 = matrix_magsq(s12)
-        magsq_s23 = matrix_magsq(s23)
-        magsq_s13 = matrix_magsq(s13)
-
-        inv_nmag_sq = 1.0 / matrix_magsq(normal)
-        q = 0.5 * inv_nmag_sq
-
-        a = q * magsq_s23 * matrix_dot(s12, s13)
-        b = -q * magsq_s13 * matrix_dot(s12, s23) # negate because we use s12 instead of s21
-        c = q * magsq_s12 * matrix_dot(s13, s23)
-
-        circumcenter = [tower1[0] * a + tower2[0] * b + tower3[0] * c,
-                        tower1[1] * a + tower2[1] * b + tower3[1] * c,
-                        tower1[2] * a + tower2[2] * b + tower3[2] * c]
-
-        r_sq = 0.5 * q * magsq_s12 * magsq_s23 * magsq_s13
-        dist = math.sqrt(inv_nmag_sq * (self.arm_length2 - r_sq))
-
-        return matrix_sub(circumcenter, matrix_mul(normal, dist))
-    def set_position(self, newpos):
         pos = self._cartesian_to_actuator(newpos)
         for i in StepList:
-            self.steppers[i].mcu_stepper.set_position(pos[i])
+            self.steppers[i].set_position(pos[i])
         self.limit_xy2 = -1.
+        if tuple(homing_axes) == StepList:
+            self.need_home = False
     def home(self, homing_state):
         # All axes are homed simultaneously
         homing_state.set_axes([0, 1, 2])
+        endstops = [es for s in self.steppers for es in s.get_endstops()]
         s = self.steppers[0] # Assume homing speed same for all steppers
-        self.need_home = False
         # Initial homing
-        homing_speed = s.get_homing_speed()
+        homing_speed = min(s.homing_speed, self.max_z_velocity)
         homepos = [0., 0., self.max_z, None]
         coord = list(homepos)
-        coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
+        coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
-        homing_state.home(list(coord), homepos, self.steppers, homing_speed)
+        homing_state.home(coord, homepos, endstops, homing_speed)
         # Retract
         coord[2] = homepos[2] - s.homing_retract_dist
-        homing_state.retract(list(coord), homing_speed)
+        homing_state.retract(coord, homing_speed)
         # Home again
         coord[2] -= s.homing_retract_dist
-        homing_state.home(list(coord), homepos, self.steppers
+        homing_state.home(coord, homepos, endstops,
-                          , homing_speed/2.0, second_home=True)
+                          homing_speed/2.0, second_home=True)
         # Set final homed position
-        spos = self._cartesian_to_actuator(homepos)
+        spos = [ep + s.get_homed_offset()
-        spos = [spos[i] + self.steppers[i].position_endstop - self.max_z
+                for ep, s in zip(self.endstops, self.steppers)]
-                + self.steppers[i].get_homed_offset()
-                for i in StepList]
         homing_state.set_homed_position(self._actuator_to_cartesian(spos))
-    def query_endstops(self, print_time, query_flags):
-        return homing.query_endstops(print_time, query_flags, self.steppers)
     def motor_off(self, print_time):
         self.limit_xy2 = -1.
         for stepper in self.steppers:
@@ -145,7 +132,7 @@ class DeltaKinematics:
         limit_xy2 = self.max_xy2
         if end_pos[2] > self.limit_z:
             limit_xy2 = min(limit_xy2, (self.max_z - end_pos[2])**2)
-        if xy2 > limit_xy2 or end_pos[2] < 0. or end_pos[2] > self.max_z:
+        if xy2 > limit_xy2 or end_pos[2] < self.min_z or end_pos[2] > self.max_z:
             raise homing.EndstopMoveError(end_pos)
         if move.axes_d[2]:
             move.limit_speed(self.max_z_velocity, move.accel)
@@ -197,30 +184,42 @@ class DeltaKinematics:
             towery_d = self.towers[i][1] - origy
             vt_startxy_d = (towerx_d*axes_d[0] + towery_d*axes_d[1])*inv_movexy_d
             tangentxy_d2 = towerx_d**2 + towery_d**2 - vt_startxy_d**2
-            vt_arm_d = math.sqrt(self.arm_length2 - tangentxy_d2)
+            vt_arm_d = math.sqrt(self.arm2[i] - tangentxy_d2)
             vt_startz = origz
 
             # Generate steps
-            mcu_stepper = self.steppers[i].mcu_stepper
+            step_delta = self.steppers[i].step_delta
             move_time = print_time
             if accel_d:
-                mcu_stepper.step_delta(
+                step_delta(move_time, accel_d, move.start_v, accel,
-                    move_time, accel_d, move.start_v, accel,
                            vt_startz, vt_startxy_d, vt_arm_d, movez_r)
                 vt_startz += accel_d * movez_r
                 vt_startxy_d -= accel_d * movexy_r
                 move_time += move.accel_t
             if cruise_d:
-                mcu_stepper.step_delta(
+                step_delta(move_time, cruise_d, cruise_v, 0.,
-                    move_time, cruise_d, cruise_v, 0.,
                            vt_startz, vt_startxy_d, vt_arm_d, movez_r)
                 vt_startz += cruise_d * movez_r
                 vt_startxy_d -= cruise_d * movexy_r
                 move_time += move.cruise_t
             if decel_d:
-                mcu_stepper.step_delta(
+                step_delta(move_time, decel_d, cruise_v, -accel,
-                    move_time, decel_d, cruise_v, -accel,
                            vt_startz, vt_startxy_d, vt_arm_d, movez_r)
+    # Helper functions for DELTA_CALIBRATE script
+    def get_stable_position(self):
+        return [int((ep - s.mcu_stepper.get_commanded_position())
+                    /  s.mcu_stepper.get_step_dist() + .5)
+                * s.mcu_stepper.get_step_dist()
+                for ep, s in zip(self.endstops, self.steppers)]
+    def get_calibrate_params(self):
+        return {
+            'endstop_a': self.steppers[0].position_endstop,
+            'endstop_b': self.steppers[1].position_endstop,
+            'endstop_c': self.steppers[2].position_endstop,
+            'angle_a': self.angles[0], 'angle_b': self.angles[1],
+            'angle_c': self.angles[2], 'radius': self.radius,
+            'arm_a': self.arm_lengths[0], 'arm_b': self.arm_lengths[1],
+            'arm_c': self.arm_lengths[2] }
 
 
 ######################################################################
@@ -238,8 +237,49 @@ def matrix_dot(m1, m2):
 def matrix_magsq(m1):
     return m1[0]**2 + m1[1]**2 + m1[2]**2
 
+def matrix_add(m1, m2):
+    return [m1[0] + m2[0], m1[1] + m2[1], m1[2] + m2[2]]
+
 def matrix_sub(m1, m2):
     return [m1[0] - m2[0], m1[1] - m2[1], m1[2] - m2[2]]
 
 def matrix_mul(m1, s):
     return [m1[0]*s, m1[1]*s, m1[2]*s]
+
+def actuator_to_cartesian(towers, arm2, pos):
+    # Find nozzle position using trilateration (see wikipedia)
+    carriage1 = list(towers[0]) + [pos[0]]
+    carriage2 = list(towers[1]) + [pos[1]]
+    carriage3 = list(towers[2]) + [pos[2]]
+
+    s21 = matrix_sub(carriage2, carriage1)
+    s31 = matrix_sub(carriage3, carriage1)
+
+    d = math.sqrt(matrix_magsq(s21))
+    ex = matrix_mul(s21, 1. / d)
+    i = matrix_dot(ex, s31)
+    vect_ey = matrix_sub(s31, matrix_mul(ex, i))
+    ey = matrix_mul(vect_ey, 1. / math.sqrt(matrix_magsq(vect_ey)))
+    ez = matrix_cross(ex, ey)
+    j = matrix_dot(ey, s31)
+
+    x = (arm2[0] - arm2[1] + d**2) / (2. * d)
+    y = (arm2[0] - arm2[2] - x**2 + (x-i)**2 + j**2) / (2. * j)
+    z = -math.sqrt(arm2[0] - x**2 - y**2)
+
+    ex_x = matrix_mul(ex, x)
+    ey_y = matrix_mul(ey, y)
+    ez_z = matrix_mul(ez, z)
+    return matrix_add(carriage1, matrix_add(ex_x, matrix_add(ey_y, ez_z)))
+
+def get_position_from_stable(spos, params):
+    angles = [params['angle_a'], params['angle_b'], params['angle_c']]
+    radius = params['radius']
+    radius2 = radius**2
+    towers = [(math.cos(angle) * radius, math.sin(angle) * radius)
+              for angle in map(math.radians, angles)]
+    arm2 = [a**2 for a in [params['arm_a'], params['arm_b'], params['arm_c']]]
+    endstops = [params['endstop_a'], params['endstop_b'], params['endstop_c']]
+    pos = [es + math.sqrt(a2 - radius2) - p
+           for es, a2, p in zip(endstops, arm2, spos)]
+    return actuator_to_cartesian(towers, arm2, pos)

klippy/extras/__init__.py

@@ -0,0 +1,5 @@
+# Package definition for the extras directory
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.

klippy/extras/ad5206.py

@@ -0,0 +1,32 @@
+# AD5206 digipot code
+#
+# Copyright (C) 2017,2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import pins
+
+class ad5206:
+    def __init__(self, config):
+        printer = config.get_printer()
+        enable_pin_params = pins.get_printer_pins(printer).lookup_pin(
+            'digital_out', config.get('enable_pin'))
+        if enable_pin_params['invert']:
+            raise pins.error("ad5206 can not invert pin")
+        self.mcu = enable_pin_params['chip']
+        self.pin = enable_pin_params['pin']
+        self.mcu.add_config_object(self)
+        scale = config.getfloat('scale', 1., above=0.)
+        self.channels = [None] * 6
+        for i in range(len(self.channels)):
+            val = config.getfloat('channel_%d' % (i+1,), None,
+                                  minval=0., maxval=scale)
+            if val is not None:
+                self.channels[i] = int(val * 256. / scale + .5)
+    def build_config(self):
+        for i, val in enumerate(self.channels):
+            if val is not None:
+                self.mcu.add_config_cmd(
+                    "send_spi_message pin=%s msg=%02x%02x" % (self.pin, i, val))
+
+def load_config_prefix(config):
+    return ad5206(config)

klippy/extras/bed_tilt.py

@@ -0,0 +1,113 @@
+# Bed tilt compensation
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+import probe, mathutil
+
+class BedTilt:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.x_adjust = config.getfloat('x_adjust', 0.)
+        self.y_adjust = config.getfloat('y_adjust', 0.)
+        if config.get('points', None) is not None:
+            BedTiltCalibrate(config, self)
+        self.toolhead = None
+        gcode = self.printer.lookup_object('gcode')
+        gcode.set_move_transform(self)
+    def printer_state(self, state):
+        if state == 'connect':
+            self.toolhead = self.printer.lookup_object('toolhead')
+    def get_position(self):
+        x, y, z, e = self.toolhead.get_position()
+        return [x, y, z - x*self.x_adjust - y*self.y_adjust, e]
+    def move(self, newpos, speed):
+        x, y, z, e = newpos
+        self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust, e],
+                           speed)
+
+# Helper script to calibrate the bed tilt
+class BedTiltCalibrate:
+    def __init__(self, config, bedtilt):
+        self.bedtilt = bedtilt
+        self.printer = config.get_printer()
+        points = config.get('points').split('\n')
+        try:
+            points = [line.split(',', 1) for line in points if line.strip()]
+            self.points = [(float(p[0].strip()), float(p[1].strip()))
+                           for p in points]
+        except:
+            raise config.error("Unable to parse bed tilt points")
+        if len(self.points) < 3:
+            raise config.error("Need at least 3 points for bed_tilt_calibrate")
+        self.speed = config.getfloat('speed', 50., above=0.)
+        self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
+        self.z_position_endstop = None
+        if config.has_section('stepper_z'):
+            zconfig = config.getsection('stepper_z')
+            self.z_position_endstop = zconfig.getfloat('position_endstop', None)
+        self.manual_probe = config.getboolean('manual_probe', None)
+        if self.manual_probe is None:
+            self.manual_probe = not config.has_section('probe')
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command(
+            'BED_TILT_CALIBRATE', self.cmd_BED_TILT_CALIBRATE,
+            desc=self.cmd_BED_TILT_CALIBRATE_help)
+    cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script"
+    def cmd_BED_TILT_CALIBRATE(self, params):
+        self.gcode.run_script("G28")
+        probe.ProbePointsHelper(
+            self.printer, self.points, self.horizontal_move_z,
+            self.speed, self.manual_probe, self)
+    def get_position(self):
+        kin = self.printer.lookup_object('toolhead').get_kinematics()
+        return kin.get_position()
+    def finalize(self, z_offset, positions):
+        logging.info("Calculating bed_tilt with: %s", positions)
+        params = { 'x_adjust': self.bedtilt.x_adjust,
+                   'y_adjust': self.bedtilt.y_adjust,
+                   'z_adjust': z_offset }
+        logging.info("Initial bed_tilt parameters: %s", params)
+        def adjusted_height(pos, params):
+            x, y, z = pos
+            return (z - x*params['x_adjust'] - y*params['y_adjust']
+                    - params['z_adjust'])
+        def errorfunc(params):
+            total_error = 0.
+            for pos in positions:
+                total_error += adjusted_height(pos, params)**2
+            return total_error
+        new_params = mathutil.coordinate_descent(
+            params.keys(), params, errorfunc)
+        logging.info("Calculated bed_tilt parameters: %s", new_params)
+        for pos in positions:
+            logging.info("orig: %s new: %s", adjusted_height(pos, params),
+                         adjusted_height(pos, new_params))
+        z_diff = new_params['z_adjust'] - z_offset
+        if self.z_position_endstop is not None:
+            # Cartesian style robot
+            z_extra = ""
+            probe = self.printer.lookup_object('probe', None)
+            if probe is not None:
+                last_home_position = probe.last_home_position()
+                if last_home_position is not None:
+                    # Using z_virtual_endstop
+                    home_x, home_y = last_home_position[:2]
+                    z_diff -= home_x * new_params['x_adjust']
+                    z_diff -= home_y * new_params['y_adjust']
+                    z_extra = " (when Z homing at %.3f,%.3f)" % (home_x, home_y)
+            z_adjust = "stepper_z position_endstop: %.6f%s\n" % (
+                self.z_position_endstop - z_diff, z_extra)
+        else:
+            # Delta (or other) style robot
+            z_adjust = "Add %.6f to endstop position\n" % (-z_diff,)
+        msg = "%sx_adjust: %.6f y_adjust: %.6f" % (
+            z_adjust, new_params['x_adjust'], new_params['y_adjust'])
+        logging.info("bed_tilt_calibrate: %s", msg)
+        self.gcode.respond_info(
+            "%s\nTo use these parameters, update the printer config file with\n"
+            "the above and then issue a RESTART command" % (msg,))
+
+def load_config(config):
+    return BedTilt(config)

klippy/extras/delta_calibrate.py

@@ -0,0 +1,73 @@
+# Delta calibration support
+#
+# Copyright (C) 2017-2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import math, logging
+import probe, delta, mathutil
+
+class DeltaCalibrate:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        if config.getsection('printer').get('kinematics') != 'delta':
+            raise config.error("Delta calibrate is only for delta printers")
+        self.radius = config.getfloat('radius', above=0.)
+        self.speed = config.getfloat('speed', 50., above=0.)
+        self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
+        self.manual_probe = config.getboolean('manual_probe', None)
+        if self.manual_probe is None:
+            self.manual_probe = not config.has_section('probe')
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command(
+            'DELTA_CALIBRATE', self.cmd_DELTA_CALIBRATE,
+            desc=self.cmd_DELTA_CALIBRATE_help)
+    cmd_DELTA_CALIBRATE_help = "Delta calibration script"
+    def cmd_DELTA_CALIBRATE(self, params):
+        # Setup probe points
+        points = [(0., 0.)]
+        scatter = [.95, .90, .85, .70, .75, .80]
+        for i in range(6):
+            r = math.radians(90. + 60. * i)
+            dist = self.radius * scatter[i]
+            points.append((math.cos(r) * dist, math.sin(r) * dist))
+        # Probe them
+        self.gcode.run_script("G28")
+        probe.ProbePointsHelper(self.printer, points, self.horizontal_move_z,
+                                self.speed, self.manual_probe, self)
+    def get_position(self):
+        kin = self.printer.lookup_object('toolhead').get_kinematics()
+        return kin.get_stable_position()
+    def finalize(self, z_offset, positions):
+        kin = self.printer.lookup_object('toolhead').get_kinematics()
+        logging.info("Calculating delta_calibrate with: %s", positions)
+        params = kin.get_calibrate_params()
+        logging.info("Initial delta_calibrate parameters: %s", params)
+        adj_params = ('endstop_a', 'endstop_b', 'endstop_c', 'radius',
+                      'angle_a', 'angle_b')
+        def delta_errorfunc(params):
+            total_error = 0.
+            for spos in positions:
+                x, y, z = delta.get_position_from_stable(spos, params)
+                total_error += (z - z_offset)**2
+            return total_error
+        new_params = mathutil.coordinate_descent(
+            adj_params, params, delta_errorfunc)
+        logging.info("Calculated delta_calibrate parameters: %s", new_params)
+        for spos in positions:
+            logging.info("orig: %s new: %s",
+                         delta.get_position_from_stable(spos, params),
+                         delta.get_position_from_stable(spos, new_params))
+        self.gcode.respond_info(
+            "stepper_a: position_endstop: %.6f angle: %.6f\n"
+            "stepper_b: position_endstop: %.6f angle: %.6f\n"
+            "stepper_c: position_endstop: %.6f angle: %.6f\n"
+            "radius: %.6f\n"
+            "To use these parameters, update the printer config file with\n"
+            "the above and then issue a RESTART command" % (
+                new_params['endstop_a'], new_params['angle_a'],
+                new_params['endstop_b'], new_params['angle_b'],
+                new_params['endstop_c'], new_params['angle_c'],
+                new_params['radius']))
+
+def load_config(config):
+    return DeltaCalibrate(config)

klippy/extras/display.py

@@ -0,0 +1,602 @@
+# Basic LCD display support
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2018  Aleph Objects, Inc <marcio@alephobjects.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+
+BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000
+
+
+######################################################################
+# HD44780 (20x4 text) lcd chip
+######################################################################
+
+HD44780_DELAY = .000037
+
+class HD44780:
+    char_right_arrow = '\x7e'
+    char_thermometer = '\x00'
+    char_heater_bed = '\x01'
+    char_speed_factor = '\x02'
+    char_clock = '\x03'
+    char_degrees = '\x04'
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        # pin config
+        ppins = self.printer.lookup_object('pins')
+        pins = [ppins.lookup_pin('digital_out', config.get(name + '_pin'))
+                for name in ['rs', 'e', 'd4', 'd5', 'd6', 'd7']]
+        mcu = None
+        for pin_params in pins:
+            if mcu is not None and pin_params['chip'] != mcu:
+                raise ppins.error("hd44780 all pins must be on same mcu")
+            mcu = pin_params['chip']
+            if pin_params['invert']:
+                raise ppins.error("hd44780 can not invert pin")
+        self.pins = [pin_params['pin'] for pin_params in pins]
+        self.mcu = mcu
+        self.oid = self.mcu.create_oid()
+        self.mcu.add_config_object(self)
+        self.send_data_cmd = self.send_cmds_cmd = None
+        # framebuffers
+        self.text_framebuffer = (bytearray(' '*80), bytearray('~'*80), 0x80)
+        self.glyph_framebuffer = (bytearray(64), bytearray('~'*64), 0x40)
+        self.framebuffers = [self.text_framebuffer, self.glyph_framebuffer]
+    def build_config(self):
+        self.mcu.add_config_cmd(
+            "config_hd44780 oid=%d rs_pin=%s e_pin=%s"
+            " d4_pin=%s d5_pin=%s d6_pin=%s d7_pin=%s delay_ticks=%d" % (
+                self.oid, self.pins[0], self.pins[1],
+                self.pins[2], self.pins[3], self.pins[4], self.pins[5],
+                self.mcu.seconds_to_clock(HD44780_DELAY)))
+        cmd_queue = self.mcu.alloc_command_queue()
+        self.send_cmds_cmd = self.mcu.lookup_command(
+            "hd44780_send_cmds oid=%c cmds=%*s", cq=cmd_queue)
+        self.send_data_cmd = self.mcu.lookup_command(
+            "hd44780_send_data oid=%c data=%*s", cq=cmd_queue)
+    def send(self, cmds, is_data=False):
+        cmd_type = self.send_cmds_cmd
+        if is_data:
+            cmd_type = self.send_data_cmd
+        cmd_type.send([self.oid, cmds], reqclock=BACKGROUND_PRIORITY_CLOCK)
+        #logging.debug("hd44780 %d %s", is_data, repr(cmds))
+    def flush(self):
+        # Find all differences in the framebuffers and send them to the chip
+        for new_data, old_data, fb_id in self.framebuffers:
+            if new_data == old_data:
+                continue
+            # Find the position of all changed bytes in this framebuffer
+            diffs = [[i, 1] for i, (nd, od) in enumerate(zip(new_data, old_data))
+                     if nd != od]
+            # 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
+                if fb_id == 0x80 and pos >= 40:
+                    chip_pos += 0x40 - 40
+                self.send([fb_id + chip_pos])
+                self.send(new_data[pos:pos+count], is_data=True)
+            old_data[:] = new_data
+    def init(self):
+        curtime = self.printer.get_reactor().monotonic()
+        print_time = self.mcu.estimated_print_time(curtime)
+        # Program 4bit / 2-line mode and then issue 0x02 "Home" command
+        init = [[0x33], [0x33], [0x33, 0x22, 0x28, 0x02]]
+        # Reset (set positive direction ; enable display and hide cursor)
+        init.append([0x06, 0x0c])
+        for i, cmds in enumerate(init):
+            minclock = self.mcu.print_time_to_clock(print_time + i * .100)
+            self.send_cmds_cmd.send([self.oid, cmds], minclock=minclock)
+        # Add custom fonts
+        self.glyph_framebuffer[0][:len(HD44780_chars)] = HD44780_chars
+        for i in range(len(self.glyph_framebuffer[0])):
+            self.glyph_framebuffer[1][i] = self.glyph_framebuffer[0][i] ^ 1
+        self.flush()
+    def write_text(self, x, y, data):
+        if x + len(data) > 20:
+            data = data[:20 - min(x, 20)]
+        pos = [0, 40, 20, 60][y] + x
+        self.text_framebuffer[0][pos:pos+len(data)] = data
+    def clear(self):
+        self.text_framebuffer[0][:] = ' '*80
+
+HD44780_chars = [
+    # Thermometer
+    0b00100,
+    0b01010,
+    0b01010,
+    0b01010,
+    0b01010,
+    0b10001,
+    0b10001,
+    0b01110,
+    # Heated bed
+    0b00000,
+    0b11111,
+    0b10101,
+    0b10001,
+    0b10101,
+    0b11111,
+    0b00000,
+    0b00000,
+    # Speed factor
+    0b11100,
+    0b10000,
+    0b11000,
+    0b10111,
+    0b00101,
+    0b00110,
+    0b00101,
+    0b00000,
+    # Clock
+    0b00000,
+    0b01110,
+    0b10011,
+    0b10101,
+    0b10001,
+    0b01110,
+    0b00000,
+    0b00000,
+    # Degrees
+    0b01100,
+    0b10010,
+    0b10010,
+    0b01100,
+    0b00000,
+    0b00000,
+    0b00000,
+    0b00000,
+]
+
+
+######################################################################
+# ST7920 (128x64 graphics) lcd chip
+######################################################################
+
+ST7920_DELAY = .000020 # Spec says 72us, but faster is possible in practice
+
+class ST7920:
+    char_right_arrow = '\x1a'
+    def __init__(self, config):
+        printer = config.get_printer()
+        # pin config
+        ppins = printer.lookup_object('pins')
+        pins = [ppins.lookup_pin('digital_out', config.get(name + '_pin'))
+                for name in ['cs', 'sclk', 'sid']]
+        mcu = None
+        for pin_params in pins:
+            if mcu is not None and pin_params['chip'] != mcu:
+                raise ppins.error("st7920 all pins must be on same mcu")
+            mcu = pin_params['chip']
+            if pin_params['invert']:
+                raise ppins.error("st7920 can not invert pin")
+        self.pins = [pin_params['pin'] for pin_params in pins]
+        self.mcu = mcu
+        self.oid = self.mcu.create_oid()
+        self.mcu.add_config_object(self)
+        self.send_data_cmd = self.send_cmds_cmd = None
+        self.is_extended = False
+        # framebuffers
+        self.text_framebuffer = (bytearray(' '*64), bytearray('~'*64), 0x80)
+        self.glyph_framebuffer = (bytearray(128), bytearray('~'*128), 0x40)
+        self.graphics_framebuffers = [(bytearray(32), bytearray('~'*32), i)
+                                      for i in range(32)]
+        self.framebuffers = ([self.text_framebuffer, self.glyph_framebuffer]
+                             + self.graphics_framebuffers)
+    def build_config(self):
+        self.mcu.add_config_cmd(
+            "config_st7920 oid=%u cs_pin=%s sclk_pin=%s sid_pin=%s"
+            " delay_ticks=%d" % (
+                self.oid, self.pins[0], self.pins[1], self.pins[2],
+                self.mcu.seconds_to_clock(ST7920_DELAY)))
+        cmd_queue = self.mcu.alloc_command_queue()
+        self.send_cmds_cmd = self.mcu.lookup_command(
+            "st7920_send_cmds oid=%c cmds=%*s", cq=cmd_queue)
+        self.send_data_cmd = self.mcu.lookup_command(
+            "st7920_send_data oid=%c data=%*s", cq=cmd_queue)
+    def send(self, cmds, is_data=False, is_extended=False):
+        cmd_type = self.send_cmds_cmd
+        if is_data:
+            cmd_type = self.send_data_cmd
+        elif self.is_extended != is_extended:
+            add_cmd = 0x22
+            if is_extended:
+                add_cmd = 0x26
+            cmds = [add_cmd] + cmds
+            self.is_extended = is_extended
+        cmd_type.send([self.oid, cmds], reqclock=BACKGROUND_PRIORITY_CLOCK)
+        #logging.debug("st7920 %d %s", is_data, repr(cmds))
+    def flush(self):
+        # Find all differences in the framebuffers and send them to the chip
+        for new_data, old_data, fb_id in self.framebuffers:
+            if new_data == old_data:
+                continue
+            # Find the position of all changed bytes in this framebuffer
+            diffs = [[i, 1] for i, (nd, od) in enumerate(zip(new_data, old_data))
+                     if nd != od]
+            # 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 + 5 >= nextpos and nextcount < 16:
+                    diffs[i][1] = nextcount + (nextpos - pos)
+                    del diffs[i+1]
+            # Transmit changes
+            for pos, count in diffs:
+                count += pos & 0x01
+                count += count & 0x01
+                pos = pos & ~0x01
+                chip_pos = pos >> 1
+                if fb_id < 0x40:
+                    # Graphics framebuffer update
+                    self.send([0x80 + fb_id, 0x80 + chip_pos], is_extended=True)
+                else:
+                    self.send([fb_id + chip_pos])
+                self.send(new_data[pos:pos+count], is_data=True)
+            old_data[:] = new_data
+    def init(self):
+        cmds = [0x24, # Enter extended mode
+                0x40, # Clear vertical scroll address
+                0x02, # Enable CGRAM access
+                0x26, # Enable graphics
+                0x22, # Leave extended mode
+                0x02, # Home the display
+                0x06, # Set positive update direction
+                0x0c] # Enable display and hide cursor
+        self.send(cmds)
+        self.flush()
+    def load_glyph(self, glyph_id, data):
+        if len(data) > 32:
+            data = data[:32]
+        pos = min(glyph_id * 32, 96)
+        self.glyph_framebuffer[0][pos:pos+len(data)] = data
+    def write_text(self, x, y, data):
+        if x + len(data) > 16:
+            data = data[:16 - min(x, 16)]
+        pos = [0, 32, 16, 48][y] + x
+        self.text_framebuffer[0][pos:pos+len(data)] = data
+    def write_graphics(self, x, y, row, data):
+        if x + len(data) > 16:
+            data = data[:16 - min(x, 16)]
+        gfx_fb = y * 16 + row
+        if gfx_fb >= 32:
+            gfx_fb -= 32
+            x += 16
+        self.graphics_framebuffers[gfx_fb][0][x:x+len(data)] = data
+    def clear(self):
+        self.text_framebuffer[0][:] = ' '*64
+        zeros = bytearray(32)
+        for new_data, old_data, fb_id in self.graphics_framebuffers:
+            new_data[:] = zeros
+
+
+######################################################################
+# Icons
+######################################################################
+
+nozzle_icon = [
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000111111110000,
+    0b0001111111111000,
+    0b0001111111111000,
+    0b0001111111111000,
+    0b0000111111110000,
+    0b0000111111110000,
+    0b0001111111111000,
+    0b0001111111111000,
+    0b0001111111111000,
+    0b0000011111100000,
+    0b0000001111000000,
+    0b0000000110000000,
+    0b0000000000000000,
+    0b0000000000000000
+]
+
+bed_icon = [
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0111111111111110,
+    0b0111111111111110,
+    0b0000000000000000,
+    0b0000000000000000
+]
+
+heat1_icon = [
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0010001000100000,
+    0b0001000100010000,
+    0b0000100010001000,
+    0b0000100010001000,
+    0b0001000100010000,
+    0b0010001000100000,
+    0b0010001000100000,
+    0b0001000100010000,
+    0b0000100010001000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000
+]
+
+heat2_icon = [
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000100010001000,
+    0b0000100010001000,
+    0b0001000100010000,
+    0b0010001000100000,
+    0b0010001000100000,
+    0b0001000100010000,
+    0b0000100010001000,
+    0b0000100010001000,
+    0b0001000100010000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000
+]
+
+fan1_icon = [
+    0b0000000000000000,
+    0b0111111111111110,
+    0b0111000000001110,
+    0b0110001111000110,
+    0b0100001111000010,
+    0b0100000110000010,
+    0b0101100000011010,
+    0b0101110110111010,
+    0b0101100000011010,
+    0b0100000110000010,
+    0b0100001111000010,
+    0b0110001111000110,
+    0b0111000000001110,
+    0b0111111111111110,
+    0b0000000000000000,
+    0b0000000000000000
+]
+
+fan2_icon = [
+    0b0000000000000000,
+    0b0111111111111110,
+    0b0111000000001110,
+    0b0110010000100110,
+    0b0100111001110010,
+    0b0101111001111010,
+    0b0100110000110010,
+    0b0100000110000010,
+    0b0100110000110010,
+    0b0101111001111010,
+    0b0100111001110010,
+    0b0110010000100110,
+    0b0111000000001110,
+    0b0111111111111110,
+    0b0000000000000000,
+    0b0000000000000000
+]
+
+feedrate_icon = [
+    0b0000000000000000,
+    0b0111111000000000,
+    0b0100000000000000,
+    0b0100000000000000,
+    0b0100000000000000,
+    0b0111111011111000,
+    0b0100000010000100,
+    0b0100000010000100,
+    0b0100000010000100,
+    0b0100000011111000,
+    0b0000000010001000,
+    0b0000000010000100,
+    0b0000000010000100,
+    0b0000000010000010,
+    0b0000000000000000,
+    0b0000000000000000
+]
+
+
+######################################################################
+# LCD screen updates
+######################################################################
+
+LCD_chips = { 'st7920': ST7920, 'hd44780': HD44780 }
+
+class PrinterLCD:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.reactor = self.printer.get_reactor()
+        self.lcd_chip = config.getchoice('lcd_type', LCD_chips)(config)
+        self.lcd_type = config.get('lcd_type')
+        # printer objects
+        self.gcode = self.toolhead = self.sdcard = None
+        self.fan = self.extruder0 = self.extruder1 = self.heater_bed = None
+        # screen updating
+        self.screen_update_timer = self.reactor.register_timer(
+            self.screen_update_event)
+    # Initialization
+    FAN1_GLYPH, FAN2_GLYPH, BED1_GLYPH, BED2_GLYPH = 0, 1, 2, 3
+    def printer_state(self, state):
+        if state == 'ready':
+            self.lcd_chip.init()
+            # Load printer objects
+            self.gcode = self.printer.lookup_object('gcode')
+            self.toolhead = self.printer.lookup_object('toolhead')
+            self.sdcard = self.printer.lookup_object('virtual_sdcard', None)
+            self.fan = self.printer.lookup_object('fan', None)
+            self.extruder0 = self.printer.lookup_object('extruder0', None)
+            self.extruder1 = self.printer.lookup_object('extruder1', None)
+            self.heater_bed = self.printer.lookup_object('heater_bed', None)
+            # Load glyphs
+            self.load_glyph(self.BED1_GLYPH, heat1_icon)
+            self.load_glyph(self.BED2_GLYPH, heat2_icon)
+            self.load_glyph(self.FAN1_GLYPH, fan1_icon)
+            self.load_glyph(self.FAN2_GLYPH, fan2_icon)
+            # Start screen update timer
+            self.reactor.update_timer(self.screen_update_timer, self.reactor.NOW)
+    # ST7920 Glyphs
+    def load_glyph(self, glyph_id, data):
+        if self.lcd_type != 'st7920':
+            return
+        glyph = [0x00] * (len(data) * 2)
+        for i, bits in enumerate(data):
+            glyph[i*2] = (bits >> 8) & 0xff
+            glyph[i*2 + 1] = bits & 0xff
+        return self.lcd_chip.load_glyph(glyph_id, glyph)
+    def animate_glyphs(self, eventtime, x, y, glyph_id, do_animate):
+        frame = do_animate and int(eventtime) & 1
+        self.lcd_chip.write_text(x, y, (0, (glyph_id + frame)*2))
+    # Graphics drawing
+    def draw_icon(self, x, y, data):
+        for i, bits in enumerate(data):
+            self.lcd_chip.write_graphics(
+                x, y, i, [(bits >> 8) & 0xff, bits & 0xff])
+    def draw_progress_bar(self, x, y, width, value):
+        value = int(value * 100.)
+        data = [0x00] * width
+        char_pcnt = int(100/width)
+        for i in range(width):
+            if (i+1)*char_pcnt <= value:
+                # Draw completely filled bytes
+                data[i] |= 0xFF
+            elif (i*char_pcnt) < value:
+                # Draw partially filled bytes
+                data[i] |= (-1 << 8-((value % char_pcnt)*8/char_pcnt)) & 0xff
+        data[0] |= 0x80
+        data[-1] |= 0x01
+        self.lcd_chip.write_graphics(x, y, 0, [0xff]*width)
+        for i in range(1, 15):
+            self.lcd_chip.write_graphics(x, y, i, data)
+        self.lcd_chip.write_graphics(x, y, 15, [0xff]*width)
+    # Screen updating
+    def screen_update_event(self, eventtime):
+        self.lcd_chip.clear()
+        if self.lcd_type == 'hd44780':
+            self.screen_update_hd44780(eventtime)
+        else:
+            self.screen_update_st7920(eventtime)
+        self.lcd_chip.flush()
+        return eventtime + .500
+    def screen_update_hd44780(self, eventtime):
+        lcd_chip = self.lcd_chip
+        # Heaters
+        if self.extruder0 is not None:
+            info = self.extruder0.get_heater().get_status(eventtime)
+            lcd_chip.write_text(0, 0, lcd_chip.char_thermometer)
+            self.draw_heater(1, 0, info)
+        if self.extruder1 is not None:
+            info = self.extruder1.get_heater().get_status(eventtime)
+            lcd_chip.write_text(0, 1, lcd_chip.char_thermometer)
+            self.draw_heater(1, 1, info)
+        if self.heater_bed is not None:
+            info = self.heater_bed.get_status(eventtime)
+            lcd_chip.write_text(10, 0, lcd_chip.char_heater_bed)
+            self.draw_heater(11, 0, info)
+        # Fan speed
+        if self.fan is not None:
+            info = self.fan.get_status(eventtime)
+            lcd_chip.write_text(10, 1, "Fan")
+            self.draw_percent(14, 1, 4, info['speed'])
+        # G-Code speed factor
+        gcode_info = self.gcode.get_status(eventtime)
+        lcd_chip.write_text(0, 2, lcd_chip.char_speed_factor)
+        self.draw_percent(1, 2, 4, gcode_info['speed_factor'])
+        # SD card print progress
+        if self.sdcard is not None:
+            info = self.sdcard.get_status(eventtime)
+            lcd_chip.write_text(7, 2, "SD")
+            self.draw_percent(9, 2, 4, info['progress'])
+        # Printing time and status
+        toolhead_info = self.toolhead.get_status(eventtime)
+        lcd_chip.write_text(14, 2, lcd_chip.char_clock)
+        self.draw_time(15, 2, toolhead_info['printing_time'])
+        self.draw_status(0, 3, gcode_info, toolhead_info)
+    def screen_update_st7920(self, eventtime):
+        # Heaters
+        if self.extruder0 is not None:
+            info = self.extruder0.get_heater().get_status(eventtime)
+            self.draw_icon(0, 0, nozzle_icon)
+            self.draw_heater(2, 0, info)
+        extruder_count = 1
+        if self.extruder1 is not None:
+            info = self.extruder1.get_heater().get_status(eventtime)
+            self.draw_icon(0, 1, nozzle_icon)
+            self.draw_heater(2, 1, info)
+            extruder_count = 2
+        if self.heater_bed is not None:
+            info = self.heater_bed.get_status(eventtime)
+            self.draw_icon(0, extruder_count, bed_icon)
+            if info['target']:
+                self.animate_glyphs(eventtime, 0, extruder_count,
+                                    self.BED1_GLYPH, True)
+            self.draw_heater(2, extruder_count, info)
+        # Fan speed
+        if self.fan is not None:
+            info = self.fan.get_status(eventtime)
+            self.animate_glyphs(eventtime, 10, 0, self.FAN1_GLYPH,
+                                info['speed'] != 0.)
+            self.draw_percent(12, 0, 4, info['speed'])
+        # SD card print progress
+        if self.sdcard is not None:
+            info = self.sdcard.get_status(eventtime)
+            if extruder_count == 1:
+                x, y, width = 0, 2, 10
+            else:
+                x, y, width = 10, 1, 6
+            self.draw_percent(x, y, width, info['progress'])
+            self.draw_progress_bar(x, y, width, info['progress'])
+        # G-Code speed factor
+        gcode_info = self.gcode.get_status(eventtime)
+        if extruder_count == 1:
+            self.draw_icon(10, 1, feedrate_icon)
+            self.draw_percent(12, 1, 4, gcode_info['speed_factor'])
+        # Printing time and status
+        toolhead_info = self.toolhead.get_status(eventtime)
+        self.draw_time(10, 2, toolhead_info['printing_time'])
+        self.draw_status(0, 3, gcode_info, toolhead_info)
+    # Screen update helpers
+    def draw_heater(self, x, y, info):
+        temperature, target = info['temperature'], info['target']
+        if target and abs(temperature - target) > 2.:
+            s = "%3.0f%s%.0f" % (
+                temperature, self.lcd_chip.char_right_arrow, target)
+        else:
+            s = "%3.0f" % (temperature,)
+        if self.lcd_type == 'hd44780':
+            s += self.lcd_chip.char_degrees
+        self.lcd_chip.write_text(x, y, s)
+    def draw_percent(self, x, y, width, value):
+        self.lcd_chip.write_text(x, y, ("%d%%" % (value * 100.,)).center(width))
+    def draw_time(self, x, y, seconds):
+        seconds = int(seconds)
+        self.lcd_chip.write_text(x, y, "%02d:%02d" % (
+            seconds // (60 * 60), (seconds // 60) % 60))
+    def draw_status(self, x, y, gcode_info, toolhead_info):
+        status = toolhead_info['status']
+        if status == 'Printing' or gcode_info['busy']:
+            pos = self.toolhead.get_position()
+            status = "X%-4.0fY%-4.0fZ%-5.2f" % (pos[0], pos[1], pos[2])
+        self.lcd_chip.write_text(x, y, status)
+
+def load_config(config):
+    return PrinterLCD(config)

klippy/extras/fan.py

@@ -0,0 +1,39 @@
+# Printer cooling fan
+#
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import pins
+
+FAN_MIN_TIME = 0.100
+
+class PrinterFan:
+    def __init__(self, config):
+        self.last_fan_value = 0.
+        self.last_fan_time = 0.
+        self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
+        self.kick_start_time = config.getfloat('kick_start_time', 0.1, minval=0.)
+        printer = config.get_printer()
+        self.mcu_fan = pins.setup_pin(printer, 'pwm', config.get('pin'))
+        self.mcu_fan.setup_max_duration(0.)
+        cycle_time = config.getfloat('cycle_time', 0.010, above=0.)
+        hardware_pwm = config.getboolean('hardware_pwm', False)
+        self.mcu_fan.setup_cycle_time(cycle_time, hardware_pwm)
+    def set_speed(self, print_time, value):
+        value = max(0., min(self.max_power, value))
+        if value == self.last_fan_value:
+            return
+        print_time = max(self.last_fan_time + FAN_MIN_TIME, print_time)
+        if (value and value < self.max_power
+            and not self.last_fan_value and self.kick_start_time):
+            # Run fan at full speed for specified kick_start_time
+            self.mcu_fan.set_pwm(print_time, self.max_power)
+            print_time += self.kick_start_time
+        self.mcu_fan.set_pwm(print_time, value)
+        self.last_fan_time = print_time
+        self.last_fan_value = value
+    def get_status(self, eventtime):
+        return {'speed': self.last_fan_value}
+
+def load_config(config):
+    return PrinterFan(config)

klippy/extras/heater_fan.py

@@ -0,0 +1,37 @@
+# Support fans that are enabled when a heater is on
+#
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import fan, extruder
+
+PIN_MIN_TIME = 0.100
+
+class PrinterHeaterFan:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.heater_name = config.get("heater", "extruder0")
+        self.heater_temp = config.getfloat("heater_temp", 50.0)
+        self.fan = fan.PrinterFan(config)
+        self.mcu = self.fan.mcu_fan.get_mcu()
+        max_power = self.fan.max_power
+        self.fan_speed = config.getfloat(
+            "fan_speed", max_power, minval=0., maxval=max_power)
+        self.fan.mcu_fan.setup_start_value(0., max_power)
+    def printer_state(self, state):
+        if state == 'ready':
+            self.heater = extruder.get_printer_heater(
+                self.printer, self.heater_name)
+            reactor = self.printer.get_reactor()
+            reactor.register_timer(self.callback, reactor.NOW)
+    def callback(self, eventtime):
+        current_temp, target_temp = self.heater.get_temp(eventtime)
+        power = 0.
+        if target_temp or current_temp > self.heater_temp:
+            power = self.fan_speed
+        print_time = self.mcu.estimated_print_time(eventtime) + PIN_MIN_TIME
+        self.fan.set_speed(print_time, power)
+        return eventtime + 1.
+
+def load_config_prefix(config):
+    return PrinterHeaterFan(config)

klippy/extras/homing_override.py

@@ -0,0 +1,39 @@
+# Run user defined actions in place of a normal G28 homing command
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+class HomingOverride:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.start_pos = [config.getfloat('set_position_' + a, None)
+                          for a in 'xyz']
+        self.script = config.get('gcode')
+        self.in_script = False
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command("G28", self.cmd_G28)
+    def cmd_G28(self, params):
+        if self.in_script:
+            # Was called recursively - invoke the real G28 command
+            self.gcode.cmd_G28(params)
+            return
+        # Calculate forced position (if configured)
+        toolhead = self.printer.lookup_object('toolhead')
+        pos = toolhead.get_position()
+        homing_axes = []
+        for axis, loc in enumerate(self.start_pos):
+            if loc is not None:
+                pos[axis] = loc
+                homing_axes.append(axis)
+        toolhead.set_position(pos, homing_axes=homing_axes)
+        self.gcode.reset_last_position()
+        # Perform homing
+        try:
+            self.in_script = True
+            self.gcode.run_script(self.script)
+        finally:
+            self.in_script = False
+
+def load_config(config):
+    return HomingOverride(config)

klippy/extras/multi_pin.py

@@ -0,0 +1,54 @@
+# Virtual pin that propagates its changes to multiple output pins
+#
+# Copyright (C) 2017,2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import pins
+
+class PrinterMultiPin:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        try:
+            pins.get_printer_pins(self.printer).register_chip('multi_pin', self)
+        except pins.error:
+            pass
+        self.pin_type = None
+        self.pin_list = [pin.strip() for pin in config.get('pins').split(',')]
+        self.mcu_pins = []
+    def setup_pin(self, pin_params):
+        pin_name = pin_params['pin']
+        pin = self.printer.lookup_object('multi_pin ' + pin_name, None)
+        if pin is not self:
+            if pin is None:
+                raise pins.error("multi_pin %s not configured" % (pin_name,))
+            return pin.setup_pin(pin_params)
+        if self.pin_type is not None:
+            raise pins.error("Can't setup multi_pin %s twice" % (pin_name,))
+        self.pin_type = pin_params['type']
+        invert = ""
+        if pin_params['invert']:
+            invert = "!"
+        self.mcu_pins = [
+            pins.setup_pin(self.printer, self.pin_type, invert + pin_desc)
+            for pin_desc in self.pin_list]
+        return self
+    def get_mcu(self):
+        return self.mcu_pins[0].get_mcu()
+    def setup_max_duration(self, max_duration):
+        for mcu_pin in self.mcu_pins:
+            mcu_pin.setup_max_duration(max_duration)
+    def setup_start_value(self, start_value, shutdown_value):
+        for mcu_pin in self.mcu_pins:
+            mcu_pin.setup_start_value(start_value, shutdown_value)
+    def setup_cycle_time(self, cycle_time, hardware_pwm=False):
+        for mcu_pin in self.mcu_pins:
+            mcu_pin.setup_cycle_time(cycle_time, hardware_pwm)
+    def set_digital(self, print_time, value):
+        for mcu_pin in self.mcu_pins:
+            mcu_pin.set_digital(print_time, value)
+    def set_pwm(self, print_time, value):
+        for mcu_pin in self.mcu_pins:
+            mcu_pin.set_pwm(print_time, value)
+
+def load_config_prefix(config):
+    return PrinterMultiPin(config)

klippy/extras/output_pin.py

@@ -0,0 +1,69 @@
+# Code to configure miscellaneous chips
+#
+# Copyright (C) 2017,2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+PIN_MIN_TIME = 0.100
+
+class PrinterOutputPin:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        ppins = self.printer.lookup_object('pins')
+        self.is_pwm = config.getboolean('pwm', False)
+        if self.is_pwm:
+            self.mcu_pin = ppins.setup_pin('pwm', config.get('pin'))
+            cycle_time = config.getfloat('cycle_time', 0.100, above=0.)
+            hardware_pwm = config.getboolean('hardware_pwm', False)
+            self.mcu_pin.setup_cycle_time(cycle_time, hardware_pwm)
+            self.scale = config.getfloat('scale', 1., above=0.)
+        else:
+            self.mcu_pin = ppins.setup_pin('digital_out', config.get('pin'))
+            self.scale = 1.
+        self.mcu_pin.setup_max_duration(0.)
+        self.last_value_time = 0.
+        static_value = config.getfloat('static_value', None,
+                                       minval=0., maxval=self.scale)
+        if static_value is not None:
+            self.is_static = True
+            self.last_value = static_value / self.scale
+            self.mcu_pin.setup_start_value(
+                self.last_value, self.last_value, True)
+        else:
+            self.is_static = False
+            self.last_value = config.getfloat(
+                'value', 0., minval=0., maxval=self.scale) / self.scale
+            shutdown_value = config.getfloat(
+                'shutdown_value', 0., minval=0., maxval=self.scale) / self.scale
+            self.mcu_pin.setup_start_value(self.last_value, shutdown_value)
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command("SET_PIN", self.cmd_SET_PIN,
+                                    desc=self.cmd_SET_PIN_help)
+    cmd_SET_PIN_help = "Set the value of an output pin"
+    def cmd_SET_PIN(self, params):
+        pin_name = self.gcode.get_str('PIN', params)
+        pin = self.printer.lookup_object('output_pin ' + pin_name, None)
+        if pin is not self:
+            if pin is None:
+                raise self.gcode.error("Pin not configured")
+            return pin.cmd_SET_PIN(params)
+        if self.is_static:
+            raise self.gcode.error("Static pin can not be changed at run-time")
+        value = self.gcode.get_float('VALUE', params) / self.scale
+        if value == self.last_value:
+            return
+        print_time = self.printer.lookup_object('toolhead').get_last_move_time()
+        print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
+        if self.is_pwm:
+            if value < 0. or value > 1.:
+                raise self.gcode.error("Invalid pin value")
+            self.mcu_pin.set_pwm(print_time, value)
+        else:
+            if value not in [0., 1.]:
+                raise self.gcode.error("Invalid pin value")
+            self.mcu_pin.set_digital(print_time, value)
+        self.last_value = value
+        self.last_value_time = print_time
+
+def load_config_prefix(config):
+    return PrinterOutputPin(config)

klippy/extras/pid_calibrate.py

@@ -0,0 +1,127 @@
+# Calibration of heater PID settings
+#
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import math, logging
+import extruder, heater
+
+class PIDCalibrate:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command(
+            'PID_CALIBRATE', self.cmd_PID_CALIBRATE,
+            desc=self.cmd_PID_CALIBRATE_help)
+    cmd_PID_CALIBRATE_help = "Run PID calibration test"
+    def cmd_PID_CALIBRATE(self, params):
+        heater_name = self.gcode.get_str('HEATER', params)
+        target = self.gcode.get_float('TARGET', params)
+        write_file = self.gcode.get_int('WRITE_FILE', params, 0)
+        try:
+            heater = extruder.get_printer_heater(self.printer, heater_name)
+        except self.printer.config_error as e:
+            raise self.gcode.error(str(e))
+        print_time = self.printer.lookup_object('toolhead').get_last_move_time()
+        calibrate = ControlAutoTune(heater)
+        old_control = heater.set_control(calibrate)
+        try:
+            heater.set_temp(print_time, target)
+        except heater.error as e:
+            raise self.gcode.error(str(e))
+        self.gcode.bg_temp(heater)
+        heater.set_control(old_control)
+        if write_file:
+            calibrate.write_file('/tmp/heattest.txt')
+        Kp, Ki, Kd = calibrate.calc_final_pid()
+        logging.info("Autotune: final: Kp=%f Ki=%f Kd=%f", Kp, Ki, Kd)
+        self.gcode.respond_info(
+            "PID parameters: pid_Kp=%.3f pid_Ki=%.3f pid_Kd=%.3f\n"
+            "To use these parameters, update the printer config file with\n"
+            "the above and then issue a RESTART command" % (Kp, Ki, Kd))
+
+TUNE_PID_DELTA = 5.0
+
+class ControlAutoTune:
+    def __init__(self, heater):
+        self.heater = heater
+        # Heating control
+        self.heating = False
+        self.peak = 0.
+        self.peak_time = 0.
+        # Peak recording
+        self.peaks = []
+        # Sample recording
+        self.last_pwm = 0.
+        self.pwm_samples = []
+        self.temp_samples = []
+    # Heater control
+    def set_pwm(self, read_time, value):
+        if value != self.last_pwm:
+            self.pwm_samples.append((read_time + heater.PWM_DELAY, value))
+            self.last_pwm = value
+        self.heater.set_pwm(read_time, value)
+    def adc_callback(self, read_time, temp):
+        self.temp_samples.append((read_time, temp))
+        if self.heating and temp >= self.heater.target_temp:
+            self.heating = False
+            self.check_peaks()
+        elif (not self.heating
+              and temp <= self.heater.target_temp - TUNE_PID_DELTA):
+            self.heating = True
+            self.check_peaks()
+        if self.heating:
+            self.set_pwm(read_time, self.heater.max_power)
+            if temp < self.peak:
+                self.peak = temp
+                self.peak_time = read_time
+        else:
+            self.set_pwm(read_time, 0.)
+            if temp > self.peak:
+                self.peak = temp
+                self.peak_time = read_time
+    def check_busy(self, eventtime):
+        if self.heating or len(self.peaks) < 12:
+            return True
+        return False
+    # Analysis
+    def check_peaks(self):
+        self.peaks.append((self.peak, self.peak_time))
+        if self.heating:
+            self.peak = 9999999.
+        else:
+            self.peak = -9999999.
+        if len(self.peaks) < 4:
+            return
+        self.calc_pid(len(self.peaks)-1)
+    def calc_pid(self, pos):
+        temp_diff = self.peaks[pos][0] - self.peaks[pos-1][0]
+        time_diff = self.peaks[pos][1] - self.peaks[pos-2][1]
+        max_power = self.heater.max_power
+        Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi)
+        Tu = time_diff
+
+        Ti = 0.5 * Tu
+        Td = 0.125 * Tu
+        Kp = 0.6 * Ku * heater.PID_PARAM_BASE
+        Ki = Kp / Ti
+        Kd = Kp * Td
+        logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f  Kp=%f Ki=%f Kd=%f",
+                     temp_diff, max_power, Ku, Tu, Kp, Ki, Kd)
+        return Kp, Ki, Kd
+    def calc_final_pid(self):
+        cycle_times = [(self.peaks[pos][1] - self.peaks[pos-2][1], pos)
+                       for pos in range(4, len(self.peaks))]
+        midpoint_pos = sorted(cycle_times)[len(cycle_times)/2][1]
+        return self.calc_pid(midpoint_pos)
+    # Offline analysis helper
+    def write_file(self, filename):
+        pwm = ["pwm: %.3f %.3f" % (time, value)
+               for time, value in self.pwm_samples]
+        out = ["%.3f %.3f" % (time, temp) for time, temp in self.temp_samples]
+        f = open(filename, "wb")
+        f.write('\n'.join(pwm + out))
+        f.close()
+
+def load_config(config):
+    return PIDCalibrate(config)

klippy/extras/probe.py

@@ -0,0 +1,189 @@
+# Z-Probe support
+#
+# Copyright (C) 2017-2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import pins, homing
+
+HINT_TIMEOUT = """
+Make sure to home the printer before probing. If the probe
+did not move far enough to trigger, then consider reducing
+the Z axis minimum position so the probe can travel further
+(the Z minimum position can be negative).
+"""
+
+class PrinterProbe:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.speed = config.getfloat('speed', 5.0)
+        self.z_offset = config.getfloat('z_offset')
+        # Infer Z position to move to during a probe
+        if config.has_section('stepper_z'):
+            zconfig = config.getsection('stepper_z')
+            self.z_position = zconfig.getfloat('position_min', 0.)
+        else:
+            pconfig = config.getsection('printer')
+            self.z_position = pconfig.getfloat('minimum_z_position', 0.)
+        # Create an "endstop" object to handle the probe pin
+        ppins = self.printer.lookup_object('pins')
+        pin_params = ppins.lookup_pin('endstop', config.get('pin'))
+        mcu = pin_params['chip']
+        mcu.add_config_object(self)
+        self.mcu_probe = mcu.setup_pin(pin_params)
+        if (config.get('activate_gcode', None) is not None or
+            config.get('deactivate_gcode', None) is not None):
+            self.mcu_probe = ProbeEndstopWrapper(config, self.mcu_probe)
+        # Create z_virtual_endstop pin
+        ppins.register_chip('probe', self)
+        self.z_virtual_endstop = None
+        # Register PROBE/QUERY_PROBE commands
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command(
+            'PROBE', self.cmd_PROBE, desc=self.cmd_PROBE_help)
+        self.gcode.register_command(
+            'QUERY_PROBE', self.cmd_QUERY_PROBE, desc=self.cmd_QUERY_PROBE_help)
+    def build_config(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        z_steppers = toolhead.get_kinematics().get_steppers("Z")
+        for s in z_steppers:
+            for mcu_endstop, name in s.get_endstops():
+                for mcu_stepper in mcu_endstop.get_steppers():
+                    self.mcu_probe.add_stepper(mcu_stepper)
+    def setup_pin(self, pin_params):
+        if (pin_params['pin'] != 'z_virtual_endstop'
+            or pin_params['type'] != 'endstop'):
+            raise pins.error("Probe virtual endstop only useful as endstop pin")
+        if pin_params['invert'] or pin_params['pullup']:
+            raise pins.error("Can not pullup/invert probe virtual endstop")
+        self.z_virtual_endstop = ProbeVirtualEndstop(
+            self.printer, self.mcu_probe)
+        return self.z_virtual_endstop
+    def last_home_position(self):
+        if self.z_virtual_endstop is None:
+            return None
+        return self.z_virtual_endstop.position
+    cmd_PROBE_help = "Probe Z-height at current XY position"
+    def cmd_PROBE(self, params):
+        toolhead = self.printer.lookup_object('toolhead')
+        homing_state = homing.Homing(toolhead)
+        pos = toolhead.get_position()
+        pos[2] = self.z_position
+        try:
+            homing_state.homing_move(
+                pos, [(self.mcu_probe, "probe")], self.speed, probe_pos=True)
+        except homing.EndstopError as e:
+            reason = str(e)
+            if "Timeout during endstop homing" in reason:
+                reason += HINT_TIMEOUT
+            raise self.gcode.error(reason)
+        self.gcode.reset_last_position()
+    cmd_QUERY_PROBE_help = "Return the status of the z-probe"
+    def cmd_QUERY_PROBE(self, params):
+        toolhead = self.printer.lookup_object('toolhead')
+        print_time = toolhead.get_last_move_time()
+        self.mcu_probe.query_endstop(print_time)
+        res = self.mcu_probe.query_endstop_wait()
+        self.gcode.respond_info(
+            "probe: %s" % (["open", "TRIGGERED"][not not res],))
+
+# Endstop wrapper that enables running g-code scripts on setup
+class ProbeEndstopWrapper:
+    def __init__(self, config, mcu_endstop):
+        self.mcu_endstop = mcu_endstop
+        self.gcode = config.get_printer().lookup_object('gcode')
+        self.activate_gcode = config.get('activate_gcode', "")
+        self.deactivate_gcode = config.get('deactivate_gcode', "")
+        # Wrappers
+        self.get_mcu = self.mcu_endstop.get_mcu
+        self.add_stepper = self.mcu_endstop.add_stepper
+        self.get_steppers = self.mcu_endstop.get_steppers
+        self.home_start = self.mcu_endstop.home_start
+        self.home_wait = self.mcu_endstop.home_wait
+        self.query_endstop = self.mcu_endstop.query_endstop
+        self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
+        self.TimeoutError = self.mcu_endstop.TimeoutError
+    def home_prepare(self):
+        self.gcode.run_script(self.activate_gcode)
+        self.mcu_endstop.home_prepare()
+    def home_finalize(self):
+        self.gcode.run_script(self.deactivate_gcode)
+        self.mcu_endstop.home_finalize()
+
+# Wrapper that records the last XY position of a virtual endstop probe
+class ProbeVirtualEndstop:
+    def __init__(self, printer, mcu_endstop):
+        self.printer = printer
+        self.mcu_endstop = mcu_endstop
+        self.position = None
+        # Wrappers
+        self.get_mcu = self.mcu_endstop.get_mcu
+        self.add_stepper = self.mcu_endstop.add_stepper
+        self.get_steppers = self.mcu_endstop.get_steppers
+        self.home_start = self.mcu_endstop.home_start
+        self.home_wait = self.mcu_endstop.home_wait
+        self.query_endstop = self.mcu_endstop.query_endstop
+        self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
+        self.home_prepare = self.mcu_endstop.home_prepare
+        self.TimeoutError = self.mcu_endstop.TimeoutError
+    def home_finalize(self):
+        self.position = self.printer.lookup_object('toolhead').get_position()
+        self.mcu_endstop.home_finalize()
+
+# Helper code that can probe a series of points and report the
+# position at each point.
+class ProbePointsHelper:
+    def __init__(self, printer, probe_points, horizontal_move_z, speed,
+                 manual_probe, callback):
+        self.printer = printer
+        self.probe_points = probe_points
+        self.horizontal_move_z = horizontal_move_z
+        self.speed = speed
+        self.manual_probe = manual_probe
+        self.callback = callback
+        self.toolhead = self.printer.lookup_object('toolhead')
+        self.results = []
+        self.busy = True
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command(
+            'NEXT', self.cmd_NEXT, desc=self.cmd_NEXT_help)
+        # Begin probing
+        self.move_next()
+        if not manual_probe:
+            while self.busy:
+                self.gcode.run_script("PROBE")
+                self.cmd_NEXT({})
+    def move_next(self):
+        x, y = self.probe_points[len(self.results)]
+        curpos = self.toolhead.get_position()
+        curpos[0] = x
+        curpos[1] = y
+        curpos[2] = self.horizontal_move_z
+        self.toolhead.move(curpos, self.speed)
+        self.gcode.reset_last_position()
+    cmd_NEXT_help = "Move to the next XY position to probe"
+    def cmd_NEXT(self, params):
+        # Record current position
+        self.toolhead.wait_moves()
+        self.results.append(self.callback.get_position())
+        # Move to next position
+        curpos = self.toolhead.get_position()
+        curpos[2] = self.horizontal_move_z
+        self.toolhead.move(curpos, self.speed)
+        if len(self.results) == len(self.probe_points):
+            self.toolhead.get_last_move_time()
+            self.finalize(True)
+            return
+        self.move_next()
+    def finalize(self, success):
+        self.busy = False
+        self.gcode.reset_last_position()
+        self.gcode.register_command('NEXT', None)
+        if success:
+            z_offset = 0.
+            if not self.manual_probe:
+                probe = self.printer.lookup_object('probe')
+                z_offset = probe.z_offset
+            self.callback.finalize(z_offset, self.results)
+
+def load_config(config):
+    return PrinterProbe(config)

klippy/extras/replicape.py

@@ -0,0 +1,229 @@
+# Code to configure miscellaneous chips
+#
+# Copyright (C) 2017,2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+import pins, mcu
+
+REPLICAPE_MAX_CURRENT = 3.84
+REPLICAPE_SHIFT_REGISTER_BUS = 1
+REPLICAPE_SHIFT_REGISTER_DEVICE = 1
+REPLICAPE_PCA9685_BUS = 2
+REPLICAPE_PCA9685_ADDRESS = 0x70
+REPLICAPE_PCA9685_CYCLE_TIME = .001
+PIN_MIN_TIME = 0.100
+
+class pca9685_pwm:
+    def __init__(self, replicape, channel, pin_params):
+        self._replicape = replicape
+        self._channel = channel
+        if pin_params['type'] not in ['digital_out', 'pwm']:
+            raise pins.error("Pin type not supported on replicape")
+        self._mcu = replicape.host_mcu
+        self._mcu.add_config_object(self)
+        self._bus = REPLICAPE_PCA9685_BUS
+        self._address = REPLICAPE_PCA9685_ADDRESS
+        self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME
+        self._max_duration = 2.
+        self._oid = None
+        self._invert = pin_params['invert']
+        self._start_value = self._shutdown_value = float(self._invert)
+        self._is_static = False
+        self._last_clock = 0
+        self._pwm_max = 0.
+        self._set_cmd = None
+    def get_mcu(self):
+        return self._mcu
+    def setup_max_duration(self, max_duration):
+        self._max_duration = max_duration
+    def setup_cycle_time(self, cycle_time, hardware_pwm=False):
+        if hardware_pwm:
+            raise pins.error("pca9685 does not support hardware_pwm parameter")
+        if cycle_time != self._cycle_time:
+            logging.info("Ignoring pca9685 cycle time of %.6f (using %.6f)",
+                         cycle_time, self._cycle_time)
+    def setup_start_value(self, start_value, shutdown_value, is_static=False):
+        if is_static and start_value != shutdown_value:
+            raise pins.error("Static pin can not have shutdown value")
+        if self._invert:
+            start_value = 1. - start_value
+            shutdown_value = 1. - shutdown_value
+        self._start_value = max(0., min(1., start_value))
+        self._shutdown_value = max(0., min(1., shutdown_value))
+        self._is_static = is_static
+        self._replicape.note_pwm_start_value(
+            self._channel, self._start_value, self._shutdown_value)
+    def build_config(self):
+        self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
+        cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
+        if self._is_static:
+            self._mcu.add_config_cmd(
+                "set_pca9685_out bus=%d addr=%d channel=%d"
+                " cycle_ticks=%d value=%d" % (
+                    self._bus, self._address, self._channel,
+                    cycle_ticks, self._start_value * self._pwm_max))
+            return
+        self._oid = self._mcu.create_oid()
+        self._mcu.add_config_cmd(
+            "config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
+            " value=%d default_value=%d max_duration=%d" % (
+                self._oid, self._bus, self._address, self._channel, cycle_ticks,
+                self._start_value * self._pwm_max,
+                self._shutdown_value * self._pwm_max,
+                self._mcu.seconds_to_clock(self._max_duration)))
+        cmd_queue = self._mcu.alloc_command_queue()
+        self._set_cmd = self._mcu.lookup_command(
+            "schedule_pca9685_out oid=%c clock=%u value=%hu", cq=cmd_queue)
+    def set_pwm(self, print_time, value):
+        clock = self._mcu.print_time_to_clock(print_time)
+        if self._invert:
+            value = 1. - value
+        value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
+        self._replicape.note_pwm_enable(print_time, self._channel, value)
+        self._set_cmd.send([self._oid, clock, value],
+                           minclock=self._last_clock, reqclock=clock)
+        self._last_clock = clock
+    def set_digital(self, print_time, value):
+        if value:
+            self.set_pwm(print_time, 1.)
+        else:
+            self.set_pwm(print_time, 0.)
+
+class ReplicapeDACEnable:
+    def __init__(self, replicape, channel, pin_params):
+        if pin_params['type'] != 'digital_out':
+            raise pins.error("Replicape virtual enable pin must be digital_out")
+        if pin_params['invert']:
+            raise pins.error("Replicape virtual enable pin can not be inverted")
+        self.mcu = replicape.host_mcu
+        self.value = replicape.stepper_dacs[channel]
+        self.pwm = pca9685_pwm(replicape, channel, pin_params)
+    def get_mcu(self):
+        return self.mcu
+    def setup_max_duration(self, max_duration):
+        self.pwm.setup_max_duration(max_duration)
+    def set_digital(self, print_time, value):
+        if value:
+            self.pwm.set_pwm(print_time, self.value)
+        else:
+            self.pwm.set_pwm(print_time, 0.)
+
+ReplicapeStepConfig = {
+    'disable': None,
+    '1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
+    '4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4),
+    'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6),
+    'stealth16': 0
+}
+
+class Replicape:
+    def __init__(self, config):
+        printer = config.get_printer()
+        pins.get_printer_pins(printer).register_chip('replicape', self)
+        revisions = {'B3': 'B3'}
+        config.getchoice('revision', revisions)
+        self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
+        # Setup enable pin
+        self.mcu_pwm_enable = pins.setup_pin(
+            printer, 'digital_out', config.get('enable_pin', '!P9_41'))
+        self.mcu_pwm_enable.setup_max_duration(0.)
+        self.mcu_pwm_start_value = self.mcu_pwm_shutdown_value = False
+        # Setup power pins
+        self.pins = {
+            "power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
+            "power_hotbed": (pca9685_pwm, 4),
+            "power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
+            "power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
+        # Setup stepper config
+        self.send_spi_cmd = None
+        self.last_stepper_time = 0.
+        self.stepper_dacs = {}
+        shift_registers = [1, 0, 0, 1, 1]
+        for port, name in enumerate('xyzeh'):
+            prefix = 'stepper_%s_' % (name,)
+            sc = config.getchoice(
+                prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
+            if sc is None:
+                continue
+            sc |= shift_registers[port]
+            if config.getboolean(prefix + 'chopper_off_time_high', False):
+                sc |= 1<<3
+            if config.getboolean(prefix + 'chopper_hysteresis_high', False):
+                sc |= 1<<2
+            if config.getboolean(prefix + 'chopper_blank_time_high', True):
+                sc |= 1<<1
+            shift_registers[port] = sc
+            channel = port + 11
+            cur = config.getfloat(
+                prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
+            self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
+            self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
+        self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
+        if config.getboolean('servo0_enable', False):
+            shift_registers[1] |= 1
+        if config.getboolean('servo1_enable', False):
+            shift_registers[2] |= 1
+        self.sr_disabled = tuple(reversed(shift_registers))
+        if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
+            # Enable xyz steppers
+            shift_registers[0] &= ~1
+        if [i for i in [3, 4] if 11+i in self.stepper_dacs]:
+            # Enable eh steppers
+            shift_registers[3] &= ~1
+        if (config.getboolean('standstill_power_down', False)
+            and self.stepper_dacs):
+            shift_registers[4] &= ~1
+        self.sr_enabled = tuple(reversed(shift_registers))
+        self.host_mcu.add_config_object(self)
+        self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
+            REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
+            "".join(["%02x" % (x,) for x in self.sr_disabled])))
+    def build_config(self):
+        cmd_queue = self.host_mcu.alloc_command_queue()
+        self.send_spi_cmd = self.host_mcu.lookup_command(
+            "send_spi bus=%u dev=%u msg=%*s", cq=cmd_queue)
+    def note_pwm_start_value(self, channel, start_value, shutdown_value):
+        self.mcu_pwm_start_value |= not not start_value
+        self.mcu_pwm_shutdown_value |= not not shutdown_value
+        self.mcu_pwm_enable.setup_start_value(
+            self.mcu_pwm_start_value, self.mcu_pwm_shutdown_value)
+        self.enabled_channels[channel] = not not start_value
+    def note_pwm_enable(self, print_time, channel, value):
+        is_enable = not not value
+        if self.enabled_channels[channel] == is_enable:
+            # Nothing to do
+            return
+        self.enabled_channels[channel] = is_enable
+        # Check if need to set the pca9685 enable pin
+        on_channels = [1 for c, e in self.enabled_channels.items() if e]
+        if not on_channels:
+            self.mcu_pwm_enable.set_digital(print_time, 0)
+        elif is_enable and len(on_channels) == 1:
+            self.mcu_pwm_enable.set_digital(print_time, 1)
+        # Check if need to set the stepper enable lines
+        if channel not in self.stepper_dacs:
+            return
+        on_dacs = [1 for c in self.stepper_dacs.keys()
+                   if self.enabled_channels[c]]
+        if not on_dacs:
+            sr = self.sr_disabled
+        elif is_enable and len(on_dacs) == 1:
+            sr = self.sr_enabled
+        else:
+            return
+        print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME)
+        clock = self.host_mcu.print_time_to_clock(print_time)
+        # XXX - the send_spi message should be scheduled
+        self.send_spi_cmd.send([REPLICAPE_SHIFT_REGISTER_BUS,
+                                REPLICAPE_SHIFT_REGISTER_DEVICE, sr],
+                               minclock=clock, reqclock=clock)
+    def setup_pin(self, pin_params):
+        pin = pin_params['pin']
+        if pin not in self.pins:
+            raise pins.error("Unknown replicape pin %s" % (pin,))
+        pclass, channel = self.pins[pin]
+        return pclass(self, channel, pin_params)
+
+def load_config(config):
+    return Replicape(config)

klippy/extras/servo.py

@@ -0,0 +1,59 @@
+# Support for servos
+#
+# Copyright (C) 2017,2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import pins
+
+SERVO_SIGNAL_PERIOD = 0.020
+PIN_MIN_TIME = 0.100
+
+class PrinterServo:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.mcu_servo = pins.setup_pin(self.printer, 'pwm', config.get('pin'))
+        self.mcu_servo.setup_max_duration(0.)
+        self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
+        self.min_width = config.getfloat(
+            'minimum_pulse_width', .001, above=0., below=SERVO_SIGNAL_PERIOD)
+        self.max_width = config.getfloat(
+            'maximum_pulse_width', .002
+            , above=self.min_width, below=SERVO_SIGNAL_PERIOD)
+        self.max_angle = config.getfloat('maximum_servo_angle', 180.)
+        self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
+        self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
+        self.last_value = self.last_value_time = 0.
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command("SET_SERVO", self.cmd_SET_SERVO,
+                                    desc=self.cmd_SET_SERVO_help)
+    def set_pwm(self, print_time, value):
+        if value == self.last_value:
+            return
+        print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
+        self.mcu_servo.set_pwm(print_time, value)
+        self.last_value = value
+        self.last_value_time = print_time
+    def set_angle(self, print_time, angle):
+        angle = max(0., min(self.max_angle, angle))
+        width = self.min_width + angle * self.angle_to_width
+        self.set_pwm(print_time, width * self.width_to_value)
+    def set_pulse_width(self, print_time, width):
+        width = max(self.min_width, min(self.max_width, width))
+        self.set_pwm(print_time, width * self.width_to_value)
+    cmd_SET_SERVO_help = "Set servo angle"
+    def cmd_SET_SERVO(self, params):
+        servo_name = self.gcode.get_str('SERVO', params)
+        servo = self.printer.lookup_object('servo ' + servo_name, None)
+        if servo is not self:
+            if servo is None:
+                raise self.gcode.error("Servo not configured")
+            return servo.cmd_SET_SERVO(params)
+        print_time = self.printer.lookup_object('toolhead').get_last_move_time()
+        if 'WIDTH' in params:
+            self.set_pulse_width(print_time,
+                                 self.gcode.get_float('WIDTH', params))
+        else:
+            self.set_angle(print_time, self.gcode.get_float('ANGLE', params))
+
+def load_config_prefix(config):
+    return PrinterServo(config)

klippy/extras/static_digital_output.py

@@ -0,0 +1,17 @@
+# Set the state of a list of digital output pins
+#
+# Copyright (C) 2017-2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+class PrinterStaticDigitalOut:
+    def __init__(self, config):
+        printer = config.get_printer()
+        ppins = printer.lookup_object('pins')
+        pin_list = [pin.strip() for pin in config.get('pins').split(',')]
+        for pin_desc in pin_list:
+            mcu_pin = ppins.setup_pin('digital_out', pin_desc)
+            mcu_pin.setup_start_value(1, 1, True)
+
+def load_config_prefix(config):
+    return PrinterStaticDigitalOut(config)

klippy/extras/verify_heater.py

@@ -0,0 +1,74 @@
+# Heater/sensor verification code
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+import extruder
+
+HINT_THERMAL = """
+See the 'verify_heater' section in config/example-extras.cfg
+for the parameters that control this check.
+"""
+
+class HeaterCheck:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.heater_name = config.get_name().split()[1]
+        self.heater = None
+        self.hysteresis = config.getfloat('hysteresis', 5., minval=0.)
+        self.max_error = config.getfloat('max_error', 120., minval=0.)
+        self.heating_gain = config.getfloat('heating_gain', 2., above=0.)
+        default_gain_time = 20.
+        if self.heater_name == 'heater_bed':
+            default_gain_time = 60.
+        self.check_gain_time = config.getfloat(
+            'check_gain_time', default_gain_time, minval=1.)
+        self.met_target = False
+        self.last_target = self.goal_temp = self.error = 0.
+        self.fault_systime = self.printer.get_reactor().NEVER
+    def printer_state(self, state):
+        if state == 'connect':
+            self.heater = extruder.get_printer_heater(
+                self.printer, self.heater_name)
+            logging.info("Starting heater checks for %s", self.heater_name)
+            reactor = self.printer.get_reactor()
+            reactor.register_timer(self.check_event, reactor.NOW)
+    def check_event(self, eventtime):
+        temp, target = self.heater.get_temp(eventtime)
+        if temp >= target - self.hysteresis:
+            # Temperature near target - reset checks
+            if not self.met_target and target:
+                logging.info("Heater %s within range of %.3f",
+                             self.heater_name, target)
+            self.met_target = True
+            self.error = 0.
+        elif self.met_target:
+            self.error += (target - self.hysteresis) - temp
+            if target != self.last_target:
+                # Target changed - reset checks
+                logging.info("Heater %s approaching new target of %.3f",
+                             self.heater_name, target)
+                self.met_target = False
+                self.goal_temp = temp + self.heating_gain
+                self.fault_systime = eventtime + self.check_gain_time
+            elif self.error >= self.max_error:
+                # Failure due to inability to maintain target temperature
+                return self.heater_fault()
+        elif temp >= self.goal_temp:
+            # Temperature approaching target - reset checks
+            self.goal_temp = temp + self.heating_gain
+            self.fault_systime = eventtime + self.check_gain_time
+        elif eventtime >= self.fault_systime:
+            # Failure due to inability to approach target temperature
+            return self.heater_fault()
+        self.last_target = target
+        return eventtime + 1.
+    def heater_fault(self):
+        msg = "Heater %s not heating at expected rate" % (self.heater_name,)
+        logging.error(msg)
+        self.printer.invoke_shutdown(msg + HINT_THERMAL)
+        return self.printer.get_reactor().NEVER
+
+def load_config_prefix(config):
+    return HeaterCheck(config)

klippy/extras/virtual_sdcard.py

@@ -0,0 +1,162 @@
+# Virtual sdcard support (print files directly from a host g-code file)
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import os, logging
+
+class VirtualSD:
+    def __init__(self, config):
+        printer = config.get_printer()
+        # sdcard state
+        sd = config.get('path')
+        self.sdcard_dirname = os.path.normpath(os.path.expanduser(sd))
+        self.current_file = None
+        self.file_position = self.file_size = 0
+        # Work timer
+        self.reactor = printer.get_reactor()
+        self.must_pause_work = False
+        self.work_timer = None
+        # Register commands
+        self.gcode = printer.lookup_object('gcode')
+        for cmd in ['M20', 'M21', 'M23', 'M24', 'M25', 'M26', 'M27']:
+            self.gcode.register_command(cmd, getattr(self, 'cmd_' + cmd))
+        for cmd in ['M28', 'M29', 'M30']:
+            self.gcode.register_command(cmd, self.cmd_error)
+    def printer_state(self, state):
+        if state == 'shutdown' and self.work_timer is not None:
+            self.must_pause_work = True
+    def get_file_list(self):
+        dname = self.sdcard_dirname
+        try:
+            filenames = os.listdir(self.sdcard_dirname)
+            return [(fname, os.path.getsize(os.path.join(dname, fname)))
+                    for fname in filenames]
+        except:
+            logging.exception("virtual_sdcard get_file_list")
+            raise self.gcode.error("Unable to get file list")
+    def get_status(self, eventtime):
+        progress = 0.
+        if self.work_timer is not None and self.file_size:
+            progress = float(self.file_position) / self.file_size
+        return {'progress': progress}
+    # G-Code commands
+    def cmd_error(self, params):
+        raise self.gcode.error("SD write not supported")
+    def cmd_M20(self, params):
+        # List SD card
+        files = self.get_file_list()
+        self.gcode.respond("Begin file list")
+        for fname, fsize in files:
+            self.gcode.respond("%s %d" % (fname, fsize))
+        self.gcode.respond("End file list")
+    def cmd_M21(self, params):
+        # Initialize SD card
+        self.gcode.respond("SD card ok")
+    def cmd_M23(self, params):
+        # Select SD file
+        if self.work_timer is not None:
+            raise self.gcode.error("SD busy")
+        if self.current_file is not None:
+            self.current_file.close()
+            self.current_file = None
+            self.file_position = self.file_size = 0
+        try:
+            orig = params['#original']
+            filename = orig[orig.find("M23") + 4:].split()[0].strip()
+            if '*' in filename:
+                filename = filename[:filename.find('*')].strip()
+        except:
+            raise self.gcode.error("Unable to extract filename")
+        if filename.startswith('/'):
+            filename = filename[1:]
+        files = self.get_file_list()
+        files_by_lower = { fname.lower(): fname for fname, fsize in files }
+        try:
+            fname = files_by_lower[filename.lower()]
+            fname = os.path.join(self.sdcard_dirname, fname)
+            f = open(fname, 'rb')
+            f.seek(0, os.SEEK_END)
+            fsize = f.tell()
+            f.seek(0)
+        except:
+            logging.exception("virtual_sdcard file open")
+            raise self.gcode.error("Unable to open file")
+        self.gcode.respond("File opened:%s Size:%d" % (filename, fsize))
+        self.gcode.respond("File selected")
+        self.current_file = f
+        self.file_position = 0
+        self.file_size = fsize
+    def cmd_M24(self, params):
+        # Start/resume SD print
+        if self.work_timer is not None:
+            raise self.gcode.error("SD busy")
+        self.must_pause_work = False
+        self.work_timer = self.reactor.register_timer(
+            self.work_handler, self.reactor.NOW)
+    def cmd_M25(self, params):
+        # Pause SD print
+        if self.work_timer is not None:
+            self.must_pause_work = True
+    def cmd_M26(self, params):
+        # Set SD position
+        if self.work_timer is not None:
+            raise self.gcode.error("SD busy")
+        pos = self.gcode.get_int('S', params)
+        self.file_position = pos
+    def cmd_M27(self, params):
+        # Report SD print status
+        if self.current_file is None or self.work_timer is None:
+            self.gcode.respond("Not SD printing.")
+            return
+        self.gcode.respond("SD printing byte %d/%d" % (
+            self.file_position, self.file_size))
+    # Background work timer
+    def work_handler(self, eventtime):
+        self.reactor.unregister_timer(self.work_timer)
+        try:
+            self.current_file.seek(self.file_position)
+        except:
+            logging.exception("virtual_sdcard seek")
+            self.gcode.respond_error("Unable to seek file")
+            self.work_timer = None
+            return self.reactor.NEVER
+        partial_input = ""
+        lines = []
+        while not self.must_pause_work:
+            if not lines:
+                # Read more data
+                try:
+                    data = self.current_file.read(8192)
+                except:
+                    logging.exception("virtual_sdcard read")
+                    self.gcode.respond_error("Error on virtual sdcard read")
+                    break
+                if not data:
+                    # End of file
+                    self.current_file.close()
+                    self.current_file = None
+                    self.gcode.respond("Done printing file")
+                    break
+                lines = data.split('\n')
+                lines[0] = partial_input + lines[0]
+                partial_input = lines.pop()
+                lines.reverse()
+                continue
+            # Dispatch command
+            try:
+                res = self.gcode.process_batch(lines[-1])
+                if not res:
+                    self.reactor.pause(self.reactor.monotonic() + 0.100)
+                    continue
+            except self.gcode.error as e:
+                break
+            except:
+                logging.exception("virtual_sdcard dispatch")
+                break
+            self.file_position += len(lines.pop()) + 1
+        self.work_timer = None
+        return self.reactor.NEVER
+
+def load_config(config):
+    return VirtualSD(config)

klippy/extruder.py

@@ -1,6 +1,6 @@
 # Code for handling printer nozzle extruders
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
@@ -10,9 +10,12 @@ EXTRUDE_DIFF_IGNORE = 1.02
 
 class PrinterExtruder:
     def __init__(self, printer, config):
-        self.config = config
+        shared_heater = config.get('shared_heater', None)
+        if shared_heater is None:
             self.heater = heater.PrinterHeater(printer, config)
-        self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
+        else:
+            self.heater = get_printer_heater(printer, shared_heater)
+        self.stepper = stepper.PrinterStepper(printer, config)
         self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
         filament_diameter = config.getfloat(
             'filament_diameter', minval=self.nozzle_diameter)
@@ -21,12 +24,12 @@ class PrinterExtruder:
             'max_extrude_cross_section', 4. * self.nozzle_diameter**2
             , above=0.)
         self.max_extrude_ratio = max_cross_section / self.filament_area
-        toolhead = printer.objects['toolhead']
+        toolhead = printer.lookup_object('toolhead')
         max_velocity, max_accel = toolhead.get_max_velocity()
-        self.max_e_velocity = self.config.getfloat(
+        self.max_e_velocity = config.getfloat(
             'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
             , above=0.)
-        self.max_e_accel = self.config.getfloat(
+        self.max_e_accel = config.getfloat(
             'max_extrude_only_accel', max_accel * self.max_extrude_ratio
             , above=0.)
         self.stepper.set_max_jerk(9999999.9, 9999999.9)
@@ -50,6 +53,8 @@ class PrinterExtruder:
         if is_active:
             return self.activate_gcode
         return self.deactivate_gcode
+    def stats(self, eventtime):
+        return self.heater.stats(eventtime)
     def motor_off(self, print_time):
         self.stepper.motor_enable(print_time, 0)
         self.need_motor_enable = True
@@ -70,8 +75,11 @@ class PrinterExtruder:
             inv_extrude_r = 1. / abs(move.extrude_r)
             move.limit_speed(self.max_e_velocity * inv_extrude_r
                              , self.max_e_accel * inv_extrude_r)
-        elif (move.extrude_r > self.max_extrude_ratio
+        elif move.extrude_r > self.max_extrude_ratio:
-              and move.axes_d[3] > self.nozzle_diameter*self.max_extrude_ratio):
+            if move.axes_d[3] <= self.nozzle_diameter * self.max_extrude_ratio:
+                # Permit extrusion if amount extruded is tiny
+                move.extrude_r = self.max_extrude_ratio
+                return
             area = move.axes_d[3] * self.filament_area / move.move_d
             logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
                           move.extrude_r, self.max_extrude_ratio,
@@ -189,29 +197,27 @@ class PrinterExtruder:
                         decel_d -= extra_decel_d
 
         # Prepare for steps
-        mcu_stepper = self.stepper.mcu_stepper
+        step_const = self.stepper.step_const
         move_time = print_time
 
         # Acceleration steps
         if accel_d:
-            mcu_stepper.step_const(move_time, start_pos, accel_d, start_v, accel)
+            step_const(move_time, start_pos, accel_d, start_v, accel)
             start_pos += accel_d
             move_time += accel_t
         # Cruising steps
         if cruise_d:
-            mcu_stepper.step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
+            step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
             start_pos += cruise_d
             move_time += cruise_t
         # Deceleration steps
         if decel_d:
-            mcu_stepper.step_const(
+            step_const(move_time, start_pos, decel_d, decel_v, -accel)
-                move_time, start_pos, decel_d, decel_v, -accel)
             start_pos += decel_d
             move_time += decel_t
         # Retraction steps
         if retract_d:
-            mcu_stepper.step_const(
+            step_const(move_time, start_pos, -retract_d, retract_v, accel)
-                move_time, start_pos, -retract_d, retract_v, accel)
             start_pos -= retract_d
         self.extrude_pos = start_pos
 
@@ -244,17 +250,17 @@ def add_printer_objects(printer, config):
 def get_printer_extruders(printer):
     out = []
     for i in range(99):
-        extruder = printer.objects.get('extruder%d' % (i,))
+        extruder = printer.lookup_object('extruder%d' % (i,), None)
         if extruder is None:
             break
         out.append(extruder)
     return out
 
 def get_printer_heater(printer, name):
-    if name == 'heater_bed' and name in printer.objects:
+    if name == 'heater_bed':
-        return printer.objects[name]
+        return printer.lookup_object(name)
     if name == 'extruder':
         name = 'extruder0'
-    if name.startswith('extruder') and name in printer.objects:
+    if name.startswith('extruder'):
-        return printer.objects[name].get_heater()
+        return printer.lookup_object(name).get_heater()
     raise printer.config_error("Unknown heater '%s'" % (name,))

klippy/fan.py

@@ -1,63 +0,0 @@
-# Printer fan support
-#
-# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import extruder, pins
-
-FAN_MIN_TIME = 0.1
-PWM_CYCLE_TIME = 0.010
-
-class PrinterFan:
-    def __init__(self, printer, config):
-        self.last_fan_value = 0.
-        self.last_fan_time = 0.
-        self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
-        self.kick_start_time = config.getfloat('kick_start_time', 0.1, minval=0.)
-        self.mcu_fan = pins.setup_pin(printer, 'pwm', config.get('pin'))
-        self.mcu_fan.setup_max_duration(0.)
-        self.mcu_fan.setup_cycle_time(PWM_CYCLE_TIME)
-        self.mcu_fan.setup_hard_pwm(config.getint('hard_pwm', 0))
-    def set_speed(self, print_time, value):
-        value = max(0., min(self.max_power, value))
-        if value == self.last_fan_value:
-            return
-        print_time = max(self.last_fan_time + FAN_MIN_TIME, print_time)
-        if (value and value < self.max_power
-            and not self.last_fan_value and self.kick_start_time):
-            # Run fan at full speed for specified kick_start_time
-            self.mcu_fan.set_pwm(print_time, self.max_power)
-            print_time += self.kick_start_time
-        self.mcu_fan.set_pwm(print_time, value)
-        self.last_fan_time = print_time
-        self.last_fan_value = value
-
-class PrinterHeaterFan:
-    def __init__(self, printer, config):
-        self.fan = PrinterFan(printer, config)
-        self.mcu = printer.objects['mcu']
-        heater = config.get("heater", "extruder0")
-        self.heater = extruder.get_printer_heater(printer, heater)
-        self.heater_temp = config.getfloat("heater_temp", 50.0)
-        max_power = self.fan.max_power
-        self.fan_speed = config.getfloat(
-            "fan_speed", max_power, minval=0., maxval=max_power)
-        self.fan.mcu_fan.setup_shutdown_value(max_power)
-        printer.reactor.register_timer(self.callback, printer.reactor.NOW)
-    def callback(self, eventtime):
-        current_temp, target_temp = self.heater.get_temp(eventtime)
-        if not current_temp and not target_temp and not self.fan.last_fan_time:
-            # Printer still starting
-            return eventtime + 1.
-        power = 0.
-        if target_temp or current_temp > self.heater_temp:
-            power = self.fan_speed
-        print_time = self.mcu.estimated_print_time(eventtime) + FAN_MIN_TIME
-        self.fan.set_speed(print_time, power)
-        return eventtime + 1.
-
-def add_printer_objects(printer, config):
-    if config.has_section('fan'):
-        printer.add_object('fan', PrinterFan(printer, config.getsection('fan')))
-    for s in config.get_prefix_sections('heater_fan '):
-        printer.add_object(s.section, PrinterHeaterFan(printer, s))

klippy/gcode.py

@@ -1,95 +1,133 @@
 # Parse gcode commands
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, re, logging, collections
-import homing, extruder, chipmisc
+import homing, extruder
 
-# Parse out incoming GCode and find and translate head movements
+class error(Exception):
+    pass
+
+# Parse and handle G-Code commands
 class GCodeParser:
+    error = error
     RETRY_TIME = 0.100
     def __init__(self, printer, fd):
         self.printer = printer
         self.fd = fd
         # Input handling
-        self.reactor = printer.reactor
+        self.reactor = printer.get_reactor()
         self.is_processing_data = False
         self.is_fileinput = not not printer.get_start_args().get("debuginput")
         self.fd_handle = None
         if not self.is_fileinput:
             self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
         self.partial_input = ""
+        self.pending_commands = []
         self.bytes_read = 0
         self.input_log = collections.deque([], 50)
         # Command handling
         self.is_printer_ready = False
-        self.gcode_handlers = {}
+        self.base_gcode_handlers = self.gcode_handlers = {}
-        self.build_handlers()
+        self.ready_gcode_handlers = {}
-        self.need_ack = False
+        self.gcode_help = {}
-        self.toolhead = self.fan = self.extruder = None
+        for cmd in self.all_handlers:
-        self.heaters = []
+            func = getattr(self, 'cmd_' + cmd)
-        self.speed = 25.0
+            wnr = getattr(self, 'cmd_' + cmd + '_when_not_ready', False)
+            desc = getattr(self, 'cmd_' + cmd + '_help', None)
+            self.register_command(cmd, func, wnr, desc)
+            for a in getattr(self, 'cmd_' + cmd + '_aliases', []):
+                self.register_command(a, func, wnr)
+        # G-Code coordinate manipulation
         self.absolutecoord = self.absoluteextrude = True
         self.base_position = [0.0, 0.0, 0.0, 0.0]
         self.last_position = [0.0, 0.0, 0.0, 0.0]
         self.homing_add = [0.0, 0.0, 0.0, 0.0]
+        self.speed_factor = 1. / 60.
+        self.extrude_factor = 1.
+        self.move_transform = self.move_with_transform = None
+        self.position_with_transform = (lambda: [0., 0., 0., 0.])
+        # G-Code state
+        self.need_ack = False
+        self.toolhead = self.fan = self.extruder = None
+        self.heaters = []
+        self.speed = 25.0
         self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
-    def build_handlers(self):
+    def register_command(self, cmd, func, when_not_ready=False, desc=None):
-        handlers = self.all_handlers
+        if func is None:
-        if not self.is_printer_ready:
+            if cmd in self.ready_gcode_handlers:
-            handlers = [h for h in handlers
+                del self.ready_gcode_handlers[cmd]
-                        if getattr(self, 'cmd_'+h+'_when_not_ready', False)]
+            if cmd in self.base_gcode_handlers:
-        gcode_handlers = { h: getattr(self, 'cmd_'+h) for h in handlers }
+                del self.base_gcode_handlers[cmd]
-        for h, f in list(gcode_handlers.items()):
+            return
-            aliases = getattr(self, 'cmd_'+h+'_aliases', [])
+        if not (len(cmd) >= 2 and not cmd[0].isupper() and cmd[1].isdigit()):
-            gcode_handlers.update({ a: f for a in aliases })
+            origfunc = func
-        self.gcode_handlers = gcode_handlers
+            func = lambda params: origfunc(self.get_extended_params(params))
+        self.ready_gcode_handlers[cmd] = func
+        if when_not_ready:
+            self.base_gcode_handlers[cmd] = func
+        if desc is not None:
+            self.gcode_help[cmd] = desc
+    def set_move_transform(self, transform):
+        if self.move_transform is not None:
+            raise self.printer.config_error(
+                "G-Code move transform already specified")
+        self.move_transform = transform
+        self.move_with_transform = transform.move
+        self.position_with_transform = transform.get_position
     def stats(self, eventtime):
-        return "gcodein=%d" % (self.bytes_read,)
+        return False, "gcodein=%d" % (self.bytes_read,)
-    def connect(self):
+    def get_status(self, eventtime):
+        busy = self.is_processing_data
+        return {'speed_factor': self.speed_factor * 60., 'busy': busy}
+    def printer_state(self, state):
+        if state == 'shutdown':
+            if not self.is_printer_ready:
+                return
+            self.is_printer_ready = False
+            self.gcode_handlers = self.base_gcode_handlers
+            self.dump_debug()
+            if self.is_fileinput:
+                self.printer.request_exit()
+            return
+        if state != 'ready':
+            return
         self.is_printer_ready = True
-        self.build_handlers()
+        self.gcode_handlers = self.ready_gcode_handlers
         # Lookup printer components
-        self.toolhead = self.printer.objects.get('toolhead')
+        self.toolhead = self.printer.lookup_object('toolhead')
+        if self.move_transform is None:
+            self.move_with_transform = self.toolhead.move
+            self.position_with_transform = self.toolhead.get_position
         extruders = extruder.get_printer_extruders(self.printer)
         if extruders:
             self.extruder = extruders[0]
             self.toolhead.set_extruder(self.extruder)
         self.heaters = [ e.get_heater() for e in extruders ]
-        self.heaters.append(self.printer.objects.get('heater_bed'))
+        self.heaters.append(self.printer.lookup_object('heater_bed', None))
-        self.fan = self.printer.objects.get('fan')
+        self.fan = self.printer.lookup_object('fan', None)
         if self.is_fileinput and self.fd_handle is None:
             self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
-    def do_shutdown(self):
+    def reset_last_position(self):
-        if not self.is_printer_ready:
+        self.last_position = self.position_with_transform()
-            return
-        self.is_printer_ready = False
-        self.build_handlers()
-        self.dump_debug()
-        if self.is_fileinput:
-            self.printer.request_exit()
-    def motor_heater_off(self):
-        if self.toolhead is None:
-            return
-        self.toolhead.motor_off()
-        print_time = self.toolhead.get_last_move_time()
-        for heater in self.heaters:
-            if heater is not None:
-                heater.set_temp(print_time, 0.)
-        if self.fan is not None:
-            self.fan.set_speed(print_time, 0.)
     def dump_debug(self):
         out = []
         out.append("Dumping gcode input %d blocks" % (
             len(self.input_log),))
         for eventtime, data in self.input_log:
             out.append("Read %f: %s" % (eventtime, repr(data)))
+        out.append(
+            "gcode state: absolutecoord=%s absoluteextrude=%s"
+            " base_position=%s last_position=%s homing_add=%s"
+            " speed_factor=%s extrude_factor=%s speed=%s" % (
+                self.absolutecoord, self.absoluteextrude,
+                self.base_position, self.last_position, self.homing_add,
+                self.speed_factor, self.extrude_factor, self.speed))
         logging.info("\n".join(out))
     # Parse input into commands
-    args_r = re.compile('([A-Z_]+|[A-Z*])')
+    args_r = re.compile('([A-Z_]+|[A-Z*/])')
     def process_commands(self, commands, need_ack=True):
-        prev_need_ack = self.need_ack
         for line in commands:
             # Ignore comments and leading/trailing spaces
             line = origline = line.strip()
@@ -105,8 +143,8 @@ class GCodeParser:
                 # Skip line number at start of command
                 del parts[:2]
             if not parts:
-                self.cmd_default(params)
+                # Treat empty line as empty command
-                continue
+                parts = ['', '']
             params['#command'] = cmd = parts[0] + parts[1].strip()
             # Invoke handler for command
             self.need_ack = need_ack
@@ -115,38 +153,78 @@ class GCodeParser:
                 handler(params)
             except error as e:
                 self.respond_error(str(e))
+                self.reset_last_position()
+                if not need_ack:
+                    raise
             except:
                 msg = 'Internal error on command:"%s"' % (cmd,)
                 logging.exception(msg)
                 self.printer.invoke_shutdown(msg)
                 self.respond_error(msg)
+                if not need_ack:
+                    raise
             self.ack()
-        self.need_ack = prev_need_ack
+    m112_r = re.compile('^(?:[nN][0-9]+)?\s*[mM]112(?:\s|$)')
     def process_data(self, eventtime):
+        # Read input, separate by newline, and add to pending_commands
         data = os.read(self.fd, 4096)
         self.input_log.append((eventtime, data))
         self.bytes_read += len(data)
         lines = data.split('\n')
         lines[0] = self.partial_input + lines[0]
         self.partial_input = lines.pop()
+        pending_commands = self.pending_commands
+        pending_commands.extend(lines)
+        # Special handling for debug file input EOF
+        if not data and self.is_fileinput:
+            if not self.is_processing_data:
+                self.request_restart('exit')
+            pending_commands.append("")
+        # Handle case where multiple commands pending
+        if self.is_processing_data or len(pending_commands) > 1:
+            if len(pending_commands) < 20:
+                # Check for M112 out-of-order
+                for line in lines:
+                    if self.m112_r.match(line) is not None:
+                        self.cmd_M112({})
             if self.is_processing_data:
-            if not self.is_fileinput and not lines:
+                if len(pending_commands) >= 20:
-                return
+                    # Stop reading input
                     self.reactor.unregister_fd(self.fd_handle)
                     self.fd_handle = None
-            if not self.is_fileinput and lines[0].strip().upper() == 'M112':
+                return
-                self.cmd_M112({})
+        # Process commands
-            while self.is_processing_data:
-                eventtime = self.reactor.pause(eventtime + 0.100)
-            self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
         self.is_processing_data = True
-        self.process_commands(lines)
+        self.pending_commands = []
-        if not data and self.is_fileinput:
+        self.process_commands(pending_commands)
-            self.motor_heater_off()
+        if self.pending_commands:
-            if self.toolhead is not None:
+            self.process_pending()
-                self.toolhead.wait_moves()
-            self.printer.request_exit()
         self.is_processing_data = False
+    def process_pending(self):
+        pending_commands = self.pending_commands
+        while pending_commands:
+            self.pending_commands = []
+            self.process_commands(pending_commands)
+            pending_commands = self.pending_commands
+        if self.fd_handle is None:
+            self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
+    def process_batch(self, command):
+        if self.is_processing_data:
+            return False
+        self.is_processing_data = True
+        try:
+            self.process_commands([command], need_ack=False)
+        finally:
+            if self.pending_commands:
+                self.process_pending()
+            self.is_processing_data = False
+        return True
+    def run_script(self, script):
+        prev_need_ack = self.need_ack
+        try:
+            self.process_commands(script.split('\n'), need_ack=False)
+        finally:
+            self.need_ack = prev_need_ack
     # Response handling
     def ack(self, msg=None):
         if not self.need_ack or self.is_fileinput:
@@ -168,29 +246,24 @@ class GCodeParser:
         logging.warning(msg)
         lines = msg.strip().split('\n')
         if len(lines) > 1:
-            self.respond_info("\n".join(lines[:-1]))
+            self.respond_info("\n".join(lines))
-        self.respond('!! %s' % (lines[-1].strip(),))
+        self.respond('!! %s' % (lines[0].strip(),))
     # Parameter parsing helpers
-    def get_int(self, name, params, default=None):
+    class sentinel: pass
+    def get_str(self, name, params, default=sentinel, parser=str):
         if name in params:
             try:
-                return int(params[name])
+                return parser(params[name])
-            except ValueError:
+            except:
                 raise error("Error on '%s': unable to parse %s" % (
                     params['#original'], params[name]))
-        if default is not None:
+        if default is not self.sentinel:
-            return default
-        raise error("Error on '%s': missing %s" % (params['#original'], name))
-    def get_float(self, name, params, default=None):
-        if name in params:
-            try:
-                return float(params[name])
-            except ValueError:
-                raise error("Error on '%s': unable to parse %s" % (
-                    params['#original'], params[name]))
-        if default is not None:
             return default
         raise error("Error on '%s': missing %s" % (params['#original'], name))
+    def get_int(self, name, params, default=sentinel):
+        return self.get_str(name, params, default, parser=int)
+    def get_float(self, name, params, default=sentinel):
+        return self.get_str(name, params, default, parser=float)
     extended_r = re.compile(
         r'^\s*(?:N[0-9]+\s*)?'
         r'(?P<cmd>[a-zA-Z_][a-zA-Z_]+)(?:\s+|$)'
@@ -250,9 +323,8 @@ class GCodeParser:
         try:
             heater.set_temp(print_time, temp)
         except heater.error as e:
-            self.respond_error(str(e))
+            raise error(str(e))
-            return
+        if wait and temp:
-        if wait:
             self.bg_temp(heater)
     def set_fan_speed(self, speed):
         if self.fan is None:
@@ -261,7 +333,7 @@ class GCodeParser:
             return
         print_time = self.toolhead.get_last_move_time()
         self.fan.set_speed(print_time, speed)
-    # Individual command handlers
+    # G-Code special command handlers
     def cmd_default(self, params):
         if not self.is_printer_ready:
             self.respond_error(self.printer.get_state_message())
@@ -285,50 +357,54 @@ class GCodeParser:
         e = extruders[index]
         if self.extruder is e:
             return
-        deactivate_gcode = self.extruder.get_activate_gcode(False)
+        self.run_script(self.extruder.get_activate_gcode(False))
-        self.process_commands(deactivate_gcode.split('\n'), need_ack=False)
         try:
             self.toolhead.set_extruder(e)
         except homing.EndstopError as e:
-            self.respond_error(str(e))
+            raise error(str(e))
-            return
         self.extruder = e
-        self.last_position = self.toolhead.get_position()
+        self.reset_last_position()
-        activate_gcode = self.extruder.get_activate_gcode(True)
+        self.run_script(self.extruder.get_activate_gcode(True))
-        self.process_commands(activate_gcode.split('\n'), need_ack=False)
     all_handlers = [
-        'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
+        'G1', 'G4', 'G28', 'M18', 'M400',
-        'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',
+        'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M206', 'M220', 'M221',
-        'M140', 'M190', 'M106', 'M107', 'M206', 'M400',
+        'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107',
-        'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', 'SET_SERVO',
+        'M112', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'GET_POSITION',
         'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
+    # G-Code movement commands
     cmd_G1_aliases = ['G0']
     def cmd_G1(self, params):
         # Move
         try:
-            for a, p in self.axis2pos.items():
+            for axis in 'XYZ':
-                if a in params:
+                if axis in params:
-                    v = float(params[a])
+                    v = float(params[axis])
-                    if (not self.absolutecoord
+                    pos = self.axis2pos[axis]
-                        or (p>2 and not self.absoluteextrude)):
+                    if not self.absolutecoord:
                         # value relative to position of last move
-                        self.last_position[p] += v
+                        self.last_position[pos] += v
                     else:
                         # value relative to base coordinate position
-                        self.last_position[p] = v + self.base_position[p]
+                        self.last_position[pos] = v + self.base_position[pos]
+            if 'E' in params:
+                v = float(params['E']) * self.extrude_factor
+                if not self.absolutecoord or not self.absoluteextrude:
+                    # value relative to position of last move
+                    self.last_position[3] += v
+                else:
+                    # value relative to base coordinate position
+                    self.last_position[3] = v + self.base_position[3]
             if 'F' in params:
-                speed = float(params['F']) / 60.
+                speed = float(params['F']) * self.speed_factor
                 if speed <= 0.:
-                    raise ValueError()
+                    raise error("Invalid speed in '%s'" % (params['#original'],))
                 self.speed = speed
         except ValueError as e:
-            self.last_position = self.toolhead.get_position()
             raise error("Unable to parse move '%s'" % (params['#original'],))
         try:
-            self.toolhead.move(self.last_position, self.speed)
+            self.move_with_transform(self.last_position, self.speed)
         except homing.EndstopError as e:
-            self.respond_error(str(e))
+            raise error(str(e))
-            self.last_position = self.toolhead.get_position()
     def cmd_G4(self, params):
         # Dwell
         if 'S' in params:
@@ -336,9 +412,6 @@ class GCodeParser:
         else:
             delay = self.get_float('P', params, 0.) / 1000.
         self.toolhead.dwell(delay)
-    def cmd_G20(self, params):
-        # Set units to inches
-        self.respond_error('Machine does not support G20 (inches) command')
     def cmd_G28(self, params):
         # Move to origin
         axes = []
@@ -347,19 +420,33 @@ class GCodeParser:
                 axes.append(self.axis2pos[axis])
         if not axes:
             axes = [0, 1, 2]
-        homing_state = homing.Homing(self.toolhead, axes)
+        homing_state = homing.Homing(self.toolhead)
         if self.is_fileinput:
             homing_state.set_no_verify_retract()
         try:
-            self.toolhead.home(homing_state)
+            homing_state.home_axes(axes)
         except homing.EndstopError as e:
-            self.toolhead.motor_off()
+            raise error(str(e))
-            self.respond_error(str(e))
-            return
-        newpos = self.toolhead.get_position()
         for axis in homing_state.get_axes():
-            self.last_position[axis] = newpos[axis]
             self.base_position[axis] = -self.homing_add[axis]
+        self.reset_last_position()
+    cmd_M18_aliases = ["M84"]
+    def cmd_M18(self, params):
+        # Turn off motors
+        self.toolhead.motor_off()
+    def cmd_M400(self, params):
+        # Wait for current moves to finish
+        self.toolhead.wait_moves()
+    # G-Code coordinate manipulation
+    def cmd_G20(self, params):
+        # Set units to inches
+        self.respond_error('Machine does not support G20 (inches) command')
+    def cmd_M82(self, params):
+        # Use absolute distances for extrusion
+        self.absoluteextrude = True
+    def cmd_M83(self, params):
+        # Use relative distances for extrusion
+        self.absoluteextrude = False
     def cmd_G90(self, params):
         # Use absolute coordinates
         self.absolutecoord = True
@@ -371,19 +458,40 @@ class GCodeParser:
         offsets = { p: self.get_float(a, params)
                     for a, p in self.axis2pos.items() if a in params }
         for p, offset in offsets.items():
+            if p == 3:
+                offset *= self.extrude_factor
             self.base_position[p] = self.last_position[p] - offset
         if not offsets:
             self.base_position = list(self.last_position)
-    def cmd_M82(self, params):
+    cmd_M114_when_not_ready = True
-        # Use absolute distances for extrusion
+    def cmd_M114(self, params):
-        self.absoluteextrude = True
+        # Get Current Position
-    def cmd_M83(self, params):
+        p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
-        # Use relative distances for extrusion
+        p[3] /= self.extrude_factor
-        self.absoluteextrude = False
+        self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
-    cmd_M18_aliases = ["M84"]
+    def cmd_M206(self, params):
-    def cmd_M18(self, params):
+        # Set home offset
-        # Turn off motors
+        offsets = { self.axis2pos[a]: self.get_float(a, params)
-        self.toolhead.motor_off()
+                    for a in 'XYZ' if a in params }
+        for p, offset in offsets.items():
+            self.base_position[p] += self.homing_add[p] - offset
+            self.homing_add[p] = offset
+    def cmd_M220(self, params):
+        # Set speed factor override percentage
+        value = self.get_float('S', params, 100.) / (60. * 100.)
+        if value <= 0.:
+            raise error("Invalid factor in '%s'" % (params['#original'],))
+        self.speed_factor = value
+    def cmd_M221(self, params):
+        # Set extrude factor override percentage
+        new_extrude_factor = self.get_float('S', params, 100.) / 100.
+        if new_extrude_factor <= 0.:
+            raise error("Invalid factor in '%s'" % (params['#original'],))
+        last_e_pos = self.last_position[3]
+        e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor
+        self.base_position[3] = last_e_pos - e_value * new_extrude_factor
+        self.extrude_factor = new_extrude_factor
+    # G-Code temperature and fan commands
     cmd_M105_when_not_ready = True
     def cmd_M105(self, params):
         # Get Extruder Temperature
@@ -394,26 +502,6 @@ class GCodeParser:
     def cmd_M109(self, params):
         # Set Extruder Temperature and Wait
         self.set_temp(params, wait=True)
-    def cmd_M112(self, params):
-        # Emergency Stop
-        self.printer.invoke_shutdown("Shutdown due to M112 command")
-    cmd_M114_when_not_ready = True
-    def cmd_M114(self, params):
-        # Get Current Position
-        if self.toolhead is None:
-            self.cmd_default(params)
-            return
-        raw_pos = self.toolhead.query_endstops("get_mcu_position")
-        self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count %s" % (
-            self.last_position[0], self.last_position[1],
-            self.last_position[2], self.last_position[3],
-            " ".join(["%s:%d" % (n.upper(), p) for n, p in raw_pos])))
-    cmd_M115_when_not_ready = True
-    def cmd_M115(self, params):
-        # Get Firmware Version and Capabilities
-        software_version = self.printer.get_start_args().get('software_version')
-        kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
-        self.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
     def cmd_M140(self, params):
         # Set Bed Temperature
         self.set_temp(params, is_bed=True)
@@ -426,16 +514,17 @@ class GCodeParser:
     def cmd_M107(self, params):
         # Turn fan off
         self.set_fan_speed(0.)
-    def cmd_M206(self, params):
+    # G-Code miscellaneous commands
-        # Set home offset
+    cmd_M112_when_not_ready = True
-        offsets = { p: self.get_float(a, params)
+    def cmd_M112(self, params):
-                    for a, p in self.axis2pos.items() if a in params }
+        # Emergency Stop
-        for p, offset in offsets.items():
+        self.printer.invoke_shutdown("Shutdown due to M112 command")
-            self.base_position[p] += self.homing_add[p] - offset
+    cmd_M115_when_not_ready = True
-            self.homing_add[p] = offset
+    def cmd_M115(self, params):
-    def cmd_M400(self, params):
+        # Get Firmware Version and Capabilities
-        # Wait for current moves to finish
+        software_version = self.printer.get_start_args().get('software_version')
-        self.toolhead.wait_moves()
+        kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
+        self.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
     cmd_IGNORE_when_not_ready = True
     cmd_IGNORE_aliases = ["G21", "M110", "M21"]
     def cmd_IGNORE(self, params):
@@ -445,57 +534,62 @@ class GCodeParser:
     cmd_QUERY_ENDSTOPS_aliases = ["M119"]
     def cmd_QUERY_ENDSTOPS(self, params):
         # Get Endstop Status
-        if self.is_fileinput:
+        res = homing.query_endstops(self.toolhead)
-            return
-        try:
-            res = self.toolhead.query_endstops()
-        except homing.EndstopError as e:
-            self.respond_error(str(e))
-            return
         self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
                                for name, t in res]))
-    cmd_PID_TUNE_help = "Run PID Tuning"
+    cmd_GET_POSITION_when_not_ready = True
-    cmd_PID_TUNE_aliases = ["M303"]
+    def cmd_GET_POSITION(self, params):
-    def cmd_PID_TUNE(self, params):
+        if self.toolhead is None:
-        # Run PID tuning
+            self.cmd_default(params)
-        heater_index = self.get_int('E', params, 0)
-        if (heater_index < -1 or heater_index >= len(self.heaters) - 1
-            or self.heaters[heater_index] is None):
-            self.respond_error("Heater not configured")
-        heater = self.heaters[heater_index]
-        temp = self.get_float('S', params)
-        heater.start_auto_tune(temp)
-        self.bg_temp(heater)
-    cmd_SET_SERVO_help = "Set servo angle"
-    def cmd_SET_SERVO(self, params):
-        params = self.get_extended_params(params)
-        name = params.get('SERVO')
-        if name is None:
-            raise error("Error on '%s': missing SERVO" % (params['#original'],))
-        s = chipmisc.get_printer_servo(self.printer, name)
-        if s is None:
-            raise error("Servo not configured")
-        print_time = self.toolhead.get_last_move_time()
-        if 'WIDTH' in params:
-            s.set_pulse_width(print_time, self.get_float('WIDTH', params))
             return
-        s.set_angle(print_time, self.get_float('ANGLE', params))
+        kin = self.toolhead.get_kinematics()
-    def prep_restart(self):
+        steppers = kin.get_steppers()
+        mcu_pos = " ".join(["%s:%d" % (s.name, s.mcu_stepper.get_mcu_position())
+                            for s in steppers])
+        stepper_pos = " ".join(
+            ["%s:%.6f" % (s.name, s.mcu_stepper.get_commanded_position())
+             for s in steppers])
+        kinematic_pos = " ".join(["%s:%.6f"  % (a, v)
+                                  for a, v in zip("XYZE", kin.get_position())])
+        toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
+            "XYZE", self.toolhead.get_position())])
+        gcode_pos = " ".join(["%s:%.6f"  % (a, v)
+                              for a, v in zip("XYZE", self.last_position)])
+        origin_pos = " ".join(["%s:%.6f"  % (a, v)
+                               for a, v in zip("XYZE", self.base_position)])
+        homing_pos = " ".join(["%s:%.6f"  % (a, v)
+                               for a, v in zip("XYZE", self.homing_add)])
+        self.respond_info(
+            "mcu: %s\n"
+            "stepper: %s\n"
+            "kinematic: %s\n"
+            "toolhead: %s\n"
+            "gcode: %s\n"
+            "gcode origin: %s\n"
+            "gcode homing: %s" % (
+                mcu_pos, stepper_pos, kinematic_pos, toolhead_pos,
+                gcode_pos, origin_pos, homing_pos))
+    def request_restart(self, result):
         if self.is_printer_ready:
             self.respond_info("Preparing to restart...")
-            self.motor_heater_off()
+            self.toolhead.motor_off()
+            print_time = self.toolhead.get_last_move_time()
+            for heater in self.heaters:
+                if heater is not None:
+                    heater.set_temp(print_time, 0.)
+            if self.fan is not None:
+                self.fan.set_speed(print_time, 0.)
             self.toolhead.dwell(0.500)
             self.toolhead.wait_moves()
+        self.printer.request_exit(result)
     cmd_RESTART_when_not_ready = True
     cmd_RESTART_help = "Reload config file and restart host software"
     def cmd_RESTART(self, params):
-        self.prep_restart()
+        self.request_restart('restart')
-        self.printer.request_exit('restart')
     cmd_FIRMWARE_RESTART_when_not_ready = True
     cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config"
     def cmd_FIRMWARE_RESTART(self, params):
-        self.prep_restart()
+        self.request_restart('firmware_restart')
-        self.printer.request_exit('firmware_restart')
     cmd_ECHO_when_not_ready = True
     def cmd_ECHO(self, params):
         self.respond_info(params['#original'])
@@ -514,10 +608,6 @@ class GCodeParser:
             cmdhelp.append("Printer is not ready - not all commands available.")
         cmdhelp.append("Available extended commands:")
         for cmd in sorted(self.gcode_handlers):
-            desc = getattr(self, 'cmd_'+cmd+'_help', None)
+            if cmd in self.gcode_help:
-            if desc is not None:
+                cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd]))
-                cmdhelp.append("%-10s: %s" % (cmd, desc))
         self.respond_info("\n".join(cmdhelp))
-
-class error(Exception):
-    pass

klippy/heater.py

@@ -1,6 +1,6 @@
 # Printer heater support
 #
-# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging, threading
@@ -17,7 +17,8 @@ KELVIN_TO_CELCIUS = -273.15
 class Thermistor:
     def __init__(self, config, params):
         self.pullup = config.getfloat('pullup_resistor', 4700., above=0.)
-        # Calculate Steinhart-Hart coefficents from temp measurements
+        # Calculate Steinhart-Hart coefficents from temp measurements.
+        # Arrange samples as 3 linear equations and solve for c1, c2, and c3.
         inv_t1 = 1. / (params['t1'] - KELVIN_TO_CELCIUS)
         inv_t2 = 1. / (params['t2'] - KELVIN_TO_CELCIUS)
         inv_t3 = 1. / (params['t3'] - KELVIN_TO_CELCIUS)
@@ -35,6 +36,7 @@ class Thermistor:
         self.c2 = (inv_t12 - self.c3 * ln3_r12) / ln_r12
         self.c1 = inv_t1 - self.c2 * ln_r1 - self.c3 * ln3_r1
     def calc_temp(self, adc):
+        adc = max(.00001, min(.99999, adc))
         r = self.pullup * adc / (1.0 - adc)
         ln_r = math.log(r)
         inv_t = self.c1 + self.c2 * ln_r + self.c3 * ln_r**3
@@ -42,6 +44,7 @@ class Thermistor:
     def calc_adc(self, temp):
         inv_t = 1. / (temp - KELVIN_TO_CELCIUS)
         if self.c3:
+            # Solve for ln_r using Cardano's formula
             y = (self.c1 - inv_t) / (2. * self.c3)
             x = math.sqrt((self.c2 / (3. * self.c3))**3 + y**2)
             ln_r = math.pow(x - y, 1./3.) - math.pow(x + y, 1./3.)
@@ -94,10 +97,10 @@ Sensors = {
 SAMPLE_TIME = 0.001
 SAMPLE_COUNT = 8
 REPORT_TIME = 0.300
-PWM_CYCLE_TIME = 0.100
 MAX_HEAT_TIME = 5.0
 AMBIENT_TEMP = 25.
 PID_PARAM_BASE = 255.
+PWM_DELAY = REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT
 
 class error(Exception):
     pass
@@ -105,10 +108,11 @@ class error(Exception):
 class PrinterHeater:
     error = error
     def __init__(self, printer, config):
-        self.name = config.section
+        self.printer = printer
+        self.name = config.get_name()
         sensor_params = config.getchoice('sensor_type', Sensors)
         self.sensor = sensor_params['class'](config, sensor_params)
-        self.min_temp = config.getfloat('min_temp', minval=0.)
+        self.min_temp = config.getfloat('min_temp', minval=KELVIN_TO_CELCIUS)
         self.max_temp = config.getfloat('max_temp', above=self.min_temp)
         self.min_extrude_temp = config.getfloat(
             'min_extrude_temp', 170., minval=self.min_temp, maxval=self.max_temp)
@@ -124,7 +128,9 @@ class PrinterHeater:
             self.mcu_pwm = pins.setup_pin(printer, 'digital_out', heater_pin)
         else:
             self.mcu_pwm = pins.setup_pin(printer, 'pwm', heater_pin)
-            self.mcu_pwm.setup_cycle_time(PWM_CYCLE_TIME)
+            pwm_cycle_time = config.getfloat(
+                'pwm_cycle_time', 0.100, above=0., maxval=REPORT_TIME)
+            self.mcu_pwm.setup_cycle_time(pwm_cycle_time)
         self.mcu_pwm.setup_max_duration(MAX_HEAT_TIME)
         self.mcu_adc = pins.setup_pin(printer, 'adc', config.get('sensor_pin'))
         adc_range = [self.sensor.calc_adc(self.min_temp),
@@ -137,7 +143,10 @@ class PrinterHeater:
         self.control = algo(self, config)
         # pwm caching
         self.next_pwm_time = 0.
-        self.last_pwm_value = 0
+        self.last_pwm_value = 0.
+        # Load additional modules
+        printer.try_load_module(config, "verify_heater %s" % (self.name,))
+        printer.try_load_module(config, "pid_calibrate")
     def set_pwm(self, read_time, value):
         if self.target_temp <= 0.:
             value = 0.
@@ -145,7 +154,7 @@ class PrinterHeater:
             and abs(value - self.last_pwm_value) < 0.05):
             # No significant change in value - can suppress update
             return
-        pwm_time = read_time + REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT
+        pwm_time = read_time + PWM_DELAY
         self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
         self.last_pwm_value = value
         logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])",
@@ -176,16 +185,25 @@ class PrinterHeater:
     def check_busy(self, eventtime):
         with self.lock:
             return self.control.check_busy(eventtime)
-    def start_auto_tune(self, degrees):
+    def set_control(self, control):
-        if degrees and (degrees < self.min_temp or degrees > self.max_temp):
-            raise error("Requested temperature (%.1f) out of range (%.1f:%.1f)"
-                        % (degrees, self.min_temp, self.max_temp))
         with self.lock:
-            self.control = ControlAutoTune(self, self.control)
+            old_control = self.control
-            self.target_temp = degrees
+            self.control = control
-    def finish_auto_tune(self, old_control):
+            self.target_temp = 0.
-        self.control = old_control
+        return old_control
-        self.target_temp = 0
+    def stats(self, eventtime):
+        with self.lock:
+            target_temp = self.target_temp
+            last_temp = self.last_temp
+            last_pwm_value = self.last_pwm_value
+        is_active = target_temp or last_temp > 50.
+        return is_active, '%s: target=%.0f temp=%.1f pwm=%.3f' % (
+            self.name, target_temp, last_temp, last_pwm_value)
+    def get_status(self, eventtime):
+        with self.lock:
+            target_temp = self.target_temp
+            last_temp = self.last_temp
+        return {'temperature': last_temp, 'target': target_temp}
 
 
 ######################################################################
@@ -214,6 +232,9 @@ class ControlBangBang:
 # Proportional Integral Derivative (PID) control algo
 ######################################################################
 
+PID_SETTLE_DELTA = 1.
+PID_SETTLE_SLOPE = .1
+
 class ControlPID:
     def __init__(self, heater, config):
         self.heater = heater
@@ -254,112 +275,8 @@ class ControlPID:
             self.prev_temp_integ = temp_integ
     def check_busy(self, eventtime):
         temp_diff = self.heater.target_temp - self.heater.last_temp
-        return abs(temp_diff) > 1. or abs(self.prev_temp_deriv) > 0.1
+        return (abs(temp_diff) > PID_SETTLE_DELTA
-
+                or abs(self.prev_temp_deriv) > PID_SETTLE_SLOPE)
-
-######################################################################
-# Ziegler-Nichols PID autotuning
-######################################################################
-
-TUNE_PID_DELTA = 5.0
-
-class ControlAutoTune:
-    def __init__(self, heater, old_control):
-        self.heater = heater
-        self.old_control = old_control
-        self.heating = False
-        self.peaks = []
-        self.peak = 0.
-        self.peak_time = 0.
-    def adc_callback(self, read_time, temp):
-        if self.heating and temp >= self.heater.target_temp:
-            self.heating = False
-            self.check_peaks()
-        elif (not self.heating
-              and temp <= self.heater.target_temp - TUNE_PID_DELTA):
-            self.heating = True
-            self.check_peaks()
-        if self.heating:
-            self.heater.set_pwm(read_time, self.heater.max_power)
-            if temp < self.peak:
-                self.peak = temp
-                self.peak_time = read_time
-        else:
-            self.heater.set_pwm(read_time, 0.)
-            if temp > self.peak:
-                self.peak = temp
-                self.peak_time = read_time
-    def check_peaks(self):
-        self.peaks.append((self.peak, self.peak_time))
-        if self.heating:
-            self.peak = 9999999.
-        else:
-            self.peak = -9999999.
-        if len(self.peaks) < 4:
-            return
-        temp_diff = self.peaks[-1][0] - self.peaks[-2][0]
-        time_diff = self.peaks[-1][1] - self.peaks[-3][1]
-        max_power = self.heater.max_power
-        Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi)
-        Tu = time_diff
-
-        Kp = 0.6 * Ku
-        Ti = 0.5 * Tu
-        Td = 0.125 * Tu
-        Ki = Kp / Ti
-        Kd = Kp * Td
-        logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f  Kp=%f Ki=%f Kd=%f",
-                     temp_diff, max_power, Ku, Tu, Kp * PID_PARAM_BASE,
-                     Ki * PID_PARAM_BASE, Kd * PID_PARAM_BASE)
-    def check_busy(self, eventtime):
-        if self.heating or len(self.peaks) < 12:
-            return True
-        self.heater.finish_auto_tune(self.old_control)
-        return False
-
-
-######################################################################
-# Tuning information test
-######################################################################
-
-class ControlBumpTest:
-    def __init__(self, heater, old_control):
-        self.heater = heater
-        self.old_control = old_control
-        self.temp_samples = {}
-        self.pwm_samples = {}
-        self.state = 0
-    def set_pwm(self, read_time, value):
-        self.pwm_samples[read_time + 2*REPORT_TIME] = value
-        self.heater.set_pwm(read_time, value)
-    def adc_callback(self, read_time, temp):
-        self.temp_samples[read_time] = temp
-        if not self.state:
-            self.set_pwm(read_time, 0.)
-            if len(self.temp_samples) >= 20:
-                self.state += 1
-        elif self.state == 1:
-            if temp < self.heater.target_temp:
-                self.set_pwm(read_time, self.heater.max_power)
-                return
-            self.set_pwm(read_time, 0.)
-            self.state += 1
-        elif self.state == 2:
-            self.set_pwm(read_time, 0.)
-            if temp <= (self.heater.target_temp + AMBIENT_TEMP) / 2.:
-                self.dump_stats()
-                self.state += 1
-    def dump_stats(self):
-        out = ["%.3f %.1f %d" % (time, temp, self.pwm_samples.get(time, -1.))
-               for time, temp in sorted(self.temp_samples.items())]
-        f = open("/tmp/heattest.txt", "wb")
-        f.write('\n'.join(out))
-        f.close()
-    def check_busy(self, eventtime):
-        if self.state < 3:
-            return True
-        self.heater.finish_auto_tune(self.old_control)
-        return False
 
 def add_printer_objects(printer, config):
     if config.has_section('heater_bed'):

klippy/homing.py

@@ -3,16 +3,16 @@
 # Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
+import logging, math
 
-HOMING_DELAY = 0.250
+HOMING_STEP_DELAY = 0.00000025
 ENDSTOP_SAMPLE_TIME = .000015
 ENDSTOP_SAMPLE_COUNT = 4
 
 class Homing:
-    def __init__(self, toolhead, changed_axes):
+    def __init__(self, toolhead):
         self.toolhead = toolhead
-        self.changed_axes = changed_axes
+        self.changed_axes = []
         self.verify_retract = True
     def set_no_verify_retract(self):
         self.verify_retract = False
@@ -29,50 +29,98 @@ class Homing:
         return thcoord
     def retract(self, newpos, speed):
         self.toolhead.move(self._fill_coord(newpos), speed)
-    def home(self, forcepos, movepos, steppers, speed, second_home=False):
-        # Alter kinematics class to think printer is at forcepos
-        self.toolhead.set_position(self._fill_coord(forcepos))
-        # Start homing and issue move
-        if not second_home:
-            self.toolhead.dwell(HOMING_DELAY)
-        print_time = self.toolhead.get_last_move_time()
-        endstops = []
-        for s in steppers:
-            s.mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
-                                     ENDSTOP_SAMPLE_COUNT, s.step_dist / speed)
-            endstops.append((s, s.mcu_stepper.get_mcu_position()))
-        self.toolhead.move(self._fill_coord(movepos), speed)
-        move_end_print_time = self.toolhead.get_last_move_time()
-        self.toolhead.reset_print_time(print_time)
-        for s, last_pos in endstops:
-            s.mcu_endstop.home_finalize(move_end_print_time)
-        # Wait for endstops to trigger
-        for s, last_pos in endstops:
-            try:
-                s.mcu_endstop.home_wait()
-            except s.mcu_endstop.error as e:
-                raise EndstopError("Failed to home stepper %s: %s" % (
-                    s.name, str(e)))
-            post_home_pos = s.mcu_stepper.get_mcu_position()
-            if second_home and self.verify_retract and last_pos == post_home_pos:
-                raise EndstopError("Endstop %s still triggered after retract" % (
-                    s.name,))
     def set_homed_position(self, pos):
         self.toolhead.set_position(self._fill_coord(pos))
+    def _get_homing_speed(self, speed, endstops):
+        # Round the requested homing speed so that it is an even
+        # number of ticks per step.
+        speed = min(speed, self.toolhead.get_max_velocity()[0])
+        mcu_stepper = endstops[0][0].get_steppers()[0]
+        adjusted_freq = mcu_stepper.get_mcu().get_adjusted_freq()
+        dist_ticks = adjusted_freq * mcu_stepper.get_step_dist()
+        ticks_per_step = math.ceil(dist_ticks / speed)
+        return dist_ticks / ticks_per_step
+    def homing_move(self, movepos, endstops, speed, probe_pos=False):
+        # Start endstop checking
+        for mcu_endstop, name in endstops:
+            mcu_endstop.home_prepare()
+        print_time = self.toolhead.get_last_move_time()
+        for mcu_endstop, name in endstops:
+            min_step_dist = min([s.get_step_dist()
+                                 for s in mcu_endstop.get_steppers()])
+            mcu_endstop.home_start(
+                print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
+                min_step_dist / speed)
+        # Issue move
+        movepos = self._fill_coord(movepos)
+        error = None
+        try:
+            self.toolhead.move(movepos, speed)
+        except EndstopError as e:
+            error = "Error during homing move: %s" % (str(e),)
+        # Wait for endstops to trigger
+        move_end_print_time = self.toolhead.get_last_move_time()
+        self.toolhead.reset_print_time(print_time)
+        for mcu_endstop, name in endstops:
+            try:
+                mcu_endstop.home_wait(move_end_print_time)
+            except mcu_endstop.TimeoutError as e:
+                if error is None:
+                    error = "Failed to home %s: %s" % (name, str(e))
+        if probe_pos:
+            self.set_homed_position(
+                list(self.toolhead.get_kinematics().get_position()) + [None])
+        else:
+            self.toolhead.set_position(movepos)
+        for mcu_endstop, name in endstops:
+            mcu_endstop.home_finalize()
+        if error is not None:
+            raise EndstopError(error)
+    def home(self, forcepos, movepos, endstops, speed, second_home=False):
+        if second_home and forcepos == movepos:
+            return
+        # Alter kinematics class to think printer is at forcepos
+        homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
+        self.toolhead.set_position(
+            self._fill_coord(forcepos), homing_axes=homing_axes)
+        # Add a CPU delay when homing a large axis
+        if not second_home:
+            est_move_d = sum([abs(forcepos[i]-movepos[i])
+                              for i in range(3) if movepos[i] is not None])
+            est_steps = sum([est_move_d / s.get_step_dist()
+                             for es, n in endstops for s in es.get_steppers()])
+            self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
+            speed = self._get_homing_speed(speed, endstops)
+        # Setup for retract verification
+        self.toolhead.get_last_move_time()
+        start_mcu_pos = [(s, name, s.get_mcu_position())
+                         for es, name in endstops for s in es.get_steppers()]
+        # Issue homing move
+        self.homing_move(movepos, endstops, speed)
+        # Verify retract led to some movement on second home
+        if second_home and self.verify_retract:
+            for s, name, pos in start_mcu_pos:
+                if s.get_mcu_position() == pos:
+                    raise EndstopError(
+                        "Endstop %s still triggered after retract" % (name,))
+    def home_axes(self, axes):
+        self.changed_axes = axes
+        try:
+            self.toolhead.get_kinematics().home(self)
+        except EndstopError:
+            self.toolhead.motor_off()
+            raise
 
-def query_endstops(print_time, query_flags, steppers):
+def query_endstops(toolhead):
-    if query_flags == "get_mcu_position":
+    print_time = toolhead.get_last_move_time()
-        # Only the commanded position is requested
+    steppers = toolhead.get_kinematics().get_steppers()
-        return [(s.name.upper(), s.mcu_stepper.get_mcu_position())
-                for s in steppers]
-    for s in steppers:
-        s.mcu_endstop.query_endstop(print_time)
     out = []
     for s in steppers:
-        try:
+        for mcu_endstop, name in s.get_endstops():
-            out.append((s.name, s.mcu_endstop.query_endstop_wait()))
+            mcu_endstop.query_endstop(print_time)
-        except s.mcu_endstop.error as e:
+    for s in steppers:
-            raise EndstopError(str(e))
+        for mcu_endstop, name in s.get_endstops():
+            out.append((name, mcu_endstop.query_endstop_wait()))
     return out
 
 class EndstopError(Exception):

klippy/klippy.py

@@ -1,19 +1,20 @@
 #!/usr/bin/env python2
 # Main code for host side printer firmware
 #
-# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import sys, optparse, ConfigParser, logging, time, threading
+import sys, os, optparse, logging, time, threading
-import util, reactor, queuelogger, msgproto, gcode
+import collections, ConfigParser, importlib
-import pins, mcu, chipmisc, toolhead, extruder, heater, fan
+import util, reactor, queuelogger, msgproto
+import gcode, pins, mcu, toolhead, extruder, heater
 
 message_ready = "Printer is ready"
 
 message_startup = """
+Printer is not ready
 The klippy host software is attempting to connect.  Please
 retry in a few moments.
-Printer is not ready
 """
 
 message_restart = """
@@ -49,13 +50,18 @@ class ConfigWrapper:
     error = ConfigParser.Error
     class sentinel:
         pass
-    def __init__(self, printer, section):
+    def __init__(self, printer, fileconfig, section):
         self.printer = printer
+        self.fileconfig = fileconfig
         self.section = section
-    def get_wrapper(self, parser, option, default
+    def get_printer(self):
-                    , minval=None, maxval=None, above=None, below=None):
+        return self.printer
+    def get_name(self):
+        return self.section
+    def _get_wrapper(self, parser, option, default,
+                     minval=None, maxval=None, above=None, below=None):
         if (default is not self.sentinel
-            and not self.printer.fileconfig.has_option(self.section, option)):
+            and not self.fileconfig.has_option(self.section, option)):
             return default
         self.printer.all_config_options[
             (self.section.lower(), option.lower())] = 1
@@ -84,18 +90,16 @@ class ConfigWrapper:
                     option, self.section, below))
         return v
     def get(self, option, default=sentinel):
-        return self.get_wrapper(self.printer.fileconfig.get, option, default)
+        return self._get_wrapper(self.fileconfig.get, option, default)
     def getint(self, option, default=sentinel, minval=None, maxval=None):
-        return self.get_wrapper(
+        return self._get_wrapper(
-            self.printer.fileconfig.getint, option, default, minval, maxval)
+            self.fileconfig.getint, option, default, minval, maxval)
-    def getfloat(self, option, default=sentinel
+    def getfloat(self, option, default=sentinel,
-                 , minval=None, maxval=None, above=None, below=None):
+                 minval=None, maxval=None, above=None, below=None):
-        return self.get_wrapper(
+        return self._get_wrapper(self.fileconfig.getfloat, option, default,
-            self.printer.fileconfig.getfloat, option, default
+                                 minval, maxval, above, below)
-            , minval, maxval, above, below)
     def getboolean(self, option, default=sentinel):
-        return self.get_wrapper(
+        return self._get_wrapper(self.fileconfig.getboolean, option, default)
-            self.printer.fileconfig.getboolean, option, default)
     def getchoice(self, option, choices, default=sentinel):
         c = self.get(option, default)
         if c not in choices:
@@ -104,11 +108,11 @@ class ConfigWrapper:
                     option, self.section))
         return choices[c]
     def getsection(self, section):
-        return ConfigWrapper(self.printer, section)
+        return ConfigWrapper(self.printer, self.fileconfig, section)
     def has_section(self, section):
-        return self.printer.fileconfig.has_section(section)
+        return self.fileconfig.has_section(section)
     def get_prefix_sections(self, prefix):
-        return [self.getsection(s) for s in self.printer.fileconfig.sections()
+        return [self.getsection(s) for s in self.fileconfig.sections()
                 if s.startswith(prefix)]
 
 class ConfigLogger():
@@ -130,8 +134,8 @@ class Printer:
         if bglogger is not None:
             bglogger.set_rollover_info("config", None)
         self.reactor = reactor.Reactor()
-        self.objects = {}
+        gc = gcode.GCodeParser(self, input_fd)
-        self.gcode = gcode.GCodeParser(self, input_fd)
+        self.objects = collections.OrderedDict({'gcode': gc})
         self.stats_timer = self.reactor.register_timer(self._stats)
         self.connect_timer = self.reactor.register_timer(
             self._connect, self.reactor.NOW)
@@ -140,61 +144,104 @@ class Printer:
         self.is_shutdown = False
         self.async_shutdown_msg = ""
         self.run_result = None
-        self.fileconfig = None
+        self.stats_cb = []
-        self.mcus = []
+        self.state_cb = []
     def get_start_args(self):
         return self.start_args
-    def _stats(self, eventtime, force_output=False):
+    def get_reactor(self):
-        toolhead = self.objects.get('toolhead')
+        return self.reactor
-        if toolhead is None:
+    def get_state_message(self):
-            return eventtime + 1.
+        return self.state_message
-        is_active = toolhead.check_active(eventtime)
-        if not is_active and not force_output:
-            return eventtime + 1.
-        out = []
-        out.append(self.gcode.stats(eventtime))
-        out.append(toolhead.stats(eventtime))
-        for m in self.mcus:
-            out.append(m.stats(eventtime))
-        logging.info("Stats %.1f: %s", eventtime, ' '.join(out))
-        return eventtime + 1.
     def add_object(self, name, obj):
+        if obj in self.objects:
+            raise self.config_error(
+                "Printer object '%s' already created" % (name,))
         self.objects[name] = obj
-    def _load_config(self):
+    def lookup_object(self, name, default=ConfigWrapper.sentinel):
-        self.fileconfig = ConfigParser.RawConfigParser()
+        if name in self.objects:
+            return self.objects[name]
+        if default is ConfigWrapper.sentinel:
+            raise self.config_error("Unknown config object '%s'" % (name,))
+        return default
+    def lookup_module_objects(self, module_name):
+        prefix = module_name + ' '
+        objs = [self.objects[n] for n in self.objects if n.startswith(prefix)]
+        if module_name in self.objects:
+            return [self.objects[module_name]] + objs
+        return objs
+    def set_rollover_info(self, name, info):
+        if self.bglogger is not None:
+            self.bglogger.set_rollover_info(name, info)
+    def _stats(self, eventtime, force_output=False):
+        stats = [cb(eventtime) for cb in self.stats_cb]
+        if max([s[0] for s in stats] + [force_output]):
+            logging.info("Stats %.1f: %s", eventtime,
+                         ' '.join([s[1] for s in stats]))
+        return eventtime + 1.
+    def try_load_module(self, config, section):
+        if section in self.objects:
+            return
+        module_parts = section.split()
+        module_name = module_parts[0]
+        py_name = os.path.join(os.path.dirname(__file__),
+                               'extras', module_name + '.py')
+        if not os.path.exists(py_name):
+            return
+        mod = importlib.import_module('extras.' + module_name)
+        init_func = 'load_config'
+        if len(module_parts) > 1:
+            init_func = 'load_config_prefix'
+        init_func = getattr(mod, init_func, None)
+        if init_func is not None:
+            self.objects[section] = init_func(config.getsection(section))
+    def _read_config(self):
+        fileconfig = ConfigParser.RawConfigParser()
         config_file = self.start_args['config_file']
-        res = self.fileconfig.read(config_file)
+        res = fileconfig.read(config_file)
         if not res:
             raise self.config_error("Unable to open config file %s" % (
                 config_file,))
         if self.bglogger is not None:
-            ConfigLogger(self.fileconfig, self.bglogger)
+            ConfigLogger(fileconfig, self.bglogger)
         # Create printer components
-        config = ConfigWrapper(self, 'printer')
+        config = ConfigWrapper(self, fileconfig, 'printer')
-        for m in [pins, mcu, chipmisc, toolhead, extruder, heater, fan]:
+        for m in [pins, mcu]:
+            m.add_printer_objects(self, config)
+        for section in fileconfig.sections():
+            self.try_load_module(config, section)
+        for m in [toolhead, extruder, heater]:
             m.add_printer_objects(self, config)
-        self.mcus = mcu.get_printer_mcus(self)
         # Validate that there are no undefined parameters in the config file
         valid_sections = { s: 1 for s, o in self.all_config_options }
-        for section in self.fileconfig.sections():
+        for section in fileconfig.sections():
             section = section.lower()
-            if section not in valid_sections:
+            if section not in valid_sections and section not in self.objects:
                 raise self.config_error("Unknown config file section '%s'" % (
                     section,))
-            for option in self.fileconfig.options(section):
+            for option in fileconfig.options(section):
                 option = option.lower()
                 if (section, option) not in self.all_config_options:
                     raise self.config_error(
                         "Unknown option '%s' in section '%s'" % (
                             option, section))
+        # Determine which printer objects have stats/state callbacks
+        self.stats_cb = [o.stats for o in self.objects.values()
+                         if hasattr(o, 'stats')]
+        self.state_cb = [o.printer_state for o in self.objects.values()
+                         if hasattr(o, 'printer_state')]
     def _connect(self, eventtime):
         self.reactor.unregister_timer(self.connect_timer)
         try:
-            self._load_config()
+            self._read_config()
-            for m in self.mcus:
+            for cb in self.state_cb:
-                m.connect()
+                if self.state_message is not message_startup:
-            self.gcode.connect()
+                    return self.reactor.NEVER
+                cb('connect')
             self.state_message = message_ready
+            for cb in self.state_cb:
+                if self.state_message is not message_ready:
+                    return self.reactor.NEVER
+                cb('ready')
             if self.start_args.get('debugoutput') is None:
                 self.reactor.update_timer(self.stats_timer, self.reactor.NOW)
         except (self.config_error, pins.error) as e:
@@ -227,32 +274,24 @@ class Printer:
             run_result = self.run_result
             try:
                 if run_result == 'shutdown':
-                    self.invoke_shutdown(self.async_shutdown_msg, True)
+                    self.invoke_shutdown(self.async_shutdown_msg)
                     continue
                 self._stats(self.reactor.monotonic(), force_output=True)
-                for m in self.mcus:
                 if run_result == 'firmware_restart':
+                    for m in self.lookup_module_objects('mcu'):
                         m.microcontroller_restart()
-                    m.disconnect()
+                for cb in self.state_cb:
+                    cb('disconnect')
             except:
                 logging.exception("Unhandled exception during post run")
             return run_result
-    def get_state_message(self):
+    def invoke_shutdown(self, msg):
-        return self.state_message
-    def invoke_shutdown(self, msg, is_mcu_shutdown=False):
         if self.is_shutdown:
             return
         self.is_shutdown = True
-        if is_mcu_shutdown:
         self.state_message = "%s%s" % (msg, message_shutdown)
-        else:
+        for cb in self.state_cb:
-            self.state_message = "%s%s" % (msg, message_restart)
+            cb('shutdown')
-        for m in self.mcus:
-            m.do_shutdown()
-        self.gcode.do_shutdown()
-        toolhead = self.objects.get('toolhead')
-        if toolhead is not None:
-            toolhead.do_shutdown()
     def invoke_async_shutdown(self, msg):
         self.async_shutdown_msg = msg
         self.request_exit("shutdown")

klippy/mathutil.py

@@ -0,0 +1,40 @@
+# Simple math helper functions
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+
+# Helper code that implements coordinate descent
+def coordinate_descent(adj_params, params, error_func):
+    # Define potential changes
+    params = dict(params)
+    dp = {param_name: 1. for param_name in adj_params}
+    # Calculate the error
+    best_err = error_func(params)
+
+    threshold = 0.00001
+    rounds = 0
+
+    while sum(dp.values()) > threshold and rounds < 10000:
+        rounds += 1
+        for param_name in adj_params:
+            orig = params[param_name]
+            params[param_name] = orig + dp[param_name]
+            err = error_func(params)
+            if err < best_err:
+                # There was some improvement
+                best_err = err
+                dp[param_name] *= 1.1
+                continue
+            params[param_name] = orig - dp[param_name]
+            err = error_func(params)
+            if err < best_err:
+                # There was some improvement
+                best_err = err
+                dp[param_name] *= 1.1
+                continue
+            params[param_name] = orig
+            dp[param_name] *= 0.9
+    logging.info("Coordinate descent best_err: %s  rounds: %d", best_err, rounds)
+    return params

klippy/mcu.py

@@ -1,6 +1,6 @@
 # Interface to Klipper micro-controller code
 #
-# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, os, zlib, logging, math
@@ -18,11 +18,10 @@ class MCU_stepper:
         self._step_pin = pin_params['pin']
         self._invert_step = pin_params['invert']
         self._dir_pin = self._invert_dir = None
-        self._commanded_pos = 0
+        self._commanded_pos = self._mcu_position_offset = 0.
         self._step_dist = self._inv_step_dist = 1.
-        self._mcu_position_offset = 0
         self._min_stop_interval = 0.
-        self._reset_cmd = self._get_position_cmd = None
+        self._reset_cmd_id = self._get_position_cmd = None
         self._ffi_lib = self._stepqueue = None
     def get_mcu(self):
         return self._mcu
@@ -45,62 +44,62 @@ class MCU_stepper:
                 self._oid, self._step_pin, self._dir_pin,
                 self._mcu.seconds_to_clock(min_stop_interval),
                 self._invert_step))
-        step_cmd = self._mcu.lookup_command(
+        self._mcu.add_config_cmd(
+            "reset_step_clock oid=%d clock=0" % (self._oid,), is_init=True)
+        step_cmd_id = self._mcu.lookup_command_id(
             "queue_step oid=%c interval=%u count=%hu add=%hi")
-        dir_cmd = self._mcu.lookup_command(
+        dir_cmd_id = self._mcu.lookup_command_id(
             "set_next_step_dir oid=%c dir=%c")
-        self._reset_cmd = self._mcu.lookup_command(
+        self._reset_cmd_id = self._mcu.lookup_command_id(
             "reset_step_clock oid=%c clock=%u")
         self._get_position_cmd = self._mcu.lookup_command(
             "stepper_get_position oid=%c")
         ffi_main, self._ffi_lib = chelper.get_ffi()
         self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(
-            self._mcu.seconds_to_clock(max_error), step_cmd.msgid, dir_cmd.msgid,
+            self._mcu.seconds_to_clock(max_error), step_cmd_id, dir_cmd_id,
             self._invert_dir, self._oid),
                                       self._ffi_lib.stepcompress_free)
         self._mcu.register_stepqueue(self._stepqueue)
     def get_oid(self):
         return self._oid
+    def get_step_dist(self):
+        return self._step_dist
     def set_position(self, pos):
-        if pos >= 0.:
+        steppos = pos * self._inv_step_dist
-            steppos = int(pos * self._inv_step_dist + 0.5)
-        else:
-            steppos = int(pos * self._inv_step_dist - 0.5)
         self._mcu_position_offset += self._commanded_pos - steppos
         self._commanded_pos = steppos
     def get_commanded_position(self):
         return self._commanded_pos * self._step_dist
     def get_mcu_position(self):
-        return self._commanded_pos + self._mcu_position_offset
+        mcu_pos = self._commanded_pos + self._mcu_position_offset
+        if mcu_pos >= 0.:
+            return int(mcu_pos + 0.5)
+        return int(mcu_pos - 0.5)
     def note_homing_start(self, homing_clock):
         ret = self._ffi_lib.stepcompress_set_homing(
             self._stepqueue, homing_clock)
         if ret:
             raise error("Internal error in stepcompress")
-    def note_homing_finalized(self):
+    def note_homing_end(self, did_trigger=False):
         ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
         if ret:
             raise error("Internal error in stepcompress")
         ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
         if ret:
             raise error("Internal error in stepcompress")
-    def note_homing_triggered(self):
+        data = (self._reset_cmd_id, self._oid, 0)
-        cmd = self._get_position_cmd.encode(self._oid)
-        params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid)
-        pos = params['pos']
-        if self._invert_dir:
-            pos = -pos
-        self._mcu_position_offset = pos - self._commanded_pos
-    def reset_step_clock(self, print_time):
-        clock = self._mcu.print_time_to_clock(print_time)
-        ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock)
-        if ret:
-            raise error("Internal error in stepcompress")
-        data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
         ret = self._ffi_lib.stepcompress_queue_msg(
             self._stepqueue, data, len(data))
         if ret:
             raise error("Internal error in stepcompress")
+        if not did_trigger or self._mcu.is_fileoutput():
+            return
+        params = self._get_position_cmd.send_with_response(
+            [self._oid], response='stepper_position', response_oid=self._oid)
+        pos = params['pos']
+        if self._invert_dir:
+            pos = -pos
+        self._commanded_pos = pos - self._mcu_position_offset
     def step(self, print_time, sdir):
         count = self._ffi_lib.stepcompress_push(
             self._stepqueue, print_time, sdir)
@@ -129,7 +128,8 @@ class MCU_stepper:
         self._commanded_pos += count
 
 class MCU_endstop:
-    error = error
+    class TimeoutError(Exception):
+        pass
     RETRY_QUERY = 1.000
     def __init__(self, mcu, pin_params):
         self._mcu = mcu
@@ -137,83 +137,88 @@ class MCU_endstop:
         self._pin = pin_params['pin']
         self._pullup = pin_params['pullup']
         self._invert = pin_params['invert']
-        self._cmd_queue = mcu.alloc_command_queue()
         self._oid = self._home_cmd = self._query_cmd = None
         self._homing = False
-        self._min_query_time = self._next_query_time = self._home_timeout = 0.
+        self._min_query_time = self._next_query_time = 0.
         self._last_state = {}
     def get_mcu(self):
         return self._mcu
     def add_stepper(self, stepper):
+        if stepper.get_mcu() is not self._mcu:
+            raise pins.error("Endstop and stepper must be on the same mcu")
         self._steppers.append(stepper)
+    def get_steppers(self):
+        return list(self._steppers)
     def build_config(self):
         self._oid = self._mcu.create_oid()
         self._mcu.add_config_cmd(
             "config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
                 self._oid, self._pin, self._pullup, len(self._steppers)))
+        self._mcu.add_config_cmd(
+            "end_stop_home oid=%d clock=0 sample_ticks=0 sample_count=0"
+            " rest_ticks=0 pin_value=0" % (self._oid,), is_init=True)
         for i, s in enumerate(self._steppers):
             self._mcu.add_config_cmd(
                 "end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
                     self._oid, i, s.get_oid()), is_init=True)
+        cmd_queue = self._mcu.alloc_command_queue()
         self._home_cmd = self._mcu.lookup_command(
             "end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
-            " rest_ticks=%u pin_value=%c")
+            " rest_ticks=%u pin_value=%c", cq=cmd_queue)
-        self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
+        self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c",
+                                                   cq=cmd_queue)
         self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
                                , self._oid)
+    def home_prepare(self):
+        pass
     def home_start(self, print_time, sample_time, sample_count, rest_time):
         clock = self._mcu.print_time_to_clock(print_time)
         rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
         self._homing = True
         self._min_query_time = self._mcu.monotonic()
-        self._next_query_time = print_time + self.RETRY_QUERY
+        self._next_query_time = self._min_query_time + self.RETRY_QUERY
-        msg = self._home_cmd.encode(
+        self._home_cmd.send(
-            self._oid, clock, self._mcu.seconds_to_clock(sample_time),
+            [self._oid, clock, self._mcu.seconds_to_clock(sample_time),
-            sample_count, rest_ticks, 1 ^ self._invert)
+             sample_count, rest_ticks, 1 ^ self._invert], reqclock=clock)
-        self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
         for s in self._steppers:
             s.note_homing_start(clock)
-    def home_finalize(self, print_time):
+    def home_wait(self, home_end_time):
-        for s in self._steppers:
-            s.note_homing_finalized()
-        self._home_timeout = print_time
-    def home_wait(self):
         eventtime = self._mcu.monotonic()
-        while self._check_busy(eventtime):
+        while self._check_busy(eventtime, home_end_time):
             eventtime = self._mcu.pause(eventtime + 0.1)
+    def home_finalize(self):
+        pass
     def _handle_end_stop_state(self, params):
         logging.debug("end_stop_state %s", params)
         self._last_state = params
-    def _check_busy(self, eventtime):
+    def _check_busy(self, eventtime, home_end_time=0.):
         # Check if need to send an end_stop_query command
-        if self._mcu.is_fileoutput():
-            return False
-        print_time = self._mcu.estimated_print_time(eventtime)
         last_sent_time = self._last_state.get('#sent_time', -1.)
-        if last_sent_time >= self._min_query_time:
+        if last_sent_time >= self._min_query_time or self._mcu.is_fileoutput():
             if not self._homing:
                 return False
             if not self._last_state.get('homing', 0):
                 for s in self._steppers:
-                    s.note_homing_triggered()
+                    s.note_homing_end(did_trigger=True)
                 self._homing = False
                 return False
-            if print_time > self._home_timeout:
+            last_sent_print_time = self._mcu.estimated_print_time(last_sent_time)
+            if last_sent_print_time > home_end_time:
                 # Timeout - disable endstop checking
-                msg = self._home_cmd.encode(self._oid, 0, 0, 0, 0, 0)
+                for s in self._steppers:
-                self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
+                    s.note_homing_end()
-                raise error("Timeout during endstop homing")
+                self._homing = False
+                self._home_cmd.send([self._oid, 0, 0, 0, 0, 0])
+                raise self.TimeoutError("Timeout during endstop homing")
         if self._mcu.is_shutdown():
             raise error("MCU is shutdown")
-        if print_time >= self._next_query_time:
+        if eventtime >= self._next_query_time:
-            self._next_query_time = print_time + self.RETRY_QUERY
+            self._next_query_time = eventtime + self.RETRY_QUERY
-            msg = self._query_cmd.encode(self._oid)
+            self._query_cmd.send([self._oid])
-            self._mcu.send(msg, cq=self._cmd_queue)
         return True
     def query_endstop(self, print_time):
         self._homing = False
-        self._next_query_time = print_time
+        self._min_query_time = self._next_query_time = self._mcu.monotonic()
-        self._min_query_time = self._mcu.monotonic()
     def query_endstop_wait(self):
         eventtime = self._mcu.monotonic()
         while self._check_busy(eventtime):
@@ -224,132 +229,122 @@ class MCU_digital_out:
     def __init__(self, mcu, pin_params):
         self._mcu = mcu
         self._oid = None
-        self._static_value = None
         self._pin = pin_params['pin']
-        self._invert = self._shutdown_value = pin_params['invert']
+        self._invert = pin_params['invert']
+        self._start_value = self._shutdown_value = self._invert
+        self._is_static = False
         self._max_duration = 2.
         self._last_clock = 0
-        self._last_value = None
-        self._cmd_queue = mcu.alloc_command_queue()
         self._set_cmd = None
     def get_mcu(self):
         return self._mcu
     def setup_max_duration(self, max_duration):
         self._max_duration = max_duration
-    def setup_static(self):
+    def setup_start_value(self, start_value, shutdown_value, is_static=False):
-        self._static_value = not self._invert
+        if is_static and start_value != shutdown_value:
-    def setup_shutdown_value(self, value):
+            raise pins.error("Static pin can not have shutdown value")
-        self._shutdown_value = (not not value) ^ self._invert
+        self._start_value = (not not start_value) ^ self._invert
+        self._shutdown_value = (not not shutdown_value) ^ self._invert
+        self._is_static = is_static
     def build_config(self):
-        if self._static_value is not None:
+        if self._is_static:
             self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
-                self._pin, self._static_value))
+                self._pin, self._start_value))
             return
         self._oid = self._mcu.create_oid()
         self._mcu.add_config_cmd(
             "config_digital_out oid=%d pin=%s value=%d default_value=%d"
             " max_duration=%d" % (
-                self._oid, self._pin, self._invert, self._shutdown_value,
+                self._oid, self._pin, self._start_value, self._shutdown_value,
                 self._mcu.seconds_to_clock(self._max_duration)))
+        cmd_queue = self._mcu.alloc_command_queue()
         self._set_cmd = self._mcu.lookup_command(
-            "schedule_digital_out oid=%c clock=%u value=%c")
+            "schedule_digital_out oid=%c clock=%u value=%c", cq=cmd_queue)
     def set_digital(self, print_time, value):
         clock = self._mcu.print_time_to_clock(print_time)
-        msg = self._set_cmd.encode(
+        self._set_cmd.send([self._oid, clock, (not not value) ^ self._invert],
-            self._oid, clock, (not not value) ^ self._invert)
+                           minclock=self._last_clock, reqclock=clock)
-        self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
-                      , cq=self._cmd_queue)
         self._last_clock = clock
-        self._last_value = value
-    def get_last_setting(self):
-        return self._last_value
     def set_pwm(self, print_time, value):
         self.set_digital(print_time, value >= 0.5)
 
 class MCU_pwm:
     def __init__(self, mcu, pin_params):
         self._mcu = mcu
-        self._hard_pwm = False
+        self._hardware_pwm = False
         self._cycle_time = 0.100
         self._max_duration = 2.
         self._oid = None
-        self._static_value = None
         self._pin = pin_params['pin']
         self._invert = pin_params['invert']
-        self._shutdown_value = float(self._invert)
+        self._start_value = self._shutdown_value = float(self._invert)
+        self._is_static = False
         self._last_clock = 0
         self._pwm_max = 0.
-        self._cmd_queue = mcu.alloc_command_queue()
         self._set_cmd = None
     def get_mcu(self):
         return self._mcu
     def setup_max_duration(self, max_duration):
         self._max_duration = max_duration
-    def setup_cycle_time(self, cycle_time):
+    def setup_cycle_time(self, cycle_time, hardware_pwm=False):
         self._cycle_time = cycle_time
-        self._hard_pwm = False
+        self._hardware_pwm = hardware_pwm
-    def setup_hard_pwm(self, hard_cycle_ticks):
+    def setup_start_value(self, start_value, shutdown_value, is_static=False):
-        if not hard_cycle_ticks:
+        if is_static and start_value != shutdown_value:
-            return
+            raise pins.error("Static pin can not have shutdown value")
-        self._cycle_time = hard_cycle_ticks
-        self._hard_pwm = True
-    def setup_static_pwm(self, value):
         if self._invert:
-            value = 1. - value
+            start_value = 1. - start_value
-        self._static_value = max(0., min(1., value))
+            shutdown_value = 1. - shutdown_value
-    def setup_shutdown_value(self, value):
+        self._start_value = max(0., min(1., start_value))
-        if self._invert:
+        self._shutdown_value = max(0., min(1., shutdown_value))
-            value = 1. - value
+        self._is_static = is_static
-        self._shutdown_value = max(0., min(1., value))
     def build_config(self):
-        if self._hard_pwm:
+        cmd_queue = self._mcu.alloc_command_queue()
+        cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
+        if self._hardware_pwm:
             self._pwm_max = self._mcu.get_constant_float("PWM_MAX")
-            if self._static_value is not None:
+            if self._is_static:
-                value = int(self._static_value * self._pwm_max + 0.5)
                 self._mcu.add_config_cmd(
                     "set_pwm_out pin=%s cycle_ticks=%d value=%d" % (
-                        self._pin, self._cycle_time, value))
+                        self._pin, cycle_ticks,
+                        self._start_value * self._pwm_max))
                 return
             self._oid = self._mcu.create_oid()
             self._mcu.add_config_cmd(
                 "config_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
                 " default_value=%d max_duration=%d" % (
-                    self._oid, self._pin, self._cycle_time,
+                    self._oid, self._pin, cycle_ticks,
-                    self._invert * self._pwm_max,
+                    self._start_value * self._pwm_max,
                     self._shutdown_value * self._pwm_max,
                     self._mcu.seconds_to_clock(self._max_duration)))
             self._set_cmd = self._mcu.lookup_command(
-                "schedule_pwm_out oid=%c clock=%u value=%hu")
+                "schedule_pwm_out oid=%c clock=%u value=%hu", cq=cmd_queue)
         else:
+            if (self._start_value not in [0., 1.]
+                or self._shutdown_value not in [0., 1.]):
+                raise pins.error(
+                    "start and shutdown values must be 0.0 or 1.0 on soft pwm")
             self._pwm_max = self._mcu.get_constant_float("SOFT_PWM_MAX")
-            if self._static_value is not None:
+            if self._is_static:
-                if self._static_value not in [0., 1.]:
-                    raise pins.error(
-                        "static value must be 0.0 or 1.0 on soft pwm")
                 self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
-                    self._pin, self._static_value >= 0.5))
+                    self._pin, self._start_value >= 0.5))
                 return
-            if self._shutdown_value not in [0., 1.]:
-                raise pins.error(
-                    "shutdown value must be 0.0 or 1.0 on soft pwm")
             self._oid = self._mcu.create_oid()
             self._mcu.add_config_cmd(
                 "config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
                 " default_value=%d max_duration=%d" % (
-                    self._oid, self._pin,
+                    self._oid, self._pin, cycle_ticks,
-                    self._mcu.seconds_to_clock(self._cycle_time),
+                    self._start_value >= 0.5, self._shutdown_value >= 0.5,
-                    self._invert, self._shutdown_value >= 0.5,
                     self._mcu.seconds_to_clock(self._max_duration)))
             self._set_cmd = self._mcu.lookup_command(
-                "schedule_soft_pwm_out oid=%c clock=%u value=%hu")
+                "schedule_soft_pwm_out oid=%c clock=%u value=%hu", cq=cmd_queue)
     def set_pwm(self, print_time, value):
         clock = self._mcu.print_time_to_clock(print_time)
         if self._invert:
             value = 1. - value
         value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
-        msg = self._set_cmd.encode(self._oid, clock, value)
+        self._set_cmd.send([self._oid, clock, value],
-        self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
+                           minclock=self._last_clock, reqclock=clock)
-                      , cq=self._cmd_queue)
         self._last_clock = clock
 
 class MCU_adc:
@@ -362,7 +357,6 @@ class MCU_adc:
         self._report_clock = 0
         self._oid = self._callback = None
         self._inv_max_adc = 0.
-        self._cmd_queue = mcu.alloc_command_queue()
     def get_mcu(self):
         return self._mcu
     def setup_minmax(self, sample_time, sample_count, minval=0., maxval=1.):
@@ -408,7 +402,8 @@ class MCU:
     def __init__(self, printer, config, clocksync):
         self._printer = printer
         self._clocksync = clocksync
-        self._name = config.section
+        self._reactor = printer.get_reactor()
+        self._name = config.get_name()
         if self._name.startswith('mcu '):
             self._name = self._name[4:]
         # Serial port
@@ -418,19 +413,18 @@ class MCU:
                 or self._serialport.startswith("/tmp/klipper_host_")):
             baud = config.getint('baud', 250000, minval=2400)
         self._serial = serialhdl.SerialReader(
-            printer.reactor, self._serialport, baud)
+            self._reactor, self._serialport, baud)
         # Restarts
         self._restart_method = 'command'
         if baud:
-            rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
+            rmethods = {m: m for m in [None, 'arduino', 'command', 'rpi_usb']}
             self._restart_method = config.getchoice(
-                'restart_method', rmethods, 'arduino')
+                'restart_method', rmethods, None)
         self._reset_cmd = self._config_reset_cmd = None
         self._emergency_stop_cmd = None
-        self._is_shutdown = False
+        self._is_shutdown = self._is_timeout = False
         self._shutdown_msg = ""
-        if printer.bglogger is not None:
+        printer.set_rollover_info(self._name, None)
-            printer.bglogger.set_rollover_info(self._name, None)
         # Config building
         pins.get_printer_pins(printer).register_chip(self._name, self)
         self._oid_count = 0
@@ -481,7 +475,7 @@ class MCU:
         logging.info("Attempting automated MCU '%s' restart: %s",
                      self._name, reason)
         self._printer.request_exit('firmware_restart')
-        self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000)
+        self._reactor.pause(self._reactor.monotonic() + 2.000)
         raise error("Attempt MCU '%s' restart failed" % (self._name,))
     def _connect_file(self, pace=False):
         # In a debugging mode.  Open debug output file and read data dictionary
@@ -521,26 +515,25 @@ class MCU:
             self._oid_count,))
 
         # Resolve pin names
-        mcu = self._serial.msgparser.get_constant('MCU')
+        mcu_type = self._serial.msgparser.get_constant('MCU')
-        pnames = pins.get_pin_map(mcu, self._pin_map)
+        pin_resolver = pins.PinResolver(mcu_type)
-        updated_cmds = []
+        if self._pin_map is not None:
-        for cmd in self._config_cmds:
+            pin_resolver.update_aliases(self._pin_map)
-            try:
+        for i, cmd in enumerate(self._config_cmds):
-                updated_cmds.append(pins.update_command(cmd, pnames))
+            self._config_cmds[i] = pin_resolver.update_command(cmd)
-            except:
+        for i, cmd in enumerate(self._init_cmds):
-                raise pins.error("Unable to translate pin name: %s" % (cmd,))
+            self._init_cmds[i] = pin_resolver.update_command(cmd)
-        self._config_cmds = updated_cmds
 
         # Calculate config CRC
         self._config_crc = zlib.crc32('\n'.join(self._config_cmds)) & 0xffffffff
         self.add_config_cmd("finalize_config crc=%d" % (self._config_crc,))
     def _send_config(self):
-        msg = self.create_command("get_config")
+        get_config_cmd = self.lookup_command("get_config")
         if self.is_fileoutput():
             config_params = {
                 'is_config': 0, 'move_count': 500, 'crc': self._config_crc}
         else:
-            config_params = self.send_with_response(msg, 'config')
+            config_params = get_config_cmd.send_with_response(response='config')
         if not config_params['is_config']:
             if self._restart_method == 'rpi_usb':
                 # Only configure mcu after usb power reset
@@ -549,9 +542,10 @@ class MCU:
             logging.info("Sending MCU '%s' printer configuration...",
                          self._name)
             for c in self._config_cmds:
-                self.send(self.create_command(c))
+                self._serial.send(c)
             if not self.is_fileoutput():
-                config_params = self.send_with_response(msg, 'config')
+                config_params = get_config_cmd.send_with_response(
+                    response='config')
                 if not config_params['is_config']:
                     if self._is_shutdown:
                         raise error("MCU '%s' error during config: %s" % (
@@ -566,23 +560,22 @@ class MCU:
             raise error("MCU '%s' CRC does not match config" % (self._name,))
         move_count = config_params['move_count']
         logging.info("Configured MCU '%s' (%d moves)", self._name, move_count)
-        if self._printer.bglogger is not None:
         msgparser = self._serial.msgparser
         info = [
             "Configured MCU '%s' (%d moves)" % (self._name, move_count),
-                "Loaded MCU '%s' %d commands (%s)" % (
+            "Loaded MCU '%s' %d commands (%s / %s)" % (
                 self._name, len(msgparser.messages_by_id),
-                    msgparser.version),
+                msgparser.version, msgparser.build_versions),
             "MCU '%s' config: %s" % (self._name, " ".join(
                 ["%s=%s" % (k, v) for k, v in msgparser.config.items()]))]
-            self._printer.bglogger.set_rollover_info(self._name, "\n".join(info))
+        self._printer.set_rollover_info(self._name, "\n".join(info))
         self._steppersync = self._ffi_lib.steppersync_alloc(
             self._serial.serialqueue, self._stepqueues, len(self._stepqueues),
             move_count)
         self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
         for c in self._init_cmds:
-            self.send(self.create_command(c))
+            self._serial.send(c)
-    def connect(self):
+    def _connect(self):
         if self.is_fileoutput():
             self._connect_file()
         else:
@@ -597,6 +590,12 @@ class MCU:
         self._emergency_stop_cmd = self.lookup_command("emergency_stop")
         self._reset_cmd = self.try_lookup_command("reset")
         self._config_reset_cmd = self.try_lookup_command("config_reset")
+        if (self._restart_method is None
+            and (self._reset_cmd is not None
+                 or self.config_reset_cmd is not None)
+            and self._serial.msgparser.get_constant(
+                'SERIAL_BAUD', None) is None):
+            self._restart_method = 'command'
         self.register_msg(self.handle_shutdown, 'shutdown')
         self.register_msg(self.handle_shutdown, 'is_shutdown')
         self.register_msg(self.handle_mcu_stats, 'stats')
@@ -633,23 +632,19 @@ class MCU:
     def get_max_stepper_error(self):
         return self._max_stepper_error
     # Wrapper functions
-    def send(self, cmd, minclock=0, reqclock=0, cq=None):
-        self._serial.send(cmd, minclock, reqclock, cq=cq)
-    def send_with_response(self, cmd, name, oid=None):
-        return self._serial.send_with_response(cmd, name, oid)
     def register_msg(self, cb, msg, oid=None):
         self._serial.register_callback(cb, msg, oid)
     def alloc_command_queue(self):
         return self._serial.alloc_command_queue()
-    def create_command(self, msg):
+    def lookup_command(self, msgformat, cq=None):
-        return self._serial.msgparser.create_command(msg)
+        return self._serial.lookup_command(msgformat, cq)
-    def lookup_command(self, msgformat):
-        return self._serial.msgparser.lookup_command(msgformat)
     def try_lookup_command(self, msgformat):
         try:
-            return self._serial.msgparser.lookup_command(msgformat)
+            return self.lookup_command(msgformat)
         except self._serial.msgparser.error as e:
             return None
+    def lookup_command_id(self, msgformat):
+        return self._serial.msgparser.lookup_command(msgformat).msgid
     def get_constant_float(self, name):
         return self._serial.msgparser.get_constant_float(name)
     def print_time_to_clock(self, print_time):
@@ -663,38 +658,46 @@ class MCU:
     def clock32_to_clock64(self, clock32):
         return self._clocksync.clock32_to_clock64(clock32)
     def pause(self, waketime):
-        return self._printer.reactor.pause(waketime)
+        return self._reactor.pause(waketime)
     def monotonic(self):
-        return self._printer.reactor.monotonic()
+        return self._reactor.monotonic()
     # Restarts
+    def _disconnect(self):
+        self._serial.disconnect()
+        if self._steppersync is not None:
+            self._ffi_lib.steppersync_free(self._steppersync)
+            self._steppersync = None
+    def _shutdown(self, force=False):
+        if self._emergency_stop_cmd is None or (self._is_shutdown and not force):
+            return
+        self._emergency_stop_cmd.send()
     def _restart_arduino(self):
         logging.info("Attempting MCU '%s' reset", self._name)
-        self.disconnect()
+        self._disconnect()
-        serialhdl.arduino_reset(self._serialport, self._printer.reactor)
+        serialhdl.arduino_reset(self._serialport, self._reactor)
     def _restart_via_command(self):
-        reactor = self._printer.reactor
         if ((self._reset_cmd is None and self._config_reset_cmd is None)
-            or not self._clocksync.is_active(reactor.monotonic())):
+            or not self._clocksync.is_active(self._reactor.monotonic())):
             logging.info("Unable to issue reset command on MCU '%s'", self._name)
             return
         if self._reset_cmd is None:
             # Attempt reset via config_reset command
             logging.info("Attempting MCU '%s' config_reset command", self._name)
             self._is_shutdown = True
-            self.do_shutdown(force=True)
+            self._shutdown(force=True)
-            reactor.pause(reactor.monotonic() + 0.015)
+            self._reactor.pause(self._reactor.monotonic() + 0.015)
-            self.send(self._config_reset_cmd.encode())
+            self._config_reset_cmd.send()
         else:
             # Attempt reset via reset command
             logging.info("Attempting MCU '%s' reset command", self._name)
-            self.send(self._reset_cmd.encode())
+            self._reset_cmd.send()
-        reactor.pause(reactor.monotonic() + 0.015)
+        self._reactor.pause(self._reactor.monotonic() + 0.015)
-        self.disconnect()
+        self._disconnect()
     def _restart_rpi_usb(self):
         logging.info("Attempting MCU '%s' reset via rpi usb power", self._name)
-        self.disconnect()
+        self._disconnect()
         chelper.run_hub_ctrl(0)
-        self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.)
+        self._reactor.pause(self._reactor.monotonic() + 2.)
         chelper.run_hub_ctrl(1)
     def microcontroller_restart(self):
         if self._restart_method == 'rpi_usb':
@@ -723,8 +726,10 @@ class MCU:
             return
         offset, freq = self._clocksync.calibrate_clock(print_time, eventtime)
         self._ffi_lib.steppersync_set_time(self._steppersync, offset, freq)
-        if self._clocksync.is_active(eventtime) or self.is_fileoutput():
+        if (self._clocksync.is_active(eventtime) or self.is_fileoutput()
+            or self._is_timeout):
             return
+        self._is_timeout = True
         logging.info("Timeout with MCU '%s' (eventtime=%f)",
                      self._name, eventtime)
         self._printer.invoke_shutdown("Lost communication with MCU '%s'" % (
@@ -733,19 +738,17 @@ class MCU:
         msg = "%s: mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
             self._name, self._mcu_tick_awake, self._mcu_tick_avg,
             self._mcu_tick_stddev)
-        return ' '.join([msg, self._serial.stats(eventtime),
+        return False, ' '.join([msg, self._serial.stats(eventtime),
                                 self._clocksync.stats(eventtime)])
-    def do_shutdown(self, force=False):
+    def printer_state(self, state):
-        if self._emergency_stop_cmd is None or (self._is_shutdown and not force):
+        if state == 'connect':
-            return
+            self._connect()
-        self.send(self._emergency_stop_cmd.encode())
+        elif state == 'disconnect':
-    def disconnect(self):
+            self._disconnect()
-        self._serial.disconnect()
+        elif state == 'shutdown':
-        if self._steppersync is not None:
+            self._shutdown()
-            self._ffi_lib.steppersync_free(self._steppersync)
-            self._steppersync = None
     def __del__(self):
-        self.disconnect()
+        self._disconnect()
 
 Common_MCU_errors = {
     ("Timer too close", "No next step", "Missed scheduling of next "): """
@@ -771,20 +774,14 @@ def error_help(msg):
     return ""
 
 def add_printer_objects(printer, config):
-    mainsync = clocksync.ClockSync(printer.reactor)
+    reactor = printer.get_reactor()
+    mainsync = clocksync.ClockSync(reactor)
     printer.add_object('mcu', MCU(printer, config.getsection('mcu'), mainsync))
     for s in config.get_prefix_sections('mcu '):
         printer.add_object(s.section, MCU(
-            printer, s, clocksync.SecondarySync(printer.reactor, mainsync)))
+            printer, s, clocksync.SecondarySync(reactor, mainsync)))
-
-def get_printer_mcus(printer):
-    return [printer.objects[n] for n in sorted(printer.objects)
-            if n.startswith('mcu')]
 
 def get_printer_mcu(printer, name):
-    mcu_name = name
+    if name == 'mcu':
-    if name != 'mcu':
+        return printer.lookup_object(name)
-        mcu_name = 'mcu ' + name
+    return printer.lookup_object('mcu ' + name)
-    if mcu_name not in printer.objects:
-        raise printer.config_error("Unknown MCU %s" % (name,))
-    return printer.objects[mcu_name]

klippy/msgproto.py

@@ -108,7 +108,7 @@ class MessageFormat:
         self.param_types = [MessageTypes[fmt] for name, fmt in argparts]
         self.param_names = [(name, MessageTypes[fmt]) for name, fmt in argparts]
         self.name_to_type = dict(self.param_names)
-    def encode(self, *params):
+    def encode(self, params):
         out = []
         out.append(self.msgid)
         for i, t in enumerate(self.param_types):
@@ -188,7 +188,7 @@ class MessageParser:
         self.messages_by_name = {}
         self.static_strings = {}
         self.config = {}
-        self.version = ""
+        self.version = self.build_versions = ""
         self.raw_identify_data = ""
         self._init_messages(DefaultMessages, DefaultMessages.keys())
     def check_packet(self, s):
@@ -318,17 +318,22 @@ class MessageParser:
             self.static_strings = { int(k): v for k, v in static_strings.items() }
             self.config.update(data.get('config', {}))
             self.version = data.get('version', '')
+            self.build_versions = data.get('build_versions', '')
         except error as e:
             raise
         except Exception as e:
             logging.exception("process_identify error")
             raise error("Error during identify: %s" % (str(e),))
-    def get_constant(self, name):
+    class sentinel: pass
-        try:
+    def get_constant(self, name, default=sentinel):
-            return self.config[name]
+        if name not in self.config:
-        except KeyError:
+            if default is not self.sentinel:
+                return default
             raise error("Firmware constant '%s' not found" % (name,))
-    def get_constant_float(self, name):
+        return self.config[name]
+    def get_constant_float(self, name, default=sentinel):
+        if name not in self.config and default is not self.sentinel:
+            return default
         try:
             return float(self.config[name])
         except ValueError:

klippy/pins.py

@@ -1,6 +1,6 @@
 # Pin name to pin number definitions
 #
-# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import re
@@ -31,9 +31,9 @@ def beaglebone_pins():
     return gpios
 
 MCU_PINS = {
-    "atmega168": port_pins(4), "atmega328": port_pins(4),
+    "atmega168": port_pins(5), "atmega328": port_pins(5),
     "atmega644p": port_pins(4), "atmega1284p": port_pins(4),
-    "at90usb1286": port_pins(6),
+    "at90usb1286": port_pins(6), "at90usb646": port_pins(6),
     "atmega1280": port_pins(12), "atmega2560": port_pins(12),
     "sam3x8e": port_pins(4, 32),
     "pru": beaglebone_pins(),
@@ -95,6 +95,7 @@ Arduino_Due_analog = [
 
 Arduino_from_mcu = {
     "atmega168": (Arduino_standard, Arduino_analog_standard),
+    "atmega328": (Arduino_standard, Arduino_analog_standard),
     "atmega644p": (Sanguino, Sanguino_analog),
     "atmega1280": (Arduino_mega, Arduino_analog_mega),
     "atmega2560": (Arduino_mega, Arduino_analog_mega),
@@ -151,20 +152,31 @@ def update_map_beaglebone(pins, mcu):
 # Command translation
 ######################################################################
 
-# Obtains the pin mappings
-def get_pin_map(mcu, mapping_name=None):
-    pins = dict(MCU_PINS.get(mcu, {}))
-    if mapping_name == 'arduino':
-        update_map_arduino(pins, mcu)
-    elif mapping_name == 'beaglebone':
-        update_map_beaglebone(pins, mcu)
-    return pins
-
-# Translate pin names in a firmware command
 re_pin = re.compile(r'(?P<prefix>[ _]pin=)(?P<name>[^ ]*)')
-def update_command(cmd, pmap):
+
+class PinResolver:
+    def __init__(self, mcu_type, validate_aliases=True):
+        self.mcu_type = mcu_type
+        self.validate_aliases = validate_aliases
+        self.pins = dict(MCU_PINS.get(mcu_type, {}))
+        self.active_pins = {}
+    def update_aliases(self, mapping_name):
+        self.pins = dict(MCU_PINS.get(self.mcu_type, {}))
+        if mapping_name == 'arduino':
+            update_map_arduino(self.pins, self.mcu_type)
+        elif mapping_name == 'beaglebone':
+            update_map_beaglebone(self.pins, self.mcu_type)
+    def update_command(self, cmd):
         def pin_fixup(m):
-        return m.group('prefix') + str(pmap[m.group('name')])
+            name = m.group('name')
+            if name not in self.pins:
+                raise error("Unable to translate pin name: %s" % (cmd,))
+            pin_id = self.pins[name]
+            if (name != self.active_pins.setdefault(pin_id, name)
+                and self.validate_aliases):
+                raise error("pin %s is an alias for %s" % (
+                    name, self.active_pins[pin_id]))
+            return m.group('prefix') + str(pin_id)
         return re_pin.sub(pin_fixup, cmd)
 
 
@@ -179,22 +191,49 @@ class PrinterPins:
     error = error
     def __init__(self):
         self.chips = {}
-    def parse_pin_desc(self, pin_desc, can_invert=False, can_pullup=False):
+        self.active_pins = {}
+    def lookup_pin(self, pin_type, pin_desc, share_type=None):
+        can_invert = pin_type in ['stepper', 'endstop', 'digital_out', 'pwm']
+        can_pullup = pin_type == 'endstop'
+        desc = pin_desc
         pullup = invert = 0
-        if can_pullup and pin_desc.startswith('^'):
+        if can_pullup and desc.startswith('^'):
             pullup = 1
-            pin_desc = pin_desc[1:].strip()
+            desc = desc[1:].strip()
-        if can_invert and pin_desc.startswith('!'):
+        if can_invert and desc.startswith('!'):
             invert = 1
-            pin_desc = pin_desc[1:].strip()
+            desc = desc[1:].strip()
-        if ':' not in pin_desc:
+        if ':' not in desc:
-            chip_name, pin = 'mcu', pin_desc
+            chip_name, pin = 'mcu', desc
         else:
-            chip_name, pin = [s.strip() for s in pin_desc.split(':', 1)]
+            chip_name, pin = [s.strip() for s in desc.split(':', 1)]
         if chip_name not in self.chips:
             raise error("Unknown pin chip name '%s'" % (chip_name,))
-        return {'chip': self.chips[chip_name], 'pin': pin,
+        if [c for c in '^!: ' if c in pin]:
-                'invert': invert, 'pullup': pullup}
+            format = ""
+            if can_pullup:
+                format += "[^] "
+            if can_invert:
+                format += "[!] "
+            raise error("Invalid pin description '%s'\n"
+                        "Format is: %s[chip_name:] pin_name" % (
+                            pin_desc, format))
+        share_name = "%s:%s" % (chip_name, pin)
+        if share_name in self.active_pins:
+            pin_params = self.active_pins[share_name]
+            if share_type is None or share_type != pin_params['share_type']:
+                raise error("pin %s used multiple times in config" % (pin,))
+            if invert != pin_params['invert'] or pullup != pin_params['pullup']:
+                raise error("Shared pin %s must have same polarity" % (pin,))
+            return pin_params
+        pin_params = {'chip': self.chips[chip_name], 'chip_name': chip_name,
+                      'type': pin_type, 'share_type': share_type,
+                      'pin': pin, 'invert': invert, 'pullup': pullup}
+        self.active_pins[share_name] = pin_params
+        return pin_params
+    def setup_pin(self, pin_type, pin_desc):
+        pin_params = self.lookup_pin(pin_type, pin_desc)
+        return pin_params['chip'].setup_pin(pin_params)
     def register_chip(self, chip_name, chip):
         chip_name = chip_name.strip()
         if chip_name in self.chips:
@@ -205,12 +244,7 @@ def add_printer_objects(printer, config):
     printer.add_object('pins', PrinterPins())
 
 def get_printer_pins(printer):
-    return printer.objects['pins']
+    return printer.lookup_object('pins')
 
 def setup_pin(printer, pin_type, pin_desc):
-    ppins = get_printer_pins(printer)
+    return get_printer_pins(printer).setup_pin(pin_type, pin_desc)
-    can_invert = pin_type in ['stepper', 'endstop', 'digital_out', 'pwm']
-    can_pullup = pin_type == 'endstop'
-    pin_params = ppins.parse_pin_desc(pin_desc, can_invert, can_pullup)
-    pin_params['type'] = pin_type
-    return pin_params['chip'].setup_pin(pin_params)

klippy/serialhdl.py

@@ -84,13 +84,14 @@ class SerialReader:
         msgparser.process_identify(identify_data)
         self.msgparser = msgparser
         self.register_callback(self.handle_unknown, '#unknown')
-        logging.info("Loaded %d commands (%s)",
+        logging.info("Loaded %d commands (%s / %s)",
-                     len(msgparser.messages_by_id), msgparser.version)
+                     len(msgparser.messages_by_id),
+                     msgparser.version, msgparser.build_versions)
         logging.info("MCU config: %s", " ".join(
             ["%s=%s" % (k, v) for k, v in msgparser.config.items()]))
         # Setup baud adjust
-        mcu_baud = float(msgparser.config.get('SERIAL_BAUD', 0.))
+        mcu_baud = msgparser.get_constant_float('SERIAL_BAUD', None)
-        if mcu_baud:
+        if mcu_baud is not None:
             baud_adjust = self.BITS_PER_BYTE / mcu_baud
             self.ffi_lib.serialqueue_set_baud_adjust(
                 self.serialqueue, baud_adjust)
@@ -125,17 +126,17 @@ class SerialReader:
         with self.lock:
             del self.handlers[name, oid]
     # Command sending
-    def send(self, cmd, minclock=0, reqclock=0, cq=None):
+    def raw_send(self, cmd, minclock, reqclock, cmd_queue):
+        self.ffi_lib.serialqueue_send(
+            self.serialqueue, cmd_queue, cmd, len(cmd), minclock, reqclock)
+    def send(self, msg, minclock=0, reqclock=0):
+        cmd = self.msgparser.create_command(msg)
+        self.raw_send(cmd, minclock, reqclock, self.default_cmd_queue)
+    def lookup_command(self, msgformat, cq=None):
         if cq is None:
             cq = self.default_cmd_queue
-        self.ffi_lib.serialqueue_send(
+        cmd = self.msgparser.lookup_command(msgformat)
-            self.serialqueue, cq, cmd, len(cmd), minclock, reqclock)
+        return SerialCommand(self, cq, cmd)
-    def encode_and_send(self, data, minclock, reqclock, cq):
-        self.ffi_lib.serialqueue_encode_and_send(
-            self.serialqueue, cq, data, len(data), minclock, reqclock)
-    def send_with_response(self, cmd, name, oid=None):
-        src = SerialRetryCommand(self, cmd, name, oid)
-        return src.get_response()
     def alloc_command_queue(self):
         return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
                                 self.ffi_lib.serialqueue_free_commandqueue)
@@ -174,6 +175,20 @@ class SerialReader:
     def __del__(self):
         self.disconnect()
 
+# Wrapper around command sending
+class SerialCommand:
+    def __init__(self, serial, cmd_queue, cmd):
+        self.serial = serial
+        self.cmd_queue = cmd_queue
+        self.cmd = cmd
+    def send(self, data=(), minclock=0, reqclock=0):
+        cmd = self.cmd.encode(data)
+        self.serial.raw_send(cmd, minclock, reqclock, self.cmd_queue)
+    def send_with_response(self, data=(), response=None, response_oid=None):
+        cmd = self.cmd.encode(data)
+        src = SerialRetryCommand(self.serial, cmd, response, response_oid)
+        return src.get_response()
+
 # Class to retry sending of a query command until a given response is received
 class SerialRetryCommand:
     TIMEOUT_TIME = 5.0
@@ -194,7 +209,7 @@ class SerialRetryCommand:
     def send_event(self, eventtime):
         if self.response is not None:
             return self.serial.reactor.NEVER
-        self.serial.send(self.cmd)
+        self.serial.raw_send(self.cmd, 0, 0, self.serial.default_cmd_queue)
         return eventtime + self.RETRY_TIME
     def handle_callback(self, params):
         last_sent_time = params['#sent_time']
@@ -216,7 +231,7 @@ class SerialBootStrap:
     def __init__(self, serial):
         self.serial = serial
         self.identify_data = ""
-        self.identify_cmd = self.serial.msgparser.lookup_command(
+        self.identify_cmd = self.serial.lookup_command(
             "identify offset=%u count=%c")
         self.is_done = False
         self.serial.register_callback(self.handle_identify, 'identify_response')
@@ -240,13 +255,11 @@ class SerialBootStrap:
             self.is_done = True
             return
         self.identify_data += msgdata
-        imsg = self.identify_cmd.encode(len(self.identify_data), 40)
+        self.identify_cmd.send([len(self.identify_data), 40])
-        self.serial.send(imsg)
     def send_event(self, eventtime):
         if self.is_done:
             return self.serial.reactor.NEVER
-        imsg = self.identify_cmd.encode(len(self.identify_data), 40)
+        self.identify_cmd.send([len(self.identify_data), 40])
-        self.serial.send(imsg)
         return eventtime + self.RETRY_TIME
     def handle_unknown(self, params):
         logging.debug("Unknown message %d (len %d) while identifying",

klippy/serialqueue.c

@@ -147,7 +147,6 @@ pollreactor_check_timers(struct pollreactor *pr, double eventtime)
 static void
 pollreactor_run(struct pollreactor *pr)
 {
-    pr->must_exit = 0;
     double eventtime = get_monotonic();
     while (! pr->must_exit) {
         int timeout = pollreactor_check_timers(pr, eventtime);
@@ -390,6 +389,7 @@ struct serialqueue {
 #define MIN_RTO 0.025
 #define MAX_RTO 5.000
 #define MIN_REQTIME_DELTA 0.250
+#define MIN_BACKGROUND_DELTA 0.005
 #define IDLE_QUERY_TIME 1.0
 
 #define DEBUG_QUEUE_SENT 100
@@ -723,8 +723,13 @@ check_send_command(struct serialqueue *sq, double eventtime)
         if (!list_empty(&cq->ready_queue)) {
             struct queue_message *qm = list_first_entry(
                 &cq->ready_queue, struct queue_message, node);
-            if (qm->req_clock < min_ready_clock)
+            uint64_t req_clock = qm->req_clock;
-                min_ready_clock = qm->req_clock;
+            if (req_clock == BACKGROUND_PRIORITY_CLOCK)
+                req_clock = (uint64_t)(
+                    (sq->idle_time - sq->last_clock_time + MIN_BACKGROUND_DELTA)
+                    * sq->est_freq) + sq->last_clock;
+            if (req_clock < min_ready_clock)
+                min_ready_clock = req_clock;
         }
     }
 
@@ -908,7 +913,8 @@ serialqueue_send_batch(struct serialqueue *sq, struct command_queue *cq
     int len = 0;
     struct queue_message *qm;
     list_for_each_entry(qm, msgs, node) {
-        if (qm->min_clock + (1LL<<31) < qm->req_clock)
+        if (qm->min_clock + (1LL<<31) < qm->req_clock
+            && qm->req_clock != BACKGROUND_PRIORITY_CLOCK)
             qm->min_clock = qm->req_clock - (1LL<<31);
         len += qm->len;
     }

klippy/serialqueue.h

@@ -3,7 +3,8 @@
 
 #include "list.h" // struct list_head
 
-#define MAX_CLOCK 0x7fffffffffffffff
+#define MAX_CLOCK 0x7fffffffffffffffLL
+#define BACKGROUND_PRIORITY_CLOCK 0x7fffffff00000000LL
 
 #define MESSAGE_MIN 5
 #define MESSAGE_MAX 64

klippy/stepcompress.c

@@ -423,11 +423,14 @@ queue_append_slow(struct stepcompress *sc, double rel_sc)
 
     if (sc->queue_next - sc->queue_pos > 65535 + 2000) {
         // No point in keeping more than 64K steps in memory
-        int ret = stepcompress_flush(sc, *(sc->queue_next - 65535));
+        uint32_t flush = *(sc->queue_next-65535) - (uint32_t)sc->last_step_clock;
+        int ret = stepcompress_flush(sc, sc->last_step_clock + flush);
         if (ret)
             return ret;
     }
 
+    if (sc->queue_next >= sc->queue_end) {
+        // Make room in the queue
         int in_use = sc->queue_next - sc->queue_pos;
         if (sc->queue_pos > sc->queue) {
             // Shuffle the internal queue to avoid having to allocate more ram
@@ -444,6 +447,8 @@ queue_append_slow(struct stepcompress *sc, double rel_sc)
         }
         sc->queue_pos = sc->queue;
         sc->queue_next = sc->queue + in_use;
+    }
+
     *sc->queue_next++ = abs_step_clock;
     return 0;
 }

klippy/stepper.py

@@ -1,31 +1,57 @@
 # Printer stepper support
 #
-# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
 import homing, pins
 
-class PrinterStepper:
+# Tracking of shared stepper enable pins
-    def __init__(self, printer, config, name):
+class StepperEnablePin:
-        self.name = name
+    def __init__(self, mcu_enable, enable_count=0):
+        self.mcu_enable = mcu_enable
+        self.enable_count = enable_count
+    def set_enable(self, print_time, enable):
+        if enable:
+            if not self.enable_count:
+                self.mcu_enable.set_digital(print_time, 1)
+            self.enable_count += 1
+        else:
+            self.enable_count -= 1
+            if not self.enable_count:
+                self.mcu_enable.set_digital(print_time, 0)
 
-        self.step_dist = config.getfloat('step_distance', above=0.)
+def lookup_enable_pin(printer, pin):
-        self.inv_step_dist = 1. / self.step_dist
+    if pin is None:
-        self.min_stop_interval = 0.
+        return StepperEnablePin(None, 9999)
+    pin_params = pins.get_printer_pins(printer).lookup_pin(
+        'digital_out', pin, 'stepper_enable')
+    enable = pin_params.get('class')
+    if enable is None:
+        mcu_enable = pin_params['chip'].setup_pin(pin_params)
+        mcu_enable.setup_max_duration(0.)
+        pin_params['class'] = enable = StepperEnablePin(mcu_enable)
+    return enable
+
+# Code storing the definitions for a stepper motor
+class PrinterStepper:
+    def __init__(self, printer, config):
+        self.name = config.get_name()
+        if self.name.startswith('stepper_'):
+            self.name = self.name[8:]
+        self.need_motor_enable = True
+        # Stepper definition
         self.mcu_stepper = pins.setup_pin(
             printer, 'stepper', config.get('step_pin'))
-        dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
+        dir_pin_params = pins.get_printer_pins(printer).lookup_pin(
-            config.get('dir_pin'), can_invert=True)
+            'digital_out', config.get('dir_pin'))
         self.mcu_stepper.setup_dir_pin(dir_pin_params)
+        self.step_dist = config.getfloat('step_distance', above=0.)
         self.mcu_stepper.setup_step_distance(self.step_dist)
-
+        self.step = self.mcu_stepper.step
-        enable_pin = config.get('enable_pin', None)
+        self.step_const = self.mcu_stepper.step_const
-        self.mcu_enable = None
+        self.step_delta = self.mcu_stepper.step_delta
-        if enable_pin is not None:
+        self.enable = lookup_enable_pin(printer, config.get('enable_pin', None))
-            self.mcu_enable = pins.setup_pin(printer, 'digital_out', enable_pin)
-            self.mcu_enable.setup_max_duration(0.)
-        self.need_motor_enable = True
     def _dist_to_time(self, dist, start_velocity, accel):
         # Calculate the time it takes to travel a distance with constant accel
         time_offset = start_velocity / accel
@@ -38,27 +64,34 @@ class PrinterStepper:
             2. * self.step_dist, max_halt_velocity, max_accel)
         min_stop_interval = second_last_step_time - last_step_time
         self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
+    def set_position(self, pos):
+        self.mcu_stepper.set_position(pos)
     def motor_enable(self, print_time, enable=0):
-        if enable and self.need_motor_enable:
+        if self.need_motor_enable != (not enable):
-            self.mcu_stepper.reset_step_clock(print_time)
+            self.enable.set_enable(print_time, enable)
-        if (self.mcu_enable is not None
-            and self.mcu_enable.get_last_setting() != enable):
-            self.mcu_enable.set_digital(print_time, enable)
         self.need_motor_enable = not enable
 
+# Support for stepper controlled linear axis with an endstop
 class PrinterHomingStepper(PrinterStepper):
-    def __init__(self, printer, config, name):
+    def __init__(self, printer, config, default_position=None):
-        PrinterStepper.__init__(self, printer, config, name)
+        PrinterStepper.__init__(self, printer, config)
-
+        # Endstop and its position
         self.mcu_endstop = pins.setup_pin(
             printer, 'endstop', config.get('endstop_pin'))
         self.mcu_endstop.add_stepper(self.mcu_stepper)
+        if default_position is None:
+            self.position_endstop = config.getfloat('position_endstop')
+        else:
+            self.position_endstop = config.getfloat(
+                'position_endstop', default_position)
+        # Axis range
         self.position_min = config.getfloat('position_min', 0.)
         self.position_max = config.getfloat(
             'position_max', 0., above=self.position_min)
-        self.position_endstop = config.getfloat('position_endstop')
+        # Homing mechanics
-
         self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
+        self.homing_retract_dist = config.getfloat(
+            'homing_retract_dist', 5., minval=0.)
         self.homing_positive_dir = config.getboolean('homing_positive_dir', None)
         if self.homing_positive_dir is None:
             axis_len = self.position_max - self.position_min
@@ -69,9 +102,8 @@ class PrinterHomingStepper(PrinterStepper):
             else:
                 raise config.error(
                     "Unable to infer homing_positive_dir in section '%s'" % (
-                        config.section,))
+                        config.get_name(),))
-        self.homing_retract_dist = config.getfloat(
+        # Endstop stepper phase position tracking
-            'homing_retract_dist', 5., above=0.)
         self.homing_stepper_phases = config.getint(
             'homing_stepper_phases', None, minval=0)
         endstop_accuracy = config.getfloat(
@@ -81,7 +113,8 @@ class PrinterHomingStepper(PrinterStepper):
             self.homing_endstop_phase = config.getint(
                 'homing_endstop_phase', None, minval=0
                 , maxval=self.homing_stepper_phases-1)
-            if self.homing_endstop_phase is not None:
+            if (self.homing_endstop_phase is not None
+                and config.getboolean('homing_endstop_align_zero', False)):
                 # Adjust the endstop position so 0.0 is always at a full step
                 micro_steps = self.homing_stepper_phases // 4
                 phase_offset = (
@@ -99,32 +132,27 @@ class PrinterHomingStepper(PrinterStepper):
                 self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
             elif self.homing_endstop_phase is not None:
                 self.homing_endstop_accuracy = int(math.ceil(
-                    endstop_accuracy * self.inv_step_dist / 2.))
+                    endstop_accuracy * .5 / self.step_dist))
             else:
                 self.homing_endstop_accuracy = int(math.ceil(
-                    endstop_accuracy * self.inv_step_dist))
+                    endstop_accuracy / self.step_dist))
             if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
                 logging.info("Endstop for %s is not accurate enough for stepper"
                              " phase adjustment", name)
                 self.homing_stepper_phases = None
             if self.mcu_endstop.get_mcu().is_fileoutput():
                 self.homing_endstop_accuracy = self.homing_stepper_phases
-    def get_homing_speed(self):
+    def get_endstops(self):
-        # Round the configured homing speed so that it is an even
+        return [(self.mcu_endstop, self.name)]
-        # number of ticks per step.
-        adjusted_freq = self.mcu_stepper.get_mcu().get_adjusted_freq()
-        dist_ticks = adjusted_freq * self.step_dist
-        ticks_per_step = round(dist_ticks / self.homing_speed)
-        return dist_ticks / ticks_per_step
     def get_homed_offset(self):
         if not self.homing_stepper_phases or self.need_motor_enable:
-            return 0
+            return 0.
         pos = self.mcu_stepper.get_mcu_position()
         pos %= self.homing_stepper_phases
         if self.homing_endstop_phase is None:
             logging.info("Setting %s endstop phase to %d", self.name, pos)
             self.homing_endstop_phase = pos
-            return 0
+            return 0.
         delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
         if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
             delta -= self.homing_stepper_phases
@@ -133,3 +161,48 @@ class PrinterHomingStepper(PrinterStepper):
                 "Endstop %s incorrect phase (got %d vs %d)" % (
                     self.name, pos, self.homing_endstop_phase))
         return delta * self.step_dist
+
+# Wrapper for dual stepper motor support
+class PrinterMultiStepper(PrinterHomingStepper):
+    def __init__(self, printer, config):
+        PrinterHomingStepper.__init__(self, printer, config)
+        self.endstops = PrinterHomingStepper.get_endstops(self)
+        self.extras = []
+        self.all_step_const = [self.step_const]
+        for i in range(1, 99):
+            if not config.has_section(config.get_name() + str(i)):
+                break
+            extraconfig = config.getsection(config.get_name() + str(i))
+            extra = PrinterStepper(printer, extraconfig)
+            self.extras.append(extra)
+            self.all_step_const.append(extra.step_const)
+            extraendstop = extraconfig.get('endstop_pin', None)
+            if extraendstop is not None:
+                mcu_endstop = pins.setup_pin(printer, 'endstop', extraendstop)
+                mcu_endstop.add_stepper(extra.mcu_stepper)
+                self.endstops.append((mcu_endstop, extra.name))
+            else:
+                self.mcu_endstop.add_stepper(extra.mcu_stepper)
+        self.step_const = self.step_multi_const
+    def step_multi_const(self, print_time, start_pos, dist, start_v, accel):
+        for step_const in self.all_step_const:
+            step_const(print_time, start_pos, dist, start_v, accel)
+    def set_max_jerk(self, max_halt_velocity, max_accel):
+        PrinterHomingStepper.set_max_jerk(self, max_halt_velocity, max_accel)
+        for extra in self.extras:
+            extra.set_max_jerk(max_halt_velocity, max_accel)
+    def set_position(self, pos):
+        PrinterHomingStepper.set_position(self, pos)
+        for extra in self.extras:
+            extra.set_position(pos)
+    def motor_enable(self, print_time, enable=0):
+        PrinterHomingStepper.motor_enable(self, print_time, enable)
+        for extra in self.extras:
+            extra.motor_enable(print_time, enable)
+    def get_endstops(self):
+        return self.endstops
+
+def LookupMultiHomingStepper(printer, config):
+    if not config.has_section(config.get_name() + '1'):
+        return PrinterHomingStepper(printer, config)
+    return PrinterMultiStepper(printer, config)

klippy/toolhead.py

@@ -1,6 +1,6 @@
 # Code for coordinating events on the printer toolhead
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
@@ -183,8 +183,8 @@ STALL_TIME = 0.100
 class ToolHead:
     def __init__(self, printer, config):
         self.printer = printer
-        self.reactor = printer.reactor
+        self.reactor = printer.get_reactor()
-        self.all_mcus = mcu.get_printer_mcus(printer)
+        self.all_mcus = printer.lookup_module_objects('mcu')
         self.mcu = self.all_mcus[0]
         self.max_velocity = config.getfloat('max_velocity', above=0.)
         self.max_accel = config.getfloat('max_accel', above=0.)
@@ -192,7 +192,7 @@ class ToolHead:
             'max_accel_to_decel', self.max_accel * 0.5
             , above=0., maxval=self.max_accel)
         self.junction_deviation = config.getfloat(
-            'junction_deviation', 0.02, above=0.)
+            'junction_deviation', 0.02, minval=0.)
         self.move_queue = MoveQueue()
         self.commanded_pos = [0., 0., 0., 0.]
         # Print time tracking
@@ -205,10 +205,11 @@ class ToolHead:
         self.move_flush_time = config.getfloat(
             'move_flush_time', 0.050, above=0.)
         self.print_time = 0.
+        self.last_print_start_time = 0.
         self.need_check_stall = -1.
         self.print_stall = 0
         self.sync_print_time = True
-        self.last_flush_from_idle = False
+        self.idle_flush_print_time = 0.
         self.flush_timer = self.reactor.register_timer(self._flush_handler)
         self.move_queue.set_flush_time(self.buffer_time_high)
         # Motor off tracking
@@ -234,19 +235,17 @@ class ToolHead:
         if not self.sync_print_time:
             return self.print_time
         self.sync_print_time = False
-        est_print_time = self.mcu.estimated_print_time(self.reactor.monotonic())
-        if self.last_flush_from_idle and self.print_time > est_print_time:
-            self.print_stall += 1
-        self.last_flush_from_idle = False
         self.need_motor_off = True
-        self.print_time = max(
+        est_print_time = self.mcu.estimated_print_time(self.reactor.monotonic())
-            self.print_time, est_print_time + self.buffer_time_start)
+        if est_print_time + self.buffer_time_start > self.print_time:
+            self.print_time = est_print_time + self.buffer_time_start
+            self.last_print_start_time = self.print_time
         self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
         return self.print_time
     def _flush_lookahead(self, must_sync=False):
         sync_print_time = self.sync_print_time
         self.move_queue.flush()
-        self.last_flush_from_idle = False
+        self.idle_flush_print_time = 0.
         if sync_print_time or must_sync:
             self.sync_print_time = True
             self.move_queue.set_flush_time(self.buffer_time_high)
@@ -265,6 +264,11 @@ class ToolHead:
         eventtime = self.reactor.monotonic()
         if self.sync_print_time:
             # Building initial queue - make sure to flush on idle input
+            if self.idle_flush_print_time:
+                est_print_time = self.mcu.estimated_print_time(eventtime)
+                if est_print_time < self.idle_flush_print_time:
+                    self.print_stall += 1
+                self.idle_flush_print_time = 0.
             self.reactor.update_timer(self.flush_timer, eventtime + 0.100)
             return
         # Check if there are lots of queued moves and stall if so
@@ -289,7 +293,7 @@ class ToolHead:
             # Under ran low buffer mark - flush lookahead queue
             self._flush_lookahead(must_sync=True)
             if print_time != self.print_time:
-                self.last_flush_from_idle = True
+                self.idle_flush_print_time = self.print_time
         except:
             logging.exception("Exception in flush_handler")
             self.printer.invoke_shutdown("Exception in flush_handler")
@@ -310,10 +314,10 @@ class ToolHead:
     # Movement commands
     def get_position(self):
         return list(self.commanded_pos)
-    def set_position(self, newpos):
+    def set_position(self, newpos, homing_axes=()):
         self._flush_lookahead()
         self.commanded_pos[:] = newpos
-        self.kin.set_position(newpos)
+        self.kin.set_position(newpos, homing_axes)
     def move(self, newpos, speed):
         speed = min(speed, self.max_velocity)
         move = Move(self, self.commanded_pos, newpos, speed)
@@ -327,11 +331,10 @@ class ToolHead:
         self.move_queue.add_move(move)
         if self.print_time > self.need_check_stall:
             self._check_stall()
-    def home(self, homing_state):
+    def dwell(self, delay, check_stall=True):
-        self.kin.home(homing_state)
-    def dwell(self, delay):
         self.get_last_move_time()
         self.update_move_time(delay)
+        if check_stall:
             self._check_stall()
     def motor_off(self):
         self.dwell(STALL_TIME)
@@ -349,9 +352,6 @@ class ToolHead:
         while (not self.sync_print_time
                or self.print_time >= self.mcu.estimated_print_time(eventtime)):
             eventtime = self.reactor.pause(eventtime + 0.100)
-    def query_endstops(self, query_flags=""):
-        last_move_time = self.get_last_move_time()
-        return self.kin.query_endstops(last_move_time, query_flags)
     def set_extruder(self, extruder):
         last_move_time = self.get_last_move_time()
         self.extruder.set_active(last_move_time, False)
@@ -360,23 +360,32 @@ class ToolHead:
         self.move_queue.set_extruder(extruder)
         self.commanded_pos[3] = extrude_pos
     # Misc commands
-    def check_active(self, eventtime):
+    def stats(self, eventtime):
         for m in self.all_mcus:
             m.check_active(self.print_time, eventtime)
-        if not self.sync_print_time:
+        buffer_time = self.print_time - self.mcu.estimated_print_time(eventtime)
-            return True
+        is_active = buffer_time > -60. or not self.sync_print_time
-        return self.print_time + 60. > self.mcu.estimated_print_time(eventtime)
+        return is_active, "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
-    def stats(self, eventtime):
+            self.print_time, max(buffer_time, 0.), self.print_stall)
-        est_print_time = self.mcu.estimated_print_time(eventtime)
+    def get_status(self, eventtime):
-        buffer_time = max(0., self.print_time - est_print_time)
+        buffer_time = self.print_time - self.mcu.estimated_print_time(eventtime)
-        return "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
+        if buffer_time > -1. or not self.sync_print_time:
-            self.print_time, buffer_time, self.print_stall)
+            status = "Printing"
-    def do_shutdown(self):
+        elif self.need_motor_off:
+            status = "Ready"
+        else:
+            status = "Idle"
+        printing_time = self.print_time - self.last_print_start_time
+        return {'status': status, 'printing_time': printing_time}
+    def printer_state(self, state):
+        if state == 'shutdown':
             try:
                 self.move_queue.reset()
                 self.reset_print_time()
             except:
-            logging.exception("Exception in do_shutdown")
+                logging.exception("Exception in toolhead shutdown")
+    def get_kinematics(self):
+        return self.kin
     def get_max_velocity(self):
         return self.max_velocity, self.max_accel
     def get_max_axis_halt(self):

klippy/util.py

@@ -30,8 +30,7 @@ def create_pty(ptyname):
     except os.error:
         pass
     os.symlink(os.ttyname(sfd), ptyname)
-    fcntl.fcntl(mfd, fcntl.F_SETFL
+    set_nonblock(mfd)
-                , fcntl.fcntl(mfd, fcntl.F_GETFL) | os.O_NONBLOCK)
     old = termios.tcgetattr(mfd)
     old[3] = old[3] & ~termios.ECHO
     termios.tcsetattr(mfd, termios.TCSADRAIN, old)
@@ -58,7 +57,7 @@ def get_git_version():
     if not os.path.exists(gitdir):
         logging.debug("No '.git' file/directory found")
         return "?"
-    prog = "git -C %s describe --tags --long --dirty" % (gitdir,)
+    prog = "git -C %s describe --always --tags --long --dirty" % (gitdir,)
     try:
         process = subprocess.Popen(shlex.split(prog), stdout=subprocess.PIPE)
         output = process.communicate()[0]

scripts/avrsim.py

@@ -1,10 +1,9 @@
 #!/usr/bin/env python2
 # Script to interact with simulavr by simulating a serial port.
 #
-# Copyright (C) 2015  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2015-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-
 import sys, optparse, time, os, pty, fcntl, termios, errno
 import pysimulavr
 
@@ -107,23 +106,22 @@ class Pacing(pysimulavr.PySimulationMember):
         pysimulavr.PySimulationMember.__init__(self)
         self.sc = pysimulavr.SystemClock.Instance()
         self.pacing_rate = 1. / (rate * SIMULAVR_FREQ)
-        self.rel_time = self.next_rel_time = time.time()
+        self.next_check_clock = 0
-        self.rel_clock = self.next_rel_clock = self.sc.GetCurrentTime()
+        self.rel_time = time.time()
+        self.best_offset = 0.
         self.delay = SIMULAVR_FREQ / 10000
         self.sc.Add(self)
     def DoStep(self, trueHwStep):
         curtime = time.time()
         clock = self.sc.GetCurrentTime()
-        clock_diff = clock - self.rel_clock
+        offset = clock * self.pacing_rate - (curtime - self.rel_time)
-        time_diff = curtime - self.rel_time
+        self.best_offset = max(self.best_offset, offset)
-        offset = clock_diff * self.pacing_rate - time_diff
         if offset > 0.000050:
-            time.sleep(offset)
+            time.sleep(offset - 0.000040)
-        if clock_diff > self.delay * 20:
+        if clock >= self.next_check_clock:
-            self.rel_clock = self.next_rel_clock
+            self.rel_time -= min(self.best_offset, 0.)
-            self.rel_time = self.next_rel_time
+            self.next_check_clock = clock + self.delay * 500
-            self.next_rel_clock = clock
+            self.best_offset = -999999999.
-            self.next_rel_time = curtime
         return self.delay
 
 # Forward data from a terminal device to the serial port pins

scripts/buildcommands.py

@@ -4,8 +4,7 @@
 # Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-
+import sys, os, subprocess, optparse, logging, shlex, socket, time, traceback
-import sys, os, subprocess, optparse, logging, shlex, socket, time
 import json, zlib
 sys.path.append('./klippy')
 import msgproto
@@ -182,7 +181,7 @@ const uint8_t command_index_size PROGMEM = ARRAY_SIZE(command_index);
 ######################################################################
 
 def build_identify(cmd_by_id, msg_to_id, responses, static_strings
-                   , constants, version):
+                   , constants, version, toolstr):
     #commands, messages, static_strings
     messages = dict((msgid, msg) for msg, msgid in msg_to_id.items())
     data = {}
@@ -193,6 +192,7 @@ def build_identify(cmd_by_id, msg_to_id, responses, static_strings
                                for i in range(len(static_strings)) }
     data['config'] = constants
     data['version'] = version
+    data['build_versions'] = toolstr
 
     # Format compressed info into C code
     data = json.dumps(data)
@@ -203,6 +203,9 @@ def build_identify(cmd_by_id, msg_to_id, responses, static_strings
             out.append('\n   ')
         out.append(" 0x%02x," % (ord(zdata[i]),))
     fmt = """
+// version: %s
+// build_versions: %s
+
 const uint8_t command_identify_data[] PROGMEM = {%s
 };
 
@@ -210,7 +213,7 @@ const uint8_t command_identify_data[] PROGMEM = {%s
 const uint32_t command_identify_size PROGMEM
     = ARRAY_SIZE(command_identify_data);
 """
-    return data, fmt % (''.join(out), len(zdata), len(data))
+    return data, fmt % (version, toolstr, ''.join(out), len(zdata), len(data))
 
 
 ######################################################################
@@ -241,7 +244,7 @@ def git_version():
     if not os.path.exists('.git'):
         logging.debug("No '.git' file/directory found")
         return ""
-    ver = check_output("git describe --tags --long --dirty").strip()
+    ver = check_output("git describe --always --tags --long --dirty").strip()
     logging.debug("Got git version: %s" % (repr(ver),))
     return ver
 
@@ -254,6 +257,36 @@ def build_version(extra):
     version = "%s-%s-%s%s" % (version, btime, hostname, extra)
     return version
 
+# Run "tool --version" for each specified tool and extract versions
+def tool_versions(tools):
+    tools = [t.strip() for t in tools.split(';')]
+    versions = ['', '']
+    success = 0
+    for tool in tools:
+        # Extract first line from "tool --version" output
+        verstr = check_output("%s --version" % (tool,)).split('\n')[0]
+        # Check if this tool looks like a binutils program
+        isbinutils = 0
+        if verstr.startswith('GNU '):
+            isbinutils = 1
+            verstr = verstr[4:]
+        # Extract version information and exclude program name
+        if ' ' not in verstr:
+            continue
+        prog, ver = verstr.split(' ', 1)
+        if not prog or not ver:
+            continue
+        # Check for any version conflicts
+        if versions[isbinutils] and versions[isbinutils] != ver:
+            logging.debug("Mixed version %s vs %s" % (
+                repr(versions[isbinutils]), repr(ver)))
+            versions[isbinutils] = "mixed"
+            continue
+        versions[isbinutils] = ver
+        success += 1
+    cleanbuild = versions[0] and versions[1] and success == len(tools)
+    return cleanbuild, "gcc: %s binutils: %s" % (versions[0], versions[1])
+
 
 ######################################################################
 # Main code
@@ -266,6 +299,8 @@ def main():
                     help="extra version string to append to version")
     opts.add_option("-d", dest="write_dictionary",
                     help="file to write mcu protocol dictionary")
+    opts.add_option("-t", "--tools", dest="tools", default="",
+                    help="list of build programs to extract version from")
     opts.add_option("-v", action="store_true", dest="verbose",
                     help="enable debug messages")
 
@@ -349,12 +384,14 @@ def main():
     cmdcode = build_commands(cmd_by_id, messages_by_name, all_param_types)
     paramcode = build_param_types(all_param_types)
     # Create identify information
+    cleanbuild, toolstr = tool_versions(options.tools)
     version = build_version(options.extra)
     sys.stdout.write("Version: %s\n" % (version,))
     responses = [msg_to_id[msg] for msgname, msg in messages_by_name.items()
                  if msgname not in commands]
-    datadict, icode = build_identify(cmd_by_id, msg_to_id, responses
+    datadict, icode = build_identify(
-                                     , static_strings, constants, version)
+        cmd_by_id, msg_to_id, responses,
+        static_strings, constants, version, toolstr)
     # Write output
     f = open(outcfile, 'wb')
     f.write(FILEHEADER + call_lists_code + static_strings_code

scripts/graphstats.py

@@ -1,18 +1,28 @@
 #!/usr/bin/env python2
 # Script to parse a logging file, extract the stats, and graph them
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import optparse, datetime
-import matplotlib.pyplot as plt, matplotlib.dates as mdates
+import matplotlib
+matplotlib.use('Agg')
+import matplotlib.pyplot, matplotlib.dates, matplotlib.font_manager
+import matplotlib.ticker
 
 MAXBANDWIDTH=25000.
 MAXBUFFER=2.
 STATS_INTERVAL=5.
 TASK_MAX=0.0025
 
-def parse_log(logname):
+APPLY_PREFIX = ['mcu_awake', 'mcu_task_avg', 'mcu_task_stddev', 'bytes_write',
+                'bytes_read', 'bytes_retransmit', 'freq', 'adj']
+
+def parse_log(logname, mcu):
+    if mcu is None:
+        mcu = "mcu"
+    mcu_prefix = mcu + ":"
+    apply_prefix = { p: 1 for p in APPLY_PREFIX }
     f = open(logname, 'rb')
     out = []
     for line in f:
@@ -21,7 +31,18 @@ def parse_log(logname):
             #if parts and parts[0] == 'INFO:root:shutdown:':
             #    break
             continue
-        keyparts = dict(p.split('=', 1) for p in parts[2:])
+        prefix = ""
+        keyparts = {}
+        for p in parts[2:]:
+            if p.endswith(':'):
+                prefix = p
+                if prefix == mcu_prefix:
+                    prefix = ''
+                continue
+            name, val = p.split('=', 1)
+            if name in apply_prefix:
+                name = prefix + name
+            keyparts[name] = val
         if keyparts.get('bytes_write', '0') == '0':
             continue
         keyparts['#sampletime'] = float(parts[1][:-1])
@@ -30,27 +51,34 @@ def parse_log(logname):
     return out
 
 def find_print_restarts(data):
-    last_print_time = 0.
+    runoff_samples = {}
-    print_resets = []
+    last_runoff_start = last_buffer_time = last_sampletime = 0.
-    for d in data:
+    last_print_stall = 0
-        print_time = float(d.get('print_time', last_print_time))
+    for d in reversed(data):
-        if print_time < last_print_time:
+        # Check for buffer runoff
-            print_resets.append(d['#sampletime'])
+        sampletime = d['#sampletime']
-            last_print_time = 0.
+        buffer_time = float(d.get('buffer_time', 0.))
+        if (last_runoff_start and last_sampletime - sampletime < 5
+            and buffer_time > last_buffer_time):
+            runoff_samples[last_runoff_start][1].append(sampletime)
+        elif buffer_time < 1.:
+            last_runoff_start = sampletime
+            runoff_samples[last_runoff_start] = [False, [sampletime]]
         else:
-            last_print_time = print_time
+            last_runoff_start = 0.
-    sample_resets = {}
+        last_buffer_time = buffer_time
-    for d in data:
+        last_sampletime = sampletime
-        st = d['#sampletime']
+        # Check for print stall
-        while print_resets and st > print_resets[0]:
+        print_stall = int(d['print_stall'])
-            print_resets.pop(0)
+        if print_stall < last_print_stall:
-        if not print_resets:
+            if last_runoff_start:
-            break
+                runoff_samples[last_runoff_start][0] = True
-        if st + 2. * MAXBUFFER > print_resets[0]:
+        last_print_stall = print_stall
-            sample_resets[st] = 1
+    sample_resets = {sampletime: 1 for stall, samples in runoff_samples.values()
+                     for sampletime in samples if not stall}
     return sample_resets
 
-def plot_mcu(data, maxbw, outname, graph_awake=False):
+def plot_mcu(data, maxbw, outname):
     # Generate data for plot
     basetime = lasttime = data[0]['#sampletime']
     lastbw = float(data[0]['bytes_write']) + float(data[0]['bytes_retransmit'])
@@ -74,7 +102,7 @@ def plot_mcu(data, maxbw, outname, graph_awake=False):
             load = 0.
         pt = float(d['print_time'])
         hb = float(d['buffer_time'])
-        if pt <= 2. * MAXBUFFER or hb >= MAXBUFFER or st in sample_resets:
+        if hb >= MAXBUFFER or st in sample_resets:
             hb = 0.
         else:
             hb = 100. * (MAXBUFFER - hb) / MAXBUFFER
@@ -87,34 +115,77 @@ def plot_mcu(data, maxbw, outname, graph_awake=False):
         lastbw = bw
 
     # Build plot
-    fig, ax1 = plt.subplots()
+    fig, ax1 = matplotlib.pyplot.subplots()
     ax1.set_title("MCU bandwidth and load utilization")
     ax1.set_xlabel('Time')
     ax1.set_ylabel('Usage (%)')
-    if graph_awake:
+    ax1.plot_date(times, bwdeltas, 'g', label='Bandwidth', alpha=0.8)
-        ax1.plot_date(times, awake, 'b', label='Awake time')
+    ax1.plot_date(times, loads, 'r', label='MCU load', alpha=0.8)
-    ax1.plot_date(times, bwdeltas, 'g', label='Bandwidth')
+    ax1.plot_date(times, hostbuffers, 'c', label='Host buffer', alpha=0.8)
-    ax1.plot_date(times, loads, 'r', label='MCU load')
+    ax1.plot_date(times, awake, 'y', label='Awake time', alpha=0.6)
-    ax1.plot_date(times, hostbuffers, 'c', label='Host buffer')
+    fontP = matplotlib.font_manager.FontProperties()
-    ax1.legend(loc='best')
+    fontP.set_size('x-small')
-    ax1.xaxis.set_major_formatter(mdates.DateFormatter('%H:%M'))
+    ax1.legend(loc='best', prop=fontP)
-    #plt.gcf().autofmt_xdate()
+    ax1.xaxis.set_major_formatter(matplotlib.dates.DateFormatter('%H:%M'))
     ax1.grid(True)
-    plt.savefig(outname)
+    fig.set_size_inches(8, 6)
+    fig.savefig(outname)
+
+def plot_frequency(data, outname, mcu):
+    all_keys = {}
+    for d in data:
+        all_keys.update(d)
+    one_mcu = mcu is not None
+    graph_keys = { key: ([], []) for key in all_keys
+                   if (key in ("freq", "adj") or (not one_mcu and (
+                           key.endswith(":freq") or key.endswith(":adj")))) }
+    basetime = lasttime = data[0]['#sampletime']
+    for d in data:
+        st = datetime.datetime.utcfromtimestamp(d['#sampletime'])
+        for key, (times, values) in graph_keys.items():
+            val = d.get(key)
+            if val not in (None, '0', '1'):
+                times.append(st)
+                values.append(float(val))
+
+    # Build plot
+    fig, ax1 = matplotlib.pyplot.subplots()
+    if one_mcu:
+        ax1.set_title("MCU '%s' frequency" % (mcu,))
+    else:
+        ax1.set_title("MCU frequency")
+    ax1.set_xlabel('Time')
+    ax1.set_ylabel('Frequency')
+    for key in sorted(graph_keys):
+        times, values = graph_keys[key]
+        ax1.plot_date(times, values, '.', label=key)
+    fontP = matplotlib.font_manager.FontProperties()
+    fontP.set_size('x-small')
+    ax1.legend(loc='best', prop=fontP)
+    ax1.xaxis.set_major_formatter(matplotlib.dates.DateFormatter('%H:%M'))
+    ax1.yaxis.set_major_formatter(matplotlib.ticker.FormatStrFormatter('%d'))
+    ax1.grid(True)
+    fig.set_size_inches(8, 6)
+    fig.savefig(outname)
 
 def main():
     usage = "%prog [options] <logfile> <outname>"
     opts = optparse.OptionParser(usage)
-    opts.add_option("-a", "--awake", action="store_true"
+    opts.add_option("-f", "--frequency", action="store_true",
-                    , help="graph mcu awake time")
+                    help="graph mcu frequency")
+    opts.add_option("-m", "--mcu", type="string", dest="mcu", default=None,
+                    help="limit stats to the given mcu")
     options, args = opts.parse_args()
     if len(args) != 2:
         opts.error("Incorrect number of arguments")
     logname, outname = args
-    data = parse_log(logname)
+    data = parse_log(logname, options.mcu)
     if not data:
         return
-    plot_mcu(data, MAXBANDWIDTH, outname, graph_awake=options.awake)
+    if options.frequency:
+        plot_frequency(data, outname, options.mcu)
+        return
+    plot_mcu(data, MAXBANDWIDTH, outname)
 
 if __name__ == '__main__':
     main()

scripts/logextract.py

@@ -0,0 +1,294 @@
+#!/usr/bin/env python2
+# Script to extract config and shutdown information file a klippy.log file
+#
+# Copyright (C) 2017  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import sys, re, collections
+
+def format_comment(line_num, line):
+    return "# %6d: %s" % (line_num, line)
+
+
+######################################################################
+# Config file extraction
+######################################################################
+
+class GatherConfig:
+    def __init__(self, configs, line_num, recent_lines, logname):
+        self.configs = configs
+        self.line_num = line_num
+        self.config_num = len(configs) + 1
+        self.filename = "%s.config%04d.cfg" % (logname, self.config_num)
+        self.config_lines = []
+        self.comments = []
+    def add_line(self, line_num, line):
+        if line != '=======================':
+            self.config_lines.append(line)
+            return True
+        self.finalize()
+        return False
+    def finalize(self):
+        lines = tuple(self.config_lines)
+        ch = self.configs.get(lines)
+        if ch is None:
+            self.configs[lines] = ch = self
+        else:
+            ch.comments.extend(self.comments)
+        ch.comments.append(format_comment(self.line_num, "config file"))
+    def add_comment(self, comment):
+        if comment is not None:
+            self.comments.append(comment)
+    def write_file(self):
+        f = open(self.filename, 'wb')
+        f.write('\n'.join(self.comments + self.config_lines))
+        f.close()
+
+
+######################################################################
+# Shutdown extraction
+######################################################################
+
+stats_seq_s = r" send_seq=(?P<sseq>[0-9]+) receive_seq=(?P<rseq>[0-9]+) "
+count_s = r"(?P<count>[0-9]+)"
+time_s = r"(?P<time>[0-9]+[.][0-9]+)"
+esttime_s = r"(?P<esttime>[0-9]+[.][0-9]+)"
+shortseq_s = r"(?P<shortseq>[0-9a-f])"
+stats_r = re.compile(r"^Stats " + time_s + ": ")
+serial_dump_r = re.compile(r"^Dumping serial stats: .*" + stats_seq_s)
+send_dump_r = re.compile(r"^Dumping send queue " + count_s + " messages$")
+sent_r = re.compile(r"^Sent " + count_s + " " + esttime_s + " " + time_s
+                    + " [0-9]+: seq: 1" + shortseq_s + ",")
+receive_dump_r = re.compile(r"^Dumping receive queue " + count_s + " messages$")
+receive_r = re.compile(r"^Receive: " + count_s + " " + time_s + " " + esttime_s
+                    + " [0-9]+: seq: 1" + shortseq_s + ",")
+gcode_r = re.compile(r"^Read " + time_s + ": ['\"]")
+clock_r = re.compile(r"^clocksync state: .* clock_est=\((?P<st>[^ ]+)"
+                     + r" (?P<sc>[0-9]+) (?P<f>[^ ]+)\)")
+repl_seq_r = re.compile(r": seq: 1" + shortseq_s)
+repl_clock_r = re.compile(r"clock=(?P<clock>[0-9]+) ")
+mcu_r = re.compile(r"MCU '(?P<mcu>[^']+)' (is_)?shutdown: (?P<reason>.*)$")
+
+def add_high_bits(val, ref, mask):
+    half = (mask + 1) // 2
+    return ref + ((val - (ref & mask) + half) & mask) - half
+
+class GatherShutdown:
+    class mcu_info:
+        def __init__(self):
+            self.sent_stream = []
+            self.receive_stream = []
+            self.sent_stream = []
+            self.receive_stream = []
+            self.sent_time_to_seq = {}
+            self.sent_seq_to_time = {}
+            self.receive_seq_to_time = {}
+            self.clock_est = 0., 0., 1.
+            self.shutdown_seq = None
+            self.send_count = self.receive_count = 0
+    def __init__(self, configs, line_num, recent_lines, logname):
+        self.shutdown_line_num = line_num
+        self.filename = "%s.shutdown%05d" % (logname, line_num)
+        self.comments = []
+        if configs:
+            configs_by_id = {c.config_num: c for c in configs.values()}
+            config = configs_by_id[max(configs_by_id.keys())]
+            config.add_comment(format_comment(line_num, recent_lines[-1][1]))
+            self.comments.append("# config %s" % (config.filename,))
+        self.stats_stream = []
+        self.gcode_stream = []
+        self.mcus = {}
+        self.mcu = None
+        self.first_stat_time = self.last_stat_time = None
+        for line_num, line in recent_lines:
+            self.parse_line(line_num, line)
+        self.first_stat_time = self.last_stat_time
+    def add_comment(self, comment):
+        if comment is not None:
+            self.comments.append(comment)
+    def check_stats_seq(self, ts, line):
+        # Parse stats
+        parts = line.split()
+        mcu = ""
+        keyparts = {}
+        for p in parts[2:]:
+            if p.endswith(':'):
+                mcu = p
+                continue
+            name, val = p.split('=', 1)
+            keyparts[mcu + name] = val
+        min_ts = 0
+        max_ts = 999999999999
+        for mcu, info in self.mcus.items():
+            sname = '%s:send_seq' % (mcu,)
+            rname = '%s:receive_seq' % (mcu,)
+            if sname not in keyparts:
+                continue
+            sseq = int(keyparts[sname])
+            rseq = int(keyparts[rname])
+            min_ts = max(min_ts, info.sent_seq_to_time.get(sseq-1, 0),
+                         info.receive_seq_to_time.get(rseq, 0))
+            max_ts = min(max_ts, info.sent_seq_to_time.get(sseq, 999999999999),
+                         info.receive_seq_to_time.get(rseq+1, 999999999999))
+        return min(max(ts, min_ts + 0.00000001), max_ts - 0.00000001)
+    def trans_clock(self, clock, ts):
+        sample_time, sample_clock, freq = self.mcu.clock_est
+        exp_clock = int(sample_clock + (ts - sample_time) * freq)
+        ext_clock = add_high_bits(clock, exp_clock, 0xffffffff)
+        return sample_time + (ext_clock - sample_clock) / freq
+    def annotate(self, line, seq, ts):
+        if seq is not None:
+            line = repl_seq_r.sub(r"\g<0>(%d)" % (seq,), line)
+        def clock_update(m):
+            return m.group(0)[:-1] + "(%.6f) " % (
+                self.trans_clock(int(m.group('clock')), ts),)
+        line = repl_clock_r.sub(clock_update, line)
+        return line
+    def add_line(self, line_num, line):
+        self.parse_line(line_num, line)
+        if (self.first_stat_time is not None
+            and self.last_stat_time > self.first_stat_time + 5.):
+            self.finalize()
+            return False
+        if (line.startswith('Git version') or line.startswith('Start printer at')
+            or line == '===== Config file ====='):
+            self.finalize()
+            return False
+        return True
+    def parse_line(self, line_num, line):
+        m = sent_r.match(line)
+        if m is not None:
+            shortseq = int(m.group('shortseq'), 16)
+            seq = (self.mcu.shutdown_seq + int(m.group('count'))
+                   - self.mcu.send_count)
+            seq = add_high_bits(shortseq, seq, 0xf)
+            ts = float(m.group('time'))
+            esttime = float(m.group('esttime'))
+            self.mcu.sent_time_to_seq[(esttime, seq & 0xf)] = seq
+            self.mcu.sent_seq_to_time[seq] = ts
+            line = self.annotate(line, seq, ts)
+            self.mcu.sent_stream.append((ts, line_num, line))
+            return
+        m = receive_r.match(line)
+        if m is not None:
+            shortseq = int(m.group('shortseq'), 16)
+            ts = float(m.group('time'))
+            esttime = float(m.group('esttime'))
+            seq = self.mcu.sent_time_to_seq.get((esttime, (shortseq - 1) & 0xf))
+            if seq is not None:
+                self.mcu.receive_seq_to_time[seq + 1] = ts
+            line = self.annotate(line, seq, ts)
+            self.mcu.receive_stream.append((ts, line_num, line))
+            return
+        m = gcode_r.match(line)
+        if m is not None:
+            ts = float(m.group('time'))
+            self.gcode_stream.append((ts, line_num, line))
+            return
+        m = stats_r.match(line)
+        if m is not None:
+            ts = float(m.group('time'))
+            self.last_stat_time = ts
+            if self.first_stat_time is None:
+                self.first_stat_time = ts
+            self.stats_stream.append((ts, line_num, line))
+            return
+        m = mcu_r.match(line)
+        if m is not None:
+            mcu = m.group('mcu')
+            self.mcu = self.mcus.setdefault(mcu, self.mcu_info())
+        m = clock_r.match(line)
+        if m is not None:
+            st = float(m.group('st'))
+            sc = int(m.group('sc'))
+            f = float(m.group('f'))
+            self.mcu.clock_est = (st, sc, f)
+        m = serial_dump_r.match(line)
+        if m is not None:
+            self.mcu.shutdown_seq = int(m.group('rseq'))
+        m = send_dump_r.match(line)
+        if m is not None:
+            self.mcu.send_count = int(m.group('count'))
+        m = receive_dump_r.match(line)
+        if m is not None:
+            self.mcu.receive_count = int(m.group('count'))
+        self.stats_stream.append((None, line_num, line))
+    def finalize(self):
+        # Ignore old stats
+        stream_ts = [i[0] for mcu in self.mcus.values()
+                     for i in mcu.sent_stream + mcu.receive_stream]
+        if not stream_ts:
+            return
+        min_stream_ts = min(stream_ts)
+        max_stream_ts = max(stream_ts)
+        for i, info in enumerate(self.stats_stream):
+            if info[0] is not None and info[0] >= min_stream_ts - 5.:
+                del self.stats_stream[:i]
+                break
+        # Improve accuracy of stats timestamps
+        last_ts = self.stats_stream[0][0]
+        for i, (ts, line_num, line) in enumerate(self.stats_stream):
+            if ts is not None:
+                last_ts = self.check_stats_seq(ts, line)
+            elif line_num >= self.shutdown_line_num and last_ts <= max_stream_ts:
+                last_ts = max_stream_ts + 0.00000001
+            self.stats_stream[i] = (last_ts, line_num, line)
+        # Make sure no timestamp goes backwards
+        streams = ([self.stats_stream, self.gcode_stream] +
+                   [mcu.sent_stream for mcu in self.mcus.values()] +
+                   [mcu.receive_stream for mcu in self.mcus.values()])
+        for s in streams:
+            for i in range(1, len(s)):
+                if s[i-1][0] > s[i][0]:
+                    s[i] = (s[i-1][0], s[i][1], s[i][2])
+        # Produce output sorted by timestamp
+        out = [i for s in streams for i in s]
+        out.sort()
+        out = [i[2] for i in out]
+        f = open(self.filename, 'wb')
+        f.write('\n'.join(self.comments + out))
+        f.close()
+
+
+######################################################################
+# Startup
+######################################################################
+
+def main():
+    logname = sys.argv[1]
+    last_git = last_start = None
+    configs = {}
+    handler = None
+    recent_lines = collections.deque([], 200)
+    # Parse log file
+    f = open(logname, 'rb')
+    for line_num, line in enumerate(f):
+        line = line.rstrip()
+        line_num += 1
+        recent_lines.append((line_num, line))
+        if handler is not None:
+            ret = handler.add_line(line_num, line)
+            if ret:
+                continue
+            recent_lines.clear()
+            handler = None
+        if line.startswith('Git version'):
+            last_git = format_comment(line_num, line)
+        elif line.startswith('Start printer at'):
+            last_start = format_comment(line_num, line)
+        elif line == '===== Config file =====':
+            handler = GatherConfig(configs, line_num, recent_lines, logname)
+            handler.add_comment(last_git)
+            handler.add_comment(last_start)
+        elif 'shutdown: ' in line or line.startswith('Dumping '):
+            handler = GatherShutdown(configs, line_num, recent_lines, logname)
+            handler.add_comment(last_git)
+            handler.add_comment(last_start)
+    if handler is not None:
+        handler.finalize()
+    # Write found config files
+    for cfg in configs.values():
+        cfg.write_file()
+
+if __name__ == '__main__':
+    main()

scripts/stepstats.py

@@ -22,6 +22,7 @@ def main():
             continue
         args = dict([p.split('=', 1) for p in parts[1:]])
         if parts[0] == 'config_stepper':
+            # steppers[oid] = [dir_cmds, dir, queue_cmds, pos steps, neg steps]
             steppers[args['oid']] = [0, 0, 0, 0, 0]
         elif parts[0] == 'set_next_step_dir':
             so = steppers[args['oid']]

scripts/travis-build.sh

@@ -0,0 +1,44 @@
+#!/bin/bash
+# Test script for travis-ci.org continuous integration.
+
+# Stop script early on any error; check variables; be verbose
+set -eux
+
+# Paths to tools installed by travis-install.sh
+export PATH=${PWD}/gcc-arm-none-eabi-7-2017-q4-major/bin:${PATH}
+PYTHON=${PWD}/python-env/bin/python
+
+
+######################################################################
+# Run compile tests for several different MCU types
+######################################################################
+
+DICTDIR=${PWD}/dict
+mkdir -p ${DICTDIR}
+
+for TARGET in test/configs/*.config ; do
+    echo "travis_fold:start:mcu_compile $TARGET"
+    echo "=============== Test compile $TARGET"
+    make clean
+    make distclean
+    unset CC
+    cp ${TARGET} .config
+    make olddefconfig
+    make V=1
+    cp out/klipper.dict ${DICTDIR}/$(basename ${TARGET} .config).dict
+    echo "travis_fold:end:mcu_compile $TARGET"
+done
+
+
+######################################################################
+# Verify klippy host software
+######################################################################
+
+HOSTDIR=${PWD}/hosttest
+mkdir -p ${HOSTDIR}
+
+echo "travis_fold:start:klippy"
+echo "=============== Test invoke klippy"
+$PYTHON klippy/klippy.py config/example.cfg -i /dev/null -o ${HOSTDIR}/output -v -d ${DICTDIR}/atmega2560-16mhz.dict
+$PYTHON klippy/parsedump.py ${DICTDIR}/atmega2560-16mhz.dict ${HOSTDIR}/output > ${HOSTDIR}/output-parsed
+echo "travis_fold:end:klippy"

scripts/travis-install.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+# Build setup script for travis-ci.org continuous integration testing.
+# See travis-build.sh for the actual test steps.
+
+# Stop script early on any error; check variables; be verbose
+set -eux
+
+
+######################################################################
+# Install embedded arm gcc
+######################################################################
+
+echo "=============== Install embedded arm gcc"
+GCC_ARM_URL="https://developer.arm.com/-/media/Files/downloads/gnu-rm/7-2017q4/gcc-arm-none-eabi-7-2017-q4-major-linux.tar.bz2"
+GCC_ARM_SHA="96a029e2ae130a1210eaa69e309ea40463028eab18ba19c1086e4c2dafe69a6a  gcc-arm-none-eabi-7-2017-q4-major-linux.tar.bz2"
+GCC_ARM_FILE="$(basename ${GCC_ARM_URL})"
+
+wget "$GCC_ARM_URL"
+FOUND_SHA=`sha256sum "$GCC_ARM_FILE"`
+if [ "$FOUND_SHA" != "$GCC_ARM_SHA" ]; then
+    echo "ERROR: Mismatch on gcc arm sha256"
+    exit -1
+fi
+tar xf "$GCC_ARM_FILE"
+
+
+######################################################################
+# Create python virtualenv environment
+######################################################################
+
+echo "=============== Install python virtualenv"
+virtualenv python-env
+./python-env/bin/pip install cffi==1.6.0 pyserial==3.2.1 greenlet==0.4.10

src/Kconfig

@@ -36,6 +36,9 @@ config HAVE_GPIO_SPI
 config HAVE_GPIO_HARD_PWM
     bool
     default n
+config HAVE_USER_INTERFACE
+    bool
+    default n
 
 config NO_UNSTEP_DELAY
     # Slow micro-controllers do not require a delay before returning a

src/Makefile

@@ -5,3 +5,4 @@ src-$(CONFIG_HAVE_GPIO) += gpiocmds.c stepper.c endstop.c
 src-$(CONFIG_HAVE_GPIO_ADC) += adccmds.c
 src-$(CONFIG_HAVE_GPIO_SPI) += spicmds.c
 src-$(CONFIG_HAVE_GPIO_HARD_PWM) += pwmcmds.c
+src-$(CONFIG_HAVE_USER_INTERFACE) += lcd_st7920.c lcd_hd44780.c

src/avr/Kconfig

@@ -9,6 +9,7 @@ config AVR_SELECT
     select HAVE_GPIO_ADC
     select HAVE_GPIO_SPI
     select HAVE_GPIO_HARD_PWM
+    select HAVE_USER_INTERFACE
     select NO_UNSTEP_DELAY
 
 config BOARD_DIRECTORY
@@ -23,6 +24,8 @@ choice
         bool "atmega1280"
     config MACH_at90usb1286
         bool "at90usb1286"
+    config MACH_at90usb646
+        bool "at90usb646"
     config MACH_atmega1284p
         bool "atmega1284p"
     config MACH_atmega644p
@@ -40,9 +43,17 @@ config MCU
     default "atmega1284p" if MACH_atmega1284p
     default "atmega644p" if MACH_atmega644p
     default "at90usb1286" if MACH_at90usb1286
+    default "at90usb646" if MACH_at90usb646
     default "atmega1280" if MACH_atmega1280
     default "atmega2560" if MACH_atmega2560
 
+config AVRDUDE_PROTOCOL
+    string
+    default "wiring" if MACH_atmega2560
+    default "avr109" if MACH_at90usb1286
+    default "avr109" if MACH_at90usb646
+    default "arduino"
+
 choice
     prompt "Processor speed"
     config AVR_FREQ_20000000
@@ -62,7 +73,7 @@ config CLOCK_FREQ
 
 config CLEAR_PRESCALER
     bool "Manually clear the CPU prescaler field at startup"
-    depends on MACH_at90usb1286
+    depends on MACH_at90usb1286 || MACH_at90usb646
     default y
     help
          Some AVR chips ship with a "clock prescaler" that causes the
@@ -85,7 +96,7 @@ config AVR_WATCHDOG
     default y
 config AVR_USBSERIAL
     bool "Use USB for communication (instead of serial)"
-    depends on MACH_at90usb1286
+    depends on MACH_at90usb1286 || MACH_at90usb646
     default y
 config AVR_SERIAL
     depends on !AVR_USBSERIAL

src/avr/Makefile

@@ -24,6 +24,6 @@ $(OUT)klipper.elf.hex: $(OUT)klipper.elf
 	$(Q)$(OBJCOPY) -j .text -j .data -O ihex $< $@
 
 flash: $(OUT)klipper.elf.hex
-	@echo "  Flashing $(FLASH_DEVICE) via avrdude"
+	@echo "  Flashing $^ to $(FLASH_DEVICE) via avrdude"
 	$(Q)if [ -z $(FLASH_DEVICE) ]; then echo "Please specify FLASH_DEVICE"; exit 1; fi
-	$(Q)avrdude -p$(CONFIG_MCU) -cwiring -P"$(FLASH_DEVICE)" -D -U"flash:w:$(OUT)klipper.elf.hex:i"
+	$(Q)avrdude -p$(CONFIG_MCU) -c$(CONFIG_AVRDUDE_PROTOCOL) -P"$(FLASH_DEVICE)" -D -U"flash:w:$(OUT)klipper.elf.hex:i"

src/avr/gpio.c

@@ -152,7 +152,7 @@ static const uint8_t pwm_pins[ARRAY_SIZE(pwm_regs)] PROGMEM = {
 # ifdef OCR3A
     GPIO('B', 6), GPIO('B', 7),
 # endif
-#elif CONFIG_MACH_at90usb1286
+#elif CONFIG_MACH_at90usb1286 || CONFIG_MACH_at90usb646
     GPIO('B', 7), GPIO('D', 0),
     GPIO('B', 5), GPIO('B', 6), GPIO('B', 7),
     GPIO('B', 4), GPIO('D', 1),
@@ -186,20 +186,20 @@ gpio_pwm_setup(uint8_t pin, uint32_t cycle_time, uint8_t val)
     uint8_t flags = READP(p->flags), cs;
     if (flags & GP_AFMT) {
         switch (cycle_time) {
-        case 0        ...    8*510L - 1: cs = 1; break;
+        case                    0 ...      (1+8) * 510L / 2 - 1: cs = 1; break;
-        case 8*510L   ...   32*510L - 1: cs = 2; break;
+        case     (1+8) * 510L / 2 ...     (8+32) * 510L / 2 - 1: cs = 2; break;
-        case 32*510L  ...   64*510L - 1: cs = 3; break;
+        case    (8+32) * 510L / 2 ...    (32+64) * 510L / 2 - 1: cs = 3; break;
-        case 64*510L  ...  128*510L - 1: cs = 4; break;
+        case   (32+64) * 510L / 2 ...   (64+128) * 510L / 2 - 1: cs = 4; break;
-        case 128*510L ...  256*510L - 1: cs = 5; break;
+        case  (64+128) * 510L / 2 ...  (128+256) * 510L / 2 - 1: cs = 5; break;
-        case 256*510L ... 1024*510L - 1: cs = 6; break;
+        case (128+256) * 510L / 2 ... (256+1024) * 510L / 2 - 1: cs = 6; break;
         default:                                                 cs = 7; break;
         }
     } else {
         switch (cycle_time) {
-        case 0        ...    8*510L - 1: cs = 1; break;
+        case                    0 ...      (1+8) * 510L / 2 - 1: cs = 1; break;
-        case 8*510L   ...   64*510L - 1: cs = 2; break;
+        case     (1+8) * 510L / 2 ...     (8+64) * 510L / 2 - 1: cs = 2; break;
-        case 64*510L  ...  256*510L - 1: cs = 3; break;
+        case    (8+64) * 510L / 2 ...   (64+256) * 510L / 2 - 1: cs = 3; break;
-        case 256*510L ... 1024*510L - 1: cs = 4; break;
+        case  (64+256) * 510L / 2 ... (256+1024) * 510L / 2 - 1: cs = 4; break;
         default:                                                 cs = 5; break;
         }
     }
@@ -252,7 +252,7 @@ static const uint8_t adc_pins[] PROGMEM = {
 #elif CONFIG_MACH_atmega644p || CONFIG_MACH_atmega1284p
     GPIO('A', 0), GPIO('A', 1), GPIO('A', 2), GPIO('A', 3),
     GPIO('A', 4), GPIO('A', 5), GPIO('A', 6), GPIO('A', 7),
-#elif CONFIG_MACH_at90usb1286
+#elif CONFIG_MACH_at90usb1286 || CONFIG_MACH_at90usb646
     GPIO('F', 0), GPIO('F', 1), GPIO('F', 2), GPIO('F', 3),
     GPIO('F', 4), GPIO('F', 5), GPIO('F', 6), GPIO('F', 7),
 #elif CONFIG_MACH_atmega1280 || CONFIG_MACH_atmega2560
@@ -280,7 +280,7 @@ gpio_adc_setup(uint8_t pin)
     }
 
     // Enable ADC
-    ADCSRA |= (1<<ADPS0)|(1<<ADPS1)|(1<<ADPS2)|(1<<ADEN);
+    ADCSRA = (1<<ADPS0)|(1<<ADPS1)|(1<<ADPS2)|(1<<ADEN);
 
     // Disable digital input for this pin
 #ifdef DIDR2
@@ -316,7 +316,7 @@ gpio_adc_sample(struct gpio_adc g)
 #if defined(ADCSRB) && defined(MUX5)
     // the MUX5 bit of ADCSRB selects whether we're reading from channels
     // 0 to 7 (MUX5 low) or 8 to 15 (MUX5 high).
-    ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((g.chan >> 3) & 0x01) << MUX5);
+    ADCSRB = ((g.chan >> 3) & 0x01) << MUX5;
 #endif
 
     ADMUX = ADMUX_DEFAULT | (g.chan & 0x07);
@@ -352,7 +352,7 @@ gpio_adc_cancel_sample(struct gpio_adc g)
 static const uint8_t SS = GPIO('B', 2), SCK = GPIO('B', 5), MOSI = GPIO('B', 3);
 #elif CONFIG_MACH_atmega644p || CONFIG_MACH_atmega1284p
 static const uint8_t SS = GPIO('B', 4), SCK = GPIO('B', 7), MOSI = GPIO('B', 5);
-#elif CONFIG_MACH_at90usb1286 || CONFIG_MACH_atmega1280 || CONFIG_MACH_atmega2560
+#elif CONFIG_MACH_at90usb1286 || CONFIG_MACH_at90usb646 || CONFIG_MACH_atmega1280 || CONFIG_MACH_atmega2560
 static const uint8_t SS = GPIO('B', 0), SCK = GPIO('B', 1), MOSI = GPIO('B', 2);
 #endif
 

src/avr/timer.c

@@ -93,12 +93,13 @@ DECL_SHUTDOWN(timer_reset);
 void
 timer_init(void)
 {
+    irqstatus_t flag = irq_save();
     // no outputs
     TCCR1A = 0;
     // Normal Mode
     TCCR1B = 1<<CS10;
     // Setup for first irq
-    irqstatus_t flag = irq_save();
+    TCNT1 = 0;
     timer_kick();
     timer_repeat_set(timer_get() + 50);
     timer_reset();

src/gpiocmds.c

@@ -142,7 +142,7 @@ soft_pwm_load_event(struct timer *timer)
     s->flags = flags;
     gpio_out_write(s->pin, flags & SPF_ON);
     if (!(flags & SPF_TOGGLING)) {
-        // Pin is in an always on (value=255) or always off (value=0) state
+        // Pin is in an always on (value=256) or always off (value=0) state
         if (!(flags & SPF_CHECK_END))
             return SF_DONE;
         s->timer.waketime = s->end_time = s->end_time + s->max_duration;
@@ -199,7 +199,7 @@ command_schedule_soft_pwm_out(uint32_t *args)
     s->end_time = time;
     s->next_on_duration = next_on_duration;
     s->next_off_duration = next_off_duration;
-    s->flags |= next_flags;
+    s->flags = (s->flags & 0xf) | next_flags;
     if (s->flags & SPF_TOGGLING && timer_is_before(s->timer.waketime, time)) {
         // soft_pwm_toggle_event() will schedule a load event when ready
     } else {

src/lcd_hd44780.c

@@ -0,0 +1,132 @@
+// Commands for sending messages to a 4-bit hd44780 lcd driver
+//
+// Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "basecmd.h" // oid_alloc
+#include "board/gpio.h" // gpio_out_write
+#include "board/irq.h" // irq_disable
+#include "board/misc.h" // timer_from_us
+#include "command.h" // DECL_COMMAND
+#include "sched.h" // DECL_SHUTDOWN
+
+struct hd44780 {
+    uint32_t last_cmd_time, cmd_wait_ticks;
+    uint8_t last;
+    struct gpio_out rs, e, d4, d5, d6, d7;
+};
+
+
+/****************************************************************
+ * Transmit functions
+ ****************************************************************/
+
+// Write 4 bits to the hd44780 using the 4bit parallel interface
+static __always_inline void
+hd44780_xmit_bits(uint8_t toggle, struct gpio_out e, struct gpio_out d4
+                  , struct gpio_out d5, struct gpio_out d6, struct gpio_out d7)
+{
+    gpio_out_toggle(e);
+    if (toggle & 0x10)
+        gpio_out_toggle(d4);
+    if (toggle & 0x20)
+        gpio_out_toggle(d5);
+    if (toggle & 0x40)
+        gpio_out_toggle(d6);
+    if (toggle & 0x80)
+        gpio_out_toggle(d7);
+    gpio_out_toggle(e);
+}
+
+// Transmit 8 bits to the chip
+static void
+hd44780_xmit_byte(struct hd44780 *h, uint8_t data)
+{
+    struct gpio_out e = h->e, d4 = h->d4, d5 = h->d5, d6 = h->d6, d7 = h->d7;
+    hd44780_xmit_bits(h->last ^ data, e, d4, d5, d6, d7);
+    h->last = data << 4;
+    hd44780_xmit_bits(data ^ h->last, e, d4, d5, d6, d7);
+}
+
+// Transmit a series of bytes to the chip
+static void
+hd44780_xmit(struct hd44780 *h, uint8_t len, uint8_t *data)
+{
+    uint32_t last_cmd_time=h->last_cmd_time, cmd_wait_ticks=h->cmd_wait_ticks;
+    while (len--) {
+        uint8_t b = *data++;
+        while (timer_read_time() - last_cmd_time < cmd_wait_ticks)
+            irq_poll();
+        hd44780_xmit_byte(h, b);
+        last_cmd_time = timer_read_time();
+    }
+    h->last_cmd_time = last_cmd_time;
+}
+
+
+/****************************************************************
+ * Interface
+ ****************************************************************/
+
+void
+command_config_hd44780(uint32_t *args)
+{
+    struct hd44780 *h = oid_alloc(args[0], command_config_hd44780, sizeof(*h));
+    h->rs = gpio_out_setup(args[1], 0);
+    h->e = gpio_out_setup(args[2], 0);
+    h->d4 = gpio_out_setup(args[3], 0);
+    h->d5 = gpio_out_setup(args[4], 0);
+    h->d6 = gpio_out_setup(args[5], 0);
+    h->d7 = gpio_out_setup(args[6], 0);
+
+    // Calibrate cmd_wait_ticks
+    irq_disable();
+    uint32_t start = timer_read_time();
+    hd44780_xmit_byte(h, 0);
+    uint32_t end = timer_read_time();
+    irq_enable();
+    uint32_t diff = end - start, delay_ticks = args[7];
+    if (delay_ticks > diff)
+        h->cmd_wait_ticks = delay_ticks - diff;
+}
+DECL_COMMAND(command_config_hd44780,
+             "config_hd44780 oid=%c rs_pin=%u e_pin=%u"
+             " d4_pin=%u d5_pin=%u d6_pin=%u d7_pin=%u delay_ticks=%u");
+
+void
+command_hd44780_send_cmds(uint32_t *args)
+{
+    struct hd44780 *h = oid_lookup(args[0], command_config_hd44780);
+    gpio_out_write(h->rs, 0);
+    uint8_t len = args[1], *cmds = (void*)(size_t)args[2];
+    hd44780_xmit(h, len, cmds);
+}
+DECL_COMMAND(command_hd44780_send_cmds, "hd44780_send_cmds oid=%c cmds=%*s");
+
+void
+command_hd44780_send_data(uint32_t *args)
+{
+    struct hd44780 *h = oid_lookup(args[0], command_config_hd44780);
+    gpio_out_write(h->rs, 1);
+    uint8_t len = args[1], *data = (void*)(size_t)args[2];
+    hd44780_xmit(h, len, data);
+}
+DECL_COMMAND(command_hd44780_send_data, "hd44780_send_data oid=%c data=%*s");
+
+void
+hd44780_shutdown(void)
+{
+    uint8_t i;
+    struct hd44780 *h;
+    foreach_oid(i, h, command_config_hd44780) {
+        gpio_out_write(h->rs, 0);
+        gpio_out_write(h->e, 0);
+        gpio_out_write(h->d4, 0);
+        gpio_out_write(h->d5, 0);
+        gpio_out_write(h->d6, 0);
+        gpio_out_write(h->d7, 0);
+        h->last = 0;
+    }
+}
+DECL_SHUTDOWN(hd44780_shutdown);