mcu: Disable waiting in send_wait_ack() if in debugging mode

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

.github/workflows/build-test.yaml

@@ -4,7 +4,7 @@ on: [push, pull_request]
 
 jobs:
   build:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v3
 
@@ -21,7 +21,7 @@ jobs:
       run: ./scripts/ci-build.sh 2>&1
 
     - name: Upload micro-controller data dictionaries
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         name: data-dict
         path: ci_build/dict

README.md

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

config/example-generic-caretesian.cfg

@@ -0,0 +1,138 @@
+# This file is an example config file for cartesian style printers.
+# One may copy and edit this file to configure a new printer with
+# a generic cartesian kinematics.
+
+# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
+# FIRST. Incorrectly configured parameters may cause damage.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[carriage x]
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+endstop_pin: ^PE5
+
+[carriage y]
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+endstop_pin: ^PJ1
+
+[extra_carriage y1]
+primary_carriage: y
+endstop_pin: ^PB6
+
+[carriage z]
+position_endstop: 0.5
+position_max: 100
+endstop_pin: ^PD3
+
+[dual_carriage u]
+primary_carriage: x
+position_endstop: 300
+position_max: 300
+homing_speed: 50
+endstop_pin: ^PE4
+
+[stepper my_stepper_x]
+carriages: x+y
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+
+[stepper my_stepper_u]
+carriages: u-y1
+step_pin: PH1
+dir_pin: PH0
+enable_pin: !PA1
+microsteps: 16
+rotation_distance: 40
+
+[stepper my_stepper_y0]
+carriages: y
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+
+[stepper my_stepper_y1]
+carriages: y1
+step_pin: PE3
+dir_pin: !PH6
+enable_pin: !PG5
+microsteps: 16
+rotation_distance: 40
+
+[stepper my_stepper_z0]
+carriages: z
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+
+[stepper my_stepper_z1]
+carriages: z
+step_pin: PG1
+dir_pin: PG0
+enable_pin: !PH3
+microsteps: 16
+rotation_distance: 8
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[extruder1]
+step_pin: PC1
+dir_pin: PC3
+enable_pin: !PC7
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK7
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: generic_cartesian
+max_velocity: 500
+max_accel: 3000
+max_z_velocity: 20
+max_z_accel: 100

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

@@ -39,7 +39,7 @@ position_max: 270
 # Motor4
 # The M8P only has 4 heater outputs which leaves an extra stepper
 # This can be used for a second Z stepper, dual_carriage, extruder co-stepper,
-# or other accesory such as an MMU
+# or other accessory such as an MMU
 #[stepper_]
 #step_pin: PD3
 #dir_pin: PD2

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

@@ -40,7 +40,7 @@ position_max: 270
 # Motor4
 # The M8P only has 4 heater outputs which leaves an extra stepper
 # This can be used for a second Z stepper, dual_carriage, extruder co-stepper,
-# or other accesory such as an MMU
+# or other accessory such as an MMU
 #[stepper_]
 #step_pin: PD3
 #dir_pin: PD2

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

@@ -43,7 +43,7 @@ position_max: 200
 # Motor-4
 # The Octopus only has 4 heater outputs which leaves an extra stepper
 # This can be used for a second Z stepper, dual_carriage, extruder co-stepper,
-# or other accesory such as an MMU
+# or other accessory such as an MMU
 #[stepper_]
 #step_pin: PB8
 #dir_pin: PB9

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

@@ -52,7 +52,7 @@ position_max: 200
 # Driver3
 # The Octopus only has 4 heater outputs which leaves an extra stepper
 # This can be used for a second Z stepper, dual_carriage, extruder co-stepper,
-# or other accesory such as an MMU
+# or other accessory such as an MMU
 #[stepper_]
 #step_pin: PG4
 #dir_pin: PC1

config/generic-bigtreetech-skr-2.cfg

@@ -153,3 +153,48 @@ aliases:
 #uart_pin: PD12
 #run_current: 0.600
 #diag_pin:
+
+########################################
+# TMC2130 configuration
+########################################
+
+#[tmc2130 stepper_x]
+#cs_pin: PE0
+#spi_software_miso_pin: PA14
+#spi_software_mosi_pin: PE14
+#spi_software_sclk_pin: PE15
+#run_current: 0.800
+#diag1_pin: PC1
+
+#[tmc2130 stepper_y]
+#cs_pin: PD3
+#spi_software_miso_pin: PA14
+#spi_software_mosi_pin: PE14
+#spi_software_sclk_pin: PE15
+#run_current: 0.800
+#diag1_pin: PC3
+
+#[tmc2130 stepper_z]
+#cs_pin: PD0
+#spi_software_miso_pin: PA14
+#spi_software_mosi_pin: PE14
+#spi_software_sclk_pin: PE15
+#run_current: 0.800
+#diag1_pin: PC0
+
+#[tmc2130 extruder]
+#cs_pin: PC6
+#spi_software_miso_pin: PA14
+#spi_software_mosi_pin: PE14
+#spi_software_sclk_pin: PE15
+#run_current: 0.600
+#diag1_pin: PC2
+
+#[tmc2130 extruder1]
+#cs_pin: PD12
+#spi_software_miso_pin: PA14
+#spi_software_mosi_pin: PE14
+#spi_software_sclk_pin: PE15
+#run_current: 0.600
+#stealthchop_threshold: 999999
+#diag1_pin: PA0

config/generic-bigtreetech-skr-mini-mz.cfg

@@ -122,6 +122,12 @@ max_z_accel: 100
 [static_digital_output usb_pullup_enable]
 pins: !PA14
 
+#[neopixel my_neopixel]
+#pin: PA8
+
+[output_pin red_led]
+pin: PA13
+
 [board_pins]
 aliases:
     # EXP1 header

config/generic-creality-v4.2.7.cfg

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

config/generic-mellow-fly-e3-v2.cfg

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

config/generic-mightyboard.cfg

@@ -89,32 +89,32 @@ max_z_velocity: 5
 max_z_accel: 100
 
 [mcp4018 x_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PF3
+i2c_software_sda_pin: PF3
 wiper: 0.50
 scale: 0.773
 
 [mcp4018 y_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PF7
+i2c_software_sda_pin: PF7
 wiper: 0.50
 scale: 0.773
 
 [mcp4018 z_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PK3
+i2c_software_sda_pin: PK3
 wiper: 0.50
 scale: 0.773
 
 [mcp4018 a_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PA5
+i2c_software_sda_pin: PA5
 wiper: 0.50
 scale: 0.773
 
 [mcp4018 b_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PJ6
+i2c_software_sda_pin: PJ6
 wiper: 0.50
 scale: 0.773
 

config/kit-voron2-250mm.cfg

@@ -19,7 +19,7 @@
 # FSR switch (z endstop) location       [homing_override] section
 # FSR switch (z endstop) offset for Z0  [stepper_z] section
 # Probe points                          [quad_gantry_level] section
-# Min & Max gantry corner postions      [quad_gantry_level] section
+# Min & Max gantry corner positions     [quad_gantry_level] section
 # PID tune                              [extruder] and [heater_bed] sections
 # Fine tune E steps                     [extruder] section
 

config/kit-zav3d-2019.cfg

@@ -20,7 +20,7 @@
 # FSR switch (z endstop) location       [homing_override] section
 # FSR switch (z endstop) offset for Z0  [stepper_z] section
 # Probe points                          [quad_gantry_level] section
-# Min & Max gantry corner postions      [quad_gantry_level] section
+# Min & Max gantry corner positions     [quad_gantry_level] section
 # PID tune                              [extruder] and [heater_bed] sections
 # Fine tune E steps                     [extruder] section
 

config/printer-anycubic-kossel-2016.cfg

@@ -17,7 +17,7 @@ endstop_pin: ^PE4
 homing_speed: 60
 # The next parameter needs to be adjusted for
 # your printer. You may want to start with 280
-# and meassure the distance from nozzle to bed.
+# and measure the distance from nozzle to bed.
 # This value then needs to be added.
 position_endstop: 273.0
 arm_length: 229.4

config/printer-creality-cr10-v3-2020.cfg

@@ -43,7 +43,7 @@ position_max: 400
 #Uncomment if you have a BL-Touch:
 #position_min: -4
 #endstop_pin: probe:z_virtual_endstop
-#and comment the follwing lines:
+#and comment the following lines:
 position_endstop: 0.0
 endstop_pin: ^PD3 #ar18
 

config/printer-creality-cr6se-2020.cfg

@@ -1,4 +1,5 @@
-# This file contains pin mappings for the stock 2020 Creality CR6-SE.
+# This file contains pin mappings for the stock 2020 Creality CR6-SE
+# with the early 4.5.2 board only.
 # To use this config, during "make menuconfig" select the STM32F103
 # with a "28KiB bootloader" and serial (on USART1 PA10/PA9)
 # communication.

config/printer-creality-cr6se-2021.cfg

@@ -1,4 +1,6 @@
-# This file contains pin mappings for the Creality CR6-SE with Rev. 4.5.3 Motherboard (Late 2020/2021) as the heater pins changed.
+# This file contains pin mappings for the Creality CR6-SE
+# with Rev. 4.5.3 Motherboard (Late 2020/2021) as the heater pins changed.
+# This config also works for the CR-ERA_V1.1.0.3
 # To use this config, during "make menuconfig" select the STM32F103
 # with a "28KiB bootloader" and serial (on USART1 PA10/PA9)
 # communication.

config/printer-creality-ender5-s1-2023.cfg

@@ -81,7 +81,7 @@ pin: PA0
 kick_start_time: 0.5
 
 # Hotend fan
-# set fan runnig when extruder temperature is over 60
+# set fan running when extruder temperature is over 60
 [heater_fan heatbreak_fan]
 pin: PC0
 heater:extruder

config/printer-flashforge-creator-pro-2018.cfg

@@ -127,32 +127,32 @@ max_z_velocity: 5
 max_z_accel: 100
 
 [mcp4018 x_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PF3
+i2c_software_sda_pin: PF3
 wiper: 118
 scale: 127
 
 [mcp4018 y_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PF7
+i2c_software_sda_pin: PF7
 wiper: 118
 scale: 127
 
 [mcp4018 z_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PK3
+i2c_software_sda_pin: PK3
 wiper: 40
 scale: 127
 
 [mcp4018 a_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PA5
+i2c_software_sda_pin: PA5
 wiper: 118
 scale: 127
 
 [mcp4018 b_axis_pot]
-scl_pin: PJ5
+i2c_software_scl_pin: PJ5
-sda_pin: PJ6
+i2c_software_sda_pin: PJ6
 wiper: 118
 scale: 127
 

config/printer-geeetech-A10T-A20T-2021.cfg

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

config/printer-lulzbot-mini1-2016.cfg

@@ -195,7 +195,7 @@ samples_tolerance: 0.200
 samples_tolerance_retries: 2
 
 [bed_tilt]
-# Enable bed tilt measurments using the probe we defined above
+# Enable bed tilt measurements using the probe we defined above
 # Probe points using X0 Y0 offsets @ 0.01mm/step
 points: -2, -6
         156, -6

config/printer-lulzbot-taz6-dual-v3-2017.cfg

@@ -183,7 +183,7 @@ samples: 2
 samples_tolerance: 0.100
 
 [bed_tilt]
-#Enable bed tilt measurments using the probe we defined above
+#Enable bed tilt measurements using the probe we defined above
 #Probe points using X0 Y0 offsets @ 0.01mm/step
 points: -3, -6
         282, -6

config/printer-robo3d-r2-2017.cfg

@@ -37,7 +37,7 @@ microsteps: 16
 rotation_distance: 4
 # Required if not using probe for the virtual endstop
 # endstop_pin: ^PD3
-# position_endstop: 250 # Will need ajustment
+# position_endstop: 250 # Will need adjustment
 endstop_pin: probe:z_virtual_endstop
 homing_speed: 10.0
 position_max: 250

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

@@ -1,4 +1,4 @@
-# This file constains the pin mappings for the SeeMeCNC Rostock Max
+# This file contains the pin mappings for the SeeMeCNC Rostock Max
 # (version 2) delta printer from 2015. To use this config, the
 # firmware should be compiled for the AVR atmega2560.
 

config/sample-corexyuv.cfg

@@ -0,0 +1,177 @@
+# This file contains a configuration snippet for a CoreXYUV
+# printer with an independent dual extruder moving over X and Y axes.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[carriage x]
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+endstop_pin: ^PE5
+
+[carriage y]
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+endstop_pin: ^PJ1
+
+[dual_carriage u]
+primary_carriage: x
+safe_distance: 70
+position_endstop: 300
+position_max: 300
+homing_speed: 50
+endstop_pin: ^PE4
+
+[dual_carriage v]
+primary_carriage: y
+safe_distance: 50
+position_endstop: 200
+position_max: 200
+homing_speed: 50
+endstop_pin: ^PD4
+
+[stepper a]
+carriages: x+y
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+
+[stepper b]
+carriages: u-v
+step_pin: PH1
+dir_pin: PH0
+enable_pin: !PA1
+microsteps: 16
+rotation_distance: 40
+
+[stepper c]
+carriages: x-y
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+
+[stepper d]
+carriages: u+v
+step_pin: PE3
+dir_pin: !PH6
+enable_pin: !PG5
+microsteps: 16
+rotation_distance: 40
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[gcode_macro PARK_extruder]
+gcode:
+    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=y
+    G90
+    G1 X0 Y0
+
+[gcode_macro T0]
+gcode:
+    PARK_{printer.toolhead.extruder}
+    ACTIVATE_EXTRUDER EXTRUDER=extruder
+    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=y
+
+[extruder1]
+step_pin: PC1
+dir_pin: PC3
+enable_pin: !PC7
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK7
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[gcode_macro PARK_extruder1]
+gcode:
+    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=v
+    G90
+    G1 X300 Y200
+
+[gcode_macro T1]
+gcode:
+    PARK_{printer.toolhead.extruder}
+    ACTIVATE_EXTRUDER EXTRUDER=extruder1
+    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=v
+
+# A helper script to activate copy mode
+[gcode_macro ACTIVATE_COPY_MODE]
+gcode:
+    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
+    G1 X0 Y0
+    ACTIVATE_EXTRUDER EXTRUDER=extruder
+    SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
+    G1 X150 Y100
+    SET_DUAL_CARRIAGE CARRIAGE=u MODE=COPY
+    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
+    SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
+
+# A helper script to activate mirror mode
+[gcode_macro ACTIVATE_MIRROR_MODE]
+gcode:
+    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
+    G1 X0 Y0
+    ACTIVATE_EXTRUDER EXTRUDER=extruder
+    SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
+    G1 X300 Y100
+    SET_DUAL_CARRIAGE CARRIAGE=u MODE=MIRROR
+    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
+    SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
+
+[printer]
+kinematics: generic_cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+## An optional input shaper support
+#[input_shaper]
+## The section is intentionally empty
+#
+#[delayed_gcode init_shaper]
+#initial_duration: 0.1
+#gcode:
+#    SET_DUAL_CARRIAGE CARRIAGE=u
+#    SET_DUAL_CARRIAGE CARRIAGE=v
+#    SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<dual_carriage_y_shaper> SHAPER_FREQ_Y=<dual_carriage_y_freq>
+#    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
+#    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
+#    SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<primary_carriage_y_shaper> SHAPER_FREQ_Y=<primary_carriage_y_freq>

config/sample-duet3-1lc.cfg

@@ -6,7 +6,7 @@
 # Communication interface of "CAN bus (on PA25/PA24)"
 
 # To flash the board use a debugger, or use a raspberry pi and follow
-# the instructions at docs/Bootloaders.md fot the SAMC21. You may
+# the instructions at docs/Bootloaders.md for the SAMC21. You may
 # supply power to the 1LC by connecting the 3.3v rail on the Pi to the
 # 5v input of the SWD header on the 1LC.
 
@@ -77,5 +77,14 @@ heater_temp: 50.0
 pin: toolboard:PA9
 z_offset: 20
 
+[samd_sercom sercom_i2c]
+sercom: sercom1
+tx_pin: toolboard:PA16
+clk_pin: toolboard:PA17
+
+[lis3dh]
+i2c_mcu: toolboard
+i2c_bus: sercom1
+
 [mcu toolboard]
 canbus_uuid: 4b194673554e

config/sample-mmu2s-diy.cfg

@@ -96,7 +96,7 @@ switch_pin: !P1.28 # P1.28 for X-max
 # variable_pause_z               : z lift when MMU2S need intervention and the printer is paused
 # variable_min_temp_extruder     : minimal required heater temperature to load/unload filament from the extruder gear to the nozzle
 # variable_extruder_eject_temp   : heater temperature used to eject filament during home if the filament is already loaded
-# variable_enable_5in1           : pass from MMU2S standart (0) to MMU2S-5in1 mode with splitter
+# variable_enable_5in1           : pass from MMU2S standard (0) to MMU2S-5in1 mode with splitter
 #
 ################################
 [gcode_macro VAR_MMU2S]
@@ -394,7 +394,7 @@ gcode:
     {% endif %}
     {% endif %}
 
-# Retry unload, try correct misalignement of bondtech gear
+# Retry unload, try correct misalignment of bondtech gear
 [gcode_macro RETRY_UNLOAD_FILAMENT_IN_EXTRUDER]
 gcode:
     {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
@@ -444,7 +444,7 @@ gcode:
     {% endif %}
     {% endif %}
 
-# Ramming process for standart PLA, code extracted from slic3r gcode
+# Ramming process for standard PLA, code extracted from slic3r gcode
 [gcode_macro RAMMING_SLICER]
 gcode:
     G91

docs/API_Server.md

@@ -364,35 +364,42 @@ and might later produce asynchronous messages such as:
 The "header" field in the initial query response is used to describe
 the fields found in later "data" responses.
 
-### hx71x/dump_hx71x
+### load_cell/dump_force
 
-This endpoint is used to subscribe to raw HX711 and HX717 ADC data.
+This endpoint is used to subscribe to force data produced by a load_cell.
-Obtaining these low-level ADC updates may be useful for diagnostic
+Using this endpoint may increase Klipper's system load.
-and debugging purposes. Using this endpoint may increase Klipper's
-system load.
 
 A request may look like:
-`{"id": 123, "method":"hx71x/dump_hx71x",
+`{"id": 123, "method":"load_cell/dump_force",
 "params": {"sensor": "load_cell", "response_template": {}}}`
 and might return:
-`{"id": 123,"result":{"header":["time","counts"]}}`
+`{"id": 123,"result":{"header":["time", "force (g)", "counts", "tare_counts"]}}`
 and might later produce asynchronous messages such as:
-`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`
+`{"params":{"data":[[3292.432935, 40.65, 562534, -234467]]}}`
 
-### ads1220/dump_ads1220
+The "header" field in the initial query response is used to describe
+the fields found in later "data" responses.
 
-This endpoint is used to subscribe to raw ADS1220 ADC data.
+### load_cell_probe/dump_taps
-Obtaining these low-level ADC updates may be useful for diagnostic
+
-and debugging purposes. Using this endpoint may increase Klipper's
+This endpoint is used to subscribe to details of probing "tap" events.
-system load.
+Using this endpoint may increase Klipper's system load.
 
 A request may look like:
-`{"id": 123, "method":"ads1220/dump_ads1220",
+`{"id": 123, "method":"load_cell/dump_force",
 "params": {"sensor": "load_cell", "response_template": {}}}`
 and might return:
-`{"id": 123,"result":{"header":["time","counts"]}}`
+`{"id": 123,"result":{"header":["probe_tap_event"]}}`
 and might later produce asynchronous messages such as:
-`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`
+```
+{"params":{"tap":'{
+   "time": [118032.28039, 118032.2834, ...],
+   "force": [-459.4213119680034, -458.1640702543264, ...],
+}}}
+```
+
+This data can be used to render:
+* The time/force graph
 
 ### pause_resume/cancel
 

docs/Axis_Twist_Compensation.md

@@ -1,6 +1,6 @@
 # Axis Twist Compensation
 
-This document describes the [axis_twist_compensation] module.
+This document describes the `[axis_twist_compensation]` module.
 
 Some printers may have a small twist in their X rail which can skew the results
 of a probe attached to the X carriage.
@@ -24,27 +24,50 @@ try to probe the bed without attaching the probe if you use it.
 > **Tip:** Make sure the [probe X and Y offsets](Config_Reference.md#probe) are
 > correctly set as they greatly influence calibration.
 
-1. After setting up the [axis_twist_compensation] module,
+### Basic Usage: X-Axis Calibration
-perform `AXIS_TWIST_COMPENSATION_CALIBRATE`
+1. After setting up the `[axis_twist_compensation]` module, run:
-* The calibration wizard will prompt you to measure the probe Z offset at a few
+```
-points along the bed
+AXIS_TWIST_COMPENSATION_CALIBRATE
-* The calibration defaults to 3 points but you can use the option
+```
-`SAMPLE_COUNT=` to use a different number.
+This command will calibrate the X-axis by default.
-2. [Adjust your Z offset](Probe_Calibrate.md#calibrating-probe-z-offset)
+  - The calibration wizard will prompt you to measure the probe Z offset at
-3. Perform automatic/probe-based bed tramming operations, such as
+    several points along the bed.
-[Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust),
+  - By default, the calibration uses 3 points, but you can specify a different
-[Z Tilt Adjust](G-Codes.md#z_tilt_adjust) etc
+    number with the option:
-4. Home all axis, then perform a [Bed Mesh](Bed_Mesh.md) if required
+``
-5. Perform a test print, followed by any
+SAMPLE_COUNT=<value>
-[fine-tuning](Axis_Twist_Compensation.md#fine-tuning) as desired
+``
+
+2. **Adjust Your Z Offset:**
+After completing the calibration, be sure to
+[adjust your Z offset](Probe_Calibrate.md#calibrating-probe-z-offset).
+
+3. **Perform Bed Leveling Operations:**
+Use probe-based operations as needed, such as:
+  - [Screws Tilt Adjust](G-Codes.md#screws_tilt_adjust)
+  - [Z Tilt Adjust](G-Codes.md#z_tilt_adjust)
+
+4. **Finalize the Setup:**
+  - Home all axes, and perform a [Bed Mesh](Bed_Mesh.md) if necessary.
+  - Run a test print, followed by any
+    [fine-tuning](Axis_Twist_Compensation.md#fine-tuning)
+    if needed.
+
+### For Y-Axis Calibration
+The calibration process for the Y-axis is similar to the X-axis. To calibrate
+the Y-axis, use:
+```
+AXIS_TWIST_COMPENSATION_CALIBRATE AXIS=Y
+```
+This will guide you through the same measuring process as for the X-axis.
 
 > **Tip:** Bed temperature and nozzle temperature and size do not seem to have
 > an influence to the calibration process.
 
 ## [axis_twist_compensation] setup and commands
 
-Configuration options for [axis_twist_compensation] can be found in the
+Configuration options for `[axis_twist_compensation]` can be found in the
 [Configuration Reference](Config_Reference.md#axis_twist_compensation).
 
-Commands for [axis_twist_compensation] can be found in the
+Commands for `[axis_twist_compensation]` can be found in the
 [G-Codes Reference](G-Codes.md#axis_twist_compensation)

docs/Bed_Mesh.md

@@ -267,9 +267,9 @@ by heat or interference.  This can make calculating the probe's z-offset
 challenging, particularly at different bed temperatures.  As such, some
 printers use an endstop for homing the Z axis and a probe for calibrating the
 mesh. In this configuration it is possible offset the mesh so that the (X, Y)
-`reference position` applies zero adjustment.  The `reference postion` should
+`reference position` applies zero adjustment.  The `reference position` should
 be the location on the bed where a
-[Z_ENDSTOP_CALIBRATE](./Manual_Level#calibrating-a-z-endstop)
+[Z_ENDSTOP_CALIBRATE](./Manual_Level.md#calibrating-a-z-endstop)
 paper test is performed.  The bed_mesh module provides the
 `zero_reference_position` option for specifying this coordinate:
 
@@ -292,33 +292,6 @@ probe_count: 5, 3
   z-offset.  Note that this coordinate must NOT be in a location specified as
   a `faulty_region` if a probe is necessary.
 
-#### The deprecated relative_reference_index
-
-Existing configurations using the `relative_reference_index` option must be
-updated to use the `zero_reference_position`.  The response to the
-[BED_MESH_OUTPUT PGP=1](#output) gcode command will include the (X, Y)
-coordinate associated with the index;  this position may be used as the value for
-the `zero_reference_position`. The output will look similar to the following:
-
-```
-// bed_mesh: generated points
-// Index | Tool Adjusted | Probe
-// 0 | (1.0, 1.0) | (24.0, 6.0)
-// 1 | (36.7, 1.0) | (59.7, 6.0)
-// 2 | (72.3, 1.0) | (95.3, 6.0)
-// 3 | (108.0, 1.0) | (131.0, 6.0)
-... (additional generated points)
-// bed_mesh: relative_reference_index 24 is (131.5, 108.0)
-```
-
-_Note:  The above output is also printed in `klippy.log` during initialization._
-
-Using the example above we see that the `relative_reference_index` is
-printed along with its coordinate.  Thus the `zero_reference_position`
-is `131.5, 108`.
-
-
-
 ### Faulty Regions
 
 It is possible for some areas of a bed to report inaccurate results when
@@ -497,7 +470,8 @@ _Default Adaptive Margin: 0_
 
 Initiates the probing procedure for Bed Mesh Calibration.
 
-The mesh will be saved into a profile specified by the `PROFILE` parameter,
+The mesh will be immediately ready to use when the command completes and saved
+into a profile specified by the `PROFILE` parameter,
 or `default` if unspecified. The `METHOD` parameter takes one of the following
 values:
 
@@ -561,6 +535,10 @@ load the `default` profile it is recommended to add
 `BED_MESH_PROFILE LOAD=default` to either their `START_PRINT` macro or their
 slicer's "Start G-Code" configuration, whichever is applicable.
 
+Note that this is not required if a new mesh is generated with
+`BED_MESH_CALIBRATE` in the `START_PRINT` macro or the slicer's "Start G-Code"
+and may produce unexpected results, especially with adaptive meshing.
+
 Alternatively the old behavior of loading a profile at startup can be
 restored with a `[delayed_gcode]`:
 

docs/Benchmarks.md

@@ -250,23 +250,22 @@ results were obtained by running an STM32F407 binary on an STM32F446
 
 ### STM32H7 step rate benchmark
 
-The following configuration sequence is used on a STM32H743VIT6:
+The following configuration sequence is used on STM32H723:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=PD4 dir_pin=PD3 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=0 step_pin=PA13 dir_pin=PB5 invert_step=-1 step_pulse_ticks=52
-config_stepper oid=1 step_pin=PA15 dir_pin=PA8 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=-1 step_pulse_ticks=52
-config_stepper oid=2 step_pin=PE2 dir_pin=PE3 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=-1 step_pulse_ticks=52
 finalize_config crc=0
 ```
 
-The test was last run on commit `00191b5c` with gcc version
+The test was last run on commit `554ae78d` with gcc version
-`arm-none-eabi-gcc (15:8-2019-q3-1+b1) 8.3.1 20190703 (release)
+`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0`.
-[gcc-8-branch revision 273027]`.
 
-| stm32h7              | ticks |
+| stm32h723            | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 44    |
+| 1 stepper            | 70    |
-| 3 stepper            | 198   |
+| 3 stepper            | 181   |
 
 ### STM32G0B1 step rate benchmark
 
@@ -287,6 +286,25 @@ The test was last run on commit `247cd753` with gcc version
 | 1 stepper        | 58    |
 | 3 stepper        | 243   |
 
+### STM32G4 step rate benchmark
+
+The following configuration sequence is used on the STM32G431:
+```
+allocate_oids count=3
+config_stepper oid=0 step_pin=PA0 dir_pin=PB5 invert_step=-1 step_pulse_ticks=17
+config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=-1 step_pulse_ticks=17
+config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=-1 step_pulse_ticks=17
+finalize_config crc=0
+```
+
+The test was last run on commit `cfa48fe3` with gcc version
+`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0`.
+
+| stm32g431        | ticks |
+| ---------------- | ----- |
+| 1 stepper        | 47    |
+| 3 stepper        | 208   |
+
 ### LPC176x step rate benchmark
 
 The following configuration sequence is used on the LPC176x:
@@ -354,6 +372,26 @@ micro-controller.
 | 1 stepper (200Mhz)   | 39    |
 | 3 stepper (200Mhz)   | 181   |
 
+### SAME70 step rate benchmark
+
+The following configuration sequence is used on the SAME70:
+```
+allocate_oids count=3
+config_stepper oid=0 step_pin=PC18 dir_pin=PB5 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PC16 dir_pin=PD10 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PC28 dir_pin=PA4 invert_step=-1 step_pulse_ticks=0
+finalize_config crc=0
+```
+
+The test was last run on commit `34e9ea55` with gcc version
+`arm-none-eabi-gcc (NixOS 10.3-2021.10) 10.3.1` on a SAME70Q20B
+micro-controller.
+
+| same70               | ticks |
+| -------------------- | ----- |
+| 1 stepper            | 45    |
+| 3 stepper            | 190   |
+
 ### AR100 step rate benchmark ###
 
 The following configuration sequence is used on AR100 CPU (Allwinner A64):
@@ -366,7 +404,7 @@ finalize_config crc=0
 
 ```
 
-The test was last run on commit `08d037c6` with gcc version
+The test was last run on commit `b7978d37` with gcc version
 `or1k-linux-musl-gcc (GCC) 9.2.0` on an Allwinner A64-H
 micro-controller.
 
@@ -375,9 +413,9 @@ micro-controller.
 | 1 stepper            | 85    |
 | 3 stepper            | 359   |
 
-### RP2040 step rate benchmark
+### RPxxxx step rate benchmark
 
-The following configuration sequence is used on the RP2040:
+The following configuration sequence is used on the RP2040 and RP2350:
 
 ```
 allocate_oids count=3
@@ -387,14 +425,25 @@ config_stepper oid=2 step_pin=gpio27 dir_pin=gpio5 invert_step=-1 step_pulse_tic
 finalize_config crc=0
 ```
 
-The test was last run on commit `59314d99` with gcc version
+The test was last run on commit `14c105b8` with gcc version
-`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a Raspberry Pi
+`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0` on Raspberry Pi
-Pico board.
+Pico and Pico 2 boards.
 
-| rp2040               | ticks |
+| rp2040 (*)           | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 5     |
+| 1 stepper            | 3     |
-| 3 stepper            | 22    |
+| 3 stepper            | 14    |
+
+| 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 200Mhz internal ARM
+processing rate. It is expected that 3 scheduling ticks corresponds to
+~42 ARM core cycles and 14 scheduling ticks corresponds to ~225 ARM
+core cycles.
 
 ### Linux MCU step rate benchmark
 
@@ -433,18 +482,23 @@ When the test completes, determine the difference between the clocks
 reported in the two "uptime" response messages. The total number of
 commands per second is then `100000 * mcu_frequency / clock_diff`.
 
-Note that this test may saturate the USB/CPU capacity of a Raspberry
+The USB tests may exceed the CPU capacity of a Raspberry Pi. If
-Pi. If running on a Raspberry Pi, Beaglebone, or similar host computer
+running on a Raspberry Pi, Beaglebone, or similar host computer then
-then increase the delay (eg, `DELAY {clock + 20*freq} get_uptime`).
+increase the delay (eg, `DELAY {clock + 20*freq} get_uptime`). Where
-Where applicable, the benchmarks below are with console.py running on
+applicable, the benchmarks below are with console.py running on a
-a desktop class machine with the device connected via a high-speed
+desktop class machine with the device connected via a super-speed hub.
-hub.
+
+The CAN bus tests may saturate the USB host controller of a Raspberry
+Pi (when testing via a standard gs_usb USB to CAN bus adapter). Where
+applicable, the CAN bus benchmarks below are with console.py running
+on a desktop class machine with a USB to CAN bus adapter connected via
+a super-speed USB hub.
 
 | MCU                 | Rate | Build    | Build compiler      |
 | ------------------- | ---- | -------- | ------------------- |
-| stm32f042 (CAN)     |  18K | c105adc8 | arm-none-eabi-gcc (GNU Tools 7-2018-q3-update) 7.3.1 |
 | atmega2560 (serial) |  23K | b161a69e | avr-gcc (GCC) 4.8.1 |
 | sam3x8e (serial)    |  23K | b161a69e | arm-none-eabi-gcc (Fedora 7.1.0-5.fc27) 7.1.0 |
+| rp2350 (CAN)        |  59K | 17b8ce4c | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
 | at90usb1286 (USB)   |  75K | 01d2183f | avr-gcc (GCC) 5.4.0 |
 | ar100 (serial)      | 138K | 08d037c6 | or1k-linux-musl-gcc 9.3.0 |
 | samd21 (USB)        | 223K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
@@ -456,7 +510,8 @@ hub.
 | sam4s8c (USB)       | 650K | 8d4a5c16 | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | samd51 (USB)        | 864K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | stm32f446 (USB)     | 870K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
-| rp2040 (USB)        | 873K | c5667193 | arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0 |
+| rp2040 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
+| rp2350 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
 
 ## Host Benchmarks
 

docs/Bootloaders.md

@@ -194,7 +194,7 @@ Alternatively, one can use a
 
 When using OpenOCD with the SAMC21, extra steps must be taken to first
 put the chip into Cold Plugging mode if the board makes use of the
-SWD pins for other purposes. If using OpenOCD on a Rasberry Pi, this
+SWD pins for other purposes. If using OpenOCD on a Raspberry Pi, this
 can be done by running the following commands before invoking OpenOCD.
 ```
 SWCLK=25

docs/CANBUS.md

@@ -125,10 +125,14 @@ iface can0 can static
   frequency. As a result, it is recommended to use a CAN bus frequency
   of 1000000 when using "USB to CAN bus bridge mode".
 
-  Even at a CAN bus frequency of 1000000, there may not be sufficient
+* It is only valid to use USB to CAN bridge mode if there is a
-  bandwidth to run a `SHAPER_CALIBRATE` test if both the XY steppers
+  functioning CAN bus with at least one other node available (in
-  and the accelerometer all communicate via a single "USB to CAN bus"
+  addition to the bridge node itself). Use a standard USB
-  interface.
+  configuration if the goal is to communicate only with the single USB
+  device. Using USB to CAN bridge mode without a fully functioning CAN
+  bus (including terminating resistors and an additional node) may
+  result in sporadic errors even when communicating with the bridge
+  node.
 
 * A USB to CAN bridge board will not appear as a USB serial device, it
   will not show up when running `ls /dev/serial/by-id`, and it can not

docs/CANBUS_Troubleshooting.md

@@ -37,20 +37,36 @@ hours or more frequently) then it is an indication of a severe
 problem.
 
 Incrementing `bytes_invalid` on a CAN bus connection is a symptom of
-reordered messages on the CAN bus. There are two known causes of
+reordered messages on the CAN bus. If seen, make sure to:
-reordered messages:
+* Use a Linux kernel version 6.6.0 or later.
-1. Old versions of the popular candlight_firmware for USB CAN adapters
+* If using a USB-to-CANBUS adapter running candlelight firmware, use
-   had a bug that could cause reordered messages. If using a USB CAN
+  v2.0 or later of candleLight_fw.
-   adapter running this firmware then make sure to update to the
+* If using Klipper's USB-to-CANBUS bridge mode, make sure the bridge
-   latest firmware if incrementing `bytes_invalid` is observed.
+  node is flashed with Klipper v0.12.0 or later.
-2. Some Linux kernel builds for embedded devices have been known to
-   reorder CAN bus messages. It may be necessary to use an alternative
-   Linux kernel or to use alternative hardware that supports
-   mainstream Linux kernels that do not exhibit this problem.
 
 Reordered messages is a severe problem that must be fixed. It will
 result in unstable behavior and can lead to confusing errors at any
-part of a print.
+part of a print. An incrementing `bytes_invalid` is not caused by
+wiring or similar hardware issues and can only be fixed by identifying
+and updating the faulty software.
+
+Older versions of the Linux kernel had a bug in the gs_usb canbus
+driver code that could cause reordered canbus packets.  The issue is
+thought to be fixed in
+[Linux commit 24bc41b4](https://github.com/torvalds/linux/commit/24bc41b4558347672a3db61009c339b1f5692169)
+which was released in v6.6.0. In some cases, older Linux versions may
+not show the problem (due to how hardware interrupts are configured),
+however if problems are seen the recommended solution is to upgrade to
+a newer kernel.
+
+Older versions of candlelight firmware could reorder canbus packets,
+and the issue is thought to be fixed in
+[candlelight_fw commit 8b3a7b45](https://github.com/candle-usb/candleLight_fw/commit/8b3a7b4565a3c9521b762b154c94c72c5acb2bcf).
+
+Older versions of Klipper's USB-to-CANBUS bridge code could
+incorrectly drop canbus messages. This is not as severe as reordering
+messages, but it should still be fixed. It is thought to be fixed with
+[Klipper PR #6175](https://github.com/Klipper3d/klipper/pull/6175).
 
 ## Use an appropriate txqueuelen setting
 
@@ -102,6 +118,23 @@ necessary to increase the `txqueuelen` above the recommended value
 of 128. However, as above, care should be taken when selecting a new
 value to avoid excessive round-trip-time latency.
 
+## Use `canbus_query.py` only to identify nodes never previously seen
+
+It is only valid to use the
+[`canbus_query.py` tool](CANBUS.md#finding-the-canbus_uuid-for-new-micro-controllers)
+to identify micro-controllers that have never been previously
+identified. Once all nodes on a bus are identified, record the
+resulting uuids in the printer.cfg, and avoid running the tool
+unnecessarily.
+
+The tool is implemented using a low-level mechanism that can cause
+nodes to internally observe bus errors. These internal errors may
+result in communication interruptions and may result is some nodes
+disconnecting from the bus.
+
+It is not valid to use the tool to "ping" if a node is connected. Do
+not run the tool during an active print.
+
 ## Obtaining candump logs
 
 The CAN bus messages sent to and from the micro-controller are handled

docs/CONTRIBUTING.md

@@ -323,7 +323,7 @@ a month without updates.
 
 Once the requirements are met, you need to:
 
-1. update klipper-tranlations repository
+1. update klipper-translations repository
 [active_translations](https://github.com/Klipper3d/klipper-translations/blob/translations/active_translations)
 2. Optional: add a manual-index.md file in klipper-translations repository's
 `docs\locals\<lang>` folder to replace the language specific index.md (generated

docs/Code_Overview.md

@@ -286,6 +286,11 @@ The following may also be useful:
   during the `load_config()` or "connect event" phases. Use either
   `raise config.error("my error")` or `raise printer.config_error("my
   error")` to report the error.
+* Do not store a reference to the `config` object in a class member
+  variable (nor in any similar location that may persist past initial
+  module loading). The `config` object is a reference to a "config
+  loading phase" class and it is not valid to invoke its methods after
+  the "config loading phase" has completed.
 * Use the "pins" module to configure a pin on a micro-controller. This
   is typically done with something similar to
   `printer.lookup_object("pins").setup_pin("pwm",
@@ -359,10 +364,10 @@ Useful steps:
    be efficient as it is typically only called during homing and
    probing operations.
 5. Other methods. Implement the `check_move()`, `get_status()`,
-   `get_steppers()`, `home()`, and `set_position()` methods. These
+   `get_steppers()`, `home()`, `clear_homing_state()`, and `set_position()`
-   functions are typically used to provide kinematic specific checks.
+   methods. These functions are typically used to provide kinematic
-   However, at the start of development one can use boiler-plate code
+   specific checks. However, at the start of development one can use
-   here.
+   boiler-plate code here.
 6. Implement test cases. Create a g-code file with a series of moves
    that can test important cases for the given kinematics. Follow the
    [debugging documentation](Debugging.md) to convert this g-code file

docs/Config_Changes.md

@@ -8,6 +8,72 @@ All dates in this document are approximate.
 
 ## Changes
 
+20250811: Support for the `max_accel_to_decel` parameter in the
+`[printer]` config section has been removed and support for the
+`ACCEL_TO_DECEL` parameter in the `SET_VELOCITY_LIMIT` command has
+been removed. These capabilities were deprecated on 20240313.
+
+20250721: The `[pca9632]` and `[mcp4018]` modules no longer accept the
+`scl_pin` and `sda_pin` options. Use `i2c_software_scl_pin` and
+`i2c_software_sda_pin` instead.
+
+20250428: The maximum `cycle_time` for pwm `[output_pin]`,
+`[pwm_cycle_time]`, `[pwm_tool]`, and similar config sections is now 3
+seconds (reduced from 5 seconds). The `maximum_mcu_duration` in
+`[pwm_tool]` is now also 3 seconds.
+
+20250418: The manual_stepper `STOP_ON_ENDSTOP` feature may now take
+less time to complete. Previously, the command would wait the entire
+time the move could possibly take even if the endstop triggered
+earlier. Now, the command finishes shortly after the endstop trigger.
+
+20250417: SPI devices using "software SPI" are now rate limited.
+Previously, the `spi_speed` in the config was ignored and the
+transmission speed was only limited by the processing speed of the
+micro-controller. Now, speeds are limited by the `spi_speed` config
+parameter (actual hardware speeds are likely to be lower than the
+configured value due to software overhead).
+
+20250411: Klipper v0.13.0 released.
+
+20250308: The `AUTO` parameter of the
+`AXIS_TWIST_COMPENSATION_CALIBRATE` command has been removed.
+
+20250131: Option `VARIABLE=<name>` in `SAVE_VARIABLE` requires lowercase
+value. For example, `extruder` instead of mixedcase `Extruder` or
+uppercase `EXTRUDER`. Using any uppercase letter will raise an error.
+
+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
+required 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
@@ -74,7 +140,7 @@ carriage are exported as `printer.dual_carriage.carriage_0` and
 `printer.dual_carriage.carriage_1`.
 
 20230619: The `relative_reference_index` option has been deprecated
-and superceded by the `zero_reference_position` option.  Refer to the
+and superseded by the `zero_reference_position` option.  Refer to the
 [Bed Mesh Documentation](./Bed_Mesh.md#the-deprecated-relative_reference_index)
 for details on how to update the configuration.  With this deprecation
 the `RELATIVE_REFERENCE_INDEX` is no longer available as a parameter
@@ -308,7 +374,7 @@ endstop phases by running the ENDSTOP_PHASE_CALIBRATE command.
 `gear_ratio` for their rotary steppers, and they may no longer specify
 a `step_distance` parameter.  See the
 [config reference](Config_Reference.md#stepper) for the format of the
-new gear_ratio paramter.
+new gear_ratio parameter.
 
 20201213: It is not valid to specify a Z "position_endstop" when using
 "probe:z_virtual_endstop".  An error will now be raised if a Z

docs/Config_Reference.md

@@ -84,8 +84,9 @@ The printer section controls high level printer settings.
 [printer]
 kinematics:
 #   The type of printer in use. This option may be one of: cartesian,
-#   corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
+#   corexy, corexz, hybrid_corexy, hybrid_corexz, generic_cartesian,
-#   deltesian, polar, winch, or none. This parameter must be specified.
+#   rotary_delta, delta, deltesian, polar, winch, or none.
+#   This parameter must be specified.
 max_velocity:
 #   Maximum velocity (in mm/s) of the toolhead (relative to the
 #   print). This value may be changed at runtime using the
@@ -125,8 +126,6 @@ max_accel:
 #   decelerate to zero at each corner. The value specified here may be
 #   changed at runtime using the SET_VELOCITY_LIMIT command. The
 #   default is 5mm/s.
-#max_accel_to_decel:
-#   This parameter is deprecated and should no longer be used.
 ```
 
 ### [stepper]
@@ -712,6 +711,171 @@ anchor_z:
 #   These parameters must be provided.
 ```
 
+### Generic Cartesian Kinematics
+
+See [example-generic-cartesian.cfg](../config/example-generic-caretesian.cfg)
+for an example generic Cartesian kinematics config file.
+
+This printer kinematic class allows a user to define in a pretty flexible
+manner an arbitrary Cartesian-style kinematics. In principle, the regular
+cartesian, corexy, hybrid_corexy can be defined this way too. However,
+more importantly, various otherwise unsupported kinematics such as
+inverted hybrid_corexy or corexyuv can be defined using this kinematic.
+
+Notably, the definition of a generic Cartesian kinematic deviates
+significantly from the other kinematic types. It follows the following
+convention: a user defines a set of carriages with certain range of motion
+that can move independently from each other (they should move over the
+Cartesian axes X, Y, and Z, hence the name of the kinematic) and
+corresponding endstops that allow the firmware to determine the position
+of carriages during homing, as well as a set of steppers that move those
+carriages. The `[printer]` section must specify the kinematic and
+other printer-level settings same as the regular Cartesian kinematic:
+```
+[printer]
+kinematics: generic_cartesian
+max_velocity:
+max_accel:
+#minimum_cruise_ratio:
+#square_corner_velocity:
+#max_z_velocity:
+#max_z_accel:
+
+```
+
+Then a user must define the following three carriages: `[carriage x]`,
+`[carriage y]`, and `[carriage z]`, e.g.
+```
+[carriage x]
+endstop_pin:
+#   Endstop switch detection pin. If this endstop pin is on a
+#   different mcu than the stepper motor(s) moving this carriage,
+#   then it enables "multi-mcu homing". This parameter must be provided.
+#position_min: 0
+#   Minimum valid distance (in mm) the user may command the carriage to
+#   move to.  The default is 0mm.
+position_endstop:
+#   Location of the endstop (in mm). This parameter must be provided.
+position_max:
+#   Maximum valid distance (in mm) the user may command the stepper to
+#   move to. This parameter must be provided.
+#homing_speed: 5.0
+#   Maximum velocity (in mm/s) of the carriage when homing. The default
+#   is 5mm/s.
+#homing_retract_dist: 5.0
+#   Distance to backoff (in mm) before homing a second time during
+#   homing. Set this to zero to disable the second home. The default
+#   is 5mm.
+#homing_retract_speed:
+#   Speed to use on the retract move after homing in case this should
+#   be different from the homing speed, which is the default for this
+#   parameter
+#second_homing_speed:
+#   Velocity (in mm/s) of the carriage when performing the second home.
+#   The default is homing_speed/2.
+#homing_positive_dir:
+#   If true, homing will cause the carriage to move in a positive
+#   direction (away from zero); if false, home towards zero. It is
+#   better to use the default than to specify this parameter. The
+#   default is true if position_endstop is near position_max and false
+#   if near position_min.
+```
+
+Afterwards, a user specifies the stepper motors that move these carriages,
+for instance
+```
+[stepper my_stepper]
+carriages:
+#   A string describing the carriages the stepper moves. All defined
+#   carriages can be specified here, as well as their linear combinations,
+#   e.g. x, x+y, y-0.5*z, x-z, etc. This parameter must be provided.
+step_pin:
+dir_pin:
+enable_pin:
+rotation_distance:
+microsteps:
+#full_steps_per_rotation: 200
+#gear_ratio:
+#step_pulse_duration:
+```
+See [stepper](#stepper) section for more information on the regular
+stepper parameters. The `carriages` parameter defines how the stepper
+affects the motion of the carriages. For example, `x+y` indicates that
+the motion of the stepper in the positive direction by the distance `d`
+moves the carriages `x` and `y` by the same distance `d` in the positive
+direction, while `x-0.5*y` means the motion of the stepper in the positive
+direction by the distance `d` moves the carriage `x` by the distance `d`
+in the positive direction, but the carriage `y` will travel distance `d/2`
+in the negative direction.
+
+More than a single stepper motor can be defined to drive the same axis
+or belt. For example, on a CoreXY AWD setups two motors driving the same
+belt can be defined as
+```
+[carriage x]
+endstop_pin: ...
+...
+
+[carriage y]
+endstop_pin: ...
+...
+
+[stepper a0]
+carriages: x-y
+step_pin: ...
+dir_pin: ...
+enable_pin: ...
+rotation_distance: ...
+...
+
+[stepper a1]
+carriages: x-y
+step_pin: ...
+dir_pin: ...
+enable_pin: ...
+rotation_distance: ...
+...
+```
+with `a0` and `a1` steppers having their own control pins, but
+sharing the same `carriages` and corresponding endstops.
+
+There are situations when a user wants to have more than one endstop
+per axis. Examples of such configurations include Y axis driven by
+two independent stepper motors with belts attached to both ends of the
+X beam, with effectively two carriages on Y axis each having an
+independent endstop, and multi-stepper Z axis with each stepper having
+its own endstop (not to be confused with the configurations with
+multiple Z motors but only a single endstop). These configurations
+can be declared by specifying additional carriage(s) with their endstops:
+
+```
+[extra_carriage my_carriage]
+primary_carriage:
+#   The name of the primary carriage this carriage corresponds to.
+#   It also effectively defines the axis the carriage moves over.
+#   This parameter must be provided.
+endstop_pin:
+#   Endstop switch detection pin. This parameter must be provided.
+```
+
+and the corresponding stepper motors, for example:
+```
+[extra_carriage y1]
+primary_carriage: y
+endstop_pin: ...
+
+[stepper sy1]
+carriages: y1
+...
+```
+Notably, an `[extra_carriage]` does not define parameters such as
+`position_min`, `position_max`, and `position_endstop`, but instead
+inherits them from the specified `primary_carriage`, thus sharing
+the same range of motion with the primary carriage.
+
+For the references on how to configure IDEX setups, see the
+[dual carriage](#dual-carriage) section.
+
 ### None Kinematics
 
 It is possible to define a special "none" kinematics to disable
@@ -1669,14 +1833,34 @@ cs_pin:
 #   measurements.
 ```
 
+### [icm20948]
+
+Support for icm20948 accelerometers.
+
+```
+[icm20948]
+#i2c_address:
+#   Default is 104 (0x68). If AD0 is high, it would be 0x69 instead.
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed: 400000
+#   See the "common I2C settings" section for a description of the
+#   above parameters. The default "i2c_speed" is 400000.
+#axes_map: x, y, z
+#   See the "adxl345" section for information on this parameter.
+```
+
 ### [lis2dw]
 
 Support for LIS2DW accelerometers.
 
 ```
 [lis2dw]
-cs_pin:
+#cs_pin:
-#   The SPI enable pin for the sensor. This parameter must be provided.
+#   The SPI enable pin for the sensor. This parameter must be provided
+#   if using SPI.
 #spi_speed: 5000000
 #   The SPI speed (in hz) to use when communicating with the chip.
 #   The default is 5000000.
@@ -1686,6 +1870,46 @@ cs_pin:
 #spi_software_miso_pin:
 #   See the "common SPI settings" section for a description of the
 #   above parameters.
+#i2c_address:
+#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed: 400000
+#   See the "common I2C settings" section for a description of the
+#   above parameters. The default "i2c_speed" is 400000.
+#axes_map: x, y, z
+#   See the "adxl345" section for information on this parameter.
+```
+
+### [lis3dh]
+
+Support for LIS3DH accelerometers.
+
+```
+[lis3dh]
+#cs_pin:
+#   The SPI enable pin for the sensor. This parameter must be provided
+#   if using SPI.
+#spi_speed: 5000000
+#   The SPI speed (in hz) to use when communicating with the chip.
+#   The default is 5000000.
+#spi_bus:
+#spi_software_sclk_pin:
+#spi_software_mosi_pin:
+#spi_software_miso_pin:
+#   See the "common SPI settings" section for a description of the
+#   above parameters.
+#i2c_address:
+#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed: 400000
+#   See the "common I2C settings" section for a description of the
+#   above parameters. The default "i2c_speed" is 400000.
 #axes_map: x, y, z
 #   See the "adxl345" section for information on this parameter.
 ```
@@ -1749,11 +1973,14 @@ section of the measuring resonances guide for more information on
 #   auto-calibration (with 'SHAPER_CALIBRATE' command). By default no
 #   maximum smoothing is specified. Refer to Measuring_Resonances guide
 #   for more details on using this feature.
+#move_speed: 50
+#   The speed (in mm/s) to move the toolhead to and between test points
+#   during the calibration. The default is 50.
 #min_freq: 5
 #   Minimum frequency to test for resonances. The default is 5 Hz.
 #max_freq: 133.33
 #   Maximum frequency to test for resonances. The default is 133.33 Hz.
-#accel_per_hz: 75
+#accel_per_hz: 60
 #   This parameter is used to determine which acceleration to use to
 #   test a specific frequency: accel = accel_per_hz * freq. Higher the
 #   value, the higher is the energy of the oscillations. Can be set to
@@ -1767,6 +1994,13 @@ section of the measuring resonances guide for more information on
 #   hz_per_sec. Small values make the test slow, and the large values
 #   will decrease the precision of the test. The default value is 1.0
 #   (Hz/sec == sec^-2).
+#sweeping_accel: 400
+#   An acceleration of slow sweeping moves. The default is 400 mm/sec^2.
+#sweeping_period: 1.2
+#   A period of slow sweeping moves. Setting this parameter to 0
+#   disables slow sweeping moves. Avoid setting it to a too small
+#   non-zero value in order to not poison the measurements.
+#   The default is 1.2 sec which is a good all-round choice.
 ```
 
 ## Config file helpers
@@ -2014,6 +2248,9 @@ Support for eddy current inductive probes. One may define this section
 sensor_type: ldc1612
 #   The sensor chip used to perform eddy current measurements. This
 #   parameter must be provided and must be set to ldc1612.
+#frequency:
+#   The external crystal frequency (in Hz) of the LDC1612 chip.
+#   The default is 12000000.
 #intb_pin:
 #   MCU gpio pin connected to the ldc1612 sensor's INTB pin (if
 #   available). The default is to not use the INTB pin.
@@ -2042,9 +2279,9 @@ sensor_type: ldc1612
 
 ### [axis_twist_compensation]
 
-A tool to compensate for inaccurate probe readings due to twist in X gantry. See
+A tool to compensate for inaccurate probe readings due to twist in X or Y
-the [Axis Twist Compensation Guide](Axis_Twist_Compensation.md) for more
+gantry. See the [Axis Twist Compensation Guide](Axis_Twist_Compensation.md)
-detailed information regarding symptoms, configuration and setup.
+for more detailed information regarding symptoms, configuration and setup.
 
 ```
 [axis_twist_compensation]
@@ -2057,16 +2294,33 @@ detailed information regarding symptoms, configuration and setup.
 calibrate_start_x: 20
 #   Defines the minimum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the starting
-#   calibration position. This parameter must be provided.
+#   calibration position.
 calibrate_end_x: 200
 #   Defines the maximum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the ending
-#   calibration position. This parameter must be provided.
+#   calibration position.
 calibrate_y: 112.5
 #   Defines the Y coordinate of the calibration
 #   This should be the Y coordinate that positions the nozzle during the
-#   calibration process. This parameter must be provided and is recommended to
+#   calibration process. This parameter is recommended to
 #   be near the center of the bed
+
+# For Y-axis twist compensation, specify the following parameters:
+calibrate_start_y: ...
+#   Defines the minimum Y coordinate of the calibration
+#   This should be the Y coordinate that positions the nozzle at the starting
+#   calibration position for the Y axis. This parameter must be provided if
+#   compensating for Y axis twist.
+calibrate_end_y: ...
+#   Defines the maximum Y coordinate of the calibration
+#   This should be the Y coordinate that positions the nozzle at the ending
+#   calibration position for the Y axis. This parameter must be provided if
+#   compensating for Y axis twist.
+calibrate_x: ...
+#   Defines the X coordinate of the calibration for Y axis twist compensation
+#   This should be the X coordinate that positions the nozzle during the
+#   calibration process for Y axis twist compensation. This parameter must be
+#   provided and is recommended to be near the center of the bed.
 ```
 
 ## Additional stepper motors and extruders
@@ -2117,8 +2371,8 @@ for an example configuration.
 
 ### [dual_carriage]
 
-Support for cartesian and hybrid_corexy/z printers with dual carriages
+Support for cartesian, generic_cartesian and hybrid_corexy/z printers with
-on a single axis. The carriage mode can be set via the
+dual carriages on a single axis. The carriage mode can be set via the
 SET_DUAL_CARRIAGE extended g-code command. For example,
 "SET_DUAL_CARRIAGE CARRIAGE=1" command will activate the carriage defined
 in this section (CARRIAGE=0 will return activation to the primary carriage).
@@ -2145,7 +2399,7 @@ typically be achieved with
 or a similar command.
 
 See [sample-idex.cfg](../config/sample-idex.cfg) for an example
-configuration.
+configuration with a regular Cartesian kinematic.
 
 ```
 [dual_carriage]
@@ -2159,7 +2413,7 @@ axis:
 #   error. If safe_distance is not provided, it will be inferred from
 #   position_min and position_max for the dual and primary carriages. If set
 #   to 0 (or safe_distance is unset and position_min and position_max are
-#   identical for the primary and dual carraiges), the carriages proximity
+#   identical for the primary and dual carriages), the carriages proximity
 #   checks will be disabled.
 #step_pin:
 #dir_pin:
@@ -2173,6 +2427,83 @@ axis:
 #   See the "stepper" section for the definition of the above parameters.
 ```
 
+For an example of dual carriage configuration with `generic_cartesian`
+kinematic, see the following configuration
+[sample](../config/example-generic-caretesian.cfg).
+Please note that in this case the `[dual_carriage]` configuration deviates
+from the configuration described above:
+```
+[dual_carriage my_dc_carriage]
+primary_carriage:
+#   Defines the matching primary carriage of this dual carriage and
+#   the corresponding IDEX axis. Valid choices are x, y, z.
+#   This parameter must be provided.
+#safe_distance:
+#   The minimum distance (in mm) to enforce between the dual and the primary
+#   carriages. If a G-Code command is executed that will bring the carriages
+#   closer than the specified limit, such a command will be rejected with an
+#   error. If safe_distance is not provided, it will be inferred from
+#   position_min and position_max for the dual and primary carriages. If set
+#   to 0 (or safe_distance is unset and position_min and position_max are
+#   identical for the primary and dual carriages), the carriages proximity
+#   checks will be disabled.
+endstop_pin:
+#position_min:
+position_endstop:
+position_max:
+#homing_speed:
+#homing_retract_dist:
+#homing_retract_speed:
+#second_homing_speed:
+#homing_positive_dir:
+...
+```
+Refer to [generic cartesian](#generic-cartesian) section for more information
+on the regular `carriage` parameters.
+
+Then a user must define one or more stepper motors moving the dual carriage
+(and other carriages as appropriate), for instance
+```
+[carriage x]
+...
+
+[carriage y]
+...
+
+[dual_carriage u]
+primary_carriage: x
+...
+
+[stepper dc_stepper]
+carriages: u-y
+...
+```
+
+`[dual_carriage]` requires special configuration for the input shaper.
+In general, it is necessary to run input shaper calibration twice -
+for the `dual_carriage` and its `primary_carriage` for the axis they
+share. Then the input shaper can be configured as follows, assuming the
+example above:
+```
+[input_shaper]
+# Intentionally empty
+
+[delayed_gcode init_shaper]
+initial_duration: 0.1
+gcode:
+  SET_DUAL_CARRIAGE CARRIAGE=u
+  SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
+  SET_DUAL_CARRIAGE CARRIAGE=x
+  SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
+```
+Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` must be the same in both
+commands in this case, since the same motors drive Y axis when either
+of the `x` and `u` carriages are active.
+
+It is worth noting that `generic_cartesian` kinematic can support two
+dual carriages for X and Y axes. For reference, see for instance a
+[sample](../config/sample-corexyuv.cfg) of CoreXYUV configuration.
+
 ### [extruder_stepper]
 
 Support for additional steppers synchronized to the movement of an
@@ -2227,6 +2558,13 @@ printer kinematics.
 #   Endstop switch detection pin. If specified, then one may perform
 #   "homing moves" by adding a STOP_ON_ENDSTOP parameter to
 #   MANUAL_STEPPER movement commands.
+#position_min:
+#position_max:
+#   The minimum and maximum position the stepper can be commanded to
+#   move to. If specified then one may not command the stepper to move
+#   past the given position. Note that these limits do not prevent
+#   setting an arbitrary position with the `MANUAL_STEPPER
+#   SET_POSITION=x` command. The default is to not enforce a limit.
 ```
 
 ## Custom heaters and sensors
@@ -2458,6 +2796,10 @@ 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
@@ -3132,11 +3474,6 @@ PCA9632 LED support. The PCA9632 is used on the FlashForge Dreamer.
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
-#scl_pin:
-#sda_pin:
-#   Alternatively, if the pca9632 is not connected to a hardware I2C
-#   bus, then one may specify the "clock" (scl_pin) and "data"
-#   (sda_pin) pins. The default is to use hardware I2C.
 #color_order: RGBW
 #   Set the pixel order of the LED (using a string containing the
 #   letters R, G, B, W). The default is RGBW.
@@ -3206,6 +3543,10 @@ pin:
 #   A list of G-Code commands to execute when the button is released.
 #   G-Code templates are supported. The default is to not run any
 #   commands on a button release.
+#debounce_delay:
+#   A period of time in seconds to debounce events prior to running the
+#   button gcode. If the button is pressed and released during this
+#   delay, the entire button press is ignored. Default is 0.
 ```
 
 ### [output_pin]
@@ -3384,8 +3725,9 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. The default is 0, which disables
+#   velocity is below this value. Note that the "sensorless homing"
-#   "stealthChop" mode.
+#   code may temporarily override this setting during homing
+#   operations. The default is 0, which disables "stealthChop" mode.
 #coolstep_threshold:
 #   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
 #   threshold to. If set, the coolstep feature will be enabled when
@@ -3434,6 +3776,7 @@ run_current:
 #driver_PWM_FREQ: 1
 #driver_PWM_GRAD: 4
 #driver_PWM_AMPL: 128
+#driver_FREEWHEEL: 0
 #driver_SGT: 0
 #driver_SEMIN: 0
 #driver_SEUP: 0
@@ -3497,8 +3840,9 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. The default is 0, which disables
+#   velocity is below this value. Note that the "sensorless homing"
-#   "stealthChop" mode.
+#   code may temporarily override this setting during homing
+#   operations. The default is 0, which disables "stealthChop" mode.
 #driver_MULTISTEP_FILT: True
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 20
@@ -3513,6 +3857,7 @@ run_current:
 #driver_PWM_FREQ: 1
 #driver_PWM_GRAD: 14
 #driver_PWM_OFS: 36
+#driver_FREEWHEEL: 0
 #   Set the given register during the configuration of the TMC2208
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -3562,6 +3907,7 @@ run_current:
 #driver_PWM_FREQ: 1
 #driver_PWM_GRAD: 14
 #driver_PWM_OFS: 36
+#driver_FREEWHEEL: 0
 #driver_SGTHRS: 0
 #driver_SEMIN: 0
 #driver_SEUP: 0
@@ -3700,8 +4046,9 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. The default is 0, which disables
+#   velocity is below this value. Note that the "sensorless homing"
-#   "stealthChop" mode.
+#   code may temporarily override this setting during homing
+#   operations. The default is 0, which disables "stealthChop" mode.
 #coolstep_threshold:
 #   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
 #   threshold to. If set, the coolstep feature will be enabled when
@@ -3774,6 +4121,7 @@ run_current:
 #driver_SEIMIN: 0
 #driver_SFILT: 0
 #driver_SG4_ANGLE_OFFSET: 1
+#driver_SLOPE_CONTROL: 0
 #   Set the given register during the configuration of the TMC2240
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -3833,8 +4181,9 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. The default is 0, which disables
+#   velocity is below this value. Note that the "sensorless homing"
-#   "stealthChop" mode.
+#   code may temporarily override this setting during homing
+#   operations. The default is 0, which disables "stealthChop" mode.
 #coolstep_threshold:
 #   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
 #   threshold to. If set, the coolstep feature will be enabled when
@@ -4040,16 +4389,21 @@ prefix).
 
 ### [mcp4018]
 
-Statically configured MCP4018 digipot connected via two gpio "bit
+Statically configured MCP4018 digipot connected via i2c (one may
-banging" pins (one may define any number of sections with an "mcp4018"
+define any number of sections with an "mcp4018" prefix).
-prefix).
 
 ```
 [mcp4018 my_digipot]
-scl_pin:
+#i2c_address: 47
-#   The SCL "clock" pin. This parameter must be provided.
+#   The i2c address that the chip is using on the i2c bus. The default
-sda_pin:
+#   is 47.
-#   The SDA "data" pin. This parameter must be provided.
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed:
+#   See the "common I2C settings" section for a description of the
+#   above parameters.
 wiper:
 #   The value to statically set the given MCP4018 "wiper" to. This is
 #   typically set to a number between 0.0 and 1.0 with 1.0 being the
@@ -4077,15 +4431,16 @@ Support for a display attached to the micro-controller.
 [display]
 lcd_type:
 #   The type of LCD chip in use. This may be "hd44780", "hd44780_spi",
-#   "st7920", "emulated_st7920", "uc1701", "ssd1306", or "sh1106".
+#   "aip31068_spi", "st7920", "emulated_st7920", "uc1701", "ssd1306", or
+#   "sh1106".
 #   See the display sections below for information on each type and
 #   additional parameters they provide. This parameter must be
 #   provided.
 #display_group:
 #   The name of the display_data group to show on the display. This
 #   controls the content of the screen (see the "display_data" section
-#   for more information). The default is _default_20x4 for hd44780
+#   for more information). The default is _default_20x4 for hd44780 or
-#   displays and _default_16x4 for other displays.
+#   aip31068_spi displays and _default_16x4 for other displays.
 #menu_timeout:
 #   Timeout for menu. Being inactive this amount of seconds will
 #   trigger menu exit or return to root menu when having autorun
@@ -4211,6 +4566,31 @@ spi_software_miso_pin:
 ...
 ```
 
+#### aip31068_spi display
+
+Information on configuring an aip31068_spi display - a very similar to hd44780_spi
+a 20x04 (20 symbols by 4 lines) display with slightly different internal
+protocol.
+
+```
+[display]
+lcd_type: aip31068_spi
+latch_pin:
+spi_software_sclk_pin:
+spi_software_mosi_pin:
+spi_software_miso_pin:
+#   The pins connected to the shift register controlling the display.
+#   The spi_software_miso_pin needs to be set to an unused pin of the
+#   printer mainboard as the shift register does not have a MISO pin,
+#   but the software spi implementation requires this pin to be
+#   configured.
+#line_length:
+#   Set the number of characters per line for an hd44780 type lcd.
+#   Possible values are 20 (default) and 16. The number of lines is
+#   fixed to 4.
+...
+```
+
 #### st7920 display
 
 Information on configuring st7920 displays (which is used in
@@ -4538,6 +4918,11 @@ more information.
 #   dispatch and execution of the runout_gcode. It may be useful to
 #   increase this delay if OctoPrint exhibits strange pause behavior.
 #   Default is 0.5 seconds.
+#debounce_delay:
+#   A period of time in seconds to debounce events prior to running the
+#   switch gcode. The switch must he held in a single state for at least
+#   this long to activate. If the switch is toggled on/off during this delay,
+#   the event is ignored. Default is 0.
 #switch_pin:
 #   The pin on which the switch is connected. This parameter must be
 #   provided.
@@ -4655,9 +5040,19 @@ scale.
 [load_cell]
 sensor_type:
 #   This must be one of the supported sensor types, see below.
+#counts_per_gram:
+#   The floating point number of sensor counts that indicates 1 gram of force.
+#   This value is calculated by the LOAD_CELL_CALIBRATE command.
+#reference_tare_counts:
+#   The integer tare value, in raw sensor counts, taken when LOAD_CELL_CALIBRATE
+#   is run. This is the default tare value when klipper starts up.
+#sensor_orientation:
+#   Change the sensor's orientation. Can be either 'normal' or 'inverted'.
+#   The default is 'normal'. Use 'inverted' if the sensor reports a
+#   decreasing force value when placed under load.
 ```
 
-#### XH711
+#### HX711
 This is a 24 bit low sample rate chip using "bit-bang" communications. It is
 suitable for filament scales.
 ```
@@ -4725,13 +5120,89 @@ 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 chips c internal clock runs twice as fast and the SPI communication
+#   mode the chip's internal clock runs twice as fast and the SPI communication
 #   speed is also doubled.
 #   Normal sample rates: 20, 45, 90, 175, 330, 600, 1000
 #   Turbo sample rates: 40, 90, 180, 350, 660, 1200, 2000
 #   The default is 660
+#input_mux:
+#   Input multiplexer configuration, select a pair of pins to use. The first pin
+#   is the positive, AINP, and the second pin is the negative, AINN. Valid
+#   values are: 'AIN0_AIN1', 'AIN0_AIN2', 'AIN0_AIN3', 'AIN1_AIN2', 'AIN1_AIN3',
+#   'AIN2_AIN3', 'AIN1_AIN0', 'AIN3_AIN2', 'AIN0_AVSS', 'AIN1_AVSS', 'AIN2_AVSS'
+#   and 'AIN3_AVSS'. If AVSS is used the PGA is bypassed and the pga_bypass
+#   setting will be forced to True.
+#   The default is AIN0_AIN1.
+#vref:
+#   The selected voltage reference. Valid values are: 'internal', 'REF0', 'REF1'
+#   and 'analog_supply'. Default is 'internal'.
+```
+
+### [load_cell_probe]
+Load Cell Probe. This combines the functionality of a [probe] and a [load_cell].
+
+```
+[load_cell_probe]
+sensor_type:
+#   This must be one of the supported bulk ADC sensor types and support
+#   load cell endstops on the mcu.
+#counts_per_gram:
+#reference_tare_counts:
+#sensor_orientation:
+#   These parameters must be configured before the probe will operate.
+#   See the [load_cell] section for further details.
+#force_safety_limit: 2000
+#   The safe limit for probing force relative to the reference_tare_counts on
+#   the load_cell. The default is +/-2Kg.
+#trigger_force: 75.0
+#   The force that the probe will trigger at. 75g is the default.
+#drift_filter_cutoff_frequency: 0.8
+#   Enable optional continuous taring while homing & probing to reject drift.
+#   The value is a frequency, in Hz, below which drift will be ignored. This
+#   option requires the SciPy library. Default: None
+#drift_filter_delay: 2
+#   The delay, or 'order', of the drift filter. This controls the number of
+#   samples required to make a trigger detection. Can be 1 or 2, the default
+#   is 2.
+#buzz_filter_cutoff_frequency: 100.0
+#   The value is a frequency, in Hz, above which high frequency noise in the
+#   load cell will be igfiltered outnored. This option requires the SciPy
+#   library. Default: None
+#buzz_filter_delay: 2
+#   The delay, or 'order', of the buzz filter. This controls the number of
+#   samples required to make a trigger detection. Can be 1 or 2, the default
+#   is 2.
+#notch_filter_frequencies: 50, 60
+#   1 or 2 frequencies, in Hz, to filter out of the load cell data. This is
+#   intended to reject power line noise. This option requires the SciPy
+#   library.  Default: None
+#notch_filter_quality: 2.0
+#   Controls how narrow the range of frequencies are that the notch filter
+#   removes. Larger numbers produce a narrower filter. Minimum value is 0.5 and
+#   maximum is 3.0. Default: 2.0
+#tare_time:
+#   The rime in seconds used for taring the load_cell before each probe. The
+#   default value is: 4 / 60 = 0.066. This collects samples from 4 cycles of
+#   60Hz mains power to cancel power line noise.
+#z_offset:
+#speed:
+#samples:
+#sample_retract_dist:
+#lift_speed:
+#samples_result:
+#samples_tolerance:
+#samples_tolerance_retries:
+#activate_gcode:
+#deactivate_gcode:
+#   See the "[probe]" section for a description of the above parameters.
 ```
 
 ## Board specific hardware support
@@ -4820,6 +5291,50 @@ vssa_pin:
 #   noise. The default is 2 seconds.
 ```
 
+### [ads1x1x]
+
+ADS1013, ADS1014, ADS1015, ADS1113, ADS1114 and ADS1115 are I2C based Analog to
+Digital Converters that can be used for temperature sensors. They provide 4
+analog input pins either as single line or as differential input.
+
+Note: Use caution if using this sensor to control heaters. The heater min_temp
+and max_temp are only verified in the host and only if the host is running and
+operating normally. (ADC inputs directly connected to the micro-controller
+verify min_temp and max_temp within the micro-controller and do not require a
+working connection to the host.)
+
+```
+[ads1x1x my_ads1x1x]
+chip: ADS1115
+#pga: 4.096V
+#   Default value is 4.096V. The maximum voltage range used for the input. This
+#   scales all values read from the ADC. Options are: 6.144V, 4.096V, 2.048V,
+#   1.024V, 0.512V, 0.256V
+#adc_voltage: 3.3
+#   The supply 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
+#   corresponding 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
@@ -4901,7 +5416,7 @@ Octoprint as they will conflict, and 1 will fail to initialize
 properly likely aborting your print.
 
 If you use Octoprint and stream gcode over the serial port instead of
-printing from virtual_sd, then remo **M1** and **M0** from *Pausing commands*
+printing from virtual_sd, then remove **M1** and **M0** from *Pausing commands*
 in *Settings > Serial Connection > Firmware & protocol* will prevent
 the need to start print on the Palette 2 and unpausing in Octoprint
 for your print to begin.
@@ -4925,8 +5440,9 @@ serial:
 ### [angle]
 
 Magnetic hall angle sensor support for reading stepper motor angle
-shaft measurements using a1333, as5047d, or tle5012b SPI chips.  The
+shaft measurements using a1333, as5047d, mt6816, mt6826s,
-measurements are available via the [API Server](API_Server.md) and
+or tle5012b SPI chips.
+The measurements are available via the [API Server](API_Server.md) and
 [motion analysis tool](Debugging.md#motion-analysis-and-data-logging).
 See the [G-Code reference](G-Codes.md#angle) for available commands.
 
@@ -4934,7 +5450,7 @@ See the [G-Code reference](G-Codes.md#angle) for available commands.
 [angle my_angle_sensor]
 sensor_type:
 #   The type of the magnetic hall sensor chip. Available choices are
-#   "a1333", "as5047d", and "tle5012b". This parameter must be
+#   "a1333", "as5047d", "mt6816", "mt6826s", and "tle5012b". This parameter must be
 #   specified.
 #sample_period: 0.000400
 #   The query period (in seconds) to use during measurements. The
@@ -4997,8 +5513,9 @@ Most Klipper micro-controller implementations only support an
 micro-controller supports a 400000 speed (*fast mode*, 400kbit/s), but it must be
 [set in the operating system](RPi_microcontroller.md#optional-enabling-i2c)
 and the `i2c_speed` parameter is otherwise ignored. The Klipper
-"RP2040" micro-controller and ATmega AVR family support a rate of 400000
+"RP2040" micro-controller and ATmega AVR family and some STM32
-via the `i2c_speed` parameter. All other Klipper micro-controllers use a
+(F0, G0, G4, L4, F7, H7) support a rate of 400000 via the `i2c_speed` parameter.
+All other Klipper micro-controllers use a
 100000 rate and ignore the `i2c_speed` parameter.
 
 ```

docs/Contact.md

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

docs/Eddy_Probe.md

@@ -78,7 +78,9 @@ 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.
+steps outlined below.  If the printer to be calibrated is enclosed, it
+is strongly recommended to set the `max_validation_temp` option to a value
+between 100 and 120.
 
 Eddy probe manufacturers may offer a stock drift calibration that can be
 manually added to `drift_calibration` option of the `[probe_eddy_current]`

docs/Features.md

@@ -102,11 +102,13 @@ Klipper supports many standard 3d printer features:
   printers.
 
 * Automatic bed leveling support. Klipper can be configured for basic
-  bed tilt detection or full mesh bed leveling. If the bed uses
+  bed tilt detection or full mesh bed leveling. The bed mesh can be
+  customized to the print size (adaptive bed mesh). If the bed uses
   multiple Z steppers then Klipper can also level by independently
   manipulating the Z steppers. Most Z height probes are supported,
   including BL-Touch probes and servo activated probes. Probes may be
-  calibrated for axis twist compensation.
+  calibrated for axis twist compensation. If using an "eddy current
+  probe" then one can utilize fast bed mesh scanning,
 
 * Automatic delta calibration support. The calibration tool can
   perform basic height calibration as well as an enhanced X and Y
@@ -118,7 +120,7 @@ Klipper supports many standard 3d printer features:
 
 * Support for common temperature sensors (eg, common thermistors,
   AD595, AD597, AD849x, PT100, PT1000, MAX6675, MAX31855, MAX31856,
-  MAX31865, BME280, HTU21D, DS18B20, AHT10, and LM75). Custom
+  MAX31865, BME280, HTU21D, DS18B20, AHT10, SHT3x, and LM75). Custom
   thermistors and custom analog temperature sensors can also be
   configured. One can monitor the internal micro-controller
   temperature sensor and the internal temperature sensor of a
@@ -128,7 +130,8 @@ Klipper supports many standard 3d printer features:
 
 * Support for standard fans, nozzle fans, and temperature controlled
   fans. No need to keep fans running when the printer is idle. Fan
-  speed can be monitored on fans that have a tachometer.
+  speed can be monitored on fans that have a tachometer. One can
+  assign a "math formula" to a fan for automatic fan speed updating.
 
 * Support for run-time configuration of TMC2130, TMC2208/TMC2224,
   TMC2209, TMC2240, TMC2660, and TMC5160 stepper motor drivers. There
@@ -154,7 +157,7 @@ Klipper supports many standard 3d printer features:
   filament width sensors.
 
 * Support for measuring and recording acceleration using adxl345,
-  mpu9250, mpu6050, and lis2dw12 accelerometers.
+  mpu9250, mpu6050, lis2dw12, lis3dh, and icm20948 accelerometers.
 
 * Support for limiting the top speed of short "zigzag" moves to reduce
   printer vibration and noise. See the [kinematics](Kinematics.md)
@@ -184,13 +187,16 @@ represent total number of steps per second on the micro-controller.
 | SAM4S8C                         | 1690K             | 1385K             |
 | LPC1768                         | 1923K             | 1351K             |
 | LPC1769                         | 2353K             | 1622K             |
-| RP2040                          | 2400K             | 1636K             |
 | SAM4E8E                         | 2500K             | 1674K             |
 | SAMD51                          | 3077K             | 1885K             |
 | AR100                           | 3529K             | 2507K             |
+| STM32G431                       | 3617K             | 2452K             |
 | STM32F407                       | 3652K             | 2459K             |
 | STM32F446                       | 3913K             | 2634K             |
-| STM32H743                       | 9091K             | 6061K             |
+| RP2040                          | 4000K             | 2571K             |
+| RP2350                          | 4167K             | 2663K             |
+| SAME70                          | 6667K             | 4737K             |
+| STM32H723                       | 7429K             | 8619K             |
 
 If unsure of the micro-controller on a particular board, find the
 appropriate [config file](../config/), and look for the

docs/G-Codes.md

@@ -127,6 +127,14 @@ use this tool the Python "numpy" package must be installed (see the
 [measuring resonance document](Measuring_Resonances.md#software-installation)
 for more information).
 
+#### ANGLE_CHIP_CALIBRATE
+`ANGLE_CHIP_CALIBRATE CHIP=<chip_name>`: Perform internal sensor calibration,
+if implemented (MT6826S/MT6835).
+
+- **MT68XX**: The motor should be disconnected
+from any printer carriage before performing calibration.
+After calibration, the sensor should be reset by disconnecting the power.
+
 #### ANGLE_DEBUG_READ
 `ANGLE_DEBUG_READ CHIP=<config_name> REG=<register>`: Queries sensor
 register "register" (e.g. 44 or 0x2C). Can be useful for debugging
@@ -146,9 +154,13 @@ The following commands are available when the
 section](Config_Reference.md#axis_twist_compensation) is enabled.
 
 #### AXIS_TWIST_COMPENSATION_CALIBRATE
-`AXIS_TWIST_COMPENSATION_CALIBRATE [SAMPLE_COUNT=<value>]`: Initiates the X
+`AXIS_TWIST_COMPENSATION_CALIBRATE [AXIS=<X|Y>] [SAMPLE_COUNT=<value>]`
-twist calibration wizard. `SAMPLE_COUNT` specifies the number of points along
+
-the X axis to calibrate at and defaults to 3.
+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'`.
 
 ### [bed_mesh]
 
@@ -162,8 +174,10 @@ The following commands are available when the
 [ADAPTIVE_MARGIN=<value>]`: This command probes the bed using generated points
 specified by the parameters in the config. After probing, a mesh is generated
 and z-movement is adjusted according to the mesh.
+The mesh is immediately active after successful completion of `BED_MESH_CALIBRATE`.
 The mesh will be saved into a profile specified by the `PROFILE` parameter,
-or `default` if unspecified.
+or `default` if unspecified. If ADAPTIVE=1 is specified then the profile
+name will begin with `adaptive-` and should not be saved for reuse.
 See the PROBE command for details on the optional probe parameters. If
 METHOD=manual is specified then the manual probing tool is activated - see the
 MANUAL_PROBE command above for details on the additional commands available
@@ -329,15 +343,18 @@ The following command is available when the
 enabled.
 
 #### SET_DUAL_CARRIAGE
-`SET_DUAL_CARRIAGE CARRIAGE=[0|1] [MODE=[PRIMARY|COPY|MIRROR]]`:
+`SET_DUAL_CARRIAGE CARRIAGE=<carriage> [MODE=[PRIMARY|COPY|MIRROR]]`:
 This command will change the mode of the specified carriage.
-If no `MODE` is provided it defaults to `PRIMARY`. Setting the mode
+If no `MODE` is provided it defaults to `PRIMARY`. `<carriage>` must
-to `PRIMARY` deactivates the other carriage and makes the specified
+reference a defined primary or dual carriage for `generic_cartesian`
-carriage execute subsequent G-Code commands as-is. `COPY` and `MIRROR`
+kinematics or be 0 (for primary carriage) or 1 (for dual carriage)
-modes are supported only for `CARRIAGE=1`. When set to either of these
+for all other kinematics supporting IDEX. Setting the mode to `PRIMARY`
-modes, carriage 1 will then track the subsequent moves of the carriage 0
+deactivates the other carriage and makes the specified carriage execute
-and either copy relative movements of it (in `COPY` mode) or execute them
+subsequent G-Code commands as-is. `COPY` and `MIRROR` modes are supported
-in the opposite (mirror) direction (in `MIRROR` mode).
+only for dual carriages. When set to either of these modes, dual carriage
+will then track the subsequent moves of its primary carriage and either
+copy relative movements of it (in `COPY` mode) or execute them in the
+opposite (mirror) direction (in `MIRROR` mode).
 
 #### SAVE_DUAL_CARRIAGE_STATE
 `SAVE_DUAL_CARRIAGE_STATE [NAME=<state_name>]`: Save the current positions
@@ -355,7 +372,7 @@ restored and "MOVE_SPEED" is specified, then the toolhead moves will be
 performed with the given speed (in mm/s); otherwise the toolhead move will
 use the rail homing speed. Note that the carriages restore their positions
 only over their own axis, which may be necessary to correctly restore COPY
-and MIRROR mode of the dual carraige.
+and MIRROR mode of the dual carriage.
 
 ### [endstop_phase]
 
@@ -476,6 +493,20 @@ enabled.
 `SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets the
 speed of a fan. "speed" must be between 0.0 and 1.0.
 
+`SET_FAN_SPEED PIN=config_name TEMPLATE=<template_name>
+[<param_x>=<literal>]`: If `TEMPLATE` is specified then it assigns a
+[display_template](Config_Reference.md#display_template) to the given
+fan. For example, if one defined a `[display_template
+my_fan_template]` config section then one could assign
+`TEMPLATE=my_fan_template` here. The display_template should produce a
+string containing a floating point number with the desired value. The
+template will be continuously evaluated and the fan will be
+automatically set to the resulting speed. One may set display_template
+parameters to use during template evaluation (parameters will be
+parsed as Python literals). If TEMPLATE is an empty string then this
+command will clear any previous template assigned to the pin (one can
+then use `SET_FAN_SPEED` commands to manage the values directly).
+
 ### [filament_switch_sensor]
 
 The following command is available when a
@@ -553,15 +584,51 @@ state; issue a G28 afterwards to reset the kinematics. This command is
 intended for low-level diagnostics and debugging.
 
 #### SET_KINEMATIC_POSITION
-`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
+
-the low-level kinematic code to believe the toolhead is at the given
+`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]
-cartesian position. This is a diagnostic and debugging command; use
+[SET_HOMED=<[X][Y][Z]>] [CLEAR_HOMED=<[X][Y][Z]>]`: Force the
-SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
+low-level kinematic code to believe the toolhead is at the given
-axis is not specified then it will default to the position that the
+cartesian position and set/clear homed status. This is a diagnostic
-head was last commanded to. Setting an incorrect or invalid position
+and debugging command; use SET_GCODE_OFFSET and/or G92 for regular
-may lead to internal software errors. This command may invalidate
+axis transformations. Setting an incorrect or invalid position may
-future boundary checks; issue a G28 afterwards to reset the
+lead to internal software errors.
-kinematics.
+
+The `X`, `Y`, and `Z` parameters are used to alter the low-level
+kinematic position tracking. If any of these parameters are not set
+then the position is not changed - for example `SET_KINEMATIC_POSITION
+Z=10` would set all axes as homed, set the internal Z position to 10,
+and leave the X and Y positions unchanged. Changing the internal
+position tracking is not dependent on the internal homing state - one
+may alter the position for both homed and not homed axes, and
+similarly one may set or clear the homing state of an axis without
+altering its internal position.
+
+The `SET_HOMED` parameter defaults to `XYZ` which instructs the
+kinematics to consider all axes as homed. A bare
+`SET_KINEMATIC_POSITION` command will result in all axes being
+considered homed (and not change its current position). If it is not
+desired to change the state of homed axes then assign `SET_HOMED` to
+an empty string - for example:
+`SET_KINEMATIC_POSITION SET_HOMED= X=10`. It is also possible to
+request an individual axis be considered homed (eg, `SET_HOMED=X`),
+but note that non-cartesian style kinematics (such as delta
+kinematics) may not support setting an individual axis as homed.
+
+The `CLEAR_HOMED` parameter instructs the kinematics to consider the
+given axes as not homed. For example, `CLEAR_HOMED=XYZ` would request
+all axes to be considered not homed (and thus require homing prior to
+movement on those axes). The default is `SET_HOMED=XYZ` even if
+`CLEAR_HOMED` is present, so the command `SET_KINEMATIC_POSITION
+CLEAR_HOMED=Z` will set X and Y as homed and clear the homing state
+for Z.  Use `SET_KINEMATIC_POSITION SET_HOMED= CLEAR_HOMED=Z` if the
+goal is to clear only the Z homing state. If an axis is specified in
+neither `SET_HOMED` nor `CLEAR_HOMED` then its homing state is not
+changed and if it is specified in both then `CLEAR_HOMED` has
+precedence. It is possible to request clearing of an individual axis,
+but on non-cartesian style kinematics (such as delta kinematics) doing
+so may result in clearing the homing state of additional axes. Note
+the `CLEAR` parameter is currently an alias for the `CLEAR_HOMED`
+parameter, but this alias will be removed in the future.
 
 ### [gcode]
 
@@ -653,6 +720,46 @@ is specified then the toolhead move will be performed with the given
 speed (in mm/s); otherwise the toolhead move will use the restored
 g-code speed.
 
+### [generic_cartesian]
+The commands in this section become automatically available when
+`kinematics: generic_cartesian` is specified as the printer kinematics.
+
+#### SET_STEPPER_CARRIAGES
+`SET_STEPPER_CARRIAGES STEPPER=<stepper_name> CARRIAGES=<carriages>
+[DISABLE_CHECKS=[0|1]]`: Set or update the stepper carriages.
+`<stepper_name>` must reference an existing stepper defined in `printer.cfg`,
+and `<carriages>` describes the carriages the stepper moves. See
+[Generic Cartesian Kinematics](Config_Reference.md#generic-cartesian-kinematics)
+for a more detailed overview of the `carriages` parameter in the
+stepper configuration section. Note that it is only possible
+to change the coefficients or signs of the carriages with this
+command, but a user cannot add or remove the carriages that the stepper
+controls.
+
+`SET_STEPPER_CARRIAGES` is an advanced tool, and the user is advised
+to exercise an extreme caution using it, since specifying incorrect
+configuration may physically damage the printer.
+
+Note that `SET_STEPPER_CARRIAGES` performs certain internal validations
+of the new printer kinematics after the change. Keep in mind that if it
+detects an issue, it may leave printer kinematics in an invalid state.
+This means that if `SET_STEPPER_CARRIAGES` reports an error, it is unsafe
+to issue other GCode commands, and the user must inspect the error message
+and either fix the problem, or manually restore the previous stepper(s)
+configuration.
+
+Since `SET_STEPPER_CARRIAGES` can update a configuration of a single
+stepper at a time, some sequences of changes can lead to invalid
+intermediate kinematic configurations, even if the final configuration
+is valid. In such cases a user can pass `DISABLE_CHECKS=1` parameters to
+all but the last command to disable intermediate checks. For example,
+if `stepper a` and `stepper b` initially have `x-y` and `x+y` carriages
+correspondingly, then the following sequence of commands will let a user
+effectively swap the carriage controls:
+`SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=x+y DISABLE_CHECKS=1`
+and `SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=x-y`, while
+still validating the final kinematics state.
+
 ### [hall_filament_width_sensor]
 
 The following commands are available when the
@@ -731,6 +838,116 @@ together with either of SHAPER_TYPE_X and SHAPER_TYPE_Y parameters.
 See [config reference](Config_Reference.md#input_shaper) for more
 details on each of these parameters.
 
+### [led]
+
+The following command is available when any of the
+[led config sections](Config_Reference.md#leds) are enabled.
+
+#### SET_LED
+`SET_LED LED=<config_name> RED=<value> GREEN=<value> BLUE=<value>
+WHITE=<value> [INDEX=<index>] [TRANSMIT=0] [SYNC=1]`: This sets the
+LED output. Each color `<value>` must be between 0.0 and 1.0. The
+WHITE option is only valid on RGBW LEDs. If the LED supports multiple
+chips in a daisy-chain then one may specify INDEX to alter the color
+of just the given chip (1 for the first chip, 2 for the second,
+etc.). If INDEX is not provided then all LEDs in the daisy-chain will
+be set to the provided color. If TRANSMIT=0 is specified then the
+color change will only be made on the next SET_LED command that does
+not specify TRANSMIT=0; this may be useful in combination with the
+INDEX parameter to batch multiple updates in a daisy-chain. By
+default, the SET_LED command will sync it's changes with other ongoing
+gcode commands.  This can lead to undesirable behavior if LEDs are
+being set while the printer is not printing as it will reset the idle
+timeout. If careful timing is not needed, the optional SYNC=0
+parameter can be specified to apply the changes without resetting the
+idle timeout.
+
+#### SET_LED_TEMPLATE
+`SET_LED_TEMPLATE LED=<led_name> TEMPLATE=<template_name>
+[<param_x>=<literal>] [INDEX=<index>]`: Assign a
+[display_template](Config_Reference.md#display_template) to a given
+[LED](Config_Reference.md#leds). For example, if one defined a
+`[display_template my_led_template]` config section then one could
+assign `TEMPLATE=my_led_template` here. The display_template should
+produce a comma separated string containing four floating point
+numbers corresponding to red, green, blue, and white color settings.
+The template will be continuously evaluated and the LED will be
+automatically set to the resulting colors. One may set
+display_template parameters to use during template evaluation
+(parameters will be parsed as Python literals). If INDEX is not
+specified then all chips in the LED's daisy-chain will be set to the
+template, otherwise only the chip with the given index will be
+updated. If TEMPLATE is an empty string then this command will clear
+any previous template assigned to the LED (one can then use `SET_LED`
+commands to manage the LED's color settings).
+
+### [load_cell]
+
+The following commands are enabled if a
+[load_cell config section](Config_Reference.md#load_cell) has been enabled.
+
+### LOAD_CELL_DIAGNOSTIC
+`LOAD_CELL_DIAGNOSTIC [LOAD_CELL=<config_name>]`: This command collects 10
+seconds of load cell data and reports statistics that can help you verify proper
+operation of the load cell. This command can be run on both calibrated and
+uncalibrated load cells.
+
+### LOAD_CELL_CALIBRATE
+`LOAD_CELL_CALIBRATE [LOAD_CELL=<config_name>]`: Start the guided calibration
+utility. Calibration is a 3 step process:
+1. First you remove all load from the load cell and run the `TARE` command
+2. Next you apply a known load to the load cell and run the
+`CALIBRATE GRAMS=nnn` command
+3. Finally use the `ACCEPT` command to save the results
+
+You can cancel the calibration process at any time with `ABORT`.
+
+### LOAD_CELL_TARE
+`LOAD_CELL_TARE [LOAD_CELL=<config_name>]`: This works just like the tare button
+on digital scale. It sets the current raw reading of the load cell to be the
+zero point reference value. The response is the percentage of the sensors range
+that was read and the raw value in counts. If the load cell is calibrated a
+force in grams is also reported.
+
+### LOAD_CELL_READ load_cell="name"
+`LOAD_CELL_READ [LOAD_CELL=<config_name>]`:
+This command takes a reading from the load cell. The response is the percentage
+of the sensors range that was read and the raw value in counts. If the load cell
+is calibrated a force in grams is also reported.
+
+### [load_cell_probe]
+
+The following commands are enabled if a
+[load_cell config section](Config_Reference.md#load_cell_probe) has been
+enabled.
+
+### LOAD_CELL_TEST_TAP
+`LOAD_CELL_TEST_TAP [TAPS=<taps>] [TIMEOUT=<timeout>]`: Run a testing routine
+that reports taps on the load cell. The toolhead will not move but the load cell
+probe will sense taps just as if it was probing. This can be used as a
+sanity check to make sure that the probe works. This tool replaces
+QUERY_ENDSTOPS and QUERY_PROBE for load cell probes.
+- `TAPS`: the number of taps the tool expects
+- `TIMEOOUT`: the time, in seconds, that the tool waits for each tab before
+  aborting.
+
+### Load Cell Command Extensions
+Commands that perform probes, such as [`PROBE`](#probe),
+[`PROBE_ACCURACY`](#probe_accuracy),
+[`BED_MESH_CALIBRATE`](#bed_mesh_calibrate) etc. will accept additional
+parameters if a `[load_cell_probe]` is defined. The parameters override the
+corresponding settings from the
+[`[load_cell_probe]`](./Config_Reference.md#load_cell_probe) configuration:
+- `FORCE_SAFETY_LIMIT=<grams>`
+- `TRIGGER_FORCE=<grams>`
+- `DRIFT_FILTER_CUTOFF_FREQUENCY=<frequency_hz>`
+- `DRIFT_FILTER_DELAY=<1|2>`
+- `BUZZ_FILTER_CUTOFF_FREQUENCY=<frequency_hz>`
+- `BUZZ_FILTER_DELAY=<1|2>`
+- `NOTCH_FILTER_FREQUENCIES=<list of frequency_hz>`
+- `NOTCH_FILTER_QUALITY=<quality>`
+- `TARE_TIME=<seconds>`
+
 ### [manual_probe]
 
 The manual_probe module is automatically loaded.
@@ -787,6 +1004,25 @@ scheduled to run after the stepper move completes, however if a manual
 stepper move uses SYNC=0 then future G-Code movement commands may run
 in parallel with the stepper movement.
 
+`MANUAL_STEPPER STEPPER=config_name GCODE_AXIS=[A-Z]
+[LIMIT_VELOCITY=<velocity>] [LIMIT_ACCEL=<accel>]
+[INSTANTANEOUS_CORNER_VELOCITY=<velocity>]`: If the `GCODE_AXIS`
+parameter is specified then it configures the stepper motor as an
+extra axis on `G1` move commands.  For example, if one were to issue a
+`MANUAL_STEPPER ... GCODE_AXIS=R` command then one could issue
+commands like `G1 X10 Y20 R30` to move the stepper motor.  The
+resulting moves will occur synchronously with the associated toolhead
+xyz movements.  If the motor is associated with a `GCODE_AXIS` then
+one may no longer issue movements using the above `MANUAL_STEPPER`
+command - one may unregister the stepper with a `MANUAL_STEPPER
+... GCODE_AXIS=` command to resume manual control of the motor. The
+`LIMIT_VELOCITY` and `LIMIT_ACCEL` parameters allow one to reduce the
+speed of `G1` moves if those moves would result in a velocity or
+acceleration above the specified limits. The
+`INSTANTANEOUS_CORNER_VELOCITY` specifies the maximum instantaneous
+velocity change (in mm/s) of the motor during the junction of two
+moves (the default is 1mm/s).
+
 ### [mcp4018]
 
 The following command is available when a
@@ -801,49 +1037,6 @@ be between 0.0 and 1.0, unless a 'scale' is defined in the config.
 When 'scale' is defined, then this value should be  between 0.0 and
 'scale'.
 
-### [led]
-
-The following command is available when any of the
-[led config sections](Config_Reference.md#leds) are enabled.
-
-#### SET_LED
-`SET_LED LED=<config_name> RED=<value> GREEN=<value> BLUE=<value>
-WHITE=<value> [INDEX=<index>] [TRANSMIT=0] [SYNC=1]`: This sets the
-LED output. Each color `<value>` must be between 0.0 and 1.0. The
-WHITE option is only valid on RGBW LEDs. If the LED supports multiple
-chips in a daisy-chain then one may specify INDEX to alter the color
-of just the given chip (1 for the first chip, 2 for the second,
-etc.). If INDEX is not provided then all LEDs in the daisy-chain will
-be set to the provided color. If TRANSMIT=0 is specified then the
-color change will only be made on the next SET_LED command that does
-not specify TRANSMIT=0; this may be useful in combination with the
-INDEX parameter to batch multiple updates in a daisy-chain. By
-default, the SET_LED command will sync it's changes with other ongoing
-gcode commands.  This can lead to undesirable behavior if LEDs are
-being set while the printer is not printing as it will reset the idle
-timeout. If careful timing is not needed, the optional SYNC=0
-parameter can be specified to apply the changes without resetting the
-idle timeout.
-
-#### SET_LED_TEMPLATE
-`SET_LED_TEMPLATE LED=<led_name> TEMPLATE=<template_name>
-[<param_x>=<literal>] [INDEX=<index>]`: Assign a
-[display_template](Config_Reference.md#display_template) to a given
-[LED](Config_Reference.md#leds). For example, if one defined a
-`[display_template my_led_template]` config section then one could
-assign `TEMPLATE=my_led_template` here. The display_template should
-produce a comma separated string containing four floating point
-numbers corresponding to red, green, blue, and white color settings.
-The template will be continuously evaluated and the LED will be
-automatically set to the resulting colors. One may set
-display_template parameters to use during template evaluation
-(parameters will be parsed as Python literals). If INDEX is not
-specified then all chips in the LED's daisy-chain will be set to the
-template, otherwise only the chip with the given index will be
-updated. If TEMPLATE is an empty string then this command will clear
-any previous template assigned to the LED (one can then use `SET_LED`
-commands to manage the LED's color settings).
-
 ### [output_pin]
 
 The following command is available when an
@@ -857,6 +1050,20 @@ 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
@@ -892,20 +1099,6 @@ Palette 2 once the loading has been completed. This command is the
 same as pressing **Smart Load** directly on the Palette 2 screen after
 the filament load is complete.
 
-### [pid_calibrate]
-
-The pid_calibrate module is automatically loaded if a heater is defined
-in the config file.
-
-#### PID_CALIBRATE
-`PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
-[WRITE_FILE=1]`: Perform a PID calibration test. The specified heater
-will be enabled until the specified target temperature is reached, and
-then the heater will be turned off and on for several cycles. If the
-WRITE_FILE parameter is enabled, then the file /tmp/heattest.txt will
-be created with a log of all temperature samples taken during the
-test.
-
 ### [pause_resume]
 
 The following commands are available when the
@@ -931,6 +1124,20 @@ the paused state is fresh for each print.
 #### CANCEL_PRINT
 `CANCEL_PRINT`: Cancels the current print.
 
+### [pid_calibrate]
+
+The pid_calibrate module is automatically loaded if a heater is defined
+in the config file.
+
+#### PID_CALIBRATE
+`PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
+[WRITE_FILE=1]`: Perform a PID calibration test. The specified heater
+will be enabled until the specified target temperature is reached, and
+then the heater will be turned off and on for several cycles. If the
+WRITE_FILE parameter is enabled, then the file /tmp/heattest.txt will
+be created with a log of all temperature samples taken during the
+test.
+
 ### [print_stats]
 
 The print_stats module is automatically loaded.
@@ -1021,6 +1228,21 @@ 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.
@@ -1056,20 +1278,19 @@ is enabled (also see the
 all enabled accelerometer chips.
 
 #### TEST_RESONANCES
-`TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
+`TEST_RESONANCES AXIS=<axis> [OUTPUT=<resonances,raw_data>]
 [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-[HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[ACCEL_PER_HZ=<accel_per_hz>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<chip_name>]
-[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
+[POINT=x,y,z] [INPUT_SHAPING=<0:1>]`: Runs the resonance
 test in all configured probe points for the requested "axis" and
 measures the acceleration using the accelerometer chips configured for
 the respective axis. "axis" can either be X or Y, or specify an
 arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
 point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
 `AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
-and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
+and `AXIS=-dx,-dy` is equivalent. `chip_name` can be one or
-more configured adxl345 chip,delimited with comma, for example
+more configured accel chips, delimited with comma, for example
-`CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
+`CHIPS="adxl345, adxl345 rpi"`. If POINT is specified it will override the point(s)
-named adxl345 chips. If POINT is specified it will override the point(s)
 configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
 disables input shaping for the resonance testing, because
 it is not valid to run the resonance testing with the input shaper
@@ -1086,8 +1307,9 @@ frequency response is calculated (across all probe points) and written into
 
 #### SHAPER_CALIBRATE
 `SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>] [FREQ_START=<min_freq>]
-[FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[FREQ_END=<max_freq>] [ACCEL_PER_HZ=<accel_per_hz>][HZ_PER_SEC=<hz_per_sec>]
-[MAX_SMOOTHING=<max_smoothing>]`: Similarly to `TEST_RESONANCES`, runs
+[CHIPS=<chip_name>] [MAX_SMOOTHING=<max_smoothing>] [INPUT_SHAPING=<0:1>]`:
+Similarly to `TEST_RESONANCES`, runs
 the resonance test as configured, and tries to find the optimal
 parameters for the input shaper for the requested axis (or both X and
 Y axes if `AXIS` parameter is unset). If `MAX_SMOOTHING` is unset, its
@@ -1137,8 +1359,9 @@ has been enabled.
 
 #### SAVE_VARIABLE
 `SAVE_VARIABLE VARIABLE=<name> VALUE=<value>`: Saves the variable to
-disk so that it can be used across restarts. All stored variables are
+disk so that it can be used across restarts. The VARIABLE must be lowercase.
-loaded into the `printer.save_variables.variables` dict at startup and
+All stored variables are loaded into the
+`printer.save_variables.variables` dict at startup and
 can be used in gcode macros. The provided VALUE is parsed as a Python
 literal.
 
@@ -1282,6 +1505,42 @@ temperature_fan. If a target is not supplied, it is set to the
 specified temperature in the config file. If speeds are not supplied,
 no change is applied.
 
+### [temperature_probe]
+
+The following commands are available when a
+[temperature_probe config section](Config_Reference.md#temperature_probe)
+is enabled.
+
+#### TEMPERATURE_PROBE_CALIBRATE
+`TEMPERATURE_PROBE_CALIBRATE [PROBE=<probe name>] [TARGET=<value>] [STEP=<value>]`:
+Initiates probe drift calibration for eddy current based probes.  The `TARGET`
+is a target temperature for the last sample.  When the temperature recorded
+during a sample exceeds the `TARGET` calibration will complete.  The `STEP`
+parameter sets temperature delta (in C) between samples. After a sample has
+been taken, this delta is used to schedule a call to `TEMPERATURE_PROBE_NEXT`.
+The default `STEP` is 2.
+
+#### TEMPERATURE_PROBE_NEXT
+`TEMPERATURE_PROBE_NEXT`: After calibration has started this command is run to
+take the next sample.  It is automatically scheduled to run when the delta
+specified by `STEP` has been reached, however its also possible to manually run
+this command to force a new sample.  This command is only available during
+calibration.
+
+#### TEMPERATURE_PROBE_COMPLETE:
+`TEMPERATURE_PROBE_COMPLETE`:  Can be used to end calibration and save the
+current result before the `TARGET` temperature is reached.  This command
+is only available during calibration.
+
+#### ABORT
+`ABORT`:  Aborts the calibration process, discarding the current results.
+This command is only available during drift calibration.
+
+### TEMPERATURE_PROBE_ENABLE
+`TEMPERATURE_PROBE_ENABLE ENABLE=[0|1]`: Sets temperature drift
+compensation on or off. If ENABLE is set to 0, drift compensation
+will be disabled, if set to 1 it is enabled.
+
 ### [tmcXXXX]
 
 The following commands are available when any of the
@@ -1410,44 +1669,10 @@ The following commands are available when the
 [z_tilt config section](Config_Reference.md#z_tilt) is enabled.
 
 #### Z_TILT_ADJUST
-`Z_TILT_ADJUST [HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This
+`Z_TILT_ADJUST [RETRIES=<value>] [RETRY_TOLERANCE=<value>]
-command will probe the points specified in the config and then make independent
+[HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This command
-adjustments to each Z stepper to compensate for tilt. See the PROBE command for
+will probe the points specified in the config and then make
-details on the optional probe parameters. The optional `HORIZONTAL_MOVE_Z`
+independent adjustments to each Z stepper to compensate for tilt. See
-value overrides the `horizontal_move_z` option specified in the config file.
+the PROBE command for details on the optional probe parameters. The
-
+optional `RETRIES`, `RETRY_TOLERANCE`, and `HORIZONTAL_MOVE_Z` values
-### [temperature_probe]
+override those options specified in the config file.
-
-The following commands are available when a
-[temperature_probe config section](Config_Reference.md#temperature_probe)
-is enabled.
-
-#### TEMPERATURE_PROBE_CALIBRATE
-`TEMPERATURE_PROBE_CALIBRATE [PROBE=<probe name>] [TARGET=<value>] [STEP=<value>]`:
-Initiates probe drift calibration for eddy current based probes.  The `TARGET`
-is a target temperature for the last sample.  When the temperature recorded
-during a sample exceeds the `TARGET` calibration will complete.  The `STEP`
-parameter sets temperature delta (in C) between samples. After a sample has
-been taken, this delta is used to schedule a call to `TEMPERATURE_PROBE_NEXT`.
-The default `STEP` is 2.
-
-#### TEMPERATURE_PROBE_NEXT
-`TEMPERATURE_PROBE_NEXT`: After calibration has started this command is run to
-take the next sample.  It is automatically scheduled to run when the delta
-specified by `STEP` has been reached, however its also possible to manually run
-this command to force a new sample.  This command is only available during
-calibration.
-
-#### TEMPERATURE_PROBE_COMPLETE:
-`TEMPERATURE_PROBE_COMPLETE`:  Can be used to end calibration and save the
-current result before the `TARGET` temperature is reached.  This command
-is only available during calibration.
-
-#### ABORT
-`ABORT`:  Aborts the calibration process, discarding the current results.
-This command is only available during drift calibration.
-
-### TEMPERATURE_PROBE_ENABLE
-`TEMPERATURE_PROBE_ENABLE ENABLE=[0|1]`: Sets temperature drift
-compensation on or off. If ENABLE is set to 0, drift compensation
-will be disabled, if set to 1 it is enabled.

docs/Installation.md

@@ -1,15 +1,20 @@
 # Installation
 
-These instructions assume the software will run on a Raspberry Pi
+These instructions assume the software will run on a Linux-based host
-computer in conjunction with OctoPrint. It is recommended that a
+running a Klipper-compatible front end. It is recommended that a
-Raspberry Pi 2 (or later) be used as the host machine (see the
+SBC(Small Board Computer) such as a Raspberry Pi or Debian-based Linux
+device be used as the host machine (see the
 [FAQ](FAQ.md#can-i-run-klipper-on-something-other-than-a-raspberry-pi-3)
-for other machines).
+for other options).
+
+For the purposes of these instructions, host relates to the Linux device and
+mcu relates to the printer board. SBC relates to the term Small Board Computer
+such as the Raspberry Pi.
 
 ## Obtain a Klipper Configuration File
 
 Most Klipper settings are determined by a "printer configuration file"
-that will be stored on the Raspberry Pi. An appropriate configuration
+printer.cfg, that will be stored on the host. An appropriate configuration
 file can often be found by looking in the Klipper
 [config directory](../config/) for a file starting with a "printer-"
 prefix that corresponds to the target printer. The Klipper
@@ -35,38 +40,51 @@ printer configuration file, then start with the closest example
 [config file](../config/) and use the Klipper
 [config reference](Config_Reference.md) for further information.
 
-## Prepping an OS image
+## Interacting with Klipper
 
-Start by installing [OctoPi](https://github.com/guysoft/OctoPi) on the
+Klipper is a 3d printer firmware, so it needs some way for the user to
-Raspberry Pi computer. Use OctoPi v0.17.0 or later - see the
+interact with it.
-[OctoPi releases](https://github.com/guysoft/OctoPi/releases) for
-release information. One should verify that OctoPi boots and that the
-OctoPrint web server works. After connecting to the OctoPrint web
-page, follow the prompt to upgrade OctoPrint to v1.4.2 or later.
 
-After installing OctoPi and upgrading OctoPrint, it will be necessary
+Currently the best choices are front ends that retrieve information through
-to ssh into the target machine to run a handful of system commands. If
+the [Moonraker web API](https://moonraker.readthedocs.io/) and there is also
-using a Linux or MacOS desktop, then the "ssh" software should already
+the option to use [Octoprint](https://octoprint.org/) to control Klipper.
-be installed on the desktop. There are free ssh clients available for
-other desktops (eg,
-[PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/)). Use the
-ssh utility to connect to the Raspberry Pi (`ssh pi@octopi` -- password
-is "raspberry") and run the following commands:
 
-```
+The choice is up to the user on what to use, but the underlying Klipper is the
-git clone https://github.com/Klipper3d/klipper
+same in all cases. We encourage users to research the options available and
-./klipper/scripts/install-octopi.sh
+make an informed decision.
-```
 
-The above will download Klipper, install some system dependencies,
+## Obtaining an OS image for SBC's
-setup Klipper to run at system startup, and start the Klipper host
+
-software. It will require an internet connection and it may take a few
+There are many ways to obtain an OS image for Klipper for SBC use, most depend on
-minutes to complete.
+what front end you wish to use. Some manufacturers 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"](https://docs-os.mainsail.xyz/), this has the option for Raspberry Pi
+and some OrangePi variants.
+
+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 an x86 Linux device, Ubuntu Server. Please note that Desktop
+variants are not recommended due to certain helper programs that can stop some
+Klipper functions from working and even mask access to some printer boards.
+
+KIAUH can be used to install Klipper and its associated programs on a variety
+of Linux-based systems that run a form of Debian. More information can be found
+at https://github.com/dw-0/kiauh
 
 ## Building and flashing the micro-controller
 
 To compile the micro-controller code, start by running these commands
-on the Raspberry Pi:
+on your host device:
 
 ```
 cd ~/klipper/
@@ -88,7 +106,7 @@ make
 If the comments at the top of the
 [printer configuration file](#obtain-a-klipper-configuration-file)
 describe custom steps for "flashing" the final image to the printer
-control board then follow those steps and then proceed to
+control board, then follow those steps and then proceed to
 [configuring OctoPrint](#configuring-octoprint-to-use-klipper).
 
 Otherwise, the following steps are often used to "flash" the printer
@@ -108,10 +126,40 @@ It should report something similar to the following:
 It's common for each printer to have its own unique serial port name.
 This unique name will be used when flashing the micro-controller. It's
 possible there may be multiple lines in the above output - if so,
-choose the line corresponding to the micro-controller (see the
+choose the line corresponding to the micro-controller. If many
+items are listed and the choice is ambiguous, unplug the board and
+run the command again, the missing item will be your print board(see the
 [FAQ](FAQ.md#wheres-my-serial-port) for more information).
 
-For common micro-controllers, the code can be flashed with something
+For common micro-controllers with STM32 or clone chips, LPC chips and
+others, it is usual that these need an initial Klipper flash via SD card.
+
+When flashing with this method, it is important to make sure that the
+print board is not connected with USB to the host, due to some boards
+being able to feed power back to the board and stopping a flash from
+occurring.
+
+Please note, that most print boards that use SD cards for flash will
+implement some kind of flash loop protection for when the sd card is left
+in place. There are two common methods:
+
+Filename Change Required (usually "stock" print boards):
+
+These boards require the firmware file to have a different name each
+time you flash (for example, firmware1.bin, firmware2.bin, etc.).
+If you reuse the same filename, the board may ignore it and not update.
+
+Automatic File Renaming (usually aftermarket print boards:
+
+Other boards allow using the same filename, commonly firmware.bin,
+but after flashing, the board renames the file to firmware.cur.
+This helps indicate the firmware was successfully flashed and prevents
+it from flashing again on the next startup.
+
+Before flashing, make sure to check which behavior your board follows.
+
+For common micro-controllers using Atmega chips, for example the 2560,
+the code can be flashed with something
 similar to:
 
 ```
@@ -123,53 +171,38 @@ sudo service klipper start
 Be sure to update the FLASH_DEVICE with the printer's unique serial
 port name.
 
-When flashing for the first time, make sure that OctoPrint is not
+For common micro-controllers using RP2040 chips, the code can be flashed
-connected directly to the printer (from the OctoPrint web page, under
+with something similar to:
-the "Connection" section, click "Disconnect").
 
-## Configuring OctoPrint to use Klipper
+```
+sudo service klipper stop
+make flash FLASH_DEVICE=first
+sudo service klipper start
+```
 
-The OctoPrint web server needs to be configured to communicate with
+It is important to note that RP2040 chips may need to be put into Boot mode
-the Klipper host software. Using a web browser, login to the OctoPrint
+before this operation.
-web page and then configure the following items:
 
-Navigate to the Settings tab (the wrench icon at the top of the
-page). Under "Serial Connection" in "Additional serial ports" add
-`/tmp/printer`. Then click "Save".
-
-Enter the Settings tab again and under "Serial Connection" change the
-"Serial Port" setting to `/tmp/printer`.
-
-In the Settings tab, navigate to the "Behavior" sub-tab and select the
-"Cancel any ongoing prints but stay connected to the printer"
-option. Click "Save".
-
-From the main page, under the "Connection" section (at the top left of
-the page) make sure the "Serial Port" is set to `/tmp/printer` and
-click "Connect". (If `/tmp/printer` is not an available selection then
-try reloading the page.)
-
-Once connected, navigate to the "Terminal" tab and type "status"
-(without the quotes) into the command entry box and click "Send". The
-terminal window will likely report there is an error opening the
-config file - that means OctoPrint is successfully communicating with
-Klipper. Proceed to the next section.
 
 ## Configuring Klipper
 
 The next step is to copy the
 [printer configuration file](#obtain-a-klipper-configuration-file) to
-the Raspberry Pi.
+the host.
 
-Arguably the easiest way to set the Klipper configuration file is to
+Arguably the easiest way to set the Klipper configuration file is using the
-use a desktop editor that supports editing files over the "scp" and/or
+built-in editors in Mainsail or Fluidd. These will allow the user to open
-"sftp" protocols. There are freely available tools that support this
+the configuration examples and save them to be printer.cfg.
-(eg, Notepad++, WinSCP, and Cyberduck). Load the printer config file
+
-in the editor and then save it as a file named `printer.cfg` in the
+Another option is to use a desktop editor that supports editing files
-home directory of the pi user (ie, `/home/pi/printer.cfg`).
+over the "scp" and/or "sftp" protocols. There are freely available tools
+that support this (eg, Notepad++, WinSCP, and Cyberduck).
+Load the printer config file in the editor and then save it as a file
+named "printer.cfg" in the home directory of the pi user
+(ie, /home/pi/printer.cfg).
 
 Alternatively, one can also copy and edit the file directly on the
-Raspberry Pi via ssh. That may look something like the following (be
+host via SSH. That may look something like the following (be
 sure to update the command to use the appropriate printer config
 filename):
 
@@ -200,9 +233,9 @@ the `[mcu]` section to look something similar to:
 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
+After creating and editing the file, it will be necessary to issue a
-"restart" command in the OctoPrint web terminal to load the config. A
+"restart" command in the command console to load the config. A
-"status" command will report the printer is ready if the Klipper
+"status" command will report that the printer is ready if the Klipper
 config file is successfully read and the micro-controller is
 successfully found and configured.
 
@@ -211,10 +244,10 @@ Klipper to report a configuration error. If an error occurs, make any
 necessary corrections to the printer config file and issue "restart"
 until "status" reports the printer is ready.
 
-Klipper reports error messages via the OctoPrint terminal tab. The
+Klipper reports error messages via the command console and pop-ups in
-"status" command can be used to re-report error messages. The default
+Fluidd and Mainsail. The "status" command can be used to re-report error
-Klipper startup script also places a log in **/tmp/klippy.log** which
+messages. A log is available and usually located at
-provides more detailed information.
+`~/printer_data/logs/klippy.log`.
 
 After Klipper reports that the printer is ready, proceed to the
 [config check document](Config_checks.md) to perform some basic checks

docs/Load_Cell.md

@@ -0,0 +1,489 @@
+# Load Cells
+
+This document describes Klipper's support for load cells. Basic load cell
+functionality can be used to read force data and to weigh things like filament.
+A calibrated force sensor is an important part of a load cell based probe.
+
+## Related Documentation
+
+* [load_cell Config Reference](Config_Reference.md#load_cell)
+* [load_cell G-Code Commands](G-Codes.md#load_cell)
+* [load_cell Status Reference](Status_Reference.md#load_cell)
+
+## Using `LOAD_CELL_DIAGNOSTIC`
+
+When you first connect a load cell its good practice to check for issues by
+running `LOAD_CELL_DIAGNOSTIC`. This tool collects 10 seconds of data from the
+load cell and resport statistics:
+
+```
+$ LOAD_CELL_DIAGNOSTIC
+// Collecting load cell data for 10 seconds...
+// Samples Collected: 3211
+// Measured samples per second: 332.0
+// Good samples: 3211, Saturated samples: 0, Unique values: 900
+// Sample range: [4.01% to 4.02%]
+// Sample range / sensor capacity: 0.00524%
+```
+
+Things you can check with this data:
+
+* The configured sample rate of the sensor should be close to the 'Measured
+  samples per second' value. If it is not you may have a configuration or wiring
+  issue.
+* 'Saturated samples' should be 0. If you have saturated samples it means the
+  load sell is seeing more force than it can measure.
+* 'Unique values' should be a large percentage of the 'Samples
+  Collected' value. If 'Unique values' is 1 it is very likely a wiring issue.
+* Tap or push on the sensor while `LOAD_CELL_DIAGNOSTIC` runs. If
+  things are working correctly this should increase the 'Sample range'.
+
+## Calibrating a Load Cell
+
+Load cells are calibrated using the `LOAD_CELL_CALIBRATE` command. This is an
+interactive calibration utility that walks you though a 3 step process:
+
+1. First use the `TARE` command to establish the zero force value. This is the
+   `reference_tare_counts` config value.
+2. Next you apply a known load or force to the load cell and run the
+   `CALIBRATE GRAMS=nnn` command. From this the `counts_per_gram` value is
+   calculated. See [the next section](#applying-a-known-force-or-load) for some
+   suggestions on how to do this.
+3. Finally, use the `ACCEPT` command to save the results.
+
+You can cancel the calibration process at any time with `ABORT`.
+
+### Applying a Known Force or Load
+
+The `CALIBRATE GRAMS=nnn` step can be accomplished in a number of ways. If your
+load cell is under a platform like a bed or filament holder it might be easiest
+to put a known mass on the platform. E.g. you could use a couple of 1KG filament
+spools.
+
+If your load cell is in the printer's toolhead a different approach is easier.
+Put a digital scale on the printers bed and gently lower the toolhead onto the
+scale (or raise the bed into the toolhead if your bed moves). You may be able to
+do this using the `FORCE_MOVE` command. But more likely you will have to
+manually moving the z axis with the motors off until the toolhead presses on the
+scale.
+
+A good calibration force would ideally be a large percentage of the load cell's
+rated capacity. E.g. if you have a 5Kg load cell you would ideally calibrate it
+with a 5kg mass. This might work well with under-bed sensors that have to
+support a lot of weight. For toolhead probes this may not be a load that your
+printer bed or toolhead can tolerate without damage. Do try to use at least 1Kg
+of force, most printers should tolerate this without issue.
+
+When calibrating make careful note of the values reported:
+
+```
+$ CALIBRATE GRAMS=555
+// Calibration value: -2.78% (-59803108), Counts/gram: 73039.78739,
+Total capacity: +/- 29.14Kg
+```
+
+The `Total capacity` should be close to the theoretical rating of the load cell
+based on the sensor's capacity. If it is much larger you could have used a
+higher gain setting in the sensor or a more sensitive load cell. This isn't as
+critical for 32bit and 24bit sensors but is much more critical for low bit width
+sensors.
+
+## Reading Force Data
+Force data can be read with a GCode command:
+
+```
+LOAD_CELL_READ
+// 10.6g (1.94%)
+```
+
+Data is also continuously read and can be consumed from the load_cell printer
+object in a macro:
+
+```
+{% set grams = printer.load_cell.force_g %}
+```
+
+This provides an average force over the last 1 second, similar to how
+temperature sensors work.
+
+## Taring a Load Cell
+Taring, sometimes called zeroing, sets the current weight reported by the
+load_cell to 0. This is useful for measuring relative to a known weight. e.g.
+when measuring a filament spool, using `LOAD_CELL_TARE` sets the weight to 0.
+Then as filament is printed the load_cell will report the weight of the
+filament used.
+
+```
+LOAD_CELL_TARE
+// Load cell tare value: 5.32% (445903)
+```
+
+The current tare value is reported in the printers status and can be read in
+a macro:
+
+```
+{% set tare_counts = printer.load_cell.tare_counts %}
+```
+
+# Load Cell Probes
+
+## Related Documentation
+
+* [load_cell_probe Config Reference](Config_Reference.md#load_cell_probe)
+* [load_cell_probe G-Code Commands](G-Codes.md#load_cell_probe)
+* [load_cell_probe Statuc Reference](Status_Reference.md#load_cell_probe)
+
+## Load Cell Probe Safety
+
+Because load cells are a direct nozzle contact probe there is a risk of
+damage to your printer if too much force is used. The load cell probing system
+includes a number of safety checks that try to keep your machine safe from
+excessive force to the toolhead. It's important to understand what they are
+and how they work as you can defeat most of them with poorly chosen config
+values.
+
+#### Calibration Check
+Every time a homing move starts, load_cell_probe checks
+that the load_cell is calibrated. If not it will stop the move with an error:
+`!! Load Cell not calibrated`.
+
+#### `counts_per_gram`
+This setting is used to convert raw sensor counts into grams. All the safety
+limits are in gram units for your convenience. If the `counts_per_gram`
+setting is not accurate you can easily exceed the safe force on the toolhead.
+You should never guess this value. Use `LOAD_CELL_CALIBRATE` to find your load
+cells actual `counts_per_gram`.
+
+#### `trigger_force`
+This is the force in grams that triggers the endstop to halt the homing move.
+When a homing move starts the endstop tares itself with the current reading
+from the load cell. `trigger_force` is measured from that tare value. There is
+always some overshoot of this value when the probe collides with the bed,
+so be conservative. e.g. a setting of 100g could result in 350g of peak force
+before the toolhead stops. This overshoot will increase with faster probing
+`speed`, a low ADC sample rate or [multi MCU homing](Multi_MCU_Homing.md).
+
+#### `reference_tare_counts`
+This is the baseline tare value that is set by `LOAD_CELL_CALIBRATE`.
+This value works with `force_safety_limit` to limit the maximum force on the
+toolhead.
+
+#### `force_safety_limit`
+This is the maximum absolute force, relative to `reference_tare_counts`,
+that the probe will allow while homing or probing. If the MCU sees this
+force exceeded it will shut down the printer with the error `!! Load cell
+endstop: too much force!`. There are a number of ways this can be triggered:
+
+The first risk this protects against is picking too large of a value for
+`drift_filter_cutoff_frequency`. This can cause the drift filter to filter out
+a probe event and continue the homing move. If this happens the
+`force_safety_limit` acts as a backup protection.
+
+The second problem is probing repeatedly in one place. Klipper does not retract
+the probe when doing a single `PROBE` command. This can result
+in force applied to the toolhead at the end of a probing cycle. Because
+external forces can vary greatly between probing locations,
+`load_cell_probe` performs a tare before beginning each probe. If you repeat
+the `PROBE` command, load_cell_probe will tare the endstop at the current force.
+Multiple cycles of this will result in ever-increasing force on the toolhead.
+`force_safety_limit` stops this cycle from running out of control.
+
+Another way this run-away can happen is damage to a strain gauge. If the metal
+part is permanently bent it will change the `reference_tare_counts` of the
+device. This puts the starting tare value much closer to the limit making it
+more likely to be violated. You want to be notified if this is happening
+because your hardware has been permanently damaged.
+
+The final way this can be triggered is due to temperature changes. If your
+strain gauges are heated their `reference_tare_counts` may be very different
+at ambient temperature vs operating temperature. In this case you may need
+to increase the `force_safety_limit` to allow for thermal changes.
+
+#### Load Cell Endstop Watchdog Task
+When homing the load_cell_endstop starts a task on the MCU to trac
+measurements arriving from the sensor. If the sensor fails to send
+measurements for 2 sample periods the watchdog will shut down the printer
+with an error `!! LoadCell Endstop timed out waiting on ADC data`.
+
+If this happens, the most likely cause is a fault from the ADC. Inadequate
+grounding of your printer can be the root cause. The frame, power supply
+case and pint bed should all be connected to ground. You may need to ground
+the frame in multiple places. Anodized aluminum extrusions do not conduct
+electricity well. You might need to sand the area where the grounding wire
+is attached to make good electrical contact.
+
+## Load Cell Probe Setup
+
+This section covers the process for commissioning a load cell probe.
+
+### Verify the Load Cell First
+
+A `[load_cell_probe]` is also a `[load_cell]` and G-code commands related to
+`[load_cell]` work with `[load_cell_probe]`. Before attempting to use a load
+cell probe, follow the directions for
+[calibrating the load cell](Load_Cell.md#calibrating-a-load-cell) with
+`CALIBRATE_LOAD_CELL` and checking its operation with `LOAD_CELL_DIAGNOSTIC`.
+
+### Verify Probe Operation With LOAD_CELL_TEST_TAP
+
+Use the command `LOAD_CELL_TEST_TAP` to test the operation of the load cell
+probe before actually trying to probe with it. This command detects taps,
+just like the PROBE command, but it does not move the z axis. By default, it
+listens for 3 taps before ending the test. You have 30 seconds to do each
+tap, if no taps are detected the command will time out.
+
+If this test fails, check your configuration and `LOAD_CELL_DIAGNOSTIC`
+carefully to look for issues.
+
+Load cell probes don't support the `QUERY_ENDSTOPS` or `QUERY_PROBE`
+commands. Use `LOAD_CELL_TEST_TAP` for testing functionality before probing.
+
+### Homing Macros
+
+Load cell probe is not an endstop and doesn't support `endstop:
+prove:z_virtual_endstop`. For the time being you'll need to configure your z
+axis with an MCU pin as its endstop. You won't actually be using the pin but
+for the time being you have to configure something.
+
+To home the axis with just the probe you need to set up a custom homing
+macro. This requires setting up
+[homing_override](Config_Reference.md#homing_override).
+
+Here is a simple macro that can accomplish this. Note that the
+`_HOME_Z_FROM_LAST_PROBE` macro has to be separate because of the way macros
+work. The sub-call is needed so that the `_HOME_Z_FROM_LAST_PROBE` macro can
+see the result of the probe in `printer.probe.last_z_result`.
+
+```gcode
+[gcode_macro _HOME_Z_FROM_LAST_PROBE]
+gcode:
+    {% set z_probed = printer.probe.last_z_result %}
+    {% set z_position = printer.toolhead.position[2] %}
+    {% set z_actual = z_position - z_probed %}
+    SET_KINEMATIC_POSITION Z={z_actual}
+
+[gcode_macro _HOME_Z]
+gcode:
+    SET_GCODE_OFFSET Z=0  # load cell probes dont need a Z offset
+    # position toolhead for homing Z, edit for your printers size
+    #G90  # absolute move
+    #G1 Y50 X50 F{5 * 60}  # move to X/Y position for homing
+
+    # soft home the z axis to its limit so it can be moved:
+    SET_KINEMATIC_POSITION Z={printer.toolhead.axis_maximum[2]}
+
+    # Fast approach and tap
+    PROBE PROBE_SPEED={5 * 60}  # override the speed for faster homing
+    _HOME_Z_FROM_LAST_PROBE
+
+    # lift z to 2mm
+    G91  # relative move
+    G1 Z2 F{5 * 60}
+
+    # probe at standard speed
+    PROBE
+    _HOME_Z_FROM_LAST_PROBE
+
+    # lift z to 10mm for clearance
+    G91  # relative move
+    G1 Z10 F{5 * 60}
+```
+
+### Suggested Probing Temperature
+
+Currently, we suggest keeping the nozzle temperature below the level that causes
+the filament to ooze while homing and probing. 140C is a good starting
+point. This temperature is also low enough not to scar PEI build surfaces.
+
+Fouling of the nozzle and the print bed due to oozing filament is the #1 source
+of probing error with the load cell probe. Klipper does not yet have a universal
+way to detect poor quality taps due to filament ooze. The existing code may
+decide that a tap is valid when it is of poor quality. Classifying these poor
+quality taps is an area of active research.
+
+Klipper also lacks support for re-locating a probe point if the
+location has become fouled by filament ooze. Modules like `quad_gantry_level`
+will repeatedly probe the same coordinates even if a probe previously failed
+there.
+
+Give the above it is strongly suggested not to probe at printing temperatures.
+
+### Hot Nozzle Protection
+
+The Voron project has a great macro for protecting your print surface from the
+hot nozzle. See [Voron Tap's
+`activate_gcode`](https://github.com/VoronDesign/Voron-Tap/blob/main/config/tap_klipper_instructions.md)
+
+It is highly suggested to add something like this to your config.
+
+### Nozzle Cleaning
+
+Before probing the nozzle should be clean. You could do this manually before
+every print. You can also implement a nozzle scrubber and automate the process.
+Here is a suggested sequence:
+
+1. Wait for the nozzle to heat up to probing temp (e.g. `M109 S140`)
+1. Home the machine (`G28`)
+1. Scrub the nozzle on a brush
+1. Heat soak the print bed
+1. Perform probing tasks: QGL, bed mesh etc.
+
+### Temperature Compensation for Nozzle Growth
+
+If you are probing at a safe temperature, the nozzle will expand after
+heating to printing temperatures. This will cause the nozzle to get longer
+and closer to the print surface. You can compensate for this with
+[[z_thermal_adjust]](Config_Reference.md#z_thermal_adjust). This adjustment will
+work across a range of printing
+temperatures from PLA to PC.
+
+#### Calculating the `temp_coeff` for `[z_thermal_adjust]`
+
+The easiest way to do this is to measure at 2 different temperatures.
+Ideally these should be the upper and lower limits of the printing
+temperature range. E.g. 180C and 290C. You can perform a `PROBE_ACCURACY` at
+both temperatures and then calculate the difference of the `average z` at both.
+
+The adjustment value is the change in nozzle length divided by the change in
+temperature. e.g.
+
+```
+temp_coeff = -0.05 / (290 - 180) = -0.00045455
+```
+
+The expected result is a negative number. Positive values for `temp_coeff` move
+the nozzle closer to the bed and negative values move it further away.
+Expect to have to move the nozzle further away as it gets longer when hot.
+
+#### Configure `[z_thermal_adjust]`
+Set up z_thermal_adjust to reference the `extruder` as the source of temperature
+data. E.g.:
+
+```
+[z_thermal_adjust nozzle]
+temp_coeff=-0.00045455
+sensor_type: temperature_combined
+sensor_list: extruder
+combination_method: max
+min_temp: 0
+max_temp: 400
+max_z_adjustment: 0.1
+```
+
+## Continuous Tare Filters for Toolhead Load Cells
+
+Klipper implements a configurable IIR filter on the MCU to provide continuous
+tareing of the load cell while probing. Continuous taring means the 0 value
+moves with drift caused by external factors like bowden tubes and thermal
+changes. This is aimed at toolhead sensors and moving beds that experience lots
+of external forces that change while probing.
+
+### Installing SciPy
+
+The filtering code uses the excellent [SciPy](https://scipy.org/) library to
+compute the filter coefficients based on the values your enter into the config.
+
+Pre-compiled SciPi builds are available for Python 3 on 32 bit Raspberry Pi
+systems. 32 bit + Python 3 is strongly recommended because it will streamline
+your installation experience. It does work with Python 2 but installation can
+take 30+ minutes and require installing additional tools.
+
+```bash
+~/klippy-env/bin/pip install scipy
+```
+
+### Filter Workbench
+
+The filter parameters should be selected based on drift seen on the printer
+during normal operation. A Jupyter notebook is provided in scripts,
+[filter_workbench.ipynb](../scripts/filter_workbench.ipynb), to perform a
+detailed investigation with real captured data and FFTs.
+
+### Filtering Suggestions
+
+For those just trying to get a filter working follow these suggestions:
+
+* The only essential option is `drift_filter_cutoff_frequency`. A conservative
+  starting value is `0.5`Hz. Prusa shipped the MK4 with a setting of `0.8`Hz and
+  the XL with `11.2`Hz. This is probably a safe range to experiment with. This
+  value should be increased only until normal drift due to bowden tube force is
+  eliminated. Setting this value too high will result in slow triggering and
+  excess force going through the toolhead.
+* Keep `trigger_force` low. The default is `75`g. The drift filter keeps the
+  internal grams value very close to 0 so a large trigger force is not needed.
+* Keep `force_safety_limit` to a conservative value. The default value is 2Kg
+  and should keep your toolhead safe while experimenting. If you hit this limit
+  the `drift_filter_cutoff_frequency` value may be too high.
+
+## Suggestions for Load Cell Tool Boards
+
+This section covers suggestions for those developing toolhead boards that want
+to support [load_cell_probe]
+
+### ADC Sensor Selection & Board Development Hints
+
+Ideally a sensor would meet these criteria:
+
+* At least 24 bits wide
+* Use SPI communications
+* Has a pin can be used to indicate sample ready without SPI communications.
+  This is often called the "data ready" or "DRDY" pin. Checking a pin is much
+  faster than running an SPI query.
+* Has a programmable gain amplifier gain setting of 128. This should eliminate
+  the need for a separate amplifier.
+* Indicates via SPI if the sensor has been reset. Detecting resets avoids
+  timing errors in homing and using noisy data at startup. It can also help
+  users
+  track down wiring and grounding issues.
+* A selectable sample rate between 350Hz and 2Khz. Very high sample rates don't
+  turn out to be beneficial in our 3D printers because they produce so much
+  noise
+  when moving fast. Sample rates below 250Hz will require slower probing speeds.
+  They also increase the force on the toolhead due to longer delays between
+  measurements. E.g. a 500Hz sensor moving at 5mm/s has the same safety factor
+  as
+  a 100Hz sensor moving at only 1mm/s.
+* If designing for under-bed applications, and you want to sense multiple load
+  cells, use a chip that can sample all of its inputs simultaneously. Multiplex
+  ADCs that require switching channels have a settling of several samples after
+  each channel switch making them unsuitable for probing applications.
+
+Implementing support for a new sensor chip is not particularly difficult with
+Klipper's `bulk_sensor` and `load_cell_endstop` infrastructure.
+
+### 5V Power Filtering
+
+It is strongly suggested to use larger capacitors than specified by the ADC chip
+manufacturer. ADC chips are usually targeted at low noise environments, like
+battery powered devices. Sensor manufacturers suggested application notes
+generally assume a quiet power supply. Treat their suggested capacitor values as
+minimums.
+
+3D printers put huge amounts of noise onto the 5V bus and this can ruin the
+sensor's accuracy. Test the sensor on the board with a typical 3D printer power
+supply and active stepper drivers before deciding on smoothing capacitor sizes.
+
+### Grounding & Ground Planes
+
+Analog ADC chips contain components that are very vulnerable to noise and
+ESD. A large ground plane on the first board layer under the chip can help with
+noise. Keep the chip away from power sections and DC to DC converters. The board
+should have proper grounding back to the DC supply.
+
+### HX711 and HX717 Notes
+
+This sensor is popular because of its low cost and availability in the
+supply chain. However, this is a sensor with some drawbacks:
+
+* The HX71x sensors use bit-bang communication which has a high overhead on the
+  MCU. Using a sensor that communicates via SPI would save resources on the tool
+  board's CPU.
+* The HX71x lacks a way to communicate reset events to the MCU. Klipper detects
+  resets with a timing heuristic but this is not ideal. Resets indicate a
+  problem with wiring or grounding.
+* For probing applications the HX717 version is strongly preferred because
+  of its higher sample rate (320 vs 80). Probing speed on the HX711 should be
+  limited to less than 2mm/s.
+* The sample rate on the HX71x cannot be set from klipper's config. If you have
+  the 10SPS version of the sensor (which is widely distributed) it needs to
+  be physically re-wired to run at 80SPS.

docs/Measuring_Resonances.md

@@ -1,24 +1,26 @@
 # Measuring Resonances
 
-Klipper has built-in support for the ADXL345, MPU-9250 and LIS2DW compatible
+Klipper has built-in support for the ADXL345, MPU-9250, LIS2DW and LIS3DH compatible
 accelerometers which can be used to measure resonance frequencies of the printer
 for different axes, and auto-tune [input shapers](Resonance_Compensation.md) to
 compensate for resonances. Note that using accelerometers requires some
-soldering and crimping. The ADXL345/LIS2DW can be connected to the SPI interface
+soldering and crimping. The ADXL345 can be connected to the SPI interface
 of a Raspberry Pi or MCU board (it needs to be reasonably fast). The MPU family can
 be connected to the I2C interface of a Raspberry Pi directly, or to an I2C
-interface of an MCU board that supports 400kbit/s *fast mode* in Klipper.
+interface of an MCU board that supports 400kbit/s *fast mode* in Klipper. The
+LIS2DW and LIS3DH can be connected to either SPI or I2C with the same considerations
+as above.
 
 When sourcing accelerometers, be aware that there are a variety of different PCB
 board designs and different clones of them. If it is going to be connected to a
 5V printer MCU ensure it has a voltage regulator and level shifters.
 
-For ADXL345s/LIS2DWs, make sure that the board supports SPI mode (a small number of
+For ADXL345s, make sure that the board supports SPI mode (a small number of
 boards appear to be hard-configured for I2C by pulling SDO to GND).
 
-For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500s there are also a variety of
+For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500/ICM20948s and LIS2DW/LIS3DH there
-board designs and clones with different I2C pull-up resistors which will need
+are also a variety of board designs and clones with different I2C pull-up resistors
-supplementing.
+which will need supplementing.
 
 ## MCUs with Klipper I2C *fast-mode* Support
 
@@ -27,6 +29,7 @@ supplementing.
 | Raspberry Pi | 3B+, Pico | 3A, 3A+, 3B, 4 |
 | AVR ATmega | ATmega328p | ATmega32u4, ATmega128, ATmega168, ATmega328, ATmega644p, ATmega1280, ATmega1284, ATmega2560 |
 | AVR AT90 | - | AT90usb646, AT90usb1286 |
+| SAMD | SAMC21G18 | SAMC21G18, SAMD21G18, SAMD21E18, SAMD21J18, SAMD21E15, SAMD51G19, SAMD51J19, SAMD51N19, SAMD51P20, SAME51J19, SAME51N19, SAME54P20 |
 
 ## Installation instructions
 
@@ -133,7 +136,7 @@ GND+SCL
 
 Note that unlike a cable shield, any GND(s) should be connected at both ends.
 
-#### MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500
+#### MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500/ICM20948
 
 These accelerometers have been tested to work over I2C on the RPi, RP2040 (Pico)
 and AVR at 400kbit/s (*fast mode*). Some MPU accelerometer modules include
@@ -149,7 +152,7 @@ Recommended connection scheme for I2C on the Raspberry Pi:
 | SDA | 03 | GPIO02 (SDA1) |
 | SCL | 05 | GPIO03 (SCL1) |
 
-The RPi has buit-in 1.8K pull-ups on both SCL and SDA.
+The RPi has built-in 1.8K pull-ups on both SCL and SDA.
 
 ![MPU-9250 connected to Pi](img/mpu9250-PI-fritzing.png)
 
@@ -212,12 +215,20 @@ 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
+~/klippy-env/bin/pip install -v "numpy<1.26"
 ```
 Note that, depending on the performance of the CPU, it may take *a lot*
 of time, up to 10-20 minutes. Be patient and wait for the completion of
 the installation. On some occasions, if the board has too little RAM
-the installation may fail and you will need to enable swap.
+the installation may fail and you will need to enable swap. Also note
+the forced version, due to newer versions of NumPY having requirements
+that may not be satisfied in some klipper python environments.
+
+Once installed please check that no errors show from the command:
+```
+~/klippy-env/bin/python -c 'import numpy;'
+```
+The correct output should simply be a new line.
 
 #### Configure ADXL345 With RPi
 
@@ -305,7 +316,7 @@ you'll also want to modify your `printer.cfg` file to include this:
 
 Restart Klipper via the `RESTART` command.
 
-#### Configure LIS2DW series
+#### Configure LIS2DW series over SPI
 
 ```
 [mcu lis]
@@ -344,6 +355,7 @@ accel_chip: mpu9250
 probe_points:
     100, 100, 20  # an example
 ```
+If you are using the ICM20948, replace instances of "mpu9250" with "icm20948".
 
 #### Configure MPU-9520 Compatibles With Pico
 
@@ -366,6 +378,7 @@ probe_points:
 [static_digital_output pico_3V3pwm] # Improve power stability
 pins: pico:gpio23
 ```
+If you are using the ICM20948, replace instances of "mpu9250" with "icm20948".
 
 #### Configure MPU-9520 Compatibles with AVR
 
@@ -384,6 +397,7 @@ accel_chip: mpu9250
 probe_points:
     100, 100, 20  # an example
 ```
+If you are using the ICM20948, replace instances of "mpu9250" with "icm20948".
 
 Restart Klipper via the `RESTART` command.
 
@@ -683,6 +697,24 @@ If you are doing a shaper re-calibration and the reported smoothing for the
 suggested shaper configuration is almost the same as what you got during the
 previous calibration, this step can be skipped.
 
+### Unreliable measurements of resonance frequencies
+
+Sometimes the resonance measurements can produce bogus results, leading to
+the incorrect suggestions for the input shapers. This can be caused by a
+variety of reasons, including running fans on the toolhead, incorrect
+position or non-rigid mounting of the accelerometer, or mechanical problems
+such as loose belts or binding or bumpy axis. Keep in mind that all fans
+should be disabled for resonance testing, especially the noisy ones, and
+that the accelerometer should be rigidly mounted on the corresponding
+moving part (e.g. on the bed itself for the bed slinger, or on the extruder
+of the printer itself and not the carriage, and some people get better
+results by mounting the accelerometer on the nozzle itself). As for
+mechanical problems, the user should inspect if there is any fault that
+can be fixed with a moving axis (e.g. linear guide rails cleaned up and
+lubricated and V-slot wheels tension adjusted correctly). If none of that
+helps, a user may try the other shapers from the produced list besides the
+one recommended by default.
+
 ### Testing custom axes
 
 `TEST_RESONANCES` command supports custom axes. While this is not really

docs/OctoPrint.md

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

docs/Overview.md

@@ -17,6 +17,7 @@ communication with the Klipper developers.
 ## Installation and Configuration
 
 - [Installation](Installation.md): Guide to installing Klipper.
+  - [Octoprint](OctoPrint.md): Guide to installing Octoprint with Klipper.
 - [Config Reference](Config_Reference.md): Description of config
   parameters.
   - [Rotation Distance](Rotation_Distance.md): Calculating the
@@ -100,3 +101,4 @@ communication with the Klipper developers.
 - [TSL1401CL filament width sensor](TSL1401CL_Filament_Width_Sensor.md)
 - [Hall filament width sensor](Hall_Filament_Width_Sensor.md)
 - [Eddy Current Inductive probe](Eddy_Probe.md)
+- [Load Cells](Load_Cell.md)

docs/Pressure_Advance.md

@@ -22,7 +22,7 @@ Use a slicer to generate g-code for the large hollow square found in
 [docs/prints/square_tower.stl](prints/square_tower.stl). Use a high
 speed (eg, 100mm/s), zero infill, and a coarse layer height (the layer
 height should be around 75% of the nozzle diameter). Make sure any
-"dynamic acceleration control" is disabled in the slicer.
+"dynamic acceleration control" and "scarf joint" seams are disabled in the slicer.
 
 Prepare for the test by issuing the following G-Code command:
 ```

docs/Releases.md

@@ -3,6 +3,35 @@
 History of Klipper releases. Please see
 [installation](Installation.md) for information on installing Klipper.
 
+## Klipper 0.13.0
+
+Available on 20250411. Major changes in this release:
+* New "sweeping vibrations" resonance testing mechanism for input
+  shaper.
+* Fans and GPIO pins can now be assigned a formula (via Jinja2
+  "templates").
+* The bed_mesh code now supports "adaptive bed mesh". The area probed
+  can be adjusted for the size of the print.
+* A new `minimum_cruise_ratio` kinematic parameter has been added (it
+  replaces the previous `max_accel_to_decel` parameter).
+* Several new sensors added:
+  * Support for ldc1612 "eddy" current sensors. This includes probing
+    support, fast "scan" probing, and temperature calibration.
+  * New support for "load cell" measurements. Support for connecting
+    these load cells to hx71x and ads1220 ADC sensors.
+  * Support for BMP180, BMP388, and SHT3x temperature sensors. Support
+    for measuring temperature with ADS1x1x ADC chips.
+  * New lis3dh and icm20948 accelerometer support.
+  * Support for mt6816 and mt6826s "hall angle" sensors.
+* New micro-controller improvements:
+  * New support for rp2350 micro-controllers.
+  * Existing rp2040 chips now run at 200MHz (up from 125Mhz).
+  * The micro-controller code can now define many more commands (up to
+    16384 from 128).
+* Other modules added: aip31068_spi, canbus_stats, error_mcu,
+  garbage_collection, pwm_cycle_time, pwm_tool, garbage_collection.
+* Several bug fixes and code cleanups.
+
 ## Klipper 0.12.0
 
 Available on 20231110. Major changes in this release:

docs/Skew_Correction.md

@@ -31,7 +31,7 @@ AD do not include the flats on the corners that some test objects provide.
 ## Configure your skew
 
 Make sure `[skew_correction]` is in printer.cfg.  You may now use the `SET_SKEW`
-gcode to configure skew_correcton.  For example, if your measured lengths
+gcode to configure skew_correction.  For example, if your measured lengths
 along XY are as follows:
 
 ```

docs/Slicers.md

@@ -121,5 +121,5 @@ M104 S0
 before the macro call. Also note that SuperSlicer has a
 "custom gcode only" button option, which achieves the same outcome.
 
-An example of a START_PRINT macro using these paramaters can
+An example of a START_PRINT macro using these parameters can
 be found in config/sample-macros.cfg

docs/Sponsors.md

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

docs/Status_Reference.md

@@ -31,7 +31,7 @@ The following information is available in the
 ## bed_screws
 
 The following information is available in the
-`Config_Reference.md#bed_screws` object:
+[bed_screws](Config_Reference.md#bed_screws) object:
 - `is_active`: Returns True if the bed screws adjustment tool is currently
 active.
 - `state`: The bed screws adjustment tool state. It is one of
@@ -39,6 +39,27 @@ the following strings: "adjust", "fine".
 - `current_screw`: The index for the current screw being adjusted.
 - `accepted_screws`: The number of accepted screws.
 
+## canbus_stats
+
+The following information is available in the `canbus_stats
+some_mcu_name` object (this object is automatically available if an
+mcu is configured to use canbus):
+- `rx_error`: The number of receive errors detected by the
+  micro-controller canbus hardware.
+- `tx_error`: The number of transmit errors detected by the
+  micro-controller canbus hardware.
+- `tx_retries`: The number of transmit attempts that were retried due
+  to bus contention or errors.
+- `bus_state`: The status of the interface (typically "active" for a
+  bus in normal operation, "warn" for a bus with recent errors,
+  "passive" for a bus that will no longer transmit canbus error
+  frames, or "off" for a bus that will no longer transmit or receive
+  messages).
+
+Note that only the rp2XXX micro-controllers report a non-zero
+`tx_retries` field and the rp2XXX micro-controllers always report
+`tx_error` as zero and `bus_state` as "active".
+
 ## configfile
 
 The following information is available in the `configfile` object
@@ -221,6 +242,8 @@ The following information is available in the `gcode_move` object
 The following information is available in the
 [hall_filament_width_sensor](Config_Reference.md#hall_filament_width_sensor)
 object:
+- all items from
+  [filament_switch_sensor](Status_Reference.md#filament_switch_sensor)
 - `is_active`: Returns True if the sensor is currently active.
 - `Diameter`: The last reading from the sensor in mm.
 - `Raw`: The last raw ADC reading from the sensor.
@@ -268,6 +291,9 @@ is always available):
 - `printing_time`: The amount of time (in seconds) the printer has
   been in the "Printing" state (as tracked by the idle_timeout
   module).
+- `idle_timeout`: The current 'timeout' (in seconds)
+   to wait for the gcode to be triggered.
+   (as set by [SET_IDLE_TIMEOUT](G-Codes.md#set_idle_timeout))
 
 ## led
 
@@ -277,11 +303,31 @@ The following information is available for each `[led led_name]`,
 - `color_data`: A list of color lists containing the RGBW values for a
   led in the chain. Each value is represented as a float from 0.0 to
   1.0. Each color list contains 4 items (red, green, blue, white) even
-  if the underyling LED supports fewer color channels. For example,
+  if the underlying LED supports fewer color channels. For example,
   the blue value (3rd item in color list) of the second neopixel in a
   chain could be accessed at
   `printer["neopixel <config_name>"].color_data[1][2]`.
 
+## load_cell
+
+The following information is available for each `[load_cell name]`:
+- 'is_calibrated': True/False is the load cell calibrated
+- 'counts_per_gram': The number of raw sensor counts that equals 1 gram of force
+- 'reference_tare_counts': The reference number of raw sensor counts for 0 force
+- 'tare_counts': The current number of raw sensor counts for 0 force
+- 'force_g': The force in grams, averaged over the last polling period.
+- 'min_force_g': The minimum force in grams, over the last polling period.
+- 'max_force_g': The maximum force in grams, over the last polling period.
+
+## load_cell_probe
+
+The following information is available for `[load_cell_probe]`:
+- all items from [load_cell](Status_Reference.md#load_cell)
+- all items from [probe](Status_Reference.md#probe)
+- 'endstop_tare_counts': the load cell probe keeps a tare value independent of
+the load cell. This re-set at the start of each probe.
+- 'last_trigger_time': timestamp of the last homing trigger
+
 ## manual_probe
 
 The following information is available in the
@@ -426,6 +472,12 @@ The following information is available in
 - `printer["servo <config_name>"].value`: The last setting of the PWM
   pin (a value between 0.0 and 1.0) associated with the servo.
 
+## skew_correction.py
+
+The following information is available in the `skew_correction` object (this
+object is available if any skew_correction is defined):
+- `current_profile_name`: Returns the name of the currently loaded SKEW_PROFILE.
+
 ## stepper_enable
 
 The following information is available in the `stepper_enable` object (this
@@ -530,6 +582,12 @@ on a cartesian, hybrid_corexy or hybrid_corexz robot
 - `carriage_1`: The mode of the carriage 1. Possible values are:
   "INACTIVE", "PRIMARY", "COPY", and "MIRROR".
 
+On a `generic_cartesian` kinematic, the following information is
+available in `dual_carriage`:
+- `carriages["<carriage>"]`: The mode of the carriage `<carriage>`. Possible
+  values are "INACTIVE" and "PRIMARY" for the primary carriage and "INACTIVE",
+  "PRIMARY", "COPY", and "MIRROR" for the dual carriage.
+
 ## virtual_sdcard
 
 The following information is available in the

docs/TMC_Drivers.md

@@ -83,6 +83,10 @@ setting `stealthchop_threshold` to 999999). Unfortunately, the drivers
 often produce poor and confusing results if the mode changes while the
 motor is at a non-zero velocity.
 
+Note that the `stealthchop_threshold` config option does not impact
+sensorless homing as Klipper automatically switches the TMC driver to
+an appropriate mode during sensorless homing operations.
+
 ## TMC interpolate setting introduces small position deviation
 
 The TMC driver `interpolate` setting may reduce the audible noise of

docs/_klipper3d/README

@@ -8,13 +8,13 @@ directory, the docs/CNAME file also controls the website generation.
 To test deploy the main English site locally one can use commands
 similar to the following:
 
-virtualenv ~/mkdocs-env && ~/python-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
+virtualenv ~/mkdocs-env && ~/mkdocs-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
 cd ~/klipper && ~/mkdocs-env/bin/mkdocs serve --config-file ~/klipper/docs/_klipper3d/mkdocs.yml -a 0.0.0.0:8000
 
 To test deploy the multi-language site locally one can use commands
 similar to the following:
 
-virtualenv ~/mkdocs-env && ~/python-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
+virtualenv ~/mkdocs-env && ~/mkdocs-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
 source ~/mkdocs-env/bin/activate
 cd ~/klipper && ./docs/_klipper3d/build-translations.sh
 cd ~/klipper/site/ && python3 -m http.server 8000

docs/_klipper3d/mkdocs-requirements.txt

@@ -1,5 +1,5 @@
 # Python virtualenv module requirements for mkdocs
-jinja2==3.1.4
+jinja2==3.1.6
 mkdocs==1.2.4
 mkdocs-material==8.1.3
 mkdocs-simple-hooks==0.1.3

docs/_klipper3d/mkdocs.yml

@@ -88,7 +88,9 @@ nav:
   - Config_Changes.md
   - Contact.md
   - Installation and Configuration:
+    - Installation:
       - Installation.md
+      - OctoPrint.md
     - Configuration Reference:
       - Config_Reference.md
       - Rotation_Distance.md
@@ -139,4 +141,5 @@ nav:
     - TSL1401CL_Filament_Width_Sensor.md
     - Hall_Filament_Width_Sensor.md
     - Eddy_Probe.md
+    - Load_Cell.md
   - Sponsors.md

docs/index.md

@@ -6,13 +6,14 @@ title: Welcome
 
 ![](img/klipper-logo.png){ .center-image }
 
-Klipper is a 3d-Printer firmware. It combines the power of a general
+The Klipper firmware controls 3d-Printers. It combines the power of a
-purpose computer with one or more micro-controllers. See the
+general purpose computer with one or more micro-controllers. See the
-[features](Features.md) document for more information on why you
+[features document](Features.md) for more information on why you
-should use Klipper.
+should use the Klipper software.
 
-To begin using Klipper start by [installing](Installation.md) it.
+Start by [installing Klipper software](Installation.md).
 
-Klipper is Free Software. Read the [documentation](Overview.md) or
+Klipper software is Free Software. Read the
-view [the Klipper code on github](https://github.com/Klipper3d/klipper).
+[documentation](Overview.md), see the [license](../COPYING), or
-We depend on the generous support from our [sponsors](Sponsors.md).
+[download](https://github.com/Klipper3d/Klipper) the software. We
+depend on the generous support from our [sponsors](Sponsors.md).

klippy/chelper/__init__.py

@@ -17,16 +17,16 @@ COMPILE_ARGS = ("-Wall -g -O2 -shared -fPIC"
                 " -o %s %s")
 SSE_FLAGS = "-mfpmath=sse -msse2"
 SOURCE_FILES = [
-    'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
+    'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'steppersync.c',
-    'pollreactor.c', 'msgblock.c', 'trdispatch.c',
+    'itersolve.c', 'trapq.c', 'pollreactor.c', 'msgblock.c', 'trdispatch.c',
     'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
     'kin_deltesian.c', 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c',
-    'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c',
+    'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c', 'kin_generic.c'
 ]
 DEST_LIB = "c_helper.so"
 OTHER_FILES = [
-    'list.h', 'serialqueue.h', 'stepcompress.h', 'itersolve.h', 'pyhelper.h',
+    'list.h', 'serialqueue.h', 'stepcompress.h', 'steppersync.h',
-    'trapq.h', 'pollreactor.h', 'msgblock.h'
+    'itersolve.h', 'pyhelper.h', 'trapq.h', 'pollreactor.h', 'msgblock.h'
 ]
 
 defs_stepcompress = """
@@ -54,25 +54,28 @@ defs_stepcompress = """
     int stepcompress_extract_old(struct stepcompress *sc
         , struct pull_history_steps *p, int max
         , uint64_t start_clock, uint64_t end_clock);
+    void stepcompress_set_stepper_kinematics(struct stepcompress *sc
+        , struct stepper_kinematics *sk);
+"""
 
+defs_steppersync = """
     struct steppersync *steppersync_alloc(struct serialqueue *sq
         , struct stepcompress **sc_list, int sc_num, int move_num);
     void steppersync_free(struct steppersync *ss);
     void steppersync_set_time(struct steppersync *ss
         , double time_offset, double mcu_freq);
-    int steppersync_flush(struct steppersync *ss, uint64_t move_clock
+    int32_t steppersync_generate_steps(struct steppersync *ss
-        , uint64_t clear_history_clock);
+        , double gen_steps_time, uint64_t flush_clock);
+    void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
+    int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
 """
 
 defs_itersolve = """
-    int32_t itersolve_generate_steps(struct stepper_kinematics *sk
-        , double flush_time);
     double itersolve_check_active(struct stepper_kinematics *sk
         , double flush_time);
     int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);
-    void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
+    void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
-    void itersolve_set_stepcompress(struct stepper_kinematics *sk
+        , double step_dist);
-        , struct stepcompress *sc, double step_dist);
     double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
         , double x, double y, double z);
     void itersolve_set_position(struct stepper_kinematics *sk
@@ -106,6 +109,12 @@ defs_trapq = """
 defs_kin_cartesian = """
     struct stepper_kinematics *cartesian_stepper_alloc(char axis);
 """
+defs_kin_generic_cartesian = """
+    struct stepper_kinematics *generic_cartesian_stepper_alloc(double a_x
+        , double a_y, double a_z);
+    void generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk
+        , double a_x, double a_y, double a_z);
+"""
 
 defs_kin_corexy = """
     struct stepper_kinematics *corexy_stepper_alloc(char type);
@@ -154,6 +163,7 @@ defs_kin_shaper = """
         , int n, double a[], double t[]);
     int input_shaper_set_sk(struct stepper_kinematics *sk
         , struct stepper_kinematics *orig_sk);
+    void input_shaper_update_sk(struct stepper_kinematics *sk);
     struct stepper_kinematics * input_shaper_alloc(void);
 """
 
@@ -175,7 +185,7 @@ defs_serialqueue = """
     };
 
     struct serialqueue *serialqueue_alloc(int serial_fd, char serial_fd_type
-        , int client_id);
+        , int client_id, char name[16]);
     void serialqueue_exit(struct serialqueue *sq);
     void serialqueue_free(struct serialqueue *sq);
     struct command_queue *serialqueue_alloc_commandqueue(void);
@@ -212,6 +222,7 @@ defs_trdispatch = """
 defs_pyhelper = """
     void set_python_logging_callback(void (*func)(const char *));
     double get_monotonic(void);
+    int set_thread_name(char name[16]);
 """
 
 defs_std = """
@@ -220,10 +231,11 @@ defs_std = """
 
 defs_all = [
     defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
-    defs_itersolve, defs_trapq, defs_trdispatch,
+    defs_steppersync, defs_itersolve, defs_trapq, defs_trdispatch,
     defs_kin_cartesian, defs_kin_corexy, defs_kin_corexz, defs_kin_delta,
     defs_kin_deltesian, defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch,
     defs_kin_extruder, defs_kin_shaper, defs_kin_idex,
+    defs_kin_generic_cartesian,
 ]
 
 # Update filenames to an absolute path
@@ -262,11 +274,33 @@ def do_build_code(cmd):
         logging.error(msg)
         raise Exception(msg)
 
+# Build the main c_helper.so c code library
+def check_build_c_library():
+    srcdir = os.path.dirname(os.path.realpath(__file__))
+    srcfiles = get_abs_files(srcdir, SOURCE_FILES)
+    ofiles = get_abs_files(srcdir, OTHER_FILES)
+    destlib = get_abs_files(srcdir, [DEST_LIB])[0]
+    if not check_build_code(srcfiles+ofiles+[__file__], destlib):
+        # Code already built
+        return destlib
+    # Select command line options
+    if check_gcc_option(SSE_FLAGS):
+        cmd = "%s %s %s" % (GCC_CMD, SSE_FLAGS, COMPILE_ARGS)
+    else:
+        cmd = "%s %s" % (GCC_CMD, COMPILE_ARGS)
+    # Invoke compiler
+    logging.info("Building C code module %s", DEST_LIB)
+    tempdestlib = get_abs_files(srcdir, ["_temp_" + DEST_LIB])[0]
+    do_build_code(cmd % (tempdestlib, ' '.join(srcfiles)))
+    # Rename from temporary file to final file name
+    os.rename(tempdestlib, destlib)
+    return destlib
+
 FFI_main = None
 FFI_lib = None
 pyhelper_logging_callback = None
 
-# Hepler invoked from C errorf() code to log errors
+# Helper invoked from C errorf() code to log errors
 def logging_callback(msg):
     logging.error(FFI_main.string(msg))
 
@@ -274,17 +308,9 @@ def logging_callback(msg):
 def get_ffi():
     global FFI_main, FFI_lib, pyhelper_logging_callback
     if FFI_lib is None:
-        srcdir = os.path.dirname(os.path.realpath(__file__))
+        # Check if library needs to be built, and build if so
-        srcfiles = get_abs_files(srcdir, SOURCE_FILES)
+        destlib = check_build_c_library()
-        ofiles = get_abs_files(srcdir, OTHER_FILES)
+        # Open library
-        destlib = get_abs_files(srcdir, [DEST_LIB])[0]
-        if check_build_code(srcfiles+ofiles+[__file__], destlib):
-            if check_gcc_option(SSE_FLAGS):
-                cmd = "%s %s %s" % (GCC_CMD, SSE_FLAGS, COMPILE_ARGS)
-            else:
-                cmd = "%s %s" % (GCC_CMD, COMPILE_ARGS)
-            logging.info("Building C code module %s", DEST_LIB)
-            do_build_code(cmd % (destlib, ' '.join(srcfiles)))
         FFI_main = cffi.FFI()
         for d in defs_all:
             FFI_main.cdef(d)

klippy/chelper/itersolve.c

@@ -26,8 +26,8 @@ struct timepos {
 
 // Generate step times for a portion of a move
 static int32_t
-itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
+itersolve_gen_steps_range(struct stepper_kinematics *sk, struct stepcompress *sc
-                          , double abs_start, double abs_end)
+                          , struct move *m, double abs_start, double abs_end)
 {
     sk_calc_callback calc_position_cb = sk->calc_position_cb;
     double half_step = .5 * sk->step_dist;
@@ -37,7 +37,7 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
     if (end > m->move_t)
         end = m->move_t;
     struct timepos old_guess = {start, sk->commanded_pos}, guess = old_guess;
-    int sdir = stepcompress_get_step_dir(sk->sc);
+    int sdir = stepcompress_get_step_dir(sc);
     int is_dir_change = 0, have_bracket = 0, check_oscillate = 0;
     double target = sk->commanded_pos + (sdir ? half_step : -half_step);
     double last_time=start, low_time=start, high_time=start + SEEK_TIME_RESET;
@@ -99,13 +99,13 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
             if (!have_bracket || high_time - low_time > .000000001) {
                 if (!is_dir_change && rel_dist >= -half_step)
                     // Avoid rollback if stepper fully reaches step position
-                    stepcompress_commit(sk->sc);
+                    stepcompress_commit(sc);
                 // Guess is not close enough - guess again with new time
                 continue;
             }
         }
         // Found next step - submit it
-        int ret = stepcompress_append(sk->sc, sdir, m->print_time, guess.time);
+        int ret = stepcompress_append(sc, sdir, m->print_time, guess.time);
         if (ret)
             return ret;
         target = sdir ? target+half_step+half_step : target-half_step-half_step;
@@ -143,8 +143,9 @@ check_active(struct stepper_kinematics *sk, struct move *m)
 }
 
 // Generate step times for a range of moves on the trapq
-int32_t __visible
+int32_t
-itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
+itersolve_generate_steps(struct stepper_kinematics *sk, struct stepcompress *sc
+                         , double flush_time)
 {
     double last_flush_time = sk->last_flush_time;
     sk->last_flush_time = flush_time;
@@ -170,15 +171,15 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
                 while (--skip_count && pm->print_time > abs_start)
                     pm = list_prev_entry(pm, node);
                 do {
-                    int32_t ret = itersolve_gen_steps_range(sk, pm, abs_start
+                    int32_t ret = itersolve_gen_steps_range(
-                                                            , flush_time);
+                        sk, sc, pm, abs_start, flush_time);
                     if (ret)
                         return ret;
                     pm = list_next_entry(pm, node);
                 } while (pm != m);
             }
             // Generate steps for this move
-            int32_t ret = itersolve_gen_steps_range(sk, m, last_flush_time
+            int32_t ret = itersolve_gen_steps_range(sk, sc, m, last_flush_time
                                                     , flush_time);
             if (ret)
                 return ret;
@@ -195,8 +196,8 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
                 double abs_end = force_steps_time;
                 if (abs_end > flush_time)
                     abs_end = flush_time;
-                int32_t ret = itersolve_gen_steps_range(sk, m, last_flush_time
+                int32_t ret = itersolve_gen_steps_range(
-                                                        , abs_end);
+                    sk, sc, m, last_flush_time, abs_end);
                 if (ret)
                     return ret;
                 skip_count = 1;
@@ -240,16 +241,10 @@ itersolve_is_active_axis(struct stepper_kinematics *sk, char axis)
 }
 
 void __visible
-itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq)
+itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
+                    , double step_dist)
 {
     sk->tq = tq;
-}
-
-void __visible
-itersolve_set_stepcompress(struct stepper_kinematics *sk
-                           , struct stepcompress *sc, double step_dist)
-{
-    sk->sc = sc;
     sk->step_dist = step_dist;
 }
 

klippy/chelper/itersolve.h

@@ -26,12 +26,11 @@ struct stepper_kinematics {
 };
 
 int32_t itersolve_generate_steps(struct stepper_kinematics *sk
-                                 , double flush_time);
+                                 , struct stepcompress *sc, double flush_time);
 double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
 int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);
-void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
+void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
-void itersolve_set_stepcompress(struct stepper_kinematics *sk
+                         , double step_dist);
-                                , struct stepcompress *sc, double step_dist);
 double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
                                           , double x, double y, double z);
 void itersolve_set_position(struct stepper_kinematics *sk

klippy/chelper/kin_generic.c

@@ -0,0 +1,52 @@
+// Generic cartesian kinematics stepper position calculation
+//
+// Copyright (C) 2024  Dmitry Butyugin <dmbutyugin@google.com>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <stddef.h> // offsetof
+#include <stdlib.h> // malloc
+#include <string.h> // memset
+#include "compiler.h" // __visible
+#include "itersolve.h" // struct stepper_kinematics
+#include "trapq.h" // move_get_coord
+
+struct generic_cartesian_stepper {
+    struct stepper_kinematics sk;
+    struct coord a;
+};
+
+static double
+generic_cartesian_stepper_calc_position(struct stepper_kinematics *sk
+                                        , struct move *m, double move_time)
+{
+    struct generic_cartesian_stepper *cs = container_of(
+            sk, struct generic_cartesian_stepper, sk);
+    struct coord c = move_get_coord(m, move_time);
+    return cs->a.x * c.x + cs->a.y * c.y + cs->a.z * c.z;
+}
+
+void __visible
+generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk
+                                     , double a_x, double a_y, double a_z)
+{
+    struct generic_cartesian_stepper *cs = container_of(
+            sk, struct generic_cartesian_stepper, sk);
+    cs->a.x = a_x;
+    cs->a.y = a_y;
+    cs->a.z = a_z;
+    cs->sk.active_flags = 0;
+    if (a_x) cs->sk.active_flags |= AF_X;
+    if (a_y) cs->sk.active_flags |= AF_Y;
+    if (a_z) cs->sk.active_flags |= AF_Z;
+}
+
+struct stepper_kinematics * __visible
+generic_cartesian_stepper_alloc(double a_x, double a_y, double a_z)
+{
+    struct generic_cartesian_stepper *cs = malloc(sizeof(*cs));
+    memset(cs, 0, sizeof(*cs));
+    cs->sk.calc_position_cb = generic_cartesian_stepper_calc_position;
+    generic_cartesian_stepper_set_coeffs(&cs->sk, a_x, a_y, a_z);
+    return &cs->sk;
+}

klippy/chelper/kin_idex.c

@@ -77,5 +77,6 @@ dual_carriage_alloc(void)
     struct dual_carriage_stepper *dc = malloc(sizeof(*dc));
     memset(dc, 0, sizeof(*dc));
     dc->m.move_t = 2. * DUMMY_T;
+    dc->x_scale = dc->y_scale = 1.0;
     return &dc->sk;
 }

klippy/chelper/kin_shaper.c

@@ -156,25 +156,14 @@ shaper_xy_calc_position(struct stepper_kinematics *sk, struct move *m
     return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
 }
 
-int __visible
+// A callback that forwards post_cb call to the original kinematics
-input_shaper_set_sk(struct stepper_kinematics *sk
+static void
-                    , struct stepper_kinematics *orig_sk)
+shaper_commanded_pos_post_fixup(struct stepper_kinematics *sk)
 {
     struct input_shaper *is = container_of(sk, struct input_shaper, sk);
-    if (orig_sk->active_flags == AF_X)
+    is->orig_sk->commanded_pos = sk->commanded_pos;
-        is->sk.calc_position_cb = shaper_x_calc_position;
+    is->orig_sk->post_cb(is->orig_sk);
-    else if (orig_sk->active_flags == AF_Y)
+    sk->commanded_pos = is->orig_sk->commanded_pos;
-        is->sk.calc_position_cb = shaper_y_calc_position;
-    else if (orig_sk->active_flags & (AF_X | AF_Y))
-        is->sk.calc_position_cb = shaper_xy_calc_position;
-    else
-        return -1;
-    is->sk.active_flags = orig_sk->active_flags;
-    is->orig_sk = orig_sk;
-    is->sk.commanded_pos = orig_sk->commanded_pos;
-    is->sk.last_flush_time = orig_sk->last_flush_time;
-    is->sk.last_move_time = orig_sk->last_move_time;
-    return 0;
 }
 
 static void
@@ -195,6 +184,44 @@ shaper_note_generation_time(struct input_shaper *is)
     is->sk.gen_steps_post_active = post_active;
 }
 
+void __visible
+input_shaper_update_sk(struct stepper_kinematics *sk)
+{
+    struct input_shaper *is = container_of(sk, struct input_shaper, sk);
+    if ((is->orig_sk->active_flags & (AF_X | AF_Y)) == (AF_X | AF_Y))
+        is->sk.calc_position_cb = shaper_xy_calc_position;
+    else if (is->orig_sk->active_flags & AF_X)
+        is->sk.calc_position_cb = shaper_x_calc_position;
+    else if (is->orig_sk->active_flags & AF_Y)
+        is->sk.calc_position_cb = shaper_y_calc_position;
+    is->sk.active_flags = is->orig_sk->active_flags;
+    shaper_note_generation_time(is);
+}
+
+int __visible
+input_shaper_set_sk(struct stepper_kinematics *sk
+                    , struct stepper_kinematics *orig_sk)
+{
+    struct input_shaper *is = container_of(sk, struct input_shaper, sk);
+    if (orig_sk->active_flags == AF_X)
+        is->sk.calc_position_cb = shaper_x_calc_position;
+    else if (orig_sk->active_flags == AF_Y)
+        is->sk.calc_position_cb = shaper_y_calc_position;
+    else if (orig_sk->active_flags & (AF_X | AF_Y))
+        is->sk.calc_position_cb = shaper_xy_calc_position;
+    else
+        return -1;
+    is->sk.active_flags = orig_sk->active_flags;
+    is->orig_sk = orig_sk;
+    is->sk.commanded_pos = orig_sk->commanded_pos;
+    is->sk.last_flush_time = orig_sk->last_flush_time;
+    is->sk.last_move_time = orig_sk->last_move_time;
+    if (orig_sk->post_cb) {
+        is->sk.post_cb = shaper_commanded_pos_post_fixup;
+    }
+    return 0;
+}
+
 int __visible
 input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
                                , int n, double a[], double t[])

klippy/chelper/pyhelper.c

@@ -10,6 +10,8 @@
 #include <stdio.h> // fprintf
 #include <string.h> // strerror
 #include <time.h> // struct timespec
+#include <linux/prctl.h>  // PR_SET_NAME
+#include <sys/prctl.h>  // prctl
 #include "compiler.h" // __visible
 #include "pyhelper.h" // get_monotonic
 
@@ -92,3 +94,10 @@ dump_string(char *outbuf, int outbuf_size, char *inbuf, int inbuf_size)
     *o = '\0';
     return outbuf;
 }
+
+// Set custom thread names
+int __visible
+set_thread_name(char name[16])
+{
+    return prctl(PR_SET_NAME, name);
+}

klippy/chelper/pyhelper.h

@@ -7,5 +7,6 @@ void set_python_logging_callback(void (*func)(const char *));
 void errorf(const char *fmt, ...) __attribute__ ((format (printf, 1, 2)));
 void report_errno(char *where, int rc);
 char *dump_string(char *outbuf, int outbuf_size, char *inbuf, int inbuf_size);
+int set_thread_name(char name[16]);
 
 #endif // pyhelper.h

klippy/chelper/serialqueue.c

@@ -43,6 +43,7 @@ struct serialqueue {
     uint8_t need_sync;
     int input_pos;
     // Threading
+    char name[16];
     pthread_t tid;
     pthread_mutex_t lock; // protects variables below
     pthread_cond_t cond;
@@ -612,6 +613,7 @@ static void *
 background_thread(void *data)
 {
     struct serialqueue *sq = data;
+    set_thread_name(sq->name);
     pollreactor_run(sq->pr);
 
     pthread_mutex_lock(&sq->lock);
@@ -623,13 +625,16 @@ background_thread(void *data)
 
 // Create a new 'struct serialqueue' object
 struct serialqueue * __visible
-serialqueue_alloc(int serial_fd, char serial_fd_type, int client_id)
+serialqueue_alloc(int serial_fd, char serial_fd_type, int client_id
+                  , char name[16])
 {
     struct serialqueue *sq = malloc(sizeof(*sq));
     memset(sq, 0, sizeof(*sq));
     sq->serial_fd = serial_fd;
     sq->serial_fd_type = serial_fd_type;
     sq->client_id = client_id;
+    strncpy(sq->name, name, sizeof(sq->name));
+    sq->name[sizeof(sq->name)-1] = '\0';
 
     int ret = pipe(sq->pipe_fds);
     if (ret)

klippy/chelper/serialqueue.h

@@ -27,7 +27,7 @@ struct pull_queue_message {
 
 struct serialqueue;
 struct serialqueue *serialqueue_alloc(int serial_fd, char serial_fd_type
-                                      , int client_id);
+                                      , int client_id, char name[16]);
 void serialqueue_exit(struct serialqueue *sq);
 void serialqueue_free(struct serialqueue *sq);
 struct command_queue *serialqueue_alloc_commandqueue(void);

klippy/chelper/stepcompress.c

@@ -1,6 +1,6 @@
 // Stepper pulse schedule compression
 //
-// Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2016-2025  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
@@ -21,6 +21,7 @@
 #include <stdlib.h> // malloc
 #include <string.h> // memset
 #include "compiler.h" // DIV_ROUND_UP
+#include "itersolve.h" // itersolve_generate_steps
 #include "pyhelper.h" // errorf
 #include "serialqueue.h" // struct queue_message
 #include "stepcompress.h" // stepcompress_alloc
@@ -46,6 +47,8 @@ struct stepcompress {
     // History tracking
     int64_t last_position;
     struct list_head history_list;
+    // Itersolve reference
+    struct stepper_kinematics *sk;
 };
 
 struct step_move {
@@ -276,9 +279,9 @@ stepcompress_set_invert_sdir(struct stepcompress *sc, uint32_t invert_sdir)
     }
 }
 
-// Helper to free items from the history_list
+// Expire the stepcompress history older than the given clock
-static void
+void
-free_history(struct stepcompress *sc, uint64_t end_clock)
+stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock)
 {
     while (!list_empty(&sc->history_list)) {
         struct history_steps *hs = list_last_entry(
@@ -290,13 +293,6 @@ free_history(struct stepcompress *sc, uint64_t end_clock)
     }
 }
 
-// Expire the stepcompress history older than the given clock
-static void
-stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock)
-{
-    free_history(sc, end_clock);
-}
-
 // Free memory associated with a 'stepcompress' object
 void __visible
 stepcompress_free(struct stepcompress *sc)
@@ -305,7 +301,7 @@ stepcompress_free(struct stepcompress *sc)
         return;
     free(sc->queue);
     message_queue_free(&sc->msg_queue);
-    free_history(sc, UINT64_MAX);
+    stepcompress_history_expire(sc, UINT64_MAX);
     free(sc);
 }
 
@@ -321,6 +317,12 @@ stepcompress_get_step_dir(struct stepcompress *sc)
     return sc->next_step_dir;
 }
 
+struct list_head *
+stepcompress_get_msg_queue(struct stepcompress *sc)
+{
+    return &sc->msg_queue;
+}
+
 // Determine the "print time" of the last_step_clock
 static void
 calc_last_step_print_time(struct stepcompress *sc)
@@ -330,7 +332,7 @@ calc_last_step_print_time(struct stepcompress *sc)
 }
 
 // Set the conversion rate of 'print_time' to mcu clock
-static void
+void
 stepcompress_set_time(struct stepcompress *sc
                       , double time_offset, double mcu_freq)
 {
@@ -664,164 +666,25 @@ stepcompress_extract_old(struct stepcompress *sc, struct pull_history_steps *p
     return res;
 }
 
-
+// Store a reference to stepper_kinematics
-/****************************************************************
- * Step compress synchronization
- ****************************************************************/
-
-// The steppersync object is used to synchronize the output of mcu
-// step commands.  The mcu can only queue a limited number of step
-// commands - this code tracks when items on the mcu step queue become
-// free so that new commands can be transmitted.  It also ensures the
-// mcu step queue is ordered between steppers so that no stepper
-// starves the other steppers of space in the mcu step queue.
-
-struct steppersync {
-    // Serial port
-    struct serialqueue *sq;
-    struct command_queue *cq;
-    // Storage for associated stepcompress objects
-    struct stepcompress **sc_list;
-    int sc_num;
-    // Storage for list of pending move clocks
-    uint64_t *move_clocks;
-    int num_move_clocks;
-};
-
-// Allocate a new 'steppersync' object
-struct steppersync * __visible
-steppersync_alloc(struct serialqueue *sq, struct stepcompress **sc_list
-                  , int sc_num, int move_num)
-{
-    struct steppersync *ss = malloc(sizeof(*ss));
-    memset(ss, 0, sizeof(*ss));
-    ss->sq = sq;
-    ss->cq = serialqueue_alloc_commandqueue();
-
-    ss->sc_list = malloc(sizeof(*sc_list)*sc_num);
-    memcpy(ss->sc_list, sc_list, sizeof(*sc_list)*sc_num);
-    ss->sc_num = sc_num;
-
-    ss->move_clocks = malloc(sizeof(*ss->move_clocks)*move_num);
-    memset(ss->move_clocks, 0, sizeof(*ss->move_clocks)*move_num);
-    ss->num_move_clocks = move_num;
-
-    return ss;
-}
-
-// Free memory associated with a 'steppersync' object
 void __visible
-steppersync_free(struct steppersync *ss)
+stepcompress_set_stepper_kinematics(struct stepcompress *sc
+                                    , struct stepper_kinematics *sk)
 {
-    if (!ss)
+    sc->sk = sk;
-        return;
-    free(ss->sc_list);
-    free(ss->move_clocks);
-    serialqueue_free_commandqueue(ss->cq);
-    free(ss);
 }
 
-// Set the conversion rate of 'print_time' to mcu clock
+// Generate steps (via itersolve) and flush
-void __visible
+int32_t
-steppersync_set_time(struct steppersync *ss, double time_offset
+stepcompress_generate_steps(struct stepcompress *sc, double gen_steps_time
-                     , double mcu_freq)
+                            , uint64_t flush_clock)
 {
-    int i;
+    if (!sc->sk)
-    for (i=0; i<ss->sc_num; i++) {
+        return 0;
-        struct stepcompress *sc = ss->sc_list[i];
+    // Generate steps
-        stepcompress_set_time(sc, time_offset, mcu_freq);
+    int32_t ret = itersolve_generate_steps(sc->sk, sc, gen_steps_time);
-    }
-}
-
-// Expire the stepcompress history before the given clock time
-static void
-steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
-{
-    int i;
-    for (i = 0; i < ss->sc_num; i++)
-    {
-        struct stepcompress *sc = ss->sc_list[i];
-        stepcompress_history_expire(sc, end_clock);
-    }
-}
-
-// Implement a binary heap algorithm to track when the next available
-// 'struct move' in the mcu will be available
-static void
-heap_replace(struct steppersync *ss, uint64_t req_clock)
-{
-    uint64_t *mc = ss->move_clocks;
-    int nmc = ss->num_move_clocks, pos = 0;
-    for (;;) {
-        int child1_pos = 2*pos+1, child2_pos = 2*pos+2;
-        uint64_t child2_clock = child2_pos < nmc ? mc[child2_pos] : UINT64_MAX;
-        uint64_t child1_clock = child1_pos < nmc ? mc[child1_pos] : UINT64_MAX;
-        if (req_clock <= child1_clock && req_clock <= child2_clock) {
-            mc[pos] = req_clock;
-            break;
-        }
-        if (child1_clock < child2_clock) {
-            mc[pos] = child1_clock;
-            pos = child1_pos;
-        } else {
-            mc[pos] = child2_clock;
-            pos = child2_pos;
-        }
-    }
-}
-
-// Find and transmit any scheduled steps prior to the given 'move_clock'
-int __visible
-steppersync_flush(struct steppersync *ss, uint64_t move_clock
-                  , uint64_t clear_history_clock)
-{
-    // Flush each stepcompress to the specified move_clock
-    int i;
-    for (i=0; i<ss->sc_num; i++) {
-        int ret = stepcompress_flush(ss->sc_list[i], move_clock);
     if (ret)
         return ret;
-    }
+    // Flush steps
-
+    return stepcompress_flush(sc, flush_clock);
-    // Order commands by the reqclock of each pending command
-    struct list_head msgs;
-    list_init(&msgs);
-    for (;;) {
-        // Find message with lowest reqclock
-        uint64_t req_clock = MAX_CLOCK;
-        struct queue_message *qm = NULL;
-        for (i=0; i<ss->sc_num; i++) {
-            struct stepcompress *sc = ss->sc_list[i];
-            if (!list_empty(&sc->msg_queue)) {
-                struct queue_message *m = list_first_entry(
-                    &sc->msg_queue, struct queue_message, node);
-                if (m->req_clock < req_clock) {
-                    qm = m;
-                    req_clock = m->req_clock;
-                }
-            }
-        }
-        if (!qm || (qm->min_clock && req_clock > move_clock))
-            break;
-
-        uint64_t next_avail = ss->move_clocks[0];
-        if (qm->min_clock)
-            // The qm->min_clock field is overloaded to indicate that
-            // the command uses the 'move queue' and to store the time
-            // that move queue item becomes available.
-            heap_replace(ss, qm->min_clock);
-        // Reset the min_clock to its normal meaning (minimum transmit time)
-        qm->min_clock = next_avail;
-
-        // Batch this command
-        list_del(&qm->node);
-        list_add_tail(&qm->node, &msgs);
-    }
-
-    // Transmit commands
-    if (!list_empty(&msgs))
-        serialqueue_send_batch(ss->sq, ss->cq, &msgs);
-
-    steppersync_history_expire(ss, clear_history_clock);
-    return 0;
 }

klippy/chelper/stepcompress.h

@@ -17,9 +17,13 @@ void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
                        , int32_t set_next_step_dir_msgtag);
 void stepcompress_set_invert_sdir(struct stepcompress *sc
                                   , uint32_t invert_sdir);
+void stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock);
 void stepcompress_free(struct stepcompress *sc);
 uint32_t stepcompress_get_oid(struct stepcompress *sc);
 int stepcompress_get_step_dir(struct stepcompress *sc);
+struct list_head *stepcompress_get_msg_queue(struct stepcompress *sc);
+void stepcompress_set_time(struct stepcompress *sc
+                           , double time_offset, double mcu_freq);
 int stepcompress_append(struct stepcompress *sc, int sdir
                         , double print_time, double step_time);
 int stepcompress_commit(struct stepcompress *sc);
@@ -34,15 +38,11 @@ int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
 int stepcompress_extract_old(struct stepcompress *sc
                              , struct pull_history_steps *p, int max
                              , uint64_t start_clock, uint64_t end_clock);
-
+struct stepper_kinematics;
-struct serialqueue;
+void stepcompress_set_stepper_kinematics(struct stepcompress *sc
-struct steppersync *steppersync_alloc(
+                                         , struct stepper_kinematics *sk);
-    struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
+int32_t stepcompress_generate_steps(struct stepcompress *sc
-    , int move_num);
+                                    , double gen_steps_time
-void steppersync_free(struct steppersync *ss);
+                                    , uint64_t flush_clock);
-void steppersync_set_time(struct steppersync *ss, double time_offset
-                          , double mcu_freq);
-int steppersync_flush(struct steppersync *ss, uint64_t move_clock
-                      , uint64_t clear_history_clock);
 
 #endif // stepcompress.h

klippy/chelper/steppersync.c

@@ -0,0 +1,177 @@
+// Stepper step transmit synchronization
+//
+// Copyright (C) 2016-2025  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+// The steppersync object is used to synchronize the output of mcu
+// step commands.  The mcu can only queue a limited number of step
+// commands - this code tracks when items on the mcu step queue become
+// free so that new commands can be transmitted.  It also ensures the
+// mcu step queue is ordered between steppers so that no stepper
+// starves the other steppers of space in the mcu step queue.
+
+#include <stddef.h> // offsetof
+#include <stdlib.h> // malloc
+#include <string.h> // memset
+#include "compiler.h" // __visible
+#include "serialqueue.h" // struct queue_message
+#include "stepcompress.h" // stepcompress_flush
+#include "steppersync.h" // steppersync_alloc
+
+struct steppersync {
+    // Serial port
+    struct serialqueue *sq;
+    struct command_queue *cq;
+    // Storage for associated stepcompress objects
+    struct stepcompress **sc_list;
+    int sc_num;
+    // Storage for list of pending move clocks
+    uint64_t *move_clocks;
+    int num_move_clocks;
+};
+
+// Allocate a new 'steppersync' object
+struct steppersync * __visible
+steppersync_alloc(struct serialqueue *sq, struct stepcompress **sc_list
+                  , int sc_num, int move_num)
+{
+    struct steppersync *ss = malloc(sizeof(*ss));
+    memset(ss, 0, sizeof(*ss));
+    ss->sq = sq;
+    ss->cq = serialqueue_alloc_commandqueue();
+
+    ss->sc_list = malloc(sizeof(*sc_list)*sc_num);
+    memcpy(ss->sc_list, sc_list, sizeof(*sc_list)*sc_num);
+    ss->sc_num = sc_num;
+
+    ss->move_clocks = malloc(sizeof(*ss->move_clocks)*move_num);
+    memset(ss->move_clocks, 0, sizeof(*ss->move_clocks)*move_num);
+    ss->num_move_clocks = move_num;
+
+    return ss;
+}
+
+// Free memory associated with a 'steppersync' object
+void __visible
+steppersync_free(struct steppersync *ss)
+{
+    if (!ss)
+        return;
+    free(ss->sc_list);
+    free(ss->move_clocks);
+    serialqueue_free_commandqueue(ss->cq);
+    free(ss);
+}
+
+// Set the conversion rate of 'print_time' to mcu clock
+void __visible
+steppersync_set_time(struct steppersync *ss, double time_offset
+                     , double mcu_freq)
+{
+    int i;
+    for (i=0; i<ss->sc_num; i++) {
+        struct stepcompress *sc = ss->sc_list[i];
+        stepcompress_set_time(sc, time_offset, mcu_freq);
+    }
+}
+
+// Generate steps and flush stepcompress objects
+int32_t __visible
+steppersync_generate_steps(struct steppersync *ss, double gen_steps_time
+                           , uint64_t flush_clock)
+{
+    int i;
+    for (i=0; i<ss->sc_num; i++) {
+        struct stepcompress *sc = ss->sc_list[i];
+        int32_t ret = stepcompress_generate_steps(sc, gen_steps_time
+                                                  , flush_clock);
+        if (ret)
+            return ret;
+    }
+    return 0;
+}
+
+// Expire the stepcompress history before the given clock time
+void __visible
+steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
+{
+    int i;
+    for (i = 0; i < ss->sc_num; i++) {
+        struct stepcompress *sc = ss->sc_list[i];
+        stepcompress_history_expire(sc, end_clock);
+    }
+}
+
+// Implement a binary heap algorithm to track when the next available
+// 'struct move' in the mcu will be available
+static void
+heap_replace(struct steppersync *ss, uint64_t req_clock)
+{
+    uint64_t *mc = ss->move_clocks;
+    int nmc = ss->num_move_clocks, pos = 0;
+    for (;;) {
+        int child1_pos = 2*pos+1, child2_pos = 2*pos+2;
+        uint64_t child2_clock = child2_pos < nmc ? mc[child2_pos] : UINT64_MAX;
+        uint64_t child1_clock = child1_pos < nmc ? mc[child1_pos] : UINT64_MAX;
+        if (req_clock <= child1_clock && req_clock <= child2_clock) {
+            mc[pos] = req_clock;
+            break;
+        }
+        if (child1_clock < child2_clock) {
+            mc[pos] = child1_clock;
+            pos = child1_pos;
+        } else {
+            mc[pos] = child2_clock;
+            pos = child2_pos;
+        }
+    }
+}
+
+// Find and transmit any scheduled steps prior to the given 'move_clock'
+int __visible
+steppersync_flush(struct steppersync *ss, uint64_t move_clock)
+{
+    // Order commands by the reqclock of each pending command
+    struct list_head msgs;
+    list_init(&msgs);
+    for (;;) {
+        // Find message with lowest reqclock
+        uint64_t req_clock = MAX_CLOCK;
+        struct queue_message *qm = NULL;
+        int i;
+        for (i=0; i<ss->sc_num; i++) {
+            struct stepcompress *sc = ss->sc_list[i];
+            struct list_head *sc_mq = stepcompress_get_msg_queue(sc);
+            if (!list_empty(sc_mq)) {
+                struct queue_message *m = list_first_entry(
+                    sc_mq, struct queue_message, node);
+                if (m->req_clock < req_clock) {
+                    qm = m;
+                    req_clock = m->req_clock;
+                }
+            }
+        }
+        if (!qm || (qm->min_clock && req_clock > move_clock))
+            break;
+
+        uint64_t next_avail = ss->move_clocks[0];
+        if (qm->min_clock)
+            // The qm->min_clock field is overloaded to indicate that
+            // the command uses the 'move queue' and to store the time
+            // that move queue item becomes available.
+            heap_replace(ss, qm->min_clock);
+        // Reset the min_clock to its normal meaning (minimum transmit time)
+        qm->min_clock = next_avail;
+
+        // Batch this command
+        list_del(&qm->node);
+        list_add_tail(&qm->node, &msgs);
+    }
+
+    // Transmit commands
+    if (!list_empty(&msgs))
+        serialqueue_send_batch(ss->sq, ss->cq, &msgs);
+
+    return 0;
+}

klippy/chelper/steppersync.h

@@ -0,0 +1,18 @@
+#ifndef STEPPERSYNC_H
+#define STEPPERSYNC_H
+
+#include <stdint.h> // uint64_t
+
+struct serialqueue;
+struct steppersync *steppersync_alloc(
+    struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
+    , int move_num);
+void steppersync_free(struct steppersync *ss);
+void steppersync_set_time(struct steppersync *ss, double time_offset
+                          , double mcu_freq);
+int32_t steppersync_generate_steps(struct steppersync *ss, double gen_steps_time
+                                   , uint64_t flush_clock);
+void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
+int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
+
+#endif // steppersync.h

klippy/configfile.py

@@ -1,12 +1,17 @@
 # Code for reading and writing the Klipper config file
 #
-# Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, os, glob, re, time, logging, configparser, io
 
 error = configparser.Error
 
+
+######################################################################
+# Config section parsing helper
+######################################################################
+
 class sentinel:
     pass
 
@@ -134,30 +139,13 @@ class ConfigWrapper:
         pconfig = self.printer.lookup_object("configfile")
         pconfig.deprecate(self.section, option, value, msg)
 
-AUTOSAVE_HEADER = """
-#*# <---------------------- SAVE_CONFIG ---------------------->
-#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
-#*#
-"""
 
-class PrinterConfig:
+######################################################################
-    def __init__(self, printer):
+# Config file parsing (with include file support)
-        self.printer = printer
+######################################################################
-        self.autosave = None
+
-        self.deprecated = {}
+class ConfigFileReader:
-        self.runtime_warnings = []
+    def read_config_file(self, filename):
-        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()
@@ -167,6 +155,102 @@ class PrinterConfig:
             logging.exception(msg)
             raise error(msg)
         return data.replace('\r\n', '\n')
+    def build_config_string(self, fileconfig):
+        sfile = io.StringIO()
+        fileconfig.write(sfile)
+        return sfile.getvalue().strip()
+    def append_fileconfig(self, fileconfig, data, filename):
+        if not data:
+            return
+        # Strip trailing comments
+        lines = data.split('\n')
+        for i, line in enumerate(lines):
+            pos = line.find('#')
+            if pos >= 0:
+                lines[i] = line[:pos]
+        sbuffer = io.StringIO('\n'.join(lines))
+        if sys.version_info.major >= 3:
+            fileconfig.read_file(sbuffer, filename)
+        else:
+            fileconfig.readfp(sbuffer, filename)
+    def _create_fileconfig(self):
+        if sys.version_info.major >= 3:
+            fileconfig = configparser.RawConfigParser(
+                strict=False, inline_comment_prefixes=(';', '#'))
+        else:
+            fileconfig = configparser.RawConfigParser()
+        return fileconfig
+    def build_fileconfig(self, data, filename):
+        fileconfig = self._create_fileconfig()
+        self.append_fileconfig(fileconfig, data, filename)
+        return fileconfig
+    def _resolve_include(self, source_filename, include_spec, fileconfig,
+                         visited):
+        dirname = os.path.dirname(source_filename)
+        include_spec = include_spec.strip()
+        include_glob = os.path.join(dirname, include_spec)
+        include_filenames = glob.glob(include_glob)
+        if not include_filenames and not glob.has_magic(include_glob):
+            # Empty set is OK if wildcard but not for direct file reference
+            raise error("Include file '%s' does not exist" % (include_glob,))
+        include_filenames.sort()
+        for include_filename in include_filenames:
+            include_data = self.read_config_file(include_filename)
+            self._parse_config(include_data, include_filename, fileconfig,
+                               visited)
+        return include_filenames
+    def _parse_config(self, data, filename, fileconfig, visited):
+        path = os.path.abspath(filename)
+        if path in visited:
+            raise error("Recursive include of config file '%s'" % (filename))
+        visited.add(path)
+        lines = data.split('\n')
+        # Buffer lines between includes and parse as a unit so that overrides
+        # in includes apply linearly as they do within a single file
+        buf = []
+        for line in lines:
+            # Strip trailing comment
+            pos = line.find('#')
+            if pos >= 0:
+                line = line[:pos]
+            # Process include or buffer line
+            mo = configparser.RawConfigParser.SECTCRE.match(line)
+            header = mo and mo.group('header')
+            if header and header.startswith('include '):
+                self.append_fileconfig(fileconfig, '\n'.join(buf), filename)
+                del buf[:]
+                include_spec = header[8:].strip()
+                self._resolve_include(filename, include_spec, fileconfig,
+                                      visited)
+            else:
+                buf.append(line)
+        self.append_fileconfig(fileconfig, '\n'.join(buf), filename)
+        visited.remove(path)
+    def build_fileconfig_with_includes(self, data, filename):
+        fileconfig = self._create_fileconfig()
+        self._parse_config(data, filename, fileconfig, set())
+        return fileconfig
+
+
+######################################################################
+# Config auto save helper
+######################################################################
+
+AUTOSAVE_HEADER = """
+#*# <---------------------- SAVE_CONFIG ---------------------->
+#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
+#*#
+"""
+
+class ConfigAutoSave:
+    def __init__(self, printer):
+        self.printer = printer
+        self.fileconfig = None
+        self.status_save_pending = {}
+        self.save_config_pending = False
+        gcode = self.printer.lookup_object('gcode')
+        gcode.register_command("SAVE_CONFIG", self.cmd_SAVE_CONFIG,
+                               desc=self.cmd_SAVE_CONFIG_help)
     def _find_autosave_data(self, data):
         regular_data = data
         autosave_data = ""
@@ -175,7 +259,7 @@ class PrinterConfig:
             regular_data = data[:pos]
             autosave_data = data[pos + len(AUTOSAVE_HEADER):].strip()
         # Check for errors and strip line prefixes
-        if "\n#*# " in regular_data:
+        if "\n#*# " in regular_data or autosave_data.find(AUTOSAVE_HEADER) >= 0:
             logging.warning("Can't read autosave from config file"
                             " - autosave state corrupted")
             return data, ""
@@ -192,7 +276,7 @@ class PrinterConfig:
         return regular_data, "\n".join(out)
     comment_r = re.compile('[#;].*$')
     value_r = re.compile('[^A-Za-z0-9_].*$')
-    def _strip_duplicates(self, data, config):
+    def _strip_duplicates(self, data, fileconfig):
         # Comment out fields in 'data' that are defined in 'config'
         lines = data.split('\n')
         section = None
@@ -210,152 +294,31 @@ class PrinterConfig:
                 section = pruned_line[1:-1].strip()
                 continue
             field = self.value_r.sub('', pruned_line)
-            if config.fileconfig.has_option(section, field):
+            if fileconfig.has_option(section, field):
                 is_dup_field = True
                 lines[lineno] = '#' + lines[lineno]
         return "\n".join(lines)
-    def _parse_config_buffer(self, buffer, filename, fileconfig):
+    def load_main_config(self):
-        if not buffer:
-            return
-        data = '\n'.join(buffer)
-        del buffer[:]
-        sbuffer = io.StringIO(data)
-        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']
-        data = self._read_config_file(filename)
+        cfgrdr = ConfigFileReader()
+        data = cfgrdr.read_config_file(filename)
         regular_data, autosave_data = self._find_autosave_data(data)
-        regular_config = self._build_config_wrapper(regular_data, filename)
+        regular_fileconfig = cfgrdr.build_fileconfig_with_includes(
-        autosave_data = self._strip_duplicates(autosave_data, regular_config)
+            regular_data, filename)
-        self.autosave = self._build_config_wrapper(autosave_data, filename)
+        autosave_data = self._strip_duplicates(autosave_data,
-        cfg = self._build_config_wrapper(regular_data + autosave_data, filename)
+                                               regular_fileconfig)
-        return cfg
+        self.fileconfig = cfgrdr.build_fileconfig(autosave_data, filename)
-    def check_unused_options(self, config):
+        cfgrdr.append_fileconfig(regular_fileconfig,
-        fileconfig = config.fileconfig
+                                 autosave_data, '*AUTOSAVE*')
-        objects = dict(self.printer.lookup_objects())
+        return regular_fileconfig, self.fileconfig
-        # Determine all the fields that have been accessed
-        access_tracking = dict(config.access_tracking)
-        for section in self.autosave.fileconfig.sections():
-            for option in self.autosave.fileconfig.options(section):
-                access_tracking[(section.lower(), option.lower())] = 1
-        # Validate that there are no undefined parameters in the config file
-        valid_sections = { s: 1 for s, o in access_tracking }
-        for section_name in fileconfig.sections():
-            section = section_name.lower()
-            if section not in valid_sections and section not in objects:
-                raise error("Section '%s' is not a valid config section"
-                            % (section,))
-            for option in fileconfig.options(section_name):
-                option = option.lower()
-                if (section, option) not in access_tracking:
-                    raise error("Option '%s' is not valid in section '%s'"
-                                % (option, section))
-        # Setup get_status()
-        self._build_status(config)
-    def log_config(self, config):
-        lines = ["===== Config file =====",
-                 self._build_config_string(config),
-                 "======================="]
-        self.printer.set_rollover_info("config", "\n".join(lines))
-    # Status reporting
-    def 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 {'config': self.status_raw_config,
+        return {'save_config_pending': self.save_config_pending,
-                'settings': self.status_settings,
-                'warnings': self.status_warnings,
-                'save_config_pending': self.save_config_pending,
                 'save_config_pending_items': self.status_save_pending}
-    # Autosave functions
     def set(self, section, option, value):
-        if not self.autosave.fileconfig.has_section(section):
+        if not self.fileconfig.has_section(section):
-            self.autosave.fileconfig.add_section(section)
+            self.fileconfig.add_section(section)
         svalue = str(value)
-        self.autosave.fileconfig.set(section, option, svalue)
+        self.fileconfig.set(section, option, svalue)
         pending = dict(self.status_save_pending)
         if not section in pending or pending[section] is None:
             pending[section] = {}
@@ -366,8 +329,8 @@ class PrinterConfig:
         self.save_config_pending = True
         logging.info("save_config: set [%s] %s = %s", section, option, svalue)
     def remove_section(self, section):
-        if self.autosave.fileconfig.has_section(section):
+        if self.fileconfig.has_section(section):
-            self.autosave.fileconfig.remove_section(section)
+            self.fileconfig.remove_section(section)
             pending = dict(self.status_save_pending)
             pending[section] = None
             self.status_save_pending = pending
@@ -378,21 +341,20 @@ class PrinterConfig:
             del pending[section]
             self.status_save_pending = pending
             self.save_config_pending = True
-    def _disallow_include_conflicts(self, regular_data, cfgname, gcode):
+    def _disallow_include_conflicts(self, regular_fileconfig):
-        config = self._build_config_wrapper(regular_data, cfgname)
+        for section in self.fileconfig.sections():
-        for section in self.autosave.fileconfig.sections():
+            for option in self.fileconfig.options(section):
-            for option in self.autosave.fileconfig.options(section):
+                if regular_fileconfig.has_option(section, option):
-                if config.fileconfig.has_option(section, option):
                     msg = ("SAVE_CONFIG section '%s' option '%s' conflicts "
                            "with included value" % (section, option))
-                    raise gcode.error(msg)
+                    raise self.printer.command_error(msg)
     cmd_SAVE_CONFIG_help = "Overwrite config file and restart"
     def cmd_SAVE_CONFIG(self, gcmd):
-        if not self.autosave.fileconfig.sections():
+        if not self.fileconfig.sections():
             return
-        gcode = self.printer.lookup_object('gcode')
         # Create string containing autosave data
-        autosave_data = self._build_config_string(self.autosave)
+        cfgrdr = ConfigFileReader()
+        autosave_data = cfgrdr.build_config_string(self.fileconfig)
         lines = [('#*# ' + l).strip()
                  for l in autosave_data.split('\n')]
         lines.insert(0, "\n" + AUTOSAVE_HEADER.rstrip())
@@ -401,16 +363,27 @@ class PrinterConfig:
         # Read in and validate current config file
         cfgname = self.printer.get_start_args()['config_file']
         try:
-            data = self._read_config_file(cfgname)
+            data = cfgrdr.read_config_file(cfgname)
+        except error as e:
+            msg = "Unable to read existing config on SAVE_CONFIG"
+            logging.exception(msg)
+            raise gcmd.error(msg)
         regular_data, old_autosave_data = self._find_autosave_data(data)
-            config = self._build_config_wrapper(regular_data, cfgname)
+        regular_data = self._strip_duplicates(regular_data, self.fileconfig)
+        data = regular_data.rstrip() + autosave_data
+        new_regular_data, new_autosave_data = self._find_autosave_data(data)
+        if not new_autosave_data:
+            raise gcmd.error(
+                "Existing config autosave is corrupted."
+                " Can't complete SAVE_CONFIG")
+        try:
+            regular_fileconfig = cfgrdr.build_fileconfig_with_includes(
+                new_regular_data, cfgname)
         except error as e:
             msg = "Unable to parse existing config on SAVE_CONFIG"
             logging.exception(msg)
-            raise gcode.error(msg)
+            raise gcmd.error(msg)
-        regular_data = self._strip_duplicates(regular_data, self.autosave)
+        self._disallow_include_conflicts(regular_fileconfig)
-        self._disallow_include_conflicts(regular_data, cfgname, gcode)
-        data = regular_data.rstrip() + autosave_data
         # Determine filenames
         datestr = time.strftime("-%Y%m%d_%H%M%S")
         backup_name = cfgname + datestr
@@ -430,6 +403,135 @@ class PrinterConfig:
         except:
             msg = "Unable to write config file during SAVE_CONFIG"
             logging.exception(msg)
-            raise gcode.error(msg)
+            raise gcmd.error(msg)
         # Request a restart
+        gcode = self.printer.lookup_object('gcode')
         gcode.request_restart('restart')
+
+
+######################################################################
+# Config validation (check for undefined options)
+######################################################################
+
+class ConfigValidate:
+    def __init__(self, printer):
+        self.printer = printer
+        self.status_settings = {}
+        self.access_tracking = {}
+        self.autosave_options = {}
+    def start_access_tracking(self, autosave_fileconfig):
+        # Note autosave options for use during undefined options check
+        self.autosave_options = {}
+        for section in autosave_fileconfig.sections():
+            for option in autosave_fileconfig.options(section):
+                self.autosave_options[(section.lower(), option.lower())] = 1
+        self.access_tracking = {}
+        return self.access_tracking
+    def check_unused(self, fileconfig):
+        # Don't warn on fields set in autosave segment
+        access_tracking = dict(self.access_tracking)
+        access_tracking.update(self.autosave_options)
+        # Note locally used sections
+        valid_sections = { s: 1 for s, o in self.printer.lookup_objects() }
+        valid_sections.update({ s: 1 for s, o in access_tracking })
+        # Validate that there are no undefined parameters in the config file
+        for section_name in fileconfig.sections():
+            section = section_name.lower()
+            if section not in valid_sections:
+                raise error("Section '%s' is not a valid config section"
+                            % (section,))
+            for option in fileconfig.options(section_name):
+                option = option.lower()
+                if (section, option) not in access_tracking:
+                    raise error("Option '%s' is not valid in section '%s'"
+                                % (option, section))
+        # Setup get_status()
+        self._build_status_settings()
+        # Clear tracking state
+        self.access_tracking.clear()
+        self.autosave_options.clear()
+    def _build_status_settings(self):
+        self.status_settings = {}
+        for (section, option), value in self.access_tracking.items():
+            self.status_settings.setdefault(section, {})[option] = value
+    def get_status(self, eventtime):
+        return {'settings': self.status_settings}
+
+
+######################################################################
+# Main printer config tracking
+######################################################################
+
+class PrinterConfig:
+    def __init__(self, printer):
+        self.printer = printer
+        self.autosave = ConfigAutoSave(printer)
+        self.validate = ConfigValidate(printer)
+        self.deprecated = {}
+        self.runtime_warnings = []
+        self.deprecate_warnings = []
+        self.status_raw_config = {}
+        self.status_warnings = []
+    def get_printer(self):
+        return self.printer
+    def read_config(self, filename):
+        cfgrdr = ConfigFileReader()
+        data = cfgrdr.read_config_file(filename)
+        fileconfig = cfgrdr.build_fileconfig(data, filename)
+        return ConfigWrapper(self.printer, fileconfig, {}, 'printer')
+    def read_main_config(self):
+        fileconfig, autosave_fileconfig = self.autosave.load_main_config()
+        access_tracking = self.validate.start_access_tracking(
+            autosave_fileconfig)
+        config = ConfigWrapper(self.printer, fileconfig,
+                               access_tracking, 'printer')
+        self._build_status_config(config)
+        return config
+    def log_config(self, config):
+        cfgrdr = ConfigFileReader()
+        lines = ["===== Config file =====",
+                 cfgrdr.build_config_string(config.fileconfig),
+                 "======================="]
+        self.printer.set_rollover_info("config", "\n".join(lines))
+    def check_unused_options(self, config):
+        self.validate.check_unused(config.fileconfig)
+    # Deprecation warnings
+    def runtime_warning(self, msg):
+        logging.warning(msg)
+        res = {'type': 'runtime_warning', 'message': msg}
+        self.runtime_warnings.append(res)
+        self.status_warnings = self.runtime_warnings + self.deprecate_warnings
+    def deprecate(self, section, option, value=None, msg=None):
+        key = (section, option, value)
+        if key in self.deprecated and self.deprecated[key] == msg:
+            return
+        self.deprecated[key] = msg
+        self.deprecate_warnings = []
+        for (section, option, value), msg in self.deprecated.items():
+            if value is None:
+                res = {'type': 'deprecated_option'}
+            else:
+                res = {'type': 'deprecated_value', 'value': value}
+            res['message'] = msg
+            res['section'] = section
+            res['option'] = option
+            self.deprecate_warnings.append(res)
+        self.status_warnings = self.runtime_warnings + self.deprecate_warnings
+    # Status reporting
+    def _build_status_config(self, config):
+        self.status_raw_config = {}
+        for section in config.get_prefix_sections(''):
+            self.status_raw_config[section.get_name()] = section_status = {}
+            for option in section.get_prefix_options(''):
+                section_status[option] = section.get(option, note_valid=False)
+    def get_status(self, eventtime):
+        status = {'config': self.status_raw_config,
+                  'warnings': self.status_warnings}
+        status.update(self.autosave.get_status(eventtime))
+        status.update(self.validate.get_status(eventtime))
+        return status
+    # Autosave functions
+    def set(self, section, option, value):
+        self.autosave.set(section, option, value)
+    def remove_section(self, section):
+        self.autosave.remove_section(section)

klippy/extras/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]
@@ -42,8 +42,35 @@ 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('sps', self.sps_options, default='660')
+        self.sps = config.getchoice('sample_rate', self.sps_options,
+                                    default='660')
         self.is_turbo = str(self.sps) in self.sps_turbo
+        # Input multiplexer: AINP and AINN
+        mux_options = {'AIN0_AIN1': 0b0000, 'AIN0_AIN2': 0b0001,
+                       'AIN0_AIN3': 0b0010, 'AIN1_AIN2': 0b0011,
+                       'AIN1_AIN3': 0b0100, 'AIN2_AIN3': 0b0101,
+                       'AIN1_AIN0': 0b0110, 'AIN3_AIN2': 0b0111,
+                       'AIN0_AVSS': 0b1000, 'AIN1_AVSS': 0b1001,
+                       'AIN2_AVSS': 0b1010, 'AIN3_AVSS': 0b1011}
+        self.mux = config.getchoice('input_mux', mux_options,
+                                    default='AIN0_AIN1')
+        # PGA Bypass
+        self.pga_bypass = config.getboolean('pga_bypass', default=False)
+        # bypass PGA when AVSS is the negative input
+        force_pga_bypass = self.mux >= 0b1000
+        self.pga_bypass = force_pga_bypass or self.pga_bypass
+        # Voltage Reference
+        self.vref_options = {'internal': 0b0, 'REF0': 0b01, 'REF1': 0b10,
+                             'analog_supply': 0b11}
+        self.vref = config.getchoice('vref', self.vref_options,
+                                     default='internal')
+        # check for conflict between REF1 and AIN0/AIN3
+        mux_conflict = [0b0000, 0b0001, 0b0010, 0b0100, 0b0101, 0b0110, 0b0111,
+                        0b1000, 0b1011]
+        if self.vref == 0b10 and self.mux in mux_conflict:
+            raise config.error("ADS1220 config error: AIN0/REFP1 and AIN3/REFN1"
+                               " cant be used as a voltage reference and"
+                               " an input at the same time")
         # SPI Setup
         spi_speed = 512000 if self.is_turbo else 256000
         self.spi = bus.MCU_SPI_from_config(config, 1, default_speed=spi_speed)
@@ -68,11 +95,8 @@ class ADS1220():
         self.batch_bulk = bulk_sensor.BatchBulkHelper(
             self.printer, self._process_batch, self._start_measurements,
             self._finish_measurements, UPDATE_INTERVAL)
-        # publish raw samples to the socket
-        self.batch_bulk.add_mux_endpoint("ads1220/dump_ads1220", "sensor",
-                                         self.name,
-                                         {'header': ('time', 'counts')})
         # Command Configuration
+        self.attach_probe_cmd = None
         mcu.add_config_cmd(
             "config_ads1220 oid=%d spi_oid=%d data_ready_pin=%s"
             % (self.oid, self.spi.get_oid(), self.data_ready_pin))
@@ -85,6 +109,8 @@ class ADS1220():
         cmdqueue = self.spi.get_command_queue()
         self.query_ads1220_cmd = self.mcu.lookup_command(
             "query_ads1220 oid=%c rest_ticks=%u", cq=cmdqueue)
+        self.attach_probe_cmd = self.mcu.lookup_command(
+            "ads1220_attach_load_cell_probe oid=%c load_cell_probe_oid=%c")
         self.ffreader.setup_query_command("query_ads1220_status oid=%c",
                                           oid=self.oid, cq=cmdqueue)
 
@@ -103,6 +129,9 @@ class ADS1220():
     def add_client(self, callback):
         self.batch_bulk.add_client(callback)
 
+    def attach_load_cell_probe(self, load_cell_probe_oid):
+        self.attach_probe_cmd.send([self.oid, load_cell_probe_oid])
+
     # Measurement decoding
     def _convert_samples(self, samples):
         adc_factor = 1. / (1 << 23)
@@ -157,8 +186,10 @@ 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.gain << 1),
+        reg_values = [(self.mux << 4) | (self.gain << 1) | int(self.pga_bypass),
-                      (data_rate << 5) | (mode << 3) | (continuous << 2)]
+                      (data_rate << 5) | (mode << 3) | (continuous << 2),
+                      (self.vref << 6),
+                      0x0]
         self.write_reg(0x0, reg_values)
         # start measurements immediately
         self.send_command(START_SYNC_CMD)
@@ -177,7 +208,7 @@ class ADS1220():
         write_command.extend(register_bytes)
         self.spi.spi_send(write_command)
         stored_val = self.read_reg(reg, len(register_bytes))
-        if register_bytes != stored_val:
+        if bytearray(register_bytes) != stored_val:
             raise self.printer.command_error(
                 "Failed to set ADS1220 register [0x%x] to %s: got %s. "
                 "This may be a connection problem (e.g. faulty wiring)" % (

klippy/extras/ads1x1x.py

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

klippy/extras/adxl345.py

@@ -166,12 +166,12 @@ class AccelCommandHelper:
                           % (accel_x, accel_y, accel_z))
     cmd_ACCELEROMETER_DEBUG_READ_help = "Query register (for debugging)"
     def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
-        reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
+        reg = gcmd.get("REG", minval=0, maxval=127, parser=lambda x: int(x, 0))
         val = self.chip.read_reg(reg)
         gcmd.respond_info("Accelerometer REG[0x%x] = 0x%x" % (reg, val))
     cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set register (for debugging)"
     def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
-        reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
+        reg = gcmd.get("REG", minval=0, maxval=127, parser=lambda x: int(x, 0))
         val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
         self.chip.set_reg(reg, val)
 

klippy/extras/angle.py

@@ -97,7 +97,7 @@ class AngleCalibration:
                 return None
         return self.mcu_stepper.mcu_to_commanded_position(self.mcu_pos_offset)
     def load_calibration(self, angles):
-        # Calculate linear intepolation calibration buckets by solving
+        # Calculate linear interpolation calibration buckets by solving
         # linear equations
         angle_max = 1 << ANGLE_BITS
         calibration_count = 1 << CALIBRATION_BITS
@@ -411,6 +411,196 @@ 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
 
@@ -427,8 +617,11 @@ 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,
+        sensors = { "a1333": HelperA1333,
-                    "tle5012b": HelperTLE5012B }
+                    "as5047d": HelperAS5047D,
+                    "tle5012b": HelperTLE5012B,
+                    "mt6816": HelperMT6816,
+                    "mt6826s": HelperMT6826S }
         sensor_type = config.getchoice('sensor_type', {s: s for s in sensors})
         sensor_class = sensors[sensor_type]
         self.spi = bus.MCU_SPI_from_config(config, sensor_class.SPI_MODE,

klippy/extras/axis_twist_compensation.py

@@ -23,18 +23,27 @@ class AxisTwistCompensation:
         self.horizontal_move_z = config.getfloat('horizontal_move_z',
                                                  DEFAULT_HORIZONTAL_MOVE_Z)
         self.speed = config.getfloat('speed', DEFAULT_SPEED)
-        self.calibrate_start_x = config.getfloat('calibrate_start_x')
+        self.calibrate_start_x = config.getfloat('calibrate_start_x',
-        self.calibrate_end_x = config.getfloat('calibrate_end_x')
+                                                default=None)
-        self.calibrate_y = config.getfloat('calibrate_y')
+        self.calibrate_end_x = config.getfloat('calibrate_end_x', default=None)
+        self.calibrate_y = config.getfloat('calibrate_y', default=None)
         self.z_compensations = config.getlists('z_compensations',
                                                default=[], parser=float)
         self.compensation_start_x = config.getfloat('compensation_start_x',
                                                     default=None)
-        self.compensation_end_x = config.getfloat('compensation_start_y',
+        self.compensation_end_x = config.getfloat('compensation_end_x',
                                                   default=None)
 
-        self.m = None
+        self.calibrate_start_y = config.getfloat('calibrate_start_y',
-        self.b = None
+                                                  default=None)
+        self.calibrate_end_y = config.getfloat('calibrate_end_y', default=None)
+        self.calibrate_x = config.getfloat('calibrate_x', default=None)
+        self.compensation_start_y = config.getfloat('compensation_start_y',
+                                                    default=None)
+        self.compensation_end_y = config.getfloat('compensation_end_y',
+                                                  default=None)
+        self.zy_compensations = config.getlists('zy_compensations',
+                                                default=[], parser=float)
 
         # setup calibrater
         self.calibrater = Calibrater(self, config)
@@ -43,28 +52,46 @@ class AxisTwistCompensation:
                                             self._update_z_compensation_value)
 
     def _update_z_compensation_value(self, pos):
-        if not self.z_compensations:
+        if self.z_compensations:
-            return
+            pos[2] += self._get_interpolated_z_compensation(
+                pos[0], self.z_compensations,
+                self.compensation_start_x,
+                self.compensation_end_x
+                )
+
+        if self.zy_compensations:
+            pos[2] += self._get_interpolated_z_compensation(
+                pos[1], self.zy_compensations,
+                self.compensation_start_y,
+                self.compensation_end_y
+                )
+
+    def _get_interpolated_z_compensation(
+            self, coord, z_compensations,
+            comp_start,
+            comp_end
+            ):
 
-        x_coord = pos[0]
-        z_compensations = self.z_compensations
         sample_count = len(z_compensations)
-        spacing = ((self.calibrate_end_x - self.calibrate_start_x)
+        spacing = ((comp_end - comp_start)
                    / (sample_count - 1))
-        interpolate_t = (x_coord - self.calibrate_start_x) / spacing
+        interpolate_t = (coord - comp_start) / spacing
         interpolate_i = int(math.floor(interpolate_t))
         interpolate_i = 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])
-        pos[2] += interpolated_z_compensation
+        return interpolated_z_compensation
 
-    def clear_compensations(self):
+    def clear_compensations(self, axis=None):
+        if axis is None:
             self.z_compensations = []
-        self.m = None
+            self.zy_compensations = []
-        self.b = None
+        elif axis == 'X':
-
+            self.z_compensations = []
+        elif axis == 'Y':
+            self.zy_compensations = []
 
 class Calibrater:
     def __init__(self, compensation, config):
@@ -80,10 +107,14 @@ class Calibrater:
                                             self._handle_connect)
         self.speed = compensation.speed
         self.horizontal_move_z = compensation.horizontal_move_z
-        self.start_point = (compensation.calibrate_start_x,
+        self.x_start_point = (compensation.calibrate_start_x,
                             compensation.calibrate_y)
-        self.end_point = (compensation.calibrate_end_x,
+        self.x_end_point = (compensation.calibrate_end_x,
                           compensation.calibrate_y)
+        self.y_start_point = (compensation.calibrate_x,
+                            compensation.calibrate_start_y)
+        self.y_end_point = (compensation.calibrate_x,
+                            compensation.calibrate_end_y)
         self.results = None
         self.current_point_index = None
         self.gcmd = None
@@ -94,9 +125,8 @@ class Calibrater:
 
     def _handle_connect(self):
         self.probe = self.printer.lookup_object('probe', None)
-        if (self.probe is None):
+        if self.probe is None:
-            config = self.printer.lookup_object('configfile')
+            raise self.printer.config_error(
-            raise config.error(
                 "AXIS_TWIST_COMPENSATION requires [probe] to be defined")
         self.lift_speed = self.probe.get_probe_params()['lift_speed']
         self.probe_x_offset, self.probe_y_offset, _ = \
@@ -119,20 +149,75 @@ 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', 'X')
 
         # check for valid sample_count
-        if sample_count is None or sample_count < 2:
+        if sample_count < 2:
             raise self.gcmd.error(
                 "SAMPLE_COUNT to probe must be at least 2")
 
-        # clear the current config
+        # calculate the points to put the probe at, returned as a list of tuples
-        self.compensation.clear_compensations()
+        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.")
 
-        # 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)
 
@@ -142,17 +227,9 @@ 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_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):
-            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):
         # calculate the points to put the nozzle at
@@ -238,14 +315,31 @@ class Calibrater:
         configfile = self.printer.lookup_object('configfile')
         values_as_str = ', '.join(["{:.6f}".format(x)
                                    for x in self.results])
+
+        if(self.current_axis == 'X'):
+
             configfile.set(self.configname, 'z_compensations', values_as_str)
             configfile.set(self.configname, 'compensation_start_x',
-                       self.start_point[0])
+                        self.x_start_point[0])
             configfile.set(self.configname, 'compensation_end_x',
-                       self.end_point[0])
+                        self.x_end_point[0])
+
             self.compensation.z_compensations = self.results
-        self.compensation.compensation_start_x = self.start_point[0]
+            self.compensation.compensation_start_x = self.x_start_point[0]
-        self.compensation.compensation_end_x = self.end_point[0]
+            self.compensation.compensation_end_x = self.x_end_point[0]
+
+        elif(self.current_axis == 'Y'):
+
+            configfile.set(self.configname, 'zy_compensations', values_as_str)
+            configfile.set(self.configname, 'compensation_start_y',
+                        self.y_start_point[1])
+            configfile.set(self.configname, 'compensation_end_y',
+                        self.y_end_point[1])
+
+            self.compensation.zy_compensations = self.results
+            self.compensation.compensation_start_y = self.y_start_point[1]
+            self.compensation.compensation_end_y = self.y_end_point[1]
+
         self.gcode.respond_info(
             "AXIS_TWIST_COMPENSATION state has been saved "
             "for the current session.  The SAVE_CONFIG command will "

klippy/extras/bed_mesh.py

@@ -34,7 +34,7 @@ def constrain(val, min_val, max_val):
 def lerp(t, v0, v1):
     return (1. - t) * v0 + t * v1
 
-# retreive commma separated pair from config
+# retrieve comma separated pair from config
 def parse_config_pair(config, option, default, minval=None, maxval=None):
     pair = config.getintlist(option, (default, default))
     if len(pair) != 2:
@@ -54,7 +54,7 @@ def parse_config_pair(config, option, default, minval=None, maxval=None):
                 % (option, str(maxval)))
     return pair
 
-# retreive commma separated pair from a g-code command
+# retrieve comma separated pair from a g-code command
 def parse_gcmd_pair(gcmd, name, minval=None, maxval=None):
     try:
         pair = [int(v.strip()) for v in gcmd.get(name).split(',')]
@@ -74,7 +74,7 @@ def parse_gcmd_pair(gcmd, name, minval=None, maxval=None):
                              % (name, maxval))
     return pair
 
-# retreive commma separated coordinate from a g-code command
+# retrieve comma separated coordinate from a g-code command
 def parse_gcmd_coord(gcmd, name):
     try:
         v1, v2 = [float(v.strip()) for v in gcmd.get(name).split(',')]
@@ -133,7 +133,7 @@ class BedMesh:
         self.update_status()
     def handle_connect(self):
         self.toolhead = self.printer.lookup_object('toolhead')
-        self.bmc.print_generated_points(logging.info)
+        self.bmc.print_generated_points(logging.info, truncate=True)
     def set_mesh(self, mesh):
         if mesh is not None and self.fade_end != self.FADE_DISABLE:
             self.log_fade_complete = True
@@ -186,7 +186,8 @@ class BedMesh:
             self.last_position[2] -= self.fade_target
         else:
             # return current position minus the current z-adjustment
-            x, y, z, e = self.toolhead.get_position()
+            cur_pos = self.toolhead.get_position()
+            x, y, z = cur_pos[:3]
             max_adj = self.z_mesh.calc_z(x, y)
             factor = 1.
             z_adj = max_adj - self.fade_target
@@ -202,19 +203,19 @@ class BedMesh:
                           (self.fade_dist - z_adj))
                 factor = constrain(factor, 0., 1.)
             final_z_adj = factor * z_adj + self.fade_target
-            self.last_position[:] = [x, y, z - final_z_adj, e]
+            self.last_position[:] = [x, y, z - final_z_adj] + cur_pos[3:]
         return list(self.last_position)
     def move(self, newpos, speed):
         factor = self.get_z_factor(newpos[2])
         if self.z_mesh is None or not factor:
             # No mesh calibrated, or mesh leveling phased out.
-            x, y, z, e = newpos
+            x, y, z = newpos[:3]
             if self.log_fade_complete:
                 self.log_fade_complete = False
                 logging.info(
                     "bed_mesh fade complete: Current Z: %.4f fade_target: %.4f "
                     % (z, self.fade_target))
-            self.toolhead.move([x, y, z + self.fade_target, e], speed)
+            self.toolhead.move([x, y, z + self.fade_target] + newpos[3:], speed)
         else:
             self.splitter.build_move(self.last_position, newpos, factor)
             while not self.splitter.traverse_complete:
@@ -346,7 +347,7 @@ class BedMeshCalibrate:
         self.gcode.register_command(
             'BED_MESH_CALIBRATE', self.cmd_BED_MESH_CALIBRATE,
             desc=self.cmd_BED_MESH_CALIBRATE_help)
-    def print_generated_points(self, print_func):
+    def print_generated_points(self, print_func, truncate=False):
         x_offset = y_offset = 0.
         probe = self.printer.lookup_object('probe', None)
         if probe is not None:
@@ -355,6 +356,10 @@ class BedMeshCalibrate:
                    " |  Tool Adjusted  |   Probe")
         points = self.probe_mgr.get_base_points()
         for i, (x, y) in enumerate(points):
+            if i >= 50 and truncate:
+                end = len(points) - 1
+                print_func("...points %d through %d truncated" % (i, end))
+                break
             adj_pt = "(%.1f, %.1f)" % (x - x_offset, y - y_offset)
             mesh_pt = "(%.1f, %.1f)" % (x, y)
             print_func(
@@ -613,8 +618,6 @@ class BedMeshCalibrate:
                 self.mesh_config, self.mesh_min, self.mesh_max,
                 self.radius, self.origin, probe_method
             )
-            gcmd.respond_info("Generating new points...")
-            self.print_generated_points(gcmd.respond_info)
             msg = "\n".join(["%s: %s" % (k, v)
                              for k, v in self.mesh_config.items()])
             logging.info("Updated Mesh Configuration:\n" + msg)
@@ -911,7 +914,7 @@ class ProbeManager:
         for i in range(y_cnt):
             for j in range(x_cnt):
                 if not i % 2:
-                    # move in positive directon
+                    # move in positive direction
                     pos_x = min_x + j * x_dist
                 else:
                     # move in negative direction
@@ -1161,7 +1164,7 @@ class ProbeManager:
 
     def _gen_arc(self, origin, radius, start, step, count):
         end = start + step * count
-        # create a segent for every 3 degress of travel
+        # create a segent for every 3 degrees of travel
         for angle in range(start, end, step):
             rad = math.radians(angle % 360)
             opp = math.sin(rad) * radius
@@ -1271,7 +1274,7 @@ class MoveSplitter:
         self.z_offset = self._calc_z_offset(prev_pos)
         self.traverse_complete = False
         self.distance_checked = 0.
-        axes_d = [self.next_pos[i] - self.prev_pos[i] for i in range(4)]
+        axes_d = [np - pp for np, pp in zip(self.next_pos, self.prev_pos)]
         self.total_move_length = math.sqrt(sum([d*d for d in axes_d[:3]]))
         self.axis_move = [not isclose(d, 0., abs_tol=1e-10) for d in axes_d]
     def _calc_z_offset(self, pos):
@@ -1284,7 +1287,7 @@ class MoveSplitter:
             raise self.gcode.error(
                 "bed_mesh: Slice distance is negative "
                 "or greater than entire move length")
-        for i in range(4):
+        for i in range(len(self.next_pos)):
             if self.axis_move[i]:
                 self.current_pos[i] = lerp(
                     t, self.prev_pos[i], self.next_pos[i])
@@ -1299,9 +1302,9 @@ class MoveSplitter:
                     next_z = self._calc_z_offset(self.current_pos)
                     if abs(next_z - self.z_offset) >= self.split_delta_z:
                         self.z_offset = next_z
-                        return self.current_pos[0], self.current_pos[1], \
+                        newpos = list(self.current_pos)
-                            self.current_pos[2] + self.z_offset, \
+                        newpos[2] += self.z_offset
-                            self.current_pos[3]
+                        return newpos
             # end of move reached
             self.current_pos[:] = self.next_pos
             self.z_offset = self._calc_z_offset(self.current_pos)

klippy/extras/bed_tilt.py

@@ -24,12 +24,14 @@ class BedTilt:
     def handle_connect(self):
         self.toolhead = self.printer.lookup_object('toolhead')
     def get_position(self):
-        x, y, z, e = self.toolhead.get_position()
+        pos = self.toolhead.get_position()
-        return [x, y, z - x*self.x_adjust - y*self.y_adjust - self.z_adjust, e]
+        x, y, z = pos[:3]
+        z -= x*self.x_adjust + y*self.y_adjust + self.z_adjust
+        return [x, y, z] + pos[3:]
     def move(self, newpos, speed):
-        x, y, z, e = newpos
+        x, y, z = newpos[:3]
-        self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust
+        z += x*self.x_adjust + y*self.y_adjust + self.z_adjust
-                            + self.z_adjust, e], speed)
+        self.toolhead.move([x, y, z] + newpos[3:], speed)
     def update_adjust(self, x_adjust, y_adjust, z_adjust):
         self.x_adjust = x_adjust
         self.y_adjust = y_adjust

klippy/extras/bltouch.py

@@ -64,7 +64,11 @@ class BLTouchProbe:
         self.cmd_helper = probe.ProbeCommandHelper(
             config, self, self.mcu_endstop.query_endstop)
         self.probe_offsets = probe.ProbeOffsetsHelper(config)
-        self.probe_session = probe.ProbeSessionHelper(config, self)
+        self.param_helper = probe.ProbeParameterHelper(config)
+        self.homing_helper = probe.HomingViaProbeHelper(config, self,
+                                                        self.param_helper)
+        self.probe_session = probe.ProbeSessionHelper(
+            config, self.param_helper, self.homing_helper.start_probe_session)
         # Register BLTOUCH_DEBUG command
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command("BLTOUCH_DEBUG", self.cmd_BLTOUCH_DEBUG,
@@ -75,7 +79,7 @@ class BLTouchProbe:
         self.printer.register_event_handler("klippy:connect",
                                             self.handle_connect)
     def get_probe_params(self, gcmd=None):
-        return self.probe_session.get_probe_params(gcmd)
+        return self.param_helper.get_probe_params(gcmd)
     def get_offsets(self):
         return self.probe_offsets.get_offsets()
     def get_status(self, eventtime):
@@ -191,9 +195,6 @@ class BLTouchProbe:
         self.verify_raise_probe()
         self.sync_print_time()
         self.multi = 'OFF'
-    def probing_move(self, pos, speed):
-        phoming = self.printer.lookup_object('homing')
-        return phoming.probing_move(self, pos, speed)
     def probe_prepare(self, hmove):
         if self.multi == 'OFF' or self.multi == 'FIRST':
             self.lower_probe()

klippy/extras/bme280.py

@@ -83,6 +83,7 @@ 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
@@ -143,6 +144,7 @@ class BME280:
             pow(2, self.os_temp - 1), pow(2, self.os_hum - 1),
             pow(2, self.os_pres - 1)))
         logging.info("BMxx80: IIR: %dx" % (pow(2, self.iir_filter) - 1))
+        self.iir_filter = self.iir_filter & 0x07
 
         self.temp = self.pressure = self.humidity = self.gas = self.t_fine = 0.
         self.min_temp = self.max_temp = self.range_switching_error = 0.
@@ -155,6 +157,7 @@ class BME280:
             return
         self.printer.register_event_handler("klippy:connect",
                                             self.handle_connect)
+        self.last_gas_time = 0
 
     def handle_connect(self):
         self._init_bmxx80()
@@ -293,15 +296,15 @@ class BME280:
                 status = self.read_register('STATUS', 1)[0]
 
         if self.chip_type == 'BME680':
-            self.max_sample_time = 0.5
+            self.max_sample_time = \
+                    (1.25 + (2.3 * self.os_temp) + ((2.3 * self.os_pres) + .575)
+                     + ((2.3 * self.os_hum) + .575)) / 1000
             self.sample_timer = self.reactor.register_timer(self._sample_bme680)
             self.chip_registers = BME680_REGS
         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",
@@ -318,15 +321,18 @@ class BME280:
             self.write_register("INT_CTRL", [BMP388_REG_VAL_DRDY_EN])
 
             self.sample_timer = self.reactor.register_timer(self._sample_bmp388)
-        else:
+        elif self.chip_type == 'BME280':
             self.max_sample_time = \
                 (1.25 + (2.3 * self.os_temp) + ((2.3 * self.os_pres) + .575)
                  + ((2.3 * self.os_hum) + .575)) / 1000
             self.sample_timer = self.reactor.register_timer(self._sample_bme280)
             self.chip_registers = BME280_REGS
-
+        else:
-        if self.chip_type in ('BME680', 'BME280'):
+            self.max_sample_time = \
-            self.write_register('CONFIG', (self.iir_filter & 0x07) << 2)
+                (1.25 + (2.3 * self.os_temp)
+                + ((2.3 * self.os_pres) + .575)) / 1000
+            self.sample_timer = self.reactor.register_timer(self._sample_bme280)
+            self.chip_registers = BME280_REGS
 
         # Read out and calculate the trimming parameters
         if self.chip_type == 'BMP180':
@@ -347,21 +353,64 @@ class BME280:
         elif self.chip_type == 'BMP388':
             self.dig = read_calibration_data_bmp388(cal_1)
 
-    def _sample_bme280(self, eventtime):
+        if self.chip_type in ('BME280', 'BMP280'):
-        # Enter forced mode
+            max_standby_time = REPORT_TIME - self.max_sample_time
+            # 0.5 ms
+            t_sb = 0
+            if self.chip_type == 'BME280':
+                if max_standby_time > 1:
+                    t_sb = 5
+                elif max_standby_time > 0.5:
+                    t_sb = 4
+                elif max_standby_time > 0.25:
+                    t_sb = 3
+                elif max_standby_time > 0.125:
+                    t_sb = 2
+                elif max_standby_time > 0.0625:
+                    t_sb = 1
+                elif max_standby_time > 0.020:
+                    t_sb = 7
+                elif max_standby_time > 0.010:
+                    t_sb = 6
+            else:
+                if max_standby_time > 4:
+                    t_sb = 7
+                elif max_standby_time > 2:
+                    t_sb = 6
+                elif max_standby_time > 1:
+                    t_sb = 5
+                elif max_standby_time > 0.5:
+                    t_sb = 4
+                elif max_standby_time > 0.25:
+                    t_sb = 3
+                elif max_standby_time > 0.125:
+                    t_sb = 2
+                elif max_standby_time > 0.0625:
+                    t_sb = 1
+
+            cfg = t_sb << 5 | self.iir_filter << 2
+            self.write_register('CONFIG', cfg)
             if self.chip_type == 'BME280':
                 self.write_register('CTRL_HUM', self.os_hum)
-        meas = self.os_temp << 5 | self.os_pres << 2 | MODE
+            # Enter normal (periodic) mode
+            meas = self.os_temp << 5 | self.os_pres << 2 | MODE_PERIODIC
             self.write_register('CTRL_MEAS', meas)
 
-        try:
+        if self.chip_type == 'BME680':
-            # wait until results are ready
+            self.write_register('CONFIG', self.iir_filter << 2)
-            status = self.read_register('STATUS', 1)[0]
+            # Should be set once and reused on every mode register write
-            while status & STATUS_MEASURING:
+            self.write_register('CTRL_HUM', self.os_hum & 0x07)
-                self.reactor.pause(
+            gas_wait_0 = self._calc_gas_heater_duration(self.gas_heat_duration)
-                    self.reactor.monotonic() + self.max_sample_time)
+            self.write_register('GAS_WAIT_0', [gas_wait_0])
-                status = self.read_register('STATUS', 1)[0]
+            res_heat_0 = self._calc_gas_heater_resistance(self.gas_heat_temp)
+            self.write_register('RES_HEAT_0', [res_heat_0])
+            # Set initial heater current to reach Gas heater target on start
+            self.write_register('IDAC_HEAT_0', 96)
 
+    def _sample_bme280(self, eventtime):
+        # In normal mode data shadowing is performed
+        # So reading can be done while measurements are in process
+        try:
             if self.chip_type == 'BME280':
                 data = self.read_register('PRESSURE_MSB', 8)
             elif self.chip_type == 'BMP280':
@@ -462,35 +511,39 @@ class BME280:
         return comp_press
 
     def _sample_bme680(self, eventtime):
-        self.write_register('CTRL_HUM', self.os_hum & 0x07)
+        def data_ready(stat, run_gas):
-        meas = self.os_temp << 5 | self.os_pres << 2
-        self.write_register('CTRL_MEAS', [meas])
-
-        gas_wait_0 = self._calculate_gas_heater_duration(self.gas_heat_duration)
-        self.write_register('GAS_WAIT_0', [gas_wait_0])
-        res_heat_0 = self._calculate_gas_heater_resistance(self.gas_heat_temp)
-        self.write_register('RES_HEAT_0', [res_heat_0])
-        gas_config = RUN_GAS | NB_CONV_0
-        self.write_register('CTRL_GAS_1', [gas_config])
-
-        def data_ready(stat):
             new_data = (stat & EAS_NEW_DATA)
             gas_done = not (stat & GAS_DONE)
             meas_done = not (stat & MEASURE_DONE)
+            if not run_gas:
+                gas_done = True
             return new_data and gas_done and meas_done
 
+        run_gas = False
+        # Check VOC once a while
+        if self.reactor.monotonic() - self.last_gas_time > 3:
+            gas_config = RUN_GAS | NB_CONV_0
+            self.write_register('CTRL_GAS_1', [gas_config])
+            run_gas = True
+
         # Enter forced mode
-        meas = meas | MODE
+        meas = self.os_temp << 5 | self.os_pres << 2 | MODE
         self.write_register('CTRL_MEAS', meas)
+        max_sample_time = self.max_sample_time
+        if run_gas:
+            max_sample_time += self.gas_heat_duration / 1000
+        self.reactor.pause(self.reactor.monotonic() + max_sample_time)
         try:
             # wait until results are ready
             status = self.read_register('EAS_STATUS_0', 1)[0]
-            while not data_ready(status):
+            while not data_ready(status, run_gas):
                 self.reactor.pause(
                     self.reactor.monotonic() + self.max_sample_time)
                 status = self.read_register('EAS_STATUS_0', 1)[0]
 
             data = self.read_register('PRESSURE_MSB', 8)
+            gas_data = [0, 0]
+            if run_gas:
                 gas_data = self.read_register('GAS_R_MSB', 2)
         except Exception:
             logging.exception("BME680: Error reading data")
@@ -515,6 +568,10 @@ class BME280:
             gas_raw = (gas_data[0] << 2) | ((gas_data[1] & 0xC0) >> 6)
             gas_range = (gas_data[1] & 0x0F)
             self.gas = self._compensate_gas(gas_raw, gas_range)
+            # Disable gas measurement on success
+            gas_config = NB_CONV_0
+            self.write_register('CTRL_GAS_1', [gas_config])
+            self.last_gas_time = self.reactor.monotonic()
 
         if self.temp < self.min_temp or self.temp > self.max_temp:
             self.printer.invoke_shutdown(
@@ -643,7 +700,7 @@ class BME280:
                 gas_raw - 512. + var1)
         return gas
 
-    def _calculate_gas_heater_resistance(self, target_temp):
+    def _calc_gas_heater_resistance(self, target_temp):
         amb_temp = self.temp
         heater_data = self.read_register('RES_HEAT_VAL', 3)
         res_heat_val = get_signed_byte(heater_data[0])
@@ -658,7 +715,7 @@ class BME280:
                             * (1. / (1. + (res_heat_val * 0.002)))) - 25))
         return int(res_heat)
 
-    def _calculate_gas_heater_duration(self, duration_ms):
+    def _calc_gas_heater_duration(self, duration_ms):
         if duration_ms >= 4032:
             duration_reg = 0xff
         else:

klippy/extras/bus.py

@@ -43,6 +43,7 @@ class MCU_SPI:
                  cs_active_high=False):
         self.mcu = mcu
         self.bus = bus
+        self.speed = speed
         # Config SPI object (set all CS pins high before spi_set_bus commands)
         self.oid = mcu.create_oid()
         if pin is None:
@@ -51,11 +52,17 @@ class MCU_SPI:
             mcu.add_config_cmd("config_spi oid=%d pin=%s cs_active_high=%d"
                                % (self.oid, pin, cs_active_high))
         # Generate SPI bus config message
+        self.config_fmt_ticks = None
         if sw_pins is not None:
             self.config_fmt = (
                 "spi_set_software_bus oid=%d"
                 " miso_pin=%s mosi_pin=%s sclk_pin=%s mode=%d rate=%d"
                 % (self.oid, sw_pins[0], sw_pins[1], sw_pins[2], mode, speed))
+            self.config_fmt_ticks = (
+                "spi_set_sw_bus oid=%d"
+                " miso_pin=%s mosi_pin=%s sclk_pin=%s mode=%d pulse_ticks=%%d"
+                % (self.oid, sw_pins[0], sw_pins[1],
+                    sw_pins[2], mode))
         else:
             self.config_fmt = (
                 "spi_set_bus oid=%d spi_bus=%%s mode=%d rate=%d"
@@ -78,6 +85,12 @@ class MCU_SPI:
         if '%' in self.config_fmt:
             bus = resolve_bus_name(self.mcu, "spi_bus", self.bus)
             self.config_fmt = self.config_fmt % (bus,)
+        if self.config_fmt_ticks:
+            if self.mcu.try_lookup_command("spi_set_sw_bus oid=%c miso_pin=%u "
+                                           "mosi_pin=%u sclk_pin=%u "
+                                           "mode=%u pulse_ticks=%u"):
+                pulse_ticks = self.mcu.seconds_to_clock(1./self.speed)
+                self.config_fmt = self.config_fmt_ticks % (pulse_ticks,)
         self.mcu.add_config_cmd(self.config_fmt)
         self.spi_send_cmd = self.mcu.lookup_command(
             "spi_send oid=%c data=%*s", cq=self.cmd_queue)
@@ -147,6 +160,8 @@ class MCU_I2C:
         self.bus = bus
         self.i2c_address = addr
         self.oid = self.mcu.create_oid()
+        self.speed = speed
+        self.config_fmt_ticks = None
         mcu.add_config_cmd("config_i2c oid=%d" % (self.oid,))
         # Generate I2C bus config message
         if sw_pins is not None:
@@ -154,13 +169,24 @@ class MCU_I2C:
                 "i2c_set_software_bus oid=%d"
                 " scl_pin=%s sda_pin=%s rate=%d address=%d"
                 % (self.oid, sw_pins[0], sw_pins[1], speed, addr))
+            self.config_fmt_ticks = (
+                "i2c_set_sw_bus oid=%d"
+                " scl_pin=%s sda_pin=%s pulse_ticks=%%d address=%d"
+                % (self.oid, sw_pins[0], sw_pins[1], addr))
         else:
             self.config_fmt = (
                 "i2c_set_bus oid=%d i2c_bus=%%s rate=%d address=%d"
                 % (self.oid, speed, addr))
         self.cmd_queue = self.mcu.alloc_command_queue()
         self.mcu.register_config_callback(self.build_config)
-        self.i2c_write_cmd = self.i2c_read_cmd = self.i2c_modify_bits_cmd = None
+        self.i2c_write_cmd = self.i2c_read_cmd = None
+        printer = self.mcu.get_printer()
+        printer.register_event_handler("klippy:connect", self._handle_connect)
+        # backward support i2c_write inside the init section
+        self._to_write = []
+    def _handle_connect(self):
+        for data in self._to_write:
+            self.i2c_write(data)
     def get_oid(self):
         return self.oid
     def get_mcu(self):
@@ -173,6 +199,12 @@ class MCU_I2C:
         if '%' in self.config_fmt:
             bus = resolve_bus_name(self.mcu, "i2c_bus", self.bus)
             self.config_fmt = self.config_fmt % (bus,)
+        if self.config_fmt_ticks:
+            if self.mcu.try_lookup_command("i2c_set_sw_bus oid=%c"
+                                           " scl_pin=%u sda_pin=%u"
+                                           " pulse_ticks=%u address=%u"):
+                pulse_ticks = self.mcu.seconds_to_clock(1./self.speed/2)
+                self.config_fmt = self.config_fmt_ticks % (pulse_ticks,)
         self.mcu.add_config_cmd(self.config_fmt)
         self.i2c_write_cmd = self.mcu.lookup_command(
             "i2c_write oid=%c data=%*s", cq=self.cmd_queue)
@@ -180,36 +212,14 @@ 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
+            self._to_write.append(data)
-            data_msg = "".join(["%02x" % (x,) for x in data])
-            self.mcu.add_config_cmd("i2c_write oid=%d data=%s" % (
-                self.oid, data_msg), is_init=True)
             return
-        self.i2c_write_cmd.send([self.oid, data],
-                                minclock=minclock, reqclock=reqclock)
-    def i2c_write_wait_ack(self, data, minclock=0, reqclock=0):
         self.i2c_write_cmd.send_wait_ack([self.oid, data],
                                          minclock=minclock, reqclock=reqclock)
-    def i2c_read(self, write, read_len):
+    def i2c_read(self, write, read_len, retry=True):
-        return self.i2c_read_cmd.send([self.oid, write, read_len])
+        return self.i2c_read_cmd.send([self.oid, write, read_len], retry)
-    def i2c_modify_bits(self, reg, clear_bits, set_bits,
-                        minclock=0, reqclock=0):
-        clearset = clear_bits + set_bits
-        if self.i2c_modify_bits_cmd is None:
-            # Send setup message via mcu initialization
-            reg_msg = "".join(["%02x" % (x,) for x in reg])
-            clearset_msg = "".join(["%02x" % (x,) for x in clearset])
-            self.mcu.add_config_cmd(
-                "i2c_modify_bits oid=%d reg=%s clear_set_bits=%s" % (
-                    self.oid, reg_msg, clearset_msg), is_init=True)
-            return
-        self.i2c_modify_bits_cmd.send([self.oid, reg, clearset],
-                                      minclock=minclock, reqclock=reqclock)
 
 def MCU_I2C_from_config(config, default_addr=None, default_speed=100000):
     # Load bus parameters

klippy/extras/buttons.py

@@ -244,6 +244,33 @@ class HalfStepRotaryEncoder(BaseRotaryEncoder):
          BaseRotaryEncoder.R_START | BaseRotaryEncoder.R_DIR_CCW),
     )
 
+class DebounceButton:
+    def __init__(self, config, button_action):
+        self.printer = config.get_printer()
+        self.reactor = self.printer.get_reactor()
+        self.button_action = button_action
+        self.debounce_delay = config.getfloat('debounce_delay', 0., minval=0.)
+        self.logical_state = None
+        self.physical_state = None
+        self.latest_eventtime = None
+    def button_handler(self, eventtime, state):
+        self.physical_state = state
+        self.latest_eventtime = eventtime
+        # if there would be no state transition, ignore the event:
+        if self.logical_state == self.physical_state:
+            return
+        trigger_time = eventtime + self.debounce_delay
+        self.reactor.register_callback(self._debounce_event, trigger_time)
+    def _debounce_event(self, eventtime):
+        # if there would be no state transition, ignore the event:
+        if self.logical_state == self.physical_state:
+            return
+        # if there were more recent events, they supersede this one:
+        if (eventtime - self.debounce_delay) < self.latest_eventtime:
+            return
+        # enact state transition and trigger action
+        self.logical_state = self.physical_state
+        self.button_action(self.latest_eventtime, self.logical_state)
 
 ######################################################################
 # Button registration code
@@ -261,6 +288,14 @@ class PrinterButtons:
             self.adc_buttons[pin] = adc_buttons = MCU_ADC_buttons(
                 self.printer, pin, pullup)
         adc_buttons.setup_button(min_val, max_val, callback)
+    def register_debounce_button(self, pin, callback, config):
+        debounce = DebounceButton(config, callback)
+        return self.register_buttons([pin], debounce.button_handler)
+    def register_debounce_adc_button(self, pin, min_val, max_val, pullup
+                                     , callback, config):
+        debounce = DebounceButton(config, callback)
+        return self.register_adc_button(pin, min_val, max_val, pullup
+                                        , debounce.button_handler)
     def register_adc_button_push(self, pin, min_val, max_val, pullup, callback):
         def helper(eventtime, state, callback=callback):
             if state:

klippy/extras/canbus_stats.py

@@ -0,0 +1,80 @@
+# Report canbus connection status
+#
+# Copyright (C) 2025  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+
+class PrinterCANBusStats:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.reactor = self.printer.get_reactor()
+        self.name = config.get_name().split()[-1]
+        self.mcu = None
+        self.get_canbus_status_cmd = None
+        self.status = {'rx_error': None, 'tx_error': None, 'tx_retries': None,
+                       'bus_state': None}
+        self.printer.register_event_handler("klippy:connect",
+                                            self.handle_connect)
+        self.printer.register_event_handler("klippy:shutdown",
+                                            self.handle_shutdown)
+    def handle_shutdown(self):
+        status = self.status.copy()
+        if status['bus_state'] is not None:
+            # Clear bus_state on shutdown to note that the values may be stale
+            status['bus_state'] = 'unknown'
+            self.status = status
+    def handle_connect(self):
+        # Lookup mcu
+        mcu_name = self.name
+        if mcu_name != 'mcu':
+            mcu_name = 'mcu ' + mcu_name
+        self.mcu = self.printer.lookup_object(mcu_name)
+        # Lookup status query command
+        if self.mcu.try_lookup_command("get_canbus_status") is None:
+            return
+        self.get_canbus_status_cmd = self.mcu.lookup_query_command(
+            "get_canbus_status",
+            "canbus_status rx_error=%u tx_error=%u tx_retries=%u"
+            " canbus_bus_state=%u")
+        # Register usb_canbus_state message handling (for usb to canbus bridge)
+        self.mcu.register_response(self.handle_usb_canbus_state,
+                                   "usb_canbus_state")
+        # Register periodic query timer
+        self.reactor.register_timer(self.query_event, self.reactor.NOW)
+    def handle_usb_canbus_state(self, params):
+        discard = params['discard']
+        if discard:
+            logging.warning("USB CANBUS bridge '%s' is discarding!"
+                            % (self.name,))
+        else:
+            logging.warning("USB CANBUS bridge '%s' is no longer discarding."
+                            % (self.name,))
+    def query_event(self, eventtime):
+        prev_rx = self.status['rx_error']
+        prev_tx = self.status['tx_error']
+        prev_retries = self.status['tx_retries']
+        if prev_rx is None:
+            prev_rx = prev_tx = prev_retries = 0
+        params = self.get_canbus_status_cmd.send()
+        rx = prev_rx + ((params['rx_error'] - prev_rx) & 0xffffffff)
+        tx = prev_tx + ((params['tx_error'] - prev_tx) & 0xffffffff)
+        retries = prev_retries + ((params['tx_retries'] - prev_retries)
+                                  & 0xffffffff)
+        state = params['canbus_bus_state']
+        self.status = {'rx_error': rx, 'tx_error': tx, 'tx_retries': retries,
+                       'bus_state': state}
+        return self.reactor.monotonic() + 1.
+    def stats(self, eventtime):
+        status = self.status
+        if status['rx_error'] is None:
+            return (False, '')
+        return (False, 'canstat_%s: bus_state=%s rx_error=%d'
+                ' tx_error=%d tx_retries=%d'
+                % (self.name, status['bus_state'], status['rx_error'],
+                   status['tx_error'], status['tx_retries']))
+    def get_status(self, eventtime):
+        return self.status
+
+def load_config_prefix(config):
+    return PrinterCANBusStats(config)

klippy/extras/controller_fan.py

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

klippy/extras/display/__init__.py

@@ -12,7 +12,7 @@ def load_config_prefix(config):
     if not config.has_section('display'):
         raise config.error(
             "A primary [display] section must be defined in printer.cfg "
-            "to use auxilary displays")
+            "to use auxiliary displays")
     name = config.get_name().split()[-1]
     if name == "display":
         raise config.error(

klippy/extras/display/aip31068_spi.py

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

klippy/extras/display/display.py

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

klippy/extras/display/font8x14.py

@@ -13,7 +13,7 @@
 # ftp://ftp.simtel.net/pub/simtelnet/msdos/screen/fntcol16.zip
 # (c) Joseph Gil
 #
-# Indivdual fonts are public domain
+# Individual fonts are public domain
 ######################################################################
 
 VGA_FONT = [

klippy/extras/dotstar.py

@@ -1,9 +1,9 @@
 # Support for "dotstar" leds
 #
-# Copyright (C) 2019-2022  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2019-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import bus
+from . import bus, led
 
 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000
 
@@ -22,8 +22,7 @@ class PrinterDotstar:
         self.spi = bus.MCU_SPI(mcu, None, None, 0, 500000, sw_spi_pins)
         # Initialize color data
         self.chain_count = config.getint('chain_count', 1, minval=1)
-        pled = printer.load_object(config, "led")
+        self.led_helper = led.LEDHelper(config, self.update_leds,
-        self.led_helper = pled.setup_helper(config, self.update_leds,
                                         self.chain_count)
         self.prev_data = None
         # Register commands

klippy/extras/endstop_phase.py

@@ -52,7 +52,7 @@ class PhaseCalc:
 class EndstopPhase:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.name = config.get_name().split()[1]
+        self.name = " ".join(config.get_name().split()[1:])
         # Obtain step_distance and microsteps from stepper config section
         sconfig = config.getsection(self.name)
         rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
@@ -118,7 +118,7 @@ class EndstopPhase:
         return delta * self.step_dist
     def handle_home_rails_end(self, homing_state, rails):
         for rail in rails:
-            stepper = rail.get_steppers()[0]
+            stepper = rail.get_endstops()[0][0].get_steppers()[0]
             if stepper.get_name() == self.name:
                 trig_mcu_pos = homing_state.get_trigger_position(self.name)
                 align = self.align_endstop(rail)

klippy/extras/exclude_object.py

@@ -82,24 +82,25 @@ class ExcludeObject:
         self._reset_state()
         self._unregister_transform()
 
-    def _get_extrusion_offsets(self):
+    def _get_extrusion_offsets(self, num_coord):
-        offset = self.extrusion_offsets.get(
+        ename = self.toolhead.get_extruder().get_name()
-            self.toolhead.get_extruder().get_name())
+        offset = self.extrusion_offsets.get(ename)
         if offset is None:
-            offset = [0., 0., 0., 0.]
+            offset = [0.] * num_coord
-            self.extrusion_offsets[self.toolhead.get_extruder().get_name()] = \
+            self.extrusion_offsets[ename] = offset
-                offset
+        if len(offset) < num_coord:
+            offset.extend([0.] * (len(num_coord) - len(offset)))
         return offset
 
     def get_position(self):
-        offset = self._get_extrusion_offsets()
         pos = self.next_transform.get_position()
-        for i in range(4):
+        offset = self._get_extrusion_offsets(len(pos))
+        for i in range(len(pos)):
             self.last_position[i] = pos[i] + offset[i]
         return list(self.last_position)
 
     def _normal_move(self, newpos, speed):
-        offset = self._get_extrusion_offsets()
+        offset = self._get_extrusion_offsets(len(newpos))
 
         if self.initial_extrusion_moves > 0 and \
             self.last_position[3] != newpos[3]:
@@ -122,9 +123,9 @@ class ExcludeObject:
         if (offset[0] != 0 or offset[1] != 0) and \
             (newpos[0] != self.last_position_excluded[0] or \
             newpos[1] != self.last_position_excluded[1]):
-            offset[0] = 0
+            for i in range(len(newpos)):
-            offset[1] = 0
+                if i != 3:
-            offset[2] = 0
+                    offset[i] = 0
             offset[3] += self.extruder_adj
             self.extruder_adj = 0
 
@@ -137,13 +138,14 @@ class ExcludeObject:
             self.extruder_adj = 0
 
         tx_pos = newpos[:]
-        for i in range(4):
+        for i in range(len(newpos)):
             tx_pos[i] = newpos[i] - offset[i]
         self.next_transform.move(tx_pos, speed)
 
     def _ignore_move(self, newpos, speed):
-        offset = self._get_extrusion_offsets()
+        offset = self._get_extrusion_offsets(len(newpos))
-        for i in range(3):
+        for i in range(len(newpos)):
+            if i != 3:
                 offset[i] = newpos[i] - self.last_position_extruded[i]
         offset[3] = offset[3] + newpos[3] - self.last_position[3]
         self.last_position[:] = newpos

klippy/extras/fan.py

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

klippy/extras/fan_generic.py

@@ -1,9 +1,10 @@
 # Support fans that are controlled by gcode
 #
-# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import fan
+import logging
+from . import fan, output_pin
 
 class PrinterFanGeneric:
     cmd_SET_FAN_SPEED_help = "Sets the speed of a fan"
@@ -12,6 +13,9 @@ class PrinterFanGeneric:
         self.fan = fan.Fan(config, default_shutdown_speed=0.)
         self.fan_name = config.get_name().split()[-1]
 
+        # Template handling
+        self.template_eval = output_pin.lookup_template_eval(config)
+
         gcode = self.printer.lookup_object("gcode")
         gcode.register_mux_command("SET_FAN_SPEED", "FAN",
                                    self.fan_name,
@@ -20,8 +24,22 @@ 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")
+            value = 0.
+        self.fan.set_speed(value)
     def cmd_SET_FAN_SPEED(self, gcmd):
-        speed = gcmd.get_float('SPEED', 0.)
+        speed = gcmd.get_float('SPEED', None, 0.)
+        template = gcmd.get('TEMPLATE', None)
+        if (speed is None) == (template is None):
+            raise gcmd.error("SET_FAN_SPEED must specify SPEED or TEMPLATE")
+        # Check for template setting
+        if template is not None:
+            self.template_eval.set_template(gcmd, self._template_update)
+            return
         self.fan.set_speed_from_command(speed)
 
 def load_config_prefix(config):

klippy/extras/filament_motion_sensor.py

@@ -63,7 +63,7 @@ class EncoderSensor:
     def _extruder_pos_update_event(self, eventtime):
         extruder_pos = self._get_extruder_pos(eventtime)
         # Check for filament runout
-        self.runout_helper.note_filament_present(
+        self.runout_helper.note_filament_present(eventtime,
                 extruder_pos < self.filament_runout_pos)
         return eventtime + CHECK_RUNOUT_TIMEOUT
     def encoder_event(self, eventtime, state):
@@ -71,7 +71,7 @@ class EncoderSensor:
             self._update_filament_runout_pos(eventtime)
             # Check for filament insertion
             # Filament is always assumed to be present on an encoder event
-            self.runout_helper.note_filament_present(True)
+            self.runout_helper.note_filament_present(eventtime, True)
 
 def load_config_prefix(config):
     return EncoderSensor(config)

klippy/extras/filament_switch_sensor.py

@@ -5,6 +5,7 @@
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
 
+
 class RunoutHelper:
     def __init__(self, config):
         self.name = config.get_name().split()[-1]
@@ -24,7 +25,7 @@ class RunoutHelper:
             self.insert_gcode = gcode_macro.load_template(
                 config, 'insert_gcode')
         self.pause_delay = config.getfloat('pause_delay', .5, above=.0)
-        self.event_delay = config.getfloat('event_delay', 3., above=0.)
+        self.event_delay = config.getfloat('event_delay', 3., minval=.0)
         # Internal state
         self.min_event_systime = self.reactor.NEVER
         self.filament_present = False
@@ -59,19 +60,20 @@ class RunoutHelper:
         except Exception:
             logging.exception("Script running error")
         self.min_event_systime = self.reactor.monotonic() + self.event_delay
-    def note_filament_present(self, is_filament_present):
+    def note_filament_present(self, eventtime, is_filament_present):
         if is_filament_present == self.filament_present:
             return
         self.filament_present = is_filament_present
-        eventtime = self.reactor.monotonic()
+
         if eventtime < self.min_event_systime or not self.sensor_enabled:
             # do not process during the initialization time, duplicates,
             # during the event delay time, while an event is running, or
             # when the sensor is disabled
             return
         # Determine "printing" status
+        now = self.reactor.monotonic()
         idle_timeout = self.printer.lookup_object("idle_timeout")
-        is_printing = idle_timeout.get_status(eventtime)["state"] == "Printing"
+        is_printing = idle_timeout.get_status(now)["state"] == "Printing"
         # Perform filament action associated with status change (if any)
         if is_filament_present:
             if not is_printing and self.insert_gcode is not None:
@@ -79,14 +81,14 @@ class RunoutHelper:
                 self.min_event_systime = self.reactor.NEVER
                 logging.info(
                     "Filament Sensor %s: insert event detected, Time %.2f" %
-                    (self.name, eventtime))
+                    (self.name, now))
                 self.reactor.register_callback(self._insert_event_handler)
         elif is_printing and self.runout_gcode is not None:
             # runout detected
             self.min_event_systime = self.reactor.NEVER
             logging.info(
                 "Filament Sensor %s: runout event detected, Time %.2f" %
-                (self.name, eventtime))
+                (self.name, now))
             self.reactor.register_callback(self._runout_event_handler)
     def get_status(self, eventtime):
         return {
@@ -108,11 +110,12 @@ class SwitchSensor:
         printer = config.get_printer()
         buttons = printer.load_object(config, 'buttons')
         switch_pin = config.get('switch_pin')
-        buttons.register_buttons([switch_pin], self._button_handler)
+        buttons.register_debounce_button(switch_pin, self._button_handler
+                                         , config)
         self.runout_helper = RunoutHelper(config)
         self.get_status = self.runout_helper.get_status
     def _button_handler(self, eventtime, state):
-        self.runout_helper.note_filament_present(state)
+        self.runout_helper.note_filament_present(eventtime, state)
 
 def load_config_prefix(config):
     return SwitchSensor(config)

klippy/extras/firmware_retraction.py

@@ -43,7 +43,7 @@ class FirmwareRetraction:
         self.unretract_length = (self.retract_length
                                  + self.unretract_extra_length)
         self.is_retracted = False
-    cmd_GET_RETRACTION_help = ("Report firmware retraction paramters")
+    cmd_GET_RETRACTION_help = ("Report firmware retraction parameters")
     def cmd_GET_RETRACTION(self, gcmd):
         gcmd.respond_info("RETRACT_LENGTH=%.5f RETRACT_SPEED=%.5f"
                           " UNRETRACT_EXTRA_LENGTH=%.5f UNRETRACT_SPEED=%.5f"