heaters: Add "heaters/set_target_temperature" API endpoint

Add a mechanism for api clients to asynchronously set a target temperature. That is, a mechanism to set the temperature without needing to wait for G-Code commands to complete. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
heaters: Add 'temperature_wait' status to heaters object
2024-08-05 01:12:19 -04:00 · 2024-08-05 00:43:41 -04:00
415 changed files with 9974 additions and 151280 deletions
--- a/.github/workflows/build-test.yaml
+++ b/.github/workflows/build-test.yaml
@@ -21,7 +21,7 @@ jobs:
      run: ./scripts/ci-build.sh 2>&1

    - name: Upload micro-controller data dictionaries
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v3
      with:
        name: data-dict
        path: ci_build/dict
--- a/.github/workflows/stale-issue-bot.yaml
+++ b/.github/workflows/stale-issue-bot.yaml
@@ -11,14 +11,16 @@ jobs:
    steps:
    - uses: actions/stale@v8
      with:
-        stale-pr-message: |
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        stale-issue-message: |
          Hello,

          It looks like there hasn't been any recent updates on this
-          github ticket.  We prefer to only list tickets as "open" if
-          they are actively being worked on.  Feel free to provide an
-          update on this ticket.  Otherwise the ticket will be
-          automatically closed in a few days.
+          Klipper github issue.  If you created this issue and no
+          longer consider it open, then please login to github and
+          close the issue.  Otherwise, if there is no further activity
+          on this thread then it will be automatically closed in a few
+          days.

          Best regards,

@@ -27,10 +29,10 @@ jobs:
          PS: I'm just an automated script, not a human being.

        exempt-issue-labels: 'enhancement,bug'
-        days-before-stale: 60
+        days-before-stale: 35
        days-before-close: 7
-        days-before-issue-stale: -1
-        days-before-issue-close: -1
+        days-before-pr-stale: -1
+        days-before-pr-close: -1
  # Close tickets marked with "not on github" label
  close_not_on_github:
    if: github.repository == 'Klipper3d/klipper'
@@ -328,7 +330,7 @@ jobs:
            }
  # Lock closed issues after 6 months of inactivity and PRs after 1 year.
  lock:
-    name: Lock Closed Tickets
+    name: Lock Closed Issues
    if: github.repository == 'Klipper3d/klipper'
    runs-on: ubuntu-latest
    steps:
--- a/README.md
+++ b/README.md
@@ -4,14 +4,15 @@ Welcome to the Klipper project!

 https://www.klipper3d.org/

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

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

-Klipper software is Free Software. See the [license](COPYING) or read
-the [documentation](https://www.klipper3d.org/Overview.html). We
-depend on the generous support from our
+Klipper is Free Software. See the [license](COPYING) or read the
+[documentation](https://www.klipper3d.org/Overview.html). We depend on
+the generous support from our
 [sponsors](https://www.klipper3d.org/Sponsors.html).
--- a/config/generic-creality-v4.2.7.cfg
+++ b/config/generic-creality-v4.2.7.cfg
@@ -95,4 +95,4 @@ max_z_accel: 100
 aliases:
  EXP1_1=PC6,EXP1_3=PB10,EXP1_5=PB14,EXP1_7=PB12,EXP1_9=<GND>,
  EXP1_2=PB2,EXP1_4=PB11,EXP1_6=PB13,EXP1_8=PB15,EXP1_10=<5V>,
-  PROBE_IN=PB0,PROBE_OUT=PB1,FIL_RUNOUT=PA4
+  PROBE_IN=PB0,PROBE_OUT=PB1,FIL_RUNOUT=PC6
--- a/config/generic-mellow-fly-e3-v2.cfg
+++ b/config/generic-mellow-fly-e3-v2.cfg
@@ -1,232 +0,0 @@
-# This file contains common pin mappings for the Mellow Fly-E3-v2.
-# To use this config, the firmware should be compiled for the
-# STM32F407 with a "32KiB bootloader".
-
-# The "make flash" command does not work on the Fly-E3-v2. Instead,
-# after running "make", copy the generated "out/klipper.bin" file to a
-# file named "firmware.bin" or "klipper.bin" on an SD card and then restart the Fly-E3-v2
-# with that SD card.
-
-# See docs/Config_Reference.md for a description of parameters.
-
-[mcu]
-serial: /dev/serial/by-id/usb-Klipper_stm32f407xx_27004A001851323333353137-if00
-
-[stepper_x]
-step_pin: PE5
-dir_pin: PC0
-enable_pin: !PC1
-microsteps: 16
-rotation_distance: 30
-full_steps_per_rotation: 200
-endstop_pin: PE7 #X-STOP
-position_endstop: 0
-position_max: 200
-homing_speed: 50
-second_homing_speed: 10
-homing_retract_dist: 5.0
-homing_positive_dir: false
-step_pulse_duration: 0.000004
-
-[stepper_y]
-step_pin: PE4
-dir_pin: !PC13
-enable_pin: !PC14
-microsteps: 16
-rotation_distance: 30
-full_steps_per_rotation: 200
-endstop_pin: PE8 #Y-STOP
-position_endstop: 0
-position_max: 200
-homing_speed: 50
-second_homing_speed: 10
-homing_retract_dist: 5.0
-homing_positive_dir: false
-step_pulse_duration: 0.000004
-
-[stepper_z]
-step_pin: PE1
-dir_pin: !PB7
-enable_pin: !PE3
-microsteps: 16
-rotation_distance: 30
-full_steps_per_rotation: 200
-endstop_pin: PE9 #Z-STOP
-position_min: 0
-position_endstop: 0
-position_max: 200
-homing_speed: 5
-second_homing_speed: 3
-homing_retract_dist: 5.0
-homing_positive_dir: false
-step_pulse_duration: 0.000004
-
-[extruder]
-step_pin: PE2
-dir_pin: PD5
-enable_pin: !PD6
-microsteps: 16
-rotation_distance: 33.500
-nozzle_diameter: 0.400
-filament_diameter: 1.750
-heater_pin: PC6 #E0
-
-########################################
-# Extruder 100K thermistor configuration
-########################################
-sensor_type: ATC Semitec 104GT-2
-sensor_pin: PC4 #T0 TEMP
-control: pid
-pid_Kp: 22.2
-pid_Ki: 1.08
-pid_Kd: 114
-min_temp: 0
-max_temp: 275
-########################################
-# Extruder MAX31865 PT100 2 wire config
-########################################
-# sensor_type: MAX31865
-# sensor_pin: PD15 #PT-100
-# spi_speed: 4000000
-# spi_software_sclk_pin: PD12
-# spi_software_mosi_pin: PD11
-# spi_software_miso_pin: PD13
-# rtd_nominal_r: 100
-# rtd_reference_r: 430
-# rtd_num_of_wires: 2
-# rtd_use_50Hz_filter: True
-min_temp: 0
-max_temp: 300
-
-#[extruder1]
-#step_pin: PE0
-#dir_pin: PD1
-#enable_pin: !PD3
-#microsteps: 16
-#heater_pin: PC7 #E1
-#sensor_pin: PC5 #T1 TEMP
-
-########################################
-# TMC2209 configuration
-########################################
-
-[tmc2209 stepper_x]
-uart_pin: PC15
-interpolate: False
-run_current: 0.3
-sense_resistor: 0.110
-stealthchop_threshold: 999999
-
-[tmc2209 stepper_y]
-uart_pin: PB6
-interpolate: False
-run_current: 0.3
-sense_resistor: 0.110
-stealthchop_threshold: 999999
-
-[tmc2209 stepper_z]
-uart_pin: PD7
-interpolate: False
-run_current: 0.4
-sense_resistor: 0.110
-stealthchop_threshold: 999999
-
-[tmc2209 extruder]
-uart_pin: PD4
-interpolate: False
-run_current: 0.27
-sense_resistor: 0.075
-stealthchop_threshold: 999999
-
-#[tmc2209 extruder1]
-#uart_pin: PD0
-#interpolate: False
-#run_current: 0.27
-#sense_resistor: 0.075
-#stealthchop_threshold: 999999
-
-
-#######################################
-# Heated Bed
-#######################################
-
-[heater_bed]
-heater_pin: PB0 #BED
-sensor_type: Generic 3950
-sensor_pin: PB1 #B-TEMP
-max_power: 1.0
-min_temp: 0
-max_temp: 120
-control: pid
-pid_kp: 58.437
-pid_ki: 2.347
-pid_kd: 363.769
-
-#######################################
-# LIGHTING
-#######################################
-
-#[led Toolhead]
-#white_pin: PA2 #FAN2
-#cycle_time: 0.010
-#initial_white: 0
-
-#######################################
-# COOLING
-#######################################
-
-[heater_fan hotend_fan]
-pin: PA1 #FAN1
-max_power: 1.0
-kick_start_time: 0.5
-heater: extruder
-heater_temp: 50
-fan_speed: 1.0
-
-[controller_fan controller_fan]
-pin: PA0 #FAN0
-max_power: 1.0
-kick_start_time: 0.5
-heater: extruder
-stepper: stepper_x, stepper_y, stepper_z
-fan_speed: 1.0
-idle_timeout: 60
-
-[fan]
-pin: PA3 #FAN3
-max_power: 1.0
-off_below: 0.2
-
-[temperature_sensor Mellow_Fly_E3_V2]
-sensor_type: temperature_mcu
-min_temp: 5
-max_temp: 80
-
-[printer]
-kinematics: cartesian
-max_velocity: 300
-max_accel: 3000
-max_z_velocity: 50
-max_z_accel: 100
-
-########################################
-# EXP1 / EXP2 (display) pins
-########################################
-[board_pins]
-aliases:
-    EXP1_1=PD10, EXP1_3=PA8,   EXP1_5=PE15,   EXP1_7=PA14,  EXP1_9=<GND>,
-    EXP1_2=PA9,  EXP1_4=PA10,  EXP1_6=PE14,   EXP1_8=PA13,  EXP1_10=<5V>,
-    # EXP2 header
-    EXP2_1=PA6, EXP2_3=PB11,  EXP2_5=PB10,  EXP2_7=PE13,   EXP2_9=<GND>,
-    EXP2_2=PA5, EXP2_4=PA4,   EXP2_6=PA7,   EXP2_8=<RST>, EXP2_10=<NC>,
-
-# See the sample-lcd.cfg file for definitions of common LCD displays.
-
-#######################################
-# BL-Touch
-#######################################
-
-#[bltouch]
-#sensor_pin: PC2
-#control_pin: PE6
-#z_offset: 0
--- a/config/printer-geeetech-A10T-A20T-2021.cfg
+++ b/config/printer-geeetech-A10T-A20T-2021.cfg
@@ -1,256 +0,0 @@
-# This file contains common pin mappings for the Geeetech GT2560 v4.0 and v4.1b
-# boards. These boards use a firmware compiled for the AVR atmega2560.
-# For default Geeetech A10/A20  (1 extruder),
-#                      A10M/A20M (mixing 2 in 1 out),
-#                      A10T/A20T (mixing 3 in 1 out) printers
-# Installation: https://www.klipper3d.org/Installation.html
-# Always read for first start: https://www.klipper3d.org/Config_checks.html
-
-[mcu]
-# Might need to be changed: https://www.klipper3d.org/Installation.html
-serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
-
-[printer]
-kinematics: cartesian
-max_velocity: 200
-max_accel: 1500
-max_z_velocity: 20
-max_z_accel: 500
-
-# # uncomment for BLTouch/3DTouch
-# [bltouch]
-# sensor_pin: PC7 # there is an external pull up so no need in ^
-# control_pin: PB5
-# speed: 3.0
-# samples: 2
-# x_offset: -42.0
-# y_offset: -1.0
-#                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      z_offset: 1.0 # during calibration this line is commented out and new record added at the end of file
-
-[safe_z_home]
-home_xy_position: 100, 100  # Change coordinates to the center of your print bed
-speed: 50
-z_hop: 10  # Move up 10mm
-z_hop_speed: 5
-
-[stepper_x]
-enable_pin: !PC2
-dir_pin: !PG2
-step_pin: PC0
-microsteps: 16
-rotation_distance: 40
-endstop_pin: !PA2 # there are external pull ups
-position_endstop: 0
-position_max: 220 # for A10/M/T / change to 250 for A20/M/T
-homing_speed: 40
-
-[stepper_y]
-enable_pin: !PA7
-dir_pin: !PC4
-step_pin: PC6
-microsteps: 16
-rotation_distance: 40
-endstop_pin: !PA6 # there are external pull ups
-position_endstop: 0
-position_max: 220 # for A10/M/T / change to 250 for A20/M/T
-homing_speed: 40
-
-[stepper_z]
-enable_pin: !PA5
-dir_pin: PA1
-step_pin: PA3
-microsteps: 16
-rotation_distance: 8
-#endstop_pin: probe:z_virtual_endstop # uncomment for BLTouch/3DTouch
-endstop_pin: !PC7 # comment for BLTouch/3DTouch
-position_endstop: 0 # comment for BLTouch/3DTouch
-position_max: 230 # for A10/M/T / change to 250 for A20/M/T
-position_min: -5
-homing_speed: 20
-
-[extruder]
-enable_pin: !PB6
-dir_pin: PL5
-step_pin: PL3
-microsteps: 16
-rotation_distance: 8 # Needs to be optimized: https://www.klipper3d.org/Rotation_Distance.html#calibrating-rotation_distance-on-extruders
-nozzle_diameter: 0.4
-filament_diameter: 1.750
-heater_pin: PB4
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK3
-min_temp: 0
-max_temp: 250
-max_extrude_only_distance: 200.0
-# Parameters for stock hotend on A10M
-# Please recalibrate according to https://www.klipper3d.org/Config_checks.html#calibrate-pid-settings
-control: pid
-pid_kp: 54.722
-pid_ki: 4.800
-pid_kd: 155.958
-
-[extruder_stepper extruder_1]
-extruder:
-enable_pin: !PL1
-dir_pin: PL2
-step_pin: PL0
-microsteps: 16
-rotation_distance: 8 # Needs to be optimized: https://www.klipper3d.org/Rotation_Distance.html#calibrating-rotation_distance-on-extruders
-
-[extruder_stepper extruder_2]
-extruder:
-enable_pin: !PG0
-dir_pin: PL4
-step_pin: PL6
-microsteps: 16
-rotation_distance: 8 # Needs to be optimized: https://www.klipper3d.org/Rotation_Distance.html#calibrating-rotation_distance-on-extruders
-
-[heater_bed]
-heater_pin: PG5
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK2
-min_temp: 0
-max_temp: 120
-# Parameters for `SuperPlate` on A10M
-# Please recalibrate according to https://www.klipper3d.org/Config_checks.html#calibrate-pid-settings
-control: pid
-pid_kp: 70.936
-pid_ki: 1.785
-pid_kd: 704.924
-
-[fan]
-pin: PH6
-cycle_time: 0.150
-kick_start_time: 0.300
-
-# # for GT2560V4.0 with 20pin flat cable toward the display
-# [display]
-# lcd_type: hd44780
-# hd44780_protocol_init: True
-# rs_pin: PD1
-# e_pin: PH0
-# d4_pin: PH1
-# d5_pin: PD0
-# d6_pin: PE3
-# d7_pin: PC1
-# encoder_pins: ^PG1, ^PL7
-# click_pin: ^!PD2
-
-
-# for GT2560V4.1B with 12pin flat cable toward the display YHCB2004-06 ver3.0
-# the aip31068_spi driver was added to Klipper on 2024-12-02, commit aecb29d2
-[display]
-lcd_type: aip31068_spi
-latch_pin: PE3
-spi_software_sclk_pin: PD0
-spi_software_mosi_pin: PC1
-spi_software_miso_pin: PH7 # any unused pin
-encoder_pins: ^PH0, ^PH1
-click_pin: ^!PD2
-
-
-[filament_switch_sensor sensor_e0]
-switch_pin: !PK4
-
-[filament_switch_sensor sensor_e1]
-switch_pin: !PK5
-
-[filament_switch_sensor sensor_e2]
-# switch_pin: !PE2 # for GT2560V4.0
-switch_pin: !PF0 # for GT2560V4.1B
-
-# to enable M118 echo command
-[respond]
-
-# Specific macros for mixing colors.
-# Add in slicer new filament color and in filament start G-Code add desired mixing factor:
-#     M163 S0 P50 ; set extruder 0 to 50%
-#     M163 S1 P40 ; set extruder 1 to 40%
-#     M163 S2 P10 ; set extruder 2 to 10%
-#     M164 ; commit the mix factors
-[gcode_macro M163]
-description:  M163 [P<factor>] [S<index>] Set a single mix factor (in proportion to the sum total of all mix factors). The mix must be committed to a virtual tool by M164 before it takes effect.
-gcode:
-    {% if 'P' in params %}
-            {% set s = params.S|default(0)| int %}
-            {% if s == 0 %}
-                SET_GCODE_VARIABLE MACRO=M164 VARIABLE=e0_parts VALUE={params.P|default(0)|float}
-                M118 Set Mixing factor for extruder 0 to {params.P|default(0)|float}
-            {% elif s == 1 %}
-                SET_GCODE_VARIABLE MACRO=M164 VARIABLE=e1_parts VALUE={params.P|default(0)|float}
-                M118 Set Mixing factor for extruder 1 to {params.P|default(0)|float}
-            {% elif s == 2 %}
-                SET_GCODE_VARIABLE MACRO=M164 VARIABLE=e2_parts VALUE={params.P|default(0)|float}
-                M118 Set Mixing factor for extruder 2 to {params.P|default(0)|float}
-            {% endif %}
-    {% else %}
-        M118 No Mixing factor set, missing value for P
-    {% endif %}
-    M118 {e0_parts} {e1_parts} {e2_parts}
-
-
-[gcode_macro M164]
-description: Applies the set mixing factors to the extruders
-# default values:
-variable_e0_parts : 100
-variable_e1_parts : 0
-variable_e2_parts : 0
-gcode:
-    # normalize the parts to sum of 1
-    {% set e0 = e0_parts / (e0_parts + e1_parts + e2_parts) | float %}
-    {% set e1 = e1_parts / (e0_parts + e1_parts + e2_parts) | float %}
-    {% set e2 = e2_parts / (e0_parts + e1_parts + e2_parts) | float %}
-    M118 scaled rot-dist_e0 { printer.configfile.settings.extruder.rotation_distance / (e0 + 0.000001) | float }
-    M118 scaled rot-dist_e1 { printer.configfile.settings['extruder_stepper extruder_1'].rotation_distance / (e1 + 0.000001) | float }
-    M118 scaled rot-dist_e2 { printer.configfile.settings['extruder_stepper extruder_2'].rotation_distance / (e2 + 0.000001) |float }
-    # activate stepper percentages
-    SYNC_EXTRUDER_MOTION EXTRUDER=extruder MOTION_QUEUE=extruder
-    SYNC_EXTRUDER_MOTION EXTRUDER=extruder_1 MOTION_QUEUE=extruder
-    SYNC_EXTRUDER_MOTION EXTRUDER=extruder_2 MOTION_QUEUE=extruder
-    SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=extruder DISTANCE={ printer.configfile.settings.extruder.rotation_distance / (e0+0.000001)|float }
-    SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=extruder_1 DISTANCE={ printer.configfile.settings['extruder_stepper extruder_1'].rotation_distance / (e1+0.000001)|float }
-    SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=extruder_2 DISTANCE={ printer.configfile.settings['extruder_stepper extruder_2'].rotation_distance / (e2+0.000001)|float }
-    M118 Mixing factors {e0} {e1} {e2} are activated
-
-# In PrusaSlicer:
-#    - you can add as many extruders as mixing ratios you want
-#    - in Printer Settings -> Custom G-code -> Tool change G-code add:
-#        TOOL_CHANGE EXTRUDER={next_extruder}
-#    - in this config file add:
-#           [gcode_macro TOOL_CHANGE]
-#           description: Tool change macro with mix ratio setup for 11 extruders
-#           variable_extruder: 0
-#           gcode:
-#               {% set extruder = params.EXTRUDER|default(0)| int %}
-#               {% if extruder == 0 %}
-#                   M163 S0 P100
-#                   M163 S1 P0
-#                   M163 S2 P0
-#                   M164
-#                   M118 Switching to Extruder 0
-#               {% elif extruder == 1 %}
-#                   M163 S0 P90
-#                   M163 S1 P10
-#                   M163 S2P0
-#                   M164
-#                   M118 Switching to Extruder 1
-#               {% elif extruder == 2 %}
-#                   # and so on ...
-#               {% else %}
-#                   M118 Unknown extruder number: {extruder}
-#               {% endif %}
-
-# In OrcaSlicer:
-# you can add as many filaments as mixing ratios you want
-# in Material settings -> Advanced -> Filament start G-code add desired mixing ratio:
-#    ; filament start gcode
-#    M163 S0 P100 ; set extruder 0
-#    M163 S1 P0 ; set extruder 1
-#    M163 S2 P0 ; set extruder 2
-#    M164 ; commit the mix factors
-
-# For gradient over Z axis:
-# In `Printer -> Custom G-code -> After layer change G-code` add:
-#     M163 S0 P{ layer_num * 100 / total_layer_count } ; Gradient 0-100
-#     M163 S1 P{(total_layer_count-layer_num) * 100 / total_layer_count} ; Gradient 100-0
-#     M164 ; commit the mix factors
--- a/config/sample-duet3-1lc.cfg
+++ b/config/sample-duet3-1lc.cfg
@@ -77,14 +77,5 @@ heater_temp: 50.0
 pin: toolboard:PA9
 z_offset: 20

-[samd_sercom sercom_i2c]
-sercom: sercom1
-tx_pin: toolboard:PA16
-clk_pin: toolboard:PA17
-
-[lis3dh]
-i2c_mcu: toolboard
-i2c_bus: sercom1
-
 [mcu toolboard]
 canbus_uuid: 4b194673554e
--- a/docs/API_Server.md
+++ b/docs/API_Server.md
@@ -282,6 +282,22 @@ window" interface. Parsing content from the G-Code terminal output is
 discouraged. Use the "objects/subscribe" endpoint to obtain updates on
 Klipper's state.

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

 This endpoint is used to subscribe to Klipper's internal stepper
@@ -375,10 +391,9 @@ A request may look like:
 `{"id": 123, "method":"hx71x/dump_hx71x",
 "params": {"sensor": "load_cell", "response_template": {}}}`
 and might return:
-`{"id": 123,"result":{"header":["time","counts","value"]}}`
+`{"id": 123,"result":{"header":["time","counts"]}}`
 and might later produce asynchronous messages such as:
-`{"params":{"data":[[3292.432935, 562534, 0.067059278],
-[3292.4394937, 5625322, 0.670590639]]}}`
+`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`

 ### ads1220/dump_ads1220

@@ -391,10 +406,9 @@ A request may look like:
 `{"id": 123, "method":"ads1220/dump_ads1220",
 "params": {"sensor": "load_cell", "response_template": {}}}`
 and might return:
-`{"id": 123,"result":{"header":["time","counts","value"]}}`
+`{"id": 123,"result":{"header":["time","counts"]}}`
 and might later produce asynchronous messages such as:
-`{"params":{"data":[[3292.432935, 562534, 0.067059278],
-[3292.4394937, 5625322, 0.670590639]]}}`
+`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`

 ### pause_resume/cancel

--- a/docs/Axis_Twist_Compensation.md
+++ b/docs/Axis_Twist_Compensation.md
@@ -24,51 +24,19 @@ try to probe the bed without attaching the probe if you use it.
 > **Tip:** Make sure the [probe X and Y offsets](Config_Reference.md#probe) are
 > correctly set as they greatly influence calibration.

-### Basic Usage: X-Axis Calibration
-1. After setting up the ```[axis_twist_compensation]``` module, run:
-```
-AXIS_TWIST_COMPENSATION_CALIBRATE
-```
-This command will calibrate the X-axis by default.
-    - The calibration wizard will prompt you to measure the probe Z offset at
-    several points along the bed.
-    - By default, the calibration uses 3 points, but you can specify a different
-    number with the option:
-``
-SAMPLE_COUNT=<value>
-``
-
-2. **Adjust Your Z Offset:**
-After completing the calibration, be sure to [adjust your Z offset]
-(Probe_Calibrate.md#calibrating-probe-z-offset).
-
-3. **Perform Bed Leveling Operations:**
-Use probe-based operations as needed, such as:
-    - [Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust)
-    - [Z Tilt Adjust](G-Codes.md#z_tilt_adjust)
-
-4. **Finalize the Setup:**
-    - Home all axes, and perform a [Bed Mesh](Bed_Mesh.md) if necessary.
-    - Run a test print, followed by any
-    [fine-tuning](Axis_Twist_Compensation.md#fine-tuning)
-    if needed.
-
-### For Y-Axis Calibration
-The calibration process for the Y-axis is similar to the X-axis. To calibrate
-the Y-axis, use:
-```
-AXIS_TWIST_COMPENSATION_CALIBRATE AXIS=Y
-```
-This will guide you through the same measuring process as for the X-axis.
-
-### Automatic Calibration for Both Axes
-To perform automatic calibration for both the X and Y axes without manual
-intervention, use:
-```
-AXIS_TWIST_COMPENSATION_CALIBRATE AUTO=True
-```
-In this mode, the calibration process will run for both axes automatically.
-
+1. After setting up the [axis_twist_compensation] module,
+perform `AXIS_TWIST_COMPENSATION_CALIBRATE`
+* The calibration wizard will prompt you to measure the probe Z offset at a few
+points along the bed
+* The calibration defaults to 3 points but you can use the option
+`SAMPLE_COUNT=` to use a different number.
+2. [Adjust your Z offset](Probe_Calibrate.md#calibrating-probe-z-offset)
+3. Perform automatic/probe-based bed tramming operations, such as
+[Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust),
+[Z Tilt Adjust](G-Codes.md#z_tilt_adjust) etc
+4. Home all axis, then perform a [Bed Mesh](Bed_Mesh.md) if required
+5. Perform a test print, followed by any
+[fine-tuning](Axis_Twist_Compensation.md#fine-tuning) as desired

 > **Tip:** Bed temperature and nozzle temperature and size do not seem to have
 > an influence to the calibration process.
--- a/docs/Bed_Mesh.md
+++ b/docs/Bed_Mesh.md
@@ -269,7 +269,7 @@ printers use an endstop for homing the Z axis and a probe for calibrating the
 mesh. In this configuration it is possible offset the mesh so that the (X, Y)
 `reference position` applies zero adjustment.  The `reference postion` should
 be the location on the bed where a
-[Z_ENDSTOP_CALIBRATE](./Manual_Level.md#calibrating-a-z-endstop)
+[Z_ENDSTOP_CALIBRATE](./Manual_Level#calibrating-a-z-endstop)
 paper test is performed.  The bed_mesh module provides the
 `zero_reference_position` option for specifying this coordinate:

--- a/docs/Benchmarks.md
+++ b/docs/Benchmarks.md
@@ -354,26 +354,6 @@ micro-controller.
 | 1 stepper (200Mhz)   | 39    |
 | 3 stepper (200Mhz)   | 181   |

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

 The following configuration sequence is used on AR100 CPU (Allwinner A64):
@@ -386,7 +366,7 @@ finalize_config crc=0

 ```

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

@@ -395,9 +375,9 @@ micro-controller.
 | 1 stepper            | 85    |
 | 3 stepper            | 359   |

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

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

 ```
 allocate_oids count=3
@@ -407,26 +387,15 @@ config_stepper oid=2 step_pin=gpio27 dir_pin=gpio5 invert_step=-1 step_pulse_tic
 finalize_config crc=0
 ```

-The test was last run on commit `f6718291` with gcc version
-`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0` on Raspberry Pi
-Pico and Pico 2 boards.
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a Raspberry Pi
+Pico board.

-| rp2040 (*)           | ticks |
+| rp2040               | ticks |
 | -------------------- | ----- |
 | 1 stepper            | 5     |
 | 3 stepper            | 22    |

-| rp2350               | ticks |
-| -------------------- | ----- |
-| 1 stepper            | 36    |
-| 3 stepper            | 169   |
-
-(*) Note that the reported rp2040 ticks are relative to a 12Mhz
-scheduling timer and do not correspond to its 125Mhz internal ARM
-processing rate. It is expected that 5 scheduling ticks corresponds to
-~47 ARM core cycles and 22 scheduling ticks corresponds to ~224 ARM
-core cycles.
-
 ### Linux MCU step rate benchmark

 The following configuration sequence is used on a Raspberry Pi:
@@ -487,8 +456,7 @@ hub.
 | sam4s8c (USB)       | 650K | 8d4a5c16 | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | samd51 (USB)        | 864K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | stm32f446 (USB)     | 870K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
-| rp2040 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
-| rp2350 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
+| rp2040 (USB)        | 873K | c5667193 | arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0 |

 ## Host Benchmarks

--- a/docs/Code_Overview.md
+++ b/docs/Code_Overview.md
@@ -359,10 +359,10 @@ Useful steps:
   be efficient as it is typically only called during homing and
   probing operations.
 5. Other methods. Implement the `check_move()`, `get_status()`,
-   `get_steppers()`, `home()`, `clear_homing_state()`, and `set_position()`
-   methods. These functions are typically used to provide kinematic
-   specific checks. However, at the start of development one can use
-   boiler-plate code here.
+   `get_steppers()`, `home()`, and `set_position()` methods. These
+   functions are typically used to provide kinematic specific checks.
+   However, at the start of development one can use boiler-plate code
+   here.
 6. Implement test cases. Create a g-code file with a series of moves
   that can test important cases for the given kinematics. Follow the
   [debugging documentation](Debugging.md) to convert this g-code file
--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@@ -8,37 +8,6 @@ All dates in this document are approximate.

 ## Changes

-20241203: The resonance test has been changed to include slow sweeping
-moves. This change requires that testing point(s) have some clearance
-in X/Y plane (+/- 30 mm from the test point should suffice when using
-the default settings). The new test should generally produce more
-accurate and reliable test results. However, if required, the previous
-test behavior can be restored by adding options `sweeping_period: 0` and
-`accel_per_hz: 75` to the `[resonance_tester]` config section.
-
-20241201: In some cases Klipper may have ignored leading characters or
-spaces in a traditional G-Code command. For example, "99M123" may have
-been interpreted as "M123" and "M 321" may have been interpreted as
-"M321". Klipper will now report these cases with an "Unknown command"
-warning.
-
-20241112: Option `CHIPS=<chip_name>` in `TEST_RESONANCES` and
-`SHAPER_CALIBRATE` requires specifying the full name(s) of the accel
-chip(s). For example, `adxl345 rpi` instead of short name - `rpi`.
-
-20240912: `SET_PIN`, `SET_SERVO`, `SET_FAN_SPEED`, `M106`, and `M107`
-commands are now collated. Previously, if many updates to the same
-object were issued faster than the minimum scheduling time (typically
-100ms) then actual updates could be queued far into the future. Now if
-many updates are issued in rapid succession then it is possible that
-only the latest request will be applied. If the previous behavior is
-requried then consider adding explicit `G4` delay commands between
-updates.
-
-20240912: Support for `maximum_mcu_duration` and `static_value`
-parameters in `[output_pin]` config sections have been removed. These
-options have been deprecated since 20240123.
-
 20240415: The `on_error_gcode` parameter in the `[virtual_sdcard]`
 config section now has a default. If this parameter is not specified
 it now defaults to `TURN_OFF_HEATERS`. If the previous behavior is
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -1675,9 +1675,8 @@ Support for LIS2DW accelerometers.

 ```
 [lis2dw]
-#cs_pin:
-#   The SPI enable pin for the sensor. This parameter must be provided
-#   if using SPI.
+cs_pin:
+#   The SPI enable pin for the sensor. This parameter must be provided.
 #spi_speed: 5000000
 #   The SPI speed (in hz) to use when communicating with the chip.
 #   The default is 5000000.
@@ -1687,46 +1686,6 @@ Support for LIS2DW accelerometers.
 #spi_software_miso_pin:
 #   See the "common SPI settings" section for a description of the
 #   above parameters.
-#i2c_address:
-#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
-#i2c_mcu:
-#i2c_bus:
-#i2c_software_scl_pin:
-#i2c_software_sda_pin:
-#i2c_speed: 400000
-#   See the "common I2C settings" section for a description of the
-#   above parameters. The default "i2c_speed" is 400000.
-#axes_map: x, y, z
-#   See the "adxl345" section for information on this parameter.
-```
-
-### [lis3dh]
-
-Support for LIS3DH accelerometers.
-
-```
-[lis3dh]
-#cs_pin:
-#   The SPI enable pin for the sensor. This parameter must be provided
-#   if using SPI.
-#spi_speed: 5000000
-#   The SPI speed (in hz) to use when communicating with the chip.
-#   The default is 5000000.
-#spi_bus:
-#spi_software_sclk_pin:
-#spi_software_mosi_pin:
-#spi_software_miso_pin:
-#   See the "common SPI settings" section for a description of the
-#   above parameters.
-#i2c_address:
-#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
-#i2c_mcu:
-#i2c_bus:
-#i2c_software_scl_pin:
-#i2c_software_sda_pin:
-#i2c_speed: 400000
-#   See the "common I2C settings" section for a description of the
-#   above parameters. The default "i2c_speed" is 400000.
 #axes_map: x, y, z
 #   See the "adxl345" section for information on this parameter.
 ```
@@ -1790,14 +1749,11 @@ section of the measuring resonances guide for more information on
 #   auto-calibration (with 'SHAPER_CALIBRATE' command). By default no
 #   maximum smoothing is specified. Refer to Measuring_Resonances guide
 #   for more details on using this feature.
-#move_speed: 50
-#   The speed (in mm/s) to move the toolhead to and between test points
-#   during the calibration. The default is 50.
 #min_freq: 5
 #   Minimum frequency to test for resonances. The default is 5 Hz.
 #max_freq: 133.33
 #   Maximum frequency to test for resonances. The default is 133.33 Hz.
-#accel_per_hz: 60
+#accel_per_hz: 75
 #   This parameter is used to determine which acceleration to use to
 #   test a specific frequency: accel = accel_per_hz * freq. Higher the
 #   value, the higher is the energy of the oscillations. Can be set to
@@ -1811,13 +1767,6 @@ section of the measuring resonances guide for more information on
 #   hz_per_sec. Small values make the test slow, and the large values
 #   will decrease the precision of the test. The default value is 1.0
 #   (Hz/sec == sec^-2).
-#sweeping_accel: 400
-#   An acceleration of slow sweeping moves. The default is 400 mm/sec^2.
-#sweeping_period: 1.2
-#   A period of slow sweeping moves. Setting this parameter to 0
-#   disables slow sweeping moves. Avoid setting it to a too small
-#   non-zero value in order to not poison the measurements.
-#   The default is 1.2 sec which is a good all-round choice.
 ```

 ## Config file helpers
@@ -2093,9 +2042,9 @@ sensor_type: ldc1612

 ### [axis_twist_compensation]

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

 ```
 [axis_twist_compensation]
@@ -2108,33 +2057,16 @@ for more detailed information regarding symptoms, configuration and setup.
 calibrate_start_x: 20
 #   Defines the minimum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the starting
-#   calibration position.
+#   calibration position. This parameter must be provided.
 calibrate_end_x: 200
 #   Defines the maximum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the ending
-#   calibration position.
+#   calibration position. This parameter must be provided.
 calibrate_y: 112.5
 #   Defines the Y coordinate of the calibration
 #   This should be the Y coordinate that positions the nozzle during the
-#   calibration process. This parameter is recommended to
+#   calibration process. This parameter must be provided and is recommended to
 #   be near the center of the bed
-
-# For Y-axis twist compensation, specify the following parameters:
-calibrate_start_y: ...
-#   Defines the minimum Y coordinate of the calibration
-#   This should be the Y coordinate that positions the nozzle at the starting
-#   calibration position for the Y axis. This parameter must be provided if
-#   compensating for Y axis twist.
-calibrate_end_y: ...
-#   Defines the maximum Y coordinate of the calibration
-#   This should be the Y coordinate that positions the nozzle at the ending
-#   calibration position for the Y axis. This parameter must be provided if
-#   compensating for Y axis twist.
-calibrate_x: ...
-#   Defines the X coordinate of the calibration for Y axis twist compensation
-#   This should be the X coordinate that positions the nozzle during the
-#   calibration process for Y axis twist compensation. This parameter must be
-#   provided and is recommended to be near the center of the bed.
 ```

 ## Additional stepper motors and extruders
@@ -2526,10 +2458,6 @@ postfix for both sections.
 #   "calibration_extruder_temp" option is set.  Its recommended to heat
 #   the extruder some distance from the bed to minimize its impact on
 #   the probe coil temperature.  The default is 50.
-#max_validation_temp: 60.
-#   The maximum temperature used to validate the calibration.  It is
-#   recommended to set this to a value between 100 and 120 for enclosed
-#   printers.  The default is 60.
 ```

 ## Temperature sensors
@@ -3846,7 +3774,6 @@ run_current:
 #driver_SEIMIN: 0
 #driver_SFILT: 0
 #driver_SG4_ANGLE_OFFSET: 1
-#driver_SLOPE_CONTROL: 0
 #   Set the given register during the configuration of the TMC2240
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -4150,16 +4077,15 @@ Support for a display attached to the micro-controller.
 [display]
 lcd_type:
 #   The type of LCD chip in use. This may be "hd44780", "hd44780_spi",
-#   "aip31068_spi", "st7920", "emulated_st7920", "uc1701", "ssd1306", or
-#   "sh1106".
+#   "st7920", "emulated_st7920", "uc1701", "ssd1306", or "sh1106".
 #   See the display sections below for information on each type and
 #   additional parameters they provide. This parameter must be
 #   provided.
 #display_group:
 #   The name of the display_data group to show on the display. This
 #   controls the content of the screen (see the "display_data" section
-#   for more information). The default is _default_20x4 for hd44780 or
-#   aip31068_spi displays and _default_16x4 for other displays.
+#   for more information). The default is _default_20x4 for hd44780
+#   displays and _default_16x4 for other displays.
 #menu_timeout:
 #   Timeout for menu. Being inactive this amount of seconds will
 #   trigger menu exit or return to root menu when having autorun
@@ -4285,31 +4211,6 @@ spi_software_miso_pin:
 ...
 ```

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

 Information on configuring st7920 displays (which is used in
@@ -4756,7 +4657,7 @@ sensor_type:
 #   This must be one of the supported sensor types, see below.
 ```

-#### HX711
+#### XH711
 This is a 24 bit low sample rate chip using "bit-bang" communications. It is
 suitable for filament scales.
 ```
@@ -4824,30 +4725,13 @@ data_ready_pin:
 #gain: 128
 #   Valid gain values are 128, 64, 32, 16, 8, 4, 2, 1
 #   The default is 128
-#pga_bypass: False
-#   Disable the internal Programmable Gain Amplifier. If
-#   True the PGA will be disabled for gains 1, 2, and 4. The PGA is always
-#   enabled for gain settings 8 to 128, regardless of the pga_bypass setting.
-#   If AVSS is used as an input pga_bypass is forced to True.
-#   The default is False.
 #sample_rate: 660
 #   This chip supports two ranges of sample rates, Normal and Turbo. In turbo
-#   mode the chip's internal clock runs twice as fast and the SPI communication
+#   mode the chips c internal clock runs twice as fast and the SPI communication
 #   speed is also doubled.
 #   Normal sample rates: 20, 45, 90, 175, 330, 600, 1000
 #   Turbo sample rates: 40, 90, 180, 350, 660, 1200, 2000
 #   The default is 660
-#input_mux:
-#   Input multiplexer configuration, select a pair of pins to use. The first pin
-#   is the positive, AINP, and the second pin is the negative, AINN. Valid
-#   values are: 'AIN0_AIN1', 'AIN0_AIN2', 'AIN0_AIN3', 'AIN1_AIN2', 'AIN1_AIN3',
-#   'AIN2_AIN3', 'AIN1_AIN0', 'AIN3_AIN2', 'AIN0_AVSS', 'AIN1_AVSS', 'AIN2_AVSS'
-#   and 'AIN3_AVSS'. If AVSS is used the PGA is bypassed and the pga_bypass
-#   setting will be forced to True.
-#   The default is AIN0_AIN1.
-#vref:
-#   The selected voltage reference. Valid values are: 'internal', 'REF0', 'REF1'
-#   and 'analog_supply'. Default is 'internal'.
 ```

 ## Board specific hardware support
@@ -4936,50 +4820,6 @@ vssa_pin:
 #   noise. The default is 2 seconds.
 ```

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

 Replicape support - see the [beaglebone guide](Beaglebone.md) and the
@@ -5085,9 +4925,8 @@ serial:
 ### [angle]

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

@@ -5095,7 +4934,7 @@ See the [G-Code reference](G-Codes.md#angle) for available commands.
 [angle my_angle_sensor]
 sensor_type:
 #   The type of the magnetic hall sensor chip. Available choices are
-#   "a1333", "as5047d", "mt6816", "mt6826s", and "tle5012b". This parameter must be
+#   "a1333", "as5047d", and "tle5012b". This parameter must be
 #   specified.
 #sample_period: 0.000400
 #   The query period (in seconds) to use during measurements. The
@@ -5158,9 +4997,8 @@ Most Klipper micro-controller implementations only support an
 micro-controller supports a 400000 speed (*fast mode*, 400kbit/s), but it must be
 [set in the operating system](RPi_microcontroller.md#optional-enabling-i2c)
 and the `i2c_speed` parameter is otherwise ignored. The Klipper
-"RP2040" micro-controller and ATmega AVR family and some STM32
-(F0, G0, G4, L4, F7, H7) support a rate of 400000 via the `i2c_speed` parameter.
-All other Klipper micro-controllers use a
+"RP2040" micro-controller and ATmega AVR family support a rate of 400000
+via the `i2c_speed` parameter. All other Klipper micro-controllers use a
 100000 rate and ignore the `i2c_speed` parameter.

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

 Eddy probe manufacturers may offer a stock drift calibration that can be
 manually added to `drift_calibration` option of the `[probe_eddy_current]`
--- a/docs/Features.md
+++ b/docs/Features.md
@@ -190,8 +190,6 @@ represent total number of steps per second on the micro-controller.
 | AR100                           | 3529K             | 2507K             |
 | STM32F407                       | 3652K             | 2459K             |
 | STM32F446                       | 3913K             | 2634K             |
-| RP2350                          | 4167K             | 2663K             |
-| SAME70                          | 6667K             | 4737K             |
 | STM32H743                       | 9091K             | 6061K             |

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

-#### ANGLE_CHIP_CALIBRATE
-`ANGLE_CHIP_CALIBRATE CHIP=<chip_name>`: Perform internal sensor calibration,
-if implemented (MT6826S/MT6835).
-
- **MT68XX**: The motor should be disconnected
-from any printer carriage before performing calibration.
-After calibration, the sensor should be reset by disconnecting the power.
-
 #### ANGLE_DEBUG_READ
 `ANGLE_DEBUG_READ CHIP=<config_name> REG=<register>`: Queries sensor
 register "register" (e.g. 44 or 0x2C). Can be useful for debugging
@@ -154,19 +146,9 @@ The following commands are available when the
 section](Config_Reference.md#axis_twist_compensation) is enabled.

 #### AXIS_TWIST_COMPENSATION_CALIBRATE
-`AXIS_TWIST_COMPENSATION_CALIBRATE [AXIS=<X|Y>] [AUTO=<True|False>]
-[SAMPLE_COUNT=<value>]`
-
-Calibrates axis twist compensation by specifying the target axis or
-enabling automatic calibration.
-
- **AXIS:** Define the axis (`X` or `Y`) for which the twist compensation
-will be calibrated. If not specified, the axis defaults to `'X'`.
-
- **AUTO:** Enables automatic calibration mode. When `AUTO=True`, the
-calibration will run for both the X and Y axes. In this mode, `AXIS`
-cannot be specified. If both `AXIS` and `AUTO` are provided, an error
-will be raised.
+`AXIS_TWIST_COMPENSATION_CALIBRATE [SAMPLE_COUNT=<value>]`: Initiates the X
+twist calibration wizard. `SAMPLE_COUNT` specifies the number of points along
+the X axis to calibrate at and defaults to 3.

 ### [bed_mesh]

@@ -494,20 +476,6 @@ enabled.
 `SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets the
 speed of a fan. "speed" must be between 0.0 and 1.0.

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

 The following command is available when a
@@ -585,18 +553,15 @@ state; issue a G28 afterwards to reset the kinematics. This command is
 intended for low-level diagnostics and debugging.

 #### SET_KINEMATIC_POSITION
-`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]
-[CLEAR=<[X][Y][Z]>]`: Force the low-level kinematic code to believe the
-toolhead is at the given cartesian position. This is a diagnostic and
-debugging command; use SET_GCODE_OFFSET and/or G92 for regular axis
-transformations. If an axis is not specified then it will default to the
-position that the head was last commanded to. Setting an incorrect or
-invalid position may lead to internal software errors. Use the CLEAR
-parameter to forget the homing state for the given axes. Note that CLEAR
-will not override the previous functionality; if an axis is not specified
-to CLEAR it will have its kinematic position set as per above. This
-command may invalidate future boundary checks; issue a G28 afterwards to
-reset the kinematics.
+`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
+the low-level kinematic code to believe the toolhead is at the given
+cartesian position. This is a diagnostic and debugging command; use
+SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
+axis is not specified then it will default to the position that the
+head was last commanded to. Setting an incorrect or invalid position
+may lead to internal software errors. This command may invalidate
+future boundary checks; issue a G28 afterwards to reset the
+kinematics.

 ### [gcode]

@@ -892,20 +857,6 @@ output `VALUE`. VALUE should be 0 or 1 for "digital" output pins. For
 PWM pins, set to a value between 0.0 and 1.0, or between 0.0 and
 `scale` if a scale is configured in the output_pin config section.

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

 The following commands are available when the
@@ -1070,21 +1021,6 @@ CYCLE_TIME parameter is not stored between SET_PIN commands (any
 SET_PIN command without an explicit CYCLE_TIME parameter will use the
 `cycle_time` specified in the pwm_cycle_time config section).

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

 The query_adc module is automatically loaded.
@@ -1120,19 +1056,20 @@ is enabled (also see the
 all enabled accelerometer chips.

 #### TEST_RESONANCES
-`TEST_RESONANCES AXIS=<axis> [OUTPUT=<resonances,raw_data>]
+`TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
 [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-[ACCEL_PER_HZ=<accel_per_hz>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<chip_name>]
-[POINT=x,y,z] [INPUT_SHAPING=<0:1>]`: Runs the resonance
+[HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
 test in all configured probe points for the requested "axis" and
 measures the acceleration using the accelerometer chips configured for
 the respective axis. "axis" can either be X or Y, or specify an
 arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
 point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
 `AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
-and `AXIS=-dx,-dy` is equivalent. `chip_name` can be one or
-more configured accel chips, delimited with comma, for example
-`CHIPS="adxl345, adxl345 rpi"`. If POINT is specified it will override the point(s)
+and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
+more configured adxl345 chip,delimited with comma, for example
+`CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
+named adxl345 chips. If POINT is specified it will override the point(s)
 configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
 disables input shaping for the resonance testing, because
 it is not valid to run the resonance testing with the input shaper
@@ -1149,9 +1086,8 @@ frequency response is calculated (across all probe points) and written into

 #### SHAPER_CALIBRATE
 `SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>] [FREQ_START=<min_freq>]
-[FREQ_END=<max_freq>] [ACCEL_PER_HZ=<accel_per_hz>][HZ_PER_SEC=<hz_per_sec>]
-[CHIPS=<chip_name>] [MAX_SMOOTHING=<max_smoothing>] [INPUT_SHAPING=<0:1>]`:
-Similarly to `TEST_RESONANCES`, runs
+[FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[MAX_SMOOTHING=<max_smoothing>]`: Similarly to `TEST_RESONANCES`, runs
 the resonance test as configured, and tries to find the optimal
 parameters for the input shaper for the requested axis (or both X and
 Y axes if `AXIS` parameter is unset). If `MAX_SMOOTHING` is unset, its
@@ -1474,13 +1410,11 @@ The following commands are available when the
 [z_tilt config section](Config_Reference.md#z_tilt) is enabled.

 #### Z_TILT_ADJUST
-`Z_TILT_ADJUST [RETRIES=<value>] [RETRY_TOLERANCE=<value>]
-[HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This command
-will probe the points specified in the config and then make
-independent adjustments to each Z stepper to compensate for tilt. See
-the PROBE command for details on the optional probe parameters. The
-optional `RETRIES`, `RETRY_TOLERANCE`, and `HORIZONTAL_MOVE_Z` values
-override those options specified in the config file.
+`Z_TILT_ADJUST [HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This
+command will probe the points specified in the config and then make independent
+adjustments to each Z stepper to compensate for tilt. See the PROBE command for
+details on the optional probe parameters. The optional `HORIZONTAL_MOVE_Z`
+value overrides the `horizontal_move_z` option specified in the config file.

 ### [temperature_probe]

--- a/docs/Installation.md
+++ b/docs/Installation.md
@@ -1,20 +1,15 @@
 # Installation

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

 ## Obtain a Klipper Configuration File

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

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

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

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

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

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

 ## Building and flashing the micro-controller

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

 ```
 cd ~/klipper/
@@ -126,21 +108,10 @@ It should report something similar to the following:
 It's common for each printer to have its own unique serial port name.
 This unique name will be used when flashing the micro-controller. It's
 possible there may be multiple lines in the above output - if so,
-choose the line corresponding to the micro-controller. If many
-items are listed and the choice is ambiguous, unplug the board and
-run the command again, the missing item will be your print board(see the
+choose the line corresponding to the micro-controller (see the
 [FAQ](FAQ.md#wheres-my-serial-port) for more information).

-For common micro-controllers with STM32 or clone chips, LPC chips and
-others it is usual that these need an initial Klipper flash via SD card.
-
-When flashing with this method, it is important to make sure that the
-print board is not connected with USB to the host, due to some boards
-being able to feed power back to the board and stopping a flash from
-occuring.
-
-For common micro-controllers using Atmega chips, for example the 2560,
-the code can be flashed with something
+For common micro-controllers, the code can be flashed with something
 similar to:

 ```
@@ -152,38 +123,53 @@ sudo service klipper start
 Be sure to update the FLASH_DEVICE with the printer's unique serial
 port name.

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

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

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

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

 ## Configuring Klipper

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

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

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

@@ -215,7 +201,7 @@ serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
 ```

 After creating and editing the file it will be necessary to issue a
-"restart" command in the command console to load the config. 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.
@@ -225,10 +211,10 @@ Klipper to report a configuration error. If an error occurs, make any
 necessary corrections to the printer config file and issue "restart"
 until "status" reports the printer is ready.

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

 After Klipper reports that the printer is ready, proceed to the
 [config check document](Config_checks.md) to perform some basic checks
--- a/docs/Measuring_Resonances.md
+++ b/docs/Measuring_Resonances.md
@@ -1,26 +1,24 @@
 # Measuring Resonances

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

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

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

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

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

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

 ## Installation instructions

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

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

 #### Configure ADXL345 With RPi

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

 Restart Klipper via the `RESTART` command.

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

 ```
 [mcu lis]
@@ -694,24 +683,6 @@ If you are doing a shaper re-calibration and the reported smoothing for the
 suggested shaper configuration is almost the same as what you got during the
 previous calibration, this step can be skipped.

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

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

 - [Installation](Installation.md): Guide to installing Klipper.
-  - [Octoprint](OctoPrint.md): Guide to installing Octoprint with Klipper.
 - [Config Reference](Config_Reference.md): Description of config
  parameters.
  - [Rotation Distance](Rotation_Distance.md): Calculating the
--- a/docs/Sponsors.md
+++ b/docs/Sponsors.md
@@ -17,6 +17,7 @@ serve the 3D printing community better. Follow them on
 ## Sponsors

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

 ## Klipper Developers

--- a/docs/Status_Reference.md
+++ b/docs/Status_Reference.md
@@ -256,6 +256,11 @@ object is available if any heater is defined):
  e.g. `["tmc2240 stepper_x"]`.  While a temperature sensor is always
  available to read, a temperature monitor may not be available and
  will return null in such case.
+- `temperature_wait`: Indicates if G-Code processing is stalled
+  waiting for a requested temperature (typically via
+  `TEMPERATURE_WAIT`, `M109`, or `M190` commands). The value will
+  contain the name of the sensor that is causing the stall or `None`
+  if no wait is in progress.

 ## idle_timeout

--- a/docs/_klipper3d/mkdocs.yml
+++ b/docs/_klipper3d/mkdocs.yml
@@ -88,9 +88,7 @@ nav:
  - Config_Changes.md
  - Contact.md
  - Installation and Configuration:
-    - Installation:
-      - Installation.md
-      - OctoPrint.md
+    - Installation.md
    - Configuration Reference:
      - Config_Reference.md
      - Rotation_Distance.md
--- a/docs/img/klipper_pico_menuconfig.png
+++ b/docs/img/klipper_pico_menuconfig.png
--- a/docs/index.md
+++ b/docs/index.md
@@ -6,16 +6,13 @@ title: Welcome

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

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

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

-Klipper software is Free Software. Read the
-[documentation](https://www.klipper3d.org/Overview.html), see the
-[license](COPYING), or
-[download](https://github.com/Klipper3d/Klipper) the software. We
-depend on the generous support from our
-[sponsors](https://www.klipper3d.org/Sponsors.html).
+Klipper is Free Software. Read the [documentation](Overview.md) or
+view [the Klipper code on github](https://github.com/Klipper3d/klipper).
+We depend on the generous support from our [sponsors](Sponsors.md).
--- a/klippy/configfile.py
+++ b/klippy/configfile.py
@@ -1,17 +1,12 @@
 # Code for reading and writing the Klipper config file
 #
-# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, os, glob, re, time, logging, configparser, io

 error = configparser.Error

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

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

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

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


-class ADS1220:
+class ADS1220():
    def __init__(self, config):
        self.printer = printer = config.get_printer()
        self.name = config.get_name().split()[-1]
@@ -42,35 +42,8 @@ class ADS1220:
                          '660': 660, '1200': 1200, '2000': 2000}
        self.sps_options = self.sps_normal.copy()
        self.sps_options.update(self.sps_turbo)
-        self.sps = config.getchoice('sample_rate', self.sps_options,
-                                    default='660')
+        self.sps = config.getchoice('sps', self.sps_options, default='660')
        self.is_turbo = str(self.sps) in self.sps_turbo
-        # Input multiplexer: AINP and AINN
-        mux_options = {'AIN0_AIN1': 0b0000, 'AIN0_AIN2': 0b0001,
-                       'AIN0_AIN3': 0b0010, 'AIN1_AIN2': 0b0011,
-                       'AIN1_AIN3': 0b0100, 'AIN2_AIN3': 0b0101,
-                       'AIN1_AIN0': 0b0110, 'AIN3_AIN2': 0b0111,
-                       'AIN0_AVSS': 0b1000, 'AIN1_AVSS': 0b1001,
-                       'AIN2_AVSS': 0b1010, 'AIN3_AVSS': 0b1011}
-        self.mux = config.getchoice('input_mux', mux_options,
-                                    default='AIN0_AIN1')
-        # PGA Bypass
-        self.pga_bypass = config.getboolean('pga_bypass', default=False)
-        # bypass PGA when AVSS is the negative input
-        force_pga_bypass = self.mux >= 0b1000
-        self.pga_bypass = force_pga_bypass or self.pga_bypass
-        # Voltage Reference
-        self.vref_options = {'internal': 0b0, 'REF0': 0b01, 'REF1': 0b10,
-                             'analog_supply': 0b11}
-        self.vref = config.getchoice('vref', self.vref_options,
-                                     default='internal')
-        # check for conflict between REF1 and AIN0/AIN3
-        mux_conflict = [0b0000, 0b0001, 0b0010, 0b0100, 0b0101, 0b0110, 0b0111,
-                        0b1000, 0b1011]
-        if self.vref == 0b10 and self.mux in mux_conflict:
-            raise config.error("ADS1220 config error: AIN0/REFP1 and AIN3/REFN1"
-                               " cant be used as a voltage reference and"
-                               " an input at the same time")
        # SPI Setup
        spi_speed = 512000 if self.is_turbo else 256000
        self.spi = bus.MCU_SPI_from_config(config, 1, default_speed=spi_speed)
@@ -96,9 +69,9 @@ class ADS1220:
            self.printer, self._process_batch, self._start_measurements,
            self._finish_measurements, UPDATE_INTERVAL)
        # publish raw samples to the socket
-        hdr = {'header': ('time', 'counts', 'value')}
        self.batch_bulk.add_mux_endpoint("ads1220/dump_ads1220", "sensor",
-                                         self.name, hdr)
+                                         self.name,
+                                         {'header': ('time', 'counts')})
        # Command Configuration
        mcu.add_config_cmd(
            "config_ads1220 oid=%d spi_oid=%d data_ready_pin=%s"
@@ -184,10 +157,8 @@ class ADS1220:
        mode = 0x2 if self.is_turbo else 0x0  # turbo mode
        sps_list = self.sps_turbo if self.is_turbo else self.sps_normal
        data_rate = list(sps_list.keys()).index(str(self.sps))
-        reg_values = [(self.mux << 4) | (self.gain << 1) | int(self.pga_bypass),
-                      (data_rate << 5) | (mode << 3) | (continuous << 2),
-                      (self.vref << 6),
-                      0x0]
+        reg_values = [(self.gain << 1),
+                      (data_rate << 5) | (mode << 3) | (continuous << 2)]
        self.write_reg(0x0, reg_values)
        # start measurements immediately
        self.send_command(START_SYNC_CMD)
@@ -206,7 +177,7 @@ class ADS1220:
        write_command.extend(register_bytes)
        self.spi.spi_send(write_command)
        stored_val = self.read_reg(reg, len(register_bytes))
-        if bytearray(register_bytes) != stored_val:
+        if register_bytes != stored_val:
            raise self.printer.command_error(
                "Failed to set ADS1220 register [0x%x] to %s: got %s. "
                "This may be a connection problem (e.g. faulty wiring)" % (
--- a/klippy/extras/ads1x1x.py
+++ b/klippy/extras/ads1x1x.py
@@ -1,393 +0,0 @@
-# Support for I2C based ADS1013, ADS1014, ADS1015, ADS1113, ADS1114 and ADS1115
-#
-# Copyright (C) 2024 Konstantin Koch <korsarnek@gmail.com>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
-import pins
-from . import bus
-
-# Supported chip types
-ADS1X1X_CHIP_TYPE = {
-    'ADS1013': 3,
-    'ADS1014': 4,
-    'ADS1015': 5,
-    'ADS1113': 13,
-    'ADS1114': 14,
-    'ADS1115': 15
-}
-
-def isADS101X(chip):
-    return (chip == ADS1X1X_CHIP_TYPE['ADS1013'] \
-        or chip == ADS1X1X_CHIP_TYPE['ADS1014'] \
-        or chip == ADS1X1X_CHIP_TYPE['ADS1015'])
-
-def isADS111X(chip):
-    return (chip == ADS1X1X_CHIP_TYPE['ADS1113'] \
-        or chip == ADS1X1X_CHIP_TYPE['ADS1114'] \
-        or chip == ADS1X1X_CHIP_TYPE['ADS1115'])
-
-# Address is defined by how the address pin is wired
-ADS1X1X_CHIP_ADDR = {
-    'GND': 0x48,
-    'VCC': 0x49,
-    'SDA': 0x4a,
-    'SCL': 0x4b
-}
-
-# Chip "pointer" registers
-ADS1X1X_REG_POINTER_MASK = 0x03
-ADS1X1X_REG_POINTER = {
-    'CONVERSION': 0x00,
-    'CONFIG': 0x01,
-    'LO_THRESH': 0x02,
-    'HI_THRESH': 0x03
-}
-
-# Config register masks
-ADS1X1X_REG_CONFIG = {
-    'OS_MASK': 0x8000,
-    'MULTIPLEXER_MASK': 0x7000,
-    'PGA_MASK': 0x0E00,
-    'MODE_MASK': 0x0100,
-    'DATA_RATE_MASK': 0x00E0,
-    'COMPARATOR_MODE_MASK': 0x0010,
-    'COMPARATOR_POLARITY_MASK': 0x0008,
-    # Determines if ALERT/RDY pin latches once asserted
-    'COMPARATOR_LATCHING_MASK': 0x0004,
-    'COMPARATOR_QUEUE_MASK': 0x0003
-}
-
-#
-# The following enums are to be used with the configuration functions.
-#
-ADS1X1X_OS = {
-    'OS_IDLE': 0x8000,  # Device is not performing a conversion
-    'OS_SINGLE': 0x8000 # Single-conversion
-}
-
-ADS1X1X_MUX = {
-    'DIFF01': 0x0000,  # Differential P = AIN0, N = AIN1 0
-    'DIFF03': 0x1000,  # Differential P = AIN0, N = AIN3 4096
-    'DIFF13': 0x2000,  # Differential P = AIN1, N = AIN3 8192
-    'DIFF23': 0x3000,  # Differential P = AIN2, N = AIN3 12288
-    'AIN0': 0x4000,  # Single-ended (ADS1015: AIN0 16384)
-    'AIN1': 0x5000,  # Single-ended (ADS1015: AIN1 20480)
-    'AIN2': 0x6000,  # Single-ended (ADS1015: AIN2 24576)
-    'AIN3': 0x7000   # Single-ended (ADS1015: AIN3 28672)
-}
-
-ADS1X1X_PGA = {
-    '6.144V': 0x0000,  # +/-6.144V range = Gain 2/3
-    '4.096V': 0x0200,  # +/-4.096V range = Gain 1
-    '2.048V': 0x0400,  # +/-2.048V range = Gain 2
-    '1.024V': 0x0600,  # +/-1.024V range = Gain 4
-    '0.512V': 0x0800,  # +/-0.512V range = Gain 8
-    '0.256V': 0x0A00  # +/-0.256V range = Gain 16
-}
-ADS1X1X_PGA_VALUE = {
-    0x0000: 6.144,
-    0x0200: 4.096,
-    0x0400: 2.048,
-    0x0600: 1.024,
-    0x0800: 0.512,
-    0x0A00: 0.256,
-}
-ADS111X_RESOLUTION = 32767.0
-ADS111X_PGA_SCALAR = {
-    0x0000: 6.144 / ADS111X_RESOLUTION,  # +/-6.144V range = Gain 2/3
-    0x0200: 4.096 / ADS111X_RESOLUTION,  # +/-4.096V range = Gain 1
-    0x0400: 2.048 / ADS111X_RESOLUTION,  # +/-2.048V range = Gain 2
-    0x0600: 1.024 / ADS111X_RESOLUTION,  # +/-1.024V range = Gain 4
-    0x0800: 0.512 / ADS111X_RESOLUTION,  # +/-0.512V range = Gain 8
-    0x0A00: 0.256 / ADS111X_RESOLUTION  # +/-0.256V range = Gain 16
-}
-ADS101X_RESOLUTION = 2047.0
-ADS101X_PGA_SCALAR = {
-    0x0000: 6.144 / ADS101X_RESOLUTION,  # +/-6.144V range = Gain 2/3
-    0x0200: 4.096 / ADS101X_RESOLUTION,  # +/-4.096V range = Gain 1
-    0x0400: 2.048 / ADS101X_RESOLUTION,  # +/-2.048V range = Gain 2
-    0x0600: 1.024 / ADS101X_RESOLUTION,  # +/-1.024V range = Gain 4
-    0x0800: 0.512 / ADS101X_RESOLUTION,  # +/-0.512V range = Gain 8
-    0x0A00: 0.256 / ADS101X_RESOLUTION  # +/-0.256V range = Gain 16
-}
-ADS1X1X_MODE = {
-    'continuous': 0x0000,  # Continuous conversion mode
-    'single': 0x0100  # Power-down single-shot mode
-}
-
-# Lesser samples per second means it takes and averages more samples before
-# returning a result.
-ADS101X_SAMPLES_PER_SECOND = {
-    '128': 0x0000,  # 128 samples per second
-    '250': 0x0020,  # 250 samples per second
-    '490': 0x0040,  # 490 samples per second
-    '920': 0x0060,  # 920 samples per second
-    '1600': 0x0080,  # 1600 samples per second
-    '2400': 0x00a0,  # 2400 samples per second
-    '3300': 0x00c0,  # 3300 samples per second
-}
-
-ADS111X_SAMPLES_PER_SECOND = {
-    '8': 0x0000,  # 8 samples per second
-    '16': 0x0020,  # 16 samples per second
-    '32': 0x0040,  # 32 samples per second
-    '64': 0x0060,  # 64 samples per second
-    '128': 0x0080,  # 128 samples per second
-    '250': 0x00a0,  # 250 samples per second
-    '475': 0x00c0,  # 475 samples per second
-    '860': 0x00e0  # 860 samples per second
-}
-
-ADS1X1X_COMPARATOR_MODE = {
-    'TRADITIONAL': 0x0000,  # Traditional comparator with hysteresis
-    'WINDOW': 0x0010  # Window comparator
-}
-
-ADS1X1X_COMPARATOR_POLARITY = {
-    'ACTIVE_LO': 0x0000,  # ALERT/RDY pin is low when active
-    'ACTIVE_HI': 0x0008  # ALERT/RDY pin is high when active
-}
-
-ADS1X1X_COMPARATOR_LATCHING = {
-    'NON_LATCHING': 0x0000,  # Non-latching comparator
-    'LATCHING': 0x0004  # Latching comparator
-}
-
-ADS1X1X_COMPARATOR_QUEUE = {
-    'QUEUE_1': 0x0000,  # Assert ALERT/RDY after one conversions
-    'QUEUE_2': 0x0001,  # Assert ALERT/RDY after two conversions
-    'QUEUE_4': 0x0002,  # Assert ALERT/RDY after four conversions
-    'QUEUE_NONE': 0x0003  # Disable the comparator and put ALERT/RDY
-                        # in high state
-}
-
-ADS1X1_OPERATIONS = {
-    'SET_MUX': 0,
-    'READ_CONVERSION': 1
-}
-
-class ADS1X1X_chip:
-
-    def __init__(self, config):
-        self._printer = config.get_printer()
-        self._reactor = self._printer.get_reactor()
-
-        self.name = config.get_name().split()[-1]
-        self.chip = config.getchoice('chip', ADS1X1X_CHIP_TYPE)
-        address = ADS1X1X_CHIP_ADDR['GND']
-        # If none is specified, i2c_address can be used for a specific address
-        if config.get('address_pin', None) is not None:
-            address = config.getchoice('address_pin', ADS1X1X_CHIP_ADDR)
-
-        self._ppins = self._printer.lookup_object("pins")
-        self._ppins.register_chip(self.name, self)
-
-        self.pga = config.getchoice('pga', ADS1X1X_PGA, '4.096V')
-        self.adc_voltage = config.getfloat('adc_voltage', above=0., default=3.3)
-        # Comparators are not implemented, they would only be useful if the
-        # alert pin is used, which we haven't made configurable.
-        # But that wouldn't be useful for a normal temperature sensor anyway.
-        self.comp_mode = ADS1X1X_COMPARATOR_MODE['TRADITIONAL']
-        self.comp_polarity = ADS1X1X_COMPARATOR_POLARITY['ACTIVE_LO']
-        self.comp_latching = ADS1X1X_COMPARATOR_LATCHING['NON_LATCHING']
-        self.comp_queue = ADS1X1X_COMPARATOR_QUEUE['QUEUE_NONE']
-        self._i2c = bus.MCU_I2C_from_config(config, address)
-
-        self.mcu = self._i2c.get_mcu()
-
-        self._printer.add_object("ads1x1x " + self.name, self)
-        self._printer.register_event_handler("klippy:connect", \
-                                            self._handle_connect)
-
-        self._pins = {}
-        self._mutex = self._reactor.mutex()
-
-    def setup_pin(self, pin_type, pin_params):
-        pin = pin_params['pin']
-        if pin_type == 'adc':
-            if (pin not in ADS1X1X_MUX):
-                raise pins.error('ADS1x1x pin %s is not valid' % \
-                                 pin_params['pin'])
-
-            config = 0
-            config |= (ADS1X1X_OS['OS_SINGLE'] & \
-                       ADS1X1X_REG_CONFIG['OS_MASK'])
-            config |= (ADS1X1X_MUX[pin_params['pin']] & \
-                       ADS1X1X_REG_CONFIG['MULTIPLEXER_MASK'])
-            config |= (self.pga & ADS1X1X_REG_CONFIG['PGA_MASK'])
-            # Have to use single mode, because in continuous, it never reaches
-            # idle state, which we use to determine if the sampling is done.
-            config |= (ADS1X1X_MODE['single'] & \
-                       ADS1X1X_REG_CONFIG['MODE_MASK'])
-            # lowest sample rate per default, until report time has been set in
-            # setup_adc_sample
-            config |= (self.comp_mode \
-                & ADS1X1X_REG_CONFIG['COMPARATOR_MODE_MASK'])
-            config |= (self.comp_polarity \
-                & ADS1X1X_REG_CONFIG['COMPARATOR_POLARITY_MASK'])
-            config |= (self.comp_latching \
-                & ADS1X1X_REG_CONFIG['COMPARATOR_LATCHING_MASK'])
-            config |= (self.comp_queue \
-                & ADS1X1X_REG_CONFIG['COMPARATOR_QUEUE_MASK'])
-
-            pin_obj = ADS1X1X_pin(self, config)
-            if pin in self._pins:
-                raise pins.error(
-                    'pin %s for chip %s is used multiple times' \
-                        % (pin, self.name))
-            self._pins[pin] = pin_obj
-
-            return pin_obj
-        raise pins.error('Wrong pin or incompatible type: %s with type %s! ' % (
-            pin, pin_type))
-
-    def _handle_connect(self):
-        try:
-            # Init all devices on bus for this kind of device
-            self._i2c.i2c_write([0x06, 0x00, 0x00])
-        except Exception:
-            logging.exception("ADS1X1X: error while resetting device")
-
-    def is_ready(self):
-        config = self._read_register(ADS1X1X_REG_POINTER['CONFIG'])
-        return bool((config & ADS1X1X_REG_CONFIG['OS_MASK']) == \
-                    ADS1X1X_OS['OS_IDLE'])
-
-    def calculate_sample_rate(self):
-        pin_count = len(self._pins)
-        lowest_report_time = 1
-        for pin in self._pins.values():
-            lowest_report_time = min(lowest_report_time, pin.report_time)
-
-        sample_rate = 1 / lowest_report_time * pin_count
-        samples_per_second = ADS111X_SAMPLES_PER_SECOND
-        if isADS101X(self.chip):
-            samples_per_second = ADS101X_SAMPLES_PER_SECOND
-
-        # make sure the samples list is sorted correctly by number.
-        samples_per_second = sorted(samples_per_second.items(), \
-                                    key=lambda t: int(t[0]))
-        for rate, bits in samples_per_second:
-            rate_number = int(rate)
-            if sample_rate <= rate_number:
-                return (rate_number, bits)
-        logging.warning(
-            "ADS1X1X: requested sample rate %s is higher than supported by %s."\
-                % (sample_rate, self.name))
-        return (rate_number, bits)
-
-    def handle_report_time_update(self):
-        (sample_rate, sample_rate_bits) = self.calculate_sample_rate()
-
-        for pin in self._pins.values():
-            pin.config = (pin.config & ~ADS1X1X_REG_CONFIG['DATA_RATE_MASK']) \
-                | (sample_rate_bits & ADS1X1X_REG_CONFIG['DATA_RATE_MASK'])
-
-        self.delay = 1 / float(sample_rate)
-
-    def sample(self, pin):
-        with self._mutex:
-            try:
-                self._write_register(ADS1X1X_REG_POINTER['CONFIG'], pin.config)
-                self._reactor.pause(self._reactor.monotonic() + self.delay)
-                start_time = self._reactor.monotonic()
-                while not self.is_ready():
-                    self._reactor.pause(self._reactor.monotonic() + 0.001)
-                    # if we waited twice the expected time, mark this an error
-                    if start_time + self.delay < self._reactor.monotonic():
-                        logging.warning("ADS1X1X: timeout during sampling")
-                        return None
-                return self._read_register(ADS1X1X_REG_POINTER['CONVERSION'])
-            except Exception as e:
-                logging.exception("ADS1X1X: error while sampling: %s" % str(e))
-                return None
-
-    def _read_register(self, reg):
-        # read a single register
-        params = self._i2c.i2c_read([reg], 2)
-        buff = bytearray(params['response'])
-        return (buff[0]<<8 | buff[1])
-
-    def _write_register(self, reg, data):
-        data = [
-            (reg & 0xFF), # Control register
-            ((data>>8) & 0xFF), # High byte
-            (data & 0xFF), # Lo byte
-        ]
-        self._i2c.i2c_write(data)
-
-class ADS1X1X_pin:
-    def __init__(self, chip, config):
-        self.mcu = chip.mcu
-        self.chip = chip
-        self.config = config
-
-        self.invalid_count = 0
-
-        self.chip._printer.register_event_handler("klippy:connect", \
-                                                  self._handle_connect)
-
-    def _handle_connect(self):
-        self._reactor = self.chip._printer.get_reactor()
-        self._sample_timer = \
-            self._reactor.register_timer(self._process_sample, \
-                                         self._reactor.NOW)
-
-    def _process_sample(self, eventtime):
-        sample = self.chip.sample(self)
-        if sample is not None:
-            # The sample is encoded in the top 12 or full 16 bits
-            # Value's meaning is defined by ADS1X1X_REG_CONFIG['PGA_MASK']
-            if isADS101X(self.chip.chip):
-                sample >>= 4
-                target_value = sample / ADS101X_RESOLUTION
-            else:
-                target_value = sample / ADS111X_RESOLUTION
-
-            # Thermistors expect a value between 0 and 1 to work. If we use a
-            # PGA with 4.096V but supply only 3.3V, the reference voltage for
-            # voltage divider is only 3.3V, not 4.096V. So we remap the range
-            # from what the PGA allows as range to end up between 0 and 1 for
-            # the thermistor logic to work as expected.
-            target_value = target_value * (ADS1X1X_PGA_VALUE[self.chip.pga] / \
-                                           self.chip.adc_voltage)
-
-            if target_value > self.maxval or target_value < self.minval:
-                self.invalid_count = self.invalid_count + 1
-                logging.warning("ADS1X1X: temperature outside range")
-                self.check_invalid()
-            else:
-                self.invalid_count = 0
-
-            # Publish result
-            measured_time = self._reactor.monotonic()
-            self.callback(self.chip.mcu.estimated_print_time(measured_time),
-                        target_value)
-        else:
-            self.invalid_count = self.invalid_count + 1
-            self.check_invalid()
-
-        return eventtime + self.report_time
-
-    def check_invalid(self):
-        if self.invalid_count > self.range_check_count:
-            self.chip._printer.invoke_shutdown(
-                "ADS1X1X temperature check failed")
-
-    def get_mcu(self):
-        return self.mcu
-
-    def setup_adc_callback(self, report_time, callback):
-        self.report_time = report_time
-        self.callback = callback
-        self.chip.handle_report_time_update()
-
-    def setup_adc_sample(self, sample_time, sample_count,
-                         minval=0., maxval=1., range_check_count=0):
-        self.minval = minval
-        self.maxval = maxval
-        self.range_check_count = range_check_count
-
-def load_config_prefix(config):
-    return ADS1X1X_chip(config)
--- a/klippy/extras/angle.py
+++ b/klippy/extras/angle.py
@@ -411,196 +411,6 @@ class HelperTLE5012B:
                       parser=lambda x: int(x, 0))
        self._write_reg(reg, val)

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

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

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

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

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

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

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

 class Calibrater:
    def __init__(self, compensation, config):
@@ -107,14 +80,10 @@ class Calibrater:
                                            self._handle_connect)
        self.speed = compensation.speed
        self.horizontal_move_z = compensation.horizontal_move_z
-        self.x_start_point = (compensation.calibrate_start_x,
+        self.start_point = (compensation.calibrate_start_x,
                            compensation.calibrate_y)
-        self.x_end_point = (compensation.calibrate_end_x,
+        self.end_point = (compensation.calibrate_end_x,
                          compensation.calibrate_y)
-        self.y_start_point = (compensation.calibrate_x,
-                            compensation.calibrate_start_y)
-        self.y_end_point = (compensation.calibrate_x,
-                            compensation.calibrate_end_y)
        self.results = None
        self.current_point_index = None
        self.gcmd = None
@@ -150,88 +119,20 @@ class Calibrater:
    def cmd_AXIS_TWIST_COMPENSATION_CALIBRATE(self, gcmd):
        self.gcmd = gcmd
        sample_count = gcmd.get_int('SAMPLE_COUNT', DEFAULT_SAMPLE_COUNT)
-        axis = gcmd.get('AXIS', None)
-        auto = gcmd.get('AUTO', False)
-
-        if axis is not None and auto:
-            raise self.gcmd.error(
-                "Cannot use both 'AXIS' and 'AUTO' at the same time."
-            )
-
-        if auto:
-            self._start_autocalibration(sample_count)
-            return
-
-        if axis is None and not auto:
-            axis = 'X'

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

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

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

@@ -241,155 +142,16 @@ class Calibrater:
        # begin calibration
        self.current_point_index = 0
        self.results = []
-        self.current_axis = axis
        self._calibration(probe_points, nozzle_points, interval_dist)

-    def _calculate_corrections(self, coordinates):
-        # Extracting x, y, and z values from coordinates
-        x_coords = [coord[0] for coord in coordinates]
-        y_coords = [coord[1] for coord in coordinates]
-        z_coords = [coord[2] for coord in coordinates]
-
-        # Calculate the desired point (average of all corner points in z)
-        # For a general case, we should extract the unique
-        # combinations of corner points
-        z_corners = [z_coords[i] for i, coord in enumerate(coordinates)
-                        if (coord[0] in [x_coords[0], x_coords[-1]])
-                        and (coord[1] in [y_coords[0], y_coords[-1]])]
-        z_desired = sum(z_corners) / len(z_corners)
-
-
-        # Calculate average deformation per axis
-        unique_x_coords = sorted(set(x_coords))
-        unique_y_coords = sorted(set(y_coords))
-
-        avg_z_x = []
-        for x in unique_x_coords:
-            indices = [i for i, coord in enumerate(coordinates)
-                        if coord[0] == x]
-            avg_z = sum(z_coords[i] for i in indices) / len(indices)
-            avg_z_x.append(avg_z)
-
-        avg_z_y = []
-        for y in unique_y_coords:
-            indices = [i for i, coord in enumerate(coordinates)
-                        if coord[1] == y]
-            avg_z = sum(z_coords[i] for i in indices) / len(indices)
-            avg_z_y.append(avg_z)
-
-        # Calculate corrections to reach the desired point
-        x_corrections = [z_desired - avg for avg in avg_z_x]
-        y_corrections = [z_desired - avg for avg in avg_z_y]
-
-        return x_corrections, y_corrections
-
-    def _start_autocalibration(self, sample_count):
-
-        if not all([
-                self.x_start_point[0],
-                self.x_end_point[0],
-                self.y_start_point[0],
-                self.y_end_point[0]
-                ]):
-                raise self.gcmd.error(
-                    """AXIS_TWIST_COMPENSATION_AUTOCALIBRATE requires
-                    calibrate_start_x, calibrate_end_x, calibrate_start_y
-                    and calibrate_end_y to be defined
-                    """
-                    )
-
-        # check for valid sample_count
-        if sample_count is None or sample_count < 2:
-            raise self.gcmd.error(
-                "SAMPLE_COUNT to probe must be at least 2")
-
-        # verify no other manual probe is in progress
-        manual_probe.verify_no_manual_probe(self.printer)
-
-        # clear the current config
-        self.compensation.clear_compensations()
-
-        min_x = self.x_start_point[0]
-        max_x = self.x_end_point[0]
-        min_y = self.y_start_point[1]
-        max_y = self.y_end_point[1]
-
-        # calculate x positions
-        interval_x = (max_x - min_x) / (sample_count - 1)
-        xps = [min_x + interval_x * i for i in range(sample_count)]
-
-        # Calculate points array
-        interval_y = (max_y - min_y) / (sample_count - 1)
-        flip = False
-
-        points = []
+    def _calculate_nozzle_points(self, sample_count, interval_dist):
+        # calculate the points to put the probe at, returned as a list of tuples
+        nozzle_points = []
        for i in range(sample_count):
-            for j in range(sample_count):
-                if(not flip):
-                    idx = j
-                else:
-                    idx = sample_count -1 - j
-                points.append([xps[i], min_y + interval_y * idx ])
-            flip = not flip
-
-
-        # calculate the points to put the nozzle at, and probe
-        probe_points = []
-
-        for i in range(len(points)):
-            x = points[i][0] - self.probe_x_offset
-            y = points[i][1] - self.probe_y_offset
-            probe_points.append([x, y, self._auto_calibration((x,y))[2]])
-
-        # calculate corrections
-        x_corr, y_corr = self._calculate_corrections(probe_points)
-
-        x_corr_str = ', '.join(["{:.6f}".format(x)
-                                    for x in x_corr])
-
-        y_corr_str = ', '.join(["{:.6f}".format(x)
-                                    for x in y_corr])
-
-        # finalize
-        configfile = self.printer.lookup_object('configfile')
-        configfile.set(self.configname, 'z_compensations', x_corr_str)
-        configfile.set(self.configname, 'compensation_start_x',
-                    self.x_start_point[0])
-        configfile.set(self.configname, 'compensation_end_x',
-                    self.x_end_point[0])
-
-
-        configfile.set(self.configname, 'zy_compensations', y_corr_str)
-        configfile.set(self.configname, 'compensation_start_y',
-                    self.y_start_point[1])
-        configfile.set(self.configname, 'compensation_end_y',
-                    self.y_end_point[1])
-
-        self.gcode.respond_info(
-            "AXIS_TWIST_COMPENSATION state has been saved "
-            "for the current session.  The SAVE_CONFIG command will "
-            "update the printer config file and restart the printer.")
-        # output result
-        self.gcmd.respond_info(
-            "AXIS_TWIST_COMPENSATION_AUTOCALIBRATE: Calibration complete: ")
-        self.gcmd.respond_info("\n".join(map(str, [x_corr, y_corr])), log=False)
-
-    def _auto_calibration(self, probe_point):
-
-        # horizontal_move_z (to prevent probe trigger or hitting bed)
-        self._move_helper((None, None, self.horizontal_move_z))
-
-        # move to point to probe
-        self._move_helper((probe_point[0],
-                            probe_point[1], None))
-
-        # probe the point
-        pos = probe.run_single_probe(self.probe, self.gcmd)
-
-        # horizontal_move_z (to prevent probe trigger or hitting bed)
-        self._move_helper((None, None, self.horizontal_move_z))
-
-        return pos
+            x = self.start_point[0] + i * interval_dist
+            y = self.start_point[1]
+            nozzle_points.append((x, y))
+        return nozzle_points

    def _calculate_probe_points(self, nozzle_points,
        probe_x_offset, probe_y_offset):
@@ -476,31 +238,14 @@ class Calibrater:
        configfile = self.printer.lookup_object('configfile')
        values_as_str = ', '.join(["{:.6f}".format(x)
                                   for x in self.results])
-
-        if(self.current_axis == 'X'):
-
-            configfile.set(self.configname, 'z_compensations', values_as_str)
-            configfile.set(self.configname, 'compensation_start_x',
-                        self.x_start_point[0])
-            configfile.set(self.configname, 'compensation_end_x',
-                        self.x_end_point[0])
-
-            self.compensation.z_compensations = self.results
-            self.compensation.compensation_start_x = self.x_start_point[0]
-            self.compensation.compensation_end_x = self.x_end_point[0]
-
-        elif(self.current_axis == 'Y'):
-
-            configfile.set(self.configname, 'zy_compensations', values_as_str)
-            configfile.set(self.configname, 'compensation_start_y',
-                        self.y_start_point[1])
-            configfile.set(self.configname, 'compensation_end_y',
-                        self.y_end_point[1])
-
-            self.compensation.zy_compensations = self.results
-            self.compensation.compensation_start_y = self.y_start_point[1]
-            self.compensation.compensation_end_y = self.y_end_point[1]
-
+        configfile.set(self.configname, 'z_compensations', values_as_str)
+        configfile.set(self.configname, 'compensation_start_x',
+                       self.start_point[0])
+        configfile.set(self.configname, 'compensation_end_x',
+                       self.end_point[0])
+        self.compensation.z_compensations = self.results
+        self.compensation.compensation_start_x = self.start_point[0]
+        self.compensation.compensation_end_x = self.end_point[0]
        self.gcode.respond_info(
            "AXIS_TWIST_COMPENSATION state has been saved "
            "for the current session.  The SAVE_CONFIG command will "
--- a/klippy/extras/bme280.py
+++ b/klippy/extras/bme280.py
@@ -83,7 +83,6 @@ BMP180_REGS = {
 STATUS_MEASURING = 1 << 3
 STATUS_IM_UPDATE = 1
 MODE = 1
-MODE_PERIODIC = 3
 RUN_GAS = 1 << 4
 NB_CONV_0 = 0
 EAS_NEW_DATA = 1 << 7
@@ -144,7 +143,6 @@ class BME280:
            pow(2, self.os_temp - 1), pow(2, self.os_hum - 1),
            pow(2, self.os_pres - 1)))
        logging.info("BMxx80: IIR: %dx" % (pow(2, self.iir_filter) - 1))
-        self.iir_filter = self.iir_filter & 0x07

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

    def handle_connect(self):
        self._init_bmxx80()
@@ -284,7 +281,7 @@ class BME280:
                self.chip_type, self.i2c.i2c_address))

        # Reset chip
-        self.write_register('RESET', [RESET_CHIP_VALUE], wait=True)
+        self.write_register('RESET', [RESET_CHIP_VALUE])
        self.reactor.pause(self.reactor.monotonic() + .5)

        # Make sure non-volatile memory has been copied to registers
@@ -296,15 +293,15 @@ class BME280:
                status = self.read_register('STATUS', 1)[0]

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

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

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

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

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

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

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

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

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

-    def _calc_gas_heater_duration(self, duration_ms):
+    def _calculate_gas_heater_duration(self, duration_ms):
        if duration_ms >= 4032:
            duration_reg = 0xff
        else:
@@ -776,15 +719,12 @@ class BME280:
        params = self.i2c.i2c_read(regs, read_len)
        return bytearray(params['response'])

-    def write_register(self, reg_name, data, wait = False):
+    def write_register(self, reg_name, data):
        if type(data) is not list:
            data = [data]
        reg = self.chip_registers[reg_name]
        data.insert(0, reg)
-        if not wait:
-            self.i2c.i2c_write(data)
-        else:
-            self.i2c.i2c_write_wait_ack(data)
+        self.i2c.i2c_write(data)

    def get_status(self, eventtime):
        data = {
--- a/klippy/extras/bus.py
+++ b/klippy/extras/bus.py
@@ -160,7 +160,7 @@ class MCU_I2C:
                % (self.oid, speed, addr))
        self.cmd_queue = self.mcu.alloc_command_queue()
        self.mcu.register_config_callback(self.build_config)
-        self.i2c_write_cmd = self.i2c_read_cmd = None
+        self.i2c_write_cmd = self.i2c_read_cmd = self.i2c_modify_bits_cmd = None
    def get_oid(self):
        return self.oid
    def get_mcu(self):
@@ -180,6 +180,9 @@ class MCU_I2C:
            "i2c_read oid=%c reg=%*s read_len=%u",
            "i2c_read_response oid=%c response=%*s", oid=self.oid,
            cq=self.cmd_queue)
+        self.i2c_modify_bits_cmd = self.mcu.lookup_command(
+            "i2c_modify_bits oid=%c reg=%*s clear_set_bits=%*s",
+            cq=self.cmd_queue)
    def i2c_write(self, data, minclock=0, reqclock=0):
        if self.i2c_write_cmd is None:
            # Send setup message via mcu initialization
@@ -194,6 +197,19 @@ class MCU_I2C:
                                minclock=minclock, reqclock=reqclock)
    def i2c_read(self, write, read_len):
        return self.i2c_read_cmd.send([self.oid, write, read_len])
+    def i2c_modify_bits(self, reg, clear_bits, set_bits,
+                        minclock=0, reqclock=0):
+        clearset = clear_bits + set_bits
+        if self.i2c_modify_bits_cmd is None:
+            # Send setup message via mcu initialization
+            reg_msg = "".join(["%02x" % (x,) for x in reg])
+            clearset_msg = "".join(["%02x" % (x,) for x in clearset])
+            self.mcu.add_config_cmd(
+                "i2c_modify_bits oid=%d reg=%s clear_set_bits=%s" % (
+                    self.oid, reg_msg, clearset_msg), is_init=True)
+            return
+        self.i2c_modify_bits_cmd.send([self.oid, reg, clearset],
+                                      minclock=minclock, reqclock=reqclock)

 def MCU_I2C_from_config(config, default_addr=None, default_speed=100000):
    # Load bus parameters
--- a/klippy/extras/controller_fan.py
+++ b/klippy/extras/controller_fan.py
@@ -62,7 +62,9 @@ class ControllerFan:
            self.last_on += 1
        if speed != self.last_speed:
            self.last_speed = speed
-            self.fan.set_speed(speed)
+            curtime = self.printer.get_reactor().monotonic()
+            print_time = self.fan.get_mcu().estimated_print_time(curtime)
+            self.fan.set_speed(print_time + PIN_MIN_TIME, speed)
        return eventtime + 1.

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

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

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

 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000

@@ -22,8 +22,9 @@ class PrinterDotstar:
        self.spi = bus.MCU_SPI(mcu, None, None, 0, 500000, sw_spi_pins)
        # Initialize color data
        self.chain_count = config.getint('chain_count', 1, minval=1)
-        self.led_helper = led.LEDHelper(config, self.update_leds,
-                                        self.chain_count)
+        pled = printer.load_object(config, "led")
+        self.led_helper = pled.setup_helper(config, self.update_leds,
+                                            self.chain_count)
        self.prev_data = None
        # Register commands
        printer.register_event_handler("klippy:connect", self.handle_connect)
--- a/klippy/extras/fan.py
+++ b/klippy/extras/fan.py
@@ -1,14 +1,17 @@
 # Printer cooling fan
 #
-# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import pulse_counter, output_pin
+from . import pulse_counter
+
+FAN_MIN_TIME = 0.100

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

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

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

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

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

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

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

-        # Template handling
-        self.template_eval = output_pin.lookup_template_eval(config)
-
        gcode = self.printer.lookup_object("gcode")
        gcode.register_mux_command("SET_FAN_SPEED", "FAN",
                                   self.fan_name,
@@ -24,21 +20,8 @@ class PrinterFanGeneric:

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

 def load_config_prefix(config):
--- a/klippy/extras/force_move.py
+++ b/klippy/extras/force_move.py
@@ -131,12 +131,8 @@ class ForceMove:
        x = gcmd.get_float('X', curpos[0])
        y = gcmd.get_float('Y', curpos[1])
        z = gcmd.get_float('Z', curpos[2])
-        clear = gcmd.get('CLEAR', '').lower()
-        clear_axes = "".join([a for a in "xyz" if a in clear])
-        logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f clear=%s",
-                     x, y, z, clear_axes)
-        toolhead.set_position([x, y, z, curpos[3]], homing_axes="xyz")
-        toolhead.get_kinematics().clear_homing_state(clear_axes)
+        logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
+        toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))

 def load_config(config):
    return ForceMove(config)
--- a/klippy/extras/gcode_arcs.py
+++ b/klippy/extras/gcode_arcs.py
@@ -39,6 +39,8 @@ class ArcSupport:
        self.gcode.register_command("G18", self.cmd_G18)
        self.gcode.register_command("G19", self.cmd_G19)

+        self.Coord = self.gcode.Coord
+
        # backwards compatibility, prior implementation only supported XY
        self.plane = ARC_PLANE_X_Y

@@ -62,36 +64,52 @@ class ArcSupport:
        if not gcodestatus['absolute_coordinates']:
            raise gcmd.error("G2/G3 does not support relative move mode")
        currentPos = gcodestatus['gcode_position']
-        absolut_extrude = gcodestatus['absolute_extrude']

        # Parse parameters
-        asTarget = [gcmd.get_float("X", currentPos[0]),
-                    gcmd.get_float("Y", currentPos[1]),
-                    gcmd.get_float("Z", currentPos[2])]
+        asTarget = self.Coord(x=gcmd.get_float("X", currentPos[0]),
+                              y=gcmd.get_float("Y", currentPos[1]),
+                              z=gcmd.get_float("Z", currentPos[2]),
+                              e=None)

        if gcmd.get_float("R", None) is not None:
            raise gcmd.error("G2/G3 does not support R moves")

        # determine the plane coordinates and the helical axis
-        I = gcmd.get_float('I', 0.)
-        J = gcmd.get_float('J', 0.)
-        asPlanar = (I, J)
+        asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('IJ') ]
        axes = (X_AXIS, Y_AXIS, Z_AXIS)
        if self.plane == ARC_PLANE_X_Z:
-            K = gcmd.get_float('K', 0.)
-            asPlanar = (I, K)
+            asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('IK') ]
            axes = (X_AXIS, Z_AXIS, Y_AXIS)
        elif self.plane == ARC_PLANE_Y_Z:
-            K = gcmd.get_float('K', 0.)
-            asPlanar = (J, K)
+            asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('JK') ]
            axes = (Y_AXIS, Z_AXIS, X_AXIS)

        if not (asPlanar[0] or asPlanar[1]):
            raise gcmd.error("G2/G3 requires IJ, IK or JK parameters")

-        # Build linear coordinates to move
-        self.planArc(currentPos, asTarget, asPlanar, clockwise,
-                     gcmd, absolut_extrude, *axes)
+        asE = gcmd.get_float("E", None)
+        asF = gcmd.get_float("F", None)
+
+        # Build list of linear coordinates to move
+        coords = self.planArc(currentPos, asTarget, asPlanar,
+                              clockwise, *axes)
+        e_per_move = e_base = 0.
+        if asE is not None:
+            if gcodestatus['absolute_extrude']:
+                e_base = currentPos[3]
+            e_per_move = (asE - e_base) / len(coords)
+
+        # Convert coords into G1 commands
+        for coord in coords:
+            g1_params = {'X': coord[0], 'Y': coord[1], 'Z': coord[2]}
+            if e_per_move:
+                g1_params['E'] = e_base + e_per_move
+                if gcodestatus['absolute_extrude']:
+                    e_base += e_per_move
+            if asF is not None:
+                g1_params['F'] = asF
+            g1_gcmd = self.gcode.create_gcode_command("G1", "G1", g1_params)
+            self.gcode_move.cmd_G1(g1_gcmd)

    # function planArc() originates from marlin plan_arc()
    # https://github.com/MarlinFirmware/Marlin
@@ -102,7 +120,6 @@ class ArcSupport:
    #
    # alpha and beta axes are the current plane, helical axis is linear travel
    def planArc(self, currentPos, targetPos, offset, clockwise,
-                gcmd, absolut_extrude,
                alpha_axis, beta_axis, helical_axis):
        # todo: sometimes produces full circles

@@ -142,42 +159,23 @@ class ArcSupport:
        # Generate coordinates
        theta_per_segment = angular_travel / segments
        linear_per_segment = linear_travel / segments
-
-        asE = gcmd.get_float("E", None)
-        asF = gcmd.get_float("F", None)
-
-        e_per_move = e_base = 0.
-        if asE is not None:
-            if absolut_extrude:
-                e_base = currentPos[3]
-            e_per_move = (asE - e_base) / segments
-
-        for i in range(1, int(segments) + 1):
+        coords = []
+        for i in range(1, int(segments)):
            dist_Helical = i * linear_per_segment
-            c_theta = i * theta_per_segment
-            cos_Ti = math.cos(c_theta)
-            sin_Ti = math.sin(c_theta)
+            cos_Ti = math.cos(i * theta_per_segment)
+            sin_Ti = math.sin(i * theta_per_segment)
            r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti
            r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti

-            c = [None, None, None]
+            # Coord doesn't support index assignment, create list
+            c = [None, None, None, None]
            c[alpha_axis] = center_P + r_P
            c[beta_axis] = center_Q + r_Q
            c[helical_axis] = currentPos[helical_axis] + dist_Helical
+            coords.append(self.Coord(*c))

-
-            if i == segments:
-                c = targetPos
-            # Convert coords into G1 commands
-            g1_params = {'X': c[0], 'Y': c[1], 'Z': c[2]}
-            if e_per_move:
-                g1_params['E'] = e_base + e_per_move
-                if absolut_extrude:
-                    e_base += e_per_move
-            if asF is not None:
-                g1_params['F'] = asF
-            g1_gcmd = self.gcode.create_gcode_command("G1", "G1", g1_params)
-            self.gcode_move.cmd_G1(g1_gcmd)
+        coords.append(targetPos)
+        return coords

 def load_config(config):
    return ArcSupport(config)
--- a/klippy/extras/heater_fan.py
+++ b/klippy/extras/heater_fan.py
@@ -33,7 +33,9 @@ class PrinterHeaterFan:
                speed = self.fan_speed
        if speed != self.last_speed:
            self.last_speed = speed
-            self.fan.set_speed(speed)
+            curtime = self.printer.get_reactor().monotonic()
+            print_time = self.fan.get_mcu().estimated_print_time(curtime)
+            self.fan.set_speed(print_time + PIN_MIN_TIME, speed)
        return eventtime + 1.

 def load_config_prefix(config):
--- a/klippy/extras/heaters.py
+++ b/klippy/extras/heaters.py
@@ -1,6 +1,6 @@
 # Tracking of PWM controlled heaters and their temperature control
 #
-# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, logging, threading
@@ -14,7 +14,6 @@ KELVIN_TO_CELSIUS = -273.15
 MAX_HEAT_TIME = 5.0
 AMBIENT_TEMP = 25.
 PID_PARAM_BASE = 255.
-MAX_MAINTHREAD_TIME = 5.0

 class Heater:
    def __init__(self, config, sensor):
@@ -38,7 +37,8 @@ class Heater:
        self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
        self.smooth_time = config.getfloat('smooth_time', 1., above=0.)
        self.inv_smooth_time = 1. / self.smooth_time
-        self.verify_mainthread_time = -999.
+        self.is_shutdown = False
+        self.set_temp_count = 0
        self.lock = threading.Lock()
        self.last_temp = self.smoothed_temp = self.target_temp = 0.
        self.last_temp_time = 0.
@@ -64,10 +64,13 @@ class Heater:
        gcode.register_mux_command("SET_HEATER_TEMPERATURE", "HEATER",
                                   short_name, self.cmd_SET_HEATER_TEMPERATURE,
                                   desc=self.cmd_SET_HEATER_TEMPERATURE_help)
+        wh = self.printer.lookup_object('webhooks')
+        wh.register_mux_endpoint("heaters/set_target_temperature", "heater",
+                                 self.name, self._api_set_target_temperature)
        self.printer.register_event_handler("klippy:shutdown",
                                            self._handle_shutdown)
    def set_pwm(self, read_time, value):
-        if self.target_temp <= 0. or read_time > self.verify_mainthread_time:
+        if self.target_temp <= 0. or self.is_shutdown:
            value = 0.
        if ((read_time < self.next_pwm_time or not self.last_pwm_value)
            and abs(value - self.last_pwm_value) < 0.05):
@@ -92,7 +95,7 @@ class Heater:
            self.can_extrude = (self.smoothed_temp >= self.min_extrude_temp)
        #logging.debug("temp: %.3f %f = %f", read_time, temp)
    def _handle_shutdown(self):
-        self.verify_mainthread_time = -999.
+        self.is_shutdown = True
    # External commands
    def get_name(self):
        return self.name
@@ -107,6 +110,7 @@ class Heater:
            raise self.printer.command_error(
                "Requested temperature (%.1f) out of range (%.1f:%.1f)"
                % (degrees, self.min_temp, self.max_temp))
+        self.set_temp_count += 1
        with self.lock:
            self.target_temp = degrees
    def get_temp(self, eventtime):
@@ -130,9 +134,6 @@ class Heater:
            target_temp = max(self.min_temp, min(self.max_temp, target_temp))
        self.target_temp = target_temp
    def stats(self, eventtime):
-        est_print_time = self.mcu_pwm.get_mcu().estimated_print_time(eventtime)
-        if not self.printer.is_shutdown():
-            self.verify_mainthread_time = est_print_time + MAX_MAINTHREAD_TIME
        with self.lock:
            target_temp = self.target_temp
            last_temp = self.last_temp
@@ -147,11 +148,17 @@ class Heater:
            last_pwm_value = self.last_pwm_value
        return {'temperature': round(smoothed_temp, 2), 'target': target_temp,
                'power': last_pwm_value}
+    def get_set_temp_count(self):
+        return self.set_temp_count
    cmd_SET_HEATER_TEMPERATURE_help = "Sets a heater temperature"
    def cmd_SET_HEATER_TEMPERATURE(self, gcmd):
        temp = gcmd.get_float('TARGET', 0.)
        pheaters = self.printer.lookup_object('heaters')
        pheaters.set_temperature(self, temp)
+    def _api_set_target_temperature(self, web_request):
+        temp = web_request.get_float('target')
+        pheaters = self.printer.lookup_object('heaters')
+        pheaters.set_temperature(self, temp)


 ######################################################################
@@ -243,6 +250,7 @@ class PrinterHeaters:
        self.available_heaters = []
        self.available_sensors = []
        self.available_monitors = []
+        self.in_temperature_wait = None
        self.has_started = self.have_load_sensors = False
        self.printer.register_event_handler("klippy:ready", self._handle_ready)
        self.printer.register_event_handler("gcode:request_restart",
@@ -263,8 +271,7 @@ class PrinterHeaters:
        try:
            dconfig = pconfig.read_config(filename)
        except Exception:
-            logging.exception("Unable to load temperature_sensors.cfg")
-            raise config.error("Cannot load config '%s'" % (filename,))
+            raise config.config_error("Cannot load config '%s'" % (filename,))
        for c in dconfig.get_prefix_sections(''):
            self.printer.load_object(dconfig, c.get_name())
    def add_sensor_factory(self, sensor_type, sensor_factory):
@@ -310,7 +317,8 @@ class PrinterHeaters:
    def get_status(self, eventtime):
        return {'available_heaters': self.available_heaters,
                'available_sensors': self.available_sensors,
-                'available_monitors': self.available_monitors}
+                'available_monitors': self.available_monitors,
+                'temperature_wait': self.in_temperature_wait}
    def turn_off_all_heaters(self, print_time=0.):
        for heater in self.heaters.values():
            heater.set_temp(0.)
@@ -341,14 +349,23 @@ class PrinterHeaters:
        # Helper to wait on heater.check_busy() and report M105 temperatures
        if self.printer.get_start_args().get('debugoutput') is not None:
            return
+        full_name = heater.get_name()
+        set_temp_count = heater.get_set_temp_count()
        toolhead = self.printer.lookup_object("toolhead")
        gcode = self.printer.lookup_object("gcode")
        reactor = self.printer.get_reactor()
        eventtime = reactor.monotonic()
        while not self.printer.is_shutdown() and heater.check_busy(eventtime):
+            self.in_temperature_wait = full_name
            print_time = toolhead.get_last_move_time()
            gcode.respond_raw(self._get_temp(eventtime))
            eventtime = reactor.pause(eventtime + 1.)
+            if heater.get_set_temp_count() != set_temp_count:
+                self.in_temperature_wait = None
+                raise self.printer.command_error(
+                    "Heater '%s' target temperature changed during wait"
+                    % (full_name,))
+        self.in_temperature_wait = None
    def set_temperature(self, heater, temp, wait=False):
        toolhead = self.printer.lookup_object('toolhead')
        toolhead.register_lookahead_callback((lambda pt: None))
@@ -367,8 +384,12 @@ class PrinterHeaters:
                "Error on 'TEMPERATURE_WAIT': missing MINIMUM or MAXIMUM.")
        if self.printer.get_start_args().get('debugoutput') is not None:
            return
+        full_name = sensor_name
+        set_temp_count = None
        if sensor_name in self.heaters:
            sensor = self.heaters[sensor_name]
+            full_name = sensor.get_name()
+            set_temp_count = sensor.get_set_temp_count()
        else:
            sensor = self.printer.lookup_object(sensor_name)
        toolhead = self.printer.lookup_object("toolhead")
@@ -377,10 +398,18 @@ class PrinterHeaters:
        while not self.printer.is_shutdown():
            temp, target = sensor.get_temp(eventtime)
            if temp >= min_temp and temp <= max_temp:
-                return
+                break
+            self.in_temperature_wait = full_name
            print_time = toolhead.get_last_move_time()
            gcmd.respond_raw(self._get_temp(eventtime))
            eventtime = reactor.pause(eventtime + 1.)
+            if (set_temp_count is not None
+                and sensor.get_set_temp_count() != set_temp_count):
+                self.in_temperature_wait = None
+                raise self.printer.command_error(
+                    "Heater '%s' target temperature changed during wait"
+                    % (full_name,))
+        self.in_temperature_wait = None

 def load_config(config):
    return PrinterHeaters(config)
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -1,6 +1,6 @@
 # Helper code for implementing homing operations
 #
-# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, math
@@ -29,17 +29,10 @@ class StepperPosition:
        self.endstop_name = endstop_name
        self.stepper_name = stepper.get_name()
        self.start_pos = stepper.get_mcu_position()
-        self.start_cmd_pos = stepper.mcu_to_commanded_position(self.start_pos)
        self.halt_pos = self.trig_pos = None
    def note_home_end(self, trigger_time):
        self.halt_pos = self.stepper.get_mcu_position()
        self.trig_pos = self.stepper.get_past_mcu_position(trigger_time)
-    def verify_no_probe_skew(self, haltpos):
-        new_start_pos = self.stepper.get_mcu_position(self.start_cmd_pos)
-        if new_start_pos != self.start_pos:
-            logging.warning(
-                "Stepper '%s' position skew after probe: pos %d now %d",
-                self.stepper.get_name(), self.start_pos, new_start_pos)

 # Implementation of homing/probing moves
 class HomingMove:
@@ -128,9 +121,6 @@ class HomingMove:
            haltpos = trigpos = self.calc_toolhead_pos(kin_spos, trig_steps)
            if trig_steps != halt_steps:
                haltpos = self.calc_toolhead_pos(kin_spos, halt_steps)
-            self.toolhead.set_position(haltpos)
-            for sp in self.stepper_positions:
-                sp.verify_no_probe_skew(haltpos)
        else:
            haltpos = trigpos = movepos
            over_steps = {sp.stepper_name: sp.halt_pos - sp.trig_pos
@@ -140,7 +130,7 @@ class HomingMove:
                halt_kin_spos = {s.get_name(): s.get_commanded_position()
                                 for s in kin.get_steppers()}
                haltpos = self.calc_toolhead_pos(halt_kin_spos, over_steps)
-            self.toolhead.set_position(haltpos)
+        self.toolhead.set_position(haltpos)
        # Signal homing/probing move complete
        try:
            self.printer.send_event("homing:homing_move_end", self)
@@ -187,8 +177,7 @@ class Homing:
        # Notify of upcoming homing operation
        self.printer.send_event("homing:home_rails_begin", self, rails)
        # Alter kinematics class to think printer is at forcepos
-        force_axes = [axis for axis in range(3) if forcepos[axis] is not None]
-        homing_axes = "".join(["xyz"[i] for i in force_axes])
+        homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
        startpos = self._fill_coord(forcepos)
        homepos = self._fill_coord(movepos)
        self.toolhead.set_position(startpos, homing_axes=homing_axes)
@@ -232,7 +221,7 @@ class Homing:
                                       + self.adjust_pos.get(s.get_name(), 0.))
                        for s in kin.get_steppers()}
            newpos = kin.calc_position(kin_spos)
-            for axis in force_axes:
+            for axis in homing_axes:
                homepos[axis] = newpos[axis]
            self.toolhead.set_position(homepos)

--- a/klippy/extras/homing_override.py
+++ b/klippy/extras/homing_override.py
@@ -46,11 +46,11 @@ class HomingOverride:
        # Calculate forced position (if configured)
        toolhead = self.printer.lookup_object('toolhead')
        pos = toolhead.get_position()
-        homing_axes = ""
+        homing_axes = []
        for axis, loc in enumerate(self.start_pos):
            if loc is not None:
                pos[axis] = loc
-                homing_axes += "xyz"[axis]
+                homing_axes.append(axis)
        toolhead.set_position(pos, homing_axes=homing_axes)
        # Perform homing
        context = self.template.create_template_context()
--- a/klippy/extras/hx71x.py
+++ b/klippy/extras/hx71x.py
@@ -14,7 +14,7 @@ SAMPLE_ERROR_DESYNC = -0x80000000
 SAMPLE_ERROR_LONG_READ = 0x40000000

 # Implementation of HX711 and HX717
-class HX71xBase:
+class HX71xBase():
    def __init__(self, config, sensor_type,
                 sample_rate_options, default_sample_rate,
                 gain_options, default_gain):
@@ -53,8 +53,8 @@ class HX71xBase:
            self._finish_measurements, UPDATE_INTERVAL)
        # publish raw samples to the socket
        dump_path = "%s/dump_%s" % (sensor_type, sensor_type)
-        hdr = {'header': ('time', 'counts', 'value')}
-        self.batch_bulk.add_mux_endpoint(dump_path, "sensor", self.name, hdr)
+        self.batch_bulk.add_mux_endpoint(dump_path, "sensor", self.name,
+                                         {'header': ('time', 'counts')})
        # Command Configuration
        self.query_hx71x_cmd = None
        mcu.add_config_cmd(
@@ -145,21 +145,23 @@ class HX71xBase:
                'overflows': self.ffreader.get_last_overflows()}


-def HX711(config):
-    return HX71xBase(config, "hx711",
-                     # HX711 sps options
-                     {80: 80, 10: 10}, 80,
-                     # HX711 gain/channel options
-                     {'A-128': 1, 'B-32': 2, 'A-64': 3}, 'A-128')
+class HX711(HX71xBase):
+    def __init__(self, config):
+        super(HX711, self).__init__(config, "hx711",
+                                    # HX711 sps options
+                                    {80: 80, 10: 10}, 80,
+                                    # HX711 gain/channel options
+                                    {'A-128': 1, 'B-32': 2, 'A-64': 3}, 'A-128')


-def HX717(config):
-    return HX71xBase(config, "hx717",
-                     # HX717 sps options
-                     {320: 320, 80: 80, 20: 20, 10: 10}, 320,
-                     # HX717 gain/channel options
-                     {'A-128': 1, 'B-64': 2, 'A-64': 3,
-                      'B-8': 4}, 'A-128')
+class HX717(HX71xBase):
+    def __init__(self, config):
+        super(HX717, self).__init__(config, "hx717",
+                                    # HX717 sps options
+                                    {320: 320, 80: 80, 20: 20, 10: 10}, 320,
+                                    # HX717 gain/channel options
+                                    {'A-128': 1, 'B-64': 2, 'A-64': 3,
+                                     'B-8': 4}, 'A-128')


 HX71X_SENSOR_TYPES = {
--- a/klippy/extras/led.py
+++ b/klippy/extras/led.py
@@ -1,10 +1,13 @@
 # Support for PWM driven LEDs
 #
-# Copyright (C) 2019-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2019-2022  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
-from . import output_pin
+import logging, ast
+from .display import display
+
+# Time between each led template update
+RENDER_TIME = 0.500

 # Helper code for common LED initialization and control
 class LEDHelper:
@@ -19,22 +22,14 @@ class LEDHelper:
        blue = config.getfloat('initial_BLUE', 0., minval=0., maxval=1.)
        white = config.getfloat('initial_WHITE', 0., minval=0., maxval=1.)
        self.led_state = [(red, green, blue, white)] * led_count
-        # Support setting an led template
-        self.template_eval = output_pin.lookup_template_eval(config)
-        self.tcallbacks = [(lambda text, s=self, index=i:
-                            s._template_update(index, text))
-                           for i in range(led_count)]
        # Register commands
        name = config.get_name().split()[-1]
        gcode = self.printer.lookup_object('gcode')
        gcode.register_mux_command("SET_LED", "LED", name, self.cmd_SET_LED,
                                   desc=self.cmd_SET_LED_help)
-        gcode.register_mux_command("SET_LED_TEMPLATE", "LED", name,
-                                   self.cmd_SET_LED_TEMPLATE,
-                                   desc=self.cmd_SET_LED_TEMPLATE_help)
-    def get_status(self, eventtime=None):
-        return {'color_data': self.led_state}
-    def _set_color(self, index, color):
+    def get_led_count(self):
+        return self.led_count
+    def set_color(self, index, color):
        if index is None:
            new_led_state = [color] * self.led_count
            if self.led_state == new_led_state:
@@ -46,17 +41,7 @@ class LEDHelper:
            new_led_state[index - 1] = color
        self.led_state = new_led_state
        self.need_transmit = True
-    def _template_update(self, index, text):
-        try:
-            parts = [max(0., min(1., float(f)))
-                     for f in text.split(',', 4)]
-        except ValueError as e:
-            logging.exception("led template render error")
-            parts = []
-        if len(parts) < 4:
-            parts += [0.] * (4 - len(parts))
-        self._set_color(index, tuple(parts))
-    def _check_transmit(self, print_time=None):
+    def check_transmit(self, print_time):
        if not self.need_transmit:
            return
        self.need_transmit = False
@@ -77,9 +62,9 @@ class LEDHelper:
        color = (red, green, blue, white)
        # Update and transmit data
        def lookahead_bgfunc(print_time):
-            self._set_color(index, color)
+            self.set_color(index, color)
            if transmit:
-                self._check_transmit(print_time)
+                self.check_transmit(print_time)
        if sync:
            #Sync LED Update with print time and send
            toolhead = self.printer.lookup_object('toolhead')
@@ -87,15 +72,112 @@ class LEDHelper:
        else:
            #Send update now (so as not to wake toolhead and reset idle_timeout)
            lookahead_bgfunc(None)
+    def get_status(self, eventtime=None):
+        return {'color_data': self.led_state}
+
+# Main LED tracking code
+class PrinterLED:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.led_helpers = {}
+        self.active_templates = {}
+        self.render_timer = None
+        # Load templates
+        dtemplates = display.lookup_display_templates(config)
+        self.templates = dtemplates.get_display_templates()
+        gcode_macro = self.printer.lookup_object("gcode_macro")
+        self.create_template_context = gcode_macro.create_template_context
+        # Register handlers
+        gcode = self.printer.lookup_object('gcode')
+        gcode.register_command("SET_LED_TEMPLATE", self.cmd_SET_LED_TEMPLATE,
+                               desc=self.cmd_SET_LED_TEMPLATE_help)
+    def setup_helper(self, config, update_func, led_count=1):
+        led_helper = LEDHelper(config, update_func, led_count)
+        name = config.get_name().split()[-1]
+        self.led_helpers[name] = led_helper
+        return led_helper
+    def _activate_timer(self):
+        if self.render_timer is not None or not self.active_templates:
+            return
+        reactor = self.printer.get_reactor()
+        self.render_timer = reactor.register_timer(self._render, reactor.NOW)
+    def _activate_template(self, led_helper, index, template, lparams):
+        key = (led_helper, index)
+        if template is not None:
+            uid = (template,) + tuple(sorted(lparams.items()))
+            self.active_templates[key] = (uid, template, lparams)
+            return
+        if key in self.active_templates:
+            del self.active_templates[key]
+    def _render(self, eventtime):
+        if not self.active_templates:
+            # Nothing to do - unregister timer
+            reactor = self.printer.get_reactor()
+            reactor.register_timer(self.render_timer)
+            self.render_timer = None
+            return reactor.NEVER
+        # Setup gcode_macro template context
+        context = self.create_template_context(eventtime)
+        def render(name, **kwargs):
+            return self.templates[name].render(context, **kwargs)
+        context['render'] = render
+        # Render all templates
+        need_transmit = {}
+        rendered = {}
+        template_info = self.active_templates.items()
+        for (led_helper, index), (uid, template, lparams) in template_info:
+            color = rendered.get(uid)
+            if color is None:
+                try:
+                    text = template.render(context, **lparams)
+                    parts = [max(0., min(1., float(f)))
+                             for f in text.split(',', 4)]
+                except Exception as e:
+                    logging.exception("led template render error")
+                    parts = []
+                if len(parts) < 4:
+                    parts += [0.] * (4 - len(parts))
+                rendered[uid] = color = tuple(parts)
+            need_transmit[led_helper] = 1
+            led_helper.set_color(index, color)
+        context.clear() # Remove circular references for better gc
+        # Transmit pending changes
+        for led_helper in need_transmit.keys():
+            led_helper.check_transmit(None)
+        return eventtime + RENDER_TIME
    cmd_SET_LED_TEMPLATE_help = "Assign a display_template to an LED"
    def cmd_SET_LED_TEMPLATE(self, gcmd):
-        index = gcmd.get_int("INDEX", None, minval=1, maxval=self.led_count)
-        set_template = self.template_eval.set_template
+        led_name = gcmd.get("LED")
+        led_helper = self.led_helpers.get(led_name)
+        if led_helper is None:
+            raise gcmd.error("Unknown LED '%s'" % (led_name,))
+        led_count = led_helper.get_led_count()
+        index = gcmd.get_int("INDEX", None, minval=1, maxval=led_count)
+        template = None
+        lparams = {}
+        tpl_name = gcmd.get("TEMPLATE")
+        if tpl_name:
+            template = self.templates.get(tpl_name)
+            if template is None:
+                raise gcmd.error("Unknown display_template '%s'" % (tpl_name,))
+            tparams = template.get_params()
+            for p, v in gcmd.get_command_parameters().items():
+                if not p.startswith("PARAM_"):
+                    continue
+                p = p.lower()
+                if p not in tparams:
+                    raise gcmd.error("Invalid display_template parameter: %s"
+                                     % (p,))
+                try:
+                    lparams[p] = ast.literal_eval(v)
+                except ValueError as e:
+                    raise gcmd.error("Unable to parse '%s' as a literal" % (v,))
        if index is not None:
-            set_template(gcmd, self.tcallbacks[index-1], self._check_transmit)
+            self._activate_template(led_helper, index, template, lparams)
        else:
-            for i in range(self.led_count):
-                set_template(gcmd, self.tcallbacks[i], self._check_transmit)
+            for i in range(led_count):
+                self._activate_template(led_helper, i+1, template, lparams)
+        self._activate_timer()

 PIN_MIN_TIME = 0.100
 MAX_SCHEDULE_TIME = 5.0
@@ -123,7 +205,8 @@ class PrinterPWMLED:
                               % (config.get_name(),))
        self.last_print_time = 0.
        # Initialize color data
-        self.led_helper = LEDHelper(config, self.update_leds, 1)
+        pled = printer.load_object(config, "led")
+        self.led_helper = pled.setup_helper(config, self.update_leds, 1)
        self.prev_color = color = self.led_helper.get_status()['color_data'][0]
        for idx, mcu_pin in self.pins:
            mcu_pin.setup_start_value(color[idx], 0.)
@@ -142,5 +225,8 @@ class PrinterPWMLED:
    def get_status(self, eventtime=None):
        return self.led_helper.get_status(eventtime)

+def load_config(config):
+    return PrinterLED(config)
+
 def load_config_prefix(config):
    return PrinterPWMLED(config)
--- a/klippy/extras/lis2dw.py
+++ b/klippy/extras/lis2dw.py
@@ -12,8 +12,6 @@ REG_LIS2DW_WHO_AM_I_ADDR = 0x0F
 REG_LIS2DW_CTRL_REG1_ADDR = 0x20
 REG_LIS2DW_CTRL_REG2_ADDR = 0x21
 REG_LIS2DW_CTRL_REG3_ADDR = 0x22
-REG_LIS2DW_CTRL_REG4_ADDR = 0x23
-REG_LIS2DW_CTRL_REG5_ADDR = 0x24
 REG_LIS2DW_CTRL_REG6_ADDR = 0x25
 REG_LIS2DW_STATUS_REG_ADDR = 0x27
 REG_LIS2DW_OUT_XL_ADDR = 0x28
@@ -28,57 +26,26 @@ REG_MOD_READ = 0x80
 # REG_MOD_MULTI = 0x40

 LIS2DW_DEV_ID = 0x44
-LIS3DH_DEV_ID = 0x33

-LIS_I2C_ADDR = 0x19
-
-# Right shift for left justified registers.
 FREEFALL_ACCEL = 9.80665
-LIS2DW_SCALE = FREEFALL_ACCEL * 1.952 / 4
-LIS3DH_SCALE = FREEFALL_ACCEL * 3.906 / 16
+SCALE = FREEFALL_ACCEL * 1.952 / 4

 BATCH_UPDATES = 0.100

-# "Enums" that should be compatible with all python versions
-
-LIS2DW_TYPE = 'LIS2DW'
-LIS3DH_TYPE = 'LIS3DH'
-
-SPI_SERIAL_TYPE = 'spi'
-I2C_SERIAL_TYPE = 'i2c'
-
 # Printer class that controls LIS2DW chip
 class LIS2DW:
-    def __init__(self, config, lis_type):
+    def __init__(self, config):
        self.printer = config.get_printer()
        adxl345.AccelCommandHelper(config, self)
-        self.lis_type = lis_type
-        if self.lis_type == LIS2DW_TYPE:
-            self.axes_map = adxl345.read_axes_map(config, LIS2DW_SCALE,
-                            LIS2DW_SCALE, LIS2DW_SCALE)
-            self.data_rate = 1600
-        else:
-            self.axes_map = adxl345.read_axes_map(config, LIS3DH_SCALE,
-                            LIS3DH_SCALE, LIS3DH_SCALE)
-            self.data_rate = 1344
-        # Check for spi or i2c
-        if config.get('cs_pin', None) is not None:
-            self.bus_type = SPI_SERIAL_TYPE
-        else:
-            self.bus_type = I2C_SERIAL_TYPE
+        self.axes_map = adxl345.read_axes_map(config, SCALE, SCALE, SCALE)
+        self.data_rate = 1600
        # Setup mcu sensor_lis2dw bulk query code
-        if self.bus_type == SPI_SERIAL_TYPE:
-            self.bus = bus.MCU_SPI_from_config(config,
-                            3, default_speed=5000000)
-        else:
-            self.bus = bus.MCU_I2C_from_config(config,
-                            default_addr=LIS_I2C_ADDR, default_speed=400000)
-        self.mcu = mcu = self.bus.get_mcu()
+        self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
+        self.mcu = mcu = self.spi.get_mcu()
        self.oid = oid = mcu.create_oid()
        self.query_lis2dw_cmd = None
-        mcu.add_config_cmd("config_lis2dw oid=%d bus_oid=%d bus_oid_type=%s "
-                           "lis_chip_type=%s" % (oid, self.bus.get_oid(),
-                            self.bus_type, self.lis_type))
+        mcu.add_config_cmd("config_lis2dw oid=%d spi_oid=%d"
+                           % (oid, self.spi.get_oid()))
        mcu.add_config_cmd("query_lis2dw oid=%d rest_ticks=0"
                           % (oid,), on_restart=True)
        mcu.register_config_callback(self._build_config)
@@ -96,23 +63,17 @@ class LIS2DW:
                                         self.name, {'header': hdr})

    def _build_config(self):
-        cmdqueue = self.bus.get_command_queue()
+        cmdqueue = self.spi.get_command_queue()
        self.query_lis2dw_cmd = self.mcu.lookup_command(
            "query_lis2dw oid=%c rest_ticks=%u", cq=cmdqueue)
        self.ffreader.setup_query_command("query_lis2dw_status oid=%c",
                                          oid=self.oid, cq=cmdqueue)
    def read_reg(self, reg):
-        if self.bus_type == SPI_SERIAL_TYPE:
-            params = self.bus.spi_transfer([reg | REG_MOD_READ, 0x00])
-            response = bytearray(params['response'])
-            return response[1]
-        params = self.bus.i2c_read([reg], 1)
-        return bytearray(params['response'])[0]
+        params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
+        response = bytearray(params['response'])
+        return response[1]
    def set_reg(self, reg, val, minclock=0):
-        if self.bus_type == SPI_SERIAL_TYPE:
-            self.bus.spi_send([reg, val & 0xFF], minclock=minclock)
-        else:
-            self.bus.i2c_write([reg, val & 0xFF], minclock=minclock)
+        self.spi.spi_send([reg, val & 0xFF], minclock=minclock)
        stored_val = self.read_reg(reg)
        if stored_val != val:
            raise self.printer.command_error(
@@ -141,48 +102,26 @@ class LIS2DW:
        # noise or wrong signal as a correctly initialized device
        dev_id = self.read_reg(REG_LIS2DW_WHO_AM_I_ADDR)
        logging.info("lis2dw_dev_id: %x", dev_id)
-        if self.lis_type == LIS2DW_TYPE:
-            if dev_id != LIS2DW_DEV_ID:
-                raise self.printer.command_error(
-                    "Invalid lis2dw id (got %x vs %x).\n"
-                    "This is generally indicative of connection problems\n"
-                    "(e.g. faulty wiring) or a faulty lis2dw chip."
-                    % (dev_id, LIS2DW_DEV_ID))
-            # Setup chip in requested query rate
-            # ODR/2, +-16g, low-pass filter, Low-noise abled
-            self.set_reg(REG_LIS2DW_CTRL_REG6_ADDR, 0x34)
-            # Continuous mode: If the FIFO is full
-            # the new sample overwrites the older sample.
-            self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
-            # High-Performance / Low-Power mode 1600/200 Hz
-            # High-Performance Mode (14-bit resolution)
-            self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
-        else:
-            if dev_id != LIS3DH_DEV_ID:
-                raise self.printer.command_error(
-                    "Invalid lis3dh id (got %x vs %x).\n"
-                    "This is generally indicative of connection problems\n"
-                    "(e.g. faulty wiring) or a faulty lis3dh chip."
-                    % (dev_id, LIS3DH_DEV_ID))
-            # High Resolution / Low Power mode 1344/5376 Hz
-            # High Resolution mode (12-bit resolution)
-            # Enable X Y Z axes
-            self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x97)
-            # Disable all filtering
-            self.set_reg(REG_LIS2DW_CTRL_REG2_ADDR, 0)
-            # Set +-8g, High Resolution mode
-            self.set_reg(REG_LIS2DW_CTRL_REG4_ADDR, 0x28)
-            # Enable FIFO
-            self.set_reg(REG_LIS2DW_CTRL_REG5_ADDR, 0x40)
-            # Stream mode
-            self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x80)
+        if dev_id != LIS2DW_DEV_ID:
+            raise self.printer.command_error(
+                "Invalid lis2dw id (got %x vs %x).\n"
+                "This is generally indicative of connection problems\n"
+                "(e.g. faulty wiring) or a faulty lis2dw chip."
+                % (dev_id, LIS2DW_DEV_ID))
+        # Setup chip in requested query rate
+        # ODR/2, +-16g, low-pass filter, Low-noise abled
+        self.set_reg(REG_LIS2DW_CTRL_REG6_ADDR, 0x34)
+        # Continuous mode: If the FIFO is full
+        # the new sample overwrites the older sample.
+        self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
+        # High-Performance / Low-Power mode 1600/200 Hz
+        # High-Performance Mode (14-bit resolution)
+        self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
+
        # Start bulk reading
        rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
        self.query_lis2dw_cmd.send([self.oid, rest_ticks])
-        if self.lis_type == LIS2DW_TYPE:
-            self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
-        else:
-            self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x80)
+        self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
        logging.info("LIS2DW starting '%s' measurements", self.name)
        # Initialize clock tracking
        self.ffreader.note_start()
@@ -203,7 +142,7 @@ class LIS2DW:
                'overflows': self.ffreader.get_last_overflows()}

 def load_config(config):
-    return LIS2DW(config, LIS2DW_TYPE)
+    return LIS2DW(config)

 def load_config_prefix(config):
-    return LIS2DW(config, LIS2DW_TYPE)
+    return LIS2DW(config)
--- a/klippy/extras/lis3dh.py
+++ b/klippy/extras/lis3dh.py
@@ -1,12 +0,0 @@
-# Support for reading acceleration data from an LIS3DH chip
-#
-# Copyright (C) 2024 Luke Vuksta <wulfstawulfsta@gmail.com>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-from . import lis2dw
-
-def load_config(config):
-    return lis2dw.LIS2DW(config, lis2dw.LIS3DH_TYPE)
-
-def load_config_prefix(config):
-    return lis2dw.LIS2DW(config, lis2dw.LIS3DH_TYPE)
--- a/klippy/extras/manual_stepper.py
+++ b/klippy/extras/manual_stepper.py
@@ -109,7 +109,7 @@ class ManualStepper:
        self.sync_print_time()
    def get_position(self):
        return [self.rail.get_commanded_position(), 0., 0., 0.]
-    def set_position(self, newpos, homing_axes=""):
+    def set_position(self, newpos, homing_axes=()):
        self.do_set_position(newpos[0])
    def get_last_move_time(self):
        self.sync_print_time()
--- a/klippy/extras/neopixel.py
+++ b/klippy/extras/neopixel.py
@@ -4,7 +4,6 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
-from . import led

 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000

@@ -41,7 +40,9 @@ class PrinterNeoPixel:
        if len(self.color_map) > MAX_MCU_SIZE:
            raise config.error("neopixel chain too long")
        # Initialize color data
-        self.led_helper = led.LEDHelper(config, self.update_leds, chain_count)
+        pled = printer.load_object(config, "led")
+        self.led_helper = pled.setup_helper(config, self.update_leds,
+                                            chain_count)
        self.color_data = bytearray(len(self.color_map))
        self.update_color_data(self.led_helper.get_status()['color_data'])
        self.old_color_data = bytearray([d ^ 1 for d in self.color_data])
--- a/klippy/extras/output_pin.py
+++ b/klippy/extras/output_pin.py
@@ -3,180 +3,9 @@
 # Copyright (C) 2017-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import logging, ast
-from .display import display
-
-
-######################################################################
-# G-Code request queuing helper
-######################################################################

 PIN_MIN_TIME = 0.100
-
-# Helper code to queue g-code requests
-class GCodeRequestQueue:
-    def __init__(self, config, mcu, callback):
-        self.printer = printer = config.get_printer()
-        self.mcu = mcu
-        self.callback = callback
-        self.rqueue = []
-        self.next_min_flush_time = 0.
-        self.toolhead = None
-        mcu.register_flush_callback(self._flush_notification)
-        printer.register_event_handler("klippy:connect", self._handle_connect)
-    def _handle_connect(self):
-        self.toolhead = self.printer.lookup_object('toolhead')
-    def _flush_notification(self, print_time, clock):
-        rqueue = self.rqueue
-        while rqueue:
-            next_time = max(rqueue[0][0], self.next_min_flush_time)
-            if next_time > print_time:
-                return
-            # Skip requests that have been overridden with a following request
-            pos = 0
-            while pos + 1 < len(rqueue) and rqueue[pos + 1][0] <= next_time:
-                pos += 1
-            req_pt, req_val = rqueue[pos]
-            # Invoke callback for the request
-            min_wait = 0.
-            ret = self.callback(next_time, req_val)
-            if ret is not None:
-                # Handle special cases
-                action, min_wait = ret
-                if action == "discard":
-                    del rqueue[:pos+1]
-                    continue
-                if action == "delay":
-                    pos -= 1
-            del rqueue[:pos+1]
-            self.next_min_flush_time = next_time + max(min_wait, PIN_MIN_TIME)
-            # Ensure following queue items are flushed
-            self.toolhead.note_mcu_movequeue_activity(self.next_min_flush_time)
-    def _queue_request(self, print_time, value):
-        self.rqueue.append((print_time, value))
-        self.toolhead.note_mcu_movequeue_activity(print_time)
-    def queue_gcode_request(self, value):
-        self.toolhead.register_lookahead_callback(
-            (lambda pt: self._queue_request(pt, value)))
-    def send_async_request(self, value, print_time=None):
-        if print_time is None:
-            systime = self.printer.get_reactor().monotonic()
-            print_time = self.mcu.estimated_print_time(systime + PIN_MIN_TIME)
-        while 1:
-            next_time = max(print_time, self.next_min_flush_time)
-            # Invoke callback for the request
-            action, min_wait = "normal", 0.
-            ret = self.callback(next_time, value)
-            if ret is not None:
-                # Handle special cases
-                action, min_wait = ret
-                if action == "discard":
-                    break
-            self.next_min_flush_time = next_time + max(min_wait, PIN_MIN_TIME)
-            if action != "delay":
-                break
-
-
-######################################################################
-# Template evaluation helper
-######################################################################
-
-# Time between each template update
-RENDER_TIME = 0.500
-
-# Main template evaluation code
-class PrinterTemplateEvaluator:
-    def __init__(self, config):
-        self.printer = config.get_printer()
-        self.active_templates = {}
-        self.render_timer = None
-        # Load templates
-        dtemplates = display.lookup_display_templates(config)
-        self.templates = dtemplates.get_display_templates()
-        gcode_macro = self.printer.load_object(config, "gcode_macro")
-        self.create_template_context = gcode_macro.create_template_context
-    def _activate_timer(self):
-        if self.render_timer is not None or not self.active_templates:
-            return
-        reactor = self.printer.get_reactor()
-        self.render_timer = reactor.register_timer(self._render, reactor.NOW)
-    def _activate_template(self, callback, template, lparams, flush_callback):
-        if template is not None:
-            uid = (template,) + tuple(sorted(lparams.items()))
-            self.active_templates[callback] = (
-                uid, template, lparams, flush_callback)
-            return
-        if callback in self.active_templates:
-            del self.active_templates[callback]
-    def _render(self, eventtime):
-        if not self.active_templates:
-            # Nothing to do - unregister timer
-            reactor = self.printer.get_reactor()
-            reactor.unregister_timer(self.render_timer)
-            self.render_timer = None
-            return reactor.NEVER
-        # Setup gcode_macro template context
-        context = self.create_template_context(eventtime)
-        def render(name, **kwargs):
-            return self.templates[name].render(context, **kwargs)
-        context['render'] = render
-        # Render all templates
-        flush_callbacks = {}
-        rendered = {}
-        template_info = self.active_templates.items()
-        for callback, (uid, template, lparams, flush_callback) in template_info:
-            text = rendered.get(uid)
-            if text is None:
-                try:
-                    text = template.render(context, **lparams)
-                except Exception as e:
-                    logging.exception("display template render error")
-                    text = ""
-                rendered[uid] = text
-            if flush_callback is not None:
-                flush_callbacks[flush_callback] = 1
-            callback(text)
-        context.clear() # Remove circular references for better gc
-        # Invoke optional flush callbacks
-        for flush_callback in flush_callbacks.keys():
-            flush_callback()
-        return eventtime + RENDER_TIME
-    def set_template(self, gcmd, callback, flush_callback=None):
-        template = None
-        lparams = {}
-        tpl_name = gcmd.get("TEMPLATE")
-        if tpl_name:
-            template = self.templates.get(tpl_name)
-            if template is None:
-                raise gcmd.error("Unknown display_template '%s'" % (tpl_name,))
-            tparams = template.get_params()
-            for p, v in gcmd.get_command_parameters().items():
-                if not p.startswith("PARAM_"):
-                    continue
-                p = p.lower()
-                if p not in tparams:
-                    raise gcmd.error("Invalid display_template parameter: %s"
-                                     % (p,))
-                try:
-                    lparams[p] = ast.literal_eval(v)
-                except ValueError as e:
-                    raise gcmd.error("Unable to parse '%s' as a literal" % (v,))
-        self._activate_template(callback, template, lparams, flush_callback)
-        self._activate_timer()
-
-def lookup_template_eval(config):
-    printer = config.get_printer()
-    te = printer.lookup_object("template_evaluator", None)
-    if te is None:
-        te = PrinterTemplateEvaluator(config)
-        printer.add_object("template_evaluator", te)
-    return te
-
-
-######################################################################
-# Main output pin handling
-######################################################################
-
+RESEND_HOST_TIME = 0.300 + PIN_MIN_TIME
 MAX_SCHEDULE_TIME = 5.0

 class PrinterOutputPin:
@@ -195,18 +24,30 @@ class PrinterOutputPin:
        else:
            self.mcu_pin = ppins.setup_pin('digital_out', config.get('pin'))
            self.scale = 1.
-        self.mcu_pin.setup_max_duration(0.)
+        self.last_print_time = 0.
+        # Support mcu checking for maximum duration
+        self.reactor = self.printer.get_reactor()
+        self.resend_timer = None
+        self.resend_interval = 0.
+        max_mcu_duration = config.getfloat('maximum_mcu_duration', 0.,
+                                           minval=0.500,
+                                           maxval=MAX_SCHEDULE_TIME)
+        self.mcu_pin.setup_max_duration(max_mcu_duration)
+        if max_mcu_duration:
+            config.deprecate('maximum_mcu_duration')
+            self.resend_interval = max_mcu_duration - RESEND_HOST_TIME
        # Determine start and shutdown values
-        self.last_value = config.getfloat(
-            'value', 0., minval=0., maxval=self.scale) / self.scale
-        self.shutdown_value = config.getfloat(
-            'shutdown_value', 0., minval=0., maxval=self.scale) / self.scale
+        static_value = config.getfloat('static_value', None,
+                                       minval=0., maxval=self.scale)
+        if static_value is not None:
+            config.deprecate('static_value')
+            self.last_value = self.shutdown_value = static_value / self.scale
+        else:
+            self.last_value = config.getfloat(
+                'value', 0., minval=0., maxval=self.scale) / self.scale
+            self.shutdown_value = config.getfloat(
+                'shutdown_value', 0., minval=0., maxval=self.scale) / self.scale
        self.mcu_pin.setup_start_value(self.last_value, self.shutdown_value)
-        # Create gcode request queue
-        self.gcrq = GCodeRequestQueue(config, self.mcu_pin.get_mcu(),
-                                      self._set_pin)
-        # Template handling
-        self.template_eval = lookup_template_eval(config)
        # Register commands
        pin_name = config.get_name().split()[1]
        gcode = self.printer.lookup_object('gcode')
@@ -215,36 +56,45 @@ class PrinterOutputPin:
                                   desc=self.cmd_SET_PIN_help)
    def get_status(self, eventtime):
        return {'value': self.last_value}
-    def _set_pin(self, print_time, value):
-        if value == self.last_value:
-            return "discard", 0.
-        self.last_value = value
+    def _set_pin(self, print_time, value, is_resend=False):
+        if value == self.last_value and not is_resend:
+            return
+        print_time = max(print_time, self.last_print_time + PIN_MIN_TIME)
        if self.is_pwm:
            self.mcu_pin.set_pwm(print_time, value)
        else:
            self.mcu_pin.set_digital(print_time, value)
-    def _template_update(self, text):
-        try:
-            value = float(text)
-        except ValueError as e:
-            logging.exception("output_pin template render error")
-        self.gcrq.send_async_request(value)
+        self.last_value = value
+        self.last_print_time = print_time
+        if self.resend_interval and self.resend_timer is None:
+            self.resend_timer = self.reactor.register_timer(
+                self._resend_current_val, self.reactor.NOW)
    cmd_SET_PIN_help = "Set the value of an output pin"
    def cmd_SET_PIN(self, gcmd):
-        value = gcmd.get_float('VALUE', None, minval=0., maxval=self.scale)
-        template = gcmd.get('TEMPLATE', None)
-        if (value is None) == (template is None):
-            raise gcmd.error("SET_PIN command must specify VALUE or TEMPLATE")
-        # Check for template setting
-        if template is not None:
-            self.template_eval.set_template(gcmd, self._template_update)
-            return
        # Read requested value
+        value = gcmd.get_float('VALUE', minval=0., maxval=self.scale)
        value /= self.scale
        if not self.is_pwm and value not in [0., 1.]:
            raise gcmd.error("Invalid pin value")
-        # Queue requested value
-        self.gcrq.queue_gcode_request(value)
+        # Obtain print_time and apply requested settings
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.register_lookahead_callback(
+            lambda print_time: self._set_pin(print_time, value))
+
+    def _resend_current_val(self, eventtime):
+        if self.last_value == self.shutdown_value:
+            self.reactor.unregister_timer(self.resend_timer)
+            self.resend_timer = None
+            return self.reactor.NEVER
+
+        systime = self.reactor.monotonic()
+        print_time = self.mcu_pin.get_mcu().estimated_print_time(systime)
+        time_diff = (self.last_print_time + self.resend_interval) - print_time
+        if time_diff > 0.:
+            # Reschedule for resend time
+            return systime + time_diff
+        self._set_pin(print_time + PIN_MIN_TIME, self.last_value, True)
+        return systime + self.resend_interval

 def load_config_prefix(config):
    return PrinterOutputPin(config)
--- a/klippy/extras/pca9533.py
+++ b/klippy/extras/pca9533.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
-from . import bus, led
+from . import bus

 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000

@@ -16,7 +16,8 @@ class PCA9533:
    def __init__(self, config):
        self.printer = config.get_printer()
        self.i2c = bus.MCU_I2C_from_config(config, default_addr=98)
-        self.led_helper = led.LEDHelper(config, self.update_leds, 1)
+        pled = self.printer.load_object(config, "led")
+        self.led_helper = pled.setup_helper(config, self.update_leds, 1)
        self.i2c.i2c_write([PCA9533_PWM0, 85])
        self.i2c.i2c_write([PCA9533_PWM1, 170])
        self.update_leds(self.led_helper.get_status()['color_data'], None)
--- a/klippy/extras/pca9632.py
+++ b/klippy/extras/pca9632.py
@@ -3,7 +3,7 @@
 # Copyright (C) 2022  Ricardo Alcantara <ricardo@vulcanolabs.com>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import bus, led, mcp4018
+from . import bus, mcp4018

 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000

@@ -34,7 +34,8 @@ class PCA9632:
            raise config.error("Invalid color_order '%s'" % (color_order,))
        self.color_map = ["RGBW".index(c) for c in color_order]
        self.prev_regs = {}
-        self.led_helper = led.LEDHelper(config, self.update_leds, 1)
+        pled = printer.load_object(config, "led")
+        self.led_helper = pled.setup_helper(config, self.update_leds, 1)
        printer.register_event_handler("klippy:connect", self.handle_connect)
    def reg_write(self, reg, val, minclock=0):
        if self.prev_regs.get(reg) == val:
--- a/klippy/extras/resonance_tester.py
+++ b/klippy/extras/resonance_tester.py
@@ -45,96 +45,40 @@ def _parse_axis(gcmd, raw_axis):
                "Unable to parse axis direction '%s'" % (raw_axis,))
    return TestAxis(vib_dir=(dir_x, dir_y))

-class VibrationPulseTestGenerator:
+class VibrationPulseTest:
    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.gcode = self.printer.lookup_object('gcode')
        self.min_freq = config.getfloat('min_freq', 5., minval=1.)
-        self.max_freq = config.getfloat('max_freq', 135.,
+        # Defaults are such that max_freq * accel_per_hz == 10000 (max_accel)
+        self.max_freq = config.getfloat('max_freq', 10000. / 75.,
                                        minval=self.min_freq, maxval=300.)
-        self.accel_per_hz = config.getfloat('accel_per_hz', 60., above=0.)
+        self.accel_per_hz = config.getfloat('accel_per_hz', 75., above=0.)
        self.hz_per_sec = config.getfloat('hz_per_sec', 1.,
                                          minval=0.1, maxval=2.)
+
+        self.probe_points = config.getlists('probe_points', seps=(',', '\n'),
+                                            parser=float, count=3)
+    def get_start_test_points(self):
+        return self.probe_points
    def prepare_test(self, gcmd):
        self.freq_start = gcmd.get_float("FREQ_START", self.min_freq, minval=1.)
        self.freq_end = gcmd.get_float("FREQ_END", self.max_freq,
                                       minval=self.freq_start, maxval=300.)
-        self.test_accel_per_hz = gcmd.get_float("ACCEL_PER_HZ",
-                                                self.accel_per_hz, above=0.)
-        self.test_hz_per_sec = gcmd.get_float("HZ_PER_SEC", self.hz_per_sec,
-                                              above=0., maxval=2.)
-    def gen_test(self):
-        freq = self.freq_start
-        res = []
-        sign = 1.
-        time = 0.
-        while freq <= self.freq_end + 0.000001:
-            t_seg = .25 / freq
-            accel = self.test_accel_per_hz * freq
-            time += t_seg
-            res.append((time, sign * accel, freq))
-            time += t_seg
-            res.append((time, -sign * accel, freq))
-            freq += 2. * t_seg * self.test_hz_per_sec
-            sign = -sign
-        return res
-    def get_max_freq(self):
-        return self.freq_end
-
-class SweepingVibrationsTestGenerator:
-    def __init__(self, config):
-        self.vibration_generator = VibrationPulseTestGenerator(config)
-        self.sweeping_accel = config.getfloat('sweeping_accel', 400., above=0.)
-        self.sweeping_period = config.getfloat('sweeping_period', 1.2,
-                                               minval=0.)
-    def prepare_test(self, gcmd):
-        self.vibration_generator.prepare_test(gcmd)
-        self.test_sweeping_accel = gcmd.get_float(
-                "SWEEPING_ACCEL", self.sweeping_accel, above=0.)
-        self.test_sweeping_period = gcmd.get_float(
-                "SWEEPING_PERIOD", self.sweeping_period, minval=0.)
-    def gen_test(self):
-        test_seq = self.vibration_generator.gen_test()
-        accel_fraction = math.sqrt(2.0) * 0.125
-        if self.test_sweeping_period:
-            t_rem = self.test_sweeping_period * accel_fraction
-            sweeping_accel = self.test_sweeping_accel
-        else:
-            t_rem = float('inf')
-            sweeping_accel = 0.
-        res = []
-        last_t = 0.
-        sig = 1.
-        accel_fraction += 0.25
-        for next_t, accel, freq in test_seq:
-            t_seg = next_t - last_t
-            while t_rem <= t_seg:
-                last_t += t_rem
-                res.append((last_t, accel + sweeping_accel * sig, freq))
-                t_seg -= t_rem
-                t_rem = self.test_sweeping_period * accel_fraction
-                accel_fraction = 0.5
-                sig = -sig
-            t_rem -= t_seg
-            res.append((next_t, accel + sweeping_accel * sig, freq))
-            last_t = next_t
-        return res
-    def get_max_freq(self):
-        return self.vibration_generator.get_max_freq()
-
-class ResonanceTestExecutor:
-    def __init__(self, config):
-        self.printer = config.get_printer()
-        self.gcode = self.printer.lookup_object('gcode')
-    def run_test(self, test_seq, axis, gcmd):
-        reactor = self.printer.get_reactor()
+        self.hz_per_sec = gcmd.get_float("HZ_PER_SEC", self.hz_per_sec,
+                                         above=0., maxval=2.)
+    def run_test(self, axis, gcmd):
        toolhead = self.printer.lookup_object('toolhead')
        X, Y, Z, E = toolhead.get_position()
+        sign = 1.
+        freq = self.freq_start
        # Override maximum acceleration and acceleration to
        # deceleration based on the maximum test frequency
-        systime = reactor.monotonic()
+        systime = self.printer.get_reactor().monotonic()
        toolhead_info = toolhead.get_status(systime)
        old_max_accel = toolhead_info['max_accel']
        old_minimum_cruise_ratio = toolhead_info['minimum_cruise_ratio']
-        max_accel = max([abs(a) for _, a, _ in test_seq])
+        max_accel = self.freq_end * self.accel_per_hz
        self.gcode.run_script_from_command(
            "SET_VELOCITY_LIMIT ACCEL=%.3f MINIMUM_CRUISE_RATIO=0"
            % (max_accel,))
@@ -144,46 +88,24 @@ class ResonanceTestExecutor:
            gcmd.respond_info("Disabled [input_shaper] for resonance testing")
        else:
            input_shaper = None
-        last_v = last_t = last_accel = last_freq = 0.
-        for next_t, accel, freq in test_seq:
-            t_seg = next_t - last_t
+        gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
+        while freq <= self.freq_end + 0.000001:
+            t_seg = .25 / freq
+            accel = self.accel_per_hz * freq
+            max_v = accel * t_seg
            toolhead.cmd_M204(self.gcode.create_gcode_command(
-                "M204", "M204", {"S": abs(accel)}))
-            v = last_v + accel * t_seg
-            abs_v = abs(v)
-            if abs_v < 0.000001:
-                v = abs_v = 0.
-            abs_last_v = abs(last_v)
-            v2 = v * v
-            last_v2 = last_v * last_v
-            half_inv_accel = .5 / accel
-            d = (v2 - last_v2) * half_inv_accel
-            dX, dY = axis.get_point(d)
-            nX = X + dX
-            nY = Y + dY
-            toolhead.limit_next_junction_speed(abs_last_v)
-            if v * last_v < 0:
-                # The move first goes to a complete stop, then changes direction
-                d_decel = -last_v2 * half_inv_accel
-                decel_X, decel_Y = axis.get_point(d_decel)
-                toolhead.move([X + decel_X, Y + decel_Y, Z, E], abs_last_v)
-                toolhead.move([nX, nY, Z, E], abs_v)
-            else:
-                toolhead.move([nX, nY, Z, E], max(abs_v, abs_last_v))
-            if math.floor(freq) > math.floor(last_freq):
+                "M204", "M204", {"S": accel}))
+            L = .5 * accel * t_seg**2
+            dX, dY = axis.get_point(L)
+            nX = X + sign * dX
+            nY = Y + sign * dY
+            toolhead.move([nX, nY, Z, E], max_v)
+            toolhead.move([X, Y, Z, E], max_v)
+            sign = -sign
+            old_freq = freq
+            freq += 2. * t_seg * self.hz_per_sec
+            if math.floor(freq) > math.floor(old_freq):
                gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
-                reactor.pause(reactor.monotonic() + 0.01)
-            X, Y = nX, nY
-            last_t = next_t
-            last_v = v
-            last_accel = accel
-            last_freq = freq
-        if last_v:
-            d_decel = -.5 * last_v2 / old_max_accel
-            decel_X, decel_Y = axis.get_point(d_decel)
-            toolhead.cmd_M204(self.gcode.create_gcode_command(
-                "M204", "M204", {"S": old_max_accel}))
-            toolhead.move([X + decel_X, Y + decel_Y, Z, E], abs(last_v))
        # Restore the original acceleration values
        self.gcode.run_script_from_command(
            "SET_VELOCITY_LIMIT ACCEL=%.3f MINIMUM_CRUISE_RATIO=%.3f"
@@ -192,13 +114,14 @@ class ResonanceTestExecutor:
        if input_shaper is not None:
            input_shaper.enable_shaping()
            gcmd.respond_info("Re-enabled [input_shaper]")
+    def get_max_freq(self):
+        return self.freq_end

 class ResonanceTester:
    def __init__(self, config):
        self.printer = config.get_printer()
        self.move_speed = config.getfloat('move_speed', 50., above=0.)
-        self.generator = SweepingVibrationsTestGenerator(config)
-        self.executor = ResonanceTestExecutor(config)
+        self.test = VibrationPulseTest(config)
        if not config.get('accel_chip_x', None):
            self.accel_chip_names = [('xy', config.get('accel_chip').strip())]
        else:
@@ -208,8 +131,6 @@ class ResonanceTester:
            if self.accel_chip_names[0][1] == self.accel_chip_names[1][1]:
                self.accel_chip_names = [('xy', self.accel_chip_names[0][1])]
        self.max_smoothing = config.getfloat('max_smoothing', None, minval=0.05)
-        self.probe_points = config.getlists('probe_points', seps=(',', '\n'),
-                                            parser=float, count=3)

        self.gcode = self.printer.lookup_object('gcode')
        self.gcode.register_command("MEASURE_AXES_NOISE",
@@ -233,9 +154,12 @@ class ResonanceTester:
        toolhead = self.printer.lookup_object('toolhead')
        calibration_data = {axis: None for axis in axes}

-        self.generator.prepare_test(gcmd)
+        self.test.prepare_test(gcmd)

-        test_points = [test_point] if test_point else self.probe_points
+        if test_point is not None:
+            test_points = [test_point]
+        else:
+            test_points = self.test.get_start_test_points()

        for point in test_points:
            toolhead.manual_move(point, self.move_speed)
@@ -260,8 +184,7 @@ class ResonanceTester:
                        raw_values.append((axis, aclient, chip.name))

                # Generate moves
-                test_seq = self.generator.gen_test()
-                self.executor.run_test(test_seq, axis, gcmd)
+                self.test.run_test(axis, gcmd)
                for chip_axis, aclient, chip_name in raw_values:
                    aclient.finish_measurements()
                    if raw_name_suffix is not None:
@@ -289,11 +212,15 @@ class ResonanceTester:
    def _parse_chips(self, accel_chips):
        parsed_chips = []
        for chip_name in accel_chips.split(','):
-            chip = self.printer.lookup_object(chip_name.strip())
+            if "adxl345" in chip_name:
+                chip_lookup_name = chip_name.strip()
+            else:
+                chip_lookup_name = "adxl345 " + chip_name.strip();
+            chip = self.printer.lookup_object(chip_lookup_name)
            parsed_chips.append(chip)
        return parsed_chips
    def _get_max_calibration_freq(self):
-        return 1.5 * self.generator.get_max_freq()
+        return 1.5 * self.test.get_max_freq()
    cmd_TEST_RESONANCES_help = ("Runs the resonance test for a specifed axis")
    def cmd_TEST_RESONANCES(self, gcmd):
        # Parse parameters
--- a/klippy/extras/safe_z_home.py
+++ b/klippy/extras/safe_z_home.py
@@ -37,10 +37,11 @@ class SafeZHoming:
            if 'z' not in kin_status['homed_axes']:
                # Always perform the z_hop if the Z axis is not homed
                pos[2] = 0
-                toolhead.set_position(pos, homing_axes="z")
+                toolhead.set_position(pos, homing_axes=[2])
                toolhead.manual_move([None, None, self.z_hop],
                                     self.z_hop_speed)
-                toolhead.get_kinematics().clear_homing_state("z")
+                if hasattr(toolhead.get_kinematics(), "note_z_not_homed"):
+                    toolhead.get_kinematics().note_z_not_homed()
            elif pos[2] < self.z_hop:
                # If the Z axis is homed, and below z_hop, lift it to z_hop
                toolhead.manual_move([None, None, self.z_hop],
--- a/klippy/extras/screws_tilt_adjust.py
+++ b/klippy/extras/screws_tilt_adjust.py
@@ -12,7 +12,7 @@ class ScrewsTiltAdjust:
        self.config = config
        self.printer = config.get_printer()
        self.screws = []
-        self.results = {}
+        self.results = []
        self.max_diff = None
        self.max_diff_error = False
        # Read config
--- a/klippy/extras/servo.py
+++ b/klippy/extras/servo.py
@@ -1,11 +1,11 @@
 # Support for servos
 #
-# Copyright (C) 2017-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2017-2020  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import output_pin

 SERVO_SIGNAL_PERIOD = 0.020
+PIN_MIN_TIME = 0.100

 class PrinterServo:
    def __init__(self, config):
@@ -18,7 +18,7 @@ class PrinterServo:
        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 = 0.
+        self.last_value = self.last_value_time = 0.
        initial_pwm = 0.
        iangle = config.getfloat('initial_angle', None, minval=0., maxval=360.)
        if iangle is not None:
@@ -33,9 +33,6 @@ class PrinterServo:
        self.mcu_servo.setup_max_duration(0.)
        self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
        self.mcu_servo.setup_start_value(initial_pwm, 0.)
-        # Create gcode request queue
-        self.gcrq = output_pin.GCodeRequestQueue(
-            config, self.mcu_servo.get_mcu(), self._set_pwm)
        # Register commands
        servo_name = config.get_name().split()[1]
        gcode = self.printer.lookup_object('gcode')
@@ -46,9 +43,11 @@ class PrinterServo:
        return {'value': self.last_value}
    def _set_pwm(self, print_time, value):
        if value == self.last_value:
-            return "discard", 0.
-        self.last_value = 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 _get_pwm_from_angle(self, angle):
        angle = max(0., min(self.max_angle, angle))
        width = self.min_width + angle * self.angle_to_width
@@ -65,7 +64,9 @@ class PrinterServo:
        else:
            angle = gcmd.get_float('ANGLE')
            value = self._get_pwm_from_angle(angle)
-        self.gcrq.queue_gcode_request(value)
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.register_lookahead_callback((lambda pt:
+                                              self._set_pwm(pt, value)))

 def load_config_prefix(config):
    return PrinterServo(config)
--- a/klippy/extras/shaper_calibrate.py
+++ b/klippy/extras/shaper_calibrate.py
@@ -48,9 +48,7 @@ class CalibrationData:
            # Avoid division by zero errors
            psd /= self.freq_bins + .1
            # Remove low-frequency noise
-            low_freqs = self.freq_bins < 2. * MIN_FREQ
-            psd[low_freqs] *= self.numpy.exp(
-                    -(2. * MIN_FREQ / (self.freq_bins[low_freqs] + .1))**2 + 1.)
+            psd[self.freq_bins < MIN_FREQ] = 0.
    def get_psd(self, axis='all'):
        return self._psd_map[axis]

--- a/klippy/extras/stepper_enable.py
+++ b/klippy/extras/stepper_enable.py
@@ -94,7 +94,6 @@ class PrinterStepperEnable:
        print_time = toolhead.get_last_move_time()
        for el in self.enable_lines.values():
            el.motor_disable(print_time)
-        toolhead.get_kinematics().clear_homing_state("xyz")
        self.printer.send_event("stepper_enable:motor_off", print_time)
        toolhead.dwell(DISABLE_STALL_TIME)
    def motor_debug_enable(self, stepper, enable):
--- a/klippy/extras/sx1509.py
+++ b/klippy/extras/sx1509.py
@@ -38,17 +38,19 @@ class SX1509(object):
                         REG_INPUT_DISABLE : 0, REG_ANALOG_DRIVER_ENABLE : 0}
        self.reg_i_on_dict = {reg : 0 for reg in REG_I_ON}
    def _build_config(self):
-        # Reset the chip, Default RegClock/RegMisc 0x0
+        # Reset the chip
        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
            self._oid, REG_RESET, 0x12))
        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
            self._oid, REG_RESET, 0x34))
        # Enable Oscillator
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-            self._oid, REG_CLOCK, (1 << 6)))
+        self._mcu.add_config_cmd("i2c_modify_bits oid=%d reg=%02x"
+                                 " clear_set_bits=%02x%02x" % (
+                                     self._oid, REG_CLOCK, 0, (1 << 6)))
        # Setup Clock Divider
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-            self._oid, REG_MISC, (1 << 4)))
+        self._mcu.add_config_cmd("i2c_modify_bits oid=%d reg=%02x"
+                                 " clear_set_bits=%02x%02x" % (
+                                     self._oid, REG_MISC, 0, (1 << 4)))
        # Transfer all regs with their initial cached state
        for _reg, _data in self.reg_dict.items():
            self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%04x" % (
--- a/klippy/extras/temperature_fan.py
+++ b/klippy/extras/temperature_fan.py
@@ -46,7 +46,7 @@ class TemperatureFan:
            self.cmd_SET_TEMPERATURE_FAN_TARGET,
            desc=self.cmd_SET_TEMPERATURE_FAN_TARGET_help)

-    def set_tf_speed(self, read_time, value):
+    def set_speed(self, read_time, value):
        if value <= 0.:
            value = 0.
        elif value < self.min_speed:
@@ -60,7 +60,7 @@ class TemperatureFan:
        speed_time = read_time + self.speed_delay
        self.next_speed_time = speed_time + 0.75 * MAX_FAN_TIME
        self.last_speed_value = value
-        self.fan.set_speed(value, speed_time)
+        self.fan.set_speed(speed_time, value)
    def temperature_callback(self, read_time, temp):
        self.last_temp = temp
        self.control.temperature_callback(read_time, temp)
@@ -128,10 +128,10 @@ class ControlBangBang:
              and temp <= target_temp-self.max_delta):
            self.heating = True
        if self.heating:
-            self.temperature_fan.set_tf_speed(read_time, 0.)
+            self.temperature_fan.set_speed(read_time, 0.)
        else:
-            self.temperature_fan.set_tf_speed(
-                read_time, self.temperature_fan.get_max_speed())
+            self.temperature_fan.set_speed(read_time,
+                                           self.temperature_fan.get_max_speed())

 ######################################################################
 # Proportional Integral Derivative (PID) control algo
@@ -171,7 +171,7 @@ class ControlPID:
        # Calculate output
        co = self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv
        bounded_co = max(0., min(self.temperature_fan.get_max_speed(), co))
-        self.temperature_fan.set_tf_speed(
+        self.temperature_fan.set_speed(
            read_time, max(self.temperature_fan.get_min_speed(),
                           self.temperature_fan.get_max_speed() - bounded_co))
        # Store state for next measurement
--- a/klippy/extras/temperature_mcu.py
+++ b/klippy/extras/temperature_mcu.py
@@ -66,7 +66,7 @@ class PrinterTemperatureMCU:
        self.mcu_type = mcu.get_constants().get("MCU", "")
        # Run MCU specific configuration
        cfg_funcs = [
-            ('rp2', self.config_rp2040),
+            ('rp2040', self.config_rp2040),
            ('sam3', self.config_sam3), ('sam4', self.config_sam4),
            ('same70', self.config_same70), ('samd21', self.config_samd21),
            ('samd51', self.config_samd51), ('same5', self.config_samd51),
--- a/klippy/extras/temperature_probe.py
+++ b/klippy/extras/temperature_probe.py
@@ -490,7 +490,6 @@ class EddyDriftCompensation:
        self.cal_temp = config.getfloat("calibration_temp", 0.)
        self.drift_calibration = None
        self.calibration_samples = None
-        self.max_valid_temp = config.getfloat("max_validation_temp", 60.)
        self.dc_min_temp = config.getfloat("drift_calibration_min_temp", 0.)
        dc = config.getlists(
            "drift_calibration", None, seps=(',', '\n'), parser=float
@@ -504,8 +503,7 @@ class EddyDriftCompensation:
                    )
            self.drift_calibration = [Polynomial2d(*coefs) for coefs in dc]
            cal = self.drift_calibration
-            start_temp, end_temp = self.dc_min_temp, self.max_valid_temp
-            self._check_calibration(cal, start_temp, end_temp, config.error)
+            self._check_calibration(cal, self.dc_min_temp, config.error)
            low_poly = self.drift_calibration[-1]
            self.min_freq = min([low_poly(temp) for temp in range(121)])
            cal_str = "\n".join([repr(p) for p in cal])
@@ -640,15 +638,13 @@ class EddyDriftCompensation:
                "calbration error, not enough samples"
            )
        min_temp, _ = cal_samples[0][0]
-        max_temp, _ = cal_samples[-1][0]
        polynomials = []
        for i, coords in enumerate(cal_samples):
            height = .05 + i * .5
            poly = Polynomial2d.fit(coords)
            polynomials.append(poly)
            logging.info("Polynomial at Z=%.2f: %s" % (height, repr(poly)))
-        end_vld_temp = max(self.max_valid_temp, max_temp)
-        self._check_calibration(polynomials, min_temp, end_vld_temp)
+        self._check_calibration(polynomials, min_temp)
        coef_cfg = "\n" + "\n".join([str(p) for p in polynomials])
        configfile = self.printer.lookup_object('configfile')
        configfile.set(self.name, "drift_calibration", coef_cfg)
@@ -660,11 +656,10 @@ class EddyDriftCompensation:
            % (self.name, len(polynomials))
        )

-    def _check_calibration(self, calibration, start_temp, end_temp, error=None):
+    def _check_calibration(self, calibration, start_temp, error=None):
        error = error or self.printer.command_error
        start = int(start_temp)
-        end = int(end_temp) + 1
-        for temp in range(start, end, 1):
+        for temp in range(start, 121, 1):
            last_freq = calibration[0](temp)
            for i, poly in enumerate(calibration[1:]):
                next_freq = poly(temp)
--- a/klippy/extras/tmc2240.py
+++ b/klippy/extras/tmc2240.py
@@ -348,7 +348,7 @@ class TMC2240:
        if config.get("uart_pin", None) is not None:
            # use UART for communication
            self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields,
-                                                 7, TMC_FREQUENCY)
+                                                 3, TMC_FREQUENCY)
        else:
            # Use SPI bus for communication
            self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
@@ -408,8 +408,6 @@ class TMC2240:
        set_config_field(config, "tpowerdown", 10)
        #   SG4_THRS
        set_config_field(config, "sg4_angle_offset", 1)
-        #   DRV_CONF
-        set_config_field(config, "slope_control", 0)

 def load_config_prefix(config):
    return TMC2240(config)
--- a/klippy/extras/z_tilt.py
+++ b/klippy/extras/z_tilt.py
@@ -108,7 +108,7 @@ class RetryHelper:
        return self.increasing > 1
    def check_retry(self, z_positions):
        if self.max_retries == 0:
-            return "done"
+            return
        error = round(max(z_positions) - min(z_positions),6)
        self.gcode.respond_info(
            "Retries: %d/%d %s: %0.6f tolerance: %0.6f" % (
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -1,6 +1,6 @@
 # Parse gcode commands
 #
-# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, re, logging, collections, shlex
@@ -28,18 +28,19 @@ class GCodeCommand:
        return self._params
    def get_raw_command_parameters(self):
        command = self._command
-        origline = self._commandline
-        param_start = len(command)
-        param_end = len(origline)
-        if origline[:param_start].upper() != command:
-            # Skip any gcode line-number and ignore any trailing checksum
-            param_start += origline.upper().find(command)
-            end = origline.rfind('*')
-            if end >= 0 and origline[end+1:].isdigit():
-                param_end = end
-        if origline[param_start:param_start+1].isspace():
-            param_start += 1
-        return origline[param_start:param_end]
+        if command.startswith("M117 ") or command.startswith("M118 "):
+            command = command[:4]
+        rawparams = self._commandline
+        urawparams = rawparams.upper()
+        if not urawparams.startswith(command):
+            rawparams = rawparams[urawparams.find(command):]
+            end = rawparams.rfind('*')
+            if end >= 0:
+                rawparams = rawparams[:end]
+        rawparams = rawparams[len(command):]
+        if rawparams.startswith(' '):
+            rawparams = rawparams[1:]
+        return rawparams
    def ack(self, msg=None):
        if not self._need_ack:
            return False
@@ -132,10 +133,6 @@ class GCodeDispatch:
            raise self.printer.config_error(
                "gcode command %s already registered" % (cmd,))
        if not self.is_traditional_gcode(cmd):
-            if (cmd.upper() != cmd or not cmd.replace('_', 'A').isalnum()
-                or cmd[0].isdigit() or cmd[1:2].isdigit()):
-                raise self.printer.config_error(
-                    "Can't register '%s' as it is an invalid name" % (cmd,))
            origfunc = func
            func = lambda params: origfunc(self._get_extended_params(params))
        self.ready_gcode_handlers[cmd] = func
@@ -187,7 +184,7 @@ class GCodeDispatch:
        self._build_status_commands()
        self._respond_state("Ready")
    # 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):
        for line in commands:
            # Ignore comments and leading/trailing spaces
@@ -197,14 +194,16 @@ class GCodeDispatch:
                line = line[:cpos]
            # Break line into parts and determine command
            parts = self.args_r.split(line.upper())
-            if ''.join(parts[:2]) == 'N':
+            numparts = len(parts)
+            cmd = ""
+            if numparts >= 3 and parts[1] != 'N':
+                cmd = parts[1] + parts[2].strip()
+            elif numparts >= 5 and parts[1] == 'N':
                # Skip line number at start of command
-                cmd = ''.join(parts[3:5]).strip()
-            else:
-                cmd = ''.join(parts[:3]).strip()
+                cmd = parts[3] + parts[4].strip()
            # Build gcode "params" dictionary
            params = { parts[i]: parts[i+1].strip()
-                       for i in range(1, len(parts), 2) }
+                       for i in range(1, numparts, 2) }
            gcmd = GCodeCommand(self, cmd, origline, params, need_ack)
            # Invoke handler for command
            handler = self.gcode_handlers.get(cmd, self.cmd_default)
@@ -252,22 +251,26 @@ class GCodeDispatch:
    def _respond_state(self, state):
        self.respond_info("Klipper state: %s" % (state,), log=False)
    # Parameter parsing helpers
+    extended_r = re.compile(
+        r'^\s*(?:N[0-9]+\s*)?'
+        r'(?P<cmd>[a-zA-Z_][a-zA-Z0-9_]+)(?:\s+|$)'
+        r'(?P<args>[^#*;]*?)'
+        r'\s*(?:[#*;].*)?$')
    def _get_extended_params(self, gcmd):
-        rawparams = gcmd.get_raw_command_parameters()
-        # Extract args while allowing shell style quoting
-        s = shlex.shlex(rawparams, posix=True)
-        s.whitespace_split = True
-        s.commenters = '#;'
+        m = self.extended_r.match(gcmd.get_commandline())
+        if m is None:
+            raise self.error("Malformed command '%s'"
+                             % (gcmd.get_commandline(),))
+        eargs = m.group('args')
        try:
-            eparams = [earg.split('=', 1) for earg in s]
+            eparams = [earg.split('=', 1) for earg in shlex.split(eargs)]
            eparams = { k.upper(): v for k, v in eparams }
+            gcmd._params.clear()
+            gcmd._params.update(eparams)
+            return gcmd
        except ValueError as e:
            raise self.error("Malformed command '%s'"
                             % (gcmd.get_commandline(),))
-        # Update gcmd with new parameters
-        gcmd._params.clear()
-        gcmd._params.update(eparams)
-        return gcmd
    # G-Code special command handlers
    def cmd_default(self, gcmd):
        cmd = gcmd.get_command()
@@ -286,15 +289,12 @@ class GCodeDispatch:
            if cmdline:
                logging.debug(cmdline)
            return
-        if ' ' in cmd:
+        if cmd.startswith("M117 ") or cmd.startswith("M118 "):
            # Handle M117/M118 gcode with numeric and special characters
-            realcmd = cmd.split()[0]
-            if realcmd in ["M117", "M118", "M23"]:
-                handler = self.gcode_handlers.get(realcmd, None)
-                if handler is not None:
-                    gcmd._command = realcmd
-                    handler(gcmd)
-                    return
+            handler = self.gcode_handlers.get(cmd[:4], None)
+            if handler is not None:
+                handler(gcmd)
+                return
        elif cmd in ['M140', 'M104'] and not gcmd.get_float('S', 0.):
            # Don't warn about requests to turn off heaters when not present
            return
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -40,6 +40,8 @@ class CartKinematics:
        for s in self.get_steppers():
            s.set_trapq(toolhead.get_trapq())
            toolhead.register_step_generator(s.generate_steps)
+        self.printer.register_event_handler("stepper_enable:motor_off",
+                                            self._motor_off)
        # Setup boundary checks
        max_velocity, max_accel = toolhead.get_max_velocity()
        self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
@@ -65,17 +67,15 @@ class CartKinematics:
    def set_position(self, newpos, homing_axes):
        for i, rail in enumerate(self.rails):
            rail.set_position(newpos)
-        for axis_name in homing_axes:
-            axis = "xyz".index(axis_name)
+        for axis in homing_axes:
            if self.dc_module and axis == self.dc_module.axis:
                rail = self.dc_module.get_primary_rail().get_rail()
            else:
                rail = self.rails[axis]
            self.limits[axis] = rail.get_range()
-    def clear_homing_state(self, clear_axes):
-        for axis, axis_name in enumerate("xyz"):
-            if axis_name in clear_axes:
-                self.limits[axis] = (1.0, -1.0)
+    def note_z_not_homed(self):
+        # Helper for Safe Z Home
+        self.limits[2] = (1.0, -1.0)
    def home_axis(self, homing_state, axis, rail):
        # Determine movement
        position_min, position_max = rail.get_range()
@@ -96,6 +96,8 @@ class CartKinematics:
                self.dc_module.home(homing_state)
            else:
                self.home_axis(homing_state, axis, self.rails[axis])
+    def _motor_off(self, print_time):
+        self.limits = [(1.0, -1.0)] * 3
    def _check_endstops(self, move):
        end_pos = move.end_pos
        for i in (0, 1, 2):
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -21,6 +21,8 @@ class CoreXYKinematics:
        for s in self.get_steppers():
            s.set_trapq(toolhead.get_trapq())
            toolhead.register_step_generator(s.generate_steps)
+        config.get_printer().register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
        # Setup boundary checks
        max_velocity, max_accel = toolhead.get_max_velocity()
        self.max_z_velocity = config.getfloat(
@@ -39,12 +41,11 @@ class CoreXYKinematics:
    def set_position(self, newpos, homing_axes):
        for i, rail in enumerate(self.rails):
            rail.set_position(newpos)
-            if "xyz"[i] in homing_axes:
+            if i in homing_axes:
                self.limits[i] = rail.get_range()
-    def clear_homing_state(self, clear_axes):
-        for axis, axis_name in enumerate("xyz"):
-            if axis_name in clear_axes:
-                self.limits[axis] = (1.0, -1.0)
+    def note_z_not_homed(self):
+        # Helper for Safe Z Home
+        self.limits[2] = (1.0, -1.0)
    def home(self, homing_state):
        # Each axis is homed independently and in order
        for axis in homing_state.get_axes():
@@ -61,6 +62,8 @@ class CoreXYKinematics:
                forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
            # Perform homing
            homing_state.home_rails([rail], forcepos, homepos)
+    def _motor_off(self, print_time):
+        self.limits = [(1.0, -1.0)] * 3
    def _check_endstops(self, move):
        end_pos = move.end_pos
        for i in (0, 1, 2):
--- a/klippy/kinematics/corexz.py
+++ b/klippy/kinematics/corexz.py
@@ -21,6 +21,8 @@ class CoreXZKinematics:
        for s in self.get_steppers():
            s.set_trapq(toolhead.get_trapq())
            toolhead.register_step_generator(s.generate_steps)
+        config.get_printer().register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
        # Setup boundary checks
        max_velocity, max_accel = toolhead.get_max_velocity()
        self.max_z_velocity = config.getfloat(
@@ -39,12 +41,11 @@ class CoreXZKinematics:
    def set_position(self, newpos, homing_axes):
        for i, rail in enumerate(self.rails):
            rail.set_position(newpos)
-            if "xyz"[i] in homing_axes:
+            if i in homing_axes:
                self.limits[i] = rail.get_range()
-    def clear_homing_state(self, clear_axes):
-        for axis, axis_name in enumerate("xyz"):
-            if axis_name in clear_axes:
-                self.limits[axis] = (1.0, -1.0)
+    def note_z_not_homed(self):
+        # Helper for Safe Z Home
+        self.limits[2] = (1.0, -1.0)
    def home(self, homing_state):
        # Each axis is homed independently and in order
        for axis in homing_state.get_axes():
@@ -61,6 +62,8 @@ class CoreXZKinematics:
                forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
            # Perform homing
            homing_state.home_rails([rail], forcepos, homepos)
+    def _motor_off(self, print_time):
+        self.limits = [(1.0, -1.0)] * 3
    def _check_endstops(self, move):
        end_pos = move.end_pos
        for i in (0, 1, 2):
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -23,6 +23,8 @@ class DeltaKinematics:
            stepper_configs[2], need_position_minmax = False,
            default_position_endstop=a_endstop)
        self.rails = [rail_a, rail_b, rail_c]
+        config.get_printer().register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
        # Setup max velocity
        self.max_velocity, self.max_accel = toolhead.get_max_velocity()
        self.max_z_velocity = config.getfloat(
@@ -88,7 +90,7 @@ class DeltaKinematics:
                        math.sqrt(self.very_slow_xy2)))
        self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
        self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
-        self.set_position([0., 0., 0.], "")
+        self.set_position([0., 0., 0.], ())
    def get_steppers(self):
        return [s for rail in self.rails for s in rail.get_steppers()]
    def _actuator_to_cartesian(self, spos):
@@ -101,19 +103,17 @@ class DeltaKinematics:
        for rail in self.rails:
            rail.set_position(newpos)
        self.limit_xy2 = -1.
-        if homing_axes == "xyz":
+        if tuple(homing_axes) == (0, 1, 2):
            self.need_home = False
-    def clear_homing_state(self, clear_axes):
-        # Clearing homing state for each axis individually is not implemented
-        if clear_axes:
-            self.limit_xy2 = -1
-            self.need_home = True
    def home(self, homing_state):
        # All axes are homed simultaneously
        homing_state.set_axes([0, 1, 2])
        forcepos = list(self.home_position)
        forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
        homing_state.home_rails(self.rails, forcepos, self.home_position)
+    def _motor_off(self, print_time):
+        self.limit_xy2 = -1.
+        self.need_home = True
    def check_move(self, move):
        end_pos = move.end_pos
        end_xy2 = end_pos[0]**2 + end_pos[1]**2
--- a/klippy/kinematics/deltesian.py
+++ b/klippy/kinematics/deltesian.py
@@ -41,6 +41,8 @@ class DeltesianKinematics:
        for s in self.get_steppers():
            s.set_trapq(toolhead.get_trapq())
            toolhead.register_step_generator(s.generate_steps)
+        config.get_printer().register_event_handler(
+            "stepper_enable:motor_off", self._motor_off)
        self.limits = [(1.0, -1.0)] * 3
        # X axis limits
        min_angle = config.getfloat('min_angle', MIN_ANGLE,
@@ -87,7 +89,7 @@ class DeltesianKinematics:
        self.axes_min = toolhead.Coord(*[l[0] for l in self.limits], e=0.)
        self.axes_max = toolhead.Coord(*[l[1] for l in self.limits], e=0.)
        self.homed_axis = [False] * 3
-        self.set_position([0., 0., 0.], "")
+        self.set_position([0., 0., 0.], ())
    def get_steppers(self):
        return [s for rail in self.rails for s in rail.get_steppers()]
    def _actuator_to_cartesian(self, sp):
@@ -113,13 +115,8 @@ class DeltesianKinematics:
    def set_position(self, newpos, homing_axes):
        for rail in self.rails:
            rail.set_position(newpos)
-        for axis_name in homing_axes:
-            axis = "xyz".index(axis_name)
-            self.homed_axis[axis] = True
-    def clear_homing_state(self, clear_axes):
-        for axis, axis_name in enumerate("xyz"):
-            if axis_name in clear_axes:
-                self.homed_axis[axis] = False
+        for n in homing_axes:
+            self.homed_axis[n] = True
    def home(self, homing_state):
        homing_axes = homing_state.get_axes()
        home_xz = 0 in homing_axes or 2 in homing_axes
@@ -145,6 +142,8 @@ class DeltesianKinematics:
            else:
                forcepos[1] += 1.5 * (position_max - hi.position_endstop)
            homing_state.home_rails([self.rails[2]], forcepos, homepos)
+    def _motor_off(self, print_time):
+        self.homed_axis = [False] * 3
    def check_move(self, move):
        limits = list(map(list, self.limits))
        spos, epos = move.start_pos, move.end_pos
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -42,6 +42,8 @@ class HybridCoreXYKinematics:
        for s in self.get_steppers():
            s.set_trapq(toolhead.get_trapq())
            toolhead.register_step_generator(s.generate_steps)
+        self.printer.register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
        # Setup boundary checks
        max_velocity, max_accel = toolhead.get_max_velocity()
        self.max_z_velocity = config.getfloat(
@@ -67,17 +69,15 @@ class HybridCoreXYKinematics:
    def set_position(self, newpos, homing_axes):
        for i, rail in enumerate(self.rails):
            rail.set_position(newpos)
-        for axis_name in homing_axes:
-            axis = "xyz".index(axis_name)
+        for axis in homing_axes:
            if self.dc_module and axis == self.dc_module.axis:
                rail = self.dc_module.get_primary_rail().get_rail()
            else:
                rail = self.rails[axis]
            self.limits[axis] = rail.get_range()
-    def clear_homing_state(self, clear_axes):
-        for axis, axis_name in enumerate("xyz"):
-            if axis_name in clear_axes:
-                self.limits[axis] = (1.0, -1.0)
+    def note_z_not_homed(self):
+        # Helper for Safe Z Home
+        self.limits[2] = (1.0, -1.0)
    def home_axis(self, homing_state, axis, rail):
        position_min, position_max = rail.get_range()
        hi = rail.get_homing_info()
@@ -96,6 +96,8 @@ class HybridCoreXYKinematics:
                self.dc_module.home(homing_state)
            else:
                self.home_axis(homing_state, axis, self.rails[axis])
+    def _motor_off(self, print_time):
+        self.limits = [(1.0, -1.0)] * 3
    def _check_endstops(self, move):
        end_pos = move.end_pos
        for i in (0, 1, 2):
--- a/klippy/kinematics/hybrid_corexz.py
+++ b/klippy/kinematics/hybrid_corexz.py
@@ -42,6 +42,8 @@ class HybridCoreXZKinematics:
        for s in self.get_steppers():
            s.set_trapq(toolhead.get_trapq())
            toolhead.register_step_generator(s.generate_steps)
+        self.printer.register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
        # Setup boundary checks
        max_velocity, max_accel = toolhead.get_max_velocity()
        self.max_z_velocity = config.getfloat(
@@ -67,17 +69,15 @@ class HybridCoreXZKinematics:
    def set_position(self, newpos, homing_axes):
        for i, rail in enumerate(self.rails):
            rail.set_position(newpos)
-        for axis_name in homing_axes:
-            axis = "xyz".index(axis_name)
+        for axis in homing_axes:
            if self.dc_module and axis == self.dc_module.axis:
                rail = self.dc_module.get_primary_rail().get_rail()
            else:
                rail = self.rails[axis]
            self.limits[axis] = rail.get_range()
-    def clear_homing_state(self, clear_axes):
-        for axis, axis_name in enumerate("xyz"):
-            if axis_name in clear_axes:
-                self.limits[axis] = (1.0, -1.0)
+    def note_z_not_homed(self):
+        # Helper for Safe Z Home
+        self.limits[2] = (1.0, -1.0)
    def home_axis(self, homing_state, axis, rail):
        position_min, position_max = rail.get_range()
        hi = rail.get_homing_info()
@@ -96,6 +96,8 @@ class HybridCoreXZKinematics:
                self.dc_module.home(homing_state)
            else:
                self.home_axis(homing_state, axis, self.rails[axis])
+    def _motor_off(self, print_time):
+        self.limits = [(1.0, -1.0)] * 3
    def _check_endstops(self, move):
        end_pos = move.end_pos
        for i in (0, 1, 2):
--- a/klippy/kinematics/none.py
+++ b/klippy/kinematics/none.py
@@ -13,8 +13,6 @@ class NoneKinematics:
        return [0, 0, 0]
    def set_position(self, newpos, homing_axes):
        pass
-    def clear_homing_state(self, clear_axes):
-        pass
    def home(self, homing_state):
        pass
    def check_move(self, move):
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -22,6 +22,8 @@ class PolarKinematics:
        for s in self.get_steppers():
            s.set_trapq(toolhead.get_trapq())
            toolhead.register_step_generator(s.generate_steps)
+        config.get_printer().register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
        # Setup boundary checks
        max_velocity, max_accel = toolhead.get_max_velocity()
        self.max_z_velocity = config.getfloat(
@@ -45,16 +47,13 @@ class PolarKinematics:
    def set_position(self, newpos, homing_axes):
        for s in self.steppers:
            s.set_position(newpos)
-        if "z" in homing_axes:
+        if 2 in homing_axes:
            self.limit_z = self.rails[1].get_range()
-        if "x" in homing_axes and "y" in homing_axes:
+        if 0 in homing_axes and 1 in homing_axes:
            self.limit_xy2 = self.rails[0].get_range()[1]**2
-    def clear_homing_state(self, clear_axes):
-        if "x" in clear_axes or "y" in clear_axes:
-            # X and Y cannot be cleared separately
-            self.limit_xy2 = -1.
-        if "z" in clear_axes:
-            self.limit_z = (1.0, -1.0)
+    def note_z_not_homed(self):
+        # Helper for Safe Z Home
+        self.limit_z = (1.0, -1.0)
    def _home_axis(self, homing_state, axis, rail):
        # Determine movement
        position_min, position_max = rail.get_range()
@@ -86,6 +85,9 @@ class PolarKinematics:
            self._home_axis(homing_state, 0, self.rails[0])
        if home_z:
            self._home_axis(homing_state, 2, self.rails[1])
+    def _motor_off(self, print_time):
+        self.limit_z = (1.0, -1.0)
+        self.limit_xy2 = -1.
    def check_move(self, move):
        end_pos = move.end_pos
        xy2 = end_pos[0]**2 + end_pos[1]**2
--- a/klippy/kinematics/rotary_delta.py
+++ b/klippy/kinematics/rotary_delta.py
@@ -21,6 +21,8 @@ class RotaryDeltaKinematics:
            stepper_configs[2], need_position_minmax=False,
            default_position_endstop=a_endstop, units_in_radians=True)
        self.rails = [rail_a, rail_b, rail_c]
+        config.get_printer().register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
        # Read config
        max_velocity, max_accel = toolhead.get_max_velocity()
        self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
@@ -74,7 +76,7 @@ class RotaryDeltaKinematics:
        max_xy = math.sqrt(self.max_xy2)
        self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
        self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
-        self.set_position([0., 0., 0.], "")
+        self.set_position([0., 0., 0.], ())
    def get_steppers(self):
        return [s for rail in self.rails for s in rail.get_steppers()]
    def calc_position(self, stepper_positions):
@@ -84,13 +86,8 @@ class RotaryDeltaKinematics:
        for rail in self.rails:
            rail.set_position(newpos)
        self.limit_xy2 = -1.
-        if homing_axes == "xyz":
+        if tuple(homing_axes) == (0, 1, 2):
            self.need_home = False
-    def clear_homing_state(self, clear_axes):
-        # Clearing homing state for each axis individually is not implemented
-        if clear_axes:
-            self.limit_xy2 = -1
-            self.need_home = True
    def home(self, homing_state):
        # All axes are homed simultaneously
        homing_state.set_axes([0, 1, 2])
@@ -99,6 +96,9 @@ class RotaryDeltaKinematics:
        #forcepos[2] = self.calibration.actuator_to_cartesian(min_angles)[2]
        forcepos[2] = -1.
        homing_state.home_rails(self.rails, forcepos, self.home_position)
+    def _motor_off(self, print_time):
+        self.limit_xy2 = -1.
+        self.need_home = True
    def check_move(self, move):
        end_pos = move.end_pos
        end_xy2 = end_pos[0]**2 + end_pos[1]**2
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -26,7 +26,7 @@ class WinchKinematics:
        acoords = list(zip(*self.anchors))
        self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)
        self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.)
-        self.set_position([0., 0., 0.], "")
+        self.set_position([0., 0., 0.], ())
    def get_steppers(self):
        return list(self.steppers)
    def calc_position(self, stepper_positions):
@@ -36,9 +36,6 @@ class WinchKinematics:
    def set_position(self, newpos, homing_axes):
        for s in self.steppers:
            s.set_position(newpos)
-    def clear_homing_state(self, clear_axes):
-        # XXX - homing not implemented
-        pass
    def home(self, homing_state):
        # XXX - homing not implemented
        homing_state.set_axes([0, 1, 2])
--- a/klippy/klippy.py
+++ b/klippy/klippy.py
@@ -214,7 +214,7 @@ class Printer:
        logging.info("Reactor garbage collection: %s",
                     self.reactor.get_gc_stats())
        self.send_event("klippy:notify_mcu_shutdown", msg, details)
-    def invoke_async_shutdown(self, msg, details={}):
+    def invoke_async_shutdown(self, msg, details):
        self.reactor.register_async_callback(
            (lambda e: self.invoke_shutdown(msg, details)))
    def register_event_handler(self, event, callback):
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -832,10 +832,9 @@ class MCU:
        systime = self._reactor.monotonic()
        get_clock = self._clocksync.get_clock
        calc_freq = get_clock(systime + 1) - get_clock(systime)
-        freq_diff = abs(mcu_freq - calc_freq)
        mcu_freq_mhz = int(mcu_freq / 1000000. + 0.5)
        calc_freq_mhz = int(calc_freq / 1000000. + 0.5)
-        if freq_diff > mcu_freq*0.01 and mcu_freq_mhz != calc_freq_mhz:
+        if mcu_freq_mhz != calc_freq_mhz:
            pconfig = self._printer.lookup_object('configfile')
            msg = ("MCU '%s' configured for %dMhz but running at %dMhz!"
                    % (self._name, mcu_freq_mhz, calc_freq_mhz))
--- a/klippy/msgproto.py
+++ b/klippy/msgproto.py
@@ -324,7 +324,7 @@ class MessageParser:
    def create_command(self, msg):
        parts = msg.strip().split()
        if not parts:
-            return []
+            return ""
        msgname = parts[0]
        mp = self.messages_by_name.get(msgname)
        if mp is None:
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -138,10 +138,8 @@ class MCU_stepper:
    def get_commanded_position(self):
        ffi_main, ffi_lib = chelper.get_ffi()
        return ffi_lib.itersolve_get_commanded_pos(self._stepper_kinematics)
-    def get_mcu_position(self, cmd_pos=None):
-        if cmd_pos is None:
-            cmd_pos = self.get_commanded_position()
-        mcu_pos_dist = cmd_pos + self._mcu_position_offset
+    def get_mcu_position(self):
+        mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset
        mcu_pos = mcu_pos_dist / self._step_dist
        if mcu_pos >= 0.:
            return int(mcu_pos + 0.5)
@@ -403,7 +401,7 @@ class PrinterRail:
            changed_invert = pin_params['invert'] != endstop['invert']
            changed_pullup = pin_params['pullup'] != endstop['pullup']
            if changed_invert or changed_pullup:
-                raise error("Printer rail %s shared endstop pin %s "
+                raise error("Pinter rail %s shared endstop pin %s "
                            "must specify the same pullup/invert settings" % (
                                self.get_name(), pin_name))
        mcu_endstop.add_stepper(stepper)
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -47,7 +47,6 @@ class Move:
        self.delta_v2 = 2.0 * move_d * self.accel
        self.max_smoothed_v2 = 0.
        self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel
-        self.next_junction_v2 = 999999999.9
    def limit_speed(self, speed, accel):
        speed2 = speed**2
        if speed2 < self.max_cruise_v2:
@@ -56,8 +55,6 @@ class Move:
        self.accel = min(self.accel, accel)
        self.delta_v2 = 2.0 * self.move_d * self.accel
        self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)
-    def limit_next_junction_speed(self, speed):
-        self.next_junction_v2 = min(self.next_junction_v2, speed**2)
    def move_error(self, msg="Move out of range"):
        ep = self.end_pos
        m = "%s: %.3f %.3f %.3f [%.3f]" % (msg, ep[0], ep[1], ep[2], ep[3])
@@ -67,33 +64,32 @@ class Move:
            return
        # Allow extruder to calculate its maximum junction
        extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
-        max_start_v2 = min(extruder_v2, self.max_cruise_v2,
-                           prev_move.max_cruise_v2, prev_move.next_junction_v2,
-                           prev_move.max_start_v2 + prev_move.delta_v2)
        # Find max velocity using "approximated centripetal velocity"
        axes_r = self.axes_r
        prev_axes_r = prev_move.axes_r
        junction_cos_theta = -(axes_r[0] * prev_axes_r[0]
                               + axes_r[1] * prev_axes_r[1]
                               + axes_r[2] * prev_axes_r[2])
-        sin_theta_d2 = math.sqrt(max(0.5*(1.0-junction_cos_theta), 0.))
-        cos_theta_d2 = math.sqrt(max(0.5*(1.0+junction_cos_theta), 0.))
-        one_minus_sin_theta_d2 = 1. - sin_theta_d2
-        if one_minus_sin_theta_d2 > 0. and cos_theta_d2 > 0.:
-            R_jd = sin_theta_d2 / one_minus_sin_theta_d2
-            move_jd_v2 = R_jd * self.junction_deviation * self.accel
-            pmove_jd_v2 = R_jd * prev_move.junction_deviation * prev_move.accel
-            # Approximated circle must contact moves no further than mid-move
-            #   centripetal_v2 = .5 * self.move_d * self.accel * tan_theta_d2
-            quarter_tan_theta_d2 = .25 * sin_theta_d2 / cos_theta_d2
-            move_centripetal_v2 = self.delta_v2 * quarter_tan_theta_d2
-            pmove_centripetal_v2 = prev_move.delta_v2 * quarter_tan_theta_d2
-            max_start_v2 = min(max_start_v2, move_jd_v2, pmove_jd_v2,
-                               move_centripetal_v2, pmove_centripetal_v2)
+        if junction_cos_theta > 0.999999:
+            return
+        junction_cos_theta = max(junction_cos_theta, -0.999999)
+        sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
+        R_jd = sin_theta_d2 / (1. - sin_theta_d2)
+        # Approximated circle must contact moves no further away than mid-move
+        tan_theta_d2 = sin_theta_d2 / math.sqrt(0.5*(1.0+junction_cos_theta))
+        move_centripetal_v2 = .5 * self.move_d * tan_theta_d2 * self.accel
+        prev_move_centripetal_v2 = (.5 * prev_move.move_d * tan_theta_d2
+                                    * prev_move.accel)
        # Apply limits
-        self.max_start_v2 = max_start_v2
+        self.max_start_v2 = min(
+            R_jd * self.junction_deviation * self.accel,
+            R_jd * prev_move.junction_deviation * prev_move.accel,
+            move_centripetal_v2, prev_move_centripetal_v2,
+            extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2,
+            prev_move.max_start_v2 + prev_move.delta_v2)
        self.max_smoothed_v2 = min(
-            max_start_v2, prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
+            self.max_start_v2
+            , prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
    def set_junction(self, start_v2, cruise_v2, end_v2):
        # Determine accel, cruise, and decel portions of the move distance
        half_inv_accel = .5 / self.accel
@@ -457,7 +453,7 @@ class ToolHead:
    # Movement commands
    def get_position(self):
        return list(self.commanded_pos)
-    def set_position(self, newpos, homing_axes=""):
+    def set_position(self, newpos, homing_axes=()):
        self.flush_step_generation()
        ffi_main, ffi_lib = chelper.get_ffi()
        ffi_lib.trapq_set_position(self.trapq, self.print_time,
@@ -465,10 +461,6 @@ class ToolHead:
        self.commanded_pos[:] = newpos
        self.kin.set_position(newpos, homing_axes)
        self.printer.send_event("toolhead:set_position")
-    def limit_next_junction_speed(self, speed):
-        last_move = self.lookahead.get_last()
-        if last_move is not None:
-            last_move.limit_next_junction_speed(speed)
    def move(self, newpos, speed):
        move = Move(self, self.commanded_pos, newpos, speed)
        if not move.move_d:
--- a/lib/README
+++ b/lib/README
@@ -105,23 +105,16 @@ The stm32h7 directory contains code from:
 version v1.9.0 (ccb11556044540590ca6e45056e6b65cdca2deb2). Contents
 taken from the Drivers/CMSIS/Device/ST/STM32H7xx/ directory.

-The pico-sdk directory contains code from the pico sdk:
+The rp2040 directory contains code from the pico sdk:
  https://github.com/raspberrypi/pico-sdk.git
-version 2.0.0 (efe2103f9b28458a1615ff096054479743ade236). It has been
+version 1.2.0 (bfcbefafc5d2a210551a4d9d80b4303d4ae0adf7). It has been
 modified so that it can build outside of the pico sdk. See
-pico-sdk.patch for the modifications.
-
-The elf2uf2 directory contains code from the pico sdk:
-  https://github.com/raspberrypi/pico-sdk.git
-version 1.2.0 (bfcbefafc5d2a210551a4d9d80b4303d4ae0adf7). Contents
-taken from the tools/elf2uf2/ directory.
+rp2040.patch for the modifications.

 The rp2040_flash directory contains a light-weight bootsel flash tool.
 It uses C part of the the `picoboot_connection` directory found in:
  https://github.com/raspberrypi/picotool.git
-version 2.0.0 (8a9af99ab10b20b1c6afb30cd9384e562a6647f9). Note that
-Makefile and main.c are locally developed files (the remaining files
-are from the picotool repo).
+version v1.1.0 (55fd880c3dc029b961fc1a0967a6cfdc0af02721).

 The hub-ctrl directory contains code from:
  https://github.com/codazoda/hub-ctrl.c/
@@ -174,7 +167,7 @@ used to upload firmware to devices flashed with the CanBoot bootloader.

 The can2040 directory contains code from:
  https://github.com/KevinOConnor/can2040
-version v1.7.0 (90515f53ce89442f1bcc3033aae222e9eb77818c).
+version v1.6.0 (af3d21e5d61b8408c63fbdfb0aceb21d69d91693)

 The Huada HC32F460 directory contains code from:
  https://www.hdsc.com.cn/Category83-1490
--- a/lib/can2040/can2040.c
+++ b/lib/can2040/can2040.c
@@ -1,13 +1,13 @@
 // Software CANbus implementation for rp2040
 //
-// Copyright (C) 2022-2024  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2022,2023  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.

 #include <stdint.h> // uint32_t
 #include <string.h> // memset
+#include "RP2040.h" // hw_set_bits
 #include "can2040.h" // can2040_setup
-#include "cmsis_gcc.h" // __DMB
 #include "hardware/regs/dreq.h" // DREQ_PIO0_RX1
 #include "hardware/structs/dma.h" // dma_hw
 #include "hardware/structs/iobank0.h" // iobank0_hw
@@ -20,13 +20,6 @@
 * rp2040 and low-level helper functions
 ****************************************************************/

-// Determine if the target is an rp2350
-#ifdef PICO_RP2350
-  #define IS_RP2350 1
-#else
-  #define IS_RP2350 0
-#endif
-
 // Helper compiler definitions
 #define barrier() __asm__ __volatile__("": : :"memory")
 #define likely(x)       __builtin_expect(!!(x), 1)
@@ -130,29 +123,19 @@ static const uint16_t can2040_program_instructions[] = {
 #define SI_RX_DATA   PIO_IRQ0_INTE_SM1_RXNEMPTY_BITS
 #define SI_TXPENDING PIO_IRQ0_INTE_SM1_BITS // Misc bit manually forced

-// Return the gpio bank offset (on rp2350 chips)
-static uint32_t
-pio_gpiobase(struct can2040 *cd)
-{
-    if (!IS_RP2350)
-        return 0;
-    return (cd->gpio_rx > 31 || cd->gpio_tx > 31) ? 16 : 0;
-}
-
 // Setup PIO "sync" state machine (state machine 0)
 static void
 pio_sync_setup(struct can2040 *cd)
 {
    pio_hw_t *pio_hw = cd->pio_hw;
-    pio_sm_hw_t *sm = &pio_hw->sm[0];
-    uint32_t gpio_rx = (cd->gpio_rx - pio_gpiobase(cd)) & 0x1f;
+    struct pio_sm_hw *sm = &pio_hw->sm[0];
    sm->execctrl = (
-        gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB
+        cd->gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB
        | (can2040_offset_sync_end - 1) << PIO_SM0_EXECCTRL_WRAP_TOP_LSB
        | can2040_offset_sync_signal_start << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
    sm->pinctrl = (
        1 << PIO_SM0_PINCTRL_SET_COUNT_LSB
-        | gpio_rx << PIO_SM0_PINCTRL_SET_BASE_LSB);
+        | cd->gpio_rx << PIO_SM0_PINCTRL_SET_BASE_LSB);
    sm->instr = 0xe080; // set pindirs, 0
    sm->pinctrl = 0;
    pio_hw->txf[0] = 9 + 6 * PIO_CLOCK_PER_BIT / 2;
@@ -165,12 +148,11 @@ static void
 pio_rx_setup(struct can2040 *cd)
 {
    pio_hw_t *pio_hw = cd->pio_hw;
-    pio_sm_hw_t *sm = &pio_hw->sm[1];
-    uint32_t gpio_rx = (cd->gpio_rx - pio_gpiobase(cd)) & 0x1f;
+    struct pio_sm_hw *sm = &pio_hw->sm[1];
    sm->execctrl = (
        (can2040_offset_shared_rx_end - 1) << PIO_SM0_EXECCTRL_WRAP_TOP_LSB
        | can2040_offset_shared_rx_read << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
-    sm->pinctrl = gpio_rx << PIO_SM0_PINCTRL_IN_BASE_LSB;
+    sm->pinctrl = cd->gpio_rx << PIO_SM0_PINCTRL_IN_BASE_LSB;
    sm->shiftctrl = 0; // flush fifo on a restart
    sm->shiftctrl = (PIO_SM0_SHIFTCTRL_FJOIN_RX_BITS
                     | PIO_RX_WAKE_BITS << PIO_SM0_SHIFTCTRL_PUSH_THRESH_LSB
@@ -183,16 +165,15 @@ static void
 pio_match_setup(struct can2040 *cd)
 {
    pio_hw_t *pio_hw = cd->pio_hw;
-    pio_sm_hw_t *sm = &pio_hw->sm[2];
+    struct pio_sm_hw *sm = &pio_hw->sm[2];
    sm->execctrl = (
        (can2040_offset_match_end - 1) << PIO_SM0_EXECCTRL_WRAP_TOP_LSB
        | can2040_offset_shared_rx_read << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
-    uint32_t gpio_rx = (cd->gpio_rx - pio_gpiobase(cd)) & 0x1f;
-    sm->pinctrl = gpio_rx << PIO_SM0_PINCTRL_IN_BASE_LSB;
+    sm->pinctrl = cd->gpio_rx << PIO_SM0_PINCTRL_IN_BASE_LSB;
    sm->shiftctrl = 0;
    sm->instr = 0xe040; // set y, 0
    sm->instr = 0xa0e2; // mov osr, y
-    sm->instr = 0xa02a; // mov x, !y
+    sm->instr = 0xa02a, // mov x, !y
    sm->instr = can2040_offset_match_load_next; // jmp match_load_next
 }

@@ -201,19 +182,17 @@ static void
 pio_tx_setup(struct can2040 *cd)
 {
    pio_hw_t *pio_hw = cd->pio_hw;
-    pio_sm_hw_t *sm = &pio_hw->sm[3];
-    uint32_t gpio_rx = (cd->gpio_rx - pio_gpiobase(cd)) & 0x1f;
-    uint32_t gpio_tx = (cd->gpio_tx - pio_gpiobase(cd)) & 0x1f;
+    struct pio_sm_hw *sm = &pio_hw->sm[3];
    sm->execctrl = (
-        gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB
+        cd->gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB
        | can2040_offset_tx_conflict << PIO_SM0_EXECCTRL_WRAP_TOP_LSB
        | can2040_offset_tx_conflict << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
    sm->shiftctrl = (PIO_SM0_SHIFTCTRL_FJOIN_TX_BITS
                     | PIO_SM0_SHIFTCTRL_AUTOPULL_BITS);
    sm->pinctrl = (1 << PIO_SM0_PINCTRL_SET_COUNT_LSB
                   | 1 << PIO_SM0_PINCTRL_OUT_COUNT_LSB
-                   | gpio_tx << PIO_SM0_PINCTRL_SET_BASE_LSB
-                   | gpio_tx << PIO_SM0_PINCTRL_OUT_BASE_LSB);
+                   | cd->gpio_tx << PIO_SM0_PINCTRL_SET_BASE_LSB
+                   | cd->gpio_tx << PIO_SM0_PINCTRL_OUT_BASE_LSB);
    sm->instr = 0xe001; // set pins, 1
    sm->instr = 0xe081; // set pindirs, 1
 }
@@ -276,7 +255,7 @@ pio_tx_reset(struct can2040 *cd)
                    | (0x08 << PIO_CTRL_SM_RESTART_LSB));
    pio_hw->irq = (SI_MATCHED | SI_ACKDONE) >> 8; // clear PIO irq flags
    // Clear tx fifo
-    pio_sm_hw_t *sm = &pio_hw->sm[3];
+    struct pio_sm_hw *sm = &pio_hw->sm[3];
    sm->shiftctrl = 0;
    sm->shiftctrl = (PIO_SM0_SHIFTCTRL_FJOIN_TX_BITS
                     | PIO_SM0_SHIFTCTRL_AUTOPULL_BITS);
@@ -292,7 +271,7 @@ pio_tx_send(struct can2040 *cd, uint32_t *data, uint32_t count)
    uint32_t i;
    for (i=0; i<count; i++)
        pio_hw->txf[3] = data[i];
-    pio_sm_hw_t *sm = &pio_hw->sm[3];
+    struct pio_sm_hw *sm = &pio_hw->sm[3];
    sm->instr = 0xe001; // set pins, 1
    sm->instr = 0x6021; // out x, 1
    sm->instr = can2040_offset_tx_write_pin; // jmp tx_write_pin
@@ -308,7 +287,7 @@ pio_tx_inject_ack(struct can2040 *cd, uint32_t match_key)
    pio_tx_reset(cd);
    pio_hw->instr_mem[can2040_offset_tx_got_recessive] = 0xc023; // irq wait 3
    pio_hw->txf[3] = 0x7fffffff;
-    pio_sm_hw_t *sm = &pio_hw->sm[3];
+    struct pio_sm_hw *sm = &pio_hw->sm[3];
    sm->instr = 0xe001; // set pins, 1
    sm->instr = 0x6021; // out x, 1
    sm->instr = can2040_offset_tx_write_pin; // jmp tx_write_pin
@@ -403,10 +382,6 @@ pio_setup(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate)
 {
    // Configure pio0 clock
    uint32_t rb = cd->pio_num ? RESETS_RESET_PIO1_BITS : RESETS_RESET_PIO0_BITS;
-#if IS_RP2350
-    if (cd->pio_num == 2)
-        rb = RESETS_RESET_PIO2_BITS;
-#endif
    rp2040_clear_reset(rb);

    // Setup and sync pio state machine clocks
@@ -416,16 +391,11 @@ pio_setup(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate)
    for (i=0; i<4; i++)
        pio_hw->sm[i].clkdiv = div << PIO_SM0_CLKDIV_FRAC_LSB;

-    // Configure gpiobase (on rp2350)
-#if IS_RP2350
-    pio_hw->gpiobase = pio_gpiobase(cd);
-#endif
-
    // Configure state machines
    pio_sm_setup(cd);

    // Map Rx/Tx gpios
-    uint32_t pio_func = 6 + cd->pio_num;
+    uint32_t pio_func = cd->pio_num ? 7 : 6;
    rp2040_gpio_peripheral(cd->gpio_rx, pio_func, 1);
    rp2040_gpio_peripheral(cd->gpio_tx, pio_func, 0);
 }
@@ -525,7 +495,7 @@ unstuf_restore_state(struct can2040_bitunstuffer *bu, uint32_t data)

 // Pull bits from unstuffer (as specified in unstuf_set_count() )
 static int
-unstuf_pull_bits_rp2040(struct can2040_bitunstuffer *bu)
+unstuf_pull_bits(struct can2040_bitunstuffer *bu)
 {
    uint32_t sb = bu->stuffed_bits, edges = sb ^ (sb >> 1);
    uint32_t e2 = edges | (edges >> 1), e4 = e2 | (e2 >> 2), rm_bits = ~e4;
@@ -569,49 +539,6 @@ unstuf_pull_bits_rp2040(struct can2040_bitunstuffer *bu)
    }
 }

-// Pull bits from unstuffer (optimized for rp2350)
-static int
-unstuf_pull_bits(struct can2040_bitunstuffer *bu)
-{
-    if (!IS_RP2350)
-        return unstuf_pull_bits_rp2040(bu);
-    uint32_t sb = bu->stuffed_bits, edges = sb ^ (sb >> 1);
-    uint32_t e2 = edges | (edges >> 1), e4 = e2 | (e2 >> 2), rm_bits = ~e4;
-    uint32_t cs = bu->count_stuff, cu = bu->count_unstuff;
-    for (;;) {
-        if (!cs)
-            // Need more data
-            return 1;
-        uint32_t try_cnt = cs > cu ? cu : cs;
-        uint32_t try_mask = ((1 << try_cnt) - 1) << (cs + 1 - try_cnt);
-        uint32_t rm_masked_bits = rm_bits & try_mask;
-        if (likely(!rm_masked_bits)) {
-            // No stuff bits in try_cnt bits - copy into unstuffed_bits
-            bu->count_unstuff = cu = cu - try_cnt;
-            bu->count_stuff = cs = cs - try_cnt;
-            bu->unstuffed_bits |= ((sb >> cs) & ((1 << try_cnt) - 1)) << cu;
-            if (! cu)
-                // Extracted desired bits
-                return 0;
-            // Need more data
-            return 1;
-        }
-        // Copy any leading bits prior to stuff bit (may be zero)
-        uint32_t copy_cnt = cs - (31 - __builtin_clz(rm_masked_bits));
-        cs -= copy_cnt;
-        bu->count_unstuff = cu = cu - copy_cnt;
-        bu->unstuffed_bits |= ((sb >> cs) & ((1 << copy_cnt) - 1)) << cu;
-        // High bit is now a stuff bit - remove it
-        bu->count_stuff = cs = cs - 1;
-        if (unlikely(rm_bits & (1 << cs))) {
-            // Six consecutive bits - a bitstuff error
-            if (sb & (1 << cs))
-                return -1;
-            return -2;
-        }
-    }
-}
-
 // Return most recent raw (still stuffed) bits
 static uint32_t
 unstuf_get_raw(struct can2040_bitunstuffer *bu)
@@ -626,7 +553,7 @@ unstuf_get_raw(struct can2040_bitunstuffer *bu)

 // Stuff 'num_bits' bits in '*pb' - upper bits must already be stuffed
 static uint32_t
-bitstuff_rp2040(uint32_t *pb, uint32_t num_bits)
+bitstuff(uint32_t *pb, uint32_t num_bits)
 {
    uint32_t b = *pb, count = num_bits;
    for (;;) {
@@ -663,34 +590,6 @@ done:
    return count;
 }

-// Stuff 'num_bits' bits in '*pb' (optimized for rp2350)
-static uint32_t
-bitstuff(uint32_t *pb, uint32_t num_bits)
-{
-    if (!IS_RP2350)
-        return bitstuff_rp2040(pb, num_bits);
-    uint32_t b = *pb, count = num_bits;
-    for (;;) {
-        uint32_t edges = b ^ (b >> 1);
-        uint32_t e2 = edges | (edges >> 1), e4 = e2 | (e2 >> 2), add_bits = ~e4;
-        uint32_t mask = (1 << num_bits) - 1, add_masked_bits = add_bits & mask;
-        if (!add_masked_bits)
-            // No more stuff bits needed
-            break;
-        // Insert a stuff bit
-        uint32_t stuff_pos = 1 + 31 - __builtin_clz(add_masked_bits);
-        uint32_t low_mask = (1 << stuff_pos) - 1, low = b & low_mask;
-        uint32_t high = (b & ~(low_mask >> 1)) << 1;
-        b = high ^ low ^ (1 << (stuff_pos - 1));
-        count += 1;
-        if (stuff_pos <= 4)
-            break;
-        num_bits = stuff_pos - 4;
-    }
-    *pb = b;
-    return count;
-}
-
 // State storage for building bit stuffed transmit messages
 struct bitstuffer_s {
    uint32_t prev_stuffed, bitpos, *buf;
@@ -1427,12 +1326,6 @@ can2040_setup(struct can2040 *cd, uint32_t pio_num)
    memset(cd, 0, sizeof(*cd));
    cd->pio_num = !!pio_num;
    cd->pio_hw = cd->pio_num ? pio1_hw : pio0_hw;
-#if IS_RP2350
-    if (pio_num == 2) {
-        cd->pio_num = pio_num;
-        cd->pio_hw = pio2_hw;
-    }
-#endif
 }

 // API function to configure callback
--- a/lib/cmsis-core/core_cm33.h
+++ b/lib/cmsis-core/core_cm33.h
--- a/lib/cmsis-core/mpu_armv8.h
+++ b/lib/cmsis-core/mpu_armv8.h
@@ -1,352 +0,0 @@
-/******************************************************************************
- * @file     mpu_armv8.h
- * @brief    CMSIS MPU API for Armv8-M and Armv8.1-M MPU
- * @version  V5.1.2
- * @date     10. February 2020
- ******************************************************************************/
-/*
- * Copyright (c) 2017-2020 Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#if   defined ( __ICCARM__ )
-  #pragma system_include         /* treat file as system include file for MISRA check */
-#elif defined (__clang__)
-  #pragma clang system_header    /* treat file as system include file */
-#endif
-
-#ifndef ARM_MPU_ARMV8_H
-#define ARM_MPU_ARMV8_H
-
-/** \brief Attribute for device memory (outer only) */
-#define ARM_MPU_ATTR_DEVICE                           ( 0U )
-
-/** \brief Attribute for non-cacheable, normal memory */
-#define ARM_MPU_ATTR_NON_CACHEABLE                    ( 4U )
-
-/** \brief Attribute for normal memory (outer and inner)
-* \param NT Non-Transient: Set to 1 for non-transient data.
-* \param WB Write-Back: Set to 1 to use write-back update policy.
-* \param RA Read Allocation: Set to 1 to use cache allocation on read miss.
-* \param WA Write Allocation: Set to 1 to use cache allocation on write miss.
-*/
-#define ARM_MPU_ATTR_MEMORY_(NT, WB, RA, WA) \
-  ((((NT) & 1U) << 3U) | (((WB) & 1U) << 2U) | (((RA) & 1U) << 1U) | ((WA) & 1U))
-
-/** \brief Device memory type non Gathering, non Re-ordering, non Early Write Acknowledgement */
-#define ARM_MPU_ATTR_DEVICE_nGnRnE (0U)
-
-/** \brief Device memory type non Gathering, non Re-ordering, Early Write Acknowledgement */
-#define ARM_MPU_ATTR_DEVICE_nGnRE  (1U)
-
-/** \brief Device memory type non Gathering, Re-ordering, Early Write Acknowledgement */
-#define ARM_MPU_ATTR_DEVICE_nGRE   (2U)
-
-/** \brief Device memory type Gathering, Re-ordering, Early Write Acknowledgement */
-#define ARM_MPU_ATTR_DEVICE_GRE    (3U)
-
-/** \brief Memory Attribute
-* \param O Outer memory attributes
-* \param I O == ARM_MPU_ATTR_DEVICE: Device memory attributes, else: Inner memory attributes
-*/
-#define ARM_MPU_ATTR(O, I) ((((O) & 0xFU) << 4U) | ((((O) & 0xFU) != 0U) ? ((I) & 0xFU) : (((I) & 0x3U) << 2U)))
-
-/** \brief Normal memory non-shareable  */
-#define ARM_MPU_SH_NON   (0U)
-
-/** \brief Normal memory outer shareable  */
-#define ARM_MPU_SH_OUTER (2U)
-
-/** \brief Normal memory inner shareable  */
-#define ARM_MPU_SH_INNER (3U)
-
-/** \brief Memory access permissions
-* \param RO Read-Only: Set to 1 for read-only memory.
-* \param NP Non-Privileged: Set to 1 for non-privileged memory.
-*/
-#define ARM_MPU_AP_(RO, NP) ((((RO) & 1U) << 1U) | ((NP) & 1U))
-
-/** \brief Region Base Address Register value
-* \param BASE The base address bits [31:5] of a memory region. The value is zero extended. Effective address gets 32 byte aligned.
-* \param SH Defines the Shareability domain for this memory region.
-* \param RO Read-Only: Set to 1 for a read-only memory region.
-* \param NP Non-Privileged: Set to 1 for a non-privileged memory region.
-* \oaram XN eXecute Never: Set to 1 for a non-executable memory region.
-*/
-#define ARM_MPU_RBAR(BASE, SH, RO, NP, XN) \
-  (((BASE) & MPU_RBAR_BASE_Msk) | \
-  (((SH) << MPU_RBAR_SH_Pos) & MPU_RBAR_SH_Msk) | \
-  ((ARM_MPU_AP_(RO, NP) << MPU_RBAR_AP_Pos) & MPU_RBAR_AP_Msk) | \
-  (((XN) << MPU_RBAR_XN_Pos) & MPU_RBAR_XN_Msk))
-
-/** \brief Region Limit Address Register value
-* \param LIMIT The limit address bits [31:5] for this memory region. The value is one extended.
-* \param IDX The attribute index to be associated with this memory region.
-*/
-#define ARM_MPU_RLAR(LIMIT, IDX) \
-  (((LIMIT) & MPU_RLAR_LIMIT_Msk) | \
-  (((IDX) << MPU_RLAR_AttrIndx_Pos) & MPU_RLAR_AttrIndx_Msk) | \
-  (MPU_RLAR_EN_Msk))
-
-#if defined(MPU_RLAR_PXN_Pos)
-  
-/** \brief Region Limit Address Register with PXN value
-* \param LIMIT The limit address bits [31:5] for this memory region. The value is one extended.
-* \param PXN Privileged execute never. Defines whether code can be executed from this privileged region.
-* \param IDX The attribute index to be associated with this memory region.
-*/
-#define ARM_MPU_RLAR_PXN(LIMIT, PXN, IDX) \
-  (((LIMIT) & MPU_RLAR_LIMIT_Msk) | \
-  (((PXN) << MPU_RLAR_PXN_Pos) & MPU_RLAR_PXN_Msk) | \
-  (((IDX) << MPU_RLAR_AttrIndx_Pos) & MPU_RLAR_AttrIndx_Msk) | \
-  (MPU_RLAR_EN_Msk))
-  
-#endif
-
-/**
-* Struct for a single MPU Region
-*/
-typedef struct {
-  uint32_t RBAR;                   /*!< Region Base Address Register value */
-  uint32_t RLAR;                   /*!< Region Limit Address Register value */
-} ARM_MPU_Region_t;
-    
-/** Enable the MPU.
-* \param MPU_Control Default access permissions for unconfigured regions.
-*/
-__STATIC_INLINE void ARM_MPU_Enable(uint32_t MPU_Control)
-{
-  __DMB();
-  MPU->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk;
-#ifdef SCB_SHCSR_MEMFAULTENA_Msk
-  SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk;
-#endif
-  __DSB();
-  __ISB();
-}
-
-/** Disable the MPU.
-*/
-__STATIC_INLINE void ARM_MPU_Disable(void)
-{
-  __DMB();
-#ifdef SCB_SHCSR_MEMFAULTENA_Msk
-  SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk;
-#endif
-  MPU->CTRL  &= ~MPU_CTRL_ENABLE_Msk;
-  __DSB();
-  __ISB();
-}
-
-#ifdef MPU_NS
-/** Enable the Non-secure MPU.
-* \param MPU_Control Default access permissions for unconfigured regions.
-*/
-__STATIC_INLINE void ARM_MPU_Enable_NS(uint32_t MPU_Control)
-{
-  __DMB();
-  MPU_NS->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk;
-#ifdef SCB_SHCSR_MEMFAULTENA_Msk
-  SCB_NS->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk;
-#endif
-  __DSB();
-  __ISB();
-}
-
-/** Disable the Non-secure MPU.
-*/
-__STATIC_INLINE void ARM_MPU_Disable_NS(void)
-{
-  __DMB();
-#ifdef SCB_SHCSR_MEMFAULTENA_Msk
-  SCB_NS->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk;
-#endif
-  MPU_NS->CTRL  &= ~MPU_CTRL_ENABLE_Msk;
-  __DSB();
-  __ISB();
-}
-#endif
-
-/** Set the memory attribute encoding to the given MPU.
-* \param mpu Pointer to the MPU to be configured.
-* \param idx The attribute index to be set [0-7]
-* \param attr The attribute value to be set.
-*/
-__STATIC_INLINE void ARM_MPU_SetMemAttrEx(MPU_Type* mpu, uint8_t idx, uint8_t attr)
-{
-  const uint8_t reg = idx / 4U;
-  const uint32_t pos = ((idx % 4U) * 8U);
-  const uint32_t mask = 0xFFU << pos;
-  
-  if (reg >= (sizeof(mpu->MAIR) / sizeof(mpu->MAIR[0]))) {
-    return; // invalid index
-  }
-  
-  mpu->MAIR[reg] = ((mpu->MAIR[reg] & ~mask) | ((attr << pos) & mask));
-}
-
-/** Set the memory attribute encoding.
-* \param idx The attribute index to be set [0-7]
-* \param attr The attribute value to be set.
-*/
-__STATIC_INLINE void ARM_MPU_SetMemAttr(uint8_t idx, uint8_t attr)
-{
-  ARM_MPU_SetMemAttrEx(MPU, idx, attr);
-}
-
-#ifdef MPU_NS
-/** Set the memory attribute encoding to the Non-secure MPU.
-* \param idx The attribute index to be set [0-7]
-* \param attr The attribute value to be set.
-*/
-__STATIC_INLINE void ARM_MPU_SetMemAttr_NS(uint8_t idx, uint8_t attr)
-{
-  ARM_MPU_SetMemAttrEx(MPU_NS, idx, attr);
-}
-#endif
-
-/** Clear and disable the given MPU region of the given MPU.
-* \param mpu Pointer to MPU to be used.
-* \param rnr Region number to be cleared.
-*/
-__STATIC_INLINE void ARM_MPU_ClrRegionEx(MPU_Type* mpu, uint32_t rnr)
-{
-  mpu->RNR = rnr;
-  mpu->RLAR = 0U;
-}
-
-/** Clear and disable the given MPU region.
-* \param rnr Region number to be cleared.
-*/
-__STATIC_INLINE void ARM_MPU_ClrRegion(uint32_t rnr)
-{
-  ARM_MPU_ClrRegionEx(MPU, rnr);
-}
-
-#ifdef MPU_NS
-/** Clear and disable the given Non-secure MPU region.
-* \param rnr Region number to be cleared.
-*/
-__STATIC_INLINE void ARM_MPU_ClrRegion_NS(uint32_t rnr)
-{  
-  ARM_MPU_ClrRegionEx(MPU_NS, rnr);
-}
-#endif
-
-/** Configure the given MPU region of the given MPU.
-* \param mpu Pointer to MPU to be used.
-* \param rnr Region number to be configured.
-* \param rbar Value for RBAR register.
-* \param rlar Value for RLAR register.
-*/   
-__STATIC_INLINE void ARM_MPU_SetRegionEx(MPU_Type* mpu, uint32_t rnr, uint32_t rbar, uint32_t rlar)
-{
-  mpu->RNR = rnr;
-  mpu->RBAR = rbar;
-  mpu->RLAR = rlar;
-}
-
-/** Configure the given MPU region.
-* \param rnr Region number to be configured.
-* \param rbar Value for RBAR register.
-* \param rlar Value for RLAR register.
-*/   
-__STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rnr, uint32_t rbar, uint32_t rlar)
-{
-  ARM_MPU_SetRegionEx(MPU, rnr, rbar, rlar);
-}
-
-#ifdef MPU_NS
-/** Configure the given Non-secure MPU region.
-* \param rnr Region number to be configured.
-* \param rbar Value for RBAR register.
-* \param rlar Value for RLAR register.
-*/   
-__STATIC_INLINE void ARM_MPU_SetRegion_NS(uint32_t rnr, uint32_t rbar, uint32_t rlar)
-{
-  ARM_MPU_SetRegionEx(MPU_NS, rnr, rbar, rlar);  
-}
-#endif
-
-/** Memcopy with strictly ordered memory access, e.g. for register targets.
-* \param dst Destination data is copied to.
-* \param src Source data is copied from.
-* \param len Amount of data words to be copied.
-*/
-__STATIC_INLINE void ARM_MPU_OrderedMemcpy(volatile uint32_t* dst, const uint32_t* __RESTRICT src, uint32_t len)
-{
-  uint32_t i;
-  for (i = 0U; i < len; ++i) 
-  {
-    dst[i] = src[i];
-  }
-}
-
-/** Load the given number of MPU regions from a table to the given MPU.
-* \param mpu Pointer to the MPU registers to be used.
-* \param rnr First region number to be configured.
-* \param table Pointer to the MPU configuration table.
-* \param cnt Amount of regions to be configured.
-*/
-__STATIC_INLINE void ARM_MPU_LoadEx(MPU_Type* mpu, uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) 
-{
-  const uint32_t rowWordSize = sizeof(ARM_MPU_Region_t)/4U;
-  if (cnt == 1U) {
-    mpu->RNR = rnr;
-    ARM_MPU_OrderedMemcpy(&(mpu->RBAR), &(table->RBAR), rowWordSize);
-  } else {
-    uint32_t rnrBase   = rnr & ~(MPU_TYPE_RALIASES-1U);
-    uint32_t rnrOffset = rnr % MPU_TYPE_RALIASES;
-    
-    mpu->RNR = rnrBase;
-    while ((rnrOffset + cnt) > MPU_TYPE_RALIASES) {
-      uint32_t c = MPU_TYPE_RALIASES - rnrOffset;
-      ARM_MPU_OrderedMemcpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), c*rowWordSize);
-      table += c;
-      cnt -= c;
-      rnrOffset = 0U;
-      rnrBase += MPU_TYPE_RALIASES;
-      mpu->RNR = rnrBase;
-    }
-    
-    ARM_MPU_OrderedMemcpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), cnt*rowWordSize);
-  }
-}
-
-/** Load the given number of MPU regions from a table.
-* \param rnr First region number to be configured.
-* \param table Pointer to the MPU configuration table.
-* \param cnt Amount of regions to be configured.
-*/
-__STATIC_INLINE void ARM_MPU_Load(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) 
-{
-  ARM_MPU_LoadEx(MPU, rnr, table, cnt);
-}
-
-#ifdef MPU_NS
-/** Load the given number of MPU regions from a table to the Non-secure MPU.
-* \param rnr First region number to be configured.
-* \param table Pointer to the MPU configuration table.
-* \param cnt Amount of regions to be configured.
-*/
-__STATIC_INLINE void ARM_MPU_Load_NS(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) 
-{
-  ARM_MPU_LoadEx(MPU_NS, rnr, table, cnt);
-}
-#endif
-
-#endif
-
--- a/lib/pico-sdk/boot/picoboot_constants.h
+++ b/lib/pico-sdk/boot/picoboot_constants.h
@@ -1,42 +0,0 @@
-/*
- * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#ifndef _BOOT_PICOBOOT_CONSTANTS_H
-#define _BOOT_PICOBOOT_CONSTANTS_H
-
-#define REBOOT2_TYPE_MASK  0x0f
-
-// note these match REBOOT_TYPE in pico/bootrom_constants.h (also 0 is used for PC_SP for backwards compatibility with RP2040)
-// values 0-7 are secure/non-secure
-#define REBOOT2_FLAG_REBOOT_TYPE_NORMAL       0x0 // param0 = diagnostic partition
-#define REBOOT2_FLAG_REBOOT_TYPE_BOOTSEL      0x2 // param0 = bootsel_flags, param1 = gpio_config
-#define REBOOT2_FLAG_REBOOT_TYPE_RAM_IMAGE    0x3 // param0 = image_base, param1 = image_end
-#define REBOOT2_FLAG_REBOOT_TYPE_FLASH_UPDATE 0x4 // param0 = update_base
-
-// values 8-15 are secure only
-#define REBOOT2_FLAG_REBOOT_TYPE_PC_SP        0xd
-
-#define REBOOT2_FLAG_REBOOT_TO_ARM            0x10
-#define REBOOT2_FLAG_REBOOT_TO_RISCV          0x20
-
-#define REBOOT2_FLAG_NO_RETURN_ON_SUCCESS    0x100
-
-#define BOOTSEL_FLAG_DISABLE_MSD_INTERFACE      0x01
-#define BOOTSEL_FLAG_DISABLE_PICOBOOT_INTERFACE 0x02
-#define BOOTSEL_FLAG_GPIO_PIN_ACTIVE_LOW        0x10
-#define BOOTSEL_FLAG_GPIO_PIN_SPECIFIED         0x20
-
-#define PICOBOOT_GET_INFO_SYS              1
-#define PICOBOOT_GET_INFO_PARTTION_TABLE   2
-#define PICOBOOT_GET_INFO_UF2_TARGET_PARTITION 3
-#define PICOBOOT_GET_INFO_UF2_STATUS       4
-
-#define UF2_STATUS_IGNORED_FAMILY             0x01
-#define UF2_STATUS_ABORT_EXCLUSIVELY_LOCKED   0x10
-#define UF2_STATUS_ABORT_BAD_ADDRESS          0x20
-#define UF2_STATUS_ABORT_WRITE_ERROR          0x40
-#define UF2_STATUS_ABORT_REBOOT_FAILED        0x80
-#endif
--- a/lib/pico-sdk/hardware/platform_defs.h
+++ b/lib/pico-sdk/hardware/platform_defs.h
@@ -1,31 +0,0 @@
-/*
- * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#ifndef _HARDWARE_PLATFORM_DEFS_H
-#define _HARDWARE_PLATFORM_DEFS_H
-
-#define NUM_CORES 2u
-
-#define NUM_DMA_CHANNELS 12u
-
-#define NUM_GENERIC_TIMERS 1u
-#define NUM_ALARMS 4u
-
-#define NUM_IRQS 32u
-
-#define NUM_SPIN_LOCKS 32u
-
-#define XOSC_HZ 12000000u
-
-#define NUM_SPIN_LOCKS 32u
-
-#define NUM_BANK0_GPIOS 30
-
-#ifndef _u
-#define _u(x) x ## u
-#endif
-
-#endif
--- a/lib/pico-sdk/pico-sdk.patch
+++ b/lib/pico-sdk/pico-sdk.patch
@@ -1,69 +0,0 @@
-diff --git a/lib/pico-sdk/hardware/address_mapped.h b/lib/pico-sdk/hardware/address_mapped.h
-index b384f5572..635a275b5 100644
--- a/lib/pico-sdk/hardware/address_mapped.h
-+++ b/lib/pico-sdk/hardware/address_mapped.h
-@@ -7,7 +7,10 @@
- #ifndef _HARDWARE_ADDRESS_MAPPED_H
- #define _HARDWARE_ADDRESS_MAPPED_H
- 
-#include "pico.h"
-+//#include "pico.h"
-+#define __force_inline inline
-+#define static_assert(a,b)
-+#define valid_params_if(a,b)
- #include "hardware/regs/addressmap.h"
- 
- /** \file address_mapped.h
-diff --git a/lib/pico-sdk/rp2040/cmsis_include/RP2040.h b/lib/pico-sdk/rp2040/cmsis_include/RP2040.h
-index 8da431fae..be661392c 100644
--- a/lib/pico-sdk/rp2040/cmsis_include/RP2040.h
-+++ b/lib/pico-sdk/rp2040/cmsis_include/RP2040.h
-@@ -2572,6 +2572,7 @@ typedef struct {                                /*!< RTC Structure
-   * @{
-   */
- 
-+#if 0
- #define RESETS_BASE                 0x4000C000UL
- #define PSM_BASE                    0x40010000UL
- #define CLOCKS_BASE                 0x40008000UL
-@@ -2608,6 +2609,7 @@ typedef struct {                                /*!< RTC Structure
- #define TBMAN_BASE                  0x4006C000UL
- #define VREG_AND_CHIP_RESET_BASE    0x40064000UL
- #define RTC_BASE                    0x4005C000UL
-+#endif
- 
- /** @} */ /* End of group Device_Peripheral_peripheralAddr */
- 
-diff --git a/lib/pico-sdk/rp2040/pico/asm_helper.S b/lib/pico-sdk/rp2040/pico/asm_helper.S
-index aff1fc9ae..59c67db19 100644
--- a/lib/pico-sdk/rp2040/pico/asm_helper.S
-+++ b/lib/pico-sdk/rp2040/pico/asm_helper.S
-@@ -4,7 +4,7 @@
-  * SPDX-License-Identifier: BSD-3-Clause
-  */
- 
-#include "pico.h"
-+//#include "pico.h"
- 
- # note we don't do this by default in this file for backwards comaptibility with user code
- # that may include this file, but not use unified syntax. Note that this macro does equivalent
-diff --git a/lib/pico-sdk/rp2350/cmsis_include/RP2350.h b/lib/pico-sdk/rp2350/cmsis_include/RP2350.h
-index 8ae014e04..94d0f178c 100644
--- a/lib/pico-sdk/rp2350/cmsis_include/RP2350.h
-+++ b/lib/pico-sdk/rp2350/cmsis_include/RP2350.h
-@@ -5933,6 +5933,7 @@ typedef struct {                                /*!< USB_DPRAM Structure
-   * @{
-   */
- 
-+#if 0
- #define RESETS_BASE                 0x40020000UL
- #define PSM_BASE                    0x40018000UL
- #define CLOCKS_BASE                 0x40010000UL
-@@ -5986,6 +5987,7 @@ typedef struct {                                /*!< USB_DPRAM Structure
- #define OTP_DATA_RAW_BASE           0x40134000UL
- #define TBMAN_BASE                  0x40160000UL
- #define USB_DPRAM_BASE              0x50100000UL
-+#endif
- 
- /** @} */ /* End of group Device_Peripheral_peripheralAddr */
- 
--- a/lib/pico-sdk/pico/bootrom_constants.h
+++ b/lib/pico-sdk/pico/bootrom_constants.h
@@ -1,342 +0,0 @@
-/*
- * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#ifndef _PICO_BOOTROM_CONSTANTS_H
-#define _PICO_BOOTROM_CONSTANTS_H
-
-#ifndef NO_PICO_PLATFORM
-#include "pico/platform.h"
-#endif
-
-// ROOT ADDRESSES
-#define BOOTROM_MAGIC_OFFSET 0x10
-#define BOOTROM_FUNC_TABLE_OFFSET 0x14
-#if PICO_RP2040
-#define BOOTROM_DATA_TABLE_OFFSET 0x16
-#endif
-
-#if PICO_RP2040
-#define BOOTROM_VTABLE_OFFSET           0x00
-#define BOOTROM_TABLE_LOOKUP_OFFSET     0x18
-#else
-// todo remove this (or #ifdef it for A1/A2)
-#define BOOTROM_IS_A2() ((*(volatile uint8_t *)0x13) == 2)
-#define BOOTROM_WELL_KNOWN_PTR_SIZE (BOOTROM_IS_A2() ? 2 : 4)
-#if defined(__riscv)
-#define BOOTROM_ENTRY_OFFSET            0x7dfc
-#define BOOTROM_TABLE_LOOKUP_ENTRY_OFFSET (BOOTROM_ENTRY_OFFSET - BOOTROM_WELL_KNOWN_PTR_SIZE)
-#define BOOTROM_TABLE_LOOKUP_OFFSET     (BOOTROM_ENTRY_OFFSET - BOOTROM_WELL_KNOWN_PTR_SIZE*2)
-#else
-#define BOOTROM_VTABLE_OFFSET 0x00
-#define BOOTROM_TABLE_LOOKUP_OFFSET     (BOOTROM_FUNC_TABLE_OFFSET + BOOTROM_WELL_KNOWN_PTR_SIZE)
-#endif
-#endif
-
-#if !PICO_RP2040 || PICO_COMBINED_DOCS
-
-#define BOOTROM_OK 0
-//#define BOOTROM_ERROR_TIMEOUT (-1)
-//#define BOOTROM_ERROR_GENERIC (-2)
-//#define BOOTROM_ERROR_NO_DATA (-3)                   // E.g. read from an empty buffer/FIFO
-#define BOOTROM_ERROR_NOT_PERMITTED (-4)             // Permission violation e.g. write to read-only flash partition
-#define BOOTROM_ERROR_INVALID_ARG (-5)               // Argument is outside of range of supported values`
-//#define BOOTROM_ERROR_IO (-6)
-//#define BOOTROM_ERROR_BADAUTH (-7)
-//#define BOOTROM_ERROR_CONNECT_FAILED (-8)
-//#define BOOTROM_ERROR_INSUFFICIENT_RESOURCES (-9)  // Dynamic allocation of resources failed
-#define BOOTROM_ERROR_INVALID_ADDRESS (-10)          // Address argument was out-of-bounds or was determined to be an address that the caller may not access
-#define BOOTROM_ERROR_BAD_ALIGNMENT (-11)            // Address modulo transfer chunk size was nonzero (e.g. word-aligned transfer with address % 4 != 0)
-#define BOOTROM_ERROR_INVALID_STATE (-12)            // Something happened or failed to happen in the past, and consequently we (currently) can't service the request
-#define BOOTROM_ERROR_BUFFER_TOO_SMALL (-13)         // A user-allocated buffer was too small to hold the result or working state of this function
-#define BOOTROM_ERROR_PRECONDITION_NOT_MET (-14)     // This call failed because another ROM function must be called first
-#define BOOTROM_ERROR_MODIFIED_DATA (-15)            // Cached data was determined to be inconsistent with the full version of the data it was calculated from
-#define BOOTROM_ERROR_INVALID_DATA (-16)             // A data structure failed to validate
-#define BOOTROM_ERROR_NOT_FOUND (-17)                // Attempted to access something that does not exist; or, a search failed
-#define BOOTROM_ERROR_UNSUPPORTED_MODIFICATION (-18) // Write is impossible based on previous writes; e.g. attempted to clear an OTP bit
-#define BOOTROM_ERROR_LOCK_REQUIRED (-19)            // A required lock is not owned
-#define BOOTROM_ERROR_LAST (-19)
-
-#define RT_FLAG_FUNC_RISCV      0x0001
-#define RT_FLAG_FUNC_RISCV_FAR  0x0003
-#define RT_FLAG_FUNC_ARM_SEC    0x0004
-// reserved for 32-bit pointer: 0x0008
-#define RT_FLAG_FUNC_ARM_NONSEC 0x0010
-// reserved for 32-bit pointer: 0x0020
-#define RT_FLAG_DATA            0x0040
-// reserved for 32-bit pointer: 0x0080
-
-#define PARTITION_TABLE_MAX_PARTITIONS    16
-// note this is deliberately > MAX_PARTITIONs is likely to be, and also -1 as a signed byte
-#define PARTITION_TABLE_NO_PARTITION_INDEX 0xff
-
-// todo these are duplicated in picoboot_constants.h
-// values 0-7 are secure/non-secure
-#define BOOT_TYPE_NORMAL     0
-#define BOOT_TYPE_BOOTSEL    2
-#define BOOT_TYPE_RAM_IMAGE  3
-#define BOOT_TYPE_FLASH_UPDATE 4
-
-// values 8-15 are secure only
-#define BOOT_TYPE_PC_SP      0xd
-
-// ORed in if a bootloader chained into the image
-#define BOOT_TYPE_CHAINED_FLAG 0x80
-
-// call from NS to S
-#ifndef __riscv
-#define BOOTROM_API_CALLBACK_secure_call 0
-#endif
-#define BOOTROM_API_CALLBACK_COUNT 1
-
-#define BOOTROM_LOCK_SHA_256   0
-#define BOOTROM_LOCK_FLASH_OP  1
-#define BOOTROM_LOCK_OTP       2
-#define BOOTROM_LOCK_MAX       2
-
-#define BOOTROM_LOCK_ENABLE    7
-
-#define BOOT_PARTITION_NONE (-1)
-#define BOOT_PARTITION_SLOT0 (-2)
-#define BOOT_PARTITION_SLOT1 (-3)
-#define BOOT_PARTITION_WINDOW (-4)
-
-#define BOOT_DIAGNOSTIC_WINDOW_SEARCHED                           0x01
-// note if both BOOT_DIAGNOSTIC_INVALID_BLOCK_LOOP and BOOT_DIAGNOSTIC_VALID_BLOCK_LOOP then the block loop was valid
-// but it has a PARTITION_TABLE which while it passed the initial verification (and hash/sig) had invalid contents
-// (discovered when it was later loaded)
-#define BOOT_DIAGNOSTIC_INVALID_BLOCK_LOOP                        0x02
-#define BOOT_DIAGNOSTIC_VALID_BLOCK_LOOP                          0x04
-#define BOOT_DIAGNOSTIC_VALID_IMAGE_DEF                           0x08
-#define BOOT_DIAGNOSTIC_HAS_PARTITION_TABLE                       0x10
-#define BOOT_DIAGNOSTIC_CONSIDERED                                0x20
-#define BOOT_DIAGNOSTIC_CHOSEN                                    0x40
-#define BOOT_DIAGNOSTIC_PARTITION_TABLE_LSB 7
-#define BOOT_DIAGNOSTIC_PARTITION_TABLE_MATCHING_KEY_FOR_VERIFY   0x80
-#define BOOT_DIAGNOSTIC_PARTITION_TABLE_HASH_FOR_VERIFY          0x100
-#define BOOT_DIAGNOSTIC_PARTITION_TABLE_VERIFIED_OK              0x200
-#define BOOT_DIAGNOSTIC_IMAGE_DEF_LSB 10
-#define BOOT_DIAGNOSTIC_IMAGE_DEF_MATCHING_KEY_FOR_VERIFY        0x400
-#define BOOT_DIAGNOSTIC_IMAGE_DEF_HASH_FOR_VERIFY                0x800
-#define BOOT_DIAGNOSTIC_IMAGE_DEF_VERIFIED_OK                   0x1000
-
-#define BOOT_DIAGNOSTIC_LOAD_MAP_ENTRIES_LOADED                 0x2000
-#define BOOT_DIAGNOSTIC_IMAGE_LAUNCHED                          0x4000
-#define BOOT_DIAGNOSTIC_IMAGE_CONDITION_FAILURE                 0x8000
-
-#define BOOT_PARSED_BLOCK_DIAGNOSTIC_MATCHING_KEY_FOR_VERIFY       0x1 // if this is present and VERIFIED_OK isn't the sig check failed
-#define BOOT_PARSED_BLOCK_DIAGNOSTIC_HASH_FOR_VERIFY               0x2 // if this is present and VERIFIED_OL isn't then hash check failed
-#define BOOT_PARSED_BLOCK_DIAGNOSTIC_VERIFIED_OK                   0x4
-
-#define BOOT_TBYB_AND_UPDATE_FLAG_BUY_PENDING                      0x1
-#define BOOT_TBYB_AND_UPDATE_FLAG_OTP_VERSION_APPLIED              0x2
-#define BOOT_TBYB_AND_UPDATE_FLAG_OTHER_ERASED                     0x4
-
-#ifndef __ASSEMBLER__
-// Limited to 3 arguments in case of varm multiplex hint (trashes Arm r3)
-typedef int (*bootrom_api_callback_generic_t)(uint32_t r0, uint32_t r1, uint32_t r2);
-// Return negative for error, else number of bytes transferred:
-//typedef int (*bootrom_api_callback_stdout_put_blocking_t)(const uint8_t *buffer, uint32_t size);
-//typedef int (*bootrom_api_callback_stdin_get_t)(uint8_t *buffer, uint32_t size);
-//typedef void (*bootrom_api_callback_core1_security_setup_t)(void);
-#endif
-
-#endif
-
-/*! \brief Return a bootrom lookup code based on two ASCII characters
- * \ingroup pico_bootrom
- *
- * These codes are uses to lookup data or function addresses in the bootrom
- *
- * \param c1 the first character
- * \param c2 the second character
- * \return the 'code' to use in rom_func_lookup() or rom_data_lookup()
- */
-#define ROM_TABLE_CODE(c1, c2) ((c1) | ((c2) << 8))
-
-// ROM FUNCTIONS
-
-// RP2040 & RP2350
-#define ROM_DATA_SOFTWARE_GIT_REVISION          ROM_TABLE_CODE('G', 'R')
-#define ROM_FUNC_FLASH_ENTER_CMD_XIP            ROM_TABLE_CODE('C', 'X')
-#define ROM_FUNC_FLASH_EXIT_XIP                 ROM_TABLE_CODE('E', 'X')
-#define ROM_FUNC_FLASH_FLUSH_CACHE              ROM_TABLE_CODE('F', 'C')
-#define ROM_FUNC_CONNECT_INTERNAL_FLASH         ROM_TABLE_CODE('I', 'F')
-#define ROM_FUNC_FLASH_RANGE_ERASE              ROM_TABLE_CODE('R', 'E')
-#define ROM_FUNC_FLASH_RANGE_PROGRAM            ROM_TABLE_CODE('R', 'P')
-
-
-#if PICO_RP2040
-// RP2040 only
-#define ROM_FUNC_MEMCPY44                       ROM_TABLE_CODE('C', '4')
-#define ROM_DATA_COPYRIGHT                      ROM_TABLE_CODE('C', 'R')
-#define ROM_FUNC_CLZ32                          ROM_TABLE_CODE('L', '3')
-#define ROM_FUNC_MEMCPY                         ROM_TABLE_CODE('M', 'C')
-#define ROM_FUNC_MEMSET                         ROM_TABLE_CODE('M', 'S')
-#define ROM_FUNC_POPCOUNT32                     ROM_TABLE_CODE('P', '3')
-#define ROM_FUNC_REVERSE32                      ROM_TABLE_CODE('R', '3')
-#define ROM_FUNC_MEMSET4                        ROM_TABLE_CODE('S', '4')
-#define ROM_FUNC_CTZ32                          ROM_TABLE_CODE('T', '3')
-#define ROM_FUNC_RESET_USB_BOOT                 ROM_TABLE_CODE('U', 'B')
-#endif
-
-#if !PICO_RP2040 || PICO_COMBINED_DOCS
-// RP2350 only
-#define ROM_FUNC_PICK_AB_PARTITION              ROM_TABLE_CODE('A', 'B')
-#define ROM_FUNC_CHAIN_IMAGE                    ROM_TABLE_CODE('C', 'I')
-#define ROM_FUNC_EXPLICIT_BUY                   ROM_TABLE_CODE('E', 'B')
-#define ROM_FUNC_FLASH_RUNTIME_TO_STORAGE_ADDR  ROM_TABLE_CODE('F', 'A')
-#define ROM_DATA_FLASH_DEVINFO16_PTR            ROM_TABLE_CODE('F', 'D')
-#define ROM_FUNC_FLASH_OP                       ROM_TABLE_CODE('F', 'O')
-#define ROM_FUNC_GET_B_PARTITION                ROM_TABLE_CODE('G', 'B')
-#define ROM_FUNC_GET_PARTITION_TABLE_INFO       ROM_TABLE_CODE('G', 'P')
-#define ROM_FUNC_GET_SYS_INFO                   ROM_TABLE_CODE('G', 'S')
-#define ROM_FUNC_GET_UF2_TARGET_PARTITION       ROM_TABLE_CODE('G', 'U')
-#define ROM_FUNC_LOAD_PARTITION_TABLE           ROM_TABLE_CODE('L', 'P')
-#define ROM_FUNC_OTP_ACCESS                     ROM_TABLE_CODE('O', 'A')
-#define ROM_DATA_PARTITION_TABLE_PTR            ROM_TABLE_CODE('P', 'T')
-#define ROM_FUNC_FLASH_RESET_ADDRESS_TRANS      ROM_TABLE_CODE('R', 'A')
-#define ROM_FUNC_REBOOT                         ROM_TABLE_CODE('R', 'B')
-#define ROM_FUNC_SET_ROM_CALLBACK               ROM_TABLE_CODE('R', 'C')
-#define ROM_FUNC_SECURE_CALL                    ROM_TABLE_CODE('S', 'C')
-#define ROM_FUNC_SET_NS_API_PERMISSION          ROM_TABLE_CODE('S', 'P')
-#define ROM_FUNC_BOOTROM_STATE_RESET            ROM_TABLE_CODE('S', 'R')
-#define ROM_FUNC_SET_BOOTROM_STACK              ROM_TABLE_CODE('S', 'S')
-#define ROM_DATA_SAVED_XIP_SETUP_FUNC_PTR       ROM_TABLE_CODE('X', 'F')
-#define ROM_FUNC_FLASH_SELECT_XIP_READ_MODE     ROM_TABLE_CODE('X', 'M')
-#define ROM_FUNC_VALIDATE_NS_BUFFER             ROM_TABLE_CODE('V', 'B')
-#endif
-
-// these form a bit set
-#define BOOTROM_STATE_RESET_CURRENT_CORE 0x01
-#define BOOTROM_STATE_RESET_OTHER_CORE   0x02
-#define BOOTROM_STATE_RESET_GLOBAL_STATE 0x04 // reset any global state (e.g. permissions)
-
-// partition level stuff is returned first (note PT_INFO flags is only 16 bits)
-
-// 3 words: pt_count, unpartitioned_perm_loc, unpartioned_perm_flags
-#define PT_INFO_PT_INFO                         0x0001
-#define PT_INFO_SINGLE_PARTITION                0x8000 // marker to just include a single partition in the results)
-
-// then in order per partition selected
-
-// 2 words: unpartitioned_perm_loc, unpartioned_perm_flags
-#define PT_INFO_PARTITION_LOCATION_AND_FLAGS    0x0010
-// 2 words: id lsb first
-#define PT_INFO_PARTITION_ID                    0x0020
-// n+1 words: n, family_id...
-#define PT_INFO_PARTITION_FAMILY_IDS            0x0040
-// (n+3)/4 words... bytes are: n (len), c0, c1, ... cn-1 padded to word boundary with zeroes
-#define PT_INFO_PARTITION_NAME                  0x0080
-
-// items are returned in order
-// 3 words package_id, device_id, wafer_id
-#define SYS_INFO_CHIP_INFO                      0x0001
-// 1 word: chip specific critical bits
-#define SYS_INFO_CRITICAL                       0x0002
-// 1 word: bytes: cpu_type, supported_cpu_type_bitfield
-#define SYS_INFO_CPU_INFO                       0x0004
-// 1 word: same as FLASH_DEVINFO row in OTP
-#define SYS_INFO_FLASH_DEV_INFO                 0x0008
-// 4 words
-#define SYS_INFO_BOOT_RANDOM                    0x0010
-// 2 words lsb first
-#define SYS_INFO_NONCE                          0x0020
-// 4 words boot_info, boot_diagnostic, boot_param0, boot_param1
-#define SYS_INFO_BOOT_INFO                      0x0040
-
-#define BOOTROM_NS_API_get_sys_info 0
-#define BOOTROM_NS_API_checked_flash_op 1
-#define BOOTROM_NS_API_flash_runtime_to_storage_addr 2
-#define BOOTROM_NS_API_get_partition_table_info 3
-#define BOOTROM_NS_API_secure_call 4
-#define BOOTROM_NS_API_otp_access 5
-#define BOOTROM_NS_API_reboot 6
-#define BOOTROM_NS_API_get_b_partition 7
-#define BOOTROM_NS_API_COUNT 8
-
-#ifndef __ASSEMBLER__
-
-typedef struct {
-    uint32_t permissions_and_location;
-    uint32_t permissions_and_flags;
-} resident_partition_t;
-static_assert(sizeof(resident_partition_t) == 8, "");
-
-#define OTP_CMD_ROW_BITS                    0x0000ffffu
-#define OTP_CMD_ROW_LSB                     0u
-#define OTP_CMD_WRITE_BITS                  0x00010000u
-#define OTP_CMD_ECC_BITS                    0x00020000u
-
-typedef struct otp_cmd {
-    uint32_t flags;
-} otp_cmd_t;
-
-typedef enum {
-    BOOTROM_XIP_MODE_03H_SERIAL = 0,
-    BOOTROM_XIP_MODE_0BH_SERIAL,
-    BOOTROM_XIP_MODE_BBH_DUAL,
-    BOOTROM_XIP_MODE_EBH_QUAD,
-    BOOTROM_XIP_MODE_N_MODES
-} bootrom_xip_mode_t;
-
-// The checked flash API wraps the low-level flash routines from generic_flash, adding bounds
-// checking, permission checking against the resident partition table, and simple address
-// translation. The low-level API deals with flash offsets (i.e. distance from the start of the
-// first flash device, measured in bytes) but the checked flash API accepts one of two types of
-// address:
-//
-// - Flash runtime addresses: the address of some flash-resident data or code in the currently
-//   running image. The flash addresses your binary is "linked at" by the linker.
-// - Flash storage addresses: a flash offset, plus the address base where QSPI hardware is first
-//   mapped on the system bus (XIP_BASE constant from addressmap.h)
-//
-// These addresses are one and the same *if* the currently running program is stored at the
-// beginning of flash. They are different if the start of your image has been "rolled" by the flash
-// boot path to make it appear at the address it was linked at even though it is stored at a
-// different location in flash, which is necessary when you have A/B images for example.
-//
-// The address translation between flash runtime and flash storage addresses is configured in
-// hardware by the QMI_ATRANSx registers, and this API assumes those registers contain a valid
-// address mapping which it can use to translate runtime to storage addresses.
-
-typedef struct cflash_flags {
-    uint32_t flags;
-} cflash_flags_t;
-
-// Bits which are permitted to be set in a flags variable -- any other bits being set is an error
-#define CFLASH_FLAGS_BITS               0x00070301u
-
-// Used to tell checked flash API which space a given address belongs to
-#define CFLASH_ASPACE_BITS              0x00000001u
-#define CFLASH_ASPACE_LSB               0u
-#define CFLASH_ASPACE_VALUE_STORAGE     0u
-#define CFLASH_ASPACE_VALUE_RUNTIME     1u
-
-// Used to tell checked flash APIs the effective security level of a flash access (may be forced to
-// one of these values for the NonSecure-exported version of this API)
-#define CFLASH_SECLEVEL_BITS            0x00000300u
-#define CFLASH_SECLEVEL_LSB             8u
-// Zero is not a valid security level:
-#define CFLASH_SECLEVEL_VALUE_SECURE    1u
-#define CFLASH_SECLEVEL_VALUE_NONSECURE 2u
-#define CFLASH_SECLEVEL_VALUE_BOOTLOADER 3u
-
-#define CFLASH_OP_BITS                  0x00070000u
-#define CFLASH_OP_LSB                   16u
-// Erase size_bytes bytes of flash, starting at address addr. Both addr and size_bytes must be a
-// multiple of 4096 bytes (one flash sector).
-#define CFLASH_OP_VALUE_ERASE           0u
-// Program size_bytes bytes of flash, starting at address addr. Both addr and size_bytes must be a
-// multiple of 256 bytes (one flash page).
-#define CFLASH_OP_VALUE_PROGRAM         1u
-// Read size_bytes bytes of flash, starting at address addr. There are no alignment restrictions on
-// addr or size_bytes.
-#define CFLASH_OP_VALUE_READ            2u
-#define CFLASH_OP_MAX                   2u
-
-#endif
-
-#endif
--- a/lib/pico-sdk/rp2040/boot_stage2/BUILD.bazel
+++ b/lib/pico-sdk/rp2040/boot_stage2/BUILD.bazel
@@ -1,146 +0,0 @@
-# Always include these libraries through //src/rp2_common:*!
-# This ensures that you'll get the right headers for the MCU you're targeting.
-
-load("@bazel_skylib//rules:copy_file.bzl", "copy_file")
-load("@bazel_skylib//rules:run_binary.bzl", "run_binary")
-load("@rules_python//python:defs.bzl", "py_binary")
-load("//bazel/toolchain:objcopy.bzl", "objcopy_to_bin")
-load("//bazel/util:multiple_choice_flag.bzl", "declare_flag_choices", "flag_choice")
-load("//bazel/util:transition.bzl", "rp2040_bootloader_binary")
-
-# There's a lot of implementation details in here that shouldn't be considered
-# stable, so allowlist visibility to just the public-facing pieces.
-package(default_visibility = ["//visibility:private"])
-
-# Known choices for boot2:
-BOOT2_CHOICES = [
-    "boot2_at25sf128a",
-    "boot2_generic_03h",
-    "boot2_is25lp080",
-    "boot2_usb_blinky",
-    "boot2_w25q080",
-    "boot2_w25x10cl",
-    "compile_time_choice",
-]
-
-BOOT2_CHOICE_FILES = [c + ".S" for c in BOOT2_CHOICES]
-
-BOOT2_CHOICE_FILE_MAP = {c: [c + ".S"] for c in BOOT2_CHOICES}
-
-BOOT2_CHOICE_DEFINE_MAP = {c: ['PICO_BUILD_BOOT_STAGE2_NAME=\\"{}\\"'.format(c)] for c in BOOT2_CHOICES}
-
-# Define shouldn't be set for compile_time_choice.
-BOOT2_CHOICE_DEFINE_MAP["compile_time_choice"] = []
-
-cc_library(
-    name = "config",
-    hdrs = [
-        "asminclude/boot2_helpers/exit_from_boot2.S",
-        "asminclude/boot2_helpers/read_flash_sreg.S",
-        "asminclude/boot2_helpers/wait_ssi_ready.S",
-        "include/boot_stage2/config.h",
-    ] + BOOT2_CHOICE_FILES,
-    defines = select(flag_choice(
-        "//bazel/config:PICO_DEFAULT_BOOT_STAGE2",
-        ":__pkg__",
-        BOOT2_CHOICE_DEFINE_MAP,
-    )),
-    includes = [
-        "asminclude",
-        "include",
-    ],
-    target_compatible_with = ["//bazel/constraint:rp2040"],
-    visibility = ["//visibility:public"],
-)
-
-# Creates a config_setting for each known boot2 option with the name:
-#     PICO_DEFAULT_BOOT_STAGE2_[choice]
-declare_flag_choices(
-    "//bazel/config:PICO_DEFAULT_BOOT_STAGE2",
-    BOOT2_CHOICES,
-)
-
-filegroup(
-    name = "build_selected_boot2",
-    srcs = select(flag_choice(
-        "//bazel/config:PICO_DEFAULT_BOOT_STAGE2",
-        ":__pkg__",
-        BOOT2_CHOICE_FILE_MAP,
-    )),
-    visibility = ["//src/rp2_common:__pkg__"],
-)
-
-cc_binary(
-    name = "boot_stage2_elf_actual",
-    srcs = ["//bazel/config:PICO_DEFAULT_BOOT_STAGE2_FILE"],
-    copts = ["-fPIC"],
-    # Incompatible with section garbage collection.
-    features = ["-gc_sections"],
-    linkopts = [
-        "-Wl,--no-gc-sections",
-        "-nostartfiles",
-        "-Wl,--entry=_stage2_boot",
-        "-T$(location boot_stage2.ld)",
-    ],
-    # this does nothing if someone passes --custom_malloc, so the
-    # rp2040_bootloader_binary transition forcibly clobbers --custom_malloc.
-    malloc = "//bazel:empty_cc_lib",
-    tags = ["manual"],  # Only build as an explicit dependency.
-    target_compatible_with = ["//bazel/constraint:rp2040"],
-    deps = [
-        "boot_stage2.ld",
-        ":config",
-        "//src/common/pico_base_headers",
-        "//src/rp2_common:pico_platform_internal",
-    ],
-)
-
-# Always build the bootloader with the bootloader-specific platform.
-rp2040_bootloader_binary(
-    name = "boot_stage2_elf",
-    src = "boot_stage2_elf_actual",
-)
-
-objcopy_to_bin(
-    name = "boot_stage2_bin",
-    src = ":boot_stage2_elf",
-    out = "boot_stage2.bin",
-    target_compatible_with = ["//bazel/constraint:rp2040"],
-)
-
-# WORKAROUND: Python rules always require a .py extension.
-copy_file(
-    name = "copy_tool_to_py",
-    src = "pad_checksum",
-    out = "pad_checksum_tool.py",
-    target_compatible_with = ["//bazel/constraint:host"],
-)
-
-py_binary(
-    name = "pad_checksum_tool",
-    srcs = ["pad_checksum_tool.py"],
-    target_compatible_with = ["//bazel/constraint:host"],
-)
-
-run_binary(
-    name = "boot_stage2_padded",
-    srcs = [":boot_stage2_bin"],
-    outs = ["boot_stage2.S"],
-    args = [
-        "-s 0xffffffff",
-        "$(location boot_stage2_bin)",
-        "$(location boot_stage2.S)",
-    ],
-    target_compatible_with = ["//bazel/constraint:rp2040"],
-    tool = ":pad_checksum_tool",
-)
-
-cc_library(
-    name = "boot_stage2",
-    srcs = [":boot_stage2_padded"],
-    target_compatible_with = ["//bazel/constraint:rp2040"],
-    visibility = ["//src/rp2_common:__pkg__"],
-    # This isn't referenced as a symbol, so alwayslink is required to ensure
-    # it doesn't get dropped before the linker script can find it.
-    alwayslink = True,
-)
--- a/lib/pico-sdk/rp2040/cmsis_include/RP2040.h
+++ b/lib/pico-sdk/rp2040/cmsis_include/RP2040.h
--- a/lib/pico-sdk/rp2040/hardware/platform_defs.h
+++ b/lib/pico-sdk/rp2040/hardware/platform_defs.h
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) 2024 Raspberry Pi Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#ifndef _HARDWARE_PLATFORM_DEFS_H
-#define _HARDWARE_PLATFORM_DEFS_H
-
-// This header is included from C and assembler - intended mostly for #defines; guard other stuff with #ifdef __ASSEMBLER__
-
-#ifndef _u
-#ifdef __ASSEMBLER__
-#define _u(x) x
-#else
-#define _u(x) x ## u
-#endif
-#endif
-
-#define NUM_CORES _u(2)
-#define NUM_DMA_CHANNELS _u(12)
-#define NUM_DMA_TIMERS _u(4)
-#define NUM_DMA_IRQS _u(2)
-#define NUM_IRQS _u(32)
-#define NUM_USER_IRQS _u(6)
-#define NUM_PIOS _u(2)
-#define NUM_PIO_STATE_MACHINES _u(4)
-#define NUM_PIO_IRQS _u(2)
-#define NUM_PWM_SLICES _u(8)
-#define NUM_PWM_IRQS _u(1)
-#define NUM_SPIN_LOCKS _u(32)
-#define NUM_UARTS _u(2)
-#define NUM_I2CS _u(2)
-#define NUM_SPIS _u(2)
-#define NUM_GENERIC_TIMERS _u(1)
-#define NUM_ALARMS _u(4)
-#define ADC_BASE_PIN _u(26)
-#define NUM_ADC_CHANNELS _u(5)
-#define NUM_RESETS _u(24)
-#define NUM_BANK0_GPIOS _u(30)
-#define NUM_QSPI_GPIOS _u(6)
-
-#define PIO_INSTRUCTION_COUNT _u(32)
-
-#define USBCTRL_DPRAM_SIZE _u(4096)
-
-#define HAS_SIO_DIVIDER 1
-#define HAS_RP2040_RTC  1
-// PICO_CONFIG: XOSC_HZ, Crystal oscillator frequency in Hz, type=int, default=12000000, advanced=true, group=hardware_base
-// NOTE:  The system and USB clocks are generated from the frequency using two PLLs.
-// If you override this define, or SYS_CLK_HZ/USB_CLK_HZ below, you will *also* need to add your own adjusted PLL set-up defines to
-// override the defaults which live in src/rp2_common/hardware_clocks/include/hardware/clocks.h
-// Please see the comments there about calculating the new PLL setting values.
-#ifndef XOSC_HZ
-#ifdef XOSC_KHZ
-#define XOSC_HZ ((XOSC_KHZ) * _u(1000))
-#elif defined(XOSC_MHZ)
-#define XOSC_HZ ((XOSC_MHZ) * _u(1000000))
-#else
-#define XOSC_HZ _u(12000000)
-#endif
-#endif
-
-// PICO_CONFIG: SYS_CLK_HZ, System operating frequency in Hz, type=int, default=125000000, advanced=true, group=hardware_base
-#ifndef SYS_CLK_HZ
-#ifdef SYS_CLK_KHZ
-#define SYS_CLK_HZ ((SYS_CLK_KHZ) * _u(1000))
-#elif defined(SYS_CLK_MHZ)
-#define SYS_CLK_HZ ((SYS_CLK_MHZ) * _u(1000000))
-#else
-#define SYS_CLK_HZ _u(125000000)
-#endif
-#endif
-
-// PICO_CONFIG: USB_CLK_HZ, USB clock frequency. Must be 48MHz for the USB interface to operate correctly, type=int, default=48000000, advanced=true, group=hardware_base
-#ifndef USB_CLK_HZ
-#ifdef USB_CLK_KHZ
-#define USB_CLK_HZ ((USB_CLK_KHZ) * _u(1000))
-#elif defined(USB_CLK_MHZ)
-#define USB_CLK_HZ ((USB_CLK_MHZ) * _u(1000000))
-#else
-#define USB_CLK_HZ _u(48000000)
-#endif
-#endif
-
-// For backwards compatibility define XOSC_KHZ if the frequency is indeed an integer number of Khz.
-#if defined(XOSC_HZ) && !defined(XOSC_KHZ) && (XOSC_HZ % 1000 == 0)
-#define XOSC_KHZ (XOSC_HZ / 1000)
-#endif
-
-// For backwards compatibility define XOSC_MHZ if the frequency is indeed an integer number of Mhz.
-#if defined(XOSC_KHZ) && !defined(XOSC_MHZ) && (XOSC_KHZ % 1000 == 0)
-#define XOSC_MHZ (XOSC_KHZ / 1000)
-#endif
-
-// For backwards compatibility define SYS_CLK_KHZ if the frequency is indeed an integer number of Khz.
-#if defined(SYS_CLK_HZ) && !defined(SYS_CLK_KHZ) && (SYS_CLK_HZ % 1000 == 0)
-#define SYS_CLK_KHZ (SYS_CLK_HZ / 1000)
-#endif
-
-// For backwards compatibility define SYS_CLK_MHZ if the frequency is indeed an integer number of Mhz.
-#if defined(SYS_CLK_KHZ) && !defined(SYS_CLK_MHZ) && (SYS_CLK_KHZ % 1000 == 0)
-#define SYS_CLK_MHZ (SYS_CLK_KHZ / 1000)
-#endif
-
-// For backwards compatibility define USB_CLK_KHZ if the frequency is indeed an integer number of Khz.
-#if defined(USB_CLK_HZ) && !defined(USB_CLK_KHZ) && (USB_CLK_HZ % 1000 == 0)
-#define USB_CLK_KHZ (USB_CLK_HZ / 1000)
-#endif
-
-// For backwards compatibility define USB_CLK_MHZ if the frequency is indeed an integer number of Mhz.
-#if defined(USB_CLK_KHZ) && !defined(USB_CLK_MHZ) && (USB_CLK_KHZ % 1000 == 0)
-#define USB_CLK_MHZ (USB_CLK_KHZ / 1000)
-#endif
-
-#define FIRST_USER_IRQ (NUM_IRQS - NUM_USER_IRQS)
-#define VTABLE_FIRST_IRQ 16
-
-#endif
--- a/lib/pico-sdk/rp2040/hardware/regs/dreq.h
+++ b/lib/pico-sdk/rp2040/hardware/regs/dreq.h
@@ -1,117 +0,0 @@
-// THIS HEADER FILE IS AUTOMATICALLY GENERATED -- DO NOT EDIT
-
-/**
- * Copyright (c) 2024 Raspberry Pi Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-#ifndef _DREQ_H
-#define _DREQ_H
-
-/**
- * \file rp2040/dreq.h
- */
-
-#ifdef __ASSEMBLER__
-#define DREQ_PIO0_TX0 0
-#define DREQ_PIO0_TX1 1
-#define DREQ_PIO0_TX2 2
-#define DREQ_PIO0_TX3 3
-#define DREQ_PIO0_RX0 4
-#define DREQ_PIO0_RX1 5
-#define DREQ_PIO0_RX2 6
-#define DREQ_PIO0_RX3 7
-#define DREQ_PIO1_TX0 8
-#define DREQ_PIO1_TX1 9
-#define DREQ_PIO1_TX2 10
-#define DREQ_PIO1_TX3 11
-#define DREQ_PIO1_RX0 12
-#define DREQ_PIO1_RX1 13
-#define DREQ_PIO1_RX2 14
-#define DREQ_PIO1_RX3 15
-#define DREQ_SPI0_TX 16
-#define DREQ_SPI0_RX 17
-#define DREQ_SPI1_TX 18
-#define DREQ_SPI1_RX 19
-#define DREQ_UART0_TX 20
-#define DREQ_UART0_RX 21
-#define DREQ_UART1_TX 22
-#define DREQ_UART1_RX 23
-#define DREQ_PWM_WRAP0 24
-#define DREQ_PWM_WRAP1 25
-#define DREQ_PWM_WRAP2 26
-#define DREQ_PWM_WRAP3 27
-#define DREQ_PWM_WRAP4 28
-#define DREQ_PWM_WRAP5 29
-#define DREQ_PWM_WRAP6 30
-#define DREQ_PWM_WRAP7 31
-#define DREQ_I2C0_TX 32
-#define DREQ_I2C0_RX 33
-#define DREQ_I2C1_TX 34
-#define DREQ_I2C1_RX 35
-#define DREQ_ADC 36
-#define DREQ_XIP_STREAM 37
-#define DREQ_XIP_SSITX 38
-#define DREQ_XIP_SSIRX 39
-#define DREQ_DMA_TIMER0 59
-#define DREQ_DMA_TIMER1 60
-#define DREQ_DMA_TIMER2 61
-#define DREQ_DMA_TIMER3 62
-#define DREQ_FORCE 63
-#else
-/**
- * \brief DREQ numbers for DMA pacing on RP2040 (used as typedef \ref dreq_num_t)
- * \ingroup hardware_dma
- */
-typedef enum dreq_num_rp2040 {
-    DREQ_PIO0_TX0 = 0, ///< Select PIO0's TX FIFO 0 as DREQ
-    DREQ_PIO0_TX1 = 1, ///< Select PIO0's TX FIFO 1 as DREQ
-    DREQ_PIO0_TX2 = 2, ///< Select PIO0's TX FIFO 2 as DREQ
-    DREQ_PIO0_TX3 = 3, ///< Select PIO0's TX FIFO 3 as DREQ
-    DREQ_PIO0_RX0 = 4, ///< Select PIO0's RX FIFO 0 as DREQ
-    DREQ_PIO0_RX1 = 5, ///< Select PIO0's RX FIFO 1 as DREQ
-    DREQ_PIO0_RX2 = 6, ///< Select PIO0's RX FIFO 2 as DREQ
-    DREQ_PIO0_RX3 = 7, ///< Select PIO0's RX FIFO 3 as DREQ
-    DREQ_PIO1_TX0 = 8, ///< Select PIO1's TX FIFO 0 as DREQ
-    DREQ_PIO1_TX1 = 9, ///< Select PIO1's TX FIFO 1 as DREQ
-    DREQ_PIO1_TX2 = 10, ///< Select PIO1's TX FIFO 2 as DREQ
-    DREQ_PIO1_TX3 = 11, ///< Select PIO1's TX FIFO 3 as DREQ
-    DREQ_PIO1_RX0 = 12, ///< Select PIO1's RX FIFO 0 as DREQ
-    DREQ_PIO1_RX1 = 13, ///< Select PIO1's RX FIFO 1 as DREQ
-    DREQ_PIO1_RX2 = 14, ///< Select PIO1's RX FIFO 2 as DREQ
-    DREQ_PIO1_RX3 = 15, ///< Select PIO1's RX FIFO 3 as DREQ
-    DREQ_SPI0_TX = 16, ///< Select SPI0's TX FIFO as DREQ
-    DREQ_SPI0_RX = 17, ///< Select SPI0's RX FIFO as DREQ
-    DREQ_SPI1_TX = 18, ///< Select SPI1's TX FIFO as DREQ
-    DREQ_SPI1_RX = 19, ///< Select SPI1's RX FIFO as DREQ
-    DREQ_UART0_TX = 20, ///< Select UART0's TX FIFO as DREQ
-    DREQ_UART0_RX = 21, ///< Select UART0's RX FIFO as DREQ
-    DREQ_UART1_TX = 22, ///< Select UART1's TX FIFO as DREQ
-    DREQ_UART1_RX = 23, ///< Select UART1's RX FIFO as DREQ
-    DREQ_PWM_WRAP0 = 24, ///< Select PWM Counter 0's Wrap Value as DREQ
-    DREQ_PWM_WRAP1 = 25, ///< Select PWM Counter 1's Wrap Value as DREQ
-    DREQ_PWM_WRAP2 = 26, ///< Select PWM Counter 2's Wrap Value as DREQ
-    DREQ_PWM_WRAP3 = 27, ///< Select PWM Counter 3's Wrap Value as DREQ
-    DREQ_PWM_WRAP4 = 28, ///< Select PWM Counter 4's Wrap Value as DREQ
-    DREQ_PWM_WRAP5 = 29, ///< Select PWM Counter 5's Wrap Value as DREQ
-    DREQ_PWM_WRAP6 = 30, ///< Select PWM Counter 6's Wrap Value as DREQ
-    DREQ_PWM_WRAP7 = 31, ///< Select PWM Counter 7's Wrap Value as DREQ
-    DREQ_I2C0_TX = 32, ///< Select I2C0's TX FIFO as DREQ
-    DREQ_I2C0_RX = 33, ///< Select I2C0's RX FIFO as DREQ
-    DREQ_I2C1_TX = 34, ///< Select I2C1's TX FIFO as DREQ
-    DREQ_I2C1_RX = 35, ///< Select I2C1's RX FIFO as DREQ
-    DREQ_ADC = 36, ///< Select the ADC as DREQ
-    DREQ_XIP_STREAM = 37, ///< Select the XIP Streaming FIFO as DREQ
-    DREQ_XIP_SSITX = 38, ///< Select the XIP SSI TX FIFO as DREQ
-    DREQ_XIP_SSIRX = 39, ///< Select the XIP SSI RX FIFO as DREQ
-    DREQ_DMA_TIMER0 = 59, ///< Select DMA_TIMER0 as DREQ
-    DREQ_DMA_TIMER1 = 60, ///< Select DMA_TIMER0 as DREQ
-    DREQ_DMA_TIMER2 = 61, ///< Select DMA_TIMER1 as DREQ
-    DREQ_DMA_TIMER3 = 62, ///< Select DMA_TIMER3 as DREQ
-    DREQ_FORCE = 63, ///< Select FORCE as DREQ
-    DREQ_COUNT
-} dreq_num_t;
-#endif
-
-#endif // _DREQ_H
-
--- a/lib/pico-sdk/rp2040/hardware/regs/intctrl.h
+++ b/lib/pico-sdk/rp2040/hardware/regs/intctrl.h
@@ -1,106 +0,0 @@
-// THIS HEADER FILE IS AUTOMATICALLY GENERATED -- DO NOT EDIT
-
-/**
- * Copyright (c) 2024 Raspberry Pi Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-#ifndef _INTCTRL_H
-#define _INTCTRL_H
-
-/**
- * \file rp2040/intctrl.h
- */
-
-#ifdef __ASSEMBLER__
-#define TIMER_IRQ_0 0
-#define TIMER_IRQ_1 1
-#define TIMER_IRQ_2 2
-#define TIMER_IRQ_3 3
-#define PWM_IRQ_WRAP 4
-#define USBCTRL_IRQ 5
-#define XIP_IRQ 6
-#define PIO0_IRQ_0 7
-#define PIO0_IRQ_1 8
-#define PIO1_IRQ_0 9
-#define PIO1_IRQ_1 10
-#define DMA_IRQ_0 11
-#define DMA_IRQ_1 12
-#define IO_IRQ_BANK0 13
-#define IO_IRQ_QSPI 14
-#define SIO_IRQ_PROC0 15
-#define SIO_IRQ_PROC1 16
-#define CLOCKS_IRQ 17
-#define SPI0_IRQ 18
-#define SPI1_IRQ 19
-#define UART0_IRQ 20
-#define UART1_IRQ 21
-#define ADC_IRQ_FIFO 22
-#define I2C0_IRQ 23
-#define I2C1_IRQ 24
-#define RTC_IRQ 25
-#else
-/**
- * \brief Interrupt numbers on RP2040 (used as typedef \ref irq_num_t)
- * \ingroup hardware_irq
- */
-typedef enum irq_num_rp2040 {
-    TIMER_IRQ_0 = 0, ///< Select TIMER's IRQ 0 output
-    TIMER_IRQ_1 = 1, ///< Select TIMER's IRQ 1 output
-    TIMER_IRQ_2 = 2, ///< Select TIMER's IRQ 2 output
-    TIMER_IRQ_3 = 3, ///< Select TIMER's IRQ 3 output
-    PWM_IRQ_WRAP = 4, ///< Select PWM's IRQ_WRAP output
-    USBCTRL_IRQ = 5, ///< Select USBCTRL's IRQ output
-    XIP_IRQ = 6, ///< Select XIP's IRQ output
-    PIO0_IRQ_0 = 7, ///< Select PIO0's IRQ 0 output
-    PIO0_IRQ_1 = 8, ///< Select PIO0's IRQ 1 output
-    PIO1_IRQ_0 = 9, ///< Select PIO1's IRQ 0 output
-    PIO1_IRQ_1 = 10, ///< Select PIO1's IRQ 1 output
-    DMA_IRQ_0 = 11, ///< Select DMA's IRQ 0 output
-    DMA_IRQ_1 = 12, ///< Select DMA's IRQ 1 output
-    IO_IRQ_BANK0 = 13, ///< Select IO_BANK0's IRQ output
-    IO_IRQ_QSPI = 14, ///< Select IO_QSPI's IRQ output
-    SIO_IRQ_PROC0 = 15, ///< Select SIO_PROC0's IRQ output
-    SIO_IRQ_PROC1 = 16, ///< Select SIO_PROC1's IRQ output
-    CLOCKS_IRQ = 17, ///< Select CLOCKS's IRQ output
-    SPI0_IRQ = 18, ///< Select SPI0's IRQ output
-    SPI1_IRQ = 19, ///< Select SPI1's IRQ output
-    UART0_IRQ = 20, ///< Select UART0's IRQ output
-    UART1_IRQ = 21, ///< Select UART1's IRQ output
-    ADC_IRQ_FIFO = 22, ///< Select ADC's IRQ_FIFO output
-    I2C0_IRQ = 23, ///< Select I2C0's IRQ output
-    I2C1_IRQ = 24, ///< Select I2C1's IRQ output
-    RTC_IRQ = 25, ///< Select RTC's IRQ output
-    IRQ_COUNT
-} irq_num_t;
-#endif
-
-#define isr_timer_0 isr_irq0
-#define isr_timer_1 isr_irq1
-#define isr_timer_2 isr_irq2
-#define isr_timer_3 isr_irq3
-#define isr_pwm_wrap isr_irq4
-#define isr_usbctrl isr_irq5
-#define isr_xip isr_irq6
-#define isr_pio0_0 isr_irq7
-#define isr_pio0_1 isr_irq8
-#define isr_pio1_0 isr_irq9
-#define isr_pio1_1 isr_irq10
-#define isr_dma_0 isr_irq11
-#define isr_dma_1 isr_irq12
-#define isr_io_bank0 isr_irq13
-#define isr_io_qspi isr_irq14
-#define isr_sio_proc0 isr_irq15
-#define isr_sio_proc1 isr_irq16
-#define isr_clocks isr_irq17
-#define isr_spi0 isr_irq18
-#define isr_spi1 isr_irq19
-#define isr_uart0 isr_irq20
-#define isr_uart1 isr_irq21
-#define isr_adc_fifo isr_irq22
-#define isr_i2c0 isr_irq23
-#define isr_i2c1 isr_irq24
-#define isr_rtc isr_irq25
-
-#endif // _INTCTRL_H
-
--- a/lib/pico-sdk/rp2040/hardware/regs/spi.h
+++ b/lib/pico-sdk/rp2040/hardware/regs/spi.h
@@ -1,523 +0,0 @@
-// THIS HEADER FILE IS AUTOMATICALLY GENERATED -- DO NOT EDIT
-
-/**
- * Copyright (c) 2024 Raspberry Pi Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-// =============================================================================
-// Register block : SPI
-// Version        : 1
-// Bus type       : apb
-// =============================================================================
-#ifndef _HARDWARE_REGS_SPI_H
-#define _HARDWARE_REGS_SPI_H
-// =============================================================================
-// Register    : SPI_SSPCR0
-// Description : Control register 0, SSPCR0 on page 3-4
-#define SPI_SSPCR0_OFFSET _u(0x00000000)
-#define SPI_SSPCR0_BITS   _u(0x0000ffff)
-#define SPI_SSPCR0_RESET  _u(0x00000000)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCR0_SCR
-// Description : Serial clock rate. The value SCR is used to generate the
-//               transmit and receive bit rate of the PrimeCell SSP. The bit
-//               rate is: F SSPCLK CPSDVSR x (1+SCR) where CPSDVSR is an even
-//               value from 2-254, programmed through the SSPCPSR register and
-//               SCR is a value from 0-255.
-#define SPI_SSPCR0_SCR_RESET  _u(0x00)
-#define SPI_SSPCR0_SCR_BITS   _u(0x0000ff00)
-#define SPI_SSPCR0_SCR_MSB    _u(15)
-#define SPI_SSPCR0_SCR_LSB    _u(8)
-#define SPI_SSPCR0_SCR_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCR0_SPH
-// Description : SSPCLKOUT phase, applicable to Motorola SPI frame format only.
-//               See Motorola SPI frame format on page 2-10.
-#define SPI_SSPCR0_SPH_RESET  _u(0x0)
-#define SPI_SSPCR0_SPH_BITS   _u(0x00000080)
-#define SPI_SSPCR0_SPH_MSB    _u(7)
-#define SPI_SSPCR0_SPH_LSB    _u(7)
-#define SPI_SSPCR0_SPH_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCR0_SPO
-// Description : SSPCLKOUT polarity, applicable to Motorola SPI frame format
-//               only. See Motorola SPI frame format on page 2-10.
-#define SPI_SSPCR0_SPO_RESET  _u(0x0)
-#define SPI_SSPCR0_SPO_BITS   _u(0x00000040)
-#define SPI_SSPCR0_SPO_MSB    _u(6)
-#define SPI_SSPCR0_SPO_LSB    _u(6)
-#define SPI_SSPCR0_SPO_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCR0_FRF
-// Description : Frame format: 00 Motorola SPI frame format. 01 TI synchronous
-//               serial frame format. 10 National Microwire frame format. 11
-//               Reserved, undefined operation.
-#define SPI_SSPCR0_FRF_RESET  _u(0x0)
-#define SPI_SSPCR0_FRF_BITS   _u(0x00000030)
-#define SPI_SSPCR0_FRF_MSB    _u(5)
-#define SPI_SSPCR0_FRF_LSB    _u(4)
-#define SPI_SSPCR0_FRF_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCR0_DSS
-// Description : Data Size Select: 0000 Reserved, undefined operation. 0001
-//               Reserved, undefined operation. 0010 Reserved, undefined
-//               operation. 0011 4-bit data. 0100 5-bit data. 0101 6-bit data.
-//               0110 7-bit data. 0111 8-bit data. 1000 9-bit data. 1001 10-bit
-//               data. 1010 11-bit data. 1011 12-bit data. 1100 13-bit data.
-//               1101 14-bit data. 1110 15-bit data. 1111 16-bit data.
-#define SPI_SSPCR0_DSS_RESET  _u(0x0)
-#define SPI_SSPCR0_DSS_BITS   _u(0x0000000f)
-#define SPI_SSPCR0_DSS_MSB    _u(3)
-#define SPI_SSPCR0_DSS_LSB    _u(0)
-#define SPI_SSPCR0_DSS_ACCESS "RW"
-// =============================================================================
-// Register    : SPI_SSPCR1
-// Description : Control register 1, SSPCR1 on page 3-5
-#define SPI_SSPCR1_OFFSET _u(0x00000004)
-#define SPI_SSPCR1_BITS   _u(0x0000000f)
-#define SPI_SSPCR1_RESET  _u(0x00000000)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCR1_SOD
-// Description : Slave-mode output disable. This bit is relevant only in the
-//               slave mode, MS=1. In multiple-slave systems, it is possible for
-//               an PrimeCell SSP master to broadcast a message to all slaves in
-//               the system while ensuring that only one slave drives data onto
-//               its serial output line. In such systems the RXD lines from
-//               multiple slaves could be tied together. To operate in such
-//               systems, the SOD bit can be set if the PrimeCell SSP slave is
-//               not supposed to drive the SSPTXD line: 0 SSP can drive the
-//               SSPTXD output in slave mode. 1 SSP must not drive the SSPTXD
-//               output in slave mode.
-#define SPI_SSPCR1_SOD_RESET  _u(0x0)
-#define SPI_SSPCR1_SOD_BITS   _u(0x00000008)
-#define SPI_SSPCR1_SOD_MSB    _u(3)
-#define SPI_SSPCR1_SOD_LSB    _u(3)
-#define SPI_SSPCR1_SOD_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCR1_MS
-// Description : Master or slave mode select. This bit can be modified only when
-//               the PrimeCell SSP is disabled, SSE=0: 0 Device configured as
-//               master, default. 1 Device configured as slave.
-#define SPI_SSPCR1_MS_RESET  _u(0x0)
-#define SPI_SSPCR1_MS_BITS   _u(0x00000004)
-#define SPI_SSPCR1_MS_MSB    _u(2)
-#define SPI_SSPCR1_MS_LSB    _u(2)
-#define SPI_SSPCR1_MS_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCR1_SSE
-// Description : Synchronous serial port enable: 0 SSP operation disabled. 1 SSP
-//               operation enabled.
-#define SPI_SSPCR1_SSE_RESET  _u(0x0)
-#define SPI_SSPCR1_SSE_BITS   _u(0x00000002)
-#define SPI_SSPCR1_SSE_MSB    _u(1)
-#define SPI_SSPCR1_SSE_LSB    _u(1)
-#define SPI_SSPCR1_SSE_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCR1_LBM
-// Description : Loop back mode: 0 Normal serial port operation enabled. 1
-//               Output of transmit serial shifter is connected to input of
-//               receive serial shifter internally.
-#define SPI_SSPCR1_LBM_RESET  _u(0x0)
-#define SPI_SSPCR1_LBM_BITS   _u(0x00000001)
-#define SPI_SSPCR1_LBM_MSB    _u(0)
-#define SPI_SSPCR1_LBM_LSB    _u(0)
-#define SPI_SSPCR1_LBM_ACCESS "RW"
-// =============================================================================
-// Register    : SPI_SSPDR
-// Description : Data register, SSPDR on page 3-6
-#define SPI_SSPDR_OFFSET _u(0x00000008)
-#define SPI_SSPDR_BITS   _u(0x0000ffff)
-#define SPI_SSPDR_RESET  "-"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPDR_DATA
-// Description : Transmit/Receive FIFO: Read Receive FIFO. Write Transmit FIFO.
-//               You must right-justify data when the PrimeCell SSP is
-//               programmed for a data size that is less than 16 bits. Unused
-//               bits at the top are ignored by transmit logic. The receive
-//               logic automatically right-justifies.
-#define SPI_SSPDR_DATA_RESET  "-"
-#define SPI_SSPDR_DATA_BITS   _u(0x0000ffff)
-#define SPI_SSPDR_DATA_MSB    _u(15)
-#define SPI_SSPDR_DATA_LSB    _u(0)
-#define SPI_SSPDR_DATA_ACCESS "RWF"
-// =============================================================================
-// Register    : SPI_SSPSR
-// Description : Status register, SSPSR on page 3-7
-#define SPI_SSPSR_OFFSET _u(0x0000000c)
-#define SPI_SSPSR_BITS   _u(0x0000001f)
-#define SPI_SSPSR_RESET  _u(0x00000003)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPSR_BSY
-// Description : PrimeCell SSP busy flag, RO: 0 SSP is idle. 1 SSP is currently
-//               transmitting and/or receiving a frame or the transmit FIFO is
-//               not empty.
-#define SPI_SSPSR_BSY_RESET  _u(0x0)
-#define SPI_SSPSR_BSY_BITS   _u(0x00000010)
-#define SPI_SSPSR_BSY_MSB    _u(4)
-#define SPI_SSPSR_BSY_LSB    _u(4)
-#define SPI_SSPSR_BSY_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPSR_RFF
-// Description : Receive FIFO full, RO: 0 Receive FIFO is not full. 1 Receive
-//               FIFO is full.
-#define SPI_SSPSR_RFF_RESET  _u(0x0)
-#define SPI_SSPSR_RFF_BITS   _u(0x00000008)
-#define SPI_SSPSR_RFF_MSB    _u(3)
-#define SPI_SSPSR_RFF_LSB    _u(3)
-#define SPI_SSPSR_RFF_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPSR_RNE
-// Description : Receive FIFO not empty, RO: 0 Receive FIFO is empty. 1 Receive
-//               FIFO is not empty.
-#define SPI_SSPSR_RNE_RESET  _u(0x0)
-#define SPI_SSPSR_RNE_BITS   _u(0x00000004)
-#define SPI_SSPSR_RNE_MSB    _u(2)
-#define SPI_SSPSR_RNE_LSB    _u(2)
-#define SPI_SSPSR_RNE_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPSR_TNF
-// Description : Transmit FIFO not full, RO: 0 Transmit FIFO is full. 1 Transmit
-//               FIFO is not full.
-#define SPI_SSPSR_TNF_RESET  _u(0x1)
-#define SPI_SSPSR_TNF_BITS   _u(0x00000002)
-#define SPI_SSPSR_TNF_MSB    _u(1)
-#define SPI_SSPSR_TNF_LSB    _u(1)
-#define SPI_SSPSR_TNF_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPSR_TFE
-// Description : Transmit FIFO empty, RO: 0 Transmit FIFO is not empty. 1
-//               Transmit FIFO is empty.
-#define SPI_SSPSR_TFE_RESET  _u(0x1)
-#define SPI_SSPSR_TFE_BITS   _u(0x00000001)
-#define SPI_SSPSR_TFE_MSB    _u(0)
-#define SPI_SSPSR_TFE_LSB    _u(0)
-#define SPI_SSPSR_TFE_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPCPSR
-// Description : Clock prescale register, SSPCPSR on page 3-8
-#define SPI_SSPCPSR_OFFSET _u(0x00000010)
-#define SPI_SSPCPSR_BITS   _u(0x000000ff)
-#define SPI_SSPCPSR_RESET  _u(0x00000000)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPCPSR_CPSDVSR
-// Description : Clock prescale divisor. Must be an even number from 2-254,
-//               depending on the frequency of SSPCLK. The least significant bit
-//               always returns zero on reads.
-#define SPI_SSPCPSR_CPSDVSR_RESET  _u(0x00)
-#define SPI_SSPCPSR_CPSDVSR_BITS   _u(0x000000ff)
-#define SPI_SSPCPSR_CPSDVSR_MSB    _u(7)
-#define SPI_SSPCPSR_CPSDVSR_LSB    _u(0)
-#define SPI_SSPCPSR_CPSDVSR_ACCESS "RW"
-// =============================================================================
-// Register    : SPI_SSPIMSC
-// Description : Interrupt mask set or clear register, SSPIMSC on page 3-9
-#define SPI_SSPIMSC_OFFSET _u(0x00000014)
-#define SPI_SSPIMSC_BITS   _u(0x0000000f)
-#define SPI_SSPIMSC_RESET  _u(0x00000000)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPIMSC_TXIM
-// Description : Transmit FIFO interrupt mask: 0 Transmit FIFO half empty or
-//               less condition interrupt is masked. 1 Transmit FIFO half empty
-//               or less condition interrupt is not masked.
-#define SPI_SSPIMSC_TXIM_RESET  _u(0x0)
-#define SPI_SSPIMSC_TXIM_BITS   _u(0x00000008)
-#define SPI_SSPIMSC_TXIM_MSB    _u(3)
-#define SPI_SSPIMSC_TXIM_LSB    _u(3)
-#define SPI_SSPIMSC_TXIM_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPIMSC_RXIM
-// Description : Receive FIFO interrupt mask: 0 Receive FIFO half full or less
-//               condition interrupt is masked. 1 Receive FIFO half full or less
-//               condition interrupt is not masked.
-#define SPI_SSPIMSC_RXIM_RESET  _u(0x0)
-#define SPI_SSPIMSC_RXIM_BITS   _u(0x00000004)
-#define SPI_SSPIMSC_RXIM_MSB    _u(2)
-#define SPI_SSPIMSC_RXIM_LSB    _u(2)
-#define SPI_SSPIMSC_RXIM_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPIMSC_RTIM
-// Description : Receive timeout interrupt mask: 0 Receive FIFO not empty and no
-//               read prior to timeout period interrupt is masked. 1 Receive
-//               FIFO not empty and no read prior to timeout period interrupt is
-//               not masked.
-#define SPI_SSPIMSC_RTIM_RESET  _u(0x0)
-#define SPI_SSPIMSC_RTIM_BITS   _u(0x00000002)
-#define SPI_SSPIMSC_RTIM_MSB    _u(1)
-#define SPI_SSPIMSC_RTIM_LSB    _u(1)
-#define SPI_SSPIMSC_RTIM_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPIMSC_RORIM
-// Description : Receive overrun interrupt mask: 0 Receive FIFO written to while
-//               full condition interrupt is masked. 1 Receive FIFO written to
-//               while full condition interrupt is not masked.
-#define SPI_SSPIMSC_RORIM_RESET  _u(0x0)
-#define SPI_SSPIMSC_RORIM_BITS   _u(0x00000001)
-#define SPI_SSPIMSC_RORIM_MSB    _u(0)
-#define SPI_SSPIMSC_RORIM_LSB    _u(0)
-#define SPI_SSPIMSC_RORIM_ACCESS "RW"
-// =============================================================================
-// Register    : SPI_SSPRIS
-// Description : Raw interrupt status register, SSPRIS on page 3-10
-#define SPI_SSPRIS_OFFSET _u(0x00000018)
-#define SPI_SSPRIS_BITS   _u(0x0000000f)
-#define SPI_SSPRIS_RESET  _u(0x00000008)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPRIS_TXRIS
-// Description : Gives the raw interrupt state, prior to masking, of the
-//               SSPTXINTR interrupt
-#define SPI_SSPRIS_TXRIS_RESET  _u(0x1)
-#define SPI_SSPRIS_TXRIS_BITS   _u(0x00000008)
-#define SPI_SSPRIS_TXRIS_MSB    _u(3)
-#define SPI_SSPRIS_TXRIS_LSB    _u(3)
-#define SPI_SSPRIS_TXRIS_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPRIS_RXRIS
-// Description : Gives the raw interrupt state, prior to masking, of the
-//               SSPRXINTR interrupt
-#define SPI_SSPRIS_RXRIS_RESET  _u(0x0)
-#define SPI_SSPRIS_RXRIS_BITS   _u(0x00000004)
-#define SPI_SSPRIS_RXRIS_MSB    _u(2)
-#define SPI_SSPRIS_RXRIS_LSB    _u(2)
-#define SPI_SSPRIS_RXRIS_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPRIS_RTRIS
-// Description : Gives the raw interrupt state, prior to masking, of the
-//               SSPRTINTR interrupt
-#define SPI_SSPRIS_RTRIS_RESET  _u(0x0)
-#define SPI_SSPRIS_RTRIS_BITS   _u(0x00000002)
-#define SPI_SSPRIS_RTRIS_MSB    _u(1)
-#define SPI_SSPRIS_RTRIS_LSB    _u(1)
-#define SPI_SSPRIS_RTRIS_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPRIS_RORRIS
-// Description : Gives the raw interrupt state, prior to masking, of the
-//               SSPRORINTR interrupt
-#define SPI_SSPRIS_RORRIS_RESET  _u(0x0)
-#define SPI_SSPRIS_RORRIS_BITS   _u(0x00000001)
-#define SPI_SSPRIS_RORRIS_MSB    _u(0)
-#define SPI_SSPRIS_RORRIS_LSB    _u(0)
-#define SPI_SSPRIS_RORRIS_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPMIS
-// Description : Masked interrupt status register, SSPMIS on page 3-11
-#define SPI_SSPMIS_OFFSET _u(0x0000001c)
-#define SPI_SSPMIS_BITS   _u(0x0000000f)
-#define SPI_SSPMIS_RESET  _u(0x00000000)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPMIS_TXMIS
-// Description : Gives the transmit FIFO masked interrupt state, after masking,
-//               of the SSPTXINTR interrupt
-#define SPI_SSPMIS_TXMIS_RESET  _u(0x0)
-#define SPI_SSPMIS_TXMIS_BITS   _u(0x00000008)
-#define SPI_SSPMIS_TXMIS_MSB    _u(3)
-#define SPI_SSPMIS_TXMIS_LSB    _u(3)
-#define SPI_SSPMIS_TXMIS_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPMIS_RXMIS
-// Description : Gives the receive FIFO masked interrupt state, after masking,
-//               of the SSPRXINTR interrupt
-#define SPI_SSPMIS_RXMIS_RESET  _u(0x0)
-#define SPI_SSPMIS_RXMIS_BITS   _u(0x00000004)
-#define SPI_SSPMIS_RXMIS_MSB    _u(2)
-#define SPI_SSPMIS_RXMIS_LSB    _u(2)
-#define SPI_SSPMIS_RXMIS_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPMIS_RTMIS
-// Description : Gives the receive timeout masked interrupt state, after
-//               masking, of the SSPRTINTR interrupt
-#define SPI_SSPMIS_RTMIS_RESET  _u(0x0)
-#define SPI_SSPMIS_RTMIS_BITS   _u(0x00000002)
-#define SPI_SSPMIS_RTMIS_MSB    _u(1)
-#define SPI_SSPMIS_RTMIS_LSB    _u(1)
-#define SPI_SSPMIS_RTMIS_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPMIS_RORMIS
-// Description : Gives the receive over run masked interrupt status, after
-//               masking, of the SSPRORINTR interrupt
-#define SPI_SSPMIS_RORMIS_RESET  _u(0x0)
-#define SPI_SSPMIS_RORMIS_BITS   _u(0x00000001)
-#define SPI_SSPMIS_RORMIS_MSB    _u(0)
-#define SPI_SSPMIS_RORMIS_LSB    _u(0)
-#define SPI_SSPMIS_RORMIS_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPICR
-// Description : Interrupt clear register, SSPICR on page 3-11
-#define SPI_SSPICR_OFFSET _u(0x00000020)
-#define SPI_SSPICR_BITS   _u(0x00000003)
-#define SPI_SSPICR_RESET  _u(0x00000000)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPICR_RTIC
-// Description : Clears the SSPRTINTR interrupt
-#define SPI_SSPICR_RTIC_RESET  _u(0x0)
-#define SPI_SSPICR_RTIC_BITS   _u(0x00000002)
-#define SPI_SSPICR_RTIC_MSB    _u(1)
-#define SPI_SSPICR_RTIC_LSB    _u(1)
-#define SPI_SSPICR_RTIC_ACCESS "WC"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPICR_RORIC
-// Description : Clears the SSPRORINTR interrupt
-#define SPI_SSPICR_RORIC_RESET  _u(0x0)
-#define SPI_SSPICR_RORIC_BITS   _u(0x00000001)
-#define SPI_SSPICR_RORIC_MSB    _u(0)
-#define SPI_SSPICR_RORIC_LSB    _u(0)
-#define SPI_SSPICR_RORIC_ACCESS "WC"
-// =============================================================================
-// Register    : SPI_SSPDMACR
-// Description : DMA control register, SSPDMACR on page 3-12
-#define SPI_SSPDMACR_OFFSET _u(0x00000024)
-#define SPI_SSPDMACR_BITS   _u(0x00000003)
-#define SPI_SSPDMACR_RESET  _u(0x00000000)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPDMACR_TXDMAE
-// Description : Transmit DMA Enable. If this bit is set to 1, DMA for the
-//               transmit FIFO is enabled.
-#define SPI_SSPDMACR_TXDMAE_RESET  _u(0x0)
-#define SPI_SSPDMACR_TXDMAE_BITS   _u(0x00000002)
-#define SPI_SSPDMACR_TXDMAE_MSB    _u(1)
-#define SPI_SSPDMACR_TXDMAE_LSB    _u(1)
-#define SPI_SSPDMACR_TXDMAE_ACCESS "RW"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPDMACR_RXDMAE
-// Description : Receive DMA Enable. If this bit is set to 1, DMA for the
-//               receive FIFO is enabled.
-#define SPI_SSPDMACR_RXDMAE_RESET  _u(0x0)
-#define SPI_SSPDMACR_RXDMAE_BITS   _u(0x00000001)
-#define SPI_SSPDMACR_RXDMAE_MSB    _u(0)
-#define SPI_SSPDMACR_RXDMAE_LSB    _u(0)
-#define SPI_SSPDMACR_RXDMAE_ACCESS "RW"
-// =============================================================================
-// Register    : SPI_SSPPERIPHID0
-// Description : Peripheral identification registers, SSPPeriphID0-3 on page
-//               3-13
-#define SPI_SSPPERIPHID0_OFFSET _u(0x00000fe0)
-#define SPI_SSPPERIPHID0_BITS   _u(0x000000ff)
-#define SPI_SSPPERIPHID0_RESET  _u(0x00000022)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPERIPHID0_PARTNUMBER0
-// Description : These bits read back as 0x22
-#define SPI_SSPPERIPHID0_PARTNUMBER0_RESET  _u(0x22)
-#define SPI_SSPPERIPHID0_PARTNUMBER0_BITS   _u(0x000000ff)
-#define SPI_SSPPERIPHID0_PARTNUMBER0_MSB    _u(7)
-#define SPI_SSPPERIPHID0_PARTNUMBER0_LSB    _u(0)
-#define SPI_SSPPERIPHID0_PARTNUMBER0_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPPERIPHID1
-// Description : Peripheral identification registers, SSPPeriphID0-3 on page
-//               3-13
-#define SPI_SSPPERIPHID1_OFFSET _u(0x00000fe4)
-#define SPI_SSPPERIPHID1_BITS   _u(0x000000ff)
-#define SPI_SSPPERIPHID1_RESET  _u(0x00000010)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPERIPHID1_DESIGNER0
-// Description : These bits read back as 0x1
-#define SPI_SSPPERIPHID1_DESIGNER0_RESET  _u(0x1)
-#define SPI_SSPPERIPHID1_DESIGNER0_BITS   _u(0x000000f0)
-#define SPI_SSPPERIPHID1_DESIGNER0_MSB    _u(7)
-#define SPI_SSPPERIPHID1_DESIGNER0_LSB    _u(4)
-#define SPI_SSPPERIPHID1_DESIGNER0_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPERIPHID1_PARTNUMBER1
-// Description : These bits read back as 0x0
-#define SPI_SSPPERIPHID1_PARTNUMBER1_RESET  _u(0x0)
-#define SPI_SSPPERIPHID1_PARTNUMBER1_BITS   _u(0x0000000f)
-#define SPI_SSPPERIPHID1_PARTNUMBER1_MSB    _u(3)
-#define SPI_SSPPERIPHID1_PARTNUMBER1_LSB    _u(0)
-#define SPI_SSPPERIPHID1_PARTNUMBER1_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPPERIPHID2
-// Description : Peripheral identification registers, SSPPeriphID0-3 on page
-//               3-13
-#define SPI_SSPPERIPHID2_OFFSET _u(0x00000fe8)
-#define SPI_SSPPERIPHID2_BITS   _u(0x000000ff)
-#define SPI_SSPPERIPHID2_RESET  _u(0x00000034)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPERIPHID2_REVISION
-// Description : These bits return the peripheral revision
-#define SPI_SSPPERIPHID2_REVISION_RESET  _u(0x3)
-#define SPI_SSPPERIPHID2_REVISION_BITS   _u(0x000000f0)
-#define SPI_SSPPERIPHID2_REVISION_MSB    _u(7)
-#define SPI_SSPPERIPHID2_REVISION_LSB    _u(4)
-#define SPI_SSPPERIPHID2_REVISION_ACCESS "RO"
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPERIPHID2_DESIGNER1
-// Description : These bits read back as 0x4
-#define SPI_SSPPERIPHID2_DESIGNER1_RESET  _u(0x4)
-#define SPI_SSPPERIPHID2_DESIGNER1_BITS   _u(0x0000000f)
-#define SPI_SSPPERIPHID2_DESIGNER1_MSB    _u(3)
-#define SPI_SSPPERIPHID2_DESIGNER1_LSB    _u(0)
-#define SPI_SSPPERIPHID2_DESIGNER1_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPPERIPHID3
-// Description : Peripheral identification registers, SSPPeriphID0-3 on page
-//               3-13
-#define SPI_SSPPERIPHID3_OFFSET _u(0x00000fec)
-#define SPI_SSPPERIPHID3_BITS   _u(0x000000ff)
-#define SPI_SSPPERIPHID3_RESET  _u(0x00000000)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPERIPHID3_CONFIGURATION
-// Description : These bits read back as 0x00
-#define SPI_SSPPERIPHID3_CONFIGURATION_RESET  _u(0x00)
-#define SPI_SSPPERIPHID3_CONFIGURATION_BITS   _u(0x000000ff)
-#define SPI_SSPPERIPHID3_CONFIGURATION_MSB    _u(7)
-#define SPI_SSPPERIPHID3_CONFIGURATION_LSB    _u(0)
-#define SPI_SSPPERIPHID3_CONFIGURATION_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPPCELLID0
-// Description : PrimeCell identification registers, SSPPCellID0-3 on page 3-16
-#define SPI_SSPPCELLID0_OFFSET _u(0x00000ff0)
-#define SPI_SSPPCELLID0_BITS   _u(0x000000ff)
-#define SPI_SSPPCELLID0_RESET  _u(0x0000000d)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPCELLID0_SSPPCELLID0
-// Description : These bits read back as 0x0D
-#define SPI_SSPPCELLID0_SSPPCELLID0_RESET  _u(0x0d)
-#define SPI_SSPPCELLID0_SSPPCELLID0_BITS   _u(0x000000ff)
-#define SPI_SSPPCELLID0_SSPPCELLID0_MSB    _u(7)
-#define SPI_SSPPCELLID0_SSPPCELLID0_LSB    _u(0)
-#define SPI_SSPPCELLID0_SSPPCELLID0_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPPCELLID1
-// Description : PrimeCell identification registers, SSPPCellID0-3 on page 3-16
-#define SPI_SSPPCELLID1_OFFSET _u(0x00000ff4)
-#define SPI_SSPPCELLID1_BITS   _u(0x000000ff)
-#define SPI_SSPPCELLID1_RESET  _u(0x000000f0)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPCELLID1_SSPPCELLID1
-// Description : These bits read back as 0xF0
-#define SPI_SSPPCELLID1_SSPPCELLID1_RESET  _u(0xf0)
-#define SPI_SSPPCELLID1_SSPPCELLID1_BITS   _u(0x000000ff)
-#define SPI_SSPPCELLID1_SSPPCELLID1_MSB    _u(7)
-#define SPI_SSPPCELLID1_SSPPCELLID1_LSB    _u(0)
-#define SPI_SSPPCELLID1_SSPPCELLID1_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPPCELLID2
-// Description : PrimeCell identification registers, SSPPCellID0-3 on page 3-16
-#define SPI_SSPPCELLID2_OFFSET _u(0x00000ff8)
-#define SPI_SSPPCELLID2_BITS   _u(0x000000ff)
-#define SPI_SSPPCELLID2_RESET  _u(0x00000005)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPCELLID2_SSPPCELLID2
-// Description : These bits read back as 0x05
-#define SPI_SSPPCELLID2_SSPPCELLID2_RESET  _u(0x05)
-#define SPI_SSPPCELLID2_SSPPCELLID2_BITS   _u(0x000000ff)
-#define SPI_SSPPCELLID2_SSPPCELLID2_MSB    _u(7)
-#define SPI_SSPPCELLID2_SSPPCELLID2_LSB    _u(0)
-#define SPI_SSPPCELLID2_SSPPCELLID2_ACCESS "RO"
-// =============================================================================
-// Register    : SPI_SSPPCELLID3
-// Description : PrimeCell identification registers, SSPPCellID0-3 on page 3-16
-#define SPI_SSPPCELLID3_OFFSET _u(0x00000ffc)
-#define SPI_SSPPCELLID3_BITS   _u(0x000000ff)
-#define SPI_SSPPCELLID3_RESET  _u(0x000000b1)
-// -----------------------------------------------------------------------------
-// Field       : SPI_SSPPCELLID3_SSPPCELLID3
-// Description : These bits read back as 0xB1
-#define SPI_SSPPCELLID3_SSPPCELLID3_RESET  _u(0xb1)
-#define SPI_SSPPCELLID3_SSPPCELLID3_BITS   _u(0x000000ff)
-#define SPI_SSPPCELLID3_SSPPCELLID3_MSB    _u(7)
-#define SPI_SSPPCELLID3_SSPPCELLID3_LSB    _u(0)
-#define SPI_SSPPCELLID3_SSPPCELLID3_ACCESS "RO"
-// =============================================================================
-#endif // _HARDWARE_REGS_SPI_H
-
--- a/lib/pico-sdk/rp2040/hardware/regs/usb_device_dpram.h
+++ b/lib/pico-sdk/rp2040/hardware/regs/usb_device_dpram.h
--- a/lib/pico-sdk/rp2040/hardware/structs/adc.h
+++ b/lib/pico-sdk/rp2040/hardware/structs/adc.h
@@ -1,96 +0,0 @@
-// THIS HEADER FILE IS AUTOMATICALLY GENERATED -- DO NOT EDIT
-
-/**
- * Copyright (c) 2024 Raspberry Pi Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-#ifndef _HARDWARE_STRUCTS_ADC_H
-#define _HARDWARE_STRUCTS_ADC_H
-
-/**
- * \file rp2040/adc.h
- */
-
-#include "hardware/address_mapped.h"
-#include "hardware/regs/adc.h"
-
-// Reference to datasheet: https://datasheets.raspberrypi.com/rp2040/rp2040-datasheet.pdf#tab-registerlist_adc
-//
-// The _REG_ macro is intended to help make the register navigable in your IDE (for example, using the "Go to Definition" feature)
-// _REG_(x) will link to the corresponding register in hardware/regs/adc.h.
-//
-// Bit-field descriptions are of the form:
-// BITMASK [BITRANGE] FIELDNAME (RESETVALUE) DESCRIPTION
-
-typedef struct {
-    _REG_(ADC_CS_OFFSET) // ADC_CS
-    // ADC Control and Status
-    // 0x001f0000 [20:16] RROBIN       (0x00) Round-robin sampling
-    // 0x00007000 [14:12] AINSEL       (0x0) Select analog mux input
-    // 0x00000400 [10]    ERR_STICKY   (0) Some past ADC conversion encountered an error
-    // 0x00000200 [9]     ERR          (0) The most recent ADC conversion encountered an error;...
-    // 0x00000100 [8]     READY        (0) 1 if the ADC is ready to start a new conversion
-    // 0x00000008 [3]     START_MANY   (0) Continuously perform conversions whilst this bit is 1
-    // 0x00000004 [2]     START_ONCE   (0) Start a single conversion
-    // 0x00000002 [1]     TS_EN        (0) Power on temperature sensor
-    // 0x00000001 [0]     EN           (0) Power on ADC and enable its clock
-    io_rw_32 cs;
- 
-    _REG_(ADC_RESULT_OFFSET) // ADC_RESULT
-    // Result of most recent ADC conversion
-    // 0x00000fff [11:0]  RESULT       (0x000) 
-    io_ro_32 result;
- 
-    _REG_(ADC_FCS_OFFSET) // ADC_FCS
-    // FIFO control and status
-    // 0x0f000000 [27:24] THRESH       (0x0) DREQ/IRQ asserted when level >= threshold
-    // 0x000f0000 [19:16] LEVEL        (0x0) The number of conversion results currently waiting in the FIFO
-    // 0x00000800 [11]    OVER         (0) 1 if the FIFO has been overflowed
-    // 0x00000400 [10]    UNDER        (0) 1 if the FIFO has been underflowed
-    // 0x00000200 [9]     FULL         (0) 
-    // 0x00000100 [8]     EMPTY        (0) 
-    // 0x00000008 [3]     DREQ_EN      (0) If 1: assert DMA requests when FIFO contains data
-    // 0x00000004 [2]     ERR          (0) If 1: conversion error bit appears in the FIFO alongside...
-    // 0x00000002 [1]     SHIFT        (0) If 1: FIFO results are right-shifted to be one byte in size
-    // 0x00000001 [0]     EN           (0) If 1: write result to the FIFO after each conversion
-    io_rw_32 fcs;
- 
-    _REG_(ADC_FIFO_OFFSET) // ADC_FIFO
-    // Conversion result FIFO
-    // 0x00008000 [15]    ERR          (-) 1 if this particular sample experienced a conversion error
-    // 0x00000fff [11:0]  VAL          (-) 
-    io_ro_32 fifo;
- 
-    _REG_(ADC_DIV_OFFSET) // ADC_DIV
-    // Clock divider
-    // 0x00ffff00 [23:8]  INT          (0x0000) Integer part of clock divisor
-    // 0x000000ff [7:0]   FRAC         (0x00) Fractional part of clock divisor
-    io_rw_32 div;
- 
-    _REG_(ADC_INTR_OFFSET) // ADC_INTR
-    // Raw Interrupts
-    // 0x00000001 [0]     FIFO         (0) Triggered when the sample FIFO reaches a certain level
-    io_ro_32 intr;
- 
-    _REG_(ADC_INTE_OFFSET) // ADC_INTE
-    // Interrupt Enable
-    // 0x00000001 [0]     FIFO         (0) Triggered when the sample FIFO reaches a certain level
-    io_rw_32 inte;
- 
-    _REG_(ADC_INTF_OFFSET) // ADC_INTF
-    // Interrupt Force
-    // 0x00000001 [0]     FIFO         (0) Triggered when the sample FIFO reaches a certain level
-    io_rw_32 intf;
- 
-    _REG_(ADC_INTS_OFFSET) // ADC_INTS
-    // Interrupt status after masking & forcing
-    // 0x00000001 [0]     FIFO         (0) Triggered when the sample FIFO reaches a certain level
-    io_ro_32 ints;
-} adc_hw_t;
-
-#define adc_hw ((adc_hw_t *)ADC_BASE)
-static_assert(sizeof (adc_hw_t) == 0x0024, "");
-
-#endif // _HARDWARE_STRUCTS_ADC_H
-
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