Merge remote-tracking branch 'upstream/master' into dgus-display

.github/workflows/invalid-label-bot.yaml

@@ -8,9 +8,8 @@ jobs:
     if: github.repository == 'Klipper3d/klipper'
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/github-script@v3
+      - uses: actions/github-script@v6
         with:
-          github-token: ${{secrets.GITHUB_TOKEN}}
           script: |
             if (context.payload.label.name != "not on github")
               return;
@@ -36,7 +35,7 @@ jobs:
                 + "~ Your friendly GitIssueBot"
                 + "\n\n"
                 + "PS: I'm just an automated script, not a human being.";
-            github.issues.createComment({
+            github.rest.issues.createComment({
               issue_number: context.issue.number,
               owner: context.repo.owner,
               repo: context.repo.repo,

.github/workflows/klipper3d-deploy.yaml

@@ -1,5 +1,7 @@
 name: klipper3d deploy
 on:
+  schedule:
+    - cron: "0 0 * * *"
   push:
     branches:
       - master
@@ -24,6 +26,10 @@ jobs:
             ${{ runner.os }}-pip-
       - name: Install dependencies
         run: pip install -r docs/_klipper3d/mkdocs-requirements.txt
-      - name: Build and deploy klipper3d
+      - name: Build MkDocs Pages
-        run: |
+        run: docs/_klipper3d/build-translations.sh
-          mkdocs gh-deploy --config-file docs/_klipper3d/mkdocs.yml --remote-branch gh-pages --force --verbose
+      - name: Deploy
+        uses: JamesIves/github-pages-deploy-action@v4.2.5
+        with:
+          branch: gh-pages # The branch the action should deploy to.
+          folder: site # The folder the action should deploy.

.github/workflows/reviewer-needed-label.yaml

@@ -0,0 +1,66 @@
+# Add a comment to github PRs marked with the "reviewer needed" label
+name: "Add comment to PRs marked 'reviewer needed'"
+on:
+  pull_request_target:
+      types: [labeled]
+jobs:
+  add_comment:
+    if: github.repository == 'Klipper3d/klipper'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/github-script@v6
+        with:
+          script: |
+            if (context.payload.label.name != "reviewer needed")
+              return;
+            if (context.payload.pull_request.assignees.length > 0)
+              return;
+            msg = "Thank you for your contribution to Klipper."
+                + " Unfortunately, a reviewer has not assigned themselves to"
+                + " this GitHub Pull Request. All Pull Requests are reviewed"
+                + " before merging, and a reviewer will need to volunteer."
+                + " Further information is available at:"
+                + " https://www.klipper3d.org/CONTRIBUTING.html"
+                + "\n\n"
+                + "There are some steps that you can take now:"
+                + "\n"
+                + "1. Perform a self-review of your Pull Request by following"
+                + " the steps at:"
+                + " https://www.klipper3d.org/CONTRIBUTING.html#what-to-expect-in-a-review"
+                + "\n"
+                + "  If you have completed a self-review, be sure to state the"
+                + " results of that self-review explicitly in the Pull Request"
+                + " comments. A reviewer is more likely to participate if the"
+                + " bulk of a review has already been completed."
+                + "\n"
+                + "2. Consider opening a topic on the [Klipper Discourse]"
+                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + " server to discuss this work. The Discourse server is a good"
+                + " place to discuss development ideas and to engage users"
+                + " interested in testing. Reviewers are more likely to"
+                + " prioritize Pull Requests with an active community of users."
+                + "\n"
+                + "3. Consider helping out reviewers by reviewing other Klipper"
+                + " Pull Requests. Taking the time to perform a careful and"
+                + " detailed review of others work is appreciated. Regular"
+                + " contributors are more likely to prioritize the"
+                + " contributions of other regular contributors."
+                + "\n\n"
+                + "Unfortunately, if a reviewer does not assign themselves to"
+                + " this GitHub Pull Request then it will be automatically"
+                + " closed. If this happens, then it is a good idea to move"
+                + " further discussion to the [Klipper Discourse]"
+                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + " server. Reviewers can reach out on that forum to let you"
+                + " know if they are interested and when they are available."
+                + "\n\n"
+                + "Best regards,\n"
+                + "~ Your friendly GitIssueBot"
+                + "\n\n"
+                + "PS: I'm just an automated script, not a human being.";
+            github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: msg
+            })

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

@@ -36,10 +36,12 @@ jobs:
     if: github.repository == 'Klipper3d/klipper'
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/github-script@v3
+      - uses: actions/github-script@v6
         with:
           script: |
-            const issues = await github.issues.listForRepo({
+            const expireMillis = 1000 * 60 * 60 * 36;
+            const curtime = new Date().getTime();
+            const issues = await github.rest.issues.listForRepo({
               owner: context.repo.owner,
               repo: context.repo.repo,
               state: 'open',
@@ -47,41 +49,157 @@ jobs:
               per_page: 100,
               page: 1
             });
-            const expireMillis = 1000 * 60 * 60 * 36;
+            for (const issue of issues.data.values()) {
-            const curtime = new Date().getTime();
-            for (var issue of issues.data.values()) {
               const updatetime = new Date(issue.updated_at).getTime();
               if (curtime < updatetime + expireMillis)
                 continue;
-              await github.issues.update({
+              await github.rest.issues.update({
                 owner: context.repo.owner,
                 repo: context.repo.repo,
                 issue_number: issue.number,
                 state: 'closed'
               });
             }
+  # Close tickets marked with "reviewer needed" label for 2+ weeks
+  close_reviewer_needed:
+    if: github.repository == 'Klipper3d/klipper'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/github-script@v6
+        with:
+          script: |
+            const issues = await github.rest.issues.listForRepo({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              state: 'open',
+              labels: 'reviewer needed',
+              assignee: 'none',
+              per_page: 100,
+              page: 1
+            });
+            msg = "Unfortunately a reviewer has not assigned themselves to"
+                + " this GitHub Pull Request and it is therefore being"
+                + " closed. It is a good idea to move"
+                + " further discussion to the [Klipper Discourse]"
+                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + " server. Reviewers can reach out on that forum to let you"
+                + " know if they are interested and when they are available."
+                + "\n\n"
+                + "Best regards,\n"
+                + "~ Your friendly GitIssueBot"
+                + "\n\n"
+                + "PS: I'm just an automated script, not a human being.";
+            const expireMillis = 1000 * 60 * 60 * 24 * 14;
+            const curtime = new Date().getTime();
+            for (const issue of issues.data.values()) {
+              const updatetime = new Date(issue.updated_at).getTime();
+              if (curtime < updatetime + expireMillis)
+                continue;
+              await github.rest.issues.createComment({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: issue.number,
+                body: msg
+              });
+              await github.rest.issues.update({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: issue.number,
+                state: 'closed'
+              });
+            }
+  # Mark unassigned PRs that are idle for 2 weeks
+  mark_reviewer_needed:
+    if: github.repository == 'Klipper3d/klipper'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/github-script@v6
+        with:
+          script: |
+            msg = "Thank you for your contribution to Klipper."
+                + " Unfortunately, a reviewer has not assigned themselves to"
+                + " this GitHub Pull Request. All Pull Requests are reviewed"
+                + " before merging, and a reviewer will need to volunteer."
+                + " Further information is available at:"
+                + " https://www.klipper3d.org/CONTRIBUTING.html"
+                + "\n\n"
+                + "There are some steps that you can take now:"
+                + "\n"
+                + "1. Perform a self-review of your Pull Request by following"
+                + " the steps at:"
+                + " https://www.klipper3d.org/CONTRIBUTING.html#what-to-expect-in-a-review"
+                + "\n"
+                + "  If you have completed a self-review, be sure to state the"
+                + " results of that self-review explicitly in the Pull Request"
+                + " comments. A reviewer is more likely to participate if the"
+                + " bulk of a review has already been completed."
+                + "\n"
+                + "2. Consider opening a topic on the [Klipper Discourse]"
+                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + " server to discuss this work. The Discourse server is a good"
+                + " place to discuss development ideas and to engage users"
+                + " interested in testing. Reviewers are more likely to"
+                + " prioritize Pull Requests with an active community of users."
+                + "\n"
+                + "3. Consider helping out reviewers by reviewing other Klipper"
+                + " Pull Requests. Taking the time to perform a careful and"
+                + " detailed review of others work is appreciated. Regular"
+                + " contributors are more likely to prioritize the"
+                + " contributions of other regular contributors."
+                + "\n\n"
+                + "Unfortunately, if a reviewer does not assign themselves to"
+                + " this GitHub Pull Request then it will be automatically"
+                + " closed. If this happens, then it is a good idea to move"
+                + " further discussion to the [Klipper Discourse]"
+                + "(https://www.klipper3d.org/Contact.html#community-forum)"
+                + " server. Reviewers can reach out on that forum to let you"
+                + " know if they are interested and when they are available."
+                + "\n\n"
+                + "Best regards,\n"
+                + "~ Your friendly GitIssueBot"
+                + "\n\n"
+                + "PS: I'm just an automated script, not a human being.";
+            const create_check = new Date("2022-03-01T00:00:00Z").getTime();
+            const expireMillis = 1000 * 60 * 60 * 24 * 14;
+            const curtime = new Date().getTime();
+            const pulls_req = await github.rest.pulls.list({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              per_page: 100,
+              page: 1
+            });
+            for (const pr of pulls_req.data.values()) {
+              const createtime = new Date(pr.created_at).getTime();
+              if (createtime < create_check)
+                continue;
+              const updatetime = new Date(pr.updated_at).getTime();
+              if (curtime < updatetime + expireMillis)
+                continue;
+              if (pr.labels.length > 0)
+                continue;
+              if (pr.assignees.length > 0)
+                continue;
+              await github.rest.issues.createComment({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: pr.number,
+                body: msg
+              });
+              await github.rest.issues.addLabels({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: pr.number,
+                labels: ['reviewer needed']
+              });
+            }
   # Close tickets marked with "resolved" label
   close_resolved:
     if: github.repository == 'Klipper3d/klipper'
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/github-script@v3
+      - uses: actions/github-script@v6
         with:
           script: |
-            const issues = await github.issues.listForRepo({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              state: 'open',
-              labels: 'resolved',
-              per_page: 100,
-              page: 1
-            });
-            const expireMillis = 1000 * 60 * 60 * 24 * 7;
-            const curtime = new Date().getTime();
-            for (var issue of issues.data.values()) {
-              const updatetime = new Date(issue.updated_at).getTime();
-              if (curtime < updatetime + expireMillis)
-                continue;
             msg = "This ticket is being closed because the underlying issue"
                 + " is now thought to be resolved."
                 + "\n\n"
@@ -89,13 +207,27 @@ jobs:
                 + "~ Your friendly GitIssueBot"
                 + "\n\n"
                 + "PS: I'm just an automated script, not a human being.";
-              await github.issues.createComment({
+            const expireMillis = 1000 * 60 * 60 * 24 * 7;
+            const curtime = new Date().getTime();
+            const issues = await github.rest.issues.listForRepo({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              state: 'open',
+              labels: 'resolved',
+              per_page: 100,
+              page: 1
+            });
+            for (const issue of issues.data.values()) {
+              const updatetime = new Date(issue.updated_at).getTime();
+              if (curtime < updatetime + expireMillis)
+                continue;
+              await github.rest.issues.createComment({
                 owner: context.repo.owner,
                 repo: context.repo.repo,
                 issue_number: issue.number,
                 body: msg
               });
-              await github.issues.update({
+              await github.rest.issues.update({
                 owner: context.repo.owner,
                 repo: context.repo.repo,
                 issue_number: issue.number,
@@ -107,23 +239,9 @@ jobs:
     if: github.repository == 'Klipper3d/klipper'
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/github-script@v3
+      - uses: actions/github-script@v6
         with:
           script: |
-            const issues = await github.issues.listForRepo({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              state: 'open',
-              labels: 'not mainline',
-              per_page: 100,
-              page: 1
-            });
-            const expireMillis = 1000 * 60 * 60 * 24 * 7;
-            const curtime = new Date().getTime();
-            for (var issue of issues.data.values()) {
-              const updatetime = new Date(issue.updated_at).getTime();
-              if (curtime < updatetime + expireMillis)
-                continue;
             msg = "This PR is being closed because it is currently not"
                 + " considered a good match for the master Klipper"
                 + " repository."
@@ -132,13 +250,27 @@ jobs:
                 + "~ Your friendly GitIssueBot"
                 + "\n\n"
                 + "PS: I'm just an automated script, not a human being.";
-              await github.issues.createComment({
+            const expireMillis = 1000 * 60 * 60 * 24 * 7;
+            const curtime = new Date().getTime();
+            const issues = await github.rest.issues.listForRepo({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              state: 'open',
+              labels: 'not mainline',
+              per_page: 100,
+              page: 1
+            });
+            for (const issue of issues.data.values()) {
+              const updatetime = new Date(issue.updated_at).getTime();
+              if (curtime < updatetime + expireMillis)
+                continue;
+              await github.rest.issues.createComment({
                 owner: context.repo.owner,
                 repo: context.repo.repo,
                 issue_number: issue.number,
                 body: msg
               });
-              await github.issues.update({
+              await github.rest.issues.update({
                 owner: context.repo.owner,
                 repo: context.repo.repo,
                 issue_number: issue.number,
@@ -150,23 +282,9 @@ jobs:
     if: github.repository == 'Klipper3d/klipper'
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/github-script@v3
+      - uses: actions/github-script@v6
         with:
           script: |
-            const issues = await github.issues.listForRepo({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              state: 'open',
-              labels: 'pending feedback',
-              per_page: 100,
-              page: 1
-            });
-            const expireMillis = 1000 * 60 * 60 * 24 * 21;
-            const curtime = new Date().getTime();
-            for (var issue of issues.data.values()) {
-              const updatetime = new Date(issue.updated_at).getTime();
-              if (curtime < updatetime + expireMillis)
-                continue;
             msg = "It looks like this GitHub Pull Request has become"
                 + " inactive.  If there are any further updates, you can"
                 + " add a comment here or open a new ticket."
@@ -175,19 +293,33 @@ jobs:
                 + "~ Your friendly GitIssueBot"
                 + "\n\n"
                 + "PS: I'm just an automated script, not a human being.";
-              await github.issues.addLabels({
+            const expireMillis = 1000 * 60 * 60 * 24 * 21;
+            const curtime = new Date().getTime();
+            const issues = await github.rest.issues.listForRepo({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              state: 'open',
+              labels: 'pending feedback',
+              per_page: 100,
+              page: 1
+            });
+            for (const issue of issues.data.values()) {
+              const updatetime = new Date(issue.updated_at).getTime();
+              if (curtime < updatetime + expireMillis)
+                continue;
+              await github.rest.issues.addLabels({
                 owner: context.repo.owner,
                 repo: context.repo.repo,
                 issue_number: issue.number,
                 labels: ['inactive']
               });
-              await github.issues.createComment({
+              await github.rest.issues.createComment({
                 owner: context.repo.owner,
                 repo: context.repo.repo,
                 issue_number: issue.number,
                 body: msg
               });
-              await github.issues.update({
+              await github.rest.issues.update({
                 owner: context.repo.owner,
                 repo: context.repo.repo,
                 issue_number: issue.number,

Makefile

@@ -19,7 +19,7 @@ OBJCOPY=$(CROSS_PREFIX)objcopy
 OBJDUMP=$(CROSS_PREFIX)objdump
 STRIP=$(CROSS_PREFIX)strip
 CPP=cpp
-PYTHON=python2
+PYTHON=python3
 
 # Source files
 src-y =
@@ -85,17 +85,21 @@ $(OUT)compile_time_request.o: $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) ./scri
 
 ################ Auto generation of "board/" include file link
 
-$(OUT)board-link: $(KCONFIG_CONFIG)
+create-board-link:
 	@echo "  Creating symbolic link $(OUT)board"
 	$(Q)mkdir -p $(addprefix $(OUT), $(dirs-y))
-	$(Q)echo "#$(CONFIG_BOARD_DIRECTORY)" > $@.temp
+	$(Q)rm -f $(OUT)*.d $(patsubst %,$(OUT)%/*.d,$(dirs-y))
-	$(Q)if ! cmp -s $@.temp $@; then rm -f $(OUT)*.d $(patsubst %,$(OUT)%/*.d,$(dirs-y)) ; mv $@.temp $@ ; fi
 	$(Q)rm -f $(OUT)board
 	$(Q)ln -sf $(CURDIR)/src/$(CONFIG_BOARD_DIRECTORY) $(OUT)board
 	$(Q)mkdir -p $(OUT)board-generic
 	$(Q)rm -f $(OUT)board-generic/board
 	$(Q)ln -sf $(CURDIR)/src/generic $(OUT)board-generic/board
 
+# Hack to rebuild OUT directory and reload make dependencies on Kconfig change
+$(OUT)board-link: $(KCONFIG_CONFIG)
+	$(Q)mkdir -p $(OUT)
+	$(Q)echo "# Makefile board-link rule" > $@
+	$(Q)$(MAKE) create-board-link
 include $(OUT)board-link
 
 ################ Kconfig rules
@@ -114,7 +118,7 @@ menuconfig:
 ################ Generic rules
 
 # Make definitions
-.PHONY : all clean distclean olddefconfig menuconfig FORCE
+.PHONY : all clean distclean olddefconfig menuconfig create-board-link FORCE
 .DELETE_ON_ERROR:
 
 all: $(target-y)

config/example-polar.cfg

@@ -1,7 +1,7 @@
 # This file is an example config file for polar style printers. One
 # may copy and edit this file to configure a new polar printer.
 
-# POLAR KINEMATICS ARE A WORK IN PROGRESS. Moves around the 0,0
+# POLAR KINEMATICS ARE A WORK IN PROGRESS. Moves around the 0, 0
 # position are known to not work properly.
 
 # See docs/Config_Reference.md for a description of parameters.

config/example-winch.cfg

@@ -6,7 +6,7 @@
 
 # Homing is not implemented on cable winch kinematics. In order to
 # home the printer, manually send movement commands until the toolhead
-# is at 0,0,0 and then issue a G28 command.
+# is at 0, 0, 0 and then issue a G28 command.
 
 # See docs/Config_Reference.md for a description of parameters.
 

config/generic-alligator-r2.cfg

@@ -0,0 +1,147 @@
+# This file contains common pin mappings for Alligator (Rev.2) board.
+# To use this config, the firmware should be compiled for the Arduino
+# Due.
+
+# Remember flash procedure:
+# sudo /etc/init.d/alligator-manager --erase
+# sudo bossac -e -w -v -b -R -i -p ttyAMA0 klipper.bin
+# See alligator github for alligator manager:
+# https://github.com/3Dartists/alligator-manager
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[static_digital_output DRV8825_microstepping]
+pins:PC10
+pins:PC29
+pins:PC19
+pins:PC18
+
+[dac084S085 stepper_digipot]
+enable_pin: PB14
+spi_bus: spi0
+# Scale the config so that the channel value can be specified in amps.
+# (For Alligator v2.0 boards, use 2.50)
+scale: 2.50
+# Channel A in this example is X, B is Y, C is Z, D is E0,1,2,3.
+channel_A: 1.5
+channel_B: 1.5
+channel_C: 1.5
+channel_D: 1.0
+# channel D will be the current used by all extruders if> 1
+
+[stepper_x]
+step_pin: PB24
+dir_pin: !PB25
+enable_pin: !PA15
+microsteps: 32 # number of microstep 16, 32
+rotation_distance: 16
+endstop_pin: ^!PC5
+position_endstop: -30
+position_max: 220
+position_min: -30
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB22
+dir_pin: !PB23
+enable_pin: !PA15
+microsteps: 32
+rotation_distance: 16
+endstop_pin: ^!PC3
+position_endstop: -8
+position_min: -8
+position_max: 220
+homing_speed: 50
+
+[stepper_z]
+step_pin: PC27
+dir_pin: PC28
+enable_pin: !PA15
+microsteps: 32
+rotation_distance: 4
+endstop_pin: ^!PC2
+position_endstop: 0
+position_max: 240
+position_min: -1
+
+[extruder]
+step_pin: PC25
+dir_pin: PC26
+enable_pin: !PA15
+microsteps: 32
+rotation_distance: 7
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA1
+sensor_pin: PA16 # PA16(near mcu) or PA24(near ethernet)
+sensor_type: ATC Semitec 104NT-4-R025H42G
+control: pid
+pid_kp: 15.572
+pid_ki: 0.446
+pid_kd: 136.064
+min_temp: 0
+max_temp: 270
+
+#[extruder1]
+#step_pin: PD3
+#dir_pin: !PD2
+#enable_pin: !PA15
+#microsteps: 32
+#heater_pin: PC22
+#sensor_pin: PB25
+
+#[extruder2]
+#step_pin: PD7
+#dir_pin: !PD6
+#enable_pin: !PA15
+#microsteps: 32
+#heater_pin: PC21
+#sensor_pin: PC28
+
+#[extruder3]
+#step_pin: PD9
+#dir_pin: !PD8
+#enable_pin: !PA15
+#microsteps: 32
+#heater_pin: PA29
+#sensor_pin: PC5
+
+[heater_bed]
+heater_pin: PA0
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA24 # PA16(near mcu) or PA24(near ethernet)
+control: pid
+pid_kp: 73.517
+pid_ki: 1.132
+pid_kd: 1193.728
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA7
+
+#[heater_fan fan1]
+#pin: PA5
+#heater: extruder
+
+[output_pin BEEPER_pin]
+pin: PB19
+pwm: True
+value: 0
+shutdown_value: 0
+cycle_time: 0.1
+scale: 1000
+
+[mcu]
+serial: /dev/ttyAMA0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 1000
+max_z_velocity: 20
+max_z_accel: 100
+
+#[bltouch]
+#sensor_pin: ^PC6
+#control_pin: PC4

config/generic-alligator-r3.cfg

@@ -0,0 +1,135 @@
+# This file contains common pin mappings for Alligator (Rev.3) board.
+# To use this config, the firmware should be compiled for the Arduino
+# Due.
+
+# Remember flash procedure:
+# sudo /etc/init.d/alligator-manager --erase
+# sudo bossac -e -w -v -b -R -i -p ttyAMA0 klipper.bin
+# See alligator github for alligator manager:
+# https://github.com/3Dartists/alligator-manager
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[static_digital_output DRV8825_microstepping]
+pins:PC10
+pins:PC29
+pins:PC19
+pins:PC18
+
+[dac084S085 stepper_digipot]
+enable_pin: PD2
+spi_bus: spi0
+# Scale the config so that the channel value can be specified in amps.
+# (For Alligator v3.0 boards, use 2.50)
+scale: 2.50
+# Channel A in this example is X, B is Y, C is Z, D is E0,1,2,3.
+channel_A: 1.5
+channel_B: 1.5
+channel_C: 1.5
+channel_D: 1.0
+# channel D will be the current used by all extruders if> 1
+
+[stepper_x]
+step_pin: PB24
+dir_pin: !PB25
+enable_pin: !PA15
+microsteps: 32 # number of microstep 16, 32
+rotation_distance: 16
+endstop_pin: ^!PC5
+position_endstop: -30
+position_max: 220
+position_min: -30
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB22
+dir_pin: !PB23
+enable_pin: !PC28
+microsteps: 32
+rotation_distance: 16
+endstop_pin: ^!PC3
+position_endstop: -8
+position_min: -8
+position_max: 220
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB20
+dir_pin: PB21
+enable_pin: !PA29
+microsteps: 32
+rotation_distance: 4
+endstop_pin: ^!PC2
+position_endstop: 0
+position_max: 240
+position_min: -1
+
+[extruder]
+step_pin: PB18
+dir_pin: PB19
+enable_pin: !PC27
+microsteps: 32
+rotation_distance: 7
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA19
+sensor_pin: PC25
+sensor_type: ATC Semitec 104NT-4-R025H42G
+control: pid
+pid_kp: 15.572
+pid_ki: 0.446
+pid_kd: 136.064
+min_temp: 0
+max_temp: 270
+
+#[extruder1]
+#step_pin: PB17
+#dir_pin: !PB14
+#enable_pin: !PD6
+#microsteps: 32
+#heater_pin: PC22
+#sensor_pin: PA29
+
+#[extruder2]
+#step_pin: PB12
+#dir_pin: !PB13
+#enable_pin: !PD8
+#microsteps: 32
+#heater_pin: PC21
+#sensor_pin: PC28
+
+#[extruder3]
+#step_pin: PB15
+#dir_pin: !PB16
+#enable_pin: !PD9
+#microsteps: 32
+#heater_pin: PA29
+#sensor_pin: PB25
+
+[heater_bed]
+heater_pin: PA0
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA8
+control: pid
+pid_kp: 73.517
+pid_ki: 1.132
+pid_kd: 1193.728
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PA7
+
+#[heater_fan fan1]
+#pin: PA5
+#heater: extruder
+
+[mcu]
+serial: /dev/ttyAMA0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 1000
+max_z_velocity: 20
+max_z_accel: 100

config/generic-bigtreetech-skr-pico-v1.0.cfg

@@ -0,0 +1,132 @@
+# This file contains common pin mappings for the BIGTREETECH SKR Pico V1.0
+# To use this config, the firmware should be compiled for the RP2040 with
+# USB communication.
+
+# The "make flash" command does not work on the SKR Pico V1.0. Instead,
+# after running "make", copy the generated "out/klipper.uf2" file
+# to the mass storage device in RP2040 boot mode
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: gpio11
+dir_pin: !gpio10
+enable_pin: !gpio12
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^gpio4
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[tmc2209 stepper_x]
+uart_pin: gpio9
+tx_pin: gpio8
+uart_address: 0
+run_current: 0.580
+stealthchop_threshold: 999999
+
+[stepper_y]
+step_pin: gpio6
+dir_pin: !gpio5
+enable_pin: !gpio7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^gpio3
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[tmc2209 stepper_y]
+uart_pin: gpio9
+tx_pin: gpio8
+uart_address: 2
+run_current: 0.580
+stealthchop_threshold: 999999
+
+[stepper_z]
+step_pin: gpio19
+dir_pin: gpio28
+enable_pin: !gpio2
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^gpio25
+position_endstop: 0.0
+position_max: 250
+
+[tmc2209 stepper_z]
+uart_pin: gpio9
+tx_pin: gpio8
+uart_address: 1
+run_current: 0.580
+stealthchop_threshold: 999999
+
+[extruder]
+step_pin: gpio14
+dir_pin: !gpio13
+enable_pin: !gpio15
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: gpio23
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: gpio27
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 250
+
+[tmc2209 extruder]
+uart_pin: gpio9
+tx_pin: gpio8
+uart_address: 3
+run_current: 0.650
+stealthchop_threshold: 999999
+
+[heater_bed]
+heater_pin: gpio21
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: gpio26
+control: pid
+pid_Kp: 54.027
+pid_Ki: 0.770
+pid_Kd: 948.182
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: gpio17
+
+[heater_fan nozzle_cooling_fan]
+pin: gpio18
+
+[heater_fan controller_fan]
+pin: gpio20
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[neopixel board_neopixel]
+pin: gpio24
+chain_count: 1
+color_order: GRB
+initial_RED: 0.3
+initial_GREEN: 0.3
+initial_BLUE: 0.3
+
+#[bltouch]
+#sensor_pin: gpio22
+#control_pin: gpio29
+
+#[filament_switch_sensor runout_sensor]
+#switch_pin: ^gpio16

config/generic-fysetc-s6-v2.cfg

@@ -11,7 +11,7 @@ dir_pin: PE10
 enable_pin: !PE9
 microsteps: 16
 rotation_distance: 40
-endstop_pin: PB14  # PA1 for X-max
+endstop_pin: ^PB14  # PA1 for X-max
 position_endstop: 0
 position_max: 200
 
@@ -21,7 +21,7 @@ dir_pin: PB12
 enable_pin: !PD9
 microsteps: 16
 rotation_distance: 40
-endstop_pin: PB13  # PA2 for Y-max
+endstop_pin: ^PB13  # PA2 for Y-max
 position_endstop: 0
 position_max: 200
 
@@ -31,7 +31,7 @@ dir_pin: PD13
 enable_pin: !PD15
 microsteps: 16
 rotation_distance: 8
-endstop_pin: PA0  # PA3 for Z-max
+endstop_pin: ^PA0  # PA3 for Z-max
 position_endstop: 0
 position_max: 400
 

config/generic-fysetc-s6.cfg

@@ -11,7 +11,7 @@ dir_pin: PE10
 enable_pin: !PE12
 microsteps: 16
 rotation_distance: 40
-endstop_pin: PB14  # PA1 for X-max
+endstop_pin: ^PB14  # PA1 for X-max
 position_endstop: 0
 position_max: 200
 
@@ -21,7 +21,7 @@ dir_pin: PB12
 enable_pin: !PD9
 microsteps: 16
 rotation_distance: 40
-endstop_pin: PB13  # PA2 for Y-max
+endstop_pin: ^PB13  # PA2 for Y-max
 position_endstop: 0
 position_max: 200
 
@@ -31,7 +31,7 @@ dir_pin: PD13
 enable_pin: !PD15
 microsteps: 16
 rotation_distance: 8
-endstop_pin: PA0  # PA3 for Z-max (and servo)
+endstop_pin: ^PA0  # PA3 for Z-max (and servo)
 position_endstop: 0
 position_max: 400
 

config/generic-fysetc-spider.cfg

@@ -12,7 +12,7 @@ dir_pin: PE10
 enable_pin: !PE9
 microsteps: 16
 rotation_distance: 40
-endstop_pin: PB14  # PA1 for X-max
+endstop_pin: ^PB14  # PA1 for X-max
 position_endstop: 0
 position_max: 200
 
@@ -32,7 +32,7 @@ dir_pin: PD13
 enable_pin: !PD15
 microsteps: 16
 rotation_distance: 8
-endstop_pin: PA0  # PA3 for Z-max
+endstop_pin: ^PA0  # PA3 for Z-max
 position_endstop: 0
 position_max: 400
 

config/generic-mellow-fly-cdy-v3.cfg

@@ -0,0 +1,216 @@
+# This file contains common pin mappings for the Mellow Fly-CDY-v3.
+# 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-CDY-v3. Instead,
+# after running "make", copy the generated "out/klipper.bin" file to a
+# file named "firmware.bin" on an SD card and then restart the Fly-CDY-v3
+# with that SD card.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PE5
+dir_pin: PC0
+enable_pin: !PC1
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PC7        # X-MAX PC6
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PE4
+dir_pin: !PC13
+enable_pin: !PC14
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PD11       # Y-MAX PD10
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PE3
+dir_pin: PB7
+enable_pin: !PB8
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PB10       # Z-MAX PB11
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PE2
+dir_pin: PD6
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PD12
+sensor_pin: PA3
+sensor_type: EPCOS 100K B57560G104F
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+#[extruder1]
+#step_pin: PE1
+#dir_pin: !PD3
+#enable_pin: !PD4
+#heater_pin: PD13
+#sensor_pin: PC4
+
+#[extruder2]
+#step_pin: PE0
+#dir_pin: !PA15
+#enable_pin: !PD0
+#heater_pin: PD14
+#sensor_pin: PC5
+
+[heater_bed]
+heater_pin: PB0
+sensor_type: Generic 3950
+sensor_pin: PB1
+control: watermark
+min_temp: 0
+max_temp: 130
+
+#FAN0
+[fan]
+pin: PA0
+
+#FAN1
+#[heater_fan fan1]
+#pin: PA1
+
+#FAN2
+#[heater_fan fan2]
+#pin: PA2
+
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PC15
+#run_current: 0.800
+#diag_pin: PC7
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_y]
+#uart_pin: PA8
+#run_current: 0.800
+#diag_pin: PC6
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_z]
+#uart_pin: PB6
+#run_current: 0.800
+#diag_pin: PD11
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder]
+#uart_pin: PD5
+#run_current: 0.600
+#diag_pin: PD10
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder1]
+#uart_pin: PD1
+#run_current: 0.600
+#diag_pin: PB10
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder2]
+#uart_pin: PE9
+#run_current: 0.600
+#diag_pin: PB11
+#stealthchop_threshold: 999999
+
+########################################
+# TMC5160 configuration
+########################################
+
+#[tmc5160 stepper_x]
+#cs_pin: PC15
+#spi_bus: spi3
+#run_current: 0.800
+#diag1_pin: PC7
+#stealthchop_threshold: 999999
+
+#[tmc5160 stepper_y]
+#cs_pin: PA8
+#spi_bus: spi3
+#run_current: 0.800
+#diag1_pin: PC6
+#stealthchop_threshold: 999999
+
+#[tmc5160 stepper_z]
+#cs_pin: PB6
+#spi_bus: spi3
+#run_current: 0.800
+#diag1_pin: PD11
+#stealthchop_threshold: 999999
+
+#[tmc5160 extruder]
+#cs_pin: PD5
+#spi_bus: spi3
+#run_current: 0.800
+#diag1_pin: PD10
+#stealthchop_threshold: 999999
+
+#[tmc5160 extruder1]
+#cs_pin: PD1
+#spi_bus: spi3
+#run_current: 0.800
+#diag1_pin: PB10
+#stealthchop_threshold: 999999
+
+#[tmc5160 extruder2]
+#cs_pin: PE9
+#spi_bus: spi3
+#run_current: 0.800
+#diag1_pin: PB11
+#stealthchop_threshold: 999999
+
+########################################
+# Accelerometer (ADXL345) pins
+########################################
+
+## SCK=PA5, MISO=PA6, MOSI=PA7
+#[adxl345]
+#cs_pin: PE7
+#spi_bus: spi1
+
+########################################
+# EXP1 / EXP2 (display) pins
+########################################
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=<NC>, EXP1_3=PB2,  EXP1_5=PE15, EXP1_7=PA13,  EXP1_9=<GND>,
+    EXP1_2=PA9,  EXP1_4=PA10, EXP1_6=PE14, EXP1_8=PA14,  EXP1_10=<5V>,
+    # EXP2 header
+    EXP2_1=PA6,  EXP2_3=PD8,  EXP2_5=PD9,  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.

config/generic-mellow-fly-gemini-v1.cfg

@@ -0,0 +1,157 @@
+# This file contains common pin mappings for the Mellow Fly-Gemini-v1.
+# To use this config, the firmware should be compiled for the
+# STM32F405 with a "32KiB bootloader".
+
+# The "make flash" command does not work on the Fly-Gemini-v1. 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-Gemini-v1
+# with that SD card.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC13
+dir_pin: PC1
+enable_pin: !PB2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC14
+dir_pin: !PC4
+enable_pin: !PB6
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PB1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PC15
+dir_pin: PC5
+enable_pin: !PB5
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PB10
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PC3
+dir_pin: PC7
+enable_pin: !PB4
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA0
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC0
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PA2
+sensor_type: Generic 3950
+sensor_pin: PC2
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PC6
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PB11
+#run_current: 0.800
+#diag_pin: PA3
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_y]
+#uart_pin: PB9
+#run_current: 0.800
+#diag_pin: PB1
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_z]
+#uart_pin: PB8
+#run_current: 0.800
+#diag_pin: PB10
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder]
+#uart_pin: PB7
+#run_current: 0.600
+#diag_pin:
+#stealthchop_threshold: 999999
+
+########################################
+# TMC5160 configuration
+########################################
+
+#[tmc5160 stepper_x]
+#cs_pin: PB11
+#spi_bus: spi1
+#run_current: 0.800
+#diag1_pin: PA3
+#stealthchop_threshold: 999999
+
+#[tmc5160 stepper_y]
+#cs_pin: PB9
+#spi_bus: spi1
+#run_current: 0.800
+#diag1_pin: PB1
+#stealthchop_threshold: 999999
+
+#[tmc5160 stepper_z]
+#cs_pin: PB8
+#spi_bus: spi1
+#run_current: 0.800
+#diag1_pin: PB10
+#stealthchop_threshold: 999999
+
+#[tmc5160 extruder]
+#cs_pin: PB7
+#spi_bus: spi1
+#run_current: 0.800
+#diag1_pin:
+#stealthchop_threshold: 999999
+
+########################################
+# EXP1 / EXP2 (display) pins
+########################################
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=<NC>, EXP1_3=PA13,  EXP1_5=PA9,   EXP1_7=<NC>,  EXP1_9=<GND>,
+    EXP1_2=PA4,  EXP1_4=PA10,  EXP1_6=PA8,   EXP1_8=<NC>,  EXP1_10=<5V>,
+    # EXP2 header
+    EXP2_1=PB14, EXP2_3=PA15,  EXP2_5=PA14,  EXP2_7=PB3,   EXP2_9=<GND>,
+    EXP2_2=PB13, EXP2_4=PB12,  EXP2_6=PB15,  EXP2_8=<RST>, EXP2_10=<NC>,
+
+# See the sample-lcd.cfg file for definitions of common LCD displays.

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

@@ -0,0 +1,161 @@
+# This file contains common pin mappings for the Mellow Fly-Gemini-v2.
+# To use this config, the firmware should be compiled for the
+# STM32F405 with a "32KiB bootloader".
+
+# The "make flash" command does not work on the Fly-Gemini-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-Gemini-v2
+# with that SD card.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC13
+dir_pin: PC1
+enable_pin: !PB2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC14
+dir_pin: !PC4
+enable_pin: !PD2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PB1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PC15
+dir_pin: PC5
+enable_pin: !PC12
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PB10
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PC3
+dir_pin: PC8
+enable_pin: !PC11
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA0
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC0
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PA2
+sensor_type: Generic 3950
+sensor_pin: PC2
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PC6
+
+#FAN1
+#[heater_fan fan1]
+#pin: PC7
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PB11
+#run_current: 0.800
+#diag_pin: PA3
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_y]
+#uart_pin: PB9
+#run_current: 0.800
+#diag_pin: PB1
+#stealthchop_threshold: 999999
+
+#[tmc2209 stepper_z]
+#uart_pin: PB8
+#run_current: 0.800
+#diag_pin: PB10
+#stealthchop_threshold: 999999
+
+#[tmc2209 extruder]
+#uart_pin: PB7
+#run_current: 0.600
+#diag_pin:
+#stealthchop_threshold: 999999
+
+########################################
+# TMC5160 configuration
+########################################
+
+#[tmc5160 stepper_x]
+#cs_pin: PB11
+#spi_bus: spi1
+#run_current: 0.800
+#diag1_pin: PA3
+#stealthchop_threshold: 999999
+
+#[tmc5160 stepper_y]
+#cs_pin: PB9
+#spi_bus: spi1
+#run_current: 0.800
+#diag1_pin: PB1
+#stealthchop_threshold: 999999
+
+#[tmc5160 stepper_z]
+#cs_pin: PB8
+#spi_bus: spi1
+#run_current: 0.800
+#diag1_pin: PB10
+#stealthchop_threshold: 999999
+
+#[tmc5160 extruder]
+#cs_pin: PB7
+#spi_bus: spi1
+#run_current: 0.800
+#diag1_pin:
+#stealthchop_threshold: 999999
+
+########################################
+# EXP1 / EXP2 (display) pins
+########################################
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PC9,  EXP1_3=PA13,  EXP1_5=PA9,   EXP1_7=<NC>,  EXP1_9=<GND>,
+    EXP1_2=PB6,  EXP1_4=PA10,  EXP1_6=PA8,   EXP1_8=<NC>,  EXP1_10=<5V>,
+    # EXP2 header
+    EXP2_1=PB14, EXP2_3=PA15,  EXP2_5=PA14,  EXP2_7=PC10,   EXP2_9=<GND>,
+    EXP2_2=PB13, EXP2_4=PB12,  EXP2_6=PB15,  EXP2_8=<RST>, EXP2_10=<NC>,
+
+# See the sample-lcd.cfg file for definitions of common LCD displays.

config/generic-mellow-super-infinty-hv.cfg

@@ -53,7 +53,7 @@ microsteps: 16
 rotation_distance: 33.500
 nozzle_diameter: 0.400
 filament_diameter: 1.750
-heater_pin: PC7 # Heat0
+heater_pin: PB0 # Heat0
 sensor_pin: PF4 # ADC_0
 sensor_type: EPCOS 100K B57560G104F
 control: pid
@@ -240,72 +240,56 @@ max_z_accel: 100
 
 #[tmc5160 stepper_x]
 #cs_pin: PC4
-#spi_software_miso_pin: PB5
+#spi_bus: spi3
-#spi_software_mosi_pin: PB4
-#spi_software_sclk_pin: PB3
 ##diag1_pin: PG12
 #run_current: 0.800
 #stealthchop_threshold: 999999
 
 #[tmc5160 stepper_y]
 #cs_pin: PF12
-#spi_software_miso_pin: PB5
+#spi_bus: spi3
-#spi_software_mosi_pin: PB4
-#spi_software_sclk_pin: PB3
 ##diag1_pin: PG11
 #run_current: 0.800
 #stealthchop_threshold: 999999
 
 #[tmc5160 stepper_z]
 #cs_pin: PF15
-#spi_software_miso_pin: PB5
+#spi_bus: spi3
-#spi_software_mosi_pin: PB4
-#spi_software_sclk_pin: PB3
 ##diag1_pin: PG10
 #run_current: 0.650
 #stealthchop_threshold: 999999
 
 #[tmc5160 extruder]
 #cs_pin: PE7
-#spi_software_miso_pin: PB5
+#spi_bus: spi3
-#spi_software_mosi_pin: PB4
-#spi_software_sclk_pin: PB3
 ##diag1_pin: PG9
 #run_current: 0.800
 #stealthchop_threshold: 999999
 
 #[tmc5160 extruder1]
 #cs_pin: PE10
-#spi_software_miso_pin: PB5
+#spi_bus: spi3
-#spi_software_mosi_pin: PB4
-#spi_software_sclk_pin: PB3
 ##diag1_pin: PD7
 #run_current: 0.800
 #stealthchop_threshold: 999999
 
 #[tmc5160 extruder2]
 #cs_pin: PF1
-#spi_software_miso_pin: PB5
+#spi_bus: spi3
-#spi_software_mosi_pin: PB4
-#spi_software_sclk_pin: PB3
 ##diag1_pin: PD6
 #run_current: 0.800
 #stealthchop_threshold: 999999
 
 #[tmc5160 extruder3]
 #cs_pin: PG2
-#spi_software_miso_pin: PB5
+#spi_bus: spi3
-#spi_software_mosi_pin: PB4
-#spi_software_sclk_pin: PB3
 ##diag1_pin: PA8
 #run_current: 0.800
 #stealthchop_threshold: 999999
 
 #[tmc5160 extruder4]
 #cs_pin: PG5
-#spi_software_miso_pin: PB5
+#spi_bus: spi3
-#spi_software_mosi_pin: PB4
-#spi_software_sclk_pin: PB3
 ##diag1_pin: PF3
 #run_current: 0.800
 #stealthchop_threshold: 999999

config/generic-th3d-ezboard-lite-v2.0.cfg

@@ -0,0 +1,128 @@
+# This file contains common pin mappings for the TH3D EZBoard Lite v2.
+# To use this config, the firmware should be compiled for the
+# STM32F407 with 12mhz Crystal, 48KiB Bootloader, and USB communication.
+
+# The "make flash" command does not work on this board. Instead,
+# after running "make", copy the generated "out/klipper.bin" file to a
+# file named "firmware.bin" on an SD card and then restart the board
+# with that SD card.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_stm32f407xx_0000000000000000-if00
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[stepper_x]
+step_pin: PB3
+dir_pin: PD2
+enable_pin: !PB5
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^!PC1
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[tmc2209 stepper_x]
+uart_pin: PC11
+tx_pin: PC10
+run_current: 0.600
+uart_address: 0
+
+[stepper_y]
+step_pin: PB8
+dir_pin: PC13
+enable_pin: !PC12
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^!PC2
+position_endstop: 0
+position_max: 235
+homing_speed: 50
+
+[tmc2209 stepper_y]
+uart_pin: PC11
+tx_pin: PC10
+run_current: 0.600
+uart_address: 1
+
+[stepper_z]
+step_pin: PA3
+dir_pin: PB1
+enable_pin: !PC14
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^!PC3
+position_endstop: 0.5
+position_max: 250
+
+[tmc2209 stepper_z]
+uart_pin: PC11
+tx_pin: PC10
+run_current: 0.700
+uart_address: 2
+
+[extruder]
+step_pin: PA15
+dir_pin: PB11
+enable_pin: !PB2
+microsteps: 16
+rotation_distance: 34.406
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA1
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[tmc2209 extruder]
+uart_pin: PC11
+tx_pin: PC10
+run_current: 0.800
+stealthchop_threshold: 999999
+uart_address: 3
+
+[heater_bed]
+heater_pin: PC9
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA0
+control: pid
+pid_Kp: 54.027
+pid_Ki: 0.770
+pid_Kd: 948.182
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PC6
+
+#[bltouch]
+#sensor_pin: ^PC3
+#control_pin: PA2
+
+#[filament_switch_sensor my_sensor]
+#switch_pin: PC0
+
+########################################
+# EXP1 / EXP2 (display) pins
+########################################
+
+[board_pins]
+aliases:
+# EXP1 header
+    EXP1_1=PA14, EXP1_3=PC4, EXP1_5=PC5, EXP1_7=PB12, EXP1_9=<GND>,
+    EXP1_2=PB0, EXP1_4=<RST>, EXP1_6=PB13, EXP1_8=PB15, EXP1_10=<5V>
+
+# See the sample-lcd.cfg file for definitions of common LCD displays.

config/kit-voron2-250mm.cfg

@@ -227,14 +227,14 @@ gcode:
 [quad_gantry_level]
 #   Use QUAD_GANTRY_LEVEL to level a gantry.
 gantry_corners:
-   -55,-7
+   -55, -7
    305, 320
 #   Min & Max gantry corners - measure from nozzle at MIN (0,0) and MAX (250,250) to respective belt positions
 points:
-   25,0
+   25, 0
-   25,200
+   25, 200
-   225,200
+   225, 200
-   225,0
+   225, 0
 #   Probe points
 speed: 200
 horizontal_move_z: 6

config/kit-zav3d-2019.cfg

@@ -134,9 +134,9 @@ sample_retract_dist: 3.0
 [bed_mesh]
 speed: 100
 horizontal_move_z: 5
-mesh_min: 69,41
+mesh_min: 69, 41
-mesh_max: 189,161
+mesh_max: 189, 161
-probe_count: 3,3
+probe_count: 3, 3
 
 [homing_override]
 set_position_z: 6

config/printer-anycubic-4maxpro-2.0-2021.cfg

@@ -132,10 +132,10 @@ max_z_accel: 50
 square_corner_velocity: 5
 
 [bed_screws]
-screw1: 5,5
+screw1: 5, 5
-screw2: 265,210
+screw2: 265, 210
-screw3: 5,210
+screw3: 5, 210
-screw4: 265,5
+screw4: 265, 5
 
 [filament_switch_sensor filament_sensor]
 switch_pin: ^!PC4

config/printer-biqu-bx-2021.cfg

@@ -0,0 +1,317 @@
+# This file contains common pin mappings for the BigTreeTech SKR SE BX.
+# To use this config, the firmware should be compiled for the
+# STM32H743 with a "128KiB bootloader". Additionally, GPIO pins PB5
+# and PE5 need to be set at microcontroller startup.
+
+######################################################################
+# NOTE: In order enable the TFT70-BX display when the printer first
+# starts, add PB5 and PE5 to the `GPIO pins to set at micro-controller
+# startup` section when running "make menuconfig"
+######################################################################
+
+# The "make flash" command does not work on the SKR SE BX. Instead,
+# after running "make", copy the generated "out/klipper.bin" file to a
+# file named "firmware.bin" on an SD card and then restart the SKR SE BX
+# with that SD card. After klipper has been flashed once to the board,
+# you can update klipper by leaving a microSD inserted and running the
+# scripts/flash-sd.sh script.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+########################################
+# Steppers
+########################################
+
+[stepper_x]
+step_pin: PG13
+dir_pin: !PG12
+enable_pin: !PG14
+microsteps: 16
+rotation_distance: 40
+full_steps_per_rotation: 400
+endstop_pin: tmc2209_stepper_x:virtual_endstop
+position_endstop: -13
+position_min: -13
+position_max: 250
+homing_speed: 30
+homing_retract_dist: 0
+
+[stepper_y]
+step_pin: PB3
+dir_pin: !PD3
+enable_pin: !PB4
+microsteps: 16
+rotation_distance: 40
+full_steps_per_rotation: 400
+endstop_pin: tmc2209_stepper_y:virtual_endstop
+position_endstop: -7
+position_min: -7
+position_max: 250
+homing_speed: 30
+homing_retract_dist: 0
+
+[stepper_z]
+step_pin: PD7
+dir_pin: PD6
+enable_pin: !PG9
+microsteps: 16
+rotation_distance: 8
+full_steps_per_rotation: 400
+endstop_pin: probe:z_virtual_endstop
+position_min: -2
+position_max: 250
+
+[stepper_z1]
+step_pin: PA8
+dir_pin: PC9
+enable_pin: !PD2
+microsteps: 16
+rotation_distance: 8
+full_steps_per_rotation: 400
+
+[extruder]
+step_pin: PC14
+dir_pin: !PC13
+enable_pin: !PC15
+microsteps: 16
+rotation_distance: 24.031
+gear_ratio: 7:1
+full_steps_per_rotation: 200
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PH4
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 350
+
+[safe_z_home]
+home_xy_position: 125,125
+speed: 200
+z_hop: 10
+z_hop_speed: 25
+
+########################################
+# TMC2209 configuration
+########################################
+
+[tmc2209 stepper_x]
+uart_pin: PG10
+diag_pin: ^PB11
+run_current: 0.800
+sense_resistor: 0.150
+driver_SGTHRS: 127
+stealthchop_threshold: 999999
+
+[tmc2209 stepper_y]
+uart_pin: PD4
+diag_pin: ^PB12
+run_current: 0.800
+sense_resistor: 0.150
+driver_SGTHRS: 137
+stealthchop_threshold: 999999
+
+[tmc2209 stepper_z]
+uart_pin: PD5
+run_current: 1.000
+sense_resistor: 0.150
+stealthchop_threshold: 999999
+
+[tmc2209 stepper_z1]
+uart_pin: PC8
+run_current: 1.000
+sense_resistor: 0.150
+stealthchop_threshold: 999999
+
+[tmc2209 extruder]
+uart_pin: PI8
+run_current: 0.800
+sense_resistor: 0.150
+stealthchop_threshold: 0
+
+########################################
+# PRINTER
+########################################
+
+[mcu]
+serial: /dev/ttyAMA0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 200
+max_accel: 1000
+max_z_velocity: 10
+max_z_accel: 1000
+
+[fan]
+pin: PA5
+
+[heater_fan extruder_fan]
+pin: PA6
+heater: extruder
+
+[controller_fan controller_fan]
+pin: PA7
+idle_timeout: 300 # 5 minute timeout
+
+[output_pin motor_power]
+pin: PI11
+value: 1
+
+[idle_timeout]
+gcode:
+    TURN_OFF_HEATERS
+    M84
+    SET_PIN PIN=screen VALUE=0
+    SET_LED LED=led BLUE=0.0 RED=0.0 GREEN=0.0
+
+[pause_resume]
+
+########################################
+# DISPLAY
+########################################
+
+[output_pin screen]
+pin: PB5
+value: 1
+
+[display_status]
+
+[gcode_button lcd_button]
+pin: PH8
+press_gcode:
+    SET_PIN PIN=screen VALUE=1
+    SET_LED LED=led BLUE=1.0 RED=1.0 GREEN=1.0
+
+[output_pin beeper]
+pin: PA14
+pwm: True
+cycle_time: 0.001
+
+########################################
+# LEDS
+########################################
+
+[neopixel led]
+pin: PH3
+chain_count: 15
+
+[neopixel knob]
+pin: PB1
+chain_count: 2
+
+[delayed_gcode welcome]
+initial_duration: 0.1
+gcode:
+    SET_LED LED=knob RED=0.0 BLUE=1.0 GREEN=0.0
+    SET_LED LED=led RED=0.0 BLUE=1.0 GREEN=0.0
+    G4 P1000
+    SET_LED LED=led RED=1.0 BLUE=0.0 GREEN=0.0
+    G4 P1000
+    SET_LED LED=led RED=0.0 BLUE=0.0 GREEN=1.0
+    G4 P1000
+    SET_LED LED=led RED=1.0 BLUE=1.0 GREEN=1.0
+
+########################################
+# BED
+########################################
+
+[heater_bed]
+heater_pin: PA4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PH5
+control: watermark
+min_temp: 0
+max_temp: 250
+
+[probe]
+pin: PH2
+x_offset: -30.1
+y_offset: 26.78
+z_offset: 0
+speed: 5
+samples: 3
+samples_result: median
+sample_retract_dist: 3.0
+samples_tolerance: 0.006
+samples_tolerance_retries: 5
+
+[bed_mesh]
+speed: 120
+mesh_min: 10,19.78
+mesh_max: 219.9,230
+probe_count: 4,4
+
+[screws_tilt_adjust]
+screw1: 58,-7
+screw1_name: front left
+screw2: 245,-7
+screw2_name: front right
+screw3: 245,179
+screw3_name: rear right
+screw4: 58,179
+screw4_name: rear left
+speed: 100
+screw_thread: CCW-M3
+
+########################################
+## MACROS
+########################################
+
+# Slicer setup: "print_start NOZZLE=<temp> BED=<temp>
+# This macro does a preheat on the probe for better accuracy and needs
+# the temps passed in. examples:
+# Cura: PRINT_START BED={material_bed_temperature_layer_0} NOZZLE={material_print_temperature_layer_0}
+# PrusaSlicer: PRINT_START NOZZLE=[first_layer_temperature] BED=[bed_temperature]
+#   Use PRINT_END for the slicer ending script
+[gcode_macro PRINT_START]
+gcode:
+    # Turn on screen if it's not on
+    SET_PIN PIN=screen VALUE=1
+    G28
+    G0 Z1
+    # Warm up nozzle, not to full temps yet
+    M104 S150
+    # Set LED to Purple for bed heating
+    SET_LED LED=led BLUE=0.94 RED=0.63 GREEN=0.13
+    M117 Heating Bed
+
+    # Allow probe to warm up, then re-home Z
+    M190 S60
+    M105
+    G4 P90000
+    G28 Z
+
+    M190 S{params.BED}
+    M105
+    G90 # Ensure we are in absolute mode
+    G21
+    M83 # Set the extruder to relative mode
+    G92 E0
+
+    # Set LED to Red for nozzle heating
+    SET_LED LED=led BLUE=0.0 RED=1.0 GREEN=0.0
+    M117 Heating Nozzle
+    G0 X2 Y0 F6000
+    G0 Z0.4
+    M109 S{params.NOZZLE}
+    M105
+    # Set LED to white for printing
+    SET_LED LED=led BLUE=1.0 RED=1.0 GREEN=1.0
+    M117 Printing
+
+    # Purge Line
+    G1 X120 E30 F1200
+    G1 Y1
+    G1 X2 E30 F1200
+    G92 E0
+
+    G1 Z1.0 F600
+    G92 E0
+    G0 F9000
+    G90 # Set back to Absolute mode

config/printer-creality-cr10-smart-pro-2022.cfg

@@ -0,0 +1,161 @@
+# This file contains pin mappings for the Creality CR-10 Smart Pro
+# with a CR-FDM-v2.5.S1 board.
+#
+# To use this config, during "make menuconfig" select the STM32F103
+# with a "64KiB bootloader" and serial (on USART1 PA10/PA9)
+# communication. Enable PA0 GPIO pin on startup.
+#
+# Flash this firmware on the MCU by copying "out/klipper.bin" to an SD
+# card and turning the printer on with the card inserted. The firmware
+# filename must end in ".bin" and must not match the last filename
+# that was flashed.
+#
+# The machine itself includes a small router that can run a Klipper
+# frontend. You don't need to buy a single-board computer.
+#
+# See docs/Config_Reference.md for a description of parameters.
+
+
+[stepper_x]
+step_pin: PB8
+dir_pin: !PB7
+enable_pin: !PC3
+rotation_distance: 40
+microsteps: 16
+endstop_pin: PC4
+position_min: -5
+position_endstop: -5
+position_max: 305
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB6
+dir_pin: PB5
+enable_pin: !PC3
+rotation_distance: 40
+microsteps: 16
+endstop_pin: PC5
+position_min: -2
+position_endstop: -2
+position_max: 302
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB4
+dir_pin: !PB3
+enable_pin: !PC3
+rotation_distance: 8
+microsteps: 16
+endstop_pin: probe:z_virtual_endstop
+position_min: -1.5
+position_max: 400
+homing_speed: 4
+second_homing_speed: 1
+homing_retract_dist: 2.0
+
+[extruder]
+step_pin: PC2
+dir_pin: !PB9
+enable_pin: !PC3
+rotation_distance: 7.640
+microsteps: 16
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB14
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PB1
+control: pid
+pid_Kp: 22.865
+pid_Ki: 1.292
+pid_Kd: 101.178
+min_temp: 0
+max_temp: 250
+
+[filament_switch_sensor runout_sensor]
+pause_on_runout: false
+runout_gcode: PAUSE
+insert_gcode: RESUME
+switch_pin: !PA15
+
+[heater_bed]
+heater_pin: PB13
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PB0
+control: pid
+pid_Kp: 72.49
+pid_Ki: 0.844
+pid_Kd: 1542.189
+min_temp: 0
+max_temp: 120
+
+[heater_fan hotend_fan]
+pin: PC13
+heater: extruder
+heater_temp: 50.0
+
+[fan]
+pin: PB15
+kick_start_time: 0.5
+
+[mcu]
+serial: /dev/ttyPrinter
+restart_method: command
+
+[temperature_sensor Board_MCU]
+sensor_type: temperature_mcu
+min_temp: 0
+max_temp: 100
+
+[bltouch]
+sensor_pin: ^PC15
+control_pin: PC14
+x_offset: -32.5
+y_offset: -40.6
+z_offset: 2.60 # initial safe value, get correct value by PROBE_CALIBRATE
+
+[safe_z_home]
+home_xy_position: 150,150
+speed: 50
+z_hop: 3
+z_hop_speed: 5
+
+[screws_tilt_adjust]
+screw1: 60, 80
+screw1_name: front left screw
+screw2: 300, 80
+screw2_name: front right screw
+# The rear screws are actually mechanically not reachable for the
+# probe, but that is ok, adjustments will still converge.
+screw3: 300, 300
+screw3_name: rear right screw
+screw4: 60, 300
+screw4_name: rear left screw
+horizontal_move_z: 10.
+speed: 50.
+screw_thread: CW-M3
+
+# Main light bar
+[output_pin lights]
+pin: PA7
+value: 1
+
+# Do not use PB12. PB12 resets the Wifi board.
+#[output_pin factory_reset]
+#pin: PB12
+#value: 0
+
+# Turns off the printer
+[output_pin power]
+pin: PA0
+value: 1
+shutdown_value: 1
+
+# Conservative default values that mimic the behaviour of the
+# stock firmware for easy results. It can go faster.
+[printer]
+kinematics: cartesian
+max_velocity: 500
+max_accel: 2000
+square_corner_velocity: 5.0
+max_z_velocity: 10
+max_z_accel: 100

config/printer-creality-cr20-pro-2019.cfg

@@ -64,7 +64,7 @@ speed: 3.0
 samples: 1
 
 [safe_z_home]
-home_xy_position: 117,117
+home_xy_position: 117, 117
 speed: 50.0
 z_hop: 10.0
 z_hop_speed: 100
@@ -72,9 +72,9 @@ z_hop_speed: 100
 [bed_mesh]
 speed: 100
 horizontal_move_z: 8
-mesh_min: 106,39
+mesh_min: 106, 39
-mesh_max: 281,229
+mesh_max: 281, 229
-probe_count: 3,3
+probe_count: 3, 3
 
 [heater_bed]
 heater_pin: PH5

config/printer-creality-cr6se-2021.cfg

@@ -80,7 +80,7 @@ min_temp: 0
 max_temp: 120
 
 [fan]
-pin: PA0
+pin: PB15
 kick_start_time: 0.5
 
 [mcu]

config/printer-creality-ender2pro-2021.cfg

@@ -0,0 +1,106 @@
+# This file contains pin mappings for the stock 2021 Creality
+# Ender2 Pro. To use this config, during "make menuconfig" select
+# the STM32F103 with a "28KiB bootloader" and serial
+# (on USART1 PA10/PA9) communication.
+
+# If you prefer a direct serial connection, in "make menuconfig"
+# select "Enable extra low-level configuration options" and select
+# serial (on USART3 PB11/PB10), which is broken out on the 10 pin IDC
+# cable used for the LCD module as follows:
+# 3: Tx, 4: Rx, 9: GND, 10: VCC
+
+# Flash this firmware by copying "out/klipper.bin" to a SD card and
+# turning on the printer with the card inserted. The firmware
+# filename must end in ".bin" and must not match the last filename
+# that was flashed.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC2
+dir_pin: PB9
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA5
+position_min: -20
+position_endstop: -20
+position_max: 165
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB8
+dir_pin: PB7
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA6
+position_min: -5
+position_endstop: -5
+position_max: 165
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB6
+dir_pin: !PB5
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PA7
+position_endstop: 0.0
+position_max: 180
+
+[extruder]
+max_extrude_only_distance: 100.0
+step_pin: PB4
+dir_pin: PB3
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 27.53480577
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA1
+sensor_pin: PC5
+sensor_type: EPCOS 100K B57560G104F
+control: pid
+pid_Kp: 29.634
+pid_Ki: 2.102
+pid_Kd: 104.459
+min_temp: 0
+max_temp: 260
+
+[heater_bed]
+heater_pin: PB10
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC4
+control: pid
+pid_Kp: 72.921
+pid_Ki: 1.594
+pid_Kd: 834.031
+min_temp: 0
+max_temp: 80
+
+[fan]
+pin: PA0
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[display]
+lcd_type: st7920
+cs_pin: PB12
+sclk_pin: PB13
+sid_pin: PB15
+encoder_pins: ^PB14, ^PA2
+click_pin: ^!PB2
+
+[output_pin beeper]
+pin: PC6

config/printer-creality-ender3-2018.cfg

@@ -88,6 +88,12 @@ max_accel: 3000
 max_z_velocity: 5
 max_z_accel: 100
 
+[bed_screws]
+screw1: 30.5, 37
+screw2: 30.5, 207
+screw3: 204.5, 207
+screw4: 204.5, 37
+
 [display]
 lcd_type: st7920
 cs_pin: PA3

config/printer-creality-ender3pro-2020.cfg

@@ -3,6 +3,12 @@
 # "make menuconfig" select the STM32F103 with a "28KiB bootloader" and
 # serial (on USART1 PA10/PA9) communication.
 
+# It should be noted that newer variations of this printer shipping in
+# 2022 may have GD32F103 chips installed and not STM32F103. You may
+# have to inspect the mainboard to ascertain which one you have. If it
+# is the GD32F103 then please select Disable SWD at startup in the
+# "make menuconfig" along with the same settings for STM32F103.
+
 # If you prefer a direct serial connection, in "make menuconfig"
 # select "Enable extra low-level configuration options" and select
 # serial (on USART3 PB11/PB10), which is broken out on the 10 pin IDC

config/printer-creality-ender5plus-2019.cfg

@@ -75,8 +75,8 @@ pin_up_touch_mode_reports_triggered: False
 speed: 100
 horizontal_move_z: 8
 mesh_min: 50, 50
-mesh_max: 300,300
+mesh_max: 300, 300
-probe_count: 3,3
+probe_count: 3, 3
 
 [heater_bed]
 heater_pin: PH5

config/printer-creality-ender5pro-2020.cfg

@@ -0,0 +1,101 @@
+# This file contains pin mappings for the stock 2020 Creality Ender 5
+# Pro with the 32-bit Creality 4.2.2 board. To use this config, during
+# "make menuconfig" select the STM32F103 with a "28KiB bootloader" and
+# with "Use USB for communication" disabled.
+
+# If you prefer a direct serial connection, in "make menuconfig"
+# select "Enable extra low-level configuration options" and select the
+# USART3 serial port, which is broken out on the 10 pin IDC cable used
+# for the LCD module as follows:
+# 3: Tx, 4: Rx, 9: GND, 10: VCC
+
+# Flash this firmware by copying "out/klipper.bin" to a SD card and
+# turning on the printer with the card inserted. The firmware
+# filename must end in ".bin" and must not match the last filename
+# that was flashed.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PC2
+dir_pin: PB9
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA5
+position_endstop: 220
+position_max: 220
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB8
+dir_pin: PB7
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PA6
+position_endstop: 220
+position_max: 220
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB6
+dir_pin: PB5
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 4
+endstop_pin: ^PA7
+position_max: 300
+position_endstop: 0.0
+
+[extruder]
+max_extrude_only_distance: 100.0
+step_pin: PB4
+dir_pin: PB3
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 32.342
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC5
+control: pid
+pid_kp: 24.831
+pid_ki: 1.346
+pid_kd: 114.532
+min_temp: 0
+max_temp: 260
+
+[heater_bed]
+heater_pin: PA2
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC4
+control: pid
+pid_kp: 66.429
+pid_ki: 1.197
+pid_kd: 921.707
+min_temp: 0
+max_temp: 135
+
+[fan]
+pin: PA0
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[display]
+lcd_type: st7920
+cs_pin: PB12
+sclk_pin: PB13
+sid_pin: PB15
+encoder_pins: ^PB14, ^PB10
+click_pin: ^!PB2

config/printer-creality-ender6-2020.cfg

@@ -75,7 +75,7 @@ position_max: 400
 # mesh_min: 10, 10
 # mesh_max: 239, 239
 # algorithm: bicubic
-# probe_count: 5,5
+# probe_count: 5, 5
 
 [extruder]
 max_extrude_only_distance: 1000.0

config/printer-creality-sermoonD1-2021.cfg

@@ -113,7 +113,7 @@ restart_method: command
 # mesh_min: 20, 15
 # mesh_max: 250, 240
 # algorithm: bicubic
-# probe_count: 5,5
+# probe_count: 5, 5
 
 [filament_switch_sensor filament_sensor]
 pause_on_runout: true

config/printer-elegoo-neptune2-2021.cfg

@@ -1,16 +1,25 @@
-# This file contains common pin mappings for the stock Elegoo
+# This file contains standard pin mappings for the stock Elegoo Neptune 2 with a
-# Neptune 2 with a MKS Robin Nano (v1.2.004) board. To use this
+# ZNP Robin Nano (v 1.2 and v1.3) board.
-# config, the firmware should be compiled for the STM32F103. When
+# For the 1.2 board:
-# running "make menuconfig", enable "extra low-level configuration
+#   - Compile with the processor model STM32F103.
-# setup", select the 28KiB bootloader, and serial (on # USART3
+#   - Enable "extra low-level configuration options"
-# PB11/PB10) communication.
+#   - Select the 28KiB bootloader,
-
+#   - Select (Serial (on # USART3 PB11/PB10) for the communication interface.
-# Note that the "make flash" command does not work with MKS Robin
+# Note that the "make flash" command does not work with ZNP Robin boards. After
-# boards. After running "make", run the following command:
+# running "make", run the following command:
 # ./scripts/update_mks_robin.py out/klipper.bin out/elegoo.bin
-# Copy the file out/elegoo.bin to an SD card and then restart the
+#
-# printer with that SD card.
+# For the 1.3 board:
-
+#   - Compile with the processor model STM32F407.
+#   - Enable "extra low-level configuration options"
+#   - Select the 32KiB bootloader,
+#   - Select (Serial (on # USART3 PB11/PB10) for the communication interface.
+# Note that the "make flash" command does not work with ZNP Robin boards. After
+# running "make", run the following command:
+# cp out/klipper.bin out/elegoo.bin
+#
+# Copy the file out/elegoo.bin to an SD card and then restart the printer with
+# that SD card.
 # See docs/Config_Reference.md for a description of parameters.
 
 [stepper_x]
@@ -51,7 +60,7 @@ step_pin: PD6
 dir_pin: PD3
 enable_pin: !PB3
 microsteps: 16
-rotation_distance: 34.406
+rotation_distance: 34.406 # use 23.809 as a base before calibration for a 2s
 nozzle_diameter: 0.400
 filament_diameter: 1.750
 heater_pin: PC3
@@ -79,7 +88,7 @@ pid_Kp: 70.857
 pid_Ki: 1.221
 pid_Kd: 1028.316
 min_temp: 0
-max_temp: 130
+max_temp: 110
 
 [heater_fan hotend_fan]
 pin: PB0
@@ -93,6 +102,12 @@ pin: PB1
 serial: /dev/ttyUSB0
 restart_method: command
 
+[bed_screws]
+screw1: 32.5, 32.5
+screw2: 32.5, 202.5
+screw3: 202.5, 32.5
+screw4: 202.5, 202.5
+
 [printer]
 kinematics: cartesian
 max_velocity: 300

config/printer-eryone-er20-2021.cfg

@@ -141,15 +141,15 @@ z_offset: 2.6
 pin_up_touch_mode_reports_triggered: False
 
 [safe_z_home]
-home_xy_position: 5,5
+home_xy_position: 5, 5
 z_hop: 5.0
 z_hop_speed: 5.0
 
 [bed_mesh]
 speed: 80
-mesh_min: 40,20
+mesh_min: 40, 20
-mesh_max: 210,205
+mesh_max: 210, 205
-probe_count: 5,5
+probe_count: 5, 5
 
 ######################################################################
 # "RepRapDiscount 128x64 Full Graphic Smart Controller" type display

config/printer-fokoos-odin5-f3-2021.cfg

@@ -42,10 +42,10 @@ max_z_velocity: 25
 max_z_accel: 100
 
 [bed_screws]
-screw1: 33,33
+screw1: 33, 33
-screw2: 203,33
+screw2: 203, 33
-screw3: 203,201
+screw3: 203, 201
-screw4: 33,201
+screw4: 33, 201
 
 [stepper_x]
 step_pin: PE3
@@ -158,7 +158,7 @@ switch_pin: !PA4
 
 # Optional bed mesh configuration you can use if you have a BLtouch installed.
 #[bed_mesh]
-#mesh_min: 70,15
+#mesh_min: 70, 15
-#mesh_max: 220,210
+#mesh_max: 220, 210
 #horizontal_move_z: 5
 #speed: 150

config/printer-hiprecy-leo-2019.cfg

@@ -93,9 +93,9 @@ speed: 5
 ########################################
 
 [bed_mesh]
-mesh_min: 40,40
+mesh_min: 40, 40
-mesh_max: 185,230
+mesh_max: 185, 230
-probe_count: 4,4
+probe_count: 4, 4
 speed: 100
 fade_end: 0.0
 algorithm: bicubic

config/printer-longer-lk4-pro-2019.cfg

@@ -65,9 +65,9 @@ position_max: 250
 # z_offset: 1.56
 
 # [bed_mesh]
-# mesh_min: 16,16
+# mesh_min: 16, 16
-# mesh_max: 201,200
+# mesh_max: 201, 200
-# probe_count: 4,3
+# probe_count: 4, 3
 
 [extruder]
 step_pin: PA4

config/printer-lulzbot-mini1-2016.cfg

@@ -197,10 +197,10 @@ samples_tolerance_retries: 2
 [bed_tilt]
 # Enable bed tilt measurments using the probe we defined above
 # Probe points using X0 Y0 offsets @ 0.01mm/step
-points: -2,-6
+points: -2, -6
-        156,-6
+        156, -6
-        156,158
+        156, 158
-        -2,158
+        -2, 158
 speed: 75
 horizontal_move_z: 2
 

config/printer-lulzbot-taz6-2017.cfg

@@ -151,15 +151,15 @@ sample_retract_dist: 1.0
 samples_tolerance: 0.075
 
 [bed_tilt]
-points: -9,-9
+points: -9, -9
-        289.4,-9
+        289.4, -9
-        289.4,290
+        289.4, 290
-        -9,289
+        -9, 289
 speed: 75
 horizontal_move_z: 5
 
 [safe_z_home]
-home_xy_position: -19.1,259.3
+home_xy_position: -19.1, 259.3
 speed: 50.0
 z_hop: 10.0
 

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

@@ -185,10 +185,10 @@ samples_tolerance: 0.100
 [bed_tilt]
 #Enable bed tilt measurments using the probe we defined above
 #Probe points using X0 Y0 offsets @ 0.01mm/step
-points: -3,-6
+points: -3, -6
-        282,-6
+        282, -6
-        282,300
+        282, 300
-        -3,300
+        -3, 300
 speed: 75
 horizontal_move_z: 5
 
@@ -196,7 +196,7 @@ horizontal_move_z: 5
 #Needed to lift the Z to clear homing switch on bed
 # ---> WARNING! - Z_MAX limit switch not monitored in Klipper! <---
 # ---> This could potentially crash the toolhead if already at the top of Z travel! <---
-home_xy_position: -19,265
+home_xy_position: -19, 265
 speed: 50.0
 z_hop: 15.0
 move_to_previous: False

config/printer-monoprice-select-mini-v1-2016.cfg

@@ -0,0 +1,141 @@
+# This file contains common pin mappings for the Monoprice
+# Select Mini v1. To use this config, the firmware should be compiled for the
+# STM32F103 microcontroller with an 8MHz crystal and USB for communication.
+#
+# Use the following settings in make menuconfig:
+#
+#  * Enable extra low-level configuration options: Enable
+#  * Microcontroller architecture: STM32
+#  * Processor: STM32F103
+#  * Bootloader offset: 8KiB bootloader
+#  * Clockspeed: 8 Mhz crystal
+#  * Communication interface: USB (on PA11/PA12)
+#  * GPIO pins to set: PA8, PB1, PB11, PB9
+#
+#  IMPORTANT: A bootloader offset of 8KiB will preserver the stock bootloader
+#  and allows easy flashing via SDCard without additional hardware.
+#
+#  IMPORTANT: Setting PB9 in the the GPIO pins to set at micro-controller
+#  startup is required for the USB port to function.
+#
+#  PA8, PB1, PB11 in the GPIO pins deactivates the steppers until klippy
+#  takes over.
+#
+# Note 1: Prior to flashing klipper, if possible, make a copy of the default
+# or current configuration values for the printer.  Running an M503 command
+# will output these values.
+#
+# Note 2: Klipper can be flashed by copying out/klipper.bin to the MPSMv1's
+# SDCard, renaming it to update.bin, and creating an empty file on the SD card
+# named fcupdate.flg.  Insert the SDCard while the printer is off it on.  After
+# klipper is flashed, remove the SDCard and delete update.bin and fcupdate.flg
+# to prevent the firmware from flashing on every subsequent power-on.
+# Returning to stock firmware without a programmer is possible as long as the
+# bootloader is not overwritten.
+#
+# Note 3: Stepper directions are not consistent in MSPMv1 printers. Check the
+# directions of the printer with M503 in the stock firmware and adjust the
+# dir_pins below accordingly.
+#
+# Note 4: Klipper currently does not support the LCD-UI of this
+# printer, which is connected via serial interface and controlled by an
+# esp8266 using a custom protocol.
+#
+# See ../docs/Config_Reference.md file for a description of all parameters.
+
+[stepper_x]
+homing_speed: 15
+step_pin: PB14
+dir_pin: !PB15 # modify stepper direction if necessary
+enable_pin: !PA8
+# rotation_distance varies in the printer model. Check the correct
+# step-rate of the Select Mini in the original firmware (with M503)
+# and calculate the appropriate value for rotation_distance. This has
+# to be done for all axes.
+microsteps: 16
+rotation_distance: 34.510 # 17 teeth on pulley; MXL belt (2.03 pitch)
+endstop_pin: ^!PB4
+position_endstop: 0
+position_max: 120 # default bed width
+position_min: 0
+
+[stepper_y]
+homing_speed: 15
+step_pin: PB12
+dir_pin: PB13 # modify stepper direction if necessary
+enable_pin: !PA8
+microsteps: 16
+rotation_distance: 34.510 # check comment in [stepper_x] section
+endstop_pin: ^!PA15
+position_endstop: 0
+position_max: 120 # default bed length
+position_min: 0
+
+[stepper_z]
+homing_speed: 10
+step_pin: PB10
+dir_pin: PB2 # modify stepper direction if necessary
+enable_pin: !PB11
+microsteps: 16
+full_steps_per_rotation: 48
+rotation_distance: 0.7 # M4 rod.  check comment in [stepper_x] section
+endstop_pin: ^!PB5
+position_endstop: 0.5
+position_max: 120 # default height
+
+[extruder]
+# extruder stepper
+step_pin: PB0
+dir_pin: !PC13 # modify stepper direction if necessary
+enable_pin: !PB1
+microsteps: 16
+rotation_distance: 32.990 # 97 steps/mm. check comment in [stepper_x] section
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+# heater
+heater_pin: PB6
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA0
+control: pid
+pid_kp: 20.00
+pid_ki: 0.02
+pid_kd: 250.00
+# temperatures
+min_temp: 0
+max_temp: 250
+max_extrude_only_distance: 425 #for (un-)loading
+
+[heater_bed]
+heater_pin: PB7
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA1
+control: pid
+pid_kp: 70.00
+pid_ki: 1.50
+pid_kd: 812.00
+min_temp: 0
+max_temp: 85
+
+# Print cooling fan
+[heater_fan hotend_fan]
+pin: PB8
+heater: extruder
+heater_temp: 45.0
+
+[mcu]
+serial: /dev/ttyACM0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 150
+max_accel: 800
+max_z_velocity: 1.5
+max_z_accel: 20
+
+# Positions for BED_SCREWS_ADJUST levelling with bed screws still accessible
+[bed_screws]
+screw1: 22, 10
+screw2: 22, 90
+screw3: 98, 90
+screw4: 98, 10

config/printer-monoprice-select-mini-v2-2018.cfg

@@ -15,7 +15,7 @@
 #  Also make sure to use the following string in the low-level configuration
 #  options to set a couple of GPIOs to high when the MCU boots:
 #
-#  PA8, PB5, PB1
+#  PA8, PB11, PB1
 #
 #  This will deactivate the steppers until klippy takes over.
 #
@@ -143,10 +143,10 @@ max_z_accel: 20
 
 # Positions for BED_SCREWS_ADJUST levelling with bed screws still accessible
 [bed_screws]
-screw1: 22,10
+screw1: 22, 10
-screw2: 22,90
+screw2: 22, 90
-screw3: 98,90
+screw3: 98, 90
-screw4: 98,10
+screw4: 98, 10
 
 ######################################################################
 # Optional: i2c ssd1306 OLED-display controlled by raspi host_mcu

config/printer-mtw-create-2015.cfg

@@ -93,13 +93,13 @@ y_offset: 37
 z_offset: 2.0
 
 [safe_z_home]
-home_xy_position: 125,150
+home_xy_position: 125, 150
 z_hop: 10
 z_hop_speed: 5
 
 [bed_mesh]
-mesh_min: 5,5
+mesh_min: 5, 5
-mesh_max: 225,225
+mesh_max: 225, 225
 
 [fan]
 pin: PH5

config/printer-prusa-mini-plus-2020.cfg

@@ -158,15 +158,15 @@ z_offset: 0  # set this to your Live Z Offset, but negated (invert the sign)
 speed: 6.0
 
 [safe_z_home]
-home_xy_position: 147.4,21.1
+home_xy_position: 147.4, 21.1
 z_hop: 4
 
 [bed_mesh]
 speed: 100
 horizontal_move_z: 5
-mesh_min: 10,10
+mesh_min: 10, 10
-mesh_max: 141,167
+mesh_max: 141, 167
-probe_count: 4,4
+probe_count: 4, 4
 
 [filament_switch_sensor filament_sensor]
 switch_pin: ^PB4

config/printer-tevo-flash-2018.cfg

@@ -124,7 +124,7 @@ gcode:
 
 # Mesh Bed Leveling.
 [bed_mesh]
-mesh_min: 5,18
+mesh_min: 5, 18
-mesh_max: 230,228
+mesh_max: 230, 228
-probe_count: 9,9
+probe_count: 9, 9
 algorithm: bicubic

config/printer-tronxy-x5sa-pro-2020.cfg

@@ -118,26 +118,26 @@ switch_pin: !PA15
 pin: PB0
 
 [safe_z_home]
-home_xy_position: 165,165
+home_xy_position: 165, 165
 speed: 50
 z_hop: 10
 z_hop_speed: 5
 
 [bed_screws]
-screw1: 5,5
+screw1: 5, 5
-screw2: 165,5
+screw2: 165, 5
-screw3: 325,5
+screw3: 325, 5
-screw4: 5,325
+screw4: 5, 325
-screw5: 165,325
+screw5: 165, 325
-screw6: 325,325
+screw6: 325, 325
 
 [bed_mesh]
 speed: 120
-probe_count: 5,5
+probe_count: 5, 5
 horizontal_move_z: 5
 algorithm: lagrange
-mesh_min : 20,20
+mesh_min : 20, 20
-mesh_max : 310,310
+mesh_max : 310, 310
 mesh_pps: 0
 
 [probe]

config/printer-tronxy-x5sa-v6-2019.cfg

@@ -91,11 +91,9 @@ pid_Kd: 898.279
 
 [heater_fan hotend_fan]
 pin: PG14
-fan_speed: 0.5
 
 [fan]
 pin: PG13
-max_power: 0.5
 
 [controller_fan drivers_fan]
 pin: PD6
@@ -110,26 +108,26 @@ switch_pin: PA15
 pin: PB0
 
 [safe_z_home]
-home_xy_position: 165,165
+home_xy_position: 165, 165
 speed: 50
 z_hop: 10
 z_hop_speed: 5
 
 [bed_screws]
-screw1: 5,5
+screw1: 5, 5
-screw2: 165,5
+screw2: 165, 5
-screw3: 325,5
+screw3: 325, 5
-screw4: 5,325
+screw4: 5, 325
-screw5: 165,325
+screw5: 165, 325
-screw6: 325,325
+screw6: 325, 325
 
 [bed_mesh]
 speed: 120
-probe_count: 5,5
+probe_count: 5, 5
 horizontal_move_z: 5
 algorithm: lagrange
-mesh_min : 20,20
+mesh_min : 20, 20
-mesh_max : 310,310
+mesh_max : 310, 310
 mesh_pps: 0
 
 [probe]

config/printer-twotrees-sapphire-plus-sp-5-v1-2020.cfg

@@ -1,18 +1,20 @@
 # This file contains common pin mappings for the Two Trees Sapphire
-# Plus printer from 2020 (revision 2 with dual Z axis).
+# Plus V1 (SP-5) printer (Robin Nano 1.2, 2208 drivers for X,Y and A4988 for Zs,E).
 
+# INSTRUCTIONS FOR COMPILING
 # To use this config, the firmware should be compiled for the STM32F103.
-# When running "make menuconfig" you have to:
+# When running "make menuconfig", enable "extra low-level configuration setup",
-# - enable "extra low-level configuration setup",
+# select the 28KiB bootloader, serial (on USART3 PB11/PB10) to use USB communication
-# - select the 28KiB bootloader,
+# or serial (on USART1 PA10/PA9) to use direct UART connection with Raspberry trough wifi pins.
-# - select serial (on USART3 PB11/PB10) communication
+# Set "GPIO pins to set at micro-controller startup" to "!PC6,!PD13" to turn off display at startup.
-# - set "GPIO pins to set at micro-controller startup" to "!PC6,!PD13"
 
-# Note that the "make flash" command does not work with the Sapphire
+# INSTRUCTIONS FOR FLASHING, THE SCRIPT IS COMPULSORY OR IT WON'T WORK!!!
-# Pro. After running "make", run the following command:
+# Note that the "make flash" command does not work with the Robin Nano!
+# After running "make", run the following command in one row FROM THE KLIPPER FOLDER:
 #   ./scripts/update_mks_robin.py out/klipper.bin out/Robin_nano35.bin
-# Copy the file out/Robin_nano35.bin to an SD card and then restart the
+# Copy the file out/Robin_nano35.bin (if you can't find the file the script was not executed)
-# printer with that SD card.
+# to an SD card and then restart the printer with that SD card.
+# If you removed the LCD screen rename the file to "Robin_nano43.bin" for correct flashing.
 
 # See docs/Config_Reference.md for a description of parameters.
 
@@ -54,12 +56,11 @@ dir_pin: PA1
 enable_pin: !PA3
 microsteps: 16
 rotation_distance: 8
-endstop_pin: !PC4
 
 [extruder]
 step_pin: PD6
 dir_pin: !PD3
-enable_pin: !PB3
+enable_pin: PB3
 microsteps: 16
 gear_ratio: 50:17
 rotation_distance: 23.52
@@ -86,6 +87,9 @@ pid_Kp: 325.10
 pid_Ki: 63.35
 pid_Kd: 417.10
 
+[heater_fan extruder]
+pin: PB0
+
 [fan]
 pin: PB1
 
@@ -97,8 +101,14 @@ restart_method: command
 kinematics: corexy
 max_velocity: 250
 max_accel: 4500
-max_z_velocity: 25
+max_z_velocity: 15
 max_z_accel: 100
 
+[bed_screws]
+screw1: 35,35
+screw2: 275,35
+screw3: 275,275
+screw4: 35,275
+
 [static_digital_output reset_display]
 pins: !PC6, !PD13

config/printer-twotrees-sapphire-plus-sp-5-v1.1-2021.cfg

@@ -0,0 +1,114 @@
+# This file contains common pin mappings for the Two Trees Sapphire
+# Plus V1.1 (SP-5) printer (Robin Nano 1.2, all 2225 drivers at 32 microsteps).
+
+# INSTRUCTIONS FOR COMPILING
+# To use this config, the firmware should be compiled for the STM32F103.
+# When running "make menuconfig", enable "extra low-level configuration setup",
+# select the 28KiB bootloader, serial (on USART3 PB11/PB10) to use USB communication
+# or serial (on USART1 PA10/PA9) to use direct UART connection with Raspberry trough wifi pins.
+# Set "GPIO pins to set at micro-controller startup" to "!PC6,!PD13" to turn off display at startup.
+
+# INSTRUCTIONS FOR FLASHING, THE SCRIPT IS COMPULSORY OR IT WON'T WORK!!!
+# Note that the "make flash" command does not work with the Robin Nano!
+# After running "make", run the following command in one row FROM THE KLIPPER FOLDER:
+#   ./scripts/update_mks_robin.py out/klipper.bin out/Robin_nano35.bin
+# Copy the file out/Robin_nano35.bin (if you can't find the file the script was not executed)
+# to an SD card and then restart the printer with that SD card.
+# If you removed the LCD screen rename the file to "Robin_nano43.bin" for correct flashing.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PE3
+dir_pin: !PE2
+enable_pin: !PE4
+microsteps: 32
+rotation_distance: 40
+endstop_pin: !PA15
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+
+[stepper_y]
+step_pin: PE0
+dir_pin: !PB9
+enable_pin: !PE1
+microsteps: 32
+rotation_distance: 40
+endstop_pin: !PA12
+position_endstop: 300
+position_max: 300
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB5
+dir_pin: !PB4
+enable_pin: !PB8
+microsteps: 32
+rotation_distance: 8
+endstop_pin: !PA11
+position_endstop: 0
+position_max: 340
+
+[stepper_z1]
+step_pin: PA6
+dir_pin: !PA1
+enable_pin: !PA3
+microsteps: 32
+rotation_distance: 8
+
+[extruder]
+step_pin: PD6
+dir_pin: !PD3
+enable_pin: !PB3
+microsteps: 32
+gear_ratio: 50:17
+rotation_distance: 23.52
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC3
+sensor_type: EPCOS 100K B57560G104F # Stock
+sensor_pin: PC1
+min_temp: 0
+max_temp: 250
+control: pid
+pid_Kp: 17.48
+pid_Ki: 1.32
+pid_Kd: 57.81
+
+[heater_bed]
+heater_pin: PA0
+sensor_type: EPCOS 100K B57560G104F # Stock
+sensor_pin: PC0
+min_temp: 0
+max_temp: 130
+control: pid
+pid_Kp: 325.10
+pid_Ki: 63.35
+pid_Kd: 417.10
+
+[heater_fan extruder]
+pin: PB0
+
+[fan]
+pin: PB1
+
+[mcu]
+serial: /dev/ttyUSB0
+restart_method: command
+
+[printer]
+kinematics: corexy
+max_velocity: 250
+max_accel: 4500
+max_z_velocity: 15
+max_z_accel: 100
+
+[bed_screws]
+screw1: 35,35
+screw2: 275,35
+screw3: 275,275
+screw4: 35,275
+
+[static_digital_output reset_display]
+pins: !PC6, !PD13

config/printer-twotrees-sapphire-pro-2020.cfg

@@ -1,92 +0,0 @@
-# This file contains common pin mappings for the Two Trees Sapphire
-# Pro printer from 2020. To use this config, the firmware should be
-# compiled for the STM32F103. When running "make menuconfig", enable
-# "extra low-level configuration setup", select the 28KiB bootloader,
-# serial (on USART3 PB11/PB10) communication, and set "GPIO pins to
-# set at micro-controller startup" to "!PC6,!PD13".
-
-# Note that the "make flash" command does not work with the Sapphire
-# Pro. After running "make", run the following command:
-#   ./scripts/update_mks_robin.py out/klipper.bin out/Robin_nano35.bin
-# Copy the file out/Robin_nano35.bin to an SD card and then restart the
-# printer with that SD card.
-
-# See docs/Config_Reference.md for a description of parameters.
-
-[stepper_x]
-step_pin: PE3
-dir_pin: !PE2
-enable_pin: !PE4
-microsteps: 16
-rotation_distance: 32
-endstop_pin: !PA15
-position_endstop: 0
-position_max: 230
-homing_speed: 50
-
-[stepper_y]
-step_pin: PE0
-dir_pin: !PB9
-enable_pin: !PE1
-microsteps: 16
-rotation_distance: 32
-endstop_pin: !PA12
-position_endstop: 230
-position_max: 230
-homing_speed: 50
-
-[stepper_z]
-step_pin: PB5
-dir_pin: PB4
-enable_pin: !PB8
-microsteps: 16
-rotation_distance: 8
-endstop_pin: !PA11
-position_endstop: 0.5
-position_max: 230
-
-[extruder]
-step_pin: PD6
-dir_pin: !PD3
-enable_pin: !PB3
-microsteps: 16
-rotation_distance: 6.720
-nozzle_diameter: 0.400
-filament_diameter: 1.750
-heater_pin: PC3
-sensor_type: ATC Semitec 104GT-2
-sensor_pin: PC1
-control: pid
-pid_Kp: 14.669
-pid_Ki: 0.572
-pid_Kd: 94.068
-min_temp: 0
-max_temp: 250
-
-[heater_bed]
-heater_pin: PA0
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PC0
-control: pid
-pid_Kp: 325.10
-pid_Ki: 63.35
-pid_Kd: 417.10
-min_temp: 0
-max_temp: 130
-
-[fan]
-pin: PB1
-
-[mcu]
-serial: /dev/ttyUSB0
-restart_method: command
-
-[printer]
-kinematics: corexy
-max_velocity: 250
-max_accel: 4500
-max_z_velocity: 25
-max_z_accel: 100
-
-[static_digital_output reset_display]
-pins: !PC6, !PD13

config/printer-twotrees-sapphire-pro-sp-3-2020.cfg

@@ -0,0 +1,107 @@
+# This file contains common pin mappings for the Two Trees Sapphire
+# Pro (SP-3) printer (Robin Nano 1.2, 2208 drivers for X,Y and A4988 for Z,E).
+
+# INSTRUCTIONS FOR COMPILING
+# To use this config, the firmware should be compiled for the STM32F103.
+# When running "make menuconfig", enable "extra low-level configuration setup",
+# select the 28KiB bootloader, serial (on USART3 PB11/PB10) to use USB communication
+# or serial (on USART1 PA10/PA9) to use direct UART connection with Raspberry trough wifi pins.
+# Set "GPIO pins to set at micro-controller startup" to "!PC6,!PD13" to turn off display at startup.
+
+# INSTRUCTIONS FOR FLASHING, THE SCRIPT IS COMPULSORY OR IT WON'T WORK!!!
+# Note that the "make flash" command does not work with the Robin Nano!
+# After running "make", run the following command in one row FROM THE KLIPPER FOLDER:
+#   ./scripts/update_mks_robin.py out/klipper.bin out/Robin_nano35.bin
+# Copy the file out/Robin_nano35.bin (if you can't find the file the script was not executed)
+# to an SD card and then restart the printer with that SD card.
+# If you removed the LCD screen rename the file to "Robin_nano43.bin" for correct flashing.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PE3
+dir_pin: !PE2
+enable_pin: !PE4
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PA15
+position_endstop: 0
+position_max: 230
+homing_speed: 50
+
+[stepper_y]
+step_pin: PE0
+dir_pin: !PB9
+enable_pin: !PE1
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PA12
+position_endstop: 230
+position_max: 230
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB5
+dir_pin: PB4
+enable_pin: !PB8
+microsteps: 16
+rotation_distance: 2
+endstop_pin: !PA11
+position_endstop: 0.5
+position_max: 230
+
+[extruder]
+step_pin: PD6
+dir_pin: !PD3
+enable_pin: !PB3
+microsteps: 16
+gear_ratio: 50:17
+rotation_distance: 23.52
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC3
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PC1
+control: pid
+pid_Kp: 14.669
+pid_Ki: 0.572
+pid_Kd: 94.068
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PA0
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC0
+control: pid
+pid_Kp: 325.10
+pid_Ki: 63.35
+pid_Kd: 417.10
+min_temp: 0
+max_temp: 130
+
+[heater_fan extruder]
+pin: PB0
+
+[fan]
+pin: PB1
+
+[mcu]
+serial: /dev/ttyUSB0
+restart_method: command
+
+[printer]
+kinematics: corexy
+max_velocity: 250
+max_accel: 4500
+max_z_velocity: 10
+max_z_accel: 80
+
+[bed_screws]
+screw1: 15,15
+screw2: 210,15
+screw3: 210,210
+screw4: 15,210
+
+[static_digital_output reset_display]
+pins: !PC6, !PD13

config/printer-velleman-k8800-2017.cfg

@@ -92,7 +92,7 @@ z_offset: -15
 speed: 120
 horizontal_move_z: 5
 mesh_radius:65
-mesh_origin: 0,0
+mesh_origin: 0, 0
 round_probe_count: 7
 algorithm: bicubic
 

config/printer-wanhao-duplicator-9-2018.cfg

@@ -91,18 +91,18 @@ square_corner_velocity: 15.0
 
 [bed_mesh]
 speed: 120
-mesh_min: 27,3
+mesh_min: 27, 3
-mesh_max: 270,290
+mesh_max: 270, 290
-probe_count: 5,3
+probe_count: 5, 3
 horizontal_move_z: 10
 
 [bed_screws]
-screw1: 5,5
+screw1: 5, 5
 screw1_name: front left screw
-screw2: 295,0
+screw2: 295, 0
 screw2_name: front right screw
-screw3: 295,290
+screw3: 295, 290
 screw3_name: back right screw
-screw4: 0,290
+screw4: 0, 290
 screw4_name: back left screw
 probe_height: 0

config/printer-wanhao-duplicator-i3-plus-mark2-2019.cfg

@@ -80,6 +80,6 @@ max_z_velocity: 5
 max_z_accel: 100
 
 [bed_mesh]
-mesh_min: 20,20
+mesh_min: 20, 20
-mesh_max: 190,130
+mesh_max: 190, 130
-probe_count: 4,4
+probe_count: 4, 4

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

@@ -168,3 +168,4 @@ sclk_pin: PD3
 sid_pin: PC0
 encoder_pins: ^PA2, ^PA1
 click_pin: ^!PA3
+kill_pin: ^!PD2

config/sample-probe-as-z-endstop.cfg

@@ -21,7 +21,7 @@ position_min: -2 # The Z carriage may need to travel below the Z=0
 
 # The safe_z_home section modifies the default G28 behavior
 [safe_z_home]
-home_xy_position: 100,100
+home_xy_position: 100, 100
 speed: 50
 z_hop: 15
 z_hop_speed: 5
@@ -29,18 +29,18 @@ z_hop_speed: 5
 # Example bed_tilt config section
 [bed_tilt]
 points:
-    100,100
+    100, 100
-    10,10
+    10, 10
-    10,100
+    10, 100
-    10,190
+    10, 190
-    100,10
+    100, 10
-    100,190
+    100, 190
-    190,10
+    190, 10
-    190,100
+    190, 100
-    190,190
+    190, 190
 
 # Example bed_mesh config section
 [bed_mesh]
-mesh_min: 20,20
+mesh_min: 20, 20
-mesh_max: 200,200
+mesh_max: 200, 200
-probe_count: 4,4
+probe_count: 4, 4

docs/API_Server.md

@@ -16,6 +16,10 @@ This causes the host software to create a Unix Domain Socket. A client
 can then open a connection on that socket and send commands to
 Klipper.
 
+See the [Moonraker](https://github.com/Arksine/moonraker) project for
+a popular tool that can forward HTTP requests to Klipper's API Server
+Unix Domain Socket.
+
 ## Request format
 
 Messages sent and received on the socket are JSON encoded strings
@@ -341,6 +345,25 @@ and might later produce asynchronous messages such as:
 The "header" field in the initial query response is used to describe
 the fields found in later "data" responses.
 
+### angle/dump_angle
+
+This endpoint is used to subscribe to
+[angle sensor data](Config_Reference.md#angle). Obtaining these
+low-level motion updates may be useful for diagnostic and debugging
+purposes. Using this endpoint may increase Klipper's system load.
+
+A request may look like:
+`{"id": 123, "method":"angle/dump_angle",
+"params": {"sensor": "my_angle_sensor", "response_template": {}}}`
+and might return:
+`{"id": 123,"result":{"header":["time","angle"]}}`
+and might later produce asynchronous messages such as:
+`{"params":{"position_offset":3.151562,"errors":0,
+"data":[[1290.951905,-5063],[1290.952321,-5065]]}}`
+
+The "header" field in the initial query response is used to describe
+the fields found in later "data" responses.
+
 ### pause_resume/cancel
 
 This endpoint is similar to running the "PRINT_CANCEL" G-Code command.

docs/BLTouch.md

@@ -28,7 +28,7 @@ move to the center of the bed, and home the z axis. For example:
 
 ```
 [safe_z_home]
-home_xy_position: 100,100 # Change coordinates to the center of your print bed
+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
@@ -64,9 +64,10 @@ run `BLTOUCH_DEBUG COMMAND=touch_mode`, run `QUERY_PROBE`, and verify
 that command reports "probe: open". Then while gently pushing the pin
 up slightly with the nail of your finger run `QUERY_PROBE` again.
 Verify the command reports "probe: TRIGGERED". If either query does
-not report the correct message then check your wiring and
+not report the correct message then it usually indicates an incorrect
-configuration again. At the completion of this test run `BLTOUCH_DEBUG
+wiring or configuration (though some [clones](#bl-touch-clones) may
-COMMAND=pin_up` and verify that the pin moves up.
+require special handling). At the completion of this test run
+`BLTOUCH_DEBUG COMMAND=pin_up` and verify that the pin moves up.
 
 After completing the BL-Touch control pin and sensor pin tests, it is
 now time to test probing, but with a twist. Instead of letting the
@@ -106,7 +107,8 @@ commands to achieve this.
 ## BL-Touch "clones"
 
 Many BL-Touch "clone" devices work correctly with Klipper using the
-default configuration. However, some "clone" devices may require
+default configuration. However, some "clone" devices may not support
+the `QUERY_PROBE` command and some "clone" devices may require
 configuration of `pin_up_reports_not_triggered` or
 `pin_up_touch_mode_reports_triggered`.
 
@@ -116,6 +118,16 @@ these directions. Do not configure either of these to False on a
 genuine BL-Touch. Incorrectly setting these to False can increase
 probing time and can increase the risk of damaging the printer.
 
+Some "clone" devices do not support `touch_mode` and as a result the
+`QUERY_PROBE` command does not work. Despite this, it may still be
+possible to perform probing and homing with these devices. On these
+devices the `QUERY_PROBE` command during the
+[initial tests](#initial-tests) will not succeed, however the
+subsequent `G28` (or `PROBE`) test does succeed. It may be possible to
+use these "clone" devices with Klipper if one does not utilize the
+`QUERY_PROBE` command and one does not enable the
+`probe_with_touch_mode` feature.
+
 Some "clone" devices are unable to perform Klipper's internal sensor
 verification test. On these devices, attempts to home or probe can
 result in Klipper reporting a "BLTouch failed to verify sensor state"

docs/Bed_Level.md

@@ -63,7 +63,7 @@ test".
 
 In order to perform the paper test, cut a small rectangular piece of
 paper using a pair of scissors (eg, 5x3 cm). The paper generally has a
-width of around 100 microns (0.100mm). (The exact width of the paper
+thickness of around 100 microns (0.100mm). (The exact thickness of the paper
 isn't crucial.)
 
 The first step of the paper test is to inspect the printer's nozzle
@@ -74,7 +74,7 @@ or bed.
 
 If one always prints on a particular tape or printing surface then one
 may perform the paper test with that tape/surface in place. However,
-note that tape itself has a width and different tapes (or any other
+note that tape itself has a thickness and different tapes (or any other
 printing surface) will impact Z measurements. Be sure to rerun the
 paper test to measure each type of surface that is in use.
 
@@ -89,11 +89,11 @@ temperature!**
 
 When the nozzle is heated, its position (relative to the bed) changes
 due to thermal expansion. This thermal expansion is typically around a
-100 microns, which is about the same width as a typical piece of
+100 microns, which is about the same thickness as a typical piece of
 printer paper. The exact amount of thermal expansion isn't crucial,
-just as the exact width of the paper isn't crucial. Start with the
+just as the exact thickness of the paper isn't crucial. Start with the
 assumption that the two are equal (see below for a method of
-determining the difference between the two widths).
+determining the difference between the two distances).
 
 It may seem odd to calibrate the distance at room temperature when the
 goal is to have a consistent distance when heated. However, if one
@@ -180,7 +180,7 @@ command to exit the calibration tool.
 
 After successfully performing bed leveling, one may go on to calculate
 a more precise value for the combined impact of "thermal expansion",
-"width of the paper", and "amount of friction felt during the paper
+"thickness of the paper", and "amount of friction felt during the paper
 test".
 
 This type of calculation is generally not needed as most users find

docs/Bed_Mesh.md

@@ -24,9 +24,9 @@ bed and a probe with an x-offset of 24 mm and y-offset of 5 mm.
 [bed_mesh]
 speed: 120
 horizontal_move_z: 5
-mesh_min: 35,6
+mesh_min: 35, 6
 mesh_max: 240, 198
-probe_count: 5,3
+probe_count: 5, 3
 ```
 
 - `speed: 120`\
@@ -37,21 +37,21 @@ probe_count: 5,3
   _Default Value: 5_\
   The Z coordinate the probe rises to prior to traveling between points.
 
-- `mesh_min: 35,6`\
+- `mesh_min: 35, 6`\
   _Required_\
   The first probed coordinate, nearest to the origin.  This coordinate
   is relative to the probe's location.
 
-- `mesh_max: 240,198`\
+- `mesh_max: 240, 198`\
   _Required_\
   The probed coordinate farthest farthest from the origin.  This is not
   necessarily the last point probed, as the probing process occurs in a
   zig-zag fashion.  As with `mesh_min`, this coordiante is relative to
   the probe's location.
 
-- `probe_count: 5,3`\
+- `probe_count: 5, 3`\
-  _Default Value: 3,3_\
+  _Default Value: 3, 3_\
-  The number of points to probe on each axis, specified as x,y integer
+  The number of points to probe on each axis, specified as X, Y integer
   values.  In this example 5 points will be probed along the X axis, with
   3 points along the Y axis, for a total of 15 probed points.  Note that
   if you wanted a square grid, for example 3x3, this could be specified
@@ -76,7 +76,7 @@ and 5 mm on Y.
 speed: 120
 horizontal_move_z: 5
 mesh_radius: 75
-mesh_origin: 0,0
+mesh_origin: 0, 0
 round_probe_count: 5
 ```
 
@@ -86,10 +86,10 @@ round_probe_count: 5
   that the probe's offsets limit the size of the mesh radius.  In this example,
   a radius larger than 76 would move the tool beyond the range of the printer.
 
-- `mesh_origin: 0,0`\
+- `mesh_origin: 0, 0`\
-  _Default Value: 0,0_\
+  _Default Value: 0, 0_\
   The center point of the mesh.  This coordinate is relative to the probe's
-  location. While the default is 0,0, it may be useful to adjust the origin
+  location. While the default is 0, 0, it may be useful to adjust the origin
   in an effort to probe a larger portion of the bed.  See the illustration
   below.
 
@@ -125,20 +125,20 @@ lagrange and bicubic interpolation to accomplish this.
 [bed_mesh]
 speed: 120
 horizontal_move_z: 5
-mesh_min: 35,6
+mesh_min: 35, 6
 mesh_max: 240, 198
-probe_count: 5,3
+probe_count: 5, 3
-mesh_pps: 2,3
+mesh_pps: 2, 3
 algorithm: bicubic
 bicubic_tension: 0.2
 ```
 
-- `mesh_pps: 2,3`\
+- `mesh_pps: 2, 3`\
-  _Default Value: 2,2_\
+  _Default Value: 2, 2_\
   The `mesh_pps` option is shorthand for Mesh Points Per Segment.  This
   option specifies how many points to interpolate for each segment along
-  the x and y axes.  Consider a 'segment' to be the space between each
+  the X and Y axes.  Consider a 'segment' to be the space between each
-  probed point. Like `probe_count`, `mesh_pps` is specified as an x,y
+  probed point. Like `probe_count`, `mesh_pps` is specified as an X, Y
   integer pair, and also may be specified a single integer that is applied
   to both axes.  In this example there are 4 segments along the X axis
   and 2 segments along the Y axis.  This evaluates to 8 interpolated
@@ -179,9 +179,9 @@ control the splitting behavior.
 [bed_mesh]
 speed: 120
 horizontal_move_z: 5
-mesh_min: 35,6
+mesh_min: 35, 6
 mesh_max: 240, 198
-probe_count: 5,3
+probe_count: 5, 3
 move_check_distance: 5
 split_delta_z: .025
 ```
@@ -225,9 +225,9 @@ As such, fade is disabled by default.
 [bed_mesh]
 speed: 120
 horizontal_move_z: 5
-mesh_min: 35,6
+mesh_min: 35, 6
 mesh_max: 240, 198
-probe_count: 5,3
+probe_count: 5, 3
 fade_start: 1
 fade_end: 10
 fade_target: 0
@@ -273,9 +273,9 @@ These printers can benefit from configuring the relative reference index.
 [bed_mesh]
 speed: 120
 horizontal_move_z: 5
-mesh_min: 35,6
+mesh_min: 35, 6
 mesh_max: 240, 198
-probe_count: 5,3
+probe_count: 5, 3
 relative_reference_index: 7
 ```
 
@@ -314,9 +314,9 @@ will be averaged and inserted in the mesh as the Z value at the generated
 [bed_mesh]
 speed: 120
 horizontal_move_z: 5
-mesh_min: 35,6
+mesh_min: 35, 6
 mesh_max: 240, 198
-probe_count: 5,3
+probe_count: 5, 3
 faulty_region_1_min: 130.0, 0.0
 faulty_region_1_max: 145.0, 40.0
 faulty_region_2_min: 225.0, 0.0

docs/Benchmarks.md

@@ -248,6 +248,25 @@ results were obtained by running an STM32F407 binary on an STM32F446
 | 1 stepper            | 46    |
 | 3 stepper            | 205   |
 
+### STM32G0B1 step rate benchmark
+
+The following configuration sequence is used on the STM32G0B1:
+```
+allocate_oids count=3
+config_stepper oid=0 step_pin=PB13 dir_pin=PB12 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PB10 dir_pin=PB2 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PB0 dir_pin=PC5 invert_step=-1 step_pulse_ticks=0
+finalize_config crc=0
+```
+
+The test was last run on commit `247cd753` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
+
+| stm32g0b1        | ticks |
+| ---------------- | ----- |
+| 1 stepper        | 58    |
+| 3 stepper        | 243   |
+
 ### LPC176x step rate benchmark
 
 The following configuration sequence is used on the LPC176x:

docs/Bootloaders.md

@@ -254,10 +254,11 @@ bossac -U -p /dev/ttyACM0 --offset=0x4000 -w out/klipper.bin -v -b -R
 ## STM32F103 micro-controllers (Blue Pill devices)
 
 The STM32F103 devices have a ROM that can flash a bootloader or
-application via 3.3V serial. To access this ROM, one should connect
+application via 3.3V serial. Typically one would wire the PA10 (MCU
-the "boot 0" pin to high and "boot 1" pin to low, and then reset the
+Rx) and PA9 (MCU Tx) pins to a 3.3V UART adapter. To access the ROM,
-device. The "stm32flash" package can then be used to flash the device
+one should connect the "boot 0" pin to high and "boot 1" pin to low,
-using something like:
+and then reset the device. The "stm32flash" package can then be used
+to flash the device using something like:
 ```
 stm32flash -w out/klipper.bin -v -g 0 /dev/ttyAMA0
 ```
@@ -385,6 +386,66 @@ not available, so it may be done by setting pin PA2 low if you flashed
 the SKR Mini E3's "PIN" document. There is a ground pin next to PA2
 which you can use to pull PA2 low.
 
+### STM32F103/STM32F072 with MSC bootloader
+
+The [MSC bootloader](https://github.com/Telekatz/MSC-stm32f103-bootloader) is a driverless bootloader capable of flashing over USB.
+
+It is possible to flash the bootloader via 3.3v serial using stm32flash as noted
+in the stm32duino section above, substituting the file name for the desired
+MSC bootloader binary (ie: MSCboot-Bluepill.bin for the blue pill).
+
+For STM32F072 boards it is also possible to flash the bootloader over USB (via DFU)
+with something like:
+
+```
+ dfu-util -d 0483:df11 -a 0 -R -D  MSCboot-STM32F072.bin -s0x08000000:leave
+```
+
+This bootloader uses 8KiB or 16KiB of flash space, see description of the bootloader
+(the application must be compiled with with the corresponding starting address).
+
+The bootloader can be activated by pressing the reset button of the board twice.
+As soon as the bootloader is activated, the board appears as a USB flash drive
+onto which the klipper.bin file can be copied.
+
+### STM32F103/STM32F0x2 with CanBoot bootloader
+
+The [CanBoot](https://github.com/Arksine/CanBoot) bootloader provides an option
+for uploading Klipper firmware over the CANBUS.  The bootloader itself is
+derived from Klipper's source code.  Currently CanBoot supports the STM32F103,
+STM32F042, and STM32F072 models.
+
+It is recommended to use a ST-Link Programmer to flash CanBoot, however it
+should be possible to flash using `stm32flash` on STM32F103 devices, and
+`dfu-util` on STM32F042/STM32F072 devices.  See the previous sections in this
+document for instructions on these flashing methods, substituting `canboot.bin`
+for the file name where appropriate.  The CanBoot repo linked above provides
+instructions for building the bootloader.
+
+The first time CanBoot has been flashed it should detect that no application
+is present and enter the bootloader.  If this doesn't occur it is possible to
+enter the bootloader by pressing the reset button twice in succession.
+
+The `flash_can.py` utility supplied in the `lib/canboot` folder may be used to
+upload Klipper firmware.  The device UUID is necessary to flash.  If you do not
+have a UUID it is possible to query nodes currently running the bootloader:
+```
+python3 flash_can.py -q
+```
+This will return UUIDs for all connected nodes not currently assigned a UUID.
+This should include all nodes currently in the bootloader.
+
+Once you have a UUID, you may upload firmware with following command:
+```
+python3 flash_can.py -i can0 -f ~/klipper/out/klipper.bin -u aabbccddeeff
+```
+
+Where `aabbccddeeff` is replaced by your UUID.  Note that the `-i` and `-f`
+options may be omitted, they default to `can0` and `~/klipper/out/klipper.bin`
+respectively.
+
+When building Klipper for use with CanBoot, select the 8 KiB Bootloader option.
+
 ## STM32F4 micro-controllers (SKR Pro 1.1)
 
 STM32F4 microcontrollers come equipped with a built-in system bootloader

docs/CANBUS.md

@@ -8,7 +8,7 @@ Klipper currently only supports CAN on stm32 chips. In addition, the
 micro-controller chip must support CAN and it must be on a board that
 has a CAN transceiver.
 
-To compile for CAN, run "make menuconfig" and select "CAN bus" as the
+To compile for CAN, run `make menuconfig` and select "CAN bus" as the
 communication interface. Finally, compile the micro-controller code
 and flash it to the target board.
 

docs/CONTRIBUTING.md

@@ -73,7 +73,60 @@ Common things a reviewer will look for:
    Updates to documentation should not declare that they are a "work
    in progress".
 
-2. Is the copyright of the submission clear, non-gratuitous, and
+2. Does the submission provide a "high impact" benefit to real-world
+   users performing real-world tasks?
+
+   Reviewers need to identify, at least in their own minds, roughly
+   "who the target audience is", a rough scale of "the size of that
+   audience", the "benefit" they will obtain, how the "benefit is
+   measured", and the "results of those measurement tests". In most
+   cases this will be obvious to both the submitter and the reviewer,
+   and it is not explicitly stated during a review.
+
+   Submissions to the master Klipper branch are expected to have a
+   noteworthy target audience. As a general "rule of thumb",
+   submissions should target a user base of at least a 100 real-world
+   users.
+
+   If a reviewer asks for details on the "benefit" of a submission,
+   please don't consider it criticism. Being able to understand the
+   real-world benefits of a change is a natural part of a review.
+
+   When discussing benefits it is preferable to discuss "facts and
+   measurements". In general, reviewers are not looking for responses
+   of the form "someone may find option X useful", nor are they
+   looking for responses of the form "this submission adds a feature
+   that firmware X implements". Instead, it is generally preferable to
+   discuss details on how the quality improvement was measured and
+   what were the results of those measurements - for example, "tests
+   on Acme X1000 printers show improved corners as seen in picture
+   ...", or for example "print time of real-world object X on a
+   Foomatic X900 printer went from 4 hours to 3.5 hours". It is
+   understood that testing of this type can take significant time and
+   effort. Some of Klipper's most notable features took months of
+   discussion, rework, testing, and documentation prior to being
+   merged into the master branch.
+
+   All new modules, config options, commands, command parameters, and
+   documents should have "high impact". We do not want to burden users
+   with options that they can not reasonably configure nor do we want
+   to burden them with options that don't provide a notable benefit.
+
+   A reviewer may ask for clarification on how a user is to configure
+   an option - an ideal response will contain details on the process -
+   for example, "users of the MegaX500 are expected to set option X to
+   99.3 while users of the Elite100Y are expected to calibrate option
+   X using procedure ...".
+
+   If the goal of an option is to make the code more modular then
+   prefer using code constants instead of user facing config options.
+
+   New modules, new options, and new parameters should not provide
+   similar functionality to existing modules - if the differences are
+   arbitrary than it's preferable to utilize the existing system or
+   refactor the existing code.
+
+3. Is the copyright of the submission clear, non-gratuitous, and
    compatible?
 
    New C files and Python files should have an unambiguous copyright
@@ -91,14 +144,14 @@ Common things a reviewer will look for:
    real name. It indicates the submitter agrees with the
    [developer certificate of origin](developer-certificate-of-origin).
 
-3. Does the submission follow guidelines specified in the Klipper
+4. Does the submission follow guidelines specified in the Klipper
    documentation?
 
    In particular, code should follow the guidelines in
    [Code_Overview.md](Code_Overview.md) and config files should follow
    the guidelines in [Example_Configs.md](Example_Configs.md).
 
-4. Is the Klipper documentation updated to reflect new changes?
+5. Is the Klipper documentation updated to reflect new changes?
 
    At a minimum, the reference documentation must be updated with
    corresponding changes to the code:
@@ -118,7 +171,7 @@ Common things a reviewer will look for:
    added to the website index
    [docs/_klipper3d/mkdocs.yml](../docs/_klipper3d/mkdocs.yml).
 
-5. Are commits well formed, address a single topic per commit, and
+6. Are commits well formed, address a single topic per commit, and
    independent?
 
    Commit messages should follow the
@@ -140,61 +193,6 @@ Common things a reviewer will look for:
    general, gratuitous whitespace changes are not accepted unless they
    are from the established "owner" of the code being modified.
 
-6. Does the submission provide a "high impact" benefit to real-world
-   users performing real-world tasks?
-
-   Reviewers need to identify, at least in their own minds, roughly
-   "who the target audience is", a rough scale of "the size of that
-   audience", the "benefit" they will obtain, how the "benefit is
-   measured", and the "results of those measurement tests". In most
-   cases this will be obvious to both the submitter and the reviewer,
-   and it is not explicitly stated during a review.
-
-   Submissions to the master Klipper branch are expected to have a
-   noteworthy target audience. As a general "rule of thumb",
-   submissions should target a user base of at least a 100 real-world
-   users.
-
-   If a reviewer asks for details on the "benefit" of a submission,
-   please don't consider it criticism. Being able to understand the
-   real-world benefits of a change is a natural part of a review.
-
-   When discussing benefits it is preferable to discuss "facts and
-   measurements" instead of "opinions and theories". In general,
-   reviewers are not looking for responses of the form "this
-   submission may improve quality because of ...", nor are they
-   looking for responses of the form "someone may find option X
-   useful", nor are they looking for responses of the form "this
-   submission adds a feature that firmware X implements". Instead, it
-   is generally preferable to discuss details on how the quality
-   improvement was measured and what were the results of those
-   measurements - for example, "tests on Acme X1000 printers show
-   improved corners as seen in picture ...", or for example "print
-   time of real-world object X on a Foomatic X900 printer went from 4
-   hours to 3.5 hours". It is understood that testing of this type can
-   take significant time and effort. Some of Klipper's most notable
-   features took years of discussion, rework, testing, and
-   documentation prior to being merged into the master branch.
-
-   All new modules, config options, commands, command parameters, and
-   documents should have "high impact". We do not want to burden users
-   with options that they can not reasonably configure nor do we want
-   to burden them with options that don't provide a notable benefit.
-
-   A reviewer may ask for clarification on how a user is to configure
-   an option - an ideal response will contain details on the process -
-   for example, "users of the MegaX500 are expected to set option X to
-   99.3 while users of the Elite100Y are expected to calibrate option
-   X using procedure ...".
-
-   If the goal of an option is to make the code more modular then
-   prefer using code constants instead of user facing config options.
-
-   New modules, new options, and new parameters should not provide
-   similar functionality to existing modules - if the differences are
-   arbitrary than it's preferable to utilize the existing system or
-   refactor the existing code.
-
 Klipper does not implement a strict "coding style guide", but
 modifications to existing code should follow the high-level code flow,
 code indentation style, and format of that existing code. Submissions
@@ -301,15 +299,13 @@ contributions) and contain a current email address.
 [Klipper-translations Project](https://github.com/Klipper3d/klipper-translations)
 is a project dedicated to translating Klipper to different languages.
 [Weblate](https://hosted.weblate.org/projects/klipper/) hosts all the
-Gettext strings for translating and reviewing. Locales can merge into
+Gettext strings for translating and reviewing. Locales can be displayed on
-the Klipper project once they satisfy the following requirements:
+[klipper3d.org](https://www.klipper3d.org) once they satisfy the following requirements:
 
 - [ ] 75% Total coverage
-- [ ] All titles (H1) are covered
+- [ ] All titles (H1) are translated
 - [ ] An updated navigation hierarchy PR in klipper-translations.
 
-The navigation hierarchy is in `docs\_klipper3d\mkdocs.yml`.
-
 To reduce the frustration of translating domain-specific terms and
 gain awareness of the ongoing translations, you can submit a PR
 modifying the
@@ -321,15 +317,15 @@ If a translation already exists in the Klipper repository and no
 longer meets the checklist above, it will be marked out-of-date after
 a month without updates.
 
-Please follow the following format for `mkdocs.yml` navigation
+Once the requirements are met, you need to:
-hierarchy:
 
-```yml
+1. update klipper-tranlations repository
-nav:
+[active_translations](https://github.com/Klipper3d/klipper-translations/blob/translations/active_translations)
-  - existing hierachy
+2. Optional: add a manual-index.md file in klipper-translations repository's
-  - <language>:
+`docs\locals\<lang>` folder to replace the language specific index.md (generated
-    - locales/<language code>/md file
+index.md does not render correctly).
-```
 
-Note: Currently, there isn't a method for correctly translating
+Known Issues:
-pictures in the documentation.
+1. Currently, there isn't a method for correctly translating pictures in
+the documentation
+2. It is impossible to translate titles in mkdocs.yml.

docs/Code_Overview.md

@@ -58,9 +58,12 @@ functions are declared using the DECL_COMMAND() macro (see the
 
 Task, init, and command functions always run with interrupts enabled
 (however, they can temporarily disable interrupts if needed). These
-functions should never pause, delay, or do any work that lasts more
+functions should avoid long pauses, delays, or do work that lasts a
-than a few micro-seconds. These functions schedule work at specific
+significant time. (Long delays in these "task" functions result in
-times by scheduling timers.
+scheduling jitter for other "tasks" - delays over 100us may become
+noticeable, delays over 500us may result in command retransmissions,
+delays over 100ms may result in watchdog reboots.) These functions
+schedule work at specific times by scheduling timers.
 
 Timer functions are scheduled by calling sched_add_timer() (located in
 **src/sched.c**). The scheduler code will arrange for the given

docs/Command_Templates.md

@@ -45,8 +45,7 @@ gcode:
   SET_PIN PIN=my_led VALUE=0
 ```
 
-This will be showing is you use the `HELP` command or use the autocomplete
+The terminal will display the description when you use the `HELP` command or the autocomplete function.
-function.
 
 ## Save/Restore state for G-Code moves
 
@@ -95,7 +94,7 @@ gcode:
   G90
   G0 Z15 F300
   {% for wipe in range(wipe_count) %}
-    {% for coordinate in [(275,4),(235,4)] %}
+    {% for coordinate in [(275, 4),(235, 4)] %}
       G0 X{coordinate[0]} Y{coordinate[1] + 0.25 * wipe} Z9.7 F12000
     {% endfor %}
   {% endfor %}

docs/Config_Changes.md

@@ -8,6 +8,55 @@ All dates in this document are approximate.
 
 ## Changes
 
+20220407: The temperature_fan `pid_integral_max` config option has
+been removed (it was deprecated on 20210612).
+
+20220407: The default color order for pca9632 LEDs is now "RGBW". Add
+an explicit `color_order: RBGW` setting to the pca9632 config section
+to obtain the previous behavior.
+
+20220330: The format of the `printer.neopixel.color_data` status
+information for neopixel and dotstar modules has changed. The
+information is now stored as a list of color lists (instead of a list
+of dictionaries). See the [status reference](Status_Reference.md#led)
+for details.
+
+20220307: `M73` will no longer set print progress to 0 if `P` is missing.
+
+20220304: There is no longer a default for the `extruder` parameter of
+[extruder_stepper](Config_Reference.md#extruder_stepper) config
+sections. If desired, specify `extruder: extruder` explicitly to
+associate the stepper motor with the "extruder" motion queue at
+startup.
+
+20220210: The `SYNC_STEPPER_TO_EXTRUDER` command is deprecated; the
+`SET_EXTRUDER_STEP_DISTANCE` command is deprecated; the
+[extruder](Config_Reference.md#extruder) `shared_heater` config option
+is deprecated. These features will be removed in the near future.
+Replace `SET_EXTRUDER_STEP_DISTANCE` with
+`SET_EXTRUDER_ROTATION_DISTANCE`. Replace `SYNC_STEPPER_TO_EXTRUDER`
+with `SYNC_EXTRUDER_MOTION`. Replace extruder config sections using
+`shared_heater` with
+[extruder_stepper](Config_Reference.md#extruder_stepper) config
+sections and update any activation macros to use
+[SYNC_EXTRUDER_MOTION](G-Codes.md#sync_extruder_motion).
+
+20220116: The tmc2130, tmc2208, tmc2209, and tmc2660 `run_current`
+calculation code has changed. For some `run_current` settings the
+drivers may now be configured differently. This new configuration
+should be more accurate, but it may invalidate previous tmc driver
+tuning.
+
+20211230: Scripts to tune input shaper (`scripts/calibrate_shaper.py`
+and `scripts/graph_accelerometer.py`) were migrated to use Python3
+by default. As a result, users must install Python3 versions of certain
+packages (e.g. `sudo apt install python3-numpy python3-matplotlib`) to
+continue using these scripts. For more details, refer to
+[Software installation](Measuring_Resonances.md#software-installation).
+Alternatively, users can temporarily force the execution of these scripts
+under Python 2 by explicitly calling Python2 interpretor in the console:
+`python2 ~/klipper/scripts/calibrate_shaper.py ...`
+
 20211110: The "NTC 100K beta 3950" temperature sensor is deprecated.
 This sensor will be removed in the near future.  Most users will find
 the "Generic 3950" temperature sensor more accurate.  To continue to

docs/Config_checks.md

@@ -132,10 +132,10 @@ troubleshooting tips in the previous section to confirm the
 
 Klipper supports
 [PID control](https://en.wikipedia.org/wiki/PID_controller) for the
-extruder and bed heaters. In order to use this control mechanism it is
+extruder and bed heaters. In order to use this control mechanism, it is
-necessary to calibrate the PID settings on each printer. (PID settings
+necessary to calibrate the PID settings on each printer (PID settings
 found in other firmwares or in the example configuration files often
-work poorly.)
+work poorly).
 
 To calibrate the extruder, navigate to the OctoPrint terminal tab and
 run the PID_CALIBRATE command. For example: `PID_CALIBRATE

docs/Debugging.md

@@ -202,20 +202,33 @@ run this on a desktop class machine (not a Raspberry Pi) as it does
 require significant cpu to run efficiently.
 
 To use simulavr, download the simulavr package and compile with python
-support:
+support. Note that the build system may need to have some packages (such as
+swig) installed in order to build the python module.
 
 ```
 git clone git://git.savannah.nongnu.org/simulavr.git
 cd simulavr
-./bootstrap
+make python
-./configure --enable-python
+make build
-make
 ```
+Make sure a file like **./build/pysimulavr/_pysimulavr.*.so** is present
+after the above compilation:
+```
+ls ./build/pysimulavr/_pysimulavr.*.so
+```
+This commmand should report a specific file (e.g.
+**./build/pysimulavr/_pysimulavr.cpython-39-x86_64-linux-gnu.so**) and
+not an error.
 
-Note that the build system may need to have some packages (such as
+If you are on a Debian-based system (Debian, Ubuntu, etc.) you can
-swig) installed in order to build the python module. Make sure the
+install the following packages and generate *.deb files for system-wide
-file **src/python/_pysimulavr.so** is present after the above
+installation of simulavr:
-compilation.
+```
+sudo apt update
+sudo apt install g++ make cmake swig rst2pdf help2man texinfo
+make cfgclean python debian
+sudo dpkg -i build/debian/python3-simulavr*.deb
+```
 
 To compile Klipper for use in simulavr, run:
 
@@ -229,7 +242,12 @@ select SIMULAVR software emulation support. Then one can compile
 Klipper (run `make`) and then start the simulation with:
 
 ```
-PYTHONPATH=/path/to/simulavr/src/python/ ./scripts/avrsim.py out/klipper.elf
+PYTHONPATH=/path/to/simulavr/build/pysimulavr/ ./scripts/avrsim.py out/klipper.elf
+```
+Note that if you have installed python3-simulavr system-wide, you do
+not need to set `PYTHONPATH`, and can simply run the simulator as
+```
+./scripts/avrsim.py out/klipper.elf
 ```
 
 Then, with simulavr running in another window, one can run the

docs/Delta_Calibrate.md

@@ -97,7 +97,11 @@ measuring parts of that test object with digital calipers.
 
 Prior to running an enhanced delta calibration one must run the basic
 delta calibration (via the DELTA_CALIBRATE command) and save the
-results (via the SAVE_CONFIG command).
+results (via the SAVE_CONFIG command). Make sure there hasn't been any
+notable change to the printer configuration nor hardware since last
+performing a basic delta calibration (if unsure, rerun the
+[basic delta calibration](#basic-delta-calibration), including
+SAVE_CONFIG, just prior to printing the test object described below.)
 
 Use a slicer to generate G-Code from the
 [docs/prints/calibrate_size.stl](prints/calibrate_size.stl) file.

docs/Example_Configs.md

@@ -10,7 +10,7 @@ is also a useful resource for finding and sharing config files.
 
 ## Guidelines
 
-1. Select the appropriate config filename prefix.
+1. Select the appropriate config filename prefix:
    1. The `printer` prefix is used for stock printers sold by a
       mainstream manufacturer.
    2. The `generic` prefix is used for a 3d printer board that may be
@@ -24,17 +24,20 @@ is also a useful resource for finding and sharing config files.
    5. The `example` prefix is used to describe printer kinematics.
       This type of config is typically only added along with code for
       a new type of printer kinematics.
-2. Use the appropriate filename suffix. The `printer` config files
+2. All configuration files must end in a `.cfg` suffix. The `printer`
-   must end in a year followed by `.cfg` (eg, `-2019.cfg`). In this
+   config files must end in a year followed by `.cfg` (eg,
-   case, the year is an approximate year the given printer was
+   `-2019.cfg`). In this case, the year is an approximate year the
-   sold. All example configuration files must end in `.cfg`.
+   given printer was sold.
-3. Klipper must be able to start `printer`, `generic`, and `kit`
+3. Do not use spaces or special characters in the config filename. The
+   filename should contain only characters `A-Z`, `a-z`, `0-9`, `-`,
+   and `.`.
+4. Klipper must be able to start `printer`, `generic`, and `kit`
    example config file without error. These config files should be
    added to the
    [test/klippy/printers.test](../test/klippy/printers.test)
    regression test case. Add new config files to that test case in the
    appropriate section and in alphabetical order within that section.
-4. The example configuration should be for the "stock" configuration
+5. The example configuration should be for the "stock" configuration
    of the printer. (There are too many "customized" configurations to
    track in the main Klipper repository.) Similarly, we only add
    example config files for printers, kits, and boards that have
@@ -42,7 +45,7 @@ is also a useful resource for finding and sharing config files.
    in active use). Consider using the
    [Klipper Community Discourse server](https://community.klipper3d.org)
    for other configs.
-5. Only specify those devices present on the given printer or board.
+6. Only specify those devices present on the given printer or board.
    Do not specify settings specific to your particular setup.
    1. For `generic` config files, only those devices on the mainboard
       should be described. For example, it would not make sense to add
@@ -61,7 +64,7 @@ is also a useful resource for finding and sharing config files.
    4. Only define macros that utilize functionality specific to the
       given printer or to define g-codes that are commonly emitted by
       slicers configured for the given printer.
-6. Where possible, it is best to use the same wording, phrasing,
+7. Where possible, it is best to use the same wording, phrasing,
    indentation, and section ordering as the existing config files.
    1. The top of each config file should list the type of
       micro-controller the user should select during "make
@@ -82,7 +85,9 @@ is also a useful resource for finding and sharing config files.
       extruder - it is normally in the range of 20 to 35mm. When
       specifying a `gear_ratio` it is preferable to specify the actual
       gears on the mechanism (eg, prefer `gear_ratio: 80:20` over
-      `gear_ratio: 4:1`).
+      `gear_ratio: 4:1`). See the
+      [rotation distance document](Rotation_Distance.md#using-a-gear_ratio)
+      for more information.
    6. Avoid defining field values that are set to their default
       value. For example, one should not specify `min_extrude_temp:
       170` as that is already the default value.
@@ -91,13 +96,14 @@ is also a useful resource for finding and sharing config files.
       files. (For example, avoid adding lines like "this file was
       created by ...".) Place attribution and change history in the
       git commit message.
-7. Do not use any deprecated features in the example config file. The
+8. Do not use any deprecated features in the example config file.
-   `step_distance` and `pin_map` parameters are deprecated and should
+9. Do not disable a default safety system in an example config file.
-   not be in any example config file.
-8. Do not disable a default safety system in an example config file.
    For example, a config should not specify a custom
    `max_extrude_cross_section`. Do not enable debugging features. For
    example there should not be a `force_move` config section.
+10. All known boards that Klipper supports can use the default serial
+    baud rate of 250000. Do not recommend a different baud rate in an
+    example config file.
 
 Example config files are submitted by creating a github "pull
 request". Please also follow the directions in the

docs/FAQ.md

@@ -15,7 +15,7 @@
 13. [My TMC motor driver turns off in the middle of a print](#my-tmc-motor-driver-turns-off-in-the-middle-of-a-print)
 14. [I keep getting random "Lost communication with MCU" errors](#i-keep-getting-random-lost-communication-with-mcu-errors)
 15. [My Raspberry Pi keeps rebooting during prints](#my-raspberry-pi-keeps-rebooting-during-prints)
-16. [When I set "restart_method=command" my AVR device just hangs on a restart](#when-i-set-restart_methodcommand-my-avr-device-just-hangs-on-a-restart)
+16. [When I set `restart_method=command` my AVR device just hangs on a restart](#when-i-set-restart_methodcommand-my-avr-device-just-hangs-on-a-restart)
 17. [Will the heaters be left on if the Raspberry Pi crashes?](#will-the-heaters-be-left-on-if-the-raspberry-pi-crashes)
 18. [How do I convert a Marlin pin number to a Klipper pin name?](#how-do-i-convert-a-marlin-pin-number-to-a-klipper-pin-name)
 19. [Do I have to wire my device to a specific type of micro-controller pin?](#do-i-have-to-wire-my-device-to-a-specific-type-of-micro-controller-pin)
@@ -293,7 +293,7 @@ troubleshooting steps for a
 ["Lost communication with MCU"](#i-keep-getting-random-lost-communication-with-mcu-errors)
 error.
 
-## When I set "restart_method=command" my AVR device just hangs on a restart
+## When I set `restart_method=command` my AVR device just hangs on a restart
 
 Some old versions of the AVR bootloader have a known bug in watchdog
 event handling. This typically manifests when the printer.cfg file has

docs/Features.md

@@ -161,19 +161,24 @@ represent total number of steps per second on the micro-controller.
 | ------------------------------- | ----------------- | ----------------- |
 | 16Mhz AVR                       | 157K              | 99K               |
 | 20Mhz AVR                       | 196K              | 123K              |
-| Arduino Zero (SAMD21)           | 686K              | 471K              |
+| SAMD21                          | 686K              | 471K              |
 | STM32F042                       | 814K              | 578K              |
 | Beaglebone PRU                  | 866K              | 708K              |
-| "Blue Pill" (STM32F103)         | 1180K             | 818K              |
+| STM32G0B1                       | 1103K             | 790K              |
-| Arduino Due (SAM3X8E)           | 1273K             | 981K              |
+| STM32F103                       | 1180K             | 818K              |
-| Duet2 Maestro (SAM4S8C)         | 1690K             | 1385K             |
+| SAM3X8E                         | 1273K             | 981K              |
-| Smoothieboard (LPC1768)         | 1923K             | 1351K             |
+| SAM4S8C                         | 1690K             | 1385K             |
-| Smoothieboard (LPC1769)         | 2353K             | 1622K             |
+| LPC1768                         | 1923K             | 1351K             |
-| Raspberry Pi Pico (RP2040)      | 2400K             | 1636K             |
+| LPC1769                         | 2353K             | 1622K             |
-| Duet2 Wifi/Eth (SAM4E8E)        | 2500K             | 1674K             |
+| RP2040                          | 2400K             | 1636K             |
-| Adafruit Metro M4 (SAMD51)      | 3077K             | 1885K             |
+| SAM4E8E                         | 2500K             | 1674K             |
-| BigTreeTech SKR Pro (STM32F407) | 3652K             | 2459K             |
+| SAMD51                          | 3077K             | 1885K             |
-| Fysetc Spider (STM32F446)       | 3913K             | 2634K             |
+| STM32F407                       | 3652K             | 2459K             |
+| STM32F446                       | 3913K             | 2634K             |
+
+If unsure of the micro-controller on a particular board, find the
+appropriate [config file](../config/), and look for the
+micro-controller name in the comments at the top of that file.
 
 Further details on the benchmarks are available in the
 [Benchmarks document](Benchmarks.md).

docs/Hall_Filament_Width_Sensor.md

@@ -1,100 +1,26 @@
 # Hall filament width sensor
 
-This document describes Filament Width Sensor host module. Hardware used for developing this host module is based on Two Hall liniar sensors (ss49e for example). Sensors in the body are located opposite sides. Principle of operation : two hall sensors work in differential mode, temperature drift same for sensor. Special temperature compensation not needed. You can find designs at [Thingiverse](https://www.thingiverse.com/thing:4138933)
+This document describes Filament Width Sensor host module. Hardware used for
+developing this host module is based on two Hall linear sensors (ss49e for
+example). Sensors in the body are located opposite sides. Principle of operation:
+two hall sensors work in differential mode, temperature drift same for sensor.
+Special temperature compensation not needed.
+
+You can find designs at [Thingiverse](https://www.thingiverse.com/thing:4138933),
+an assembly video is also available on [Youtube](https://www.youtube.com/watch?v=TDO9tME8vp4)
+
+To use Hall filament width sensor, read
+[Config Reference](Config_Reference.md#hall_filament_width_sensor) and
+[G-Code documentation](G-Codes.md#hall_filament_width_sensor).
 
-[Hall based filament width sensor assembly video](https://www.youtube.com/watch?v=TDO9tME8vp4)
 
 ## How does it work?
 
-Sensor generates two analog output based on calculated filament width. Sum of output voltage always equals to detected filament width . Host module monitors voltage changes and adjusts extrusion multiplier. I use aux2 connector on ramps-like board analog11 and analog12 pins. You can use different pins and differenr boards
+Sensor generates two analog output based on calculated filament width. Sum of
-
+output voltage always equals to detected filament width. Host module monitors
-## Configuration
+voltage changes and adjusts extrusion multiplier. I use aux2 connector on
-
+ramps-like board analog11 and analog12 pins. You can use different pins and
-```
+differenr boards.
-[hall_filament_width_sensor]
-
-adc1: analog11
-adc2: analog12
-# adc1 and adc2 channels select own pins Analog input pins on 3d printer board
-# Sensor power supply can be 3.3v or 5v
-
-Cal_dia1: 1.50 # Reference diameter point 1 (mm)
-Cal_dia2: 2.00 # Reference diameter point 2 (mm)
-
-# The measurement principle provides for two-point calibration
-# In calibration process you must use rods of known diameter
-# I use drill rods as the base diameter.
-# nominal filament diameter must be between Cal_dia1 and Cal_dia2
-# Your size may differ from the indicated ones, for example 2.05
-
-Raw_dia1:10630 # Raw sensor value for reference point 1
-Raw_dia2:8300  # Raw sensor value for reference point 2
-
-# Raw value of sensor in units
-# can be readed by command QUERY_RAW_FILAMENT_WIDTH
-
-default_nominal_filament_diameter: 1.75 # This parameter is in millimeters (mm)
-
-max_difference: 0.15
-# Maximum allowed filament diameter difference in millimeters (mm)
-# If difference between nominal filament diameter and sensor output is more
-# than +- max_difference, extrusion multiplier set back to %100
-
-measurement_delay: 70
-# The distance from sensor to the melting chamber/hot-end in millimeters (mm).
-# The filament between the sensor and the hot-end will be treated as the default_nominal_filament_diameter.
-# Host module works with FIFO logic. It keeps each sensor value and position in
-# an array and POP them back in correct position.
-
-#enable:False
-# Sensor enabled or disabled after power on. Disabled by default
-
-# measurement_interval:10
-# Sensor readings done with 10 mm intervals by default. If necessary you are free to change this setting
-
-#logging: False
-#  Out diameter to terminal and klipper.log
-#  can be turn on|of by command
-
-#Virtual filament_switch_sensor suppurt. Create sensor named hall_filament_width_sensor.
-#
-#min_diameter:1.0
-#Minimal diameter for trigger virtual filament_switch_sensor.
-#use_current_dia_while_delay: False
-#   Use the current diameter instead of the nominal diamenter while the measurement delay has not run through.
-#
-#Values from filament_switch_sensor. See the "filament_switch_sensor" section for information on these parameters.
-#
-#pause_on_runout: True
-#runout_gcode:
-#insert_gcode:
-#event_delay: 3.0
-#pause_delay: 0.5
-```
-
-## G-Code Commands
-
-**QUERY_FILAMENT_WIDTH** - Return the current measured filament width as result
-
-**RESET_FILAMENT_WIDTH_SENSOR** - Clear all sensor readings. Can be used after filament change.
-
-**DISABLE_FILAMENT_WIDTH_SENSOR** - Turn off the filament width sensor and stop using it to do flow control
-
-**ENABLE_FILAMENT_WIDTH_SENSOR** - Turn on the filament width sensor and start using it to do flow control
-
-**QUERY_RAW_FILAMENT_WIDTH** Return the current ADC channel values and RAW sensor value for calibration points
-
-**ENABLE_FILAMENT_WIDTH_LOG** - Turn on diameter logging
-
-**DISABLE_FILAMENT_WIDTH_LOG** - Turn off diameter logging
-
-## Menu variables
-
-**hall_filament_width_sensor.Diameter** current measured filament width in mm
-
-**hall_filament_width_sensor.Raw** current raw measured filament width in units
-
-**hall_filament_width_sensor.is_active** Sensor on or off
 
 ## Template for menu variables
 
@@ -114,7 +40,8 @@ index: 1
 
 ## Calibration procedure
 
-To get raw sensor value you can use menu item or **QUERY_RAW_FILAMENT_WIDTH** command in terminal
+To get raw sensor value you can use menu item or **QUERY_RAW_FILAMENT_WIDTH**
+command in terminal.
 
 1. Insert first calibration rod (1.5 mm size) get first raw sensor value
 
@@ -126,12 +53,15 @@ To get raw sensor value you can use menu item or **QUERY_RAW_FILAMENT_WIDTH** co
 
 By default, the sensor is disabled at power-on.
 
-To enable the sensor, issue **ENABLE_FILAMENT_WIDTH_SENSOR** command or set the `enable` parameter to `true.`
+To enable the sensor, issue **ENABLE_FILAMENT_WIDTH_SENSOR** command or
+set the `enable` parameter to `true`.
 
 ## Logging
 
 By default, diameter logging is disabled at power-on.
 
-Issue **ENABLE_FILAMENT_WIDTH_LOG** command to start logging and issue **DISABLE_FILAMENT_WIDTH_LOG** command to stop logging. To enable logging at power-on, set the `logging` parameter to `true`.
+Issue **ENABLE_FILAMENT_WIDTH_LOG** command to start logging and issue
+**DISABLE_FILAMENT_WIDTH_LOG** command to stop logging. To enable logging
+at power-on, set the `logging` parameter to `true`.
 
 Filament diameter is logged on every measurement interval (10 mm by default).

docs/Installation.md

@@ -6,10 +6,34 @@ Raspberry Pi 2, 3, or 4 computer 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).
 
-Klipper currently supports a number of Atmel ATmega based
+## Obtain a Klipper Configuration File
-micro-controllers,
+
-[ARM based micro-controllers](Features.md#step-benchmarks), and
+Most Klipper settings are determined by a "printer configuration file"
-[Beaglebone PRU](Beaglebone.md) based printers.
+that will be stored on the Raspberry Pi. An appropriate configuration
+file can often be found by looking in the Klipper
+[config directory](../config/) for a file starting with a "printer-"
+prefix that corresponds to the target printer. The Klipper
+configuration file contains technical information about the printer
+that will be needed during the installation.
+
+If there isn't an appropriate printer configuration file in the
+Klipper config directory then try searching the printer manufacturer's
+website to see if they have an appropriate Klipper configuration file.
+
+If no configuration file for the printer can be found, but the type of
+printer control board is known, then look for an appropriate
+[config file](../config/) starting with a "generic-" prefix. These
+example printer board files should allow one to successfully complete
+the initial installation, but will require some customization to
+obtain full printer functionality.
+
+It is also possible to define a new printer configuration from
+scratch. However, this requires significant technical knowledge about
+the printer and its electronics. It is recommended that most users
+start with an appropriate configuration file. If creating a new custom
+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
 
@@ -49,16 +73,27 @@ cd ~/klipper/
 make menuconfig
 ```
 
-Select the appropriate micro-controller and review any other options
+The comments at the top of the
-provided. Once configured, run:
+[printer configuration file](#obtain-a-klipper-configuration-file)
+should describe the settings that need to be set during "make
+menuconfig". Open the file in a web browser or text editor and look
+for these instructions near the top of the file. Once the appropriate
+"menuconfig" settings have been configured, press "Q" to exit, and
+then "Y" to save. Then run:
 
 ```
 make
 ```
 
-It is necessary to determine the serial port connected to the
+If the comments at the top of the
-micro-controller. For micro-controllers that connect via USB, run the
+[printer configuration file](#obtain-a-klipper-configuration-file)
-following:
+describe custom steps for "flashing" the final image to the printer
+control board then follow those steps and then proceed to
+[configuring OctoPrint](#configuring-octoprint-to-use-klipper).
+
+Otherwise, the following steps are often used to "flash" the printer
+control board. First, it is necessary to determine the serial port
+connected to the micro-controller. Run the following:
 
 ```
 ls /dev/serial/by-id/*
@@ -122,36 +157,43 @@ Klipper. Proceed to the next section.
 
 ## Configuring Klipper
 
-The Klipper configuration is stored in a text file on the Raspberry
+The next step is to copy the
-Pi. Take a look at the example config files in the
+[printer configuration file](#obtain-a-klipper-configuration-file) to
-[config directory](../config/). The
+the Raspberry Pi.
-[Config Reference](Config_Reference.md) contains documentation on
-config parameters.
 
-Arguably the easiest way to update the Klipper configuration file is
+Arguably the easiest way to set the Klipper configuration file is to
-to use a desktop editor that supports editing files over the "scp"
+use a desktop editor that supports editing files over the "scp" and/or
-and/or "sftp" protocols. There are freely available tools that support
+"sftp" protocols. There are freely available tools that support this
-this (eg, Notepad++, WinSCP, and Cyberduck). Use one of the example
+(eg, Notepad++, WinSCP, and Cyberduck). Load the printer config file
-config files as a starting point and save it as a file named
+in the editor and then save it as a file named "printer.cfg" in the
-"printer.cfg" in the home directory of the pi user (ie,
+home directory of the pi user (ie, /home/pi/printer.cfg).
-/home/pi/printer.cfg).
 
 Alternatively, one can also copy and edit the file directly on the
-Raspberry Pi via ssh - for example:
+Raspberry Pi via ssh. That may look something like the following (be
+sure to update the command to use the appropriate printer config
+filename):
 
 ```
 cp ~/klipper/config/example-cartesian.cfg ~/printer.cfg
 nano ~/printer.cfg
 ```
 
-Make sure to review and update each setting that is appropriate for
-the hardware.
-
 It's common for each printer to have its own unique name for the
 micro-controller. The name may change after flashing Klipper, so rerun
-the `ls /dev/serial/by-id/*` command and then update the config file
+these steps again even if they were already done when flashing. Run:
-with the unique name. For example, update the `[mcu]` section to look
+
-something similar to:
+```
+ls /dev/serial/by-id/*
+```
+
+It should report something similar to the following:
+
+```
+/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
+```
+
+Then update the config file with the unique name. For example, update
+the `[mcu]` section to look something similar to:
 
 ```
 [mcu]
@@ -162,26 +204,19 @@ After creating and editing the file it will be necessary to issue a
 "restart" command in the OctoPrint web terminal to load the config. A
 "status" command will report the printer is ready if the Klipper
 config file is successfully read and the micro-controller is
-successfully found and configured. It is not unusual to have
+successfully found and configured.
-configuration errors during the initial setup - update the printer
+
-config file and issue "restart" until "status" reports the printer is
+When customizing the printer config file, it is not uncommon for
-ready.
+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
 "status" command can be used to re-report error messages. The default
 Klipper startup script also places a log in **/tmp/klippy.log** which
 provides more detailed information.
 
-In addition to common g-code commands, Klipper supports a few extended
+After Klipper reports that the printer is ready, proceed to the
-commands - "status" and "restart" are examples of these commands. Use
-the "help" command to get a list of other extended commands.
-
-After Klipper reports that the printer is ready go on to the
 [config check document](Config_checks.md) to perform some basic checks
-on the pin definitions in the config file.
+on the definitions in the config file. See the main
-
+[documentation reference](Overview.md) for other information.
-## Contacting the developers
-
-Be sure to see the [FAQ](FAQ.md) for answers to some common questions.
-See the [contact page](Contact.md) to report a bug or to contact the
-developers.

docs/Manual_Level.md

@@ -63,9 +63,9 @@ This is done by creating a `[bed_screws]` config section. For example,
 it might look something similar to:
 ```
 [bed_screws]
-screw1: 100,50
+screw1: 100, 50
-screw2: 100,150
+screw2: 100, 150
-screw3: 150,100
+screw3: 150, 100
 ```
 
 If a bed screw is under the bed, then specify the XY position directly
@@ -79,8 +79,8 @@ then one can start the tool by running:
 BED_SCREWS_ADJUST
 ```
 
-This tool will move the printer's nozzle to each screw XY location and
+This tool will move the printer's nozzle to each screw XY location
-then move the nozzle to a Z=0 height. At this point one can use the
+and then move the nozzle to a Z=0 height. At this point one can use the
 "paper test" to adjust the bed screw directly under the nozzle. See
 the information described in
 ["the paper test"](Bed_Level.md#the-paper-test), but adjust the bed
@@ -126,12 +126,12 @@ coordinates and add them to the config file. For example, it might
 look like:
 ```
 [bed_screws]
-screw1: 100,50
+screw1: 100, 50
-screw1_fine_adjust: 0,0
+screw1_fine_adjust: 0, 0
-screw2: 100,150
+screw2: 100, 150
-screw2_fine_adjust: 300,300
+screw2_fine_adjust: 300, 300
-screw3: 150,100
+screw3: 150, 100
-screw3_fine_adjust: 0,100
+screw3_fine_adjust: 0, 100
 ```
 
 When this feature is enabled, the `BED_SCREWS_ADJUST` tool will first
@@ -151,13 +151,13 @@ config file. For example, it might look like:
 
 ```
 [screws_tilt_adjust]
-screw1: -5,30
+screw1: -5, 30
 screw1_name: front left screw
-screw2: 155,30
+screw2: 155, 30
 screw2_name: front right screw
-screw3: 155,190
+screw3: 155, 190
 screw3_name: rear right screw
-screw4: -5,190
+screw4: -5, 190
 screw4_name: rear left screw
 horizontal_move_z: 10.
 speed: 50.
@@ -179,12 +179,15 @@ Recv: // rear right screw : y=155.0, y=190.0, z=2.71500 : adjust CCW 00:50
 Recv: // read left screw : x=-5.0, y=190.0, z=2.47250 : adjust CW 00:02
 Recv: ok
 ```
-This means that:
 
+This means that:
 - front left screw is the reference point you must not change it.
 - front right screw must be turned clockwise 1 full turn and a quarter turn
 - rear right screw must be turned counter-clockwise 50 minutes
-- read left screw must be turned clockwise 2 minutes (not need it's ok)
+- rear left screw must be turned clockwise 2 minutes (not need it's ok)
+
+Note that "minutes" refers to "minutes of a clock face". So, for
+example, 15 minutes is a quarter of a full turn.
 
 Repeat the process several times until you get a good level bed -
 normally when all adjustments are below 6 minutes.

docs/Measuring_Resonances.md

@@ -77,7 +77,7 @@ too little RAM, the installation may fail and you will need to enable swap.
 Next, run the following commands to install the additional dependencies:
 ```
 sudo apt update
-sudo apt install python-numpy python-matplotlib
+sudo apt install python3-numpy python3-matplotlib
 ```
 
 Afterwards, check and follow the instructions in the
@@ -98,7 +98,7 @@ cs_pin: rpi:None
 [resonance_tester]
 accel_chip: adxl345
 probe_points:
-    100,100,20  # an example
+    100, 100, 20  # an example
 ```
 It is advised to start with 1 probe point, in the middle of the print bed,
 slightly above it.
@@ -163,7 +163,7 @@ TEST_RESONANCES AXIS=Y
 ```
 This will generate 2 CSV files (`/tmp/resonances_x_*.csv` and
 `/tmp/resonances_y_*.csv`). These files can be processed with the stand-alone
-script on a Raspberry Pi. To do that, run running the following commands:
+script on a Raspberry Pi. To do that, run the following commands:
 ```
 ~/klipper/scripts/calibrate_shaper.py /tmp/resonances_x_*.csv -o /tmp/shaper_calibrate_x.png
 ~/klipper/scripts/calibrate_shaper.py /tmp/resonances_y_*.csv -o /tmp/shaper_calibrate_y.png
@@ -473,10 +473,11 @@ ignoring any errors for `SET_INPUT_SHAPER` command. For `TEST_RESONANCES`
 command, specify the desired test axis. The raw data will be written into
 `/tmp` directory on the RPi.
 
-The raw data can also be obtained by running the command `ACCELEROMETER_MEASURE`
+The raw data can also be obtained by running the command
-command twice during some normal printer activity - first to start the
+`ACCELEROMETER_MEASURE` command twice during some normal printer
-measurements, and then to stop them and write the output file. Refer to
+activity - first to start the measurements, and then to stop them and
-[G-Codes](G-Codes.md#adxl345-accelerometer-commands) for more details.
+write the output file. Refer to [G-Codes](G-Codes.md#adxl345) for more
+details.
 
 The data can be processed later by the following scripts:
 `scripts/graph_accelerometer.py` and `scripts/calibrate_shaper.py`. Both

docs/Probe_Calibrate.md

@@ -1,6 +1,6 @@
 # Probe calibration
 
-This document describes the method for calibrating the x, y, and z
+This document describes the method for calibrating the X, Y, and Z
 offsets of an "automatic z probe" in Klipper. This is useful for users
 that have a `[probe]` or `[bltouch]` section in their config file.
 
@@ -129,12 +129,12 @@ typical bed leveling procedures. It may be possible to tune the probe
 speed and/or probe start height to improve the repeatability of the
 probe. The `PROBE_ACCURACY` command allows one to run tests with
 different parameters to see their impact - see the
-[G-Codes document](G-Codes.md) for further details. If the probe
+[G-Codes document](G-Codes.md#probe_accuracy) for further details. If
-generally obtains repeatable results but has an occasional outlier,
+the probe generally obtains repeatable results but has an occasional
-then it may be possible to account for that by using multiple samples
+outlier, then it may be possible to account for that by using multiple
-on each probe - read the description of the probe `samples` config
+samples on each probe - read the description of the probe `samples`
-parameters in the [config reference](Config_Reference.md#probe) for
+config parameters in the [config reference](Config_Reference.md#probe)
-more details.
+for more details.
 
 If new probe speed, samples count, or other settings are needed, then
 update the printer.cfg file and issue a `RESTART` command. If so, it

docs/RPi_microcontroller.md

@@ -1,23 +1,26 @@
 # RPi microcontroller
 
-This document describes the process of running Klipper on a RPi
+This document describes the process of running Klipper on a RPi and
-and use the same RPi as secondary mcu.
+use the same RPi as secondary mcu.
 
 ## Why use RPi as a secondary MCU?
 
 Often the MCUs dedicated to controlling 3D printers have a limited and
 pre-configured number of exposed pins to manage the main printing
-functions (thermal resistors, extruders, steppers ...).
+functions (thermal resistors, extruders, steppers ...). Using the RPi
-Using the RPi where Klipper is installed as a secondary MCU gives the
+where Klipper is installed as a secondary MCU gives the possibility to
-possibility to directly use the GPIOs and the buses (i2c, spi) of the RPi
+directly use the GPIOs and the buses (i2c, spi) of the RPi inside
-inside klipper without using Octoprint plugins (if used) or external
+klipper without using Octoprint plugins (if used) or external programs
-programs giving the ability to control everything within the print GCODE.
+giving the ability to control everything within the print GCODE.
 
-**Warning**: If your platform is a _Beaglebone_ and you have correctly followed the installation steps, the linux mcu is already installed and configured for your system.
+**Warning**: If your platform is a _Beaglebone_ and you have correctly
+followed the installation steps, the linux mcu is already installed
+and configured for your system.
 
 ## Install the rc script
 
-If you want to use the host as a secondary MCU the klipper_mcu process must run before the klippy process.
+If you want to use the host as a secondary MCU the klipper_mcu process
+must run before the klippy process.
 
 After installing Klipper, install the script. run:
 ```
@@ -26,10 +29,6 @@ sudo cp "./scripts/klipper-mcu-start.sh" /etc/init.d/klipper_mcu
 sudo update-rc.d klipper_mcu defaults
 ```
 
-## Enabling SPI
-
-Make sure the Linux SPI driver is enabled by running sudo raspi-config and enabling SPI under the "Interfacing options" menu.
-
 ## Building the micro-controller code
 
 To compile the Klipper micro-controller code, start by configuring it
@@ -38,7 +37,9 @@ for the "Linux process":
 cd ~/klipper/
 make menuconfig
 ```
-In the menu, set "Microcontroller Architecture" to "Linux process," then save and exit.
+
+In the menu, set "Microcontroller Architecture" to "Linux process,"
+then save and exit.
 
 To build and install the new micro-controller code, run:
 ```
@@ -47,9 +48,10 @@ make flash
 sudo service klipper start
 ```
 
-If klippy.log reports a "Permission denied" error when attempting to connect
+If klippy.log reports a "Permission denied" error when attempting to
-to `/tmp/klipper_host_mcu` then you need to add your user to the tty group.
+connect to `/tmp/klipper_host_mcu` then you need to add your user to
-The following command will add the "pi" user to the tty group:
+the tty group.  The following command will add the "pi" user to the
+tty group:
 ```
 sudo usermod -a -G tty pi
 ```
@@ -61,12 +63,24 @@ following the instructions in
 [RaspberryPi sample config](../config/sample-raspberry-pi.cfg) and
 [Multi MCU sample config](../config/sample-multi-mcu.cfg).
 
+## Optional: Enabling SPI
+
+Make sure the Linux SPI driver is enabled by running
+`sudo raspi-config` and enabling SPI under the "Interfacing options"
+menu.
+
 ## Optional: Identify the correct gpiochip
 
-On Rasperry and on many clones the pins exposed on the GPIO belong to the first gpiochip. They can therefore be used on klipper simply by referring them with the name `gpio0..n`.
+On Raspberry Pi and on many clones the pins exposed on the GPIO belong
-However, there are cases in which the exposed pins belong to gpiochips other than the first. For example in the case of some OrangePi models or if a Port Expander is used. In these cases it is useful to use the commands to access the _Linux GPIO character device_ to verify the configuration.
+to the first gpiochip. They can therefore be used on klipper simply by
+referring them with the name `gpio0..n`. However, there are cases in
+which the exposed pins belong to gpiochips other than the first. For
+example in the case of some OrangePi models or if a Port Expander is
+used. In these cases it is useful to use the commands to access the
+_Linux GPIO character device_ to verify the configuration.
 
-To install the _Linux GPIO character device - binary_ on a debian based distro like octopi run:
+To install the _Linux GPIO character device - binary_ on a debian
+based distro like octopi run:
 ```
 sudo apt-get install gpiod
 ```
@@ -81,9 +95,13 @@ To check the pin number and the pin availability tun:
 gpioinfo
 ```
 
-The chosen pin can thus be used within the configuration as `gpiochip<n>/gpio<o>` where **n** is the chip number as seen by the `gpiodetect` command and **o** is the line number seen by the` gpioinfo` command.
+The chosen pin can thus be used within the configuration as
+`gpiochip<n>/gpio<o>` where **n** is the chip number as seen by the
+`gpiodetect` command and **o** is the line number seen by the`
+gpioinfo` command.
 
-***Warning:*** only gpio marked as `unused` can be used. It is not possible for a _line_ to be used by multiple processes simultaneously.
+***Warning:*** only gpio marked as `unused` can be used. It is not
+possible for a _line_ to be used by multiple processes simultaneously.
 
 For example on a RPi 3B+ where klipper use the GPIO20 for a switch:
 ```
@@ -160,23 +178,32 @@ gpiochip1 - 8 lines:
 
 ## Optional: Hardware PWM
 
-Raspberry Pi's have two PWM channels (PWM0 and PWM1) which are exposed on the header or if not, can be routed to existing gpio pins.
+Raspberry Pi's have two PWM channels (PWM0 and PWM1) which are exposed
-The Linux mcu daemon uses the pwmchip sysfs interface to control hardware pwm devices on Linux hosts.
+on the header or if not, can be routed to existing gpio pins.  The
-The pwm sysfs interface is not exposed by default on a Raspberry and can be activated by adding a line to ```/boot/config.txt```:
+Linux mcu daemon uses the pwmchip sysfs interface to control hardware
+pwm devices on Linux hosts.  The pwm sysfs interface is not exposed by
+default on a Raspberry and can be activated by adding a line to
+`/boot/config.txt`:
 ```
 # Enable pwmchip sysfs interface
 dtoverlay=pwm,pin=12,func=4
 ```
-This example enables only PWM0 and routes it to gpio12. If both PWM channels need to be enabled you can use ```pwm-2chan```.
+This example enables only PWM0 and routes it to gpio12. If both PWM
+channels need to be enabled you can use `pwm-2chan`.
 
-The overlay does not expose the pwm line on sysfs on boot and needs to be exported by echo'ing the number of the pwm channel to ```/sys/class/pwm/pwmchip0/export```:
+The overlay does not expose the pwm line on sysfs on boot and needs to
+be exported by echo'ing the number of the pwm channel to
+`/sys/class/pwm/pwmchip0/export`:
 ```
 echo 0 > /sys/class/pwm/pwmchip0/export
 ```
-This will create device ```/sys/class/pwm/pwmchip0/pwm0``` in the filesystem.
-The easiest way to do this is by adding this to ```/etc/rc.local``` before the ```exit 0``` line.
 
-With the sysfs in place, you can now use either the pwm channel(s) by adding the following piece of configuration to your ```printer.cfg```:
+This will create device `/sys/class/pwm/pwmchip0/pwm0` in the
+filesystem. The easiest way to do this is by adding this to
+`/etc/rc.local` before the `exit 0` line.
+
+With the sysfs in place, you can now use either the pwm channel(s) by
+adding the following piece of configuration to your `printer.cfg`:
 ```
 [output_pin caselight]
 pin: host:pwmchip0/pwm0
@@ -184,7 +211,8 @@ pwm: True
 hardware_pwm: True
 cycle_time: 0.000001
 ```
-This will add hardware pwm control to gpio12 on the Pi (because the overlay was configured to route pwm0 to pin=12).
+This will add hardware pwm control to gpio12 on the Pi (because the
+overlay was configured to route pwm0 to pin=12).
 
 PWM0 can be routed to gpio12 and gpio18, PWM1 can be routed to gpio13
 and gpio19:

docs/Resonance_Compensation.md

@@ -23,9 +23,8 @@ of the stealthChop mode of Trinamic stepper drivers.
 
 ## Tuning
 
-Basic tuning requires measuring the ringing frequencies of the printer and
+Basic tuning requires measuring the ringing frequencies of the printer
-adding a few parameters to `printer.cfg` file.
+by printing a test model.
-
 
 Slice the ringing test model, which can be found in
 [docs/prints/ringing_tower.stl](prints/ringing_tower.stl), in the slicer:
@@ -45,31 +44,28 @@ Slice the ringing test model, which can be found in
 
 First, measure the **ringing frequency**.
 
-1. Increase `max_accel` and `max_accel_to_decel` parameters in your
+1. If `square_corner_velocity` parameter was changed, revert it back
-   `printer.cfg` to 7000. Note that this is only needed for tuning, and more
+   to 5.0. It is not advised to increase it when using input shaper
-   proper value will be selected in the corresponding
+   because it can cause more smoothing in parts - it is better to use
-   [section](#selecting-max_accel).
+   higher acceleration value instead.
-2. If `square_corner_velocity` parameter was changed, revert it back to 5.0.
+2. Increase `max_accel_to_decel` by issuing the following command:
-   It is not advised to increase it when using the input shaper because it can
+   `SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000`
-   cause more smoothing in parts - it is better to use higher acceleration
+3. Disable Pressure Advance: `SET_PRESSURE_ADVANCE ADVANCE=0`
-   value instead.
+4. If you have already added `[input_shaper]` section to the printer.cfg,
-3. Restart the firmware: `RESTART`.
-4. Disable Pressure Advance: `SET_PRESSURE_ADVANCE ADVANCE=0`.
-5. If you have already added `[input_shaper]` section to the printer.cfg,
    execute `SET_INPUT_SHAPER SHAPER_FREQ_X=0 SHAPER_FREQ_Y=0` command. If you
    get "Unknown command" error, you can safely ignore it at this point and
    continue with the measurements.
-6. Execute the command
+5. Execute the command:
-   `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
+   `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5`
    Basically, we try to make ringing more pronounced by setting different large
    values for acceleration. This command will increase the acceleration every
    5 mm starting from 1500 mm/sec^2: 1500 mm/sec^2, 2000 mm/sec^2, 2500 mm/sec^2
    and so forth up until 7000 mm/sec^2 at the last band.
-7. Print the test model sliced with the suggested parameters.
+6. Print the test model sliced with the suggested parameters.
-8. You can stop the print earlier if the ringing is clearly visible and you see
+7. You can stop the print earlier if the ringing is clearly visible and you see
    that acceleration gets too high for your printer (e.g. printer shakes too
    much or starts skipping steps).
-9. Use X and Y marks at the back of the model for reference. The measurements
+8. Use X and Y marks at the back of the model for reference. The measurements
    from the side with X mark should be used for X axis *configuration*, and
    Y mark - for Y axis configuration. Measure the distance *D* (in mm) between
    several oscillations on the part with X mark, near the notches, preferably
@@ -79,14 +75,14 @@ First, measure the **ringing frequency**.
 
     |![Mark ringing](img/ringing-mark.jpg)|![Measure ringing](img/ringing-measure.jpg)|
 
-10. Count how many oscillations *N* the measured distance *D* corresponds to.
+9. Count how many oscillations *N* the measured distance *D* corresponds to.
    If you are unsure how to count the oscillations, refer to the picture
    above, which shows *N* = 6 oscillations.
-11. Compute the ringing frequency of X axis as *V* · *N* / *D* (Hz),
+10. Compute the ringing frequency of X axis as *V* · *N* / *D* (Hz),
     where *V* is the velocity for outer perimeters (mm/sec). For the example
     above, we marked 6 oscillations, and the test was printed at 100 mm/sec
     velocity, so the frequency is 100 * 6 / 12.14 ≈ 49.4 Hz.
-12. Do (9) - (11) for Y mark as well.
+11. Do (8) - (10) for Y mark as well.
 
 Note that ringing on the test print should follow the pattern of the curved
 notches, as in the picture above. If it doesn't, then this defect is not really
@@ -150,16 +146,15 @@ For most of the printers, either MZV or EI shapers can be recommended. This
 section describes a testing process to choose between them, and figure out
 a few other related parameters.
 
-Print the ringing test model as follows (assuming you already have
+Print the ringing test model as follows:
-shaper_freq_x/y set and max_accel/max_accel_to_decel increased to 7000 in
-printer.cfg file):
 
-1. Restart the firmware: `RESTART`.
+1. Restart the firmware: `RESTART`
-2. Disable Pressure Advance: `SET_PRESSURE_ADVANCE ADVANCE=0`.
+2. Prepare for test: `SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000`
-3. Execute `SET_INPUT_SHAPER SHAPER_TYPE=MZV`.
+3. Disable Pressure Advance: `SET_PRESSURE_ADVANCE ADVANCE=0`
-4. Execute the command
+4. Execute: `SET_INPUT_SHAPER SHAPER_TYPE=MZV`
-   `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
+5. Execute the command:
-5. Print the test model sliced with the suggested parameters.
+   `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5`
+6. Print the test model sliced with the suggested parameters.
 
 If you see no ringing at this point, then MZV shaper can be recommended for use.
 
@@ -169,8 +164,8 @@ differ significantly from the values you obtained earlier, a more complex input
 shaper configuration is needed. You can refer to Technical details of
 [Input shapers](#input-shapers) section. Otherwise, proceed to the next step.
 
-Now try EI input shaper. To try it, repeat steps (1)-(5) from above, but
+Now try EI input shaper. To try it, repeat steps (1)-(6) from above, but
-executing at step 3 the following command instead:
+executing at step 4 the following command instead:
 `SET_INPUT_SHAPER SHAPER_TYPE=EI`.
 
 Compare two prints with MZV and EI input shaper. If EI shows noticeably better
@@ -207,7 +202,7 @@ You should have a printed test for the shaper you chose from the previous step
 (if you don't, print the test model sliced with the
 [suggested parameters](#tuning) with the pressure advance disabled
 `SET_PRESSURE_ADVANCE ADVANCE=0` and with the tuning tower enabled as
-`TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`).
+`TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5`).
 Note that at very high accelerations, depending on the resonance frequency and
 the input shaper you chose (e.g. EI shaper creates more smoothing than MZV),
 input shaping may cause too much smoothing and rounding of the parts. So,
@@ -242,8 +237,7 @@ It may also be a result of a miscalibrated (too high) filament flow, so it is
 a good idea to check that too.
 
 Choose the minimum out of the two acceleration values (from ringing and
-smoothing), and put it as max_accel into printer.cfg (you can delete
+smoothing), and put it as `max_accel` into printer.cfg.
-max_accel_to_decel or revert it to the old value).
 
 
 As a note, it may happen - especially at low ringing frequencies - that EI
@@ -273,28 +267,28 @@ your choice with the same frequencies as you have measured earlier), you can
 follow the steps in this section. Note that if you see ringing at different
 frequencies after enabling [input_shaper], this section will not help with that.
 
-Assuming that you have sliced the ringing model with suggested parameters and
+Assuming that you have sliced the ringing model with suggested
-increased `max_accel` and `max_accel_to_decel` parameters in the `printer.cfg`
+parameters, complete the following steps for each of the axes X and Y:
-to 7000 already, complete the following steps for each of the axes X and Y:
 
-1. Make sure Pressure Advance is disabled: `SET_PRESSURE_ADVANCE ADVANCE=0`.
+1. Prepare for test: `SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000`
-2. Execute `SET_INPUT_SHAPER SHAPER_TYPE=ZV`.
+2. Make sure Pressure Advance is disabled: `SET_PRESSURE_ADVANCE ADVANCE=0`
-3. From the existing ringing test model with your chosen input shaper select
+3. Execute: `SET_INPUT_SHAPER SHAPER_TYPE=ZV`
+4. From the existing ringing test model with your chosen input shaper select
    the acceleration that shows ringing sufficiently well, and set it with:
-   `SET_VELOCITY_LIMIT ACCEL=...`.
+   `SET_VELOCITY_LIMIT ACCEL=...`
-4. Calculate the necessary parameters for the `TUNING_TOWER` command to tune
+5. Calculate the necessary parameters for the `TUNING_TOWER` command to tune
    `shaper_freq_x` parameter as follows: start = shaper_freq_x * 83 / 132 and
    factor = shaper_freq_x / 66, where `shaper_freq_x` here is the current value
    in `printer.cfg`.
-5. Execute the command
+6. Execute the command:
    `TUNING_TOWER COMMAND=SET_INPUT_SHAPER PARAMETER=SHAPER_FREQ_X START=start FACTOR=factor BAND=5`
-   using `start` and `factor` values calculated at step (4).
+   using `start` and `factor` values calculated at step (5).
-6. Print the test model.
+7. Print the test model.
-7. Reset the original frequency value:
+8. Reset the original frequency value:
    `SET_INPUT_SHAPER SHAPER_FREQ_X=...`.
-8. Find the band which shows ringing the least and count its number from the
+9. Find the band which shows ringing the least and count its number from the
    bottom starting at 1.
-9. Calculate the new shaper_freq_x value via old
+10. Calculate the new shaper_freq_x value via old
     shaper_freq_x * (39 + 5 * #band-number) / 66.
 
 Repeat these steps for the Y axis in the same manner, replacing references to X
@@ -312,16 +306,12 @@ After both new `shaper_freq_x` and `shaper_freq_y` parameters have been
 calculated, you can update `[input_shaper]` section in `printer.cfg` with the
 new `shaper_freq_x` and `shaper_freq_y` values.
 
-Do not forget to revert the changes to `max_accel` and `max_accel_to_decel`
-parameters in the `printer.cfg` after finishing this section.
-
 ### Pressure Advance
 
 If you use Pressure Advance, it may need to be re-tuned. Follow the
-[instructions](Pressure_Advance.md#tuning-pressure-advance) to find the
+[instructions](Pressure_Advance.md#tuning-pressure-advance) to find
-new value, if it differs from the previous one. Make sure to restore the
+the new value, if it differs from the previous one. Make sure to
-original values of `max_accel` and `max_accel_to_decel` parameters in the
+restart Klipper before tuning Pressure Advance.
-`printer.cfg` and restart Klipper before tuning Pressure Advance.
 
 ### Unreliable measurements of ringing frequencies
 
@@ -335,26 +325,26 @@ accelerometer and measure the resonances with it (refer to the
 process) - but this option requires some crimping and soldering.
 
 
-For tuning, add empty `[input_shaper]` section to your `printer.cfg`. Then,
+For tuning, add empty `[input_shaper]` section to your
-assuming that you have sliced the ringing model with suggested parameters and
+`printer.cfg`. Then, assuming that you have sliced the ringing model
-increased `max_accel` and `max_accel_to_decel` parameters in the `printer.cfg`
+with suggested parameters, print the test model 3 times as
-to 7000 already, print the test model 3 times as follows. First time, prior to
+follows. First time, prior to printing, run
-printing, run
 
 1. `RESTART`
-2. `SET_PRESSURE_ADVANCE ADVANCE=0`.
+2. `SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000`
-3. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=60 SHAPER_FREQ_Y=60`.
+3. `SET_PRESSURE_ADVANCE ADVANCE=0`
-4. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
+4. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=60 SHAPER_FREQ_Y=60`
+5. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5`
 
 and print the model. Then print the model again, but before printing run instead
 
-1. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=50 SHAPER_FREQ_Y=50`.
+1. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=50 SHAPER_FREQ_Y=50`
-2. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
+2. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5`
 
 Then print the model for the 3rd time, but now run
 
-1. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=40 SHAPER_FREQ_Y=40`.
+1. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=40 SHAPER_FREQ_Y=40`
-2. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
+2. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5`
 
 Essentially, we are printing the ringing test model with TUNING_TOWER using
 2HUMP_EI shaper with shaper_freq = 60 Hz, 50 Hz, and 40 Hz.
@@ -377,8 +367,8 @@ frequency based on the frequency of 2HUMP_EI shaper you chose:
 
 Now print the test model one more time, running
 
-1. `SET_INPUT_SHAPER SHAPER_TYPE=EI SHAPER_FREQ_X=... SHAPER_FREQ_Y=...`.
+1. `SET_INPUT_SHAPER SHAPER_TYPE=EI SHAPER_FREQ_X=... SHAPER_FREQ_Y=...`
-2. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
+2. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5`
 
 providing the shaper_freq_x=... and shaper_freq_y=... as determined previously.
 

docs/Rotation_Distance.md

@@ -36,7 +36,7 @@ Most drivers use 16 microsteps. If unsure, set `microsteps: 16` in the
 config and use 16 in the formula above.
 
 Almost all printers should have a whole number for `rotation_distance`
-on x, y, and z type axes. If the above formula results in a
+on X, Y, and Z type axes. If the above formula results in a
 rotation_distance that is within .01 of a whole number then round the
 final value to that whole_number.
 

docs/Status_Reference.md

@@ -10,12 +10,23 @@ attribute be sure to review the
 [Config Changes document](Config_Changes.md) when upgrading the
 Klipper software.
 
+## angle
+
+The following information is available in
+[angle some_name](Config_Reference.md#angle) objects:
+- `temperature`: The last temperature reading (in Celsius) from a
+  tle5012b magnetic hall sensor. This value is only available if the
+  angle sensor is a tle5012b chip and if measurements are in progress
+  (otherwise it reports `None`).
+
 ## bed_mesh
 
 The following information is available in the
 [bed_mesh](Config_Reference.md#bed_mesh) object:
 - `profile_name`, `mesh_min`, `mesh_max`, `probed_matrix`,
   `mesh_matrix`: Information on the currently active bed_mesh.
+- `profiles`: The set of currently defined profiles as setup
+   using BED_MESH_PROFILE.
 
 ## configfile
 
@@ -138,7 +149,8 @@ The following information is available in the
 [hall_filament_width_sensor](Config_Reference.md#hall_filament_width_sensor)
 object:
 - `is_active`: Returns True if the sensor is currently active.
-- `Diameter`, `Raw`: The last read values from the sensor.
+- `Diameter`: The last reading from the sensor in mm.
+- `Raw`: The last raw ADC reading from the sensor.
 
 ## heater
 
@@ -179,6 +191,19 @@ is always available):
   been in the "Printing" state (as tracked by the idle_timeout
   module).
 
+## led
+
+The following information is available for each `[led led_name]`,
+`[neopixel led_name]`, `[dotstar led_name]`, `[pca9533 led_name]`, and
+`[pca9632 led_name]` config section defined in printer.cfg:
+- `color_data`: A list of color lists containing the RGBW values for a
+  led in the chain. Each value is represented as a float from 0.0 to
+  1.0. Each color list contains 4 items (red, green, blue, white) even
+  if the underyling LED supports fewer color channels. For example,
+  the blue value (3rd item in color list) of the second neopixel in a
+  chain could be accessed at
+  `printer["neopixel <config_name>"].color_data[1][2]`.
+
 ## mcu
 
 The following information is available in
@@ -395,16 +420,6 @@ object is available if z_tilt is defined):
 - `applied`: True if the z-tilt leveling process has been run and completed
   successfully.
 
-## neopixel / dotstar
-
-The following information is available for each `[neopixel led_name]` and
-`[dotstar led_name]` defined in printer.cfg:
-- `color_data`:  An array of objects, with each object containing the RGBW
-  values for a led in the chain.  Note that not all configurations will contain
-  a white value.  Each value is represented as a float from 0 to 1.  For
-  example, the blue value of the second neopixel in a chain could be accessed
-  at `printer["neopixel <config_name>"].color_data[1].B`.
-
 ## dgus_status
 
 The following information is available in the `dgus_status` object

docs/TMC_Drivers.md

@@ -45,7 +45,7 @@ leave a stepper idle sufficiently long.
 
 If one wishes to reduce current to motors during print start routines,
 then consider issuing
-[SET_TMC_CURRENT](G-Codes.md#tmc-stepper-drivers) commands in a
+[SET_TMC_CURRENT](G-Codes.md#set_tmc_current) commands in a
 [START_PRINT macro](Slicers.md#klipper-gcode_macro) to adjust the
 current before and after normal printing moves.
 
@@ -410,10 +410,10 @@ restrictions:
 
 ## Querying and diagnosing driver settings
 
-The `[DUMP_TMC command](G-Codes.md#tmc-stepper-drivers) is a useful
+The `[DUMP_TMC command](G-Codes.md#dump_tmc) is a useful tool when
-tool when configuring and diagnosing the drivers. It will report all
+configuring and diagnosing the drivers. It will report all fields
-fields configured by Klipper as well as all fields that can be queried
+configured by Klipper as well as all fields that can be queried from
-from the driver.
+the driver.
 
 All of the reported fields are defined in the Trinamic datasheet for
 each driver. These datasheets can be found on the
@@ -429,7 +429,7 @@ Klipper supports configuring many low-level driver fields using
 has the full list of fields available for each type of driver.
 
 In addition, almost all fields can be modified at run-time using the
-[SET_TMC_FIELD command](G-Codes.md#tmc-stepper-drivers).
+[SET_TMC_FIELD command](G-Codes.md#set_tmc_field).
 
 Each of these fields is defined in the Trinamic datasheet for each
 driver. These datasheets can be found on the

docs/TSL1401CL_Filament_Width_Sensor.md

@@ -1,36 +1,22 @@
 # TSL1401CL filament width sensor
 
-This document describes Filament Width Sensor host module. Hardware used for developing this host module is based on TSL1401CL linear sensor array but it can work with any sensor array that has analog output. You can find designs at [thingiverse.com](https://www.thingiverse.com/search?q=filament%20width%20sensor)
+This document describes Filament Width Sensor host module. Hardware used
+for developing this host module is based on TSL1401CL linear sensor array
+but it can work with any sensor array that has analog output. You can find
+designs at [Thingiverse](https://www.thingiverse.com/search?q=filament%20width%20sensor).
+
+To use a sensor array as a filament width sensor, read
+[Config Reference](Config_Reference.md#tsl1401cl_filament_width_sensor) and
+[G-Code documentation](G-Codes.md#hall_filament_width_sensor).
 
 ## How does it work?
 
-Sensor generates analog output based on calculated filament width. Output voltage always equals to detected filament width (Ex. 1.65v, 1.70v, 3.0v). Host module monitors voltage changes and adjusts extrusion multiplier.
+Sensor generates analog output based on calculated filament width. Output
+voltage always equals to detected filament width (Ex. 1.65v, 1.70v, 3.0v).
+Host module monitors voltage changes and adjusts extrusion multiplier.
 
-## Configuration
+## Note:
 
-    [tsl1401cl_filament_width_sensor]
+Sensor readings done with 10 mm intervals by default. If necessary you are
-    pin: analog5
+free to change this setting by editing ***MEASUREMENT_INTERVAL_MM*** parameter
-    # Analog input pin for sensor output on Ramps board
+in **filament_width_sensor.py** file.
-
-    default_nominal_filament_diameter: 1.75
-    # This parameter is in millimeters (mm)
-
-    max_difference: 0.2
-    #  Maximum allowed filament diameter difference in millimeters (mm)
-    #  If difference between nominal filament diameter and sensor output is more
-    #  than +- max_difference, extrusion multiplier set back to %100
-
-    measurement_delay 100
-    #  The distance from sensor to the melting chamber/hot-end in millimeters (mm).
-    #  The filament between the sensor and the hot-end will be treated as the default_nominal_filament_diameter.
-    #  Host module works with FIFO logic. It keeps each sensor value and position in
-    #  an array and POP them back in correct position.
-
-Sensor readings done with 10 mm intervals by default. If necessary you are free to change this setting by editing ***MEASUREMENT_INTERVAL_MM*** parameter in **filament_width_sensor.py** file.
-
-## Commands
-
-**QUERY_FILAMENT_WIDTH** - Return the current measured filament width as result
-**RESET_FILAMENT_WIDTH_SENSOR** – Clear all sensor readings. Can be used after filament change.
-**DISABLE_FILAMENT_WIDTH_SENSOR** – Turn off the filament width sensor and stop using it to do flow control
-**ENABLE_FILAMENT_WIDTH_SENSOR** - Turn on the filament width sensor and start using it to do flow control

docs/_klipper3d/README

@@ -4,3 +4,17 @@ site is hosted using "github pages". The
 https://www.mkdocs.org/ ) to automatically convert the markdown files
 in the docs/ directory to html. In addition to the files in this
 directory, the docs/CNAME file also controls the website generation.
+
+To test deploy the main English site locally one can use commands
+similar to the following:
+
+virtualenv ~/mkdocs-env && ~/python-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
+cd ~/klipper && ~/mkdocs-env/bin/mkdocs serve --config-file ~/klipper/docs/_klipper3d/mkdocs.yml -a 0.0.0.0:8000
+
+To test deploy the multi-language site locally one can use commands
+similar to the following:
+
+virtualenv ~/mkdocs-env && ~/python-env/bin/pip install -r ~/klipper/docs/_klipper3d/mkdocs-requirements.txt
+source ~/mkdocs-env/bin/activate
+cd ~/klipper && ./docs/_klipper3d/build-translations.sh
+cd ~/klipper/site/ && python3 -m http.server 8000

docs/_klipper3d/build-translations.sh

@@ -0,0 +1,64 @@
+#!/bin/bash
+# This script extracts the Klipper translations and builds multiple
+# mdocs sites - one for each supported language.  See the README file
+# for additional details.
+
+MKDOCS_DIR="docs/_klipper3d/"
+WORK_DIR="work/"
+TRANS_DIR="${WORK_DIR}klipper-translations/"
+TRANS_FILE="${TRANS_DIR}active_translations"
+MKDOCS_MAIN="${MKDOCS_DIR}mkdocs-main.yml"
+
+# Fetch translations
+git clone --depth 1 https://github.com/Klipper3d/klipper-translations ${TRANS_DIR}
+
+# Create new mkdocs-main.yml with language links
+cp ${MKDOCS_DIR}mkdocs.yml ${MKDOCS_MAIN}
+while IFS="," read dirname langsite langdesc langsearch; do
+  sed -i "s%^.*# Alternate language links automatically added here$%    - name: ${langdesc}\n      link: /${langsite}/\n      lang: ${langsite}\n\0%" ${MKDOCS_MAIN}
+done < <(egrep -v '^ *(#|$)' ${TRANS_FILE})
+
+# Build main English website
+echo "building site for en"
+mkdocs build -f ${MKDOCS_MAIN}
+
+# Build each additional language website
+while IFS="," read dirname langsite langdesc langsearch; do
+  new_docs_dir="${WORK_DIR}lang/${langsite}/docs/"
+  locale_dir="${TRANS_DIR}/docs/locales/${dirname}"
+
+  # Copy markdown files to new_docs_dir
+  echo "Copying $dirname to $langsite"
+  mkdir -p "${new_docs_dir}"
+  cp "${locale_dir}"/*.md "${new_docs_dir}"
+  echo "copy resources"
+  cp -r docs/img "${new_docs_dir}"
+  cp -r docs/prints "${new_docs_dir}"
+  cp -r docs/_klipper3d "${new_docs_dir}"
+
+  # manually replace index.md if a manual-index.md exist
+  manual_index="${new_docs_dir}manual-index.md"
+  if [[ -f "${manual_index}" ]]; then
+    mv -f "${manual_index}" "${new_docs_dir}index.md"
+    echo "replaced index.md with manual_index.md for $langsite"
+  else
+    echo "Manually translated index file for $langsite not found!"
+  fi
+
+  # Create language specific mkdocs-lang-xxx.yml file
+  echo "create language specific mkdocs configurations for ${langsite}"
+  new_mkdocs_file="${new_docs_dir}_klipper3d/mkdocs-lang-${langsite}.yml"
+  cp "${MKDOCS_MAIN}" "${new_mkdocs_file}"
+
+  echo "replace search language"
+  sed -i "s%^    lang: en$%    lang: ${langsearch}%" "${new_mkdocs_file}"
+
+  echo "replace site language"
+  sed -i "s%^  language: en$%  language: ${langsite}%" "${new_mkdocs_file}"
+
+  # Build site
+  echo "building site for ${langsite}"
+  mkdir -p "${PWD}/site/${langsite}/"
+  ln -sf "${PWD}/site/${langsite}/" "${WORK_DIR}lang/${langsite}/site"
+  mkdocs build -f "${new_mkdocs_file}"
+done < <(egrep -v '^ *(#|$)' ${TRANS_FILE})

docs/_klipper3d/mkdocs-requirements.txt

@@ -1,7 +1,7 @@
 # Python virtualenv module requirements for mkdocs
+jinja2==3.0.3
 mkdocs==1.2.3
-mkdocs-material==7.2.0
+mkdocs-material==8.1.3
-mkdocs-section-index==0.3.1
 mkdocs-simple-hooks==0.1.3
 mkdocs-exclude==1.0.2
 mdx-truly-sane-lists==1.2

docs/_klipper3d/mkdocs.yml

@@ -1,5 +1,8 @@
 # Main configuration file for mkdocs generation of klipper3d.org website
 
+# Note that the build-translations.sh script expects a certain file
+# layout.  See that script and the README file for more details.
+
 # Site and directory configuration
 site_name: Klipper documentation
 repo_url: https://github.com/Klipper3d/klipper
@@ -9,7 +12,7 @@ use_directory_urls: False
 docs_dir: '../'
 site_dir: '../../site/'
 
-# Markdown document translation settings
+# Custom markdown dialect settings
 markdown_extensions:
   - toc:
       permalink: True
@@ -19,13 +22,13 @@ markdown_extensions:
   - mdx_truly_sane_lists
   - mdx_breakless_lists
 plugins:
-  - search
+  search:
-  - mkdocs-simple-hooks:
+    lang: en
+  mkdocs-simple-hooks:
     hooks:
       on_page_markdown: "docs._klipper3d.mkdocs_hooks:transform"
-  - exclude:
+  exclude:
-      glob:
+    glob: "README.md"
-        - README.md
 
 # Website layout configuration (using mkdocs-material theme)
 theme:
@@ -49,6 +52,7 @@ theme:
   favicon: img/favicon.ico
   icon:
     repo: fontawesome/brands/github
+    alternate: material/web
   features:
       #- navigation.tabs
       #- navigation.expand
@@ -58,6 +62,7 @@ theme:
       - search.suggest
       - search.highlight
       - search.share
+  language: en
 extra_css:
   - _klipper3d/css/extra.css
 
@@ -67,6 +72,12 @@ extra:
   analytics:
     provider: google
     property: UA-138371409-1
+  # Language Selection
+  alternate:
+    - name: English
+      link: /
+      lang: en
+    # Alternate language links automatically added here
 
 # Navigation hierarchy (this should mimic the layout of Overview.md)
 nav:

klippy/chelper/__init__.py

@@ -38,8 +38,9 @@ defs_stepcompress = """
 
     struct stepcompress *stepcompress_alloc(uint32_t oid);
     void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
-        , uint32_t invert_sdir, int32_t queue_step_msgtag
+        , int32_t queue_step_msgtag, int32_t set_next_step_dir_msgtag);
-        , int32_t set_next_step_dir_msgtag);
+    void stepcompress_set_invert_sdir(struct stepcompress *sc
+        , uint32_t invert_sdir);
     void stepcompress_free(struct stepcompress *sc);
     int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
     int stepcompress_set_last_position(struct stepcompress *sc
@@ -133,8 +134,8 @@ defs_kin_winch = """
 
 defs_kin_extruder = """
     struct stepper_kinematics *extruder_stepper_alloc(void);
-    void extruder_set_smooth_time(struct stepper_kinematics *sk
+    void extruder_set_pressure_advance(struct stepper_kinematics *sk
-        , double smooth_time);
+        , double pressure_advance, double smooth_time);
 """
 
 defs_kin_shaper = """

klippy/chelper/kin_extruder.c

@@ -52,15 +52,17 @@ extruder_integrate_time(double base, double start_v, double half_accel
 
 // Calculate the definitive integral of extruder for a given move
 static double
-pa_move_integrate(struct move *m, double base, double start, double end,
+pa_move_integrate(struct move *m, double pressure_advance
-                  double time_offset)
+                  , double base, double start, double end, double time_offset)
 {
     if (start < 0.)
         start = 0.;
     if (end > m->move_t)
         end = m->move_t;
     // Calculate base position and velocity with pressure advance
-    double pressure_advance = m->axes_r.y;
+    int can_pressure_advance = m->axes_r.y != 0.;
+    if (!can_pressure_advance)
+        pressure_advance = 0.;
     base += pressure_advance * m->start_v;
     double start_v = m->start_v + pressure_advance * 2. * m->half_accel;
     // Calculate definitive integral
@@ -72,34 +74,36 @@ pa_move_integrate(struct move *m, double base, double start, double end,
 
 // Calculate the definitive integral of the extruder over a range of moves
 static double
-pa_range_integrate(struct move *m, double move_time, double hst)
+pa_range_integrate(struct move *m, double move_time
+                   , double pressure_advance, double hst)
 {
     // Calculate integral for the current move
     double res = 0., start = move_time - hst, end = move_time + hst;
     double start_base = m->start_pos.x;
-    res += pa_move_integrate(m, 0., start, move_time, start);
+    res += pa_move_integrate(m, pressure_advance, 0., start, move_time, start);
-    res -= pa_move_integrate(m, 0., move_time, end, end);
+    res -= pa_move_integrate(m, pressure_advance, 0., move_time, end, end);
     // Integrate over previous moves
     struct move *prev = m;
     while (unlikely(start < 0.)) {
         prev = list_prev_entry(prev, node);
         start += prev->move_t;
         double base = prev->start_pos.x - start_base;
-        res += pa_move_integrate(prev, base, start, prev->move_t, start);
+        res += pa_move_integrate(prev, pressure_advance, base, start
+                                 , prev->move_t, start);
     }
     // Integrate over future moves
     while (unlikely(end > m->move_t)) {
         end -= m->move_t;
         m = list_next_entry(m, node);
         double base = m->start_pos.x - start_base;
-        res -= pa_move_integrate(m, base, 0., end, end);
+        res -= pa_move_integrate(m, pressure_advance, base, 0., end, end);
     }
     return res;
 }
 
 struct extruder_stepper {
     struct stepper_kinematics sk;
-    double half_smooth_time, inv_half_smooth_time2;
+    double pressure_advance, half_smooth_time, inv_half_smooth_time2;
 };
 
 static double
@@ -112,12 +116,13 @@ extruder_calc_position(struct stepper_kinematics *sk, struct move *m
         // Pressure advance not enabled
         return m->start_pos.x + move_get_distance(m, move_time);
     // Apply pressure advance and average over smooth_time
-    double area = pa_range_integrate(m, move_time, hst);
+    double area = pa_range_integrate(m, move_time, es->pressure_advance, hst);
     return m->start_pos.x + area * es->inv_half_smooth_time2;
 }
 
 void __visible
-extruder_set_smooth_time(struct stepper_kinematics *sk, double smooth_time)
+extruder_set_pressure_advance(struct stepper_kinematics *sk
+                              , double pressure_advance, double smooth_time)
 {
     struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
     double hst = smooth_time * .5;
@@ -126,6 +131,7 @@ extruder_set_smooth_time(struct stepper_kinematics *sk, double smooth_time)
     if (! hst)
         return;
     es->inv_half_smooth_time2 = 1. / (hst * hst);
+    es->pressure_advance = pressure_advance;
 }
 
 struct stepper_kinematics * __visible

klippy/chelper/stepcompress.c

@@ -259,15 +259,25 @@ stepcompress_alloc(uint32_t oid)
 // Fill message id information
 void __visible
 stepcompress_fill(struct stepcompress *sc, uint32_t max_error
-                  , uint32_t invert_sdir, int32_t queue_step_msgtag
+                  , int32_t queue_step_msgtag, int32_t set_next_step_dir_msgtag)
-                  , int32_t set_next_step_dir_msgtag)
 {
     sc->max_error = max_error;
-    sc->invert_sdir = !!invert_sdir;
     sc->queue_step_msgtag = queue_step_msgtag;
     sc->set_next_step_dir_msgtag = set_next_step_dir_msgtag;
 }
 
+// Set the inverted stepper direction flag
+void __visible
+stepcompress_set_invert_sdir(struct stepcompress *sc, uint32_t invert_sdir)
+{
+    invert_sdir = !!invert_sdir;
+    if (invert_sdir != sc->invert_sdir) {
+        sc->invert_sdir = invert_sdir;
+        if (sc->sdir >= 0)
+            sc->sdir ^= 1;
+    }
+}
+
 // Helper to free items from the history_list
 static void
 free_history(struct stepcompress *sc, uint64_t end_clock)

klippy/chelper/stepcompress.h

@@ -13,8 +13,10 @@ struct pull_history_steps {
 
 struct stepcompress *stepcompress_alloc(uint32_t oid);
 void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
-                       , uint32_t invert_sdir, int32_t queue_step_msgtag
+                       , int32_t queue_step_msgtag
                        , int32_t set_next_step_dir_msgtag);
+void stepcompress_set_invert_sdir(struct stepcompress *sc
+                                  , uint32_t invert_sdir);
 void stepcompress_free(struct stepcompress *sc);
 uint32_t stepcompress_get_oid(struct stepcompress *sc);
 int stepcompress_get_step_dir(struct stepcompress *sc);

klippy/extras/angle.py

@@ -0,0 +1,578 @@
+# Support for reading SPI magnetic angle sensors
+#
+# Copyright (C) 2021,2022  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging, math, threading
+from . import bus, motion_report
+
+MIN_MSG_TIME = 0.100
+TCODE_ERROR = 0xff
+
+TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
+
+CALIBRATION_BITS = 6 # 64 entries
+ANGLE_BITS = 16 # angles range from 0..65535
+
+class AngleCalibration:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.name = config.get_name()
+        self.stepper_name = config.get('stepper', None)
+        if self.stepper_name is None:
+            # No calibration
+            return
+        try:
+            import numpy
+        except:
+            raise config.error("Angle calibration requires numpy module")
+        sconfig = config.getsection(self.stepper_name)
+        sconfig.getint('microsteps', note_valid=False)
+        self.tmc_module = self.mcu_stepper = None
+        # Current calibration data
+        self.mcu_pos_offset = None
+        self.angle_phase_offset = 0.
+        self.calibration_reversed = False
+        self.calibration = []
+        cal = config.get('calibrate', None)
+        if cal is not None:
+            data = [d.strip() for d in cal.split(',')]
+            angles = [float(d) for d in data if d]
+            self.load_calibration(angles)
+        # Register commands
+        self.printer.register_event_handler("stepper:sync_mcu_position",
+                                            self.handle_sync_mcu_pos)
+        self.printer.register_event_handler("klippy:connect", self.connect)
+        cname = self.name.split()[-1]
+        gcode = self.printer.lookup_object('gcode')
+        gcode.register_mux_command("ANGLE_CALIBRATE", "CHIP",
+                                   cname, self.cmd_ANGLE_CALIBRATE,
+                                   desc=self.cmd_ANGLE_CALIBRATE_help)
+    def handle_sync_mcu_pos(self, mcu_stepper):
+        if mcu_stepper.get_name() == self.stepper_name:
+            self.mcu_pos_offset = None
+    def calc_mcu_pos_offset(self, sample):
+        # Lookup phase information
+        mcu_phase_offset, phases = self.tmc_module.get_phase_offset()
+        if mcu_phase_offset is None:
+            return
+        # Find mcu position at time of sample
+        angle_time, angle_pos = sample
+        mcu_pos = self.mcu_stepper.get_past_mcu_position(angle_time)
+        # Convert angle_pos to mcu_pos units
+        microsteps, full_steps = self.get_microsteps()
+        angle_to_mcu_pos = full_steps * microsteps / float(1<<ANGLE_BITS)
+        angle_mpos = angle_pos * angle_to_mcu_pos
+        # Calculate adjustment for stepper phases
+        phase_diff = ((angle_mpos + self.angle_phase_offset * angle_to_mcu_pos)
+                      - (mcu_pos + mcu_phase_offset)) % phases
+        if phase_diff > phases//2:
+            phase_diff -= phases
+        # Store final offset
+        self.mcu_pos_offset = mcu_pos - (angle_mpos - phase_diff)
+    def apply_calibration(self, samples):
+        calibration = self.calibration
+        if not calibration:
+            return None
+        calibration_reversed = self.calibration_reversed
+        interp_bits = ANGLE_BITS - CALIBRATION_BITS
+        interp_mask = (1 << interp_bits) - 1
+        interp_round = 1 << (interp_bits - 1)
+        for i, (samp_time, angle) in enumerate(samples):
+            bucket = (angle & 0xffff) >> interp_bits
+            cal1 = calibration[bucket]
+            cal2 = calibration[bucket + 1]
+            adj = (angle & interp_mask) * (cal2 - cal1)
+            adj = cal1 + ((adj + interp_round) >> interp_bits)
+            angle_diff = (angle - adj) & 0xffff
+            angle_diff -= (angle_diff & 0x8000) << 1
+            new_angle = angle - angle_diff
+            if calibration_reversed:
+                new_angle = -new_angle
+            samples[i] = (samp_time, new_angle)
+        if self.mcu_pos_offset is None:
+            self.calc_mcu_pos_offset(samples[0])
+            if self.mcu_pos_offset is None:
+                return None
+        return self.mcu_stepper.mcu_to_commanded_position(self.mcu_pos_offset)
+    def load_calibration(self, angles):
+        # Calculate linear intepolation calibration buckets by solving
+        # linear equations
+        angle_max = 1 << ANGLE_BITS
+        calibration_count = 1 << CALIBRATION_BITS
+        bucket_size = angle_max // calibration_count
+        full_steps = len(angles)
+        nominal_step = float(angle_max) / full_steps
+        self.angle_phase_offset = (angles.index(min(angles)) & 3) * nominal_step
+        self.calibration_reversed = angles[-2] > angles[-1]
+        if self.calibration_reversed:
+            angles = list(reversed(angles))
+        first_step = angles.index(min(angles))
+        angles = angles[first_step:] + angles[:first_step]
+        import numpy
+        eqs = numpy.zeros((full_steps, calibration_count))
+        ans = numpy.zeros((full_steps,))
+        for step, angle in enumerate(angles):
+            int_angle = int(angle + .5) % angle_max
+            bucket = int(int_angle / bucket_size)
+            bucket_start = bucket * bucket_size
+            ang_diff = angle - bucket_start
+            ang_diff_per = ang_diff / bucket_size
+            eq = eqs[step]
+            eq[bucket] = 1. - ang_diff_per
+            eq[(bucket + 1) % calibration_count] = ang_diff_per
+            ans[step] = float(step * nominal_step)
+            if bucket + 1 >= calibration_count:
+                ans[step] -= ang_diff_per * angle_max
+        sol = numpy.linalg.lstsq(eqs, ans, rcond=None)[0]
+        isol = [int(s + .5) for s in sol]
+        self.calibration = isol + [isol[0] + angle_max]
+    def lookup_tmc(self):
+        for driver in TRINAMIC_DRIVERS:
+            driver_name = "%s %s" % (driver, self.stepper_name)
+            module = self.printer.lookup_object(driver_name, None)
+            if module is not None:
+                return module
+        raise self.printer.command_error("Unable to find TMC driver for %s"
+                                         % (self.stepper_name,))
+    def connect(self):
+        self.tmc_module = self.lookup_tmc()
+        fmove = self.printer.lookup_object('force_move')
+        self.mcu_stepper = fmove.lookup_stepper(self.stepper_name)
+    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
+    def get_stepper_phase(self):
+        mcu_phase_offset, phases = self.tmc_module.get_phase_offset()
+        if mcu_phase_offset is None:
+            raise self.printer.command_error("Driver phase not known for %s"
+                                             % (self.stepper_name,))
+        mcu_pos = self.mcu_stepper.get_mcu_position()
+        return (mcu_pos + mcu_phase_offset) % phases
+    def do_calibration_moves(self):
+        move = self.printer.lookup_object('force_move').manual_move
+        # Start data collection
+        angle_sensor = self.printer.lookup_object(self.name)
+        cconn = angle_sensor.start_internal_client()
+        # Move stepper several turns (to allow internal sensor calibration)
+        microsteps, full_steps = self.get_microsteps()
+        mcu_stepper = self.mcu_stepper
+        step_dist = mcu_stepper.get_step_dist()
+        full_step_dist = step_dist * microsteps
+        rotation_dist = full_steps * full_step_dist
+        align_dist = step_dist * self.get_stepper_phase()
+        move_time = 0.010
+        move_speed = full_step_dist / move_time
+        move(mcu_stepper, -(rotation_dist+align_dist), move_speed)
+        move(mcu_stepper, 2. * rotation_dist, move_speed)
+        move(mcu_stepper, -2. * rotation_dist, move_speed)
+        move(mcu_stepper, .5 * rotation_dist - full_step_dist, move_speed)
+        # Move to each full step position
+        toolhead = self.printer.lookup_object('toolhead')
+        times = []
+        samp_dist = full_step_dist
+        for i in range(2 * full_steps):
+            move(mcu_stepper, samp_dist, move_speed)
+            start_query_time = toolhead.get_last_move_time() + 0.050
+            end_query_time = start_query_time + 0.050
+            times.append((start_query_time, end_query_time))
+            toolhead.dwell(0.150)
+            if i == full_steps-1:
+                # Reverse direction and test each full step again
+                move(mcu_stepper, .5 * rotation_dist, move_speed)
+                move(mcu_stepper, -.5 * rotation_dist + samp_dist, move_speed)
+                samp_dist = -samp_dist
+        move(mcu_stepper, .5*rotation_dist + align_dist, move_speed)
+        toolhead.wait_moves()
+        # Finish data collection
+        cconn.finalize()
+        msgs = cconn.get_messages()
+        # Correlate query responses
+        cal = {}
+        step = 0
+        for msg in msgs:
+            for query_time, pos in msg['params']['data']:
+                # Add to step tracking
+                while step < len(times) and query_time > times[step][1]:
+                    step += 1
+                if step < len(times) and query_time >= times[step][0]:
+                    cal.setdefault(step, []).append(pos)
+        if len(cal) != len(times):
+            raise self.printer.command_error(
+                "Failed calibration - incomplete sensor data")
+        fcal = { i: cal[i] for i in range(full_steps) }
+        rcal = { full_steps-i-1: cal[i+full_steps] for i in range(full_steps) }
+        return fcal, rcal
+    def calc_angles(self, meas):
+        total_count = total_variance = 0
+        angles = {}
+        for step, data in meas.items():
+            count = len(data)
+            angle_avg = float(sum(data)) / count
+            angles[step] = angle_avg
+            total_count += count
+            total_variance += sum([(d - angle_avg)**2 for d in data])
+        return angles, math.sqrt(total_variance / total_count), total_count
+    cmd_ANGLE_CALIBRATE_help = "Calibrate angle sensor to stepper motor"
+    def cmd_ANGLE_CALIBRATE(self, gcmd):
+        # Perform calibration movement and capture
+        old_calibration = self.calibration
+        self.calibration = []
+        try:
+            fcal, rcal = self.do_calibration_moves()
+        finally:
+            self.calibration = old_calibration
+        # Calculate each step position average and variance
+        microsteps, full_steps = self.get_microsteps()
+        fangles, fstd, ftotal = self.calc_angles(fcal)
+        rangles, rstd, rtotal = self.calc_angles(rcal)
+        if (len({a: i for i, a in fangles.items()}) != len(fangles)
+            or len({a: i for i, a in rangles.items()}) != len(rangles)):
+            raise self.printer.command_error(
+                "Failed calibration - sensor not updating for each step")
+        merged = { i: fcal[i] + rcal[i] for i in range(full_steps) }
+        angles, std, total = self.calc_angles(merged)
+        gcmd.respond_info("angle: stddev=%.3f (%.3f forward / %.3f reverse)"
+                          " in %d queries" % (std, fstd, rstd, total))
+        # Order data with lowest/highest magnet position first
+        anglist = [angles[i] % 0xffff for i in range(full_steps)]
+        if angles[0] > angles[1]:
+            first_ang = max(anglist)
+        else:
+            first_ang = min(anglist)
+        first_phase = anglist.index(first_ang) & ~3
+        anglist = anglist[first_phase:] + anglist[:first_phase]
+        # Save results
+        cal_contents = []
+        for i, angle in enumerate(anglist):
+            if not i % 8:
+                cal_contents.append('\n')
+            cal_contents.append("%.1f" % (angle,))
+            cal_contents.append(',')
+        cal_contents.pop()
+        configfile = self.printer.lookup_object('configfile')
+        configfile.remove_section(self.name)
+        configfile.set(self.name, 'calibrate', ''.join(cal_contents))
+
+class HelperA1333:
+    SPI_MODE = 3
+    SPI_SPEED = 10000000
+    def __init__(self, config, spi, oid):
+        self.spi = spi
+        self.is_tcode_absolute = False
+        self.last_temperature = None
+    def get_static_delay(self):
+        return .000001
+    def start(self):
+        # Setup for angle query
+        self.spi.spi_transfer([0x32, 0x00])
+
+class HelperAS5047D:
+    SPI_MODE = 1
+    SPI_SPEED = int(1. / .000000350)
+    def __init__(self, config, spi, oid):
+        self.spi = spi
+        self.is_tcode_absolute = False
+        self.last_temperature = None
+    def get_static_delay(self):
+        return .000100
+    def start(self):
+        # Clear any errors from device
+        self.spi.spi_transfer([0xff, 0xfc]) # Read DIAAGC
+        self.spi.spi_transfer([0x40, 0x01]) # Read ERRFL
+        self.spi.spi_transfer([0xc0, 0x00]) # Read NOP
+
+class HelperTLE5012B:
+    SPI_MODE = 1
+    SPI_SPEED = 4000000
+    def __init__(self, config, spi, oid):
+        self.printer = config.get_printer()
+        self.spi = spi
+        self.oid = oid
+        self.is_tcode_absolute = True
+        self.last_temperature = None
+        self.mcu = spi.get_mcu()
+        self.mcu.register_config_callback(self._build_config)
+        self.spi_angle_transfer_cmd = None
+        self.last_chip_mcu_clock = self.last_chip_clock = 0
+        self.chip_freq = 0.
+        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_DEBUG_WRITE", "CHIP", name,
+                                   self.cmd_ANGLE_DEBUG_WRITE,
+                                   desc=self.cmd_ANGLE_DEBUG_WRITE_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 get_tcode_params(self):
+        return self.last_chip_mcu_clock, self.last_chip_clock, self.chip_freq
+    def _calc_crc(self, data):
+        crc = 0xff
+        for d in data:
+            crc ^= d
+            for i in range(8):
+                if crc & 0x80:
+                    crc = (crc << 1) ^ 0x1d
+                else:
+                    crc <<= 1
+        return (~crc) & 0xff
+    def _send_spi(self, msg):
+        for retry in range(5):
+            if msg[0] & 0x04:
+                params = self.spi_angle_transfer_cmd.send([self.oid, msg])
+            else:
+                params = self.spi.spi_transfer(msg)
+            resp = bytearray(params['response'])
+            crc = self._calc_crc(bytearray(msg[:2]) + resp[2:-2])
+            if crc == resp[-1]:
+                return params
+        raise self.printer.command_error("Unable to query tle5012b chip")
+    def _read_reg(self, reg):
+        cw = 0x8000 | ((reg & 0x3f) << 4) | 0x01
+        if reg >= 0x05 and reg <= 0x11:
+            cw |= 0x5000
+        msg = [cw >> 8, cw & 0xff, 0, 0, 0, 0]
+        params = self._send_spi(msg)
+        resp = bytearray(params['response'])
+        return (resp[2] << 8) | resp[3]
+    def _write_reg(self, reg, val):
+        cw = ((reg & 0x3f) << 4) | 0x01
+        if reg >= 0x05 and reg <= 0x11:
+            cw |= 0x5000
+        msg = [cw >> 8, cw & 0xff, (val >> 8) & 0xff, val & 0xff, 0, 0]
+        for retry in range(5):
+            self._send_spi(msg)
+            rval = self._read_reg(reg)
+            if rval == val:
+                return
+        raise self.printer.command_error("Unable to write to tle5012b chip")
+    def _mask_reg(self, reg, off, on):
+        rval = self._read_reg(reg)
+        self._write_reg(reg, (rval & ~off) | on)
+    def _query_clock(self):
+        # Read frame counter (and normalize to a 16bit counter)
+        msg = [0x84, 0x42, 0, 0, 0, 0, 0, 0] # Read with latch, AREV and FSYNC
+        params = self._send_spi(msg)
+        resp = bytearray(params['response'])
+        mcu_clock = self.mcu.clock32_to_clock64(params['clock'])
+        chip_clock = ((resp[2] & 0x7e) << 9) | ((resp[4] & 0x3e) << 4)
+        # Calculate temperature
+        temper = resp[5] - ((resp[4] & 0x01) << 8)
+        self.last_temperature = (temper + 152) / 2.776
+        return mcu_clock, chip_clock
+    def update_clock(self):
+        mcu_clock, chip_clock = self._query_clock()
+        mdiff = mcu_clock - self.last_chip_mcu_clock
+        chip_mclock = self.last_chip_clock + int(mdiff * self.chip_freq + .5)
+        cdiff = (chip_mclock - chip_clock) & 0xffff
+        cdiff -= (cdiff & 0x8000) << 1
+        new_chip_clock = chip_mclock - cdiff
+        self.chip_freq = float(new_chip_clock - self.last_chip_clock) / mdiff
+        self.last_chip_clock = new_chip_clock
+        self.last_chip_mcu_clock = mcu_clock
+    def start(self):
+        # Clear any errors from device
+        self._read_reg(0x00) # Read STAT
+        # Initialize chip (so different chip variants work the same way)
+        self._mask_reg(0x06, 0xc003, 0x4000) # MOD1: 42.7us, IIF disable
+        self._mask_reg(0x08, 0x0007, 0x0001) # MOD2: Predict off, autocal=1
+        self._mask_reg(0x0e, 0x0003, 0x0000) # MOD4: IIF mode
+        # Setup starting clock values
+        mcu_clock, chip_clock = self._query_clock()
+        self.last_chip_clock = chip_clock
+        self.last_chip_mcu_clock = mcu_clock
+        self.chip_freq = float(1<<5) / self.mcu.seconds_to_clock(1. / 750000.)
+        self.update_clock()
+    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=0x30, parser=lambda x: int(x, 0))
+        val = self._read_reg(reg)
+        gcmd.respond_info("ANGLE REG[0x%02x] = 0x%04x" % (reg, val))
+    cmd_ANGLE_DEBUG_WRITE_help = "Set low-level angle sensor register"
+    def cmd_ANGLE_DEBUG_WRITE(self, gcmd):
+        reg = gcmd.get("REG", minval=0, maxval=0x30, parser=lambda x: int(x, 0))
+        val = gcmd.get("VAL", minval=0, maxval=0xffff,
+                       parser=lambda x: int(x, 0))
+        self._write_reg(reg, val)
+
+SAMPLE_PERIOD = 0.000400
+
+class Angle:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.sample_period = config.getfloat('sample_period', SAMPLE_PERIOD,
+                                             above=0.)
+        self.calibration = AngleCalibration(config)
+        # Measurement conversion
+        self.start_clock = self.time_shift = self.sample_ticks = 0
+        self.last_sequence = self.last_angle = 0
+        # Measurement storage (accessed from background thread)
+        self.lock = threading.Lock()
+        self.raw_samples = []
+        # Sensor type
+        sensors = { "a1333": HelperA1333, "as5047d": HelperAS5047D,
+                    "tle5012b": HelperTLE5012B }
+        sensor_type = config.getchoice('sensor_type', {s: s for s in sensors})
+        sensor_class = sensors[sensor_type]
+        self.spi = bus.MCU_SPI_from_config(config, sensor_class.SPI_MODE,
+                                           default_speed=sensor_class.SPI_SPEED)
+        self.mcu = mcu = self.spi.get_mcu()
+        self.oid = oid = mcu.create_oid()
+        self.sensor_helper = sensor_class(config, self.spi, oid)
+        # Setup mcu sensor_spi_angle bulk query code
+        self.query_spi_angle_cmd = self.query_spi_angle_end_cmd = None
+        mcu.add_config_cmd(
+            "config_spi_angle oid=%d spi_oid=%d spi_angle_type=%s"
+            % (oid, self.spi.get_oid(), sensor_type))
+        mcu.add_config_cmd(
+            "query_spi_angle oid=%d clock=0 rest_ticks=0 time_shift=0"
+            % (oid,), on_restart=True)
+        mcu.register_config_callback(self._build_config)
+        mcu.register_response(self._handle_spi_angle_data,
+                              "spi_angle_data", oid)
+        # API server endpoints
+        self.api_dump = motion_report.APIDumpHelper(
+            self.printer, self._api_update, self._api_startstop, 0.100)
+        self.name = config.get_name().split()[1]
+        wh = self.printer.lookup_object('webhooks')
+        wh.register_mux_endpoint("angle/dump_angle", "sensor", self.name,
+                                 self._handle_dump_angle)
+    def _build_config(self):
+        freq = self.mcu.seconds_to_clock(1.)
+        while float(TCODE_ERROR << self.time_shift) / freq < 0.002:
+            self.time_shift += 1
+        cmdqueue = self.spi.get_command_queue()
+        self.query_spi_angle_cmd = self.mcu.lookup_command(
+            "query_spi_angle oid=%c clock=%u rest_ticks=%u time_shift=%c",
+            cq=cmdqueue)
+        self.query_spi_angle_end_cmd = self.mcu.lookup_query_command(
+            "query_spi_angle oid=%c clock=%u rest_ticks=%u time_shift=%c",
+            "spi_angle_end oid=%c sequence=%hu", oid=self.oid, cq=cmdqueue)
+    def get_status(self, eventtime=None):
+        return {'temperature': self.sensor_helper.last_temperature}
+    # Measurement collection
+    def is_measuring(self):
+        return self.start_clock != 0
+    def _handle_spi_angle_data(self, params):
+        with self.lock:
+            self.raw_samples.append(params)
+    def _extract_samples(self, raw_samples):
+        # Load variables to optimize inner loop below
+        sample_ticks = self.sample_ticks
+        start_clock = self.start_clock
+        clock_to_print_time = self.mcu.clock_to_print_time
+        last_sequence = self.last_sequence
+        last_angle = self.last_angle
+        time_shift = 0
+        static_delay = 0.
+        last_chip_mcu_clock = last_chip_clock = chip_freq = inv_chip_freq = 0.
+        is_tcode_absolute = self.sensor_helper.is_tcode_absolute
+        if is_tcode_absolute:
+            tparams = self.sensor_helper.get_tcode_params()
+            last_chip_mcu_clock, last_chip_clock, chip_freq = tparams
+            inv_chip_freq = 1. / chip_freq
+        else:
+            time_shift = self.time_shift
+            static_delay = self.sensor_helper.get_static_delay()
+        # Process every message in raw_samples
+        count = error_count = 0
+        samples = [None] * (len(raw_samples) * 16)
+        for params in raw_samples:
+            seq = (last_sequence & ~0xffff) | params['sequence']
+            if seq < last_sequence:
+                seq += 0x10000
+            last_sequence = seq
+            d = bytearray(params['data'])
+            msg_mclock = start_clock + seq*16*sample_ticks
+            for i in range(len(d) // 3):
+                tcode = d[i*3]
+                if tcode == TCODE_ERROR:
+                    error_count += 1
+                    continue
+                raw_angle = d[i*3 + 1] | (d[i*3 + 2] << 8)
+                angle_diff = (last_angle - raw_angle) & 0xffff
+                angle_diff -= (angle_diff & 0x8000) << 1
+                last_angle -= angle_diff
+                mclock = msg_mclock + i*sample_ticks
+                if is_tcode_absolute:
+                    # tcode is tle5012b frame counter
+                    mdiff = mclock - last_chip_mcu_clock
+                    chip_mclock = last_chip_clock + int(mdiff * chip_freq + .5)
+                    cdiff = ((tcode << 10) - chip_mclock) & 0xffff
+                    cdiff -= (cdiff & 0x8000) << 1
+                    sclock = mclock + (cdiff - 0x800) * inv_chip_freq
+                else:
+                    # tcode is mcu clock offset shifted by time_shift
+                    sclock = mclock + (tcode<<time_shift)
+                ptime = round(clock_to_print_time(sclock) - static_delay, 6)
+                samples[count] = (ptime, last_angle)
+                count += 1
+        self.last_sequence = last_sequence
+        self.last_angle = last_angle
+        del samples[count:]
+        return samples, error_count
+    # API interface
+    def _api_update(self, eventtime):
+        if self.sensor_helper.is_tcode_absolute:
+            self.sensor_helper.update_clock()
+        with self.lock:
+            raw_samples = self.raw_samples
+            self.raw_samples = []
+        if not raw_samples:
+            return {}
+        samples, error_count = self._extract_samples(raw_samples)
+        if not samples:
+            return {}
+        offset = self.calibration.apply_calibration(samples)
+        return {'data': samples, 'errors': error_count,
+                'position_offset': offset}
+    def _start_measurements(self):
+        if self.is_measuring():
+            return
+        logging.info("Starting angle '%s' measurements", self.name)
+        self.sensor_helper.start()
+        # Start bulk reading
+        with self.lock:
+            self.raw_samples = []
+        self.last_sequence = 0
+        systime = self.printer.get_reactor().monotonic()
+        print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
+        self.start_clock = reqclock = self.mcu.print_time_to_clock(print_time)
+        rest_ticks = self.mcu.seconds_to_clock(self.sample_period)
+        self.sample_ticks = rest_ticks
+        self.query_spi_angle_cmd.send([self.oid, reqclock, rest_ticks,
+                                       self.time_shift], reqclock=reqclock)
+    def _finish_measurements(self):
+        if not self.is_measuring():
+            return
+        # Halt bulk reading
+        params = self.query_spi_angle_end_cmd.send([self.oid, 0, 0, 0])
+        self.start_clock = 0
+        with self.lock:
+            self.raw_samples = []
+        self.sensor_helper.last_temperature = None
+        logging.info("Stopped angle '%s' measurements", self.name)
+    def _api_startstop(self, is_start):
+        if is_start:
+            self._start_measurements()
+        else:
+            self._finish_measurements()
+    def _handle_dump_angle(self, web_request):
+        self.api_dump.add_client(web_request)
+        hdr = ('time', 'angle')
+        web_request.send({'header': hdr})
+    def start_internal_client(self):
+        return self.api_dump.add_internal_client()
+
+def load_config_prefix(config):
+    return Angle(config)

klippy/extras/bed_mesh.py

@@ -221,7 +221,8 @@ class BedMesh:
             "mesh_min": (0., 0.),
             "mesh_max": (0., 0.),
             "probed_matrix": [[]],
-            "mesh_matrix": [[]]
+            "mesh_matrix": [[]],
+            "profiles": self.pmgr.get_profiles()
         }
         if self.z_mesh is not None:
             params = self.z_mesh.get_mesh_params()
@@ -316,7 +317,7 @@ class BedMeshCalibrate:
         if self.radius is not None:
             # round bed, min/max needs to be recalculated
             y_dist = x_dist
-            new_r = (x_cnt / 2) * x_dist
+            new_r = (x_cnt // 2) * x_dist
             min_x = min_y = -new_r
             max_x = max_y = new_r
         else:
@@ -1134,6 +1135,8 @@ class ProfileManager:
         self._check_incompatible_profiles()
         if "default" in self.profiles:
             self.load_profile("default")
+    def get_profiles(self):
+        return self.profiles
     def get_current_profile(self):
         return self.current_profile
     def _check_incompatible_profiles(self):
@@ -1170,9 +1173,12 @@ class ProfileManager:
         for key, value in mesh_params.items():
             configfile.set(cfg_name, key, value)
         # save copy in local storage
-        self.profiles[prof_name] = profile = {}
+        # ensure any self.profiles returned as status remains immutable
+        profiles = dict(self.profiles)
+        profiles[prof_name] = profile = {}
         profile['points'] = probed_matrix
         profile['mesh_params'] = collections.OrderedDict(mesh_params)
+        self.profiles = profiles
         self.current_profile = prof_name
         self.gcode.respond_info(
             "Bed Mesh state has been saved to profile [%s]\n"
@@ -1197,7 +1203,9 @@ class ProfileManager:
         if prof_name in self.profiles:
             configfile = self.printer.lookup_object('configfile')
             configfile.remove_section('bed_mesh ' + prof_name)
-            del self.profiles[prof_name]
+            profiles = dict(self.profiles)
+            del profiles[prof_name]
+            self.profiles = profiles
             self.gcode.respond_info(
                 "Profile [%s] removed from storage for this session.\n"
                 "The SAVE_CONFIG command will update the printer\n"

klippy/extras/bme280.py

@@ -437,7 +437,7 @@ class BME280:
         else:
             factor = 0
             while duration_ms > 0x3F:
-                duration_ms /= 4
+                duration_ms //= 4
                 factor += 1
             duration_reg = duration_ms + (factor * 64)
 

klippy/extras/bus.py

@@ -48,7 +48,8 @@ def resolve_bus_name(mcu, param, bus):
 
 # Helper code for working with devices connected to an MCU via an SPI bus
 class MCU_SPI:
-    def __init__(self, mcu, bus, pin, mode, speed, sw_pins=None):
+    def __init__(self, mcu, bus, pin, mode, speed, sw_pins=None,
+                 cs_active_high=False):
         self.mcu = mcu
         self.bus = bus
         # Config SPI object (set all CS pins high before spi_set_bus commands)
@@ -56,7 +57,8 @@ class MCU_SPI:
         if pin is None:
             mcu.add_config_cmd("config_spi_without_cs oid=%d" % (self.oid,))
         else:
-            mcu.add_config_cmd("config_spi oid=%d pin=%s" % (self.oid, pin))
+            mcu.add_config_cmd("config_spi oid=%d pin=%s cs_active_high=%d"
+                               % (self.oid, pin, cs_active_high))
         # Generate SPI bus config message
         if sw_pins is not None:
             self.config_fmt = (
@@ -112,7 +114,8 @@ class MCU_SPI:
 
 # Helper to setup an spi bus from settings in a config section
 def MCU_SPI_from_config(config, mode, pin_option="cs_pin",
-                        default_speed=100000, share_type=None):
+                        default_speed=100000, share_type=None,
+                        cs_active_high=False):
     # Determine pin from config
     ppins = config.get_printer().lookup_object("pins")
     cs_pin = config.get(pin_option)
@@ -139,7 +142,7 @@ def MCU_SPI_from_config(config, mode, pin_option="cs_pin",
         bus = config.get('spi_bus', None)
         sw_pins = None
     # Create MCU_SPI object
-    return MCU_SPI(mcu, bus, pin, mode, speed, sw_pins)
+    return MCU_SPI(mcu, bus, pin, mode, speed, sw_pins, cs_active_high)
 
 
 ######################################################################

klippy/extras/dac084S085.py

@@ -0,0 +1,25 @@
+# SPI DAC DAC084S085 implementation
+#
+# Copyright (C) 2021  Lorenzo Franco <lorenzo.franco@lorenzing.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+from . import bus
+
+class dac084S085:
+    def __init__(self, config):
+        self.spi = bus.MCU_SPI_from_config(
+            config, 1, pin_option="enable_pin", default_speed=10000000)
+        scale = config.getfloat('scale', 1., above=0.)
+        for chan, name in enumerate("ABCD"):
+            val = config.getfloat('channel_%s' % (name,), None,
+                                   minval=0., maxval=scale)
+            if val is not None:
+                self.set_register(chan, int(val * 255. / scale))
+    def set_register(self, chan, value):
+        b1 = (chan << 6) | (1 << 4) | ((value >> 4) & 0x0f)
+        b2 = (value << 4) & 0xf0
+        self.spi.spi_send([b1, b2])
+
+def load_config_prefix(config):
+    return dac084S085(config)

klippy/extras/dgus_status.py

@@ -76,7 +76,9 @@ class DGUSStatus:
             if self.finish_at is not None:
                 self.finish_at += pause_duration
             if self.finish_at_naive is not None:
-                self.finish_at_naive = (self.finish_at_naive[0], self.finish_at_naive[1] + pause_duration)
+                self.finish_at_naive = (self.finish_at_naive[0],
+                                        self.finish_at_naive[1]
+                                        + pause_duration)
             self.pause_at = None
         return eventtime + 5.