github: Add a stale ticket tracker for github PRs

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

.github/workflows/build-test.yaml

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

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

@@ -11,16 +11,14 @@ jobs:
     steps:
     - uses: actions/stale@v8
       with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        stale-pr-message: |
-        stale-issue-message: |
           Hello,
 
           It looks like there hasn't been any recent updates on this
-          Klipper github issue.  If you created this issue and no
+          github ticket.  We prefer to only list tickets as "open" if
-          longer consider it open, then please login to github and
+          they are actively being worked on.  Feel free to provide an
-          close the issue.  Otherwise, if there is no further activity
+          update on this ticket.  Otherwise the ticket will be
-          on this thread then it will be automatically closed in a few
+          automatically closed in a few days.
-          days.
 
           Best regards,
 
@@ -29,10 +27,10 @@ jobs:
           PS: I'm just an automated script, not a human being.
 
         exempt-issue-labels: 'enhancement,bug'
-        days-before-stale: 35
+        days-before-stale: 60
         days-before-close: 7
-        days-before-pr-stale: -1
+        days-before-issue-stale: -1
-        days-before-pr-close: -1
+        days-before-issue-close: -1
   # Close tickets marked with "not on github" label
   close_not_on_github:
     if: github.repository == 'Klipper3d/klipper'
@@ -330,7 +328,7 @@ jobs:
             }
   # Lock closed issues after 6 months of inactivity and PRs after 1 year.
   lock:
-    name: Lock Closed Issues
+    name: Lock Closed Tickets
     if: github.repository == 'Klipper3d/klipper'
     runs-on: ubuntu-latest
     steps:

README.md

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

config/generic-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/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/sample-duet3-1lc.cfg

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

docs/API_Server.md

@@ -282,22 +282,6 @@ window" interface. Parsing content from the G-Code terminal output is
 discouraged. Use the "objects/subscribe" endpoint to obtain updates on
 Klipper's state.
 
-### heaters/set_target_temperature
-
-This endpoint is used to asynchronously set the target temperature for
-a heater. For example:
-`{"id": 123, "method": "heaters/set_target_temperature", "params":
-{"heater":"heater_generic my_heater", "target": 100.3}}`
-
-This endpoint is similar to the `SET_HEATER_TEMPERATURE` G-Code
-command, but the target temperature takes effect immediately.  It does
-not wait for pending G-Code commands to complete.
-
-If this endpoint is issued for a heater while a `WAIT_TEMPERATURE`
-command (or `M109`, `M190`) is pending for that heater, then the
-requested target temperature will be set and the `WAIT_TEMPERATURE`
-command will exit with an error.
-
 ### motion_report/dump_stepper
 
 This endpoint is used to subscribe to Klipper's internal stepper
@@ -391,9 +375,10 @@ A request may look like:
 `{"id": 123, "method":"hx71x/dump_hx71x",
 "params": {"sensor": "load_cell", "response_template": {}}}`
 and might return:
-`{"id": 123,"result":{"header":["time","counts"]}}`
+`{"id": 123,"result":{"header":["time","counts","value"]}}`
 and might later produce asynchronous messages such as:
-`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`
+`{"params":{"data":[[3292.432935, 562534, 0.067059278],
+[3292.4394937, 5625322, 0.670590639]]}}`
 
 ### ads1220/dump_ads1220
 
@@ -406,9 +391,10 @@ A request may look like:
 `{"id": 123, "method":"ads1220/dump_ads1220",
 "params": {"sensor": "load_cell", "response_template": {}}}`
 and might return:
-`{"id": 123,"result":{"header":["time","counts"]}}`
+`{"id": 123,"result":{"header":["time","counts","value"]}}`
 and might later produce asynchronous messages such as:
-`{"params":{"data":[[3292.432935, 562534], [3292.4394937, 5625322]]}}`
+`{"params":{"data":[[3292.432935, 562534, 0.067059278],
+[3292.4394937, 5625322, 0.670590639]]}}`
 
 ### pause_resume/cancel
 

docs/Axis_Twist_Compensation.md

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

docs/Bed_Mesh.md

@@ -269,7 +269,7 @@ printers use an endstop for homing the Z axis and a probe for calibrating the
 mesh. In this configuration it is possible offset the mesh so that the (X, Y)
 `reference position` applies zero adjustment.  The `reference postion` should
 be the location on the bed where a
-[Z_ENDSTOP_CALIBRATE](./Manual_Level#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:
 

docs/Benchmarks.md

@@ -354,6 +354,26 @@ micro-controller.
 | 1 stepper (200Mhz)   | 39    |
 | 3 stepper (200Mhz)   | 181   |
 
+### SAME70 step rate benchmark
+
+The following configuration sequence is used on the SAME70:
+```
+allocate_oids count=3
+config_stepper oid=0 step_pin=PC18 dir_pin=PB5 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PC16 dir_pin=PD10 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PC28 dir_pin=PA4 invert_step=-1 step_pulse_ticks=0
+finalize_config crc=0
+```
+
+The test was last run on commit `34e9ea55` with gcc version
+`arm-none-eabi-gcc (NixOS 10.3-2021.10) 10.3.1` on a SAME70Q20B
+micro-controller.
+
+| same70               | ticks |
+| -------------------- | ----- |
+| 1 stepper            | 45    |
+| 3 stepper            | 190   |
+
 ### AR100 step rate benchmark ###
 
 The following configuration sequence is used on AR100 CPU (Allwinner A64):
@@ -366,7 +386,7 @@ finalize_config crc=0
 
 ```
 
-The test was last run on commit `08d037c6` with gcc version
+The test was last run on commit `b7978d37` with gcc version
 `or1k-linux-musl-gcc (GCC) 9.2.0` on an Allwinner A64-H
 micro-controller.
 
@@ -375,9 +395,9 @@ micro-controller.
 | 1 stepper            | 85    |
 | 3 stepper            | 359   |
 
-### RP2040 step rate benchmark
+### RPxxxx step rate benchmark
 
-The following configuration sequence is used on the RP2040:
+The following configuration sequence is used on the RP2040 and RP2350:
 
 ```
 allocate_oids count=3
@@ -387,15 +407,26 @@ config_stepper oid=2 step_pin=gpio27 dir_pin=gpio5 invert_step=-1 step_pulse_tic
 finalize_config crc=0
 ```
 
-The test was last run on commit `59314d99` with gcc version
+The test was last run on commit `f6718291` with gcc version
-`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a Raspberry Pi
+`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0` on Raspberry Pi
-Pico board.
+Pico and Pico 2 boards.
 
-| rp2040               | ticks |
+| rp2040 (*)           | ticks |
 | -------------------- | ----- |
 | 1 stepper            | 5     |
 | 3 stepper            | 22    |
 
+| rp2350               | ticks |
+| -------------------- | ----- |
+| 1 stepper            | 36    |
+| 3 stepper            | 169   |
+
+(*) Note that the reported rp2040 ticks are relative to a 12Mhz
+scheduling timer and do not correspond to its 125Mhz internal ARM
+processing rate. It is expected that 5 scheduling ticks corresponds to
+~47 ARM core cycles and 22 scheduling ticks corresponds to ~224 ARM
+core cycles.
+
 ### Linux MCU step rate benchmark
 
 The following configuration sequence is used on a Raspberry Pi:
@@ -456,7 +487,8 @@ hub.
 | sam4s8c (USB)       | 650K | 8d4a5c16 | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | samd51 (USB)        | 864K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | stm32f446 (USB)     | 870K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
-| rp2040 (USB)        | 873K | c5667193 | arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0 |
+| rp2040 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
+| rp2350 (USB)        | 885K | f6718291 | arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0 |
 
 ## Host Benchmarks
 

docs/Code_Overview.md

@@ -359,10 +359,10 @@ Useful steps:
    be efficient as it is typically only called during homing and
    probing operations.
 5. Other methods. Implement the `check_move()`, `get_status()`,
-   `get_steppers()`, `home()`, 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 +8,37 @@ All dates in this document are approximate.
 
 ## Changes
 
+20241203: The resonance test has been changed to include slow sweeping
+moves. This change requires that testing point(s) have some clearance
+in X/Y plane (+/- 30 mm from the test point should suffice when using
+the default settings). The new test should generally produce more
+accurate and reliable test results. However, if required, the previous
+test behavior can be restored by adding options `sweeping_period: 0` and
+`accel_per_hz: 75` to the `[resonance_tester]` config section.
+
+20241201: In some cases Klipper may have ignored leading characters or
+spaces in a traditional G-Code command. For example, "99M123" may have
+been interpreted as "M123" and "M 321" may have been interpreted as
+"M321". Klipper will now report these cases with an "Unknown command"
+warning.
+
+20241112: Option `CHIPS=<chip_name>` in `TEST_RESONANCES` and
+`SHAPER_CALIBRATE` requires specifying the full name(s) of the accel
+chip(s). For example, `adxl345 rpi` instead of short name - `rpi`.
+
+20240912: `SET_PIN`, `SET_SERVO`, `SET_FAN_SPEED`, `M106`, and `M107`
+commands are now collated. Previously, if many updates to the same
+object were issued faster than the minimum scheduling time (typically
+100ms) then actual updates could be queued far into the future. Now if
+many updates are issued in rapid succession then it is possible that
+only the latest request will be applied. If the previous behavior is
+requried then consider adding explicit `G4` delay commands between
+updates.
+
+20240912: Support for `maximum_mcu_duration` and `static_value`
+parameters in `[output_pin]` config sections have been removed. These
+options have been deprecated since 20240123.
+
 20240415: The `on_error_gcode` parameter in the `[virtual_sdcard]`
 config section now has a default. If this parameter is not specified
 it now defaults to `TURN_OFF_HEATERS`. If the previous behavior is

docs/Config_Reference.md

@@ -1675,8 +1675,9 @@ Support for LIS2DW accelerometers.
 
 ```
 [lis2dw]
-cs_pin:
+#cs_pin:
-#   The SPI enable pin for the sensor. This parameter must be provided.
+#   The SPI enable pin for the sensor. This parameter must be provided
+#   if using SPI.
 #spi_speed: 5000000
 #   The SPI speed (in hz) to use when communicating with the chip.
 #   The default is 5000000.
@@ -1686,6 +1687,46 @@ cs_pin:
 #spi_software_miso_pin:
 #   See the "common SPI settings" section for a description of the
 #   above parameters.
+#i2c_address:
+#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed: 400000
+#   See the "common I2C settings" section for a description of the
+#   above parameters. The default "i2c_speed" is 400000.
+#axes_map: x, y, z
+#   See the "adxl345" section for information on this parameter.
+```
+
+### [lis3dh]
+
+Support for LIS3DH accelerometers.
+
+```
+[lis3dh]
+#cs_pin:
+#   The SPI enable pin for the sensor. This parameter must be provided
+#   if using SPI.
+#spi_speed: 5000000
+#   The SPI speed (in hz) to use when communicating with the chip.
+#   The default is 5000000.
+#spi_bus:
+#spi_software_sclk_pin:
+#spi_software_mosi_pin:
+#spi_software_miso_pin:
+#   See the "common SPI settings" section for a description of the
+#   above parameters.
+#i2c_address:
+#   Default is 25 (0x19). If SA0 is high, it would be 24 (0x18) instead.
+#i2c_mcu:
+#i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed: 400000
+#   See the "common I2C settings" section for a description of the
+#   above parameters. The default "i2c_speed" is 400000.
 #axes_map: x, y, z
 #   See the "adxl345" section for information on this parameter.
 ```
@@ -1749,11 +1790,14 @@ section of the measuring resonances guide for more information on
 #   auto-calibration (with 'SHAPER_CALIBRATE' command). By default no
 #   maximum smoothing is specified. Refer to Measuring_Resonances guide
 #   for more details on using this feature.
+#move_speed: 50
+#   The speed (in mm/s) to move the toolhead to and between test points
+#   during the calibration. The default is 50.
 #min_freq: 5
 #   Minimum frequency to test for resonances. The default is 5 Hz.
 #max_freq: 133.33
 #   Maximum frequency to test for resonances. The default is 133.33 Hz.
-#accel_per_hz: 75
+#accel_per_hz: 60
 #   This parameter is used to determine which acceleration to use to
 #   test a specific frequency: accel = accel_per_hz * freq. Higher the
 #   value, the higher is the energy of the oscillations. Can be set to
@@ -1767,6 +1811,13 @@ section of the measuring resonances guide for more information on
 #   hz_per_sec. Small values make the test slow, and the large values
 #   will decrease the precision of the test. The default value is 1.0
 #   (Hz/sec == sec^-2).
+#sweeping_accel: 400
+#   An acceleration of slow sweeping moves. The default is 400 mm/sec^2.
+#sweeping_period: 1.2
+#   A period of slow sweeping moves. Setting this parameter to 0
+#   disables slow sweeping moves. Avoid setting it to a too small
+#   non-zero value in order to not poison the measurements.
+#   The default is 1.2 sec which is a good all-round choice.
 ```
 
 ## Config file helpers
@@ -2042,9 +2093,9 @@ 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 +2108,33 @@ detailed information regarding symptoms, configuration and setup.
 calibrate_start_x: 20
 #   Defines the minimum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the starting
-#   calibration position. This parameter must be provided.
+#   calibration position.
 calibrate_end_x: 200
 #   Defines the maximum X coordinate of the calibration
 #   This should be the X coordinate that positions the nozzle at the ending
-#   calibration position. This parameter must be provided.
+#   calibration position.
 calibrate_y: 112.5
 #   Defines the Y coordinate of the calibration
 #   This should be the Y coordinate that positions the nozzle during the
-#   calibration process. This parameter must be provided and is recommended to
+#   calibration process. This parameter is recommended to
 #   be near the center of the bed
+
+# For Y-axis twist compensation, specify the following parameters:
+calibrate_start_y: ...
+#   Defines the minimum Y coordinate of the calibration
+#   This should be the Y coordinate that positions the nozzle at the starting
+#   calibration position for the Y axis. This parameter must be provided if
+#   compensating for Y axis twist.
+calibrate_end_y: ...
+#   Defines the maximum Y coordinate of the calibration
+#   This should be the Y coordinate that positions the nozzle at the ending
+#   calibration position for the Y axis. This parameter must be provided if
+#   compensating for Y axis twist.
+calibrate_x: ...
+#   Defines the X coordinate of the calibration for Y axis twist compensation
+#   This should be the X coordinate that positions the nozzle during the
+#   calibration process for Y axis twist compensation. This parameter must be
+#   provided and is recommended to be near the center of the bed.
 ```
 
 ## Additional stepper motors and extruders
@@ -2458,6 +2526,10 @@ 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
@@ -3774,6 +3846,7 @@ run_current:
 #driver_SEIMIN: 0
 #driver_SFILT: 0
 #driver_SG4_ANGLE_OFFSET: 1
+#driver_SLOPE_CONTROL: 0
 #   Set the given register during the configuration of the TMC2240
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -4077,15 +4150,16 @@ Support for a display attached to the micro-controller.
 [display]
 lcd_type:
 #   The type of LCD chip in use. This may be "hd44780", "hd44780_spi",
-#   "st7920", "emulated_st7920", "uc1701", "ssd1306", or "sh1106".
+#   "aip31068_spi", "st7920", "emulated_st7920", "uc1701", "ssd1306", or
+#   "sh1106".
 #   See the display sections below for information on each type and
 #   additional parameters they provide. This parameter must be
 #   provided.
 #display_group:
 #   The name of the display_data group to show on the display. This
 #   controls the content of the screen (see the "display_data" section
-#   for more information). The default is _default_20x4 for hd44780
+#   for more information). The default is _default_20x4 for hd44780 or
-#   displays and _default_16x4 for other displays.
+#   aip31068_spi displays and _default_16x4 for other displays.
 #menu_timeout:
 #   Timeout for menu. Being inactive this amount of seconds will
 #   trigger menu exit or return to root menu when having autorun
@@ -4211,6 +4285,31 @@ spi_software_miso_pin:
 ...
 ```
 
+#### aip31068_spi display
+
+Information on configuring an aip31068_spi display - a very similar to hd44780_spi
+a 20x04 (20 symbols by 4 lines) display with slightly different internal
+protocol.
+
+```
+[display]
+lcd_type: aip31068_spi
+latch_pin:
+spi_software_sclk_pin:
+spi_software_mosi_pin:
+spi_software_miso_pin:
+#   The pins connected to the shift register controlling the display.
+#   The spi_software_miso_pin needs to be set to an unused pin of the
+#   printer mainboard as the shift register does not have a MISO pin,
+#   but the software spi implementation requires this pin to be
+#   configured.
+#line_length:
+#   Set the number of characters per line for an hd44780 type lcd.
+#   Possible values are 20 (default) and 16. The number of lines is
+#   fixed to 4.
+...
+```
+
 #### st7920 display
 
 Information on configuring st7920 displays (which is used in
@@ -4657,7 +4756,7 @@ sensor_type:
 #   This must be one of the supported sensor types, see below.
 ```
 
-#### XH711
+#### HX711
 This is a 24 bit low sample rate chip using "bit-bang" communications. It is
 suitable for filament scales.
 ```
@@ -4725,13 +4824,30 @@ 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'.
 ```
 
 ## Board specific hardware support
@@ -4820,6 +4936,50 @@ vssa_pin:
 #   noise. The default is 2 seconds.
 ```
 
+### [ads1x1x]
+
+ADS1013, ADS1014, ADS1015, ADS1113, ADS1114 and ADS1115 are I2C based Analog to
+Digital Converters that can be used for temperature sensors. They provide 4
+analog input pins either as single line or as differential input.
+
+Note: Use caution if using this sensor to control heaters. The heater min_temp
+and max_temp are only verified in the host and only if the host is running and
+operating normally. (ADC inputs directly connected to the micro-controller
+verify min_temp and max_temp within the micro-controller and do not require a
+working connection to the host.)
+
+```
+[ads1x1x my_ads1x1x]
+chip: ADS1115
+#pga: 4.096V
+#   Default value is 4.096V. The maximum voltage range used for the input. This
+#   scales all values read from the ADC. Options are: 6.144V, 4.096V, 2.048V,
+#   1.024V, 0.512V, 0.256V
+#adc_voltage: 3.3
+#   The suppy voltage for the device. This allows additional software scaling
+#   for all values read from the ADC.
+i2c_mcu: host
+i2c_bus: i2c.1
+#address_pin: GND
+#   Default value is GND.  There can be up to four addressed devices depending
+#   upon wiring of the device. Check the datasheet for details. The i2c_address
+#   can be specified directly instead of using the address_pin.
+```
+
+The chip provides pins that can be used on other sensors.
+
+```
+sensor_type: ...
+#   Can be any thermistor or adc_temperature.
+sensor_pin: my_ads1x1x:AIN0
+#   A combination of the name of the ads1x1x chip and the pin. Possible
+#   pin values are AIN0, AIN1, AIN2 and AIN3 for single ended lines and
+#   DIFF01, DIFF03, DIFF13 and DIFF23 for differential between their
+#   correspoding lines. For example
+#   DIFF03 measures the differential between line 0 and 3. Only specific
+#   combinations for the differentials are allowed.
+```
+
 ### [replicape]
 
 Replicape support - see the [beaglebone guide](Beaglebone.md) and the
@@ -4925,8 +5085,9 @@ serial:
 ### [angle]
 
 Magnetic hall angle sensor support for reading stepper motor angle
-shaft measurements using a1333, as5047d, or tle5012b SPI chips.  The
+shaft measurements using a1333, as5047d, mt6816, mt6826s,
-measurements are available via the [API Server](API_Server.md) and
+or tle5012b SPI chips.
+The measurements are available via the [API Server](API_Server.md) and
 [motion analysis tool](Debugging.md#motion-analysis-and-data-logging).
 See the [G-Code reference](G-Codes.md#angle) for available commands.
 
@@ -4934,7 +5095,7 @@ See the [G-Code reference](G-Codes.md#angle) for available commands.
 [angle my_angle_sensor]
 sensor_type:
 #   The type of the magnetic hall sensor chip. Available choices are
-#   "a1333", "as5047d", and "tle5012b". This parameter must be
+#   "a1333", "as5047d", "mt6816", "mt6826s", and "tle5012b". This parameter must be
 #   specified.
 #sample_period: 0.000400
 #   The query period (in seconds) to use during measurements. The
@@ -4997,8 +5158,9 @@ Most Klipper micro-controller implementations only support an
 micro-controller supports a 400000 speed (*fast mode*, 400kbit/s), but it must be
 [set in the operating system](RPi_microcontroller.md#optional-enabling-i2c)
 and the `i2c_speed` parameter is otherwise ignored. The Klipper
-"RP2040" micro-controller and ATmega AVR family support a rate of 400000
+"RP2040" micro-controller and ATmega AVR family and some STM32
-via the `i2c_speed` parameter. All other Klipper micro-controllers use a
+(F0, G0, G4, L4, F7, H7) support a rate of 400000 via the `i2c_speed` parameter.
+All other Klipper micro-controllers use a
 100000 rate and ignore the `i2c_speed` parameter.
 
 ```

docs/Contact.md

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

docs/Eddy_Probe.md

@@ -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

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

docs/G-Codes.md

@@ -127,6 +127,14 @@ use this tool the Python "numpy" package must be installed (see the
 [measuring resonance document](Measuring_Resonances.md#software-installation)
 for more information).
 
+#### ANGLE_CHIP_CALIBRATE
+`ANGLE_CHIP_CALIBRATE CHIP=<chip_name>`: Perform internal sensor calibration,
+if implemented (MT6826S/MT6835).
+
+- **MT68XX**: The motor should be disconnected
+from any printer carriage before performing calibration.
+After calibration, the sensor should be reset by disconnecting the power.
+
 #### ANGLE_DEBUG_READ
 `ANGLE_DEBUG_READ CHIP=<config_name> REG=<register>`: Queries sensor
 register "register" (e.g. 44 or 0x2C). Can be useful for debugging
@@ -146,9 +154,19 @@ 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>] [AUTO=<True|False>]
-twist calibration wizard. `SAMPLE_COUNT` specifies the number of points along
+[SAMPLE_COUNT=<value>]`
-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'`.
+
+- **AUTO:** Enables automatic calibration mode. When `AUTO=True`, the
+calibration will run for both the X and Y axes. In this mode, `AXIS`
+cannot be specified. If both `AXIS` and `AUTO` are provided, an error
+will be raised.
 
 ### [bed_mesh]
 
@@ -476,6 +494,20 @@ enabled.
 `SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets the
 speed of a fan. "speed" must be between 0.0 and 1.0.
 
+`SET_FAN_SPEED PIN=config_name TEMPLATE=<template_name>
+[<param_x>=<literal>]`: If `TEMPLATE` is specified then it assigns a
+[display_template](Config_Reference.md#display_template) to the given
+fan. For example, if one defined a `[display_template
+my_fan_template]` config section then one could assign
+`TEMPLATE=my_fan_template` here. The display_template should produce a
+string containing a floating point number with the desired value. The
+template will be continuously evaluated and the fan will be
+automatically set to the resulting speed. One may set display_template
+parameters to use during template evaluation (parameters will be
+parsed as Python literals). If TEMPLATE is an empty string then this
+command will clear any previous template assigned to the pin (one can
+then use `SET_FAN_SPEED` commands to manage the values directly).
+
 ### [filament_switch_sensor]
 
 The following command is available when a
@@ -553,15 +585,18 @@ state; issue a G28 afterwards to reset the kinematics. This command is
 intended for low-level diagnostics and debugging.
 
 #### SET_KINEMATIC_POSITION
-`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
+`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]
-the low-level kinematic code to believe the toolhead is at the given
+[CLEAR=<[X][Y][Z]>]`: Force the low-level kinematic code to believe the
-cartesian position. This is a diagnostic and debugging command; use
+toolhead is at the given cartesian position. This is a diagnostic and
-SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
+debugging command; use SET_GCODE_OFFSET and/or G92 for regular axis
-axis is not specified then it will default to the position that the
+transformations. If an axis is not specified then it will default to the
-head was last commanded to. Setting an incorrect or invalid position
+position that the head was last commanded to. Setting an incorrect or
-may lead to internal software errors. This command may invalidate
+invalid position may lead to internal software errors. Use the CLEAR
-future boundary checks; issue a G28 afterwards to reset the
+parameter to forget the homing state for the given axes. Note that CLEAR
-kinematics.
+will not override the previous functionality; if an axis is not specified
+to CLEAR it will have its kinematic position set as per above. This
+command may invalidate future boundary checks; issue a G28 afterwards to
+reset the kinematics.
 
 ### [gcode]
 
@@ -857,6 +892,20 @@ 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
@@ -1021,6 +1070,21 @@ 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 +1120,19 @@ is enabled (also see the
 all enabled accelerometer chips.
 
 #### TEST_RESONANCES
-`TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
+`TEST_RESONANCES AXIS=<axis> [OUTPUT=<resonances,raw_data>]
 [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-[HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[ACCEL_PER_HZ=<accel_per_hz>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<chip_name>]
-[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
+[POINT=x,y,z] [INPUT_SHAPING=<0:1>]`: Runs the resonance
 test in all configured probe points for the requested "axis" and
 measures the acceleration using the accelerometer chips configured for
 the respective axis. "axis" can either be X or Y, or specify an
 arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
 point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
 `AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
-and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
+and `AXIS=-dx,-dy` is equivalent. `chip_name` can be one or
-more configured adxl345 chip,delimited with comma, for example
+more configured accel chips, delimited with comma, for example
-`CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
+`CHIPS="adxl345, adxl345 rpi"`. If POINT is specified it will override the point(s)
-named adxl345 chips. If POINT is specified it will override the point(s)
 configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
 disables input shaping for the resonance testing, because
 it is not valid to run the resonance testing with the input shaper
@@ -1086,8 +1149,9 @@ frequency response is calculated (across all probe points) and written into
 
 #### SHAPER_CALIBRATE
 `SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>] [FREQ_START=<min_freq>]
-[FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[FREQ_END=<max_freq>] [ACCEL_PER_HZ=<accel_per_hz>][HZ_PER_SEC=<hz_per_sec>]
-[MAX_SMOOTHING=<max_smoothing>]`: Similarly to `TEST_RESONANCES`, runs
+[CHIPS=<chip_name>] [MAX_SMOOTHING=<max_smoothing>] [INPUT_SHAPING=<0:1>]`:
+Similarly to `TEST_RESONANCES`, runs
 the resonance test as configured, and tries to find the optimal
 parameters for the input shaper for the requested axis (or both X and
 Y axes if `AXIS` parameter is unset). If `MAX_SMOOTHING` is unset, its
@@ -1410,11 +1474,13 @@ The following commands are available when the
 [z_tilt config section](Config_Reference.md#z_tilt) is enabled.
 
 #### Z_TILT_ADJUST
-`Z_TILT_ADJUST [HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This
+`Z_TILT_ADJUST [RETRIES=<value>] [RETRY_TOLERANCE=<value>]
-command will probe the points specified in the config and then make independent
+[HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This command
-adjustments to each Z stepper to compensate for tilt. See the PROBE command for
+will probe the points specified in the config and then make
-details on the optional probe parameters. The optional `HORIZONTAL_MOVE_Z`
+independent adjustments to each Z stepper to compensate for tilt. See
-value overrides the `horizontal_move_z` option specified in the config file.
+the PROBE command for details on the optional probe parameters. The
+optional `RETRIES`, `RETRY_TOLERANCE`, and `HORIZONTAL_MOVE_Z` values
+override those options specified in the config file.
 
 ### [temperature_probe]
 

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

docs/Measuring_Resonances.md

@@ -1,24 +1,26 @@
 # Measuring Resonances
 
-Klipper has built-in support for the ADXL345, MPU-9250 and LIS2DW compatible
+Klipper has built-in support for the ADXL345, MPU-9250, LIS2DW and LIS3DH compatible
 accelerometers which can be used to measure resonance frequencies of the printer
 for different axes, and auto-tune [input shapers](Resonance_Compensation.md) to
 compensate for resonances. Note that using accelerometers requires some
-soldering and crimping. The ADXL345/LIS2DW can be connected to the SPI interface
+soldering and crimping. The ADXL345 can be connected to the SPI interface
 of a Raspberry Pi or MCU board (it needs to be reasonably fast). The MPU family can
 be connected to the I2C interface of a Raspberry Pi directly, or to an I2C
-interface of an MCU board that supports 400kbit/s *fast mode* in Klipper.
+interface of an MCU board that supports 400kbit/s *fast mode* in Klipper. The
+LIS2DW and LIS3DH can be connected to either SPI or I2C with the same considerations
+as above.
 
 When sourcing accelerometers, be aware that there are a variety of different PCB
 board designs and different clones of them. If it is going to be connected to a
 5V printer MCU ensure it has a voltage regulator and level shifters.
 
-For ADXL345s/LIS2DWs, make sure that the board supports SPI mode (a small number of
+For ADXL345s, make sure that the board supports SPI mode (a small number of
 boards appear to be hard-configured for I2C by pulling SDO to GND).
 
-For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500s there are also a variety of
+For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500s and LIS2DW/LIS3DH there are also
-board designs and clones with different I2C pull-up resistors which will need
+a variety of board designs and clones with different I2C pull-up resistors which
-supplementing.
+will need supplementing.
 
 ## MCUs with Klipper I2C *fast-mode* Support
 
@@ -27,6 +29,7 @@ supplementing.
 | Raspberry Pi | 3B+, Pico | 3A, 3A+, 3B, 4 |
 | AVR ATmega | ATmega328p | ATmega32u4, ATmega128, ATmega168, ATmega328, ATmega644p, ATmega1280, ATmega1284, ATmega2560 |
 | AVR AT90 | - | AT90usb646, AT90usb1286 |
+| SAMD | SAMC21G18 | SAMC21G18, SAMD21G18, SAMD21E18, SAMD21J18, SAMD21E15, SAMD51G19, SAMD51J19, SAMD51N19, SAMD51P20, SAME51J19, SAME51N19, SAME54P20 |
 
 ## Installation instructions
 
@@ -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]
@@ -683,6 +694,24 @@ 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

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

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

docs/_klipper3d/mkdocs.yml

@@ -88,7 +88,9 @@ nav:
   - Config_Changes.md
   - Contact.md
   - Installation and Configuration:
-    - Installation.md
+    - Installation:
+      - Installation.md
+      - OctoPrint.md
     - Configuration Reference:
       - Config_Reference.md
       - Rotation_Distance.md

docs/index.md

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

klippy/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)
-            regular_data, old_autosave_data = self._find_autosave_data(data)
+        except error as e:
-            config = self._build_config_wrapper(regular_data, cfgname)
+            msg = "Unable to read existing config on SAVE_CONFIG"
+            logging.exception(msg)
+            raise gcmd.error(msg)
+        regular_data, old_autosave_data = self._find_autosave_data(data)
+        regular_data = self._strip_duplicates(regular_data, self.fileconfig)
+        data = regular_data.rstrip() + autosave_data
+        new_regular_data, new_autosave_data = self._find_autosave_data(data)
+        if not new_autosave_data:
+            raise gcmd.error(
+                "Existing config autosave is corrupted."
+                " Can't complete SAVE_CONFIG")
+        try:
+            regular_fileconfig = cfgrdr.build_fileconfig_with_includes(
+                new_regular_data, cfgname)
         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)
@@ -69,9 +96,9 @@ class ADS1220():
             self.printer, self._process_batch, self._start_measurements,
             self._finish_measurements, UPDATE_INTERVAL)
         # publish raw samples to the socket
+        hdr = {'header': ('time', 'counts', 'value')}
         self.batch_bulk.add_mux_endpoint("ads1220/dump_ads1220", "sensor",
-                                         self.name,
+                                         self.name, hdr)
-                                         {'header': ('time', 'counts')})
         # Command Configuration
         mcu.add_config_cmd(
             "config_ads1220 oid=%d spi_oid=%d data_ready_pin=%s"
@@ -157,8 +184,10 @@ 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 +206,7 @@ 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'])
+
+            config = 0
+            config |= (ADS1X1X_OS['OS_SINGLE'] & \
+                       ADS1X1X_REG_CONFIG['OS_MASK'])
+            config |= (ADS1X1X_MUX[pin_params['pin']] & \
+                       ADS1X1X_REG_CONFIG['MULTIPLEXER_MASK'])
+            config |= (self.pga & ADS1X1X_REG_CONFIG['PGA_MASK'])
+            # Have to use single mode, because in continuous, it never reaches
+            # idle state, which we use to determine if the sampling is done.
+            config |= (ADS1X1X_MODE['single'] & \
+                       ADS1X1X_REG_CONFIG['MODE_MASK'])
+            # lowest sample rate per default, until report time has been set in
+            # setup_adc_sample
+            config |= (self.comp_mode \
+                & ADS1X1X_REG_CONFIG['COMPARATOR_MODE_MASK'])
+            config |= (self.comp_polarity \
+                & ADS1X1X_REG_CONFIG['COMPARATOR_POLARITY_MASK'])
+            config |= (self.comp_latching \
+                & ADS1X1X_REG_CONFIG['COMPARATOR_LATCHING_MASK'])
+            config |= (self.comp_queue \
+                & ADS1X1X_REG_CONFIG['COMPARATOR_QUEUE_MASK'])
+
+            pin_obj = ADS1X1X_pin(self, config)
+            if pin in self._pins:
+                raise pins.error(
+                    'pin %s for chip %s is used multiple times' \
+                        % (pin, self.name))
+            self._pins[pin] = pin_obj
+
+            return pin_obj
+        raise pins.error('Wrong pin or incompatible type: %s with type %s! ' % (
+            pin, pin_type))
+
+    def _handle_connect(self):
+        try:
+            # Init all devices on bus for this kind of device
+            self._i2c.i2c_write([0x06, 0x00, 0x00])
+        except Exception:
+            logging.exception("ADS1X1X: error while resetting device")
+
+    def is_ready(self):
+        config = self._read_register(ADS1X1X_REG_POINTER['CONFIG'])
+        return bool((config & ADS1X1X_REG_CONFIG['OS_MASK']) == \
+                    ADS1X1X_OS['OS_IDLE'])
+
+    def calculate_sample_rate(self):
+        pin_count = len(self._pins)
+        lowest_report_time = 1
+        for pin in self._pins.values():
+            lowest_report_time = min(lowest_report_time, pin.report_time)
+
+        sample_rate = 1 / lowest_report_time * pin_count
+        samples_per_second = ADS111X_SAMPLES_PER_SECOND
+        if isADS101X(self.chip):
+            samples_per_second = ADS101X_SAMPLES_PER_SECOND
+
+        # make sure the samples list is sorted correctly by number.
+        samples_per_second = sorted(samples_per_second.items(), \
+                                    key=lambda t: int(t[0]))
+        for rate, bits in samples_per_second:
+            rate_number = int(rate)
+            if sample_rate <= rate_number:
+                return (rate_number, bits)
+        logging.warning(
+            "ADS1X1X: requested sample rate %s is higher than supported by %s."\
+                % (sample_rate, self.name))
+        return (rate_number, bits)
+
+    def handle_report_time_update(self):
+        (sample_rate, sample_rate_bits) = self.calculate_sample_rate()
+
+        for pin in self._pins.values():
+            pin.config = (pin.config & ~ADS1X1X_REG_CONFIG['DATA_RATE_MASK']) \
+                | (sample_rate_bits & ADS1X1X_REG_CONFIG['DATA_RATE_MASK'])
+
+        self.delay = 1 / float(sample_rate)
+
+    def sample(self, pin):
+        with self._mutex:
+            try:
+                self._write_register(ADS1X1X_REG_POINTER['CONFIG'], pin.config)
+                self._reactor.pause(self._reactor.monotonic() + self.delay)
+                start_time = self._reactor.monotonic()
+                while not self.is_ready():
+                    self._reactor.pause(self._reactor.monotonic() + 0.001)
+                    # if we waited twice the expected time, mark this an error
+                    if start_time + self.delay < self._reactor.monotonic():
+                        logging.warning("ADS1X1X: timeout during sampling")
+                        return None
+                return self._read_register(ADS1X1X_REG_POINTER['CONVERSION'])
+            except Exception as e:
+                logging.exception("ADS1X1X: error while sampling: %s" % str(e))
+                return None
+
+    def _read_register(self, reg):
+        # read a single register
+        params = self._i2c.i2c_read([reg], 2)
+        buff = bytearray(params['response'])
+        return (buff[0]<<8 | buff[1])
+
+    def _write_register(self, reg, data):
+        data = [
+            (reg & 0xFF), # Control register
+            ((data>>8) & 0xFF), # High byte
+            (data & 0xFF), # Lo byte
+        ]
+        self._i2c.i2c_write(data)
+
+class ADS1X1X_pin:
+    def __init__(self, chip, config):
+        self.mcu = chip.mcu
+        self.chip = chip
+        self.config = config
+
+        self.invalid_count = 0
+
+        self.chip._printer.register_event_handler("klippy:connect", \
+                                                  self._handle_connect)
+
+    def _handle_connect(self):
+        self._reactor = self.chip._printer.get_reactor()
+        self._sample_timer = \
+            self._reactor.register_timer(self._process_sample, \
+                                         self._reactor.NOW)
+
+    def _process_sample(self, eventtime):
+        sample = self.chip.sample(self)
+        if sample is not None:
+            # The sample is encoded in the top 12 or full 16 bits
+            # Value's meaning is defined by ADS1X1X_REG_CONFIG['PGA_MASK']
+            if isADS101X(self.chip.chip):
+                sample >>= 4
+                target_value = sample / ADS101X_RESOLUTION
+            else:
+                target_value = sample / ADS111X_RESOLUTION
+
+            # Thermistors expect a value between 0 and 1 to work. If we use a
+            # PGA with 4.096V but supply only 3.3V, the reference voltage for
+            # voltage divider is only 3.3V, not 4.096V. So we remap the range
+            # from what the PGA allows as range to end up between 0 and 1 for
+            # the thermistor logic to work as expected.
+            target_value = target_value * (ADS1X1X_PGA_VALUE[self.chip.pga] / \
+                                           self.chip.adc_voltage)
+
+            if target_value > self.maxval or target_value < self.minval:
+                self.invalid_count = self.invalid_count + 1
+                logging.warning("ADS1X1X: temperature outside range")
+                self.check_invalid()
+            else:
+                self.invalid_count = 0
+
+            # Publish result
+            measured_time = self._reactor.monotonic()
+            self.callback(self.chip.mcu.estimated_print_time(measured_time),
+                        target_value)
+        else:
+            self.invalid_count = self.invalid_count + 1
+            self.check_invalid()
+
+        return eventtime + self.report_time
+
+    def check_invalid(self):
+        if self.invalid_count > self.range_check_count:
+            self.chip._printer.invoke_shutdown(
+                "ADS1X1X temperature check failed")
+
+    def get_mcu(self):
+        return self.mcu
+
+    def setup_adc_callback(self, report_time, callback):
+        self.report_time = report_time
+        self.callback = callback
+        self.chip.handle_report_time_update()
+
+    def setup_adc_sample(self, sample_time, sample_count,
+                         minval=0., maxval=1., range_check_count=0):
+        self.minval = minval
+        self.maxval = maxval
+        self.range_check_count = range_check_count
+
+def load_config_prefix(config):
+    return ADS1X1X_chip(config)

klippy/extras/angle.py

@@ -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):
-        self.z_compensations = []
-        self.m = None
-        self.b = None
 
+    def clear_compensations(self, axis=None):
+        if axis is None:
+            self.z_compensations = []
+            self.zy_compensations = []
+        elif axis == 'X':
+            self.z_compensations = []
+        elif axis == 'Y':
+            self.zy_compensations = []
 
 class Calibrater:
     def __init__(self, compensation, config):
@@ -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
@@ -119,20 +150,88 @@ class Calibrater:
     def cmd_AXIS_TWIST_COMPENSATION_CALIBRATE(self, gcmd):
         self.gcmd = gcmd
         sample_count = gcmd.get_int('SAMPLE_COUNT', DEFAULT_SAMPLE_COUNT)
+        axis = gcmd.get('AXIS', None)
+        auto = gcmd.get('AUTO', False)
+
+        if axis is not None and auto:
+            raise self.gcmd.error(
+                "Cannot use both 'AXIS' and 'AUTO' at the same time."
+            )
+
+        if auto:
+            self._start_autocalibration(sample_count)
+            return
+
+        if axis is None and not auto:
+            axis = 'X'
 
         # check for valid sample_count
-        if sample_count 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)
 
@@ -142,16 +241,155 @@ 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):
+    def _calculate_corrections(self, coordinates):
-        # calculate the points to put the probe at, returned as a list of tuples
+        # Extracting x, y, and z values from coordinates
-        nozzle_points = []
+        x_coords = [coord[0] for coord in coordinates]
+        y_coords = [coord[1] for coord in coordinates]
+        z_coords = [coord[2] for coord in coordinates]
+
+        # Calculate the desired point (average of all corner points in z)
+        # For a general case, we should extract the unique
+        # combinations of corner points
+        z_corners = [z_coords[i] for i, coord in enumerate(coordinates)
+                        if (coord[0] in [x_coords[0], x_coords[-1]])
+                        and (coord[1] in [y_coords[0], y_coords[-1]])]
+        z_desired = sum(z_corners) / len(z_corners)
+
+
+        # Calculate average deformation per axis
+        unique_x_coords = sorted(set(x_coords))
+        unique_y_coords = sorted(set(y_coords))
+
+        avg_z_x = []
+        for x in unique_x_coords:
+            indices = [i for i, coord in enumerate(coordinates)
+                        if coord[0] == x]
+            avg_z = sum(z_coords[i] for i in indices) / len(indices)
+            avg_z_x.append(avg_z)
+
+        avg_z_y = []
+        for y in unique_y_coords:
+            indices = [i for i, coord in enumerate(coordinates)
+                        if coord[1] == y]
+            avg_z = sum(z_coords[i] for i in indices) / len(indices)
+            avg_z_y.append(avg_z)
+
+        # Calculate corrections to reach the desired point
+        x_corrections = [z_desired - avg for avg in avg_z_x]
+        y_corrections = [z_desired - avg for avg in avg_z_y]
+
+        return x_corrections, y_corrections
+
+    def _start_autocalibration(self, sample_count):
+
+        if not all([
+                self.x_start_point[0],
+                self.x_end_point[0],
+                self.y_start_point[0],
+                self.y_end_point[0]
+                ]):
+                raise self.gcmd.error(
+                    """AXIS_TWIST_COMPENSATION_AUTOCALIBRATE requires
+                    calibrate_start_x, calibrate_end_x, calibrate_start_y
+                    and calibrate_end_y to be defined
+                    """
+                    )
+
+        # check for valid sample_count
+        if sample_count is None or sample_count < 2:
+            raise self.gcmd.error(
+                "SAMPLE_COUNT to probe must be at least 2")
+
+        # verify no other manual probe is in progress
+        manual_probe.verify_no_manual_probe(self.printer)
+
+        # clear the current config
+        self.compensation.clear_compensations()
+
+        min_x = self.x_start_point[0]
+        max_x = self.x_end_point[0]
+        min_y = self.y_start_point[1]
+        max_y = self.y_end_point[1]
+
+        # calculate x positions
+        interval_x = (max_x - min_x) / (sample_count - 1)
+        xps = [min_x + interval_x * i for i in range(sample_count)]
+
+        # Calculate points array
+        interval_y = (max_y - min_y) / (sample_count - 1)
+        flip = False
+
+        points = []
         for i in range(sample_count):
-            x = self.start_point[0] + i * interval_dist
+            for j in range(sample_count):
-            y = self.start_point[1]
+                if(not flip):
-            nozzle_points.append((x, y))
+                    idx = j
-        return nozzle_points
+                else:
+                    idx = sample_count -1 - j
+                points.append([xps[i], min_y + interval_y * idx ])
+            flip = not flip
+
+
+        # calculate the points to put the nozzle at, and probe
+        probe_points = []
+
+        for i in range(len(points)):
+            x = points[i][0] - self.probe_x_offset
+            y = points[i][1] - self.probe_y_offset
+            probe_points.append([x, y, self._auto_calibration((x,y))[2]])
+
+        # calculate corrections
+        x_corr, y_corr = self._calculate_corrections(probe_points)
+
+        x_corr_str = ', '.join(["{:.6f}".format(x)
+                                    for x in x_corr])
+
+        y_corr_str = ', '.join(["{:.6f}".format(x)
+                                    for x in y_corr])
+
+        # finalize
+        configfile = self.printer.lookup_object('configfile')
+        configfile.set(self.configname, 'z_compensations', x_corr_str)
+        configfile.set(self.configname, 'compensation_start_x',
+                    self.x_start_point[0])
+        configfile.set(self.configname, 'compensation_end_x',
+                    self.x_end_point[0])
+
+
+        configfile.set(self.configname, 'zy_compensations', y_corr_str)
+        configfile.set(self.configname, 'compensation_start_y',
+                    self.y_start_point[1])
+        configfile.set(self.configname, 'compensation_end_y',
+                    self.y_end_point[1])
+
+        self.gcode.respond_info(
+            "AXIS_TWIST_COMPENSATION state has been saved "
+            "for the current session.  The SAVE_CONFIG command will "
+            "update the printer config file and restart the printer.")
+        # output result
+        self.gcmd.respond_info(
+            "AXIS_TWIST_COMPENSATION_AUTOCALIBRATE: Calibration complete: ")
+        self.gcmd.respond_info("\n".join(map(str, [x_corr, y_corr])), log=False)
+
+    def _auto_calibration(self, probe_point):
+
+        # horizontal_move_z (to prevent probe trigger or hitting bed)
+        self._move_helper((None, None, self.horizontal_move_z))
+
+        # move to point to probe
+        self._move_helper((probe_point[0],
+                            probe_point[1], None))
+
+        # probe the point
+        pos = probe.run_single_probe(self.probe, self.gcmd)
+
+        # horizontal_move_z (to prevent probe trigger or hitting bed)
+        self._move_helper((None, None, self.horizontal_move_z))
+
+        return pos
 
     def _calculate_probe_points(self, nozzle_points,
         probe_x_offset, probe_y_offset):
@@ -238,14 +476,31 @@ class Calibrater:
         configfile = self.printer.lookup_object('configfile')
         values_as_str = ', '.join(["{:.6f}".format(x)
                                    for x in self.results])
-        configfile.set(self.configname, 'z_compensations', values_as_str)
+
-        configfile.set(self.configname, 'compensation_start_x',
+        if(self.current_axis == 'X'):
-                       self.start_point[0])
+
-        configfile.set(self.configname, 'compensation_end_x',
+            configfile.set(self.configname, 'z_compensations', values_as_str)
-                       self.end_point[0])
+            configfile.set(self.configname, 'compensation_start_x',
-        self.compensation.z_compensations = self.results
+                        self.x_start_point[0])
-        self.compensation.compensation_start_x = self.start_point[0]
+            configfile.set(self.configname, 'compensation_end_x',
-        self.compensation.compensation_end_x = self.end_point[0]
+                        self.x_end_point[0])
+
+            self.compensation.z_compensations = self.results
+            self.compensation.compensation_start_x = self.x_start_point[0]
+            self.compensation.compensation_end_x = self.x_end_point[0]
+
+        elif(self.current_axis == 'Y'):
+
+            configfile.set(self.configname, 'zy_compensations', values_as_str)
+            configfile.set(self.configname, 'compensation_start_y',
+                        self.y_start_point[1])
+            configfile.set(self.configname, 'compensation_end_y',
+                        self.y_end_point[1])
+
+            self.compensation.zy_compensations = self.results
+            self.compensation.compensation_start_y = self.y_start_point[1]
+            self.compensation.compensation_end_y = self.y_end_point[1]
+
         self.gcode.respond_info(
             "AXIS_TWIST_COMPENSATION state has been saved "
             "for the current session.  The SAVE_CONFIG command will "

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()
@@ -281,7 +284,7 @@ class BME280:
                 self.chip_type, self.i2c.i2c_address))
 
         # Reset chip
-        self.write_register('RESET', [RESET_CHIP_VALUE])
+        self.write_register('RESET', [RESET_CHIP_VALUE], wait=True)
         self.reactor.pause(self.reactor.monotonic() + .5)
 
         # Make sure non-volatile memory has been copied to registers
@@ -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)
 
+        if self.chip_type in ('BME280', 'BMP280'):
+            max_standby_time = REPORT_TIME - self.max_sample_time
+            # 0.5 ms
+            t_sb = 0
+            if self.chip_type == 'BME280':
+                if max_standby_time > 1:
+                    t_sb = 5
+                elif max_standby_time > 0.5:
+                    t_sb = 4
+                elif max_standby_time > 0.25:
+                    t_sb = 3
+                elif max_standby_time > 0.125:
+                    t_sb = 2
+                elif max_standby_time > 0.0625:
+                    t_sb = 1
+                elif max_standby_time > 0.020:
+                    t_sb = 7
+                elif max_standby_time > 0.010:
+                    t_sb = 6
+            else:
+                if max_standby_time > 4:
+                    t_sb = 7
+                elif max_standby_time > 2:
+                    t_sb = 6
+                elif max_standby_time > 1:
+                    t_sb = 5
+                elif max_standby_time > 0.5:
+                    t_sb = 4
+                elif max_standby_time > 0.25:
+                    t_sb = 3
+                elif max_standby_time > 0.125:
+                    t_sb = 2
+                elif max_standby_time > 0.0625:
+                    t_sb = 1
+
+            cfg = t_sb << 5 | self.iir_filter << 2
+            self.write_register('CONFIG', cfg)
+            if self.chip_type == 'BME280':
+                self.write_register('CTRL_HUM', self.os_hum)
+            # Enter normal (periodic) mode
+            meas = self.os_temp << 5 | self.os_pres << 2 | MODE_PERIODIC
+            self.write_register('CTRL_MEAS', meas, wait=True)
+
+        if self.chip_type == 'BME680':
+            self.write_register('CONFIG', self.iir_filter << 2)
+            # Should be set once and reused on every mode register write
+            self.write_register('CTRL_HUM', self.os_hum & 0x07)
+            gas_wait_0 = self._calc_gas_heater_duration(self.gas_heat_duration)
+            self.write_register('GAS_WAIT_0', [gas_wait_0])
+            res_heat_0 = self._calc_gas_heater_resistance(self.gas_heat_temp)
+            self.write_register('RES_HEAT_0', [res_heat_0])
+            # Set initial heater current to reach Gas heater target on start
+            self.write_register('IDAC_HEAT_0', 96)
+
     def _sample_bme280(self, eventtime):
-        # Enter forced mode
+        # In normal mode data shadowing is performed
-        if self.chip_type == 'BME280':
+        # So reading can be done while measurements are in process
-            self.write_register('CTRL_HUM', self.os_hum)
-        meas = self.os_temp << 5 | self.os_pres << 2 | MODE
-        self.write_register('CTRL_MEAS', meas)
-
         try:
-            # wait until results are ready
-            status = self.read_register('STATUS', 1)[0]
-            while status & STATUS_MEASURING:
-                self.reactor.pause(
-                    self.reactor.monotonic() + self.max_sample_time)
-                status = self.read_register('STATUS', 1)[0]
-
             if self.chip_type == 'BME280':
                 data = self.read_register('PRESSURE_MSB', 8)
             elif self.chip_type == 'BMP280':
@@ -462,36 +511,40 @@ 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)
+        self.write_register('CTRL_MEAS', meas, wait=True)
+        max_sample_time = self.max_sample_time
+        if run_gas:
+            max_sample_time += self.gas_heat_duration / 1000
+        self.reactor.pause(self.reactor.monotonic() + max_sample_time)
         try:
             # wait until results are ready
             status = self.read_register('EAS_STATUS_0', 1)[0]
-            while not data_ready(status):
+            while not data_ready(status, run_gas):
                 self.reactor.pause(
                     self.reactor.monotonic() + self.max_sample_time)
                 status = self.read_register('EAS_STATUS_0', 1)[0]
 
             data = self.read_register('PRESSURE_MSB', 8)
-            gas_data = self.read_register('GAS_R_MSB', 2)
+            gas_data = [0, 0]
+            if run_gas:
+                gas_data = self.read_register('GAS_R_MSB', 2)
         except Exception:
             logging.exception("BME680: Error reading data")
             self.temp = self.pressure = self.humidity = self.gas = .0
@@ -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:
@@ -719,12 +776,15 @@ class BME280:
         params = self.i2c.i2c_read(regs, read_len)
         return bytearray(params['response'])
 
-    def write_register(self, reg_name, data):
+    def write_register(self, reg_name, data, wait = False):
         if type(data) is not list:
             data = [data]
         reg = self.chip_registers[reg_name]
         data.insert(0, reg)
-        self.i2c.i2c_write(data)
+        if not wait:
+            self.i2c.i2c_write(data)
+        else:
+            self.i2c.i2c_write_wait_ack(data)
 
     def get_status(self, eventtime):
         data = {

klippy/extras/bus.py

@@ -160,7 +160,7 @@ class MCU_I2C:
                 % (self.oid, speed, addr))
         self.cmd_queue = self.mcu.alloc_command_queue()
         self.mcu.register_config_callback(self.build_config)
-        self.i2c_write_cmd = self.i2c_read_cmd = self.i2c_modify_bits_cmd = None
+        self.i2c_write_cmd = self.i2c_read_cmd = None
     def get_oid(self):
         return self.oid
     def get_mcu(self):
@@ -180,9 +180,6 @@ class MCU_I2C:
             "i2c_read oid=%c reg=%*s read_len=%u",
             "i2c_read_response oid=%c response=%*s", oid=self.oid,
             cq=self.cmd_queue)
-        self.i2c_modify_bits_cmd = self.mcu.lookup_command(
-            "i2c_modify_bits oid=%c reg=%*s clear_set_bits=%*s",
-            cq=self.cmd_queue)
     def i2c_write(self, data, minclock=0, reqclock=0):
         if self.i2c_write_cmd is None:
             # Send setup message via mcu initialization
@@ -197,19 +194,6 @@ class MCU_I2C:
                                 minclock=minclock, reqclock=reqclock)
     def i2c_read(self, write, read_len):
         return self.i2c_read_cmd.send([self.oid, write, read_len])
-    def i2c_modify_bits(self, reg, clear_bits, set_bits,
-                        minclock=0, reqclock=0):
-        clearset = clear_bits + set_bits
-        if self.i2c_modify_bits_cmd is None:
-            # Send setup message via mcu initialization
-            reg_msg = "".join(["%02x" % (x,) for x in reg])
-            clearset_msg = "".join(["%02x" % (x,) for x in clearset])
-            self.mcu.add_config_cmd(
-                "i2c_modify_bits oid=%d reg=%s clear_set_bits=%s" % (
-                    self.oid, reg_msg, clearset_msg), is_init=True)
-            return
-        self.i2c_modify_bits_cmd.send([self.oid, reg, clearset],
-                                      minclock=minclock, reqclock=reqclock)
 
 def MCU_I2C_from_config(config, default_addr=None, default_speed=100000):
     # Load bus parameters

klippy/extras/controller_fan.py

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

klippy/extras/display/aip31068_spi.py

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

klippy/extras/display/display.py

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

klippy/extras/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
 
@@ -22,9 +22,8 @@ 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.chain_count)
         self.prev_data = None
         # Register commands
         printer.register_event_handler("klippy:connect", self.handle_connect)

klippy/extras/fan.py

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

klippy/extras/fan_generic.py

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

klippy/extras/force_move.py

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

klippy/extras/gcode_arcs.py

@@ -39,8 +39,6 @@ class ArcSupport:
         self.gcode.register_command("G18", self.cmd_G18)
         self.gcode.register_command("G19", self.cmd_G19)
 
-        self.Coord = self.gcode.Coord
-
         # backwards compatibility, prior implementation only supported XY
         self.plane = ARC_PLANE_X_Y
 
@@ -64,52 +62,36 @@ class ArcSupport:
         if not gcodestatus['absolute_coordinates']:
             raise gcmd.error("G2/G3 does not support relative move mode")
         currentPos = gcodestatus['gcode_position']
+        absolut_extrude = gcodestatus['absolute_extrude']
 
         # Parse parameters
-        asTarget = self.Coord(x=gcmd.get_float("X", currentPos[0]),
+        asTarget = [gcmd.get_float("X", currentPos[0]),
-                              y=gcmd.get_float("Y", currentPos[1]),
+                    gcmd.get_float("Y", currentPos[1]),
-                              z=gcmd.get_float("Z", currentPos[2]),
+                    gcmd.get_float("Z", currentPos[2])]
-                              e=None)
 
         if gcmd.get_float("R", None) is not None:
             raise gcmd.error("G2/G3 does not support R moves")
 
         # determine the plane coordinates and the helical axis
-        asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('IJ') ]
+        I = gcmd.get_float('I', 0.)
+        J = gcmd.get_float('J', 0.)
+        asPlanar = (I, J)
         axes = (X_AXIS, Y_AXIS, Z_AXIS)
         if self.plane == ARC_PLANE_X_Z:
-            asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('IK') ]
+            K = gcmd.get_float('K', 0.)
+            asPlanar = (I, K)
             axes = (X_AXIS, Z_AXIS, Y_AXIS)
         elif self.plane == ARC_PLANE_Y_Z:
-            asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('JK') ]
+            K = gcmd.get_float('K', 0.)
+            asPlanar = (J, K)
             axes = (Y_AXIS, Z_AXIS, X_AXIS)
 
         if not (asPlanar[0] or asPlanar[1]):
             raise gcmd.error("G2/G3 requires IJ, IK or JK parameters")
 
-        asE = gcmd.get_float("E", None)
+        # Build linear coordinates to move
-        asF = gcmd.get_float("F", None)
+        self.planArc(currentPos, asTarget, asPlanar, clockwise,
-
+                     gcmd, absolut_extrude, *axes)
-        # Build list of linear coordinates to move
-        coords = self.planArc(currentPos, asTarget, asPlanar,
-                              clockwise, *axes)
-        e_per_move = e_base = 0.
-        if asE is not None:
-            if gcodestatus['absolute_extrude']:
-                e_base = currentPos[3]
-            e_per_move = (asE - e_base) / len(coords)
-
-        # Convert coords into G1 commands
-        for coord in coords:
-            g1_params = {'X': coord[0], 'Y': coord[1], 'Z': coord[2]}
-            if e_per_move:
-                g1_params['E'] = e_base + e_per_move
-                if gcodestatus['absolute_extrude']:
-                    e_base += e_per_move
-            if asF is not None:
-                g1_params['F'] = asF
-            g1_gcmd = self.gcode.create_gcode_command("G1", "G1", g1_params)
-            self.gcode_move.cmd_G1(g1_gcmd)
 
     # function planArc() originates from marlin plan_arc()
     # https://github.com/MarlinFirmware/Marlin
@@ -120,6 +102,7 @@ class ArcSupport:
     #
     # alpha and beta axes are the current plane, helical axis is linear travel
     def planArc(self, currentPos, targetPos, offset, clockwise,
+                gcmd, absolut_extrude,
                 alpha_axis, beta_axis, helical_axis):
         # todo: sometimes produces full circles
 
@@ -159,23 +142,42 @@ class ArcSupport:
         # Generate coordinates
         theta_per_segment = angular_travel / segments
         linear_per_segment = linear_travel / segments
-        coords = []
+
-        for i in range(1, int(segments)):
+        asE = gcmd.get_float("E", None)
+        asF = gcmd.get_float("F", None)
+
+        e_per_move = e_base = 0.
+        if asE is not None:
+            if absolut_extrude:
+                e_base = currentPos[3]
+            e_per_move = (asE - e_base) / segments
+
+        for i in range(1, int(segments) + 1):
             dist_Helical = i * linear_per_segment
-            cos_Ti = math.cos(i * theta_per_segment)
+            c_theta = i * theta_per_segment
-            sin_Ti = math.sin(i * theta_per_segment)
+            cos_Ti = math.cos(c_theta)
+            sin_Ti = math.sin(c_theta)
             r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti
             r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti
 
-            # Coord doesn't support index assignment, create list
+            c = [None, None, None]
-            c = [None, None, None, None]
             c[alpha_axis] = center_P + r_P
             c[beta_axis] = center_Q + r_Q
             c[helical_axis] = currentPos[helical_axis] + dist_Helical
-            coords.append(self.Coord(*c))
 
-        coords.append(targetPos)
+
-        return coords
+            if i == segments:
+                c = targetPos
+            # Convert coords into G1 commands
+            g1_params = {'X': c[0], 'Y': c[1], 'Z': c[2]}
+            if e_per_move:
+                g1_params['E'] = e_base + e_per_move
+                if absolut_extrude:
+                    e_base += e_per_move
+            if asF is not None:
+                g1_params['F'] = asF
+            g1_gcmd = self.gcode.create_gcode_command("G1", "G1", g1_params)
+            self.gcode_move.cmd_G1(g1_gcmd)
 
 def load_config(config):
     return ArcSupport(config)

klippy/extras/heater_fan.py

@@ -33,9 +33,7 @@ class PrinterHeaterFan:
                 speed = self.fan_speed
         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/heaters.py

@@ -1,6 +1,6 @@
 # Tracking of PWM controlled heaters and their temperature control
 #
-# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, logging, threading
@@ -14,6 +14,7 @@ KELVIN_TO_CELSIUS = -273.15
 MAX_HEAT_TIME = 5.0
 AMBIENT_TEMP = 25.
 PID_PARAM_BASE = 255.
+MAX_MAINTHREAD_TIME = 5.0
 
 class Heater:
     def __init__(self, config, sensor):
@@ -37,8 +38,7 @@ class Heater:
         self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
         self.smooth_time = config.getfloat('smooth_time', 1., above=0.)
         self.inv_smooth_time = 1. / self.smooth_time
-        self.is_shutdown = False
+        self.verify_mainthread_time = -999.
-        self.set_temp_count = 0
         self.lock = threading.Lock()
         self.last_temp = self.smoothed_temp = self.target_temp = 0.
         self.last_temp_time = 0.
@@ -64,13 +64,10 @@ class Heater:
         gcode.register_mux_command("SET_HEATER_TEMPERATURE", "HEATER",
                                    short_name, self.cmd_SET_HEATER_TEMPERATURE,
                                    desc=self.cmd_SET_HEATER_TEMPERATURE_help)
-        wh = self.printer.lookup_object('webhooks')
-        wh.register_mux_endpoint("heaters/set_target_temperature", "heater",
-                                 self.name, self._api_set_target_temperature)
         self.printer.register_event_handler("klippy:shutdown",
                                             self._handle_shutdown)
     def set_pwm(self, read_time, value):
-        if self.target_temp <= 0. or self.is_shutdown:
+        if self.target_temp <= 0. or read_time > self.verify_mainthread_time:
             value = 0.
         if ((read_time < self.next_pwm_time or not self.last_pwm_value)
             and abs(value - self.last_pwm_value) < 0.05):
@@ -95,7 +92,7 @@ class Heater:
             self.can_extrude = (self.smoothed_temp >= self.min_extrude_temp)
         #logging.debug("temp: %.3f %f = %f", read_time, temp)
     def _handle_shutdown(self):
-        self.is_shutdown = True
+        self.verify_mainthread_time = -999.
     # External commands
     def get_name(self):
         return self.name
@@ -110,7 +107,6 @@ class Heater:
             raise self.printer.command_error(
                 "Requested temperature (%.1f) out of range (%.1f:%.1f)"
                 % (degrees, self.min_temp, self.max_temp))
-        self.set_temp_count += 1
         with self.lock:
             self.target_temp = degrees
     def get_temp(self, eventtime):
@@ -134,6 +130,9 @@ class Heater:
             target_temp = max(self.min_temp, min(self.max_temp, target_temp))
         self.target_temp = target_temp
     def stats(self, eventtime):
+        est_print_time = self.mcu_pwm.get_mcu().estimated_print_time(eventtime)
+        if not self.printer.is_shutdown():
+            self.verify_mainthread_time = est_print_time + MAX_MAINTHREAD_TIME
         with self.lock:
             target_temp = self.target_temp
             last_temp = self.last_temp
@@ -148,17 +147,11 @@ class Heater:
             last_pwm_value = self.last_pwm_value
         return {'temperature': round(smoothed_temp, 2), 'target': target_temp,
                 'power': last_pwm_value}
-    def get_set_temp_count(self):
-        return self.set_temp_count
     cmd_SET_HEATER_TEMPERATURE_help = "Sets a heater temperature"
     def cmd_SET_HEATER_TEMPERATURE(self, gcmd):
         temp = gcmd.get_float('TARGET', 0.)
         pheaters = self.printer.lookup_object('heaters')
         pheaters.set_temperature(self, temp)
-    def _api_set_target_temperature(self, web_request):
-        temp = web_request.get_float('target')
-        pheaters = self.printer.lookup_object('heaters')
-        pheaters.set_temperature(self, temp)
 
 
 ######################################################################
@@ -250,7 +243,6 @@ class PrinterHeaters:
         self.available_heaters = []
         self.available_sensors = []
         self.available_monitors = []
-        self.in_temperature_wait = None
         self.has_started = self.have_load_sensors = False
         self.printer.register_event_handler("klippy:ready", self._handle_ready)
         self.printer.register_event_handler("gcode:request_restart",
@@ -271,7 +263,8 @@ class PrinterHeaters:
         try:
             dconfig = pconfig.read_config(filename)
         except Exception:
-            raise config.config_error("Cannot load config '%s'" % (filename,))
+            logging.exception("Unable to load temperature_sensors.cfg")
+            raise config.error("Cannot load config '%s'" % (filename,))
         for c in dconfig.get_prefix_sections(''):
             self.printer.load_object(dconfig, c.get_name())
     def add_sensor_factory(self, sensor_type, sensor_factory):
@@ -317,8 +310,7 @@ class PrinterHeaters:
     def get_status(self, eventtime):
         return {'available_heaters': self.available_heaters,
                 'available_sensors': self.available_sensors,
-                'available_monitors': self.available_monitors,
+                'available_monitors': self.available_monitors}
-                'temperature_wait': self.in_temperature_wait}
     def turn_off_all_heaters(self, print_time=0.):
         for heater in self.heaters.values():
             heater.set_temp(0.)
@@ -349,23 +341,14 @@ class PrinterHeaters:
         # Helper to wait on heater.check_busy() and report M105 temperatures
         if self.printer.get_start_args().get('debugoutput') is not None:
             return
-        full_name = heater.get_name()
-        set_temp_count = heater.get_set_temp_count()
         toolhead = self.printer.lookup_object("toolhead")
         gcode = self.printer.lookup_object("gcode")
         reactor = self.printer.get_reactor()
         eventtime = reactor.monotonic()
         while not self.printer.is_shutdown() and heater.check_busy(eventtime):
-            self.in_temperature_wait = full_name
             print_time = toolhead.get_last_move_time()
             gcode.respond_raw(self._get_temp(eventtime))
             eventtime = reactor.pause(eventtime + 1.)
-            if heater.get_set_temp_count() != set_temp_count:
-                self.in_temperature_wait = None
-                raise self.printer.command_error(
-                    "Heater '%s' target temperature changed during wait"
-                    % (full_name,))
-        self.in_temperature_wait = None
     def set_temperature(self, heater, temp, wait=False):
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.register_lookahead_callback((lambda pt: None))
@@ -384,12 +367,8 @@ class PrinterHeaters:
                 "Error on 'TEMPERATURE_WAIT': missing MINIMUM or MAXIMUM.")
         if self.printer.get_start_args().get('debugoutput') is not None:
             return
-        full_name = sensor_name
-        set_temp_count = None
         if sensor_name in self.heaters:
             sensor = self.heaters[sensor_name]
-            full_name = sensor.get_name()
-            set_temp_count = sensor.get_set_temp_count()
         else:
             sensor = self.printer.lookup_object(sensor_name)
         toolhead = self.printer.lookup_object("toolhead")
@@ -398,18 +377,10 @@ class PrinterHeaters:
         while not self.printer.is_shutdown():
             temp, target = sensor.get_temp(eventtime)
             if temp >= min_temp and temp <= max_temp:
-                break
+                return
-            self.in_temperature_wait = full_name
             print_time = toolhead.get_last_move_time()
             gcmd.respond_raw(self._get_temp(eventtime))
             eventtime = reactor.pause(eventtime + 1.)
-            if (set_temp_count is not None
-                and sensor.get_set_temp_count() != set_temp_count):
-                self.in_temperature_wait = None
-                raise self.printer.command_error(
-                    "Heater '%s' target temperature changed during wait"
-                    % (full_name,))
-        self.in_temperature_wait = None
 
 def load_config(config):
     return PrinterHeaters(config)

klippy/extras/homing.py

@@ -1,6 +1,6 @@
 # Helper code for implementing homing operations
 #
-# 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 logging, math
@@ -29,10 +29,17 @@ class StepperPosition:
         self.endstop_name = endstop_name
         self.stepper_name = stepper.get_name()
         self.start_pos = stepper.get_mcu_position()
+        self.start_cmd_pos = stepper.mcu_to_commanded_position(self.start_pos)
         self.halt_pos = self.trig_pos = None
     def note_home_end(self, trigger_time):
         self.halt_pos = self.stepper.get_mcu_position()
         self.trig_pos = self.stepper.get_past_mcu_position(trigger_time)
+    def verify_no_probe_skew(self, haltpos):
+        new_start_pos = self.stepper.get_mcu_position(self.start_cmd_pos)
+        if new_start_pos != self.start_pos:
+            logging.warning(
+                "Stepper '%s' position skew after probe: pos %d now %d",
+                self.stepper.get_name(), self.start_pos, new_start_pos)
 
 # Implementation of homing/probing moves
 class HomingMove:
@@ -121,6 +128,9 @@ class HomingMove:
             haltpos = trigpos = self.calc_toolhead_pos(kin_spos, trig_steps)
             if trig_steps != halt_steps:
                 haltpos = self.calc_toolhead_pos(kin_spos, halt_steps)
+            self.toolhead.set_position(haltpos)
+            for sp in self.stepper_positions:
+                sp.verify_no_probe_skew(haltpos)
         else:
             haltpos = trigpos = movepos
             over_steps = {sp.stepper_name: sp.halt_pos - sp.trig_pos
@@ -130,7 +140,7 @@ class HomingMove:
                 halt_kin_spos = {s.get_name(): s.get_commanded_position()
                                  for s in kin.get_steppers()}
                 haltpos = self.calc_toolhead_pos(halt_kin_spos, over_steps)
-        self.toolhead.set_position(haltpos)
+            self.toolhead.set_position(haltpos)
         # Signal homing/probing move complete
         try:
             self.printer.send_event("homing:homing_move_end", self)
@@ -177,7 +187,8 @@ class Homing:
         # Notify of upcoming homing operation
         self.printer.send_event("homing:home_rails_begin", self, rails)
         # Alter kinematics class to think printer is at forcepos
-        homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
+        force_axes = [axis for axis in range(3) if forcepos[axis] is not None]
+        homing_axes = "".join(["xyz"[i] for i in force_axes])
         startpos = self._fill_coord(forcepos)
         homepos = self._fill_coord(movepos)
         self.toolhead.set_position(startpos, homing_axes=homing_axes)
@@ -221,7 +232,7 @@ class Homing:
                                        + self.adjust_pos.get(s.get_name(), 0.))
                         for s in kin.get_steppers()}
             newpos = kin.calc_position(kin_spos)
-            for axis in homing_axes:
+            for axis in force_axes:
                 homepos[axis] = newpos[axis]
             self.toolhead.set_position(homepos)
 

klippy/extras/homing_override.py

@@ -46,11 +46,11 @@ class HomingOverride:
         # Calculate forced position (if configured)
         toolhead = self.printer.lookup_object('toolhead')
         pos = toolhead.get_position()
-        homing_axes = []
+        homing_axes = ""
         for axis, loc in enumerate(self.start_pos):
             if loc is not None:
                 pos[axis] = loc
-                homing_axes.append(axis)
+                homing_axes += "xyz"[axis]
         toolhead.set_position(pos, homing_axes=homing_axes)
         # Perform homing
         context = self.template.create_template_context()

klippy/extras/hx71x.py

@@ -14,7 +14,7 @@ SAMPLE_ERROR_DESYNC = -0x80000000
 SAMPLE_ERROR_LONG_READ = 0x40000000
 
 # Implementation of HX711 and HX717
-class HX71xBase():
+class HX71xBase:
     def __init__(self, config, sensor_type,
                  sample_rate_options, default_sample_rate,
                  gain_options, default_gain):
@@ -53,8 +53,8 @@ class HX71xBase():
             self._finish_measurements, UPDATE_INTERVAL)
         # publish raw samples to the socket
         dump_path = "%s/dump_%s" % (sensor_type, sensor_type)
-        self.batch_bulk.add_mux_endpoint(dump_path, "sensor", self.name,
+        hdr = {'header': ('time', 'counts', 'value')}
-                                         {'header': ('time', 'counts')})
+        self.batch_bulk.add_mux_endpoint(dump_path, "sensor", self.name, hdr)
         # Command Configuration
         self.query_hx71x_cmd = None
         mcu.add_config_cmd(
@@ -145,23 +145,21 @@ class HX71xBase():
                 'overflows': self.ffreader.get_last_overflows()}
 
 
-class HX711(HX71xBase):
+def HX711(config):
-    def __init__(self, config):
+    return HX71xBase(config, "hx711",
-        super(HX711, self).__init__(config, "hx711",
+                     # HX711 sps options
-                                    # HX711 sps options
+                     {80: 80, 10: 10}, 80,
-                                    {80: 80, 10: 10}, 80,
+                     # HX711 gain/channel options
-                                    # HX711 gain/channel options
+                     {'A-128': 1, 'B-32': 2, 'A-64': 3}, 'A-128')
-                                    {'A-128': 1, 'B-32': 2, 'A-64': 3}, 'A-128')
 
 
-class HX717(HX71xBase):
+def HX717(config):
-    def __init__(self, config):
+    return HX71xBase(config, "hx717",
-        super(HX717, self).__init__(config, "hx717",
+                     # HX717 sps options
-                                    # HX717 sps options
+                     {320: 320, 80: 80, 20: 20, 10: 10}, 320,
-                                    {320: 320, 80: 80, 20: 20, 10: 10}, 320,
+                     # HX717 gain/channel options
-                                    # HX717 gain/channel options
+                     {'A-128': 1, 'B-64': 2, 'A-64': 3,
-                                    {'A-128': 1, 'B-64': 2, 'A-64': 3,
+                      'B-8': 4}, 'A-128')
-                                     'B-8': 4}, 'A-128')
 
 
 HX71X_SENSOR_TYPES = {

klippy/extras/led.py

@@ -1,13 +1,10 @@
 # Support for PWM driven 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.
-import logging, ast
+import logging
-from .display import display
+from . import output_pin
-
-# Time between each led template update
-RENDER_TIME = 0.500
 
 # Helper code for common LED initialization and control
 class LEDHelper:
@@ -22,14 +19,22 @@ class LEDHelper:
         blue = config.getfloat('initial_BLUE', 0., minval=0., maxval=1.)
         white = config.getfloat('initial_WHITE', 0., minval=0., maxval=1.)
         self.led_state = [(red, green, blue, white)] * led_count
+        # Support setting an led template
+        self.template_eval = output_pin.lookup_template_eval(config)
+        self.tcallbacks = [(lambda text, s=self, index=i:
+                            s._template_update(index, text))
+                           for i in range(led_count)]
         # Register commands
         name = config.get_name().split()[-1]
         gcode = self.printer.lookup_object('gcode')
         gcode.register_mux_command("SET_LED", "LED", name, self.cmd_SET_LED,
                                    desc=self.cmd_SET_LED_help)
-    def get_led_count(self):
+        gcode.register_mux_command("SET_LED_TEMPLATE", "LED", name,
-        return self.led_count
+                                   self.cmd_SET_LED_TEMPLATE,
-    def set_color(self, index, color):
+                                   desc=self.cmd_SET_LED_TEMPLATE_help)
+    def get_status(self, eventtime=None):
+        return {'color_data': self.led_state}
+    def _set_color(self, index, color):
         if index is None:
             new_led_state = [color] * self.led_count
             if self.led_state == new_led_state:
@@ -41,7 +46,17 @@ class LEDHelper:
             new_led_state[index - 1] = color
         self.led_state = new_led_state
         self.need_transmit = True
-    def check_transmit(self, print_time):
+    def _template_update(self, index, text):
+        try:
+            parts = [max(0., min(1., float(f)))
+                     for f in text.split(',', 4)]
+        except ValueError as e:
+            logging.exception("led template render error")
+            parts = []
+        if len(parts) < 4:
+            parts += [0.] * (4 - len(parts))
+        self._set_color(index, tuple(parts))
+    def _check_transmit(self, print_time=None):
         if not self.need_transmit:
             return
         self.need_transmit = False
@@ -62,9 +77,9 @@ class LEDHelper:
         color = (red, green, blue, white)
         # Update and transmit data
         def lookahead_bgfunc(print_time):
-            self.set_color(index, color)
+            self._set_color(index, color)
             if transmit:
-                self.check_transmit(print_time)
+                self._check_transmit(print_time)
         if sync:
             #Sync LED Update with print time and send
             toolhead = self.printer.lookup_object('toolhead')
@@ -72,112 +87,15 @@ class LEDHelper:
         else:
             #Send update now (so as not to wake toolhead and reset idle_timeout)
             lookahead_bgfunc(None)
-    def get_status(self, eventtime=None):
-        return {'color_data': self.led_state}
-
-# Main LED tracking code
-class PrinterLED:
-    def __init__(self, config):
-        self.printer = config.get_printer()
-        self.led_helpers = {}
-        self.active_templates = {}
-        self.render_timer = None
-        # Load templates
-        dtemplates = display.lookup_display_templates(config)
-        self.templates = dtemplates.get_display_templates()
-        gcode_macro = self.printer.lookup_object("gcode_macro")
-        self.create_template_context = gcode_macro.create_template_context
-        # Register handlers
-        gcode = self.printer.lookup_object('gcode')
-        gcode.register_command("SET_LED_TEMPLATE", self.cmd_SET_LED_TEMPLATE,
-                               desc=self.cmd_SET_LED_TEMPLATE_help)
-    def setup_helper(self, config, update_func, led_count=1):
-        led_helper = LEDHelper(config, update_func, led_count)
-        name = config.get_name().split()[-1]
-        self.led_helpers[name] = led_helper
-        return led_helper
-    def _activate_timer(self):
-        if self.render_timer is not None or not self.active_templates:
-            return
-        reactor = self.printer.get_reactor()
-        self.render_timer = reactor.register_timer(self._render, reactor.NOW)
-    def _activate_template(self, led_helper, index, template, lparams):
-        key = (led_helper, index)
-        if template is not None:
-            uid = (template,) + tuple(sorted(lparams.items()))
-            self.active_templates[key] = (uid, template, lparams)
-            return
-        if key in self.active_templates:
-            del self.active_templates[key]
-    def _render(self, eventtime):
-        if not self.active_templates:
-            # Nothing to do - unregister timer
-            reactor = self.printer.get_reactor()
-            reactor.register_timer(self.render_timer)
-            self.render_timer = None
-            return reactor.NEVER
-        # Setup gcode_macro template context
-        context = self.create_template_context(eventtime)
-        def render(name, **kwargs):
-            return self.templates[name].render(context, **kwargs)
-        context['render'] = render
-        # Render all templates
-        need_transmit = {}
-        rendered = {}
-        template_info = self.active_templates.items()
-        for (led_helper, index), (uid, template, lparams) in template_info:
-            color = rendered.get(uid)
-            if color is None:
-                try:
-                    text = template.render(context, **lparams)
-                    parts = [max(0., min(1., float(f)))
-                             for f in text.split(',', 4)]
-                except Exception as e:
-                    logging.exception("led template render error")
-                    parts = []
-                if len(parts) < 4:
-                    parts += [0.] * (4 - len(parts))
-                rendered[uid] = color = tuple(parts)
-            need_transmit[led_helper] = 1
-            led_helper.set_color(index, color)
-        context.clear() # Remove circular references for better gc
-        # Transmit pending changes
-        for led_helper in need_transmit.keys():
-            led_helper.check_transmit(None)
-        return eventtime + RENDER_TIME
     cmd_SET_LED_TEMPLATE_help = "Assign a display_template to an LED"
     def cmd_SET_LED_TEMPLATE(self, gcmd):
-        led_name = gcmd.get("LED")
+        index = gcmd.get_int("INDEX", None, minval=1, maxval=self.led_count)
-        led_helper = self.led_helpers.get(led_name)
+        set_template = self.template_eval.set_template
-        if led_helper is None:
-            raise gcmd.error("Unknown LED '%s'" % (led_name,))
-        led_count = led_helper.get_led_count()
-        index = gcmd.get_int("INDEX", None, minval=1, maxval=led_count)
-        template = None
-        lparams = {}
-        tpl_name = gcmd.get("TEMPLATE")
-        if tpl_name:
-            template = self.templates.get(tpl_name)
-            if template is None:
-                raise gcmd.error("Unknown display_template '%s'" % (tpl_name,))
-            tparams = template.get_params()
-            for p, v in gcmd.get_command_parameters().items():
-                if not p.startswith("PARAM_"):
-                    continue
-                p = p.lower()
-                if p not in tparams:
-                    raise gcmd.error("Invalid display_template parameter: %s"
-                                     % (p,))
-                try:
-                    lparams[p] = ast.literal_eval(v)
-                except ValueError as e:
-                    raise gcmd.error("Unable to parse '%s' as a literal" % (v,))
         if index is not None:
-            self._activate_template(led_helper, index, template, lparams)
+            set_template(gcmd, self.tcallbacks[index-1], self._check_transmit)
         else:
-            for i in range(led_count):
+            for i in range(self.led_count):
-                self._activate_template(led_helper, i+1, template, lparams)
+                set_template(gcmd, self.tcallbacks[i], self._check_transmit)
-        self._activate_timer()
 
 PIN_MIN_TIME = 0.100
 MAX_SCHEDULE_TIME = 5.0
@@ -205,8 +123,7 @@ class PrinterPWMLED:
                                % (config.get_name(),))
         self.last_print_time = 0.
         # Initialize color data
-        pled = printer.load_object(config, "led")
+        self.led_helper = LEDHelper(config, self.update_leds, 1)
-        self.led_helper = pled.setup_helper(config, self.update_leds, 1)
         self.prev_color = color = self.led_helper.get_status()['color_data'][0]
         for idx, mcu_pin in self.pins:
             mcu_pin.setup_start_value(color[idx], 0.)
@@ -225,8 +142,5 @@ class PrinterPWMLED:
     def get_status(self, eventtime=None):
         return self.led_helper.get_status(eventtime)
 
-def load_config(config):
-    return PrinterLED(config)
-
 def load_config_prefix(config):
     return PrinterPWMLED(config)

klippy/extras/lis2dw.py

@@ -12,6 +12,8 @@ REG_LIS2DW_WHO_AM_I_ADDR = 0x0F
 REG_LIS2DW_CTRL_REG1_ADDR = 0x20
 REG_LIS2DW_CTRL_REG2_ADDR = 0x21
 REG_LIS2DW_CTRL_REG3_ADDR = 0x22
+REG_LIS2DW_CTRL_REG4_ADDR = 0x23
+REG_LIS2DW_CTRL_REG5_ADDR = 0x24
 REG_LIS2DW_CTRL_REG6_ADDR = 0x25
 REG_LIS2DW_STATUS_REG_ADDR = 0x27
 REG_LIS2DW_OUT_XL_ADDR = 0x28
@@ -26,26 +28,57 @@ REG_MOD_READ = 0x80
 # REG_MOD_MULTI = 0x40
 
 LIS2DW_DEV_ID = 0x44
+LIS3DH_DEV_ID = 0x33
 
+LIS_I2C_ADDR = 0x19
+
+# Right shift for left justified registers.
 FREEFALL_ACCEL = 9.80665
-SCALE = FREEFALL_ACCEL * 1.952 / 4
+LIS2DW_SCALE = FREEFALL_ACCEL * 1.952 / 4
+LIS3DH_SCALE = FREEFALL_ACCEL * 3.906 / 16
 
 BATCH_UPDATES = 0.100
 
+# "Enums" that should be compatible with all python versions
+
+LIS2DW_TYPE = 'LIS2DW'
+LIS3DH_TYPE = 'LIS3DH'
+
+SPI_SERIAL_TYPE = 'spi'
+I2C_SERIAL_TYPE = 'i2c'
+
 # Printer class that controls LIS2DW chip
 class LIS2DW:
-    def __init__(self, config):
+    def __init__(self, config, lis_type):
         self.printer = config.get_printer()
         adxl345.AccelCommandHelper(config, self)
-        self.axes_map = adxl345.read_axes_map(config, SCALE, SCALE, SCALE)
+        self.lis_type = lis_type
-        self.data_rate = 1600
+        if self.lis_type == LIS2DW_TYPE:
+            self.axes_map = adxl345.read_axes_map(config, LIS2DW_SCALE,
+                            LIS2DW_SCALE, LIS2DW_SCALE)
+            self.data_rate = 1600
+        else:
+            self.axes_map = adxl345.read_axes_map(config, LIS3DH_SCALE,
+                            LIS3DH_SCALE, LIS3DH_SCALE)
+            self.data_rate = 1344
+        # Check for spi or i2c
+        if config.get('cs_pin', None) is not None:
+            self.bus_type = SPI_SERIAL_TYPE
+        else:
+            self.bus_type = I2C_SERIAL_TYPE
         # Setup mcu sensor_lis2dw bulk query code
-        self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
+        if self.bus_type == SPI_SERIAL_TYPE:
-        self.mcu = mcu = self.spi.get_mcu()
+            self.bus = bus.MCU_SPI_from_config(config,
+                            3, default_speed=5000000)
+        else:
+            self.bus = bus.MCU_I2C_from_config(config,
+                            default_addr=LIS_I2C_ADDR, default_speed=400000)
+        self.mcu = mcu = self.bus.get_mcu()
         self.oid = oid = mcu.create_oid()
         self.query_lis2dw_cmd = None
-        mcu.add_config_cmd("config_lis2dw oid=%d spi_oid=%d"
+        mcu.add_config_cmd("config_lis2dw oid=%d bus_oid=%d bus_oid_type=%s "
-                           % (oid, self.spi.get_oid()))
+                           "lis_chip_type=%s" % (oid, self.bus.get_oid(),
+                            self.bus_type, self.lis_type))
         mcu.add_config_cmd("query_lis2dw oid=%d rest_ticks=0"
                            % (oid,), on_restart=True)
         mcu.register_config_callback(self._build_config)
@@ -63,17 +96,23 @@ class LIS2DW:
                                          self.name, {'header': hdr})
 
     def _build_config(self):
-        cmdqueue = self.spi.get_command_queue()
+        cmdqueue = self.bus.get_command_queue()
         self.query_lis2dw_cmd = self.mcu.lookup_command(
             "query_lis2dw oid=%c rest_ticks=%u", cq=cmdqueue)
         self.ffreader.setup_query_command("query_lis2dw_status oid=%c",
                                           oid=self.oid, cq=cmdqueue)
     def read_reg(self, reg):
-        params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
+        if self.bus_type == SPI_SERIAL_TYPE:
-        response = bytearray(params['response'])
+            params = self.bus.spi_transfer([reg | REG_MOD_READ, 0x00])
-        return response[1]
+            response = bytearray(params['response'])
+            return response[1]
+        params = self.bus.i2c_read([reg], 1)
+        return bytearray(params['response'])[0]
     def set_reg(self, reg, val, minclock=0):
-        self.spi.spi_send([reg, val & 0xFF], minclock=minclock)
+        if self.bus_type == SPI_SERIAL_TYPE:
+            self.bus.spi_send([reg, val & 0xFF], minclock=minclock)
+        else:
+            self.bus.i2c_write([reg, val & 0xFF], minclock=minclock)
         stored_val = self.read_reg(reg)
         if stored_val != val:
             raise self.printer.command_error(
@@ -102,26 +141,48 @@ class LIS2DW:
         # noise or wrong signal as a correctly initialized device
         dev_id = self.read_reg(REG_LIS2DW_WHO_AM_I_ADDR)
         logging.info("lis2dw_dev_id: %x", dev_id)
-        if dev_id != LIS2DW_DEV_ID:
+        if self.lis_type == LIS2DW_TYPE:
-            raise self.printer.command_error(
+            if dev_id != LIS2DW_DEV_ID:
-                "Invalid lis2dw id (got %x vs %x).\n"
+                raise self.printer.command_error(
-                "This is generally indicative of connection problems\n"
+                    "Invalid lis2dw id (got %x vs %x).\n"
-                "(e.g. faulty wiring) or a faulty lis2dw chip."
+                    "This is generally indicative of connection problems\n"
-                % (dev_id, LIS2DW_DEV_ID))
+                    "(e.g. faulty wiring) or a faulty lis2dw chip."
-        # Setup chip in requested query rate
+                    % (dev_id, LIS2DW_DEV_ID))
-        # ODR/2, +-16g, low-pass filter, Low-noise abled
+            # Setup chip in requested query rate
-        self.set_reg(REG_LIS2DW_CTRL_REG6_ADDR, 0x34)
+            # ODR/2, +-16g, low-pass filter, Low-noise abled
-        # Continuous mode: If the FIFO is full
+            self.set_reg(REG_LIS2DW_CTRL_REG6_ADDR, 0x34)
-        # the new sample overwrites the older sample.
+            # Continuous mode: If the FIFO is full
-        self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
+            # the new sample overwrites the older sample.
-        # High-Performance / Low-Power mode 1600/200 Hz
+            self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
-        # High-Performance Mode (14-bit resolution)
+            # High-Performance / Low-Power mode 1600/200 Hz
-        self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
+            # High-Performance Mode (14-bit resolution)
-
+            self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
+        else:
+            if dev_id != LIS3DH_DEV_ID:
+                raise self.printer.command_error(
+                    "Invalid lis3dh id (got %x vs %x).\n"
+                    "This is generally indicative of connection problems\n"
+                    "(e.g. faulty wiring) or a faulty lis3dh chip."
+                    % (dev_id, LIS3DH_DEV_ID))
+            # High Resolution / Low Power mode 1344/5376 Hz
+            # High Resolution mode (12-bit resolution)
+            # Enable X Y Z axes
+            self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x97)
+            # Disable all filtering
+            self.set_reg(REG_LIS2DW_CTRL_REG2_ADDR, 0)
+            # Set +-8g, High Resolution mode
+            self.set_reg(REG_LIS2DW_CTRL_REG4_ADDR, 0x28)
+            # Enable FIFO
+            self.set_reg(REG_LIS2DW_CTRL_REG5_ADDR, 0x40)
+            # Stream mode
+            self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x80)
         # Start bulk reading
         rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
         self.query_lis2dw_cmd.send([self.oid, rest_ticks])
-        self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
+        if self.lis_type == LIS2DW_TYPE:
+            self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
+        else:
+            self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x80)
         logging.info("LIS2DW starting '%s' measurements", self.name)
         # Initialize clock tracking
         self.ffreader.note_start()
@@ -142,7 +203,7 @@ class LIS2DW:
                 'overflows': self.ffreader.get_last_overflows()}
 
 def load_config(config):
-    return LIS2DW(config)
+    return LIS2DW(config, LIS2DW_TYPE)
 
 def load_config_prefix(config):
-    return LIS2DW(config)
+    return LIS2DW(config, LIS2DW_TYPE)

klippy/extras/lis3dh.py

@@ -0,0 +1,12 @@
+# Support for reading acceleration data from an LIS3DH chip
+#
+# Copyright (C) 2024 Luke Vuksta <wulfstawulfsta@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+from . import lis2dw
+
+def load_config(config):
+    return lis2dw.LIS2DW(config, lis2dw.LIS3DH_TYPE)
+
+def load_config_prefix(config):
+    return lis2dw.LIS2DW(config, lis2dw.LIS3DH_TYPE)

klippy/extras/manual_stepper.py

@@ -109,7 +109,7 @@ class ManualStepper:
         self.sync_print_time()
     def get_position(self):
         return [self.rail.get_commanded_position(), 0., 0., 0.]
-    def set_position(self, newpos, homing_axes=()):
+    def set_position(self, newpos, homing_axes=""):
         self.do_set_position(newpos[0])
     def get_last_move_time(self):
         self.sync_print_time()

klippy/extras/neopixel.py

@@ -4,6 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
+from . import led
 
 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000
 
@@ -40,9 +41,7 @@ class PrinterNeoPixel:
         if len(self.color_map) > MAX_MCU_SIZE:
             raise config.error("neopixel chain too long")
         # Initialize color data
-        pled = printer.load_object(config, "led")
+        self.led_helper = led.LEDHelper(config, self.update_leds, chain_count)
-        self.led_helper = pled.setup_helper(config, self.update_leds,
-                                            chain_count)
         self.color_data = bytearray(len(self.color_map))
         self.update_color_data(self.led_helper.get_status()['color_data'])
         self.old_color_data = bytearray([d ^ 1 for d in self.color_data])

klippy/extras/output_pin.py

@@ -3,9 +3,180 @@
 # Copyright (C) 2017-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
+import logging, ast
+from .display import display
+
+
+######################################################################
+# G-Code request queuing helper
+######################################################################
 
 PIN_MIN_TIME = 0.100
-RESEND_HOST_TIME = 0.300 + PIN_MIN_TIME
+
+# Helper code to queue g-code requests
+class GCodeRequestQueue:
+    def __init__(self, config, mcu, callback):
+        self.printer = printer = config.get_printer()
+        self.mcu = mcu
+        self.callback = callback
+        self.rqueue = []
+        self.next_min_flush_time = 0.
+        self.toolhead = None
+        mcu.register_flush_callback(self._flush_notification)
+        printer.register_event_handler("klippy:connect", self._handle_connect)
+    def _handle_connect(self):
+        self.toolhead = self.printer.lookup_object('toolhead')
+    def _flush_notification(self, print_time, clock):
+        rqueue = self.rqueue
+        while rqueue:
+            next_time = max(rqueue[0][0], self.next_min_flush_time)
+            if next_time > print_time:
+                return
+            # Skip requests that have been overridden with a following request
+            pos = 0
+            while pos + 1 < len(rqueue) and rqueue[pos + 1][0] <= next_time:
+                pos += 1
+            req_pt, req_val = rqueue[pos]
+            # Invoke callback for the request
+            min_wait = 0.
+            ret = self.callback(next_time, req_val)
+            if ret is not None:
+                # Handle special cases
+                action, min_wait = ret
+                if action == "discard":
+                    del rqueue[:pos+1]
+                    continue
+                if action == "delay":
+                    pos -= 1
+            del rqueue[:pos+1]
+            self.next_min_flush_time = next_time + max(min_wait, PIN_MIN_TIME)
+            # Ensure following queue items are flushed
+            self.toolhead.note_mcu_movequeue_activity(self.next_min_flush_time)
+    def _queue_request(self, print_time, value):
+        self.rqueue.append((print_time, value))
+        self.toolhead.note_mcu_movequeue_activity(print_time)
+    def queue_gcode_request(self, value):
+        self.toolhead.register_lookahead_callback(
+            (lambda pt: self._queue_request(pt, value)))
+    def send_async_request(self, value, print_time=None):
+        if print_time is None:
+            systime = self.printer.get_reactor().monotonic()
+            print_time = self.mcu.estimated_print_time(systime + PIN_MIN_TIME)
+        while 1:
+            next_time = max(print_time, self.next_min_flush_time)
+            # Invoke callback for the request
+            action, min_wait = "normal", 0.
+            ret = self.callback(next_time, value)
+            if ret is not None:
+                # Handle special cases
+                action, min_wait = ret
+                if action == "discard":
+                    break
+            self.next_min_flush_time = next_time + max(min_wait, PIN_MIN_TIME)
+            if action != "delay":
+                break
+
+
+######################################################################
+# Template evaluation helper
+######################################################################
+
+# Time between each template update
+RENDER_TIME = 0.500
+
+# Main template evaluation code
+class PrinterTemplateEvaluator:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.active_templates = {}
+        self.render_timer = None
+        # Load templates
+        dtemplates = display.lookup_display_templates(config)
+        self.templates = dtemplates.get_display_templates()
+        gcode_macro = self.printer.load_object(config, "gcode_macro")
+        self.create_template_context = gcode_macro.create_template_context
+    def _activate_timer(self):
+        if self.render_timer is not None or not self.active_templates:
+            return
+        reactor = self.printer.get_reactor()
+        self.render_timer = reactor.register_timer(self._render, reactor.NOW)
+    def _activate_template(self, callback, template, lparams, flush_callback):
+        if template is not None:
+            uid = (template,) + tuple(sorted(lparams.items()))
+            self.active_templates[callback] = (
+                uid, template, lparams, flush_callback)
+            return
+        if callback in self.active_templates:
+            del self.active_templates[callback]
+    def _render(self, eventtime):
+        if not self.active_templates:
+            # Nothing to do - unregister timer
+            reactor = self.printer.get_reactor()
+            reactor.unregister_timer(self.render_timer)
+            self.render_timer = None
+            return reactor.NEVER
+        # Setup gcode_macro template context
+        context = self.create_template_context(eventtime)
+        def render(name, **kwargs):
+            return self.templates[name].render(context, **kwargs)
+        context['render'] = render
+        # Render all templates
+        flush_callbacks = {}
+        rendered = {}
+        template_info = self.active_templates.items()
+        for callback, (uid, template, lparams, flush_callback) in template_info:
+            text = rendered.get(uid)
+            if text is None:
+                try:
+                    text = template.render(context, **lparams)
+                except Exception as e:
+                    logging.exception("display template render error")
+                    text = ""
+                rendered[uid] = text
+            if flush_callback is not None:
+                flush_callbacks[flush_callback] = 1
+            callback(text)
+        context.clear() # Remove circular references for better gc
+        # Invoke optional flush callbacks
+        for flush_callback in flush_callbacks.keys():
+            flush_callback()
+        return eventtime + RENDER_TIME
+    def set_template(self, gcmd, callback, flush_callback=None):
+        template = None
+        lparams = {}
+        tpl_name = gcmd.get("TEMPLATE")
+        if tpl_name:
+            template = self.templates.get(tpl_name)
+            if template is None:
+                raise gcmd.error("Unknown display_template '%s'" % (tpl_name,))
+            tparams = template.get_params()
+            for p, v in gcmd.get_command_parameters().items():
+                if not p.startswith("PARAM_"):
+                    continue
+                p = p.lower()
+                if p not in tparams:
+                    raise gcmd.error("Invalid display_template parameter: %s"
+                                     % (p,))
+                try:
+                    lparams[p] = ast.literal_eval(v)
+                except ValueError as e:
+                    raise gcmd.error("Unable to parse '%s' as a literal" % (v,))
+        self._activate_template(callback, template, lparams, flush_callback)
+        self._activate_timer()
+
+def lookup_template_eval(config):
+    printer = config.get_printer()
+    te = printer.lookup_object("template_evaluator", None)
+    if te is None:
+        te = PrinterTemplateEvaluator(config)
+        printer.add_object("template_evaluator", te)
+    return te
+
+
+######################################################################
+# Main output pin handling
+######################################################################
+
 MAX_SCHEDULE_TIME = 5.0
 
 class PrinterOutputPin:
@@ -24,30 +195,18 @@ class PrinterOutputPin:
         else:
             self.mcu_pin = ppins.setup_pin('digital_out', config.get('pin'))
             self.scale = 1.
-        self.last_print_time = 0.
+        self.mcu_pin.setup_max_duration(0.)
-        # Support mcu checking for maximum duration
-        self.reactor = self.printer.get_reactor()
-        self.resend_timer = None
-        self.resend_interval = 0.
-        max_mcu_duration = config.getfloat('maximum_mcu_duration', 0.,
-                                           minval=0.500,
-                                           maxval=MAX_SCHEDULE_TIME)
-        self.mcu_pin.setup_max_duration(max_mcu_duration)
-        if max_mcu_duration:
-            config.deprecate('maximum_mcu_duration')
-            self.resend_interval = max_mcu_duration - RESEND_HOST_TIME
         # Determine start and shutdown values
-        static_value = config.getfloat('static_value', None,
+        self.last_value = config.getfloat(
-                                       minval=0., maxval=self.scale)
+            'value', 0., minval=0., maxval=self.scale) / self.scale
-        if static_value is not None:
+        self.shutdown_value = config.getfloat(
-            config.deprecate('static_value')
+            'shutdown_value', 0., minval=0., maxval=self.scale) / self.scale
-            self.last_value = self.shutdown_value = static_value / self.scale
-        else:
-            self.last_value = config.getfloat(
-                'value', 0., minval=0., maxval=self.scale) / self.scale
-            self.shutdown_value = config.getfloat(
-                'shutdown_value', 0., minval=0., maxval=self.scale) / self.scale
         self.mcu_pin.setup_start_value(self.last_value, self.shutdown_value)
+        # Create gcode request queue
+        self.gcrq = GCodeRequestQueue(config, self.mcu_pin.get_mcu(),
+                                      self._set_pin)
+        # Template handling
+        self.template_eval = lookup_template_eval(config)
         # Register commands
         pin_name = config.get_name().split()[1]
         gcode = self.printer.lookup_object('gcode')
@@ -56,45 +215,36 @@ class PrinterOutputPin:
                                    desc=self.cmd_SET_PIN_help)
     def get_status(self, eventtime):
         return {'value': self.last_value}
-    def _set_pin(self, print_time, value, is_resend=False):
+    def _set_pin(self, print_time, value):
-        if value == self.last_value and not is_resend:
+        if value == self.last_value:
-            return
+            return "discard", 0.
-        print_time = max(print_time, self.last_print_time + PIN_MIN_TIME)
+        self.last_value = value
         if self.is_pwm:
             self.mcu_pin.set_pwm(print_time, value)
         else:
             self.mcu_pin.set_digital(print_time, value)
-        self.last_value = value
+    def _template_update(self, text):
-        self.last_print_time = print_time
+        try:
-        if self.resend_interval and self.resend_timer is None:
+            value = float(text)
-            self.resend_timer = self.reactor.register_timer(
+        except ValueError as e:
-                self._resend_current_val, self.reactor.NOW)
+            logging.exception("output_pin template render error")
+        self.gcrq.send_async_request(value)
     cmd_SET_PIN_help = "Set the value of an output pin"
     def cmd_SET_PIN(self, gcmd):
+        value = gcmd.get_float('VALUE', None, minval=0., maxval=self.scale)
+        template = gcmd.get('TEMPLATE', None)
+        if (value is None) == (template is None):
+            raise gcmd.error("SET_PIN command must specify VALUE or TEMPLATE")
+        # Check for template setting
+        if template is not None:
+            self.template_eval.set_template(gcmd, self._template_update)
+            return
         # Read requested value
-        value = gcmd.get_float('VALUE', minval=0., maxval=self.scale)
         value /= self.scale
         if not self.is_pwm and value not in [0., 1.]:
             raise gcmd.error("Invalid pin value")
-        # Obtain print_time and apply requested settings
+        # Queue requested value
-        toolhead = self.printer.lookup_object('toolhead')
+        self.gcrq.queue_gcode_request(value)
-        toolhead.register_lookahead_callback(
-            lambda print_time: self._set_pin(print_time, value))
-
-    def _resend_current_val(self, eventtime):
-        if self.last_value == self.shutdown_value:
-            self.reactor.unregister_timer(self.resend_timer)
-            self.resend_timer = None
-            return self.reactor.NEVER
-
-        systime = self.reactor.monotonic()
-        print_time = self.mcu_pin.get_mcu().estimated_print_time(systime)
-        time_diff = (self.last_print_time + self.resend_interval) - print_time
-        if time_diff > 0.:
-            # Reschedule for resend time
-            return systime + time_diff
-        self._set_pin(print_time + PIN_MIN_TIME, self.last_value, True)
-        return systime + self.resend_interval
 
 def load_config_prefix(config):
     return PrinterOutputPin(config)

klippy/extras/pca9533.py

@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
-from . import bus
+from . import bus, led
 
 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000
 
@@ -16,8 +16,7 @@ class PCA9533:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.i2c = bus.MCU_I2C_from_config(config, default_addr=98)
-        pled = self.printer.load_object(config, "led")
+        self.led_helper = led.LEDHelper(config, self.update_leds, 1)
-        self.led_helper = pled.setup_helper(config, self.update_leds, 1)
         self.i2c.i2c_write([PCA9533_PWM0, 85])
         self.i2c.i2c_write([PCA9533_PWM1, 170])
         self.update_leds(self.led_helper.get_status()['color_data'], None)

klippy/extras/pca9632.py

@@ -3,7 +3,7 @@
 # Copyright (C) 2022  Ricardo Alcantara <ricardo@vulcanolabs.com>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import bus, mcp4018
+from . import bus, led, mcp4018
 
 BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000
 
@@ -34,8 +34,7 @@ class PCA9632:
             raise config.error("Invalid color_order '%s'" % (color_order,))
         self.color_map = ["RGBW".index(c) for c in color_order]
         self.prev_regs = {}
-        pled = printer.load_object(config, "led")
+        self.led_helper = led.LEDHelper(config, self.update_leds, 1)
-        self.led_helper = pled.setup_helper(config, self.update_leds, 1)
         printer.register_event_handler("klippy:connect", self.handle_connect)
     def reg_write(self, reg, val, minclock=0):
         if self.prev_regs.get(reg) == val:

klippy/extras/resonance_tester.py

@@ -45,40 +45,96 @@ def _parse_axis(gcmd, raw_axis):
                 "Unable to parse axis direction '%s'" % (raw_axis,))
     return TestAxis(vib_dir=(dir_x, dir_y))
 
-class VibrationPulseTest:
+class VibrationPulseTestGenerator:
     def __init__(self, config):
-        self.printer = config.get_printer()
-        self.gcode = self.printer.lookup_object('gcode')
         self.min_freq = config.getfloat('min_freq', 5., minval=1.)
-        # Defaults are such that max_freq * accel_per_hz == 10000 (max_accel)
+        self.max_freq = config.getfloat('max_freq', 135.,
-        self.max_freq = config.getfloat('max_freq', 10000. / 75.,
                                         minval=self.min_freq, maxval=300.)
-        self.accel_per_hz = config.getfloat('accel_per_hz', 75., above=0.)
+        self.accel_per_hz = config.getfloat('accel_per_hz', 60., above=0.)
         self.hz_per_sec = config.getfloat('hz_per_sec', 1.,
                                           minval=0.1, maxval=2.)
-
-        self.probe_points = config.getlists('probe_points', seps=(',', '\n'),
-                                            parser=float, count=3)
-    def get_start_test_points(self):
-        return self.probe_points
     def prepare_test(self, gcmd):
         self.freq_start = gcmd.get_float("FREQ_START", self.min_freq, minval=1.)
         self.freq_end = gcmd.get_float("FREQ_END", self.max_freq,
                                        minval=self.freq_start, maxval=300.)
-        self.hz_per_sec = gcmd.get_float("HZ_PER_SEC", self.hz_per_sec,
+        self.test_accel_per_hz = gcmd.get_float("ACCEL_PER_HZ",
-                                         above=0., maxval=2.)
+                                                self.accel_per_hz, above=0.)
-    def run_test(self, axis, gcmd):
+        self.test_hz_per_sec = gcmd.get_float("HZ_PER_SEC", self.hz_per_sec,
+                                              above=0., maxval=2.)
+    def gen_test(self):
+        freq = self.freq_start
+        res = []
+        sign = 1.
+        time = 0.
+        while freq <= self.freq_end + 0.000001:
+            t_seg = .25 / freq
+            accel = self.test_accel_per_hz * freq
+            time += t_seg
+            res.append((time, sign * accel, freq))
+            time += t_seg
+            res.append((time, -sign * accel, freq))
+            freq += 2. * t_seg * self.test_hz_per_sec
+            sign = -sign
+        return res
+    def get_max_freq(self):
+        return self.freq_end
+
+class SweepingVibrationsTestGenerator:
+    def __init__(self, config):
+        self.vibration_generator = VibrationPulseTestGenerator(config)
+        self.sweeping_accel = config.getfloat('sweeping_accel', 400., above=0.)
+        self.sweeping_period = config.getfloat('sweeping_period', 1.2,
+                                               minval=0.)
+    def prepare_test(self, gcmd):
+        self.vibration_generator.prepare_test(gcmd)
+        self.test_sweeping_accel = gcmd.get_float(
+                "SWEEPING_ACCEL", self.sweeping_accel, above=0.)
+        self.test_sweeping_period = gcmd.get_float(
+                "SWEEPING_PERIOD", self.sweeping_period, minval=0.)
+    def gen_test(self):
+        test_seq = self.vibration_generator.gen_test()
+        accel_fraction = math.sqrt(2.0) * 0.125
+        if self.test_sweeping_period:
+            t_rem = self.test_sweeping_period * accel_fraction
+            sweeping_accel = self.test_sweeping_accel
+        else:
+            t_rem = float('inf')
+            sweeping_accel = 0.
+        res = []
+        last_t = 0.
+        sig = 1.
+        accel_fraction += 0.25
+        for next_t, accel, freq in test_seq:
+            t_seg = next_t - last_t
+            while t_rem <= t_seg:
+                last_t += t_rem
+                res.append((last_t, accel + sweeping_accel * sig, freq))
+                t_seg -= t_rem
+                t_rem = self.test_sweeping_period * accel_fraction
+                accel_fraction = 0.5
+                sig = -sig
+            t_rem -= t_seg
+            res.append((next_t, accel + sweeping_accel * sig, freq))
+            last_t = next_t
+        return res
+    def get_max_freq(self):
+        return self.vibration_generator.get_max_freq()
+
+class ResonanceTestExecutor:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.gcode = self.printer.lookup_object('gcode')
+    def run_test(self, test_seq, axis, gcmd):
+        reactor = self.printer.get_reactor()
         toolhead = self.printer.lookup_object('toolhead')
         X, Y, Z, E = toolhead.get_position()
-        sign = 1.
-        freq = self.freq_start
         # Override maximum acceleration and acceleration to
         # deceleration based on the maximum test frequency
-        systime = self.printer.get_reactor().monotonic()
+        systime = reactor.monotonic()
         toolhead_info = toolhead.get_status(systime)
         old_max_accel = toolhead_info['max_accel']
         old_minimum_cruise_ratio = toolhead_info['minimum_cruise_ratio']
-        max_accel = self.freq_end * self.accel_per_hz
+        max_accel = max([abs(a) for _, a, _ in test_seq])
         self.gcode.run_script_from_command(
             "SET_VELOCITY_LIMIT ACCEL=%.3f MINIMUM_CRUISE_RATIO=0"
             % (max_accel,))
@@ -88,24 +144,46 @@ class VibrationPulseTest:
             gcmd.respond_info("Disabled [input_shaper] for resonance testing")
         else:
             input_shaper = None
-        gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
+        last_v = last_t = last_accel = last_freq = 0.
-        while freq <= self.freq_end + 0.000001:
+        for next_t, accel, freq in test_seq:
-            t_seg = .25 / freq
+            t_seg = next_t - last_t
-            accel = self.accel_per_hz * freq
-            max_v = accel * t_seg
             toolhead.cmd_M204(self.gcode.create_gcode_command(
-                "M204", "M204", {"S": accel}))
+                "M204", "M204", {"S": abs(accel)}))
-            L = .5 * accel * t_seg**2
+            v = last_v + accel * t_seg
-            dX, dY = axis.get_point(L)
+            abs_v = abs(v)
-            nX = X + sign * dX
+            if abs_v < 0.000001:
-            nY = Y + sign * dY
+                v = abs_v = 0.
-            toolhead.move([nX, nY, Z, E], max_v)
+            abs_last_v = abs(last_v)
-            toolhead.move([X, Y, Z, E], max_v)
+            v2 = v * v
-            sign = -sign
+            last_v2 = last_v * last_v
-            old_freq = freq
+            half_inv_accel = .5 / accel
-            freq += 2. * t_seg * self.hz_per_sec
+            d = (v2 - last_v2) * half_inv_accel
-            if math.floor(freq) > math.floor(old_freq):
+            dX, dY = axis.get_point(d)
+            nX = X + dX
+            nY = Y + dY
+            toolhead.limit_next_junction_speed(abs_last_v)
+            if v * last_v < 0:
+                # The move first goes to a complete stop, then changes direction
+                d_decel = -last_v2 * half_inv_accel
+                decel_X, decel_Y = axis.get_point(d_decel)
+                toolhead.move([X + decel_X, Y + decel_Y, Z, E], abs_last_v)
+                toolhead.move([nX, nY, Z, E], abs_v)
+            else:
+                toolhead.move([nX, nY, Z, E], max(abs_v, abs_last_v))
+            if math.floor(freq) > math.floor(last_freq):
                 gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
+                reactor.pause(reactor.monotonic() + 0.01)
+            X, Y = nX, nY
+            last_t = next_t
+            last_v = v
+            last_accel = accel
+            last_freq = freq
+        if last_v:
+            d_decel = -.5 * last_v2 / old_max_accel
+            decel_X, decel_Y = axis.get_point(d_decel)
+            toolhead.cmd_M204(self.gcode.create_gcode_command(
+                "M204", "M204", {"S": old_max_accel}))
+            toolhead.move([X + decel_X, Y + decel_Y, Z, E], abs(last_v))
         # Restore the original acceleration values
         self.gcode.run_script_from_command(
             "SET_VELOCITY_LIMIT ACCEL=%.3f MINIMUM_CRUISE_RATIO=%.3f"
@@ -114,14 +192,13 @@ class VibrationPulseTest:
         if input_shaper is not None:
             input_shaper.enable_shaping()
             gcmd.respond_info("Re-enabled [input_shaper]")
-    def get_max_freq(self):
-        return self.freq_end
 
 class ResonanceTester:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.move_speed = config.getfloat('move_speed', 50., above=0.)
-        self.test = VibrationPulseTest(config)
+        self.generator = SweepingVibrationsTestGenerator(config)
+        self.executor = ResonanceTestExecutor(config)
         if not config.get('accel_chip_x', None):
             self.accel_chip_names = [('xy', config.get('accel_chip').strip())]
         else:
@@ -131,6 +208,8 @@ class ResonanceTester:
             if self.accel_chip_names[0][1] == self.accel_chip_names[1][1]:
                 self.accel_chip_names = [('xy', self.accel_chip_names[0][1])]
         self.max_smoothing = config.getfloat('max_smoothing', None, minval=0.05)
+        self.probe_points = config.getlists('probe_points', seps=(',', '\n'),
+                                            parser=float, count=3)
 
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command("MEASURE_AXES_NOISE",
@@ -154,12 +233,9 @@ class ResonanceTester:
         toolhead = self.printer.lookup_object('toolhead')
         calibration_data = {axis: None for axis in axes}
 
-        self.test.prepare_test(gcmd)
+        self.generator.prepare_test(gcmd)
 
-        if test_point is not None:
+        test_points = [test_point] if test_point else self.probe_points
-            test_points = [test_point]
-        else:
-            test_points = self.test.get_start_test_points()
 
         for point in test_points:
             toolhead.manual_move(point, self.move_speed)
@@ -184,7 +260,8 @@ class ResonanceTester:
                         raw_values.append((axis, aclient, chip.name))
 
                 # Generate moves
-                self.test.run_test(axis, gcmd)
+                test_seq = self.generator.gen_test()
+                self.executor.run_test(test_seq, axis, gcmd)
                 for chip_axis, aclient, chip_name in raw_values:
                     aclient.finish_measurements()
                     if raw_name_suffix is not None:
@@ -212,15 +289,11 @@ class ResonanceTester:
     def _parse_chips(self, accel_chips):
         parsed_chips = []
         for chip_name in accel_chips.split(','):
-            if "adxl345" in chip_name:
+            chip = self.printer.lookup_object(chip_name.strip())
-                chip_lookup_name = chip_name.strip()
-            else:
-                chip_lookup_name = "adxl345 " + chip_name.strip();
-            chip = self.printer.lookup_object(chip_lookup_name)
             parsed_chips.append(chip)
         return parsed_chips
     def _get_max_calibration_freq(self):
-        return 1.5 * self.test.get_max_freq()
+        return 1.5 * self.generator.get_max_freq()
     cmd_TEST_RESONANCES_help = ("Runs the resonance test for a specifed axis")
     def cmd_TEST_RESONANCES(self, gcmd):
         # Parse parameters

klippy/extras/safe_z_home.py

@@ -37,11 +37,10 @@ class SafeZHoming:
             if 'z' not in kin_status['homed_axes']:
                 # Always perform the z_hop if the Z axis is not homed
                 pos[2] = 0
-                toolhead.set_position(pos, homing_axes=[2])
+                toolhead.set_position(pos, homing_axes="z")
                 toolhead.manual_move([None, None, self.z_hop],
                                      self.z_hop_speed)
-                if hasattr(toolhead.get_kinematics(), "note_z_not_homed"):
+                toolhead.get_kinematics().clear_homing_state("z")
-                    toolhead.get_kinematics().note_z_not_homed()
             elif pos[2] < self.z_hop:
                 # If the Z axis is homed, and below z_hop, lift it to z_hop
                 toolhead.manual_move([None, None, self.z_hop],

klippy/extras/screws_tilt_adjust.py

@@ -12,7 +12,7 @@ class ScrewsTiltAdjust:
         self.config = config
         self.printer = config.get_printer()
         self.screws = []
-        self.results = []
+        self.results = {}
         self.max_diff = None
         self.max_diff_error = False
         # Read config

klippy/extras/servo.py

@@ -1,11 +1,11 @@
 # Support for servos
 #
-# Copyright (C) 2017-2020  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2017-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
+from . import output_pin
 
 SERVO_SIGNAL_PERIOD = 0.020
-PIN_MIN_TIME = 0.100
 
 class PrinterServo:
     def __init__(self, config):
@@ -18,7 +18,7 @@ class PrinterServo:
         self.max_angle = config.getfloat('maximum_servo_angle', 180.)
         self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
         self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
-        self.last_value = self.last_value_time = 0.
+        self.last_value = 0.
         initial_pwm = 0.
         iangle = config.getfloat('initial_angle', None, minval=0., maxval=360.)
         if iangle is not None:
@@ -33,6 +33,9 @@ class PrinterServo:
         self.mcu_servo.setup_max_duration(0.)
         self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
         self.mcu_servo.setup_start_value(initial_pwm, 0.)
+        # Create gcode request queue
+        self.gcrq = output_pin.GCodeRequestQueue(
+            config, self.mcu_servo.get_mcu(), self._set_pwm)
         # Register commands
         servo_name = config.get_name().split()[1]
         gcode = self.printer.lookup_object('gcode')
@@ -43,11 +46,9 @@ class PrinterServo:
         return {'value': self.last_value}
     def _set_pwm(self, print_time, value):
         if value == self.last_value:
-            return
+            return "discard", 0.
-        print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
-        self.mcu_servo.set_pwm(print_time, value)
         self.last_value = value
-        self.last_value_time = print_time
+        self.mcu_servo.set_pwm(print_time, value)
     def _get_pwm_from_angle(self, angle):
         angle = max(0., min(self.max_angle, angle))
         width = self.min_width + angle * self.angle_to_width
@@ -64,9 +65,7 @@ class PrinterServo:
         else:
             angle = gcmd.get_float('ANGLE')
             value = self._get_pwm_from_angle(angle)
-        toolhead = self.printer.lookup_object('toolhead')
+        self.gcrq.queue_gcode_request(value)
-        toolhead.register_lookahead_callback((lambda pt:
-                                              self._set_pwm(pt, value)))
 
 def load_config_prefix(config):
     return PrinterServo(config)

klippy/extras/shaper_calibrate.py

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

klippy/extras/stepper_enable.py

@@ -94,6 +94,7 @@ class PrinterStepperEnable:
         print_time = toolhead.get_last_move_time()
         for el in self.enable_lines.values():
             el.motor_disable(print_time)
+        toolhead.get_kinematics().clear_homing_state("xyz")
         self.printer.send_event("stepper_enable:motor_off", print_time)
         toolhead.dwell(DISABLE_STALL_TIME)
     def motor_debug_enable(self, stepper, enable):

klippy/extras/sx1509.py

@@ -38,19 +38,17 @@ class SX1509(object):
                          REG_INPUT_DISABLE : 0, REG_ANALOG_DRIVER_ENABLE : 0}
         self.reg_i_on_dict = {reg : 0 for reg in REG_I_ON}
     def _build_config(self):
-        # Reset the chip
+        # Reset the chip, Default RegClock/RegMisc 0x0
         self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
             self._oid, REG_RESET, 0x12))
         self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
             self._oid, REG_RESET, 0x34))
         # Enable Oscillator
-        self._mcu.add_config_cmd("i2c_modify_bits oid=%d reg=%02x"
+        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-                                 " clear_set_bits=%02x%02x" % (
+            self._oid, REG_CLOCK, (1 << 6)))
-                                     self._oid, REG_CLOCK, 0, (1 << 6)))
         # Setup Clock Divider
-        self._mcu.add_config_cmd("i2c_modify_bits oid=%d reg=%02x"
+        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-                                 " clear_set_bits=%02x%02x" % (
+            self._oid, REG_MISC, (1 << 4)))
-                                     self._oid, REG_MISC, 0, (1 << 4)))
         # Transfer all regs with their initial cached state
         for _reg, _data in self.reg_dict.items():
             self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%04x" % (

klippy/extras/temperature_fan.py

@@ -46,7 +46,7 @@ class TemperatureFan:
             self.cmd_SET_TEMPERATURE_FAN_TARGET,
             desc=self.cmd_SET_TEMPERATURE_FAN_TARGET_help)
 
-    def set_speed(self, read_time, value):
+    def set_tf_speed(self, read_time, value):
         if value <= 0.:
             value = 0.
         elif value < self.min_speed:
@@ -60,7 +60,7 @@ class TemperatureFan:
         speed_time = read_time + self.speed_delay
         self.next_speed_time = speed_time + 0.75 * MAX_FAN_TIME
         self.last_speed_value = value
-        self.fan.set_speed(speed_time, value)
+        self.fan.set_speed(value, speed_time)
     def temperature_callback(self, read_time, temp):
         self.last_temp = temp
         self.control.temperature_callback(read_time, temp)
@@ -128,10 +128,10 @@ class ControlBangBang:
               and temp <= target_temp-self.max_delta):
             self.heating = True
         if self.heating:
-            self.temperature_fan.set_speed(read_time, 0.)
+            self.temperature_fan.set_tf_speed(read_time, 0.)
         else:
-            self.temperature_fan.set_speed(read_time,
+            self.temperature_fan.set_tf_speed(
-                                           self.temperature_fan.get_max_speed())
+                read_time, self.temperature_fan.get_max_speed())
 
 ######################################################################
 # Proportional Integral Derivative (PID) control algo
@@ -171,7 +171,7 @@ class ControlPID:
         # Calculate output
         co = self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv
         bounded_co = max(0., min(self.temperature_fan.get_max_speed(), co))
-        self.temperature_fan.set_speed(
+        self.temperature_fan.set_tf_speed(
             read_time, max(self.temperature_fan.get_min_speed(),
                            self.temperature_fan.get_max_speed() - bounded_co))
         # Store state for next measurement

klippy/extras/temperature_mcu.py

@@ -66,7 +66,7 @@ class PrinterTemperatureMCU:
         self.mcu_type = mcu.get_constants().get("MCU", "")
         # Run MCU specific configuration
         cfg_funcs = [
-            ('rp2040', self.config_rp2040),
+            ('rp2', self.config_rp2040),
             ('sam3', self.config_sam3), ('sam4', self.config_sam4),
             ('same70', self.config_same70), ('samd21', self.config_samd21),
             ('samd51', self.config_samd51), ('same5', self.config_samd51),

klippy/extras/temperature_probe.py

@@ -490,6 +490,7 @@ class EddyDriftCompensation:
         self.cal_temp = config.getfloat("calibration_temp", 0.)
         self.drift_calibration = None
         self.calibration_samples = None
+        self.max_valid_temp = config.getfloat("max_validation_temp", 60.)
         self.dc_min_temp = config.getfloat("drift_calibration_min_temp", 0.)
         dc = config.getlists(
             "drift_calibration", None, seps=(',', '\n'), parser=float
@@ -503,7 +504,8 @@ class EddyDriftCompensation:
                     )
             self.drift_calibration = [Polynomial2d(*coefs) for coefs in dc]
             cal = self.drift_calibration
-            self._check_calibration(cal, self.dc_min_temp, config.error)
+            start_temp, end_temp = self.dc_min_temp, self.max_valid_temp
+            self._check_calibration(cal, start_temp, end_temp, config.error)
             low_poly = self.drift_calibration[-1]
             self.min_freq = min([low_poly(temp) for temp in range(121)])
             cal_str = "\n".join([repr(p) for p in cal])
@@ -638,13 +640,15 @@ class EddyDriftCompensation:
                 "calbration error, not enough samples"
             )
         min_temp, _ = cal_samples[0][0]
+        max_temp, _ = cal_samples[-1][0]
         polynomials = []
         for i, coords in enumerate(cal_samples):
             height = .05 + i * .5
             poly = Polynomial2d.fit(coords)
             polynomials.append(poly)
             logging.info("Polynomial at Z=%.2f: %s" % (height, repr(poly)))
-        self._check_calibration(polynomials, min_temp)
+        end_vld_temp = max(self.max_valid_temp, max_temp)
+        self._check_calibration(polynomials, min_temp, end_vld_temp)
         coef_cfg = "\n" + "\n".join([str(p) for p in polynomials])
         configfile = self.printer.lookup_object('configfile')
         configfile.set(self.name, "drift_calibration", coef_cfg)
@@ -656,10 +660,11 @@ class EddyDriftCompensation:
             % (self.name, len(polynomials))
         )
 
-    def _check_calibration(self, calibration, start_temp, error=None):
+    def _check_calibration(self, calibration, start_temp, end_temp, error=None):
         error = error or self.printer.command_error
         start = int(start_temp)
-        for temp in range(start, 121, 1):
+        end = int(end_temp) + 1
+        for temp in range(start, end, 1):
             last_freq = calibration[0](temp)
             for i, poly in enumerate(calibration[1:]):
                 next_freq = poly(temp)

klippy/extras/tmc2240.py

@@ -348,7 +348,7 @@ class TMC2240:
         if config.get("uart_pin", None) is not None:
             # use UART for communication
             self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields,
-                                                 3, TMC_FREQUENCY)
+                                                 7, TMC_FREQUENCY)
         else:
             # Use SPI bus for communication
             self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
@@ -408,6 +408,8 @@ class TMC2240:
         set_config_field(config, "tpowerdown", 10)
         #   SG4_THRS
         set_config_field(config, "sg4_angle_offset", 1)
+        #   DRV_CONF
+        set_config_field(config, "slope_control", 0)
 
 def load_config_prefix(config):
     return TMC2240(config)

klippy/extras/z_tilt.py

@@ -108,7 +108,7 @@ class RetryHelper:
         return self.increasing > 1
     def check_retry(self, z_positions):
         if self.max_retries == 0:
-            return
+            return "done"
         error = round(max(z_positions) - min(z_positions),6)
         self.gcode.respond_info(
             "Retries: %d/%d %s: %0.6f tolerance: %0.6f" % (

klippy/gcode.py

@@ -1,6 +1,6 @@
 # Parse gcode commands
 #
-# 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 os, re, logging, collections, shlex
@@ -28,19 +28,18 @@ class GCodeCommand:
         return self._params
     def get_raw_command_parameters(self):
         command = self._command
-        if command.startswith("M117 ") or command.startswith("M118 "):
+        origline = self._commandline
-            command = command[:4]
+        param_start = len(command)
-        rawparams = self._commandline
+        param_end = len(origline)
-        urawparams = rawparams.upper()
+        if origline[:param_start].upper() != command:
-        if not urawparams.startswith(command):
+            # Skip any gcode line-number and ignore any trailing checksum
-            rawparams = rawparams[urawparams.find(command):]
+            param_start += origline.upper().find(command)
-            end = rawparams.rfind('*')
+            end = origline.rfind('*')
-            if end >= 0:
+            if end >= 0 and origline[end+1:].isdigit():
-                rawparams = rawparams[:end]
+                param_end = end
-        rawparams = rawparams[len(command):]
+        if origline[param_start:param_start+1].isspace():
-        if rawparams.startswith(' '):
+            param_start += 1
-            rawparams = rawparams[1:]
+        return origline[param_start:param_end]
-        return rawparams
     def ack(self, msg=None):
         if not self._need_ack:
             return False
@@ -133,6 +132,10 @@ class GCodeDispatch:
             raise self.printer.config_error(
                 "gcode command %s already registered" % (cmd,))
         if not self.is_traditional_gcode(cmd):
+            if (cmd.upper() != cmd or not cmd.replace('_', 'A').isalnum()
+                or cmd[0].isdigit() or cmd[1:2].isdigit()):
+                raise self.printer.config_error(
+                    "Can't register '%s' as it is an invalid name" % (cmd,))
             origfunc = func
             func = lambda params: origfunc(self._get_extended_params(params))
         self.ready_gcode_handlers[cmd] = func
@@ -184,7 +187,7 @@ class GCodeDispatch:
         self._build_status_commands()
         self._respond_state("Ready")
     # Parse input into commands
-    args_r = re.compile('([A-Z_]+|[A-Z*/])')
+    args_r = re.compile('([A-Z_]+|[A-Z*])')
     def _process_commands(self, commands, need_ack=True):
         for line in commands:
             # Ignore comments and leading/trailing spaces
@@ -194,16 +197,14 @@ class GCodeDispatch:
                 line = line[:cpos]
             # Break line into parts and determine command
             parts = self.args_r.split(line.upper())
-            numparts = len(parts)
+            if ''.join(parts[:2]) == 'N':
-            cmd = ""
-            if numparts >= 3 and parts[1] != 'N':
-                cmd = parts[1] + parts[2].strip()
-            elif numparts >= 5 and parts[1] == 'N':
                 # Skip line number at start of command
-                cmd = parts[3] + parts[4].strip()
+                cmd = ''.join(parts[3:5]).strip()
+            else:
+                cmd = ''.join(parts[:3]).strip()
             # Build gcode "params" dictionary
             params = { parts[i]: parts[i+1].strip()
-                       for i in range(1, numparts, 2) }
+                       for i in range(1, len(parts), 2) }
             gcmd = GCodeCommand(self, cmd, origline, params, need_ack)
             # Invoke handler for command
             handler = self.gcode_handlers.get(cmd, self.cmd_default)
@@ -251,26 +252,22 @@ class GCodeDispatch:
     def _respond_state(self, state):
         self.respond_info("Klipper state: %s" % (state,), log=False)
     # Parameter parsing helpers
-    extended_r = re.compile(
-        r'^\s*(?:N[0-9]+\s*)?'
-        r'(?P<cmd>[a-zA-Z_][a-zA-Z0-9_]+)(?:\s+|$)'
-        r'(?P<args>[^#*;]*?)'
-        r'\s*(?:[#*;].*)?$')
     def _get_extended_params(self, gcmd):
-        m = self.extended_r.match(gcmd.get_commandline())
+        rawparams = gcmd.get_raw_command_parameters()
-        if m is None:
+        # Extract args while allowing shell style quoting
-            raise self.error("Malformed command '%s'"
+        s = shlex.shlex(rawparams, posix=True)
-                             % (gcmd.get_commandline(),))
+        s.whitespace_split = True
-        eargs = m.group('args')
+        s.commenters = '#;'
         try:
-            eparams = [earg.split('=', 1) for earg in shlex.split(eargs)]
+            eparams = [earg.split('=', 1) for earg in s]
             eparams = { k.upper(): v for k, v in eparams }
-            gcmd._params.clear()
-            gcmd._params.update(eparams)
-            return gcmd
         except ValueError as e:
             raise self.error("Malformed command '%s'"
                              % (gcmd.get_commandline(),))
+        # Update gcmd with new parameters
+        gcmd._params.clear()
+        gcmd._params.update(eparams)
+        return gcmd
     # G-Code special command handlers
     def cmd_default(self, gcmd):
         cmd = gcmd.get_command()
@@ -289,12 +286,15 @@ class GCodeDispatch:
             if cmdline:
                 logging.debug(cmdline)
             return
-        if cmd.startswith("M117 ") or cmd.startswith("M118 "):
+        if ' ' in cmd:
             # Handle M117/M118 gcode with numeric and special characters
-            handler = self.gcode_handlers.get(cmd[:4], None)
+            realcmd = cmd.split()[0]
-            if handler is not None:
+            if realcmd in ["M117", "M118", "M23"]:
-                handler(gcmd)
+                handler = self.gcode_handlers.get(realcmd, None)
-                return
+                if handler is not None:
+                    gcmd._command = realcmd
+                    handler(gcmd)
+                    return
         elif cmd in ['M140', 'M104'] and not gcmd.get_float('S', 0.):
             # Don't warn about requests to turn off heaters when not present
             return

klippy/kinematics/cartesian.py

@@ -40,8 +40,6 @@ class CartKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        self.printer.register_event_handler("stepper_enable:motor_off",
-                                            self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
@@ -67,15 +65,17 @@ class CartKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-        for axis in homing_axes:
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
             if self.dc_module and axis == self.dc_module.axis:
                 rail = self.dc_module.get_primary_rail().get_rail()
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
-    def note_z_not_homed(self):
+    def clear_homing_state(self, clear_axes):
-        # Helper for Safe Z Home
+        for axis, axis_name in enumerate("xyz"):
-        self.limits[2] = (1.0, -1.0)
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home_axis(self, homing_state, axis, rail):
         # Determine movement
         position_min, position_max = rail.get_range()
@@ -96,8 +96,6 @@ class CartKinematics:
                 self.dc_module.home(homing_state)
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
-    def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/corexy.py

@@ -21,8 +21,6 @@ class CoreXYKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        config.get_printer().register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -41,11 +39,12 @@ class CoreXYKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-            if i in homing_axes:
+            if "xyz"[i] in homing_axes:
                 self.limits[i] = rail.get_range()
-    def note_z_not_homed(self):
+    def clear_homing_state(self, clear_axes):
-        # Helper for Safe Z Home
+        for axis, axis_name in enumerate("xyz"):
-        self.limits[2] = (1.0, -1.0)
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
@@ -62,8 +61,6 @@ class CoreXYKinematics:
                 forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
             # Perform homing
             homing_state.home_rails([rail], forcepos, homepos)
-    def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/corexz.py

@@ -21,8 +21,6 @@ class CoreXZKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        config.get_printer().register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -41,11 +39,12 @@ class CoreXZKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-            if i in homing_axes:
+            if "xyz"[i] in homing_axes:
                 self.limits[i] = rail.get_range()
-    def note_z_not_homed(self):
+    def clear_homing_state(self, clear_axes):
-        # Helper for Safe Z Home
+        for axis, axis_name in enumerate("xyz"):
-        self.limits[2] = (1.0, -1.0)
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
@@ -62,8 +61,6 @@ class CoreXZKinematics:
                 forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
             # Perform homing
             homing_state.home_rails([rail], forcepos, homepos)
-    def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/delta.py

@@ -23,8 +23,6 @@ class DeltaKinematics:
             stepper_configs[2], need_position_minmax = False,
             default_position_endstop=a_endstop)
         self.rails = [rail_a, rail_b, rail_c]
-        config.get_printer().register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup max velocity
         self.max_velocity, self.max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -90,7 +88,7 @@ class DeltaKinematics:
                         math.sqrt(self.very_slow_xy2)))
         self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
         self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def _actuator_to_cartesian(self, spos):
@@ -103,17 +101,19 @@ class DeltaKinematics:
         for rail in self.rails:
             rail.set_position(newpos)
         self.limit_xy2 = -1.
-        if tuple(homing_axes) == (0, 1, 2):
+        if homing_axes == "xyz":
             self.need_home = False
+    def clear_homing_state(self, clear_axes):
+        # Clearing homing state for each axis individually is not implemented
+        if clear_axes:
+            self.limit_xy2 = -1
+            self.need_home = True
     def home(self, homing_state):
         # All axes are homed simultaneously
         homing_state.set_axes([0, 1, 2])
         forcepos = list(self.home_position)
         forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
         homing_state.home_rails(self.rails, forcepos, self.home_position)
-    def _motor_off(self, print_time):
-        self.limit_xy2 = -1.
-        self.need_home = True
     def check_move(self, move):
         end_pos = move.end_pos
         end_xy2 = end_pos[0]**2 + end_pos[1]**2

klippy/kinematics/deltesian.py

@@ -41,8 +41,6 @@ class DeltesianKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        config.get_printer().register_event_handler(
-            "stepper_enable:motor_off", self._motor_off)
         self.limits = [(1.0, -1.0)] * 3
         # X axis limits
         min_angle = config.getfloat('min_angle', MIN_ANGLE,
@@ -89,7 +87,7 @@ class DeltesianKinematics:
         self.axes_min = toolhead.Coord(*[l[0] for l in self.limits], e=0.)
         self.axes_max = toolhead.Coord(*[l[1] for l in self.limits], e=0.)
         self.homed_axis = [False] * 3
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def _actuator_to_cartesian(self, sp):
@@ -115,8 +113,13 @@ class DeltesianKinematics:
     def set_position(self, newpos, homing_axes):
         for rail in self.rails:
             rail.set_position(newpos)
-        for n in homing_axes:
+        for axis_name in homing_axes:
-            self.homed_axis[n] = True
+            axis = "xyz".index(axis_name)
+            self.homed_axis[axis] = True
+    def clear_homing_state(self, clear_axes):
+        for axis, axis_name in enumerate("xyz"):
+            if axis_name in clear_axes:
+                self.homed_axis[axis] = False
     def home(self, homing_state):
         homing_axes = homing_state.get_axes()
         home_xz = 0 in homing_axes or 2 in homing_axes
@@ -142,8 +145,6 @@ class DeltesianKinematics:
             else:
                 forcepos[1] += 1.5 * (position_max - hi.position_endstop)
             homing_state.home_rails([self.rails[2]], forcepos, homepos)
-    def _motor_off(self, print_time):
-        self.homed_axis = [False] * 3
     def check_move(self, move):
         limits = list(map(list, self.limits))
         spos, epos = move.start_pos, move.end_pos

klippy/kinematics/hybrid_corexy.py

@@ -42,8 +42,6 @@ class HybridCoreXYKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        self.printer.register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -69,15 +67,17 @@ class HybridCoreXYKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-        for axis in homing_axes:
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
             if self.dc_module and axis == self.dc_module.axis:
                 rail = self.dc_module.get_primary_rail().get_rail()
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
-    def note_z_not_homed(self):
+    def clear_homing_state(self, clear_axes):
-        # Helper for Safe Z Home
+        for axis, axis_name in enumerate("xyz"):
-        self.limits[2] = (1.0, -1.0)
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home_axis(self, homing_state, axis, rail):
         position_min, position_max = rail.get_range()
         hi = rail.get_homing_info()
@@ -96,8 +96,6 @@ class HybridCoreXYKinematics:
                 self.dc_module.home(homing_state)
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
-    def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/hybrid_corexz.py

@@ -42,8 +42,6 @@ class HybridCoreXZKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        self.printer.register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -69,15 +67,17 @@ class HybridCoreXZKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-        for axis in homing_axes:
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
             if self.dc_module and axis == self.dc_module.axis:
                 rail = self.dc_module.get_primary_rail().get_rail()
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
-    def note_z_not_homed(self):
+    def clear_homing_state(self, clear_axes):
-        # Helper for Safe Z Home
+        for axis, axis_name in enumerate("xyz"):
-        self.limits[2] = (1.0, -1.0)
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home_axis(self, homing_state, axis, rail):
         position_min, position_max = rail.get_range()
         hi = rail.get_homing_info()
@@ -96,8 +96,6 @@ class HybridCoreXZKinematics:
                 self.dc_module.home(homing_state)
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
-    def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/none.py

@@ -13,6 +13,8 @@ class NoneKinematics:
         return [0, 0, 0]
     def set_position(self, newpos, homing_axes):
         pass
+    def clear_homing_state(self, clear_axes):
+        pass
     def home(self, homing_state):
         pass
     def check_move(self, move):

klippy/kinematics/polar.py

@@ -22,8 +22,6 @@ class PolarKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        config.get_printer().register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -47,13 +45,16 @@ class PolarKinematics:
     def set_position(self, newpos, homing_axes):
         for s in self.steppers:
             s.set_position(newpos)
-        if 2 in homing_axes:
+        if "z" in homing_axes:
             self.limit_z = self.rails[1].get_range()
-        if 0 in homing_axes and 1 in homing_axes:
+        if "x" in homing_axes and "y" in homing_axes:
             self.limit_xy2 = self.rails[0].get_range()[1]**2
-    def note_z_not_homed(self):
+    def clear_homing_state(self, clear_axes):
-        # Helper for Safe Z Home
+        if "x" in clear_axes or "y" in clear_axes:
-        self.limit_z = (1.0, -1.0)
+            # X and Y cannot be cleared separately
+            self.limit_xy2 = -1.
+        if "z" in clear_axes:
+            self.limit_z = (1.0, -1.0)
     def _home_axis(self, homing_state, axis, rail):
         # Determine movement
         position_min, position_max = rail.get_range()
@@ -85,9 +86,6 @@ class PolarKinematics:
             self._home_axis(homing_state, 0, self.rails[0])
         if home_z:
             self._home_axis(homing_state, 2, self.rails[1])
-    def _motor_off(self, print_time):
-        self.limit_z = (1.0, -1.0)
-        self.limit_xy2 = -1.
     def check_move(self, move):
         end_pos = move.end_pos
         xy2 = end_pos[0]**2 + end_pos[1]**2

klippy/kinematics/rotary_delta.py

@@ -21,8 +21,6 @@ class RotaryDeltaKinematics:
             stepper_configs[2], need_position_minmax=False,
             default_position_endstop=a_endstop, units_in_radians=True)
         self.rails = [rail_a, rail_b, rail_c]
-        config.get_printer().register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Read config
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
@@ -76,7 +74,7 @@ class RotaryDeltaKinematics:
         max_xy = math.sqrt(self.max_xy2)
         self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
         self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_position(self, stepper_positions):
@@ -86,8 +84,13 @@ class RotaryDeltaKinematics:
         for rail in self.rails:
             rail.set_position(newpos)
         self.limit_xy2 = -1.
-        if tuple(homing_axes) == (0, 1, 2):
+        if homing_axes == "xyz":
             self.need_home = False
+    def clear_homing_state(self, clear_axes):
+        # Clearing homing state for each axis individually is not implemented
+        if clear_axes:
+            self.limit_xy2 = -1
+            self.need_home = True
     def home(self, homing_state):
         # All axes are homed simultaneously
         homing_state.set_axes([0, 1, 2])
@@ -96,9 +99,6 @@ class RotaryDeltaKinematics:
         #forcepos[2] = self.calibration.actuator_to_cartesian(min_angles)[2]
         forcepos[2] = -1.
         homing_state.home_rails(self.rails, forcepos, self.home_position)
-    def _motor_off(self, print_time):
-        self.limit_xy2 = -1.
-        self.need_home = True
     def check_move(self, move):
         end_pos = move.end_pos
         end_xy2 = end_pos[0]**2 + end_pos[1]**2

klippy/kinematics/winch.py

@@ -26,7 +26,7 @@ class WinchKinematics:
         acoords = list(zip(*self.anchors))
         self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)
         self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.)
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return list(self.steppers)
     def calc_position(self, stepper_positions):
@@ -36,6 +36,9 @@ class WinchKinematics:
     def set_position(self, newpos, homing_axes):
         for s in self.steppers:
             s.set_position(newpos)
+    def clear_homing_state(self, clear_axes):
+        # XXX - homing not implemented
+        pass
     def home(self, homing_state):
         # XXX - homing not implemented
         homing_state.set_axes([0, 1, 2])

klippy/klippy.py

@@ -214,7 +214,7 @@ class Printer:
         logging.info("Reactor garbage collection: %s",
                      self.reactor.get_gc_stats())
         self.send_event("klippy:notify_mcu_shutdown", msg, details)
-    def invoke_async_shutdown(self, msg, details):
+    def invoke_async_shutdown(self, msg, details={}):
         self.reactor.register_async_callback(
             (lambda e: self.invoke_shutdown(msg, details)))
     def register_event_handler(self, event, callback):

klippy/mcu.py

@@ -832,9 +832,10 @@ class MCU:
         systime = self._reactor.monotonic()
         get_clock = self._clocksync.get_clock
         calc_freq = get_clock(systime + 1) - get_clock(systime)
+        freq_diff = abs(mcu_freq - calc_freq)
         mcu_freq_mhz = int(mcu_freq / 1000000. + 0.5)
         calc_freq_mhz = int(calc_freq / 1000000. + 0.5)
-        if mcu_freq_mhz != calc_freq_mhz:
+        if freq_diff > mcu_freq*0.01 and mcu_freq_mhz != calc_freq_mhz:
             pconfig = self._printer.lookup_object('configfile')
             msg = ("MCU '%s' configured for %dMhz but running at %dMhz!"
                     % (self._name, mcu_freq_mhz, calc_freq_mhz))

klippy/msgproto.py

@@ -324,7 +324,7 @@ class MessageParser:
     def create_command(self, msg):
         parts = msg.strip().split()
         if not parts:
-            return ""
+            return []
         msgname = parts[0]
         mp = self.messages_by_name.get(msgname)
         if mp is None:

klippy/stepper.py

@@ -138,8 +138,10 @@ class MCU_stepper:
     def get_commanded_position(self):
         ffi_main, ffi_lib = chelper.get_ffi()
         return ffi_lib.itersolve_get_commanded_pos(self._stepper_kinematics)
-    def get_mcu_position(self):
+    def get_mcu_position(self, cmd_pos=None):
-        mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset
+        if cmd_pos is None:
+            cmd_pos = self.get_commanded_position()
+        mcu_pos_dist = cmd_pos + self._mcu_position_offset
         mcu_pos = mcu_pos_dist / self._step_dist
         if mcu_pos >= 0.:
             return int(mcu_pos + 0.5)
@@ -401,7 +403,7 @@ class PrinterRail:
             changed_invert = pin_params['invert'] != endstop['invert']
             changed_pullup = pin_params['pullup'] != endstop['pullup']
             if changed_invert or changed_pullup:
-                raise error("Pinter rail %s shared endstop pin %s "
+                raise error("Printer rail %s shared endstop pin %s "
                             "must specify the same pullup/invert settings" % (
                                 self.get_name(), pin_name))
         mcu_endstop.add_stepper(stepper)

klippy/toolhead.py

@@ -47,6 +47,7 @@ class Move:
         self.delta_v2 = 2.0 * move_d * self.accel
         self.max_smoothed_v2 = 0.
         self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel
+        self.next_junction_v2 = 999999999.9
     def limit_speed(self, speed, accel):
         speed2 = speed**2
         if speed2 < self.max_cruise_v2:
@@ -55,6 +56,8 @@ class Move:
         self.accel = min(self.accel, accel)
         self.delta_v2 = 2.0 * self.move_d * self.accel
         self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)
+    def limit_next_junction_speed(self, speed):
+        self.next_junction_v2 = min(self.next_junction_v2, speed**2)
     def move_error(self, msg="Move out of range"):
         ep = self.end_pos
         m = "%s: %.3f %.3f %.3f [%.3f]" % (msg, ep[0], ep[1], ep[2], ep[3])
@@ -64,32 +67,33 @@ class Move:
             return
         # Allow extruder to calculate its maximum junction
         extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
+        max_start_v2 = min(extruder_v2, self.max_cruise_v2,
+                           prev_move.max_cruise_v2, prev_move.next_junction_v2,
+                           prev_move.max_start_v2 + prev_move.delta_v2)
         # Find max velocity using "approximated centripetal velocity"
         axes_r = self.axes_r
         prev_axes_r = prev_move.axes_r
         junction_cos_theta = -(axes_r[0] * prev_axes_r[0]
                                + axes_r[1] * prev_axes_r[1]
                                + axes_r[2] * prev_axes_r[2])
-        if junction_cos_theta > 0.999999:
+        sin_theta_d2 = math.sqrt(max(0.5*(1.0-junction_cos_theta), 0.))
-            return
+        cos_theta_d2 = math.sqrt(max(0.5*(1.0+junction_cos_theta), 0.))
-        junction_cos_theta = max(junction_cos_theta, -0.999999)
+        one_minus_sin_theta_d2 = 1. - sin_theta_d2
-        sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
+        if one_minus_sin_theta_d2 > 0. and cos_theta_d2 > 0.:
-        R_jd = sin_theta_d2 / (1. - sin_theta_d2)
+            R_jd = sin_theta_d2 / one_minus_sin_theta_d2
-        # Approximated circle must contact moves no further away than mid-move
+            move_jd_v2 = R_jd * self.junction_deviation * self.accel
-        tan_theta_d2 = sin_theta_d2 / math.sqrt(0.5*(1.0+junction_cos_theta))
+            pmove_jd_v2 = R_jd * prev_move.junction_deviation * prev_move.accel
-        move_centripetal_v2 = .5 * self.move_d * tan_theta_d2 * self.accel
+            # Approximated circle must contact moves no further than mid-move
-        prev_move_centripetal_v2 = (.5 * prev_move.move_d * tan_theta_d2
+            #   centripetal_v2 = .5 * self.move_d * self.accel * tan_theta_d2
-                                    * prev_move.accel)
+            quarter_tan_theta_d2 = .25 * sin_theta_d2 / cos_theta_d2
+            move_centripetal_v2 = self.delta_v2 * quarter_tan_theta_d2
+            pmove_centripetal_v2 = prev_move.delta_v2 * quarter_tan_theta_d2
+            max_start_v2 = min(max_start_v2, move_jd_v2, pmove_jd_v2,
+                               move_centripetal_v2, pmove_centripetal_v2)
         # Apply limits
-        self.max_start_v2 = min(
+        self.max_start_v2 = max_start_v2
-            R_jd * self.junction_deviation * self.accel,
-            R_jd * prev_move.junction_deviation * prev_move.accel,
-            move_centripetal_v2, prev_move_centripetal_v2,
-            extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2,
-            prev_move.max_start_v2 + prev_move.delta_v2)
         self.max_smoothed_v2 = min(
-            self.max_start_v2
+            max_start_v2, prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
-            , prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
     def set_junction(self, start_v2, cruise_v2, end_v2):
         # Determine accel, cruise, and decel portions of the move distance
         half_inv_accel = .5 / self.accel
@@ -453,7 +457,7 @@ class ToolHead:
     # Movement commands
     def get_position(self):
         return list(self.commanded_pos)
-    def set_position(self, newpos, homing_axes=()):
+    def set_position(self, newpos, homing_axes=""):
         self.flush_step_generation()
         ffi_main, ffi_lib = chelper.get_ffi()
         ffi_lib.trapq_set_position(self.trapq, self.print_time,
@@ -461,6 +465,10 @@ class ToolHead:
         self.commanded_pos[:] = newpos
         self.kin.set_position(newpos, homing_axes)
         self.printer.send_event("toolhead:set_position")
+    def limit_next_junction_speed(self, speed):
+        last_move = self.lookahead.get_last()
+        if last_move is not None:
+            last_move.limit_next_junction_speed(speed)
     def move(self, newpos, speed):
         move = Move(self, self.commanded_pos, newpos, speed)
         if not move.move_d:

lib/README

@@ -105,16 +105,23 @@ The stm32h7 directory contains code from:
 version v1.9.0 (ccb11556044540590ca6e45056e6b65cdca2deb2). Contents
 taken from the Drivers/CMSIS/Device/ST/STM32H7xx/ directory.
 
-The rp2040 directory contains code from the pico sdk:
+The pico-sdk directory contains code from the pico sdk:
   https://github.com/raspberrypi/pico-sdk.git
-version 1.2.0 (bfcbefafc5d2a210551a4d9d80b4303d4ae0adf7). It has been
+version 2.0.0 (efe2103f9b28458a1615ff096054479743ade236). It has been
 modified so that it can build outside of the pico sdk. See
-rp2040.patch for the modifications.
+pico-sdk.patch for the modifications.
+
+The elf2uf2 directory contains code from the pico sdk:
+  https://github.com/raspberrypi/pico-sdk.git
+version 1.2.0 (bfcbefafc5d2a210551a4d9d80b4303d4ae0adf7). Contents
+taken from the tools/elf2uf2/ directory.
 
 The rp2040_flash directory contains a light-weight bootsel flash tool.
 It uses C part of the the `picoboot_connection` directory found in:
   https://github.com/raspberrypi/picotool.git
-version v1.1.0 (55fd880c3dc029b961fc1a0967a6cfdc0af02721).
+version 2.0.0 (8a9af99ab10b20b1c6afb30cd9384e562a6647f9). Note that
+Makefile and main.c are locally developed files (the remaining files
+are from the picotool repo).
 
 The hub-ctrl directory contains code from:
   https://github.com/codazoda/hub-ctrl.c/
@@ -167,7 +174,7 @@ used to upload firmware to devices flashed with the CanBoot bootloader.
 
 The can2040 directory contains code from:
   https://github.com/KevinOConnor/can2040
-version v1.6.0 (af3d21e5d61b8408c63fbdfb0aceb21d69d91693)
+version v1.7.0 (90515f53ce89442f1bcc3033aae222e9eb77818c).
 
 The Huada HC32F460 directory contains code from:
   https://www.hdsc.com.cn/Category83-1490

lib/can2040/can2040.c

@@ -1,13 +1,13 @@
 // Software CANbus implementation for rp2040
 //
-// Copyright (C) 2022,2023  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2022-2024  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
 #include <stdint.h> // uint32_t
 #include <string.h> // memset
-#include "RP2040.h" // hw_set_bits
 #include "can2040.h" // can2040_setup
+#include "cmsis_gcc.h" // __DMB
 #include "hardware/regs/dreq.h" // DREQ_PIO0_RX1
 #include "hardware/structs/dma.h" // dma_hw
 #include "hardware/structs/iobank0.h" // iobank0_hw
@@ -20,6 +20,13 @@
  * rp2040 and low-level helper functions
  ****************************************************************/
 
+// Determine if the target is an rp2350
+#ifdef PICO_RP2350
+  #define IS_RP2350 1
+#else
+  #define IS_RP2350 0
+#endif
+
 // Helper compiler definitions
 #define barrier() __asm__ __volatile__("": : :"memory")
 #define likely(x)       __builtin_expect(!!(x), 1)
@@ -123,19 +130,29 @@ static const uint16_t can2040_program_instructions[] = {
 #define SI_RX_DATA   PIO_IRQ0_INTE_SM1_RXNEMPTY_BITS
 #define SI_TXPENDING PIO_IRQ0_INTE_SM1_BITS // Misc bit manually forced
 
+// Return the gpio bank offset (on rp2350 chips)
+static uint32_t
+pio_gpiobase(struct can2040 *cd)
+{
+    if (!IS_RP2350)
+        return 0;
+    return (cd->gpio_rx > 31 || cd->gpio_tx > 31) ? 16 : 0;
+}
+
 // Setup PIO "sync" state machine (state machine 0)
 static void
 pio_sync_setup(struct can2040 *cd)
 {
     pio_hw_t *pio_hw = cd->pio_hw;
-    struct pio_sm_hw *sm = &pio_hw->sm[0];
+    pio_sm_hw_t *sm = &pio_hw->sm[0];
+    uint32_t gpio_rx = (cd->gpio_rx - pio_gpiobase(cd)) & 0x1f;
     sm->execctrl = (
-        cd->gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB
+        gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB
         | (can2040_offset_sync_end - 1) << PIO_SM0_EXECCTRL_WRAP_TOP_LSB
         | can2040_offset_sync_signal_start << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
     sm->pinctrl = (
         1 << PIO_SM0_PINCTRL_SET_COUNT_LSB
-        | cd->gpio_rx << PIO_SM0_PINCTRL_SET_BASE_LSB);
+        | gpio_rx << PIO_SM0_PINCTRL_SET_BASE_LSB);
     sm->instr = 0xe080; // set pindirs, 0
     sm->pinctrl = 0;
     pio_hw->txf[0] = 9 + 6 * PIO_CLOCK_PER_BIT / 2;
@@ -148,11 +165,12 @@ static void
 pio_rx_setup(struct can2040 *cd)
 {
     pio_hw_t *pio_hw = cd->pio_hw;
-    struct pio_sm_hw *sm = &pio_hw->sm[1];
+    pio_sm_hw_t *sm = &pio_hw->sm[1];
+    uint32_t gpio_rx = (cd->gpio_rx - pio_gpiobase(cd)) & 0x1f;
     sm->execctrl = (
         (can2040_offset_shared_rx_end - 1) << PIO_SM0_EXECCTRL_WRAP_TOP_LSB
         | can2040_offset_shared_rx_read << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
-    sm->pinctrl = cd->gpio_rx << PIO_SM0_PINCTRL_IN_BASE_LSB;
+    sm->pinctrl = gpio_rx << PIO_SM0_PINCTRL_IN_BASE_LSB;
     sm->shiftctrl = 0; // flush fifo on a restart
     sm->shiftctrl = (PIO_SM0_SHIFTCTRL_FJOIN_RX_BITS
                      | PIO_RX_WAKE_BITS << PIO_SM0_SHIFTCTRL_PUSH_THRESH_LSB
@@ -165,15 +183,16 @@ static void
 pio_match_setup(struct can2040 *cd)
 {
     pio_hw_t *pio_hw = cd->pio_hw;
-    struct pio_sm_hw *sm = &pio_hw->sm[2];
+    pio_sm_hw_t *sm = &pio_hw->sm[2];
     sm->execctrl = (
         (can2040_offset_match_end - 1) << PIO_SM0_EXECCTRL_WRAP_TOP_LSB
         | can2040_offset_shared_rx_read << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
-    sm->pinctrl = cd->gpio_rx << PIO_SM0_PINCTRL_IN_BASE_LSB;
+    uint32_t gpio_rx = (cd->gpio_rx - pio_gpiobase(cd)) & 0x1f;
+    sm->pinctrl = gpio_rx << PIO_SM0_PINCTRL_IN_BASE_LSB;
     sm->shiftctrl = 0;
     sm->instr = 0xe040; // set y, 0
     sm->instr = 0xa0e2; // mov osr, y
-    sm->instr = 0xa02a, // mov x, !y
+    sm->instr = 0xa02a; // mov x, !y
     sm->instr = can2040_offset_match_load_next; // jmp match_load_next
 }
 
@@ -182,17 +201,19 @@ static void
 pio_tx_setup(struct can2040 *cd)
 {
     pio_hw_t *pio_hw = cd->pio_hw;
-    struct pio_sm_hw *sm = &pio_hw->sm[3];
+    pio_sm_hw_t *sm = &pio_hw->sm[3];
+    uint32_t gpio_rx = (cd->gpio_rx - pio_gpiobase(cd)) & 0x1f;
+    uint32_t gpio_tx = (cd->gpio_tx - pio_gpiobase(cd)) & 0x1f;
     sm->execctrl = (
-        cd->gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB
+        gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB
         | can2040_offset_tx_conflict << PIO_SM0_EXECCTRL_WRAP_TOP_LSB
         | can2040_offset_tx_conflict << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
     sm->shiftctrl = (PIO_SM0_SHIFTCTRL_FJOIN_TX_BITS
                      | PIO_SM0_SHIFTCTRL_AUTOPULL_BITS);
     sm->pinctrl = (1 << PIO_SM0_PINCTRL_SET_COUNT_LSB
                    | 1 << PIO_SM0_PINCTRL_OUT_COUNT_LSB
-                   | cd->gpio_tx << PIO_SM0_PINCTRL_SET_BASE_LSB
+                   | gpio_tx << PIO_SM0_PINCTRL_SET_BASE_LSB
-                   | cd->gpio_tx << PIO_SM0_PINCTRL_OUT_BASE_LSB);
+                   | gpio_tx << PIO_SM0_PINCTRL_OUT_BASE_LSB);
     sm->instr = 0xe001; // set pins, 1
     sm->instr = 0xe081; // set pindirs, 1
 }
@@ -255,7 +276,7 @@ pio_tx_reset(struct can2040 *cd)
                     | (0x08 << PIO_CTRL_SM_RESTART_LSB));
     pio_hw->irq = (SI_MATCHED | SI_ACKDONE) >> 8; // clear PIO irq flags
     // Clear tx fifo
-    struct pio_sm_hw *sm = &pio_hw->sm[3];
+    pio_sm_hw_t *sm = &pio_hw->sm[3];
     sm->shiftctrl = 0;
     sm->shiftctrl = (PIO_SM0_SHIFTCTRL_FJOIN_TX_BITS
                      | PIO_SM0_SHIFTCTRL_AUTOPULL_BITS);
@@ -271,7 +292,7 @@ pio_tx_send(struct can2040 *cd, uint32_t *data, uint32_t count)
     uint32_t i;
     for (i=0; i<count; i++)
         pio_hw->txf[3] = data[i];
-    struct pio_sm_hw *sm = &pio_hw->sm[3];
+    pio_sm_hw_t *sm = &pio_hw->sm[3];
     sm->instr = 0xe001; // set pins, 1
     sm->instr = 0x6021; // out x, 1
     sm->instr = can2040_offset_tx_write_pin; // jmp tx_write_pin
@@ -287,7 +308,7 @@ pio_tx_inject_ack(struct can2040 *cd, uint32_t match_key)
     pio_tx_reset(cd);
     pio_hw->instr_mem[can2040_offset_tx_got_recessive] = 0xc023; // irq wait 3
     pio_hw->txf[3] = 0x7fffffff;
-    struct pio_sm_hw *sm = &pio_hw->sm[3];
+    pio_sm_hw_t *sm = &pio_hw->sm[3];
     sm->instr = 0xe001; // set pins, 1
     sm->instr = 0x6021; // out x, 1
     sm->instr = can2040_offset_tx_write_pin; // jmp tx_write_pin
@@ -382,6 +403,10 @@ pio_setup(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate)
 {
     // Configure pio0 clock
     uint32_t rb = cd->pio_num ? RESETS_RESET_PIO1_BITS : RESETS_RESET_PIO0_BITS;
+#if IS_RP2350
+    if (cd->pio_num == 2)
+        rb = RESETS_RESET_PIO2_BITS;
+#endif
     rp2040_clear_reset(rb);
 
     // Setup and sync pio state machine clocks
@@ -391,11 +416,16 @@ pio_setup(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate)
     for (i=0; i<4; i++)
         pio_hw->sm[i].clkdiv = div << PIO_SM0_CLKDIV_FRAC_LSB;
 
+    // Configure gpiobase (on rp2350)
+#if IS_RP2350
+    pio_hw->gpiobase = pio_gpiobase(cd);
+#endif
+
     // Configure state machines
     pio_sm_setup(cd);
 
     // Map Rx/Tx gpios
-    uint32_t pio_func = cd->pio_num ? 7 : 6;
+    uint32_t pio_func = 6 + cd->pio_num;
     rp2040_gpio_peripheral(cd->gpio_rx, pio_func, 1);
     rp2040_gpio_peripheral(cd->gpio_tx, pio_func, 0);
 }
@@ -495,7 +525,7 @@ unstuf_restore_state(struct can2040_bitunstuffer *bu, uint32_t data)
 
 // Pull bits from unstuffer (as specified in unstuf_set_count() )
 static int
-unstuf_pull_bits(struct can2040_bitunstuffer *bu)
+unstuf_pull_bits_rp2040(struct can2040_bitunstuffer *bu)
 {
     uint32_t sb = bu->stuffed_bits, edges = sb ^ (sb >> 1);
     uint32_t e2 = edges | (edges >> 1), e4 = e2 | (e2 >> 2), rm_bits = ~e4;
@@ -539,6 +569,49 @@ unstuf_pull_bits(struct can2040_bitunstuffer *bu)
     }
 }
 
+// Pull bits from unstuffer (optimized for rp2350)
+static int
+unstuf_pull_bits(struct can2040_bitunstuffer *bu)
+{
+    if (!IS_RP2350)
+        return unstuf_pull_bits_rp2040(bu);
+    uint32_t sb = bu->stuffed_bits, edges = sb ^ (sb >> 1);
+    uint32_t e2 = edges | (edges >> 1), e4 = e2 | (e2 >> 2), rm_bits = ~e4;
+    uint32_t cs = bu->count_stuff, cu = bu->count_unstuff;
+    for (;;) {
+        if (!cs)
+            // Need more data
+            return 1;
+        uint32_t try_cnt = cs > cu ? cu : cs;
+        uint32_t try_mask = ((1 << try_cnt) - 1) << (cs + 1 - try_cnt);
+        uint32_t rm_masked_bits = rm_bits & try_mask;
+        if (likely(!rm_masked_bits)) {
+            // No stuff bits in try_cnt bits - copy into unstuffed_bits
+            bu->count_unstuff = cu = cu - try_cnt;
+            bu->count_stuff = cs = cs - try_cnt;
+            bu->unstuffed_bits |= ((sb >> cs) & ((1 << try_cnt) - 1)) << cu;
+            if (! cu)
+                // Extracted desired bits
+                return 0;
+            // Need more data
+            return 1;
+        }
+        // Copy any leading bits prior to stuff bit (may be zero)
+        uint32_t copy_cnt = cs - (31 - __builtin_clz(rm_masked_bits));
+        cs -= copy_cnt;
+        bu->count_unstuff = cu = cu - copy_cnt;
+        bu->unstuffed_bits |= ((sb >> cs) & ((1 << copy_cnt) - 1)) << cu;
+        // High bit is now a stuff bit - remove it
+        bu->count_stuff = cs = cs - 1;
+        if (unlikely(rm_bits & (1 << cs))) {
+            // Six consecutive bits - a bitstuff error
+            if (sb & (1 << cs))
+                return -1;
+            return -2;
+        }
+    }
+}
+
 // Return most recent raw (still stuffed) bits
 static uint32_t
 unstuf_get_raw(struct can2040_bitunstuffer *bu)
@@ -553,7 +626,7 @@ unstuf_get_raw(struct can2040_bitunstuffer *bu)
 
 // Stuff 'num_bits' bits in '*pb' - upper bits must already be stuffed
 static uint32_t
-bitstuff(uint32_t *pb, uint32_t num_bits)
+bitstuff_rp2040(uint32_t *pb, uint32_t num_bits)
 {
     uint32_t b = *pb, count = num_bits;
     for (;;) {
@@ -590,6 +663,34 @@ done:
     return count;
 }
 
+// Stuff 'num_bits' bits in '*pb' (optimized for rp2350)
+static uint32_t
+bitstuff(uint32_t *pb, uint32_t num_bits)
+{
+    if (!IS_RP2350)
+        return bitstuff_rp2040(pb, num_bits);
+    uint32_t b = *pb, count = num_bits;
+    for (;;) {
+        uint32_t edges = b ^ (b >> 1);
+        uint32_t e2 = edges | (edges >> 1), e4 = e2 | (e2 >> 2), add_bits = ~e4;
+        uint32_t mask = (1 << num_bits) - 1, add_masked_bits = add_bits & mask;
+        if (!add_masked_bits)
+            // No more stuff bits needed
+            break;
+        // Insert a stuff bit
+        uint32_t stuff_pos = 1 + 31 - __builtin_clz(add_masked_bits);
+        uint32_t low_mask = (1 << stuff_pos) - 1, low = b & low_mask;
+        uint32_t high = (b & ~(low_mask >> 1)) << 1;
+        b = high ^ low ^ (1 << (stuff_pos - 1));
+        count += 1;
+        if (stuff_pos <= 4)
+            break;
+        num_bits = stuff_pos - 4;
+    }
+    *pb = b;
+    return count;
+}
+
 // State storage for building bit stuffed transmit messages
 struct bitstuffer_s {
     uint32_t prev_stuffed, bitpos, *buf;
@@ -1326,6 +1427,12 @@ can2040_setup(struct can2040 *cd, uint32_t pio_num)
     memset(cd, 0, sizeof(*cd));
     cd->pio_num = !!pio_num;
     cd->pio_hw = cd->pio_num ? pio1_hw : pio0_hw;
+#if IS_RP2350
+    if (pio_num == 2) {
+        cd->pio_num = pio_num;
+        cd->pio_hw = pio2_hw;
+    }
+#endif
 }
 
 // API function to configure callback

lib/cmsis-core/mpu_armv8.h

@@ -0,0 +1,352 @@
+/******************************************************************************
+ * @file     mpu_armv8.h
+ * @brief    CMSIS MPU API for Armv8-M and Armv8.1-M MPU
+ * @version  V5.1.2
+ * @date     10. February 2020
+ ******************************************************************************/
+/*
+ * Copyright (c) 2017-2020 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#if   defined ( __ICCARM__ )
+  #pragma system_include         /* treat file as system include file for MISRA check */
+#elif defined (__clang__)
+  #pragma clang system_header    /* treat file as system include file */
+#endif
+
+#ifndef ARM_MPU_ARMV8_H
+#define ARM_MPU_ARMV8_H
+
+/** \brief Attribute for device memory (outer only) */
+#define ARM_MPU_ATTR_DEVICE                           ( 0U )
+
+/** \brief Attribute for non-cacheable, normal memory */
+#define ARM_MPU_ATTR_NON_CACHEABLE                    ( 4U )
+
+/** \brief Attribute for normal memory (outer and inner)
+* \param NT Non-Transient: Set to 1 for non-transient data.
+* \param WB Write-Back: Set to 1 to use write-back update policy.
+* \param RA Read Allocation: Set to 1 to use cache allocation on read miss.
+* \param WA Write Allocation: Set to 1 to use cache allocation on write miss.
+*/
+#define ARM_MPU_ATTR_MEMORY_(NT, WB, RA, WA) \
+  ((((NT) & 1U) << 3U) | (((WB) & 1U) << 2U) | (((RA) & 1U) << 1U) | ((WA) & 1U))
+
+/** \brief Device memory type non Gathering, non Re-ordering, non Early Write Acknowledgement */
+#define ARM_MPU_ATTR_DEVICE_nGnRnE (0U)
+
+/** \brief Device memory type non Gathering, non Re-ordering, Early Write Acknowledgement */
+#define ARM_MPU_ATTR_DEVICE_nGnRE  (1U)
+
+/** \brief Device memory type non Gathering, Re-ordering, Early Write Acknowledgement */
+#define ARM_MPU_ATTR_DEVICE_nGRE   (2U)
+
+/** \brief Device memory type Gathering, Re-ordering, Early Write Acknowledgement */
+#define ARM_MPU_ATTR_DEVICE_GRE    (3U)
+
+/** \brief Memory Attribute
+* \param O Outer memory attributes
+* \param I O == ARM_MPU_ATTR_DEVICE: Device memory attributes, else: Inner memory attributes
+*/
+#define ARM_MPU_ATTR(O, I) ((((O) & 0xFU) << 4U) | ((((O) & 0xFU) != 0U) ? ((I) & 0xFU) : (((I) & 0x3U) << 2U)))
+
+/** \brief Normal memory non-shareable  */
+#define ARM_MPU_SH_NON   (0U)
+
+/** \brief Normal memory outer shareable  */
+#define ARM_MPU_SH_OUTER (2U)
+
+/** \brief Normal memory inner shareable  */
+#define ARM_MPU_SH_INNER (3U)
+
+/** \brief Memory access permissions
+* \param RO Read-Only: Set to 1 for read-only memory.
+* \param NP Non-Privileged: Set to 1 for non-privileged memory.
+*/
+#define ARM_MPU_AP_(RO, NP) ((((RO) & 1U) << 1U) | ((NP) & 1U))
+
+/** \brief Region Base Address Register value
+* \param BASE The base address bits [31:5] of a memory region. The value is zero extended. Effective address gets 32 byte aligned.
+* \param SH Defines the Shareability domain for this memory region.
+* \param RO Read-Only: Set to 1 for a read-only memory region.
+* \param NP Non-Privileged: Set to 1 for a non-privileged memory region.
+* \oaram XN eXecute Never: Set to 1 for a non-executable memory region.
+*/
+#define ARM_MPU_RBAR(BASE, SH, RO, NP, XN) \
+  (((BASE) & MPU_RBAR_BASE_Msk) | \
+  (((SH) << MPU_RBAR_SH_Pos) & MPU_RBAR_SH_Msk) | \
+  ((ARM_MPU_AP_(RO, NP) << MPU_RBAR_AP_Pos) & MPU_RBAR_AP_Msk) | \
+  (((XN) << MPU_RBAR_XN_Pos) & MPU_RBAR_XN_Msk))
+
+/** \brief Region Limit Address Register value
+* \param LIMIT The limit address bits [31:5] for this memory region. The value is one extended.
+* \param IDX The attribute index to be associated with this memory region.
+*/
+#define ARM_MPU_RLAR(LIMIT, IDX) \
+  (((LIMIT) & MPU_RLAR_LIMIT_Msk) | \
+  (((IDX) << MPU_RLAR_AttrIndx_Pos) & MPU_RLAR_AttrIndx_Msk) | \
+  (MPU_RLAR_EN_Msk))
+
+#if defined(MPU_RLAR_PXN_Pos)
+  
+/** \brief Region Limit Address Register with PXN value
+* \param LIMIT The limit address bits [31:5] for this memory region. The value is one extended.
+* \param PXN Privileged execute never. Defines whether code can be executed from this privileged region.
+* \param IDX The attribute index to be associated with this memory region.
+*/
+#define ARM_MPU_RLAR_PXN(LIMIT, PXN, IDX) \
+  (((LIMIT) & MPU_RLAR_LIMIT_Msk) | \
+  (((PXN) << MPU_RLAR_PXN_Pos) & MPU_RLAR_PXN_Msk) | \
+  (((IDX) << MPU_RLAR_AttrIndx_Pos) & MPU_RLAR_AttrIndx_Msk) | \
+  (MPU_RLAR_EN_Msk))
+  
+#endif
+
+/**
+* Struct for a single MPU Region
+*/
+typedef struct {
+  uint32_t RBAR;                   /*!< Region Base Address Register value */
+  uint32_t RLAR;                   /*!< Region Limit Address Register value */
+} ARM_MPU_Region_t;
+    
+/** Enable the MPU.
+* \param MPU_Control Default access permissions for unconfigured regions.
+*/
+__STATIC_INLINE void ARM_MPU_Enable(uint32_t MPU_Control)
+{
+  __DMB();
+  MPU->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk;
+#ifdef SCB_SHCSR_MEMFAULTENA_Msk
+  SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk;
+#endif
+  __DSB();
+  __ISB();
+}
+
+/** Disable the MPU.
+*/
+__STATIC_INLINE void ARM_MPU_Disable(void)
+{
+  __DMB();
+#ifdef SCB_SHCSR_MEMFAULTENA_Msk
+  SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk;
+#endif
+  MPU->CTRL  &= ~MPU_CTRL_ENABLE_Msk;
+  __DSB();
+  __ISB();
+}
+
+#ifdef MPU_NS
+/** Enable the Non-secure MPU.
+* \param MPU_Control Default access permissions for unconfigured regions.
+*/
+__STATIC_INLINE void ARM_MPU_Enable_NS(uint32_t MPU_Control)
+{
+  __DMB();
+  MPU_NS->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk;
+#ifdef SCB_SHCSR_MEMFAULTENA_Msk
+  SCB_NS->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk;
+#endif
+  __DSB();
+  __ISB();
+}
+
+/** Disable the Non-secure MPU.
+*/
+__STATIC_INLINE void ARM_MPU_Disable_NS(void)
+{
+  __DMB();
+#ifdef SCB_SHCSR_MEMFAULTENA_Msk
+  SCB_NS->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk;
+#endif
+  MPU_NS->CTRL  &= ~MPU_CTRL_ENABLE_Msk;
+  __DSB();
+  __ISB();
+}
+#endif
+
+/** Set the memory attribute encoding to the given MPU.
+* \param mpu Pointer to the MPU to be configured.
+* \param idx The attribute index to be set [0-7]
+* \param attr The attribute value to be set.
+*/
+__STATIC_INLINE void ARM_MPU_SetMemAttrEx(MPU_Type* mpu, uint8_t idx, uint8_t attr)
+{
+  const uint8_t reg = idx / 4U;
+  const uint32_t pos = ((idx % 4U) * 8U);
+  const uint32_t mask = 0xFFU << pos;
+  
+  if (reg >= (sizeof(mpu->MAIR) / sizeof(mpu->MAIR[0]))) {
+    return; // invalid index
+  }
+  
+  mpu->MAIR[reg] = ((mpu->MAIR[reg] & ~mask) | ((attr << pos) & mask));
+}
+
+/** Set the memory attribute encoding.
+* \param idx The attribute index to be set [0-7]
+* \param attr The attribute value to be set.
+*/
+__STATIC_INLINE void ARM_MPU_SetMemAttr(uint8_t idx, uint8_t attr)
+{
+  ARM_MPU_SetMemAttrEx(MPU, idx, attr);
+}
+
+#ifdef MPU_NS
+/** Set the memory attribute encoding to the Non-secure MPU.
+* \param idx The attribute index to be set [0-7]
+* \param attr The attribute value to be set.
+*/
+__STATIC_INLINE void ARM_MPU_SetMemAttr_NS(uint8_t idx, uint8_t attr)
+{
+  ARM_MPU_SetMemAttrEx(MPU_NS, idx, attr);
+}
+#endif
+
+/** Clear and disable the given MPU region of the given MPU.
+* \param mpu Pointer to MPU to be used.
+* \param rnr Region number to be cleared.
+*/
+__STATIC_INLINE void ARM_MPU_ClrRegionEx(MPU_Type* mpu, uint32_t rnr)
+{
+  mpu->RNR = rnr;
+  mpu->RLAR = 0U;
+}
+
+/** Clear and disable the given MPU region.
+* \param rnr Region number to be cleared.
+*/
+__STATIC_INLINE void ARM_MPU_ClrRegion(uint32_t rnr)
+{
+  ARM_MPU_ClrRegionEx(MPU, rnr);
+}
+
+#ifdef MPU_NS
+/** Clear and disable the given Non-secure MPU region.
+* \param rnr Region number to be cleared.
+*/
+__STATIC_INLINE void ARM_MPU_ClrRegion_NS(uint32_t rnr)
+{  
+  ARM_MPU_ClrRegionEx(MPU_NS, rnr);
+}
+#endif
+
+/** Configure the given MPU region of the given MPU.
+* \param mpu Pointer to MPU to be used.
+* \param rnr Region number to be configured.
+* \param rbar Value for RBAR register.
+* \param rlar Value for RLAR register.
+*/   
+__STATIC_INLINE void ARM_MPU_SetRegionEx(MPU_Type* mpu, uint32_t rnr, uint32_t rbar, uint32_t rlar)
+{
+  mpu->RNR = rnr;
+  mpu->RBAR = rbar;
+  mpu->RLAR = rlar;
+}
+
+/** Configure the given MPU region.
+* \param rnr Region number to be configured.
+* \param rbar Value for RBAR register.
+* \param rlar Value for RLAR register.
+*/   
+__STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rnr, uint32_t rbar, uint32_t rlar)
+{
+  ARM_MPU_SetRegionEx(MPU, rnr, rbar, rlar);
+}
+
+#ifdef MPU_NS
+/** Configure the given Non-secure MPU region.
+* \param rnr Region number to be configured.
+* \param rbar Value for RBAR register.
+* \param rlar Value for RLAR register.
+*/   
+__STATIC_INLINE void ARM_MPU_SetRegion_NS(uint32_t rnr, uint32_t rbar, uint32_t rlar)
+{
+  ARM_MPU_SetRegionEx(MPU_NS, rnr, rbar, rlar);  
+}
+#endif
+
+/** Memcopy with strictly ordered memory access, e.g. for register targets.
+* \param dst Destination data is copied to.
+* \param src Source data is copied from.
+* \param len Amount of data words to be copied.
+*/
+__STATIC_INLINE void ARM_MPU_OrderedMemcpy(volatile uint32_t* dst, const uint32_t* __RESTRICT src, uint32_t len)
+{
+  uint32_t i;
+  for (i = 0U; i < len; ++i) 
+  {
+    dst[i] = src[i];
+  }
+}
+
+/** Load the given number of MPU regions from a table to the given MPU.
+* \param mpu Pointer to the MPU registers to be used.
+* \param rnr First region number to be configured.
+* \param table Pointer to the MPU configuration table.
+* \param cnt Amount of regions to be configured.
+*/
+__STATIC_INLINE void ARM_MPU_LoadEx(MPU_Type* mpu, uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) 
+{
+  const uint32_t rowWordSize = sizeof(ARM_MPU_Region_t)/4U;
+  if (cnt == 1U) {
+    mpu->RNR = rnr;
+    ARM_MPU_OrderedMemcpy(&(mpu->RBAR), &(table->RBAR), rowWordSize);
+  } else {
+    uint32_t rnrBase   = rnr & ~(MPU_TYPE_RALIASES-1U);
+    uint32_t rnrOffset = rnr % MPU_TYPE_RALIASES;
+    
+    mpu->RNR = rnrBase;
+    while ((rnrOffset + cnt) > MPU_TYPE_RALIASES) {
+      uint32_t c = MPU_TYPE_RALIASES - rnrOffset;
+      ARM_MPU_OrderedMemcpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), c*rowWordSize);
+      table += c;
+      cnt -= c;
+      rnrOffset = 0U;
+      rnrBase += MPU_TYPE_RALIASES;
+      mpu->RNR = rnrBase;
+    }
+    
+    ARM_MPU_OrderedMemcpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), cnt*rowWordSize);
+  }
+}
+
+/** Load the given number of MPU regions from a table.
+* \param rnr First region number to be configured.
+* \param table Pointer to the MPU configuration table.
+* \param cnt Amount of regions to be configured.
+*/
+__STATIC_INLINE void ARM_MPU_Load(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) 
+{
+  ARM_MPU_LoadEx(MPU, rnr, table, cnt);
+}
+
+#ifdef MPU_NS
+/** Load the given number of MPU regions from a table to the Non-secure MPU.
+* \param rnr First region number to be configured.
+* \param table Pointer to the MPU configuration table.
+* \param cnt Amount of regions to be configured.
+*/
+__STATIC_INLINE void ARM_MPU_Load_NS(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) 
+{
+  ARM_MPU_LoadEx(MPU_NS, rnr, table, cnt);
+}
+#endif
+
+#endif
+

lib/pico-sdk/boot/picoboot.h

@@ -16,18 +16,20 @@
 #endif
 
 /** \file picoboot.h
-*  \defgroup boot_picoboot boot_picoboot
+*  \defgroup boot_picoboot_headers boot_picoboot_headers
 *
-* Header file for the PICOBOOT USB interface exposed by an RP2040 in BOOTSEL mode.
+* \brief Header file for the PICOBOOT USB interface exposed by an RP2xxx chip in BOOTSEL mode
 */
 
+#include "picoboot_constants.h"
+
 #define PICOBOOT_MAGIC 0x431fd10bu
 
 // --------------------------------------------
 // CONTROL REQUESTS FOR THE PICOBOOT INTERFACE
 // --------------------------------------------
 
-// size 0 OUT - unstall EPs and reset
+// size 0 OUT - un-stall EPs and reset
 #define PICOBOOT_IF_RESET 0x41
 
 // size 16 IN - return the status of the last command
@@ -47,11 +49,17 @@ enum picoboot_cmd_id {
     PC_REBOOT = 0x2,
     PC_FLASH_ERASE = 0x3,
     PC_READ = 0x84, // either RAM or FLASH
-    PC_WRITE = 5, // either RAM or FLASH (does no erase)
+    PC_WRITE = 0x5, // either RAM or FLASH (does no erase)
     PC_EXIT_XIP = 0x6,
     PC_ENTER_CMD_XIP = 0x7,
     PC_EXEC = 0x8,
-    PC_VECTORIZE_FLASH = 0x9
+    PC_VECTORIZE_FLASH = 0x9,
+    // RP2350 only below here
+    PC_REBOOT2 = 0xa,
+    PC_GET_INFO = 0x8b,
+    PC_OTP_READ = 0x8c,
+    PC_OTP_WRITE = 0xd,
+    //PC_EXEC2 = 0xe, // currently unused
 };
 
 enum picoboot_status {
@@ -64,14 +72,32 @@ enum picoboot_status {
     PICOBOOT_INTERLEAVED_WRITE = 6,
     PICOBOOT_REBOOTING = 7,
     PICOBOOT_UNKNOWN_ERROR = 8,
+    PICOBOOT_INVALID_STATE = 9,
+    PICOBOOT_NOT_PERMITTED = 10,
+    PICOBOOT_INVALID_ARG = 11,
+    PICOBOOT_BUFFER_TOO_SMALL = 12,
+    PICOBOOT_PRECONDITION_NOT_MET = 13,
+    PICOBOOT_MODIFIED_DATA = 14,
+    PICOBOOT_INVALID_DATA = 15,
+    PICOBOOT_NOT_FOUND = 16,
+    PICOBOOT_UNSUPPORTED_MODIFICATION = 17,
 };
 
 struct __packed picoboot_reboot_cmd {
-    uint32_t dPC; // 0 means reset into bootrom
+    uint32_t dPC; // 0 means reset into regular boot path
     uint32_t dSP;
     uint32_t dDelayMS;
 };
 
+
+// note this (with pc_sp) union member has the same layout as picoboot_reboot_cmd except with extra dFlags
+struct __packed picoboot_reboot2_cmd {
+    uint32_t dFlags;
+    uint32_t dDelayMS;
+    uint32_t dParam0;
+    uint32_t dParam1;
+};
+
 // used for EXEC, VECTORIZE_FLASH
 struct __packed picoboot_address_only_cmd {
     uint32_t dAddr;
@@ -83,6 +109,13 @@ struct __packed picoboot_range_cmd {
     uint32_t dSize;
 };
 
+struct __packed picoboot_exec2_cmd {
+    uint32_t image_base;
+    uint32_t image_size;
+    uint32_t workarea_base;
+    uint32_t workarea_size;
+};
+
 enum picoboot_exclusive_type {
     NOT_EXCLUSIVE = 0,
     EXCLUSIVE,
@@ -93,6 +126,20 @@ struct __packed picoboot_exclusive_cmd {
     uint8_t bExclusive;
 };
 
+struct __packed picoboot_otp_cmd {
+    uint16_t wRow; // OTP row
+    uint16_t wRowCount; // number of rows to transfer
+    uint8_t bEcc; // use error correction (16 bit per register vs 24 (stored as 32) bit raw)
+};
+
+
+struct __packed picoboot_get_info_cmd {
+    uint8_t bType;
+    uint8_t bParam;
+    uint16_t wParam;
+    uint32_t dParams[3];
+};
+
 // little endian
 struct __packed __aligned(4) picoboot_cmd {
     uint32_t dMagic;
@@ -107,9 +154,12 @@ struct __packed __aligned(4) picoboot_cmd {
         struct picoboot_range_cmd range_cmd;
         struct picoboot_address_only_cmd address_only_cmd;
         struct picoboot_exclusive_cmd exclusive_cmd;
+        struct picoboot_reboot2_cmd reboot2_cmd;
+        struct picoboot_otp_cmd otp_cmd;
+        struct picoboot_get_info_cmd get_info_cmd;
+        struct picoboot_exec2_cmd exec2_cmd;
     };
 };
-
 static_assert(32 == sizeof(struct picoboot_cmd), "picoboot_cmd must be 32 bytes big");
 
 struct __packed __aligned(4) picoboot_cmd_status {
@@ -121,4 +171,5 @@ struct __packed __aligned(4) picoboot_cmd_status {
 };
 
 static_assert(16 == sizeof(struct picoboot_cmd_status), "picoboot_cmd_status must be 16 bytes big");
+
 #endif

lib/pico-sdk/boot/picoboot_constants.h

@@ -0,0 +1,42 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef _BOOT_PICOBOOT_CONSTANTS_H
+#define _BOOT_PICOBOOT_CONSTANTS_H
+
+#define REBOOT2_TYPE_MASK  0x0f
+
+// note these match REBOOT_TYPE in pico/bootrom_constants.h (also 0 is used for PC_SP for backwards compatibility with RP2040)
+// values 0-7 are secure/non-secure
+#define REBOOT2_FLAG_REBOOT_TYPE_NORMAL       0x0 // param0 = diagnostic partition
+#define REBOOT2_FLAG_REBOOT_TYPE_BOOTSEL      0x2 // param0 = bootsel_flags, param1 = gpio_config
+#define REBOOT2_FLAG_REBOOT_TYPE_RAM_IMAGE    0x3 // param0 = image_base, param1 = image_end
+#define REBOOT2_FLAG_REBOOT_TYPE_FLASH_UPDATE 0x4 // param0 = update_base
+
+// values 8-15 are secure only
+#define REBOOT2_FLAG_REBOOT_TYPE_PC_SP        0xd
+
+#define REBOOT2_FLAG_REBOOT_TO_ARM            0x10
+#define REBOOT2_FLAG_REBOOT_TO_RISCV          0x20
+
+#define REBOOT2_FLAG_NO_RETURN_ON_SUCCESS    0x100
+
+#define BOOTSEL_FLAG_DISABLE_MSD_INTERFACE      0x01
+#define BOOTSEL_FLAG_DISABLE_PICOBOOT_INTERFACE 0x02
+#define BOOTSEL_FLAG_GPIO_PIN_ACTIVE_LOW        0x10
+#define BOOTSEL_FLAG_GPIO_PIN_SPECIFIED         0x20
+
+#define PICOBOOT_GET_INFO_SYS              1
+#define PICOBOOT_GET_INFO_PARTTION_TABLE   2
+#define PICOBOOT_GET_INFO_UF2_TARGET_PARTITION 3
+#define PICOBOOT_GET_INFO_UF2_STATUS       4
+
+#define UF2_STATUS_IGNORED_FAMILY             0x01
+#define UF2_STATUS_ABORT_EXCLUSIVELY_LOCKED   0x10
+#define UF2_STATUS_ABORT_BAD_ADDRESS          0x20
+#define UF2_STATUS_ABORT_WRITE_ERROR          0x40
+#define UF2_STATUS_ABORT_REBOOT_FAILED        0x80
+#endif

lib/pico-sdk/boot/uf2.h

@@ -11,9 +11,9 @@
 #include <assert.h>
 
 /** \file uf2.h
-*  \defgroup boot_uf2 boot_uf2
+*  \defgroup boot_uf2_headers boot_uf2_headers
 *
-* Header file for the UF2 format supported by an RP2040 in BOOTSEL mode.
+* \brief Header file for the UF2 format supported by a RP2xxx chip in BOOTSEL mode
 */
 
 #define UF2_MAGIC_START0 0x0A324655u
@@ -25,7 +25,14 @@
 #define UF2_FLAG_FAMILY_ID_PRESENT  0x00002000u
 #define UF2_FLAG_MD5_PRESENT        0x00004000u
 
-#define RP2040_FAMILY_ID 0xe48bff56
+#define RP2040_FAMILY_ID            0xe48bff56u
+#define ABSOLUTE_FAMILY_ID          0xe48bff57u
+#define DATA_FAMILY_ID              0xe48bff58u
+#define RP2350_ARM_S_FAMILY_ID      0xe48bff59u
+#define RP2350_RISCV_FAMILY_ID      0xe48bff5au
+#define RP2350_ARM_NS_FAMILY_ID     0xe48bff5bu
+#define FAMILY_ID_MAX               0xe48bff5bu
+
 
 struct uf2_block {
     // 32 byte header

lib/pico-sdk/hardware/address_mapped.h

@@ -10,12 +10,13 @@
 //#include "pico.h"
 #define __force_inline inline
 #define static_assert(a,b)
+#define valid_params_if(a,b)
 #include "hardware/regs/addressmap.h"
 
 /** \file address_mapped.h
  *  \defgroup hardware_base hardware_base
  *
- *  Low-level types and (atomic) accessors for memory-mapped hardware registers
+ *  \brief Low-level types and (atomic) accessors for memory-mapped hardware registers
  *
  *  `hardware_base` defines the low level types and access functions for memory mapped hardware registers. It is included
  *  by default by all other hardware libraries.
@@ -36,7 +37,7 @@
  *  When dealing with these types, you will always use a pointer, i.e. `io_rw_32 *some_reg` is a pointer to a read/write
  *  32 bit register that you can write with `*some_reg = value`, or read with `value = *some_reg`.
  *
- *  RP2040 hardware is also aliased to provide atomic setting, clear or flipping of a subset of the bits within
+ *  RP-series hardware is also aliased to provide atomic setting, clear or flipping of a subset of the bits within
  *  a hardware register so that concurrent access by two cores is always consistent with one atomic operation
  *  being performed first, followed by the second.
  *
@@ -57,6 +58,14 @@ extern "C" {
 #define check_hw_layout(type, member, offset) static_assert(offsetof(type, member) == (offset), "hw offset mismatch")
 #define check_hw_size(type, size) static_assert(sizeof(type) == (size), "hw size mismatch")
 
+// PICO_CONFIG: PARAM_ASSERTIONS_ENABLED_ADDRESS_ALIAS, Enable/disable assertions in memory address aliasing macros, type=bool, default=0, group=hardware_base
+#ifndef PARAM_ASSERTIONS_ENABLED_ADDRESS_ALIAS
+#define PARAM_ASSERTIONS_ENABLED_ADDRESS_ALIAS 0
+#endif
+
+typedef volatile uint64_t io_rw_64;
+typedef const volatile uint64_t io_ro_64;
+typedef volatile uint64_t io_wo_64;
 typedef volatile uint32_t io_rw_32;
 typedef const volatile uint32_t io_ro_32;
 typedef volatile uint32_t io_wo_32;
@@ -70,15 +79,55 @@ typedef volatile uint8_t io_wo_8;
 typedef volatile uint8_t *const ioptr;
 typedef ioptr const const_ioptr;
 
+// A non-functional (empty) helper macro to help IDEs follow links from the autogenerated
+// hardware struct headers in hardware/structs/xxx.h to the raw register definitions
+// in hardware/regs/xxx.h. A preprocessor define such as TIMER_TIMEHW_OFFSET (a timer register offset)
+// is not generally clickable (in an IDE) if placed in a C comment, so _REG_(TIMER_TIMEHW_OFFSET) is
+// included outside of a comment instead
+#define _REG_(x)
+
+// Helper method used by hw_alias macros to optionally check input validity
+#define hw_alias_check_addr(addr) ((uintptr_t)(addr))
+// can't use the following impl as it breaks existing static declarations using hw_alias, so would be a backwards incompatibility
+//static __force_inline uint32_t hw_alias_check_addr(volatile void *addr) {
+//    uint32_t rc = (uintptr_t)addr;
+//    invalid_params_if(ADDRESS_ALIAS, rc < 0x40000000); // catch likely non HW pointer types
+//    return rc;
+//}
+
+#if PICO_RP2040
+// Helper method used by xip_alias macros to optionally check input validity
+__force_inline static uint32_t xip_alias_check_addr(const void *addr) {
+    uint32_t rc = (uintptr_t)addr;
+    valid_params_if(ADDRESS_ALIAS, rc >= XIP_MAIN_BASE && rc < XIP_NOALLOC_BASE);
+    return rc;
+}
+#else
+//static __force_inline uint32_t xip_alias_check_addr(const void *addr) {
+//    uint32_t rc = (uintptr_t)addr;
+//    valid_params_if(ADDRESS_ALIAS, rc >= XIP_BASE && rc < XIP_END);
+//    return rc;
+//}
+#endif
+
 // Untyped conversion alias pointer generation macros
-#define hw_set_alias_untyped(addr) ((void *)(REG_ALIAS_SET_BITS | (uintptr_t)(addr)))
+#define hw_set_alias_untyped(addr) ((void *)(REG_ALIAS_SET_BITS + hw_alias_check_addr(addr)))
-#define hw_clear_alias_untyped(addr) ((void *)(REG_ALIAS_CLR_BITS | (uintptr_t)(addr)))
+#define hw_clear_alias_untyped(addr) ((void *)(REG_ALIAS_CLR_BITS + hw_alias_check_addr(addr)))
-#define hw_xor_alias_untyped(addr) ((void *)(REG_ALIAS_XOR_BITS | (uintptr_t)(addr)))
+#define hw_xor_alias_untyped(addr) ((void *)(REG_ALIAS_XOR_BITS + hw_alias_check_addr(addr)))
+
+#if PICO_RP2040
+#define xip_noalloc_alias_untyped(addr) ((void *)(XIP_NOALLOC_BASE | xip_alias_check_addr(addr)))
+#define xip_nocache_alias_untyped(addr) ((void *)(XIP_NOCACHE_BASE | xip_alias_check_addr(addr)))
+#define xip_nocache_noalloc_alias_untyped(addr) ((void *)(XIP_NOCACHE_NOALLOC_BASE | xip_alias_check_addr(addr)))
+#endif
 
 // Typed conversion alias pointer generation macros
 #define hw_set_alias(p) ((typeof(p))hw_set_alias_untyped(p))
 #define hw_clear_alias(p) ((typeof(p))hw_clear_alias_untyped(p))
 #define hw_xor_alias(p) ((typeof(p))hw_xor_alias_untyped(p))
+#define xip_noalloc_alias(p) ((typeof(p))xip_noalloc_alias_untyped(p))
+#define xip_nocache_alias(p) ((typeof(p))xip_nocache_alias_untyped(p))
+#define xip_nocache_noalloc_alias(p) ((typeof(p))xip_nocache_noalloc_alias_untyped(p))
 
 /*! \brief Atomically set the specified bits to 1 in a HW register
  *  \ingroup hardware_base
@@ -126,6 +175,11 @@ __force_inline static void hw_write_masked(io_rw_32 *addr, uint32_t values, uint
     hw_xor_bits(addr, (*addr ^ values) & write_mask);
 }
 
+#if !PICO_RP2040
+// include this here to avoid the check in every other hardware/structs header that needs it
+#include "hardware/structs/accessctrl.h"
+#endif
+
 #ifdef __cplusplus
 }
 #endif

lib/pico-sdk/hardware/platform_defs.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef _HARDWARE_PLATFORM_DEFS_H
+#define _HARDWARE_PLATFORM_DEFS_H
+
+#define NUM_CORES 2u
+
+#define NUM_DMA_CHANNELS 12u
+
+#define NUM_GENERIC_TIMERS 1u
+#define NUM_ALARMS 4u
+
+#define NUM_IRQS 32u
+
+#define NUM_SPIN_LOCKS 32u
+
+#define XOSC_HZ 12000000u
+
+#define NUM_SPIN_LOCKS 32u
+
+#define NUM_BANK0_GPIOS 30
+
+#ifndef _u
+#define _u(x) x ## u
+#endif
+
+#endif

lib/pico-sdk/pico-sdk.patch

@@ -0,0 +1,69 @@
+diff --git a/lib/pico-sdk/hardware/address_mapped.h b/lib/pico-sdk/hardware/address_mapped.h
+index b384f5572..635a275b5 100644
+--- a/lib/pico-sdk/hardware/address_mapped.h
++++ b/lib/pico-sdk/hardware/address_mapped.h
+@@ -7,7 +7,10 @@
+ #ifndef _HARDWARE_ADDRESS_MAPPED_H
+ #define _HARDWARE_ADDRESS_MAPPED_H
+ 
+-#include "pico.h"
++//#include "pico.h"
++#define __force_inline inline
++#define static_assert(a,b)
++#define valid_params_if(a,b)
+ #include "hardware/regs/addressmap.h"
+ 
+ /** \file address_mapped.h
+diff --git a/lib/pico-sdk/rp2040/cmsis_include/RP2040.h b/lib/pico-sdk/rp2040/cmsis_include/RP2040.h
+index 8da431fae..be661392c 100644
+--- a/lib/pico-sdk/rp2040/cmsis_include/RP2040.h
++++ b/lib/pico-sdk/rp2040/cmsis_include/RP2040.h
+@@ -2572,6 +2572,7 @@ typedef struct {                                /*!< RTC Structure
+   * @{
+   */
+ 
++#if 0
+ #define RESETS_BASE                 0x4000C000UL
+ #define PSM_BASE                    0x40010000UL
+ #define CLOCKS_BASE                 0x40008000UL
+@@ -2608,6 +2609,7 @@ typedef struct {                                /*!< RTC Structure
+ #define TBMAN_BASE                  0x4006C000UL
+ #define VREG_AND_CHIP_RESET_BASE    0x40064000UL
+ #define RTC_BASE                    0x4005C000UL
++#endif
+ 
+ /** @} */ /* End of group Device_Peripheral_peripheralAddr */
+ 
+diff --git a/lib/pico-sdk/rp2040/pico/asm_helper.S b/lib/pico-sdk/rp2040/pico/asm_helper.S
+index aff1fc9ae..59c67db19 100644
+--- a/lib/pico-sdk/rp2040/pico/asm_helper.S
++++ b/lib/pico-sdk/rp2040/pico/asm_helper.S
+@@ -4,7 +4,7 @@
+  * SPDX-License-Identifier: BSD-3-Clause
+  */
+ 
+-#include "pico.h"
++//#include "pico.h"
+ 
+ # note we don't do this by default in this file for backwards comaptibility with user code
+ # that may include this file, but not use unified syntax. Note that this macro does equivalent
+diff --git a/lib/pico-sdk/rp2350/cmsis_include/RP2350.h b/lib/pico-sdk/rp2350/cmsis_include/RP2350.h
+index 8ae014e04..94d0f178c 100644
+--- a/lib/pico-sdk/rp2350/cmsis_include/RP2350.h
++++ b/lib/pico-sdk/rp2350/cmsis_include/RP2350.h
+@@ -5933,6 +5933,7 @@ typedef struct {                                /*!< USB_DPRAM Structure
+   * @{
+   */
+ 
++#if 0
+ #define RESETS_BASE                 0x40020000UL
+ #define PSM_BASE                    0x40018000UL
+ #define CLOCKS_BASE                 0x40010000UL
+@@ -5986,6 +5987,7 @@ typedef struct {                                /*!< USB_DPRAM Structure
+ #define OTP_DATA_RAW_BASE           0x40134000UL
+ #define TBMAN_BASE                  0x40160000UL
+ #define USB_DPRAM_BASE              0x50100000UL
++#endif
+ 
+ /** @} */ /* End of group Device_Peripheral_peripheralAddr */
+ 

lib/pico-sdk/pico/bootrom_constants.h

@@ -0,0 +1,342 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef _PICO_BOOTROM_CONSTANTS_H
+#define _PICO_BOOTROM_CONSTANTS_H
+
+#ifndef NO_PICO_PLATFORM
+#include "pico/platform.h"
+#endif
+
+// ROOT ADDRESSES
+#define BOOTROM_MAGIC_OFFSET 0x10
+#define BOOTROM_FUNC_TABLE_OFFSET 0x14
+#if PICO_RP2040
+#define BOOTROM_DATA_TABLE_OFFSET 0x16
+#endif
+
+#if PICO_RP2040
+#define BOOTROM_VTABLE_OFFSET           0x00
+#define BOOTROM_TABLE_LOOKUP_OFFSET     0x18
+#else
+// todo remove this (or #ifdef it for A1/A2)
+#define BOOTROM_IS_A2() ((*(volatile uint8_t *)0x13) == 2)
+#define BOOTROM_WELL_KNOWN_PTR_SIZE (BOOTROM_IS_A2() ? 2 : 4)
+#if defined(__riscv)
+#define BOOTROM_ENTRY_OFFSET            0x7dfc
+#define BOOTROM_TABLE_LOOKUP_ENTRY_OFFSET (BOOTROM_ENTRY_OFFSET - BOOTROM_WELL_KNOWN_PTR_SIZE)
+#define BOOTROM_TABLE_LOOKUP_OFFSET     (BOOTROM_ENTRY_OFFSET - BOOTROM_WELL_KNOWN_PTR_SIZE*2)
+#else
+#define BOOTROM_VTABLE_OFFSET 0x00
+#define BOOTROM_TABLE_LOOKUP_OFFSET     (BOOTROM_FUNC_TABLE_OFFSET + BOOTROM_WELL_KNOWN_PTR_SIZE)
+#endif
+#endif
+
+#if !PICO_RP2040 || PICO_COMBINED_DOCS
+
+#define BOOTROM_OK 0
+//#define BOOTROM_ERROR_TIMEOUT (-1)
+//#define BOOTROM_ERROR_GENERIC (-2)
+//#define BOOTROM_ERROR_NO_DATA (-3)                   // E.g. read from an empty buffer/FIFO
+#define BOOTROM_ERROR_NOT_PERMITTED (-4)             // Permission violation e.g. write to read-only flash partition
+#define BOOTROM_ERROR_INVALID_ARG (-5)               // Argument is outside of range of supported values`
+//#define BOOTROM_ERROR_IO (-6)
+//#define BOOTROM_ERROR_BADAUTH (-7)
+//#define BOOTROM_ERROR_CONNECT_FAILED (-8)
+//#define BOOTROM_ERROR_INSUFFICIENT_RESOURCES (-9)  // Dynamic allocation of resources failed
+#define BOOTROM_ERROR_INVALID_ADDRESS (-10)          // Address argument was out-of-bounds or was determined to be an address that the caller may not access
+#define BOOTROM_ERROR_BAD_ALIGNMENT (-11)            // Address modulo transfer chunk size was nonzero (e.g. word-aligned transfer with address % 4 != 0)
+#define BOOTROM_ERROR_INVALID_STATE (-12)            // Something happened or failed to happen in the past, and consequently we (currently) can't service the request
+#define BOOTROM_ERROR_BUFFER_TOO_SMALL (-13)         // A user-allocated buffer was too small to hold the result or working state of this function
+#define BOOTROM_ERROR_PRECONDITION_NOT_MET (-14)     // This call failed because another ROM function must be called first
+#define BOOTROM_ERROR_MODIFIED_DATA (-15)            // Cached data was determined to be inconsistent with the full version of the data it was calculated from
+#define BOOTROM_ERROR_INVALID_DATA (-16)             // A data structure failed to validate
+#define BOOTROM_ERROR_NOT_FOUND (-17)                // Attempted to access something that does not exist; or, a search failed
+#define BOOTROM_ERROR_UNSUPPORTED_MODIFICATION (-18) // Write is impossible based on previous writes; e.g. attempted to clear an OTP bit
+#define BOOTROM_ERROR_LOCK_REQUIRED (-19)            // A required lock is not owned
+#define BOOTROM_ERROR_LAST (-19)
+
+#define RT_FLAG_FUNC_RISCV      0x0001
+#define RT_FLAG_FUNC_RISCV_FAR  0x0003
+#define RT_FLAG_FUNC_ARM_SEC    0x0004
+// reserved for 32-bit pointer: 0x0008
+#define RT_FLAG_FUNC_ARM_NONSEC 0x0010
+// reserved for 32-bit pointer: 0x0020
+#define RT_FLAG_DATA            0x0040
+// reserved for 32-bit pointer: 0x0080
+
+#define PARTITION_TABLE_MAX_PARTITIONS    16
+// note this is deliberately > MAX_PARTITIONs is likely to be, and also -1 as a signed byte
+#define PARTITION_TABLE_NO_PARTITION_INDEX 0xff
+
+// todo these are duplicated in picoboot_constants.h
+// values 0-7 are secure/non-secure
+#define BOOT_TYPE_NORMAL     0
+#define BOOT_TYPE_BOOTSEL    2
+#define BOOT_TYPE_RAM_IMAGE  3
+#define BOOT_TYPE_FLASH_UPDATE 4
+
+// values 8-15 are secure only
+#define BOOT_TYPE_PC_SP      0xd
+
+// ORed in if a bootloader chained into the image
+#define BOOT_TYPE_CHAINED_FLAG 0x80
+
+// call from NS to S
+#ifndef __riscv
+#define BOOTROM_API_CALLBACK_secure_call 0
+#endif
+#define BOOTROM_API_CALLBACK_COUNT 1
+
+#define BOOTROM_LOCK_SHA_256   0
+#define BOOTROM_LOCK_FLASH_OP  1
+#define BOOTROM_LOCK_OTP       2
+#define BOOTROM_LOCK_MAX       2
+
+#define BOOTROM_LOCK_ENABLE    7
+
+#define BOOT_PARTITION_NONE (-1)
+#define BOOT_PARTITION_SLOT0 (-2)
+#define BOOT_PARTITION_SLOT1 (-3)
+#define BOOT_PARTITION_WINDOW (-4)
+
+#define BOOT_DIAGNOSTIC_WINDOW_SEARCHED                           0x01
+// note if both BOOT_DIAGNOSTIC_INVALID_BLOCK_LOOP and BOOT_DIAGNOSTIC_VALID_BLOCK_LOOP then the block loop was valid
+// but it has a PARTITION_TABLE which while it passed the initial verification (and hash/sig) had invalid contents
+// (discovered when it was later loaded)
+#define BOOT_DIAGNOSTIC_INVALID_BLOCK_LOOP                        0x02
+#define BOOT_DIAGNOSTIC_VALID_BLOCK_LOOP                          0x04
+#define BOOT_DIAGNOSTIC_VALID_IMAGE_DEF                           0x08
+#define BOOT_DIAGNOSTIC_HAS_PARTITION_TABLE                       0x10
+#define BOOT_DIAGNOSTIC_CONSIDERED                                0x20
+#define BOOT_DIAGNOSTIC_CHOSEN                                    0x40
+#define BOOT_DIAGNOSTIC_PARTITION_TABLE_LSB 7
+#define BOOT_DIAGNOSTIC_PARTITION_TABLE_MATCHING_KEY_FOR_VERIFY   0x80
+#define BOOT_DIAGNOSTIC_PARTITION_TABLE_HASH_FOR_VERIFY          0x100
+#define BOOT_DIAGNOSTIC_PARTITION_TABLE_VERIFIED_OK              0x200
+#define BOOT_DIAGNOSTIC_IMAGE_DEF_LSB 10
+#define BOOT_DIAGNOSTIC_IMAGE_DEF_MATCHING_KEY_FOR_VERIFY        0x400
+#define BOOT_DIAGNOSTIC_IMAGE_DEF_HASH_FOR_VERIFY                0x800
+#define BOOT_DIAGNOSTIC_IMAGE_DEF_VERIFIED_OK                   0x1000
+
+#define BOOT_DIAGNOSTIC_LOAD_MAP_ENTRIES_LOADED                 0x2000
+#define BOOT_DIAGNOSTIC_IMAGE_LAUNCHED                          0x4000
+#define BOOT_DIAGNOSTIC_IMAGE_CONDITION_FAILURE                 0x8000
+
+#define BOOT_PARSED_BLOCK_DIAGNOSTIC_MATCHING_KEY_FOR_VERIFY       0x1 // if this is present and VERIFIED_OK isn't the sig check failed
+#define BOOT_PARSED_BLOCK_DIAGNOSTIC_HASH_FOR_VERIFY               0x2 // if this is present and VERIFIED_OL isn't then hash check failed
+#define BOOT_PARSED_BLOCK_DIAGNOSTIC_VERIFIED_OK                   0x4
+
+#define BOOT_TBYB_AND_UPDATE_FLAG_BUY_PENDING                      0x1
+#define BOOT_TBYB_AND_UPDATE_FLAG_OTP_VERSION_APPLIED              0x2
+#define BOOT_TBYB_AND_UPDATE_FLAG_OTHER_ERASED                     0x4
+
+#ifndef __ASSEMBLER__
+// Limited to 3 arguments in case of varm multiplex hint (trashes Arm r3)
+typedef int (*bootrom_api_callback_generic_t)(uint32_t r0, uint32_t r1, uint32_t r2);
+// Return negative for error, else number of bytes transferred:
+//typedef int (*bootrom_api_callback_stdout_put_blocking_t)(const uint8_t *buffer, uint32_t size);
+//typedef int (*bootrom_api_callback_stdin_get_t)(uint8_t *buffer, uint32_t size);
+//typedef void (*bootrom_api_callback_core1_security_setup_t)(void);
+#endif
+
+#endif
+
+/*! \brief Return a bootrom lookup code based on two ASCII characters
+ * \ingroup pico_bootrom
+ *
+ * These codes are uses to lookup data or function addresses in the bootrom
+ *
+ * \param c1 the first character
+ * \param c2 the second character
+ * \return the 'code' to use in rom_func_lookup() or rom_data_lookup()
+ */
+#define ROM_TABLE_CODE(c1, c2) ((c1) | ((c2) << 8))
+
+// ROM FUNCTIONS
+
+// RP2040 & RP2350
+#define ROM_DATA_SOFTWARE_GIT_REVISION          ROM_TABLE_CODE('G', 'R')
+#define ROM_FUNC_FLASH_ENTER_CMD_XIP            ROM_TABLE_CODE('C', 'X')
+#define ROM_FUNC_FLASH_EXIT_XIP                 ROM_TABLE_CODE('E', 'X')
+#define ROM_FUNC_FLASH_FLUSH_CACHE              ROM_TABLE_CODE('F', 'C')
+#define ROM_FUNC_CONNECT_INTERNAL_FLASH         ROM_TABLE_CODE('I', 'F')
+#define ROM_FUNC_FLASH_RANGE_ERASE              ROM_TABLE_CODE('R', 'E')
+#define ROM_FUNC_FLASH_RANGE_PROGRAM            ROM_TABLE_CODE('R', 'P')
+
+
+#if PICO_RP2040
+// RP2040 only
+#define ROM_FUNC_MEMCPY44                       ROM_TABLE_CODE('C', '4')
+#define ROM_DATA_COPYRIGHT                      ROM_TABLE_CODE('C', 'R')
+#define ROM_FUNC_CLZ32                          ROM_TABLE_CODE('L', '3')
+#define ROM_FUNC_MEMCPY                         ROM_TABLE_CODE('M', 'C')
+#define ROM_FUNC_MEMSET                         ROM_TABLE_CODE('M', 'S')
+#define ROM_FUNC_POPCOUNT32                     ROM_TABLE_CODE('P', '3')
+#define ROM_FUNC_REVERSE32                      ROM_TABLE_CODE('R', '3')
+#define ROM_FUNC_MEMSET4                        ROM_TABLE_CODE('S', '4')
+#define ROM_FUNC_CTZ32                          ROM_TABLE_CODE('T', '3')
+#define ROM_FUNC_RESET_USB_BOOT                 ROM_TABLE_CODE('U', 'B')
+#endif
+
+#if !PICO_RP2040 || PICO_COMBINED_DOCS
+// RP2350 only
+#define ROM_FUNC_PICK_AB_PARTITION              ROM_TABLE_CODE('A', 'B')
+#define ROM_FUNC_CHAIN_IMAGE                    ROM_TABLE_CODE('C', 'I')
+#define ROM_FUNC_EXPLICIT_BUY                   ROM_TABLE_CODE('E', 'B')
+#define ROM_FUNC_FLASH_RUNTIME_TO_STORAGE_ADDR  ROM_TABLE_CODE('F', 'A')
+#define ROM_DATA_FLASH_DEVINFO16_PTR            ROM_TABLE_CODE('F', 'D')
+#define ROM_FUNC_FLASH_OP                       ROM_TABLE_CODE('F', 'O')
+#define ROM_FUNC_GET_B_PARTITION                ROM_TABLE_CODE('G', 'B')
+#define ROM_FUNC_GET_PARTITION_TABLE_INFO       ROM_TABLE_CODE('G', 'P')
+#define ROM_FUNC_GET_SYS_INFO                   ROM_TABLE_CODE('G', 'S')
+#define ROM_FUNC_GET_UF2_TARGET_PARTITION       ROM_TABLE_CODE('G', 'U')
+#define ROM_FUNC_LOAD_PARTITION_TABLE           ROM_TABLE_CODE('L', 'P')
+#define ROM_FUNC_OTP_ACCESS                     ROM_TABLE_CODE('O', 'A')
+#define ROM_DATA_PARTITION_TABLE_PTR            ROM_TABLE_CODE('P', 'T')
+#define ROM_FUNC_FLASH_RESET_ADDRESS_TRANS      ROM_TABLE_CODE('R', 'A')
+#define ROM_FUNC_REBOOT                         ROM_TABLE_CODE('R', 'B')
+#define ROM_FUNC_SET_ROM_CALLBACK               ROM_TABLE_CODE('R', 'C')
+#define ROM_FUNC_SECURE_CALL                    ROM_TABLE_CODE('S', 'C')
+#define ROM_FUNC_SET_NS_API_PERMISSION          ROM_TABLE_CODE('S', 'P')
+#define ROM_FUNC_BOOTROM_STATE_RESET            ROM_TABLE_CODE('S', 'R')
+#define ROM_FUNC_SET_BOOTROM_STACK              ROM_TABLE_CODE('S', 'S')
+#define ROM_DATA_SAVED_XIP_SETUP_FUNC_PTR       ROM_TABLE_CODE('X', 'F')
+#define ROM_FUNC_FLASH_SELECT_XIP_READ_MODE     ROM_TABLE_CODE('X', 'M')
+#define ROM_FUNC_VALIDATE_NS_BUFFER             ROM_TABLE_CODE('V', 'B')
+#endif
+
+// these form a bit set
+#define BOOTROM_STATE_RESET_CURRENT_CORE 0x01
+#define BOOTROM_STATE_RESET_OTHER_CORE   0x02
+#define BOOTROM_STATE_RESET_GLOBAL_STATE 0x04 // reset any global state (e.g. permissions)
+
+// partition level stuff is returned first (note PT_INFO flags is only 16 bits)
+
+// 3 words: pt_count, unpartitioned_perm_loc, unpartioned_perm_flags
+#define PT_INFO_PT_INFO                         0x0001
+#define PT_INFO_SINGLE_PARTITION                0x8000 // marker to just include a single partition in the results)
+
+// then in order per partition selected
+
+// 2 words: unpartitioned_perm_loc, unpartioned_perm_flags
+#define PT_INFO_PARTITION_LOCATION_AND_FLAGS    0x0010
+// 2 words: id lsb first
+#define PT_INFO_PARTITION_ID                    0x0020
+// n+1 words: n, family_id...
+#define PT_INFO_PARTITION_FAMILY_IDS            0x0040
+// (n+3)/4 words... bytes are: n (len), c0, c1, ... cn-1 padded to word boundary with zeroes
+#define PT_INFO_PARTITION_NAME                  0x0080
+
+// items are returned in order
+// 3 words package_id, device_id, wafer_id
+#define SYS_INFO_CHIP_INFO                      0x0001
+// 1 word: chip specific critical bits
+#define SYS_INFO_CRITICAL                       0x0002
+// 1 word: bytes: cpu_type, supported_cpu_type_bitfield
+#define SYS_INFO_CPU_INFO                       0x0004
+// 1 word: same as FLASH_DEVINFO row in OTP
+#define SYS_INFO_FLASH_DEV_INFO                 0x0008
+// 4 words
+#define SYS_INFO_BOOT_RANDOM                    0x0010
+// 2 words lsb first
+#define SYS_INFO_NONCE                          0x0020
+// 4 words boot_info, boot_diagnostic, boot_param0, boot_param1
+#define SYS_INFO_BOOT_INFO                      0x0040
+
+#define BOOTROM_NS_API_get_sys_info 0
+#define BOOTROM_NS_API_checked_flash_op 1
+#define BOOTROM_NS_API_flash_runtime_to_storage_addr 2
+#define BOOTROM_NS_API_get_partition_table_info 3
+#define BOOTROM_NS_API_secure_call 4
+#define BOOTROM_NS_API_otp_access 5
+#define BOOTROM_NS_API_reboot 6
+#define BOOTROM_NS_API_get_b_partition 7
+#define BOOTROM_NS_API_COUNT 8
+
+#ifndef __ASSEMBLER__
+
+typedef struct {
+    uint32_t permissions_and_location;
+    uint32_t permissions_and_flags;
+} resident_partition_t;
+static_assert(sizeof(resident_partition_t) == 8, "");
+
+#define OTP_CMD_ROW_BITS                    0x0000ffffu
+#define OTP_CMD_ROW_LSB                     0u
+#define OTP_CMD_WRITE_BITS                  0x00010000u
+#define OTP_CMD_ECC_BITS                    0x00020000u
+
+typedef struct otp_cmd {
+    uint32_t flags;
+} otp_cmd_t;
+
+typedef enum {
+    BOOTROM_XIP_MODE_03H_SERIAL = 0,
+    BOOTROM_XIP_MODE_0BH_SERIAL,
+    BOOTROM_XIP_MODE_BBH_DUAL,
+    BOOTROM_XIP_MODE_EBH_QUAD,
+    BOOTROM_XIP_MODE_N_MODES
+} bootrom_xip_mode_t;
+
+// The checked flash API wraps the low-level flash routines from generic_flash, adding bounds
+// checking, permission checking against the resident partition table, and simple address
+// translation. The low-level API deals with flash offsets (i.e. distance from the start of the
+// first flash device, measured in bytes) but the checked flash API accepts one of two types of
+// address:
+//
+// - Flash runtime addresses: the address of some flash-resident data or code in the currently
+//   running image. The flash addresses your binary is "linked at" by the linker.
+// - Flash storage addresses: a flash offset, plus the address base where QSPI hardware is first
+//   mapped on the system bus (XIP_BASE constant from addressmap.h)
+//
+// These addresses are one and the same *if* the currently running program is stored at the
+// beginning of flash. They are different if the start of your image has been "rolled" by the flash
+// boot path to make it appear at the address it was linked at even though it is stored at a
+// different location in flash, which is necessary when you have A/B images for example.
+//
+// The address translation between flash runtime and flash storage addresses is configured in
+// hardware by the QMI_ATRANSx registers, and this API assumes those registers contain a valid
+// address mapping which it can use to translate runtime to storage addresses.
+
+typedef struct cflash_flags {
+    uint32_t flags;
+} cflash_flags_t;
+
+// Bits which are permitted to be set in a flags variable -- any other bits being set is an error
+#define CFLASH_FLAGS_BITS               0x00070301u
+
+// Used to tell checked flash API which space a given address belongs to
+#define CFLASH_ASPACE_BITS              0x00000001u
+#define CFLASH_ASPACE_LSB               0u
+#define CFLASH_ASPACE_VALUE_STORAGE     0u
+#define CFLASH_ASPACE_VALUE_RUNTIME     1u
+
+// Used to tell checked flash APIs the effective security level of a flash access (may be forced to
+// one of these values for the NonSecure-exported version of this API)
+#define CFLASH_SECLEVEL_BITS            0x00000300u
+#define CFLASH_SECLEVEL_LSB             8u
+// Zero is not a valid security level:
+#define CFLASH_SECLEVEL_VALUE_SECURE    1u
+#define CFLASH_SECLEVEL_VALUE_NONSECURE 2u
+#define CFLASH_SECLEVEL_VALUE_BOOTLOADER 3u
+
+#define CFLASH_OP_BITS                  0x00070000u
+#define CFLASH_OP_LSB                   16u
+// Erase size_bytes bytes of flash, starting at address addr. Both addr and size_bytes must be a
+// multiple of 4096 bytes (one flash sector).
+#define CFLASH_OP_VALUE_ERASE           0u
+// Program size_bytes bytes of flash, starting at address addr. Both addr and size_bytes must be a
+// multiple of 256 bytes (one flash page).
+#define CFLASH_OP_VALUE_PROGRAM         1u
+// Read size_bytes bytes of flash, starting at address addr. There are no alignment restrictions on
+// addr or size_bytes.
+#define CFLASH_OP_VALUE_READ            2u
+#define CFLASH_OP_MAX                   2u
+
+#endif
+
+#endif

lib/pico-sdk/pico/platform.h

@@ -4,10 +4,11 @@
  * SPDX-License-Identifier: BSD-3-Clause
  */
 
-#ifndef _PICO_PLATFORM_H_
+#ifndef _PICO_PLATFORM_H
-#define _PICO_PLATFORM_H_
+#define _PICO_PLATFORM_H
 
 #include "hardware/platform_defs.h"
+#include <stdint.h>
 #include <stddef.h>
 
 #ifdef __unix__
@@ -20,15 +21,21 @@
 extern "C" {
 #endif
 
-#define __not_in_flash(grup)
+#define __not_in_flash(group)
 #define __not_in_flash_func(func) func
-#define __no_inline_not_in_flash_func(func)
+#define __no_inline_not_in_flash_func(func) func
 #define __in_flash(group)
 #define __scratch_x(group)
 #define __scratch_y(group)
 
-#define __packed_aligned
+#ifndef _MSC_VER
+#define __packed __attribute__((packed))
+#define __packed_aligned __packed __attribute((aligned))
+#else
+// MSVC requires #pragma pack which isn't compatible with a single attribute style define
 #define __packed
+#define __packed_aligned
+#endif
 
 #define __time_critical_func(x) x
 #define __after_data(group)
@@ -60,6 +67,9 @@ extern void tight_loop_contents();
 #define PICO_WEAK_FUNCTION_DEF(x) _Pragma(__STRING(weak x))
 #define PICO_WEAK_FUNCTION_IMPL_NAME(x) x
 
+#ifndef __weak
+#define __weak __attribute__((weak))
+#endif
 #else
 #ifndef __noreturn
 #define __noreturn __declspec(noreturn)
@@ -133,6 +143,12 @@ static inline int32_t __mul_instruction(int32_t a,int32_t b)
 
 static inline void __compiler_memory_barrier(void) {
 }
+
+uint get_core_num();
+
+static inline uint __get_current_exception(void) {
+    return 0;
+}
 #ifdef __cplusplus
 }
 #endif

lib/pico-sdk/rp2040/boot_stage2/BUILD.bazel

@@ -0,0 +1,146 @@
+# Always include these libraries through //src/rp2_common:*!
+# This ensures that you'll get the right headers for the MCU you're targeting.
+
+load("@bazel_skylib//rules:copy_file.bzl", "copy_file")
+load("@bazel_skylib//rules:run_binary.bzl", "run_binary")
+load("@rules_python//python:defs.bzl", "py_binary")
+load("//bazel/toolchain:objcopy.bzl", "objcopy_to_bin")
+load("//bazel/util:multiple_choice_flag.bzl", "declare_flag_choices", "flag_choice")
+load("//bazel/util:transition.bzl", "rp2040_bootloader_binary")
+
+# There's a lot of implementation details in here that shouldn't be considered
+# stable, so allowlist visibility to just the public-facing pieces.
+package(default_visibility = ["//visibility:private"])
+
+# Known choices for boot2:
+BOOT2_CHOICES = [
+    "boot2_at25sf128a",
+    "boot2_generic_03h",
+    "boot2_is25lp080",
+    "boot2_usb_blinky",
+    "boot2_w25q080",
+    "boot2_w25x10cl",
+    "compile_time_choice",
+]
+
+BOOT2_CHOICE_FILES = [c + ".S" for c in BOOT2_CHOICES]
+
+BOOT2_CHOICE_FILE_MAP = {c: [c + ".S"] for c in BOOT2_CHOICES}
+
+BOOT2_CHOICE_DEFINE_MAP = {c: ['PICO_BUILD_BOOT_STAGE2_NAME=\\"{}\\"'.format(c)] for c in BOOT2_CHOICES}
+
+# Define shouldn't be set for compile_time_choice.
+BOOT2_CHOICE_DEFINE_MAP["compile_time_choice"] = []
+
+cc_library(
+    name = "config",
+    hdrs = [
+        "asminclude/boot2_helpers/exit_from_boot2.S",
+        "asminclude/boot2_helpers/read_flash_sreg.S",
+        "asminclude/boot2_helpers/wait_ssi_ready.S",
+        "include/boot_stage2/config.h",
+    ] + BOOT2_CHOICE_FILES,
+    defines = select(flag_choice(
+        "//bazel/config:PICO_DEFAULT_BOOT_STAGE2",
+        ":__pkg__",
+        BOOT2_CHOICE_DEFINE_MAP,
+    )),
+    includes = [
+        "asminclude",
+        "include",
+    ],
+    target_compatible_with = ["//bazel/constraint:rp2040"],
+    visibility = ["//visibility:public"],
+)
+
+# Creates a config_setting for each known boot2 option with the name:
+#     PICO_DEFAULT_BOOT_STAGE2_[choice]
+declare_flag_choices(
+    "//bazel/config:PICO_DEFAULT_BOOT_STAGE2",
+    BOOT2_CHOICES,
+)
+
+filegroup(
+    name = "build_selected_boot2",
+    srcs = select(flag_choice(
+        "//bazel/config:PICO_DEFAULT_BOOT_STAGE2",
+        ":__pkg__",
+        BOOT2_CHOICE_FILE_MAP,
+    )),
+    visibility = ["//src/rp2_common:__pkg__"],
+)
+
+cc_binary(
+    name = "boot_stage2_elf_actual",
+    srcs = ["//bazel/config:PICO_DEFAULT_BOOT_STAGE2_FILE"],
+    copts = ["-fPIC"],
+    # Incompatible with section garbage collection.
+    features = ["-gc_sections"],
+    linkopts = [
+        "-Wl,--no-gc-sections",
+        "-nostartfiles",
+        "-Wl,--entry=_stage2_boot",
+        "-T$(location boot_stage2.ld)",
+    ],
+    # this does nothing if someone passes --custom_malloc, so the
+    # rp2040_bootloader_binary transition forcibly clobbers --custom_malloc.
+    malloc = "//bazel:empty_cc_lib",
+    tags = ["manual"],  # Only build as an explicit dependency.
+    target_compatible_with = ["//bazel/constraint:rp2040"],
+    deps = [
+        "boot_stage2.ld",
+        ":config",
+        "//src/common/pico_base_headers",
+        "//src/rp2_common:pico_platform_internal",
+    ],
+)
+
+# Always build the bootloader with the bootloader-specific platform.
+rp2040_bootloader_binary(
+    name = "boot_stage2_elf",
+    src = "boot_stage2_elf_actual",
+)
+
+objcopy_to_bin(
+    name = "boot_stage2_bin",
+    src = ":boot_stage2_elf",
+    out = "boot_stage2.bin",
+    target_compatible_with = ["//bazel/constraint:rp2040"],
+)
+
+# WORKAROUND: Python rules always require a .py extension.
+copy_file(
+    name = "copy_tool_to_py",
+    src = "pad_checksum",
+    out = "pad_checksum_tool.py",
+    target_compatible_with = ["//bazel/constraint:host"],
+)
+
+py_binary(
+    name = "pad_checksum_tool",
+    srcs = ["pad_checksum_tool.py"],
+    target_compatible_with = ["//bazel/constraint:host"],
+)
+
+run_binary(
+    name = "boot_stage2_padded",
+    srcs = [":boot_stage2_bin"],
+    outs = ["boot_stage2.S"],
+    args = [
+        "-s 0xffffffff",
+        "$(location boot_stage2_bin)",
+        "$(location boot_stage2.S)",
+    ],
+    target_compatible_with = ["//bazel/constraint:rp2040"],
+    tool = ":pad_checksum_tool",
+)
+
+cc_library(
+    name = "boot_stage2",
+    srcs = [":boot_stage2_padded"],
+    target_compatible_with = ["//bazel/constraint:rp2040"],
+    visibility = ["//src/rp2_common:__pkg__"],
+    # This isn't referenced as a symbol, so alwayslink is required to ensure
+    # it doesn't get dropped before the linker script can find it.
+    alwayslink = True,
+)

lib/pico-sdk/rp2040/boot_stage2/CMakeLists.txt

@@ -1,10 +1,10 @@
-# PICO_CMAKE_CONFIG: PICO_DEFAULT_BOOT_STAGE2_FILE, Default boot stage 2 file to use unless overridden by pico_set_boot_stage2 on the TARGET; this setting is useful when explicitly setting the default build from a per board CMake file, group=build
+# PICO_CMAKE_CONFIG: PICO_DEFAULT_BOOT_STAGE2_FILE, Default boot stage 2 file to use unless overridden by pico_set_boot_stage2 on the TARGET; this setting is useful when explicitly setting the default build from a per board CMake file, type=string, group=build
-# PICO_CMAKE_CONFIG: PICO_DEFAULT_BOOT_STAGE2, Simpler alternative to specifying PICO_DEFAULT_BOOT_STAGE2_FILE where the file is src/rp2_common/boot_stage2/{PICO_DEFAULT_BOOT_STAGE2}.S, default=compile_time_choice, group=build
+# PICO_CMAKE_CONFIG: PICO_DEFAULT_BOOT_STAGE2, Simpler alternative to specifying PICO_DEFAULT_BOOT_STAGE2_FILE where the latter is set to src/rp2_common/boot_stage2/{PICO_DEFAULT_BOOT_STAGE2}.S, type=string, default=compile_time_choice, group=build
 
 if (DEFINED ENV{PICO_DEFAULT_BOOT_STAGE2_FILE})
     set(PICO_DEFAULT_BOOT_STAGE2_FILE $ENV{PICO_DEFAULT_BOOT_STAGE2_FILE})
     message("Using PICO_DEFAULT_BOOT_STAGE2_FILE from environment ('${PICO_DEFAULT_BOOT_STAGE2_FILE}')")
-elif (PICO_DEFAULT_BOOT_STAGE2_FILE)
+elseif (PICO_DEFAULT_BOOT_STAGE2_FILE)
     # explicitly set, so cache it
     set(PICO_DEFAULT_BOOT_STAGE2_FILE "${PICO_DEFAULT_BOOT_STAGE2_FILE}" CACHE STRING "boot stage 2 source file" FORCE)
 endif()
@@ -25,12 +25,13 @@ endif()
 if (NOT EXISTS ${PICO_DEFAULT_BOOT_STAGE2_FILE})
     message(FATAL_ERROR "Specified boot stage 2 source '${PICO_DEFAULT_BOOT_STAGE2_FILE}' does not exist.")
 endif()
+pico_register_common_scope_var(PICO_DEFAULT_BOOT_STAGE2_FILE)
 
 # needed by function below
 set(PICO_BOOT_STAGE2_DIR "${CMAKE_CURRENT_LIST_DIR}" CACHE INTERNAL "")
 
 add_library(boot_stage2_headers INTERFACE)
-target_include_directories(boot_stage2_headers INTERFACE ${CMAKE_CURRENT_LIST_DIR}/include)
+target_include_directories(boot_stage2_headers SYSTEM INTERFACE ${CMAKE_CURRENT_LIST_DIR}/include)
 
 # by convention the first source file name without extension is used for the binary info name
 function(pico_define_boot_stage2 NAME SOURCES)
@@ -39,9 +40,9 @@ function(pico_define_boot_stage2 NAME SOURCES)
     )
 
     # todo bit of an abstraction failure - revisit for Clang support anyway
-    if (CMAKE_C_COMPILER_ID STREQUAL "Clang")
+    if (PICO_C_COMPILER_IS_CLANG)
         target_link_options(${NAME} PRIVATE "-nostdlib")
-    else ()
+    elseif (PICO_C_COMPILER_IS_GNU)
         target_link_options(${NAME} PRIVATE "--specs=nosys.specs")
         target_link_options(${NAME} PRIVATE "-nostartfiles")
     endif ()
@@ -62,12 +63,13 @@ function(pico_define_boot_stage2 NAME SOURCES)
     find_package (Python3 REQUIRED COMPONENTS Interpreter)
 
     add_custom_target(${NAME}_bin DEPENDS ${ORIGINAL_BIN})
-    add_custom_command(OUTPUT ${ORIGINAL_BIN} DEPENDS ${NAME} COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${NAME}> ${ORIGINAL_BIN})
+    add_custom_command(OUTPUT ${ORIGINAL_BIN} DEPENDS ${NAME} COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${NAME}> ${ORIGINAL_BIN}
+        VERBATIM)
 
     add_custom_target(${NAME}_padded_checksummed_asm DEPENDS ${PADDED_CHECKSUMMED_ASM})
     add_custom_command(OUTPUT ${PADDED_CHECKSUMMED_ASM} DEPENDS ${ORIGINAL_BIN}
             COMMAND ${Python3_EXECUTABLE} ${PICO_BOOT_STAGE2_DIR}/pad_checksum -s 0xffffffff ${ORIGINAL_BIN} ${PADDED_CHECKSUMMED_ASM}
-            )
+            VERBATIM)
 
     add_library(${NAME}_library INTERFACE)
     add_dependencies(${NAME}_library ${NAME}_padded_checksummed_asm)
@@ -98,3 +100,9 @@ endmacro()
 
 pico_define_boot_stage2(bs2_default ${PICO_DEFAULT_BOOT_STAGE2_FILE})
 
+# Create a new boot stage 2 target using the default implementation for the current build (PICO_BOARD derived)
+function(pico_clone_default_boot_stage2 NAME)
+    pico_define_boot_stage2(${NAME} ${PICO_DEFAULT_BOOT_STAGE2_FILE})
+endfunction()
+
+pico_promote_common_scope_vars()